+ python -m lidar_slam --no-model /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.6 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters 0.18203876225775414 Centerline is valid? [0, False] SLAMing on 0.066559995 meters 0.18669628330180288 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998983e-01 -1.12409131e-03 -8.77444209e-04 3.05797577e-03] [ 1.12325072e-03 9.99998910e-01 -9.57899653e-04 1.81009725e-03] [ 8.78520019e-04 9.56913089e-04 9.99999156e-01 -1.37107714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126559995 meters 0.1898888507907542 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998242e-01 -1.36009449e-03 -1.29053920e-03 4.20979562e-03] [ 1.35889730e-03 9.99998646e-01 -9.28088830e-04 1.47687237e-03] [ 1.29179974e-03 9.26333488e-04 9.99998737e-01 -1.61934748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186559995 meters 0.20631570849390343 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99995934e-01 7.36305203e-04 -2.75511101e-03 8.58638620e-03] [-7.31781784e-04 9.99998383e-01 1.64247619e-03 6.24387062e-03] [ 2.75631592e-03 -1.64045337e-03 9.99994856e-01 -2.13678246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246559995 meters 0.21550325030805415 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99992492e-01 -1.65121696e-03 -3.50560314e-03 1.22174704e-02] [ 1.65370923e-03 9.99998382e-01 7.08159274e-04 6.00677591e-03] [ 3.50442814e-03 -7.13951206e-04 9.99993605e-01 -3.25075891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.306559995 meters 0.2176487012796324 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99999016 -0.00182251 -0.00404563 0.01351418] [ 0.00182749 0.99999758 0.00122869 0.00419356] [ 0.00404338 -0.00123607 0.99999106 -0.00313275] [ 0. 0. 0. 1. ]] SLAMing on 0.36655999499999997 meters 0.21854769028081988 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99998774 -0.00214522 -0.00446366 0.01459316] [ 0.00215116 0.99999681 0.00132605 0.00363906] [ 0.0044608 -0.00133564 0.99998916 -0.00302068] [ 0. 0. 0. 1. ]] SLAMing on 0.42655999499999997 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99996303 0.00673333 -0.0053489 0.01457116] [-0.00668827 0.99994237 0.00839734 0.01103645] [ 0.00540514 -0.00836125 0.99995044 -0.00154228] [ 0. 0. 0. 1. ]] SLAMing on 0.48655999499999997 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5465599950000001 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.606559995 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.666559995 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.726559995 meters 0.15516040678841522 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99989466e-01 -7.13892330e-04 -4.53416046e-03 1.15680886e-02] [ 7.11850879e-04 9.99999645e-01 -4.51835792e-04 1.51888669e-02] [ 4.53448141e-03 4.48603386e-04 9.99989619e-01 2.21117895e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7865599950000001 meters 0.1466038508406845 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99989660e-01 -5.21258599e-04 -4.51754454e-03 1.13972479e-02] [ 5.21167465e-04 9.99999864e-01 -2.13504578e-05 1.43415893e-02] [ 4.51755506e-03 1.89958398e-05 9.99989796e-01 3.48748071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.846559995 meters 0.1371313013810061 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99989384e-01 2.06398429e-04 -4.60321199e-03 1.07702600e-02] [-2.10163168e-04 9.99999644e-01 -8.17381650e-04 1.81168078e-02] [ 4.60304164e-03 8.18340398e-04 9.99989071e-01 2.55676350e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.906559995 meters 0.12880371647561617 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99989633e-01 7.40215878e-04 -4.49291439e-03 1.00026920e-02] [-7.46378317e-04 9.99998783e-01 -1.37006876e-03 2.07811496e-02] [ 4.49189477e-03 1.37340797e-03 9.99988968e-01 3.43656237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.966559995 meters 0.12582693339951334 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99989988e-01 4.35306086e-04 -4.45367294e-03 1.00957816e-02] [-4.45872286e-04 9.99997088e-01 -2.37175101e-03 2.31215478e-02] [ 4.45262754e-03 2.37371303e-03 9.99987270e-01 -1.80460119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.026559995 meters 0.12332467166993692 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99998755 0.00153413 -0.00474757 0.01285767] [-0.00154068 0.99999786 -0.00137728 0.02355331] [ 0.00474545 0.00138458 0.99998778 -0.00297148] [ 0. 0. 0. 1. ]] SLAMing on 1.086559995 meters 0.1060256157850746 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998937 0.00193393 -0.00418487 0.01104797] [-0.0019398 0.99999714 -0.00139778 0.02552747] [ 0.00418216 0.00140588 0.99999027 -0.00188182] [ 0. 0. 0. 1. ]] SLAMing on 1.1465599949999998 meters 0.09752688641001708 Centerline is valid? [False, True] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99989470e-01 2.12257265e-03 -4.06873350e-03 1.07400109e-02] [-2.12646067e-03 9.99997286e-01 -9.51498023e-04 2.46157974e-02] [ 4.06670284e-03 9.60140005e-04 9.99991270e-01 -1.63955968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2065599949999999 meters 0.0810040849096986 Centerline is valid? [True, True] Translation: X:0.07, Y:0.02, Z:-0.00 [[ 9.99972908e-01 -1.23988506e-03 -7.25576165e-03 7.05326358e-02] [ 1.23993924e-03 9.99999231e-01 2.96817790e-06 1.92608044e-02] [ 7.25575239e-03 -1.19648010e-05 9.99973677e-01 -4.46950385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266559995 meters 0.07801679270044388 Centerline is valid? [True, True] Translation: X:0.13, Y:0.02, Z:-0.01 [[ 9.99956258e-01 -3.61270474e-03 -8.62735001e-03 1.29310665e-01] [ 3.61286105e-03 9.99993474e-01 2.53227236e-06 1.62150203e-02] [ 8.62728456e-03 -3.37015784e-05 9.99962784e-01 -6.04790438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3265599949999998 meters 0.05844062104635499 Centerline is valid? [True, True] Translation: X:0.19, Y:0.01, Z:-0.00 [[ 9.99938809e-01 -5.07280410e-03 -9.83085003e-03 1.87667914e-01] [ 5.07306747e-03 9.99987132e-01 1.85403876e-06 1.44428553e-02] [ 9.83071412e-03 -5.17264908e-05 9.99951676e-01 -4.93204855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3865599949999998 meters 0.05379425634493993 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:-0.01 [[ 9.99927652e-01 -2.11308121e-03 -1.18416761e-02 2.46328460e-01] [ 2.11319603e-03 9.99997767e-01 -2.81607490e-06 1.83388706e-02] [ 1.18416556e-02 -2.22079116e-05 9.99929885e-01 -6.35746347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4465599949999999 meters 0.053083712834614986 Centerline is valid? [True, True] Translation: X:0.30, Y:0.02, Z:-0.01 [[ 9.99931500e-01 -1.56148128e-03 -1.15998839e-02 3.04791745e-01] [ 1.56150852e-03 9.99998781e-01 -6.70817718e-06 1.93703069e-02] [ 1.15998802e-02 -1.14055998e-05 9.99932719e-01 -6.22671675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.506559995 meters 0.05202114999987451 Centerline is valid? [True, True] Translation: X:0.36, Y:0.02, Z:-0.01 [[ 9.99907591e-01 -3.05614458e-03 -1.32464684e-02 3.63821352e-01] [ 3.05635194e-03 9.99995329e-01 -4.58990896e-06 1.79703541e-02] [ 1.32464206e-02 -3.58963847e-05 9.99912262e-01 -9.54270231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.566559995 meters 0.04600451922165907 Centerline is valid? [True, True] Translation: X:0.42, Y:0.02, Z:-0.01 [[ 9.99908164e-01 -5.05725114e-03 -1.25732567e-02 4.22565249e-01] [ 5.05758423e-03 9.99987210e-01 -5.30469103e-06 1.63001113e-02] [ 1.25731227e-02 -5.82861007e-05 9.99920953e-01 -9.86396779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6265599949999998 meters 0.0437562922514532 Centerline is valid? [True, True] Translation: X:0.48, Y:0.01, Z:-0.01 [[ 9.99895052e-01 -7.66314772e-03 -1.22947457e-02 4.81391515e-01] [ 7.66365232e-03 9.99970634e-01 -6.07092912e-06 1.45823159e-02] [ 1.22944312e-02 -8.81523646e-05 9.99924417e-01 -1.12033865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6865599949999999 meters 0.040819501471948655 Centerline is valid? [True, True] Translation: X:0.54, Y:0.02, Z:-0.01 [[ 9.99924475e-01 -8.68711082e-03 -8.69362360e-03 5.40098542e-01] [ 8.68739354e-03 9.99962264e-01 -5.24370505e-06 1.64703316e-02] [ 8.69334109e-03 -7.02816204e-05 9.99962210e-01 -9.66667341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746559995 meters 0.040069496643679765 Centerline is valid? [True, True] Translation: X:0.60, Y:0.02, Z:-0.01 [[ 9.99927273e-01 -8.35597141e-03 -8.69634755e-03 5.96681177e-01] [ 8.35622553e-03 9.99965086e-01 -7.11306895e-06 1.76011833e-02] [ 8.69610336e-03 -6.55560898e-05 9.99962186e-01 -1.05793911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8065599949999998 meters 0.03923404069121873 Centerline is valid? [True, True] Translation: X:0.66, Y:0.02, Z:-0.01 [[ 9.99934183e-01 -9.43392585e-03 -6.52927089e-03 6.55814230e-01] [ 9.43406567e-03 9.99955498e-01 -9.38472676e-06 1.75868730e-02] [ 6.52906886e-03 -5.22134613e-05 9.99978684e-01 -1.12457376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8665599949999998 meters 0.03528347394404539 Centerline is valid? [True, True] Translation: X:0.71, Y:0.01, Z:-0.01 [[ 9.99910418e-01 -1.22815302e-02 -5.32157643e-03 7.12416878e-01] [ 1.22816666e-02 9.99924577e-01 -7.03304432e-06 1.36051769e-02] [ 5.32126144e-03 -5.83254134e-05 9.99985840e-01 -1.35040313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9265599949999999 meters 0.035019467676272904 Centerline is valid? [True, True] Translation: X:0.77, Y:0.01, Z:-0.01 [[ 9.99933288e-01 -1.07798392e-02 -4.14904296e-03 7.71006747e-01] [ 1.07798956e-02 9.99941895e-01 -8.75539137e-06 1.44041162e-02] [ 4.14889626e-03 -3.59714427e-05 9.99991393e-01 -1.39701337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986559995 meters 0.027937707692347692 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.01 [[ 9.99951609e-01 -9.81675060e-03 6.40622473e-04 8.29762326e-01] [ 9.81675279e-03 9.99951815e-01 -2.73126811e-07 1.36058270e-02] [-6.40588923e-04 6.56194604e-06 9.99999795e-01 -1.33988910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046559995 meters 0.026504274029114414 Centerline is valid? [True, True] Translation: X:0.89, Y:0.01, Z:-0.01 [[ 9.99955242e-01 -9.35077516e-03 1.44133665e-03 8.88959585e-01] [ 9.35078717e-03 9.99956280e-01 -1.59030913e-06 1.14884818e-02] [-1.44125877e-03 1.50678702e-05 9.99998961e-01 -1.45923724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters 0.023324531608974585 Centerline is valid? [True, True] Translation: X:0.95, Y:0.01, Z:-0.01 [[ 9.99967485e-01 -6.04480482e-03 5.33756021e-03 9.46649866e-01] [ 6.04485270e-03 9.99981730e-01 7.16168742e-06 1.28054787e-02] [-5.33750598e-03 2.51033107e-05 9.99985755e-01 -1.35829357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters 0.023168183533869485 Centerline is valid? [True, True] Translation: X:1.01, Y:0.01, Z:-0.01 [[ 9.99957127e-01 -4.57166283e-03 8.05253766e-03 1.00696102e+00] [ 4.57170799e-03 9.99989550e-01 1.27987094e-05 1.37064562e-02] [-8.05251202e-03 2.40156901e-05 9.99967578e-01 -1.38171271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters 0.02045953644657518 Centerline is valid? [True, True] Translation: X:1.07, Y:0.01, Z:-0.01 [[ 9.99932138e-01 -3.34464316e-03 1.11594089e-02 1.06791475e+00] [ 3.34465094e-03 9.99994406e-01 1.79657973e-05 1.35823961e-02] [-1.11594066e-02 1.93597495e-05 9.99937732e-01 -1.34143342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2865599949999997 meters 0.01866738459728205 Centerline is valid? [True, True] Translation: X:1.13, Y:0.01, Z:-0.01 [[ 9.99915931e-01 -1.78680725e-03 1.28428594e-02 1.12979637e+00] [ 1.78669801e-03 9.99998404e-01 1.99789265e-05 1.38812437e-02] [-1.28428746e-02 2.96906445e-06 9.99917527e-01 -1.38442351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346559995 meters 0.018337957432583856 Centerline is valid? [True, True] Translation: X:1.19, Y:0.02, Z:-0.02 [[ 9.99924825e-01 3.44978054e-03 1.17662241e-02 1.19052874e+00] [-3.45022609e-03 9.99994048e-01 1.75681243e-05 1.69271991e-02] [-1.17660934e-02 -5.81629368e-05 9.99930775e-01 -1.50906772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters 0.018104435542779105 Centerline is valid? [True, True] Translation: X:1.25, Y:0.02, Z:-0.02 [[ 9.99913636e-01 6.24688765e-03 1.15626960e-02 1.25248751e+00] [-6.24749947e-03 9.99980484e-01 1.67932863e-05 1.84239566e-02] [-1.15623654e-02 -8.90297729e-05 9.99933150e-01 -1.63931797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters 0.01918256528704428 Centerline is valid? [True, True] Translation: X:1.31, Y:0.02, Z:-0.02 [[ 9.99939682e-01 6.85652654e-03 8.58025828e-03 1.31310752e+00] [-6.85689203e-03 9.99976491e-01 1.31794033e-05 1.69892882e-02] [-8.57996620e-03 -7.20125129e-05 9.99963189e-01 -2.16355577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters 0.017167651369889656 Centerline is valid? [True, True] Translation: X:1.37, Y:0.01, Z:-0.02 [[ 9.99958405e-01 4.62993079e-03 7.85824561e-03 1.37480107e+00] [-4.63015914e-03 9.99989281e-01 1.08661635e-05 1.32702129e-02] [-7.85811106e-03 -4.72506393e-05 9.99969123e-01 -2.24605821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586559995 meters 0.018812338885544372 Centerline is valid? [True, True] Translation: X:1.44, Y:0.01, Z:-0.02 [[ 9.99937495e-01 5.23708169e-03 9.87819174e-03 1.43720162e+00] [-5.23744282e-03 9.99986284e-01 1.06903717e-05 1.32967095e-02] [-9.87800027e-03 -6.24261679e-05 9.99951209e-01 -2.19676297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters 0.016489555457691086 Centerline is valid? [True, True] Translation: X:1.50, Y:0.01, Z:-0.02 [[ 9.99927783e-01 4.71692991e-03 1.10534488e-02 1.49908519e+00] [-4.71732012e-03 9.99988873e-01 9.23035456e-06 1.29003740e-02] [-1.10532822e-02 -6.13723442e-05 9.99938909e-01 -1.90594840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters 0.017097222140215095 Centerline is valid? [True, True] Translation: X:1.56, Y:0.01, Z:-0.02 [[ 9.99904380e-01 4.41345184e-03 1.31054603e-02 1.56148595e+00] [-4.41393058e-03 9.99990259e-01 7.60507384e-06 1.22292648e-02] [-1.31052990e-02 -6.54509385e-05 9.99914120e-01 -1.96630007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7665599949999997 meters 0.01657062621461568 Centerline is valid? [True, True] Translation: X:1.62, Y:0.01, Z:-0.02 [[ 9.99910851e-01 2.47311728e-03 1.31214765e-02 1.62413061e+00] [-2.47338995e-03 9.99996941e-01 4.55224514e-06 7.30748256e-03] [-1.31214251e-02 -3.70063674e-05 9.99913910e-01 -2.02803850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8265599949999998 meters 0.01590721730599688 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:-0.02 [[ 9.99924729e-01 3.39482148e-03 1.17903359e-02 1.68608513e+00] [-3.39510364e-03 9.99994237e-01 3.91625165e-06 7.73712225e-03] [-1.17902547e-02 -4.39453693e-05 9.99930492e-01 -2.21313361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886559995 meters 0.018273664709398868 Centerline is valid? [True, True] Translation: X:1.75, Y:0.01, Z:-0.03 [[ 9.99908319e-01 4.51500504e-03 1.27659294e-02 1.74900542e+00] [-4.51538592e-03 9.99989806e-01 1.01295519e-06 9.13254344e-03] [-1.27657947e-02 -5.86559602e-05 9.99918512e-01 -2.53489416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946559995 meters 0.018634939962309447 Centerline is valid? [True, True] Translation: X:1.81, Y:0.01, Z:-0.03 [[ 9.99928560e-01 4.88738816e-03 1.09082148e-02 1.81225448e+00] [-4.88766532e-03 9.99988055e-01 -1.25056886e-06 8.37209712e-03] [-1.09080906e-02 -5.20652235e-05 9.99940504e-01 -2.83441146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters 0.02028946991276895 Centerline is valid? [True, True] Translation: X:1.87, Y:0.01, Z:-0.03 [[ 9.99884770e-01 9.98080318e-03 1.14380872e-02 1.87348217e+00] [-9.98140074e-03 9.99950185e-01 -4.84270881e-06 1.46285510e-02] [-1.14375657e-02 -1.09325981e-04 9.99934583e-01 -2.82079910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters 0.01918480943259084 Centerline is valid? [True, True] Translation: X:1.94, Y:0.01, Z:-0.03 [[ 9.99895808e-01 1.03197139e-02 1.00934188e-02 1.93503635e+00] [-1.03201935e-02 9.99946745e-01 -4.57065466e-06 1.38173735e-02] [-1.00929285e-02 -9.95958566e-05 9.99949060e-01 -2.96238775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters 0.019472601069202025 Centerline is valid? [True, True] Translation: X:2.00, Y:0.01, Z:-0.03 [[ 9.99922711e-01 7.24406730e-03 1.01042193e-02 1.99761801e+00] [-7.24436004e-03 9.99973759e-01 -7.62850821e-06 8.04259033e-03] [-1.01040094e-02 -6.55706837e-05 9.99948951e-01 -3.07794170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters 0.0190460211693721 Centerline is valid? [True, True] Translation: X:2.06, Y:0.01, Z:-0.03 [[ 9.99921131e-01 6.72504990e-03 1.06068337e-02 2.05837198e+00] [-6.72534067e-03 9.99977385e-01 -8.25478051e-06 7.87358252e-03] [-1.06066493e-02 -6.30804404e-05 9.99943746e-01 -2.97010884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters 0.019122746260284252 Centerline is valid? [True, True] Translation: X:2.12, Y:0.01, Z:-0.03 [[ 9.99937817e-01 7.00827523e-03 8.67446791e-03 2.11971987e+00] [-7.00847027e-03 9.99975440e-01 -7.91390615e-06 8.86239485e-03] [-8.67431033e-03 -5.28813364e-05 9.99962376e-01 -3.13654767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3065599949999998 meters 0.019279783940896106 Centerline is valid? [True, True] Translation: X:2.18, Y:0.01, Z:-0.03 [[ 9.99942241e-01 8.58954339e-03 6.46026648e-03 2.18139001e+00] [-8.58968230e-03 9.99963108e-01 -6.24424344e-06 1.09307828e-02] [-6.46008178e-03 -4.92477539e-05 9.99979132e-01 -3.44577423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366559995 meters 0.019332807744620165 Centerline is valid? [True, True] Translation: X:2.24, Y:0.01, Z:-0.04 [[ 9.99950772e-01 9.46221462e-03 2.98664284e-03 2.24190730e+00] [-9.46224484e-03 9.99955232e-01 -4.01207287e-06 1.37788897e-02] [-2.98654709e-03 -2.42484704e-05 9.99995540e-01 -3.91834748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters 0.0196094061589759 Centerline is valid? [True, True] Translation: X:2.30, Y:0.01, Z:-0.04 [[ 9.99971905e-01 7.36095690e-03 1.41597976e-03 2.30354731e+00] [-7.36096419e-03 9.99972908e-01 -6.54497588e-08 1.40962624e-02] [-1.41594188e-03 -1.03575284e-05 9.99998998e-01 -4.33891781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters 0.018755511434550058 Centerline is valid? [True, True] Translation: X:2.36, Y:0.01, Z:-0.04 [[ 9.99994601e-01 2.79520997e-03 1.72774372e-03 2.36479114e+00] [-2.79521367e-03 9.99996093e-01 -2.74219550e-07 1.04380864e-02] [-1.72773774e-03 -4.55519479e-06 9.99998507e-01 -4.29522302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters 0.019593355201168058 Centerline is valid? [True, True] Translation: X:2.43, Y:0.01, Z:-0.04 [[ 9.99994537e-01 1.67485465e-03 2.84964319e-03 2.42709792e+00] [-1.67485386e-03 9.99998597e-01 -2.66486587e-06 1.07451028e-02] [-2.84964366e-03 -2.10788458e-06 9.99995940e-01 -4.31875595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters 0.02044524560890598 Centerline is valid? [True, True] Translation: X:2.49, Y:0.01, Z:-0.04 [[ 9.99992661e-01 -2.13492414e-03 3.18120336e-03 2.48899521e+00] [ 2.13494706e-03 9.99997721e-01 -3.80625074e-06 8.67754924e-03] [-3.18118798e-03 1.05979235e-05 9.99994940e-01 -4.38089033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters 0.018947424594975653 Centerline is valid? [True, True] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99964127e-01 -8.26454269e-03 1.85504203e-03 2.55076847e+00] [ 8.26456363e-03 9.99965848e-01 -3.62369393e-06 7.02816014e-03] [-1.85494873e-03 1.89546768e-05 9.99998279e-01 -3.93609002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters 0.02707715822618469 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.01, Z:-0.05 [[ 9.99762678e-01 -2.17348051e-02 1.47832785e-03 2.60946418e+00] [ 2.17348345e-02 9.99763771e-01 -3.81396528e-06 -1.07127451e-02] [-1.47789573e-03 3.59442713e-05 9.99998907e-01 -4.66482055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters 0.0226806083941418 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.00, Z:-0.04 [[ 9.99569169e-01 -2.91641075e-02 3.30637528e-03 2.66932362e+00] [ 2.91642920e-02 9.99574632e-01 -7.56957088e-06 -4.02361353e-03] [-3.30474809e-03 1.03994404e-04 9.99994534e-01 -4.11832189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters 0.022330561108256448 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.01, Z:-0.04 [[ 9.99351888e-01 -3.56006842e-02 5.32880164e-03 2.72967639e+00] [ 3.56012533e-02 9.99366074e-01 -1.19385971e-05 -8.86646680e-03] [-5.32499855e-03 2.01642876e-04 9.99985802e-01 -3.96232911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906559995 meters 0.02275878004709787 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.01, Z:-0.04 [[ 9.99386634e-01 -3.45722992e-02 5.57788599e-03 2.78913514e+00] [ 3.45729182e-02 9.99402178e-01 -1.45591969e-05 -9.75037585e-03] [-5.57404806e-03 2.07394063e-04 9.99984443e-01 -4.10160797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966559995 meters 0.023808810954359362 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.01, Z:-0.04 [[ 9.99387474e-01 -3.45116473e-02 5.79846995e-03 2.84647681e+00] [ 3.45122983e-02 9.99404273e-01 -1.22260017e-05 -1.06933617e-02] [-5.79459371e-03 2.12337038e-04 9.99983189e-01 -4.40720513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0265599949999995 meters 0.022594048121301922 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.01, Z:-0.05 [[ 9.99367832e-01 -3.48424200e-02 7.06701040e-03 2.90503900e+00] [ 3.48434001e-02 9.99392784e-01 -1.55699026e-05 -1.02031278e-02] [-7.06217670e-03 2.61798731e-04 9.99975028e-01 -4.58328263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters 0.021128425543104772 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.01, Z:-0.05 [[ 9.99465068e-01 -3.13648804e-02 9.26406497e-03 2.96522677e+00] [ 3.13663651e-02 9.99507954e-01 -1.49772167e-05 -8.88795261e-03] [-9.25903686e-03 3.05549249e-04 9.99957088e-01 -4.50125574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters 0.01969635180167766 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.01, Z:-0.05 [[ 9.99596900e-01 -2.65117953e-02 1.01568704e-02 3.02502987e+00] [ 2.65133286e-02 9.99648460e-01 -1.63137194e-05 -8.99773701e-03] [-1.01528674e-02 2.85599587e-04 9.99948418e-01 -4.55333265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters 0.018571582918845163 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.00, Z:-0.05 [[ 9.99734194e-01 -2.00882890e-02 1.13138222e-02 3.08521353e+00] [ 2.00897755e-02 9.99798180e-01 -1.77422675e-05 -4.74608769e-03] [-1.13111824e-02 2.45029700e-04 9.99935997e-01 -4.71606064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters 0.01695954957212632 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.00, Z:-0.05 [[ 9.99794067e-01 -1.67296880e-02 1.14865277e-02 3.14385686e+00] [ 1.67310031e-02 9.99860027e-01 -1.84025466e-05 -1.87357618e-03] [-1.14846121e-02 2.10579888e-04 9.99934027e-01 -4.96594213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters 0.017140718650174917 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.00, Z:-0.05 [[ 9.99810172e-01 -1.68444342e-02 9.79204046e-03 3.20314362e+00] [ 1.68453649e-02 9.99858107e-01 -1.25800406e-05 -2.26496784e-03] [-9.79043913e-03 1.77528148e-04 9.99952057e-01 -5.23521835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters 0.016988670810858073 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.00, Z:-0.05 [[ 9.99839566e-01 -1.48855165e-02 9.96309318e-03 3.26292969e+00] [ 1.48863791e-02 9.99889192e-01 -1.24285995e-05 -1.03466896e-03] [-9.96180418e-03 1.60740988e-04 9.99950367e-01 -5.40480749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters 0.01647520491464293 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.00, Z:-0.06 [[ 9.99870403e-01 -1.34296948e-02 8.87809049e-03 3.32264780e+00] [ 1.34303202e-02 9.99909809e-01 -1.08241997e-05 -5.24076795e-04] [-8.87714440e-03 1.30058395e-04 9.99960589e-01 -5.53291810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506559995 meters 0.015986251858422226 Centerline is valid? [True, True] Translation: X:3.38, Y:0.00, Z:-0.06 [[ 9.99869793e-01 -1.28481991e-02 9.76327311e-03 3.38197639e+00] [ 1.28489212e-02 9.99917449e-01 -1.12435906e-05 1.11002875e-03] [-9.76232268e-03 1.36689654e-04 9.99952338e-01 -5.63426083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters 0.016759830020821573 Centerline is valid? [True, True] Translation: X:3.44, Y:0.00, Z:-0.06 [[ 9.99879443e-01 -1.21064807e-02 9.72278394e-03 3.44229192e+00] [ 1.21071628e-02 9.99926706e-01 -1.12962218e-05 9.51607508e-04] [-9.72193456e-03 1.29010188e-04 9.99952733e-01 -5.66304287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters 0.016592631069859073 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.00, Z:-0.06 [[ 9.99868354e-01 -1.38692019e-02 8.42143030e-03 3.50269232e+00] [ 1.38697751e-02 9.99903810e-01 -9.65670734e-06 -3.91787254e-03] [-8.42048631e-03 1.26458780e-04 9.99964539e-01 -5.83429718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters 0.01682695748040644 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.01, Z:-0.06 [[ 9.99836453e-01 -1.56987499e-02 8.97867101e-03 3.56272366e+00] [ 1.56994799e-02 9.99876756e-01 -1.08212677e-05 -5.94275559e-03] [-8.97739456e-03 1.51779963e-04 9.99959691e-01 -5.79412363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters 0.015954870307618264 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.01, Z:-0.06 [[ 9.99838371e-01 -1.54600441e-02 9.17711262e-03 3.62198558e+00] [ 1.54608065e-02 9.99880475e-01 -1.21360815e-05 -5.38772808e-03] [-9.17582810e-03 1.54019682e-04 9.99957889e-01 -5.78349226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters 0.016716649707921083 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.01, Z:-0.06 [[ 9.99840403e-01 -1.53596785e-02 9.12411213e-03 3.68129694e+00] [ 1.53603950e-02 9.99882022e-01 -8.44864394e-06 -5.40422351e-03] [-9.12290591e-03 1.48597262e-04 9.99958374e-01 -5.93934908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters 0.01689790865610826 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.00, Z:-0.06 [[ 9.99882639e-01 -1.26943675e-02 8.57679830e-03 3.74062689e+00] [ 1.26949122e-02 9.99919416e-01 -9.06944652e-06 -2.41361979e-03] [-8.57599202e-03 1.17950084e-04 9.99963219e-01 -6.16345245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters 0.017135140497227648 Centerline is valid? [True, True] Translation: X:3.80, Y:0.00, Z:-0.06 [[ 9.99908266e-01 -9.80819466e-03 9.34126284e-03 3.80122846e+00] [ 9.80867851e-03 9.99951894e-01 -5.98447244e-06 1.85451868e-03] [-9.34075477e-03 9.76093675e-05 9.99956369e-01 -6.22722701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters 0.016234097783329553 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.00, Z:-0.06 [[ 9.99920966e-01 -9.66880263e-03 8.03591087e-03 3.86195222e+00] [ 9.66915512e-03 9.99953253e-01 -5.01336968e-06 -5.83574066e-04] [-8.03548674e-03 8.27134422e-05 9.99967712e-01 -6.40363326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters 0.016537156474951704 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.00, Z:-0.06 [[ 9.99917357e-01 -1.00350764e-02 8.03592878e-03 3.92228612e+00] [ 1.00354429e-02 9.99949644e-01 -5.28678156e-06 -1.49206852e-03] [-8.03547106e-03 8.59304490e-05 9.99967711e-01 -6.37077145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters 0.01635672234110634 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.00, Z:-0.06 [[ 9.99923138e-01 -9.42340193e-03 8.05719967e-03 3.98285805e+00] [ 9.42375053e-03 9.99955595e-01 -5.30077554e-06 -1.02222088e-04] [-8.05679195e-03 8.12294078e-05 9.99967540e-01 -6.41614395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters 0.016459627287043425 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.00, Z:-0.07 [[ 9.99904346e-01 -1.23381195e-02 6.25061289e-03 4.04335414e+00] [ 1.23383821e-02 9.99923879e-01 -3.45018267e-06 -3.36428842e-03] [-6.25009452e-03 8.05723027e-05 9.99980465e-01 -6.77865937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters 0.018461720430594245 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.01, Z:-0.07 [[ 9.99846470e-01 -1.59664232e-02 7.21867536e-03 4.10213446e+00] [ 1.59668920e-02 9.99872521e-01 -7.31377613e-06 -6.41661859e-03] [-7.21763836e-03 1.22572463e-04 9.99973945e-01 -6.85466463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters 0.017567716385956698 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.01, Z:-0.07 [[ 9.99794112e-01 -1.83543705e-02 8.65167491e-03 4.16100608e+00] [ 1.83551089e-02 9.99831531e-01 -5.94991851e-06 -8.85092387e-03] [-8.65010816e-03 1.64751129e-04 9.99962574e-01 -6.79715204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters 0.01868068476272259 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.01, Z:-0.07 [[ 9.99740794e-01 -2.05110170e-02 9.88145610e-03 4.22007982e+00] [ 2.05120567e-02 9.99789606e-01 -3.86875025e-06 -9.96778923e-03] [-9.87929774e-03 2.06556735e-04 9.99951177e-01 -6.84246619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters 0.017491391797789115 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.01, Z:-0.07 [[ 9.99746123e-01 -1.94943314e-02 1.12987331e-02 4.27866983e+00] [ 1.94955894e-02 9.99809943e-01 -1.19128371e-06 -7.95377047e-03] [-1.12965625e-02 2.21466443e-04 9.99936167e-01 -6.84859468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters 0.017679063726519176 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.01, Z:-0.07 [[ 9.99727294e-01 -2.05105766e-02 1.11648732e-02 4.33722919e+00] [ 2.05118387e-02 9.99789610e-01 1.46604659e-06 -8.45157420e-03] [-1.11625543e-02 2.27546431e-04 9.99937671e-01 -7.00174170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters 0.017743851756743683 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.00, Z:-0.07 [[ 9.99742045e-01 -1.91994112e-02 1.21336621e-02 4.39476064e+00] [ 1.92007582e-02 9.99815648e-01 5.48490360e-06 -4.54707327e-03] [-1.21315306e-02 2.27492023e-04 9.99926384e-01 -7.31458236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters 0.018451015197202093 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.01, Z:-0.07 [[ 9.99725917e-01 -2.06664753e-02 1.09994714e-02 4.45441534e+00] [ 2.06676592e-02 9.99786401e-01 6.03951282e-06 -6.25075042e-03] [-1.09972467e-02 2.21295468e-04 9.99939504e-01 -7.48078989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters 0.01896743408978889 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:-0.08 [[ 9.99738208e-01 -2.14968087e-02 7.83592254e-03 4.51374268e+00] [ 2.14974470e-02 9.99768903e-01 2.76662834e-06 -1.02588075e-02] [-7.83417115e-03 1.65686426e-04 9.99969299e-01 -7.67101101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters 0.018291524095754044 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.01, Z:-0.08 [[ 9.99745229e-01 -2.08485051e-02 8.64972156e-03 4.57249431e+00] [ 2.08492373e-02 9.99782631e-01 5.52305931e-06 -7.55009863e-03] [-8.64795653e-03 1.74818446e-04 9.99962590e-01 -7.75097123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters 0.018077957760061727 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.01, Z:-0.08 [[ 9.99704906e-01 -2.20993855e-02 1.00854972e-02 4.63143764e+00] [ 2.21004142e-02 9.99755756e-01 9.45989679e-06 -6.28793787e-03] [-1.00832429e-02 2.13436559e-04 9.99949140e-01 -7.88685209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters 0.01773391674776216 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.00, Z:-0.08 [[ 9.99712828e-01 -2.06178108e-02 1.22134246e-02 4.68986099e+00] [ 2.06191618e-02 9.99787402e-01 1.53076187e-05 -4.62453163e-03] [-1.22111436e-02 2.36527355e-04 9.99925413e-01 -7.94298516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters 0.017853911542971324 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.00, Z:-0.08 [[ 9.99746828e-01 -1.85643378e-02 1.27139643e-02 4.74871634e+00] [ 1.85655947e-02 9.99827644e-01 1.91638222e-05 -4.03178614e-04] [-1.27121287e-02 2.16883338e-04 9.99919174e-01 -8.07954579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters 0.017484162224916003 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.00, Z:-0.08 [[ 9.99792242e-01 -1.68496513e-02 1.14700793e-02 4.80797799e+00] [ 1.68505205e-02 9.99858020e-01 2.08628450e-05 -2.63361901e-04] [-1.14688023e-02 1.72418295e-04 9.99934216e-01 -8.26435298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters 0.017884079864188378 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.00, Z:-0.08 [[ 9.99797518e-01 -1.67699949e-02 1.11215790e-02 4.86716871e+00] [ 1.67708104e-02 9.99859360e-01 1.99431636e-05 -3.07306303e-03] [-1.11203493e-02 1.66578766e-04 9.99938153e-01 -8.45663610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters 0.018025040399261442 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.00, Z:-0.09 [[ 9.99809221e-01 -1.61901784e-02 1.09270114e-02 4.92672950e+00] [ 1.61909269e-02 9.99868918e-01 1.99664582e-05 -2.06158542e-03] [-1.09259023e-02 1.56955794e-04 9.99940298e-01 -8.66956242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters 0.016537932828223446 Centerline is valid? [True, True] Translation: X:4.99, Y:0.00, Z:-0.09 [[ 9.99810646e-01 -1.39866407e-02 1.35294862e-02 4.98691674e+00] [ 1.39875795e-02 9.99902169e-01 2.52434665e-05 8.77794447e-04] [-1.35285157e-02 1.64006077e-04 9.99908472e-01 -8.74155303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters 0.01703351380574452 Centerline is valid? [True, True] Translation: X:5.05, Y:0.00, Z:-0.09 [[ 9.99842752e-01 -1.13062770e-02 1.36616285e-02 5.04802517e+00] [ 1.13069657e-02 9.99936074e-01 2.68289256e-05 3.42238972e-04] [-1.36610585e-02 1.27646858e-04 9.99906675e-01 -8.81129020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters 0.016675341738475926 Centerline is valid? [True, True] Translation: X:5.11, Y:0.00, Z:-0.09 [[ 9.99878550e-01 -5.87699656e-03 1.44341752e-02 5.10947094e+00] [ 5.87720729e-03 9.99982729e-01 2.78195513e-05 3.07816467e-03] [-1.44340894e-02 5.70164671e-05 9.99895821e-01 -8.88861263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters 0.017787508465883225 Centerline is valid? [True, True] Translation: X:5.17, Y:0.01, Z:-0.09 [[ 9.99894392e-01 -1.36247122e-03 1.44688680e-02 5.17174407e+00] [ 1.36222120e-03 9.99999072e-01 2.71354424e-05 7.87389119e-03] [-1.44688916e-02 -7.42277786e-06 9.99895320e-01 -9.15600298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters 0.015609734771268983 Centerline is valid? [True, True] Translation: X:5.23, Y:0.01, Z:-0.09 [[ 9.99878150e-01 2.81704002e-03 1.53541453e-02 5.23253487e+00] [-2.81779646e-03 9.99996030e-01 2.76328899e-05 1.15066105e-02] [-1.53540065e-02 -7.08943792e-05 9.99882118e-01 -9.32057387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters 0.017393869106955173 Centerline is valid? [True, True] Translation: X:5.29, Y:0.01, Z:-0.10 [[ 9.99870777e-01 4.12893730e-03 1.55364604e-02 5.29452404e+00] [-4.12985751e-03 9.99991472e-01 2.71452732e-05 1.16150021e-02] [-1.55362158e-02 -9.13051330e-05 9.99879302e-01 -9.52233050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters 0.016140611505488803 Centerline is valid? [True, True] Translation: X:5.36, Y:0.01, Z:-0.10 [[ 9.99865281e-01 5.13576892e-03 1.55898425e-02 5.35739517e+00] [-5.13680141e-03 9.99986806e-01 2.61851190e-05 1.13581047e-02] [-1.55895023e-02 -1.06263516e-04 9.99878471e-01 -9.70285395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters 0.01600340741957597 Centerline is valid? [True, True] Translation: X:5.42, Y:0.01, Z:-0.10 [[ 9.99851235e-01 7.47397554e-03 1.55450044e-02 5.41969261e+00] [-7.47521405e-03 9.99972060e-01 2.15690229e-05 1.38171780e-02] [-1.55444089e-02 -1.37768050e-04 9.99879169e-01 -9.97533650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters 0.01653710529096848 Centerline is valid? [True, True] Translation: X:5.48, Y:0.02, Z:-0.10 [[ 9.99839664e-01 1.14343334e-02 1.37805102e-02 5.48021869e+00] [-1.14356743e-02 9.99934610e-01 1.85053809e-05 1.70733261e-02] [-1.37793975e-02 -1.76091840e-04 9.99905044e-01 -1.02081484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters 0.01676970793751914 Centerline is valid? [True, True] Translation: X:5.54, Y:0.02, Z:-0.10 [[ 9.99838504e-01 1.20870891e-02 1.32991676e-02 5.54302498e+00] [-1.20883653e-02 9.99926933e-01 1.55708819e-05 1.66473601e-02] [-1.32980076e-02 -1.76333563e-04 9.99911562e-01 -1.03533690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters 0.017522732002555337 Centerline is valid? [True, True] Translation: X:5.61, Y:0.02, Z:-0.10 [[ 9.99848489e-01 1.21513411e-02 1.24637068e-02 5.60607366e+00] [-1.21524256e-02 9.99926156e-01 1.12734605e-05 1.60366495e-02] [-1.24626495e-02 -1.62736022e-04 9.99922325e-01 -1.04975783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters 0.016433635200315443 Centerline is valid? [True, True] Translation: X:5.67, Y:0.02, Z:-0.10 [[ 9.99836235e-01 1.20423802e-02 1.35086438e-02 5.66736874e+00] [-1.20435810e-02 9.99927473e-01 7.54574917e-06 1.69317184e-02] [-1.35075732e-02 -1.70236959e-04 9.99908754e-01 -1.04731190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters 0.01716944709660042 Centerline is valid? [True, True] Translation: X:5.73, Y:0.02, Z:-0.10 [[ 9.99833511e-01 1.10321675e-02 1.45341607e-02 5.73000871e+00] [-1.10334177e-02 9.99939130e-01 5.82881706e-06 1.53785104e-02] [-1.45332117e-02 -1.66189311e-04 9.99894373e-01 -1.04849546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters 0.01696127522952046 Centerline is valid? [True, True] Translation: X:5.79, Y:0.01, Z:-0.11 [[ 9.99815929e-01 1.16011965e-02 1.52813442e-02 5.79273264e+00] [-1.16026246e-02 9.99932687e-01 4.79604266e-06 1.47141997e-02] [-1.52802599e-02 -1.82098859e-04 9.99883233e-01 -1.05192039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters 0.017238481703996236 Centerline is valid? [True, True] Translation: X:5.85, Y:0.01, Z:-0.11 [[ 9.99844350e-01 1.11935208e-02 1.36374578e-02 5.85474474e+00] [-1.11945703e-02 9.99937339e-01 6.16253876e-07 1.44127329e-02] [-1.36365964e-02 -1.53281638e-04 9.99907006e-01 -1.07408835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters 0.017290990215161416 Centerline is valid? [True, True] Translation: X:5.92, Y:0.01, Z:-0.11 [[ 9.99867582e-01 9.91749141e-03 1.29019873e-02 5.91719144e+00] [-9.91829982e-03 9.99950812e-01 -1.32815897e-06 1.25918703e-02] [-1.29013658e-02 -1.26637795e-04 9.99916766e-01 -1.09077211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters 0.01649353529849644 Centerline is valid? [True, True] Translation: X:5.98, Y:0.01, Z:-0.11 [[ 9.99873311e-01 8.48360304e-03 1.34681270e-02 5.97875035e+00] [-8.48430620e-03 9.99964008e-01 -4.92719525e-06 1.25363421e-02] [-1.34676840e-02 -1.09341142e-04 9.99909301e-01 -1.09795091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters 0.017012437230112025 Centerline is valid? [True, True] Translation: X:6.04, Y:0.01, Z:-0.11 [[ 9.99858227e-01 9.28908551e-03 1.40441867e-02 6.04159410e+00] [-9.28987972e-03 9.99956848e-01 -8.68754164e-06 1.37507339e-02] [-1.40436614e-02 -1.21782495e-04 9.99901376e-01 -1.10847156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters 0.015805339273035374 Centerline is valid? [True, True] Translation: X:6.10, Y:0.01, Z:-0.11 [[ 9.99846696e-01 9.43267165e-03 1.47515571e-02 6.10424214e+00] [-9.43349950e-03 9.99955503e-01 -1.34642314e-05 1.28201709e-02] [-1.47510277e-02 -1.25696639e-04 9.99891190e-01 -1.11201481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters 0.016600858915050566 Centerline is valid? [True, True] Translation: X:6.17, Y:0.01, Z:-0.11 [[ 9.99855075e-01 8.79592464e-03 1.45760529e-02 6.16719626e+00] [-8.79660541e-03 9.99961309e-01 -1.74095547e-05 1.25082371e-02] [-1.45756421e-02 -1.10812754e-04 9.99893764e-01 -1.11905006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters 0.017235015834053125 Centerline is valid? [True, True] Translation: X:6.23, Y:0.02, Z:-0.11 [[ 9.99846290e-01 1.03611985e-02 1.41436064e-02 6.22880696e+00] [-1.03619398e-02 9.99946313e-01 -2.08681321e-05 1.51293265e-02] [-1.41430633e-02 -1.25690274e-04 9.99899974e-01 -1.13765581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters 0.01824948363666712 Centerline is valid? [True, True] Translation: X:6.29, Y:0.02, Z:-0.12 [[ 9.99846259e-01 1.12363398e-02 1.34611873e-02 6.29125447e+00] [-1.12370457e-02 9.99936862e-01 -2.31936804e-05 1.62271769e-02] [-1.34605980e-02 -1.28073863e-04 9.99909394e-01 -1.15012082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters 0.01839632052930965 Centerline is valid? [True, True] Translation: X:6.35, Y:0.02, Z:-0.12 [[ 9.99837420e-01 1.26485020e-02 1.28510447e-02 6.35357355e+00] [-1.26492159e-02 9.99919995e-01 -2.57292734e-05 1.71769240e-02] [-1.28503420e-02 -1.36830548e-04 9.99917422e-01 -1.16071327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters 0.018308572252084862 Centerline is valid? [True, True] Translation: X:6.42, Y:0.02, Z:-0.12 [[ 9.99825043e-01 1.38550470e-02 1.25667037e-02 6.41624397e+00] [-1.38557882e-02 9.99904004e-01 -2.80827736e-05 1.76104672e-02] [-1.25658864e-02 -1.46043725e-04 9.99921035e-01 -1.17255360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters 0.019165672041292714 Centerline is valid? [True, True] Translation: X:6.48, Y:0.02, Z:-0.12 [[ 9.99815897e-01 1.46768207e-02 1.23597407e-02 6.47952895e+00] [-1.46775581e-02 9.99892278e-01 -3.10493446e-05 1.87430144e-02] [-1.23588650e-02 -1.50367185e-04 9.99923615e-01 -1.19291761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters 0.018269052461092155 Centerline is valid? [True, True] Translation: X:6.54, Y:0.02, Z:-0.12 [[ 9.99813823e-01 1.52347559e-02 1.18415480e-02 6.54257211e+00] [-1.52354350e-02 9.99883933e-01 -3.28633118e-05 1.91233200e-02] [-1.18406743e-02 -1.47553942e-04 9.99929886e-01 -1.20919564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters 0.018738635165257117 Centerline is valid? [True, True] Translation: X:6.60, Y:0.02, Z:-0.12 [[ 9.99804088e-01 1.62960596e-02 1.12349828e-02 6.60497385e+00] [-1.62967029e-02 9.99867199e-01 -3.42901327e-05 2.04136519e-02] [-1.12340495e-02 -1.48809762e-04 9.99936885e-01 -1.22176703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters 0.01920116861519131 Centerline is valid? [True, True] Translation: X:6.67, Y:0.02, Z:-0.12 [[ 9.99776644e-01 1.86697707e-02 9.90462137e-03 6.66689292e+00] [-1.86703673e-02 9.99825693e-01 -3.22399820e-05 2.23398239e-02] [-9.90349684e-03 -1.52690138e-04 9.99950948e-01 -1.23562759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters 0.019997902279741075 Centerline is valid? [True, True] Translation: X:6.73, Y:0.02, Z:-0.12 [[ 9.99751075e-01 2.00266078e-02 9.83479023e-03 6.72889111e+00] [-2.00272380e-02 9.99799434e-01 -3.44172191e-05 2.27611859e-02] [-9.83350696e-03 -1.62555032e-04 9.99951637e-01 -1.24867709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters 0.02029252812710914 Centerline is valid? [True, True] Translation: X:6.79, Y:0.02, Z:-0.13 [[ 9.99750725e-01 2.07613988e-02 8.21295407e-03 6.79141549e+00] [-2.07618512e-02 9.99784449e-01 -3.01817293e-05 2.44201101e-02] [-8.21181038e-03 -1.40341924e-04 9.99966273e-01 -1.25443781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters 0.01959867202383216 Centerline is valid? [True, True] Translation: X:6.85, Y:0.02, Z:-0.13 [[ 9.99776118e-01 2.03788791e-02 5.69341956e-03 6.85412116e+00] [-2.03790909e-02 9.99792325e-01 -2.08058850e-05 2.43740048e-02] [-5.69266117e-03 -9.52254878e-05 9.99983792e-01 -1.26202581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters 0.02282236683710314 Centerline is valid? [True, True] Translation: X:6.92, Y:0.03, Z:-0.13 [[ 9.99680546e-01 2.49867596e-02 3.80377499e-03 6.91608410e+00] [-2.49868794e-02 9.99687779e-01 -1.60330634e-05 2.98980275e-02] [-3.80298798e-03 -7.90165252e-05 9.99992765e-01 -1.28796667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters 0.021735587396617212 Centerline is valid? [True, True] Translation: X:6.98, Y:0.03, Z:-0.13 [[ 9.99738339e-01 2.28355130e-02 1.33899893e-03 6.97786192e+00] [-2.28355302e-02 9.99739235e-01 -2.49280732e-06 2.74868240e-02] [-1.33870669e-03 -2.80845953e-05 9.99999104e-01 -1.30034967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters 0.021212261390292225 Centerline is valid? [True, True] Translation: X:7.04, Y:0.03, Z:-0.13 [[ 9.99787219e-01 2.06277551e-02 -1.13452547e-04 7.04018583e+00] [-2.06277547e-02 9.99787225e-01 4.48358114e-06 2.58852300e-02] [ 1.13520893e-04 -2.14235581e-06 9.99999994e-01 -1.29637812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters 0.021554126734406646 Centerline is valid? [True, True] Translation: X:7.10, Y:0.03, Z:-0.13 [[ 9.99845261e-01 1.74078795e-02 -2.53372351e-03 7.10276261e+00] [-1.74078901e-02 9.99848471e-01 1.78558780e-05 2.50496240e-02] [ 2.53365041e-03 2.62536654e-05 9.99996790e-01 -1.30040077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters 0.020698447476015812 Centerline is valid? [True, True] Translation: X:7.16, Y:0.01, Z:-0.13 [[ 9.99966614e-01 6.24791740e-03 -5.26638322e-03 7.16477530e+00] [-6.24783055e-03 9.99980482e-01 3.29424829e-05 1.24039997e-02] [ 5.26648625e-03 -3.79130568e-08 9.99986132e-01 -1.29656981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters 0.020733768751626233 Centerline is valid? [True, True] Translation: X:7.22, Y:0.01, Z:-0.13 [[ 9.99989158e-01 -2.71438846e-03 -3.78362488e-03 7.22477727e+00] [ 2.71448693e-03 9.99996316e-01 2.08904377e-05 6.19102042e-03] [ 3.78355424e-03 -3.11608115e-05 9.99992842e-01 -1.29001619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters 0.021768859221785536 Centerline is valid? [True, True] Translation: X:7.28, Y:0.00, Z:-0.13 [[ 9.99960301e-01 -8.47102309e-03 -2.76360718e-03 7.28406411e+00] [ 8.47109400e-03 9.99964120e-01 1.39525519e-05 3.51100291e-03] [ 2.76338983e-03 -3.73627742e-05 9.99996181e-01 -1.27677323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters 0.023194529481323226 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.00, Z:-0.13 [[ 9.99913839e-01 -1.29829066e-02 -1.93879608e-03 7.34240011e+00] [ 1.29829485e-02 9.99915718e-01 9.02411056e-06 -3.35958496e-04] [ 1.93851552e-03 -3.41946226e-05 9.99998120e-01 -1.26725746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters 0.023836968639396678 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.00, Z:-0.13 [[ 9.99809462e-01 -1.93427416e-02 -2.62645712e-03 7.40139658e+00] [ 1.93428417e-02 9.99812910e-01 1.27164977e-05 -4.06763124e-03] [ 2.62571976e-03 -6.35172190e-05 9.99996551e-01 -1.25332369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters 0.026997537975654646 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.01, Z:-0.13 [[ 9.99682885e-01 -2.49959377e-02 -3.05508113e-03 7.46025354e+00] [ 2.49961018e-02 9.99687549e-01 1.55130007e-05 -9.90809645e-03] [ 3.05373880e-03 -9.18732001e-05 9.99995333e-01 -1.27852868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters 0.026569558693727492 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.01, Z:-0.13 [[ 9.99460602e-01 -3.27943938e-02 -1.74165587e-03 7.52077856e+00] [ 3.27944591e-02 9.99462117e-01 8.96831248e-06 -1.24126595e-02] [ 1.74042495e-03 -6.60801372e-05 9.99998483e-01 -1.25372023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters 0.027394668489525164 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.01, Z:-0.13 [[ 9.99448402e-01 -3.32030930e-02 -6.68409824e-04 7.57858242e+00] [ 3.32031018e-02 9.99448625e-01 2.09798168e-06 -1.36397602e-02] [ 6.67971620e-04 -2.42901039e-05 9.99999777e-01 -1.26195944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters 0.02771993640205205 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.02, Z:-0.13 [[ 9.99285935e-01 -3.77749458e-02 -8.20559350e-04 7.63848900e+00] [ 3.77749618e-02 9.99286271e-01 3.94651980e-06 -1.66335266e-02] [ 8.19824614e-04 -3.49402998e-05 9.99999663e-01 -1.25674821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters 0.029471757118836588 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.02, Z:-0.13 [[ 9.98992773e-01 -4.48497350e-02 -1.39343928e-03 7.69856045e+00] [ 4.48497884e-02 9.98993742e-01 7.09492659e-06 -2.02921168e-02] [ 1.39171892e-03 -6.95832374e-05 9.99999029e-01 -1.28046215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters 0.031808850680128356 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.02, Z:-0.13 [[ 9.98777551e-01 -4.94305976e-02 1.38094837e-04 7.75888297e+00] [ 4.94305982e-02 9.98777561e-01 -1.07185368e-06 -2.31123509e-02] [-1.37873042e-04 7.89665380e-06 9.99999990e-01 -1.28481583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters 0.030934701279076954 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.03, Z:-0.13 [[ 9.98408799e-01 -5.63248330e-02 2.71739229e-03 7.81913721e+00] [ 5.63250789e-02 9.98412483e-01 -1.39897418e-05 -2.51440929e-02] [-2.71229041e-03 1.67024816e-04 9.99996308e-01 -1.27467796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946559995 meters 0.03476696121581514 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.03, Z:-0.13 [[ 9.98162771e-01 -6.04306681e-02 4.38380210e-03 7.87842338e+00] [ 6.04313482e-02 9.98172356e-01 -2.27150364e-05 -2.84897797e-02] [-4.37441739e-03 2.87592375e-04 9.99990391e-01 -1.29437740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters 0.03349369072482755 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.03, Z:-0.13 [[ 9.98078837e-01 -6.18044777e-02 4.34061408e-03 7.93771082e+00] [ 6.18051580e-02 9.98088234e-01 -2.26460853e-05 -2.97326654e-02] [-4.33091621e-03 2.90874918e-04 9.99990579e-01 -1.29641352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters 0.033321389411554915 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.03, Z:-0.13 [[ 9.98073756e-01 -6.18504643e-02 4.82679696e-03 7.99692538e+00] [ 6.18513145e-02 9.98085374e-01 -2.69191831e-05 -3.06169488e-02] [-4.81589048e-03 3.25411067e-04 9.99988351e-01 -1.29994086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters 0.03498037113934953 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.03, Z:-0.13 [[ 9.98225834e-01 -5.92667012e-02 5.71336389e-03 8.05568314e+00] [ 5.92678265e-02 9.98242117e-01 -2.77080195e-05 -3.13137800e-02] [-5.70167831e-03 3.66277521e-04 9.99983678e-01 -1.31949251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters 0.030390829400948553 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.03, Z:-0.13 [[ 9.98374913e-01 -5.67271274e-02 5.43745913e-03 8.11558886e+00] [ 5.67281073e-02 9.98389664e-01 -2.60433093e-05 -2.65054503e-02] [-5.42722563e-03 3.34457752e-04 9.99985217e-01 -1.33020089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters 0.03057419597274119 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.03, Z:-0.13 [[ 9.98555765e-01 -5.33784279e-02 6.09322323e-03 8.17517989e+00] [ 5.33795965e-02 9.98574293e-01 -2.92103029e-05 -2.58338484e-02] [-6.08297688e-03 3.54421914e-04 9.99981436e-01 -1.34572663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters 0.02832338812498865 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.02, Z:-0.14 [[ 9.99011508e-01 -4.38677143e-02 7.18537946e-03 8.23598796e+00] [ 4.38690899e-02 9.99037287e-01 -3.38620633e-05 -2.04260260e-02] [-7.17697655e-03 3.49044648e-04 9.99974184e-01 -1.35929644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters 0.027640234739287728 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.02, Z:-0.14 [[ 9.99270747e-01 -3.75908453e-02 6.70096837e-03 8.29561980e+00] [ 3.75919013e-02 9.99293174e-01 -3.16645779e-05 -2.16245283e-02] [-6.69504166e-03 2.83543628e-04 9.99977548e-01 -1.37626616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters 0.024409406316620433 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.02, Z:-0.14 [[ 9.99420829e-01 -3.33092398e-02 6.96424284e-03 8.35556475e+00] [ 3.33102768e-02 9.99445058e-01 -3.29383559e-05 -1.60367848e-02] [-6.95928094e-03 2.64900136e-04 9.99975749e-01 -1.38253749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters 0.024625765870134812 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.02, Z:-0.14 [[ 9.99533521e-01 -2.98573679e-02 6.42472368e-03 8.41544979e+00] [ 2.98581765e-02 9.99554145e-01 -2.99569350e-05 -1.64120276e-02] [-6.42096475e-03 2.21773494e-04 9.99979361e-01 -1.40570757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters 0.022226866069416634 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.01, Z:-0.14 [[ 9.99608482e-01 -2.68752789e-02 7.78477340e-03 8.47411579e+00] [ 2.68763775e-02 9.99638764e-01 -3.65276774e-05 -1.40598623e-02] [-7.78097957e-03 2.45739885e-04 9.99969698e-01 -1.40146729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters 0.0220255614605994 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.01, Z:-0.14 [[ 9.99681662e-01 -2.36809186e-02 8.70571441e-03 8.53361198e+00] [ 2.36821748e-02 9.99719537e-01 -4.12319401e-05 -1.21429303e-02] [-8.70229637e-03 2.47389065e-04 9.99962104e-01 -1.41519058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters 0.020995422196041166 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.01, Z:-0.14 [[ 9.99688667e-01 -2.33466162e-02 8.80370252e-03 8.59258938e+00] [ 2.33478712e-02 9.99727401e-01 -3.97874051e-05 -1.32037471e-02] [-8.80037374e-03 2.45322731e-04 9.99961246e-01 -1.42436325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters 0.02207750482013534 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.01, Z:-0.14 [[ 9.99658352e-01 -2.46303412e-02 8.74791904e-03 8.65145594e+00] [ 2.46316115e-02 9.99696595e-01 -3.74895172e-05 -1.40688572e-02] [-8.74434150e-03 2.52952052e-04 9.99961736e-01 -1.43779916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters 0.021662391776601144 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.02, Z:-0.15 [[ 9.99610963e-01 -2.66547679e-02 8.21259510e-03 8.71051102e+00] [ 2.66559414e-02 9.99644667e-01 -3.34462223e-05 -1.67520952e-02] [-8.20878539e-03 2.52347664e-04 9.99966276e-01 -1.45357061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters 0.021670184006860733 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.02, Z:-0.15 [[ 9.99619803e-01 -2.62080541e-02 8.56668671e-03 8.76946471e+00] [ 2.62092955e-02 9.99656477e-01 -3.26606958e-05 -1.63152250e-02] [-8.56288788e-03 2.57175102e-04 9.99963305e-01 -1.45570819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters 0.02079299172099777 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.02, Z:-0.15 [[ 9.99669162e-01 -2.41812564e-02 8.76542546e-03 8.82767271e+00] [ 2.41824492e-02 9.99707561e-01 -3.00997495e-05 -1.55426932e-02] [-8.76213426e-03 2.42059247e-04 9.99961582e-01 -1.47025545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters 0.020749733209017584 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.01, Z:-0.15 [[ 9.99647244e-01 -2.48101626e-02 9.47858829e-03 8.88561273e+00] [ 2.48115884e-02 9.99692145e-01 -3.28480318e-05 -1.43797570e-02] [-9.47485529e-03 2.68015276e-04 9.99955077e-01 -1.48406055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters 0.021177284249774397 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.01, Z:-0.15 [[ 9.99646173e-01 -2.49340464e-02 9.26407527e-03 8.94298256e+00] [ 2.49353815e-02 9.99689065e-01 -2.86209066e-05 -1.45097161e-02] [-9.26048111e-03 2.59614031e-04 9.99957087e-01 -1.50697317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters 0.022347149525340435 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.02, Z:-0.15 [[ 9.99514943e-01 -2.98528744e-02 8.87044242e-03 9.00250001e+00] [ 2.98542780e-02 9.99554261e-01 -2.58387111e-05 -1.85620275e-02] [-8.86571716e-03 2.90646832e-04 9.99960657e-01 -1.51658504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters 0.02202201502173047 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.02, Z:-0.15 [[ 9.99318588e-01 -3.52500442e-02 1.09450425e-02 9.06270146e+00] [ 3.52524983e-02 9.99378437e-01 -3.13172909e-05 -1.85941700e-02] [-1.09371355e-02 4.17136043e-04 9.99940101e-01 -1.50728086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters 0.023409389667440862 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.02, Z:-0.15 [[ 9.99143866e-01 -3.96103828e-02 1.19395695e-02 9.12306893e+00] [ 3.96136104e-02 9.99215072e-01 -3.38620290e-05 -1.98233515e-02] [-1.19288565e-02 5.06802493e-04 9.99928720e-01 -1.52167542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters 0.026372481057344594 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.02, Z:-0.15 [[ 9.99103879e-01 -4.04296079e-02 1.25254301e-02 9.18054509e+00] [ 4.04332278e-02 9.99182242e-01 -3.58072468e-05 -2.43113832e-02] [-1.25137396e-02 5.42218726e-04 9.99921553e-01 -1.53225273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters 0.023633902747460623 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.02, Z:-0.16 [[ 9.99118431e-01 -4.03039699e-02 1.17452545e-02 9.23958835e+00] [ 4.03071410e-02 9.99187336e-01 -3.33021185e-05 -1.97187765e-02] [-1.17343673e-02 5.06690389e-04 9.99931022e-01 -1.56259762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters 0.022429581922547414 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.02, Z:-0.16 [[ 9.99240398e-01 -3.66208368e-02 1.33244797e-02 9.29911119e+00] [ 3.66245345e-02 9.99329096e-01 -3.35273851e-05 -1.53170278e-02] [-1.33143125e-02 5.21504786e-04 9.99911225e-01 -1.59112573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters 0.023231969075224995 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.01, Z:-0.16 [[ 9.99268503e-01 -3.60913133e-02 1.26442243e-02 9.35813553e+00] [ 3.60946041e-02 9.99348377e-01 -3.20769319e-05 -1.48015113e-02] [-1.26348274e-02 4.88441739e-04 9.99920058e-01 -1.61105627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters 0.022664922011139378 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.02, Z:-0.16 [[ 9.99256870e-01 -3.63150477e-02 1.29199656e-02 9.41646931e+00] [ 3.63184617e-02 9.99340267e-01 -2.96379750e-05 -1.52213042e-02] [-1.29103655e-02 4.98849226e-04 9.99916533e-01 -1.61882340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters 0.02250782863090355 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.02, Z:-0.16 [[ 9.99223424e-01 -3.70305726e-02 1.34642072e-02 9.47525349e+00] [ 3.70342916e-02 9.99313995e-01 -2.69011435e-05 -1.69681475e-02] [-1.34539745e-02 5.25517627e-04 9.99909353e-01 -1.64473351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters 0.020500974466837296 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.01, Z:-0.17 [[ 9.99198511e-01 -3.75738142e-02 1.38037640e-02 9.53377455e+00] [ 3.75777278e-02 9.99293707e-01 -2.41685555e-05 -1.35215689e-02] [-1.37931064e-02 5.42863272e-04 9.99904723e-01 -1.66609802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters 0.023036670252754507 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.02, Z:-0.17 [[ 9.99090501e-01 -4.03481029e-02 1.37913732e-02 9.59205594e+00] [ 4.03522206e-02 9.99185517e-01 -2.03220757e-05 -2.01531782e-02] [-1.37793204e-02 5.76816127e-04 9.99904894e-01 -1.68405653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters 0.022219426023174685 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.02, Z:-0.17 [[ 9.99086027e-01 -4.00710606e-02 1.48802371e-02 9.65061145e+00] [ 4.00758088e-02 9.99196642e-01 -2.09284124e-05 -1.80308578e-02] [-1.48674443e-02 6.17246821e-04 9.99889283e-01 -1.69144915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters 0.022608654507766834 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.02, Z:-0.17 [[ 9.99069706e-01 -4.05378766e-02 1.47106598e-02 9.70922933e+00] [ 4.05425153e-02 9.99177814e-01 -1.71265566e-05 -1.93838855e-02] [-1.46978706e-02 6.13517773e-04 9.99891792e-01 -1.70356485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters 0.022709716278939144 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.02, Z:-0.17 [[ 9.99092038e-01 -4.01008610e-02 1.43882397e-02 9.76842800e+00] [ 4.01052041e-02 9.99195463e-01 -1.33203667e-05 -1.84079026e-02] [-1.43761297e-02 5.90351562e-04 9.99896484e-01 -1.72607275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters 0.021356173763867257 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.01, Z:-0.17 [[ 9.99272768e-01 -3.51751623e-02 1.47187922e-02 9.82862606e+00] [ 3.51791163e-02 9.99381023e-01 -9.73369147e-06 -1.15351025e-02] [-1.47093392e-02 5.27520716e-04 9.99891673e-01 -1.74894268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters 0.021632554843943316 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.01, Z:-0.18 [[ 9.99276341e-01 -3.55444042e-02 1.35421787e-02 9.88650383e+00] [ 3.55477864e-02 9.99367978e-01 -9.05125880e-06 -1.38287489e-02] [-1.35332981e-02 4.90439186e-04 9.99908300e-01 -1.76731415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters 0.02174610476037771 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.02, Z:-0.18 [[ 9.99232447e-01 -3.70813651e-02 1.26288685e-02 9.94536892e+00] [ 3.70843871e-02 9.99312138e-01 -5.12272516e-06 -1.69405981e-02] [-1.26199916e-02 4.73452641e-04 9.99920253e-01 -1.77859090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters 0.022270891701817678 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.01, Z:-0.18 [[ 9.99290269e-01 -3.53204168e-02 1.30929867e-02 1.00042108e+01] [ 3.53234703e-02 9.99375931e-01 -1.96527955e-06 -1.35555710e-02] [-1.30847464e-02 4.64453611e-04 9.99914283e-01 -1.79291739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters 0.019993021792909873 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.01, Z:-0.18 [[ 9.99316676e-01 -3.47503296e-02 1.25935087e-02 1.00630760e+01] [ 3.47530749e-02 9.99395929e-01 8.51921819e-07 -1.13182382e-02] [-1.25859309e-02 4.36811812e-04 9.99920699e-01 -1.79930135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters 0.020565522228922845 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.01, Z:-0.18 [[ 9.99408127e-01 -3.12257057e-02 1.44343748e-02 1.01233657e+01] [ 3.12288806e-02 9.99512260e-01 5.44153037e-06 -8.34978201e-03] [-1.44275045e-02 4.45331059e-04 9.99895819e-01 -1.80658020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters 0.020238742853157316 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.01, Z:-0.18 [[ 9.99430882e-01 -3.04055326e-02 1.46087321e-02 1.01815788e+01] [ 3.04086865e-02 9.99537549e-01 6.23747857e-06 -8.58838132e-03] [-1.46021659e-02 4.37998425e-04 9.99893287e-01 -1.81814863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters 0.02104972188288133 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.01, Z:-0.18 [[ 9.99391670e-01 -3.19270087e-02 1.40340725e-02 1.02406741e+01] [ 3.19300568e-02 9.99490106e-01 6.88264090e-06 -1.01599271e-02] [-1.40271364e-02 4.41230278e-04 9.99901518e-01 -1.83807652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters 0.020793579336948333 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.01, Z:-0.19 [[ 9.99350258e-01 -3.36064848e-02 1.30256169e-02 1.02993863e+01] [ 3.36092162e-02 9.99435051e-01 9.21593894e-06 -1.07292214e-02] [-1.30185678e-02 4.28570824e-04 9.99915163e-01 -1.85287849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters 0.021169939084971567 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.01, Z:-0.19 [[ 9.99338526e-01 -3.41125428e-02 1.26033423e-02 1.03575196e+01] [ 3.41150954e-02 9.99417911e-01 1.24674275e-05 -1.33545104e-02] [-1.25964313e-02 4.17505042e-04 9.99920575e-01 -1.87098516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters 0.02011045199987832 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.01, Z:-0.19 [[ 9.99456868e-01 -3.01479392e-02 1.33067604e-02 1.04170935e+01] [ 3.01504153e-02 9.99545373e-01 1.45429350e-05 -1.00273804e-02] [-1.33011492e-02 3.86669314e-04 9.99911461e-01 -1.87175175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters 0.019323731717036805 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.01, Z:-0.19 [[ 9.99538419e-01 -2.76999431e-02 1.24764499e-02 1.04748851e+01] [ 2.77019263e-02 9.99616228e-01 1.38636485e-05 -1.00009584e-02] [-1.24720458e-02 3.31764447e-04 9.99922166e-01 -1.88659394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters 0.018421120615731545 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.00, Z:-0.19 [[ 9.99665331e-01 -2.29077827e-02 1.20191031e-02 1.05341847e+01] [ 2.29092718e-02 9.99737548e-01 1.37933353e-05 -4.31224843e-03] [-1.20162647e-02 2.61560181e-04 9.99927768e-01 -1.90700196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters 0.01788061179799883 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.00, Z:-0.19 [[ 9.99729221e-01 -2.01910177e-02 1.15675503e-02 1.05931218e+01] [ 2.01921869e-02 9.99796117e-01 1.57132713e-05 -2.16491290e-03] [-1.15655091e-02 2.17865121e-04 9.99933094e-01 -1.92244753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters 0.016976381953606137 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.01, Z:-0.19 [[ 9.99703578e-01 -2.12521084e-02 1.18787041e-02 1.06518744e+01] [ 2.12533715e-02 9.99774121e-01 1.99104791e-05 -5.93450501e-03] [-1.18764441e-02 2.32557934e-04 9.99929446e-01 -1.93026672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters 0.018317657325288908 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.00, Z:-0.19 [[ 9.99737266e-01 -1.96608604e-02 1.17834601e-02 1.07108783e+01] [ 1.96619946e-02 9.99806684e-01 1.95997003e-05 -4.52697841e-03] [-1.17815675e-02 2.12091778e-04 9.99930572e-01 -1.94721821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters 0.017690879068400722 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.00, Z:-0.20 [[ 9.99774491e-01 -1.81590471e-02 1.10098410e-02 1.07702690e+01] [ 1.81599201e-02 9.99835095e-01 2.06793560e-05 -7.93916072e-04] [-1.10084010e-02 1.79263141e-04 9.99939390e-01 -1.96546006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters 0.01854629730131729 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.00, Z:-0.20 [[ 9.99813404e-01 -1.69955063e-02 9.18203356e-03 1.08299468e+01] [ 1.69960384e-02 9.99855557e-01 2.00921485e-05 -2.15079606e-03] [-9.18104876e-03 1.35969795e-04 9.99957844e-01 -1.99276914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters 0.017142770322948964 Centerline is valid? [True, True] Translation: X:10.89, Y:0.00, Z:-0.20 [[ 9.99859149e-01 -1.37382882e-02 9.64057786e-03 1.08893350e+01] [ 1.37387313e-02 9.99905619e-01 2.02668605e-05 5.35164122e-04] [-9.63994641e-03 1.12185303e-04 9.99953528e-01 -2.00347202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters 0.016711466187534177 Centerline is valid? [True, True] Translation: X:10.95, Y:0.00, Z:-0.20 [[ 9.99907535e-01 -1.06209780e-02 8.49212177e-03 1.09497975e+01] [ 1.06211823e-02 9.99943593e-01 2.10466697e-05 4.15723099e-03] [-8.49186630e-03 6.91516499e-05 9.99963941e-01 -2.02361594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters 0.015673843429286738 Centerline is valid? [True, True] Translation: X:11.01, Y:0.00, Z:-0.20 [[ 9.99920500e-01 -9.04836362e-03 8.78178967e-03 1.10104965e+01] [ 9.04852033e-03 9.99959061e-01 2.18875164e-05 4.57666659e-03] [-8.78162820e-03 5.75764260e-05 9.99961439e-01 -2.03661092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters 0.016533580040890884 Centerline is valid? [True, True] Translation: X:11.07, Y:0.00, Z:-0.21 [[ 9.99937464e-01 -8.02373271e-03 7.79024372e-03 1.10720112e+01] [ 8.02382462e-03 9.99967808e-01 1.94567947e-05 4.73466960e-03] [-7.79014906e-03 4.30519714e-05 9.99969655e-01 -2.05349114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters 0.015245144143648368 Centerline is valid? [True, True] Translation: X:11.13, Y:0.00, Z:-0.21 [[ 9.99934566e-01 -7.75084715e-03 8.41360032e-03 1.11332940e+01] [ 7.75094761e-03 9.99969961e-01 2.06676095e-05 4.91711729e-03] [-8.41350777e-03 4.45471182e-05 9.99964605e-01 -2.07016272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters 0.014669011737800398 Centerline is valid? [True, True] Translation: X:11.20, Y:0.01, Z:-0.21 [[ 9.99936224e-01 -5.77601581e-03 9.70497378e-03 1.11950886e+01] [ 5.77606040e-03 9.99983318e-01 2.34341572e-05 8.10245075e-03] [-9.70494724e-03 3.26238521e-05 9.99952905e-01 -2.07826575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters 0.015548136198858696 Centerline is valid? [True, True] Translation: X:11.26, Y:0.01, Z:-0.21 [[ 9.99948166e-01 -3.87825345e-03 9.41410839e-03 1.12574325e+01] [ 3.87821259e-03 9.99992479e-01 2.25952896e-05 9.15951390e-03] [-9.41412522e-03 1.39157953e-05 9.99955686e-01 -2.09270752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters 0.014685927577737899 Centerline is valid? [True, True] Translation: X:11.32, Y:0.01, Z:-0.21 [[ 9.99942514e-01 -3.97002904e-03 9.96026171e-03 1.13191051e+01] [ 3.96999509e-03 9.99992119e-01 2.31802664e-05 9.16796839e-03] [-9.96027524e-03 1.63632562e-05 9.99950395e-01 -2.09729584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters 0.01429412225521308 Centerline is valid? [True, True] Translation: X:11.38, Y:0.01, Z:-0.21 [[ 9.99946327e-01 -4.59573881e-03 9.28562510e-03 1.13804551e+01] [ 4.59573817e-03 9.99989439e-01 2.14074837e-05 8.93904329e-03] [-9.28562542e-03 2.12679669e-05 9.99956887e-01 -2.12629985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters 0.012286648188196048 Centerline is valid? [True, True] Translation: X:11.44, Y:0.01, Z:-0.21 [[ 9.99931570e-01 -4.70967578e-03 1.07086519e-02 1.14429299e+01] [ 4.70970326e-03 9.99988909e-01 2.26512852e-05 1.04537588e-02] [-1.07086398e-02 2.77848375e-05 9.99942660e-01 -2.14417612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters 0.01309572577157806 Centerline is valid? [True, True] Translation: X:11.51, Y:0.01, Z:-0.22 [[ 9.99943018e-01 -3.69415415e-03 1.00156425e-02 1.15055052e+01] [ 3.69413368e-03 9.99993176e-01 2.05445898e-05 1.16063348e-02] [-1.00156501e-02 1.64557032e-05 9.99949842e-01 -2.15406358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters 0.01224969598281077 Centerline is valid? [True, True] Translation: X:11.57, Y:0.01, Z:-0.22 [[ 9.99937446e-01 -4.05799605e-03 1.04229243e-02 1.15685898e+01] [ 4.05799973e-03 9.99991766e-01 2.07951840e-05 1.19550203e-02] [-1.04229229e-02 2.15023410e-05 9.99945680e-01 -2.16442016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters 0.01433632078704867 Centerline is valid? [True, True] Translation: X:11.63, Y:0.01, Z:-0.22 [[ 9.99959255e-01 -4.64688417e-03 7.73920473e-03 1.16292795e+01] [ 4.64691026e-03 9.99989203e-01 1.46107721e-05 1.12615074e-02] [-7.73918907e-03 2.13532131e-05 9.99970052e-01 -2.18499893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters 0.01459148917836657 Centerline is valid? [True, True] Translation: X:11.69, Y:0.01, Z:-0.22 [[ 9.99967494e-01 -3.71145416e-03 7.15793016e-03 1.16911667e+01] [ 3.71145358e-03 9.99993112e-01 1.33639435e-05 1.26874919e-02] [-7.15793046e-03 1.32028164e-05 9.99974382e-01 -2.19021816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters 0.012807639518480865 Centerline is valid? [True, True] Translation: X:11.75, Y:0.02, Z:-0.22 [[ 9.99965511e-01 -2.09771181e-03 8.03594280e-03 1.17523616e+01] [ 2.09766165e-03 9.99997800e-01 1.46711264e-05 1.61261380e-02] [-8.03595590e-03 2.18606857e-06 9.99967711e-01 -2.21364158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters 0.012770796320843748 Centerline is valid? [True, True] Translation: X:11.81, Y:0.02, Z:-0.22 [[ 9.99968190e-01 -1.04676679e-03 7.90718968e-03 1.18147878e+01] [ 1.04669555e-03 9.99999452e-01 1.31480586e-05 1.81611334e-02] [-7.90719912e-03 -4.87122005e-06 9.99968738e-01 -2.21449137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966559994999999 meters 0.013386158257452402 Centerline is valid? [True, True] Translation: X:11.88, Y:0.02, Z:-0.22 [[ 9.99970618e-01 6.68250987e-04 7.63647167e-03 1.18758885e+01] [-6.68362334e-04 9.99999777e-01 1.20290116e-05 2.00619526e-02] [-7.63646192e-03 -1.71325882e-05 9.99970842e-01 -2.22659762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters 0.0148237126031536 Centerline is valid? [True, True] Translation: X:11.94, Y:0.02, Z:-0.22 [[ 9.99975227e-01 1.86355958e-03 6.78769911e-03 1.19377925e+01] [-1.86367436e-03 9.99998263e-01 1.05851207e-05 2.20174709e-02] [-6.78766759e-03 -2.32349192e-05 9.99976963e-01 -2.23471343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters 0.01522457254856994 Centerline is valid? [True, True] Translation: X:12.00, Y:0.02, Z:-0.22 [[ 9.99976407e-01 1.84905747e-03 6.61561899e-03 1.20005203e+01] [-1.84917665e-03 9.99998290e-01 1.18984039e-05 2.41460602e-02] [-6.61558567e-03 -2.41315713e-05 9.99978116e-01 -2.24770768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters 0.01394045682991579 Centerline is valid? [True, True] Translation: X:12.06, Y:0.03, Z:-0.23 [[ 9.99972982e-01 1.91721970e-03 7.09647161e-03 1.20638166e+01] [-1.91734140e-03 9.99998162e-01 1.03459646e-05 2.52163876e-02] [-7.09643873e-03 -2.39520439e-05 9.99974820e-01 -2.25979277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters 0.0173022919961028 Centerline is valid? [True, True] Translation: X:12.13, Y:0.03, Z:-0.23 [[ 9.99985052e-01 2.02545793e-03 5.07875832e-03 1.21261984e+01] [-2.02551883e-03 9.99997949e-01 6.84780069e-06 2.52857451e-02] [-5.07873403e-03 -1.71348189e-05 9.99987103e-01 -2.27628176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters 0.01697794347976995 Centerline is valid? [True, True] Translation: X:12.19, Y:0.03, Z:-0.23 [[ 9.99987151e-01 2.75163082e-03 4.25755006e-03 1.21881242e+01] [-2.75166954e-03 9.99996214e-01 3.23509728e-06 2.73653305e-02] [-4.25752504e-03 -1.49504265e-05 9.99990937e-01 -2.30075878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters 0.01573649788075381 Centerline is valid? [True, True] Translation: X:12.25, Y:0.03, Z:-0.23 [[ 9.99981743e-01 4.70972123e-03 3.78578695e-03 1.22500998e+01] [-4.70976531e-03 9.99988909e-01 2.72776696e-06 2.95514763e-02] [-3.78573211e-03 -2.05578852e-05 9.99992834e-01 -2.31731915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters 0.017509266870703685 Centerline is valid? [True, True] Translation: X:12.31, Y:0.03, Z:-0.23 [[ 9.99969417e-01 7.14908232e-03 3.17118251e-03 1.23123201e+01] [-7.14912533e-03 9.99974445e-01 2.22809479e-06 3.21826650e-02] [-3.17108554e-03 -2.48992078e-05 9.99994972e-01 -2.33707957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters 0.017353827448144014 Centerline is valid? [True, True] Translation: X:12.37, Y:0.03, Z:-0.23 [[ 9.99967522e-01 7.13701484e-03 3.74395288e-03 1.23737818e+01] [-7.13708004e-03 9.99974531e-01 4.05336471e-06 3.35170817e-02] [-3.74382860e-03 -3.07741244e-05 9.99992991e-01 -2.34940313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters 0.01814995915165437 Centerline is valid? [True, True] Translation: X:12.44, Y:0.03, Z:-0.24 [[ 9.99967080e-01 6.65815241e-03 4.63761367e-03 1.24363944e+01] [-6.65823334e-03 9.99977834e-01 2.01114907e-06 3.33240589e-02] [-4.63749748e-03 -3.28893968e-05 9.99989246e-01 -2.35935300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters 0.01807954040002668 Centerline is valid? [True, True] Translation: X:12.50, Y:0.03, Z:-0.24 [[ 9.99970847e-01 5.68637003e-03 5.09620100e-03 1.24988039e+01] [-5.68645722e-03 9.99983832e-01 2.61998024e-06 3.21874550e-02] [-5.09610370e-03 -3.15992328e-05 9.99987014e-01 -2.36349811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters 0.016687401302627965 Centerline is valid? [True, True] Translation: X:12.56, Y:0.03, Z:-0.24 [[ 9.99979275e-01 1.24064613e-03 6.31742890e-03 1.25603497e+01] [-1.24067521e-03 9.99999230e-01 6.83277976e-07 2.86955713e-02] [-6.31742319e-03 -8.52114122e-06 9.99980045e-01 -2.38079111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686559995 meters 0.018014108941241197 Centerline is valid? [True, True] Translation: X:12.62, Y:0.03, Z:-0.24 [[ 9.99976383e-01 -2.58880887e-03 6.36643002e-03 1.26233506e+01] [ 2.58886517e-03 9.99996649e-01 -6.01077980e-07 2.51221858e-02] [-6.36640712e-03 1.70828927e-05 9.99979734e-01 -2.38989796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters 0.016737545410608172 Centerline is valid? [True, True] Translation: X:12.69, Y:0.02, Z:-0.24 [[ 9.99959807e-01 -6.91670582e-03 5.70460974e-03 1.26853769e+01] [ 6.91683010e-03 9.99976078e-01 -2.05658015e-06 2.00358792e-02] [-5.70445905e-03 4.15143138e-05 9.99983729e-01 -2.39272452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters 0.018107664552555747 Centerline is valid? [True, True] Translation: X:12.75, Y:0.02, Z:-0.24 [[ 9.99941635e-01 -9.34908654e-03 5.41486991e-03 1.27461023e+01] [ 9.34925274e-03 9.99956295e-01 -5.38120258e-06 1.70855886e-02] [-5.41458294e-03 5.60058759e-05 9.99985339e-01 -2.40328349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters 0.018168382544725848 Centerline is valid? [True, True] Translation: X:12.81, Y:0.01, Z:-0.24 [[ 9.99884974e-01 -1.33921209e-02 7.11965743e-03 1.28057266e+01] [ 1.33925142e-02 9.99910316e-01 -7.57126966e-06 1.22644642e-02] [-7.11891752e-03 1.02920512e-04 9.99974655e-01 -2.40952649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters 0.019280676909287652 Centerline is valid? [True, True] Translation: X:12.87, Y:0.01, Z:-0.24 [[ 9.99848531e-01 -1.59572389e-02 6.94844265e-03 1.28655437e+01] [ 1.59576757e-02 9.99872668e-01 -7.42246326e-06 7.83958656e-03] [-6.94743945e-03 1.18302333e-04 9.99975859e-01 -2.42002331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters 0.01911209418849407 Centerline is valid? [True, True] Translation: X:12.92, Y:0.01, Z:-0.24 [[ 9.99803673e-01 -1.85169550e-02 7.05251222e-03 1.29241679e+01] [ 1.85174803e-02 9.99828537e-01 -9.19647619e-06 8.30857804e-03] [-7.05113268e-03 1.39789427e-04 9.99975131e-01 -2.41554426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters 0.018933492522900528 Centerline is valid? [True, True] Translation: X:12.98, Y:0.01, Z:-0.24 [[ 9.99758743e-01 -2.06081468e-02 7.60003011e-03 1.29823675e+01] [ 2.06087905e-02 9.99787616e-01 -6.38555800e-06 6.43901793e-03] [-7.59828439e-03 1.63011446e-04 9.99971119e-01 -2.43687602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters 0.020713934693413136 Centerline is valid? [True, True] Translation: X:13.04, Y:0.00, Z:-0.24 [[ 9.99666846e-01 -2.44819732e-02 8.17500994e-03 1.30411126e+01] [ 2.44828506e-02 9.99700250e-01 -7.25366094e-06 3.46082742e-03] [-8.17238190e-03 2.07398791e-04 9.99966584e-01 -2.44564424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters 0.02086337396042531 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.00, Z:-0.24 [[ 9.99460433e-01 -3.12976044e-02 9.96508160e-03 1.31011108e+01] [ 3.12992007e-02 9.99510060e-01 -4.23568839e-06 -1.74255228e-03] [-9.96006674e-03 3.16132492e-04 9.99950347e-01 -2.44968940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters 0.021907514040170172 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.01, Z:-0.25 [[ 9.99328524e-01 -3.50309992e-02 1.07391989e-02 1.31595777e+01] [ 3.50330681e-02 9.99386154e-01 -4.52936988e-06 -5.81525523e-03] [-1.07324480e-02 3.80753414e-04 9.99942333e-01 -2.46426985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters 0.022029697600768082 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.01, Z:-0.25 [[ 9.99151587e-01 -3.93020033e-02 1.23068407e-02 1.32188214e+01] [ 3.93050344e-02 9.99227259e-01 -4.42658763e-06 -8.96115974e-03] [-1.22971567e-02 4.88143627e-04 9.99924268e-01 -2.47432969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters 0.022634854593170658 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.01, Z:-0.25 [[ 9.99096084e-01 -4.07555368e-02 1.20830669e-02 1.32776654e+01] [ 4.07585663e-02 9.99169024e-01 -4.47042195e-06 -8.97733593e-03] [-1.20728440e-02 4.96954866e-04 9.99926997e-01 -2.48082102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters 0.024131996083846707 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.01, Z:-0.25 [[ 9.98917703e-01 -4.47029766e-02 1.28478469e-02 1.33368038e+01] [ 4.47066734e-02 9.99000157e-01 -5.33629258e-07 -1.43380152e-02] [-1.28349772e-02 5.74917547e-04 9.99917463e-01 -2.49691335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters 0.024123991640022158 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.01, Z:-0.25 [[ 9.98892273e-01 -4.46697156e-02 1.47933809e-02 1.33954358e+01] [ 4.46746148e-02 9.99001591e-01 -7.14668603e-07 -1.41220963e-02] [-1.47785791e-02 6.61602468e-04 9.99890572e-01 -2.51871251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters 0.023466902480994686 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.01, Z:-0.25 [[ 9.98921728e-01 -4.42932489e-02 1.39100516e-02 1.34545954e+01] [ 4.42975001e-02 9.99018384e-01 2.48486060e-06 -1.49553659e-02] [-1.38965073e-02 6.13698329e-04 9.99903251e-01 -2.54317439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters 0.0242233615274232 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.02, Z:-0.26 [[ 9.98902734e-01 -4.52116555e-02 1.22161545e-02 1.35134064e+01] [ 4.52149724e-02 9.98977280e-01 4.67049727e-06 -1.54297331e-02] [-1.22038720e-02 5.47687716e-04 9.99925380e-01 -2.56032072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters 0.022188012719483636 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.01, Z:-0.26 [[ 9.98832463e-01 -4.58658595e-02 1.51668636e-02 1.35725436e+01] [ 4.58709769e-02 9.98947373e-01 1.04856398e-05 -1.40367410e-02] [-1.51513795e-02 6.85245453e-04 9.99884976e-01 -2.57115409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters 0.023603762603594577 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.02, Z:-0.26 [[ 9.98813599e-01 -4.57981488e-02 1.65506669e-02 1.36303364e+01] [ 4.58041608e-02 9.98950439e-01 1.58410605e-05 -1.70266044e-02] [-1.65340214e-02 7.42267141e-04 9.99863028e-01 -2.58143210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters 0.023390557167063692 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.02, Z:-0.26 [[ 9.98958767e-01 -4.32450517e-02 1.45343165e-02 1.36898134e+01] [ 4.32494045e-02 9.99064307e-01 1.48410195e-05 -1.67789191e-02] [-1.45213587e-02 6.13774969e-04 9.99894371e-01 -2.61330744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters 0.021921772200483566 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.01, Z:-0.26 [[ 9.99296014e-01 -3.57198835e-02 1.14702358e-02 1.37506891e+01] [ 3.57220681e-02 9.99361763e-01 1.44299129e-05 -8.89268422e-03] [-1.14634305e-02 3.95320791e-04 9.99934215e-01 -2.63623141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters 0.019870165809111353 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.01, Z:-0.27 [[ 9.99441917e-01 -3.13498874e-02 1.15342232e-02 1.38093041e+01] [ 3.13518053e-02 9.99508411e-01 1.45413999e-05 -8.94460193e-03] [-1.15290090e-02 3.47085435e-04 9.99933479e-01 -2.65177810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946559995 meters 0.018454231245157385 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.01, Z:-0.27 [[ 9.99545646e-01 -2.79745057e-02 1.12217900e-02 1.38684147e+01] [ 2.79761030e-02 9.99608592e-01 1.46362272e-05 -7.43066025e-03] [-1.12178071e-02 2.99312376e-04 9.99937034e-01 -2.65112015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters 0.018881110574891332 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.01, Z:-0.27 [[ 9.99614489e-01 -2.54859211e-02 1.10154580e-02 1.39266889e+01] [ 2.54873101e-02 9.99675146e-01 1.42858219e-05 -7.59575094e-03] [-1.10122436e-02 2.66474079e-04 9.99939328e-01 -2.65582472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters 0.016951424190457417 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.00, Z:-0.27 [[ 9.99717242e-01 -2.12626328e-02 1.06459610e-02 1.39856637e+01] [ 2.12636550e-02 9.99773903e-01 1.71792528e-05 -3.83728266e-03] [-1.06439192e-02 2.09197646e-04 9.99943330e-01 -2.65392561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters 0.016608017704527207 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.00, Z:-0.27 [[ 9.99774240e-01 -1.83442956e-02 1.07217314e-02 1.40433790e+01] [ 1.83451572e-02 9.99831713e-01 1.79868680e-05 -3.03107456e-03] [-1.07202570e-02 1.78709041e-04 9.99942520e-01 -2.65854991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters 0.018192265239466262 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.00, Z:-0.27 [[ 9.99837402e-01 -1.49248955e-02 1.01201699e-02 1.41034292e+01] [ 1.49254768e-02 9.99888609e-01 1.80838117e-05 -7.28147541e-04] [-1.01193125e-02 1.32967490e-04 9.99948790e-01 -2.66063124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246559995 meters 0.016723360239042293 Centerline is valid? [True, True] Translation: X:14.16, Y:0.00, Z:-0.27 [[ 9.99875455e-01 -1.23592057e-02 9.81451585e-03 1.41635783e+01] [ 1.23596246e-02 9.99923617e-01 1.79714802e-05 1.10622058e-03] [-9.81398829e-03 1.03334489e-04 9.99951836e-01 -2.65829797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters 0.018191728847915364 Centerline is valid? [True, True] Translation: X:14.22, Y:0.00, Z:-0.27 [[ 9.99918111e-01 -9.80962644e-03 8.21847776e-03 1.42246372e+01] [ 9.80982993e-03 9.99951882e-01 1.55513415e-05 2.34537034e-03] [-8.21823486e-03 6.50718012e-05 9.99966228e-01 -2.67179358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366559995 meters 0.01739955233778681 Centerline is valid? [True, True] Translation: X:14.29, Y:0.00, Z:-0.27 [[ 9.99943634e-01 -8.57968312e-03 6.25443366e-03 1.42856698e+01] [ 8.57977744e-03 9.99963193e-01 1.17503266e-05 3.03947136e-03] [-6.25430427e-03 4.19119845e-05 9.99980441e-01 -2.69068710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426559995 meters 0.01753851965775874 Centerline is valid? [True, True] Translation: X:14.35, Y:0.00, Z:-0.27 [[ 9.99941544e-01 -8.93765962e-03 6.08497512e-03 1.43458828e+01] [ 8.93775883e-03 9.99960057e-01 1.08889548e-05 3.08688868e-03] [-6.08482939e-03 4.34977219e-05 9.99981486e-01 -2.70248563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters 0.017286622250095602 Centerline is valid? [True, True] Translation: X:14.41, Y:0.00, Z:-0.27 [[ 9.99913927e-01 -1.12059829e-02 6.82380047e-03 1.44064024e+01] [ 1.12061605e-02 9.99937209e-01 1.22110696e-05 3.10606264e-04] [-6.82350883e-03 6.42585849e-05 9.99976718e-01 -2.68797847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters 0.015350149099221066 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.00, Z:-0.27 [[ 9.99898467e-01 -1.20107757e-02 7.66794730e-03 1.44668360e+01] [ 1.20110236e-02 9.99927865e-01 1.37216553e-05 -1.02749776e-03] [-7.66755898e-03 7.83796338e-05 9.99970601e-01 -2.68234522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters 0.01689675610910128 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.00, Z:-0.27 [[ 9.99839013e-01 -1.67260579e-02 6.49516060e-03 1.45271005e+01] [ 1.67263353e-02 9.99860105e-01 1.16229744e-05 -4.94383092e-03] [-6.49444637e-03 9.70191305e-05 9.99978906e-01 -2.69807025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666559995 meters 0.020711702362631056 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.01, Z:-0.27 [[ 9.99640978e-01 -2.60664444e-02 6.20130461e-03 1.45875936e+01] [ 2.60668769e-02 9.99660201e-01 1.10971243e-05 -1.31802054e-02] [-6.19948668e-03 1.50555503e-04 9.99980772e-01 -2.71681034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters 0.021156303018580944 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.02, Z:-0.27 [[ 9.99402655e-01 -3.40987055e-02 5.62238760e-03 1.46479025e+01] [ 3.40991890e-02 9.99418454e-01 9.87827688e-06 -1.82815881e-02] [-5.61945476e-03 1.81846481e-04 9.99984194e-01 -2.71744790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters 0.02263874907754826 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.02, Z:-0.27 [[ 9.99299345e-01 -3.70916243e-02 5.00309798e-03 1.47073304e+01] [ 3.70920453e-02 9.99311853e-01 8.65817902e-06 -2.10834791e-02] [-4.99997627e-03 1.76923024e-04 9.99987484e-01 -2.72769976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846559995 meters 0.020820570296801365 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.02, Z:-0.27 [[ 9.99163692e-01 -4.04921711e-02 5.68335604e-03 1.47671650e+01] [ 4.04927677e-02 9.99179831e-01 1.01099696e-05 -2.28417807e-02] [-5.67910411e-03 2.20033301e-04 9.99983850e-01 -2.71672096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters 0.0230659689180592 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.02, Z:-0.27 [[ 9.99162857e-01 -4.04725009e-02 5.96339910e-03 1.48260861e+01] [ 4.04731684e-02 9.99180626e-01 8.75245383e-06 -2.44780952e-02] [-5.95886708e-03 2.32612529e-04 9.99982219e-01 -2.72787724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters 0.02125826826749339 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.02, Z:-0.27 [[ 9.99255155e-01 -3.79244632e-02 7.13234363e-03 1.48847230e+01] [ 3.79253241e-02 9.99280576e-01 1.45569056e-05 -2.37300013e-02] [-7.12776452e-03 2.55950381e-04 9.99974564e-01 -2.72563084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026559995 meters 0.022181852007279998 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.02, Z:-0.27 [[ 9.99357587e-01 -3.51159326e-02 7.16130694e-03 1.49433582e+01] [ 3.51167248e-02 9.99383217e-01 1.51240448e-05 -2.06528450e-02] [-7.15742107e-03 2.36367316e-04 9.99974357e-01 -2.73145563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters 0.019428164548163148 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.01, Z:-0.27 [[ 9.99538219e-01 -2.99125669e-02 5.34665781e-03 1.50034373e+01] [ 2.99129324e-02 9.99552508e-01 1.16115041e-05 -1.44002716e-02] [-5.34461255e-03 1.48328071e-04 9.99985706e-01 -2.74502283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146559995 meters 0.01940762300006779 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.01, Z:-0.28 [[ 9.99541577e-01 -2.99190091e-02 4.63553613e-03 1.50611078e+01] [ 2.99192957e-02 9.99552318e-01 7.52420588e-06 -1.37190593e-02] [-4.63368600e-03 1.31171220e-04 9.99989256e-01 -2.76168743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters 0.020304157329313132 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.01, Z:-0.28 [[ 9.99534354e-01 -3.01548301e-02 4.66501004e-03 1.51196187e+01] [ 3.01551165e-02 9.99545231e-01 8.94911767e-06 -1.35856689e-02] [-4.66315840e-03 1.31728971e-04 9.99989119e-01 -2.77795222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters 0.01889829596942447 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.01, Z:-0.28 [[ 9.99526640e-01 -3.03338928e-02 5.13328652e-03 1.51778325e+01] [ 3.03342321e-02 9.99539811e-01 1.17603003e-05 -1.28529435e-02] [-5.13128097e-03 1.43959571e-04 9.99986825e-01 -2.77932560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters 0.021545997745415327 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.02, Z:-0.28 [[ 9.99491248e-01 -3.16289563e-02 4.10544126e-03 1.52368649e+01] [ 3.16291813e-02 9.99499672e-01 1.01301167e-05 -1.59566260e-02] [-4.10370760e-03 1.19726783e-04 9.99991573e-01 -2.79622018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters 0.02011519716789991 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.01, Z:-0.28 [[ 9.99580781e-01 -2.86664994e-02 4.06131245e-03 1.52959409e+01] [ 2.86666831e-02 9.99589026e-01 1.29956626e-05 -1.24619163e-02] [-4.06001590e-03 1.03434142e-04 9.99991753e-01 -2.79631428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters 0.01910826125137782 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.01, Z:-0.28 [[ 9.99703459e-01 -2.42227882e-02 2.50016126e-03 1.53536693e+01] [ 2.42228464e-02 9.99706584e-01 6.99789658e-06 -1.20450053e-02] [-2.49959718e-03 5.35652008e-05 9.99996875e-01 -2.81218645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters 0.019045488029371477 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.01, Z:-0.28 [[ 9.99753245e-01 -2.21175672e-02 2.06449954e-03 1.54126341e+01] [ 2.21176059e-02 9.99755376e-01 4.09408677e-06 -1.04781272e-02] [-2.06408507e-03 4.15687107e-05 9.99997869e-01 -2.82198736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters 0.017244681763499754 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.01, Z:-0.28 [[ 9.99825652e-01 -1.85887534e-02 1.76751004e-03 1.54718333e+01] [ 1.85887766e-02 9.99827214e-01 3.33826561e-06 -8.43975300e-03] [-1.76726669e-03 2.95181656e-05 9.99998438e-01 -2.81754981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters 0.016372117451935363 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.01, Z:-0.28 [[ 9.99903692e-01 -1.38119809e-02 1.35468135e-03 1.55300404e+01] [ 1.38119878e-02 9.99904610e-01 4.28950252e-06 -8.19671688e-03] [-1.35461137e-03 1.44217528e-05 9.99999082e-01 -2.83625649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters 0.015156958987261045 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.01, Z:-0.28 [[ 9.99937485e-01 -1.11324783e-02 1.04598999e-03 1.55890842e+01] [ 1.11324835e-02 9.99938032e-01 8.30567054e-07 -6.49473105e-03] [-1.04593441e-03 1.08139511e-05 9.99999453e-01 -2.82770489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters 0.014462442125693177 Centerline is valid? [True, True] Translation: X:15.65, Y:0.00, Z:-0.28 [[ 9.99988955e-01 -4.19110110e-03 2.12698540e-03 1.56483554e+01] [ 4.19109781e-03 9.99991217e-01 6.00843672e-06 8.87404324e-04] [-2.12699190e-03 2.90603347e-06 9.99997738e-01 -2.80722571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters 0.016109091481577836 Centerline is valid? [True, True] Translation: X:15.71, Y:0.00, Z:-0.28 [[ 9.99996200e-01 -2.49355134e-03 1.17588124e-03 1.57087146e+01] [ 2.49354662e-03 9.99996891e-01 5.47867856e-06 1.96049193e-03] [-1.17589124e-03 -2.54654306e-06 9.99999309e-01 -2.82945061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters 0.014501599343501844 Centerline is valid? [True, True] Translation: X:15.77, Y:0.00, Z:-0.28 [[ 9.99998983e-01 -1.41802101e-03 1.53243219e-04 1.57689529e+01] [ 1.41802092e-03 9.99998995e-01 7.13992463e-07 1.19709100e-03] [-1.53244078e-04 -4.96689645e-07 9.99999988e-01 -2.82621586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters 0.016536057726101203 Centerline is valid? [True, True] Translation: X:15.83, Y:0.00, Z:-0.28 [[ 9.99999382e-01 -3.43055308e-04 1.05721310e-03 1.58291302e+01] [ 3.43050292e-04 9.99999941e-01 4.92577870e-06 3.71140050e-03] [-1.05721473e-03 -4.56309839e-06 9.99999441e-01 -2.83484956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters 0.014913773969924474 Centerline is valid? [True, True] Translation: X:15.89, Y:0.00, Z:-0.28 [[ 9.99999352e-01 8.13584131e-04 7.96765034e-04 1.58897150e+01] [-8.13587557e-04 9.99999669e-01 3.97597122e-06 4.24717735e-03] [-7.96761536e-04 -4.62420676e-06 9.99999683e-01 -2.83319189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters 0.01477729831123796 Centerline is valid? [True, True] Translation: X:15.95, Y:0.00, Z:-0.28 [[ 9.99999671e-01 -2.43493719e-04 7.73289418e-04 1.59505705e+01] [ 2.43490611e-04 9.99999970e-01 4.11368741e-06 2.89478327e-03] [-7.73290397e-04 -3.92539734e-06 9.99999701e-01 -2.83480453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters 0.014303629516597444 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.00, Z:-0.29 [[ 9.99994552e-01 -3.28260910e-03 -3.46804842e-04 1.60110958e+01] [ 3.28260874e-03 9.99994612e-01 -1.59770571e-06 -1.98243285e-04] [ 3.46808218e-04 4.59272400e-07 9.99999940e-01 -2.85180199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters 0.015476481269147595 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.00, Z:-0.29 [[ 9.99988004e-01 -4.89145698e-03 -2.55202940e-04 1.60704904e+01] [ 4.89145669e-03 9.99988037e-01 -1.74022593e-06 -7.01228774e-04] [ 2.55208399e-04 4.91890925e-07 9.99999967e-01 -2.86137081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters 0.014084556677613621 Centerline is valid? [True, True] Translation: X:16.13, Y:0.00, Z:-0.28 [[ 9.99991874e-01 -3.98312974e-03 6.21458844e-04 1.61292475e+01] [ 3.98313105e-03 9.99992067e-01 -8.64650246e-07 6.03064776e-05] [-6.21450470e-04 3.33999524e-06 9.99999807e-01 -2.84638070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters 0.013968243122377374 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.00, Z:-0.28 [[ 9.99990517e-01 -4.27655767e-03 8.22212858e-04 1.61882933e+01] [ 4.27655645e-03 9.99990855e-01 3.23929492e-06 -1.44189916e-03] [-8.22219192e-04 2.76975496e-07 9.99999662e-01 -2.84465533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters 0.014809237451365857 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.00, Z:-0.29 [[ 9.99988897e-01 -4.43496553e-03 1.59294149e-03 1.62476768e+01] [ 4.43495941e-03 9.99990165e-01 7.37381433e-06 -1.30538929e-03] [-1.59295853e-03 -3.09101585e-07 9.99998731e-01 -2.85176979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters 0.013735887520708407 Centerline is valid? [True, True] Translation: X:16.31, Y:0.00, Z:-0.29 [[ 9.99993332e-01 -2.47275290e-03 2.68713888e-03 1.63077751e+01] [ 2.47272714e-03 9.99996943e-01 1.29058272e-05 2.06116154e-03] [-2.68716258e-03 -6.26117988e-06 9.99996390e-01 -2.85056500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters 0.013735542355197625 Centerline is valid? [True, True] Translation: X:16.37, Y:0.00, Z:-0.29 [[ 9.99995124e-01 -2.83611905e-03 1.30682326e-03 1.63682332e+01] [ 2.83611292e-03 9.99995978e-01 6.54696852e-06 5.29743936e-04] [-1.30683657e-03 -2.84063828e-06 9.99999146e-01 -2.85397645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters 0.015953012671423867 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.00, Z:-0.29 [[ 9.99987755e-01 -4.92482588e-03 4.86097599e-04 1.64286702e+01] [ 4.92482528e-03 9.99987873e-01 2.43526863e-06 -8.61436670e-04] [-4.86103698e-04 -4.12930629e-08 9.99999882e-01 -2.86095569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters 0.015539401334389146 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.00, Z:-0.29 [[ 9.99981592e-01 -5.80356049e-03 1.77017935e-03 1.64874825e+01] [ 5.80355549e-03 9.99983159e-01 7.95941680e-06 -2.11628979e-04] [-1.77019573e-03 2.31406380e-06 9.99998433e-01 -2.86190353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters 0.013855037217511424 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.00, Z:-0.28 [[ 9.99953820e-01 -9.13210119e-03 2.99379092e-03 1.65472613e+01] [ 9.13209798e-03 9.99958301e-01 1.47429041e-05 -2.51774416e-03] [-2.99380072e-03 1.25973687e-05 9.99995518e-01 -2.84469839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters 0.014235559432929657 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.01, Z:-0.28 [[ 9.99914989e-01 -1.28206658e-02 2.37584201e-03 1.66065531e+01] [ 1.28206753e-02 9.99917812e-01 1.11995886e-05 -5.83930503e-03] [-2.37579033e-03 1.92612625e-05 9.99997178e-01 -2.84859363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters 0.014699024280579771 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.01, Z:-0.29 [[ 9.99857493e-01 -1.67812833e-02 1.83927941e-03 1.66650426e+01] [ 1.67812960e-02 9.99859184e-01 8.53350325e-06 -6.86444884e-03] [-1.83916362e-03 2.23332051e-05 9.99998308e-01 -2.85742070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters 0.01780112472501677 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.00, Z:-0.29 [[ 9.99837820e-01 -1.79730700e-02 1.14161183e-03 1.67241810e+01] [ 1.79730790e-02 9.99838471e-01 2.35949390e-06 -4.88586045e-03] [-1.14146983e-03 1.81591683e-05 9.99999348e-01 -2.87568005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters 0.014932693179706613 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.01, Z:-0.29 [[ 9.99836341e-01 -1.79702988e-02 2.08806969e-03 1.67826675e+01] [ 1.79703210e-02 9.99838521e-01 8.13318929e-06 -6.58693097e-03] [-2.08787867e-03 2.93914244e-05 9.99997820e-01 -2.85753884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters 0.014797066391857211 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.01, Z:-0.29 [[ 9.99813958e-01 -1.92211312e-02 1.61138164e-03 1.68419393e+01] [ 1.92211469e-02 9.99815257e-01 5.69603211e-06 -6.39926321e-03] [-1.61119344e-03 2.52776310e-05 9.99998702e-01 -2.86259981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters 0.014790249605853376 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.00, Z:-0.29 [[ 9.99831587e-01 -1.82170718e-02 2.22152648e-03 1.68995590e+01] [ 1.82170899e-02 9.99834055e-01 1.21111070e-05 -4.73739851e-03] [-2.22137846e-03 2.83606803e-05 9.99997532e-01 -2.87578545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters 0.014243155827550879 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.00, Z:-0.29 [[ 9.99864165e-01 -1.62494364e-02 2.75832142e-03 1.69589398e+01] [ 1.62494569e-02 9.99867969e-01 1.49784339e-05 -3.25229047e-03] [-2.75820062e-03 2.98448258e-05 9.99996196e-01 -2.87231079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters 0.014843603699318544 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.00, Z:-0.29 [[ 9.99863884e-01 -1.63176736e-02 2.43854892e-03 1.70164306e+01] [ 1.63176880e-02 9.99866858e-01 1.39770577e-05 -3.56437995e-03] [-2.43845232e-03 2.58163253e-05 9.99997027e-01 -2.88939926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters 0.01434083698900303 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.00, Z:-0.29 [[ 9.99883468e-01 -1.49945157e-02 2.86601357e-03 1.70740926e+01] [ 1.49945287e-02 9.99887576e-01 1.69527821e-05 -3.90158440e-03] [-2.86594556e-03 2.60237161e-05 9.99995893e-01 -2.89863911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters 0.014231489382992202 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.00, Z:-0.29 [[ 9.99886136e-01 -1.47501475e-02 3.18575539e-03 1.71319014e+01] [ 1.47501687e-02 9.99891210e-01 1.68299200e-05 -3.01624597e-03] [-3.18565705e-03 3.01624259e-05 9.99994925e-01 -2.91025317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters 0.014060232998111134 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.00, Z:-0.29 [[ 9.99843114e-01 -1.72401710e-02 4.06490143e-03 1.71905311e+01] [ 1.72402155e-02 9.99851376e-01 2.41006518e-05 -4.39158828e-03] [-4.06471279e-03 4.59829059e-05 9.99991738e-01 -2.89960519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters 0.01547183917581014 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.00, Z:-0.29 [[ 9.99819754e-01 -1.84073467e-02 4.65075405e-03 1.72488739e+01] [ 1.84074111e-02 9.99830569e-01 2.89616323e-05 -4.70274802e-03] [-4.65049917e-03 5.66519293e-05 9.99989185e-01 -2.91277702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters 0.015440481274777635 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.00, Z:-0.29 [[ 9.99836871e-01 -1.72885301e-02 5.22866740e-03 1.73082115e+01] [ 1.72885770e-02 9.99850541e-01 3.62279081e-05 -4.05205196e-03] [-5.22851225e-03 5.41742206e-05 9.99986330e-01 -2.91975522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters 0.013960118551757125 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.00, Z:-0.29 [[ 9.99862153e-01 -1.56164598e-02 5.63917592e-03 1.73674903e+01] [ 1.56164889e-02 9.99878054e-01 3.88693769e-05 -2.55609740e-03] [-5.63909525e-03 4.92001095e-05 9.99984099e-01 -2.92802158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters 0.013783891979236018 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.00, Z:-0.29 [[ 9.99874628e-01 -1.49811667e-02 5.12767259e-03 1.74258259e+01] [ 1.49811799e-02 9.99887775e-01 3.58430249e-05 -1.74855379e-03] [-5.12763411e-03 4.09800544e-05 9.99986853e-01 -2.93474411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters 0.014282928893636198 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.00, Z:-0.29 [[ 9.99854250e-01 -1.66151743e-02 3.92615592e-03 1.74848179e+01] [ 1.66151929e-02 9.99861958e-01 2.78700426e-05 -9.48410595e-04] [-3.92607701e-03 3.73678575e-05 9.99992292e-01 -2.94879721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters 0.014159639958914545 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.00, Z:-0.30 [[ 9.99821078e-01 -1.86363352e-02 3.24014052e-03 1.75441755e+01] [ 1.86363580e-02 9.99826328e-01 2.31442457e-05 -1.68905255e-03] [-3.24000912e-03 3.72443141e-05 9.99994750e-01 -2.95723346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters 0.015456869602472653 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.00, Z:-0.30 [[ 9.99774144e-01 -2.11341918e-02 2.23744469e-03 1.76026157e+01] [ 2.11342055e-02 9.99776648e-01 1.74873566e-05 -2.96595315e-03] [-2.23731453e-03 2.98032089e-05 9.99997497e-01 -2.95165816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters 0.017197050208482563 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.00, Z:-0.29 [[ 9.99753960e-01 -2.20774807e-02 2.14581520e-03 1.76602827e+01] [ 2.20774952e-02 9.99756262e-01 1.69280585e-05 -2.95092895e-03] [-2.14566591e-03 3.04503313e-05 9.99997698e-01 -2.94210980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters 0.015728333751208575 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.00, Z:-0.29 [[ 9.99765867e-01 -2.12046266e-02 4.30983545e-03 1.77194740e+01] [ 2.12046773e-02 9.99775155e-01 3.39290475e-05 -8.03616292e-04] [-4.30958586e-03 5.74675664e-05 9.99990712e-01 -2.93838122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906559995 meters 0.013703507786442507 Centerline is valid? [True, True] Translation: X:17.78, Y:0.00, Z:-0.30 [[ 9.99897917e-01 -1.41389025e-02 2.06094799e-03 1.77774811e+01] [ 1.41388977e-02 9.99900041e-01 1.69065598e-05 4.76606669e-03] [-2.06098102e-03 1.22346990e-05 9.99997876e-01 -2.96424326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters 0.013574527895847985 Centerline is valid? [True, True] Translation: X:17.84, Y:0.01, Z:-0.30 [[ 9.99939891e-01 -1.09633179e-02 -1.38271662e-04 1.78367610e+01] [ 1.09633172e-02 9.99939901e-01 -5.14895352e-06 9.15064604e-03] [ 1.38319801e-04 3.63272793e-06 9.99999990e-01 -2.97634419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters 0.015166260076243708 Centerline is valid? [True, True] Translation: X:17.90, Y:0.01, Z:-0.30 [[ 9.99967582e-01 -7.30452706e-03 -3.38797298e-03 1.78953622e+01] [ 7.30444818e-03 9.99973322e-01 -3.56539294e-05 1.44323749e-02] [ 3.38814303e-03 1.09055004e-05 9.99994260e-01 -2.97470358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086559995 meters 0.013534923319712169 Centerline is valid? [True, True] Translation: X:17.95, Y:0.02, Z:-0.30 [[ 9.99987439e-01 -4.95943000e-03 -7.25434967e-04 1.79542375e+01] [ 4.95942343e-03 9.99987702e-01 -1.08600235e-05 1.75858429e-02] [ 7.25479905e-04 7.26214795e-06 9.99999737e-01 -2.95829705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters 0.014121653082464778 Centerline is valid? [True, True] Translation: X:18.01, Y:0.02, Z:-0.29 [[ 9.99989078e-01 -4.59016973e-03 -8.80193992e-04 1.80131344e+01] [ 4.59016039e-03 9.99989465e-01 -1.26361620e-05 2.01061124e-02] [ 8.80242722e-04 8.59579235e-06 9.99999613e-01 -2.94303700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters 0.013568273125441429 Centerline is valid? [True, True] Translation: X:18.07, Y:0.02, Z:-0.29 [[ 9.99996943e-01 -2.44746621e-03 -3.51186974e-04 1.80708925e+01] [ 2.44746465e-03 9.99997005e-01 -4.88052827e-06 2.39266154e-02] [ 3.51197867e-04 4.02099565e-06 9.99999938e-01 -2.94882136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters 0.015211783810177014 Centerline is valid? [True, True] Translation: X:18.13, Y:0.03, Z:-0.30 [[ 9.99993143e-01 4.55644475e-07 -3.70328966e-03 1.81305629e+01] [-5.94688824e-07 9.99999999e-01 -3.75450712e-05 2.78781815e-02] [ 3.70328964e-03 3.75470160e-05 9.99993142e-01 -2.95360534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters 0.014037237931193412 Centerline is valid? [True, True] Translation: X:18.19, Y:0.03, Z:-0.30 [[ 9.99980904e-01 3.01149654e-03 -5.39656611e-03 1.81896851e+01] [-3.01183744e-03 9.99995463e-01 -5.50426789e-05 3.34184229e-02] [ 5.39637587e-03 7.12952077e-05 9.99985437e-01 -2.96227143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters 0.014778053201397008 Centerline is valid? [True, True] Translation: X:18.25, Y:0.04, Z:-0.30 [[ 9.99962166e-01 3.88327003e-03 -7.78378196e-03 1.82481356e+01] [-3.88400738e-03 9.99992454e-01 -7.96147034e-05 3.87777122e-02] [ 7.78341406e-03 1.09843958e-04 9.99969703e-01 -2.98767829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters 0.014172718429759826 Centerline is valid? [True, True] Translation: X:18.31, Y:0.04, Z:-0.30 [[ 9.99962641e-01 2.58277416e-03 -8.24898316e-03 1.83068530e+01] [-2.58356357e-03 9.99996659e-01 -8.50430158e-05 4.07340526e-02] [ 8.24873596e-03 1.06351611e-04 9.99965973e-01 -2.96553708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters 0.0159550052487634 Centerline is valid? [True, True] Translation: X:18.37, Y:0.04, Z:-0.30 [[ 9.99954918e-01 -6.73196106e-05 -9.49510188e-03 1.83659683e+01] [ 6.63882680e-05 9.99999993e-01 -9.84017894e-05 4.20211340e-02] [ 9.49510844e-03 9.77669899e-05 9.99954916e-01 -2.96720059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters 0.013287854199196402 Centerline is valid? [True, True] Translation: X:18.42, Y:0.04, Z:-0.30 [[ 9.99964885e-01 -5.04882347e-03 -6.68861139e-03 1.84246322e+01] [ 5.04846743e-03 9.99987254e-01 -7.01139505e-05 4.11330191e-02] [ 6.68888013e-03 3.63442517e-05 9.99977629e-01 -2.95029295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters 0.013148917999347894 Centerline is valid? [True, True] Translation: X:18.48, Y:0.04, Z:-0.29 [[ 9.99925279e-01 -1.11862461e-02 -4.92985466e-03 1.84838615e+01] [ 1.11861242e-02 9.99937432e-01 -5.23066982e-05 3.94012080e-02] [ 4.93013133e-03 -2.84317654e-06 9.99987847e-01 -2.94510726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters 0.013190515920910292 Centerline is valid? [True, True] Translation: X:18.54, Y:0.04, Z:-0.29 [[ 9.99898145e-01 -1.31135747e-02 -5.63320573e-03 1.85430057e+01] [ 1.31134229e-02 9.99914013e-01 -6.38758699e-05 4.12298621e-02] [ 5.63355899e-03 -1.00012453e-05 9.99984131e-01 -2.94521101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters 0.013634314208799566 Centerline is valid? [True, True] Translation: X:18.60, Y:0.04, Z:-0.30 [[ 9.99837635e-01 -1.66304680e-02 -6.93759195e-03 1.86014411e+01] [ 1.66303451e-02 9.99861703e-01 -7.54058780e-05 4.27976763e-02] [ 6.93788654e-03 -3.99809139e-05 9.99975932e-01 -2.97240444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters 0.017500734486257278 Centerline is valid? [True, True] Translation: X:18.66, Y:0.04, Z:-0.30 [[ 9.99742415e-01 -2.10613127e-02 -8.45726097e-03 1.86600144e+01] [ 2.10612497e-02 9.99778183e-01 -9.65287853e-05 4.29420006e-02] [ 8.45741803e-03 -8.16165640e-05 9.99964232e-01 -2.99215587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters 0.016737282957715295 Centerline is valid? [True, True] Translation: X:18.72, Y:0.04, Z:-0.30 [[ 9.99663945e-01 -2.49458440e-02 -7.05000116e-03 1.87183972e+01] [ 2.49459055e-02 9.99688799e-01 -7.92266838e-05 4.19380761e-02] [ 7.04978357e-03 -9.66686036e-05 9.99975145e-01 -2.99233347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters 0.015770961405520457 Centerline is valid? [True, True] Translation: X:18.78, Y:0.04, Z:-0.30 [[ 9.99489817e-01 -3.18219248e-02 -2.73340141e-03 1.87778027e+01] [ 3.18219485e-02 9.99493553e-01 -3.48185667e-05 3.91370993e-02] [ 2.73312509e-03 -5.21813561e-05 9.99996264e-01 -2.97544776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters 0.017885739537103065 Centerline is valid? [True, True] Translation: X:18.84, Y:0.04, Z:-0.30 [[ 9.99327461e-01 -3.66459560e-02 -1.30338259e-03 1.88369715e+01] [ 3.66459623e-02 9.99328311e-01 -1.90532787e-05 3.81276551e-02] [ 1.30320534e-03 -2.87232444e-05 9.99999150e-01 -2.97040353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters 0.017445393903602217 Centerline is valid? [True, True] Translation: X:18.90, Y:0.04, Z:-0.30 [[ 9.99313292e-01 -3.70532487e-02 -2.26838810e-05 1.88953638e+01] [ 3.70532486e-02 9.99313293e-01 -4.20981522e-06 3.75182018e-02] [ 2.28242912e-05 3.36641282e-06 1.00000000e+00 -2.98959074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters 0.019605097473150857 Centerline is valid? [True, True] Translation: X:18.95, Y:0.04, Z:-0.30 [[ 9.99233594e-01 -3.91359813e-02 -7.74649948e-04 1.89545947e+01] [ 3.91359829e-02 9.99233894e-01 -1.31556674e-05 3.86778136e-02] [ 7.74571344e-04 -1.71711023e-05 9.99999700e-01 -3.02084528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters 0.019671405746216755 Centerline is valid? [True, True] Translation: X:19.01, Y:0.04, Z:-0.30 [[ 9.99154580e-01 -4.11041465e-02 -7.58460200e-04 1.90134113e+01] [ 4.11041483e-02 9.99154867e-01 -1.32171428e-05 3.97737297e-02] [ 7.58362480e-04 -1.79698917e-05 9.99999712e-01 -3.03199695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters 0.020230196189392327 Centerline is valid? [True, True] Translation: X:19.07, Y:0.04, Z:-0.30 [[ 9.99067487e-01 -4.31695631e-02 -7.38438817e-04 1.90726027e+01] [ 4.31695652e-02 9.99067760e-01 -1.31965892e-05 3.88045284e-02] [ 7.38320105e-04 -1.86937994e-05 9.99999727e-01 -3.02823444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters 0.021718146585457867 Centerline is valid? [True, True] Translation: X:19.13, Y:0.04, Z:-0.30 [[ 9.99026725e-01 -4.41067786e-02 -4.41871298e-04 1.91304950e+01] [ 4.41067799e-02 9.99026822e-01 -6.96000212e-06 3.66474870e-02] [ 4.41748262e-04 -1.25362919e-05 9.99999902e-01 -3.04307656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters 0.018864865271984513 Centerline is valid? [True, True] Translation: X:19.19, Y:0.04, Z:-0.30 [[ 9.99092270e-01 -4.25510157e-02 2.01169844e-03 1.91890836e+01] [ 4.25510528e-02 9.99094294e-01 2.43831145e-05 4.02135121e-02] [-2.01091396e-03 6.12389054e-05 9.99997976e-01 -3.02635613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters 0.01758326543824249 Centerline is valid? [True, True] Translation: X:19.25, Y:0.04, Z:-0.30 [[ 9.99288160e-01 -3.76628725e-02 2.16376926e-03 1.92480430e+01] [ 3.76629023e-02 9.99290501e-01 2.69691376e-05 4.07945493e-02] [-2.16324980e-03 5.45438904e-05 9.99997659e-01 -3.02822903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters 0.019430712738719765 Centerline is valid? [True, True] Translation: X:19.31, Y:0.04, Z:-0.30 [[ 9.99408695e-01 -3.43801628e-02 5.13715804e-04 1.93063958e+01] [ 3.43801659e-02 9.99408827e-01 2.78766426e-06 4.15175340e-02] [-5.13507950e-04 1.48756187e-05 9.99999868e-01 -3.04717087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526559995 meters 0.017969791783744745 Centerline is valid? [True, True] Translation: X:19.37, Y:0.04, Z:-0.31 [[ 9.99557016e-01 -2.97359540e-02 -1.24279943e-03 1.93655437e+01] [ 2.97359517e-02 9.99557789e-01 -2.02959270e-05 4.31960985e-02] [ 1.24285337e-03 -1.66688876e-05 9.99999228e-01 -3.06272250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters 0.01812391032586832 Centerline is valid? [True, True] Translation: X:19.42, Y:0.04, Z:-0.31 [[ 9.99681174e-01 -2.52230069e-02 -1.16226715e-03 1.94244344e+01] [ 2.52230012e-02 9.99681849e-01 -1.95675900e-05 4.38655321e-02] [ 1.16239093e-03 -9.75451436e-06 9.99999324e-01 -3.07214903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters 0.015877995009039345 Centerline is valid? [True, True] Translation: X:19.48, Y:0.04, Z:-0.31 [[ 9.99763658e-01 -2.16720283e-02 -1.71794449e-03 1.94835979e+01] [ 2.16720131e-02 9.99765134e-01 -2.74594337e-05 4.23404411e-02] [ 1.71813610e-03 -9.77837142e-06 9.99998524e-01 -3.08233631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters 0.016708690029027827 Centerline is valid? [True, True] Translation: X:19.54, Y:0.04, Z:-0.31 [[ 9.99767080e-01 -2.15092000e-02 -1.77185235e-03 1.95412996e+01] [ 2.15091817e-02 9.99768650e-01 -2.93332211e-05 4.02670925e-02] [ 1.77207337e-03 -8.78470538e-06 9.99998430e-01 -3.09377243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters 0.016170829190671088 Centerline is valid? [True, True] Translation: X:19.60, Y:0.03, Z:-0.31 [[ 9.99775689e-01 -2.11649374e-02 -7.85925121e-04 1.95991023e+01] [ 2.11649342e-02 9.99775998e-01 -1.24594688e-05 3.45155681e-02] [ 7.86012775e-04 -4.17737943e-06 9.99999691e-01 -3.10639224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters 0.015649638382244088 Centerline is valid? [True, True] Translation: X:19.66, Y:0.03, Z:-0.31 [[ 9.99780145e-01 -2.09621562e-02 5.00580904e-04 1.96577596e+01] [ 2.09621572e-02 9.99780270e-01 3.26401372e-06 3.09092594e-02] [-5.00539332e-04 7.22995946e-06 9.99999875e-01 -3.09605808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters 0.015807303644560015 Centerline is valid? [True, True] Translation: X:19.72, Y:0.03, Z:-0.31 [[ 9.99896841e-01 -1.43207241e-02 1.10633596e-03 1.97165396e+01] [ 1.43207194e-02 9.99897453e-01 1.21910051e-05 3.28743205e-02] [-1.10639709e-03 3.65377934e-06 9.99999388e-01 -3.09509396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters 0.0166595484564415 Centerline is valid? [True, True] Translation: X:19.78, Y:0.04, Z:-0.31 [[ 9.99991311e-01 -4.14786481e-03 -4.15798830e-04 1.97753771e+01] [ 4.14786099e-03 9.99991398e-01 -1.00424689e-05 3.93333962e-02] [ 4.15836908e-04 8.31770586e-06 9.99999914e-01 -3.12979739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters 0.015591301172447536 Centerline is valid? [True, True] Translation: X:19.83, Y:0.04, Z:-0.31 [[ 9.99999218e-01 1.19649378e-03 3.64995889e-04 1.98342327e+01] [-1.19649439e-03 9.99999284e-01 1.44836655e-06 4.04644572e-02] [-3.64993894e-04 -1.88508095e-06 9.99999933e-01 -3.11219418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters 0.016832955006276486 Centerline is valid? [True, True] Translation: X:19.89, Y:0.05, Z:-0.31 [[ 9.99993092e-01 3.59323774e-03 9.50651549e-04 1.98949851e+01] [-3.59325324e-03 9.99993544e-01 1.46004745e-05 4.69885332e-02] [-9.50592949e-04 -1.80163054e-05 9.99999548e-01 -3.12119311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters 0.016520044483941572 Centerline is valid? [True, True] Translation: X:19.96, Y:0.05, Z:-0.31 [[ 9.99995290e-01 2.95974483e-03 8.12704513e-04 1.99566797e+01] [-2.95975886e-03 9.99995620e-01 1.60715133e-05 4.85959214e-02] [-8.12653386e-04 -1.84768470e-05 9.99999670e-01 -3.13464295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters 0.01709893398396133 Centerline is valid? [True, True] Translation: X:20.02, Y:0.05, Z:-0.31 [[ 9.99990234e-01 4.03473624e-03 1.80335583e-03 2.00183422e+01] [-4.03479185e-03 9.99991860e-01 2.71985568e-05 5.05755586e-02] [-1.80323141e-03 -3.44744565e-05 9.99998374e-01 -3.12906738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters 0.018362079943247296 Centerline is valid? [True, True] Translation: X:20.08, Y:0.06, Z:-0.32 [[ 9.99977853e-01 6.17448832e-03 2.48379758e-03 2.00796826e+01] [-6.17460023e-03 9.99980936e-01 3.73899909e-05 5.70007088e-02] [-2.48351936e-03 -5.27256199e-05 9.99996915e-01 -3.15154010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters 0.017987140694264003 Centerline is valid? [True, True] Translation: X:20.14, Y:0.06, Z:-0.32 [[ 9.99970722e-01 7.23488018e-03 2.49221641e-03 2.01416406e+01] [-7.23500218e-03 9.99973826e-01 3.99418576e-05 6.09018616e-02] [-2.49186220e-03 -5.79718794e-05 9.99996894e-01 -3.15919106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters 0.016167692675159134 Centerline is valid? [True, True] Translation: X:20.20, Y:0.06, Z:-0.31 [[ 9.99956333e-01 8.94030005e-03 2.72104588e-03 2.02034053e+01] [-8.94044904e-03 9.99960032e-01 4.25967981e-05 6.23504830e-02] [-2.72055630e-03 -6.69223100e-05 9.99996297e-01 -3.14280738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters 0.01975594241504733 Centerline is valid? [True, True] Translation: X:20.26, Y:0.07, Z:-0.32 [[ 9.99929756e-01 1.14977150e-02 2.87830457e-03 2.02649479e+01] [-1.14978824e-02 9.99933896e-01 4.16307471e-05 6.84709889e-02] [-2.87763565e-03 -7.47222304e-05 9.99995857e-01 -3.15821804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters 0.019394949689040337 Centerline is valid? [True, True] Translation: X:20.33, Y:0.07, Z:-0.32 [[ 9.99895805e-01 1.41569343e-02 2.82139672e-03 2.03265041e+01] [-1.41571081e-02 9.99899782e-01 4.16341638e-05 7.43880950e-02] [-2.82052456e-03 -8.15726442e-05 9.99996019e-01 -3.17872178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters 0.01881464901244923 Centerline is valid? [True, True] Translation: X:20.39, Y:0.08, Z:-0.32 [[ 9.99871099e-01 1.59588554e-02 1.76072881e-03 2.03886970e+01] [-1.59589299e-02 9.99872648e-01 2.82396542e-05 7.84736907e-02] [-1.76005391e-03 -5.63353618e-05 9.99998450e-01 -3.19624827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters 0.019445186601098955 Centerline is valid? [True, True] Translation: X:20.45, Y:0.08, Z:-0.32 [[ 9.99884461e-01 1.51127711e-02 1.63384554e-03 2.04507307e+01] [-1.51128341e-02 9.99885794e-01 2.61948079e-05 7.86635236e-02] [-1.63326307e-03 -5.08838179e-05 9.99998665e-01 -3.19529766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters 0.018531395516896927 Centerline is valid? [True, True] Translation: X:20.51, Y:0.09, Z:-0.32 [[ 9.99865425e-01 1.61617066e-02 2.81633620e-03 2.05129805e+01] [-1.61618880e-02 9.99869387e-01 4.16672467e-05 8.53605226e-02] [-2.81529494e-03 -8.71789497e-05 9.99996033e-01 -3.19639913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters 0.020772112286148045 Centerline is valid? [True, True] Translation: X:20.58, Y:0.09, Z:-0.32 [[ 9.99840107e-01 1.77316890e-02 2.31269340e-03 2.05751609e+01] [-1.77318151e-02 9.99842778e-01 3.40681948e-05 8.86435031e-02] [-2.31172571e-03 -7.50709995e-05 9.99997325e-01 -3.21754596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters 0.02316761222882407 Centerline is valid? [True, True] Translation: X:20.64, Y:0.10, Z:-0.33 [[ 9.99785055e-01 2.07270987e-02 4.79901356e-04 2.06360092e+01] [-2.07271057e-02 9.99785170e-01 9.76179409e-06 9.79020014e-02] [-4.79595926e-04 -1.97066620e-05 9.99999885e-01 -3.26192997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters 0.022786018960463488 Centerline is valid? [True, True] Translation: X:20.70, Y:0.10, Z:-0.33 [[ 9.99767492e-01 2.15586463e-02 4.33177663e-04 2.06978892e+01] [-2.15586524e-02 9.99767585e-01 9.35944594e-06 9.93778447e-02] [-4.32875209e-04 -1.86959965e-05 9.99999906e-01 -3.26954408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters 0.023805371386145743 Centerline is valid? [True, True] Translation: X:20.76, Y:0.10, Z:-0.33 [[ 9.99752732e-01 2.22297726e-02 5.58928612e-04 2.07604316e+01] [-2.22297823e-02 9.99752888e-01 1.12956578e-05 1.01901036e-01] [-5.58539394e-04 -2.37177261e-05 9.99999844e-01 -3.28349473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters 0.023601428338127034 Centerline is valid? [True, True] Translation: X:20.82, Y:0.10, Z:-0.33 [[ 9.99740616e-01 2.27704526e-02 4.55955287e-04 2.08236934e+01] [-2.27704595e-02 9.99740719e-01 9.98950322e-06 1.02127879e-01] [-4.55609601e-04 -2.03692235e-05 9.99999896e-01 -3.28567539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters 0.02426947902077353 Centerline is valid? [True, True] Translation: X:20.89, Y:0.11, Z:-0.33 [[ 9.99738885e-01 2.28291737e-02 9.95777063e-04 2.08857788e+01] [-2.28292006e-02 9.99739380e-01 1.56301734e-05 1.05606953e-01] [-9.95160719e-04 -3.83588864e-05 9.99999504e-01 -3.29336100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters 0.024153852475264234 Centerline is valid? [True, True] Translation: X:20.95, Y:0.11, Z:-0.33 [[ 9.99745474e-01 2.25290898e-02 1.19506572e-03 2.09480586e+01] [-2.25291270e-02 9.99746187e-01 1.76215557e-05 1.09914509e-01] [-1.19436540e-03 -4.45408579e-05 9.99999286e-01 -3.30884498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters 0.022879621330175383 Centerline is valid? [True, True] Translation: X:21.01, Y:0.11, Z:-0.33 [[ 9.99775290e-01 2.11028792e-02 2.00954935e-03 2.10098593e+01] [-2.11029751e-02 9.99777307e-01 2.65160557e-05 1.12533838e-01] [-2.00854228e-03 -6.89175671e-05 9.99997981e-01 -3.32201873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters 0.021101801059744865 Centerline is valid? [True, True] Translation: X:21.07, Y:0.12, Z:-0.33 [[ 9.99795478e-01 2.00445218e-02 2.68692386e-03 2.10717042e+01] [-2.00446839e-02 9.99799085e-01 3.34224496e-05 1.17202954e-01] [-2.68571408e-03 -8.72741535e-05 9.99996390e-01 -3.32756004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters 0.023913665208638562 Centerline is valid? [True, True] Translation: X:21.13, Y:0.12, Z:-0.33 [[ 9.99827169e-01 1.82087328e-02 3.75143831e-03 2.11334663e+01] [-1.82090265e-02 9.99834201e-01 4.41618501e-05 1.19976100e-01] [-3.75001219e-03 -1.12464257e-04 9.99992962e-01 -3.34830888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters 0.021901882776172627 Centerline is valid? [True, True] Translation: X:21.19, Y:0.12, Z:-0.33 [[ 9.99890145e-01 1.39000325e-02 5.14651001e-03 2.11935926e+01] [-1.39005066e-02 9.99903382e-01 5.63574670e-05 1.21774632e-01] [-5.14522939e-03 -1.27890372e-04 9.99986755e-01 -3.34366174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters 0.021424750599902103 Centerline is valid? [True, True] Translation: X:21.26, Y:0.12, Z:-0.33 [[ 9.99918543e-01 1.17021794e-02 5.09567451e-03 2.12553785e+01] [-1.17026207e-02 9.99931520e-01 5.67868484e-05 1.24492631e-01] [-5.09466103e-03 -1.16414968e-04 9.99987015e-01 -3.34569687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters 0.021193443970800623 Centerline is valid? [True, True] Translation: X:21.32, Y:0.13, Z:-0.34 [[ 9.99916548e-01 1.18741899e-02 5.08926475e-03 2.13181363e+01] [-1.18746282e-02 9.99929493e-01 5.59188684e-05 1.28895570e-01] [-5.08824193e-03 -1.16347329e-04 9.99987048e-01 -3.35450790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters 0.021290031292126647 Centerline is valid? [True, True] Translation: X:21.38, Y:0.14, Z:-0.34 [[ 9.99914064e-01 1.15611219e-02 6.18103446e-03 2.13799322e+01] [-1.15617437e-02 9.99933159e-01 6.48709961e-05 1.35639019e-01] [-6.17987133e-03 -1.36328958e-04 9.99980895e-01 -3.36101126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters 0.020824156431583335 Centerline is valid? [True, True] Translation: X:21.44, Y:0.14, Z:-0.34 [[ 9.99905874e-01 1.17906599e-02 7.01589377e-03 2.14429905e+01] [-1.17914528e-02 9.99930476e-01 7.16640848e-05 1.39956647e-01] [-7.01456103e-03 -1.54384920e-04 9.99975386e-01 -3.35997617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters 0.02269766962313637 Centerline is valid? [True, True] Translation: X:21.50, Y:0.15, Z:-0.34 [[ 9.99901147e-01 1.29909027e-02 5.37886978e-03 2.15040478e+01] [-1.29913749e-02 9.99915607e-01 5.28575828e-05 1.49172091e-01] [-5.37772917e-03 -1.22731271e-04 9.99985532e-01 -3.38696215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters 0.021488517776932413 Centerline is valid? [True, True] Translation: X:21.57, Y:0.15, Z:-0.34 [[ 9.99899453e-01 1.33888454e-02 4.67158333e-03 2.15667790e+01] [-1.33892122e-02 9.99910359e-01 4.72354196e-05 1.54173360e-01] [-4.67053214e-03 -1.09779491e-04 9.99989087e-01 -3.40039482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters 0.021460390608836963 Centerline is valid? [True, True] Translation: X:21.63, Y:0.16, Z:-0.34 [[ 9.99912922e-01 1.23233281e-02 4.72059496e-03 2.16286768e+01] [-1.23236826e-02 9.99924059e-01 4.60183686e-05 1.58208984e-01] [-4.71966938e-03 -1.04189475e-04 9.99988857e-01 -3.40988654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters 0.021863197943240157 Centerline is valid? [True, True] Translation: X:21.69, Y:0.16, Z:-0.34 [[ 9.99912455e-01 1.19568740e-02 5.66711226e-03 2.16910353e+01] [-1.19573666e-02 9.99928507e-01 5.30368955e-05 1.63602314e-01] [-5.66607294e-03 -1.20795991e-04 9.99983940e-01 -3.41186101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters 0.02147901918528953 Centerline is valid? [True, True] Translation: X:21.75, Y:0.17, Z:-0.34 [[ 9.99909651e-01 1.18843136e-02 6.28113065e-03 2.17531219e+01] [-1.18849046e-02 9.99929370e-01 5.67803116e-05 1.68519228e-01] [-6.28001222e-03 -1.31425820e-04 9.99980272e-01 -3.42385598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters 0.022207735427941477 Centerline is valid? [True, True] Translation: X:21.81, Y:0.17, Z:-0.34 [[ 9.99906381e-01 1.22582115e-02 6.07995110e-03 2.18149036e+01] [-1.22587646e-02 9.99924857e-01 5.37121169e-05 1.74404465e-01] [-6.07883582e-03 -1.28239777e-04 9.99981515e-01 -3.44589366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters 0.021829029188755115 Centerline is valid? [True, True] Translation: X:21.88, Y:0.18, Z:-0.35 [[ 9.99894899e-01 1.31349172e-02 6.13721650e-03 2.18778340e+01] [-1.31354887e-02 9.99913724e-01 5.28174714e-05 1.76374251e-01] [-6.13599325e-03 -1.33427258e-04 9.99981166e-01 -3.45180058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters 0.021327988878303575 Centerline is valid? [True, True] Translation: X:21.94, Y:0.18, Z:-0.35 [[ 9.99893189e-01 1.33491410e-02 5.95067309e-03 2.19402565e+01] [-1.33496726e-02 9.99910888e-01 4.96187408e-05 1.81604816e-01] [-5.94948045e-03 -1.29052979e-04 9.99982293e-01 -3.46503745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters 0.02117408004667438 Centerline is valid? [True, True] Translation: X:22.00, Y:0.18, Z:-0.35 [[ 9.99901246e-01 1.26871985e-02 6.04433354e-03 2.20025502e+01] [-1.26877217e-02 9.99919506e-01 4.82168323e-05 1.83137901e-01] [-6.04323528e-03 -1.24900892e-04 9.99981732e-01 -3.47869051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters 0.019233983710954392 Centerline is valid? [True, True] Translation: X:22.06, Y:0.18, Z:-0.35 [[ 9.99927487e-01 1.06096082e-02 5.69716163e-03 2.20640681e+01] [-1.06100312e-02 9.99943711e-01 4.40286774e-05 1.83595859e-01] [-5.69637381e-03 -1.04472547e-04 9.99983770e-01 -3.48268751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters 0.020332367406663086 Centerline is valid? [True, True] Translation: X:22.13, Y:0.18, Z:-0.35 [[ 9.99935747e-01 9.73646096e-03 5.80548311e-03 2.21262573e+01] [-9.73687828e-03 9.99952595e-01 4.36228414e-05 1.84979364e-01] [-5.80478317e-03 -1.00147321e-04 9.99983147e-01 -3.49704662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters 0.02163556709723506 Centerline is valid? [True, True] Translation: X:22.19, Y:0.19, Z:-0.35 [[ 9.99932760e-01 9.84480166e-03 6.12820877e-03 2.21895237e+01] [-9.84526038e-03 9.99951533e-01 4.46891178e-05 1.87514141e-01] [-6.12747180e-03 -1.05019924e-04 9.99981221e-01 -3.50997652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters 0.020408209267949604 Centerline is valid? [True, True] Translation: X:22.25, Y:0.19, Z:-0.35 [[ 9.99936724e-01 9.01150782e-03 6.73349635e-03 2.22515036e+01] [-9.01202500e-03 9.99959390e-01 4.64681435e-05 1.86824211e-01] [-6.73280416e-03 -1.07147641e-04 9.99977329e-01 -3.51041399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters 0.019854023596703203 Centerline is valid? [True, True] Translation: X:22.31, Y:0.19, Z:-0.35 [[ 9.99936196e-01 9.05705662e-03 6.75082714e-03 2.23134325e+01] [-9.05756699e-03 9.99958978e-01 4.50302772e-05 1.88046139e-01] [-6.75014237e-03 -1.06173473e-04 9.99977212e-01 -3.51810148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters 0.02008436187452215 Centerline is valid? [True, True] Translation: X:22.38, Y:0.19, Z:-0.35 [[ 9.99938658e-01 8.91223678e-03 6.57657645e-03 2.23766302e+01] [-8.91270898e-03 9.99960280e-01 4.24955611e-05 1.88566944e-01] [-6.57593650e-03 -1.01108066e-04 9.99978373e-01 -3.52984249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters 0.020639718809622776 Centerline is valid? [True, True] Translation: X:22.44, Y:0.19, Z:-0.36 [[ 9.99933490e-01 9.24199248e-03 6.89934802e-03 2.24381584e+01] [-9.24249801e-03 9.99957286e-01 4.13913088e-05 1.89571088e-01] [-6.89867078e-03 -1.05155766e-04 9.99976198e-01 -3.55014317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters 0.020451397087987683 Centerline is valid? [True, True] Translation: X:22.50, Y:0.19, Z:-0.36 [[ 9.99940693e-01 8.99977822e-03 6.13301312e-03 2.25014424e+01] [-9.00017476e-03 9.99959497e-01 3.70593697e-05 1.87251259e-01] [-6.13243118e-03 -9.22553616e-05 9.99981192e-01 -3.56103095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters 0.019771862450029775 Centerline is valid? [True, True] Translation: X:22.56, Y:0.18, Z:-0.36 [[ 9.99954244e-01 6.29898711e-03 7.19942500e-03 2.25626636e+01] [-6.29943966e-03 9.99980158e-01 4.01831130e-05 1.84384009e-01] [-7.19902903e-03 -8.55336177e-05 9.99974083e-01 -3.56547441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters 0.019006373211499734 Centerline is valid? [True, True] Translation: X:22.63, Y:0.18, Z:-0.36 [[ 9.99959921e-01 3.63328164e-03 8.18268572e-03 2.26253415e+01] [-3.63374906e-03 9.99993397e-01 4.22576535e-05 1.80516201e-01] [-8.18247816e-03 -7.19897865e-05 9.99966520e-01 -3.56554435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters 0.018543940299074253 Centerline is valid? [True, True] Translation: X:22.69, Y:0.17, Z:-0.36 [[ 9.99968374e-01 -1.53856715e-03 7.80277152e-03 2.26878410e+01] [ 1.53829465e-03 9.99998816e-01 4.09249475e-05 1.72985182e-01] [-7.80282525e-03 -2.89206915e-05 9.99969557e-01 -3.57267901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters 0.01942250399854834 Centerline is valid? [True, True] Translation: X:22.75, Y:0.17, Z:-0.36 [[ 9.99954669e-01 -4.60878559e-03 8.33180147e-03 2.27502517e+01] [ 4.60860075e-03 9.99989379e-01 4.13846274e-05 1.69005806e-01] [-8.33190372e-03 -2.98480493e-06 9.99965289e-01 -3.59352512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters 0.01864864130768014 Centerline is valid? [True, True] Translation: X:22.81, Y:0.17, Z:-0.36 [[ 9.99937647e-01 -6.79854823e-03 8.85894902e-03 2.28136886e+01] [ 6.79844375e-03 9.99976889e-01 4.19084105e-05 1.65581515e-01] [-8.85902921e-03 1.83212692e-05 9.99960758e-01 -3.60094066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters 0.01892517731403648 Centerline is valid? [True, True] Translation: X:22.88, Y:0.16, Z:-0.36 [[ 9.99926186e-01 -8.08164921e-03 9.07246267e-03 2.28755115e+01] [ 8.08162905e-03 9.99967342e-01 3.88840580e-05 1.61581714e-01] [-9.07248063e-03 3.44390901e-05 9.99958844e-01 -3.60696407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters 0.018664948519954507 Centerline is valid? [True, True] Translation: X:22.94, Y:0.16, Z:-0.36 [[ 9.99934752e-01 -8.17048265e-03 7.98337954e-03 2.29374486e+01] [ 8.17047307e-03 9.99966621e-01 3.38154420e-05 1.56314345e-01] [-7.98338934e-03 3.14147519e-05 9.99968132e-01 -3.61113715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters 0.018425006040176103 Centerline is valid? [True, True] Translation: X:23.00, Y:0.15, Z:-0.36 [[ 9.99948158e-01 -7.76837795e-03 6.58280177e-03 2.29981709e+01] [ 7.76836569e-03 9.99969825e-01 2.74320060e-05 1.53714762e-01] [-6.58281623e-03 2.37070275e-05 9.99978333e-01 -3.63253201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters 0.018535116541111948 Centerline is valid? [True, True] Translation: X:23.06, Y:0.15, Z:-0.36 [[ 9.99958708e-01 -7.33015344e-03 5.37126244e-03 2.30599479e+01] [ 7.33014066e-03 9.99973134e-01 2.20663355e-05 1.49976499e-01] [-5.37127988e-03 1.73066848e-05 9.99985574e-01 -3.64571446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters 0.018938542808134378 Centerline is valid? [True, True] Translation: X:23.12, Y:0.15, Z:-0.36 [[ 9.99961056e-01 -6.65882362e-03 5.79196890e-03 2.31215742e+01] [ 6.65879898e-03 9.99977830e-01 2.35386408e-05 1.46229308e-01] [-5.79199723e-03 1.50298325e-05 9.99983226e-01 -3.64997346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246559995 meters 0.018809623519344974 Centerline is valid? [True, True] Translation: X:23.18, Y:0.14, Z:-0.37 [[ 9.99959606e-01 -5.86869261e-03 6.80763564e-03 2.31832853e+01] [ 5.86864259e-03 9.99982779e-01 2.73227370e-05 1.41770401e-01] [-6.80767876e-03 1.26299471e-05 9.99976827e-01 -3.65346064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters 0.019060718157955715 Centerline is valid? [True, True] Translation: X:23.25, Y:0.14, Z:-0.37 [[ 9.99963611e-01 -5.50906199e-03 6.51359557e-03 2.32450470e+01] [ 5.50900775e-03 9.99984825e-01 2.62684079e-05 1.38228315e-01] [-6.51364144e-03 9.61599649e-06 9.99978786e-01 -3.66382413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters 0.018588863960515345 Centerline is valid? [True, True] Translation: X:23.31, Y:0.13, Z:-0.37 [[ 9.99971942e-01 -5.41789549e-03 5.17320127e-03 2.33069402e+01] [ 5.41786074e-03 9.99985323e-01 2.07305873e-05 1.31350568e-01] [-5.17323766e-03 7.29767847e-06 9.99986619e-01 -3.67441108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters 0.019198530587037244 Centerline is valid? [True, True] Translation: X:23.37, Y:0.13, Z:-0.37 [[ 9.99978660e-01 -5.26943539e-03 3.86165294e-03 2.33671623e+01] [ 5.26941736e-03 9.99986116e-01 1.48440431e-05 1.25308885e-01] [-3.86167755e-03 5.50493465e-06 9.99992544e-01 -3.70718430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters 0.018428885279179564 Centerline is valid? [True, True] Translation: X:23.43, Y:0.12, Z:-0.37 [[ 9.99979618e-01 -5.01028154e-03 3.95735400e-03 2.34278989e+01] [ 5.01026170e-03 9.99987448e-01 1.49291425e-05 1.21166473e-01] [-3.95737913e-03 4.89854098e-06 9.99992170e-01 -3.71487357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546559995 meters 0.018305622847246517 Centerline is valid? [True, True] Translation: X:23.49, Y:0.12, Z:-0.37 [[ 9.99978935e-01 -4.59023064e-03 4.58903479e-03 2.34886697e+01] [ 4.59019953e-03 9.99989465e-01 1.73121622e-05 1.16031990e-01] [-4.58906592e-03 3.75278786e-06 9.99989470e-01 -3.72428943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters 0.01767283923956824 Centerline is valid? [True, True] Translation: X:23.55, Y:0.11, Z:-0.37 [[ 9.99980690e-01 -3.26270655e-03 5.28898762e-03 2.35491678e+01] [ 3.26264566e-03 9.99994677e-01 2.01412910e-05 1.08458658e-01] [-5.28902518e-03 -2.88480961e-06 9.99986013e-01 -3.74768845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters 0.01739910913001506 Centerline is valid? [True, True] Translation: X:23.61, Y:0.10, Z:-0.38 [[ 9.99980578e-01 -2.21998574e-03 5.82360774e-03 2.36109087e+01] [ 2.21989181e-03 9.99997536e-01 2.25919538e-05 1.03373684e-01] [-5.82364355e-03 -9.66373586e-06 9.99983042e-01 -3.75425028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters 0.016867653206632027 Centerline is valid? [True, True] Translation: X:23.67, Y:0.10, Z:-0.38 [[ 9.99975773e-01 -4.51334593e-05 6.96069348e-03 2.36718819e+01] [ 4.49528253e-05 9.99999999e-01 2.61070175e-05 9.55527541e-02] [-6.96069465e-03 -2.57934821e-05 9.99975774e-01 -3.76708375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786559994999998 meters 0.015726997565836752 Centerline is valid? [True, True] Translation: X:23.73, Y:0.09, Z:-0.38 [[ 9.99970663e-01 1.76104099e-03 7.45461168e-03 2.37344473e+01] [-1.76129603e-03 9.99998449e-01 2.76474252e-05 9.06853127e-02] [-7.45455143e-03 -4.07763920e-05 9.99972214e-01 -3.78147884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters 0.01723241999920543 Centerline is valid? [True, True] Translation: X:23.80, Y:0.08, Z:-0.38 [[ 9.99971193e-01 5.86909691e-03 4.81329653e-03 2.37969639e+01] [-5.86925106e-03 9.99982776e-01 1.79004813e-05 8.40387586e-02] [-4.81310856e-03 -4.61504113e-05 9.99988416e-01 -3.81792906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters 0.017352773012481823 Centerline is valid? [True, True] Translation: X:23.86, Y:0.08, Z:-0.38 [[ 9.99943812e-01 9.56126128e-03 4.57758518e-03 2.38589742e+01] [-9.56143822e-03 9.99954288e-01 1.67693064e-05 8.02078919e-02] [-4.57721560e-03 -6.05366620e-05 9.99989523e-01 -3.83045885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters 0.0176815991227911 Centerline is valid? [True, True] Translation: X:23.92, Y:0.08, Z:-0.38 [[ 9.99846571e-01 1.68675693e-02 4.72444560e-03 2.39207260e+01] [-1.68678366e-02 9.99857728e-01 1.67364263e-05 8.01458328e-02] [-4.72349114e-03 -9.64250347e-05 9.99988840e-01 -3.83170927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters 0.018797388704280125 Centerline is valid? [True, True] Translation: X:23.98, Y:0.08, Z:-0.39 [[ 9.99807140e-01 1.82691095e-02 7.20570398e-03 2.39835012e+01] [-1.82697763e-02 9.99833093e-01 2.67282925e-05 8.47229012e-02] [-7.20401300e-03 -1.58369738e-04 9.99974038e-01 -3.85026136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters 0.018266953988907726 Centerline is valid? [True, True] Translation: X:24.04, Y:0.09, Z:-0.38 [[ 9.99781543e-01 1.86658139e-02 9.40498583e-03 2.40446905e+01] [-1.86669253e-02 9.99825757e-01 3.03960862e-05 8.56374655e-02] [-9.40277972e-03 -2.05951614e-04 9.99955772e-01 -3.84145062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146559995 meters 0.016488315455745663 Centerline is valid? [True, True] Translation: X:24.11, Y:0.08, Z:-0.38 [[ 9.99811126e-01 1.68475197e-02 9.68882731e-03 2.41068221e+01] [-1.68485924e-02 9.99858052e-01 2.90956701e-05 8.20940762e-02] [-9.68696181e-03 -1.92333277e-04 9.99953062e-01 -3.84737230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters 0.016544189213807105 Centerline is valid? [True, True] Translation: X:24.17, Y:0.09, Z:-0.39 [[ 9.99782246e-01 1.87997242e-02 9.05706520e-03 2.41690343e+01] [-1.88007231e-02 9.99823250e-01 2.51539232e-05 8.55284903e-02] [-9.05499148e-03 -1.95427821e-04 9.99958984e-01 -3.87585268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters 0.01920267355132708 Centerline is valid? [True, True] Translation: X:24.23, Y:0.09, Z:-0.39 [[ 9.99739520e-01 2.17435028e-02 6.93623269e-03 2.42312442e+01] [-2.17441428e-02 9.99763568e-01 1.68520953e-05 8.93063636e-02] [-6.93422632e-03 -1.67670140e-04 9.99975944e-01 -3.90518591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters 0.016129926033124298 Centerline is valid? [True, True] Translation: X:24.29, Y:0.09, Z:-0.39 [[ 9.99735832e-01 2.07819622e-02 9.81714579e-03 2.42933219e+01] [-2.07831969e-02 9.99784006e-01 2.37573916e-05 9.01580683e-02] [-9.81453162e-03 -2.27782790e-04 9.99951810e-01 -3.89463806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters 0.015847745816374034 Centerline is valid? [True, True] Translation: X:24.36, Y:0.09, Z:-0.39 [[ 9.99715200e-01 2.03521473e-02 1.24623295e-02 2.43560317e+01] [-2.03540439e-02 9.99792835e-01 2.53581018e-05 9.00531471e-02] [-1.24592316e-02 -2.79009680e-04 9.99922342e-01 -3.87922992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters 0.017550752361732307 Centerline is valid? [True, True] Translation: X:24.42, Y:0.09, Z:-0.39 [[ 9.99699933e-01 2.07176631e-02 1.30699216e-02 2.44191809e+01] [-2.07197715e-02 9.99785322e-01 2.59151785e-05 9.06156535e-02] [-1.30665789e-02 -2.96713191e-04 9.99914585e-01 -3.89363060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters 0.01781499421675157 Centerline is valid? [True, True] Translation: X:24.48, Y:0.09, Z:-0.39 [[ 9.99690691e-01 2.15950143e-02 1.23360105e-02 2.44807759e+01] [-2.15969165e-02 9.99766759e-01 2.09893913e-05 9.32232859e-02] [-1.23326800e-02 -2.87402688e-04 9.99923908e-01 -3.92242097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters 0.01606898515887546 Centerline is valid? [True, True] Translation: X:24.54, Y:0.10, Z:-0.39 [[ 9.99696253e-01 2.21965022e-02 1.07106142e-02 2.45423739e+01] [-2.21979474e-02 9.99753595e-01 1.60543798e-05 9.62749672e-02] [-1.07076187e-02 -2.53803153e-04 9.99942640e-01 -3.94991182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters 0.016100098315593774 Centerline is valid? [True, True] Translation: X:24.61, Y:0.10, Z:-0.39 [[ 9.99697252e-01 2.21382672e-02 1.07378308e-02 2.46055146e+01] [-2.21396891e-02 9.99754887e-01 1.35536151e-05 9.63786328e-02] [-1.07348988e-02 -2.51281747e-04 9.99942348e-01 -3.94681651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters 0.01832544503825474 Centerline is valid? [True, True] Translation: X:24.67, Y:0.10, Z:-0.40 [[ 9.99656845e-01 2.42146516e-02 9.99217295e-03 2.46665643e+01] [-2.42159574e-02 9.99706751e-01 9.70196721e-06 9.87290576e-02] [-9.98900782e-03 -2.51668673e-04 9.99950077e-01 -3.96398022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters 0.018115619131909403 Centerline is valid? [True, True] Translation: X:24.73, Y:0.10, Z:-0.40 [[ 9.99621759e-01 2.55178087e-02 1.02557778e-02 2.47285405e+01] [-2.55192290e-02 9.99674331e-01 7.62864870e-06 9.88371674e-02] [-1.02522431e-02 -2.69345305e-04 9.99947408e-01 -3.97220202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters 0.01862080106022952 Centerline is valid? [True, True] Translation: X:24.79, Y:0.10, Z:-0.40 [[ 9.99601218e-01 2.58802433e-02 1.12968343e-02 2.47901036e+01] [-2.58819488e-02 9.99665006e-01 4.77414247e-06 1.02978728e-01] [-1.12929264e-02 -2.97156325e-04 9.99936189e-01 -3.99078821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters 0.02031683121009591 Centerline is valid? [True, True] Translation: X:24.85, Y:0.10, Z:-0.40 [[ 9.99587458e-01 2.63187799e-02 1.14993763e-02 2.48518905e+01] [-2.63205557e-02 9.99653554e-01 3.09354619e-06 1.04957843e-01] [-1.14953110e-02 -3.05762246e-04 9.99933880e-01 -4.01038439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters 0.019720358845870926 Centerline is valid? [True, True] Translation: X:24.91, Y:0.11, Z:-0.40 [[ 9.99602335e-01 2.58573053e-02 1.12503805e-02 2.49136654e+01] [-2.58589429e-02 9.99665602e-01 8.64987498e-08 1.05927119e-01] [-1.12466161e-02 -2.91009410e-04 9.99936712e-01 -4.02166409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters 0.01908360451152002 Centerline is valid? [True, True] Translation: X:24.98, Y:0.10, Z:-0.40 [[ 9.99633897e-01 2.49542047e-02 1.04575356e-02 2.49762679e+01] [-2.49555380e-02 9.99688562e-01 -2.99127316e-06 1.03878759e-01] [-1.04543534e-02 -2.57983249e-04 9.99945318e-01 -4.03259002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters 0.018536504789210574 Centerline is valid? [True, True] Translation: X:25.04, Y:0.10, Z:-0.40 [[ 9.99676366e-01 2.34984768e-02 9.74599000e-03 2.50385656e+01] [-2.34995679e-02 9.99723847e-01 -2.56777295e-06 1.02837367e-01] [-9.74335895e-03 -2.26459612e-04 9.99952507e-01 -4.04552256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters 0.015966336834851668 Centerline is valid? [True, True] Translation: X:25.10, Y:0.10, Z:-0.40 [[ 9.99719422e-01 2.08345362e-02 1.12694347e-02 2.51004195e+01] [-2.08357868e-02 9.99782911e-01 -6.42990322e-06 1.02236586e-01] [-1.12671222e-02 -2.28379440e-04 9.99936498e-01 -4.04856140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters 0.015587829030040589 Centerline is valid? [True, True] Translation: X:25.16, Y:0.10, Z:-0.41 [[ 9.99831716e-01 1.36668455e-02 1.22374930e-02 2.51623371e+01] [-1.36677336e-02 9.99906592e-01 -1.10633938e-05 9.88090989e-02] [-1.22365012e-02 -1.56197263e-04 9.99925119e-01 -4.07299028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters 0.01588889943152929 Centerline is valid? [True, True] Translation: X:25.22, Y:0.10, Z:-0.41 [[ 9.99885017e-01 9.03284293e-03 1.21803371e-02 2.52247678e+01] [-9.03337990e-03 9.99959198e-01 -1.09322960e-05 9.54490993e-02] [-1.21799388e-02 -9.90985732e-05 9.99925817e-01 -4.08750726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters 0.016029670147750162 Centerline is valid? [True, True] Translation: X:25.29, Y:0.09, Z:-0.41 [[ 9.99939199e-01 2.24240331e-03 1.07967595e-02 2.52869519e+01] [-2.24240524e-03 9.99997486e-01 -1.19265638e-05 9.08839790e-02] [-1.07967591e-02 -1.22848714e-05 9.99941713e-01 -4.11240273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters 0.013870395630269617 Centerline is valid? [True, True] Translation: X:25.35, Y:0.09, Z:-0.41 [[ 9.99944579e-01 -1.59433482e-03 1.04066172e-02 2.53496675e+01] [ 1.59456466e-03 9.99998729e-01 -1.37890684e-05 8.88208459e-02] [-1.04065819e-02 3.03823281e-05 9.99945850e-01 -4.12475614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters 0.013872213123602836 Centerline is valid? [True, True] Translation: X:25.41, Y:0.09, Z:-0.41 [[ 9.99919833e-01 -7.76773775e-03 9.99952206e-03 2.54119947e+01] [ 7.76828681e-03 9.99969826e-01 -1.60685822e-05 8.69086450e-02] [-9.99909552e-03 9.37464494e-05 9.99950003e-01 -4.14601515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters 0.015016300724379195 Centerline is valid? [True, True] Translation: X:25.47, Y:0.08, Z:-0.42 [[ 9.99844300e-01 -1.41065838e-02 1.06009909e-02 2.54728021e+01] [ 1.41075895e-02 9.99900483e-01 -2.00832520e-05 8.40296991e-02] [-1.05996527e-02 1.69634553e-04 9.99943808e-01 -4.16425806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters 0.015847900077778376 Centerline is valid? [True, True] Translation: X:25.53, Y:0.08, Z:-0.42 [[ 9.99772200e-01 -1.81575441e-02 1.12183353e-02 2.55337760e+01] [ 1.81589677e-02 9.99835112e-01 -2.50482378e-05 8.14552699e-02] [-1.12160308e-02 2.28755921e-04 9.99937072e-01 -4.16917222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters 0.018296505730572624 Centerline is valid? [True, True] Translation: X:25.59, Y:0.08, Z:-0.42 [[ 9.99625695e-01 -2.44891376e-02 1.21964029e-02 2.55928806e+01] [ 2.44912964e-02 9.99700043e-01 -2.76600631e-05 7.54851380e-02] [-1.21920672e-02 3.26355430e-04 9.99925621e-01 -4.17423971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters 0.021080545626521337 Centerline is valid? [True, True] Translation: X:25.65, Y:0.08, Z:-0.42 [[ 9.99613491e-01 -2.55178062e-02 1.10322644e-02 2.56508537e+01] [ 2.55196342e-02 9.99674321e-01 -2.49287945e-05 7.58286872e-02] [-1.10280353e-02 3.06458510e-04 9.99939142e-01 -4.22558391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706559995 meters 0.01999614527140273 Centerline is valid? [True, True] Translation: X:25.71, Y:0.08, Z:-0.42 [[ 9.99628265e-01 -2.51951684e-02 1.04180622e-02 2.57100060e+01] [ 2.51967820e-02 9.99682510e-01 -2.36417032e-05 8.04864153e-02] [-1.04141589e-02 2.86134557e-04 9.99945730e-01 -4.23856118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters 0.02012342904198337 Centerline is valid? [True, True] Translation: X:25.77, Y:0.08, Z:-0.43 [[ 9.99664238e-01 -2.38262603e-02 1.01843479e-02 2.57684981e+01] [ 2.38277063e-02 9.99716080e-01 -2.06496076e-05 8.09125565e-02] [-1.01809644e-02 2.63312326e-04 9.99948138e-01 -4.25619651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters 0.019307737848602468 Centerline is valid? [True, True] Translation: X:25.83, Y:0.08, Z:-0.43 [[ 9.99707069e-01 -2.19189832e-02 1.02632407e-02 2.58279219e+01] [ 2.19203184e-02 9.99759721e-01 -1.76073031e-05 8.16652420e-02] [-1.02603887e-02 2.42575650e-04 9.99947331e-01 -4.26533485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters 0.017532752807487513 Centerline is valid? [True, True] Translation: X:25.89, Y:0.08, Z:-0.43 [[ 9.99771964e-01 -1.76372892e-02 1.20393567e-02 2.58874201e+01] [ 1.76387975e-02 9.99844424e-01 -1.90983320e-05 8.42300443e-02] [-1.20371468e-02 2.31453751e-04 9.99927524e-01 -4.26589319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters 0.01789698679723948 Centerline is valid? [True, True] Translation: X:25.95, Y:0.09, Z:-0.43 [[ 9.99824958e-01 -1.35650973e-02 1.28856984e-02 2.59470524e+01] [ 1.35664381e-02 9.99907972e-01 -1.66419383e-05 8.71378423e-02] [-1.28842868e-02 1.91452055e-04 9.99916976e-01 -4.27828591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters 0.01356233296142666 Centerline is valid? [True, True] Translation: X:26.01, Y:0.10, Z:-0.43 [[ 9.99901105e-01 -4.13795591e-03 1.34409041e-02 2.60078402e+01] [ 4.13855815e-03 9.99991436e-01 -1.69926977e-05 9.53510002e-02] [-1.34407187e-02 7.26169805e-05 9.99909667e-01 -4.29653441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters 0.01721699065985887 Centerline is valid? [True, True] Translation: X:26.07, Y:0.10, Z:-0.43 [[ 9.99932640e-01 -1.22960390e-03 1.15413710e-02 2.60702616e+01] [ 1.22985596e-03 9.99999244e-01 -1.47423557e-05 9.83118257e-02] [-1.15413441e-02 2.89355866e-05 9.99933396e-01 -4.33321113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters 0.01683348535197925 Centerline is valid? [True, True] Translation: X:26.13, Y:0.10, Z:-0.43 [[ 9.99924262e-01 1.40078991e-03 1.22273419e-02 2.61328902e+01] [-1.40069198e-03 9.99999019e-01 -1.65728955e-05 9.98525031e-02] [-1.22273531e-02 -5.55099330e-07 9.99925243e-01 -4.34039086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters 0.016750856720353476 Centerline is valid? [True, True] Translation: X:26.20, Y:0.10, Z:-0.43 [[ 9.99895434e-01 5.05845067e-03 1.35474540e-02 2.61953713e+01] [-5.05865252e-03 9.99987205e-01 -1.93684660e-05 1.01885964e-01] [-1.35473786e-02 -4.91654216e-05 9.99908229e-01 -4.34564010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters 0.017830785056652088 Centerline is valid? [True, True] Translation: X:26.26, Y:0.10, Z:-0.44 [[ 9.99884991e-01 7.01634368e-03 1.34453095e-02 2.62582121e+01] [-7.01670597e-03 9.99975382e-01 -2.02279599e-05 1.02847433e-01] [-1.34451204e-02 -7.41161501e-05 9.99909608e-01 -4.36222445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters 0.01645759859008635 Centerline is valid? [True, True] Translation: X:26.32, Y:0.10, Z:-0.44 [[ 9.99856418e-01 9.97413461e-03 1.36989381e-02 2.63196515e+01] [-9.97472921e-03 9.99950251e-01 -2.49212788e-05 1.04965202e-01] [-1.36985052e-02 -1.11725498e-04 9.99906165e-01 -4.37951275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters 0.017515808070458824 Centerline is valid? [True, True] Translation: X:26.38, Y:0.11, Z:-0.44 [[ 9.99848333e-01 1.17348583e-02 1.28686969e-02 2.63812592e+01] [-1.17355124e-02 9.99931136e-01 -2.46828069e-05 1.05647409e-01] [-1.28681004e-02 -1.26341689e-04 9.99917195e-01 -4.40227560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters 0.016583771538375695 Centerline is valid? [True, True] Translation: X:26.44, Y:0.11, Z:-0.44 [[ 9.99821073e-01 1.37891304e-02 1.29492085e-02 2.64432701e+01] [-1.37899235e-02 9.99904914e-01 -2.80427535e-05 1.06492024e-01] [-1.29483639e-02 -1.50530858e-04 9.99916155e-01 -4.41138730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters 0.017070981458300324 Centerline is valid? [True, True] Translation: X:26.50, Y:0.11, Z:-0.44 [[ 9.99792688e-01 1.54858785e-02 1.32199874e-02 2.65048853e+01] [-1.54868098e-02 9.99880072e-01 -3.19294156e-05 1.06568362e-01] [-1.32188964e-02 -1.72812634e-04 9.99912612e-01 -4.41782281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters 0.016038853247934276 Centerline is valid? [True, True] Translation: X:26.57, Y:0.11, Z:-0.44 [[ 9.99706389e-01 2.00884579e-02 1.35495315e-02 2.65661772e+01] [-2.00898145e-02 9.99798179e-01 -3.59925029e-05 1.10469495e-01] [-1.35475199e-02 -2.36225639e-04 9.99908200e-01 -4.42290841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606559994999998 meters 0.01816294003290705 Centerline is valid? [True, True] Translation: X:26.63, Y:0.11, Z:-0.45 [[ 9.99647502e-01 2.36371277e-02 1.20895709e-02 2.66273298e+01] [-2.36384382e-02 9.99720572e-01 -3.45055387e-05 1.14645721e-01] [-1.20870084e-02 -2.51285199e-04 9.99926918e-01 -4.45617736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666559995 meters 0.02008509723113426 Centerline is valid? [True, True] Translation: X:26.69, Y:0.12, Z:-0.45 [[ 9.99607035e-01 2.57937091e-02 1.09753959e-02 2.66896900e+01] [-2.57948966e-02 9.99667256e-01 -3.33744424e-05 1.15390627e-01] [-1.09726047e-02 -2.49747875e-04 9.99939768e-01 -4.48163061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726559995 meters 0.018949341821858975 Centerline is valid? [True, True] Translation: X:26.75, Y:0.12, Z:-0.45 [[ 9.99475998e-01 3.08287633e-02 9.86488400e-03 2.67512709e+01] [-3.08299354e-02 9.99524644e-01 -3.32644800e-05 1.17615309e-01] [-9.86122018e-03 -2.70886687e-04 9.99951340e-01 -4.49497073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters 0.021403420385369545 Centerline is valid? [True, True] Translation: X:26.81, Y:0.12, Z:-0.45 [[ 9.99379209e-01 3.40423335e-02 9.07277438e-03 2.68122709e+01] [-3.40434667e-02 9.99420353e-01 -2.95540318e-05 1.20179684e-01] [-9.06852146e-03 -2.79333008e-04 9.99958841e-01 -4.51203785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters 0.02253304157541768 Centerline is valid? [True, True] Translation: X:26.87, Y:0.12, Z:-0.45 [[ 9.99276499e-01 3.69334920e-02 9.07716323e-03 2.68740572e+01] [-3.69347265e-02 9.99317680e-01 -3.16588681e-05 1.21159309e-01] [-9.07213897e-03 -3.03626578e-04 9.99958801e-01 -4.51894184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters 0.02178813406627789 Centerline is valid? [True, True] Translation: X:26.94, Y:0.12, Z:-0.45 [[ 9.99236067e-01 3.78081891e-02 9.89052255e-03 2.69362948e+01] [-3.78096728e-02 9.99284958e-01 -3.69926679e-05 1.20206506e-01] [-9.88484904e-03 -3.36993014e-04 9.99951087e-01 -4.52446953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters 0.022484561646818255 Centerline is valid? [True, True] Translation: X:27.00, Y:0.12, Z:-0.45 [[ 9.99188630e-01 3.89310175e-02 1.03178279e-02 2.69979511e+01] [-3.89326625e-02 9.99241836e-01 -4.14575885e-05 1.20293886e-01] [-1.03116193e-02 -3.60276560e-04 9.99946769e-01 -4.53228592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters 0.022411662607045232 Centerline is valid? [True, True] Translation: X:27.06, Y:0.12, Z:-0.45 [[ 9.99120300e-01 4.04303452e-02 1.11361644e-02 2.70598914e+01] [-4.04323228e-02 9.99182278e-01 -4.75829689e-05 1.21577309e-01] [-1.11289819e-02 -4.02719882e-04 9.99937990e-01 -4.53900712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters 0.023576682813078512 Centerline is valid? [True, True] Translation: X:27.12, Y:0.12, Z:-0.46 [[ 9.99062531e-01 4.23681955e-02 8.88794385e-03 2.71219125e+01] [-4.23695083e-02 9.99102008e-01 -4.06167017e-05 1.21431341e-01] [-8.88168341e-03 -3.35999186e-04 9.99960501e-01 -4.56110097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters 0.02484772727587633 Centerline is valid? [True, True] Translation: X:27.18, Y:0.12, Z:-0.46 [[ 9.98999171e-01 4.40471748e-02 7.77839466e-03 2.71828210e+01] [-4.40482378e-02 9.99029405e-01 -3.46882197e-05 1.24139867e-01] [-7.77237290e-03 -3.07971075e-04 9.99969747e-01 -4.59127307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters 0.02552349070419934 Centerline is valid? [True, True] Translation: X:27.24, Y:0.13, Z:-0.46 [[ 9.98930329e-01 4.56094972e-02 7.61393172e-03 2.72444460e+01] [-4.56105479e-02 9.98959297e-01 -3.56647295e-05 1.25222157e-01] [-7.60763453e-03 -3.11649018e-04 9.99971013e-01 -4.60708640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters 0.026172754414961735 Centerline is valid? [True, True] Translation: X:27.31, Y:0.13, Z:-0.46 [[ 9.98864732e-01 4.69360380e-02 8.13972694e-03 2.73063324e+01] [-4.69372669e-02 9.98897838e-01 -4.01005450e-05 1.25977885e-01] [-8.13263780e-03 -3.42001516e-04 9.99966871e-01 -4.61656762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters 0.02607240647750437 Centerline is valid? [True, True] Translation: X:27.37, Y:0.13, Z:-0.46 [[ 9.98771817e-01 4.88949368e-02 8.00896646e-03 2.73682470e+01] [-4.88961634e-02 9.98803866e-01 -4.26945388e-05 1.26217176e-01] [-8.00147421e-03 -3.48965631e-04 9.99967927e-01 -4.62800262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters 0.02602139212848618 Centerline is valid? [True, True] Translation: X:27.43, Y:0.13, Z:-0.46 [[ 9.98633873e-01 5.15494778e-02 8.54627730e-03 2.74298908e+01] [-5.15509759e-02 9.98670363e-01 -4.50572160e-05 1.26645779e-01] [-8.53723653e-03 -3.95573272e-04 9.99963479e-01 -4.63962972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters 0.030414586078031283 Centerline is valid? [True, True] Translation: X:27.49, Y:0.13, Z:-0.47 [[ 9.98347392e-01 5.68208401e-02 8.59517522e-03 2.74894398e+01] [-5.68225176e-02 9.98384294e-01 -4.91084398e-05 1.33745839e-01] [-8.58407833e-03 -4.39372212e-04 9.99963060e-01 -4.65657736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters 0.031888200078692724 Centerline is valid? [True, True] Translation: X:27.55, Y:0.14, Z:-0.47 [[ 9.98066853e-01 6.15048627e-02 8.92792646e-03 2.75497582e+01] [-6.15068617e-02 9.98106659e-01 -5.07575473e-05 1.39309153e-01] [-8.91414469e-03 -4.98469312e-04 9.99960144e-01 -4.67468042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters 0.028570950000011842 Centerline is valid? [True, True] Translation: X:27.61, Y:0.14, Z:-0.47 [[ 9.97927990e-01 6.35561189e-02 1.00173154e-02 2.76113765e+01] [-6.35587445e-02 9.97978097e-01 -5.63469326e-05 1.37119158e-01] [-1.00006425e-02 -5.80457808e-04 9.99949824e-01 -4.68206657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters 0.03167122299567651 Centerline is valid? [True, True] Translation: X:27.67, Y:0.14, Z:-0.47 [[ 9.97927663e-01 6.36683685e-02 9.31222559e-03 2.76732573e+01] [-6.36706421e-02 9.97970965e-01 -5.24159549e-05 1.40724189e-01] [-9.29666799e-03 -5.40608051e-04 9.99956639e-01 -4.70841656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters 0.030957000772987468 Centerline is valid? [True, True] Translation: X:27.73, Y:0.14, Z:-0.47 [[ 9.98082784e-01 6.12533679e-02 8.87585230e-03 2.77343818e+01] [-6.12553043e-02 9.98122129e-01 -5.37856885e-05 1.39223004e-01] [-8.86247916e-03 -4.90010464e-04 9.99960607e-01 -4.72086175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters 0.02693225255267439 Centerline is valid? [True, True] Translation: X:27.79, Y:0.13, Z:-0.47 [[ 9.98508399e-01 5.38333815e-02 9.10737241e-03 2.77949799e+01] [-5.38351075e-02 9.98549838e-01 -5.57056435e-05 1.32573948e-01] [-9.09716407e-03 -4.34673820e-04 9.99958525e-01 -4.73386088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters 0.02514690340008456 Centerline is valid? [True, True] Translation: X:27.86, Y:0.13, Z:-0.47 [[ 9.98769524e-01 4.88563138e-02 8.51461085e-03 2.78559466e+01] [-4.88576424e-02 9.98805751e-01 -5.20321928e-05 1.27095848e-01] [-8.50698439e-03 -3.64035643e-04 9.99963749e-01 -4.74354653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters 0.023738222718349116 Centerline is valid? [True, True] Translation: X:27.92, Y:0.12, Z:-0.48 [[ 9.99050667e-01 4.27951420e-02 8.14494790e-03 2.79166170e+01] [-4.27961551e-02 9.99083824e-01 -4.99506252e-05 1.24384029e-01] [-8.13962334e-03 -2.98669248e-04 9.99966828e-01 -4.76657233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters 0.021634295668561263 Centerline is valid? [True, True] Translation: X:27.98, Y:0.12, Z:-0.48 [[ 9.99209111e-01 3.91784208e-02 6.79739682e-03 2.79775989e+01] [-3.91790428e-02 9.99232206e-01 -4.16819493e-05 1.20003217e-01] [-6.79381085e-03 -2.24666517e-04 9.99976897e-01 -4.78019128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters 0.019676094126562408 Centerline is valid? [True, True] Translation: X:28.04, Y:0.12, Z:-0.48 [[ 9.99470155e-01 3.17902728e-02 6.98483038e-03 2.80377492e+01] [-3.17907450e-02 9.99494546e-01 -4.34333541e-05 1.17057357e-01] [-6.98268062e-03 -1.78642621e-04 9.99975605e-01 -4.80506055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters 0.016758634035475478 Centerline is valid? [True, True] Translation: X:28.10, Y:0.11, Z:-0.48 [[ 9.99645024e-01 2.52162240e-02 8.60042629e-03 2.80995434e+01] [-2.52167001e-02 9.99682007e-01 -5.30965514e-05 1.12789419e-01] [-8.59903031e-03 -1.63796667e-04 9.99963014e-01 -4.82016028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters 0.01778168683944615 Centerline is valid? [True, True] Translation: X:28.16, Y:0.11, Z:-0.48 [[ 9.99727262e-01 2.18375135e-02 8.27792249e-03 2.81611824e+01] [-2.18378474e-02 9.99761525e-01 -5.00680869e-05 1.11468067e-01] [-8.27704178e-03 -1.30717577e-04 9.99965736e-01 -4.82787902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters 0.016596183879978244 Centerline is valid? [True, True] Translation: X:28.22, Y:0.11, Z:-0.48 [[ 9.99745802e-01 2.03362306e-02 9.73499097e-03 2.82229582e+01] [-2.03365920e-02 9.99793188e-01 -6.18753733e-05 1.11193267e-01] [-9.73423597e-03 -1.36116895e-04 9.99952612e-01 -4.83059650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters 0.017175126416663487 Centerline is valid? [True, True] Translation: X:28.28, Y:0.11, Z:-0.49 [[ 9.99736599e-01 2.06731589e-02 9.96762129e-03 2.82848445e+01] [-2.06735294e-02 9.99786278e-01 -6.58759938e-05 1.14671679e-01] [-9.96685285e-03 -1.40207270e-04 9.99950320e-01 -4.85514142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286559994999998 meters 0.01546606325923264 Centerline is valid? [True, True] Translation: X:28.35, Y:0.11, Z:-0.49 [[ 9.99714757e-01 2.10192194e-02 1.13401056e-02 2.83475045e+01] [-2.10196811e-02 9.99779059e-01 -7.84868645e-05 1.14592196e-01] [-1.13392499e-02 -1.59900927e-04 9.99935696e-01 -4.86646560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346559995 meters 0.013881313482315812 Centerline is valid? [True, True] Translation: X:28.41, Y:0.12, Z:-0.49 [[ 9.99651159e-01 2.32724093e-02 1.24881958e-02 2.84093055e+01] [-2.32730950e-02 9.99729141e-01 -9.04345690e-05 1.16452715e-01] [-1.24869179e-02 -2.00235947e-04 9.99922015e-01 -4.88270643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters 0.017443880216980314 Centerline is valid? [True, True] Translation: X:28.47, Y:0.12, Z:-0.49 [[ 9.99659793e-01 2.42138224e-02 9.69474983e-03 2.84707469e+01] [-2.42142632e-02 9.99706789e-01 -7.19234760e-05 1.19266181e-01] [-9.69364877e-03 -1.62852217e-04 9.99953002e-01 -4.89793869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters 0.01739414453629804 Centerline is valid? [True, True] Translation: X:28.53, Y:0.12, Z:-0.49 [[ 9.99589146e-01 2.66516902e-02 1.05464346e-02 2.85329279e+01] [-2.66523189e-02 9.99644761e-01 -8.09525302e-05 1.23101184e-01] [-1.05448456e-02 -2.00167667e-04 9.99944382e-01 -4.90765809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters 0.01796323101708185 Centerline is valid? [True, True] Translation: X:28.59, Y:0.13, Z:-0.49 [[ 9.99510279e-01 2.93255793e-02 1.09184659e-02 2.85943134e+01] [-2.93263799e-02 9.99569885e-01 -8.68071765e-05 1.28715468e-01] [-1.09163154e-02 -2.33434415e-04 9.99940388e-01 -4.92728159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters 0.01769710340793615 Centerline is valid? [True, True] Translation: X:28.66, Y:0.13, Z:-0.49 [[ 9.99503777e-01 2.96472150e-02 1.06415409e-02 2.86571470e+01] [-2.96479722e-02 9.99560398e-01 -8.66251865e-05 1.27089692e-01] [-1.06394310e-02 -2.28917907e-04 9.99943373e-01 -4.93632837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters 0.016134487563107744 Centerline is valid? [True, True] Translation: X:28.72, Y:0.13, Z:-0.50 [[ 9.99476900e-01 2.96349987e-02 1.29496725e-02 2.87182258e+01] [-2.96360544e-02 9.99560750e-01 -1.10403710e-04 1.30378937e-01] [-1.29472562e-02 -2.73431240e-04 9.99916143e-01 -4.96047694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters 0.01704994002995026 Centerline is valid? [True, True] Translation: X:28.78, Y:0.13, Z:-0.50 [[ 9.99521811e-01 2.87374554e-02 1.14152946e-02 2.87803048e+01] [-2.87381923e-02 9.99586968e-01 -9.95047140e-05 1.30133163e-01] [-1.14134393e-02 -2.28597800e-04 9.99934838e-01 -4.97260967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters 0.017905078527317063 Centerline is valid? [True, True] Translation: X:28.84, Y:0.13, Z:-0.50 [[ 9.99510728e-01 2.94576501e-02 1.05143074e-02 2.88419947e+01] [-2.94582917e-02 9.99566006e-01 -9.38830043e-05 1.30031852e-01] [-1.05125098e-02 -2.15896465e-04 9.99944719e-01 -4.97980912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters 0.01842128563090735 Centerline is valid? [True, True] Translation: X:28.90, Y:0.13, Z:-0.50 [[ 9.99443794e-01 3.14102226e-02 1.12027462e-02 2.89030496e+01] [-3.14110372e-02 9.99506546e-01 -1.03274199e-04 1.34924229e-01] [-1.12004621e-02 -2.48673122e-04 9.99937242e-01 -5.00546413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters 0.019008107739510758 Centerline is valid? [True, True] Translation: X:28.97, Y:0.14, Z:-0.50 [[ 9.99363187e-01 3.39180662e-02 1.10808348e-02 2.89652758e+01] [-3.39189894e-02 9.99424580e-01 -1.04655434e-04 1.38359384e-01] [-1.10780084e-02 -2.71261929e-04 9.99938600e-01 -5.03006627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters 0.017155871775115766 Centerline is valid? [True, True] Translation: X:29.03, Y:0.14, Z:-0.50 [[ 9.99276563e-01 3.58222310e-02 1.27717697e-02 2.90272985e+01] [-3.58235654e-02 9.99358122e-01 -1.24350973e-04 1.40016425e-01] [-1.27680263e-02 -3.33269315e-04 9.99918430e-01 -5.04817123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters 0.01919674182625586 Centerline is valid? [True, True] Translation: X:29.09, Y:0.14, Z:-0.51 [[ 9.99214416e-01 3.79848618e-02 1.13004728e-02 2.90886082e+01] [-3.79860166e-02 9.99278264e-01 -1.12499480e-04 1.43960983e-01] [-1.12965902e-02 -3.16848848e-04 9.99936141e-01 -5.07211520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters 0.019297242937746626 Centerline is valid? [True, True] Translation: X:29.15, Y:0.15, Z:-0.51 [[ 9.99192051e-01 3.82614860e-02 1.23005498e-02 2.91513310e+01] [-3.82628387e-02 9.99267702e-01 -1.25429283e-04 1.45430440e-01] [-1.22963412e-02 -3.45326010e-04 9.99924338e-01 -5.08605656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters 0.01887491051605918 Centerline is valid? [True, True] Translation: X:29.21, Y:0.14, Z:-0.51 [[ 9.99197356e-01 3.80996105e-02 1.23718441e-02 2.92130024e+01] [-3.81009227e-02 9.99273888e-01 -1.29698622e-04 1.44256992e-01] [-1.23678022e-02 -3.41784155e-04 9.99923457e-01 -5.09615032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters 0.019311891222301397 Centerline is valid? [True, True] Translation: X:29.27, Y:0.15, Z:-0.51 [[ 9.99187303e-01 3.83312245e-02 1.24679543e-02 2.92748251e+01] [-3.83325367e-02 9.99265029e-01 -1.33792004e-04 1.45700140e-01] [-1.24639192e-02 -3.44245046e-04 9.99922263e-01 -5.10781630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters 0.01755215317185097 Centerline is valid? [True, True] Translation: X:29.34, Y:0.15, Z:-0.51 [[ 9.99121678e-01 4.02095189e-02 1.17927095e-02 2.93368010e+01] [-4.02107894e-02 9.99191211e-01 -1.29445586e-04 1.45337660e-01] [-1.17883766e-02 -3.44862266e-04 9.99930455e-01 -5.11945671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters 0.02078542365857269 Centerline is valid? [True, True] Translation: X:29.40, Y:0.15, Z:-0.51 [[ 9.99030997e-01 4.30047415e-02 9.36265216e-03 2.93976237e+01] [-4.30056424e-02 9.99074824e-01 -1.05175925e-04 1.48818407e-01] [-9.35851312e-03 -2.97572862e-04 9.99956164e-01 -5.13119659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters 0.020335814272948043 Centerline is valid? [True, True] Translation: X:29.46, Y:0.15, Z:-0.51 [[ 9.98866972e-01 4.64153282e-02 1.05066024e-02 2.94597402e+01] [-4.64166315e-02 9.98922160e-01 -1.19897941e-04 1.52065118e-01] [-1.05008431e-02 -3.67919000e-04 9.99944797e-01 -5.13717600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters 0.022357914437512023 Centerline is valid? [True, True] Translation: X:29.52, Y:0.16, Z:-0.52 [[ 9.98718095e-01 4.96020723e-02 1.00896308e-02 2.95208260e+01] [-4.96034388e-02 9.98768985e-01 -1.14913874e-04 1.56653603e-01] [-1.00829103e-02 -3.85713821e-04 9.99949092e-01 -5.15017046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters 0.025719393331509414 Centerline is valid? [True, True] Translation: X:29.58, Y:0.16, Z:-0.52 [[ 9.98512264e-01 5.41983009e-02 5.98349213e-03 2.95822710e+01] [-5.41988531e-02 9.98530160e-01 -6.99462732e-05 1.60725335e-01] [-5.97848832e-03 -2.54456199e-04 9.99982096e-01 -5.16643641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.546559995 meters 0.023924596613761215 Centerline is valid? [True, True] Translation: X:29.64, Y:0.16, Z:-0.52 [[ 9.98401882e-01 5.61826222e-02 6.09882484e-03 2.96441484e+01] [-5.61832443e-02 9.98420472e-01 -6.94142151e-05 1.58982029e-01] [-6.09309145e-03 -2.73348483e-04 9.99981400e-01 -5.16893270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters 0.026072948793944624 Centerline is valid? [True, True] Translation: X:29.71, Y:0.16, Z:-0.52 [[ 9.98277967e-01 5.84372484e-02 5.11748057e-03 2.97054608e+01] [-5.84377117e-02 9.98291055e-01 -5.90887066e-05 1.61390420e-01] [-5.11218806e-03 -2.40066900e-04 9.99986904e-01 -5.16558608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters 0.023716284832531676 Centerline is valid? [True, True] Translation: X:29.77, Y:0.16, Z:-0.52 [[ 9.98219435e-01 5.93229599e-02 6.22461445e-03 2.97677499e+01] [-5.93236499e-02 9.98238799e-01 -7.38805830e-05 1.60460159e-01] [-6.21803446e-03 -2.95517814e-04 9.99980624e-01 -5.17686889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters 0.02670183397062614 Centerline is valid? [True, True] Translation: X:29.83, Y:0.16, Z:-0.52 [[ 9.98167221e-01 6.04662686e-02 2.45535922e-03 2.98285431e+01] [-6.04663796e-02 9.98170234e-01 -2.90560743e-05 1.61535334e-01] [-2.45262340e-03 -1.19463862e-04 9.99996985e-01 -5.18913562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters 0.025981761090861984 Centerline is valid? [True, True] Translation: X:29.89, Y:0.16, Z:-0.52 [[ 9.98078799e-01 6.19386922e-02 1.51976276e-03 2.98907637e+01] [-6.19387401e-02 9.98079953e-01 -1.55733426e-05 1.59376441e-01] [-1.51780933e-03 -7.85887673e-05 9.99998845e-01 -5.19407430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.846559995 meters 0.02578776590617582 Centerline is valid? [True, True] Translation: X:29.95, Y:0.16, Z:-0.52 [[ 9.97882843e-01 6.50369886e-02 1.45821007e-04 2.99515688e+01] [-6.50369891e-02 9.97882854e-01 -1.59371188e-06 1.61913212e-01] [-1.45615933e-04 -7.89342149e-06 9.99999989e-01 -5.20320829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.906559995 meters 0.031118859469313278 Centerline is valid? [True, True] Translation: X:30.01, Y:0.17, Z:-0.52 [[ 9.97693206e-01 6.78814898e-02 -6.08614209e-04 3.00115857e+01] [-6.78814976e-02 9.97693391e-01 7.85842303e-06 1.69241825e-01] [ 6.07743816e-04 3.34733487e-05 9.99999815e-01 -5.21417390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters 0.028221798908325164 Centerline is valid? [True, True] Translation: X:30.07, Y:0.17, Z:-0.52 [[ 9.97609425e-01 6.90945777e-02 -1.17235761e-03 3.00738744e+01] [-6.90946024e-02 9.97610112e-01 1.94688707e-05 1.65077319e-01] [ 1.17090100e-03 6.15812543e-05 9.99999313e-01 -5.19919573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters 0.029729451463311365 Centerline is valid? [True, True] Translation: X:30.14, Y:0.17, Z:-0.52 [[ 9.97585719e-01 6.94226109e-02 -1.79861863e-03 3.01351464e+01] [-6.94226733e-02 9.97587335e-01 2.77815262e-05 1.67506997e-01] [ 1.79620783e-03 9.71504598e-05 9.99998382e-01 -5.21123977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters 0.02792874275302788 Centerline is valid? [True, True] Translation: X:30.20, Y:0.17, Z:-0.52 [[ 9.97627971e-01 6.88212710e-02 -1.43674450e-03 3.01970572e+01] [-6.88213081e-02 9.97629003e-01 2.36594303e-05 1.65451888e-01] [ 1.43496626e-03 7.52753266e-05 9.99998968e-01 -5.20378695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters 0.02875592180382797 Centerline is valid? [True, True] Translation: X:30.26, Y:0.17, Z:-0.52 [[ 9.97642051e-01 6.86160794e-02 -1.47341481e-03 3.02585194e+01] [-6.86161207e-02 9.97643136e-01 2.26013109e-05 1.66847369e-01] [ 1.47149298e-03 7.85519899e-05 9.99998914e-01 -5.21339123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters 0.029954817035391747 Centerline is valid? [True, True] Translation: X:30.32, Y:0.17, Z:-0.52 [[ 9.97482080e-01 7.08539207e-02 -3.03663667e-03 3.03195278e+01] [-7.08541194e-02 9.97486688e-01 4.22342490e-05 1.69755898e-01] [ 3.03199712e-03 1.73030311e-04 9.99995389e-01 -5.22457939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters 0.03224281599662901 Centerline is valid? [True, True] Translation: X:30.38, Y:0.18, Z:-0.52 [[ 9.97124286e-01 7.56937931e-02 -3.68892735e-03 3.03802053e+01] [-7.56941204e-02 9.97131083e-01 5.10049016e-05 1.77929090e-01] [ 3.68220488e-03 2.28371885e-04 9.99993195e-01 -5.24279200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters 0.03458870855976238 Centerline is valid? [True, True] Translation: X:30.44, Y:0.18, Z:-0.53 [[ 9.96920923e-01 7.83376439e-02 -3.44761465e-03 3.04413593e+01] [-7.83379445e-02 9.96926860e-01 4.79716560e-05 1.82845831e-01] [ 3.44077763e-03 2.22255098e-04 9.99994056e-01 -5.25535770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters 0.03328506964633918 Centerline is valid? [True, True] Translation: X:30.50, Y:0.18, Z:-0.52 [[ 9.96779583e-01 8.01213619e-02 -3.32110110e-03 3.05031577e+01] [-8.01216368e-02 9.96785093e-01 5.03842836e-05 1.82244373e-01] [ 3.31446093e-03 2.15870031e-04 9.99994484e-01 -5.24796533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters 0.035971603234403425 Centerline is valid? [True, True] Translation: X:30.56, Y:0.19, Z:-0.53 [[ 9.96624718e-01 8.20097384e-02 -3.68436350e-03 3.05635574e+01] [-8.20101033e-02 9.96631497e-01 5.21670034e-05 1.87992304e-01] [ 3.67623091e-03 2.50164106e-04 9.99993211e-01 -5.25775175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters 0.034877750647334144 Centerline is valid? [True, True] Translation: X:30.63, Y:0.19, Z:-0.53 [[ 9.96531407e-01 8.31815310e-02 -2.44702742e-03 3.06258812e+01] [-8.31816849e-02 9.96534398e-01 3.89969285e-05 1.87934615e-01] [ 2.44179082e-03 1.64686200e-04 9.99997005e-01 -5.26235696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters 0.03602568576286493 Centerline is valid? [True, True] Translation: X:30.69, Y:0.19, Z:-0.53 [[ 9.96450145e-01 8.41094092e-02 -3.56604200e-03 3.06878623e+01] [-8.41097453e-02 9.96456496e-01 5.58862511e-05 1.90210751e-01] [ 3.55810627e-03 2.44251021e-04 9.99993640e-01 -5.26173199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters 0.037005187621629 Centerline is valid? [True, True] Translation: X:30.75, Y:0.19, Z:-0.53 [[ 9.96336909e-01 8.54763641e-02 -2.56030224e-03 3.07497066e+01] [-8.54765431e-02 9.96340182e-01 3.96238244e-05 1.94276992e-01] [ 2.55431891e-03 1.79367106e-04 9.99996722e-01 -5.25884871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters 0.034796147612525946 Centerline is valid? [True, True] Translation: X:30.81, Y:0.19, Z:-0.53 [[ 9.96303269e-01 8.58821514e-02 -2.01287153e-03 3.08127549e+01] [-8.58822557e-02 9.96305293e-01 3.47050382e-05 1.92677254e-01] [ 2.00841510e-03 1.38293204e-04 9.99997974e-01 -5.25558236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters 0.03352827340278347 Centerline is valid? [True, True] Translation: X:30.87, Y:0.19, Z:-0.53 [[ 9.96345384e-01 8.53819040e-02 -2.40959144e-03 3.08749954e+01] [-8.53820541e-02 9.96348284e-01 4.07095540e-05 1.92317095e-01] [ 2.40426816e-03 1.65175091e-04 9.99997096e-01 -5.26573749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters 0.03165996267327901 Centerline is valid? [True, True] Translation: X:30.94, Y:0.19, Z:-0.53 [[ 9.96577453e-01 8.25805106e-02 -3.72008287e-03 3.09357940e+01] [-8.25808702e-02 9.96584365e-01 5.70922023e-05 1.90693683e-01] [ 3.71209113e-03 2.50310879e-04 9.99993079e-01 -5.27086582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters 0.03111984779472054 Centerline is valid? [True, True] Translation: X:31.00, Y:0.19, Z:-0.53 [[ 9.96797627e-01 7.98883044e-02 -3.51425826e-03 3.09970450e+01] [-7.98886084e-02 9.96803796e-01 5.40285357e-05 1.89821051e-01] [ 3.50734222e-03 2.26893686e-04 9.99993824e-01 -5.27339539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters 0.03200285664135744 Centerline is valid? [True, True] Translation: X:31.06, Y:0.19, Z:-0.53 [[ 9.97107753e-01 7.58810014e-02 -4.26652928e-03 3.10570206e+01] [-7.58814146e-02 9.97116847e-01 6.51853576e-05 1.90135904e-01] [ 4.25917455e-03 2.58753452e-04 9.99990896e-01 -5.28430226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters 0.031333017329031425 Centerline is valid? [True, True] Translation: X:31.12, Y:0.19, Z:-0.53 [[ 9.97195518e-01 7.47490902e-02 -3.69761614e-03 3.11186706e+01] [-7.47493890e-02 9.97202349e-01 5.75241547e-05 1.90832761e-01] [ 3.69157138e-03 2.19031718e-04 9.99993162e-01 -5.30033202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters 0.032273215580963584 Centerline is valid? [True, True] Translation: X:31.18, Y:0.19, Z:-0.53 [[ 9.97284472e-01 7.35163390e-02 -4.36225634e-03 3.11795490e+01] [-7.35167353e-02 9.97293981e-01 6.96648676e-05 1.92217185e-01] [ 4.35557350e-03 2.51223154e-04 9.99990483e-01 -5.31102789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters 0.029944501840207634 Centerline is valid? [True, True] Translation: X:31.24, Y:0.19, Z:-0.53 [[ 9.97365862e-01 7.24068854e-02 -4.31042455e-03 3.12413602e+01] [-7.24072498e-02 9.97375148e-01 7.16513941e-05 1.87796241e-01] [ 4.30429837e-03 2.40643332e-04 9.99990708e-01 -5.29971653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters 0.029383233183606063 Centerline is valid? [True, True] Translation: X:31.30, Y:0.19, Z:-0.53 [[ 9.97396966e-01 7.20423141e-02 -3.03253865e-03 3.13031323e+01] [-7.20424870e-02 9.97401563e-01 5.23208446e-05 1.87923026e-01] [ 3.02842810e-03 1.66286975e-04 9.99995400e-01 -5.29158482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters 0.029090933832391315 Centerline is valid? [True, True] Translation: X:31.36, Y:0.19, Z:-0.53 [[ 9.97331235e-01 7.29145233e-02 -3.72570358e-03 3.13649779e+01] [-7.29147898e-02 9.97338172e-01 6.44401925e-05 1.85279542e-01] [ 3.72048503e-03 2.07390677e-04 9.99993057e-01 -5.28495089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters 0.028883146669255087 Centerline is valid? [True, True] Translation: X:31.43, Y:0.19, Z:-0.53 [[ 9.97167871e-01 7.51260154e-02 -3.50975190e-03 3.14272875e+01] [-7.51262739e-02 9.97174027e-01 5.83179067e-05 1.87721015e-01] [ 3.50421463e-03 2.05521840e-04 9.99993839e-01 -5.29028881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters 0.032483198972028234 Centerline is valid? [True, True] Translation: X:31.49, Y:0.20, Z:-0.53 [[ 9.97083102e-01 7.62886189e-02 -2.30959913e-03 3.14887589e+01] [-7.62887259e-02 9.97085768e-01 4.18651035e-05 1.95395225e-01] [ 2.30606225e-03 1.34453388e-04 9.99997332e-01 -5.31525644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters 0.03442407626434891 Centerline is valid? [True, True] Translation: X:31.55, Y:0.20, Z:-0.53 [[ 9.97096880e-01 7.60370259e-02 -4.02282784e-03 3.15518241e+01] [-7.60373524e-02 9.97104967e-01 7.19190750e-05 1.96118568e-01] [ 4.01665014e-03 2.34174893e-04 9.99991906e-01 -5.32319973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters 0.029406978456345902 Centerline is valid? [True, True] Translation: X:31.61, Y:0.19, Z:-0.53 [[ 9.97133214e-01 7.56148162e-02 -2.78426989e-03 3.16137591e+01] [-7.56149665e-02 9.97137089e-01 5.14216293e-05 1.90857225e-01] [ 2.78018701e-03 1.59258260e-04 9.99996123e-01 -5.31154863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters 0.029659080751146438 Centerline is valid? [True, True] Translation: X:31.68, Y:0.19, Z:-0.53 [[ 9.97245637e-01 7.40788139e-02 -3.67007243e-03 3.16758273e+01] [-7.40790658e-02 9.97252369e-01 6.74361808e-05 1.89578855e-01] [ 3.66498402e-03 2.04625100e-04 9.99993263e-01 -5.31713267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters 0.02942816855772249 Centerline is valid? [True, True] Translation: X:31.74, Y:0.19, Z:-0.53 [[ 9.97366847e-01 7.24459281e-02 -3.31057172e-03 3.17375646e+01] [-7.24461326e-02 9.97372325e-01 5.82824399e-05 1.88696105e-01] [ 3.30609494e-03 1.81709144e-04 9.99994518e-01 -5.32608358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters 0.028706148840063762 Centerline is valid? [True, True] Translation: X:31.80, Y:0.19, Z:-0.53 [[ 9.97573920e-01 6.95736518e-02 -2.40441588e-03 3.17975011e+01] [-6.95737528e-02 9.97576810e-01 4.17163514e-05 1.88427113e-01] [ 2.40149188e-03 1.25669092e-04 9.99997109e-01 -5.32935741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters 0.029826007192022785 Centerline is valid? [True, True] Translation: X:31.86, Y:0.19, Z:-0.53 [[ 9.97723409e-01 6.73623844e-02 -3.21052434e-03 3.18587622e+01] [-6.73625509e-02 9.97728562e-01 5.63658118e-05 1.85886633e-01] [ 3.20702877e-03 1.60031619e-04 9.99994845e-01 -5.34134829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters 0.028932144007150724 Centerline is valid? [True, True] Translation: X:31.92, Y:0.18, Z:-0.53 [[ 9.97861034e-01 6.52669152e-02 -3.68586738e-03 3.19203312e+01] [-6.52671202e-02 9.97867826e-01 6.47576236e-05 1.82785224e-01] [ 3.68223500e-03 1.75946840e-04 9.99993205e-01 -5.34676589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters 0.027942562186937813 Centerline is valid? [True, True] Translation: X:31.98, Y:0.18, Z:-0.53 [[ 9.97879612e-01 6.49789294e-02 -3.74406740e-03 3.19820978e+01] [-6.49791232e-02 9.97886621e-01 6.99958349e-05 1.80726587e-01] [ 3.74070302e-03 1.73438800e-04 9.99992989e-01 -5.34623275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters 0.026951951141869046 Centerline is valid? [True, True] Translation: X:32.04, Y:0.18, Z:-0.53 [[ 9.98033811e-01 6.26030152e-02 -3.06188863e-03 3.20440394e+01] [-6.26031402e-02 9.98038498e-01 5.50844825e-05 1.77434165e-01] [ 3.05933119e-03 1.36707667e-04 9.99995311e-01 -5.33484019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters 0.028039588870309568 Centerline is valid? [True, True] Translation: X:32.10, Y:0.18, Z:-0.53 [[ 9.98169827e-01 6.03887719e-02 -3.19252782e-03 3.21044291e+01] [-6.03888983e-02 9.98174923e-01 5.68885503e-05 1.78094382e-01] [ 3.19013664e-03 1.36008803e-04 9.99994902e-01 -5.34888705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters 0.024881346848999824 Centerline is valid? [True, True] Translation: X:32.17, Y:0.17, Z:-0.53 [[ 9.98270115e-01 5.87183975e-02 -2.98770311e-03 3.21669449e+01] [-5.87184937e-02 9.98274579e-01 5.55759131e-05 1.71680192e-01] [ 2.98581139e-03 1.19953653e-04 9.99995535e-01 -5.33177464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters 0.0236230509925066 Centerline is valid? [True, True] Translation: X:32.23, Y:0.17, Z:-0.53 [[ 9.98223376e-01 5.95306157e-02 -2.48942738e-03 3.22285884e+01] [-5.95306788e-02 9.98226475e-01 4.88116607e-05 1.68918179e-01] [ 2.48791810e-03 9.94723609e-05 9.99996900e-01 -5.31718978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters 0.025015758477056765 Centerline is valid? [True, True] Translation: X:32.29, Y:0.17, Z:-0.53 [[ 9.98155352e-01 6.06455813e-02 -2.82974290e-03 3.22897265e+01] [-6.06456670e-02 9.98159356e-01 5.55746356e-05 1.71421243e-01] [ 2.82790471e-03 1.16139526e-04 9.99995995e-01 -5.33592964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters 0.02434874017550127 Centerline is valid? [True, True] Translation: X:32.35, Y:0.17, Z:-0.53 [[ 9.98233333e-01 5.93143985e-02 -3.46636635e-03 3.23523111e+01] [-5.93145288e-02 9.98239341e-01 6.53025644e-05 1.66091303e-01] [ 3.46413665e-03 1.40418690e-04 9.99993990e-01 -5.33449125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters 0.023955571474541627 Centerline is valid? [True, True] Translation: X:32.41, Y:0.16, Z:-0.53 [[ 9.98398891e-01 5.64334391e-02 -3.86286659e-03 3.24133061e+01] [-5.64335827e-02 9.98406353e-01 7.18909807e-05 1.62036086e-01] [ 3.86076760e-03 1.46219526e-04 9.99992537e-01 -5.34017317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters 0.019928903413640342 Centerline is valid? [True, True] Translation: X:32.47, Y:0.16, Z:-0.53 [[ 9.98641312e-01 5.20209334e-02 -3.05808478e-03 3.24742509e+01] [-5.20210032e-02 9.98645989e-01 5.67969007e-05 1.55183564e-01] [ 3.05689873e-03 1.02364907e-04 9.99995322e-01 -5.31372947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters 0.021170199377002936 Centerline is valid? [True, True] Translation: X:32.54, Y:0.15, Z:-0.53 [[ 9.98751411e-01 4.98917503e-02 -2.53628677e-03 3.25367825e+01] [-4.98917879e-02 9.98754628e-01 4.84777548e-05 1.50578645e-01] [ 2.53554678e-03 7.81226554e-05 9.99996782e-01 -5.31674646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters 0.022825326734076983 Centerline is valid? [True, True] Translation: X:32.60, Y:0.15, Z:-0.53 [[ 9.98781202e-01 4.92756862e-02 -2.83163937e-03 3.25992265e+01] [-4.92757221e-02 9.98785212e-01 5.71206258e-05 1.48359708e-01] [ 2.83101419e-03 8.24800676e-05 9.99995989e-01 -5.32948383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters 0.020392586744261365 Centerline is valid? [True, True] Translation: X:32.66, Y:0.14, Z:-0.53 [[ 9.98860875e-01 4.76578033e-02 -2.38468066e-03 3.26611216e+01] [-4.76578212e-02 9.98863719e-01 4.93535025e-05 1.41610868e-01] [ 2.38432308e-03 6.43514020e-05 9.99997155e-01 -5.31312991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters 0.021216943219075204 Centerline is valid? [True, True] Translation: X:32.72, Y:0.14, Z:-0.53 [[ 9.98850899e-01 4.77864434e-02 -3.65202551e-03 3.27235679e+01] [-4.77864906e-02 9.98857570e-01 7.43779857e-05 1.38628605e-01] [ 3.65140759e-03 1.00224965e-04 9.99993329e-01 -5.32696767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters 0.021745817912033776 Centerline is valid? [True, True] Translation: X:32.79, Y:0.14, Z:-0.53 [[ 9.98749043e-01 4.98094075e-02 -4.40147425e-03 3.27860033e+01] [-4.98094943e-02 9.98758733e-01 8.99763549e-05 1.36052007e-01] [ 4.40049252e-03 1.29371408e-04 9.99990309e-01 -5.32630589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters 0.022706342967910242 Centerline is valid? [True, True] Translation: X:32.85, Y:0.13, Z:-0.53 [[ 9.98663122e-01 5.14645355e-02 -4.83436925e-03 3.28477296e+01] [-5.14646554e-02 9.98674812e-01 9.96901753e-05 1.33573577e-01] [ 4.83309331e-03 1.49242246e-04 9.99988309e-01 -5.32898979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters 0.020441606285410453 Centerline is valid? [True, True] Translation: X:32.91, Y:0.13, Z:-0.53 [[ 9.98572562e-01 5.33189101e-02 -3.15170402e-03 3.29090762e+01] [-5.33189647e-02 9.98577530e-01 6.67567574e-05 1.32349622e-01] [ 3.15078022e-03 1.01384129e-04 9.99995031e-01 -5.31747359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters 0.022280460869208485 Centerline is valid? [True, True] Translation: X:32.97, Y:0.13, Z:-0.53 [[ 9.98550177e-01 5.37324506e-02 -3.21990249e-03 3.29724184e+01] [-5.37325046e-02 9.98555363e-01 6.97894553e-05 1.29586769e-01] [ 3.21900086e-03 1.03325153e-04 9.99994814e-01 -5.33037773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters 0.023529963011274822 Centerline is valid? [True, True] Translation: X:33.03, Y:0.13, Z:-0.53 [[ 9.98438515e-01 5.57722920e-02 -3.15963789e-03 3.30346472e+01] [-5.57723529e-02 9.98443509e-01 6.89155749e-05 1.25996484e-01] [ 3.15856352e-03 1.07412475e-04 9.99995006e-01 -5.32671788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters 0.023778100027057422 Centerline is valid? [True, True] Translation: X:33.10, Y:0.12, Z:-0.53 [[ 9.98325501e-01 5.77467330e-02 -3.39234639e-03 3.30962333e+01] [-5.77468137e-02 9.98331258e-01 7.42472211e-05 1.24294765e-01] [ 3.39097297e-03 1.21774300e-04 9.99994243e-01 -5.33075276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters 0.028464322712523405 Centerline is valid? [True, True] Translation: X:33.16, Y:0.13, Z:-0.54 [[ 9.98144049e-01 6.07887100e-02 -3.63195369e-03 3.31576616e+01] [-6.07888207e-02 9.98150646e-01 8.00079061e-05 1.30379445e-01] [ 3.63010050e-03 1.40922767e-04 9.99993401e-01 -5.37315748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters 0.025707884063711692 Centerline is valid? [True, True] Translation: X:33.22, Y:0.12, Z:-0.53 [[ 9.98004537e-01 6.30059027e-02 -4.14742619e-03 3.32199490e+01] [-6.30060776e-02 9.98013139e-01 8.86064634e-05 1.24539170e-01] [ 4.14476857e-03 1.72883404e-04 9.99991395e-01 -5.34993013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters 0.028493184356425887 Centerline is valid? [True, True] Translation: X:33.28, Y:0.13, Z:-0.54 [[ 9.97796331e-01 6.62517008e-02 -3.63228538e-03 3.32797811e+01] [-6.62518538e-02 9.97802929e-01 7.83013568e-05 1.26447447e-01] [ 3.62949260e-03 1.62516834e-04 9.99993400e-01 -5.35602185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters 0.029559396760744754 Centerline is valid? [True, True] Translation: X:33.34, Y:0.13, Z:-0.54 [[ 9.97691412e-01 6.78694830e-02 -2.36216086e-03 3.33423250e+01] [-6.78695441e-02 9.97694203e-01 5.43801849e-05 1.26701502e-01] [ 2.36040495e-03 1.06064137e-04 9.99997209e-01 -5.35167010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters 0.029349648127662456 Centerline is valid? [True, True] Translation: X:33.40, Y:0.12, Z:-0.53 [[ 9.97660964e-01 6.83393523e-02 -1.52780220e-03 3.34048739e+01] [-6.83393748e-02 9.97662131e-01 3.75257301e-05 1.23925267e-01] [ 1.52679488e-03 6.69710911e-05 9.99998832e-01 -5.34952694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters 0.030948736462709205 Centerline is valid? [True, True] Translation: X:33.47, Y:0.13, Z:-0.54 [[ 9.97621000e-01 6.89257937e-02 -1.25500437e-03 3.34659708e+01] [-6.89258091e-02 9.97621788e-01 3.10010717e-05 1.26056819e-01] [ 1.25415647e-03 5.55748713e-05 9.99999212e-01 -5.36073317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters 0.028076337496616238 Centerline is valid? [True, True] Translation: X:33.53, Y:0.12, Z:-0.53 [[ 9.97543589e-01 7.00465475e-02 -5.19820005e-04 3.35280766e+01] [-7.00465490e-02 9.97543724e-01 1.53855570e-05 1.21492057e-01] [ 5.19620888e-04 2.10638336e-05 9.99999865e-01 -5.34588909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters 0.02642692917449667 Centerline is valid? [True, True] Translation: X:33.59, Y:0.12, Z:-0.53 [[ 9.97501125e-01 7.06479411e-02 -6.12118283e-04 3.35898642e+01] [-7.06479435e-02 9.97501312e-01 1.77098299e-05 1.18624008e-01] [ 6.11839953e-04 2.55793226e-05 9.99999812e-01 -5.34189842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters 0.02761404552935044 Centerline is valid? [True, True] Translation: X:33.65, Y:0.12, Z:-0.53 [[ 9.97550994e-01 6.99402912e-02 -6.08845808e-04 3.36519031e+01] [-6.99402934e-02 9.97551179e-01 1.77336869e-05 1.18083219e-01] [ 6.08595153e-04 2.48925975e-05 9.99999814e-01 -5.34843485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters 0.02643553014512684 Centerline is valid? [True, True] Translation: X:33.71, Y:0.11, Z:-0.54 [[ 9.97628114e-01 6.88315842e-02 -5.99732289e-04 3.37143710e+01] [-6.88315871e-02 9.97628294e-01 1.58576289e-05 1.14484318e-01] [ 5.99401406e-04 2.54605088e-05 9.99999820e-01 -5.35026588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters 0.02602537235595616 Centerline is valid? [True, True] Translation: X:33.78, Y:0.11, Z:-0.54 [[ 9.97722923e-01 6.74445352e-02 -4.51687899e-04 3.37768894e+01] [-6.74445368e-02 9.97723025e-01 1.17721044e-05 1.12387679e-01] [ 4.51453381e-04 1.87185827e-05 9.99999898e-01 -5.35272242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters 0.02240411468097004 Centerline is valid? [True, True] Translation: X:33.84, Y:0.11, Z:-0.53 [[ 9.97795661e-01 6.63492909e-02 1.26129903e-03 3.38393483e+01] [-6.63493120e-02 9.97796456e-01 -2.51713269e-05 1.10296116e-01] [-1.26018980e-03 -5.85704820e-05 9.99999204e-01 -5.32011332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters 0.025634155716936072 Centerline is valid? [True, True] Translation: X:33.90, Y:0.11, Z:-0.53 [[ 9.97869934e-01 6.52017328e-02 2.08050063e-03 3.39011335e+01] [-6.52017811e-02 9.97872099e-01 -4.46754979e-05 1.10148892e-01] [-2.07898645e-03 -9.10720106e-05 9.99997835e-01 -5.34511930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters 0.02694515941879771 Centerline is valid? [True, True] Translation: X:33.96, Y:0.11, Z:-0.54 [[ 9.97841679e-01 6.56214772e-02 2.40948320e-03 3.39634948e+01] [-6.56215407e-02 9.97844582e-01 -5.27904992e-05 1.13221427e-01] [-2.40775394e-03 -1.05437439e-04 9.99997096e-01 -5.35926944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters 0.026105781364689513 Centerline is valid? [True, True] Translation: X:34.03, Y:0.11, Z:-0.54 [[ 9.97853508e-01 6.54141625e-02 3.05994012e-03 3.40257090e+01] [-6.54142569e-02 9.97858191e-01 -6.93075762e-05 1.12593905e-01] [-3.05792001e-03 -1.31004901e-04 9.99995316e-01 -5.36439792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters 0.026363522214869102 Centerline is valid? [True, True] Translation: X:34.09, Y:0.11, Z:-0.54 [[ 9.97863973e-01 6.52130606e-02 3.84042833e-03 3.40882159e+01] [-6.52132006e-02 9.97871350e-01 -8.88665027e-05 1.10731245e-01] [-3.83804865e-03 -1.61769942e-04 9.99992622e-01 -5.37143735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters 0.0273300127442186 Centerline is valid? [True, True] Translation: X:34.15, Y:0.11, Z:-0.54 [[ 9.97828519e-01 6.56459490e-02 5.37183899e-03 3.41505596e+01] [-6.56462141e-02 9.97842953e-01 -1.27152169e-04 1.11079458e-01] [-5.36859870e-03 -2.25764832e-04 9.99985563e-01 -5.37752992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters 0.028841156873619777 Centerline is valid? [True, True] Translation: X:34.21, Y:0.12, Z:-0.54 [[ 9.97627765e-01 6.85936542e-02 5.80974297e-03 3.42119633e+01] [-6.85940029e-02 9.97644648e-01 -1.39454799e-04 1.15160982e-01] [-5.80562469e-03 -2.59389547e-04 9.99983114e-01 -5.39466067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters 0.02901186383983945 Centerline is valid? [True, True] Translation: X:34.27, Y:0.11, Z:-0.54 [[ 9.97419599e-01 7.15119462e-02 6.33924425e-03 3.42727186e+01] [-7.15123968e-02 9.97439699e-01 -1.55850900e-04 1.14551917e-01] [-6.33415908e-03 -2.97885808e-04 9.99979895e-01 -5.40093527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters 0.027777952319640302 Centerline is valid? [True, True] Translation: X:34.33, Y:0.12, Z:-0.54 [[ 9.97151758e-01 7.51330979e-02 6.58703357e-03 3.43340201e+01] [-7.51336634e-02 9.97173459e-01 -1.61905590e-04 1.15972860e-01] [-6.58057952e-03 -3.33463520e-04 9.99978292e-01 -5.38927770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters 0.0283882020352533 Centerline is valid? [True, True] Translation: X:34.40, Y:0.12, Z:-0.54 [[ 9.96970923e-01 7.74359297e-02 7.25637140e-03 3.43962897e+01] [-7.74366769e-02 9.96997256e-01 -1.78348720e-04 1.16089511e-01] [-7.24839298e-03 -3.84100800e-04 9.99973656e-01 -5.41807811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters 0.02691123828841623 Centerline is valid? [True, True] Translation: X:34.46, Y:0.11, Z:-0.54 [[ 9.96970828e-01 7.74408621e-02 7.21675441e-03 3.44586418e+01] [-7.74416090e-02 9.96996874e-01 -1.76303587e-04 1.12542810e-01] [-7.20873469e-03 -3.83107541e-04 9.99973943e-01 -5.42131315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters 0.026063473452130337 Centerline is valid? [True, True] Translation: X:34.52, Y:0.11, Z:-0.54 [[ 9.97035419e-01 7.66252773e-02 6.99566628e-03 3.45194875e+01] [-7.66259461e-02 9.97059895e-01 -1.72765022e-04 1.09823739e-01] [-6.98833646e-03 -3.63796701e-04 9.99975515e-01 -5.40497258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters 0.025751877236603573 Centerline is valid? [True, True] Translation: X:34.58, Y:0.11, Z:-0.54 [[ 9.97083936e-01 7.59582415e-02 7.34646674e-03 3.45814397e+01] [-7.59589483e-02 9.97110929e-01 -1.83167820e-04 1.06535087e-01] [-7.33915538e-03 -3.75396197e-04 9.99972998e-01 -5.42294359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters 0.025254307007941474 Centerline is valid? [True, True] Translation: X:34.64, Y:0.10, Z:-0.54 [[ 9.97155669e-01 7.50788044e-02 6.61393978e-03 3.46440640e+01] [-7.50793395e-02 9.97177549e-01 -1.67699571e-04 1.03821534e-01] [-6.60786295e-03 -3.29347652e-04 9.99978114e-01 -5.41824178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters 0.02596125453132992 Centerline is valid? [True, True] Translation: X:34.71, Y:0.10, Z:-0.54 [[ 9.97333159e-01 7.27154005e-02 6.24822206e-03 3.47057716e+01] [-7.27158265e-02 9.97352687e-01 -1.59261365e-04 9.91564525e-02] [-6.24326182e-03 -2.95507991e-04 9.99980467e-01 -5.44545102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters 0.026340401955263798 Centerline is valid? [True, True] Translation: X:34.77, Y:0.09, Z:-0.55 [[ 9.97527155e-01 7.00533791e-02 5.66563609e-03 3.47672820e+01] [-7.00536852e-02 9.97543212e-01 -1.44638393e-04 9.27730243e-02] [-5.66184923e-03 -2.52617962e-04 9.99983940e-01 -5.46191185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters 0.025043220474933132 Centerline is valid? [True, True] Translation: X:34.83, Y:0.09, Z:-0.54 [[ 9.97532028e-01 7.00251292e-02 5.13165393e-03 3.48300677e+01] [-7.00253916e-02 9.97545201e-01 -1.28738832e-04 8.87170815e-02] [-5.12807170e-03 -2.30924968e-04 9.99986825e-01 -5.44925834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters 0.026129826227754813 Centerline is valid? [True, True] Translation: X:34.89, Y:0.09, Z:-0.54 [[ 9.97462724e-01 7.10299505e-02 4.78129755e-03 3.48910279e+01] [-7.10301818e-02 9.97474159e-01 -1.21628397e-04 8.75629838e-02] [-4.77786001e-03 -2.18296642e-04 9.99988562e-01 -5.44688816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters 0.026753256064648484 Centerline is valid? [True, True] Translation: X:34.95, Y:0.08, Z:-0.54 [[ 9.97282764e-01 7.35173943e-02 4.72037738e-03 3.49525385e+01] [-7.35176368e-02 9.97293910e-01 -1.22360776e-04 8.41406585e-02] [-4.71659926e-03 -2.25002697e-04 9.99988851e-01 -5.44629363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters 0.027481430035352937 Centerline is valid? [True, True] Translation: X:35.01, Y:0.08, Z:-0.55 [[ 9.97086814e-01 7.61598116e-02 4.19148623e-03 3.50132482e+01] [-7.61600202e-02 9.97095602e-01 -1.10040959e-04 8.21519332e-02] [-4.18769318e-03 -2.09503287e-04 9.99991210e-01 -5.45264568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters 0.02885996253585801 Centerline is valid? [True, True] Translation: X:35.07, Y:0.08, Z:-0.54 [[ 9.96625873e-01 8.19988967e-02 3.61256476e-03 3.50741427e+01] [-8.19990892e-02 9.96632400e-01 -9.50289473e-05 8.10416439e-02] [-3.60819136e-03 -2.01518713e-04 9.99993470e-01 -5.44999433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters 0.03483749043988286 Centerline is valid? [True, True] Translation: X:35.13, Y:0.09, Z:-0.55 [[ 9.96318197e-01 8.56369463e-02 4.04521882e-03 3.51346670e+01] [-8.56372190e-02 9.96326380e-01 -1.06056625e-04 8.65209926e-02] [-4.03944059e-03 -2.40755145e-04 9.99991812e-01 -5.46374568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters 0.03204771691919904 Centerline is valid? [True, True] Translation: X:35.20, Y:0.08, Z:-0.55 [[ 9.95906302e-01 9.02836374e-02 4.41626727e-03 3.51953294e+01] [-9.02840055e-02 9.95916053e-01 -1.16349320e-04 7.98134668e-02] [-4.40873590e-03 -2.82845277e-04 9.99990241e-01 -5.45208516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters 0.03184599256078973 Centerline is valid? [True, True] Translation: X:35.26, Y:0.08, Z:-0.55 [[ 9.95651647e-01 9.30373199e-02 4.67482240e-03 3.52560183e+01] [-9.30377630e-02 9.95662573e-01 -1.23051278e-04 7.73545757e-02] [-4.66599406e-03 -3.12418811e-04 9.99989065e-01 -5.45757135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters 0.034523912191980526 Centerline is valid? [True, True] Translation: X:35.32, Y:0.08, Z:-0.55 [[ 9.95394471e-01 9.57468521e-02 4.73161280e-03 3.53171030e+01] [-9.57473361e-02 9.95405662e-01 -1.24638581e-04 7.80583022e-02] [-4.72180792e-03 -3.28974767e-04 9.99988798e-01 -5.47164757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters 0.03451314964046696 Centerline is valid? [True, True] Translation: X:35.38, Y:0.07, Z:-0.55 [[ 9.95296543e-01 9.67058722e-02 5.72420873e-03 3.53786534e+01] [-9.67066080e-02 9.95312921e-01 -1.48754556e-04 7.46798727e-02] [-5.71176435e-03 -4.05513915e-04 9.99983606e-01 -5.47966183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters 0.035403069765228605 Centerline is valid? [True, True] Translation: X:35.44, Y:0.07, Z:-0.55 [[ 9.95250457e-01 9.71813724e-02 5.68400040e-03 3.54402469e+01] [-9.71820992e-02 9.95266606e-01 -1.48831997e-04 7.23044013e-02] [-5.67155948e-03 -4.04257978e-04 9.99983835e-01 -5.51034974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters 0.03562281852174184 Centerline is valid? [True, True] Translation: X:35.50, Y:0.07, Z:-0.55 [[ 9.95118943e-01 9.84545650e-02 6.70723378e-03 3.55018643e+01] [-9.84555885e-02 9.95141430e-01 -1.78220965e-04 7.15314959e-02] [-6.69219288e-03 -4.83013591e-04 9.99977490e-01 -5.50045309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters 0.03879276732477564 Centerline is valid? [True, True] Translation: X:35.56, Y:0.07, Z:-0.55 [[ 9.95107661e-01 9.86615329e-02 5.16195692e-03 3.55631334e+01] [-9.86621399e-02 9.95120979e-01 -1.37550374e-04 7.18302253e-02] [-5.15034255e-03 -3.72412284e-04 9.99986668e-01 -5.54774540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters 0.04033930944689003 Centerline is valid? [True, True] Translation: X:35.62, Y:0.07, Z:-0.56 [[ 9.95033908e-01 9.93140133e-02 6.65201794e-03 3.56242479e+01] [-9.93150128e-02 9.95056026e-01 -1.80725126e-04 7.21299504e-02] [-6.63707908e-03 -4.80817619e-04 9.99977859e-01 -5.55085730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters 0.03731895629823104 Centerline is valid? [True, True] Translation: X:35.69, Y:0.07, Z:-0.56 [[ 9.94907048e-01 1.00526426e-01 7.37593156e-03 3.56857802e+01] [-1.00527685e-01 9.94934241e-01 -2.00739579e-04 6.68628690e-02] [-7.35874650e-03 -5.41768104e-04 9.99972777e-01 -5.56012462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters 0.035590450935667865 Centerline is valid? [True, True] Translation: X:35.75, Y:0.06, Z:-0.56 [[ 9.94764277e-01 1.01812044e-01 8.85104447e-03 3.57482304e+01] [-1.01813874e-01 9.94803435e-01 -2.44801761e-04 6.35868788e-02] [-8.82997322e-03 -6.57639077e-04 9.99960799e-01 -5.55487199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters 0.035818356649730126 Centerline is valid? [True, True] Translation: X:35.81, Y:0.06, Z:-0.55 [[ 9.94607526e-01 1.03099938e-01 1.12370369e-02 3.58104905e+01] [-1.03102956e-01 9.94670641e-01 -3.11930755e-04 6.40210124e-02] [-1.12093108e-02 -8.48323053e-04 9.99936814e-01 -5.54204324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters 0.03721245238975115 Centerline is valid? [True, True] Translation: X:35.87, Y:0.07, Z:-0.56 [[ 9.94548326e-01 1.03699216e-01 1.09590517e-02 3.58729494e+01] [-1.03702124e-01 9.94608354e-01 -3.04113065e-04 6.55233147e-02] [-1.09315006e-02 -8.34021793e-04 9.99939902e-01 -5.56531834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters 0.03736081336030156 Centerline is valid? [True, True] Translation: X:35.93, Y:0.07, Z:-0.56 [[ 9.94515563e-01 1.04057611e-01 1.05265288e-02 3.59346246e+01] [-1.04060282e-01 9.94570948e-01 -2.95194695e-04 6.52540421e-02] [-1.05000970e-02 -8.01817832e-04 9.99944551e-01 -5.58789243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters 0.03748121698072648 Centerline is valid? [True, True] Translation: X:36.00, Y:0.06, Z:-0.56 [[ 9.94480094e-01 1.04486284e-01 9.58949829e-03 3.59971184e+01] [-1.04488516e-01 9.94526057e-01 -2.69328538e-04 6.35797146e-02] [-9.56514706e-03 -7.34150573e-04 9.99953983e-01 -5.61333839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters 0.03678979174252331 Centerline is valid? [True, True] Translation: X:36.06, Y:0.06, Z:-0.56 [[ 9.94739920e-01 1.01778806e-01 1.15571053e-02 3.60583977e+01] [-1.01781812e-01 9.94806692e-01 -3.29315705e-04 6.22016208e-02] [-1.15306031e-02 -8.48719639e-04 9.99933160e-01 -5.61783532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters 0.03681412593853428 Centerline is valid? [True, True] Translation: X:36.12, Y:0.06, Z:-0.56 [[ 9.94911607e-01 9.99758351e-02 1.24790704e-02 3.61197158e+01] [-9.99791964e-02 9.94989464e-01 -3.55771446e-04 6.05230661e-02] [-1.24521121e-02 -8.93686287e-04 9.99922070e-01 -5.62936704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters 0.03526874587112833 Centerline is valid? [True, True] Translation: X:36.18, Y:0.06, Z:-0.56 [[ 9.94944263e-01 9.95597779e-02 1.31819691e-02 3.61823300e+01] [-9.95634875e-02 9.95031140e-01 -3.76166972e-04 5.75977197e-02] [-1.31539208e-02 -9.38177645e-04 9.99913043e-01 -5.64098855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters 0.03739205298150147 Centerline is valid? [True, True] Translation: X:36.24, Y:0.06, Z:-0.57 [[ 9.94847101e-01 1.00503081e-01 1.33557739e-02 3.62435906e+01] [-1.00506962e-01 9.94936282e-01 -3.81993122e-04 6.03688106e-02] [-1.33265355e-02 -9.62323510e-04 9.99910735e-01 -5.65885002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters 0.03882877700163726 Centerline is valid? [True, True] Translation: X:36.30, Y:0.06, Z:-0.57 [[ 9.94638635e-01 1.02556368e-01 1.32731391e-02 3.63047915e+01] [-1.02560336e-01 9.94726712e-01 -3.83173968e-04 6.37845710e-02] [-1.32424429e-02 -9.80177971e-04 9.99911835e-01 -5.68450477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters 0.037470211606332536 Centerline is valid? [True, True] Translation: X:36.37, Y:0.06, Z:-0.57 [[ 9.94370957e-01 1.05176019e-01 1.28220592e-02 3.63658973e+01] [-1.05179936e-01 9.94453138e-01 -3.70365411e-04 6.34586817e-02] [-1.27898906e-02 -9.80342759e-04 9.99917725e-01 -5.70401140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters 0.044762008691683626 Centerline is valid? [True, True] Translation: X:36.43, Y:0.07, Z:-0.57 [[ 9.94104063e-01 1.07747778e-01 1.21461303e-02 3.64259294e+01] [-1.07751483e-01 9.94177798e-01 -3.50861091e-04 7.36946072e-02] [-1.21132176e-02 -9.59971119e-04 9.99926171e-01 -5.71839974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters 0.040557992340713694 Centerline is valid? [True, True] Translation: X:36.49, Y:0.07, Z:-0.57 [[ 9.93797374e-01 1.10538740e-01 1.21641768e-02 3.64868388e+01] [-1.10542652e-01 9.93871319e-01 -3.52386118e-04 7.01024432e-02] [-1.21285788e-02 -9.94459963e-04 9.99925952e-01 -5.72633836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters 0.04338315146062723 Centerline is valid? [True, True] Translation: X:36.55, Y:0.08, Z:-0.57 [[ 9.93443330e-01 1.13617679e-01 1.27032860e-02 3.65473552e+01] [-1.13622192e-01 9.93523961e-01 -3.68271820e-04 7.55048618e-02] [-1.26628613e-02 -1.07751802e-03 9.99919242e-01 -5.73325775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters 0.04695003165487999 Centerline is valid? [True, True] Translation: X:36.61, Y:0.08, Z:-0.57 [[ 9.93070486e-01 1.16805210e-01 1.29442196e-02 3.66082066e+01] [-1.16810163e-01 9.93154190e-01 -3.75345658e-04 8.40137595e-02] [-1.28994483e-02 -1.13927171e-03 9.99916150e-01 -5.74278122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters 0.04454604180504316 Centerline is valid? [True, True] Translation: X:36.67, Y:0.08, Z:-0.58 [[ 9.92889617e-01 1.18320233e-01 1.30587785e-02 3.66700382e+01] [-1.18325411e-01 9.92974800e-01 -3.78093505e-04 8.40078962e-02] [-1.30117741e-02 -1.16978022e-03 9.99914659e-01 -5.75444498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters 0.04290296792593938 Centerline is valid? [True, True] Translation: X:36.73, Y:0.08, Z:-0.58 [[ 9.92862011e-01 1.18591001e-01 1.26965024e-02 3.67330708e+01] [-1.18595884e-01 9.92942536e-01 -3.70272247e-04 8.33321937e-02] [-1.26508082e-02 -1.13812367e-03 9.99919328e-01 -5.76885482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters 0.04296285832751814 Centerline is valid? [True, True] Translation: X:36.79, Y:0.08, Z:-0.58 [[ 9.92999515e-01 1.17526994e-01 1.18054870e-02 3.67943654e+01] [-1.17531093e-01 9.93069142e-01 -3.48414661e-04 8.43347388e-02] [-1.17646130e-02 -1.04153620e-03 9.99930252e-01 -5.78610096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters 0.04302755094514965 Centerline is valid? [True, True] Translation: X:36.85, Y:0.09, Z:-0.58 [[ 9.93367636e-01 1.14392158e-01 1.16264289e-02 3.68547167e+01] [-1.14395913e-01 9.93435180e-01 -3.43675832e-04 8.58165633e-02] [-1.15894173e-02 -9.88619500e-04 9.99932352e-01 -5.80004615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters 0.044128083921464833 Centerline is valid? [True, True] Translation: X:36.92, Y:0.09, Z:-0.58 [[ 9.93816186e-01 1.10669324e-01 9.03825305e-03 3.69154086e+01] [-1.10671440e-01 9.93857012e-01 -2.67218656e-04 8.70855138e-02] [-9.01230408e-03 -7.34710255e-04 9.99959118e-01 -5.83017942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters 0.039343467772835136 Centerline is valid? [True, True] Translation: X:36.98, Y:0.08, Z:-0.58 [[ 9.94015379e-01 1.08811063e-01 9.67363142e-03 3.69764925e+01] [-1.08813401e-01 9.94062152e-01 -2.85801720e-04 8.25500401e-02] [-9.64728926e-03 -7.68529433e-04 9.99953168e-01 -5.83195955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters 0.035754562706947275 Centerline is valid? [True, True] Translation: X:37.04, Y:0.08, Z:-0.58 [[ 9.94224932e-01 1.06753572e-01 1.09754474e-02 3.70376281e+01] [-1.06756452e-01 9.94285147e-01 -3.24822268e-04 8.07484148e-02] [-1.09474003e-02 -8.48753421e-04 9.99939715e-01 -5.83912387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters 0.036984509201621184 Centerline is valid? [True, True] Translation: X:37.10, Y:0.08, Z:-0.59 [[ 9.94326832e-01 1.06099967e-01 7.54642497e-03 3.70998613e+01] [-1.06101324e-01 9.94355299e-01 -2.21407492e-04 8.16955179e-02] [-7.52731899e-03 -5.80534270e-04 9.99971501e-01 -5.86631420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters 0.039783131706605114 Centerline is valid? [True, True] Translation: X:37.16, Y:0.09, Z:-0.59 [[ 9.94153373e-01 1.07513789e-01 9.99284193e-03 3.71611248e+01] [-1.07516193e-01 9.94203289e-01 -2.97851050e-04 8.93388897e-02] [-9.96693941e-03 -7.78282699e-04 9.99950026e-01 -5.86610859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters 0.03850809845809981 Centerline is valid? [True, True] Translation: X:37.22, Y:0.09, Z:-0.59 [[ 9.94042981e-01 1.08791375e-01 6.55662231e-03 3.72225577e+01] [-1.08792431e-01 9.94064469e-01 -1.96365024e-04 8.67664800e-02] [-6.53906810e-03 -5.18115607e-04 9.99978486e-01 -5.89743045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters 0.04059321186210624 Centerline is valid? [True, True] Translation: X:37.28, Y:0.09, Z:-0.59 [[ 9.93892076e-01 1.10077833e-01 7.83660776e-03 3.72838002e+01] [-1.10079391e-01 9.93922770e-01 -2.33517411e-04 9.31211538e-02] [-7.81468798e-03 -6.30557904e-04 9.99969266e-01 -5.89982552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters 0.04028426947090795 Centerline is valid? [True, True] Translation: X:37.35, Y:0.09, Z:-0.59 [[ 9.93943475e-01 1.09623417e-01 7.68597703e-03 3.73462517e+01] [-1.09624890e-01 9.93973003e-01 -2.30611585e-04 9.22509998e-02] [-7.66493410e-03 -6.13359509e-04 9.99970436e-01 -5.90487725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters 0.04029755611558718 Centerline is valid? [True, True] Translation: X:37.41, Y:0.09, Z:-0.59 [[ 9.93951804e-01 1.09513825e-01 8.15683356e-03 3.74086503e+01] [-1.09515462e-01 9.93985062e-01 -2.47033537e-04 9.32939067e-02] [-8.13482430e-03 -6.47759965e-04 9.99966702e-01 -5.90796422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters 0.04369329177190227 Centerline is valid? [True, True] Translation: X:37.47, Y:0.10, Z:-0.59 [[ 9.93908564e-01 1.09951831e-01 7.50741814e-03 3.74702714e+01] [-1.09953217e-01 9.93936737e-01 -2.29127075e-04 9.83879192e-02] [-7.48709163e-03 -5.97733412e-04 9.99971793e-01 -5.92202688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters 0.040155284870832204 Centerline is valid? [True, True] Translation: X:37.53, Y:0.10, Z:-0.59 [[ 9.93968068e-01 1.09488640e-01 6.30219735e-03 3.75326317e+01] [-1.09489603e-01 9.93987922e-01 -1.93019151e-04 9.61165316e-02] [-6.28544145e-03 -4.98170213e-04 9.99980122e-01 -5.93971362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters 0.04199027968468567 Centerline is valid? [True, True] Translation: X:37.60, Y:0.10, Z:-0.60 [[ 9.93955010e-01 1.09623373e-01 6.01279690e-03 3.75950480e+01] [-1.09624245e-01 9.93973083e-01 -1.85341369e-04 9.84152015e-02] [-5.99687602e-03 -4.74927337e-04 9.99981906e-01 -5.95228444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters 0.040363045742112046 Centerline is valid? [True, True] Translation: X:37.66, Y:0.09, Z:-0.60 [[ 9.93947688e-01 1.09722303e-01 5.38601366e-03 3.76582006e+01] [-1.09723000e-01 9.93962190e-01 -1.66767913e-04 9.48101744e-02] [-5.37179209e-03 -4.25210997e-04 9.99985481e-01 -5.96119823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters 0.03693444287426775 Centerline is valid? [True, True] Translation: X:37.72, Y:0.09, Z:-0.60 [[ 9.94135870e-01 1.08009769e-01 5.26899963e-03 3.77196527e+01] [-1.08010393e-01 9.94149751e-01 -1.66767356e-04 9.09547254e-02] [-5.25618717e-03 -4.03317313e-04 9.99986105e-01 -5.96859589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters 0.035930922078956186 Centerline is valid? [True, True] Translation: X:37.78, Y:0.09, Z:-0.60 [[ 9.94619482e-01 1.03401741e-01 6.33766362e-03 3.77799823e+01] [-1.03402542e-01 9.94639570e-01 -2.02042667e-04 8.87303599e-02] [-6.32458258e-03 -4.54374954e-04 9.99979896e-01 -5.97048426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters 0.035493453340326865 Centerline is valid? [True, True] Translation: X:37.84, Y:0.09, Z:-0.60 [[ 9.95012768e-01 9.95485496e-02 6.29898762e-03 3.78401056e+01] [-9.95492635e-02 9.95032614e-01 -2.00882104e-04 8.56636462e-02] [-6.28769565e-03 -4.27179321e-04 9.99980141e-01 -5.97899410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters 0.03293837000511672 Centerline is valid? [True, True] Translation: X:37.90, Y:0.08, Z:-0.60 [[ 9.95648874e-01 9.29822086e-02 6.13426177e-03 3.79003822e+01] [-9.29827617e-02 9.95667699e-01 -1.95579412e-04 7.94142603e-02] [-6.12587171e-03 -3.75652180e-04 9.99981166e-01 -5.98907558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters 0.03278929677043419 Centerline is valid? [True, True] Translation: X:37.96, Y:0.07, Z:-0.60 [[ 9.96268618e-01 8.62229114e-02 3.80139541e-03 3.79609423e+01] [-8.62230751e-02 9.96275849e-01 -1.21112732e-04 7.35705674e-02] [-3.79768113e-03 -2.07107188e-04 9.99992767e-01 -6.01750738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters 0.028464484206306716 Centerline is valid? [True, True] Translation: X:38.02, Y:0.07, Z:-0.60 [[ 9.96746658e-01 8.05205412e-02 3.54150247e-03 3.80217663e+01] [-8.05206473e-02 9.96752935e-01 -1.12851370e-04 6.60867242e-02] [-3.53908983e-03 -1.72679845e-04 9.99993722e-01 -6.02677557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters 0.023374989890141043 Centerline is valid? [True, True] Translation: X:38.08, Y:0.05, Z:-0.60 [[ 9.97568376e-01 6.95520548e-02 4.45496866e-03 3.80823291e+01] [-6.95521125e-02 9.97578309e-01 -1.42160106e-04 5.10559292e-02] [-4.45406763e-03 -1.68038056e-04 9.99990066e-01 -6.01678196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters 0.021067292229012404 Centerline is valid? [True, True] Translation: X:38.14, Y:0.04, Z:-0.60 [[ 9.97999387e-01 6.30874636e-02 4.14664425e-03 3.81424202e+01] [-6.30874570e-02 9.98007994e-01 -1.32530157e-04 3.90435500e-02] [-4.14674510e-03 -1.29336226e-04 9.99991394e-01 -6.00619334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters 0.021236194580472958 Centerline is valid? [True, True] Translation: X:38.20, Y:0.03, Z:-0.60 [[ 9.98139262e-01 6.09239742e-02 2.50679023e-03 3.82046097e+01] [-6.09239734e-02 9.98142406e-01 -7.67504014e-05 3.35241597e-02] [-2.50680957e-03 -7.61160321e-05 9.99996855e-01 -6.02215230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters 0.01819318863980367 Centerline is valid? [True, True] Translation: X:38.27, Y:0.03, Z:-0.60 [[ 9.98269053e-01 5.87259796e-02 3.18706690e-03 3.82671902e+01] [-5.87259545e-02 9.98274137e-01 -1.01529938e-04 2.82652860e-02] [-3.18752890e-03 -8.58093504e-05 9.99994916e-01 -6.02194205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters 0.019381055003935038 Centerline is valid? [True, True] Translation: X:38.33, Y:0.02, Z:-0.60 [[ 9.98294614e-01 5.83004213e-02 2.98729855e-03 3.83294770e+01] [-5.83004031e-02 9.98299081e-01 -9.32561577e-05 2.38333102e-02] [-2.98765427e-03 -8.10635897e-05 9.99995534e-01 -6.02060584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters 0.01996264604765851 Centerline is valid? [True, True] Translation: X:38.39, Y:0.02, Z:-0.60 [[ 9.98149424e-01 6.06919171e-02 3.77069378e-03 3.83918875e+01] [-6.06918975e-02 9.98156540e-01 -1.19715637e-04 2.21705161e-02] [-3.77100843e-03 -1.09356467e-04 9.99992884e-01 -6.01407592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters 0.017788318192062117 Centerline is valid? [True, True] Translation: X:38.45, Y:0.02, Z:-0.60 [[ 9.98062729e-01 6.20239993e-02 4.87984610e-03 3.84543280e+01] [-6.20239705e-02 9.98074648e-01 -1.57370429e-04 2.11935388e-02] [-4.88021142e-03 -1.45601871e-04 9.99988081e-01 -6.00762450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters 0.018658915522583745 Centerline is valid? [True, True] Translation: X:38.52, Y:0.02, Z:-0.60 [[ 9.97769535e-01 6.66152039e-02 4.28589556e-03 3.85156464e+01] [-6.66152110e-02 9.97778730e-01 -1.41255734e-04 2.06336607e-02] [-4.28578521e-03 -1.44565169e-04 9.99990806e-01 -6.01147120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters 0.02061998522397889 Centerline is valid? [True, True] Translation: X:38.58, Y:0.02, Z:-0.60 [[ 9.97513325e-01 7.03901035e-02 3.52139573e-03 3.85765256e+01] [-7.03901309e-02 9.97519532e-01 -1.16309482e-04 2.19401603e-02] [-3.52084806e-03 -1.31851249e-04 9.99993793e-01 -6.02981477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters 0.02503507054947433 Centerline is valid? [True, True] Translation: X:38.64, Y:0.02, Z:-0.61 [[ 9.97167743e-01 7.51806688e-02 2.08809609e-03 3.86380064e+01] [-7.51806896e-02 9.97169925e-01 -6.86379972e-05 2.18436385e-02] [-2.08734687e-03 -8.85409071e-05 9.99997818e-01 -6.05718128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters 0.02525632791212986 Centerline is valid? [True, True] Translation: X:38.70, Y:0.02, Z:-0.61 [[ 9.97205883e-01 7.46014580e-02 3.87930562e-03 3.86991260e+01] [-7.46015321e-02 9.97213415e-01 -1.25810169e-04 2.08600232e-02] [-3.87788122e-03 -1.63943502e-04 9.99992468e-01 -6.05721910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters 0.023839125687569667 Centerline is valid? [True, True] Translation: X:38.76, Y:0.01, Z:-0.61 [[ 9.97262673e-01 7.38231016e-02 4.16064932e-03 3.87613310e+01] [-7.38231759e-02 9.97271337e-01 -1.35920746e-04 1.34280615e-02] [-4.15933040e-03 -1.71603660e-04 9.99991335e-01 -6.05528407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters 0.020046051345136033 Centerline is valid? [True, True] Translation: X:38.82, Y:0.01, Z:-0.61 [[ 9.97550017e-01 6.98003023e-02 4.67778050e-03 3.88229906e+01] [-6.98003339e-02 9.97560970e-01 -1.56692652e-04 6.53094803e-03] [-4.67730845e-03 -1.70201884e-04 9.99989047e-01 -6.05081760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters 0.02145060918961882 Centerline is valid? [True, True] Translation: X:38.88, Y:0.00, Z:-0.61 [[ 9.97929403e-01 6.41091784e-02 5.18841490e-03 3.88823062e+01] [-6.41091344e-02 9.97942878e-01 -1.74962869e-04 1.14836625e-03] [-5.18895843e-03 -1.58024197e-04 9.99986525e-01 -6.06733588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters 0.017610342147473215 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.01, Z:-0.61 [[ 9.98216376e-01 5.94061169e-02 5.91430913e-03 3.89434585e+01] [-5.94059813e-02 9.98233885e-01 -1.98754589e-04 -6.94279272e-03] [-5.91567102e-03 -1.52945252e-04 9.99982491e-01 -6.05316522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters 0.016860339042174814 Centerline is valid? [True, True] Translation: X:39.00, Y:-0.01, Z:-0.61 [[ 9.98386435e-01 5.65467958e-02 5.19487314e-03 3.90044943e+01] [-5.65466626e-02 9.98399942e-01 -1.72628449e-04 -1.16121329e-02] [-5.19632263e-03 -1.21402837e-04 9.99986492e-01 -6.05851834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters 0.01798350997819843 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.02, Z:-0.61 [[ 9.98266265e-01 5.85495248e-02 6.03471589e-03 3.90662888e+01] [-5.85493703e-02 9.98284494e-01 -2.02406965e-04 -1.52687022e-02] [-6.03621413e-03 -1.51272770e-04 9.99981770e-01 -6.05073137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters 0.01768096372273004 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.02, Z:-0.60 [[ 9.98167795e-01 6.01701899e-02 6.37188291e-03 3.91279263e+01] [-6.01700384e-02 9.98188119e-01 -2.15642962e-04 -1.68386564e-02] [-6.37331309e-03 -1.68148579e-04 9.99979676e-01 -6.04877676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters 0.018622963887475752 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.02, Z:-0.61 [[ 9.98115873e-01 6.10451857e-02 6.17975181e-03 3.91903280e+01] [-6.10450530e-02 9.98134990e-01 -2.10273391e-04 -1.81458315e-02] [-6.18106269e-03 -1.67366068e-04 9.99980883e-01 -6.06462575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters 0.018622963887475752 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.02, Z:-0.61 [[ 9.98099215e-01 6.13169408e-02 6.17971283e-03 3.92527685e+01] [-6.13168063e-02 9.98118332e-01 -2.11409295e-04 -2.04011487e-02] [-6.18104763e-03 -1.67912803e-04 9.99980883e-01 -6.07454102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters 0.018216167884767605 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.02, Z:-0.61 [[ 9.97905818e-01 6.44119918e-02 5.92225540e-03 3.93147393e+01] [-6.44119023e-02 9.97923376e-01 -2.06041109e-04 -2.44951077e-02] [-5.92322862e-03 -1.75854114e-04 9.99982442e-01 -6.07023074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters 0.020564741932072243 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.02, Z:-0.61 [[ 9.97847274e-01 6.53110552e-02 5.94002403e-03 3.93756777e+01] [-6.53109877e-02 9.97864937e-01 -2.05548735e-04 -2.47089807e-02] [-5.94076631e-03 -1.82842592e-04 9.99982337e-01 -6.09020920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters 0.01707972617455716 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.03, Z:-0.61 [[ 9.97844943e-01 6.53606660e-02 5.78394781e-03 3.94384905e+01] [-6.53605998e-02 9.97861690e-01 -2.00661886e-04 -3.45929650e-02] [-5.78469533e-03 -1.77812850e-04 9.99983253e-01 -6.08139543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters 0.01889241318022364 Centerline is valid? [True, True] Translation: X:39.50, Y:-0.04, Z:-0.61 [[ 9.97874299e-01 6.50131627e-02 4.49134997e-03 3.95016237e+01] [-6.50131180e-02 9.97884397e-01 -1.56126561e-04 -4.04203378e-02] [-4.49199834e-03 -1.36201983e-04 9.99989902e-01 -6.10909642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters 0.017336398377082108 Centerline is valid? [True, True] Translation: X:39.56, Y:-0.05, Z:-0.61 [[ 9.97915602e-01 6.43288710e-02 5.12322425e-03 3.95632646e+01] [-6.43287905e-02 9.97928742e-01 -1.80667623e-04 -4.73255072e-02] [-5.12423487e-03 -1.49279779e-04 9.99986860e-01 -6.09364407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters 0.019922183909583127 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.05, Z:-0.61 [[ 9.98059168e-01 6.21146649e-02 4.43458378e-03 3.96249825e+01] [-6.21145799e-02 9.98069013e-01 -1.57005575e-04 -5.46168584e-02] [-4.43577300e-03 -1.18751455e-04 9.99990155e-01 -6.12189339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters 0.01612825807572514 Centerline is valid? [True, True] Translation: X:39.69, Y:-0.07, Z:-0.61 [[ 9.98176709e-01 6.01954411e-02 4.44585761e-03 3.96864590e+01] [-6.01953321e-02 9.98186604e-01 -1.58461230e-04 -6.56933494e-02] [-4.44733415e-03 -1.09447566e-04 9.99990105e-01 -6.10257746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters 0.016120898596301926 Centerline is valid? [True, True] Translation: X:39.75, Y:-0.07, Z:-0.61 [[ 9.98203525e-01 5.97333611e-02 4.65285713e-03 3.97479597e+01] [-5.97332302e-02 9.98214362e-01 -1.67217052e-04 -7.29279735e-02] [-4.65453725e-03 -1.11013536e-04 9.99989161e-01 -6.10198331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters 0.01698134020370671 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.08, Z:-0.61 [[ 9.98169222e-01 6.02725079e-02 5.04280025e-03 3.98103396e+01] [-6.02723546e-02 9.98181952e-01 -1.82492544e-04 -7.60406857e-02] [-5.04463148e-03 -1.21783004e-04 9.99987268e-01 -6.11858604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters 0.017549213867110884 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.08, Z:-0.61 [[ 9.98091326e-01 6.15167743e-02 5.42145266e-03 3.98717844e+01] [-6.15166024e-02 9.98106041e-01 -1.98625746e-04 -8.30066966e-02] [-5.42340347e-03 -1.35262714e-04 9.99985284e-01 -6.12219997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters 0.019085777955268998 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.09, Z:-0.61 [[ 9.97961939e-01 6.35656411e-02 5.60149061e-03 3.99323100e+01] [-6.35654707e-02 9.97977649e-01 -2.08633269e-04 -8.58440859e-02] [-5.60342433e-03 -1.47853325e-04 9.99984290e-01 -6.13767640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters 0.019698560780862937 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.09, Z:-0.61 [[ 9.97660356e-01 6.80272796e-02 6.78992356e-03 3.99933971e+01] [-6.80271299e-02 9.97683440e-01 -2.53264323e-04 -8.80875518e-02] [-6.79142318e-03 -2.09227238e-04 9.99976916e-01 -6.13755267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters 0.018810138090508334 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.09, Z:-0.61 [[ 9.97380025e-01 7.19961110e-02 7.04597089e-03 4.00549307e+01] [-7.19960593e-02 9.97404882e-01 -2.61306945e-04 -9.40047048e-02] [-7.04649885e-03 -2.46659812e-04 9.99975143e-01 -6.13793578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters 0.023741263211745484 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.09, Z:-0.62 [[ 9.96958199e-01 7.76094728e-02 7.14977603e-03 4.01153909e+01] [-7.76095378e-02 9.96983795e-01 -2.68779665e-04 -9.42801371e-02] [-7.14907069e-03 -2.86928722e-04 9.99974404e-01 -6.15791201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters 0.023463816392534517 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.10, Z:-0.62 [[ 9.96422932e-01 8.41187505e-02 8.08555051e-03 4.01764011e+01] [-8.41190453e-02 9.96455666e-01 -3.04221527e-04 -9.62762595e-02] [-8.08248335e-03 -3.77015483e-04 9.99967265e-01 -6.15419705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters 0.027022941706185334 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.10, Z:-0.62 [[ 9.96033195e-01 8.86726325e-02 7.41885933e-03 4.02369945e+01] [-8.86730070e-02 9.96060751e-01 -2.79096496e-04 -9.72004745e-02] [-7.41438282e-03 -3.79863190e-04 9.99972441e-01 -6.17649632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters 0.02732798399934476 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.10, Z:-0.62 [[ 9.95789651e-01 9.12395031e-02 8.85007821e-03 4.02984424e+01] [-9.12401363e-02 9.95828864e-01 -3.33015484e-04 -9.90580832e-02] [-8.84354750e-03 -4.75868969e-04 9.99960782e-01 -6.17319850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters 0.02767667709669579 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.10, Z:-0.62 [[ 9.95671095e-01 9.25243426e-02 8.84963663e-03 4.03603173e+01] [-9.25250367e-02 9.95710303e-01 -3.31822916e-04 -1.01636281e-01] [-8.84237606e-03 -4.88426468e-04 9.99960786e-01 -6.18192876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters 0.0294241172420538 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.10, Z:-0.62 [[ 9.95469567e-01 9.46867591e-02 8.64632707e-03 4.04214465e+01] [-9.46874720e-02 9.95506994e-01 -3.27791607e-04 -1.02608696e-01] [-8.63851660e-03 -4.92392283e-04 9.99962566e-01 -6.19733316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters 0.02722357721601143 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.11, Z:-0.62 [[ 9.95395917e-01 9.55034587e-02 8.12756594e-03 4.04828620e+01] [-9.55041263e-02 9.95428987e-01 -3.06830847e-04 -1.08912654e-01] [-8.11971813e-03 -4.70797911e-04 9.99966924e-01 -6.20337351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters 0.029254971435007215 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.11, Z:-0.62 [[ 9.95324908e-01 9.63025465e-02 7.35849144e-03 4.05439975e+01] [-9.63031050e-02 9.95352015e-01 -2.79206050e-04 -1.09958694e-01] [-7.35117754e-03 -4.30744839e-04 9.99972887e-01 -6.21452247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters 0.030568460415086273 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.11, Z:-0.62 [[ 9.95149469e-01 9.81311902e-02 6.91397079e-03 4.06060481e+01] [-9.81317078e-02 9.95173401e-01 -2.65159574e-04 -1.11120644e-01] [-6.90662025e-03 -4.14606352e-04 9.99976063e-01 -6.22265910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters 0.030999918178235285 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.11, Z:-0.62 [[ 9.94943252e-01 1.00205333e-01 6.84226081e-03 4.06669723e+01] [-1.00205884e-01 9.94966689e-01 -2.63063842e-04 -1.12422720e-01] [-6.83418198e-03 -4.23901199e-04 9.99976557e-01 -6.22995833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters 0.03262643938319347 Centerline is valid? [True, True] Translation: X:40.73, Y:-0.11, Z:-0.62 [[ 9.94682667e-01 1.02799775e-01 6.21282133e-03 4.07278223e+01] [-1.02800278e-01 9.94701988e-01 -2.39159568e-04 -1.12275796e-01] [-6.20449128e-03 -4.00791882e-04 9.99980672e-01 -6.23514945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters 0.03371578948942212 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.11, Z:-0.62 [[ 9.94606945e-01 1.03521652e-01 6.34769135e-03 4.07896891e+01] [-1.03522202e-01 9.94627113e-01 -2.42744207e-04 -1.13053712e-01] [-6.33871521e-03 -4.15691913e-04 9.99979824e-01 -6.24460229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters 0.03627336314266602 Centerline is valid? [True, True] Translation: X:40.85, Y:-0.11, Z:-0.63 [[ 9.94674682e-01 1.02967862e-01 4.46046321e-03 4.08504633e+01] [-1.02968127e-01 9.94684641e-01 -1.70751257e-04 -1.13470759e-01] [-4.45433614e-03 -2.89443592e-04 9.99990038e-01 -6.26476918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters 0.031043457583814434 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.12, Z:-0.62 [[ 9.94709123e-01 1.02532137e-01 6.39696830e-03 4.09124067e+01] [-1.02532656e-01 9.94729608e-01 -2.47596036e-04 -1.22419923e-01] [-6.38864032e-03 -4.09612115e-04 9.99979509e-01 -6.24075169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters 0.03156172685437477 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.13, Z:-0.63 [[ 9.94828005e-01 1.01448122e-01 5.05167463e-03 4.09749743e+01] [-1.01448421e-01 9.94840781e-01 -1.97681930e-04 -1.25106688e-01] [-5.04566639e-03 -3.15824894e-04 9.99987221e-01 -6.25837233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters 0.029781098433773617 Centerline is valid? [True, True] Translation: X:41.04, Y:-0.13, Z:-0.63 [[ 9.94751954e-01 1.02166311e-01 5.53119626e-03 4.10368584e+01] [-1.02166686e-01 9.94767270e-01 -2.15397412e-04 -1.28840525e-01] [-5.52425936e-03 -3.50836996e-04 9.99984680e-01 -6.25555892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters 0.034103955841430805 Centerline is valid? [True, True] Translation: X:41.10, Y:-0.13, Z:-0.63 [[ 9.94673440e-01 1.02960433e-01 4.88841782e-03 4.10983894e+01] [-1.02960731e-01 9.94685403e-01 -1.91371628e-04 -1.25075631e-01] [-4.88214156e-03 -3.12962797e-04 9.99988033e-01 -6.27923151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters 0.03495471535201475 Centerline is valid? [True, True] Translation: X:41.16, Y:-0.13, Z:-0.63 [[ 9.94420047e-01 1.05439213e-01 3.36777383e-03 4.11595759e+01] [-1.05439360e-01 9.94425725e-01 -1.34129578e-04 -1.26501873e-01] [-3.36314345e-03 -2.21714777e-04 9.99994320e-01 -6.29599375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters 0.03310553997043683 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.13, Z:-0.63 [[ 9.94094936e-01 1.08426330e-01 4.35776187e-03 4.12208420e+01] [-1.08426607e-01 9.94104442e-01 -1.73506690e-04 -1.28730102e-01] [-4.35088312e-03 -3.00015210e-04 9.99990490e-01 -6.28730973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters 0.03987203322299666 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.12, Z:-0.63 [[ 9.93668056e-01 1.12287198e-01 3.92157120e-03 4.12810661e+01] [-1.12287449e-01 9.93675754e-01 -1.56801501e-04 -1.20883252e-01] [-3.91437702e-03 -2.84534582e-04 9.99992298e-01 -6.30517694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters 0.04084833301574628 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.12, Z:-0.63 [[ 9.93433953e-01 1.14300468e-01 4.93811002e-03 4.13418228e+01] [-1.14300893e-01 9.93446157e-01 -1.97004824e-04 -1.20403194e-01] [-4.92826417e-03 -3.68719103e-04 9.99987788e-01 -6.30072367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters 0.04182950338501049 Centerline is valid? [True, True] Translation: X:41.40, Y:-0.12, Z:-0.63 [[ 9.93239269e-01 1.16037883e-01 3.31117350e-03 4.14026877e+01] [-1.16038084e-01 9.93244756e-01 -1.32063205e-04 -1.20492876e-01] [-3.30413005e-03 -2.53051869e-04 9.99994509e-01 -6.32172544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters 0.043159665990593406 Centerline is valid? [True, True] Translation: X:41.46, Y:-0.12, Z:-0.63 [[ 9.93036471e-01 1.17747466e-01 3.75527766e-03 4.14639987e+01] [-1.17747745e-01 9.93043527e-01 -1.47407008e-04 -1.18221484e-01] [-3.74651098e-03 -2.95794943e-04 9.99992938e-01 -6.32131871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters 0.04164590824742872 Centerline is valid? [True, True] Translation: X:41.53, Y:-0.12, Z:-0.63 [[ 9.93091800e-01 1.17306873e-01 2.78833156e-03 4.15258216e+01] [-1.17307027e-01 9.93095690e-01 -1.08890431e-04 -1.20406719e-01] [-2.78185365e-03 -2.18952691e-04 9.99996107e-01 -6.33831627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters 0.039932213729046415 Centerline is valid? [True, True] Translation: X:41.59, Y:-0.12, Z:-0.63 [[ 9.93457682e-01 1.14156175e-01 3.19392707e-03 4.15861686e+01] [-1.14156347e-01 9.93462788e-01 -1.29027438e-04 -1.23190125e-01] [-3.18777697e-03 -2.36423748e-04 9.99994891e-01 -6.33653752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters 0.031668709485659835 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.14, Z:-0.63 [[ 9.94496564e-01 1.04735278e-01 2.66573468e-03 4.16458527e+01] [-1.04735364e-01 9.94500122e-01 -1.07710415e-04 -1.37357646e-01] [-2.66235455e-03 -1.72079054e-04 9.99996441e-01 -6.34452965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters 0.02684325006867297 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.15, Z:-0.63 [[ 9.95656351e-01 9.30512547e-02 3.14560168e-03 4.17057886e+01] [-9.30513162e-02 9.95661306e-01 -1.27102507e-04 -1.47970777e-01] [-3.14378093e-03 -1.66151958e-04 9.99995045e-01 -6.34266597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters 0.0291821696750875 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.15, Z:-0.64 [[ 9.96192366e-01 8.71234633e-02 3.20506162e-03 4.17657917e+01] [-8.71234961e-02 9.96197510e-01 -1.29654129e-04 -1.48413346e-01] [-3.20417032e-03 -1.50075720e-04 9.99994855e-01 -6.36494451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters 0.028435900002917985 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.15, Z:-0.64 [[ 9.96546097e-01 8.29636819e-02 3.59224945e-03 4.18255462e+01] [-8.29636961e-02 9.96552560e-01 -1.45335361e-04 -1.51419496e-01] [-3.59192294e-03 -1.53192905e-04 9.99993537e-01 -6.37463688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters 0.02125458661971842 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.16, Z:-0.64 [[ 9.96593105e-01 8.23586497e-02 4.38581519e-03 4.18874350e+01] [-8.23586774e-02 9.96602738e-01 -1.74590512e-04 -1.62833305e-01] [-4.38529447e-03 -1.87214239e-04 9.99990367e-01 -6.35524658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters 0.021029491262313637 Centerline is valid? [True, True] Translation: X:41.95, Y:-0.16, Z:-0.64 [[ 9.96590453e-01 8.24242062e-02 3.70389453e-03 4.19500684e+01] [-8.24242270e-02 9.96597323e-01 -1.47304940e-04 -1.63545296e-01] [-3.70343287e-03 -1.58487946e-04 9.99993130e-01 -6.37268430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters 0.020778767406931825 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.17, Z:-0.64 [[ 9.96588942e-01 8.24484349e-02 3.56882822e-03 4.20133451e+01] [-8.24484512e-02 9.96595320e-01 -1.42783180e-04 -1.65431459e-01] [-3.56844976e-03 -1.51948221e-04 9.99993622e-01 -6.37567165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters 0.022039067251135996 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.17, Z:-0.64 [[ 9.96536201e-01 8.30396048e-02 4.47473264e-03 4.20749450e+01] [-8.30396245e-02 9.96546230e-01 -1.81708880e-04 -1.65304165e-01] [-4.47436697e-03 -1.90500641e-04 9.99989972e-01 -6.38032801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters 0.025002955950783404 Centerline is valid? [True, True] Translation: X:42.13, Y:-0.16, Z:-0.64 [[ 9.96244396e-01 8.64826932e-02 4.22454103e-03 4.21348391e+01] [-8.64827290e-02 9.96253335e-01 -1.74558724e-04 -1.60578664e-01] [-4.22380940e-03 -1.91446687e-04 9.99991061e-01 -6.39458249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters 0.025202972049982137 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.16, Z:-0.64 [[ 9.95994793e-01 8.93252440e-02 3.92087325e-03 4.21964974e+01] [-8.93252937e-02 9.96002493e-01 -1.62788667e-04 -1.60456308e-01] [-3.91974067e-03 -1.88096490e-04 9.99992300e-01 -6.40544603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters 0.028529801603377154 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.16, Z:-0.64 [[ 9.95727064e-01 9.22842058e-02 3.35252053e-03 4.22565044e+01] [-9.22842607e-02 9.95732693e-01 -1.38653818e-04 -1.56013275e-01] [-3.35100985e-03 -1.71323519e-04 9.99994371e-01 -6.43211891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters 0.030057565782629622 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.15, Z:-0.64 [[ 9.95491965e-01 9.47836800e-02 3.43528768e-03 4.23180944e+01] [-9.47837494e-02 9.95497876e-01 -1.42969753e-04 -1.52135565e-01] [-3.43337279e-03 -1.83284206e-04 9.99994089e-01 -6.42390279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters 0.03035474635061325 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.15, Z:-0.64 [[ 9.95396791e-01 9.57862768e-02 3.19656021e-03 4.23806552e+01] [-9.57863500e-02 9.95401908e-01 -1.30533504e-04 -1.53167002e-01] [-3.19436545e-03 -1.76254204e-04 9.99994882e-01 -6.42988464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters 0.030092112790709523 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.15, Z:-0.64 [[ 9.95267200e-01 9.71353825e-02 2.81392081e-03 4.24425913e+01] [-9.71354379e-02 9.95271166e-01 -1.17309233e-04 -1.54167828e-01] [-2.81200913e-03 -1.56577398e-04 9.99996034e-01 -6.44550098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters 0.029385392154814758 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.15, Z:-0.64 [[ 9.95326270e-01 9.65288817e-02 2.79112026e-03 4.25044333e+01] [-9.65289396e-02 9.95330172e-01 -1.14285290e-04 -1.54781141e-01] [-2.78911804e-03 -1.55672727e-04 9.99996098e-01 -6.43660369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters 0.027252191891239372 Centerline is valid? [True, True] Translation: X:42.57, Y:-0.16, Z:-0.64 [[ 9.95347444e-01 9.63271410e-02 2.13266940e-03 4.25666766e+01] [-9.63271755e-02 9.95349721e-01 -8.67904433e-05 -1.60472955e-01] [-2.13111217e-03 -1.19047374e-04 9.99997722e-01 -6.44384783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters 0.028922636385931476 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.16, Z:-0.65 [[ 9.95330561e-01 9.65149178e-02 1.39438520e-03 4.26301114e+01] [-9.65149348e-02 9.95331535e-01 -5.52357694e-05 -1.59791633e-01] [-1.39320664e-03 -7.96011472e-05 9.99999026e-01 -6.45552795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters 0.027966587010091103 Centerline is valid? [True, True] Translation: X:42.69, Y:-0.16, Z:-0.64 [[ 9.95207344e-01 9.77735024e-02 1.63874817e-03 4.26926799e+01] [-9.77735246e-02 9.95208688e-01 -6.67342408e-05 -1.56717419e-01] [-1.63742126e-03 -9.38117780e-05 9.99998655e-01 -6.42466067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters 0.027995402057601045 Centerline is valid? [True, True] Translation: X:42.76, Y:-0.16, Z:-0.64 [[ 9.95105011e-01 9.88120673e-02 1.48063639e-03 4.27550417e+01] [-9.88120867e-02 9.95106109e-01 -6.02556803e-05 -1.56956856e-01] [-1.47934431e-03 -8.63440419e-05 9.99998902e-01 -6.43397666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters 0.028088563506985444 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.16, Z:-0.64 [[ 9.95108158e-01 9.87839036e-02 1.22213646e-03 4.28171064e+01] [-9.87839172e-02 9.95108906e-01 -4.93729105e-05 -1.58499430e-01] [-1.22103612e-03 -7.15960406e-05 9.99999252e-01 -6.43696728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters 0.030254066619129 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.16, Z:-0.65 [[ 9.95129295e-01 9.85782432e-02 -1.26266916e-04 4.28803083e+01] [-9.85782427e-02 9.95129303e-01 9.99415280e-06 -1.59499152e-01] [ 1.26637115e-04 2.50169651e-06 9.99999992e-01 -6.48152948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters 0.028592717523881563 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.16, Z:-0.65 [[ 9.94971109e-01 1.00162275e-01 1.01311050e-04 4.29428685e+01] [-1.00162275e-01 9.94971114e-01 -5.30432158e-07 -1.60746150e-01] [-1.00854698e-04 -9.61978058e-06 9.99999995e-01 -6.45768443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters 0.03307058761246453 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.16, Z:-0.65 [[ 9.94782420e-01 1.02018615e-01 3.73649234e-04 4.30045906e+01] [-1.02018618e-01 9.94782490e-01 -1.29720694e-05 -1.56236198e-01] [-3.73023108e-04 -2.52147917e-05 9.99999930e-01 -6.48724811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters 0.03189357386633324 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.16, Z:-0.65 [[ 9.94675338e-01 1.03055954e-01 6.64495413e-04 4.30665493e+01] [-1.03055960e-01 9.94675559e-01 -2.56830988e-05 -1.60677561e-01] [-6.63604143e-04 -4.29338675e-05 9.99999779e-01 -6.48928520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters 0.031068885491247377 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.16, Z:-0.65 [[ 9.94994322e-01 9.99313725e-02 1.38940073e-04 4.31264306e+01] [-9.99313726e-02 9.94994332e-01 -6.19866056e-06 -1.63014772e-01] [-1.38864026e-04 -7.71684013e-06 9.99999990e-01 -6.49714157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters 0.029810096638596083 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.17, Z:-0.65 [[ 9.95291064e-01 9.69313654e-02 9.48729266e-05 4.31867577e+01] [-9.69313654e-02 9.95291068e-01 -4.23265266e-06 -1.69308018e-01] [-9.48364533e-05 -4.98344095e-06 9.99999995e-01 -6.50338787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters 0.03060507451548905 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.17, Z:-0.65 [[ 9.95559805e-01 9.41311564e-02 4.33607692e-06 4.32478234e+01] [-9.41311564e-02 9.95559805e-01 3.69925011e-07 -1.73178395e-01] [-4.28200242e-06 -7.76442405e-07 1.00000000e+00 -6.51136703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters 0.024643249200022668 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.18, Z:-0.65 [[ 9.95936694e-01 9.00401288e-02 1.69624253e-03 4.33088972e+01] [-9.00401306e-02 9.95938135e-01 -7.54877597e-05 -1.78328802e-01] [-1.69614955e-03 -7.75488687e-05 9.99998559e-01 -6.46274521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters 0.025976908119762422 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.18, Z:-0.65 [[ 9.96100640e-01 8.82221652e-02 6.03851015e-04 4.33709594e+01] [-8.82221673e-02 9.96100823e-01 -2.31554547e-05 -1.84108614e-01] [-6.03539317e-04 -3.02078821e-05 9.99999817e-01 -6.50275112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters 0.025292340343104385 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.19, Z:-0.65 [[ 9.96473024e-01 8.39128630e-02 -3.78534700e-04 4.34320873e+01] [-8.39128625e-02 9.96473096e-01 1.72880835e-05 -1.86825055e-01] [ 3.78650337e-04 1.45368214e-05 9.99999928e-01 -6.52472132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters 0.023763134409974324 Centerline is valid? [True, True] Translation: X:43.49, Y:-0.19, Z:-0.65 [[ 9.96823872e-01 7.96370990e-02 -3.18571043e-04 4.34935273e+01] [-7.96370982e-02 9.96823922e-01 1.51768278e-05 -1.92919046e-01] [ 3.18767875e-04 1.02414491e-05 9.99999949e-01 -6.52356762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters 0.022942893940204923 Centerline is valid? [True, True] Translation: X:43.55, Y:-0.20, Z:-0.65 [[ 9.97349581e-01 7.27461927e-02 1.34351258e-03 4.35536392e+01] [-7.27461772e-02 9.97350485e-01 -6.05166696e-05 -1.97435973e-01] [-1.34435528e-03 -3.73791290e-05 9.99999096e-01 -6.51948986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters 0.020320974244164253 Centerline is valid? [True, True] Translation: X:43.61, Y:-0.21, Z:-0.65 [[ 9.98049308e-01 6.23761579e-02 2.60633312e-03 4.36141200e+01] [-6.23760646e-02 9.98052710e-01 -1.17136892e-04 -2.07398639e-01] [-2.60856438e-03 -4.56644094e-05 9.99996597e-01 -6.51567708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters 0.017272038837621247 Centerline is valid? [True, True] Translation: X:43.67, Y:-0.21, Z:-0.65 [[ 9.98479290e-01 5.50449462e-02 3.02671220e-03 4.36745300e+01] [-5.50447877e-02 9.98483877e-01 -1.35725137e-04 -2.14582729e-01] [-3.02959432e-03 -3.10859922e-05 9.99995410e-01 -6.51471105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters 0.019057943443862288 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.23, Z:-0.65 [[ 9.99082396e-01 4.27129091e-02 3.15797513e-03 4.37360738e+01] [-4.27126832e-02 9.99087387e-01 -1.38975519e-04 -2.25669543e-01] [-3.16102917e-03 3.96240311e-06 9.99995004e-01 -6.51237378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters 0.018396434550178694 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.23, Z:-0.65 [[ 9.99392626e-01 3.46243740e-02 3.94105099e-03 4.37964866e+01] [-3.46239453e-02 9.99400396e-01 -1.76967490e-04 -2.33499823e-01] [-3.94481531e-03 4.04052709e-05 9.99992218e-01 -6.51514029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters 0.020983915121369982 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.24, Z:-0.65 [[ 9.99692800e-01 2.45219905e-02 3.60234704e-03 4.38573596e+01] [-2.45215618e-02 9.99699288e-01 -1.63133229e-04 -2.43323081e-01] [-3.60526413e-03 7.47479388e-05 9.99993498e-01 -6.52603816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters 0.019689467870892437 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.25, Z:-0.65 [[ 9.99829290e-01 1.78293510e-02 4.84812849e-03 4.39182250e+01] [-1.78284931e-02 9.99841036e-01 -2.20106484e-04 -2.50178096e-01] [-4.85128216e-03 1.33634084e-04 9.99988224e-01 -6.51061326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters 0.021575640016510206 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.25, Z:-0.65 [[ 9.99868837e-01 1.51674620e-02 5.67953920e-03 4.39799343e+01] [-1.51662537e-02 9.99884953e-01 -2.55756049e-04 -2.53921721e-01] [-5.68276495e-03 1.69585171e-04 9.99983839e-01 -6.52334622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters 0.02212303487598996 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.26, Z:-0.65 [[ 9.99841985e-01 1.65079572e-02 6.59490638e-03 4.40419350e+01] [-1.65063432e-02 9.99863716e-01 -2.99088901e-04 -2.56157976e-01] [-6.59894495e-03 1.90183852e-04 9.99978209e-01 -6.52088387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters 0.019599488685716673 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.25, Z:-0.65 [[ 9.99750076e-01 2.10769545e-02 7.45303599e-03 4.41038087e+01] [-2.10749920e-02 9.99777839e-01 -3.41763340e-04 -2.54944483e-01] [-7.45858355e-03 1.84605251e-04 9.99972167e-01 -6.51302075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters 0.016980163198246634 Centerline is valid? [True, True] Translation: X:44.16, Y:-0.25, Z:-0.65 [[ 9.99522559e-01 3.00939255e-02 7.00067815e-03 4.41649345e+01] [-3.00924081e-02 9.99547069e-01 -3.22019688e-04 -2.50464383e-01] [-7.00719816e-03 1.11198679e-04 9.99975443e-01 -6.52023697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters 0.017122528323506605 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.25, Z:-0.65 [[ 9.99246774e-01 3.83000203e-02 6.24441385e-03 4.42252993e+01] [-3.82989726e-02 9.99266284e-01 -2.87315446e-04 -2.47702930e-01] [-6.25083641e-03 4.79443977e-05 9.99980462e-01 -6.54720794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters 0.01745969316271734 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.25, Z:-0.66 [[ 9.99152888e-01 4.06799932e-02 6.21642466e-03 4.42871919e+01] [-4.06790135e-02 9.99172226e-01 -2.84016437e-04 -2.49410897e-01] [-6.22283265e-03 3.08978211e-05 9.99980638e-01 -6.56245349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters 0.015067855938969484 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.25, Z:-0.65 [[ 9.99001649e-01 4.41424623e-02 6.86648946e-03 4.43499120e+01] [-4.41413285e-02 9.99025246e-01 -3.16656342e-04 -2.50047902e-01] [-6.87377431e-03 1.32442412e-05 9.99976375e-01 -6.54431219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters 0.01872507337071069 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.25, Z:-0.66 [[ 9.98868559e-01 4.72752375e-02 5.16268456e-03 4.44124544e+01] [-4.72746439e-02 9.98881901e-01 -2.37008455e-04 -2.51200947e-01] [-5.16811680e-03 -7.32378078e-06 9.99986645e-01 -6.57378924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters 0.018108710029879547 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.25, Z:-0.66 [[ 9.98775903e-01 4.91378314e-02 5.67180540e-03 4.44753069e+01] [-4.91371367e-02 9.98792007e-01 -2.61849102e-04 -2.53721159e-01] [-5.67782060e-03 -1.71677043e-05 9.99983881e-01 -6.58095033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters 0.016987372346636945 Centerline is valid? [True, True] Translation: X:44.54, Y:-0.26, Z:-0.66 [[ 9.98671926e-01 5.10849887e-02 6.68647269e-03 4.45369096e+01] [-5.10840472e-02 9.98694309e-01 -3.11631377e-04 -2.57307094e-01] [-6.69366191e-03 -3.03545795e-05 9.99977597e-01 -6.57648498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters 0.019165780074193513 Centerline is valid? [True, True] Translation: X:44.60, Y:-0.26, Z:-0.66 [[ 9.98615370e-01 5.22407614e-02 6.18438194e-03 4.45993063e+01] [-5.22399709e-02 9.98634519e-01 -2.89391987e-04 -2.60658042e-01] [-6.19105534e-03 -3.40806467e-05 9.99980835e-01 -6.59559076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters 0.018062354739115754 Centerline is valid? [True, True] Translation: X:44.66, Y:-0.26, Z:-0.66 [[ 9.98533980e-01 5.37616292e-02 6.29114774e-03 4.46620448e+01] [-5.37608300e-02 9.98553797e-01 -2.96210920e-04 -2.64829887e-01] [-6.29797424e-03 -4.24406548e-05 9.99980167e-01 -6.59771109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters 0.018772358922965377 Centerline is valid? [True, True] Translation: X:44.72, Y:-0.27, Z:-0.66 [[ 9.98385564e-01 5.65501066e-02 5.32459094e-03 4.47241528e+01] [-5.65495675e-02 9.98399761e-01 -2.51873988e-04 -2.69072617e-01] [-5.33031382e-03 -4.96359609e-05 9.99985793e-01 -6.60015816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters 0.018866024397557787 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.27, Z:-0.66 [[ 9.98176562e-01 6.01314855e-02 5.26829373e-03 4.47850102e+01] [-6.01309996e-02 9.98190463e-01 -2.50734253e-04 -2.70356704e-01] [-5.27383758e-03 -6.65107131e-05 9.99986091e-01 -6.61050442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters 0.015425010973851565 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.27, Z:-0.66 [[ 9.97693190e-01 6.74905689e-02 7.30212952e-03 4.48475618e+01] [-6.74897995e-02 9.97719902e-01 -3.52007991e-04 -2.69687354e-01] [-7.30923717e-03 -1.41623281e-04 9.99973277e-01 -6.57537793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters 0.0214447608947832 Centerline is valid? [True, True] Translation: X:44.91, Y:-0.27, Z:-0.66 [[ 9.97420875e-01 7.15730965e-02 5.37486998e-03 4.49091565e+01] [-7.15727476e-02 9.97435349e-01 -2.57480901e-04 -2.71923119e-01] [-5.37951402e-03 -1.27877387e-04 9.99985522e-01 -6.62754946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters 0.018963537777420523 Centerline is valid? [True, True] Translation: X:44.97, Y:-0.27, Z:-0.66 [[ 9.96916801e-01 7.82025198e-02 6.42319106e-03 4.49697755e+01] [-7.82021333e-02 9.96937475e-01 -3.11700020e-04 -2.73345371e-01] [-6.42789560e-03 -1.91568256e-04 9.99979323e-01 -6.60974240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters 0.02362398440392706 Centerline is valid? [True, True] Translation: X:45.03, Y:-0.28, Z:-0.66 [[ 9.96550123e-01 8.27950145e-02 5.73039658e-03 4.50313101e+01] [-8.27947810e-02 9.96566579e-01 -2.78370242e-04 -2.75016727e-01] [-5.73376939e-03 -1.97037031e-04 9.99983542e-01 -6.63971735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters 0.021264703802728428 Centerline is valid? [True, True] Translation: X:45.09, Y:-0.28, Z:-0.66 [[ 9.96335191e-01 8.52388671e-02 7.10797046e-03 4.50931949e+01] [-8.52385807e-02 9.96360510e-01 -3.43775868e-04 -2.79982872e-01] [-7.11140414e-03 -2.63357319e-04 9.99974679e-01 -6.61863228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters 0.025143435060124657 Centerline is valid? [True, True] Translation: X:45.15, Y:-0.28, Z:-0.66 [[ 9.96076233e-01 8.82845098e-02 6.16306710e-03 4.51537120e+01] [-8.82843387e-02 9.96095269e-01 -3.00355566e-04 -2.82560440e-01] [-6.16551872e-03 -2.44925262e-04 9.99980963e-01 -6.64201097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters 0.022968881810411564 Centerline is valid? [True, True] Translation: X:45.22, Y:-0.29, Z:-0.66 [[ 9.95748668e-01 9.18515561e-02 6.91960249e-03 4.52150477e+01] [-9.18514131e-02 9.95772666e-01 -3.39118357e-04 -2.86371836e-01] [-6.92149957e-03 -2.97898614e-04 9.99976002e-01 -6.61845748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters 0.027739471406675948 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.29, Z:-0.67 [[ 9.95482469e-01 9.48090690e-02 5.08869715e-03 4.52759073e+01] [-9.48090307e-02 9.95495447e-01 -2.49307913e-04 -2.89705130e-01] [-5.08941149e-03 -2.34272787e-04 9.99987021e-01 -6.67101114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters 0.028688750350121753 Centerline is valid? [True, True] Translation: X:45.34, Y:-0.30, Z:-0.67 [[ 9.95358212e-01 9.61139597e-02 4.91280256e-03 4.53375284e+01] [-9.61139496e-02 9.95370309e-01 -2.38694161e-04 -2.95292456e-01] [-4.91299964e-03 -2.34602664e-04 9.99987904e-01 -6.68212507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters 0.02729083452461553 Centerline is valid? [True, True] Translation: X:45.40, Y:-0.30, Z:-0.67 [[ 9.95335438e-01 9.62887890e-02 5.98618176e-03 4.53992911e+01] [-9.62887632e-02 9.95353399e-01 -2.93187154e-04 -3.02483485e-01] [-5.98659700e-03 -2.84582474e-04 9.99982040e-01 -6.67426808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters 0.027409231925439564 Centerline is valid? [True, True] Translation: X:45.46, Y:-0.31, Z:-0.67 [[ 9.95395608e-01 9.56416481e-02 6.34500911e-03 4.54609750e+01] [-9.56415945e-02 9.95415786e-01 -3.12571999e-04 -3.08976754e-01] [-6.34581714e-03 -2.95713994e-04 9.99979821e-01 -6.68096500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters 0.027762478814622113 Centerline is valid? [True, True] Translation: X:45.52, Y:-0.32, Z:-0.67 [[ 9.95462210e-01 9.49278117e-02 6.61046931e-03 4.55230067e+01] [-9.49277257e-02 9.95484113e-01 -3.27475513e-04 -3.16415073e-01] [-6.61170371e-03 -3.01527320e-04 9.99978097e-01 -6.69110559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters 0.026028411600587643 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.33, Z:-0.67 [[ 9.95499893e-01 9.45820324e-02 5.84831655e-03 4.55852437e+01] [-9.45819446e-02 9.95517037e-01 -2.92212859e-04 -3.26479824e-01] [-5.84973685e-03 -2.62247282e-04 9.99982856e-01 -6.69887481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters 0.025365632385708565 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.33, Z:-0.67 [[ 9.95384127e-01 9.57850598e-02 5.97169103e-03 4.56467657e+01] [-9.57849961e-02 9.95402002e-01 -2.97317008e-04 -3.32951579e-01] [-5.97271174e-03 -2.76053771e-04 9.99982125e-01 -6.70396031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters 0.024384577625963924 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.34, Z:-0.67 [[ 9.95095314e-01 9.85912829e-02 8.06691753e-03 4.57084590e+01] [-9.85912292e-02 9.95127934e-01 -4.05303878e-04 -3.36939951e-01] [-8.06757440e-03 -3.92011325e-04 9.99967380e-01 -6.67713658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters 0.027651226608286148 Centerline is valid? [True, True] Translation: X:45.77, Y:-0.34, Z:-0.67 [[ 9.94880849e-01 1.00779088e-01 7.46139686e-03 4.57702235e+01] [-1.00779082e-01 9.94908757e-01 -3.77736758e-04 -3.40204963e-01] [-7.46147704e-03 -3.76149659e-04 9.99972092e-01 -6.70947041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters 0.02790939851865647 Centerline is valid? [True, True] Translation: X:45.83, Y:-0.34, Z:-0.67 [[ 9.94548014e-01 1.03973467e-01 7.98541490e-03 4.58314646e+01] [-1.03973555e-01 9.94579980e-01 -4.05215170e-04 -3.42678737e-01] [-7.98426541e-03 -4.27266033e-04 9.99968034e-01 -6.70391324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters 0.03301115977323772 Centerline is valid? [True, True] Translation: X:45.89, Y:-0.34, Z:-0.68 [[ 9.94425030e-01 1.05229571e-01 6.75249349e-03 4.58923658e+01] [-1.05229674e-01 9.94447887e-01 -3.41049596e-04 -3.44164285e-01] [-6.75089138e-03 -3.71414432e-04 9.99977143e-01 -6.75280536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters 0.03172044014968983 Centerline is valid? [True, True] Translation: X:45.95, Y:-0.35, Z:-0.68 [[ 9.94221596e-01 1.07107718e-01 7.16616913e-03 4.59544177e+01] [-1.07107859e-01 9.94247340e-01 -3.65175112e-04 -3.51081004e-01] [-7.16405767e-03 -4.04488049e-04 9.99974256e-01 -6.75316538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters 0.03406996613078987 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.35, Z:-0.68 [[ 9.93913125e-01 1.09831316e-01 8.58966787e-03 4.60154775e+01] [-1.09831612e-01 9.93950112e-01 -4.38727765e-04 -3.52173434e-01] [-8.58588739e-03 -5.07359786e-04 9.99963012e-01 -6.75378622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters 0.03162214718245754 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.36, Z:-0.67 [[ 9.93692476e-01 1.11693726e-01 9.98870697e-03 4.60777061e+01] [-1.11694215e-01 9.93742493e-01 -5.10622583e-04 -3.58769991e-01] [-9.98323590e-03 -6.08278968e-04 9.99949981e-01 -6.74853832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters 0.03333095847787895 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.36, Z:-0.68 [[ 9.93368545e-01 1.14513020e-01 1.02811662e-02 4.61378058e+01] [-1.14513676e-01 9.93421532e-01 -5.26761664e-04 -3.59641899e-01] [-1.02738529e-02 -6.54065668e-04 9.99947009e-01 -6.75039732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters 0.03425523769339491 Centerline is valid? [True, True] Translation: X:46.20, Y:-0.36, Z:-0.68 [[ 9.93096692e-01 1.16919570e-01 9.42201302e-03 4.61985868e+01] [-1.16920230e-01 9.93141192e-01 -4.82626443e-04 -3.62839692e-01] [-9.41381772e-03 -6.22329210e-04 9.99955495e-01 -6.77373593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters 0.03780714443205287 Centerline is valid? [True, True] Translation: X:46.26, Y:-0.36, Z:-0.68 [[ 9.92947087e-01 1.18193028e-01 9.29997776e-03 4.62594221e+01] [-1.18193726e-01 9.92990441e-01 -4.76424009e-04 -3.61416339e-01] [-9.29109902e-03 -6.26135195e-04 9.99956641e-01 -6.79486677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters 0.03755138517866792 Centerline is valid? [True, True] Translation: X:46.32, Y:-0.37, Z:-0.68 [[ 9.92703048e-01 1.20194406e-01 9.69347749e-03 4.63201884e+01] [-1.20195255e-01 9.92750147e-01 -4.97064288e-04 -3.65102369e-01] [-9.68294554e-03 -6.71672766e-04 9.99952894e-01 -6.79603503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters 0.0374794748233425 Centerline is valid? [True, True] Translation: X:46.38, Y:-0.37, Z:-0.68 [[ 9.92736692e-01 1.19784798e-01 1.12010353e-02 4.63809992e+01] [-1.19785914e-01 9.92799580e-01 -5.73638042e-04 -3.67471085e-01] [-1.11890962e-02 -7.72254710e-04 9.99937102e-01 -6.76403193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters 0.03475154514064127 Centerline is valid? [True, True] Translation: X:46.44, Y:-0.38, Z:-0.68 [[ 9.92919083e-01 1.18258149e-01 1.12562868e-02 4.64421599e+01] [-1.18259140e-01 9.92982598e-01 -5.79932421e-04 -3.76288367e-01] [-1.12458786e-02 -7.55332820e-04 9.99936478e-01 -6.78391364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters 0.03580353597175942 Centerline is valid? [True, True] Translation: X:46.50, Y:-0.38, Z:-0.68 [[ 9.92989653e-01 1.17751311e-01 1.03042283e-02 4.65037462e+01] [-1.17752123e-01 9.93042878e-01 -5.30014435e-04 -3.80471665e-01] [-1.02949505e-02 -6.87045914e-04 9.99946770e-01 -6.79939463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters 0.038034808450132476 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.38, Z:-0.68 [[ 9.92870449e-01 1.18812346e-01 9.58638139e-03 4.65651337e+01] [-1.18813075e-01 9.92916516e-01 -4.95367038e-04 -3.79544287e-01] [-9.57733213e-03 -6.47152162e-04 9.99953927e-01 -6.80232667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters 0.0369315540794081 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.38, Z:-0.68 [[ 9.92727842e-01 1.20057469e-01 8.81109432e-03 4.66265571e+01] [-1.20058119e-01 9.92766760e-01 -4.57030683e-04 -3.83378915e-01] [-8.80223151e-03 -6.04136327e-04 9.99961077e-01 -6.80444351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters 0.03578742196722934 Centerline is valid? [True, True] Translation: X:46.69, Y:-0.39, Z:-0.68 [[ 9.92756278e-01 1.19865013e-01 8.20673319e-03 4.66883814e+01] [-1.19865558e-01 9.92790041e-01 -4.27172879e-04 -3.88517686e-01] [-8.19876606e-03 -5.59626097e-04 9.99966233e-01 -6.81279482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters 0.03420378067228192 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.40, Z:-0.68 [[ 9.92854514e-01 1.19100885e-01 7.40898362e-03 4.67498222e+01] [-1.19101298e-01 9.92882033e-01 -3.87059808e-04 -3.97557720e-01] [-7.40234588e-03 -4.98125489e-04 9.99972478e-01 -6.81980499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters 0.037633928312614466 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.39, Z:-0.68 [[ 9.93043709e-01 1.17527620e-01 7.17291234e-03 4.68103318e+01] [-1.17527939e-01 9.93069504e-01 -3.78552780e-04 -3.94736611e-01] [-7.16769091e-03 -4.67098145e-04 9.99974203e-01 -6.83508685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters 0.033823020009360286 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.40, Z:-0.68 [[ 9.93222899e-01 1.16034928e-01 6.64588028e-03 4.68709748e+01] [-1.16035168e-01 9.93245044e-01 -3.50669492e-04 -4.04210763e-01] [-6.64167756e-03 -4.22862868e-04 9.99977854e-01 -6.83917894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters 0.034226406460453836 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.41, Z:-0.69 [[ 9.93779275e-01 1.11205974e-01 5.99867087e-03 4.69303184e+01] [-1.11206078e-01 9.93797317e-01 -3.17179413e-04 -4.09845687e-01] [-5.99673526e-03 -3.51882336e-04 9.99981958e-01 -6.85707071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters 0.03200308767004717 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.42, Z:-0.68 [[ 9.94276816e-01 1.06633443e-01 6.55150670e-03 4.69900693e+01] [-1.06633469e-01 9.94298337e-01 -3.46266541e-04 -4.20317417e-01] [-6.55107581e-03 -3.54325093e-04 9.99978479e-01 -6.83639224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters 0.03028092068361926 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.42, Z:-0.68 [[ 9.94237759e-01 1.07014909e-01 6.25195905e-03 4.70526791e+01] [-1.07014958e-01 9.94257357e-01 -3.27550338e-04 -4.24982598e-01] [-6.25110904e-03 -3.43390222e-04 9.99980403e-01 -6.81722708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters 0.03411701171802518 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.42, Z:-0.69 [[ 9.93653254e-01 1.12445361e-01 3.04153816e-03 4.71133407e+01] [-1.12445393e-01 9.93657893e-01 -1.61041254e-04 -4.24478419e-01] [-3.04035674e-03 -1.81987786e-04 9.99995362e-01 -6.86647383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters 0.03690886330832062 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.42, Z:-0.69 [[ 9.93080390e-01 1.17404966e-01 2.72266996e-03 4.71742130e+01] [-1.17405009e-01 9.93084107e-01 -1.44607182e-04 -4.22298024e-01] [-2.72081787e-03 -1.76048536e-04 9.99996283e-01 -6.87278253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters 0.04197275566486212 Centerline is valid? [True, True] Translation: X:47.23, Y:-0.42, Z:-0.69 [[ 9.92085322e-01 1.25536784e-01 2.68865542e-03 4.72339436e+01] [-1.25536856e-01 9.92088946e-01 -1.42722429e-04 -4.16598960e-01] [-2.68530224e-03 -1.95932521e-04 9.99996375e-01 -6.87153503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters 0.04125098298484814 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.42, Z:-0.69 [[ 9.91520370e-01 1.29925227e-01 2.60590001e-03 4.72941995e+01] [-1.29925310e-01 9.91523774e-01 -1.38250539e-04 -4.20030901e-01] [-2.60177405e-03 -2.01494140e-04 9.99996595e-01 -6.86997363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters 0.047720559073147935 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.41, Z:-0.69 [[ 9.90987361e-01 1.33920396e-01 3.06218897e-03 4.73543692e+01] [-1.33920527e-01 9.90992061e-01 -1.63037517e-04 -4.13053949e-01] [-3.05643901e-03 -2.48521842e-04 9.99995298e-01 -6.87245924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters 0.045231117162786265 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.42, Z:-0.69 [[ 9.90282012e-01 1.39029461e-01 3.51370228e-03 4.74155494e+01] [-1.39029668e-01 9.90288199e-01 -1.86525995e-04 -4.16627456e-01] [-3.50551051e-03 -3.03795524e-04 9.99993810e-01 -6.85476689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters 0.048532812547670647 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.41, Z:-0.69 [[ 9.89926684e-01 1.41534399e-01 3.62953734e-03 4.74769565e+01] [-1.41534636e-01 9.89933285e-01 -1.92956373e-04 -4.13817497e-01] [-3.62030979e-03 -3.22692583e-04 9.99993395e-01 -6.88556649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters 0.04691270743637268 Centerline is valid? [True, True] Translation: X:47.54, Y:-0.42, Z:-0.69 [[ 9.89856605e-01 1.41994759e-01 4.62493318e-03 4.75400810e+01] [-1.41995161e-01 9.89867322e-01 -2.43021090e-04 -4.17410924e-01] [-4.61257794e-03 -4.16162101e-04 9.99989275e-01 -6.88155164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters 0.04205865012807394 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.42, Z:-0.69 [[ 9.89981044e-01 1.41022749e-01 7.07930467e-03 4.76017631e+01] [-1.41023621e-01 9.90006159e-01 -3.78435306e-04 -4.24688596e-01] [-7.06192321e-03 -6.23705397e-04 9.99974870e-01 -6.85465158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters 0.04425742582728078 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.42, Z:-0.69 [[ 9.90128957e-01 1.39932737e-01 7.96733417e-03 4.76620676e+01] [-1.39933799e-01 9.90160770e-01 -4.26751718e-04 -4.22561219e-01] [-7.94865827e-03 -6.92360107e-04 9.99968169e-01 -6.87334494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters 0.0449513694059281 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.42, Z:-0.69 [[ 9.90110745e-01 1.39923286e-01 1.01087517e-02 4.77245517e+01] [-1.39925006e-01 9.90161957e-01 -5.40387434e-04 -4.21420334e-01] [-1.00849142e-02 -8.79423746e-04 9.99948759e-01 -6.86762045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters 0.04350275434123202 Centerline is valid? [True, True] Translation: X:47.79, Y:-0.42, Z:-0.69 [[ 9.90175902e-01 1.39386039e-01 1.11002737e-02 4.77865992e+01] [-1.39388044e-01 9.90237657e-01 -5.96538430e-04 -4.22835962e-01] [-1.10750582e-02 -9.56567468e-04 9.99938212e-01 -6.87420066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters 0.04347068932423035 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.42, Z:-0.69 [[ 9.90440285e-01 1.37272237e-01 1.35784507e-02 4.78477026e+01] [-1.37274976e-01 9.90532706e-01 -7.34548550e-04 -4.15739309e-01] [-1.35507327e-02 -1.13645502e-03 9.99907539e-01 -6.88828324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters 0.04379137365928985 Centerline is valid? [True, True] Translation: X:47.91, Y:-0.41, Z:-0.69 [[ 9.90345432e-01 1.37818421e-01 1.48999544e-02 4.79104518e+01] [-1.37821779e-01 9.90456717e-01 -8.06117534e-04 -4.14530592e-01] [-1.48688577e-02 -1.25520341e-03 9.99888665e-01 -6.86924386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters 0.04379137365928985 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.42, Z:-0.69 [[ 9.90306383e-01 1.38098748e-01 1.48997559e-02 4.79730305e+01] [-1.38102083e-01 9.90417669e-01 -8.09768805e-04 -4.18025230e-01] [-1.48688096e-02 -1.25576811e-03 9.99888665e-01 -6.87919025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters 0.04453763054270903 Centerline is valid? [True, True] Translation: X:48.04, Y:-0.42, Z:-0.69 [[ 9.90263332e-01 1.38381191e-01 1.51386455e-02 4.80365036e+01] [-1.38384601e-01 9.90378220e-01 -8.27122832e-04 -4.19217684e-01] [-1.51074430e-02 -1.27588601e-03 9.99885062e-01 -6.88672436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters 0.045352176734074406 Centerline is valid? [True, True] Translation: X:48.10, Y:-0.42, Z:-0.69 [[ 9.90242847e-01 1.38460070e-01 1.57452355e-02 4.80982461e+01] [-1.38463696e-01 9.90367132e-01 -8.64890319e-04 -4.20116290e-01] [-1.57133165e-02 -1.32369205e-03 9.99875662e-01 -6.89449524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters 0.046482713829094024 Centerline is valid? [True, True] Translation: X:48.16, Y:-0.42, Z:-0.69 [[ 9.90213749e-01 1.38720785e-01 1.52733162e-02 4.81616834e+01] [-1.38724173e-01 9.90330699e-01 -8.42572099e-04 -4.19610321e-01] [-1.52425161e-02 -1.28445167e-03 9.99883001e-01 -6.90258581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters 0.047401525595163335 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.42, Z:-0.69 [[ 9.90225399e-01 1.38632000e-01 1.53240578e-02 4.82237130e+01] [-1.38635334e-01 9.90343134e-01 -8.49657562e-04 -4.20754402e-01] [-1.52938652e-02 -1.28310338e-03 9.99882219e-01 -6.92554329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters 0.04441817763047041 Centerline is valid? [True, True] Translation: X:48.29, Y:-0.42, Z:-0.69 [[ 9.90165350e-01 1.39135600e-01 1.46240979e-02 4.82860184e+01] [-1.39138642e-01 9.90272576e-01 -8.14187233e-04 -4.23612067e-01] [-1.45951255e-02 -1.22859714e-03 9.99892731e-01 -6.92850316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters 0.04472990090934493 Centerline is valid? [True, True] Translation: X:48.35, Y:-0.42, Z:-0.69 [[ 9.89898550e-01 1.41090870e-01 1.39365515e-02 4.83475104e+01] [-1.41093774e-01 9.89995929e-01 -7.79561308e-04 -4.21725110e-01] [-1.39071182e-02 -1.19467404e-03 9.99902578e-01 -6.92397298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters 0.04299358793222295 Centerline is valid? [True, True] Translation: X:48.41, Y:-0.42, Z:-0.69 [[ 9.89519051e-01 1.43808063e-01 1.30877520e-02 4.84083622e+01] [-1.43810854e-01 9.89604922e-01 -7.32579345e-04 -4.19958654e-01] [-1.30570546e-02 -1.15725957e-03 9.99914083e-01 -6.92997252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters 0.044711046353946356 Centerline is valid? [True, True] Translation: X:48.47, Y:-0.42, Z:-0.69 [[ 9.89604003e-01 1.43249133e-01 1.27907416e-02 4.84700037e+01] [-1.43251755e-01 9.89686022e-01 -7.15680563e-04 -4.16107179e-01] [-1.27613388e-02 -1.12405583e-03 9.99917939e-01 -6.93606639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters 0.044838592454825056 Centerline is valid? [True, True] Translation: X:48.53, Y:-0.42, Z:-0.70 [[ 9.89764490e-01 1.42198406e-01 1.20775701e-02 4.85313740e+01] [-1.42200642e-01 9.89837622e-01 -6.77792039e-04 -4.19510513e-01] [-1.20512143e-02 -1.04658373e-03 9.99926834e-01 -6.98668190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters 0.04529999966530343 Centerline is valid? [True, True] Translation: X:48.59, Y:-0.42, Z:-0.70 [[ 9.89975456e-01 1.40640416e-01 1.29949957e-02 4.85917547e+01] [-1.40642864e-01 9.90060126e-01 -7.29844513e-04 -4.18024398e-01] [-1.29684727e-02 -1.10512525e-03 9.99915295e-01 -6.96647298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters 0.03905499785509024 Centerline is valid? [True, True] Translation: X:48.65, Y:-0.43, Z:-0.70 [[ 9.90389452e-01 1.37666063e-01 1.32961646e-02 4.86516434e+01] [-1.37668356e-01 9.90478100e-01 -7.47058803e-04 -4.27368797e-01] [-1.32724045e-02 -1.09058196e-03 9.99911323e-01 -6.98499524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters 0.03702032844918721 Centerline is valid? [True, True] Translation: X:48.71, Y:-0.43, Z:-0.70 [[ 9.90823400e-01 1.34497262e-01 1.33968684e-02 4.87122237e+01] [-1.34499303e-01 9.90913402e-01 -7.52637922e-04 -4.27968481e-01] [-1.33763642e-02 -1.05613820e-03 9.99909975e-01 -6.95540487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters 0.03946523292771013 Centerline is valid? [True, True] Translation: X:48.77, Y:-0.43, Z:-0.70 [[ 9.91144353e-01 1.32103170e-01 1.34767908e-02 4.87724768e+01] [-1.32105013e-01 9.91235437e-01 -7.57306672e-04 -4.25838667e-01] [-1.34587153e-02 -1.02975140e-03 9.99908897e-01 -6.99541525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters 0.038766622791780184 Centerline is valid? [True, True] Translation: X:48.83, Y:-0.43, Z:-0.70 [[ 9.91543312e-01 1.29184229e-01 1.23812246e-02 4.88328889e+01] [-1.29185558e-01 9.91620193e-01 -6.95743082e-04 -4.26304094e-01] [-1.23673513e-02 -9.09616002e-04 9.99923108e-01 -7.01904550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters 0.03898025095518043 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.43, Z:-0.70 [[ 9.92001652e-01 1.25683504e-01 1.16781614e-02 4.88938067e+01] [-1.25684445e-01 9.92070053e-01 -6.56196669e-04 -4.25871949e-01] [-1.16680273e-02 -8.16815056e-04 9.99931593e-01 -7.03519383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters 0.033375927253628215 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.43, Z:-0.70 [[ 9.92341804e-01 1.22951609e-01 1.18594043e-02 4.89548974e+01] [-1.22952384e-01 9.92412347e-01 -6.66458694e-04 -4.30770495e-01] [-1.18513614e-02 -7.96787210e-04 9.99929453e-01 -7.01176731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters 0.033329212119720515 Centerline is valid? [True, True] Translation: X:49.02, Y:-0.43, Z:-0.70 [[ 9.92552928e-01 1.21274921e-01 1.14489820e-02 4.90162865e+01] [-1.21275531e-01 9.92618674e-01 -6.43513291e-04 -4.31626064e-01] [-1.14425153e-02 -7.49760370e-04 9.99934251e-01 -7.02292566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters 0.03795478522125332 Centerline is valid? [True, True] Translation: X:49.08, Y:-0.42, Z:-0.70 [[ 9.92642715e-01 1.20572997e-01 1.10721369e-02 4.90783016e+01] [-1.20573532e-01 9.92704204e-01 -6.21699617e-04 -4.24622421e-01] [-1.10663171e-02 -7.17881054e-04 9.99938509e-01 -7.04606187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters 0.03691435435865183 Centerline is valid? [True, True] Translation: X:49.14, Y:-0.42, Z:-0.70 [[ 9.92554740e-01 1.21347850e-01 1.04779400e-02 4.91405936e+01] [-1.21348346e-01 9.92609808e-01 -5.90782912e-04 -4.24689906e-01] [-1.04721962e-02 -6.85096306e-04 9.99944930e-01 -7.04895431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters 0.0351045818498985 Centerline is valid? [True, True] Translation: X:49.20, Y:-0.43, Z:-0.71 [[ 9.92402382e-01 1.22655924e-01 9.64554851e-03 4.92032005e+01] [-1.22656375e-01 9.92449049e-01 -5.46974681e-04 -4.25102902e-01] [-9.63980512e-03 -6.40269041e-04 9.99953331e-01 -7.05216777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters 0.034990111230946426 Centerline is valid? [True, True] Translation: X:49.27, Y:-0.43, Z:-0.71 [[ 9.92392453e-01 1.22835266e-01 8.28956305e-03 4.92663379e+01] [-1.22835615e-01 9.92426920e-01 -4.68877443e-04 -4.27055667e-01] [-8.28438022e-03 -5.52943142e-04 9.99965531e-01 -7.06013620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters 0.03546013826073944 Centerline is valid? [True, True] Translation: X:49.33, Y:-0.43, Z:-0.71 [[ 9.92415298e-01 1.22719222e-01 7.20200841e-03 4.93281780e+01] [-1.22719470e-01 9.92441315e-01 -4.09170656e-04 -4.26097743e-01] [-7.19778380e-03 -4.77759435e-04 9.99973981e-01 -7.07169224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters 0.03432883134255637 Centerline is valid? [True, True] Translation: X:49.39, Y:-0.43, Z:-0.71 [[ 9.92521913e-01 1.21874889e-01 6.83836906e-03 4.93903928e+01] [-1.21875082e-01 9.92545370e-01 -3.90037135e-04 -4.26519052e-01] [-6.83492728e-03 -4.46306389e-04 9.99976542e-01 -7.06784962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters 0.03236129277582658 Centerline is valid? [True, True] Translation: X:49.45, Y:-0.43, Z:-0.71 [[ 9.92889167e-01 1.18894034e-01 5.94230041e-03 4.94508083e+01] [-1.18894106e-01 9.92906881e-01 -3.42384581e-04 -4.31422562e-01] [-5.94085845e-03 -3.66554554e-04 9.99982286e-01 -7.08351519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters 0.03363093965684285 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.43, Z:-0.71 [[ 9.93180655e-01 1.16436392e-01 5.89509075e-03 4.95109618e+01] [-1.16436426e-01 9.93198089e-01 -3.38590497e-04 -4.31596141e-01] [-5.89441712e-03 -3.50121769e-04 9.99982566e-01 -7.09532656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters 0.028661823739706105 Centerline is valid? [True, True] Translation: X:49.57, Y:-0.44, Z:-0.71 [[ 9.93496971e-01 1.13634560e-01 7.13833602e-03 4.95718207e+01] [-1.13634524e-01 9.93522534e-01 -4.11911203e-04 -4.38224851e-01] [-7.13890504e-03 -4.01928887e-04 9.99974437e-01 -7.06982540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters 0.028745923527339432 Centerline is valid? [True, True] Translation: X:49.63, Y:-0.44, Z:-0.71 [[ 9.93664195e-01 1.12198581e-01 6.55337896e-03 4.96342483e+01] [-1.12198524e-01 9.93685739e-01 -3.77580544e-04 -4.41003677e-01] [-6.55436322e-03 -3.60091177e-04 9.99978455e-01 -7.08820269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters 0.02774680017770821 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.44, Z:-0.71 [[ 9.93749811e-01 1.11442159e-01 6.47744415e-03 4.96958975e+01] [-1.11442093e-01 9.93770860e-01 -3.72221970e-04 -4.44906207e-01] [-6.47857646e-03 -3.51964424e-04 9.99978952e-01 -7.10150155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters 0.029586069718883896 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.45, Z:-0.71 [[ 9.93817257e-01 1.10877470e-01 5.78335245e-03 4.97566609e+01] [-1.10877401e-01 9.93834036e-01 -3.33609962e-04 -4.45954996e-01] [-5.78468234e-03 -3.09695750e-04 9.99983221e-01 -7.12832183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters 0.02660313624142469 Centerline is valid? [True, True] Translation: X:49.82, Y:-0.45, Z:-0.71 [[ 9.93733612e-01 1.11557973e-01 6.95179164e-03 4.98191791e+01] [-1.11557876e-01 9.93757857e-01 -4.02900496e-04 -4.49652970e-01] [-6.95334432e-03 -3.75151344e-04 9.99975755e-01 -7.08687862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters 0.03224791963215685 Centerline is valid? [True, True] Translation: X:49.88, Y:-0.45, Z:-0.71 [[ 9.93585917e-01 1.12940889e-01 5.60185742e-03 4.98807296e+01] [-1.12940840e-01 9.93601661e-01 -3.25997111e-04 -4.47926351e-01] [-5.60283324e-03 -3.08772346e-04 9.99984256e-01 -7.14052649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters 0.02953933115912324 Centerline is valid? [True, True] Translation: X:49.94, Y:-0.45, Z:-0.71 [[ 9.93448962e-01 1.14053197e-01 7.14336719e-03 4.99426193e+01] [-1.14053128e-01 9.93474564e-01 -4.18234042e-04 -4.51654123e-01] [-7.14445453e-03 -3.99229200e-04 9.99974398e-01 -7.11083425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters 0.032429965372451824 Centerline is valid? [True, True] Translation: X:50.00, Y:-0.45, Z:-0.71 [[ 9.93247163e-01 1.15850957e-01 6.21517337e-03 5.00035445e+01] [-1.15850927e-01 9.93266545e-01 -3.66120917e-04 -4.52203481e-01] [-6.21573923e-03 -3.56385033e-04 9.99980619e-01 -7.13808361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters 0.03236606706791378 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.46, Z:-0.71 [[ 9.93150550e-01 1.16625734e-01 7.10090487e-03 5.00652090e+01] [-1.16625713e-01 9.93175849e-01 -4.18401017e-04 -4.55599516e-01] [-7.10124355e-03 -4.12612893e-04 9.99974701e-01 -7.11718697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters 0.032761805260586196 Centerline is valid? [True, True] Translation: X:50.13, Y:-0.46, Z:-0.71 [[ 9.93104621e-01 1.17023614e-01 6.97746527e-03 5.01280082e+01] [-1.17023595e-01 9.93129049e-01 -4.12443932e-04 -4.59163301e-01] [-6.97778913e-03 -4.06928094e-04 9.99975572e-01 -7.12381976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters 0.03626616178288649 Centerline is valid? [True, True] Translation: X:50.19, Y:-0.46, Z:-0.72 [[ 9.93044920e-01 1.17596430e-01 5.73288036e-03 5.01896048e+01] [-1.17596419e-01 9.93061411e-01 -3.40223280e-04 -4.61428055e-01] [-5.73311131e-03 -3.36309202e-04 9.99983509e-01 -7.17797433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters 0.027694713325998058 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.48, Z:-0.71 [[ 9.93046752e-01 1.17464625e-01 7.75951380e-03 5.02511584e+01] [-1.17464580e-01 9.93076965e-01 -4.63136323e-04 -4.76346564e-01] [-7.76019654e-03 -4.51552005e-04 9.99969787e-01 -7.12601133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters 0.028814671950696327 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.48, Z:-0.71 [[ 9.93015825e-01 1.17697109e-01 8.18304174e-03 5.03142850e+01] [-1.17697050e-01 9.93049427e-01 -4.90473771e-04 -4.81463603e-01] [-8.18389226e-03 -4.76071655e-04 9.99966398e-01 -7.14121644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters 0.03188867841489802 Centerline is valid? [True, True] Translation: X:50.38, Y:-0.48, Z:-0.72 [[ 9.92920428e-01 1.18530627e-01 7.71455399e-03 5.03755994e+01] [-1.18530581e-01 9.92950294e-01 -4.64821621e-04 -4.84126265e-01] [-7.71526425e-03 -4.52879681e-04 9.99970134e-01 -7.18413618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters 0.029924527722371266 Centerline is valid? [True, True] Translation: X:50.44, Y:-0.49, Z:-0.72 [[ 9.92808819e-01 1.19421265e-01 8.31928267e-03 5.04368790e+01] [-1.19421225e-01 9.92843551e-01 -5.03419402e-04 -4.92010721e-01] [-8.31986513e-03 -4.93699704e-04 9.99965267e-01 -7.18513396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters 0.03021399232402593 Centerline is valid? [True, True] Translation: X:50.50, Y:-0.50, Z:-0.72 [[ 9.92619263e-01 1.20945773e-01 8.89485259e-03 5.04985294e+01] [-1.20945757e-01 9.92658970e-01 -5.41709745e-04 -5.00132319e-01] [-8.89507271e-03 -5.38083153e-04 9.99960293e-01 -7.19799281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters 0.030523775745124493 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.50, Z:-0.72 [[ 9.92164803e-01 1.24458289e-01 1.09150058e-02 5.05595635e+01] [-1.24458462e-01 9.92224595e-01 -6.66068333e-04 -5.04975504e-01] [-1.09130350e-02 -6.97615286e-04 9.99940208e-01 -7.17187510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters 0.031671244134112694 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.51, Z:-0.72 [[ 9.91854499e-01 1.26954298e-01 1.03565540e-02 5.06209376e+01] [-1.26954588e-01 9.91908329e-01 -6.32063630e-04 -5.09006317e-01] [-1.03529954e-02 -6.87896896e-04 9.99946170e-01 -7.18918414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters 0.03359247550619069 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.52, Z:-0.72 [[ 9.91495314e-01 1.29789288e-01 9.58031831e-03 5.06818541e+01] [-1.29789665e-01 9.91541376e-01 -5.84991742e-04 -5.15824488e-01] [-9.57520767e-03 -6.63409732e-04 9.99953937e-01 -7.23383053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters 0.035564773494589565 Centerline is valid? [True, True] Translation: X:50.74, Y:-0.52, Z:-0.72 [[ 9.91133476e-01 1.32467678e-01 1.03318960e-02 5.07424272e+01] [-1.32468256e-01 9.91187047e-01 -6.31408539e-04 -5.21168041e-01] [-1.03244827e-02 -7.42838103e-04 9.99946425e-01 -7.24099752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters 0.03507419959966195 Centerline is valid? [True, True] Translation: X:50.80, Y:-0.53, Z:-0.72 [[ 9.90908941e-01 1.33954828e-01 1.24729783e-02 5.08039959e+01] [-1.33955793e-01 9.90987016e-01 -7.61815836e-04 -5.26537237e-01] [-1.24626085e-02 -9.15937578e-04 9.99921919e-01 -7.20746962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters 0.03740822089523943 Centerline is valid? [True, True] Translation: X:50.87, Y:-0.53, Z:-0.72 [[ 9.90800738e-01 1.34830320e-01 1.16052428e-02 5.08660473e+01] [-1.34831187e-01 9.90868329e-01 -7.11220826e-04 -5.30791187e-01] [-1.15951617e-02 -8.60070542e-04 9.99932404e-01 -7.24524164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters 0.037515950023076436 Centerline is valid? [True, True] Translation: X:50.93, Y:-0.54, Z:-0.72 [[ 9.90788883e-01 1.34834531e-01 1.25315243e-02 5.09276916e+01] [-1.34835500e-01 9.90867697e-01 -7.71442532e-04 -5.36455004e-01] [-1.25210997e-02 -9.25357658e-04 9.99921180e-01 -7.23275922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters 0.03927582972193838 Centerline is valid? [True, True] Translation: X:50.99, Y:-0.54, Z:-0.73 [[ 9.91070762e-01 1.32763078e-01 1.23576222e-02 5.09881662e+01] [-1.32763813e-01 9.91147409e-01 -7.64480515e-04 -5.42620855e-01] [-1.23497200e-02 -8.82990758e-04 9.99923349e-01 -7.26115658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters 0.036533282334354086 Centerline is valid? [True, True] Translation: X:51.05, Y:-0.56, Z:-0.73 [[ 9.91285412e-01 1.31267164e-01 1.10527675e-02 5.10492151e+01] [-1.31267657e-01 9.91346728e-01 -6.83992180e-04 -5.56081107e-01] [-1.10469106e-02 -7.72839419e-04 9.99938682e-01 -7.29190518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters 0.036502402341045105 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.56, Z:-0.73 [[ 9.91385147e-01 1.30462300e-01 1.16223228e-02 5.11105171e+01] [-1.30462792e-01 9.91452945e-01 -7.19099551e-04 -5.62962956e-01] [-1.16168015e-02 -8.03376064e-04 9.99932200e-01 -7.29387847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters 0.03508504542457013 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.57, Z:-0.73 [[ 9.91270911e-01 1.31174704e-01 1.32354533e-02 5.11725835e+01] [-1.31175355e-01 9.91358840e-01 -8.22738361e-04 -5.69708411e-01] [-1.32290061e-02 -9.20608678e-04 9.99912069e-01 -7.26926478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters 0.035050074719618025 Centerline is valid? [True, True] Translation: X:51.24, Y:-0.58, Z:-0.73 [[ 9.91220462e-01 1.31559379e-01 1.31956287e-02 5.12350281e+01] [-1.31560018e-01 9.91307865e-01 -8.23437182e-04 -5.76833321e-01] [-1.31892614e-02 -9.19809364e-04 9.99912595e-01 -7.28123971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters 0.033500936451817634 Centerline is valid? [True, True] Translation: X:51.30, Y:-0.59, Z:-0.73 [[ 9.91213004e-01 1.31551524e-01 1.38194272e-02 5.12969575e+01] [-1.31552165e-01 9.91308871e-01 -8.66580762e-04 -5.86315518e-01] [-1.38133208e-02 -9.59009457e-04 9.99904132e-01 -7.28525336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters 0.03308602726968652 Centerline is valid? [True, True] Translation: X:51.36, Y:-0.59, Z:-0.73 [[ 9.91150298e-01 1.32020043e-01 1.38490269e-02 5.13586305e+01] [-1.32020684e-01 9.91246578e-01 -8.71945264e-04 -5.91967823e-01] [-1.38429148e-02 -9.64129199e-04 9.99903717e-01 -7.28959146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters 0.03296429534830138 Centerline is valid? [True, True] Translation: X:51.42, Y:-0.60, Z:-0.73 [[ 9.90987957e-01 1.33200198e-01 1.41624874e-02 5.14208241e+01] [-1.33200936e-01 9.91088648e-01 -8.95374319e-04 -5.98646661e-01] [-1.41555446e-02 -9.99151417e-04 9.99899306e-01 -7.30025601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters 0.03415217982724186 Centerline is valid? [True, True] Translation: X:51.48, Y:-0.60, Z:-0.73 [[ 9.91035815e-01 1.32861387e-01 1.39951843e-02 5.14828127e+01] [-1.32862025e-01 9.91134145e-01 -8.88339276e-04 -6.04908297e-01] [-1.39891310e-02 -9.79052487e-04 9.99901668e-01 -7.31315599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters 0.033564779473186056 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.61, Z:-0.73 [[ 9.91220061e-01 1.31410796e-01 1.46285000e-02 5.15438973e+01] [-1.31411275e-01 9.91327497e-01 -9.32664912e-04 -6.14116557e-01] [-1.46241965e-02 -9.97873666e-04 9.99892563e-01 -7.31509542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters 0.03420957334129204 Centerline is valid? [True, True] Translation: X:51.61, Y:-0.62, Z:-0.73 [[ 9.91141740e-01 1.31924939e-01 1.52925252e-02 5.16060172e+01] [-1.31925516e-01 9.91259152e-01 -9.75467529e-04 -6.19649038e-01] [-1.52875440e-02 -1.05064770e-03 9.99882587e-01 -7.31851642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters 0.037227711530078075 Centerline is valid? [True, True] Translation: X:51.67, Y:-0.62, Z:-0.73 [[ 9.91049349e-01 1.32716366e-01 1.44067100e-02 5.16665716e+01] [-1.32716908e-01 9.91153556e-01 -9.22645234e-04 -6.22364018e-01] [-1.44017120e-02 -9.97627049e-04 9.99895792e-01 -7.34700938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters 0.038335308479820425 Centerline is valid? [True, True] Translation: X:51.73, Y:-0.63, Z:-0.74 [[ 9.90961088e-01 1.33318185e-01 1.49125528e-02 5.17286402e+01] [-1.33318829e-01 9.91072741e-01 -9.55400754e-04 -6.26968105e-01] [-1.49067969e-02 -1.04135911e-03 9.99888345e-01 -7.35103233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters 0.034184834341622956 Centerline is valid? [True, True] Translation: X:51.79, Y:-0.64, Z:-0.74 [[ 9.90975122e-01 1.33362826e-01 1.35153160e-02 5.17899677e+01] [-1.33363320e-01 9.91066834e-01 -8.68764527e-04 -6.40985966e-01] [-1.35104424e-02 -9.41523383e-04 9.99908287e-01 -7.37196386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters 0.033741182362307096 Centerline is valid? [True, True] Translation: X:51.85, Y:-0.65, Z:-0.74 [[ 9.90907163e-01 1.33681872e-01 1.52364932e-02 5.18531855e+01] [-1.33682471e-01 9.91023728e-01 -9.83770163e-04 -6.46523098e-01] [-1.52312386e-02 -1.06202716e-03 9.99883434e-01 -7.35813047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters 0.03323645104976007 Centerline is valid? [True, True] Translation: X:51.91, Y:-0.66, Z:-0.74 [[ 9.90912175e-01 1.33646562e-01 1.52203167e-02 5.19149465e+01] [-1.33647088e-01 9.91028497e-01 -9.87138064e-04 -6.55161932e-01] [-1.52156951e-02 -1.05598387e-03 9.99883677e-01 -7.36570052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters 0.033344873796013724 Centerline is valid? [True, True] Translation: X:51.98, Y:-0.66, Z:-0.74 [[ 9.91061660e-01 1.32877293e-01 1.18495203e-02 5.19771101e+01] [-1.32877524e-01 9.91132165e-01 -7.71274826e-04 -6.64113447e-01] [-1.18469256e-02 -8.10154018e-04 9.99929495e-01 -7.40756105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters 0.03620174781737984 Centerline is valid? [True, True] Translation: X:52.04, Y:-0.67, Z:-0.74 [[ 9.91158836e-01 1.32175226e-01 1.15702640e-02 5.20383618e+01] [-1.32175394e-01 9.91226058e-01 -7.53519836e-04 -6.67631641e-01] [-1.15683438e-02 -7.82446358e-04 9.99932778e-01 -7.42593352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters 0.03319001186104042 Centerline is valid? [True, True] Translation: X:52.10, Y:-0.68, Z:-0.74 [[ 9.91113535e-01 1.32412115e-01 1.26882901e-02 5.21009146e+01] [-1.32412296e-01 9.91194378e-01 -8.29492158e-04 -6.76143927e-01] [-1.26863966e-02 -8.57964719e-04 9.99919156e-01 -7.40995798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters 0.03438970866958408 Centerline is valid? [True, True] Translation: X:52.16, Y:-0.68, Z:-0.74 [[ 9.91199483e-01 1.31836303e-01 1.19488270e-02 5.21621990e+01] [-1.31836383e-01 9.91271180e-01 -7.84471776e-04 -6.83244822e-01] [-1.19479497e-02 -7.97722115e-04 9.99928302e-01 -7.41454432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters 0.03067494579349741 Centerline is valid? [True, True] Translation: X:52.22, Y:-0.69, Z:-0.74 [[ 9.91125817e-01 1.32390535e-01 1.19315318e-02 5.22241637e+01] [-1.32390620e-01 9.91197309e-01 -7.86235602e-04 -6.94920279e-01] [-1.19305924e-02 -8.00364485e-04 9.99928508e-01 -7.41436333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters 0.03183625055459445 Centerline is valid? [True, True] Translation: X:52.29, Y:-0.70, Z:-0.74 [[ 9.90923970e-01 1.33927304e-01 1.15396383e-02 5.22861654e+01] [-1.33927445e-01 9.90990845e-01 -7.64038003e-04 -6.99880445e-01] [-1.15380015e-02 -7.88370711e-04 9.99933124e-01 -7.42645376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters 0.034091729425291255 Centerline is valid? [True, True] Translation: X:52.35, Y:-0.70, Z:-0.74 [[ 9.90820083e-01 1.34724139e-01 1.11789357e-02 5.23473208e+01] [-1.34724322e-01 9.90882843e-01 -7.40194857e-04 -7.03854424e-01] [-1.11767377e-02 -7.72674602e-04 9.99937240e-01 -7.44027340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters 0.03500532916160967 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.71, Z:-0.74 [[ 9.90824713e-01 1.34703721e-01 1.10134577e-02 5.24097468e+01] [-1.34703864e-01 9.90885631e-01 -7.32236516e-04 -7.09172597e-01] [-1.10117120e-02 -7.58037276e-04 9.99939082e-01 -7.44955562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters 0.03639822122974796 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.72, Z:-0.75 [[ 9.90826222e-01 1.34718071e-01 1.06976220e-02 5.24720790e+01] [-1.34718197e-01 9.90883697e-01 -7.12050048e-04 -7.15029946e-01] [-1.06960252e-02 -7.35646487e-04 9.99942525e-01 -7.45552228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters 0.03556996542014014 Centerline is valid? [True, True] Translation: X:52.53, Y:-0.72, Z:-0.75 [[ 9.90941793e-01 1.33890129e-01 1.03825086e-02 5.25336214e+01] [-1.33890178e-01 9.90995933e-01 -6.93485712e-04 -7.24221406e-01] [-1.03818747e-02 -7.02911953e-04 9.99945860e-01 -7.47436226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters 0.03778348035012788 Centerline is valid? [True, True] Translation: X:52.60, Y:-0.73, Z:-0.75 [[ 9.90887204e-01 1.34387264e-01 9.08908528e-03 5.25955005e+01] [-1.34387306e-01 9.90928696e-01 -6.08840670e-04 -7.30304264e-01] [-9.08845586e-03 -6.18165256e-04 9.99958508e-01 -7.52196972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters 0.0366802648046278 Centerline is valid? [True, True] Translation: X:52.66, Y:-0.73, Z:-0.75 [[ 9.90723815e-01 1.35568968e-01 9.34753205e-03 5.26574888e+01] [-1.35569032e-01 9.90767703e-01 -6.29695245e-04 -7.34149356e-01] [-9.34659999e-03 -6.43381797e-04 9.99956113e-01 -7.50005505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters 0.03475018758511294 Centerline is valid? [True, True] Translation: X:52.72, Y:-0.74, Z:-0.75 [[ 9.90500174e-01 1.37214866e-01 9.02700049e-03 5.27187583e+01] [-1.37214999e-01 9.90541102e-01 -6.07590333e-04 -7.41546016e-01] [-9.02498544e-03 -6.36821532e-04 9.99959071e-01 -7.51092051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters 0.03513910918808176 Centerline is valid? [True, True] Translation: X:52.78, Y:-0.75, Z:-0.75 [[ 9.90251534e-01 1.38983964e-01 9.23893291e-03 5.27800393e+01] [-1.38984159e-01 9.90294408e-01 -6.24083131e-04 -7.46888549e-01] [-9.23600114e-03 -6.66066039e-04 9.99957125e-01 -7.51673675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters 0.0357917133785115 Centerline is valid? [True, True] Translation: X:52.84, Y:-0.75, Z:-0.75 [[ 9.90442004e-01 1.37602135e-01 9.50201255e-03 5.28414701e+01] [-1.37602245e-01 9.90487358e-01 -6.45309627e-04 -7.52690060e-01] [-9.50041929e-03 -6.68356501e-04 9.99954647e-01 -7.53918132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters 0.033134485954567965 Centerline is valid? [True, True] Translation: X:52.90, Y:-0.76, Z:-0.75 [[ 9.90825404e-01 1.34811003e-01 9.54002074e-03 5.29014011e+01] [-1.34810977e-01 9.90871122e-01 -6.48739802e-04 -7.61920168e-01] [-9.54038832e-03 -6.43311638e-04 9.99954283e-01 -7.53733114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters 0.03184461186561873 Centerline is valid? [True, True] Translation: X:52.96, Y:-0.77, Z:-0.76 [[ 9.91376448e-01 1.30704619e-01 9.43617717e-03 5.29613486e+01] [-1.30704409e-01 9.91421175e-01 -6.41622014e-04 -7.71866317e-01] [-9.43908881e-03 -5.97261009e-04 9.99955272e-01 -7.58051557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters 0.028993009985115586 Centerline is valid? [True, True] Translation: X:53.02, Y:-0.78, Z:-0.76 [[ 9.91784633e-01 1.27578306e-01 9.32835079e-03 5.30216094e+01] [-1.27577962e-01 9.91828343e-01 -6.34278210e-04 -7.79985374e-01] [-9.33304285e-03 -5.61024605e-04 9.99956289e-01 -7.55153620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters 0.02991912319835424 Centerline is valid? [True, True] Translation: X:53.08, Y:-0.79, Z:-0.76 [[ 9.92304875e-01 1.23484249e-01 9.09257409e-03 5.30810467e+01] [-1.23483749e-01 9.92346402e-01 -6.18606168e-04 -7.86666234e-01] [-9.09937130e-03 -5.08939216e-04 9.99958470e-01 -7.59081973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters 0.030349894116354303 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.79, Z:-0.76 [[ 9.92582884e-01 1.21218826e-01 9.23115786e-03 5.31411591e+01] [-1.21218218e-01 9.92625685e-01 -6.27334663e-04 -7.91154428e-01] [-9.23912916e-03 -4.96302861e-04 9.99957195e-01 -7.60012086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters 0.029658832872214526 Centerline is valid? [True, True] Translation: X:53.20, Y:-0.80, Z:-0.76 [[ 9.92590393e-01 1.21108003e-01 9.85711013e-03 5.32032284e+01] [-1.21107301e-01 9.92639195e-01 -6.70210239e-04 -7.95644523e-01] [-9.86572169e-03 -5.28523762e-04 9.99951193e-01 -7.58582525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters 0.030071396435003294 Centerline is valid? [True, True] Translation: X:53.27, Y:-0.80, Z:-0.76 [[ 9.92705523e-01 1.20230067e-01 8.97083889e-03 5.32655189e+01] [-1.20229427e-01 9.92745944e-01 -6.12516940e-04 -8.01190259e-01] [-8.97940688e-03 -4.70509875e-04 9.99959574e-01 -7.62565809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters 0.02825246500419629 Centerline is valid? [True, True] Translation: X:53.33, Y:-0.81, Z:-0.76 [[ 9.92743235e-01 1.19889608e-01 9.34613180e-03 5.33268504e+01] [-1.19888894e-01 9.92787110e-01 -6.38702808e-04 -8.08559409e-01] [-9.35529301e-03 -4.86429511e-04 9.99956120e-01 -7.63972283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters 0.0259913606859285 Centerline is valid? [True, True] Translation: X:53.39, Y:-0.81, Z:-0.76 [[ 9.92585458e-01 1.21203871e-01 9.15040749e-03 5.33886159e+01] [-1.21203222e-01 9.92627516e-01 -6.27486270e-04 -8.14431308e-01] [-9.15900002e-03 -4.86225127e-04 9.99957937e-01 -7.62899821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters 0.02704468028591893 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.82, Z:-0.77 [[ 9.92353939e-01 1.23068248e-01 9.37367572e-03 5.34505478e+01] [-1.23067616e-01 9.92398077e-01 -6.46424885e-04 -8.17391092e-01] [-9.38197214e-03 -5.12113645e-04 9.99955857e-01 -7.65893389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters 0.030611733415595727 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.82, Z:-0.77 [[ 9.92105281e-01 1.24971588e-01 1.04504877e-02 5.35119812e+01] [-1.24970907e-01 9.92160145e-01 -7.20721573e-04 -8.18293525e-01] [-1.04586271e-02 -5.90975245e-04 9.99945132e-01 -7.68150698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters 0.028032343952548812 Centerline is valid? [True, True] Translation: X:53.57, Y:-0.82, Z:-0.77 [[ 9.91909793e-01 1.26506990e-01 1.05330238e-02 5.35741518e+01] [-1.26506349e-01 9.91965529e-01 -7.29737743e-04 -8.23984358e-01] [-1.05407134e-02 -6.08660369e-04 9.99944260e-01 -7.66137429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters 0.03003906183812446 Centerline is valid? [True, True] Translation: X:53.63, Y:-0.83, Z:-0.77 [[ 9.91989764e-01 1.25952392e-01 9.60747874e-03 5.36347378e+01] [-1.25951832e-01 9.92036135e-01 -6.65773595e-04 -8.27476924e-01] [-9.61482185e-03 -5.49638956e-04 9.99953625e-01 -7.70918336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters 0.03047105999187591 Centerline is valid? [True, True] Translation: X:53.69, Y:-0.84, Z:-0.77 [[ 9.92579038e-01 1.21307101e-01 8.45220333e-03 5.36940318e+01] [-1.21306482e-01 9.92614926e-01 -5.87753908e-04 -8.36783277e-01] [-8.46108191e-03 -4.41914839e-04 9.99964107e-01 -7.74473190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters 0.027982363276432543 Centerline is valid? [True, True] Translation: X:53.76, Y:-0.85, Z:-0.77 [[ 9.92827835e-01 1.19112534e-01 1.02515751e-02 5.37552431e+01] [-1.19111512e-01 9.92880627e-01 -7.12459121e-04 -8.46123048e-01] [-1.02634532e-02 -5.13731364e-04 9.99947197e-01 -7.72108161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters 0.03062403451933415 Centerline is valid? [True, True] Translation: X:53.82, Y:-0.85, Z:-0.78 [[ 9.92950700e-01 1.18170440e-01 9.20083399e-03 5.38164368e+01] [-1.18169584e-01 9.92993223e-01 -6.38600393e-04 -8.52256108e-01] [-9.21182949e-03 -4.53160015e-04 9.99957468e-01 -7.76108118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters 0.03306914343516267 Centerline is valid? [True, True] Translation: X:53.88, Y:-0.86, Z:-0.78 [[ 9.92820324e-01 1.19182788e-01 1.01620653e-02 5.38777564e+01] [-1.19181761e-01 9.92872200e-01 -7.08761184e-04 -8.56484176e-01] [-1.01741042e-02 -5.07460330e-04 9.99948114e-01 -7.77501771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters 0.027480303267761918 Centerline is valid? [True, True] Translation: X:53.94, Y:-0.87, Z:-0.77 [[ 9.92179670e-01 1.24141519e-01 1.29763644e-02 5.39384606e+01] [-1.24140235e-01 9.92264268e-01 -9.07509139e-04 -8.65648441e-01] [-1.29886422e-02 -7.10476801e-04 9.99915392e-01 -7.74487748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters 0.03185538018295923 Centerline is valid? [True, True] Translation: X:54.00, Y:-0.86, Z:-0.78 [[ 9.91432385e-01 1.29892324e-01 1.37771253e-02 5.39990440e+01] [-1.29891426e-01 9.91527755e-01 -9.63794750e-04 -8.63078555e-01] [-1.37855917e-02 -8.33993127e-04 9.99904626e-01 -7.76344813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters 0.031980815121493415 Centerline is valid? [True, True] Translation: X:54.06, Y:-0.87, Z:-0.78 [[ 9.91129362e-01 1.32108160e-01 1.44921113e-02 5.40604624e+01] [-1.32107406e-01 9.91234889e-01 -1.01353853e-03 -8.66619281e-01] [-1.44989831e-02 -9.09967442e-04 9.99894470e-01 -7.77036618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters 0.03442510446141435 Centerline is valid? [True, True] Translation: X:54.12, Y:-0.87, Z:-0.78 [[ 9.90476397e-01 1.37040195e-01 1.32850303e-02 5.41208376e+01] [-1.37039958e-01 9.90565081e-01 -9.32444091e-04 -8.68627899e-01] [-1.32874695e-02 -8.97016134e-04 9.99911315e-01 -7.79720937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters 0.04101944242379262 Centerline is valid? [True, True] Translation: X:54.18, Y:-0.87, Z:-0.78 [[ 9.90156726e-01 1.39448526e-01 1.19902444e-02 5.41812450e+01] [-1.39448513e-01 9.90228966e-01 -8.41235615e-04 -8.65002515e-01] [-1.19903964e-02 -8.39066651e-04 9.99927761e-01 -7.83217359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters 0.036821320321613824 Centerline is valid? [True, True] Translation: X:54.24, Y:-0.87, Z:-0.78 [[ 9.90076699e-01 1.39937840e-01 1.28659083e-02 5.42435640e+01] [-1.39937859e-01 9.90159876e-01 -9.03199212e-04 -8.73836376e-01] [-1.28656979e-02 -9.06191167e-04 9.99916823e-01 -7.84094862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters 0.03965020975353612 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.88, Z:-0.79 [[ 9.90049682e-01 1.40127659e-01 1.28788788e-02 5.43057248e+01] [-1.40127647e-01 9.90133031e-01 -9.07837209e-04 -8.75471944e-01] [-1.28790164e-02 -9.05883029e-04 9.99916652e-01 -7.85382162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters 0.03752754624786927 Centerline is valid? [True, True] Translation: X:54.37, Y:-0.88, Z:-0.78 [[ 9.89958879e-01 1.40576496e-01 1.48211484e-02 5.43671871e+01] [-1.40576461e-01 9.90069269e-01 -1.04938474e-03 -8.81225284e-01] [-1.48214824e-02 -1.04465686e-03 9.99889610e-01 -7.83623844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters 0.03452409591847332 Centerline is valid? [True, True] Translation: X:54.43, Y:-0.89, Z:-0.78 [[ 9.89789267e-01 1.41718021e-01 1.52712129e-02 5.44292610e+01] [-1.41718087e-01 9.89906465e-01 -1.08329051e-03 -8.88290845e-01] [-1.52705942e-02 -1.09197777e-03 9.99882801e-01 -7.84731437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters 0.03434626139432865 Centerline is valid? [True, True] Translation: X:54.49, Y:-0.89, Z:-0.79 [[ 9.89727400e-01 1.42197562e-01 1.48164116e-02 5.44911629e+01] [-1.42197625e-01 9.89837726e-01 -1.05464451e-03 -8.92849540e-01] [-1.48158110e-02 -1.06304797e-03 9.99889675e-01 -7.86284618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters 0.03759742950679575 Centerline is valid? [True, True] Translation: X:54.55, Y:-0.89, Z:-0.79 [[ 9.89760473e-01 1.42115462e-01 1.33192364e-02 5.45522669e+01] [-1.42115465e-01 9.89849630e-01 -9.51090662e-04 -8.93402682e-01] [-1.33192059e-02 -9.51517532e-04 9.99910843e-01 -7.90718610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters 0.03671416325543425 Centerline is valid? [True, True] Translation: X:54.61, Y:-0.90, Z:-0.79 [[ 9.89642752e-01 1.42838925e-01 1.42921061e-02 5.46144641e+01] [-1.42838953e-01 9.89745414e-01 -1.02410287e-03 -8.97795061e-01] [-1.42918283e-02 -1.02797350e-03 9.99897338e-01 -7.89704434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters 0.03549627593447148 Centerline is valid? [True, True] Translation: X:54.68, Y:-0.90, Z:-0.79 [[ 9.89483272e-01 1.43919510e-01 1.44923732e-02 5.46761163e+01] [-1.43919601e-01 9.89588835e-01 -1.04208816e-03 -9.02512497e-01] [-1.44914675e-02 -1.05460776e-03 9.99894437e-01 -7.90721070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters 0.037127266657138044 Centerline is valid? [True, True] Translation: X:54.74, Y:-0.90, Z:-0.79 [[ 9.89385454e-01 1.44597669e-01 1.44200382e-02 5.47384334e+01] [-1.44597779e-01 9.89489970e-01 -1.04049561e-03 -9.03682334e-01] [-1.44189364e-02 -1.05565427e-03 9.99895484e-01 -7.91892639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters 0.036135453563106226 Centerline is valid? [True, True] Translation: X:54.80, Y:-0.91, Z:-0.80 [[ 9.89125459e-01 1.46437561e-01 1.36699031e-02 5.48000349e+01] [-1.46437791e-01 9.89219386e-01 -9.89575920e-04 -9.07463430e-01] [-1.36674442e-02 -1.02297567e-03 9.99906073e-01 -7.95770731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters 0.03679501759198173 Centerline is valid? [True, True] Translation: X:54.86, Y:-0.91, Z:-0.80 [[ 9.88906098e-01 1.47978323e-01 1.29284396e-02 5.48619099e+01] [-1.47978622e-01 9.88990114e-01 -9.38749064e-04 -9.08283234e-01] [-1.29250134e-02 -9.84797996e-04 9.99915984e-01 -7.98730213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters 0.03591591595539056 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.91, Z:-0.80 [[ 9.88896738e-01 1.47982115e-01 1.35843791e-02 5.49243986e+01] [-1.47982400e-01 9.88989499e-01 -9.89766733e-04 -9.11057564e-01] [-1.35812760e-02 -1.03147192e-03 9.99907238e-01 -7.99084930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters 0.03779853528621115 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.91, Z:-0.80 [[ 9.89152780e-01 1.46257894e-01 1.36164136e-02 5.49847269e+01] [-1.46257963e-01 9.89245984e-01 -9.96125575e-04 -9.11835613e-01] [-1.36156737e-02 -1.00618854e-03 9.99906796e-01 -8.00371789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters 0.035439260428457776 Centerline is valid? [True, True] Translation: X:55.05, Y:-0.92, Z:-0.80 [[ 9.89432692e-01 1.44211324e-01 1.50347264e-02 5.50461828e+01] [-1.44211169e-01 9.89546325e-01 -1.10017494e-03 -9.15101650e-01] [-1.50362159e-02 -1.07962641e-03 9.99886367e-01 -7.98262887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters 0.03573882396682068 Centerline is valid? [True, True] Translation: X:55.11, Y:-0.92, Z:-0.80 [[ 9.89911853e-01 1.40992064e-01 1.39914649e-02 5.51058919e+01] [-1.40991602e-01 9.90010262e-01 -1.02436457e-03 -9.17844570e-01] [-1.39961211e-02 -9.58648418e-04 9.99901590e-01 -7.99942957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters 0.0341971391048808 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.93, Z:-0.80 [[ 9.90324848e-01 1.38162633e-01 1.29531114e-02 5.51667518e+01] [-1.38161996e-01 9.90409190e-01 -9.48292399e-04 -9.25040422e-01] [-1.29598991e-02 -8.50510201e-04 9.99915655e-01 -8.02418517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters 0.03291997591145955 Centerline is valid? [True, True] Translation: X:55.23, Y:-0.93, Z:-0.80 [[ 9.90693092e-01 1.35413354e-01 1.37993200e-02 5.52269492e+01] [-1.35412362e-01 9.90788813e-01 -1.01054137e-03 -9.29917508e-01] [-1.38090527e-02 -8.67462169e-04 9.99904274e-01 -8.01652623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters 0.029588593076583056 Centerline is valid? [True, True] Translation: X:55.29, Y:-0.94, Z:-0.80 [[ 9.90964483e-01 1.33405991e-01 1.38649085e-02 5.52878832e+01] [-1.33404795e-01 9.91061113e-01 -1.01527380e-03 -9.38621923e-01] [-1.38764153e-02 -8.43545004e-04 9.99903362e-01 -8.02058853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters 0.029797790143325124 Centerline is valid? [True, True] Translation: X:55.35, Y:-0.94, Z:-0.80 [[ 9.91238743e-01 1.31391203e-01 1.34946909e-02 5.53488661e+01] [-1.31389877e-01 9.91330279e-01 -9.88638956e-04 -9.43166289e-01] [-1.35075941e-02 -7.93088540e-04 9.99908454e-01 -8.04498091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters 0.027950171019481513 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.95, Z:-0.80 [[ 9.91502445e-01 1.29384438e-01 1.35118208e-02 5.54103399e+01] [-1.29382917e-01 9.91594211e-01 -9.90341801e-04 -9.48182758e-01] [-1.35263781e-02 -7.66272472e-04 9.99908221e-01 -8.03823358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters 0.02689314327727076 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.95, Z:-0.81 [[ 9.91628218e-01 1.28438050e-01 1.33095791e-02 5.54720484e+01] [-1.28436486e-01 9.91717257e-01 -9.75727360e-04 -9.53594665e-01] [-1.33246598e-02 -7.41876796e-04 9.99910948e-01 -8.05480830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters 0.027212123441394148 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.96, Z:-0.81 [[ 9.91847792e-01 1.26754249e-01 1.30888254e-02 5.55333570e+01] [-1.26752540e-01 9.91933902e-01 -9.63382415e-04 -9.57881549e-01] [-1.31053625e-02 -7.03513144e-04 9.99913874e-01 -8.05596732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters 0.029448218756167488 Centerline is valid? [True, True] Translation: X:55.60, Y:-0.96, Z:-0.81 [[ 9.91919563e-01 1.26269535e-01 1.23119719e-02 5.55958197e+01] [-1.26267985e-01 9.91995753e-01 -9.06268553e-04 -9.62210692e-01] [-1.23278579e-02 -6.55662375e-04 9.99923794e-01 -8.08375323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters 0.025532662615621177 Centerline is valid? [True, True] Translation: X:55.66, Y:-0.97, Z:-0.81 [[ 9.91818947e-01 1.27048846e-01 1.24002993e-02 5.56576077e+01] [-1.27047318e-01 9.91896236e-01 -9.14030488e-04 -9.68906769e-01] [-1.24159367e-02 -6.68872016e-04 9.99922696e-01 -8.07290942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters 0.028827642972082044 Centerline is valid? [True, True] Translation: X:55.72, Y:-0.97, Z:-0.81 [[ 9.91702028e-01 1.28008901e-01 1.18662984e-02 5.57184026e+01] [-1.28007536e-01 9.91772807e-01 -8.77605164e-04 -9.69969045e-01] [-1.18810134e-02 -6.48652802e-04 9.99929208e-01 -8.11080518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters 0.030274874139753542 Centerline is valid? [True, True] Translation: X:55.78, Y:-0.97, Z:-0.81 [[ 9.91452937e-01 1.29859782e-01 1.25503460e-02 5.57794782e+01] [-1.29858356e-01 9.91532117e-01 -9.31971551e-04 -9.69914286e-01] [-1.25650968e-02 -7.05761369e-04 9.99920807e-01 -8.09352230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters 0.028259167010400855 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.98, Z:-0.81 [[ 9.91250456e-01 1.31388480e-01 1.26333440e-02 5.58415528e+01] [-1.31387154e-01 9.91330689e-01 -9.38469204e-04 -9.76147007e-01] [-1.26471257e-02 -7.29601089e-04 9.99919756e-01 -8.09698891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters 0.029597592441406938 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.98, Z:-0.81 [[ 9.90951655e-01 1.33623327e-01 1.26342169e-02 5.59023436e+01] [-1.33622168e-01 9.91031903e-01 -9.39618244e-04 -9.77549336e-01] [-1.26464670e-02 -7.57095204e-04 9.99919744e-01 -8.10238997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters 0.030836836281711986 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.98, Z:-0.81 [[ 9.90452918e-01 1.37273137e-01 1.26136065e-02 5.59633315e+01] [-1.37272275e-01 9.90532908e-01 -9.38254647e-04 -9.77484292e-01] [-1.26229895e-02 -8.02201409e-04 9.99920005e-01 -8.11383490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters 0.033350563129084375 Centerline is valid? [True, True] Translation: X:56.03, Y:-0.98, Z:-0.81 [[ 9.90312461e-01 1.38333509e-01 1.20444532e-02 5.60253183e+01] [-1.38332806e-01 9.90385396e-01 -8.95517179e-04 -9.79190028e-01] [-1.20525306e-02 -7.79301186e-04 9.99927062e-01 -8.14470668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters 0.03455323092894735 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.98, Z:-0.81 [[ 9.90012972e-01 1.40365975e-01 1.31037179e-02 5.60864148e+01] [-1.40365264e-01 9.90099306e-01 -9.78513179e-04 -9.78753075e-01] [-1.31113320e-02 -8.70566081e-04 9.99913664e-01 -8.12450901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters 0.03622368626491966 Centerline is valid? [True, True] Translation: X:56.15, Y:-0.98, Z:-0.81 [[ 9.89848044e-01 1.41569302e-01 1.26088442e-02 5.61481159e+01] [-1.41568747e-01 9.89927979e-01 -9.41102802e-04 -9.80102084e-01] [-1.26150789e-02 -8.53469499e-04 9.99920062e-01 -8.13195440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters 0.035156599128960304 Centerline is valid? [True, True] Translation: X:56.21, Y:-0.98, Z:-0.81 [[ 9.89681363e-01 1.42741926e-01 1.24716384e-02 5.62100963e+01] [-1.42741434e-01 9.89759572e-01 -9.34158600e-04 -9.84105353e-01] [-1.24772671e-02 -8.55700200e-04 9.99921790e-01 -8.13686186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters 0.036333525931290904 Centerline is valid? [True, True] Translation: X:56.27, Y:-0.99, Z:-0.81 [[ 9.89527746e-01 1.43845759e-01 1.19682034e-02 5.62717669e+01] [-1.43845384e-01 9.89599768e-01 -8.96648386e-04 -9.85168798e-01] [-1.19727104e-02 -8.34312363e-04 9.99927976e-01 -8.14915700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters 0.031027497786052134 Centerline is valid? [True, True] Translation: X:56.33, Y:-0.99, Z:-0.82 [[ 9.89443172e-01 1.44469068e-01 1.14410573e-02 5.63336462e+01] [-1.44468740e-01 9.89508992e-01 -8.59461535e-04 -9.94177932e-01] [-1.14451947e-02 -8.02486789e-04 9.99934180e-01 -8.15674328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters 0.03587311947175957 Centerline is valid? [True, True] Translation: X:56.40, Y:-0.99, Z:-0.82 [[ 9.89557194e-01 1.43738463e-01 1.07616552e-02 5.63950550e+01] [-1.43738101e-01 9.89615431e-01 -8.11091714e-04 -9.93543461e-01] [-1.07664851e-02 -7.44238241e-04 9.99941763e-01 -8.20462273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters 0.0342911690355055 Centerline is valid? [True, True] Translation: X:56.46, Y:-1.00, Z:-0.82 [[ 9.89973525e-01 1.40828199e-01 1.09471076e-02 5.64555458e+01] [-1.40827607e-01 9.90033786e-01 -8.28800441e-04 -9.98853528e-01] [-1.09547248e-02 -7.21164462e-04 9.99939735e-01 -8.20386991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters 0.03290699499393666 Centerline is valid? [True, True] Translation: X:56.52, Y:-1.01, Z:-0.82 [[ 9.90825265e-01 1.34697796e-01 1.10362585e-02 5.65151792e+01] [-1.34696811e-01 9.90886507e-01 -8.35843562e-04 -1.00501934e+00] [-1.10482659e-02 -6.58373911e-04 9.99938749e-01 -8.19830629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters 0.031493614807688676 Centerline is valid? [True, True] Translation: X:56.58, Y:-1.01, Z:-0.82 [[ 9.90946917e-01 1.33797863e-01 1.10607584e-02 5.65768215e+01] [-1.33796832e-01 9.91008430e-01 -8.36520301e-04 -1.01019565e+00] [-1.10732295e-02 -6.50947222e-04 9.99938478e-01 -8.17218359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters 0.032996729079243184 Centerline is valid? [True, True] Translation: X:56.64, Y:-1.02, Z:-0.82 [[ 9.91234699e-01 1.31684343e-01 1.06304081e-02 5.66377371e+01] [-1.31683232e-01 9.91291518e-01 -8.07502814e-04 -1.01542441e+00] [-1.06441688e-02 -5.99421683e-04 9.99943170e-01 -8.22620295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters 0.03315099107137015 Centerline is valid? [True, True] Translation: X:56.70, Y:-1.02, Z:-0.82 [[ 9.91580869e-01 1.29068751e-01 1.04229262e-02 5.66987565e+01] [-1.29067535e-01 9.91635489e-01 -7.92098689e-04 -1.02068730e+00] [-1.04379787e-02 -5.59831485e-04 9.99945366e-01 -8.23937947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters 0.030149549714309856 Centerline is valid? [True, True] Translation: X:56.76, Y:-1.03, Z:-0.82 [[ 9.91930048e-01 1.26358364e-01 1.04088324e-02 5.67593304e+01] [-1.26356998e-01 9.91984517e-01 -7.91377680e-04 -1.03129620e+00] [-1.04253977e-02 -5.30237508e-04 9.99945513e-01 -8.24196669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters 0.03324919031376335 Centerline is valid? [True, True] Translation: X:56.82, Y:-1.03, Z:-0.82 [[ 9.91986216e-01 1.25878316e-01 1.08625971e-02 5.68210598e+01] [-1.25876806e-01 9.92045538e-01 -8.25344957e-04 -1.02957719e+00] [-1.08800840e-02 -5.48618197e-04 9.99940660e-01 -8.23721712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters 0.029544541740884396 Centerline is valid? [True, True] Translation: X:56.88, Y:-1.04, Z:-0.82 [[ 9.91783470e-01 1.27461481e-01 1.09142310e-02 5.68829592e+01] [-1.27460025e-01 9.91843360e-01 -8.31676525e-04 -1.03862528e+00] [-1.09312143e-02 -5.66285128e-04 9.99940092e-01 -8.22888934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters 0.03076285565462407 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.04, Z:-0.82 [[ 9.91631661e-01 1.28637643e-01 1.09089868e-02 5.69443160e+01] [-1.28636230e-01 9.91691497e-01 -8.34027922e-04 -1.04046106e+00] [-1.09256368e-02 -5.76242441e-04 9.99940147e-01 -8.22852018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters 0.02640145909332631 Centerline is valid? [True, True] Translation: X:57.01, Y:-1.05, Z:-0.82 [[ 9.91535979e-01 1.29306298e-01 1.16740644e-02 5.70059544e+01] [-1.29304695e-01 9.91604505e-01 -8.95205502e-04 -1.05333593e+00] [-1.16918105e-02 -6.21882869e-04 9.99931455e-01 -8.24824954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters 0.030159972658873796 Centerline is valid? [True, True] Translation: X:57.07, Y:-1.05, Z:-0.83 [[ 9.91417304e-01 1.30257011e-01 1.11732129e-02 5.70670612e+01] [-1.30255571e-01 9.91480079e-01 -8.59630739e-04 -1.05491797e+00] [-1.11899909e-02 -6.03120431e-04 9.99937208e-01 -8.27448104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters 0.030142834401953797 Centerline is valid? [True, True] Translation: X:57.13, Y:-1.06, Z:-0.83 [[ 9.91091440e-01 1.32710370e-01 1.12122848e-02 5.71287899e+01] [-1.32709046e-01 9.91154660e-01 -8.65322984e-04 -1.05818092e+00] [-1.12279457e-02 -6.30357418e-04 9.99936766e-01 -8.27720099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters 0.031988394611467644 Centerline is valid? [True, True] Translation: X:57.19, Y:-1.06, Z:-0.83 [[ 9.90864487e-01 1.34417396e-01 1.09331110e-02 5.71908067e+01] [-1.34416205e-01 9.90924602e-01 -8.47030865e-04 -1.06206004e+00] [-1.09477443e-02 -6.30294483e-04 9.99939873e-01 -8.29500755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters 0.0305714042071474 Centerline is valid? [True, True] Translation: X:57.25, Y:-1.07, Z:-0.83 [[ 9.90568515e-01 1.36629043e-01 1.03209540e-02 5.72514456e+01] [-1.36628091e-01 9.90622089e-01 -8.00573944e-04 -1.06737309e+00] [-1.03335467e-02 -6.17108897e-04 9.99946417e-01 -8.26731873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters 0.03279938062151805 Centerline is valid? [True, True] Translation: X:57.31, Y:-1.07, Z:-0.83 [[ 9.90588714e-01 1.36488401e-01 1.02428775e-02 5.73131185e+01] [-1.36487468e-01 9.90641480e-01 -7.93414904e-04 -1.07251494e+00] [-1.02553113e-02 -6.12076564e-04 9.99947226e-01 -8.32097614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters 0.03165922162212195 Centerline is valid? [True, True] Translation: X:57.37, Y:-1.08, Z:-0.83 [[ 9.90854752e-01 1.34503411e-01 1.07560831e-02 5.73735813e+01] [-1.34502222e-01 9.90912938e-01 -8.37111587e-04 -1.08253065e+00] [-1.07709363e-02 -6.17261084e-04 9.99941801e-01 -8.33030296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters 0.02867588107271077 Centerline is valid? [True, True] Translation: X:57.43, Y:-1.10, Z:-0.83 [[ 9.91547505e-01 1.29284165e-01 1.09155878e-02 5.74332807e+01] [-1.29282619e-01 9.91607423e-01 -8.50077120e-04 -1.09579306e+00] [-1.09338794e-02 -5.68303932e-04 9.99940062e-01 -8.32939978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters 0.026676155549497742 Centerline is valid? [True, True] Translation: X:57.49, Y:-1.11, Z:-0.83 [[ 9.92337006e-01 1.23005166e-01 1.17045058e-02 5.74926824e+01] [-1.23002952e-01 9.92405886e-01 -9.11587358e-04 -1.11121867e+00] [-1.17277504e-02 -5.35086886e-04 9.99931084e-01 -8.34050951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters 0.02342484049583454 Centerline is valid? [True, True] Translation: X:57.55, Y:-1.13, Z:-0.83 [[ 9.92713932e-01 1.19699548e-01 1.38227026e-02 5.75528347e+01] [-1.19696141e-01 9.92809989e-01 -1.07654397e-03 -1.12785535e+00] [-1.38521791e-02 -5.85823969e-04 9.99903882e-01 -8.30952875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters 0.027336709848097766 Centerline is valid? [True, True] Translation: X:57.61, Y:-1.13, Z:-0.83 [[ 9.92358171e-01 1.22840853e-01 1.16355210e-02 5.76123235e+01] [-1.22838653e-01 9.92426241e-01 -9.06325869e-04 -1.13236622e+00] [-1.16587302e-02 -5.29891837e-04 9.99931894e-01 -8.34287345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters 0.03138038741068431 Centerline is valid? [True, True] Translation: X:57.67, Y:-1.13, Z:-0.84 [[ 9.91721927e-01 1.27981381e-01 1.04108094e-02 5.76725178e+01] [-1.27979889e-01 9.91776431e-01 -8.12117095e-04 -1.13431630e+00] [-1.04291312e-02 -5.26979898e-04 9.99945476e-01 -8.37622158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters 0.029704065078397488 Centerline is valid? [True, True] Translation: X:57.73, Y:-1.14, Z:-0.84 [[ 9.90559910e-01 1.36611672e-01 1.13276427e-02 5.77325211e+01] [-1.36610467e-01 9.90624449e-01 -8.83726028e-04 -1.14335026e+00] [-1.13421671e-02 -6.72090982e-04 9.99935450e-01 -8.36324021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters 0.03483325958764796 Centerline is valid? [True, True] Translation: X:57.79, Y:-1.14, Z:-0.84 [[ 9.89325127e-01 1.45359937e-01 1.03092554e-02 5.77926954e+01] [-1.45359412e-01 9.89378590e-01 -8.04268482e-04 -1.14174804e+00] [-1.03166650e-02 -7.02864286e-04 9.99946535e-01 -8.37667278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters 0.038828527642100055 Centerline is valid? [True, True] Translation: X:57.85, Y:-1.14, Z:-0.84 [[ 9.88557965e-01 1.50510095e-01 9.99308735e-03 5.78524605e+01] [-1.50509864e-01 9.88608200e-01 -7.79524137e-04 -1.14166435e+00] [-9.99657435e-03 -7.33453419e-04 9.99949764e-01 -8.39065499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters 0.04340006781621044 Centerline is valid? [True, True] Translation: X:57.91, Y:-1.14, Z:-0.84 [[ 9.87680854e-01 1.56188049e-01 9.58249884e-03 5.79124845e+01] [-1.56188094e-01 9.87727047e-01 -7.48364273e-04 -1.14249088e+00] [-9.58177883e-03 -7.57527161e-04 9.99953807e-01 -8.40458844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters 0.04492922988057077 Centerline is valid? [True, True] Translation: X:57.98, Y:-1.15, Z:-0.84 [[ 9.87627191e-01 1.56537540e-01 9.40903345e-03 5.79755676e+01] [-1.56537606e-01 9.87671726e-01 -7.33928889e-04 -1.14704823e+00] [-9.40792373e-03 -7.48019447e-04 9.99955465e-01 -8.42474887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters 0.042141215668966524 Centerline is valid? [True, True] Translation: X:58.04, Y:-1.16, Z:-0.84 [[ 9.87958846e-01 1.54426032e-01 9.48253509e-03 5.80355237e+01] [-1.54425961e-01 9.88004083e-01 -7.44102751e-04 -1.15720909e+00] [-9.48369223e-03 -7.29206699e-04 9.99954763e-01 -8.42964501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters 0.03491348770381933 Centerline is valid? [True, True] Translation: X:58.10, Y:-1.17, Z:-0.84 [[ 9.89214292e-01 1.45949423e-01 1.24036394e-02 5.80950521e+01] [-1.45948638e-01 9.89291690e-01 -9.73319995e-04 -1.17493630e+00] [-1.24128729e-02 -8.47472231e-04 9.99922598e-01 -8.40562550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters 0.031035698743606108 Centerline is valid? [True, True] Translation: X:58.15, Y:-1.19, Z:-0.84 [[ 9.90844295e-01 1.34498395e-01 1.17373358e-02 5.81546417e+01] [-1.34496891e-01 9.90913588e-01 -9.20990933e-04 -1.19398757e+00] [-1.17545574e-02 -6.66076564e-04 9.99930691e-01 -8.43637941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters 0.030721676809964252 Centerline is valid? [True, True] Translation: X:58.21, Y:-1.21, Z:-0.84 [[ 9.91742907e-01 1.27680559e-01 1.19867137e-02 5.82135360e+01] [-1.27678489e-01 9.91815163e-01 -9.40874804e-04 -1.20677470e+00] [-1.20087359e-02 -5.97339587e-04 9.99927714e-01 -8.42653309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters 0.026891273871346297 Centerline is valid? [True, True] Translation: X:58.27, Y:-1.22, Z:-0.84 [[ 9.91156834e-01 1.32319783e-01 9.98026988e-03 5.82737486e+01] [-1.32318585e-01 9.91206930e-01 -7.83086790e-04 -1.21932024e+00] [-9.99613054e-03 -5.44413368e-04 9.99949889e-01 -8.43654452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters 0.04376359471615773 Centerline is valid? [True, True] Translation: X:58.34, Y:-1.20, Z:-0.85 [[ 9.87377001e-01 1.58009193e-01 1.09431837e-02 5.83350697e+01] [-1.58009317e-01 9.87437248e-01 -8.58753165e-04 -1.20367549e+00] [-1.09413981e-02 -8.81211857e-04 9.99939753e-01 -8.46720802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters 0.044311238353455636 Centerline is valid? [True, True] Translation: X:58.40, Y:-1.21, Z:-0.85 [[ 9.87134952e-01 1.59460171e-01 1.17064050e-02 5.83971781e+01] [-1.59460414e-01 9.87203896e-01 -9.18667677e-04 -1.20740877e+00] [-1.17030995e-02 -9.59859208e-04 9.99931056e-01 -8.47344800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters 0.046589383100452415 Centerline is valid? [True, True] Translation: X:58.46, Y:-1.21, Z:-0.85 [[ 9.86985694e-01 1.60403222e-01 1.14037854e-02 5.84594428e+01] [-1.60403515e-01 9.87051119e-01 -8.94935061e-04 -1.20962036e+00] [-1.13996697e-02 -9.45919162e-04 9.99934574e-01 -8.49542048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters 0.04055803100433907 Centerline is valid? [True, True] Translation: X:58.52, Y:-1.22, Z:-0.85 [[ 9.86898489e-01 1.60903150e-01 1.18974535e-02 5.85213155e+01] [-1.60903468e-01 9.86969704e-01 -9.36700322e-04 -1.22116091e+00] [-1.18931442e-02 -9.89913404e-04 9.99928784e-01 -8.49656308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters 0.04055803100433907 Centerline is valid? [True, True] Translation: X:58.58, Y:-1.23, Z:-0.85 [[ 9.86851682e-01 1.61189995e-01 1.18972263e-02 5.85837591e+01] [-1.61190300e-01 9.86922897e-01 -9.39575787e-04 -1.22617994e+00] [-1.18930953e-02 -9.90495536e-04 9.99928784e-01 -8.50650795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters 0.039958446811531774 Centerline is valid? [True, True] Translation: X:58.65, Y:-1.23, Z:-0.85 [[ 9.87113294e-01 1.59578864e-01 1.19134646e-02 5.86454824e+01] [-1.59579001e-01 9.87184709e-01 -9.45272966e-04 -1.23228754e+00] [-1.19116356e-02 -9.68047264e-04 9.99928585e-01 -8.52581118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters 0.03982423286543764 Centerline is valid? [True, True] Translation: X:58.71, Y:-1.24, Z:-0.85 [[ 9.87591603e-01 1.56638332e-01 1.12808602e-02 5.87060283e+01] [-1.56638256e-01 9.87655636e-01 -8.95787014e-04 -1.23979116e+00] [-1.12819197e-02 -8.82342525e-04 9.99935968e-01 -8.54915144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters 0.038042649092388504 Centerline is valid? [True, True] Translation: X:58.77, Y:-1.25, Z:-0.86 [[ 9.88400037e-01 1.51418840e-01 1.17346468e-02 5.87656034e+01] [-1.51418387e-01 9.88469323e-01 -9.32193541e-04 -1.24578226e+00] [-1.17404900e-02 -8.55461157e-04 9.99930712e-01 -8.55629283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters 0.03411270105234437 Centerline is valid? [True, True] Translation: X:58.83, Y:-1.26, Z:-0.86 [[ 9.89538570e-01 1.43634959e-01 1.35061714e-02 5.88254862e+01] [-1.43633634e-01 9.89630349e-01 -1.07312120e-03 -1.25572314e+00] [-1.35202548e-02 -8.78045666e-04 9.99908212e-01 -8.55449919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters 0.0329584578874367 Centerline is valid? [True, True] Translation: X:58.89, Y:-1.27, Z:-0.86 [[ 9.90735074e-01 1.35308279e-01 1.16482792e-02 5.88850455e+01] [-1.35306718e-01 9.90803328e-01 -9.25644563e-04 -1.26632047e+00] [-1.16664012e-02 -6.59021892e-04 9.99931728e-01 -8.60122505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters 0.03482530568240487 Centerline is valid? [True, True] Translation: X:58.95, Y:-1.26, Z:-0.86 [[ 9.91041062e-01 1.33084703e-01 1.12283529e-02 5.89463562e+01] [-1.33083113e-01 9.91104480e-01 -8.92052375e-04 -1.26440892e+00] [-1.12471894e-02 -6.10243625e-04 9.99936562e-01 -8.62948936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters 0.030525739371149857 Centerline is valid? [True, True] Translation: X:59.01, Y:-1.27, Z:-0.86 [[ 9.91030448e-01 1.32868240e-01 1.43067298e-02 5.90080867e+01] [-1.32865630e-01 9.91133408e-01 -1.13695142e-03 -1.26867839e+00] [-1.43309426e-02 -7.74119202e-04 9.99897007e-01 -8.61283126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters 0.031046191768997356 Centerline is valid? [True, True] Translation: X:59.07, Y:-1.27, Z:-0.86 [[ 9.91028834e-01 1.32842700e-01 1.46515037e-02 5.90703568e+01] [-1.32839906e-01 9.91136820e-01 -1.16804470e-03 -1.27218492e+00] [-1.46768110e-02 -7.88738400e-04 9.99891979e-01 -8.62419983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters 0.03142702514248703 Centerline is valid? [True, True] Translation: X:59.13, Y:-1.28, Z:-0.86 [[ 9.91050754e-01 1.32719501e-01 1.42806671e-02 5.91319697e+01] [-1.32716786e-01 9.91153344e-01 -1.14185467e-03 -1.27637497e+00] [-1.43058773e-02 -7.63648306e-04 9.99897374e-01 -8.64017284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters 0.03142702514248703 Centerline is valid? [True, True] Translation: X:59.19, Y:-1.28, Z:-0.87 [[ 9.91014132e-01 1.32992709e-01 1.42803956e-02 5.91942827e+01] [-1.32989974e-01 9.91116721e-01 -1.14523848e-03 -1.28146746e+00] [-1.43058473e-02 -7.64201922e-04 9.99897374e-01 -8.65009767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters 0.031274399060129306 Centerline is valid? [True, True] Translation: X:59.26, Y:-1.29, Z:-0.87 [[ 9.91039501e-01 1.32839190e-01 1.39447614e-02 5.92561079e+01] [-1.32836513e-01 9.91137327e-01 -1.12214739e-03 -1.28700458e+00] [-1.39702387e-02 -7.40281090e-04 9.99902137e-01 -8.67196453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters 0.03013374604795189 Centerline is valid? [True, True] Translation: X:59.32, Y:-1.29, Z:-0.87 [[ 9.91113208e-01 1.32303641e-01 1.37969559e-02 5.93183626e+01] [-1.32300923e-01 9.91208972e-01 -1.11359679e-03 -1.29126956e+00] [-1.38229994e-02 -7.21649508e-04 9.99904197e-01 -8.68632451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters 0.026779430643730947 Centerline is valid? [True, True] Translation: X:59.38, Y:-1.30, Z:-0.87 [[ 9.92088987e-01 1.24825753e-01 1.33406288e-02 5.93784878e+01] [-1.24822487e-01 9.92178502e-01 -1.08046824e-03 -1.30228241e+00] [-1.33711554e-02 -5.93289818e-04 9.99910426e-01 -8.71285059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters 0.021681671647875538 Centerline is valid? [True, True] Translation: X:59.44, Y:-1.31, Z:-0.87 [[ 9.92648158e-01 1.19884302e-01 1.66549892e-02 5.94383651e+01] [-1.19878510e-01 9.92787652e-01 -1.34927374e-03 -1.31089994e+00] [-1.66966244e-02 -6.57221198e-04 9.99860386e-01 -8.69662031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters 0.021103367267373205 Centerline is valid? [True, True] Translation: X:59.50, Y:-1.32, Z:-0.87 [[ 9.93642319e-01 1.11588109e-01 1.49344072e-02 5.94984363e+01] [-1.11582516e-01 9.93754436e-01 -1.20987784e-03 -1.32206296e+00] [-1.49761414e-02 -4.64232906e-04 9.99887744e-01 -8.73408064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters 0.02094322661441471 Centerline is valid? [True, True] Translation: X:59.56, Y:-1.33, Z:-0.87 [[ 9.94193175e-01 1.06675012e-01 1.41553017e-02 5.95595621e+01] [-1.06669489e-01 9.94293873e-01 -1.14677664e-03 -1.33277457e+00] [-1.41968622e-02 -3.69821294e-04 9.99899151e-01 -8.74916224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters 0.020386320370856584 Centerline is valid? [True, True] Translation: X:59.62, Y:-1.34, Z:-0.88 [[ 9.93894033e-01 1.09460860e-01 1.38914280e-02 5.96217759e+01] [-1.09455808e-01 9.93991026e-01 -1.12574960e-03 -1.33610755e+00] [-1.39311803e-02 -4.01621665e-04 9.99902876e-01 -8.76266179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters 0.022533471077157124 Centerline is valid? [True, True] Translation: X:59.68, Y:-1.34, Z:-0.88 [[ 9.93533293e-01 1.12723423e-01 1.36024177e-02 5.96833261e+01] [-1.12718838e-01 9.93626308e-01 -1.10571664e-03 -1.33745243e+00] [-1.36403603e-02 -4.34682430e-04 9.99906871e-01 -8.78067765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters 0.024399054185338727 Centerline is valid? [True, True] Translation: X:59.74, Y:-1.34, Z:-0.88 [[ 9.93013623e-01 1.17268768e-01 1.31141387e-02 5.97446079e+01] [-1.17264856e-01 9.93100101e-01 -1.06949207e-03 -1.33774342e+00] [-1.31490705e-02 -4.75807389e-04 9.99913434e-01 -8.79385605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters 0.02708473908982208 Centerline is valid? [True, True] Translation: X:59.80, Y:-1.33, Z:-0.88 [[ 9.92130159e-01 1.24274925e-01 1.52803849e-02 5.98047353e+01] [-1.24270439e-01 9.92247602e-01 -1.24646688e-03 -1.33238013e+00] [-1.53168298e-02 -6.62242746e-04 9.99882471e-01 -8.78585319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters 0.02595349306993033 Centerline is valid? [True, True] Translation: X:59.87, Y:-1.34, Z:-0.88 [[ 9.91898034e-01 1.26176168e-01 1.47602380e-02 5.98662430e+01] [-1.26172187e-01 9.92007625e-01 -1.20433583e-03 -1.33980469e+00] [-1.47942271e-02 -6.67753162e-04 9.99890336e-01 -8.80202305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters 0.029100329611472308 Centerline is valid? [True, True] Translation: X:59.93, Y:-1.34, Z:-0.88 [[ 9.91160087e-01 1.31764833e-01 1.54826176e-02 5.99268886e+01] [-1.31761115e-01 9.91280692e-01 -1.26446372e-03 -1.33884609e+00] [-1.55142317e-02 -7.86720979e-04 9.99879338e-01 -8.81185408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters 0.029167851350773318 Centerline is valid? [True, True] Translation: X:59.99, Y:-1.34, Z:-0.88 [[ 9.90764922e-01 1.34652670e-01 1.59225544e-02 5.99883640e+01] [-1.34649107e-01 9.90892490e-01 -1.30054325e-03 -1.33951401e+00] [-1.59526612e-02 -8.55425098e-04 9.99872382e-01 -8.82138507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters 0.030668650290935264 Centerline is valid? [True, True] Translation: X:60.05, Y:-1.34, Z:-0.89 [[ 9.90565238e-01 1.36231063e-01 1.48864575e-02 6.00507770e+01] [-1.36228118e-01 9.90676749e-01 -1.21638046e-03 -1.33971850e+00] [-1.49133761e-02 -8.23049890e-04 9.99888451e-01 -8.85822280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters 0.030563143089948057 Centerline is valid? [True, True] Translation: X:60.11, Y:-1.34, Z:-0.89 [[ 9.90955397e-01 1.33361027e-01 1.49076629e-02 6.01126683e+01] [-1.33357734e-01 9.91067217e-01 -1.21918090e-03 -1.34388895e+00] [-1.49370872e-02 -7.79898255e-04 9.99888131e-01 -8.87165193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters 0.028889698860298515 Centerline is valid? [True, True] Translation: X:60.17, Y:-1.35, Z:-0.89 [[ 9.91416447e-01 1.29859026e-01 1.51677723e-02 6.01735158e+01] [-1.29855189e-01 9.91532192e-01 -1.24169964e-03 -1.35111125e+00] [-1.52005805e-02 -7.38572505e-04 9.99884192e-01 -8.88232625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters 0.027039175295218595 Centerline is valid? [True, True] Translation: X:60.23, Y:-1.36, Z:-0.89 [[ 9.92166087e-01 1.23862466e-01 1.62648203e-02 6.02338238e+01] [-1.23857246e-01 9.92299153e-01 -1.33181656e-03 -1.35800094e+00] [-1.63045295e-02 -6.93132610e-04 9.99866832e-01 -8.88585901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters 0.024730031975916875 Centerline is valid? [True, True] Translation: X:60.29, Y:-1.36, Z:-0.89 [[ 9.92666769e-01 1.20022387e-01 1.43983081e-02 6.02947454e+01] [-1.20017892e-01 9.92771029e-01 -1.17904185e-03 -1.36458679e+00] [-1.44357346e-02 -5.57658926e-04 9.99895644e-01 -8.92456210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters 0.022541814703819774 Centerline is valid? [True, True] Translation: X:60.35, Y:-1.37, Z:-0.89 [[ 9.93217636e-01 1.15381865e-01 1.43440866e-02 6.03541125e+01] [-1.15376911e-01 9.93321090e-01 -1.17521236e-03 -1.36682043e+00] [-1.43838819e-02 -4.87734767e-04 9.99896428e-01 -8.94782196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters 0.02176784401974035 Centerline is valid? [True, True] Translation: X:60.41, Y:-1.38, Z:-0.90 [[ 9.93960284e-01 1.08809877e-01 1.42605576e-02 6.04147308e+01] [-1.08804309e-01 9.94062502e-01 -1.16805670e-03 -1.37631803e+00] [-1.43029817e-02 -3.90608147e-04 9.99897631e-01 -8.96683448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters 0.023148748492809942 Centerline is valid? [True, True] Translation: X:60.48, Y:-1.38, Z:-0.90 [[ 9.94017268e-01 1.08307002e-01 1.41160670e-02 6.04756367e+01] [-1.08301497e-01 9.94117422e-01 -1.15611502e-03 -1.38088986e+00] [-1.41582435e-02 -3.79592892e-04 9.99899695e-01 -8.97875307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters 0.023382377340631685 Centerline is valid? [True, True] Translation: X:60.54, Y:-1.39, Z:-0.90 [[ 9.94019075e-01 1.08279106e-01 1.42025948e-02 6.05375586e+01] [-1.08273484e-01 9.94120462e-01 -1.16644738e-03 -1.38510918e+00] [-1.42453920e-02 -3.78293474e-04 9.99898458e-01 -8.98745212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters 0.022538807307173968 Centerline is valid? [True, True] Translation: X:60.60, Y:-1.39, Z:-0.90 [[ 9.94035353e-01 1.08087329e-01 1.45205649e-02 6.05997557e+01] [-1.08081375e-01 9.94141330e-01 -1.19646255e-03 -1.39049720e+00] [-1.45648162e-02 -3.80076542e-04 9.99893855e-01 -9.00149261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters 0.02224373692031712 Centerline is valid? [True, True] Translation: X:60.66, Y:-1.40, Z:-0.90 [[ 9.94037008e-01 1.08049595e-01 1.46871020e-02 6.06624403e+01] [-1.08043447e-01 9.94145432e-01 -1.21374571e-03 -1.39692871e+00] [-1.47322601e-02 -3.80336975e-04 9.99891402e-01 -9.02079001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters 0.023878511953119328 Centerline is valid? [True, True] Translation: X:60.72, Y:-1.40, Z:-0.90 [[ 9.93874481e-01 1.09624413e-01 1.40001748e-02 6.07231494e+01] [-1.09618925e-01 9.93973009e-01 -1.16109016e-03 -1.39907680e+00] [-1.40430797e-02 -3.80706228e-04 9.99901319e-01 -9.04493735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters 0.022682239680360605 Centerline is valid? [True, True] Translation: X:60.79, Y:-1.41, Z:-0.91 [[ 9.93597028e-01 1.12158456e-01 1.36171424e-02 6.07850875e+01] [-1.12153483e-01 9.93690252e-01 -1.13067911e-03 -1.40538297e+00] [-1.36580369e-02 -4.03770550e-04 9.99906643e-01 -9.06151798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters 0.022540576728977232 Centerline is valid? [True, True] Translation: X:60.85, Y:-1.41, Z:-0.91 [[ 9.93122961e-01 1.16288524e-01 1.35559261e-02 6.08458756e+01] [-1.16283926e-01 9.93215371e-01 -1.12952407e-03 -1.40826639e+00] [-1.35953049e-02 -4.54580030e-04 9.99907476e-01 -9.08577888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters 0.022284845439652225 Centerline is valid? [True, True] Translation: X:60.91, Y:-1.41, Z:-0.91 [[ 9.92762061e-01 1.19104803e-01 1.54121996e-02 6.09077872e+01] [-1.19099195e-01 9.92881530e-01 -1.28449141e-03 -1.41316162e+00] [-1.54554774e-02 -5.60386222e-04 9.99880400e-01 -9.08605623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters 0.025026977050268132 Centerline is valid? [True, True] Translation: X:60.97, Y:-1.42, Z:-0.91 [[ 9.92617633e-01 1.20361705e-01 1.49430596e-02 6.09691485e+01] [-1.20356562e-01 9.92729946e-01 -1.24627695e-03 -1.41994069e+00] [-1.49844267e-02 -5.61418795e-04 9.99887570e-01 -9.10605163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters 0.024983615194419218 Centerline is valid? [True, True] Translation: X:61.03, Y:-1.42, Z:-0.91 [[ 9.92493450e-01 1.21226641e-01 1.61509778e-02 6.10295989e+01] [-1.21220676e-01 9.92624663e-01 -1.35137525e-03 -1.42420472e+00] [-1.61956816e-02 -6.16601369e-04 9.99868651e-01 -9.11050644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters 0.02488813363577666 Centerline is valid? [True, True] Translation: X:61.09, Y:-1.44, Z:-0.91 [[ 9.92288762e-01 1.22952310e-01 1.56761925e-02 6.10906512e+01] [-1.22946860e-01 9.92412385e-01 -1.31461150e-03 -1.43501856e+00] [-1.57188821e-02 -6.22864414e-04 9.99876257e-01 -9.13198087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters 0.027183088398424607 Centerline is valid? [True, True] Translation: X:61.15, Y:-1.44, Z:-0.91 [[ 9.91805911e-01 1.26838988e-01 1.52612640e-02 6.11516932e+01] [-1.26834223e-01 9.91923098e-01 -1.28368095e-03 -1.44026596e+00] [-1.53008210e-02 -6.62488194e-04 9.99882716e-01 -9.14854560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters 0.026667328990406365 Centerline is valid? [True, True] Translation: X:61.21, Y:-1.45, Z:-0.92 [[ 9.91648026e-01 1.28038116e-01 1.55058982e-02 6.12131708e+01] [-1.28033335e-01 9.91769007e-01 -1.30476310e-03 -1.44501459e+00] [-1.55453286e-02 -6.91406100e-04 9.99878925e-01 -9.15997807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters 0.025497589418278652 Centerline is valid? [True, True] Translation: X:61.28, Y:-1.45, Z:-0.92 [[ 9.91369471e-01 1.30141506e-01 1.58037871e-02 6.12752257e+01] [-1.30136747e-01 9.91495158e-01 -1.33355796e-03 -1.45115036e+00] [-1.58429296e-02 -7.34604782e-04 9.99874223e-01 -9.17222984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters 0.029050859774016738 Centerline is valid? [True, True] Translation: X:61.34, Y:-1.46, Z:-0.92 [[ 9.91120703e-01 1.32238346e-01 1.38842338e-02 6.13359781e+01] [-1.32234870e-01 9.91217718e-01 -1.17214303e-03 -1.45609696e+00] [-1.39173008e-02 -6.74244633e-04 9.99902922e-01 -9.20105694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters 0.027485493295043493 Centerline is valid? [True, True] Translation: X:61.40, Y:-1.47, Z:-0.92 [[ 9.91002392e-01 1.33100083e-01 1.40934773e-02 6.13978317e+01] [-1.33096542e-01 9.91102360e-01 -1.19306894e-03 -1.46576782e+00] [-1.41268762e-02 -6.93458920e-04 9.99899970e-01 -9.20900826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters 0.029607262466936395 Centerline is valid? [True, True] Translation: X:61.46, Y:-1.47, Z:-0.92 [[ 9.90655222e-01 1.35718968e-01 1.35127099e-02 6.14581528e+01] [-1.35715905e-01 9.90747130e-01 -1.14768971e-03 -1.47225819e+00] [-1.35434418e-02 -6.96924848e-04 9.99908041e-01 -9.22283588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters 0.029689957215924344 Centerline is valid? [True, True] Translation: X:61.52, Y:-1.48, Z:-0.92 [[ 9.89868234e-01 1.41340792e-01 1.35520987e-02 6.15183914e+01] [-1.41338233e-01 9.89960695e-01 -1.15128371e-03 -1.47794180e+00] [-1.35787684e-02 -7.75810503e-04 9.99907503e-01 -9.23518810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters 0.03248639551564333 Centerline is valid? [True, True] Translation: X:61.58, Y:-1.48, Z:-0.93 [[ 9.89353083e-01 1.44861295e-01 1.39886502e-02 6.15783734e+01] [-1.44858916e-01 9.89451607e-01 -1.18851058e-03 -1.47948791e+00] [-1.40132616e-02 -8.50524103e-04 9.99901448e-01 -9.25055778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters 0.033911966813909566 Centerline is valid? [True, True] Translation: X:61.64, Y:-1.48, Z:-0.92 [[ 9.88737324e-01 1.48737633e-01 1.66018259e-02 6.16392005e+01] [-1.48734805e-01 9.88876112e-01 -1.41183050e-03 -1.48032214e+00] [-1.66271413e-02 -1.07333983e-03 9.99861183e-01 -9.24718978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters 0.03748732374038523 Centerline is valid? [True, True] Translation: X:61.70, Y:-1.48, Z:-0.93 [[ 9.88149850e-01 1.52709832e-01 1.54784280e-02 6.16996457e+01] [-1.52707856e-01 9.88270498e-01 -1.31646876e-03 -1.48319017e+00] [-1.54979115e-02 -1.06280914e-03 9.99879335e-01 -9.26420984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters 0.03918808912344647 Centerline is valid? [True, True] Translation: X:61.76, Y:-1.49, Z:-0.93 [[ 9.87475110e-01 1.57031080e-01 1.53018856e-02 6.17604756e+01] [-1.57029662e-01 9.87593029e-01 -1.30160383e-03 -1.48671076e+00] [-1.53164278e-02 -1.11754855e-03 9.99882072e-01 -9.28236465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters 0.03731329095717385 Centerline is valid? [True, True] Translation: X:61.82, Y:-1.49, Z:-0.93 [[ 9.86980061e-01 1.59984270e-01 1.65949337e-02 6.18207890e+01] [-1.59983014e-01 9.87118758e-01 -1.41185432e-03 -1.49158571e+00] [-1.66070448e-02 -1.26143544e-03 9.99861298e-01 -9.28608780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters 0.036915078537082424 Centerline is valid? [True, True] Translation: X:61.88, Y:-1.50, Z:-0.93 [[ 9.86724682e-01 1.61688744e-01 1.52036542e-02 6.18821941e+01] [-1.61687883e-01 9.86841099e-01 -1.29394060e-03 -1.49797204e+00] [-1.52128064e-02 -1.18148354e-03 9.99883581e-01 -9.32577696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters 0.038267848425125144 Centerline is valid? [True, True] Translation: X:61.94, Y:-1.50, Z:-0.93 [[ 9.86734975e-01 1.61610362e-01 1.53681622e-02 6.19428674e+01] [-1.61609445e-01 9.86853926e-01 -1.30974998e-03 -1.50114410e+00] [-1.53778004e-02 -1.19126406e-03 9.99881045e-01 -9.33583758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters 0.04010163549069705 Centerline is valid? [True, True] Translation: X:62.00, Y:-1.51, Z:-0.94 [[ 9.86831531e-01 1.61120890e-01 1.42684556e-02 6.20048540e+01] [-1.61120005e-01 9.86934070e-01 -1.21912708e-03 -1.50629156e+00] [-1.42784518e-02 -1.09586059e-03 9.99897457e-01 -9.35831244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters 0.03837477098908249 Centerline is valid? [True, True] Translation: X:62.07, Y:-1.51, Z:-0.94 [[ 9.87151051e-01 1.58982067e-01 1.60469390e-02 6.20654092e+01] [-1.58980594e-01 9.87280750e-01 -1.37556299e-03 -1.51284740e+00] [-1.60615239e-02 -1.19326344e-03 9.99870293e-01 -9.36005771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters 0.04031727578822616 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.52, Z:-0.94 [[ 9.87363719e-01 1.57544279e-01 1.71080645e-02 6.21255564e+01] [-1.57542383e-01 9.87511137e-01 -1.46696512e-03 -1.51685998e+00] [-1.71255162e-02 -1.24681711e-03 9.99852570e-01 -9.37020719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters 0.03907867327672847 Centerline is valid? [True, True] Translation: X:62.19, Y:-1.53, Z:-0.94 [[ 9.87818015e-01 1.54587293e-01 1.78420480e-02 6.21854055e+01] [-1.54584720e-01 9.87978349e-01 -1.53164965e-03 -1.52506987e+00] [-1.78643307e-02 -1.24511688e-03 9.99839645e-01 -9.39251740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters 0.035453910961579876 Centerline is valid? [True, True] Translation: X:62.25, Y:-1.53, Z:-0.94 [[ 9.88025181e-01 1.53242523e-01 1.79714022e-02 6.22468242e+01] [-1.53239689e-01 9.88187845e-01 -1.54287140e-03 -1.53372938e+00] [-1.79955548e-02 -1.22953629e-03 9.99837311e-01 -9.40121683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters 0.036889600631252156 Centerline is valid? [True, True] Translation: X:62.31, Y:-1.54, Z:-0.94 [[ 9.88007499e-01 1.53536233e-01 1.63647886e-02 6.23098966e+01] [-1.53533907e-01 9.88142380e-01 -1.40587943e-03 -1.53845009e+00] [-1.63865946e-02 -1.12353052e-03 9.99865099e-01 -9.43728130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters 0.036685792200900395 Centerline is valid? [True, True] Translation: X:62.37, Y:-1.54, Z:-0.95 [[ 9.87996127e-01 1.53629021e-01 1.61795435e-02 6.23716881e+01] [-1.53626686e-01 9.88127976e-01 -1.39451406e-03 -1.54374773e+00] [-1.62016974e-02 -1.10783516e-03 9.99868130e-01 -9.46592260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters 0.0368111276589749 Centerline is valid? [True, True] Translation: X:62.43, Y:-1.55, Z:-0.95 [[ 9.87770157e-01 1.55081803e-01 1.61167712e-02 6.24337846e+01] [-1.55079615e-01 9.87900993e-01 -1.39305019e-03 -1.54776516e+00] [-1.61378110e-02 -1.12336927e-03 9.99869146e-01 -9.47784262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters 0.03683225585762177 Centerline is valid? [True, True] Translation: X:62.50, Y:-1.55, Z:-0.95 [[ 9.87586642e-01 1.56190525e-01 1.66476536e-02 6.24960113e+01] [-1.56188325e-01 9.87726244e-01 -1.44030745e-03 -1.55349720e+00] [-1.66682868e-02 -1.17774073e-03 9.99860381e-01 -9.49841221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters 0.035741822030439296 Centerline is valid? [True, True] Translation: X:62.56, Y:-1.56, Z:-0.95 [[ 9.87503904e-01 1.56642658e-01 1.72950172e-02 6.25578342e+01] [-1.56640274e-01 9.87654581e-01 -1.50079036e-03 -1.56142109e+00] [-1.73165908e-02 -1.22705991e-03 9.99849304e-01 -9.50726496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters 0.03771675265671314 Centerline is valid? [True, True] Translation: X:62.62, Y:-1.56, Z:-0.95 [[ 9.87064673e-01 1.59199388e-01 1.89442739e-02 6.26180115e+01] [-1.59196913e-01 9.87245474e-01 -1.64832128e-03 -1.56179314e+00] [-1.89650604e-02 -1.38887022e-03 9.99819182e-01 -9.50012633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters 0.038020018498978694 Centerline is valid? [True, True] Translation: X:62.68, Y:-1.57, Z:-0.95 [[ 9.86992653e-01 1.59627249e-01 1.90956673e-02 6.26798507e+01] [-1.59624798e-01 9.87176357e-01 -1.66231859e-03 -1.56586278e+00] [-1.91161426e-02 -1.40744580e-03 9.99816279e-01 -9.51345261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters 0.037899929878877185 Centerline is valid? [True, True] Translation: X:62.74, Y:-1.57, Z:-0.95 [[ 9.87226107e-01 1.58262007e-01 1.83780074e-02 6.27411113e+01] [-1.58259430e-01 9.87396263e-01 -1.60373571e-03 -1.57102951e+00] [-1.84001862e-02 -1.32524321e-03 9.99829824e-01 -9.53502545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters 0.03401232349165121 Centerline is valid? [True, True] Translation: X:62.80, Y:-1.58, Z:-0.96 [[ 9.88205440e-01 1.52255577e-01 1.63782617e-02 6.28007672e+01] [-1.52252700e-01 9.88340564e-01 -1.42973145e-03 -1.58394722e+00] [-1.64049850e-02 -1.08076617e-03 9.99864845e-01 -9.56438066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters 0.029349609529524173 Centerline is valid? [True, True] Translation: X:62.86, Y:-1.60, Z:-0.96 [[ 9.89634960e-01 1.42670628e-01 1.63627131e-02 6.28600187e+01] [-1.42666449e-01 9.89769793e-01 -1.42837718e-03 -1.59965289e+00] [-1.63991067e-02 -9.20838186e-04 9.99865102e-01 -9.58120270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters 0.024347249373251525 Centerline is valid? [True, True] Translation: X:62.92, Y:-1.61, Z:-0.96 [[ 9.91100353e-01 1.32113644e-01 1.63118003e-02 6.29198712e+01] [-1.32108059e-01 9.91234297e-01 -1.42420640e-03 -1.61344076e+00] [-1.63569730e-02 -7.43388816e-04 9.99865939e-01 -9.58555028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters 0.022868547755357165 Centerline is valid? [True, True] Translation: X:62.98, Y:-1.62, Z:-0.96 [[ 9.92053533e-01 1.24864865e-01 1.54451440e-02 6.29788489e+01] [-1.24858977e-01 9.92173582e-01 -1.34871125e-03 -1.62328191e+00] [-1.54926705e-02 -5.90471120e-04 9.99879807e-01 -9.60249997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters 0.017520970165556853 Centerline is valid? [True, True] Translation: X:63.04, Y:-1.64, Z:-0.96 [[ 9.93318665e-01 1.14492853e-01 1.44712500e-02 6.30382381e+01] [-1.14486586e-01 9.93423991e-01 -1.26349202e-03 -1.64120292e+00] [-1.45207477e-02 -4.01713796e-04 9.99894488e-01 -9.62325298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters 0.015370373333105822 Centerline is valid? [True, True] Translation: X:63.10, Y:-1.65, Z:-0.96 [[ 9.94262062e-01 1.05966712e-01 1.46290241e-02 6.30983923e+01] [-1.05959384e-01 9.94369638e-01 -1.27731016e-03 -1.65474820e+00] [-1.46820097e-02 -2.80101352e-04 9.99892174e-01 -9.63674161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters 0.015457288193084078 Centerline is valid? [True, True] Translation: X:63.16, Y:-1.66, Z:-0.96 [[ 9.94751459e-01 1.01280964e-01 1.45499780e-02 6.31592132e+01] [-1.01273212e-01 9.94857840e-01 -1.27045988e-03 -1.66475087e+00] [-1.46038331e-02 -2.09731194e-04 9.99893336e-01 -9.64884321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters 0.01412888888435833 Centerline is valid? [True, True] Translation: X:63.22, Y:-1.68, Z:-0.97 [[ 9.95120532e-01 9.76004251e-02 1.44666695e-02 6.32199625e+01] [-9.75923205e-02 9.95225670e-01 -1.26681409e-03 -1.67771469e+00] [-1.45212425e-02 -1.51203135e-04 9.99894550e-01 -9.65259269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters 0.015085715364628096 Centerline is valid? [True, True] Translation: X:63.28, Y:-1.69, Z:-0.97 [[ 9.94452240e-01 1.04496659e-01 1.20494823e-02 6.32815410e+01] [-1.04491507e-01 9.94525216e-01 -1.05807869e-03 -1.68567239e+00] [-1.20940797e-02 -2.06859845e-04 9.99926843e-01 -9.67910264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters 0.015759577375116594 Centerline is valid? [True, True] Translation: X:63.34, Y:-1.69, Z:-0.97 [[ 9.94075814e-01 1.08146746e-01 1.08423803e-02 6.33438051e+01] [-1.08142794e-01 9.94134915e-01 -9.51850349e-04 -1.69020025e+00] [-1.08817283e-02 -2.26313887e-04 9.99940767e-01 -9.69792144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters 0.01643126220193758 Centerline is valid? [True, True] Translation: X:63.41, Y:-1.69, Z:-0.97 [[ 9.93722635e-01 1.11422703e-01 1.00152620e-02 6.34053322e+01] [-1.11419468e-01 9.93773075e-01 -8.82173606e-04 -1.69475976e+00] [-1.00511919e-02 -2.39259282e-04 9.99949457e-01 -9.71367821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters 0.018639709473870166 Centerline is valid? [True, True] Translation: X:63.47, Y:-1.70, Z:-0.97 [[ 9.92884842e-01 1.18654086e-01 1.00448130e-02 6.34665737e+01] [-1.18651182e-01 9.92935603e-01 -8.86613862e-04 -1.69798453e+00] [-1.00790528e-02 -3.11523474e-04 9.99949157e-01 -9.72554699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters 0.020953453664186866 Centerline is valid? [True, True] Translation: X:63.53, Y:-1.70, Z:-0.97 [[ 9.91983966e-01 1.25896860e-01 1.08532453e-02 6.35276944e+01] [-1.25893896e-01 9.92043249e-01 -9.58524284e-04 -1.70209074e+00] [-1.08875639e-02 -4.15516615e-04 9.99940642e-01 -9.71219248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters 0.022628842755433743 Centerline is valid? [True, True] Translation: X:63.59, Y:-1.71, Z:-0.97 [[ 9.91469740e-01 1.29789075e-01 1.19394719e-02 6.35882107e+01] [-1.29785769e-01 9.91541498e-01 -1.05459424e-03 -1.70673970e+00] [-1.19753567e-02 -5.03975266e-04 9.99928166e-01 -9.71319487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters 0.023759619056563878 Centerline is valid? [True, True] Translation: X:63.65, Y:-1.71, Z:-0.97 [[ 9.91133373e-01 1.32243642e-01 1.28940511e-02 6.36504513e+01] [-1.32239992e-01 9.91217074e-01 -1.13900851e-03 -1.71218380e+00] [-1.29314303e-02 -5.76199874e-04 9.99916220e-01 -9.70987262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters 0.02378901852082734 Centerline is valid? [True, True] Translation: X:63.71, Y:-1.72, Z:-0.97 [[ 9.90745655e-01 1.35095768e-01 1.31217263e-02 6.37112703e+01] [-1.35092224e-01 9.90832350e-01 -1.16017528e-03 -1.71898402e+00] [-1.31581656e-02 -6.23204569e-04 9.99913233e-01 -9.71058176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters 0.024913395627293746 Centerline is valid? [True, True] Translation: X:63.77, Y:-1.72, Z:-0.97 [[ 9.90491097e-01 1.37049030e-01 1.20395623e-02 6.37730244e+01] [-1.37046187e-01 9.90564086e-01 -1.06474725e-03 -1.72475740e+00] [-1.20718806e-02 -5.95353426e-04 9.99926955e-01 -9.73008698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters 0.02489131938615074 Centerline is valid? [True, True] Translation: X:63.83, Y:-1.73, Z:-0.97 [[ 9.90390188e-01 1.37820281e-01 1.15258823e-02 6.38344765e+01] [-1.37817727e-01 9.90457084e-01 -1.01934259e-03 -1.73093000e+00] [-1.15563778e-02 -5.78923999e-04 9.99933055e-01 -9.73607147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters 0.026529929700884542 Centerline is valid? [True, True] Translation: X:63.90, Y:-1.74, Z:-0.97 [[ 9.90294400e-01 1.38634585e-01 9.87183508e-03 6.38951751e+01] [-1.38632732e-01 9.90343476e-01 -8.75115825e-04 -1.73770790e+00] [-9.89782878e-03 -5.01937163e-04 9.99950889e-01 -9.74761110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters 0.025056801961596546 Centerline is valid? [True, True] Translation: X:63.96, Y:-1.75, Z:-0.98 [[ 9.90863763e-01 1.34567045e-01 8.98403373e-03 6.39554330e+01] [-1.34565314e-01 9.90904403e-01 -7.99623288e-04 -1.74773021e+00] [-9.00992153e-03 -4.16621582e-04 9.99959323e-01 -9.76476595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters 0.021768466793922654 Centerline is valid? [True, True] Translation: X:64.02, Y:-1.76, Z:-0.98 [[ 9.91655932e-01 1.28477558e-01 1.05843996e-02 6.40154978e+01] [-1.28474806e-01 9.91712325e-01 -9.42334586e-04 -1.76244930e+00] [-1.06177484e-02 -4.25357007e-04 9.99943540e-01 -9.75761955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters 0.01947124638530419 Centerline is valid? [True, True] Translation: X:64.07, Y:-1.78, Z:-0.98 [[ 9.92416429e-01 1.22439462e-01 1.08724606e-02 6.40748915e+01] [-1.22436195e-01 9.92475915e-01 -9.68157509e-04 -1.77736078e+00] [-1.09091960e-02 -3.70367287e-04 9.99940424e-01 -9.75805220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters 0.018595757652051775 Centerline is valid? [True, True] Translation: X:64.13, Y:-1.79, Z:-0.98 [[ 9.92972233e-01 1.18021679e-01 8.77649402e-03 6.41342950e+01] [-1.18019384e-01 9.93010985e-01 -7.80754333e-04 -1.78985786e+00] [-8.80730091e-03 -2.60529046e-04 9.99961181e-01 -9.78208362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters 0.01724120103412658 Centerline is valid? [True, True] Translation: X:64.20, Y:-1.80, Z:-0.98 [[ 9.92906882e-01 1.18593694e-01 8.45331228e-03 6.41963427e+01] [-1.18591590e-01 9.92942833e-01 -7.51496914e-04 -1.79717816e+00] [-8.48277864e-03 -2.56325286e-04 9.99963988e-01 -9.78688082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters 0.01889536978211647 Centerline is valid? [True, True] Translation: X:64.26, Y:-1.80, Z:-0.98 [[ 9.92937065e-01 1.18354801e-01 8.25382108e-03 6.42568051e+01] [-1.18352764e-01 9.92971339e-01 -7.36533958e-04 -1.80174827e+00] [-8.28298011e-03 -2.45530669e-04 9.99965665e-01 -9.80645494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters 0.0190511466697261 Centerline is valid? [True, True] Translation: X:64.32, Y:-1.81, Z:-0.98 [[ 9.92914326e-01 1.18564595e-01 7.97359059e-03 6.43197117e+01] [-1.18562690e-01 9.92946313e-01 -7.12853543e-04 -1.80822795e+00] [-8.00186657e-03 -2.37567856e-04 9.99967956e-01 -9.81771620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters 0.019346265421450952 Centerline is valid? [True, True] Translation: X:64.38, Y:-1.81, Z:-0.98 [[ 9.92858825e-01 1.19034041e-01 7.88994441e-03 6.43821526e+01] [-1.19032173e-01 9.92890146e-01 -7.07637802e-04 -1.81361335e+00] [-7.91808104e-03 -2.36572791e-04 9.99968624e-01 -9.82834268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters 0.01783867289479419 Centerline is valid? [True, True] Translation: X:64.44, Y:-1.82, Z:-0.98 [[ 9.92755843e-01 1.19875639e-01 8.10353083e-03 6.44436366e+01] [-1.19873674e-01 9.92788885e-01 -7.29503859e-04 -1.81953022e+00] [-8.13254508e-03 -2.47180791e-04 9.99966900e-01 -9.82340571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters 0.019163874166520902 Centerline is valid? [True, True] Translation: X:64.51, Y:-1.82, Z:-0.99 [[ 9.92687113e-01 1.20498816e-01 7.23405536e-03 6.45052837e+01] [-1.20497257e-01 9.92713446e-01 -6.52662112e-04 -1.82209138e+00] [-7.25998904e-03 -2.23794558e-04 9.99973621e-01 -9.85367403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters 0.020052229779641422 Centerline is valid? [True, True] Translation: X:64.57, Y:-1.83, Z:-0.99 [[ 9.92582198e-01 1.21318794e-01 7.89489565e-03 6.45676095e+01] [-1.21316945e-01 9.92613564e-01 -7.14501096e-04 -1.82514236e+00] [-7.92326292e-03 -2.48583553e-04 9.99968580e-01 -9.87114379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters 0.0195378805385677 Centerline is valid? [True, True] Translation: X:64.63, Y:-1.83, Z:-0.99 [[ 9.92361558e-01 1.23125773e-01 7.65394745e-03 6.46296940e+01] [-1.23124073e-01 9.92391042e-01 -6.94705937e-04 -1.82893891e+00] [-7.68124509e-03 -2.52985716e-04 9.99970467e-01 -9.87869688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters 0.01998614922026212 Centerline is valid? [True, True] Translation: X:64.69, Y:-1.83, Z:-0.99 [[ 9.92287335e-01 1.23733622e-01 7.47228704e-03 6.46915282e+01] [-1.23732005e-01 9.92315438e-01 -6.79985418e-04 -1.83268543e+00] [-7.49900285e-03 -2.49820142e-04 9.99971851e-01 -9.89761519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters 0.018511068846813437 Centerline is valid? [True, True] Translation: X:64.75, Y:-1.84, Z:-0.99 [[ 9.92267719e-01 1.23806118e-01 8.76462064e-03 6.47530150e+01] [-1.23803873e-01 9.92306384e-01 -8.00360425e-04 -1.84015107e+00] [-8.79627853e-03 -2.90922165e-04 9.99961270e-01 -9.89447644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters 0.02004983647140943 Centerline is valid? [True, True] Translation: X:64.81, Y:-1.84, Z:-0.99 [[ 9.92137330e-01 1.24808124e-01 9.29786688e-03 6.48138460e+01] [-1.24805616e-01 9.92180847e-01 -8.51832964e-04 -1.84220388e+00] [-9.33148111e-03 -3.15290717e-04 9.99956411e-01 -9.89917707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters 0.01995774448082582 Centerline is valid? [True, True] Translation: X:64.88, Y:-1.85, Z:-0.99 [[ 9.92147956e-01 1.24790969e-01 8.34553918e-03 6.48765531e+01] [-1.24788937e-01 9.92183015e-01 -7.65721225e-04 -1.84825638e+00] [-8.37585731e-03 -2.81722218e-04 9.99964882e-01 -9.92477909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters 0.025025498812955054 Centerline is valid? [True, True] Translation: X:64.94, Y:-1.85, Z:-1.00 [[ 9.92115200e-01 1.25106441e-01 7.47054986e-03 6.49383741e+01] [-1.25104807e-01 9.92143293e-01 -6.87462911e-04 -1.84655455e+00] [-7.49786198e-03 -2.52559292e-04 9.99971859e-01 -9.95594028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters 0.022774947760809315 Centerline is valid? [True, True] Translation: X:65.00, Y:-1.86, Z:-1.00 [[ 9.92187906e-01 1.24584566e-01 6.46873668e-03 6.49995457e+01] [-1.24583322e-01 9.92208970e-01 -5.96343372e-04 -1.85875441e+00] [-6.49263374e-03 -2.14212026e-04 9.99978900e-01 -9.95510231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters 0.02333390947839669 Centerline is valid? [True, True] Translation: X:65.06, Y:-1.86, Z:-1.00 [[ 9.92319160e-01 1.23523993e-01 6.67139146e-03 6.50617105e+01] [-1.23522635e-01 9.92341563e-01 -6.16874649e-04 -1.86435022e+00] [-6.69649785e-03 -2.11931316e-04 9.99977556e-01 -9.96852733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters 0.02429647118797804 Centerline is valid? [True, True] Translation: X:65.12, Y:-1.87, Z:-1.00 [[ 9.92249537e-01 1.24081235e-01 6.68613387e-03 6.51240957e+01] [-1.24079874e-01 9.92272040e-01 -6.19608356e-04 -1.86933595e+00] [-6.71134547e-03 -2.14808544e-04 9.99977456e-01 -9.98234466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters 0.023770060524773883 Centerline is valid? [True, True] Translation: X:65.19, Y:-1.88, Z:-1.00 [[ 9.92304229e-01 1.23612535e-01 7.22893752e-03 6.51855715e+01] [-1.23610912e-01 9.92330535e-01 -6.72594540e-04 -1.87630671e+00] [-7.25663655e-03 -2.26157156e-04 9.99973645e-01 -9.99604823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters 0.02498671237129093 Centerline is valid? [True, True] Translation: X:65.25, Y:-1.88, Z:-1.00 [[ 9.92264558e-01 1.23939869e-01 7.06800791e-03 6.52479129e+01] [-1.23938315e-01 9.92289705e-01 -6.59038676e-04 -1.88168602e+00] [-7.09519266e-03 -2.22056274e-04 9.99974804e-01 -1.00118422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters 0.026342942493456808 Centerline is valid? [True, True] Translation: X:65.31, Y:-1.89, Z:-1.00 [[ 9.92379499e-01 1.22980588e-01 7.66191456e-03 6.53085675e+01] [-1.22978711e-01 9.92409050e-01 -7.17458748e-04 -1.88559091e+00] [-7.69198684e-03 -2.30261020e-04 9.99970390e-01 -1.00322754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters 0.025363109041554296 Centerline is valid? [True, True] Translation: X:65.37, Y:-1.90, Z:-1.00 [[ 9.92583808e-01 1.21307028e-01 7.87329195e-03 6.53702986e+01] [-1.21304980e-01 9.92615009e-01 -7.39001568e-04 -1.89610481e+00] [-7.90479384e-03 -2.21548530e-04 9.99968732e-01 -1.00382903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters 0.024966304481327514 Centerline is valid? [True, True] Translation: X:65.43, Y:-1.91, Z:-1.01 [[ 9.92871500e-01 1.18946010e-01 7.61786333e-03 6.54323055e+01] [-1.18944002e-01 9.92900705e-01 -7.17691919e-04 -1.90594630e+00] [-7.64914845e-03 -1.93523301e-04 9.99970726e-01 -1.00500464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters 0.024626291149974465 Centerline is valid? [True, True] Translation: X:65.49, Y:-1.92, Z:-1.01 [[ 9.93297690e-01 1.15342220e-01 7.47475821e-03 6.54932758e+01] [-1.15340184e-01 9.93325800e-01 -7.04245693e-04 -1.91718320e+00] [-7.50609944e-03 -1.62614371e-04 9.99971816e-01 -1.00680667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters 0.023933893482694008 Centerline is valid? [True, True] Translation: X:65.55, Y:-1.93, Z:-1.01 [[ 9.93684063e-01 1.11825744e-01 9.32663073e-03 6.55533464e+01] [-1.11822388e-01 9.93727818e-01 -8.82199390e-04 -1.92748227e+00] [-9.36678500e-03 -1.66298645e-04 9.99956117e-01 -1.00736670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters 0.024393960520932272 Centerline is valid? [True, True] Translation: X:65.62, Y:-1.94, Z:-1.01 [[ 9.93897826e-01 1.09697944e-01 1.15530581e-02 6.56151579e+01] [-1.09692604e-01 9.93964954e-01 -1.09671163e-03 -1.93908127e+00] [-1.16036418e-02 -1.77265722e-04 9.99932660e-01 -1.00689922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters 0.024393960520932272 Centerline is valid? [True, True] Translation: X:65.68, Y:-1.95, Z:-1.01 [[ 9.93866325e-01 1.09982985e-01 1.15529692e-02 6.56772796e+01] [-1.09977654e-01 9.93933454e-01 -1.09764732e-03 -1.94506192e+00] [-1.16036051e-02 -1.79653751e-04 9.99932660e-01 -1.00788967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters 0.024688321402152026 Centerline is valid? [True, True] Translation: X:65.74, Y:-1.96, Z:-1.01 [[ 9.94106225e-01 1.07915961e-01 1.03420435e-02 6.57385658e+01] [-1.07911549e-01 9.94160011e-01 -9.85322301e-04 -1.95614297e+00] [-1.03879781e-02 -1.36510906e-04 9.99946034e-01 -1.00964855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters 0.024789001489042718 Centerline is valid? [True, True] Translation: X:65.80, Y:-1.96, Z:-1.01 [[ 9.93959729e-01 1.09458968e-01 7.92409220e-03 6.57999285e+01] [-1.09456411e-01 9.93991308e-01 -7.56913340e-04 -1.96106898e+00] [-7.95932972e-03 -1.15001312e-04 9.99968317e-01 -1.01324162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters 0.024950465189206468 Centerline is valid? [True, True] Translation: X:65.86, Y:-1.96, Z:-1.02 [[ 9.93858529e-01 1.10434169e-01 7.03696274e-03 6.58611108e+01] [-1.10432178e-01 9.93883435e-01 -6.72065656e-04 -1.96470916e+00] [-7.06813971e-03 -1.09168941e-04 9.99975014e-01 -1.01616781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters 0.025350131125888735 Centerline is valid? [True, True] Translation: X:65.92, Y:-1.97, Z:-1.02 [[ 9.93695340e-01 1.11825767e-01 8.03549183e-03 6.59239317e+01] [-1.11823201e-01 9.93727820e-01 -7.69385173e-04 -1.96930425e+00] [-8.07112886e-03 -1.34019956e-04 9.99967419e-01 -1.01592658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters 0.025638159424119726 Centerline is valid? [True, True] Translation: X:65.99, Y:-1.97, Z:-1.02 [[ 9.93733962e-01 1.11461377e-01 8.31710519e-03 6.59854269e+01] [-1.11458591e-01 9.93768758e-01 -7.99167949e-04 -1.97323109e+00] [-8.35435565e-03 -1.32852494e-04 9.99965093e-01 -1.01792734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters 0.025901026811054825 Centerline is valid? [True, True] Translation: X:66.05, Y:-1.98, Z:-1.02 [[ 9.93887182e-01 1.09707428e-01 1.23510602e-02 6.60475911e+01] [-1.09701088e-01 9.93963908e-01 -1.19174392e-03 -1.97878382e+00] [-1.24072512e-02 -1.70465723e-04 9.99923013e-01 -1.01675275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters 0.025083451464409406 Centerline is valid? [True, True] Translation: X:66.11, Y:-1.98, Z:-1.02 [[ 9.93869231e-01 1.09561530e-01 1.48399312e-02 6.61096202e+01] [-1.09552292e-01 9.93979996e-01 -1.43646965e-03 -1.98307997e+00] [-1.49079766e-02 -1.98085492e-04 9.99888850e-01 -1.01729108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters 0.02750630032335784 Centerline is valid? [True, True] Translation: X:66.17, Y:-1.99, Z:-1.02 [[ 9.93832960e-01 1.09460162e-01 1.77347444e-02 6.61719538e+01] [-1.09446858e-01 9.93991157e-01 -1.72197438e-03 -1.98735507e+00] [-1.78166667e-02 -2.29657151e-04 9.99841244e-01 -1.01828210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters 0.02939535240384842 Centerline is valid? [True, True] Translation: X:66.23, Y:-1.99, Z:-1.02 [[ 9.93722759e-01 1.09808375e-01 2.13822125e-02 6.62338146e+01] [-1.09788970e-01 9.93952737e-01 -2.08292913e-03 -1.99110791e+00] [-2.14816317e-02 -2.77676990e-04 9.99769205e-01 -1.02071808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters 0.029965766533002456 Centerline is valid? [True, True] Translation: X:66.30, Y:-2.00, Z:-1.02 [[ 9.93638561e-01 1.10260779e-01 2.29122180e-02 6.62960030e+01] [-1.10238473e-01 9.93902646e-01 -2.23822771e-03 -1.99659287e+00] [-2.30193029e-02 -3.01818564e-04 9.99734975e-01 -1.02342851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters 0.032114025454977706 Centerline is valid? [True, True] Translation: X:66.36, Y:-2.00, Z:-1.03 [[ 9.93561717e-01 1.10497411e-01 2.50087355e-02 6.63575428e+01] [-1.10470725e-01 9.93876358e-01 -2.45038508e-03 -2.00119194e+00] [-2.51263522e-02 -3.28124333e-04 9.99684230e-01 -1.02612881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters 0.0344335027580526 Centerline is valid? [True, True] Translation: X:66.42, Y:-2.01, Z:-1.03 [[ 9.93408813e-01 1.11155281e-01 2.79898923e-02 6.64196959e+01] [-1.11121902e-01 9.93802979e-01 -2.75001610e-03 -2.00586948e+00] [-2.81221172e-02 -3.78399852e-04 9.99604423e-01 -1.02946162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters 0.03636659074850854 Centerline is valid? [True, True] Translation: X:66.48, Y:-2.01, Z:-1.03 [[ 9.93339191e-01 1.11887032e-01 2.75416776e-02 6.64828684e+01] [-1.11854794e-01 9.93720858e-01 -2.71322700e-03 -2.01035919e+00] [-2.76723144e-02 -3.85513956e-04 9.99616974e-01 -1.03497332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters 0.036977458913537556 Centerline is valid? [True, True] Translation: X:66.55, Y:-2.01, Z:-1.04 [[ 9.92674399e-01 1.18404483e-01 2.40398908e-02 6.65452951e+01] [-1.18381686e-01 9.92965326e-01 -2.37424216e-03 -2.01060442e+00] [-2.41518990e-02 -4.89033407e-04 9.99708181e-01 -1.04167053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters 0.03685615061908453 Centerline is valid? [True, True] Translation: X:66.61, Y:-2.02, Z:-1.04 [[ 9.92543686e-01 1.19546266e-01 2.37849110e-02 6.66074174e+01] [-1.19524136e-01 9.92828502e-01 -2.35499651e-03 -2.01583982e+00] [-2.38958686e-02 -5.05434023e-04 9.99714325e-01 -1.04341400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters 0.03712796662180673 Centerline is valid? [True, True] Translation: X:66.67, Y:-2.02, Z:-1.04 [[ 9.92451347e-01 1.20464643e-01 2.29911492e-02 6.66701719e+01] [-1.20444076e-01 9.92717490e-01 -2.28229738e-03 -2.02152541e+00] [-2.30986520e-02 -5.04078610e-04 9.99733063e-01 -1.04498862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters 0.03712796662180673 Centerline is valid? [True, True] Translation: X:66.73, Y:-2.03, Z:-1.05 [[ 9.92417301e-01 1.20744931e-01 2.29905032e-02 6.67322832e+01] [-1.20724289e-01 9.92683438e-01 -2.28878876e-03 -2.02777957e+00] [-2.30986514e-02 -5.04078596e-04 9.99733063e-01 -1.04598012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters 0.03707233169826977 Centerline is valid? [True, True] Translation: X:66.79, Y:-2.03, Z:-1.05 [[ 9.92339904e-01 1.21524236e-01 2.22120453e-02 6.67949897e+01] [-1.21505025e-01 9.92588340e-01 -2.21746915e-03 -2.03367130e+00] [-2.23168934e-02 -4.98391991e-04 9.99750823e-01 -1.04698067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters 0.036549291848811234 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.04, Z:-1.05 [[ 9.92183236e-01 1.23052542e-01 2.07484451e-02 6.68572039e+01] [-1.23036001e-01 9.92400035e-01 -2.07677646e-03 -2.03903207e+00] [-2.08463103e-02 -4.92262929e-04 9.99782571e-01 -1.04851160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters 0.03557103689773838 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.05, Z:-1.05 [[ 9.92098977e-01 1.23981472e-01 1.91888963e-02 6.69194979e+01] [-1.23967409e-01 9.92284422e-01 -1.92525101e-03 -2.04739721e+00] [-1.92795383e-02 -4.68758191e-04 9.99814023e-01 -1.04767837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters 0.03418026190278177 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.06, Z:-1.05 [[ 9.92271014e-01 1.22916134e-01 1.70252153e-02 6.69799882e+01] [-1.22904833e-01 9.92416984e-01 -1.71246576e-03 -2.05540630e+00] [-1.71066025e-02 -3.93251109e-04 9.99853594e-01 -1.04593564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters 0.03305261435470588 Centerline is valid? [True, True] Translation: X:67.04, Y:-2.07, Z:-1.05 [[ 9.92493367e-01 1.21315117e-01 1.54776952e-02 6.70411095e+01] [-1.21305533e-01 9.92613990e-01 -1.56001317e-03 -2.06530832e+00] [-1.55526299e-02 -3.29227338e-04 9.99878996e-01 -1.04586665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters 0.03132880848451248 Centerline is valid? [True, True] Translation: X:67.10, Y:-2.08, Z:-1.05 [[ 9.92712457e-01 1.19947414e-01 1.16015081e-02 6.71023817e+01] [-1.19941914e-01 9.92780220e-01 -1.17119446e-03 -2.07599752e+00] [-1.16582296e-02 -2.28847765e-04 9.99932014e-01 -1.04556826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters 0.030482972790322783 Centerline is valid? [True, True] Translation: X:67.16, Y:-2.08, Z:-1.05 [[ 9.92563902e-01 1.21401698e-01 8.86160645e-03 6.71630898e+01] [-1.21398534e-01 9.92603442e-01 -8.96078763e-04 -2.08182335e+00] [-8.90484655e-03 -1.86370596e-04 9.99960334e-01 -1.04715727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters 0.030251303362047396 Centerline is valid? [True, True] Translation: X:67.22, Y:-2.09, Z:-1.05 [[ 9.92101839e-01 1.25305059e-01 5.70815087e-03 6.72229736e+01] [-1.25303797e-01 9.92118250e-01 -5.79598317e-04 -2.08530667e+00] [-5.73578726e-03 -1.40232422e-04 9.99983540e-01 -1.04904945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters 0.029846339986920198 Centerline is valid? [True, True] Translation: X:67.28, Y:-2.09, Z:-1.05 [[ 9.91766035e-01 1.28040347e-01 2.40843675e-03 6.72846598e+01] [-1.28040132e-01 9.91768958e-01 -2.43598275e-04 -2.09064972e+00] [-2.41980321e-03 -6.67840643e-05 9.99997070e-01 -1.05085201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters 0.029011516175496545 Centerline is valid? [True, True] Translation: X:67.35, Y:-2.10, Z:-1.05 [[ 9.91653324e-01 1.28932856e-01 -5.85674585e-05 6.73454827e+01] [-1.28932856e-01 9.91653326e-01 9.55282969e-06 -2.09643347e+00] [ 5.93102886e-05 -1.92182562e-06 9.99999998e-01 -1.05363401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters 0.028064982959246466 Centerline is valid? [True, True] Translation: X:67.41, Y:-2.10, Z:-1.06 [[ 9.91879045e-01 1.27180661e-01 -1.01970201e-03 6.74056950e+01] [-1.27180618e-01 9.91879569e-01 1.07576947e-04 -2.10399385e+00] [ 1.02510330e-03 2.29830130e-05 9.99999474e-01 -1.05545604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters 0.02708676282478299 Centerline is valid? [True, True] Translation: X:67.47, Y:-2.11, Z:-1.06 [[ 9.92148895e-01 1.25059764e-01 -7.90535120e-04 6.74675041e+01] [-1.25059737e-01 9.92149210e-01 8.46343422e-05 -2.11286083e+00] [ 7.94913145e-04 1.48942446e-05 9.99999684e-01 -1.05534494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters 0.02614369795645679 Centerline is valid? [True, True] Translation: X:67.53, Y:-2.12, Z:-1.06 [[ 9.92410211e-01 1.22971428e-01 1.59986209e-05 6.75291485e+01] [-1.22971428e-01 9.92410212e-01 2.08596097e-06 -2.12044242e+00] [-1.56206811e-05 -4.03750222e-06 1.00000000e+00 -1.05538899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters 0.025025815997676802 Centerline is valid? [True, True] Translation: X:67.59, Y:-2.13, Z:-1.06 [[ 9.92877763e-01 1.19134880e-01 7.93069526e-04 6.75889093e+01] [-1.19134854e-01 9.92878079e-01 -8.10684000e-05 -2.13014298e+00] [-7.97079421e-04 -1.39912102e-05 9.99999682e-01 -1.05552260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters 0.02413721576264214 Centerline is valid? [True, True] Translation: X:67.65, Y:-2.14, Z:-1.05 [[ 9.93016667e-01 1.17972786e-01 5.67024193e-04 6.76500898e+01] [-1.17972775e-01 9.93016828e-01 -5.43835906e-05 -2.14060906e+00] [-5.69480350e-04 -1.28896055e-05 9.99999838e-01 -1.05420283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters 0.02398345017385678 Centerline is valid? [True, True] Translation: X:67.71, Y:-2.14, Z:-1.06 [[ 9.93200056e-01 1.16402258e-01 2.04016240e-03 6.77111974e+01] [-1.16402079e-01 9.93202151e-01 -2.06618322e-04 -2.14477334e+00] [-2.05034452e-03 -3.22658149e-05 9.99997898e-01 -1.05692178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters 0.023081365346395356 Centerline is valid? [True, True] Translation: X:67.77, Y:-2.15, Z:-1.06 [[ 9.93156383e-01 1.16782228e-01 1.52009107e-03 6.77740285e+01] [-1.16782131e-01 9.93157546e-01 -1.52663913e-04 -2.15336199e+00] [-1.52751835e-03 -2.59003346e-05 9.99998833e-01 -1.05731019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters 0.023575078845938496 Centerline is valid? [True, True] Translation: X:67.83, Y:-2.16, Z:-1.06 [[ 9.92953180e-01 1.18501394e-01 1.18397904e-03 6.78346062e+01] [-1.18501335e-01 9.92953886e-01 -1.20568752e-04 -2.15689382e+00] [-1.18992415e-03 -2.05839709e-05 9.99999292e-01 -1.06112725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters 0.02417993775360515 Centerline is valid? [True, True] Translation: X:67.90, Y:-2.16, Z:-1.06 [[ 9.92606967e-01 1.21372927e-01 -1.46719762e-04 6.78959892e+01] [-1.21372926e-01 9.92606978e-01 1.85055036e-05 -2.16134619e+00] [ 1.47881127e-04 -5.60884947e-07 9.99999989e-01 -1.06406389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters 0.024085745183131 Centerline is valid? [True, True] Translation: X:67.96, Y:-2.17, Z:-1.06 [[ 9.92013010e-01 1.26120481e-01 -1.95250413e-03 6.79566384e+01] [-1.26120326e-01 9.92014930e-01 2.02640990e-04 -2.16843498e+00] [ 1.96247043e-03 4.52279588e-05 9.99998073e-01 -1.06322616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters 0.02522448964496206 Centerline is valid? [True, True] Translation: X:68.02, Y:-2.17, Z:-1.07 [[ 9.91357235e-01 1.31087372e-01 -5.18975500e-03 6.80178717e+01] [-1.31086349e-01 9.91370808e-01 5.38260292e-04 -2.17105988e+00] [ 5.21553073e-03 1.46697801e-04 9.99986388e-01 -1.06683749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters 0.026449440639050102 Centerline is valid? [True, True] Translation: X:68.08, Y:-2.17, Z:-1.07 [[ 9.90832077e-01 1.34932102e-01 -6.71741732e-03 6.80785286e+01] [-1.34930476e-01 9.90854823e-01 6.96732855e-04 -2.17269609e+00] [ 6.74999698e-03 2.16039056e-04 9.99977195e-01 -1.07026663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters 0.027888455893049995 Centerline is valid? [True, True] Translation: X:68.14, Y:-2.17, Z:-1.07 [[ 9.90355293e-01 1.38436138e-01 -5.64173112e-03 6.81391755e+01] [-1.38435045e-01 9.90371342e-01 5.85648714e-04 -2.17492772e+00] [ 5.66848377e-03 2.01013001e-04 9.99983914e-01 -1.07038282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters 0.027838344992137918 Centerline is valid? [True, True] Translation: X:68.20, Y:-2.18, Z:-1.07 [[ 9.90360248e-01 1.38497587e-01 -2.23567471e-03 6.82010672e+01] [-1.38497407e-01 9.90362768e-01 2.35909302e-04 -2.18120336e+00] [ 2.24680186e-03 7.59999544e-05 9.99997473e-01 -1.06713178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters 0.027853905696763524 Centerline is valid? [True, True] Translation: X:68.26, Y:-2.18, Z:-1.06 [[ 9.90471032e-01 1.37682064e-01 3.28383442e-03 6.82613063e+01] [-1.37681689e-01 9.90476469e-01 -3.41117136e-04 -2.18425821e+00] [-3.29952643e-03 -1.14257226e-04 9.99994550e-01 -1.06329543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters 0.02690155251634666 Centerline is valid? [True, True] Translation: X:68.32, Y:-2.19, Z:-1.06 [[ 9.90787758e-01 1.35142348e-01 8.72726948e-03 6.83214631e+01] [-1.35139600e-01 9.90826154e-01 -9.06590546e-04 -2.18863187e+00] [-8.76972563e-03 -2.81160893e-04 9.99961506e-01 -1.05914404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters 0.01951321807547427 Centerline is valid? [True, True] Translation: X:68.38, Y:-2.21, Z:-1.06 [[ 9.91215795e-01 1.31842434e-01 1.04316794e-02 6.83818472e+01] [-1.31838310e-01 9.91270640e-01 -1.08509084e-03 -2.20536143e+00] [-1.04836785e-02 -2.99735799e-04 9.99945000e-01 -1.05778016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters 0.017657074012339014 Centerline is valid? [True, True] Translation: X:68.44, Y:-2.21, Z:-1.06 [[ 9.92047853e-01 1.25480628e-01 9.78102882e-03 6.84419894e+01] [-1.25476687e-01 9.92096046e-01 -1.01800873e-03 -2.21410768e+00] [-9.83146039e-03 -2.17377721e-04 9.99951646e-01 -1.06072207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters 0.015717409034994582 Centerline is valid? [True, True] Translation: X:68.50, Y:-2.22, Z:-1.06 [[ 9.92930747e-01 1.18313578e-01 9.50937709e-03 6.85012706e+01] [-1.18309519e-01 9.92976272e-01 -9.90157995e-04 -2.22417410e+00] [-9.55973495e-03 -1.41891516e-04 9.99954295e-01 -1.06360001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters 0.013375509466326017 Centerline is valid? [True, True] Translation: X:68.56, Y:-2.24, Z:-1.07 [[ 9.94680481e-01 1.02422332e-01 1.09729677e-02 6.85598314e+01] [-1.02415957e-01 9.94741004e-01 -1.14279222e-03 -2.24172223e+00] [-1.10323084e-02 1.29061178e-05 9.99939142e-01 -1.06665758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters 0.012126735044745917 Centerline is valid? [True, True] Translation: X:68.62, Y:-2.24, Z:-1.08 [[ 9.93994923e-01 1.09364232e-01 3.68220018e-03 6.86209846e+01] [-1.09363563e-01 9.94001743e-01 -3.83174998e-04 -2.23778039e+00] [-3.70201903e-03 -2.18245279e-05 9.99993147e-01 -1.08051015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters 0.012126735044745917 Centerline is valid? [True, True] Translation: X:68.68, Y:-2.24, Z:-1.08 [[ 9.93966277e-01 1.09624268e-01 3.68247586e-03 6.86830558e+01] [-1.09623611e-01 9.93973098e-01 -3.80533478e-04 -2.24435175e+00] [-3.70199764e-03 -2.54488558e-05 9.99993147e-01 -1.08150011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters 0.012720003187055396 Centerline is valid? [True, True] Translation: X:68.74, Y:-2.25, Z:-1.08 [[ 9.93782921e-01 1.11285046e-01 3.33828834e-03 6.87441205e+01] [-1.11284511e-01 9.93788528e-01 -3.46118082e-04 -2.24898636e+00] [-3.35607042e-03 -2.75335463e-05 9.99994368e-01 -1.08453690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters 0.012720003187055396 Centerline is valid? [True, True] Translation: X:68.81, Y:-2.26, Z:-1.09 [[ 9.93755405e-01 1.11530493e-01 3.33826470e-03 6.88061938e+01] [-1.11529959e-01 9.93761012e-01 -3.46347594e-04 -2.25560546e+00] [-3.35606562e-03 -2.81317316e-05 9.99994368e-01 -1.08552801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters 0.013118698256491144 Centerline is valid? [True, True] Translation: X:68.87, Y:-2.26, Z:-1.09 [[ 9.93611073e-01 1.12814060e-01 3.16608793e-03 6.88689512e+01] [-1.12813584e-01 9.93616117e-01 -3.29084792e-04 -2.26189257e+00] [-3.18300139e-03 -3.01954322e-05 9.99994934e-01 -1.08673248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters 0.013118698256491144 Centerline is valid? [True, True] Translation: X:68.93, Y:-2.27, Z:-1.09 [[ 9.93583277e-01 1.13058609e-01 3.16600664e-03 6.89310221e+01] [-1.13058132e-01 9.93588320e-01 -3.29861369e-04 -2.26854387e+00] [-3.18300088e-03 -3.01980552e-05 9.99994934e-01 -1.08772383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters 0.01288885020767316 Centerline is valid? [True, True] Translation: X:68.99, Y:-2.28, Z:-1.09 [[ 9.93477705e-01 1.13977111e-01 3.35684205e-03 6.89930099e+01] [-1.13976577e-01 9.93483375e-01 -3.50682097e-04 -2.27639319e+00] [-3.37493651e-03 -3.42065213e-05 9.99994304e-01 -1.08689443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters 0.01288885020767316 Centerline is valid? [True, True] Translation: X:69.06, Y:-2.28, Z:-1.09 [[ 9.93448426e-01 1.14232032e-01 3.35675111e-03 6.90550747e+01] [-1.14231496e-01 9.93454096e-01 -3.51546527e-04 -2.28306091e+00] [-3.37493601e-03 -3.42033573e-05 9.99994304e-01 -1.08788578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters 0.014335043919673515 Centerline is valid? [True, True] Translation: X:69.12, Y:-2.29, Z:-1.09 [[ 9.93309913e-01 1.15325256e-01 5.95832202e-03 6.91164674e+01] [-1.15323557e-01 9.93327781e-01 -6.29072040e-04 -2.29073418e+00] [-5.99111469e-03 -6.22713989e-05 9.99982051e-01 -1.08657458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters 0.012753641785166232 Centerline is valid? [True, True] Translation: X:69.18, Y:-2.30, Z:-1.08 [[ 9.93016893e-01 1.17625648e-01 9.03643870e-03 6.91791395e+01] [-1.17621804e-01 9.93058002e-01 -9.57517280e-04 -2.29818823e+00] [-9.08633635e-03 -1.12051385e-04 9.99958712e-01 -1.08273732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters 0.013651281927869905 Centerline is valid? [True, True] Translation: X:69.24, Y:-2.30, Z:-1.08 [[ 9.92316678e-01 1.23318960e-01 1.00022292e-02 6.92406530e+01] [-1.23314503e-01 9.92367070e-01 -1.06339958e-03 -2.30160823e+00] [-1.00570202e-02 -1.78190790e-04 9.99949411e-01 -1.08314543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters 0.017413240953917566 Centerline is valid? [True, True] Translation: X:69.30, Y:-2.30, Z:-1.09 [[ 9.91749792e-01 1.27921843e-01 8.26754702e-03 6.93026572e+01] [-1.27918938e-01 9.91784235e-01 -8.81481019e-04 -2.30394760e+00] [-8.31238347e-03 -1.83367215e-04 9.99965435e-01 -1.08824039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters 0.016288649870975596 Centerline is valid? [True, True] Translation: X:69.36, Y:-2.31, Z:-1.09 [[ 9.90737496e-01 1.35683757e-01 5.39748950e-03 6.93636358e+01] [-1.35682631e-01 9.90752185e-01 -5.76027160e-04 -2.30754010e+00] [-5.42573205e-03 -1.61653870e-04 9.99985268e-01 -1.08968974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters 0.018907365879952953 Centerline is valid? [True, True] Translation: X:69.42, Y:-2.31, Z:-1.09 [[ 9.90396711e-01 1.38229372e-01 2.64508918e-03 6.94244127e+01] [-1.38229111e-01 9.90400239e-01 -2.81947069e-04 -2.31096857e+00] [-2.65867032e-03 -8.63888769e-05 9.99996462e-01 -1.09433878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters 0.01731425449550012 Centerline is valid? [True, True] Translation: X:69.49, Y:-2.32, Z:-1.09 [[ 9.90609337e-01 1.36703935e-01 2.27483235e-03 6.94855456e+01] [-1.36703745e-01 9.90611947e-01 -2.39546417e-04 -2.32477018e+00] [-2.28622304e-03 -7.36811842e-05 9.99997384e-01 -1.09327659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters 0.01765521862436607 Centerline is valid? [True, True] Translation: X:69.55, Y:-2.33, Z:-1.10 [[ 9.91181201e-01 1.32489546e-01 2.51924153e-03 6.95454537e+01] [-1.32489292e-01 9.91184400e-01 -2.68299768e-04 -2.33259096e+00] [-2.53257982e-03 -6.78388406e-05 9.99996791e-01 -1.09545848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters 0.016059740935334476 Centerline is valid? [True, True] Translation: X:69.61, Y:-2.35, Z:-1.09 [[ 9.91561119e-01 1.29568474e-01 4.30779691e-03 6.96062529e+01] [-1.29567694e-01 9.91570472e-01 -4.60866033e-04 -2.34528142e+00] [-4.33119793e-03 -1.01174470e-04 9.99990615e-01 -1.09368936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters 0.01504415325107714 Centerline is valid? [True, True] Translation: X:69.67, Y:-2.36, Z:-1.09 [[ 9.92046470e-01 1.25699947e-01 6.58211061e-03 6.96670390e+01] [-1.25698032e-01 9.92068298e-01 -7.05412385e-04 -2.35622551e+00] [-6.61857357e-03 -1.27556485e-04 9.99978089e-01 -1.09271620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters 0.015037581570002047 Centerline is valid? [True, True] Translation: X:69.73, Y:-2.37, Z:-1.09 [[ 9.92519459e-01 1.21827870e-01 7.94318885e-03 6.97283829e+01] [-1.21824965e-01 9.92551235e-01 -8.50332029e-04 -2.36725239e+00] [-7.98761605e-03 -1.23707622e-04 9.99968091e-01 -1.09162753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters 0.013594604241951328 Centerline is valid? [True, True] Translation: X:69.79, Y:-2.37, Z:-1.09 [[ 9.92527655e-01 1.21621937e-01 9.84673691e-03 6.97900973e+01] [-1.21617430e-01 9.92576487e-01 -1.05748127e-03 -2.37343811e+00] [-9.90225245e-03 -1.47955432e-04 9.99950961e-01 -1.09017123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters 0.013544690282333873 Centerline is valid? [True, True] Translation: X:69.85, Y:-2.38, Z:-1.09 [[ 9.92253650e-01 1.23792005e-01 1.04035434e-02 6.98522716e+01] [-1.23787063e-01 9.92308172e-01 -1.12005327e-03 -2.37698377e+00] [-1.04621747e-02 -1.76447130e-04 9.99945254e-01 -1.08985282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters 0.01545211209371264 Centerline is valid? [True, True] Translation: X:69.91, Y:-2.37, Z:-1.09 [[ 9.91512339e-01 1.29774617e-01 7.86319035e-03 6.99129010e+01] [-1.29771958e-01 9.91543502e-01 -8.49664098e-04 -2.37416848e+00] [-7.90696013e-03 -1.77969167e-04 9.99968724e-01 -1.09368421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters 0.017209411539506676 Centerline is valid? [True, True] Translation: X:69.97, Y:-2.37, Z:-1.10 [[ 9.90993500e-01 1.33835639e-01 4.46145644e-03 6.99741957e+01] [-1.33834825e-01 9.91003536e-01 -4.81883101e-04 -2.37473806e+00] [-4.48581224e-03 -1.19555221e-04 9.99989932e-01 -1.09832516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters 0.017005141856479836 Centerline is valid? [True, True] Translation: X:70.04, Y:-2.38, Z:-1.10 [[ 9.90813597e-01 1.35169924e-01 4.18424230e-03 7.00362104e+01] [-1.35169231e-01 9.90822425e-01 -4.49281158e-04 -2.38023967e+00] [-4.20657040e-03 -1.20426933e-04 9.99991145e-01 -1.09910340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters 0.016531199276941428 Centerline is valid? [True, True] Translation: X:70.10, Y:-2.39, Z:-1.10 [[ 9.90648222e-01 1.36367199e-01 4.48184875e-03 7.00977228e+01] [-1.36366410e-01 9.90658351e-01 -4.82611158e-04 -2.38515793e+00] [-4.50579322e-03 -1.33075739e-04 9.99989840e-01 -1.09855903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters 0.01666490338111863 Centerline is valid? [True, True] Translation: X:70.16, Y:-2.39, Z:-1.10 [[ 9.91028466e-01 1.33516588e-01 5.99174875e-03 7.01584162e+01] [-1.33515095e-01 9.91046566e-01 -6.50238508e-04 -2.39300614e+00] [-6.02491965e-03 -1.55584034e-04 9.99981838e-01 -1.09830788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters 0.016806104598833027 Centerline is valid? [True, True] Translation: X:70.22, Y:-2.40, Z:-1.10 [[ 9.91189311e-01 1.32252909e-01 7.27440626e-03 7.02198169e+01] [-1.32250685e-01 9.91215988e-01 -7.87974999e-04 -2.39924576e+00] [-7.31471978e-03 -1.81012815e-04 9.99973231e-01 -1.09841277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters 0.016471895037474142 Centerline is valid? [True, True] Translation: X:70.28, Y:-2.40, Z:-1.10 [[ 9.91413354e-01 1.30522228e-01 7.96927097e-03 7.02817227e+01] [-1.30519485e-01 9.91445367e-01 -8.65636132e-04 -2.40490947e+00] [-8.01408154e-03 -1.81941920e-04 9.99967870e-01 -1.09981377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters 0.014965018415308309 Centerline is valid? [True, True] Translation: X:70.34, Y:-2.41, Z:-1.10 [[ 9.91542051e-01 1.29489097e-01 8.77124462e-03 7.03431119e+01] [-1.29485707e-01 9.91580828e-01 -9.55607943e-04 -2.40924377e+00] [-8.82113881e-03 -1.88225353e-04 9.99961075e-01 -1.09884436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters 0.016399681239138236 Centerline is valid? [True, True] Translation: X:70.41, Y:-2.42, Z:-1.10 [[ 9.91565902e-01 1.29371128e-01 7.75712765e-03 7.04055721e+01] [-1.29368466e-01 9.91596230e-01 -8.46064663e-04 -2.41615537e+00] [-7.80139487e-03 -1.64598838e-04 9.99969555e-01 -1.10110991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters 0.014410322672217023 Centerline is valid? [True, True] Translation: X:70.47, Y:-2.42, Z:-1.10 [[ 9.91630929e-01 1.28848827e-01 8.12900441e-03 7.04678546e+01] [-1.28845862e-01 9.91664234e-01 -8.89561821e-04 -2.42073920e+00] [-8.17586192e-03 -1.65271564e-04 9.99966563e-01 -1.10064836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters 0.014173505076437888 Centerline is valid? [True, True] Translation: X:70.53, Y:-2.43, Z:-1.10 [[ 9.91663192e-01 1.28655657e-01 7.19963867e-03 7.05308149e+01] [-1.28653318e-01 9.91689317e-01 -7.88894322e-04 -2.42668972e+00] [-7.24130048e-03 -1.43939944e-04 9.99973771e-01 -1.10199547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters 0.014444250340931199 Centerline is valid? [True, True] Translation: X:70.59, Y:-2.43, Z:-1.10 [[ 9.91732519e-01 1.28158093e-01 6.48959941e-03 7.05925882e+01] [-1.28156171e-01 9.91753743e-01 -7.12758914e-04 -2.43194990e+00] [-6.52743034e-03 -1.24816023e-04 9.99978688e-01 -1.10396628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters 0.014013168701727724 Centerline is valid? [True, True] Translation: X:70.65, Y:-2.44, Z:-1.10 [[ 9.91880684e-01 1.27006662e-01 6.48195512e-03 7.06538322e+01] [-1.27004708e-01 9.91901857e-01 -7.13848048e-04 -2.43895298e+00] [-6.52012678e-03 -1.15186725e-04 9.99978737e-01 -1.10480383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters 0.014842127638309483 Centerline is valid? [True, True] Translation: X:70.72, Y:-2.44, Z:-1.11 [[ 9.91896450e-01 1.26864105e-01 6.85064063e-03 7.07160094e+01] [-1.26861906e-01 9.91920100e-01 -7.56394916e-04 -2.44389749e+00] [-6.89124750e-03 -1.18819893e-04 9.99976248e-01 -1.10641442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters 0.015801959868333798 Centerline is valid? [True, True] Translation: X:70.78, Y:-2.45, Z:-1.11 [[ 9.91749540e-01 1.28034911e-01 6.31757892e-03 7.07779457e+01] [-1.28033056e-01 9.91769655e-01 -6.98823286e-04 -2.44693827e+00] [-6.35505684e-03 -1.15801262e-04 9.99979800e-01 -1.10910777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters 0.015129232131251719 Centerline is valid? [True, True] Translation: X:70.84, Y:-2.45, Z:-1.11 [[ 9.91637053e-01 1.28905006e-01 6.28121388e-03 7.08396843e+01] [-1.28903181e-01 9.91656939e-01 -6.96261551e-04 -2.45095299e+00] [-6.31856094e-03 -1.19229698e-04 9.99980031e-01 -1.10977138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters 0.014591150463570719 Centerline is valid? [True, True] Translation: X:70.90, Y:-2.46, Z:-1.11 [[ 9.91534722e-01 1.29698711e-01 6.09422166e-03 7.09024855e+01] [-1.29697000e-01 9.91553443e-01 -6.76824114e-04 -2.45644616e+00] [-6.13052969e-03 -1.19307656e-04 9.99981201e-01 -1.10997298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters 0.014879443008630942 Centerline is valid? [True, True] Translation: X:70.97, Y:-2.46, Z:-1.11 [[ 9.91464865e-01 1.30258733e-01 5.48495040e-03 7.09653728e+01] [-1.30257349e-01 9.91480030e-01 -6.10341085e-04 -2.46112606e+00] [-5.51772104e-03 -1.09323355e-04 9.99984771e-01 -1.11220498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters 0.015134663335635633 Centerline is valid? [True, True] Translation: X:71.03, Y:-2.47, Z:-1.11 [[ 9.91538574e-01 1.29710765e-01 5.13544541e-03 7.10271266e+01] [-1.29709536e-01 9.91551868e-01 -5.73083534e-04 -2.46698149e+00] [-5.16639559e-03 -9.78818109e-05 9.99986649e-01 -1.11414055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters 0.015115600329618287 Centerline is valid? [True, True] Translation: X:71.09, Y:-2.47, Z:-1.11 [[ 9.91585606e-01 1.29297017e-01 6.34561381e-03 7.10889319e+01] [-1.29295116e-01 9.91605904e-01 -7.10659443e-04 -2.47441700e+00] [-6.38423426e-03 -1.15777196e-04 9.99979614e-01 -1.11425826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters 0.014717652697291667 Centerline is valid? [True, True] Translation: X:71.15, Y:-2.48, Z:-1.11 [[ 9.91731486e-01 1.28093622e-01 7.79002595e-03 7.11502140e+01] [-1.28090698e-01 9.91762072e-01 -8.75251851e-04 -2.48385083e+00] [-7.83796645e-03 -1.29815040e-04 9.99969274e-01 -1.11331816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters 0.014603700873131844 Centerline is valid? [True, True] Translation: X:71.21, Y:-2.49, Z:-1.11 [[ 9.91686786e-01 1.28338362e-01 9.30499023e-03 7.12113760e+01] [-1.28334171e-01 9.91730428e-01 -1.04854842e-03 -2.49347699e+00] [-9.36261093e-03 -1.54316593e-04 9.99956158e-01 -1.11241774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters 0.01588140473324831 Centerline is valid? [True, True] Translation: X:71.27, Y:-2.50, Z:-1.11 [[ 9.91039541e-01 1.33364094e-01 7.39230666e-03 7.12726993e+01] [-1.33361572e-01 9.91067098e-01 -8.35199186e-04 -2.49812052e+00] [-7.43765749e-03 -1.58134221e-04 9.99972328e-01 -1.11467510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters 0.01610095347541042 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.50, Z:-1.12 [[ 9.90576001e-01 1.36830033e-01 6.06034273e-03 7.13341461e+01] [-1.36828408e-01 9.90594528e-01 -6.83908101e-04 -2.50436783e+00] [-6.09692151e-03 -1.51764097e-04 9.99981402e-01 -1.11639484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters 0.01825526468003628 Centerline is valid? [True, True] Translation: X:71.39, Y:-2.51, Z:-1.12 [[ 9.89686771e-01 1.43159238e-01 5.05243541e-03 7.13946862e+01] [-1.43158176e-01 9.89699656e-01 -5.73119364e-04 -2.50572820e+00] [-5.08244092e-03 -1.56088785e-04 9.99987072e-01 -1.11807576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters 0.021580717030428142 Centerline is valid? [True, True] Translation: X:71.46, Y:-2.51, Z:-1.12 [[ 9.89224275e-01 1.46345430e-01 4.28344885e-03 7.14556587e+01] [-1.46344702e-01 9.89233538e-01 -4.84695656e-04 -2.50770912e+00] [-4.30826426e-03 -1.47387337e-04 9.99990709e-01 -1.12202914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters 0.020106230642797197 Centerline is valid? [True, True] Translation: X:71.52, Y:-2.51, Z:-1.12 [[ 9.88822925e-01 1.49041363e-01 3.98683303e-03 7.15177147e+01] [-1.49040750e-01 9.88830951e-01 -4.52112242e-04 -2.51434206e+00] [-4.00968732e-03 -1.47141633e-04 9.99991950e-01 -1.12069343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters 0.02152519891728078 Centerline is valid? [True, True] Translation: X:71.58, Y:-2.52, Z:-1.12 [[ 9.88534987e-01 1.50949704e-01 3.57300661e-03 7.15785297e+01] [-1.50949230e-01 9.88541434e-01 -4.03383600e-04 -2.51818954e+00] [-3.59295571e-03 -1.40583794e-04 9.99993535e-01 -1.12199831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters 0.02075977935268132 Centerline is valid? [True, True] Translation: X:71.64, Y:-2.53, Z:-1.12 [[ 9.88758483e-01 1.49466715e-01 4.04518089e-03 7.16400936e+01] [-1.49466091e-01 9.88766746e-01 -4.57889818e-04 -2.52656938e+00] [-4.06817964e-03 -1.51874933e-04 9.99991713e-01 -1.12236147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters 0.020248728348694407 Centerline is valid? [True, True] Translation: X:71.70, Y:-2.54, Z:-1.12 [[ 9.89213308e-01 1.46401438e-01 4.86317146e-03 7.17006514e+01] [-1.46400477e-01 9.89225249e-01 -5.54852230e-04 -2.53585318e+00] [-4.89200316e-03 -1.63103414e-04 9.99988021e-01 -1.12189304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters 0.017849070761166687 Centerline is valid? [True, True] Translation: X:71.76, Y:-2.55, Z:-1.12 [[ 9.89469824e-01 1.44621320e-01 5.84296529e-03 7.17620114e+01] [-1.44619914e-01 9.89487058e-01 -6.64729897e-04 -2.54726381e+00] [-5.87767265e-03 -1.87278961e-04 9.99982709e-01 -1.12152313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters 0.01794858173063756 Centerline is valid? [True, True] Translation: X:71.82, Y:-2.55, Z:-1.12 [[ 9.89801125e-01 1.42289129e-01 6.89467102e-03 7.18227429e+01] [-1.42287096e-01 9.89825117e-01 -7.87108142e-04 -2.55444762e+00] [-6.93651549e-03 -2.01942192e-04 9.99975922e-01 -1.12339285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters 0.0168162003016334 Centerline is valid? [True, True] Translation: X:71.88, Y:-2.56, Z:-1.12 [[ 9.90092605e-01 1.40139849e-01 8.80087465e-03 7.18838758e+01] [-1.40136423e-01 9.90131692e-01 -1.00773896e-03 -2.56478898e+00] [-8.85524929e-03 -2.35568202e-04 9.99960764e-01 -1.12471424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters 0.01659115335635449 Centerline is valid? [True, True] Translation: X:71.94, Y:-2.57, Z:-1.13 [[ 9.90348431e-01 1.38159581e-01 1.10415326e-02 7.19445795e+01] [-1.38154022e-01 9.90409944e-01 -1.26827073e-03 -2.57263746e+00] [-1.11108674e-02 -2.69402212e-04 9.99938236e-01 -1.12534884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters 0.016756023029470317 Centerline is valid? [True, True] Translation: X:72.01, Y:-2.58, Z:-1.13 [[ 9.90349763e-01 1.37871214e-01 1.41023305e-02 7.20061522e+01] [-1.37862056e-01 9.90450108e-01 -1.62415643e-03 -2.57863921e+00] [-1.41915791e-02 -3.35693336e-04 9.99899238e-01 -1.12616453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters 0.016213559759139618 Centerline is valid? [True, True] Translation: X:72.07, Y:-2.59, Z:-1.13 [[ 9.90249975e-01 1.38439478e-01 1.54756992e-02 7.20689520e+01] [-1.38428454e-01 9.90370825e-01 -1.78651183e-03 -2.58632376e+00] [-1.55740047e-02 -3.73183808e-04 9.99878648e-01 -1.12729975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters 0.01728524023632195 Centerline is valid? [True, True] Translation: X:72.13, Y:-2.59, Z:-1.13 [[ 9.89964617e-01 1.40442203e-01 1.56858224e-02 7.21295605e+01] [-1.40431055e-01 9.90088796e-01 -1.81539343e-03 -2.59006458e+00] [-1.57853148e-02 -4.05601329e-04 9.99875322e-01 -1.12976680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters 0.020050458768105274 Centerline is valid? [True, True] Translation: X:72.19, Y:-2.59, Z:-1.13 [[ 9.88628394e-01 1.49675083e-01 1.45350656e-02 7.21910338e+01] [-1.49666499e-01 9.88735105e-01 -1.68271949e-03 -2.58886676e+00] [-1.46231908e-02 -5.11828116e-04 9.99892944e-01 -1.13337942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters 0.020935855555608437 Centerline is valid? [True, True] Translation: X:72.25, Y:-2.59, Z:-1.14 [[ 9.88354914e-01 1.51544448e-01 1.37420502e-02 7.22527908e+01] [-1.51536960e-01 9.88450312e-01 -1.59059534e-03 -2.59423183e+00] [-1.38243797e-02 -5.10355792e-04 9.99904308e-01 -1.13523180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters 0.02190024414250999 Centerline is valid? [True, True] Translation: X:72.31, Y:-2.60, Z:-1.14 [[ 9.88124517e-01 1.53068651e-01 1.34137170e-02 7.23148311e+01] [-1.53061613e-01 9.88215423e-01 -1.55583103e-03 -2.59917832e+00] [-1.34937909e-02 -5.15770366e-04 9.99908822e-01 -1.13669849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters 0.023036473628812736 Centerline is valid? [True, True] Translation: X:72.38, Y:-2.60, Z:-1.14 [[ 9.87860445e-01 1.54738682e-01 1.36996756e-02 7.23768707e+01] [-1.54731453e-01 9.87955283e-01 -1.59245041e-03 -2.60348563e+00] [-1.37810805e-02 -5.46651932e-04 9.99904887e-01 -1.13925886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters 0.020494761334319767 Centerline is valid? [True, True] Translation: X:72.44, Y:-2.61, Z:-1.14 [[ 9.87910455e-01 1.54322484e-01 1.47480020e-02 7.24380312e+01] [-1.54314003e-01 9.88020362e-01 -1.71816697e-03 -2.61455806e+00] [-1.48364781e-02 -5.78428113e-04 9.99889766e-01 -1.13954961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters 0.019513546235204897 Centerline is valid? [True, True] Translation: X:72.50, Y:-2.62, Z:-1.14 [[ 9.88251799e-01 1.51907792e-01 1.68049018e-02 7.24984830e+01] [-1.51896354e-01 9.88394479e-01 -1.96239964e-03 -2.62345727e+00] [-1.69079760e-02 -6.13258339e-04 9.99856862e-01 -1.13872554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters 0.01840940033592462 Centerline is valid? [True, True] Translation: X:72.56, Y:-2.63, Z:-1.14 [[ 9.88669952e-01 1.48927798e-01 1.87679952e-02 7.25592061e+01] [-1.48912981e-01 9.88847874e-01 -2.19239661e-03 -2.63252418e+00] [-1.88852010e-02 -6.27241467e-04 9.99821462e-01 -1.13872982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters 0.019322258238302074 Centerline is valid? [True, True] Translation: X:72.62, Y:-2.64, Z:-1.14 [[ 9.88871375e-01 1.47489008e-01 1.95037624e-02 7.26199902e+01] [-1.47472697e-01 9.89063499e-01 -2.27982024e-03 -2.63764714e+00] [-1.96267079e-02 -6.21823464e-04 9.99807184e-01 -1.13995253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters 0.017166440125432638 Centerline is valid? [True, True] Translation: X:72.68, Y:-2.65, Z:-1.14 [[ 9.88876086e-01 1.47626208e-01 1.81821264e-02 7.26822964e+01] [-1.47611981e-01 9.89043057e-01 -2.12946474e-03 -2.64616056e+00] [-1.82972706e-02 -5.78122942e-04 9.99832424e-01 -1.14354857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters 0.017125828127228595 Centerline is valid? [True, True] Translation: X:72.74, Y:-2.65, Z:-1.15 [[ 9.88964153e-01 1.47240718e-01 1.64339856e-02 7.27441281e+01] [-1.47228969e-01 9.89100556e-01 -1.92908806e-03 -2.65289957e+00] [-1.65389046e-02 -5.11759831e-04 9.99863092e-01 -1.14598961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters 0.017895069024028452 Centerline is valid? [True, True] Translation: X:72.81, Y:-2.66, Z:-1.15 [[ 9.88976493e-01 1.47269411e-01 1.54018301e-02 7.28062025e+01] [-1.47259039e-01 9.89096301e-01 -1.81159840e-03 -2.65859390e+00] [-1.55006862e-02 -4.76430460e-04 9.99879744e-01 -1.14819474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters 0.016906280841475572 Centerline is valid? [True, True] Translation: X:72.87, Y:-2.67, Z:-1.15 [[ 9.89104060e-01 1.46566551e-01 1.38349278e-02 7.28672929e+01] [-1.46558067e-01 9.89200725e-01 -1.63062029e-03 -2.66731562e+00] [-1.39245150e-02 -4.14767143e-04 9.99902963e-01 -1.15035273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters 0.01636010742142091 Centerline is valid? [True, True] Translation: X:72.93, Y:-2.68, Z:-1.15 [[ 9.89317933e-01 1.45103429e-01 1.39650676e-02 7.29286742e+01] [-1.45094589e-01 9.89416414e-01 -1.64950455e-03 -2.67675184e+00] [-1.40566158e-02 -3.94371307e-04 9.99901123e-01 -1.15113613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters 0.01704800828187094 Centerline is valid? [True, True] Translation: X:72.99, Y:-2.68, Z:-1.15 [[ 9.89123122e-01 1.46486454e-01 1.33104705e-02 7.29906252e+01] [-1.46478506e-01 9.89212599e-01 -1.57534741e-03 -2.68367123e+00] [-1.33976522e-02 -3.91485296e-04 9.99910171e-01 -1.15183697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters 0.016777252625645087 Centerline is valid? [True, True] Translation: X:73.05, Y:-2.69, Z:-1.15 [[ 9.88892524e-01 1.47983664e-01 1.38712419e-02 7.30524117e+01] [-1.47975129e-01 9.88989714e-01 -1.64531407e-03 -2.69098879e+00] [-1.39619952e-02 -4.25560029e-04 9.99902436e-01 -1.15191198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters 0.019595599040573373 Centerline is valid? [True, True] Translation: X:73.11, Y:-2.69, Z:-1.15 [[ 9.88285410e-01 1.51897646e-01 1.48004653e-02 7.31129265e+01] [-1.51888304e-01 9.88396098e-01 -1.75977060e-03 -2.69242262e+00] [-1.48960272e-02 -5.08861965e-04 9.99888919e-01 -1.15164056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters 0.02078489813475841 Centerline is valid? [True, True] Translation: X:73.17, Y:-2.70, Z:-1.15 [[ 9.87688437e-01 1.55795171e-01 1.41215075e-02 7.31738217e+01] [-1.55787061e-01 9.87789234e-01 -1.67928141e-03 -2.69690382e+00] [-1.42106970e-02 -5.41341316e-04 9.99898876e-01 -1.15201274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters 0.02393201446642103 Centerline is valid? [True, True] Translation: X:73.23, Y:-2.70, Z:-1.15 [[ 9.87021256e-01 1.60117046e-01 1.23114451e-02 7.32346335e+01] [-1.60111215e-01 9.87097895e-01 -1.46421808e-03 -2.69729180e+00] [-1.23870478e-02 -5.25986063e-04 9.99923139e-01 -1.15387853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters 0.02393038672069819 Centerline is valid? [True, True] Translation: X:73.30, Y:-2.70, Z:-1.15 [[ 9.86713828e-01 1.62055783e-01 1.15648136e-02 7.32961676e+01] [-1.62050771e-01 9.86781463e-01 -1.37538296e-03 -2.70352034e+00] [-1.16348324e-02 -5.16977574e-04 9.99932179e-01 -1.15483055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters 0.02419824440871731 Centerline is valid? [True, True] Translation: X:73.36, Y:-2.71, Z:-1.16 [[ 9.86892671e-01 1.60986552e-01 1.12332642e-02 7.33577108e+01] [-1.60981755e-01 9.86956478e-01 -1.33593847e-03 -2.70931444e+00] [-1.13018110e-02 -4.89922702e-04 9.99936012e-01 -1.15522793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters 0.021463268331274824 Centerline is valid? [True, True] Translation: X:73.42, Y:-2.72, Z:-1.16 [[ 9.87935030e-01 1.54464324e-01 1.11869813e-02 7.34171318e+01] [-1.54459105e-01 9.87998282e-01 -1.33418016e-03 -2.72092693e+00] [-1.12588015e-02 -4.09847805e-04 9.99936534e-01 -1.15536123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters 0.02023683803733763 Centerline is valid? [True, True] Translation: X:73.48, Y:-2.73, Z:-1.16 [[ 9.88377497e-01 1.51627095e-01 1.09154604e-02 7.34775673e+01] [-1.51621954e-01 9.88437701e-01 -1.30180404e-03 -2.73076966e+00] [-1.09866413e-02 -3.68349611e-04 9.99939577e-01 -1.15600627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters 0.015533539939163718 Centerline is valid? [True, True] Translation: X:73.54, Y:-2.75, Z:-1.16 [[ 9.89746748e-01 1.42482866e-01 1.00004268e-02 7.35373249e+01] [-1.42478080e-01 9.89797238e-01 -1.19305987e-03 -2.74714993e+00] [-1.00683854e-02 -2.44014478e-04 9.99949283e-01 -1.15592649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters 0.012875655098282429 Centerline is valid? [True, True] Translation: X:73.60, Y:-2.76, Z:-1.16 [[ 9.91168700e-01 1.32312439e-01 8.83322077e-03 7.35971511e+01] [-1.32308299e-01 9.91208052e-01 -1.05396633e-03 -2.76101464e+00] [-8.89501241e-03 -1.24049981e-04 9.99960431e-01 -1.15719070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters 0.011957765740450325 Centerline is valid? [True, True] Translation: X:73.66, Y:-2.77, Z:-1.16 [[ 9.91981687e-01 1.26112397e-01 8.24600506e-03 7.36584169e+01] [-1.26108588e-01 9.92015957e-01 -9.82311042e-04 -2.77365919e+00] [-8.30405020e-03 -6.54574903e-05 9.99965519e-01 -1.15819123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters 0.011778385432856826 Centerline is valid? [True, True] Translation: X:73.72, Y:-2.79, Z:-1.16 [[ 9.93000175e-01 1.17933803e-01 6.50153556e-03 7.37183165e+01] [-1.17931253e-01 9.93021459e-01 -7.75479056e-04 -2.78872970e+00] [-6.54761952e-03 3.31660326e-06 9.99978564e-01 -1.15932818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters 0.012415086300154272 Centerline is valid? [True, True] Translation: X:73.78, Y:-2.80, Z:-1.16 [[ 9.93692705e-01 1.12070113e-01 3.88554694e-03 7.37792378e+01] [-1.12069161e-01 9.93700302e-01 -4.62621261e-04 -2.80161112e+00] [-3.91291519e-03 2.42533874e-05 9.99992344e-01 -1.16100456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters 0.013314243328898743 Centerline is valid? [True, True] Translation: X:73.84, Y:-2.81, Z:-1.16 [[ 9.94115609e-01 1.08290179e-01 2.71884897e-03 7.38403013e+01] [-1.08289700e-01 9.94119327e-01 -3.23253433e-04 -2.81419213e+00] [-2.73786548e-03 2.69279439e-05 9.99996252e-01 -1.16199243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters 0.013921279358838898 Centerline is valid? [True, True] Translation: X:73.90, Y:-2.83, Z:-1.16 [[ 9.94546641e-01 1.04200604e-01 4.38321610e-03 7.39016548e+01] [-1.04199304e-01 9.94556298e-01 -5.24555931e-04 -2.82691561e+00] [-4.41401422e-03 6.49672733e-05 9.99990256e-01 -1.15946820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters 0.014184648694485439 Centerline is valid? [True, True] Translation: X:73.96, Y:-2.84, Z:-1.16 [[ 9.94639016e-01 1.03252825e-01 5.66413841e-03 7.39637358e+01] [-1.03250626e-01 9.94655139e-01 -6.80054519e-04 -2.83651929e+00] [-5.70408192e-03 9.15829202e-05 9.99983727e-01 -1.15948281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters 0.014513670292822202 Centerline is valid? [True, True] Translation: X:74.03, Y:-2.85, Z:-1.16 [[ 9.94644566e-01 1.03196009e-01 5.72456142e-03 7.40258346e+01] [-1.03193752e-01 9.94661035e-01 -6.89016684e-04 -2.84560786e+00] [-5.76510196e-03 9.45877291e-05 9.99983377e-01 -1.16020601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters 0.014529492768785408 Centerline is valid? [True, True] Translation: X:74.09, Y:-2.85, Z:-1.16 [[ 9.94579251e-01 1.03791021e-01 6.28792897e-03 7.40870544e+01] [-1.03788294e-01 9.94599122e-01 -7.59369059e-04 -2.85420289e+00] [-6.33278432e-03 1.02639289e-04 9.99979942e-01 -1.16041032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters 0.014013688832931281 Centerline is valid? [True, True] Translation: X:74.15, Y:-2.86, Z:-1.16 [[ 9.94259294e-01 1.06815846e-01 6.23154696e-03 7.41490824e+01] [-1.06813217e-01 9.94278818e-01 -7.54050738e-04 -2.86014083e+00] [-6.27643971e-03 8.41103757e-05 9.99980299e-01 -1.16148684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters 0.013390410155471572 Centerline is valid? [True, True] Translation: X:74.21, Y:-2.87, Z:-1.16 [[ 9.94052320e-01 1.08717123e-01 6.36968504e-03 7.42107738e+01] [-1.08714406e-01 9.94072724e-01 -7.72324050e-04 -2.86547544e+00] [-6.41589501e-03 7.52539878e-05 9.99979415e-01 -1.16258669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters 0.013281732380199453 Centerline is valid? [True, True] Translation: X:74.27, Y:-2.87, Z:-1.16 [[ 9.93922960e-01 1.09861958e-01 6.89196216e-03 7.42720005e+01] [-1.09858790e-01 9.93946852e-01 -8.37694949e-04 -2.87331691e+00] [-6.94227490e-03 7.54616179e-05 9.99975899e-01 -1.16405305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters 0.012805501562065837 Centerline is valid? [True, True] Translation: X:74.33, Y:-2.88, Z:-1.17 [[ 9.93862606e-01 1.10428778e-01 6.52725272e-03 7.43343995e+01] [-1.10425943e-01 9.93884038e-01 -7.94339224e-04 -2.88010946e+00] [-6.57505020e-03 6.86860157e-05 9.99978382e-01 -1.16507447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters 0.012833191363160742 Centerline is valid? [True, True] Translation: X:74.40, Y:-2.89, Z:-1.17 [[ 9.93804389e-01 1.10964131e-01 6.30857290e-03 7.43966546e+01] [-1.10961482e-01 9.93824410e-01 -7.69396049e-04 -2.88732182e+00] [-6.35498911e-03 6.46205728e-05 9.99979805e-01 -1.16733431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters 0.0128567596527516 Centerline is valid? [True, True] Translation: X:74.46, Y:-2.90, Z:-1.17 [[ 9.93743483e-01 1.11528842e-01 5.93355483e-03 7.44593724e+01] [-1.11526500e-01 9.93761196e-01 -7.25120336e-04 -2.89505902e+00] [-5.97740837e-03 5.88350038e-05 9.99982133e-01 -1.16936505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters 0.012592420658220808 Centerline is valid? [True, True] Translation: X:74.52, Y:-2.90, Z:-1.17 [[ 9.93598285e-01 1.12795013e-01 6.30341151e-03 7.45213559e+01] [-1.12792381e-01 9.93618278e-01 -7.72713262e-04 -2.90318680e+00] [-6.35034309e-03 5.67897819e-05 9.99979835e-01 -1.17002921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters 0.012034718720569477 Centerline is valid? [True, True] Translation: X:74.58, Y:-2.91, Z:-1.17 [[ 9.93397600e-01 1.14501748e-01 7.11039074e-03 7.45826879e+01] [-1.14498427e-01 9.93423045e-01 -8.73792950e-04 -2.90986347e+00] [-7.16367684e-03 5.38952649e-05 9.99974339e-01 -1.16937916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters 0.011729949766939597 Centerline is valid? [True, True] Translation: X:74.64, Y:-2.92, Z:-1.17 [[ 9.93157656e-01 1.16485911e-01 8.30074428e-03 7.46448753e+01] [-1.16481424e-01 9.93192343e-01 -1.02366632e-03 -2.91747368e+00] [-8.36347836e-03 4.97795284e-05 9.99965024e-01 -1.17046615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters 0.011368321234416195 Centerline is valid? [True, True] Translation: X:74.71, Y:-2.93, Z:-1.17 [[ 9.92933650e-01 1.18270737e-01 9.73647676e-03 7.47060576e+01] [-1.18264640e-01 9.92981385e-01 -1.20169843e-03 -2.92585566e+00] [-9.81026594e-03 4.17258955e-05 9.99951877e-01 -1.17060062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters 0.011220513190595027 Centerline is valid? [True, True] Translation: X:74.77, Y:-2.93, Z:-1.17 [[ 9.92690115e-01 1.20297244e-01 9.74211163e-03 7.47680615e+01] [-1.20291215e-01 9.92737917e-01 -1.20465012e-03 -2.93403625e+00] [-9.81627970e-03 2.39538251e-05 9.99951819e-01 -1.17106219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters 0.011047584231293187 Centerline is valid? [True, True] Translation: X:74.83, Y:-2.94, Z:-1.17 [[ 9.92335517e-01 1.23251696e-01 8.90171867e-03 7.48303104e+01] [-1.23246762e-01 9.92375443e-01 -1.10285343e-03 -2.94088169e+00] [-8.96977556e-03 -2.70736791e-06 9.99959771e-01 -1.17247831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters 0.011157712641809606 Centerline is valid? [True, True] Translation: X:74.89, Y:-2.95, Z:-1.18 [[ 9.92067244e-01 1.25507363e-01 7.10526151e-03 7.48912553e+01] [-1.25504266e-01 9.92092688e-01 -8.81938755e-04 -2.94826013e+00] [-7.15976780e-03 -1.67980764e-05 9.99974368e-01 -1.17539383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters 0.011100263845301323 Centerline is valid? [True, True] Translation: X:74.95, Y:-2.96, Z:-1.18 [[ 9.92062024e-01 1.25576784e-01 6.58872710e-03 7.49522508e+01] [-1.25574115e-01 9.92083903e-01 -8.18809833e-04 -2.95947121e+00] [-6.63939360e-03 -1.50634344e-05 9.99977959e-01 -1.17687166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters 0.010971072109441255 Centerline is valid? [True, True] Translation: X:75.01, Y:-2.97, Z:-1.18 [[ 9.92465852e-01 1.22283797e-01 7.62929378e-03 7.50142866e+01] [-1.22280102e-01 9.92495175e-01 -9.50631619e-04 -2.97239665e+00] [-7.68828411e-03 1.05585990e-05 9.99970445e-01 -1.17686740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters 0.010968627011817477 Centerline is valid? [True, True] Translation: X:75.08, Y:-2.98, Z:-1.18 [[ 9.92716971e-01 1.20150376e-01 8.76937767e-03 7.50768660e+01] [-1.20145384e-01 9.92755703e-01 -1.09586015e-03 -2.98281489e+00] [-8.83751770e-03 3.42787270e-05 9.99960948e-01 -1.17746421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters 0.01090176542891839 Centerline is valid? [True, True] Translation: X:75.14, Y:-2.99, Z:-1.18 [[ 9.92751477e-01 1.19791311e-01 9.72351750e-03 7.51389872e+01] [-1.19785124e-01 9.92799093e-01 -1.21834405e-03 -2.99260419e+00] [-9.79944639e-03 4.47801079e-05 9.99951983e-01 -1.17803092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters 0.010712161962983338 Centerline is valid? [True, True] Translation: X:75.20, Y:-3.00, Z:-1.18 [[ 9.92465000e-01 1.22203663e-01 8.91559958e-03 7.52019600e+01] [-1.22198540e-01 9.92505045e-01 -1.11922615e-03 -2.99971392e+00] [-8.98555110e-03 2.13195350e-05 9.99959629e-01 -1.17920106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters 0.01057398076809629 Centerline is valid? [True, True] Translation: X:75.26, Y:-3.00, Z:-1.18 [[ 9.91719308e-01 1.28135808e-01 8.60404647e-03 7.52649680e+01] [-1.28131240e-01 9.91756630e-01 -1.08235581e-03 -3.00418455e+00] [-8.67180867e-03 -2.90539827e-05 9.99962399e-01 -1.18037716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters 0.010891206185485508 Centerline is valid? [True, True] Translation: X:75.33, Y:-3.01, Z:-1.18 [[ 9.91051020e-01 1.33148486e-01 9.45279817e-03 7.53266656e+01] [-1.33143168e-01 9.91096098e-01 -1.19246503e-03 -3.00840538e+00] [-9.52740629e-03 -7.67818155e-05 9.99954610e-01 -1.18008674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters 0.012103147003287048 Centerline is valid? [True, True] Translation: X:75.39, Y:-3.01, Z:-1.18 [[ 9.90045601e-01 1.40398624e-01 9.89622184e-03 7.53885444e+01] [-1.40393129e-01 9.90095048e-01 -1.25121056e-03 -3.00987662e+00] [-9.97386848e-03 -1.50606042e-04 9.99950248e-01 -1.18154742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters 0.012794261542985741 Centerline is valid? [True, True] Translation: X:75.45, Y:-3.01, Z:-1.18 [[ 9.89537961e-01 1.44007925e-01 8.73731045e-03 7.54503974e+01] [-1.44003770e-01 9.89576521e-01 -1.10615270e-03 -3.01474694e+00] [-8.80553203e-03 -1.63625552e-04 9.99961217e-01 -1.18341930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters 0.012981423612084845 Centerline is valid? [True, True] Translation: X:75.51, Y:-3.02, Z:-1.18 [[ 9.89359581e-01 1.45275847e-01 7.90868670e-03 7.55116056e+01] [-1.45272463e-01 9.89391178e-01 -1.00376719e-03 -3.02214251e+00] [-7.97060798e-03 -1.55827710e-04 9.99968222e-01 -1.18478769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters 0.012870116371787614 Centerline is valid? [True, True] Translation: X:75.57, Y:-3.03, Z:-1.19 [[ 9.89650815e-01 1.43365666e-01 6.12785517e-03 7.55717620e+01] [-1.43363596e-01 9.89669780e-01 -7.78059487e-04 -3.03079069e+00] [-6.17610009e-03 -1.08504147e-04 9.99980922e-01 -1.18691243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters 0.012089442026842555 Centerline is valid? [True, True] Translation: X:75.63, Y:-3.04, Z:-1.19 [[ 9.90043137e-01 1.40643224e-01 5.83691543e-03 7.56328130e+01] [-1.40641300e-01 9.90060340e-01 -7.40814029e-04 -3.04154983e+00] [-5.88308895e-03 -8.74735285e-05 9.99982691e-01 -1.18783976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters 0.010945021560358984 Centerline is valid? [True, True] Translation: X:75.69, Y:-3.05, Z:-1.19 [[ 9.90853477e-01 1.34782312e-01 6.56626050e-03 7.56938592e+01] [-1.34779734e-01 9.90875232e-01 -8.35486758e-04 -3.05480633e+00] [-6.61895373e-03 -5.71538860e-05 9.99978093e-01 -1.18841849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters 0.010435884473974177 Centerline is valid? [True, True] Translation: X:75.75, Y:-3.07, Z:-1.19 [[ 9.91584886e-01 1.29266045e-01 7.05004888e-03 7.57548738e+01] [-1.29262920e-01 9.91609948e-01 -8.99085790e-04 -3.06746379e+00] [-7.10711987e-03 -1.97900238e-05 9.99974744e-01 -1.19005492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters 0.010646106367661903 Centerline is valid? [True, True] Translation: X:75.82, Y:-3.08, Z:-1.19 [[ 9.92447090e-01 1.22396785e-01 8.23415795e-03 7.58167397e+01] [-1.22392266e-01 9.92481247e-01 -1.05246792e-03 -3.08002725e+00] [-8.30106604e-03 3.67214734e-05 9.99965545e-01 -1.19005751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters 0.010874772199726287 Centerline is valid? [True, True] Translation: X:75.88, Y:-3.09, Z:-1.19 [[ 9.92678753e-01 1.20487253e-01 8.46850844e-03 7.58792671e+01] [-1.20482382e-01 9.92714873e-01 -1.08492383e-03 -3.08949545e+00] [-8.53753377e-03 5.66747648e-05 9.99963553e-01 -1.19000240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters 0.0106178592983108 Centerline is valid? [True, True] Translation: X:75.94, Y:-3.09, Z:-1.19 [[ 9.92429147e-01 1.22535186e-01 8.33769570e-03 7.59411217e+01] [-1.22530515e-01 9.92464169e-01 -1.07070739e-03 -3.09449614e+00] [-8.40606356e-03 4.09790743e-05 9.99964668e-01 -1.19040087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters 0.010508874379077061 Centerline is valid? [True, True] Translation: X:76.00, Y:-3.10, Z:-1.19 [[ 9.92081717e-01 1.25367448e-01 7.54120361e-03 7.60025411e+01] [-1.25363698e-01 9.92110378e-01 -9.69864779e-04 -3.09841789e+00] [-7.60329584e-03 1.67919457e-05 9.99971094e-01 -1.19245630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters 0.010361748374260783 Centerline is valid? [True, True] Translation: X:76.07, Y:-3.10, Z:-1.19 [[ 9.91651268e-01 1.28689630e-01 8.16958286e-03 7.60658694e+01] [-1.28685321e-01 9.91684919e-01 -1.05314379e-03 -3.10251703e+00] [-8.23718080e-03 -6.95402206e-06 9.99966074e-01 -1.19256871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters 0.010481003879424132 Centerline is valid? [True, True] Translation: X:76.13, Y:-3.11, Z:-1.19 [[ 9.91284242e-01 1.31516162e-01 7.68443328e-03 7.61286052e+01] [-1.31512419e-01 9.91314026e-01 -9.92545509e-04 -3.10815896e+00] [-7.74822227e-03 -2.67036881e-05 9.99969982e-01 -1.19343027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters 0.010624804284313276 Centerline is valid? [True, True] Translation: X:76.19, Y:-3.11, Z:-1.19 [[ 9.90856638e-01 1.34733015e-01 7.08077079e-03 7.61904162e+01] [-1.34729905e-01 9.90881937e-01 -9.16589133e-04 -3.11267701e+00] [-7.13970269e-03 -4.57831503e-05 9.99974511e-01 -1.19482976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters 0.011559789146202249 Centerline is valid? [True, True] Translation: X:76.25, Y:-3.11, Z:-1.20 [[ 9.90012258e-01 1.40809402e-01 6.95993781e-03 7.62524310e+01] [-1.40806535e-01 9.90036719e-01 -9.02765215e-04 -3.11352237e+00] [-7.01771182e-03 -8.62560932e-05 9.99975372e-01 -1.19585506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters 0.011870092394267574 Centerline is valid? [True, True] Translation: X:76.31, Y:-3.12, Z:-1.20 [[ 9.89800837e-01 1.42318930e-01 6.29489818e-03 7.63145764e+01] [-1.42316608e-01 9.89820850e-01 -8.17433185e-04 -3.12009229e+00] [-6.34715768e-03 -8.67725089e-05 9.99979853e-01 -1.19675932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters 0.012082866418890456 Centerline is valid? [True, True] Translation: X:76.38, Y:-3.12, Z:-1.20 [[ 9.89661587e-01 1.43347458e-01 4.63144531e-03 7.63760459e+01] [-1.43346212e-01 9.89672421e-01 -6.01740346e-04 -3.12481505e+00] [-4.66987165e-03 -6.83808338e-05 9.99989094e-01 -1.19846958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters 0.011389431090274927 Centerline is valid? [True, True] Translation: X:76.44, Y:-3.13, Z:-1.20 [[ 9.89995321e-01 1.41028645e-01 4.49293035e-03 7.64377460e+01] [-1.41027445e-01 9.90005514e-01 -5.84410183e-04 -3.13362635e+00] [-4.53044440e-03 -5.50631421e-05 9.99989736e-01 -1.19923586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters 0.01072927397028436 Centerline is valid? [True, True] Translation: X:76.50, Y:-3.14, Z:-1.20 [[ 9.90445802e-01 1.37791145e-01 5.54193698e-03 7.64992235e+01] [-1.37789255e-01 9.90461306e-01 -7.23149669e-04 -3.14349799e+00] [-5.58871776e-03 -4.73788135e-05 9.99984382e-01 -1.19891725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters 0.010323401702491441 Centerline is valid? [True, True] Translation: X:76.56, Y:-3.15, Z:-1.20 [[ 9.91159108e-01 1.32510856e-01 6.67050309e-03 7.65602869e+01] [-1.32507983e-01 9.91181554e-01 -8.72851809e-04 -3.15460426e+00] [-6.72734196e-03 -1.87598875e-05 9.99977371e-01 -1.19830000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters 0.010434686402873497 Centerline is valid? [True, True] Translation: X:76.62, Y:-3.16, Z:-1.20 [[ 9.91350808e-01 1.31066925e-01 6.71100668e-03 7.66217637e+01] [-1.31063972e-01 9.91373523e-01 -8.79762938e-04 -3.16323959e+00] [-6.76842215e-03 -7.41749534e-06 9.99977094e-01 -1.19902553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters 0.01037069550671096 Centerline is valid? [True, True] Translation: X:76.68, Y:-3.17, Z:-1.20 [[ 9.91124742e-01 1.32716238e-01 7.62540840e-03 7.66848327e+01] [-1.32712456e-01 9.91154075e-01 -1.00214186e-03 -3.16821102e+00] [-7.69095510e-03 -1.87390816e-05 9.99970424e-01 -1.19946321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters 0.010499002083355488 Centerline is valid? [True, True] Translation: X:76.75, Y:-3.17, Z:-1.20 [[ 9.90792649e-01 1.35175597e-01 7.58187744e-03 7.67471857e+01] [-1.35171912e-01 9.90821657e-01 -9.98676316e-04 -3.17285260e+00] [-7.64728504e-03 -3.53757192e-05 9.99970758e-01 -1.20072719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters 0.010731644063500185 Centerline is valid? [True, True] Translation: X:76.81, Y:-3.18, Z:-1.20 [[ 9.90349303e-01 1.38483353e-01 5.53339673e-03 7.68092322e+01] [-1.38481440e-01 9.90364761e-01 -7.29330839e-04 -3.17725657e+00] [-5.58108131e-03 -4.39804572e-05 9.99984425e-01 -1.20295006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters 0.010967103759054016 Centerline is valid? [True, True] Translation: X:76.87, Y:-3.18, Z:-1.21 [[ 9.90156753e-01 1.39908325e-01 3.90715281e-03 7.68712088e+01] [-1.39907382e-01 9.90164461e-01 -5.14835655e-04 -3.18281368e+00] [-3.94075365e-03 -3.68715215e-05 9.99992235e-01 -1.20566256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters 0.01082913978032189 Centerline is valid? [True, True] Translation: X:76.93, Y:-3.19, Z:-1.21 [[ 9.90292181e-01 1.38926604e-01 4.56012368e-03 7.69332617e+01] [-1.38925302e-01 9.90302680e-01 -6.02723520e-04 -3.18975537e+00] [-4.59963703e-03 -3.66441686e-05 9.99989421e-01 -1.20676102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters 0.01058999415571198 Centerline is valid? [True, True] Translation: X:77.00, Y:-3.20, Z:-1.21 [[ 9.90382263e-01 1.38237528e-01 5.77567507e-03 7.69950445e+01] [-1.38235412e-01 9.90399104e-01 -7.65865951e-04 -3.19776483e+00] [-5.82609483e-03 -3.99027701e-05 9.99983027e-01 -1.20668483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters 0.010617482771408629 Centerline is valid? [True, True] Translation: X:77.06, Y:-3.21, Z:-1.21 [[ 9.90361878e-01 1.38366576e-01 6.16781024e-03 7.70577168e+01] [-1.38364156e-01 9.90381083e-01 -8.19341603e-04 -3.20626188e+00] [-6.22185208e-03 -4.19591729e-05 9.99980643e-01 -1.20721290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters 0.010777691822448324 Centerline is valid? [True, True] Translation: X:77.12, Y:-3.21, Z:-1.21 [[ 9.90077162e-01 1.40379275e-01 6.39319719e-03 7.71207404e+01] [-1.40376705e-01 9.90097801e-01 -8.51188304e-04 -3.21270207e+00] [-6.44937968e-03 -5.47138583e-05 9.99979201e-01 -1.20731561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters 0.011752829522099946 Centerline is valid? [True, True] Translation: X:77.18, Y:-3.22, Z:-1.21 [[ 9.89450561e-01 1.44743819e-01 6.06750018e-03 7.71821656e+01] [-1.44741573e-01 9.89469161e-01 -8.09923051e-04 -3.21544374e+00] [-6.12083567e-03 -7.68407029e-05 9.99981265e-01 -1.20967350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters 0.012263543824328827 Centerline is valid? [True, True] Translation: X:77.24, Y:-3.22, Z:-1.21 [[ 9.88837035e-01 1.48893929e-01 5.64936837e-03 7.72435295e+01] [-1.48892044e-01 9.88853169e-01 -7.55168371e-04 -3.22138502e+00] [-5.69883580e-03 -9.44075499e-05 9.99983757e-01 -1.21016940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters 0.013342676246296403 Centerline is valid? [True, True] Translation: X:77.31, Y:-3.23, Z:-1.21 [[ 9.88234325e-01 1.52856533e-01 5.27252225e-03 7.73058227e+01] [-1.52854943e-01 9.88248384e-01 -7.05606889e-04 -3.22607693e+00] [-5.31841822e-03 -1.08626140e-04 9.99985851e-01 -1.21247509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters 0.013697026591999104 Centerline is valid? [True, True] Translation: X:77.37, Y:-3.23, Z:-1.21 [[ 9.88050049e-01 1.53975208e-01 6.98117378e-03 7.73688536e+01] [-1.53972429e-01 9.88074700e-01 -9.36966396e-04 -3.23291246e+00] [-7.04219079e-03 -1.49138592e-04 9.99975192e-01 -1.21323832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters 0.013167239956016465 Centerline is valid? [True, True] Translation: X:77.43, Y:-3.24, Z:-1.21 [[ 9.88095507e-01 1.53653919e-01 7.59879465e-03 7.74300191e+01] [-1.53650596e-01 9.88124713e-01 -1.02266556e-03 -3.24245829e+00] [-7.66569335e-03 -1.57068083e-04 9.99970606e-01 -1.21336500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters 0.012879252136168896 Centerline is valid? [True, True] Translation: X:77.49, Y:-3.25, Z:-1.21 [[ 9.88337025e-01 1.52008894e-01 9.12256388e-03 7.74911557e+01] [-1.52004006e-01 9.88379111e-01 -1.23085287e-03 -3.25175811e+00] [-9.20365216e-03 -1.70168787e-04 9.99957631e-01 -1.21316723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters 0.012032634961465595 Centerline is valid? [True, True] Translation: X:77.55, Y:-3.26, Z:-1.21 [[ 9.88810515e-01 1.48855990e-01 9.78061964e-03 7.75526225e+01] [-1.48850190e-01 9.88858874e-01 -1.32234821e-03 -3.26314225e+00] [-9.86849197e-03 -1.48295275e-04 9.99951294e-01 -1.21430808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters 0.011555595279935722 Centerline is valid? [True, True] Translation: X:77.61, Y:-3.27, Z:-1.22 [[ 9.89071654e-01 1.47160105e-01 9.00925128e-03 7.76136685e+01] [-1.47155096e-01 9.89112678e-01 -1.21999666e-03 -3.27312519e+00] [-9.09069949e-03 -1.19093121e-04 9.99958672e-01 -1.21672661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters 0.011212240480370277 Centerline is valid? [True, True] Translation: X:77.67, Y:-3.28, Z:-1.22 [[ 9.89594699e-01 1.43673845e-01 7.75611700e-03 7.76741222e+01] [-1.43670013e-01 9.89625091e-01 -1.05189222e-03 -3.28400163e+00] [-7.82677739e-03 -7.33744665e-05 9.99969368e-01 -1.22078316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters 0.010791733756550646 Centerline is valid? [True, True] Translation: X:77.74, Y:-3.30, Z:-1.22 [[ 9.90202101e-01 1.39464072e-01 7.04072251e-03 7.77353362e+01] [-1.39460790e-01 9.90227131e-01 -9.57406020e-04 -3.29846088e+00] [-7.10543819e-03 -3.38792680e-05 9.99974755e-01 -1.22189531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters 0.010639353156714092 Centerline is valid? [True, True] Translation: X:77.80, Y:-3.31, Z:-1.22 [[ 9.90579090e-01 1.36758446e-01 7.08481734e-03 7.77967382e+01] [-1.36755059e-01 9.90604425e-01 -9.62665087e-04 -3.31051964e+00] [-7.14990399e-03 -1.52887081e-05 9.99974439e-01 -1.22290597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters 0.010789651178348165 Centerline is valid? [True, True] Translation: X:77.86, Y:-3.32, Z:-1.22 [[ 9.91199674e-01 1.32065753e-01 9.04668201e-03 7.78574039e+01] [-1.32060004e-01 9.91240958e-01 -1.23254801e-03 -3.32403215e+00] [-9.13021912e-03 2.69963219e-05 9.99958318e-01 -1.22319915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters 0.011226014217305427 Centerline is valid? [True, True] Translation: X:77.92, Y:-3.34, Z:-1.22 [[ 9.91642953e-01 1.28557521e-01 1.08266881e-02 7.79176934e+01] [-1.28549040e-01 9.91702051e-01 -1.47848460e-03 -3.33677903e+00] [-1.09269191e-02 7.43684692e-05 9.99940297e-01 -1.22348145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters 0.01151859378564254 Centerline is valid? [True, True] Translation: X:77.98, Y:-3.35, Z:-1.22 [[ 9.91983850e-01 1.25723263e-01 1.27162035e-02 7.79789255e+01] [-1.25711278e-01 9.92065343e-01 -1.74064958e-03 -3.35060938e+00] [-1.28341449e-02 1.28126084e-04 9.99917631e-01 -1.22267493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters 0.011170161556579378 Centerline is valid? [True, True] Translation: X:78.04, Y:-3.36, Z:-1.22 [[ 9.91637842e-01 1.28293084e-01 1.39740511e-02 7.80405296e+01] [-1.28278811e-01 9.91736292e-01 -1.91670826e-03 -3.35853253e+00] [-1.41044741e-02 1.08105783e-04 9.99900521e-01 -1.22341618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters 0.01074734222850902 Centerline is valid? [True, True] Translation: X:78.10, Y:-3.36, Z:-1.23 [[ 9.90964424e-01 1.33378395e-01 1.41320149e-02 7.81022263e+01] [-1.33364264e-01 9.91065186e-01 -1.94191743e-03 -3.36363193e+00] [-1.42647578e-02 3.96653253e-05 9.99898252e-01 -1.22533762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters 0.01109414140302439 Centerline is valid? [True, True] Translation: X:78.16, Y:-3.37, Z:-1.23 [[ 9.89533578e-01 1.43723042e-01 1.29223124e-02 7.81644196e+01] [-1.43712070e-01 9.89617945e-01 -1.77855280e-03 -3.36632251e+00] [-1.30437712e-02 -9.71545366e-05 9.99914922e-01 -1.22729882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters 0.011912211984664429 Centerline is valid? [True, True] Translation: X:78.23, Y:-3.37, Z:-1.23 [[ 9.88652730e-01 1.49675588e-01 1.27670311e-02 7.82267654e+01] [-1.49665333e-01 9.88735146e-01 -1.76033068e-03 -3.37144816e+00] [-1.28866909e-02 -1.70426238e-04 9.99916949e-01 -1.22867866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters 0.013102038968896454 Centerline is valid? [True, True] Translation: X:78.29, Y:-3.38, Z:-1.23 [[ 9.87834437e-01 1.54922379e-01 1.34974522e-02 7.82886746e+01] [-1.54911351e-01 9.87926614e-01 -1.86512149e-03 -3.37651242e+00] [-1.36234413e-02 -2.48477309e-04 9.99907166e-01 -1.23009885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters 0.013448470978021381 Centerline is valid? [True, True] Translation: X:78.35, Y:-3.39, Z:-1.23 [[ 9.87580456e-01 1.56476629e-01 1.41388779e-02 7.83506526e+01] [-1.56464675e-01 9.87681621e-01 -1.95456466e-03 -3.38502378e+00] [-1.42705535e-02 -2.81945067e-04 9.99898131e-01 -1.23061713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters 0.013722353237726631 Centerline is valid? [True, True] Translation: X:78.41, Y:-3.39, Z:-1.23 [[ 9.87651606e-01 1.56036583e-01 1.40317682e-02 7.84112274e+01] [-1.56024714e-01 9.87751240e-01 -1.94333684e-03 -3.39484238e+00] [-1.41631281e-02 -2.69962876e-04 9.99899661e-01 -1.23223919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters 0.012938861518951145 Centerline is valid? [True, True] Translation: X:78.47, Y:-3.41, Z:-1.23 [[ 9.88052414e-01 1.53521503e-01 1.35489567e-02 7.84725809e+01] [-1.53510160e-01 9.88145282e-01 -1.87946035e-03 -3.40643715e+00] [-1.36768752e-02 -2.22897185e-04 9.99906442e-01 -1.23402057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters 0.012067500502396553 Centerline is valid? [True, True] Translation: X:78.53, Y:-3.42, Z:-1.24 [[ 9.88386806e-01 1.51307949e-01 1.40508191e-02 7.85335556e+01] [-1.51295474e-01 9.88486655e-01 -1.95271539e-03 -3.41901098e+00] [-1.41845085e-02 -1.95787210e-04 9.99899376e-01 -1.23503904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters 0.011597905752848438 Centerline is valid? [True, True] Translation: X:78.59, Y:-3.43, Z:-1.24 [[ 9.88924066e-01 1.47862269e-01 1.28817822e-02 7.85930545e+01] [-1.47851449e-01 9.89007954e-01 -1.79354997e-03 -3.43404986e+00] [-1.30053834e-02 -1.30905433e-04 9.99915418e-01 -1.23572576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters 0.011349329550596022 Centerline is valid? [True, True] Translation: X:78.65, Y:-3.45, Z:-1.24 [[ 9.89144081e-01 1.46592761e-01 1.02249443e-02 7.86548604e+01] [-1.46585874e-01 9.89196924e-01 -1.42385191e-03 -3.44640649e+00] [-1.03232098e-02 -9.04377161e-05 9.99946710e-01 -1.23935769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters 0.011303689089704104 Centerline is valid? [True, True] Translation: X:78.72, Y:-3.46, Z:-1.24 [[ 9.89228804e-01 1.46097762e-01 9.04530914e-03 7.87161714e+01] [-1.46092332e-01 9.89270155e-01 -1.26167490e-03 -3.45987078e+00] [-9.13258225e-03 -7.33651583e-05 9.99958294e-01 -1.24117484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters 0.011718788987446938 Centerline is valid? [True, True] Translation: X:78.78, Y:-3.47, Z:-1.24 [[ 9.88857716e-01 1.48548873e-01 9.67729293e-03 7.87763708e+01] [-1.48542739e-01 9.88905062e-01 -1.35357404e-03 -3.46702964e+00] [-9.77099587e-03 -9.89994717e-05 9.99952258e-01 -1.24111683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters 0.012314620061905417 Centerline is valid? [True, True] Translation: X:78.84, Y:-3.48, Z:-1.24 [[ 9.88190271e-01 1.52912063e-01 9.89393258e-03 7.88381826e+01] [-1.52905853e-01 9.88239789e-01 -1.38561167e-03 -3.47555194e+00] [-9.98945458e-03 -1.43592224e-04 9.99950094e-01 -1.23970077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters 0.01320249017929853 Centerline is valid? [True, True] Translation: X:78.90, Y:-3.48, Z:-1.24 [[ 9.87471090e-01 1.57488555e-01 9.90967083e-03 7.88996840e+01] [-1.57482523e-01 9.87520795e-01 -1.39106402e-03 -3.48108857e+00] [-1.00050827e-02 -1.86964460e-04 9.99949930e-01 -1.24055570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters 0.013575458202926285 Centerline is valid? [True, True] Translation: X:78.96, Y:-3.49, Z:-1.24 [[ 9.87297785e-01 1.58536847e-01 1.04475356e-02 7.89607757e+01] [-1.58530192e-01 9.87353040e-01 -1.46738054e-03 -3.48930285e+00] [-1.05480400e-02 -2.07508270e-04 9.99944346e-01 -1.24106207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters 0.01418599077895496 Centerline is valid? [True, True] Translation: X:79.02, Y:-3.50, Z:-1.24 [[ 9.86876973e-01 1.61200564e-01 9.39243081e-03 7.90226974e+01] [-1.61195287e-01 9.86921645e-01 -1.32116144e-03 -3.49637914e+00] [-9.48256523e-03 -2.10191775e-04 9.99955017e-01 -1.24196627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters 0.014375603535750727 Centerline is valid? [True, True] Translation: X:79.08, Y:-3.50, Z:-1.25 [[ 9.86971479e-01 1.60724938e-01 7.40234508e-03 7.90837710e+01] [-1.60721640e-01 9.86999224e-01 -1.04214837e-03 -3.50402791e+00] [-7.47360808e-03 -1.61146326e-04 9.99972059e-01 -1.24527285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters 0.014444290491732278 Centerline is valid? [True, True] Translation: X:79.15, Y:-3.51, Z:-1.25 [[ 9.87063556e-01 1.60184196e-01 6.82348743e-03 7.91452829e+01] [-1.60181369e-01 9.87087130e-01 -9.62345025e-04 -3.51335769e+00] [-6.88952909e-03 -1.43099854e-04 9.99976257e-01 -1.24600021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters 0.013344265411924027 Centerline is valid? [True, True] Translation: X:79.21, Y:-3.53, Z:-1.25 [[ 9.87738298e-01 1.55915377e-01 7.96552093e-03 7.92052135e+01] [-1.55911352e-01 9.87770408e-01 -1.12767644e-03 -3.52545256e+00] [-8.04392796e-03 -1.28065929e-04 9.99967639e-01 -1.24534378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters 0.012046395479600118 Centerline is valid? [True, True] Translation: X:79.27, Y:-3.54, Z:-1.25 [[ 9.88569495e-01 1.50516744e-01 8.66387150e-03 7.92661722e+01] [-1.50511784e-01 9.88607456e-01 -1.22536469e-03 -3.53901312e+00] [-8.74960586e-03 -9.26566075e-05 9.99961717e-01 -1.24542809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters 0.011427715698427888 Centerline is valid? [True, True] Translation: X:79.33, Y:-3.55, Z:-1.25 [[ 9.89568574e-01 1.43736220e-01 9.69202564e-03 7.93268279e+01] [-1.43729660e-01 9.89616036e-01 -1.37371093e-03 -3.55295395e+00] [-9.78883601e-03 -3.36503846e-05 9.99952088e-01 -1.24546067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters 0.011480396254593237 Centerline is valid? [True, True] Translation: X:79.39, Y:-3.57, Z:-1.25 [[ 9.90459329e-01 1.37425124e-01 1.02299542e-02 7.93871039e+01] [-1.37417445e-01 9.90512158e-01 -1.45317188e-03 -3.56666832e+00] [-1.03325964e-02 3.35334729e-05 9.99946617e-01 -1.24568173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters 0.012062520002579262 Centerline is valid? [True, True] Translation: X:79.45, Y:-3.58, Z:-1.25 [[ 9.91326729e-01 1.30968673e-01 1.08868553e-02 7.94482872e+01] [-1.30959567e-01 9.91386501e-01 -1.54826251e-03 -3.57722590e+00] [-1.09958552e-02 1.09096153e-04 9.99939538e-01 -1.24651627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters 0.012243044896697829 Centerline is valid? [True, True] Translation: X:79.51, Y:-3.58, Z:-1.25 [[ 9.91415568e-01 1.30519425e-01 7.73633420e-03 7.95103881e+01] [-1.30514807e-01 9.91445749e-01 -1.10099744e-03 -3.58364086e+00] [-7.81385721e-03 8.18398354e-05 9.99969468e-01 -1.25089183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters 0.012691140702314892 Centerline is valid? [True, True] Translation: X:79.57, Y:-3.59, Z:-1.25 [[ 9.91697062e-01 1.28419404e-01 6.73747370e-03 7.95726439e+01] [-1.28415845e-01 9.91719945e-01 -9.60043191e-04 -3.58979356e+00] [-6.80497522e-03 8.68736361e-05 9.99976842e-01 -1.25290798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters 0.012691140702314892 Centerline is valid? [True, True] Translation: X:79.63, Y:-3.60, Z:-1.25 [[ 9.91661017e-01 1.28697458e-01 6.73728171e-03 7.96344185e+01] [-1.28693897e-01 9.91683900e-01 -9.61387601e-04 -3.59870567e+00] [-6.80498194e-03 8.63235713e-05 9.99976842e-01 -1.25389914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters 0.012869750833510097 Centerline is valid? [True, True] Translation: X:79.70, Y:-3.61, Z:-1.25 [[ 9.91737106e-01 1.28057264e-01 7.67138354e-03 7.96968466e+01] [-1.28052605e-01 9.91766770e-01 -1.09752365e-03 -3.60625890e+00] [-7.74876915e-03 1.06114279e-04 9.99969972e-01 -1.25428376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters 0.012490291554127857 Centerline is valid? [True, True] Translation: X:79.76, Y:-3.61, Z:-1.25 [[ 9.91549124e-01 1.29248037e-01 1.11928723e-02 7.97589460e+01] [-1.29238134e-01 9.91612285e-01 -1.60670418e-03 -3.60988555e+00] [-1.13066530e-02 1.46580200e-04 9.99936067e-01 -1.25249921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters 0.012043542933800397 Centerline is valid? [True, True] Translation: X:79.82, Y:-3.61, Z:-1.25 [[ 9.91210975e-01 1.31855367e-01 1.07222202e-02 7.98214908e+01] [-1.31846404e-01 9.91268959e-01 -1.54161789e-03 -3.61387669e+00] [-1.08318747e-02 1.14382394e-04 9.99941327e-01 -1.25437162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters 0.011840369438434636 Centerline is valid? [True, True] Translation: X:79.88, Y:-3.62, Z:-1.26 [[ 9.91108195e-01 1.32655703e-01 1.03445347e-02 7.98836746e+01] [-1.32647381e-01 9.91162173e-01 -1.48953577e-03 -3.62079728e+00] [-1.04507069e-02 1.04115682e-04 9.99945384e-01 -1.25586334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters 0.011817916628182844 Centerline is valid? [True, True] Translation: X:79.95, Y:-3.63, Z:-1.26 [[ 9.90982383e-01 1.33621341e-01 9.96259812e-03 7.99459224e+01] [-1.33613643e-01 9.91032456e-01 -1.43724692e-03 -3.62832778e+00] [-1.00653049e-02 9.31473450e-05 9.99949339e-01 -1.25771113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters 0.011793624214158171 Centerline is valid? [True, True] Translation: X:80.01, Y:-3.63, Z:-1.26 [[ 9.90737420e-01 1.35504434e-01 8.82689283e-03 8.00085200e+01] [-1.35498448e-01 9.90776738e-01 -1.27544016e-03 -3.63423125e+00] [-8.91830787e-03 6.75960177e-05 9.99960229e-01 -1.25974200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters 0.011649626556612726 Centerline is valid? [True, True] Translation: X:80.07, Y:-3.64, Z:-1.26 [[ 9.90604146e-01 1.36534101e-01 7.86550144e-03 8.00711004e+01] [-1.36529367e-01 9.90635370e-01 -1.13825885e-03 -3.64141882e+00] [-7.94725508e-03 5.36920080e-05 9.99968419e-01 -1.26134605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters 0.01156177838830435 Centerline is valid? [True, True] Translation: X:80.13, Y:-3.65, Z:-1.26 [[ 9.90534114e-01 1.37063362e-01 7.47020680e-03 8.01339851e+01] [-1.37059093e-01 9.90562281e-01 -1.08286789e-03 -3.64906473e+00] [-7.54812660e-03 4.87578146e-05 9.99971511e-01 -1.26261364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters 0.011640038285628413 Centerline is valid? [True, True] Translation: X:80.20, Y:-3.66, Z:-1.26 [[ 9.90522577e-01 1.37119730e-01 7.95014021e-03 8.01964289e+01] [-1.37114875e-01 9.90554479e-01 -1.15504062e-03 -3.65757556e+00] [-8.03342586e-03 5.40113263e-05 9.99967730e-01 -1.26413605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters 0.011746482459917345 Centerline is valid? [True, True] Translation: X:80.26, Y:-3.67, Z:-1.27 [[ 9.90527065e-01 1.37121822e-01 7.33073037e-03 8.02591029e+01] [-1.37117682e-01 9.90554190e-01 -1.06674047e-03 -3.66671496e+00] [-7.40775908e-03 5.14625488e-05 9.99972561e-01 -1.26524313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters 0.011775797512594475 Centerline is valid? [True, True] Translation: X:80.32, Y:-3.68, Z:-1.27 [[ 9.90486567e-01 1.37445793e-01 6.70930417e-03 8.03215184e+01] [-1.37442322e-01 9.90509289e-01 -9.77897364e-04 -3.67590189e+00] [-6.78003598e-03 4.64518583e-05 9.99977014e-01 -1.26679959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters 0.011915504466885553 Centerline is valid? [True, True] Translation: X:80.38, Y:-3.68, Z:-1.27 [[ 9.90454169e-01 1.37672143e-01 6.84983067e-03 8.03834358e+01] [-1.37668516e-01 9.90477854e-01 -1.00046542e-03 -3.68457915e+00] [-6.92234180e-03 4.79091232e-05 9.99976039e-01 -1.26820223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters 0.012374100745041096 Centerline is valid? [True, True] Translation: X:80.44, Y:-3.70, Z:-1.27 [[ 9.90803511e-01 1.35141271e-01 6.72598173e-03 8.04444882e+01] [-1.35137701e-01 9.90826338e-01 -9.84527490e-04 -3.69507408e+00] [-6.79733015e-03 6.65395830e-05 9.99976896e-01 -1.26913773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters 0.013614813419094254 Centerline is valid? [True, True] Translation: X:80.51, Y:-3.71, Z:-1.27 [[ 9.91533663e-01 1.29635460e-01 7.45942647e-03 8.05055254e+01] [-1.29630896e-01 9.91561714e-01 -1.09421936e-03 -3.70883121e+00] [-7.53833133e-03 1.17983197e-04 9.99971579e-01 -1.26971906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters 0.014449667482958868 Centerline is valid? [True, True] Translation: X:80.57, Y:-3.72, Z:-1.27 [[ 9.92093151e-01 1.25230326e-01 8.27923099e-03 8.05664198e+01] [-1.25224519e-01 9.92127681e-01 -1.21818994e-03 -3.72048587e+00] [-8.36660857e-03 1.71795179e-04 9.99964985e-01 -1.26981731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters 0.015289271835640227 Centerline is valid? [True, True] Translation: X:80.63, Y:-3.73, Z:-1.27 [[ 9.92549178e-01 1.21542220e-01 8.58006501e-03 8.06273403e+01] [-1.21535840e-01 9.92586240e-01 -1.26310172e-03 -3.73149069e+00] [-8.66997466e-03 2.10905172e-04 9.99962393e-01 -1.27059178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters 0.017693314496254962 Centerline is valid? [True, True] Translation: X:80.69, Y:-3.74, Z:-1.27 [[ 9.92939935e-01 1.18331640e-01 8.24062247e-03 8.06867802e+01] [-1.18325637e-01 9.92974103e-01 -1.21394597e-03 -3.74449543e+00] [-8.32637293e-03 2.30298526e-04 9.99965309e-01 -1.27289191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters 0.018150406688401958 Centerline is valid? [True, True] Translation: X:80.75, Y:-3.75, Z:-1.27 [[ 9.92928324e-01 1.18446808e-01 7.98105894e-03 8.07492106e+01] [-1.18441194e-01 9.92960374e-01 -1.17415931e-03 -3.75408775e+00] [-8.06395069e-03 2.20569885e-04 9.99967461e-01 -1.27454976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters 0.015222674526440532 Centerline is valid? [True, True] Translation: X:80.81, Y:-3.76, Z:-1.28 [[ 9.92615426e-01 1.21009750e-01 8.44137124e-03 8.08115733e+01] [-1.21003539e-01 9.92651296e-01 -1.24453603e-03 -3.75702497e+00] [-8.52993909e-03 2.13909869e-04 9.99963597e-01 -1.27517017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters 0.015065502952557996 Centerline is valid? [True, True] Translation: X:80.87, Y:-3.76, Z:-1.28 [[ 9.92222020e-01 1.24158804e-01 8.94733701e-03 8.08727470e+01] [-1.24151931e-01 9.92262340e-01 -1.32166730e-03 -3.76470772e+00] [-9.04220219e-03 2.00558224e-04 9.99959098e-01 -1.27656877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters 0.013857211118744068 Centerline is valid? [True, True] Translation: X:80.93, Y:-3.77, Z:-1.28 [[ 9.91758024e-01 1.27731163e-01 1.00384854e-02 8.09347956e+01] [-1.27722664e-01 9.91808809e-01 -1.48583077e-03 -3.77090063e+00] [-1.01460452e-02 1.91442490e-04 9.99948509e-01 -1.27686447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters 0.012675703603284976 Centerline is valid? [True, True] Translation: X:81.00, Y:-3.78, Z:-1.28 [[ 9.91037303e-01 1.33216303e-01 9.92373913e-03 8.09963106e+01] [-1.33208235e-01 9.91086978e-01 -1.47251790e-03 -3.77514070e+00] [-1.00314520e-02 1.37396395e-04 9.99949674e-01 -1.27825964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters 0.011797666794773964 Centerline is valid? [True, True] Translation: X:81.06, Y:-3.78, Z:-1.28 [[ 9.90327190e-01 1.38432536e-01 9.40691607e-03 8.10580326e+01] [-1.38425532e-01 9.90371863e-01 -1.39475341e-03 -3.77951246e+00] [-9.50942424e-03 7.91048598e-05 9.99954781e-01 -1.28027765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters 0.011710632794885607 Centerline is valid? [True, True] Translation: X:81.12, Y:-3.79, Z:-1.28 [[ 9.90036692e-01 1.40432944e-01 1.02925627e-02 8.11198444e+01] [-1.40424635e-01 9.90090190e-01 -1.52910242e-03 -3.78723376e+00] [-1.04053017e-02 6.85381434e-05 9.99945861e-01 -1.28121055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters 0.011765341700553126 Centerline is valid? [True, True] Translation: X:81.18, Y:-3.80, Z:-1.28 [[ 9.89990356e-01 1.40748421e-01 1.04391591e-02 8.11818002e+01] [-1.40739865e-01 9.90045391e-01 -1.55343420e-03 -3.79623844e+00] [-1.05538848e-02 6.86790344e-05 9.99944304e-01 -1.28233621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters 0.01218538028537938 Centerline is valid? [True, True] Translation: X:81.24, Y:-3.81, Z:-1.28 [[ 9.90433754e-01 1.37546452e-01 1.10432150e-02 8.12425056e+01] [-1.37536638e-01 9.90495311e-01 -1.64693937e-03 -3.80730395e+00] [-1.11647833e-02 1.12337683e-04 9.99937666e-01 -1.28358862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters 0.012635693584966724 Centerline is valid? [True, True] Translation: X:81.30, Y:-3.82, Z:-1.28 [[ 9.90862566e-01 1.34386186e-01 1.14772852e-02 8.13038383e+01] [-1.34375338e-01 9.90929023e-01 -1.71467608e-03 -3.81847817e+00] [-1.16036038e-02 1.56744262e-04 9.99932664e-01 -1.28466566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters 0.01369659211917006 Centerline is valid? [True, True] Translation: X:81.37, Y:-3.83, Z:-1.29 [[ 9.91394403e-01 1.30339016e-01 1.22015810e-02 8.13652182e+01] [-1.30326408e-01 9.91469461e-01 -1.82623932e-03 -3.83039653e+00] [-1.23355252e-02 2.20335215e-04 9.99923890e-01 -1.28548732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters 0.015038482189685638 Centerline is valid? [True, True] Translation: X:81.43, Y:-3.84, Z:-1.29 [[ 9.91962477e-01 1.25838346e-01 1.32346149e-02 8.14262894e+01] [-1.25823057e-01 9.92050714e-01 -1.98494382e-03 -3.84227803e+00] [-1.33791912e-02 3.03770092e-04 9.99910448e-01 -1.28621080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters 0.01580787151035686 Centerline is valid? [True, True] Translation: X:81.49, Y:-3.85, Z:-1.29 [[ 9.92638279e-01 1.20357712e-01 1.35376508e-02 8.14864196e+01] [-1.20341190e-01 9.92730513e-01 -2.03149655e-03 -3.85241755e+00] [-1.36837453e-02 3.87404234e-04 9.99906298e-01 -1.28749456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters 0.01693430141773758 Centerline is valid? [True, True] Translation: X:81.55, Y:-3.86, Z:-1.29 [[ 9.92939611e-01 1.17932244e-01 1.27637955e-02 8.15477369e+01] [-1.17917355e-01 9.93021565e-01 -1.91542907e-03 -3.86255380e+00] [-1.29006150e-02 3.96832386e-04 9.99916705e-01 -1.28929961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters 0.01737643432922735 Centerline is valid? [True, True] Translation: X:81.61, Y:-3.87, Z:-1.29 [[ 9.93103862e-01 1.16582115e-01 1.23826413e-02 8.16093041e+01] [-1.16567995e-01 9.93180975e-01 -1.85849542e-03 -3.87050856e+00] [-1.25148711e-02 4.02259311e-04 9.99921605e-01 -1.29151864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters 0.017581538508375606 Centerline is valid? [True, True] Translation: X:81.67, Y:-3.88, Z:-1.29 [[ 9.93101343e-01 1.16555483e-01 1.28273917e-02 8.16713255e+01] [-1.16540286e-01 9.93184093e-01 -1.92850981e-03 -3.87816680e+00] [-1.29647397e-02 4.20297795e-04 9.99915866e-01 -1.29269172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters 0.016709153462044993 Centerline is valid? [True, True] Translation: X:81.73, Y:-3.88, Z:-1.29 [[ 9.92924874e-01 1.17845384e-01 1.45828398e-02 8.17334240e+01] [-1.17825810e-01 9.93031848e-01 -2.19725014e-03 -3.88343888e+00] [-1.47401601e-02 4.63469412e-04 9.99891251e-01 -1.29223639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters 0.016416058275400512 Centerline is valid? [True, True] Translation: X:81.80, Y:-3.89, Z:-1.29 [[ 9.92660491e-01 1.20024913e-01 1.48043897e-02 8.17955336e+01] [-1.20004925e-01 9.92770782e-01 -2.23444943e-03 -3.88942552e+00] [-1.49655551e-02 4.41449997e-04 9.99887912e-01 -1.29340331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters 0.015335716690820607 Centerline is valid? [True, True] Translation: X:81.86, Y:-3.89, Z:-1.30 [[ 9.91955638e-01 1.25749930e-01 1.45246866e-02 8.18572615e+01] [-1.25731247e-01 9.92061909e-01 -2.19601466e-03 -3.89299108e+00] [-1.46855370e-02 3.52142180e-04 9.99892100e-01 -1.29565339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters 0.013620871958180918 Centerline is valid? [True, True] Translation: X:81.92, Y:-3.89, Z:-1.30 [[ 9.91032169e-01 1.32923070e-01 1.36637107e-02 8.19191966e+01] [-1.32907202e-01 9.91126331e-01 -2.06688734e-03 -3.89470011e+00] [-1.38172005e-02 2.32346274e-04 9.99904511e-01 -1.29807195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters 0.012573303805010488 Centerline is valid? [True, True] Translation: X:81.98, Y:-3.90, Z:-1.30 [[ 9.90388814e-01 1.37782024e-01 1.20876278e-02 8.19816546e+01] [-1.37769970e-01 9.90462565e-01 -1.82830508e-03 -3.89871839e+00] [-1.22242504e-02 1.45420784e-04 9.99925270e-01 -1.29994222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters 0.012201317456074924 Centerline is valid? [True, True] Translation: X:82.04, Y:-3.90, Z:-1.30 [[ 9.89732209e-01 1.42423930e-01 1.20655645e-02 8.20430067e+01] [-1.42412226e-01 9.89805747e-01 -1.82810121e-03 -3.90422765e+00] [-1.22029305e-02 9.10467453e-05 9.99925537e-01 -1.30148331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters 0.01217922428680098 Centerline is valid? [True, True] Translation: X:82.11, Y:-3.91, Z:-1.30 [[ 9.89574352e-01 1.43513536e-01 1.21023611e-02 8.21051568e+01] [-1.43501809e-01 9.89648351e-01 -1.83636202e-03 -3.91252466e+00] [-1.22406245e-02 8.05060382e-05 9.99925078e-01 -1.30206489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters 0.012212068342145537 Centerline is valid? [True, True] Translation: X:82.17, Y:-3.92, Z:-1.30 [[ 9.89944913e-01 1.40963182e-01 1.17665225e-02 8.21663055e+01] [-1.40951880e-01 9.90014833e-01 -1.78851624e-03 -3.92164589e+00] [-1.19011467e-02 1.12019095e-04 9.99929173e-01 -1.30285892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters 0.012805906343610795 Centerline is valid? [True, True] Translation: X:82.23, Y:-3.93, Z:-1.30 [[ 9.90420909e-01 1.37622647e-01 1.12441421e-02 8.22275912e+01] [-1.37612081e-01 9.90484722e-01 -1.71174124e-03 -3.93279175e+00] [-1.13727253e-02 1.48014524e-04 9.99935318e-01 -1.30340744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters 0.01438153337190357 Centerline is valid? [True, True] Translation: X:82.29, Y:-3.95, Z:-1.30 [[ 9.91223508e-01 1.31756842e-01 1.07746011e-02 8.22884098e+01] [-1.31746756e-01 9.91282044e-01 -1.64366926e-03 -3.94541733e+00] [-1.08972333e-02 2.09724861e-04 9.99940601e-01 -1.30415834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters 0.014610420205957386 Centerline is valid? [True, True] Translation: X:82.35, Y:-3.95, Z:-1.31 [[ 9.91519582e-01 1.29593634e-01 9.71638406e-03 8.23501620e+01] [-1.29585333e-01 9.91567167e-01 -1.48172966e-03 -3.95461787e+00] [-9.82647014e-03 2.10063103e-04 9.99951697e-01 -1.30564040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters 0.015447336188423552 Centerline is valid? [True, True] Translation: X:82.41, Y:-3.96, Z:-1.31 [[ 9.91673712e-01 1.28493930e-01 8.51810118e-03 8.24104018e+01] [-1.28487494e-01 9.91710276e-01 -1.30081771e-03 -3.96371973e+00] [-8.61463565e-03 1.95517256e-04 9.99962874e-01 -1.30804304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters 0.014827746393447886 Centerline is valid? [True, True] Translation: X:82.47, Y:-3.97, Z:-1.31 [[ 9.91612788e-01 1.29018208e-01 7.64069934e-03 8.24734084e+01] [-1.29013038e-01 9.91642210e-01 -1.16775233e-03 -3.97082410e+00] [-7.72750129e-03 1.72208305e-04 9.99970128e-01 -1.30916918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters 0.015285446362034442 Centerline is valid? [True, True] Translation: X:82.53, Y:-3.98, Z:-1.31 [[ 9.91516487e-01 1.29751656e-01 7.71773179e-03 8.25338941e+01] [-1.29746383e-01 9.91546508e-01 -1.18227554e-03 -3.98049581e+00] [-7.80589222e-03 1.70897906e-04 9.99969519e-01 -1.31039334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters 0.014427988798007364 Centerline is valid? [True, True] Translation: X:82.60, Y:-3.99, Z:-1.31 [[ 9.91251866e-01 1.31661140e-01 9.22398768e-03 8.25953878e+01] [-1.31653664e-01 9.91294764e-01 -1.41573877e-03 -3.98822256e+00] [-9.33008847e-03 1.88981922e-04 9.99956456e-01 -1.30985794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters 0.013938247112866972 Centerline is valid? [True, True] Translation: X:82.66, Y:-4.00, Z:-1.31 [[ 9.90864532e-01 1.34479611e-01 1.01347624e-02 8.26572512e+01] [-1.34470702e-01 9.90916344e-01 -1.55847410e-03 -3.99623578e+00] [-1.02522847e-02 1.81408094e-04 9.99947427e-01 -1.31046149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters 0.012801103965546663 Centerline is valid? [True, True] Translation: X:82.72, Y:-4.00, Z:-1.31 [[ 9.90034518e-01 1.40413575e-01 1.07554938e-02 8.27182927e+01] [-1.40403848e-01 9.90092930e-01 -1.65789882e-03 -4.00125453e+00] [-1.08817299e-02 1.31264338e-04 9.99940784e-01 -1.31162289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters 0.01176813439123186 Centerline is valid? [True, True] Translation: X:82.78, Y:-4.00, Z:-1.31 [[ 9.88943639e-01 1.47869000e-01 1.11909857e-02 8.27812029e+01] [-1.47858945e-01 9.89006955e-01 -1.72519870e-03 -4.00429139e+00] [-1.13230661e-02 5.14369478e-05 9.99935891e-01 -1.31238026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters 0.011702863238033672 Centerline is valid? [True, True] Translation: X:82.84, Y:-4.01, Z:-1.31 [[ 9.88210237e-01 1.52726180e-01 1.07350767e-02 8.28424365e+01] [-1.52717211e-01 9.88268543e-01 -1.65513452e-03 -4.01035103e+00] [-1.08619210e-02 -3.81009858e-06 9.99941008e-01 -1.31415479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters 0.01177706155397072 Centerline is valid? [True, True] Translation: X:82.90, Y:-4.02, Z:-1.32 [[ 9.87524101e-01 1.57173148e-01 9.63071379e-03 8.29039046e+01] [-1.57166124e-01 9.87571060e-01 -1.48658386e-03 -4.01707894e+00] [-9.74466529e-03 -4.55845708e-05 9.99952519e-01 -1.31549634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters 0.011855191330984206 Centerline is valid? [True, True] Translation: X:82.96, Y:-4.03, Z:-1.32 [[ 9.87461808e-01 1.57537032e-01 1.00628592e-02 8.29646681e+01] [-1.57529355e-01 9.87513079e-01 -1.55595384e-03 -4.02682548e+00] [-1.01823254e-02 -4.87507310e-05 9.99948158e-01 -1.31706430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters 0.01172864375535998 Centerline is valid? [True, True] Translation: X:83.03, Y:-4.04, Z:-1.32 [[ 9.87951395e-01 1.54410594e-01 1.04598605e-02 8.30259103e+01] [-1.54402083e-01 9.88006765e-01 -1.62125811e-03 -4.04080566e+00] [-1.05847523e-02 -1.33000386e-05 9.99943980e-01 -1.31693498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters 0.01167075340207204 Centerline is valid? [True, True] Translation: X:83.09, Y:-4.05, Z:-1.32 [[ 9.88358869e-01 1.51785755e-01 1.03841396e-02 8.30873029e+01] [-1.51777223e-01 9.88413418e-01 -1.60942242e-03 -4.05420915e+00] [-1.05081103e-02 1.46110490e-05 9.99944788e-01 -1.31766807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters 0.011908709662021417 Centerline is valid? [True, True] Translation: X:83.15, Y:-4.07, Z:-1.32 [[ 9.88888652e-01 1.48330706e-01 9.86080087e-03 8.31478004e+01] [-1.48322813e-01 9.88937813e-01 -1.53111349e-03 -4.06843433e+00] [-9.97883000e-03 5.15190311e-05 9.99950209e-01 -1.31911327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters 0.012155199384555244 Centerline is valid? [True, True] Translation: X:83.21, Y:-4.08, Z:-1.32 [[ 9.89063666e-01 1.47188042e-01 9.42043858e-03 8.32092186e+01] [-1.47180767e-01 9.89108526e-01 -1.46472659e-03 -4.08109823e+00] [-9.53342636e-03 6.22004774e-05 9.99954554e-01 -1.32063017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters 0.012130245757723925 Centerline is valid? [True, True] Translation: X:83.27, Y:-4.09, Z:-1.32 [[ 9.89052652e-01 1.47290333e-01 8.96716608e-03 8.32717181e+01] [-1.47283724e-01 9.89093299e-01 -1.39655917e-03 -4.09182806e+00] [-9.07506354e-03 6.05529376e-05 9.99958819e-01 -1.32168298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters 0.012036229698411104 Centerline is valid? [True, True] Translation: X:83.33, Y:-4.10, Z:-1.32 [[ 9.88896639e-01 1.48413540e-01 7.54044320e-03 8.33330877e+01] [-1.48408888e-01 9.88925386e-01 -1.17582859e-03 -4.10406884e+00] [-7.63144459e-03 4.37041536e-05 9.99970879e-01 -1.32257526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters 0.012084256535091079 Centerline is valid? [True, True] Translation: X:83.39, Y:-4.11, Z:-1.32 [[ 9.88475984e-01 1.51244648e-01 6.34716128e-03 8.33940035e+01] [-1.51241397e-01 9.88496361e-01 -9.91923423e-04 -4.11464254e+00] [-6.42416894e-03 2.05389448e-05 9.99979365e-01 -1.32499479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters 0.011729155424078716 Centerline is valid? [True, True] Translation: X:83.46, Y:-4.12, Z:-1.33 [[ 9.88131148e-01 1.53483062e-01 6.30754499e-03 8.34564231e+01] [-1.53479896e-01 9.88151279e-01 -9.85795777e-04 -4.12454759e+00] [-6.38411160e-03 6.01416393e-06 9.99979621e-01 -1.32599557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters 0.011631616303349539 Centerline is valid? [True, True] Translation: X:83.52, Y:-4.14, Z:-1.33 [[ 9.87319089e-01 1.58594434e-01 6.98727000e-03 8.35183307e+01] [-1.58590659e-01 9.87343813e-01 -1.09456054e-03 -4.13544296e+00] [-7.07242901e-03 -2.74352397e-05 9.99974990e-01 -1.32600776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters 0.011935456581093285 Centerline is valid? [True, True] Translation: X:83.58, Y:-4.14, Z:-1.33 [[ 9.87085839e-01 1.60035391e-01 7.08659909e-03 8.35795312e+01] [-1.60031529e-01 9.87111277e-01 -1.11244798e-03 -4.14496983e+00] [-7.17329292e-03 -3.59976376e-05 9.99974271e-01 -1.32746906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters 0.01194858920247929 Centerline is valid? [True, True] Translation: X:83.64, Y:-4.16, Z:-1.33 [[ 9.86545748e-01 1.63283655e-01 8.12007402e-03 8.36416961e+01] [-1.63278672e-01 9.86579162e-01 -1.27731009e-03 -4.15648685e+00] [-8.21965968e-03 -6.57100635e-05 9.99966216e-01 -1.32719593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters 0.012095795489971322 Centerline is valid? [True, True] Translation: X:83.70, Y:-4.17, Z:-1.33 [[ 9.86127045e-01 1.65742669e-01 9.10048172e-03 8.37038123e+01] [-1.65736485e-01 9.86169032e-01 -1.43474203e-03 -4.16932964e+00] [-9.21241121e-03 -9.34439365e-05 9.99957560e-01 -1.32756576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters 0.012535444203460977 Centerline is valid? [True, True] Translation: X:83.76, Y:-4.18, Z:-1.33 [[ 9.85843542e-01 1.67457661e-01 8.39302936e-03 8.37638563e+01] [-1.67452442e-01 9.85879263e-01 -1.32577944e-03 -4.18002693e+00] [-8.49652553e-03 -9.84221650e-05 9.99963899e-01 -1.32953939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters 0.01307405802275334 Centerline is valid? [True, True] Translation: X:83.83, Y:-4.19, Z:-1.33 [[ 9.85246488e-01 1.70998607e-01 6.98820773e-03 8.38250645e+01] [-1.70995072e-01 9.85271265e-01 -1.10476823e-03 -4.19145306e+00] [-7.07419410e-03 -1.06480062e-04 9.99974972e-01 -1.33229347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters 0.013648203079118735 Centerline is valid? [True, True] Translation: X:83.89, Y:-4.20, Z:-1.33 [[ 9.84795231e-01 1.73578172e-01 6.99796995e-03 8.38864127e+01] [-1.73574679e-01 9.84820087e-01 -1.10810184e-03 -4.20207940e+00] [-7.08408366e-03 -1.23416979e-04 9.99974900e-01 -1.33384114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters 0.01412011550997438 Centerline is valid? [True, True] Translation: X:83.95, Y:-4.22, Z:-1.34 [[ 9.84321369e-01 1.76225338e-01 7.48816349e-03 8.39474262e+01] [-1.76221399e-01 9.84349840e-01 -1.18785842e-03 -4.21527907e+00] [-7.58030329e-03 -1.50340221e-04 9.99971258e-01 -1.33514332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters 0.01436960858636952 Centerline is valid? [True, True] Translation: X:84.01, Y:-4.23, Z:-1.34 [[ 9.84152595e-01 1.77168107e-01 7.42509152e-03 8.40079898e+01] [-1.77164247e-01 9.84180592e-01 -1.17974215e-03 -4.22783972e+00] [-7.51664365e-03 -1.54414448e-04 9.99971738e-01 -1.33640786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters 0.014497747416114546 Centerline is valid? [True, True] Translation: X:84.07, Y:-4.24, Z:-1.34 [[ 9.83964535e-01 1.78168445e-01 8.35462287e-03 8.40694727e+01] [-1.78163574e-01 9.83999986e-01 -1.32976244e-03 -4.24285362e+00] [-8.45787049e-03 -1.80050390e-04 9.99964215e-01 -1.33728076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters 0.014481064402998426 Centerline is valid? [True, True] Translation: X:84.13, Y:-4.26, Z:-1.34 [[ 9.83892219e-01 1.78534446e-01 9.03065404e-03 8.41313072e+01] [-1.78528742e-01 9.83933643e-01 -1.44036747e-03 -4.25612951e+00] [-9.14271954e-03 -1.95064959e-04 9.99958185e-01 -1.33805375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters 0.014217623135608681 Centerline is valid? [True, True] Translation: X:84.19, Y:-4.27, Z:-1.34 [[ 9.84041637e-01 1.77667328e-01 9.81720623e-03 8.41918650e+01] [-1.77660510e-01 9.84090586e-01 -1.56932038e-03 -4.27101919e+00] [-9.93983719e-03 -1.99853263e-04 9.99950579e-01 -1.33839896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters 0.01423230877131095 Centerline is valid? [True, True] Translation: X:84.25, Y:-4.29, Z:-1.34 [[ 9.84357281e-01 1.75904575e-01 9.91580987e-03 8.42517711e+01] [-1.75897502e-01 9.84407206e-01 -1.58780835e-03 -4.28536372e+00] [-1.00404974e-02 -1.81195474e-04 9.99949577e-01 -1.33870579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters 0.013876537534483627 Centerline is valid? [True, True] Translation: X:84.31, Y:-4.30, Z:-1.34 [[ 9.84524998e-01 1.74953115e-01 1.00963568e-02 8.43131547e+01] [-1.74945707e-01 9.84576751e-01 -1.61908162e-03 -4.29695932e+00] [-1.02239015e-02 -1.72287945e-04 9.99947720e-01 -1.33944845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters 0.013734281940897493 Centerline is valid? [True, True] Translation: X:84.38, Y:-4.30, Z:-1.34 [[ 9.84549473e-01 1.74833426e-01 9.77796614e-03 8.43752278e+01] [-1.74826452e-01 9.84598013e-01 -1.57013724e-03 -4.30481116e+00] [-9.90187850e-03 -1.63569338e-04 9.99950962e-01 -1.34086294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters 0.013544315535907661 Centerline is valid? [True, True] Translation: X:84.44, Y:-4.31, Z:-1.34 [[ 9.84681010e-01 1.74103624e-01 9.55180510e-03 8.44367424e+01] [-1.74096906e-01 9.84727326e-01 -1.53670373e-03 -4.31379826e+00] [-9.67346917e-03 -1.49776733e-04 9.99953200e-01 -1.34197429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters 0.013276233490254445 Centerline is valid? [True, True] Translation: X:84.50, Y:-4.32, Z:-1.34 [[ 9.85110699e-01 1.71646372e-01 9.71771494e-03 8.44971795e+01] [-1.71639273e-01 9.85158620e-01 -1.56606885e-03 -4.32424484e+00] [-9.84230068e-03 -1.25190355e-04 9.99951556e-01 -1.34276765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters 0.012306404578037737 Centerline is valid? [True, True] Translation: X:84.56, Y:-4.34, Z:-1.34 [[ 9.86101938e-01 1.65859351e-01 9.67693655e-03 8.45573222e+01] [-1.65852012e-01 9.86149416e-01 -1.56163301e-03 -4.33880132e+00] [-9.80191677e-03 -6.50100542e-05 9.99951958e-01 -1.34306430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters 0.012120743610935656 Centerline is valid? [True, True] Translation: X:84.62, Y:-4.35, Z:-1.34 [[ 9.87211744e-01 1.59160181e-01 9.00050535e-03 8.46184116e+01] [-1.59153536e-01 9.87252772e-01 -1.45438995e-03 -4.35214630e+00] [-9.11725483e-03 3.32858871e-06 9.99958437e-01 -1.34476455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters 0.01254317235490484 Centerline is valid? [True, True] Translation: X:84.68, Y:-4.36, Z:-1.35 [[ 9.87969559e-01 1.54454317e-01 7.74689574e-03 8.46782885e+01] [-1.54449237e-01 9.87999930e-01 -1.25343258e-03 -4.36455296e+00] [-7.84753052e-03 4.18511027e-05 9.99969207e-01 -1.34718223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters 0.013532574554655627 Centerline is valid? [True, True] Translation: X:84.74, Y:-4.38, Z:-1.35 [[ 9.89129687e-01 1.46834014e-01 7.88884361e-03 8.47384912e+01] [-1.46828488e-01 9.89161140e-01 -1.27832938e-03 -4.37914617e+00] [-7.99103978e-03 1.06126563e-04 9.99968066e-01 -1.34617293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters 0.014364384759829358 Centerline is valid? [True, True] Translation: X:84.80, Y:-4.39, Z:-1.35 [[ 9.89642504e-01 1.43304161e-01 8.46360170e-03 8.47993832e+01] [-1.43297653e-01 9.89678683e-01 -1.37360176e-03 -4.39130481e+00] [-8.57308903e-03 1.46560425e-04 9.99963240e-01 -1.34541885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters 0.014789337143468261 Centerline is valid? [True, True] Translation: X:84.86, Y:-4.40, Z:-1.34 [[ 9.90047845e-01 1.40382883e-01 9.89498186e-03 8.48604770e+01] [-1.40373810e-01 9.90097270e-01 -1.60901935e-03 -4.40116945e+00] [-1.00228733e-02 2.04009843e-04 9.99949749e-01 -1.34480414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters 0.014827039757710101 Centerline is valid? [True, True] Translation: X:84.92, Y:-4.41, Z:-1.35 [[ 9.90144683e-01 1.39734083e-01 9.37514406e-03 8.49216110e+01] [-1.39725888e-01 9.90189045e-01 -1.52664989e-03 -4.41019095e+00] [-9.49648997e-03 2.01653941e-04 9.99954887e-01 -1.34559032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters 0.015138785052523368 Centerline is valid? [True, True] Translation: X:84.98, Y:-4.42, Z:-1.35 [[ 9.90003049e-01 1.40803082e-01 8.27374093e-03 8.49822604e+01] [-1.40796722e-01 9.90037607e-01 -1.34910356e-03 -4.41839111e+00] [-8.38127261e-03 1.70701036e-04 9.99964862e-01 -1.34743712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters 0.014612425226806957 Centerline is valid? [True, True] Translation: X:85.04, Y:-4.43, Z:-1.35 [[ 9.89751692e-01 1.42544725e-01 8.51992734e-03 8.50441525e+01] [-1.42538028e-01 9.89788349e-01 -1.39123126e-03 -4.42658829e+00] [-8.63123749e-03 1.62559846e-04 9.99962737e-01 -1.34781392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters 0.014284595179441613 Centerline is valid? [True, True] Translation: X:85.11, Y:-4.43, Z:-1.35 [[ 9.89248693e-01 1.45978292e-01 8.79556645e-03 8.51050564e+01] [-1.45971269e-01 9.89287784e-01 -1.43870628e-03 -4.43440827e+00] [-8.91136633e-03 1.39338307e-04 9.99960283e-01 -1.34860789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters 0.013283865658681041 Centerline is valid? [True, True] Translation: X:85.17, Y:-4.44, Z:-1.35 [[ 9.88771391e-01 1.49201435e-01 8.37065594e-03 8.51673081e+01] [-1.49195176e-01 9.88806817e-01 -1.37078955e-03 -4.44094068e+00] [-8.48148542e-03 1.06536005e-04 9.99964026e-01 -1.34986478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters 0.012555752170643952 Centerline is valid? [True, True] Translation: X:85.23, Y:-4.45, Z:-1.35 [[ 9.88274376e-01 1.52494982e-01 7.68366688e-03 8.52292248e+01] [-1.52489795e-01 9.88304242e-01 -1.25984085e-03 -4.44791080e+00] [-7.78591998e-03 7.33876374e-05 9.99969687e-01 -1.35169219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters 0.012283283536081418 Centerline is valid? [True, True] Translation: X:85.29, Y:-4.46, Z:-1.35 [[ 9.87707149e-01 1.56177607e-01 6.56831456e-03 8.52901082e+01] [-1.56173889e-01 9.87728988e-01 -1.07825437e-03 -4.45595696e+00] [-6.65611387e-03 3.92003148e-05 9.99977847e-01 -1.35360766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters 0.01186898879399273 Centerline is valid? [True, True] Translation: X:85.35, Y:-4.46, Z:-1.36 [[ 9.86794968e-01 1.61855766e-01 6.19686902e-03 8.53516212e+01] [-1.61852563e-01 9.86814426e-01 -1.01832974e-03 -4.46207367e+00] [-6.27998228e-03 1.90352834e-06 9.99980281e-01 -1.35537316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters 0.011953618541434854 Centerline is valid? [True, True] Translation: X:85.41, Y:-4.47, Z:-1.36 [[ 9.86214601e-01 1.65379568e-01 5.50988783e-03 8.54120976e+01] [-1.65377079e-01 9.86229993e-01 -9.07543529e-04 -4.47059828e+00] [-5.58410579e-03 -1.61764717e-05 9.99984409e-01 -1.35690332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters 0.012338105575497652 Centerline is valid? [True, True] Translation: X:85.47, Y:-4.48, Z:-1.36 [[ 9.85570085e-01 1.69179787e-01 5.45964674e-03 8.54730944e+01] [-1.69177402e-01 9.85585206e-01 -8.99096976e-04 -4.47836153e+00] [-5.53305610e-03 -3.75257699e-05 9.99984692e-01 -1.35954437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters 0.01225250907368889 Centerline is valid? [True, True] Translation: X:85.54, Y:-4.49, Z:-1.36 [[ 9.85323314e-01 1.70612704e-01 5.41040113e-03 8.55350692e+01] [-1.70610380e-01 9.85338167e-01 -8.91556016e-04 -4.48974650e+00] [-5.48318551e-03 -4.45996658e-05 9.99984966e-01 -1.35952261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters 0.012061577234559551 Centerline is valid? [True, True] Translation: X:85.60, Y:-4.50, Z:-1.36 [[ 9.85482628e-01 1.69678509e-01 5.76139888e-03 8.55962908e+01] [-1.69675845e-01 9.85499468e-01 -9.51688107e-04 -4.50228938e+00] [-5.83933655e-03 -3.96981239e-05 9.99982950e-01 -1.35966073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters 0.011775838308344253 Centerline is valid? [True, True] Translation: X:85.66, Y:-4.52, Z:-1.36 [[ 9.86511191e-01 1.63573315e-01 6.28014785e-03 8.56560198e+01] [-1.63570014e-01 9.86531181e-01 -1.03928278e-03 -4.51986989e+00] [-6.36556060e-03 -1.97977868e-06 9.99979740e-01 -1.35962659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters 0.012321288792169304 Centerline is valid? [True, True] Translation: X:85.72, Y:-4.54, Z:-1.36 [[ 9.87538655e-01 1.57289840e-01 5.22602072e-03 8.57158397e+01] [-1.57287462e-01 9.87552482e-01 -8.65530293e-04 -4.53641948e+00] [-5.29710886e-03 3.27570858e-05 9.99985970e-01 -1.36046308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters 0.012903291674089518 Centerline is valid? [True, True] Translation: X:85.78, Y:-4.55, Z:-1.36 [[ 9.88101018e-01 1.53692200e-01 5.92326556e-03 8.57766405e+01] [-1.53689068e-01 9.88118770e-01 -9.83051653e-04 -4.54705190e+00] [-6.00397725e-03 6.10131764e-05 9.99981974e-01 -1.36128480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters 0.013537377498885181 Centerline is valid? [True, True] Translation: X:85.84, Y:-4.56, Z:-1.36 [[ 9.88656059e-01 1.50089342e-01 5.69085279e-03 8.58378987e+01] [-1.50086384e-01 9.88672435e-01 -9.45725724e-04 -4.55893931e+00] [-5.76833263e-03 8.08779516e-05 9.99983360e-01 -1.36203880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters 0.014173553639760934 Centerline is valid? [True, True] Translation: X:85.90, Y:-4.57, Z:-1.36 [[ 9.89115046e-01 1.47066475e-01 4.78306566e-03 8.58988945e+01] [-1.47064347e-01 9.89126607e-01 -7.95417891e-04 -4.57168194e+00] [-4.84803681e-03 8.33413734e-05 9.99988245e-01 -1.36290976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters 0.015294650509619031 Centerline is valid? [True, True] Translation: X:85.96, Y:-4.58, Z:-1.36 [[ 9.89618865e-01 1.43651214e-01 4.33946643e-03 8.59597701e+01] [-1.43649417e-01 9.89628375e-01 -7.24420473e-04 -4.58299636e+00] [-4.39852299e-03 9.35383418e-05 9.99990322e-01 -1.36427911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters 0.01580928157460631 Centerline is valid? [True, True] Translation: X:86.02, Y:-4.59, Z:-1.37 [[ 9.90050717e-01 1.40632661e-01 4.69386219e-03 8.60207680e+01] [-1.40630531e-01 9.90061837e-01 -7.82233888e-04 -4.59199016e+00] [-4.75722146e-03 1.14350887e-04 9.99988678e-01 -1.36501865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters 0.01546888679724893 Centerline is valid? [True, True] Translation: X:86.08, Y:-4.60, Z:-1.36 [[ 9.90268520e-01 1.39073938e-01 5.16710139e-03 8.60822727e+01] [-1.39071329e-01 9.90281991e-01 -8.62425850e-04 -4.60201494e+00] [-5.23682842e-03 1.35437510e-04 9.99986279e-01 -1.36444038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters 0.016082788831606448 Centerline is valid? [True, True] Translation: X:86.14, Y:-4.61, Z:-1.36 [[ 9.90471480e-01 1.37574382e-01 6.28781952e-03 8.61427834e+01] [-1.37570473e-01 9.90491423e-01 -1.05199686e-03 -4.61433390e+00] [-6.37275912e-03 1.76954579e-04 9.99979678e-01 -1.36393338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters 0.016539986773558234 Centerline is valid? [True, True] Translation: X:86.20, Y:-4.62, Z:-1.37 [[ 9.90518467e-01 1.37209792e-01 6.82933346e-03 8.62040232e+01] [-1.37205158e-01 9.90541990e-01 -1.14470355e-03 -4.62375108e+00] [-6.92180609e-03 1.96830229e-04 9.99976025e-01 -1.36528650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters 0.016151020382440952 Centerline is valid? [True, True] Translation: X:86.27, Y:-4.63, Z:-1.37 [[ 9.90459904e-01 1.37534851e-01 8.56409984e-03 8.62654272e+01] [-1.37527549e-01 9.90496897e-01 -1.43861239e-03 -4.63222378e+00] [-8.68057366e-03 2.47088226e-04 9.99962293e-01 -1.36565019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters 0.015347429162216089 Centerline is valid? [True, True] Translation: X:86.33, Y:-4.64, Z:-1.37 [[ 9.90341264e-01 1.38326419e-01 9.48590381e-03 8.63268685e+01] [-1.38317470e-01 9.90386657e-01 -1.59625623e-03 -4.64119012e+00] [-9.61551697e-03 2.68772201e-04 9.99953734e-01 -1.36547706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters 0.015411851610543155 Centerline is valid? [True, True] Translation: X:86.39, Y:-4.65, Z:-1.37 [[ 9.90030991e-01 1.40550825e-01 9.17072122e-03 8.63869387e+01] [-1.40542533e-01 9.90073435e-01 -1.54559035e-03 -4.65040883e+00] [-9.29692146e-03 2.41305952e-04 9.99956754e-01 -1.36682901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters 0.01541719723642899 Centerline is valid? [True, True] Translation: X:86.45, Y:-4.66, Z:-1.37 [[ 9.89828853e-01 1.41943171e-01 9.53819562e-03 8.64483925e+01] [-1.41934244e-01 9.89874779e-01 -1.60982764e-03 -4.65997590e+00] [-9.67012332e-03 2.39657267e-04 9.99953215e-01 -1.36848117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters 0.015573453360053328 Centerline is valid? [True, True] Translation: X:86.51, Y:-4.67, Z:-1.37 [[ 9.89755669e-01 1.42431909e-01 9.84207340e-03 8.65105924e+01] [-1.42422405e-01 9.89804572e-01 -1.66350217e-03 -4.66996763e+00] [-9.97866504e-03 2.44728940e-04 9.99950182e-01 -1.36976656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters 0.016426872941667555 Centerline is valid? [True, True] Translation: X:86.57, Y:-4.68, Z:-1.37 [[ 9.89990100e-01 1.40883347e-01 8.45479632e-03 8.65717286e+01] [-1.40876260e-01 9.90026177e-01 -1.43106903e-03 -4.68130021e+00] [-8.57208347e-03 2.25664086e-04 9.99963234e-01 -1.37132755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters 0.017287528585957487 Centerline is valid? [True, True] Translation: X:86.63, Y:-4.69, Z:-1.37 [[ 9.90757835e-01 1.35357884e-01 8.78384809e-03 8.66321251e+01] [-1.35349984e-01 9.90796730e-01 -1.49050621e-03 -4.69286866e+00] [-8.90475974e-03 2.87837011e-04 9.99960310e-01 -1.37154079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters 0.017638950131816742 Centerline is valid? [True, True] Translation: X:86.69, Y:-4.70, Z:-1.37 [[ 9.91394996e-01 1.30573621e-01 9.30009674e-03 8.66927060e+01] [-1.30564551e-01 9.91438554e-01 -1.57846829e-03 -4.70376504e+00] [-9.42658079e-03 3.50622611e-04 9.99955507e-01 -1.37110148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters 0.01984549366292483 Centerline is valid? [True, True] Translation: X:86.75, Y:-4.72, Z:-1.37 [[ 9.91632866e-01 1.28774585e-01 9.02030976e-03 8.67521111e+01] [-1.28765981e-01 9.91673827e-01 -1.53070038e-03 -4.71565878e+00] [-9.14232040e-03 3.56383772e-04 9.99958145e-01 -1.37273282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters 0.01874791628313167 Centerline is valid? [True, True] Translation: X:86.81, Y:-4.72, Z:-1.37 [[ 9.91609470e-01 1.28976068e-01 8.70826184e-03 8.68143426e+01] [-1.28968057e-01 9.91647648e-01 -1.47764430e-03 -4.72307893e+00] [-8.82610812e-03 3.42158477e-04 9.99960991e-01 -1.37350627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters 0.01877809284104129 Centerline is valid? [True, True] Translation: X:86.88, Y:-4.73, Z:-1.38 [[ 9.91361860e-01 1.30885423e-01 8.40651352e-03 8.68764501e+01] [-1.30877995e-01 9.91397451e-01 -1.43018534e-03 -4.73179058e+00] [-8.52138648e-03 3.17603568e-04 9.99963642e-01 -1.37504763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters 0.018244341393461393 Centerline is valid? [True, True] Translation: X:86.94, Y:-4.74, Z:-1.38 [[ 9.90864288e-01 1.34635138e-01 7.83213262e-03 8.69373888e+01] [-1.34628798e-01 9.90895206e-01 -1.33349978e-03 -4.73784519e+00] [-7.94035859e-03 2.66886711e-04 9.99968439e-01 -1.37611520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters 0.016874696891207897 Centerline is valid? [True, True] Translation: X:87.00, Y:-4.74, Z:-1.38 [[ 9.90230542e-01 1.39172738e-01 8.62688879e-03 8.69987172e+01] [-1.39165216e-01 9.90268087e-01 -1.46917914e-03 -4.74157376e+00] [-8.74740234e-03 2.54263219e-04 9.99961708e-01 -1.37623628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters 0.015495616837647136 Centerline is valid? [True, True] Translation: X:87.06, Y:-4.75, Z:-1.38 [[ 9.89822348e-01 1.42002142e-01 9.33333089e-03 8.70607002e+01] [-1.41993472e-01 9.89866320e-01 -1.58850179e-03 -4.74732690e+00] [-9.46432055e-03 2.47062521e-04 9.99955182e-01 -1.37571361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters 0.014785053837563083 Centerline is valid? [True, True] Translation: X:87.12, Y:-4.75, Z:-1.38 [[ 9.89350588e-01 1.45265506e-01 9.12944254e-03 8.71234133e+01] [-1.45257319e-01 9.89392686e-01 -1.55707222e-03 -4.75185200e+00] [-9.25879256e-03 2.14371963e-04 9.99957113e-01 -1.37688580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters 0.014809219650629528 Centerline is valid? [True, True] Translation: X:87.18, Y:-4.76, Z:-1.38 [[ 9.89214519e-01 1.46234452e-01 8.37373244e-03 8.71844710e+01] [-1.46227604e-01 9.89249943e-01 -1.42766338e-03 -4.76062083e+00] [-8.49248792e-03 1.87794514e-04 9.99963921e-01 -1.37820046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters 0.014686508633360991 Centerline is valid? [True, True] Translation: X:87.25, Y:-4.77, Z:-1.38 [[ 9.89058521e-01 1.47337603e-01 7.40755672e-03 8.72466156e+01] [-1.47332264e-01 9.89086248e-01 -1.26434366e-03 -4.76762416e+00] [-7.51299784e-03 1.59137768e-04 9.99971764e-01 -1.38047594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters 0.014619297004529552 Centerline is valid? [True, True] Translation: X:87.31, Y:-4.77, Z:-1.38 [[ 9.89309750e-01 1.45753622e-01 4.70103139e-03 8.73083154e+01] [-1.45751456e-01 9.89320913e-01 -8.02050799e-04 -4.77442248e+00] [-4.76773048e-03 1.08294507e-04 9.99988628e-01 -1.38228491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters 0.01662814546349001 Centerline is valid? [True, True] Translation: X:87.37, Y:-4.79, Z:-1.38 [[ 9.89858085e-01 1.42017946e-01 3.44592827e-03 8.73679066e+01] [-1.42016751e-01 9.89864078e-01 -5.90414239e-04 -4.78558977e+00] [-3.49485003e-03 9.50467717e-05 9.99993888e-01 -1.38393546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters 0.018439602091226755 Centerline is valid? [True, True] Translation: X:87.43, Y:-4.80, Z:-1.38 [[ 9.91013535e-01 1.33721779e-01 3.26473837e-03 8.74273153e+01] [-1.33720660e-01 9.91018906e-01 -5.59757069e-04 -4.79645403e+00] [-3.31026916e-03 1.18163862e-04 9.99994514e-01 -1.38387114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters 0.021632311686845172 Centerline is valid? [True, True] Translation: X:87.49, Y:-4.81, Z:-1.38 [[ 9.91841727e-01 1.27400169e-01 4.38004018e-03 8.74857980e+01] [-1.27398092e-01 9.91851381e-01 -7.51274291e-04 -4.81020344e+00] [-4.44006137e-03 1.87136430e-04 9.99990125e-01 -1.38447718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters 0.023325650550226833 Centerline is valid? [True, True] Translation: X:87.55, Y:-4.82, Z:-1.38 [[ 9.92634410e-01 1.21043693e-01 5.03513371e-03 8.75455720e+01] [-1.21040867e-01 9.92647149e-01 -8.63422948e-04 -4.82133193e+00] [-5.10262302e-03 2.47606379e-04 9.99986951e-01 -1.38420442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters 0.020805272625090226 Centerline is valid? [True, True] Translation: X:87.61, Y:-4.83, Z:-1.38 [[ 9.92580788e-01 1.21508488e-01 4.36660387e-03 8.76084349e+01] [-1.21506381e-01 9.92590370e-01 -7.45616398e-04 -4.82518868e+00] [-4.42484767e-03 2.09514279e-04 9.99990188e-01 -1.38481723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters 0.02120917530335938 Centerline is valid? [True, True] Translation: X:87.67, Y:-4.83, Z:-1.39 [[ 9.92129471e-01 1.25154157e-01 3.94336716e-03 8.76674065e+01] [-1.25152450e-01 9.92137291e-01 -6.77711237e-04 -4.83250936e+00] [-3.99717999e-03 1.78855231e-04 9.99991995e-01 -1.38642567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters 0.02060559533165874 Centerline is valid? [True, True] Translation: X:87.73, Y:-4.84, Z:-1.39 [[ 9.91400648e-01 1.30799666e-01 4.02514114e-03 8.77266983e+01] [-1.30797935e-01 9.91408807e-01 -6.91527328e-04 -4.83801919e+00] [-4.08101192e-03 1.59100493e-04 9.99991660e-01 -1.38739938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters 0.016928943888051627 Centerline is valid? [True, True] Translation: X:87.79, Y:-4.84, Z:-1.39 [[ 9.89993150e-01 1.41057496e-01 4.04308016e-03 8.77883891e+01] [-1.41055834e-01 9.90001399e-01 -6.94533415e-04 -4.83690081e+00] [-4.10062416e-03 1.17283277e-04 9.99991586e-01 -1.38810205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters 0.01540337951607224 Centerline is valid? [True, True] Translation: X:87.85, Y:-4.84, Z:-1.39 [[ 9.89001377e-01 1.47872865e-01 3.14523252e-03 8.78482966e+01] [-1.47871894e-01 9.89006376e-01 -5.40305888e-04 -4.84034409e+00] [-3.19055160e-03 6.92717752e-05 9.99994908e-01 -1.39024904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters 0.012550595719004243 Centerline is valid? [True, True] Translation: X:87.91, Y:-4.84, Z:-1.39 [[ 9.87637351e-01 1.56715585e-01 3.56215126e-03 8.79108585e+01] [-1.56714399e-01 9.87643774e-01 -6.11287892e-04 -4.84147133e+00] [-3.61393486e-03 4.54903596e-05 9.99993469e-01 -1.38916299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters 0.01114026813225824 Centerline is valid? [True, True] Translation: X:87.97, Y:-4.85, Z:-1.39 [[ 9.86436751e-01 1.64051587e-01 5.44171271e-03 8.79734057e+01] [-1.64048939e-01 9.86451761e-01 -9.32484579e-04 -4.84504631e+00] [-5.52096266e-03 2.71298608e-05 9.99984759e-01 -1.38770703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters 0.010874137763631825 Centerline is valid? [True, True] Translation: X:88.04, Y:-4.85, Z:-1.39 [[ 9.85778978e-01 1.67932618e-01 6.20025903e-03 8.80353296e+01] [-1.67929244e-01 9.85798476e-01 -1.06462418e-03 -4.85287108e+00] [-6.29099103e-03 8.27932656e-06 9.99980211e-01 -1.38852961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters 0.010724568025139316 Centerline is valid? [True, True] Translation: X:88.10, Y:-4.86, Z:-1.39 [[ 9.85133850e-01 1.71667851e-01 6.43794158e-03 8.80979313e+01] [-1.71664283e-01 9.85154886e-01 -1.10692243e-03 -4.86220852e+00] [-6.53239260e-03 -1.46978672e-05 9.99978664e-01 -1.38979508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters 0.010659006856969412 Centerline is valid? [True, True] Translation: X:88.16, Y:-4.87, Z:-1.39 [[ 9.84897339e-01 1.73019948e-01 6.42872973e-03 8.81594887e+01] [-1.73016407e-01 9.84918320e-01 -1.10718853e-03 -4.87261655e+00] [-6.52333939e-03 -2.18086808e-05 9.99978723e-01 -1.39138095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters 0.010597980203642896 Centerline is valid? [True, True] Translation: X:88.22, Y:-4.88, Z:-1.39 [[ 9.84882826e-01 1.73102272e-01 6.43603619e-03 8.82198356e+01] [-1.73098711e-01 9.84903855e-01 -1.11052542e-03 -4.88487511e+00] [-6.53111133e-03 -2.03321583e-05 9.99978672e-01 -1.39375470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters 0.010595014324250605 Centerline is valid? [True, True] Translation: X:88.28, Y:-4.90, Z:-1.40 [[ 9.85471934e-01 1.69716867e-01 6.42282608e-03 8.82809535e+01] [-1.69713238e-01 9.85492864e-01 -1.10981039e-03 -4.90122737e+00] [-6.51800281e-03 3.64838261e-06 9.99978758e-01 -1.39554195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters 0.010870890477906006 Centerline is valid? [True, True] Translation: X:88.34, Y:-4.92, Z:-1.40 [[ 9.86169535e-01 1.65586900e-01 7.11525369e-03 8.83416360e+01] [-1.65582321e-01 9.86195202e-01 -1.23194154e-03 -4.91763058e+00] [-7.22102243e-03 3.67429956e-05 9.99973927e-01 -1.39626700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters 0.011679679501894314 Centerline is valid? [True, True] Translation: X:88.40, Y:-4.93, Z:-1.40 [[ 9.86993335e-01 1.60621703e-01 6.69522828e-03 8.84013044e+01] [-1.60617519e-01 9.87016040e-01 -1.16136766e-03 -4.93421800e+00] [-6.79483855e-03 7.08911824e-05 9.99976912e-01 -1.39772214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters 0.013395362681764078 Centerline is valid? [True, True] Translation: X:88.46, Y:-4.95, Z:-1.40 [[ 9.88431615e-01 1.51549039e-01 5.98591971e-03 8.84595660e+01] [-1.51545510e-01 9.88449733e-01 -1.04139802e-03 -4.95363502e+00] [-6.07460361e-03 1.22211469e-04 9.99981542e-01 -1.39927135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters 0.015002621101451752 Centerline is valid? [True, True] Translation: X:88.52, Y:-4.97, Z:-1.40 [[ 9.89351118e-01 1.45437479e-01 5.68380020e-03 8.85185843e+01] [-1.45434197e-01 9.89367433e-01 -9.88746265e-04 -4.97112595e+00] [-5.76716757e-03 1.51598304e-04 9.99983358e-01 -1.40065903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters 0.018643702483831907 Centerline is valid? [True, True] Translation: X:88.58, Y:-4.99, Z:-1.40 [[ 9.90402924e-01 1.38101314e-01 5.48402254e-03 8.85758592e+01] [-1.38098143e-01 9.90418089e-01 -9.54575608e-04 -4.99287260e+00] [-5.56330327e-03 1.88081146e-04 9.99984507e-01 -1.40186746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters 0.020558160547406296 Centerline is valid? [True, True] Translation: X:88.64, Y:-5.01, Z:-1.40 [[ 9.90848335e-01 1.34815957e-01 6.65093944e-03 8.86350399e+01] [-1.34811233e-01 9.90870625e-01 -1.15561574e-03 -5.01121599e+00] [-6.74601596e-03 2.48418584e-04 9.99977215e-01 -1.40236633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters 0.018809709244527885 Centerline is valid? [True, True] Translation: X:88.70, Y:-5.02, Z:-1.40 [[ 9.90792050e-01 1.35131262e-01 8.40569198e-03 8.86960224e+01] [-1.35123705e-01 9.90827656e-01 -1.46314315e-03 -5.02336650e+00] [-8.52630846e-03 3.13862355e-04 9.99963601e-01 -1.40125200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters 0.01760634418951738 Centerline is valid? [True, True] Translation: X:88.76, Y:-5.04, Z:-1.40 [[ 9.90101908e-01 1.40011623e-01 9.74456155e-03 8.87552390e+01] [-1.40001659e-01 9.90149808e-01 -1.70071289e-03 -5.03603065e+00] [-9.88669533e-03 3.19624296e-04 9.99951074e-01 -1.40124713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters 0.014364201922922941 Centerline is valid? [True, True] Translation: X:88.82, Y:-5.04, Z:-1.40 [[ 9.88701682e-01 1.49607251e-01 9.30882122e-03 8.88152967e+01] [-1.49598582e-01 9.88745480e-01 -1.62459706e-03 -5.04317844e+00] [-9.44710641e-03 2.13655391e-04 9.99955352e-01 -1.40284559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters 0.012358610541364624 Centerline is valid? [True, True] Translation: X:88.88, Y:-5.05, Z:-1.40 [[ 9.87524469e-01 1.57204383e-01 9.06666934e-03 8.88760548e+01] [-1.57196480e-01 9.87566080e-01 -1.58226522e-03 -5.05064855e+00] [-9.20267413e-03 1.37277120e-04 9.99957645e-01 -1.40458780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters 0.01042087108995766 Centerline is valid? [True, True] Translation: X:88.94, Y:-5.06, Z:-1.41 [[ 9.85822578e-01 1.67550426e-01 8.98329007e-03 8.89360274e+01] [-1.67543093e-01 9.85863506e-01 -1.56814337e-03 -5.05723828e+00] [-9.11904094e-03 4.08229318e-05 9.99958420e-01 -1.40593824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters 0.010049727974380016 Centerline is valid? [True, True] Translation: X:89.00, Y:-5.07, Z:-1.41 [[ 9.84841486e-01 1.73208927e-01 9.26900322e-03 8.89975426e+01] [-1.73201382e-01 9.84885104e-01 -1.61667686e-03 -5.06558504e+00] [-9.40892606e-03 -1.32337321e-05 9.99955735e-01 -1.40666067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters 0.01012725199335126 Centerline is valid? [True, True] Translation: X:89.06, Y:-5.08, Z:-1.41 [[ 9.84399668e-01 1.75711830e-01 9.09097652e-03 8.90582313e+01] [-1.75704659e-01 9.84441645e-01 -1.58777651e-03 -5.07528583e+00] [-9.22852699e-03 -3.43202642e-05 9.99957416e-01 -1.40879510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters 0.010393574938216486 Centerline is valid? [True, True] Translation: X:89.12, Y:-5.09, Z:-1.41 [[ 9.83615042e-01 1.80053766e-01 9.06040874e-03 8.91189739e+01] [-1.80046804e-01 9.83656767e-01 -1.58497310e-03 -5.08730117e+00] [-9.19771275e-03 -7.22942564e-05 9.99957698e-01 -1.40964997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters 0.010460585235560987 Centerline is valid? [True, True] Translation: X:89.18, Y:-5.10, Z:-1.41 [[ 9.83520490e-01 1.80566773e-01 9.11512387e-03 8.91805389e+01] [-1.80559729e-01 9.83562725e-01 -1.59665536e-03 -5.10176892e+00] [-9.25359898e-03 -7.54810361e-05 9.99957182e-01 -1.41095653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters 0.010317616621767365 Centerline is valid? [True, True] Translation: X:89.24, Y:-5.12, Z:-1.41 [[ 9.83790934e-01 1.79091576e-01 9.03361028e-03 8.92397103e+01] [-1.79084569e-01 9.83832406e-01 -1.58537085e-03 -5.11898334e+00] [-9.17148510e-03 -5.81067293e-05 9.99957939e-01 -1.41245050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters 0.010094690493597815 Centerline is valid? [True, True] Translation: X:89.30, Y:-5.14, Z:-1.41 [[ 9.84222922e-01 1.76734800e-01 8.36960301e-03 8.93001879e+01] [-1.76728689e-01 9.84258507e-01 -1.47007589e-03 -5.13778826e+00] [-8.49766654e-03 -3.22665836e-05 9.99963894e-01 -1.41364741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters 0.010174085949895184 Centerline is valid? [True, True] Translation: X:89.36, Y:-5.16, Z:-1.42 [[ 9.84583151e-01 1.74748251e-01 7.68555408e-03 8.93611587e+01] [-1.74743022e-01 9.84613147e-01 -1.35185391e-03 -5.15504987e+00] [-7.80353170e-03 -1.19843661e-05 9.99969552e-01 -1.41516413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters 0.01036575491256894 Centerline is valid? [True, True] Translation: X:89.42, Y:-5.18, Z:-1.42 [[ 9.85298318e-01 1.70751100e-01 5.59337259e-03 8.94205843e+01] [-1.70748262e-01 9.85314194e-01 -9.84600789e-04 -5.17567804e+00] [-5.67935107e-03 1.50668556e-05 9.99983872e-01 -1.41776005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters 0.010428802156525606 Centerline is valid? [True, True] Translation: X:89.48, Y:-5.19, Z:-1.42 [[ 9.85507655e-01 1.69514044e-01 6.29686806e-03 8.94818513e+01] [-1.69510410e-01 9.85527771e-01 -1.11020865e-03 -5.19022813e+00] [-6.39393430e-03 2.67344405e-05 9.99979558e-01 -1.41800137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters 0.01042167095680028 Centerline is valid? [True, True] Translation: X:89.54, Y:-5.20, Z:-1.42 [[ 9.85414390e-01 1.70014847e-01 7.30972767e-03 8.95426039e+01] [-1.70009941e-01 9.85441500e-01 -1.29198263e-03 -5.20331740e+00] [-7.42296523e-03 3.04119021e-05 9.99972449e-01 -1.41746140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters 0.01042173104619331 Centerline is valid? [True, True] Translation: X:89.60, Y:-5.22, Z:-1.42 [[ 9.85533840e-01 1.69299448e-01 7.79410608e-03 8.96039621e+01] [-1.69293832e-01 9.85564658e-01 -1.37954685e-03 -5.21608185e+00] [-7.91515201e-03 4.00960204e-05 9.99968674e-01 -1.41745422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters 0.010531489510369495 Centerline is valid? [True, True] Translation: X:89.67, Y:-5.23, Z:-1.42 [[ 9.85786307e-01 1.67771921e-01 8.82831489e-03 8.96659397e+01] [-1.67764627e-01 9.85825836e-01 -1.56567306e-03 -5.22796410e+00] [-8.96585688e-03 6.23401129e-05 9.99959804e-01 -1.41732771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters 0.010883324012892203 Centerline is valid? [True, True] Translation: X:89.73, Y:-5.24, Z:-1.42 [[ 9.86060370e-01 1.66191283e-01 8.08725085e-03 8.97273953e+01] [-1.66185091e-01 9.86093531e-01 -1.43649394e-03 -5.23843985e+00] [-8.21351852e-03 7.24892353e-05 9.99966266e-01 -1.41962672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters 0.011455134766574542 Centerline is valid? [True, True] Translation: X:89.79, Y:-5.25, Z:-1.42 [[ 9.86643188e-01 1.62772300e-01 6.35595642e-03 8.97888410e+01] [-1.62768399e-01 9.86663657e-01 -1.12968356e-03 -5.24972404e+00] [-6.45507240e-03 8.00457378e-05 9.99979163e-01 -1.42177012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters 0.012557267671312539 Centerline is valid? [True, True] Translation: X:89.85, Y:-5.26, Z:-1.42 [[ 9.87243387e-01 1.59104737e-01 6.01476159e-03 8.98498727e+01] [-1.59101167e-01 9.87261704e-01 -1.07038311e-03 -5.26087727e+00] [-6.10844680e-03 9.97730557e-05 9.99981338e-01 -1.42328062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters 0.013544748356170568 Centerline is valid? [True, True] Translation: X:89.91, Y:-5.27, Z:-1.42 [[ 9.87726247e-01 1.56064803e-01 6.37475006e-03 8.99104619e+01] [-1.56060719e-01 9.87746810e-01 -1.13629714e-03 -5.27363428e+00] [-6.47397503e-03 1.27502440e-04 9.99979035e-01 -1.42354738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters 0.014863926959677738 Centerline is valid? [True, True] Translation: X:89.97, Y:-5.29, Z:-1.42 [[ 9.88449647e-01 1.51388747e-01 6.98160730e-03 8.99713902e+01] [-1.51383705e-01 9.88474287e-01 -1.24813745e-03 -5.28656525e+00] [-7.09009326e-03 1.76819444e-04 9.99974849e-01 -1.42390630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters 0.016303561116834474 Centerline is valid? [True, True] Translation: X:90.03, Y:-5.30, Z:-1.42 [[ 9.88666415e-01 1.49944949e-01 7.43176993e-03 9.00312540e+01] [-1.49939200e-01 9.88694327e-01 -1.32793527e-03 -5.29996926e+00] [-7.54686596e-03 1.98571359e-04 9.99971502e-01 -1.42486292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters 0.014645022753628148 Centerline is valid? [True, True] Translation: X:90.09, Y:-5.31, Z:-1.43 [[ 9.88430288e-01 1.51518159e-01 6.91465326e-03 9.00932292e+01] [-1.51513213e-01 9.88454459e-01 -1.23666167e-03 -5.30676798e+00] [-7.02219654e-03 1.74692517e-04 9.99975329e-01 -1.42585948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters 0.013984769218973587 Centerline is valid? [True, True] Translation: X:90.16, Y:-5.32, Z:-1.43 [[ 9.87947941e-01 1.54635826e-01 6.82845530e-03 9.01551329e+01] [-1.54631055e-01 9.87971527e-01 -1.22435771e-03 -5.31547561e+00] [-6.93564897e-03 1.53710429e-04 9.99975936e-01 -1.42748510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters 0.012546292427918769 Centerline is valid? [True, True] Translation: X:90.22, Y:-5.32, Z:-1.43 [[ 9.86839578e-01 1.61558519e-01 6.81851803e-03 9.02163034e+01] [-1.61553920e-01 9.86863128e-01 -1.22366622e-03 -5.32187041e+00] [-6.92663774e-03 1.06003945e-04 9.99976005e-01 -1.42961716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters 0.010991080896482054 Centerline is valid? [True, True] Translation: X:90.28, Y:-5.33, Z:-1.43 [[ 9.85598755e-01 1.68971511e-01 6.61233243e-03 9.02781305e+01] [-1.68967351e-01 9.85620934e-01 -1.18672545e-03 -5.32735379e+00] [-6.71777606e-03 5.23668285e-05 9.99977434e-01 -1.43172672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters 0.010542432030551096 Centerline is valid? [True, True] Translation: X:90.34, Y:-5.33, Z:-1.43 [[ 9.84869093e-01 1.73188689e-01 6.20865348e-03 9.03403493e+01] [-1.73185106e-01 9.84888663e-01 -1.11422461e-03 -5.33497738e+00] [-6.30780352e-03 2.21190704e-05 9.99980105e-01 -1.43384479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters 0.010270151888350605 Centerline is valid? [True, True] Translation: X:90.40, Y:-5.34, Z:-1.44 [[ 9.84062770e-01 1.77694627e-01 6.71441399e-03 9.04016010e+01] [-1.77690547e-01 9.84085677e-01 -1.20422765e-03 -5.34339966e+00] [-6.82154342e-03 -8.05229830e-06 9.99976733e-01 -1.43527261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters 0.010286235623528407 Centerline is valid? [True, True] Translation: X:90.46, Y:-5.36, Z:-1.44 [[ 9.83793173e-01 1.79163801e-01 7.16416561e-03 9.04633708e+01] [-1.79159181e-01 9.83819258e-01 -1.28670015e-03 -5.35512997e+00] [-7.27877419e-03 -1.76792183e-05 9.99973509e-01 -1.43679461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters 0.010344347429746575 Centerline is valid? [True, True] Translation: X:90.52, Y:-5.37, Z:-1.44 [[ 9.83765793e-01 1.79315910e-01 7.11814204e-03 9.05248768e+01] [-1.79311339e-01 9.83791545e-01 -1.28046856e-03 -5.36920961e+00] [-7.23237634e-03 -1.66824083e-05 9.99973846e-01 -1.43834871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters 0.01039068663283952 Centerline is valid? [True, True] Translation: X:90.59, Y:-5.38, Z:-1.44 [[ 9.83721894e-01 1.79548363e-01 7.32258231e-03 9.05866401e+01] [-1.79543516e-01 9.83749147e-01 -1.31938292e-03 -5.38225441e+00] [-7.44047715e-03 -1.68163161e-05 9.99972319e-01 -1.43950991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters 0.010489703213726597 Centerline is valid? [True, True] Translation: X:90.65, Y:-5.40, Z:-1.44 [[ 9.83667362e-01 1.79830379e-01 7.71721300e-03 9.06482544e+01] [-1.79824985e-01 9.83697634e-01 -1.39295041e-03 -5.39604940e+00] [-7.84189897e-03 -1.75478538e-05 9.99969252e-01 -1.44014579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters 0.010601601330486116 Centerline is valid? [True, True] Translation: X:90.71, Y:-5.41, Z:-1.44 [[ 9.83708434e-01 1.79571404e-01 8.47513587e-03 9.07084740e+01] [-1.79564862e-01 9.83744942e-01 -1.53283847e-03 -5.41049124e+00] [-8.61262600e-03 -1.39704805e-05 9.99962911e-01 -1.44171792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters 0.010797811831886531 Centerline is valid? [True, True] Translation: X:90.77, Y:-5.42, Z:-1.44 [[ 9.83177399e-01 1.82400599e-01 9.60335113e-03 9.07708553e+01] [-1.82392304e-01 9.83224298e-01 -1.74005074e-03 -5.42036372e+00] [-9.75963447e-03 -4.07987819e-05 9.99952373e-01 -1.44335614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters 0.010922426508950327 Centerline is valid? [True, True] Translation: X:90.83, Y:-5.43, Z:-1.44 [[ 9.82771466e-01 1.84580796e-01 9.49606666e-03 9.08332838e+01] [-1.84572764e-01 9.82817341e-01 -1.72298887e-03 -5.43112782e+00] [-9.65092964e-03 -5.94109642e-05 9.99953427e-01 -1.44406686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters 0.011257719326581438 Centerline is valid? [True, True] Translation: X:90.90, Y:-5.44, Z:-1.45 [[ 9.82455850e-01 1.86266403e-01 9.23739487e-03 9.08954417e+01] [-1.86258853e-01 9.82499273e-01 -1.67860358e-03 -5.44163290e+00] [-9.38840119e-03 -7.13926675e-05 9.99955925e-01 -1.44599422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters 0.011130429774883125 Centerline is valid? [True, True] Translation: X:90.96, Y:-5.45, Z:-1.45 [[ 9.82625479e-01 1.85347036e-01 9.67699953e-03 9.09562565e+01] [-1.85338675e-01 9.82673126e-01 -1.76159929e-03 -5.45399862e+00] [-9.83583459e-03 -6.25299293e-05 9.99951625e-01 -1.44672979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters 0.011031106313115728 Centerline is valid? [True, True] Translation: X:91.02, Y:-5.47, Z:-1.45 [[ 9.83212840e-01 1.82124339e-01 1.11011895e-02 9.10169706e+01] [-1.82113091e-01 9.83275508e-01 -2.02429455e-03 -5.46685035e+00] [-1.12842011e-02 -3.13595444e-05 9.99936331e-01 -1.44737516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters 0.011160243795138698 Centerline is valid? [True, True] Translation: X:91.08, Y:-5.48, Z:-1.45 [[ 9.84065699e-01 1.77397720e-01 1.20311676e-02 9.10788078e+01] [-1.77384115e-01 9.84139242e-01 -2.19716550e-03 -5.48058130e+00] [-1.22301164e-02 2.80171768e-05 9.99925209e-01 -1.44768182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters 0.012205657422768745 Centerline is valid? [True, True] Translation: X:91.14, Y:-5.50, Z:-1.45 [[ 9.85513920e-01 1.69122957e-01 1.26388068e-02 9.11393393e+01] [-1.69107210e-01 9.85594950e-01 -2.31216407e-03 -5.49642867e+00] [-1.28477842e-02 1.41356527e-04 9.99917454e-01 -1.44916236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters 0.013037245100622976 Centerline is valid? [True, True] Translation: X:91.20, Y:-5.51, Z:-1.45 [[ 9.86308898e-01 1.64381253e-01 1.31742612e-02 9.12003288e+01] [-1.64363673e-01 9.86396856e-01 -2.41360138e-03 -5.50983598e+00] [-1.33918006e-02 2.15186555e-04 9.99910303e-01 -1.45007112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters 0.014600117832438845 Centerline is valid? [True, True] Translation: X:91.26, Y:-5.52, Z:-1.45 [[ 9.87090225e-01 1.59544544e-01 1.40863590e-02 9.12601483e+01] [-1.59523897e-01 9.87190684e-01 -2.58461551e-03 -5.52337270e+00] [-1.43182837e-02 3.04137814e-04 9.99897442e-01 -1.45064565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters 0.015402984840582497 Centerline is valid? [True, True] Translation: X:91.32, Y:-5.53, Z:-1.45 [[ 9.87350796e-01 1.57875948e-01 1.46147130e-02 9.13211068e+01] [-1.57853488e-01 9.87458894e-01 -2.68510080e-03 -5.53498201e+00] [-1.48553412e-02 3.44152982e-04 9.99889594e-01 -1.45157189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters 0.014624404205898181 Centerline is valid? [True, True] Translation: X:91.38, Y:-5.54, Z:-1.45 [[ 9.87235343e-01 1.58571241e-01 1.48841836e-02 9.13826252e+01] [-1.58547967e-01 9.87347479e-01 -2.73835292e-03 -5.54240291e+00] [-1.51300851e-02 3.43541741e-04 9.99885475e-01 -1.45216284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters 0.01412739113527618 Centerline is valid? [True, True] Translation: X:91.45, Y:-5.55, Z:-1.45 [[ 9.86770745e-01 1.61386237e-01 1.54265786e-02 9.14450001e+01] [-1.61361515e-01 9.86891272e-01 -2.84222797e-03 -5.54914255e+00] [-1.56830523e-02 3.15371315e-04 9.99876964e-01 -1.45313968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters 0.013976048328787226 Centerline is valid? [True, True] Translation: X:91.51, Y:-5.56, Z:-1.45 [[ 9.86359245e-01 1.63893840e-01 1.53051877e-02 9.15061219e+01] [-1.63869787e-01 9.86477944e-01 -2.82118915e-03 -5.55764373e+00] [-1.55606057e-02 2.74648147e-04 9.99878889e-01 -1.45424742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters 0.013033927660277396 Centerline is valid? [True, True] Translation: X:91.57, Y:-5.56, Z:-1.46 [[ 9.85944765e-01 1.66381669e-01 1.51677472e-02 9.15683166e+01] [-1.66358282e-01 9.86061400e-01 -2.79959246e-03 -5.56445955e+00] [-1.54221309e-02 2.36963166e-04 9.99881044e-01 -1.45566701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters 0.012763372527891137 Centerline is valid? [True, True] Translation: X:91.63, Y:-5.57, Z:-1.46 [[ 9.85544249e-01 1.68697218e-01 1.56134982e-02 9.16305886e+01] [-1.68672663e-01 9.85667897e-01 -2.88596343e-03 -5.57189122e+00] [-1.58765779e-02 2.10674352e-04 9.99873937e-01 -1.45665701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters 0.012264343224515311 Centerline is valid? [True, True] Translation: X:91.69, Y:-5.58, Z:-1.46 [[ 9.85198753e-01 1.70738843e-01 1.52205000e-02 9.16922801e+01] [-1.70715732e-01 9.85316303e-01 -2.81459867e-03 -5.57876341e+00] [-1.54775682e-02 1.74560296e-04 9.99880200e-01 -1.45784362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters 0.01219570411350988 Centerline is valid? [True, True] Translation: X:91.75, Y:-5.59, Z:-1.46 [[ 9.84920147e-01 1.72323592e-01 1.53910544e-02 9.17539020e+01] [-1.72300091e-01 9.85040383e-01 -2.85008934e-03 -5.58754320e+00] [-1.56519478e-02 1.55230327e-04 9.99877489e-01 -1.45887600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters 0.01204332677683638 Centerline is valid? [True, True] Translation: X:91.81, Y:-5.60, Z:-1.46 [[ 9.84716428e-01 1.73583479e-01 1.42243489e-02 9.18145918e+01] [-1.73563490e-01 9.84819151e-01 -2.63735344e-03 -5.59581874e+00] [-1.44662122e-02 1.28217621e-04 9.99895351e-01 -1.46038263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters 0.011876488854338233 Centerline is valid? [True, True] Translation: X:91.88, Y:-5.60, Z:-1.46 [[ 9.84648354e-01 1.74055017e-01 1.31327606e-02 9.18767265e+01] [-1.74037985e-01 9.84735923e-01 -2.43755768e-03 -5.60493027e+00] [-1.33565703e-02 1.14537955e-04 9.99910790e-01 -1.46215682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters 0.012166408084867209 Centerline is valid? [True, True] Translation: X:91.94, Y:-5.62, Z:-1.46 [[ 9.84755703e-01 1.73523204e-01 1.20790674e-02 9.19391768e+01] [-1.73508716e-01 9.84829774e-01 -2.24518628e-03 -5.61537226e+00] [-1.22854171e-02 1.15136519e-04 9.99924525e-01 -1.46353373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters 0.01257930560763173 Centerline is valid? [True, True] Translation: X:92.00, Y:-5.63, Z:-1.46 [[ 9.85112226e-01 1.71484291e-01 1.21259737e-02 9.20001043e+01] [-1.71469491e-01 9.85186844e-01 -2.25756632e-03 -5.62717298e+00] [-1.23334869e-02 1.44721646e-04 9.99923929e-01 -1.46323442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters 0.01276330121487897 Centerline is valid? [True, True] Translation: X:92.06, Y:-5.64, Z:-1.46 [[ 9.85391317e-01 1.69918919e-01 1.14679582e-02 9.20607634e+01] [-1.69905544e-01 9.85458034e-01 -2.13778821e-03 -5.63793880e+00] [-1.16644422e-02 1.58088266e-04 9.99931956e-01 -1.46436735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters 0.013384893450914875 Centerline is valid? [True, True] Translation: X:92.12, Y:-5.65, Z:-1.47 [[ 9.85768426e-01 1.67762490e-01 1.07868693e-02 9.21211741e+01] [-1.67750501e-01 9.85827427e-01 -2.01317981e-03 -5.64970318e+00] [-1.09717277e-02 1.75026355e-04 9.99939793e-01 -1.46561761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters 0.01412807872547221 Centerline is valid? [True, True] Translation: X:92.18, Y:-5.66, Z:-1.47 [[ 9.86149836e-01 1.65582032e-01 9.54419114e-03 9.21824931e+01] [-1.65572528e-01 9.86196004e-01 -1.78297886e-03 -5.66173000e+00] [-9.70767243e-03 1.78028451e-04 9.99952864e-01 -1.46744151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters 0.015111887820767996 Centerline is valid? [True, True] Translation: X:92.24, Y:-5.68, Z:-1.47 [[ 9.86945812e-01 1.60845739e-01 8.16169559e-03 9.22430256e+01] [-1.60838603e-01 9.86979539e-01 -1.52752994e-03 -5.67503371e+00] [-8.30112323e-03 1.94873555e-04 9.99965526e-01 -1.46882335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters 0.015697865112148626 Centerline is valid? [True, True] Translation: X:92.30, Y:-5.69, Z:-1.47 [[ 9.87393441e-01 1.58045118e-01 8.71398524e-03 9.23032114e+01] [-1.58036873e-01 9.87431864e-01 -1.63121198e-03 -5.68838386e+00] [-8.86227178e-03 2.33517034e-04 9.99960702e-01 -1.46857563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters 0.01620659273698768 Centerline is valid? [True, True] Translation: X:92.36, Y:-5.70, Z:-1.47 [[ 9.87831548e-01 1.55243169e-01 9.40168523e-03 9.23644176e+01] [-1.55233427e-01 9.87876247e-01 -1.76168069e-03 -5.70099202e+00] [-9.56119042e-03 2.80787939e-04 9.99954251e-01 -1.46873633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters 0.01690530583533077 Centerline is valid? [True, True] Translation: X:92.43, Y:-5.71, Z:-1.47 [[ 9.87892358e-01 1.54839320e-01 9.66819160e-03 9.24252066e+01] [-1.54829002e-01 9.87939623e-01 -1.81130353e-03 -5.71307712e+00] [-9.83205058e-03 2.92456456e-04 9.99951621e-01 -1.46972651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters 0.01722342570895595 Centerline is valid? [True, True] Translation: X:92.49, Y:-5.73, Z:-1.47 [[ 9.87742457e-01 1.55787715e-01 9.74816590e-03 9.24861241e+01] [-1.55777247e-01 9.87790517e-01 -1.82880728e-03 -5.72531010e+00] [-9.91405154e-03 2.87848149e-04 9.99950813e-01 -1.47098847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters 0.01710754647121647 Centerline is valid? [True, True] Translation: X:92.55, Y:-5.74, Z:-1.47 [[ 9.87436365e-01 1.57781896e-01 8.61970987e-03 9.25471194e+01] [-1.57773771e-01 9.87473957e-01 -1.61882626e-03 -5.73681242e+00] [-8.76716050e-03 2.38523784e-04 9.99961539e-01 -1.47275349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters 0.015996129265068007 Centerline is valid? [True, True] Translation: X:92.61, Y:-5.75, Z:-1.47 [[ 9.87239197e-01 1.59032134e-01 8.21881529e-03 9.26087936e+01] [-1.59024776e-01 9.87273383e-01 -1.54533632e-03 -5.74693567e+00] [-8.35997571e-03 2.18621322e-04 9.99965031e-01 -1.47384001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters 0.01570115454857961 Centerline is valid? [True, True] Translation: X:92.67, Y:-5.76, Z:-1.48 [[ 9.86942564e-01 1.60898870e-01 7.47851558e-03 9.26703215e+01] [-1.60892810e-01 9.86970880e-01 -1.40900288e-03 -5.75845620e+00] [-7.60778408e-03 1.87365525e-04 9.99971043e-01 -1.47525103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters 0.01501918052369736 Centerline is valid? [True, True] Translation: X:92.73, Y:-5.77, Z:-1.48 [[ 9.86756292e-01 1.62047132e-01 7.26272806e-03 9.27319930e+01] [-1.62041453e-01 9.86783004e-01 -1.36757017e-03 -5.76848908e+00] [-7.38834743e-03 1.72595461e-04 9.99972691e-01 -1.47620212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters 0.01537744781803824 Centerline is valid? [True, True] Translation: X:92.79, Y:-5.78, Z:-1.48 [[ 9.86702871e-01 1.62364348e-01 7.43385576e-03 9.27937973e+01] [-1.62358395e-01 9.86730859e-01 -1.40153218e-03 -5.78063883e+00] [-7.56277374e-03 1.75946942e-04 9.99971386e-01 -1.47720876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters 0.015838206576283143 Centerline is valid? [True, True] Translation: X:92.85, Y:-5.79, Z:-1.48 [[ 9.86933137e-01 1.60926788e-01 8.09644481e-03 9.28543062e+01] [-1.60919652e-01 9.86966325e-01 -1.52947296e-03 -5.79364042e+00] [-8.23705155e-03 2.06610462e-04 9.99966054e-01 -1.47695092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters 0.016892829625873858 Centerline is valid? [True, True] Translation: X:92.91, Y:-5.81, Z:-1.48 [[ 9.87546708e-01 1.57131325e-01 7.82599860e-03 9.29142234e+01] [-1.57124523e-01 9.87577690e-01 -1.48036468e-03 -5.80749269e+00] [-7.96139328e-03 2.32272967e-04 9.99968281e-01 -1.47662352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters 0.018141575802672644 Centerline is valid? [True, True] Translation: X:92.97, Y:-5.82, Z:-1.48 [[ 9.87787720e-01 1.55594300e-01 8.11386807e-03 9.29735134e+01] [-1.55586908e-01 9.87821010e-01 -1.53836402e-03 -5.82086556e+00] [-8.25441003e-03 2.57165447e-04 9.99965899e-01 -1.47782427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters 0.01781332115477354 Centerline is valid? [True, True] Translation: X:93.03, Y:-5.83, Z:-1.48 [[ 9.88266079e-01 1.52540791e-01 7.83987252e-03 9.30344850e+01] [-1.52533794e-01 9.88297138e-01 -1.48638744e-03 -5.83152207e+00] [-7.97485829e-03 2.73100794e-04 9.99968163e-01 -1.47824175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters 0.019326323279086715 Centerline is valid? [True, True] Translation: X:93.09, Y:-5.85, Z:-1.48 [[ 9.88847903e-01 1.48787547e-01 6.48766402e-03 9.30945807e+01] [-1.48782670e-01 9.88869153e-01 -1.23063640e-03 -5.84503239e+00] [-6.59855420e-03 2.51660247e-04 9.99978198e-01 -1.47959293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters 0.02047208552964515 Centerline is valid? [True, True] Translation: X:93.15, Y:-5.86, Z:-1.48 [[ 9.89266557e-01 1.45986924e-01 6.28469044e-03 9.31544277e+01] [-1.45982290e-01 9.89286485e-01 -1.19234749e-03 -5.85766912e+00] [-6.39142645e-03 2.62095998e-04 9.99979540e-01 -1.48011734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters 0.019789625941712897 Centerline is valid? [True, True] Translation: X:93.22, Y:-5.87, Z:-1.48 [[ 9.89333737e-01 1.45480774e-01 7.35536381e-03 9.32160168e+01] [-1.45474424e-01 9.89361031e-01 -1.39402305e-03 -5.86761935e+00] [-7.47991387e-03 3.09136721e-04 9.99971977e-01 -1.48010401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters 0.020707274790524175 Centerline is valid? [True, True] Translation: X:93.28, Y:-5.88, Z:-1.48 [[ 9.88990174e-01 1.47819548e-01 6.91502980e-03 9.32758519e+01] [-1.47813980e-01 9.89014310e-01 -1.31229931e-03 -5.87877816e+00] [-7.03304692e-03 2.75713052e-04 9.99975230e-01 -1.48188586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters 0.01781493864260079 Centerline is valid? [True, True] Translation: X:93.34, Y:-5.88, Z:-1.48 [[ 9.88281440e-01 1.52479257e-01 7.06196086e-03 9.33368198e+01] [-1.52473543e-01 9.88306639e-01 -1.34376301e-03 -5.88451950e+00] [-7.18427879e-03 2.51253852e-04 9.99974161e-01 -1.48289501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters 0.015245688534982803 Centerline is valid? [True, True] Translation: X:93.40, Y:-5.89, Z:-1.48 [[ 9.86789730e-01 1.61858609e-01 6.91516757e-03 9.33979479e+01] [-1.61853359e-01 9.86813943e-01 -1.31594554e-03 -5.88930072e+00] [-7.03698089e-03 1.79318441e-04 9.99975224e-01 -1.48421863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters 0.013403848623493097 Centerline is valid? [True, True] Translation: X:93.46, Y:-5.89, Z:-1.49 [[ 9.85141950e-01 1.71580483e-01 7.44824201e-03 9.34577711e+01] [-1.71574667e-01 9.85170099e-01 -1.41770918e-03 -5.89429892e+00] [-7.58103654e-03 1.18715143e-04 9.99971256e-01 -1.48596319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters 0.012320451705194977 Centerline is valid? [True, True] Translation: X:93.52, Y:-5.90, Z:-1.49 [[ 9.84090359e-01 1.77489098e-01 7.98652769e-03 9.35198059e+01] [-1.77482611e-01 9.84122764e-01 -1.51948748e-03 -5.90303863e+00] [-8.12941617e-03 7.78431970e-05 9.99966953e-01 -1.48704803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters 0.011690789674421736 Centerline is valid? [True, True] Translation: X:93.58, Y:-5.91, Z:-1.49 [[ 9.83166568e-01 1.82521651e-01 8.32750195e-03 9.35817832e+01] [-1.82514771e-01 9.83201834e-01 -1.58516567e-03 -5.91202287e+00] [-8.47694224e-03 3.85897737e-05 9.99964069e-01 -1.48806222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters 0.011298023792147205 Centerline is valid? [True, True] Translation: X:93.64, Y:-5.92, Z:-1.49 [[ 9.81971075e-01 1.88828825e-01 8.74539498e-03 9.36435759e+01] [-1.88821490e-01 9.82010018e-01 -1.66443711e-03 -5.92063744e+00] [-8.90235918e-03 -1.68894155e-05 9.99960373e-01 -1.48916660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters 0.011551332044668629 Centerline is valid? [True, True] Translation: X:93.70, Y:-5.93, Z:-1.49 [[ 9.81136579e-01 1.93116378e-01 8.77942893e-03 9.37035876e+01] [-1.93109130e-01 9.81175857e-01 -1.67395912e-03 -5.93107585e+00] [-8.93743262e-03 -5.30053640e-05 9.99960059e-01 -1.49162000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters 0.011764742540828394 Centerline is valid? [True, True] Translation: X:93.76, Y:-5.94, Z:-1.49 [[ 9.80731656e-01 1.95172073e-01 8.56045498e-03 9.37646084e+01] [-1.95165258e-01 9.80769013e-01 -1.63256251e-03 -5.94439718e+00] [-8.71445959e-03 -6.95976726e-05 9.99962026e-01 -1.49248246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters 0.012128138428948646 Centerline is valid? [True, True] Translation: X:93.83, Y:-5.96, Z:-1.49 [[ 9.80385628e-01 1.96907331e-01 8.45711432e-03 9.38253043e+01] [-1.96900725e-01 9.80422101e-01 -1.61494080e-03 -5.95899484e+00] [-8.60953547e-03 -8.19471899e-05 9.99962934e-01 -1.49467034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters 0.012224961313019245 Centerline is valid? [True, True] Translation: X:93.89, Y:-5.97, Z:-1.50 [[ 9.80317704e-01 1.97281164e-01 7.57239385e-03 9.38866414e+01] [-1.97275870e-01 9.80346947e-01 -1.44720002e-03 -5.97401439e+00] [-7.70907850e-03 -7.51347807e-05 9.99970282e-01 -1.49681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters 0.011870263454598975 Centerline is valid? [True, True] Translation: X:93.95, Y:-5.99, Z:-1.50 [[ 9.80725583e-01 1.95243962e-01 7.55821294e-03 9.39455716e+01] [-1.95238609e-01 9.80754705e-01 -1.44688406e-03 -5.99402837e+00] [-7.69524829e-03 -5.66587705e-05 9.99970390e-01 -1.49829196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters 0.011580910541767655 Centerline is valid? [True, True] Translation: X:94.01, Y:-6.01, Z:-1.50 [[ 9.81244717e-01 1.92594600e-01 8.13177108e-03 9.40051631e+01] [-1.92588293e-01 9.81278410e-01 -1.55894689e-03 -6.01240235e+00] [-8.27977615e-03 -3.63755138e-05 9.99965721e-01 -1.49910803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters 0.01147084791872372 Centerline is valid? [True, True] Translation: X:94.07, Y:-6.04, Z:-1.50 [[ 9.82267768e-01 1.87291702e-01 8.47645231e-03 9.40652233e+01] [-1.87284638e-01 9.82304341e-01 -1.62676840e-03 -6.03511856e+00] [-8.63113612e-03 1.04128661e-05 9.99962751e-01 -1.49879033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters 0.011881861998180426 Centerline is valid? [True, True] Translation: X:94.12, Y:-6.05, Z:-1.50 [[ 9.82861055e-01 1.84128342e-01 8.99449322e-03 9.41245120e+01] [-1.84120221e-01 9.82902209e-01 -1.72989018e-03 -6.05383798e+00] [-9.15922906e-03 4.41736047e-05 9.99958052e-01 -1.49973786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters 0.01154632219833744 Centerline is valid? [True, True] Translation: X:94.19, Y:-6.07, Z:-1.50 [[ 9.82461110e-01 1.86125388e-01 1.12918852e-02 9.41857420e+01] [-1.86112692e-01 9.82525999e-01 -2.17422235e-03 -6.06501530e+00] [-1.14992487e-02 3.45257608e-05 9.99933881e-01 -1.49831464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters 0.01166906994977674 Centerline is valid? [True, True] Translation: X:94.25, Y:-6.08, Z:-1.50 [[ 9.82365601e-01 1.86677799e-01 1.04510679e-02 9.42472297e+01] [-1.86666932e-01 9.82421192e-01 -2.01450317e-03 -6.07758962e+00] [-1.06434136e-02 2.81098450e-05 9.99943357e-01 -1.49977158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters 0.011773999286093951 Centerline is valid? [True, True] Translation: X:94.31, Y:-6.09, Z:-1.50 [[ 9.82606065e-01 1.85430637e-01 1.00399014e-02 9.43088045e+01] [-1.85420514e-01 9.82657355e-01 -1.93803082e-03 -6.09055847e+00] [-1.02251533e-02 4.27171572e-05 9.99947721e-01 -1.50118400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters 0.012021237886297532 Centerline is valid? [True, True] Translation: X:94.37, Y:-6.10, Z:-1.50 [[ 9.82975045e-01 1.83474455e-01 9.85828511e-03 9.43683558e+01] [-1.83464560e-01 9.83024476e-01 -1.90664257e-03 -6.10246199e+00] [-1.00407558e-02 6.55361318e-05 9.99949588e-01 -1.50291354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters 0.012816542606166279 Centerline is valid? [True, True] Translation: X:94.43, Y:-6.12, Z:-1.50 [[ 9.84014514e-01 1.77789054e-01 1.03193241e-02 9.44287592e+01] [-1.77777889e-01 9.84068613e-01 -1.99674132e-03 -6.11653290e+00] [-1.05099217e-02 1.30274781e-04 9.99944761e-01 -1.50307151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters 0.0134834570391107 Centerline is valid? [True, True] Translation: X:94.49, Y:-6.13, Z:-1.50 [[ 9.84615459e-01 1.74359026e-01 1.14598508e-02 9.44891971e+01] [-1.74344985e-01 9.84682129e-01 -2.22075037e-03 -6.12928916e+00] [-1.16715181e-02 1.88617630e-04 9.99931868e-01 -1.50328524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters 0.01463032114137244 Centerline is valid? [True, True] Translation: X:94.55, Y:-6.14, Z:-1.50 [[ 9.85312136e-01 1.70307046e-01 1.24701398e-02 9.45502936e+01] [-1.70290044e-01 9.85391009e-01 -2.42061449e-03 -6.14210402e+00] [-1.27002113e-02 2.61520187e-04 9.99919315e-01 -1.50419369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters 0.015225696315296376 Centerline is valid? [True, True] Translation: X:94.61, Y:-6.15, Z:-1.51 [[ 9.85433901e-01 1.69640016e-01 1.19285974e-02 9.46110538e+01] [-1.69624407e-01 9.85506062e-01 -2.31566691e-03 -6.15382073e+00] [-1.21485349e-02 2.58555409e-04 9.99926170e-01 -1.50662202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters 0.015267905377321277 Centerline is valid? [True, True] Translation: X:94.67, Y:-6.16, Z:-1.51 [[ 9.85402335e-01 1.69912532e-01 1.05815266e-02 9.46727059e+01] [-1.69900244e-01 9.85459121e-01 -2.05616033e-03 -6.16423987e+00] [-1.07770293e-02 2.28341235e-04 9.99941900e-01 -1.50930375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters 0.01421020884546635 Centerline is valid? [True, True] Translation: X:94.73, Y:-6.17, Z:-1.51 [[ 9.85084684e-01 1.71789990e-01 9.81660197e-03 9.47338727e+01] [-1.71779481e-01 9.85133575e-01 -1.91013907e-03 -6.17281903e+00] [-9.99880697e-03 1.95357952e-04 9.99949992e-01 -1.51057414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters 0.014189229421326652 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.18, Z:-1.51 [[ 9.84789870e-01 1.73509937e-01 9.12220834e-03 9.47941379e+01] [-1.73500916e-01 9.84832104e-01 -1.77721865e-03 -6.18342048e+00] [-9.29220873e-03 1.67475419e-04 9.99956812e-01 -1.51191891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters 0.013834547642071567 Centerline is valid? [True, True] Translation: X:94.85, Y:-6.19, Z:-1.51 [[ 9.84485314e-01 1.75206234e-01 9.56256022e-03 9.48549887e+01] [-1.75196378e-01 9.84531741e-01 -1.86531284e-03 -6.19355558e+00] [-9.74145850e-03 1.61047188e-04 9.99952538e-01 -1.51275606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters 0.013492137667030472 Centerline is valid? [True, True] Translation: X:94.92, Y:-6.20, Z:-1.51 [[ 9.84273193e-01 1.76355405e-01 1.02494900e-02 9.49162954e+01] [-1.76344115e-01 9.84326544e-01 -2.00216409e-03 -6.20457321e+00] [-1.04419375e-02 1.63239197e-04 9.99945468e-01 -1.51316526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters 0.013556803106604535 Centerline is valid? [True, True] Translation: X:94.98, Y:-6.22, Z:-1.51 [[ 9.84406176e-01 1.75577628e-01 1.08156043e-02 9.49771678e+01] [-1.75564977e-01 9.84465572e-01 -2.11569258e-03 -6.21737142e+00] [-1.10190583e-02 1.83859532e-04 9.99939271e-01 -1.51405700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters 0.014102491832392823 Centerline is valid? [True, True] Translation: X:95.04, Y:-6.23, Z:-1.52 [[ 9.84687997e-01 1.74053778e-01 9.73812691e-03 9.50373153e+01] [-1.74043426e-01 9.84736132e-01 -1.90703790e-03 -6.23159217e+00] [-9.92141257e-03 1.82980356e-04 9.99950765e-01 -1.51552222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters 0.015077450790728277 Centerline is valid? [True, True] Translation: X:95.10, Y:-6.25, Z:-1.52 [[ 9.85251767e-01 1.70917086e-01 8.14284597e-03 9.50976450e+01] [-1.70909718e-01 9.85285399e-01 -1.59738920e-03 -6.24751237e+00] [-8.29604835e-03 1.82139021e-04 9.99965571e-01 -1.51770148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters 0.015483303688349622 Centerline is valid? [True, True] Translation: X:95.16, Y:-6.26, Z:-1.52 [[ 9.85408235e-01 1.70073694e-01 6.74903753e-03 9.51582710e+01] [-1.70068622e-01 9.85431334e-01 -1.32267870e-03 -6.26031056e+00] [-6.87566591e-03 1.55578969e-04 9.99976350e-01 -1.51930427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters 0.016516343548788268 Centerline is valid? [True, True] Translation: X:95.22, Y:-6.27, Z:-1.52 [[ 9.85352745e-01 1.70434122e-01 5.67261823e-03 9.52189771e+01] [-1.70430541e-01 9.85369064e-01 -1.11238503e-03 -6.27356518e+00] [-5.77921088e-03 1.29304251e-04 9.99983292e-01 -1.52168941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters 0.01566403574735468 Centerline is valid? [True, True] Translation: X:95.28, Y:-6.28, Z:-1.52 [[ 9.85262808e-01 1.70971209e-01 5.10346073e-03 9.52806946e+01] [-1.70968314e-01 9.85276018e-01 -1.00149661e-03 -6.28363354e+00] [-5.19954456e-03 1.14207283e-04 9.99986476e-01 -1.52228902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters 0.016017847528056996 Centerline is valid? [True, True] Translation: X:95.34, Y:-6.30, Z:-1.52 [[ 9.85344682e-01 1.70498460e-01 5.11212445e-03 9.53416438e+01] [-1.70495539e-01 9.85357936e-01 -1.00507283e-03 -6.29591640e+00] [-5.20863576e-03 1.18748761e-04 9.99986428e-01 -1.52279166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters 0.01667782224762491 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.31, Z:-1.52 [[ 9.85809622e-01 1.67750417e-01 6.25987772e-03 9.54025386e+01] [-1.67745966e-01 9.85829483e-01 -1.23314489e-03 -6.30932270e+00] [-6.37803259e-03 1.65576864e-04 9.99979646e-01 -1.52226148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters 0.01750120020710397 Centerline is valid? [True, True] Translation: X:95.46, Y:-6.32, Z:-1.52 [[ 9.86112364e-01 1.65924287e-01 7.17884400e-03 9.54633877e+01] [-1.65918368e-01 9.86138473e-01 -1.41655490e-03 -6.32103151e+00] [-7.31437512e-03 2.05780225e-04 9.99973228e-01 -1.52250205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters 0.016996991901445376 Centerline is valid? [True, True] Translation: X:95.53, Y:-6.33, Z:-1.52 [[ 9.86131499e-01 1.65831502e-01 6.67685216e-03 9.55250498e+01] [-1.65826370e-01 9.86154083e-01 -1.31885207e-03 -6.33124675e+00] [-6.80311224e-03 1.93363415e-04 9.99976840e-01 -1.52352373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters 0.017449452505681275 Centerline is valid? [True, True] Translation: X:95.58, Y:-6.34, Z:-1.53 [[ 9.86028412e-01 1.66455866e-01 6.35727895e-03 9.55845952e+01] [-1.66451217e-01 9.86048889e-01 -1.25735254e-03 -6.34306486e+00] [-6.47788155e-03 1.81608518e-04 9.99979002e-01 -1.52504799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters 0.01790513460862068 Centerline is valid? [True, True] Translation: X:95.65, Y:-6.35, Z:-1.53 [[ 9.85956914e-01 1.66884472e-01 6.20785285e-03 9.56451590e+01] [-1.66880040e-01 9.85976441e-01 -1.22885130e-03 -6.35409643e+00] [-6.32587286e-03 1.75627709e-04 9.99979976e-01 -1.52679079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters 0.01720301054992838 Centerline is valid? [True, True] Translation: X:95.71, Y:-6.36, Z:-1.53 [[ 9.86132757e-01 1.65872040e-01 5.35284705e-03 9.57062719e+01] [-1.65868723e-01 9.86147272e-01 -1.06073901e-03 -6.36298378e+00] [-5.45464246e-03 1.58159576e-04 9.99985111e-01 -1.52788090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters 0.01790682071778476 Centerline is valid? [True, True] Translation: X:95.77, Y:-6.38, Z:-1.53 [[ 9.86457677e-01 1.63927779e-01 5.37904947e-03 9.57670522e+01] [-1.63924395e-01 9.86472328e-01 -1.06702922e-03 -6.37523801e+00] [-5.48119918e-03 1.70821731e-04 9.99984964e-01 -1.52884936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters 0.019721073784113707 Centerline is valid? [True, True] Translation: X:95.83, Y:-6.39, Z:-1.53 [[ 9.86899947e-01 1.61250799e-01 5.16477324e-03 9.58262757e+01] [-1.61247625e-01 9.86913444e-01 -1.02792663e-03 -6.38876919e+00] [-5.26293814e-03 1.81653313e-04 9.99986134e-01 -1.53006024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters 0.020769795495102692 Centerline is valid? [True, True] Translation: X:95.89, Y:-6.40, Z:-1.53 [[ 9.87431325e-01 1.57900535e-01 6.84098546e-03 9.58865149e+01] [-1.57894895e-01 9.87454987e-01 -1.36026951e-03 -6.40167296e+00] [-6.96995249e-03 2.63016048e-04 9.99975675e-01 -1.52927209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters 0.01980189664688207 Centerline is valid? [True, True] Translation: X:95.95, Y:-6.41, Z:-1.53 [[ 9.87564537e-01 1.57015901e-01 7.89254782e-03 9.59477133e+01] [-1.57008348e-01 9.87596025e-01 -1.57154720e-03 -6.41154225e+00] [-8.04140676e-03 3.12808393e-04 9.99967618e-01 -1.52836271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters 0.019625085677254142 Centerline is valid? [True, True] Translation: X:96.01, Y:-6.42, Z:-1.53 [[ 9.87359420e-01 1.58310310e-01 7.69555533e-03 9.60090203e+01] [-1.58303153e-01 9.87389365e-01 -1.53418854e-03 -6.42211399e+00] [-7.84138736e-03 2.96564835e-04 9.99969212e-01 -1.53005126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters 0.019316697619696947 Centerline is valid? [True, True] Translation: X:96.07, Y:-6.43, Z:-1.53 [[ 9.87028469e-01 1.60423868e-01 6.24376954e-03 9.60700845e+01] [-1.60419194e-01 9.87048191e-01 -1.24561104e-03 -6.43273217e+00] [-6.36272717e-03 2.27833082e-04 9.99979732e-01 -1.53186751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters 0.019350141442711178 Centerline is valid? [True, True] Translation: X:96.13, Y:-6.44, Z:-1.53 [[ 9.86253187e-01 1.65147432e-01 5.56576943e-03 9.61294358e+01] [-1.65143774e-01 9.86268875e-01 -1.11362420e-03 -6.44301791e+00] [-5.67325733e-03 1.79163243e-04 9.99983891e-01 -1.53304629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters 0.01616055237692408 Centerline is valid? [True, True] Translation: X:96.19, Y:-6.45, Z:-1.53 [[ 9.85523618e-01 1.69421950e-01 6.27699744e-03 9.61911742e+01] [-1.69417385e-01 9.85543592e-01 -1.25580537e-03 -6.44916153e+00] [-6.39901560e-03 1.74193358e-04 9.99979511e-01 -1.53191741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters 0.014659284982588556 Centerline is valid? [True, True] Translation: X:96.25, Y:-6.46, Z:-1.53 [[ 9.84308029e-01 1.76293921e-01 7.62603360e-03 9.62517076e+01] [-1.76287383e-01 9.84337558e-01 -1.52659804e-03 -6.45691353e+00] [-7.77572125e-03 1.58269208e-04 9.99969756e-01 -1.53201464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters 0.01344038110127595 Centerline is valid? [True, True] Translation: X:96.31, Y:-6.47, Z:-1.53 [[ 9.83389200e-01 1.81296049e-01 8.79903933e-03 9.63125960e+01] [-1.81287543e-01 9.83428556e-01 -1.76148970e-03 -6.46623291e+00] [-8.97257767e-03 1.37073727e-04 9.99959736e-01 -1.53185775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters 0.012006674836812486 Centerline is valid? [True, True] Translation: X:96.37, Y:-6.47, Z:-1.53 [[ 9.81704714e-01 1.90197463e-01 8.98777491e-03 9.63738094e+01] [-1.90188958e-01 9.81745854e-01 -1.79961292e-03 -6.47238452e+00] [-9.16599256e-03 5.73129425e-05 9.99957990e-01 -1.53241488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters 0.011860302548152088 Centerline is valid? [True, True] Translation: X:96.44, Y:-6.48, Z:-1.53 [[ 9.79540969e-01 2.01088772e-01 7.92443987e-03 9.64358909e+01] [-2.01082528e-01 9.79573021e-01 -1.58513095e-03 -6.47717183e+00] [-8.08131954e-03 -4.07656943e-05 9.99967345e-01 -1.53464683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters 0.012601850699250629 Centerline is valid? [True, True] Translation: X:96.50, Y:-6.49, Z:-1.54 [[ 9.77993719e-01 2.08524662e-01 6.76392767e-03 9.64976162e+01] [-2.08520282e-01 9.78017105e-01 -1.35433642e-03 -6.48501401e+00] [-6.89764950e-03 -8.58835950e-05 9.99976207e-01 -1.53631209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters 0.013604604313873671 Centerline is valid? [True, True] Translation: X:96.56, Y:-6.49, Z:-1.54 [[ 9.76774829e-01 2.14198730e-01 5.46234151e-03 9.65587181e+01] [-2.14195957e-01 9.76790097e-01 -1.09453274e-03 -6.49429210e+00] [-5.57000862e-03 -1.00899437e-04 9.99984482e-01 -1.53807759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters 0.014732989085600268 Centerline is valid? [True, True] Translation: X:96.62, Y:-6.51, Z:-1.54 [[ 9.75888230e-01 2.18207199e-01 5.27079956e-03 9.66194532e+01] [-2.18204669e-01 9.75902456e-01 -1.05733389e-03 -6.50510571e+00] [-5.37450411e-03 -1.18273377e-04 9.99985550e-01 -1.53944059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters 0.014783761827220682 Centerline is valid? [True, True] Translation: X:96.68, Y:-6.52, Z:-1.54 [[ 9.75979298e-01 2.17783724e-01 5.88722895e-03 9.66803191e+01] [-2.17780550e-01 9.75997046e-01 -1.18268122e-03 -6.51974586e+00] [-6.00348678e-03 -1.27851577e-04 9.99981971e-01 -1.53981966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters 0.013469930124803863 Centerline is valid? [True, True] Translation: X:96.74, Y:-6.54, Z:-1.54 [[ 9.76820811e-01 2.13950819e-01 6.79336977e-03 9.67397565e+01] [-2.13946484e-01 9.76844426e-01 -1.36702087e-03 -6.53933838e+00] [-6.92854063e-03 -1.18083140e-04 9.99975990e-01 -1.53952412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters 0.013236826624874935 Centerline is valid? [True, True] Translation: X:96.80, Y:-6.55, Z:-1.54 [[ 9.77091342e-01 2.12705223e-01 6.99984624e-03 9.67999868e+01] [-2.12700575e-01 9.77116409e-01 -1.41051186e-03 -6.55418588e+00] [-7.13968786e-03 -1.10672394e-04 9.99974506e-01 -1.54029011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters 0.012809274151406065 Centerline is valid? [True, True] Translation: X:96.86, Y:-6.57, Z:-1.54 [[ 9.77668834e-01 2.10031613e-01 7.09735850e-03 9.68596832e+01] [-2.10026750e-01 9.77694591e-01 -1.43205548e-03 -6.57186289e+00] [-7.23982594e-03 -9.05591263e-05 9.99973788e-01 -1.54078910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters 0.012374949710378549 Centerline is valid? [True, True] Translation: X:96.92, Y:-6.59, Z:-1.54 [[ 9.78262274e-01 2.07266855e-01 6.58586514e-03 9.69184147e+01] [-2.07262594e-01 9.78284441e-01 -1.33043643e-03 -6.59037603e+00] [-6.71860477e-03 -6.34877304e-05 9.99977428e-01 -1.54267070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters 0.01207358374134362 Centerline is valid? [True, True] Translation: X:96.98, Y:-6.61, Z:-1.54 [[ 9.78403195e-01 2.06602396e-01 6.52985177e-03 9.69786003e+01] [-2.06598187e-01 9.78424983e-01 -1.32003962e-03 -6.60916548e+00] [-6.66169345e-03 -5.75245578e-05 9.99977809e-01 -1.54288133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters 0.01229843336926579 Centerline is valid? [True, True] Translation: X:97.04, Y:-6.62, Z:-1.54 [[ 9.78289701e-01 2.07167950e-01 5.54089278e-03 9.70376832e+01] [-2.07164920e-01 9.78305391e-01 -1.12165547e-03 -6.62350458e+00] [-5.65305634e-03 -5.05746135e-05 9.99984020e-01 -1.54455878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters 0.012877715297327036 Centerline is valid? [True, True] Translation: X:97.10, Y:-6.64, Z:-1.55 [[ 9.77962644e-01 2.08727125e-01 4.69627958e-03 9.70971003e+01] [-2.08724963e-01 9.77973918e-01 -9.51276910e-04 -6.63755023e+00] [-4.79139623e-03 -4.99174993e-05 9.99988520e-01 -1.54749606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters 0.012534073767450497 Centerline is valid? [True, True] Translation: X:97.16, Y:-6.65, Z:-1.55 [[ 9.77784519e-01 2.09570898e-01 4.18007643e-03 9.71584218e+01] [-2.09569194e-01 9.77793453e-01 -8.46544650e-04 -6.65325757e+00] [-4.26466249e-03 -4.82769956e-05 9.99990905e-01 -1.54687737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters 0.012544968019961003 Centerline is valid? [True, True] Translation: X:97.22, Y:-6.67, Z:-1.55 [[ 9.77752923e-01 2.09711668e-01 4.49873937e-03 9.72193961e+01] [-2.09709688e-01 9.77763271e-01 -9.12810635e-04 -6.66729773e+00] [-4.59012916e-03 -5.09259636e-05 9.99989464e-01 -1.54782472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters 0.012435756943928959 Centerline is valid? [True, True] Translation: X:97.28, Y:-6.68, Z:-1.55 [[ 9.77913297e-01 2.08949525e-01 5.06744509e-03 9.72797000e+01] [-2.08946989e-01 9.77926425e-01 -1.03062595e-03 -6.68115306e+00] [-5.17093727e-03 -5.09645691e-05 9.99986629e-01 -1.54779914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters 0.0120310925778074 Centerline is valid? [True, True] Translation: X:97.34, Y:-6.70, Z:-1.55 [[ 9.78575366e-01 2.05792246e-01 6.30906327e-03 9.73406939e+01] [-2.05788223e-01 9.78595703e-01 -1.28732166e-03 -6.69574246e+00] [-6.43894302e-03 -3.85896536e-05 9.99979269e-01 -1.54761982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters 0.011968171362544668 Centerline is valid? [True, True] Translation: X:97.40, Y:-6.71, Z:-1.55 [[ 9.79384853e-01 2.01906207e-01 6.26048595e-03 9.74013817e+01] [-2.01902172e-01 9.79404862e-01 -1.27644400e-03 -6.71108284e+00] [-6.38927235e-03 -1.38757954e-05 9.99979588e-01 -1.54829321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters 0.011994685628602869 Centerline is valid? [True, True] Translation: X:97.46, Y:-6.73, Z:-1.55 [[ 9.80453618e-01 1.96622415e-01 7.09425859e-03 9.74623554e+01] [-1.96617081e-01 9.80479284e-01 -1.44852820e-03 -6.72665602e+00] [-7.24058669e-03 2.53623027e-05 9.99973786e-01 -1.54945800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters 0.013300079212178927 Centerline is valid? [True, True] Translation: X:97.52, Y:-6.74, Z:-1.55 [[ 9.82379070e-01 1.86732813e-01 7.88790594e-03 9.75220868e+01] [-1.86725873e-01 9.82410731e-01 -1.61379075e-03 -6.74251718e+00] [-8.05051113e-03 1.12478129e-04 9.99967588e-01 -1.54990411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters 0.01632448815061005 Centerline is valid? [True, True] Translation: X:97.58, Y:-6.76, Z:-1.55 [[ 9.84591814e-01 1.74699476e-01 7.68458036e-03 9.75808609e+01] [-1.74692495e-01 9.84621780e-01 -1.57568011e-03 -6.76064002e+00] [-7.84167568e-03 2.08963219e-04 9.99969232e-01 -1.55149230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters 0.018818248437149847 Centerline is valid? [True, True] Translation: X:97.64, Y:-6.78, Z:-1.55 [[ 9.85935604e-01 1.66931322e-01 8.05719009e-03 9.76401993e+01] [-1.66923387e-01 9.85968485e-01 -1.65221981e-03 -6.77631636e+00] [-8.21994275e-03 2.84048878e-04 9.99966175e-01 -1.55232950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters 0.020732785755611084 Centerline is valid? [True, True] Translation: X:97.70, Y:-6.79, Z:-1.55 [[ 9.87089484e-01 1.59927007e-01 8.81493223e-03 9.76993902e+01] [-1.59917229e-01 9.87128772e-01 -1.80777806e-03 -6.78829131e+00] [-8.99058576e-03 3.74779178e-04 9.99959514e-01 -1.55275604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters 0.019043699855131522 Centerline is valid? [True, True] Translation: X:97.76, Y:-6.80, Z:-1.55 [[ 9.87400945e-01 1.57974816e-01 9.12856628e-03 9.77613784e+01] [-1.57964248e-01 9.87443058e-01 -1.87186147e-03 -6.79622183e+00] [-9.30964638e-03 4.06290676e-04 9.99956582e-01 -1.55294320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters 0.020142233587990905 Centerline is valid? [True, True] Translation: X:97.82, Y:-6.81, Z:-1.55 [[ 9.86706294e-01 1.62248304e-01 9.28318445e-03 9.78208216e+01] [-1.62237553e-01 9.86749891e-01 -1.90476895e-03 -6.80504683e+00] [-9.46922678e-03 3.73366380e-04 9.99955096e-01 -1.55475107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters 0.018065704183902558 Centerline is valid? [True, True] Translation: X:97.88, Y:-6.81, Z:-1.56 [[ 9.85493166e-01 1.69478625e-01 8.95628230e-03 9.78819240e+01] [-1.69468916e-01 9.85533820e-01 -1.83759892e-03 -6.80955222e+00] [-9.13815284e-03 2.93129720e-04 9.99958203e-01 -1.55634037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters 0.014178872528605639 Centerline is valid? [True, True] Translation: X:97.94, Y:-6.81, Z:-1.56 [[ 9.83102200e-01 1.82856628e-01 8.57429939e-03 9.79443371e+01] [-1.82848235e-01 9.83139577e-01 -1.75938358e-03 -6.80746849e+00] [-8.75144802e-03 1.61858354e-04 9.99961692e-01 -1.55829105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters 0.01243304490225711 Centerline is valid? [True, True] Translation: X:98.01, Y:-6.81, Z:-1.56 [[ 9.81350362e-01 1.92043435e-01 8.41349984e-03 9.80062583e+01] [-1.92035692e-01 9.81386424e-01 -1.72625163e-03 -6.81158424e+00] [-8.58840981e-03 7.83653951e-05 9.99963116e-01 -1.55918899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters 0.011844668442896434 Centerline is valid? [True, True] Translation: X:98.07, Y:-6.81, Z:-1.56 [[ 9.78778842e-01 2.04727644e-01 8.86392852e-03 9.80683062e+01] [-2.04719572e-01 9.78818977e-01 -1.81830758e-03 -6.81115159e+00] [-9.04843928e-03 -3.48986658e-05 9.99959061e-01 -1.56202690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters 0.0126018373878429 Centerline is valid? [True, True] Translation: X:98.13, Y:-6.82, Z:-1.56 [[ 9.77150955e-01 2.12359068e-01 8.92399994e-03 9.81306146e+01] [-2.12351199e-01 9.77191698e-01 -1.83117108e-03 -6.81689627e+00] [-9.10932444e-03 -1.05691527e-04 9.99958504e-01 -1.56321617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters 0.014368958324361367 Centerline is valid? [True, True] Translation: X:98.19, Y:-6.82, Z:-1.57 [[ 9.75525185e-01 2.19706998e-01 8.91338645e-03 9.81914985e+01] [-2.19699419e-01 9.75565890e-01 -1.83277345e-03 -6.82154807e+00] [-9.09826894e-03 -1.70349172e-04 9.99958595e-01 -1.56507714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters 0.01488686684966494 Centerline is valid? [True, True] Translation: X:98.25, Y:-6.83, Z:-1.57 [[ 9.74849121e-01 2.22696910e-01 8.67627708e-03 9.82524191e+01] [-2.22689859e-01 9.74887711e-01 -1.78278940e-03 -6.83232254e+00] [-8.85541759e-03 -1.94168239e-04 9.99960771e-01 -1.56622065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters 0.016247974282809264 Centerline is valid? [True, True] Translation: X:98.31, Y:-6.84, Z:-1.57 [[ 9.74596724e-01 2.23825887e-01 7.94966569e-03 9.83130560e+01] [-2.23819989e-01 9.74629128e-01 -1.63537430e-03 -6.84158579e+00] [-8.11401484e-03 -1.85463650e-04 9.99967064e-01 -1.56896519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters 0.015512896327808074 Centerline is valid? [True, True] Translation: X:98.37, Y:-6.86, Z:-1.57 [[ 9.74776381e-01 2.23072193e-01 7.05713674e-03 9.83733183e+01] [-2.23067517e-01 9.74801914e-01 -1.45289386e-03 -6.85515893e+00] [-7.20341062e-03 -1.57971349e-04 9.99974043e-01 -1.57115461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters 0.014299819568014164 Centerline is valid? [True, True] Translation: X:98.43, Y:-6.87, Z:-1.57 [[ 9.75488040e-01 2.19985568e-01 5.42534507e-03 9.84337293e+01] [-2.19982745e-01 9.75503121e-01 -1.11902568e-03 -6.87204403e+00] [-5.53861055e-03 -1.01886134e-04 9.99984657e-01 -1.57302694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters 0.013616711891581515 Centerline is valid? [True, True] Translation: X:98.49, Y:-6.89, Z:-1.57 [[ 9.76145561e-01 2.17065800e-01 4.72040252e-03 9.84935800e+01] [-2.17063636e-01 9.76156971e-01 -9.72109479e-04 -6.88832654e+00] [-4.81886555e-03 -7.57073829e-05 9.99988386e-01 -1.57455092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters 0.012521615759296875 Centerline is valid? [True, True] Translation: X:98.55, Y:-6.91, Z:-1.57 [[ 9.77483743e-01 2.10932210e-01 5.75631459e-03 9.85527836e+01] [-2.10928873e-01 9.77500690e-01 -1.18775996e-03 -6.90865754e+00] [-5.87733832e-03 -5.31568989e-05 9.99982727e-01 -1.57449404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters 0.012114470599007771 Centerline is valid? [True, True] Translation: X:98.61, Y:-6.93, Z:-1.57 [[ 9.78405735e-01 2.06597642e-01 6.29545952e-03 9.86128460e+01] [-2.06593548e-01 9.78425988e-01 -1.30099730e-03 -6.92697400e+00] [-6.42842418e-03 -2.76981022e-05 9.99979337e-01 -1.57434573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters 0.01209843862156049 Centerline is valid? [True, True] Translation: X:98.67, Y:-6.95, Z:-1.57 [[ 9.79612180e-01 2.00789913e-01 6.58694151e-03 9.86725038e+01] [-2.00785289e-01 9.79634325e-01 -1.36279761e-03 -6.94849924e+00] [-6.72643001e-03 1.24521882e-05 9.99977377e-01 -1.57445514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters 0.012224361143442318 Centerline is valid? [True, True] Translation: X:98.73, Y:-6.96, Z:-1.58 [[ 9.79875330e-01 1.99503705e-01 6.52752496e-03 9.87333208e+01] [-1.99499123e-01 9.79897072e-01 -1.35235965e-03 -6.96353134e+00] [-6.66610335e-03 2.29083538e-05 9.99977781e-01 -1.57521901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters 0.01233826282027211 Centerline is valid? [True, True] Translation: X:98.79, Y:-6.98, Z:-1.58 [[ 9.80426838e-01 1.96764257e-01 6.85871962e-03 9.87934904e+01] [-1.96759113e-01 9.80450827e-01 -1.42352506e-03 -6.97984668e+00] [-7.00473618e-03 4.61465794e-05 9.99975465e-01 -1.57617013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters 0.012766380777507887 Centerline is valid? [True, True] Translation: X:98.85, Y:-7.00, Z:-1.58 [[ 9.81002887e-01 1.93834302e-01 7.84854433e-03 9.88537099e+01] [-1.93827452e-01 9.81034279e-01 -1.63158425e-03 -6.99738439e+00] [-8.01594802e-03 7.93255081e-05 9.99967869e-01 -1.57599472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters 0.01302868132094048 Centerline is valid? [True, True] Translation: X:98.91, Y:-7.01, Z:-1.58 [[ 9.81271925e-01 1.92437109e-01 8.56554247e-03 9.89140717e+01] [-1.92428873e-01 9.81309303e-01 -1.78323502e-03 -7.01299732e+00] [-8.74860710e-03 1.01580778e-04 9.99961725e-01 -1.57581840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters 0.013791343658458377 Centerline is valid? [True, True] Translation: X:98.97, Y:-7.03, Z:-1.58 [[ 9.81830363e-01 1.89580760e-01 8.26275369e-03 9.89739612e+01] [-1.89572978e-01 9.81865123e-01 -1.72220462e-03 -7.03062292e+00] [-8.43940653e-03 1.24517969e-04 9.99964380e-01 -1.57670163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters 0.013798228969023107 Centerline is valid? [True, True] Translation: X:99.03, Y:-7.04, Z:-1.58 [[ 9.82266546e-01 1.87300105e-01 8.43231043e-03 9.90341694e+01] [-1.87291898e-01 9.82302727e-01 -1.75970749e-03 -7.04482372e+00] [-8.61267493e-03 1.49198368e-04 9.99962899e-01 -1.57709990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters 0.015198296603934887 Centerline is valid? [True, True] Translation: X:99.09, Y:-7.06, Z:-1.58 [[ 9.83236527e-01 1.82108791e-01 9.07305027e-03 9.90939699e+01] [-1.82099033e-01 9.83278365e-01 -1.89730206e-03 -7.06230480e+00] [-9.26684942e-03 2.13303012e-04 9.99957039e-01 -1.57754525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters 0.017258570681178323 Centerline is valid? [True, True] Translation: X:99.15, Y:-7.08, Z:-1.58 [[ 9.84091586e-01 1.77448759e-01 8.69991715e-03 9.91517269e+01] [-1.77439596e-01 9.84130010e-01 -1.82025220e-03 -7.07993242e+00] [-8.88485105e-03 2.47585091e-04 9.99960498e-01 -1.57985765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters 0.017787246013898375 Centerline is valid? [True, True] Translation: X:99.21, Y:-7.09, Z:-1.58 [[ 9.84489656e-01 1.75226915e-01 8.69742085e-03 9.92125079e+01] [-1.75217683e-01 9.84528038e-01 -1.81832414e-03 -7.09441196e+00] [-8.88147402e-03 2.66179381e-04 9.99960524e-01 -1.58153943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters 0.019782487030356278 Centerline is valid? [True, True] Translation: X:99.27, Y:-7.11, Z:-1.58 [[ 9.84845070e-01 1.73242663e-01 8.19561326e-03 9.92715451e+01] [-1.73234381e-01 9.84879133e-01 -1.71533627e-03 -7.11003263e+00] [-8.36885791e-03 2.69578485e-04 9.99964944e-01 -1.58346017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters 0.020036405836638148 Centerline is valid? [True, True] Translation: X:99.33, Y:-7.12, Z:-1.58 [[ 9.84911983e-01 1.72822357e-01 8.98987577e-03 9.93323776e+01] [-1.72812353e-01 9.84952964e-01 -1.88391702e-03 -7.12298983e+00] [-9.18018777e-03 3.01930865e-04 9.99957816e-01 -1.58417582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters 0.018431574284735255 Centerline is valid? [True, True] Translation: X:99.39, Y:-7.13, Z:-1.58 [[ 9.84785950e-01 1.73449610e-01 1.05766997e-02 9.93938119e+01] [-1.73435762e-01 9.84842683e-01 -2.21966690e-03 -7.13289143e+00] [-1.08013857e-02 3.51518802e-04 9.99941602e-01 -1.58342061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters 0.017171185371487065 Centerline is valid? [True, True] Translation: X:99.46, Y:-7.14, Z:-1.58 [[ 9.84319613e-01 1.76096572e-01 1.02418758e-02 9.94557486e+01] [-1.76083696e-01 9.84372845e-01 -2.15272020e-03 -7.14231896e+00] [-1.04609111e-02 3.15537378e-04 9.99945233e-01 -1.58424042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters 0.01567235035717906 Centerline is valid? [True, True] Translation: X:99.52, Y:-7.15, Z:-1.59 [[ 9.83106101e-01 1.82803982e-01 9.22485846e-03 9.95163179e+01] [-1.82793820e-01 9.83149356e-01 -1.94012437e-03 -7.14877823e+00] [-9.42407611e-03 2.21100996e-04 9.99955568e-01 -1.58608045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters 0.014408651577027238 Centerline is valid? [True, True] Translation: X:99.58, Y:-7.16, Z:-1.59 [[ 9.82054354e-01 1.88419555e-01 8.20475741e-03 9.95771905e+01] [-1.88411712e-01 9.82088616e-01 -1.72556576e-03 -7.15655528e+00] [-8.38292918e-03 1.48726979e-04 9.99964852e-01 -1.58806277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters 0.013432849906871627 Centerline is valid? [True, True] Translation: X:99.64, Y:-7.17, Z:-1.59 [[ 9.81022908e-01 1.93760824e-01 7.12722898e-03 9.96390148e+01] [-1.93755059e-01 9.81048794e-01 -1.49730360e-03 -7.16506173e+00] [-7.28227817e-03 8.79524593e-05 9.99973480e-01 -1.58960706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters 0.012378489278306086 Centerline is valid? [True, True] Translation: X:99.70, Y:-7.17, Z:-1.59 [[ 9.79570007e-01 2.01012997e-01 6.03124028e-03 9.97009888e+01] [-2.01009000e-01 9.79588574e-01 -1.26793075e-03 -7.17192167e+00] [-6.16300463e-03 2.96933558e-05 9.99981008e-01 -1.59133026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters 0.012349186634547487 Centerline is valid? [True, True] Translation: X:99.76, Y:-7.18, Z:-1.59 [[ 9.78664665e-01 2.05385571e-01 5.67813863e-03 9.97618010e+01] [-2.05382094e-01 9.78681137e-01 -1.19515818e-03 -7.18108353e+00] [-5.80255541e-03 3.47107570e-06 9.99983165e-01 -1.59372458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters 0.012094325279002713 Centerline is valid? [True, True] Translation: X:99.82, Y:-7.19, Z:-1.59 [[ 9.77913630e-01 2.08927958e-01 5.83451095e-03 9.98239101e+01] [-2.08924344e-01 9.77931034e-01 -1.22899987e-03 -7.19213186e+00] [-5.96252176e-03 -1.71156511e-05 9.99982224e-01 -1.59402858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters 0.012132127798724739 Centerline is valid? [True, True] Translation: X:99.88, Y:-7.20, Z:-1.59 [[ 9.77275062e-01 2.11880206e-01 6.34280423e-03 9.98845543e+01] [-2.11875980e-01 9.77295645e-01 -1.33856421e-03 -7.20347956e+00] [-6.48241021e-03 -3.57424476e-05 9.99978988e-01 -1.59484190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters 0.012233004649563957 Centerline is valid? [True, True] Translation: X:99.95, Y:-7.22, Z:-1.60 [[ 9.76932927e-01 2.13417512e-01 7.41768928e-03 9.99460745e+01] [-2.13411757e-01 9.76961086e-01 -1.56802045e-03 -7.21588566e+00] [-7.58143679e-03 -5.11713006e-05 9.99971259e-01 -1.59534275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters 0.012352748236886521 Centerline is valid? [True, True] Translation: X:100.01, Y:-7.23, Z:-1.60 [[ 9.76479614e-01 2.15457301e-01 8.10641144e-03 1.00007821e+02] [-2.15450476e-01 9.76513260e-01 -1.71635607e-03 -7.22798126e+00] [-8.28581971e-03 -7.05434895e-05 9.99965670e-01 -1.59575307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters 0.012622900478202045 Centerline is valid? [True, True] Translation: X:100.07, Y:-7.24, Z:-1.60 [[ 9.76222836e-01 2.16626175e-01 7.87877790e-03 1.00068432e+02] [-2.16619747e-01 9.76254626e-01 -1.67055049e-03 -7.24037248e+00] [-8.05357833e-03 -7.58693432e-05 9.99967567e-01 -1.59694988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters 0.012643279307128804 Centerline is valid? [True, True] Translation: X:100.13, Y:-7.25, Z:-1.60 [[ 9.76289892e-01 2.16351496e-01 7.07650016e-03 1.00128443e+02] [-2.16346292e-01 9.76315536e-01 -1.50201214e-03 -7.25389131e+00] [-7.23385962e-03 -6.45752936e-05 9.99973833e-01 -1.59897619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters 0.012386373756272693 Centerline is valid? [True, True] Translation: X:100.19, Y:-7.27, Z:-1.60 [[ 9.76421053e-01 2.15785047e-01 6.22428454e-03 1.00189113e+02] [-2.15781003e-01 9.76440890e-01 -1.32203602e-03 -7.26914851e+00] [-6.36292154e-03 -5.22185639e-05 9.99979755e-01 -1.59973677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters 0.012270614477925108 Centerline is valid? [True, True] Translation: X:100.25, Y:-7.29, Z:-1.60 [[ 9.76879910e-01 2.13719970e-01 5.42365776e-03 1.00250109e+02] [-2.13716862e-01 9.76894965e-01 -1.15304365e-03 -7.28532627e+00] [-5.54477241e-03 -3.27419386e-05 9.99984627e-01 -1.60112748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters 0.012189566461786839 Centerline is valid? [True, True] Translation: X:100.31, Y:-7.30, Z:-1.60 [[ 9.77390054e-01 2.11377829e-01 5.30056408e-03 1.00311003e+02] [-2.11374818e-01 9.77404427e-01 -1.12836403e-03 -7.30190295e+00] [-5.41930593e-03 -1.75539863e-05 9.99985315e-01 -1.60206491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters 0.012359852189764675 Centerline is valid? [True, True] Translation: X:100.37, Y:-7.32, Z:-1.60 [[ 9.78707872e-01 2.05171645e-01 5.95794286e-03 1.00371257e+02] [-2.05167712e-01 9.78726006e-01 -1.27060028e-03 -7.32261742e+00] [-6.09188477e-03 2.11689890e-05 9.99981444e-01 -1.60164169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters 0.012896785042849973 Centerline is valid? [True, True] Translation: X:100.43, Y:-7.34, Z:-1.60 [[ 9.79937044e-01 1.99175358e-01 7.25031003e-03 1.00431173e+02] [-1.99169345e-01 9.79963862e-01 -1.54947105e-03 -7.34085867e+00] [-7.41365827e-03 7.43445795e-05 9.99972516e-01 -1.60104830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters 0.015206415109224209 Centerline is valid? [True, True] Translation: X:100.49, Y:-7.36, Z:-1.60 [[ 9.82031609e-01 1.88507284e-01 8.88389521e-03 1.00489207e+02] [-1.88497775e-01 9.82071772e-01 -1.90325888e-03 -7.36317712e+00] [-9.08340088e-03 1.94465899e-04 9.99958726e-01 -1.59981650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters 0.016571963534055222 Centerline is valid? [True, True] Translation: X:100.55, Y:-7.38, Z:-1.60 [[ 9.83335040e-01 1.81618650e-01 8.17714889e-03 1.00547810e+02] [-1.81610353e-01 9.83369010e-01 -1.75223058e-03 -7.38099226e+00] [-8.35939256e-03 2.37974828e-04 9.99965031e-01 -1.60022884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters 0.01997052200128939 Centerline is valid? [True, True] Translation: X:100.61, Y:-7.40, Z:-1.60 [[ 9.84999838e-01 1.72424010e-01 6.72900829e-03 1.00605102e+02] [-1.72418178e-01 9.85022788e-01 -1.44175063e-03 -7.40099223e+00] [-6.87681893e-03 2.59920781e-04 9.99976321e-01 -1.60230381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters 0.020766600247614387 Centerline is valid? [True, True] Translation: X:100.66, Y:-7.42, Z:-1.60 [[ 9.85531422e-01 1.69372085e-01 6.39637978e-03 1.00664045e+02] [-1.69366748e-01 9.85552142e-01 -1.37099253e-03 -7.41564527e+00] [-6.53617366e-03 2.67822176e-04 9.99978603e-01 -1.60251709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters 0.02228768992543272 Centerline is valid? [True, True] Translation: X:100.72, Y:-7.43, Z:-1.60 [[ 9.86057138e-01 1.66239220e-01 7.47275671e-03 1.00723243e+02] [-1.66231844e-01 9.86085396e-01 -1.60188653e-03 -7.42911932e+00] [-7.63507263e-03 3.37341520e-04 9.99970796e-01 -1.60243204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters 0.02279750537176404 Centerline is valid? [True, True] Translation: X:100.78, Y:-7.44, Z:-1.60 [[ 9.86338832e-01 1.64573844e-01 7.15253565e-03 1.00784367e+02] [-1.64567045e-01 9.86364708e-01 -1.53290666e-03 -7.44084599e+00] [-7.30728508e-03 3.34893704e-04 9.99973245e-01 -1.60238095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters 0.024018892876953316 Centerline is valid? [True, True] Translation: X:100.84, Y:-7.45, Z:-1.60 [[ 9.86151278e-01 1.65713432e-01 6.68697143e-03 1.00844218e+02] [-1.65707523e-01 9.86173902e-01 -1.43214395e-03 -7.45312033e+00] [-6.83184220e-03 3.04229115e-04 9.99976616e-01 -1.60398675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters 0.019562385759866126 Centerline is valid? [True, True] Translation: X:100.91, Y:-7.45, Z:-1.60 [[ 9.85080405e-01 1.71973743e-01 6.45187252e-03 1.00906070e+02] [-1.71968354e-01 9.85101501e-01 -1.38510331e-03 -7.45357958e+00] [-6.59395071e-03 2.54920235e-04 9.99978227e-01 -1.60405098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters 0.016587473038040843 Centerline is valid? [True, True] Translation: X:100.97, Y:-7.45, Z:-1.60 [[ 9.82963809e-01 1.83627715e-01 7.93800933e-03 1.00968270e+02] [-1.83619935e-01 9.82995837e-01 -1.70428748e-03 -7.45348987e+00] [-8.11598454e-03 2.17676157e-04 9.99967041e-01 -1.60375364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters 0.014432084748183345 Centerline is valid? [True, True] Translation: X:101.03, Y:-7.46, Z:-1.60 [[ 9.81234844e-01 1.92614142e-01 8.83028438e-03 1.01029660e+02] [-1.92604876e-01 9.81274562e-01 -1.89608720e-03 -7.45781283e+00] [-9.03014665e-03 1.59750996e-04 9.99959215e-01 -1.60388433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters 0.012107407012232658 Centerline is valid? [True, True] Translation: X:101.09, Y:-7.46, Z:-1.60 [[ 9.78623856e-01 2.05451740e-01 9.21581233e-03 1.01092532e+02] [-2.05442214e-01 9.78667247e-01 -1.97892950e-03 -7.45628455e+00] [-9.42578819e-03 4.33107304e-05 9.99955575e-01 -1.60455140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters 0.011838452760380523 Centerline is valid? [True, True] Translation: X:101.16, Y:-7.46, Z:-1.61 [[ 9.76851882e-01 2.13718353e-01 9.21226838e-03 1.01156596e+02] [-2.13709213e-01 9.76895319e-01 -1.97687680e-03 -7.45966368e+00] [-9.42191671e-03 -3.76308012e-05 9.99955612e-01 -1.60652406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters 0.012552023617448208 Centerline is valid? [True, True] Translation: X:101.22, Y:-7.46, Z:-1.61 [[ 9.75218767e-01 2.21038484e-01 9.50498920e-03 1.01219162e+02] [-2.21029070e-01 9.75265080e-01 -2.04288137e-03 -7.46402472e+00] [-9.72143946e-03 -1.08622677e-04 9.99952740e-01 -1.60849396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters 0.013769785412646651 Centerline is valid? [True, True] Translation: X:101.28, Y:-7.47, Z:-1.61 [[ 9.73724791e-01 2.27550655e-01 8.98507762e-03 1.01281324e+02] [-2.27542490e-01 9.73766231e-01 -1.93443824e-03 -7.46962056e+00] [-9.18954786e-03 -1.60876456e-04 9.99957762e-01 -1.60983356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters 0.014999243794076625 Centerline is valid? [True, True] Translation: X:101.34, Y:-7.48, Z:-1.61 [[ 9.73171557e-01 2.29908026e-01 8.91183815e-03 1.01341812e+02] [-2.29900095e-01 9.73212344e-01 -1.91824859e-03 -7.47788446e+00] [-9.11413164e-03 -1.82047474e-04 9.99958449e-01 -1.61153438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters 0.01508437158165577 Centerline is valid? [True, True] Translation: X:101.40, Y:-7.49, Z:-1.61 [[ 9.72790583e-01 2.31550015e-01 7.94173690e-03 1.01402575e+02] [-2.31543754e-01 9.72822985e-01 -1.71168125e-03 -7.48822989e+00] [-8.12224401e-03 -1.73752173e-04 9.99966999e-01 -1.61344557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters 0.014075278154789372 Centerline is valid? [True, True] Translation: X:101.46, Y:-7.50, Z:-1.62 [[ 9.73372068e-01 2.29152606e-01 5.99172381e-03 1.01462789e+02] [-2.29149002e-01 9.73390502e-01 -1.29052834e-03 -7.50346911e+00] [-6.12801498e-03 -1.16833292e-04 9.99981217e-01 -1.61602590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters 0.012935170877058819 Centerline is valid? [True, True] Translation: X:101.52, Y:-7.52, Z:-1.62 [[ 9.74662216e-01 2.23640835e-01 4.28274927e-03 1.01522190e+02] [-2.23638941e-01 9.74671623e-01 -9.22404290e-04 -7.52210429e+00] [-4.38056145e-03 -5.87568992e-05 9.99990404e-01 -1.61819957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters 0.012512674270417797 Centerline is valid? [True, True] Translation: X:101.58, Y:-7.54, Z:-1.62 [[ 9.75166771e-01 2.21449038e-01 3.17671816e-03 1.01582195e+02] [-2.21447985e-01 9.75171945e-01 -6.83973310e-04 -7.53850596e+00] [-3.24931166e-03 -3.64897889e-05 9.99994720e-01 -1.61938391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters 0.012510099657099226 Centerline is valid? [True, True] Translation: X:101.64, Y:-7.55, Z:-1.62 [[ 9.75214339e-01 2.21241083e-01 3.06196751e-03 1.01643298e+02] [-2.21240103e-01 9.75219146e-01 -6.59462423e-04 -7.55316098e+00] [-3.13198952e-03 -3.43127961e-05 9.99995095e-01 -1.62033601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters 0.012431473865962672 Centerline is valid? [True, True] Translation: X:101.70, Y:-7.57, Z:-1.62 [[ 9.75221734e-01 2.21206989e-01 3.16813791e-03 1.01704635e+02] [-2.21205936e-01 9.75226880e-01 -6.83351222e-04 -7.56871262e+00] [-3.24081532e-03 -3.43919481e-05 9.99994748e-01 -1.61979138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters 0.012478582832995702 Centerline is valid? [True, True] Translation: X:101.76, Y:-7.58, Z:-1.62 [[ 9.75097711e-01 2.21741991e-01 3.86572218e-03 1.01764621e+02] [-2.21740418e-01 9.75105373e-01 -8.36284184e-04 -7.58214466e+00] [-3.95492579e-03 -4.17280575e-05 9.99992178e-01 -1.62041519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters 0.012524108659388324 Centerline is valid? [True, True] Translation: X:101.83, Y:-7.60, Z:-1.62 [[ 9.75026572e-01 2.22064646e-01 3.23669508e-03 1.01825754e+02] [-2.22063545e-01 9.75031944e-01 -7.00192638e-04 -7.59825018e+00] [-3.31136913e-03 -3.60455579e-05 9.99994517e-01 -1.62108286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters 0.012360840360247382 Centerline is valid? [True, True] Translation: X:101.89, Y:-7.61, Z:-1.62 [[ 9.75469220e-01 2.20109906e-01 3.38087022e-03 1.01885387e+02] [-2.20108687e-01 9.75475078e-01 -7.33091927e-04 -7.61496153e+00] [-3.45931543e-03 -2.90502946e-05 9.99994016e-01 -1.62204844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters 0.012127691307550321 Centerline is valid? [True, True] Translation: X:101.94, Y:-7.63, Z:-1.62 [[ 9.76279220e-01 2.16486571e-01 3.52827177e-03 1.01944548e+02] [-2.16485216e-01 9.76285596e-01 -7.66122950e-04 -7.63425260e+00] [-3.61045624e-03 -1.58687624e-05 9.99993482e-01 -1.62246674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters 0.012128525673159992 Centerline is valid? [True, True] Translation: X:102.01, Y:-7.65, Z:-1.62 [[ 9.76744753e-01 2.14376876e-01 3.49894245e-03 1.02005432e+02] [-2.14375529e-01 9.76751020e-01 -7.60038723e-04 -7.65129357e+00] [-3.58053033e-03 -7.72380187e-06 9.99993590e-01 -1.62226622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters 0.012241545851651367 Centerline is valid? [True, True] Translation: X:102.07, Y:-7.67, Z:-1.62 [[ 9.77397644e-01 2.11387774e-01 3.00897148e-03 1.02066027e+02] [-2.11386762e-01 9.77402276e-01 -6.53916497e-04 -7.66982766e+00] [-3.07920553e-03 3.07970463e-06 9.99995259e-01 -1.62348033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters 0.012512604603621247 Centerline is valid? [True, True] Translation: X:102.12, Y:-7.69, Z:-1.63 [[ 9.77861761e-01 2.09237585e-01 2.45135719e-03 1.02124560e+02] [-2.09236906e-01 9.77864834e-01 -5.33396173e-04 -7.68625621e+00] [-2.50870252e-03 8.67332812e-06 9.99996853e-01 -1.62521320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters 0.012820529718382783 Centerline is valid? [True, True] Translation: X:102.18, Y:-7.70, Z:-1.63 [[ 9.78552869e-01 2.05979763e-01 2.57290557e-03 1.02183681e+02] [-2.05978998e-01 9.78556251e-01 -5.61911735e-04 -7.70445962e+00] [-2.63347528e-03 1.98958292e-05 9.99996532e-01 -1.62518678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters 0.013204333647379298 Centerline is valid? [True, True] Translation: X:102.24, Y:-7.72, Z:-1.63 [[ 9.78924525e-01 2.04203688e-01 2.76174649e-03 1.02243813e+02] [-2.04202802e-01 9.78928421e-01 -6.02257162e-04 -7.72117002e+00] [-2.82653526e-03 2.56079367e-05 9.99996005e-01 -1.62622942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters 0.013622724431341103 Centerline is valid? [True, True] Translation: X:102.30, Y:-7.74, Z:-1.63 [[ 9.79104421e-01 2.03328815e-01 3.45340529e-03 1.02303473e+02] [-2.03327417e-01 9.79110510e-01 -7.54773829e-04 -7.73991440e+00] [-3.53473269e-03 3.68304147e-05 9.99993752e-01 -1.62561308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters 0.013910891652918771 Centerline is valid? [True, True] Translation: X:102.36, Y:-7.76, Z:-1.63 [[ 9.78960975e-01 2.04023134e-01 3.15761157e-03 1.02363286e+02] [-2.04021968e-01 9.78966067e-01 -6.90684884e-04 -7.75609259e+00] [-3.23211028e-03 3.19314215e-05 9.99994776e-01 -1.62723529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters 0.01308879316848174 Centerline is valid? [True, True] Translation: X:102.42, Y:-7.77, Z:-1.63 [[ 9.78669118e-01 2.05419692e-01 3.08345186e-03 1.02424492e+02] [-2.05418578e-01 9.78673975e-01 -6.77308368e-04 -7.76948273e+00] [-3.15682657e-03 2.94624874e-05 9.99995017e-01 -1.62650444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters 0.012866448751361484 Centerline is valid? [True, True] Translation: X:102.49, Y:-7.78, Z:-1.63 [[ 9.78324859e-01 2.07038874e-01 3.92119339e-03 1.02485447e+02] [-2.07037089e-01 9.78332716e-01 -8.60178505e-04 -7.78348430e+00] [-4.01432217e-03 2.97015488e-05 9.99991942e-01 -1.62695419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters 0.01256676588407053 Centerline is valid? [True, True] Translation: X:102.55, Y:-7.80, Z:-1.63 [[ 9.78073491e-01 2.08214617e-01 4.34971718e-03 1.02546094e+02] [-2.08212426e-01 9.78083162e-01 -9.55673281e-04 -7.79779373e+00] [-4.45337028e-03 2.90535361e-05 9.99990083e-01 -1.62693196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters 0.012337578695044272 Centerline is valid? [True, True] Translation: X:102.61, Y:-7.81, Z:-1.63 [[ 9.77727142e-01 2.09836380e-01 4.28133551e-03 1.02607312e+02] [-2.09834271e-01 9.77736515e-01 -9.41244338e-04 -7.81183837e+00] [-4.38352536e-03 2.19092235e-05 9.99990392e-01 -1.62715919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters 0.012195000568637197 Centerline is valid? [True, True] Translation: X:102.67, Y:-7.82, Z:-1.63 [[ 9.76883186e-01 2.13749841e-01 3.20108738e-03 1.02669056e+02] [-2.13748683e-01 9.76888430e-01 -7.03577643e-04 -7.82446494e+00] [-3.27749483e-03 3.08495915e-06 9.99994629e-01 -1.62898280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters 0.012162550881486473 Centerline is valid? [True, True] Translation: X:102.73, Y:-7.84, Z:-1.63 [[ 9.76166069e-01 2.17013940e-01 2.18061557e-03 1.02731236e+02] [-2.17013413e-01 9.76168505e-01 -4.78513435e-04 -7.83654079e+00] [-2.23249232e-03 -6.11424748e-06 9.99997508e-01 -1.63128507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters 0.012222503738782791 Centerline is valid? [True, True] Translation: X:102.79, Y:-7.85, Z:-1.63 [[ 9.75172565e-01 2.21441931e-01 1.39300976e-03 1.02792321e+02] [-2.21441721e-01 9.75173560e-01 -3.04915971e-04 -7.84865553e+00] [-1.42594747e-03 -1.11247894e-05 9.99998983e-01 -1.63228724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters 0.012578524496249546 Centerline is valid? [True, True] Translation: X:102.85, Y:-7.86, Z:-1.63 [[ 9.74763033e-01 2.23235199e-01 1.75384003e-03 1.02852316e+02] [-2.23234866e-01 9.74764610e-01 -3.85443475e-04 -7.86178541e+00] [-1.79562574e-03 -1.58021934e-05 9.99998388e-01 -1.63384023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters 0.012863374380326842 Centerline is valid? [True, True] Translation: X:102.91, Y:-7.88, Z:-1.63 [[ 9.74537744e-01 2.24215705e-01 1.87188491e-03 1.02912911e+02] [-2.24215327e-01 9.74539541e-01 -4.12047257e-04 -7.87664602e+00] [-1.91661333e-03 -1.81496841e-05 9.99998163e-01 -1.63490916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters 0.012929504440531809 Centerline is valid? [True, True] Translation: X:102.97, Y:-7.89, Z:-1.64 [[ 9.74452367e-01 2.24587088e-01 1.79544487e-03 1.02974411e+02] [-2.24586741e-01 9.74454021e-01 -3.95324162e-04 -7.89140738e+00] [-1.83836318e-03 -1.80085467e-05 9.99998310e-01 -1.63615304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters 0.013058357701665298 Centerline is valid? [True, True] Translation: X:103.03, Y:-7.91, Z:-1.64 [[ 9.74456067e-01 2.24572652e-01 1.58002422e-03 1.03034759e+02] [-2.24572383e-01 9.74457348e-01 -3.48113210e-04 -7.90634063e+00] [-1.61784292e-03 -1.56087740e-05 9.99998691e-01 -1.63844245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters 0.012513860816733455 Centerline is valid? [True, True] Translation: X:103.10, Y:-7.92, Z:-1.64 [[ 9.74725527e-01 2.23401358e-01 1.40723553e-03 1.03095156e+02] [-2.23401144e-01 9.74726543e-01 -3.09366397e-04 -7.92359930e+00] [-1.44078270e-03 -1.28307047e-05 9.99998962e-01 -1.63684470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters 0.012448765116657262 Centerline is valid? [True, True] Translation: X:103.15, Y:-7.94, Z:-1.64 [[ 9.75483627e-01 2.20058327e-01 2.45487800e-03 1.03154657e+02] [-2.20057654e-01 9.75486716e-01 -5.44366220e-04 -7.94156991e+00] [-2.51449320e-03 -9.19435894e-06 9.99996839e-01 -1.63712039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters 0.012400007143523588 Centerline is valid? [True, True] Translation: X:103.22, Y:-7.96, Z:-1.64 [[ 9.75980739e-01 2.17843908e-01 2.37270219e-03 1.03215272e+02] [-2.17843273e-01 9.75983623e-01 -5.26129883e-04 -7.95804842e+00] [-2.43033267e-03 -3.38457812e-06 9.99997047e-01 -1.63790519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters 0.01246329149524229 Centerline is valid? [True, True] Translation: X:103.28, Y:-7.97, Z:-1.64 [[ 9.76282688e-01 2.16476271e-01 3.18396496e-03 1.03276529e+02] [-2.16475111e-01 9.76287880e-01 -7.08583459e-04 -7.97278142e+00] [-3.26185790e-03 2.52859528e-06 9.99994680e-01 -1.63866625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters 0.012439418249992366 Centerline is valid? [True, True] Translation: X:103.34, Y:-7.99, Z:-1.64 [[ 9.76541872e-01 2.15295080e-01 3.74164511e-03 1.03338174e+02] [-2.15293462e-01 9.76549041e-01 -8.34592778e-04 -7.98644430e+00] [-3.83358367e-03 9.46306299e-06 9.99992652e-01 -1.63980085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters 0.012724909824540196 Centerline is valid? [True, True] Translation: X:103.40, Y:-8.00, Z:-1.64 [[ 9.77294422e-01 2.11835148e-01 4.63495798e-03 1.03399319e+02] [-2.11832615e-01 9.77305412e-01 -1.03630085e-03 -8.00201601e+00] [-4.74929446e-03 3.09357685e-05 9.99988722e-01 -1.64019902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters 0.013355704636951932 Centerline is valid? [True, True] Translation: X:103.46, Y:-8.02, Z:-1.64 [[ 9.78195162e-01 2.07625901e-01 5.07043968e-03 1.03459245e+02] [-2.07622802e-01 9.78208302e-01 -1.13596383e-03 -8.01696848e+00] [-5.19580170e-03 5.84554257e-05 9.99986500e-01 -1.64115611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters 0.013886129414904979 Centerline is valid? [True, True] Translation: X:103.52, Y:-8.03, Z:-1.64 [[ 9.78803437e-01 2.04737327e-01 5.14382846e-03 1.03519484e+02] [-2.04734090e-01 9.78816950e-01 -1.15378277e-03 -8.03035311e+00] [-5.27108889e-03 7.62094978e-05 9.99986105e-01 -1.64201504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters 0.01464790236682292 Centerline is valid? [True, True] Translation: X:103.58, Y:-8.04, Z:-1.64 [[ 9.79788041e-01 1.99992569e-01 4.28575045e-03 1.03580413e+02] [-1.99990265e-01 9.79797410e-01 -9.63777509e-04 -8.04313786e+00] [-4.39191553e-03 8.71893081e-05 9.99990352e-01 -1.64270287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters 0.01551405736719856 Centerline is valid? [True, True] Translation: X:103.64, Y:-8.06, Z:-1.64 [[ 9.80247684e-01 1.97724038e-01 4.43661410e-03 1.03641399e+02] [-1.97721554e-01 9.80257719e-01 -9.96070820e-04 -8.05635847e+00] [-4.54597236e-03 9.91818787e-05 9.99989662e-01 -1.64364666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters 0.015720375462968082 Centerline is valid? [True, True] Translation: X:103.70, Y:-8.07, Z:-1.64 [[ 9.80712160e-01 1.95391031e-01 5.09941942e-03 1.03702395e+02] [-1.95387708e-01 9.80725409e-01 -1.14673033e-03 -8.06824163e+00] [-5.22519102e-03 1.28248502e-04 9.99986340e-01 -1.64389113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters 0.016375337273282546 Centerline is valid? [True, True] Translation: X:103.76, Y:-8.08, Z:-1.64 [[ 9.81189806e-01 1.92966123e-01 5.53531437e-03 1.03763278e+02] [-1.92962159e-01 9.81205407e-01 -1.24653933e-03 -8.07920898e+00] [-5.67182026e-03 1.54985465e-04 9.99983903e-01 -1.64474594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters 0.016859855361536835 Centerline is valid? [True, True] Translation: X:103.83, Y:-8.09, Z:-1.65 [[ 9.81133531e-01 1.93241891e-01 5.87924246e-03 1.03825458e+02] [-1.93237415e-01 9.81151132e-01 -1.32544993e-03 -8.09118321e+00] [-6.02455785e-03 1.64353759e-04 9.99981839e-01 -1.64600655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters 0.016270679383530575 Centerline is valid? [True, True] Translation: X:103.89, Y:-8.10, Z:-1.65 [[ 9.80474540e-01 1.96534360e-01 6.62729922e-03 1.03885875e+02] [-1.96528716e-01 9.80496924e-01 -1.49888807e-03 -8.09946607e+00] [-6.79262951e-03 1.67166985e-04 9.99976916e-01 -1.64675556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters 0.01514878836180453 Centerline is valid? [True, True] Translation: X:103.95, Y:-8.11, Z:-1.65 [[ 9.79614723e-01 2.00749923e-01 7.37985632e-03 1.03947441e+02] [-2.00743042e-01 9.79642509e-01 -1.66928167e-03 -8.10789224e+00] [-7.56472913e-03 1.53798099e-04 9.99971375e-01 -1.64754251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters 0.013078768324299075 Centerline is valid? [True, True] Translation: X:104.01, Y:-8.11, Z:-1.65 [[ 9.78062605e-01 2.08173940e-01 7.55979106e-03 1.04009217e+02] [-2.08166936e-01 9.78091816e-01 -1.71054481e-03 -8.11182612e+00] [-7.75026062e-03 9.93213697e-05 9.99969961e-01 -1.64898387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters 0.012363653112747706 Centerline is valid? [True, True] Translation: X:104.07, Y:-8.12, Z:-1.65 [[ 9.77003785e-01 2.13115432e-01 6.73923446e-03 1.04071417e+02] [-2.13109989e-01 9.77027026e-01 -1.52417404e-03 -8.12032089e+00] [-6.90923921e-03 5.29256315e-05 9.99976130e-01 -1.65101279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters 0.01185397363525091 Centerline is valid? [True, True] Translation: X:104.13, Y:-8.13, Z:-1.65 [[ 9.75630484e-01 2.19325551e-01 6.43897192e-03 1.04133174e+02] [-2.19320718e-01 9.75651732e-01 -1.45602882e-03 -8.12667726e+00] [-6.60153843e-03 8.34615591e-06 9.99978210e-01 -1.65298920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters 0.011806949556419978 Centerline is valid? [True, True] Translation: X:104.19, Y:-8.14, Z:-1.65 [[ 9.74776748e-01 2.23053710e-01 7.57198611e-03 1.04194828e+02] [-2.23047118e-01 9.74806156e-01 -1.71484049e-03 -8.13570898e+00] [-7.76372021e-03 -1.73230459e-05 9.99969862e-01 -1.65281852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters 0.011773601290256333 Centerline is valid? [True, True] Translation: X:104.26, Y:-8.15, Z:-1.65 [[ 9.74417242e-01 2.24588116e-01 8.43900025e-03 1.04257071e+02] [-2.24579966e-01 9.74453784e-01 -1.91353953e-03 -8.14744780e+00] [-8.65317397e-03 -3.06444809e-05 9.99962560e-01 -1.65314456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters 0.011776794704844497 Centerline is valid? [True, True] Translation: X:104.32, Y:-8.16, Z:-1.65 [[ 9.74184493e-01 2.25570627e-01 9.08110317e-03 1.04319160e+02] [-2.25561205e-01 9.74226817e-01 -2.06209423e-03 -8.15953136e+00] [-9.31220212e-03 -3.94843480e-05 9.99956640e-01 -1.65387773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters 0.011882282153069185 Centerline is valid? [True, True] Translation: X:104.38, Y:-8.17, Z:-1.66 [[ 9.74093715e-01 2.26004991e-01 7.94850136e-03 1.04379535e+02] [-2.25997771e-01 9.74126143e-01 -1.80687934e-03 -8.17167996e+00] [-8.15120672e-03 -3.62737800e-05 9.99966778e-01 -1.65603328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters 0.011826906687516292 Centerline is valid? [True, True] Translation: X:104.44, Y:-8.18, Z:-1.66 [[ 9.74115678e-01 2.25940611e-01 7.03468410e-03 1.04440740e+02] [-2.25934945e-01 9.74141078e-01 -1.60043000e-03 -8.18494248e+00] [-7.21437688e-03 -3.03770091e-05 9.99973976e-01 -1.65749320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters 0.012041523184807034 Centerline is valid? [True, True] Translation: X:104.50, Y:-8.20, Z:-1.66 [[ 9.74070566e-01 2.26136329e-01 6.99239041e-03 1.04501587e+02] [-2.26130719e-01 9.74095663e-01 -1.59304211e-03 -8.19787139e+00] [-7.17150187e-03 -2.94588406e-05 9.99974284e-01 -1.65970195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters 0.011860095217379766 Centerline is valid? [True, True] Translation: X:104.56, Y:-8.21, Z:-1.66 [[ 9.74124417e-01 2.25891902e-01 7.38030081e-03 1.04563076e+02] [-2.25885630e-01 9.74152374e-01 -1.68349097e-03 -8.21245968e+00] [-7.56982453e-03 -2.71742399e-05 9.99971348e-01 -1.65858838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters 0.011921052150368035 Centerline is valid? [True, True] Translation: X:104.62, Y:-8.23, Z:-1.66 [[ 9.74329900e-01 2.24993208e-01 7.70077759e-03 1.04623319e+02] [-2.24986331e-01 9.74360332e-01 -1.75923210e-03 -8.22655027e+00] [-7.89914748e-03 -1.84972615e-05 9.99968801e-01 -1.65932770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters 0.011890809650225596 Centerline is valid? [True, True] Translation: X:104.68, Y:-8.24, Z:-1.66 [[ 9.75002536e-01 2.22054379e-01 7.86810382e-03 1.04683836e+02] [-2.22047088e-01 9.75034283e-01 -1.79953617e-03 -8.24283453e+00] [-8.07126585e-03 7.46279168e-06 9.99967427e-01 -1.65942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters 0.012034406841730232 Centerline is valid? [True, True] Translation: X:104.74, Y:-8.26, Z:-1.66 [[ 9.75648228e-01 2.19212150e-01 7.52117525e-03 1.04743730e+02] [-2.19205386e-01 9.75677217e-01 -1.72242934e-03 -8.25885213e+00] [-7.71581678e-03 3.18030094e-05 9.99970232e-01 -1.65986556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters 0.012564050730442474 Centerline is valid? [True, True] Translation: X:104.80, Y:-8.28, Z:-1.66 [[ 9.76429531e-01 2.15706967e-01 7.47500844e-03 1.04803330e+02] [-2.15700168e-01 9.76458141e-01 -1.71378735e-03 -8.27536429e+00] [-7.66870872e-03 6.10320062e-05 9.99970593e-01 -1.66044434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters 0.013680840649278487 Centerline is valid? [True, True] Translation: X:104.86, Y:-8.29, Z:-1.66 [[ 9.77862644e-01 2.09130611e-01 7.00260938e-03 1.04863220e+02] [-2.09124453e-01 9.77887711e-01 -1.60861720e-03 -8.29302177e+00] [-7.18417676e-03 1.08589808e-04 9.99974188e-01 -1.66105610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters 0.015399899543584917 Centerline is valid? [True, True] Translation: X:104.92, Y:-8.31, Z:-1.66 [[ 9.79195481e-01 2.02812552e-01 6.57873719e-03 1.04921731e+02] [-2.02806967e-01 9.79217569e-01 -1.51215803e-03 -8.30972807e+00] [-6.74869967e-03 1.46484570e-04 9.99977217e-01 -1.66176318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters 0.016716839968648967 Centerline is valid? [True, True] Translation: X:104.98, Y:-8.33, Z:-1.66 [[ 9.79953334e-01 1.99097280e-01 7.19275219e-03 1.04981249e+02] [-1.99090516e-01 9.79979713e-01 -1.65166297e-03 -8.32547453e+00] [-7.37759283e-03 1.86543886e-04 9.99972768e-01 -1.66261811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters 0.018776100032369278 Centerline is valid? [True, True] Translation: X:105.04, Y:-8.34, Z:-1.66 [[ 9.80813926e-01 1.94821742e-01 6.96638218e-03 1.05039466e+02] [-1.94815266e-01 9.80838642e-01 -1.60304306e-03 -8.34099006e+00] [-7.14520448e-03 2.15129365e-04 9.99974450e-01 -1.66359394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters 0.019732212721148334 Centerline is valid? [True, True] Translation: X:105.10, Y:-8.36, Z:-1.67 [[ 9.81028673e-01 1.93755900e-01 6.43376064e-03 1.05100078e+02] [-1.93750366e-01 9.81049749e-01 -1.47853007e-03 -8.35506963e+00] [-6.59831318e-03 2.03936910e-04 9.99978210e-01 -1.66512868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters 0.01744550636823648 Centerline is valid? [True, True] Translation: X:105.16, Y:-8.36, Z:-1.67 [[ 9.80778760e-01 1.95032597e-01 5.94222746e-03 1.05161527e+02] [-1.95027894e-01 9.80796744e-01 -1.36662368e-03 -8.36303098e+00] [-6.09465351e-03 1.81455370e-04 9.99981411e-01 -1.66520607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.586559995 meters 0.01702709277762655 Centerline is valid? [True, True] Translation: X:105.22, Y:-8.37, Z:-1.67 [[ 9.80155537e-01 1.98128022e-01 6.35684101e-03 1.05222356e+02] [-1.98122679e-01 9.80176135e-01 -1.46588439e-03 -8.37287627e+00] [-6.52125662e-03 1.77360330e-04 9.99978721e-01 -1.66640633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters 0.014696964914211436 Centerline is valid? [True, True] Translation: X:105.28, Y:-8.38, Z:-1.67 [[ 9.78668255e-01 2.05337808e-01 6.69556091e-03 1.05283909e+02] [-2.05332045e-01 9.78691149e-01 -1.54442494e-03 -8.37757923e+00] [-6.87001503e-03 1.36666444e-04 9.99976392e-01 -1.66718776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters 0.012964156784410145 Centerline is valid? [True, True] Translation: X:105.35, Y:-8.38, Z:-1.67 [[ 9.77369852e-01 2.11429803e-01 6.75363844e-03 1.05345856e+02] [-2.11424086e-01 9.77393181e-01 -1.55761787e-03 -8.38386365e+00] [-6.93028699e-03 9.44869081e-05 9.99975981e-01 -1.66808401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters 0.011669333003495925 Centerline is valid? [True, True] Translation: X:105.41, Y:-8.39, Z:-1.67 [[ 9.75289490e-01 2.20832750e-01 6.58080804e-03 1.05408472e+02] [-2.20827546e-01 9.75311692e-01 -1.51628696e-03 -8.38782146e+00] [-6.75318484e-03 2.55950513e-05 9.99977197e-01 -1.66955734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters 0.011415263063795944 Centerline is valid? [True, True] Translation: X:105.47, Y:-8.40, Z:-1.67 [[ 9.74063618e-01 2.26165752e-01 7.00865355e-03 1.05469844e+02] [-2.26159972e-01 9.74088832e-01 -1.61696004e-03 -8.39630876e+00] [-7.19275213e-03 -1.00549456e-05 9.99974132e-01 -1.67021623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters 0.011934778762043593 Centerline is valid? [True, True] Translation: X:105.53, Y:-8.40, Z:-1.67 [[ 9.72372654e-01 2.33302353e-01 7.83797322e-03 1.05531297e+02] [-2.33295328e-01 9.72404241e-01 -1.81172369e-03 -8.40252275e+00] [-8.04435780e-03 -6.68919577e-05 9.99967641e-01 -1.67125673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters 0.01269982322672893 Centerline is valid? [True, True] Translation: X:105.59, Y:-8.41, Z:-1.67 [[ 9.71310106e-01 2.37688415e-01 7.80354739e-03 1.05593193e+02] [-2.37681591e-01 9.71341447e-01 -1.80397547e-03 -8.41182058e+00] [-8.00869308e-03 -1.02539956e-04 9.99967925e-01 -1.67316618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters 0.013566299389819413 Centerline is valid? [True, True] Translation: X:105.65, Y:-8.42, Z:-1.67 [[ 9.70014101e-01 2.42946340e-01 7.05128312e-03 1.05654603e+02] [-2.42940886e-01 9.70039720e-01 -1.63298160e-03 -8.42216941e+00] [-7.23675161e-03 -1.29029786e-04 9.99973806e-01 -1.67486023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters 0.01522693599138555 Centerline is valid? [True, True] Translation: X:105.71, Y:-8.43, Z:-1.68 [[ 9.69328082e-01 2.45684911e-01 6.48023622e-03 1.05714943e+02] [-2.45680373e-01 9.69349733e-01 -1.49965246e-03 -8.43276723e+00] [-6.65005723e-03 -1.38411613e-04 9.99977879e-01 -1.67726315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters 0.015402505474627027 Centerline is valid? [True, True] Translation: X:105.77, Y:-8.45, Z:-1.68 [[ 9.68724319e-01 2.48062153e-01 6.19366575e-03 1.05774952e+02] [-2.48058049e-01 9.68744108e-01 -1.43450734e-03 -8.44813159e+00] [-6.35592418e-03 -1.46746499e-04 9.99979790e-01 -1.67800562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters 0.015603968711300644 Centerline is valid? [True, True] Translation: X:105.83, Y:-8.46, Z:-1.68 [[ 9.68477835e-01 2.49015051e-01 6.49522196e-03 1.05834632e+02] [-2.49010546e-01 9.68499602e-01 -1.50619857e-03 -8.46420427e+00] [-6.66568600e-03 -1.58658838e-04 9.99977771e-01 -1.67813631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters 0.015568312884368156 Centerline is valid? [True, True] Translation: X:105.89, Y:-8.48, Z:-1.68 [[ 9.68095986e-01 2.50460861e-01 7.71492060e-03 1.05894345e+02] [-2.50454530e-01 9.68126706e-01 -1.79172210e-03 -8.48142853e+00] [-7.91777692e-03 -1.97677838e-04 9.99968634e-01 -1.67829489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters 0.01549224982875477 Centerline is valid? [True, True] Translation: X:105.95, Y:-8.50, Z:-1.68 [[ 9.67772840e-01 2.51695744e-01 8.06120811e-03 1.05953444e+02] [-2.51688857e-01 9.67806389e-01 -1.87437921e-03 -8.49990854e+00] [-8.27346198e-03 -2.14942964e-04 9.99965751e-01 -1.67856624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters 0.015678675184619816 Centerline is valid? [True, True] Translation: X:106.01, Y:-8.52, Z:-1.68 [[ 9.67500880e-01 2.52713550e-01 8.82660034e-03 1.06013700e+02] [-2.52705310e-01 9.67541112e-01 -2.05504217e-03 -8.51683025e+00] [-9.05943571e-03 -2.42273672e-04 9.99958933e-01 -1.67895765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters 0.016750375440314543 Centerline is valid? [True, True] Translation: X:106.07, Y:-8.53, Z:-1.68 [[ 9.67143097e-01 2.54064459e-01 9.24556820e-03 1.06072106e+02] [-2.54055452e-01 9.67187252e-01 -2.15559100e-03 -8.53343442e+00] [-9.48985477e-03 -2.64122048e-04 9.99954935e-01 -1.67951119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters 0.017208036076539583 Centerline is valid? [True, True] Translation: X:106.13, Y:-8.55, Z:-1.68 [[ 9.66941544e-01 2.54835055e-01 9.11841274e-03 1.06132067e+02] [-2.54826314e-01 9.66984500e-01 -2.12746180e-03 -8.55002459e+00] [-9.35951563e-03 -2.66480307e-04 9.99956163e-01 -1.68099353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters 0.01708970871551252 Centerline is valid? [True, True] Translation: X:106.19, Y:-8.57, Z:-1.68 [[ 9.67067290e-01 2.54358510e-01 9.08877267e-03 1.06190941e+02] [-2.54349783e-01 9.67109963e-01 -2.12286658e-03 -8.57024366e+00] [-9.32981178e-03 -2.58772526e-04 9.99956443e-01 -1.68203793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters 0.01684052139830299 Centerline is valid? [True, True] Translation: X:106.25, Y:-8.59, Z:-1.68 [[ 9.67585298e-01 2.52373048e-01 9.30250114e-03 1.06249956e+02] [-2.52363790e-01 9.67629984e-01 -2.17527922e-03 -8.58824356e+00] [-9.55036088e-03 -2.42846249e-04 9.99954365e-01 -1.68358334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters 0.014002221439064112 Centerline is valid? [True, True] Translation: X:106.31, Y:-8.61, Z:-1.68 [[ 9.69205114e-01 2.46065840e-01 9.64618179e-03 1.06307485e+02] [-2.46055537e-01 9.69253098e-01 -2.25919330e-03 -8.61349131e+00] [-9.90550188e-03 -1.83874746e-04 9.99950922e-01 -1.68460744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters 0.01234747147637568 Centerline is valid? [True, True] Translation: X:106.37, Y:-8.64, Z:-1.69 [[ 9.70730523e-01 2.39977909e-01 9.63611407e-03 1.06365045e+02] [-2.39967317e-01 9.70778342e-01 -2.25786682e-03 -8.63611349e+00] [-9.89636899e-03 -1.20572209e-04 9.99951022e-01 -1.68546351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters 0.011759201827051506 Centerline is valid? [True, True] Translation: X:106.42, Y:-8.66, Z:-1.69 [[ 9.72402765e-01 2.33084620e-01 1.02187547e-02 1.06422354e+02] [-2.33072334e-01 9.72456455e-01 -2.39374452e-03 -8.65795204e+00] [-1.04952390e-02 -5.40252160e-05 9.99944922e-01 -1.68643292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters 0.011635634648247207 Centerline is valid? [True, True] Translation: X:106.48, Y:-8.68, Z:-1.69 [[ 9.74247061e-01 2.25204444e-01 1.12081489e-02 1.06480655e+02] [-2.25189107e-01 9.74311530e-01 -2.62852510e-03 -8.68141175e+00] [-1.15121842e-02 3.68798211e-05 9.99933732e-01 -1.68643311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters 0.013620166060518793 Centerline is valid? [True, True] Translation: X:106.54, Y:-8.71, Z:-1.69 [[ 9.77084779e-01 2.12564561e-01 1.10291946e-02 1.06536910e+02] [-2.12548858e-01 9.77147007e-01 -2.59045156e-03 -8.70868070e+00] [-1.13277827e-02 1.86848076e-04 9.99935821e-01 -1.68820649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters 0.015694983567196254 Centerline is valid? [True, True] Translation: X:106.59, Y:-8.73, Z:-1.69 [[ 9.78706800e-01 2.04966413e-01 1.10349175e-02 1.06593999e+02] [-2.04950208e-01 9.78768969e-01 -2.59199932e-03 -8.73108464e+00] [-1.13319076e-02 2.75198730e-04 9.99935754e-01 -1.68957444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters 0.019032410959929327 Centerline is valid? [True, True] Translation: X:106.65, Y:-8.76, Z:-1.69 [[ 9.80743462e-01 1.95002187e-01 1.07892913e-02 1.06651204e+02] [-1.94986090e-01 9.80802733e-01 -2.53446400e-03 -8.75616491e+00] [-1.10763925e-02 3.81897266e-04 9.99938582e-01 -1.69112380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters 0.02080902573526531 Centerline is valid? [True, True] Translation: X:106.71, Y:-8.78, Z:-1.69 [[ 9.81711700e-01 1.90049618e-01 1.11032054e-02 1.06709431e+02] [-1.90032251e-01 9.81774383e-01 -2.60844304e-03 -8.77624369e+00] [-1.13965762e-02 4.50771935e-04 9.99934955e-01 -1.69216325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters 0.02175075273126427 Centerline is valid? [True, True] Translation: X:106.77, Y:-8.80, Z:-1.69 [[ 9.82426747e-01 1.86272768e-01 1.18381743e-02 1.06768022e+02] [-1.86252747e-01 9.82497927e-01 -2.78157045e-03 -8.79539492e+00] [-1.21491126e-02 5.27796731e-04 9.99926058e-01 -1.69211760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters 0.02105774877822904 Centerline is valid? [True, True] Translation: X:106.83, Y:-8.81, Z:-1.69 [[ 9.82421482e-01 1.86261455e-01 1.24379520e-02 1.06829526e+02] [-1.86239356e-01 9.82500057e-01 -2.92220372e-03 -8.80964669e+00] [-1.27645825e-02 5.54399541e-04 9.99918376e-01 -1.69312576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters 0.020067554215116835 Centerline is valid? [True, True] Translation: X:106.89, Y:-8.82, Z:-1.69 [[ 9.81921470e-01 1.88825632e-01 1.32328165e-02 1.06889550e+02] [-1.88800785e-01 9.82010473e-01 -3.11370374e-03 -8.82179101e+00] [-1.35827115e-02 5.59046402e-04 9.99907594e-01 -1.69446842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters 0.01916455681752478 Centerline is valid? [True, True] Translation: X:106.95, Y:-8.83, Z:-1.70 [[ 9.81279780e-01 1.92142732e-01 1.30829951e-02 1.06949563e+02] [-1.92118733e-01 9.81366859e-01 -3.07892896e-03 -8.83402143e+00] [-1.34308116e-02 5.07802293e-04 9.99909674e-01 -1.69572784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters 0.01681303430520355 Centerline is valid? [True, True] Translation: X:107.01, Y:-8.84, Z:-1.70 [[ 9.80044351e-01 1.98404314e-01 1.21983238e-02 1.07009845e+02] [-1.98383929e-01 9.80120183e-01 -2.87120477e-03 -8.84246869e+00] [-1.25254828e-02 3.93956613e-04 9.99921475e-01 -1.69748294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters 0.015701237311831533 Centerline is valid? [True, True] Translation: X:107.07, Y:-8.85, Z:-1.70 [[ 9.78933638e-01 2.03836864e-01 1.18095117e-02 1.07070826e+02] [-2.03818152e-01 9.79004818e-01 -2.77967155e-03 -8.85363806e+00] [-1.21281684e-02 3.14121139e-04 9.99926402e-01 -1.69861713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.506559995 meters 0.013605574068420891 Centerline is valid? [True, True] Translation: X:107.13, Y:-8.86, Z:-1.70 [[ 9.76928384e-01 2.13272070e-01 1.12230860e-02 1.07131143e+02] [-2.13255778e-01 9.76992829e-01 -2.64283623e-03 -8.86115184e+00] [-1.15285177e-02 1.88473794e-04 9.99933527e-01 -1.70056071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters 0.012461943868005705 Centerline is valid? [True, True] Translation: X:107.19, Y:-8.87, Z:-1.70 [[ 9.75624566e-01 2.19190390e-01 1.05962280e-02 1.07192480e+02] [-2.19176229e-01 9.75682100e-01 -2.49398394e-03 -8.87111047e+00] [-1.08852073e-02 1.10750706e-04 9.99940748e-01 -1.70230760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters 0.011795700071500853 Centerline is valid? [True, True] Translation: X:107.25, Y:-8.88, Z:-1.70 [[ 9.74387833e-01 2.24629748e-01 1.04798916e-02 1.07253880e+02] [-2.24616182e-01 9.74444187e-01 -2.46921781e-03 -8.88281784e+00] [-1.07667292e-02 5.20225562e-05 9.99942036e-01 -1.70354895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters 0.011637981346162287 Centerline is valid? [True, True] Translation: X:107.31, Y:-8.90, Z:-1.70 [[ 9.73968309e-01 2.26437622e-01 1.05705577e-02 1.07314449e+02] [-2.26423897e-01 9.74025668e-01 -2.49330176e-03 -8.89749571e+00] [-1.08605718e-02 3.49700361e-05 9.99941022e-01 -1.70471594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters 0.011612362065638367 Centerline is valid? [True, True] Translation: X:107.38, Y:-8.91, Z:-1.71 [[ 9.73460421e-01 2.28622703e-01 1.03184080e-02 1.07375490e+02] [-2.28609720e-01 9.73515105e-01 -2.43645939e-03 -8.91176846e+00] [-1.06021560e-02 1.29084107e-05 9.99943795e-01 -1.70633832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters 0.011579417558914755 Centerline is valid? [True, True] Translation: X:107.44, Y:-8.93, Z:-1.71 [[ 9.73148893e-01 2.29945422e-01 1.03118888e-02 1.07436050e+02] [-2.29932497e-01 9.73203526e-01 -2.43800972e-03 -8.92692026e+00] [-1.05961757e-02 1.50811734e-06 9.99943859e-01 -1.70767914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters 0.011593188477509108 Centerline is valid? [True, True] Translation: X:107.50, Y:-8.94, Z:-1.71 [[ 9.73047425e-01 2.30416755e-01 9.31815620e-03 1.07496658e+02] [-2.30406201e-01 9.73092040e-01 -2.20539408e-03 -8.94356503e+00] [-9.57558338e-03 -1.00793988e-06 9.99954153e-01 -1.70900610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters 0.011728596920022595 Centerline is valid? [True, True] Translation: X:107.56, Y:-8.96, Z:-1.71 [[ 9.73245680e-01 2.29599428e-01 8.77211011e-03 1.07557177e+02] [-2.29590020e-01 9.73285211e-01 -2.07850124e-03 -8.96033221e+00] [-9.01498773e-03 8.90341901e-06 9.99959364e-01 -1.71025493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters 0.012131192213414882 Centerline is valid? [True, True] Translation: X:107.62, Y:-8.98, Z:-1.71 [[ 9.73852265e-01 2.27033720e-01 8.21320587e-03 1.07615739e+02] [-2.27025360e-01 9.73886897e-01 -1.94863215e-03 -8.97970289e+00] [-8.44113879e-03 3.30738162e-05 9.99964372e-01 -1.71081767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters 0.012463210167749391 Centerline is valid? [True, True] Translation: X:107.68, Y:-9.00, Z:-1.71 [[ 9.74420983e-01 2.24593484e-01 7.84318681e-03 1.07675042e+02] [-2.24585768e-01 9.74452546e-01 -1.86235950e-03 -8.99776956e+00] [-8.06108716e-03 5.32540422e-05 9.99967507e-01 -1.71049801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters 0.01300269484182342 Centerline is valid? [True, True] Translation: X:107.74, Y:-9.02, Z:-1.71 [[ 9.74945063e-01 2.22306423e-01 7.87264039e-03 1.07735050e+02] [-2.22298558e-01 9.74976845e-01 -1.87143244e-03 -9.01527114e+00] [-8.09167354e-03 7.44672090e-05 9.99967259e-01 -1.71040929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters 0.012927174895537559 Centerline is valid? [True, True] Translation: X:107.80, Y:-9.03, Z:-1.71 [[ 9.75065127e-01 2.21785934e-01 7.68100572e-03 1.07796491e+02] [-2.21778419e-01 9.75095377e-01 -1.82738789e-03 -9.02997290e+00] [-7.89500209e-03 7.83409010e-05 9.99968831e-01 -1.71101319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters 0.013295548969313165 Centerline is valid? [True, True] Translation: X:107.86, Y:-9.04, Z:-1.71 [[ 9.75278769e-01 2.20866042e-01 7.03665873e-03 1.07857156e+02] [-2.20859696e-01 9.75304150e-01 -1.67612369e-03 -9.04445056e+00] [-7.23308126e-03 8.05735412e-05 9.99973838e-01 -1.71165123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters 0.014006887652515095 Centerline is valid? [True, True] Translation: X:107.92, Y:-9.06, Z:-1.71 [[ 9.75760007e-01 2.18727111e-01 7.13161712e-03 1.07917201e+02] [-2.18720522e-01 9.75786063e-01 -1.70069114e-03 -9.06112442e+00] [-7.33091985e-03 9.96353754e-05 9.99973123e-01 -1.71247557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters 0.015172686846246054 Centerline is valid? [True, True] Translation: X:107.98, Y:-9.08, Z:-1.71 [[ 9.76830710e-01 2.13861500e-01 8.06369421e-03 1.07977435e+02] [-2.13852878e-01 9.76863979e-01 -1.92689859e-03 -9.07685624e+00] [-8.28922184e-03 1.57809509e-04 9.99965631e-01 -1.71267735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters 0.01588822488342767 Centerline is valid? [True, True] Translation: X:108.04, Y:-9.09, Z:-1.71 [[ 9.77663854e-01 2.09994185e-01 8.70814954e-03 1.08038508e+02] [-2.09983969e-01 9.77702613e-01 -2.08162376e-03 -9.08999412e+00] [-8.95110944e-03 2.06556508e-04 9.99959917e-01 -1.71321645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters 0.016322940270150032 Centerline is valid? [True, True] Translation: X:108.10, Y:-9.10, Z:-1.71 [[ 9.77935207e-01 2.08716359e-01 8.95612453e-03 1.08099133e+02] [-2.08705503e-01 9.77976192e-01 -2.14040923e-03 -9.10410578e+00] [-9.20561499e-03 2.23989066e-04 9.99957602e-01 -1.71359626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters 0.01697773554390979 Centerline is valid? [True, True] Translation: X:108.16, Y:-9.12, Z:-1.71 [[ 9.77982812e-01 2.08487325e-01 9.09150880e-03 1.08159494e+02] [-2.08476108e-01 9.78025041e-01 -2.17509056e-03 -9.11663756e+00] [-9.34520208e-03 2.31838813e-04 9.99956306e-01 -1.71400795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters 0.016297137177306506 Centerline is valid? [True, True] Translation: X:108.22, Y:-9.13, Z:-1.71 [[ 9.77725300e-01 2.09705787e-01 8.75906257e-03 1.08220957e+02] [-2.09695403e-01 9.77764510e-01 -2.09789839e-03 -9.12707689e+00] [-9.00424195e-03 2.14433180e-04 9.99959438e-01 -1.71468173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters 0.015935217730468326 Centerline is valid? [True, True] Translation: X:108.28, Y:-9.14, Z:-1.72 [[ 9.77168047e-01 2.12302493e-01 8.38207287e-03 1.08282611e+02] [-2.12293062e-01 9.77203979e-01 -2.00962064e-03 -9.13658086e+00] [-8.61764243e-03 1.84281162e-04 9.99962850e-01 -1.71541800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters 0.015291914438369001 Centerline is valid? [True, True] Translation: X:108.34, Y:-9.15, Z:-1.72 [[ 9.76858096e-01 2.13731726e-01 8.18591056e-03 1.08343923e+02] [-2.13722765e-01 9.76892379e-01 -1.96454692e-03 -9.14812949e+00] [-8.41663964e-03 1.69568125e-04 9.99964565e-01 -1.71636405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters 0.014400618072136377 Centerline is valid? [True, True] Translation: X:108.40, Y:-9.16, Z:-1.72 [[ 9.75584797e-01 2.19527549e-01 6.47762529e-03 1.08404030e+02] [-2.19522050e-01 9.75606297e-01 -1.55680097e-03 -9.15544781e+00] [-6.66137272e-03 9.68097783e-05 9.99977808e-01 -1.71788630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters 0.01367121307225502 Centerline is valid? [True, True] Translation: X:108.47, Y:-9.16, Z:-1.72 [[ 9.74501041e-01 2.24315100e-01 5.51875765e-03 1.08465574e+02] [-2.24311192e-01 9.74516666e-01 -1.32521864e-03 -9.16336227e+00] [-5.67538786e-03 5.35078432e-05 9.99983893e-01 -1.71978646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters 0.013205023389708062 Centerline is valid? [True, True] Translation: X:108.53, Y:-9.17, Z:-1.72 [[ 9.73322809e-01 2.29398508e-01 4.36288280e-03 1.08526253e+02] [-2.29396114e-01 9.73332587e-01 -1.04819070e-03 -9.17046283e+00] [-4.48698938e-03 1.93995593e-05 9.99989933e-01 -1.72256413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters 0.013138408691627648 Centerline is valid? [True, True] Translation: X:108.59, Y:-9.18, Z:-1.72 [[ 9.72960906e-01 2.30944262e-01 3.43860913e-03 1.08588304e+02] [-2.30942786e-01 9.72966982e-01 -8.25536214e-04 -9.18149483e+00] [-3.53630599e-03 9.09248937e-06 9.99993747e-01 -1.72401849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters 0.013170071289952354 Centerline is valid? [True, True] Translation: X:108.65, Y:-9.19, Z:-1.72 [[ 9.72989355e-01 2.30828842e-01 3.12409932e-03 1.08650597e+02] [-2.30827622e-01 9.72994371e-01 -7.50536780e-04 -9.19279680e+00] [-3.21297659e-03 9.13588185e-06 9.99994838e-01 -1.72453549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters 0.013213103944651236 Centerline is valid? [True, True] Translation: X:108.71, Y:-9.21, Z:-1.72 [[ 9.73810696e-01 2.27343601e-01 2.75944763e-03 1.08710858e+02] [-2.27342634e-01 9.73814606e-01 -6.63542619e-04 -9.20652383e+00] [-2.83804258e-03 1.88248077e-05 9.99995973e-01 -1.72431848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters 0.013845983743052575 Centerline is valid? [True, True] Translation: X:108.77, Y:-9.22, Z:-1.72 [[ 9.74673699e-01 2.23617023e-01 2.57069547e-03 1.08770735e+02] [-2.23616169e-01 9.74677088e-01 -6.18561578e-04 -9.22240144e+00] [-2.64391887e-03 2.80466296e-05 9.99996504e-01 -1.72480181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters 0.015506560311206877 Centerline is valid? [True, True] Translation: X:108.83, Y:-9.24, Z:-1.73 [[ 9.76307825e-01 2.16381161e-01 1.49104125e-03 1.08828160e+02] [-2.16380862e-01 9.76308964e-01 -3.61122400e-04 -9.23992712e+00] [-1.53385702e-03 2.99338350e-05 9.99998823e-01 -1.72555304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.246559995 meters 0.016060117503951848 Centerline is valid? [True, True] Translation: X:108.89, Y:-9.25, Z:-1.73 [[ 9.77327411e-01 2.11733085e-01 4.82378294e-04 1.08887573e+02] [-2.11733054e-01 9.77327530e-01 -1.16266929e-04 -9.25495117e+00] [-4.96059142e-04 1.14954277e-05 9.99999877e-01 -1.72585419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters 0.018259077526678144 Centerline is valid? [True, True] Translation: X:108.94, Y:-9.27, Z:-1.73 [[ 9.78203501e-01 2.07648405e-01 -2.24577573e-04 1.08944725e+02] [-2.07648397e-01 9.78203527e-01 5.58494140e-05 -9.27250078e+00] [ 2.31279616e-04 -7.99891914e-06 9.99999973e-01 -1.72739418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters 0.01892010617787118 Centerline is valid? [True, True] Translation: X:109.00, Y:-9.29, Z:-1.73 [[ 9.79166150e-01 2.03060255e-01 4.28828018e-04 1.09003666e+02] [-2.03060229e-01 9.79166244e-01 -1.03147613e-04 -9.28721434e+00] [-4.40839100e-04 1.39207351e-05 9.99999903e-01 -1.72608042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters 0.01972167453509647 Centerline is valid? [True, True] Translation: X:109.06, Y:-9.30, Z:-1.73 [[ 9.79582464e-01 2.01038787e-01 1.26620998e-03 1.09063642e+02] [-2.01038562e-01 9.79583281e-01 -3.03265581e-04 -9.30193535e+00] [-1.30132627e-03 4.25166110e-05 9.99999152e-01 -1.72641609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.486559995 meters 0.019945064905507397 Centerline is valid? [True, True] Translation: X:109.12, Y:-9.32, Z:-1.73 [[ 9.79958091e-01 1.99195615e-01 1.80202824e-03 1.09123580e+02] [-1.99195153e-01 9.79959745e-01 -4.33960916e-04 -9.31571496e+00] [-1.85235825e-03 6.63082191e-05 9.99998282e-01 -1.72691943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters 0.02120677571269467 Centerline is valid? [True, True] Translation: X:109.18, Y:-9.33, Z:-1.73 [[ 9.79860630e-01 1.99673873e-01 1.86806214e-03 1.09183106e+02] [-1.99673374e-01 9.79862409e-01 -4.51744618e-04 -9.33009309e+00] [-1.92064547e-03 6.96444957e-05 9.99998153e-01 -1.72869942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters 0.01908253582713937 Centerline is valid? [True, True] Translation: X:109.24, Y:-9.34, Z:-1.73 [[ 9.79378073e-01 2.02022336e-01 2.35942735e-03 1.09243647e+02] [-2.02021541e-01 9.79380911e-01 -5.72898555e-04 -9.33973282e+00] [-2.42651641e-03 8.44291332e-05 9.99997052e-01 -1.72861141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters 0.018224974418471006 Centerline is valid? [True, True] Translation: X:109.30, Y:-9.35, Z:-1.73 [[ 9.78277397e-01 2.07287789e-01 2.26006427e-03 1.09302728e+02] [-2.07287073e-01 9.78280005e-01 -5.49321988e-04 -9.34901284e+00] [-2.32484343e-03 6.89071782e-05 9.99997295e-01 -1.73019774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters 0.017880550069154604 Centerline is valid? [True, True] Translation: X:109.36, Y:-9.36, Z:-1.73 [[ 9.77523637e-01 2.10816391e-01 1.99721362e-03 1.09361766e+02] [-2.10815840e-01 9.77525676e-01 -4.85194778e-04 -9.36052429e+00] [-2.05461460e-03 5.32450980e-05 9.99997888e-01 -1.73216128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters 0.01549474129373248 Centerline is valid? [True, True] Translation: X:109.42, Y:-9.37, Z:-1.73 [[ 9.76766552e-01 2.14293371e-01 2.33522695e-03 1.09423201e+02] [-2.14292627e-01 9.76769342e-01 -5.67142678e-04 -9.36851114e+00] [-2.40251301e-03 5.35440802e-05 9.99997113e-01 -1.73272164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters 0.015474400220703044 Centerline is valid? [True, True] Translation: X:109.48, Y:-9.38, Z:-1.73 [[ 9.76507549e-01 2.15463070e-01 2.94489266e-03 1.09483459e+02] [-2.15461900e-01 9.76511987e-01 -7.12720784e-04 -9.38185398e+00] [-3.02928799e-03 6.14650571e-05 9.99995410e-01 -1.73360740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters 0.015587674396536 Centerline is valid? [True, True] Translation: X:109.54, Y:-9.40, Z:-1.73 [[ 9.76520987e-01 2.15393579e-01 3.51675999e-03 1.09544789e+02] [-2.15391906e-01 9.76527317e-01 -8.52389642e-04 -9.39589278e+00] [-3.61781146e-03 7.48947380e-05 9.99993453e-01 -1.73421561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters 0.015569421499009682 Centerline is valid? [True, True] Translation: X:109.61, Y:-9.41, Z:-1.73 [[ 9.76608362e-01 2.14987756e-01 4.04627808e-03 1.09606314e+02] [-2.14985529e-01 9.76616740e-01 -9.82577810e-04 -9.41075560e+00] [-4.16290510e-03 8.97024703e-05 9.99991331e-01 -1.73461608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters 0.015681295585625147 Centerline is valid? [True, True] Translation: X:109.67, Y:-9.43, Z:-1.74 [[ 9.76883180e-01 2.13739851e-01 3.81161726e-03 1.09666898e+02] [-2.13737860e-01 9.76890612e-01 -9.26854269e-04 -9.42501526e+00] [-3.92163881e-03 9.07414282e-05 9.99992306e-01 -1.73559355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters 0.01616822870536772 Centerline is valid? [True, True] Translation: X:109.73, Y:-9.44, Z:-1.74 [[ 9.77077881e-01 2.12859049e-01 3.13681663e-03 1.09726656e+02] [-2.12857695e-01 9.77082913e-01 -7.63129301e-04 -9.43966603e+00] [-3.22736891e-03 7.79412013e-05 9.99994789e-01 -1.73760129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters 0.016707817919506575 Centerline is valid? [True, True] Translation: X:109.79, Y:-9.46, Z:-1.74 [[ 9.77297329e-01 2.11845766e-01 3.36171752e-03 1.09786603e+02] [-2.11844202e-01 9.77303107e-01 -8.18713365e-04 -9.45548561e+00] [-3.45885794e-03 8.79660180e-05 9.99994014e-01 -1.73817905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters 0.017177863074191464 Centerline is valid? [True, True] Translation: X:109.85, Y:-9.47, Z:-1.74 [[ 9.77329341e-01 2.11686688e-01 4.01304652e-03 1.09847840e+02] [-2.11684453e-01 9.77337575e-01 -9.78745743e-04 -9.47187106e+00] [-4.12928859e-03 1.07057377e-04 9.99991469e-01 -1.73877918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters 0.017494241744363585 Centerline is valid? [True, True] Translation: X:109.91, Y:-9.49, Z:-1.74 [[ 9.77257922e-01 2.12020666e-01 3.76700336e-03 1.09908322e+02] [-2.12018695e-01 9.77265178e-01 -9.19597965e-04 -9.48758033e+00] [-3.87633498e-03 1.00009262e-04 9.99992482e-01 -1.73976894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters 0.016588885718673375 Centerline is valid? [True, True] Translation: X:109.97, Y:-9.50, Z:-1.74 [[ 9.76971176e-01 2.13328659e-01 4.26670822e-03 1.09968649e+02] [-2.13326134e-01 9.76980487e-01 -1.04374506e-03 -9.50068164e+00] [-4.39115141e-03 1.09508468e-04 9.99990353e-01 -1.73970966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters 0.015549279571774988 Centerline is valid? [True, True] Translation: X:110.03, Y:-9.51, Z:-1.74 [[ 9.76757420e-01 2.14290662e-01 4.94520786e-03 1.10029290e+02] [-2.14287273e-01 9.76769930e-01 -1.21153830e-03 -9.51338803e+00] [-5.08995168e-03 1.23683915e-04 9.99987038e-01 -1.73967163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters 0.015206962047967879 Centerline is valid? [True, True] Translation: X:110.09, Y:-9.53, Z:-1.74 [[ 9.76639954e-01 2.14819866e-01 5.17940708e-03 1.10089513e+02] [-2.14816148e-01 9.76653679e-01 -1.27043335e-03 -9.52684629e+00] [-5.33140130e-03 1.28135695e-04 9.99985780e-01 -1.73985008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters 0.015074780936939357 Centerline is valid? [True, True] Translation: X:110.15, Y:-9.54, Z:-1.74 [[ 9.76347496e-01 2.16145100e-01 5.18301120e-03 1.10150174e+02] [-2.16141387e-01 9.76361245e-01 -1.27268264e-03 -9.54048735e+00] [-5.33557538e-03 1.22317276e-04 9.99985758e-01 -1.74133190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters 0.01610140096397932 Centerline is valid? [True, True] Translation: X:110.21, Y:-9.56, Z:-1.74 [[ 9.75968094e-01 2.17853596e-01 5.10776930e-03 1.10209334e+02] [-2.17850007e-01 9.75981454e-01 -1.25571599e-03 -9.55577290e+00] [-5.25865035e-03 1.12811165e-04 9.99986167e-01 -1.74327259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters 0.014611025824550969 Centerline is valid? [True, True] Translation: X:110.27, Y:-9.57, Z:-1.74 [[ 9.75717789e-01 2.18971133e-01 5.14189031e-03 1.10270261e+02] [-2.18967505e-01 9.75731331e-01 -1.26513171e-03 -9.56740679e+00] [-5.29413080e-03 1.08504624e-04 9.99985980e-01 -1.74321097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters 0.014491599780391145 Centerline is valid? [True, True] Translation: X:110.33, Y:-9.58, Z:-1.74 [[ 9.75216126e-01 2.21184977e-01 5.54190912e-03 1.10330235e+02] [-2.21180782e-01 9.75231867e-01 -1.36643695e-03 -9.58096990e+00] [-5.70688170e-03 1.06807558e-04 9.99983710e-01 -1.74453245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters 0.014166294360304322 Centerline is valid? [True, True] Translation: X:110.39, Y:-9.60, Z:-1.74 [[ 9.75083072e-01 2.21735703e-01 6.80304392e-03 1.10390553e+02] [-2.21729390e-01 9.75106795e-01 -1.67796198e-03 -9.59534785e+00] [-7.00575843e-03 1.27717543e-04 9.99975451e-01 -1.74443895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters 0.014557004879857349 Centerline is valid? [True, True] Translation: X:110.45, Y:-9.61, Z:-1.75 [[ 9.75095728e-01 2.21693019e-01 6.36611301e-03 1.10450370e+02] [-2.21687482e-01 9.75116501e-01 -1.57144984e-03 -9.61182102e+00] [-6.55608130e-03 1.21026465e-04 9.99978501e-01 -1.74717718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters 0.014162098552882045 Centerline is valid? [True, True] Translation: X:110.51, Y:-9.63, Z:-1.75 [[ 9.75375782e-01 2.20418058e-01 7.61340608e-03 1.10510788e+02] [-2.20410077e-01 9.75405482e-01 -1.88232188e-03 -9.62724844e+00] [-7.84105577e-03 1.57899759e-04 9.99969246e-01 -1.74800698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters 0.014850142387123332 Centerline is valid? [True, True] Translation: X:110.57, Y:-9.64, Z:-1.75 [[ 9.75727230e-01 2.18800179e-01 9.10240035e-03 1.10570189e+02] [-2.18788670e-01 9.75769665e-01 -2.25365741e-03 -9.64477557e+00] [-9.37494678e-03 2.07452838e-04 9.99956033e-01 -1.74832480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters 0.016224221865009374 Centerline is valid? [True, True] Translation: X:110.63, Y:-9.66, Z:-1.75 [[ 9.76673238e-01 2.14497153e-01 1.00179052e-02 1.10629722e+02] [-2.14482946e-01 9.76724574e-01 -2.48432468e-03 -9.66389434e+00] [-1.03176148e-02 2.77703615e-04 9.99946733e-01 -1.75000823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters 0.017440618821690693 Centerline is valid? [True, True] Translation: X:110.69, Y:-9.68, Z:-1.75 [[ 9.77325680e-01 2.11467099e-01 1.07787415e-02 1.10688880e+02] [-2.11450457e-01 9.77385059e-01 -2.67389027e-03 -9.68293977e+00] [-1.11004207e-02 3.34091804e-04 9.99938333e-01 -1.75133280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters 0.018263714310299283 Centerline is valid? [True, True] Translation: X:110.75, Y:-9.70, Z:-1.75 [[ 9.78293327e-01 2.06851094e-01 1.24415380e-02 1.10746835e+02] [-2.06828533e-01 9.78372335e-01 -3.08754119e-03 -9.70098736e+00] [-1.28111178e-02 4.47255899e-04 9.99917834e-01 -1.75220203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.166559995 meters 0.01971069011043647 Centerline is valid? [True, True] Translation: X:110.81, Y:-9.72, Z:-1.75 [[ 9.78774731e-01 2.04493611e-01 1.35051781e-02 1.10805766e+02] [-2.04466798e-01 9.78867761e-01 -3.35186120e-03 -9.71899192e+00] [-1.39052177e-02 5.19356516e-04 9.99903183e-01 -1.75370635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters 0.0196549062171759 Centerline is valid? [True, True] Translation: X:110.87, Y:-9.74, Z:-1.76 [[ 9.78967272e-01 2.03482517e-01 1.47630087e-02 1.10866018e+02] [-2.03450304e-01 9.79078404e-01 -3.66787399e-03 -9.73553061e+00] [-1.52004912e-02 5.87189983e-04 9.99884293e-01 -1.75551478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters 0.01958077154926658 Centerline is valid? [True, True] Translation: X:110.93, Y:-9.75, Z:-1.76 [[ 9.78575071e-01 2.05268464e-01 1.59902607e-02 1.10926528e+02] [-2.05230837e-01 9.78705515e-01 -3.97723246e-03 -9.75052960e+00] [-1.64661567e-02 6.10325950e-04 9.99864237e-01 -1.75688851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters 0.017718333840011063 Centerline is valid? [True, True] Translation: X:110.99, Y:-9.76, Z:-1.76 [[ 9.77573546e-01 2.09900248e-01 1.70835673e-02 1.10986758e+02] [-2.09857930e-01 9.77722638e-01 -4.25341205e-03 -9.76140979e+00] [-1.75957827e-02 5.72901037e-04 9.99845018e-01 -1.75913712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters 0.015378521885302011 Centerline is valid? [True, True] Translation: X:111.05, Y:-9.77, Z:-1.76 [[ 9.76265635e-01 2.15735434e-01 1.90691463e-02 1.11046930e+02] [-2.15683807e-01 9.76451714e-01 -4.74825966e-03 -9.77034185e+00] [-1.96444685e-02 5.22656651e-04 9.99806892e-01 -1.76102125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters 0.014278673246080138 Centerline is valid? [True, True] Translation: X:111.11, Y:-9.78, Z:-1.76 [[ 9.75360711e-01 2.19648719e-01 2.06379237e-02 1.11107208e+02] [-2.19589115e-01 9.75578910e-01 -5.13920554e-03 -9.78171062e+00] [-2.12627431e-02 4.80715770e-04 9.99773807e-01 -1.76201072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters 0.013502042963278182 Centerline is valid? [True, True] Translation: X:111.17, Y:-9.79, Z:-1.76 [[ 9.74106702e-01 2.24948370e-01 2.26795751e-02 1.11166699e+02] [-2.24877803e-01 9.74370602e-01 -5.64839399e-03 -9.79209477e+00] [-2.33689082e-02 4.02005420e-04 9.99726829e-01 -1.76273160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters 0.012868485832245646 Centerline is valid? [True, True] Translation: X:111.23, Y:-9.80, Z:-1.76 [[ 9.73334180e-01 2.28292751e-01 2.24275162e-02 1.11228340e+02] [-2.28224601e-01 9.73592480e-01 -5.58690208e-03 -9.80373394e+00] [-2.31107104e-02 3.19411817e-04 9.99732861e-01 -1.76466039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters 0.012149159232560646 Centerline is valid? [True, True] Translation: X:111.29, Y:-9.81, Z:-1.77 [[ 9.72009551e-01 2.33923067e-01 2.18502239e-02 1.11290240e+02] [-2.33859740e-01 9.72255093e-01 -5.44582161e-03 -9.81409247e+00] [-2.25178948e-02 1.83502937e-04 9.99746423e-01 -1.76744426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters 0.011722607715972848 Centerline is valid? [True, True] Translation: X:111.35, Y:-9.83, Z:-1.77 [[ 9.71130089e-01 2.37549946e-01 2.18259839e-02 1.11351748e+02] [-2.37487604e-01 9.71375320e-01 -5.44290119e-03 -9.82523898e+00] [-2.24941829e-02 1.02364506e-04 9.99746969e-01 -1.76964122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters 0.011828376328162115 Centerline is valid? [True, True] Translation: X:111.41, Y:-9.84, Z:-1.77 [[ 9.71140186e-01 2.37550653e-01 2.13641419e-02 1.11413270e+02] [-2.37490795e-01 9.71375147e-01 -5.33347740e-03 -9.84035772e+00] [-2.20195675e-02 1.05767173e-04 9.99757534e-01 -1.77179448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters 0.012150088623615888 Centerline is valid? [True, True] Translation: X:111.47, Y:-9.86, Z:-1.77 [[ 9.71802527e-01 2.34886228e-01 2.06956280e-02 1.11472939e+02] [-2.34829329e-01 9.72022856e-01 -5.17241107e-03 -9.85795553e+00] [-2.13315515e-02 1.66621718e-04 9.99772443e-01 -1.77418745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters 0.012794805883627632 Centerline is valid? [True, True] Translation: X:111.53, Y:-9.88, Z:-1.78 [[ 9.72934283e-01 2.30190968e-01 2.02731047e-02 1.11532458e+02] [-2.30135241e-01 9.73145439e-01 -5.07196654e-03 -9.87663717e+00] [-2.08962002e-02 2.69134298e-04 9.99781614e-01 -1.77611318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters 0.015210593797105251 Centerline is valid? [True, True] Translation: X:111.59, Y:-9.90, Z:-1.78 [[ 9.75049979e-01 2.21078072e-01 2.00505507e-02 1.11589923e+02] [-2.21021547e-01 9.75256003e-01 -5.02040480e-03 -9.89909166e+00] [-2.06643214e-02 4.63541846e-04 9.99786363e-01 -1.77803117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters 0.016267611572339594 Centerline is valid? [True, True] Translation: X:111.65, Y:-9.92, Z:-1.78 [[ 9.76362631e-01 2.15243497e-01 1.96532377e-02 1.11648132e+02] [-2.15187995e-01 9.76560242e-01 -4.92155259e-03 -9.91792464e+00] [-2.02519027e-02 5.76079224e-04 9.99794743e-01 -1.77965799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters 0.018332050810823685 Centerline is valid? [True, True] Translation: X:111.71, Y:-9.94, Z:-1.78 [[ 9.77778188e-01 2.08815433e-01 1.85991818e-02 1.11705470e+02] [-2.08764556e-01 9.77954837e-01 -4.65792799e-03 -9.93801941e+00] [-1.91618070e-02 6.71570468e-04 9.99816170e-01 -1.78119875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters 0.01896633718359742 Centerline is valid? [True, True] Translation: X:111.77, Y:-9.96, Z:-1.78 [[ 9.78337841e-01 2.06244203e-01 1.78437229e-02 1.11765245e+02] [-2.06196939e-01 9.78500306e-01 -4.46919089e-03 -9.95502652e+00] [-1.83818330e-02 6.93057523e-04 9.99830800e-01 -1.78241298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters 0.019870475818023516 Centerline is valid? [True, True] Translation: X:111.82, Y:-9.97, Z:-1.78 [[ 9.78341138e-01 2.06313411e-01 1.68343327e-02 1.11824881e+02] [-2.06271329e-01 9.78485743e-01 -4.21786005e-03 -9.97109739e+00] [-1.73423556e-02 6.54065831e-04 9.99849396e-01 -1.78332465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters 0.019611684093050846 Centerline is valid? [True, True] Translation: X:111.88, Y:-9.98, Z:-1.78 [[ 9.77840757e-01 2.08727170e-01 1.61375808e-02 1.11884722e+02] [-2.08688760e-01 9.77973732e-01 -4.04737499e-03 -9.98456395e+00] [-1.66269272e-02 5.89956515e-04 9.99861589e-01 -1.78423857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters 0.018267694699481644 Centerline is valid? [True, True] Translation: X:111.94, Y:-9.99, Z:-1.78 [[ 9.76605736e-01 2.14445362e-01 1.59506773e-02 1.11943679e+02] [-2.14408588e-01 9.76735865e-01 -4.00105184e-03 -9.99441625e+00] [-1.64376056e-02 4.87487977e-04 9.99864775e-01 -1.78454386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters 0.015924399450599747 Centerline is valid? [True, True] Translation: X:112.00, Y:-10.00, Z:-1.79 [[ 9.75687414e-01 2.18609133e-01 1.56242731e-02 1.12004978e+02] [-2.18574381e-01 9.75812420e-01 -3.91919062e-03 -1.00038777e+01] [-1.61031306e-02 4.08839128e-04 9.99870253e-01 -1.78510743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters 0.014397169378771325 Centerline is valid? [True, True] Translation: X:112.07, Y:-10.01, Z:-1.79 [[ 9.74400800e-01 2.24294551e-01 1.53308707e-02 1.12066088e+02] [-2.24261781e-01 9.74521348e-01 -3.84643159e-03 -1.00129605e+01] [-1.58029945e-02 3.09837638e-04 9.99875077e-01 -1.78550509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.486559995 meters 0.014009194279433075 Centerline is valid? [True, True] Translation: X:112.13, Y:-10.03, Z:-1.79 [[ 9.73964748e-01 2.26151457e-01 1.57540078e-02 1.12126531e+02] [-2.26117085e-01 9.74092108e-01 -3.95328366e-03 -1.00257319e+01] [-1.62398955e-02 2.88108593e-04 9.99868083e-01 -1.78635261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters 0.013567923688927055 Centerline is valid? [True, True] Translation: X:112.19, Y:-10.04, Z:-1.79 [[ 9.73264871e-01 2.29093138e-01 1.64871153e-02 1.12187428e+02] [-2.29055837e-01 9.73404474e-01 -4.14175749e-03 -1.00376134e+01] [-1.69974800e-02 2.54557073e-04 9.99855500e-01 -1.78636032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters 0.013361259121734014 Centerline is valid? [True, True] Translation: X:112.25, Y:-10.05, Z:-1.79 [[ 9.72893626e-01 2.30688195e-01 1.61539059e-02 1.12248280e+02] [-2.30652538e-01 9.73027700e-01 -4.06217246e-03 -1.00497692e+01] [-1.66552931e-02 2.26122297e-04 9.99861265e-01 -1.78759609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters 0.013420683491394702 Centerline is valid? [True, True] Translation: X:112.31, Y:-10.06, Z:-1.79 [[ 9.73145838e-01 2.29698636e-01 1.50238395e-02 1.12309020e+02] [-2.29667620e-01 9.73261776e-01 -3.78159298e-03 -1.00641083e+01] [-1.54907554e-02 2.29552021e-04 9.99879985e-01 -1.78881637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters 0.014498550650681572 Centerline is valid? [True, True] Translation: X:112.37, Y:-10.08, Z:-1.79 [[ 9.74139992e-01 2.25524248e-01 1.37873185e-02 1.12369376e+02] [-2.25497658e-01 9.74237516e-01 -3.47394694e-03 -1.00802256e+01] [-1.42155822e-02 2.75102611e-04 9.99898916e-01 -1.79060848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters 0.016312353485547257 Centerline is valid? [True, True] Translation: X:112.43, Y:-10.10, Z:-1.79 [[ 9.75173860e-01 2.21098090e-01 1.23116429e-02 1.12428151e+02] [-2.21076531e-01 9.75251528e-01 -3.10242146e-03 -1.00974583e+01] [-1.26928880e-02 3.03585013e-04 9.99919396e-01 -1.79235159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters 0.01748186148414756 Centerline is valid? [True, True] Translation: X:112.49, Y:-10.11, Z:-1.79 [[ 9.75704306e-01 2.18801527e-01 1.12693583e-02 1.12488227e+02] [-2.18783284e-01 9.75769336e-01 -2.84209896e-03 -1.01147160e+01] [-1.16181499e-02 3.07500977e-04 9.99932460e-01 -1.79326157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters 0.01874903450872255 Centerline is valid? [True, True] Translation: X:112.55, Y:-10.13, Z:-1.80 [[ 9.76212116e-01 2.16574970e-01 1.02560471e-02 1.12547618e+02] [-2.16559713e-01 9.76265941e-01 -2.58883950e-03 -1.01307281e+01] [-1.05733073e-02 3.06209875e-04 9.99944054e-01 -1.79522701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters 0.018006489472593392 Centerline is valid? [True, True] Translation: X:112.61, Y:-10.14, Z:-1.80 [[ 9.76311410e-01 2.16173264e-01 9.22772456e-03 1.12608553e+02] [-2.16160880e-01 9.76354977e-01 -2.33089737e-03 -1.01440694e+01] [-9.51341249e-03 2.81008639e-04 9.99954707e-01 -1.79632338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters 0.01719505735461736 Centerline is valid? [True, True] Translation: X:112.67, Y:-10.16, Z:-1.80 [[ 9.76178730e-01 2.16797641e-01 8.59477727e-03 1.12670507e+02] [-2.16786907e-01 9.76216532e-01 -2.17266054e-03 -1.01574367e+01] [-8.86139133e-03 2.57669825e-04 9.99960704e-01 -1.79721281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters 0.016835642678573702 Centerline is valid? [True, True] Translation: X:112.73, Y:-10.17, Z:-1.80 [[ 9.75358863e-01 2.20501180e-01 7.37001449e-03 1.12729920e+02] [-2.20493366e-01 9.75386688e-01 -1.86669061e-03 -1.01707338e+01] [-7.60022151e-03 1.95653931e-04 9.99971099e-01 -1.79861544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters 0.015489144848937555 Centerline is valid? [True, True] Translation: X:112.79, Y:-10.18, Z:-1.80 [[ 9.74371473e-01 2.24804253e-01 7.95486059e-03 1.12790239e+02] [-2.24795289e-01 9.74403929e-01 -2.01515938e-03 -1.01820207e+01] [-8.20426381e-03 1.75298634e-04 9.99966329e-01 -1.79907831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters 0.014395694450873518 Centerline is valid? [True, True] Translation: X:112.85, Y:-10.19, Z:-1.80 [[ 9.72928949e-01 2.30945402e-01 8.57210608e-03 1.12849599e+02] [-2.30935226e-01 9.72966702e-01 -2.17200988e-03 -1.01925211e+01] [-8.84198947e-03 1.33610037e-04 9.99960900e-01 -1.79988103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters 0.013763215607388595 Centerline is valid? [True, True] Translation: X:112.91, Y:-10.21, Z:-1.80 [[ 9.72283100e-01 2.33665214e-01 8.13273375e-03 1.12910632e+02] [-2.33656153e-01 9.72317107e-01 -2.06031037e-03 -1.02066247e+01] [-8.38901902e-03 1.02941670e-04 9.99964806e-01 -1.80119958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters 0.013269764150591272 Centerline is valid? [True, True] Translation: X:112.97, Y:-10.22, Z:-1.80 [[ 9.71564730e-01 2.36649617e-01 7.67692088e-03 1.12971044e+02] [-2.36641641e-01 9.71595056e-01 -1.94422157e-03 -1.02220927e+01] [-7.91895767e-03 7.22579432e-05 9.99968642e-01 -1.80223601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters 0.012624536296581787 Centerline is valid? [True, True] Translation: X:113.03, Y:-10.24, Z:-1.80 [[ 9.71012117e-01 2.38927047e-01 7.02392169e-03 1.13031053e+02] [-2.38920421e-01 9.71037519e-01 -1.78013798e-03 -1.02362939e+01] [-7.24581460e-03 5.03772273e-05 9.99973747e-01 -1.80263550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters 0.012164063009984459 Centerline is valid? [True, True] Translation: X:113.09, Y:-10.25, Z:-1.80 [[ 9.69893718e-01 2.43432558e-01 6.83850169e-03 1.13091575e+02] [-2.43426377e-01 9.69917826e-01 -1.73482870e-03 -1.02516595e+01] [-7.05509848e-03 1.79277652e-05 9.99975112e-01 -1.80451366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters 0.012054332300972567 Centerline is valid? [True, True] Translation: X:113.15, Y:-10.27, Z:-1.81 [[ 9.68817112e-01 2.47696019e-01 6.33136551e-03 1.13151158e+02] [-2.47690804e-01 9.68837800e-01 -1.60738749e-03 -1.02681487e+01] [-6.53220971e-03 -1.09565038e-05 9.99978665e-01 -1.80655240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters 0.012016127879499797 Centerline is valid? [True, True] Translation: X:113.21, Y:-10.29, Z:-1.81 [[ 9.68238252e-01 2.49947137e-01 6.41219623e-03 1.13211535e+02] [-2.49941827e-01 9.68259484e-01 -1.62946446e-03 -1.02856839e+01] [-6.61594979e-03 -2.49662170e-05 9.99978114e-01 -1.80645651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters 0.012105832073428477 Centerline is valid? [True, True] Translation: X:113.27, Y:-10.30, Z:-1.81 [[ 9.67797772e-01 2.51637009e-01 6.80356806e-03 1.13270872e+02] [-2.51631055e-01 9.67821685e-01 -1.73145932e-03 -1.03037627e+01] [-7.02033995e-03 -3.62865363e-05 9.99975356e-01 -1.80822553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters 0.012070019324528062 Centerline is valid? [True, True] Translation: X:113.33, Y:-10.32, Z:-1.81 [[ 9.67758028e-01 2.51787057e-01 6.90493042e-03 1.13330379e+02] [-2.51780914e-01 9.67782660e-01 -1.75911175e-03 -1.03239649e+01] [-7.12539350e-03 -3.61351740e-05 9.99974613e-01 -1.80813780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters 0.011986644345456729 Centerline is valid? [True, True] Translation: X:113.39, Y:-10.35, Z:-1.81 [[ 9.68287226e-01 2.49754237e-01 6.53221531e-03 1.13389392e+02] [-2.49748682e-01 9.68309259e-01 -1.66587879e-03 -1.03465340e+01] [-6.74126486e-03 -1.83630146e-05 9.99977277e-01 -1.80897695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters 0.011978201905146505 Centerline is valid? [True, True] Translation: X:113.45, Y:-10.37, Z:-1.81 [[ 9.68928465e-01 2.47240991e-01 7.03718734e-03 1.13449312e+02] [-2.47234459e-01 9.68954020e-01 -1.79708821e-03 -1.03671253e+01] [-7.26302483e-03 1.41471082e-06 9.99973624e-01 -1.81009025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters 0.012775871814527206 Centerline is valid? [True, True] Translation: X:113.51, Y:-10.39, Z:-1.81 [[ 9.70732850e-01 2.40049772e-01 7.33762193e-03 1.13505941e+02] [-2.40042439e-01 9.70760580e-01 -1.87735611e-03 -1.03933929e+01] [-7.57373302e-03 6.10705830e-05 9.99971317e-01 -1.81094886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters 0.013720716448785503 Centerline is valid? [True, True] Translation: X:113.56, Y:-10.42, Z:-1.81 [[ 9.72265114e-01 2.33763551e-01 7.42631510e-03 1.13564070e+02] [-2.33755844e-01 9.72293469e-01 -1.90154688e-03 -1.04166382e+01] [-7.66507002e-03 1.12863141e-04 9.99970617e-01 -1.81005955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters 0.01593690694262151 Centerline is valid? [True, True] Translation: X:113.62, Y:-10.44, Z:-1.81 [[ 9.74399890e-01 2.24702939e-01 7.31055122e-03 1.13620535e+02] [-2.24695208e-01 9.74427296e-01 -1.87287138e-03 -1.04422787e+01] [-7.54444036e-03 1.82279842e-04 9.99971524e-01 -1.80979602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters 0.016320850251732247 Centerline is valid? [True, True] Translation: X:113.68, Y:-10.46, Z:-1.81 [[ 9.75382010e-01 2.20421840e-01 6.64434814e-03 1.13678923e+02] [-2.20415355e-01 9.75404621e-01 -1.70212603e-03 -1.04615492e+01] [-6.85611363e-03 1.95706760e-04 9.99976477e-01 -1.81059989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters 0.01717088590867001 Centerline is valid? [True, True] Translation: X:113.74, Y:-10.48, Z:-1.81 [[ 9.75964201e-01 2.17852556e-01 5.84315120e-03 1.13737840e+02] [-2.17847496e-01 9.75981674e-01 -1.49667008e-03 -1.04813137e+01] [-6.02886189e-03 1.87780562e-04 9.99981809e-01 -1.81199551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters 0.01770362543525918 Centerline is valid? [True, True] Translation: X:113.80, Y:-10.50, Z:-1.81 [[ 9.75959820e-01 2.17898989e-01 4.73918912e-03 1.13796628e+02] [-2.17895670e-01 9.75971315e-01 -1.21207022e-03 -1.05005630e+01] [-4.88942151e-03 1.50283045e-04 9.99988035e-01 -1.81361660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters 0.01705538113033899 Centerline is valid? [True, True] Translation: X:113.86, Y:-10.52, Z:-1.81 [[ 9.75109819e-01 2.21667307e-01 4.94434645e-03 1.13856362e+02] [-2.21663725e-01 9.75122344e-01 -1.26789883e-03 -1.05161393e+01] [-5.10239442e-03 1.40358348e-04 9.99986973e-01 -1.81454658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters 0.01597768802349102 Centerline is valid? [True, True] Translation: X:113.92, Y:-10.53, Z:-1.81 [[ 9.74161302e-01 2.25773215e-01 6.01766971e-03 1.13916415e+02] [-2.25767981e-01 9.74179878e-01 -1.54410504e-03 -1.05304933e+01] [-6.21091030e-03 1.45610230e-04 9.99980702e-01 -1.81451333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters 0.014158858136622302 Centerline is valid? [True, True] Translation: X:113.98, Y:-10.54, Z:-1.81 [[ 9.72460198e-01 2.32958607e-01 7.17296331e-03 1.13976397e+02] [-2.32951360e-01 9.72486644e-01 -1.84136175e-03 -1.05424703e+01] [-7.40457208e-03 1.19699453e-04 9.99972579e-01 -1.81409331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters 0.013472429165157822 Centerline is valid? [True, True] Translation: X:114.04, Y:-10.56, Z:-1.81 [[ 9.71889563e-01 2.35325530e-01 7.25065278e-03 1.14037231e+02] [-2.35318204e-01 9.71916604e-01 -1.85957264e-03 -1.05563221e+01] [-7.48463474e-03 1.01088652e-04 9.99971985e-01 -1.81473270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters 0.0125579222796712 Centerline is valid? [True, True] Translation: X:114.10, Y:-10.57, Z:-1.82 [[ 9.70428727e-01 2.41278794e-01 7.25457101e-03 1.14098277e+02] [-2.41271612e-01 9.70455841e-01 -1.86247057e-03 -1.05675249e+01] [-7.48961546e-03 5.70729033e-05 9.99971951e-01 -1.81641754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters 0.01220956931953452 Centerline is valid? [True, True] Translation: X:114.16, Y:-10.58, Z:-1.82 [[ 9.69578214e-01 2.44686654e-01 6.82119494e-03 1.14159283e+02] [-2.44680379e-01 9.69602207e-01 -1.75270813e-03 -1.05809080e+01] [-7.04270996e-03 3.03750596e-05 9.99975199e-01 -1.81745605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters 0.012054236846802376 Centerline is valid? [True, True] Translation: X:114.22, Y:-10.60, Z:-1.82 [[ 9.69035277e-01 2.46864759e-01 5.33131585e-03 1.14220541e+02] [-2.46860958e-01 9.69049942e-01 -1.37001454e-03 -1.05958811e+01] [-5.50451962e-03 1.14986806e-05 9.99984850e-01 -1.81978520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters 0.01221566660289303 Centerline is valid? [True, True] Translation: X:114.28, Y:-10.61, Z:-1.82 [[ 9.69467014e-01 2.45179766e-01 4.53774123e-03 1.14280319e+02] [-2.45176988e-01 9.69477634e-01 -1.16720686e-03 -1.06132087e+01] [-4.68541414e-03 1.90188195e-05 9.99989023e-01 -1.82155394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters 0.013358109933083404 Centerline is valid? [True, True] Translation: X:114.34, Y:-10.64, Z:-1.82 [[ 9.71474506e-01 2.37104780e-01 4.31358809e-03 1.14338825e+02] [-2.37102177e-01 9.71484081e-01 -1.11252897e-03 -1.06353941e+01] [-4.45436810e-03 5.80324088e-05 9.99990078e-01 -1.82214776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters 0.016666044403246157 Centerline is valid? [True, True] Translation: X:114.40, Y:-10.66, Z:-1.82 [[ 9.74450704e-01 2.24548138e-01 4.89479036e-03 1.14395448e+02] [-2.24544622e-01 9.74462989e-01 -1.26353929e-03 -1.06609391e+01] [-5.05351744e-03 1.32157904e-04 9.99987222e-01 -1.82242643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters 0.018804480256316154 Centerline is valid? [True, True] Translation: X:114.45, Y:-10.68, Z:-1.82 [[ 9.76238629e-01 2.16642015e-01 4.93721353e-03 1.14452831e+02] [-2.16638336e-01 9.76251098e-01 -1.27444272e-03 -1.06813636e+01] [-5.09605797e-03 1.74570493e-04 9.99987000e-01 -1.82321738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters 0.020961761178948417 Centerline is valid? [True, True] Translation: X:114.51, Y:-10.70, Z:-1.82 [[ 9.77253866e-01 2.12024731e-01 4.51606573e-03 1.14511785e+02] [-2.12021604e-01 9.77264284e-01 -1.16578566e-03 -1.06988999e+01] [-4.66056513e-03 1.81765045e-04 9.99989123e-01 -1.82493242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters 0.02123370691958709 Centerline is valid? [True, True] Translation: X:114.57, Y:-10.71, Z:-1.83 [[ 9.76941287e-01 2.13489200e-01 2.84296422e-03 1.14571778e+02] [-2.13487975e-01 9.76945418e-01 -7.31083670e-04 -1.07139742e+01] [-2.93349934e-03 1.07287147e-04 9.99995692e-01 -1.82722596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters 0.020809593128579468 Centerline is valid? [True, True] Translation: X:114.63, Y:-10.73, Z:-1.83 [[ 9.76088735e-01 2.17366604e-01 1.59382192e-03 1.14630910e+02] [-2.17366221e-01 9.76090035e-01 -4.11540619e-04 -1.07274072e+01] [-1.64516888e-03 5.52571149e-05 9.99998645e-01 -1.82885564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters 0.018176309836890753 Centerline is valid? [True, True] Translation: X:114.69, Y:-10.74, Z:-1.83 [[ 9.75372131e-01 2.20557598e-01 1.88479771e-03 1.14692524e+02] [-2.20557069e-01 9.75373950e-01 -4.86576589e-04 -1.07366950e+01] [-1.94570075e-03 5.88877864e-05 9.99998105e-01 -1.82857619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters 0.016086403951841733 Centerline is valid? [True, True] Translation: X:114.75, Y:-10.74, Z:-1.83 [[ 9.74544404e-01 2.24172470e-01 3.14776834e-03 1.14753879e+02] [-2.24171011e-01 9.74549484e-01 -8.13578460e-04 -1.07442725e+01] [-3.25003791e-03 8.72299244e-05 9.99994715e-01 -1.82815441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters 0.017155693769986522 Centerline is valid? [True, True] Translation: X:114.81, Y:-10.76, Z:-1.83 [[ 9.74266603e-01 2.25357820e-01 4.29402165e-03 1.14812857e+02] [-2.25355124e-01 9.74276060e-01 -1.10796022e-03 -1.07601927e+01] [-4.43324999e-03 1.11768858e-04 9.99990167e-01 -1.82926069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters 0.016329200395454394 Centerline is valid? [True, True] Translation: X:114.87, Y:-10.77, Z:-1.83 [[ 9.74437695e-01 2.24581477e-01 5.85992222e-03 1.14874644e+02] [-2.24576428e-01 9.74455302e-01 -1.51422342e-03 -1.07728622e+01] [-6.05029880e-03 1.59515976e-04 9.99981684e-01 -1.82835050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters 0.01719846286597333 Centerline is valid? [True, True] Translation: X:114.94, Y:-10.79, Z:-1.83 [[ 9.74768905e-01 2.23110555e-01 6.87479381e-03 1.14935407e+02] [-2.23103547e-01 9.74793127e-01 -1.77968583e-03 -1.07872222e+01] [-7.09856845e-03 2.00991523e-04 9.99974785e-01 -1.83009340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters 0.018658495820702316 Centerline is valid? [True, True] Translation: X:114.99, Y:-10.80, Z:-1.83 [[ 9.75247317e-01 2.21015653e-01 6.68967434e-03 1.14994219e+02] [-2.21008944e-01 9.75270237e-01 -1.73531601e-03 -1.08018760e+01] [-6.90777228e-03 2.13884421e-04 9.99976118e-01 -1.83257189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters 0.01739606519005101 Centerline is valid? [True, True] Translation: X:115.06, Y:-10.81, Z:-1.83 [[ 9.75671145e-01 2.19152296e-01 6.17154826e-03 1.15055157e+02] [-2.19146561e-01 9.75690642e-01 -1.59898954e-03 -1.08132328e+01] [-6.37194411e-03 2.07614380e-04 9.99979677e-01 -1.83359154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters 0.019312605164907213 Centerline is valid? [True, True] Translation: X:115.11, Y:-10.83, Z:-1.84 [[ 9.75942317e-01 2.17958742e-01 5.53004933e-03 1.15113831e+02] [-2.17954110e-01 9.75957965e-01 -1.43405562e-03 -1.08288210e+01] [-5.70966065e-03 1.94258587e-04 9.99983681e-01 -1.83642192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters 0.018577616929055605 Centerline is valid? [True, True] Translation: X:115.17, Y:-10.84, Z:-1.84 [[ 9.76212669e-01 2.16753133e-01 5.18691059e-03 1.15174603e+02] [-2.16749037e-01 9.76226430e-01 -1.34589368e-03 -1.08409629e+01] [-5.35532588e-03 1.89620591e-04 9.99985642e-01 -1.83742849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters 0.020804619049392025 Centerline is valid? [True, True] Translation: X:115.23, Y:-10.86, Z:-1.84 [[ 9.75975157e-01 2.17807625e-01 5.68608692e-03 1.15233514e+02] [-2.17802709e-01 9.75991699e-01 -1.47753274e-03 -1.08585286e+01] [-5.87139153e-03 2.03590117e-04 9.99982743e-01 -1.83935144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters 0.0185500245732626 Centerline is valid? [True, True] Translation: X:115.29, Y:-10.87, Z:-1.84 [[ 9.75169170e-01 2.21400698e-01 5.17890498e-03 1.15294593e+02] [-2.21396656e-01 9.75182907e-01 -1.34855494e-03 -1.08688831e+01] [-5.34895062e-03 1.68476961e-04 9.99985680e-01 -1.84048376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters 0.01718348756997911 Centerline is valid? [True, True] Translation: X:115.35, Y:-10.88, Z:-1.84 [[ 9.73784720e-01 2.27404225e-01 5.53518459e-03 1.15354685e+02] [-2.27399699e-01 9.73800440e-01 -1.44205130e-03 -1.08797704e+01] [-5.71809375e-03 1.45548214e-04 9.99983641e-01 -1.84183392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters 0.014329498638364163 Centerline is valid? [True, True] Translation: X:115.42, Y:-10.89, Z:-1.84 [[ 9.72605073e-01 2.32364402e-01 6.79389776e-03 1.15415383e+02] [-2.32357705e-01 9.72628791e-01 -1.76998753e-03 -1.08893971e+01] [-7.01922266e-03 1.42884359e-04 9.99975355e-01 -1.84109320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters 0.01311428394863987 Centerline is valid? [True, True] Translation: X:115.48, Y:-10.90, Z:-1.84 [[ 9.71078106e-01 2.38637539e-01 7.70958143e-03 1.15476100e+02] [-2.38629110e-01 9.71108703e-01 -2.00877901e-03 -1.09006838e+01] [-7.96621170e-03 1.10950759e-04 9.99968263e-01 -1.84138155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters 0.012673040220495741 Centerline is valid? [True, True] Translation: X:115.54, Y:-10.92, Z:-1.84 [[ 9.70460726e-01 2.41105477e-01 8.60983047e-03 1.15536587e+02] [-2.41095068e-01 9.70498912e-01 -2.24255117e-03 -1.09152240e+01] [-8.89652248e-03 1.00520170e-04 9.99960420e-01 -1.84181479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters 0.012586163753334698 Centerline is valid? [True, True] Translation: X:115.60, Y:-10.93, Z:-1.84 [[ 9.70270518e-01 2.41837070e-01 9.48440113e-03 1.15596008e+02] [-2.41824446e-01 9.70316866e-01 -2.47326991e-03 -1.09320100e+01] [-9.80100273e-03 1.06180831e-04 9.99951963e-01 -1.84256795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters 0.012803512439893274 Centerline is valid? [True, True] Translation: X:115.66, Y:-10.95, Z:-1.84 [[ 9.70879283e-01 2.39407097e-01 8.81242917e-03 1.15655664e+02] [-2.39396081e-01 9.70919269e-01 -2.30001041e-03 -1.09504500e+01] [-9.10679611e-03 1.23371449e-04 9.99958525e-01 -1.84350121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters 0.013610130482200064 Centerline is valid? [True, True] Translation: X:115.71, Y:-10.97, Z:-1.84 [[ 9.71579009e-01 2.36554482e-01 8.72961049e-03 1.15714346e+02] [-2.36543534e-01 9.71618214e-01 -2.28082120e-03 -1.09698402e+01] [-9.02138703e-03 1.51065082e-04 9.99959295e-01 -1.84447337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters 0.015162825866084362 Centerline is valid? [True, True] Translation: X:115.77, Y:-10.99, Z:-1.84 [[ 9.72912702e-01 2.31012664e-01 8.60371413e-03 1.15772121e+02] [-2.31001795e-01 9.72950722e-01 -2.24999318e-03 -1.09918377e+01] [-8.89076680e-03 2.01573538e-04 9.99960456e-01 -1.84462454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters 0.016064085975847305 Centerline is valid? [True, True] Translation: X:115.83, Y:-11.01, Z:-1.85 [[ 9.73786904e-01 2.27302106e-01 8.53332929e-03 1.15831211e+02] [-2.27291243e-01 9.73824264e-01 -2.23474073e-03 -1.10112940e+01] [-8.81792439e-03 2.36610237e-04 9.99961093e-01 -1.84553562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters 0.016961614533843792 Centerline is valid? [True, True] Translation: X:115.89, Y:-11.03, Z:-1.85 [[ 9.74869400e-01 2.22659107e-01 7.25089513e-03 1.15889634e+02] [-2.22651130e-01 9.74896336e-01 -1.89956102e-03 -1.10302911e+01] [-7.49182566e-03 2.37403914e-04 9.99971908e-01 -1.84737449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters 0.01751068094205409 Centerline is valid? [True, True] Translation: X:115.95, Y:-11.05, Z:-1.85 [[ 9.75018090e-01 2.22023844e-01 6.71841324e-03 1.15949174e+02] [-2.22016993e-01 9.75041211e-01 -1.75833737e-03 -1.10474909e+01] [-6.94112260e-03 2.22808838e-04 9.99975885e-01 -1.84869182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters 0.017681331241242656 Centerline is valid? [True, True] Translation: X:116.01, Y:-11.06, Z:-1.85 [[ 9.74882235e-01 2.22648216e-01 5.69212496e-03 1.16010107e+02] [-2.22643306e-01 9.74898834e-01 -1.49027377e-03 -1.10642177e+01] [-5.88105278e-03 1.85527906e-04 9.99982689e-01 -1.85004386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters 0.017623260705873257 Centerline is valid? [True, True] Translation: X:116.07, Y:-11.08, Z:-1.85 [[ 9.74248367e-01 2.25385743e-01 6.43322195e-03 1.16068188e+02] [-2.25379502e-01 9.74269587e-01 -1.68850395e-03 -1.10797594e+01] [-6.64825721e-03 1.95105857e-04 9.99977881e-01 -1.85090890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters 0.015299437582729268 Centerline is valid? [True, True] Translation: X:116.13, Y:-11.09, Z:-1.85 [[ 9.72669497e-01 2.32062907e-01 7.80106748e-03 1.16127781e+02] [-2.32053928e-01 9.72700763e-01 -2.04953715e-03 -1.10904948e+01] [-8.06372584e-03 1.83253918e-04 9.99967471e-01 -1.85082421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters 0.01403004920104784 Centerline is valid? [True, True] Translation: X:116.19, Y:-11.10, Z:-1.85 [[ 9.71102313e-01 2.38527567e-01 8.05593772e-03 1.16187266e+02] [-2.38518217e-01 9.71135717e-01 -2.11623385e-03 -1.11026795e+01] [-8.32818897e-03 1.33591684e-04 9.99965311e-01 -1.85221477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.626559995 meters 0.011214629882801462 Centerline is valid? [True, True] Translation: X:116.25, Y:-11.11, Z:-1.85 [[ 9.68078823e-01 2.50490606e-01 8.82322409e-03 1.16249446e+02] [-2.50479884e-01 9.68119029e-01 -2.31787381e-03 -1.11085450e+01] [-9.12253676e-03 3.38444027e-05 9.99958388e-01 -1.85217673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters 0.011178714330480432 Centerline is valid? [True, True] Translation: X:116.31, Y:-11.12, Z:-1.85 [[ 9.65739887e-01 2.59359904e-01 8.88311414e-03 1.16311538e+02] [-2.59349417e-01 9.65780740e-01 -2.33289812e-03 -1.11190843e+01] [-9.18420078e-03 -5.08577076e-05 9.99957823e-01 -1.85301329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters 0.014245640389942906 Centerline is valid? [True, True] Translation: X:116.37, Y:-11.12, Z:-1.86 [[ 9.62435997e-01 2.71381250e-01 8.31675454e-03 1.16372469e+02] [-2.71372468e-01 9.62471919e-01 -2.18840220e-03 -1.11239038e+01] [-8.59853402e-03 -1.50741153e-04 9.99963021e-01 -1.85555862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters 0.01477478085604743 Centerline is valid? [True, True] Translation: X:116.43, Y:-11.14, Z:-1.86 [[ 9.60448569e-01 2.78353726e-01 7.59932921e-03 1.16431993e+02] [-2.78346613e-01 9.60478613e-01 -1.99950535e-03 -1.11370278e+01] [-7.85556294e-03 -1.94825495e-04 9.99969126e-01 -1.85609799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters 0.018069364321811637 Centerline is valid? [True, True] Translation: X:116.49, Y:-11.15, Z:-1.86 [[ 9.58235676e-01 2.85876891e-01 7.66757898e-03 1.16491504e+02] [-2.85869887e-01 9.58266318e-01 -2.01773429e-03 -1.11466820e+01] [-7.92440629e-03 -2.58464957e-04 9.99968568e-01 -1.85752231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters 0.018395379313076145 Centerline is valid? [True, True] Translation: X:116.55, Y:-11.16, Z:-1.86 [[ 9.57468974e-01 2.88448969e-01 7.09627623e-03 1.16551282e+02] [-2.88443038e-01 9.57495235e-01 -1.86767851e-03 -1.11631427e+01] [-7.33338062e-03 -2.58627252e-04 9.99973077e-01 -1.85828554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters 0.019556378057761854 Centerline is valid? [True, True] Translation: X:116.61, Y:-11.18, Z:-1.86 [[ 9.57208973e-01 2.89330598e-01 6.22791161e-03 1.16610428e+02] [-2.89326056e-01 9.57229205e-01 -1.63793921e-03 -1.11799174e+01] [-6.43544481e-03 -2.34046997e-04 9.99979265e-01 -1.85942170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters 0.018969790607820544 Centerline is valid? [True, True] Translation: X:116.67, Y:-11.20, Z:-1.86 [[ 9.57407676e-01 2.88703663e-01 4.55383335e-03 1.16669798e+02] [-2.88701219e-01 9.57418491e-01 -1.19938191e-03 -1.12004003e+01] [-4.70619021e-03 -1.66399792e-04 9.99988912e-01 -1.86129380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters 0.01902162028935224 Centerline is valid? [True, True] Translation: X:116.73, Y:-11.22, Z:-1.86 [[ 9.57599914e-01 2.88082865e-01 3.26609522e-03 1.16729103e+02] [-2.88081611e-01 9.57605477e-01 -8.58119698e-04 -1.12194603e+01] [-3.37484025e-03 -1.19166624e-04 9.99994298e-01 -1.86337386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters 0.01770077889504551 Centerline is valid? [True, True] Translation: X:116.79, Y:-11.24, Z:-1.87 [[ 9.58388103e-01 2.85460830e-01 2.08760863e-03 1.16787710e+02] [-2.85460309e-01 9.58390375e-01 -5.49799499e-04 -1.12427774e+01] [-2.15769024e-03 -6.90081048e-05 9.99997670e-01 -1.86510496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters 0.016288972253723433 Centerline is valid? [True, True] Translation: X:116.85, Y:-11.27, Z:-1.87 [[ 9.59074811e-01 2.83147098e-01 1.79653736e-03 1.16845792e+02] [-2.83146712e-01 9.59076492e-01 -4.70804427e-04 -1.12653792e+01] [-1.85632366e-03 -5.71469808e-05 9.99998275e-01 -1.86511047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters 0.014870241304929938 Centerline is valid? [True, True] Translation: X:116.90, Y:-11.29, Z:-1.86 [[ 9.60332131e-01 2.78851984e-01 1.94125765e-03 1.16902631e+02] [-2.78851517e-01 9.60334092e-01 -5.12589809e-04 -1.12899489e+01] [-2.00719259e-03 -4.90661770e-05 9.99997984e-01 -1.86492158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters 0.014106558969969195 Centerline is valid? [True, True] Translation: X:116.96, Y:-11.31, Z:-1.86 [[ 9.61195289e-01 2.75857805e-01 2.46723116e-03 1.16961164e+02] [-2.75857048e-01 9.61198454e-01 -6.48868792e-04 -1.13116043e+01] [-2.55049430e-03 -5.69134789e-05 9.99996746e-01 -1.86458585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters 0.012738356835019832 Centerline is valid? [True, True] Translation: X:117.02, Y:-11.34, Z:-1.86 [[ 9.62738237e-01 2.70420819e-01 2.76918452e-03 1.17018331e+02] [-2.70419831e-01 9.62742218e-01 -7.32287303e-04 -1.13353459e+01] [-2.86403657e-03 -4.38414224e-05 9.99995898e-01 -1.86467906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters 0.011234542643203971 Centerline is valid? [True, True] Translation: X:117.08, Y:-11.36, Z:-1.86 [[ 9.64571171e-01 2.63810348e-01 2.56062284e-03 1.17076357e+02] [-2.63809482e-01 9.64574569e-01 -6.76459264e-04 -1.13612287e+01] [-2.64836862e-03 -2.30234789e-05 9.99996493e-01 -1.86423906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters 0.010853943989718125 Centerline is valid? [True, True] Translation: X:117.14, Y:-11.38, Z:-1.86 [[ 9.65703333e-01 2.59626625e-01 3.32993865e-03 1.17136023e+02] [-2.59625140e-01 9.65709074e-01 -8.78328802e-04 -1.13799398e+01] [-3.44378951e-03 -1.63307373e-05 9.99994070e-01 -1.86343261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters 0.010845204564911072 Centerline is valid? [True, True] Translation: X:117.20, Y:-11.40, Z:-1.86 [[ 9.66171319e-01 2.57878123e-01 3.44316415e-03 1.17196445e+02] [-2.57876522e-01 9.66177454e-01 -9.08838907e-04 -1.13957089e+01] [-3.56107724e-03 -9.81710901e-06 9.99993659e-01 -1.86395333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters 0.011157033523886096 Centerline is valid? [True, True] Translation: X:117.26, Y:-11.41, Z:-1.86 [[ 9.67735750e-01 2.51953854e-01 2.60268977e-03 1.17255847e+02] [-2.51952917e-01 9.67739250e-01 -6.87126918e-04 -1.14139051e+01] [-2.69184932e-03 9.20200248e-06 9.99996377e-01 -1.86428763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters 0.012153565729803669 Centerline is valid? [True, True] Translation: X:117.31, Y:-11.43, Z:-1.87 [[ 9.69169502e-01 2.46386218e-01 2.07562361e-03 1.17314853e+02] [-2.46385610e-01 9.69171724e-01 -5.47759908e-04 -1.14327059e+01] [-2.14659620e-03 1.94684086e-05 9.99997696e-01 -1.86509259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters 0.015038914101601316 Centerline is valid? [True, True] Translation: X:117.37, Y:-11.45, Z:-1.87 [[ 9.72025256e-01 2.34871598e-01 1.49446275e-03 1.17372404e+02] [-2.34871265e-01 9.72026405e-01 -3.97039002e-04 -1.14523147e+01] [-1.54591044e-03 3.49255807e-05 9.99998804e-01 -1.86617396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters 0.018435540239593828 Centerline is valid? [True, True] Translation: X:117.43, Y:-11.47, Z:-1.87 [[ 9.73696139e-01 2.27846135e-01 1.40283548e-03 1.17429234e+02] [-2.27845835e-01 9.73697149e-01 -3.71987621e-04 -1.14710432e+01] [-1.45069285e-03 4.25726874e-05 9.99998947e-01 -1.86763725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters 0.020913949102192894 Centerline is valid? [True, True] Translation: X:117.49, Y:-11.49, Z:-1.87 [[ 9.75511195e-01 2.19936025e-01 2.46022613e-03 1.17488133e+02] [-2.19935074e-01 9.75514293e-01 -6.54004557e-04 -1.14883317e+01] [-2.54382492e-03 9.68987504e-05 9.99996760e-01 -1.86637491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters 0.02074220905095201 Centerline is valid? [True, True] Translation: X:117.55, Y:-11.50, Z:-1.87 [[ 9.76107233e-01 2.17247663e-01 4.25693741e-03 1.17549158e+02] [-2.17244792e-01 9.76116499e-01 -1.13133317e-03 -1.15001644e+01] [-4.40104633e-03 1.79505010e-04 9.99990299e-01 -1.86581249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters 0.018759233642111163 Centerline is valid? [True, True] Translation: X:117.61, Y:-11.51, Z:-1.87 [[ 9.75680305e-01 2.19133493e-01 5.33420322e-03 1.17610840e+02] [-2.19129008e-01 9.75694863e-01 -1.41848762e-03 -1.15088399e+01] [-5.51539283e-03 2.15111779e-04 9.99984767e-01 -1.86670378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters 0.018425820788599247 Centerline is valid? [True, True] Translation: X:117.67, Y:-11.52, Z:-1.87 [[ 9.73697599e-01 2.27782017e-01 5.32333893e-03 1.17670604e+02] [-2.27777674e-01 9.73712137e-01 -1.41647413e-03 -1.15163604e+01] [-5.50604706e-03 1.66679706e-04 9.99984828e-01 -1.87011694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters 0.012987663974895019 Centerline is valid? [True, True] Translation: X:117.73, Y:-11.52, Z:-1.87 [[ 9.70334082e-01 2.41717075e-01 4.96228716e-03 1.17733958e+02] [-2.41713484e-01 9.70346767e-01 -1.32022528e-03 -1.15153672e+01] [-5.13426030e-03 8.16078740e-05 9.99986816e-01 -1.87107861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters 0.011996166916235507 Centerline is valid? [True, True] Translation: X:117.79, Y:-11.53, Z:-1.87 [[ 9.68950660e-01 2.47205417e-01 4.90927716e-03 1.17794988e+02] [-2.47201985e-01 9.68963095e-01 -1.30361571e-03 -1.15259673e+01] [-5.07916926e-03 4.95562403e-05 9.99987100e-01 -1.87237458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters 0.011422095141751307 Centerline is valid? [True, True] Translation: X:117.86, Y:-11.53, Z:-1.88 [[ 9.64794333e-01 2.62971407e-01 4.23474956e-03 1.17858649e+02] [-2.62969001e-01 9.64803627e-01 -1.12531409e-03 -1.15257985e+01] [-4.38162716e-03 -2.79111993e-05 9.99990400e-01 -1.87593244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters 0.012468237399747947 Centerline is valid? [True, True] Translation: X:117.92, Y:-11.53, Z:-1.88 [[ 9.62503039e-01 2.71252264e-01 3.17953240e-03 1.17921142e+02] [-2.71250946e-01 9.62508289e-01 -8.46784197e-04 -1.15337811e+01] [-3.29001843e-03 -4.74188107e-05 9.99994587e-01 -1.87701751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters 0.01429609713721454 Centerline is valid? [True, True] Translation: X:117.98, Y:-11.54, Z:-1.88 [[ 9.60446115e-01 2.78456175e-01 2.32765745e-03 1.17982295e+02] [-2.78455490e-01 9.60448934e-01 -6.20262551e-04 -1.15426381e+01] [-2.40831206e-03 -5.24202382e-05 9.99997099e-01 -1.87851172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters 0.015513910031774998 Centerline is valid? [True, True] Translation: X:118.04, Y:-11.55, Z:-1.88 [[ 9.59726487e-01 2.80923811e-01 2.62358696e-03 1.18042034e+02] [-2.80922955e-01 9.59730070e-01 -6.96694262e-04 -1.15549579e+01] [-2.71365330e-03 -6.83898638e-05 9.99996316e-01 -1.87932057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters 0.014964144424603669 Centerline is valid? [True, True] Translation: X:118.10, Y:-11.57, Z:-1.88 [[ 9.59711851e-01 2.80968196e-01 3.16788609e-03 1.18102068e+02] [-2.80966944e-01 9.59717076e-01 -8.42516529e-04 -1.15726287e+01] [-3.27699472e-03 -8.14981752e-05 9.99994627e-01 -1.87911293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters 0.014696135889470366 Centerline is valid? [True, True] Translation: X:118.16, Y:-11.59, Z:-1.88 [[ 9.60127527e-01 2.79540691e-01 3.48328907e-03 1.18161937e+02] [-2.79539156e-01 9.60133843e-01 -9.29735671e-04 -1.15910589e+01] [-3.60432267e-03 -8.10508760e-05 9.99993501e-01 -1.88075510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters 0.014863893307258439 Centerline is valid? [True, True] Translation: X:118.22, Y:-11.61, Z:-1.88 [[ 9.60303654e-01 2.78940187e-01 3.04363161e-03 1.18220357e+02] [-2.78939018e-01 9.60308475e-01 -8.10705850e-04 -1.16083047e+01] [-3.14896367e-03 -7.04638216e-05 9.99995040e-01 -1.88302993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters 0.015485126574034313 Centerline is valid? [True, True] Translation: X:118.28, Y:-11.63, Z:-1.89 [[ 9.60028602e-01 2.79891702e-01 2.39126904e-03 1.18278632e+02] [-2.79890984e-01 9.60031579e-01 -6.36782241e-04 -1.16266974e+01] [-2.47392386e-03 -5.79654789e-05 9.99996938e-01 -1.88538632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters 0.0159844868504028 Centerline is valid? [True, True] Translation: X:118.34, Y:-11.64, Z:-1.89 [[ 9.59583690e-01 2.81411704e-01 2.56796103e-03 1.18338451e+02] [-2.81410879e-01 9.59587124e-01 -6.84477613e-04 -1.16447528e+01] [-2.65680235e-03 -6.58386159e-05 9.99996469e-01 -1.88637962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters 0.014776130152173314 Centerline is valid? [True, True] Translation: X:118.40, Y:-11.67, Z:-1.89 [[ 9.59116611e-01 2.82987148e-01 3.68795898e-03 1.18396448e+02] [-2.82985450e-01 9.59123696e-01 -9.85442895e-04 -1.16674200e+01] [-3.81607652e-03 -9.84840808e-05 9.99992714e-01 -1.88569754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters 0.014983503300866403 Centerline is valid? [True, True] Translation: X:118.45, Y:-11.69, Z:-1.89 [[ 9.59245539e-01 2.82531264e-01 4.90729253e-03 1.18454338e+02] [-2.82528230e-01 9.59258083e-01 -1.31513315e-03 -1.16869546e+01] [-5.07892625e-03 -1.24913064e-04 9.99987094e-01 -1.88602526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters 0.013718660951457571 Centerline is valid? [True, True] Translation: X:118.51, Y:-11.71, Z:-1.89 [[ 9.60295607e-01 2.78914045e-01 6.26915687e-03 1.18511290e+02] [-2.78909001e-01 9.60316061e-01 -1.68272038e-03 -1.17116122e+01] [-6.48970638e-03 -1.32615286e-04 9.99978933e-01 -1.88699120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters 0.012213878810338035 Centerline is valid? [True, True] Translation: X:118.57, Y:-11.74, Z:-1.89 [[ 9.62021176e-01 2.72886181e-01 6.95627650e-03 1.18567999e+02] [-2.72879811e-01 9.62046320e-01 -1.86732644e-03 -1.17387772e+01] [-7.20182779e-03 -1.01819835e-04 9.99974061e-01 -1.88773504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters 0.0111032883510482 Centerline is valid? [True, True] Translation: X:118.62, Y:-11.77, Z:-1.89 [[ 9.63639535e-01 2.67129722e-01 6.36848524e-03 1.18624853e+02] [-2.67124267e-01 9.63660578e-01 -1.70797436e-03 -1.17661416e+01] [-6.59330888e-03 -5.53053353e-05 9.99978262e-01 -1.88888476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters 0.010627635230732336 Centerline is valid? [True, True] Translation: X:118.68, Y:-11.79, Z:-1.89 [[ 9.64535396e-01 2.63848525e-01 7.44486778e-03 1.18683214e+02] [-2.63840953e-01 9.64564127e-01 -1.99926764e-03 -1.17890708e+01] [-7.70855621e-03 -3.58966026e-05 9.99970288e-01 -1.88904311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters 0.010617052953043753 Centerline is valid? [True, True] Translation: X:118.74, Y:-11.81, Z:-1.89 [[ 9.65742008e-01 2.59389116e-01 7.72401618e-03 1.18739396e+02] [-2.59380803e-01 9.65772896e-01 -2.07661969e-03 -1.18139229e+01] [-7.99829802e-03 2.01735158e-06 9.99968013e-01 -1.88928272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters 0.010522558798287576 Centerline is valid? [True, True] Translation: X:118.80, Y:-11.83, Z:-1.89 [[ 9.65728999e-01 2.59379231e-01 9.48236431e-03 1.18799415e+02] [-2.59366673e-01 9.65775551e-01 -2.55240786e-03 -1.18311365e+01] [-9.81987720e-03 5.52500364e-06 9.99951784e-01 -1.88918805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters 0.010354296147878432 Centerline is valid? [True, True] Translation: X:118.86, Y:-11.85, Z:-1.89 [[ 9.65338334e-01 2.60776449e-01 1.08417882e-02 1.18859712e+02] [-2.60760083e-01 9.65399215e-01 -2.92157981e-03 -1.18478473e+01] [-1.12285330e-02 -6.79259824e-06 9.99936958e-01 -1.88888709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters 0.010203071393914888 Centerline is valid? [True, True] Translation: X:118.92, Y:-11.87, Z:-1.89 [[ 9.65467524e-01 2.60274388e-01 1.13886969e-02 1.18920375e+02] [-2.60256252e-01 9.65534693e-01 -3.07253714e-03 -1.18664017e+01] [-1.17958847e-02 2.45523978e-06 9.99930426e-01 -1.88898455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters 0.010297104192881865 Centerline is valid? [True, True] Translation: X:118.98, Y:-11.88, Z:-1.89 [[ 9.65615705e-01 2.59724830e-01 1.13720198e-02 1.18980180e+02] [-2.59706666e-01 9.65682667e-01 -3.07165436e-03 -1.18829459e+01] [-1.17795473e-02 1.26483435e-05 9.99930619e-01 -1.89022588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters 0.010346018479926064 Centerline is valid? [True, True] Translation: X:119.04, Y:-11.90, Z:-1.89 [[ 9.65666968e-01 2.59591635e-01 9.97449865e-03 1.19041565e+02] [-2.59577631e-01 9.65718480e-01 -2.69640076e-03 -1.18970950e+01] [-1.03325208e-02 1.46684122e-05 9.99946618e-01 -1.89291713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters 0.010226223193826827 Centerline is valid? [True, True] Translation: X:119.10, Y:-11.91, Z:-1.89 [[ 9.65851257e-01 2.58947554e-01 8.80423385e-03 1.19103014e+02] [-2.58936597e-01 9.65891383e-01 -2.38215509e-03 -1.19122941e+01] [-9.12078684e-03 2.10691316e-05 9.99958405e-01 -1.89470557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters 0.01028718534916539 Centerline is valid? [True, True] Translation: X:119.16, Y:-11.93, Z:-1.90 [[ 9.66014543e-01 2.58330051e-01 9.02702228e-03 1.19163816e+02] [-2.58318479e-01 9.66056719e-01 -2.44534566e-03 -1.19285616e+01] [-9.35232180e-03 3.03928068e-05 9.99956266e-01 -1.89554565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters 0.010590513387519453 Centerline is valid? [True, True] Translation: X:119.22, Y:-11.94, Z:-1.90 [[ 9.66683505e-01 2.55786898e-01 9.80125580e-03 1.19224896e+02] [-2.55773091e-01 9.66733189e-01 -2.65841978e-03 -1.19444193e+01] [-1.01551882e-02 6.29530572e-05 9.99948433e-01 -1.89645177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters 0.011235976531294435 Centerline is valid? [True, True] Translation: X:119.28, Y:-11.96, Z:-1.90 [[ 9.67745032e-01 2.51730659e-01 1.00611853e-02 1.19284002e+02] [-2.51715855e-01 9.67797325e-01 -2.73237077e-03 -1.19616003e+01] [-1.04250097e-02 1.11678386e-04 9.99945652e-01 -1.89767644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters 0.012643428769494274 Centerline is valid? [True, True] Translation: X:119.34, Y:-11.98, Z:-1.90 [[ 9.68573053e-01 2.48550240e-01 9.43496093e-03 1.19341867e+02] [-2.48537050e-01 9.68618996e-01 -2.56437987e-03 -1.19806795e+01] [-9.77625961e-03 1.38851892e-04 9.99952202e-01 -1.89961734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters 0.01328290639061159 Centerline is valid? [True, True] Translation: X:119.40, Y:-12.00, Z:-1.90 [[ 9.69812391e-01 2.43710502e-01 8.31371530e-03 1.19400700e+02] [-2.43700063e-01 9.69848010e-01 -2.26196583e-03 -1.19986518e+01] [-8.61430507e-03 1.67629552e-04 9.99962882e-01 -1.90116785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters 0.013958513797315714 Centerline is valid? [True, True] Translation: X:119.46, Y:-12.02, Z:-1.90 [[ 9.70831136e-01 2.39645319e-01 7.55157680e-03 1.19460720e+02] [-2.39636574e-01 9.70860488e-01 -2.05576538e-03 -1.20156709e+01] [-7.82418208e-03 1.86167045e-04 9.99969373e-01 -1.90258281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters 0.014868629696880943 Centerline is valid? [True, True] Translation: X:119.52, Y:-12.03, Z:-1.90 [[ 9.71591147e-01 2.36579382e-01 6.39050163e-03 1.19520577e+02] [-2.36573050e-01 9.71612147e-01 -1.73999532e-03 -1.20332909e+01] [-6.62073602e-03 1.78743582e-04 9.99978067e-01 -1.90377044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters 0.015299706896772814 Centerline is valid? [True, True] Translation: X:119.58, Y:-12.05, Z:-1.91 [[ 9.71854991e-01 2.35520542e-01 5.28692780e-03 1.19580782e+02] [-2.35516202e-01 9.71869359e-01 -1.43781648e-03 -1.20497132e+01] [-5.47683845e-03 1.52191961e-04 9.99984990e-01 -1.90539431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters 0.01616924548154006 Centerline is valid? [True, True] Translation: X:119.64, Y:-12.07, Z:-1.91 [[ 9.71979813e-01 2.35029063e-01 4.07209363e-03 1.19640738e+02] [-2.35026483e-01 9.71988336e-01 -1.10762475e-03 -1.20658712e+01] [-4.21835152e-03 1.19539051e-04 9.99991096e-01 -1.90641129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters 0.01530353712925417 Centerline is valid? [True, True] Translation: X:119.70, Y:-12.08, Z:-1.91 [[ 9.71960987e-01 2.35106376e-01 4.10265497e-03 1.19702272e+02] [-2.35103756e-01 9.71969638e-01 -1.11654084e-03 -1.20806161e+01] [-4.25016194e-03 1.20684547e-04 9.99990961e-01 -1.90666422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters 0.015209054406183288 Centerline is valid? [True, True] Translation: X:119.76, Y:-12.09, Z:-1.91 [[ 9.71696546e-01 2.36192165e-01 4.36853610e-03 1.19762966e+02] [-2.36189195e-01 9.71706358e-01 -1.19098345e-03 -1.20946244e+01] [-4.52623526e-03 1.25473476e-04 9.99989749e-01 -1.90630849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters 0.015344228447581754 Centerline is valid? [True, True] Translation: X:119.82, Y:-12.11, Z:-1.91 [[ 9.71265849e-01 2.37955022e-01 4.47863070e-03 1.19823822e+02] [-2.37951905e-01 9.71276167e-01 -1.22417758e-03 -1.21097982e+01] [-4.64128646e-03 1.23303168e-04 9.99989222e-01 -1.90708609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters 0.014713739341638424 Centerline is valid? [True, True] Translation: X:119.88, Y:-12.12, Z:-1.91 [[ 9.70883522e-01 2.39501889e-01 4.90228769e-03 1.19884715e+02] [-2.39498171e-01 9.70895890e-01 -1.34057277e-03 -1.21244804e+01] [-5.08068068e-03 1.27451074e-04 9.99987085e-01 -1.90728925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters 0.015341816104611904 Centerline is valid? [True, True] Translation: X:119.94, Y:-12.14, Z:-1.91 [[ 9.70411729e-01 2.41402745e-01 5.07845735e-03 1.19944037e+02] [-2.41398786e-01 9.70425010e-01 -1.38777547e-03 -1.21397425e+01] [-5.26327483e-03 1.20780154e-04 9.99986142e-01 -1.90854747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters 0.013921731963542296 Centerline is valid? [True, True] Translation: X:120.00, Y:-12.15, Z:-1.91 [[ 9.69779985e-01 2.43942672e-01 4.33059467e-03 1.20004952e+02] [-2.43939818e-01 9.69789649e-01 -1.18367857e-03 -1.21518117e+01] [-4.48851560e-03 9.15033128e-05 9.99989922e-01 -1.90905918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters 0.013436679500612121 Centerline is valid? [True, True] Translation: X:120.07, Y:-12.17, Z:-1.91 [[ 9.69503960e-01 2.45033756e-01 4.53099417e-03 1.20065886e+02] [-2.45030628e-01 9.69514543e-01 -1.24164631e-03 -1.21664999e+01] [-4.69711001e-03 9.35486672e-05 9.99988964e-01 -1.90896114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters 0.013918531553594382 Centerline is valid? [True, True] Translation: X:120.13, Y:-12.18, Z:-1.91 [[ 9.69555343e-01 2.44825484e-01 4.78738489e-03 1.20126997e+02] [-2.44821998e-01 9.69567157e-01 -1.31028600e-03 -1.21831687e+01] [-4.96248257e-03 9.83376643e-05 9.99987682e-01 -1.90990310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters 0.014267335987592474 Centerline is valid? [True, True] Translation: X:120.19, Y:-12.20, Z:-1.91 [[ 9.70307465e-01 2.41823663e-01 4.97392721e-03 1.20186492e+02] [-2.41819849e-01 9.70320206e-01 -1.36354629e-03 -1.21989613e+01] [-5.15603984e-03 1.20264820e-04 9.99986700e-01 -1.91028707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters 0.016127814717386477 Centerline is valid? [True, True] Translation: X:120.24, Y:-12.22, Z:-1.91 [[ 9.71715944e-01 2.36061958e-01 6.54800818e-03 1.20244296e+02] [-2.36055183e-01 9.71737985e-01 -1.79991873e-03 -1.22176737e+01] [-6.78784061e-03 2.03318453e-04 9.99976942e-01 -1.91052023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters 0.018924758741014333 Centerline is valid? [True, True] Translation: X:120.30, Y:-12.24, Z:-1.91 [[ 9.72868972e-01 2.31251674e-01 6.97329379e-03 1.20300818e+02] [-2.31243865e-01 9.72893930e-01 -1.91713024e-03 -1.22377857e+01] [-7.22761478e-03 2.52585115e-04 9.99973849e-01 -1.91224716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters 0.01906476575482081 Centerline is valid? [True, True] Translation: X:120.36, Y:-12.25, Z:-1.91 [[ 9.74373677e-01 2.24829647e-01 6.89692753e-03 1.20359276e+02] [-2.24821849e-01 9.74398041e-01 -1.89585070e-03 -1.22540746e+01] [-7.14659611e-03 2.96687016e-04 9.99974419e-01 -1.91242364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters 0.021713927871847442 Centerline is valid? [True, True] Translation: X:120.42, Y:-12.27, Z:-1.91 [[ 9.75196453e-01 2.21245608e-01 6.50072590e-03 1.20417085e+02] [-2.21238598e-01 9.75218072e-01 -1.78726519e-03 -1.22714500e+01] [-6.73504995e-03 3.04723190e-04 9.99977273e-01 -1.91418726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters 0.02164115821913674 Centerline is valid? [True, True] Translation: X:120.48, Y:-12.29, Z:-1.92 [[ 9.75316031e-01 2.20718880e-01 6.46653385e-03 1.20477229e+02] [-2.20711946e-01 9.75337420e-01 -1.77584083e-03 -1.22862065e+01] [-6.69901404e-03 3.04764758e-04 9.99977515e-01 -1.91546981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters 0.022007482399432288 Centerline is valid? [True, True] Translation: X:120.54, Y:-12.30, Z:-1.92 [[ 9.75056894e-01 2.21840096e-01 7.14317427e-03 1.20538326e+02] [-2.21831638e-01 9.75083003e-01 -1.96532745e-03 -1.23000311e+01] [-7.40117624e-03 3.31724028e-04 9.99972556e-01 -1.91664183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters 0.020216449241192876 Centerline is valid? [True, True] Translation: X:120.60, Y:-12.31, Z:-1.92 [[ 9.74198562e-01 2.25525784e-01 8.67650217e-03 1.20599204e+02] [-2.25513437e-01 9.74237129e-01 -2.38879333e-03 -1.23079056e+01] [-8.99170505e-03 3.70491206e-04 9.99959505e-01 -1.91662990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters 0.020726047493738034 Centerline is valid? [True, True] Translation: X:120.66, Y:-12.32, Z:-1.92 [[ 9.73320567e-01 2.29219511e-01 1.02707970e-02 1.20657969e+02] [-2.29202411e-01 9.73374674e-01 -2.82805388e-03 -1.23201926e+01] [-1.06455788e-02 3.98511572e-04 9.99943255e-01 -1.91671553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters 0.01730118756914877 Centerline is valid? [True, True] Translation: X:120.72, Y:-12.32, Z:-1.92 [[ 9.71782625e-01 2.35601549e-01 1.14210508e-02 1.20719528e+02] [-2.35580843e-01 9.71849668e-01 -3.14482152e-03 -1.23244154e+01] [-1.18404692e-02 3.65502132e-04 9.99929832e-01 -1.91632142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters 0.014136846962520166 Centerline is valid? [True, True] Translation: X:120.78, Y:-12.33, Z:-1.92 [[ 9.70223205e-01 2.41939942e-01 1.14890240e-02 1.20781983e+02] [-2.41919433e-01 9.70291183e-01 -3.16346549e-03 -1.23264012e+01] [-1.19130674e-02 2.89849443e-04 9.99928995e-01 -1.91779606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters 0.013862640185644143 Centerline is valid? [True, True] Translation: X:120.84, Y:-12.34, Z:-1.92 [[ 9.69187961e-01 2.46054754e-01 1.14784699e-02 1.20841617e+02] [-2.46034568e-01 9.69255901e-01 -3.16077997e-03 -1.23360363e+01] [-1.19032996e-02 2.39289518e-04 9.99929125e-01 -1.91926646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters 0.012185256370298917 Centerline is valid? [True, True] Translation: X:120.90, Y:-12.34, Z:-1.92 [[ 9.68207195e-01 2.49912946e-01 1.08787527e-02 1.20904931e+02] [-2.49895059e-01 9.68268293e-01 -2.99548483e-03 -1.23423421e+01] [-1.12821617e-02 1.81703420e-04 9.99936338e-01 -1.92107312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters 0.012319665221761708 Centerline is valid? [True, True] Translation: X:120.97, Y:-12.35, Z:-1.92 [[ 9.68124641e-01 2.50294732e-01 9.33947891e-03 1.20966688e+02] [-2.50281573e-01 9.68169677e-01 -2.57108497e-03 -1.23544152e+01] [-9.68572930e-03 1.51631248e-04 9.99953081e-01 -1.92403311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters 0.013132765767999204 Centerline is valid? [True, True] Translation: X:121.03, Y:-12.37, Z:-1.93 [[ 9.68600471e-01 2.48455510e-01 9.10973776e-03 1.21026991e+02] [-2.48442881e-01 9.68643294e-01 -2.51078833e-03 -1.23698425e+01] [-9.44790559e-03 1.68701264e-04 9.99955353e-01 -1.92579442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters 0.01489894559804734 Centerline is valid? [True, True] Translation: X:121.09, Y:-12.39, Z:-1.93 [[ 9.69724028e-01 2.44078761e-01 7.80175764e-03 1.21085340e+02] [-2.44069331e-01 9.69755394e-01 -2.15347311e-03 -1.23865071e+01] [-8.09141361e-03 1.84104857e-04 9.99967247e-01 -1.92773148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters 0.01499003182758961 Centerline is valid? [True, True] Translation: X:121.15, Y:-12.40, Z:-1.93 [[ 9.70549065e-01 2.40770087e-01 8.01735428e-03 1.21145398e+02] [-2.40760015e-01 9.70582154e-01 -2.21301460e-03 -1.24016040e+01] [-8.31432870e-03 2.17580915e-04 9.99965412e-01 -1.92793565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters 0.017225819032578756 Centerline is valid? [True, True] Translation: X:121.20, Y:-12.42, Z:-1.93 [[ 9.71884131e-01 2.35288074e-01 8.98651494e-03 1.21202951e+02] [-2.35275178e-01 9.71925632e-01 -2.48129825e-03 -1.24190752e+01] [-9.31804410e-03 2.97230499e-04 9.99956542e-01 -1.92840074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters 0.01978487042035761 Centerline is valid? [True, True] Translation: X:121.26, Y:-12.44, Z:-1.93 [[ 9.72988779e-01 2.30664948e-01 9.30146136e-03 1.21260739e+02] [-2.30650909e-01 9.73033173e-01 -2.56952074e-03 -1.24365901e+01] [-9.64332883e-03 3.54724335e-04 9.99953439e-01 -1.92951240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters 0.019958644784009345 Centerline is valid? [True, True] Translation: X:121.32, Y:-12.45, Z:-1.93 [[ 9.73235312e-01 2.29642778e-01 8.78757670e-03 1.21321116e+02] [-2.29630218e-01 9.73274924e-01 -2.42614773e-03 -1.24518347e+01] [-9.10987534e-03 3.43319494e-04 9.99958445e-01 -1.93064437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters 0.01843383192726201 Centerline is valid? [True, True] Translation: X:121.38, Y:-12.46, Z:-1.93 [[ 9.73135952e-01 2.30091785e-01 8.01189458e-03 1.21382867e+02] [-2.30081348e-01 9.73168883e-01 -2.21338161e-03 -1.24631656e+01] [-8.30620742e-03 3.10533711e-04 9.99965455e-01 -1.93142552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters 0.01796374220513498 Centerline is valid? [True, True] Translation: X:121.44, Y:-12.48, Z:-1.93 [[ 9.72561593e-01 2.32534385e-01 7.19083854e-03 1.21443758e+02] [-2.32526029e-01 9.72588141e-01 -1.98858538e-03 -1.24759501e+01] [-7.45613877e-03 2.61964634e-04 9.99972168e-01 -1.93356438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters 0.0177637766976522 Centerline is valid? [True, True] Translation: X:121.50, Y:-12.49, Z:-1.93 [[ 9.72339182e-01 2.33460086e-01 7.27346942e-03 1.21504604e+02] [-2.33451538e-01 9.72366351e-01 -2.01477260e-03 -1.24910837e+01] [-7.54284590e-03 2.61039716e-04 9.99971518e-01 -1.93486657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters 0.017332419059188392 Centerline is valid? [True, True] Translation: X:121.57, Y:-12.51, Z:-1.94 [[ 9.71980084e-01 2.34902533e-01 8.69002664e-03 1.21565724e+02] [-2.34890379e-01 9.72018884e-01 -2.40826827e-03 -1.25051337e+01] [-9.01257831e-03 2.99585139e-04 9.99959341e-01 -1.93520972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters 0.016919594275823485 Centerline is valid? [True, True] Translation: X:121.63, Y:-12.52, Z:-1.94 [[ 9.71825324e-01 2.35525954e-01 9.11393844e-03 1.21625908e+02] [-2.35512614e-01 9.71868011e-01 -2.52562044e-03 -1.25204080e+01] [-9.45239438e-03 3.08014445e-04 9.99955278e-01 -1.93608396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters 0.016463804263825564 Centerline is valid? [True, True] Translation: X:121.69, Y:-12.54, Z:-1.94 [[ 9.71350649e-01 2.37437524e-01 1.00666670e-02 1.21686158e+02] [-2.37421319e-01 9.71402758e-01 -2.79274946e-03 -1.25351221e+01] [-1.04418916e-02 3.22697645e-04 9.99945430e-01 -1.93667142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters 0.015528477248679128 Centerline is valid? [True, True] Translation: X:121.75, Y:-12.55, Z:-1.94 [[ 9.70243236e-01 2.41847858e-01 1.17335355e-02 1.21746333e+02] [-2.41826108e-01 9.70314128e-01 -3.25974969e-03 -1.25483820e+01] [-1.21735788e-02 3.25274874e-04 9.99925846e-01 -1.93703051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters 0.0147732679350561 Centerline is valid? [True, True] Translation: X:121.81, Y:-12.56, Z:-1.94 [[ 9.69058862e-01 2.46509070e-01 1.25777894e-02 1.21805363e+02] [-2.46484457e-01 9.69140442e-01 -3.49518031e-03 -1.25614171e+01] [-1.30512380e-02 2.86805878e-04 9.99914788e-01 -1.93812052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters 0.012203200011348489 Centerline is valid? [True, True] Translation: X:121.87, Y:-12.57, Z:-1.94 [[ 9.66109979e-01 2.57792779e-01 1.32057160e-02 1.21866246e+02] [-2.57766694e-01 9.66200219e-01 -3.66992680e-03 -1.25690087e+01] [-1.37054464e-02 1.41559136e-04 9.99906066e-01 -1.93985260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters 0.011520368697706373 Centerline is valid? [True, True] Translation: X:121.93, Y:-12.58, Z:-1.94 [[ 9.64758057e-01 2.62825076e-01 1.28402273e-02 1.21926904e+02] [-2.62800864e-01 9.64843498e-01 -3.56808305e-03 -1.25820767e+01] [-1.33265915e-02 6.79140471e-05 9.99911195e-01 -1.94155604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters 0.011237538925341023 Centerline is valid? [True, True] Translation: X:121.99, Y:-12.60, Z:-1.94 [[ 9.63671457e-01 2.66814592e-01 1.21365888e-02 1.21987402e+02] [-2.66793241e-01 9.63747879e-01 -3.37541522e-03 -1.25961747e+01] [-1.25972217e-02 1.48314524e-05 9.99920652e-01 -1.94351382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters 0.011222429712648531 Centerline is valid? [True, True] Translation: X:122.05, Y:-12.61, Z:-1.95 [[ 9.62782340e-01 2.69992657e-01 1.24149482e-02 1.22046878e+02] [-2.69970535e-01 9.62862381e-01 -3.45618114e-03 -1.26119424e+01] [-1.28870301e-02 -2.41200474e-05 9.99916958e-01 -1.94560139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters 0.01123195560870068 Centerline is valid? [True, True] Translation: X:122.11, Y:-12.63, Z:-1.95 [[ 9.62773019e-01 2.70022779e-01 1.24824740e-02 1.22106187e+02] [-2.70000373e-01 9.62853934e-01 -3.47852640e-03 -1.26295939e+01] [-1.29580806e-02 -2.12412820e-05 9.99916040e-01 -1.94695226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters 0.01136506567140816 Centerline is valid? [True, True] Translation: X:122.17, Y:-12.65, Z:-1.95 [[ 9.63565694e-01 2.67206373e-01 1.19124633e-02 1.22165728e+02] [-2.67185714e-01 9.63639328e-01 -3.32269008e-03 -1.26519228e+01] [-1.23671621e-02 1.87901627e-05 9.99923524e-01 -1.94813654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters 0.01185794371478808 Centerline is valid? [True, True] Translation: X:122.22, Y:-12.67, Z:-1.95 [[ 9.64893017e-01 2.62380094e-01 1.17537820e-02 1.22223259e+02] [-2.62359579e-01 9.64964600e-01 -3.28205657e-03 -1.26748517e+01] [-1.22031299e-02 8.31161568e-05 9.99925536e-01 -1.94941033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters 0.012456496409798266 Centerline is valid? [True, True] Translation: X:122.28, Y:-12.70, Z:-1.95 [[ 9.65684661e-01 2.59453336e-01 1.17090140e-02 1.22281157e+02] [-2.59432727e-01 9.65755638e-01 -3.27241932e-03 -1.26957400e+01] [-1.21570864e-02 1.22423709e-04 9.99926092e-01 -1.95048763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters 0.013027278660402005 Centerline is valid? [True, True] Translation: X:122.34, Y:-12.72, Z:-1.95 [[ 9.66713075e-01 2.55577518e-01 1.20815250e-02 1.22339177e+02] [-2.55555237e-01 9.66788550e-01 -3.37946926e-03 -1.27178895e+01] [-1.25439964e-02 1.79480127e-04 9.99921305e-01 -1.95156682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters 0.01537361533688041 Centerline is valid? [True, True] Translation: X:122.40, Y:-12.74, Z:-1.95 [[ 9.67780692e-01 2.51493439e-01 1.23118374e-02 1.22395689e+02] [-2.51469922e-01 9.67858973e-01 -3.44763125e-03 -1.27435731e+01] [-1.27831790e-02 2.40494157e-04 9.99918263e-01 -1.95251595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters 0.014623106080140946 Centerline is valid? [True, True] Translation: X:122.45, Y:-12.76, Z:-1.95 [[ 9.68487561e-01 2.48750525e-01 1.24506940e-02 1.22454628e+02] [-2.48726231e-01 9.68567549e-01 -3.48780956e-03 -1.27633762e+01] [-1.29269326e-02 2.81085998e-04 9.99916404e-01 -1.95260873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters 0.014859443775881777 Centerline is valid? [True, True] Translation: X:122.51, Y:-12.78, Z:-1.95 [[ 9.68521190e-01 2.48630568e-01 1.22288992e-02 1.22514781e+02] [-2.48607083e-01 9.68598349e-01 -3.42874408e-03 -1.27834650e+01] [-1.26973822e-02 2.80620317e-04 9.99919346e-01 -1.95375425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters 0.014608457786171517 Centerline is valid? [True, True] Translation: X:122.57, Y:-12.80, Z:-1.95 [[ 9.68228720e-01 2.49785311e-01 1.18508934e-02 1.22573457e+02] [-2.49763298e-01 9.68301209e-01 -3.32633422e-03 -1.28040639e+01] [-1.23061039e-02 2.60734093e-04 9.99924243e-01 -1.95475172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters 0.014439558777433718 Centerline is valid? [True, True] Translation: X:122.63, Y:-12.82, Z:-1.96 [[ 9.67787530e-01 2.51507177e-01 1.14646078e-02 1.22632219e+02] [-2.51486661e-01 9.67855405e-01 -3.22083207e-03 -1.28231448e+01] [-1.19061450e-02 2.33885185e-04 9.99929092e-01 -1.95585783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters 0.013700064266446477 Centerline is valid? [True, True] Translation: X:122.69, Y:-12.84, Z:-1.96 [[ 9.67020632e-01 2.54446303e-01 1.13215073e-02 1.22691618e+02] [-2.54426455e-01 9.67086883e-01 -3.18423577e-03 -1.28430883e+01] [-1.17590983e-02 1.98730707e-04 9.99930840e-01 -1.95605711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters 0.014048083295327413 Centerline is valid? [True, True] Translation: X:122.75, Y:-12.86, Z:-1.96 [[ 9.66141193e-01 2.57780593e-01 1.09708718e-02 1.22749403e+02] [-2.57762167e-01 9.66203468e-01 -3.08598112e-03 -1.28641826e+01] [-1.13956005e-02 1.53617782e-04 9.99935056e-01 -1.95754941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters 0.012687476504559923 Centerline is valid? [True, True] Translation: X:122.81, Y:-12.88, Z:-1.96 [[ 9.65353458e-01 2.60723875e-01 1.07593333e-02 1.22809684e+02] [-2.60706307e-01 9.65413407e-01 -3.02892511e-03 -1.28804612e+01] [-1.11769178e-02 1.18957269e-04 9.99937529e-01 -1.95763398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters 0.01230025386492156 Centerline is valid? [True, True] Translation: X:122.87, Y:-12.90, Z:-1.96 [[ 9.63841075e-01 2.66282981e-01 1.01861289e-02 1.22867753e+02] [-2.66267517e-01 9.63894896e-01 -2.87018338e-03 -1.28987168e+01] [-1.05826386e-02 5.41653866e-05 9.99944001e-01 -1.95963586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters 0.011916485920511012 Centerline is valid? [True, True] Translation: X:122.93, Y:-12.92, Z:-1.96 [[ 9.62860817e-01 2.69816778e-01 9.89710083e-03 1.22926834e+02] [-2.69802344e-01 9.62911681e-01 -2.79093685e-03 -1.29166224e+01] [-1.02830756e-02 1.70227306e-05 9.99947128e-01 -1.96045716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters 0.012095869592073254 Centerline is valid? [True, True] Translation: X:122.99, Y:-12.94, Z:-1.96 [[ 9.62630561e-01 2.70652911e-01 9.45544761e-03 1.22985192e+02] [-2.70639755e-01 9.62676997e-01 -2.66865490e-03 -1.29364245e+01] [-9.82482113e-03 9.90874393e-06 9.99951735e-01 -1.96233380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters 0.012212370362420965 Centerline is valid? [True, True] Translation: X:123.04, Y:-12.96, Z:-1.96 [[ 9.63175469e-01 2.68725024e-01 8.93745979e-03 1.23043872e+02] [-2.68713166e-01 9.63216933e-01 -2.52466049e-03 -1.29614442e+01] [-9.28715206e-03 3.00779392e-05 9.99956873e-01 -1.96328181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters 0.012486142924637175 Centerline is valid? [True, True] Translation: X:123.10, Y:-12.98, Z:-1.96 [[ 9.63960232e-01 2.65911066e-01 8.48392236e-03 1.23101830e+02] [-2.65900250e-01 9.63997563e-01 -2.39904623e-03 -1.29842979e+01] [-8.81641343e-03 5.67080857e-05 9.99961133e-01 -1.96396024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters 0.013449460347548176 Centerline is valid? [True, True] Translation: X:123.16, Y:-13.01, Z:-1.96 [[ 9.65663290e-01 2.59643490e-01 8.92571903e-03 1.23158423e+02] [-2.59631225e-01 9.65704532e-01 -2.52658382e-03 -1.30118496e+01] [-9.27561836e-03 1.22433881e-04 9.99956973e-01 -1.96463732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters 0.015259792382459478 Centerline is valid? [True, True] Translation: X:123.21, Y:-13.04, Z:-1.97 [[ 9.67275539e-01 2.53568392e-01 9.00569045e-03 1.23213751e+02] [-2.53555619e-01 9.67317443e-01 -2.55184152e-03 -1.30406171e+01] [-9.35842782e-03 1.84890469e-04 9.99956192e-01 -1.96551360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters 0.016283648008841963 Centerline is valid? [True, True] Translation: X:123.27, Y:-13.06, Z:-1.97 [[ 9.68017151e-01 2.50777812e-01 7.29961883e-03 1.23271984e+02] [-2.50769322e-01 9.68044657e-01 -2.07087096e-03 -1.30642187e+01] [-7.58568550e-03 1.74118137e-04 9.99971213e-01 -1.96818568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters 0.016022850861854628 Centerline is valid? [True, True] Translation: X:123.33, Y:-13.09, Z:-1.97 [[ 9.68505317e-01 2.48895000e-01 6.98067013e-03 1.23330120e+02] [-2.48887195e-01 9.68530457e-01 -1.97923907e-03 -1.30874404e+01] [-7.25361434e-03 1.79504149e-04 9.99973676e-01 -1.96878019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters 0.01660951905545221 Centerline is valid? [True, True] Translation: X:123.39, Y:-13.11, Z:-1.97 [[ 9.68394455e-01 2.49313294e-01 7.42027761e-03 1.23387404e+02] [-2.49304468e-01 9.68422865e-01 -2.10633034e-03 -1.31105221e+01] [-7.71110266e-03 1.89850261e-04 9.99970251e-01 -1.96988906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters 0.015535197241342242 Centerline is valid? [True, True] Translation: X:123.45, Y:-13.13, Z:-1.97 [[ 9.67087034e-01 2.54303869e-01 8.49768742e-03 1.23447054e+02] [-2.54292452e-01 9.67124352e-01 -2.41610037e-03 -1.31270219e+01] [-8.83274411e-03 1.75681574e-04 9.99960975e-01 -1.97013096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters 0.014907848506844356 Centerline is valid? [True, True] Translation: X:123.51, Y:-13.14, Z:-1.97 [[ 9.66500547e-01 2.56515995e-01 8.73139011e-03 1.23507281e+02] [-2.56504039e-01 9.66539973e-01 -2.48170935e-03 -1.31434519e+01] [-9.07583570e-03 1.58936618e-04 9.99958801e-01 -1.97074587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters 0.01424564606243626 Centerline is valid? [True, True] Translation: X:123.57, Y:-13.16, Z:-1.97 [[ 9.65268759e-01 2.61082512e-01 9.59921401e-03 1.23566170e+02] [-2.61068251e-01 9.65316479e-01 -2.73194388e-03 -1.31601850e+01] [-9.97954224e-03 1.31010062e-04 9.99950195e-01 -1.97013099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters 0.01351556658757485 Centerline is valid? [True, True] Translation: X:123.63, Y:-13.17, Z:-1.97 [[ 9.64207145e-01 2.64988808e-01 9.24736647e-03 1.23627145e+02] [-2.64975747e-01 9.64251484e-01 -2.63238969e-03 -1.31736248e+01] [-9.61434065e-03 8.78411046e-05 9.99953777e-01 -1.97032224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters 0.013121364394081483 Centerline is valid? [True, True] Translation: X:123.69, Y:-13.19, Z:-1.97 [[ 9.63078423e-01 2.69098696e-01 8.11435784e-03 1.23687939e+02] [-2.69088771e-01 9.63112605e-01 -2.31152951e-03 -1.31874948e+01] [-8.43706989e-03 4.27016173e-05 9.99964406e-01 -1.97091619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters 0.013030604359188413 Centerline is valid? [True, True] Translation: X:123.75, Y:-13.20, Z:-1.97 [[ 9.62420605e-01 2.71467730e-01 7.20071016e-03 1.23748827e+02] [-2.71459972e-01 9.62447542e-01 -2.05242108e-03 -1.32029829e+01] [-7.48747189e-03 2.05877603e-05 9.99971968e-01 -1.97205200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters 0.013144106357404125 Centerline is valid? [True, True] Translation: X:123.81, Y:-13.22, Z:-1.97 [[ 9.61901725e-01 2.73325029e-01 6.20490159e-03 1.23809631e+02] [-2.73319298e-01 9.61921737e-01 -1.76986487e-03 -1.32187258e+01] [-6.45237809e-03 6.51672302e-06 9.99979183e-01 -1.97374811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters 0.013377565437039796 Centerline is valid? [True, True] Translation: X:123.87, Y:-13.24, Z:-1.98 [[ 9.61916012e-01 2.73301654e-01 4.87768841e-03 1.23869612e+02] [-2.73298108e-01 9.61928379e-01 -1.39221076e-03 -1.32360808e+01] [-5.07248040e-03 6.12680825e-06 9.99987135e-01 -1.97521113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters 0.013581401146098418 Centerline is valid? [True, True] Translation: X:123.93, Y:-13.25, Z:-1.98 [[ 9.62208325e-01 2.72281358e-01 4.24289560e-03 1.23929121e+02] [-2.72278663e-01 9.62217679e-01 -1.21145907e-03 -1.32549178e+01] [-4.41244687e-03 1.04260662e-05 9.99990265e-01 -1.97610928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters 0.013498051441575646 Centerline is valid? [True, True] Translation: X:123.99, Y:-13.27, Z:-1.98 [[ 9.62611556e-01 2.70856715e-01 3.95378085e-03 1.23988953e+02] [-2.70854361e-01 9.62619676e-01 -1.12937601e-03 -1.32730822e+01] [-4.11188631e-03 1.62516188e-05 9.99991546e-01 -1.97545521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters 0.013669459501324087 Centerline is valid? [True, True] Translation: X:124.05, Y:-13.29, Z:-1.98 [[ 9.62936508e-01 2.69706464e-01 3.42120326e-03 1.24048020e+02] [-2.69704691e-01 9.62942585e-01 -9.78183124e-04 -1.32917775e+01] [-3.55824462e-03 1.92136723e-05 9.99993669e-01 -1.97706058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters 0.014316169012069698 Centerline is valid? [True, True] Translation: X:124.11, Y:-13.31, Z:-1.98 [[ 9.64165315e-01 2.65278292e-01 3.55995085e-03 1.24105408e+02] [-2.65276333e-01 9.64171886e-01 -1.02045167e-03 -1.33139921e+01] [-3.70310820e-03 3.95133967e-05 9.99993143e-01 -1.97747826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters 0.015061733934588078 Centerline is valid? [True, True] Translation: X:124.16, Y:-13.33, Z:-1.98 [[ 9.65367125e-01 2.60882815e-01 2.54379851e-03 1.24164057e+02] [-2.60881803e-01 9.65370476e-01 -7.27609787e-04 -1.33333493e+01] [-2.64552887e-03 3.87798255e-05 9.99996500e-01 -1.97844169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters 0.015061733934588078 Centerline is valid? [True, True] Translation: X:124.22, Y:-13.35, Z:-1.98 [[ 9.65294682e-01 2.61150734e-01 2.54382374e-03 1.24224024e+02] [-2.61149724e-01 9.65298033e-01 -7.27523862e-04 -1.33506689e+01] [-2.64554145e-03 3.79560469e-05 9.99996500e-01 -1.97943281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters 0.015134442121276046 Centerline is valid? [True, True] Translation: X:124.28, Y:-13.37, Z:-1.98 [[ 9.65413743e-01 2.60710842e-01 2.48212282e-03 1.24283881e+02] [-2.60709875e-01 9.65416933e-01 -7.11017776e-04 -1.33671026e+01] [-2.58165344e-03 3.93124023e-05 9.99996667e-01 -1.98023172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters 0.015607256826190775 Centerline is valid? [True, True] Translation: X:124.34, Y:-13.38, Z:-1.98 [[ 9.65851503e-01 2.59093221e-01 1.25606876e-03 1.24343510e+02] [-2.59092974e-01 9.65852319e-01 -3.58180606e-04 -1.33849467e+01] [-1.30597909e-03 2.05106857e-05 9.99999147e-01 -1.98203685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters 0.01634581076796592 Centerline is valid? [True, True] Translation: X:124.40, Y:-13.40, Z:-1.98 [[ 9.66530837e-01 2.56550171e-01 -3.89199316e-04 1.24403205e+02] [-2.56550146e-01 9.66530915e-01 1.13379951e-04 -1.34016659e+01] [ 4.05260817e-04 -9.73607730e-06 9.99999918e-01 -1.98432885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.906559995 meters 0.01694789979229296 Centerline is valid? [True, True] Translation: X:124.46, Y:-13.42, Z:-1.99 [[ 9.66902326e-01 2.55146802e-01 -4.38547411e-05 1.24462889e+02] [-2.55146801e-01 9.66902327e-01 1.65964440e-05 -1.34183194e+01] [ 4.66377808e-05 -4.85774338e-06 9.99999999e-01 -1.98609964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters 0.017489332284157715 Centerline is valid? [True, True] Translation: X:124.52, Y:-13.44, Z:-1.99 [[ 9.66981589e-01 2.54843881e-01 1.09634901e-03 1.24522164e+02] [-2.54843691e-01 9.66982211e-01 -3.12598400e-04 -1.34362791e+01] [-1.13981378e-03 2.28792707e-05 9.99999350e-01 -1.98625873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters 0.015516756205770798 Centerline is valid? [True, True] Translation: X:124.58, Y:-13.45, Z:-1.99 [[ 9.66423127e-01 2.56950730e-01 1.63141017e-03 1.24582929e+02] [-2.56950307e-01 9.66424504e-01 -4.67733199e-04 -1.34500826e+01] [-1.69681915e-03 3.28368385e-05 9.99998560e-01 -1.98541869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters 0.014187595570316739 Centerline is valid? [True, True] Translation: X:124.64, Y:-13.46, Z:-1.99 [[ 9.64889860e-01 2.62646325e-01 2.11329128e-03 1.24642928e+02] [-2.62645618e-01 9.64892174e-01 -6.10641725e-04 -1.34624376e+01] [-2.19948102e-03 3.41553153e-05 9.99997581e-01 -1.98704308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters 0.013195501696870178 Centerline is valid? [True, True] Translation: X:124.70, Y:-13.48, Z:-1.99 [[ 9.63343085e-01 2.68257628e-01 2.81863288e-03 1.24703853e+02] [-2.68256401e-01 9.63347209e-01 -8.11940330e-04 -1.34762179e+01] [-2.93313130e-03 2.60607919e-05 9.99995698e-01 -1.98859678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters 0.012705780589170311 Centerline is valid? [True, True] Translation: X:124.76, Y:-13.49, Z:-1.99 [[ 9.62648819e-01 2.70730554e-01 3.49546224e-03 1.24763769e+02] [-2.70728676e-01 9.62655165e-01 -1.00875114e-03 -1.34929648e+01] [-3.63802454e-03 2.47512341e-05 9.99993382e-01 -1.98836290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters 0.012419344657827822 Centerline is valid? [True, True] Translation: X:124.82, Y:-13.51, Z:-1.99 [[ 9.61680345e-01 2.74129352e-01 4.90030399e-03 1.24822638e+02] [-2.74125689e-01 9.61692829e-01 -1.41738031e-03 -1.35101251e+01] [-5.10113276e-03 1.97675766e-05 9.99986989e-01 -1.98961391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters 0.012187561804136247 Centerline is valid? [True, True] Translation: X:124.88, Y:-13.53, Z:-1.99 [[ 9.60658005e-01 2.77679562e-01 5.50071241e-03 1.24881742e+02] [-2.77674995e-01 9.60673753e-01 -1.59270770e-03 -1.35278527e+01] [-5.72665241e-03 2.63710837e-06 9.99983603e-01 -1.99104024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters 0.01215313497943237 Centerline is valid? [True, True] Translation: X:124.94, Y:-13.55, Z:-1.99 [[ 9.60062622e-01 2.79726424e-01 5.73497819e-03 1.24941433e+02] [-2.79721488e-01 9.60079751e-01 -1.66181160e-03 -1.35461265e+01] [-5.97088904e-03 -8.75342754e-06 9.99982174e-01 -1.99243059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters 0.012074892739203267 Centerline is valid? [True, True] Translation: X:125.00, Y:-13.57, Z:-1.99 [[ 9.59389929e-01 2.82006464e-01 6.58168304e-03 1.25001271e+02] [-2.81999998e-01 9.59412504e-01 -1.90983059e-03 -1.35657833e+01] [-6.85313358e-03 -2.37623741e-05 9.99976517e-01 -1.99379159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters 0.01219755979869197 Centerline is valid? [True, True] Translation: X:125.06, Y:-13.58, Z:-1.99 [[ 9.58501307e-01 2.84987848e-01 7.56110148e-03 1.25060828e+02] [-2.84979376e-01 9.58531128e-01 -2.19794427e-03 -1.35831003e+01] [-7.87393854e-03 -4.80255268e-05 9.99968999e-01 -1.99477092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters 0.012473383605259342 Centerline is valid? [True, True] Translation: X:125.12, Y:-13.60, Z:-2.00 [[ 9.57726912e-01 2.87556115e-01 8.40496092e-03 1.25121805e+02] [-2.87545736e-01 9.57763789e-01 -2.44433787e-03 -1.35994447e+01] [-8.75285151e-03 -7.58025153e-05 9.99961690e-01 -1.99559948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters 0.012427223950121441 Centerline is valid? [True, True] Translation: X:125.18, Y:-13.62, Z:-2.00 [[ 9.57702973e-01 2.87651588e-01 7.84726786e-03 1.25182622e+02] [-2.87642527e-01 9.57735120e-01 -2.28424368e-03 -1.36172613e+01] [-8.17267034e-03 -6.95809918e-05 9.99966601e-01 -1.99738547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters 0.012200134798148684 Centerline is valid? [True, True] Translation: X:125.24, Y:-13.64, Z:-2.00 [[ 9.58762392e-01 2.84088487e-01 8.27087815e-03 1.25240615e+02] [-2.84078260e-01 9.58798065e-01 -2.41081600e-03 -1.36357676e+01] [-8.61498704e-03 -3.81769669e-05 9.99962890e-01 -1.99962990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters 0.012118302044261677 Centerline is valid? [True, True] Translation: X:125.30, Y:-13.66, Z:-2.00 [[ 9.60690915e-01 2.77437726e-01 1.00635052e-02 1.25298895e+02] [-2.77422186e-01 9.60743622e-01 -2.93657592e-03 -1.36577067e+01] [-1.04831654e-02 2.93021907e-05 9.99945050e-01 -1.99837005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters 0.01229416499049542 Centerline is valid? [True, True] Translation: X:125.36, Y:-13.68, Z:-2.00 [[ 9.61376743e-01 2.75033356e-01 1.05551215e-02 1.25359222e+02] [-2.75016084e-01 9.61434683e-01 -3.08285040e-03 -1.36765219e+01] [-1.09959466e-02 6.09524981e-05 9.99939541e-01 -1.99943870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters 0.013891437234684842 Centerline is valid? [True, True] Translation: X:125.42, Y:-13.70, Z:-2.00 [[ 9.63682323e-01 2.66773982e-01 1.21664868e-02 1.25416827e+02] [-2.66750318e-01 9.63759103e-01 -3.55800140e-03 -1.36981047e+01] [-1.26747446e-02 1.83368833e-04 9.99919655e-01 -2.00066439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters 0.015324064010544581 Centerline is valid? [True, True] Translation: X:125.48, Y:-13.72, Z:-2.00 [[ 9.65028821e-01 2.61852993e-01 1.23444597e-02 1.25475433e+02] [-2.61828189e-01 9.65107738e-01 -3.61305415e-03 -1.37177355e+01] [-1.28598226e-02 2.54573869e-04 9.99917277e-01 -2.00213419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters 0.0160529523169738 Centerline is valid? [True, True] Translation: X:125.53, Y:-13.73, Z:-2.00 [[ 9.66110722e-01 2.57817098e-01 1.26655492e-02 1.25534693e+02] [-2.57790599e-01 9.66193688e-01 -3.71012220e-03 -1.37346271e+01] [-1.31939066e-02 3.19329333e-04 9.99912906e-01 -2.00310989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters 0.015961131602888808 Centerline is valid? [True, True] Translation: X:125.60, Y:-13.75, Z:-2.00 [[ 9.66394081e-01 2.56732184e-01 1.30792449e-02 1.25595451e+02] [-2.56703782e-01 9.66482522e-01 -3.83454071e-03 -1.37480681e+01] [-1.36253116e-02 3.48185816e-04 9.99907111e-01 -2.00411001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters 0.01589122331073681 Centerline is valid? [True, True] Translation: X:125.66, Y:-13.76, Z:-2.01 [[ 9.66372004e-01 2.56853923e-01 1.22968296e-02 1.25656608e+02] [-2.56828791e-01 9.66450182e-01 -3.60805021e-03 -1.37638903e+01] [-1.28110151e-02 3.28538832e-04 9.99917882e-01 -2.00608792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters 0.01565232689941321 Centerline is valid? [True, True] Translation: X:125.72, Y:-13.78, Z:-2.01 [[ 9.66204522e-01 2.57512220e-01 1.16738660e-02 1.25717668e+02] [-2.57489578e-01 9.66274993e-01 -3.42855931e-03 -1.37793668e+01] [-1.21630607e-02 3.06790672e-04 9.99925980e-01 -2.00764341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters 0.015506565000439489 Centerline is valid? [True, True] Translation: X:125.78, Y:-13.79, Z:-2.01 [[ 9.65820043e-01 2.58965321e-01 1.13404786e-02 1.25777562e+02] [-2.58944012e-01 9.65886578e-01 -3.33412064e-03 -1.37943281e+01] [-1.18170377e-02 2.83611516e-04 9.99930136e-01 -2.00930919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters 0.014952178343264044 Centerline is valid? [True, True] Translation: X:125.84, Y:-13.81, Z:-2.01 [[ 9.65024219e-01 2.61916388e-01 1.13164710e-02 1.25837937e+02] [-2.61895337e-01 9.65090536e-01 -3.33005510e-03 -1.38082409e+01] [-1.17936150e-02 2.49852855e-04 9.99930422e-01 -2.01123650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters 0.013440476184267757 Centerline is valid? [True, True] Translation: X:125.90, Y:-13.82, Z:-2.01 [[ 9.64018521e-01 2.65604221e-01 1.10764804e-02 1.25898350e+02] [-2.65584265e-01 9.64082132e-01 -3.26219715e-03 -1.38225387e+01] [-1.15450902e-02 2.03079574e-04 9.99933333e-01 -2.01172037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters 0.012818245641474811 Centerline is valid? [True, True] Translation: X:125.96, Y:-13.84, Z:-2.01 [[ 9.63164529e-01 2.68677640e-01 1.12434553e-02 1.25958522e+02] [-2.68657250e-01 9.63230137e-01 -3.31447593e-03 -1.38378226e+01] [-1.17205605e-02 1.71749865e-04 9.99931297e-01 -2.01234882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters 0.01203096499076083 Centerline is valid? [True, True] Translation: X:126.02, Y:-13.85, Z:-2.01 [[ 9.61623761e-01 2.74163546e-01 1.06813958e-02 1.26019933e+02] [-2.74145443e-01 9.61683076e-01 -3.15228813e-03 -1.38511620e+01] [-1.11363601e-02 1.03059186e-04 9.99937984e-01 -2.01416076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters 0.011616034737728374 Centerline is valid? [True, True] Translation: X:126.08, Y:-13.87, Z:-2.02 [[ 9.60295771e-01 2.78774015e-01 1.08204199e-02 1.26078868e+02] [-2.78755725e-01 9.60356728e-01 -3.19372175e-03 -1.38667268e+01] [-1.12817897e-02 5.06635068e-05 9.99936357e-01 -2.01516780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters 0.011445024740715676 Centerline is valid? [True, True] Translation: X:126.14, Y:-13.88, Z:-2.02 [[ 9.59939877e-01 2.79996416e-01 1.08369479e-02 1.26139372e+02] [-2.79978121e-01 9.60001044e-01 -3.20102436e-03 -1.38847139e+01] [-1.12997567e-02 3.86826142e-05 9.99936155e-01 -2.01558399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters 0.011475798997131683 Centerline is valid? [True, True] Translation: X:126.20, Y:-13.90, Z:-2.02 [[ 9.59923519e-01 2.80027578e-01 1.14626817e-02 1.26198446e+02] [-2.80007064e-01 9.59991955e-01 -3.38973950e-03 -1.39032219e+01] [-1.19533027e-02 4.42588254e-05 9.99928556e-01 -2.01642191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters 0.01180294065860596 Centerline is valid? [True, True] Translation: X:126.26, Y:-13.92, Z:-2.02 [[ 9.60459379e-01 2.78193236e-01 1.12385393e-02 1.26258142e+02] [-2.78173355e-01 9.60525127e-01 -3.32646789e-03 -1.39233184e+01] [-1.17203003e-02 6.86750969e-05 9.99931313e-01 -2.01705045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters 0.012656836399487953 Centerline is valid? [True, True] Translation: X:126.32, Y:-13.95, Z:-2.02 [[ 9.61798494e-01 2.73569802e-01 1.01597484e-02 1.26315105e+02] [-2.73553265e-01 9.61852146e-01 -3.01017458e-03 -1.39453156e+01] [-1.05956686e-02 1.15949032e-04 9.99943858e-01 -2.01914148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters 0.013485848548126384 Centerline is valid? [True, True] Translation: X:126.37, Y:-13.97, Z:-2.02 [[ 9.63211581e-01 2.68597393e-01 8.88208173e-03 1.26374051e+02] [-2.68584516e-01 9.63252520e-01 -2.63442879e-03 -1.39659830e+01] [-9.26328831e-03 1.51922693e-04 9.99957083e-01 -2.02098709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters 0.015621700400013023 Centerline is valid? [True, True] Translation: X:126.43, Y:-13.99, Z:-2.02 [[ 9.65385072e-01 2.60695237e-01 8.34599563e-03 1.26430727e+02] [-2.60683565e-01 9.65421124e-01 -2.47626294e-03 -1.39906443e+01] [-8.70295044e-03 2.14883381e-04 9.99962106e-01 -2.02180303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters 0.018820828288253204 Centerline is valid? [True, True] Translation: X:126.49, Y:-14.02, Z:-2.02 [[ 9.68019091e-01 2.50684030e-01 9.82631826e-03 1.26487231e+02] [-2.50667328e-01 9.68068896e-01 -2.91600459e-03 -1.40156421e+01] [-1.02435489e-02 3.59611167e-04 9.99947469e-01 -2.02206097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters 0.01944586077183614 Centerline is valid? [True, True] Translation: X:126.55, Y:-14.03, Z:-2.02 [[ 9.69033376e-01 2.46705234e-01 1.05282652e-02 1.26545104e+02] [-2.46685821e-01 9.69090472e-01 -3.12468228e-03 -1.40340861e+01] [-1.09737169e-02 4.30747677e-04 9.99939694e-01 -2.02268819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters 0.019936555291086688 Centerline is valid? [True, True] Translation: X:126.60, Y:-14.05, Z:-2.02 [[ 9.69634206e-01 2.44355392e-01 9.99749102e-03 1.26604235e+02] [-2.44337764e-01 9.69685647e-01 -2.96703010e-03 -1.40528170e+01] [-1.04194334e-02 4.34169272e-04 9.99945622e-01 -2.02365025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters 0.020626739619539005 Centerline is valid? [True, True] Translation: X:126.67, Y:-14.07, Z:-2.03 [[ 9.69560719e-01 2.44681523e-01 9.10845147e-03 1.26665144e+02] [-2.44666912e-01 9.69603424e-01 -2.70239936e-03 -1.40699955e+01] [-9.49281292e-03 3.91603568e-04 9.99954866e-01 -2.02588765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters 0.01978105439173308 Centerline is valid? [True, True] Translation: X:126.73, Y:-14.08, Z:-2.03 [[ 9.68856562e-01 2.47452197e-01 9.18547584e-03 1.26725172e+02] [-2.47437420e-01 9.68900032e-01 -2.72967085e-03 -1.40840009e+01] [-9.57527088e-03 3.71829078e-04 9.99954087e-01 -2.02696435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters 0.01791672577410181 Centerline is valid? [True, True] Translation: X:126.79, Y:-14.09, Z:-2.03 [[ 9.66912415e-01 2.54900847e-01 1.02927343e-02 1.26785506e+02] [-2.54882708e-01 9.66967138e-01 -3.05925866e-03 -1.40938622e+01] [-1.07325435e-02 3.34595175e-04 9.99942349e-01 -2.02742791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters 0.016366740967014945 Centerline is valid? [True, True] Translation: X:126.85, Y:-14.11, Z:-2.03 [[ 9.65328533e-01 2.60816113e-01 1.07600404e-02 1.26845341e+02] [-2.60796653e-01 9.65388458e-01 -3.19847458e-03 -1.41053990e+01] [-1.12218325e-02 2.81396253e-04 9.99936994e-01 -2.02863811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters 0.01397178344593357 Centerline is valid? [True, True] Translation: X:126.91, Y:-14.11, Z:-2.03 [[ 9.63088957e-01 2.68934283e-01 1.15764003e-02 1.26907076e+02] [-2.68912341e-01 9.63158508e-01 -3.44116644e-03 -1.41127620e+01] [-1.20753561e-02 2.01112487e-04 9.99927070e-01 -2.03004693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters 0.012954709619403265 Centerline is valid? [True, True] Translation: X:126.97, Y:-14.12, Z:-2.03 [[ 9.61473862e-01 2.74652537e-01 1.15756965e-02 1.26967899e+02] [-2.74631019e-01 9.61543534e-01 -3.44041520e-03 -1.41231210e+01] [-1.20754549e-02 1.28823957e-04 9.99927081e-01 -2.03155400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters 0.012435256818001547 Centerline is valid? [True, True] Translation: X:127.03, Y:-14.14, Z:-2.03 [[ 9.60918221e-01 2.76600748e-01 1.13225087e-02 1.27028960e+02] [-2.76580266e-01 9.60984919e-01 -3.36766611e-03 -1.41369402e+01] [-1.18122591e-02 1.04469257e-04 9.99930227e-01 -2.03270896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters 0.012477910507584749 Centerline is valid? [True, True] Translation: X:127.09, Y:-14.15, Z:-2.03 [[ 9.61189438e-01 2.75673501e-01 1.09080502e-02 1.27088256e+02] [-2.75654400e-01 9.61251324e-01 -3.24715248e-03 -1.41539969e+01] [-1.13805316e-02 1.14276650e-04 9.99935233e-01 -2.03465240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters 0.013185867473168586 Centerline is valid? [True, True] Translation: X:127.15, Y:-14.17, Z:-2.04 [[ 9.62042085e-01 2.72748763e-01 9.11808849e-03 1.27145807e+02] [-2.72735260e-01 9.62085285e-01 -2.71695730e-03 -1.41729070e+01] [-9.51342551e-03 1.27003023e-04 9.99954738e-01 -2.03796660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters 0.014009379086130624 Centerline is valid? [True, True] Translation: X:127.20, Y:-14.19, Z:-2.04 [[ 9.62636841e-01 2.70708684e-01 6.86447451e-03 1.27204490e+02] [-2.70700983e-01 9.62661309e-01 -2.04477750e-03 -1.41938990e+01] [-7.16170305e-03 1.10158152e-04 9.99974349e-01 -2.04011229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters 0.01482785854208923 Centerline is valid? [True, True] Translation: X:127.26, Y:-14.22, Z:-2.04 [[ 9.63675127e-01 2.67054720e-01 3.46771855e-03 1.27262565e+02] [-2.67052728e-01 9.63681364e-01 -1.03408058e-03 -1.42156365e+01] [-3.61793185e-03 7.04540333e-05 9.99993453e-01 -2.04242904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters 0.016232860879730863 Centerline is valid? [True, True] Translation: X:127.32, Y:-14.24, Z:-2.05 [[ 9.64543631e-01 2.63923017e-01 -4.74931504e-04 1.27320051e+02] [-2.63922978e-01 9.64543748e-01 1.42378586e-04 -1.42369813e+01] [ 4.95669199e-04 -1.19850212e-05 9.99999877e-01 -2.04646559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters 0.017613474896939735 Centerline is valid? [True, True] Translation: X:127.38, Y:-14.26, Z:-2.05 [[ 9.65853829e-01 2.59086444e-01 -7.72225980e-04 1.27376746e+02] [-2.59086342e-01 9.65854137e-01 2.30871439e-04 -1.42592488e+01] [ 8.05673318e-04 -2.29148588e-05 9.99999675e-01 -2.04661162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters 0.019529617974632648 Centerline is valid? [True, True] Translation: X:127.43, Y:-14.28, Z:-2.04 [[ 9.67175132e-01 2.54102147e-01 2.08860573e-03 1.27434254e+02] [-2.54101399e-01 9.67177385e-01 -6.20488524e-04 -1.42822841e+01] [-2.17771969e-03 6.94034338e-05 9.99997626e-01 -2.04389735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters 0.02014758949777396 Centerline is valid? [True, True] Translation: X:127.49, Y:-14.30, Z:-2.04 [[ 9.67239501e-01 2.53833231e-01 4.05439592e-03 1.27494585e+02] [-2.53830394e-01 9.67247988e-01 -1.20832639e-03 -1.43017048e+01] [-4.22831969e-03 1.39612103e-04 9.99991051e-01 -2.04273233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters 0.01894556314759913 Centerline is valid? [True, True] Translation: X:127.55, Y:-14.32, Z:-2.04 [[ 9.66627079e-01 2.56055607e-01 8.22286704e-03 1.27554049e+02] [-2.56043939e-01 9.66662016e-01 -2.45946568e-03 -1.43166112e+01] [-8.57849320e-03 2.71970858e-04 9.99963167e-01 -2.03900135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters 0.015426812930506842 Centerline is valid? [True, True] Translation: X:127.61, Y:-14.33, Z:-2.04 [[ 9.64772554e-01 2.62878460e-01 1.04323715e-02 1.27614937e+02] [-2.62860070e-01 9.64828919e-01 -3.12095051e-03 -1.43256380e+01] [-1.08858844e-02 2.68753477e-04 9.99940711e-01 -2.03671166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters 0.013843871045737251 Centerline is valid? [True, True] Translation: X:127.68, Y:-14.34, Z:-2.04 [[ 9.63131342e-01 2.68843104e-01 1.00699391e-02 1.27675773e+02] [-2.68826296e-01 9.63183963e-01 -3.01252222e-03 -1.43379502e+01] [-1.05090997e-02 1.94390132e-04 9.99944759e-01 -2.03770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters 0.012778069501547909 Centerline is valid? [True, True] Translation: X:127.74, Y:-14.35, Z:-2.04 [[ 9.61146462e-01 2.75900735e-01 8.73286073e-03 1.27735088e+02] [-2.75888379e-01 9.61186129e-01 -2.61317411e-03 -1.43494819e+01] [-9.11488126e-03 1.02348257e-04 9.99958453e-01 -2.04032823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters 0.012459240844188313 Centerline is valid? [True, True] Translation: X:127.79, Y:-14.36, Z:-2.04 [[ 9.60478433e-01 2.78183056e-01 9.76564077e-03 1.27794419e+02] [-2.78167732e-01 9.60528073e-01 -2.92120683e-03 -1.43639888e+01] [-1.01928024e-02 8.92700105e-05 9.99948048e-01 -2.04271285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters 0.013013804526090975 Centerline is valid? [True, True] Translation: X:127.85, Y:-14.38, Z:-2.05 [[ 9.61683485e-01 2.73908149e-01 1.17983520e-02 1.27854181e+02] [-2.73885415e-01 9.61755841e-01 -3.53287121e-03 -1.43806835e+01] [-1.23148161e-02 1.66107374e-04 9.99924156e-01 -2.04555483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters 0.013719354555721578 Centerline is valid? [True, True] Translation: X:127.91, Y:-14.40, Z:-2.06 [[ 9.61696476e-01 2.74095303e-01 3.41374222e-03 1.27913641e+02] [-2.74093402e-01 9.61702533e-01 -1.02180400e-03 -1.43955004e+01] [-3.56307622e-03 4.69810855e-05 9.99993651e-01 -2.05609213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters 0.013724819714778382 Centerline is valid? [True, True] Translation: X:127.97, Y:-14.41, Z:-2.06 [[ 9.62477901e-01 2.71331254e-01 3.95473322e-03 1.27972142e+02] [-2.71328682e-01 9.62486024e-01 -1.18324305e-03 -1.44148026e+01] [-4.12742627e-03 6.58127390e-05 9.99991480e-01 -2.05582062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters 0.013724819714778382 Centerline is valid? [True, True] Translation: X:128.03, Y:-14.43, Z:-2.06 [[ 9.62400044e-01 2.71607284e-01 3.95463905e-03 1.28031913e+02] [-2.71604713e-01 9.62408166e-01 -1.18355846e-03 -1.44328113e+01] [-4.12744001e-03 6.49581073e-05 9.99991480e-01 -2.05681175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters 0.01465960481002127 Centerline is valid? [True, True] Translation: X:128.09, Y:-14.45, Z:-2.06 [[ 9.63364699e-01 2.68163325e-01 4.10954087e-03 1.28090099e+02] [-2.68160508e-01 9.63373460e-01 -1.23186873e-03 -1.44545231e+01] [-4.28936462e-03 8.47222776e-05 9.99990797e-01 -2.05716926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters 0.01465960481002127 Centerline is valid? [True, True] Translation: X:128.15, Y:-14.47, Z:-2.06 [[ 9.63288891e-01 2.68435514e-01 4.10935422e-03 1.28149864e+02] [-2.68432698e-01 9.63297653e-01 -1.23249094e-03 -1.44725696e+01] [-4.28937561e-03 8.41597866e-05 9.99990797e-01 -2.05816055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters 0.01633949678898151 Centerline is valid? [True, True] Translation: X:128.21, Y:-14.49, Z:-2.06 [[ 9.64424574e-01 2.64312613e-01 4.90744799e-03 1.28206801e+02] [-2.64308521e-01 9.64437052e-01 -1.47612906e-03 -1.44948968e+01] [-5.12308420e-03 1.26534814e-04 9.99986869e-01 -2.05904437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters 0.017241876216619337 Centerline is valid? [True, True] Translation: X:128.26, Y:-14.52, Z:-2.06 [[ 9.65654141e-01 2.59778017e-01 5.24043860e-03 1.28264405e+02] [-2.59773275e-01 9.65668347e-01 -1.57798829e-03 -1.45158731e+01] [-5.47045235e-03 1.62465034e-04 9.99985024e-01 -2.05938012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters 0.018644860871551153 Centerline is valid? [True, True] Translation: X:128.32, Y:-14.54, Z:-2.06 [[ 9.66851715e-01 2.55279327e-01 5.49777593e-03 1.28321377e+02] [-2.55274033e-01 9.66867326e-01 -1.65589893e-03 -1.45373451e+01] [-5.73833668e-03 1.97569287e-04 9.99983516e-01 -2.05996588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters 0.023091532053707266 Centerline is valid? [True, True] Translation: X:128.38, Y:-14.56, Z:-2.06 [[ 9.69557276e-01 2.44780436e-01 6.42082363e-03 1.28375722e+02] [-2.44772987e-01 9.69578489e-01 -1.93358139e-03 -1.45647679e+01] [-6.69879537e-03 3.03073731e-04 9.99977517e-01 -2.06048870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters 0.022871846617828772 Centerline is valid? [True, True] Translation: X:128.43, Y:-14.58, Z:-2.06 [[ 9.70003516e-01 2.42990965e-01 6.96925556e-03 1.28434933e+02] [-2.42982138e-01 9.70028491e-01 -2.09937942e-03 -1.45844870e+01] [-7.27050669e-03 3.43000807e-04 9.99973511e-01 -2.06010100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters 0.021586313058580872 Centerline is valid? [True, True] Translation: X:128.49, Y:-14.60, Z:-2.06 [[ 9.68361672e-01 2.49469364e-01 6.38036843e-03 1.28494595e+02] [-2.49462100e-01 9.68382653e-01 -1.92285311e-03 -1.45992174e+01] [-6.65833105e-03 2.70357152e-04 9.99977797e-01 -2.06165675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters 0.019179514489206406 Centerline is valid? [True, True] Translation: X:128.55, Y:-14.61, Z:-2.06 [[ 9.66656782e-01 2.56006445e-01 5.94690317e-03 1.28554187e+02] [-2.56000257e-01 9.66675052e-01 -1.79234052e-03 -1.46109587e+01] [-6.20757366e-03 2.10169378e-04 9.99980711e-01 -2.06362508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters 0.015563424028632714 Centerline is valid? [True, True] Translation: X:128.62, Y:-14.62, Z:-2.06 [[ 9.64243551e-01 2.64962404e-01 5.41287658e-03 1.28615324e+02] [-2.64957418e-01 9.64258734e-01 -1.63145266e-03 -1.46203523e+01] [-5.65168713e-03 1.38935906e-04 9.99984019e-01 -2.06481569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters 0.014778856187496917 Centerline is valid? [True, True] Translation: X:128.67, Y:-14.64, Z:-2.07 [[ 9.63122595e-01 2.69015221e-01 5.06733711e-03 1.28674830e+02] [-2.69010907e-01 9.63135920e-01 -1.52720538e-03 -1.46362459e+01] [-5.29137588e-03 1.07717053e-04 9.99985995e-01 -2.06590228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters 0.013918302802635792 Centerline is valid? [True, True] Translation: X:128.73, Y:-14.65, Z:-2.07 [[ 9.62191130e-01 2.72311695e-01 5.87971883e-03 1.28734802e+02] [-2.72305960e-01 9.62209089e-01 -1.77020532e-03 -1.46523531e+01] [-6.13956651e-03 1.02193380e-04 9.99981147e-01 -2.06563958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters 0.01371560178281465 Centerline is valid? [True, True] Translation: X:128.79, Y:-14.67, Z:-2.07 [[ 9.62009350e-01 2.72919851e-01 7.26399696e-03 1.28794345e+02] [-2.72911093e-01 9.62036766e-01 -2.18989673e-03 -1.46709214e+01] [-7.58589844e-03 1.24275777e-04 9.99971219e-01 -2.06580708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters 0.014093764652674904 Centerline is valid? [True, True] Translation: X:128.85, Y:-14.69, Z:-2.07 [[ 9.62236049e-01 2.72122087e-01 7.16629879e-03 1.28852814e+02] [-2.72113526e-01 9.62262725e-01 -2.16249850e-03 -1.46903565e+01] [-7.48432581e-03 1.30787183e-04 9.99971983e-01 -2.06666702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters 0.014031625824964011 Centerline is valid? [True, True] Translation: X:128.91, Y:-14.71, Z:-2.07 [[ 9.62736948e-01 2.70337171e-01 7.44204040e-03 1.28912040e+02] [-2.70327871e-01 9.62765699e-01 -2.24749244e-03 -1.47091831e+01] [-7.77252197e-03 1.51953075e-04 9.99969782e-01 -2.06711624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters 0.016135698368346513 Centerline is valid? [True, True] Translation: X:128.97, Y:-14.73, Z:-2.07 [[ 9.64037954e-01 2.65671154e-01 7.04713574e-03 1.28968782e+02] [-2.65662676e-01 9.64063693e-01 -2.13015254e-03 -1.47319591e+01] [-7.35980780e-03 1.81386959e-04 9.99972900e-01 -2.06863977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters 0.017389544003629347 Centerline is valid? [True, True] Translation: X:129.03, Y:-14.75, Z:-2.07 [[ 9.65552593e-01 2.60100719e-01 7.47033324e-03 1.29025786e+02] [-2.60090996e-01 9.65581461e-01 -2.26176884e-03 -1.47529479e+01] [-7.80150299e-03 2.40890354e-04 9.99969539e-01 -2.06867001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters 0.018463333534766417 Centerline is valid? [True, True] Translation: X:129.08, Y:-14.77, Z:-2.07 [[ 9.66703903e-01 2.55809332e-01 6.71936287e-03 1.29083251e+02] [-2.55801358e-01 9.66727223e-01 -2.03490624e-03 -1.47729030e+01] [-7.01633901e-03 2.48329652e-04 9.99975354e-01 -2.07019640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters 0.019410524569233104 Centerline is valid? [True, True] Translation: X:129.14, Y:-14.79, Z:-2.07 [[ 9.66905207e-01 2.55064898e-01 6.01826458e-03 1.29142262e+02] [-2.55058501e-01 9.66923910e-01 -1.82042243e-03 -1.47926462e+01] [-6.28352978e-03 2.25166381e-04 9.99980233e-01 -2.07203014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters 0.01972906916294843 Centerline is valid? [True, True] Translation: X:129.20, Y:-14.81, Z:-2.07 [[ 9.67072149e-01 2.54447767e-01 5.27179257e-03 1.29201475e+02] [-2.54442844e-01 9.67086497e-01 -1.59552382e-03 -1.48114490e+01] [-5.50425689e-03 2.01616749e-04 9.99984831e-01 -2.07381661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters 0.01850321881407074 Centerline is valid? [True, True] Translation: X:129.26, Y:-14.83, Z:-2.07 [[ 9.66724460e-01 2.55762593e-01 5.41430914e-03 1.29261422e+02] [-2.55757412e-01 9.66739601e-01 -1.64015179e-03 -1.48271901e+01] [-5.65371653e-03 2.00825157e-04 9.99983997e-01 -2.07407448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters 0.0171457294461772 Centerline is valid? [True, True] Translation: X:129.32, Y:-14.84, Z:-2.07 [[ 9.65913586e-01 2.58805098e-01 5.55573844e-03 1.29321182e+02] [-2.58799672e-01 9.65929544e-01 -1.68662711e-03 -1.48430401e+01] [-5.80295960e-03 1.91312747e-04 9.99983144e-01 -2.07386779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters 0.016906764292477283 Centerline is valid? [True, True] Translation: X:129.38, Y:-14.86, Z:-2.07 [[ 9.65178232e-01 2.61518078e-01 6.26704674e-03 1.29380452e+02] [-2.61511229e-01 9.65198558e-01 -1.90305675e-03 -1.48603453e+01] [-6.54662822e-03 1.97885861e-04 9.99978551e-01 -2.07466975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters 0.015809842902830214 Centerline is valid? [True, True] Translation: X:129.44, Y:-14.87, Z:-2.07 [[ 9.63725840e-01 2.66749366e-01 8.79093921e-03 1.29439256e+02] [-2.66736095e-01 9.63765907e-01 -2.67061846e-03 -1.48739812e+01] [-9.18479329e-03 2.28883227e-04 9.99957793e-01 -2.07420827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters 0.014199635221160916 Centerline is valid? [True, True] Translation: X:129.50, Y:-14.89, Z:-2.07 [[ 9.61953509e-01 2.72993140e-01 1.09631890e-02 1.29499741e+02] [-2.72972904e-01 9.62015957e-01 -3.33060758e-03 -1.48860148e+01] [-1.14559958e-02 2.11236107e-04 9.99934356e-01 -2.07392016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters 0.012857066120202513 Centerline is valid? [True, True] Translation: X:129.56, Y:-14.90, Z:-2.08 [[ 9.60473046e-01 2.78161763e-01 1.08425257e-02 1.29560935e+02] [-2.78142306e-01 9.60534232e-01 -3.29334133e-03 -1.48988672e+01] [-1.13306987e-02 1.47400477e-04 9.99935795e-01 -2.07526510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters 0.012639943499346598 Centerline is valid? [True, True] Translation: X:129.62, Y:-14.91, Z:-2.08 [[ 9.59843493e-01 2.80367341e-01 9.72740986e-03 1.29620801e+02] [-2.80351770e-01 9.59892776e-01 -2.95686356e-03 -1.49148323e+01] [-1.01662784e-02 1.11029677e-04 9.99948316e-01 -2.07708572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters 0.012790608540059468 Centerline is valid? [True, True] Translation: X:129.68, Y:-14.93, Z:-2.08 [[ 9.59837799e-01 2.80412300e-01 8.96338012e-03 1.29681322e+02] [-2.80399064e-01 9.59879644e-01 -2.72649426e-03 -1.49322145e+01] [-9.36830865e-03 1.03668858e-04 9.99956111e-01 -2.07850773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters 0.013071957600667912 Centerline is valid? [True, True] Translation: X:129.74, Y:-14.95, Z:-2.08 [[ 9.60552837e-01 2.77975046e-01 8.25354119e-03 1.29740667e+02] [-2.77963713e-01 9.60588288e-01 -2.51296587e-03 -1.49510677e+01] [-8.62679680e-03 1.19651545e-04 9.99962781e-01 -2.07933336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters 0.014368343898138762 Centerline is valid? [True, True] Translation: X:129.80, Y:-14.97, Z:-2.08 [[ 9.62436333e-01 2.71392493e-01 7.90062482e-03 1.29797788e+02] [-2.71381856e-01 9.62468745e-01 -2.40917269e-03 -1.49732119e+01] [-8.25793583e-03 1.74589105e-04 9.99965887e-01 -2.07951235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters 0.01566987641243639 Centerline is valid? [True, True] Translation: X:129.86, Y:-14.99, Z:-2.08 [[ 9.64054395e-01 2.65602894e-01 7.36387137e-03 1.29855445e+02] [-2.65593482e-01 9.64082496e-01 -2.24574802e-03 -1.49948423e+01] [-7.69585666e-03 2.09227004e-04 9.99970365e-01 -2.08002513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters 0.019007113035715766 Centerline is valid? [True, True] Translation: X:129.91, Y:-15.02, Z:-2.08 [[ 9.65756185e-01 2.59340385e-01 7.58654027e-03 1.29910465e+02] [-2.59330201e-01 9.65785946e-01 -2.31371179e-03 -1.50184525e+01] [-7.92701288e-03 2.67062459e-04 9.99968545e-01 -2.08069338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters 0.018556278369180352 Centerline is valid? [True, True] Translation: X:129.97, Y:-15.04, Z:-2.08 [[ 9.66373444e-01 2.57020160e-01 7.93753376e-03 1.29969903e+02] [-2.57008929e-01 9.66405995e-01 -2.42136054e-03 -1.50360530e+01] [-8.29321869e-03 2.99921478e-04 9.99965566e-01 -2.07994543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters 0.01836438855814858 Centerline is valid? [True, True] Translation: X:130.03, Y:-15.05, Z:-2.08 [[ 9.66030168e-01 2.58300089e-01 8.17186276e-03 1.30030034e+02] [-2.58288229e-01 9.66064685e-01 -2.49303030e-03 -1.50534633e+01] [-8.53849797e-03 2.97646512e-04 9.99963502e-01 -2.08051011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters 0.017390737239747312 Centerline is valid? [True, True] Translation: X:130.09, Y:-15.07, Z:-2.08 [[ 9.64615905e-01 2.63558264e-01 7.29370989e-03 1.30089867e+02] [-2.63548953e-01 9.64643453e-01 -2.22685862e-03 -1.50665276e+01] [-7.62273648e-03 2.25813641e-04 9.99970921e-01 -2.08242126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters 0.015349379432841027 Centerline is valid? [True, True] Translation: X:130.15, Y:-15.08, Z:-2.08 [[ 9.63042750e-01 2.69252005e-01 7.21242939e-03 1.30150720e+02] [-2.69243059e-01 9.63069741e-01 -2.20203272e-03 -1.50788349e+01] [-7.53897423e-03 1.78755088e-04 9.99971566e-01 -2.08389416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters 0.013003142896540682 Centerline is valid? [True, True] Translation: X:130.21, Y:-15.09, Z:-2.08 [[ 9.60255799e-01 2.79026558e-01 7.27876313e-03 1.30210836e+02] [-2.79017721e-01 9.60283380e-01 -2.22314709e-03 -1.50886255e+01] [-7.60999234e-03 1.03885989e-04 9.99971038e-01 -2.08472087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters 0.01204596338878862 Centerline is valid? [True, True] Translation: X:130.27, Y:-15.10, Z:-2.09 [[ 9.58538141e-01 2.84850972e-01 8.03472985e-03 1.30271513e+02] [-2.84840424e-01 9.58571813e-01 -2.45214873e-03 -1.51024882e+01] [-8.40036251e-03 6.18622284e-05 9.99964714e-01 -2.08557704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters 0.011536689010393926 Centerline is valid? [True, True] Translation: X:130.33, Y:-15.12, Z:-2.09 [[ 9.56642238e-01 2.91114442e-01 9.38135917e-03 1.30331847e+02] [-2.91100331e-01 9.56688236e-01 -2.86636336e-03 -1.51159117e+01] [-9.80947573e-03 1.11674980e-05 9.99951886e-01 -2.08606129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters 0.011419471466107094 Centerline is valid? [True, True] Translation: X:130.39, Y:-15.13, Z:-2.09 [[ 9.55888047e-01 2.93576118e-01 9.54485983e-03 1.30392545e+02] [-2.93561609e-01 9.55935700e-01 -2.91864753e-03 -1.51335269e+01] [-9.98111747e-03 -1.21041197e-05 9.99950187e-01 -2.08635979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters 0.011350243954747097 Centerline is valid? [True, True] Translation: X:130.45, Y:-15.15, Z:-2.09 [[ 9.55968495e-01 2.93307892e-01 9.73227458e-03 1.30452763e+02] [-2.93292763e-01 9.56018033e-01 -2.97908328e-03 -1.51532698e+01] [-1.01780186e-02 -6.49594201e-06 9.99948203e-01 -2.08737953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters 0.011446409827489077 Centerline is valid? [True, True] Translation: X:130.51, Y:-15.17, Z:-2.09 [[ 9.56635072e-01 2.91117287e-01 1.00031766e-02 1.30510888e+02] [-2.91101142e-01 9.56687371e-01 -3.06593872e-03 -1.51737271e+01] [-1.04624605e-02 2.10483808e-05 9.99945267e-01 -2.08827139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters 0.011879399024463428 Centerline is valid? [True, True] Translation: X:130.57, Y:-15.20, Z:-2.09 [[ 9.57920900e-01 2.86894941e-01 8.87932587e-03 1.30568341e+02] [-2.86882029e-01 9.57962050e-01 -2.72253423e-03 -1.51963206e+01] [-9.28713851e-03 6.06534198e-05 9.99956872e-01 -2.09030910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters 0.012315683892391656 Centerline is valid? [True, True] Translation: X:130.63, Y:-15.22, Z:-2.09 [[ 9.58884684e-01 2.83693593e-01 7.62283219e-03 1.30626499e+02] [-2.83683966e-01 9.58914980e-01 -2.33852160e-03 -1.52182667e+01] [-7.97307157e-03 7.98972851e-05 9.99968211e-01 -2.09207671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters 0.01332583740023826 Centerline is valid? [True, True] Translation: X:130.68, Y:-15.24, Z:-2.09 [[ 9.60309500e-01 2.78877194e-01 5.75975772e-03 1.30683835e+02] [-2.78871606e-01 9.60326769e-01 -1.76768965e-03 -1.52408973e+01] [-6.02421785e-03 9.12962770e-05 9.99981850e-01 -2.09447120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters 0.014335432936258531 Centerline is valid? [True, True] Translation: X:130.74, Y:-15.26, Z:-2.10 [[ 9.61295644e-01 2.75470095e-01 5.18771486e-03 1.30742002e+02] [-2.75465508e-01 9.61309636e-01 -1.59293495e-03 -1.52629265e+01] [-5.42580623e-03 1.02244921e-04 9.99985275e-01 -2.09634026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters 0.015965005756991387 Centerline is valid? [True, True] Translation: X:130.80, Y:-15.29, Z:-2.10 [[ 9.63105479e-01 2.69086539e-01 4.50232039e-03 1.30798171e+02] [-2.69082999e-01 9.63115995e-01 -1.38572950e-03 -1.52878122e+01] [-4.70913794e-03 1.23105805e-04 9.99988904e-01 -2.09715043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters 0.017509797912528578 Centerline is valid? [True, True] Translation: X:130.86, Y:-15.31, Z:-2.10 [[ 9.64088428e-01 2.65542189e-01 4.56612598e-03 1.30855878e+02] [-2.65538511e-01 9.64099230e-01 -1.40486104e-03 -1.53108277e+01] [-4.77524842e-03 1.41927974e-04 9.99988588e-01 -2.09792869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters 0.01760217815139634 Centerline is valid? [True, True] Translation: X:130.91, Y:-15.33, Z:-2.10 [[ 9.64946709e-01 2.62408057e-01 4.45655753e-03 1.30913542e+02] [-2.62404527e-01 9.64956988e-01 -1.36958911e-03 -1.53329854e+01] [-4.65977754e-03 1.52159633e-04 9.99989132e-01 -2.09737170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters 0.017884468737819827 Centerline is valid? [True, True] Translation: X:130.97, Y:-15.36, Z:-2.10 [[ 9.64405622e-01 2.64385980e-01 4.67428635e-03 1.30971143e+02] [-2.64382114e-01 9.64416938e-01 -1.43770546e-03 -1.53551053e+01] [-4.88807010e-03 1.50733519e-04 9.99988042e-01 -2.09746760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters 0.01716184261767078 Centerline is valid? [True, True] Translation: X:131.03, Y:-15.37, Z:-2.10 [[ 9.63855699e-01 2.66377945e-01 4.99815443e-03 1.31030502e+02] [-2.66373543e-01 9.63868646e-01 -1.53892338e-03 -1.53728511e+01] [-5.22749959e-03 1.51923968e-04 9.99986325e-01 -2.09795486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters 0.015324373849837324 Centerline is valid? [True, True] Translation: X:131.09, Y:-15.39, Z:-2.10 [[ 9.61992950e-01 2.73026347e-01 5.11650220e-03 1.31089374e+02] [-2.73021807e-01 9.62006548e-01 -1.57927288e-03 -1.53882223e+01] [-5.35329172e-03 1.22332707e-04 9.99985664e-01 -2.09850300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters 0.01433570450977311 Centerline is valid? [True, True] Translation: X:131.15, Y:-15.40, Z:-2.10 [[ 9.60673529e-01 2.77649163e-01 4.16092798e-03 1.31147448e+02] [-2.77646203e-01 9.60682537e-01 -1.28436739e-03 -1.54046756e+01] [-4.35393438e-03 7.85919020e-05 9.99990518e-01 -2.10117119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters 0.01269277238571177 Centerline is valid? [True, True] Translation: X:131.21, Y:-15.42, Z:-2.10 [[ 9.59352172e-01 2.82184486e-01 3.91482701e-03 1.31206720e+02] [-2.82181915e-01 9.59360158e-01 -1.20567806e-03 -1.54231996e+01] [-4.09595270e-03 5.19764801e-05 9.99991610e-01 -2.10096292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters 0.012397942796723942 Centerline is valid? [True, True] Translation: X:131.27, Y:-15.44, Z:-2.10 [[ 9.59150391e-01 2.82864179e-01 4.28762578e-03 1.31265480e+02] [-2.82861095e-01 9.59159973e-01 -1.32198039e-03 -1.54428675e+01] [-4.48645992e-03 5.51754841e-05 9.99989934e-01 -2.10132208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters 0.0126835034337417 Centerline is valid? [True, True] Translation: X:131.32, Y:-15.46, Z:-2.10 [[ 9.59815655e-01 2.80581512e-01 5.28429843e-03 1.31323550e+02] [-2.80576780e-01 9.59830198e-01 -1.63163988e-03 -1.54645437e+01] [-5.52983719e-03 8.34220645e-05 9.99984707e-01 -2.10163782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters 0.012688845600067453 Centerline is valid? [True, True] Translation: X:131.38, Y:-15.48, Z:-2.10 [[ 9.59924579e-01 2.80162166e-01 7.34594224e-03 1.31383521e+02] [-2.80152985e-01 9.59952679e-01 -2.27149034e-03 -1.54832351e+01] [-7.68814258e-03 1.22471764e-04 9.99970438e-01 -2.10094740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters 0.012850385574112467 Centerline is valid? [True, True] Translation: X:131.44, Y:-15.50, Z:-2.10 [[ 9.60259624e-01 2.79007872e-01 7.48750329e-03 1.31442416e+02] [-2.78998277e-01 9.60288805e-01 -2.31797262e-03 -1.55032017e+01] [-7.83689819e-03 1.36854998e-04 9.99969282e-01 -2.10192829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters 0.013475328371609668 Centerline is valid? [True, True] Translation: X:131.50, Y:-15.52, Z:-2.10 [[ 9.60560546e-01 2.77983211e-01 6.98364894e-03 1.31499968e+02] [-2.77974821e-01 9.60585923e-01 -2.16410711e-03 -1.55223186e+01] [-7.30998030e-03 1.37477345e-04 9.99973272e-01 -2.10361788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters 0.01410489305439652 Centerline is valid? [True, True] Translation: X:131.56, Y:-15.54, Z:-2.11 [[ 9.60801170e-01 2.77166015e-01 6.33344502e-03 1.31559211e+02] [-2.77159093e-01 9.60822035e-01 -1.96320471e-03 -1.55400522e+01] [-6.62944716e-03 1.30877500e-04 9.99978016e-01 -2.10540172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters 0.014355088241053152 Centerline is valid? [True, True] Translation: X:131.62, Y:-15.56, Z:-2.11 [[ 9.61131048e-01 2.76040289e-01 5.37275302e-03 1.31619588e+02] [-2.76035286e-01 9.61146058e-01 -1.66619833e-03 -1.55561752e+01] [-5.62393825e-03 1.18365528e-04 9.99984179e-01 -2.10679191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters 0.014449483546273954 Centerline is valid? [True, True] Translation: X:131.68, Y:-15.57, Z:-2.11 [[ 9.61417723e-01 2.75053655e-01 4.63121211e-03 1.31679174e+02] [-2.75049923e-01 9.61428872e-01 -1.43688431e-03 -1.55735866e+01] [-4.84780132e-03 1.07631510e-04 9.99988244e-01 -2.10775634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters 0.014649181153669304 Centerline is valid? [True, True] Translation: X:131.74, Y:-15.59, Z:-2.11 [[ 9.61586386e-01 2.74462793e-01 4.66873581e-03 1.31738402e+02] [-2.74458987e-01 9.61597713e-01 -1.44981375e-03 -1.55907365e+01] [-4.88736561e-03 1.12744663e-04 9.99988050e-01 -2.10881325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters 0.014437033666051154 Centerline is valid? [True, True] Translation: X:131.80, Y:-15.61, Z:-2.11 [[ 9.61740261e-01 2.73906416e-01 5.56282080e-03 1.31799328e+02] [-2.73900992e-01 9.61756339e-01 -1.72931927e-03 -1.56073627e+01] [-5.82374981e-03 1.39493827e-04 9.99983032e-01 -2.10899188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters 0.014858321854338717 Centerline is valid? [True, True] Translation: X:131.86, Y:-15.63, Z:-2.11 [[ 9.61982577e-01 2.73051562e-01 5.68915846e-03 1.31859057e+02] [-2.73045861e-01 9.61999388e-01 -1.77086058e-03 -1.56258028e+01] [-5.95650320e-03 1.50135853e-04 9.99982249e-01 -2.10970759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters 0.015924061785355312 Centerline is valid? [True, True] Translation: X:131.92, Y:-15.65, Z:-2.11 [[ 9.62794038e-01 2.70159829e-01 6.42707591e-03 1.31918122e+02] [-2.70152462e-01 9.62815470e-01 -2.00450254e-03 -1.56456802e+01] [-6.72962418e-03 1.93632715e-04 9.99977337e-01 -2.11084761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters 0.016881663372078644 Centerline is valid? [True, True] Translation: X:131.98, Y:-15.67, Z:-2.11 [[ 9.63529078e-01 2.67503598e-01 7.31709722e-03 1.31976575e+02] [-2.67493977e-01 9.63556831e-01 -2.28146868e-03 -1.56654401e+01] [-7.66074009e-03 2.40981981e-04 9.99970627e-01 -2.11091389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters 0.017161844997644254 Centerline is valid? [True, True] Translation: X:132.04, Y:-15.68, Z:-2.11 [[ 9.63635378e-01 2.67120072e-01 7.32972767e-03 1.32036251e+02] [-2.67110394e-01 9.63663223e-01 -2.28709450e-03 -1.56834941e+01] [-7.67431784e-03 2.46078723e-04 9.99970522e-01 -2.11242505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters 0.01715957936434687 Centerline is valid? [True, True] Translation: X:132.10, Y:-15.70, Z:-2.12 [[ 9.63051235e-01 2.69246189e-01 6.22961856e-03 1.32095446e+02] [-2.69239235e-01 9.63071364e-01 -1.94491928e-03 -1.57013113e+01] [-6.52322935e-03 1.95799175e-04 9.99978704e-01 -2.11515604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters 0.016691244357058457 Centerline is valid? [True, True] Translation: X:132.15, Y:-15.72, Z:-2.12 [[ 9.62781744e-01 2.70215761e-01 5.89548782e-03 1.32154853e+02] [-2.70209543e-01 9.62799777e-01 -1.84192043e-03 -1.57189737e+01] [-6.17389029e-03 1.80350294e-04 9.99980925e-01 -2.11629890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters 0.016301690800386463 Centerline is valid? [True, True] Translation: X:132.21, Y:-15.74, Z:-2.12 [[ 9.62567788e-01 2.70987108e-01 5.40747080e-03 1.32214443e+02] [-2.70981883e-01 9.62582963e-01 -1.69054134e-03 -1.57372314e+01] [-5.66325418e-03 1.61934017e-04 9.99983951e-01 -2.11719446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters 0.01609940532292044 Centerline is valid? [True, True] Translation: X:132.27, Y:-15.76, Z:-2.12 [[ 9.62698862e-01 2.70518913e-01 5.51534633e-03 1.32274069e+02] [-2.70513461e-01 9.62714646e-01 -1.72578677e-03 -1.57557999e+01] [-5.77656265e-03 1.69437532e-04 9.99983301e-01 -2.11788286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters 0.017547969653430445 Centerline is valid? [True, True] Translation: X:132.33, Y:-15.78, Z:-2.12 [[ 9.63400469e-01 2.68003002e-01 5.82473041e-03 1.32331360e+02] [-2.67996863e-01 9.63418057e-01 -1.82461490e-03 -1.57768527e+01] [-6.10065272e-03 1.96825377e-04 9.99981371e-01 -2.11852073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters 0.018475212038629604 Centerline is valid? [True, True] Translation: X:132.39, Y:-15.80, Z:-2.12 [[ 9.64088548e-01 2.65516431e-01 5.85635828e-03 1.32389801e+02] [-2.65510170e-01 9.64106311e-01 -1.83599450e-03 -1.57965794e+01] [-6.13363869e-03 2.15138588e-04 9.99981166e-01 -2.11942139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters 0.020313675421263003 Centerline is valid? [True, True] Translation: X:132.45, Y:-15.82, Z:-2.12 [[ 9.64713795e-01 2.63225091e-01 6.31231100e-03 1.32447226e+02] [-2.63217756e-01 9.64734414e-01 -1.98082028e-03 -1.58168163e+01] [-6.61110525e-03 2.49412314e-04 9.99978115e-01 -2.12078086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters 0.01844234583662468 Centerline is valid? [True, True] Translation: X:132.51, Y:-15.83, Z:-2.12 [[ 9.64684111e-01 2.63329470e-01 6.49273681e-03 1.32508659e+02] [-2.63321705e-01 9.64705926e-01 -2.03854354e-03 -1.58325825e+01] [-6.80039027e-03 2.56872037e-04 9.99976844e-01 -2.12088148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters 0.01851068648574621 Centerline is valid? [True, True] Translation: X:132.57, Y:-15.85, Z:-2.12 [[ 9.64351885e-01 2.64545859e-01 6.39768604e-03 1.32568142e+02] [-2.64538331e-01 9.64373075e-01 -2.01096560e-03 -1.58505493e+01] [-6.70174878e-03 2.46845279e-04 9.99977513e-01 -2.12244324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters 0.017418645543193396 Centerline is valid? [True, True] Translation: X:132.63, Y:-15.87, Z:-2.12 [[ 9.63529335e-01 2.67510305e-01 7.03265060e-03 1.32628118e+02] [-2.67501258e-01 9.63554966e-01 -2.21454183e-03 -1.58660393e+01] [-7.36875817e-03 2.52533139e-04 9.99972818e-01 -2.12350821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters 0.015680541648940772 Centerline is valid? [True, True] Translation: X:132.69, Y:-15.88, Z:-2.12 [[ 9.62647485e-01 2.70664329e-01 7.11615478e-03 1.32688140e+02] [-2.70655149e-01 9.62673760e-01 -2.24124811e-03 -1.58811741e+01] [-7.45716139e-03 2.31507930e-04 9.99972168e-01 -2.12435531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters 0.015027215564244112 Centerline is valid? [True, True] Translation: X:132.75, Y:-15.90, Z:-2.13 [[ 9.61030602e-01 2.76322795e-01 8.11762430e-03 1.32745908e+02] [-2.76311041e-01 9.61064861e-01 -2.55775319e-03 -1.58962208e+01] [-8.50832898e-03 2.15089867e-04 9.99963780e-01 -2.12596680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters 0.013099313380581526 Centerline is valid? [True, True] Translation: X:132.81, Y:-15.91, Z:-2.13 [[ 9.59811898e-01 2.80494642e-01 9.15835078e-03 1.32805804e+02] [-2.80479874e-01 9.59855570e-01 -2.88525730e-03 -1.59100991e+01] [-9.59999322e-03 2.00571208e-04 9.99953899e-01 -2.12611244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters 0.012165117797264261 Centerline is valid? [True, True] Translation: X:132.87, Y:-15.92, Z:-2.13 [[ 9.58542632e-01 2.84773053e-01 1.00165145e-02 1.32865148e+02] [-2.84755616e-01 9.58594950e-01 -3.15606074e-03 -1.59249113e+01] [-1.05005412e-02 1.72960024e-04 9.99944853e-01 -2.12751818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters 0.0110562979175351 Centerline is valid? [True, True] Translation: X:132.93, Y:-15.94, Z:-2.13 [[ 9.57380328e-01 2.88653531e-01 1.01018428e-02 1.32925463e+02] [-2.88636020e-01 9.57433612e-01 -3.18216365e-03 -1.59402029e+01] [-1.05903866e-02 1.30785178e-04 9.99943912e-01 -2.12899911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters 0.010397203489464267 Centerline is valid? [True, True] Translation: X:132.98, Y:-15.96, Z:-2.13 [[ 9.55812417e-01 2.93810131e-01 9.91111741e-03 1.32984418e+02] [-2.93793522e-01 9.55863799e-01 -3.12484460e-03 -1.59551181e+01] [-1.03917893e-02 7.49431801e-05 9.99946001e-01 -2.13059067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters 0.010024039769066321 Centerline is valid? [True, True] Translation: X:133.04, Y:-15.97, Z:-2.13 [[ 9.54944063e-01 2.96611889e-01 1.01599256e-02 1.33044498e+02] [-2.96594567e-01 9.54998107e-01 -3.20584817e-03 -1.59720966e+01] [-1.06536024e-02 4.80269423e-05 9.99943248e-01 -2.13150557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters 0.009866801961582234 Centerline is valid? [True, True] Translation: X:133.10, Y:-15.99, Z:-2.13 [[ 9.54267397e-01 2.98811051e-01 9.25696741e-03 1.33104965e+02] [-2.98796757e-01 9.54312294e-01 -2.92282057e-03 -1.59890864e+01] [-9.70740890e-03 2.32005367e-05 9.99952882e-01 -2.13389915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters 0.009823441290283372 Centerline is valid? [True, True] Translation: X:133.16, Y:-16.01, Z:-2.14 [[ 9.54227780e-01 2.98956458e-01 8.62442795e-03 1.33163803e+02] [-2.98944029e-01 9.54266753e-01 -2.72618740e-03 -1.60090300e+01] [-9.04501618e-03 2.31825176e-05 9.99959093e-01 -2.13567670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters 0.010133919435585186 Centerline is valid? [True, True] Translation: X:133.22, Y:-16.03, Z:-2.14 [[ 9.54785610e-01 2.97177803e-01 8.35415291e-03 1.33222643e+02] [-2.97166066e-01 9.54822157e-01 -2.64149181e-03 -1.60311537e+01] [-8.76172304e-03 3.94876190e-05 9.99961615e-01 -2.13666884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters 0.01031731959946909 Centerline is valid? [True, True] Translation: X:133.28, Y:-16.05, Z:-2.14 [[ 9.55639864e-01 2.94410424e-01 8.65748681e-03 1.33281198e+02] [-2.94397679e-01 9.55679077e-01 -2.74030302e-03 -1.60532043e+01] [-9.08055277e-03 6.99987858e-05 9.99958768e-01 -2.13657041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters 0.010837498261180975 Centerline is valid? [True, True] Translation: X:133.34, Y:-16.07, Z:-2.14 [[ 9.56087664e-01 2.92960859e-01 8.38534059e-03 1.33338274e+02] [-2.92948821e-01 9.56124431e-01 -2.65721837e-03 -1.60748180e+01] [-8.79588998e-03 8.40580709e-05 9.99961312e-01 -2.13820990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters 0.01105511646550454 Centerline is valid? [True, True] Translation: X:133.40, Y:-16.10, Z:-2.14 [[ 9.56413315e-01 2.91929828e-01 7.10963057e-03 1.33396488e+02] [-2.91921147e-01 9.56439736e-01 -2.25272427e-03 -1.60972250e+01] [-7.45757059e-03 7.90839751e-05 9.99972189e-01 -2.13940448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters 0.011192801670563704 Centerline is valid? [True, True] Translation: X:133.45, Y:-16.12, Z:-2.14 [[ 9.56582371e-01 2.91383332e-01 6.77646501e-03 1.33454666e+02] [-2.91375420e-01 9.56606370e-01 -2.14880030e-03 -1.61185383e+01] [-7.10853419e-03 8.10091439e-05 9.99974731e-01 -2.14061563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters 0.011969299407852473 Centerline is valid? [True, True] Translation: X:133.51, Y:-16.14, Z:-2.14 [[ 9.57222562e-01 2.89272788e-01 6.79864916e-03 1.33512131e+02] [-2.89264758e-01 9.57246700e-01 -2.15771497e-03 -1.61421327e+01] [-7.13215270e-03 9.88038420e-05 9.99974561e-01 -2.14176313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters 0.012338084932868535 Centerline is valid? [True, True] Translation: X:133.57, Y:-16.16, Z:-2.14 [[ 9.57833271e-01 2.87246353e-01 6.70510500e-03 1.33570665e+02] [-2.87238480e-01 9.57856732e-01 -2.12971734e-03 -1.61642078e+01] [-7.03428351e-03 1.13949951e-04 9.99975253e-01 -2.14220818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters 0.012663069177902145 Centerline is valid? [True, True] Translation: X:133.63, Y:-16.19, Z:-2.14 [[ 9.58446559e-01 2.85189230e-01 6.87719231e-03 1.33627974e+02] [-2.85180874e-01 9.58471223e-01 -2.18735352e-03 -1.61871906e+01] [-7.21540059e-03 1.35217740e-04 9.99973960e-01 -2.14277345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters 0.013697685960146401 Centerline is valid? [True, True] Translation: X:133.69, Y:-16.21, Z:-2.14 [[ 9.58554553e-01 2.84806389e-01 7.64786019e-03 1.33685447e+02] [-2.84796040e-01 9.58585049e-01 -2.43278064e-03 -1.62097804e+01] [-8.02399591e-03 1.53872658e-04 9.99967795e-01 -2.14343779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters 0.013318973663671399 Centerline is valid? [True, True] Translation: X:133.74, Y:-16.23, Z:-2.14 [[ 9.58293722e-01 2.85684665e-01 7.57721948e-03 1.33743700e+02] [-2.85674515e-01 9.58323667e-01 -2.41265920e-03 -1.62299723e+01] [-7.95068849e-03 1.47417659e-04 9.99968382e-01 -2.14395031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters 0.012536423145739472 Centerline is valid? [True, True] Translation: X:133.80, Y:-16.25, Z:-2.14 [[ 9.57631756e-01 2.87894233e-01 7.63740490e-03 1.33802919e+02] [-2.87883975e-01 9.57662202e-01 -2.43385329e-03 -1.62480341e+01] [-8.01474632e-03 1.32048717e-04 9.99967873e-01 -2.14476900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters 0.011432186567787002 Centerline is valid? [True, True] Translation: X:133.86, Y:-16.26, Z:-2.15 [[ 9.55992221e-01 2.93301688e-01 7.27964207e-03 1.33862642e+02] [-2.93292511e-01 9.56019933e-01 -2.32163976e-03 -1.62641712e+01] [-7.64042379e-03 8.44050493e-05 9.99970808e-01 -2.14621302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters 0.010342365469246554 Centerline is valid? [True, True] Translation: X:133.92, Y:-16.28, Z:-2.15 [[ 9.54014134e-01 2.99689052e-01 6.59576976e-03 1.33923846e+02] [-2.99681655e-01 9.54036934e-01 -2.10593908e-03 -1.62784655e+01] [-6.92373485e-03 3.24644534e-05 9.99976030e-01 -2.14801983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters 0.010130273119307776 Centerline is valid? [True, True] Translation: X:133.98, Y:-16.30, Z:-2.15 [[ 9.53017032e-01 3.02848418e-01 6.43213463e-03 1.33984064e+02] [-3.02841456e-01 9.53038738e-01 -2.05350435e-03 -1.62951958e+01] [-6.75197402e-03 9.10760552e-06 9.99977205e-01 -2.14944028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters 0.010138410174370133 Centerline is valid? [True, True] Translation: X:134.04, Y:-16.31, Z:-2.15 [[ 9.52406165e-01 3.04777194e-01 5.77575931e-03 1.34043284e+02] [-3.04771604e-01 9.52423678e-01 -1.84583346e-03 -1.63124301e+01] [-6.06353787e-03 -2.30426568e-06 9.99981617e-01 -2.15120872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters 0.010151079140243829 Centerline is valid? [True, True] Translation: X:134.10, Y:-16.33, Z:-2.15 [[ 9.52428186e-01 3.04711038e-01 5.63335131e-03 1.34103026e+02] [-3.04705721e-01 9.52444845e-01 -1.80015612e-03 -1.63322983e+01] [-5.91398386e-03 -1.99494361e-06 9.99982512e-01 -2.15130529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters 0.01030029132490239 Centerline is valid? [True, True] Translation: X:134.16, Y:-16.35, Z:-2.15 [[ 9.52875201e-01 3.03317206e-01 5.24633984e-03 1.34162294e+02] [-3.03312565e-01 9.52889643e-01 -1.67784200e-03 -1.63532120e+01] [-5.50810125e-03 7.49323672e-06 9.99984830e-01 -2.15257151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters 0.010606104706755617 Centerline is valid? [True, True] Translation: X:134.22, Y:-16.37, Z:-2.15 [[ 9.53434968e-01 3.01562478e-01 4.67273090e-03 1.34220860e+02] [-3.01558768e-01 9.53446418e-01 -1.49578123e-03 -1.63738691e+01] [-4.90627003e-03 1.70271479e-05 9.99987964e-01 -2.15408434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters 0.010980479388177955 Centerline is valid? [True, True] Translation: X:134.28, Y:-16.40, Z:-2.15 [[ 9.54634145e-01 2.97746436e-01 4.55082166e-03 1.34279051e+02] [-2.97742869e-01 9.54644991e-01 -1.45776278e-03 -1.63957787e+01] [-4.77846277e-03 3.66554256e-05 9.99988582e-01 -2.15454430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters 0.011711192251490485 Centerline is valid? [True, True] Translation: X:134.34, Y:-16.42, Z:-2.16 [[ 9.55460502e-01 2.95078892e-01 4.86587902e-03 1.34336119e+02] [-2.95074770e-01 9.55472890e-01 -1.56056332e-03 -1.64175806e+01] [-5.10970479e-03 5.52584782e-05 9.99986944e-01 -2.15548563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters 0.012719607171521562 Centerline is valid? [True, True] Translation: X:134.39, Y:-16.44, Z:-2.16 [[ 9.56700472e-01 2.91035581e-01 4.74309124e-03 1.34394194e+02] [-2.91031610e-01 9.56712227e-01 -1.52212126e-03 -1.64403488e+01] [-4.98076483e-03 7.58246494e-05 9.99987593e-01 -2.15581776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters 0.012971796999685299 Centerline is valid? [True, True] Translation: X:134.45, Y:-16.46, Z:-2.16 [[ 9.57117619e-01 2.89664256e-01 4.52574247e-03 1.34452692e+02] [-2.89660621e-01 9.57128316e-01 -1.45337331e-03 -1.64605804e+01] [-4.75270656e-03 8.01198296e-05 9.99988703e-01 -2.15677911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters 0.012899666021716077 Centerline is valid? [True, True] Translation: X:134.51, Y:-16.48, Z:-2.16 [[ 9.57147774e-01 2.89538836e-01 5.94978777e-03 1.34512363e+02] [-2.89532536e-01 9.57166261e-01 -1.91320665e-03 -1.64802085e+01] [-6.24888373e-03 1.08564347e-04 9.99980470e-01 -2.15632271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters 0.012719893387310244 Centerline is valid? [True, True] Translation: X:134.57, Y:-16.50, Z:-2.16 [[ 9.56977716e-01 2.90083437e-01 6.72679903e-03 1.34571633e+02] [-2.90075375e-01 9.57001350e-01 -2.16610674e-03 -1.64980709e+01] [-7.06590745e-03 1.21637132e-04 9.99975029e-01 -2.15685807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters 0.012848700405886922 Centerline is valid? [True, True] Translation: X:134.63, Y:-16.52, Z:-2.16 [[ 9.56440666e-01 2.91822059e-01 7.81904992e-03 1.34629549e+02] [-2.91811200e-01 9.56472618e-01 -2.52079080e-03 -1.65161247e+01] [-8.21432951e-03 1.29300498e-04 9.99966253e-01 -2.15822119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters 0.012711347065113282 Centerline is valid? [True, True] Translation: X:134.69, Y:-16.53, Z:-2.16 [[ 9.56168037e-01 2.92710176e-01 7.96473440e-03 1.34689128e+02] [-2.92698924e-01 9.56201201e-01 -2.56968152e-03 -1.65341197e+01] [-8.36806053e-03 1.25778150e-04 9.99964979e-01 -2.16013359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters 0.012693439534112975 Centerline is valid? [True, True] Translation: X:134.75, Y:-16.55, Z:-2.16 [[ 9.55890003e-01 2.93593031e-01 8.79967470e-03 1.34748538e+02] [-2.93579307e-01 9.55930497e-01 -2.84183160e-03 -1.65510048e+01] [-9.24621936e-03 1.33076014e-04 9.99957244e-01 -2.16258111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters 0.012861523984964828 Centerline is valid? [True, True] Translation: X:134.81, Y:-16.57, Z:-2.16 [[ 9.55869376e-01 2.93638993e-01 9.48038458e-03 1.34808786e+02] [-2.93623039e-01 9.55916377e-01 -3.06432948e-03 -1.65704920e+01] [-9.96226151e-03 1.45439375e-04 9.99950365e-01 -2.16407400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters 0.012815916482016689 Centerline is valid? [True, True] Translation: X:134.87, Y:-16.59, Z:-2.16 [[ 9.56144806e-01 2.92686941e-01 1.10210582e-02 1.34868216e+02] [-2.92665271e-01 9.56208304e-01 -3.56637234e-03 -1.65898418e+01] [-1.15822580e-02 1.84487412e-04 9.99932906e-01 -2.16441579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters 0.013704729386885335 Centerline is valid? [True, True] Translation: X:134.93, Y:-16.61, Z:-2.16 [[ 9.56681395e-01 2.90828476e-01 1.33979929e-02 1.34925331e+02] [-2.90796192e-01 9.56775173e-01 -4.34084942e-03 -1.66112772e+01] [-1.40813096e-02 2.56724564e-04 9.99900820e-01 -2.16455161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters 0.01360554881120051 Centerline is valid? [True, True] Translation: X:134.99, Y:-16.63, Z:-2.17 [[ 9.56559501e-01 2.91159923e-01 1.48263372e-02 1.34985401e+02] [-2.91120364e-01 9.56674354e-01 -4.80770919e-03 -1.66302152e+01] [-1.55837888e-02 2.82611211e-04 9.99878525e-01 -2.16548532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters 0.012781029360398127 Centerline is valid? [True, True] Translation: X:135.05, Y:-16.65, Z:-2.17 [[ 9.55877147e-01 2.93311411e-01 1.63491790e-02 1.35045631e+02] [-2.93263532e-01 9.56016914e-01 -5.30675816e-03 -1.66472422e+01] [-1.71866243e-02 2.77990879e-04 9.99852260e-01 -2.16717036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters 0.012304750976827459 Centerline is valid? [True, True] Translation: X:135.10, Y:-16.66, Z:-2.17 [[ 9.54897406e-01 2.96419434e-01 1.75060887e-02 1.35104790e+02] [-2.96365019e-01 9.55057832e-01 -5.68453158e-03 -1.66647472e+01] [-1.84043327e-02 2.39952153e-04 9.99830597e-01 -2.16867448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters 0.012219136785912781 Centerline is valid? [True, True] Translation: X:135.16, Y:-16.68, Z:-2.17 [[ 9.54399501e-01 2.98054924e-01 1.68776332e-02 1.35163309e+02] [-2.98004523e-01 9.54548700e-01 -5.48491975e-03 -1.66834000e+01] [-1.77453302e-02 2.05193647e-04 9.99842518e-01 -2.17080638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters 0.012226917841715618 Centerline is valid? [True, True] Translation: X:135.22, Y:-16.70, Z:-2.17 [[ 9.54316345e-01 2.98347535e-01 1.64031289e-02 1.35223089e+02] [-2.98299900e-01 9.54457285e-01 -5.33481707e-03 -1.67023630e+01] [-1.72477154e-02 1.98051417e-04 9.99851227e-01 -2.17328319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters 0.013041671671732428 Centerline is valid? [True, True] Translation: X:135.28, Y:-16.72, Z:-2.18 [[ 9.55106616e-01 2.95813019e-01 1.63098047e-02 1.35281445e+02] [-2.95765470e-01 9.55245831e-01 -5.30941569e-03 -1.67246841e+01] [-1.71504672e-02 2.47180999e-04 9.99852889e-01 -2.17560281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters 0.015008168526090451 Centerline is valid? [True, True] Translation: X:135.34, Y:-16.75, Z:-2.18 [[ 9.56814738e-01 2.90253793e-01 1.60714968e-02 1.35337522e+02] [-2.90206767e-01 9.56949641e-01 -5.23601548e-03 -1.67497008e+01] [-1.68993865e-02 3.45839639e-04 9.99857135e-01 -2.17801178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters 0.015475345394778597 Centerline is valid? [True, True] Translation: X:135.40, Y:-16.77, Z:-2.18 [[ 9.57904404e-01 2.86602175e-01 1.66836954e-02 1.35395879e+02] [-2.86550876e-01 9.58049586e-01 -5.43938309e-03 -1.67703799e+01] [-1.75427465e-02 4.29681483e-04 9.99846022e-01 -2.17940218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters 0.015980799427933075 Centerline is valid? [True, True] Translation: X:135.46, Y:-16.79, Z:-2.18 [[ 9.58458830e-01 2.84687265e-01 1.76020479e-02 1.35455177e+02] [-2.84629805e-01 9.58620320e-01 -5.74069065e-03 -1.67898428e+01] [-1.85079823e-02 4.92148182e-04 9.99828591e-01 -2.18024482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters 0.01602292831098659 Centerline is valid? [True, True] Translation: X:135.51, Y:-16.81, Z:-2.18 [[ 9.58602473e-01 2.84196040e-01 1.77175221e-02 1.35514077e+02] [-2.84137649e-01 9.58766057e-01 -5.78314036e-03 -1.68098782e+01] [-1.86305044e-02 5.09517571e-04 9.99826307e-01 -2.18109762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters 0.016154085115157153 Centerline is valid? [True, True] Translation: X:135.57, Y:-16.83, Z:-2.18 [[ 9.58423751e-01 2.84839375e-01 1.70424230e-02 1.35573653e+02] [-2.84785373e-01 9.58575139e-01 -5.56722933e-03 -1.68275230e+01] [-1.79222092e-02 4.82332028e-04 9.99839268e-01 -2.18384102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters 0.014786646800481255 Centerline is valid? [True, True] Translation: X:135.63, Y:-16.84, Z:-2.19 [[ 9.57169780e-01 2.89094579e-01 1.58220302e-02 1.35634089e+02] [-2.89048551e-01 9.57300466e-01 -5.17234608e-03 -1.68404758e+01] [-1.66417341e-02 3.77478450e-04 9.99861445e-01 -2.18636285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters 0.01396836016299468 Centerline is valid? [True, True] Translation: X:135.69, Y:-16.86, Z:-2.19 [[ 9.55821482e-01 2.93540858e-01 1.54615683e-02 1.35692271e+02] [-2.93497475e-01 9.55946483e-01 -5.05508762e-03 -1.68562528e+01] [-1.62643066e-02 2.93830096e-04 9.99867684e-01 -2.18716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters 0.012808254648352665 Centerline is valid? [True, True] Translation: X:135.75, Y:-16.87, Z:-2.19 [[ 9.54024460e-01 2.99324659e-01 1.55588464e-02 1.35751068e+02] [-2.99281491e-01 9.54151303e-01 -5.08718946e-03 -1.68699824e+01] [-1.63682148e-02 1.96828429e-04 9.99866012e-01 -2.18740821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters 0.012190444594752287 Centerline is valid? [True, True] Translation: X:135.81, Y:-16.89, Z:-2.19 [[ 9.53103804e-01 3.02270455e-01 1.50236934e-02 1.35811472e+02] [-3.02230567e-01 9.53222194e-01 -4.91247341e-03 -1.68862154e+01] [-1.58058136e-02 1.41477714e-04 9.99875070e-01 -2.18876377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters 0.011968836193176588 Centerline is valid? [True, True] Translation: X:135.87, Y:-16.90, Z:-2.19 [[ 9.52180551e-01 3.05222575e-01 1.38339595e-02 1.35871811e+02] [-3.05189012e-01 9.52281036e-01 -4.52708633e-03 -1.69031850e+01] [-1.45555862e-02 8.86311156e-05 9.99894058e-01 -2.19116217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters 0.011914236061121276 Centerline is valid? [True, True] Translation: X:135.93, Y:-16.92, Z:-2.19 [[ 9.51720694e-01 3.06689701e-01 1.30056735e-02 1.35931830e+02] [-3.06660165e-01 9.51809552e-01 -4.25676610e-03 -1.69226160e+01] [-1.36844306e-02 6.29303988e-05 9.99906362e-01 -2.19273097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters 0.011845581651576577 Centerline is valid? [True, True] Translation: X:135.99, Y:-16.94, Z:-2.19 [[ 9.51259878e-01 3.08132840e-01 1.26014885e-02 1.35991866e+02] [-3.08105186e-01 9.51343340e-01 -4.12832118e-03 -1.69429028e+01] [-1.32604135e-02 4.45223446e-05 9.99912076e-01 -2.19395202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters 0.011848468645192229 Centerline is valid? [True, True] Translation: X:136.05, Y:-16.96, Z:-2.19 [[ 9.50320602e-01 3.11011805e-01 1.27440626e-02 1.36049993e+02] [-3.10983726e-01 9.50406048e-01 -4.17911973e-03 -1.69630871e+01] [-1.34117897e-02 8.30750378e-06 9.99910058e-01 -2.19403227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters 0.0119327299474518 Centerline is valid? [True, True] Translation: X:136.11, Y:-16.98, Z:-2.20 [[ 9.49593873e-01 3.13272451e-01 1.14824836e-02 1.36109032e+02] [-3.13249788e-01 9.49663293e-01 -3.76823542e-03 -1.69840756e+01] [-1.20849775e-02 -1.85922741e-05 9.99926974e-01 -2.19535796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters 0.011982096831354089 Centerline is valid? [True, True] Translation: X:136.17, Y:-17.00, Z:-2.20 [[ 9.49249390e-01 3.14362265e-01 1.00976146e-02 1.36168565e+02] [-3.14344773e-01 9.49303095e-01 -3.31625502e-03 -1.70048677e+01] [-1.06282022e-02 -2.61793242e-05 9.99943519e-01 -2.19680595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters 0.011954720266308238 Centerline is valid? [True, True] Translation: X:136.23, Y:-17.03, Z:-2.20 [[ 9.49363119e-01 3.14069607e-01 8.36362817e-03 1.36227933e+02] [-3.14057580e-01 9.49399959e-01 -2.74860231e-03 -1.70259995e+01] [-8.80368068e-03 -1.72391665e-05 9.99961247e-01 -2.19951133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters 0.012193238280557852 Centerline is valid? [True, True] Translation: X:136.28, Y:-17.05, Z:-2.20 [[ 9.51013993e-01 3.09065975e-01 7.11398360e-03 1.36283920e+02] [-3.09057118e-01 9.51040600e-01 -2.33995067e-03 -1.70513961e+01] [-7.48888637e-03 2.66985587e-05 9.99971958e-01 -2.20148799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters 0.012925702489308542 Centerline is valid? [True, True] Translation: X:136.34, Y:-17.08, Z:-2.20 [[ 9.53089606e-01 3.02584829e-01 7.91354182e-03 1.36341588e+02] [-3.02573627e-01 9.53122454e-01 -2.60520473e-03 -1.70753101e+01] [-8.33086983e-03 8.85645006e-05 9.99965294e-01 -2.20021755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters 0.013726778459885418 Centerline is valid? [True, True] Translation: X:136.40, Y:-17.10, Z:-2.20 [[ 9.54417194e-01 2.98392876e-01 7.03645489e-03 1.36399864e+02] [-2.98383894e-01 9.54443125e-01 -2.31790509e-03 -1.70973199e+01] [-7.40754236e-03 1.12683663e-04 9.99972557e-01 -2.20060468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters 0.014512172205709316 Centerline is valid? [True, True] Translation: X:136.46, Y:-17.12, Z:-2.20 [[ 9.55566419e-01 2.94693290e-01 6.97731062e-03 1.36458264e+02] [-2.94684347e-01 9.55591882e-01 -2.30032501e-03 -1.71186714e+01] [-7.34535173e-03 1.42009109e-04 9.99973012e-01 -2.20108097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters 0.01644725900934268 Centerline is valid? [True, True] Translation: X:136.51, Y:-17.14, Z:-2.20 [[ 9.57342318e-01 2.88881813e-01 6.55621339e-03 1.36514433e+02] [-2.88873753e-01 9.57364751e-01 -2.16529662e-03 -1.71397796e+01] [-6.90220241e-03 1.79012113e-04 9.99976163e-01 -2.20186110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters 0.01743230053227488 Centerline is valid? [True, True] Translation: X:136.57, Y:-17.16, Z:-2.20 [[ 9.58700121e-01 2.84352660e-01 6.13536682e-03 1.36572020e+02] [-2.84345510e-01 9.58719733e-01 -2.02613254e-03 -1.71587737e+01] [-6.45823341e-03 1.97889506e-04 9.99979126e-01 -2.20275081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters 0.018017701981698497 Centerline is valid? [True, True] Translation: X:136.63, Y:-17.18, Z:-2.20 [[ 9.59795931e-01 2.80625531e-01 6.40945963e-03 1.36630802e+02] [-2.80617646e-01 9.59817304e-01 -2.11661409e-03 -1.71770992e+01] [-6.74588621e-03 2.32910124e-04 9.99977219e-01 -2.20300631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters 0.018438510925827257 Centerline is valid? [True, True] Translation: X:136.69, Y:-17.20, Z:-2.20 [[ 9.60297545e-01 2.78879543e-01 7.40442207e-03 1.36689862e+02] [-2.78868979e-01 9.60326049e-01 -2.44376229e-03 -1.71952398e+01] [-7.79217471e-03 2.81875309e-04 9.99969601e-01 -2.20255969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters 0.019027748803537747 Centerline is valid? [True, True] Translation: X:136.75, Y:-17.21, Z:-2.20 [[ 9.60082791e-01 2.79593887e-01 8.26398952e-03 1.36748605e+02] [-2.79580728e-01 9.60118306e-01 -2.73036731e-03 -1.72117296e+01] [-8.69780163e-03 3.10926460e-04 9.99962125e-01 -2.20243796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters 0.01737191858459116 Centerline is valid? [True, True] Translation: X:136.81, Y:-17.22, Z:-2.20 [[ 9.59303284e-01 2.82246737e-01 8.60162551e-03 1.36809189e+02] [-2.82232554e-01 9.59341799e-01 -2.84560002e-03 -1.72246919e+01] [-9.05506021e-03 3.02134707e-04 9.99958956e-01 -2.20283083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters 0.016632975964867947 Centerline is valid? [True, True] Translation: X:136.87, Y:-17.23, Z:-2.20 [[ 9.57660013e-01 2.87740551e-01 9.62672134e-03 1.36869419e+02] [-2.87723057e-01 9.57708357e-01 -3.18531509e-03 -1.72344743e+01] [-1.01361358e-02 2.80619200e-04 9.99948589e-01 -2.20495666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters 0.015694578609142154 Centerline is valid? [True, True] Translation: X:136.93, Y:-17.25, Z:-2.21 [[ 9.56494379e-01 2.91601487e-01 9.33145927e-03 1.36929671e+02] [-2.91585233e-01 9.56539868e-01 -3.08760306e-03 -1.72472041e+01] [-9.82626246e-03 2.32359244e-04 9.99951694e-01 -2.20643733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters 0.014437997144777993 Centerline is valid? [True, True] Translation: X:136.99, Y:-17.26, Z:-2.21 [[ 9.55499481e-01 2.94863627e-01 8.72834703e-03 1.36991018e+02] [-2.94849552e-01 9.55539328e-01 -2.88684938e-03 -1.72592894e+01] [-9.19150573e-03 1.84833865e-04 9.99957740e-01 -2.20693762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters 0.014805359628887071 Centerline is valid? [True, True] Translation: X:137.05, Y:-17.28, Z:-2.21 [[ 9.55495045e-01 2.94894941e-01 8.13593218e-03 1.37052069e+02] [-2.94882699e-01 9.55529667e-01 -2.69261930e-03 -1.72761484e+01] [-8.56816437e-03 1.73638761e-04 9.99963278e-01 -2.20897255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters 0.015569998315877244 Centerline is valid? [True, True] Translation: X:137.11, Y:-17.29, Z:-2.21 [[ 9.56338701e-01 2.92169176e-01 7.31169533e-03 1.37111656e+02] [-2.92159192e-01 9.56366635e-01 -2.42208105e-03 -1.72917889e+01] [-7.70031888e-03 1.80150847e-04 9.99970336e-01 -2.21091507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters 0.0170770168004927 Centerline is valid? [True, True] Translation: X:137.17, Y:-17.31, Z:-2.21 [[ 9.57737767e-01 2.87544123e-01 7.53304858e-03 1.37170069e+02] [-2.87533353e-01 9.57767365e-01 -2.49904606e-03 -1.73106727e+01] [-7.93349410e-03 2.27428077e-04 9.99968503e-01 -2.21236235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters 0.018575345364365413 Centerline is valid? [True, True] Translation: X:137.23, Y:-17.33, Z:-2.21 [[ 9.58781815e-01 2.84054950e-01 7.08637562e-03 1.37228151e+02] [-2.84045323e-01 9.58807972e-01 -2.35110819e-03 -1.73310001e+01] [-7.46231736e-03 2.41347932e-04 9.99972127e-01 -2.21371810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters 0.020200559414642348 Centerline is valid? [True, True] Translation: X:137.29, Y:-17.35, Z:-2.22 [[ 9.59595029e-01 2.81306597e-01 6.63164666e-03 1.37286352e+02] [-2.81298111e-01 9.59617913e-01 -2.19871381e-03 -1.73510770e+01] [-6.98235963e-03 2.44405169e-04 9.99975593e-01 -2.21547386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters 0.021823337464511823 Centerline is valid? [True, True] Translation: X:137.34, Y:-17.37, Z:-2.22 [[ 9.59851216e-01 2.80460268e-01 5.26135471e-03 1.37344609e+02] [-2.80454910e-01 9.59865615e-01 -1.74495825e-03 -1.73700563e+01] [-5.53958493e-03 1.99327531e-04 9.99984637e-01 -2.21779087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters 0.021162842862596953 Centerline is valid? [True, True] Translation: X:137.41, Y:-17.39, Z:-2.22 [[ 9.59121185e-01 2.82967813e-01 3.97095412e-03 1.37405023e+02] [-2.82964776e-01 9.59129395e-01 -1.31871907e-03 -1.73870297e+01] [-4.18181388e-03 1.41171254e-04 9.99991246e-01 -2.21892538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters 0.01803732577673411 Centerline is valid? [True, True] Translation: X:137.47, Y:-17.40, Z:-2.22 [[ 9.57143087e-01 2.89595704e-01 3.38208724e-03 1.37465458e+02] [-2.89593538e-01 9.57149058e-01 -1.12411811e-03 -1.73974686e+01] [-3.56270139e-03 9.65112631e-05 9.99993649e-01 -2.21990828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters 0.017350822569079424 Centerline is valid? [True, True] Translation: X:137.52, Y:-17.41, Z:-2.22 [[ 9.55443167e-01 2.95159577e-01 3.02959414e-03 1.37523887e+02] [-2.95157867e-01 9.55447968e-01 -1.00698553e-03 -1.74124321e+01] [-3.19184099e-03 6.79088987e-05 9.99994904e-01 -2.22228994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters 0.014052715205065465 Centerline is valid? [True, True] Translation: X:137.59, Y:-17.42, Z:-2.22 [[ 9.53515580e-01 3.01329481e-01 2.92971326e-03 1.37585217e+02] [-3.01327913e-01 9.53520079e-01 -9.73367174e-04 -1.74244274e+01] [-3.08684465e-03 4.53163829e-05 9.99995235e-01 -2.22115835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters 0.014104643038044273 Centerline is valid? [True, True] Translation: X:137.64, Y:-17.44, Z:-2.22 [[ 9.52555380e-01 3.04345700e-01 3.45579874e-03 1.37643667e+02] [-3.04343539e-01 9.52561648e-01 -1.14742891e-03 -1.74429451e+01] [-3.64107640e-03 4.12395614e-05 9.99993370e-01 -2.22234544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters 0.01323646237729792 Centerline is valid? [True, True] Translation: X:137.70, Y:-17.46, Z:-2.22 [[ 9.51302872e-01 3.08238708e-01 3.42709071e-03 1.37704314e+02] [-3.08236604e-01 9.51309045e-01 -1.13910200e-03 -1.74589515e+01] [-3.61133772e-03 2.72762025e-05 9.99993479e-01 -2.22352183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters 0.012804552522160399 Centerline is valid? [True, True] Translation: X:137.76, Y:-17.48, Z:-2.22 [[ 9.50321192e-01 3.11251705e-01 3.46537366e-03 1.37763620e+02] [-3.11249579e-01 9.50327510e-01 -1.15033439e-03 -1.74766525e+01] [-3.65128347e-03 1.45910564e-05 9.99993334e-01 -2.22428981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters 0.012460299400215072 Centerline is valid? [True, True] Translation: X:137.82, Y:-17.49, Z:-2.23 [[ 9.49268443e-01 3.14449163e-01 3.33871387e-03 1.37822895e+02] [-3.14447207e-01 9.49274314e-01 -1.10921153e-03 -1.74929413e+01] [-3.51814596e-03 3.09025252e-06 9.99993811e-01 -2.22614481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters 0.012246420133925278 Centerline is valid? [True, True] Translation: X:137.88, Y:-17.51, Z:-2.23 [[ 9.49259269e-01 3.14486400e-01 2.26837380e-03 1.37882129e+02] [-3.14485499e-01 9.49261979e-01 -7.52503661e-04 -1.75128387e+01] [-2.38993317e-03 9.50407730e-07 9.99997144e-01 -2.22530138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters 0.012900383572557954 Centerline is valid? [True, True] Translation: X:137.94, Y:-17.54, Z:-2.23 [[ 9.50514461e-01 3.10679563e-01 6.83985206e-04 1.37939168e+02] [-3.10679482e-01 9.50514707e-01 -2.24608577e-04 -1.75360246e+01] [-7.19919293e-04 9.93531236e-07 9.99999741e-01 -2.22788924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters 0.014448047280748439 Centerline is valid? [True, True] Translation: X:138.00, Y:-17.56, Z:-2.23 [[ 9.52677537e-01 3.03982747e-01 1.33261198e-05 1.37995283e+02] [-3.03982747e-01 9.52677537e-01 -8.43109222e-07 -1.75622578e+01] [-1.29517856e-05 -3.24769928e-06 1.00000000e+00 -2.22776293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters 0.01678231928890368 Centerline is valid? [True, True] Translation: X:138.05, Y:-17.59, Z:-2.23 [[ 9.54296610e-01 2.98860879e-01 -3.93319429e-04 1.38051550e+02] [-2.98860849e-01 9.54296691e-01 1.35006974e-04 -1.75870222e+01] [ 4.15691732e-04 -1.12889192e-05 9.99999914e-01 -2.22884382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters 0.016202822642445925 Centerline is valid? [True, True] Translation: X:138.11, Y:-17.61, Z:-2.23 [[ 9.55788245e-01 2.94055136e-01 -6.38318782e-04 1.38110177e+02] [-2.94055058e-01 9.55788458e-01 2.14540118e-04 -1.76080276e+01] [ 6.73184347e-04 -1.73540560e-05 9.99999773e-01 -2.22645710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters 0.01912393693138698 Centerline is valid? [True, True] Translation: X:138.17, Y:-17.63, Z:-2.23 [[ 9.57452466e-01 2.88585981e-01 -1.70494881e-03 1.38165266e+02] [-2.88585422e-01 9.57453983e-01 5.70288960e-04 -1.76340329e+01] [ 1.79698743e-03 -5.40011978e-05 9.99998384e-01 -2.22764744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters 0.0182167581610368 Centerline is valid? [True, True] Translation: X:138.22, Y:-17.65, Z:-2.23 [[ 9.57952330e-01 2.86917478e-01 -2.38634157e-03 1.38224144e+02] [-2.86916368e-01 9.57955298e-01 8.02397390e-04 -1.76541070e+01] [ 2.51623038e-03 -8.39779936e-05 9.99996831e-01 -2.22604945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters 0.017518765262001235 Centerline is valid? [True, True] Translation: X:138.28, Y:-17.67, Z:-2.23 [[ 9.57482834e-01 2.88479958e-01 -2.43639561e-03 1.38283537e+02] [-2.88478805e-01 9.57485930e-01 8.19950314e-04 -1.76725635e+01] [ 2.56935375e-03 -8.22398576e-05 9.99996696e-01 -2.22618595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters 0.016412180490671408 Centerline is valid? [True, True] Translation: X:138.34, Y:-17.69, Z:-2.23 [[ 9.55965118e-01 2.93463081e-01 -3.18010132e-03 1.38342174e+02] [-2.93461159e-01 9.55970404e-01 1.06559333e-03 -1.76899659e+01] [ 3.35279504e-03 -8.54338347e-05 9.99994376e-01 -2.22747880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters 0.01476806313033717 Centerline is valid? [True, True] Translation: X:138.40, Y:-17.71, Z:-2.23 [[ 9.54532884e-01 2.98089478e-01 -3.10410986e-03 1.38401310e+02] [-2.98087671e-01 9.54537929e-01 1.04027750e-03 -1.77057916e+01] [ 3.27308637e-03 -6.76822010e-05 9.99994641e-01 -2.22791493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters 0.013330076539958257 Centerline is valid? [True, True] Translation: X:138.46, Y:-17.72, Z:-2.23 [[ 9.52280329e-01 3.05219221e-01 -1.84460885e-03 1.38460884e+02] [-3.05218596e-01 9.52282115e-01 6.18486428e-04 -1.77211577e+01] [ 1.94536196e-03 -2.59635372e-05 9.99998107e-01 -2.22876961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters 0.012903302776598168 Centerline is valid? [True, True] Translation: X:138.52, Y:-17.74, Z:-2.23 [[ 9.51512786e-01 3.07606484e-01 -1.29152398e-03 1.38520340e+02] [-3.07606174e-01 9.51513663e-01 4.37045603e-04 -1.77398694e+01] [ 1.36334077e-03 -1.85737296e-05 9.99999070e-01 -2.22999797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters 0.012363704672335883 Centerline is valid? [True, True] Translation: X:138.58, Y:-17.76, Z:-2.23 [[ 9.50063294e-01 3.12056128e-01 -8.43259692e-04 1.38578879e+02] [-3.12055997e-01 9.50063668e-01 2.86631777e-04 -1.77571152e+01] [ 8.90595599e-04 -9.17408628e-06 9.99999603e-01 -2.23191387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters 0.012022282138893486 Centerline is valid? [True, True] Translation: X:138.64, Y:-17.78, Z:-2.23 [[ 9.48705479e-01 3.16159602e-01 -1.00986537e-03 1.38638342e+02] [-3.16159416e-01 9.48706017e-01 3.43019501e-04 -1.77750794e+01] [ 1.06651426e-03 -6.14603282e-06 9.99999431e-01 -2.23386726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters 0.011628498386624529 Centerline is valid? [True, True] Translation: X:138.70, Y:-17.79, Z:-2.23 [[ 9.47245191e-01 3.20509136e-01 -6.64309501e-04 1.38698642e+02] [-3.20509055e-01 9.47245424e-01 2.27932696e-04 -1.77929813e+01] [ 7.02318647e-04 -2.99093930e-06 9.99999753e-01 -2.23388945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters 0.011499727799198898 Centerline is valid? [True, True] Translation: X:138.76, Y:-17.81, Z:-2.23 [[ 9.47572295e-01 3.19541411e-01 -1.77970448e-04 1.38757169e+02] [-3.19541405e-01 9.47572312e-01 6.39213736e-05 -1.78148064e+01] [ 1.89065395e-04 -3.70119570e-06 9.99999982e-01 -2.23448358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters 0.01193346257194085 Centerline is valid? [True, True] Translation: X:138.81, Y:-17.84, Z:-2.24 [[ 9.48902233e-01 3.15569082e-01 -8.40674398e-04 1.38814018e+02] [-3.15568952e-01 9.48902605e-01 2.86673708e-04 -1.78385828e+01] [ 8.88183485e-04 -6.73458301e-06 9.99999606e-01 -2.23668514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters 0.013186574874122432 Centerline is valid? [True, True] Translation: X:138.87, Y:-17.87, Z:-2.24 [[ 9.52084519e-01 3.05832697e-01 -1.19583337e-03 1.38870155e+02] [-3.05832431e-01 9.52085270e-01 4.03779132e-04 -1.78671276e+01] [ 1.26202420e-03 -1.87072342e-05 9.99999203e-01 -2.23737312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters 0.016516421437978213 Centerline is valid? [True, True] Translation: X:138.92, Y:-17.90, Z:-2.24 [[ 9.54350753e-01 2.98685108e-01 -1.35885427e-03 1.38924034e+02] [-2.98684760e-01 9.54351720e-01 4.57478958e-04 -1.78950243e+01] [ 1.43346706e-03 -3.07263284e-05 9.99998972e-01 -2.24004164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters 0.018191199699295273 Centerline is valid? [True, True] Translation: X:138.98, Y:-17.92, Z:-2.24 [[ 9.57235510e-01 2.89309174e-01 -6.15955825e-04 1.38979094e+02] [-2.89309101e-01 9.57235708e-01 2.07670492e-04 -1.79212921e+01] [ 6.49695889e-04 -2.05879439e-05 9.99999789e-01 -2.23848596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters 0.018480996165768582 Centerline is valid? [True, True] Translation: X:139.04, Y:-17.94, Z:-2.24 [[ 9.58387531e-01 2.85470131e-01 -3.80965212e-04 1.39036088e+02] [-2.85470102e-01 9.58387606e-01 1.28866381e-04 -1.79436256e+01] [ 4.01899841e-04 -1.47497550e-05 9.99999919e-01 -2.23825571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters 0.01921666541091226 Centerline is valid? [True, True] Translation: X:139.09, Y:-17.97, Z:-2.24 [[ 9.58638400e-01 2.84626780e-01 -1.19545492e-04 1.39093995e+02] [-2.84626777e-01 9.58638407e-01 4.43534692e-05 -1.79656620e+01] [ 1.27225085e-04 -8.49309056e-06 9.99999992e-01 -2.23937448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters 0.017851480295614203 Centerline is valid? [True, True] Translation: X:139.15, Y:-17.98, Z:-2.24 [[ 9.57763857e-01 2.87554118e-01 -1.01199041e-03 1.39152383e+02] [-2.87553918e-01 9.57764390e-01 3.41665477e-04 -1.79843155e+01] [ 1.06749570e-03 -3.62330369e-05 9.99999430e-01 -2.23987150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters 0.016306619052474696 Centerline is valid? [True, True] Translation: X:139.21, Y:-18.00, Z:-2.24 [[ 9.55508952e-01 2.94961453e-01 -6.19296706e-04 1.39210854e+02] [-2.94961379e-01 9.55509153e-01 2.09024243e-04 -1.80020048e+01] [ 6.53397766e-04 -1.70559244e-05 9.99999786e-01 -2.24155720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters 0.014279008412127425 Centerline is valid? [True, True] Translation: X:139.27, Y:-18.02, Z:-2.24 [[ 9.53391833e-01 3.01734725e-01 4.10508649e-04 1.39269705e+02] [-3.01734693e-01 9.53391921e-01 -1.37979369e-04 -1.80186921e+01] [-4.33008797e-04 7.68370187e-06 9.99999906e-01 -2.24187347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters 0.01183242078599264 Centerline is valid? [True, True] Translation: X:139.33, Y:-18.03, Z:-2.24 [[ 9.50198215e-01 3.11636303e-01 2.48335922e-03 1.39329134e+02] [-3.11635179e-01 9.50201460e-01 -8.36909368e-04 -1.80331581e+01] [-2.62050290e-03 2.13276912e-05 9.99996566e-01 -2.24129086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters 0.011298836383405326 Centerline is valid? [True, True] Translation: X:139.39, Y:-18.05, Z:-2.24 [[ 9.48423105e-01 3.16989571e-01 3.35055633e-03 1.39388284e+02] [-3.16987571e-01 9.48429023e-01 -1.12630150e-03 -1.80509374e+01] [-3.53479069e-03 6.12565758e-06 9.99993753e-01 -2.24204277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters 0.01116669418356999 Centerline is valid? [True, True] Translation: X:139.45, Y:-18.07, Z:-2.24 [[ 9.47373169e-01 3.20103182e-01 4.24628137e-03 1.39446960e+02] [-3.20099990e-01 9.47382685e-01 -1.42967325e-03 -1.80697093e+01] [-4.48049641e-03 -4.80054500e-06 9.99989963e-01 -2.24374577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters 0.01098739414410807 Centerline is valid? [True, True] Translation: X:139.51, Y:-18.09, Z:-2.24 [[ 9.47005972e-01 3.21176235e-01 5.05115109e-03 1.39505784e+02] [-3.21171724e-01 9.47019443e-01 -1.70230694e-03 -1.80916386e+01] [-5.33027883e-03 -1.01920679e-05 9.99985794e-01 -2.24324766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters 0.01098930033862423 Centerline is valid? [True, True] Translation: X:139.56, Y:-18.12, Z:-2.24 [[ 9.47808436e-01 3.18790136e-01 5.65838035e-03 1.39564562e+02] [-3.18784419e-01 9.47825326e-01 -1.90929145e-03 -1.81154932e+01] [-5.97181948e-03 5.83904938e-06 9.99982169e-01 -2.24473304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters 0.011743351209982409 Centerline is valid? [True, True] Translation: X:139.62, Y:-18.14, Z:-2.25 [[ 9.50221552e-01 3.11530418e-01 5.27262697e-03 1.39620715e+02] [-3.11525332e-01 9.50236179e-01 -1.78078538e-03 -1.81441290e+01] [-5.56500972e-03 4.95837756e-05 9.99984514e-01 -2.24642407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters 0.013267616212967188 Centerline is valid? [True, True] Translation: X:139.68, Y:-18.17, Z:-2.25 [[ 9.52265039e-01 3.05213255e-01 6.01364750e-03 1.39676319e+02] [-3.05206497e-01 9.52284022e-01 -2.03351102e-03 -1.81708883e+01] [-6.34735495e-03 1.01037158e-04 9.99979850e-01 -2.24807914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters 0.0162981780855423 Centerline is valid? [True, True] Translation: X:139.73, Y:-18.20, Z:-2.25 [[ 9.55242831e-01 2.95753442e-01 6.40594241e-03 1.39730463e+02] [-2.95745535e-01 9.55264293e-01 -2.17002387e-03 -1.82012339e+01] [-6.76116008e-03 1.78370882e-04 9.99977127e-01 -2.24939297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters 0.01705084453833527 Centerline is valid? [True, True] Translation: X:139.79, Y:-18.23, Z:-2.25 [[ 9.57176700e-01 2.89449612e-01 5.62909504e-03 1.39786538e+02] [-2.89443398e-01 9.57193232e-01 -1.90674760e-03 -1.82268417e+01] [-5.94003903e-03 1.95789977e-04 9.99982339e-01 -2.25009421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters 0.01739649939724383 Centerline is valid? [True, True] Translation: X:139.84, Y:-18.25, Z:-2.25 [[ 9.57636073e-01 2.87934134e-01 5.20442276e-03 1.39844484e+02] [-2.87928812e-01 9.57650197e-01 -1.76072103e-03 -1.82495266e+01] [-5.49098817e-03 1.87626712e-04 9.99984907e-01 -2.25171825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters 0.01772087867226396 Centerline is valid? [True, True] Translation: X:139.90, Y:-18.27, Z:-2.25 [[ 9.57189448e-01 2.89402157e-01 5.89505476e-03 1.39901959e+02] [-2.89395341e-01 9.57207579e-01 -1.99677778e-03 -1.82695063e+01] [-6.22066289e-03 2.05293243e-04 9.99980630e-01 -2.25271701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters 0.017315033832804513 Centerline is valid? [True, True] Translation: X:139.96, Y:-18.29, Z:-2.25 [[ 9.55629090e-01 2.94512504e-01 5.95215126e-03 1.39959403e+02] [-2.94505632e-01 9.55647610e-01 -2.01974784e-03 -1.82882469e+01] [-6.28300011e-03 1.77187721e-04 9.99980246e-01 -2.25409504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters 0.014619439041152012 Centerline is valid? [True, True] Translation: X:140.02, Y:-18.30, Z:-2.25 [[ 9.53579095e-01 3.01063941e-01 6.88572293e-03 1.40019188e+02] [-3.01054913e-01 9.53603943e-01 -2.33669344e-03 -1.83030931e+01] [-7.26974667e-03 1.55241299e-04 9.99973563e-01 -2.25406934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters 0.01309345390260903 Centerline is valid? [True, True] Translation: X:140.08, Y:-18.32, Z:-2.25 [[ 9.51843107e-01 3.06467335e-01 8.51310498e-03 1.40079322e+02] [-3.06453750e-01 9.51881165e-01 -2.88900954e-03 -1.83185961e+01] [-8.98885134e-03 1.41010867e-04 9.99959590e-01 -2.25405390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters 0.011994703261589995 Centerline is valid? [True, True] Translation: X:140.14, Y:-18.33, Z:-2.25 [[ 9.50070821e-01 3.11868182e-01 1.01819353e-02 1.40140042e+02] [-3.11849056e-01 9.50125374e-01 -3.45553135e-03 -1.83337040e+01] [-1.07517854e-02 1.07772596e-04 9.99942192e-01 -2.25415172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters 0.011329316722893112 Centerline is valid? [True, True] Translation: X:140.20, Y:-18.35, Z:-2.25 [[ 9.47925662e-01 3.18315490e-01 1.05918373e-02 1.40200709e+02] [-3.18295161e-01 9.47984835e-01 -3.59771380e-03 -1.83485666e+01] [-1.11861092e-02 3.90346670e-05 9.99937433e-01 -2.25474361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters 0.011231830671201322 Centerline is valid? [True, True] Translation: X:140.26, Y:-18.37, Z:-2.26 [[ 9.46678998e-01 3.22050166e-01 9.08659267e-03 1.40261400e+02] [-3.22035360e-01 9.46722605e-01 -3.08805711e-03 -1.83653247e+01] [-9.59699199e-03 -2.80533213e-06 9.99953948e-01 -2.25713933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters 0.011237004143227898 Centerline is valid? [True, True] Translation: X:140.32, Y:-18.38, Z:-2.26 [[ 9.46411842e-01 3.22845552e-01 8.68189559e-03 1.40320981e+02] [-3.22832046e-01 9.46451663e-01 -2.95304681e-03 -1.83846842e+01] [-9.17037254e-03 -7.99564492e-06 9.99957951e-01 -2.25875252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters 0.011347149109493908 Centerline is valid? [True, True] Translation: X:140.38, Y:-18.40, Z:-2.26 [[ 9.46367851e-01 3.23002268e-01 7.57802700e-03 1.40380838e+02] [-3.22991968e-01 9.46398190e-01 -2.57941537e-03 -1.84036679e+01] [-8.00498806e-03 -6.56607722e-06 9.99967960e-01 -2.26114018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters 0.011586481829709519 Centerline is valid? [True, True] Translation: X:140.44, Y:-18.42, Z:-2.26 [[ 9.47655824e-01 3.19227196e-01 6.51439239e-03 1.40437602e+02] [-3.19219480e-01 9.47678214e-01 -2.21962182e-03 -1.84248765e+01] [-6.88211139e-03 2.39165909e-05 9.99976318e-01 -2.26277073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters 0.012196482375907777 Centerline is valid? [True, True] Translation: X:140.49, Y:-18.45, Z:-2.26 [[ 9.49114500e-01 3.14869694e-01 6.22435620e-03 1.40494930e+02] [-3.14862551e-01 9.49134908e-01 -2.12150711e-03 -1.84482655e+01] [-6.57575204e-03 5.37364850e-05 9.99978378e-01 -2.26315734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters 0.013428287782434496 Centerline is valid? [True, True] Translation: X:140.55, Y:-18.47, Z:-2.26 [[ 9.51554969e-01 3.07412556e-01 6.37662373e-03 1.40551627e+02] [-3.07404879e-01 9.51576328e-01 -2.17530977e-03 -1.84725560e+01] [-6.73656173e-03 1.09721574e-04 9.99977303e-01 -2.26255261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters 0.014286652075389988 Centerline is valid? [True, True] Translation: X:140.61, Y:-18.49, Z:-2.26 [[ 9.52638983e-01 3.04045274e-01 5.95315278e-03 1.40609173e+02] [-3.04038509e-01 9.52657575e-01 -2.03213144e-03 -1.84947739e+01] [-6.28917605e-03 1.25899934e-04 9.99980215e-01 -2.26429764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters 0.015221379976305236 Centerline is valid? [True, True] Translation: X:140.67, Y:-18.52, Z:-2.27 [[ 9.53345920e-01 3.01831396e-01 5.41898820e-03 1.40667072e+02] [-3.01825750e-01 9.53361312e-01 -1.85067831e-03 -1.85174439e+01] [-5.72484652e-03 1.28746443e-04 9.99983605e-01 -2.26630070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters 0.015890889302662626 Centerline is valid? [True, True] Translation: X:140.72, Y:-18.54, Z:-2.27 [[ 9.53843725e-01 3.00269062e-01 4.54290620e-03 1.40724335e+02] [-3.00265073e-01 9.53854537e-01 -1.55207565e-03 -1.85407412e+01] [-4.79931198e-03 1.16361554e-04 9.99988476e-01 -2.26780807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters 0.015275716040349397 Centerline is valid? [True, True] Translation: X:140.78, Y:-18.56, Z:-2.27 [[ 9.53294371e-01 3.01988793e-01 5.71059191e-03 1.40782767e+02] [-3.01982505e-01 9.53311465e-01 -1.95361720e-03 -1.85610245e+01] [-6.03394324e-03 1.37873427e-04 9.99981786e-01 -2.26791788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters 0.015326897008058714 Centerline is valid? [True, True] Translation: X:140.84, Y:-18.58, Z:-2.27 [[ 9.52274635e-01 3.05176569e-01 6.34680105e-03 1.40840503e+02] [-3.05168857e-01 9.52295776e-01 -2.17369006e-03 -1.85815071e+01] [-6.70739111e-03 1.33103891e-04 9.99977496e-01 -2.26934581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters 0.013378114475360194 Centerline is valid? [True, True] Translation: X:140.90, Y:-18.60, Z:-2.27 [[ 9.50205273e-01 3.11548342e-01 6.89715325e-03 1.40899958e+02] [-3.11539375e-01 9.50230299e-01 -2.36581710e-03 -1.85986406e+01] [-7.29095039e-03 9.92770735e-05 9.99973416e-01 -2.26961020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters 0.012656785310618564 Centerline is valid? [True, True] Translation: X:140.96, Y:-18.62, Z:-2.27 [[ 9.48428603e-01 3.16911498e-01 7.09137901e-03 1.40959761e+02] [-3.16902178e-01 9.48455112e-01 -2.43120845e-03 -1.86162675e+01] [-7.49633258e-03 5.85541854e-05 9.99971900e-01 -2.27132241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters 0.012079174691971799 Centerline is valid? [True, True] Translation: X:141.02, Y:-18.63, Z:-2.27 [[ 9.46263938e-01 3.23331737e-01 6.41463606e-03 1.41019929e+02] [-3.23324249e-01 9.46285680e-01 -2.20050280e-03 -1.86332951e+01] [-6.78157064e-03 8.24906007e-06 9.99977005e-01 -2.27254781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters 0.012024499191277833 Centerline is valid? [True, True] Translation: X:141.08, Y:-18.65, Z:-2.27 [[ 9.45210737e-01 3.26393724e-01 6.61813216e-03 1.41079421e+02] [-3.26385818e-01 9.45233906e-01 -2.27190034e-03 -1.86531209e+01] [-6.99721692e-03 -1.26398867e-05 9.99975519e-01 -2.27325531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters 0.012336247773747144 Centerline is valid? [True, True] Translation: X:141.14, Y:-18.67, Z:-2.27 [[ 9.44683617e-01 3.27914566e-01 6.70080213e-03 1.41137845e+02] [-3.27906476e-01 9.44707382e-01 -2.30347852e-03 -1.86734322e+01] [-7.08564140e-03 -2.11779940e-05 9.99974896e-01 -2.27435733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters 0.012250512769242886 Centerline is valid? [True, True] Translation: X:141.20, Y:-18.69, Z:-2.27 [[ 9.44829009e-01 3.27490216e-01 6.95003978e-03 1.41196709e+02] [-3.27481497e-01 9.44854570e-01 -2.38965515e-03 -1.86942794e+01] [-7.34936553e-03 -1.81939333e-05 9.99972993e-01 -2.27474788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters 0.012220027433778981 Centerline is valid? [True, True] Translation: X:141.26, Y:-18.72, Z:-2.28 [[ 9.45432895e-01 3.25736267e-01 7.24740207e-03 1.41255539e+02] [-3.25726716e-01 9.45460673e-01 -2.49442223e-03 -1.87164761e+01] [-7.66465742e-03 -2.36364699e-06 9.99970626e-01 -2.27618700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters 0.012655470728288728 Centerline is valid? [True, True] Translation: X:141.31, Y:-18.74, Z:-2.28 [[ 9.47429568e-01 3.19888661e-01 6.96117322e-03 1.41312339e+02] [-3.19879675e-01 9.47455140e-01 -2.39825103e-03 -1.87423806e+01] [-7.36257266e-03 4.54361148e-05 9.99972895e-01 -2.27789113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters 0.01388484923482813 Centerline is valid? [True, True] Translation: X:141.37, Y:-18.77, Z:-2.28 [[ 9.50121398e-01 3.11797531e-01 7.18532492e-03 1.41368345e+02] [-3.11787707e-01 9.50148560e-01 -2.47770257e-03 -1.87691905e+01] [-7.59966768e-03 1.13822254e-04 9.99971116e-01 -2.27881875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters 0.01526332637418683 Centerline is valid? [True, True] Translation: X:141.43, Y:-18.79, Z:-2.28 [[ 9.51747327e-01 3.06807827e-01 6.78108216e-03 1.41425929e+02] [-3.06798929e-01 9.51771472e-01 -2.34130878e-03 -1.87937240e+01] [-7.17237241e-03 1.47905624e-04 9.99974267e-01 -2.27996252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters 0.01594650428174791 Centerline is valid? [True, True] Translation: X:141.48, Y:-18.82, Z:-2.28 [[ 9.53087225e-01 3.02603177e-01 7.48721699e-03 1.41483822e+02] [-3.02592194e-01 9.53116613e-01 -2.58581714e-03 -1.88161211e+01] [-7.91866738e-03 1.98935872e-04 9.99968627e-01 -2.28029926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters 0.016405411105333008 Centerline is valid? [True, True] Translation: X:141.54, Y:-18.84, Z:-2.28 [[ 9.53303709e-01 3.01909000e-01 7.93685751e-03 1.41541963e+02] [-3.01896639e-01 9.53336724e-01 -2.74057581e-03 -1.88365060e+01] [-8.39390224e-03 2.16490483e-04 9.99964747e-01 -2.28108039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters 0.016674958313419617 Centerline is valid? [True, True] Translation: X:141.60, Y:-18.85, Z:-2.28 [[ 9.52988431e-01 3.02878015e-01 8.82940826e-03 1.41600048e+02] [-3.02862733e-01 9.53029304e-01 -3.05147595e-03 -1.88544318e+01] [-9.33890978e-03 2.33922568e-04 9.99956364e-01 -2.28202638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters 0.015853128418792224 Centerline is valid? [True, True] Translation: X:141.66, Y:-18.87, Z:-2.28 [[ 9.52496464e-01 3.04424412e-01 8.73285915e-03 1.41659961e+02] [-3.04409509e-01 9.52536472e-01 -3.02011487e-03 -1.88716213e+01] [-9.23776353e-03 2.18283368e-04 9.99957307e-01 -2.28264215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters 0.015202637520035943 Centerline is valid? [True, True] Translation: X:141.72, Y:-18.89, Z:-2.28 [[ 9.51606098e-01 3.07199579e-01 8.61698711e-03 1.41720191e+02] [-3.07185161e-01 9.51645093e-01 -2.98235126e-03 -1.88875602e+01] [-9.11649055e-03 1.91013075e-04 9.99958426e-01 -2.28361622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters 0.014690024315050712 Centerline is valid? [True, True] Translation: X:141.78, Y:-18.90, Z:-2.29 [[ 9.50703189e-01 3.10019163e-01 7.18088028e-03 1.41780903e+02] [-3.10009222e-01 9.50730298e-01 -2.48659628e-03 -1.89027697e+01] [-7.59797295e-03 1.37875909e-04 9.99971125e-01 -2.28600272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters 0.013903561158711705 Centerline is valid? [True, True] Translation: X:141.84, Y:-18.92, Z:-2.29 [[ 9.50054389e-01 3.12012758e-01 6.68562726e-03 1.41841544e+02] [-3.12004169e-01 9.50077905e-01 -2.31807184e-03 -1.89189014e+01] [-7.07513473e-03 1.16350747e-04 9.99974964e-01 -2.28727429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters 0.01402210207396587 Centerline is valid? [True, True] Translation: X:141.90, Y:-18.94, Z:-2.29 [[ 9.49620252e-01 3.13317254e-01 7.32627257e-03 1.41900190e+02] [-3.13306975e-01 9.49648506e-01 -2.54063438e-03 -1.89372461e+01] [-7.75340838e-03 1.17265561e-04 9.99969935e-01 -2.28876148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters 0.013368351764049217 Centerline is valid? [True, True] Translation: X:141.96, Y:-18.95, Z:-2.29 [[ 9.49291874e-01 3.14281688e-01 8.48279473e-03 1.41960570e+02] [-3.14267938e-01 9.49329766e-01 -2.94260402e-03 -1.89537775e+01] [-8.97777610e-03 1.27519675e-04 9.99959691e-01 -2.28850073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters 0.013245459938727938 Centerline is valid? [True, True] Translation: X:142.02, Y:-18.97, Z:-2.29 [[ 9.49134888e-01 3.14745307e-01 8.85185780e-03 1.42021046e+02] [-3.14730332e-01 9.49176156e-01 -3.07301884e-03 -1.89726193e+01] [-9.36919061e-03 1.30761250e-04 9.99956100e-01 -2.28904971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters 0.013437213974280817 Centerline is valid? [True, True] Translation: X:142.08, Y:-18.99, Z:-2.29 [[ 9.49064070e-01 3.14961379e-01 8.75905709e-03 1.42079597e+02] [-3.14946693e-01 9.49104479e-01 -3.04434106e-03 -1.89924748e+01] [-9.27211017e-03 1.30638658e-04 9.99957005e-01 -2.28985506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters 0.013788257770678712 Centerline is valid? [True, True] Translation: X:142.14, Y:-19.01, Z:-2.29 [[ 9.49260955e-01 3.14397292e-01 7.61455307e-03 1.42138267e+02] [-3.14386170e-01 9.49291488e-01 -2.64711381e-03 -1.90114312e+01] [-8.06067582e-03 1.18891609e-04 9.99967505e-01 -2.29176705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters 0.014311366864496609 Centerline is valid? [True, True] Translation: X:142.20, Y:-19.03, Z:-2.29 [[ 9.49801495e-01 3.12794975e-01 6.03520426e-03 1.42197206e+02] [-3.12787951e-01 9.49820663e-01 -2.09889628e-03 -1.90318454e+01] [-6.38888592e-03 1.05795645e-04 9.99979585e-01 -2.29382125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters 0.014164588950187011 Centerline is valid? [True, True] Translation: X:142.26, Y:-19.05, Z:-2.29 [[ 9.50095587e-01 3.11913817e-01 5.30535938e-03 1.42255727e+02] [-3.11908370e-01 9.50110394e-01 -1.84595800e-03 -1.90517462e+01] [-5.61645690e-03 9.90505513e-05 9.99984223e-01 -2.29467916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters 0.015498197386373196 Centerline is valid? [True, True] Translation: X:142.31, Y:-19.07, Z:-2.30 [[ 9.51979052e-01 3.06123472e-01 4.93000206e-03 1.42312080e+02] [-3.06118672e-01 9.51991809e-01 -1.71903648e-03 -1.90742545e+01] [-5.21955900e-03 1.27321040e-04 9.99986370e-01 -2.29557694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters 0.017564234183804473 Centerline is valid? [True, True] Translation: X:142.37, Y:-19.10, Z:-2.30 [[ 9.53441663e-01 3.01538933e-01 4.82362757e-03 1.42367427e+02] [-3.01534283e-01 9.53453853e-01 -1.68125843e-03 -1.90972156e+01] [-5.10607116e-03 1.48492760e-04 9.99986953e-01 -2.29611010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters 0.019476986823365922 Centerline is valid? [True, True] Translation: X:142.42, Y:-19.12, Z:-2.30 [[ 9.55710151e-01 2.94268765e-01 4.89907701e-03 1.42423948e+02] [-2.94263866e-01 9.55722688e-01 -1.70879651e-03 -1.91195237e+01] [-5.18500449e-03 1.91492828e-04 9.99986539e-01 -2.29661709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters 0.022406018403455356 Centerline is valid? [True, True] Translation: X:142.48, Y:-19.14, Z:-2.30 [[ 9.57560696e-01 2.88190393e-01 4.87961734e-03 1.42479251e+02] [-2.88185452e-01 9.57573103e-01 -1.70231722e-03 -1.91431897e+01] [-5.16318179e-03 2.23837337e-04 9.99986646e-01 -2.29721355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters 0.023029204884745323 Centerline is valid? [True, True] Translation: X:142.54, Y:-19.16, Z:-2.30 [[ 9.58310462e-01 2.85688648e-01 4.80158296e-03 1.42537223e+02] [-2.85683834e-01 9.58322462e-01 -1.67475479e-03 -1.91625957e+01] [-5.07992323e-03 2.33200406e-04 9.99987070e-01 -2.29779897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters 0.025437927304184857 Centerline is valid? [True, True] Translation: X:142.59, Y:-19.18, Z:-2.30 [[ 9.58545722e-01 2.84888186e-01 5.36855908e-03 1.42594822e+02] [-2.84882165e-01 9.58560719e-01 -1.87078562e-03 -1.91840905e+01] [-5.67905457e-03 2.63826814e-04 9.99983839e-01 -2.29768547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters 0.024933188350429975 Centerline is valid? [True, True] Translation: X:142.65, Y:-19.20, Z:-2.30 [[ 9.58302495e-01 2.85698738e-01 5.70613517e-03 1.42654737e+02] [-2.85691935e-01 9.58319442e-01 -1.99103402e-03 -1.92026887e+01] [-6.03713618e-03 2.77816067e-04 9.99981738e-01 -2.29731145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters 0.020724378413769465 Centerline is valid? [True, True] Translation: X:142.72, Y:-19.21, Z:-2.30 [[ 9.57729378e-01 2.87595768e-01 6.56602203e-03 1.42716340e+02] [-2.87586793e-01 9.57751836e-01 -2.29284781e-03 -1.92139865e+01] [-6.94803298e-03 3.07626490e-04 9.99975815e-01 -2.29576656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters 0.02005681093002425 Centerline is valid? [True, True] Translation: X:142.78, Y:-19.23, Z:-2.30 [[ 9.56974661e-01 2.90069079e-01 7.70896116e-03 1.42776834e+02] [-2.90056779e-01 9.57005649e-01 -2.69294533e-03 -1.92283026e+01] [-8.15865956e-03 3.41044004e-04 9.99966659e-01 -2.29580303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters 0.020240186246090742 Centerline is valid? [True, True] Translation: X:142.84, Y:-19.25, Z:-2.30 [[ 9.56586749e-01 2.91359065e-01 7.18931391e-03 1.42836784e+02] [-2.91348413e-01 9.56613716e-01 -2.51011412e-03 -1.92451216e+01] [-7.60874079e-03 3.06546704e-04 9.99971006e-01 -2.29682149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters 0.02129107444623273 Centerline is valid? [True, True] Translation: X:142.90, Y:-19.26, Z:-2.30 [[ 9.56414092e-01 2.91936318e-01 6.72838277e-03 1.42896132e+02] [-2.91926985e-01 9.56437716e-01 -2.35176266e-03 -1.92613507e+01] [-7.12184398e-03 2.85062456e-04 9.99974599e-01 -2.29784517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters 0.02134165318008096 Centerline is valid? [True, True] Translation: X:142.96, Y:-19.28, Z:-2.30 [[ 9.56329977e-01 2.92243859e-01 5.14793593e-03 1.42957203e+02] [-2.92238405e-01 9.56343809e-01 -1.79847469e-03 -1.92755944e+01] [-5.44878984e-03 2.15510672e-04 9.99985132e-01 -2.29889018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters 0.02110818979630698 Centerline is valid? [True, True] Translation: X:143.02, Y:-19.29, Z:-2.30 [[ 9.56102402e-01 2.92999595e-01 4.40834740e-03 1.43017421e+02] [-2.92995600e-01 9.56112548e-01 -1.54069555e-03 -1.92906073e+01] [-4.66629944e-03 1.81436320e-04 9.99989096e-01 -2.29985869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters 0.019449723003650263 Centerline is valid? [True, True] Translation: X:143.08, Y:-19.30, Z:-2.30 [[ 9.55911334e-01 2.93624489e-01 4.26393931e-03 1.43079303e+02] [-2.93620754e-01 9.55920828e-01 -1.49115347e-03 -1.93016398e+01] [-4.51382758e-03 1.73429431e-04 9.99989798e-01 -2.29986760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters 0.020114974127356983 Centerline is valid? [True, True] Translation: X:143.14, Y:-19.32, Z:-2.30 [[ 9.55722358e-01 2.94246378e-01 3.72078261e-03 1.43138877e+02] [-2.94243536e-01 9.55729589e-01 -1.30175988e-03 -1.93189688e+01] [-3.93910016e-03 1.49304792e-04 9.99992231e-01 -2.30109366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters 0.0188688278104851 Centerline is valid? [True, True] Translation: X:143.20, Y:-19.33, Z:-2.30 [[ 9.55193205e-01 2.95975089e-01 2.16531511e-03 1.43200239e+02] [-2.95974134e-01 9.55195655e-01 -7.56385276e-04 -1.93307277e+01] [-2.29217078e-03 8.16168135e-05 9.99997370e-01 -2.30226505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters 0.018982466421710368 Centerline is valid? [True, True] Translation: X:143.26, Y:-19.35, Z:-2.30 [[ 9.54346302e-01 2.98696450e-01 1.88869779e-03 1.43258963e+02] [-2.98695722e-01 9.54348168e-01 -6.63128351e-04 -1.93457255e+01] [-2.00054937e-03 6.87081377e-05 9.99997997e-01 -2.30382215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters 0.017402192433865475 Centerline is valid? [True, True] Translation: X:143.32, Y:-19.36, Z:-2.30 [[ 9.52570100e-01 3.04300490e-01 3.37887983e-03 1.43319939e+02] [-3.04298194e-01 9.52576087e-01 -1.18663579e-03 -1.93563993e+01] [-3.57973398e-03 1.02166746e-04 9.99993588e-01 -2.30326865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters 0.01598857085243709 Centerline is valid? [True, True] Translation: X:143.38, Y:-19.37, Z:-2.30 [[ 9.51139967e-01 3.08739590e-01 3.55380284e-03 1.43380033e+02] [-3.08737081e-01 9.51146602e-01 -1.24792649e-03 -1.93702266e+01] [-3.76547180e-03 8.97620475e-05 9.99992907e-01 -2.30360010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters 0.014276743790026332 Centerline is valid? [True, True] Translation: X:143.44, Y:-19.38, Z:-2.31 [[ 9.48730176e-01 3.16072453e-01 3.04276488e-03 1.43440708e+02] [-3.16070650e-01 9.48735054e-01 -1.06874267e-03 -1.93795298e+01] [-3.22457782e-03 5.22197499e-05 9.99994800e-01 -2.30582325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters 0.012520344587819622 Centerline is valid? [True, True] Translation: X:143.50, Y:-19.39, Z:-2.31 [[ 9.45990885e-01 3.24179509e-01 2.98196126e-03 1.43502317e+02] [-3.24177819e-01 9.45995584e-01 -1.04720892e-03 -1.93884196e+01] [-3.16040586e-03 2.39643930e-05 9.99995006e-01 -2.30745396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters 0.012025088664285163 Centerline is valid? [True, True] Translation: X:143.56, Y:-19.40, Z:-2.31 [[ 9.44324283e-01 3.29004775e-01 2.73987320e-03 1.43563519e+02] [-3.29003372e-01 9.44328257e-01 -9.60954614e-04 -1.94030560e+01] [-2.90349834e-03 6.02525428e-06 9.99995785e-01 -2.30900353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters 0.011877140514457433 Centerline is valid? [True, True] Translation: X:143.62, Y:-19.42, Z:-2.31 [[ 9.43072628e-01 3.32578177e-01 2.40296337e-03 1.43624252e+02] [-3.32577114e-01 9.43075689e-01 -8.40821105e-04 -1.94187493e+01] [-2.54581509e-03 -6.21525448e-06 9.99996759e-01 -2.31001666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters 0.01189125996842416 Centerline is valid? [True, True] Translation: X:143.68, Y:-19.44, Z:-2.31 [[ 9.42249801e-01 3.34899611e-01 2.75010718e-03 1.43684863e+02] [-3.34898225e-01 9.42253814e-01 -9.63798155e-04 -1.94356936e+01] [-2.91407461e-03 -1.28673921e-05 9.99995754e-01 -2.31105276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters 0.011661528839557848 Centerline is valid? [True, True] Translation: X:143.74, Y:-19.46, Z:-2.31 [[ 9.42849531e-01 3.33197538e-01 3.76344685e-03 1.43742874e+02] [-3.33194915e-01 9.42857041e-01 -1.32220223e-03 -1.94569170e+01] [-3.98894689e-03 -7.32360070e-06 9.99992044e-01 -2.31118069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters 0.011941889216113537 Centerline is valid? [True, True] Translation: X:143.80, Y:-19.48, Z:-2.31 [[ 9.44084557e-01 3.29676975e-01 4.17629792e-03 1.43800129e+02] [-3.29673704e-01 9.44093794e-01 -1.46866250e-03 -1.94807676e+01] [-4.42700116e-03 9.72597887e-06 9.99990201e-01 -2.31270126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters 0.012948898891083586 Centerline is valid? [True, True] Translation: X:143.86, Y:-19.51, Z:-2.31 [[ 9.46555026e-01 3.22514764e-01 4.22017139e-03 1.43856159e+02] [-3.22511346e-01 9.46564432e-01 -1.48555149e-03 -1.95077733e+01] [-4.47377642e-03 4.51030727e-05 9.99989992e-01 -2.31342010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters 0.014134637312449539 Centerline is valid? [True, True] Translation: X:143.91, Y:-19.53, Z:-2.31 [[ 9.48027817e-01 3.18161032e-01 4.10074833e-03 1.43912649e+02] [-3.18157759e-01 9.48036684e-01 -1.44471876e-03 -1.95328909e+01] [-4.34731306e-03 6.49486696e-05 9.99990548e-01 -2.31456871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters 0.015137808069336607 Centerline is valid? [True, True] Translation: X:143.97, Y:-19.56, Z:-2.31 [[ 9.49595957e-01 3.13447197e-01 4.28631354e-03 1.43969268e+02] [-3.13443567e-01 9.49605627e-01 -1.51127668e-03 -1.95582186e+01] [-4.54401289e-03 9.15848241e-05 9.99989672e-01 -2.31450504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters 0.015488033629963661 Centerline is valid? [True, True] Translation: X:144.03, Y:-19.58, Z:-2.31 [[ 9.50596000e-01 3.10383900e-01 5.39256883e-03 1.44027187e+02] [-3.10378093e-01 9.50611286e-01 -1.90341833e-03 -1.95816376e+01] [-5.71702720e-03 1.35646619e-04 9.99983648e-01 -2.31451514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters 0.015973121773130518 Centerline is valid? [True, True] Translation: X:144.08, Y:-19.60, Z:-2.32 [[ 9.50871751e-01 3.09536148e-01 5.50328548e-03 1.44084721e+02] [-3.09530070e-01 9.50887665e-01 -1.94531296e-03 -1.96037504e+01] [-5.83515097e-03 1.46310799e-04 9.99982965e-01 -2.31535434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters 0.016094447781626532 Centerline is valid? [True, True] Translation: X:144.14, Y:-19.63, Z:-2.32 [[ 9.51157113e-01 3.08647945e-01 6.04912536e-03 1.44142809e+02] [-3.08640583e-01 9.51176334e-01 -2.13826091e-03 -1.96270207e+01] [-6.41375472e-03 1.66816494e-04 9.99979418e-01 -2.31568041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters 0.01597957215904293 Centerline is valid? [True, True] Translation: X:144.20, Y:-19.65, Z:-2.32 [[ 9.51056309e-01 3.08942814e-01 6.79964125e-03 1.44201790e+02] [-3.08933505e-01 9.51080597e-01 -2.40561873e-03 -1.96494348e+01] [-7.21020548e-03 1.87241869e-04 9.99973989e-01 -2.31589703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters 0.015405012829515488 Centerline is valid? [True, True] Translation: X:144.26, Y:-19.67, Z:-2.32 [[ 9.50115379e-01 3.11817656e-01 7.10744931e-03 1.44260177e+02] [-3.11807544e-01 9.50141947e-01 -2.51731751e-03 -1.96700344e+01] [-7.53802977e-03 1.75585766e-04 9.99971573e-01 -2.31648841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters 0.014813271431626543 Centerline is valid? [True, True] Translation: X:144.32, Y:-19.69, Z:-2.32 [[ 9.48992893e-01 3.15202434e-01 7.74044100e-03 1.44318787e+02] [-3.15190533e-01 9.49024446e-01 -2.74402179e-03 -1.96908915e+01] [-8.21079008e-03 1.64343449e-04 9.99966277e-01 -2.31723438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters 0.013138241998692235 Centerline is valid? [True, True] Translation: X:144.38, Y:-19.71, Z:-2.32 [[ 9.46966971e-01 3.21250347e-01 7.19520672e-03 1.44377498e+02] [-3.21240211e-01 9.46994299e-01 -2.55419879e-03 -1.97091105e+01] [-7.63435699e-03 1.07352167e-04 9.99970852e-01 -2.31865829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters 0.012316047088725614 Centerline is valid? [True, True] Translation: X:144.44, Y:-19.73, Z:-2.32 [[ 9.45757839e-01 3.24796359e-01 7.03098425e-03 1.44436311e+02] [-3.24786791e-01 9.45783971e-01 -2.49428088e-03 -1.97282942e+01] [-7.45992556e-03 7.54148896e-05 9.99972172e-01 -2.31942154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters 0.012024136330388253 Centerline is valid? [True, True] Translation: X:144.49, Y:-19.75, Z:-2.32 [[ 9.44668328e-01 3.27935804e-01 7.73685354e-03 1.44494032e+02] [-3.27924301e-01 9.44700008e-01 -2.74728935e-03 -1.97499623e+01] [-8.20994015e-03 5.81749454e-05 9.99966296e-01 -2.32072197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters 0.012029757572623282 Centerline is valid? [True, True] Translation: X:144.55, Y:-19.77, Z:-2.32 [[ 9.45002070e-01 3.26959015e-01 8.30006760e-03 1.44552072e+02] [-3.26945718e-01 9.45038516e-01 -2.94959394e-03 -1.97744292e+01] [-8.80827990e-03 7.37008213e-05 9.99961204e-01 -2.32112081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters 0.012406223407857736 Centerline is valid? [True, True] Translation: X:144.61, Y:-19.80, Z:-2.32 [[ 9.45769203e-01 3.24711428e-01 9.11609456e-03 1.44609489e+02] [-3.24695250e-01 9.45813130e-01 -3.24312375e-03 -1.97987259e+01] [-9.67520128e-03 1.07293962e-04 9.99953188e-01 -2.32168102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters 0.01290061392613525 Centerline is valid? [True, True] Translation: X:144.67, Y:-19.82, Z:-2.32 [[ 9.46611324e-01 3.22229673e-01 9.74877048e-03 1.44666219e+02] [-3.22211009e-01 9.46661511e-01 -3.47112354e-03 -1.98233708e+01] [-1.03472848e-02 1.44643682e-04 9.99946455e-01 -2.32232540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters 0.01390269693732465 Centerline is valid? [True, True] Translation: X:144.72, Y:-19.85, Z:-2.32 [[ 9.47762907e-01 3.18856038e-01 8.73495012e-03 1.44722087e+02] [-3.18840892e-01 9.47803144e-01 -3.11223499e-03 -1.98503744e+01] [-9.27136810e-03 1.64601594e-04 9.99957006e-01 -2.32403393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters 0.013961606282797284 Centerline is valid? [True, True] Translation: X:144.78, Y:-19.87, Z:-2.33 [[ 9.48193160e-01 3.17645044e-01 5.59971805e-03 1.44779604e+02] [-3.17638799e-01 9.48209689e-01 -1.99498571e-03 -1.98740018e+01] [-5.94340423e-03 1.12944083e-04 9.99982331e-01 -2.32729476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters 0.014719048165295928 Centerline is valid? [True, True] Translation: X:144.84, Y:-19.90, Z:-2.33 [[ 9.48274609e-01 3.17421706e-01 4.32743555e-03 1.44836034e+02] [-3.17417972e-01 9.48284479e-01 -1.54223207e-03 -1.98976716e+01] [-4.59317790e-03 8.88536981e-05 9.99989447e-01 -2.32928892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters 0.014888524413557251 Centerline is valid? [True, True] Translation: X:144.89, Y:-19.92, Z:-2.33 [[ 9.49015338e-01 3.15198445e-01 4.45299700e-03 1.44892550e+02] [-3.15194461e-01 9.49025779e-01 -1.58819058e-03 -1.99228095e+01] [-4.72660414e-03 1.03657229e-04 9.99988824e-01 -2.32841150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters 0.016071900473024068 Centerline is valid? [True, True] Translation: X:144.95, Y:-19.95, Z:-2.33 [[ 9.50074709e-01 3.11990547e-01 4.46614182e-03 1.44949557e+02] [-3.11986489e-01 9.50085198e-01 -1.59590636e-03 -1.99483254e+01] [-4.74112294e-03 1.22854368e-04 9.99988753e-01 -2.32923116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters 0.01879276954064968 Centerline is valid? [True, True] Translation: X:145.00, Y:-19.98, Z:-2.33 [[ 9.51817392e-01 3.06641583e-01 3.81990402e-03 1.45003812e+02] [-3.06638569e-01 9.51825048e-01 -1.36577215e-03 -1.99760811e+01] [-4.05468286e-03 1.28635784e-04 9.99991771e-01 -2.32949461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters 0.017349460432284 Centerline is valid? [True, True] Translation: X:145.06, Y:-20.00, Z:-2.33 [[ 9.52122356e-01 3.05689099e-01 4.14648415e-03 1.45062301e+02] [-3.05685550e-01 9.52131375e-01 -1.47984064e-03 -1.99966143e+01] [-4.40036880e-03 1.41469075e-04 9.99990308e-01 -2.32837749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters 0.016407638532850186 Centerline is valid? [True, True] Translation: X:145.12, Y:-20.02, Z:-2.33 [[ 9.51105318e-01 3.08840812e-01 4.00342311e-03 1.45120711e+02] [-3.08837517e-01 9.51113735e-01 -1.43215092e-03 -2.00173079e+01] [-4.25001736e-03 1.25719110e-04 9.99990961e-01 -2.32797194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters 0.015376540881007872 Centerline is valid? [True, True] Translation: X:145.18, Y:-20.04, Z:-2.33 [[ 9.49631239e-01 3.13349784e-01 3.52472782e-03 1.45179914e+02] [-3.13347262e-01 9.49637775e-01 -1.26072293e-03 -2.00358669e+01] [-3.74226194e-03 9.27580718e-05 9.99992993e-01 -2.32882129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters 0.013531386246436954 Centerline is valid? [True, True] Translation: X:145.24, Y:-20.05, Z:-2.33 [[ 9.47450119e-01 3.19892891e-01 2.60957890e-03 1.45239103e+02] [-3.19891532e-01 9.47453712e-01 -9.33840822e-04 -2.00516756e+01] [-2.77118425e-03 4.99854074e-05 9.99996159e-01 -2.33008395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters 0.012957616450967938 Centerline is valid? [True, True] Translation: X:145.30, Y:-20.07, Z:-2.33 [[ 9.46538710e-01 3.22586440e-01 1.56819059e-03 1.45298198e+02] [-3.22585959e-01 9.46540009e-01 -5.57799475e-04 -2.00711877e+01] [-1.66429368e-03 2.21025292e-05 9.99998615e-01 -2.33191543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters 0.013179937737893378 Centerline is valid? [True, True] Translation: X:145.36, Y:-20.09, Z:-2.33 [[ 9.46652694e-01 3.22248464e-01 2.14597528e-03 1.45356747e+02] [-3.22247558e-01 9.46655125e-01 -7.64954330e-04 -2.00930621e+01] [-2.27800385e-03 3.26107856e-05 9.99997405e-01 -2.33237025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters 0.013794924232889597 Centerline is valid? [True, True] Translation: X:145.41, Y:-20.12, Z:-2.33 [[ 9.47336292e-01 3.20220797e-01 3.54832909e-03 1.45414179e+02] [-3.20218287e-01 9.47342935e-01 -1.26956464e-03 -2.01162363e+01] [-3.76802550e-03 6.64647990e-05 9.99992899e-01 -2.33226209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters 0.014270298435787978 Centerline is valid? [True, True] Translation: X:145.47, Y:-20.14, Z:-2.33 [[ 9.47729170e-01 3.19047845e-01 4.23007304e-03 1.45471567e+02] [-3.19044258e-01 9.47738606e-01 -1.51548346e-03 -2.01390627e+01] [-4.49251526e-03 8.66873705e-05 9.99989905e-01 -2.33271921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters 0.014339411738563346 Centerline is valid? [True, True] Translation: X:145.53, Y:-20.16, Z:-2.33 [[ 9.47539199e-01 3.19607265e-01 4.54555300e-03 1.45530108e+02] [-3.19603122e-01 9.47550098e-01 -1.63007457e-03 -2.01611147e+01] [-4.82812286e-03 9.17866217e-05 9.99988340e-01 -2.33393275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters 0.014243609511128923 Centerline is valid? [True, True] Translation: X:145.59, Y:-20.18, Z:-2.34 [[ 9.46780507e-01 3.21857205e-01 3.82239781e-03 1.45587720e+02] [-3.21854291e-01 9.46788221e-01 -1.37139957e-03 -2.01804978e+01] [-4.06039606e-03 6.81592462e-05 9.99991754e-01 -2.33642381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters 0.01250848600297928 Centerline is valid? [True, True] Translation: X:145.65, Y:-20.20, Z:-2.34 [[ 9.45314442e-01 3.26145622e-01 3.10461036e-03 1.45648149e+02] [-3.26143716e-01 9.45319539e-01 -1.11571434e-03 -2.01975112e+01] [-3.29873419e-03 4.21517191e-05 9.99994558e-01 -2.33740762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters 0.012455821936408113 Centerline is valid? [True, True] Translation: X:145.71, Y:-20.22, Z:-2.34 [[ 9.44935499e-01 3.27241539e-01 3.14296995e-03 1.45706765e+02] [-3.27239598e-01 9.44940725e-01 -1.12774395e-03 -2.02184817e+01] [-3.33896497e-03 3.71410705e-05 9.99994425e-01 -2.33913936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters 0.013071105848314335 Centerline is valid? [True, True] Translation: X:145.76, Y:-20.24, Z:-2.34 [[ 9.45806597e-01 3.24711804e-01 3.48209718e-03 1.45764275e+02] [-3.24709399e-01 9.45813006e-01 -1.25084091e-03 -2.02419832e+01] [-3.69957560e-03 5.23839019e-05 9.99993155e-01 -2.34029087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters 0.015015710087420578 Centerline is valid? [True, True] Translation: X:145.82, Y:-20.27, Z:-2.34 [[ 9.48486016e-01 3.16778108e-01 5.08991207e-03 1.45818673e+02] [-3.16772823e-01 9.48499665e-01 -1.83424722e-03 -2.02699461e+01] [-5.40882925e-03 1.27412020e-04 9.99985364e-01 -2.33997886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters 0.016373777688757106 Centerline is valid? [True, True] Translation: X:145.87, Y:-20.29, Z:-2.34 [[ 9.50351226e-01 3.11113882e-01 6.37962444e-03 1.45874705e+02] [-3.11105452e-01 9.50372618e-01 -2.29904885e-03 -2.02949285e+01] [-6.77828639e-03 2.00167948e-04 9.99977007e-01 -2.33989858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters 0.019416287790038365 Centerline is valid? [True, True] Translation: X:145.93, Y:-20.32, Z:-2.34 [[ 9.51770281e-01 3.06725385e-01 7.27124095e-03 1.45929363e+02] [-3.06714301e-01 9.51798019e-01 -2.62089064e-03 -2.03214423e+01] [-7.72464642e-03 2.64292229e-04 9.99970130e-01 -2.34097987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters 0.019723124230026 Centerline is valid? [True, True] Translation: X:145.99, Y:-20.34, Z:-2.34 [[ 9.52464864e-01 3.04568532e-01 6.97801445e-03 1.45986967e+02] [-3.04558268e-01 9.52490387e-01 -2.51486328e-03 -2.03441072e+01] [-7.41243990e-03 2.70106913e-04 9.99972491e-01 -2.34220479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters 0.01889647472656708 Centerline is valid? [True, True] Translation: X:146.05, Y:-20.36, Z:-2.34 [[ 9.52131319e-01 3.05633829e-01 5.82359513e-03 1.46045862e+02] [-3.05626710e-01 9.52149104e-01 -2.09729264e-03 -2.03647595e+01] [-6.18593446e-03 2.17051783e-04 9.99980843e-01 -2.34414496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters 0.016917366454869524 Centerline is valid? [True, True] Translation: X:146.10, Y:-20.38, Z:-2.35 [[ 9.51195045e-01 3.08529279e-01 6.13756794e-03 1.46104560e+02] [-3.08521406e-01 9.51214823e-01 -2.21430844e-03 -2.03818232e+01] [-6.52132459e-03 2.12668123e-04 9.99978713e-01 -2.34528702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters 0.015613884663594646 Centerline is valid? [True, True] Translation: X:146.16, Y:-20.40, Z:-2.35 [[ 9.49212717e-01 3.14556570e-01 7.02726920e-03 1.46162993e+02] [-3.14546410e-01 9.49238708e-01 -2.53582666e-03 -2.03998327e+01] [-7.46821688e-03 1.96636611e-04 9.99972093e-01 -2.34585870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters 0.014309003211033292 Centerline is valid? [True, True] Translation: X:146.22, Y:-20.42, Z:-2.35 [[ 9.48202871e-01 3.17588288e-01 6.99967213e-03 1.46222375e+02] [-3.17578304e-01 9.48228691e-01 -2.52392723e-03 -2.04188853e+01] [-7.43885967e-03 1.70251043e-04 9.99972317e-01 -2.34647599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters 0.013749700738610069 Centerline is valid? [True, True] Translation: X:146.28, Y:-20.44, Z:-2.35 [[ 9.47510133e-01 3.19601895e-01 8.89808029e-03 1.46281131e+02] [-3.19585816e-01 9.47551892e-01 -3.21210256e-03 -2.04392506e+01] [-9.45798688e-03 1.99799480e-04 9.99955252e-01 -2.34584429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters 0.013624875349040432 Centerline is valid? [True, True] Translation: X:146.34, Y:-20.46, Z:-2.35 [[ 9.47170021e-01 3.20574455e-01 1.00484298e-02 1.46339760e+02] [-3.20553968e-01 9.47223295e-01 -3.63075898e-03 -2.04599627e+01] [-1.06820354e-02 2.17882012e-04 9.99942922e-01 -2.34641455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters 0.013561817493014754 Centerline is valid? [True, True] Translation: X:146.40, Y:-20.48, Z:-2.35 [[ 9.46625554e-01 3.22190655e-01 9.65615708e-03 1.46398382e+02] [-3.22171794e-01 9.46674783e-01 -3.49159617e-03 -2.04809853e+01] [-1.02662001e-02 1.94292713e-04 9.99947282e-01 -2.34772603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters 0.013109421160308884 Centerline is valid? [True, True] Translation: X:146.46, Y:-20.50, Z:-2.35 [[ 9.45862873e-01 3.24436932e-01 9.17069511e-03 1.46456809e+02] [-3.24420003e-01 9.45907316e-01 -3.31839246e-03 -2.05010008e+01] [-9.75123667e-03 1.63587297e-04 9.99952442e-01 -2.34946739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters 0.012092657702291716 Centerline is valid? [True, True] Translation: X:146.52, Y:-20.52, Z:-2.35 [[ 9.44371945e-01 3.28786178e-01 7.82810643e-03 1.46516011e+02] [-3.28773979e-01 9.44404383e-01 -2.83410771e-03 -2.05190708e+01] [-8.32471346e-03 1.02774104e-04 9.99965344e-01 -2.35186762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters 0.01236561710502564 Centerline is valid? [True, True] Translation: X:146.57, Y:-20.54, Z:-2.35 [[ 9.43781812e-01 3.30501831e-01 6.66559168e-03 1.46573281e+02] [-3.30493019e-01 9.43805347e-01 -2.41468996e-03 -2.05407473e+01] [-7.08908053e-03 7.60089499e-05 9.99974869e-01 -2.35469336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters 0.012261109354048318 Centerline is valid? [True, True] Translation: X:146.63, Y:-20.56, Z:-2.36 [[ 9.43836824e-01 3.30337191e-01 7.02778195e-03 1.46631718e+02] [-3.30327379e-01 9.43862984e-01 -2.54749587e-03 -2.05634196e+01] [-7.47479588e-03 8.29516159e-05 9.99972060e-01 -2.35525490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters 0.012990541778871552 Centerline is valid? [True, True] Translation: X:146.69, Y:-20.59, Z:-2.35 [[ 9.44835504e-01 3.27426109e-01 8.83255466e-03 1.46688245e+02] [-3.27410442e-01 9.44876777e-01 -3.20596294e-03 -2.05889748e+01] [-9.39539175e-03 1.37236987e-04 9.99955853e-01 -2.35464833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters 0.012972106637342995 Centerline is valid? [True, True] Translation: X:146.75, Y:-20.61, Z:-2.35 [[ 9.45496114e-01 3.25497317e-01 9.41253420e-03 1.46746268e+02] [-3.25479401e-01 9.45542949e-01 -3.41928694e-03 -2.06120586e+01] [-1.00129241e-02 1.69336514e-04 9.99949855e-01 -2.35484920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters 0.013515954283994044 Centerline is valid? [True, True] Translation: X:146.80, Y:-20.64, Z:-2.36 [[ 9.45734250e-01 3.24824318e-01 8.71152886e-03 1.46803522e+02] [-3.24808922e-01 9.45774357e-01 -3.16680309e-03 -2.06360637e+01] [-9.26779526e-03 1.65371844e-04 9.99957039e-01 -2.35626985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters 0.013263628117480514 Centerline is valid? [True, True] Translation: X:146.86, Y:-20.66, Z:-2.36 [[ 9.45099497e-01 3.26673456e-01 8.44951307e-03 1.46861755e+02] [-3.26659026e-01 9.45137256e-01 -3.07379747e-03 -2.06570463e+01] [-8.99007763e-03 1.44934727e-04 9.99959578e-01 -2.35740650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters 0.012165152877623575 Centerline is valid? [True, True] Translation: X:146.92, Y:-20.68, Z:-2.36 [[ 9.43464013e-01 3.31408698e-01 6.62808567e-03 1.46920659e+02] [-3.31399930e-01 9.43487291e-01 -2.41206354e-03 -2.06757698e+01] [-7.05289344e-03 7.91480241e-05 9.99975125e-01 -2.35914576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters 0.011840322304368586 Centerline is valid? [True, True] Translation: X:146.98, Y:-20.70, Z:-2.36 [[ 9.42017438e-01 3.35509632e-01 6.03601503e-03 1.46979111e+02] [-3.35502435e-01 9.42036775e-01 -2.19796112e-03 -2.06968273e+01] [-6.42358525e-03 4.54199630e-05 9.99979368e-01 -2.36089235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters 0.011639839078276475 Centerline is valid? [True, True] Translation: X:147.04, Y:-20.72, Z:-2.36 [[ 9.41590993e-01 3.36701615e-01 6.19868648e-03 1.47036218e+02] [-3.36694038e-01 9.41611396e-01 -2.25927319e-03 -2.07186556e+01] [-6.59745476e-03 4.02505076e-05 9.99978236e-01 -2.36163022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters 0.01197959362368247 Centerline is valid? [True, True] Translation: X:147.09, Y:-20.74, Z:-2.36 [[ 9.42071325e-01 3.35338543e-01 7.04841615e-03 1.47093692e+02] [-3.35328693e-01 9.42097690e-01 -2.57086725e-03 -2.07448919e+01] [-7.50240746e-03 5.84041402e-05 9.99971855e-01 -2.36175692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters 0.012254483888342221 Centerline is valid? [True, True] Translation: X:147.15, Y:-20.77, Z:-2.36 [[ 9.42841039e-01 3.33163979e-01 7.24836604e-03 1.47150781e+02] [-3.33153477e-01 9.42868897e-01 -2.64651069e-03 -2.07703238e+01] [-7.71598093e-03 8.04205389e-05 9.99970228e-01 -2.36227448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters 0.013164887896011416 Centerline is valid? [True, True] Translation: X:147.21, Y:-20.80, Z:-2.36 [[ 9.44151737e-01 3.29450453e-01 6.31636856e-03 1.47206529e+02] [-3.29442386e-01 9.44172860e-01 -2.30748886e-03 -2.07981123e+01] [-6.72394702e-03 9.77400863e-05 9.99977389e-01 -2.36412210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters 0.013484622984719979 Centerline is valid? [True, True] Translation: X:147.26, Y:-20.82, Z:-2.37 [[ 9.44682271e-01 3.27930833e-01 6.06426638e-03 1.47263342e+02] [-3.27923357e-01 9.44701729e-01 -2.21688682e-03 -2.08223169e+01] [-6.45590848e-03 1.05639084e-04 9.99979155e-01 -2.36555816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters 0.014141353912605632 Centerline is valid? [True, True] Translation: X:147.32, Y:-20.85, Z:-2.37 [[ 9.45416995e-01 3.25821523e-01 5.20003928e-03 1.47319908e+02] [-3.25815989e-01 9.45431290e-01 -1.90181363e-03 -2.08492095e+01] [-5.53593166e-03 1.03750988e-04 9.99984671e-01 -2.36609699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters 0.014815413969986002 Centerline is valid? [True, True] Translation: X:147.38, Y:-20.88, Z:-2.37 [[ 9.46696636e-01 3.22094217e-01 4.56007599e-03 1.47376481e+02] [-3.22089904e-01 9.46707612e-01 -1.67057253e-03 -2.08756179e+01] [-4.85514040e-03 1.12770951e-04 9.99988207e-01 -2.36663120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters 0.01583520434800714 Centerline is valid? [True, True] Translation: X:147.43, Y:-20.90, Z:-2.37 [[ 9.47817315e-01 3.18775318e-01 4.96329349e-03 1.47433641e+02] [-3.18770161e-01 9.47830299e-01 -1.81880583e-03 -2.09013338e+01] [-5.28415036e-03 1.41745795e-04 9.99986029e-01 -2.36671978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters 0.016980601663067602 Centerline is valid? [True, True] Translation: X:147.49, Y:-20.93, Z:-2.37 [[ 9.48763933e-01 3.15940503e-01 5.34764694e-03 1.47489770e+02] [-3.15934478e-01 9.48778989e-01 -1.95847689e-03 -2.09270381e+01] [-5.69249724e-03 1.68626193e-04 9.99983783e-01 -2.36680843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters 0.017747937712247926 Centerline is valid? [True, True] Translation: X:147.55, Y:-20.95, Z:-2.37 [[ 9.49344831e-01 3.14192401e-01 5.24668739e-03 1.47546592e+02] [-3.14186568e-01 9.49359312e-01 -1.92260895e-03 -2.09533095e+01] [-5.58506066e-03 1.76780163e-04 9.99984388e-01 -2.36643266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters 0.017116448914736414 Centerline is valid? [True, True] Translation: X:147.60, Y:-20.97, Z:-2.37 [[ 9.48225786e-01 3.17575332e-01 3.71057777e-03 1.47604366e+02] [-3.17572431e-01 9.48233039e-01 -1.36197310e-03 -2.09747095e+01] [-3.95102149e-03 1.13080812e-04 9.99992188e-01 -2.36838150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters 0.015495930768085947 Centerline is valid? [True, True] Translation: X:147.66, Y:-20.99, Z:-2.37 [[ 9.46835615e-01 3.21706170e-01 2.73102864e-03 1.47663147e+02] [-3.21704616e-01 9.46839551e-01 -1.00234576e-03 -2.09938821e+01] [-2.90830675e-03 7.04721388e-05 9.99995768e-01 -2.36927918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters 0.014840375150596812 Centerline is valid? [True, True] Translation: X:147.72, Y:-21.01, Z:-2.37 [[ 9.45228592e-01 3.26404765e-01 1.68451770e-03 1.47719947e+02] [-3.26404181e-01 9.45230093e-01 -6.18546860e-04 -2.10134209e+01] [-1.79415347e-03 3.48345568e-05 9.99998390e-01 -2.37091062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters 0.01392337963396383 Centerline is valid? [True, True] Translation: X:147.78, Y:-21.03, Z:-2.37 [[ 9.43769446e-01 3.30601871e-01 1.27889018e-03 1.47778963e+02] [-3.30601543e-01 9.43770312e-01 -4.66105634e-04 -2.10335771e+01] [-1.36107398e-03 1.70931906e-05 9.99999074e-01 -2.37218319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters 0.013337559379121759 Centerline is valid? [True, True] Translation: X:147.84, Y:-21.05, Z:-2.37 [[ 9.42699649e-01 3.33634757e-01 2.28468400e-03 1.47837810e+02] [-3.33633710e-01 9.42702418e-01 -8.36522202e-04 -2.10545568e+01] [-2.43287001e-03 2.63415885e-05 9.99997040e-01 -2.37254556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters 0.012508305986317058 Centerline is valid? [True, True] Translation: X:147.90, Y:-21.08, Z:-2.37 [[ 9.41709711e-01 3.36403119e-01 3.97000231e-03 1.47896265e+02] [-3.36399964e-01 9.41718079e-01 -1.45758858e-03 -2.10761174e+01] [-4.22896029e-03 3.71166887e-05 9.99991057e-01 -2.37152530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters 0.012424752315177229 Centerline is valid? [True, True] Translation: X:147.95, Y:-21.10, Z:-2.37 [[ 9.41223308e-01 3.37753253e-01 4.62874387e-03 1.47954155e+02] [-3.37748970e-01 9.41234688e-01 -1.70144928e-03 -2.10993932e+01] [-4.93140432e-03 3.80902424e-05 9.99987840e-01 -2.37259666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters 0.012431844736862584 Centerline is valid? [True, True] Translation: X:148.01, Y:-21.12, Z:-2.37 [[ 9.41097289e-01 3.38102286e-01 4.76833598e-03 1.48012855e+02] [-3.38097740e-01 9.41109368e-01 -1.75382210e-03 -2.11229549e+01] [-5.08049693e-03 3.83536017e-05 9.99987093e-01 -2.37400834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters 0.012382578120426545 Centerline is valid? [True, True] Translation: X:148.07, Y:-21.15, Z:-2.37 [[ 9.40829125e-01 3.38848924e-01 4.68664206e-03 1.48071199e+02] [-3.38844535e-01 9.40840797e-01 -1.72508747e-03 -2.11465084e+01] [-4.99392808e-03 3.49694917e-05 9.99987530e-01 -2.37467219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters 0.012468100887248474 Centerline is valid? [True, True] Translation: X:148.13, Y:-21.17, Z:-2.38 [[ 9.40882375e-01 3.38717713e-01 3.26613802e-03 1.48129156e+02] [-3.38715580e-01 9.40888044e-01 -1.20223844e-03 -2.11695430e+01] [-3.48028967e-03 2.48731246e-05 9.99993943e-01 -2.37697295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters 0.013255129394926712 Centerline is valid? [True, True] Translation: X:148.18, Y:-21.20, Z:-2.38 [[ 9.41964894e-01 3.35702882e-01 2.39044959e-03 1.48184040e+02] [-3.35701727e-01 9.41967926e-01 -8.81146545e-04 -2.11967132e+01] [-2.54753027e-03 2.75310571e-05 9.99996755e-01 -2.37945761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters 0.014390749115134879 Centerline is valid? [True, True] Translation: X:148.24, Y:-21.23, Z:-2.38 [[ 9.43856768e-01 3.30342852e-01 2.82855646e-03 1.48239258e+02] [-3.30341212e-01 9.43861005e-01 -1.04212235e-03 -2.12253426e+01] [-3.01402181e-03 4.92254596e-05 9.99995457e-01 -2.38025605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters 0.015905832432796883 Centerline is valid? [True, True] Translation: X:148.30, Y:-21.25, Z:-2.38 [[ 9.45443511e-01 3.25772601e-01 2.96306512e-03 1.48295230e+02] [-3.25770769e-01 9.45448152e-01 -1.09477374e-03 -2.12529127e+01] [-3.15807173e-03 6.97667308e-05 9.99995011e-01 -2.38099099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters 0.016855562054114728 Centerline is valid? [True, True] Translation: X:148.35, Y:-21.28, Z:-2.38 [[ 9.47977670e-01 3.18322475e-01 3.02313470e-03 1.48350112e+02] [-3.18320527e-01 9.47982485e-01 -1.11779369e-03 -2.12804646e+01] [-3.22169760e-03 9.73176297e-05 9.99994806e-01 -2.38096455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters 0.0172226694141037 Centerline is valid? [True, True] Translation: X:148.41, Y:-21.31, Z:-2.38 [[ 9.49083590e-01 3.14999388e-01 3.96536559e-03 1.48407274e+02] [-3.14996009e-01 9.49091864e-01 -1.46588280e-03 -2.13054477e+01] [-4.22524841e-03 1.42170973e-04 9.99991063e-01 -2.38109077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters 0.019213068160410542 Centerline is valid? [True, True] Translation: X:148.46, Y:-21.33, Z:-2.38 [[ 9.49394585e-01 3.14063363e-01 3.75850259e-03 1.48462464e+02] [-3.14060327e-01 9.49402015e-01 -1.38764929e-03 -2.13312273e+01] [-4.00413973e-03 1.37030173e-04 9.99991974e-01 -2.38265502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters 0.018106439916506813 Centerline is valid? [True, True] Translation: X:148.52, Y:-21.35, Z:-2.38 [[ 9.48489946e-01 3.16786637e-01 3.61248949e-03 1.48519981e+02] [-3.16783839e-01 9.48496817e-01 -1.33705505e-03 -2.13515453e+01] [-3.84999596e-03 1.23804978e-04 9.99992581e-01 -2.38417906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters 0.016927811020839758 Centerline is valid? [True, True] Translation: X:148.58, Y:-21.37, Z:-2.39 [[ 9.47400484e-01 3.20033405e-01 3.30784651e-03 1.48577664e+02] [-3.20031079e-01 9.47406254e-01 -1.22437781e-03 -2.13713443e+01] [-3.52571627e-03 1.01362446e-04 9.99993780e-01 -2.38536748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters 0.015851356690797132 Centerline is valid? [True, True] Translation: X:148.64, Y:-21.39, Z:-2.39 [[ 9.46292118e-01 3.23292940e-01 3.59211158e-03 1.48635902e+02] [-3.23290219e-01 9.46298930e-01 -1.32978980e-03 -2.13906607e+01] [-3.82912300e-03 9.70750685e-05 9.99992664e-01 -2.38619732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters 0.014909764525968405 Centerline is valid? [True, True] Translation: X:148.69, Y:-21.41, Z:-2.39 [[ 9.44660801e-01 3.28004444e-01 5.39040187e-03 1.48694383e+02] [-3.27998391e-01 9.44676173e-01 -1.99603908e-03 -2.14097147e+01] [-5.74689389e-03 1.17536737e-04 9.99983480e-01 -2.38690034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters 0.014025862006206358 Centerline is valid? [True, True] Translation: X:148.75, Y:-21.43, Z:-2.39 [[ 9.43586417e-01 3.31049653e-01 7.12747966e-03 1.48753054e+02] [-3.31039168e-01 9.43613327e-01 -2.63789423e-03 -2.14292442e+01] [-7.59885876e-03 1.29606233e-04 9.99971120e-01 -2.38688891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters 0.013383637495117548 Centerline is valid? [True, True] Translation: X:148.81, Y:-21.45, Z:-2.39 [[ 9.42514107e-01 3.34014818e-01 1.00628071e-02 1.48812421e+02] [-3.33994030e-01 9.42567811e-01 -3.72965928e-03 -2.14496050e+01] [-1.07306396e-02 1.54338981e-04 9.99942413e-01 -2.38600252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters 0.013301044182299365 Centerline is valid? [True, True] Translation: X:148.87, Y:-21.47, Z:-2.39 [[ 9.41945424e-01 3.35569184e-01 1.14952578e-02 1.48869634e+02] [-3.35542161e-01 9.42015551e-01 -4.26140346e-03 -2.14700025e+01] [-1.22587073e-02 1.56865843e-04 9.99924847e-01 -2.38658129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters 0.012573361155315538 Centerline is valid? [True, True] Translation: X:148.93, Y:-21.49, Z:-2.39 [[ 9.41355281e-01 3.37198861e-01 1.21310436e-02 1.48928793e+02] [-3.37168861e-01 9.41433432e-01 -4.50029051e-03 -2.14893002e+01] [-1.29380628e-02 1.46162101e-04 9.99916289e-01 -2.38790555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters 0.012222151091249939 Centerline is valid? [True, True] Translation: X:148.99, Y:-21.51, Z:-2.39 [[ 9.41043941e-01 3.38072915e-01 1.19585037e-02 1.48988434e+02] [-3.38043792e-01 9.41119911e-01 -4.43940107e-03 -2.15101674e+01] [-1.27552272e-02 1.35173535e-04 9.99918640e-01 -2.38933572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters 0.01214922916798902 Centerline is valid? [True, True] Translation: X:149.05, Y:-21.53, Z:-2.39 [[ 9.40528481e-01 3.39527071e-01 1.12935989e-02 1.49045927e+02] [-3.39501158e-01 9.40596277e-01 -4.19619174e-03 -2.15309135e+01] [-1.20474377e-02 1.12447953e-04 9.99927421e-01 -2.39187239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters 0.012032188939462488 Centerline is valid? [True, True] Translation: X:149.10, Y:-21.55, Z:-2.39 [[ 9.40182906e-01 3.40484671e-01 1.12380095e-02 1.49104539e+02] [-3.40459049e-01 9.40250062e-01 -4.17822179e-03 -2.15526655e+01] [-1.19891596e-02 1.02210685e-04 9.99928122e-01 -2.39376591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters 0.011916551652104096 Centerline is valid? [True, True] Translation: X:149.16, Y:-21.58, Z:-2.39 [[ 9.40408737e-01 3.39857762e-01 1.13184801e-02 1.49163238e+02] [-3.39831683e-01 9.40476841e-01 -4.21173269e-03 -2.15754949e+01] [-1.20761584e-02 1.14372096e-04 9.99927074e-01 -2.39447106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters 0.012200248591191657 Centerline is valid? [True, True] Translation: X:149.22, Y:-21.60, Z:-2.39 [[ 9.41018267e-01 3.38095278e-01 1.32741580e-02 1.49220453e+02] [-3.38059159e-01 9.41111872e-01 -4.94466398e-03 -2.15992248e+01] [-1.41642352e-02 1.65568442e-04 9.99899668e-01 -2.39435379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters 0.012483597794684352 Centerline is valid? [True, True] Translation: X:149.28, Y:-21.62, Z:-2.39 [[ 9.41494344e-01 3.36744681e-01 1.38354648e-02 1.49278443e+02] [-3.36705235e-01 9.41595975e-01 -5.15785893e-03 -2.16225954e+01] [-1.47642995e-02 1.97621585e-04 9.99890982e-01 -2.39462112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters 0.012978703106987833 Centerline is valid? [True, True] Translation: X:149.34, Y:-21.65, Z:-2.40 [[ 9.42153746e-01 3.34910531e-01 1.34631263e-02 1.49336025e+02] [-3.34872939e-01 9.42249907e-01 -5.02274826e-03 -2.16465692e+01] [-1.43678008e-02 2.23764412e-04 9.99896753e-01 -2.39554208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters 0.013464557998661978 Centerline is valid? [True, True] Translation: X:149.39, Y:-21.67, Z:-2.40 [[ 9.42525403e-01 3.33909672e-01 1.22554537e-02 1.49393437e+02] [-3.33878398e-01 9.42605051e-01 -4.57525626e-03 -2.16693949e+01] [-1.30797749e-02 2.20463978e-04 9.99914432e-01 -2.39704363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters 0.013376699055895412 Centerline is valid? [True, True] Translation: X:149.45, Y:-21.69, Z:-2.40 [[ 9.43287731e-01 3.31788550e-01 1.11631165e-02 1.49451432e+02] [-3.31762423e-01 9.43353754e-01 -4.17014292e-03 -2.16922428e+01] [-1.19143736e-02 2.30142071e-04 9.99928995e-01 -2.39868828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters 0.014532112299732855 Centerline is valid? [True, True] Translation: X:149.51, Y:-21.72, Z:-2.40 [[ 9.43759745e-01 3.30474825e-01 1.01948334e-02 1.49507124e+02] [-3.30452925e-01 9.43814780e-01 -3.81129589e-03 -2.17163686e+01] [-1.08815718e-02 2.28035117e-04 9.99940768e-01 -2.40095844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters 0.01466706336856704 Centerline is valid? [True, True] Translation: X:149.56, Y:-21.74, Z:-2.40 [[ 9.43889057e-01 3.30123551e-01 9.58589343e-03 1.49564512e+02] [-3.30104155e-01 9.43937706e-01 -3.58531392e-03 -2.17389019e+01] [-1.02320828e-02 2.19795329e-04 9.99947627e-01 -2.40292356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters 0.014590255865555454 Centerline is valid? [True, True] Translation: X:149.62, Y:-21.76, Z:-2.40 [[ 9.43618919e-01 3.30921243e-01 8.62943915e-03 1.49622924e+02] [-3.30905542e-01 9.43658357e-01 -3.22931970e-03 -2.17621003e+01] [-9.21189286e-03 1.91717926e-04 9.99957551e-01 -2.40392879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters 0.013804332065996586 Centerline is valid? [True, True] Translation: X:149.68, Y:-21.78, Z:-2.40 [[ 9.42432498e-01 3.34296285e-01 8.18417761e-03 1.49680783e+02] [-3.34282266e-01 9.42468021e-01 -3.06532625e-03 -2.17836657e+01] [-8.73805285e-03 1.53037639e-04 9.99961811e-01 -2.40493138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters 0.012435959157488621 Centerline is valid? [True, True] Translation: X:149.74, Y:-21.80, Z:-2.40 [[ 9.40468868e-01 3.39780664e-01 8.21025407e-03 1.49739609e+02] [-3.39766744e-01 9.40504699e-01 -3.07737299e-03 -2.18028895e+01] [-8.76741437e-03 1.04602202e-04 9.99961560e-01 -2.40449690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters 0.01177265191163703 Centerline is valid? [True, True] Translation: X:149.80, Y:-21.82, Z:-2.40 [[ 9.39056677e-01 3.43657561e-01 8.48755002e-03 1.49798220e+02] [-3.43642820e-01 9.39095030e-01 -3.18381808e-03 -2.18226515e+01] [-9.06475919e-03 7.31000020e-05 9.99958912e-01 -2.40489378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters 0.011333495674575027 Centerline is valid? [True, True] Translation: X:149.86, Y:-21.84, Z:-2.41 [[ 9.37141338e-01 3.48841070e-01 8.71896456e-03 1.49857902e+02] [-3.48825704e-01 9.37181896e-01 -3.27435036e-03 -2.18419908e+01] [-9.31348363e-03 2.71301255e-05 9.99956628e-01 -2.40543844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters 0.011157932890662236 Centerline is valid? [True, True] Translation: X:149.92, Y:-21.86, Z:-2.41 [[ 9.35832472e-01 3.52340143e-01 8.60275241e-03 1.49917312e+02] [-3.52325335e-01 9.35872013e-01 -3.23019527e-03 -2.18615371e+01] [-9.18920267e-03 -8.04600346e-06 9.99957778e-01 -2.40670556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters 0.011175345853843515 Centerline is valid? [True, True] Translation: X:149.98, Y:-21.88, Z:-2.41 [[ 9.35532700e-01 3.53159487e-01 7.54612805e-03 1.49976355e+02] [-3.53148106e-01 9.35563133e-01 -2.83525737e-03 -2.18833129e+01] [-8.06117724e-03 -1.24248474e-05 9.99967508e-01 -2.40854608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters 0.011254394477803601 Centerline is valid? [True, True] Translation: X:150.03, Y:-21.91, Z:-2.41 [[ 9.35964795e-01 3.52059054e-01 4.93205421e-03 1.50033559e+02] [-3.52054176e-01 9.35977789e-01 -1.85340153e-03 -2.19062390e+01] [-5.26879999e-03 -1.63169466e-06 9.99986120e-01 -2.41113686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters 0.011369163313346664 Centerline is valid? [True, True] Translation: X:150.09, Y:-21.93, Z:-2.41 [[ 9.36743689e-01 3.49988811e-01 4.36951218e-03 1.50091871e+02] [-3.49984958e-01 9.36753880e-01 -1.64235554e-03 -2.19305896e+01] [-4.66796355e-03 9.20265019e-06 9.99989105e-01 -2.41285873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters 0.011760086589998353 Centerline is valid? [True, True] Translation: X:150.15, Y:-21.95, Z:-2.41 [[ 9.38133683e-01 3.46230128e-01 5.46729391e-03 1.50150114e+02] [-3.46224014e-01 9.38149613e-01 -2.05794320e-03 -2.19538934e+01] [-5.84166161e-03 3.77173905e-05 9.99982937e-01 -2.41309322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters 0.013046369955777522 Centerline is valid? [True, True] Translation: X:150.21, Y:-21.98, Z:-2.41 [[ 9.40200767e-01 3.40573648e-01 5.66641697e-03 1.50205974e+02] [-3.40566962e-01 9.40217839e-01 -2.13544614e-03 -2.19782347e+01] [-6.05494300e-03 7.79536865e-05 9.99981666e-01 -2.41404306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters 0.01452438681325909 Centerline is valid? [True, True] Translation: X:150.26, Y:-22.00, Z:-2.41 [[ 9.42013261e-01 3.35527328e-01 5.69454161e-03 1.50262571e+02] [-3.35520465e-01 9.42030466e-01 -2.14910128e-03 -2.20038709e+01] [-6.08551390e-03 1.13846659e-04 9.99981477e-01 -2.41444542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters 0.01504046670368608 Centerline is valid? [True, True] Translation: X:150.32, Y:-22.03, Z:-2.41 [[ 9.44359928e-01 3.28862294e-01 5.82390792e-03 1.50319435e+02] [-3.28854990e-01 9.44377872e-01 -2.19763964e-03 -2.20255741e+01] [-6.22269059e-03 1.60141630e-04 9.99980626e-01 -2.41410678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters 0.017079268467421294 Centerline is valid? [True, True] Translation: X:150.38, Y:-22.05, Z:-2.42 [[ 9.45906498e-01 3.24398020e-01 5.17904476e-03 1.50376264e+02] [-3.24392173e-01 9.45920660e-01 -1.95508087e-03 -2.20463009e+01] [-5.53318980e-03 1.69282114e-04 9.99984677e-01 -2.41663961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters 0.017110364872202077 Centerline is valid? [True, True] Translation: X:150.44, Y:-22.07, Z:-2.42 [[ 9.46468192e-01 3.22761533e-01 4.79107437e-03 1.50435588e+02] [-3.22756513e-01 9.46480304e-01 -1.80770261e-03 -2.20655224e+01] [-5.11811439e-03 1.64582563e-04 9.99986889e-01 -2.41691742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters 0.017823077677462988 Centerline is valid? [True, True] Translation: X:150.49, Y:-22.09, Z:-2.42 [[ 9.46313751e-01 3.23208988e-01 5.12195277e-03 1.50492419e+02] [-3.23203246e-01 9.46327596e-01 -1.93451206e-03 -2.20867638e+01] [-5.47229694e-03 1.75223598e-04 9.99985012e-01 -2.41785303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters 0.016043181055322018 Centerline is valid? [True, True] Translation: X:150.55, Y:-22.10, Z:-2.42 [[ 9.45481740e-01 3.25615975e-01 6.20611460e-03 1.50551779e+02] [-3.25607568e-01 9.45502087e-01 -2.34825938e-03 -2.21023076e+01] [-6.63252507e-03 1.99478485e-04 9.99977985e-01 -2.41681799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters 0.014296703362316985 Centerline is valid? [True, True] Translation: X:150.61, Y:-22.12, Z:-2.42 [[ 9.43752739e-01 3.30565752e-01 7.55321204e-03 1.50611571e+02] [-3.30553454e-01 9.43782943e-01 -2.85840755e-03 -2.21174615e+01] [-8.07348433e-03 2.00889627e-04 9.99967389e-01 -2.41645923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters 0.013351741908504083 Centerline is valid? [True, True] Translation: X:150.67, Y:-22.13, Z:-2.42 [[ 9.42083043e-01 3.35282096e-01 8.09043412e-03 1.50670997e+02] [-3.35268160e-01 9.42117767e-01 -3.06177842e-03 -2.21348738e+01] [-8.64870121e-03 1.71984568e-04 9.99962584e-01 -2.41703248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters 0.011430082225774922 Centerline is valid? [True, True] Translation: X:150.73, Y:-22.15, Z:-2.42 [[ 9.39237953e-01 3.43164386e-01 8.38284110e-03 1.50732397e+02] [-3.43149730e-01 9.39275356e-01 -3.17320214e-03 -2.21472979e+01] [-8.96272602e-03 1.03822217e-04 9.99959829e-01 -2.41876907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters 0.010693382239891669 Centerline is valid? [True, True] Translation: X:150.79, Y:-22.16, Z:-2.42 [[ 9.37311947e-01 3.48397373e-01 8.09845423e-03 1.50792256e+02] [-3.48383895e-01 9.37346930e-01 -3.06489153e-03 -2.21634665e+01] [-8.65886137e-03 5.13884171e-05 9.99962510e-01 -2.42032176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters 0.01034159264970632 Centerline is valid? [True, True] Translation: X:150.85, Y:-22.18, Z:-2.42 [[ 9.35245727e-01 3.53920237e-01 7.47637696e-03 1.50851961e+02] [-3.53908911e-01 9.35275610e-01 -2.83144574e-03 -2.21788977e+01] [-7.99457897e-03 2.14110629e-06 9.99968043e-01 -2.42290587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters 0.010308048057809573 Centerline is valid? [True, True] Translation: X:150.91, Y:-22.20, Z:-2.42 [[ 9.34451721e-01 3.56030441e-01 6.50425755e-03 1.50911509e+02] [-3.56021916e-01 9.34474357e-01 -2.46395598e-03 -2.21981803e+01] [-6.95530523e-03 -1.32103283e-05 9.99975811e-01 -2.42455604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters 0.010289934591447107 Centerline is valid? [True, True] Translation: X:150.97, Y:-22.22, Z:-2.43 [[ 9.34503127e-01 3.55882350e-01 7.18735414e-03 1.50969119e+02] [-3.55871904e-01 9.34530766e-01 -2.72682237e-03 -2.22177392e+01] [-7.68723152e-03 -9.55336402e-06 9.99970453e-01 -2.42678370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters 0.010371795456610187 Centerline is valid? [True, True] Translation: X:151.03, Y:-22.24, Z:-2.43 [[ 9.35498586e-01 3.53237458e-01 8.10519376e-03 1.51026924e+02] [-3.53224069e-01 9.35533697e-01 -3.07549950e-03 -2.22419045e+01] [-8.66906351e-03 1.41759044e-05 9.99962423e-01 -2.42694077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters 0.010658128797563431 Centerline is valid? [True, True] Translation: X:151.08, Y:-22.27, Z:-2.43 [[ 9.36839298e-01 3.49644839e-01 8.97868700e-03 1.51084348e+02] [-3.49628212e-01 9.36882321e-01 -3.41033613e-03 -2.22668435e+01] [-9.60437954e-03 5.57346213e-05 9.99953875e-01 -2.42784101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters 0.010844626911442237 Centerline is valid? [True, True] Translation: X:151.14, Y:-22.29, Z:-2.43 [[ 9.37372948e-01 3.48192343e-01 9.69790465e-03 1.51142452e+02] [-3.48172831e-01 9.37423109e-01 -3.68704580e-03 -2.22899296e+01] [-1.03748411e-02 7.95900801e-05 9.99946177e-01 -2.42865786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters 0.011254169316960987 Centerline is valid? [True, True] Translation: X:151.20, Y:-22.31, Z:-2.43 [[ 9.37899747e-01 3.46775563e-01 9.52746552e-03 1.51198565e+02] [-3.46756623e-01 9.37948133e-01 -3.62564218e-03 -2.23132702e+01] [-1.01935526e-02 9.67771170e-05 9.99948040e-01 -2.43048086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters 0.011444015579619023 Centerline is valid? [True, True] Translation: X:151.26, Y:-22.34, Z:-2.43 [[ 9.38233099e-01 3.45892348e-01 8.78263878e-03 1.51255863e+02] [-3.45876196e-01 9.38274200e-01 -3.34421402e-03 -2.23357917e+01] [-9.39726141e-03 9.99465911e-05 9.99955840e-01 -2.43227148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters 0.011794750410887256 Centerline is valid? [True, True] Translation: X:151.31, Y:-22.36, Z:-2.43 [[ 9.38807492e-01 3.44350428e-01 7.95465823e-03 1.51313342e+02] [-3.44337108e-01 9.38841186e-01 -3.03051757e-03 -2.23592133e+01] [-8.51172079e-03 1.05988586e-04 9.99963769e-01 -2.43416317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters 0.012227750638099194 Centerline is valid? [True, True] Translation: X:151.37, Y:-22.38, Z:-2.43 [[ 9.39530835e-01 3.42383490e-01 7.44009071e-03 1.51370061e+02] [-3.42371761e-01 9.39560286e-01 -2.83644377e-03 -2.23835731e+01] [-7.96156528e-03 1.17649423e-04 9.99968299e-01 -2.43489738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters 0.012491817289213461 Centerline is valid? [True, True] Translation: X:151.43, Y:-22.41, Z:-2.44 [[ 9.40005714e-01 3.41075402e-01 7.53844803e-03 1.51427564e+02] [-3.41063304e-01 9.40035932e-01 -2.87580142e-03 -2.24069567e+01] [-8.06727714e-03 1.32181776e-04 9.99967450e-01 -2.43589949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters 0.01351185149771646 Centerline is valid? [True, True] Translation: X:151.48, Y:-22.43, Z:-2.44 [[ 9.42026150e-01 3.35440232e-01 8.15985368e-03 1.51483780e+02] [-3.35425811e-01 9.42061469e-01 -3.11681237e-03 -2.24335117e+01] [-8.73258801e-03 1.99093218e-04 9.99961850e-01 -2.43609530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters 0.015265359556983141 Centerline is valid? [True, True] Translation: X:151.54, Y:-22.46, Z:-2.44 [[ 9.44025539e-01 3.29704212e-01 1.05316067e-02 1.51538498e+02] [-3.29679816e-01 9.44084226e-01 -4.02407298e-03 -2.24612486e+01] [-1.12694775e-02 3.26769516e-04 9.99936444e-01 -2.43540476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters 0.01616486430089166 Centerline is valid? [True, True] Translation: X:151.60, Y:-22.49, Z:-2.44 [[ 9.44996878e-01 3.26876676e-01 1.15125544e-02 1.51595152e+02] [-3.26847306e-01 9.45066920e-01 -4.39949598e-03 -2.24867007e+01] [-1.23182269e-02 3.94662594e-04 9.99924050e-01 -2.43527794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters 0.017198236774653326 Centerline is valid? [True, True] Translation: X:151.65, Y:-22.51, Z:-2.44 [[ 9.45046971e-01 3.26758802e-01 1.07195389e-02 1.51651472e+02] [-3.26733331e-01 9.45107692e-01 -4.09650885e-03 -2.25115856e+01] [-1.14696890e-02 3.68962626e-04 9.99934153e-01 -2.43794423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters 0.01565854788267557 Centerline is valid? [True, True] Translation: X:151.71, Y:-22.53, Z:-2.44 [[ 9.43631460e-01 3.30776686e-01 1.21017226e-02 1.51708931e+02] [-3.30744497e-01 9.43708986e-01 -4.62891841e-03 -2.25324866e+01] [-1.29516426e-02 3.65414885e-04 9.99916057e-01 -2.43761273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters 0.015244947383410245 Centerline is valid? [True, True] Translation: X:151.77, Y:-22.55, Z:-2.44 [[ 9.42747257e-01 3.33283823e-01 1.22271133e-02 1.51767208e+02] [-3.33251176e-01 9.42826485e-01 -4.67676834e-03 -2.25539835e+01] [-1.30867375e-02 3.34310651e-04 9.99914309e-01 -2.43854053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters 0.012010393710930187 Centerline is valid? [True, True] Translation: X:151.83, Y:-22.57, Z:-2.44 [[ 9.39472018e-01 3.42465180e-01 1.04846562e-02 1.51826894e+02] [-3.42441707e-01 9.39530504e-01 -4.01364420e-03 -2.25688873e+01] [-1.12251877e-02 1.80322849e-04 9.99936979e-01 -2.44207078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters 0.010060785017925058 Centerline is valid? [True, True] Translation: X:151.89, Y:-22.59, Z:-2.44 [[ 9.35753120e-01 3.52523731e-01 9.64975985e-03 1.51886303e+02] [-3.52504378e-01 9.35802872e-01 -3.69421042e-03 -2.25854335e+01] [-1.03325698e-02 5.52863305e-05 9.99946616e-01 -2.44422750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters 0.009779677651358102 Centerline is valid? [True, True] Translation: X:151.95, Y:-22.60, Z:-2.45 [[ 9.32930182e-01 3.59911072e-01 1.02613475e-02 1.51946327e+02] [-3.59889641e-01 9.32986613e-01 -3.92770864e-03 -2.26033233e+01] [-1.09873256e-02 -2.86747281e-05 9.99939637e-01 -2.44512006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters 0.00998676564701459 Centerline is valid? [True, True] Translation: X:152.01, Y:-22.62, Z:-2.45 [[ 9.31776503e-01 3.62870428e-01 1.08444194e-02 1.52005047e+02] [-3.62846656e-01 9.31839605e-01 -4.15398238e-03 -2.26247676e+01] [-1.16126169e-02 -6.42781443e-05 9.99932569e-01 -2.44606528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters 0.010337748360260563 Centerline is valid? [True, True] Translation: X:152.06, Y:-22.65, Z:-2.45 [[ 9.30899797e-01 3.65059842e-01 1.25251497e-02 1.52063604e+02] [-3.65028265e-01 9.30984050e-01 -4.80253027e-03 -2.26489979e+01] [-1.34139255e-02 -1.01359212e-04 9.99910024e-01 -2.44580620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters 0.010679741925651878 Centerline is valid? [True, True] Translation: X:152.12, Y:-22.67, Z:-2.45 [[ 9.30345128e-01 3.66459541e-01 1.28587341e-02 1.52120605e+02] [-3.66426329e-01 9.30433980e-01 -4.93508818e-03 -2.26713833e+01] [-1.37727133e-02 -1.20443498e-04 9.99905144e-01 -2.44726294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters 0.010832956434106717 Centerline is valid? [True, True] Translation: X:152.18, Y:-22.69, Z:-2.45 [[ 9.29812613e-01 3.67838286e-01 1.19791092e-02 1.52178672e+02] [-3.67809560e-01 9.29889767e-01 -4.59884067e-03 -2.26944690e+01] [-1.28308807e-02 -1.29970819e-04 9.99917672e-01 -2.44929087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters 0.01160285530106449 Centerline is valid? [True, True] Translation: X:152.24, Y:-22.72, Z:-2.45 [[ 9.28661018e-01 3.70773009e-01 1.07744749e-02 1.52236349e+02] [-3.70749936e-01 9.28723507e-01 -4.13900478e-03 -2.27180803e+01] [-1.15411394e-02 -1.50903494e-04 9.99933387e-01 -2.45190230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters 0.0115244544972093 Centerline is valid? [True, True] Translation: X:152.29, Y:-22.74, Z:-2.45 [[ 9.27955571e-01 3.72589059e-01 8.70927114e-03 1.52292972e+02] [-3.72574049e-01 9.27996430e-01 -3.34721622e-03 -2.27437846e+01] [-9.32930867e-03 -1.38780476e-04 9.99956471e-01 -2.45375180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters 0.011775521004660065 Centerline is valid? [True, True] Translation: X:152.35, Y:-22.77, Z:-2.46 [[ 9.28160879e-01 3.72103830e-01 7.49143622e-03 1.52348875e+02] [-3.72092691e-01 9.28191105e-01 -2.88137968e-03 -2.27695385e+01] [-8.02565687e-03 -1.13124763e-04 9.99967787e-01 -2.45658403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters 0.01103577143334448 Centerline is valid? [True, True] Translation: X:152.41, Y:-22.80, Z:-2.46 [[ 9.29179335e-01 3.69550240e-01 7.64093587e-03 1.52405195e+02] [-3.69538557e-01 9.29210747e-01 -2.93992361e-03 -2.27972060e+01] [-8.18648920e-03 -9.19041500e-05 9.99966486e-01 -2.45689488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters 0.010337642949433271 Centerline is valid? [True, True] Translation: X:152.46, Y:-22.83, Z:-2.46 [[ 9.31713573e-01 3.63075960e-01 9.25552406e-03 1.52459109e+02] [-3.63058461e-01 9.31759543e-01 -3.56484883e-03 -2.28262685e+01] [-9.91823378e-03 -3.88782802e-05 9.99950812e-01 -2.45637428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters 0.010251161332659419 Centerline is valid? [True, True] Translation: X:152.52, Y:-22.85, Z:-2.46 [[ 9.33452233e-01 3.58526715e-01 1.12037545e-02 1.52516226e+02] [-3.58500701e-01 9.33519467e-01 -4.31891067e-03 -2.28498746e+01] [-1.20073678e-02 1.49429464e-05 9.99927909e-01 -2.45599425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters 0.0106902139191518 Centerline is valid? [True, True] Translation: X:152.57, Y:-22.87, Z:-2.46 [[ 9.34965747e-01 3.54593439e-01 1.01264776e-02 1.52573346e+02] [-3.54571929e-01 9.35020582e-01 -3.90611706e-03 -2.28741574e+01] [-1.08535484e-02 6.15209690e-05 9.99941097e-01 -2.45739069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters 0.01129056346283672 Centerline is valid? [True, True] Translation: X:152.63, Y:-22.90, Z:-2.46 [[ 9.35945605e-01 3.52006802e-01 9.85066830e-03 1.52629889e+02] [-3.51986274e-01 9.35997438e-01 -3.80256154e-03 -2.28970420e+01] [-1.05587278e-02 9.16907282e-05 9.99944251e-01 -2.45886009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters 0.012027727380118007 Centerline is valid? [True, True] Translation: X:152.69, Y:-22.92, Z:-2.46 [[ 9.37545639e-01 3.47740622e-01 9.19969307e-03 1.52687865e+02] [-3.47722493e-01 9.37590765e-01 -3.55329196e-03 -2.29193498e+01] [-9.86117122e-03 1.32433167e-04 9.99951369e-01 -2.45993883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters 0.013117657175623314 Centerline is valid? [True, True] Translation: X:152.75, Y:-22.94, Z:-2.46 [[ 9.39239006e-01 3.43160238e-01 8.43453633e-03 1.52745767e+02] [-3.43144784e-01 9.39276862e-01 -3.26107882e-03 -2.29428736e+01] [-9.04143739e-03 1.68665283e-04 9.99959111e-01 -2.46118044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters 0.015137391448683618 Centerline is valid? [True, True] Translation: X:152.80, Y:-22.96, Z:-2.46 [[ 9.41591786e-01 3.36674000e-01 7.45159947e-03 1.52802253e+02] [-3.36661736e-01 9.41621249e-01 -2.88092014e-03 -2.29649640e+01] [-7.98651530e-03 2.03982328e-04 9.99968086e-01 -2.46358990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters 0.016797369302177137 Centerline is valid? [True, True] Translation: X:152.86, Y:-22.99, Z:-2.46 [[ 9.43922815e-01 3.30084547e-01 7.34246933e-03 1.52858816e+02] [-3.30072423e-01 9.43951336e-01 -2.84087215e-03 -2.29879943e+01] [-7.86866173e-03 2.58017396e-04 9.99969008e-01 -2.46442399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters 0.018971337945700467 Centerline is valid? [True, True] Translation: X:152.91, Y:-23.01, Z:-2.47 [[ 9.45027903e-01 3.26911085e-01 7.16974835e-03 1.52914766e+02] [-3.26899442e-01 9.45055060e-01 -2.77278501e-03 -2.30116453e+01] [-7.68226111e-03 2.76572468e-04 9.99970453e-01 -2.46537845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters 0.021743784544697123 Centerline is valid? [True, True] Translation: X:152.97, Y:-23.03, Z:-2.47 [[ 9.45554991e-01 3.25363954e-01 8.00358019e-03 1.52972040e+02] [-3.25349374e-01 9.45588807e-01 -3.09718333e-03 -2.30337725e+01] [-8.57580766e-03 3.24597348e-04 9.99963174e-01 -2.46682612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters 0.018206347466763848 Centerline is valid? [True, True] Translation: X:153.03, Y:-23.05, Z:-2.47 [[ 9.45052779e-01 3.26823072e-01 7.86922998e-03 1.53032958e+02] [-3.26809014e-01 9.45085491e-01 -3.04692317e-03 -2.30492012e+01] [-8.43289987e-03 3.07767920e-04 9.99964395e-01 -2.46695835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters 0.01804437940320168 Centerline is valid? [True, True] Translation: X:153.09, Y:-23.07, Z:-2.47 [[ 9.43579227e-01 3.31057522e-01 7.69155922e-03 1.53091058e+02] [-3.31044200e-01 9.43610537e-01 -2.98193633e-03 -2.30679395e+01] [-8.24502878e-03 2.67447102e-04 9.99965973e-01 -2.46847820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters 0.016589705815727277 Centerline is valid? [True, True] Translation: X:153.15, Y:-23.09, Z:-2.47 [[ 9.42359022e-01 3.34521317e-01 7.41359720e-03 1.53150279e+02] [-3.34509048e-01 9.42388156e-01 -2.87411135e-03 -2.30861703e+01] [-7.94793770e-03 2.28529424e-04 9.99968389e-01 -2.46934167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters 0.014814907154627365 Centerline is valid? [True, True] Translation: X:153.21, Y:-23.10, Z:-2.47 [[ 9.40556153e-01 3.39523369e-01 8.83206776e-03 1.53209701e+02] [-3.39506164e-01 9.40597593e-01 -3.42529096e-03 -2.31021888e+01] [-9.47038800e-03 2.23137044e-04 9.99955130e-01 -2.46947719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters 0.01472737803325892 Centerline is valid? [True, True] Translation: X:153.27, Y:-23.12, Z:-2.47 [[ 9.39878395e-01 3.41381434e-01 9.34443046e-03 1.53267623e+02] [-3.41362275e-01 9.39924822e-01 -3.62312341e-03 -2.31235817e+01] [-1.00199292e-02 2.15459379e-04 9.99949776e-01 -2.47077537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters 0.013947199222257737 Centerline is valid? [True, True] Translation: X:153.33, Y:-23.14, Z:-2.47 [[ 9.38543609e-01 3.45045025e-01 8.93444208e-03 1.53326867e+02] [-3.45027654e-01 9.38586118e-01 -3.46646513e-03 -2.31432866e+01] [-9.58182986e-03 1.70799108e-04 9.99954079e-01 -2.47233526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters 0.013008026594333059 Centerline is valid? [True, True] Translation: X:153.39, Y:-23.16, Z:-2.47 [[ 9.37769008e-01 3.47154635e-01 8.54088751e-03 1.53385940e+02] [-3.47138829e-01 9.37807890e-01 -3.31589030e-03 -2.31631466e+01] [-9.16083838e-03 1.44665472e-04 9.99958028e-01 -2.47372565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters 0.01274356096625555 Centerline is valid? [True, True] Translation: X:153.44, Y:-23.18, Z:-2.47 [[ 9.37239289e-01 3.48590696e-01 8.18786832e-03 1.53444080e+02] [-3.48576205e-01 9.37275045e-01 -3.18095616e-03 -2.31839010e+01] [-8.78313638e-03 1.27221023e-04 9.99961419e-01 -2.47483190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters 0.013263667259555665 Centerline is valid? [True, True] Translation: X:153.50, Y:-23.21, Z:-2.48 [[ 9.37750759e-01 3.47238003e-01 7.02018072e-03 1.53501256e+02] [-3.47227301e-01 9.37777028e-01 -2.72889542e-03 -2.32069012e+01] [-7.53094041e-03 1.21425347e-04 9.99971635e-01 -2.47705907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters 0.013978992909096391 Centerline is valid? [True, True] Translation: X:153.56, Y:-23.23, Z:-2.48 [[ 9.38492962e-01 3.45230222e-01 6.85962282e-03 1.53558011e+02] [-3.45219938e-01 9.38518021e-01 -2.66820832e-03 -2.32310817e+01] [-7.35902578e-03 1.36016166e-04 9.99972913e-01 -2.47798344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters 0.015437524741750447 Centerline is valid? [True, True] Translation: X:153.61, Y:-23.26, Z:-2.48 [[ 9.40797400e-01 3.38885221e-01 7.55369330e-03 1.53613905e+02] [-3.38872513e-01 9.40827701e-01 -2.94213261e-03 -2.32565729e+01] [-8.10376916e-03 2.08211678e-04 9.99967142e-01 -2.47804794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters 0.018358593880778158 Centerline is valid? [True, True] Translation: X:153.67, Y:-23.28, Z:-2.48 [[ 9.43722681e-01 3.30646759e-01 7.76028868e-03 1.53668380e+02] [-3.30633064e-01 9.43754544e-01 -3.02301062e-03 -2.32838772e+01] [-8.32335636e-03 2.87075662e-04 9.99965319e-01 -2.47889483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters 0.02031946113075939 Centerline is valid? [True, True] Translation: X:153.72, Y:-23.31, Z:-2.48 [[ 9.46122408e-01 3.23688531e-01 8.83881830e-03 1.53724052e+02] [-3.23670458e-01 9.46163610e-01 -3.44346357e-03 -2.33090863e+01] [-9.47757790e-03 3.97073672e-04 9.99955008e-01 -2.47892272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters 0.02235298810803274 Centerline is valid? [True, True] Translation: X:153.78, Y:-23.33, Z:-2.48 [[ 9.47137038e-01 3.20672873e-01 1.00169427e-02 1.53779631e+02] [-3.20649488e-01 9.47189883e-01 -3.90284625e-03 -2.33328315e+01] [-1.07394837e-02 4.84602695e-04 9.99942213e-01 -2.47954680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters 0.020784294324328212 Centerline is valid? [True, True] Translation: X:153.84, Y:-23.35, Z:-2.48 [[ 9.47358973e-01 3.19978246e-01 1.11758269e-02 1.53839548e+02] [-3.19949097e-01 9.47424731e-01 -4.35367923e-03 -2.33503117e+01] [-1.19813374e-02 5.48801358e-04 9.99928071e-01 -2.47973428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters 0.022589703671498516 Centerline is valid? [True, True] Translation: X:153.90, Y:-23.37, Z:-2.48 [[ 9.46705452e-01 3.21895262e-01 1.14990066e-02 1.53896272e+02] [-3.21864492e-01 9.46775129e-01 -4.48376643e-03 -2.33718022e+01] [-1.23302766e-02 5.43684210e-04 9.99923831e-01 -2.48098127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters 0.02023891339255989 Centerline is valid? [True, True] Translation: X:153.96, Y:-23.39, Z:-2.48 [[ 9.45114593e-01 3.26496598e-01 1.25848328e-02 1.53956093e+02] [-3.26460141e-01 9.45198228e-01 -4.90772420e-03 -2.33853681e+01] [-1.34975170e-02 5.29915465e-04 9.99908764e-01 -2.48191120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters 0.01851800090720276 Centerline is valid? [True, True] Translation: X:154.02, Y:-23.40, Z:-2.48 [[ 9.44250584e-01 3.28969703e-01 1.30295558e-02 1.54015648e+02] [-3.28930851e-01 9.44340337e-01 -5.08167459e-03 -2.34013587e+01] [-1.39760521e-02 5.12551333e-04 9.99902199e-01 -2.48269035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters 0.01733505281798292 Centerline is valid? [True, True] Translation: X:154.08, Y:-23.42, Z:-2.49 [[ 9.43352799e-01 3.31535896e-01 1.30171979e-02 1.54076101e+02] [-3.31497360e-01 9.43442486e-01 -5.07695378e-03 -2.34162243e+01] [-1.39641700e-02 4.74191811e-04 9.99902384e-01 -2.48520057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters 0.017864950724061593 Centerline is valid? [True, True] Translation: X:154.13, Y:-23.43, Z:-2.49 [[ 9.43189606e-01 3.31948166e-01 1.42752420e-02 1.54134642e+02] [-3.31901799e-01 9.43297486e-01 -5.57212608e-03 -2.34343920e+01] [-1.53154569e-02 5.17592898e-04 9.99882578e-01 -2.48587478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters 0.017756360616076942 Centerline is valid? [True, True] Translation: X:154.19, Y:-23.45, Z:-2.49 [[ 9.43059578e-01 3.32343312e-01 1.36584962e-02 1.54194727e+02] [-3.32300879e-01 9.43158355e-01 -5.33327692e-03 -2.34535898e+01] [-1.46546037e-02 4.90867591e-04 9.99892495e-01 -2.48767933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters 0.01873393469139359 Centerline is valid? [True, True] Translation: X:154.25, Y:-23.47, Z:-2.49 [[ 9.42804031e-01 3.33108675e-01 1.26162726e-02 1.54253648e+02] [-3.33072485e-01 9.42888334e-01 -4.93036009e-03 -2.34719023e+01] [-1.35380820e-02 4.46230100e-04 9.99908256e-01 -2.49065828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters 0.016610729648338596 Centerline is valid? [True, True] Translation: X:154.31, Y:-23.49, Z:-2.49 [[ 9.42444978e-01 3.34110884e-01 1.29375317e-02 1.54313920e+02] [-3.34072896e-01 9.42533670e-01 -5.05777766e-03 -2.34886571e+01] [-1.38839178e-02 4.44598473e-04 9.99903515e-01 -2.49129259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters 0.01589872730736586 Centerline is valid? [True, True] Translation: X:154.37, Y:-23.51, Z:-2.49 [[ 9.41650810e-01 3.36348827e-01 1.27756958e-02 1.54374159e+02] [-3.36311939e-01 9.41737383e-01 -4.99811028e-03 -2.35055073e+01] [-1.37124588e-02 4.09855581e-04 9.99905896e-01 -2.49160096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters 0.01643845740980019 Centerline is valid? [True, True] Translation: X:154.43, Y:-23.52, Z:-2.49 [[ 9.40877351e-01 3.38514399e-01 1.25622811e-02 1.54432736e+02] [-3.38478878e-01 9.40961137e-01 -4.91817007e-03 -2.35245026e+01] [-1.34854897e-02 3.75328029e-04 9.99908996e-01 -2.49321507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters 0.01576610428348051 Centerline is valid? [True, True] Translation: X:154.49, Y:-23.54, Z:-2.50 [[ 9.40409378e-01 3.39818755e-01 1.23860870e-02 1.54492452e+02] [-3.39784291e-01 9.40490876e-01 -4.85263945e-03 -2.35422870e+01] [-1.32980197e-02 3.54869847e-04 9.99911514e-01 -2.49521736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters 0.01528646944222914 Centerline is valid? [True, True] Translation: X:154.55, Y:-23.56, Z:-2.50 [[ 9.40430347e-01 3.39776194e-01 1.19541003e-02 1.54552481e+02] [-3.39744049e-01 9.40506256e-01 -4.68649369e-03 -2.35621828e+01] [-1.28352651e-02 3.45986467e-04 9.99917565e-01 -2.49706856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters 0.016057356174439763 Centerline is valid? [True, True] Translation: X:154.61, Y:-23.58, Z:-2.50 [[ 9.40793905e-01 3.38786431e-01 1.14272709e-02 1.54610647e+02] [-3.38756938e-01 9.40863239e-01 -4.48364777e-03 -2.35830701e+01] [-1.22704981e-02 3.47121212e-04 9.99924654e-01 -2.49932750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters 0.016799890463484703 Centerline is valid? [True, True] Translation: X:154.67, Y:-23.61, Z:-2.50 [[ 9.41104163e-01 3.37919895e-01 1.15368328e-02 1.54668880e+02] [-3.37889727e-01 9.41174804e-01 -4.52996113e-03 -2.36053192e+01] [-1.23889404e-02 3.64987982e-04 9.99923188e-01 -2.50084723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters 0.01742364499064573 Centerline is valid? [True, True] Translation: X:154.73, Y:-23.63, Z:-2.50 [[ 9.41620772e-01 3.36467894e-01 1.18185456e-02 1.54727221e+02] [-3.36436077e-01 9.41694855e-01 -4.64399047e-03 -2.36269064e+01] [-1.26920173e-02 3.96692772e-04 9.99919374e-01 -2.50164926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters 0.018654360838701024 Centerline is valid? [True, True] Translation: X:154.79, Y:-23.65, Z:-2.50 [[ 9.42491207e-01 3.34047057e-01 1.10854900e-02 1.54785240e+02] [-3.34018863e-01 9.42556311e-01 -4.35887336e-03 -2.36476173e+01] [-1.19047674e-02 4.05437036e-04 9.99929054e-01 -2.50363399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters 0.018397301793202706 Centerline is valid? [True, True] Translation: X:154.84, Y:-23.67, Z:-2.50 [[ 9.43862201e-01 3.30166569e-01 1.06856063e-02 1.54842703e+02] [-3.30140084e-01 9.43922583e-01 -4.20509421e-03 -2.36678481e+01] [-1.14747666e-02 4.41282515e-04 9.99934065e-01 -2.50487512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters 0.020380723880143392 Centerline is valid? [True, True] Translation: X:154.90, Y:-23.69, Z:-2.51 [[ 9.44560464e-01 3.28182617e-01 1.00846324e-02 1.54899009e+02] [-3.28158919e-01 9.44614195e-01 -3.96811090e-03 -2.36920473e+01] [-1.08283519e-02 4.38758615e-04 9.99941275e-01 -2.50632746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters 0.02189461546136167 Centerline is valid? [True, True] Translation: X:154.96, Y:-23.71, Z:-2.51 [[ 9.45547839e-01 3.25240857e-01 1.25566193e-02 1.54956124e+02] [-3.25203795e-01 9.45631024e-01 -4.94557813e-03 -2.37129647e+01] [-1.34824328e-02 5.92820476e-04 9.99908932e-01 -2.50544057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters 0.02139419319282473 Centerline is valid? [True, True] Translation: X:155.01, Y:-23.73, Z:-2.51 [[ 9.45221737e-01 3.26162876e-01 1.31774667e-02 1.55014955e+02] [-3.26122149e-01 9.45313392e-01 -5.18997519e-03 -2.37337945e+01] [-1.41496130e-02 6.08213606e-04 9.99899704e-01 -2.50539088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters 0.018712573954326794 Centerline is valid? [True, True] Translation: X:155.07, Y:-23.75, Z:-2.51 [[ 9.44457126e-01 3.28347063e-01 1.37456717e-02 1.55074288e+02] [-3.28302916e-01 9.44556955e-01 -5.41800838e-03 -2.37501707e+01] [-1.47625569e-02 6.04332527e-04 9.99890845e-01 -2.50619237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters 0.02014261607413083 Centerline is valid? [True, True] Translation: X:155.13, Y:-23.77, Z:-2.51 [[ 9.43952562e-01 3.29764795e-01 1.44478494e-02 1.55131071e+02] [-3.29716178e-01 9.44062924e-01 -5.69534421e-03 -2.37733620e+01] [-1.55178029e-02 6.12445079e-04 9.99879404e-01 -2.50674896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters 0.01735457970079387 Centerline is valid? [True, True] Translation: X:155.19, Y:-23.79, Z:-2.51 [[ 9.41457015e-01 3.36902282e-01 1.24716347e-02 1.55191925e+02] [-3.36866635e-01 9.41539520e-01 -4.91961609e-03 -2.37850659e+01] [-1.33999668e-02 4.30329476e-04 9.99910124e-01 -2.50994117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters 0.016341845536170903 Centerline is valid? [True, True] Translation: X:155.25, Y:-23.80, Z:-2.51 [[ 9.40347456e-01 3.40023416e-01 1.14340764e-02 1.55250397e+02] [-3.39993681e-01 9.40416903e-01 -4.51062791e-03 -2.38038764e+01] [-1.22865178e-02 3.54043772e-04 9.99924455e-01 -2.51164942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters 0.015653045610412683 Centerline is valid? [True, True] Translation: X:155.31, Y:-23.82, Z:-2.51 [[ 9.39283936e-01 3.42980929e-01 1.04771221e-02 1.55309829e+02] [-3.42956154e-01 9.39342323e-01 -4.13245527e-03 -2.38225419e+01] [-1.12589575e-02 2.88355366e-04 9.99936574e-01 -2.51317611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters 0.01601399439625328 Centerline is valid? [True, True] Translation: X:155.37, Y:-23.84, Z:-2.51 [[ 9.38921608e-01 3.43963117e-01 1.07512064e-02 1.55366934e+02] [-3.43937055e-01 9.38983116e-01 -4.24383177e-03 -2.38436609e+01] [-1.15549229e-02 2.86887077e-04 9.99933198e-01 -2.51448782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters 0.015578804262128003 Centerline is valid? [True, True] Translation: X:155.43, Y:-23.87, Z:-2.51 [[ 9.39269741e-01 3.42991471e-01 1.13668334e-02 1.55425720e+02] [-3.42962231e-01 9.39338463e-01 -4.48993918e-03 -2.38650163e+01] [-1.22173147e-02 3.18869462e-04 9.99925315e-01 -2.51455416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters 0.016212545915124176 Centerline is valid? [True, True] Translation: X:155.48, Y:-23.89, Z:-2.51 [[ 9.39910443e-01 3.41219302e-01 1.17365903e-02 1.55483502e+02] [-3.41187945e-01 9.39983649e-01 -4.63950986e-03 -2.38887515e+01] [-1.26152933e-02 3.56340637e-04 9.99920361e-01 -2.51486824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters 0.017542094836869828 Centerline is valid? [True, True] Translation: X:155.54, Y:-23.91, Z:-2.52 [[ 9.40717660e-01 3.38998122e-01 1.14261880e-02 1.55539987e+02] [-3.38968198e-01 9.40786974e-01 -4.52005400e-03 -2.39123301e+01] [-1.22818987e-02 3.78980250e-04 9.99924503e-01 -2.51618457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters 0.017974778388702116 Centerline is valid? [True, True] Translation: X:155.60, Y:-23.93, Z:-2.52 [[ 9.40792952e-01 3.38809248e-01 1.08127126e-02 1.55597982e+02] [-3.38782409e-01 9.40855016e-01 -4.27992842e-03 -2.39334043e+01] [-1.16232742e-02 3.63369671e-04 9.99932381e-01 -2.51775965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters 0.017357716313497105 Centerline is valid? [True, True] Translation: X:155.66, Y:-23.95, Z:-2.52 [[ 9.40362169e-01 3.40021773e-01 1.02071564e-02 1.55656396e+02] [-3.39997899e-01 9.40417505e-01 -4.04284527e-03 -2.39541724e+01] [-1.09736440e-02 3.31327014e-04 9.99939733e-01 -2.51873289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters 0.016913752466055466 Centerline is valid? [True, True] Translation: X:155.72, Y:-23.97, Z:-2.52 [[ 9.39805307e-01 3.41565858e-01 9.93725896e-03 1.55715800e+02] [-3.41543287e-01 9.39857792e-01 -3.93863741e-03 -2.39737340e+01] [-1.06849143e-02 3.07548249e-04 9.99942867e-01 -2.51989320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters 0.016437152482878976 Centerline is valid? [True, True] Translation: X:155.78, Y:-23.99, Z:-2.52 [[ 9.39762156e-01 3.41717776e-01 8.72081422e-03 1.55775693e+02] [-3.41700383e-01 9.39802580e-01 -3.45817300e-03 -2.39943252e+01] [-9.37756289e-03 2.69954550e-04 9.99955993e-01 -2.52167284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters 0.017380285918870392 Centerline is valid? [True, True] Translation: X:155.83, Y:-24.02, Z:-2.52 [[ 9.39744149e-01 3.41774057e-01 8.45155396e-03 1.55832719e+02] [-3.41757699e-01 9.39782115e-01 -3.35418792e-03 -2.40174993e+01] [-9.08899367e-03 2.63694843e-04 9.99958659e-01 -2.52313914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters 0.016743630458447074 Centerline is valid? [True, True] Translation: X:155.89, Y:-24.04, Z:-2.52 [[ 9.38715328e-01 3.44595125e-01 8.23002744e-03 1.55891813e+02] [-3.44579699e-01 9.38751376e-01 -3.26881813e-03 -2.40371047e+01] [-8.85236838e-03 2.32589300e-04 9.99960790e-01 -2.52393435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters 0.015552996942864513 Centerline is valid? [True, True] Translation: X:155.95, Y:-24.06, Z:-2.53 [[ 9.37000528e-01 3.49239363e-01 7.86624262e-03 1.55950763e+02] [-3.49225404e-01 9.37033529e-01 -3.12784204e-03 -2.40563079e+01] [-8.46329864e-03 1.83697882e-04 9.99964169e-01 -2.52584445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters 0.01253669887067803 Centerline is valid? [True, True] Translation: X:156.01, Y:-24.07, Z:-2.53 [[ 9.32715628e-01 3.60509806e-01 8.61604239e-03 1.56011027e+02] [-3.60493530e-01 9.32755419e-01 -3.42681682e-03 -2.40704534e+01] [-9.27206130e-03 9.02180695e-05 9.99957009e-01 -2.52541700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters 0.0117958794916493 Centerline is valid? [True, True] Translation: X:156.07, Y:-24.09, Z:-2.53 [[ 9.30060338e-01 3.67302765e-01 8.74332519e-03 1.56069409e+02] [-3.67286316e-01 9.30101434e-01 -3.47618349e-03 -2.40897064e+01] [-9.40899111e-03 2.17566969e-05 9.99955734e-01 -2.52619810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters 0.011704414228381714 Centerline is valid? [True, True] Translation: X:156.13, Y:-24.11, Z:-2.53 [[ 9.28705844e-01 3.70705055e-01 9.12237910e-03 1.56127325e+02] [-3.70687289e-01 9.28750646e-01 -3.62928052e-03 -2.41119667e+01] [-9.81780811e-03 -1.10159533e-05 9.99951804e-01 -2.52718378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters 0.011821550632843401 Centerline is valid? [True, True] Translation: X:156.19, Y:-24.14, Z:-2.53 [[ 9.27694339e-01 3.73216374e-01 9.63078701e-03 1.56185410e+02] [-3.73196677e-01 9.27744327e-01 -3.83449758e-03 -2.41350351e+01] [-1.03660053e-02 -3.69360103e-05 9.99946271e-01 -2.52769078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters 0.011882640414899802 Centerline is valid? [True, True] Translation: X:156.24, Y:-24.16, Z:-2.53 [[ 9.26613133e-01 3.75918537e-01 8.56479212e-03 1.56242998e+02] [-3.75903054e-01 9.26652713e-01 -3.41226885e-03 -2.41591773e+01] [-9.21932297e-03 -5.76783848e-05 9.99957499e-01 -2.52901795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters 0.01197524209515445 Centerline is valid? [True, True] Translation: X:156.30, Y:-24.19, Z:-2.53 [[ 9.26184893e-01 3.76964545e-01 8.90370242e-03 1.56300451e+02] [-3.76947838e-01 9.26227686e-01 -3.54971122e-03 -2.41857811e+01] [-9.58497097e-03 -6.85424650e-05 9.99954061e-01 -2.52958078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters 0.011863763192206361 Centerline is valid? [True, True] Translation: X:156.36, Y:-24.21, Z:-2.53 [[ 9.26468758e-01 3.76304719e-01 7.09915265e-03 1.56356454e+02] [-3.76294069e-01 9.26495956e-01 -2.83151597e-03 -2.42141346e+01] [-7.64284904e-03 -4.80579546e-05 9.99970792e-01 -2.53127974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters 0.011667984397495142 Centerline is valid? [True, True] Translation: X:156.41, Y:-24.24, Z:-2.53 [[ 9.27768065e-01 3.73102345e-01 6.40763507e-03 1.56411442e+02] [-3.73093579e-01 9.27790192e-01 -2.55751381e-03 -2.42439504e+01] [-6.89915537e-03 -1.78678687e-05 9.99976200e-01 -2.53358216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters 0.01184747513319991 Centerline is valid? [True, True] Translation: X:156.47, Y:-24.28, Z:-2.53 [[ 9.30089662e-01 3.67283999e-01 5.97361394e-03 1.56465644e+02] [-3.67276250e-01 9.30108845e-01 -2.38590008e-03 -2.42765219e+01] [-6.43241409e-03 2.51344700e-05 9.99979311e-01 -2.53365970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters 0.013149119436611375 Centerline is valid? [True, True] Translation: X:156.52, Y:-24.31, Z:-2.54 [[ 9.32280629e-01 3.61694671e-01 5.45831721e-03 1.56519235e+02] [-3.61688091e-01 9.32296606e-01 -2.18254181e-03 -2.43076149e+01] [-5.87818435e-03 6.05331232e-05 9.99982721e-01 -2.53552850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters 0.013739288472245646 Centerline is valid? [True, True] Translation: X:156.57, Y:-24.34, Z:-2.53 [[ 9.35641525e-01 3.52907727e-01 5.57437991e-03 1.56572468e+02] [-3.52900696e-01 9.35658122e-01 -2.23094037e-03 -2.43391495e+01] [-6.00302994e-03 1.20157902e-04 9.99981974e-01 -2.53394096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters 0.01649702562744933 Centerline is valid? [True, True] Translation: X:156.62, Y:-24.37, Z:-2.53 [[ 9.37933270e-01 3.46765259e-01 5.91913291e-03 1.56624178e+02] [-3.46757212e-01 9.37951932e-01 -2.36838057e-03 -2.43711791e+01] [-6.37313425e-03 1.68880909e-04 9.99979677e-01 -2.53463186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters 0.015966336616383015 Centerline is valid? [True, True] Translation: X:156.68, Y:-24.40, Z:-2.53 [[ 9.38593139e-01 3.44962155e-01 6.63555133e-03 1.56680908e+02] [-3.44952003e-01 9.38616573e-01 -2.65431259e-03 -2.43957842e+01] [-7.14387584e-03 2.02372865e-04 9.99974462e-01 -2.53439384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters 0.016435826161891532 Centerline is valid? [True, True] Translation: X:156.74, Y:-24.42, Z:-2.53 [[ 9.38335318e-01 3.45643745e-01 7.56519435e-03 1.56736515e+02] [-3.45630547e-01 9.38365787e-01 -3.02915400e-03 -2.44212067e+01] [-8.14592768e-03 2.27599927e-04 9.99966795e-01 -2.53437068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters 0.015780503804375835 Centerline is valid? [True, True] Translation: X:156.80, Y:-24.44, Z:-2.54 [[ 9.37776043e-01 3.47170245e-01 6.99390638e-03 1.56795020e+02] [-3.47158985e-01 9.37802101e-01 -2.80321700e-03 -2.44434609e+01] [-7.53209363e-03 2.00792304e-04 9.99971613e-01 -2.53555875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters 0.016299360585491935 Centerline is valid? [True, True] Translation: X:156.85, Y:-24.47, Z:-2.54 [[ 9.37394831e-01 3.48220310e-01 5.79184549e-03 1.56851590e+02] [-3.48212615e-01 9.37412711e-01 -2.32032918e-03 -2.44664524e+01] [-6.23733533e-03 1.58270917e-04 9.99980535e-01 -2.53841494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters 0.015402474124505468 Centerline is valid? [True, True] Translation: X:156.91, Y:-24.49, Z:-2.54 [[ 9.37182710e-01 3.48784685e-01 6.14901719e-03 1.56909689e+02] [-3.48776014e-01 9.37202868e-01 -2.46505138e-03 -2.44884171e+01] [-6.62264872e-03 1.65573826e-04 9.99978056e-01 -2.53885867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters 0.015429781295925394 Centerline is valid? [True, True] Translation: X:156.97, Y:-24.51, Z:-2.54 [[ 9.36410591e-01 3.50834491e-01 7.09682173e-03 1.56966986e+02] [-3.50822977e-01 9.36437467e-01 -2.84775073e-03 -2.45112314e+01] [-7.64481894e-03 1.76935819e-04 9.99970762e-01 -2.53941613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters 0.014518575261806293 Centerline is valid? [True, True] Translation: X:157.03, Y:-24.53, Z:-2.54 [[ 9.35278654e-01 3.53839366e-01 7.17934739e-03 1.57025820e+02] [-3.53827656e-01 9.35306195e-01 -2.88293824e-03 -2.45310752e+01] [-7.73498513e-03 1.56098938e-04 9.99970072e-01 -2.54118765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters 0.014056814393924992 Centerline is valid? [True, True] Translation: X:157.08, Y:-24.55, Z:-2.54 [[ 9.34210902e-01 3.56658895e-01 6.66512615e-03 1.57083741e+02] [-3.56648862e-01 9.34234669e-01 -2.67806239e-03 -2.45530693e+01] [-7.18194670e-03 1.24765423e-04 9.99974202e-01 -2.54253908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters 0.014433782374910595 Centerline is valid? [True, True] Translation: X:157.14, Y:-24.58, Z:-2.54 [[ 9.34054474e-01 3.57074766e-01 6.31273788e-03 1.57141123e+02] [-3.57065760e-01 9.34075799e-01 -2.53874701e-03 -2.45768595e+01] [-6.80309817e-03 1.17265453e-04 9.99976852e-01 -2.54403465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters 0.015447991279999896 Centerline is valid? [True, True] Translation: X:157.20, Y:-24.60, Z:-2.54 [[ 9.35256055e-01 3.53917180e-01 6.22425410e-03 1.57197380e+02] [-3.53908350e-01 9.35276756e-01 -2.50388434e-03 -2.46019253e+01] [-6.70756786e-03 1.38957488e-04 9.99977494e-01 -2.54447735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters 0.016715709995238772 Centerline is valid? [True, True] Translation: X:157.25, Y:-24.63, Z:-2.55 [[ 9.36816395e-01 3.49776787e-01 5.58928287e-03 1.57253587e+02] [-3.49769587e-01 9.36833056e-01 -2.24949131e-03 -2.46274972e+01] [-6.02304480e-03 1.52399182e-04 9.99981850e-01 -2.54610610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters 0.016755873210675253 Centerline is valid? [True, True] Translation: X:157.31, Y:-24.65, Z:-2.55 [[ 9.37918825e-01 3.46798586e-01 6.24651341e-03 1.57311408e+02] [-3.46789503e-01 9.37939605e-01 -2.51756478e-03 -2.46512238e+01] [-6.73194022e-03 1.95046120e-04 9.99977321e-01 -2.54670219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters 0.01875070173963643 Centerline is valid? [True, True] Translation: X:157.37, Y:-24.68, Z:-2.55 [[ 9.39140944e-01 3.43479963e-01 5.98344863e-03 1.57367062e+02] [-3.43471561e-01 9.39159982e-01 -2.41156803e-03 -2.46765373e+01] [-6.44774081e-03 2.09657832e-04 9.99979191e-01 -2.54836039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters 0.019305650098585248 Centerline is valid? [True, True] Translation: X:157.42, Y:-24.70, Z:-2.55 [[ 9.39200961e-01 3.43346252e-01 3.86089183e-03 1.57424975e+02] [-3.43342760e-01 9.39208887e-01 -1.55431189e-03 -2.46995613e+01] [-4.15985108e-03 1.34201962e-04 9.99991339e-01 -2.55185411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters 0.019745744258705348 Centerline is valid? [True, True] Translation: X:157.48, Y:-24.72, Z:-2.55 [[ 9.38873285e-01 3.44232915e-01 4.54472153e-03 1.57482316e+02] [-3.44228076e-01 9.38884272e-01 -1.83163477e-03 -2.47224686e+01] [-4.89747654e-03 1.55252205e-04 9.99987995e-01 -2.55235570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters 0.0162708255612953 Centerline is valid? [True, True] Translation: X:157.54, Y:-24.74, Z:-2.55 [[ 9.37945459e-01 3.46760173e-01 3.96211800e-03 1.57543200e+02] [-3.46756508e-01 9.37953819e-01 -1.59920397e-03 -2.47389578e+01] [-4.27082396e-03 1.26075895e-04 9.99990872e-01 -2.55164379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters 0.01572360704124476 Centerline is valid? [True, True] Translation: X:157.60, Y:-24.76, Z:-2.55 [[ 9.36566358e-01 3.50467862e-01 3.96682593e-03 1.57600897e+02] [-3.50464217e-01 9.36574752e-01 -1.60220331e-03 -2.47595193e+01] [-4.27674978e-03 1.10339176e-04 9.99990849e-01 -2.55271718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters 0.014365945955692273 Centerline is valid? [True, True] Translation: X:157.66, Y:-24.78, Z:-2.55 [[ 9.34745199e-01 3.55270462e-01 5.85759773e-03 1.57660152e+02] [-3.55262606e-01 9.34763543e-01 -2.36623801e-03 -2.47784843e+01] [-6.31612328e-03 1.30844186e-04 9.99980045e-01 -2.55200439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters 0.014581726609868798 Centerline is valid? [True, True] Translation: X:157.72, Y:-24.80, Z:-2.55 [[ 9.34603058e-01 3.55643794e-01 5.88356872e-03 1.57717017e+02] [-3.55635886e-01 9.34621568e-01 -2.37494595e-03 -2.48023161e+01] [-6.34354501e-03 1.27223575e-04 9.99979871e-01 -2.55224840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters 0.014538399595000272 Centerline is valid? [True, True] Translation: X:157.78, Y:-24.83, Z:-2.55 [[ 9.34721060e-01 3.55326557e-01 6.29109358e-03 1.57775028e+02] [-3.55317495e-01 9.34742220e-01 -2.54148531e-03 -2.48259057e+01] [-6.78360801e-03 1.40244225e-04 9.99976981e-01 -2.55259513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters 0.015247087273775266 Centerline is valid? [True, True] Translation: X:157.83, Y:-24.85, Z:-2.55 [[ 9.35112481e-01 3.54300041e-01 6.01077604e-03 1.57831295e+02] [-3.54291727e-01 9.35131788e-01 -2.43154939e-03 -2.48504333e+01] [-6.48236579e-03 1.44203961e-04 9.99978979e-01 -2.55422165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters 0.015432338608155119 Centerline is valid? [True, True] Translation: X:157.89, Y:-24.87, Z:-2.56 [[ 9.35514006e-01 3.53214904e-01 7.26466585e-03 1.57888429e+02] [-3.53202721e-01 9.35542194e-01 -2.93941229e-03 -2.48743026e+01] [-7.83464566e-03 1.83961618e-04 9.99969292e-01 -2.55526411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters 0.015538597434313246 Centerline is valid? [True, True] Translation: X:157.95, Y:-24.90, Z:-2.56 [[ 9.35790154e-01 3.52484495e-01 7.17413860e-03 1.57945903e+02] [-3.52472577e-01 9.35817634e-01 -2.90477675e-03 -2.48987445e+01] [-7.73757418e-03 1.89574361e-04 9.99970047e-01 -2.55633716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters 0.016142655909477655 Centerline is valid? [True, True] Translation: X:158.00, Y:-24.92, Z:-2.56 [[ 9.36611942e-01 3.50297539e-01 7.05013916e-03 1.58002421e+02] [-3.50285952e-01 9.36638453e-01 -2.85650313e-03 -2.49241776e+01] [-7.60405745e-03 2.05870234e-04 9.99971068e-01 -2.55802192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters 0.016911412281321467 Centerline is valid? [True, True] Translation: X:158.06, Y:-24.95, Z:-2.56 [[ 9.36843016e-01 3.49682204e-01 6.89339520e-03 1.58059018e+02] [-3.49671096e-01 9.36868354e-01 -2.79491842e-03 -2.49489567e+01] [-7.43553705e-03 2.07978747e-04 9.99972334e-01 -2.55897685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters 0.016168651221167896 Centerline is valid? [True, True] Translation: X:158.12, Y:-24.97, Z:-2.56 [[ 9.36293032e-01 3.51132866e-01 7.81463987e-03 1.58117486e+02] [-3.51118607e-01 9.36325616e-01 -3.17244816e-03 -2.49713437e+01] [-8.43099830e-03 2.26475644e-04 9.99964433e-01 -2.55898608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters 0.015800227667138875 Centerline is valid? [True, True] Translation: X:158.18, Y:-24.99, Z:-2.56 [[ 9.35380334e-01 3.53557002e-01 7.81520770e-03 1.58175067e+02] [-3.53542830e-01 9.35412959e-01 -3.17223278e-03 -2.49938606e+01] [-8.43201167e-03 2.04233513e-04 9.99964429e-01 -2.55979144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters 0.01457893953946196 Centerline is valid? [True, True] Translation: X:158.23, Y:-25.02, Z:-2.56 [[ 9.34034326e-01 3.57107573e-01 7.35245297e-03 1.58233962e+02] [-3.57095114e-01 9.34063249e-01 -2.98757001e-03 -2.50154947e+01] [-7.93453999e-03 1.64967912e-04 9.99968507e-01 -2.56080525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters 0.012472037534720221 Centerline is valid? [True, True] Translation: X:158.29, Y:-25.03, Z:-2.56 [[ 9.29983440e-01 3.67538652e-01 6.79278009e-03 1.58292157e+02] [-3.67528285e-01 9.30008244e-01 -2.76132961e-03 -2.50338272e+01] [-7.33223685e-03 7.14519931e-05 9.99973116e-01 -2.56274829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters 0.01183319519465518 Centerline is valid? [True, True] Translation: X:158.35, Y:-25.06, Z:-2.56 [[ 9.27667424e-01 3.73333067e-01 7.45464068e-03 1.58351230e+02] [-3.73320772e-01 9.27697375e-01 -3.03009658e-03 -2.50550166e+01] [-8.04688584e-03 2.79496727e-05 9.99967623e-01 -2.56387086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters 0.011672014527153224 Centerline is valid? [True, True] Translation: X:158.41, Y:-25.08, Z:-2.56 [[ 9.25562044e-01 3.78520719e-01 7.54763848e-03 1.58409980e+02] [-3.78508294e-01 9.25592818e-01 -3.06707526e-03 -2.50776332e+01] [-8.14699150e-03 -1.80753170e-05 9.99966813e-01 -2.56481121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters 0.011880462811389029 Centerline is valid? [True, True] Translation: X:158.47, Y:-25.10, Z:-2.56 [[ 9.23625020e-01 3.83200189e-01 8.62775146e-03 1.58467462e+02] [-3.83184123e-01 9.23665313e-01 -3.50954222e-03 -2.51034647e+01] [-9.31401199e-03 -6.45163801e-05 9.99956622e-01 -2.56442139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters 0.012050849376141782 Centerline is valid? [True, True] Translation: X:158.52, Y:-25.13, Z:-2.57 [[ 9.22822897e-01 3.85124021e-01 8.79704429e-03 1.58523451e+02] [-3.85107375e-01 9.22864823e-01 -3.58169998e-03 -2.51314524e+01] [-9.49788142e-03 -8.25318777e-05 9.99954891e-01 -2.56536613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters 0.012032423579126492 Centerline is valid? [True, True] Translation: X:158.58, Y:-25.16, Z:-2.57 [[ 9.22556285e-01 3.85768538e-01 8.51678587e-03 1.58579787e+02] [-3.85752943e-01 9.22595593e-01 -3.46966732e-03 -2.51586744e+01] [-9.19603760e-03 -8.44118227e-05 9.99957712e-01 -2.56667415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters 0.012214399124285359 Centerline is valid? [True, True] Translation: X:158.64, Y:-25.19, Z:-2.57 [[ 9.22367588e-01 3.86244264e-01 7.30756225e-03 1.58635097e+02] [-3.86232785e-01 9.22396532e-01 -2.97877525e-03 -2.51897021e+01] [-7.89100493e-03 -7.48943737e-05 9.99968863e-01 -2.56897849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters 0.011984532858835434 Centerline is valid? [True, True] Translation: X:158.69, Y:-25.22, Z:-2.57 [[ 9.22779319e-01 3.85262964e-01 7.12577804e-03 1.58689492e+02] [-3.85252001e-01 9.22806829e-01 -2.90712970e-03 -2.52213921e+01] [-7.69572605e-03 -6.25810858e-05 9.99970386e-01 -2.57008016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters 0.011799342193463958 Centerline is valid? [True, True] Translation: X:158.75, Y:-25.25, Z:-2.57 [[ 9.23498579e-01 3.83560384e-01 5.63975701e-03 1.58745295e+02] [-3.83553483e-01 9.23515799e-01 -2.30116656e-03 -2.52522064e+01] [-6.09104103e-03 -3.80243915e-05 9.99981449e-01 -2.57173148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters 0.01174605561158605 Centerline is valid? [True, True] Translation: X:158.80, Y:-25.28, Z:-2.57 [[ 9.24775430e-01 3.80482910e-01 4.81243289e-03 1.58800362e+02] [-3.80477838e-01 9.24787951e-01 -1.96452148e-03 -2.52834665e+01] [-5.19794680e-03 -1.42828683e-05 9.99986490e-01 -2.57329215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters 0.01181128629572148 Centerline is valid? [True, True] Translation: X:158.86, Y:-25.32, Z:-2.57 [[ 9.26494069e-01 3.76283654e-01 4.39910026e-03 1.58855206e+02] [-3.76279364e-01 9.26504512e-01 -1.79677672e-03 -2.53160044e+01] [-4.75188395e-03 9.41232650e-06 9.99988710e-01 -2.57382496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters 0.01283967635498397 Centerline is valid? [True, True] Translation: X:158.91, Y:-25.35, Z:-2.57 [[ 9.29436832e-01 3.68944030e-01 5.24200070e-03 1.58906636e+02] [-3.68937803e-01 9.29451612e-01 -2.14437618e-03 -2.53519691e+01] [-5.66334079e-03 5.90899797e-05 9.99983961e-01 -2.57438615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters 0.013355491985676253 Centerline is valid? [True, True] Translation: X:158.96, Y:-25.38, Z:-2.57 [[ 9.31457614e-01 3.63802912e-01 5.84414290e-03 1.58959975e+02] [-3.63795059e-01 9.31475942e-01 -2.39264723e-03 -2.53844603e+01] [-6.31413054e-03 1.02579176e-04 9.99980060e-01 -2.57334036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters 0.01392871434268283 Centerline is valid? [True, True] Translation: X:159.01, Y:-25.41, Z:-2.57 [[ 9.31631867e-01 3.63347359e-01 6.38438930e-03 1.59014803e+02] [-3.63337957e-01 9.31653735e-01 -2.61649133e-03 -2.54134744e+01] [-6.89873536e-03 1.17915740e-04 9.99976196e-01 -2.57440859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters 0.013156387863099259 Centerline is valid? [True, True] Translation: X:159.07, Y:-25.44, Z:-2.57 [[ 9.30373278e-01 3.66552875e-01 6.67480603e-03 1.59071039e+02] [-3.66542674e-01 9.30397216e-01 -2.73639857e-03 -2.54393955e+01] [-7.21325572e-03 9.92708584e-05 9.99973979e-01 -2.57490617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters 0.01241631108901415 Centerline is valid? [True, True] Translation: X:159.13, Y:-25.46, Z:-2.58 [[ 9.28751098e-01 3.70650794e-01 6.27593207e-03 1.59128102e+02] [-3.70641860e-01 9.28772300e-01 -2.57440726e-03 -2.54645423e+01] [-6.78311796e-03 6.48604376e-05 9.99976992e-01 -2.57632844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters 0.012061975488963443 Centerline is valid? [True, True] Translation: X:159.18, Y:-25.49, Z:-2.58 [[ 9.27731218e-01 3.73191838e-01 6.52988242e-03 1.59184756e+02] [-3.73182214e-01 9.27754197e-01 -2.68065553e-03 -2.54902831e+01] [-7.05852458e-03 5.00918470e-05 9.99975087e-01 -2.57730550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters 0.011855562443539894 Centerline is valid? [True, True] Translation: X:159.24, Y:-25.52, Z:-2.58 [[ 9.26285876e-01 3.76767518e-01 6.38067453e-03 1.59241695e+02] [-3.76758401e-01 9.26307852e-01 -2.62115796e-03 -2.55160378e+01] [-6.89803610e-03 2.39688677e-05 9.99976208e-01 -2.57824990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters 0.011751064799961991 Centerline is valid? [True, True] Translation: X:159.30, Y:-25.54, Z:-2.58 [[ 9.25118789e-01 3.79641966e-01 5.21575287e-03 1.59299207e+02] [-3.79635918e-01 9.25133492e-01 -2.14293668e-03 -2.55415745e+01] [-5.63881636e-03 2.38386052e-06 9.99984102e-01 -2.58040170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters 0.011684032634119176 Centerline is valid? [True, True] Translation: X:159.36, Y:-25.57, Z:-2.58 [[ 9.24411623e-01 3.81363605e-01 4.99514607e-03 1.59356619e+02] [-3.81358075e-01 9.24425119e-01 -2.05368798e-03 -2.55675791e+01] [-5.40084035e-03 -6.48624582e-06 9.99985415e-01 -2.58108656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters 0.011693224291437298 Centerline is valid? [True, True] Translation: X:159.41, Y:-25.59, Z:-2.58 [[ 9.24045598e-01 3.82247056e-01 5.18846217e-03 1.59414649e+02] [-3.82241094e-01 9.24060165e-01 -2.13505786e-03 -2.55918667e+01] [-5.61057079e-03 -1.03526339e-05 9.99984261e-01 -2.58134697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters 0.011608378196226784 Centerline is valid? [True, True] Translation: X:159.47, Y:-25.62, Z:-2.58 [[ 9.24458355e-01 3.81259419e-01 4.24329367e-03 1.59472926e+02] [-3.81255418e-01 9.24468093e-01 -1.74665555e-03 -2.56165673e+01] [-4.58871849e-03 -3.06839085e-06 9.99989472e-01 -2.58336939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters 0.011680591798668318 Centerline is valid? [True, True] Translation: X:159.53, Y:-25.64, Z:-2.58 [[ 9.25836178e-01 3.77899086e-01 4.43308690e-03 1.59530732e+02] [-3.77894673e-01 9.25846791e-01 -1.82642772e-03 -2.56420427e+01] [-4.79456464e-03 1.57329324e-05 9.99988506e-01 -2.58382037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters 0.012302971013743828 Centerline is valid? [True, True] Translation: X:159.59, Y:-25.67, Z:-2.58 [[ 9.27614049e-01 3.73513788e-01 4.43013250e-03 1.59586888e+02] [-3.73509321e-01 9.27624627e-01 -1.82714875e-03 -2.56677731e+01] [-4.79196525e-03 4.01930646e-05 9.99988518e-01 -2.58471508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters 0.014240351153746503 Centerline is valid? [True, True] Translation: X:159.64, Y:-25.69, Z:-2.59 [[ 9.30334021e-01 3.66682693e-01 4.73419478e-03 1.59642518e+02] [-3.66677487e-01 9.30346062e-01 -1.95571455e-03 -2.56939252e+01] [-5.12156615e-03 8.35451327e-05 9.99986881e-01 -2.58608797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters 0.016080599691780086 Centerline is valid? [True, True] Translation: X:159.70, Y:-25.72, Z:-2.59 [[ 9.32786145e-01 3.60418797e-01 2.88072370e-03 1.59698737e+02] [-3.60416842e-01 9.32790590e-01 -1.18939414e-03 -2.57180976e+01] [-3.11579196e-03 7.11890417e-05 9.99995143e-01 -2.58865510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters 0.017066074874724634 Centerline is valid? [True, True] Translation: X:159.76, Y:-25.74, Z:-2.59 [[ 9.34279612e-01 3.56528898e-01 2.95843404e-03 1.59755688e+02] [-3.56526811e-01 9.34284291e-01 -1.22291622e-03 -2.57426031e+01] [-3.20002342e-03 8.77846333e-05 9.99994876e-01 -2.58894103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters 0.018530268702313717 Centerline is valid? [True, True] Translation: X:159.81, Y:-25.77, Z:-2.59 [[ 9.35560171e-01 3.53156601e-01 2.75348525e-03 1.59811799e+02] [-3.53154785e-01 9.35564219e-01 -1.13620072e-03 -2.57675970e+01] [-2.97731906e-03 9.05776456e-05 9.99995564e-01 -2.58974815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters 0.020263715964700692 Centerline is valid? [True, True] Translation: X:159.87, Y:-25.79, Z:-2.59 [[ 9.36678866e-01 3.50174546e-01 3.23861133e-03 1.59868781e+02] [-3.50172003e-01 9.36684457e-01 -1.33996958e-03 -2.57917538e+01] [-3.50278014e-03 1.21050173e-04 9.99993858e-01 -2.59097327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters 0.01815979848245211 Centerline is valid? [True, True] Translation: X:159.93, Y:-25.81, Z:-2.59 [[ 9.36162247e-01 3.51534426e-01 4.87793204e-03 1.59928314e+02] [-3.51528681e-01 9.36174940e-01 -2.01718436e-03 -2.58112768e+01] [-5.27570748e-03 1.73678831e-04 9.99986068e-01 -2.58936775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters 0.017805355861019227 Centerline is valid? [True, True] Translation: X:159.99, Y:-25.83, Z:-2.59 [[ 9.35219835e-01 3.54024730e-01 5.50910873e-03 1.59985599e+02] [-3.54017420e-01 9.35236043e-01 -2.28256844e-03 -2.58328407e+01] [-5.96040273e-03 1.84382822e-04 9.99982220e-01 -2.58932917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters 0.016341356073246594 Centerline is valid? [True, True] Translation: X:160.04, Y:-25.85, Z:-2.59 [[ 9.33986704e-01 3.57259530e-01 5.87072320e-03 1.60044543e+02] [-3.57251292e-01 9.34005138e-01 -2.43249026e-03 -2.58524864e+01] [-6.35231596e-03 1.74590109e-04 9.99979809e-01 -2.58964768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters 0.01624234509585951 Centerline is valid? [True, True] Translation: X:160.10, Y:-25.88, Z:-2.59 [[ 9.32983826e-01 3.59867209e-01 6.06403794e-03 1.60101832e+02] [-3.59858483e-01 9.33003519e-01 -2.51109778e-03 -2.58751903e+01] [-6.56143049e-03 1.60618121e-04 9.99978461e-01 -2.59092419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters 0.014858912657306106 Centerline is valid? [True, True] Translation: X:160.16, Y:-25.90, Z:-2.59 [[ 9.32305065e-01 3.61625006e-01 5.88391362e-03 1.60160609e+02] [-3.61616817e-01 9.32323621e-01 -2.43797700e-03 -2.58951244e+01] [-6.36734510e-03 1.45216185e-04 9.99979718e-01 -2.59078598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters 0.015469681464137073 Centerline is valid? [True, True] Translation: X:160.22, Y:-25.92, Z:-2.59 [[ 9.32810062e-01 3.60330982e-01 5.19341628e-03 1.60218640e+02] [-3.60324577e-01 9.32824509e-01 -2.15289967e-03 -2.59179155e+01] [-5.62030244e-03 1.36930950e-04 9.99984197e-01 -2.59311833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters 0.016593736495242716 Centerline is valid? [True, True] Translation: X:160.27, Y:-25.94, Z:-2.59 [[ 9.33682265e-01 3.58069243e-01 4.88311001e-03 1.60274893e+02] [-3.58063541e-01 9.33695024e-01 -2.02565450e-03 -2.59432828e+01] [-5.28466009e-03 1.42854021e-04 9.99986026e-01 -2.59477699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters 0.018832248320774726 Centerline is valid? [True, True] Translation: X:160.33, Y:-25.97, Z:-2.59 [[ 9.35578389e-01 3.53079865e-01 5.26178001e-03 1.60329081e+02] [-3.53073144e-01 9.35593167e-01 -2.18673224e-03 -2.59714586e+01] [-5.69497655e-03 1.88066213e-04 9.99983766e-01 -2.59471040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters 0.01883935077840081 Centerline is valid? [True, True] Translation: X:160.39, Y:-25.99, Z:-2.60 [[ 9.37015454e-01 3.49255768e-01 4.73799963e-03 1.60386084e+02] [-3.49250269e-01 9.37027413e-01 -1.96891504e-03 -2.59947046e+01] [-5.12729047e-03 1.90156175e-04 9.99986837e-01 -2.59568979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters 0.019317426638890158 Centerline is valid? [True, True] Translation: X:160.44, Y:-26.02, Z:-2.60 [[ 9.37238219e-01 3.48657939e-01 4.70763219e-03 1.60442995e+02] [-3.48652515e-01 9.37250023e-01 -1.95404380e-03 -2.60193284e+01] [-5.09352126e-03 1.90076727e-04 9.99987010e-01 -2.59664745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters 0.01876165368832168 Centerline is valid? [True, True] Translation: X:160.50, Y:-26.04, Z:-2.60 [[ 9.36455543e-01 3.50756953e-01 4.53604336e-03 1.60501338e+02] [-3.50751927e-01 9.36466513e-01 -1.88583404e-03 -2.60424256e+01] [-4.90932211e-03 1.74973786e-04 9.99987934e-01 -2.59736634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters 0.018263885430165994 Centerline is valid? [True, True] Translation: X:160.56, Y:-26.07, Z:-2.60 [[ 9.36042838e-01 3.51855163e-01 4.66365441e-03 1.60559277e+02] [-3.51849871e-01 9.36054440e-01 -1.93755834e-03 -2.60653686e+01] [-5.04717432e-03 1.72731411e-04 9.99987248e-01 -2.59841997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters 0.017244606803279588 Centerline is valid? [True, True] Translation: X:160.62, Y:-26.09, Z:-2.60 [[ 9.34631279e-01 3.55590050e-01 4.48202554e-03 1.60617455e+02] [-3.55585187e-01 9.34642014e-01 -1.86573345e-03 -2.60854963e+01] [-4.85252562e-03 1.50030956e-04 9.99988215e-01 -2.60015293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters 0.01697739970226667 Centerline is valid? [True, True] Translation: X:160.68, Y:-26.11, Z:-2.60 [[ 9.33941108e-01 3.57399130e-01 4.45739196e-03 1.60675090e+02] [-3.57394352e-01 9.33951735e-01 -1.85317009e-03 -2.61083408e+01] [-4.82531033e-03 1.37705017e-04 9.99988349e-01 -2.60105444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters 0.01641349361010273 Centerline is valid? [True, True] Translation: X:160.73, Y:-26.13, Z:-2.60 [[ 9.32195139e-01 3.61907695e-01 5.91967427e-03 1.60731432e+02] [-3.61899324e-01 9.32213922e-01 -2.46649736e-03 -2.61293541e+01] [-6.41104715e-03 1.56930738e-04 9.99979437e-01 -2.60160856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters 0.014507878887230853 Centerline is valid? [True, True] Translation: X:160.79, Y:-26.15, Z:-2.60 [[ 9.30370519e-01 3.66555219e-01 6.92595478e-03 1.60789728e+02] [-3.66543888e-01 9.30396287e-01 -2.88581105e-03 -2.61481315e+01] [-7.50169171e-03 1.46207130e-04 9.99971851e-01 -2.60219784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters 0.013335215607491156 Centerline is valid? [True, True] Translation: X:160.85, Y:-26.17, Z:-2.60 [[ 9.28541897e-01 3.71179340e-01 5.98695840e-03 1.60848113e+02] [-3.71170982e-01 9.28561193e-01 -2.49261982e-03 -2.61684857e+01] [-6.48446622e-03 9.23167056e-05 9.99978971e-01 -2.60439217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters 0.01263645586824763 Centerline is valid? [True, True] Translation: X:160.91, Y:-26.19, Z:-2.61 [[ 9.27583388e-01 3.73583041e-01 4.97689455e-03 1.60906530e+02] [-3.73577297e-01 9.27596737e-01 -2.07271360e-03 -2.61906882e+01] [-5.39088180e-03 6.33598942e-05 9.99985467e-01 -2.60564970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters 0.012482903152879877 Centerline is valid? [True, True] Translation: X:160.97, Y:-26.21, Z:-2.61 [[ 9.26870927e-01 3.75359711e-01 3.92080535e-03 1.60965066e+02] [-3.75356162e-01 9.26879218e-01 -1.63268230e-03 -2.62148018e+01] [-4.24695615e-03 4.15873032e-05 9.99990981e-01 -2.60811571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters 0.012874551900362121 Centerline is valid? [True, True] Translation: X:161.02, Y:-26.24, Z:-2.61 [[ 9.27021120e-01 3.74993159e-01 3.46041265e-03 1.61020766e+02] [-3.74990383e-01 9.27027577e-01 -1.44351202e-03 -2.62401663e+01] [-3.74920508e-03 4.05446613e-05 9.99992971e-01 -2.61054317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters 0.012753008249390118 Centerline is valid? [True, True] Translation: X:161.08, Y:-26.27, Z:-2.61 [[ 9.27662343e-01 3.73394209e-01 4.39791348e-03 1.61076851e+02] [-3.73389707e-01 9.27672766e-01 -1.83454262e-03 -2.62658663e+01] [-4.76483215e-03 5.97004787e-05 9.99988646e-01 -2.60966999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters 0.013828738137435853 Centerline is valid? [True, True] Translation: X:161.13, Y:-26.30, Z:-2.61 [[ 9.29291504e-01 3.69303192e-01 5.69671046e-03 1.61131295e+02] [-3.69295542e-01 9.29308959e-01 -2.37949127e-03 -2.62952351e+01] [-6.17275779e-03 1.07471243e-04 9.99980943e-01 -2.60987403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters 0.015418684650339876 Centerline is valid? [True, True] Translation: X:161.19, Y:-26.33, Z:-2.61 [[ 9.31298946e-01 3.64210882e-01 5.71901524e-03 1.61185318e+02] [-3.64203066e-01 9.31316494e-01 -2.39038590e-03 -2.63251777e+01] [-6.19681778e-03 1.43280978e-04 9.99980789e-01 -2.61160904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters 0.016978148957455433 Centerline is valid? [True, True] Translation: X:161.24, Y:-26.36, Z:-2.61 [[ 9.32921062e-01 3.60041809e-01 5.30917138e-03 1.61239037e+02] [-3.60034997e-01 9.32936155e-01 -2.22068066e-03 -2.63553274e+01] [-5.75265582e-03 1.60232262e-04 9.99983441e-01 -2.61288797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters 0.018468764935916177 Centerline is valid? [True, True] Translation: X:161.29, Y:-26.38, Z:-2.61 [[ 9.33637771e-01 3.58188389e-01 4.64650342e-03 1.61292969e+02] [-3.58183141e-01 9.33649321e-01 -1.94488510e-03 -2.63837511e+01] [-5.03484003e-03 1.51518999e-04 9.99987314e-01 -2.61414692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters 0.018123112170765628 Centerline is valid? [True, True] Translation: X:161.35, Y:-26.41, Z:-2.61 [[ 9.34043020e-01 3.57128553e-01 4.77840373e-03 1.61349134e+02] [-3.57122993e-01 9.34055229e-01 -1.99940524e-03 -2.64111347e+01] [-5.17733769e-03 1.61052664e-04 9.99986585e-01 -2.61441999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters 0.016546796869554698 Centerline is valid? [True, True] Translation: X:161.41, Y:-26.44, Z:-2.61 [[ 9.33784828e-01 3.57795681e-01 5.30525274e-03 1.61406124e+02] [-3.57788826e-01 9.33799882e-01 -2.22172169e-03 -2.64354153e+01] [-5.74896680e-03 1.76449857e-04 9.99983459e-01 -2.61397615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters 0.017618865666711368 Centerline is valid? [True, True] Translation: X:161.46, Y:-26.46, Z:-2.62 [[ 9.33377630e-01 3.58845476e-01 6.01041187e-03 1.61460696e+02] [-3.58836683e-01 9.33396961e-01 -2.51959809e-03 -2.64639886e+01] [-6.51424655e-03 1.94980238e-04 9.99978763e-01 -2.61524661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters 0.01759692746398813 Centerline is valid? [True, True] Translation: X:161.52, Y:-26.49, Z:-2.62 [[ 9.32844315e-01 3.60220758e-01 6.51845361e-03 1.61516707e+02] [-3.60210435e-01 9.32867067e-01 -2.73456905e-03 -2.64900268e+01] [-7.06589924e-03 2.02912182e-04 9.99975016e-01 -2.61584368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters 0.016210840162883454 Centerline is valid? [True, True] Translation: X:161.57, Y:-26.51, Z:-2.62 [[ 9.31232847e-01 3.64351074e-01 7.32658502e-03 1.61573501e+02] [-3.64338127e-01 9.31261648e-01 -3.07778765e-03 -2.65137467e+01] [-7.94436287e-03 1.96782688e-04 9.99968424e-01 -2.61630868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters 0.014061968581602653 Centerline is valid? [True, True] Translation: X:161.63, Y:-26.53, Z:-2.62 [[ 9.28411024e-01 3.71471385e-01 7.87280012e-03 1.61631528e+02] [-3.71456684e-01 9.28444392e-01 -3.30798073e-03 -2.65335158e+01] [-8.53827730e-03 1.46761547e-04 9.99963537e-01 -2.61685350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters 0.012721711313919023 Centerline is valid? [True, True] Translation: X:161.69, Y:-26.55, Z:-2.62 [[ 9.25663191e-01 3.78290355e-01 6.63808764e-03 1.61690247e+02] [-3.78280079e-01 9.25686990e-01 -2.78909470e-03 -2.65534947e+01] [-7.19987898e-03 7.07059819e-05 9.99974078e-01 -2.61976561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters 0.012200042241048965 Centerline is valid? [True, True] Translation: X:161.75, Y:-26.57, Z:-2.62 [[ 9.24034578e-01 3.82260792e-01 6.06507117e-03 1.61748135e+02] [-3.82252310e-01 9.24054482e-01 -2.54666866e-03 -2.65748296e+01] [-6.57794777e-03 3.48224321e-05 9.99978364e-01 -2.62112894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters 0.011881234411970181 Centerline is valid? [True, True] Translation: X:161.81, Y:-26.60, Z:-2.62 [[ 9.22483031e-01 3.85981955e-01 6.55645705e-03 1.61806461e+02] [-3.85972122e-01 9.22506331e-01 -2.75526591e-03 -2.65954167e+01] [-7.11185606e-03 1.10764121e-05 9.99974710e-01 -2.62254227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters 0.011784679766548406 Centerline is valid? [True, True] Translation: X:161.86, Y:-26.62, Z:-2.62 [[ 9.22089778e-01 3.86918915e-01 6.64782786e-03 1.61864968e+02] [-3.86908817e-01 9.22113742e-01 -2.79531950e-03 -2.66193857e+01] [-7.21161542e-03 5.43231979e-06 9.99973996e-01 -2.62316326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters 0.011895117723848133 Centerline is valid? [True, True] Translation: X:161.92, Y:-26.65, Z:-2.62 [[ 9.22996161e-01 3.84734955e-01 7.55650193e-03 1.61922172e+02] [-3.84721810e-01 9.23027092e-01 -3.18047205e-03 -2.66455053e+01] [-8.19849477e-03 2.84123891e-05 9.99966391e-01 -2.62247836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters 0.012152980144449143 Centerline is valid? [True, True] Translation: X:161.98, Y:-26.67, Z:-2.62 [[ 9.24088948e-01 3.82105878e-01 7.39686787e-03 1.61978431e+02] [-3.82093176e-01 9.24118551e-01 -3.11597945e-03 -2.66709536e+01] [-8.02621688e-03 5.31494367e-05 9.99967788e-01 -2.62359727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters 0.012995498849048185 Centerline is valid? [True, True] Translation: X:162.03, Y:-26.70, Z:-2.63 [[ 9.25798826e-01 3.77961035e-01 6.47993031e-03 1.62034246e+02] [-3.77951174e-01 9.25821500e-01 -2.73129554e-03 -2.66963121e+01] [-7.03158209e-03 7.95329365e-05 9.99975275e-01 -2.62638934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters 0.013683599889037492 Centerline is valid? [True, True] Translation: X:162.09, Y:-26.72, Z:-2.63 [[ 9.27098829e-01 3.74780859e-01 5.20272322e-03 1.62090391e+02] [-3.74774442e-01 9.27113424e-01 -2.19472180e-03 -2.67217680e+01] [-5.64605426e-03 8.48763123e-05 9.99984057e-01 -2.62822587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters 0.014424563643413817 Centerline is valid? [True, True] Translation: X:162.15, Y:-26.75, Z:-2.63 [[ 9.27849097e-01 3.72933039e-01 4.12328907e-03 1.62146699e+02] [-3.72928996e-01 9.27858256e-01 -1.73809820e-03 -2.67472860e+01] [-4.47402205e-03 7.49987895e-05 9.99989989e-01 -2.62997737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters 0.015069251113864392 Centerline is valid? [True, True] Translation: X:162.20, Y:-26.77, Z:-2.63 [[ 9.29178767e-01 3.69615860e-01 3.30672560e-03 1.62203464e+02] [-3.69613230e-01 9.29184648e-01 -1.39629152e-03 -2.67726621e+01] [-3.58865016e-03 7.51948967e-05 9.99993558e-01 -2.63121874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters 0.015673924305836362 Centerline is valid? [True, True] Translation: X:162.26, Y:-26.80, Z:-2.63 [[ 9.29736065e-01 3.68206700e-01 3.83084199e-03 1.62260625e+02] [-3.68203166e-01 9.29743953e-01 -1.61592272e-03 -2.67978970e+01] [-4.15669575e-03 9.18534794e-05 9.99991357e-01 -2.63163782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters 0.01531265438788627 Centerline is valid? [True, True] Translation: X:162.32, Y:-26.82, Z:-2.63 [[ 9.30222077e-01 3.66952197e-01 5.74218310e-03 1.62318506e+02] [-3.66944209e-01 9.30239788e-01 -2.42583414e-03 -2.68215808e+01] [-6.23177235e-03 1.49503632e-04 9.99980571e-01 -2.62983757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters 0.01585833740316004 Centerline is valid? [True, True] Translation: X:162.38, Y:-26.85, Z:-2.63 [[ 9.30177006e-01 3.67061621e-01 6.04179889e-03 1.62375958e+02] [-3.67052769e-01 9.30196614e-01 -2.55408721e-03 -2.68465349e+01] [-6.55756826e-03 1.58094182e-04 9.99978486e-01 -2.63068984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters 0.01614516748469475 Centerline is valid? [True, True] Translation: X:162.43, Y:-26.87, Z:-2.63 [[ 9.29902432e-01 3.67741806e-01 6.88707338e-03 1.62432514e+02] [-3.67730297e-01 9.29927918e-01 -2.91488221e-03 -2.68703798e+01] [-7.47640585e-03 1.77970519e-04 9.99972035e-01 -2.63099387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters 0.015020899209014865 Centerline is valid? [True, True] Translation: X:162.49, Y:-26.89, Z:-2.63 [[ 9.28756079e-01 3.70609132e-01 7.81133221e-03 1.62491200e+02] [-3.70594407e-01 9.28788910e-01 -3.30849471e-03 -2.68914694e+01] [-8.48123708e-03 1.77948554e-04 9.99964018e-01 -2.63030717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters 0.014196284004442991 Centerline is valid? [True, True] Translation: X:162.55, Y:-26.91, Z:-2.63 [[ 9.27557492e-01 3.73591428e-01 8.15748087e-03 1.62549395e+02] [-3.73575461e-01 9.27593348e-01 -3.45761705e-03 -2.69123358e+01] [-8.85856108e-03 1.59703924e-04 9.99960749e-01 -2.63085285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters 0.013528386486573025 Centerline is valid? [True, True] Translation: X:162.61, Y:-26.93, Z:-2.63 [[ 9.26238869e-01 3.76834903e-01 8.77577960e-03 1.62608009e+02] [-3.76816542e-01 9.26280431e-01 -3.72254562e-03 -2.69322672e+01] [-9.53161803e-03 1.41107521e-04 9.99954563e-01 -2.63170603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters 0.013323159942634643 Centerline is valid? [True, True] Translation: X:162.67, Y:-26.95, Z:-2.63 [[ 9.25896858e-01 3.77666978e-01 9.09184156e-03 1.62666018e+02] [-3.77647284e-01 9.25941485e-01 -3.85936105e-03 -2.69542713e+01] [-9.87606650e-03 1.39861007e-04 9.99951221e-01 -2.63241823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters 0.013479699650708103 Centerline is valid? [True, True] Translation: X:162.73, Y:-26.98, Z:-2.63 [[ 9.26071818e-01 3.77234289e-01 9.23468004e-03 1.62725211e+02] [-3.77213925e-01 9.26117848e-01 -3.92246001e-03 -2.69764309e+01] [-1.00320884e-02 1.49029766e-04 9.99949666e-01 -2.63418883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters 0.01411766489182872 Centerline is valid? [True, True] Translation: X:162.78, Y:-27.00, Z:-2.64 [[ 9.27398214e-01 3.73964177e-01 9.12942175e-03 1.62782553e+02] [-3.73944085e-01 9.27443130e-01 -3.88088697e-03 -2.70007555e+01] [-9.91833219e-03 1.85234385e-04 9.99950795e-01 -2.63502852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters 0.01468410764590092 Centerline is valid? [True, True] Translation: X:162.84, Y:-27.02, Z:-2.63 [[ 9.28890308e-01 3.70220459e-01 9.98032147e-03 1.62839157e+02] [-3.70196194e-01 9.28943889e-01 -4.24595243e-03 -2.70248895e+01] [-1.08430971e-02 2.49347037e-04 9.99941181e-01 -2.63491057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters 0.018119491824057535 Centerline is valid? [True, True] Translation: X:162.89, Y:-27.05, Z:-2.64 [[ 9.31399696e-01 3.63807002e-01 1.17928403e-02 1.62892571e+02] [-3.63772548e-01 9.31474270e-01 -5.02176258e-03 -2.70520497e+01] [-1.28116797e-02 3.87356574e-04 9.99917852e-01 -2.63521445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters 0.019430019090316244 Centerline is valid? [True, True] Translation: X:162.95, Y:-27.08, Z:-2.64 [[ 9.33555341e-01 3.58270797e-01 1.07917366e-02 1.62949131e+02] [-3.58241575e-01 9.33617618e-01 -4.59542024e-03 -2.70753199e+01] [-1.17217602e-02 4.24030411e-04 9.99931208e-01 -2.63766462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters 0.020506164762828176 Centerline is valid? [True, True] Translation: X:163.01, Y:-27.10, Z:-2.64 [[ 9.34371121e-01 3.56146545e-01 1.04998895e-02 1.63006712e+02] [-3.56118747e-01 9.34430011e-01 -4.47120586e-03 -2.70989311e+01] [-1.14038164e-02 4.38558133e-04 9.99934878e-01 -2.63937739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters 0.020535764779310604 Centerline is valid? [True, True] Translation: X:163.07, Y:-27.12, Z:-2.64 [[ 9.34682441e-01 3.55323690e-01 1.06682037e-02 1.63066153e+02] [-3.55294939e-01 9.34743209e-01 -4.54296528e-03 -2.71187296e+01] [-1.15862542e-02 4.55871083e-04 9.99932773e-01 -2.64011338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters 0.019763937636902422 Centerline is valid? [True, True] Translation: X:163.13, Y:-27.14, Z:-2.64 [[ 9.34027882e-01 3.57024366e-01 1.12034593e-02 1.63126282e+02] [-3.56992731e-01 9.34094958e-01 -4.77490963e-03 -2.71376143e+01] [-1.21698539e-02 4.60345207e-04 9.99925839e-01 -2.63993336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters 0.01871873109308969 Centerline is valid? [True, True] Translation: X:163.19, Y:-27.16, Z:-2.64 [[ 9.32970045e-01 3.59755439e-01 1.19548511e-02 1.63185319e+02] [-3.59719623e-01 9.33046525e-01 -5.09663233e-03 -2.71559827e+01] [-1.29879735e-02 4.54610752e-04 9.99915549e-01 -2.64100249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters 0.016679054057706835 Centerline is valid? [True, True] Translation: X:163.25, Y:-27.17, Z:-2.64 [[ 9.31700382e-01 3.63026067e-01 1.21026151e-02 1.63245110e+02] [-3.62989628e-01 9.31778892e-01 -5.16013077e-03 -2.71727050e+01] [-1.31502232e-02 4.14572073e-04 9.99913446e-01 -2.64153176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters 0.015904667850959186 Centerline is valid? [True, True] Translation: X:163.30, Y:-27.19, Z:-2.64 [[ 9.29960070e-01 3.67464325e-01 1.20099426e-02 1.63303426e+02] [-3.67428804e-01 9.30037552e-01 -5.12117638e-03 -2.71890733e+01] [-1.30515473e-02 3.49690687e-04 9.99914764e-01 -2.64313420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters 0.016071587215645104 Centerline is valid? [True, True] Translation: X:163.36, Y:-27.21, Z:-2.64 [[ 9.29398022e-01 3.68902720e-01 1.14061535e-02 1.63362090e+02] [-3.68870797e-01 9.29467958e-01 -4.86309980e-03 -2.72087079e+01] [-1.23956649e-02 3.12358413e-04 9.99923122e-01 -2.64476651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters 0.01609338228495741 Centerline is valid? [True, True] Translation: X:163.42, Y:-27.23, Z:-2.65 [[ 9.29732644e-01 3.68081883e-01 1.06272143e-02 1.63420371e+02] [-3.68054086e-01 9.29793329e-01 -4.53372058e-03 -2.72304128e+01] [-1.15498933e-02 3.03758392e-04 9.99933252e-01 -2.64663938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters 0.01714707931748996 Centerline is valid? [True, True] Translation: X:163.48, Y:-27.25, Z:-2.65 [[ 9.31272049e-01 3.64173742e-01 1.04812265e-02 1.63477245e+02] [-3.64146411e-01 9.31330963e-01 -4.47541554e-03 -2.72535572e+01] [-1.13913195e-02 3.51128409e-04 9.99935055e-01 -2.64824986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters 0.018524659154761897 Centerline is valid? [True, True] Translation: X:163.53, Y:-27.28, Z:-2.65 [[ 9.32489560e-01 3.61032003e-01 1.09138978e-02 1.63534518e+02] [-3.61002149e-01 9.32553338e-01 -4.66049112e-03 -2.72780352e+01] [-1.18603783e-02 4.05918730e-04 9.99929581e-01 -2.64980326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters 0.019558503487758176 Centerline is valid? [True, True] Translation: X:163.59, Y:-27.30, Z:-2.65 [[ 9.33573865e-01 3.58162104e-01 1.26390573e-02 1.63592242e+02] [-3.58121787e-01 9.33659276e-01 -5.39839720e-03 -2.73009908e+01] [-1.37340744e-02 5.13480738e-04 9.99905551e-01 -2.65017130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters 0.01844564939204549 Centerline is valid? [True, True] Translation: X:163.65, Y:-27.32, Z:-2.65 [[ 9.33424191e-01 3.58567882e-01 1.21800309e-02 1.63652302e+02] [-3.58530470e-01 9.33503527e-01 -5.20268567e-03 -2.73217084e+01] [-1.32356178e-02 4.89400474e-04 9.99912286e-01 -2.65212843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters 0.019207798019830174 Centerline is valid? [True, True] Translation: X:163.71, Y:-27.35, Z:-2.65 [[ 9.32490255e-01 3.61033214e-01 1.08140080e-02 1.63709069e+02] [-3.61003850e-01 9.32552869e-01 -4.62244586e-03 -2.73455243e+01] [-1.17534907e-02 4.06487186e-04 9.99930843e-01 -2.65420907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters 0.015911856546066264 Centerline is valid? [True, True] Translation: X:163.77, Y:-27.36, Z:-2.66 [[ 9.29823587e-01 3.67865403e-01 1.01559367e-02 1.63768950e+02] [-3.67839868e-01 9.29878999e-01 -4.34498073e-03 -2.73607068e+01] [-1.10421604e-02 3.04307143e-04 9.99938987e-01 -2.65607402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters 0.01402111595106391 Centerline is valid? [True, True] Translation: X:163.83, Y:-27.38, Z:-2.66 [[ 9.26707816e-01 3.75652921e-01 9.87452112e-03 1.63827572e+02] [-3.75629219e-01 9.26760401e-01 -4.22485313e-03 -2.73787872e+01] [-1.07383936e-02 2.06045766e-04 9.99942321e-01 -2.65704728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters 0.012637700646894278 Centerline is valid? [True, True] Translation: X:163.89, Y:-27.40, Z:-2.66 [[ 9.23484752e-01 3.83501328e-01 1.01313763e-02 1.63885467e+02] [-3.83476846e-01 9.23540317e-01 -4.33487769e-03 -2.73983776e+01] [-1.10191658e-02 1.18045215e-04 9.99939280e-01 -2.65745253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters 0.011975176010809439 Centerline is valid? [True, True] Translation: X:163.94, Y:-27.42, Z:-2.66 [[ 9.21162063e-01 3.89037615e-01 1.04970197e-02 1.63944189e+02] [-3.89011699e-01 9.21221869e-01 -4.49078175e-03 -2.74194125e+01] [-1.14171671e-02 5.32743226e-05 9.99934821e-01 -2.65838854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters 0.011626422495444827 Centerline is valid? [True, True] Translation: X:164.00, Y:-27.44, Z:-2.66 [[ 9.18949826e-01 3.94250369e-01 9.89263925e-03 1.64002573e+02] [-3.94227625e-01 9.19003072e-01 -4.23479692e-03 -2.74412976e+01] [-1.07609361e-02 -8.38578087e-06 9.99942099e-01 -2.65969373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters 0.012280357450117137 Centerline is valid? [True, True] Translation: X:164.06, Y:-27.46, Z:-2.66 [[ 9.15644243e-01 4.01864595e-01 1.00233239e-02 1.64059920e+02] [-4.01841662e-01 9.15699098e-01 -4.29431218e-03 -2.74620400e+01] [-1.09040807e-02 -9.57269062e-05 9.99940544e-01 -2.66098053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters 0.01267252460424892 Centerline is valid? [True, True] Translation: X:164.12, Y:-27.49, Z:-2.66 [[ 9.14355144e-01 4.04763789e-01 1.09975476e-02 1.64116950e+02] [-4.04736373e-01 9.14421268e-01 -4.71312169e-03 -2.74869433e+01] [-1.19640924e-02 -1.41640475e-04 9.99928418e-01 -2.66134615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters 0.01274646073475323 Centerline is valid? [True, True] Translation: X:164.17, Y:-27.51, Z:-2.66 [[ 9.13917609e-01 4.05743810e-01 1.12500892e-02 1.64174183e+02] [-4.05715156e-01 9.13986836e-01 -4.82455003e-03 -2.75121880e+01] [-1.22399647e-02 -1.55090456e-04 9.99925077e-01 -2.66224577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters 0.012748552240264612 Centerline is valid? [True, True] Translation: X:164.23, Y:-27.54, Z:-2.66 [[ 9.13966499e-01 4.05655866e-01 1.04190997e-02 1.64230256e+02] [-4.05631247e-01 9.14025875e-01 -4.47128390e-03 -2.75416503e+01] [-1.13371293e-02 -1.39708716e-04 9.99935723e-01 -2.66464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters 0.01231200657926417 Centerline is valid? [True, True] Translation: X:164.28, Y:-27.57, Z:-2.67 [[ 9.14970165e-01 4.03405059e-01 9.69310081e-03 1.64284588e+02] [-4.03383593e-01 9.15021502e-01 -4.16279292e-03 -2.75715709e+01] [-1.05486874e-02 -1.01206506e-04 9.99944356e-01 -2.66642497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters 0.01175277780216265 Centerline is valid? [True, True] Translation: X:164.34, Y:-27.61, Z:-2.67 [[ 9.17331243e-01 3.98008885e-01 9.60817682e-03 1.64337541e+02] [-3.97987469e-01 9.17381560e-01 -4.12902977e-03 -2.76059652e+01] [-1.04577548e-02 -3.62459587e-05 9.99945316e-01 -2.66714103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters 0.01199382131349913 Centerline is valid? [True, True] Translation: X:164.39, Y:-27.64, Z:-2.67 [[ 9.20119377e-01 3.91533395e-01 9.05168410e-03 1.64390817e+02] [-3.91514051e-01 9.20163898e-01 -3.89205922e-03 -2.76420117e+01] [-9.85290409e-03 3.72975889e-05 9.99951458e-01 -2.66905790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters 0.012870070516050762 Centerline is valid? [True, True] Translation: X:164.44, Y:-27.68, Z:-2.67 [[ 9.22713818e-01 3.85389224e-01 8.62298555e-03 1.64443354e+02] [-3.85371373e-01 9.22754104e-01 -3.71061162e-03 -2.76773875e+01] [-9.38692504e-03 1.00780831e-04 9.99955937e-01 -2.67074479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters 0.013279053176049705 Centerline is valid? [True, True] Translation: X:164.50, Y:-27.71, Z:-2.67 [[ 9.23318935e-01 3.83946739e-01 8.18807876e-03 1.64498567e+02] [-3.83930568e-01 9.23355234e-01 -3.52564960e-03 -2.77050462e+01] [-8.91416705e-03 1.11645310e-04 9.99960262e-01 -2.67202519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters 0.014802314952315545 Centerline is valid? [True, True] Translation: X:164.55, Y:-27.74, Z:-2.67 [[ 9.25118779e-01 3.79586458e-01 8.32863701e-03 1.64551183e+02] [-3.79569526e-01 9.25156255e-01 -3.58880710e-03 -2.77375705e+01] [-9.06755320e-03 1.58776044e-04 9.99958876e-01 -2.67376881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters 0.015728499105990796 Centerline is valid? [True, True] Translation: X:164.60, Y:-27.77, Z:-2.67 [[ 9.26458130e-01 3.76249789e-01 1.05559946e-02 1.64604824e+02] [-3.76222322e-01 9.26518233e-01 -4.55287498e-03 -2.77692315e+01] [-1.14933397e-02 2.46647254e-04 9.99933919e-01 -2.67248903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters 0.015229276193442942 Centerline is valid? [True, True] Translation: X:164.66, Y:-27.80, Z:-2.67 [[ 9.27169151e-01 3.74461899e-01 1.16469645e-02 1.64660193e+02] [-3.74428302e-01 9.27242254e-01 -5.02488869e-03 -2.77978711e+01] [-1.26811870e-02 2.97968621e-04 9.99919546e-01 -2.67179257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters 0.015956371580666547 Centerline is valid? [True, True] Translation: X:164.72, Y:-27.82, Z:-2.67 [[ 9.26770452e-01 3.75449650e-01 1.15797187e-02 1.64715496e+02] [-3.75416473e-01 9.26842748e-01 -4.99932674e-03 -2.78244295e+01] [-1.26095738e-02 2.86011143e-04 9.99920455e-01 -2.67377406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters 0.015010306229929363 Centerline is valid? [True, True] Translation: X:164.77, Y:-27.85, Z:-2.68 [[ 9.25772895e-01 3.77908782e-01 1.13797963e-02 1.64773140e+02] [-3.77876890e-01 9.25842799e-01 -4.91594562e-03 -2.78482129e+01] [-1.23936815e-02 2.50887178e-04 9.99923164e-01 -2.67519006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters 0.013484899630869407 Centerline is valid? [True, True] Translation: X:164.83, Y:-27.87, Z:-2.68 [[ 9.23473145e-01 3.83480473e-01 1.18354200e-02 1.64830496e+02] [-3.83446377e-01 9.23548966e-01 -5.11698374e-03 -2.78705271e+01] [-1.28928532e-02 1.87148137e-04 9.99916866e-01 -2.67552053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters 0.012812776851115773 Centerline is valid? [True, True] Translation: X:164.89, Y:-27.89, Z:-2.68 [[ 9.21822503e-01 3.87440534e-01 1.15371075e-02 1.64888148e+02] [-3.87408450e-01 9.21894688e-01 -4.98771873e-03 -2.78937853e+01] [-1.25684425e-02 1.28218442e-04 9.99921006e-01 -2.67698984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters 0.012435216008814745 Centerline is valid? [True, True] Translation: X:164.95, Y:-27.92, Z:-2.68 [[ 9.20547237e-01 3.90474065e-01 1.10810043e-02 1.64945842e+02] [-3.90444650e-01 9.20613924e-01 -4.79361084e-03 -2.79171991e+01] [-1.20731075e-02 8.62263856e-05 9.99927114e-01 -2.67880897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters 0.012744004885906261 Centerline is valid? [True, True] Translation: X:165.00, Y:-27.94, Z:-2.68 [[ 9.21172329e-01 3.88981479e-01 1.16167787e-02 1.65001235e+02] [-3.88948985e-01 9.21245568e-01 -5.02903904e-03 -2.79439538e+01] [-1.26581089e-02 1.14277324e-04 9.99919876e-01 -2.68017794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters 0.013127324239429423 Centerline is valid? [True, True] Translation: X:165.06, Y:-27.97, Z:-2.68 [[ 9.22258859e-01 3.86398957e-01 1.15949349e-02 1.65056975e+02] [-3.86366343e-01 9.22331731e-01 -5.02259364e-03 -2.79709477e+01] [-1.26351013e-02 1.52238887e-04 9.99920162e-01 -2.68123309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters 0.013997038977747433 Centerline is valid? [True, True] Translation: X:165.11, Y:-28.00, Z:-2.68 [[ 9.23914000e-01 3.82443357e-01 1.09544774e-02 1.65112373e+02] [-3.82413933e-01 9.23978918e-01 -4.74807011e-03 -2.79990297e+01] [-1.19375741e-02 1.97663649e-04 9.99928725e-01 -2.68337489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters 0.014479475974894875 Centerline is valid? [True, True] Translation: X:165.17, Y:-28.03, Z:-2.68 [[ 9.24909913e-01 3.80045961e-01 1.03305309e-02 1.65168516e+02] [-3.80019613e-01 9.24967578e-01 -4.48038296e-03 -2.80260756e+01] [-1.12581576e-02 2.18146240e-04 9.99936601e-01 -2.68496735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters 0.014923592326291512 Centerline is valid? [True, True] Translation: X:165.22, Y:-28.05, Z:-2.69 [[ 9.26115815e-01 3.77135183e-01 8.86294171e-03 1.65223804e+02] [-3.77115636e-01 9.26158197e-01 -3.84598226e-03 -2.80537634e+01] [-9.65894134e-03 2.19471099e-04 9.99953327e-01 -2.68641580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters 0.01609172967589094 Centerline is valid? [True, True] Translation: X:165.28, Y:-28.08, Z:-2.69 [[ 9.26807404e-01 3.75452993e-01 7.94263509e-03 1.65278039e+02] [-3.75437210e-01 9.26841413e-01 -3.44922650e-03 -2.80821148e+01] [-8.65658554e-03 2.14807900e-04 9.99962508e-01 -2.68871487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters 0.016395932101905174 Centerline is valid? [True, True] Translation: X:165.33, Y:-28.11, Z:-2.69 [[ 9.27009301e-01 3.74966043e-01 7.36364836e-03 1.65334319e+02] [-3.74952462e-01 9.27038524e-01 -3.19778578e-03 -2.81086336e+01] [-8.02544679e-03 2.03359083e-04 9.99967775e-01 -2.69031594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters 0.0166332743941306 Centerline is valid? [True, True] Translation: X:165.39, Y:-28.14, Z:-2.69 [[ 9.27054387e-01 3.74865117e-01 6.80499656e-03 1.65389915e+02] [-3.74853504e-01 9.27079343e-01 -2.95683842e-03 -2.81356686e+01] [-7.41718732e-03 1.90273223e-04 9.99972474e-01 -2.69192204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters 0.0170095433921233 Centerline is valid? [True, True] Translation: X:165.45, Y:-28.16, Z:-2.69 [[ 9.26834054e-01 3.75399235e-01 7.35191993e-03 1.65445461e+02] [-3.75385675e-01 9.26863190e-01 -3.19711531e-03 -2.81622001e+01] [-8.01441860e-03 2.03389916e-04 9.99967863e-01 -2.69229036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters 0.015782161911023634 Centerline is valid? [True, True] Translation: X:165.50, Y:-28.19, Z:-2.69 [[ 9.26400366e-01 3.76446411e-01 8.39415428e-03 1.65503081e+02] [-3.76428753e-01 9.26438368e-01 -3.65293150e-03 -2.81865083e+01] [-9.15179954e-03 2.24276048e-04 9.99958096e-01 -2.69102955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters 0.016134314288677825 Centerline is valid? [True, True] Translation: X:165.56, Y:-28.21, Z:-2.69 [[ 9.26233733e-01 3.76845869e-01 8.84663382e-03 1.65558238e+02] [-3.76826241e-01 9.26275950e-01 -3.85339264e-03 -2.82128096e+01] [-9.64655925e-03 2.35498485e-04 9.99953443e-01 -2.69164181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters 0.01577506813133391 Centerline is valid? [True, True] Translation: X:165.62, Y:-28.24, Z:-2.69 [[ 9.26183551e-01 3.76979267e-01 8.40610612e-03 1.65616041e+02] [-3.76961549e-01 9.26221670e-01 -3.66171406e-03 -2.82385037e+01] [-9.16630794e-03 2.22640543e-04 9.99957964e-01 -2.69322136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters 0.016074755289557287 Centerline is valid? [True, True] Translation: X:165.67, Y:-28.26, Z:-2.70 [[ 9.26093640e-01 3.77221276e-01 7.39452781e-03 1.65673387e+02] [-3.77207558e-01 9.26123140e-01 -3.22297260e-03 -2.82644497e+01] [-8.06401716e-03 1.95502651e-04 9.99967466e-01 -2.69587545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters 0.01606114508707561 Centerline is valid? [True, True] Translation: X:165.73, Y:-28.29, Z:-2.70 [[ 9.25800254e-01 3.77945072e-01 7.17016879e-03 1.65730365e+02] [-3.77932176e-01 9.25828001e-01 -3.12773213e-03 -2.82899336e+01] [-7.82045398e-03 1.85817713e-04 9.99969403e-01 -2.69714875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters 0.01599179977998384 Centerline is valid? [True, True] Translation: X:165.79, Y:-28.32, Z:-2.70 [[ 9.25242493e-01 3.79326331e-01 6.15339544e-03 1.65787743e+02] [-3.79316847e-01 9.25262942e-01 -2.68650847e-03 -2.83150471e+01] [-6.71257217e-03 1.51585237e-04 9.99977459e-01 -2.69933381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters 0.016260673452094847 Centerline is valid? [True, True] Translation: X:165.84, Y:-28.34, Z:-2.70 [[ 9.24870087e-01 3.80236050e-01 5.98908033e-03 1.65844620e+02] [-3.80227087e-01 9.24889467e-01 -2.61454937e-03 -2.83406088e+01] [-6.53338324e-03 1.40907935e-04 9.99978647e-01 -2.70043906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters 0.015315169796953325 Centerline is valid? [True, True] Translation: X:165.90, Y:-28.36, Z:-2.70 [[ 9.24983877e-01 3.79950138e-01 6.53609339e-03 1.65903266e+02] [-3.79939443e-01 9.25006956e-01 -2.85512713e-03 -2.83643735e+01] [-7.13073780e-03 1.57626879e-04 9.99974564e-01 -2.70028163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters 0.015600934005518477 Centerline is valid? [True, True] Translation: X:165.96, Y:-28.39, Z:-2.70 [[ 9.25030027e-01 3.79841117e-01 6.33839574e-03 1.65960856e+02] [-3.79831042e-01 9.25051729e-01 -2.77078401e-03 -2.83902400e+01] [-6.91580163e-03 1.55538947e-04 9.99976073e-01 -2.70122962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters 0.015509206605918865 Centerline is valid? [True, True] Translation: X:166.02, Y:-28.41, Z:-2.70 [[ 9.24841232e-01 3.80288159e-01 7.04353879e-03 1.66017657e+02] [-3.80275707e-01 9.24868037e-01 -3.08223673e-03 -2.84146930e+01] [-7.68648203e-03 1.72092925e-04 9.99970444e-01 -2.70147169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters 0.015226798740817811 Centerline is valid? [True, True] Translation: X:166.08, Y:-28.44, Z:-2.70 [[ 9.24282564e-01 3.81639439e-01 7.28563067e-03 1.66075554e+02] [-3.81626140e-01 9.24311263e-01 -3.19045557e-03 -2.84383393e+01] [-7.95179416e-03 1.68495348e-04 9.99968370e-01 -2.70153327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters 0.014967959708152406 Centerline is valid? [True, True] Translation: X:166.13, Y:-28.46, Z:-2.70 [[ 9.23332453e-01 3.83924542e-01 7.68945781e-03 1.66133373e+02] [-3.83909786e-01 9.23364457e-01 -3.36980341e-03 -2.84614200e+01] [-8.39392227e-03 1.59390742e-04 9.99964758e-01 -2.70249243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters 0.014139039202115214 Centerline is valid? [True, True] Translation: X:166.19, Y:-28.48, Z:-2.70 [[ 9.21536731e-01 3.88236037e-01 6.54465424e-03 1.66191884e+02] [-3.88225447e-01 9.21559965e-01 -2.86939013e-03 -2.84828315e+01] [-7.14529198e-03 1.03447077e-04 9.99974467e-01 -2.70473156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters 0.013182092824100326 Centerline is valid? [True, True] Translation: X:166.25, Y:-28.50, Z:-2.71 [[ 9.19843241e-01 3.92230420e-01 6.61127870e-03 1.66250885e+02] [-3.92219702e-01 9.19866997e-01 -2.90049034e-03 -2.85036949e+01] [-7.21915762e-03 7.49226699e-05 9.99973939e-01 -2.70541462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters 0.012983368003928504 Centerline is valid? [True, True] Translation: X:166.31, Y:-28.53, Z:-2.71 [[ 9.19753575e-01 3.92432192e-01 7.09472251e-03 1.66309335e+02] [-3.92419841e-01 9.19780935e-01 -3.11459644e-03 -2.85270594e+01] [-7.74785841e-03 8.05513367e-05 9.99969982e-01 -2.70589171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters 0.01376066833532258 Centerline is valid? [True, True] Translation: X:166.36, Y:-28.55, Z:-2.71 [[ 9.20382351e-01 3.90966213e-01 6.46131816e-03 1.66364011e+02] [-3.90955915e-01 9.20405027e-01 -2.83886746e-03 -2.85537719e+01] [-7.05693097e-03 8.67529497e-05 9.99975096e-01 -2.70760062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters 0.014271511423256267 Centerline is valid? [True, True] Translation: X:166.42, Y:-28.58, Z:-2.71 [[ 9.22058023e-01 3.86993030e-01 6.73771076e-03 1.66420151e+02] [-3.86981713e-01 9.22082632e-01 -2.96217506e-03 -2.85805860e+01] [-7.35906717e-03 1.23926432e-04 9.99972914e-01 -2.70794917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters 0.01581056664714983 Centerline is valid? [True, True] Translation: X:166.47, Y:-28.61, Z:-2.71 [[ 9.24346580e-01 3.81504164e-01 6.16211856e-03 1.66474531e+02] [-3.81494561e-01 9.24367107e-01 -2.71139488e-03 -2.86081221e+01] [-6.73046814e-03 1.55453870e-04 9.99977338e-01 -2.70923458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters 0.017980019301218057 Centerline is valid? [True, True] Translation: X:166.53, Y:-28.64, Z:-2.71 [[ 9.26670837e-01 3.75823437e-01 6.15666944e-03 1.66528706e+02] [-3.75813708e-01 9.26691267e-01 -2.71148599e-03 -2.86371540e+01] [-6.72437179e-03 1.98894223e-04 9.99977371e-01 -2.70979436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters 0.018201615520966295 Centerline is valid? [True, True] Translation: X:166.58, Y:-28.66, Z:-2.71 [[ 9.27927003e-01 3.72703744e-01 6.58765430e-03 1.66584961e+02] [-3.72692527e-01 9.27950356e-01 -2.90128688e-03 -2.86629722e+01] [-7.19433664e-03 2.37012909e-04 9.99974092e-01 -2.70925326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters 0.019198114105689293 Centerline is valid? [True, True] Translation: X:166.64, Y:-28.69, Z:-2.71 [[ 9.28713912e-01 3.70753283e-01 5.69846583e-03 1.66641278e+02] [-3.70744850e-01 9.28731369e-01 -2.50999738e-03 -2.86892378e+01] [-6.22293374e-03 2.18392621e-04 9.99980614e-01 -2.71027553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters 0.02004044126566494 Centerline is valid? [True, True] Translation: X:166.70, Y:-28.71, Z:-2.71 [[ 9.29111591e-01 3.69780345e-01 3.76147939e-03 1.66698167e+02] [-3.69776672e-01 9.29119193e-01 -1.65450853e-03 -2.87147563e+01] [-4.10666744e-03 1.46315721e-04 9.99991557e-01 -2.71327636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters 0.02111758334593101 Centerline is valid? [True, True] Translation: X:166.75, Y:-28.74, Z:-2.71 [[ 9.29738397e-01 3.68196561e-01 4.21968921e-03 1.66754744e+02] [-3.68191915e-01 9.29747956e-01 -1.85781443e-03 -2.87406310e+01] [-4.60728830e-03 1.73625959e-04 9.99989371e-01 -2.71351106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters 0.020230002926884358 Centerline is valid? [True, True] Translation: X:166.81, Y:-28.76, Z:-2.71 [[ 9.30340671e-01 3.66663531e-01 4.90825029e-03 1.66811917e+02] [-3.66657211e-01 9.30353594e-01 -2.16317247e-03 -2.87640532e+01] [-5.35956475e-03 2.12841960e-04 9.99985615e-01 -2.71235066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters 0.02159706912549387 Centerline is valid? [True, True] Translation: X:166.87, Y:-28.79, Z:-2.71 [[ 9.30448707e-01 3.66376476e-01 5.78627504e-03 1.66867286e+02] [-3.66367673e-01 9.30466664e-01 -2.55246813e-03 -2.87889785e+01] [-6.31910031e-03 2.55036549e-04 9.99980002e-01 -2.71275780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters 0.020476067157658675 Centerline is valid? [True, True] Translation: X:166.93, Y:-28.81, Z:-2.71 [[ 9.29905279e-01 3.67744502e-01 6.33666210e-03 1.66925540e+02] [-3.67733964e-01 9.29926829e-01 -2.79715244e-03 -2.88114774e+01] [-6.92126952e-03 2.70880952e-04 9.99976011e-01 -2.71244389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters 0.018850424765505334 Centerline is valid? [True, True] Translation: X:166.98, Y:-28.83, Z:-2.71 [[ 9.28930816e-01 3.70195538e-01 6.54243073e-03 1.66983575e+02] [-3.70184336e-01 9.28953817e-01 -2.89200578e-03 -2.88316459e+01] [-7.14822363e-03 2.64567912e-04 9.99974416e-01 -2.71261183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters 0.017440450951338626 Centerline is valid? [True, True] Translation: X:167.04, Y:-28.85, Z:-2.71 [[ 9.27179779e-01 3.74555719e-01 6.75800707e-03 1.67042211e+02] [-3.74543879e-01 9.27204377e-01 -2.98763760e-03 -2.88505086e+01] [-7.38509049e-03 2.38906984e-04 9.99972701e-01 -2.71286088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters 0.017285707349473076 Centerline is valid? [True, True] Translation: X:167.10, Y:-28.87, Z:-2.71 [[ 9.26245260e-01 3.76844026e-01 7.63539820e-03 1.67100629e+02] [-3.76828991e-01 9.26276696e-01 -3.37544605e-03 -2.88731492e+01] [-8.34450810e-03 2.49251507e-04 9.99965153e-01 -2.71346519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters 0.016996270830955767 Centerline is valid? [True, True] Translation: X:167.16, Y:-28.89, Z:-2.71 [[ 9.25219205e-01 3.79355310e-01 7.67928425e-03 1.67159491e+02] [-3.79340192e-01 9.25251045e-01 -3.39438738e-03 -2.88943759e+01] [-8.39294466e-03 2.27491232e-04 9.99964753e-01 -2.71438160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters 0.017140657628090812 Centerline is valid? [True, True] Translation: X:167.22, Y:-28.92, Z:-2.72 [[ 9.24867951e-01 3.80211837e-01 7.63106470e-03 1.67217979e+02] [-3.80196918e-01 9.24899406e-01 -3.37528942e-03 -2.89165476e+01] [-8.34129219e-03 2.20389729e-04 9.99965187e-01 -2.71600052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters 0.01648893684001899 Centerline is valid? [True, True] Translation: X:167.28, Y:-28.94, Z:-2.72 [[ 9.24596800e-01 3.80879409e-01 7.18565926e-03 1.67277004e+02] [-3.80866190e-01 9.24624699e-01 -3.17976032e-03 -2.89393896e+01] [-7.85514326e-03 2.03221548e-04 9.99969127e-01 -2.71662802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters 0.016252884271448158 Centerline is valid? [True, True] Translation: X:167.34, Y:-28.96, Z:-2.72 [[ 9.24314395e-01 3.81548916e-01 7.95760191e-03 1.67335632e+02] [-3.81532699e-01 9.24348622e-01 -3.52480098e-03 -2.89609100e+01] [-8.70048236e-03 2.21938952e-04 9.99962125e-01 -2.71731362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters 0.016387754797372846 Centerline is valid? [True, True] Translation: X:167.39, Y:-28.98, Z:-2.72 [[ 9.23976872e-01 3.82363653e-01 8.04839101e-03 1.67393385e+02] [-3.82347074e-01 9.24011898e-01 -3.56744611e-03 -2.89844117e+01] [-8.80087078e-03 2.18958947e-04 9.99961248e-01 -2.71856941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters 0.01541140810672383 Centerline is valid? [True, True] Translation: X:167.45, Y:-29.01, Z:-2.72 [[ 9.22955325e-01 3.84833775e-01 7.51225425e-03 1.67452248e+02] [-3.84819397e-01 9.22985878e-01 -3.33167267e-03 -2.90053470e+01] [-8.21584475e-03 1.84123877e-04 9.99966232e-01 -2.72026800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters 0.014186845251893912 Centerline is valid? [True, True] Translation: X:167.51, Y:-29.02, Z:-2.72 [[ 9.20963751e-01 3.89583728e-01 7.09142296e-03 1.67510808e+02] [-3.89571027e-01 9.20991042e-01 -3.14873215e-03 -2.90249484e+01] [-7.75783183e-03 1.37255243e-04 9.99969898e-01 -2.72185143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters 0.01296649414228816 Centerline is valid? [True, True] Translation: X:167.57, Y:-29.04, Z:-2.72 [[ 9.18470119e-01 3.95417834e-01 7.57480594e-03 1.67569734e+02] [-3.95403538e-01 9.18501349e-01 -3.36372815e-03 -2.90430964e+01] [-8.28754757e-03 9.43787254e-05 9.99965653e-01 -2.72349279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters 0.012787277390384348 Centerline is valid? [True, True] Translation: X:167.63, Y:-29.07, Z:-2.72 [[ 9.18052084e-01 3.96384126e-01 7.74573026e-03 1.67626654e+02] [-3.96369223e-01 9.18084755e-01 -3.43827551e-03 -2.90669492e+01] [-8.47411470e-03 8.63469147e-05 9.99964090e-01 -2.72459383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters 0.012360276696483223 Centerline is valid? [True, True] Translation: X:167.68, Y:-29.09, Z:-2.73 [[ 9.17193050e-01 3.98361017e-01 8.08759187e-03 1.67684151e+02] [-3.98344824e-01 9.17228703e-01 -3.59255148e-03 -2.90896032e+01] [-8.84930387e-03 7.34128843e-05 9.99960841e-01 -2.72538564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters 0.012284437709217607 Centerline is valid? [True, True] Translation: X:167.74, Y:-29.11, Z:-2.73 [[ 9.16891464e-01 3.99041839e-01 8.69794242e-03 1.67742679e+02] [-3.99023115e-01 9.16932716e-01 -3.86632677e-03 -2.91137816e+01] [-9.51825411e-03 7.43219280e-05 9.99954698e-01 -2.72679078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters 0.012460136664876971 Centerline is valid? [True, True] Translation: X:167.80, Y:-29.14, Z:-2.73 [[ 9.17301951e-01 3.98087588e-01 9.13250017e-03 1.67800370e+02] [-3.98066865e-01 9.17347406e-01 -4.06287984e-03 -2.91400650e+01] [-9.99505738e-03 9.15418904e-05 9.99950044e-01 -2.72789790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters 0.013957397311876353 Centerline is valid? [True, True] Translation: X:167.85, Y:-29.17, Z:-2.73 [[ 9.19936458e-01 3.91959729e-01 9.19156897e-03 1.67854055e+02] [-3.91938395e-01 9.19982361e-01 -4.09264919e-03 -2.91701992e+01] [-1.00602350e-02 1.62448406e-04 9.99949381e-01 -2.72830101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters 0.014701639289610628 Centerline is valid? [True, True] Translation: X:167.91, Y:-29.20, Z:-2.73 [[ 9.22152888e-01 3.86715476e-01 9.22991259e-03 1.67909637e+02] [-3.86693666e-01 9.22199052e-01 -4.11319174e-03 -2.91979924e+01] [-1.01024515e-02 2.23842908e-04 9.99948944e-01 -2.72872840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters 0.016606616140913737 Centerline is valid? [True, True] Translation: X:167.96, Y:-29.23, Z:-2.73 [[ 9.25007368e-01 3.79827709e-01 9.60631662e-03 1.67963680e+02] [-3.79803699e-01 9.25057195e-01 -4.28211248e-03 -2.92265629e+01] [-1.05128573e-02 3.12471005e-04 9.99944690e-01 -2.73066044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters 0.018113819826991246 Centerline is valid? [True, True] Translation: X:168.02, Y:-29.25, Z:-2.73 [[ 9.25978481e-01 3.77470104e-01 8.95397599e-03 1.68018713e+02] [-3.77449146e-01 9.26021718e-01 -3.99011429e-03 -2.92535043e+01] [-9.79772508e-03 3.15089383e-04 9.99951951e-01 -2.73246655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters 0.018832525216149767 Centerline is valid? [True, True] Translation: X:168.08, Y:-29.28, Z:-2.73 [[ 9.26225333e-01 3.76868685e-01 8.75367034e-03 1.68075456e+02] [-3.76848606e-01 9.26266643e-01 -3.90304231e-03 -2.92789310e+01] [-9.57916727e-03 3.16288201e-04 9.99954069e-01 -2.73399707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters 0.01790801562854235 Centerline is valid? [True, True] Translation: X:168.13, Y:-29.30, Z:-2.73 [[ 9.25672163e-01 3.78219251e-01 9.01354322e-03 1.68133835e+02] [-3.78198000e-01 9.25715993e-01 -4.02160949e-03 -2.93013192e+01] [-9.86503124e-03 3.13787942e-04 9.99951290e-01 -2.73482223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters 0.01650932738911534 Centerline is valid? [True, True] Translation: X:168.19, Y:-29.32, Z:-2.74 [[ 9.24032715e-01 3.82218708e-01 8.50880860e-03 1.68192764e+02] [-3.82199906e-01 9.24071854e-01 -3.80000687e-03 -2.93209637e+01] [-9.31518426e-03 2.59264822e-04 9.99956579e-01 -2.73578302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters 0.01476413438474051 Centerline is valid? [True, True] Translation: X:168.25, Y:-29.34, Z:-2.74 [[ 9.21389633e-01 3.88549547e-01 8.39014356e-03 1.68251488e+02] [-3.88531520e-01 9.21427812e-01 -3.74775851e-03 -2.93389211e+01] [-9.18710150e-03 1.93310610e-04 9.99957779e-01 -2.73737681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters 0.013914702730933277 Centerline is valid? [True, True] Translation: X:168.31, Y:-29.36, Z:-2.74 [[ 9.19774335e-01 3.92356523e-01 8.45764425e-03 1.68310478e+02] [-3.92338378e-01 9.19813206e-01 -3.77653584e-03 -2.93598821e+01] [-9.26120135e-03 1.55302310e-04 9.99957102e-01 -2.73836409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters 0.013208066683263409 Centerline is valid? [True, True] Translation: X:168.37, Y:-29.38, Z:-2.74 [[ 9.19335419e-01 3.93386040e-01 8.35532047e-03 1.68368995e+02] [-3.93368353e-01 9.19373375e-01 -3.73314444e-03 -2.93809140e+01] [-9.15022608e-03 1.45293254e-04 9.99958125e-01 -2.73932678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters 0.014329285821692446 Centerline is valid? [True, True] Translation: X:168.42, Y:-29.41, Z:-2.74 [[ 9.21055436e-01 3.89362086e-01 7.35183109e-03 1.68424916e+02] [-3.89348249e-01 9.21084762e-01 -3.28661854e-03 -2.94070206e+01] [-8.05134424e-03 1.64735313e-04 9.99967574e-01 -2.74031053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters 0.015733736002248495 Centerline is valid? [True, True] Translation: X:168.48, Y:-29.43, Z:-2.74 [[ 9.22694859e-01 3.85465740e-01 7.09653763e-03 1.68480443e+02] [-3.85452711e-01 9.22722128e-01 -3.17528286e-03 -2.94334503e+01] [-7.77209506e-03 1.94437509e-04 9.99969778e-01 -2.74121678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters 0.017263819074964375 Centerline is valid? [True, True] Translation: X:168.54, Y:-29.46, Z:-2.74 [[ 9.24991753e-01 3.79940435e-01 5.96014319e-03 1.68536066e+02] [-3.79931120e-01 9.25010932e-01 -2.66831600e-03 -2.94586850e+01] [-6.52699875e-03 2.03726413e-04 9.99978678e-01 -2.74249320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters 0.019107387829442875 Centerline is valid? [True, True] Translation: X:168.59, Y:-29.48, Z:-2.74 [[ 9.26234871e-01 3.76900918e-01 5.88739610e-03 1.68590811e+02] [-3.76891768e-01 9.26253555e-01 -2.63570038e-03 -2.94847564e+01] [-6.44661946e-03 2.22366478e-04 9.99979196e-01 -2.74353278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters 0.020257097692950674 Centerline is valid? [True, True] Translation: X:168.65, Y:-29.51, Z:-2.74 [[ 9.27158313e-01 3.74623879e-01 5.86616181e-03 1.68648407e+02] [-3.74614749e-01 9.27176840e-01 -2.62607281e-03 -2.95090408e+01] [-6.42275895e-03 2.37234499e-04 9.99979346e-01 -2.74420457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters 0.018669331578274256 Centerline is valid? [True, True] Translation: X:168.71, Y:-29.53, Z:-2.74 [[ 9.26628027e-01 3.75954319e-01 4.34157819e-03 1.68707337e+02] [-3.75949342e-01 9.26638183e-01 -1.94147402e-03 -2.95297197e+01] [-4.75297767e-03 1.66810776e-04 9.99988691e-01 -2.74459153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters 0.01717459664571386 Centerline is valid? [True, True] Translation: X:168.77, Y:-29.55, Z:-2.75 [[ 9.25153100e-01 3.79578765e-01 3.42089227e-03 1.68765690e+02] [-3.79575690e-01 9.25159417e-01 -1.53263526e-03 -2.95496178e+01] [-3.74662650e-03 1.19434715e-04 9.99992974e-01 -2.74523595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters 0.01527721401019904 Centerline is valid? [True, True] Translation: X:168.82, Y:-29.57, Z:-2.75 [[ 9.21845344e-01 3.87552965e-01 1.96492903e-03 1.68824821e+02] [-3.87551968e-01 9.21847437e-01 -8.80425436e-04 -2.95661602e+01] [-2.15257628e-03 5.01039763e-05 9.99997682e-01 -2.74605190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters 0.013066060274370376 Centerline is valid? [True, True] Translation: X:168.89, Y:-29.58, Z:-2.75 [[ 9.17840903e-01 3.96944001e-01 1.88075572e-03 1.68885048e+02] [-3.96943107e-01 9.17842829e-01 -8.42739292e-04 -2.95813415e+01] [-2.06075845e-03 2.69475744e-05 9.99997876e-01 -2.74632263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters 0.012021372839172881 Centerline is valid? [True, True] Translation: X:168.94, Y:-29.60, Z:-2.75 [[ 9.15250864e-01 4.02875055e-01 2.74690200e-03 1.68944170e+02] [-4.02873184e-01 9.15254986e-01 -1.22792763e-03 -2.96009949e+01] [-3.00881716e-03 1.72086728e-05 9.99995473e-01 -2.74625963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters 0.011434621884526656 Centerline is valid? [True, True] Translation: X:169.00, Y:-29.62, Z:-2.75 [[ 9.11892418e-01 4.10419564e-01 2.82829586e-03 1.69003544e+02] [-4.10417614e-01 9.11896804e-01 -1.26524872e-03 -2.96196082e+01] [-3.09839679e-03 -7.01172320e-06 9.99995200e-01 -2.74686060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters 0.01154466423838668 Centerline is valid? [True, True] Translation: X:169.06, Y:-29.64, Z:-2.75 [[ 9.09459026e-01 4.15784932e-01 2.67781745e-03 1.69061625e+02] [-4.15783206e-01 9.09462968e-01 -1.19838012e-03 -2.96409529e+01] [-2.93364421e-03 -2.35139056e-05 9.99995697e-01 -2.74748310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters 0.012809441851457147 Centerline is valid? [True, True] Translation: X:169.12, Y:-29.66, Z:-2.75 [[ 9.05662559e-01 4.23987787e-01 3.11232269e-03 1.69120265e+02] [-4.23985497e-01 9.05667905e-01 -1.39462445e-03 -2.96611147e+01] [-3.41003450e-03 -5.65205357e-05 9.99994184e-01 -2.74813869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters 0.014949214470042228 Centerline is valid? [True, True] Translation: X:169.18, Y:-29.68, Z:-2.75 [[ 9.02616352e-01 4.30429735e-01 3.73704455e-03 1.69177883e+02] [-4.30426480e-01 9.02624083e-01 -1.67645592e-03 -2.96822943e+01] [-4.09474289e-03 -9.53264091e-05 9.99991612e-01 -2.74952442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters 0.015356879209981815 Centerline is valid? [True, True] Translation: X:169.23, Y:-29.71, Z:-2.75 [[ 9.01479377e-01 4.32799081e-01 4.45964789e-03 1.69234178e+02] [-4.32794467e-01 9.01490399e-01 -2.00234223e-03 -2.97080571e+01] [-4.88694164e-03 -1.25040706e-04 9.99988051e-01 -2.75016355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters 0.015046011271234389 Centerline is valid? [True, True] Translation: X:169.29, Y:-29.74, Z:-2.75 [[ 9.01385070e-01 4.33002538e-01 3.70906680e-03 1.69289797e+02] [-4.32999349e-01 9.01392695e-01 -1.66521329e-03 -2.97373985e+01] [-4.06436730e-03 -1.05025112e-04 9.99991735e-01 -2.75282873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters 0.014962121393212416 Centerline is valid? [True, True] Translation: X:169.34, Y:-29.77, Z:-2.76 [[ 9.02554979e-01 4.30565817e-01 2.75459101e-03 1.69342695e+02] [-4.30564042e-01 9.02559179e-01 -1.23841013e-03 -2.97686540e+01] [-3.01939847e-03 -6.82946145e-05 9.99995439e-01 -2.75546935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters 0.014242571226278592 Centerline is valid? [True, True] Translation: X:169.40, Y:-29.80, Z:-2.76 [[ 9.03571964e-01 4.28432344e-01 1.85287136e-03 1.69396244e+02] [-4.28431541e-01 9.03573862e-01 -8.30966016e-04 -2.98001502e+01] [-2.03021885e-03 -4.29909374e-05 9.99997938e-01 -2.75686580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters 0.013309752433795917 Centerline is valid? [True, True] Translation: X:169.45, Y:-29.83, Z:-2.76 [[ 9.05287977e-01 4.24796737e-01 1.18753238e-03 1.69449369e+02] [-4.24796402e-01 9.05288756e-01 -5.33908860e-04 -2.98348855e+01] [-1.30186245e-03 -2.11182102e-05 9.99999152e-01 -2.75886313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters 0.012495255959113239 Centerline is valid? [True, True] Translation: X:169.50, Y:-29.87, Z:-2.76 [[ 9.06974043e-01 4.21186512e-01 -8.17236265e-05 1.69500909e+02] [-4.21186510e-01 9.06974047e-01 4.11906968e-05 -2.98715516e+01] [ 9.14701742e-05 -2.93800371e-06 9.99999996e-01 -2.76005717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters 0.012367486241706938 Centerline is valid? [True, True] Translation: X:169.56, Y:-29.90, Z:-2.76 [[ 9.07595895e-01 4.19844841e-01 -3.76142202e-05 1.69556033e+02] [-4.19844840e-01 9.07595895e-01 2.12732542e-05 -2.99008567e+01] [ 4.30699779e-05 -3.51538189e-06 9.99999999e-01 -2.76121676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters 0.012054022182546375 Centerline is valid? [True, True] Translation: X:169.61, Y:-29.93, Z:-2.76 [[ 9.09005005e-01 4.16784971e-01 -4.34742315e-04 1.69608668e+02] [-4.16784923e-01 9.09005109e-01 2.00660875e-04 -2.99341256e+01] [ 4.78815423e-04 -1.20769771e-06 9.99999885e-01 -2.76225263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters 0.011922427723951017 Centerline is valid? [True, True] Translation: X:169.66, Y:-29.97, Z:-2.76 [[ 9.11311673e-01 4.11716756e-01 5.89344153e-04 1.69659327e+02] [-4.11716673e-01 9.11311863e-01 -2.62164288e-04 -2.99718563e+01] [-6.45013749e-04 -3.72943766e-06 9.99999792e-01 -2.76202543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters 0.011942088204997973 Centerline is valid? [True, True] Translation: X:169.71, Y:-30.01, Z:-2.76 [[ 9.12501785e-01 4.09070460e-01 1.36059224e-03 1.69712974e+02] [-4.09070000e-01 9.12502799e-01 -6.13665249e-04 -3.00052858e+01] [-1.49257656e-03 3.39316584e-06 9.99998886e-01 -2.76085676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters 0.012418143188407681 Centerline is valid? [True, True] Translation: X:169.77, Y:-30.04, Z:-2.76 [[ 9.13558267e-01 4.06702730e-01 2.04517402e-03 1.69765447e+02] [-4.06701688e-01 9.13560556e-01 -9.20554713e-04 -3.00422329e+01] [-2.24278243e-03 9.20463957e-06 9.99997485e-01 -2.76100329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters 0.012425092065266796 Centerline is valid? [True, True] Translation: X:169.82, Y:-30.08, Z:-2.76 [[ 9.13196615e-01 4.07513440e-01 2.17663850e-03 1.69819158e+02] [-4.07512260e-01 9.13199209e-01 -9.80715245e-04 -3.00754059e+01] [-2.38735920e-03 8.57896965e-06 9.99997150e-01 -2.76205674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters 0.012534695139608162 Centerline is valid? [True, True] Translation: X:169.87, Y:-30.11, Z:-2.76 [[ 9.12561886e-01 4.08933187e-01 2.11034184e-03 1.69874666e+02] [-4.08932080e-01 9.12564326e-01 -9.51479805e-04 -3.01057429e+01] [-2.31491435e-03 5.29772821e-06 9.99997321e-01 -2.76391549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters 0.0124438390738997 Centerline is valid? [True, True] Translation: X:169.93, Y:-30.14, Z:-2.76 [[ 9.11933227e-01 4.10332293e-01 2.28005246e-03 1.69930040e+02] [-4.10331002e-01 9.11936078e-01 -1.02913514e-03 -3.01354063e+01] [-2.50154948e-03 2.92632396e-06 9.99996871e-01 -2.76454851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters 0.012479001094403006 Centerline is valid? [True, True] Translation: X:169.98, Y:-30.17, Z:-2.77 [[ 9.11404828e-01 4.11502227e-01 2.67532795e-03 1.69984783e+02] [-4.11500450e-01 9.11408754e-01 -1.20930234e-03 -3.01673622e+01] [-2.93594792e-03 1.26533764e-06 9.99995690e-01 -2.76588884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters 0.012439269111920134 Centerline is valid? [True, True] Translation: X:170.04, Y:-30.20, Z:-2.77 [[ 9.10658861e-01 4.13142511e-01 3.70184827e-03 1.70039245e+02] [-4.13139108e-01 9.10666385e-01 -1.67699746e-03 -3.01968195e+01] [-4.06398773e-03 -2.20569431e-06 9.99991742e-01 -2.76672462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters 0.012598193410796281 Centerline is valid? [True, True] Translation: X:170.10, Y:-30.22, Z:-2.77 [[ 9.08455942e-01 4.17941403e-01 5.72576382e-03 1.70097978e+02] [-4.17933320e-01 9.08473986e-01 -2.59955273e-03 -3.02189349e+01] [-6.28816819e-03 -3.14083570e-05 9.99980229e-01 -2.76724643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters 0.012675440717592997 Centerline is valid? [True, True] Translation: X:170.16, Y:-30.24, Z:-2.77 [[ 9.07912265e-01 4.19119651e-01 5.83411218e-03 1.70155952e+02] [-4.19111292e-01 9.07931009e-01 -2.64733789e-03 -3.02445155e+01] [-6.40652269e-03 -4.15917475e-05 9.99979477e-01 -2.76855657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters 0.012827975702370148 Centerline is valid? [True, True] Translation: X:170.21, Y:-30.27, Z:-2.77 [[ 9.07940400e-01 4.19063394e-01 5.48655917e-03 1.70212407e+02] [-4.19055989e-01 9.07956976e-01 -2.49147575e-03 -3.02707356e+01] [-6.02564595e-03 -3.70639926e-05 9.99981845e-01 -2.76984406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters 0.013053287057131659 Centerline is valid? [True, True] Translation: X:170.27, Y:-30.29, Z:-2.77 [[ 9.07899304e-01 4.19157391e-01 5.09274350e-03 1.70270289e+02] [-4.19151006e-01 9.07913587e-01 -2.31377621e-03 -3.02948786e+01] [-5.59360742e-03 -3.39527571e-05 9.99984355e-01 -2.77134063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters 0.013034868290982233 Centerline is valid? [True, True] Translation: X:170.33, Y:-30.32, Z:-2.77 [[ 9.08686774e-01 4.17458039e-01 4.13911664e-03 1.70327820e+02] [-4.17453802e-01 9.08696201e-01 -1.88100350e-03 -3.03214874e+01] [-4.54643960e-03 -1.86469788e-05 9.99989665e-01 -2.77321672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters 0.012920210880277588 Centerline is valid? [True, True] Translation: X:170.38, Y:-30.35, Z:-2.77 [[ 9.09802097e-01 4.15026414e-01 3.63602334e-03 1.70384810e+02] [-4.15023122e-01 9.09809362e-01 -1.65292549e-03 -3.03480655e+01] [-3.99409582e-03 -5.19868735e-06 9.99992024e-01 -2.77409566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters 0.013342632703234094 Centerline is valid? [True, True] Translation: X:170.44, Y:-30.37, Z:-2.78 [[ 9.12632815e-01 4.08770924e-01 2.77051445e-03 1.70440725e+02] [-4.08768983e-01 9.12637021e-01 -1.25976938e-03 -3.03747317e+01] [-3.04343115e-03 1.72065047e-05 9.99995369e-01 -2.77594352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters 0.01513411468922419 Centerline is valid? [True, True] Translation: X:170.49, Y:-30.41, Z:-2.78 [[ 9.17127226e-01 3.98579861e-01 3.42722834e-03 1.70494059e+02] [-3.98576801e-01 9.17133627e-01 -1.56327501e-03 -3.04054195e+01] [-3.76631630e-03 6.77083611e-05 9.99992905e-01 -2.77626559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters 0.018827328116088046 Centerline is valid? [True, True] Translation: X:170.55, Y:-30.44, Z:-2.78 [[ 9.21372518e-01 3.88652422e-01 4.68799218e-03 1.70545192e+02] [-3.88646564e-01 9.21384432e-01 -2.13909380e-03 -3.04375531e+01] [-5.15080700e-03 1.48930189e-04 9.99986723e-01 -2.77650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters 0.020833815807214443 Centerline is valid? [True, True] Translation: X:170.60, Y:-30.47, Z:-2.78 [[ 9.23342172e-01 3.83940429e-01 5.38338647e-03 1.70599581e+02] [-3.83932632e-01 9.23357843e-01 -2.45510181e-03 -3.04651756e+01] [-5.91340497e-03 2.00041301e-04 9.99982496e-01 -2.77777451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters 0.021276929354886943 Centerline is valid? [True, True] Translation: X:170.66, Y:-30.49, Z:-2.78 [[ 9.24733444e-01 3.80575901e-01 5.48101014e-03 1.70655043e+02] [-3.80567747e-01 9.24749659e-01 -2.50165245e-03 -3.04910648e+01] [-6.02063089e-03 2.27466012e-04 9.99981850e-01 -2.77836353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters 0.02020457163307819 Centerline is valid? [True, True] Translation: X:170.71, Y:-30.51, Z:-2.78 [[ 9.25192809e-01 3.79442260e-01 6.46821801e-03 1.70713043e+02] [-3.79430888e-01 9.25215378e-01 -2.95056785e-03 -3.05142524e+01] [-7.10406490e-03 2.75602457e-04 9.99974728e-01 -2.77797629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters 0.02007379134498371 Centerline is valid? [True, True] Translation: X:170.77, Y:-30.54, Z:-2.78 [[ 9.24643665e-01 3.80755764e-01 7.69028271e-03 1.70770880e+02] [-3.80739697e-01 9.24675590e-01 -3.51242849e-03 -3.05383605e+01] [-8.44839409e-03 3.19748840e-04 9.99964261e-01 -2.77805207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters 0.019505939872415345 Centerline is valid? [True, True] Translation: X:170.83, Y:-30.56, Z:-2.78 [[ 9.24169783e-01 3.81900648e-01 7.88077836e-03 1.70828298e+02] [-3.81883820e-01 9.24203330e-01 -3.59905273e-03 -3.05618224e+01] [-8.65792217e-03 3.16594032e-04 9.99962469e-01 -2.77952051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters 0.019910404802932633 Centerline is valid? [True, True] Translation: X:170.89, Y:-30.59, Z:-2.78 [[ 9.23946187e-01 3.82448641e-01 7.51540696e-03 1.70885877e+02] [-3.82433341e-01 9.23976703e-01 -3.43395999e-03 -3.05870181e+01] [-8.25737428e-03 2.98652048e-04 9.99965863e-01 -2.78113943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters 0.02087597821852188 Centerline is valid? [True, True] Translation: X:170.94, Y:-30.61, Z:-2.78 [[ 9.24122808e-01 3.82009487e-01 8.11090485e-03 1.70941407e+02] [-3.81991618e-01 9.24158343e-01 -3.70960543e-03 -3.06129061e+01] [-8.91286485e-03 3.29833322e-04 9.99960225e-01 -2.78264174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters 0.02032012662325504 Centerline is valid? [True, True] Translation: X:171.00, Y:-30.64, Z:-2.78 [[ 9.24595887e-01 3.80860172e-01 8.24467330e-03 1.70998575e+02] [-3.80841644e-01 9.24632580e-01 -3.77291072e-03 -3.06369998e+01] [-9.06024497e-03 3.48502807e-04 9.99958894e-01 -2.78377837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters 0.022615572295217764 Centerline is valid? [True, True] Translation: X:171.05, Y:-30.66, Z:-2.79 [[ 9.25310770e-01 3.79122385e-01 8.13608788e-03 1.71052580e+02] [-3.79104239e-01 9.25346467e-01 -3.72716694e-03 -3.06645720e+01] [-8.94175259e-03 3.64362308e-04 9.99959955e-01 -2.78571685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters 0.020886230862475173 Centerline is valid? [True, True] Translation: X:171.11, Y:-30.69, Z:-2.79 [[ 9.25575849e-01 3.78468526e-01 8.42153737e-03 1.71109656e+02] [-3.78449068e-01 9.25614082e-01 -3.85677721e-03 -3.06881878e+01] [-9.25476237e-03 3.82616872e-04 9.99957101e-01 -2.78586331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters 0.02041876512603064 Centerline is valid? [True, True] Translation: X:171.17, Y:-30.71, Z:-2.79 [[ 9.24592600e-01 3.80857831e-01 8.70839803e-03 1.71166221e+02] [-3.80837090e-01 9.24633534e-01 -3.99233685e-03 -3.07125909e+01] [-9.57258960e-03 3.74804148e-04 9.99954111e-01 -2.78638815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters 0.019054837405828487 Centerline is valid? [True, True] Translation: X:171.22, Y:-30.73, Z:-2.79 [[ 9.22911625e-01 3.84911806e-01 8.77688746e-03 1.71224028e+02] [-3.84890918e-01 9.22953297e-01 -4.02403555e-03 -3.07345949e+01] [-9.64955601e-03 3.35684924e-04 9.99953386e-01 -2.78737392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters 0.017066376272433178 Centerline is valid? [True, True] Translation: X:171.28, Y:-30.75, Z:-2.79 [[ 9.19540223e-01 3.92913376e-01 8.05336111e-03 1.71281740e+02] [-3.92896090e-01 9.19575459e-01 -3.69285723e-03 -3.07546219e+01] [-8.85664624e-03 2.31596671e-04 9.99960752e-01 -2.78956056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters 0.016469816034304467 Centerline is valid? [True, True] Translation: X:171.34, Y:-30.78, Z:-2.79 [[ 9.18441705e-01 3.95486913e-01 7.41186285e-03 1.71338937e+02] [-3.95472368e-01 9.18471592e-01 -3.39705714e-03 -3.07790642e+01] [-8.15107712e-03 1.88812002e-04 9.99966762e-01 -2.79081338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters 0.01558534138450362 Centerline is valid? [True, True] Translation: X:171.40, Y:-30.80, Z:-2.79 [[ 9.16750296e-01 3.99402555e-01 6.81861259e-03 1.71396122e+02] [-3.99390341e-01 9.16775642e-01 -3.12682487e-03 -3.08024717e+01] [-7.49999978e-03 1.43229616e-04 9.99971864e-01 -2.79234693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters 0.015207959426986035 Centerline is valid? [True, True] Translation: X:171.45, Y:-30.83, Z:-2.79 [[ 9.16088342e-01 4.00929520e-01 6.13759785e-03 1.71453311e+02] [-4.00919649e-01 9.16108894e-01 -2.81589465e-03 -3.08266250e+01] [-6.75168327e-03 1.18924685e-04 9.99977200e-01 -2.79321268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters 0.015992157042736033 Centerline is valid? [True, True] Translation: X:171.51, Y:-30.85, Z:-2.79 [[ 9.17342395e-01 3.98053134e-01 6.05248827e-03 1.71509025e+02] [-3.98043460e-01 9.17362351e-01 -2.77860070e-03 -3.08548459e+01] [-6.65835559e-03 1.39774845e-04 9.99977823e-01 -2.79385461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters 0.018980849719183217 Centerline is valid? [True, True] Translation: X:171.56, Y:-30.89, Z:-2.79 [[ 9.20820926e-01 3.89925572e-01 6.84617424e-03 1.71560435e+02] [-3.89912933e-01 9.20846348e-01 -3.14775291e-03 -3.08867882e+01] [-7.53166390e-03 2.29104874e-04 9.99971610e-01 -2.79392200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters 0.02259998131466607 Centerline is valid? [True, True] Translation: X:171.61, Y:-30.92, Z:-2.79 [[ 9.24661167e-01 3.80722720e-01 7.20671406e-03 1.71612797e+02] [-3.80708437e-01 9.24689195e-01 -3.31326942e-03 -3.09189814e+01] [-7.92540757e-03 3.19994725e-04 9.99968542e-01 -2.79455785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters 0.02180024905407048 Centerline is valid? [True, True] Translation: X:171.67, Y:-30.94, Z:-2.79 [[ 9.26421886e-01 3.76406530e-01 7.78543640e-03 1.71668724e+02] [-3.76389705e-01 9.26454519e-01 -3.57981857e-03 -3.09442352e+01] [-8.56031982e-03 3.86064164e-04 9.99963285e-01 -2.79479921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters 0.02496048975091115 Centerline is valid? [True, True] Translation: X:171.72, Y:-30.97, Z:-2.80 [[ 9.27196198e-01 3.74506394e-01 7.22301092e-03 1.71722446e+02] [-3.74491865e-01 9.27224256e-01 -3.31986344e-03 -3.09743499e+01] [-7.94066101e-03 3.73205929e-04 9.99968403e-01 -2.79644978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters 0.023327863240459677 Centerline is valid? [True, True] Translation: X:171.78, Y:-31.00, Z:-2.80 [[ 9.26717846e-01 3.75725762e-01 4.91790707e-03 1.71780517e+02] [-3.75719044e-01 9.26730862e-01 -2.26028785e-03 -3.09974799e+01] [-5.40682464e-03 2.46897743e-04 9.99985353e-01 -2.79907930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters 0.02211973186643611 Centerline is valid? [True, True] Translation: X:171.84, Y:-31.02, Z:-2.80 [[ 9.25521905e-01 3.78672520e-01 4.04062376e-03 1.71837309e+02] [-3.78667999e-01 9.25530705e-01 -1.86011926e-03 -3.10202805e+01] [-4.44409740e-03 1.91526207e-04 9.99990107e-01 -2.80058593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters 0.02143367894271188 Centerline is valid? [True, True] Translation: X:171.89, Y:-31.04, Z:-2.80 [[ 9.24741617e-01 3.80568413e-01 4.54143820e-03 1.71894392e+02] [-3.80562727e-01 9.24752746e-01 -2.09050422e-03 -3.10443840e+01] [-4.99528731e-03 2.04874148e-04 9.99987502e-01 -2.80163091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters 0.021219002393610638 Centerline is valid? [True, True] Translation: X:171.95, Y:-31.07, Z:-2.80 [[ 9.24279929e-01 3.81670544e-01 5.84880383e-03 1.71951181e+02] [-3.81661140e-01 9.24298399e-01 -2.69139426e-03 -3.10700731e+01] [-6.43326593e-03 2.55340555e-04 9.99979274e-01 -2.80120811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters 0.020621524066599194 Centerline is valid? [True, True] Translation: X:172.01, Y:-31.09, Z:-2.80 [[ 9.23700400e-01 3.83039587e-01 7.63185319e-03 1.72008740e+02] [-3.83023581e-01 9.23731871e-01 -3.51670379e-03 -3.10947403e+01] [-8.39682279e-03 3.25200964e-04 9.99964693e-01 -2.80076727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters 0.021035603540215355 Centerline is valid? [True, True] Translation: X:172.06, Y:-31.12, Z:-2.80 [[ 9.23259920e-01 3.84086715e-01 8.27736346e-03 1.72064835e+02] [-3.84067931e-01 9.23296961e-01 -3.81401775e-03 -3.11207993e+01] [-9.10737808e-03 3.42259868e-04 9.99958468e-01 -2.80150386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters 0.020190272566373135 Centerline is valid? [True, True] Translation: X:172.12, Y:-31.14, Z:-2.80 [[ 9.22078768e-01 3.86899381e-01 8.92274847e-03 1.72122585e+02] [-3.86877643e-01 9.22121875e-01 -4.11556586e-03 -3.11435661e+01] [-9.82017143e-03 3.42864003e-04 9.99951722e-01 -2.80217787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters 0.017274028629150427 Centerline is valid? [True, True] Translation: X:172.18, Y:-31.16, Z:-2.80 [[ 9.20468528e-01 3.90719462e-01 8.71728340e-03 1.72181970e+02] [-3.90698882e-01 9.20509758e-01 -4.02113971e-03 -3.11626302e+01] [-9.59548197e-03 2.95499675e-04 9.99953919e-01 -2.80248323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters 0.016461221155394654 Centerline is valid? [True, True] Translation: X:172.24, Y:-31.19, Z:-2.80 [[ 9.19379379e-01 3.93289388e-01 8.06319838e-03 1.72239988e+02] [-3.93271874e-01 9.19414703e-01 -3.71998059e-03 -3.11862247e+01] [-8.87645203e-03 2.49044312e-04 9.99960573e-01 -2.80357382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters 0.016108905059949878 Centerline is valid? [True, True] Translation: X:172.30, Y:-31.21, Z:-2.81 [[ 9.18279051e-01 3.95865697e-01 7.34399565e-03 1.72297532e+02] [-3.95851255e-01 9.18308395e-01 -3.38748530e-03 -3.12100321e+01] [-8.08504209e-03 2.03526886e-04 9.99967295e-01 -2.80500024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters 0.016732520787795982 Centerline is valid? [True, True] Translation: X:172.35, Y:-31.24, Z:-2.81 [[ 9.18054140e-01 3.96393837e-01 6.96569746e-03 1.72354138e+02] [-3.96380847e-01 9.18080546e-01 -3.21472888e-03 -3.12358144e+01] [-7.66937005e-03 1.90226101e-04 9.99970572e-01 -2.80657353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters 0.016913990709367742 Centerline is valid? [True, True] Translation: X:172.41, Y:-31.26, Z:-2.81 [[ 9.18593953e-01 3.95128804e-01 7.64059366e-03 1.72410358e+02] [-3.95113105e-01 9.18625701e-01 -3.52922050e-03 -3.12611985e+01] [-8.41334238e-03 2.23021918e-04 9.99964582e-01 -2.80711005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters 0.01841574003265906 Centerline is valid? [True, True] Translation: X:172.47, Y:-31.29, Z:-2.81 [[ 9.20483962e-01 3.90690968e-01 8.35727806e-03 1.72465279e+02] [-3.90671963e-01 9.20521853e-01 -3.86462816e-03 -3.12885538e+01] [-9.20293240e-03 2.92374017e-04 9.99957609e-01 -2.80723935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters 0.01935403174719247 Centerline is valid? [True, True] Translation: X:172.52, Y:-31.32, Z:-2.81 [[ 9.21760095e-01 3.87668447e-01 8.45588919e-03 1.72521591e+02] [-3.87648863e-01 9.21798822e-01 -3.91034223e-03 -3.13152580e+01] [-9.31054500e-03 3.26481599e-04 9.99956603e-01 -2.80828673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters 0.018832856779463038 Centerline is valid? [True, True] Translation: X:172.58, Y:-31.34, Z:-2.81 [[ 9.22787798e-01 3.85225426e-01 8.00322733e-03 1.72579169e+02] [-3.85207785e-01 9.22822443e-01 -3.70159396e-03 -3.13388289e+01] [-8.81150590e-03 3.32880262e-04 9.99961123e-01 -2.80939216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters 0.019498391504189756 Centerline is valid? [True, True] Translation: X:172.64, Y:-31.36, Z:-2.81 [[ 9.22451899e-01 3.86060542e-01 6.30484818e-03 1.72635893e+02] [-3.86049622e-01 9.22473410e-01 -2.91481997e-03 -3.13620537e+01] [-6.94135177e-03 2.54796955e-04 9.99975876e-01 -2.81176050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters 0.019230761638727684 Centerline is valid? [True, True] Translation: X:172.69, Y:-31.39, Z:-2.81 [[ 9.21666627e-01 3.87934383e-01 6.12725230e-03 1.72693551e+02] [-3.87924101e-01 9.21686964e-01 -2.83414531e-03 -3.13854436e+01] [-6.74687098e-03 2.35228309e-04 9.99977212e-01 -2.81351063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters 0.021624225880327412 Centerline is valid? [True, True] Translation: X:172.75, Y:-31.41, Z:-2.82 [[ 9.20849495e-01 3.89870987e-01 6.06797171e-03 1.72748546e+02] [-3.89860932e-01 9.20869461e-01 -2.80867662e-03 -3.14115084e+01] [-6.68283136e-03 2.20703346e-04 9.99977645e-01 -2.81564309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters 0.017915005033045193 Centerline is valid? [True, True] Translation: X:172.81, Y:-31.43, Z:-2.82 [[ 9.19856166e-01 3.92209238e-01 6.04541596e-03 1.72809294e+02] [-3.92199288e-01 9.19876009e-01 -2.80121926e-03 -3.14295544e+01] [-6.65969717e-03 2.05710970e-04 9.99977803e-01 -2.81522090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters 0.016992737495507965 Centerline is valid? [True, True] Translation: X:172.87, Y:-31.45, Z:-2.82 [[ 9.19079450e-01 3.94017839e-01 6.55037381e-03 1.72867945e+02] [-3.94006208e-01 9.19102769e-01 -3.03451370e-03 -3.14513069e+01] [-7.21611923e-03 2.08071234e-04 9.99973942e-01 -2.81558532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters 0.01731446239403581 Centerline is valid? [True, True] Translation: X:172.93, Y:-31.48, Z:-2.82 [[ 9.19024484e-01 3.94144324e-01 6.65209530e-03 1.72926090e+02] [-3.94132320e-01 9.19048534e-01 -3.08335928e-03 -3.14761136e+01] [-7.32888699e-03 2.11876912e-04 9.99973121e-01 -2.81614361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters 0.017963394851773066 Centerline is valid? [True, True] Translation: X:172.98, Y:-31.50, Z:-2.82 [[ 9.19424128e-01 3.93219848e-01 6.11757939e-03 1.72983402e+02] [-3.93209662e-01 9.19444457e-01 -2.83763325e-03 -3.14999904e+01] [-6.74058818e-03 2.03497151e-04 9.99977261e-01 -2.81742691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters 0.017619584594498958 Centerline is valid? [True, True] Translation: X:173.04, Y:-31.52, Z:-2.82 [[ 9.20191458e-01 3.91423640e-01 5.93423725e-03 1.73040612e+02] [-3.91414007e-01 9.20210568e-01 -2.75431758e-03 -3.15232184e+01] [-6.53885284e-03 2.11755925e-04 9.99978599e-01 -2.81802886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters 0.02019679529944372 Centerline is valid? [True, True] Translation: X:173.10, Y:-31.55, Z:-2.82 [[ 9.21929136e-01 3.87306058e-01 6.37847605e-03 1.73095490e+02] [-3.87294800e-01 9.21951164e-01 -2.96463298e-03 -3.15483579e+01] [-7.02886373e-03 2.62830916e-04 9.99975263e-01 -2.81943884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters 0.0207939428309402 Centerline is valid? [True, True] Translation: X:173.15, Y:-31.57, Z:-2.82 [[ 9.22475940e-01 3.86005134e-01 6.17875480e-03 1.73151517e+02] [-3.85994547e-01 9.22496595e-01 -2.87087335e-03 -3.15738215e+01] [-6.80805211e-03 2.63345932e-04 9.99976790e-01 -2.82058238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters 0.020472748750688424 Centerline is valid? [True, True] Translation: X:173.21, Y:-31.60, Z:-2.82 [[ 9.23540011e-01 3.83458061e-01 5.81067420e-03 1.73208456e+02] [-3.83448638e-01 9.23558252e-01 -2.70135828e-03 -3.15976613e+01] [-6.40235372e-03 2.66717348e-04 9.99979469e-01 -2.82167493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters 0.020357735227033096 Centerline is valid? [True, True] Translation: X:173.26, Y:-31.62, Z:-2.82 [[ 9.24783505e-01 3.80450916e-01 5.70696594e-03 1.73264835e+02] [-3.80441766e-01 9.24801071e-01 -2.65381091e-03 -3.16202264e+01] [-6.28745300e-03 2.83032356e-04 9.99980194e-01 -2.82217483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters 0.0215011970877958 Centerline is valid? [True, True] Translation: X:173.32, Y:-31.65, Z:-2.82 [[ 9.24996713e-01 3.79930453e-01 5.82511242e-03 1.73322020e+02] [-3.79920924e-01 9.25015009e-01 -2.70651964e-03 -3.16452596e+01] [-6.41660565e-03 2.90439677e-04 9.99979371e-01 -2.82298108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters 0.02097901708108683 Centerline is valid? [True, True] Translation: X:173.38, Y:-31.67, Z:-2.82 [[ 9.24660202e-01 3.80734076e-01 6.71375586e-03 1.73380436e+02] [-3.80721419e-01 9.24684516e-01 -3.12205212e-03 -3.16661662e+01] [-7.39677772e-03 3.30766682e-04 9.99972589e-01 -2.82314268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters 0.020925337224468096 Centerline is valid? [True, True] Translation: X:173.44, Y:-31.69, Z:-2.82 [[ 9.23254409e-01 3.84132815e-01 6.57843622e-03 1.73437078e+02] [-3.84120719e-01 9.23277797e-01 -3.06326620e-03 -3.16867260e+01] [-7.25042517e-03 3.01260371e-04 9.99973670e-01 -2.82436959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters 0.01875407330568069 Centerline is valid? [True, True] Translation: X:173.50, Y:-31.71, Z:-2.83 [[ 9.21611224e-01 3.88071780e-01 5.74858181e-03 1.73496145e+02] [-3.88062624e-01 9.21629122e-01 -2.67616065e-03 -3.17057034e+01] [-6.33660283e-03 2.35569951e-04 9.99979896e-01 -2.82566388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters 0.018317792908666353 Centerline is valid? [True, True] Translation: X:173.55, Y:-31.73, Z:-2.83 [[ 9.19981187e-01 3.91923516e-01 5.52932853e-03 1.73553359e+02] [-3.91915108e-01 9.19997781e-01 -2.57501677e-03 -3.17263739e+01] [-6.09617961e-03 2.01939598e-04 9.99981398e-01 -2.82717332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters 0.016319064957982694 Centerline is valid? [True, True] Translation: X:173.61, Y:-31.74, Z:-2.83 [[ 9.18068480e-01 3.96373820e-01 6.16941855e-03 1.73613306e+02] [-3.96363453e-01 9.18089188e-01 -2.87325913e-03 -3.17435884e+01] [-6.80296116e-03 1.92516605e-04 9.99976841e-01 -2.82725170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters 0.01582245665916186 Centerline is valid? [True, True] Translation: X:173.67, Y:-31.77, Z:-2.83 [[ 9.17639364e-01 3.97371659e-01 5.81049190e-03 1.73671040e+02] [-3.97362494e-01 9.17657744e-01 -2.70438179e-03 -3.17660435e+01] [-6.40668757e-03 1.72775633e-04 9.99979462e-01 -2.82811030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters 0.017521157401091312 Centerline is valid? [True, True] Translation: X:173.73, Y:-31.79, Z:-2.83 [[ 9.18175312e-01 3.96136123e-01 5.50162687e-03 1.73727434e+02] [-3.96127874e-01 9.18191779e-01 -2.56228959e-03 -3.17897322e+01] [-6.06656402e-03 1.73283293e-04 9.99981583e-01 -2.82969540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters 0.017538730684160016 Centerline is valid? [True, True] Translation: X:173.79, Y:-31.81, Z:-2.83 [[ 9.19588586e-01 3.92844429e-01 5.48522506e-03 1.73785145e+02] [-3.92836162e-01 9.19604924e-01 -2.55613012e-03 -3.18122460e+01] [-6.04840145e-03 1.95793324e-04 9.99981689e-01 -2.82970350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters 0.018016432403500683 Centerline is valid? [True, True] Translation: X:173.84, Y:-31.84, Z:-2.83 [[ 9.20329103e-01 3.91107676e-01 5.39696439e-03 1.73842050e+02] [-3.91099636e-01 9.20344905e-01 -2.51624437e-03 -3.18373637e+01] [-5.95119116e-03 2.05022116e-04 9.99982270e-01 -2.83027729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters 0.019656887019734386 Centerline is valid? [True, True] Translation: X:173.90, Y:-31.86, Z:-2.83 [[ 9.21020829e-01 3.89477568e-01 5.27786092e-03 1.73897343e+02] [-3.89469835e-01 9.21035927e-01 -2.46360063e-03 -3.18621522e+01] [-5.82061671e-03 2.13459874e-04 9.99983037e-01 -2.83160416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters 0.01967598553733848 Centerline is valid? [True, True] Translation: X:173.96, Y:-31.89, Z:-2.83 [[ 9.20946594e-01 3.89658423e-01 4.86659513e-03 1.73955337e+02] [-3.89651858e-01 9.20959432e-01 -2.27039404e-03 -3.18869100e+01] [-5.36661485e-03 1.94633820e-04 9.99985581e-01 -2.83277389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters 0.020253283927828443 Centerline is valid? [True, True] Translation: X:174.01, Y:-31.91, Z:-2.83 [[ 9.20524579e-01 3.90662511e-01 4.15947135e-03 1.74011905e+02] [-3.90657718e-01 9.20533963e-01 -1.94189241e-03 -3.19092271e+01] [-4.58755920e-03 1.62630106e-04 9.99989464e-01 -2.83407622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters 0.01901543213368993 Centerline is valid? [True, True] Translation: X:174.07, Y:-31.93, Z:-2.83 [[ 9.20050673e-01 3.91773786e-01 4.47879604e-03 1.74069907e+02] [-3.91768236e-01 9.20061559e-01 -2.09222378e-03 -3.19312016e+01] [-4.94044650e-03 1.70301874e-04 9.99987781e-01 -2.83420934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters 0.018222074029910332 Centerline is valid? [True, True] Translation: X:174.13, Y:-31.95, Z:-2.83 [[ 9.19421039e-01 3.93254780e-01 3.95353777e-03 1.74128998e+02] [-3.93250467e-01 9.19429528e-01 -1.84749431e-03 -3.19523435e+01] [-4.36153534e-03 1.43894565e-04 9.99990478e-01 -2.83494231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters 0.018330264735624935 Centerline is valid? [True, True] Translation: X:174.19, Y:-31.98, Z:-2.84 [[ 9.18826335e-01 3.94650734e-01 2.99410261e-03 1.74186197e+02] [-3.94648268e-01 9.18831207e-01 -1.39903962e-03 -3.19761552e+01] [-3.30320693e-03 1.03857041e-04 9.99994539e-01 -2.83644582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters 0.017208465207727987 Centerline is valid? [True, True] Translation: X:174.25, Y:-32.00, Z:-2.84 [[ 9.17945499e-01 3.96688009e-01 3.83203605e-03 1.74245445e+02] [-3.96683978e-01 9.17953489e-01 -1.79285247e-03 -3.19964952e+01] [-4.22883394e-03 1.25633553e-04 9.99991051e-01 -2.83608262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters 0.01736408647827996 Centerline is valid? [True, True] Translation: X:174.30, Y:-32.02, Z:-2.84 [[ 9.17545457e-01 3.97597927e-01 5.12085532e-03 1.74302844e+02] [-3.97590725e-01 9.17559732e-01 -2.39884166e-03 -3.20213643e+01] [-5.65246510e-03 1.65041691e-04 9.99984011e-01 -2.83591932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters 0.017521271950615678 Centerline is valid? [True, True] Translation: X:174.36, Y:-32.05, Z:-2.84 [[ 9.17264338e-01 3.98240395e-01 5.54277328e-03 1.74359807e+02] [-3.98231956e-01 9.17281068e-01 -2.59849699e-03 -3.20456920e+01] [-6.11910746e-03 1.76199177e-04 9.99981263e-01 -2.83632681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters 0.016557136801046347 Centerline is valid? [True, True] Translation: X:174.42, Y:-32.07, Z:-2.84 [[ 9.16823360e-01 3.99264746e-01 4.75283061e-03 1.74417255e+02] [-3.99258551e-01 9.16835668e-01 -2.22889890e-03 -3.20689365e+01] [-5.24748538e-03 1.45898315e-04 9.99986221e-01 -2.83730341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters 0.016728667054893818 Centerline is valid? [True, True] Translation: X:174.47, Y:-32.09, Z:-2.84 [[ 9.16049592e-01 4.01042864e-01 4.21508492e-03 1.74473736e+02] [-4.01038005e-01 9.16059281e-01 -1.97774998e-03 -3.20926820e+01] [-4.65443018e-03 1.21307816e-04 9.99989161e-01 -2.83891842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters 0.016929062868568868 Centerline is valid? [True, True] Translation: X:174.53, Y:-32.12, Z:-2.84 [[ 9.15753742e-01 4.01722975e-01 3.70605693e-03 1.74530814e+02] [-4.01719226e-01 9.15761235e-01 -1.73882475e-03 -3.21182593e+01] [-4.09238913e-03 1.03540949e-04 9.99991621e-01 -2.84035108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters 0.017468349986538664 Centerline is valid? [True, True] Translation: X:174.59, Y:-32.14, Z:-2.84 [[ 9.15601047e-01 4.02077394e-01 2.91399040e-03 1.74587954e+02] [-4.02075077e-01 9.15605681e-01 -1.36720185e-03 -3.21439776e+01] [-3.21778712e-03 8.01685329e-05 9.99994820e-01 -2.84270300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters 0.018703716141035266 Centerline is valid? [True, True] Translation: X:174.64, Y:-32.17, Z:-2.84 [[ 9.16007446e-01 4.01150839e-01 2.89188299e-03 1.74643152e+02] [-4.01148548e-01 9.16012007e-01 -1.35849086e-03 -3.21705610e+01] [-3.19395929e-03 8.43130812e-05 9.99994896e-01 -2.84445162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters 0.018794595626193587 Centerline is valid? [True, True] Translation: X:174.70, Y:-32.20, Z:-2.84 [[ 9.16126648e-01 4.00869859e-01 3.91422640e-03 1.74700402e+02] [-4.00865651e-01 9.16135002e-01 -1.84047815e-03 -3.21975357e+01] [-4.32375203e-03 1.17032161e-04 9.99990646e-01 -2.84465374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters 0.01653464749133109 Centerline is valid? [True, True] Translation: X:174.76, Y:-32.22, Z:-2.84 [[ 9.15662338e-01 4.01931009e-01 3.73451374e-03 1.74758047e+02] [-4.01927182e-01 9.15669947e-01 -1.75722630e-03 -3.22204292e+01] [-4.12586574e-03 1.08023360e-04 9.99991483e-01 -2.84402826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters 0.018772769546246675 Centerline is valid? [True, True] Translation: X:174.81, Y:-32.25, Z:-2.85 [[ 9.14563288e-01 4.04423710e-01 3.93130563e-03 1.74812400e+02] [-4.04419485e-01 9.14571732e-01 -1.85147220e-03 -3.22481248e+01] [-4.34424025e-03 1.03391904e-04 9.99990558e-01 -2.84702175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters 0.013562045190473418 Centerline is valid? [True, True] Translation: X:174.87, Y:-32.26, Z:-2.85 [[ 9.11519169e-01 4.11239644e-01 3.84182477e-03 1.74872161e+02] [-4.11235656e-01 9.11527262e-01 -1.81266934e-03 -3.22649907e+01] [-4.24736950e-03 7.23875205e-05 9.99990977e-01 -2.84506479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters 0.01280044614474666 Centerline is valid? [True, True] Translation: X:174.93, Y:-32.29, Z:-2.85 [[ 9.08887816e-01 4.17020191e-01 4.13492887e-03 1.74927969e+02] [-4.17015628e-01 9.08897221e-01 -1.95141685e-03 -3.22881010e+01] [-4.57200559e-03 4.92890399e-05 9.99989547e-01 -2.84625406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters 0.012148255477628518 Centerline is valid? [True, True] Translation: X:174.98, Y:-32.31, Z:-2.85 [[ 9.07530869e-01 4.19962923e-01 4.34339761e-03 1.74984681e+02] [-4.19957935e-01 9.07541262e-01 -2.04714034e-03 -3.23129726e+01] [-4.80153559e-03 3.37987611e-05 9.99988472e-01 -2.84646669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters 0.011604370366806302 Centerline is valid? [True, True] Translation: X:175.04, Y:-32.34, Z:-2.85 [[ 9.04364090e-01 4.26733826e-01 4.88212928e-03 1.75042089e+02] [-4.26727611e-01 9.04377268e-01 -2.30305293e-03 -3.23363337e+01] [-5.39807733e-03 -5.41000693e-07 9.99985430e-01 -2.84665296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters 0.011527270999172579 Centerline is valid? [True, True] Translation: X:175.10, Y:-32.36, Z:-2.85 [[ 9.02586509e-01 4.30481721e-01 4.80426988e-03 1.75099061e+02] [-4.30475751e-01 9.02599295e-01 -2.26724185e-03 -3.23631736e+01] [-5.31233678e-03 -2.17397761e-05 9.99985889e-01 -2.84729307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters 0.01162744719326786 Centerline is valid? [True, True] Translation: X:175.16, Y:-32.39, Z:-2.85 [[ 9.02178085e-01 4.31332176e-01 5.22076641e-03 1.75155157e+02] [-4.31325127e-01 9.02193191e-01 -2.46602673e-03 -3.23916586e+01] [-5.77381657e-03 -2.70524660e-05 9.99983331e-01 -2.84817969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters 0.011559514638705639 Centerline is valid? [True, True] Translation: X:175.21, Y:-32.42, Z:-2.85 [[ 9.02306996e-01 4.31065155e-01 4.99160246e-03 1.75210366e+02] [-4.31058699e-01 9.02320803e-01 -2.35926547e-03 -3.24216896e+01] [-5.52102388e-03 -2.28919239e-05 9.99984759e-01 -2.84893424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters 0.011508551299012813 Centerline is valid? [True, True] Translation: X:175.26, Y:-32.45, Z:-2.85 [[ 9.02911977e-01 4.29804458e-01 4.25319402e-03 1.75264587e+02] [-4.29799754e-01 9.02921994e-01 -2.01099976e-03 -3.24543259e+01] [-4.70463909e-03 -1.22659727e-05 9.99988933e-01 -2.85078554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters 0.011413811211167723 Centerline is valid? [True, True] Translation: X:175.32, Y:-32.49, Z:-2.85 [[ 9.03872931e-01 4.27783922e-01 3.82623525e-03 1.75318378e+02] [-4.27780093e-01 9.03881030e-01 -1.80986672e-03 -3.24870261e+01] [-4.23269334e-03 -8.97733653e-07 9.99991042e-01 -2.85134738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters 0.012206281817598232 Centerline is valid? [True, True] Translation: X:175.37, Y:-32.52, Z:-2.85 [[ 9.06078013e-01 4.23091317e-01 4.04610151e-03 1.75368308e+02] [-4.23086973e-01 9.06087047e-01 -1.91748047e-03 -3.25237633e+01] [-4.47738951e-03 2.55340521e-05 9.99989976e-01 -2.85405890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters 0.012910809317333334 Centerline is valid? [True, True] Translation: X:175.42, Y:-32.56, Z:-2.85 [[ 9.08600762e-01 4.17642600e-01 4.39476068e-03 1.75419389e+02] [-4.17637406e-01 9.08611388e-01 -2.08377991e-03 -3.25601685e+01] [-4.86340486e-03 5.79075586e-05 9.99988172e-01 -2.85348775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters 0.013264046986113965 Centerline is valid? [True, True] Translation: X:175.47, Y:-32.59, Z:-2.85 [[ 9.10153513e-01 4.14246990e-01 4.47375008e-03 1.75472428e+02] [-4.14241570e-01 9.10164505e-01 -2.12048464e-03 -3.25927111e+01] [-4.95025291e-03 7.67532913e-05 9.99987744e-01 -2.85337254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters 0.014142115185842168 Centerline is valid? [True, True] Translation: X:175.52, Y:-32.63, Z:-2.85 [[ 9.12089006e-01 4.09969730e-01 4.29707245e-03 1.75523988e+02] [-4.09964676e-01 9.12099123e-01 -2.03805183e-03 -3.26282278e+01] [-4.75489558e-03 9.72367562e-05 9.99988691e-01 -2.85376690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters 0.014926700237083772 Centerline is valid? [True, True] Translation: X:175.58, Y:-32.66, Z:-2.86 [[ 9.12764673e-01 4.08471116e-01 3.46395869e-03 1.75577511e+02] [-4.08467821e-01 9.12771242e-01 -1.64291605e-03 -3.26598597e+01] [-3.83288563e-03 8.46800694e-05 9.99992651e-01 -2.85519731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters 0.014977979314227547 Centerline is valid? [True, True] Translation: X:175.63, Y:-32.69, Z:-2.86 [[ 9.12959155e-01 4.08041764e-01 2.73850804e-03 1.75630881e+02] [-4.08039703e-01 9.12963260e-01 -1.29874235e-03 -3.26913321e+01] [-3.03009835e-03 6.82787110e-05 9.99995407e-01 -2.85588786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters 0.014708624995522532 Centerline is valid? [True, True] Translation: X:175.69, Y:-32.72, Z:-2.86 [[ 9.12848895e-01 4.08287107e-01 2.92123434e-03 1.75686891e+02] [-4.08284760e-01 9.12853566e-01 -1.38603508e-03 -3.27206857e+01] [-3.23255943e-03 7.25451296e-05 9.99994773e-01 -2.85561837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters 0.01570874753660101 Centerline is valid? [True, True] Translation: X:175.74, Y:-32.75, Z:-2.86 [[ 9.12891824e-01 4.08188051e-01 3.32159742e-03 1.75741002e+02] [-4.08185009e-01 9.12897863e-01 -1.57814813e-03 -3.27518936e+01] [-3.67646040e-03 8.48522515e-05 9.99993238e-01 -2.85595868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters 0.015441543391997985 Centerline is valid? [True, True] Translation: X:175.80, Y:-32.78, Z:-2.86 [[ 9.12720048e-01 4.08571344e-01 3.40153253e-03 1.75797486e+02] [-4.08568152e-01 9.12726383e-01 -1.61713545e-03 -3.27800901e+01] [-3.76538369e-03 8.62340875e-05 9.99992907e-01 -2.85636084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters 0.015650998878485037 Centerline is valid? [True, True] Translation: X:175.85, Y:-32.81, Z:-2.86 [[ 9.12251553e-01 4.09621862e-01 2.65240510e-03 1.75851594e+02] [-4.09619924e-01 9.12255406e-01 -1.26162403e-03 -3.28082763e+01] [-2.93645967e-03 6.44405115e-05 9.99995687e-01 -2.85738850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters 0.016027775626294094 Centerline is valid? [True, True] Translation: X:175.91, Y:-32.84, Z:-2.86 [[ 9.11950882e-01 4.10287662e-01 3.10200696e-03 1.75905858e+02] [-4.10285010e-01 9.11956155e-01 -1.47704002e-03 -3.28362547e+01] [-3.43490564e-03 7.42809932e-05 9.99994098e-01 -2.85748602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters 0.016301099938821808 Centerline is valid? [True, True] Translation: X:175.96, Y:-32.86, Z:-2.86 [[ 9.11889042e-01 4.10423234e-01 3.33824912e-03 1.75962709e+02] [-4.10420162e-01 9.11895149e-01 -1.59007872e-03 -3.28643276e+01] [-3.69673843e-03 7.98906210e-05 9.99993164e-01 -2.85871257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters 0.01673629109341743 Centerline is valid? [True, True] Translation: X:176.02, Y:-32.89, Z:-2.86 [[ 9.11632494e-01 4.11000319e-01 2.22116767e-03 1.76018110e+02] [-4.10998959e-01 9.11635198e-01 -1.05866832e-03 -3.28909314e+01] [-2.46000765e-03 5.22188390e-05 9.99996973e-01 -2.86088957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters 0.014521537443044137 Centerline is valid? [True, True] Translation: X:176.08, Y:-32.91, Z:-2.86 [[ 9.11290824e-01 4.11759949e-01 1.66708454e-03 1.76076318e+02] [-4.11759188e-01 9.11292348e-01 -7.92343094e-04 -3.29145750e+01] [-1.84545654e-03 3.56176125e-05 9.99998297e-01 -2.85994004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters 0.015188270459912924 Centerline is valid? [True, True] Translation: X:176.13, Y:-32.94, Z:-2.86 [[ 9.11533864e-01 4.11220848e-01 1.85174685e-03 1.76131084e+02] [-4.11219901e-01 9.11535744e-01 -8.83591234e-04 -3.29410633e+01] [-2.05128458e-03 4.39481741e-05 9.99997895e-01 -2.86167761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters 0.01893879695876844 Centerline is valid? [True, True] Translation: X:176.18, Y:-32.97, Z:-2.86 [[ 9.12460598e-01 4.09156028e-01 2.64618581e-03 1.76184256e+02] [-4.09154081e-01 9.12464432e-01 -1.26424036e-03 -3.29721991e+01] [-2.93182200e-03 7.08717895e-05 9.99995700e-01 -2.86433020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters 0.016977941165951676 Centerline is valid? [True, True] Translation: X:176.24, Y:-33.00, Z:-2.86 [[ 9.13095371e-01 4.07733339e-01 3.22004332e-03 1.76241580e+02] [-4.07730449e-01 9.13101044e-01 -1.53787884e-03 -3.29959609e+01] [-3.56726939e-03 9.13203385e-05 9.99993633e-01 -2.86266471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters 0.017245423858367914 Centerline is valid? [True, True] Translation: X:176.30, Y:-33.02, Z:-2.86 [[ 9.13880000e-01 4.05966788e-01 3.78318695e-03 1.76297803e+02] [-4.05962775e-01 9.13887823e-01 -1.80886386e-03 -3.30212345e+01] [-4.19174714e-03 1.17251433e-04 9.99991208e-01 -2.86251623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters 0.016541446804566144 Centerline is valid? [True, True] Translation: X:176.36, Y:-33.05, Z:-2.86 [[ 9.14372412e-01 4.04848021e-01 4.60142179e-03 1.76355168e+02] [-4.04842061e-01 9.14383977e-01 -2.20191264e-03 -3.30455278e+01] [-5.09890634e-03 1.50519092e-04 9.99986989e-01 -2.86252958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters 0.01697594273788149 Centerline is valid? [True, True] Translation: X:176.41, Y:-33.07, Z:-2.86 [[ 9.14355252e-01 4.04878040e-01 5.31466427e-03 1.76412090e+02] [-4.04870078e-01 9.14370681e-01 -2.54514997e-03 -3.30723181e+01] [-5.89004852e-03 1.75422709e-04 9.99982638e-01 -2.86313138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters 0.016347051494266237 Centerline is valid? [True, True] Translation: X:176.47, Y:-33.10, Z:-2.86 [[ 9.14322590e-01 4.04946185e-01 5.72620507e-03 1.76470088e+02] [-4.04936929e-01 9.14340501e-01 -2.74453395e-03 -3.30960872e+01] [-6.34708976e-03 1.90637493e-04 9.99979839e-01 -2.86390115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters 0.016788138051835738 Centerline is valid? [True, True] Translation: X:176.53, Y:-33.12, Z:-2.87 [[ 9.14526357e-01 4.04487262e-01 5.62110872e-03 1.76526506e+02] [-4.04478320e-01 9.14543612e-01 -2.69643477e-03 -3.31218108e+01] [-6.23142259e-03 1.92344052e-04 9.99980566e-01 -2.86518136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters 0.01769601129498886 Centerline is valid? [True, True] Translation: X:176.58, Y:-33.15, Z:-2.87 [[ 9.14910708e-01 4.03613036e-01 5.90871753e-03 1.76582349e+02] [-4.03603123e-01 9.14929764e-01 -2.83663562e-03 -3.31471171e+01] [-6.55096465e-03 2.10491461e-04 9.99978520e-01 -2.86652477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters 0.018498365229306594 Centerline is valid? [True, True] Translation: X:176.64, Y:-33.17, Z:-2.87 [[ 9.15583804e-01 4.02060834e-01 7.30641823e-03 1.76639298e+02] [-4.02045602e-01 9.15612915e-01 -3.51062115e-03 -3.31710194e+01] [-8.10133416e-03 2.76754547e-04 9.99967145e-01 -2.86676469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters 0.018614784454088727 Centerline is valid? [True, True] Translation: X:176.70, Y:-33.20, Z:-2.87 [[ 9.15993519e-01 4.01111487e-01 8.08994132e-03 1.76695853e+02] [-4.01092754e-01 9.16029188e-01 -3.88960327e-03 -3.31962965e+01] [-8.97078693e-03 3.18034548e-04 9.99959711e-01 -2.86740353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters 0.019301019222922166 Centerline is valid? [True, True] Translation: X:176.75, Y:-33.22, Z:-2.87 [[ 9.16944973e-01 3.98907889e-01 9.18758423e-03 1.76752928e+02] [-3.98883572e-01 9.16990918e-01 -4.42174945e-03 -3.32211590e+01] [-1.01888020e-02 3.89724519e-04 9.99948017e-01 -2.86816497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters 0.019981864055614317 Centerline is valid? [True, True] Translation: X:176.81, Y:-33.24, Z:-2.87 [[ 9.17675442e-01 3.97224590e-01 9.18746340e-03 1.76810763e+02] [-3.97200181e-01 9.17721340e-01 -4.42247855e-03 -3.32436459e+01] [-1.01882485e-02 4.09137827e-04 9.99948015e-01 -2.86967929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters 0.019159621765297178 Centerline is valid? [True, True] Translation: X:176.87, Y:-33.26, Z:-2.87 [[ 9.17332538e-01 3.98007252e-01 9.55202167e-03 1.76870897e+02] [-3.97980912e-01 9.17382174e-01 -4.59779994e-03 -3.32623434e+01] [-1.05928121e-02 4.16189196e-04 9.99943808e-01 -2.87097372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters 0.020417317394083746 Centerline is valid? [True, True] Translation: X:176.93, Y:-33.29, Z:-2.87 [[ 9.17116882e-01 3.98491947e-01 1.00395927e-02 1.76927540e+02] [-3.98462841e-01 9.17171728e-01 -4.83585543e-03 -3.32866297e+01] [-1.11350801e-02 4.34640004e-04 9.99937909e-01 -2.87251677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters 0.02040242899993209 Centerline is valid? [True, True] Translation: X:176.99, Y:-33.31, Z:-2.87 [[ 9.17446970e-01 3.97729346e-01 1.01204601e-02 1.76986165e+02] [-3.97699691e-01 9.17502678e-01 -4.87755162e-03 -3.33089482e+01] [-1.12254947e-02 4.49991094e-04 9.99936891e-01 -2.87355584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters 0.021881916492470097 Centerline is valid? [True, True] Translation: X:177.04, Y:-33.33, Z:-2.88 [[ 9.17892101e-01 3.96717107e-01 9.46724000e-03 1.77042616e+02] [-3.96691075e-01 9.17940819e-01 -4.56539225e-03 -3.33318267e+01] [-1.05015352e-02 4.34967866e-04 9.99944763e-01 -2.87611117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters 0.020475372630287016 Centerline is valid? [True, True] Translation: X:177.10, Y:-33.35, Z:-2.88 [[ 9.17632659e-01 3.97310015e-01 9.74964349e-03 1.77101108e+02] [-3.97282412e-01 9.17684344e-01 -4.70421767e-03 -3.33530171e+01] [-1.08161280e-02 4.43381892e-04 9.99941406e-01 -2.87769020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters 0.019876487573480782 Centerline is valid? [True, True] Translation: X:177.16, Y:-33.38, Z:-2.88 [[ 9.16590577e-01 3.99695436e-01 1.02602441e-02 1.77159001e+02] [-3.99664967e-01 9.16647895e-01 -4.95481140e-03 -3.33754393e+01] [-1.13854467e-02 4.40873322e-04 9.99935087e-01 -2.87871822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters 0.016777530961500045 Centerline is valid? [True, True] Translation: X:177.22, Y:-33.39, Z:-2.88 [[ 9.13751254e-01 4.06127764e-01 1.09034331e-02 1.77218546e+02] [-4.06093800e-01 9.13816224e-01 -5.26632617e-03 -3.33923805e+01] [-1.21025353e-02 3.84295568e-04 9.99926688e-01 -2.87888168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters 0.017046329491648412 Centerline is valid? [True, True] Translation: X:177.28, Y:-33.41, Z:-2.88 [[ 9.11783149e-01 4.10511231e-01 1.14899279e-02 1.77275239e+02] [-4.10473860e-01 9.11855477e-01 -5.54975127e-03 -3.34148591e+01] [-1.27553889e-02 3.43854654e-04 9.99918588e-01 -2.88024442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters 0.01451260049006509 Centerline is valid? [True, True] Translation: X:177.34, Y:-33.43, Z:-2.88 [[ 9.09937931e-01 4.14552449e-01 1.26185652e-02 1.77335706e+02] [-4.14507754e-01 9.10025366e-01 -6.09546216e-03 -3.34320295e+01] [-1.40101032e-02 3.15999126e-04 9.99901804e-01 -2.88084752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters 0.014762183026638292 Centerline is valid? [True, True] Translation: X:177.39, Y:-33.46, Z:-2.88 [[ 9.09760921e-01 4.14933080e-01 1.28688197e-02 1.77393416e+02] [-4.14886626e-01 9.09851877e-01 -6.21681304e-03 -3.34575102e+01] [-1.42882811e-02 3.16712368e-04 9.99897867e-01 -2.88161717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters 0.015700644450150417 Centerline is valid? [True, True] Translation: X:177.45, Y:-33.48, Z:-2.88 [[ 9.11534584e-01 4.11045707e-01 1.20884100e-02 1.77449456e+02] [-4.11004316e-01 9.11614665e-01 -5.84418849e-03 -3.34839101e+01] [-1.34222004e-02 3.58791244e-04 9.99909854e-01 -2.88360253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters 0.017466219103908345 Centerline is valid? [True, True] Translation: X:177.50, Y:-33.51, Z:-2.89 [[ 9.13728766e-01 4.06165428e-01 1.13748714e-02 1.77503981e+02] [-4.06128388e-01 9.13799475e-01 -5.50026107e-03 -3.35119244e+01] [-1.26283674e-02 4.06088582e-04 9.99920177e-01 -2.88559180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters 0.018955922802469063 Centerline is valid? [True, True] Translation: X:177.56, Y:-33.54, Z:-2.89 [[ 9.14831116e-01 4.03684967e-01 1.10669071e-02 1.77558769e+02] [-4.03649727e-01 9.14897953e-01 -5.35105930e-03 -3.35399545e+01] [-1.22852328e-02 4.28161519e-04 9.99924442e-01 -2.88724543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters 0.0207193557556571 Centerline is valid? [True, True] Translation: X:177.61, Y:-33.57, Z:-2.89 [[ 9.15898874e-01 4.01258262e-01 1.10027283e-02 1.77614300e+02] [-4.01223210e-01 9.15964844e-01 -5.32365902e-03 -3.35680981e+01] [-1.22142744e-02 4.61383344e-04 9.99925297e-01 -2.88890170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters 0.021021919958749503 Centerline is valid? [True, True] Translation: X:177.67, Y:-33.59, Z:-2.89 [[ 9.16410119e-01 4.00081207e-01 1.12925434e-02 1.77670244e+02] [-4.00044190e-01 9.16479562e-01 -5.46423815e-03 -3.35948747e+01] [-1.25355242e-02 4.89966749e-04 9.99921307e-01 -2.88977635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters 0.01937144724341264 Centerline is valid? [True, True] Translation: X:177.73, Y:-33.62, Z:-2.89 [[ 9.16230982e-01 4.00471204e-01 1.19834397e-02 1.77728920e+02] [-4.00429504e-01 9.16309198e-01 -5.80218685e-03 -3.36184852e+01] [-1.33041447e-02 5.17620556e-04 9.99911362e-01 -2.88990585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters 0.019704100698055546 Centerline is valid? [True, True] Translation: X:177.78, Y:-33.64, Z:-2.89 [[ 9.15279901e-01 4.02625453e-01 1.24678354e-02 1.77784050e+02] [-4.02580445e-01 9.15364673e-01 -6.04162782e-03 -3.36434107e+01] [-1.38451292e-02 5.10473778e-04 9.99904021e-01 -2.89099681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters 0.01853856634870865 Centerline is valid? [True, True] Translation: X:177.84, Y:-33.66, Z:-2.89 [[ 9.13132118e-01 4.07479364e-01 1.22598050e-02 1.77840651e+02] [-4.07436258e-01 9.13214313e-01 -5.94257664e-03 -3.36649803e+01] [-1.36173068e-02 4.31268515e-04 9.99907187e-01 -2.89225022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters 0.016476499990865156 Centerline is valid? [True, True] Translation: X:177.90, Y:-33.69, Z:-2.89 [[ 9.11762189e-01 4.10514480e-01 1.29449808e-02 1.77898221e+02] [-4.10466727e-01 9.11853988e-01 -6.27461006e-03 -3.36876601e+01] [-1.43797506e-02 4.07468310e-04 9.99896523e-01 -2.89288721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters 0.016441221107131063 Centerline is valid? [True, True] Translation: X:177.95, Y:-33.71, Z:-2.89 [[ 9.10671881e-01 4.12931321e-01 1.28237788e-02 1.77954049e+02] [-4.12884690e-01 9.10762093e-01 -6.21637706e-03 -3.37128095e+01] [-1.42463484e-02 3.66337860e-04 9.99898449e-01 -2.89432206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters 0.015912546729239092 Centerline is valid? [True, True] Translation: X:178.01, Y:-33.74, Z:-2.90 [[ 9.10451120e-01 4.13412685e-01 1.29888273e-02 1.78011221e+02] [-4.13364843e-01 9.10543694e-01 -6.29991232e-03 -3.37385420e+01] [-1.44313585e-02 3.66637656e-04 9.99895795e-01 -2.89535801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters 0.0163735178932687 Centerline is valid? [True, True] Translation: X:178.07, Y:-33.77, Z:-2.90 [[ 9.10725390e-01 4.12790585e-01 1.35350573e-02 1.78066311e+02] [-4.12738492e-01 9.10825876e-01 -6.56972454e-03 -3.37661884e+01] [-1.50400008e-02 3.96775799e-04 9.99886814e-01 -2.89546764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters 0.017654734441630012 Centerline is valid? [True, True] Translation: X:178.12, Y:-33.80, Z:-2.90 [[ 9.11716436e-01 4.10583647e-01 1.39358848e-02 1.78120621e+02] [-4.10528104e-01 9.11822826e-01 -6.76823124e-03 -3.37957465e+01] [-1.54859830e-02 4.49635280e-04 9.99879984e-01 -2.89663507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters 0.016869190219675662 Centerline is valid? [True, True] Translation: X:178.18, Y:-33.82, Z:-2.90 [[ 9.12210891e-01 4.09476903e-01 1.41405588e-02 1.78177673e+02] [-4.09419523e-01 9.12320358e-01 -6.87154048e-03 -3.38210405e+01] [-1.57144568e-02 4.78873234e-04 9.99876406e-01 -2.89816241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters 0.017391652735477166 Centerline is valid? [True, True] Translation: X:178.23, Y:-33.85, Z:-2.90 [[ 9.12373306e-01 4.09079846e-01 1.51205162e-02 1.78233078e+02] [-4.09014100e-01 9.12498441e-01 -7.35263033e-03 -3.38483189e+01] [-1.68052604e-02 5.23839302e-04 9.99858644e-01 -2.89849952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters 0.019494202006292236 Centerline is valid? [True, True] Translation: X:178.29, Y:-33.88, Z:-2.90 [[ 9.12790992e-01 4.08228466e-01 1.27327930e-02 1.78287209e+02] [-4.08181718e-01 9.12879680e-01 -6.19473901e-03 -3.38775801e+01] [-1.41523768e-02 4.57208640e-04 9.99899746e-01 -2.90213628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters 0.018967300331664976 Centerline is valid? [True, True] Translation: X:178.34, Y:-33.90, Z:-2.90 [[ 9.13037929e-01 4.07690515e-01 1.22549477e-02 1.78343256e+02] [-4.07647118e-01 9.13120058e-01 -5.96543366e-03 -3.39034550e+01] [-1.36222893e-02 4.50973080e-04 9.99907111e-01 -2.90408772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters 0.02070823798378672 Centerline is valid? [True, True] Translation: X:178.40, Y:-33.93, Z:-2.90 [[ 9.14326233e-01 4.04749568e-01 1.36135000e-02 1.78397141e+02] [-4.04695620e-01 9.14427406e-01 -6.63137898e-03 -3.39327101e+01] [-1.51326053e-02 5.53919941e-04 9.99885342e-01 -2.90346858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters 0.022258222393417508 Centerline is valid? [True, True] Translation: X:178.45, Y:-33.96, Z:-2.90 [[ 9.15507519e-01 4.02074791e-01 1.34849735e-02 1.78451166e+02] [-4.02021558e-01 9.15606635e-01 -6.56932566e-03 -3.39614827e+01] [-1.49882915e-02 5.93016965e-04 9.99887493e-01 -2.90461420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters 0.02126549223741805 Centerline is valid? [True, True] Translation: X:178.51, Y:-33.99, Z:-2.91 [[ 9.17936267e-01 3.96496608e-01 1.35443241e-02 1.78506258e+02] [-3.96442290e-01 9.18035929e-01 -6.59881841e-03 -3.39862857e+01] [-1.50505853e-02 6.87751870e-04 9.99886497e-01 -2.90601881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters 0.025168734200388565 Centerline is valid? [True, True] Translation: X:178.56, Y:-34.02, Z:-2.91 [[ 9.18806313e-01 3.94464389e-01 1.38854191e-02 1.78558270e+02] [-3.94407066e-01 9.18910931e-01 -6.76514035e-03 -3.40180401e+01] [-1.54280703e-02 7.39346259e-04 9.99880707e-01 -2.90673188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters 0.025484566532752072 Centerline is valid? [True, True] Translation: X:178.61, Y:-34.04, Z:-2.91 [[ 9.21883927e-01 3.87191549e-01 1.45852578e-02 1.78613119e+02] [-3.87127355e-01 9.21998851e-01 -7.10836483e-03 -3.40449603e+01] [-1.61998898e-02 9.06734988e-04 9.99868362e-01 -2.90692472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters 0.027046349514320226 Centerline is valid? [True, True] Translation: X:178.67, Y:-34.07, Z:-2.91 [[ 9.23493958e-01 3.83306740e-01 1.53248741e-02 1.78667255e+02] [-3.83235327e-01 9.23620535e-01 -7.46939702e-03 -3.40724555e+01] [-1.70174386e-02 1.02490990e-03 9.99854668e-01 -2.90763492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters 0.028241327018733726 Centerline is valid? [True, True] Translation: X:178.72, Y:-34.10, Z:-2.91 [[ 9.23895923e-01 3.82278496e-01 1.67175244e-02 1.78723349e+02] [-3.82193327e-01 9.24046456e-01 -8.14908616e-03 -3.40980024e+01] [-1.85629896e-02 1.13958121e-03 9.99827043e-01 -2.90769282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters 0.025021879171526692 Centerline is valid? [True, True] Translation: X:178.78, Y:-34.12, Z:-2.91 [[ 9.22960307e-01 3.84540789e-01 1.65122274e-02 1.78782214e+02] [-3.84457986e-01 9.23107364e-01 -8.05303607e-03 -3.41185492e+01] [-1.83392796e-02 1.08437495e-03 9.99831233e-01 -2.90907680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters 0.024991677248607364 Centerline is valid? [True, True] Translation: X:178.84, Y:-34.14, Z:-2.91 [[ 9.20245913e-01 3.91031498e-01 1.55508070e-02 1.78838848e+02] [-3.90958963e-01 9.20376856e-01 -7.58500379e-03 -3.41380739e+01] [-1.72785782e-02 9.00341374e-04 9.99850309e-01 -2.91133476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters 0.02396293705223308 Centerline is valid? [True, True] Translation: X:178.90, Y:-34.16, Z:-2.91 [[ 9.17443033e-01 3.97567761e-01 1.54322864e-02 1.78895242e+02] [-3.97497253e-01 9.17572493e-01 -7.52684681e-03 -3.41577674e+01] [-1.71526731e-02 7.71161720e-04 9.99852585e-01 -2.91296517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters 0.01837872956708757 Centerline is valid? [True, True] Translation: X:178.96, Y:-34.17, Z:-2.92 [[ 9.12862853e-01 4.07992282e-01 1.49568886e-02 1.78957437e+02] [-4.07927446e-01 9.12985206e-01 -7.29469620e-03 -3.41686810e+01] [-1.66315978e-02 5.57731820e-04 9.99861530e-01 -2.91517578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters 0.01707515789169479 Centerline is valid? [True, True] Translation: X:179.02, Y:-34.19, Z:-2.92 [[ 9.10694803e-01 4.12808633e-01 1.49668982e-02 1.79015217e+02] [-4.12744352e-01 9.10817661e-01 -7.29990079e-03 -3.41889712e+01] [-1.66455773e-02 4.70479030e-04 9.99861342e-01 -2.91634339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters 0.01654361335196632 Centerline is valid? [True, True] Translation: X:179.07, Y:-34.21, Z:-2.92 [[ 9.10152318e-01 4.13998893e-01 1.50888919e-02 1.79073931e+02] [-4.13933714e-01 9.10277272e-01 -7.35995755e-03 -3.42110937e+01] [-1.67820897e-02 4.52881334e-04 9.99859068e-01 -2.91771439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters 0.019814104538946133 Centerline is valid? [True, True] Translation: X:179.13, Y:-34.24, Z:-2.92 [[ 9.12996820e-01 4.07698970e-01 1.47768744e-02 1.79127530e+02] [-4.07635563e-01 9.13116222e-01 -7.21194672e-03 -3.42373554e+01] [-1.64333070e-02 5.60904903e-04 9.99864807e-01 -2.92003720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters 0.022698434998298968 Centerline is valid? [True, True] Translation: X:179.18, Y:-34.26, Z:-2.92 [[ 9.17536467e-01 3.97364159e-01 1.51180731e-02 1.79182613e+02] [-3.97296383e-01 9.17660690e-01 -7.37847293e-03 -3.42632061e+01] [-1.68052021e-02 7.63662230e-04 9.99858491e-01 -2.92106262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters 0.022698434998298968 Centerline is valid? [True, True] Translation: X:179.24, Y:-34.29, Z:-2.92 [[ 9.17427000e-01 3.97616835e-01 1.51179140e-02 1.79238782e+02] [-3.97549088e-01 9.17551239e-01 -7.37879881e-03 -3.42907020e+01] [-1.68053953e-02 7.59396343e-04 9.99858491e-01 -2.92205425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters 0.022084151433087944 Centerline is valid? [True, True] Translation: X:179.30, Y:-34.32, Z:-2.92 [[ 9.18056463e-01 3.96138722e-01 1.56985307e-02 1.79295561e+02] [-3.96065365e-01 9.18190306e-01 -7.66736157e-03 -3.43160623e+01] [-1.74515775e-02 8.21426550e-04 9.99847372e-01 -2.92322050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters 0.02253574648042686 Centerline is valid? [True, True] Translation: X:179.35, Y:-34.34, Z:-2.92 [[ 9.19152141e-01 3.93576749e-01 1.60213514e-02 1.79352489e+02] [-3.93499931e-01 9.19291331e-01 -7.82638130e-03 -3.43391476e+01] [-1.78085712e-02 8.89234466e-04 9.99841019e-01 -2.92413059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters 0.02448025032203389 Centerline is valid? [True, True] Translation: X:179.41, Y:-34.37, Z:-2.93 [[ 9.19696437e-01 3.92318082e-01 1.56520098e-02 1.79407603e+02] [-3.92244570e-01 9.19829182e-01 -7.64678286e-03 -3.43654673e+01] [-1.73971465e-02 8.93303113e-04 9.99848259e-01 -2.92545879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters 0.025397634871774415 Centerline is valid? [True, True] Translation: X:179.46, Y:-34.39, Z:-2.93 [[ 9.20536112e-01 3.90333881e-01 1.58974074e-02 1.79463132e+02] [-3.90257709e-01 9.20672886e-01 -7.76897915e-03 -3.43907694e+01] [-1.76688077e-02 9.47540076e-04 9.99843445e-01 -2.92708071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters 0.027396355934864388 Centerline is valid? [True, True] Translation: X:179.52, Y:-34.42, Z:-2.93 [[ 9.22450010e-01 3.85812976e-01 1.53077298e-02 1.79517622e+02] [-3.85741714e-01 9.22576476e-01 -7.48169869e-03 -3.44176006e+01] [-1.70090879e-02 9.96663094e-04 9.99854838e-01 -2.92927691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters 0.028761113022046498 Centerline is valid? [True, True] Translation: X:179.57, Y:-34.44, Z:-2.93 [[ 9.23974361e-01 3.82144230e-01 1.54002576e-02 1.79572669e+02] [-3.82071594e-01 9.24102073e-01 -7.52703090e-03 -3.44441406e+01] [-1.71078214e-02 1.07078259e-03 9.99853077e-01 -2.93033870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters 0.02853657075170037 Centerline is valid? [True, True] Translation: X:179.63, Y:-34.47, Z:-2.93 [[ 9.25543227e-01 3.78322270e-01 1.55562225e-02 1.79629658e+02] [-3.78247609e-01 9.25673231e-01 -7.60368284e-03 -3.44662287e+01] [-1.72766213e-02 1.15343317e-03 9.99850083e-01 -2.93123014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters 0.026748628224926827 Centerline is valid? [True, True] Translation: X:179.69, Y:-34.49, Z:-2.93 [[ 9.25626208e-01 3.78087846e-01 1.63004397e-02 1.79687637e+02] [-3.78005822e-01 9.25768927e-01 -7.96817055e-03 -3.44885428e+01] [-1.81031090e-02 1.21388639e-03 9.99835388e-01 -2.93159851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters 0.02816560069593218 Centerline is valid? [True, True] Translation: X:179.74, Y:-34.51, Z:-2.93 [[ 9.24580576e-01 3.80628904e-01 1.65043979e-02 1.79742675e+02] [-3.80545134e-01 9.24727116e-01 -8.07233305e-03 -3.45125608e+01] [-1.83346276e-02 1.18285403e-03 9.99831207e-01 -2.93228239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters 0.02711031814514221 Centerline is valid? [True, True] Translation: X:179.80, Y:-34.53, Z:-2.93 [[ 9.23292112e-01 3.83759491e-01 1.61346931e-02 1.79799161e+02] [-3.83679907e-01 9.23432430e-01 -7.89155040e-03 -3.45349972e+01] [-1.79277562e-02 1.09564871e-03 9.99838685e-01 -2.93403099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters 0.025655980815610557 Centerline is valid? [True, True] Translation: X:179.86, Y:-34.55, Z:-2.94 [[ 9.21882275e-01 3.87174495e-01 1.51321393e-02 1.79857421e+02] [-3.87104947e-01 9.22005953e-01 -7.40148422e-03 -3.45532211e+01] [-1.68175884e-02 9.65571125e-04 9.99858108e-01 -2.93611288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters 0.026232689872598785 Centerline is valid? [True, True] Translation: X:179.91, Y:-34.58, Z:-2.94 [[ 9.21192857e-01 3.88798109e-01 1.54838764e-02 1.79914712e+02] [-3.88725517e-01 9.21322481e-01 -7.57358039e-03 -3.45758415e+01] [-1.72102371e-02 9.57750312e-04 9.99851434e-01 -2.93685770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters 0.02545017794061258 Centerline is valid? [True, True] Translation: X:179.97, Y:-34.60, Z:-2.94 [[ 9.20824773e-01 3.89654368e-01 1.58496370e-02 1.79972381e+02] [-3.89578413e-01 9.20960663e-01 -7.75359419e-03 -3.45986657e+01] [-1.76181140e-02 9.65025176e-04 9.99844323e-01 -2.93752391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters 0.027748273619696395 Centerline is valid? [True, True] Translation: X:180.03, Y:-34.62, Z:-2.94 [[ 9.20497813e-01 3.90464604e-01 1.48717518e-02 1.80028333e+02] [-3.90397771e-01 9.20617506e-01 -7.27926860e-03 -3.46224886e+01] [-1.65334918e-02 8.94652087e-04 9.99862912e-01 -2.93890884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters 0.027341711042394874 Centerline is valid? [True, True] Translation: X:180.08, Y:-34.64, Z:-2.94 [[ 9.20113381e-01 3.91390805e-01 1.43039782e-02 1.80083985e+02] [-3.91329081e-01 9.20224170e-01 -7.00193882e-03 -3.46448458e+01] [-1.59033609e-02 8.45014960e-04 9.99873176e-01 -2.94079316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters 0.024407533420755547 Centerline is valid? [True, True] Translation: X:180.14, Y:-34.66, Z:-2.94 [[ 9.19045550e-01 3.93943673e-01 1.27929265e-02 1.80142092e+02] [-3.93894555e-01 9.19134305e-01 -6.26176209e-03 -3.46625060e+01] [-1.42251991e-02 7.15780514e-04 9.99898561e-01 -2.94317931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters 0.02203693837308635 Centerline is valid? [True, True] Translation: X:180.20, Y:-34.68, Z:-2.94 [[ 9.17733279e-01 3.97006105e-01 1.23199534e-02 1.80199401e+02] [-3.96960830e-01 9.17815743e-01 -6.02999942e-03 -3.46819673e+01] [-1.37013938e-02 6.43392195e-04 9.99905925e-01 -2.94407120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters 0.02133184515739342 Centerline is valid? [True, True] Translation: X:180.26, Y:-34.70, Z:-2.95 [[ 9.16158359e-01 4.00658239e-01 1.12621644e-02 1.80255285e+02] [-4.00620682e-01 9.16227420e-01 -5.51210572e-03 -3.47035761e+01] [-1.25271744e-02 5.38105748e-04 9.99921387e-01 -2.94522027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters 0.020474330994507264 Centerline is valid? [True, True] Translation: X:180.31, Y:-34.73, Z:-2.95 [[ 9.14676334e-01 4.04055271e-01 1.03219443e-02 1.80311599e+02] [-4.04023944e-01 9.14734462e-01 -5.05144931e-03 -3.47257095e+01] [-1.14829029e-02 4.50128486e-04 9.99933968e-01 -2.94602187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters 0.020205520809216376 Centerline is valid? [True, True] Translation: X:180.37, Y:-34.75, Z:-2.95 [[ 9.13866058e-01 4.05890480e-01 1.00869373e-02 1.80365285e+02] [-4.05860673e-01 9.13921629e-01 -4.93658756e-03 -3.47479787e+01] [-1.12223840e-02 4.17488670e-04 9.99936940e-01 -2.94628253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters 0.0204393261272651 Centerline is valid? [True, True] Translation: X:180.42, Y:-34.77, Z:-2.95 [[ 9.14232661e-01 4.05062974e-01 1.01305938e-02 1.80419088e+02] [-4.05032871e-01 9.14288687e-01 -4.95675113e-03 -3.47711450e+01] [-1.12700837e-02 4.28400267e-04 9.99936399e-01 -2.94654291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters 0.020254729453231018 Centerline is valid? [True, True] Translation: X:180.47, Y:-34.80, Z:-2.95 [[ 9.14758909e-01 4.03870713e-01 1.02267177e-02 1.80472975e+02] [-4.03839972e-01 9.14815964e-01 -5.00290653e-03 -3.47954473e+01] [-1.13760920e-02 4.46495942e-04 9.99935190e-01 -2.94753705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters 0.020973712470052995 Centerline is valid? [True, True] Translation: X:180.53, Y:-34.82, Z:-2.95 [[ 9.15487140e-01 4.02212309e-01 1.04189801e-02 1.80526934e+02] [-4.02180305e-01 9.15546303e-01 -5.09603006e-03 -3.48198771e+01] [-1.15887447e-02 4.75041385e-04 9.99932735e-01 -2.94818596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters 0.020671618933924676 Centerline is valid? [True, True] Translation: X:180.58, Y:-34.84, Z:-2.95 [[ 9.15753254e-01 4.01623006e-01 9.74361726e-03 1.80581007e+02] [-4.01594992e-01 9.15804978e-01 -4.76492553e-03 -3.48438043e+01] [-1.08369569e-02 4.50508163e-04 9.99941177e-01 -2.94904670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters 0.02068537835958589 Centerline is valid? [True, True] Translation: X:180.63, Y:-34.87, Z:-2.95 [[ 9.15683828e-01 4.01798223e-01 9.01749537e-03 1.80634810e+02] [-4.01774244e-01 9.15728135e-01 -4.40913015e-03 -3.48678603e+01] [-1.00291549e-02 4.14371789e-04 9.99949621e-01 -2.95048691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters 0.019888774975568957 Centerline is valid? [True, True] Translation: X:180.69, Y:-34.89, Z:-2.95 [[ 9.15156301e-01 4.03009722e-01 8.49165868e-03 1.80689046e+02] [-4.02988517e-01 9.15195619e-01 -4.15135845e-03 -3.48902800e+01] [-9.44456664e-03 3.77100912e-04 9.99955328e-01 -2.95116805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters 0.020046133645678185 Centerline is valid? [True, True] Translation: X:180.74, Y:-34.91, Z:-2.95 [[ 9.14452875e-01 4.04603366e-01 8.48857896e-03 1.80742437e+02] [-4.04582252e-01 9.14492202e-01 -4.14909668e-03 -3.49142587e+01] [-9.44147774e-03 3.59824995e-04 9.99955364e-01 -2.95231313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters 0.01929650740672323 Centerline is valid? [True, True] Translation: X:180.80, Y:-34.94, Z:-2.95 [[ 9.12834214e-01 4.08248364e-01 8.18351945e-03 1.80796918e+02] [-4.08228895e-01 9.12870844e-01 -3.99905391e-03 -3.49382672e+01] [-9.10310352e-03 3.09724134e-04 9.99958518e-01 -2.95390247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters 0.01743520127634371 Centerline is valid? [True, True] Translation: X:180.85, Y:-34.96, Z:-2.95 [[ 9.11131599e-01 4.12046974e-01 7.51663389e-03 1.80852633e+02] [-4.12030681e-01 9.11162570e-01 -3.67275119e-03 -3.49607134e+01] [-8.36222146e-03 2.49275883e-04 9.99965005e-01 -2.95447783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters 0.016464931558011372 Centerline is valid? [True, True] Translation: X:180.91, Y:-34.98, Z:-2.96 [[ 9.10164074e-01 4.14197145e-01 6.48711649e-03 1.80907019e+02] [-4.14185057e-01 9.10187170e-01 -3.17065689e-03 -3.49842703e+01] [-7.21776723e-03 1.98951275e-04 9.99973932e-01 -2.95552952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters 0.01617454161123323 Centerline is valid? [True, True] Translation: X:180.96, Y:-35.01, Z:-2.96 [[ 9.09910981e-01 4.14755450e-01 6.31847482e-03 1.80959662e+02] [-4.14744006e-01 9.09932900e-01 -3.08675974e-03 -3.50095147e+01] [-7.02963854e-03 1.88127022e-04 9.99975274e-01 -2.95583543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters 0.017336995320588744 Centerline is valid? [True, True] Translation: X:181.01, Y:-35.04, Z:-2.96 [[ 9.10859240e-01 4.12641625e-01 7.89516902e-03 1.81010246e+02] [-4.12623685e-01 9.10893421e-01 -3.85615197e-03 -3.50379495e+01] [-8.78286634e-03 2.54677913e-04 9.99961397e-01 -2.95518470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters 0.017021520893303225 Centerline is valid? [True, True] Translation: X:181.06, Y:-35.06, Z:-2.95 [[ 9.11159787e-01 4.11960623e-01 8.73429581e-03 1.81062678e+02] [-4.11938648e-01 9.11201604e-01 -4.26475180e-03 -3.50637384e+01] [-9.71561416e-03 2.87876342e-04 9.99952761e-01 -2.95455748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters 0.015721684134083005 Centerline is valid? [True, True] Translation: X:181.12, Y:-35.09, Z:-2.95 [[ 9.10152868e-01 4.14172617e-01 9.09950452e-03 1.81116509e+02] [-4.14148884e-01 9.10198313e-01 -4.44223162e-03 -3.50877689e+01] [-1.01222044e-02 2.74560201e-04 9.99948731e-01 -2.95487973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters 0.014847023086655265 Centerline is valid? [True, True] Translation: X:181.17, Y:-35.11, Z:-2.96 [[ 9.08568461e-01 4.17649241e-01 8.51254818e-03 1.81169950e+02] [-4.17628630e-01 9.08608311e-01 -4.15501363e-03 -3.51126648e+01] [-9.46991032e-03 2.20030498e-04 9.99955135e-01 -2.95594746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters 0.013198736020006199 Centerline is valid? [True, True] Translation: X:181.22, Y:-35.14, Z:-2.96 [[ 9.04798659e-01 4.25761306e-01 8.16688788e-03 1.81223402e+02] [-4.25742673e-01 9.04835507e-01 -3.98531016e-03 -3.51368271e+01] [-9.08648099e-03 1.28910608e-04 9.99958709e-01 -2.95712620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters 0.012093233115857542 Centerline is valid? [True, True] Translation: X:181.28, Y:-35.16, Z:-2.96 [[ 9.01629120e-01 4.32422682e-01 8.69212483e-03 1.81277421e+02] [-4.32401885e-01 9.01671015e-01 -4.24154436e-03 -3.51602157e+01] [-9.67157701e-03 6.58087531e-05 9.99953227e-01 -2.95720022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters 0.011858129215732418 Centerline is valid? [True, True] Translation: X:181.33, Y:-35.18, Z:-2.96 [[ 8.96809346e-01 4.42318743e-01 9.33413992e-03 1.81331476e+02] [-4.42295291e-01 8.96857920e-01 -4.55497734e-03 -3.51823477e+01] [-1.03861492e-02 -4.34998811e-05 9.99946062e-01 -2.95796894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters 0.01244912135912153 Centerline is valid? [True, True] Translation: X:181.38, Y:-35.21, Z:-2.96 [[ 8.94262667e-01 4.47448496e-01 9.17198158e-03 1.81383998e+02] [-4.47426148e-01 8.94309696e-01 -4.47318001e-03 -3.52085080e+01] [-1.02041097e-02 -1.03586500e-04 9.99947931e-01 -2.95916569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters 0.013653171063936558 Centerline is valid? [True, True] Translation: X:181.44, Y:-35.23, Z:-2.96 [[ 8.92268991e-01 4.51421027e-01 8.66625704e-03 1.81435926e+02] [-4.51401297e-01 8.92311064e-01 -4.22301599e-03 -3.52340376e+01] [-9.63935525e-03 -1.43893453e-04 9.99953530e-01 -2.96176722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters 0.014007907693812476 Centerline is valid? [True, True] Translation: X:181.49, Y:-35.27, Z:-2.96 [[ 8.90857340e-01 4.54206670e-01 8.33666620e-03 1.81486160e+02] [-4.54188531e-01 8.90896331e-01 -4.06273245e-03 -3.52658005e+01] [-9.27242551e-03 -1.67103143e-04 9.99956996e-01 -2.96302035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters 0.013558080779845681 Centerline is valid? [True, True] Translation: X:181.53, Y:-35.30, Z:-2.96 [[ 8.91940188e-01 4.52079415e-01 8.17949907e-03 1.81534464e+02] [-4.52061885e-01 8.91977680e-01 -3.98374859e-03 -3.53016814e+01] [-9.09690134e-03 -1.44374306e-04 9.99958612e-01 -2.96332942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters 0.013075152395788004 Centerline is valid? [True, True] Translation: X:181.58, Y:-35.33, Z:-2.96 [[ 8.93613726e-01 4.48749651e-01 8.84639236e-03 1.81582641e+02] [-4.48729021e-01 8.93657505e-01 -4.30470462e-03 -3.53348841e+01] [-9.83737962e-03 -1.22889840e-04 9.99951604e-01 -2.96410577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters 0.012348009133956258 Centerline is valid? [True, True] Translation: X:181.63, Y:-35.37, Z:-2.96 [[ 8.96146938e-01 4.43653953e-01 9.58305446e-03 1.81627302e+02] [-4.43629472e-01 8.96198173e-01 -4.66122999e-03 -3.53748281e+01] [-1.06562890e-02 -7.41784046e-05 9.99943217e-01 -2.96480347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters 0.011949472759282806 Centerline is valid? [True, True] Translation: X:181.68, Y:-35.41, Z:-2.97 [[ 8.97140325e-01 4.41627067e-01 1.02357917e-02 1.81675779e+02] [-4.41599020e-01 8.97198713e-01 -4.97748590e-03 -3.54096754e+01] [-1.13817316e-02 -5.46122493e-05 9.99935225e-01 -2.96514408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters 0.011928560670081724 Centerline is valid? [True, True] Translation: X:181.73, Y:-35.44, Z:-2.97 [[ 8.97317090e-01 4.41253292e-01 1.08430237e-02 1.81725132e+02] [-4.41221803e-01 8.97382599e-01 -5.27175359e-03 -3.54433601e+01] [-1.20565195e-02 -5.37438973e-05 9.99927316e-01 -2.96617017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters 0.012190235159205505 Centerline is valid? [True, True] Translation: X:181.77, Y:-35.48, Z:-2.97 [[ 8.96543569e-01 4.42847498e-01 9.78374654e-03 1.81772230e+02] [-4.42821963e-01 8.96596949e-01 -4.75610928e-03 -3.54795848e+01] [-1.08783084e-02 -6.83986579e-05 9.99940827e-01 -2.96844636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters 0.0123380203503378 Centerline is valid? [True, True] Translation: X:181.82, Y:-35.51, Z:-2.97 [[ 8.95703254e-01 4.44550004e-01 9.53809660e-03 1.81821191e+02] [-4.44525843e-01 8.95754032e-01 -4.63562294e-03 -3.55127945e+01] [-1.06045547e-02 -8.77878814e-05 9.99943766e-01 -2.96890064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters 0.012350947968890297 Centerline is valid? [True, True] Translation: X:181.87, Y:-35.55, Z:-2.97 [[ 8.95140599e-01 4.45647564e-01 1.10252319e-02 1.81871305e+02] [-4.45615394e-01 8.95208486e-01 -5.35598251e-03 -3.55515175e+01] [-1.22567617e-02 -1.18655664e-04 9.99924876e-01 -2.96853259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters 0.012583252746279442 Centerline is valid? [True, True] Translation: X:181.92, Y:-35.59, Z:-2.97 [[ 8.95054764e-01 4.45789243e-01 1.22032449e-02 1.81921872e+02] [-4.45749788e-01 8.95137941e-01 -5.93236705e-03 -3.55913123e+01] [-1.35681729e-02 -1.29800418e-04 9.99907940e-01 -2.96942705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters 0.012469775313965308 Centerline is valid? [True, True] Translation: X:181.98, Y:-35.62, Z:-2.97 [[ 8.95162564e-01 4.45578103e-01 1.20057520e-02 1.81976662e+02] [-4.45539840e-01 8.95243062e-01 -5.84047587e-03 -3.56234053e+01] [-1.33504543e-02 -1.20865449e-04 9.99910871e-01 -2.97089272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters 0.012428260011332175 Centerline is valid? [True, True] Translation: X:182.03, Y:-35.66, Z:-2.97 [[ 8.95422694e-01 4.45079730e-01 1.10558487e-02 1.82028829e+02] [-4.45047203e-01 8.95490940e-01 -5.38184354e-03 -3.56594730e+01] [-1.22957618e-02 -1.01349699e-04 9.99924399e-01 -2.97340129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters 0.012345476830170083 Centerline is valid? [True, True] Translation: X:182.08, Y:-35.70, Z:-2.98 [[ 8.95864439e-01 4.44224291e-01 9.57530174e-03 1.82078905e+02] [-4.44199815e-01 8.95915606e-01 -4.66376976e-03 -3.56998794e+01] [-1.06504221e-02 -7.52417860e-05 9.99943280e-01 -2.97625101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters 0.012387986712889694 Centerline is valid? [True, True] Translation: X:182.13, Y:-35.74, Z:-2.98 [[ 8.95455139e-01 4.45051630e-01 9.44142437e-03 1.82131225e+02] [-4.45027846e-01 8.95504908e-01 -4.60176411e-03 -3.57357457e+01] [-1.05028645e-02 -8.10234376e-05 9.99944840e-01 -2.97716513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters 0.01280512092840737 Centerline is valid? [True, True] Translation: X:182.18, Y:-35.77, Z:-2.98 [[ 8.94404783e-01 4.47142851e-01 1.01663284e-02 1.82181372e+02] [-4.47115363e-01 8.94462553e-01 -4.95916041e-03 -3.57736711e+01] [-1.13108532e-02 -1.10024834e-04 9.99936024e-01 -2.97753963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters 0.013187965834119174 Centerline is valid? [True, True] Translation: X:182.23, Y:-35.81, Z:-2.98 [[ 8.93526179e-01 4.48877619e-01 1.09476516e-02 1.82233738e+02] [-4.48845830e-01 8.93593232e-01 -5.34390717e-03 -3.58077218e+01] [-1.21815077e-02 -1.38886802e-04 9.99925793e-01 -2.97818401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters 0.013545502488319854 Centerline is valid? [True, True] Translation: X:182.28, Y:-35.85, Z:-2.98 [[ 8.92559104e-01 4.50776278e-01 1.17895515e-02 1.82283519e+02] [-4.50739526e-01 8.92636946e-01 -5.75867403e-03 -3.58466655e+01] [-1.31196628e-02 -1.74059908e-04 9.99913918e-01 -2.97967689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters 0.01329727212454587 Centerline is valid? [True, True] Translation: X:182.33, Y:-35.88, Z:-2.98 [[ 8.92873231e-01 4.50154162e-01 1.17738681e-02 1.82334495e+02] [-4.50117408e-01 8.92950841e-01 -5.75453580e-03 -3.58827899e+01] [-1.31039137e-02 -1.61552036e-04 9.99914127e-01 -2.98074741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters 0.012844516703442175 Centerline is valid? [True, True] Translation: X:182.38, Y:-35.92, Z:-2.98 [[ 8.94242167e-01 4.47447229e-01 1.10419406e-02 1.82384018e+02] [-4.47414658e-01 8.94310329e-01 -5.39989668e-03 -3.59232444e+01] [-1.22910904e-02 -1.11510784e-04 9.99924455e-01 -2.98157130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters 0.01263247304590001 Centerline is valid? [True, True] Translation: X:182.44, Y:-35.96, Z:-2.98 [[ 8.94914682e-01 4.46079696e-01 1.18582235e-02 1.82435284e+02] [-4.46041959e-01 8.94993238e-01 -5.80299799e-03 -3.59591142e+01] [-1.32016295e-02 -9.60771653e-05 9.99912850e-01 -2.98168413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters 0.012351496651990503 Centerline is valid? [True, True] Translation: X:182.48, Y:-36.00, Z:-2.98 [[ 8.97690171e-01 4.40437336e-01 1.29348463e-02 1.82483712e+02] [-4.40391787e-01 8.97783355e-01 -6.33416251e-03 -3.60014152e+01] [-1.44024914e-02 -1.02846509e-05 9.99896279e-01 -2.98139858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters 0.012996004532523881 Centerline is valid? [True, True] Translation: X:182.53, Y:-36.04, Z:-2.98 [[ 9.01414108e-01 4.32792133e-01 1.19822850e-02 1.82533761e+02] [-4.32752323e-01 9.01493737e-01 -5.87105753e-03 -3.60399959e+01] [-1.33429024e-02 1.06892414e-04 9.99910974e-01 -2.98365489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters 0.015883423464537576 Centerline is valid? [True, True] Translation: X:182.58, Y:-36.08, Z:-2.99 [[ 9.06068763e-01 4.22990195e-01 1.08945463e-02 1.82580546e+02] [-4.22956529e-01 9.06134229e-01 -5.34166515e-03 -3.60804664e+01] [-1.21313933e-02 2.31996456e-04 9.99926385e-01 -2.98589710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters 0.019145363687574905 Centerline is valid? [True, True] Translation: X:182.63, Y:-36.12, Z:-2.98 [[ 9.12352680e-01 4.09248545e-01 1.13232226e-02 1.82627064e+02] [-4.09211097e-01 9.12422841e-01 -5.55314416e-03 -3.61236270e+01] [-1.26041831e-02 4.32837610e-04 9.99920470e-01 -2.98453219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters 0.020426011563466136 Centerline is valid? [True, True] Translation: X:182.68, Y:-36.16, Z:-2.98 [[ 9.15006304e-01 4.03230869e-01 1.29742149e-02 1.82678057e+02] [-4.03181086e-01 9.15098091e-01 -6.36366304e-03 -3.61575423e+01] [-1.44387047e-02 5.91833734e-04 9.99895581e-01 -2.98323819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters 0.02246452024880449 Centerline is valid? [True, True] Translation: X:182.73, Y:-36.19, Z:-2.98 [[ 9.16581420e-01 3.99585339e-01 1.44933599e-02 1.82728105e+02] [-3.99522752e-01 9.16695713e-01 -7.10919650e-03 -3.61917292e+01] [-1.61267316e-02 7.25730385e-04 9.99869692e-01 -2.98275376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters 0.02176890066925498 Centerline is valid? [True, True] Translation: X:182.78, Y:-36.22, Z:-2.98 [[ 9.15951372e-01 4.01027709e-01 1.44865838e-02 1.82783605e+02] [-4.00965337e-01 9.16065655e-01 -7.10730040e-03 -3.62198168e+01] [-1.61208863e-02 7.01323586e-04 9.99869804e-01 -2.98381634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters 0.019440352562238753 Centerline is valid? [True, True] Translation: X:182.84, Y:-36.24, Z:-2.99 [[ 9.12308758e-01 4.09282644e-01 1.34330458e-02 1.82840343e+02] [-4.09229845e-01 9.12407501e-01 -6.59437688e-03 -3.62425241e+01] [-1.49553758e-02 5.18904531e-04 9.99888027e-01 -2.98660153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters 0.014959100731723142 Centerline is valid? [True, True] Translation: X:182.90, Y:-36.26, Z:-2.99 [[ 9.06436599e-01 4.22192926e-01 1.12171593e-02 1.82900308e+02] [-4.22157090e-01 9.06505967e-01 -5.50670889e-03 -3.62591638e+01] [-1.24933153e-02 2.56079170e-04 9.99921923e-01 -2.98950090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters 0.013527738016042484 Centerline is valid? [True, True] Translation: X:182.96, Y:-36.28, Z:-2.99 [[ 9.02728223e-01 4.30098386e-01 9.85562615e-03 1.82958051e+02] [-4.30071187e-01 9.02782012e-01 -4.83869349e-03 -3.62820079e+01] [-1.09785963e-02 1.29404341e-04 9.99939725e-01 -2.99203597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters 0.01287295729468825 Centerline is valid? [True, True] Translation: X:183.02, Y:-36.31, Z:-2.99 [[ 9.00310472e-01 4.35166553e-01 8.43358168e-03 1.83015691e+02] [-4.35146867e-01 9.00349970e-01 -4.13956840e-03 -3.63063204e+01] [-9.39457672e-03 5.70501346e-05 9.99955868e-01 -2.99434288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters 0.012747150772195804 Centerline is valid? [True, True] Translation: X:183.07, Y:-36.33, Z:-3.00 [[ 8.99115720e-01 4.37647706e-01 7.44364474e-03 1.83071411e+02] [-4.37632434e-01 8.99146531e-01 -3.65633857e-03 -3.63313131e+01] [-8.29311554e-03 2.98911253e-05 9.99965611e-01 -2.99663193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters 0.012788486273445632 Centerline is valid? [True, True] Translation: X:183.13, Y:-36.36, Z:-3.00 [[ 8.99434608e-01 4.37000283e-01 6.93815274e-03 1.83126592e+02] [-4.36986997e-01 8.99461367e-01 -3.40777107e-03 -3.63608668e+01] [-7.72979728e-03 3.31847066e-05 9.99970124e-01 -2.99809223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters 0.01327322608587026 Centerline is valid? [True, True] Translation: X:183.18, Y:-36.39, Z:-3.00 [[ 9.00974867e-01 4.33840791e-01 5.14372350e-03 1.83179444e+02] [-4.33833431e-01 9.00989548e-01 -2.52734143e-03 -3.63949023e+01] [-5.73090492e-03 4.55518945e-05 9.99983577e-01 -3.00050122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters 0.013611464822560372 Centerline is valid? [True, True] Translation: X:183.23, Y:-36.43, Z:-3.00 [[ 9.02045113e-01 4.31625755e-01 3.71767301e-03 1.83233043e+02] [-4.31621892e-01 9.02052773e-01 -1.82653760e-03 -3.64265469e+01] [-4.14191792e-03 4.29902596e-05 9.99991421e-01 -3.00210297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters 0.013649940020243154 Centerline is valid? [True, True] Translation: X:183.29, Y:-36.46, Z:-3.00 [[ 9.02365830e-01 4.30958224e-01 3.30411740e-03 1.83286030e+02] [-4.30955167e-01 9.02371879e-01 -1.62383716e-03 -3.64586010e+01] [-3.68134860e-03 4.13687016e-05 9.99993223e-01 -3.00234319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters 0.013475422273362939 Centerline is valid? [True, True] Translation: X:183.34, Y:-36.49, Z:-3.00 [[ 9.01515091e-01 4.32734592e-01 3.36363594e-03 1.83339573e+02] [-4.32731431e-01 9.01521365e-01 -1.65423704e-03 -3.64901080e+01] [-3.74823526e-03 3.57686605e-05 9.99992975e-01 -3.00229585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters 0.013408860502677665 Centerline is valid? [True, True] Translation: X:183.39, Y:-36.52, Z:-3.00 [[ 9.01027094e-01 4.33742510e-01 4.19642629e-03 1.83392696e+02] [-4.33737585e-01 9.01036865e-01 -2.06745694e-03 -3.65209108e+01] [-4.67787876e-03 4.26869140e-05 9.99989058e-01 -3.00278520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters 0.012963288259972542 Centerline is valid? [True, True] Translation: X:183.45, Y:-36.55, Z:-3.00 [[ 9.00441975e-01 4.34932341e-01 6.17317382e-03 1.83446860e+02] [-4.34921703e-01 9.00463134e-01 -3.04245971e-03 -3.65515261e+01] [-6.88197957e-03 5.47111613e-05 9.99976317e-01 -3.00157815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters 0.012687911821221129 Centerline is valid? [True, True] Translation: X:183.50, Y:-36.58, Z:-3.00 [[ 8.99221344e-01 4.37410399e-01 8.55086728e-03 1.83499043e+02] [-4.37390052e-01 8.99261997e-01 -4.21932367e-03 -3.65837065e+01] [-9.53504604e-03 5.40416198e-05 9.99954539e-01 -3.00177943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters 0.012300357447964948 Centerline is valid? [True, True] Translation: X:183.55, Y:-36.61, Z:-3.00 [[ 8.98026996e-01 4.39837041e-01 9.53371297e-03 1.83553627e+02] [-4.39811870e-01 8.98077600e-01 -4.70559142e-03 -3.66127157e+01] [-1.06317075e-02 3.27080013e-05 9.99943481e-01 -3.00116361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters 0.01223748646823628 Centerline is valid? [True, True] Translation: X:183.61, Y:-36.64, Z:-3.00 [[ 8.97172282e-01 4.41559684e-01 1.03412957e-02 1.83609721e+02] [-4.41530143e-01 8.97231879e-01 -5.10754416e-03 -3.66417924e+01] [-1.15338257e-02 1.63532898e-05 9.99933483e-01 -3.00163902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters 0.01223126970171109 Centerline is valid? [True, True] Translation: X:183.66, Y:-36.67, Z:-3.00 [[ 8.94011203e-01 4.47914226e-01 1.08080616e-02 1.83664545e+02] [-4.47882372e-01 8.94076530e-01 -5.34218789e-03 -3.66705059e+01] [-1.20560762e-02 -6.47644669e-05 9.99927321e-01 -3.00221402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters 0.01274467217020842 Centerline is valid? [True, True] Translation: X:183.72, Y:-36.70, Z:-3.00 [[ 8.92101533e-01 4.51732440e-01 9.62588573e-03 1.83719582e+02] [-4.51707366e-01 8.92153458e-01 -4.76057083e-03 -3.66991543e+01] [-1.07382715e-02 -1.01170957e-04 9.99942338e-01 -3.00486889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters 0.013183905217337416 Centerline is valid? [True, True] Translation: X:183.77, Y:-36.73, Z:-3.01 [[ 8.90766903e-01 4.54422919e-01 5.84250789e-03 1.83772411e+02] [-4.54413731e-01 8.90786060e-01 -2.89074565e-03 -3.67312500e+01] [-6.51804566e-03 -7.99352604e-05 9.99978754e-01 -3.00987844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters 0.01292589079749746 Centerline is valid? [True, True] Translation: X:183.82, Y:-36.77, Z:-3.01 [[ 8.91696262e-01 4.52620088e-01 3.58218751e-03 1.83824973e+02] [-4.52616629e-01 8.91703456e-01 -1.77005293e-03 -3.67671772e+01] [-3.99541049e-03 -4.30080545e-05 9.99992017e-01 -3.01287916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters 0.012415671966698027 Centerline is valid? [True, True] Translation: X:183.88, Y:-36.80, Z:-3.01 [[ 8.93066433e-01 4.49908945e-01 3.77975583e-03 1.83877374e+02] [-4.49905061e-01 8.93074431e-01 -1.86972782e-03 -3.68021746e+01] [-4.21681056e-03 -3.07401236e-05 9.99991109e-01 -3.01318657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters 0.012178492883803233 Centerline is valid? [True, True] Translation: X:183.93, Y:-36.84, Z:-3.01 [[ 8.94608852e-01 4.46801432e-01 6.59412921e-03 1.83928440e+02] [-4.46789487e-01 8.94633154e-01 -3.26718445e-03 -3.68398962e+01] [-7.35910930e-03 -2.33354812e-05 9.99972921e-01 -3.01105738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters 0.012101169495028232 Centerline is valid? [True, True] Translation: X:183.98, Y:-36.87, Z:-3.01 [[ 8.94709097e-01 4.46574630e-01 8.16893656e-03 1.83981301e+02] [-4.46556256e-01 8.94746388e-01 -4.05102138e-03 -3.68726721e+01] [-9.11820985e-03 -2.34040425e-05 9.99958428e-01 -3.00990559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters 0.012296655073110474 Centerline is valid? [True, True] Translation: X:184.04, Y:-36.90, Z:-3.01 [[ 8.92802397e-01 4.50335749e-01 1.00793806e-02 1.84038316e+02] [-4.50307970e-01 8.92859288e-01 -5.00238173e-03 -3.69000542e+01] [-1.12522199e-02 -7.26870238e-05 9.99936689e-01 -3.00957555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters 0.013474414159676864 Centerline is valid? [True, True] Translation: X:184.10, Y:-36.92, Z:-3.01 [[ 8.88596716e-01 4.58591950e-01 9.44987410e-03 1.84096544e+02] [-4.58567953e-01 8.88646948e-01 -4.69416841e-03 -3.69221286e+01] [-1.05503096e-02 -1.62186785e-04 9.99944331e-01 -3.01117682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters 0.014379314727957025 Centerline is valid? [True, True] Translation: X:184.15, Y:-36.95, Z:-3.01 [[ 8.86704339e-01 4.62270550e-01 7.83284442e-03 1.84153179e+02] [-4.62254214e-01 8.86738918e-01 -3.89014155e-03 -3.69462814e+01] [-8.74398586e-03 -1.71359945e-04 9.99961756e-01 -3.01422661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters 0.01513739626759368 Centerline is valid? [True, True] Translation: X:184.21, Y:-36.97, Z:-3.02 [[ 8.86293914e-01 4.63092756e-01 5.30999909e-03 1.84208829e+02] [-4.63085250e-01 8.86309813e-01 -2.63944728e-03 -3.69706088e+01] [-5.92861322e-03 -1.19656191e-04 9.99982418e-01 -3.01789318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters 0.014262695369139315 Centerline is valid? [True, True] Translation: X:184.27, Y:-37.00, Z:-3.02 [[ 8.86710863e-01 4.62299890e-01 4.76000762e-03 1.84265304e+02] [-4.62293858e-01 8.86723633e-01 -2.36385559e-03 -3.69974190e+01] [-5.31362143e-03 -1.04465859e-04 9.99985877e-01 -3.01849625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters 0.01413423134893692 Centerline is valid? [True, True] Translation: X:184.32, Y:-37.02, Z:-3.02 [[ 8.87194472e-01 4.61362049e-01 5.57029501e-03 1.84321360e+02] [-4.61353755e-01 8.87211952e-01 -2.76876374e-03 -3.70246025e+01] [-6.21943482e-03 -1.13444630e-04 9.99980653e-01 -3.01845224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters 0.01322501603463042 Centerline is valid? [True, True] Translation: X:184.38, Y:-37.05, Z:-3.02 [[ 8.88406579e-01 4.59022217e-01 5.68807781e-03 1.84375610e+02] [-4.59013509e-01 8.88424783e-01 -2.82907973e-03 -3.70542446e+01] [-6.35203975e-03 -9.75315162e-05 9.99979821e-01 -3.01857952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters 0.012055754080451054 Centerline is valid? [True, True] Translation: X:184.43, Y:-37.09, Z:-3.02 [[ 8.91794695e-01 4.52408525e-01 5.36187412e-03 1.84428755e+02] [-4.52400658e-01 8.91810812e-01 -2.66827916e-03 -3.70867133e+01] [-5.98892955e-03 -4.61581813e-05 9.99982065e-01 -3.02064651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters 0.0118068736151665 Centerline is valid? [True, True] Translation: X:184.48, Y:-37.12, Z:-3.02 [[ 8.93595934e-01 4.48842162e-01 5.19815502e-03 1.84482964e+02] [-4.48834700e-01 8.93611053e-01 -2.58826113e-03 -3.71180002e+01] [-5.80684950e-03 -2.02527279e-05 9.99983140e-01 -3.02208964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters 0.011845143250073234 Centerline is valid? [True, True] Translation: X:184.54, Y:-37.15, Z:-3.02 [[ 8.93493803e-01 4.49056428e-01 4.14108116e-03 1.84538918e+02] [-4.49051695e-01 8.93503399e-01 -2.06184767e-03 -3.71468710e+01] [-4.62595605e-03 -1.73113954e-05 9.99989300e-01 -3.02306709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters 0.012144191495176775 Centerline is valid? [True, True] Translation: X:184.60, Y:-37.17, Z:-3.03 [[ 8.92004422e-01 4.52012721e-01 3.55123263e-03 1.84595108e+02] [-4.52009254e-01 8.92011490e-01 -1.77070895e-03 -3.71723268e+01] [-3.96812328e-03 -2.57097982e-05 9.99992127e-01 -3.02514154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters 0.012858712482437787 Centerline is valid? [True, True] Translation: X:184.65, Y:-37.20, Z:-3.03 [[ 8.89411080e-01 4.57095005e-01 3.47670659e-03 1.84652203e+02] [-4.57091723e-01 8.89417874e-01 -1.73263371e-03 -3.71964590e+01] [-3.88422319e-03 -4.81501850e-05 9.99992455e-01 -3.02703654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters 0.013745916803342821 Centerline is valid? [True, True] Translation: X:184.71, Y:-37.22, Z:-3.03 [[ 8.88591852e-01 4.58678220e-01 4.33720866e-03 1.84708121e+02] [-4.58673114e-01 8.88602435e-01 -2.16521098e-03 -3.72220783e+01] [-4.84718929e-03 -6.53721697e-05 9.99988250e-01 -3.02834899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters 0.012833832760033435 Centerline is valid? [True, True] Translation: X:184.76, Y:-37.25, Z:-3.03 [[ 8.88856126e-01 4.58150778e-01 5.71421858e-03 1.84762307e+02] [-4.58141901e-01 8.88874490e-01 -2.85311731e-03 -3.72531021e+01] [-6.38638104e-03 -8.19121646e-05 9.99979604e-01 -3.02671436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters 0.012555896403872151 Centerline is valid? [True, True] Translation: X:184.82, Y:-37.28, Z:-3.03 [[ 8.89622487e-01 4.56657868e-01 5.95172351e-03 1.84816594e+02] [-4.56648191e-01 8.89642393e-01 -2.97371840e-03 -3.72824115e+01] [-6.65287745e-03 -7.23570152e-05 9.99977867e-01 -3.02793780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters 0.01233959524960955 Centerline is valid? [True, True] Translation: X:184.87, Y:-37.31, Z:-3.03 [[ 8.90496266e-01 4.54934544e-01 7.13869694e-03 1.84869668e+02] [-4.54920541e-01 8.90524877e-01 -3.57006660e-03 -3.73120004e+01] [-7.98133383e-03 -6.84089019e-05 9.99968146e-01 -3.02881764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters 0.01235294485785759 Centerline is valid? [True, True] Translation: X:184.93, Y:-37.34, Z:-3.03 [[ 8.90545391e-01 4.54826325e-01 7.86894210e-03 1.84925071e+02] [-4.54809284e-01 8.90580153e-01 -3.93779808e-03 -3.73404606e+01] [-8.79893789e-03 -7.20799884e-05 9.99961286e-01 -3.02952997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters 0.012429849116973328 Centerline is valid? [True, True] Translation: X:184.98, Y:-37.37, Z:-3.03 [[ 8.90448357e-01 4.55011102e-01 8.16218370e-03 1.84981325e+02] [-4.54992752e-01 8.90485762e-01 -4.08706105e-03 -3.73664559e+01] [-9.12796651e-03 -7.44176313e-05 9.99958336e-01 -3.03150368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters 0.012245659812463625 Centerline is valid? [True, True] Translation: X:185.04, Y:-37.39, Z:-3.03 [[ 8.90332343e-01 4.55239949e-01 8.05648326e-03 1.85038383e+02] [-4.55222061e-01 8.90368791e-01 -4.03637135e-03 -3.73937691e+01] [-9.01075875e-03 -7.37769495e-05 9.99959400e-01 -3.03342440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters 0.012217569867271955 Centerline is valid? [True, True] Translation: X:185.09, Y:-37.42, Z:-3.04 [[ 8.90934028e-01 4.54076626e-01 7.13974146e-03 1.85094630e+02] [-4.54062523e-01 8.90962634e-01 -3.57909524e-03 -3.74224080e+01] [-7.98642635e-03 -5.31512831e-05 9.99968107e-01 -3.03566069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters 0.012132156365871066 Centerline is valid? [True, True] Translation: X:185.15, Y:-37.45, Z:-3.04 [[ 8.91757313e-01 4.52461148e-01 6.91408875e-03 1.85149967e+02] [-4.52447855e-01 8.91784115e-01 -3.46836540e-03 -3.74526877e+01] [-7.73517511e-03 -3.53244175e-05 9.99970082e-01 -3.03639394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters 0.012148718637692497 Centerline is valid? [True, True] Translation: X:185.20, Y:-37.48, Z:-3.04 [[ 8.93601425e-01 4.48796410e-01 7.63380196e-03 1.85203608e+02] [-4.48780041e-01 8.93634031e-01 -3.83311484e-03 -3.74816658e+01] [-8.54211340e-03 -6.21070118e-07 9.99963515e-01 -3.03647946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters 0.012261814116630692 Centerline is valid? [True, True] Translation: X:185.26, Y:-37.51, Z:-3.04 [[ 8.95221422e-01 4.45532796e-01 8.89570290e-03 1.85259383e+02] [-4.45510378e-01 8.95265617e-01 -4.46959740e-03 -3.75102538e+01] [-9.95536917e-03 3.81513781e-05 9.99950443e-01 -3.03727771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters 0.01303196438796359 Centerline is valid? [True, True] Translation: X:185.31, Y:-37.54, Z:-3.04 [[ 8.98012010e-01 4.39843943e-01 1.05705626e-02 1.85312945e+02] [-4.39811835e-01 8.98074212e-01 -5.31592587e-03 -3.75413805e+01] [-1.18313274e-02 1.24706753e-04 9.99930000e-01 -3.03658024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters 0.013671313201400153 Centerline is valid? [True, True] Translation: X:185.37, Y:-37.57, Z:-3.04 [[ 8.99477365e-01 4.36833630e-01 1.08097436e-02 1.85366788e+02] [-4.36799794e-01 8.99542301e-01 -5.43956838e-03 -3.75718479e+01] [-1.21000080e-02 1.71074864e-04 9.99926778e-01 -3.03669366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters 0.01429558845914471 Centerline is valid? [True, True] Translation: X:185.42, Y:-37.60, Z:-3.04 [[ 8.99942102e-01 4.35871888e-01 1.09503871e-02 1.85420547e+02] [-4.35837053e-01 9.00008701e-01 -5.51379617e-03 -3.76007806e+01] [-1.22587524e-02 1.89512862e-04 9.99924841e-01 -3.03752975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters 0.013445497198924253 Centerline is valid? [True, True] Translation: X:185.48, Y:-37.63, Z:-3.04 [[ 8.99253027e-01 4.37312943e-01 1.00689668e-02 1.85477829e+02] [-4.37283554e-01 8.99309382e-01 -5.07232270e-03 -3.76250508e+01] [-1.12733087e-02 1.58307934e-04 9.99936442e-01 -3.03947483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters 0.012704802603466367 Centerline is valid? [True, True] Translation: X:185.54, Y:-37.65, Z:-3.04 [[ 8.96983467e-01 4.41977120e-01 8.76844856e-03 1.85535637e+02] [-4.41955034e-01 8.97026319e-01 -4.41931806e-03 -3.76483944e+01] [-9.81876660e-03 8.87952531e-05 9.99951791e-01 -3.04160560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters 0.012111803403456163 Centerline is valid? [True, True] Translation: X:185.59, Y:-37.67, Z:-3.04 [[ 8.92757086e-01 4.50492454e-01 6.42921053e-03 1.85594772e+02] [-4.50480794e-01 8.92780235e-01 -3.24117731e-03 -3.76692674e+01] [-7.19999801e-03 -2.65185589e-06 9.99974080e-01 -3.04396033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters 0.012338180929225026 Centerline is valid? [True, True] Translation: X:185.65, Y:-37.69, Z:-3.05 [[ 8.90075040e-01 4.55777991e-01 5.73121738e-03 1.85652565e+02] [-4.55768826e-01 8.90093490e-01 -2.89060417e-03 -3.76928966e+01] [-6.41879305e-03 -3.92555919e-05 9.99979399e-01 -3.04609377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters 0.013234754794755865 Centerline is valid? [True, True] Translation: X:185.71, Y:-37.72, Z:-3.05 [[ 8.87358738e-01 4.61034707e-01 6.43967962e-03 1.85709487e+02] [-4.61023249e-01 8.87382100e-01 -3.25151197e-03 -3.77154546e+01] [-7.21351630e-03 -8.35844690e-05 9.99973979e-01 -3.04702900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters 0.013134472509579956 Centerline is valid? [True, True] Translation: X:185.76, Y:-37.74, Z:-3.05 [[ 8.86201417e-01 4.63235073e-01 7.76630025e-03 1.85764789e+02] [-4.63218486e-01 8.86235438e-01 -3.92205136e-03 -3.77428839e+01] [-8.69960225e-03 -1.21766368e-04 9.99962150e-01 -3.04604816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters 0.013456708527586514 Centerline is valid? [True, True] Translation: X:185.82, Y:-37.77, Z:-3.05 [[ 8.85650468e-01 4.64273019e-01 8.59142327e-03 1.85821039e+02] [-4.64252740e-01 8.85692127e-01 -4.34167594e-03 -3.77714121e+01] [-9.62507894e-03 -1.43384463e-04 9.99953668e-01 -3.04573512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters 0.01437497267540445 Centerline is valid? [True, True] Translation: X:185.88, Y:-37.80, Z:-3.05 [[ 8.85577227e-01 4.64411274e-01 8.66857635e-03 1.85877446e+02] [-4.64390604e-01 8.85619641e-01 -4.38392769e-03 -3.77977548e+01] [-9.71300691e-03 -1.43298885e-04 9.99952817e-01 -3.04797950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters 0.013141610388371083 Centerline is valid? [True, True] Translation: X:185.93, Y:-37.83, Z:-3.05 [[ 8.85845773e-01 4.63919221e-01 7.49826128e-03 1.85932079e+02] [-4.63903724e-01 8.85877499e-01 -3.79366134e-03 -3.78298813e+01] [-8.40249336e-03 -1.17872475e-04 9.99964691e-01 -3.04921929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters 0.01287640272776193 Centerline is valid? [True, True] Translation: X:185.99, Y:-37.86, Z:-3.05 [[ 8.86493915e-01 4.62694595e-01 6.49999466e-03 1.85986050e+02] [-4.62682902e-01 8.86517740e-01 -3.29061325e-03 -3.78607978e+01] [-7.28490954e-03 -9.03277740e-05 9.99973461e-01 -3.05016780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters 0.012781598415175097 Centerline is valid? [True, True] Translation: X:186.04, Y:-37.89, Z:-3.05 [[ 8.88237060e-01 4.59374813e-01 3.11544208e-03 1.86039318e+02] [-4.59372112e-01 8.88242523e-01 -1.57564516e-03 -3.78927470e+01] [-3.49107984e-03 -3.16007839e-05 9.99993906e-01 -3.05357791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters 0.012712057387360013 Centerline is valid? [True, True] Translation: X:186.09, Y:-37.92, Z:-3.06 [[ 8.88768450e-01 4.58355114e-01 1.10978701e-03 1.86094343e+02] [-4.58354773e-01 8.88769143e-01 -5.58918506e-04 -3.79206566e+01] [-1.24252760e-03 -1.19270381e-05 9.99999228e-01 -3.05552411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters 0.0127942357400862 Centerline is valid? [True, True] Translation: X:186.15, Y:-37.95, Z:-3.06 [[ 8.88840581e-01 4.58216544e-01 1.46288029e-04 1.86150518e+02] [-4.58216538e-01 8.88840593e-01 -6.99297198e-05 -3.79467143e+01] [-1.62069693e-04 -4.87522150e-06 9.99999987e-01 -3.05620059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters 0.012756441143321768 Centerline is valid? [True, True] Translation: X:186.21, Y:-37.97, Z:-3.06 [[ 8.88980097e-01 4.57945576e-01 4.85910450e-04 1.86205093e+02] [-4.57945511e-01 8.88980230e-01 -2.42925040e-04 -3.79737096e+01] [-5.43211231e-04 -6.56498383e-06 9.99999852e-01 -3.05573383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters 0.012549524242845524 Centerline is valid? [True, True] Translation: X:186.26, Y:-38.00, Z:-3.05 [[ 8.90652029e-01 4.54682679e-01 1.62026441e-03 1.86260182e+02] [-4.54681940e-01 8.90653502e-01 -8.19597681e-04 -3.80032671e+01] [-1.81575104e-03 -6.72862710e-06 9.99998351e-01 -3.05433827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters 0.012544222110315643 Centerline is valid? [True, True] Translation: X:186.32, Y:-38.03, Z:-3.05 [[ 8.92230737e-01 4.51578391e-01 1.12673149e-03 1.86315404e+02] [-4.51578034e-01 8.92231448e-01 -5.68274211e-04 -3.80330588e+01] [-1.26192563e-03 -1.77547415e-06 9.99999204e-01 -3.05413594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters 0.013457458721754783 Centerline is valid? [True, True] Translation: X:186.37, Y:-38.06, Z:-3.06 [[ 8.95010355e-01 4.46045334e-01 -1.56987903e-04 1.86368149e+02] [-4.46045326e-01 8.95010369e-01 8.39534970e-05 -3.80638246e+01] [ 1.77952866e-04 -5.11552874e-06 9.99999984e-01 -3.05568351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters 0.013875399611632125 Centerline is valid? [True, True] Translation: X:186.42, Y:-38.09, Z:-3.06 [[ 8.96698448e-01 4.42640301e-01 -1.20756416e-03 1.86423230e+02] [-4.42639868e-01 8.96699260e-01 6.19551877e-04 -3.80929195e+01] [ 1.35706052e-03 -2.10351640e-05 9.99999079e-01 -3.05574381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters 0.014289990679725419 Centerline is valid? [True, True] Translation: X:186.48, Y:-38.12, Z:-3.06 [[ 8.97618899e-01 4.40771667e-01 -8.06448577e-04 1.86479194e+02] [-4.40771472e-01 8.97619261e-01 4.15437886e-04 -3.81195840e+01] [ 9.06997025e-04 -1.74453720e-05 9.99999589e-01 -3.05620877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters 0.015445545068758629 Centerline is valid? [True, True] Translation: X:186.53, Y:-38.15, Z:-3.06 [[ 8.97747471e-01 4.40509047e-01 -1.12194380e-03 1.86532670e+02] [-4.40508671e-01 8.97748171e-01 5.76201152e-04 -3.81484182e+01] [ 1.26104481e-03 -2.30571568e-05 9.99999205e-01 -3.05862459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters 0.01471498717195297 Centerline is valid? [True, True] Translation: X:186.59, Y:-38.18, Z:-3.06 [[ 8.98203255e-01 4.39580262e-01 -3.25760052e-04 1.86589170e+02] [-4.39580229e-01 8.98203314e-01 1.71226226e-04 -3.81760226e+01] [ 3.67866427e-04 -1.05982754e-05 9.99999932e-01 -3.05707107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters 0.014567657735898326 Centerline is valid? [True, True] Translation: X:186.65, Y:-38.20, Z:-3.06 [[ 8.98687927e-01 4.38588075e-01 7.14017239e-04 1.86645858e+02] [-4.38587927e-01 8.98688211e-01 -3.59633715e-04 -3.82031921e+01] [-7.99409934e-04 1.00391374e-05 9.99999680e-01 -3.05724509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters 0.014496512098011857 Centerline is valid? [True, True] Translation: X:186.70, Y:-38.23, Z:-3.06 [[ 8.99507980e-01 4.36892154e-01 3.26197201e-03 1.86702948e+02] [-4.36888998e-01 8.99513891e-01 -1.66208554e-03 -3.82290689e+01] [-3.66034127e-03 6.99395269e-05 9.99993298e-01 -3.05672478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters 0.015130166528669801 Centerline is valid? [True, True] Translation: X:186.76, Y:-38.26, Z:-3.06 [[ 8.99931918e-01 4.36006356e-01 4.58257944e-03 1.86757668e+02] [-4.36000096e-01 8.99943579e-01 -2.33895443e-03 -3.82578433e+01] [-5.14386194e-03 1.06894672e-04 9.99986765e-01 -3.05665288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters 0.0164851554704498 Centerline is valid? [True, True] Translation: X:186.81, Y:-38.29, Z:-3.06 [[ 9.00839114e-01 4.34124669e-01 4.96603228e-03 1.86811707e+02] [-4.34117274e-01 9.00852793e-01 -2.53717829e-03 -3.82862912e+01] [-5.57511574e-03 1.29749043e-04 9.99984451e-01 -3.05755679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters 0.01709561508779385 Centerline is valid? [True, True] Translation: X:186.87, Y:-38.31, Z:-3.06 [[ 9.02195653e-01 4.31308206e-01 4.02931150e-03 1.86867984e+02] [-4.31303299e-01 9.02204642e-01 -2.06095346e-03 -3.83126613e+01] [-4.52416968e-03 1.21527911e-04 9.99989759e-01 -3.06025194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters 0.017665952588454065 Centerline is valid? [True, True] Translation: X:186.92, Y:-38.34, Z:-3.06 [[ 9.02839567e-01 4.29966177e-01 3.13088116e-03 1.86923125e+02] [-4.29963215e-01 9.02844991e-01 -1.59903861e-03 -3.83403892e+01] [-3.51423289e-03 9.75115937e-05 9.99993820e-01 -3.06211134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters 0.01840549419790503 Centerline is valid? [True, True] Translation: X:186.98, Y:-38.37, Z:-3.06 [[ 9.03381339e-01 4.28830823e-01 2.50608948e-03 1.86978190e+02] [-4.28828921e-01 9.03384812e-01 -1.27986664e-03 -3.83687573e+01] [-2.81280943e-03 8.15239893e-05 9.99996041e-01 -3.06382948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters 0.017596027519475775 Centerline is valid? [True, True] Translation: X:187.03, Y:-38.39, Z:-3.07 [[ 9.03515368e-01 4.28551174e-01 1.96724708e-03 1.87034898e+02] [-4.28550002e-01 9.03517508e-01 -1.00426999e-03 -3.83938185e+01] [-2.20782326e-03 6.43096318e-05 9.99997561e-01 -3.06544374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters 0.017169356385395896 Centerline is valid? [True, True] Translation: X:187.09, Y:-38.42, Z:-3.07 [[ 9.02635822e-01 4.30402983e-01 1.35820809e-03 1.87091710e+02] [-4.30402424e-01 9.02636843e-01 -6.94954549e-04 -3.84200367e+01] [-1.52507918e-03 4.27148157e-05 9.99998836e-01 -3.06737616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters 0.01583647773959064 Centerline is valid? [True, True] Translation: X:187.15, Y:-38.44, Z:-3.07 [[ 9.01065562e-01 4.33679945e-01 1.59980855e-03 1.87148661e+02] [-4.33679172e-01 9.01066981e-01 -8.19567889e-04 -3.84447696e+01] [-1.79696482e-03 4.46807521e-05 9.99998384e-01 -3.06812189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters 0.015563756233781529 Centerline is valid? [True, True] Translation: X:187.20, Y:-38.47, Z:-3.07 [[ 8.99261863e-01 4.37406230e-01 1.97277687e-03 1.87203809e+02] [-4.37405063e-01 8.99264026e-01 -1.01126854e-03 -3.84708196e+01] [-2.21638243e-03 4.64926421e-05 9.99997543e-01 -3.06971011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters 0.013533866357731157 Centerline is valid? [True, True] Translation: X:187.26, Y:-38.49, Z:-3.07 [[ 8.96750202e-01 4.42522245e-01 3.62473978e-03 1.87261143e+02] [-4.42518346e-01 8.96757525e-01 -1.85875954e-03 -3.84937743e+01] [-4.07305511e-03 6.28291435e-05 9.99991703e-01 -3.06860751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters 0.013076697492051757 Centerline is valid? [True, True] Translation: X:187.32, Y:-38.52, Z:-3.07 [[ 8.95269026e-01 4.45500088e-01 4.80017326e-03 1.87316242e+02] [-4.45493303e-01 8.95281893e-01 -2.45969763e-03 -3.85199914e+01] [-5.39330372e-03 6.36460607e-05 9.99985454e-01 -3.06889455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters 0.012199239324087346 Centerline is valid? [True, True] Translation: X:187.37, Y:-38.55, Z:-3.07 [[ 8.93382555e-01 4.49256415e-01 6.02367404e-03 1.87373700e+02] [-4.49245786e-01 8.93402860e-01 -3.09079696e-03 -3.85454231e+01] [-6.77012798e-03 5.51539123e-05 9.99977081e-01 -3.06873222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters 0.011979547794587517 Centerline is valid? [True, True] Translation: X:187.43, Y:-38.57, Z:-3.07 [[ 8.91799251e-01 4.52390865e-01 6.04995321e-03 1.87429302e+02] [-4.52380222e-01 8.91819771e-01 -3.10335809e-03 -3.85725541e+01] [-6.79939874e-03 3.06932418e-05 9.99976883e-01 -3.07021498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters 0.0116705362617257 Centerline is valid? [True, True] Translation: X:187.48, Y:-38.60, Z:-3.07 [[ 8.89505366e-01 4.56888570e-01 5.74784510e-03 1.87484374e+02] [-4.56879039e-01 8.89523937e-01 -2.95112002e-03 -3.85984591e+01] [-6.46117881e-03 -1.03284718e-06 9.99979126e-01 -3.07258932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters 0.01171976202378372 Centerline is valid? [True, True] Translation: X:187.54, Y:-38.63, Z:-3.07 [[ 8.88226865e-01 4.59378193e-01 4.97116181e-03 1.87540653e+02] [-4.59371108e-01 8.88240776e-01 -2.55129319e-03 -3.86272257e+01] [-5.58759708e-03 -1.74809620e-05 9.99984389e-01 -3.07437997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters 0.011936611131428423 Centerline is valid? [True, True] Translation: X:187.60, Y:-38.66, Z:-3.08 [[ 8.87064065e-01 4.61634304e-01 3.33377808e-03 1.87595184e+02] [-4.61631134e-01 8.87070329e-01 -1.71094812e-03 -3.86564312e+01] [-3.74712796e-03 -2.12551590e-05 9.99992979e-01 -3.07683506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters 0.01188070610053572 Centerline is valid? [True, True] Translation: X:187.65, Y:-38.69, Z:-3.08 [[ 8.86626371e-01 4.62477356e-01 2.89372824e-03 1.87650231e+02] [-4.62474972e-01 8.86631093e-01 -1.48490289e-03 -3.86869256e+01] [-3.25240339e-03 -2.17228307e-05 9.99994711e-01 -3.07754026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters 0.011807726678030131 Centerline is valid? [True, True] Translation: X:187.70, Y:-38.72, Z:-3.08 [[ 8.87198327e-01 4.61380561e-01 2.66560607e-03 1.87704623e+02] [-4.61378532e-01 8.87202332e-01 -1.36836950e-03 -3.87194873e+01] [-2.99627101e-03 -1.58382841e-05 9.99995511e-01 -3.07887928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters 0.01178328563637194 Centerline is valid? [True, True] Translation: X:187.76, Y:-38.75, Z:-3.08 [[ 8.88443558e-01 4.58978694e-01 2.56938414e-03 1.87758038e+02] [-4.58976797e-01 8.88447274e-01 -1.31970096e-03 -3.87524706e+01] [-2.88847696e-03 -6.80788887e-06 9.99995828e-01 -3.07967497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters 0.011850842849691618 Centerline is valid? [True, True] Translation: X:187.81, Y:-38.79, Z:-3.08 [[ 8.90949621e-01 4.54077537e-01 4.72890453e-03 1.87809600e+02] [-4.54071008e-01 8.90962171e-01 -2.43522304e-03 -3.87888867e+01] [-5.31905512e-03 2.24026037e-05 9.99985853e-01 -3.07875854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters 0.012184369686687943 Centerline is valid? [True, True] Translation: X:187.86, Y:-38.82, Z:-3.08 [[ 8.92451327e-01 4.51112718e-01 5.28632322e-03 1.87861806e+02] [-4.51104494e-01 8.92466982e-01 -2.72438789e-03 -3.88224190e+01] [-5.94687496e-03 4.66994279e-05 9.99982316e-01 -3.07859723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters 0.013035613745869663 Centerline is valid? [True, True] Translation: X:187.91, Y:-38.86, Z:-3.08 [[ 8.94144254e-01 4.47761861e-01 3.92033125e-03 1.87912591e+02] [-4.47757304e-01 8.94152847e-01 -2.02074640e-03 -3.88585775e+01] [-4.41018851e-03 5.14818272e-05 9.99990274e-01 -3.07983536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters 0.013590085758172178 Centerline is valid? [True, True] Translation: X:187.97, Y:-38.89, Z:-3.08 [[ 8.94802536e-01 4.46452423e-01 2.94204900e-03 1.87965510e+02] [-4.46449851e-01 8.94807372e-01 -1.51611065e-03 -3.88918295e+01] [-3.30943841e-03 4.31423200e-05 9.99994523e-01 -3.08130489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters 0.01378476725027006 Centerline is valid? [True, True] Translation: X:188.02, Y:-38.92, Z:-3.08 [[ 8.95552913e-01 4.44947676e-01 2.55838375e-03 1.88018266e+02] [-4.44945724e-01 8.95556566e-01 -1.31856480e-03 -3.89247277e+01] [-2.87786971e-03 4.25026357e-05 9.99995858e-01 -3.08198080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters 0.01334361976953896 Centerline is valid? [True, True] Translation: X:188.07, Y:-38.95, Z:-3.08 [[ 8.94924507e-01 4.46198969e-01 4.07519825e-03 1.88074291e+02] [-4.46194012e-01 8.94933783e-01 -2.10415017e-03 -3.89522383e+01] [-4.58590222e-03 6.47264930e-05 9.99989483e-01 -3.08151540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters 0.01313865680481077 Centerline is valid? [True, True] Translation: X:188.13, Y:-38.98, Z:-3.08 [[ 8.94494634e-01 4.47048417e-01 5.20220240e-03 1.88129472e+02] [-4.47040327e-01 8.94509757e-01 -2.69064358e-03 -3.89819748e+01] [-5.85626876e-03 8.11719840e-05 9.99982849e-01 -3.08125972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters 0.012920813340571111 Centerline is valid? [True, True] Translation: X:188.18, Y:-39.01, Z:-3.08 [[ 8.93926980e-01 4.48178756e-01 5.50962378e-03 1.88184780e+02] [-4.48169710e-01 8.93943956e-01 -2.84865090e-03 -3.90105127e+01] [-6.20199970e-03 7.72394089e-05 9.99980764e-01 -3.08110460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters 0.012477779284798674 Centerline is valid? [True, True] Translation: X:188.24, Y:-39.04, Z:-3.08 [[ 8.93444579e-01 4.49142682e-01 5.25689524e-03 1.88242207e+02] [-4.49134458e-01 8.93460042e-01 -2.71889486e-03 -3.90364218e+01] [-5.91799757e-03 6.81290756e-05 9.99982486e-01 -3.08213005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters 0.012560612069969857 Centerline is valid? [True, True] Translation: X:188.30, Y:-39.06, Z:-3.08 [[ 8.93134224e-01 4.49769882e-01 4.27914881e-03 1.88298889e+02] [-4.49764437e-01 8.93144473e-01 -2.21382399e-03 -3.90629155e+01] [-4.81760946e-03 5.26330116e-05 9.99988394e-01 -3.08376807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters 0.012499646210889432 Centerline is valid? [True, True] Translation: X:188.36, Y:-39.09, Z:-3.09 [[ 8.92704023e-01 4.50633118e-01 3.05295009e-03 1.88356396e+02] [-4.50630352e-01 8.92709243e-01 -1.57913778e-03 -3.90888985e+01] [-3.43700854e-03 3.39506748e-05 9.99994093e-01 -3.08551551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters 0.012651181894393463 Centerline is valid? [True, True] Translation: X:188.41, Y:-39.12, Z:-3.09 [[ 8.92544031e-01 4.50954526e-01 2.27327333e-03 1.88413459e+02] [-4.50952995e-01 8.92546926e-01 -1.17541397e-03 -3.91160380e+01] [-2.55906137e-03 2.39693097e-05 9.99996725e-01 -3.08679013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters 0.013103098055700941 Centerline is valid? [True, True] Translation: X:188.47, Y:-39.14, Z:-3.09 [[ 8.93106588e-01 4.49840801e-01 1.96882380e-03 1.88468985e+02] [-4.49839649e-01 8.93108758e-01 -1.01860737e-03 -3.91440878e+01] [-2.21658493e-03 2.40699452e-05 9.99997543e-01 -3.08875127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters 0.014212500563750183 Centerline is valid? [True, True] Translation: X:188.52, Y:-39.17, Z:-3.09 [[ 8.95237988e-01 4.45582155e-01 2.34243482e-03 1.88523244e+02] [-4.45580501e-01 8.95241052e-01 -1.21522115e-03 -3.91733570e+01] [-2.63852467e-03 4.41688625e-05 9.99996518e-01 -3.08934603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters 0.015622590070849 Centerline is valid? [True, True] Translation: X:188.58, Y:-39.20, Z:-3.09 [[ 8.96962758e-01 4.42095230e-01 3.10145777e-03 1.88576996e+02] [-4.42092310e-01 8.96968117e-01 -1.60861045e-03 -3.92038572e+01] [-3.49306775e-03 7.17330396e-05 9.99993897e-01 -3.08954716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters 0.017313855997428084 Centerline is valid? [True, True] Translation: X:188.63, Y:-39.23, Z:-3.09 [[ 9.00072304e-01 4.35720331e-01 4.20000667e-03 1.88630499e+02] [-4.35714880e-01 9.00082093e-01 -2.18363725e-03 -3.92341358e+01] [-4.73180594e-03 1.35426009e-04 9.99988796e-01 -3.08864854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters 0.017578490331660843 Centerline is valid? [True, True] Translation: X:188.68, Y:-39.26, Z:-3.09 [[ 9.01934508e-01 4.31848450e-01 4.58907292e-03 1.88684980e+02] [-4.31841898e-01 9.01946167e-01 -2.38479450e-03 -3.92616101e+01] [-5.16896654e-03 1.69174494e-04 9.99986626e-01 -3.08906656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters 0.019312927345129457 Centerline is valid? [True, True] Translation: X:188.74, Y:-39.29, Z:-3.09 [[ 9.03902457e-01 4.27715417e-01 4.45770085e-03 1.88738866e+02] [-4.27709180e-01 9.03913429e-01 -2.31746470e-03 -3.92898816e+01] [-5.02059104e-03 1.88162466e-04 9.99987379e-01 -3.09020862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters 0.019045765800161332 Centerline is valid? [True, True] Translation: X:188.79, Y:-39.32, Z:-3.09 [[ 9.04522580e-01 4.26409238e-01 3.75011128e-03 1.88794882e+02] [-4.26404817e-01 9.04530340e-01 -1.94846556e-03 -3.93161579e+01] [-4.22293314e-03 1.63365585e-04 9.99991070e-01 -3.09129033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters 0.020116803850587513 Centerline is valid? [True, True] Translation: X:188.85, Y:-39.34, Z:-3.09 [[ 9.04788690e-01 4.25850879e-01 2.90765706e-03 1.88850173e+02] [-4.25848214e-01 9.04793353e-01 -1.51227519e-03 -3.93434953e+01] [-3.27483250e-03 1.30068916e-04 9.99994629e-01 -3.09275753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters 0.01958646495519426 Centerline is valid? [True, True] Translation: X:188.91, Y:-39.37, Z:-3.09 [[ 9.04501953e-01 4.26456606e-01 3.31370885e-03 1.88906165e+02] [-4.26453151e-01 9.04508011e-01 -1.72275386e-03 -3.93705984e+01] [-3.73195597e-03 1.45092654e-04 9.99993026e-01 -3.09364630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters 0.01897662827896064 Centerline is valid? [True, True] Translation: X:188.96, Y:-39.40, Z:-3.09 [[ 9.03460542e-01 4.28659007e-01 3.24110144e-03 1.88962641e+02] [-4.28655712e-01 9.03466346e-01 -1.68592725e-03 -3.93963065e+01] [-3.65091397e-03 1.33852099e-04 9.99993326e-01 -3.09429390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters 0.018752774693409524 Centerline is valid? [True, True] Translation: X:189.02, Y:-39.42, Z:-3.10 [[ 9.01328896e-01 4.33126933e-01 2.69832885e-03 1.89018500e+02] [-4.33124660e-01 9.01332930e-01 -1.40687264e-03 -3.94195446e+01] [-3.04144708e-03 9.93422021e-05 9.99995370e-01 -3.09563739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters 0.018272794137183135 Centerline is valid? [True, True] Translation: X:189.07, Y:-39.44, Z:-3.10 [[ 8.99263044e-01 4.37402070e-01 2.32522594e-03 1.89074501e+02] [-4.37400396e-01 8.99266047e-01 -1.21249517e-03 -3.94429445e+01] [-2.62134464e-03 7.32973485e-05 9.99996562e-01 -3.09641716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters 0.015621893252202224 Centerline is valid? [True, True] Translation: X:189.13, Y:-39.47, Z:-3.10 [[ 8.98322283e-01 4.39325820e-01 3.14640760e-03 1.89133373e+02] [-4.39322768e-01 8.98327789e-01 -1.63989031e-03 -3.94655259e+01] [-3.54695154e-03 9.08615113e-05 9.99993705e-01 -3.09540966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters 0.01537154468863861 Centerline is valid? [True, True] Translation: X:189.19, Y:-39.49, Z:-3.10 [[ 8.97758236e-01 4.40469278e-01 4.11895229e-03 1.89190720e+02] [-4.40464066e-01 8.97767677e-01 -2.14574111e-03 -3.94894654e+01] [-4.64299527e-03 1.12106281e-04 9.99989215e-01 -3.09524591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters 0.015999273527236603 Centerline is valid? [True, True] Translation: X:189.25, Y:-39.52, Z:-3.10 [[ 8.97882606e-01 4.40210442e-01 4.64683957e-03 1.89247035e+02] [-4.40203796e-01 8.97894621e-01 -2.42237662e-03 -3.95167875e+01] [-5.23872773e-03 1.29453409e-04 9.99986269e-01 -3.09601179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters 0.016857200863199466 Centerline is valid? [True, True] Translation: X:189.30, Y:-39.54, Z:-3.10 [[ 8.98665949e-01 4.38608521e-01 4.69861543e-03 1.89303626e+02] [-4.38601693e-01 8.98678221e-01 -2.45152514e-03 -3.95433187e+01] [-5.29780317e-03 1.42281485e-04 9.99985956e-01 -3.09712040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters 0.01851800301923588 Centerline is valid? [True, True] Translation: X:189.36, Y:-39.57, Z:-3.10 [[ 8.99658570e-01 4.36569480e-01 4.64190559e-03 1.89357823e+02] [-4.36562780e-01 8.99670532e-01 -2.42354609e-03 -3.95712753e+01] [-5.23423193e-03 1.53880800e-04 9.99986289e-01 -3.09837445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters 0.020920788689487994 Centerline is valid? [True, True] Translation: X:189.41, Y:-39.60, Z:-3.10 [[ 9.01535759e-01 4.32692456e-01 3.24234177e-03 1.89412089e+02] [-4.32689153e-01 9.01541581e-01 -1.69533282e-03 -3.95987811e+01] [-3.65666365e-03 1.25477041e-04 9.99993307e-01 -3.10125344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters 0.021433568946013132 Centerline is valid? [True, True] Translation: X:189.47, Y:-39.62, Z:-3.10 [[ 9.03803611e-01 4.27935037e-01 3.26149379e-03 1.89466981e+02] [-4.27931664e-01 9.03809484e-01 -1.70541452e-03 -3.96249053e+01] [-3.67757564e-03 1.45663338e-04 9.99993227e-01 -3.10201850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters 0.020735265563025795 Centerline is valid? [True, True] Translation: X:189.52, Y:-39.65, Z:-3.10 [[ 9.05358854e-01 4.24633581e-01 3.41566743e-03 1.89522658e+02] [-4.24629858e-01 9.05365282e-01 -1.78587422e-03 -3.96507306e+01] [-3.85076888e-03 1.66462664e-04 9.99992572e-01 -3.10227654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters 0.021987442605497398 Centerline is valid? [True, True] Translation: X:189.58, Y:-39.68, Z:-3.10 [[ 9.06279298e-01 4.22666389e-01 3.31029578e-03 1.89577827e+02] [-4.22662888e-01 9.06285328e-01 -1.72830248e-03 -3.96786105e+01] [-3.73056787e-03 1.67185586e-04 9.99993027e-01 -3.10316021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters 0.02192781389369519 Centerline is valid? [True, True] Translation: X:189.64, Y:-39.70, Z:-3.10 [[ 9.06150391e-01 4.22940266e-01 3.60564559e-03 1.89635456e+02] [-4.22936113e-01 9.06157546e-01 -1.88319683e-03 -3.97044792e+01] [-4.06376273e-03 1.81501818e-04 9.99991726e-01 -3.10301743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters 0.022001243112868295 Centerline is valid? [True, True] Translation: X:189.69, Y:-39.73, Z:-3.10 [[ 9.05019412e-01 4.25343564e-01 4.76626986e-03 1.89690948e+02] [-4.25336305e-01 9.05031933e-01 -2.49556224e-03 -3.97293711e+01] [-5.37509776e-03 2.31264661e-04 9.99985527e-01 -3.10302992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters 0.01907538190087193 Centerline is valid? [True, True] Translation: X:189.75, Y:-39.75, Z:-3.10 [[ 9.02036217e-01 4.31619383e-01 5.94737554e-03 1.89749732e+02] [-4.31608214e-01 9.02055791e-01 -3.11452750e-03 -3.97481359e+01] [-6.70915499e-03 2.42480465e-04 9.99977464e-01 -3.10253398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters 0.017423624881795923 Centerline is valid? [True, True] Translation: X:189.81, Y:-39.77, Z:-3.10 [[ 8.99375822e-01 4.37127466e-01 6.53528264e-03 1.89806753e+02] [-4.37114123e-01 8.99399538e-01 -3.42264487e-03 -3.97699686e+01] [-7.37396227e-03 2.21579705e-04 9.99972787e-01 -3.10265307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters 0.014374292189420925 Centerline is valid? [True, True] Translation: X:189.87, Y:-39.79, Z:-3.10 [[ 8.95191943e-01 4.45625945e-01 6.99304098e-03 1.89866278e+02] [-4.45610923e-01 8.95219242e-01 -3.66256780e-03 -3.97872731e+01] [-7.89244008e-03 1.62525735e-04 9.99968841e-01 -3.10283870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters 0.013159654545798446 Centerline is valid? [True, True] Translation: X:189.92, Y:-39.81, Z:-3.10 [[ 8.92941288e-01 4.50109210e-01 7.58646203e-03 1.89924136e+02] [-4.50091692e-01 8.92973505e-01 -3.97341688e-03 -3.98095923e+01] [-8.56298113e-03 1.33424457e-04 9.99963328e-01 -3.10370977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters 0.012499845662103118 Centerline is valid? [True, True] Translation: X:189.98, Y:-39.83, Z:-3.10 [[ 8.91302797e-01 4.53344837e-01 7.60153549e-03 1.89981825e+02] [-4.53327379e-01 8.91335205e-01 -3.97990811e-03 -3.98333109e+01] [-8.57978699e-03 1.01319067e-04 9.99963188e-01 -3.10448870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters 0.012734209624363217 Centerline is valid? [True, True] Translation: X:190.04, Y:-39.86, Z:-3.11 [[ 8.91688203e-01 4.52586815e-01 7.57115786e-03 1.90037187e+02] [-4.52569448e-01 8.91720339e-01 -3.96638084e-03 -3.98604821e+01] [-8.54648713e-03 1.10300265e-04 9.99963472e-01 -3.10519631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters 0.014199633308121446 Centerline is valid? [True, True] Translation: X:190.09, Y:-39.89, Z:-3.11 [[ 8.94220526e-01 4.47544229e-01 8.59148264e-03 1.90090212e+02] [-4.47521599e-01 8.94261779e-01 -4.50436891e-03 -3.98904879e+01] [-9.69893886e-03 1.83025094e-04 9.99952947e-01 -3.10547382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters 0.01650385930221838 Centerline is valid? [True, True] Translation: X:190.14, Y:-39.92, Z:-3.11 [[ 8.98683274e-01 4.38503021e-01 9.13644468e-03 1.90142424e+02] [-4.38476916e-01 8.98729664e-01 -4.79427995e-03 -3.99230223e+01] [-1.03135001e-02 3.02419112e-04 9.99946769e-01 -3.10532845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters 0.018349784356485203 Centerline is valid? [True, True] Translation: X:190.20, Y:-39.95, Z:-3.11 [[ 9.01487923e-01 4.32723454e-01 8.36284085e-03 1.90195034e+02] [-4.32701332e-01 9.01526649e-01 -4.38849809e-03 -3.99545476e+01] [-9.43832993e-03 3.37565649e-04 9.99955401e-01 -3.10672406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters 0.019564801978715525 Centerline is valid? [True, True] Translation: X:190.25, Y:-39.98, Z:-3.11 [[ 9.04294445e-01 4.26851286e-01 7.03817331e-03 1.90248100e+02] [-4.26835440e-01 9.04321772e-01 -3.69333088e-03 -3.99843440e+01] [-7.94127639e-03 3.35716796e-04 9.99968411e-01 -3.10835084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters 0.02161080624836604 Centerline is valid? [True, True] Translation: X:190.30, Y:-40.01, Z:-3.11 [[ 9.04825269e-01 4.25730629e-01 6.68313034e-03 1.90300942e+02] [-4.25716314e-01 9.04849891e-01 -3.50643632e-03 -4.00140177e+01] [-7.54002709e-03 3.27594569e-04 9.99971520e-01 -3.11037375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters 0.02027777630251819 Centerline is valid? [True, True] Translation: X:190.36, Y:-40.04, Z:-3.11 [[ 9.03999305e-01 4.27472698e-01 7.23522986e-03 1.90356862e+02] [-4.27455975e-01 9.04028195e-01 -3.79635175e-03 -4.00407197e+01] [-8.16368852e-03 3.39157112e-04 9.99966619e-01 -3.11084585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters 0.019897195400180156 Centerline is valid? [True, True] Translation: X:190.41, Y:-40.07, Z:-3.11 [[ 9.02822597e-01 4.29942381e-01 7.80428466e-03 1.90412036e+02] [-4.29922977e-01 9.02856262e-01 -4.09926043e-03 -4.00683608e+01] [-8.80859307e-03 3.45663654e-04 9.99961144e-01 -3.11201260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters 0.017846317916456286 Centerline is valid? [True, True] Translation: X:190.47, Y:-40.09, Z:-3.11 [[ 9.00612091e-01 4.34549726e-01 8.02473221e-03 1.90468318e+02] [-4.34529386e-01 9.00647789e-01 -4.21587618e-03 -4.00929814e+01] [-9.05946517e-03 3.09887106e-04 9.99958914e-01 -3.11400321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters 0.015401844334027272 Centerline is valid? [True, True] Translation: X:190.52, Y:-40.12, Z:-3.12 [[ 8.98165120e-01 4.39578072e-01 8.39857873e-03 1.90524429e+02] [-4.39556009e-01 8.98204345e-01 -4.41253432e-03 -4.01168668e+01] [-9.48329324e-03 2.71538674e-04 9.99954996e-01 -3.11515818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters 0.015337190408952319 Centerline is valid? [True, True] Translation: X:190.58, Y:-40.14, Z:-3.12 [[ 8.96263008e-01 4.43415512e-01 9.76233493e-03 1.90578037e+02] [-4.43385927e-01 8.96316134e-01 -5.12919296e-03 -4.01444148e+01] [-1.10245020e-02 2.68623989e-04 9.99939192e-01 -3.11603015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters 0.01522717776338167 Centerline is valid? [True, True] Translation: X:190.63, Y:-40.17, Z:-3.12 [[ 8.95226881e-01 4.45492529e-01 1.02585599e-02 1.90632606e+02] [-4.45460004e-01 8.95285620e-01 -5.38917634e-03 -4.01727726e+01] [-1.15851790e-02 2.54757394e-04 9.99932857e-01 -3.11658782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters 0.013545571084167108 Centerline is valid? [True, True] Translation: X:190.69, Y:-40.20, Z:-3.12 [[ 8.93508521e-01 4.48881074e-01 1.21780327e-02 1.90688904e+02] [-4.48835488e-01 8.93591471e-01 -6.40216831e-03 -4.01984382e+01] [-1.37559983e-02 2.54458694e-04 9.99905349e-01 -3.11696172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters 0.01267582317843533 Centerline is valid? [True, True] Translation: X:190.75, Y:-40.23, Z:-3.12 [[ 8.91419971e-01 4.53007565e-01 1.24331076e-02 1.90745128e+02] [-4.52960443e-01 8.91506651e-01 -6.53673266e-03 -4.02250073e+01] [-1.40453875e-02 1.95268100e-04 9.99901340e-01 -3.11906751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters 0.012654864739489145 Centerline is valid? [True, True] Translation: X:190.80, Y:-40.25, Z:-3.12 [[ 8.90748760e-01 4.54346044e-01 1.16755277e-02 1.90799249e+02] [-4.54304559e-01 8.90825260e-01 -6.14191506e-03 -4.02530617e+01] [-1.31914098e-02 1.66657747e-04 9.99912976e-01 -3.12203624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters 0.012929781751292897 Centerline is valid? [True, True] Translation: X:190.85, Y:-40.28, Z:-3.13 [[ 8.90966925e-01 4.53943419e-01 1.06447837e-02 1.90851792e+02] [-4.53908874e-01 8.91030497e-01 -5.60242595e-03 -4.02837067e+01] [-1.20280113e-02 1.59814448e-04 9.99927648e-01 -3.12512064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters 0.013100038989186944 Centerline is valid? [True, True] Translation: X:190.91, Y:-40.32, Z:-3.13 [[ 8.91816478e-01 4.52265660e-01 1.09152578e-02 1.90905654e+02] [-4.52229173e-01 8.91883253e-01 -5.74789219e-03 -4.03150043e+01] [-1.23347099e-02 1.89866984e-04 9.99923907e-01 -3.12575586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters 0.013861491066361434 Centerline is valid? [True, True] Translation: X:190.96, Y:-40.35, Z:-3.13 [[ 8.93634748e-01 4.48655230e-01 1.11991839e-02 1.90958731e+02] [-4.48616490e-01 8.93704886e-01 -5.90103775e-03 -4.03474953e+01] [-1.26562968e-02 2.49233812e-04 9.99919875e-01 -3.12727928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters 0.014853624404467119 Centerline is valid? [True, True] Translation: X:191.01, Y:-40.38, Z:-3.13 [[ 8.95362531e-01 4.45196673e-01 1.12187072e-02 1.91011048e+02] [-4.45157478e-01 8.95432762e-01 -5.91519171e-03 -4.03807332e+01] [-1.26790216e-02 3.02149632e-04 9.99919572e-01 -3.12859656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters 0.015302827017271547 Centerline is valid? [True, True] Translation: X:191.06, Y:-40.41, Z:-3.13 [[ 8.96779601e-01 4.42321177e-01 1.17611535e-02 1.91064506e+02] [-4.42277824e-01 8.96856647e-01 -6.20324449e-03 -4.04123817e+01] [-1.32918951e-02 3.61245721e-04 9.99911594e-01 -3.12948415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters 0.017745021053537886 Centerline is valid? [True, True] Translation: X:191.11, Y:-40.45, Z:-3.13 [[ 8.99308040e-01 4.37166897e-01 1.14085065e-02 1.91114149e+02] [-4.37125676e-01 8.99380300e-01 -6.01834849e-03 -4.04474569e+01] [-1.28916087e-02 4.25398057e-04 9.99916809e-01 -3.13061637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters 0.01844455075418043 Centerline is valid? [True, True] Translation: X:191.17, Y:-40.48, Z:-3.13 [[ 9.00598630e-01 4.34507571e-01 1.11927446e-02 1.91167434e+02] [-4.34467683e-01 9.00668065e-01 -5.90502151e-03 -4.04794957e+01] [-1.26467241e-02 4.55168500e-04 9.99919923e-01 -3.13188485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters 0.018359615905567065 Centerline is valid? [True, True] Translation: X:191.22, Y:-40.51, Z:-3.13 [[ 9.01111360e-01 4.33428368e-01 1.17544561e-02 1.91221364e+02] [-4.33384275e-01 9.01187886e-01 -6.20202084e-03 -4.05093978e+01] [-1.32811052e-02 4.94514996e-04 9.99911680e-01 -3.13285935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters 0.01808531399923553 Centerline is valid? [True, True] Translation: X:191.28, Y:-40.54, Z:-3.13 [[ 9.00697814e-01 4.34293586e-01 1.15121555e-02 1.91275854e+02] [-4.34251320e-01 9.00771256e-01 -6.07741735e-03 -4.05384621e+01] [-1.30092022e-02 4.74747789e-04 9.99915264e-01 -3.13401617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters 0.018811653056081797 Centerline is valid? [True, True] Translation: X:191.33, Y:-40.57, Z:-3.14 [[ 8.99217360e-01 4.37385883e-01 1.00860878e-02 1.91328450e+02] [-4.37353592e-01 8.99273843e-01 -5.32829391e-03 -4.05693427e+01] [-1.14006755e-02 3.80107650e-04 9.99934938e-01 -3.13615789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters 0.01699966096979753 Centerline is valid? [True, True] Translation: X:191.38, Y:-40.60, Z:-3.14 [[ 8.97912057e-01 4.40066452e-01 9.77018422e-03 1.91383426e+02] [-4.40036306e-01 8.97965147e-01 -5.16182660e-03 -4.05961126e+01] [-1.10448316e-02 3.35630568e-04 9.99938948e-01 -3.13734928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters 0.015149720340949096 Centerline is valid? [True, True] Translation: X:191.44, Y:-40.62, Z:-3.14 [[ 8.95076860e-01 4.45804408e-01 9.78999995e-03 1.91438885e+02] [-4.45774475e-01 8.95130359e-01 -5.17278808e-03 -4.06219668e+01] [-1.10693779e-02 2.65910826e-04 9.99938697e-01 -3.13808445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters 0.014005497339652768 Centerline is valid? [True, True] Translation: X:191.49, Y:-40.65, Z:-3.14 [[ 8.92979044e-01 4.49972943e-01 1.06196278e-02 1.91494009e+02] [-4.49938014e-01 8.93042158e-01 -5.61140836e-03 -4.06499673e+01] [-1.20087573e-02 2.32695837e-04 9.99927865e-01 -3.13816015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters 0.012753907728258967 Centerline is valid? [True, True] Translation: X:191.55, Y:-40.68, Z:-3.14 [[ 8.90189395e-01 4.55440429e-01 1.16985600e-02 1.91549500e+02] [-4.55398499e-01 8.90266244e-01 -6.18245014e-03 -4.06767520e+01] [-1.32305708e-02 1.76044908e-04 9.99912457e-01 -3.13833000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters 0.01223760318295176 Centerline is valid? [True, True] Translation: X:191.61, Y:-40.70, Z:-3.14 [[ 8.88504980e-01 4.58701425e-01 1.23248979e-02 1.91605590e+02] [-4.58655191e-01 8.88590448e-01 -6.51393506e-03 -4.07046669e+01] [-1.39397378e-02 1.34785338e-04 9.99902828e-01 -3.13908692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters 0.01178450463359546 Centerline is valid? [True, True] Translation: X:191.66, Y:-40.73, Z:-3.14 [[ 8.86635753e-01 4.62310242e-01 1.20947276e-02 1.91661537e+02] [-4.62266041e-01 8.86718238e-01 -6.39318960e-03 -4.07315160e+01] [-1.36802526e-02 7.74486187e-05 9.99906418e-01 -3.14019830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters 0.011782044513002056 Centerline is valid? [True, True] Translation: X:191.72, Y:-40.76, Z:-3.14 [[ 8.86447561e-01 4.62690522e-01 1.13226051e-02 1.91715373e+02] [-4.62651774e-01 8.86519868e-01 -5.98836602e-03 -4.07628829e+01] [-1.28084746e-02 6.99491241e-05 9.99917966e-01 -3.14225623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters 0.012074050590952871 Centerline is valid? [True, True] Translation: X:191.77, Y:-40.79, Z:-3.14 [[ 8.87545878e-01 4.60592031e-01 1.08302764e-02 1.91768480e+02] [-4.60556379e-01 8.87611948e-01 -5.73154955e-03 -4.07945802e+01] [-1.22529888e-02 9.90603118e-05 9.99924924e-01 -3.14358169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters 0.013258257793567452 Centerline is valid? [True, True] Translation: X:191.82, Y:-40.83, Z:-3.15 [[ 8.91127494e-01 4.53631620e-01 1.04948732e-02 1.91819555e+02] [-4.53597619e-01 8.91189271e-01 -5.55729770e-03 -4.08294413e+01] [-1.18738843e-02 1.91811285e-04 9.99929485e-01 -3.14513055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters 0.015016104090516975 Centerline is valid? [True, True] Translation: X:191.87, Y:-40.86, Z:-3.15 [[ 8.94360189e-01 4.47223488e-01 1.05358929e-02 1.91869329e+02] [-4.47188724e-01 8.94422201e-01 -5.58322135e-03 -4.08635317e+01] [-1.19204842e-02 2.81878411e-04 9.99928909e-01 -3.14650256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters 0.017075076476014184 Centerline is valid? [True, True] Translation: X:191.92, Y:-40.90, Z:-3.15 [[ 8.98657547e-01 4.38531420e-01 1.02375600e-02 1.91919816e+02] [-4.38498033e-01 8.98715775e-01 -5.42492765e-03 -4.08988154e+01] [-1.15796579e-02 3.86002237e-04 9.99932879e-01 -3.14740051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters 0.01781035828449391 Centerline is valid? [True, True] Translation: X:191.97, Y:-40.93, Z:-3.15 [[ 9.00835418e-01 4.34050513e-01 9.78270794e-03 1.91972962e+02] [-4.34019757e-01 9.00888435e-01 -5.18441426e-03 -4.09299437e+01] [-1.10634261e-02 4.24415469e-04 9.99938708e-01 -3.14866765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters 0.019908419986415918 Centerline is valid? [True, True] Translation: X:192.02, Y:-40.96, Z:-3.15 [[ 9.02043189e-01 4.31551508e-01 9.02110697e-03 1.92024927e+02] [-4.31525226e-01 9.02088199e-01 -4.78119087e-03 -4.09611775e+01] [-1.02011643e-02 4.20005431e-04 9.99947879e-01 -3.15008135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters 0.020335013492466258 Centerline is valid? [True, True] Translation: X:192.08, Y:-40.99, Z:-3.15 [[ 9.01260331e-01 4.33180586e-01 9.18666188e-03 1.92079305e+02] [-4.33153424e-01 9.01307058e-01 -4.86802535e-03 -4.09903529e+01] [-1.03887373e-02 4.08124086e-04 9.99945952e-01 -3.15055787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters 0.02107733206719043 Centerline is valid? [True, True] Translation: X:192.13, Y:-41.02, Z:-3.15 [[ 8.98891069e-01 4.38075777e-01 9.19022168e-03 1.92132722e+02] [-4.38048808e-01 8.98937978e-01 -4.87379997e-03 -4.10169257e+01] [-1.03965330e-02 3.55249608e-04 9.99945891e-01 -3.15174999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters 0.016634550609899698 Centerline is valid? [True, True] Translation: X:192.19, Y:-41.04, Z:-3.15 [[ 8.97148260e-01 4.41634056e-01 9.18482617e-03 1.92191497e+02] [-4.41607294e-01 8.97195219e-01 -4.87193126e-03 -4.10376962e+01] [-1.03921929e-02 3.14758416e-04 9.99945950e-01 -3.15206021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters 0.0150159383076576 Centerline is valid? [True, True] Translation: X:192.25, Y:-41.06, Z:-3.15 [[ 8.94513076e-01 4.46946107e-01 9.24845573e-03 1.92248621e+02] [-4.46919250e-01 8.94560849e-01 -4.90632152e-03 -4.10617353e+01] [-1.04661677e-02 2.55455863e-04 9.99945196e-01 -3.15303944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters 0.014794598945883766 Centerline is valid? [True, True] Translation: X:192.30, Y:-41.09, Z:-3.15 [[ 8.92984940e-01 4.49990968e-01 9.27503805e-03 1.92303626e+02] [-4.49964124e-01 8.93033079e-01 -4.91999466e-03 -4.10880903e+01] [-1.04968689e-02 2.20046762e-04 9.99944882e-01 -3.15417142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters 0.014896848159148973 Centerline is valid? [True, True] Translation: X:192.36, Y:-41.12, Z:-3.16 [[ 8.92217610e-01 4.51514551e-01 9.07456510e-03 1.92358275e+02] [-4.51488902e-01 8.92263734e-01 -4.81678830e-03 -4.11162679e+01] [-1.02717553e-02 2.00557916e-04 9.99947224e-01 -3.15551570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters 0.013676413012259588 Centerline is valid? [True, True] Translation: X:192.42, Y:-41.14, Z:-3.16 [[ 8.91163125e-01 4.53592084e-01 9.08325341e-03 1.92415185e+02] [-4.53566484e-01 8.91209397e-01 -4.82231152e-03 -4.11413726e+01] [-1.02824431e-02 1.77606893e-04 9.99947119e-01 -3.15590990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters 0.014096923144074616 Centerline is valid? [True, True] Translation: X:192.47, Y:-41.17, Z:-3.16 [[ 8.91255598e-01 4.53407046e-01 9.24716608e-03 1.92469211e+02] [-4.53380467e-01 8.91303549e-01 -4.91278541e-03 -4.11708569e+01] [-1.04695235e-02 1.86063021e-04 9.99945176e-01 -3.15673002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters 0.01400696487396363 Centerline is valid? [True, True] Translation: X:192.52, Y:-41.20, Z:-3.16 [[ 8.92421701e-01 4.51111552e-01 9.04849493e-03 1.92524072e+02] [-4.51085971e-01 8.92467547e-01 -4.80870550e-03 -4.11995500e+01] [-1.02447507e-02 2.09744022e-04 9.99947499e-01 -3.15813976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters 0.014996139585795836 Centerline is valid? [True, True] Translation: X:192.58, Y:-41.23, Z:-3.16 [[ 8.94093914e-01 4.47812253e-01 7.76262301e-03 1.92578180e+02] [-4.47793272e-01 8.94127586e-01 -4.12865030e-03 -4.12302350e+01] [-8.78963557e-03 2.15350749e-04 9.99961347e-01 -3.16115447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters 0.015871253893423688 Centerline is valid? [True, True] Translation: X:192.63, Y:-41.26, Z:-3.16 [[ 8.94931175e-01 4.46140951e-01 7.51296888e-03 1.92631621e+02] [-4.46123119e-01 8.94962682e-01 -3.99506223e-03 -4.12614269e+01] [-8.50618764e-03 2.23596622e-04 9.99963797e-01 -3.16228927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters 0.017191942090115448 Centerline is valid? [True, True] Translation: X:192.68, Y:-41.29, Z:-3.16 [[ 8.95826440e-01 4.44341153e-01 7.47855830e-03 1.92683546e+02] [-4.44323386e-01 8.95857623e-01 -3.98088422e-03 -4.12928311e+01] [-8.46859415e-03 2.43282990e-04 9.99964111e-01 -3.16325371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters 0.01774961076341161 Centerline is valid? [True, True] Translation: X:192.74, Y:-41.32, Z:-3.16 [[ 8.96335825e-01 4.43317203e-01 7.20731552e-03 1.92737874e+02] [-4.43300681e-01 8.96364769e-01 -3.83501389e-03 -4.13233043e+01] [-8.16051134e-03 2.42452465e-04 9.99966673e-01 -3.16459064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters 0.01725629674491096 Centerline is valid? [True, True] Translation: X:192.79, Y:-41.35, Z:-3.16 [[ 8.96967698e-01 4.42029255e-01 7.68677822e-03 1.92791603e+02] [-4.42010391e-01 8.97000592e-01 -4.09288533e-03 -4.13535089e+01] [-8.70421967e-03 2.73550092e-04 9.99962080e-01 -3.16452939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters 0.017421054976373248 Centerline is valid? [True, True] Translation: X:192.85, Y:-41.38, Z:-3.16 [[ 8.96560835e-01 4.42853757e-01 7.69533187e-03 1.92846346e+02] [-4.42834863e-01 8.96593820e-01 -4.09957890e-03 -4.13837742e+01] [-8.71510091e-03 2.67760650e-04 9.99961987e-01 -3.16481355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters 0.016117087800847255 Centerline is valid? [True, True] Translation: X:192.90, Y:-41.41, Z:-3.17 [[ 8.94081549e-01 4.47839274e-01 7.62690184e-03 1.92901943e+02] [-4.47820862e-01 8.94114051e-01 -4.06684245e-03 -4.14102005e+01] [-8.64061187e-03 2.20603037e-04 9.99962645e-01 -3.16563452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters 0.01450468599916328 Centerline is valid? [True, True] Translation: X:192.96, Y:-41.44, Z:-3.17 [[ 8.91382901e-01 4.53183835e-01 7.80610039e-03 1.92957785e+02] [-4.53164742e-01 8.91417064e-01 -4.16350851e-03 -4.14359523e+01] [-8.84532584e-03 1.73830822e-04 9.99960864e-01 -3.16642229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters 0.012665250007422049 Centerline is valid? [True, True] Translation: X:193.01, Y:-41.46, Z:-3.17 [[ 8.87482274e-01 4.60787384e-01 7.08527106e-03 1.93013209e+02] [-4.60771892e-01 8.87510552e-01 -3.77945175e-03 -4.14598299e+01] [-8.02977651e-03 8.95026762e-05 9.99967757e-01 -3.16717304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters 0.012148946698966656 Centerline is valid? [True, True] Translation: X:193.07, Y:-41.49, Z:-3.17 [[ 8.85807835e-01 4.64004291e-01 6.67067445e-03 1.93068245e+02] [-4.63990664e-01 8.85832950e-01 -3.55655592e-03 -4.14866441e+01] [-7.55936043e-03 5.52944359e-05 9.99971426e-01 -3.16853818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters 0.012490927251098138 Centerline is valid? [True, True] Translation: X:193.12, Y:-41.52, Z:-3.17 [[ 8.86209694e-01 4.63246418e-01 5.92748109e-03 1.93122837e+02] [-4.63235633e-01 8.86229515e-01 -3.16139173e-03 -4.15168030e+01] [-6.71761209e-03 5.58355432e-05 9.99977435e-01 -3.17001993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters 0.013148139015165523 Centerline is valid? [True, True] Translation: X:193.18, Y:-41.55, Z:-3.17 [[ 8.89474929e-01 4.56952739e-01 5.34281252e-03 1.93175278e+02] [-4.56943845e-01 8.89490970e-01 -2.85247551e-03 -4.15501688e+01] [-6.05582999e-03 9.58401485e-05 9.99981659e-01 -3.16923040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters 0.014733550347332305 Centerline is valid? [True, True] Translation: X:193.23, Y:-41.58, Z:-3.17 [[ 8.91857195e-01 4.52281004e-01 5.71288333e-03 1.93226722e+02] [-4.52270746e-01 8.91875482e-01 -3.04901178e-03 -4.15839194e+01] [-6.47419068e-03 1.35513084e-04 9.99979033e-01 -3.16983336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters 0.016391886748170506 Centerline is valid? [True, True] Translation: X:193.28, Y:-41.62, Z:-3.17 [[ 8.94862604e-01 4.46299068e-01 6.16947129e-03 1.93277951e+02] [-4.46286933e-01 8.94883849e-01 -3.29691078e-03 -4.16171071e+01] [-6.99236843e-03 1.96927743e-04 9.99975534e-01 -3.17017410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters 0.016749037469106137 Centerline is valid? [True, True] Translation: X:193.33, Y:-41.65, Z:-3.17 [[ 8.96077168e-01 4.43864805e-01 5.45381128e-03 1.93331360e+02] [-4.43855280e-01 8.96093744e-01 -2.91397503e-03 -4.16489029e+01] [-6.18053713e-03 1.90443558e-04 9.99980882e-01 -3.17107392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters 0.018780865617317344 Centerline is valid? [True, True] Translation: X:193.38, Y:-41.68, Z:-3.17 [[ 8.97221662e-01 4.41560488e-01 4.19808810e-03 1.93382658e+02] [-4.41554829e-01 8.97231470e-01 -2.24118499e-03 -4.16826256e+01] [-4.75627550e-03 1.57153656e-04 9.99988677e-01 -3.17248021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters 0.017971711108021652 Centerline is valid? [True, True] Translation: X:193.44, Y:-41.71, Z:-3.17 [[ 8.97321289e-01 4.41357499e-01 4.25010881e-03 1.93438190e+02] [-4.41351690e-01 8.97331339e-01 -2.26999248e-03 -4.17112914e+01] [-4.81563403e-03 1.61119866e-04 9.99988392e-01 -3.17239781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters 0.018556910643855708 Centerline is valid? [True, True] Translation: X:193.49, Y:-41.74, Z:-3.17 [[ 8.96502577e-01 4.43011961e-01 4.85090848e-03 1.93492091e+02] [-4.43004406e-01 8.96515684e-01 -2.59327711e-03 -4.17405379e+01] [-5.49776831e-03 1.75905786e-04 9.99984872e-01 -3.17269891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters 0.016527484935244734 Centerline is valid? [True, True] Translation: X:193.55, Y:-41.77, Z:-3.17 [[ 8.95683124e-01 4.44668889e-01 4.61744214e-03 1.93548736e+02] [-4.44662051e-01 8.95695011e-01 -2.47123344e-03 -4.17675619e+01] [-5.23470052e-03 1.60240795e-04 9.99986286e-01 -3.17235184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters 0.017008742431447198 Centerline is valid? [True, True] Translation: X:193.60, Y:-41.80, Z:-3.17 [[ 8.94271373e-01 4.47503107e-01 4.43628229e-03 1.93602840e+02] [-4.47496836e-01 8.94282366e-01 -2.37303848e-03 -4.17955776e+01] [-5.02923112e-03 1.36918091e-04 9.99987344e-01 -3.17395130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters 0.015641904386435177 Centerline is valid? [True, True] Translation: X:193.66, Y:-41.82, Z:-3.17 [[ 8.93376471e-01 4.49281673e-01 4.94562533e-03 1.93659830e+02] [-4.49273887e-01 8.93390149e-01 -2.64899660e-03 -4.18217320e+01] [-5.60851857e-03 1.44610919e-04 9.99984262e-01 -3.17427113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters 0.014309873193587105 Centerline is valid? [True, True] Translation: X:193.72, Y:-41.85, Z:-3.17 [[ 8.92202755e-01 4.51607962e-01 4.94898873e-03 1.93717060e+02] [-4.51600209e-01 8.92216471e-01 -2.64946845e-03 -4.18472030e+01] [-5.61209031e-03 1.28898707e-04 9.99984244e-01 -3.17455303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters 0.014491966282086217 Centerline is valid? [True, True] Translation: X:193.77, Y:-41.88, Z:-3.18 [[ 8.91166914e-01 4.53642588e-01 5.47113652e-03 1.93771053e+02] [-4.53633135e-01 8.91183699e-01 -2.93146611e-03 -4.18753105e+01] [-6.20562555e-03 1.30536794e-04 9.99980736e-01 -3.17582585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters 0.014050500930095008 Centerline is valid? [True, True] Translation: X:193.83, Y:-41.90, Z:-3.18 [[ 8.90205082e-01 4.55524275e-01 5.70498602e-03 1.93827706e+02] [-4.55514024e-01 8.90223354e-01 -3.05846538e-03 -4.19015507e+01] [-6.47191701e-03 1.23960287e-04 9.99979049e-01 -3.17704916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters 0.01645570810459458 Centerline is valid? [True, True] Translation: X:193.88, Y:-41.93, Z:-3.18 [[ 8.90081543e-01 4.55759757e-01 6.15547778e-03 1.93881373e+02] [-4.55747814e-01 8.90102818e-01 -3.30209962e-03 -4.19332729e+01] [-6.98397223e-03 1.33792379e-04 9.99975603e-01 -3.17995069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters 0.014823490270253228 Centerline is valid? [True, True] Translation: X:193.94, Y:-41.96, Z:-3.18 [[ 8.91543567e-01 4.52883544e-01 6.82371789e-03 1.93936866e+02] [-4.52868760e-01 8.91569663e-01 -3.66359687e-03 -4.19602010e+01] [-7.74300260e-03 1.76007561e-04 9.99970007e-01 -3.17882256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters 0.017331463488824035 Centerline is valid? [True, True] Translation: X:193.99, Y:-41.99, Z:-3.18 [[ 8.94334727e-01 4.47327629e-01 7.96169565e-03 1.93987446e+02] [-4.47307244e-01 8.94370126e-01 -4.27870901e-03 -4.19922714e+01] [-9.03468749e-03 2.65273909e-04 9.99959151e-01 -3.17928243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters 0.018440869193796835 Centerline is valid? [True, True] Translation: X:194.04, Y:-42.02, Z:-3.18 [[ 8.96214029e-01 4.43531384e-01 8.96250000e-03 1.94041275e+02] [-4.43505348e-01 8.96258776e-01 -4.81794230e-03 -4.20220987e+01] [-1.01696279e-02 3.42990806e-04 9.99948229e-01 -3.17957538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters 0.01993051826663954 Centerline is valid? [True, True] Translation: X:194.09, Y:-42.05, Z:-3.18 [[ 8.96960124e-01 4.42022336e-01 8.87640572e-03 1.94094204e+02] [-4.41996720e-01 8.97003972e-01 -4.77204886e-03 -4.20517978e+01] [-1.00715234e-02 3.56995313e-04 9.99949217e-01 -3.18055137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters 0.020575650334354118 Centerline is valid? [True, True] Translation: X:194.15, Y:-42.08, Z:-3.18 [[ 8.97886725e-01 4.40125224e-01 9.44541052e-03 1.94149124e+02] [-4.40096121e-01 8.97936315e-01 -5.07732539e-03 -4.20801229e+01] [-1.07160361e-02 4.01974540e-04 9.99942501e-01 -3.18163581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters 0.022955267888037784 Centerline is valid? [True, True] Translation: X:194.20, Y:-42.11, Z:-3.18 [[ 8.97780347e-01 4.40345318e-01 9.29782723e-03 1.94203148e+02] [-4.40317104e-01 8.97828405e-01 -5.00037759e-03 -4.21097765e+01] [-1.05497463e-02 3.95248367e-04 9.99944272e-01 -3.18376515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters 0.022813333821426165 Centerline is valid? [True, True] Translation: X:194.26, Y:-42.14, Z:-3.19 [[ 8.96966667e-01 4.42004679e-01 9.09189537e-03 1.94258931e+02] [-4.41977755e-01 8.97012668e-01 -4.89261283e-03 -4.21368688e+01] [-1.03181031e-02 3.70095118e-04 9.99946698e-01 -3.18570744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters 0.01638491250415718 Centerline is valid? [True, True] Translation: X:194.32, Y:-42.15, Z:-3.19 [[ 8.94600401e-01 4.46773979e-01 9.11782333e-03 1.94318913e+02] [-4.46747108e-01 8.94646807e-01 -4.91044945e-03 -4.21543860e+01] [-1.03510926e-02 3.19528846e-04 9.99946375e-01 -3.18630395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters 0.01553594964950902 Centerline is valid? [True, True] Translation: X:194.37, Y:-42.18, Z:-3.19 [[ 8.92781283e-01 4.50374376e-01 1.02225967e-02 1.94374662e+02] [-4.50340830e-01 8.92839753e-01 -5.50565410e-03 -4.21811545e+01] [-1.16067462e-02 3.11692269e-04 9.99932591e-01 -3.18704888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters 0.014384790783288156 Centerline is valid? [True, True] Translation: X:194.43, Y:-42.21, Z:-3.19 [[ 8.90674147e-01 4.54487171e-01 1.18733444e-02 1.94430933e+02] [-4.54442268e-01 8.90753233e-01 -6.39560647e-03 -4.22073907e+01] [-1.34829410e-02 3.00651798e-04 9.99909056e-01 -3.18729513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters 0.01317620234115205 Centerline is valid? [True, True] Translation: X:194.49, Y:-42.23, Z:-3.19 [[ 8.88898671e-01 4.57928874e-01 1.26609476e-02 1.94486963e+02] [-4.57878150e-01 8.88988794e-01 -6.82087515e-03 -4.22335341e+01] [-1.43789162e-02 2.65895574e-04 9.99896583e-01 -3.18857052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters 0.011692545102055354 Centerline is valid? [True, True] Translation: X:194.54, Y:-42.26, Z:-3.19 [[ 8.85767098e-01 4.63940999e-01 1.32437462e-02 1.94543816e+02] [-4.63886098e-01 8.85866083e-01 -7.13944012e-03 -4.22583557e+01] [-1.50444645e-02 1.80291436e-04 9.99886809e-01 -3.18984708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters 0.01097459942585713 Centerline is valid? [True, True] Translation: X:194.60, Y:-42.28, Z:-3.19 [[ 8.82085524e-01 4.70889620e-01 1.37147165e-02 1.94600697e+02] [-4.70831566e-01 8.82192134e-01 -7.39425664e-03 -4.22830431e+01] [-1.55808937e-02 6.50453016e-05 9.99878608e-01 -3.19184961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters 0.010742133570100131 Centerline is valid? [True, True] Translation: X:194.66, Y:-42.31, Z:-3.19 [[ 8.79903261e-01 4.74959542e-01 1.35530408e-02 1.94655717e+02] [-4.74903263e-01 8.80007633e-01 -7.31139223e-03 -4.23092383e+01] [-1.53993949e-02 -3.06543814e-06 9.99881422e-01 -3.19318610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters 0.010914351210507402 Centerline is valid? [True, True] Translation: X:194.71, Y:-42.34, Z:-3.20 [[ 8.77810776e-01 4.78831506e-01 1.29858240e-02 1.94712099e+02] [-4.78780210e-01 8.77906820e-01 -7.00898417e-03 -4.23370895e+01] [-1.47564659e-02 -6.47937281e-05 9.99891115e-01 -3.19523805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters 0.010815705495856292 Centerline is valid? [True, True] Translation: X:194.77, Y:-42.37, Z:-3.20 [[ 8.78080141e-01 4.78351505e-01 1.24540715e-02 1.94766315e+02] [-4.78304217e-01 8.78168455e-01 -6.72611319e-03 -4.23689597e+01] [-1.41542191e-02 -5.07684940e-05 9.99899823e-01 -3.19749332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters 0.010918124637392425 Centerline is valid? [True, True] Translation: X:194.82, Y:-42.41, Z:-3.20 [[ 8.81366156e-01 4.72285467e-01 1.18379641e-02 1.94816656e+02] [-4.72242136e-01 8.81445651e-01 -6.39759090e-03 -4.24057093e+01] [-1.34560112e-02 4.82346478e-05 9.99909463e-01 -3.19982728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters 0.01190705717925 Centerline is valid? [True, True] Translation: X:194.87, Y:-42.44, Z:-3.20 [[ 8.84856378e-01 4.65726018e-01 1.13343290e-02 1.94866960e+02] [-4.65685708e-01 8.84928955e-01 -6.12918703e-03 -4.24432514e+01] [-1.28845978e-02 1.45215229e-04 9.99916980e-01 -3.20109311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters 0.01416977474230272 Centerline is valid? [True, True] Translation: X:194.91, Y:-42.48, Z:-3.20 [[ 8.90438989e-01 4.54972057e-01 1.09010788e-02 1.94914036e+02] [-4.54933908e-01 8.90505666e-01 -5.89896697e-03 -4.24834494e+01] [-1.23913376e-02 2.93399797e-04 9.99923181e-01 -3.20216784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters 0.015383062817002665 Centerline is valid? [True, True] Translation: X:194.96, Y:-42.52, Z:-3.20 [[ 8.93036555e-01 4.49840074e-01 1.13850127e-02 1.94963966e+02] [-4.49798038e-01 8.93109043e-01 -6.16142064e-03 -4.25187071e+01] [-1.29397117e-02 3.81417510e-04 9.99916206e-01 -3.20278191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters 0.0173794049935249 Centerline is valid? [True, True] Translation: X:195.01, Y:-42.55, Z:-3.20 [[ 8.94711065e-01 4.46499121e-01 1.14299912e-02 1.95013072e+02] [-4.46456470e-01 8.94783967e-01 -6.18641598e-03 -4.25548957e+01] [-1.29896022e-02 4.32061318e-04 9.99915538e-01 -3.20392886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters 0.016363051511210275 Centerline is valid? [True, True] Translation: X:195.07, Y:-42.59, Z:-3.21 [[ 8.93186232e-01 4.49571948e-01 1.01695104e-02 1.95065958e+02] [-4.49538376e-01 8.93244057e-01 -5.50490176e-03 -4.25867347e+01] [-1.15587042e-02 3.45317254e-04 9.99933136e-01 -3.20568042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters 0.01462785130092468 Centerline is valid? [True, True] Translation: X:195.12, Y:-42.62, Z:-3.21 [[ 8.90448068e-01 4.54988485e-01 9.36568840e-03 1.95120740e+02] [-4.54960305e-01 8.90497285e-01 -5.07019788e-03 -4.26154290e+01] [-1.06470017e-02 2.53731463e-04 9.99943287e-01 -3.20756470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters 0.011928157146319625 Centerline is valid? [True, True] Translation: X:195.18, Y:-42.64, Z:-3.21 [[ 8.84502648e-01 4.66443880e-01 9.22892511e-03 1.95175571e+02] [-4.66417122e-01 8.84550786e-01 -4.99750346e-03 -4.26398068e+01] [-1.04945079e-02 1.15776357e-04 9.99944924e-01 -3.20913824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters 0.010859609971288781 Centerline is valid? [True, True] Translation: X:195.23, Y:-42.67, Z:-3.21 [[ 8.80610882e-01 4.73745264e-01 9.48148578e-03 1.95231873e+02] [-4.73717457e-01 8.80661924e-01 -5.13292499e-03 -4.26666855e+01] [-1.07816824e-02 2.85642699e-05 9.99941876e-01 -3.20983503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters 0.01103230812779157 Centerline is valid? [True, True] Translation: X:195.29, Y:-42.69, Z:-3.21 [[ 8.77055046e-01 4.80293719e-01 9.61198565e-03 1.95287557e+02] [-4.80265500e-01 8.77107714e-01 -5.20660033e-03 -4.26941860e+01] [-1.09314442e-02 -4.98299961e-05 9.99940249e-01 -3.21092068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters 0.012170797286665837 Centerline is valid? [True, True] Translation: X:195.34, Y:-42.72, Z:-3.21 [[ 8.72653728e-01 4.88232209e-01 1.02362776e-02 1.95342399e+02] [-4.88200703e-01 8.72713748e-01 -5.54864444e-03 -4.27221213e+01] [-1.16423671e-02 -1.55312674e-04 9.99932213e-01 -3.21161079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters 0.01319516269544862 Centerline is valid? [True, True] Translation: X:195.40, Y:-42.75, Z:-3.21 [[ 8.69905793e-01 4.93097912e-01 1.08793602e-02 1.95395725e+02] [-4.93062659e-01 8.69973790e-01 -5.90071537e-03 -4.27530675e+01] [-1.23743887e-02 -2.31139793e-04 9.99923408e-01 -3.21283000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters 0.01365196914140992 Centerline is valid? [True, True] Translation: X:195.45, Y:-42.78, Z:-3.21 [[ 8.69407691e-01 4.93962082e-01 1.14772738e-02 1.95448789e+02] [-4.93922876e-01 8.69483408e-01 -6.22860017e-03 -4.27849761e+01] [-1.30559915e-02 -2.53695195e-04 9.99914735e-01 -3.21390626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters 0.0128675992513515 Centerline is valid? [True, True] Translation: X:195.50, Y:-42.82, Z:-3.21 [[ 8.70667165e-01 4.91724455e-01 1.20725808e-02 1.95499474e+02] [-4.91680800e-01 8.70750830e-01 -6.55609973e-03 -4.28215877e+01] [-1.37360043e-02 -2.27675429e-04 9.99905631e-01 -3.21474205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters 0.012142928242964595 Centerline is valid? [True, True] Translation: X:195.55, Y:-42.86, Z:-3.22 [[ 8.72585357e-01 4.88322867e-01 1.16435151e-02 1.95550715e+02] [-4.88281909e-01 8.72663022e-01 -6.32667317e-03 -4.28571678e+01] [-1.32503243e-02 -1.64755429e-04 9.99912197e-01 -3.21627460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters 0.0109764287003251 Centerline is valid? [True, True] Translation: X:195.60, Y:-42.90, Z:-3.22 [[ 8.76377407e-01 4.81513125e-01 1.03803120e-02 1.95599054e+02] [-4.81480060e-01 8.76438878e-01 -5.64309748e-03 -4.28985510e+01] [-1.18149345e-02 -5.24301112e-05 9.99930200e-01 -3.21869512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters 0.010935585429258076 Centerline is valid? [True, True] Translation: X:195.65, Y:-42.94, Z:-3.22 [[ 8.78648982e-01 4.77384940e-01 8.92108537e-03 1.95649899e+02] [-4.77360284e-01 8.78694270e-01 -4.85180694e-03 -4.29360723e+01] [-1.01550862e-02 4.46338639e-06 9.99948436e-01 -3.22099712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters 0.011577864224762724 Centerline is valid? [True, True] Translation: X:195.70, Y:-42.98, Z:-3.22 [[ 8.81404799e-01 4.72321571e-01 6.15740491e-03 1.95699450e+02] [-4.72309694e-01 8.81426305e-01 -3.34978578e-03 -4.29755316e+01] [-7.00947474e-03 4.43152367e-05 9.99975432e-01 -3.22474441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters 0.012051330674023012 Centerline is valid? [True, True] Translation: X:195.75, Y:-43.01, Z:-3.23 [[ 8.82656991e-01 4.69994919e-01 4.62743089e-03 1.95750709e+02] [-4.69988177e-01 8.82669119e-01 -2.51781717e-03 -4.30118384e+01] [-5.26785162e-03 4.75311207e-05 9.99986124e-01 -3.22607117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters 0.012741700970020082 Centerline is valid? [True, True] Translation: X:195.80, Y:-43.05, Z:-3.23 [[ 8.83823413e-01 4.67804956e-01 3.83378210e-03 1.95801433e+02] [-4.67800306e-01 8.83831726e-01 -2.08649477e-03 -4.30483863e+01] [-4.36449085e-03 5.06484875e-05 9.99990474e-01 -3.22714067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters 0.013081853681339593 Centerline is valid? [True, True] Translation: X:195.85, Y:-43.08, Z:-3.23 [[ 8.84803647e-01 4.65946564e-01 4.03793805e-03 1.95852851e+02] [-4.65941379e-01 8.84812859e-01 -2.19906757e-03 -4.30834156e+01] [-4.59746749e-03 6.43005824e-05 9.99989430e-01 -3.22729959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters 0.014066186751362553 Centerline is valid? [True, True] Translation: X:195.90, Y:-43.12, Z:-3.23 [[ 8.85828270e-01 4.63977864e-01 5.72868890e-03 1.95901714e+02] [-4.63967354e-01 8.85846787e-01 -3.12485113e-03 -4.31204717e+01] [-6.52460241e-03 1.10156833e-04 9.99978708e-01 -3.22710033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters 0.0133170322003665 Centerline is valid? [True, True] Translation: X:195.96, Y:-43.15, Z:-3.23 [[ 8.85281164e-01 4.64986858e-01 8.03007244e-03 1.95955952e+02] [-4.64966238e-01 8.85317570e-01 -4.38140945e-03 -4.31504444e+01] [-9.14646204e-03 1.45066687e-04 9.99958160e-01 -3.22555699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters 0.012691398182516364 Centerline is valid? [True, True] Translation: X:196.01, Y:-43.18, Z:-3.23 [[ 8.84028804e-01 4.67345887e-01 8.99421961e-03 1.96010679e+02] [-4.67320096e-01 8.84074546e-01 -4.91180139e-03 -4.31807554e+01] [-1.02470708e-02 1.38994337e-04 9.99947488e-01 -3.22508885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters 0.012276343854867875 Centerline is valid? [True, True] Translation: X:196.07, Y:-43.21, Z:-3.23 [[ 8.83237980e-01 4.68846748e-01 8.56730062e-03 1.96065205e+02] [-4.68823419e-01 8.83279522e-01 -4.67844396e-03 -4.32101283e+01] [-9.76079443e-03 1.15628220e-04 9.99952356e-01 -3.22596745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters 0.011906211964249602 Centerline is valid? [True, True] Translation: X:196.12, Y:-43.24, Z:-3.23 [[ 8.81848455e-01 4.71476891e-01 7.26936269e-03 1.96120711e+02] [-4.71460171e-01 8.81878413e-01 -3.97131938e-03 -4.32378771e+01] [-8.28307935e-03 7.48868812e-05 9.99965692e-01 -3.22848342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters 0.012029364986610835 Centerline is valid? [True, True] Translation: X:196.18, Y:-43.27, Z:-3.23 [[ 8.80976118e-01 4.73119788e-01 6.22456677e-03 1.96176296e+02] [-4.73107561e-01 8.80998106e-01 -3.40173751e-03 -4.32651471e+01] [-7.09326086e-03 5.19599024e-05 9.99974841e-01 -3.23170742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters 0.011646642133901344 Centerline is valid? [True, True] Translation: X:196.23, Y:-43.29, Z:-3.23 [[ 8.80371008e-01 4.74250651e-01 5.76260855e-03 1.96232971e+02] [-4.74240187e-01 8.80389867e-01 -3.15063128e-03 -4.32921614e+01] [-6.56753112e-03 4.08638784e-05 9.99978433e-01 -3.23238820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters 0.011673152883410049 Centerline is valid? [True, True] Translation: X:196.29, Y:-43.32, Z:-3.23 [[ 8.80566384e-01 4.73876727e-01 6.60992947e-03 1.96288895e+02] [-4.73862926e-01 8.80591190e-01 -3.61701642e-03 -4.33211991e+01] [-7.53466556e-03 5.28225504e-05 9.99971613e-01 -3.23187421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters 0.011943899428861912 Centerline is valid? [True, True] Translation: X:196.34, Y:-43.35, Z:-3.23 [[ 8.80837730e-01 4.73364468e-01 7.13952437e-03 1.96343255e+02] [-4.73348317e-01 8.80866662e-01 -3.91085833e-03 -4.33507277e+01] [-8.14023037e-03 6.53497242e-05 9.99966866e-01 -3.23348630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters 0.01202778961720211 Centerline is valid? [True, True] Translation: X:196.40, Y:-43.38, Z:-3.24 [[ 8.80874335e-01 4.73310029e-01 6.16612956e-03 1.96399744e+02] [-4.73297981e-01 8.80895915e-01 -3.37758103e-03 -4.33792354e+01] [-7.03036132e-03 5.68077772e-05 9.99975285e-01 -3.23586547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters 0.011946839128588075 Centerline is valid? [True, True] Translation: X:196.46, Y:-43.41, Z:-3.24 [[ 8.80717532e-01 4.73610045e-01 5.49132305e-03 1.96455597e+02] [-4.73600486e-01 8.80734650e-01 -3.00933210e-03 -4.34089178e+01] [-6.26164839e-03 4.96782761e-05 9.99980394e-01 -3.23759066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters 0.012038219322476952 Centerline is valid? [True, True] Translation: X:196.51, Y:-43.44, Z:-3.24 [[ 8.80933697e-01 4.73209047e-01 5.38693464e-03 1.96510672e+02] [-4.73199829e-01 8.80950166e-01 -2.95407732e-03 -4.34400440e+01] [-6.14351707e-03 5.32497039e-05 9.99981127e-01 -3.23927828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters 0.012175030824914673 Centerline is valid? [True, True] Translation: X:196.57, Y:-43.47, Z:-3.24 [[ 8.81186633e-01 4.72734975e-01 5.63568534e-03 1.96565677e+02] [-4.72724862e-01 8.81204653e-01 -3.09279802e-03 -4.34711009e+01] [-6.42826594e-03 6.12037006e-05 9.99979337e-01 -3.24020570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters 0.012404673676288945 Centerline is valid? [True, True] Translation: X:196.62, Y:-43.50, Z:-3.24 [[ 8.82263814e-01 4.70717227e-01 5.98787176e-03 1.96619191e+02] [-4.70705744e-01 8.82284129e-01 -3.28895566e-03 -4.35029424e+01] [-6.83117231e-03 8.32009278e-05 9.99976664e-01 -3.24049596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters 0.01311681761110431 Centerline is valid? [True, True] Translation: X:196.67, Y:-43.53, Z:-3.24 [[ 8.83305958e-01 4.68756220e-01 6.17978550e-03 1.96671406e+02] [-4.68743925e-01 8.83327570e-01 -3.39677008e-03 -4.35339548e+01] [-7.05103201e-03 1.03650348e-04 9.99975136e-01 -3.24122719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters 0.013746328961796573 Centerline is valid? [True, True] Translation: X:196.72, Y:-43.57, Z:-3.24 [[ 8.84835625e-01 4.65861289e-01 6.25902493e-03 1.96724721e+02] [-4.65848591e-01 8.84857753e-01 -3.44209686e-03 -4.35659639e+01] [-7.14188641e-03 1.29931989e-04 9.99974488e-01 -3.24182487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters 0.015337491149523605 Centerline is valid? [True, True] Translation: X:196.78, Y:-43.60, Z:-3.24 [[ 8.86982216e-01 4.61746174e-01 7.28144053e-03 1.96777138e+02] [-4.61728822e-01 8.87012082e-01 -4.00763463e-03 -4.35980636e+01] [-8.30923568e-03 1.92649689e-04 9.99965459e-01 -3.24303803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters 0.015430312328422532 Centerline is valid? [True, True] Translation: X:196.83, Y:-43.63, Z:-3.24 [[ 8.87770200e-01 4.60230160e-01 7.22996943e-03 1.96832154e+02] [-4.60212985e-01 8.87799615e-01 -3.98138297e-03 -4.36259234e+01] [-8.25111660e-03 2.07227339e-04 9.99965937e-01 -3.24342105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters 0.015493212673771042 Centerline is valid? [True, True] Translation: X:196.89, Y:-43.66, Z:-3.24 [[ 8.87961178e-01 4.59872758e-01 6.48015695e-03 1.96886398e+02] [-4.59858940e-01 8.87984803e-01 -3.56997293e-03 -4.36551257e+01] [-7.39601420e-03 1.90039263e-04 9.99972631e-01 -3.24450866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters 0.016207767617732457 Centerline is valid? [True, True] Translation: X:196.94, Y:-43.68, Z:-3.25 [[ 8.88166081e-01 4.59485767e-01 5.81739855e-03 1.96939620e+02] [-4.59474607e-01 8.88185115e-01 -3.20719916e-03 -4.36845609e+01] [-6.64058916e-03 1.75578596e-04 9.99977936e-01 -3.24538765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters 0.01605311328910271 Centerline is valid? [True, True] Translation: X:197.00, Y:-43.71, Z:-3.25 [[ 8.87831628e-01 4.60133542e-01 5.66783708e-03 1.96995403e+02] [-4.60122963e-01 8.87849704e-01 -3.12448622e-03 -4.37122030e+01] [-6.46986838e-03 1.66115692e-04 9.99979056e-01 -3.24704098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters 0.014969856310279911 Centerline is valid? [True, True] Translation: X:197.05, Y:-43.74, Z:-3.25 [[ 8.86755941e-01 4.62199470e-01 5.96253311e-03 1.97052783e+02] [-4.62187796e-01 8.86775972e-01 -3.28901549e-03 -4.37373814e+01] [-6.80761231e-03 1.60743987e-04 9.99976815e-01 -3.24795726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters 0.015147676775723953 Centerline is valid? [True, True] Translation: X:197.11, Y:-43.77, Z:-3.25 [[ 8.85959945e-01 4.63708227e-01 7.04670085e-03 1.97106305e+02] [-4.63691942e-01 8.85987950e-01 -3.89036546e-03 -4.37663408e+01] [-8.04728651e-03 1.79209571e-04 9.99967604e-01 -3.24820315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters 0.014798759011621853 Centerline is valid? [True, True] Translation: X:197.16, Y:-43.79, Z:-3.25 [[ 8.85763477e-01 4.64058603e-01 8.52503734e-03 1.97161948e+02] [-4.64034752e-01 8.85804474e-01 -4.70981891e-03 -4.37947781e+01] [-9.73714820e-03 2.15871986e-04 9.99952570e-01 -3.24771073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters 0.015184004841103339 Centerline is valid? [True, True] Translation: X:197.22, Y:-43.82, Z:-3.25 [[ 8.85875239e-01 4.63843732e-01 8.60540825e-03 1.97217694e+02] [-4.63819394e-01 8.85917007e-01 -4.75678858e-03 -4.38240900e+01] [-9.83008409e-03 2.22565983e-04 9.99951659e-01 -3.24843451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters 0.014933189379318802 Centerline is valid? [True, True] Translation: X:197.27, Y:-43.85, Z:-3.25 [[ 8.85686092e-01 4.64210287e-01 8.30394849e-03 1.97274014e+02] [-4.64187614e-01 8.85724993e-01 -4.59298307e-03 -4.38530776e+01] [-9.48712471e-03 2.13351192e-04 9.99954973e-01 -3.24978553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters 0.01535145505277649 Centerline is valid? [True, True] Translation: X:197.33, Y:-43.88, Z:-3.25 [[ 8.85599420e-01 4.64378295e-01 8.15272748e-03 1.97328438e+02] [-4.64356418e-01 8.85636920e-01 -4.51241233e-03 -4.38818795e+01] [-9.31582280e-03 2.10418404e-04 9.99956585e-01 -3.25108295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters 0.01566342121432352 Centerline is valid? [True, True] Translation: X:197.38, Y:-43.91, Z:-3.25 [[ 8.85478845e-01 4.64605677e-01 8.29332823e-03 1.97383695e+02] [-4.64583023e-01 8.85517656e-01 -4.59302969e-03 -4.39110553e+01] [-9.47783624e-03 2.14091131e-04 9.99955061e-01 -3.25244982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters 0.01579324069094641 Centerline is valid? [True, True] Translation: X:197.44, Y:-43.94, Z:-3.25 [[ 8.85551083e-01 4.64466220e-01 8.39103879e-03 1.97439514e+02] [-4.64442993e-01 8.85590810e-01 -4.65020642e-03 -4.39401230e+01] [-9.59089063e-03 2.20836163e-04 9.99953982e-01 -3.25392311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters 0.015640767280272604 Centerline is valid? [True, True] Translation: X:197.49, Y:-43.97, Z:-3.26 [[ 8.85691505e-01 4.64207344e-01 7.88028754e-03 1.97493834e+02] [-4.64186824e-01 8.85726536e-01 -4.36991880e-03 -4.39694787e+01] [-9.00832819e-03 2.12474312e-04 9.99959402e-01 -3.25545661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters 0.016277719368697572 Centerline is valid? [True, True] Translation: X:197.55, Y:-44.00, Z:-3.26 [[ 8.87334077e-01 4.61095744e-01 5.38055539e-03 1.97546989e+02] [-4.61086117e-01 8.87350374e-01 -2.98418666e-03 -4.40009829e+01] [-6.15043361e-03 1.67071119e-04 9.99981072e-01 -3.25757343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters 0.01892684959884968 Centerline is valid? [True, True] Translation: X:197.60, Y:-44.03, Z:-3.26 [[ 8.89180038e-01 4.57528106e-01 5.18575348e-03 1.97597552e+02] [-4.57519091e-01 8.89195140e-01 -2.87814577e-03 -4.40346108e+01] [-5.92797938e-03 1.86608545e-04 9.99982412e-01 -3.25944303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters 0.018760911345973113 Centerline is valid? [True, True] Translation: X:197.65, Y:-44.06, Z:-3.26 [[ 8.91667367e-01 4.52642726e-01 6.62333720e-03 1.97650753e+02] [-4.52627869e-01 8.91691922e-01 -3.67816321e-03 -4.40645425e+01] [-7.57087010e-03 2.81791100e-04 9.99971301e-01 -3.25899190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters 0.01978270790057357 Centerline is valid? [True, True] Translation: X:197.70, Y:-44.10, Z:-3.26 [[ 8.93188660e-01 4.49625117e-01 7.16045746e-03 1.97703385e+02] [-4.49607626e-01 8.93217298e-01 -3.98011558e-03 -4.40957206e+01] [-8.18540440e-03 3.35597821e-04 9.99966443e-01 -3.25949214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters 0.02247744817834574 Centerline is valid? [True, True] Translation: X:197.75, Y:-44.13, Z:-3.26 [[ 8.94955736e-01 4.46086741e-01 7.80067233e-03 1.97754305e+02] [-4.46065856e-01 8.94989642e-01 -4.33508636e-03 -4.41287802e+01] [-8.91534548e-03 4.00096825e-04 9.99960177e-01 -3.26022284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters 0.021110262684524587 Centerline is valid? [True, True] Translation: X:197.81, Y:-44.16, Z:-3.26 [[ 8.95265980e-01 4.45462787e-01 7.85693900e-03 1.97809994e+02] [-4.45441559e-01 8.95300361e-01 -4.36807940e-03 -4.41561099e+01] [-8.98013715e-03 4.10785724e-04 9.99959593e-01 -3.26104389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters 0.021880023997610153 Centerline is valid? [True, True] Translation: X:197.86, Y:-44.18, Z:-3.26 [[ 8.94439185e-01 4.47133642e-01 7.07461276e-03 1.97864547e+02] [-4.47116467e-01 8.94467092e-01 -3.93517870e-03 -4.41830992e+01] [-8.08755909e-03 3.56602166e-04 9.99967232e-01 -3.26277463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters 0.0201164005881056 Centerline is valid? [True, True] Translation: X:197.92, Y:-44.21, Z:-3.26 [[ 8.92502129e-01 4.51010821e-01 5.40271746e-03 1.97922111e+02] [-4.51000859e-01 8.92518447e-01 -3.00785229e-03 -4.42068218e+01] [-6.17859893e-03 2.47884354e-04 9.99980882e-01 -3.26464088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters 0.020420559938424183 Centerline is valid? [True, True] Translation: X:197.98, Y:-44.23, Z:-3.27 [[ 8.90929033e-01 4.54121854e-01 4.33577371e-03 1.97975940e+02] [-4.54115473e-01 8.90939565e-01 -2.41427637e-03 -4.42340159e+01] [-4.95928801e-03 1.82006985e-04 9.99987686e-01 -3.26665362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters 0.01869458228648874 Centerline is valid? [True, True] Translation: X:198.03, Y:-44.26, Z:-3.27 [[ 8.88198757e-01 4.59444702e-01 3.67880883e-03 1.98032837e+02] [-4.59440153e-01 8.88206366e-01 -2.04854259e-03 -4.42564646e+01] [-4.20873346e-03 1.29320491e-04 9.99991135e-01 -3.26860340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters 0.017000728627410592 Centerline is valid? [True, True] Translation: X:198.09, Y:-44.28, Z:-3.27 [[ 8.86195958e-01 4.63298776e-01 3.31181185e-03 1.98088888e+02] [-4.63295118e-01 8.86202140e-01 -1.84393001e-03 -4.42812400e+01] [-3.78922526e-03 9.97370589e-05 9.99992816e-01 -3.26906654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters 0.01487385335211314 Centerline is valid? [True, True] Translation: X:198.15, Y:-44.30, Z:-3.27 [[ 8.83071705e-01 4.69223343e-01 3.71721524e-03 1.98146421e+02] [-4.69218786e-01 8.83079525e-01 -2.06966705e-03 -4.43049266e+01] [-4.25373276e-03 8.34771889e-05 9.99990949e-01 -3.26924373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters 0.013639236327030145 Centerline is valid? [True, True] Translation: X:198.20, Y:-44.33, Z:-3.27 [[ 8.80053291e-01 4.74855517e-01 4.29447584e-03 1.98203487e+02] [-4.74849499e-01 8.80063767e-01 -2.39172533e-03 -4.43289366e+01] [-4.91513655e-03 6.56160483e-05 9.99987918e-01 -3.27053593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters 0.013108927375792617 Centerline is valid? [True, True] Translation: X:198.26, Y:-44.36, Z:-3.27 [[ 8.78275460e-01 4.78138853e-01 3.93103602e-03 1.98259555e+02] [-4.78133854e-01 8.78284257e-01 -2.18675923e-03 -4.43558458e+01] [-4.49814160e-03 4.10155726e-05 9.99989882e-01 -3.27223650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters 0.01258496090584836 Centerline is valid? [True, True] Translation: X:198.32, Y:-44.38, Z:-3.27 [[ 8.76534304e-01 4.81315020e-01 4.84420616e-03 1.98315380e+02] [-4.81307463e-01 8.76547689e-01 -2.69732814e-03 -4.43823832e+01] [-5.54444226e-03 3.27480613e-05 9.99984629e-01 -3.27319071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters 0.012242693100995622 Centerline is valid? [True, True] Translation: X:198.37, Y:-44.41, Z:-3.27 [[ 8.76179653e-01 4.81957535e-01 5.11377423e-03 1.98370296e+02] [-4.81949117e-01 8.76194575e-01 -2.84874293e-03 -4.44126426e+01] [-5.85363436e-03 3.14316174e-05 9.99982867e-01 -3.27299319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters 0.01241589652654095 Centerline is valid? [True, True] Translation: X:198.43, Y:-44.44, Z:-3.27 [[ 8.76365848e-01 4.81618324e-01 5.16627357e-03 1.98425042e+02] [-4.81609714e-01 8.76381075e-01 -2.87997585e-03 -4.44444936e+01] [-5.91467353e-03 3.57849377e-05 9.99982508e-01 -3.27393795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters 0.01256067983976545 Centerline is valid? [True, True] Translation: X:198.48, Y:-44.48, Z:-3.28 [[ 8.76522784e-01 4.81330432e-01 5.36892169e-03 1.98479665e+02] [-4.81321115e-01 8.76539225e-01 -2.99515284e-03 -4.44764882e+01] [-6.14772867e-03 4.11443291e-05 9.99981102e-01 -3.27501338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters 0.012663779521689648 Centerline is valid? [True, True] Translation: X:198.53, Y:-44.51, Z:-3.28 [[ 8.76575980e-01 4.81235144e-01 5.22371936e-03 1.98533693e+02] [-4.81226311e-01 8.76591544e-01 -2.91593332e-03 -4.45082554e+01] [-5.98231781e-03 4.22459086e-05 9.99982105e-01 -3.27676009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters 0.013109194513228605 Centerline is valid? [True, True] Translation: X:198.59, Y:-44.54, Z:-3.28 [[ 8.77459083e-01 4.79636414e-01 3.80354095e-03 1.98585669e+02] [-4.79631714e-01 8.77467326e-01 -2.12386646e-03 -4.45414840e+01] [-4.35616660e-03 3.93070491e-05 9.99990511e-01 -3.27896310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters 0.01331308338020917 Centerline is valid? [True, True] Translation: X:198.64, Y:-44.57, Z:-3.28 [[ 8.78300502e-01 4.78095192e-01 3.63533993e-03 1.98638903e+02] [-4.78090882e-01 8.78308024e-01 -2.03059987e-03 -4.45744177e+01] [-4.16376827e-03 4.54540111e-05 9.99991330e-01 -3.27971809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters 0.013186948841314588 Centerline is valid? [True, True] Translation: X:198.69, Y:-44.61, Z:-3.28 [[ 8.79016784e-01 4.76762511e-01 5.19636793e-03 1.98692051e+02] [-4.76753663e-01 8.79032139e-01 -2.90560032e-03 -4.46085902e+01] [-5.95305572e-03 7.66839964e-05 9.99982277e-01 -3.27845694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters 0.013471630076444936 Centerline is valid? [True, True] Translation: X:198.74, Y:-44.64, Z:-3.28 [[ 8.78924109e-01 4.76922417e-01 6.11710130e-03 1.98744196e+02] [-4.76910133e-01 8.78945391e-01 -3.42424880e-03 -4.46409856e+01] [-7.00969900e-03 9.23472335e-05 9.99975427e-01 -3.27919514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters 0.012864878604334945 Centerline is valid? [True, True] Translation: X:198.80, Y:-44.67, Z:-3.28 [[ 8.77542071e-01 4.79446862e-01 7.11471223e-03 1.98798216e+02] [-4.79430306e-01 8.77570908e-01 -3.98532242e-03 -4.46720949e+01] [-8.15441480e-03 8.62794262e-05 9.99966748e-01 -3.27975659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters 0.012135788689148833 Centerline is valid? [True, True] Translation: X:198.85, Y:-44.70, Z:-3.28 [[ 8.74098032e-01 4.85699351e-01 6.98357352e-03 1.98851548e+02] [-4.85683573e-01 8.74125929e-01 -3.91505275e-03 -4.47021336e+01] [-8.00606127e-03 3.03329691e-05 9.99967951e-01 -3.28112530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters 0.012003350272610633 Centerline is valid? [True, True] Translation: X:198.91, Y:-44.73, Z:-3.28 [[ 8.70640386e-01 4.91871906e-01 6.88080967e-03 1.98907338e+02] [-4.91856781e-01 8.70667576e-01 -3.85741840e-03 -4.47317962e+01] [-7.88825362e-03 -2.59486460e-05 9.99968887e-01 -3.28241439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters 0.01301020632388565 Centerline is valid? [True, True] Translation: X:198.96, Y:-44.76, Z:-3.28 [[ 8.65164066e-01 5.01445634e-01 6.58897370e-03 1.98961967e+02] [-5.01432020e-01 8.65189150e-01 -3.69645969e-03 -4.47605133e+01] [-7.55428212e-03 -1.05878297e-04 9.99971460e-01 -3.28353181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters 0.014001846941967164 Centerline is valid? [True, True] Translation: X:199.02, Y:-44.79, Z:-3.28 [[ 8.62645745e-01 5.05763468e-01 6.75516388e-03 1.99016069e+02] [-5.05749275e-01 8.62672182e-01 -3.79171974e-03 -4.47912474e+01] [-7.74520529e-03 -1.45508333e-04 9.99969995e-01 -3.28489127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters 0.014615717644159594 Centerline is valid? [True, True] Translation: X:199.07, Y:-44.83, Z:-3.29 [[ 8.60823035e-01 5.08849622e-01 7.46756712e-03 1.99068082e+02] [-5.08832369e-01 8.60855404e-01 -4.19451042e-03 -4.48256450e+01] [-8.56287055e-03 -1.89008680e-04 9.99963320e-01 -3.28531586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters 0.014658429994176285 Centerline is valid? [True, True] Translation: X:199.12, Y:-44.86, Z:-3.29 [[ 8.60356904e-01 5.09635119e-01 7.61862360e-03 1.99120413e+02] [-5.09617169e-01 8.60390612e-01 -4.28195248e-03 -4.48601708e+01] [-8.73722558e-03 -1.98574009e-04 9.99961810e-01 -3.28611337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters 0.014446699644425421 Centerline is valid? [True, True] Translation: X:199.17, Y:-44.90, Z:-3.29 [[ 8.60943024e-01 5.08648866e-01 7.31033771e-03 1.99170748e+02] [-5.08632285e-01 8.60974041e-01 -4.11096464e-03 -4.48972506e+01] [-8.38504850e-03 -1.78967443e-04 9.99964829e-01 -3.28818081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters 0.014261501776299887 Centerline is valid? [True, True] Translation: X:199.22, Y:-44.93, Z:-3.29 [[ 8.61330706e-01 5.08001487e-01 6.62597023e-03 1.99223642e+02] [-5.07987833e-01 8.61356178e-01 -3.72789235e-03 -4.49306616e+01] [-7.60109525e-03 -1.54964104e-04 9.99971099e-01 -3.28973925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters 0.014021837352307841 Centerline is valid? [True, True] Translation: X:199.27, Y:-44.97, Z:-3.29 [[ 8.62026756e-01 5.06823299e-01 6.32583043e-03 1.99274087e+02] [-5.06810808e-01 8.62049955e-01 -3.56094410e-03 -4.49676634e+01] [-7.25795127e-03 -1.36370138e-04 9.99973651e-01 -3.29020894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters 0.014529716169471393 Centerline is valid? [True, True] Translation: X:199.33, Y:-45.00, Z:-3.29 [[ 8.60360835e-01 5.09634538e-01 7.20214437e-03 1.99329261e+02] [-5.09618420e-01 8.60390961e-01 -4.05719991e-03 -4.49958601e+01] [-8.26434912e-03 -1.79689532e-04 9.99965834e-01 -3.29072659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters 0.01506499684223222 Centerline is valid? [True, True] Translation: X:199.38, Y:-45.02, Z:-3.29 [[ 8.59749171e-01 5.10692542e-01 4.94881917e-03 1.99384557e+02] [-5.10684947e-01 8.59763404e-01 -2.78827777e-03 -4.50222918e+01] [-5.67876627e-03 -1.30067955e-04 9.99983867e-01 -3.29435664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters 0.01339205090374644 Centerline is valid? [True, True] Translation: X:199.44, Y:-45.06, Z:-3.30 [[ 8.63062327e-01 5.05080563e-01 4.12854662e-03 1.99436116e+02] [-5.05075198e-01 8.63072198e-01 -2.32917150e-03 -4.50552978e+01] [-4.73965306e-03 -7.50063240e-05 9.99988765e-01 -3.29634352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters 0.012664804511043931 Centerline is valid? [True, True] Translation: X:199.49, Y:-45.09, Z:-3.30 [[ 8.65656848e-01 5.00618926e-01 4.34881252e-03 1.99488094e+02] [-5.00612929e-01 8.65667770e-01 -2.45105287e-03 -4.50897866e+01] [-4.99167029e-03 -5.53010676e-05 9.99987540e-01 -3.29672423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters 0.01199661865163284 Centerline is valid? [True, True] Translation: X:199.54, Y:-45.13, Z:-3.30 [[ 8.69539683e-01 4.93837640e-01 5.01239622e-03 1.99538058e+02] [-4.93829547e-01 8.69554130e-01 -2.82740264e-03 -4.51269769e+01] [-5.75482768e-03 -1.67305554e-05 9.99983441e-01 -3.29655402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters 0.012232301968050356 Centerline is valid? [True, True] Translation: X:199.59, Y:-45.16, Z:-3.30 [[ 8.72138158e-01 4.89240258e-01 4.35936007e-03 1.99592065e+02] [-4.89234076e-01 8.72149053e-01 -2.45942613e-03 -4.51590180e+01] [-5.00526203e-03 1.22118803e-05 9.99987474e-01 -3.29848243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters 0.012417666396354141 Centerline is valid? [True, True] Translation: X:199.65, Y:-45.19, Z:-3.30 [[ 8.73224974e-01 4.87296427e-01 4.50970051e-03 1.99646585e+02] [-4.87289776e-01 8.73236618e-01 -2.54607086e-03 -4.51903455e+01] [-5.17872686e-03 2.57617059e-05 9.99986590e-01 -3.29882456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters 0.01260793697138967 Centerline is valid? [True, True] Translation: X:199.70, Y:-45.22, Z:-3.30 [[ 8.73770503e-01 4.86316967e-01 4.57334971e-03 1.99700998e+02] [-4.86310104e-01 8.73782471e-01 -2.58379804e-03 -4.52216055e+01] [-5.25265764e-03 3.35803426e-05 9.99986204e-01 -3.29874113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters 0.01252871848297654 Centerline is valid? [True, True] Translation: X:199.76, Y:-45.25, Z:-3.30 [[ 8.73517423e-01 4.86777250e-01 3.90125396e-03 1.99756236e+02] [-4.86772258e-01 8.73526135e-01 -2.20465987e-03 -4.52520098e+01] [-4.48102556e-03 2.67866113e-05 9.99989960e-01 -3.29909702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters 0.012435490697225864 Centerline is valid? [True, True] Translation: X:199.81, Y:-45.28, Z:-3.30 [[ 8.72266830e-01 4.89024552e-01 2.35891368e-03 1.99813001e+02] [-4.89022738e-01 8.72270020e-01 -1.33190250e-03 -4.52801036e+01] [-2.70894271e-03 8.21194574e-06 9.99996331e-01 -3.30156432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters 0.012304900374728573 Centerline is valid? [True, True] Translation: X:199.87, Y:-45.31, Z:-3.30 [[ 8.70717613e-01 4.91778245e-01 2.23500280e-03 1.99868945e+02] [-4.91776625e-01 8.70720482e-01 -1.26256001e-03 -4.53098264e+01] [-2.56696226e-03 2.11103757e-07 9.99996705e-01 -3.30270708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters 0.012145212040490126 Centerline is valid? [True, True] Translation: X:199.92, Y:-45.34, Z:-3.30 [[ 8.68532639e-01 4.95624446e-01 2.73211351e-03 1.99924855e+02] [-4.95622036e-01 8.68536936e-01 -1.54550703e-03 -4.53378193e+01] [-3.13893256e-03 -1.17723645e-05 9.99995073e-01 -3.30262486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters 0.0120691937942188 Centerline is valid? [True, True] Translation: X:199.98, Y:-45.37, Z:-3.30 [[ 8.67501173e-01 4.97423243e-01 3.43975194e-03 1.99980631e+02] [-4.97419428e-01 8.67507992e-01 -1.94844802e-03 -4.53678783e+01] [-3.95321563e-03 -2.07184970e-05 9.99992186e-01 -3.30276935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters 0.012017847547017912 Centerline is valid? [True, True] Translation: X:200.03, Y:-45.40, Z:-3.30 [[ 8.66833553e-01 4.98574800e-01 4.77072086e-03 2.00034624e+02] [-4.98567454e-01 8.66846681e-01 -2.70677501e-03 -4.53971801e+01] [-5.48501335e-03 -3.22027492e-05 9.99984957e-01 -3.30261554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters 0.011978803936318224 Centerline is valid? [True, True] Translation: X:200.09, Y:-45.43, Z:-3.30 [[ 8.66643260e-01 4.98904289e-01 4.89586454e-03 2.00089216e+02] [-4.98896553e-01 8.66657088e-01 -2.77864288e-03 -4.54290917e+01] [-5.62931256e-03 -3.44378129e-05 9.99984155e-01 -3.30236364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters 0.011937383220936132 Centerline is valid? [True, True] Translation: X:200.14, Y:-45.46, Z:-3.30 [[ 8.66004203e-01 5.00013541e-01 4.81447993e-03 2.00143545e+02] [-5.00006067e-01 8.66017585e-01 -2.73416659e-03 -4.54599124e+01] [-5.53654460e-03 -3.94694209e-05 9.99984672e-01 -3.30230290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters 0.012303387172605987 Centerline is valid? [True, True] Translation: X:200.20, Y:-45.49, Z:-3.31 [[ 8.64793318e-01 5.02115758e-01 3.50455749e-03 2.00198770e+02] [-5.02111813e-01 8.64800419e-01 -1.99068939e-03 -4.54882217e+01] [-4.03029930e-03 -3.81448321e-05 9.99991878e-01 -3.30519692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters 0.012550610690613178 Centerline is valid? [True, True] Translation: X:200.25, Y:-45.52, Z:-3.31 [[ 8.63583591e-01 5.04204448e-01 1.12111817e-03 2.00253552e+02] [-5.04204049e-01 8.63584318e-01 -6.34096457e-04 -4.55177467e+01] [-1.28789433e-03 -1.76770270e-05 9.99999171e-01 -3.30852799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters 0.013353804573560415 Centerline is valid? [True, True] Translation: X:200.31, Y:-45.55, Z:-3.31 [[ 8.62292694e-01 5.06406427e-01 -1.95963007e-03 2.00306687e+02] [-5.06405187e-01 8.62294921e-01 1.12095804e-03 -4.55473393e+01] [ 2.25743941e-03 2.57729050e-05 9.99997452e-01 -3.31318224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters 0.012992064041108163 Centerline is valid? [True, True] Translation: X:200.36, Y:-45.58, Z:-3.31 [[ 8.62152849e-01 5.06643275e-01 -2.24856994e-03 2.00359730e+02] [-5.06641640e-01 8.62155781e-01 1.28750389e-03 -4.55807011e+01] [ 2.59092276e-03 2.91940143e-05 9.99996643e-01 -3.31314267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters 0.012357153311627036 Centerline is valid? [True, True] Translation: X:200.41, Y:-45.62, Z:-3.31 [[ 8.63268950e-01 5.04743382e-01 -9.16148290e-04 2.00410747e+02] [-5.04743106e-01 8.63269436e-01 5.27388101e-04 -4.56163551e+01] [ 1.05707847e-03 7.14176217e-06 9.99999441e-01 -3.31108406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters 0.012100455610473774 Centerline is valid? [True, True] Translation: X:200.46, Y:-45.65, Z:-3.31 [[ 8.65475424e-01 5.00947170e-01 2.05503123e-03 2.00460554e+02] [-5.00945799e-01 8.65477864e-01 -1.17182995e-03 -4.56513496e+01] [-2.36560894e-03 -1.52692402e-05 9.99997202e-01 -3.31073401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters 0.011633214636606336 Centerline is valid? [True, True] Translation: X:200.51, Y:-45.69, Z:-3.31 [[ 8.66782855e-01 4.98668575e-01 4.13946671e-03 2.00512553e+02] [-4.98662994e-01 8.66792739e-01 -2.35925356e-03 -4.56852729e+01] [-4.76454530e-03 -1.92383245e-05 9.99988649e-01 -3.30838580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters 0.011580195550116955 Centerline is valid? [True, True] Translation: X:200.57, Y:-45.72, Z:-3.31 [[ 8.67203086e-01 4.97931018e-01 4.84865129e-03 2.00565428e+02] [-4.97923335e-01 8.67216640e-01 -2.76604396e-03 -4.57158248e+01] [-5.58213017e-03 -1.55347586e-05 9.99984420e-01 -3.30960372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters 0.011608993024515872 Centerline is valid? [True, True] Translation: X:200.62, Y:-45.75, Z:-3.31 [[ 8.67290043e-01 4.97790684e-01 3.52377661e-03 2.00619281e+02] [-4.97786626e-01 8.67297201e-01 -2.00989910e-03 -4.57472269e+01] [-4.05667063e-03 -1.09233964e-05 9.99991772e-01 -3.31089638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters 0.011745520067144749 Centerline is valid? [True, True] Translation: X:200.67, Y:-45.78, Z:-3.31 [[ 8.66815109e-01 4.98624201e-01 2.33952394e-03 2.00673946e+02] [-4.98622417e-01 8.66818266e-01 -1.33367107e-03 -4.57774700e+01] [-2.69294276e-03 -1.04928525e-05 9.99996374e-01 -3.31326953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters 0.011806831782709784 Centerline is valid? [True, True] Translation: X:200.73, Y:-45.81, Z:-3.32 [[ 8.66244823e-01 4.99616958e-01 1.67415396e-03 2.00729333e+02] [-4.99616048e-01 8.66246440e-01 -9.53656347e-04 -4.58062520e+01] [-1.92669279e-03 -1.03343113e-05 9.99998144e-01 -3.31529420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters 0.01194386860510645 Centerline is valid? [True, True] Translation: X:200.79, Y:-45.83, Z:-3.32 [[ 8.64681368e-01 5.02319852e-01 -9.47743556e-04 2.00785210e+02] [-5.02319554e-01 8.64681887e-01 5.47222350e-04 -4.58329231e+01] [ 1.09437734e-03 2.89715000e-06 9.99999401e-01 -3.31819847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters 0.01233143981797997 Centerline is valid? [True, True] Translation: X:200.84, Y:-45.86, Z:-3.32 [[ 8.63732895e-01 5.03946072e-01 -1.96005553e-03 2.00839480e+02] [-5.03944812e-01 8.63735119e-01 1.12710168e-03 -4.58614758e+01] [ 2.26096726e-03 1.42450164e-05 9.99997444e-01 -3.32065911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters 0.012372464527954959 Centerline is valid? [True, True] Translation: X:200.89, Y:-45.89, Z:-3.32 [[ 8.63182997e-01 5.04889350e-01 -1.36330137e-03 2.00893907e+02] [-5.04888737e-01 8.63184073e-01 7.86642317e-04 -4.58925369e+01] [ 1.57394736e-03 9.29923515e-06 9.99998761e-01 -3.32117738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters 0.012308098986611702 Centerline is valid? [True, True] Translation: X:200.95, Y:-45.92, Z:-3.32 [[ 8.62913811e-01 5.05350528e-01 -7.73380617e-04 2.00947772e+02] [-5.05350330e-01 8.62914158e-01 4.48060131e-04 -4.59234328e+01] [ 8.93788508e-04 4.19087474e-06 9.99999601e-01 -3.32136028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters 0.011815151906382697 Centerline is valid? [True, True] Translation: X:201.00, Y:-45.96, Z:-3.32 [[ 8.62577534e-01 5.05921907e-01 1.73854604e-03 2.01001088e+02] [-5.05920932e-01 8.62579286e-01 -9.93238223e-04 -4.59560754e+01] [-2.00213478e-03 -2.28218552e-05 9.99997995e-01 -3.31817861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters 0.011877250302183928 Centerline is valid? [True, True] Translation: X:201.05, Y:-45.99, Z:-3.32 [[ 8.62016339e-01 5.06862589e-01 4.25986893e-03 2.01054877e+02] [-5.06856700e-01 8.62026863e-01 -2.44381490e-03 -4.59882920e+01] [-4.91079980e-03 -5.25347351e-05 9.99987941e-01 -3.31646029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters 0.011929745806841596 Centerline is valid? [True, True] Translation: X:201.11, Y:-46.02, Z:-3.32 [[ 8.61616355e-01 5.07536192e-01 4.92646029e-03 2.01109551e+02] [-5.07528335e-01 8.61630437e-01 -2.82478618e-03 -4.60200080e+01] [-5.67846935e-03 -6.64362124e-05 9.99983875e-01 -3.31727514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters 0.012125420322458348 Centerline is valid? [True, True] Translation: X:201.16, Y:-46.05, Z:-3.32 [[ 8.60959696e-01 5.08651692e-01 4.67531824e-03 2.01163815e+02] [-5.08644622e-01 8.60972387e-01 -2.68276439e-03 -4.60500508e+01] [-5.38991255e-03 -6.83234628e-05 9.99985472e-01 -3.31931267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters 0.012573195266537563 Centerline is valid? [True, True] Translation: X:201.22, Y:-46.08, Z:-3.32 [[ 8.59464707e-01 5.11185358e-01 3.15384361e-03 2.01218050e+02] [-5.11182159e-01 8.59470492e-01 -1.80925959e-03 -4.60808937e+01] [-3.63550253e-03 -5.71938196e-05 9.99993390e-01 -3.32148597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters 0.013001839648927649 Centerline is valid? [True, True] Translation: X:201.27, Y:-46.11, Z:-3.32 [[ 8.58707116e-01 5.12463698e-01 1.74536894e-03 2.01272447e+02] [-5.12462724e-01 8.58708889e-01 -9.99860023e-04 -4.61116585e+01] [-2.01115579e-03 -3.58496024e-05 9.99997977e-01 -3.32406346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters 0.013507389436089224 Centerline is valid? [True, True] Translation: X:201.33, Y:-46.14, Z:-3.33 [[ 8.57885701e-01 5.13840206e-01 6.05289178e-04 2.01327778e+02] [-5.13840091e-01 8.57885914e-01 -3.44052257e-04 -4.61407603e+01] [-6.96056943e-04 -1.58643349e-05 9.99999758e-01 -3.32634203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters 0.013304926605339638 Centerline is valid? [True, True] Translation: X:201.38, Y:-46.17, Z:-3.33 [[ 8.58198302e-01 5.13316159e-01 1.48178133e-03 2.01382506e+02] [-5.13315457e-01 8.58199581e-01 -8.49213547e-04 -4.61706708e+01] [-1.70757915e-03 -3.18276347e-05 9.99998542e-01 -3.32640600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters 0.011627388214689687 Centerline is valid? [True, True] Translation: X:201.43, Y:-46.21, Z:-3.32 [[ 8.61152102e-01 5.08338431e-01 3.01625973e-03 2.01433405e+02] [-5.08335464e-01 8.61157383e-01 -1.73710337e-03 -4.62051741e+01] [-3.48051073e-03 -3.73615753e-05 9.99993942e-01 -3.32438701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters 0.010905329054452524 Centerline is valid? [True, True] Translation: X:201.48, Y:-46.24, Z:-3.32 [[ 8.64211069e-01 5.03116273e-01 3.63914415e-03 2.01484541e+02] [-5.03111919e-01 8.64218731e-01 -2.09324597e-03 -4.62400984e+01] [-4.19816265e-03 -2.18904605e-05 9.99991187e-01 -3.32412484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters 0.01139603558757351 Centerline is valid? [True, True] Translation: X:201.53, Y:-46.28, Z:-3.33 [[ 8.69403697e-01 4.94090430e-01 3.44367793e-03 2.01533628e+02] [-4.94086455e-01 8.69410517e-01 -1.98201647e-03 -4.62763847e+01] [-3.97326518e-03 2.16978234e-05 9.99992106e-01 -3.32548472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters 0.01277261951797072 Centerline is valid? [True, True] Translation: X:201.59, Y:-46.31, Z:-3.33 [[ 8.72872602e-01 4.87940121e-01 2.80350196e-03 2.01585847e+02] [-4.87937454e-01 8.72877103e-01 -1.61370737e-03 -4.63089759e+01] [-3.23450524e-03 4.06273449e-05 9.99994768e-01 -3.32690641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters 0.014526927247299357 Centerline is valid? [True, True] Translation: X:201.64, Y:-46.34, Z:-3.33 [[ 8.75153405e-01 4.83842151e-01 1.81393659e-03 2.01638076e+02] [-4.83841027e-01 8.75155284e-01 -1.04325989e-03 -4.63412352e+01] [-2.09224930e-03 3.53555040e-05 9.99997811e-01 -3.32888665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters 0.013851663975137407 Centerline is valid? [True, True] Translation: X:201.69, Y:-46.37, Z:-3.33 [[ 8.75918961e-01 4.82455920e-01 1.50290612e-03 2.01692711e+02] [-4.82455148e-01 8.75920250e-01 -8.63696997e-04 -4.63712159e+01] [-1.73312163e-03 3.14437823e-05 9.99998498e-01 -3.32807579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters 0.013476697109829109 Centerline is valid? [True, True] Translation: X:201.75, Y:-46.40, Z:-3.33 [[ 8.76047143e-01 4.82221029e-01 2.06964893e-03 2.01748452e+02] [-4.82219560e-01 8.76049586e-01 -1.19112523e-03 -4.64008681e+01] [-2.38750072e-03 4.54566571e-05 9.99997149e-01 -3.32753586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters 0.013773475930382187 Centerline is valid? [True, True] Translation: X:201.80, Y:-46.43, Z:-3.33 [[ 8.75326695e-01 4.83525504e-01 2.50292290e-03 2.01802806e+02] [-4.83523352e-01 8.75330272e-01 -1.44342411e-03 -4.64294730e+01] [-2.88881655e-03 5.32459799e-05 9.99995826e-01 -3.32846246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters 0.013291952218318444 Centerline is valid? [True, True] Translation: X:201.86, Y:-46.46, Z:-3.33 [[ 8.74089387e-01 4.85758231e-01 2.58542975e-03 2.01857657e+02] [-4.85755942e-01 8.74093210e-01 -1.49176623e-03 -4.64590168e+01] [-2.98454431e-03 4.80491697e-05 9.99995545e-01 -3.32900647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters 0.012212929471333346 Centerline is valid? [True, True] Translation: X:201.91, Y:-46.49, Z:-3.33 [[ 8.71525494e-01 4.90342772e-01 2.69801624e-03 2.01914520e+02] [-4.90340299e-01 8.71529669e-01 -1.55780973e-03 -4.64853030e+01] [-3.11526194e-03 3.47247989e-05 9.99995147e-01 -3.32916732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters 0.011335960392705116 Centerline is valid? [True, True] Translation: X:201.97, Y:-46.51, Z:-3.33 [[ 8.69845043e-01 4.93314298e-01 3.25642793e-03 2.01970919e+02] [-4.93310703e-01 8.69851138e-01 -1.88371984e-03 -4.65127549e+01] [-3.76187347e-03 3.21136101e-05 9.99992924e-01 -3.32928728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters 0.010922397826727112 Centerline is valid? [True, True] Translation: X:202.03, Y:-46.54, Z:-3.33 [[ 8.68140961e-01 4.96305333e-01 3.50540616e-03 2.02026557e+02] [-4.96301193e-01 8.68148038e-01 -2.02730530e-03 -4.65392423e+01] [-4.04937391e-03 2.02495136e-05 9.99991801e-01 -3.33054760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters 0.010716157279808146 Centerline is valid? [True, True] Translation: X:202.08, Y:-46.57, Z:-3.33 [[ 8.68265006e-01 4.96090659e-01 3.15242050e-03 2.02081486e+02] [-4.96087310e-01 8.68270728e-01 -1.82286545e-03 -4.65693026e+01] [-3.64146097e-03 1.88544718e-05 9.99993370e-01 -3.33103602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters 0.01129836952880022 Centerline is valid? [True, True] Translation: X:202.14, Y:-46.60, Z:-3.33 [[ 8.70142873e-01 4.92788449e-01 3.30539827e-03 2.02135720e+02] [-4.92784736e-01 8.70149150e-01 -1.91330858e-03 -4.66003134e+01] [-3.81904586e-03 3.60020109e-05 9.99992707e-01 -3.33188897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters 0.012409284734989989 Centerline is valid? [True, True] Translation: X:202.19, Y:-46.63, Z:-3.33 [[ 8.72557914e-01 4.88499824e-01 3.25702365e-03 2.02188965e+02] [-4.88496185e-01 8.72563991e-01 -1.88633389e-03 -4.66320128e+01] [-3.76343533e-03 5.48919391e-05 9.99992917e-01 -3.33306377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters 0.01264250220096148 Centerline is valid? [True, True] Translation: X:202.24, Y:-46.66, Z:-3.33 [[ 8.73818928e-01 4.86245530e-01 2.40136462e-03 2.02242645e+02] [-4.86243545e-01 8.73822226e-01 -1.39029496e-03 -4.66625580e+01] [-2.77439049e-03 4.72180054e-05 9.99996150e-01 -3.33432071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters 0.013211816486291638 Centerline is valid? [True, True] Translation: X:202.30, Y:-46.69, Z:-3.34 [[ 8.74709404e-01 4.84645345e-01 1.53251537e-03 2.02296653e+02] [-4.84644536e-01 8.74710746e-01 -8.86108255e-04 -4.66934257e+01] [-1.76995590e-03 3.23620231e-05 9.99998433e-01 -3.33576875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters 0.013280730594304667 Centerline is valid? [True, True] Translation: X:202.35, Y:-46.72, Z:-3.34 [[ 8.73748488e-01 4.86377824e-01 4.38660921e-04 2.02350509e+02] [-4.86377760e-01 8.73748598e-01 -2.50887795e-04 -4.67225000e+01] [-5.05305624e-04 5.85791615e-06 9.99999872e-01 -3.33773382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters 0.012810191174686463 Centerline is valid? [True, True] Translation: X:202.41, Y:-46.75, Z:-3.34 [[ 8.72177734e-01 4.89189122e-01 6.09686179e-05 2.02405168e+02] [-4.89189121e-01 8.72177736e-01 -3.09829816e-05 -4.67514334e+01] [-6.83320087e-05 -2.80251791e-06 9.99999998e-01 -3.33895921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters 0.011742066569715243 Centerline is valid? [True, True] Translation: X:202.46, Y:-46.78, Z:-3.34 [[ 8.69238066e-01 4.94393708e-01 2.16952780e-04 2.02461348e+02] [-4.94393693e-01 8.69238093e-01 -1.21791439e-04 -4.67779383e+01] [-2.48796542e-04 -1.39433097e-06 9.99999969e-01 -3.33992483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters 0.010747140853569277 Centerline is valid? [True, True] Translation: X:202.52, Y:-46.80, Z:-3.34 [[ 8.64940112e-01 5.01870998e-01 2.02579078e-03 2.02518324e+02] [-5.01869621e-01 8.64942485e-01 -1.17550915e-03 -4.68040899e+01] [-2.34214646e-03 6.21635032e-08 9.99997257e-01 -3.33956368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters 0.010753374275173443 Centerline is valid? [True, True] Translation: X:202.57, Y:-46.83, Z:-3.34 [[ 8.61818513e-01 5.07206252e-01 3.26617990e-03 2.02573957e+02] [-5.07202698e-01 8.61824702e-01 -1.89903078e-03 -4.68326104e+01] [-3.77807480e-03 -1.99953747e-05 9.99992863e-01 -3.33891209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters 0.01153884976337934 Centerline is valid? [True, True] Translation: X:202.63, Y:-46.86, Z:-3.34 [[ 8.57946635e-01 5.13722960e-01 4.03624742e-03 2.02629165e+02] [-5.13717591e-01 8.57956127e-01 -2.34948672e-03 -4.68585961e+01] [-4.66990848e-03 -5.77570803e-05 9.99989094e-01 -3.34053427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters 0.011556828764654132 Centerline is valid? [True, True] Translation: X:202.68, Y:-46.89, Z:-3.34 [[ 8.56855906e-01 5.15537744e-01 4.33497455e-03 2.02683498e+02] [-5.15531566e-01 8.56866868e-01 -2.52475612e-03 -4.68894930e+01] [-5.01610314e-03 -7.14640304e-05 9.99987417e-01 -3.34140519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters 0.012290392275540558 Centerline is valid? [True, True] Translation: X:202.74, Y:-46.92, Z:-3.34 [[ 8.54705084e-01 5.19097454e-01 4.12950248e-03 2.02737467e+02] [-5.19091877e-01 8.54715055e-01 -2.40781225e-03 -4.69194499e+01] [-4.77943715e-03 -8.56218233e-05 9.99988575e-01 -3.34315630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters 0.013142094621352187 Centerline is valid? [True, True] Translation: X:202.79, Y:-46.95, Z:-3.35 [[ 8.53505701e-01 5.21069905e-01 3.76456346e-03 2.02790366e+02] [-5.21065293e-01 8.53513999e-01 -2.19412414e-03 -4.69503264e+01] [-4.35639967e-03 -8.88858992e-05 9.99990507e-01 -3.34549099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters 0.013384243847064797 Centerline is valid? [True, True] Translation: X:202.84, Y:-46.98, Z:-3.35 [[ 8.53121126e-01 5.21699412e-01 3.75069099e-03 2.02844307e+02] [-5.21694838e-01 8.53129366e-01 -2.18649891e-03 -4.69832758e+01] [-4.34051983e-03 -9.13677170e-05 9.99990576e-01 -3.34733854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters 0.013345956069725311 Centerline is valid? [True, True] Translation: X:202.90, Y:-47.02, Z:-3.35 [[ 8.53655483e-01 5.20825992e-01 3.54991448e-03 2.02895090e+02] [-5.20821879e-01 8.53662861e-01 -2.07130080e-03 -4.70181177e+01] [-4.10921744e-03 -8.06958473e-05 9.99991554e-01 -3.34909380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters 0.012525909490090146 Centerline is valid? [True, True] Translation: X:202.94, Y:-47.06, Z:-3.35 [[ 8.55114253e-01 5.18421597e-01 4.31999841e-03 2.02944893e+02] [-5.18415456e-01 8.55125161e-01 -2.52459243e-03 -4.70569500e+01] [-5.00294258e-03 -8.07389743e-05 9.99987482e-01 -3.34909846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters 0.011925568778135078 Centerline is valid? [True, True] Translation: X:203.00, Y:-47.09, Z:-3.35 [[ 8.55929334e-01 5.17067419e-01 5.12440297e-03 2.02995370e+02] [-5.17058760e-01 8.55944669e-01 -2.99372963e-03 -4.70929138e+01] [-5.93416546e-03 -8.71964355e-05 9.99982389e-01 -3.34928312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters 0.01181376614851862 Centerline is valid? [True, True] Translation: X:203.05, Y:-47.13, Z:-3.35 [[ 8.56415346e-01 5.16250909e-01 6.14450031e-03 2.03045470e+02] [-5.16238416e-01 8.56437383e-01 -3.59267842e-03 -4.71292851e+01] [-7.11710326e-03 -9.52021710e-05 9.99974669e-01 -3.34954249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters 0.011485814130808686 Centerline is valid? [True, True] Translation: X:203.10, Y:-47.17, Z:-3.35 [[ 8.56373058e-01 5.16313431e-01 6.75479589e-03 2.03095995e+02] [-5.16298317e-01 8.56399691e-01 -3.95179357e-03 -4.71668517e+01] [-7.82516921e-03 -1.03280210e-04 9.99969378e-01 -3.34983361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters 0.011684933835968806 Centerline is valid? [True, True] Translation: X:203.15, Y:-47.20, Z:-3.35 [[ 8.56221412e-01 5.16566477e-01 6.63086148e-03 2.03148183e+02] [-5.16551902e-01 8.56247082e-01 -3.88176090e-03 -4.72019174e+01] [-7.68284334e-03 -1.01537308e-04 9.99970481e-01 -3.35143716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters 0.011687497191534597 Centerline is valid? [True, True] Translation: X:203.20, Y:-47.24, Z:-3.35 [[ 8.55561690e-01 5.17656512e-01 6.77722436e-03 2.03198953e+02] [-5.17641299e-01 8.55588525e-01 -3.97010976e-03 -4.72398842e+01] [-7.85366856e-03 -1.11497406e-04 9.99969153e-01 -3.35179390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters 0.012209056251595378 Centerline is valid? [True, True] Translation: X:203.25, Y:-47.27, Z:-3.35 [[ 8.54862267e-01 5.18798773e-01 7.63784698e-03 2.03252026e+02] [-5.18779464e-01 8.54896377e-01 -4.47802450e-03 -4.72722444e+01] [-8.85276133e-03 -1.34263986e-04 9.99960805e-01 -3.35254181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters 0.011867441467114112 Centerline is valid? [True, True] Translation: X:203.30, Y:-47.31, Z:-3.35 [[ 8.54253407e-01 5.19791195e-01 8.26018307e-03 2.03304751e+02] [-5.19768628e-01 8.54293328e-01 -4.84600520e-03 -4.73068178e+01] [-9.57553012e-03 -1.53667573e-04 9.99954142e-01 -3.35239510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters 0.011778478200335587 Centerline is valid? [True, True] Translation: X:203.36, Y:-47.34, Z:-3.35 [[ 8.54439539e-01 5.19472541e-01 9.01962379e-03 2.03356588e+02] [-5.19445571e-01 8.54487129e-01 -5.29579930e-03 -4.73406634e+01] [-1.04581748e-02 -1.60263320e-04 9.99945299e-01 -3.35333849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters 0.01188912116361763 Centerline is valid? [True, True] Translation: X:203.41, Y:-47.37, Z:-3.36 [[ 8.56113187e-01 5.16719049e-01 8.46375014e-03 2.03408379e+02] [-5.16695140e-01 8.56155015e-01 -4.97212640e-03 -4.73723038e+01] [-9.81547456e-03 -1.16475584e-04 9.99951820e-01 -3.35603429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters 0.011059400308702427 Centerline is valid? [True, True] Translation: X:203.46, Y:-47.40, Z:-3.36 [[ 8.56794474e-01 5.15595852e-01 8.00915973e-03 2.03461799e+02] [-5.15574373e-01 8.56831902e-01 -4.70718262e-03 -4.74046540e+01] [-9.28950740e-03 -9.62294456e-05 9.99956847e-01 -3.35747775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters 0.010891771626628063 Centerline is valid? [True, True] Translation: X:203.52, Y:-47.43, Z:-3.36 [[ 8.56574370e-01 5.15959665e-01 8.12235844e-03 2.03518322e+02] [-5.15937569e-01 8.56612873e-01 -4.77612084e-03 -4.74334258e+01] [-9.42200251e-03 -9.95271652e-05 9.99955607e-01 -3.35955141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters 0.010926561727453956 Centerline is valid? [True, True] Translation: X:203.57, Y:-47.46, Z:-3.36 [[ 8.56106926e-01 5.16734587e-01 8.14236248e-03 2.03572945e+02] [-5.16712387e-01 8.56145639e-01 -4.79098561e-03 -4.74640863e+01] [-9.44671610e-03 -1.05663589e-04 9.99955373e-01 -3.36021176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters 0.011027215952621093 Centerline is valid? [True, True] Translation: X:203.63, Y:-47.50, Z:-3.36 [[ 8.56740468e-01 5.15676095e-01 8.59854799e-03 2.03625981e+02] [-5.15651246e-01 8.56783611e-01 -5.06334049e-03 -4.74953242e+01] [-9.97813865e-03 -9.58832852e-05 9.99950213e-01 -3.36250265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters 0.010126796735063032 Centerline is valid? [True, True] Translation: X:203.68, Y:-47.53, Z:-3.36 [[ 8.59054277e-01 5.11809296e-01 8.77458896e-03 2.03676969e+02] [-5.11783185e-01 8.59099088e-01 -5.17002721e-03 -4.75311233e+01] [-1.01843094e-02 -4.93530982e-05 9.99948137e-01 -3.36362019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters 0.010042175371067844 Centerline is valid? [True, True] Translation: X:203.73, Y:-47.56, Z:-3.36 [[ 8.60975881e-01 5.08566265e-01 8.99364516e-03 2.03727947e+02] [-5.08538617e-01 8.61022853e-01 -5.30295505e-03 -4.75648157e+01] [-1.04406381e-02 -7.89946997e-06 9.99945495e-01 -3.36407530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters 0.009993881997710417 Centerline is valid? [True, True] Translation: X:203.78, Y:-47.60, Z:-3.36 [[ 8.61467198e-01 5.07723294e-01 9.55637700e-03 2.03781740e+02] [-5.07692012e-01 8.61520201e-01 -5.63591811e-03 -4.75979263e+01] [-1.10944987e-02 3.46230707e-06 9.99938454e-01 -3.36356847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters 0.0099859243269864 Centerline is valid? [True, True] Translation: X:203.84, Y:-47.63, Z:-3.37 [[ 8.61467527e-01 5.07737208e-01 8.75371757e-03 2.03835814e+02] [-5.07710932e-01 8.61512001e-01 -5.16546395e-03 -4.76301311e+01] [-1.01641310e-02 5.52134590e-06 9.99948344e-01 -3.36509644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters 0.010029874086878245 Centerline is valid? [True, True] Translation: X:203.89, Y:-47.66, Z:-3.37 [[ 8.61472298e-01 5.07749067e-01 7.50759531e-03 2.03889516e+02] [-5.07729721e-01 8.61505011e-01 -4.43242974e-03 -4.76618822e+01] [-8.71839305e-03 6.58616933e-06 9.99961994e-01 -3.36720095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters 0.010101503841844179 Centerline is valid? [True, True] Translation: X:203.94, Y:-47.69, Z:-3.37 [[ 8.61986306e-01 5.06897806e-01 5.85000417e-03 2.03942940e+02] [-5.06886032e-01 8.62006157e-01 -3.45499737e-03 -4.76936008e+01] [-6.79407020e-03 1.28750212e-05 9.99976920e-01 -3.36960928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters 0.010077521915213775 Centerline is valid? [True, True] Translation: X:204.00, Y:-47.72, Z:-3.37 [[ 8.62193598e-01 5.06541010e-01 6.19713092e-03 2.03997965e+02] [-5.06527773e-01 8.62215869e-01 -3.66202994e-03 -4.77247815e+01] [-7.19823297e-03 1.83598490e-05 9.99974092e-01 -3.36954005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters 0.01036946063378322 Centerline is valid? [True, True] Translation: X:204.05, Y:-47.76, Z:-3.37 [[ 8.63650335e-01 5.04046665e-01 6.71255004e-03 2.04050893e+02] [-5.04031033e-01 8.63676420e-01 -3.96983895e-03 -4.77577036e+01] [-7.79845527e-03 4.52192115e-05 9.99969591e-01 -3.36944498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters 0.01090021441317178 Centerline is valid? [True, True] Translation: X:204.10, Y:-47.79, Z:-3.37 [[ 8.65163311e-01 5.01448252e-01 6.48819756e-03 2.04103090e+02] [-5.01433555e-01 8.65187636e-01 -3.83967966e-03 -4.77904339e+01] [-7.53890896e-03 6.85500002e-05 9.99971580e-01 -3.37061819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters 0.011343560938949546 Centerline is valid? [True, True] Translation: X:204.16, Y:-47.82, Z:-3.37 [[ 8.66230560e-01 4.99617409e-01 5.20204730e-03 2.04157139e+02] [-4.99607926e-01 8.66246177e-01 -3.07908488e-03 -4.78208932e+01] [-6.04461800e-03 6.82133584e-05 9.99981729e-01 -3.37243342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters 0.01112304087280268 Centerline is valid? [True, True] Translation: X:204.21, Y:-47.85, Z:-3.37 [[ 8.65436755e-01 5.01000383e-01 4.22367658e-03 2.04213447e+02] [-5.00994147e-01 8.65447060e-01 -2.50009120e-03 -4.78501276e+01] [-4.90791513e-03 4.76335731e-05 9.99987955e-01 -3.37416374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters 0.011297725071981572 Centerline is valid? [True, True] Translation: X:204.27, Y:-47.88, Z:-3.38 [[ 8.65222251e-01 5.01380068e-01 2.91265140e-03 2.04267245e+02] [-5.01377104e-01 8.65227153e-01 -1.72411733e-03 -4.78807657e+01] [-3.38454314e-03 3.14079512e-05 9.99994272e-01 -3.37573874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters 0.011345594735010307 Centerline is valid? [True, True] Translation: X:204.32, Y:-47.91, Z:-3.38 [[ 8.65169461e-01 5.01473869e-01 2.40060385e-03 2.04321623e+02] [-5.01471858e-01 8.65172791e-01 -1.42046187e-03 -4.79121506e+01] [-2.78926164e-03 2.51049558e-05 9.99996110e-01 -3.37685490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters 0.011075092710744036 Centerline is valid? [True, True] Translation: X:204.38, Y:-47.94, Z:-3.38 [[ 8.64812609e-01 5.02088095e-01 2.58767218e-03 2.04376589e+02] [-5.02085756e-01 8.64816480e-01 -1.53250693e-03 -4.79436041e+01] [-3.00731503e-03 2.60979777e-05 9.99995478e-01 -3.37728213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters 0.010463943038612113 Centerline is valid? [True, True] Translation: X:204.43, Y:-47.97, Z:-3.38 [[ 8.63076006e-01 5.05059468e-01 3.83952669e-03 2.04431573e+02] [-5.05054330e-01 8.63084546e-01 -2.27827285e-03 -4.79722521e+01] [-4.46449942e-03 2.71530482e-05 9.99990034e-01 -3.37643750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters 0.010365562519587711 Centerline is valid? [True, True] Translation: X:204.48, Y:-48.00, Z:-3.38 [[ 8.61418703e-01 5.07876220e-01 4.42298640e-03 2.04484788e+02] [-5.07869421e-01 8.61430058e-01 -2.62801197e-03 -4.80020565e+01] [-5.14479822e-03 1.75191190e-05 9.99986765e-01 -3.37666173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters 0.010062454733319843 Centerline is valid? [True, True] Translation: X:204.54, Y:-48.03, Z:-3.38 [[ 8.58335515e-01 5.13057974e-01 5.62663338e-03 2.04539618e+02] [-5.13047077e-01 8.58353957e-01 -3.34392696e-03 -4.80304140e+01] [-6.54527142e-03 -1.65165410e-05 9.99978579e-01 -3.37606167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters 0.01079725130590748 Centerline is valid? [True, True] Translation: X:204.60, Y:-48.06, Z:-3.38 [[ 8.54747884e-01 5.19008206e-01 6.04453179e-03 2.04595274e+02] [-5.18995763e-01 8.54769254e-01 -3.59443165e-03 -4.80584145e+01] [-7.03221945e-03 -6.47535474e-05 9.99975272e-01 -3.37620625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters 0.011274863507289169 Centerline is valid? [True, True] Translation: X:204.65, Y:-48.09, Z:-3.38 [[ 8.52541168e-01 5.22635560e-01 5.06233442e-03 2.04649216e+02] [-5.22626891e-01 8.52556195e-01 -3.01122006e-03 -4.80885623e+01] [-5.88969525e-03 -7.85230351e-05 9.99982653e-01 -3.37733978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters 0.012403807790780486 Centerline is valid? [True, True] Translation: X:204.70, Y:-48.12, Z:-3.38 [[ 8.50505020e-01 5.25956494e-01 3.31320264e-03 2.04703298e+02] [-5.25952798e-01 8.50511471e-01 -1.97281763e-03 -4.81185241e+01] [-3.85553310e-03 -6.46968988e-05 9.99992565e-01 -3.37950066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters 0.012791055582527116 Centerline is valid? [True, True] Translation: X:204.76, Y:-48.15, Z:-3.38 [[ 8.49445815e-01 5.27672010e-01 2.01429434e-03 2.04756273e+02] [-5.27670656e-01 8.49448202e-01 -1.19624788e-03 -4.81505908e+01] [-2.34226522e-03 -4.67362607e-05 9.99997256e-01 -3.38119391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters 0.012974621323897857 Centerline is valid? [True, True] Translation: X:204.81, Y:-48.18, Z:-3.38 [[ 8.49326094e-01 5.27867084e-01 1.23616538e-03 2.04809710e+02] [-5.27866577e-01 8.49326993e-01 -7.32195642e-04 -4.81839266e+01] [-1.43641060e-03 -3.06575239e-05 9.99998968e-01 -3.38268468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters 0.012911651144142187 Centerline is valid? [True, True] Translation: X:204.86, Y:-48.22, Z:-3.38 [[ 8.49931596e-01 5.26891658e-01 1.20965403e-03 2.04861308e+02] [-5.26891171e-01 8.49932456e-01 -7.17501744e-04 -4.82192548e+01] [-1.40616990e-03 -2.75286243e-05 9.99999011e-01 -3.38331120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters 0.011900693955984592 Centerline is valid? [True, True] Translation: X:204.91, Y:-48.26, Z:-3.38 [[ 8.51448606e-01 5.24435677e-01 1.57838344e-03 2.04911263e+02] [-5.24434839e-01 8.51450069e-01 -9.37993944e-04 -4.82559705e+01] [-1.83583218e-03 -2.91056277e-05 9.99998314e-01 -3.38178305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters 0.01181822819570128 Centerline is valid? [True, True] Translation: X:204.96, Y:-48.29, Z:-3.38 [[ 8.52491077e-01 5.22738744e-01 1.78017782e-03 2.04963383e+02] [-5.22737671e-01 8.52492935e-01 -1.05947239e-03 -4.82879994e+01] [-2.07141628e-03 -2.73752468e-05 9.99997854e-01 -3.38330113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters 0.011432607712108384 Centerline is valid? [True, True] Translation: X:205.02, Y:-48.32, Z:-3.38 [[ 8.53807522e-01 5.20586003e-01 1.71140681e-03 2.05016602e+02] [-5.20585007e-01 8.53809237e-01 -1.01865156e-03 -4.83192665e+01] [-1.99151069e-03 -2.12003590e-05 9.99998017e-01 -3.38434528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters 0.011392504517281838 Centerline is valid? [True, True] Translation: X:205.07, Y:-48.35, Z:-3.39 [[ 8.54535672e-01 5.19388723e-01 2.03454702e-03 2.05070671e+02] [-5.19387304e-01 8.54538094e-01 -1.21434773e-03 -4.83508127e+01] [-2.36931645e-03 -1.90144375e-05 9.99997193e-01 -3.38598901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters 0.011136034123040936 Centerline is valid? [True, True] Translation: X:205.12, Y:-48.38, Z:-3.39 [[ 8.55841449e-01 5.17231450e-01 2.65363297e-03 2.05123529e+02] [-5.17229020e-01 8.55845562e-01 -1.58574465e-03 -4.83843800e+01] [-3.09129701e-03 -1.53899767e-05 9.99995222e-01 -3.38657268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters 0.011098081219578245 Centerline is valid? [True, True] Translation: X:205.18, Y:-48.42, Z:-3.39 [[ 8.56856310e-01 5.15550639e-01 2.19144095e-03 2.05175561e+02] [-5.15548984e-01 8.56859112e-01 -1.30654048e-03 -4.84190283e+01] [-2.55134393e-03 -1.02777005e-05 9.99996745e-01 -3.38732653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters 0.011220306976561926 Centerline is valid? [True, True] Translation: X:205.23, Y:-48.45, Z:-3.39 [[ 8.56545351e-01 5.16070565e-01 1.11062835e-03 2.05229785e+02] [-5.16070142e-01 8.56546071e-01 -6.60688716e-04 -4.84492601e+01] [-1.29226635e-03 -7.25228181e-06 9.99999165e-01 -3.39033198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters 0.011213016622052516 Centerline is valid? [True, True] Translation: X:205.28, Y:-48.48, Z:-3.39 [[ 8.55803603e-01 5.17297881e-01 1.75936318e-03 2.05284862e+02] [-5.17296817e-01 8.55805411e-01 -1.04924113e-03 -4.84793542e+01] [-2.04844275e-03 -1.21686322e-05 9.99997902e-01 -3.39044282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters 0.011031288924315513 Centerline is valid? [True, True] Translation: X:205.34, Y:-48.51, Z:-3.39 [[ 8.55676267e-01 5.17500073e-01 3.43530988e-03 2.05338364e+02] [-5.17495991e-01 8.55683162e-01 -2.05535074e-03 -4.85101237e+01] [-4.00318098e-03 -1.90442480e-05 9.99991987e-01 -3.38939902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters 0.011039277167608236 Centerline is valid? [True, True] Translation: X:205.39, Y:-48.54, Z:-3.39 [[ 8.55728920e-01 5.17398834e-01 5.14418680e-03 2.05391178e+02] [-5.17389656e-01 8.55744381e-01 -3.08189862e-03 -4.85413921e+01] [-5.99667970e-03 -2.42792599e-05 9.99982019e-01 -3.38860889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters 0.010885335838210934 Centerline is valid? [True, True] Translation: X:205.44, Y:-48.57, Z:-3.39 [[ 8.56317498e-01 5.16422875e-01 5.26850262e-03 2.05444469e+02] [-5.16413221e-01 8.56333705e-01 -3.15773517e-03 -4.85737584e+01] [-6.14232304e-03 -1.67005298e-05 9.99981136e-01 -3.39028227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters 0.010682856851533879 Centerline is valid? [True, True] Translation: X:205.50, Y:-48.61, Z:-3.39 [[ 8.56741423e-01 5.15720791e-01 5.11845413e-03 2.05497562e+02] [-5.15711659e-01 8.56756713e-01 -3.06905140e-03 -4.86071346e+01] [-5.96804356e-03 -1.02630062e-05 9.99982191e-01 -3.39043779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters 0.010779856502490888 Centerline is valid? [True, True] Translation: X:205.55, Y:-48.64, Z:-3.39 [[ 8.57681164e-01 5.14161888e-01 4.53584838e-03 2.05550713e+02] [-5.14154690e-01 8.57693158e-01 -2.72078501e-03 -4.86400885e+01] [-5.28929007e-03 1.43834123e-06 9.99986012e-01 -3.39217035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters 0.010860589666425842 Centerline is valid? [True, True] Translation: X:205.60, Y:-48.67, Z:-3.39 [[ 8.59034739e-01 5.11891815e-01 5.10752176e-03 2.05603990e+02] [-5.11882632e-01 8.59049922e-01 -3.06626909e-03 -4.86741963e+01] [-5.95721422e-03 1.95799834e-05 9.99982255e-01 -3.39357462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters 0.011149214755853617 Centerline is valid? [True, True] Translation: X:205.66, Y:-48.71, Z:-3.39 [[ 8.60509607e-01 5.09397987e-01 6.07502039e-03 2.05655154e+02] [-5.09384901e-01 8.60531050e-01 -3.65158249e-03 -4.87084470e+01] [-7.08785244e-03 4.76981497e-05 9.99974880e-01 -3.39492877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters 0.011199052116566209 Centerline is valid? [True, True] Translation: X:205.71, Y:-48.74, Z:-3.40 [[ 8.61045874e-01 5.08485227e-01 6.54044405e-03 2.05708382e+02] [-5.08470026e-01 8.61070712e-01 -3.93214055e-03 -4.87413547e+01] [-7.63122020e-03 6.01336372e-05 9.99970880e-01 -3.39632936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters 0.011226297825342742 Centerline is valid? [True, True] Translation: X:205.76, Y:-48.77, Z:-3.40 [[ 8.61142207e-01 5.08322026e-01 6.54346581e-03 2.05761579e+02] [-5.08306788e-01 8.61167065e-01 -3.93648542e-03 -4.87742324e+01] [-7.63601949e-03 6.37856526e-05 9.99970843e-01 -3.39788171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters 0.011105319567025079 Centerline is valid? [True, True] Translation: X:205.82, Y:-48.81, Z:-3.40 [[ 8.60782499e-01 5.08936517e-01 6.09193690e-03 2.05815391e+02] [-5.08923311e-01 8.60804053e-01 -3.66674391e-03 -4.88058809e+01] [-7.11010385e-03 5.59402833e-05 9.99974721e-01 -3.39923989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters 0.010912140573210495 Centerline is valid? [True, True] Translation: X:205.87, Y:-48.84, Z:-3.40 [[ 8.60023821e-01 5.10227627e-01 5.17658126e-03 2.05869622e+02] [-5.10218107e-01 8.60039399e-01 -3.11703875e-03 -4.88378710e+01] [-6.04246312e-03 3.95420849e-05 9.99981743e-01 -3.40172576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters 0.01107438897547432 Centerline is valid? [True, True] Translation: X:205.92, Y:-48.87, Z:-3.40 [[ 8.59935221e-01 5.10386035e-01 4.18467630e-03 2.05921464e+02] [-5.10379803e-01 8.59945402e-01 -2.52232182e-03 -4.88697621e+01] [-4.88595097e-03 3.32591077e-05 9.99988063e-01 -3.40333135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters 0.011681764933473076 Centerline is valid? [True, True] Translation: X:205.97, Y:-48.90, Z:-3.40 [[ 8.61203311e-01 5.08246815e-01 3.74588479e-03 2.05974031e+02] [-5.08241806e-01 8.61211457e-01 -2.25682811e-03 -4.89031983e+01] [-4.37302460e-03 3.97725896e-05 9.99990437e-01 -3.40463319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters 0.011924130619570046 Centerline is valid? [True, True] Translation: X:206.03, Y:-48.94, Z:-3.41 [[ 8.61587528e-01 5.07592871e-01 4.05081256e-03 2.06027188e+02] [-5.07586999e-01 8.61597049e-01 -2.44203503e-03 -4.89359498e+01] [-4.72972772e-03 4.78871279e-05 9.99988814e-01 -3.40519623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters 0.012513260416485303 Centerline is valid? [True, True] Translation: X:206.08, Y:-48.97, Z:-3.41 [[ 8.63429817e-01 5.04444040e-01 5.01618792e-03 2.06079643e+02] [-5.04434964e-01 8.63444384e-01 -3.02711499e-03 -4.89694660e+01] [-5.85820941e-03 8.33607690e-05 9.99982837e-01 -3.40515323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters 0.013185654050104597 Centerline is valid? [True, True] Translation: X:206.13, Y:-49.00, Z:-3.41 [[ 8.64783374e-01 5.02117706e-01 5.24647925e-03 2.06132009e+02] [-5.02107722e-01 8.64799282e-01 -3.16805270e-03 -4.90030263e+01] [-6.12788685e-03 1.05381561e-04 9.99981219e-01 -3.40617814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters 0.013987144680126457 Centerline is valid? [True, True] Translation: X:206.18, Y:-49.04, Z:-3.41 [[ 8.65816396e-01 5.00335708e-01 5.11355441e-03 2.06184346e+02] [-5.00326183e-01 8.65831488e-01 -3.08941712e-03 -4.90363769e+01] [-5.97322213e-03 1.16422835e-04 9.99982153e-01 -3.40756388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters 0.013644117931209756 Centerline is valid? [True, True] Translation: X:206.24, Y:-49.07, Z:-3.41 [[ 8.65055217e-01 5.01642882e-01 5.82160043e-03 2.06239108e+02] [-5.01630549e-01 8.65074796e-01 -3.51976310e-03 -4.90660598e+01] [-6.80178391e-03 1.24496811e-04 9.99976860e-01 -3.40803923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters 0.012486288871979234 Centerline is valid? [True, True] Translation: X:206.29, Y:-49.09, Z:-3.41 [[ 8.63365321e-01 5.04544386e-01 5.94017897e-03 2.06294786e+02] [-5.04531600e-01 8.63385749e-01 -3.59345996e-03 -4.90943795e+01] [-6.94172592e-03 1.05460710e-04 9.99975900e-01 -3.40874533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters 0.011464743319863477 Centerline is valid? [True, True] Translation: X:206.35, Y:-49.12, Z:-3.41 [[ 8.59808866e-01 5.10585534e-01 5.57918373e-03 2.06351197e+02] [-5.10574370e-01 8.59826965e-01 -3.37672782e-03 -4.91213870e+01] [-6.52124099e-03 5.47522968e-05 9.99978735e-01 -3.41063778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters 0.01087944751596866 Centerline is valid? [True, True] Translation: X:206.41, Y:-49.15, Z:-3.41 [[ 8.57368607e-01 5.14672505e-01 5.59319046e-03 2.06406954e+02] [-5.14661349e-01 8.57386851e-01 -3.38880318e-03 -4.91501087e+01] [-6.53965177e-03 2.68545206e-05 9.99978616e-01 -3.41184363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters 0.010767256207362852 Centerline is valid? [True, True] Translation: X:206.46, Y:-49.18, Z:-3.41 [[ 8.53150606e-01 5.21630962e-01 5.93153592e-03 2.06463324e+02] [-5.21618589e-01 8.53171225e-01 -3.59281123e-03 -4.91759097e+01] [-6.93473735e-03 -2.87903195e-05 9.99975954e-01 -3.41270815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters 0.011985951239621076 Centerline is valid? [True, True] Translation: X:206.52, Y:-49.20, Z:-3.41 [[ 8.48835744e-01 5.28624456e-01 5.83654127e-03 2.06519721e+02] [-5.28612624e-01 8.48855805e-01 -3.53770755e-03 -4.92012892e+01] [-6.82450067e-03 -8.23367779e-05 9.99976709e-01 -3.41435782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters 0.012187307793302456 Centerline is valid? [True, True] Translation: X:206.57, Y:-49.23, Z:-3.42 [[ 8.46766950e-01 5.31940451e-01 5.00890606e-03 2.06573092e+02] [-5.31931790e-01 8.46781759e-01 -3.03685162e-03 -4.92319949e+01] [-5.85687451e-03 -9.28907812e-05 9.99982844e-01 -3.41532517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters 0.012732748369082116 Centerline is valid? [True, True] Translation: X:206.63, Y:-49.26, Z:-3.42 [[ 8.45488719e-01 5.33972937e-01 4.66134022e-03 2.06626696e+02] [-5.33965462e-01 8.45501563e-01 -2.82712402e-03 -4.92626476e+01] [-5.45077816e-03 -9.86932133e-05 9.99985140e-01 -3.41664249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters 0.012500804705067836 Centerline is valid? [True, True] Translation: X:206.68, Y:-49.30, Z:-3.42 [[ 8.45519183e-01 5.33917806e-01 5.39335179e-03 2.06679520e+02] [-5.33907782e-01 8.45536377e-01 -3.27360406e-03 -4.92955313e+01] [-6.30811063e-03 -1.11657463e-04 9.99980097e-01 -3.41669631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters 0.01226817064218521 Centerline is valid? [True, True] Translation: X:206.73, Y:-49.33, Z:-3.42 [[ 8.46221357e-01 5.32812047e-01 4.55382969e-03 2.06731409e+02] [-5.32804880e-01 8.46233605e-01 -2.76490933e-03 -4.93300277e+01] [-5.32678072e-03 -8.65773580e-05 9.99985809e-01 -3.41828251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters 0.011652405635475888 Centerline is valid? [True, True] Translation: X:206.78, Y:-49.37, Z:-3.42 [[ 8.47763964e-01 5.30368722e-01 2.29798877e-03 2.06781905e+02] [-5.30366892e-01 8.47767078e-01 -1.39373013e-03 -4.93658587e+01] [-2.68735009e-03 -3.72229817e-05 9.99996388e-01 -3.42155772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters 0.011061607192008343 Centerline is valid? [True, True] Translation: X:206.83, Y:-49.40, Z:-3.42 [[ 8.49664198e-01 5.27323879e-01 5.27021837e-04 2.06832788e+02] [-5.27323785e-01 8.49664361e-01 -3.16162988e-04 -4.94019741e+01] [-6.14511966e-04 -9.27877778e-06 9.99999811e-01 -3.42323641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters 0.010883379476564705 Centerline is valid? [True, True] Translation: X:206.88, Y:-49.44, Z:-3.42 [[ 8.55001941e-01 5.18624324e-01 -7.01165525e-04 2.06879143e+02] [-5.18624144e-01 8.55002228e-01 4.31451421e-04 -4.94424336e+01] [ 8.23259287e-04 -5.25043172e-06 9.99999661e-01 -3.42436549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters 0.012003654785294204 Centerline is valid? [True, True] Translation: X:206.93, Y:-49.48, Z:-3.42 [[ 8.59477324e-01 5.11173874e-01 -7.04693308e-06 2.06928119e+02] [-5.11173874e-01 8.59477324e-01 8.86158756e-06 -4.94818276e+01] [ 1.05864912e-05 -4.01412547e-06 1.00000000e+00 -3.42366759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters 0.013968049012418347 Centerline is valid? [True, True] Translation: X:206.98, Y:-49.52, Z:-3.42 [[ 8.63791730e-01 5.03844356e-01 2.17067812e-03 2.06979417e+02] [-5.03842624e-01 8.63794456e-01 -1.32199750e-03 -4.95166903e+01] [-2.54110071e-03 4.82503483e-05 9.99996770e-01 -3.42194687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters 0.017158406171064237 Centerline is valid? [True, True] Translation: X:207.03, Y:-49.55, Z:-3.42 [[ 8.67748606e-01 4.97001784e-01 1.25832452e-03 2.07028659e+02] [-4.97001194e-01 8.67749517e-01 -7.66870094e-04 -4.95518564e+01] [-1.47304630e-03 4.00616643e-05 9.99998914e-01 -3.42259719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters 0.021291468047558396 Centerline is valid? [True, True] Translation: X:207.08, Y:-49.59, Z:-3.42 [[ 8.71805180e-01 4.89852756e-01 7.93720977e-05 2.07077054e+02] [-4.89852754e-01 8.71805183e-01 -4.83736681e-05 -4.95872313e+01] [-9.28929808e-05 3.29177384e-06 9.99999996e-01 -3.42438920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters 0.019951034008413603 Centerline is valid? [True, True] Translation: X:207.13, Y:-49.62, Z:-3.42 [[ 8.73862855e-01 4.86172343e-01 4.03147591e-04 2.07132365e+02] [-4.86172282e-01 8.73862948e-01 -2.44908933e-04 -4.96151323e+01] [-4.71363692e-04 1.80176354e-05 9.99999889e-01 -3.42378261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters 0.02002165357657148 Centerline is valid? [True, True] Translation: X:207.19, Y:-49.64, Z:-3.42 [[ 8.73659021e-01 4.86532745e-01 2.40889885e-03 2.07188936e+02] [-4.86530552e-01 8.73662335e-01 -1.46501422e-03 -4.96419972e+01] [-2.81734158e-03 1.07920004e-04 9.99996025e-01 -3.42347872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters 0.01779071354478653 Centerline is valid? [True, True] Translation: X:207.25, Y:-49.67, Z:-3.42 [[ 8.69825742e-01 4.93343711e-01 3.89387054e-03 2.07245325e+02] [-4.93338017e-01 8.69834445e-01 -2.37478449e-03 -4.96662607e+01] [-4.55860771e-03 1.44654315e-04 9.99989599e-01 -3.42251325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters 0.015903529149075557 Centerline is valid? [True, True] Translation: X:207.30, Y:-49.69, Z:-3.42 [[ 8.66137974e-01 4.99783100e-01 4.67568711e-03 2.07301265e+02] [-4.99774980e-01 8.66150584e-01 -2.85212663e-03 -4.96914930e+01] [-5.47529382e-03 1.33543751e-04 9.99985002e-01 -3.42358857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters 0.012239607182418653 Centerline is valid? [True, True] Translation: X:207.36, Y:-49.71, Z:-3.42 [[ 8.59817121e-01 5.10559912e-01 6.56458299e-03 2.07362310e+02] [-5.10544211e-01 8.59842176e-01 -4.00517046e-03 -4.97088000e+01] [-7.68938480e-03 9.22042915e-05 9.99970432e-01 -3.42430967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters 0.011363206137416822 Centerline is valid? [True, True] Translation: X:207.42, Y:-49.73, Z:-3.42 [[ 8.52812424e-01 5.22160194e-01 7.72660133e-03 2.07422512e+02] [-5.22138915e-01 8.52847426e-01 -4.71404776e-03 -4.97302130e+01] [-9.05110015e-03 -1.41607325e-05 9.99959038e-01 -3.42482109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters 0.013059265313974555 Centerline is valid? [True, True] Translation: X:207.48, Y:-49.75, Z:-3.43 [[ 8.46060438e-01 5.33012669e-01 8.90108385e-03 2.07481588e+02] [-5.32985013e-01 8.46107246e-01 -5.43172772e-03 -4.97518261e+01] [-1.04264512e-02 -1.48574361e-04 9.99945632e-01 -3.42533909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters 0.015382583614869792 Centerline is valid? [True, True] Translation: X:207.54, Y:-49.77, Z:-3.43 [[ 8.42499139e-01 5.38595593e-01 1.04875137e-02 2.07538472e+02] [-5.38557600e-01 8.42564373e-01 -6.40229343e-03 -4.97749485e+01] [-1.22846524e-02 -2.54203481e-04 9.99924508e-01 -3.42677122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters 0.01606018048991666 Centerline is valid? [True, True] Translation: X:207.59, Y:-49.80, Z:-3.43 [[ 8.40665981e-01 5.41404215e-01 1.27351602e-02 2.07594108e+02] [-5.41348504e-01 8.40762361e-01 -7.77493289e-03 -4.98023375e+01] [-1.49166248e-02 -3.58038339e-04 9.99888677e-01 -3.42723844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters 0.015510883401101534 Centerline is valid? [True, True] Translation: X:207.65, Y:-49.83, Z:-3.43 [[ 8.41920760e-01 5.39422488e-01 1.38857198e-02 2.07647567e+02] [-5.39355902e-01 8.42035189e-01 -8.48246019e-03 -4.98343858e+01] [-1.62678945e-02 -3.47785598e-04 9.99867609e-01 -3.42966859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters 0.014785610453944156 Centerline is valid? [True, True] Translation: X:207.70, Y:-49.87, Z:-3.43 [[ 8.43449223e-01 5.37023429e-01 1.41154091e-02 2.07700223e+02] [-5.36954206e-01 8.43567274e-01 -8.62759764e-03 -4.98671024e+01] [-1.65405193e-02 -3.02387774e-04 9.99863151e-01 -3.43218904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters 0.01413187953641226 Centerline is valid? [True, True] Translation: X:207.75, Y:-49.90, Z:-3.43 [[ 8.44386123e-01 5.35552554e-01 1.39834352e-02 2.07752987e+02] [-5.35484341e-01 8.44501859e-01 -8.55158716e-03 -4.99000769e+01] [-1.63888613e-02 -2.67069035e-04 9.99865658e-01 -3.43413507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters 0.012985321918190667 Centerline is valid? [True, True] Translation: X:207.80, Y:-49.94, Z:-3.44 [[ 8.48235179e-01 5.29461592e-01 1.29423069e-02 2.07803296e+02] [-5.29402384e-01 8.48333899e-01 -7.91910391e-03 -4.99356762e+01] [-1.51722590e-02 -1.34425596e-04 9.99884886e-01 -3.43852546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters 0.012511387978672624 Centerline is valid? [True, True] Translation: X:207.85, Y:-49.98, Z:-3.44 [[ 8.54639159e-01 5.19079087e-01 1.21987196e-02 2.07851159e+02] [-5.19025419e-01 8.54726213e-01 -7.46428955e-03 -4.99755936e+01] [-1.43011220e-02 4.78285939e-05 9.99897733e-01 -3.44124115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters 0.014688323796671789 Centerline is valid? [True, True] Translation: X:207.90, Y:-50.02, Z:-3.44 [[ 8.62346459e-01 5.06127771e-01 1.39019612e-02 2.07897172e+02] [-5.06056284e-01 8.62458455e-01 -8.51182278e-03 -5.00176524e+01] [-1.62979339e-02 3.04965403e-04 9.99867133e-01 -3.44265314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters 0.016955142960660304 Centerline is valid? [True, True] Translation: X:207.94, Y:-50.06, Z:-3.44 [[ 8.67205502e-01 4.97718805e-01 1.51857840e-02 2.07944844e+02] [-4.97632157e-01 8.67338303e-01 -9.30072374e-03 -5.00559850e+01] [-1.78003573e-02 5.08704324e-04 9.99841432e-01 -3.44300695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters 0.020904969395220203 Centerline is valid? [True, True] Translation: X:207.99, Y:-50.10, Z:-3.44 [[ 8.72727609e-01 4.87923094e-01 1.66605499e-02 2.07990439e+02] [-4.87816995e-01 8.72886275e-01 -1.02044786e-02 -5.00962107e+01] [-1.95217661e-02 7.78430798e-04 9.99809129e-01 -3.44291276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters 0.021596946805213426 Centerline is valid? [True, True] Translation: X:208.04, Y:-50.13, Z:-3.44 [[ 8.74848929e-01 4.84069934e-01 1.77665770e-02 2.08041357e+02] [-4.83948475e-01 8.75028827e-01 -1.08823087e-02 -5.01295219e+01] [-2.08140655e-02 9.22268306e-04 9.99782938e-01 -3.44333102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters 0.019408392277808894 Centerline is valid? [True, True] Translation: X:208.10, Y:-50.16, Z:-3.44 [[ 8.72692827e-01 4.87925572e-01 1.83266547e-02 2.08096435e+02] [-4.87797147e-01 8.72884815e-01 -1.12268963e-02 -5.01566575e+01] [-2.14749484e-02 8.57941954e-04 9.99769019e-01 -3.44491661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters 0.01816464296311171 Centerline is valid? [True, True] Translation: X:208.15, Y:-50.18, Z:-3.45 [[ 8.69461973e-01 4.93679864e-01 1.77783375e-02 2.08151288e+02] [-4.93560187e-01 8.69643437e-01 -1.08919342e-02 -5.01848236e+01] [-2.08379431e-02 6.95443025e-04 9.99782625e-01 -3.44643237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters 0.014590019850813754 Centerline is valid? [True, True] Translation: X:208.21, Y:-50.21, Z:-3.45 [[ 8.63539848e-01 5.03988049e-01 1.71749083e-02 2.08210076e+02] [-5.03878360e-01 8.63710518e-01 -1.05232958e-02 -5.02066050e+01] [-2.01377642e-02 4.33220631e-04 9.99797121e-01 -3.44855055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters 0.013043399832453966 Centerline is valid? [True, True] Translation: X:208.27, Y:-50.23, Z:-3.45 [[ 8.58171933e-01 5.13078172e-01 1.70799088e-02 2.08265901e+02] [-5.12971463e-01 8.58341856e-01 -1.04660014e-02 -5.02303866e+01] [-2.00302775e-02 2.20122863e-04 9.99799350e-01 -3.44818503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters 0.01219894515391682 Centerline is valid? [True, True] Translation: X:208.32, Y:-50.26, Z:-3.45 [[ 8.53461098e-01 5.20887957e-01 1.67299175e-02 2.08324296e+02] [-5.20787062e-01 8.53625055e-01 -1.02519250e-02 -5.02551439e+01] [-1.96211810e-02 3.68946366e-05 9.99807485e-01 -3.44917990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters 0.012267694610301605 Centerline is valid? [True, True] Translation: X:208.38, Y:-50.28, Z:-3.45 [[ 8.50934466e-01 5.25025281e-01 1.60931547e-02 2.08380068e+02] [-5.24932609e-01 8.51086630e-01 -9.86429983e-03 -5.02839903e+01] [-1.88756756e-02 -5.39489779e-05 9.99821837e-01 -3.45043281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters 0.012473292447339475 Centerline is valid? [True, True] Translation: X:208.44, Y:-50.31, Z:-3.45 [[ 8.48873260e-01 5.28378440e-01 1.51793647e-02 2.08435082e+02] [-5.28296434e-01 8.49008958e-01 -9.30950267e-03 -5.03121720e+01] [-1.78063571e-02 -1.16616354e-04 9.99841447e-01 -3.45253733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters 0.012869495094945902 Centerline is valid? [True, True] Translation: X:208.49, Y:-50.34, Z:-3.45 [[ 8.47291026e-01 5.30953952e-01 1.36314992e-02 2.08488761e+02] [-5.30888114e-01 8.47400660e-01 -8.36252781e-03 -5.03415966e+01] [-1.59914586e-02 -1.51306110e-04 9.99872117e-01 -3.45440957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters 0.012996170197163275 Centerline is valid? [True, True] Translation: X:208.54, Y:-50.37, Z:-3.46 [[ 8.46582338e-01 5.32105207e-01 1.27433989e-02 2.08541735e+02] [-5.32047745e-01 8.46678229e-01 -7.82138307e-03 -5.03746086e+01] [-1.49513571e-02 -1.58651894e-04 9.99888210e-01 -3.45576578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters 0.013107955427454547 Centerline is valid? [True, True] Translation: X:208.59, Y:-50.41, Z:-3.46 [[ 8.46174832e-01 5.32775450e-01 1.17674327e-02 2.08594876e+02] [-5.32726464e-01 8.46256637e-01 -7.22626060e-03 -5.04080009e+01] [-1.38082422e-02 -1.54142942e-04 9.99904650e-01 -3.45765413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters 0.012957550248752593 Centerline is valid? [True, True] Translation: X:208.65, Y:-50.44, Z:-3.46 [[ 8.45894217e-01 5.33269803e-01 9.28924279e-03 2.08645655e+02] [-5.33239278e-01 8.45945212e-01 -5.70709319e-03 -5.04431257e+01] [-1.09016109e-02 -1.25791994e-04 9.99940568e-01 -3.46001507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters 0.013284000840635366 Centerline is valid? [True, True] Translation: X:208.70, Y:-50.48, Z:-3.46 [[ 8.45403375e-01 5.34066253e-01 8.14683419e-03 2.08697005e+02] [-5.34042789e-01 8.45442620e-01 -5.00761839e-03 -5.04762712e+01] [-9.56208083e-03 -1.17300558e-04 9.99954275e-01 -3.46249510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters 0.013712162680548928 Centerline is valid? [True, True] Translation: X:208.75, Y:-50.51, Z:-3.47 [[ 8.44425222e-01 5.35650510e-01 4.95738276e-03 2.08747833e+02] [-5.35641851e-01 8.44439769e-01 -3.04686331e-03 -5.05119669e+01] [-5.81826504e-03 -8.25334477e-05 9.99983070e-01 -3.46586606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters 0.01400643775659995 Centerline is valid? [True, True] Translation: X:208.80, Y:-50.55, Z:-3.47 [[ 8.43415507e-01 5.37241269e-01 4.70129630e-03 2.08798058e+02] [-5.37233498e-01 8.43428605e-01 -2.89082127e-03 -5.05485693e+01] [-5.51827626e-03 -8.75303694e-05 9.99984770e-01 -3.46659907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters 0.014133877522078415 Centerline is valid? [True, True] Translation: X:208.85, Y:-50.59, Z:-3.47 [[ 8.43561706e-01 5.37006021e-01 5.30863450e-03 2.08847477e+02] [-5.36996094e-01 8.43578404e-01 -3.26668627e-03 -5.05871157e+01] [-6.23247961e-03 -9.50645481e-05 9.99980573e-01 -3.46578443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters 0.013455415781575577 Centerline is valid? [True, True] Translation: X:208.90, Y:-50.63, Z:-3.46 [[ 8.44608011e-01 5.35354399e-01 5.74241836e-03 2.08896357e+02] [-5.35342730e-01 8.44627527e-01 -3.53581023e-03 -5.06259343e+01] [-6.74311618e-03 -8.77882717e-05 9.99977261e-01 -3.46485423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters 0.012733778405480846 Centerline is valid? [True, True] Translation: X:208.94, Y:-50.67, Z:-3.46 [[ 8.47136441e-01 5.31330192e-01 6.93377117e-03 2.08943924e+02] [-5.31313016e-01 8.47164815e-01 -4.27270847e-03 -5.06677381e+01] [-8.14426597e-03 -6.44358240e-05 9.99966833e-01 -3.46398173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters 0.012613809249578705 Centerline is valid? [True, True] Translation: X:208.99, Y:-50.71, Z:-3.47 [[ 8.49522007e-01 5.27513578e-01 6.46407924e-03 2.08990887e+02] [-5.27498517e-01 8.49546600e-01 -3.98626464e-03 -5.07079089e+01] [-7.59434526e-03 -2.33726685e-05 9.99971162e-01 -3.46542999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters 0.012565038678082896 Centerline is valid? [True, True] Translation: X:209.04, Y:-50.75, Z:-3.47 [[ 8.51147196e-01 5.24903692e-01 4.95635061e-03 2.09039037e+02] [-5.24894798e-01 8.51161627e-01 -3.05558845e-03 -5.07486773e+01] [-5.82254511e-03 -8.07112880e-07 9.99983049e-01 -3.46639645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters 0.012581340342910178 Centerline is valid? [True, True] Translation: X:209.09, Y:-50.79, Z:-3.47 [[ 8.51893052e-01 5.23699260e-01 4.16086423e-03 2.09089878e+02] [-5.23692977e-01 8.51903213e-01 -2.56537350e-03 -5.07859945e+01] [-4.88813782e-03 6.40848633e-06 9.99988053e-01 -3.46767400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters 0.012864244961643763 Centerline is valid? [True, True] Translation: X:209.14, Y:-50.82, Z:-3.47 [[ 8.53545497e-01 5.21009076e-01 3.10274276e-03 2.09138100e+02] [-5.21005562e-01 8.53551137e-01 -1.91367775e-03 -5.08247850e+01] [-3.64539308e-03 1.68647915e-05 9.99993355e-01 -3.46927921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters 0.013233491498563047 Centerline is valid? [True, True] Translation: X:209.19, Y:-50.86, Z:-3.47 [[ 8.54974685e-01 5.18659642e-01 3.23484103e-03 2.09188116e+02] [-5.18655802e-01 8.54980804e-01 -1.99605774e-03 -5.08627297e+01] [-3.80100157e-03 2.88097713e-05 9.99992776e-01 -3.46927682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters 0.01373266189261343 Centerline is valid? [True, True] Translation: X:209.24, Y:-50.90, Z:-3.47 [[ 8.56873187e-01 5.15521295e-01 2.47710581e-03 2.09236351e+02] [-5.15519030e-01 8.56876767e-01 -1.52850271e-03 -5.09017162e+01] [-2.91055012e-03 3.27378075e-05 9.99995764e-01 -3.46919112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters 0.01385191858463229 Centerline is valid? [True, True] Translation: X:209.29, Y:-50.94, Z:-3.47 [[ 8.56750755e-01 5.15725074e-01 2.40673026e-03 2.09287487e+02] [-5.15722937e-01 8.56754135e-01 -1.48495380e-03 -5.09379569e+01] [-2.82780401e-03 3.10292937e-05 9.99996001e-01 -3.46993925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters 0.013280728888952346 Centerline is valid? [True, True] Translation: X:209.34, Y:-50.97, Z:-3.47 [[ 8.54202917e-01 5.19935413e-01 2.13147059e-03 2.09340951e+02] [-5.19933742e-01 8.54205576e-01 -1.31838131e-03 -5.09704708e+01] [-2.50618720e-03 1.79416789e-05 9.99996859e-01 -3.47131038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters 0.01298514693504899 Centerline is valid? [True, True] Translation: X:209.39, Y:-51.00, Z:-3.47 [[ 8.52856098e-01 5.22142836e-01 1.82585704e-03 2.09394825e+02] [-5.22141621e-01 8.52858053e-01 -1.12678528e-03 -5.10019164e+01] [-2.14553974e-03 7.62974163e-06 9.99997698e-01 -3.47218878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters 0.0128862640185186 Centerline is valid? [True, True] Translation: X:209.45, Y:-51.03, Z:-3.47 [[ 8.49110686e-01 5.28212799e-01 1.51059527e-03 2.09450065e+02] [-5.28211978e-01 8.49112029e-01 -9.31433087e-04 -5.10324201e+01] [-1.77465949e-03 -7.02472637e-06 9.99998425e-01 -3.47364933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters 0.013102767990454024 Centerline is valid? [True, True] Translation: X:209.50, Y:-51.06, Z:-3.47 [[ 8.46880406e-01 5.31782139e-01 1.15515748e-03 2.09503918e+02] [-5.31781662e-01 8.46881194e-01 -7.12071770e-04 -5.10635503e+01] [-1.35694819e-03 -1.12519327e-05 9.99999079e-01 -3.47458353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters 0.013046633651184856 Centerline is valid? [True, True] Translation: X:209.56, Y:-51.10, Z:-3.47 [[ 8.46355134e-01 5.32616989e-01 1.45910948e-03 2.09556995e+02] [-5.32616229e-01 8.46356392e-01 -9.00430966e-04 -5.10965358e+01] [-1.71451147e-03 -1.50610175e-05 9.99998530e-01 -3.47438408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters 0.013149304851338287 Centerline is valid? [True, True] Translation: X:209.61, Y:-51.13, Z:-3.47 [[ 8.46060622e-01 5.33081534e-01 2.34575047e-03 2.09610103e+02] [-5.33079556e-01 8.46063873e-01 -1.45233383e-03 -5.11279567e+01] [-2.75886707e-03 -2.17091574e-05 9.99996194e-01 -3.47484493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters 0.01320438238860439 Centerline is valid? [True, True] Translation: X:209.66, Y:-51.16, Z:-3.48 [[ 8.46189564e-01 5.32877147e-01 2.27355409e-03 2.09663130e+02] [-5.32875287e-01 8.46192618e-01 -1.40805389e-03 -5.11602704e+01] [-2.67418443e-03 -2.00402781e-05 9.99996424e-01 -3.47641777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters 0.013344972844772434 Centerline is valid? [True, True] Translation: X:209.71, Y:-51.19, Z:-3.48 [[ 8.46731524e-01 5.32020215e-01 4.65249485e-04 2.09714711e+02] [-5.32020139e-01 8.46731652e-01 -2.85165713e-04 -5.11922489e+01] [-5.45655389e-04 -6.06329740e-06 9.99999851e-01 -3.47962734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters 0.013478477643546873 Centerline is valid? [True, True] Translation: X:209.77, Y:-51.23, Z:-3.48 [[ 8.47824685e-01 5.30274826e-01 -1.38272003e-03 2.09766525e+02] [-5.30274121e-01 8.47825813e-01 8.64550404e-04 -5.12264058e+01] [ 1.63075505e-03 2.33475239e-07 9.99998670e-01 -3.48204031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters 0.013606652721162382 Centerline is valid? [True, True] Translation: X:209.82, Y:-51.26, Z:-3.48 [[ 8.48389517e-01 5.29368251e-01 -2.11719168e-03 2.09818557e+02] [-5.29366600e-01 8.48392159e-01 1.32214869e-03 -5.12604878e+01] [ 2.49611236e-03 -9.26532186e-07 9.99996885e-01 -3.48308085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters 0.013700609903790533 Centerline is valid? [True, True] Translation: X:209.87, Y:-51.29, Z:-3.48 [[ 8.48836891e-01 5.28648880e-01 -2.50860115e-03 2.09870518e+02] [-5.28646558e-01 8.48840598e-01 1.56685783e-03 -5.12940958e+01] [ 2.95772014e-03 -3.84336427e-06 9.99995626e-01 -3.48444865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters 0.013078707350823846 Centerline is valid? [True, True] Translation: X:209.92, Y:-51.33, Z:-3.48 [[ 8.49217239e-01 5.28041537e-01 -1.48894323e-03 2.09922689e+02] [-5.28040714e-01 8.49218544e-01 9.32341361e-04 -5.13283975e+01] [ 1.75675316e-03 -5.53771079e-06 9.99998457e-01 -3.48121378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters 0.01294428609127477 Centerline is valid? [True, True] Translation: X:209.98, Y:-51.36, Z:-3.48 [[ 8.49448578e-01 5.27671050e-01 -6.13382002e-04 2.09975292e+02] [-5.27670908e-01 8.49448800e-01 3.87051225e-04 -5.13622251e+01] [ 7.25272332e-04 -5.11627472e-06 9.99999737e-01 -3.48020483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters 0.012868412336162066 Centerline is valid? [True, True] Translation: X:210.03, Y:-51.40, Z:-3.48 [[ 8.49235518e-01 5.28014029e-01 -4.69122113e-04 2.10029075e+02] [-5.28013945e-01 8.49235648e-01 2.98041913e-04 -5.13957243e+01] [ 5.55765533e-04 -5.40476159e-06 9.99999846e-01 -3.48043913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters 0.012950705455894275 Centerline is valid? [True, True] Translation: X:210.08, Y:-51.43, Z:-3.48 [[ 8.48419167e-01 5.29324639e-01 -5.86298527e-04 2.10082232e+02] [-5.29324509e-01 8.48419370e-01 3.70943150e-04 -5.14268102e+01] [ 6.93776376e-04 -4.37309831e-06 9.99999759e-01 -3.48206855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters 0.012984738055916639 Centerline is valid? [True, True] Translation: X:210.14, Y:-51.46, Z:-3.48 [[ 8.47184671e-01 5.31298004e-01 -7.51795321e-04 2.10135733e+02] [-5.31297792e-01 8.47185004e-01 4.74401327e-04 -5.14571174e+01] [ 8.88958200e-04 -2.47833819e-06 9.99999605e-01 -3.48355522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters 0.012999684011890418 Centerline is valid? [True, True] Translation: X:210.19, Y:-51.49, Z:-3.48 [[ 8.46193102e-01 5.32875122e-01 -1.15719278e-03 2.10189067e+02] [-5.32874625e-01 8.46193893e-01 7.27754476e-04 -5.14882585e+01] [ 1.36701172e-03 8.17853594e-07 9.99999066e-01 -3.48422961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters 0.01307278845011225 Centerline is valid? [True, True] Translation: X:210.24, Y:-51.52, Z:-3.49 [[ 8.45499671e-01 5.33972624e-01 -1.88233826e-03 2.10242649e+02] [-5.33971317e-01 8.45501766e-01 1.18156818e-03 -5.15200919e+01] [ 2.22244539e-03 6.09913427e-06 9.99997530e-01 -3.48540460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters 0.013050814598644883 Centerline is valid? [True, True] Translation: X:210.30, Y:-51.55, Z:-3.49 [[ 8.45698383e-01 5.33659472e-01 -1.34632207e-03 2.10295672e+02] [-5.33658800e-01 8.45699455e-01 8.46891964e-04 -5.15532389e+01] [ 1.59053576e-03 2.26145498e-06 9.99998735e-01 -3.48600997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters 0.013058313798031412 Centerline is valid? [True, True] Translation: X:210.35, Y:-51.59, Z:-3.49 [[ 8.47020742e-01 5.31559653e-01 -4.45105072e-04 2.10347455e+02] [-5.31559578e-01 8.47020859e-01 2.83236925e-04 -5.15874754e+01] [ 5.27570602e-04 -3.30768666e-06 9.99999861e-01 -3.48645337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters 0.013165809610309723 Centerline is valid? [True, True] Translation: X:210.40, Y:-51.62, Z:-3.49 [[ 8.49526226e-01 5.27546340e-01 2.24144751e-04 2.10398805e+02] [-5.27546323e-01 8.49526255e-01 -1.35108942e-04 -5.16239247e+01] [-2.61693079e-04 -3.46814914e-06 9.99999966e-01 -3.48716132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters 0.013687018135034527 Centerline is valid? [True, True] Translation: X:210.45, Y:-51.66, Z:-3.49 [[ 8.51718870e-01 5.23998922e-01 3.11114549e-04 2.10449357e+02] [-5.23998887e-01 8.51718927e-01 -1.90413617e-04 -5.16599708e+01] [-3.64758680e-04 -8.44806493e-07 9.99999933e-01 -3.48755825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters 0.014654057560191629 Centerline is valid? [True, True] Translation: X:210.50, Y:-51.70, Z:-3.49 [[ 8.55408741e-01 5.17951720e-01 1.37898014e-03 2.10499815e+02] [-5.17951007e-01 8.55409852e-01 -8.60054137e-04 -5.16968161e+01] [-1.62505972e-03 2.14536753e-05 9.99998679e-01 -3.48751994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters 0.015718221287855896 Centerline is valid? [True, True] Translation: X:210.55, Y:-51.73, Z:-3.49 [[ 8.57142074e-01 5.15076387e-01 1.94427310e-03 2.10551087e+02] [-5.15074955e-01 8.57144278e-01 -1.21523548e-03 -5.17323382e+01] [-2.29246166e-03 4.01830810e-05 9.99997371e-01 -3.48845870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters 0.01684428517308088 Centerline is valid? [True, True] Translation: X:210.60, Y:-51.77, Z:-3.49 [[ 8.58318620e-01 5.13110756e-01 2.54927515e-03 2.10601782e+02] [-5.13108278e-01 8.58322403e-01 -1.59595348e-03 -5.17667200e+01] [-3.00700087e-03 6.17824036e-05 9.99995477e-01 -3.48983712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters 0.016279651928270564 Centerline is valid? [True, True] Translation: X:210.66, Y:-51.80, Z:-3.49 [[ 8.56584393e-01 5.16000939e-01 2.49165559e-03 2.10655040e+02] [-5.15998581e-01 8.56588016e-01 -1.56062636e-03 -5.17963577e+01] [-2.93960699e-03 5.11174340e-05 9.99995678e-01 -3.49201811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters 0.014205322524168087 Centerline is valid? [True, True] Translation: X:210.71, Y:-51.82, Z:-3.49 [[ 8.54028244e-01 5.20221827e-01 2.23823002e-03 2.10711195e+02] [-5.20219940e-01 8.54031176e-01 -1.40168348e-03 -5.18237380e+01] [-2.64070456e-03 3.27053985e-05 9.99996513e-01 -3.49244578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters 0.013092887921348625 Centerline is valid? [True, True] Translation: X:210.77, Y:-51.85, Z:-3.49 [[ 8.49165061e-01 5.28125555e-01 1.44841057e-03 2.10767351e+02] [-5.28124778e-01 8.49166296e-01 -9.05960998e-04 -5.18508519e+01] [-1.70840259e-03 4.36891458e-06 9.99998541e-01 -3.49429397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters 0.01281264999184064 Centerline is valid? [True, True] Translation: X:210.82, Y:-51.88, Z:-3.50 [[ 8.44204557e-01 5.36016553e-01 2.21843847e-03 2.10824072e+02] [-5.36014749e-01 8.44207471e-01 -1.39078416e-03 -5.18773396e+01] [-2.61830566e-03 -1.50094119e-05 9.99996572e-01 -3.49509431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters 0.013184410401795127 Centerline is valid? [True, True] Translation: X:210.88, Y:-51.91, Z:-3.50 [[ 8.41264388e-01 5.40617185e-01 2.69984308e-03 2.10879524e+02] [-5.40614531e-01 8.41268719e-01 -1.69450666e-03 -5.19066213e+01] [-3.18737295e-03 -3.40462939e-05 9.99994920e-01 -3.49563692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters 0.013750796458546174 Centerline is valid? [True, True] Translation: X:210.93, Y:-51.94, Z:-3.50 [[ 8.38239839e-01 5.45288190e-01 3.84220319e-03 2.10934231e+02] [-5.45282847e-01 8.38248642e-01 -2.41494878e-03 -5.19353737e+01] [-4.53756465e-03 -7.07812161e-05 9.99989703e-01 -3.49586378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters 0.01421159709898467 Centerline is valid? [True, True] Translation: X:210.99, Y:-51.97, Z:-3.50 [[ 8.37159233e-01 5.46940098e-01 4.57696351e-03 2.10987589e+02] [-5.46932529e-01 8.37171739e-01 -2.87887764e-03 -5.19668359e+01] [-5.40627812e-03 -9.32112322e-05 9.99985382e-01 -3.49627349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters 0.015456955139363954 Centerline is valid? [True, True] Translation: X:211.04, Y:-52.00, Z:-3.50 [[ 8.36672083e-01 5.47687282e-01 4.29727949e-03 2.11040988e+02] [-5.47680613e-01 8.36683114e-01 -2.70441511e-03 -5.19961284e+01] [-5.07663494e-03 -9.08280336e-05 9.99987110e-01 -3.49874496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters 0.014398152285540053 Centerline is valid? [True, True] Translation: X:211.09, Y:-52.03, Z:-3.50 [[ 8.36769665e-01 5.47542238e-01 3.74497813e-03 2.11093802e+02] [-5.47537172e-01 8.36778042e-01 -2.35675854e-03 -5.20301226e+01] [-4.42414031e-03 -7.84506750e-05 9.99990210e-01 -3.49982024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters 0.01402737976546497 Centerline is valid? [True, True] Translation: X:211.15, Y:-52.06, Z:-3.50 [[ 8.37435112e-01 5.46526791e-01 3.30153993e-03 2.11145853e+02] [-5.46522841e-01 8.37441618e-01 -2.07885643e-03 -5.20637570e+01] [-3.90099767e-03 -6.34596192e-05 9.99992389e-01 -3.50113158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters 0.013252124685902603 Centerline is valid? [True, True] Translation: X:211.20, Y:-52.10, Z:-3.50 [[ 8.39384167e-01 5.43533447e-01 2.36892217e-03 2.11196773e+02] [-5.43531402e-01 8.39387509e-01 -1.49113938e-03 -5.20998752e+01] [-2.79892781e-03 -3.59448064e-05 9.99996082e-01 -3.50177312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters 0.012384101069299176 Centerline is valid? [True, True] Translation: X:211.25, Y:-52.14, Z:-3.50 [[ 8.42138515e-01 5.39259630e-01 1.33143941e-03 2.11246775e+02] [-5.39258982e-01 8.42139567e-01 -8.36365252e-04 -5.21364006e+01] [-1.57227583e-03 -1.36552711e-05 9.99998764e-01 -3.50246981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters 0.012450444847321919 Centerline is valid? [True, True] Translation: X:211.30, Y:-52.17, Z:-3.50 [[ 8.44146668e-01 5.36112263e-01 2.10187928e-04 2.11297407e+02] [-5.36112248e-01 8.44146694e-01 -1.27861222e-04 -5.21719653e+01] [-2.45977413e-04 -4.75069820e-06 9.99999970e-01 -3.50401267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters 0.012774735523299125 Centerline is valid? [True, True] Translation: X:211.35, Y:-52.21, Z:-3.50 [[ 8.48234632e-01 5.29620518e-01 3.39933893e-04 2.11347178e+02] [-5.29620476e-01 8.48234701e-01 -2.09684013e-04 -5.22110347e+01] [-3.99396680e-04 -2.17470884e-06 9.99999920e-01 -3.50375011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters 0.013437513381903934 Centerline is valid? [True, True] Translation: X:211.40, Y:-52.25, Z:-3.50 [[ 8.51342383e-01 5.24607787e-01 1.67844479e-03 2.11396901e+02] [-5.24606721e-01 8.51344037e-01 -1.05754936e-03 -5.22478244e+01] [-1.98373260e-03 1.98131754e-05 9.99998032e-01 -3.50286111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters 0.014647694863726177 Centerline is valid? [True, True] Translation: X:211.45, Y:-52.28, Z:-3.50 [[ 8.54681295e-01 5.19140531e-01 3.60469296e-03 2.11447038e+02] [-5.19135539e-01 8.54688893e-01 -2.27783229e-03 -5.22845372e+01] [-4.26340609e-03 7.54964255e-05 9.99990909e-01 -3.50161153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters 0.014748767983921341 Centerline is valid? [True, True] Translation: X:211.50, Y:-52.32, Z:-3.50 [[ 8.55444523e-01 5.17873825e-01 4.62277115e-03 2.11499387e+02] [-5.17865581e-01 8.55457006e-01 -2.92397547e-03 -5.23180594e+01] [-5.46883233e-03 1.07324729e-04 9.99985040e-01 -3.50173109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters 0.015791692849786248 Centerline is valid? [True, True] Translation: X:211.55, Y:-52.35, Z:-3.50 [[ 8.56645302e-01 5.15884297e-01 4.71369379e-03 2.11550138e+02] [-5.15875685e-01 8.56658261e-01 -2.98347558e-03 -5.23521321e+01] [-5.57715293e-03 1.24100327e-04 9.99984440e-01 -3.50263053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters 0.01647550150547909 Centerline is valid? [True, True] Translation: X:211.60, Y:-52.39, Z:-3.51 [[ 8.57365824e-01 5.14707503e-01 -1.73833860e-04 2.11602118e+02] [-5.14707490e-01 8.57365842e-01 1.14493133e-04 -5.23850203e+01] [ 2.07969688e-04 -8.68890994e-06 9.99999978e-01 -3.50756961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters 0.01764923836270141 Centerline is valid? [True, True] Translation: X:211.65, Y:-52.42, Z:-3.51 [[ 8.59002621e-01 5.11970397e-01 -8.99668832e-04 2.11653769e+02] [-5.11970077e-01 8.59003092e-01 5.72838887e-04 -5.24188923e+01] [ 1.06609486e-03 -3.14665843e-05 9.99999431e-01 -3.50859775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters 0.017484210991986084 Centerline is valid? [True, True] Translation: X:211.71, Y:-52.45, Z:-3.51 [[ 8.59153573e-01 5.11717787e-01 2.11167660e-04 2.11707753e+02] [-5.11717771e-01 8.59153599e-01 -1.28804747e-04 -5.24507894e+01] [-2.47337135e-04 2.60481418e-06 9.99999969e-01 -3.50742028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters 0.016702800453476604 Centerline is valid? [True, True] Translation: X:211.76, Y:-52.48, Z:-3.51 [[ 8.58904460e-01 5.12129856e-01 2.47772917e-03 2.11763359e+02] [-5.12127459e-01 8.58908030e-01 -1.56886151e-03 -5.24797837e+01] [-2.93160230e-03 7.85890091e-05 9.99995700e-01 -3.50561654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters 0.01586965093638906 Centerline is valid? [True, True] Translation: X:211.82, Y:-52.51, Z:-3.50 [[ 8.57503286e-01 5.14454219e-01 4.99708687e-03 2.11817899e+02] [-5.14444456e-01 8.57517833e-01 -3.17300751e-03 -5.25084853e+01] [-5.91745820e-03 1.50140733e-04 9.99982480e-01 -3.50315345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters 0.014539594317952645 Centerline is valid? [True, True] Translation: X:211.87, Y:-52.54, Z:-3.50 [[ 8.55311639e-01 5.18077435e-01 6.14589206e-03 2.11873406e+02] [-5.18062756e-01 8.55333705e-01 -3.90291945e-03 -5.25350297e+01] [-7.27880313e-03 1.54254652e-04 9.99973497e-01 -3.50257203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters 0.012458122440784158 Centerline is valid? [True, True] Translation: X:211.93, Y:-52.56, Z:-3.50 [[ 8.49932706e-01 5.26863306e-01 5.42705183e-03 2.11932680e+02] [-5.26852037e-01 8.49950029e-01 -3.44663757e-03 -5.25560788e+01] [-6.42862973e-03 7.01566888e-05 9.99979334e-01 -3.50431942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters 0.011280089375198 Centerline is valid? [True, True] Translation: X:211.99, Y:-52.58, Z:-3.51 [[ 8.43341135e-01 5.37366483e-01 3.60458792e-03 2.11993115e+02] [-5.37361620e-01 8.43348838e-01 -2.28617641e-03 -5.25764867e+01] [-4.26843961e-03 -8.94059709e-06 9.99990890e-01 -3.50589427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters 0.011759058475663152 Centerline is valid? [True, True] Translation: X:212.05, Y:-52.60, Z:-3.51 [[ 8.39443058e-01 5.43440636e-01 2.76169479e-03 2.12049815e+02] [-5.43437814e-01 8.39447601e-01 -1.75176455e-03 -5.26012555e+01] [-3.27027811e-03 -3.03027836e-05 9.99994652e-01 -3.50874565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters 0.01281761405316825 Centerline is valid? [True, True] Translation: X:212.11, Y:-52.63, Z:-3.51 [[ 8.35781584e-01 5.49053833e-01 3.00544490e-03 2.12107352e+02] [-5.49050522e-01 8.35786986e-01 -1.90754070e-03 -5.26263714e+01] [-3.55925427e-03 -5.58537032e-05 9.99993664e-01 -3.50977166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters 0.01283004438303029 Centerline is valid? [True, True] Translation: X:212.16, Y:-52.66, Z:-3.51 [[ 8.34240850e-01 5.51377537e-01 5.00155409e-03 2.12160815e+02] [-5.51368382e-01 8.34255837e-01 -3.17913289e-03 -5.26574777e+01] [-5.92547815e-03 -1.05536260e-04 9.99982439e-01 -3.50749520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters 0.013473880878812843 Centerline is valid? [True, True] Translation: X:212.22, Y:-52.69, Z:-3.51 [[ 8.32943700e-01 5.53341183e-01 4.28109922e-03 2.12216122e+02] [-5.53334497e-01 8.32954695e-01 -2.72205999e-03 -5.26861926e+01] [-5.07218959e-03 -1.01557167e-04 9.99987131e-01 -3.50886834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters 0.016607123271046235 Centerline is valid? [True, True] Translation: X:212.27, Y:-52.71, Z:-3.51 [[ 8.28613545e-01 5.59821024e-01 -1.20765584e-04 2.12272132e+02] [-5.59821019e-01 8.28613554e-01 7.69034639e-05 -5.27100796e+01] [ 1.43120176e-04 3.88386058e-06 9.99999990e-01 -3.51356594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters 0.016607123271046235 Centerline is valid? [True, True] Translation: X:212.32, Y:-52.74, Z:-3.51 [[ 8.28458302e-01 5.60050736e-01 -1.18375074e-04 2.12324770e+02] [-5.60050730e-01 8.28458311e-01 8.06555118e-05 -5.27437088e+01] [ 1.43239993e-04 -5.23681786e-07 9.99999990e-01 -3.51455636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters 0.015915098582525423 Centerline is valid? [True, True] Translation: X:212.38, Y:-52.78, Z:-3.51 [[ 8.28483769e-01 5.60013065e-01 1.07400833e-04 2.12376429e+02] [-5.60013062e-01 8.28483776e-01 -6.38405615e-05 -5.27790971e+01] [-1.24731396e-04 -7.25500014e-06 9.99999992e-01 -3.51445828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters 0.015915098582525423 Centerline is valid? [True, True] Translation: X:212.43, Y:-52.81, Z:-3.52 [[ 8.28325291e-01 5.60247447e-01 1.07688094e-04 2.12429051e+02] [-5.60247443e-01 8.28325298e-01 -6.33912422e-05 -5.28127453e+01] [-1.24715554e-04 -7.82341025e-06 9.99999992e-01 -3.51544978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters 0.015774731899301262 Centerline is valid? [True, True] Translation: X:212.48, Y:-52.85, Z:-3.52 [[ 8.28555177e-01 5.59907266e-01 4.15292364e-04 2.12480604e+02] [-5.59907206e-01 8.28555281e-01 -2.60494306e-04 -5.28474021e+01] [-4.89945336e-04 -1.66912810e-05 9.99999880e-01 -3.51583556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters 0.014809281461305716 Centerline is valid? [True, True] Translation: X:212.53, Y:-52.88, Z:-3.52 [[ 8.29326585e-01 5.58764039e-01 4.05431757e-04 2.12530148e+02] [-5.58763981e-01 8.29326684e-01 -2.54257085e-04 -5.28846323e+01] [-4.78305090e-04 -1.56785026e-05 9.99999885e-01 -3.51558444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters 0.01496558388679743 Centerline is valid? [True, True] Translation: X:212.58, Y:-52.92, Z:-3.52 [[ 8.30009963e-01 5.57748398e-01 4.31071966e-04 2.12580934e+02] [-5.57748332e-01 8.30010075e-01 -2.71180874e-04 -5.29184001e+01] [-5.09044773e-04 -1.53468427e-05 9.99999870e-01 -3.51746427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters 0.015066491866232911 Centerline is valid? [True, True] Translation: X:212.63, Y:-52.95, Z:-3.52 [[ 8.30363880e-01 5.57221432e-01 3.22229758e-04 2.12631152e+02] [-5.57221395e-01 8.30363942e-01 -2.01493204e-04 -5.29543752e+01] [-3.79844303e-04 -1.22406367e-05 9.99999928e-01 -3.51836192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters 0.01524668368371049 Centerline is valid? [True, True] Translation: X:212.68, Y:-52.99, Z:-3.52 [[ 8.30190509e-01 5.57479747e-01 -2.23515093e-04 2.12681591e+02] [-5.57479727e-01 8.30190539e-01 1.48178652e-04 -5.29916595e+01] [ 2.68166713e-04 1.58862257e-06 9.99999964e-01 -3.51837977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters 0.015477735341430042 Centerline is valid? [True, True] Translation: X:212.73, Y:-53.03, Z:-3.52 [[ 8.29609542e-01 5.58343976e-01 -1.07643934e-04 2.12733159e+02] [-5.58343971e-01 8.29609549e-01 7.34347479e-05 -5.30265718e+01] [ 1.30304284e-04 -8.19826225e-07 9.99999992e-01 -3.51853487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters 0.014810422581637799 Centerline is valid? [True, True] Translation: X:212.78, Y:-53.06, Z:-3.52 [[ 8.28782081e-01 5.59571449e-01 2.35081175e-04 2.12784130e+02] [-5.59571430e-01 8.28782114e-01 -1.45844275e-04 -5.30619882e+01] [-2.76441366e-04 -1.06715875e-05 9.99999962e-01 -3.51778388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters 0.015713770704392272 Centerline is valid? [True, True] Translation: X:212.84, Y:-53.10, Z:-3.52 [[ 8.28040886e-01 5.60667141e-01 8.05542103e-04 2.12835474e+02] [-5.60666906e-01 8.28041277e-01 -5.13552998e-04 -5.30957396e+01] [-9.54954403e-04 -2.63979192e-05 9.99999544e-01 -3.51868966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters 0.016956927002332794 Centerline is valid? [True, True] Translation: X:212.89, Y:-53.13, Z:-3.52 [[ 8.27339271e-01 5.61700859e-01 1.36914648e-03 2.12887008e+02] [-5.61700182e-01 8.27340403e-01 -8.73406257e-04 -5.31287914e+01] [-1.62334325e-03 -4.64465310e-05 9.99998681e-01 -3.52013923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters 0.01676502605451638 Centerline is valid? [True, True] Translation: X:212.94, Y:-53.17, Z:-3.52 [[ 8.25672457e-01 5.64149577e-01 4.98881899e-04 2.12937285e+02] [-5.64149488e-01 8.25672607e-01 -3.18505957e-04 -5.31651886e+01] [-5.91598119e-04 -1.84623717e-05 9.99999825e-01 -3.52041952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters 0.018265467423725486 Centerline is valid? [True, True] Translation: X:212.99, Y:-53.20, Z:-3.52 [[ 8.24269533e-01 5.66196749e-01 9.89517393e-04 2.12987822e+02] [-5.66196399e-01 8.24270126e-01 -6.30449992e-04 -5.31988941e+01] [-1.17258836e-03 -4.06004649e-05 9.99999312e-01 -3.52148250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters 0.018791553416553287 Centerline is valid? [True, True] Translation: X:213.04, Y:-53.23, Z:-3.52 [[ 8.24526956e-01 5.65818423e-01 2.19330679e-03 2.13037793e+02] [-5.65816686e-01 8.24529869e-01 -1.40469722e-03 -5.32342302e+01] [-2.60325053e-03 -8.27988582e-05 9.99996608e-01 -3.52270747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters 0.01614034467366756 Centerline is valid? [True, True] Translation: X:213.09, Y:-53.27, Z:-3.52 [[ 8.26245764e-01 5.63299151e-01 3.46453311e-03 2.13085524e+02] [-5.63294781e-01 8.26253020e-01 -2.22187008e-03 -5.32742028e+01] [-4.11415848e-03 -1.15742673e-04 9.99991530e-01 -3.52214769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters 0.013578128891403397 Centerline is valid? [True, True] Translation: X:213.13, Y:-53.32, Z:-3.52 [[ 8.31420736e-01 5.55615485e-01 5.56700161e-03 2.13130802e+02] [-5.55604017e-01 8.31439365e-01 -3.57203417e-03 -5.33162451e+01] [-6.61330178e-03 -1.23185177e-04 9.99978124e-01 -3.52212827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters 0.01212480881192997 Centerline is valid? [True, True] Translation: X:213.18, Y:-53.36, Z:-3.52 [[ 8.35862979e-01 5.48900722e-01 6.40911627e-03 2.13177924e+02] [-5.48885318e-01 8.35887547e-01 -4.11303165e-03 -5.33565938e+01] [-7.61494652e-03 -7.99389359e-05 9.99971003e-01 -3.52256197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters 0.011474445228730631 Centerline is valid? [True, True] Translation: X:213.22, Y:-53.40, Z:-3.52 [[ 8.41714572e-01 5.39885781e-01 6.31850484e-03 2.13223184e+02] [-5.39870565e-01 8.41738287e-01 -4.05328841e-03 -5.33987588e+01] [-7.50684022e-03 5.37138014e-07 9.99971823e-01 -3.52444424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters 0.011947543571996127 Centerline is valid? [True, True] Translation: X:213.27, Y:-53.44, Z:-3.53 [[ 8.44541179e-01 5.35460676e-01 5.66220822e-03 2.13272464e+02] [-5.35448350e-01 8.44560159e-01 -3.63348566e-03 -5.34374232e+01] [-6.72766417e-03 3.68082128e-05 9.99977368e-01 -3.52655425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters 0.013150565219602948 Centerline is valid? [True, True] Translation: X:213.32, Y:-53.48, Z:-3.53 [[ 8.47909263e-01 5.30114402e-01 5.34816891e-03 2.13319769e+02] [-5.30103287e-01 8.47926126e-01 -3.43378677e-03 -5.34773072e+01] [-6.35515196e-03 7.64576922e-05 9.99979803e-01 -3.52860686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters 0.013678099190066998 Centerline is valid? [True, True] Translation: X:213.37, Y:-53.52, Z:-3.53 [[ 8.50362473e-01 5.26158727e-01 6.37642714e-03 2.13368878e+02] [-5.26142795e-01 8.50386370e-01 -4.09654960e-03 -5.35150968e+01] [-7.57786205e-03 1.28640849e-04 9.99971279e-01 -3.52887139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters 0.013920742742241955 Centerline is valid? [True, True] Translation: X:213.42, Y:-53.55, Z:-3.53 [[ 8.50937965e-01 5.25220055e-01 6.96224470e-03 2.13419496e+02] [-5.25201006e-01 8.50966433e-01 -4.47576206e-03 -5.35507256e+01] [-8.27539654e-03 1.52017939e-04 9.99965747e-01 -3.52960503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters 0.013681612979538136 Centerline is valid? [True, True] Translation: X:213.47, Y:-53.59, Z:-3.53 [[ 8.50231724e-01 5.26357120e-01 7.36190654e-03 2.13470996e+02] [-5.26335839e-01 8.50263582e-01 -4.73552381e-03 -5.35855308e+01] [-8.75213770e-03 1.51457308e-04 9.99961688e-01 -3.53102382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters 0.013059651311612417 Centerline is valid? [True, True] Translation: X:213.52, Y:-53.62, Z:-3.53 [[ 8.48266811e-01 5.29524929e-01 6.83863497e-03 2.13524053e+02] [-5.29506652e-01 8.48294369e-01 -4.40099338e-03 -5.36181028e+01] [-8.13161124e-03 1.12113908e-04 9.99966932e-01 -3.53277986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters 0.011847876947805454 Centerline is valid? [True, True] Translation: X:213.58, Y:-53.65, Z:-3.54 [[ 8.43747514e-01 5.36704146e-01 6.22839052e-03 2.13579578e+02] [-5.36689155e-01 8.43770501e-01 -4.01159754e-03 -5.36475019e+01] [-7.40837322e-03 4.20658085e-05 9.99972557e-01 -3.53507992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters 0.011398999289691864 Centerline is valid? [True, True] Translation: X:213.63, Y:-53.68, Z:-3.54 [[ 8.40550116e-01 5.41692133e-01 6.71827314e-03 2.13633830e+02] [-5.41674854e-01 8.40576965e-01 -4.32659327e-03 -5.36778480e+01] [-7.99090718e-03 -2.40114698e-06 9.99968072e-01 -3.53586648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters 0.011625086699815103 Centerline is valid? [True, True] Translation: X:213.69, Y:-53.71, Z:-3.54 [[ 8.37100920e-01 5.46988642e-01 8.09168303e-03 2.13688275e+02] [-5.46963789e-01 8.37140025e-01 -5.21458262e-03 -5.37089925e+01] [-9.62618920e-03 -6.07257062e-05 9.99953665e-01 -3.53601109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters 0.01196372323110601 Centerline is valid? [True, True] Translation: X:213.74, Y:-53.74, Z:-3.54 [[ 8.35392301e-01 5.49571979e-01 9.50496754e-03 2.13741288e+02] [-5.49537799e-01 8.35446366e-01 -6.13008176e-03 -5.37423704e+01] [-1.13098117e-02 -1.02315832e-04 9.99936037e-01 -3.53590037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters 0.012175889432535435 Centerline is valid? [True, True] Translation: X:213.79, Y:-53.78, Z:-3.54 [[ 8.33808601e-01 5.51956385e-01 1.03617798e-02 2.13793973e+02] [-5.51915889e-01 8.33872969e-01 -6.68746840e-03 -5.37755032e+01] [-1.23315989e-02 -1.42762231e-04 9.99923953e-01 -3.53684764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters 0.012492260510860085 Centerline is valid? [True, True] Translation: X:213.84, Y:-53.81, Z:-3.54 [[ 8.33254434e-01 5.52818277e-01 8.88822461e-03 2.13844974e+02] [-5.52788502e-01 8.33301827e-01 -5.73908122e-03 -5.38082652e+01] [-1.05792428e-02 -1.31193491e-04 9.99944030e-01 -3.54022066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters 0.01220131993613101 Centerline is valid? [True, True] Translation: X:213.90, Y:-53.84, Z:-3.54 [[ 8.34049650e-01 5.51636477e-01 7.64054718e-03 2.13895736e+02] [-5.51614409e-01 8.34084640e-01 -4.93521564e-03 -5.38439748e+01] [-9.09530802e-03 -9.84210421e-05 9.99958632e-01 -3.54248300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters 0.011742293579522459 Centerline is valid? [True, True] Translation: X:213.94, Y:-53.88, Z:-3.54 [[ 8.37233640e-01 5.46809653e-01 6.24778426e-03 2.13944307e+02] [-5.46794753e-01 8.37256951e-01 -4.03695633e-03 -5.38831033e+01] [-7.43844749e-03 -3.63800023e-05 9.99972334e-01 -3.54462664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters 0.011714407125657893 Centerline is valid? [True, True] Translation: X:213.99, Y:-53.92, Z:-3.55 [[ 8.39995806e-01 5.42561902e-01 5.79902660e-03 2.13993935e+02] [-5.42548954e-01 8.40015823e-01 -3.74830213e-03 -5.39221060e+01] [-6.90496004e-03 2.30224641e-06 9.99976160e-01 -3.54540727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters 0.012604825286923181 Centerline is valid? [True, True] Translation: X:214.04, Y:-53.96, Z:-3.55 [[ 8.44385517e-01 5.35705177e-01 5.74986269e-03 2.14041280e+02] [-5.35692270e-01 8.44405092e-01 -3.71921343e-03 -5.39630105e+01] [-6.84761522e-03 6.02929569e-05 9.99976553e-01 -3.54564112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters 0.01352938863915327 Centerline is valid? [True, True] Translation: X:214.09, Y:-54.00, Z:-3.54 [[ 8.47275396e-01 5.31115986e-01 6.34143069e-03 2.14089871e+02] [-5.31100137e-01 8.47299119e-01 -4.10450039e-03 -5.40027511e+01] [-7.55305441e-03 1.09707490e-04 9.99971469e-01 -3.54432565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters 0.013570384345207782 Centerline is valid? [True, True] Translation: X:214.14, Y:-54.04, Z:-3.54 [[ 8.48115509e-01 5.29770291e-01 6.59710945e-03 2.14140988e+02] [-5.29753079e-01 8.48141157e-01 -4.27239655e-03 -5.40381566e+01] [-7.85866881e-03 1.28646736e-04 9.99969112e-01 -3.54347182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters 0.013676534645478371 Centerline is valid? [True, True] Translation: X:214.19, Y:-54.07, Z:-3.54 [[ 8.47164762e-01 5.31294234e-01 6.18885149e-03 2.14191954e+02] [-5.31279111e-01 8.47187361e-01 -4.01014180e-03 -5.40718526e+01] [-7.37368197e-03 1.09243306e-04 9.99972808e-01 -3.54441257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters 0.012960380873816912 Centerline is valid? [True, True] Translation: X:214.25, Y:-54.10, Z:-3.55 [[ 8.44171042e-01 5.36047057e-01 5.36701601e-03 2.14245873e+02] [-5.36035773e-01 8.44188101e-01 -3.47863579e-03 -5.41031671e+01] [-6.39548353e-03 5.96510252e-05 9.99979547e-01 -3.54533831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters 0.01229129580446007 Centerline is valid? [True, True] Translation: X:214.30, Y:-54.13, Z:-3.55 [[ 8.40090354e-01 5.42424969e-01 4.83227433e-03 2.14301158e+02] [-5.42415919e-01 8.40104251e-01 -3.13329802e-03 -5.41318784e+01] [-5.75919329e-03 1.11509222e-05 9.99983416e-01 -3.54700822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters 0.012171175667963833 Centerline is valid? [True, True] Translation: X:214.36, Y:-54.16, Z:-3.55 [[ 8.38433720e-01 5.44988685e-01 4.02882221e-03 2.14355105e+02] [-5.44982423e-01 8.38443399e-01 -2.61244199e-03 -5.41640437e+01] [-4.80169071e-03 -5.27783891e-06 9.99988472e-01 -3.54809013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters 0.01235634265912025 Centerline is valid? [True, True] Translation: X:214.41, Y:-54.19, Z:-3.55 [[ 8.35826017e-01 5.48985826e-01 3.07112146e-03 2.14408460e+02] [-5.48982212e-01 8.35831659e-01 -1.99221072e-03 -5.41934304e+01] [-3.66063599e-03 -2.08495002e-05 9.99993300e-01 -3.55069917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters 0.01274004690808799 Centerline is valid? [True, True] Translation: X:214.46, Y:-54.22, Z:-3.55 [[ 8.32947007e-01 5.53344296e-01 3.06171500e-03 2.14462483e+02] [-5.53340730e-01 8.32952633e-01 -1.98674580e-03 -5.42238274e+01] [-3.64961803e-03 -3.93176473e-05 9.99993339e-01 -3.55059001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters 0.013140966135310305 Centerline is valid? [True, True] Translation: X:214.52, Y:-54.25, Z:-3.55 [[ 8.31264877e-01 5.55866370e-01 3.35893746e-03 2.14516102e+02] [-5.55862093e-01 8.31271662e-01 -2.18124025e-03 -5.42548113e+01] [-4.00466763e-03 -5.39176020e-05 9.99991980e-01 -3.55063613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters 0.013242316206118621 Centerline is valid? [True, True] Translation: X:214.57, Y:-54.29, Z:-3.55 [[ 8.30463432e-01 5.57064415e-01 3.11871884e-03 2.14569187e+02] [-5.57060733e-01 8.30469286e-01 -2.02596602e-03 -5.42876162e+01] [-3.71859378e-03 -5.48251063e-05 9.99993085e-01 -3.55084063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters 0.013485941177167117 Centerline is valid? [True, True] Translation: X:214.62, Y:-54.32, Z:-3.55 [[ 8.29059392e-01 5.59157780e-01 1.76087492e-03 2.14622708e+02] [-5.59156615e-01 8.29061261e-01 -1.14243358e-03 -5.43198709e+01] [-2.09867381e-03 -3.74595643e-05 9.99997797e-01 -3.55158772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters 0.014155855737179618 Centerline is valid? [True, True] Translation: X:214.68, Y:-54.35, Z:-3.55 [[ 8.27674344e-01 5.61208633e-01 2.24203930e-04 2.14676495e+02] [-5.61208615e-01 8.27674375e-01 -1.41455638e-04 -5.43512204e+01] [-2.64953973e-04 -8.74597481e-06 9.99999965e-01 -3.55397919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters 0.014290759153354924 Centerline is valid? [True, True] Translation: X:214.73, Y:-54.38, Z:-3.55 [[ 8.26623055e-01 5.62755546e-01 -7.21104360e-04 2.14729667e+02] [-5.62755346e-01 8.26623370e-01 4.75052689e-04 -5.43837134e+01] [ 8.63420252e-04 1.31158284e-05 9.99999627e-01 -3.55486592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters 0.014741786721213658 Centerline is valid? [True, True] Translation: X:214.78, Y:-54.42, Z:-3.56 [[ 8.26820120e-01 5.62465904e-01 -7.72456214e-04 2.14781542e+02] [-5.62465674e-01 8.26820480e-01 5.08734484e-04 -5.44168690e+01] [ 9.24828420e-04 1.38481979e-05 9.99999572e-01 -3.55652122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters 0.014111894925587795 Centerline is valid? [True, True] Translation: X:214.83, Y:-54.45, Z:-3.56 [[ 8.27968251e-01 5.60774463e-01 -7.59183748e-04 2.14831851e+02] [-5.60774240e-01 8.27968599e-01 5.00287745e-04 -5.44536888e+01] [ 9.09128896e-04 1.15083198e-05 9.99999587e-01 -3.55592994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters 0.013956389307583139 Centerline is valid? [True, True] Translation: X:214.88, Y:-54.49, Z:-3.56 [[ 8.28824044e-01 5.59509200e-01 -3.99275078e-04 2.14882421e+02] [-5.59509137e-01 8.28824140e-01 2.65026120e-04 -5.44885699e+01] [ 4.79213375e-04 3.73803338e-06 9.99999885e-01 -3.55679414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters 0.012980409549058202 Centerline is valid? [True, True] Translation: X:214.93, Y:-54.53, Z:-3.56 [[ 8.30926027e-01 5.56382675e-01 5.06524410e-04 2.14932361e+02] [-5.56382580e-01 8.30926181e-01 -3.26422755e-04 -5.45259279e+01] [-6.02500359e-04 -1.05881952e-05 9.99999818e-01 -3.55617749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters 0.012288375167340885 Centerline is valid? [True, True] Translation: X:214.98, Y:-54.56, Z:-3.56 [[ 8.33224175e-01 5.52931640e-01 2.01889605e-03 2.14982278e+02] [-5.52930076e-01 8.33226620e-01 -1.31550472e-03 -5.45637098e+01] [-2.40958212e-03 -2.01980134e-05 9.99997097e-01 -3.55540627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters 0.012095091305150865 Centerline is valid? [True, True] Translation: X:215.03, Y:-54.60, Z:-3.56 [[ 8.34308165e-01 5.51293034e-01 2.42390501e-03 2.15033053e+02] [-5.51290767e-01 8.34311686e-01 -1.58122104e-03 -5.45989813e+01] [-2.89400842e-03 -1.70508290e-05 9.99995812e-01 -3.55638127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters 0.012206962872363804 Centerline is valid? [True, True] Translation: X:215.09, Y:-54.63, Z:-3.56 [[ 8.34661424e-01 5.50761511e-01 1.43722177e-03 2.15085075e+02] [-5.50760715e-01 8.34662661e-01 -9.36187787e-04 -5.46325274e+01] [-1.71521154e-03 -1.01654557e-05 9.99998529e-01 -3.55932081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters 0.012356920809071064 Centerline is valid? [True, True] Translation: X:215.14, Y:-54.67, Z:-3.56 [[ 8.35038937e-01 5.50190815e-01 2.03489852e-04 2.15137251e+02] [-5.50190799e-01 8.35038962e-01 -1.28616777e-04 -5.46658886e+01] [-2.40685724e-04 -4.55822774e-06 9.99999971e-01 -3.56282349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters 0.01237955071193074 Centerline is valid? [True, True] Translation: X:215.19, Y:-54.70, Z:-3.56 [[ 8.36285363e-01 5.48294208e-01 5.03701387e-04 2.15188839e+02] [-5.48294111e-01 8.36285514e-01 -3.25451178e-04 -5.47009044e+01] [-5.99681169e-04 -4.00644809e-06 9.99999820e-01 -3.56421552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters 0.01256438044686539 Centerline is valid? [True, True] Translation: X:215.24, Y:-54.74, Z:-3.56 [[ 8.38689750e-01 5.44603539e-01 2.54701994e-03 2.15239102e+02] [-5.44600993e-01 8.38693618e-01 -1.66534753e-03 -5.47369407e+01] [-3.04312353e-03 9.60031797e-06 9.99995370e-01 -3.56373173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters 0.012754885707975831 Centerline is valid? [True, True] Translation: X:215.29, Y:-54.77, Z:-3.56 [[ 8.41111662e-01 5.40848296e-01 3.78046396e-03 2.15289679e+02] [-5.40842633e-01 8.41120157e-01 -2.47532686e-03 -5.47726275e+01] [-4.51860076e-03 3.73902079e-05 9.99989790e-01 -3.56317420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters 0.013302779688600863 Centerline is valid? [True, True] Translation: X:215.34, Y:-54.81, Z:-3.56 [[ 8.42809583e-01 5.38188803e-01 4.98188309e-03 2.15340948e+02] [-5.38178902e-01 8.42824304e-01 -3.26529510e-03 -5.48084320e+01] [-5.95619741e-03 7.08776258e-05 9.99982259e-01 -3.56333230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters 0.014021881398749433 Centerline is valid? [True, True] Translation: X:215.39, Y:-54.84, Z:-3.56 [[ 8.43941785e-01 5.36404894e-01 5.66155462e-03 2.15391639e+02] [-5.36392048e-01 8.43960769e-01 -3.71365206e-03 -5.48421246e+01] [-6.77015113e-03 9.72932732e-05 9.99977078e-01 -3.56409370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters 0.014250594341479185 Centerline is valid? [True, True] Translation: X:215.44, Y:-54.88, Z:-3.57 [[ 8.44690460e-01 5.35231425e-01 5.03474649e-03 2.15444350e+02] [-5.35221239e-01 8.44705459e-01 -3.30346213e-03 -5.48753951e+01] [-6.02099459e-03 9.56996970e-05 9.99981869e-01 -3.56536655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters 0.01451805944240862 Centerline is valid? [True, True] Translation: X:215.50, Y:-54.91, Z:-3.57 [[ 8.44858027e-01 5.34969856e-01 4.70820865e-03 2.15496616e+02] [-5.34960936e-01 8.44871141e-01 -3.09056813e-03 -5.49091252e+01] [-5.63119040e-03 9.23835829e-05 9.99984140e-01 -3.56633864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46655999499998 meters 0.014254299412540743 Centerline is valid? [True, True] Translation: X:215.55, Y:-54.94, Z:-3.57 [[ 8.44802415e-01 5.35058011e-01 4.66948795e-03 2.15550877e+02] [-5.35049233e-01 8.44815315e-01 -3.06623572e-03 -5.49412770e+01] [-5.58546892e-03 9.19573968e-05 9.99984397e-01 -3.56696758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters 0.013978779859682851 Centerline is valid? [True, True] Translation: X:215.60, Y:-54.97, Z:-3.57 [[ 8.43188151e-01 5.37597484e-01 4.76302501e-03 2.15603547e+02] [-5.37588370e-01 8.43201600e-01 -3.13142853e-03 -5.49718211e+01] [-5.69963841e-03 7.98365874e-05 9.99983754e-01 -3.56854766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters 0.01336739700958978 Centerline is valid? [True, True] Translation: X:215.66, Y:-55.00, Z:-3.57 [[ 8.41166089e-01 5.40755948e-01 4.75566329e-03 2.15657133e+02] [-5.40746914e-01 8.41179530e-01 -3.12630809e-03 -5.50029790e+01] [-5.69093630e-03 5.81340967e-05 9.99983805e-01 -3.56922618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters 0.012581057688236176 Centerline is valid? [True, True] Translation: X:215.71, Y:-55.03, Z:-3.57 [[ 8.37972206e-01 5.45685851e-01 5.43459025e-03 2.15712289e+02] [-5.45674140e-01 8.37989828e-01 -3.57511368e-03 -5.50316587e+01] [-6.50502029e-03 3.03305362e-05 9.99978842e-01 -3.56963868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.706559995 meters 0.012235991090835658 Centerline is valid? [True, True] Translation: X:215.77, Y:-55.06, Z:-3.57 [[ 8.35658969e-01 5.49214658e-01 6.11123553e-03 2.15766571e+02] [-5.49199924e-01 8.35681315e-01 -4.02291402e-03 -5.50617361e+01] [-7.31648869e-03 5.49409759e-06 9.99973234e-01 -3.57046289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.766559995 meters 0.012171711703729663 Centerline is valid? [True, True] Translation: X:215.82, Y:-55.09, Z:-3.57 [[ 8.34323418e-01 5.51233989e-01 6.74715006e-03 2.15820505e+02] [-5.51216074e-01 8.34350699e-01 -4.44408564e-03 -5.50944055e+01] [-8.07922043e-03 -1.13328469e-05 9.99967363e-01 -3.57073047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters 0.012169433119225736 Centerline is valid? [True, True] Translation: X:215.87, Y:-55.13, Z:-3.57 [[ 8.33275145e-01 5.52804380e-01 7.73629583e-03 2.15873657e+02] [-5.52780858e-01 8.33311057e-01 -5.09966355e-03 -5.51263096e+01] [-9.26585720e-03 -2.70533624e-05 9.99957071e-01 -3.57157978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters 0.01214634412681767 Centerline is valid? [True, True] Translation: X:215.93, Y:-55.16, Z:-3.57 [[ 8.31579257e-01 5.55341843e-01 8.44850366e-03 2.15928354e+02] [-5.55313886e-01 8.31622170e-01 -5.57256773e-03 -5.51583483e+01] [-1.01206430e-02 -5.75396696e-05 9.99948783e-01 -3.57239089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters 0.012542145630553605 Centerline is valid? [True, True] Translation: X:215.98, Y:-55.19, Z:-3.57 [[ 8.28978612e-01 5.59209275e-01 8.91332935e-03 2.15982527e+02] [-5.59178336e-01 8.29026523e-01 -5.88329323e-03 -5.51893033e+01] [-1.06793786e-02 -1.07016423e-04 9.99942968e-01 -3.57374804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters 0.012706016338161258 Centerline is valid? [True, True] Translation: X:216.03, Y:-55.22, Z:-3.57 [[ 8.27838206e-01 5.60891368e-01 9.20746350e-03 2.16034888e+02] [-5.60858419e-01 8.27889399e-01 -6.08087031e-03 -5.52225128e+01] [-1.10334691e-02 -1.30106653e-04 9.99939121e-01 -3.57477500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters 0.013649789945325504 Centerline is valid? [True, True] Translation: X:216.09, Y:-55.25, Z:-3.58 [[ 8.24749179e-01 5.65428509e-01 8.91027310e-03 2.16089513e+02] [-5.65397883e-01 8.24797289e-01 -5.88775697e-03 -5.52528716e+01] [-1.06782747e-02 -1.81926822e-04 9.99942969e-01 -3.57749662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters 0.014166811219056809 Centerline is valid? [True, True] Translation: X:216.14, Y:-55.29, Z:-3.58 [[ 8.23274657e-01 5.67575616e-01 8.76129082e-03 2.16142059e+02] [-5.67546087e-01 8.23321249e-01 -5.79303878e-03 -5.52851822e+01] [-1.05013445e-02 -2.03174317e-04 9.99944839e-01 -3.57972158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters 0.01432830573813484 Centerline is valid? [True, True] Translation: X:216.19, Y:-55.32, Z:-3.58 [[ 8.22320435e-01 5.68960469e-01 8.54902436e-03 2.16193652e+02] [-5.68932422e-01 8.22364845e-01 -5.65344791e-03 -5.53197421e+01] [-1.02470055e-02 -2.14871384e-04 9.99947475e-01 -3.58175937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters 0.014755860153838148 Centerline is valid? [True, True] Translation: X:216.24, Y:-55.35, Z:-3.58 [[ 8.22425255e-01 5.68804557e-01 8.83609439e-03 2.16244642e+02] [-5.68774548e-01 8.22472692e-01 -5.84683144e-03 -5.53534028e+01] [-1.05931507e-02 -2.17163752e-04 9.99943867e-01 -3.58333810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters 0.014334467377824926 Centerline is valid? [True, True] Translation: X:216.29, Y:-55.39, Z:-3.58 [[ 8.23988878e-01 5.66534460e-01 9.00193361e-03 2.16293540e+02] [-5.66503144e-01 8.24038027e-01 -5.95969486e-03 -5.53908588e+01] [-1.07943081e-02 -1.88901415e-04 9.99941722e-01 -3.58460747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters 0.01307501142272758 Centerline is valid? [True, True] Translation: X:216.34, Y:-55.43, Z:-3.58 [[ 8.25959210e-01 5.63653063e-01 9.30630196e-03 2.16341540e+02] [-5.63619376e-01 8.26011623e-01 -6.16424769e-03 -5.54307192e+01] [-1.11616107e-02 -1.53794950e-04 9.99937695e-01 -3.58463697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters 0.012232736929264515 Centerline is valid? [True, True] Translation: X:216.39, Y:-55.47, Z:-3.59 [[ 8.29587822e-01 5.58281693e-01 1.02760358e-02 2.16388205e+02] [-5.58240153e-01 8.29651459e-01 -6.81080733e-03 -5.54725696e+01] [-1.23278771e-02 -8.63329621e-05 9.99924005e-01 -3.58549834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters 0.01194533216749541 Centerline is valid? [True, True] Translation: X:216.44, Y:-55.51, Z:-3.59 [[ 8.31700003e-01 5.55120118e-01 1.08055796e-02 2.16436837e+02] [-5.55073865e-01 8.31770193e-01 -7.16593035e-03 -5.55114671e+01] [-1.29657111e-02 -3.79905591e-05 9.99915941e-01 -3.58635603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters 0.011999000533591049 Centerline is valid? [True, True] Translation: X:216.49, Y:-55.55, Z:-3.59 [[ 8.33836246e-01 5.51898032e-01 1.12106185e-02 2.16485762e+02] [-5.51847900e-01 8.33911603e-01 -7.43857793e-03 -5.55520004e+01] [-1.34540014e-02 1.59996201e-05 9.99909491e-01 -3.58718721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters 0.012067209282499295 Centerline is valid? [True, True] Translation: X:216.53, Y:-55.59, Z:-3.59 [[ 8.35309308e-01 5.49673000e-01 1.08606477e-02 2.16534937e+02] [-5.49625705e-01 8.35379908e-01 -7.21065787e-03 -5.55907738e+01] [-1.30362708e-02 5.38384910e-05 9.99915023e-01 -3.58917578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters 0.012097223665439697 Centerline is valid? [True, True] Translation: X:216.59, Y:-55.63, Z:-3.59 [[ 8.36149205e-01 5.48403759e-01 1.03838392e-02 2.16585735e+02] [-5.48360379e-01 8.36213676e-01 -6.89807234e-03 -5.56282863e+01] [-1.24660371e-02 7.37317240e-05 9.99922293e-01 -3.59046830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters 0.012419563112822926 Centerline is valid? [True, True] Translation: X:216.63, Y:-55.67, Z:-3.59 [[ 8.37364220e-01 5.46557393e-01 9.80716245e-03 2.16634740e+02] [-5.46518524e-01 8.37421642e-01 -6.51890168e-03 -5.56662243e+01] [-1.17756840e-02 9.88990686e-05 9.99930659e-01 -3.59265183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters 0.012402220044710794 Centerline is valid? [True, True] Translation: X:216.68, Y:-55.70, Z:-3.59 [[ 8.37248370e-01 5.46743695e-01 9.30046419e-03 2.16684997e+02] [-5.46708717e-01 8.37300020e-01 -6.18513169e-03 -5.57025171e+01] [-1.11689606e-02 9.38465834e-05 9.99937621e-01 -3.59418831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters 0.012056998833066155 Centerline is valid? [True, True] Translation: X:216.74, Y:-55.74, Z:-3.60 [[ 8.35728640e-01 5.49066448e-01 9.14745894e-03 2.16735474e+02] [-5.49032711e-01 8.35778698e-01 -6.08691206e-03 -5.57381775e+01] [-1.09873705e-02 6.47525524e-05 9.99939635e-01 -3.59501692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters 0.011800520385020736 Centerline is valid? [True, True] Translation: X:216.79, Y:-55.77, Z:-3.60 [[ 8.33708051e-01 5.52119142e-01 9.76414383e-03 2.16787359e+02] [-5.52080868e-01 8.33765226e-01 -6.50096968e-03 -5.57717132e+01] [-1.17303134e-02 2.93137601e-05 9.99931197e-01 -3.59584730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters 0.011639713736126106 Centerline is valid? [True, True] Translation: X:216.84, Y:-55.81, Z:-3.60 [[ 8.29875214e-01 5.57848281e-01 1.06030113e-02 2.16840030e+02] [-5.57803562e-01 8.29942945e-01 -7.06357613e-03 -5.58055765e+01] [-1.27402982e-02 -5.25106926e-05 9.99918838e-01 -3.59658232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters 0.012283970835627057 Centerline is valid? [True, True] Translation: X:216.89, Y:-55.84, Z:-3.60 [[ 8.26460343e-01 5.62886034e-01 1.10731253e-02 2.16892118e+02] [-5.62837645e-01 8.26534510e-01 -7.38167470e-03 -5.58386766e+01] [-1.33073618e-02 -1.31710341e-04 9.99911444e-01 -3.59778768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters 0.012929052026162948 Centerline is valid? [True, True] Translation: X:216.94, Y:-55.87, Z:-3.60 [[ 8.24559217e-01 5.65664080e-01 1.12359779e-02 2.16944017e+02] [-5.65614459e-01 8.24635749e-01 -7.49436037e-03 -5.58719114e+01] [-1.35048795e-02 -1.75687647e-04 9.99908790e-01 -3.59885451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters 0.013604010308010618 Centerline is valid? [True, True] Translation: X:217.00, Y:-55.91, Z:-3.60 [[ 8.22279053e-01 5.68954864e-01 1.21458410e-02 2.16995751e+02] [-5.68897176e-01 8.22368715e-01 -8.10554183e-03 -5.59052676e+01] [-1.46000471e-02 -2.44717392e-04 9.99893384e-01 -3.59978480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters 0.013865685960060183 Centerline is valid? [True, True] Translation: X:217.05, Y:-55.94, Z:-3.60 [[ 8.21602351e-01 5.69928675e-01 1.22834393e-02 2.17047556e+02] [-5.69869721e-01 8.21694126e-01 -8.20149464e-03 -5.59395341e+01] [-1.47674969e-02 -2.61592824e-04 9.99890920e-01 -3.60097513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters 0.013608483446408026 Centerline is valid? [True, True] Translation: X:217.10, Y:-55.97, Z:-3.60 [[ 8.21706800e-01 5.69791424e-01 1.16476498e-02 2.17099968e+02] [-5.69738347e-01 8.21789313e-01 -7.78082722e-03 -5.59749994e+01] [-1.40053627e-02 -2.42554083e-04 9.99901891e-01 -3.60269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters 0.013568936064199906 Centerline is valid? [True, True] Translation: X:217.15, Y:-56.01, Z:-3.60 [[ 8.22124937e-01 5.69198799e-01 1.11047203e-02 2.17151958e+02] [-5.69150441e-01 8.22199903e-01 -7.42261006e-03 -5.60087046e+01] [-1.33552407e-02 -2.17943649e-04 9.99910791e-01 -3.60466006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters 0.013118631352092376 Centerline is valid? [True, True] Translation: X:217.20, Y:-56.04, Z:-3.61 [[ 8.22694678e-01 5.68397490e-01 9.88738810e-03 2.17203005e+02] [-5.68359060e-01 8.22754071e-01 -6.61193877e-03 -5.60434386e+01] [-1.18930982e-02 -1.79979770e-04 9.99929258e-01 -3.60709661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters 0.013046897982562566 Centerline is valid? [True, True] Translation: X:217.25, Y:-56.08, Z:-3.61 [[ 8.23004644e-01 5.67966342e-01 8.80848251e-03 2.17254892e+02] [-5.67935791e-01 8.23051767e-01 -5.89292807e-03 -5.60784210e+01] [-1.05968219e-02 -1.52745312e-04 9.99943840e-01 -3.60923916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters 0.012838408492159892 Centerline is valid? [True, True] Translation: X:217.31, Y:-56.11, Z:-3.61 [[ 8.23690095e-01 5.66987505e-01 7.73282678e-03 2.17306086e+02] [-5.66963890e-01 8.23726383e-01 -5.17612833e-03 -5.61130245e+01] [-9.30453352e-03 -1.20707915e-04 9.99956705e-01 -3.61064052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters 0.012707091378787134 Centerline is valid? [True, True] Translation: X:217.36, Y:-56.15, Z:-3.61 [[ 8.24471182e-01 5.65857013e-01 7.28770469e-03 2.17357778e+02] [-5.65835974e-01 8.24503385e-01 -4.88053231e-03 -5.61474934e+01] [-8.77042062e-03 -9.97872343e-05 9.99961534e-01 -3.61157070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters 0.012163850872041332 Centerline is valid? [True, True] Translation: X:217.41, Y:-56.18, Z:-3.61 [[ 8.26028504e-01 5.63580387e-01 7.35233821e-03 2.17408726e+02] [-5.63558860e-01 8.26061221e-01 -4.92642677e-03 -5.61832967e+01] [-8.84991899e-03 -7.41064078e-05 9.99960836e-01 -3.61121088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters 0.01184827665536016 Centerline is valid? [True, True] Translation: X:217.46, Y:-56.22, Z:-3.61 [[ 8.27779814e-01 5.60992618e-01 8.23785572e-03 2.17459069e+02] [-5.60965429e-01 8.27820802e-01 -5.52332619e-03 -5.62199702e+01] [-9.91801355e-03 -4.90543354e-05 9.99950814e-01 -3.61107895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters 0.011788671831809084 Centerline is valid? [True, True] Translation: X:217.51, Y:-56.26, Z:-3.61 [[ 8.28793964e-01 5.59483291e-01 8.88886359e-03 2.17509637e+02] [-5.59451510e-01 8.28841629e-01 -5.96337599e-03 -5.62552842e+01] [-1.07038694e-02 -3.04781251e-05 9.99942711e-01 -3.61127743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters 0.011794813139513975 Centerline is valid? [True, True] Translation: X:217.56, Y:-56.29, Z:-3.61 [[ 8.29901293e-01 5.57832044e-01 9.34104632e-03 2.17561474e+02] [-5.57796804e-01 8.29953861e-01 -6.27015276e-03 -5.62906636e+01] [-1.12503296e-02 -6.79790420e-06 9.99936713e-01 -3.61259844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters 0.011706031455573085 Centerline is valid? [True, True] Translation: X:217.61, Y:-56.33, Z:-3.61 [[ 8.29910383e-01 5.57820601e-01 9.21593488e-03 2.17612723e+02] [-5.57786255e-01 8.29961551e-01 -6.19002618e-03 -5.63255042e+01] [-1.11017957e-02 -3.35481370e-06 9.99938373e-01 -3.61379825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters 0.011685991666969505 Centerline is valid? [True, True] Translation: X:217.66, Y:-56.36, Z:-3.61 [[ 8.29997243e-01 5.57696110e-01 8.92330148e-03 2.17664789e+02] [-5.57663870e-01 8.30045209e-01 -5.99658277e-03 -5.63613449e+01] [-1.07510145e-02 9.44332172e-07 9.99942206e-01 -3.61481891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters 0.011640967667322722 Centerline is valid? [True, True] Translation: X:217.72, Y:-56.40, Z:-3.62 [[ 8.29445458e-01 5.58523591e-01 8.46343944e-03 2.17717033e+02] [-5.58494599e-01 8.29488637e-01 -5.69073326e-03 -5.63965183e+01] [-1.01987356e-02 -6.63235759e-06 9.99947992e-01 -3.61638241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters 0.011705394485762934 Centerline is valid? [True, True] Translation: X:217.77, Y:-56.43, Z:-3.62 [[ 8.28272293e-01 5.60271222e-01 7.82087863e-03 2.17770931e+02] [-5.60246517e-01 8.28309216e-01 -5.26149860e-03 -5.64299035e+01] [-9.42597210e-03 -2.36665003e-05 9.99955574e-01 -3.61917209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters 0.011797907103161106 Centerline is valid? [True, True] Translation: X:217.82, Y:-56.46, Z:-3.62 [[ 8.27571434e-01 5.61317889e-01 6.91007194e-03 2.17823066e+02] [-5.61298621e-01 8.27600282e-01 -4.65089661e-03 -5.64644026e+01] [-8.32940895e-03 -2.96646799e-05 9.99965309e-01 -3.62142437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters 0.011909593615841905 Centerline is valid? [True, True] Translation: X:217.87, Y:-56.50, Z:-3.62 [[ 8.28331773e-01 5.60205248e-01 6.04601478e-03 2.17874359e+02] [-5.60190455e-01 8.28353838e-01 -4.07114598e-03 -5.65006993e+01] [-7.28891689e-03 -1.46602010e-05 9.99973435e-01 -3.62347430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters 0.011857913779777398 Centerline is valid? [True, True] Translation: X:217.92, Y:-56.54, Z:-3.62 [[ 8.29983258e-01 5.57749226e-01 6.60237630e-03 2.17924839e+02] [-5.57731483e-01 8.30009518e-01 -4.44893153e-03 -5.65375943e+01] [-7.96142329e-03 1.01855634e-05 9.99968307e-01 -3.62415130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters 0.012348926267352487 Centerline is valid? [True, True] Translation: X:217.97, Y:-56.58, Z:-3.62 [[ 8.33288779e-01 5.52770839e-01 8.61452498e-03 2.17974593e+02] [-5.52740308e-01 8.33333303e-01 -5.81018521e-03 -5.65754524e+01] [-1.03904715e-02 7.99669441e-05 9.99946014e-01 -3.62336920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters 0.012764913733432514 Centerline is valid? [True, True] Translation: X:218.02, Y:-56.61, Z:-3.62 [[ 8.35316988e-01 5.49673496e-01 1.02263446e-02 2.18024490e+02] [-5.49630183e-01 8.35379571e-01 -6.90182304e-03 -5.66119691e+01] [-1.23366285e-02 1.44502397e-04 9.99923890e-01 -3.62318996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters 0.014373054498310946 Centerline is valid? [True, True] Translation: X:218.07, Y:-56.65, Z:-3.62 [[ 8.38746486e-01 5.44420781e-01 1.05045290e-02 2.18073015e+02] [-5.44374610e-01 8.38812231e-01 -7.09398571e-03 -5.66494712e+01] [-1.26734406e-02 2.31656723e-04 9.99919662e-01 -3.62439742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters 0.016224824623599383 Centerline is valid? [True, True] Translation: X:218.12, Y:-56.69, Z:-3.63 [[ 8.41587833e-01 5.40044535e-01 9.04538697e-03 2.18121897e+02] [-5.40010033e-01 8.41636402e-01 -6.10984861e-03 -5.66854649e+01] [-1.09125173e-02 2.57374537e-04 9.99940424e-01 -3.62707456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters 0.01797660723263421 Centerline is valid? [True, True] Translation: X:218.17, Y:-56.72, Z:-3.63 [[ 8.43737736e-01 5.36681547e-01 8.91908089e-03 2.18172168e+02] [-5.36647796e-01 8.43784823e-01 -6.02623296e-03 -5.67216486e+01] [-1.07599531e-02 2.98155061e-04 9.99942066e-01 -3.62896268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters 0.02146794960888028 Centerline is valid? [True, True] Translation: X:218.22, Y:-56.76, Z:-3.63 [[ 8.47356963e-01 5.30950123e-01 8.83995033e-03 2.18220334e+02] [-5.30916647e-01 8.47402992e-01 -5.97352325e-03 -5.67584774e+01] [-1.06626433e-02 3.68429726e-04 9.99943085e-01 -3.63002884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters 0.020494985048414373 Centerline is valid? [True, True] Translation: X:218.27, Y:-56.79, Z:-3.63 [[ 8.50018398e-01 5.26679241e-01 8.81472716e-03 2.18273499e+02] [-5.26645714e-01 8.50063997e-01 -5.95758759e-03 -5.67892351e+01] [-1.06308199e-02 4.21820786e-04 9.99943402e-01 -3.63033243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters 0.020390205520896848 Centerline is valid? [True, True] Translation: X:218.33, Y:-56.82, Z:-3.63 [[ 8.50391816e-01 5.26085219e-01 8.25239922e-03 2.18326336e+02] [-5.26055809e-01 8.50431762e-01 -5.57712203e-03 -5.68217797e+01] [-9.95214387e-03 4.01516378e-04 9.99950396e-01 -3.63145705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters 0.02036230247845635 Centerline is valid? [True, True] Translation: X:218.38, Y:-56.85, Z:-3.63 [[ 8.49657107e-01 5.27276938e-01 7.86327287e-03 2.18379466e+02] [-5.27250263e-01 8.49693411e-01 -5.31672800e-03 -5.68545625e+01] [-9.48475920e-03 3.71483043e-04 9.99954950e-01 -3.63265233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters 0.019052144338482263 Centerline is valid? [True, True] Translation: X:218.43, Y:-56.88, Z:-3.63 [[ 8.47505151e-01 5.30737062e-01 7.29315445e-03 2.18434629e+02] [-5.30714211e-01 8.47536473e-01 -4.93490280e-03 -5.68830094e+01] [-8.80035021e-03 3.11774833e-04 9.99961228e-01 -3.63357867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters 0.017774646311033867 Centerline is valid? [True, True] Translation: X:218.49, Y:-56.91, Z:-3.63 [[ 8.44196417e-01 5.35993966e-01 6.54807515e-03 2.18488823e+02] [-5.35975694e-01 8.44221780e-01 -4.43185643e-03 -5.69110119e+01] [-7.90347597e-03 2.31748194e-04 9.99968740e-01 -3.63493730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters 0.01625042591975139 Centerline is valid? [True, True] Translation: X:218.54, Y:-56.94, Z:-3.64 [[ 8.41226677e-01 5.40646901e-01 6.21346090e-03 2.18543187e+02] [-5.40630574e-01 8.41249604e-01 -4.20541506e-03 -5.69403188e+01] [-7.50071614e-03 1.78520402e-04 9.99971853e-01 -3.63596961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters 0.014253529605869217 Centerline is valid? [True, True] Translation: X:218.60, Y:-56.97, Z:-3.64 [[ 8.36754390e-01 5.47537736e-01 6.67227132e-03 2.18599552e+02] [-5.47519123e-01 8.36780982e-01 -4.51643738e-03 -5.69659006e+01] [-8.05614965e-03 1.25952657e-04 9.99967541e-01 -3.63736381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters 0.012866723702297514 Centerline is valid? [True, True] Translation: X:218.66, Y:-56.99, Z:-3.64 [[ 8.33512718e-01 5.52454674e-01 7.09807094e-03 2.18655686e+02] [-5.52433801e-01 8.33542936e-01 -4.80303164e-03 -5.69941098e+01] [-8.57000417e-03 8.21736454e-05 9.99963273e-01 -3.63882602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters 0.012190205324470838 Centerline is valid? [True, True] Translation: X:218.71, Y:-57.03, Z:-3.64 [[ 8.31420168e-01 5.55598785e-01 7.10593297e-03 2.18709659e+02] [-5.55577960e-01 8.31450532e-01 -4.81073301e-03 -5.70254120e+01] [-8.58106916e-03 5.18407088e-05 9.99963181e-01 -3.63889873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters 0.011948533514040852 Centerline is valid? [True, True] Translation: X:218.77, Y:-57.05, Z:-3.64 [[ 8.26590162e-01 5.62760137e-01 7.05212370e-03 2.18765499e+02] [-5.62739863e-01 8.26620244e-01 -4.77687027e-03 -5.70536780e+01] [-8.51766038e-03 -1.99971523e-05 9.99963724e-01 -3.63963710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters 0.012625325749778475 Centerline is valid? [True, True] Translation: X:218.82, Y:-57.08, Z:-3.64 [[ 8.22068802e-01 5.69344228e-01 7.07356123e-03 2.18820624e+02] [-5.69324051e-01 8.22099229e-01 -4.79393622e-03 -5.70825706e+01] [-8.54456915e-03 -8.62031360e-05 9.99963491e-01 -3.64093798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters 0.016517344111300767 Centerline is valid? [True, True] Translation: X:218.88, Y:-57.11, Z:-3.64 [[ 8.15694185e-01 5.78453446e-01 5.88284998e-03 2.18878032e+02] [-5.78439701e-01 8.15715385e-01 -3.99045580e-03 -5.71052619e+01] [-7.10702415e-03 -1.47882391e-04 9.99974734e-01 -3.64452077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters 0.016892083924859854 Centerline is valid? [True, True] Translation: X:218.93, Y:-57.14, Z:-3.64 [[ 8.12698453e-01 5.82663924e-01 4.89650252e-03 2.18929830e+02] [-5.82654476e-01 8.12713189e-01 -3.32164521e-03 -5.71381618e+01] [-5.91485501e-03 -1.53473194e-04 9.99982495e-01 -3.64497242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters 0.018175508301754417 Centerline is valid? [True, True] Translation: X:218.98, Y:-57.17, Z:-3.65 [[ 8.10741967e-01 5.85386555e-01 4.47705073e-03 2.18983522e+02] [-5.85378699e-01 8.10754313e-01 -3.03683474e-03 -5.71701599e+01] [-5.40751042e-03 -1.58680768e-04 9.99985367e-01 -3.64604486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters 0.017780050005247107 Centerline is valid? [True, True] Translation: X:219.04, Y:-57.21, Z:-3.65 [[ 8.10525019e-01 5.85688852e-01 4.21451523e-03 2.19035839e+02] [-5.85681907e-01 8.10535962e-01 -2.85637660e-03 -5.72054556e+01] [-5.08896409e-03 -1.53200618e-04 9.99987039e-01 -3.64659419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters 0.016536546662628868 Centerline is valid? [True, True] Translation: X:219.08, Y:-57.24, Z:-3.65 [[ 8.12615086e-01 5.82777743e-01 5.17926910e-03 2.19084477e+02] [-5.82767156e-01 8.12631575e-01 -3.51638713e-03 -5.72424710e+01] [-6.25810976e-03 -1.60838699e-04 9.99980405e-01 -3.64610497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters 0.014717519506155902 Centerline is valid? [True, True] Translation: X:219.13, Y:-57.28, Z:-3.65 [[ 8.15360496e-01 5.78927443e-01 5.50241252e-03 2.19132629e+02] [-5.78915406e-01 8.15379051e-01 -3.73590308e-03 -5.72814500e+01] [-6.64936871e-03 -1.39323590e-04 9.99977883e-01 -3.64575764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters 0.012789670570819915 Centerline is valid? [True, True] Translation: X:219.18, Y:-57.32, Z:-3.65 [[ 8.20612191e-01 5.71457158e-01 5.68751414e-03 2.19178860e+02] [-5.71444112e-01 8.20631897e-01 -3.86224825e-03 -5.73223022e+01] [-6.87446492e-03 -8.06884629e-05 9.99976367e-01 -3.64640451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters 0.011928492487827992 Centerline is valid? [True, True] Translation: X:219.23, Y:-57.36, Z:-3.65 [[ 8.24543534e-01 5.65774762e-01 5.18442807e-03 2.19226887e+02] [-5.65763823e-01 8.24559833e-01 -3.51835767e-03 -5.73624662e+01] [-6.26546911e-03 -3.21227737e-05 9.99980371e-01 -3.64691136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters 0.012256982979742929 Centerline is valid? [True, True] Translation: X:219.27, Y:-57.41, Z:-3.65 [[ 8.31122723e-01 5.56075355e-01 3.90103193e-03 2.19272468e+02] [-5.56069053e-01 8.31131878e-01 -2.64763999e-03 -5.74056557e+01] [-4.71455935e-03 3.12706283e-05 9.99988886e-01 -3.64828837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters 0.012742682083444014 Centerline is valid? [True, True] Translation: X:219.32, Y:-57.44, Z:-3.65 [[ 8.33399138e-01 5.52660290e-01 3.53266076e-03 2.19322061e+02] [-5.52655088e-01 8.33406624e-01 -2.39838231e-03 -5.74432281e+01] [-4.26963355e-03 4.64668084e-05 9.99990884e-01 -3.64878301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters 0.016594673653133704 Centerline is valid? [True, True] Translation: X:219.37, Y:-57.49, Z:-3.65 [[ 8.40605650e-01 5.41641356e-01 2.60424592e-03 2.19365728e+02] [-5.41638475e-01 8.40609681e-01 -1.76838404e-03 -5.74869812e+01] [-3.14698426e-03 7.59538250e-05 9.99995045e-01 -3.65069389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters 0.01947544198977122 Centerline is valid? [True, True] Translation: X:219.41, Y:-57.53, Z:-3.65 [[ 8.45348836e-01 5.34207153e-01 2.83948704e-03 2.19412602e+02] [-5.34203673e-01 8.45353597e-01 -1.93177653e-03 -5.75274215e+01] [-3.43233942e-03 1.16160635e-04 9.99994103e-01 -3.65089224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters 0.021083172383307095 Centerline is valid? [True, True] Translation: X:219.46, Y:-57.57, Z:-3.65 [[ 8.51401920e-01 5.24499507e-01 3.87776774e-03 2.19460116e+02] [-5.24492912e-01 8.51410724e-01 -2.63886856e-03 -5.75669787e+01] [-4.68565830e-03 2.12876072e-04 9.99989000e-01 -3.64885159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters 0.022613985149229177 Centerline is valid? [True, True] Translation: X:219.51, Y:-57.60, Z:-3.65 [[ 8.53938693e-01 5.20353222e-01 4.60795936e-03 2.19508516e+02] [-5.20343857e-01 8.53951080e-01 -3.13430171e-03 -5.76046840e+01] [-5.56591587e-03 2.78778157e-04 9.99984471e-01 -3.64834443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters 0.024546993853737514 Centerline is valid? [True, True] Translation: X:219.56, Y:-57.64, Z:-3.65 [[ 8.55588428e-01 5.17622016e-01 5.99081730e-03 2.19558566e+02] [-5.17606087e-01 8.55609313e-01 -4.07940513e-03 -5.76409701e+01] [-7.23738899e-03 3.89408319e-04 9.99973734e-01 -3.64813277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters 0.024680907000323302 Centerline is valid? [True, True] Translation: X:219.61, Y:-57.67, Z:-3.65 [[ 8.54833206e-01 5.18880304e-01 4.83949883e-03 2.19610873e+02] [-5.18869942e-01 8.54846850e-01 -3.29325001e-03 -5.76739587e+01] [-5.84583290e-03 3.04108988e-04 9.99982867e-01 -3.65071358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters 0.02336874040519191 Centerline is valid? [True, True] Translation: X:219.67, Y:-57.70, Z:-3.65 [[ 8.52088942e-01 5.23379445e-01 4.28858351e-03 2.19665767e+02] [-5.23371347e-01 8.52099699e-01 -2.92179910e-03 -5.77026149e+01] [-5.18351030e-03 2.45110973e-04 9.99986535e-01 -3.65344790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters 0.020734791378970992 Centerline is valid? [True, True] Translation: X:219.72, Y:-57.73, Z:-3.65 [[ 8.50166988e-01 5.26489433e-01 4.99689970e-03 2.19720878e+02] [-5.26478489e-01 8.50181632e-01 -3.40496792e-03 -5.77309160e+01] [-6.04095197e-03 2.64031117e-04 9.99981718e-01 -3.65373581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters 0.020790182819111373 Centerline is valid? [True, True] Translation: X:219.77, Y:-57.76, Z:-3.65 [[ 8.48447955e-01 5.29241888e-01 6.25231690e-03 2.19774927e+02] [-5.29224822e-01 8.48470937e-01 -4.26114586e-03 -5.77595047e+01] [-7.56008606e-03 3.06479194e-04 9.99971375e-01 -3.65483314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters 0.021132062965599815 Centerline is valid? [True, True] Translation: X:219.83, Y:-57.79, Z:-3.66 [[ 8.47649689e-01 5.30511080e-01 6.92816857e-03 2.19828928e+02] [-5.30490178e-01 8.47677939e-01 -4.72050758e-03 -5.77891345e+01] [-8.37713722e-03 3.26011401e-04 9.99964858e-01 -3.65540582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters 0.019014546604114096 Centerline is valid? [True, True] Translation: X:219.89, Y:-57.82, Z:-3.66 [[ 8.47523426e-01 5.30696905e-01 8.05222306e-03 2.19885887e+02] [-5.30668651e-01 8.47561592e-01 -5.48920505e-03 -5.78179398e+01] [-9.73785912e-03 3.79167518e-04 9.99952514e-01 -3.65508368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters 0.01827670965875428 Centerline is valid? [True, True] Translation: X:219.94, Y:-57.84, Z:-3.66 [[ 8.47106693e-01 5.31352425e-01 8.65160996e-03 2.19942800e+02] [-5.31319798e-01 8.47150777e-01 -5.90199751e-03 -5.78448094e+01] [-1.04652588e-02 4.02849937e-04 9.99945157e-01 -3.65595128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters 0.01824952390372072 Centerline is valid? [True, True] Translation: X:220.00, Y:-57.87, Z:-3.66 [[ 8.45387243e-01 5.34074579e-01 9.20618044e-03 2.19997102e+02] [-5.34037741e-01 8.45437275e-01 -6.28529947e-03 -5.78717593e+01] [-1.11400668e-02 3.97064182e-04 9.99937869e-01 -3.65755097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters 0.016970102368396123 Centerline is valid? [True, True] Translation: X:220.05, Y:-57.90, Z:-3.66 [[ 8.42997609e-01 5.37847589e-01 8.66037470e-03 2.20052238e+02] [-5.37815187e-01 8.43042030e-01 -5.91275575e-03 -5.78998557e+01] [-1.04812213e-02 3.26757922e-04 9.99945017e-01 -3.65917843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters 0.014508543820076738 Centerline is valid? [True, True] Translation: X:220.11, Y:-57.92, Z:-3.66 [[ 8.38225476e-01 5.45267509e-01 7.83549286e-03 2.20109584e+02] [-5.45241304e-01 8.38262070e-01 -5.34992946e-03 -5.79243984e+01] [-9.48533918e-03 2.12212825e-04 9.99954991e-01 -3.66132272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters 0.013309925974149317 Centerline is valid? [True, True] Translation: X:220.16, Y:-57.95, Z:-3.66 [[ 8.35006704e-01 5.50184460e-01 7.80153718e-03 2.20163598e+02] [-5.50158692e-01 8.35043134e-01 -5.32711979e-03 -5.79533399e+01] [-9.44551858e-03 1.56097246e-04 9.99955378e-01 -3.66284956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters 0.011658527301554476 Centerline is valid? [True, True] Translation: X:220.22, Y:-57.98, Z:-3.66 [[ 8.30981743e-01 5.56242812e-01 7.95465831e-03 2.20219975e+02] [-5.56216296e-01 8.31019811e-01 -5.43196774e-03 -5.79802647e+01] [-9.63197165e-03 8.93554399e-05 9.99953607e-01 -3.66367134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters 0.010798693414574949 Centerline is valid? [True, True] Translation: X:220.27, Y:-58.01, Z:-3.66 [[ 8.28999806e-01 5.59179134e-01 8.83281484e-03 2.20274860e+02] [-5.59146611e-01 8.29046858e-01 -6.03115431e-03 -5.80106046e+01] [-1.06953130e-02 6.09872710e-05 9.99942802e-01 -3.66381260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters 0.010516051611724954 Centerline is valid? [True, True] Translation: X:220.33, Y:-58.04, Z:-3.66 [[ 8.26268906e-01 5.63181990e-01 1.02830061e-02 2.20328638e+02] [-5.63138162e-01 8.26332890e-01 -7.02600997e-03 -5.80404817e+01] [-1.24541084e-02 1.46203977e-05 9.99922444e-01 -3.66385122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters 0.010527278248284474 Centerline is valid? [True, True] Translation: X:220.38, Y:-58.07, Z:-3.67 [[ 8.23120708e-01 5.67779460e-01 9.93904141e-03 2.20383934e+02] [-5.67738813e-01 8.23180711e-01 -6.79394487e-03 -5.80706433e+01] [-1.20390895e-02 -5.05428601e-05 9.99927526e-01 -3.66570375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters 0.011472701527333493 Centerline is valid? [True, True] Translation: X:220.44, Y:-58.10, Z:-3.67 [[ 8.18968405e-01 5.73763846e-01 9.26283186e-03 2.20438944e+02] [-5.73728882e-01 8.19020777e-01 -6.33535238e-03 -5.81009062e+01] [-1.12214479e-02 -1.25900737e-04 9.99937030e-01 -3.66786890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters 0.01263952447734485 Centerline is valid? [True, True] Translation: X:220.49, Y:-58.13, Z:-3.67 [[ 8.15940444e-01 5.78075538e-01 8.35844081e-03 2.20490976e+02] [-5.78047268e-01 8.15983238e-01 -5.71940494e-03 -5.81338152e+01] [-1.01265957e-02 -1.64880063e-04 9.99948711e-01 -3.67026082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters 0.012925134477231932 Centerline is valid? [True, True] Translation: X:220.54, Y:-58.17, Z:-3.67 [[ 8.15260043e-01 5.79043152e-01 7.75182460e-03 2.20541854e+02] [-5.79018860e-01 8.15296879e-01 -5.30645746e-03 -5.81688480e+01] [-9.39270627e-03 -1.62309905e-04 9.99955874e-01 -3.67147544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters 0.013388966719559242 Centerline is valid? [True, True] Translation: X:220.59, Y:-58.21, Z:-3.67 [[ 8.14551204e-01 5.80047491e-01 7.15844329e-03 2.20591404e+02] [-5.80026795e-01 8.14582643e-01 -4.90247707e-03 -5.82060102e+01] [-8.67481318e-03 -1.58770317e-04 9.99962360e-01 -3.67344815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters 0.012523912784216194 Centerline is valid? [True, True] Translation: X:220.64, Y:-58.25, Z:-3.67 [[ 8.14592413e-01 5.79996399e-01 6.58612771e-03 2.20640170e+02] [-5.79978867e-01 8.14619025e-01 -4.51201963e-03 -5.82465784e+01] [-7.98214007e-03 -1.44357922e-04 9.99968132e-01 -3.67364302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters 0.01278998975692736 Centerline is valid? [True, True] Translation: X:220.69, Y:-58.29, Z:-3.67 [[ 8.14551699e-01 5.80047406e-01 7.10888295e-03 2.20688067e+02] [-5.80026950e-01 8.14582705e-01 -4.87381603e-03 -5.82864838e+01] [-8.61781745e-03 -1.53368560e-04 9.99962854e-01 -3.67387469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters 0.012590831138773878 Centerline is valid? [True, True] Translation: X:220.74, Y:-58.33, Z:-3.67 [[ 8.14183664e-01 5.80551179e-01 8.08022883e-03 2.20737482e+02] [-5.80524739e-01 8.14223739e-01 -5.54348977e-03 -5.83263532e+01] [-9.79739365e-03 -1.77353931e-04 9.99951989e-01 -3.67328379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters 0.013497921176630543 Centerline is valid? [True, True] Translation: X:220.79, Y:-58.36, Z:-3.67 [[ 8.13294888e-01 5.81770894e-01 9.69804167e-03 2.20785510e+02] [-5.81732828e-01 8.13352676e-01 -6.65891899e-03 -5.83648788e+01] [-1.17618934e-02 -2.26004431e-04 9.99930801e-01 -3.67273707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters 0.013536338778585118 Centerline is valid? [True, True] Translation: X:220.83, Y:-58.40, Z:-3.67 [[ 8.12300403e-01 5.83150767e-01 1.01606205e-02 2.20834113e+02] [-5.83109046e-01 8.12363907e-01 -6.98011848e-03 -5.84037296e+01] [-1.23245829e-02 -2.54796701e-04 9.99924017e-01 -3.67305113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters 0.014563233895724509 Centerline is valid? [True, True] Translation: X:220.88, Y:-58.44, Z:-3.67 [[ 8.10542336e-01 5.85603199e-01 9.48758702e-03 2.20882491e+02] [-5.85566953e-01 8.10597817e-01 -6.52100132e-03 -5.84420324e+01] [-1.15093366e-02 -2.70069775e-04 9.99933729e-01 -3.67483120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters 0.015120719915254913 Centerline is valid? [True, True] Translation: X:220.93, Y:-58.48, Z:-3.68 [[ 8.10039805e-01 5.86306408e-01 8.96166038e-03 2.20932845e+02] [-5.86274082e-01 8.10089333e-01 -6.16220153e-03 -5.84777332e+01] [-1.08726837e-02 -2.62360694e-04 9.99940856e-01 -3.67637450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters 0.014391195903177605 Centerline is valid? [True, True] Translation: X:220.98, Y:-58.52, Z:-3.68 [[ 8.09568489e-01 5.86969413e-01 8.10983255e-03 2.20979699e+02] [-5.86942951e-01 8.09609072e-01 -5.57885930e-03 -5.85194358e+01] [-9.84041377e-03 -2.43540352e-04 9.99951552e-01 -3.67866862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters 0.013205263059590563 Centerline is valid? [True, True] Translation: X:221.02, Y:-58.56, Z:-3.68 [[ 8.11953680e-01 5.83677408e-01 7.20452239e-03 2.21024747e+02] [-5.83656375e-01 8.11985623e-01 -4.95822018e-03 -5.85630401e+01] [-8.74396970e-03 -1.79120305e-04 9.99961755e-01 -3.68037556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters 0.012179092082137959 Centerline is valid? [True, True] Translation: X:221.07, Y:-58.60, Z:-3.68 [[ 8.14733152e-01 5.79792472e-01 7.11202758e-03 2.21071016e+02] [-5.79771791e-01 8.14764182e-01 -4.89881958e-03 -5.86049865e+01] [-8.63492405e-03 -1.32122246e-04 9.99962710e-01 -3.68147086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters 0.010666478573456522 Centerline is valid? [True, True] Translation: X:221.11, Y:-58.65, Z:-3.68 [[ 8.19790876e-01 5.72610361e-01 7.76493385e-03 2.21112963e+02] [-5.72585376e-01 8.19827647e-01 -5.34952482e-03 -5.86502346e+01] [-9.42910079e-03 -6.05959349e-05 9.99955543e-01 -3.68219340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters 0.010302412419620577 Centerline is valid? [True, True] Translation: X:221.16, Y:-58.70, Z:-3.68 [[ 8.23545304e-01 5.67188146e-01 8.41061633e-03 2.21157305e+02] [-5.67158561e-01 8.23588251e-01 -5.79305488e-03 -5.86950725e+01] [-1.02126369e-02 6.90085172e-07 9.99947850e-01 -3.68252468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters 0.010413431889725783 Centerline is valid? [True, True] Translation: X:221.21, Y:-58.74, Z:-3.68 [[ 8.24599153e-01 5.65658907e-01 8.13867202e-03 2.21205976e+02] [-5.65631106e-01 8.24639315e-01 -5.60822694e-03 -5.87353504e+01] [-9.88381245e-03 2.10531316e-05 9.99951154e-01 -3.68333143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters 0.010299452898403198 Centerline is valid? [True, True] Translation: X:221.25, Y:-58.78, Z:-3.68 [[ 8.24062884e-01 5.66444078e-01 7.84029743e-03 2.21254811e+02] [-5.66418284e-01 8.24100180e-01 -5.40565065e-03 -5.87752963e+01] [-9.52318932e-03 1.37082441e-05 9.99954653e-01 -3.68428280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters 0.010305824898566657 Centerline is valid? [True, True] Translation: X:221.30, Y:-58.81, Z:-3.69 [[ 8.22473089e-01 5.68753752e-01 7.56218274e-03 2.21304729e+02] [-5.68729824e-01 8.22507853e-01 -5.21706698e-03 -5.88120658e+01] [-9.18718111e-03 -9.94166309e-06 9.99957797e-01 -3.68612058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters 0.010445114033069941 Centerline is valid? [True, True] Translation: X:221.35, Y:-58.85, Z:-3.69 [[ 8.19934149e-01 5.72414902e-01 7.01226238e-03 2.21354753e+02] [-5.72394439e-01 8.19964132e-01 -4.84026490e-03 -5.88483249e+01] [-8.52044339e-03 -4.50815122e-05 9.99963699e-01 -3.68869450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters 0.01064980898507418 Centerline is valid? [True, True] Translation: X:221.40, Y:-58.88, Z:-3.69 [[ 8.18625087e-01 5.74291461e-01 6.50266533e-03 2.21404858e+02] [-5.74273907e-01 8.18650911e-01 -4.49065907e-03 -5.88841644e+01] [-7.90236006e-03 -5.81448556e-05 9.99968774e-01 -3.69057171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters 0.010627447410243403 Centerline is valid? [True, True] Translation: X:221.45, Y:-58.92, Z:-3.69 [[ 8.17735222e-01 5.75552056e-01 6.99556705e-03 2.21453556e+02] [-5.75531768e-01 8.17765141e-01 -4.83305994e-03 -5.89236344e+01] [-8.50240846e-03 -7.40077314e-05 9.99963851e-01 -3.69031491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters 0.010557819956679051 Centerline is valid? [True, True] Translation: X:221.50, Y:-58.96, Z:-3.69 [[ 8.17747051e-01 5.75531781e-01 7.27527961e-03 2.21503633e+02] [-5.75509808e-01 8.17779410e-01 -5.02959005e-03 -5.89620447e+01] [-8.84426278e-03 -7.40623437e-05 9.99960886e-01 -3.69073292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters 0.010513391540286497 Centerline is valid? [True, True] Translation: X:221.55, Y:-59.00, Z:-3.69 [[ 8.18026929e-01 5.75118660e-01 8.39467387e-03 2.21552613e+02] [-5.75089336e-01 8.18069998e-01 -5.80811725e-03 -5.89999108e+01] [-1.02077874e-02 -7.64911020e-05 9.99947896e-01 -3.69090899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters 0.010453079308501085 Centerline is valid? [True, True] Translation: X:221.60, Y:-59.04, Z:-3.69 [[ 8.18341885e-01 5.74674375e-01 8.11920431e-03 2.21602773e+02] [-5.74646898e-01 8.18382159e-01 -5.62008124e-03 -5.90374526e+01] [-9.87432863e-03 -6.65276929e-05 9.99951245e-01 -3.69222887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters 0.010341829393419573 Centerline is valid? [True, True] Translation: X:221.65, Y:-59.08, Z:-3.69 [[ 8.18748363e-01 5.74115876e-01 6.48684743e-03 2.21652898e+02] [-5.74098307e-01 8.18774058e-01 -4.49171923e-03 -5.90761486e+01] [-7.89002971e-03 -4.65003586e-05 9.99968872e-01 -3.69437134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters 0.010132695887241007 Centerline is valid? [True, True] Translation: X:221.70, Y:-59.11, Z:-3.70 [[ 8.18877508e-01 5.73939980e-01 5.70316121e-03 2.21703272e+02] [-5.73926384e-01 8.18897367e-01 -3.95070128e-03 -5.91130443e+01] [-6.93776911e-03 -3.80542674e-05 9.99975933e-01 -3.69574180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters 0.01022066791154257 Centerline is valid? [True, True] Translation: X:221.75, Y:-59.15, Z:-3.70 [[ 8.19312236e-01 5.73330075e-01 4.48174370e-03 2.21753735e+02] [-5.73321664e-01 8.19324493e-01 -3.10560253e-03 -5.91487759e+01] [-5.45253772e-03 -2.50226061e-05 9.99985134e-01 -3.69836031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters 0.010247557070293258 Centerline is valid? [True, True] Translation: X:221.81, Y:-59.18, Z:-3.70 [[ 8.19391564e-01 5.73217010e-01 4.44131027e-03 2.21805551e+02] [-5.73208740e-01 8.19403600e-01 -3.07913308e-03 -5.91842778e+01] [-5.40423708e-03 -2.27822002e-05 9.99985397e-01 -3.69956832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters 0.010101333292779933 Centerline is valid? [True, True] Translation: X:221.86, Y:-59.22, Z:-3.70 [[ 8.20561241e-01 5.71533076e-01 5.40300504e-03 2.21857361e+02] [-5.71520776e-01 8.20579029e-01 -3.74966454e-03 -5.92187784e+01] [-6.57664993e-03 -1.11002463e-05 9.99978374e-01 -3.69992758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters 0.010420628246841764 Centerline is valid? [True, True] Translation: X:221.91, Y:-59.26, Z:-3.70 [[ 8.23948535e-01 5.66628031e-01 6.44094629e-03 2.21907441e+02] [-5.66610378e-01 8.23973709e-01 -4.47290708e-03 -5.92569790e+01] [-7.84164493e-03 3.59382267e-05 9.99969253e-01 -3.69958947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters 0.011109134240993532 Centerline is valid? [True, True] Translation: X:221.96, Y:-59.29, Z:-3.70 [[ 8.26597824e-01 5.62753324e-01 6.68827888e-03 2.21957386e+02] [-5.62734134e-01 8.26624879e-01 -4.64800893e-03 -5.92940785e+01] [-8.14438019e-03 7.83112482e-05 9.99966831e-01 -3.70006059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters 0.012179254075612423 Centerline is valid? [True, True] Translation: X:222.01, Y:-59.33, Z:-3.70 [[ 8.28714042e-01 5.59633668e-01 6.57225294e-03 2.22008197e+02] [-5.59615022e-01 8.28740095e-01 -4.56969039e-03 -5.93294683e+01] [-8.00404212e-03 1.09035121e-04 9.99967961e-01 -3.70190482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters 0.012810318833672745 Centerline is valid? [True, True] Translation: X:222.06, Y:-59.36, Z:-3.70 [[ 8.32538506e-01 5.53945273e-01 4.92660237e-03 2.22059611e+02] [-5.53934679e-01 8.32553073e-01 -3.42820764e-03 -5.93642260e+01] [-6.00069736e-03 1.25098961e-04 9.99981988e-01 -3.70361690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters 0.014212866013478634 Centerline is valid? [True, True] Translation: X:222.11, Y:-59.40, Z:-3.70 [[ 8.35285844e-01 5.49796291e-01 4.64721606e-03 2.22110387e+02] [-5.49786799e-01 8.35298759e-01 -3.23403786e-03 -5.93995312e+01] [-5.65987583e-03 1.46368006e-04 9.99983972e-01 -3.70481737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters 0.014644743945739142 Centerline is valid? [True, True] Translation: X:222.16, Y:-59.43, Z:-3.71 [[ 8.35942756e-01 5.48788020e-01 5.60513393e-03 2.22162106e+02] [-5.48774197e-01 8.35961527e-01 -3.89950317e-03 -5.94338471e+01] [-6.82567694e-03 1.83808553e-04 9.99976688e-01 -3.70523288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters 0.015001893634043011 Centerline is valid? [True, True] Translation: X:222.21, Y:-59.47, Z:-3.71 [[ 8.35527799e-01 5.49422107e-01 5.35217778e-03 2.22213545e+02] [-5.49409504e-01 8.35544923e-01 -3.72532868e-03 -5.94678184e+01] [-6.51876291e-03 1.72078335e-04 9.99978738e-01 -3.70637219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters 0.014297689374215666 Centerline is valid? [True, True] Translation: X:222.27, Y:-59.50, Z:-3.71 [[ 8.33860062e-01 5.51959611e-01 4.24101048e-03 2.22266055e+02] [-5.51951727e-01 8.33870838e-01 -2.95247542e-03 -5.95012323e+01] [-5.16610215e-03 1.21118278e-04 9.99986648e-01 -3.70885315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters 0.013066480808756385 Centerline is valid? [True, True] Translation: X:222.32, Y:-59.53, Z:-3.71 [[ 8.29954994e-01 5.57801674e-01 5.65689248e-03 2.22318416e+02] [-5.57787742e-01 8.29974264e-01 -3.94416679e-03 -5.95321319e+01] [-6.89513801e-03 1.18135644e-04 9.99976221e-01 -3.70940486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters 0.011250260063364097 Centerline is valid? [True, True] Translation: X:222.37, Y:-59.56, Z:-3.71 [[ 8.26537125e-01 5.62842271e-01 6.70506292e-03 2.22372183e+02] [-5.62822861e-01 8.26564317e-01 -4.67522557e-03 -5.95628437e+01] [-8.17358033e-03 9.04848016e-05 9.99966592e-01 -3.70862537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters 0.010024593527962575 Centerline is valid? [True, True] Translation: X:222.43, Y:-59.59, Z:-3.71 [[ 8.20015871e-01 5.72294342e-01 7.29089883e-03 2.22427880e+02] [-5.72271771e-01 8.20048283e-01 -5.08273631e-03 -5.95909224e+01] [-8.88771030e-03 -4.45114522e-06 9.99960504e-01 -3.70978030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters 0.011045932590099478 Centerline is valid? [True, True] Translation: X:222.48, Y:-59.62, Z:-3.71 [[ 8.12944614e-01 5.82298388e-01 7.04569883e-03 2.22483234e+02] [-5.82277660e-01 8.12975138e-01 -4.91430183e-03 -5.96192501e+01] [-8.58956802e-03 -1.07497823e-04 9.99963103e-01 -3.71112459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters 0.011917157153865602 Centerline is valid? [True, True] Translation: X:222.54, Y:-59.65, Z:-3.71 [[ 8.10658984e-01 5.85478734e-01 6.83103281e-03 2.22536220e+02] [-5.85459346e-01 8.10687753e-01 -4.76665637e-03 -5.96518710e+01] [-8.32861058e-03 -1.35159191e-04 9.99965307e-01 -3.71263345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters 0.013911795216849916 Centerline is valid? [True, True] Translation: X:222.59, Y:-59.68, Z:-3.71 [[ 8.07174013e-01 5.90276577e-01 6.60875842e-03 2.22589579e+02] [-5.90258570e-01 8.07201048e-01 -4.61402010e-03 -5.96824354e+01] [-8.05814471e-03 -1.76559173e-04 9.99967517e-01 -3.71465574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters 0.015039431966294078 Centerline is valid? [True, True] Translation: X:222.64, Y:-59.72, Z:-3.71 [[ 8.04623594e-01 5.93743301e-01 7.05440426e-03 2.22642516e+02] [-5.93722881e-01 8.04654487e-01 -4.92919492e-03 -5.97155881e+01] [-8.60303450e-03 -2.22214693e-04 9.99962969e-01 -3.71489501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters 0.015303004305505952 Centerline is valid? [True, True] Translation: X:222.69, Y:-59.75, Z:-3.72 [[ 8.03917837e-01 5.94701919e-01 6.76307145e-03 2.22693197e+02] [-5.94683194e-01 8.03946253e-01 -4.72464582e-03 -5.97512522e+01] [-8.24690189e-03 -2.23657888e-04 9.99965969e-01 -3.71580566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters 0.014492796855087949 Centerline is valid? [True, True] Translation: X:222.74, Y:-59.79, Z:-3.72 [[ 8.04164555e-01 5.94389919e-01 4.47137023e-03 2.22742687e+02] [-5.94381732e-01 8.04176972e-01 -3.12316802e-03 -5.97898089e+01] [-5.45215256e-03 -1.46159763e-04 9.99985126e-01 -3.71803463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters 0.014250311688443885 Centerline is valid? [True, True] Translation: X:222.79, Y:-59.83, Z:-3.72 [[ 8.05957088e-01 5.91964552e-01 3.33796016e-03 2.22790650e+02] [-5.91959960e-01 8.05963994e-01 -2.33362435e-03 -5.98281401e+01] [-4.07169860e-03 -9.51376817e-05 9.99991706e-01 -3.72068804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters 0.012984462003106328 Centerline is valid? [True, True] Translation: X:222.84, Y:-59.87, Z:-3.72 [[ 8.07576599e-01 5.89747356e-01 4.25359431e-03 2.22837959e+02] [-5.89739867e-01 8.07587794e-01 -2.97403086e-03 -5.98688122e+01] [-5.18907769e-03 -1.06756416e-04 9.99986531e-01 -3.71992419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters 0.011768372175448738 Centerline is valid? [True, True] Translation: X:222.88, Y:-59.91, Z:-3.72 [[ 8.10250471e-01 5.86056470e-01 5.65572930e-03 2.22883224e+02] [-5.86043098e-01 8.10270204e-01 -3.96038678e-03 -5.99105835e+01] [-6.90367922e-03 -1.05595864e-04 9.99976164e-01 -3.71850327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters 0.011223731839111416 Centerline is valid? [True, True] Translation: X:222.93, Y:-59.95, Z:-3.72 [[ 8.11406496e-01 5.84449574e-01 6.18011290e-03 2.22931235e+02] [-5.84433574e-01 8.11430025e-01 -4.32577304e-03 -5.99500055e+01] [-7.54292537e-03 -1.01905124e-04 9.99971547e-01 -3.71886124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters 0.011863997850255284 Centerline is valid? [True, True] Translation: X:222.98, Y:-59.99, Z:-3.72 [[ 8.10501260e-01 5.85707402e-01 5.87769667e-03 2.22980215e+02] [-5.85692947e-01 8.10522565e-01 -4.11630530e-03 -5.99870595e+01] [-7.17495626e-03 -1.06254852e-04 9.99974254e-01 -3.72005343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters 0.012747939221449994 Centerline is valid? [True, True] Translation: X:223.03, Y:-60.02, Z:-3.72 [[ 8.08254748e-01 5.88817302e-01 4.29492774e-03 2.23031093e+02] [-5.88809616e-01 8.08266154e-01 -3.01020593e-03 -6.00223908e+01] [-5.24390607e-03 -9.58815142e-05 9.99986246e-01 -3.72211772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters 0.014019364228272093 Centerline is valid? [True, True] Translation: X:223.08, Y:-60.05, Z:-3.72 [[ 8.05623522e-01 5.92422380e-01 2.54271784e-03 2.23084616e+02] [-5.92419704e-01 8.05627531e-01 -1.78184386e-03 -6.00546794e+01] [-3.10408768e-03 -7.08608296e-05 9.99995180e-01 -3.72384120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters 0.015070723999472109 Centerline is valid? [True, True] Translation: X:223.14, Y:-60.09, Z:-3.73 [[ 8.04562687e-01 5.93862518e-01 2.48828855e-03 2.23136218e+02] [-5.93859965e-01 8.04566532e-01 -1.74299269e-03 -6.00868620e+01] [-3.03709171e-03 -7.53480686e-05 9.99995385e-01 -3.72504925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters 0.015799421668734364 Centerline is valid? [True, True] Translation: X:223.19, Y:-60.12, Z:-3.73 [[ 8.04197341e-01 5.94357986e-01 2.28498961e-03 2.23187930e+02] [-5.94355838e-01 8.04200584e-01 -1.59935748e-03 -6.01198520e+01] [-2.78818087e-03 -7.18978862e-05 9.99996110e-01 -3.72624386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters 0.015201145537155241 Centerline is valid? [True, True] Translation: X:223.24, Y:-60.16, Z:-3.73 [[ 8.03894994e-01 5.94767496e-01 2.11296117e-03 2.23239543e+02] [-5.94765663e-01 8.03897768e-01 -1.47839398e-03 -6.01565440e+01] [-2.57790546e-03 -6.82432297e-05 9.99996675e-01 -3.72596531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters 0.01724302115669221 Centerline is valid? [True, True] Translation: X:223.29, Y:-60.19, Z:-3.73 [[ 8.02940692e-01 5.96053430e-01 2.56008692e-03 2.23291870e+02] [-5.96050735e-01 8.02944769e-01 -1.79433458e-03 -6.01879351e+01] [-3.12512768e-03 -8.51974442e-05 9.99995113e-01 -3.72766882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters 0.017911325555407056 Centerline is valid? [True, True] Translation: X:223.34, Y:-60.22, Z:-3.73 [[ 8.02528261e-01 5.96605204e-01 3.25890574e-03 2.23344054e+02] [-5.96600835e-01 8.02534871e-01 -2.28582766e-03 -6.02222734e+01] [-3.97912218e-03 -1.09824587e-04 9.99992077e-01 -3.72833191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters 0.018057961179960856 Centerline is valid? [True, True] Translation: X:223.40, Y:-60.26, Z:-3.73 [[ 8.02800026e-01 5.96241234e-01 2.91685424e-03 2.23395367e+02] [-5.96237728e-01 8.02805320e-01 -2.04705644e-03 -6.02568346e+01] [-3.56220555e-03 -9.57615821e-05 9.99993651e-01 -3.72970525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters 0.01456825572024397 Centerline is valid? [True, True] Translation: X:223.44, Y:-60.30, Z:-3.73 [[ 8.04057651e-01 5.94546412e-01 2.42032604e-03 2.23443166e+02] [-5.94543984e-01 8.04061290e-01 -1.70083351e-03 -6.02978248e+01] [-2.95731494e-03 -7.14220918e-05 9.99995625e-01 -3.72825962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters 0.013671913862485974 Centerline is valid? [True, True] Translation: X:223.49, Y:-60.33, Z:-3.73 [[ 8.07205738e-01 5.90263837e-01 2.73853017e-03 2.23492001e+02] [-5.90260698e-01 8.07210381e-01 -1.92586572e-03 -6.03340245e+01] [-3.34733887e-03 -6.18768673e-05 9.99994396e-01 -3.72975597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters 0.01181439257137241 Centerline is valid? [True, True] Translation: X:223.54, Y:-60.37, Z:-3.73 [[ 8.12254255e-01 5.83289736e-01 4.01354172e-03 2.23539254e+02] [-5.83282906e-01 8.12264170e-01 -2.82303652e-03 -6.03736980e+01] [-4.90670436e-03 -4.80068555e-05 9.99987961e-01 -3.72928102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters 0.011316042289117824 Centerline is valid? [True, True] Translation: X:223.59, Y:-60.41, Z:-3.73 [[ 8.17033175e-01 5.76572618e-01 4.56155873e-03 2.23587973e+02] [-5.76563692e-01 8.17045908e-01 -3.20818600e-03 -6.04131253e+01] [-5.57675509e-03 -8.83475415e-06 9.99984450e-01 -3.73073692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters 0.013184993855595857 Centerline is valid? [True, True] Translation: X:223.63, Y:-60.46, Z:-3.73 [[ 8.25210468e-01 5.64815926e-01 3.26392681e-03 2.23632053e+02] [-5.64811264e-01 8.25216921e-01 -2.29545478e-03 -6.04556974e+01] [-3.98995705e-03 5.07306865e-05 9.99992039e-01 -3.73354660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters 0.015634932940815544 Centerline is valid? [True, True] Translation: X:223.68, Y:-60.50, Z:-3.74 [[ 8.30299092e-01 5.57310449e-01 2.91237277e-03 2.23679426e+02] [-5.57306687e-01 8.30304196e-01 -2.04907654e-03 -6.04955739e+01] [-3.56012710e-03 7.82615726e-05 9.99993660e-01 -3.73518968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters 0.020637278688216094 Centerline is valid? [True, True] Translation: X:223.72, Y:-60.54, Z:-3.74 [[ 8.36948497e-01 5.47278011e-01 1.99823452e-03 2.23724859e+02] [-5.47276214e-01 8.36950878e-01 -1.40475736e-03 -6.05360791e+01] [-2.44121695e-03 8.21233377e-05 9.99997017e-01 -3.73733486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters 0.02111379873504998 Centerline is valid? [True, True] Translation: X:223.77, Y:-60.57, Z:-3.74 [[ 8.41013374e-01 5.41008123e-01 2.59131235e-03 2.23774524e+02] [-5.41005069e-01 8.41017356e-01 -1.82261933e-03 -6.05713644e+01] [-3.16539052e-03 1.30934115e-04 9.99994982e-01 -3.73680306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters 0.024344250568408683 Centerline is valid? [True, True] Translation: X:223.82, Y:-60.61, Z:-3.74 [[ 8.46023972e-01 5.33133041e-01 3.54953360e-03 2.23823360e+02] [-5.33127230e-01 8.46031389e-01 -2.49907067e-03 -6.06090692e+01] [-4.33535399e-03 2.21920674e-04 9.99990578e-01 -3.73659617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters 0.026612260662894637 Centerline is valid? [True, True] Translation: X:223.87, Y:-60.64, Z:-3.74 [[ 8.47908085e-01 5.30120205e-01 4.94453047e-03 2.23874195e+02] [-5.30108875e-01 8.47922437e-01 -3.48163553e-03 -6.06433756e+01] [-6.03826367e-03 3.30967423e-04 9.99981715e-01 -3.73644944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters 0.025163587839210827 Centerline is valid? [True, True] Translation: X:223.93, Y:-60.67, Z:-3.74 [[ 8.46398393e-01 5.32521479e-01 5.53485172e-03 2.23928891e+02] [-5.32507328e-01 8.46416417e-01 -3.89809425e-03 -6.06733966e+01] [-6.76060828e-03 3.51991607e-04 9.99977085e-01 -3.73641993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters 0.020666135872970334 Centerline is valid? [True, True] Translation: X:223.99, Y:-60.70, Z:-3.74 [[ 8.42812672e-01 5.38170086e-01 6.30535549e-03 2.23986670e+02] [-5.38151882e-01 8.42836186e-01 -4.44024166e-03 -6.06975433e+01] [-7.70398701e-03 3.49053016e-04 9.99970263e-01 -3.73701012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters 0.017584417087416326 Centerline is valid? [True, True] Translation: X:224.04, Y:-60.72, Z:-3.74 [[ 8.34852031e-01 5.50429870e-01 7.00313551e-03 2.24044901e+02] [-5.50407811e-01 8.34881361e-01 -4.93504404e-03 -6.07186070e+01] [-8.56318296e-03 2.65451059e-04 9.99963300e-01 -3.73840236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters 0.01415814344982115 Centerline is valid? [True, True] Translation: X:224.10, Y:-60.74, Z:-3.74 [[ 8.29151396e-01 5.58964899e-01 8.13660309e-03 2.24102786e+02] [-5.58935528e-01 8.29191292e-01 -5.73381506e-03 -6.07422861e+01] [-9.95180179e-03 2.06364214e-04 9.99950458e-01 -3.73929702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters 0.01185405714898994 Centerline is valid? [True, True] Translation: X:224.16, Y:-60.77, Z:-3.74 [[ 8.23684160e-01 5.66981089e-01 8.76633597e-03 2.24160857e+02] [-5.66947446e-01 8.23730800e-01 -6.17762375e-03 -6.07671126e+01] [-1.07236968e-02 1.18359038e-04 9.99942493e-01 -3.74002356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters 0.010876449841380356 Centerline is valid? [True, True] Translation: X:224.22, Y:-60.79, Z:-3.74 [[ 8.17340584e-01 5.76077913e-01 9.41316687e-03 2.24220863e+02] [-5.76039716e-01 8.17394788e-01 -6.63374508e-03 -6.07893748e+01] [-1.15158275e-02 -3.28889641e-07 9.99933691e-01 -3.74155907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters 0.011022657767824283 Centerline is valid? [True, True] Translation: X:224.28, Y:-60.82, Z:-3.74 [[ 8.14889895e-01 5.79531499e-01 9.88431082e-03 2.24276417e+02] [-5.79489592e-01 8.14949838e-01 -6.96951101e-03 -6.08192947e+01] [-1.20942687e-02 -4.84711410e-05 9.99926860e-01 -3.74308988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters 0.011256395774731467 Centerline is valid? [True, True] Translation: X:224.33, Y:-60.85, Z:-3.75 [[ 8.13874012e-01 5.80959647e-01 9.74587213e-03 2.24332105e+02] [-5.80918957e-01 8.13932359e-01 -6.87609901e-03 -6.08483887e+01] [-1.19272167e-02 -6.52835871e-05 9.99928866e-01 -3.74637084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters 0.011138759542890042 Centerline is valid? [True, True] Translation: X:224.38, Y:-60.88, Z:-3.75 [[ 8.14826620e-01 5.79620701e-01 9.87031756e-03 2.24384931e+02] [-5.79578820e-01 8.14886398e-01 -6.96780674e-03 -6.08823804e+01] [-1.20818725e-02 -4.30725880e-05 9.99927011e-01 -3.74868331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters 0.011213758597810836 Centerline is valid? [True, True] Translation: X:224.44, Y:-60.92, Z:-3.75 [[ 8.18187577e-01 5.74847037e-01 1.09532165e-02 2.24436743e+02] [-5.74794963e-01 8.18260889e-01 -7.73741308e-03 -6.09188971e+01] [-1.34104177e-02 3.48015560e-05 9.99910076e-01 -3.75033862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters 0.01164335566401554 Centerline is valid? [True, True] Translation: X:224.49, Y:-60.96, Z:-3.75 [[ 8.20752505e-01 5.71166420e-01 1.15864701e-02 2.24486637e+02] [-5.71107706e-01 8.20834277e-01 -8.19013399e-03 -6.09558943e+01] [-1.41885013e-02 1.04950605e-04 9.99899333e-01 -3.75078800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters 0.012372500190572228 Centerline is valid? [True, True] Translation: X:224.54, Y:-60.99, Z:-3.75 [[ 8.22995937e-01 5.67929456e-01 1.15681033e-02 2.24535466e+02] [-5.67870542e-01 8.23077217e-01 -8.18176196e-03 -6.09929994e+01] [-1.41681059e-02 1.64371779e-04 9.99899614e-01 -3.75236972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters 0.0131150913310687 Centerline is valid? [True, True] Translation: X:224.59, Y:-61.03, Z:-3.76 [[ 8.24469881e-01 5.65815145e-01 1.01310561e-02 2.24585920e+02] [-5.65769784e-01 8.24532104e-01 -7.16661842e-03 -6.10297023e+01] [-1.24083623e-02 1.76815599e-04 9.99922998e-01 -3.75540881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters 0.012955582123763307 Centerline is valid? [True, True] Translation: X:224.64, Y:-61.07, Z:-3.76 [[ 8.24095384e-01 5.66360168e-01 1.01468175e-02 2.24638019e+02] [-5.66314664e-01 8.24157831e-01 -7.18129030e-03 -6.10654172e+01] [-1.24297759e-02 1.71776610e-04 9.99922733e-01 -3.75660092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters 0.01226079652641622 Centerline is valid? [True, True] Translation: X:224.69, Y:-61.10, Z:-3.76 [[ 8.22172700e-01 5.69149563e-01 1.00412879e-02 2.24690658e+02] [-5.69105155e-01 8.22234004e-01 -7.11091341e-03 -6.10992623e+01] [-1.23034616e-02 1.31850167e-04 9.99924301e-01 -3.75723567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters 0.011915433775251326 Centerline is valid? [True, True] Translation: X:224.74, Y:-61.13, Z:-3.76 [[ 8.19611819e-01 5.72830548e-01 1.00811846e-02 2.24742355e+02] [-5.72786016e-01 8.19673811e-01 -7.14298680e-03 -6.11331494e+01] [-1.23550041e-02 8.01148226e-05 9.99923671e-01 -3.75816957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters 0.011644769529527981 Centerline is valid? [True, True] Translation: X:224.80, Y:-61.17, Z:-3.76 [[ 8.14500954e-01 5.80064053e-01 1.06719218e-02 2.24795644e+02] [-5.80014711e-01 8.14570865e-01 -7.56578233e-03 -6.11651560e+01] [-1.30816749e-02 -2.75346874e-05 9.99914431e-01 -3.75860172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters 0.012947199396379174 Centerline is valid? [True, True] Translation: X:224.85, Y:-61.19, Z:-3.76 [[ 8.08856945e-01 5.87908019e-01 1.07053036e-02 2.24848774e+02] [-5.87858992e-01 8.08927771e-01 -7.59386295e-03 -6.11949971e+01] [-1.31243103e-02 -1.50860203e-04 9.99913861e-01 -3.76009489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters 0.014491859743937638 Centerline is valid? [True, True] Translation: X:224.90, Y:-61.23, Z:-3.76 [[ 8.04790826e-01 5.93461914e-01 1.07089549e-02 2.24900835e+02] [-5.93413322e-01 8.04862037e-01 -7.59808672e-03 -6.12279497e+01] [-1.31284063e-02 -2.39965983e-04 9.99913790e-01 -3.76081770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters 0.01625267885903208 Centerline is valid? [True, True] Translation: X:224.95, Y:-61.26, Z:-3.76 [[ 7.99863001e-01 6.00081360e-01 1.10245808e-02 2.24951184e+02] [-6.00030426e-01 7.99938895e-01 -7.82639089e-03 -6.12628381e+01] [-1.35154623e-02 -3.55043430e-04 9.99908599e-01 -3.76099037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters 0.018007368221141185 Centerline is valid? [True, True] Translation: X:225.00, Y:-61.30, Z:-3.76 [[ 7.97454059e-01 6.03282407e-01 1.08333588e-02 2.25001627e+02] [-6.03233519e-01 7.97527539e-01 -7.69060287e-03 -6.12975744e+01] [-1.32795074e-02 -4.02142665e-04 9.99911743e-01 -3.76184704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters 0.019736579712061265 Centerline is valid? [True, True] Translation: X:225.05, Y:-61.33, Z:-3.76 [[ 7.95598263e-01 6.05735353e-01 1.03963997e-02 2.25051216e+02] [-6.05690495e-01 7.95666075e-01 -7.38381034e-03 -6.13343176e+01] [-1.27446975e-02 -4.22453772e-04 9.99918694e-01 -3.76325590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters 0.020334281415183213 Centerline is valid? [True, True] Translation: X:225.10, Y:-61.37, Z:-3.76 [[ 7.95544175e-01 6.05810779e-01 1.01373743e-02 2.25099105e+02] [-6.05768095e-01 7.95608655e-01 -7.20303154e-03 -6.13732111e+01] [-1.24290569e-02 -4.10568152e-04 9.99922672e-01 -3.76471494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters 0.02010318317669398 Centerline is valid? [True, True] Translation: X:225.15, Y:-61.41, Z:-3.77 [[ 7.96232611e-01 6.04919036e-01 9.30531798e-03 2.25146883e+02] [-6.04882973e-01 7.96286901e-01 -6.61510739e-03 -6.14126141e+01] [-1.14113072e-02 -3.61464181e-04 9.99934824e-01 -3.76664122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters 0.019261971464704503 Centerline is valid? [True, True] Translation: X:225.19, Y:-61.45, Z:-3.77 [[ 7.98241290e-01 6.02291691e-01 7.45397548e-03 2.25190844e+02] [-6.02268403e-01 7.98276051e-01 -5.30253198e-03 -6.14544839e+01] [-9.14400106e-03 -2.56593943e-04 9.99958160e-01 -3.76963414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters 0.017064493163038603 Centerline is valid? [True, True] Translation: X:225.24, Y:-61.50, Z:-3.77 [[ 7.99556790e-01 6.00556272e-01 6.41118760e-03 2.25236453e+02] [-6.00539005e-01 7.99582467e-01 -4.55864223e-03 -6.14977592e+01] [-7.86399439e-03 -2.05274875e-04 9.99969057e-01 -3.77102087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters 0.015670127448644197 Centerline is valid? [True, True] Translation: X:225.28, Y:-61.54, Z:-3.77 [[ 8.01555739e-01 5.97892308e-01 5.76060622e-03 2.25281178e+02] [-5.97878276e-01 8.01576423e-01 -4.09932043e-03 -6.15428968e+01] [-7.06851828e-03 -1.58307502e-04 9.99975005e-01 -3.77188663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters 0.014780238835676935 Centerline is valid? [True, True] Translation: X:225.33, Y:-61.59, Z:-3.77 [[ 8.02849578e-01 5.96146807e-01 6.44505382e-03 2.25326103e+02] [-5.96129190e-01 8.02875431e-01 -4.58588629e-03 -6.15863495e+01] [-7.90843684e-03 -1.60307840e-04 9.99968715e-01 -3.77159353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters 0.014533282578947865 Centerline is valid? [True, True] Translation: X:225.37, Y:-61.63, Z:-3.77 [[ 8.03247755e-01 5.95601073e-01 7.23920905e-03 2.25374086e+02] [-5.95578787e-01 8.03280358e-01 -5.15518189e-03 -6.16269463e+01] [-8.88554630e-03 -1.70631061e-04 9.99960508e-01 -3.77174846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters 0.014999872210917139 Centerline is valid? [True, True] Translation: X:225.42, Y:-61.67, Z:-3.77 [[ 8.02073336e-01 5.97183757e-01 7.06561639e-03 2.25421770e+02] [-5.97162585e-01 8.02104436e-01 -5.03191892e-03 -6.16673099e+01] [-8.67234250e-03 -1.83353752e-04 9.99962378e-01 -3.77305843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters 0.015238279828338338 Centerline is valid? [True, True] Translation: X:225.47, Y:-61.71, Z:-3.77 [[ 8.00271030e-01 5.99602927e-01 6.52744087e-03 2.25470534e+02] [-5.99584922e-01 8.00297627e-01 -4.65063257e-03 -6.17060685e+01] [-8.01242835e-03 -1.91988608e-04 9.99967882e-01 -3.77392755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters 0.017357884690670455 Centerline is valid? [True, True] Translation: X:225.52, Y:-61.74, Z:-3.78 [[ 7.96472759e-01 6.04644705e-01 5.99367125e-03 2.25520430e+02] [-6.04629636e-01 7.96495281e-01 -4.27445163e-03 -6.17415374e+01] [-7.35845541e-03 -2.19466982e-04 9.99972902e-01 -3.77527418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters 0.020318027052190074 Centerline is valid? [True, True] Translation: X:225.57, Y:-61.77, Z:-3.78 [[ 7.93670687e-01 6.08322710e-01 5.50651152e-03 2.25571049e+02] [-6.08310076e-01 7.93689754e-01 -3.92746796e-03 -6.17743361e+01] [-6.75962973e-03 -2.32550248e-04 9.99977126e-01 -3.77747473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters 0.021570492453949323 Centerline is valid? [True, True] Translation: X:225.62, Y:-61.81, Z:-3.78 [[ 7.91013427e-01 6.11781830e-01 4.55533621e-03 2.25620006e+02] [-6.11773241e-01 7.91026514e-01 -3.24889481e-03 -6.18115631e+01] [-5.59100654e-03 -2.16913381e-04 9.99984347e-01 -3.77894672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters 0.02205764993554364 Centerline is valid? [True, True] Translation: X:225.67, Y:-61.85, Z:-3.78 [[ 7.90631615e-01 6.12279259e-01 3.96965002e-03 2.25669161e+02] [-6.12272756e-01 7.90641557e-01 -2.82850661e-03 -6.18500392e+01] [-4.87040620e-03 -1.94201810e-04 9.99988121e-01 -3.77999782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters 0.020493360261904466 Centerline is valid? [True, True] Translation: X:225.72, Y:-61.89, Z:-3.78 [[ 7.91729149e-01 6.10857993e-01 4.17935463e-03 2.25716691e+02] [-6.10850749e-01 7.91740156e-01 -2.98112128e-03 -6.18910783e+01] [-5.13000466e-03 -1.92721292e-04 9.99986823e-01 -3.78026288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters 0.02089464332691324 Centerline is valid? [True, True] Translation: X:225.76, Y:-61.93, Z:-3.78 [[ 7.93864268e-01 6.08075775e-01 4.83475259e-03 2.25764665e+02] [-6.08066014e-01 7.93878965e-01 -3.45121615e-03 -6.19284040e+01] [-5.93680932e-03 -2.00051556e-04 9.99982357e-01 -3.78134735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters 0.01912775110504492 Centerline is valid? [True, True] Translation: X:225.81, Y:-61.97, Z:-3.78 [[ 7.97508124e-01 6.03276619e-01 6.17356578e-03 2.25808978e+02] [-6.03260553e-01 7.97531992e-01 -4.40771581e-03 -6.19693067e+01] [-7.58268810e-03 -2.09079537e-04 9.99971229e-01 -3.78184102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters 0.016055563370614343 Centerline is valid? [True, True] Translation: X:225.85, Y:-62.01, Z:-3.78 [[ 7.99869282e-01 6.00143200e-01 6.10512276e-03 2.25853482e+02] [-6.00127398e-01 7.99892561e-01 -4.35860196e-03 -6.20119703e+01] [-7.49922760e-03 -1.77539621e-04 9.99971865e-01 -3.78185368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters 0.013954240023563942 Centerline is valid? [True, True] Translation: X:225.90, Y:-62.05, Z:-3.78 [[ 8.02857988e-01 5.96144367e-01 5.56285651e-03 2.25898447e+02] [-5.96131150e-01 8.02877249e-01 -3.97168223e-03 -6.20543534e+01] [-6.83398692e-03 -1.27495242e-04 9.99976640e-01 -3.78271007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters 0.013864709424980222 Centerline is valid? [True, True] Translation: X:225.95, Y:-62.09, Z:-3.79 [[ 8.04242927e-01 5.94275505e-01 5.47162409e-03 2.25947111e+02] [-5.94262687e-01 8.04261532e-01 -3.90465874e-03 -6.20912242e+01] [-6.72105981e-03 -1.11287862e-04 9.99977407e-01 -3.78542332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters 0.013646905269062735 Centerline is valid? [True, True] Translation: X:226.00, Y:-62.13, Z:-3.79 [[ 8.04004119e-01 5.94593902e-01 5.95553201e-03 2.25997922e+02] [-5.94578712e-01 8.04026167e-01 -4.25186986e-03 -6.21278700e+01] [-7.31653946e-03 -1.22511677e-04 9.99973226e-01 -3.78573022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters 0.014193930112567385 Centerline is valid? [True, True] Translation: X:226.05, Y:-62.16, Z:-3.79 [[ 8.01995936e-01 5.97321588e-01 3.07240422e-03 2.26049338e+02] [-5.97317568e-01 8.02001817e-01 -2.19289398e-03 -6.21616032e+01] [-3.77393668e-03 -7.65089575e-05 9.99992876e-01 -3.78724151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters 0.019261309488430325 Centerline is valid? [True, True] Translation: X:226.11, Y:-62.19, Z:-3.80 [[ 7.97320596e-01 6.03555214e-01 -9.85739599e-04 2.26105954e+02] [-6.03554802e-01 7.97321205e-01 7.05220278e-04 -6.21859211e+01] [ 1.21159046e-03 3.26612169e-05 9.99999265e-01 -3.79538435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters 0.019289909208405058 Centerline is valid? [True, True] Translation: X:226.16, Y:-62.22, Z:-3.79 [[ 7.94179659e-01 6.07681801e-01 -1.22359522e-03 2.26156532e+02] [-6.07681172e-01 7.94180600e-01 8.75535090e-04 -6.22194965e+01] [ 1.50380233e-03 4.82236176e-05 9.99998868e-01 -3.79470493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters 0.020040122560953725 Centerline is valid? [True, True] Translation: X:226.21, Y:-62.25, Z:-3.79 [[ 7.91626864e-01 6.11004781e-01 2.56426050e-04 2.26208312e+02] [-6.11004754e-01 7.91626905e-01 -1.82070189e-04 -6.22539336e+01] [-3.14239516e-04 -1.25458828e-05 9.99999951e-01 -3.79177671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters 0.019942951208021073 Centerline is valid? [True, True] Translation: X:226.26, Y:-62.29, Z:-3.79 [[ 7.91169199e-01 6.11595824e-01 1.35894594e-03 2.26260474e+02] [-6.11595063e-01 7.91170363e-01 -9.67219629e-04 -6.22895574e+01] [-1.66670524e-03 -6.58902517e-05 9.99998609e-01 -3.79115941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters 0.020016512312593465 Centerline is valid? [True, True] Translation: X:226.31, Y:-62.32, Z:-3.79 [[ 7.91682697e-01 6.10922714e-01 3.45611764e-03 2.26312789e+02] [-6.10917739e-01 7.91690226e-01 -2.47039553e-03 -6.23235888e+01] [-4.24539529e-03 -1.55634179e-04 9.99990976e-01 -3.78980957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters 0.019802314760790023 Centerline is valid? [True, True] Translation: X:226.36, Y:-62.36, Z:-3.79 [[ 7.91709224e-01 6.10882102e-01 4.42297509e-03 2.26364414e+02] [-6.10873937e-01 7.91721554e-01 -3.16445899e-03 -6.23587331e+01] [-5.43487607e-03 -1.96548836e-04 9.99985212e-01 -3.78855004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters 0.018665831461151944 Centerline is valid? [True, True] Translation: X:226.42, Y:-62.39, Z:-3.79 [[ 7.92432891e-01 6.09932968e-01 5.64691616e-03 2.26415392e+02] [-6.09919612e-01 7.92452975e-01 -4.04351497e-03 -6.23944977e+01] [-6.94118860e-03 -2.39950657e-04 9.99975881e-01 -3.78751617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters 0.02044137012679036 Centerline is valid? [True, True] Translation: X:226.47, Y:-62.43, Z:-3.79 [[ 7.93031036e-01 6.09147066e-01 6.45197883e-03 2.26467810e+02] [-6.09129578e-01 7.93057238e-01 -4.62330837e-03 -6.24262043e+01] [-7.93306324e-03 -2.63664120e-04 9.99968498e-01 -3.78907526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters 0.019501377099721495 Centerline is valid? [True, True] Translation: X:226.52, Y:-62.46, Z:-3.79 [[ 7.94987552e-01 6.06597234e-01 5.88121228e-03 2.26517781e+02] [-6.06582606e-01 7.95009277e-01 -4.21798595e-03 -6.24609021e+01] [-7.23423693e-03 -2.14194750e-04 9.99973810e-01 -3.79122948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters 0.01568241051275456 Centerline is valid? [True, True] Translation: X:226.56, Y:-62.50, Z:-3.79 [[ 7.97690296e-01 6.03050515e-01 4.50197370e-03 2.26564471e+02] [-6.03041887e-01 7.97702988e-01 -3.22884914e-03 -6.25013735e+01] [-5.53839701e-03 -1.39257095e-04 9.99984653e-01 -3.79231362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters 0.014305818278392536 Centerline is valid? [True, True] Translation: X:226.61, Y:-62.54, Z:-3.79 [[ 8.00601364e-01 5.99179717e-01 4.59592164e-03 2.26612576e+02] [-5.99170659e-01 8.00614548e-01 -3.29649052e-03 -6.25395161e+01] [-5.65475198e-03 -1.14566593e-04 9.99984005e-01 -3.79351330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters 0.013247535851798052 Centerline is valid? [True, True] Translation: X:226.66, Y:-62.58, Z:-3.80 [[ 8.03617502e-01 5.95124704e-01 5.04937511e-03 2.26660342e+02] [-5.95113689e-01 8.03633360e-01 -3.62208225e-03 -6.25777875e+01] [-6.21343692e-03 -9.41835537e-05 9.99980692e-01 -3.79549989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters 0.013476117377214884 Centerline is valid? [True, True] Translation: X:226.71, Y:-62.61, Z:-3.80 [[ 8.02766334e-01 5.96270773e-01 5.23241686e-03 2.26711150e+02] [-5.96258983e-01 8.02783379e-01 -3.75123947e-03 -6.26138026e+01] [-6.43725174e-03 -1.08506797e-04 9.99979275e-01 -3.79658251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters 0.013476117377214884 Centerline is valid? [True, True] Translation: X:226.76, Y:-62.65, Z:-3.80 [[ 8.02597725e-01 5.96497713e-01 5.23168638e-03 2.26761817e+02] [-5.96485921e-01 8.02614769e-01 -3.75225772e-03 -6.26502675e+01] [-6.43724190e-03 -1.09073761e-04 9.99979275e-01 -3.79757366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters 0.01345561202750299 Centerline is valid? [True, True] Translation: X:226.81, Y:-62.69, Z:-3.80 [[ 8.01694029e-01 5.97712129e-01 5.18595882e-03 2.26811882e+02] [-5.97700552e-01 8.01710794e-01 -3.72199263e-03 -6.26868975e+01] [-6.38231930e-03 -1.15751181e-04 9.99979626e-01 -3.79797282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters 0.01345561202750299 Centerline is valid? [True, True] Translation: X:226.86, Y:-62.72, Z:-3.80 [[ 8.01521626e-01 5.97943306e-01 5.18522101e-03 2.26862533e+02] [-5.97931726e-01 8.01538389e-01 -3.72301994e-03 -6.27233828e+01] [-6.38230855e-03 -1.16327154e-04 9.99979626e-01 -3.79896399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters 0.014243107877372442 Centerline is valid? [True, True] Translation: X:226.91, Y:-62.76, Z:-3.80 [[ 8.00685657e-01 5.99061846e-01 5.23293453e-03 2.26912668e+02] [-5.99050050e-01 8.00702747e-01 -3.76139017e-03 -6.27583530e+01] [-6.44333040e-03 -1.23098535e-04 9.99979234e-01 -3.80022552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters 0.014177994271951613 Centerline is valid? [True, True] Translation: X:226.96, Y:-62.80, Z:-3.80 [[ 7.99873001e-01 6.00146246e-01 5.25980523e-03 2.26962354e+02] [-6.00134353e-01 7.99890284e-01 -3.78049422e-03 -6.27950336e+01] [-6.47611652e-03 -1.32674553e-04 9.99979021e-01 -3.80093976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters 0.015998088972328576 Centerline is valid? [True, True] Translation: X:227.01, Y:-62.83, Z:-3.80 [[ 7.98463075e-01 6.02021882e-01 5.13524144e-03 2.27013274e+02] [-6.02010572e-01 7.98479576e-01 -3.69303682e-03 -6.28288862e+01] [-6.32367439e-03 -1.42716099e-04 9.99979995e-01 -3.80292168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters 0.015123047423163187 Centerline is valid? [True, True] Translation: X:227.06, Y:-62.87, Z:-3.80 [[ 7.96822683e-01 6.04187794e-01 5.54265051e-03 2.27062315e+02] [-6.04174657e-01 7.96841942e-01 -3.98798883e-03 -6.28675445e+01] [-6.82611057e-03 -1.71009003e-04 9.99976687e-01 -3.80261007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters 0.016553343943336074 Centerline is valid? [True, True] Translation: X:227.11, Y:-62.90, Z:-3.80 [[ 7.95380084e-01 6.06080599e-01 6.06868639e-03 2.27112667e+02] [-6.06064882e-01 7.95403210e-01 -4.36953377e-03 -6.29023368e+01] [-7.47534228e-03 -2.02577567e-04 9.99972039e-01 -3.80371783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters 0.016636198130749992 Centerline is valid? [True, True] Translation: X:227.16, Y:-62.94, Z:-3.80 [[ 7.94695222e-01 6.06972122e-01 6.65933180e-03 2.27162780e+02] [-6.06953206e-01 7.94723090e-01 -4.79744410e-03 -6.29391524e+01] [-8.20423957e-03 -2.29396879e-04 9.99966318e-01 -3.80428392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters 0.015793246562348335 Centerline is valid? [True, True] Translation: X:227.21, Y:-62.98, Z:-3.81 [[ 7.94070545e-01 6.07787156e-01 6.83685870e-03 2.27212517e+02] [-6.07767226e-01 7.94099940e-01 -4.92794560e-03 -6.29768633e+01] [-8.42429112e-03 -2.42082194e-04 9.99964486e-01 -3.80516184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters 0.016723198328694032 Centerline is valid? [True, True] Translation: X:227.26, Y:-63.01, Z:-3.81 [[ 7.93293714e-01 6.08815492e-01 5.36470990e-03 2.27262812e+02] [-6.08803236e-01 7.93311829e-01 -3.86810856e-03 -6.30115801e+01] [-6.61085224e-03 -1.97506538e-04 9.99978129e-01 -3.80776153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters 0.01667189722469783 Centerline is valid? [True, True] Translation: X:227.31, Y:-63.05, Z:-3.81 [[ 7.93100324e-01 6.09073288e-01 4.64813108e-03 2.27313276e+02] [-6.09064090e-01 7.93113926e-01 -3.35180548e-03 -6.30483422e+01] [-5.72799268e-03 -1.72691715e-04 9.99983580e-01 -3.80915556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters 0.016631391997659395 Centerline is valid? [True, True] Translation: X:227.36, Y:-63.09, Z:-3.81 [[ 7.93293565e-01 6.08824539e-01 4.24271087e-03 2.27363168e+02] [-6.08816862e-01 7.93304895e-01 -3.06130950e-03 -6.30853179e+01] [-5.22956364e-03 -1.54516793e-04 9.99986314e-01 -3.81057737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters 0.016227007921514842 Centerline is valid? [True, True] Translation: X:227.41, Y:-63.12, Z:-3.81 [[ 7.94706262e-01 6.06981168e-01 3.97736979e-03 2.27412252e+02] [-6.06974392e-01 7.94716204e-01 -2.87111313e-03 -6.31228224e+01] [-4.90359182e-03 -1.32470027e-04 9.99987969e-01 -3.81165480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters 0.014349244347277556 Centerline is valid? [True, True] Translation: X:227.46, Y:-63.16, Z:-3.81 [[ 7.98385120e-01 6.02131256e-01 4.37613442e-03 2.27459145e+02] [-6.02122955e-01 7.98397106e-01 -3.16362121e-03 -6.31631894e+01] [-5.39880827e-03 -1.09182893e-04 9.99985420e-01 -3.81221207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters 0.013167403585286893 Centerline is valid? [True, True] Translation: X:227.51, Y:-63.20, Z:-3.81 [[ 8.02281818e-01 5.96921247e-01 5.37673748e-03 2.27505233e+02] [-5.96908592e-01 8.02299829e-01 -3.88807258e-03 -6.32025980e+01] [-6.63462870e-03 -9.00908646e-05 9.99977987e-01 -3.81271538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters 0.011992359397078522 Centerline is valid? [True, True] Translation: X:227.55, Y:-63.25, Z:-3.81 [[ 8.07017150e-01 5.90488342e-01 6.84378886e-03 2.27550522e+02] [-5.90467604e-01 8.07046167e-01 -4.94905629e-03 -6.32450789e+01] [-8.44561361e-03 -4.70623123e-05 9.99964334e-01 -3.81105013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters 0.011931952148190868 Centerline is valid? [True, True] Translation: X:227.60, Y:-63.29, Z:-3.81 [[ 8.12002211e-01 5.83619919e-01 6.34032471e-03 2.27596927e+02] [-5.83601925e-01 8.12026964e-01 -4.58303178e-03 -6.32871342e+01] [-7.82326326e-03 2.12062350e-05 9.99969398e-01 -3.81224082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters 0.012397487406000671 Centerline is valid? [True, True] Translation: X:227.65, Y:-63.33, Z:-3.81 [[ 8.15101287e-01 5.79295857e-01 5.11871884e-03 2.27645404e+02] [-5.79284036e-01 8.15117358e-01 -3.70122376e-03 -6.33260061e+01] [-6.31646017e-03 5.16801440e-05 9.99980050e-01 -3.81428680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters 0.013445521745843323 Centerline is valid? [True, True] Translation: X:227.69, Y:-63.37, Z:-3.82 [[ 8.17867975e-01 5.75391653e-01 4.05230551e-03 2.27692583e+02] [-5.75384192e-01 8.17878012e-01 -2.93092822e-03 -6.33659224e+01] [-5.00072321e-03 6.54797970e-05 9.99987494e-01 -3.81651412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters 0.013613477878902928 Centerline is valid? [True, True] Translation: X:227.74, Y:-63.40, Z:-3.82 [[ 8.18862253e-01 5.73975665e-01 4.06782729e-03 2.27741630e+02] [-5.73968116e-01 8.18872353e-01 -2.94481075e-03 -6.34032046e+01] [-5.02128101e-03 7.65911993e-05 9.99987390e-01 -3.81673669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters 0.014062371737132925 Centerline is valid? [True, True] Translation: X:227.79, Y:-63.44, Z:-3.82 [[ 8.19885649e-01 5.72510043e-01 4.44667919e-03 2.27791464e+02] [-5.72501002e-01 8.19897702e-01 -3.21880054e-03 -6.34408276e+01] [-5.48861769e-03 9.33200768e-05 9.99984933e-01 -3.81747895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters 0.013896000803600846 Centerline is valid? [True, True] Translation: X:227.84, Y:-63.48, Z:-3.82 [[ 8.18669747e-01 5.74243418e-01 4.93376779e-03 2.27840917e+02] [-5.74232303e-01 8.18684609e-01 -3.57402352e-03 -6.34761836e+01] [-6.09155923e-03 9.28160931e-05 9.99981442e-01 -3.81845998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters 0.012679229727931153 Centerline is valid? [True, True] Translation: X:227.89, Y:-63.51, Z:-3.82 [[ 8.16395214e-01 5.77473691e-01 4.79481042e-03 2.27893336e+02] [-5.77463234e-01 8.16409292e-01 -3.47596820e-03 -6.35104336e+01] [-5.92180797e-03 6.89370754e-05 9.99982464e-01 -3.81844239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters 0.012077096738525327 Centerline is valid? [True, True] Translation: X:227.95, Y:-63.54, Z:-3.82 [[ 8.13401388e-01 5.81676841e-01 5.49865996e-03 2.27945695e+02] [-5.81663182e-01 8.13419972e-01 -3.98650063e-03 -6.35443812e+01] [-6.79157493e-03 4.42570971e-05 9.99976936e-01 -3.81916517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters 0.011677456987434514 Centerline is valid? [True, True] Translation: X:228.00, Y:-63.57, Z:-3.82 [[ 8.07976837e-01 5.89180211e-01 6.33326651e-03 2.27998901e+02] [-5.89162293e-01 8.08001658e-01 -4.59494516e-03 -6.35745419e+01] [-7.82454059e-03 -1.87125618e-05 9.99969388e-01 -3.82041615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters 0.012200037231785135 Centerline is valid? [True, True] Translation: X:228.05, Y:-63.61, Z:-3.82 [[ 8.03957088e-01 5.94656180e-01 6.08509590e-03 2.28052097e+02] [-5.94639782e-01 8.03980113e-01 -4.41665702e-03 -6.36074835e+01] [-7.51868849e-03 -6.76373888e-05 9.99971732e-01 -3.82151993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters 0.013539218509210187 Centerline is valid? [True, True] Translation: X:228.11, Y:-63.64, Z:-3.82 [[ 7.98539510e-01 6.01910269e-01 6.21927746e-03 2.28105555e+02] [-6.01893329e-01 7.98563717e-01 -4.51778722e-03 -6.36390938e+01] [-7.68579184e-03 -1.35710015e-04 9.99970455e-01 -3.82320696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters 0.015474003009540915 Centerline is valid? [True, True] Translation: X:228.16, Y:-63.67, Z:-3.82 [[ 7.94575807e-01 6.07122972e-01 7.14027963e-03 2.28158334e+02] [-6.07100833e-01 7.94607861e-01 -5.18906226e-03 -6.36712727e+01] [-8.82412123e-03 -2.11766373e-04 9.99961044e-01 -3.82394302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters 0.01619729663264914 Centerline is valid? [True, True] Translation: X:228.21, Y:-63.71, Z:-3.82 [[ 7.93130409e-01 6.09007184e-01 7.37595676e-03 2.28209129e+02] [-6.08983650e-01 7.93164669e-01 -5.35928263e-03 -6.37061454e+01] [-9.11418992e-03 -2.41227046e-04 9.99958436e-01 -3.82478532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters 0.017787108058552544 Centerline is valid? [True, True] Translation: X:228.26, Y:-63.74, Z:-3.83 [[ 7.92387600e-01 6.09973707e-01 7.34633478e-03 2.28259848e+02] [-6.09950380e-01 7.92421614e-01 -5.34033434e-03 -6.37403851e+01] [-9.07885800e-03 -2.49284984e-04 9.99958755e-01 -3.82640146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters 0.01723066421419413 Centerline is valid? [True, True] Translation: X:228.31, Y:-63.78, Z:-3.83 [[ 7.92128614e-01 6.10313876e-01 7.01650700e-03 2.28310360e+02] [-6.10292595e-01 7.92159652e-01 -5.10233778e-03 -6.37785395e+01] [-8.67222129e-03 -2.40414513e-04 9.99962367e-01 -3.82811046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters 0.016130447633610767 Centerline is valid? [True, True] Translation: X:228.36, Y:-63.82, Z:-3.83 [[ 7.93206127e-01 6.08919055e-01 6.45174144e-03 2.28358647e+02] [-6.08900995e-01 7.93232338e-01 -4.69422748e-03 -6.38178759e+01] [-7.97613451e-03 -2.04981789e-04 9.99968169e-01 -3.82939804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters 0.014389140372815449 Centerline is valid? [True, True] Translation: X:228.41, Y:-63.86, Z:-3.83 [[ 7.96083911e-01 6.05138212e-01 7.62572366e-03 2.28405404e+02] [-6.05112758e-01 7.96120410e-01 -5.55362712e-03 -6.38588810e+01] [-9.43170623e-03 -1.93269481e-04 9.99955502e-01 -3.82894039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters 0.013699111495613953 Centerline is valid? [True, True] Translation: X:228.45, Y:-63.90, Z:-3.83 [[ 7.97041872e-01 6.03869653e-01 8.10533978e-03 2.28453909e+02] [-6.03840838e-01 7.97083061e-01 -5.90222473e-03 -6.38978069e+01] [-1.00248034e-02 -1.90014926e-04 9.99949732e-01 -3.82900046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters 0.013055465206281073 Centerline is valid? [True, True] Translation: X:228.50, Y:-63.94, Z:-3.83 [[ 7.99777785e-01 6.00233402e-01 8.68085818e-03 2.28500869e+02] [-6.00200094e-01 7.99824881e-01 -6.32512667e-03 -6.39367119e+01] [-1.07397187e-02 -1.51556095e-04 9.99942316e-01 -3.82917239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters 0.011504878675298027 Centerline is valid? [True, True] Translation: X:228.55, Y:-63.98, Z:-3.83 [[ 8.05460968e-01 5.92582102e-01 8.89282628e-03 2.28545616e+02] [-5.92546643e-01 8.05510056e-01 -6.48267055e-03 -6.39806466e+01] [-1.10047755e-02 -4.78762655e-05 9.99939444e-01 -3.82937955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters 0.011567543539293903 Centerline is valid? [True, True] Translation: X:228.59, Y:-64.02, Z:-3.83 [[ 8.09527081e-01 5.87013239e-01 9.02011100e-03 2.28593094e+02] [-5.86976374e-01 8.09577332e-01 -6.57876267e-03 -6.40220125e+01] [-1.11642982e-02 3.10944989e-05 9.99937677e-01 -3.83058550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters 0.013015971399942223 Centerline is valid? [True, True] Translation: X:228.64, Y:-64.07, Z:-3.83 [[ 8.16532491e-01 5.77236747e-01 8.51052545e-03 2.28638349e+02] [-5.77203345e-01 8.16576825e-01 -6.21185566e-03 -6.40658839e+01] [-1.05352092e-02 1.59878226e-04 9.99944490e-01 -3.83164019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters 0.014455231708721287 Centerline is valid? [True, True] Translation: X:228.68, Y:-64.11, Z:-3.83 [[ 8.20740597e-01 5.71244493e-01 8.03746524e-03 2.28684655e+02] [-5.71214415e-01 8.20779921e-01 -5.86627018e-03 -6.41062809e+01] [-9.94806462e-03 2.23570086e-04 9.99950492e-01 -3.83242397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters 0.016547139273964732 Centerline is valid? [True, True] Translation: X:228.73, Y:-64.15, Z:-3.83 [[ 8.24425036e-01 5.65914108e-01 8.03632307e-03 2.28731328e+02] [-5.65883749e-01 8.24464152e-01 -5.86900202e-03 -6.41450409e+01] [-9.94701132e-03 2.90927573e-04 9.99950485e-01 -3.83245137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters 0.01652195051121134 Centerline is valid? [True, True] Translation: X:228.78, Y:-64.18, Z:-3.83 [[ 8.25064728e-01 5.64981274e-01 8.02220435e-03 2.28782322e+02] [-5.64950974e-01 8.25103672e-01 -5.85900570e-03 -6.41800750e+01] [-9.92937877e-03 3.01906787e-04 9.99950657e-01 -3.83326805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters 0.017667215934868915 Centerline is valid? [True, True] Translation: X:228.83, Y:-64.22, Z:-3.83 [[ 8.24589750e-01 5.65675956e-01 7.90298607e-03 2.28832447e+02] [-5.65646552e-01 8.24627569e-01 -5.77505218e-03 -6.42151331e+01] [-9.78382836e-03 2.91752014e-04 9.99952095e-01 -3.83437064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters 0.016634638215238445 Centerline is valid? [True, True] Translation: X:228.88, Y:-64.25, Z:-3.83 [[ 8.23965784e-01 5.66583589e-01 7.96393268e-03 2.28884610e+02] [-5.66553745e-01 8.24004221e-01 -5.82227606e-03 -6.42496084e+01] [-9.86112020e-03 2.85360374e-04 9.99951337e-01 -3.83483013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters 0.015562283424612024 Centerline is valid? [True, True] Translation: X:228.94, Y:-64.28, Z:-3.84 [[ 8.21280531e-01 5.70470069e-01 7.88605121e-03 2.28938943e+02] [-5.70440943e-01 8.21318356e-01 -5.76955867e-03 -6.42802522e+01] [-9.76831915e-03 2.39899716e-04 9.99952260e-01 -3.83572581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters 0.013974855765151553 Centerline is valid? [True, True] Translation: X:228.99, Y:-64.31, Z:-3.84 [[ 8.18336496e-01 5.74690981e-01 7.46025665e-03 2.28993738e+02] [-5.74665081e-01 8.18370481e-01 -5.45900169e-03 -6.43100539e+01] [-9.24249286e-03 1.80151320e-04 9.99957271e-01 -3.83695117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters 0.012353674521356956 Centerline is valid? [True, True] Translation: X:229.05, Y:-64.34, Z:-3.84 [[ 8.12425724e-01 5.83019543e-01 7.25643921e-03 2.29050308e+02] [-5.82995362e-01 8.12458125e-01 -5.31057701e-03 -6.43368387e+01] [-8.99172317e-03 8.39789646e-05 9.99959570e-01 -3.83830953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters 0.011816231649472538 Centerline is valid? [True, True] Translation: X:229.10, Y:-64.37, Z:-3.84 [[ 8.07852375e-01 5.89341160e-01 7.17895459e-03 2.29104410e+02] [-5.89317746e-01 8.07884272e-01 -5.25334994e-03 -6.43660385e+01] [-8.89577985e-03 1.32458872e-05 9.99960432e-01 -3.83967477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters 0.011899577818170222 Centerline is valid? [True, True] Translation: X:229.16, Y:-64.40, Z:-3.84 [[ 8.03261561e-01 5.95585543e-01 6.98033810e-03 2.29159598e+02] [-5.95563637e-01 8.03291888e-01 -5.10852077e-03 -6.43952796e+01] [-8.64981009e-03 -5.37571751e-05 9.99962588e-01 -3.84120253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters 0.013182059411474472 Centerline is valid? [True, True] Translation: X:229.22, Y:-64.42, Z:-3.84 [[ 7.97851634e-01 6.02817125e-01 6.65466589e-03 2.29215349e+02] [-6.02797436e-01 7.97879376e-01 -4.87365000e-03 -6.44235736e+01] [-8.24754035e-03 -1.22965919e-04 9.99965981e-01 -3.84261472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters 0.013909104740735749 Centerline is valid? [True, True] Translation: X:229.27, Y:-64.46, Z:-3.84 [[ 7.95548701e-01 6.05846249e-01 7.25165827e-03 2.29267519e+02] [-6.05822989e-01 7.95581733e-01 -5.31144987e-03 -6.44565477e+01] [-8.98720884e-03 -1.67704238e-04 9.99959600e-01 -3.84325226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters 0.014367215631681219 Centerline is valid? [True, True] Translation: X:229.32, Y:-64.49, Z:-3.84 [[ 7.94465440e-01 6.07257592e-01 7.92977202e-03 2.29320019e+02] [-6.07229818e-01 7.94504989e-01 -5.81124714e-03 -6.44901350e+01] [-9.82916738e-03 -1.98359003e-04 9.99951673e-01 -3.84357231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters 0.014492384718839093 Centerline is valid? [True, True] Translation: X:229.37, Y:-64.52, Z:-3.85 [[ 7.94816650e-01 6.06809698e-01 6.96295122e-03 2.29370834e+02] [-6.06788250e-01 7.94847131e-01 -5.10465291e-03 -6.45248069e+01] [-8.63203469e-03 -1.67773857e-04 9.99962729e-01 -3.84636720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters 0.013786813888677822 Centerline is valid? [True, True] Translation: X:229.42, Y:-64.56, Z:-3.85 [[ 7.95552507e-01 6.05859905e-01 5.47571499e-03 2.29419616e+02] [-6.05846610e-01 7.95571342e-01 -4.01558237e-03 -6.45625310e+01] [-6.78920227e-03 -1.22836745e-04 9.99976946e-01 -3.84902712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters 0.01353474081114015 Centerline is valid? [True, True] Translation: X:229.47, Y:-64.60, Z:-3.85 [[ 7.96651557e-01 6.04425874e-01 3.95714610e-03 2.29468918e+02] [-6.04418912e-01 7.96661381e-01 -2.90212597e-03 -6.46008165e+01] [-4.90662550e-03 -7.97907666e-05 9.99987959e-01 -3.85159942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters 0.012815718066929088 Centerline is valid? [True, True] Translation: X:229.52, Y:-64.64, Z:-3.85 [[ 7.98974655e-01 6.01350965e-01 4.06405862e-03 2.29515988e+02] [-6.01343574e-01 7.98984989e-01 -2.98220807e-03 -6.46413501e+01] [-5.04047553e-03 -6.11868640e-05 9.99987295e-01 -3.85201466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters 0.012316787532085908 Centerline is valid? [True, True] Translation: X:229.56, Y:-64.68, Z:-3.85 [[ 8.00332166e-01 5.99535203e-01 5.09560038e-03 2.29564049e+02] [-5.99523526e-01 8.00348385e-01 -3.74227263e-03 -6.46815185e+01] [-6.32187972e-03 -5.98711477e-05 9.99980015e-01 -3.85101946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters 0.012082178068592145 Centerline is valid? [True, True] Translation: X:229.61, Y:-64.72, Z:-3.85 [[ 8.01895271e-01 5.97417451e-01 7.50764047e-03 2.29610947e+02] [-5.97391961e-01 8.01930412e-01 -5.51896584e-03 -6.47219534e+01] [-9.31773173e-03 -5.93714546e-05 9.99956587e-01 -3.85000702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters 0.011989074170860781 Centerline is valid? [True, True] Translation: X:229.66, Y:-64.76, Z:-3.85 [[ 8.02237672e-01 5.96956705e-01 7.57694903e-03 2.29660120e+02] [-5.96930698e-01 8.02273451e-01 -5.57251976e-03 -6.47619041e+01] [-9.40533808e-03 -5.24281894e-05 9.99955767e-01 -3.85091783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters 0.012125902312895167 Centerline is valid? [True, True] Translation: X:229.71, Y:-64.80, Z:-3.85 [[ 8.01594051e-01 5.97833682e-01 6.47041838e-03 2.29708771e+02] [-5.97814725e-01 8.01620163e-01 -4.76112902e-03 -6.48011367e+01] [-8.03318113e-03 -5.16186858e-05 9.99967732e-01 -3.85315442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters 0.012797454043680623 Centerline is valid? [True, True] Translation: X:229.76, Y:-64.84, Z:-3.85 [[ 7.98935189e-01 6.01387524e-01 5.96736964e-03 2.29757958e+02] [-6.01371484e-01 7.98957470e-01 -4.39312242e-03 -6.48380890e+01] [-7.40964357e-03 -7.87858372e-05 9.99972545e-01 -3.85458758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters 0.013459531980764848 Centerline is valid? [True, True] Translation: X:229.81, Y:-64.87, Z:-3.86 [[ 7.96087687e-01 6.05160471e-01 5.01976828e-03 2.29808156e+02] [-6.05149190e-01 7.96103508e-01 -3.69635362e-03 -6.48741044e+01] [-6.23314224e-03 -9.50871025e-05 9.99980569e-01 -3.85595843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters 0.0152913817337137 Centerline is valid? [True, True] Translation: X:229.86, Y:-64.91, Z:-3.86 [[ 7.91715611e-01 6.10870427e-01 4.86953751e-03 2.29858939e+02] [-6.10859903e-01 7.91730575e-01 -3.58832560e-03 -6.49082131e+01] [-6.04736372e-03 -1.33671817e-04 9.99981706e-01 -3.85796083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters 0.01693296455748189 Centerline is valid? [True, True] Translation: X:229.91, Y:-64.94, Z:-3.86 [[ 7.89299981e-01 6.13986358e-01 5.12771134e-03 2.29908794e+02] [-6.13974739e-01 7.89316620e-01 -3.78076417e-03 -6.49426309e+01] [-6.36872540e-03 -1.64128149e-04 9.99979706e-01 -3.85922911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters 0.01842033909068208 Centerline is valid? [True, True] Translation: X:229.96, Y:-64.98, Z:-3.86 [[ 7.87664792e-01 6.16071994e-01 6.28288590e-03 2.29957779e+02] [-6.16054611e-01 7.87689818e-01 -4.63321901e-03 -6.49793625e+01] [-7.80336172e-03 -2.21177340e-04 9.99969529e-01 -3.85900579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters 0.017423821953128832 Centerline is valid? [True, True] Translation: X:230.01, Y:-65.02, Z:-3.86 [[ 7.87240918e-01 6.16603255e-01 7.22238726e-03 2.30006087e+02] [-6.16580284e-01 7.87274005e-01 -5.32862376e-03 -6.50195357e+01] [-8.97164450e-03 -2.58270931e-04 9.99959721e-01 -3.85816576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters 0.02011886653172977 Centerline is valid? [True, True] Translation: X:230.06, Y:-65.05, Z:-3.86 [[ 7.86152293e-01 6.17981930e-01 7.93141733e-03 2.30056438e+02] [-6.17954247e-01 7.86192245e-01 -5.85684356e-03 -6.50537622e+01] [-9.85504228e-03 -2.96882030e-04 9.99951394e-01 -3.85907147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters 0.01841186581750225 Centerline is valid? [True, True] Translation: X:230.10, Y:-65.09, Z:-3.86 [[ 7.85053987e-01 6.19384249e-01 7.30678723e-03 2.30103921e+02] [-6.19360813e-01 7.85087937e-01 -5.39584940e-03 -6.50936621e+01] [-9.07857464e-03 -2.89504594e-04 9.99958747e-01 -3.86088487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters 0.018135792200777153 Centerline is valid? [True, True] Translation: X:230.15, Y:-65.13, Z:-3.86 [[ 7.85057524e-01 6.19384326e-01 6.90946045e-03 2.30154165e+02] [-6.19363352e-01 7.85087882e-01 -5.10446874e-03 -6.51322360e+01] [-8.58616160e-03 -2.72164996e-04 9.99963101e-01 -3.86322414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters 0.018033938787478335 Centerline is valid? [True, True] Translation: X:230.20, Y:-65.17, Z:-3.86 [[ 7.85886210e-01 6.18330606e-01 7.08008384e-03 2.30202926e+02] [-6.18308509e-01 7.85918057e-01 -5.23410666e-03 -6.51712457e+01] [-8.80077408e-03 -2.64263836e-04 9.99961238e-01 -3.86416868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters 0.017218063279469443 Centerline is valid? [True, True] Translation: X:230.25, Y:-65.21, Z:-3.86 [[ 7.86616212e-01 6.17390624e-01 7.98453996e-03 2.30251063e+02] [-6.17362436e-01 7.86656683e-01 -5.90634829e-03 -6.52102166e+01] [-9.92761577e-03 -2.83325726e-04 9.99950680e-01 -3.86426351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters 0.01770773993559168 Centerline is valid? [True, True] Translation: X:230.30, Y:-65.25, Z:-3.87 [[ 7.87482173e-01 6.16277720e-01 8.57897659e-03 2.30300097e+02] [-6.16245073e-01 7.87528850e-01 -6.34984652e-03 -6.52469303e+01] [-1.06694605e-02 -2.86361116e-04 9.99943039e-01 -3.86504145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters 0.01660310146435816 Centerline is valid? [True, True] Translation: X:230.35, Y:-65.29, Z:-3.87 [[ 7.88239408e-01 6.15301535e-01 9.09159592e-03 2.30348713e+02] [-6.15264757e-01 7.88291786e-01 -6.73349366e-03 -6.52865500e+01] [-1.13099594e-02 -2.86133491e-04 9.99935999e-01 -3.86589865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters 0.01571778834385034 Centerline is valid? [True, True] Translation: X:230.40, Y:-65.33, Z:-3.87 [[ 7.88558997e-01 6.14893834e-01 8.95992572e-03 2.30397880e+02] [-6.14858085e-01 7.88609850e-01 -6.63620505e-03 -6.53250682e+01] [-1.11464472e-02 -2.76043570e-04 9.99937838e-01 -3.86728635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters 0.015552398444514831 Centerline is valid? [True, True] Translation: X:230.45, Y:-65.36, Z:-3.87 [[ 7.88897736e-01 6.14459152e-01 8.96172726e-03 2.30447575e+02] [-6.14423321e-01 7.88948591e-01 -6.64102465e-03 -6.53619450e+01] [-1.11509805e-02 -2.67204918e-04 9.99937790e-01 -3.86915658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters 0.01538882445435921 Centerline is valid? [True, True] Translation: X:230.50, Y:-65.40, Z:-3.87 [[ 7.89924946e-01 6.13153442e-01 7.83820138e-03 2.30496926e+02] [-6.13125944e-01 7.89963803e-01 -5.81087612e-03 -6.53990108e+01] [-9.75485406e-03 -2.15648623e-04 9.99952397e-01 -3.87180102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters 0.01409567404098912 Centerline is valid? [True, True] Translation: X:230.54, Y:-65.44, Z:-3.87 [[ 7.93390377e-01 6.08667323e-01 7.46994674e-03 2.30542418e+02] [-6.08642114e-01 7.93425527e-01 -5.54162540e-03 -6.54388722e+01] [-9.29985273e-03 -1.49851915e-04 9.99956744e-01 -3.87309056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters 0.012355848766343096 Centerline is valid? [True, True] Translation: X:230.59, Y:-65.48, Z:-3.87 [[ 7.98358750e-01 6.02121654e-01 8.53343862e-03 2.30586732e+02] [-6.02088363e-01 7.98404350e-01 -6.33223611e-03 -6.54823435e+01] [-1.06259110e-02 -8.24879809e-05 9.99943540e-01 -3.87151830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters 0.011935498093434282 Centerline is valid? [True, True] Translation: X:230.63, Y:-65.52, Z:-3.87 [[ 8.02486510e-01 5.96597507e-01 9.31748883e-03 2.30633324e+02] [-5.96557431e-01 8.02540600e-01 -6.91499714e-03 -6.55234127e+01] [-1.16031331e-02 -9.22527652e-06 9.99932681e-01 -3.87214415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters 0.012333701884153227 Centerline is valid? [True, True] Translation: X:230.68, Y:-65.56, Z:-3.87 [[ 8.06524731e-01 5.91126390e-01 9.35142603e-03 2.30680936e+02] [-5.91085610e-01 8.06578939e-01 -6.94381714e-03 -6.55633296e+01] [-1.16473369e-02 7.28668867e-05 9.99932165e-01 -3.87310249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters 0.013421693020890768 Centerline is valid? [True, True] Translation: X:230.73, Y:-65.60, Z:-3.87 [[ 8.10829991e-01 5.85189473e-01 1.03926470e-02 2.30728411e+02] [-5.85138554e-01 8.10896571e-01 -7.72162852e-03 -6.56021485e+01] [-1.29459775e-02 1.79789547e-04 9.99916181e-01 -3.87257201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters 0.01570867623663998 Centerline is valid? [True, True] Translation: X:230.77, Y:-65.64, Z:-3.88 [[ 8.15409709e-01 5.78822122e-01 8.48277586e-03 2.30774359e+02] [-5.78787828e-01 8.15453799e-01 -6.30489153e-03 -6.56423679e+01] [-1.05667225e-02 2.31342355e-04 9.99944144e-01 -3.87550120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters 0.016775718642830475 Centerline is valid? [True, True] Translation: X:230.82, Y:-65.68, Z:-3.88 [[ 8.18507394e-01 5.74435698e-01 8.32315888e-03 2.30822872e+02] [-5.74402428e-01 8.18549661e-01 -6.18892099e-03 -6.56795860e+01] [-1.03680560e-02 2.84834915e-04 9.99946210e-01 -3.87679126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters 0.018775732645560903 Centerline is valid? [True, True] Translation: X:230.87, Y:-65.72, Z:-3.88 [[ 8.22672212e-01 5.68447595e-01 8.81837618e-03 2.30872225e+02] [-5.68409868e-01 8.22719383e-01 -6.56035598e-03 -6.57160535e+01] [-1.09842676e-02 3.84570521e-04 9.99939597e-01 -3.87786181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters 0.020169199907713844 Centerline is valid? [True, True] Translation: X:230.92, Y:-65.75, Z:-3.88 [[ 8.24014329e-01 5.66495575e-01 9.11863147e-03 2.30922391e+02] [-5.66455071e-01 8.24064670e-01 -6.78768461e-03 -6.57524075e+01] [-1.13595353e-02 4.27854341e-04 9.99935387e-01 -3.87915187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters 0.02073895358908379 Centerline is valid? [True, True] Translation: X:230.97, Y:-65.79, Z:-3.88 [[ 8.24137431e-01 5.66315720e-01 9.16513690e-03 2.30973469e+02] [-5.66274789e-01 8.24188279e-01 -6.82235584e-03 -6.57877851e+01] [-1.14174058e-02 4.32572851e-04 9.99934726e-01 -3.88001265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters 0.017790923470326844 Centerline is valid? [True, True] Translation: X:231.03, Y:-65.82, Z:-3.88 [[ 8.21036398e-01 5.70792243e-01 9.76973939e-03 2.31029047e+02] [-5.70745994e-01 8.21094426e-01 -7.27695156e-03 -6.58151676e+01] [-1.21755061e-02 3.98602472e-04 9.99925796e-01 -3.88062817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters 0.015934388302216728 Centerline is valid? [True, True] Translation: X:231.08, Y:-65.84, Z:-3.88 [[ 8.16901246e-01 5.76698449e-01 9.55269521e-03 2.31083056e+02] [-5.76654611e-01 8.16957040e-01 -7.11715697e-03 -6.58449442e+01] [-1.19085950e-02 3.05408653e-04 9.99929044e-01 -3.88198182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters 0.012942168563481847 Centerline is valid? [True, True] Translation: X:231.14, Y:-65.87, Z:-3.88 [[ 8.08766785e-01 5.88059129e-01 9.09660110e-03 2.31141272e+02] [-5.88020083e-01 8.08817930e-01 -6.77780758e-03 -6.58689731e+01] [-1.13432457e-02 1.32681515e-04 9.99935655e-01 -3.88281790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters 0.011978342179284743 Centerline is valid? [True, True] Translation: X:231.20, Y:-65.90, Z:-3.88 [[ 8.02885790e-01 5.96060282e-01 9.30311783e-03 2.31198302e+02] [-5.96019971e-01 8.02939686e-01 -6.93219007e-03 -6.58972039e+01] [-1.16018457e-02 2.09128871e-05 9.99932696e-01 -3.88346361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters 0.012831667336381924 Centerline is valid? [True, True] Translation: X:231.26, Y:-65.92, Z:-3.89 [[ 7.95067489e-01 6.06451421e-01 9.18486417e-03 2.31257373e+02] [-6.06412808e-01 7.95120531e-01 -6.84455872e-03 -6.59203052e+01] [-1.14539664e-02 -1.27933152e-04 9.99934393e-01 -3.88554896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters 0.013554788698603838 Centerline is valid? [True, True] Translation: X:231.31, Y:-65.95, Z:-3.89 [[ 7.91352063e-01 6.11294738e-01 8.98091699e-03 2.31311050e+02] [-6.11258087e-01 7.91403000e-01 -6.69654178e-03 -6.59520512e+01] [-1.12010854e-02 -1.90335988e-04 9.99937248e-01 -3.88664058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters 0.01490975476759716 Centerline is valid? [True, True] Translation: X:231.36, Y:-65.98, Z:-3.89 [[ 7.88904193e-01 6.14445351e-01 9.33197623e-03 2.31364411e+02] [-6.14405989e-01 7.88959347e-01 -6.95912919e-03 -6.59830550e+01] [-1.16385545e-02 -2.43535891e-04 9.99932240e-01 -3.88733348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters 0.01489082382362072 Centerline is valid? [True, True] Translation: X:231.42, Y:-66.02, Z:-3.89 [[ 7.88864833e-01 6.14498872e-01 9.13296369e-03 2.31416118e+02] [-6.14461165e-01 7.88917663e-01 -6.81160639e-03 -6.60193344e+01] [-1.13908808e-02 -2.38414767e-04 9.99935093e-01 -3.88844603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters 0.014005728451563748 Centerline is valid? [True, True] Translation: X:231.47, Y:-66.06, Z:-3.89 [[ 7.90125545e-01 6.12888643e-01 8.31468622e-03 2.31466405e+02] [-6.12857266e-01 7.90169269e-01 -6.20467264e-03 -6.60561779e+01] [-1.03727829e-02 -1.93245512e-04 9.99946183e-01 -3.89093952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters 0.013200729776644295 Centerline is valid? [True, True] Translation: X:231.51, Y:-66.10, Z:-3.89 [[ 7.92307333e-01 6.10084271e-01 6.80239531e-03 2.31514654e+02] [-6.10063151e-01 7.92336524e-01 -5.07788653e-03 -6.60950943e+01] [-8.48772496e-03 -1.26643987e-04 9.99963971e-01 -3.89353150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters 0.012190203836835275 Centerline is valid? [True, True] Translation: X:231.56, Y:-66.14, Z:-3.90 [[ 7.97632461e-01 6.03119015e-01 5.46913744e-03 2.31559558e+02] [-6.03105190e-01 7.97651210e-01 -4.08383040e-03 -6.61376918e+01] [-6.82549986e-03 -4.10694743e-05 9.99976705e-01 -3.89596043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters 0.012100869243786998 Centerline is valid? [True, True] Translation: X:231.60, Y:-66.18, Z:-3.90 [[ 8.03218748e-01 5.95664062e-01 4.89578240e-03 2.31603785e+02] [-5.95652838e-01 8.03233668e-01 -3.65669253e-03 -6.61830056e+01] [-6.11061758e-03 2.09373139e-05 9.99981330e-01 -3.89670571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters 0.012100869243786998 Centerline is valid? [True, True] Translation: X:231.65, Y:-66.22, Z:-3.90 [[ 8.03055593e-01 5.95884012e-01 4.89477567e-03 2.31653723e+02] [-5.95872784e-01 8.03070510e-01 -3.65803901e-03 -6.62204634e+01] [-6.11061696e-03 2.09450815e-05 9.99981330e-01 -3.89769694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters 0.014065922357573365 Centerline is valid? [True, True] Translation: X:231.70, Y:-66.27, Z:-3.90 [[ 8.08941834e-01 5.87869817e-01 4.71038843e-03 2.31695923e+02] [-5.87859267e-01 8.08955544e-01 -3.52273258e-03 -6.62663397e+01] [-5.88140299e-03 8.06402621e-05 9.99982701e-01 -3.89865137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters 0.015004237400767376 Centerline is valid? [True, True] Translation: X:231.74, Y:-66.31, Z:-3.90 [[ 8.12666259e-01 5.82710001e-01 4.75454296e-03 2.31741996e+02] [-5.82699143e-01 8.12680158e-01 -3.55927556e-03 -6.63082327e+01] [-5.93794819e-03 1.22035042e-04 9.99982363e-01 -3.89846401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters 0.016713466801253542 Centerline is valid? [True, True] Translation: X:231.79, Y:-66.35, Z:-3.90 [[ 8.18321821e-01 5.74736253e-01 5.25705851e-03 2.31786198e+02] [-5.74722817e-01 8.18338683e-01 -3.93497552e-03 -6.63510939e+01] [-6.56362742e-03 1.98724859e-04 9.99978439e-01 -3.89791423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters 0.018723234331669374 Centerline is valid? [True, True] Translation: X:231.83, Y:-66.39, Z:-3.90 [[ 8.23327300e-01 5.67536556e-01 5.86640820e-03 2.31830189e+02] [-5.67519616e-01 8.23348149e-01 -4.39448777e-03 -6.63942934e+01] [-7.32412879e-03 2.88800021e-04 9.99973137e-01 -3.89724714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters 0.020916584428915877 Centerline is valid? [True, True] Translation: X:231.88, Y:-66.43, Z:-3.90 [[ 8.25497408e-01 5.64372685e-01 6.12385750e-03 2.31875407e+02] [-5.64354140e-01 8.25520056e-01 -4.58709888e-03 -6.64346583e+01] [-7.64420050e-03 3.30613908e-04 9.99970728e-01 -3.89800564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters 0.022432735276696363 Centerline is valid? [True, True] Translation: X:231.92, Y:-66.47, Z:-3.90 [[ 8.26201536e-01 5.63341133e-01 6.14732360e-03 2.31922226e+02] [-5.63322412e-01 8.26224334e-01 -4.60540688e-03 -6.64732185e+01] [-7.67348348e-03 3.42069082e-04 9.99970500e-01 -3.89900234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters 0.021710777237031412 Centerline is valid? [True, True] Translation: X:231.97, Y:-66.51, Z:-3.90 [[ 8.24100175e-01 5.66413166e-01 5.91826241e-03 2.31972702e+02] [-5.66395878e-01 8.24121370e-01 -4.43575389e-03 -6.65081719e+01] [-7.38983593e-03 3.03426123e-04 9.99972649e-01 -3.90004634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters 0.02064274413131814 Centerline is valid? [True, True] Translation: X:232.02, Y:-66.54, Z:-3.90 [[ 8.22735846e-01 5.68393219e-01 5.90561193e-03 2.32023470e+02] [-5.68376055e-01 8.22756992e-01 -4.42637562e-03 -6.65434244e+01] [-7.37480539e-03 2.85129488e-04 9.99972765e-01 -3.90101348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters 0.016685801496973858 Centerline is valid? [True, True] Translation: X:232.08, Y:-66.57, Z:-3.90 [[ 8.16468940e-01 5.77364663e-01 5.34001221e-03 2.32078695e+02] [-5.77350817e-01 8.16486382e-01 -4.00273708e-03 -6.65721525e+01] [-6.67108619e-03 1.85050084e-04 9.99977731e-01 -3.90204751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters 0.01451043740798062 Centerline is valid? [True, True] Translation: X:232.13, Y:-66.60, Z:-3.90 [[ 8.11279613e-01 5.84640174e-01 4.61058597e-03 2.32132070e+02] [-5.84629967e-01 8.11292706e-01 -3.45634426e-03 -6.66024867e+01] [-5.76125248e-03 1.08574910e-04 9.99983398e-01 -3.90357249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters 0.012778500066975078 Centerline is valid? [True, True] Translation: X:232.19, Y:-66.63, Z:-3.90 [[ 8.05727975e-01 5.92269932e-01 4.33109901e-03 2.32186021e+02] [-5.92261035e-01 8.05739614e-01 -3.24669902e-03 -6.66332387e+01] [-5.41266025e-03 5.08150370e-05 9.99985350e-01 -3.90428021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters 0.01199099443543929 Centerline is valid? [True, True] Translation: X:232.24, Y:-66.66, Z:-3.90 [[ 7.97761048e-01 6.02948504e-01 5.51468011e-03 2.32242993e+02] [-6.02934327e-01 7.97780108e-01 -4.13485458e-03 -6.66615233e+01] [-6.89260648e-03 -2.63640199e-05 9.99976245e-01 -3.90378224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters 0.013267580338127543 Centerline is valid? [True, True] Translation: X:232.30, Y:-66.69, Z:-3.90 [[ 7.91093670e-01 6.11661836e-01 6.37215870e-03 2.32298654e+02] [-6.11643176e-01 7.91119324e-01 -4.77908524e-03 -6.66913062e+01] [-7.96432194e-03 -1.16783308e-04 9.99968277e-01 -3.90429316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters 0.014524560094376903 Centerline is valid? [True, True] Translation: X:232.35, Y:-66.73, Z:-3.91 [[ 7.87620421e-01 6.16124239e-01 6.70780386e-03 2.32351010e+02] [-6.16103716e-01 7.87648966e-01 -5.03163349e-03 -6.67253242e+01] [-8.38350613e-03 -1.69685606e-04 9.99964843e-01 -3.90527130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters 0.01730551735233042 Centerline is valid? [True, True] Translation: X:232.40, Y:-66.76, Z:-3.91 [[ 7.83198214e-01 6.21731403e-01 7.11485479e-03 2.32402885e+02] [-6.21708536e-01 7.83230492e-01 -5.33776994e-03 -6.67563998e+01] [-8.89123041e-03 -2.42834075e-04 9.99960443e-01 -3.90622734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters 0.018796530385910126 Centerline is valid? [True, True] Translation: X:232.45, Y:-66.79, Z:-3.91 [[ 7.81074238e-01 6.24398416e-01 7.04639776e-03 2.32453876e+02] [-6.24376100e-01 7.81105975e-01 -5.28602124e-03 -6.67911038e+01] [-8.80456669e-03 -2.70827333e-04 9.99961202e-01 -3.90742307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters 0.018950328819908487 Centerline is valid? [True, True] Translation: X:232.50, Y:-66.83, Z:-3.91 [[ 7.79953481e-01 6.25801078e-01 6.75119712e-03 2.32503138e+02] [-6.25780628e-01 7.79982651e-01 -5.06653946e-03 -6.68295978e+01] [-8.43646249e-03 -2.73103286e-04 9.99964375e-01 -3.90863001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters 0.019328460734085444 Centerline is valid? [True, True] Translation: X:232.55, Y:-66.87, Z:-3.91 [[ 7.80533723e-01 6.25083786e-01 6.11292793e-03 2.32551097e+02] [-6.25066982e-01 7.80557623e-01 -4.58961889e-03 -6.68672429e+01] [-7.64038885e-03 -2.38637101e-04 9.99970783e-01 -3.91075651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters 0.016848335431011382 Centerline is valid? [True, True] Translation: X:232.60, Y:-66.91, Z:-3.91 [[ 7.83484330e-01 6.21390473e-01 5.11710115e-03 2.32595643e+02] [-6.21378598e-01 7.83501022e-01 -3.84522955e-03 -6.69097049e+01] [-6.39864299e-03 -1.66980049e-04 9.99979515e-01 -3.91259325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters 0.015083076854095769 Centerline is valid? [True, True] Translation: X:232.64, Y:-66.95, Z:-3.91 [[ 7.86603164e-01 6.17439864e-01 4.84525392e-03 2.32640593e+02] [-6.17429140e-01 7.86618077e-01 -3.64117697e-03 -6.69516622e+01] [-6.05957213e-03 -1.27439634e-04 9.99981633e-01 -3.91364796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters 0.012727899081924374 Centerline is valid? [True, True] Translation: X:232.68, Y:-67.00, Z:-3.91 [[ 7.92374775e-01 6.10013806e-01 5.03719179e-03 2.32681807e+02] [-6.10002063e-01 7.92390782e-01 -3.78571211e-03 -6.69991525e+01] [-6.30076099e-03 -7.29946025e-05 9.99980147e-01 -3.91296541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters 0.012019408866224754 Centerline is valid? [True, True] Translation: X:232.73, Y:-67.04, Z:-3.91 [[ 7.96297000e-01 6.04881318e-01 5.44776891e-03 2.32726982e+02] [-6.04867464e-01 7.96315634e-01 -4.09405588e-03 -6.70432731e+01] [-6.81456147e-03 -3.50937552e-05 9.99976780e-01 -3.91336838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters 0.011988757631311242 Centerline is valid? [True, True] Translation: X:232.77, Y:-67.09, Z:-3.91 [[ 8.01030172e-01 5.98597578e-01 5.62167219e-03 2.32770252e+02] [-5.98582676e-01 8.01049898e-01 -4.22378670e-03 -6.70894640e+01] [-7.03158843e-03 1.83450003e-05 9.99975278e-01 -3.91340759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters 0.012487086785221665 Centerline is valid? [True, True] Translation: X:232.81, Y:-67.13, Z:-3.91 [[ 8.03672037e-01 5.95044394e-01 5.78150265e-03 2.32814707e+02] [-5.95028522e-01 8.03692830e-01 -4.34651641e-03 -6.71322044e+01] [-7.23292245e-03 5.30147158e-05 9.99973841e-01 -3.91408442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters 0.013571915521957634 Centerline is valid? [True, True] Translation: X:232.86, Y:-67.18, Z:-3.92 [[ 8.07190776e-01 5.90262826e-01 5.73125877e-03 2.32859256e+02] [-5.90247094e-01 8.07211117e-01 -4.31058329e-03 -6.71764196e+01] [-7.17071286e-03 9.66042393e-05 9.99974285e-01 -3.91518584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters 0.014636784151755556 Centerline is valid? [True, True] Translation: X:232.90, Y:-67.22, Z:-3.92 [[ 8.10439199e-01 5.85795214e-01 5.68090257e-03 2.32904676e+02] [-5.85779618e-01 8.10459098e-01 -4.27673733e-03 -6.72195427e+01] [-7.10943142e-03 1.38278640e-04 9.99974718e-01 -3.91562034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters 0.015633316708227388 Centerline is valid? [True, True] Translation: X:232.95, Y:-67.26, Z:-3.92 [[ 8.12193268e-01 5.83358073e-01 5.95437518e-03 2.32951462e+02] [-5.83340882e-01 8.12215077e-01 -4.48152667e-03 -6.72604704e+01] [-7.45056806e-03 1.66435315e-04 9.99972230e-01 -3.91630764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters 0.017164996628138765 Centerline is valid? [True, True] Translation: X:233.00, Y:-67.30, Z:-3.92 [[ 8.15339948e-01 5.78944398e-01 6.64476791e-03 2.32996750e+02] [-5.78922813e-01 8.15366991e-01 -5.00470281e-03 -6.73016942e+01] [-8.31536907e-03 2.33726402e-04 9.99965399e-01 -3.91645746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters 0.018454636094093535 Centerline is valid? [True, True] Translation: X:233.04, Y:-67.34, Z:-3.92 [[ 8.17710321e-01 5.75583761e-01 7.29147310e-03 2.33044046e+02] [-5.75557602e-01 8.17742775e-01 -5.49550101e-03 -6.73416540e+01] [-9.12567058e-03 2.97065121e-04 9.99958316e-01 -3.91659733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters 0.01838249576518418 Centerline is valid? [True, True] Translation: X:233.09, Y:-67.38, Z:-3.92 [[ 8.19647195e-01 5.72820417e-01 7.43278267e-03 2.33093084e+02] [-5.72793115e-01 8.19680827e-01 -5.60256994e-03 -6.73796080e+01] [-9.30177589e-03 3.34683994e-04 9.99956682e-01 -3.91651787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters 0.02082180931901929 Centerline is valid? [True, True] Translation: X:233.14, Y:-67.42, Z:-3.92 [[ 8.20928989e-01 5.70996547e-01 6.20798821e-03 2.33140004e+02] [-5.70977459e-01 8.20952408e-01 -4.67822749e-03 -6.74188624e+01] [-7.76771461e-03 2.95871228e-04 9.99969787e-01 -3.91911225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters 0.019911566275223374 Centerline is valid? [True, True] Translation: X:233.19, Y:-67.45, Z:-3.92 [[ 8.20548685e-01 5.71550581e-01 5.45796426e-03 2.33191521e+02] [-5.71535833e-01 8.20566796e-01 -4.11384099e-03 -6.74546007e+01] [-6.82989245e-03 2.56184660e-04 9.99976643e-01 -3.92083362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters 0.019089439007580332 Centerline is valid? [True, True] Translation: X:233.24, Y:-67.49, Z:-3.92 [[ 8.19361310e-01 5.73251340e-01 5.47216122e-03 2.33243469e+02] [-5.73236534e-01 8.19379546e-01 -4.12731872e-03 -6.74887388e+01] [-6.84976796e-03 2.44922536e-04 9.99976510e-01 -3.92133617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters 0.018464788012410437 Centerline is valid? [True, True] Translation: X:233.29, Y:-67.52, Z:-3.92 [[ 8.18795839e-01 5.74050632e-01 6.26468988e-03 2.33294774e+02] [-5.74031226e-01 8.18819758e-01 -4.72816868e-03 -6.75232557e+01] [-7.84386008e-03 2.75277233e-04 9.99969199e-01 -3.92128134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters 0.018723420250249558 Centerline is valid? [True, True] Translation: X:233.35, Y:-67.56, Z:-3.92 [[ 8.17941321e-01 5.75254595e-01 7.35841691e-03 2.33346129e+02] [-5.75227835e-01 8.17974360e-01 -5.55738181e-03 -6.75580583e+01] [-9.21590578e-03 3.12845991e-04 9.99957484e-01 -3.92192626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters 0.019140641340340634 Centerline is valid? [True, True] Translation: X:233.40, Y:-67.59, Z:-3.92 [[ 8.17163697e-01 5.76358145e-01 7.40145330e-03 2.33396728e+02] [-5.76331088e-01 8.17197159e-01 -5.59291552e-03 -6.75930436e+01] [-9.27196902e-03 3.04639889e-04 9.99956968e-01 -3.92336414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters 0.017899071205241285 Centerline is valid? [True, True] Translation: X:233.45, Y:-67.62, Z:-3.93 [[ 8.15417405e-01 5.78835554e-01 6.62250727e-03 2.33450242e+02] [-5.78813960e-01 8.15444259e-01 -5.00597402e-03 -6.76246941e+01] [-8.29792128e-03 2.48758686e-04 9.99965541e-01 -3.92591932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters 0.016768588387180584 Centerline is valid? [True, True] Translation: X:233.50, Y:-67.66, Z:-3.93 [[ 8.12718178e-01 5.82624844e-01 6.11994187e-03 2.33503502e+02] [-5.82606480e-01 8.12741196e-01 -4.62999497e-03 -6.76568459e+01] [-7.67147897e-03 1.97363291e-04 9.99970554e-01 -3.92797015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters 0.01595583068006996 Centerline is valid? [True, True] Translation: X:233.56, Y:-67.69, Z:-3.93 [[ 8.10958621e-01 5.85078235e-01 5.43821396e-03 2.33555935e+02] [-5.85063802e-01 8.10976841e-01 -4.11241271e-03 -6.76908031e+01] [-6.81634875e-03 1.53294409e-04 9.99976757e-01 -3.92968034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters 0.016103681735396093 Centerline is valid? [True, True] Translation: X:233.61, Y:-67.73, Z:-3.93 [[ 8.10254258e-01 5.86054686e-01 5.28599335e-03 2.33605033e+02] [-5.86041050e-01 8.10271488e-01 -4.00040326e-03 -6.77267331e+01] [-6.62754477e-03 1.43534677e-04 9.99978027e-01 -3.93114157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters 0.014762392701012898 Centerline is valid? [True, True] Translation: X:233.66, Y:-67.76, Z:-3.93 [[ 8.09013419e-01 5.87769141e-01 4.97236641e-03 2.33657587e+02] [-5.87757110e-01 8.09028690e-01 -3.76262795e-03 -6.77598644e+01] [-6.23434368e-03 1.21472792e-04 9.99980559e-01 -3.93178239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters 0.014520615533999812 Centerline is valid? [True, True] Translation: X:233.71, Y:-67.80, Z:-3.93 [[ 8.08446842e-01 5.88541209e-01 5.74015558e-03 2.33708403e+02] [-5.88525174e-01 8.08467208e-01 -4.34657868e-03 -6.77957928e+01] [-7.19886823e-03 1.35751750e-04 9.99974079e-01 -3.93236597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters 0.01394391412922606 Centerline is valid? [True, True] Translation: X:233.76, Y:-67.83, Z:-3.93 [[ 8.07089962e-01 5.90399074e-01 5.89295903e-03 2.33759673e+02] [-5.90382206e-01 8.07111465e-01 -4.46469582e-03 -6.78311953e+01] [-7.39222708e-03 1.24313024e-04 9.99972669e-01 -3.93284970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters 0.013354312584128015 Centerline is valid? [True, True] Translation: X:233.81, Y:-67.87, Z:-3.93 [[ 8.04230519e-01 5.94294559e-01 5.22016869e-03 2.33810937e+02] [-5.94281394e-01 8.04247457e-01 -3.95650278e-03 -6.78665638e+01] [-6.54963546e-03 7.96911634e-05 9.99978548e-01 -3.93477246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters 0.012800671663306687 Centerline is valid? [True, True] Translation: X:233.86, Y:-67.90, Z:-3.94 [[ 8.01411047e-01 5.98092351e-01 5.08661253e-03 2.33862669e+02] [-5.98079915e-01 8.01427188e-01 -3.85715265e-03 -6.79015102e+01] [-6.38348307e-03 4.89639508e-05 9.99979624e-01 -3.93565798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters 0.012377502090958841 Centerline is valid? [True, True] Translation: X:233.92, Y:-67.93, Z:-3.94 [[ 7.96212114e-01 6.05000900e-01 4.49215518e-03 2.33915048e+02] [-6.04991304e-01 7.96224786e-01 -3.40757017e-03 -6.79349316e+01] [-5.63834832e-03 -4.56616897e-06 9.99984104e-01 -3.93701039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters 0.012490444868350886 Centerline is valid? [True, True] Translation: X:233.97, Y:-67.97, Z:-3.94 [[ 7.92723090e-01 6.09564503e-01 4.60640731e-03 2.33965815e+02] [-6.09554477e-01 7.92736473e-01 -3.49621187e-03 -6.79706056e+01] [-5.78283373e-03 -3.63283169e-05 9.99983279e-01 -3.93832910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters 0.013508721471918131 Centerline is valid? [True, True] Translation: X:234.02, Y:-68.01, Z:-3.94 [[ 7.88113363e-01 6.15513385e-01 4.53870756e-03 2.34016476e+02] [-6.15503740e-01 7.88126428e-01 -3.44656437e-03 -6.80061490e+01] [-5.69848188e-03 -7.73080395e-05 9.99983761e-01 -3.93924557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters 0.014166133626219782 Centerline is valid? [True, True] Translation: X:234.07, Y:-68.04, Z:-3.94 [[ 7.85479080e-01 6.18859917e-01 5.91765836e-03 2.34066487e+02] [-6.18843588e-01 7.85501360e-01 -4.49744338e-03 -6.80435364e+01] [-7.43161613e-03 -1.29457243e-04 9.99972377e-01 -3.93888445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters 0.01654993152453328 Centerline is valid? [True, True] Translation: X:234.12, Y:-68.08, Z:-3.94 [[ 7.81848985e-01 6.23422293e-01 7.53720927e-03 2.34116347e+02] [-6.23395972e-01 7.81885284e-01 -5.73276006e-03 -6.80785395e+01] [-9.46716344e-03 -2.16513262e-04 9.99955162e-01 -3.93802811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters 0.016028088112317554 Centerline is valid? [True, True] Translation: X:234.16, Y:-68.12, Z:-3.94 [[ 7.79385811e-01 6.26499022e-01 7.53210241e-03 2.34164114e+02] [-6.26472843e-01 7.79422166e-01 -5.73277830e-03 -6.81183546e+01] [-9.46226757e-03 -2.50611541e-04 9.99955200e-01 -3.93862221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters 0.01878826148558583 Centerline is valid? [True, True] Translation: X:234.21, Y:-68.15, Z:-3.94 [[ 7.76044985e-01 6.30652457e-01 5.62659937e-03 2.34213129e+02] [-6.30637950e-01 7.76065350e-01 -4.28355690e-03 -6.81532561e+01] [-7.06804449e-03 -2.24114238e-04 9.99974996e-01 -3.94207661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters 0.019357432053622326 Centerline is valid? [True, True] Translation: X:234.26, Y:-68.19, Z:-3.94 [[ 7.74608907e-01 6.32424363e-01 4.52397965e-03 2.34262190e+02] [-6.32415019e-01 7.74622093e-01 -3.44322538e-03 -6.81916876e+01] [-5.68195421e-03 -1.93879630e-04 9.99983839e-01 -3.94476601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters 0.018805528915207502 Centerline is valid? [True, True] Translation: X:234.31, Y:-68.23, Z:-3.95 [[ 7.74475968e-01 6.32593627e-01 3.50401842e-03 2.34308075e+02] [-6.32588034e-01 7.74483879e-01 -2.66442748e-03 -6.82337420e+01] [-4.39930562e-03 -1.53065071e-04 9.99990311e-01 -3.94640227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters 0.01892147061539207 Centerline is valid? [True, True] Translation: X:234.35, Y:-68.27, Z:-3.95 [[ 7.75665178e-01 6.31136390e-01 3.22320042e-03 2.34353798e+02] [-6.31131640e-01 7.75671864e-01 -2.45208860e-03 -6.82742030e+01] [-4.04774823e-03 -1.32264023e-04 9.99991799e-01 -3.94766029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters 0.016624052438291088 Centerline is valid? [True, True] Translation: X:234.40, Y:-68.32, Z:-3.95 [[ 7.79165766e-01 6.26799388e-01 4.82045420e-03 2.34395371e+02] [-6.26788643e-01 7.79180661e-01 -3.67356624e-03 -6.83207809e+01] [-6.05859376e-03 -1.59088899e-04 9.99981634e-01 -3.94638359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters 0.015553737659161009 Centerline is valid? [True, True] Translation: X:234.44, Y:-68.36, Z:-3.95 [[ 7.81356522e-01 6.24056756e-01 5.92888895e-03 2.34439764e+02] [-6.24040418e-01 7.81378997e-01 -4.51878380e-03 -6.83632039e+01] [-7.45268686e-03 -1.69085151e-04 9.99972214e-01 -3.94608402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters 0.01471304744566642 Centerline is valid? [True, True] Translation: X:234.48, Y:-68.41, Z:-3.95 [[ 7.82601240e-01 6.22476019e-01 7.67488450e-03 2.34483802e+02] [-6.22448576e-01 7.82638847e-01 -5.84848405e-03 -6.84073739e+01] [-9.64720383e-03 -2.00190062e-04 9.99953445e-01 -3.94512034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters 0.014545570900508953 Centerline is valid? [True, True] Translation: X:234.53, Y:-68.45, Z:-3.95 [[ 7.82582269e-01 6.22499211e-01 7.72818478e-03 2.34531443e+02] [-6.22471359e-01 7.82620401e-01 -5.89189322e-03 -6.84481520e+01] [-9.71593396e-03 -1.99682526e-04 9.99952779e-01 -3.94610453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters 0.014411468237276917 Centerline is valid? [True, True] Translation: X:234.58, Y:-68.49, Z:-3.95 [[ 7.82520339e-01 6.22581462e-01 7.36497418e-03 2.34579204e+02] [-6.22556142e-01 7.82554974e-01 -5.61805700e-03 -6.84895126e+01] [-9.26119532e-03 -1.88866043e-04 9.99957096e-01 -3.94832752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters 0.01461211312087834 Centerline is valid? [True, True] Translation: X:234.63, Y:-68.53, Z:-3.95 [[ 7.82807469e-01 6.22225323e-01 6.93638374e-03 2.34627550e+02] [-6.22202822e-01 7.82838181e-01 -5.29431773e-03 -6.85276517e+01] [-8.72432459e-03 -1.71406071e-04 9.99961928e-01 -3.95058466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters 0.014000300253483974 Centerline is valid? [True, True] Translation: X:234.68, Y:-68.57, Z:-3.95 [[ 7.83650589e-01 6.21172010e-01 6.08999311e-03 2.34676298e+02] [-6.21154621e-01 7.83674240e-01 -4.65006421e-03 -6.85656469e+01] [-7.66106045e-03 -1.38801801e-04 9.99970644e-01 -3.95322830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters 0.013529227979550189 Centerline is valid? [True, True] Translation: X:234.73, Y:-68.60, Z:-3.95 [[ 7.85031237e-01 6.19426752e-01 6.03782636e-03 2.34726326e+02] [-6.19409577e-01 7.85054447e-01 -4.61423719e-03 -6.86032041e+01] [-7.59820439e-03 -1.17567138e-04 9.99971126e-01 -3.95479867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters 0.012988860715832135 Centerline is valid? [True, True] Translation: X:234.77, Y:-68.64, Z:-3.95 [[ 7.86531380e-01 6.17502573e-01 7.67851941e-03 2.34774938e+02] [-6.17474688e-01 7.86568850e-01 -5.86964430e-03 -6.86428478e+01] [-9.66420465e-03 -1.24631944e-04 9.99953293e-01 -3.95383026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters 0.012903779116195238 Centerline is valid? [True, True] Translation: X:234.82, Y:-68.68, Z:-3.95 [[ 7.87099443e-01 6.16770915e-01 8.25260755e-03 2.34823124e+02] [-6.16738662e-01 7.87142695e-01 -6.30870873e-03 -6.86813152e+01] [-1.03870078e-02 -1.24121016e-04 9.99946046e-01 -3.95428053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters 0.01260293670938259 Centerline is valid? [True, True] Translation: X:234.87, Y:-68.72, Z:-3.96 [[ 7.87714595e-01 6.15991508e-01 7.75752550e-03 2.34871580e+02] [-6.15962944e-01 7.87752786e-01 -5.93296673e-03 -6.87194618e+01] [-9.76566944e-03 -1.04863765e-04 9.99952309e-01 -3.95706279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters 0.012583583246210093 Centerline is valid? [True, True] Translation: X:234.92, Y:-68.76, Z:-3.96 [[ 7.87320752e-01 6.16506267e-01 6.78642837e-03 2.34921776e+02] [-6.16484412e-01 7.87349994e-01 -5.19197981e-03 -6.87576672e+01] [-8.54418243e-03 -9.59738526e-05 9.99963493e-01 -3.95868975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters 0.012793498365725188 Centerline is valid? [True, True] Translation: X:234.97, Y:-68.80, Z:-3.96 [[ 7.86624293e-01 6.17395273e-01 6.73045972e-03 2.34972153e+02] [-6.17373784e-01 7.86653079e-01 -5.15212245e-03 -6.87954894e+01] [-8.47543290e-03 -1.02424709e-04 9.99964078e-01 -3.95953427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters 0.013015696133315489 Centerline is valid? [True, True] Translation: X:235.02, Y:-68.83, Z:-3.96 [[ 7.85911592e-01 6.18291441e-01 7.65923269e-03 2.35022392e+02] [-6.18263613e-01 7.85948903e-01 -5.86733968e-03 -6.88326333e+01] [-9.64749144e-03 -1.24214613e-04 9.99953454e-01 -3.95990298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters 0.013269378521607445 Centerline is valid? [True, True] Translation: X:235.07, Y:-68.87, Z:-3.96 [[ 7.84880813e-01 6.19582235e-01 8.94223320e-03 2.35073145e+02] [-6.19544332e-01 7.84931735e-01 -6.85510983e-03 -6.88691742e+01] [-1.12663469e-02 -1.59665711e-04 9.99936520e-01 -3.96059805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters 0.01315128790111438 Centerline is valid? [True, True] Translation: X:235.12, Y:-68.91, Z:-3.96 [[ 7.84294634e-01 6.20317313e-01 9.39995884e-03 2.35122586e+02] [-6.20275430e-01 7.84350942e-01 -7.21044184e-03 -6.89080444e+01] [-1.18456285e-02 -1.75452666e-04 9.99929823e-01 -3.96073377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters 0.013333926558820345 Centerline is valid? [True, True] Translation: X:235.17, Y:-68.95, Z:-3.96 [[ 7.84119344e-01 6.20540311e-01 9.30465581e-03 2.35172965e+02] [-6.20499239e-01 7.84174529e-01 -7.14155274e-03 -6.89463485e+01] [-1.17280954e-02 -1.73702198e-04 9.99931208e-01 -3.96226979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters 0.013113903624440421 Centerline is valid? [True, True] Translation: X:235.22, Y:-68.98, Z:-3.96 [[ 7.84544230e-01 6.20012473e-01 8.65355672e-03 2.35222070e+02] [-6.19976875e-01 7.84591939e-01 -6.64555733e-03 -6.89838486e+01] [-1.09098393e-02 -1.51271397e-04 9.99940474e-01 -3.96364230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters 0.012920159758475129 Centerline is valid? [True, True] Translation: X:235.27, Y:-69.02, Z:-3.97 [[ 7.85357187e-01 6.18979385e-01 8.86622987e-03 2.35271416e+02] [-6.18941909e-01 7.85407221e-01 -6.81254300e-03 -6.90214888e+01] [-1.11804246e-02 -1.37401633e-04 9.99937488e-01 -3.96546705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters 0.012380049057672598 Centerline is valid? [True, True] Translation: X:235.32, Y:-69.06, Z:-3.97 [[ 7.86939022e-01 6.16977148e-01 8.13482939e-03 2.35319284e+02] [-6.16945464e-01 7.86981061e-01 -6.25333266e-03 -6.90611222e+01] [-1.02601200e-02 -9.77546142e-05 9.99947359e-01 -3.96650547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters 0.01237851390970522 Centerline is valid? [True, True] Translation: X:235.37, Y:-69.10, Z:-3.97 [[ 7.87592686e-01 6.16149765e-01 7.56496744e-03 2.35369007e+02] [-6.16122304e-01 7.87629012e-01 -5.81766780e-03 -6.90999692e+01] [-9.54294248e-03 -7.89925686e-05 9.99954462e-01 -3.96804130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters 0.012219536847421192 Centerline is valid? [True, True] Translation: X:235.42, Y:-69.14, Z:-3.97 [[ 7.88229657e-01 6.15344251e-01 6.74241634e-03 2.35419262e+02] [-6.15322388e-01 7.88258491e-01 -5.18750613e-03 -6.91375966e+01] [-8.50686901e-03 -5.98135440e-05 9.99963814e-01 -3.97051469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters 0.012047814300635253 Centerline is valid? [True, True] Translation: X:235.47, Y:-69.17, Z:-3.97 [[ 7.89071710e-01 6.14263868e-01 6.76290366e-03 2.35468743e+02] [-6.14241803e-01 7.89100690e-01 -5.20662005e-03 -6.91749416e+01] [-8.53485052e-03 -4.56615514e-05 9.99963576e-01 -3.97210955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters 0.012063379148327896 Centerline is valid? [True, True] Translation: X:235.52, Y:-69.21, Z:-3.97 [[ 7.89440525e-01 6.13784334e-01 7.24215209e-03 2.35517829e+02] [-6.13758982e-01 7.89473742e-01 -5.57869824e-03 -6.92130037e+01] [-9.14160650e-03 -4.08854335e-05 9.99958214e-01 -3.97292671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters 0.012095248887672178 Centerline is valid? [True, True] Translation: X:235.57, Y:-69.25, Z:-3.97 [[ 7.89613699e-01 6.13558422e-01 7.50129762e-03 2.35568022e+02] [-6.13531183e-01 7.89649328e-01 -5.78157187e-03 -6.92502719e+01] [-9.47072674e-03 -3.70716545e-05 9.99955151e-01 -3.97302490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters 0.012115380675175987 Centerline is valid? [True, True] Translation: X:235.62, Y:-69.29, Z:-3.97 [[ 7.89082232e-01 6.14232526e-01 8.22405890e-03 2.35619221e+02] [-6.14199777e-01 7.89125087e-01 -6.34279250e-03 -6.92876161e+01] [-1.03857606e-02 -4.62302785e-05 9.99946065e-01 -3.97338569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters 0.012133850121698753 Centerline is valid? [True, True] Translation: X:235.67, Y:-69.32, Z:-3.97 [[ 7.88039232e-01 6.15569339e-01 8.27997901e-03 2.35671211e+02] [-6.15536179e-01 7.88082727e-01 -6.38960263e-03 -6.93238503e+01] [-1.04585519e-02 -6.13690967e-05 9.99945306e-01 -3.97430296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters 0.012135320686361169 Centerline is valid? [True, True] Translation: X:235.72, Y:-69.36, Z:-3.98 [[ 7.87525683e-01 6.16227481e-01 8.18476615e-03 2.35721680e+02] [-6.16195077e-01 7.87568211e-01 -6.31977408e-03 -6.93617328e+01] [-1.03404801e-02 -6.64282141e-05 9.99946534e-01 -3.97545061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters 0.012169380179275201 Centerline is valid? [True, True] Translation: X:235.77, Y:-69.40, Z:-3.98 [[ 7.87204718e-01 6.16642174e-01 7.82058786e-03 2.35772521e+02] [-6.16612578e-01 7.87243561e-01 -6.04184468e-03 -6.93993538e+01] [-9.88236367e-03 -6.61042087e-05 9.99951166e-01 -3.97644203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters 0.01221727759374891 Centerline is valid? [True, True] Translation: X:235.82, Y:-69.44, Z:-3.98 [[ 7.86835834e-01 6.17116301e-01 7.53937965e-03 2.35823128e+02] [-6.17088787e-01 7.86871951e-01 -5.82776780e-03 -6.94371546e+01] [-9.52893688e-03 -6.69701078e-05 9.99954596e-01 -3.97732869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters 0.012376813562035764 Centerline is valid? [True, True] Translation: X:235.87, Y:-69.47, Z:-3.98 [[ 7.85705365e-01 6.18560077e-01 7.10710964e-03 2.35873405e+02] [-6.18535655e-01 7.85737504e-01 -5.49704715e-03 -6.94725695e+01] [-8.98457650e-03 -7.69412823e-05 9.99959635e-01 -3.97906543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters 0.01271376101301006 Centerline is valid? [True, True] Translation: X:235.92, Y:-69.51, Z:-3.98 [[ 7.84164429e-01 6.20510353e-01 7.28348473e-03 2.35924177e+02] [-6.20484765e-01 7.84198247e-01 -5.63610710e-03 -6.95083406e+01] [-9.20895876e-03 -9.96566030e-05 9.99957592e-01 -3.97997867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters 0.012854222478766842 Centerline is valid? [True, True] Translation: X:235.98, Y:-69.55, Z:-3.98 [[ 7.83414485e-01 6.21456675e-01 7.30380205e-03 2.35975151e+02] [-6.21430961e-01 7.83448524e-01 -5.65432856e-03 -6.95453561e+01] [-9.23607316e-03 -1.09125826e-04 9.99957341e-01 -3.98076839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters 0.012967216243243667 Centerline is valid? [True, True] Translation: X:236.02, Y:-69.58, Z:-3.98 [[ 7.83302675e-01 6.21599677e-01 7.12467358e-03 2.36024567e+02] [-6.21575185e-01 7.83335069e-01 -5.51893864e-03 -6.95823142e+01] [-9.01157714e-03 -1.05520898e-04 9.99959389e-01 -3.98199610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters 0.013118437113107709 Centerline is valid? [True, True] Translation: X:236.07, Y:-69.62, Z:-3.98 [[ 7.83652433e-01 6.21151738e-01 7.70609765e-03 2.36072783e+02] [-6.21123025e-01 7.83690314e-01 -5.97330105e-03 -6.96194184e+01] [-9.74952041e-03 -1.05442787e-04 9.99952467e-01 -3.98248536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters 0.012717011416744145 Centerline is valid? [True, True] Translation: X:236.12, Y:-69.66, Z:-3.98 [[ 7.83642361e-01 6.21162718e-01 7.84397096e-03 2.36121659e+02] [-6.21132945e-01 7.83681610e-01 -6.08261801e-03 -6.96591197e+01] [-9.92547133e-03 -1.05551650e-04 9.99950736e-01 -3.98260503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters 0.012753096968404154 Centerline is valid? [True, True] Translation: X:236.17, Y:-69.70, Z:-3.98 [[ 7.83002467e-01 6.21973900e-01 7.45686309e-03 2.36171175e+02] [-6.21947001e-01 7.83037966e-01 -5.78546063e-03 -6.96978461e+01] [-9.43741241e-03 -1.07743690e-04 9.99955461e-01 -3.98427763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters 0.012854077798975906 Centerline is valid? [True, True] Translation: X:236.22, Y:-69.74, Z:-3.99 [[ 7.82671628e-01 6.22391674e-01 7.32985817e-03 2.36221211e+02] [-6.22365671e-01 7.82705943e-01 -5.69023705e-03 -6.97367378e+01] [-9.27867971e-03 -1.08265003e-04 9.99956946e-01 -3.98591695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters 0.013070393195026822 Centerline is valid? [True, True] Translation: X:236.27, Y:-69.77, Z:-3.99 [[ 7.82281265e-01 6.22888448e-01 6.78260872e-03 2.36269836e+02] [-6.22866177e-01 7.82310661e-01 -5.26825884e-03 -6.97745260e+01] [-8.58764468e-03 -1.03397380e-04 9.99963120e-01 -3.98714257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters 0.012683437349781203 Centerline is valid? [True, True] Translation: X:236.32, Y:-69.81, Z:-3.99 [[ 7.83036848e-01 6.21937746e-01 6.83634432e-03 2.36317436e+02] [-6.21915058e-01 7.83066684e-01 -5.31301545e-03 -6.98137573e+01] [-8.65767834e-03 -9.13386064e-05 9.99962517e-01 -3.98782758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters 0.012635732459180421 Centerline is valid? [True, True] Translation: X:236.37, Y:-69.85, Z:-3.99 [[ 7.83740282e-01 6.21046327e-01 7.25465319e-03 2.36365903e+02] [-6.21020710e-01 7.83773853e-01 -5.64135994e-03 -6.98531616e+01] [-9.18955335e-03 -8.39288448e-05 9.99957772e-01 -3.98804458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters 0.012622881574131722 Centerline is valid? [True, True] Translation: X:236.42, Y:-69.89, Z:-3.99 [[ 7.83039282e-01 6.21933503e-01 6.94258581e-03 2.36416113e+02] [-6.21910059e-01 7.83070054e-01 -5.40087933e-03 -6.98916921e+01] [-8.79551885e-03 -8.85632781e-05 9.99961315e-01 -3.98852833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters 0.01290062063964383 Centerline is valid? [True, True] Translation: X:236.47, Y:-69.93, Z:-3.99 [[ 7.82480413e-01 6.22639147e-01 6.70041461e-03 2.36465681e+02] [-6.22617299e-01 7.82509096e-01 -5.21670927e-03 -6.99276113e+01] [-8.49126279e-03 -8.98212264e-05 9.99963945e-01 -3.99044776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters 0.013076845585463315 Centerline is valid? [True, True] Translation: X:236.52, Y:-69.97, Z:-3.99 [[ 7.81781293e-01 6.23520203e-01 6.36915127e-03 2.36515104e+02] [-6.23500490e-01 7.81807232e-01 -4.95898654e-03 -6.99650379e+01] [-8.07147682e-03 -9.43260274e-05 9.99967421e-01 -3.99129584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters 0.012913677110259019 Centerline is valid? [True, True] Translation: X:236.56, Y:-70.00, Z:-3.99 [[ 7.81719269e-01 6.23597074e-01 6.45554220e-03 2.36564143e+02] [-6.23576807e-01 7.81745918e-01 -5.02841962e-03 -7.00048307e+01] [-8.18230153e-03 -9.47138885e-05 9.99966520e-01 -3.99101569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters 0.012825348061854732 Centerline is valid? [True, True] Translation: X:236.61, Y:-70.04, Z:-3.99 [[ 7.82806114e-01 6.22230243e-01 6.64180582e-03 2.36611440e+02] [-6.22208709e-01 7.82834286e-01 -5.17723457e-03 -7.00429023e+01] [-8.42086524e-03 -7.98185518e-05 9.99964541e-01 -3.99191368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters 0.012715918973526254 Centerline is valid? [True, True] Translation: X:236.66, Y:-70.08, Z:-3.99 [[ 7.83572885e-01 6.21265926e-01 6.49479986e-03 2.36659819e+02] [-6.21245284e-01 7.83599799e-01 -5.06480658e-03 -7.00814024e+01] [-8.23591562e-03 -6.62186773e-05 9.99966082e-01 -3.99330311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters 0.012427964273531981 Centerline is valid? [True, True] Translation: X:236.71, Y:-70.12, Z:-3.99 [[ 7.83653366e-01 6.21163860e-01 6.54678661e-03 2.36708759e+02] [-6.21142865e-01 7.83680710e-01 -5.10743883e-03 -7.01204790e+01] [-8.30314679e-03 -6.40281594e-05 9.99965526e-01 -3.99378234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters 0.012494610957924309 Centerline is valid? [True, True] Translation: X:236.76, Y:-70.16, Z:-4.00 [[ 7.83920379e-01 6.20829149e-01 6.32517967e-03 2.36757599e+02] [-6.20809517e-01 7.83945894e-01 -4.93745002e-03 -7.01589281e+01] [-8.02391152e-03 -5.61640442e-05 9.99967806e-01 -3.99546960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters 0.012337286973508641 Centerline is valid? [True, True] Translation: X:236.81, Y:-70.20, Z:-4.00 [[ 7.84805991e-01 6.19714573e-01 5.77966118e-03 2.36806723e+02] [-6.19698138e-01 7.84827272e-01 -4.51343688e-03 -7.01988300e+01] [-7.33307832e-03 -3.94729700e-05 9.99973112e-01 -3.99694286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters 0.012108584536050487 Centerline is valid? [True, True] Translation: X:236.85, Y:-70.24, Z:-4.00 [[ 7.86462713e-01 6.17602116e-01 6.63534552e-03 2.36854071e+02] [-6.17580346e-01 7.86490703e-01 -5.18566977e-03 -7.02392799e+01] [-8.42131819e-03 -1.95230647e-05 9.99964540e-01 -3.99649548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters 0.012144283797462943 Centerline is valid? [True, True] Translation: X:236.90, Y:-70.28, Z:-4.00 [[ 7.87102413e-01 6.16788997e-01 6.41280796e-03 2.36902963e+02] [-6.16768618e-01 7.87128536e-01 -5.01381186e-03 -7.02787615e+01] [-8.14016813e-03 -8.83529224e-06 9.99966868e-01 -3.99758103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters 0.012087964425490991 Centerline is valid? [True, True] Translation: X:236.95, Y:-70.32, Z:-4.00 [[ 7.87618687e-01 6.16137380e-01 5.61550685e-03 2.36952242e+02] [-6.16121724e-01 7.87638705e-01 -4.39229552e-03 -7.03181105e+01] [-7.12924800e-03 -3.81730500e-07 9.99974587e-01 -4.00004500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters 0.011980890593470612 Centerline is valid? [True, True] Translation: X:237.00, Y:-70.36, Z:-4.00 [[ 7.87142168e-01 6.16744847e-01 5.74462074e-03 2.37001909e+02] [-6.16728459e-01 7.87163130e-01 -4.49600354e-03 -7.03571539e+01] [-7.29484066e-03 -3.87712082e-06 9.99973392e-01 -4.00105046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters 0.011986566952148083 Centerline is valid? [True, True] Translation: X:237.05, Y:-70.40, Z:-4.00 [[ 7.87015504e-01 6.16901056e-01 6.29946083e-03 2.37051094e+02] [-6.16881327e-01 7.87040715e-01 -4.93368248e-03 -7.03957321e+01] [-8.00152609e-03 -3.13515138e-06 9.99967987e-01 -4.00159375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters 0.012003442208346692 Centerline is valid? [True, True] Translation: X:237.10, Y:-70.43, Z:-4.00 [[ 7.86822038e-01 6.17149511e-01 6.12883454e-03 2.37100081e+02] [-6.17130823e-01 7.86845907e-01 -4.80272008e-03 -7.04349539e+01] [-7.78644472e-03 -3.40670842e-06 9.99969685e-01 -4.00309819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters 0.012033331770867831 Centerline is valid? [True, True] Translation: X:237.15, Y:-70.47, Z:-4.00 [[ 7.86620527e-01 6.17412713e-01 5.44867485e-03 2.37148764e+02] [-6.17397936e-01 7.86639398e-01 -4.27156212e-03 -7.04744852e+01] [-6.92345906e-03 -3.90216002e-06 9.99976033e-01 -4.00475811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters 0.011969860781028617 Centerline is valid? [True, True] Translation: X:237.20, Y:-70.51, Z:-4.01 [[ 7.86194119e-01 6.17958250e-01 5.13889413e-03 2.37197643e+02] [-6.17945105e-01 7.86210914e-01 -4.03059555e-03 -7.05133655e+01] [-6.53099442e-03 -6.72395531e-06 9.99978673e-01 -4.00580901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters 0.011919463211264034 Centerline is valid? [True, True] Translation: X:237.25, Y:-70.55, Z:-4.01 [[ 7.85417307e-01 6.18944892e-01 5.18403598e-03 2.37247000e+02] [-6.18931521e-01 7.85434415e-01 -4.06841625e-03 -7.05524841e+01] [-6.58984572e-03 -1.31587372e-05 9.99978287e-01 -4.00724051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters 0.01206452707864474 Centerline is valid? [True, True] Translation: X:237.30, Y:-70.59, Z:-4.01 [[ 7.83931068e-01 6.20826563e-01 5.14385579e-03 2.37295969e+02] [-6.20813423e-01 7.83947944e-01 -4.03923861e-03 -7.05914815e+01] [-6.54018179e-03 -2.68900772e-05 9.99978612e-01 -4.00817489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters 0.012406496082552418 Centerline is valid? [True, True] Translation: X:237.34, Y:-70.63, Z:-4.01 [[ 7.80823668e-01 6.24730935e-01 5.06541324e-03 2.37343936e+02] [-6.24718257e-01 7.80840096e-01 -3.98055350e-03 -7.06291832e+01] [-6.44205267e-03 -5.63457432e-05 9.99979248e-01 -4.00923179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters 0.0131471840797731 Centerline is valid? [True, True] Translation: X:237.39, Y:-70.67, Z:-4.01 [[ 7.77131373e-01 6.29318067e-01 5.05964077e-03 2.37393134e+02] [-6.29305503e-01 7.77147838e-01 -3.97763082e-03 -7.06666672e+01] [-6.43528382e-03 -9.29180797e-05 9.99979289e-01 -4.00965466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters 0.013555797492849929 Centerline is valid? [True, True] Translation: X:237.44, Y:-70.70, Z:-4.01 [[ 7.74846641e-01 6.32126517e-01 5.36185752e-03 2.37442179e+02] [-6.32112458e-01 7.74865183e-01 -4.21759304e-03 -7.07047165e+01] [-6.82076910e-03 -1.21309136e-04 9.99976731e-01 -4.01028215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters 0.014542017074407996 Centerline is valid? [True, True] Translation: X:237.49, Y:-70.74, Z:-4.01 [[ 7.71905832e-01 6.35712678e-01 5.54775868e-03 2.37491097e+02] [-6.35697701e-01 7.71925752e-01 -4.36644066e-03 -7.07421029e+01] [-7.05825948e-03 -1.56216421e-04 9.99975078e-01 -4.01108719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters 0.015241624270728617 Centerline is valid? [True, True] Translation: X:237.54, Y:-70.78, Z:-4.01 [[ 7.70809815e-01 6.37042566e-01 5.38496549e-03 2.37539935e+02] [-6.37028476e-01 7.70828608e-01 -4.24005595e-03 -7.07799639e+01] [-6.85198157e-03 -1.62099619e-04 9.99976512e-01 -4.01264173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters 0.014867973403208916 Centerline is valid? [True, True] Translation: X:237.59, Y:-70.82, Z:-4.01 [[ 7.71160577e-01 6.36626416e-01 4.26275982e-03 2.37588186e+02] [-6.36617580e-01 7.71172348e-01 -3.35660827e-03 -7.08209653e+01] [-5.42422799e-03 -1.25263873e-04 9.99985281e-01 -4.01484885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters 0.014871498355633108 Centerline is valid? [True, True] Translation: X:237.64, Y:-70.86, Z:-4.02 [[ 7.72392068e-01 6.35133105e-01 4.05354948e-03 2.37636090e+02] [-6.35125083e-01 7.72402697e-01 -3.19402464e-03 -7.08597593e+01] [-5.15960334e-03 -1.07471649e-04 9.99986683e-01 -4.01638576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters 0.013604441157360939 Centerline is valid? [True, True] Translation: X:237.68, Y:-70.90, Z:-4.02 [[ 7.74253176e-01 6.32857591e-01 4.82592210e-03 2.37683601e+02] [-6.32846150e-01 7.74268209e-01 -3.80683365e-03 -7.09007346e+01] [-6.14574163e-03 -1.06613169e-04 9.99981109e-01 -4.01560336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters 0.013781365722178382 Centerline is valid? [True, True] Translation: X:237.73, Y:-70.94, Z:-4.02 [[ 7.74531425e-01 6.32512750e-01 5.35656523e-03 2.37731659e+02] [-6.32498644e-01 7.74549939e-01 -4.22585434e-03 -7.09382138e+01] [-6.82183402e-03 -1.14963257e-04 9.99976724e-01 -4.01596833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters 0.015055053974730477 Centerline is valid? [True, True] Translation: X:237.78, Y:-70.97, Z:-4.02 [[ 7.73538224e-01 6.33723932e-01 5.70914849e-03 2.37781402e+02] [-6.33707922e-01 7.73559280e-01 -4.50652237e-03 -7.09739231e+01] [-7.27225587e-03 -1.31965321e-04 9.99973548e-01 -4.01751966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters 0.014458357298596966 Centerline is valid? [True, True] Translation: X:237.83, Y:-71.01, Z:-4.02 [[ 7.72536329e-01 6.34952831e-01 4.74574262e-03 2.37829638e+02] [-6.34941788e-01 7.72550897e-01 -3.74675486e-03 -7.10135145e+01] [-6.04534032e-03 -1.18766060e-04 9.99981720e-01 -4.01799114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters 0.0153628508014657 Centerline is valid? [True, True] Translation: X:237.88, Y:-71.05, Z:-4.02 [[ 7.70934343e-01 6.36905173e-01 3.46990395e-03 2.37880304e+02] [-6.36899288e-01 7.70942145e-01 -2.73957340e-03 -7.10500224e+01] [-4.41994366e-03 -9.79481350e-05 9.99990227e-01 -4.01969089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters 0.015620909546169572 Centerline is valid? [True, True] Translation: X:237.93, Y:-71.09, Z:-4.02 [[ 7.68908268e-01 6.39351615e-01 3.09643215e-03 2.37930815e+02] [-6.39346946e-01 7.68914496e-01 -2.44531169e-03 -7.10863743e+01] [-3.94430555e-03 -9.94740688e-05 9.99992216e-01 -4.01956871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters 0.015857874594180033 Centerline is valid? [True, True] Translation: X:237.98, Y:-71.12, Z:-4.02 [[ 7.66888986e-01 6.41770152e-01 3.51501107e-03 2.37980629e+02] [-6.41764153e-01 7.66897031e-01 -2.77784214e-03 -7.11229838e+01] [-4.47838772e-03 -1.25511561e-04 9.99989964e-01 -4.01947920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters 0.017601666303319125 Centerline is valid? [True, True] Translation: X:238.03, Y:-71.16, Z:-4.02 [[ 7.65033834e-01 6.43984457e-01 2.69289308e-03 2.38031104e+02] [-6.43980942e-01 7.65038567e-01 -2.13009354e-03 -7.11568839e+01] [-3.43191420e-03 -1.04578195e-04 9.99994105e-01 -4.02121727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters 0.01713941656358492 Centerline is valid? [True, True] Translation: X:238.08, Y:-71.20, Z:-4.02 [[ 7.65239012e-01 6.43742845e-01 2.09863240e-03 2.38079796e+02] [-6.43740717e-01 7.65241885e-01 -1.65722566e-03 -7.11962565e+01] [-2.67278857e-03 -8.28013995e-05 9.99996425e-01 -4.02197237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters 0.015217363624957807 Centerline is valid? [True, True] Translation: X:238.12, Y:-71.24, Z:-4.02 [[ 7.68334790e-01 6.40045925e-01 1.69230216e-03 2.38124347e+02] [-6.40044524e-01 7.68336652e-01 -1.34036161e-03 -7.12382946e+01] [-2.15815076e-03 -5.33022754e-05 9.99997670e-01 -4.02179468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters 0.013877187307369636 Centerline is valid? [True, True] Translation: X:238.17, Y:-71.28, Z:-4.02 [[ 7.71952788e-01 6.35676452e-01 2.08356812e-03 2.38169986e+02] [-6.35674312e-01 7.71955599e-01 -1.65025532e-03 -7.12803110e+01] [-2.65745052e-03 -5.05515350e-05 9.99996468e-01 -4.02172218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters 0.012224504819720233 Centerline is valid? [True, True] Translation: X:238.21, Y:-71.32, Z:-4.02 [[ 7.77473560e-01 6.28912169e-01 2.08501749e-03 2.38213833e+02] [-6.28910000e-01 7.77476356e-01 -1.65159407e-03 -7.13243868e+01] [-2.65975941e-03 -2.72176272e-05 9.99996462e-01 -4.02185827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters 0.01204758614119318 Centerline is valid? [True, True] Translation: X:238.26, Y:-71.37, Z:-4.02 [[ 7.79000424e-01 6.27020547e-01 1.89051508e-03 2.38261160e+02] [-6.27018766e-01 7.79002717e-01 -1.49428436e-03 -7.13650012e+01] [-2.40966338e-03 -2.13402807e-05 9.99997097e-01 -4.02236226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters 0.01176363279213894 Centerline is valid? [True, True] Translation: X:238.31, Y:-71.41, Z:-4.02 [[ 7.83131084e-01 6.21855124e-01 1.38222622e-03 2.38305601e+02] [-6.21854165e-01 7.83132304e-01 -1.09175643e-03 -7.14087112e+01] [-1.76138033e-03 -4.55473178e-06 9.99998449e-01 -4.02267318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters 0.011866078570385439 Centerline is valid? [True, True] Translation: X:238.36, Y:-71.45, Z:-4.03 [[ 7.82735897e-01 6.22353708e-01 6.15324723e-04 2.38355047e+02] [-6.22353520e-01 7.82736138e-01 -4.83563166e-04 -7.14456428e+01] [-7.82584227e-04 -4.44725871e-06 9.99999694e-01 -4.02549900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters 0.011836579066629457 Centerline is valid? [True, True] Translation: X:238.41, Y:-71.48, Z:-4.03 [[ 7.82037975e-01 6.23230765e-01 1.40618765e-04 2.38405549e+02] [-6.23230756e-01 7.82037988e-01 -1.06001168e-04 -7.14831102e+01] [-1.76032405e-04 -4.74100054e-06 9.99999984e-01 -4.02615460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters 0.011819400931045243 Centerline is valid? [True, True] Translation: X:238.46, Y:-71.52, Z:-4.03 [[ 7.79984242e-01 6.25799142e-01 -1.21896709e-04 2.38455804e+02] [-6.25799134e-01 7.79984252e-01 1.01899933e-04 -7.15191743e+01] [ 1.58846404e-04 -3.19748728e-06 9.99999987e-01 -4.02660708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters 0.012394270671743484 Centerline is valid? [True, True] Translation: X:238.51, Y:-71.55, Z:-4.03 [[ 7.76961121e-01 6.29547797e-01 -9.93399933e-04 2.38507945e+02] [-6.29547299e-01 7.76961756e-01 7.92260214e-04 -7.15523426e+01] [ 1.27059943e-03 9.83686078e-06 9.99999193e-01 -4.02923799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters 0.013015940205931867 Centerline is valid? [True, True] Translation: X:238.56, Y:-71.59, Z:-4.03 [[ 7.74433114e-01 6.32653736e-01 -1.61351264e-03 2.38559499e+02] [-6.32652425e-01 7.74434794e-01 1.28817979e-03 -7.15869692e+01] [ 2.06453208e-03 2.31835949e-05 9.99997869e-01 -4.03101522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters 0.01376541706660444 Centerline is valid? [True, True] Translation: X:238.61, Y:-71.62, Z:-4.03 [[ 7.71302779e-01 6.36468116e-01 -6.01350089e-04 2.38612187e+02] [-6.36467932e-01 7.71303013e-01 4.83498595e-04 -7.16209543e+01] [ 7.71554575e-04 9.81623790e-06 9.99999702e-01 -4.03117668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters 0.013835403061816494 Centerline is valid? [True, True] Translation: X:238.66, Y:-71.66, Z:-4.03 [[ 7.70294122e-01 6.37688769e-01 -2.02433014e-05 2.38662272e+02] [-6.37688768e-01 7.70294122e-01 2.11436126e-05 -7.16581855e+01] [ 2.90763403e-05 -3.37787459e-06 1.00000000e+00 -4.03160160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters 0.013931022656759998 Centerline is valid? [True, True] Translation: X:238.71, Y:-71.70, Z:-4.03 [[ 7.70439445e-01 6.37510905e-01 1.70503809e-03 2.38711829e+02] [-6.37509471e-01 7.70441330e-01 -1.35312159e-03 -7.16961058e+01] [-2.17626159e-03 -4.44796872e-05 9.99997631e-01 -4.03183334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters 0.013064898516142013 Centerline is valid? [True, True] Translation: X:238.76, Y:-71.74, Z:-4.03 [[ 7.71229452e-01 6.36552039e-01 2.57546979e-03 2.38759074e+02] [-6.36548750e-01 7.71233750e-01 -2.04733652e-03 -7.17359878e+01] [-3.28952546e-03 -6.04458501e-05 9.99994588e-01 -4.03107228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters 0.012620181025958778 Centerline is valid? [True, True] Translation: X:238.81, Y:-71.78, Z:-4.03 [[ 7.73093194e-01 6.34282310e-01 3.58668321e-03 2.38807331e+02] [-6.34275889e-01 7.73101511e-01 -2.85473442e-03 -7.17750326e+01] [-4.58357775e-03 -6.79709310e-05 9.99989493e-01 -4.03211334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters 0.012198506365306021 Centerline is valid? [True, True] Translation: X:238.86, Y:-71.81, Z:-4.03 [[ 7.74537512e-01 6.32513440e-01 4.28835167e-03 2.38855084e+02] [-6.32504220e-01 7.74549381e-01 -3.41594110e-03 -7.18147616e+01] [-5.48216879e-03 -6.66260079e-05 9.99984971e-01 -4.03294150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters 0.011761541034171543 Centerline is valid? [True, True] Translation: X:238.90, Y:-71.85, Z:-4.04 [[ 7.77216715e-01 6.29221513e-01 3.80330122e-03 2.38901607e+02] [-6.29214215e-01 7.77226020e-01 -3.03085935e-03 -7.18540084e+01] [-4.86310658e-03 -3.74566435e-05 9.99988174e-01 -4.03571715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters 0.011793222415257645 Centerline is valid? [True, True] Translation: X:238.95, Y:-71.90, Z:-4.04 [[ 7.80091002e-01 6.25660267e-01 2.69406536e-03 2.38949278e+02] [-6.25656588e-01 7.80095654e-01 -2.14579302e-03 -7.18956032e+01] [-3.44416611e-03 -1.16459119e-05 9.99994069e-01 -4.03900208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters 0.01171026199498572 Centerline is valid? [True, True] Translation: X:239.00, Y:-71.94, Z:-4.04 [[ 7.82476428e-01 6.22677792e-01 1.73383419e-03 2.38996539e+02] [-6.22676262e-01 7.82478349e-01 -1.38028882e-03 -7.19361807e+01] [-2.21616291e-03 4.26075926e-07 9.99997544e-01 -4.04039317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters 0.012018425714480365 Centerline is valid? [True, True] Translation: X:239.04, Y:-71.98, Z:-4.04 [[ 7.84500704e-01 6.20122189e-01 2.66752082e-03 2.39043914e+02] [-6.20118542e-01 7.84505239e-01 -2.12681061e-03 -7.19775319e+01] [-3.41156651e-03 1.43053016e-05 9.99994180e-01 -4.04085818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters 0.012034716807040702 Centerline is valid? [True, True] Translation: X:239.09, Y:-72.02, Z:-4.04 [[ 7.84208985e-01 6.20490256e-01 2.84802658e-03 2.39093121e+02] [-6.20486095e-01 7.84214156e-01 -2.27243607e-03 -7.20172869e+01] [-3.64348720e-03 1.49038907e-05 9.99993362e-01 -4.04186796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters 0.01194530431513394 Centerline is valid? [True, True] Translation: X:239.14, Y:-72.06, Z:-4.04 [[ 7.83758391e-01 6.21058030e-01 3.11574457e-03 2.39142646e+02] [-6.21053046e-01 7.83764584e-01 -2.48803443e-03 -7.20567117e+01] [-3.98722401e-03 1.49752038e-05 9.99992051e-01 -4.04284556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters 0.011840559823067021 Centerline is valid? [True, True] Translation: X:239.19, Y:-72.09, Z:-4.04 [[ 7.82344064e-01 6.22838088e-01 3.23747836e-03 2.39191577e+02] [-6.22832713e-01 7.82350763e-01 -2.58744898e-03 -7.20946191e+01] [-4.14440544e-03 7.86791961e-06 9.99991412e-01 -4.04331608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters 0.011833288268455894 Centerline is valid? [True, True] Translation: X:239.24, Y:-72.13, Z:-4.04 [[ 7.80628437e-01 6.24986173e-01 3.39518659e-03 2.39240938e+02] [-6.24980276e-01 7.80635820e-01 -2.71491529e-03 -7.21325480e+01] [-4.34718878e-03 -2.58457571e-06 9.99990551e-01 -4.04441170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters 0.011988771107977666 Centerline is valid? [True, True] Translation: X:239.29, Y:-72.17, Z:-4.05 [[ 7.77742706e-01 6.28566368e-01 4.53909675e-03 2.39291533e+02] [-6.28555869e-01 7.77755951e-01 -3.63321609e-03 -7.21692287e+01] [-5.81402695e-03 -2.73685895e-05 9.99983098e-01 -4.04532832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters 0.01236732902510876 Centerline is valid? [True, True] Translation: X:239.34, Y:-72.21, Z:-4.05 [[ 7.75078142e-01 6.31845017e-01 5.07428102e-03 2.39340904e+02] [-6.31831944e-01 7.75094750e-01 -4.06487872e-03 -7.22075209e+01] [-6.50142194e-03 -5.54941954e-05 9.99978864e-01 -4.04528126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters 0.012694202663897937 Centerline is valid? [True, True] Translation: X:239.39, Y:-72.25, Z:-4.05 [[ 7.73909957e-01 6.33277597e-01 4.78157592e-03 2.39389366e+02] [-6.33266006e-01 7.73924726e-01 -3.83202685e-03 -7.22463689e+01] [-6.12731659e-03 -6.23657585e-05 9.99981226e-01 -4.04632797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters 0.01310275064274458 Centerline is valid? [True, True] Translation: X:239.44, Y:-72.28, Z:-4.05 [[ 7.72425474e-01 6.35087400e-01 4.78353475e-03 2.39437781e+02] [-6.35075822e-01 7.72440282e-01 -3.83547936e-03 -7.22849177e+01] [-6.13085954e-03 -7.52852979e-05 9.99981203e-01 -4.04653804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters 0.013544694465760305 Centerline is valid? [True, True] Translation: X:239.49, Y:-72.32, Z:-4.05 [[ 7.71248240e-01 6.36522489e-01 3.90809519e-03 2.39486465e+02] [-6.36514777e-01 7.71258138e-01 -3.13422432e-03 -7.23234929e+01] [-5.00915449e-03 -7.02953501e-05 9.99987452e-01 -4.04774750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters 0.014928415527477083 Centerline is valid? [True, True] Translation: X:239.54, Y:-72.36, Z:-4.05 [[ 7.70245597e-01 6.37742634e-01 2.46017359e-03 2.39535216e+02] [-6.37739586e-01 7.70249525e-01 -1.97249497e-03 -7.23600818e+01] [-3.15289168e-03 -4.96445223e-05 9.99995028e-01 -4.05195573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters 0.014116201366755923 Centerline is valid? [True, True] Translation: X:239.58, Y:-72.40, Z:-4.05 [[ 7.69993663e-01 6.38049488e-01 1.61545540e-03 2.39581356e+02] [-6.38048177e-01 7.69995357e-01 -1.29386569e-03 -7.24012739e+01] [-2.06944350e-03 -3.44699869e-05 9.99997858e-01 -4.05128302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters 0.014310464000635898 Centerline is valid? [True, True] Translation: X:239.63, Y:-72.44, Z:-4.05 [[ 7.70876343e-01 6.36983002e-01 1.52278788e-03 2.39628319e+02] [-6.36981834e-01 7.70877846e-01 -1.22035694e-03 -7.24408147e+01] [-1.95123007e-03 -2.92439217e-05 9.99998096e-01 -4.05230495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters 0.013517243545345423 Centerline is valid? [True, True] Translation: X:239.67, Y:-72.49, Z:-4.05 [[ 7.73224755e-01 6.34129772e-01 1.70599768e-03 2.39672346e+02] [-6.34128297e-01 7.73226637e-01 -1.36805930e-03 -7.24852503e+01] [-2.18664998e-03 -2.40040861e-05 9.99997609e-01 -4.05016019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters 0.01344709228903571 Centerline is valid? [True, True] Translation: X:239.72, Y:-72.53, Z:-4.05 [[ 7.75558296e-01 6.31270949e-01 2.51369556e-03 2.39717314e+02] [-6.31267719e-01 7.75562369e-01 -2.01948800e-03 -7.25264280e+01] [-3.22437179e-03 -2.05841926e-05 9.99994801e-01 -4.05151168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters 0.013154716297915144 Centerline is valid? [True, True] Translation: X:239.76, Y:-72.57, Z:-4.05 [[ 7.79341157e-01 6.26593263e-01 2.87107412e-03 2.39761558e+02] [-6.26589013e-01 7.79346446e-01 -2.30794779e-03 -7.25710132e+01] [-3.68370595e-03 -3.04799035e-07 9.99993215e-01 -4.04947884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters 0.013633085483875297 Centerline is valid? [True, True] Translation: X:239.81, Y:-72.61, Z:-4.05 [[ 7.80263285e-01 6.25445629e-01 2.64046721e-03 2.39808353e+02] [-6.25442026e-01 7.80267752e-01 -2.12303683e-03 -7.26113192e+01] [-3.38811552e-03 5.06852697e-06 9.99994260e-01 -4.05287834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters 0.013841628758551413 Centerline is valid? [True, True] Translation: X:239.85, Y:-72.65, Z:-4.05 [[ 7.82566044e-01 6.22564999e-01 1.79115759e-03 2.39854569e+02] [-6.22563335e-01 7.82568094e-01 -1.43952665e-03 -7.26528606e+01] [-2.29790169e-03 1.14156373e-05 9.99997360e-01 -4.05226269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters 0.014567734472684635 Centerline is valid? [True, True] Translation: X:239.90, Y:-72.70, Z:-4.05 [[ 7.85393265e-01 6.18996306e-01 9.96071525e-04 2.39899588e+02] [-6.18995791e-01 7.85393897e-01 -7.98777845e-04 -7.26958462e+01] [-1.27674903e-03 1.07906591e-05 9.99999185e-01 -4.05260669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters 0.014874091776795995 Centerline is valid? [True, True] Translation: X:239.95, Y:-72.74, Z:-4.05 [[ 7.87253863e-01 6.16626834e-01 1.64422092e-03 2.39946433e+02] [-6.16625416e-01 7.87255579e-01 -1.32263351e-03 -7.27358444e+01] [-2.10999341e-03 2.73799330e-05 9.99997774e-01 -4.05198219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters 0.015482138953204933 Centerline is valid? [True, True] Translation: X:239.99, Y:-72.78, Z:-4.05 [[ 7.88041243e-01 6.15616558e-01 2.69286893e-03 2.39993896e+02] [-6.15612737e-01 7.88045843e-01 -2.16963033e-03 -7.27755780e+01] [-3.45776453e-03 5.19937724e-05 9.99994021e-01 -4.05248112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters 0.01580276999103643 Centerline is valid? [True, True] Translation: X:240.04, Y:-72.81, Z:-4.05 [[ 7.87346697e-01 6.16494038e-01 4.50334215e-03 2.40041314e+02] [-6.16483333e-01 7.87359571e-01 -3.63404858e-03 -7.28148792e+01] [-5.78611883e-03 8.50207714e-05 9.99983257e-01 -4.05242620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters 0.01400509536416256 Centerline is valid? [True, True] Translation: X:240.09, Y:-72.85, Z:-4.05 [[ 7.85809561e-01 6.18452942e-01 4.39227679e-03 2.40093311e+02] [-6.18442781e-01 7.85821834e-01 -3.54582449e-03 -7.28498198e+01] [-5.64447258e-03 6.99709149e-05 9.99984067e-01 -4.05205455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters 0.013224428310954515 Centerline is valid? [True, True] Translation: X:240.15, Y:-72.88, Z:-4.05 [[ 7.81177034e-01 6.24295679e-01 4.16494997e-03 2.40146008e+02] [-6.24286618e-01 7.81188136e-01 -3.36376907e-03 -7.28833261e+01] [-5.35359600e-03 2.75766119e-05 9.99985669e-01 -4.05481033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters 0.012915649064397955 Centerline is valid? [True, True] Translation: X:240.20, Y:-72.92, Z:-4.06 [[ 7.74655084e-01 6.32367009e-01 4.63323329e-03 2.40199273e+02] [-6.32355924e-01 7.74668939e-01 -3.74442439e-03 -7.29155406e+01] [-5.95707236e-03 -2.92151287e-05 9.99982256e-01 -4.05606263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters 0.013630346269993088 Centerline is valid? [True, True] Translation: X:240.25, Y:-72.95, Z:-4.06 [[ 7.69971063e-01 6.38052738e-01 5.76757088e-03 2.40251855e+02] [-6.38035692e-01 7.69992659e-01 -4.66477567e-03 -7.29495521e+01] [-7.41736013e-03 -8.81737985e-05 9.99972487e-01 -4.05716191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters 0.015381943828030653 Centerline is valid? [True, True] Translation: X:240.31, Y:-72.98, Z:-4.06 [[ 7.64300230e-01 6.44806203e-01 8.37366799e-03 2.40305990e+02] [-6.44770600e-01 7.64346069e-01 -6.77943409e-03 -7.29814668e+01] [-1.07718014e-02 -2.17571898e-04 9.99941959e-01 -4.05813987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters 0.01625023943865363 Centerline is valid? [True, True] Translation: X:240.36, Y:-73.02, Z:-4.06 [[ 7.61667551e-01 6.47887164e-01 1.02354269e-02 2.40356433e+02] [-6.47834226e-01 7.61736255e-01 -8.28823023e-03 -7.30178203e+01] [-1.31665337e-02 -3.17983850e-04 9.99913267e-01 -4.05841135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters 0.018298450680257202 Centerline is valid? [True, True] Translation: X:240.41, Y:-73.05, Z:-4.06 [[ 7.58732660e-01 6.51288212e-01 1.21826124e-02 2.40407554e+02] [-6.51213624e-01 7.58830327e-01 -9.86666509e-03 -7.30515637e+01] [-1.56705784e-02 -4.47322147e-04 9.99877109e-01 -4.05909055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters 0.018470335923912888 Centerline is valid? [True, True] Translation: X:240.46, Y:-73.09, Z:-4.06 [[ 7.57288880e-01 6.52958484e-01 1.26004440e-02 2.40456606e+02] [-6.52878842e-01 7.57393540e-01 -1.02099906e-02 -7.30889468e+01] [-1.62101949e-02 -4.94650888e-04 9.99868484e-01 -4.06142994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters 0.020584724492099873 Centerline is valid? [True, True] Translation: X:240.51, Y:-73.12, Z:-4.07 [[ 7.55996442e-01 6.54475522e-01 1.14530002e-02 2.40506873e+02] [-6.54409841e-01 7.56083041e-01 -9.28420380e-03 -7.31235881e+01] [-1.47357034e-02 -4.76131006e-04 9.99891310e-01 -4.06516154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters 0.020186411688747352 Centerline is valid? [True, True] Translation: X:240.55, Y:-73.16, Z:-4.07 [[ 7.56206616e-01 6.54247436e-01 1.05757475e-02 2.40554215e+02] [-6.54191360e-01 7.56280441e-01 -8.57667337e-03 -7.31629841e+01] [-1.36094976e-02 -4.32825497e-04 9.99907293e-01 -4.06845454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters 0.019152125606738755 Centerline is valid? [True, True] Translation: X:240.60, Y:-73.20, Z:-4.07 [[ 7.58912405e-01 6.51117273e-01 9.91252256e-03 2.40598914e+02] [-6.51067685e-01 7.58977058e-01 -8.04332134e-03 -7.32031434e+01] [-1.27605227e-02 -3.49546778e-04 9.99918520e-01 -4.07262592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters 0.01521937654205377 Centerline is valid? [True, True] Translation: X:240.64, Y:-73.25, Z:-4.07 [[ 7.63840698e-01 6.45304551e-01 1.13764713e-02 2.40638998e+02] [-6.45238580e-01 7.63925358e-01 -9.23154683e-03 -7.32517880e+01] [-1.46479341e-02 -2.89107029e-04 9.99892671e-01 -4.07254475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters 0.014219207517915259 Centerline is valid? [True, True] Translation: X:240.68, Y:-73.30, Z:-4.07 [[ 7.66470379e-01 6.42146699e-01 1.30680896e-02 2.40683776e+02] [-6.42059167e-01 7.66581730e-01 -1.06055268e-02 -7.32955584e+01] [-1.68280627e-02 -2.61664585e-04 9.99858364e-01 -4.07242632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters 0.014050951948993647 Centerline is valid? [True, True] Translation: X:240.73, Y:-73.34, Z:-4.07 [[ 7.68102241e-01 6.40169909e-01 1.41927746e-02 2.40728808e+02] [-6.40066210e-01 7.68233320e-01 -1.15244842e-02 -7.33366903e+01] [-1.82809904e-02 -2.32333309e-04 9.99832862e-01 -4.07268070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters 0.013405685190194921 Centerline is valid? [True, True] Translation: X:240.78, Y:-73.38, Z:-4.08 [[ 7.69083823e-01 6.38989660e-01 1.42228215e-02 2.40775268e+02] [-6.38885219e-01 7.69215298e-01 -1.15543121e-02 -7.33782454e+01] [-1.83234978e-02 -2.00515960e-04 9.99832091e-01 -4.07513544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters 0.013080896715746687 Centerline is valid? [True, True] Translation: X:240.82, Y:-73.42, Z:-4.08 [[ 7.70429217e-01 6.37373030e-01 1.39442323e-02 2.40821284e+02] [-6.37272274e-01 7.70555382e-01 -1.13336748e-02 -7.34204472e+01] [-1.79685819e-02 -1.54478449e-04 9.99838540e-01 -4.07710115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters 0.013095892052061537 Centerline is valid? [True, True] Translation: X:240.87, Y:-73.46, Z:-4.08 [[ 7.70795011e-01 6.36939513e-01 1.35317664e-02 2.40867990e+02] [-6.36844472e-01 7.70913768e-01 -1.10036135e-02 -7.34596599e+01] [-1.74404612e-02 -1.36100214e-04 9.99847894e-01 -4.07829648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters 0.012718808249214888 Centerline is valid? [True, True] Translation: X:240.91, Y:-73.50, Z:-4.08 [[ 7.72378787e-01 6.35016089e-01 1.36226177e-02 2.40914833e+02] [-6.34919409e-01 7.72498905e-01 -1.10808511e-02 -7.35010001e+01] [-1.75599760e-02 -9.06500567e-05 9.99845808e-01 -4.07986592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters 0.012482214153530806 Centerline is valid? [True, True] Translation: X:240.96, Y:-73.54, Z:-4.08 [[ 7.75054778e-01 6.31746783e-01 1.36416440e-02 2.40960901e+02] [-6.31649226e-01 7.75174821e-01 -1.11019091e-02 -7.35429165e+01] [-1.75882542e-02 -1.21461994e-05 9.99845315e-01 -4.08137888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters 0.012592889423542242 Centerline is valid? [True, True] Translation: X:241.01, Y:-73.58, Z:-4.08 [[ 7.76980066e-01 6.29378765e-01 1.35774167e-02 2.41006911e+02] [-6.29281664e-01 7.77098686e-01 -1.10553025e-02 -7.35836847e+01] [-1.75089653e-02 4.57302959e-05 9.99846705e-01 -4.08215059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters 0.012833271115142876 Centerline is valid? [True, True] Translation: X:241.05, Y:-73.62, Z:-4.08 [[ 7.79505136e-01 6.26257989e-01 1.31405870e-02 2.41053236e+02] [-6.26166501e-01 7.79615878e-01 -1.07048859e-02 -7.36246450e+01] [-1.69486306e-02 1.16318195e-04 9.99856355e-01 -4.08367175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters 0.013119089768161245 Centerline is valid? [True, True] Translation: X:241.10, Y:-73.67, Z:-4.08 [[ 7.81034656e-01 6.24352909e-01 1.29734903e-02 2.41100298e+02] [-6.24263383e-01 7.81142381e-01 -1.05739904e-02 -7.36652185e+01] [-1.67360447e-02 1.59777990e-04 9.99859930e-01 -4.08454068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters 0.013579565617196835 Centerline is valid? [True, True] Translation: X:241.15, Y:-73.71, Z:-4.09 [[ 7.82384833e-01 6.22657654e-01 1.30927019e-02 2.41145971e+02] [-6.22566147e-01 7.82494348e-01 -1.06764781e-02 -7.37051587e+01] [-1.68927560e-02 2.02041579e-04 9.99857287e-01 -4.08525111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters 0.013939390229872931 Centerline is valid? [True, True] Translation: X:241.19, Y:-73.74, Z:-4.09 [[ 7.83318149e-01 6.21497625e-01 1.23846856e-02 2.41193726e+02] [-6.21415543e-01 7.83416017e-01 -1.01028571e-02 -7.37445608e+01] [-1.59812628e-02 2.17715136e-04 9.99872268e-01 -4.08662651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters 0.013784035016376279 Centerline is valid? [True, True] Translation: X:241.24, Y:-73.78, Z:-4.09 [[ 7.82647660e-01 6.22349451e-01 1.19916998e-02 2.41243101e+02] [-6.22272524e-01 7.82739498e-01 -9.78693090e-03 -7.37827092e+01] [-1.54772682e-02 1.97613240e-04 9.99880200e-01 -4.08815703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters 0.013178789460491594 Centerline is valid? [True, True] Translation: X:241.29, Y:-73.82, Z:-4.09 [[ 7.80582241e-01 6.24945557e-01 1.15937698e-02 2.41294249e+02] [-6.24873869e-01 7.80668323e-01 -9.46668204e-03 -7.38185083e+01] [-1.49670497e-02 1.44880078e-04 9.99887977e-01 -4.08894620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters 0.013203636592521674 Centerline is valid? [True, True] Translation: X:241.34, Y:-73.86, Z:-4.09 [[ 7.79547856e-01 6.26245165e-01 1.10514316e-02 2.41341897e+02] [-6.26180095e-01 7.79626179e-01 -9.02824692e-03 -7.38560059e+01] [-1.42698814e-02 1.17764056e-04 9.99898173e-01 -4.08987497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters 0.012782053692309735 Centerline is valid? [True, True] Translation: X:241.39, Y:-73.89, Z:-4.09 [[ 7.76269384e-01 6.30321263e-01 1.00473103e-02 2.41393938e+02] [-6.30267777e-01 7.76334402e-01 -8.21129737e-03 -7.38908914e+01] [-1.29758279e-02 4.16828483e-05 9.99915810e-01 -4.09136864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters 0.012639995103719619 Centerline is valid? [True, True] Translation: X:241.45, Y:-73.93, Z:-4.09 [[ 7.73696291e-01 6.33495198e-01 8.82515050e-03 2.41445216e+02] [-6.33454108e-01 7.73746621e-01 -7.21519192e-03 -7.39271862e+01] [-1.13992198e-02 -7.96061196e-06 9.99935027e-01 -4.09262724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters 0.013057553705402292 Centerline is valid? [True, True] Translation: X:241.50, Y:-73.96, Z:-4.10 [[ 7.70229816e-01 6.37730044e-01 6.81338034e-03 2.41496385e+02] [-6.37705694e-01 7.70259949e-01 -5.57312121e-03 -7.39602763e+01] [-8.80222083e-03 -5.23473101e-05 9.99961258e-01 -4.09517062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters 0.01320138652064883 Centerline is valid? [True, True] Translation: X:241.55, Y:-74.00, Z:-4.10 [[ 7.68383765e-01 6.39968926e-01 5.11493036e-03 2.41546848e+02] [-6.39955253e-01 7.68400787e-01 -4.18381994e-03 -7.39973091e+01] [-6.60783127e-03 -5.85472304e-05 9.99978166e-01 -4.09570040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters 0.013244807868996797 Centerline is valid? [True, True] Translation: X:241.59, Y:-74.04, Z:-4.10 [[ 7.68413296e-01 6.39935845e-01 4.80854503e-03 2.41594753e+02] [-6.39923744e-01 7.68428339e-01 -3.93579331e-03 -7.40361772e+01] [-6.21367749e-03 -5.27862251e-05 9.99980694e-01 -4.09630615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters 0.013158753548039593 Centerline is valid? [True, True] Translation: X:241.64, Y:-74.08, Z:-4.10 [[ 7.69273269e-01 6.38906494e-01 4.13882994e-03 2.41642818e+02] [-6.38897518e-01 7.69284402e-01 -3.38692833e-03 -7.40768146e+01] [-5.34786782e-03 -3.88147414e-05 9.99985699e-01 -4.09676934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters 0.013057469845583248 Centerline is valid? [True, True] Translation: X:241.69, Y:-74.12, Z:-4.10 [[ 7.70870573e-01 6.36982031e-01 3.52873885e-03 2.41689268e+02] [-6.36975480e-01 7.70878649e-01 -2.88879026e-03 -7.41172726e+01] [-4.56033693e-03 -2.08367245e-05 9.99989601e-01 -4.09800077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters 0.01305519405671082 Centerline is valid? [True, True] Translation: X:241.74, Y:-74.16, Z:-4.10 [[ 7.71851140e-01 6.35798522e-01 2.46099443e-03 2.41736972e+02] [-6.35795333e-01 7.71855063e-01 -2.01375060e-03 -7.41585509e+01] [-3.17987067e-03 -1.03730846e-05 9.99994944e-01 -4.09769050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters 0.013050398457520339 Centerline is valid? [True, True] Translation: X:241.79, Y:-74.20, Z:-4.10 [[ 7.71897081e-01 6.35744726e-01 1.88126336e-03 2.41786039e+02] [-6.35742863e-01 7.71899374e-01 -1.53891336e-03 -7.41986784e+01] [-2.43050206e-03 -8.11702607e-06 9.99997046e-01 -4.09893598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters 0.013147915528622413 Centerline is valid? [True, True] Translation: X:241.83, Y:-74.24, Z:-4.10 [[ 7.72004168e-01 6.35616063e-01 1.33610972e-03 2.41833470e+02] [-6.35615125e-01 7.72005324e-01 -1.09232283e-03 -7.42379543e+01] [-1.72578176e-03 -5.97376986e-06 9.99998511e-01 -4.10086807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters 0.013155233203443948 Centerline is valid? [True, True] Translation: X:241.88, Y:-74.28, Z:-4.10 [[ 7.71646950e-01 6.36050722e-01 6.80767054e-04 2.41881185e+02] [-6.36050480e-01 7.71647250e-01 -5.54661623e-04 -7.42778537e+01] [-8.78104951e-04 -4.99926210e-06 9.99999614e-01 -4.10207738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters 0.013329258312096453 Centerline is valid? [True, True] Translation: X:241.93, Y:-74.32, Z:-4.10 [[ 7.70724904e-01 6.37168023e-01 1.79990784e-04 2.41929265e+02] [-6.37168007e-01 7.70724925e-01 -1.43550761e-04 -7.43162533e+01] [-2.30189339e-04 -4.04622275e-06 9.99999973e-01 -4.10326533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters 0.013142833948795243 Centerline is valid? [True, True] Translation: X:241.98, Y:-74.36, Z:-4.10 [[ 7.69466196e-01 6.38687463e-01 -3.12505881e-04 2.41978199e+02] [-6.38687409e-01 7.69466260e-01 2.62185003e-04 -7.43552839e+01] [ 4.07917006e-04 -2.14892552e-06 9.99999917e-01 -4.10212112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters 0.013151829562780382 Centerline is valid? [True, True] Translation: X:242.03, Y:-74.39, Z:-4.10 [[ 7.68390368e-01 6.39981397e-01 2.33000717e-04 2.42027868e+02] [-6.39981370e-01 7.68390403e-01 -1.85977147e-04 -7.43946779e+01] [-2.98057429e-04 -6.21307022e-06 9.99999956e-01 -4.10264532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters 0.01321005901484567 Centerline is valid? [True, True] Translation: X:242.08, Y:-74.43, Z:-4.10 [[ 7.67507304e-01 6.41040037e-01 4.57306220e-04 2.42077592e+02] [-6.41039930e-01 7.67507440e-01 -3.70924533e-04 -7.44336849e+01] [-5.88763403e-04 -8.46425909e-06 9.99999827e-01 -4.10300555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters 0.013134806922753995 Centerline is valid? [True, True] Translation: X:242.13, Y:-74.47, Z:-4.10 [[ 7.67632637e-01 6.40889340e-01 9.93613527e-04 2.42125473e+02] [-6.40888824e-01 7.67633280e-01 -8.13764099e-04 -7.44732259e+01] [-1.28426355e-03 -1.21239227e-05 9.99999175e-01 -4.10309884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters 0.012984015028627385 Centerline is valid? [True, True] Translation: X:242.17, Y:-74.51, Z:-4.10 [[ 7.67885176e-01 6.40585507e-01 1.60113156e-03 2.42172911e+02] [-6.40584158e-01 7.67886845e-01 -1.31493900e-03 -7.45131808e+01] [-2.07181873e-03 -1.59373482e-05 9.99997854e-01 -4.10237671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters 0.013033907467427594 Centerline is valid? [True, True] Translation: X:242.22, Y:-74.55, Z:-4.10 [[ 7.67820513e-01 6.40664301e-01 9.56133787e-04 2.42221533e+02] [-6.40663822e-01 7.67821108e-01 -7.83298273e-04 -7.45520709e+01] [-1.23597094e-03 -1.11278444e-05 9.99999236e-01 -4.10426612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters 0.013409569219567371 Centerline is valid? [True, True] Translation: X:242.27, Y:-74.59, Z:-4.11 [[ 7.66784667e-01 6.41904394e-01 1.52591841e-04 2.42271139e+02] [-6.41904382e-01 7.66784683e-01 -1.20966994e-04 -7.45896911e+01] [-1.94654331e-04 -5.19373457e-06 9.99999981e-01 -4.10689439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters 0.013548435950807586 Centerline is valid? [True, True] Translation: X:242.32, Y:-74.63, Z:-4.11 [[ 7.66097363e-01 6.42724513e-01 -1.74643836e-04 2.42319597e+02] [-6.42724496e-01 7.66097383e-01 1.49114913e-04 -7.46282628e+01] [ 2.29633995e-04 -1.98867000e-06 9.99999974e-01 -4.10786466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters 0.013589366009030589 Centerline is valid? [True, True] Translation: X:242.37, Y:-74.67, Z:-4.11 [[ 7.65670379e-01 6.43233137e-01 4.46697186e-05 2.42368606e+02] [-6.43233136e-01 7.65670381e-01 -3.13546667e-05 -7.46677344e+01] [-5.43706411e-05 -4.72570359e-06 9.99999999e-01 -4.10927978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters 0.013648510456422245 Centerline is valid? [True, True] Translation: X:242.42, Y:-74.71, Z:-4.11 [[ 7.65655296e-01 6.43251014e-01 -3.18396541e-04 2.42416084e+02] [-6.43250958e-01 7.65655362e-01 2.68313898e-04 -7.47071797e+01] [ 4.16375205e-04 -6.27077114e-07 9.99999913e-01 -4.11063816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters 0.013485596727299059 Centerline is valid? [True, True] Translation: X:242.46, Y:-74.75, Z:-4.11 [[ 7.65907142e-01 6.42951181e-01 1.72078855e-04 2.42463939e+02] [-6.42951166e-01 7.65907161e-01 -1.37571304e-04 -7.47474711e+01] [-2.20248060e-04 -5.27145656e-06 9.99999976e-01 -4.11181767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters 0.01335236345274204 Centerline is valid? [True, True] Translation: X:242.51, Y:-74.79, Z:-4.11 [[ 7.67044295e-01 6.41593065e-01 1.17841945e-03 2.42509858e+02] [-6.41592328e-01 7.67045200e-01 -9.72103675e-04 -7.47876195e+01] [-1.52759596e-03 -1.04183029e-05 9.99998833e-01 -4.11271286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters 0.013150085488917797 Centerline is valid? [True, True] Translation: X:242.56, Y:-74.83, Z:-4.11 [[ 7.67818572e-01 6.40665540e-01 1.51892091e-03 2.42556983e+02] [-6.40664315e-01 7.67820074e-01 -1.25243341e-03 -7.48278465e+01] [-1.96864889e-03 -1.14767953e-05 9.99998062e-01 -4.11483396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters 0.012786757663676318 Centerline is valid? [True, True] Translation: X:242.60, Y:-74.87, Z:-4.11 [[ 7.68738240e-01 6.39560851e-01 1.85373596e-03 2.42603923e+02] [-6.39559021e-01 7.68740475e-01 -1.52983206e-03 -7.48687173e+01] [-2.40346256e-03 -9.53314866e-06 9.99997112e-01 -4.11391134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters 0.01273149291278501 Centerline is valid? [True, True] Translation: X:242.65, Y:-74.91, Z:-4.12 [[ 7.70444022e-01 6.37506467e-01 1.23063892e-03 2.42650771e+02] [-6.37505661e-01 7.70445004e-01 -1.01384507e-03 -7.49109997e+01] [-1.59447240e-03 -3.42840417e-06 9.99998729e-01 -4.11613987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters 0.012939872321351199 Centerline is valid? [True, True] Translation: X:242.70, Y:-74.95, Z:-4.12 [[ 7.71790028e-01 6.35875550e-01 1.56120225e-03 2.42697446e+02] [-6.35874244e-01 7.71791607e-01 -1.28849498e-03 -7.49532737e+01] [-2.02424525e-03 1.71927357e-06 9.99997951e-01 -4.11693359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters 0.012778799730478314 Centerline is valid? [True, True] Translation: X:242.75, Y:-74.99, Z:-4.12 [[ 7.72786513e-01 6.34661297e-01 2.45855201e-03 2.42745125e+02] [-6.34658040e-01 7.72790423e-01 -2.03324995e-03 -7.49948727e+01] [-3.19037050e-03 1.09283396e-05 9.99994911e-01 -4.11620642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters 0.012716498196533315 Centerline is valid? [True, True] Translation: X:242.79, Y:-75.03, Z:-4.12 [[ 7.72540290e-01 6.34958207e-01 3.09435862e-03 2.42792763e+02] [-6.34953036e-01 7.72546487e-01 -2.56257052e-03 -7.50341583e+01] [-4.01766107e-03 1.49165669e-05 9.99991929e-01 -4.11645677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters 0.012506558512573832 Centerline is valid? [True, True] Translation: X:242.84, Y:-75.07, Z:-4.12 [[ 7.71460939e-01 6.36266818e-01 3.54350312e-03 2.42840596e+02] [-6.36260040e-01 7.71469077e-01 -2.93680446e-03 -7.50730673e+01] [-4.60229431e-03 1.10404900e-05 9.99989409e-01 -4.11702819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters 0.012443647547736308 Centerline is valid? [True, True] Translation: X:242.89, Y:-75.11, Z:-4.12 [[ 7.70658679e-01 6.37238194e-01 3.56155966e-03 2.42889541e+02] [-6.37231353e-01 7.70666909e-01 -2.95278124e-03 -7.51126670e+01] [-4.62640116e-03 6.04901146e-06 9.99989298e-01 -4.11813406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters 0.012241025833475062 Centerline is valid? [True, True] Translation: X:242.94, Y:-75.15, Z:-4.12 [[ 7.68283961e-01 6.40098605e-01 3.67844466e-03 2.42940621e+02] [-6.40091331e-01 7.68292767e-01 -3.05159390e-03 -7.51497748e+01] [-4.77944343e-03 -1.00498889e-05 9.99988578e-01 -4.11930462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters 0.01220585052540183 Centerline is valid? [True, True] Translation: X:242.99, Y:-75.19, Z:-4.12 [[ 7.66654934e-01 6.42044085e-01 4.42784023e-03 2.42991160e+02] [-6.42033559e-01 7.66667720e-01 -3.67657116e-03 -7.51877069e+01] [-5.75520293e-03 -2.41606026e-05 9.99983438e-01 -4.12048287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters 0.012165346521974764 Centerline is valid? [True, True] Translation: X:243.04, Y:-75.23, Z:-4.12 [[ 7.65144227e-01 6.43835345e-01 5.51013362e-03 2.43040939e+02] [-6.43819062e-01 7.65164065e-01 -4.57918494e-03 -7.52260641e+01] [-7.16439736e-03 -4.37921355e-05 9.99974334e-01 -4.11987733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters 0.012022058399461868 Centerline is valid? [True, True] Translation: X:243.09, Y:-75.26, Z:-4.12 [[ 7.65180103e-01 6.43780959e-01 6.74444899e-03 2.43090031e+02] [-6.43756518e-01 7.65209824e-01 -5.60981958e-03 -7.52641159e+01] [-8.77241365e-03 -4.92606764e-05 9.99961520e-01 -4.12062193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters 0.01197945243194018 Centerline is valid? [True, True] Translation: X:243.14, Y:-75.30, Z:-4.12 [[ 7.65262349e-01 6.43674861e-01 7.49736239e-03 2.43139219e+02] [-6.43644621e-01 7.65299073e-01 -6.23952724e-03 -7.53027255e+01] [-9.75395131e-03 -5.07616965e-05 9.99952428e-01 -4.12201225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters 0.012048138862443766 Centerline is valid? [True, True] Translation: X:243.19, Y:-75.34, Z:-4.12 [[ 7.65309158e-01 6.43619020e-01 7.51322857e-03 2.43187778e+02] [-6.43588606e-01 7.65346036e-01 -6.25714515e-03 -7.53415166e+01] [-9.77743733e-03 -4.67778128e-05 9.99952199e-01 -4.12364705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters 0.011931602604858375 Centerline is valid? [True, True] Translation: X:243.24, Y:-75.38, Z:-4.12 [[ 7.65229927e-01 6.43713486e-01 7.49050484e-03 2.43236198e+02] [-6.43683247e-01 7.65266585e-01 -6.23954360e-03 -7.53811801e+01] [-9.74871142e-03 -4.68269820e-05 9.99952479e-01 -4.12471764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters 0.011990709183176079 Centerline is valid? [True, True] Translation: X:243.29, Y:-75.42, Z:-4.13 [[ 7.65308705e-01 6.43627085e-01 6.83823457e-03 2.43285428e+02] [-6.43601856e-01 7.65339254e-01 -5.69893223e-03 -7.54203136e+01] [-8.90155649e-03 -3.96580170e-05 9.99960380e-01 -4.12613892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters 0.011913102298156697 Centerline is valid? [True, True] Translation: X:243.33, Y:-75.46, Z:-4.13 [[ 7.65140236e-01 6.43818871e-01 7.59476384e-03 2.43334206e+02] [-6.43787718e-01 7.65177927e-01 -6.33365023e-03 -7.54594678e+01] [-9.88906919e-03 -4.32850384e-05 9.99951101e-01 -4.12682346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters 0.011768046297301448 Centerline is valid? [True, True] Translation: X:243.38, Y:-75.50, Z:-4.13 [[ 7.64884240e-01 6.44122171e-01 7.66349304e-03 2.43382954e+02] [-6.44090430e-01 7.64922628e-01 -6.39461154e-03 -7.54994473e+01] [-9.98089030e-03 -4.48449408e-05 9.99950189e-01 -4.12649983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters 0.011845067729988432 Centerline is valid? [True, True] Translation: X:243.43, Y:-75.54, Z:-4.13 [[ 7.64567801e-01 6.44508578e-01 6.69106769e-03 2.43431585e+02] [-6.44484373e-01 7.64597078e-01 -5.58592848e-03 -7.55383081e+01] [-8.71614963e-03 -4.14675101e-05 9.99962013e-01 -4.12821082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters 0.011848506719900728 Centerline is valid? [True, True] Translation: X:243.48, Y:-75.58, Z:-4.13 [[ 7.63990605e-01 6.45196449e-01 6.31646050e-03 2.43481029e+02] [-6.45174882e-01 7.64016715e-01 -5.27557174e-03 -7.55779468e+01] [-8.22966155e-03 -4.47344070e-05 9.99966135e-01 -4.12907734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters 0.011993841784808305 Centerline is valid? [True, True] Translation: X:243.53, Y:-75.62, Z:-4.13 [[ 7.62835057e-01 6.46563658e-01 6.17352663e-03 2.43531361e+02] [-6.46543078e-01 7.62860035e-01 -5.15901452e-03 -7.56164358e+01] [-8.04516805e-03 -5.59737757e-05 9.99967636e-01 -4.12927175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters 0.012100993028424089 Centerline is valid? [True, True] Translation: X:243.58, Y:-75.66, Z:-4.13 [[ 7.62231420e-01 6.47277042e-01 5.97438414e-03 2.43580610e+02] [-6.47257769e-01 7.62254831e-01 -4.99533745e-03 -7.56554067e+01] [-7.78737042e-03 -5.93633927e-05 9.99969676e-01 -4.13023930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters 0.01208780258095451 Centerline is valid? [True, True] Translation: X:243.63, Y:-75.70, Z:-4.13 [[ 7.62586188e-01 6.46862136e-01 5.62886959e-03 2.43629634e+02] [-6.46844998e-01 7.62606960e-01 -4.70885475e-03 -7.56955702e+01] [-7.33859496e-03 -5.00985440e-05 9.99973071e-01 -4.13036955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters 0.012002632891005765 Centerline is valid? [True, True] Translation: X:243.68, Y:-75.74, Z:-4.13 [[ 7.63594159e-01 6.45673910e-01 5.40026517e-03 2.43678117e+02] [-6.45658090e-01 7.63613254e-01 -4.51999230e-03 -7.57362666e+01] [-7.04215516e-03 -3.52851799e-05 9.99975203e-01 -4.13072358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters 0.012062866743248541 Centerline is valid? [True, True] Translation: X:243.73, Y:-75.78, Z:-4.13 [[ 7.64682521e-01 6.44390029e-01 4.70460569e-03 2.43725100e+02] [-6.44377980e-01 7.64696993e-01 -3.94061581e-03 -7.57768642e+01] [-6.13689136e-03 -1.82242824e-05 9.99981169e-01 -4.13172835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters 0.012149146367546519 Centerline is valid? [True, True] Translation: X:243.77, Y:-75.82, Z:-4.13 [[ 7.66121732e-01 6.42680456e-01 4.39590809e-03 2.43772534e+02] [-6.42669910e-01 7.66134343e-01 -3.68177412e-03 -7.58188397e+01] [-5.73406042e-03 -4.43069157e-06 9.99983560e-01 -4.13217036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters 0.012475984288020702 Centerline is valid? [True, True] Translation: X:243.82, Y:-75.86, Z:-4.13 [[ 7.68553026e-01 6.39774695e-01 3.81922702e-03 2.43818446e+02] [-6.39766691e-01 7.68562515e-01 -3.20026378e-03 -7.58607875e+01] [-4.98276251e-03 1.61581796e-05 9.99987586e-01 -4.13161559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters 0.012762807407647613 Centerline is valid? [True, True] Translation: X:243.87, Y:-75.90, Z:-4.13 [[ 7.69772729e-01 6.38309455e-01 3.31445202e-03 2.43865182e+02] [-6.38303410e-01 7.69779864e-01 -2.77803110e-03 -7.59014555e+01] [-4.32464194e-03 2.28265538e-05 9.99990648e-01 -4.13227642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters 0.012609980011775209 Centerline is valid? [True, True] Translation: X:243.91, Y:-75.94, Z:-4.13 [[ 7.69955814e-01 6.38090179e-01 2.99465519e-03 2.43913622e+02] [-6.38085242e-01 7.69961637e-01 -2.51007698e-03 -7.59420315e+01] [-3.90742509e-03 2.18030817e-05 9.99992366e-01 -4.13162804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters 0.012566679665673597 Centerline is valid? [True, True] Translation: X:243.96, Y:-75.98, Z:-4.13 [[ 7.68351360e-01 6.40023643e-01 2.43412599e-03 2.43961882e+02] [-6.40020389e-01 7.68355215e-01 -2.04069523e-03 -7.59808919e+01] [-3.17636660e-03 1.00806876e-05 9.99994955e-01 -4.13313823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters 0.012725292071895135 Centerline is valid? [True, True] Translation: X:244.01, Y:-76.02, Z:-4.14 [[ 7.66338258e-01 6.42433482e-01 2.21242819e-03 2.44010749e+02] [-6.42430799e-01 7.66341452e-01 -1.85687831e-03 -7.60196740e+01] [-2.88839623e-03 1.66488082e-06 9.99995829e-01 -4.13634809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters 0.01247333817405496 Centerline is valid? [True, True] Translation: X:244.06, Y:-76.06, Z:-4.14 [[ 7.63515239e-01 6.45786843e-01 1.95779287e-03 2.44060690e+02] [-6.45784757e-01 7.63517749e-01 -1.64149347e-03 -7.60577387e+01] [-2.55486449e-03 -1.10075116e-05 9.99996736e-01 -4.13561225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters 0.012758326713076326 Centerline is valid? [True, True] Translation: X:244.11, Y:-76.09, Z:-4.14 [[ 7.59926167e-01 6.50004700e-01 2.47194217e-03 2.44110084e+02] [-6.50001387e-01 7.59930187e-01 -2.07579946e-03 -7.60949308e+01] [-3.22778288e-03 -2.93115120e-05 9.99994790e-01 -4.13599773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters 0.013104230994335546 Centerline is valid? [True, True] Translation: X:244.16, Y:-76.13, Z:-4.14 [[ 7.57538360e-01 6.52778156e-01 4.03872791e-03 2.44159436e+02] [-6.52769326e-01 7.57549124e-01 -3.39596818e-03 -7.61336323e+01] [-5.27634864e-03 -6.37815256e-05 9.99986078e-01 -4.13614421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters 0.013483821799959788 Centerline is valid? [True, True] Translation: X:244.21, Y:-76.17, Z:-4.14 [[ 7.56408162e-01 6.54083632e-01 4.61472080e-03 2.44208062e+02] [-6.54072109e-01 7.56422234e-01 -3.88330388e-03 -7.61737027e+01] [-6.03068292e-03 -8.09974173e-05 9.99981812e-01 -4.13733000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters 0.013664092810492122 Centerline is valid? [True, True] Translation: X:244.26, Y:-76.21, Z:-4.14 [[ 7.56324748e-01 6.54177632e-01 4.94989848e-03 2.44255842e+02] [-6.54164350e-01 7.56340941e-01 -4.16947863e-03 -7.62137369e+01] [-6.47139052e-03 -8.45672471e-05 9.99979057e-01 -4.13879819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters 0.013178949337432517 Centerline is valid? [True, True] Translation: X:244.30, Y:-76.26, Z:-4.14 [[ 7.56334358e-01 6.54166706e-01 4.92541555e-03 2.44302804e+02] [-6.54153555e-01 7.56350391e-01 -4.14891392e-03 -7.62557721e+01] [-6.43942133e-03 -8.40119499e-05 9.99979263e-01 -4.13941824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters 0.013385224722289247 Centerline is valid? [True, True] Translation: X:244.35, Y:-76.30, Z:-4.14 [[ 7.56221663e-01 6.54301239e-01 4.32262441e-03 2.44349988e+02] [-6.54291102e-01 7.56234014e-01 -3.64282987e-03 -7.62954082e+01] [-5.65242370e-03 -7.34678230e-05 9.99984022e-01 -4.14193454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters 0.013313949384150989 Centerline is valid? [True, True] Translation: X:244.40, Y:-76.34, Z:-4.14 [[ 7.56213488e-01 6.54312094e-01 4.10417890e-03 2.44397948e+02] [-6.54302949e-01 7.56224622e-01 -3.46009189e-03 -7.63360014e+01] [-5.36766111e-03 -6.88082043e-05 9.99985592e-01 -4.14378783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters 0.013339758786540534 Centerline is valid? [True, True] Translation: X:244.44, Y:-76.38, Z:-4.15 [[ 7.56923687e-01 6.53496116e-01 3.05914641e-03 2.44444830e+02] [-6.53491028e-01 7.56929867e-01 -2.57908738e-03 -7.63780569e+01] [-4.00098287e-03 -4.69524018e-05 9.99991995e-01 -4.14673228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters 0.013598878595442078 Centerline is valid? [True, True] Translation: X:244.49, Y:-76.42, Z:-4.15 [[ 7.57876616e-01 6.52391194e-01 2.96057928e-03 2.44490673e+02] [-6.52386413e-01 7.57882397e-01 -2.49808694e-03 -7.64190585e+01] [-3.87350084e-03 -3.82000185e-05 9.99992497e-01 -4.15061061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters 0.0132244349144566 Centerline is valid? [True, True] Translation: X:244.54, Y:-76.46, Z:-4.15 [[ 7.58191150e-01 6.52026674e-01 2.71949529e-03 2.44537086e+02] [-6.52022638e-01 7.58196027e-01 -2.29448851e-03 -7.64622347e+01] [-3.55797824e-03 -3.35116100e-05 9.99993670e-01 -4.15058803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters 0.013188697886648284 Centerline is valid? [True, True] Translation: X:244.58, Y:-76.50, Z:-4.15 [[ 7.57647205e-01 6.52653231e-01 3.80429147e-03 2.44582566e+02] [-6.52645318e-01 7.57656754e-01 -3.21420322e-03 -7.65041524e+01] [-4.98010725e-03 -4.76209367e-05 9.99987598e-01 -4.15046903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters 0.013130346178002034 Centerline is valid? [True, True] Translation: X:244.63, Y:-76.55, Z:-4.15 [[ 7.57008866e-01 6.53386634e-01 4.84596304e-03 2.44629908e+02] [-6.53373790e-01 7.57024374e-01 -4.09728168e-03 -7.65458182e+01] [-6.34562122e-03 -6.45466795e-05 9.99979864e-01 -4.15063384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters 0.013670466233156446 Centerline is valid? [True, True] Translation: X:244.68, Y:-76.59, Z:-4.15 [[ 7.54623119e-01 6.56128987e-01 6.22100347e-03 2.44676993e+02] [-6.56107872e-01 7.54648753e-01 -5.26494142e-03 -7.65859510e+01] [-8.14915319e-03 -1.08602830e-04 9.99966789e-01 -4.15089068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters 0.014070300540990363 Centerline is valid? [True, True] Translation: X:244.72, Y:-76.63, Z:-4.15 [[ 7.52155587e-01 6.58957169e-01 6.11744111e-03 2.44724795e+02] [-6.58936825e-01 7.52180451e-01 -5.17970235e-03 -7.66262042e+01] [-8.01462161e-03 -1.35065160e-04 9.99967873e-01 -4.15203329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters 0.015309576921045306 Centerline is valid? [True, True] Translation: X:244.77, Y:-76.67, Z:-4.16 [[ 7.48388595e-01 6.63238288e-01 5.42990111e-03 2.44773492e+02] [-6.63222345e-01 7.48408276e-01 -4.60136995e-03 -7.66650631e+01] [-7.11558766e-03 -1.57618960e-04 9.99974671e-01 -4.15501656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters 0.016249028395617 Centerline is valid? [True, True] Translation: X:244.82, Y:-76.70, Z:-4.16 [[ 7.46453552e-01 6.65418504e-01 5.03090127e-03 2.44821046e+02] [-6.65404878e-01 7.46470487e-01 -4.26162301e-03 -7.67046422e+01] [-6.59118213e-03 -1.66482612e-04 9.99978264e-01 -4.15674794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters 0.01690868562920588 Centerline is valid? [True, True] Translation: X:244.87, Y:-76.75, Z:-4.16 [[ 7.44753648e-01 6.67321651e-01 4.88031645e-03 2.44867667e+02] [-6.67308857e-01 7.44769617e-01 -4.13597229e-03 -7.67454500e+01] [-6.39473527e-03 -1.76397943e-04 9.99979538e-01 -4.15718449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters 0.017300102365587752 Centerline is valid? [True, True] Translation: X:244.91, Y:-76.79, Z:-4.16 [[ 7.43683533e-01 6.68518889e-01 4.15911210e-03 2.44914753e+02] [-6.68509610e-01 7.43695146e-01 -3.52576496e-03 -7.67864744e+01] [-5.45015196e-03 -1.58353067e-04 9.99985135e-01 -4.16028922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters 0.017138898895314315 Centerline is valid? [True, True] Translation: X:244.96, Y:-76.83, Z:-4.16 [[ 7.43487529e-01 6.68737752e-01 4.01412767e-03 2.44961129e+02] [-6.68729107e-01 7.43498349e-01 -3.40387235e-03 -7.68293284e+01] [-5.26079523e-03 -1.53627372e-04 9.99986150e-01 -4.16105515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters 0.016829520280726765 Centerline is valid? [True, True] Translation: X:245.01, Y:-76.87, Z:-4.16 [[ 7.44185701e-01 6.67956783e-01 4.62371748e-03 2.45006566e+02] [-6.67945275e-01 7.44200046e-01 -3.92444288e-03 -7.68722727e+01] [-6.06232900e-03 -1.67875969e-04 9.99981610e-01 -4.16142053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters 0.0162721758045184 Centerline is valid? [True, True] Translation: X:245.05, Y:-76.91, Z:-4.16 [[ 7.45040281e-01 6.66998098e-01 5.34010755e-03 2.45051805e+02] [-6.66982702e-01 7.45059396e-01 -4.53553869e-03 -7.69143592e+01] [-7.00389299e-03 -1.82600346e-04 9.99975456e-01 -4.16191360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters 0.016074855187928682 Centerline is valid? [True, True] Translation: X:245.10, Y:-76.96, Z:-4.16 [[ 7.45822034e-01 6.66110643e-01 6.79000592e-03 2.45097019e+02] [-6.66085677e-01 7.45852910e-01 -5.77128242e-03 -7.69570226e+01] [-8.90865832e-03 -2.18376098e-04 9.99960293e-01 -4.16202110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters 0.015691859354934088 Centerline is valid? [True, True] Translation: X:245.14, Y:-77.00, Z:-4.16 [[ 7.46767072e-01 6.65051581e-01 6.73306309e-03 2.45142614e+02] [-6.65026964e-01 7.46797398e-01 -5.72570031e-03 -7.69990564e+01] [-8.83612005e-03 -2.01904048e-04 9.99960940e-01 -4.16356349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters 0.015564779762657794 Centerline is valid? [True, True] Translation: X:245.19, Y:-77.04, Z:-4.17 [[ 7.47403127e-01 6.64338709e-01 6.53032420e-03 2.45189275e+02] [-6.64315502e-01 7.47431632e-01 -5.55590753e-03 -7.70401682e+01] [-8.57197531e-03 -1.85692944e-04 9.99963243e-01 -4.16555914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters 0.016065875877582562 Centerline is valid? [True, True] Translation: X:245.24, Y:-77.08, Z:-4.17 [[ 7.47640887e-01 6.64064565e-01 7.16640549e-03 2.45236044e+02] [-6.64036572e-01 7.47675206e-01 -6.10055876e-03 -7.70801891e+01] [-9.40930860e-03 -1.97728169e-04 9.99955712e-01 -4.16706770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters 0.015710643021341182 Centerline is valid? [True, True] Translation: X:245.28, Y:-77.12, Z:-4.17 [[ 7.47816569e-01 6.63853939e-01 8.26603749e-03 2.45281791e+02] [-6.63816637e-01 7.47862219e-01 -7.04079535e-03 -7.71223991e+01] [-1.08559169e-02 -2.21909791e-04 9.99941048e-01 -4.16626492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters 0.016552154926494138 Centerline is valid? [True, True] Translation: X:245.33, Y:-77.16, Z:-4.17 [[ 7.46666815e-01 6.65146615e-01 8.28539834e-03 2.45329733e+02] [-6.65109182e-01 7.46712745e-01 -7.06066950e-03 -7.71620508e+01] [-1.08831930e-02 -2.38726906e-04 9.99940748e-01 -4.16738419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters 0.01747821135786145 Centerline is valid? [True, True] Translation: X:245.38, Y:-77.20, Z:-4.17 [[ 7.45645402e-01 6.66292887e-01 8.16847846e-03 2.45377952e+02] [-6.66256537e-01 7.45690101e-01 -6.96424051e-03 -7.72007314e+01] [-1.07313774e-02 -2.49448258e-04 9.99942386e-01 -4.17010358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters 0.018853724742414393 Centerline is valid? [True, True] Translation: X:245.43, Y:-77.24, Z:-4.17 [[ 7.44092345e-01 6.68028076e-01 8.06675542e-03 2.45426490e+02] [-6.67992694e-01 7.44136021e-01 -6.88064472e-03 -7.72393319e+01] [-1.05992271e-02 -2.68698619e-04 9.99943791e-01 -4.17223975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters 0.019996036181677907 Centerline is valid? [True, True] Translation: X:245.47, Y:-77.28, Z:-4.17 [[ 7.43000427e-01 6.69246267e-01 7.73301825e-03 2.45474980e+02] [-6.69213789e-01 7.43040618e-01 -6.59880652e-03 -7.72787481e+01] [-1.01621733e-02 -2.72126380e-04 9.99948327e-01 -4.17378370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters 0.01646996249600667 Centerline is valid? [True, True] Translation: X:245.52, Y:-77.32, Z:-4.17 [[ 7.41999574e-01 6.70363504e-01 7.02877273e-03 2.45517556e+02] [-6.70336704e-01 7.42032819e-01 -5.99985988e-03 -7.73239543e+01] [-9.23766714e-03 -2.59750874e-04 9.99957298e-01 -4.17420557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters 0.01710078405822981 Centerline is valid? [True, True] Translation: X:245.56, Y:-77.36, Z:-4.18 [[ 7.42237966e-01 6.70095858e-01 7.37181474e-03 2.45564018e+02] [-6.70066329e-01 7.42274525e-01 -6.29632061e-03 -7.73635520e+01] [-9.69104865e-03 -2.66236640e-04 9.99953005e-01 -4.17570707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters 0.015190377440191333 Centerline is valid? [True, True] Translation: X:245.61, Y:-77.41, Z:-4.17 [[ 7.44711036e-01 6.67332663e-01 8.51993842e-03 2.45606798e+02] [-6.67292980e-01 7.44759725e-01 -7.28225965e-03 -7.74076475e+01] [-1.12049967e-02 -2.62115958e-04 9.99937188e-01 -4.17489333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters 0.018577164290810144 Centerline is valid? [True, True] Translation: X:245.66, Y:-77.44, Z:-4.18 [[ 7.46816040e-01 6.64965105e-01 9.33866976e-03 2.45656138e+02] [-6.64917246e-01 7.46874385e-01 -7.98180263e-03 -7.74443357e+01] [-1.22824335e-02 -2.48504346e-04 9.99924537e-01 -4.17664796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters 0.014052925877525707 Centerline is valid? [True, True] Translation: X:245.70, Y:-77.49, Z:-4.18 [[ 7.48971210e-01 6.62539648e-01 9.12916245e-03 2.45696994e+02] [-6.62493690e-01 7.49026818e-01 -7.80619998e-03 -7.74925585e+01] [-1.20099045e-02 -2.01393476e-04 9.99927858e-01 -4.17620921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters 0.013308596733931474 Centerline is valid? [True, True] Translation: X:245.74, Y:-77.54, Z:-4.18 [[ 7.50417740e-01 6.60910421e-01 8.40420682e-03 2.45742384e+02] [-6.60871335e-01 7.50464783e-01 -7.18943420e-03 -7.75353492e+01] [-1.10586332e-02 -1.59020416e-04 9.99938839e-01 -4.17785521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters 0.013264508081559594 Centerline is valid? [True, True] Translation: X:245.79, Y:-77.58, Z:-4.18 [[ 7.50994181e-01 6.60279302e-01 6.24375305e-03 2.45788995e+02] [-6.60257697e-01 7.51020127e-01 -5.34249019e-03 -7.75760250e+01] [-8.21671990e-03 -1.10306970e-04 9.99966236e-01 -4.18128035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters 0.013220553112356693 Centerline is valid? [True, True] Translation: X:245.84, Y:-77.62, Z:-4.18 [[ 7.50969475e-01 6.60315048e-01 5.37454099e-03 2.45837006e+02] [-6.60299030e-01 7.50988701e-01 -4.60024596e-03 -7.76172535e+01] [-7.07383119e-03 -9.41599072e-05 9.99974976e-01 -4.18318065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters 0.013155114480151085 Centerline is valid? [True, True] Translation: X:245.88, Y:-77.66, Z:-4.18 [[ 7.50754844e-01 6.60562076e-01 4.99079534e-03 2.45884342e+02] [-6.60548257e-01 7.50771427e-01 -4.27376074e-03 -7.76579749e+01] [-6.57003081e-03 -8.81145883e-05 9.99978413e-01 -4.18419490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters 0.013057288039685156 Centerline is valid? [True, True] Translation: X:245.93, Y:-77.70, Z:-4.18 [[ 7.50962843e-01 6.60323464e-01 5.26614209e-03 2.45931637e+02] [-6.60308048e-01 7.50981302e-01 -4.51290107e-03 -7.76981270e+01] [-6.93474870e-03 -8.82549878e-05 9.99975950e-01 -4.18454493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters 0.012949803542920486 Centerline is valid? [True, True] Translation: X:245.98, Y:-77.74, Z:-4.18 [[ 7.51037899e-01 6.60233735e-01 5.78695459e-03 2.45978967e+02] [-6.60215094e-01 7.51060188e-01 -4.96215934e-03 -7.77389875e+01] [-7.62253620e-03 -9.38650461e-05 9.99970944e-01 -4.18444686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters 0.01298055134286885 Centerline is valid? [True, True] Translation: X:246.03, Y:-77.78, Z:-4.18 [[ 7.51790004e-01 6.59374295e-01 6.10975153e-03 2.46025042e+02] [-6.59353463e-01 7.51814826e-01 -5.24208664e-03 -7.77792983e+01] [-8.04989896e-03 -8.75374877e-05 9.99967595e-01 -4.18440173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters 0.012565989302577319 Centerline is valid? [True, True] Translation: X:246.07, Y:-77.82, Z:-4.19 [[ 7.52159124e-01 6.58952987e-01 6.13288366e-03 2.46072361e+02] [-6.58931968e-01 7.52184122e-01 -5.26379262e-03 -7.78206568e+01] [-8.08164958e-03 -8.19434518e-05 9.99967340e-01 -4.18512325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters 0.012539056019226936 Centerline is valid? [True, True] Translation: X:246.12, Y:-77.86, Z:-4.19 [[ 7.52408745e-01 6.58669983e-01 5.91051579e-03 2.46120320e+02] [-6.58650431e-01 7.52431956e-01 -5.07564795e-03 -7.78614241e+01] [-7.79043791e-03 -7.40018672e-05 9.99969651e-01 -4.18649581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters 0.012570236170381147 Centerline is valid? [True, True] Translation: X:246.17, Y:-77.90, Z:-4.19 [[ 7.52302916e-01 6.58788777e-01 6.13757739e-03 2.46167485e+02] [-6.58767669e-01 7.52327948e-01 -5.27409972e-03 -7.79016240e+01] [-8.09198871e-03 -7.55169572e-05 9.99967256e-01 -4.18723377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters 0.012647874833637818 Centerline is valid? [True, True] Translation: X:246.21, Y:-77.94, Z:-4.19 [[ 7.51699855e-01 6.59483121e-01 5.41676825e-03 2.46214896e+02] [-6.59466684e-01 7.51719368e-01 -4.65673828e-03 -7.79411018e+01] [-7.14292990e-03 -7.17087016e-05 9.99974486e-01 -4.18761394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters 0.012651101680334538 Centerline is valid? [True, True] Translation: X:246.26, Y:-77.98, Z:-4.19 [[ 7.51825333e-01 6.59340605e-01 5.35125594e-03 2.46263890e+02] [-6.59324546e-01 7.51844374e-01 -4.60223155e-03 -7.79812803e+01] [-7.05774980e-03 -6.81401279e-05 9.99975091e-01 -4.18936901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters 0.01266704721852091 Centerline is valid? [True, True] Translation: X:246.31, Y:-78.02, Z:-4.19 [[ 7.51677089e-01 6.59509029e-01 5.42169610e-03 2.46312151e+02] [-6.59492530e-01 7.51696639e-01 -4.66550664e-03 -7.80221343e+01] [-7.15241449e-03 -6.86136315e-05 9.99974419e-01 -4.19042171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters 0.012945287946747612 Centerline is valid? [True, True] Translation: X:246.36, Y:-78.06, Z:-4.19 [[ 7.50794656e-01 6.60512420e-01 5.54329988e-03 2.46359981e+02] [-6.60495178e-01 7.50815115e-01 -4.77310945e-03 -7.80622660e+01] [-7.31469141e-03 -7.76977759e-05 9.99973244e-01 -4.19091807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters 0.013247815847324372 Centerline is valid? [True, True] Translation: X:246.41, Y:-78.10, Z:-4.19 [[ 7.49492689e-01 6.61992033e-01 5.22094682e-03 2.46407900e+02] [-6.61976759e-01 7.49510868e-01 -4.49767428e-03 -7.81016721e+01] [-6.89058093e-03 -8.51714665e-05 9.99976256e-01 -4.19133628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters 0.013737611054710868 Centerline is valid? [True, True] Translation: X:246.46, Y:-78.14, Z:-4.19 [[ 7.46847160e-01 6.64980190e-01 4.54603220e-03 2.46456193e+02] [-6.64968657e-01 7.46860990e-01 -3.91762263e-03 -7.81399437e+01] [-6.00039555e-03 -9.71035878e-05 9.99981993e-01 -4.19158072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters 0.014418425387560965 Centerline is valid? [True, True] Translation: X:246.50, Y:-78.18, Z:-4.19 [[ 7.45002977e-01 6.67046780e-01 4.37696888e-03 2.46504146e+02] [-6.67036108e-01 7.45015827e-01 -3.77479046e-03 -7.81786086e+01] [-5.77887290e-03 -1.07366156e-04 9.99983296e-01 -4.19283954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters 0.016044750359927824 Centerline is valid? [True, True] Translation: X:246.55, Y:-78.22, Z:-4.19 [[ 7.42435621e-01 6.69906561e-01 3.81407342e-03 2.46552635e+02] [-6.69898499e-01 7.42445410e-01 -3.28850361e-03 -7.82157569e+01] [-5.03473145e-03 -1.13539837e-04 9.99987319e-01 -4.19430790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters 0.015627074776142787 Centerline is valid? [True, True] Translation: X:246.60, Y:-78.26, Z:-4.19 [[ 7.41284821e-01 6.71179232e-01 3.90547616e-03 2.46599126e+02] [-6.71170790e-01 7.41295099e-01 -3.36861404e-03 -7.82566559e+01] [-5.15605412e-03 -1.24139069e-04 9.99986700e-01 -4.19413506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters 0.017442325664101324 Centerline is valid? [True, True] Translation: X:246.65, Y:-78.29, Z:-4.20 [[ 7.40758489e-01 6.71757048e-01 4.39646538e-03 2.46647841e+02] [-6.71746340e-01 7.40771522e-01 -3.79560027e-03 -7.82946280e+01] [-5.80649758e-03 -1.41686406e-04 9.99983132e-01 -4.19505959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters 0.015613234133191628 Centerline is valid? [True, True] Translation: X:246.69, Y:-78.34, Z:-4.19 [[ 7.41058118e-01 6.71419282e-01 5.38647184e-03 2.46692754e+02] [-6.71403187e-01 7.41077674e-01 -4.65191078e-03 -7.83381852e+01] [-7.11517662e-03 -1.69158116e-04 9.99974673e-01 -4.19344073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters 0.01512774030448899 Centerline is valid? [True, True] Translation: X:246.74, Y:-78.38, Z:-4.19 [[ 7.42057004e-01 6.70314389e-01 5.47932536e-03 2.46739106e+02] [-6.70297687e-01 7.42077216e-01 -4.73455837e-03 -7.83795160e+01] [-7.23972511e-03 -1.59466909e-04 9.99973780e-01 -4.19424053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters 0.013897447880589504 Centerline is valid? [True, True] Translation: X:246.78, Y:-78.42, Z:-4.20 [[ 7.45818965e-01 6.66131592e-01 4.77221636e-03 2.46783790e+02] [-6.66118811e-01 7.45834226e-01 -4.12760503e-03 -7.84219572e+01] [-6.30881040e-03 -1.00416982e-04 9.99980094e-01 -4.19600472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters 0.012703994115424005 Centerline is valid? [True, True] Translation: X:246.83, Y:-78.47, Z:-4.20 [[ 7.49137708e-01 6.62402813e-01 3.89982879e-03 2.46828668e+02] [-6.62394230e-01 7.49147856e-01 -3.37238276e-03 -7.84658502e+01] [-5.15542420e-03 -5.68450007e-05 9.99986709e-01 -4.19749736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters 0.012076179460346727 Centerline is valid? [True, True] Translation: X:246.87, Y:-78.51, Z:-4.20 [[ 7.55439678e-01 6.55209833e-01 3.31182382e-03 2.46871230e+02] [-6.55203583e-01 7.55446937e-01 -2.86171812e-03 -7.85111190e+01] [-4.37693301e-03 -8.06342164e-06 9.99990421e-01 -4.19812141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters 0.012373156820272974 Centerline is valid? [True, True] Translation: X:246.92, Y:-78.55, Z:-4.20 [[ 7.59382071e-01 6.50637622e-01 3.09121441e-03 2.46915855e+02] [-6.50632135e-01 7.59388362e-01 -2.67210925e-03 -7.85546503e+01] [-4.08600705e-03 1.79084243e-05 9.99991652e-01 -4.19867066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters 0.01373725239589961 Centerline is valid? [True, True] Translation: X:246.96, Y:-78.60, Z:-4.20 [[ 7.64652970e-01 6.44434062e-01 3.25188495e-03 2.46958937e+02] [-6.44427918e-01 7.64659883e-01 -2.81460413e-03 -7.85975394e+01] [-4.30041274e-03 5.65899612e-05 9.99990752e-01 -4.20065831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters 0.014151350978573705 Centerline is valid? [True, True] Translation: X:247.01, Y:-78.64, Z:-4.20 [[ 7.66629058e-01 6.42082402e-01 3.17423916e-03 2.47005107e+02] [-6.42076533e-01 7.66635627e-01 -2.74609285e-03 -7.86393101e+01] [-4.19670272e-03 6.71300942e-05 9.99991192e-01 -4.20099001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters 0.014645966913152248 Centerline is valid? [True, True] Translation: X:247.05, Y:-78.68, Z:-4.20 [[ 7.67093781e-01 6.41526451e-01 3.30825144e-03 2.47050473e+02] [-6.41520062e-01 7.67100911e-01 -2.86399893e-03 -7.86802182e+01] [-4.37509376e-03 7.46460971e-05 9.99990426e-01 -4.20118931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters 0.014360217260954839 Centerline is valid? [True, True] Translation: X:247.10, Y:-78.72, Z:-4.20 [[ 7.65326712e-01 6.43636067e-01 2.76352469e-03 2.47099226e+02] [-6.43631623e-01 7.65331699e-01 -2.39252112e-03 -7.87182517e+01] [-3.65492593e-03 5.23684448e-05 9.99993319e-01 -4.20278664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters 0.012829409790695436 Centerline is valid? [True, True] Translation: X:247.15, Y:-78.75, Z:-4.20 [[ 7.61518993e-01 6.48138436e-01 2.32187073e-03 2.47151505e+02] [-6.48135311e-01 7.61522532e-01 -2.01286903e-03 -7.87535553e+01] [-3.07277467e-03 2.79515909e-05 9.99995279e-01 -4.20355859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters 0.012408309765986345 Centerline is valid? [True, True] Translation: X:247.20, Y:-78.79, Z:-4.20 [[ 7.58168958e-01 6.52052641e-01 2.68041853e-03 2.47200249e+02] [-6.52048506e-01 7.58173696e-01 -2.32215025e-03 -7.87903645e+01] [-3.54638703e-03 1.28193349e-05 9.99993711e-01 -4.20440078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters 0.012216426313634827 Centerline is valid? [True, True] Translation: X:247.25, Y:-78.83, Z:-4.21 [[ 7.54825464e-01 6.55918501e-01 3.07228325e-03 2.47249362e+02] [-6.55913092e-01 7.54831717e-01 -2.66361997e-03 -7.88262844e+01] [-4.06617446e-03 -4.58262059e-06 9.99991733e-01 -4.20543601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters 0.012461515133152168 Centerline is valid? [True, True] Translation: X:247.30, Y:-78.86, Z:-4.21 [[ 7.49271173e-01 6.62249644e-01 4.25647551e-03 2.47301767e+02] [-6.62239347e-01 7.49283262e-01 -3.69346119e-03 -7.88601853e+01] [-5.63529921e-03 -5.14015599e-05 9.99984120e-01 -4.20531163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters 0.013566461429315864 Centerline is valid? [True, True] Translation: X:247.35, Y:-78.90, Z:-4.21 [[ 7.45077397e-01 6.66967672e-01 3.71446989e-03 2.47351888e+02] [-6.66959882e-01 7.45086652e-01 -3.22439235e-03 -7.88961516e+01] [-4.91816739e-03 -7.49805407e-05 9.99987903e-01 -4.20708980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters 0.014854409880599915 Centerline is valid? [True, True] Translation: X:247.40, Y:-78.93, Z:-4.21 [[ 7.41268678e-01 6.71202149e-01 2.90230309e-03 2.47401405e+02] [-6.71197425e-01 7.41274355e-01 -2.51948344e-03 -7.89330447e+01] [-3.84248555e-03 -8.04041975e-05 9.99992614e-01 -4.20931631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters 0.0161819104852039 Centerline is valid? [True, True] Translation: X:247.45, Y:-78.97, Z:-4.21 [[ 7.38026266e-01 6.74765923e-01 2.86000356e-03 2.47451054e+02] [-6.74761349e-01 7.38031802e-01 -2.48633789e-03 -7.89711573e+01] [-3.78846966e-03 -9.48371869e-05 9.99992819e-01 -4.20981709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters 0.01801454818686154 Centerline is valid? [True, True] Translation: X:247.50, Y:-79.01, Z:-4.21 [[ 7.35270230e-01 6.77765505e-01 3.40715876e-03 2.47500515e+02] [-6.77759053e-01 7.35278112e-01 -2.96039651e-03 -7.90075697e+01] [-4.51166390e-03 -1.32541269e-04 9.99989814e-01 -4.21136179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters 0.018877920015183645 Centerline is valid? [True, True] Translation: X:247.55, Y:-79.05, Z:-4.21 [[ 7.34516110e-01 6.78584342e-01 3.06170470e-03 2.47548442e+02] [-6.78579137e-01 7.34522481e-01 -2.66076017e-03 -7.90467947e+01] [-4.05444112e-03 -1.23237719e-04 9.99991773e-01 -4.21355569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters 0.017063950166112098 Centerline is valid? [True, True] Translation: X:247.59, Y:-79.09, Z:-4.21 [[ 7.34785910e-01 6.78291975e-01 3.10857103e-03 2.47592496e+02] [-6.78286592e-01 7.34792475e-01 -2.70516354e-03 -7.90916292e+01] [-4.11904532e-03 -1.20785997e-04 9.99991509e-01 -4.21363206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters 0.017539952907797706 Centerline is valid? [True, True] Translation: X:247.64, Y:-79.13, Z:-4.22 [[ 7.35627703e-01 6.77378200e-01 3.26456557e-03 2.47638354e+02] [-6.77372254e-01 7.35634936e-01 -2.84073342e-03 -7.91324124e+01] [-4.32577938e-03 -1.21603933e-04 9.99990636e-01 -4.21520578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters 0.015658502895829943 Centerline is valid? [True, True] Translation: X:247.68, Y:-79.18, Z:-4.22 [[ 7.37408780e-01 6.75438470e-01 3.34114588e-03 2.47681029e+02] [-6.75432226e-01 7.37416341e-01 -2.90659312e-03 -7.91781136e+01] [-4.42704038e-03 -1.13370306e-04 9.99990194e-01 -4.21529186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters 0.01576366882194598 Centerline is valid? [True, True] Translation: X:247.73, Y:-79.22, Z:-4.22 [[ 7.37839880e-01 6.74965906e-01 3.65202669e-03 2.47725104e+02] [-6.74958422e-01 7.37848908e-01 -3.18073637e-03 -7.92207252e+01] [-4.84153252e-03 -1.18092034e-04 9.99988273e-01 -4.21625383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters 0.016086865196321323 Centerline is valid? [True, True] Translation: X:247.77, Y:-79.26, Z:-4.22 [[ 7.36890353e-01 6.76000959e-01 3.91300044e-03 2.47770884e+02] [-6.75992383e-01 7.36900730e-01 -3.40772792e-03 -7.92633344e+01] [-5.18712022e-03 -1.34036664e-04 9.99986538e-01 -4.21672712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters 0.016695293365895883 Centerline is valid? [True, True] Translation: X:247.82, Y:-79.30, Z:-4.22 [[ 7.35275945e-01 6.77754214e-01 4.30226725e-03 2.47817589e+02] [-6.77743863e-01 7.35288515e-01 -3.74910740e-03 -7.93039268e+01] [-5.70438104e-03 -1.59206735e-04 9.99983717e-01 -4.21736253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters 0.018484869102428147 Centerline is valid? [True, True] Translation: X:247.87, Y:-79.34, Z:-4.22 [[ 7.32313457e-01 6.80955059e-01 4.14828540e-03 2.47865604e+02] [-6.80945476e-01 7.32325185e-01 -3.61684884e-03 -7.93427005e+01] [-5.50080539e-03 -1.76089097e-04 9.99984855e-01 -4.21892881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters 0.0198565885102262 Centerline is valid? [True, True] Translation: X:247.91, Y:-79.38, Z:-4.22 [[ 7.30655842e-01 6.82734288e-01 3.99163310e-03 2.47913147e+02] [-6.82725426e-01 7.30666723e-01 -3.48320844e-03 -7.93820151e+01] [-5.29465931e-03 -1.80162809e-04 9.99985967e-01 -4.22014726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters 0.020761421805829225 Centerline is valid? [True, True] Translation: X:247.96, Y:-79.42, Z:-4.22 [[ 7.28225046e-01 6.85322474e-01 4.62493264e-03 2.47960460e+02] [-6.85310616e-01 7.28239696e-01 -4.03795164e-03 -7.94219966e+01] [-6.13535855e-03 -2.28977917e-04 9.99981152e-01 -4.21964333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters 0.022031443059574045 Centerline is valid? [True, True] Translation: X:248.01, Y:-79.46, Z:-4.22 [[ 7.26630724e-01 6.87010050e-01 4.99810613e-03 2.48008403e+02] [-6.86996239e-01 7.26647866e-01 -4.36420049e-03 -7.94613666e+01] [-6.63011275e-03 -2.62517948e-04 9.99977986e-01 -4.22034317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters 0.023253259419818647 Centerline is valid? [True, True] Translation: X:248.06, Y:-79.50, Z:-4.22 [[ 7.25844118e-01 6.87838753e-01 5.30732155e-03 2.48056506e+02] [-6.87823210e-01 7.25863464e-01 -4.63295068e-03 -7.95013041e+01] [-7.03911382e-03 -2.87698944e-04 9.99975184e-01 -4.22147161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters 0.020053410174230825 Centerline is valid? [True, True] Translation: X:248.10, Y:-79.55, Z:-4.22 [[ 7.26933151e-01 6.86682167e-01 5.98289813e-03 2.48099023e+02] [-6.86662352e-01 7.26957705e-01 -5.22572550e-03 -7.95467656e+01] [-7.93772641e-03 -3.09477806e-04 9.99968448e-01 -4.22144781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters 0.019740905106275405 Centerline is valid? [True, True] Translation: X:248.14, Y:-79.59, Z:-4.22 [[ 7.28143353e-01 6.85402044e-01 5.59429386e-03 2.48144070e+02] [-6.85384666e-01 7.28164791e-01 -4.88847126e-03 -7.95896142e+01] [-7.42413601e-03 -2.74735373e-04 9.99972403e-01 -4.22161303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters 0.019797932456916193 Centerline is valid? [True, True] Translation: X:248.19, Y:-79.63, Z:-4.22 [[ 7.28360179e-01 6.85172432e-01 5.49436578e-03 2.48191038e+02] [-6.85155646e-01 7.28380853e-01 -4.80349730e-03 -7.96306722e+01] [-7.29321476e-03 -2.65819585e-04 9.99973369e-01 -4.22297515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters 0.02041558706533541 Centerline is valid? [True, True] Translation: X:248.24, Y:-79.67, Z:-4.23 [[ 7.29292298e-01 6.84185530e-01 4.78595337e-03 2.48237337e+02] [-6.84172761e-01 7.29307968e-01 -4.18584977e-03 -7.96700433e+01] [-6.35433176e-03 -2.21710931e-04 9.99979786e-01 -4.22535755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters 0.01782394107984565 Centerline is valid? [True, True] Translation: X:248.28, Y:-79.71, Z:-4.23 [[ 7.30359730e-01 6.83050528e-01 4.07933324e-03 2.48280872e+02] [-6.83041230e-01 7.30371100e-01 -3.56839549e-03 -7.97145440e+01] [-5.41682153e-03 -1.80140430e-04 9.99985313e-01 -4.22545834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters 0.016350516775226566 Centerline is valid? [True, True] Translation: X:248.32, Y:-79.76, Z:-4.23 [[ 7.34342010e-01 6.78769222e-01 3.76233684e-03 2.48324621e+02] [-6.78761238e-01 7.34351636e-01 -3.29504655e-03 -7.97579306e+01] [-4.99945440e-03 -1.34037306e-04 9.99987494e-01 -4.22691518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters 0.014343487556714787 Centerline is valid? [True, True] Translation: X:248.37, Y:-79.80, Z:-4.23 [[ 7.38779854e-01 6.73936612e-01 3.71078045e-03 2.48367262e+02] [-6.73928779e-01 7.38789167e-01 -3.25074974e-03 -7.98026003e+01] [-4.93228366e-03 -9.92133225e-05 9.99987831e-01 -4.22672643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters 0.012673952333745034 Centerline is valid? [True, True] Translation: X:248.41, Y:-79.85, Z:-4.23 [[ 7.46179832e-01 6.65731708e-01 4.11712496e-03 2.48407471e+02] [-6.65721943e-01 7.46191189e-01 -3.60616021e-03 -7.98479009e+01] [-5.47289757e-03 -5.00164086e-05 9.99985022e-01 -4.22703558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters 0.012469863249923809 Centerline is valid? [True, True] Translation: X:248.45, Y:-79.89, Z:-4.23 [[ 7.53634677e-01 6.57285789e-01 3.18831434e-03 2.48448243e+02] [-6.57279864e-01 7.53641421e-01 -2.79078618e-03 -7.98938014e+01] [-4.23718985e-03 7.61842711e-06 9.99991023e-01 -4.22997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters 0.013216441131703546 Centerline is valid? [True, True] Translation: X:248.49, Y:-79.94, Z:-4.23 [[ 7.58075089e-01 6.52163567e-01 2.20019986e-03 2.48491923e+02] [-6.52160727e-01 7.58078282e-01 -1.92501285e-03 -7.99379562e+01] [-2.92334698e-03 2.44203464e-05 9.99995727e-01 -4.23151507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters 0.01422726934248391 Centerline is valid? [True, True] Translation: X:248.54, Y:-79.98, Z:-4.23 [[ 7.61815555e-01 6.47791902e-01 1.64685742e-03 2.48536009e+02] [-6.47790301e-01 7.61817334e-01 -1.44055759e-03 -7.99810245e+01] [-2.18778607e-03 3.06209188e-05 9.99997606e-01 -4.23213437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters 0.015716081833203454 Centerline is valid? [True, True] Translation: X:248.58, Y:-80.02, Z:-4.23 [[ 7.65869363e-01 6.42991566e-01 2.44231121e-03 2.48579863e+02] [-6.42988003e-01 7.65873254e-01 -2.14157504e-03 -8.00246772e+01] [-3.24751553e-03 6.97899063e-05 9.99994724e-01 -4.23138306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters 0.015882368897401303 Centerline is valid? [True, True] Translation: X:248.63, Y:-80.07, Z:-4.23 [[ 7.66440680e-01 6.42309788e-01 2.61159845e-03 2.48627267e+02] [-6.42305715e-01 7.66445126e-01 -2.28858556e-03 -8.00651835e+01] [-3.47162781e-03 7.66204679e-05 9.99993971e-01 -4.23063139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters 0.015847290096641407 Centerline is valid? [True, True] Translation: X:248.68, Y:-80.10, Z:-4.23 [[ 7.65367333e-01 6.43589188e-01 2.40906773e-03 2.48675408e+02] [-6.43585726e-01 7.65371121e-01 -2.11175781e-03 -8.01043940e+01] [-3.20293537e-03 6.58288397e-05 9.99994868e-01 -4.23175852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters 0.015166770291727538 Centerline is valid? [True, True] Translation: X:248.72, Y:-80.14, Z:-4.23 [[ 7.61844399e-01 6.47759352e-01 9.65855265e-04 2.48724937e+02] [-6.47758802e-01 7.61845011e-01 -8.44411152e-04 -8.01405413e+01] [-1.28280724e-03 1.76686570e-05 9.99999177e-01 -4.23402197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters 0.013438935983947438 Centerline is valid? [True, True] Translation: X:248.78, Y:-80.18, Z:-4.23 [[ 7.58212618e-01 6.52007132e-01 5.70854809e-04 2.48775978e+02] [-6.52006943e-01 7.58212833e-01 -4.96819306e-04 -8.01759669e+01] [-7.56759173e-04 4.49336875e-06 9.99999714e-01 -4.23356203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters 0.013566467969644882 Centerline is valid? [True, True] Translation: X:248.82, Y:-80.21, Z:-4.24 [[ 7.55954860e-01 6.54623637e-01 3.78830238e-04 2.48822964e+02] [-6.54623555e-01 7.55954955e-01 -3.28524347e-04 -8.02147019e+01] [-5.01438398e-04 3.58379351e-07 9.99999874e-01 -4.23596620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters 0.012510191519822076 Centerline is valid? [True, True] Translation: X:248.88, Y:-80.25, Z:-4.23 [[ 7.49023417e-01 6.62543279e-01 5.68805175e-04 2.48875448e+02] [-6.62543094e-01 7.49023633e-01 -4.95525510e-04 -8.02492065e+01] [-7.54355615e-04 -5.69773000e-06 9.99999715e-01 -4.23457480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters 0.013031940422953034 Centerline is valid? [True, True] Translation: X:248.93, Y:-80.28, Z:-4.23 [[ 7.43359654e-01 6.68889529e-01 1.79552118e-03 2.48927466e+02] [-6.68887672e-01 7.43361822e-01 -1.57626778e-03 -8.02847262e+01] [-2.38907090e-03 -2.92681117e-05 9.99997146e-01 -4.23416219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters 0.013897273428702454 Centerline is valid? [True, True] Translation: X:248.98, Y:-80.32, Z:-4.24 [[ 7.40687394e-01 6.71845433e-01 2.42866174e-03 2.48976584e+02] [-6.71842041e-01 7.40691374e-01 -2.13539801e-03 -8.03220171e+01] [-3.23354620e-03 -5.00146729e-05 9.99994771e-01 -4.23526752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters 0.014352608354424156 Centerline is valid? [True, True] Translation: X:249.03, Y:-80.36, Z:-4.23 [[ 7.38474777e-01 6.74273399e-01 3.22297604e-03 2.49025620e+02] [-6.74267438e-01 7.38481806e-01 -2.83641624e-03 -8.03604081e+01] [-4.29262919e-03 -7.85259478e-05 9.99990784e-01 -4.23481308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters 0.014302616773006588 Centerline is valid? [True, True] Translation: X:249.07, Y:-80.40, Z:-4.24 [[ 7.38349090e-01 6.74412068e-01 2.99742976e-03 2.49073132e+02] [-6.74406912e-01 7.38355170e-01 -2.63828846e-03 -8.04011879e+01] [-3.99246133e-03 -7.35094630e-05 9.99992027e-01 -4.23600777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters 0.013937697527718503 Centerline is valid? [True, True] Translation: X:249.12, Y:-80.44, Z:-4.24 [[ 7.39335649e-01 6.73333346e-01 2.23691450e-03 2.49119645e+02] [-6.73330469e-01 7.39339031e-01 -1.96905337e-03 -8.04426796e+01] [-2.97966750e-03 -5.03913371e-05 9.99995560e-01 -4.23823478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters 0.013385791703390408 Centerline is valid? [True, True] Translation: X:249.16, Y:-80.49, Z:-4.24 [[ 7.42124176e-01 6.70261142e-01 1.30699355e-03 2.49164021e+02] [-6.70260158e-01 7.42125327e-01 -1.14893170e-03 -8.04858369e+01] [-1.74003728e-03 -2.33757125e-05 9.99998486e-01 -4.23974675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters 0.012968670740541635 Centerline is valid? [True, True] Translation: X:249.21, Y:-80.53, Z:-4.24 [[ 7.45306288e-01 6.66721432e-01 1.03381480e-03 2.49208053e+02] [-6.66720814e-01 7.45307005e-01 -9.08143983e-04 -8.05296116e+01] [-1.37598847e-03 -1.24204241e-05 9.99999053e-01 -4.24051775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters 0.012944099859305322 Centerline is valid? [True, True] Translation: X:249.25, Y:-80.58, Z:-4.24 [[ 7.51032432e-01 6.60263570e-01 1.51793543e-03 2.49250846e+02] [-6.60262213e-01 7.51033966e-01 -1.33868076e-03 -8.05756702e+01] [-2.02390321e-03 3.15726301e-06 9.99997952e-01 -4.24183452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters 0.013515871728555373 Centerline is valid? [True, True] Translation: X:249.29, Y:-80.62, Z:-4.24 [[ 7.54918552e-01 6.55814905e-01 2.18852914e-03 2.49294340e+02] [-6.55812066e-01 7.54921724e-01 -1.92985079e-03 -8.06201828e+01] [-2.91779310e-03 2.16163457e-05 9.99995743e-01 -4.24206832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters 0.015391021775970935 Centerline is valid? [True, True] Translation: X:249.34, Y:-80.67, Z:-4.24 [[ 7.60440472e-01 6.49402358e-01 2.62010708e-03 2.49335058e+02] [-6.49398242e-01 7.60444984e-01 -2.31295894e-03 -8.06659816e+01] [-3.49448827e-03 5.73746553e-05 9.99993893e-01 -4.24231896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters 0.016301148819940433 Centerline is valid? [True, True] Translation: X:249.38, Y:-80.71, Z:-4.24 [[ 7.64733680e-01 6.44338786e-01 3.15081857e-03 2.49378960e+02] [-6.44332779e-01 7.64740164e-01 -2.78401810e-03 -8.07084363e+01] [-4.20340836e-03 9.88567234e-05 9.99991161e-01 -4.24155047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters 0.01668797206698307 Centerline is valid? [True, True] Translation: X:249.43, Y:-80.75, Z:-4.24 [[ 7.66452381e-01 6.42286878e-01 4.27946980e-03 2.49425964e+02] [-6.42275750e-01 7.66464313e-01 -3.78378145e-03 -8.07494134e+01] [-5.71033405e-03 1.51488634e-04 9.99983684e-01 -4.24112198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters 0.017657693226417262 Centerline is valid? [True, True] Translation: X:249.47, Y:-80.79, Z:-4.24 [[ 7.66196760e-01 6.42589676e-01 4.58615009e-03 2.49472020e+02] [-6.42576890e-01 7.66210468e-01 -4.05694989e-03 -8.07915067e+01] [-6.12091032e-03 1.61467798e-04 9.99981254e-01 -4.24267010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters 0.016649762581238285 Centerline is valid? [True, True] Translation: X:249.52, Y:-80.83, Z:-4.24 [[ 7.64286903e-01 6.44859497e-01 4.66471601e-03 2.49522222e+02] [-6.44846293e-01 7.64301123e-01 -4.12936220e-03 -8.08287923e+01] [-6.22810612e-03 1.47992619e-04 9.99980594e-01 -4.24379362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters 0.015045246366340291 Centerline is valid? [True, True] Translation: X:249.57, Y:-80.86, Z:-4.24 [[ 7.61407617e-01 6.48248429e-01 5.69347134e-03 2.49573233e+02] [-6.48228808e-01 7.61428888e-01 -5.04594071e-03 -8.08638139e+01] [-7.60619669e-03 1.51345554e-04 9.99971061e-01 -4.24410633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters 0.014646938611448092 Centerline is valid? [True, True] Translation: X:249.62, Y:-80.90, Z:-4.24 [[ 7.59367632e-01 6.50629317e-01 6.50310807e-03 2.49622443e+02] [-6.50603819e-01 7.59395464e-01 -5.76199564e-03 -8.09020164e+01] [-8.68735406e-03 1.44526044e-04 9.99962254e-01 -4.24449263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters 0.013861729521901888 Centerline is valid? [True, True] Translation: X:249.67, Y:-80.94, Z:-4.25 [[ 7.56268270e-01 6.54221462e-01 7.25135760e-03 2.49673936e+02] [-6.54189885e-01 7.56303024e-01 -6.42880731e-03 -8.09376932e+01] [-9.69008741e-03 1.18138187e-04 9.99953043e-01 -4.24634779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters 0.013227390789047389 Centerline is valid? [True, True] Translation: X:249.73, Y:-80.97, Z:-4.25 [[ 7.52450373e-01 6.58609084e-01 7.24641630e-03 2.49726500e+02] [-6.58577722e-01 7.52485262e-01 -6.42761032e-03 -8.09717648e+01] [-9.68610401e-03 6.41294439e-05 9.99953087e-01 -4.24902841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters 0.012750259282744269 Centerline is valid? [True, True] Translation: X:249.78, Y:-81.01, Z:-4.25 [[ 7.49663906e-01 6.61776427e-01 7.48258966e-03 2.49777245e+02] [-6.61743101e-01 7.49701248e-01 -6.64137068e-03 -8.10089704e+01] [-1.00048094e-02 2.72438010e-05 9.99949950e-01 -4.25030624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters 0.01266904804930342 Centerline is valid? [True, True] Translation: X:249.83, Y:-81.04, Z:-4.25 [[ 7.45617119e-01 6.66326477e-01 8.00864739e-03 2.49828916e+02] [-6.66288549e-01 7.45660127e-01 -7.10951264e-03 -8.10434854e+01] [-1.07089855e-02 -3.50957207e-05 9.99942657e-01 -4.25193523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters 0.013050942222622599 Centerline is valid? [True, True] Translation: X:249.88, Y:-81.08, Z:-4.25 [[ 7.42514618e-01 6.69785218e-01 7.73328306e-03 2.49878651e+02] [-6.69750002e-01 7.42554884e-01 -6.86871276e-03 -8.10802052e+01] [-1.03429494e-02 -7.92467200e-05 9.99946507e-01 -4.25368136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters 0.01377573533169447 Centerline is valid? [True, True] Translation: X:249.93, Y:-81.12, Z:-4.26 [[ 7.38215563e-01 6.74521923e-01 7.61308500e-03 2.49929521e+02] [-6.74488014e-01 7.38254804e-01 -6.76479276e-03 -8.11161380e+01] [-1.01833976e-02 -1.41059291e-04 9.99948138e-01 -4.25572202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters 0.015243440766708936 Centerline is valid? [True, True] Translation: X:249.98, Y:-81.15, Z:-4.26 [[ 7.35892999e-01 6.77053002e-01 7.79266727e-03 2.49978760e+02] [-6.77017578e-01 7.35934237e-01 -6.92806532e-03 -8.11532271e+01] [-1.04255581e-02 -1.77457960e-04 9.99945637e-01 -4.25753514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters 0.014958657753800491 Centerline is valid? [True, True] Translation: X:250.02, Y:-81.19, Z:-4.26 [[ 7.34466799e-01 6.78592572e-01 8.40487949e-03 2.50024842e+02] [-6.78551423e-01 7.34514857e-01 -7.47599642e-03 -8.11945408e+01] [-1.12466645e-02 -2.12271783e-04 9.99936732e-01 -4.25721580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters 0.014734022849526282 Centerline is valid? [True, True] Translation: X:250.07, Y:-81.24, Z:-4.26 [[ 7.33967495e-01 6.79127798e-01 8.78352448e-03 2.50071561e+02] [-6.79082850e-01 7.34020015e-01 -7.81665369e-03 -8.12372092e+01] [-1.17557896e-02 -2.27571109e-04 9.99930872e-01 -4.25749281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters 0.01536487889990042 Centerline is valid? [True, True] Translation: X:250.12, Y:-81.28, Z:-4.26 [[ 7.32825242e-01 6.80359373e-01 8.84806397e-03 2.50117270e+02] [-6.80313789e-01 7.32878614e-01 -7.87944700e-03 -8.12784980e+01] [-1.18454125e-02 -2.45202273e-04 9.99929811e-01 -4.25907601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters 0.015901262235597825 Centerline is valid? [True, True] Translation: X:250.16, Y:-81.32, Z:-4.26 [[ 7.31761814e-01 6.81513485e-01 8.00112398e-03 2.50163891e+02] [-6.81476269e-01 7.31805516e-01 -7.12610201e-03 -8.13200137e+01] [-1.07118013e-02 -2.37966787e-04 9.99942599e-01 -4.26130555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters 0.01643144771830394 Centerline is valid? [True, True] Translation: X:250.21, Y:-81.36, Z:-4.26 [[ 7.30812627e-01 6.82537427e-01 7.45423594e-03 2.50208195e+02] [-6.82505149e-01 7.30850605e-01 -6.64193516e-03 -8.13630910e+01] [-9.98130218e-03 -2.33544335e-04 9.99950158e-01 -4.26261444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters 0.01616447317074854 Centerline is valid? [True, True] Translation: X:250.25, Y:-81.41, Z:-4.26 [[ 7.30516079e-01 6.82852879e-01 7.62915693e-03 2.50251680e+02] [-6.82819054e-01 7.30555876e-01 -6.80093150e-03 -8.14082767e+01] [-1.02175611e-02 -2.41143909e-04 9.99947770e-01 -4.26239678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters 0.016535034866284628 Centerline is valid? [True, True] Translation: X:250.30, Y:-81.45, Z:-4.26 [[ 7.30390610e-01 6.82987847e-01 7.56027786e-03 2.50296706e+02] [-6.82954598e-01 7.30429699e-01 -6.74329521e-03 -8.14519403e+01] [-1.01278402e-02 -2.38087026e-04 9.99948684e-01 -4.26266361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters 0.016095622665898583 Centerline is valid? [True, True] Translation: X:250.34, Y:-81.50, Z:-4.26 [[ 7.30359960e-01 6.83017318e-01 7.85317414e-03 2.50341140e+02] [-6.82981402e-01 7.30402138e-01 -7.00861390e-03 -8.14962140e+01] [-1.05229798e-02 -2.44760919e-04 9.99944602e-01 -4.26332344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters 0.01544595237500332 Centerline is valid? [True, True] Translation: X:250.39, Y:-81.54, Z:-4.26 [[ 7.30142645e-01 6.83250033e-01 7.81731414e-03 2.50385631e+02] [-6.83214417e-01 7.30184452e-01 -6.98044766e-03 -8.15412750e+01] [-1.04774723e-02 -2.44179203e-04 9.99945080e-01 -4.26358722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters 0.01617859936541278 Centerline is valid? [True, True] Translation: X:250.43, Y:-81.58, Z:-4.27 [[ 7.29739392e-01 6.83686781e-01 7.26667794e-03 2.50430624e+02] [-6.83655994e-01 7.29775536e-01 -6.49229301e-03 -8.15835122e+01] [-9.74173870e-03 -2.30225968e-04 9.99952522e-01 -4.26519446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters 0.01603649000168072 Centerline is valid? [True, True] Translation: X:250.48, Y:-81.63, Z:-4.27 [[ 7.29563988e-01 6.83880424e-01 6.62970928e-03 2.50475494e+02] [-6.83854783e-01 7.29594080e-01 -5.92572749e-03 -8.16273502e+01] [-8.88948567e-03 -2.10561013e-04 9.99960466e-01 -4.26668853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters 0.015797011984037428 Centerline is valid? [True, True] Translation: X:250.52, Y:-81.67, Z:-4.27 [[ 7.28959517e-01 6.84532936e-01 5.71691228e-03 2.50518791e+02] [-6.84513861e-01 7.28981910e-01 -5.11355199e-03 -8.16713993e+01] [-7.66792039e-03 -1.85733311e-04 9.99970584e-01 -4.26783403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters 0.016665629459658274 Centerline is valid? [True, True] Translation: X:250.56, Y:-81.71, Z:-4.27 [[ 7.27636099e-01 6.85939734e-01 5.69108215e-03 2.50563367e+02] [-6.85920873e-01 7.27658328e-01 -5.09061584e-03 -8.17149241e+01] [-7.63301900e-03 -1.99516181e-04 9.99970848e-01 -4.26795784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters 0.017157681596680525 Centerline is valid? [True, True] Translation: X:250.61, Y:-81.76, Z:-4.27 [[ 7.26060830e-01 6.87609665e-01 5.34981652e-03 2.50608712e+02] [-6.87593029e-01 7.26080510e-01 -4.78741831e-03 -8.17572918e+01] [-7.17627261e-03 -2.02539639e-04 9.99974230e-01 -4.26933767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters 0.01950921624516958 Centerline is valid? [True, True] Translation: X:250.65, Y:-81.80, Z:-4.27 [[ 7.24386046e-01 6.89372418e-01 5.52498128e-03 2.50653736e+02] [-6.89354704e-01 7.24407081e-01 -4.94706541e-03 -8.17986176e+01] [-7.41270600e-03 -2.25086681e-04 9.99972500e-01 -4.27056764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters 0.019507617460866836 Centerline is valid? [True, True] Translation: X:250.70, Y:-81.84, Z:-4.27 [[ 7.22016925e-01 6.91853016e-01 5.56462321e-03 2.50697185e+02] [-6.91835089e-01 7.22038325e-01 -4.98664587e-03 -8.18429513e+01] [-7.46789720e-03 -2.49358878e-04 9.99972084e-01 -4.26975155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters 0.02116508495810676 Centerline is valid? [True, True] Translation: X:250.74, Y:-81.88, Z:-4.27 [[ 7.21034218e-01 6.92877520e-01 5.51341516e-03 2.50742069e+02] [-6.92859960e-01 7.21055251e-01 -4.93968621e-03 -8.18838157e+01] [-7.39807448e-03 -2.58341824e-04 9.99972601e-01 -4.27067392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters 0.02081920917386068 Centerline is valid? [True, True] Translation: X:250.78, Y:-81.93, Z:-4.27 [[ 7.19826053e-01 6.94134637e-01 5.24964939e-03 2.50784389e+02] [-6.94118737e-01 7.19845150e-01 -4.70524386e-03 -8.19288682e+01] [-7.04500739e-03 -2.56922886e-04 9.99975151e-01 -4.27068723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters 0.020561533278922114 Centerline is valid? [True, True] Translation: X:250.83, Y:-81.97, Z:-4.27 [[ 7.19421630e-01 6.94552790e-01 5.37972173e-03 2.50828136e+02] [-6.94536091e-01 7.19441694e-01 -4.82352530e-03 -8.19744479e+01] [-7.22058907e-03 -2.66262465e-04 9.99973896e-01 -4.27244219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters 0.02001127621383906 Centerline is valid? [True, True] Translation: X:250.87, Y:-82.02, Z:-4.28 [[ 7.19973114e-01 6.93988674e-01 4.29350438e-03 2.50872395e+02] [-6.93978020e-01 7.19985887e-01 -3.85106432e-03 -8.20185434e+01] [-5.76385758e-03 -2.06934900e-04 9.99983367e-01 -4.27502826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters 0.021459742139821637 Centerline is valid? [True, True] Translation: X:250.92, Y:-82.06, Z:-4.28 [[ 7.20284140e-01 6.93665894e-01 4.28774763e-03 2.50918799e+02] [-6.93655250e-01 7.20296874e-01 -3.84811258e-03 -8.20588637e+01] [-5.75775567e-03 -2.02484189e-04 9.99983403e-01 -4.27740044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters 0.019202067666443858 Centerline is valid? [True, True] Translation: X:250.96, Y:-82.11, Z:-4.28 [[ 7.21134699e-01 6.92787367e-01 3.22651135e-03 2.50959601e+02] [-6.92781332e-01 7.21141902e-01 -2.89547214e-03 -8.21060385e+01] [-4.33271906e-03 -1.47241399e-04 9.99990603e-01 -4.27874162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters 0.018656072737794377 Centerline is valid? [True, True] Translation: X:251.00, Y:-82.15, Z:-4.28 [[ 7.22587327e-01 6.91272396e-01 3.16708539e-03 2.51003051e+02] [-6.91266560e-01 7.22594255e-01 -2.84350457e-03 -8.21501371e+01] [-4.25415392e-03 -1.34619858e-04 9.99990942e-01 -4.28020573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters 0.018916557032854747 Centerline is valid? [True, True] Translation: X:251.05, Y:-82.19, Z:-4.28 [[ 7.23346553e-01 6.90477057e-01 3.34631339e-03 2.51048444e+02] [-6.90470526e-01 7.23354281e-01 -3.00626692e-03 -8.21926142e+01] [-4.49632845e-03 -1.35957946e-04 9.99989882e-01 -4.28184534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters 0.02059876011367769 Centerline is valid? [True, True] Translation: X:251.09, Y:-82.23, Z:-4.28 [[ 7.24908000e-01 6.88833275e-01 4.13649261e-03 2.51094846e+02] [-6.88823252e-01 7.24919785e-01 -3.71922923e-03 -8.22330485e+01] [-5.56055418e-03 -1.53213271e-04 9.99984528e-01 -4.28421302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters 0.01790288244074983 Centerline is valid? [True, True] Translation: X:251.14, Y:-82.28, Z:-4.28 [[ 7.24887614e-01 6.88855070e-01 4.07912522e-03 2.51137543e+02] [-6.88845316e-01 7.24899076e-01 -3.66887874e-03 -8.22795732e+01] [-5.48427983e-03 -1.50361546e-04 9.99984950e-01 -4.28341500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters 0.01694924922718473 Centerline is valid? [True, True] Translation: X:251.18, Y:-82.32, Z:-4.28 [[ 7.24859874e-01 6.88886243e-01 3.72926673e-03 2.51183028e+02] [-6.88878085e-01 7.24869454e-01 -3.35542887e-03 -8.23231111e+01] [-5.01474033e-03 -1.36794379e-04 9.99987417e-01 -4.28442039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters 0.017203619672273532 Centerline is valid? [True, True] Translation: X:251.23, Y:-82.36, Z:-4.29 [[ 7.24513454e-01 6.89254355e-01 2.94773634e-03 2.51230090e+02] [-6.89249258e-01 7.24519442e-01 -2.65310839e-03 -8.23637939e+01] [-3.96435880e-03 -1.09512368e-04 9.99992136e-01 -4.28645789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters 0.016850904525874847 Centerline is valid? [True, True] Translation: X:251.28, Y:-82.40, Z:-4.29 [[ 7.23384728e-01 6.90433672e-01 3.98496006e-03 2.51276891e+02] [-6.90424355e-01 7.23395688e-01 -3.59019223e-03 -8.24048352e+01] [-5.36149253e-03 -1.54223250e-04 9.99985615e-01 -4.28664343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters 0.017360949800439025 Centerline is valid? [True, True] Translation: X:251.32, Y:-82.44, Z:-4.29 [[ 7.23884619e-01 6.89901213e-01 5.23218418e-03 2.51323534e+02] [-6.89885106e-01 7.23903501e-01 -4.71821102e-03 -8.24443245e+01] [-7.04269595e-03 -1.94165557e-04 9.99975181e-01 -4.28757233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters 0.017272094968814527 Centerline is valid? [True, True] Translation: X:251.37, Y:-82.48, Z:-4.29 [[ 7.25280474e-01 6.88422727e-01 6.51021192e-03 2.51368959e+02] [-6.88397696e-01 7.25309658e-01 -5.87470115e-03 -8.24849214e+01] [-8.76619737e-03 -2.20808846e-04 9.99961552e-01 -4.28848478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters 0.01505792604170937 Centerline is valid? [True, True] Translation: X:251.41, Y:-82.53, Z:-4.29 [[ 7.29126744e-01 6.84334437e-01 7.78263016e-03 2.51410694e+02] [-6.84298374e-01 7.29168250e-01 -7.02836785e-03 -8.25300937e+01] [-1.04846010e-02 -2.01070198e-04 9.99945015e-01 -4.28910681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters 0.014086310480588792 Centerline is valid? [True, True] Translation: X:251.45, Y:-82.57, Z:-4.29 [[ 7.32623792e-01 6.80592933e-01 7.45916448e-03 2.51453413e+02] [-6.80559608e-01 7.32661750e-01 -6.73656250e-03 -8.25747934e+01] [-1.00499013e-02 -1.41040092e-04 9.99949489e-01 -4.29077032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters 0.013379838405331152 Centerline is valid? [True, True] Translation: X:251.49, Y:-82.62, Z:-4.29 [[ 7.37560089e-01 6.75249978e-01 6.52548888e-03 2.51494539e+02] [-6.75224273e-01 7.37588953e-01 -5.89219261e-03 -8.26205941e+01] [-8.79183144e-03 -6.03223811e-05 9.99961349e-01 -4.29292074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters 0.013174264023777667 Centerline is valid? [True, True] Translation: X:251.54, Y:-82.67, Z:-4.29 [[ 7.41458628e-01 6.70965673e-01 6.64592059e-03 2.51537281e+02] [-6.70938815e-01 7.41488412e-01 -6.00347953e-03 -8.26653148e+01] [-8.95600179e-03 -7.67438425e-06 9.99959894e-01 -4.29423651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters 0.013288891067037623 Centerline is valid? [True, True] Translation: X:251.58, Y:-82.71, Z:-4.29 [[ 7.44698255e-01 6.67349542e-01 8.31254360e-03 2.51581527e+02] [-6.67307242e-01 7.44744645e-01 -7.51388074e-03 -8.27099171e+01] [-1.12051072e-02 4.85533334e-05 9.99937220e-01 -4.29459055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters 0.013574033646894974 Centerline is valid? [True, True] Translation: X:251.63, Y:-82.75, Z:-4.29 [[ 7.46018537e-01 6.65859519e-01 9.35110572e-03 2.51625485e+02] [-6.65805799e-01 7.46077136e-01 -8.45837904e-03 -8.27537139e+01] [-1.26087384e-02 8.40871368e-05 9.99920503e-01 -4.29473190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters 0.013365719112661014 Centerline is valid? [True, True] Translation: X:251.67, Y:-82.79, Z:-4.29 [[ 7.45538855e-01 6.66380688e-01 1.04208809e-02 2.51673420e+02] [-6.66313945e-01 7.45611676e-01 -9.43163408e-03 -8.27948070e+01] [-1.40549893e-02 8.80714127e-05 9.99901220e-01 -4.29450638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters 0.01309914949709109 Centerline is valid? [True, True] Translation: X:251.72, Y:-82.83, Z:-4.30 [[ 7.43838071e-01 6.68277872e-01 1.04694172e-02 2.51721369e+02] [-6.68210618e-01 7.43911743e-01 -9.48095863e-03 -8.28341657e+01] [-1.41242373e-02 5.65222460e-05 9.99900246e-01 -4.29654706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters 0.013044853565680364 Centerline is valid? [True, True] Translation: X:251.77, Y:-82.87, Z:-4.30 [[ 7.42552635e-01 6.69706196e-01 1.04496645e-02 2.51768961e+02] [-6.69639273e-01 7.42626158e-01 -9.46755219e-03 -8.28746108e+01] [-1.41006726e-02 3.26500760e-05 9.99900580e-01 -4.29795478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters 0.01312417304686242 Centerline is valid? [True, True] Translation: X:251.82, Y:-82.91, Z:-4.30 [[ 7.36557362e-01 6.76296515e-01 1.03090200e-02 2.51820200e+02] [-6.76231950e-01 7.36629497e-01 -9.34527690e-03 -8.29100884e+01] [-1.39141064e-02 -8.79562138e-05 9.99903190e-01 -4.29920398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters 0.013774301591999518 Centerline is valid? [True, True] Translation: X:251.87, Y:-82.95, Z:-4.30 [[ 7.31750213e-01 6.81482399e-01 1.11070097e-02 2.51870549e+02] [-6.81407963e-01 7.31834477e-01 -1.00740311e-02 -8.29468460e+01] [-1.49937675e-02 -1.96730429e-04 9.99887568e-01 -4.29897496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters 0.014381661851219198 Centerline is valid? [True, True] Translation: X:251.92, Y:-82.98, Z:-4.30 [[ 7.28850038e-01 6.84573852e-01 1.16732383e-02 2.51919413e+02] [-6.84491938e-01 7.28943461e-01 -1.05932825e-02 -8.29849452e+01] [-1.57610149e-02 -2.69323138e-04 9.99875751e-01 -4.29954695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters 0.015798961341802836 Centerline is valid? [True, True] Translation: X:251.97, Y:-83.02, Z:-4.30 [[ 7.26343232e-01 6.87222780e-01 1.22621194e-02 2.51968303e+02] [-6.87132670e-01 7.26446650e-01 -1.11336152e-02 -8.30221981e+01] [-1.65590495e-02 -3.38876750e-04 9.99862832e-01 -4.29898189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters 0.016248673367200123 Centerline is valid? [True, True] Translation: X:252.02, Y:-83.06, Z:-4.30 [[ 7.23914835e-01 6.89779327e-01 1.23203425e-02 2.52016120e+02] [-6.89688641e-01 7.24019560e-01 -1.11917373e-02 -8.30617929e+01] [-1.66399980e-02 -3.95335661e-04 9.99861467e-01 -4.29938424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters 0.017897960538055726 Centerline is valid? [True, True] Translation: X:252.07, Y:-83.10, Z:-4.30 [[ 7.20843947e-01 6.93006286e-01 1.12379860e-02 2.52066086e+02] [-6.92931152e-01 7.20931416e-01 -1.02132810e-02 -8.30972063e+01] [-1.51796851e-02 -4.24968818e-04 9.99884692e-01 -4.30097114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters 0.019170582899926725 Centerline is valid? [True, True] Translation: X:252.11, Y:-83.13, Z:-4.30 [[ 7.19306762e-01 6.94621970e-01 9.90464908e-03 2.52114558e+02] [-6.94563739e-01 7.19374837e-01 -9.00309442e-03 -8.31346475e+01] [-1.33789025e-02 -4.03423408e-04 9.99910417e-01 -4.30333557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters 0.019418169092041988 Centerline is valid? [True, True] Translation: X:252.16, Y:-83.18, Z:-4.31 [[ 7.19573817e-01 6.94358186e-01 8.95716703e-03 2.52161309e+02] [-6.94310506e-01 7.19629475e-01 -8.14498601e-03 -8.31754412e+01] [-1.21013791e-02 -3.58136497e-04 9.99926711e-01 -4.30512454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters 0.018593633639815692 Centerline is valid? [True, True] Translation: X:252.21, Y:-83.22, Z:-4.31 [[ 7.21336942e-01 6.92541596e-01 7.69114158e-03 2.52206372e+02] [-6.92506303e-01 7.21377890e-01 -6.99717834e-03 -8.32188248e+01] [-1.03940565e-02 -2.78840793e-04 9.99945941e-01 -4.30657667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters 0.015885493192331117 Centerline is valid? [True, True] Translation: X:252.25, Y:-83.26, Z:-4.31 [[ 7.24262721e-01 6.89484167e-01 7.42258039e-03 2.52247851e+02] [-6.89451111e-01 7.24300720e-01 -6.75521341e-03 -8.32643615e+01] [-1.00337930e-02 -2.24957048e-04 9.99949635e-01 -4.30624623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters 0.014048743739061354 Centerline is valid? [True, True] Translation: X:252.29, Y:-83.31, Z:-4.31 [[ 7.27917661e-01 6.85618861e-01 7.91556274e-03 2.52289369e+02] [-6.85581033e-01 7.27960675e-01 -7.20442293e-03 -8.33095486e+01] [-1.07017066e-02 -1.82532990e-04 9.99942718e-01 -4.30578647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters 0.013621144181904148 Centerline is valid? [True, True] Translation: X:252.33, Y:-83.35, Z:-4.31 [[ 7.30395477e-01 6.82983499e-01 7.48253468e-03 2.52332847e+02] [-6.82949561e-01 7.30433790e-01 -6.80992961e-03 -8.33527856e+01] [-1.01165657e-02 -1.36251993e-04 9.99948817e-01 -4.30710639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters 0.012919751139369481 Centerline is valid? [True, True] Translation: X:252.38, Y:-83.40, Z:-4.31 [[ 7.32415998e-01 6.80823947e-01 6.74977508e-03 2.52376445e+02] [-6.80796235e-01 7.32447093e-01 -6.14351874e-03 -8.33968467e+01] [-9.12650781e-03 -9.56100566e-05 9.99958348e-01 -4.30835130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters 0.012655203042839607 Centerline is valid? [True, True] Translation: X:252.42, Y:-83.44, Z:-4.31 [[ 7.34787668e-01 6.78271841e-01 5.86446976e-03 2.52420198e+02] [-6.78250824e-01 7.34811069e-01 -5.33972685e-03 -8.34412764e+01] [-7.93106365e-03 -5.40160054e-05 9.99968547e-01 -4.30932922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters 0.012542638149824403 Centerline is valid? [True, True] Translation: X:252.47, Y:-83.48, Z:-4.31 [[ 7.35723397e-01 6.77260438e-01 5.42052320e-03 2.52465553e+02] [-6.77242443e-01 7.35743364e-01 -4.93717017e-03 -8.34846928e+01] [-7.33186401e-03 -3.86167657e-05 9.99973121e-01 -4.31001647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters 0.012484723052297144 Centerline is valid? [True, True] Translation: X:252.51, Y:-83.53, Z:-4.31 [[ 7.35825935e-01 6.77153370e-01 4.84837601e-03 2.52511014e+02] [-6.77138959e-01 7.35841908e-01 -4.41784325e-03 -8.35280384e+01] [-6.55919569e-03 -3.22606424e-05 9.99978488e-01 -4.31010590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters 0.01249916637790548 Centerline is valid? [True, True] Translation: X:252.56, Y:-83.57, Z:-4.31 [[ 7.35479003e-01 6.77534216e-01 4.24533214e-03 2.52557922e+02] [-6.77523165e-01 7.35491255e-01 -3.86984765e-03 -8.35701210e+01] [-5.74435886e-03 -3.01191804e-05 9.99983501e-01 -4.31221633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters 0.012392434975600344 Centerline is valid? [True, True] Translation: X:252.60, Y:-83.61, Z:-4.31 [[ 7.34925685e-01 6.78134930e-01 4.15393356e-03 2.52604910e+02] [-6.78124348e-01 7.34937423e-01 -3.78853598e-03 -8.36121120e+01] [-5.62201981e-03 -3.25910887e-05 9.99984196e-01 -4.31351506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters 0.01229531562432725 Centerline is valid? [True, True] Translation: X:252.65, Y:-83.65, Z:-4.31 [[ 7.35375599e-01 6.77644643e-01 4.52387226e-03 2.52649622e+02] [-6.77632061e-01 7.35389514e-01 -4.12956021e-03 -8.36544557e+01] [-6.12518257e-03 -2.87430660e-05 9.99981240e-01 -4.31401305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters 0.012180584965167817 Centerline is valid? [True, True] Translation: X:252.70, Y:-83.70, Z:-4.31 [[ 7.35705774e-01 6.77282288e-01 5.07112128e-03 2.52695044e+02] [-6.77266453e-01 7.35723250e-01 -4.63155114e-03 -8.36970003e+01] [-6.86780938e-03 -2.70414027e-05 9.99976416e-01 -4.31414134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters 0.01202657401096927 Centerline is valid? [True, True] Translation: X:252.74, Y:-83.74, Z:-4.31 [[ 7.37138201e-01 6.75709695e-01 6.60917258e-03 2.52740110e+02] [-6.75682691e-01 7.37167829e-01 -6.04089668e-03 -8.37395213e+01] [-8.95396185e-03 -1.27278042e-05 9.99959912e-01 -4.31363135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters 0.012138634732842078 Centerline is valid? [True, True] Translation: X:252.79, Y:-83.78, Z:-4.31 [[ 7.38444675e-01 6.74275834e-01 7.18062223e-03 2.52786488e+02] [-6.74243859e-01 7.38479586e-01 -6.56659503e-03 -8.37822160e+01] [-9.73043927e-03 7.57668980e-06 9.99952658e-01 -4.31458175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters 0.012233414254150454 Centerline is valid? [True, True] Translation: X:252.83, Y:-83.82, Z:-4.32 [[ 7.39665065e-01 6.72934055e-01 7.43976202e-03 2.52832972e+02] [-6.72899621e-01 7.39702479e-01 -6.80755945e-03 -8.38240466e+01] [-1.00842490e-02 2.91008629e-05 9.99949152e-01 -4.31621699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters 0.012129160992891136 Centerline is valid? [True, True] Translation: X:252.88, Y:-83.87, Z:-4.32 [[ 7.39992681e-01 6.72577149e-01 7.12818293e-03 2.52880048e+02] [-6.72545490e-01 7.40027011e-01 -6.52580329e-03 -8.38659285e+01] [-9.66415408e-03 3.50193862e-05 9.99953300e-01 -4.31662305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters 0.012127667824009489 Centerline is valid? [True, True] Translation: X:252.93, Y:-83.91, Z:-4.32 [[ 7.39864828e-01 6.72719766e-01 6.93925800e-03 2.52927777e+02] [-6.72689737e-01 7.39897368e-01 -6.35631814e-03 -8.39071984e+01] [-9.41035958e-03 3.48485914e-05 9.99955721e-01 -4.31772092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters 0.01221855899380734 Centerline is valid? [True, True] Translation: X:252.98, Y:-83.95, Z:-4.32 [[ 7.39296363e-01 6.73348825e-01 6.49990700e-03 2.52975781e+02] [-6.73322473e-01 7.39324935e-01 -5.95711680e-03 -8.39470151e+01] [-8.81676092e-03 2.75413275e-05 9.99961131e-01 -4.31934833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters 0.01224761586900855 Centerline is valid? [True, True] Translation: X:253.02, Y:-83.99, Z:-4.32 [[ 7.38456305e-01 6.74280616e-01 5.28552638e-03 2.53024362e+02] [-6.74263206e-01 7.38475220e-01 -4.84547266e-03 -8.39866303e+01] [-7.17043855e-03 1.43338746e-05 9.99974292e-01 -4.32159406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters 0.0121776810612303 Centerline is valid? [True, True] Translation: X:253.07, Y:-84.03, Z:-4.32 [[ 7.37931255e-01 6.74859575e-01 4.69221676e-03 2.53072222e+02] [-6.74845854e-01 7.37946173e-01 -4.30331223e-03 -8.40279050e+01] [-6.36673486e-03 9.02556690e-06 9.99979732e-01 -4.32267220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters 0.012064107662163934 Centerline is valid? [True, True] Translation: X:253.12, Y:-84.07, Z:-4.32 [[ 7.37214346e-01 6.75643939e-01 4.50295462e-03 2.53120450e+02] [-6.75631305e-01 7.37228098e-01 -4.13178628e-03 -8.40685450e+01] [-6.11132102e-03 3.67501684e-06 9.99981326e-01 -4.32247337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters 0.011997813842412625 Centerline is valid? [True, True] Translation: X:253.17, Y:-84.11, Z:-4.32 [[ 7.36199134e-01 6.76748991e-01 4.65171068e-03 2.53168359e+02] [-6.76735515e-01 7.36213829e-01 -4.27084460e-03 -8.41101362e+01] [-6.31494351e-03 -3.78572886e-06 9.99980061e-01 -4.32252043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters 0.01189372324626179 Centerline is valid? [True, True] Translation: X:253.22, Y:-84.15, Z:-4.32 [[ 7.33891977e-01 6.79247245e-01 5.07406241e-03 2.53217539e+02] [-6.79231247e-01 7.33909518e-01 -4.66180154e-03 -8.41492919e+01] [-6.89041855e-03 -2.52029912e-05 9.99976260e-01 -4.32252803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters 0.011913548913512984 Centerline is valid? [True, True] Translation: X:253.27, Y:-84.19, Z:-4.32 [[ 7.32906809e-01 6.80308602e-01 5.27405893e-03 2.53265007e+02] [-6.80291325e-01 7.32925784e-01 -4.84849063e-03 -8.41911257e+01] [-7.16396366e-03 -3.44047489e-05 9.99974338e-01 -4.32315114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters 0.011907996112764678 Centerline is valid? [True, True] Translation: X:253.31, Y:-84.23, Z:-4.33 [[ 7.32428275e-01 6.80829068e-01 4.53889231e-03 2.53312611e+02] [-6.80816273e-01 7.32442338e-01 -4.17422191e-03 -8.42329289e+01] [-6.16640851e-03 -3.28335886e-05 9.99980987e-01 -4.32503443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters 0.011898029692413301 Centerline is valid? [True, True] Translation: X:253.36, Y:-84.28, Z:-4.33 [[ 7.33707511e-01 6.79453166e-01 4.08464695e-03 2.53357837e+02] [-6.79442774e-01 7.33718880e-01 -3.75794851e-03 -8.42767565e+01] [-5.55033260e-03 -1.80488078e-05 9.99984597e-01 -4.32571970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters 0.012519443010964115 Centerline is valid? [True, True] Translation: X:253.40, Y:-84.32, Z:-4.33 [[ 7.37772380e-01 6.75042773e-01 3.02812791e-03 2.53400339e+02] [-6.75037022e-01 7.37778595e-01 -2.78654815e-03 -8.43220733e+01] [-4.11512715e-03 1.17398170e-05 9.99991533e-01 -4.32542168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters 0.013304156826645267 Centerline is valid? [True, True] Translation: X:253.44, Y:-84.37, Z:-4.33 [[ 7.40598915e-01 6.71942975e-01 2.42590881e-03 2.53442513e+02] [-6.71939260e-01 7.40602888e-01 -2.23458579e-03 -8.43657057e+01] [-3.29814929e-03 2.48684427e-05 9.99994561e-01 -4.32616347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters 0.014391403827550806 Centerline is valid? [True, True] Translation: X:253.49, Y:-84.41, Z:-4.33 [[ 7.44100014e-01 6.68066217e-01 1.64296564e-03 2.53485484e+02] [-6.68064509e-01 7.44101827e-01 -1.51082374e-03 -8.44108842e+01] [-2.23186403e-03 2.65969292e-05 9.99997509e-01 -4.32685925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters 0.015602656507513293 Centerline is valid? [True, True] Translation: X:253.53, Y:-84.45, Z:-4.33 [[ 7.46374448e-01 6.65525340e-01 1.09781799e-03 2.53527540e+02] [-6.65524573e-01 7.46375255e-01 -1.01058411e-03 -8.44546554e+01] [-1.49195352e-03 2.36493024e-05 9.99998887e-01 -4.32812845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters 0.015472209020378663 Centerline is valid? [True, True] Translation: X:253.57, Y:-84.50, Z:-4.33 [[ 7.46510717e-01 6.65373103e-01 6.19151640e-04 2.53572661e+02] [-6.65372862e-01 7.46510974e-01 -5.66496421e-04 -8.44971052e+01] [-8.39134975e-04 1.09289504e-05 9.99999648e-01 -4.32918619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters 0.015200515322875953 Centerline is valid? [True, True] Translation: X:253.62, Y:-84.54, Z:-4.33 [[ 7.44617581e-01 6.67491314e-01 5.86062685e-05 2.53617229e+02] [-6.67491312e-01 7.44617584e-01 -4.94001982e-05 -8.45386550e+01] [-7.66134613e-05 -2.33491890e-06 9.99999997e-01 -4.33039974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters 0.014612407976919909 Centerline is valid? [True, True] Translation: X:253.66, Y:-84.58, Z:-4.33 [[ 7.42267276e-01 6.70103932e-01 1.02833123e-04 2.53664184e+02] [-6.70103926e-01 7.42267283e-01 -9.00045966e-05 -8.45790956e+01] [-1.36642097e-04 -2.10141246e-06 9.99999991e-01 -4.33209252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters 0.013242641837097752 Centerline is valid? [True, True] Translation: X:253.71, Y:-84.62, Z:-4.33 [[ 7.37321515e-01 6.75541589e-01 7.38038767e-04 2.53712922e+02] [-6.75541250e-01 7.37321884e-01 -6.77376221e-04 -8.46178569e+01] [-1.00176794e-03 8.68430657e-07 9.99999498e-01 -4.33310619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters 0.012765244528076664 Centerline is valid? [True, True] Translation: X:253.76, Y:-84.66, Z:-4.33 [[ 7.32260997e-01 6.81023013e-01 1.21974131e-03 2.53761563e+02] [-6.81022087e-01 7.32262013e-01 -1.12321707e-03 -8.46571677e+01] [-1.65810690e-03 -8.18272122e-06 9.99998625e-01 -4.33464437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters 0.01306782483954855 Centerline is valid? [True, True] Translation: X:253.81, Y:-84.70, Z:-4.34 [[ 7.28664886e-01 6.84868128e-01 1.76950651e-03 2.53808284e+02] [-6.84866182e-01 7.28667034e-01 -1.63284762e-03 -8.46973784e+01] [-2.40766635e-03 -2.20764455e-05 9.99997101e-01 -4.33514768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters 0.014364232984502184 Centerline is valid? [True, True] Translation: X:253.86, Y:-84.74, Z:-4.34 [[ 7.22804256e-01 6.91048002e-01 2.58212421e-03 2.53855706e+02] [-6.91043886e-01 7.22808865e-01 -2.38584788e-03 -8.47367905e+01] [-3.51511768e-03 -5.98601476e-05 9.99993820e-01 -4.33584588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters 0.015810479630483 Centerline is valid? [True, True] Translation: X:253.90, Y:-84.78, Z:-4.34 [[ 7.19061819e-01 6.94939279e-01 3.08199195e-03 2.53902253e+02] [-6.94933432e-01 7.19068418e-01 -2.85235973e-03 -8.47779562e+01] [-4.19837989e-03 -9.07562718e-05 9.99991183e-01 -4.33672926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters 0.01772794467889864 Centerline is valid? [True, True] Translation: X:253.95, Y:-84.82, Z:-4.34 [[ 7.13626708e-01 7.00511097e-01 4.59619443e-03 2.53948748e+02] [-7.00498193e-01 7.13641486e-01 -4.25574078e-03 -8.48174075e+01] [-6.26122866e-03 -1.82615608e-04 9.99980382e-01 -4.33842328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters 0.019784687749072768 Centerline is valid? [True, True] Translation: X:254.00, Y:-84.86, Z:-4.34 [[ 7.12059334e-01 7.02102133e-01 4.90919157e-03 2.53995265e+02] [-7.02087465e-01 7.12076225e-01 -4.54315217e-03 -8.48573572e+01] [-6.68547543e-03 -2.11687955e-04 9.99977630e-01 -4.34086847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters 0.018974107823096484 Centerline is valid? [True, True] Translation: X:254.04, Y:-84.90, Z:-4.34 [[ 7.12718519e-01 7.01432655e-01 4.95418597e-03 2.54038194e+02] [-7.01417675e-01 7.12735708e-01 -4.58863689e-03 -8.49031839e+01] [-6.74964500e-03 -2.04547116e-04 9.99977200e-01 -4.34320153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters 0.01808217708639833 Centerline is valid? [True, True] Translation: X:254.08, Y:-84.95, Z:-4.34 [[ 7.15102933e-01 6.98999157e-01 5.28891533e-03 2.54080214e+02] [-6.98982009e-01 7.15122466e-01 -4.90004945e-03 -8.49486270e+01] [-7.20735260e-03 -1.92816927e-04 9.99974008e-01 -4.34428293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters 0.016148577625243167 Centerline is valid? [True, True] Translation: X:254.12, Y:-84.99, Z:-4.35 [[ 7.18981160e-01 6.95008568e-01 5.40199165e-03 2.54120790e+02] [-6.94990560e-01 7.19001437e-01 -5.00554670e-03 -8.49949265e+01] [-7.36293760e-03 -1.55439426e-04 9.99972881e-01 -4.34562240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters 0.013374385609682711 Centerline is valid? [True, True] Translation: X:254.16, Y:-85.05, Z:-4.35 [[ 7.27004480e-01 6.86608910e-01 5.71761837e-03 2.54156189e+02] [-6.86588469e-01 7.27026959e-01 -5.29861058e-03 -8.50460788e+01] [-7.79493593e-03 -7.35372119e-05 9.99969616e-01 -4.34678715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters 0.012639991682139085 Centerline is valid? [True, True] Translation: X:254.19, Y:-85.10, Z:-4.35 [[ 7.33462744e-01 6.79704439e-01 5.85489570e-03 2.54193766e+02] [-6.79682799e-01 7.33486112e-01 -5.42371593e-03 -8.50960380e+01] [-7.98100847e-03 -1.37832670e-06 9.99968151e-01 -4.34845274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters 0.013847223929195372 Centerline is valid? [True, True] Translation: X:254.23, Y:-85.15, Z:-4.35 [[ 7.40852230e-01 6.71630199e-01 7.13087260e-03 2.54233300e+02] [-6.71597682e-01 7.40886539e-01 -6.60983421e-03 -8.51451082e+01] [-9.72253179e-03 1.07832907e-04 9.99952729e-01 -4.34839000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters 0.015271923682752936 Centerline is valid? [True, True] Translation: X:254.28, Y:-85.19, Z:-4.35 [[ 7.44661238e-01 6.67393461e-01 8.09989821e-03 2.54277107e+02] [-6.67351195e-01 7.44705265e-01 -7.51337759e-03 -8.51895159e+01] [-1.10464159e-02 1.89444311e-04 9.99938969e-01 -4.34907968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters 0.01593644025922671 Centerline is valid? [True, True] Translation: X:254.32, Y:-85.23, Z:-4.35 [[ 7.46850788e-01 6.64939483e-01 8.32968846e-03 2.54321645e+02] [-6.64894631e-01 7.46897202e-01 -7.72656387e-03 -8.52328531e+01] [-1.13591184e-02 2.32225182e-04 9.99935456e-01 -4.34973899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters 0.01800401819205304 Centerline is valid? [True, True] Translation: X:254.37, Y:-85.27, Z:-4.35 [[ 7.49411452e-01 6.62047440e-01 8.69848495e-03 2.54365444e+02] [-6.61998277e-01 7.49461875e-01 -8.07337154e-03 -8.52749044e+01] [-1.18641378e-02 2.91895036e-04 9.99929576e-01 -4.35179722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters 0.018246794354973863 Centerline is valid? [True, True] Translation: X:254.41, Y:-85.31, Z:-4.35 [[ 7.50727845e-01 6.60553146e-01 8.78882922e-03 2.54414159e+02] [-6.60502838e-01 7.50779221e-01 -8.15855218e-03 -8.53141706e+01] [-1.19876277e-02 3.19805662e-04 9.99928095e-01 -4.35441050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters 0.016835013077971497 Centerline is valid? [True, True] Translation: X:254.46, Y:-85.35, Z:-4.36 [[ 7.52128910e-01 6.58951413e-01 9.22708179e-03 2.54463914e+02] [-6.58895789e-01 7.52185417e-01 -8.56955829e-03 -8.53520563e+01] [-1.25873989e-02 3.65727199e-04 9.99920709e-01 -4.35542359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters 0.016895599245130784 Centerline is valid? [True, True] Translation: X:254.51, Y:-85.39, Z:-4.36 [[ 7.51844913e-01 6.59276637e-01 9.14019969e-03 2.54511529e+02] [-6.59222030e-01 7.51900384e-01 -8.49287717e-03 -8.53925190e+01] [-1.24716752e-02 3.59905506e-04 9.99922161e-01 -4.35724114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters 0.017036303601799783 Centerline is valid? [True, True] Translation: X:254.56, Y:-85.43, Z:-4.36 [[ 7.50458540e-01 6.60852562e-01 9.26671906e-03 2.54558299e+02] [-6.60796487e-01 7.50515673e-01 -8.61555279e-03 -8.54326033e+01] [-1.26484280e-02 3.42199765e-04 9.99919947e-01 -4.35953505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters 0.015897320633597722 Centerline is valid? [True, True] Translation: X:254.61, Y:-85.47, Z:-4.36 [[ 7.47361403e-01 6.64343478e-01 9.93363851e-03 2.54608120e+02] [-6.64279274e-01 7.47427354e-01 -9.24106124e-03 -8.54699929e+01] [-1.35639119e-02 3.07702316e-04 9.99907959e-01 -4.36143991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters 0.015464815319756811 Centerline is valid? [True, True] Translation: X:254.65, Y:-85.51, Z:-4.36 [[ 7.46112274e-01 6.65743342e-01 1.01132638e-02 2.54654698e+02] [-6.65676917e-01 7.46180756e-01 -9.40863119e-03 -8.55108450e+01] [-1.38100564e-02 2.87728958e-04 9.99904595e-01 -4.36209173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters 0.01417027229948821 Centerline is valid? [True, True] Translation: X:254.70, Y:-85.55, Z:-4.36 [[ 7.42532465e-01 6.69721758e-01 1.08768710e-02 2.54704365e+02] [-6.69645265e-01 7.42612088e-01 -1.01245417e-02 -8.55481491e+01] [-1.48579217e-02 2.34155680e-04 9.99889588e-01 -4.36233111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters 0.012701749463568366 Centerline is valid? [True, True] Translation: X:254.76, Y:-85.58, Z:-4.36 [[ 7.38018192e-01 6.74675048e-01 1.19468919e-02 2.54755816e+02] [-6.74583388e-01 7.38114867e-01 -1.11218119e-02 -8.55836618e+01] [-1.63217875e-02 1.48924721e-04 9.99866780e-01 -4.36337552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters 0.012164652164186149 Centerline is valid? [True, True] Translation: X:254.81, Y:-85.62, Z:-4.36 [[ 7.34441273e-01 6.78570057e-01 1.17768083e-02 2.54805218e+02] [-6.78481462e-01 7.34535685e-01 -1.09650583e-02 -8.56221050e+01] [-1.60910462e-02 6.28452548e-05 9.99870529e-01 -4.36496248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters 0.012050153125569273 Centerline is valid? [True, True] Translation: X:254.85, Y:-85.66, Z:-4.37 [[ 7.31209252e-01 6.82067943e-01 1.07866047e-02 2.54854217e+02] [-6.81993934e-01 7.31288808e-01 -1.00475419e-02 -8.56613072e+01] [-1.47412295e-02 -9.54335268e-06 9.99891342e-01 -4.36741127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters 0.012173319870562301 Centerline is valid? [True, True] Translation: X:254.90, Y:-85.70, Z:-4.37 [[ 7.27960307e-01 6.85557737e-01 9.18584483e-03 2.54902897e+02] [-6.85504291e-01 7.28018258e-01 -8.56047826e-03 -8.56997699e+01] [-1.25561649e-02 -6.52476611e-05 9.99921166e-01 -4.37031989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters 0.012167628045112068 Centerline is valid? [True, True] Translation: X:254.95, Y:-85.74, Z:-4.37 [[ 7.27910901e-01 6.85621759e-01 8.27789107e-03 2.54949487e+02] [-6.85578326e-01 7.27957966e-01 -7.71741813e-03 -8.57423982e+01] [-1.13171865e-02 -5.75499225e-05 9.99935957e-01 -4.37313280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters 0.01197568727498094 Centerline is valid? [True, True] Translation: X:254.99, Y:-85.79, Z:-4.38 [[ 7.31811015e-01 6.81468325e-01 7.31845880e-03 2.54991552e+02] [-6.81434137e-01 7.31847608e-01 -6.82605146e-03 -8.57901557e+01] [-1.00077344e-02 8.33198966e-06 9.99949921e-01 -4.37538535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters 0.012429562791283813 Centerline is valid? [True, True] Translation: X:255.03, Y:-85.84, Z:-4.38 [[ 7.35966374e-01 6.76975209e-01 7.61995159e-03 2.55032734e+02] [-6.76937856e-01 7.36005816e-01 -7.11185129e-03 -8.58373889e+01] [-1.04228757e-02 7.58497204e-05 9.99945677e-01 -4.37591700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters 0.013562934037284357 Centerline is valid? [True, True] Translation: X:255.07, Y:-85.88, Z:-4.38 [[ 7.40363794e-01 6.72161864e-01 7.73832040e-03 2.55073923e+02] [-6.72123038e-01 7.40404218e-01 -7.22606360e-03 -8.58837177e+01] [-1.05865694e-02 1.48812446e-04 9.99943950e-01 -4.37690948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters 0.015605678511065903 Centerline is valid? [True, True] Translation: X:255.11, Y:-85.93, Z:-4.38 [[ 7.46404028e-01 6.65430809e-01 9.10310068e-03 2.55113106e+02] [-6.65376506e-01 7.46459479e-01 -8.50596900e-03 -8.59312063e+01] [-1.24552296e-02 2.91900195e-04 9.99922388e-01 -4.37576655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters 0.016939598177743525 Centerline is valid? [True, True] Translation: X:255.15, Y:-85.98, Z:-4.38 [[ 7.50011473e-01 6.61350999e-01 9.88161602e-03 2.55154266e+02] [-6.61286644e-01 7.50076464e-01 -9.23431166e-03 -8.59766399e+01] [-1.35190889e-02 3.91258994e-04 9.99908536e-01 -4.37547540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters 0.017542580010094733 Centerline is valid? [True, True] Translation: X:255.20, Y:-86.02, Z:-4.38 [[ 7.51051246e-01 6.60183771e-01 8.91146035e-03 2.55198587e+02] [-6.60131317e-01 7.51104020e-01 -8.33039051e-03 -8.60199938e+01] [-1.21930223e-02 3.73816113e-04 9.99925592e-01 -4.37732917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters 0.017216358484794032 Centerline is valid? [True, True] Translation: X:255.25, Y:-86.06, Z:-4.38 [[ 7.49342231e-01 6.62133225e-01 8.11245380e-03 2.55245135e+02] [-6.62089823e-01 7.49386077e-01 -7.58774089e-03 -8.60618345e+01] [-1.11034553e-02 3.14641596e-04 9.99938305e-01 -4.37920522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters 0.016680724982348544 Centerline is valid? [True, True] Translation: X:255.29, Y:-86.10, Z:-4.38 [[ 7.47300774e-01 6.64433270e-01 8.36561972e-03 2.55290938e+02] [-6.64387253e-01 7.47347541e-01 -7.82502837e-03 -8.61035891e+01] [-1.14512345e-02 2.89638645e-04 9.99934391e-01 -4.37962837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters 0.015841255818962584 Centerline is valid? [True, True] Translation: X:255.34, Y:-86.14, Z:-4.38 [[ 7.45019138e-01 6.66986710e-01 8.67249581e-03 2.55337206e+02] [-6.66937367e-01 7.45069567e-01 -8.11717474e-03 -8.61444321e+01] [-1.18756604e-02 2.63439007e-04 9.99929447e-01 -4.38011323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters 0.013577152613208937 Centerline is valid? [True, True] Translation: X:255.39, Y:-86.18, Z:-4.38 [[ 7.40298971e-01 6.72211071e-01 9.47154860e-03 2.55386025e+02] [-6.72152628e-01 7.40359532e-01 -8.86606780e-03 -8.61824149e+01] [-1.29722202e-02 1.97214583e-04 9.99915838e-01 -4.38004600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters 0.012402753211681775 Centerline is valid? [True, True] Translation: X:255.43, Y:-86.22, Z:-4.38 [[ 7.33904772e-01 6.79187883e-01 9.35976695e-03 2.55433950e+02] [-6.79131360e-01 7.33964450e-01 -8.76249186e-03 -8.62190349e+01] [-1.28211145e-02 7.43233372e-05 9.99917803e-01 -4.38117863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters 0.012016331150676695 Centerline is valid? [True, True] Translation: X:255.48, Y:-86.26, Z:-4.38 [[ 7.29038736e-01 6.84409917e-01 9.25132768e-03 2.55482966e+02] [-6.84355122e-01 7.29097432e-01 -8.66030438e-03 -8.62578070e+01] [-1.26723175e-02 -1.74961286e-05 9.99919703e-01 -4.38219281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters 0.01332793223388571 Centerline is valid? [True, True] Translation: X:255.53, Y:-86.29, Z:-4.38 [[ 7.21970454e-01 6.91858090e-01 9.54183964e-03 2.55533160e+02] [-6.91800385e-01 7.22033490e-01 -8.93676399e-03 -8.62934535e+01] [-1.30725002e-02 -1.48968788e-04 9.99914540e-01 -4.38216580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters 0.015009469456715312 Centerline is valid? [True, True] Translation: X:255.58, Y:-86.33, Z:-4.38 [[ 7.17333796e-01 6.96663572e-01 9.59650961e-03 2.55581646e+02] [-6.96605579e-01 7.17397946e-01 -8.99193377e-03 -8.63319183e+01] [-1.31488690e-02 -2.34764143e-04 9.99913522e-01 -4.38247969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters 0.016092842790765158 Centerline is valid? [True, True] Translation: X:255.63, Y:-86.37, Z:-4.38 [[ 7.15171898e-01 6.98884339e-01 9.47828211e-03 2.55628514e+02] [-6.98827906e-01 7.15234653e-01 -8.88533816e-03 -8.63721789e+01] [-1.29890195e-02 -2.69143886e-04 9.99915603e-01 -4.38413228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters 0.014779457667122686 Centerline is valid? [True, True] Translation: X:255.67, Y:-86.42, Z:-4.39 [[ 7.15462401e-01 6.98596688e-01 8.73036980e-03 2.55672079e+02] [-6.98548776e-01 7.15515624e-01 -8.18531729e-03 -8.64170997e+01] [-1.19649515e-02 -2.42302372e-04 9.99928388e-01 -4.38554111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters 0.013559804309150283 Centerline is valid? [True, True] Translation: X:255.71, Y:-86.46, Z:-4.39 [[ 7.18626680e-01 6.95359035e-01 7.17694969e-03 2.55713444e+02] [-6.95326471e-01 7.18662501e-01 -6.73124356e-03 -8.64638173e+01] [-9.83843564e-03 -1.53071887e-04 9.99951590e-01 -4.38859722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters 0.012211463565046843 Centerline is valid? [True, True] Translation: X:255.75, Y:-86.51, Z:-4.39 [[ 7.25330457e-01 6.88374770e-01 5.99202845e-03 2.55749816e+02] [-6.88351796e-01 7.25355205e-01 -5.62420076e-03 -8.65135431e+01] [-8.21790693e-03 -4.52194329e-05 9.99966231e-01 -4.38955202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters 0.0121586740555934 Centerline is valid? [True, True] Translation: X:255.79, Y:-86.56, Z:-4.39 [[ 7.30459299e-01 6.82933542e-01 5.56684415e-03 2.55789793e+02] [-6.82913574e-01 7.30480511e-01 -5.22235775e-03 -8.65629594e+01] [-7.63299443e-03 1.30463487e-05 9.99970868e-01 -4.39063414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters 0.013032176746896362 Centerline is valid? [True, True] Translation: X:255.83, Y:-86.61, Z:-4.39 [[ 7.35365228e-01 6.77646227e-01 5.79427548e-03 2.55829309e+02] [-6.77624400e-01 7.35388051e-01 -5.43938863e-03 -8.66115659e+01] [-7.94702213e-03 7.35948154e-05 9.99968419e-01 -4.39093034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters 0.015626697962586984 Centerline is valid? [True, True] Translation: X:255.87, Y:-86.66, Z:-4.39 [[ 7.42310725e-01 6.70020853e-01 6.84426465e-03 2.55865777e+02] [-6.69990017e-01 7.42342254e-01 -6.43085675e-03 -8.66620908e+01] [-9.38959497e-03 1.88104952e-04 9.99955899e-01 -4.39068738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters 0.017625770987874285 Centerline is valid? [True, True] Translation: X:255.90, Y:-86.71, Z:-4.39 [[ 7.48210075e-01 6.63424069e-01 7.08429627e-03 2.55904682e+02] [-6.63390745e-01 7.48243560e-01 -6.65538673e-03 -8.67101851e+01] [-9.71612282e-03 2.79970826e-04 9.99952758e-01 -4.39018990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters 0.02000950873118418 Centerline is valid? [True, True] Translation: X:255.94, Y:-86.76, Z:-4.39 [[ 7.51191966e-01 6.60051069e-01 6.57390216e-03 2.55944268e+02] [-6.60022211e-01 7.51220669e-01 -6.17952586e-03 -8.67562226e+01] [-9.01725383e-03 3.03088741e-04 9.99959298e-01 -4.39192517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters 0.0206027913416146 Centerline is valid? [True, True] Translation: X:255.99, Y:-86.80, Z:-4.39 [[ 7.50948114e-01 6.60331003e-01 6.31645332e-03 2.55989145e+02] [-6.60304382e-01 7.50974623e-01 -5.93620118e-03 -8.68006492e+01] [-8.66335383e-03 2.86997277e-04 9.99962431e-01 -4.39287583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters 0.01957263447170292 Centerline is valid? [True, True] Translation: X:256.04, Y:-86.84, Z:-4.39 [[ 7.48463850e-01 6.63148163e-01 6.03153530e-03 2.56035962e+02] [-6.63123939e-01 7.48488112e-01 -5.67342967e-03 -8.68409888e+01] [-8.27685693e-03 2.46701565e-04 9.99965716e-01 -4.39397155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters 0.019106765412072027 Centerline is valid? [True, True] Translation: X:256.08, Y:-86.88, Z:-4.39 [[ 7.47109248e-01 6.64669371e-01 6.51140137e-03 2.56082257e+02] [-6.64641194e-01 7.47137581e-01 -6.12519174e-03 -8.68831861e+01] [-8.93614001e-03 2.48441806e-04 9.99960041e-01 -4.39470455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters 0.017666904088566603 Centerline is valid? [True, True] Translation: X:256.13, Y:-86.92, Z:-4.40 [[ 7.43808781e-01 6.68359472e-01 6.64178241e-03 2.56128865e+02] [-6.68330287e-01 7.43838405e-01 -6.24935373e-03 -8.69228070e+01] [-9.11722759e-03 2.09419830e-04 9.99958415e-01 -4.39520785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters 0.014867247801394406 Centerline is valid? [True, True] Translation: X:256.18, Y:-86.96, Z:-4.40 [[ 7.41241968e-01 6.71215588e-01 5.47528015e-03 2.56178423e+02] [-6.71195849e-01 7.41262176e-01 -5.14958064e-03 -8.69612147e+01] [-7.51509688e-03 1.42099987e-04 9.99971751e-01 -4.39700132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters 0.013166857303853545 Centerline is valid? [True, True] Translation: X:256.23, Y:-87.00, Z:-4.40 [[ 7.36724009e-01 6.76166896e-01 6.00524787e-03 2.56227212e+02] [-6.76143271e-01 7.36748477e-01 -5.65325245e-03 -8.69994422e+01] [-8.24689939e-03 1.04478875e-04 9.99965988e-01 -4.39704034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters 0.012799645106695047 Centerline is valid? [True, True] Translation: X:256.27, Y:-87.04, Z:-4.40 [[ 7.33450693e-01 6.79713627e-01 6.28222692e-03 2.56273760e+02] [-6.79687911e-01 7.33477594e-01 -5.91295658e-03 -8.70387994e+01] [-8.62698985e-03 6.69084024e-05 9.99962785e-01 -4.39930123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters 0.012037502698907411 Centerline is valid? [True, True] Translation: X:256.32, Y:-87.08, Z:-4.40 [[ 7.28338592e-01 6.85189893e-01 6.14053106e-03 2.56322834e+02] [-6.85165497e-01 7.28364477e-01 -5.78194463e-03 -8.70767150e+01] [-8.43427472e-03 3.93339572e-06 9.99964431e-01 -4.40099459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters 0.01209001336959921 Centerline is valid? [True, True] Translation: X:256.37, Y:-87.12, Z:-4.40 [[ 7.24701623e-01 6.89031660e-01 6.55206979e-03 2.56370536e+02] [-6.89004013e-01 7.24731240e-01 -6.17249242e-03 -8.71174934e+01] [-9.00153236e-03 -4.11871117e-05 9.99959485e-01 -4.40169263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters 0.012819517442739129 Centerline is valid? [True, True] Translation: X:256.42, Y:-87.15, Z:-4.40 [[ 7.20419013e-01 6.93505002e-01 6.87441851e-03 2.56418743e+02] [-6.93474726e-01 7.20451804e-01 -6.48089547e-03 -8.71547765e+01] [-9.44722064e-03 -9.82751724e-05 9.99955369e-01 -4.40330382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters 0.01358147199208819 Centerline is valid? [True, True] Translation: X:256.47, Y:-87.20, Z:-4.40 [[ 7.16752164e-01 6.97285092e-01 7.73530283e-03 2.56465765e+02] [-6.97246946e-01 7.16793885e-01 -7.29541139e-03 -8.71959147e+01] [-1.06315994e-02 -1.64414372e-04 9.99943469e-01 -4.40372089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters 0.014602949155820612 Centerline is valid? [True, True] Translation: X:256.51, Y:-87.24, Z:-4.40 [[ 7.12974302e-01 7.01145736e-01 7.89315567e-03 2.56512726e+02] [-7.01106210e-01 7.13017957e-01 -7.44814771e-03 -8.72357508e+01] [-1.08501987e-02 -2.23602544e-04 9.99941110e-01 -4.40473680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters 0.016103876060914367 Centerline is valid? [True, True] Translation: X:256.56, Y:-87.27, Z:-4.41 [[ 7.09554874e-01 7.04621257e-01 6.38475266e-03 2.56560608e+02] [-7.04595503e-01 7.09583565e-01 -6.02835874e-03 -8.72744625e+01] [-8.77822527e-03 -2.21216685e-04 9.99961446e-01 -4.40880617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters 0.01617980285033757 Centerline is valid? [True, True] Translation: X:256.61, Y:-87.32, Z:-4.41 [[ 7.08409346e-01 7.05780951e-01 5.42657691e-03 2.56605254e+02] [-7.05762394e-01 7.08430102e-01 -5.12192160e-03 -8.73169046e+01] [-7.45930513e-03 -2.01456774e-04 9.99972159e-01 -4.41130640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters 0.016236524302205676 Centerline is valid? [True, True] Translation: X:256.65, Y:-87.36, Z:-4.41 [[ 7.09199923e-01 7.04984322e-01 5.70743637e-03 2.56647527e+02] [-7.04963749e-01 7.09222860e-01 -5.38962679e-03 -8.73619624e+01] [-7.84744673e-03 -2.01212837e-04 9.99969188e-01 -4.41190251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters 0.015008404425963386 Centerline is valid? [True, True] Translation: X:256.69, Y:-87.41, Z:-4.41 [[ 7.12659985e-01 7.01468338e-01 7.61032424e-03 2.56687520e+02] [-7.01431487e-01 7.12700586e-01 -7.19331924e-03 -8.74092815e+01] [-1.04697682e-02 -2.11730262e-04 9.99945168e-01 -4.41064195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters 0.013723058432334347 Centerline is valid? [True, True] Translation: X:256.73, Y:-87.46, Z:-4.41 [[ 7.14860121e-01 6.99215342e-01 8.53886992e-03 2.56728768e+02] [-6.99168790e-01 7.14911089e-01 -8.07085473e-03 -8.74558200e+01] [-1.17477982e-02 -2.00579155e-04 9.99930972e-01 -4.41057065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters 0.0131471945337044 Centerline is valid? [True, True] Translation: X:256.77, Y:-87.50, Z:-4.41 [[ 7.16822463e-01 6.97197043e-01 9.04655916e-03 2.56768893e+02] [-6.97144562e-01 7.16879525e-01 -8.55607899e-03 -8.75046680e+01] [-1.24505660e-02 -1.73569910e-04 9.99922474e-01 -4.41022601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters 0.014284488812655234 Centerline is valid? [True, True] Translation: X:256.82, Y:-87.54, Z:-4.42 [[ 7.14022898e-01 7.00102299e-01 5.29841435e-03 2.56815905e+02] [-7.00084388e-01 7.14042543e-01 -5.00960583e-03 -8.75437778e+01] [-7.29052981e-03 -1.32363892e-04 9.99973415e-01 -4.41662005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters 0.015010697530767513 Centerline is valid? [True, True] Translation: X:256.86, Y:-87.58, Z:-4.42 [[ 7.12308588e-01 7.01854707e-01 4.05523894e-03 2.56863493e+02] [-7.01844242e-01 7.12320122e-01 -3.83456541e-03 -8.75837698e+01] [-5.57993608e-03 -1.14752230e-04 9.99984425e-01 -4.41980841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters 0.01473927433768853 Centerline is valid? [True, True] Translation: X:256.91, Y:-87.63, Z:-4.42 [[ 7.11576736e-01 7.02595638e-01 4.23297080e-03 2.56909045e+02] [-7.02584236e-01 7.11589315e-01 -4.00471721e-03 -8.76262038e+01] [-5.82583364e-03 -1.24354953e-04 9.99983022e-01 -4.41968861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters 0.014527522004494569 Centerline is valid? [True, True] Translation: X:256.96, Y:-87.67, Z:-4.42 [[ 7.10418073e-01 7.03758098e-01 5.54092009e-03 2.56955762e+02] [-7.03738563e-01 7.10439660e-01 -5.24636006e-03 -8.76665666e+01] [-7.62865776e-03 -1.72250144e-04 9.99970887e-01 -4.41879260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters 0.01539927540427105 Centerline is valid? [True, True] Translation: X:257.00, Y:-87.71, Z:-4.42 [[ 7.10837265e-01 7.03322754e-01 6.89098878e-03 2.57001855e+02] [-7.03292474e-01 7.10870636e-01 -6.52956405e-03 -8.77068192e+01] [-9.49099255e-03 -2.04923090e-04 9.99954939e-01 -4.41974408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters 0.013985307016958817 Centerline is valid? [True, True] Translation: X:257.04, Y:-87.75, Z:-4.42 [[ 7.12549338e-01 7.01564619e-01 8.97364589e-03 2.57044541e+02] [-7.01513061e-01 7.12605804e-01 -8.50842388e-03 -8.77521136e+01] [-1.23638813e-02 -2.32457987e-04 9.99923537e-01 -4.41807906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters 0.013526451613667322 Centerline is valid? [True, True] Translation: X:257.09, Y:-87.79, Z:-4.42 [[ 7.15388088e-01 6.98664910e-01 9.33958287e-03 2.57088642e+02] [-6.98608751e-01 7.15449026e-01 -8.86024292e-03 -8.77945229e+01] [-1.28723363e-02 -1.86202081e-04 9.99917131e-01 -4.41847251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters 0.0128267573740607 Centerline is valid? [True, True] Translation: X:257.13, Y:-87.84, Z:-4.42 [[ 7.17375459e-01 6.96625668e-01 9.22662039e-03 2.57133341e+02] [-6.96570640e-01 7.17434776e-01 -8.75704134e-03 -8.78378367e+01] [-1.27198781e-02 -1.44906325e-04 9.99919089e-01 -4.41950053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters 0.012476262416217871 Centerline is valid? [True, True] Translation: X:257.18, Y:-87.88, Z:-4.42 [[ 7.19108524e-01 6.94850347e-01 8.11952460e-03 2.57177325e+02] [-6.94807582e-01 7.19154355e-01 -7.70963605e-03 -8.78801373e+01] [-1.11962348e-02 -9.74422531e-05 9.99937315e-01 -4.42150957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters 0.012130386024715292 Centerline is valid? [True, True] Translation: X:257.22, Y:-87.92, Z:-4.42 [[ 7.22172027e-01 6.91681188e-01 6.68567166e-03 2.57221294e+02] [-6.91652040e-01 7.22202972e-01 -6.35003385e-03 -8.79243821e+01] [-9.22061090e-03 -3.83416303e-05 9.99957489e-01 -4.42446737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters 0.012119600143061304 Centerline is valid? [True, True] Translation: X:257.26, Y:-87.97, Z:-4.43 [[ 7.26305423e-01 6.87342484e-01 6.38296446e-03 2.57264469e+02] [-6.87315717e-01 7.26333470e-01 -6.06597082e-03 -8.79690997e+01] [-8.80556018e-03 1.86357042e-05 9.99961230e-01 -4.42723512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters 0.013027146050501945 Centerline is valid? [True, True] Translation: X:257.30, Y:-88.02, Z:-4.43 [[ 7.31117431e-01 6.82218699e-01 6.70439632e-03 2.57304096e+02] [-6.82188925e-01 7.31148165e-01 -6.37428115e-03 -8.80157141e+01] [-9.25056086e-03 8.66831434e-05 9.99957209e-01 -4.42760969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters 0.013582183740399543 Centerline is valid? [True, True] Translation: X:257.35, Y:-88.06, Z:-4.43 [[ 7.34876093e-01 6.78162730e-01 7.24149429e-03 2.57346651e+02] [-6.78127787e-01 7.34911756e-01 -6.88590479e-03 -8.80612351e+01] [-9.99162328e-03 1.49628313e-04 9.99950071e-01 -4.42695223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters 0.01368832324408281 Centerline is valid? [True, True] Translation: X:257.39, Y:-88.10, Z:-4.43 [[ 7.35660612e-01 6.77312497e-01 7.15858892e-03 2.57391846e+02] [-6.77278275e-01 7.35695423e-01 -6.81049639e-03 -8.81030283e+01] [-9.87937542e-03 1.61857189e-04 9.99951185e-01 -4.42847452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters 0.013551834840441234 Centerline is valid? [True, True] Translation: X:257.44, Y:-88.14, Z:-4.43 [[ 7.34754981e-01 6.78297967e-01 6.85457648e-03 2.57438937e+02] [-6.78266608e-01 7.34786940e-01 -6.52394103e-03 -8.81433585e+01] [-9.46182922e-03 1.44267836e-04 9.99955225e-01 -4.42974344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters 0.014021023133541553 Centerline is valid? [True, True] Translation: X:257.48, Y:-88.19, Z:-4.43 [[ 7.34733625e-01 6.78319487e-01 7.01235373e-03 2.57483680e+02] [-6.78286636e-01 7.34767072e-01 -6.67742996e-03 -8.81864483e+01] [-9.68187749e-03 1.49746494e-04 9.99953118e-01 -4.43082473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters 0.014021023133541553 Centerline is valid? [True, True] Translation: X:257.53, Y:-88.23, Z:-4.43 [[ 7.34546531e-01 6.78522103e-01 7.01065866e-03 2.57528806e+02] [-6.78489244e-01 7.34579971e-01 -6.67920886e-03 -8.82295673e+01] [-9.68188027e-03 1.49533208e-04 9.99953118e-01 -4.43181595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters 0.013924157416589256 Centerline is valid? [True, True] Translation: X:257.58, Y:-88.27, Z:-4.43 [[ 7.34622292e-01 6.78439934e-01 7.02455159e-03 2.57575078e+02] [-6.78406906e-01 7.34655860e-01 -6.69611389e-03 -8.82720561e+01] [-9.70353905e-03 1.53610221e-04 9.99952908e-01 -4.43246241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters 0.014388077689846835 Centerline is valid? [True, True] Translation: X:257.62, Y:-88.31, Z:-4.43 [[ 7.36351777e-01 6.76562431e-01 7.02399231e-03 2.57620970e+02] [-6.76529283e-01 7.36385255e-01 -6.69964150e-03 -8.83143808e+01] [-9.70509011e-03 1.81356442e-04 9.99952888e-01 -4.43359718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters 0.01531488986524392 Centerline is valid? [True, True] Translation: X:257.67, Y:-88.36, Z:-4.43 [[ 7.38524557e-01 6.74192656e-01 6.76320843e-03 2.57665788e+02] [-6.74161796e-01 7.38555495e-01 -6.45395772e-03 -8.83575412e+01] [-9.34621565e-03 2.06909529e-04 9.99956302e-01 -4.43491967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters 0.015392754864970286 Centerline is valid? [True, True] Translation: X:257.71, Y:-88.40, Z:-4.44 [[ 7.39949406e-01 6.72630435e-01 6.57077117e-03 2.57711918e+02] [-6.72601220e-01 7.39978546e-01 -6.27302254e-03 -8.83989296e+01] [-9.08165557e-03 2.22210595e-04 9.99958736e-01 -4.43621317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters 0.016378826362971045 Centerline is valid? [True, True] Translation: X:257.76, Y:-88.44, Z:-4.44 [[ 7.40937297e-01 6.71548447e-01 5.88262154e-03 2.57756234e+02] [-6.71524977e-01 7.40960618e-01 -5.61852887e-03 -8.84404416e+01] [-8.13190523e-03 2.12650300e-04 9.99966913e-01 -4.43793920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters 0.016433525948754128 Centerline is valid? [True, True] Translation: X:257.80, Y:-88.48, Z:-4.44 [[ 7.40152063e-01 6.72418082e-01 5.37082868e-03 2.57803399e+02] [-6.72398518e-01 7.40171526e-01 -5.13276733e-03 -8.84817348e+01] [-7.42670002e-03 1.87691089e-04 9.99972404e-01 -4.43917466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters 0.015287714677478765 Centerline is valid? [True, True] Translation: X:257.85, Y:-88.52, Z:-4.44 [[ 7.37852237e-01 6.74947047e-01 4.53433250e-03 2.57852545e+02] [-6.74933155e-01 7.37866157e-01 -4.33251914e-03 -8.85202224e+01] [-6.26995149e-03 1.36387603e-04 9.99980334e-01 -4.44070163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters 0.013888002195388278 Centerline is valid? [True, True] Translation: X:257.90, Y:-88.56, Z:-4.44 [[ 7.33981390e-01 6.79160347e-01 3.54160538e-03 2.57902016e+02] [-6.79151903e-01 7.33989930e-01 -3.38763524e-03 -8.85568829e+01] [-4.90025021e-03 8.11731834e-05 9.99987990e-01 -4.44312747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters 0.012755049862264028 Centerline is valid? [True, True] Translation: X:257.95, Y:-88.59, Z:-4.44 [[ 7.29359640e-01 6.84115789e-01 4.48366157e-03 2.57951026e+02] [-6.84102345e-01 7.29373418e-01 -4.28925372e-03 -8.85941871e+01] [-6.20460976e-03 6.11251498e-05 9.99980749e-01 -4.44408000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters 0.012075410556292692 Centerline is valid? [True, True] Translation: X:258.00, Y:-88.63, Z:-4.44 [[ 7.24561156e-01 6.89190268e-01 5.28259661e-03 2.58000189e+02] [-6.89171755e-01 7.24580412e-01 -5.05155314e-03 -8.86323184e+01] [-7.30914729e-03 1.95428025e-05 9.99973288e-01 -4.44400678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters 0.012009936707705077 Centerline is valid? [True, True] Translation: X:258.05, Y:-88.67, Z:-4.45 [[ 7.21575451e-01 6.92313450e-01 5.56378731e-03 2.58048629e+02] [-6.92292987e-01 7.21596900e-01 -5.32296676e-03 -8.86724859e+01] [-7.69997316e-03 -1.08487997e-05 9.99970355e-01 -4.44530620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters 0.012063632747377281 Centerline is valid? [True, True] Translation: X:258.10, Y:-88.71, Z:-4.45 [[ 7.19297225e-01 6.94679032e-01 5.70474131e-03 2.58096232e+02] [-6.94657568e-01 7.19319846e-01 -5.46106113e-03 -8.87135526e+01] [-7.89721830e-03 -3.47156019e-05 9.99968816e-01 -4.44629913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters 0.012119428500954231 Centerline is valid? [True, True] Translation: X:258.14, Y:-88.75, Z:-4.45 [[ 7.17218335e-01 6.96820241e-01 6.27789561e-03 2.58143831e+02] [-6.96794294e-01 7.17245807e-01 -6.01364198e-03 -8.87541609e+01] [-8.69322176e-03 -6.13075566e-05 9.99962211e-01 -4.44680691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters 0.012350127118551301 Centerline is valid? [True, True] Translation: X:258.19, Y:-88.80, Z:-4.45 [[ 7.16515583e-01 6.97553015e-01 5.02108039e-03 2.58189113e+02] [-6.97536419e-01 7.16533173e-01 -4.81197957e-03 -8.87952725e+01] [-6.95438152e-03 -5.45280887e-05 9.99975817e-01 -4.44982774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters 0.012594369451973314 Centerline is valid? [True, True] Translation: X:258.23, Y:-88.84, Z:-4.45 [[ 7.16444616e-01 6.97630828e-01 4.28246080e-03 2.58234097e+02] [-6.97618743e-01 7.16457413e-01 -4.10665828e-03 -8.88372785e+01] [-5.93313220e-03 -4.53316993e-05 9.99982398e-01 -4.45250045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters 0.012390468671534437 Centerline is valid? [True, True] Translation: X:258.28, Y:-88.88, Z:-4.45 [[ 7.16565499e-01 6.97509682e-01 3.75900682e-03 2.58278176e+02] [-6.97500376e-01 7.16575357e-01 -3.60314715e-03 -8.88817928e+01] [-5.20684167e-03 -4.00177365e-05 9.99986444e-01 -4.45234493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters 0.012094691292793053 Centerline is valid? [True, True] Translation: X:258.32, Y:-88.93, Z:-4.45 [[ 7.17563962e-01 6.96476692e-01 4.70926814e-03 2.58321628e+02] [-6.96462036e-01 7.17579414e-01 -4.51846211e-03 -8.89265937e+01] [-6.52627742e-03 -3.75409012e-05 9.99978703e-01 -4.45229725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters 0.011910162841373332 Centerline is valid? [True, True] Translation: X:258.36, Y:-88.97, Z:-4.45 [[ 7.19649288e-01 6.94308221e-01 6.40282398e-03 2.58363713e+02] [-6.94280997e-01 7.19677771e-01 -6.14845725e-03 -8.89723890e+01] [-8.87689450e-03 -2.06261363e-05 9.99960599e-01 -4.45170539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters 0.01199846315253639 Centerline is valid? [True, True] Translation: X:258.41, Y:-89.02, Z:-4.45 [[ 7.21759624e-01 6.92116247e-01 6.17615336e-03 2.58406690e+02] [-6.92090816e-01 7.21786049e-01 -5.93317858e-03 -8.90188610e+01] [-8.56431062e-03 7.86972761e-06 9.99963326e-01 -4.45321557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters 0.012438634044721788 Centerline is valid? [True, True] Translation: X:258.45, Y:-89.07, Z:-4.45 [[ 7.25730637e-01 6.87943729e-01 6.96199320e-03 2.58446694e+02] [-6.87911173e-01 7.25764026e-01 -6.69305122e-03 -8.90671334e+01] [-9.65720682e-03 6.81194136e-05 9.99953366e-01 -4.45367830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters 0.013401545076034967 Centerline is valid? [True, True] Translation: X:258.49, Y:-89.11, Z:-4.45 [[ 7.29187583e-01 6.84283827e-01 6.41194387e-03 2.58487477e+02] [-6.84256046e-01 7.29215765e-01 -6.16688799e-03 -8.91147550e+01] [-8.89559227e-03 1.09406787e-04 9.99960427e-01 -4.45457092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters 0.0143626125190786 Centerline is valid? [True, True] Translation: X:258.53, Y:-89.16, Z:-4.46 [[ 7.31548123e-01 6.81762613e-01 6.08961068e-03 2.58528640e+02] [-6.81737436e-01 7.31573456e-01 -5.86064974e-03 -8.91606578e+01] [-8.45056941e-03 1.35831744e-04 9.99964284e-01 -4.45646385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters 0.013948369363683233 Centerline is valid? [True, True] Translation: X:258.57, Y:-89.20, Z:-4.46 [[ 7.32178434e-01 6.81082075e-01 6.47678316e-03 2.58572456e+02] [-6.81053562e-01 7.32207064e-01 -6.23396117e-03 -8.92039325e+01] [-8.98818559e-03 1.53335690e-04 9.99959594e-01 -4.45691296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters 0.013958451555954375 Centerline is valid? [True, True] Translation: X:258.62, Y:-89.25, Z:-4.46 [[ 7.31464936e-01 6.81842893e-01 7.02259212e-03 2.58616115e+02] [-6.81809372e-01 7.31498629e-01 -6.76287378e-03 -8.92469843e+01] [-9.74823393e-03 1.58735910e-04 9.99952472e-01 -4.45760200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters 0.013393443421853155 Centerline is valid? [True, True] Translation: X:258.66, Y:-89.29, Z:-4.46 [[ 7.29586939e-01 6.83850669e-01 7.15268559e-03 2.58661881e+02] [-6.83815960e-01 7.29621987e-01 -6.89120277e-03 -8.92894896e+01] [-9.93131029e-03 1.36610967e-04 9.99950674e-01 -4.45804575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters 0.012187791353191485 Centerline is valid? [True, True] Translation: X:258.71, Y:-89.33, Z:-4.46 [[ 7.22153763e-01 6.91688727e-01 7.78763697e-03 2.58709854e+02] [-6.91647972e-01 7.22195752e-01 -7.50860330e-03 -8.93277683e+01] [-1.08178146e-02 3.60628128e-05 9.99941485e-01 -4.45837878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters 0.012069249566512768 Centerline is valid? [True, True] Translation: X:258.76, Y:-89.37, Z:-4.46 [[ 7.17242483e-01 6.96790548e-01 6.79359865e-03 2.58758409e+02] [-6.96759778e-01 7.17274655e-01 -6.54834441e-03 -8.93678730e+01] [-9.43570062e-03 -3.67554812e-05 9.99955482e-01 -4.46060870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters 0.01283134081656497 Centerline is valid? [True, True] Translation: X:258.81, Y:-89.41, Z:-4.46 [[ 7.12795086e-01 7.01348870e-01 5.73828819e-03 2.58805301e+02] [-7.01327042e-01 7.12818179e-01 -5.53389942e-03 -8.94070283e+01] [-7.97155024e-03 -7.98803699e-05 9.99968223e-01 -4.46356913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters 0.014165112939505065 Centerline is valid? [True, True] Translation: X:258.85, Y:-89.45, Z:-4.46 [[ 7.07674397e-01 7.06513521e-01 5.96587818e-03 2.58851601e+02] [-7.06490077e-01 7.07699530e-01 -5.75730570e-03 -8.94476849e+01] [-8.28966351e-03 -1.40535892e-04 9.99965630e-01 -4.46391523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters 0.014610025217736283 Centerline is valid? [True, True] Translation: X:258.90, Y:-89.49, Z:-4.46 [[ 7.04677486e-01 7.09497647e-01 6.53687490e-03 2.58896967e+02] [-7.09469623e-01 7.04707778e-01 -6.30882334e-03 -8.94904268e+01] [-9.08268190e-03 -1.92028402e-04 9.99958733e-01 -4.46387784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters 0.01515860061504854 Centerline is valid? [True, True] Translation: X:258.94, Y:-89.53, Z:-4.46 [[ 7.04302149e-01 7.09861061e-01 7.46706141e-03 2.58940574e+02] [-7.09824470e-01 7.04341697e-01 -7.21085797e-03 -8.95347080e+01] [-1.03780700e-02 -2.21680142e-04 9.99946122e-01 -4.46454807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters 0.014825615207148517 Centerline is valid? [True, True] Translation: X:258.98, Y:-89.58, Z:-4.47 [[ 7.04516553e-01 7.09648984e-01 7.39907331e-03 2.58983914e+02] [-7.09613005e-01 7.04555373e-01 -7.14908411e-03 -8.95787821e+01] [-1.02863971e-02 -2.13830560e-04 9.99947071e-01 -4.46523923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters 0.014591646134132559 Centerline is valid? [True, True] Translation: X:259.03, Y:-89.62, Z:-4.47 [[ 7.05359300e-01 7.08814623e-01 7.07729066e-03 2.59026267e+02] [-7.08781632e-01 7.05394779e-01 -6.84133439e-03 -8.96248229e+01] [-9.84152174e-03 -1.90654780e-04 9.99951553e-01 -4.46761031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters 0.015077926451953568 Centerline is valid? [True, True] Translation: X:259.07, Y:-89.67, Z:-4.47 [[ 7.05112103e-01 7.09069837e-01 6.07355143e-03 2.59070160e+02] [-7.09045534e-01 7.05138241e-01 -5.87303220e-03 -8.96683441e+01] [-8.44708336e-03 -1.65278431e-04 9.99964309e-01 -4.47064921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters 0.01469599189270305 Centerline is valid? [True, True] Translation: X:259.11, Y:-89.71, Z:-4.47 [[ 7.04851000e-01 7.09331196e-01 5.85851491e-03 2.59113823e+02] [-7.09308572e-01 7.04875328e-01 -5.66760274e-03 -8.97134179e+01] [-8.14973005e-03 -1.60679382e-04 9.99966777e-01 -4.47183055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters 0.013946652621740871 Centerline is valid? [True, True] Translation: X:259.15, Y:-89.76, Z:-4.47 [[ 7.06014270e-01 7.08179920e-01 5.00518072e-03 2.59154367e+02] [-7.08163362e-01 7.06032000e-01 -4.84427241e-03 -8.97604263e+01] [-6.96443421e-03 -1.24360162e-04 9.99975740e-01 -4.47348750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters 0.01348780606272332 Centerline is valid? [True, True] Translation: X:259.20, Y:-89.81, Z:-4.47 [[ 7.08457602e-01 7.05730958e-01 5.62495460e-03 2.59195372e+02] [-7.05709940e-01 7.08479924e-01 -5.44776267e-03 -8.98063879e+01] [-7.82982218e-03 -1.10077497e-04 9.99969340e-01 -4.47449504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters 0.012173538567348792 Centerline is valid? [True, True] Translation: X:259.23, Y:-89.86, Z:-4.47 [[ 7.15317435e-01 6.98762392e-01 7.21710281e-03 2.59231681e+02] [-6.98727371e-01 7.15353841e-01 -6.99593232e-03 -8.98568768e+01] [-1.00512766e-02 -3.84749144e-05 9.99949484e-01 -4.47299446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters 0.012688272230632302 Centerline is valid? [True, True] Translation: X:259.27, Y:-89.91, Z:-4.47 [[ 7.23525895e-01 6.90245945e-01 8.41513177e-03 2.59267350e+02] [-6.90197753e-01 7.23574825e-01 -8.15686175e-03 -8.99079956e+01] [-1.17192182e-02 9.35956638e-05 9.99931323e-01 -4.47207759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters 0.01354311946686756 Centerline is valid? [True, True] Translation: X:259.31, Y:-89.95, Z:-4.48 [[ 7.27004739e-01 6.86593008e-01 7.35872758e-03 2.59311350e+02] [-6.86555942e-01 7.27041968e-01 -7.13550342e-03 -8.99509436e+01] [-1.02492905e-02 1.35366656e-04 9.99947465e-01 -4.47550604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters 0.014297091049402695 Centerline is valid? [True, True] Translation: X:259.36, Y:-90.00, Z:-4.48 [[ 7.29599596e-01 6.83851876e-01 5.57137005e-03 2.59355269e+02] [-6.83830526e-01 7.29620856e-01 -5.40534304e-03 -8.99954118e+01] [-7.76144176e-03 1.33863191e-04 9.99969871e-01 -4.47670079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters 0.015454577757667483 Centerline is valid? [True, True] Translation: X:259.40, Y:-90.04, Z:-4.48 [[ 7.31683468e-01 6.81634259e-01 3.74685878e-03 2.59398505e+02] [-6.81624586e-01 7.31693054e-01 -3.63291637e-03 -9.00384913e+01] [-5.21787081e-03 1.04193780e-04 9.99986381e-01 -4.47933346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters 0.01691571019352868 Centerline is valid? [True, True] Translation: X:259.44, Y:-90.08, Z:-4.48 [[ 7.37766618e-01 6.75045093e-01 3.81300062e-03 2.59443586e+02] [-6.75034977e-01 7.37776455e-01 -3.69892730e-03 -9.00800350e+01] [-5.31008481e-03 1.55036294e-04 9.99985889e-01 -4.47908549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters 0.01754414176084451 Centerline is valid? [True, True] Translation: X:259.49, Y:-90.12, Z:-4.48 [[ 7.38779034e-01 6.73932219e-01 4.57193474e-03 2.59488086e+02] [-6.73917638e-01 7.38793155e-01 -4.43762380e-03 -9.01234345e+01] [-6.36837175e-03 1.97315964e-04 9.99979702e-01 -4.47918415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters 0.01848742170495303 Centerline is valid? [True, True] Translation: X:259.53, Y:-90.17, Z:-4.48 [[ 7.40170262e-01 6.72399424e-01 5.19585350e-03 2.59533240e+02] [-6.72380530e-01 7.40188460e-01 -5.04648526e-03 -9.01662395e+01] [-7.23916458e-03 2.41667592e-04 9.99973768e-01 -4.47787718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters 0.019322181860616704 Centerline is valid? [True, True] Translation: X:259.58, Y:-90.21, Z:-4.48 [[ 7.38778509e-01 6.73923332e-01 5.80157684e-03 2.59579980e+02] [-6.73899794e-01 7.38801244e-01 -5.63822896e-03 -9.02064484e+01] [-8.08594623e-03 2.55720945e-04 9.99967276e-01 -4.47919950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters 0.01677057335898927 Centerline is valid? [True, True] Translation: X:259.63, Y:-90.24, Z:-4.48 [[ 7.36647414e-01 6.76253545e-01 5.63301758e-03 2.59629990e+02] [-6.76231404e-01 7.36668917e-01 -5.47682979e-03 -9.02443499e+01] [-7.85339452e-03 2.25269117e-04 9.99969136e-01 -4.48010245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters 0.015922691896478828 Centerline is valid? [True, True] Translation: X:259.68, Y:-90.28, Z:-4.48 [[ 7.33274570e-01 6.79906230e-01 5.99367319e-03 2.59677576e+02] [-6.79881239e-01 7.33299037e-01 -5.83291715e-03 -9.02824662e+01] [-8.36099149e-03 2.02143863e-04 9.99965026e-01 -4.48063354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters 0.015172895142865494 Centerline is valid? [True, True] Translation: X:259.73, Y:-90.32, Z:-4.48 [[ 7.30938209e-01 6.82419058e-01 5.79335439e-03 2.59725253e+02] [-6.82395804e-01 7.30961149e-01 -5.63608942e-03 -9.03225123e+01] [-8.08089182e-03 1.66272379e-04 9.99967335e-01 -4.48175914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters 0.013687832994399053 Centerline is valid? [True, True] Translation: X:259.77, Y:-90.36, Z:-4.48 [[ 7.27678429e-01 6.85894333e-01 5.75053743e-03 2.59774927e+02] [-6.85871491e-01 7.27701139e-01 -5.59917947e-03 -9.03599350e+01] [-8.02511810e-03 1.30272435e-04 9.99967790e-01 -4.48260703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters 0.013151058275981384 Centerline is valid? [True, True] Translation: X:259.82, Y:-90.40, Z:-4.48 [[ 7.24854692e-01 6.88872375e-01 6.36599304e-03 2.59821202e+02] [-6.88844504e-01 7.24882638e-01 -6.19753917e-03 -9.03994180e+01] [-8.88391135e-03 1.07136031e-04 9.99960532e-01 -4.48351084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters 0.012387687013335053 Centerline is valid? [True, True] Translation: X:259.87, Y:-90.44, Z:-4.49 [[ 7.21489446e-01 6.92407154e-01 5.03112448e-03 2.59869378e+02] [-6.92389825e-01 7.21506986e-01 -4.89892075e-03 -9.04384324e+01] [-7.02203923e-03 5.10202241e-05 9.99975344e-01 -4.48710083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters 0.012097035413891908 Centerline is valid? [True, True] Translation: X:259.92, Y:-90.48, Z:-4.49 [[ 7.18291963e-01 6.95730426e-01 3.97860142e-03 2.59915052e+02] [-6.95719634e-01 7.18302982e-01 -3.87512148e-03 -9.04795223e+01] [-5.55388119e-03 1.54774900e-05 9.99984577e-01 -4.48883511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters 0.012159823662080245 Centerline is valid? [True, True] Translation: X:259.96, Y:-90.52, Z:-4.49 [[ 7.17682967e-01 6.96361954e-01 3.34480378e-03 2.59960511e+02] [-6.96354335e-01 7.17690761e-01 -3.25758269e-03 -9.05234280e+01] [-4.66899141e-03 8.74299949e-06 9.99989100e-01 -4.49023244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters 0.012422248762197783 Centerline is valid? [True, True] Translation: X:260.00, Y:-90.57, Z:-4.49 [[ 7.17894788e-01 6.96143126e-01 3.43841093e-03 2.60003766e+02] [-6.96135060e-01 7.17903022e-01 -3.35115587e-03 -9.05674843e+01] [-4.80132972e-03 1.21789344e-05 9.99988473e-01 -4.49325497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters 0.012332872968935916 Centerline is valid? [True, True] Translation: X:260.05, Y:-90.61, Z:-4.49 [[ 7.19218323e-01 6.94771498e-01 4.19154133e-03 2.60046922e+02] [-6.94759470e-01 7.19230536e-01 -4.08832719e-03 -9.06138924e+01] [-5.85513773e-03 2.82867933e-05 9.99982858e-01 -4.49192863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters 0.012518995048519012 Centerline is valid? [True, True] Translation: X:260.09, Y:-90.66, Z:-4.49 [[ 7.20854124e-01 6.93065283e-01 5.46301743e-03 2.60089176e+02] [-6.93044765e-01 7.20874822e-01 -5.33330601e-03 -9.06609930e+01] [-7.63448096e-03 5.84200072e-05 9.99970855e-01 -4.49059976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters 0.012708012080681034 Centerline is valid? [True, True] Translation: X:260.13, Y:-90.71, Z:-4.49 [[ 7.21963048e-01 6.91904253e-01 6.15324368e-03 2.60132551e+02] [-6.91878144e-01 7.21989265e-01 -6.01130464e-03 -9.07073365e+01] [-8.60182313e-03 8.26449997e-05 9.99963000e-01 -4.49062570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters 0.012782809537026905 Centerline is valid? [True, True] Translation: X:260.18, Y:-90.75, Z:-4.49 [[ 7.21250126e-01 6.92647209e-01 6.17248825e-03 2.60175551e+02] [-6.92620933e-01 7.21276533e-01 -6.03374725e-03 -9.07525076e+01] [-8.63132912e-03 7.66463940e-05 9.99962746e-01 -4.49167657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters 0.012454789173342572 Centerline is valid? [True, True] Translation: X:260.22, Y:-90.80, Z:-4.49 [[ 7.19453086e-01 6.94515406e-01 5.96716111e-03 2.60219932e+02] [-6.94490888e-01 7.19477830e-01 -5.83606022e-03 -9.07959404e+01] [-8.34647386e-03 5.46325174e-05 9.99965166e-01 -4.49256787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters 0.011990076096385176 Centerline is valid? [True, True] Translation: X:260.27, Y:-90.84, Z:-4.49 [[ 7.15614671e-01 6.98473285e-01 5.54189354e-03 2.60265617e+02] [-6.98452238e-01 7.15636129e-01 -5.42232073e-03 -9.08386718e+01] [-7.75332541e-03 9.54432122e-06 9.99969942e-01 -4.49349724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters 0.012165711127324662 Centerline is valid? [True, True] Translation: X:260.31, Y:-90.88, Z:-4.50 [[ 7.10863102e-01 7.03311224e-01 5.19354656e-03 2.60311063e+02] [-7.03292850e-01 7.10882072e-01 -5.08393798e-03 -9.08794117e+01] [-7.26758978e-03 -3.86002427e-05 9.99973590e-01 -4.49592507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters 0.012344924074693151 Centerline is valid? [True, True] Translation: X:260.36, Y:-90.92, Z:-4.50 [[ 7.09205811e-01 7.04985353e-01 4.77165236e-03 2.60356173e+02] [-7.04969871e-01 7.09221862e-01 -4.67252133e-03 -9.09227525e+01] [-6.67821927e-03 -5.00918727e-05 9.99977699e-01 -4.49699332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters 0.012567717343362414 Centerline is valid? [True, True] Translation: X:260.40, Y:-90.97, Z:-4.50 [[ 7.06463204e-01 7.07734693e-01 4.62014706e-03 2.60400581e+02] [-7.07720224e-01 7.06478308e-01 -4.52604827e-03 -9.09661586e+01] [-6.46727506e-03 -7.22849452e-05 9.99979084e-01 -4.49731474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters 0.012991461879721274 Centerline is valid? [True, True] Translation: X:260.44, Y:-91.01, Z:-4.50 [[ 7.04441406e-01 7.09748562e-01 4.39133226e-03 2.60443965e+02] [-7.09735518e-01 7.04455088e-01 -4.30380041e-03 -9.10103107e+01] [-6.14811251e-03 -8.49092647e-05 9.99981097e-01 -4.49852910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters 0.013361631300354013 Centerline is valid? [True, True] Translation: X:260.49, Y:-91.05, Z:-4.50 [[ 7.04619189e-01 7.09567256e-01 5.10953834e-03 2.60485986e+02] [-7.09549566e-01 7.04637708e-01 -5.01134714e-03 -9.10543536e+01] [-7.15626123e-03 -9.43793549e-05 9.99974389e-01 -4.49922043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters 0.012646875765652913 Centerline is valid? [True, True] Translation: X:260.53, Y:-91.10, Z:-4.50 [[ 7.05757531e-01 7.08425254e-01 6.32185616e-03 2.60527286e+02] [-7.08398093e-01 7.05785838e-01 -6.20421204e-03 -9.11005941e+01] [-8.85709704e-03 -9.97214768e-05 9.99960770e-01 -4.49768632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters 0.012013540203838212 Centerline is valid? [True, True] Translation: X:260.57, Y:-91.15, Z:-4.50 [[ 7.09099969e-01 7.05078047e-01 6.49477090e-03 2.60565690e+02] [-7.05049209e-01 7.09129709e-01 -6.37718935e-03 -9.11500151e+01] [-9.10205121e-03 -5.70683204e-05 9.99958574e-01 -4.49842489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters 0.012008755825475078 Centerline is valid? [True, True] Translation: X:260.61, Y:-91.20, Z:-4.50 [[ 7.10071209e-01 7.04107837e-01 5.57063481e-03 2.60608203e+02] [-7.04086581e-01 7.10093059e-01 -5.47127542e-03 -9.11969109e+01] [-7.80803701e-03 -3.72140663e-05 9.99969516e-01 -4.50023436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters 0.01211120075975488 Centerline is valid? [True, True] Translation: X:260.65, Y:-91.24, Z:-4.50 [[ 7.10267351e-01 7.03918522e-01 4.35944088e-03 2.60650843e+02] [-7.03905491e-01 7.10280729e-01 -4.28324291e-03 -9.12417013e+01] [-6.11148087e-03 -2.63867820e-05 9.99981324e-01 -4.50269604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters 0.012262195731690082 Centerline is valid? [True, True] Translation: X:260.69, Y:-91.29, Z:-4.51 [[ 7.09350757e-01 7.04848975e-01 3.07023018e-03 2.60692788e+02] [-7.04842519e-01 7.09357401e-01 -3.01675724e-03 -9.12859208e+01] [-4.30424875e-03 -2.40897386e-05 9.99990736e-01 -4.50577850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters 0.012164711808324572 Centerline is valid? [True, True] Translation: X:260.74, Y:-91.33, Z:-4.51 [[ 7.08985622e-01 7.05217387e-01 2.79737549e-03 2.60735921e+02] [-7.05212031e-01 7.08991140e-01 -2.74856278e-03 -9.13314240e+01] [-3.92164870e-03 -2.40513571e-05 9.99992310e-01 -4.50555904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters 0.012285703184680394 Centerline is valid? [True, True] Translation: X:260.78, Y:-91.38, Z:-4.51 [[ 7.08684110e-01 7.05521189e-01 2.58536895e-03 2.60779355e+02] [-7.05516606e-01 7.08688826e-01 -2.54304153e-03 -9.13755200e+01] [-3.62639177e-03 -2.18075998e-05 9.99993424e-01 -4.50711412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters 0.01236770930931181 Centerline is valid? [True, True] Translation: X:260.82, Y:-91.42, Z:-4.51 [[ 7.06874475e-01 7.07334383e-01 2.55874288e-03 2.60824241e+02] [-7.07329908e-01 7.06879105e-01 -2.51638688e-03 -9.14179865e+01] [-3.58864884e-03 -3.11057054e-05 9.99993560e-01 -4.50738804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters 0.01287343035613395 Centerline is valid? [True, True] Translation: X:260.87, Y:-91.46, Z:-4.51 [[ 7.04320291e-01 7.09876255e-01 2.93789386e-03 2.60869598e+02] [-7.09870367e-01 7.04326416e-01 -2.89156998e-03 -9.14604980e+01] [-4.12189312e-03 -4.89323864e-05 9.99991504e-01 -4.50868284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters 0.012909642462393144 Centerline is valid? [True, True] Translation: X:260.91, Y:-91.50, Z:-4.51 [[ 7.03155881e-01 7.11023936e-01 4.09512596e-03 2.60914968e+02] [-7.11012496e-01 7.03167802e-01 -4.03407249e-03 -9.15044203e+01] [-5.74788282e-03 -7.51039355e-05 9.99983478e-01 -4.50787192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters 0.013002000856533288 Centerline is valid? [True, True] Translation: X:260.96, Y:-91.55, Z:-4.51 [[ 7.03143168e-01 7.11026480e-01 5.57042614e-03 2.60959488e+02] [-7.11005267e-01 7.03165226e-01 -5.49320956e-03 -9.15477092e+01] [-7.82274741e-03 -9.80895497e-05 9.99969397e-01 -4.50830952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters 0.012501566195429635 Centerline is valid? [True, True] Translation: X:261.00, Y:-91.59, Z:-4.51 [[ 7.04609567e-01 7.09576777e-01 5.11426480e-03 2.61001924e+02] [-7.09558844e-01 7.04628123e-01 -5.04530363e-03 -9.15930905e+01] [-7.18368510e-03 -7.39026131e-05 9.99974194e-01 -4.50951865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters 0.012382603158110352 Centerline is valid? [True, True] Translation: X:261.05, Y:-91.64, Z:-4.51 [[ 7.05406159e-01 7.08787444e-01 4.74443691e-03 2.61045857e+02] [-7.08771983e-01 7.05422112e-01 -4.68194788e-03 -9.16385396e+01] [-6.66533658e-03 -6.00490822e-05 9.99977785e-01 -4.51037652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters 0.012321310760119957 Centerline is valid? [True, True] Translation: X:261.09, Y:-91.68, Z:-4.51 [[ 7.06226041e-01 7.07976824e-01 3.68730500e-03 2.61089482e+02] [-7.07967469e-01 7.06235666e-01 -3.63973036e-03 -9.16818394e+01] [-5.18095104e-03 -4.00196286e-05 9.99986578e-01 -4.51237595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters 0.012417489799968434 Centerline is valid? [True, True] Translation: X:261.13, Y:-91.72, Z:-4.51 [[ 7.06427100e-01 7.07781421e-01 2.49239409e-03 2.61133062e+02] [-7.07777145e-01 7.06431497e-01 -2.46031979e-03 -9.17239667e+01] [-3.50207432e-03 -2.60230020e-05 9.99993867e-01 -4.51465516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters 0.012317094635859343 Centerline is valid? [True, True] Translation: X:261.18, Y:-91.77, Z:-4.51 [[ 7.06204996e-01 7.08004561e-01 2.01127872e-03 2.61177424e+02] [-7.08001781e-01 7.06207859e-01 -1.98422708e-03 -9.17684031e+01] [-2.82522267e-03 -2.27178424e-05 9.99996009e-01 -4.51364442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters 0.012379224032324446 Centerline is valid? [True, True] Translation: X:261.22, Y:-91.81, Z:-4.51 [[ 7.05911962e-01 7.08298028e-01 1.48496620e-03 2.61222982e+02] [-7.08296515e-01 7.05913524e-01 -1.46425518e-03 -9.18115343e+01] [-2.08538678e-03 -1.81611330e-05 9.99997825e-01 -4.51451465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters 0.01245281373085571 Centerline is valid? [True, True] Translation: X:261.27, Y:-91.85, Z:-4.52 [[ 7.05095589e-01 7.09111363e-01 1.13400986e-03 2.61267950e+02] [-7.09110481e-01 7.05096501e-01 -1.11803504e-03 -9.18544341e+01] [-1.59239773e-03 -1.58167073e-05 9.99998732e-01 -4.51543087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters 0.012550268246719114 Centerline is valid? [True, True] Translation: X:261.31, Y:-91.90, Z:-4.52 [[ 7.04010312e-01 7.10188890e-01 1.10510863e-03 2.61313907e+02] [-7.10188055e-01 7.04011179e-01 -1.08932221e-03 -9.18972117e+01] [-1.55163336e-03 -1.79408838e-05 9.99998796e-01 -4.51618980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters 0.012570654768114467 Centerline is valid? [True, True] Translation: X:261.36, Y:-91.94, Z:-4.51 [[ 7.02893129e-01 7.11294156e-01 1.36844671e-03 2.61359017e+02] [-7.11292873e-01 7.02894461e-01 -1.35099622e-03 -9.19407486e+01] [-1.92282933e-03 -2.37604323e-05 9.99998151e-01 -4.51494743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters 0.013406626291943198 Centerline is valid? [True, True] Translation: X:261.40, Y:-91.98, Z:-4.52 [[ 7.01384155e-01 7.12782508e-01 1.16790781e-03 2.61404611e+02] [-7.12781573e-01 7.01385127e-01 -1.15455033e-03 -9.19808224e+01] [-1.64209645e-03 -2.26798528e-05 9.99998652e-01 -4.51696794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters 0.013042596710590373 Centerline is valid? [True, True] Translation: X:261.45, Y:-92.02, Z:-4.52 [[ 7.00092818e-01 7.14051035e-01 1.07908661e-03 2.61448887e+02] [-7.14050240e-01 7.00093650e-01 -1.06609225e-03 -9.20237002e+01] [-1.51670596e-03 -2.41585218e-05 9.99998850e-01 -4.51581324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters 0.01301286487917576 Centerline is valid? [True, True] Translation: X:261.49, Y:-92.07, Z:-4.52 [[ 6.99802990e-01 7.14334964e-01 1.15532793e-03 2.61493553e+02] [-7.14334053e-01 6.99803943e-01 -1.14117926e-03 -9.20681101e+01] [-1.62368728e-03 -2.66894242e-05 9.99998681e-01 -4.51612682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters 0.013217731857706094 Centerline is valid? [True, True] Translation: X:261.54, Y:-92.11, Z:-4.52 [[ 6.98666925e-01 7.15445583e-01 1.46484401e-03 2.61539711e+02] [-7.15444114e-01 6.98668460e-01 -1.45011187e-03 -9.21095335e+01] [-2.06091644e-03 -3.48688259e-05 9.99997876e-01 -4.51713035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters 0.013819715997566491 Centerline is valid? [True, True] Translation: X:261.58, Y:-92.15, Z:-4.52 [[ 6.97997731e-01 7.16099637e-01 6.90736693e-04 2.61584674e+02] [-7.16099313e-01 6.97998073e-01 -6.81646691e-04 -9.21505355e+01] [-9.70259829e-04 -1.88482268e-05 9.99999529e-01 -4.51974658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters 0.013840442708627809 Centerline is valid? [True, True] Translation: X:261.63, Y:-92.19, Z:-4.52 [[ 6.97272632e-01 7.16806024e-01 -6.66257460e-06 2.61629322e+02] [-7.16806024e-01 6.97272632e-01 1.20970771e-05 -9.21939026e+01] [ 1.33168887e-05 -3.65918718e-06 1.00000000e+00 -4.52109641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters 0.013407810437600741 Centerline is valid? [True, True] Translation: X:261.67, Y:-92.24, Z:-4.52 [[ 6.97954596e-01 7.16141918e-01 -3.67404700e-04 2.61672146e+02] [-7.16141822e-01 6.97954692e-01 3.71225339e-04 -9.22389441e+01] [ 5.22281861e-04 4.01544012e-06 9.99999864e-01 -4.52209744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters 0.013422345043505547 Centerline is valid? [True, True] Translation: X:261.71, Y:-92.28, Z:-4.52 [[ 6.98926396e-01 7.15193600e-01 -8.30298650e-05 2.61714194e+02] [-7.15193595e-01 6.98926401e-01 8.77715679e-05 -9.22829140e+01] [ 1.20805428e-04 -1.96343801e-06 9.99999993e-01 -4.52298359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters 0.013714870747155829 Centerline is valid? [True, True] Translation: X:261.76, Y:-92.33, Z:-4.52 [[ 6.99269166e-01 7.14858468e-01 6.15622065e-05 2.61757397e+02] [-7.14858466e-01 6.99269169e-01 -5.63064619e-05 -9.23260769e+01] [-8.32997041e-05 -4.63489186e-06 9.99999997e-01 -4.52468177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters 0.012834151468343097 Centerline is valid? [True, True] Translation: X:261.80, Y:-92.37, Z:-4.52 [[ 7.01233600e-01 7.12930665e-01 1.14199520e-03 2.61798545e+02] [-7.12929766e-01 7.01234530e-01 -1.13264674e-03 -9.23726297e+01] [-1.60830506e-03 -1.99124199e-05 9.99998706e-01 -4.52351405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters 0.012461960466354493 Centerline is valid? [True, True] Translation: X:261.84, Y:-92.42, Z:-4.52 [[ 7.02822330e-01 7.11362352e-01 2.09206058e-03 2.61840675e+02] [-7.11359302e-01 7.02825443e-01 -2.08321648e-03 -9.24190098e+01] [-2.95227518e-03 -2.40756902e-05 9.99995642e-01 -4.52327648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters 0.012442715822240866 Centerline is valid? [True, True] Translation: X:261.88, Y:-92.46, Z:-4.53 [[ 7.03130351e-01 7.11059083e-01 1.64038371e-03 2.61884355e+02] [-7.11057215e-01 7.03132264e-01 -1.62995395e-03 -9.24629131e+01] [-2.31240027e-03 -2.03365765e-05 9.99997326e-01 -4.52654675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters 0.012418708502146728 Centerline is valid? [True, True] Translation: X:261.93, Y:-92.51, Z:-4.53 [[ 7.05464204e-01 7.08744627e-01 1.14474629e-03 2.61926445e+02] [-7.08743717e-01 7.05465132e-01 -1.13598909e-03 -9.25096083e+01] [-1.61270476e-03 -9.93209802e-06 9.99998700e-01 -4.52868005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters 0.012099701649048217 Centerline is valid? [True, True] Translation: X:261.97, Y:-92.56, Z:-4.53 [[ 7.07738819e-01 7.06468637e-01 2.79795455e-03 2.61968959e+02] [-7.06463126e-01 7.07744350e-01 -2.79037611e-03 -9.25557295e+01] [-3.95154973e-03 -1.79422560e-06 9.99992193e-01 -4.52826101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters 0.012263908642883932 Centerline is valid? [True, True] Translation: X:262.01, Y:-92.60, Z:-4.53 [[ 7.08108618e-01 7.06093847e-01 3.69667001e-03 2.62012120e+02] [-7.06084228e-01 7.08118267e-01 -3.68560417e-03 -9.26002561e+01] [-5.22006198e-03 -3.52316141e-07 9.99986375e-01 -4.52826529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters 0.012255644487212707 Centerline is valid? [True, True] Translation: X:262.06, Y:-92.64, Z:-4.53 [[ 7.07236348e-01 7.06968785e-01 3.44734482e-03 2.62056948e+02] [-7.06960427e-01 7.07244750e-01 -3.43781014e-03 -9.26442719e+01] [-4.86854099e-03 -5.79207364e-06 9.99988149e-01 -4.53038593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters 0.012292275293140757 Centerline is valid? [True, True] Translation: X:262.10, Y:-92.69, Z:-4.53 [[ 7.05586741e-01 7.08611511e-01 4.13246968e-03 2.62102380e+02] [-7.08599507e-01 7.05598843e-01 -4.12455775e-03 -9.26880917e+01] [-5.83857492e-03 -1.80327186e-05 9.99982955e-01 -4.53133245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters 0.012410451646210881 Centerline is valid? [True, True] Translation: X:262.15, Y:-92.73, Z:-4.53 [[ 7.03998005e-01 7.10187377e-01 4.54953332e-03 2.62148714e+02] [-7.10172841e-01 7.04012705e-01 -4.54395296e-03 -9.27311314e+01] [-6.42998729e-03 -3.20211785e-05 9.99979327e-01 -4.53244084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters 0.012433167982005234 Centerline is valid? [True, True] Translation: X:262.74, Y:-92.32, Z:-3.56 [[ 7.62941776e-01 -6.46227639e-01 -1.75978999e-02 2.62738070e+02] [-6.46013423e-01 -7.63143478e-01 1.66939919e-02 -9.23166695e+01] [-2.42178415e-02 -1.36806424e-03 -9.99705769e-01 -3.55593303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters 0.012755754071100621 Centerline is valid? [True, True] Translation: X:262.76, Y:-92.34, Z:-3.56 [[ 8.12584191e-01 -5.82573103e-01 -1.77626660e-02 2.62759669e+02] [-5.82394197e-01 -8.12777025e-01 1.45088608e-02 -9.23420984e+01] [-2.28895588e-02 -1.44479733e-03 -9.99736956e-01 -3.55801226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters 0.012592301072170393 Centerline is valid? [True, True] Translation: X:262.78, Y:-92.37, Z:-3.56 [[ 8.56463996e-01 -5.15932145e-01 -1.68358165e-02 2.62782039e+02] [-5.15798470e-01 -8.56628226e-01 1.18330529e-02 -9.23674406e+01] [-2.05270880e-02 -1.45069545e-03 -9.99788245e-01 -3.56109990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters 0.013427015824486535 Centerline is valid? [True, True] Translation: X:262.80, Y:-92.39, Z:-3.56 [[ 8.95002479e-01 -4.45775259e-01 -1.59681266e-02 2.62804987e+02] [-4.45674661e-01 -8.95143726e-01 9.58160590e-03 -9.23932431e+01] [-1.85650112e-02 -1.45897162e-03 -9.99826591e-01 -3.56123523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters 0.012978711573226494 Centerline is valid? [True, True] Translation: X:262.83, Y:-92.41, Z:-3.56 [[ 9.27436647e-01 -3.73670969e-01 -1.52076411e-02 2.62831789e+02] [-3.73594678e-01 -9.27560191e-01 7.68820812e-03 -9.24145788e+01] [-1.69788627e-02 -1.44883217e-03 -9.99854799e-01 -3.56274984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters 0.01391762327971015 Centerline is valid? [True, True] Translation: X:262.86, Y:-92.44, Z:-3.56 [[ 9.54489328e-01 -2.97858924e-01 -1.51718511e-02 2.62859377e+02] [-2.97796404e-01 -9.54608762e-01 6.27800491e-03 -9.24358506e+01] [-1.63531417e-02 -1.47416599e-03 -9.99865192e-01 -3.56329587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters 0.015181294715961052 Centerline is valid? [True, True] Translation: X:262.89, Y:-92.45, Z:-3.56 [[ 9.75650037e-01 -2.18673574e-01 -1.69962532e-02 2.62889753e+02] [-2.18612299e-01 -9.75796822e-01 5.40592741e-03 -9.24531907e+01] [-1.77670233e-02 -1.55870330e-03 -9.99840939e-01 -3.56129889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters 0.014984663831256791 Centerline is valid? [True, True] Translation: X:262.92, Y:-92.47, Z:-3.56 [[ 9.90135232e-01 -1.38937870e-01 -1.81242841e-02 2.62921511e+02] [-1.38884444e-01 -9.90299772e-01 4.18001811e-03 -9.24690967e+01] [-1.85292373e-02 -1.62160207e-03 -9.99827004e-01 -3.56070116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters 0.01473940827970281 Centerline is valid? [True, True] Translation: X:262.95, Y:-92.48, Z:-3.56 [[ 9.97933892e-01 -6.19691764e-02 -1.69637089e-02 2.62952776e+02] [-6.19334021e-02 -9.98076828e-01 2.62666231e-03 -9.24800482e+01] [-1.70938569e-02 -1.57061514e-03 -9.99852656e-01 -3.56262483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters 0.01373325778901178 Centerline is valid? [True, True] Translation: X:262.98, Y:-92.49, Z:-3.57 [[ 9.99801596e-01 1.35353371e-02 -1.46138293e-02 2.62983454e+02] [ 1.35554030e-02 -9.99907309e-01 1.27489336e-03 -9.24880289e+01] [-1.45952186e-02 -1.47273676e-03 -9.99892400e-01 -3.56556288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters 0.013117910288234837 Centerline is valid? [True, True] Translation: X:263.01, Y:-92.49, Z:-3.57 [[ 9.95975869e-01 8.84273078e-02 -1.45835268e-02 2.63014350e+02] [ 8.84385847e-02 -9.96081623e-01 1.28909892e-04 -9.24939325e+01] [-1.45149839e-02 -1.41813761e-03 -9.99893646e-01 -3.56675261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters 0.012720630411734718 Centerline is valid? [True, True] Translation: X:263.05, Y:-92.50, Z:-3.57 [[ 9.86232017e-01 1.64632482e-01 -1.55741819e-02 2.63046367e+02] [ 1.64634301e-01 -9.86353977e-01 -1.17407075e-03 -9.24991154e+01] [-1.55549465e-02 -1.40613839e-03 -9.99878026e-01 -3.56524699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters 0.013025737111064991 Centerline is valid? [True, True] Translation: X:263.08, Y:-92.50, Z:-3.57 [[ 9.70205357e-01 2.41788859e-01 -1.54826301e-02 2.63078231e+02] [ 2.41781005e-01 -9.70327862e-01 -2.40533942e-03 -9.25021207e+01] [-1.56048116e-02 -1.40973266e-03 -9.99877244e-01 -3.56673652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters 0.013274884649182932 Centerline is valid? [True, True] Translation: X:263.11, Y:-92.50, Z:-3.57 [[ 9.48072602e-01 3.17651786e-01 -1.59901463e-02 2.63109332e+02] [ 3.17631654e-01 -9.48206361e-01 -3.85085306e-03 -9.25025456e+01] [-1.63851888e-02 -1.42808835e-03 -9.99864734e-01 -3.56711824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters 0.013157422966775249 Centerline is valid? [True, True] Translation: X:263.14, Y:-92.50, Z:-3.57 [[ 9.20133587e-01 3.91260961e-01 -1.64025233e-02 2.63141491e+02] [ 3.91226264e-01 -9.20278643e-01 -5.40647430e-03 -9.25009757e+01] [-1.72102342e-02 -1.44241933e-03 -9.99850853e-01 -3.56643921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters 0.013153398458197327 Centerline is valid? [True, True] Translation: X:263.17, Y:-92.49, Z:-3.57 [[ 8.86777040e-01 4.61913875e-01 -1.61880448e-02 2.63172976e+02] [ 4.61865923e-01 -8.86923617e-01 -6.80929191e-03 -9.24947330e+01] [-1.75028656e-02 -1.43838251e-03 -9.99845778e-01 -3.56725736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters 0.012881583072605444 Centerline is valid? [True, True] Translation: X:263.20, Y:-92.48, Z:-3.57 [[ 8.48875683e-01 5.28358108e-01 -1.57412137e-02 2.63202182e+02] [ 5.28297219e-01 -8.49020459e-01 -8.14298901e-03 -9.24841880e+01] [-1.76670267e-02 -1.40365405e-03 -9.99842941e-01 -3.56790688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters 0.012616053327578782 Centerline is valid? [True, True] Translation: X:263.23, Y:-92.47, Z:-3.57 [[ 8.06087592e-01 5.91634408e-01 -1.38391009e-02 2.63228089e+02] [ 5.91575158e-01 -8.06205249e-01 -8.48112682e-03 -9.24698033e+01] [-1.61748822e-02 -1.35033720e-03 -9.99868266e-01 -3.56951085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters 0.012370757345313493 Centerline is valid? [True, True] Translation: X:263.26, Y:-92.46, Z:-3.57 [[ 7.57591945e-01 6.52619422e-01 -1.19304098e-02 2.63255633e+02] [ 6.52565041e-01 -7.57684721e-01 -8.52830165e-03 -9.24557400e+01] [-1.46052245e-02 -1.32439573e-03 -9.99892461e-01 -3.57171427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters 0.012647110101392698 Centerline is valid? [True, True] Translation: X:263.28, Y:-92.44, Z:-3.57 [[ 7.03410028e-01 7.10690317e-01 -1.15588238e-02 2.63282262e+02] [ 7.10624426e-01 -7.03503713e-01 -9.76994143e-03 -9.24424501e+01] [-1.50750782e-02 -1.34170776e-03 -9.99885464e-01 -3.57217527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters 0.013200638410044863 Centerline is valid? [True, True] Translation: X:263.31, Y:-92.43, Z:-3.57 [[ 6.42630049e-01 7.66083531e-01 -1.19433565e-02 2.63309169e+02] [ 7.65990539e-01 -6.42739448e-01 -1.20206863e-02 -9.24264086e+01] [-1.68853162e-02 -1.42364384e-03 -9.99856419e-01 -3.57056367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters 0.013678657503154503 Centerline is valid? [True, True] Translation: X:263.33, Y:-92.41, Z:-3.57 [[ 5.78704341e-01 8.15458949e-01 -1.13131697e-02 2.63334383e+02] [ 8.15350226e-01 -5.78813042e-01 -1.33966903e-02 -9.24077378e+01] [-1.74726612e-02 -1.47147264e-03 -9.99846259e-01 -3.57060203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters 0.01407805868858405 Centerline is valid? [True, True] Translation: X:263.36, Y:-92.39, Z:-3.57 [[ 5.12169453e-01 8.58821538e-01 -1.03931192e-02 2.63356441e+02] [ 8.58700218e-01 -5.12272720e-01 -1.45119349e-02 -9.23866571e+01] [-1.77872737e-02 -1.49200394e-03 -9.99840681e-01 -3.57076424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters 0.01359541676906758 Centerline is valid? [True, True] Translation: X:263.38, Y:-92.36, Z:-3.57 [[ 4.44012282e-01 8.95973589e-01 -9.18808225e-03 2.63375166e+02] [ 8.95845544e-01 -4.44104892e-01 -1.52186273e-02 -9.23634634e+01] [-1.77159604e-02 -1.47384511e-03 -9.99841974e-01 -3.57180533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters 0.01368907766679171 Centerline is valid? [True, True] Translation: X:263.39, Y:-92.34, Z:-3.57 [[ 3.73800583e-01 9.27474058e-01 -8.06200375e-03 2.63389920e+02] [ 9.27334996e-01 -3.73884706e-01 -1.61254790e-02 -9.23394611e+01] [-1.79702233e-02 -1.44846479e-03 -9.99837473e-01 -3.57300550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters 0.013578851578076758 Centerline is valid? [True, True] Translation: X:263.40, Y:-92.31, Z:-3.57 [[ 3.00276041e-01 9.53821531e-01 -7.66726386e-03 2.63400856e+02] [ 9.53625276e-01 -3.00370243e-01 -1.94048823e-02 -9.23130487e+01] [-2.08118124e-02 -1.48487538e-03 -9.99782308e-01 -3.57111532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters 0.014100266988528481 Centerline is valid? [True, True] Translation: X:263.41, Y:-92.29, Z:-3.57 [[ 2.24555800e-01 9.74440009e-01 -6.43134418e-03 2.63411478e+02] [ 9.74210506e-01 -2.24642840e-01 -2.12010530e-02 -9.22878795e+01] [-2.21039096e-02 -1.50466365e-03 -9.99754546e-01 -3.57057053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters 0.014100266988528481 Centerline is valid? [True, True] Translation: X:263.42, Y:-92.26, Z:-3.57 [[ 1.47542553e-01 9.89044351e-01 -4.73994240e-03 2.63419082e+02] [ 9.88809683e-01 -1.47611044e-01 -2.15960604e-02 -9.22615610e+01] [-2.20591294e-02 -1.50056306e-03 -9.99755542e-01 -3.57139101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters 0.013855758225816655 Centerline is valid? [True, True] Translation: X:263.42, Y:-92.23, Z:-3.57 [[ 7.08487767e-02 9.97482273e-01 -3.09287400e-03 2.63420887e+02] [ 9.97226668e-01 -7.09007856e-02 -2.26285567e-02 -9.22343756e+01] [-2.27908713e-02 -1.48109088e-03 -9.99739157e-01 -3.57213841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters 0.012642297705860967 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.21, Z:-3.57 [[-3.96086458e-03 9.99991311e-01 -1.29980490e-03 2.63425700e+02] [ 9.99754867e-01 3.93160674e-03 -2.17887060e-02 -9.22072928e+01] [-2.17834064e-02 -1.38578839e-03 -9.99761753e-01 -3.57389280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters 0.012514683261617098 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.18, Z:-3.57 [[-8.08568140e-02 9.96725648e-01 3.96832725e-04 2.63430431e+02] [ 9.96493169e-01 8.08465419e-02 -2.15685047e-02 -9.21812656e+01] [-2.15299644e-02 -1.34851948e-03 -9.99767294e-01 -3.57430544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters 0.01176216517888296 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.15, Z:-3.58 [[-1.50758868e-01 9.88568809e-01 1.86403010e-03 2.63429492e+02] [ 9.88367601e-01 1.50765855e-01 -1.99785561e-02 -9.21545809e+01] [-2.00312095e-02 -1.16959755e-03 -9.99798671e-01 -3.57754992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters 0.0118078212702641 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.13, Z:-3.58 [[-2.25195221e-01 9.74308509e-01 3.16887361e-03 2.63430456e+02] [ 9.74130501e-01 2.25214758e-01 -1.86569214e-02 -9.21285232e+01] [-1.88912744e-02 -1.11455311e-03 -9.99820923e-01 -3.57888444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters 0.012151192036472849 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.10, Z:-3.58 [[-2.96498570e-01 9.55020444e-01 4.95481763e-03 2.63431274e+02] [ 9.54824037e-01 2.96538215e-01 -1.93944660e-02 -9.21004689e+01] [-1.99914043e-02 -1.01945248e-03 -9.99799632e-01 -3.57781144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters 0.012570026710193034 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.07, Z:-3.58 [[-3.66803675e-01 9.30274049e-01 6.72733318e-03 2.63430114e+02] [ 9.30067999e-01 3.66864175e-01 -1.96008866e-02 -9.20721622e+01] [-2.07022137e-02 -9.32799939e-04 -9.99785251e-01 -3.57776619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters 0.013906859882063867 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.05, Z:-3.58 [[-4.33143812e-01 9.01287176e-01 8.23804773e-03 2.63426109e+02] [ 9.01087279e-01 4.33221396e-01 -1.89983808e-02 -9.20463020e+01] [-2.06918955e-02 -8.05831070e-04 -9.99785575e-01 -3.57774929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters 0.015074629676796255 Centerline is valid? [True, True] Translation: X:263.42, Y:-92.02, Z:-3.58 [[-4.99567784e-01 8.66220545e-01 9.69523007e-03 2.63417524e+02] [ 8.66027986e-01 4.99661313e-01 -1.82784096e-02 -9.20222290e+01] [-2.06774653e-02 -7.34963997e-04 -9.99785928e-01 -3.57844862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters 0.015442218790081693 Centerline is valid? [True, True] Translation: X:263.41, Y:-92.00, Z:-3.58 [[-5.63414004e-01 8.26101956e-01 1.09643914e-02 2.63409566e+02] [ 8.25921665e-01 5.63520277e-01 -1.72714165e-02 -9.19960506e+01] [-2.04466079e-02 -6.75229488e-04 -9.99790718e-01 -3.57987085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters 0.016191610446076404 Centerline is valid? [True, True] Translation: X:263.40, Y:-91.97, Z:-3.58 [[-6.25760351e-01 7.79920503e-01 1.21652459e-02 2.63397490e+02] [ 7.79752253e-01 6.25878243e-01 -1.62126351e-02 -9.19724928e+01] [-2.02585292e-02 -6.59346319e-04 -9.99794558e-01 -3.58077292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters 0.01582029404482803 Centerline is valid? [True, True] Translation: X:263.39, Y:-91.95, Z:-3.58 [[-6.84932940e-01 7.28491429e-01 1.29269418e-02 2.63387062e+02] [ 7.28342890e-01 6.85054588e-01 -1.47256898e-02 -9.19457669e+01] [-1.95831996e-02 -6.70863854e-04 -9.99808006e-01 -3.58122334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters 0.015552056963548548 Centerline is valid? [True, True] Translation: X:263.37, Y:-91.92, Z:-3.58 [[-7.41325161e-01 6.71013275e-01 1.33488069e-02 2.63371869e+02] [ 6.70886527e-01 7.41444978e-01 -1.30618845e-02 -9.19213709e+01] [-1.86621038e-02 -7.27568951e-04 -9.99825583e-01 -3.58289503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters 0.014505899494363598 Centerline is valid? [True, True] Translation: X:263.39, Y:-91.89, Z:-3.59 [[-7.89582815e-01 6.13515400e-01 1.25631003e-02 2.63387792e+02] [ 6.13422753e-01 7.89682416e-01 -1.06867863e-02 -9.18933990e+01] [-1.64773674e-02 -7.31611243e-04 -9.99863971e-01 -3.58505887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters 0.013666518968010492 Centerline is valid? [True, True] Translation: X:263.41, Y:-91.87, Z:-3.58 [[-8.33094202e-01 5.52958975e-01 1.37993620e-02 2.63408125e+02] [ 5.52867295e-01 8.33208111e-01 -1.00993986e-02 -9.18697998e+01] [-1.70822935e-02 -7.84534498e-04 -9.99853779e-01 -3.58413450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters 0.012666320697445159 Centerline is valid? [True, True] Translation: X:263.42, Y:-91.84, Z:-3.58 [[-8.72798455e-01 4.87839601e-01 1.53421434e-02 2.63422217e+02] [ 4.87746502e-01 8.72932854e-01 -9.56982119e-03 -9.18388020e+01] [-1.80611988e-02 -8.69448359e-04 -9.99836505e-01 -3.58309433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters 0.012402952221441848 Centerline is valid? [True, True] Translation: X:263.43, Y:-91.81, Z:-3.58 [[-9.06442246e-01 4.22032014e-01 1.58566388e-02 2.63434442e+02] [ 4.21949434e-01 9.06580458e-01 -8.39927549e-03 -9.18112474e+01] [-1.79200820e-02 -9.22758376e-04 -9.99838997e-01 -3.58410838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters 0.012377249461964382 Centerline is valid? [True, True] Translation: X:263.44, Y:-91.78, Z:-3.58 [[-9.35141661e-01 3.53904564e-01 1.61751184e-02 2.63440619e+02] [ 3.53833409e-01 9.35281032e-01 -7.16306729e-03 -9.17792131e+01] [-1.76633236e-02 -9.75185347e-04 -9.99843516e-01 -3.58423429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters 0.012463612186195978 Centerline is valid? [True, True] Translation: X:263.45, Y:-91.75, Z:-3.58 [[-9.58140044e-01 2.85818490e-01 1.65965933e-02 2.63451450e+02] [ 2.85757568e-01 9.58283262e-01 -5.98353348e-03 -9.17532368e+01] [-1.76144421e-02 -9.90460886e-04 -9.99844363e-01 -3.58383241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters 0.012386562307345474 Centerline is valid? [True, True] Translation: X:263.45, Y:-91.73, Z:-3.58 [[-9.76089655e-01 2.16712226e-01 1.68759164e-02 2.63453786e+02] [ 2.16662084e-01 9.76235022e-01 -4.76689328e-03 -9.17250854e+01] [-1.75079047e-02 -9.96543988e-04 -9.99846228e-01 -3.58429551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters 0.012417337349072773 Centerline is valid? [True, True] Translation: X:263.62, Y:-91.08, Z:-4.58 [[-9.58665444e-01 -2.84357196e-01 -1.00773251e-02 2.63617589e+02] [ 2.84350086e-01 -9.58718079e-01 2.16166601e-03 -9.10844277e+01] [-1.02759991e-02 -7.93173767e-04 9.99946886e-01 -4.58156490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters 0.012381556034853091 Centerline is valid? [True, True] Translation: X:263.41, Y:-91.72, Z:-3.59 [[-9.76938182e-01 2.12954694e-01 1.55591320e-02 2.63407451e+02] [ 2.12911364e-01 9.77061568e-01 -4.40940609e-03 -9.17152021e+01] [-1.61412336e-02 -9.95001158e-04 -9.99869227e-01 -3.58625634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters 0.012378860253424289 Centerline is valid? [True, True] Translation: X:263.57, Y:-91.07, Z:-4.58 [[-9.59710272e-01 -2.80754784e-01 -1.15301440e-02 2.63567505e+02] [ 2.80744473e-01 -9.59779197e-01 2.53656323e-03 -9.10724983e+01] [-1.17785446e-02 -8.02658397e-04 9.99930308e-01 -4.57982152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters 0.012489129292757424 Centerline is valid? [True, True] Translation: X:263.36, Y:-91.71, Z:-3.58 [[-9.77696023e-01 2.09073403e-01 1.99699376e-02 2.63362186e+02] [ 2.09008802e-01 9.77899438e-01 -5.29237768e-03 -9.17076950e+01] [-2.06350861e-02 -1.00044388e-03 -9.99786573e-01 -3.58328597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters 0.012536057032102003 Centerline is valid? [True, True] Translation: X:263.37, Y:-91.69, Z:-3.58 [[-9.89442269e-01 1.43375814e-01 2.11511905e-02 2.63366395e+02] [ 1.43323454e-01 9.89667902e-01 -3.97884006e-03 -9.16859044e+01] [-2.15031237e-02 -9.05370857e-04 -9.99768371e-01 -3.58341238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters 0.012627847907977907 Centerline is valid? [True, True] Translation: X:263.48, Y:-91.02, Z:-4.59 [[-9.79249016e-01 -2.02577237e-01 -5.81621703e-03 2.63478860e+02] [ 2.02577954e-01 -9.79266026e-01 4.71797191e-04 -9.10213264e+01] [-5.79119911e-03 -7.16230408e-04 9.99982974e-01 -4.58516144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters 0.013226907663630934 Centerline is valid? [True, True] Translation: X:263.32, Y:-91.68, Z:-3.59 [[-9.88963051e-01 1.46660483e-01 2.10424763e-02 2.63319883e+02] [ 1.46611105e-01 9.89186605e-01 -3.87878978e-03 -9.16849938e+01] [-2.13838008e-02 -7.50919075e-04 -9.99771058e-01 -3.58548198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters 0.01567633268963403 Centerline is valid? [True, True] Translation: X:263.44, Y:-91.00, Z:-4.58 [[-9.83579402e-01 -1.80346036e-01 -6.84601877e-03 2.63435310e+02] [ 1.80344557e-01 -9.83603141e-01 8.37888031e-04 -9.10040297e+01] [-6.88487535e-03 -4.10512816e-04 9.99976215e-01 -4.58347799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters 0.01881053960648335 Centerline is valid? [True, True] Translation: X:263.28, Y:-91.70, Z:-3.59 [[-9.85821709e-01 1.66844847e-01 1.78425266e-02 2.63276996e+02] [ 1.66811337e-01 9.85983105e-01 -3.36070023e-03 -9.16962679e+01] [-1.81531453e-02 -3.36715526e-04 -9.99835161e-01 -3.59033037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters 0.020190445530920958 Centerline is valid? [True, True] Translation: X:263.28, Y:-91.67, Z:-3.59 [[-9.94795000e-01 1.00267180e-01 1.81493754e-02 2.63279861e+02] [ 1.00245877e-01 9.94960516e-01 -2.08202453e-03 -9.16701796e+01] [-1.82666706e-02 -2.51787536e-04 -9.99833119e-01 -3.59102796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters 0.020054344574307152 Centerline is valid? [True, True] Translation: X:263.27, Y:-91.64, Z:-3.59 [[-9.99395285e-01 2.91097808e-02 1.90180078e-02 2.63274275e+02] [ 2.91002511e-02 9.99576195e-01 -7.77691547e-04 -9.16387267e+01] [-1.90325863e-02 -2.23792463e-04 -9.99818839e-01 -3.59103667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters 0.018494389285250948 Centerline is valid? [True, True] Translation: X:263.27, Y:-91.61, Z:-3.59 [[-9.98754037e-01 -4.58014495e-02 1.98141746e-02 2.63267246e+02] [-4.57977050e-02 9.98950528e-01 6.42945821e-04 -9.16075662e+01] [-1.98228280e-02 -2.65298988e-04 -9.99803473e-01 -3.59187977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters 0.016893531409781108 Centerline is valid? [True, True] Translation: X:263.22, Y:-90.92, Z:-4.58 [[-9.99168500e-01 4.03335558e-02 -5.95931401e-03 2.63221926e+02] [-4.03284005e-02 -9.99185996e-01 -9.82768309e-04 -9.09163631e+01] [-5.99410164e-03 -7.41621534e-04 9.99981760e-01 -4.58282199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters 0.0147895618465082 Centerline is valid? [True, True] Translation: X:263.17, Y:-91.60, Z:-3.59 [[-9.97430324e-01 -6.75944278e-02 2.37432374e-02 2.63174135e+02] [-6.75880985e-02 9.97712736e-01 1.06988333e-03 -9.15993583e+01] [-2.37612485e-02 -5.37626188e-04 -9.99717517e-01 -3.58987090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters 0.012992328342469517 Centerline is valid? [True, True] Translation: X:263.16, Y:-91.57, Z:-3.59 [[-9.88703253e-01 -1.48404912e-01 2.10204661e-02 2.63158586e+02] [-1.48388052e-01 9.88926376e-01 2.36826983e-03 -9.15673145e+01] [-2.11391563e-02 -7.77669935e-04 -9.99776241e-01 -3.59350217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters 0.012554758319023493 Centerline is valid? [True, True] Translation: X:263.14, Y:-91.54, Z:-3.59 [[-9.73285307e-01 -2.28774693e-01 1.94383914e-02 2.63136164e+02] [-2.28749402e-01 9.73478889e-01 3.54463646e-03 -9.15353518e+01] [-1.97337868e-02 -9.96577819e-04 -9.99804773e-01 -3.59492104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters 0.014974447462869746 Centerline is valid? [True, True] Translation: X:263.11, Y:-91.50, Z:-3.59 [[-9.48936481e-01 -3.14831265e-01 2.00207098e-02 2.63106140e+02] [-3.14791377e-01 9.49146665e-01 5.19579620e-03 -9.15012722e+01] [-2.06383890e-02 -1.37186624e-03 -9.99786065e-01 -3.59483569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters 0.01628993590736723 Centerline is valid? [True, True] Translation: X:263.07, Y:-91.48, Z:-3.59 [[-9.22019266e-01 -3.86538848e-01 2.16377538e-02 2.63070800e+02] [-3.86470803e-01 9.22271860e-01 7.41182908e-03 -9.14797063e+01] [-2.28208513e-02 -1.52851088e-03 -9.99738402e-01 -3.59238708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters 0.01628993590736723 Centerline is valid? [True, True] Translation: X:263.02, Y:-91.47, Z:-3.59 [[-8.91560453e-01 -4.52413933e-01 2.10140869e-02 2.63024968e+02] [-4.52328151e-01 8.91806752e-01 8.94203137e-03 -9.14707748e+01] [-2.27860041e-02 -1.53290151e-03 -9.99739190e-01 -3.59320566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters 0.016512508123529494 Centerline is valid? [True, True] Translation: X:262.96, Y:-91.47, Z:-3.59 [[-8.56272675e-01 -5.16093036e-01 2.10970167e-02 2.62962293e+02] [-5.15980258e-01 8.56531125e-01 1.08997503e-02 -9.14737803e+01] [-2.36955366e-02 -1.55248579e-03 -9.99718016e-01 -3.59343375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters 0.015783858273851602 Centerline is valid? [True, True] Translation: X:262.90, Y:-91.49, Z:-3.59 [[-8.16488757e-01 -5.76985935e-01 2.08168397e-02 2.62897960e+02] [-5.76845756e-01 8.16752616e-01 1.28116380e-02 -9.14857357e+01] [-2.43943432e-02 -1.54754723e-03 -9.99701216e-01 -3.59432174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters 0.014731101965936006 Centerline is valid? [True, True] Translation: X:262.83, Y:-91.51, Z:-3.59 [[-7.74386499e-01 -6.32378524e-01 2.05658221e-02 2.62829306e+02] [-6.32204177e-01 7.74658185e-01 1.49189386e-02 -9.15092076e+01] [-2.53658988e-02 -1.44877398e-03 -9.99677184e-01 -3.59495967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters 0.012785215554667802 Centerline is valid? [True, True] Translation: X:262.76, Y:-91.55, Z:-3.60 [[-7.33714681e-01 -6.79151246e-01 2.04046934e-02 2.62758735e+02] [-6.78930710e-01 7.33997487e-01 1.73429801e-02 -9.15498623e+01] [-2.67555002e-02 -1.12857391e-03 -9.99641370e-01 -3.59543349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters 0.013300586320816528 Centerline is valid? [True, True] Translation: X:262.69, Y:-91.60, Z:-3.60 [[-6.91916811e-01 -7.21771467e-01 1.72358824e-02 2.62691320e+02] [-7.21573683e-01 6.92131063e-01 1.69118845e-02 -9.16004047e+01] [-2.41360053e-02 -7.35341981e-04 -9.99708414e-01 -3.60006952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters 0.016159293478499755 Centerline is valid? [True, True] Translation: X:262.62, Y:-91.66, Z:-3.60 [[-6.47146331e-01 -7.62228815e-01 1.44519525e-02 2.62621828e+02] [-7.62053182e-01 6.47307543e-01 1.63673942e-02 -9.16606272e+01] [-2.18305573e-02 -4.21057269e-04 -9.99761596e-01 -3.60393934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters 0.018967303962926094 Centerline is valid? [True, True] Translation: X:262.55, Y:-91.73, Z:-3.61 [[-5.96795235e-01 -8.02280588e-01 1.34649534e-02 2.62548815e+02] [-8.02081872e-01 5.96947098e-01 1.78558845e-02 -9.17275574e+01] [-2.23632944e-02 -1.43688181e-04 -9.99749900e-01 -3.60528525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters 0.02345564566654183 Centerline is valid? [True, True] Translation: X:262.48, Y:-91.81, Z:-3.61 [[-5.40607511e-01 -8.41179039e-01 1.27020632e-02 2.62476424e+02] [-8.40942831e-01 5.40756706e-01 1.99334194e-02 -9.18072323e+01] [-2.36363005e-02 9.44473063e-05 -9.99720619e-01 -3.60608000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters 0.025052760897892466 Centerline is valid? [True, True] Translation: X:262.40, Y:-91.89, Z:-3.61 [[-4.79844147e-01 -8.77274748e-01 1.17733472e-02 2.62402133e+02] [-8.76994723e-01 4.79988458e-01 2.21660917e-02 -9.18932087e+01] [-2.50968233e-02 3.11105943e-04 -9.99684977e-01 -3.60722992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters 0.024150620148111923 Centerline is valid? [True, True] Translation: X:262.33, Y:-91.99, Z:-3.61 [[-4.11364106e-01 -9.11416179e-01 1.00060996e-02 2.62329114e+02] [-9.11127997e-01 4.11485665e-01 2.29198657e-02 -9.19865525e+01] [-2.50069029e-02 3.11572568e-04 -9.99687230e-01 -3.60905005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters 0.024940026189623484 Centerline is valid? [True, True] Translation: X:262.27, Y:-92.09, Z:-3.61 [[-3.39498839e-01 -9.40569850e-01 8.30033551e-03 2.62265626e+02] [-9.40266344e-01 3.39600151e-01 2.38943275e-02 -9.20870509e+01] [-2.52930792e-02 3.07570320e-04 -9.99680032e-01 -3.61075445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters 0.021269134133347016 Centerline is valid? [True, True] Translation: X:262.20, Y:-92.19, Z:-3.61 [[-2.62643182e-01 -9.64871570e-01 6.43529298e-03 2.62202015e+02] [-9.64561902e-01 2.62721923e-01 2.44443960e-02 -9.21938323e+01] [-2.52763953e-02 2.12915521e-04 -9.99680478e-01 -3.61335838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters 0.020394021704163875 Centerline is valid? [True, True] Translation: X:262.15, Y:-92.31, Z:-3.62 [[-1.82027456e-01 -9.83283362e-01 4.45374600e-03 2.62149559e+02] [-9.82983560e-01 1.82081929e-01 2.42794543e-02 -9.23091109e+01] [-2.46845301e-02 4.15681961e-05 -9.99695290e-01 -3.61586340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters 0.017408054174907754 Centerline is valid? [True, True] Translation: X:262.10, Y:-92.43, Z:-3.62 [[-9.31052271e-02 -9.95653236e-01 2.45977478e-03 2.62100305e+02] [-9.95392745e-01 9.31371371e-02 2.27762411e-02 -9.24304596e+01] [-2.29063345e-02 -3.27854865e-04 -9.99737562e-01 -3.61945932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters 0.013751731406739824 Centerline is valid? [True, True] Translation: X:262.06, Y:-92.56, Z:-3.62 [[-1.46112339e-03 -9.99998667e-01 7.28515754e-04 2.62056699e+02] [-9.99782658e-01 1.47595773e-03 2.07956274e-02 -9.25593869e+01] [-2.07966749e-02 -6.97972439e-04 -9.99783482e-01 -3.62258279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters 0.012294085961124327 Centerline is valid? [True, True] Translation: X:262.02, Y:-92.68, Z:-3.62 [[ 8.91462479e-02 -9.96018229e-01 -7.95972345e-04 2.62021334e+02] [-9.95818550e-01 -8.91443332e-02 1.99675697e-02 -9.26783329e+01] [-1.99590199e-02 -9.87389893e-04 -9.99800311e-01 -3.62401870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters 0.012737559953440532 Centerline is valid? [True, True] Translation: X:262.00, Y:-92.81, Z:-3.63 [[ 1.72665032e-01 -9.84978125e-01 -2.20896939e-03 2.62002816e+02] [-9.84792502e-01 -1.72675451e-01 1.91550501e-02 -9.28068080e+01] [-1.92487401e-02 -1.13203085e-03 -9.99814085e-01 -3.62590086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters 0.014332539677906944 Centerline is valid? [True, True] Translation: X:261.99, Y:-92.92, Z:-3.63 [[ 2.56642407e-01 -9.66500798e-01 -3.29895382e-03 2.61990654e+02] [-9.66344620e-01 -2.56660401e-01 1.74216279e-02 -9.29244962e+01] [-1.76847280e-02 -1.28320223e-03 -9.99842790e-01 -3.62882034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters 0.016138319362329553 Centerline is valid? [True, True] Translation: X:261.99, Y:-93.04, Z:-3.63 [[ 3.34541337e-01 -9.42368080e-01 -4.94923825e-03 2.61991127e+02] [-9.42195119e-01 -3.34575037e-01 1.81080404e-02 -9.30428694e+01] [-1.87203308e-02 -1.39473991e-03 -9.99823786e-01 -3.62938651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters 0.017740788845001344 Centerline is valid? [True, True] Translation: X:262.00, Y:-93.17, Z:-3.63 [[ 4.08484630e-01 -9.12732188e-01 -7.76274992e-03 2.62003820e+02] [-9.12488486e-01 -4.08555424e-01 2.11477874e-02 -9.31652549e+01] [-2.24737799e-02 -1.55512620e-03 -9.99746223e-01 -3.62670442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters 0.017971771470600705 Centerline is valid? [True, True] Translation: X:262.02, Y:-93.27, Z:-3.63 [[ 4.77010570e-01 -8.78845230e-01 -9.59050326e-03 2.62023891e+02] [-8.78596806e-01 -4.77104391e-01 2.09535885e-02 -9.32719861e+01] [-2.29906325e-02 -1.56889765e-03 -9.99734449e-01 -3.62784535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters 0.015686682086624215 Centerline is valid? [True, True] Translation: X:262.06, Y:-93.37, Z:-3.63 [[ 5.39433090e-01 -8.41950888e-01 -1.14299892e-02 2.62055607e+02] [-8.41700238e-01 -5.39552113e-01 2.05967590e-02 -9.33718999e+01] [-2.35085343e-02 -1.48994866e-03 -9.99722526e-01 -3.62912845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters 0.014283801656551062 Centerline is valid? [True, True] Translation: X:262.10, Y:-93.47, Z:-3.63 [[ 5.98172813e-01 -8.01260177e-01 -1.30925023e-02 2.62095007e+02] [-8.01015832e-01 -5.98314492e-01 1.98344559e-02 -9.34712550e+01] [-2.37259935e-02 -1.37713066e-03 -9.99717550e-01 -3.63067899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters 0.012852015124090264 Centerline is valid? [True, True] Translation: X:262.15, Y:-93.56, Z:-3.63 [[ 6.49283420e-01 -7.60418027e-01 -1.39808664e-02 2.62145166e+02] [-7.60203845e-01 -6.49432975e-01 1.80810743e-02 -9.35611885e+01] [-2.28288105e-02 -1.11143335e-03 -9.99738771e-01 -3.63229855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters 0.012286877353019707 Centerline is valid? [True, True] Translation: X:262.20, Y:-93.65, Z:-3.64 [[ 6.99031911e-01 -7.14955910e-01 -1.38720514e-02 2.62199482e+02] [-7.14788696e-01 -6.99168946e-01 1.54888734e-02 -9.36464650e+01] [-2.07727691e-02 -9.11631222e-04 -9.99783807e-01 -3.63727370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters 0.013500712680439009 Centerline is valid? [True, True] Translation: X:262.26, Y:-93.72, Z:-3.64 [[ 7.43153487e-01 -6.68967262e-01 -1.43421516e-02 2.62255928e+02] [-6.68825166e-01 -7.43291571e-01 1.38035382e-02 -9.37207296e+01] [-1.98945156e-02 -6.65755655e-04 -9.99801863e-01 -3.63953427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters 0.015196744827499756 Centerline is valid? [True, True] Translation: X:262.28, Y:-93.74, Z:-3.64 [[ 7.87433448e-01 -6.16262807e-01 -1.29891586e-02 2.62282820e+02] [-6.16166875e-01 -7.87540366e-01 1.08882836e-02 -9.37424851e+01] [-1.69395309e-02 -5.70309428e-04 -9.99856353e-01 -3.64233871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters 0.01666140228035555 Centerline is valid? [True, True] Translation: X:262.31, Y:-93.76, Z:-3.64 [[ 8.30484056e-01 -5.56870500e-01 -1.38375724e-02 2.62308428e+02] [-5.56783421e-01 -8.30599189e-01 9.85948952e-03 -9.37644242e+01] [-1.69839353e-02 -4.83617953e-04 -9.99855646e-01 -3.64302597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters 0.018110410347198482 Centerline is valid? [True, True] Translation: X:262.34, Y:-93.78, Z:-3.64 [[ 8.69702088e-01 -4.93292730e-01 -1.67499204e-02 2.62335470e+02] [-4.93193605e-01 -8.69863302e-01 9.89467580e-03 -9.37837634e+01] [-1.94511127e-02 -3.44466594e-04 -9.99810750e-01 -3.64084152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters 0.01845248929709066 Centerline is valid? [True, True] Translation: X:262.36, Y:-93.80, Z:-3.64 [[ 9.05252417e-01 -4.24480070e-01 -1.82956549e-02 2.62363180e+02] [-4.24386737e-01 -9.05437232e-01 8.90596887e-03 -9.38030225e+01] [-2.03459734e-02 -2.97716560e-04 -9.99792955e-01 -3.64073890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters 0.019379362725759814 Centerline is valid? [True, True] Translation: X:262.39, Y:-93.82, Z:-3.64 [[ 9.35658560e-01 -3.52429065e-01 -1.83524584e-02 2.62391657e+02] [-3.52354707e-01 -9.35838477e-01 7.24601459e-03 -9.38180922e+01] [-1.97286429e-02 -3.13220481e-04 -9.99805322e-01 -3.64205993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters 0.017399142488032454 Centerline is valid? [True, True] Translation: X:262.42, Y:-93.84, Z:-3.65 [[ 9.60523804e-01 -2.77706971e-01 -1.65184806e-02 2.62419892e+02] [-2.77658801e-01 -9.60665749e-01 5.18737853e-03 -9.38399416e+01] [-1.73093097e-02 -3.96099034e-04 -9.99850104e-01 -3.64555467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters 0.01639877085081817 Centerline is valid? [True, True] Translation: X:262.45, Y:-93.86, Z:-3.65 [[ 9.80287263e-01 -1.96917507e-01 -1.61362052e-02 2.62449508e+02] [-1.96882436e-01 -9.80419934e-01 3.74962313e-03 -9.38591238e+01] [-1.65586237e-02 -4.98772408e-04 -9.99862772e-01 -3.64683334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters 0.013057087267051392 Centerline is valid? [True, True] Translation: X:262.48, Y:-93.89, Z:-3.65 [[ 9.94260504e-01 -1.05485367e-01 -1.78573964e-02 2.62475766e+02] [-1.05455444e-01 -9.94420599e-01 2.61174349e-03 -9.38873686e+01] [-1.80332636e-02 -7.13593723e-04 -9.99837133e-01 -3.64643038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters 0.012916039634691663 Centerline is valid? [True, True] Translation: X:262.50, Y:-93.90, Z:-3.65 [[ 9.99507763e-01 -2.53035886e-02 -1.85461745e-02 2.62504900e+02] [-2.52854691e-02 -9.99679538e-01 1.21087342e-03 -9.38990511e+01] [-1.85708706e-02 -7.41328657e-04 -9.99827272e-01 -3.64650210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters 0.012733431823663377 Centerline is valid? [True, True] Translation: X:262.54, Y:-93.91, Z:-3.65 [[ 9.98315739e-01 5.47505440e-02 -1.91849553e-02 2.62535892e+02] [ 5.47551367e-02 -9.98499771e-01 -2.86205559e-04 -9.39080641e+01] [-1.91718434e-02 -7.64751335e-04 -9.99815911e-01 -3.64649717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters 0.012742294471309229 Centerline is valid? [True, True] Translation: X:262.57, Y:-93.91, Z:-3.65 [[ 9.90790085e-01 1.33806104e-01 -2.07589282e-02 2.62567567e+02] [ 1.33792965e-01 -9.91007232e-01 -2.02675005e-03 -9.39140431e+01] [-2.08434395e-02 -7.69314717e-04 -9.99782456e-01 -3.64556521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters 0.012964742278966924 Centerline is valid? [True, True] Translation: X:262.60, Y:-93.91, Z:-3.64 [[ 9.77653026e-01 2.09140484e-01 -2.13264763e-02 2.62599206e+02] [ 2.09106735e-01 -9.77885341e-01 -3.82532368e-03 -9.39149535e+01] [-2.16548786e-02 -7.19670564e-04 -9.99765247e-01 -3.64497609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters 0.014203277911793858 Centerline is valid? [True, True] Translation: X:262.63, Y:-93.91, Z:-3.65 [[ 9.59954999e-01 2.79349104e-01 -2.12244539e-02 2.62629450e+02] [ 2.79294237e-01 -9.60189428e-01 -5.56702598e-03 -9.39090954e+01] [-2.19346400e-02 -5.83773233e-04 -9.99759236e-01 -3.64542356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters 0.015290053644842412 Centerline is valid? [True, True] Translation: X:262.66, Y:-93.90, Z:-3.65 [[ 9.37656680e-01 3.46924354e-01 -2.10580865e-02 2.62660359e+02] [ 3.46846807e-01 -9.37893022e-01 -7.34661858e-03 -9.39037433e+01] [-2.22989533e-02 -4.15324058e-04 -9.99751261e-01 -3.64698973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters 0.018739616533424278 Centerline is valid? [True, True] Translation: X:262.69, Y:-93.89, Z:-3.65 [[ 9.11384589e-01 4.11042219e-01 -2.05530064e-02 2.62687702e+02] [ 4.10942818e-01 -9.11616286e-01 -9.04145168e-03 -9.38923601e+01] [-2.24528737e-02 -2.05870647e-04 -9.99747881e-01 -3.64789841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters 0.01850718695993579 Centerline is valid? [True, True] Translation: X:262.72, Y:-93.89, Z:-3.65 [[ 8.77381363e-01 4.79386636e-01 -1.97584609e-02 2.62718092e+02] [ 4.79269174e-01 -8.77603799e-01 -1.06127403e-02 -9.38866213e+01] [-2.24277062e-02 -1.58200696e-04 -9.99748455e-01 -3.64900989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters 0.01956175610257475 Centerline is valid? [True, True] Translation: X:262.75, Y:-93.88, Z:-3.65 [[ 8.39262190e-01 5.43342691e-01 -2.04376581e-02 2.62747783e+02] [ 5.43181524e-01 -8.39511001e-01 -1.32329788e-02 -9.38772968e+01] [-2.43476811e-02 4.58052583e-06 -9.99703551e-01 -3.64869926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters 0.020112739161733836 Centerline is valid? [True, True] Translation: X:262.78, Y:-93.87, Z:-3.65 [[ 7.95056035e-01 6.06225377e-01 -1.94085669e-02 2.62777096e+02] [ 6.06043408e-01 -7.95292896e-01 -1.48525510e-02 -9.38659515e+01] [-2.44394886e-02 4.61762796e-05 -9.99701310e-01 -3.65036372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters 0.019528737518540822 Centerline is valid? [True, True] Translation: X:262.81, Y:-93.85, Z:-3.65 [[ 7.44821418e-01 6.67003712e-01 -1.86307258e-02 2.62806980e+02] [ 6.66793128e-01 -7.45054391e-01 -1.67594418e-02 -9.38549988e+01] [-2.50595139e-02 5.99512896e-05 -9.99685959e-01 -3.65073744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters 0.018059557366822385 Centerline is valid? [True, True] Translation: X:262.84, Y:-93.84, Z:-3.65 [[ 6.87801321e-01 7.25674373e-01 -1.80567933e-02 2.62837981e+02] [ 7.25423712e-01 -6.88038302e-01 -1.90717950e-02 -9.38429021e+01] [-2.62636783e-02 1.87797430e-05 -9.99655050e-01 -3.65150633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters 0.01766971776289246 Centerline is valid? [True, True] Translation: X:262.86, Y:-93.83, Z:-3.65 [[ 6.25726796e-01 7.79885082e-01 -1.56599983e-02 2.62864817e+02] [ 7.79646086e-01 -6.25922712e-01 -1.93064577e-02 -9.38277571e+01] [-2.48587670e-02 -1.28688443e-04 -9.99690965e-01 -3.65275258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters 0.016519450844443135 Centerline is valid? [True, True] Translation: X:262.89, Y:-93.81, Z:-3.65 [[ 5.58753490e-01 8.29226115e-01 -1.33636532e-02 2.62890678e+02] [ 8.29001031e-01 -5.58913205e-01 -1.93214760e-02 -9.38096291e+01] [-2.34909947e-02 -2.82540184e-04 -9.99724009e-01 -3.65477762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters 0.013970932849717226 Centerline is valid? [True, True] Translation: X:262.92, Y:-93.79, Z:-3.66 [[ 4.84049603e-01 8.74969587e-01 -1.11446388e-02 2.62919807e+02] [ 8.74762054e-01 -4.84177601e-01 -1.90630435e-02 -9.37919295e+01] [-2.20755678e-02 -5.21448489e-04 -9.99756169e-01 -3.65653589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters 0.01216746711308901 Centerline is valid? [True, True] Translation: X:262.95, Y:-93.77, Z:-3.66 [[ 4.04634988e-01 9.14428742e-01 -9.51853283e-03 2.62947928e+02] [ 9.14217736e-01 -4.04746237e-01 -1.96574505e-02 -9.37716422e+01] [-2.18279280e-02 -7.47919301e-04 -9.99761463e-01 -3.65718740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters 0.011912341732830728 Centerline is valid? [True, True] Translation: X:262.97, Y:-93.75, Z:-3.66 [[ 3.28495538e-01 9.44471477e-01 -8.01932434e-03 2.62969221e+02] [ 9.44248126e-01 -3.28592386e-01 -2.05553160e-02 -9.37467183e+01] [-2.20489986e-02 -8.19902385e-04 -9.99756555e-01 -3.65719304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters 0.012129790427658054 Centerline is valid? [True, True] Translation: X:263.00, Y:-93.72, Z:-3.66 [[ 2.42925961e-01 9.70022532e-01 -6.57753203e-03 2.62995028e+02] [ 9.69776337e-01 -2.43012664e-01 -2.18792321e-02 -9.37219068e+01] [-2.28217717e-02 -1.06370142e-03 -9.99738984e-01 -3.65716495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters 0.014449645489990644 Centerline is valid? [True, True] Translation: X:263.02, Y:-93.69, Z:-3.66 [[ 1.56837739e-01 9.87612960e-01 -4.75023445e-03 2.63017041e+02] [ 9.87372795e-01 -1.56904530e-01 -2.18158774e-02 -9.36945016e+01] [-2.22909766e-02 -1.26869938e-03 -9.99750720e-01 -3.65648944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters 0.014173611466708968 Centerline is valid? [True, True] Translation: X:263.03, Y:-93.66, Z:-3.66 [[ 7.53504638e-02 9.97152459e-01 -3.04652960e-03 2.63030641e+02] [ 9.96902804e-01 -7.53998920e-02 -2.23529970e-02 -9.36633957e+01] [-2.25190539e-02 -1.35278521e-03 -9.99745499e-01 -3.65803150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters 0.014102303527870985 Centerline is valid? [True, True] Translation: X:263.04, Y:-93.63, Z:-3.66 [[-3.74886600e-03 9.99992131e-01 -1.29761764e-03 2.63042198e+02] [ 9.99721728e-01 3.71762437e-03 -2.32947533e-02 -9.36311724e+01] [-2.32897459e-02 -1.38458545e-03 -9.99727798e-01 -3.65804809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters 0.014899809560016922 Centerline is valid? [True, True] Translation: X:263.05, Y:-93.60, Z:-3.66 [[-8.03540566e-02 9.96766185e-01 6.31468695e-04 2.63049215e+02] [ 9.96454853e-01 8.03447642e-02 -2.49488455e-02 -9.35995806e+01] [-2.49189008e-02 -1.37551090e-03 -9.99688530e-01 -3.65618130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters 0.01326143306315639 Centerline is valid? [True, True] Translation: X:263.05, Y:-93.57, Z:-3.66 [[-1.53541958e-01 9.88138552e-01 2.65872457e-03 2.63045592e+02] [ 9.87814380e-01 1.53559769e-01 -2.53406454e-02 -9.35680380e+01] [-2.54483418e-02 -1.26452594e-03 -9.99675339e-01 -3.65786693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters 0.012299754192860656 Centerline is valid? [True, True] Translation: X:263.04, Y:-93.54, Z:-3.66 [[-2.24174772e-01 9.74539589e-01 4.27329701e-03 2.63038179e+02] [ 9.74259246e-01 2.24212887e-01 -2.33987876e-02 -9.35391533e+01] [-2.37611731e-02 -1.08211875e-03 -9.99717078e-01 -3.65994527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters 0.011845821971722964 Centerline is valid? [True, True] Translation: X:263.03, Y:-93.51, Z:-3.66 [[-2.91670736e-01 9.56500056e-01 5.98536321e-03 2.63026291e+02] [ 9.56232746e-01 2.91730825e-01 -2.26287658e-02 -9.35108808e+01] [-2.33905307e-02 -8.76748470e-04 -9.99726020e-01 -3.66141515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters 0.01189846274822698 Centerline is valid? [True, True] Translation: X:263.02, Y:-93.48, Z:-3.66 [[-3.62860040e-01 9.31810126e-01 7.90440085e-03 2.63021357e+02] [ 9.31538712e-01 3.62945237e-01 -2.25029768e-02 -9.34811393e+01] [-2.38373663e-02 -8.02175676e-04 -9.99715528e-01 -3.66233093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters 0.013132461876568633 Centerline is valid? [True, True] Translation: X:263.01, Y:-93.45, Z:-3.66 [[-4.25743287e-01 9.04785513e-01 1.02873002e-02 2.63007435e+02] [ 9.04489899e-01 4.25867209e-01 -2.31331507e-02 -9.34549113e+01] [-2.53115634e-02 -5.44024478e-04 -9.99679463e-01 -3.66198211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters 0.014821712495004979 Centerline is valid? [True, True] Translation: X:262.99, Y:-93.43, Z:-3.66 [[-4.88984985e-01 8.72206556e-01 1.22232770e-02 2.62993883e+02] [ 8.71915975e-01 4.89137609e-01 -2.25151667e-02 -9.34298168e+01] [-2.56167405e-02 -3.51907968e-04 -9.99671776e-01 -3.66208874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters 0.01764572157256687 Centerline is valid? [True, True] Translation: X:262.98, Y:-93.41, Z:-3.66 [[-5.46645378e-01 8.37246877e-01 1.40177408e-02 2.62976724e+02] [ 8.36968680e-01 5.46825075e-01 -2.15816116e-02 -9.34079189e+01] [-2.57343891e-02 -6.50782273e-05 -9.99668814e-01 -3.66353608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters 0.019943562796014856 Centerline is valid? [True, True] Translation: X:262.96, Y:-93.39, Z:-3.66 [[-6.03939763e-01 7.96883674e-01 1.52700214e-02 2.62960694e+02] [ 7.96634371e-01 6.04132762e-01 -1.99320014e-02 -9.33859396e+01] [-2.51086067e-02 1.26895656e-04 -9.99684721e-01 -3.66472981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters 0.019135873343475485 Centerline is valid? [True, True] Translation: X:262.95, Y:-93.36, Z:-3.67 [[-6.63853147e-01 7.47689712e-01 1.60963716e-02 2.62950772e+02] [ 7.47474097e-01 6.64048252e-01 -1.79553029e-02 -9.33588143e+01] [-2.41137627e-02 1.11936484e-04 -9.99709215e-01 -3.66633879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters 0.019330214513597666 Centerline is valid? [True, True] Translation: X:262.94, Y:-93.33, Z:-3.67 [[-7.21828181e-01 6.91871868e-01 1.66551686e-02 2.62938374e+02] [ 6.91688537e-01 7.22020303e-01 -1.59264268e-02 -9.33342148e+01] [-2.30444165e-02 2.40455751e-05 -9.99734442e-01 -3.66765457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters 0.018435428626913195 Centerline is valid? [True, True] Translation: X:263.44, Y:-92.80, Z:-4.65 [[-7.24609273e-01 -6.89159679e-01 5.81691930e-04 2.63435538e+02] [ 6.89158602e-01 -7.24609277e-01 -1.34783928e-03 -9.27952657e+01] [ 1.35037586e-03 -5.75778844e-04 9.99998922e-01 -4.65427462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters 0.016568957043720932 Centerline is valid? [True, True] Translation: X:263.39, Y:-92.76, Z:-4.66 [[-7.20212761e-01 -6.93751209e-01 1.68476187e-03 2.63391454e+02] [ 6.93749113e-01 -7.20214729e-01 -1.70663778e-03 -9.27585605e+01] [ 2.39737234e-03 -6.03402528e-05 9.99997124e-01 -4.65661589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters 0.015264915911884372 Centerline is valid? [True, True] Translation: X:263.35, Y:-92.72, Z:-4.66 [[-7.15758999e-01 -6.98347063e-01 6.60057433e-04 2.63348699e+02] [ 6.98346745e-01 -7.15759303e-01 -6.66502547e-04 -9.27219691e+01] [ 9.37892344e-04 -1.61062358e-05 9.99999560e-01 -4.65578061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters 0.013888398268898716 Centerline is valid? [True, True] Translation: X:263.30, Y:-92.69, Z:-4.66 [[-7.13071397e-01 -7.01090889e-01 8.65180842e-04 2.63303322e+02] [ 7.01090345e-01 -7.13071921e-01 -8.73706585e-04 -9.26852182e+01] [ 1.22948389e-03 -1.64452395e-05 9.99999244e-01 -4.65680724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters 0.013033381529635676 Centerline is valid? [True, True] Translation: X:263.26, Y:-92.65, Z:-4.66 [[-7.10500284e-01 -7.03695787e-01 1.25960010e-03 2.63259534e+02] [ 7.03694635e-01 -7.10501400e-01 -1.27328894e-03 -9.26472132e+01] [ 1.79095570e-03 -1.82983194e-05 9.99998396e-01 -4.65778629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters 0.012443181478628069 Centerline is valid? [True, True] Translation: X:263.22, Y:-92.61, Z:-4.66 [[-7.09390491e-01 -7.04815672e-01 5.48706633e-07 2.63215915e+02] [ 7.04815672e-01 -7.09390491e-01 3.76371886e-06 -9.26083239e+01] [-2.26348080e-06 3.05668341e-06 1.00000000e+00 -4.65640979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters 0.012343405364992921 Centerline is valid? [True, True] Translation: X:263.17, Y:-92.57, Z:-4.66 [[-7.09311338e-01 -7.04895230e-01 -3.75739685e-04 2.63173912e+02] [ 7.04895125e-01 -7.09311437e-01 3.84987069e-04 -9.25686084e+01] [-5.37892005e-04 8.21862104e-06 9.99999855e-01 -4.65677944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters 0.012289888781115893 Centerline is valid? [True, True] Translation: X:263.13, Y:-92.53, Z:-4.66 [[-7.09289417e-01 -7.04916965e-01 -7.71930174e-04 2.63132731e+02] [ 7.04916527e-01 -7.09289837e-01 7.86384898e-04 -9.25291953e+01] [-1.10185828e-03 1.36281482e-05 9.99999393e-01 -4.65743701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters 0.012213454812785426 Centerline is valid? [True, True] Translation: X:263.09, Y:-92.49, Z:-4.66 [[-7.09073866e-01 -7.05133345e-01 -1.10385696e-03 2.63092170e+02] [ 7.05132453e-01 -7.09074725e-01 1.12173687e-03 -9.24887291e+01] [-1.57369115e-03 1.70289325e-05 9.99998762e-01 -4.65693958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters 0.012388322978571996 Centerline is valid? [True, True] Translation: X:263.05, Y:-92.45, Z:-4.66 [[-7.08306128e-01 -7.05905374e-01 -1.80135427e-04 2.63051170e+02] [ 7.05905349e-01 -7.08306150e-01 1.87184245e-04 -9.24501765e+01] [-2.59725396e-04 5.42518623e-06 9.99999966e-01 -4.66000750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters 0.01198742534965073 Centerline is valid? [True, True] Translation: X:263.01, Y:-92.41, Z:-4.66 [[-7.07888089e-01 -7.06324565e-01 2.51927325e-04 2.63008786e+02] [ 7.06324520e-01 -7.07888133e-01 -2.50259277e-04 -9.24099308e+01] [ 3.55100639e-04 7.86886049e-07 9.99999937e-01 -4.66030543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters 0.012043390532936843 Centerline is valid? [True, True] Translation: X:262.97, Y:-92.37, Z:-4.66 [[-7.07675682e-01 -7.06537322e-01 3.75575601e-04 2.62967943e+02] [ 7.06537223e-01 -7.07675782e-01 -3.74999045e-04 -9.23680194e+01] [ 5.30736578e-04 -1.95631802e-08 9.99999859e-01 -4.65998546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters 0.01197633551499562 Centerline is valid? [True, True] Translation: X:262.93, Y:-92.33, Z:-4.66 [[-7.08006599e-01 -7.06205729e-01 -3.51995048e-04 2.62927210e+02] [ 7.06205638e-01 -7.08006687e-01 3.59654880e-04 -9.23268947e+01] [-5.03205184e-04 6.05714139e-06 9.99999873e-01 -4.65980502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters 0.012346152540641303 Centerline is valid? [True, True] Translation: X:262.89, Y:-92.29, Z:-4.66 [[-7.09106459e-01 -7.05101219e-01 5.48115227e-04 2.62887903e+02] [ 7.05101006e-01 -7.09106671e-01 -5.48406800e-04 -9.22861355e+01] [ 7.75354467e-04 -2.40220593e-06 9.99999699e-01 -4.66243570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters 0.012517970297574614 Centerline is valid? [True, True] Translation: X:262.85, Y:-92.24, Z:-4.66 [[-7.11637552e-01 -7.02546744e-01 2.59020321e-04 2.62849858e+02] [ 7.02546697e-01 -7.11637599e-01 -2.56987972e-04 -9.22411104e+01] [ 3.64874662e-04 -9.08420561e-07 9.99999933e-01 -4.66107359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters 0.012835867905298661 Centerline is valid? [True, True] Translation: X:262.81, Y:-92.20, Z:-4.66 [[-7.12265732e-01 -7.01909851e-01 2.96856504e-04 2.62810546e+02] [ 7.01909788e-01 -7.12265794e-01 -2.96008307e-04 -9.21999938e+01] [ 4.19211880e-04 -2.47008802e-06 9.99999912e-01 -4.66241543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters 0.013112420409373056 Centerline is valid? [True, True] Translation: X:262.77, Y:-92.16, Z:-4.66 [[-7.13191979e-01 -7.00968703e-01 2.79171824e-04 2.62771425e+02] [ 7.00968649e-01 -7.13192034e-01 -2.76383988e-04 -9.21588110e+01] [ 3.92839646e-04 -1.42414729e-06 9.99999923e-01 -4.66324979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters 0.013112420409373056 Centerline is valid? [True, True] Translation: X:262.73, Y:-92.12, Z:-4.66 [[-7.13411847e-01 -7.00744931e-01 2.79256370e-04 2.62731355e+02] [ 7.00744877e-01 -7.13411901e-01 -2.76299273e-04 -9.21186028e+01] [ 3.92840133e-04 -1.42770399e-06 9.99999923e-01 -4.66386038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters 0.013388679054158636 Centerline is valid? [True, True] Translation: X:262.69, Y:-92.08, Z:-4.66 [[-7.15196429e-01 -6.98923499e-01 9.83497691e-05 2.62691775e+02] [ 6.98923493e-01 -7.15196436e-01 -9.46122315e-05 -9.20756407e+01] [ 1.36466116e-04 1.07263403e-06 9.99999991e-01 -4.66390039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters 0.014009127073628067 Centerline is valid? [True, True] Translation: X:262.65, Y:-92.03, Z:-4.66 [[-7.18314016e-01 -6.95718950e-01 3.43519175e-04 2.62652952e+02] [ 6.95718866e-01 -7.18314098e-01 -3.41299202e-04 -9.20319151e+01] [ 4.84202989e-04 -6.16722937e-06 9.99999883e-01 -4.66489061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters 0.014649786527357161 Centerline is valid? [True, True] Translation: X:262.61, Y:-91.99, Z:-4.67 [[-7.20321381e-01 -6.93640355e-01 4.07134904e-04 2.62613959e+02] [ 6.93640237e-01 -7.20321496e-01 -4.04766843e-04 -9.19892618e+01] [ 5.74030639e-04 -9.15705972e-06 9.99999835e-01 -4.66583745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters 0.01598214624562988 Centerline is valid? [True, True] Translation: X:262.58, Y:-91.95, Z:-4.67 [[-7.22538274e-01 -6.91330804e-01 4.02668926e-04 2.62576202e+02] [ 6.91330689e-01 -7.22538386e-01 -3.99841713e-04 -9.19459356e+01] [ 5.67366649e-04 -1.05235552e-05 9.99999839e-01 -4.66688029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters 0.01564977922085864 Centerline is valid? [True, True] Translation: X:262.54, Y:-91.90, Z:-4.67 [[-7.22812260e-01 -6.91044440e-01 1.33832068e-04 2.62535234e+02] [ 6.91044428e-01 -7.22812273e-01 -1.30023095e-04 -9.19049558e+01] [ 1.86587198e-04 -1.49838197e-06 9.99999983e-01 -4.66669521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters 0.015119065383366966 Centerline is valid? [True, True] Translation: X:262.49, Y:-91.86, Z:-4.67 [[-7.21084396e-01 -6.92846999e-01 -5.75076862e-04 2.62493112e+02] [ 6.92846755e-01 -7.21084625e-01 5.80936475e-04 -9.18641221e+01] [-8.17179176e-04 2.04640896e-05 9.99999666e-01 -4.66670389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters 0.013794349025349376 Centerline is valid? [True, True] Translation: X:262.45, Y:-91.83, Z:-4.67 [[-7.18919440e-01 -6.95091720e-01 -1.52939920e-03 2.62449876e+02] [ 6.95090020e-01 -7.18921066e-01 1.53774301e-03 -9.18252182e+01] [-2.16838974e-03 4.24432210e-05 9.99997648e-01 -4.66628674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters 0.013034706907817648 Centerline is valid? [True, True] Translation: X:262.41, Y:-91.79, Z:-4.67 [[-7.14641853e-01 -6.99487966e-01 -1.89915924e-03 2.62407738e+02] [ 6.99485366e-01 -7.14644376e-01 1.90748809e-03 -9.17861306e+01] [-2.69148844e-03 3.47367271e-05 9.99996377e-01 -4.66751485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters 0.012046222886503373 Centerline is valid? [True, True] Translation: X:262.36, Y:-91.75, Z:-4.67 [[-7.09525356e-01 -7.04678688e-01 -1.31009610e-03 2.62363862e+02] [ 7.04677459e-01 -7.09526565e-01 1.31631618e-03 -9.17475155e+01] [-1.85712795e-03 1.07645106e-05 9.99998275e-01 -4.66979177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters 0.012305554626475214 Centerline is valid? [True, True] Translation: X:262.32, Y:-91.71, Z:-4.67 [[-7.02480950e-01 -7.11702385e-01 -4.80679437e-04 2.62319073e+02] [ 7.11702219e-01 -7.02481114e-01 4.85575202e-04 -9.17114585e+01] [-6.83253256e-04 -9.93292553e-07 9.99999767e-01 -4.67200248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters 0.013049824855687273 Centerline is valid? [True, True] Translation: X:262.28, Y:-91.67, Z:-4.67 [[-6.97599492e-01 -7.16487521e-01 -7.61823076e-04 2.62275323e+02] [ 7.16487111e-01 -6.97599908e-01 7.66424002e-04 -9.16729964e+01] [-1.08058094e-03 -1.11794207e-05 9.99999416e-01 -4.67178805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters 0.015007180513280873 Centerline is valid? [True, True] Translation: X:262.23, Y:-91.63, Z:-4.67 [[-6.92013426e-01 -7.21883625e-01 -1.20413861e-03 2.62231262e+02] [ 7.21882615e-01 -6.92014473e-01 1.20823504e-03 -9.16348801e+01] [-1.70548643e-03 -3.31318628e-05 9.99998545e-01 -4.67190337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters 0.01541600719361118 Centerline is valid? [True, True] Translation: X:261.76, Y:-92.10, Z:-3.69 [[-7.70453839e-01 6.37341595e-01 1.40204514e-02 2.61755228e+02] [ 6.37206678e-01 7.70580445e-01 -1.31692085e-02 -9.20986566e+01] [-1.91971700e-02 -1.21234194e-03 -9.99814982e-01 -3.68813372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters 0.015643785293132314 Centerline is valid? [True, True] Translation: X:261.76, Y:-92.07, Z:-3.69 [[-8.14253881e-01 5.80347920e-01 1.36714715e-02 2.61764766e+02] [ 5.80240935e-01 8.14367773e-01 -1.12065590e-02 -9.20747717e+01] [-1.76373090e-02 -1.19223677e-03 -9.99843740e-01 -3.68981738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters 0.015908483579429953 Centerline is valid? [True, True] Translation: X:262.18, Y:-91.55, Z:-4.67 [[-7.41339144e-01 -6.71127656e-01 -1.98567279e-03 2.62182549e+02] [ 6.71126856e-01 -7.41341645e-01 1.14408925e-03 -9.15540674e+01] [-2.23989187e-03 -4.84480196e-04 9.99997374e-01 -4.67147274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters 0.015972373629957067 Centerline is valid? [True, True] Translation: X:261.73, Y:-92.06, Z:-3.69 [[-8.16408091e-01 5.77234090e-01 1.66923489e-02 2.61734409e+02] [ 5.77080548e-01 8.16577706e-01 -1.33749943e-02 -9.20569207e+01] [-2.13511027e-02 -1.28662372e-03 -9.99771211e-01 -3.68671099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters 0.01561069695806043 Centerline is valid? [True, True] Translation: X:261.75, Y:-92.04, Z:-3.69 [[-8.54320524e-01 5.19432856e-01 1.80540794e-02 2.61752066e+02] [ 5.19285019e-01 8.54510330e-01 -1.24565689e-02 -9.20409016e+01] [-2.18977485e-02 -1.26668954e-03 -9.99759413e-01 -3.68618150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters 0.01458277703735513 Centerline is valid? [True, True] Translation: X:261.77, Y:-92.03, Z:-3.69 [[-8.86640900e-01 4.62145023e-01 1.70262057e-02 2.61766391e+02] [ 4.62035208e-01 8.86803655e-01 -1.01362817e-02 -9.20271361e+01] [-1.97833336e-02 -1.12053544e-03 -9.99803663e-01 -3.68832020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters 0.012758909724660041 Centerline is valid? [True, True] Translation: X:261.78, Y:-92.01, Z:-3.69 [[-9.13901532e-01 4.05624474e-01 1.58989292e-02 2.61777532e+02] [ 4.05545044e-01 9.14039335e-01 -8.08151649e-03 -9.20147302e+01] [-1.78103076e-02 -9.37978343e-04 -9.99840944e-01 -3.69193631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters 0.01251477168437083 Centerline is valid? [True, True] Translation: X:261.79, Y:-91.99, Z:-3.69 [[-9.39204894e-01 3.42951895e-01 1.66782755e-02 2.61792528e+02] [ 3.42881057e-01 9.39352556e-01 -7.02543476e-03 -9.19948173e+01] [-1.80761669e-02 -8.79657980e-04 -9.99836226e-01 -3.69246913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters 0.012662743052522912 Centerline is valid? [True, True] Translation: X:262.06, Y:-91.33, Z:-4.67 [[-9.08190746e-01 -4.18556155e-01 5.61370671e-04 2.62056249e+02] [ 4.18555836e-01 -9.08190865e-01 -6.04109554e-04 -9.13306680e+01] [ 7.62685487e-04 -3.13681736e-04 9.99999660e-01 -4.67414810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters 0.012746083029239987 Centerline is valid? [True, True] Translation: X:261.75, Y:-91.98, Z:-3.69 [[-9.39928161e-01 3.40760284e-01 2.04323655e-02 2.61750605e+02] [ 3.40659379e-01 9.40149807e-01 -8.33831258e-03 -9.19757231e+01] [-2.20508503e-02 -8.76937849e-04 -9.99756466e-01 -3.68973055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters 0.012448428045265025 Centerline is valid? [True, True] Translation: X:262.01, Y:-91.31, Z:-4.67 [[-9.11229515e-01 -4.11898861e-01 3.15763948e-04 2.62008905e+02] [ 4.11898569e-01 -9.11229419e-01 -7.17347075e-04 -9.13131658e+01] [ 5.83207842e-04 -5.23605109e-04 9.99999693e-01 -4.67137282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters 0.01234167605118268 Centerline is valid? [True, True] Translation: X:261.71, Y:-91.96, Z:-3.69 [[-9.39119312e-01 3.43038312e-01 1.94842137e-02 2.61711673e+02] [ 3.42948048e-01 9.39321121e-01 -7.90364517e-03 -9.19611933e+01] [-2.10131865e-02 -7.40392761e-04 -9.99778924e-01 -3.69352172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters 0.012318717174043977 Centerline is valid? [True, True] Translation: X:261.96, Y:-91.30, Z:-4.67 [[-9.14908531e-01 -4.03661177e-01 -1.84499924e-04 2.61964554e+02] [ 4.03661219e-01 -9.14908403e-01 -4.85163481e-04 -9.13011121e+01] [ 2.70411311e-05 -5.18355672e-04 9.99999865e-01 -4.66965046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters 0.01240746509166931 Centerline is valid? [True, True] Translation: X:261.67, Y:-91.94, Z:-3.70 [[-9.39526749e-01 3.41915132e-01 1.95839279e-02 2.61672856e+02] [ 3.41825582e-01 9.39730585e-01 -7.85485397e-03 -9.19434675e+01] [-2.10893095e-02 -6.85557847e-04 -9.99777361e-01 -3.69723452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters 0.01239578363036105 Centerline is valid? [True, True] Translation: X:261.92, Y:-91.29, Z:-4.67 [[-9.17563625e-01 -3.97588609e-01 -5.39689688e-04 2.61920264e+02] [ 3.97588817e-01 -9.17563626e-01 -3.53473093e-04 -9.12909288e+01] [-3.54662751e-04 -5.38908638e-04 9.99999792e-01 -4.66764653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters 0.012601912728956237 Centerline is valid? [True, True] Translation: X:261.63, Y:-91.93, Z:-3.70 [[-9.39533233e-01 3.41942754e-01 1.87738362e-02 2.61633973e+02] [ 3.41861473e-01 9.39720587e-01 -7.48009794e-03 -9.19268694e+01] [-2.01999256e-02 -6.09749306e-04 -9.99795775e-01 -3.69886485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters 0.012680612594159977 Centerline is valid? [True, True] Translation: X:261.88, Y:-91.28, Z:-4.67 [[-9.20109861e-01 -3.91658619e-01 1.17036868e-03 2.61878120e+02] [ 3.91657690e-01 -9.20110512e-01 -9.48544241e-04 -9.12818202e+01] [ 1.44837405e-03 -4.14381019e-04 9.99998865e-01 -4.66868434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters 0.01279292536532088 Centerline is valid? [True, True] Translation: X:261.59, Y:-91.91, Z:-3.70 [[-9.40533546e-01 3.39009860e-01 2.16555635e-02 2.61591205e+02] [ 3.38905961e-01 9.40782646e-01 -8.41204824e-03 -9.19081521e+01] [-2.32249456e-02 -5.72614015e-04 -9.99730101e-01 -3.69814766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters 0.012878961031959584 Centerline is valid? [True, True] Translation: X:261.60, Y:-91.88, Z:-3.70 [[-9.62186235e-01 2.71514583e-01 2.18513038e-02 2.61599548e+02] [ 2.71431063e-01 9.62434156e-01 -6.75821355e-03 -9.18819805e+01] [-2.28653946e-02 -5.71537441e-04 -9.99738389e-01 -3.69880535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters 0.012755916689155228 Centerline is valid? [True, True] Translation: X:261.61, Y:-91.85, Z:-3.70 [[-9.79022430e-01 2.02742999e-01 2.02573175e-02 2.61605813e+02] [ 2.02687287e-01 9.79231810e-01 -4.78809317e-03 -9.18524456e+01] [-2.08073621e-02 -5.81749885e-04 -9.99783334e-01 -3.70245127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters 0.01258603574904683 Centerline is valid? [True, True] Translation: X:261.75, Y:-91.20, Z:-4.67 [[-9.66658923e-01 -2.56054288e-01 2.59391729e-03 2.61747589e+02] [ 2.56052046e-01 -9.66662292e-01 -1.16779175e-03 -9.11980220e+01] [ 2.80646012e-03 -4.64678486e-04 9.99995954e-01 -4.66846769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters 0.012540897654819512 Centerline is valid? [True, True] Translation: X:261.55, Y:-91.83, Z:-3.70 [[-9.81476341e-01 1.89646361e-01 2.71744417e-02 2.61554962e+02] [ 1.89551270e-01 9.81852141e-01 -6.05710613e-03 -9.18268310e+01] [-2.78299919e-02 -7.93956424e-04 -9.99612355e-01 -3.69690728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters 0.012540897654819512 Centerline is valid? [True, True] Translation: X:261.56, Y:-91.80, Z:-3.70 [[-9.92450231e-01 1.19522895e-01 2.75103003e-02 2.61555943e+02] [ 1.19454918e-01 9.92831130e-01 -4.10721475e-03 -9.17998988e+01] [-2.78039887e-02 -7.89965575e-04 -9.99613082e-01 -3.69719904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters 0.01259011631504747 Centerline is valid? [True, True] Translation: X:261.55, Y:-91.77, Z:-3.70 [[-9.98431085e-01 4.81241329e-02 2.86257843e-02 2.61549720e+02] [ 4.80811415e-02 9.98841035e-01 -2.18867013e-03 -9.17729239e+01] [-2.86979359e-02 -8.08875902e-04 -9.99587802e-01 -3.69746790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters 0.01259011631504747 Centerline is valid? [True, True] Translation: X:261.59, Y:-91.13, Z:-4.67 [[-9.92661769e-01 -1.20656752e-01 8.03494253e-03 2.61594103e+02] [ 1.20648077e-01 -9.92694120e-01 -1.55748779e-03 -9.11290158e+01] [ 8.16416162e-03 -5.76658212e-04 9.99966506e-01 -4.67378342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters 0.012631283432688663 Centerline is valid? [True, True] Translation: X:261.49, Y:-91.77, Z:-3.70 [[-9.98656667e-01 4.21749544e-02 3.01020574e-02 2.61493913e+02] [ 4.21296592e-02 9.99109865e-01 -2.13765872e-03 -9.17716269e+01] [-3.01654182e-02 -8.66597716e-04 -9.99544545e-01 -3.69805989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters 0.01321419888045363 Centerline is valid? [True, True] Translation: X:261.54, Y:-91.12, Z:-4.68 [[-9.92699146e-01 -1.19721135e-01 1.46715513e-02 2.61535295e+02] [ 1.19704716e-01 -9.92807534e-01 -1.99542466e-03 -9.11230292e+01] [ 1.48049212e-02 -2.24602481e-04 9.99890376e-01 -4.67686220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters 0.014834810741323248 Centerline is valid? [True, True] Translation: X:261.43, Y:-91.77, Z:-3.69 [[-9.98708167e-01 3.27777044e-02 3.88280819e-02 2.61429670e+02] [ 3.27100842e-02 9.99462059e-01 -2.37569576e-03 -9.17721638e+01] [-3.88850645e-02 -1.10255693e-03 -9.99243082e-01 -3.69084705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters 0.015151418900473423 Centerline is valid? [True, True] Translation: X:261.42, Y:-91.75, Z:-3.70 [[-9.98202464e-01 -4.88161441e-02 3.47681721e-02 2.61419757e+02] [-4.88360677e-02 9.98806769e-01 2.76464503e-04 -9.17463465e+01] [-3.47401816e-02 -1.42197326e-03 -9.99395366e-01 -3.70039739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters 0.016338595136524362 Centerline is valid? [True, True] Translation: X:261.41, Y:-91.72, Z:-3.70 [[-9.91484966e-01 -1.26168154e-01 3.22359870e-02 2.61407937e+02] [-1.26153198e-01 9.92007607e-01 2.50557790e-03 -9.17177169e+01] [-3.22944685e-02 -1.58243002e-03 -9.99477145e-01 -3.70424390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters 0.019162643199966595 Centerline is valid? [True, True] Translation: X:261.39, Y:-91.69, Z:-3.71 [[-9.78837039e-01 -2.02401625e-01 3.01932816e-02 2.61394282e+02] [-2.02359209e-01 9.79301091e-01 4.48585773e-03 -9.16874722e+01] [-3.04762585e-02 -1.71896490e-03 -9.99534013e-01 -3.70556824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters 0.021234455922881604 Centerline is valid? [True, True] Translation: X:261.38, Y:-91.66, Z:-3.71 [[-9.60564464e-01 -2.76728290e-01 2.71544496e-02 2.61379844e+02] [-2.76669508e-01 9.60946566e-01 5.97333961e-03 -9.16609230e+01] [-2.77469672e-02 -1.77503045e-03 -9.99613403e-01 -3.70899656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters 0.02318702491053983 Centerline is valid? [True, True] Translation: X:261.23, Y:-91.05, Z:-4.66 [[-9.91485178e-01 1.30105495e-01 5.44991653e-03 2.61230287e+02] [-1.30107484e-01 -9.91499895e-01 -1.04641625e-05 -9.10501217e+01] [ 5.40223022e-03 -7.19449990e-04 9.99985149e-01 -4.66435928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters 0.024044469227013695 Centerline is valid? [True, True] Translation: X:261.27, Y:-91.68, Z:-3.71 [[-9.56520534e-01 -2.90567369e-01 2.52798593e-02 2.61272694e+02] [-2.90518691e-01 9.56852586e-01 5.65846485e-03 -9.16795276e+01] [-2.58332640e-02 -1.93183380e-03 -9.99664399e-01 -3.71172130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters 0.022644849984257653 Centerline is valid? [True, True] Translation: X:261.25, Y:-91.66, Z:-3.71 [[-9.34836269e-01 -3.54267475e-01 2.39938954e-02 2.61254123e+02] [-3.54198518e-01 9.35142480e-01 7.20780954e-03 -9.16636797e+01] [-2.49912034e-02 -1.76048044e-03 -9.99686121e-01 -3.71267829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters 0.019680571354616136 Centerline is valid? [True, True] Translation: X:261.22, Y:-91.66, Z:-3.72 [[-9.10184944e-01 -4.13730499e-01 1.97596258e-02 2.61224848e+02] [-4.13666685e-01 9.10398276e-01 7.40624955e-03 -9.16557594e+01] [-2.10533205e-02 -1.43284205e-03 -9.99777328e-01 -3.71583961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters 0.011802284271577668 Centerline is valid? [True, True] Translation: X:261.19, Y:-91.68, Z:-3.71 [[-8.94409938e-01 -4.46880747e-01 1.81234891e-02 2.61185027e+02] [-4.46803903e-01 8.94593293e-01 8.31340854e-03 -9.16804417e+01] [-1.99282540e-02 -6.62050436e-04 -9.99801193e-01 -3.70785985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters 0.011792480092420654 Centerline is valid? [True, True] Translation: X:261.11, Y:-91.69, Z:-3.71 [[-8.59064661e-01 -5.11561701e-01 1.76786481e-02 2.61114685e+02] [-5.11468794e-01 8.59246301e-01 9.77076990e-03 -9.16885924e+01] [-2.01886647e-02 -6.48353697e-04 -9.99795978e-01 -3.70858126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters 0.011792480092420654 Centerline is valid? [True, True] Translation: X:261.04, Y:-91.71, Z:-3.71 [[-8.18521569e-01 -5.74227757e-01 1.68796808e-02 2.61037427e+02] [-5.74121916e-01 8.18695339e-01 1.10438765e-02 -9.17069618e+01] [-2.01610164e-02 -6.51343579e-04 -9.99796534e-01 -3.70960678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters 0.012016238830233821 Centerline is valid? [True, True] Translation: X:260.96, Y:-91.73, Z:-3.71 [[-7.73406476e-01 -6.33698813e-01 1.63779418e-02 2.60958648e+02] [-6.33574179e-01 7.73579601e-01 1.25841339e-02 -9.17343637e+01] [-2.06441924e-02 -6.43990313e-04 -9.99786679e-01 -3.70911880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters 0.011755925666900114 Centerline is valid? [True, True] Translation: X:260.87, Y:-91.77, Z:-3.71 [[-7.23628776e-01 -6.90021826e-01 1.52076621e-02 2.60873797e+02] [-6.89887906e-01 7.23788274e-01 1.36092533e-02 -9.17736433e+01] [-2.03978093e-02 -6.43534919e-04 -9.99791736e-01 -3.71038514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters 0.011755925666900114 Centerline is valid? [True, True] Translation: X:260.79, Y:-91.82, Z:-3.71 [[-6.69484539e-01 -7.42691816e-01 1.41180464e-02 2.60789974e+02] [-7.42546650e-01 6.69633073e-01 1.46976203e-02 -9.18218922e+01] [-2.03697131e-02 -6.43478554e-04 -9.99792309e-01 -3.71158581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters 0.011755925666900114 Centerline is valid? [True, True] Translation: X:260.71, Y:-91.88, Z:-3.71 [[-6.11268672e-01 -7.91317250e-01 1.29468675e-02 2.60705957e+02] [-7.91161700e-01 6.11405426e-01 1.57025292e-02 -9.18812509e+01] [-2.03414673e-02 -6.44601502e-04 -9.99792883e-01 -3.71284647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters 0.011723976021605829 Centerline is valid? [True, True] Translation: X:260.62, Y:-91.95, Z:-3.71 [[-5.49331406e-01 -8.35523912e-01 1.16102704e-02 2.60624835e+02] [-8.35361597e-01 5.49453707e-01 1.64811057e-02 -9.19500305e+01] [-2.01496640e-02 -6.45185058e-04 -9.99796767e-01 -3.71375991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters 0.011646255652505565 Centerline is valid? [True, True] Translation: X:260.55, Y:-92.03, Z:-3.71 [[-4.83127773e-01 -8.75491107e-01 1.01427952e-02 2.60546795e+02] [-8.75326363e-01 4.83233770e-01 1.69965233e-02 -9.20290837e+01] [-1.97816461e-02 -6.66763585e-04 -9.99804102e-01 -3.71490037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters 0.011382992510780301 Centerline is valid? [True, True] Translation: X:260.47, Y:-92.12, Z:-3.72 [[-4.12777481e-01 -9.10794599e-01 8.24312532e-03 2.60473010e+02] [-9.10646182e-01 4.12859164e-01 1.64572887e-02 -9.21153247e+01] [-1.83924595e-02 -7.13372443e-04 -9.99830590e-01 -3.71733251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters 0.011405422832316752 Centerline is valid? [True, True] Translation: X:260.40, Y:-92.21, Z:-3.72 [[-3.34014581e-01 -9.42553585e-01 5.19612452e-03 2.60399152e+02] [-9.42475385e-01 3.34053959e-01 1.21696608e-02 -9.22103985e+01] [-1.32063434e-02 -8.32375310e-04 -9.99912446e-01 -3.72116420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters 0.012278973517754437 Centerline is valid? [True, True] Translation: X:260.33, Y:-92.31, Z:-3.72 [[-2.55487114e-01 -9.66804862e-01 3.83311070e-03 2.60334857e+02] [-9.66742303e-01 2.55514329e-01 1.10338853e-02 -9.23093526e+01] [-1.16470286e-02 -8.86614754e-04 -9.99931778e-01 -3.72272652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters 0.013368629987698487 Centerline is valid? [True, True] Translation: X:260.28, Y:-92.42, Z:-3.72 [[-1.74665885e-01 -9.84623602e-01 2.86187546e-03 2.60278939e+02] [-9.84565720e-01 1.74686769e-01 1.07179868e-02 -9.24155715e+01] [-1.10531146e-02 -9.45637822e-04 -9.99938465e-01 -3.72332312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters 0.014152467098642051 Centerline is valid? [True, True] Translation: X:260.23, Y:-92.53, Z:-3.72 [[-9.72222112e-02 -9.95260575e-01 2.05677253e-03 2.60233154e+02] [-9.95198777e-01 9.72391809e-02 1.11326974e-02 -9.25262787e+01] [-1.12799337e-02 -9.64552052e-04 -9.99935914e-01 -3.72415737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters 0.014355683622406122 Centerline is valid? [True, True] Translation: X:260.20, Y:-92.64, Z:-3.72 [[-1.97010637e-02 -9.99805143e-01 1.24223792e-03 2.60196723e+02] [-9.99728153e-01 1.97150123e-02 1.24474233e-02 -9.26406610e+01] [-1.24694886e-02 -9.96672745e-04 -9.99921756e-01 -3.72398323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters 0.013584965845584605 Centerline is valid? [True, True] Translation: X:260.17, Y:-92.76, Z:-3.72 [[ 5.44285999e-02 -9.98517632e-01 2.57332984e-04 2.60173405e+02] [-9.98431452e-01 -5.44205121e-02 1.31546009e-02 -9.27557826e+01] [-1.31210967e-02 -9.72915853e-04 -9.99913441e-01 -3.72442976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters 0.011911384000430255 Centerline is valid? [True, True] Translation: X:260.16, Y:-92.86, Z:-3.72 [[ 1.23619686e-01 -9.92329298e-01 -8.58533630e-04 2.60163179e+02] [-9.92230363e-01 -1.23619508e-01 1.40400727e-02 -9.28635800e+01] [-1.40385070e-02 -8.83766245e-04 -9.99901065e-01 -3.72472960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters 0.011081846171783987 Centerline is valid? [True, True] Translation: X:260.16, Y:-92.98, Z:-3.73 [[ 1.92329905e-01 -9.81328395e-01 -1.94632518e-03 2.60161404e+02] [-9.81229304e-01 -1.92338186e-01 1.39669653e-02 -9.29794632e+01] [-1.40805323e-02 -7.76473818e-04 -9.99900563e-01 -3.72595098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters 0.011224200945855025 Centerline is valid? [True, True] Translation: X:260.16, Y:-93.09, Z:-3.73 [[ 2.59843859e-01 -9.65647738e-01 -2.36962266e-03 2.60163722e+02] [-9.65580569e-01 -2.59853783e-01 1.14094615e-02 -9.30913128e+01] [-1.16332761e-02 -6.76616912e-04 -9.99932102e-01 -3.72846552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters 0.011416642793667955 Centerline is valid? [True, True] Translation: X:260.18, Y:-93.21, Z:-3.73 [[ 3.31271310e-01 -9.43530003e-01 -3.23308187e-03 2.60175211e+02] [-9.43464094e-01 -3.31286448e-01 1.11710912e-02 -9.32111220e+01] [-1.16113359e-02 -6.50365354e-04 -9.99932375e-01 -3.73045535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters 0.011439610082456827 Centerline is valid? [True, True] Translation: X:260.19, Y:-93.33, Z:-3.73 [[ 4.03613536e-01 -9.14919384e-01 -4.31666811e-03 2.60194763e+02] [-9.14848520e-01 -4.03636088e-01 1.14059005e-02 -9.33338581e+01] [-1.21778425e-02 -6.54478384e-04 -9.99925633e-01 -3.73162936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters 0.011243412287475914 Centerline is valid? [True, True] Translation: X:260.22, Y:-93.45, Z:-3.73 [[ 4.74518496e-01 -8.80227519e-01 -5.63140125e-03 2.60218995e+02] [-8.80147819e-01 -4.74551432e-01 1.18639831e-02 -9.34493577e+01] [-1.31153940e-02 -6.73213889e-04 -9.99913763e-01 -3.73155704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters 0.01123701246392731 Centerline is valid? [True, True] Translation: X:260.25, Y:-93.56, Z:-3.73 [[ 5.44606016e-01 -8.38669024e-01 -6.20935625e-03 2.60247544e+02] [-8.38598446e-01 -5.44640921e-01 1.09047056e-02 -9.35641680e+01] [-1.25273083e-02 -7.31611745e-04 -9.99921263e-01 -3.73239317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters 0.011263235503783851 Centerline is valid? [True, True] Translation: X:260.29, Y:-93.67, Z:-3.73 [[ 6.09270209e-01 -7.92934793e-01 -6.65030588e-03 2.60286117e+02] [-7.92873347e-01 -6.09306029e-01 9.90041362e-03 -9.36726721e+01] [-1.19024539e-02 -7.59176784e-04 -9.99928875e-01 -3.73415179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters 0.011472130616003648 Centerline is valid? [True, True] Translation: X:260.33, Y:-93.78, Z:-3.74 [[ 6.70037104e-01 -7.42295266e-01 -6.92945099e-03 2.60333885e+02] [-7.42242969e-01 -6.70072477e-01 8.84596320e-03 -9.37784747e+01] [-1.12095510e-02 -7.83787290e-04 -9.99936864e-01 -3.73597697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters 0.011807126229614526 Centerline is valid? [True, True] Translation: X:260.38, Y:-93.87, Z:-3.74 [[ 7.26092693e-01 -6.87559594e-01 -7.15590793e-03 2.60384420e+02] [-6.87514945e-01 -7.26127514e-01 7.87610666e-03 -9.38736116e+01] [-1.06113943e-02 -7.98989844e-04 -9.99943378e-01 -3.73707643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters 0.012171886262416385 Centerline is valid? [True, True] Translation: X:260.40, Y:-93.90, Z:-3.74 [[ 7.78555360e-01 -6.27526944e-01 -7.84131616e-03 2.60402203e+02] [-6.27483994e-01 -7.78594402e-01 7.38887811e-03 -9.39035534e+01] [-1.07419250e-02 -8.32350279e-04 -9.99941957e-01 -3.73726489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters 0.012572443879154157 Centerline is valid? [True, True] Translation: X:260.42, Y:-93.93, Z:-3.74 [[ 8.26368275e-01 -5.63064775e-01 -8.57521353e-03 2.60423965e+02] [-5.63023428e-01 -8.26412324e-01 6.87677013e-03 -9.39311844e+01] [-1.09587292e-02 -8.54698541e-04 -9.99939586e-01 -3.73810147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters 0.012799037554077465 Centerline is valid? [True, True] Translation: X:260.45, Y:-93.96, Z:-3.74 [[ 8.68270369e-01 -4.96024713e-01 -8.12710529e-03 2.60448821e+02] [-4.95993621e-01 -8.68307991e-01 5.61789020e-03 -9.39560108e+01] [-9.84344284e-03 -8.46855214e-04 -9.99951194e-01 -3.74031139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters 0.013050841364286374 Centerline is valid? [True, True] Translation: X:260.48, Y:-93.98, Z:-3.74 [[ 9.04727627e-01 -4.25900936e-01 -8.73579007e-03 2.60475711e+02] [-4.25871762e-01 -9.04769396e-01 5.05786401e-03 -9.39788756e+01] [-1.00580245e-02 -8.55662993e-04 -9.99949051e-01 -3.74117934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters 0.013322125066466767 Centerline is valid? [True, True] Translation: X:260.50, Y:-94.00, Z:-3.74 [[ 9.35890929e-01 -3.52124552e-01 -1.07920719e-02 2.60503589e+02] [-3.52089885e-01 -9.35952717e-01 5.02235929e-03 -9.40009897e+01] [-1.18693650e-02 -9.00601148e-04 -9.99929151e-01 -3.74014998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters 0.013733339922560232 Centerline is valid? [True, True] Translation: X:260.53, Y:-94.02, Z:-3.74 [[ 9.60966383e-01 -2.76368204e-01 -1.28150620e-02 2.60534140e+02] [-2.76330363e-01 -9.61051361e-01 4.67025838e-03 -9.40194673e+01] [-1.36066437e-02 -9.46770566e-04 -9.99906977e-01 -3.73969051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters 0.014409773103902656 Centerline is valid? [True, True] Translation: X:260.57, Y:-94.03, Z:-3.74 [[ 9.80002020e-01 -1.98432019e-01 -1.48584598e-02 2.60565470e+02] [-1.98393555e-01 -9.80114137e-01 4.03423660e-03 -9.40342739e+01] [-1.53635082e-02 -1.00573735e-03 -9.99881469e-01 -3.73930676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters 0.014495411131360198 Centerline is valid? [True, True] Translation: X:260.60, Y:-94.04, Z:-3.74 [[ 9.92541362e-01 -1.20881983e-01 -1.57857951e-02 2.60598339e+02] [-1.20850268e-01 -9.92666360e-01 2.95130075e-03 -9.40447973e+01] [-1.60267868e-02 -1.02157051e-03 -9.99871041e-01 -3.73976730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters 0.013336692000258653 Centerline is valid? [True, True] Translation: X:260.63, Y:-94.05, Z:-3.74 [[ 9.98823521e-01 -4.55827394e-02 -1.65465071e-02 2.60628296e+02] [-4.55601274e-02 -9.98960081e-01 1.74116175e-03 -9.40507386e+01] [-1.66086670e-02 -9.85252342e-04 -9.99861581e-01 -3.74135933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters 0.012831269471080273 Centerline is valid? [True, True] Translation: X:260.66, Y:-94.05, Z:-3.74 [[ 9.99491374e-01 2.76179986e-02 -1.59448960e-02 2.60656791e+02] [ 2.76286681e-02 -9.99618155e-01 4.49209657e-04 -9.40532087e+01] [-1.59264012e-02 -8.89517415e-04 -9.99872771e-01 -3.74271653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters 0.01236631321181167 Centerline is valid? [True, True] Translation: X:260.68, Y:-94.05, Z:-3.74 [[ 9.94714812e-01 1.01370343e-01 -1.63246987e-02 2.60684944e+02] [ 1.01370176e-01 -9.94848422e-01 -8.39858535e-04 -9.40508177e+01] [-1.63257375e-02 -8.19417857e-04 -9.99866390e-01 -3.74297577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters 0.01214261212706053 Centerline is valid? [True, True] Translation: X:260.71, Y:-94.05, Z:-3.74 [[ 9.83993264e-01 1.77532728e-01 -1.54721502e-02 2.60713750e+02] [ 1.77523346e-01 -9.84114580e-01 -1.98871413e-03 -9.40501034e+01] [-1.55794304e-02 -7.89786561e-04 -9.99878321e-01 -3.74469901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters 0.012130835533511412 Centerline is valid? [True, True] Translation: X:260.74, Y:-94.05, Z:-3.75 [[ 9.66924343e-01 2.54600012e-01 -1.53671323e-02 2.60742466e+02] [ 2.54580878e-01 -9.67046120e-01 -3.22150791e-03 -9.40490416e+01] [-1.56809216e-02 -7.97223609e-04 -9.99876729e-01 -3.74617447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters 0.012627152228490026 Centerline is valid? [True, True] Translation: X:260.77, Y:-94.05, Z:-3.75 [[ 9.42281123e-01 3.34426712e-01 -1.62806269e-02 2.60773366e+02] [ 3.34392987e-01 -9.42421339e-01 -4.83212541e-03 -9.40519933e+01] [-1.69592020e-02 -8.90906913e-04 -9.99855785e-01 -3.74631397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters 0.013619601490525416 Centerline is valid? [True, True] Translation: X:260.80, Y:-94.05, Z:-3.75 [[ 9.11327222e-01 4.11330851e-01 -1.70183834e-02 2.60803393e+02] [ 4.11279113e-01 -9.11485577e-01 -6.59801478e-03 -9.40507187e+01] [-1.82259780e-02 -9.86355134e-04 -9.99833407e-01 -3.74572894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters 0.014971398566698492 Centerline is valid? [True, True] Translation: X:260.83, Y:-94.05, Z:-3.75 [[ 8.74766938e-01 4.84250480e-01 -1.68604872e-02 2.60832386e+02] [ 4.84183379e-01 -8.74928777e-01 -8.12954851e-03 -9.40467310e+01] [-1.86884632e-02 -1.05210741e-03 -9.99824802e-01 -3.74528775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters 0.014682159600250993 Centerline is valid? [True, True] Translation: X:260.86, Y:-94.04, Z:-3.75 [[ 8.33446162e-01 5.52393712e-01 -1.51222463e-02 2.60860216e+02] [ 5.52325221e-01 -8.33582680e-01 -8.76163663e-03 -9.40381293e+01] [-1.74455156e-02 -1.05004562e-03 -9.99847264e-01 -3.74745055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters 0.01393932465888289 Centerline is valid? [True, True] Translation: X:260.89, Y:-94.03, Z:-3.75 [[ 7.89266782e-01 6.13925329e-01 -1.23950368e-02 2.60886663e+02] [ 6.13868248e-01 -7.89363523e-01 -8.42629477e-03 -9.40264072e+01] [-1.49573057e-02 -9.58324981e-04 -9.99887674e-01 -3.74978239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters 0.013489604436479726 Centerline is valid? [True, True] Translation: X:260.91, Y:-94.01, Z:-3.75 [[ 7.40277894e-01 6.72217386e-01 -1.06030830e-02 2.60912551e+02] [ 6.72165368e-01 -7.40353277e-01 -8.41089894e-03 -9.40127652e+01] [-1.35039798e-02 -9.00622659e-04 -9.99908412e-01 -3.75184275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters 0.013172726511910838 Centerline is valid? [True, True] Translation: X:260.94, Y:-94.00, Z:-3.75 [[ 6.86135389e-01 7.27409604e-01 -9.66928916e-03 2.60937952e+02] [ 7.27354847e-01 -6.86202954e-01 -8.96839124e-03 -9.39985774e+01] [-1.31587887e-02 -8.79473724e-04 -9.99913033e-01 -3.75272573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters 0.012862731379135062 Centerline is valid? [True, True] Translation: X:260.96, Y:-93.98, Z:-3.75 [[ 6.29112827e-01 7.77265067e-01 -8.72158439e-03 2.60960546e+02] [ 7.77208178e-01 -6.29172720e-01 -9.44119214e-03 -9.39821473e+01] [-1.28256918e-02 -8.38911639e-04 -9.99917396e-01 -3.75282192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters 0.012578215270013819 Centerline is valid? [True, True] Translation: X:260.98, Y:-93.96, Z:-3.75 [[ 5.67431474e-01 8.23375846e-01 -8.58712536e-03 2.60983801e+02] [ 8.23302865e-01 -5.67495837e-01 -1.09939659e-02 -9.39645834e+01] [-1.39253239e-02 -8.31482620e-04 -9.99902692e-01 -3.75179161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters 0.012739725196769264 Centerline is valid? [True, True] Translation: X:261.00, Y:-93.95, Z:-3.75 [[ 5.01716127e-01 8.64991411e-01 -8.41353009e-03 2.61004358e+02] [ 8.64896530e-01 -5.01785972e-01 -1.28386744e-02 -9.39459695e+01] [-1.53271344e-02 -8.35463007e-04 -9.99882184e-01 -3.75022957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters 0.01271754296829922 Centerline is valid? [True, True] Translation: X:261.02, Y:-93.92, Z:-3.75 [[ 4.32457930e-01 9.01621213e-01 -7.70232198e-03 2.61022318e+02] [ 9.01511134e-01 -4.32525700e-01 -1.41136051e-02 -9.39248315e+01] [-1.60565779e-02 -8.40188582e-04 -9.99870732e-01 -3.74977739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters 0.012603824084837666 Centerline is valid? [True, True] Translation: X:261.04, Y:-93.90, Z:-3.75 [[ 3.60741770e-01 9.32643614e-01 -6.42378189e-03 2.61037510e+02] [ 9.32534286e-01 -3.60798004e-01 -1.43040183e-02 -9.39017977e+01] [-1.56582390e-02 -8.30339971e-04 -9.99877057e-01 -3.75065777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters 0.012323437063348333 Centerline is valid? [True, True] Translation: X:261.05, Y:-93.88, Z:-3.75 [[ 2.88991739e-01 9.57319385e-01 -4.83430040e-03 2.61048754e+02] [ 9.57227023e-01 -2.89031124e-01 -1.33204815e-02 -9.38769696e+01] [-1.41492184e-02 -7.78013870e-04 -9.99899592e-01 -3.75235227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters 0.01201841713510192 Centerline is valid? [True, True] Translation: X:261.06, Y:-93.85, Z:-3.76 [[ 2.15731046e-01 9.76446868e-01 -3.41012690e-03 2.61060485e+02] [ 9.76372793e-01 -2.15756761e-01 -1.20494451e-02 -9.38528202e+01] [-1.25014009e-02 -7.30115719e-04 -9.99921588e-01 -3.75506558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters 0.011833353581673088 Centerline is valid? [True, True] Translation: X:261.07, Y:-93.83, Z:-3.76 [[ 1.41313720e-01 9.89962305e-01 -2.25095727e-03 2.61070929e+02] [ 9.89902739e-01 -1.41329959e-01 -1.08816755e-02 -9.38277540e+01] [-1.10905763e-02 -6.90498719e-04 -9.99938259e-01 -3.75699158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters 0.011849531458790445 Centerline is valid? [True, True] Translation: X:261.08, Y:-93.80, Z:-3.76 [[ 6.50951536e-02 9.97878119e-01 -1.37106096e-03 2.61077945e+02] [ 9.97820542e-01 -6.51061546e-02 -1.07403474e-02 -9.38039933e+01] [-1.08068222e-02 -6.68928223e-04 -9.99941381e-01 -3.75792611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters 0.011880768834245067 Centerline is valid? [True, True] Translation: X:261.09, Y:-93.78, Z:-3.76 [[-1.48213539e-02 9.99890027e-01 -5.12204692e-04 2.61087908e+02] [ 9.99822232e-01 1.48143742e-02 -1.16635712e-02 -9.37786839e+01] [-1.16547005e-02 -6.84983555e-04 -9.99931847e-01 -3.75735024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters 0.011940180395115432 Centerline is valid? [True, True] Translation: X:261.10, Y:-93.75, Z:-3.76 [[-9.56144224e-02 9.95418335e-01 4.68962885e-04 2.61097411e+02] [ 9.95341747e-01 9.56128929e-02 -1.23685882e-02 -9.37518586e+01] [-1.23567583e-02 -7.15837076e-04 -9.99923396e-01 -3.75757643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters 0.0120998794514218 Centerline is valid? [True, True] Translation: X:261.10, Y:-93.72, Z:-3.76 [[-1.75334743e-01 9.84507895e-01 1.39008052e-03 2.61103795e+02] [ 9.84434882e-01 1.75338701e-01 -1.20126268e-02 -9.37246604e+01] [-1.20702608e-02 -7.37787071e-04 -9.99926880e-01 -3.75865488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters 0.012438029631443382 Centerline is valid? [True, True] Translation: X:261.11, Y:-93.70, Z:-3.76 [[-2.55523747e-01 9.66799535e-01 2.50493026e-03 2.61108944e+02] [ 9.66718250e-01 2.55534809e-01 -1.25612991e-02 -9.36968694e+01] [-1.27843550e-02 -7.88148408e-04 -9.99917966e-01 -3.76058980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters 0.012879235215051037 Centerline is valid? [True, True] Translation: X:261.11, Y:-93.67, Z:-3.76 [[-3.32887180e-01 9.42957177e-01 4.22930514e-03 2.61110573e+02] [ 9.42845644e-01 3.32912964e-01 -1.45275692e-02 -9.36686374e+01] [-1.51068662e-02 -8.48459620e-04 -9.99885525e-01 -3.75797940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters 0.01271457399542845 Centerline is valid? [True, True] Translation: X:261.11, Y:-93.64, Z:-3.76 [[-4.06183551e-01 9.13779694e-01 4.64701317e-03 2.61108327e+02] [ 9.13694616e-01 4.06209285e-01 -1.24966082e-02 -9.36408819e+01] [-1.33068067e-02 -8.29965765e-04 -9.99911116e-01 -3.76053925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters 0.012533790972339972 Centerline is valid? [True, True] Translation: X:261.10, Y:-93.61, Z:-3.76 [[-4.74586344e-01 8.80194438e-01 5.05501473e-03 2.61103587e+02] [ 8.80125676e-01 4.74612615e-01 -1.10299878e-02 -9.36147558e+01] [-1.21077077e-02 -7.85633329e-04 -9.99926390e-01 -3.76194459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters 0.012592339167794266 Centerline is valid? [True, True] Translation: X:261.10, Y:-93.59, Z:-3.76 [[-5.41903201e-01 8.40425475e-01 5.09327540e-03 2.61098361e+02] [ 8.40374261e-01 5.41926597e-01 -9.30938332e-03 -9.35888802e+01] [-1.05840243e-02 -7.64527072e-04 -9.99943695e-01 -3.76316906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters 0.01252341413814511 Centerline is valid? [True, True] Translation: X:261.09, Y:-93.56, Z:-3.76 [[-6.05898521e-01 7.95527531e-01 4.78861043e-03 2.61091865e+02] [ 7.95492412e-01 6.05916989e-01 -7.51167768e-03 -9.35616609e+01] [-8.87724681e-03 -7.42011132e-04 -9.99960321e-01 -3.76498650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters 0.012583395833262125 Centerline is valid? [True, True] Translation: X:261.08, Y:-93.54, Z:-3.77 [[-6.66165224e-01 7.45794693e-01 3.76430311e-03 2.61082388e+02] [ 7.45776315e-01 6.66175478e-01 -5.28391116e-03 -9.35354067e+01] [-6.44839933e-03 -7.12629756e-04 -9.99978955e-01 -3.76634923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters 0.012264169130385494 Centerline is valid? [True, True] Translation: X:261.07, Y:-93.51, Z:-3.77 [[-7.20774783e-01 6.93167695e-01 1.50327395e-03 2.61069715e+02] [ 6.93163969e-01 7.20776044e-01 -2.36783420e-03 -9.35093824e+01] [-2.72483003e-03 -6.64659841e-04 -9.99996067e-01 -3.76845952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters 0.01208403090525385 Centerline is valid? [True, True] Translation: X:261.09, Y:-93.49, Z:-3.77 [[-7.66428255e-01 6.42329894e-01 -1.93088232e-04 2.61090023e+02] [ 6.42329881e-01 7.66428059e-01 -5.95338994e-04 -9.34930760e+01] [-2.34415795e-04 -5.80310967e-04 -9.99999804e-01 -3.77000904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters 0.011879143756765619 Centerline is valid? [True, True] Translation: X:261.11, Y:-93.48, Z:-3.77 [[-8.05978761e-01 5.91938629e-01 -2.62614265e-03 2.61110114e+02] [ 5.91937683e-01 8.05982830e-01 1.20741325e-03 -9.34821974e+01] [ 2.83134043e-03 -5.81363358e-04 -9.99995823e-01 -3.77152503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters 0.012212926984854322 Centerline is valid? [True, True] Translation: X:261.13, Y:-93.47, Z:-3.77 [[-8.42235186e-01 5.39090594e-01 -4.60685006e-03 2.61127000e+02] [ 5.39086394e-01 8.42247559e-01 2.21566431e-03 -9.34675359e+01] [ 5.07455201e-03 -6.17379751e-04 -9.99986934e-01 -3.77256041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters 0.013078297999558066 Centerline is valid? [True, True] Translation: X:261.55, Y:-92.84, Z:-4.71 [[-8.15746647e-01 -5.78082175e-01 -1.94527110e-02 2.61546134e+02] [ 5.77925727e-01 -8.15978509e-01 1.34509309e-02 -9.28375503e+01] [-2.36487375e-02 -2.69670391e-04 9.99720293e-01 -4.71440387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters 0.013278488474424957 Centerline is valid? [True, True] Translation: X:261.10, Y:-93.45, Z:-3.77 [[-8.40442429e-01 5.41866093e-01 -6.13690756e-03 2.61095413e+02] [ 5.41857349e-01 8.40464562e-01 3.15174115e-03 -9.34492758e+01] [ 6.86567499e-03 -6.76471475e-04 -9.99976202e-01 -3.77269056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters 0.014346108254714102 Centerline is valid? [True, True] Translation: X:261.11, Y:-93.43, Z:-3.77 [[-8.74442090e-01 4.85112568e-01 -4.10224621e-03 2.61111592e+02] [ 4.85110616e-01 8.74451465e-01 1.52477435e-03 -9.34275925e+01] [ 4.32690241e-03 -6.56716322e-04 -9.99990423e-01 -3.76952011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters 0.016546899286899275 Centerline is valid? [True, True] Translation: X:261.13, Y:-93.41, Z:-3.76 [[-9.04446536e-01 4.26584832e-01 -1.35778630e-03 2.61132233e+02] [ 4.26585256e-01 9.04447355e-01 -2.47618571e-05 -9.34060194e+01] [ 1.21748320e-03 -6.01607394e-04 -9.99999078e-01 -3.76443340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters 0.017168049707601486 Centerline is valid? [True, True] Translation: X:261.14, Y:-93.38, Z:-3.76 [[-9.31039865e-01 3.64911908e-01 2.01744934e-03 2.61143681e+02] [ 3.64909827e-01 9.31041915e-01 -1.33085879e-03 -9.33784659e+01] [-2.36397611e-03 -5.02895499e-04 -9.99997079e-01 -3.75910374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters 0.01862503051372999 Centerline is valid? [True, True] Translation: X:261.16, Y:-93.35, Z:-3.76 [[-9.54458513e-01 2.98325393e-01 3.30261456e-03 2.61155278e+02] [ 2.98321883e-01 9.54464113e-01 -1.52017147e-03 -9.33545086e+01] [-3.60573283e-03 -4.65698405e-04 -9.99993391e-01 -3.75825090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters 0.018821026691461525 Centerline is valid? [True, True] Translation: X:261.17, Y:-93.33, Z:-3.76 [[-9.73259718e-01 2.29665141e-01 4.40964959e-03 2.61165277e+02] [ 2.29660729e-01 9.73269609e-01 -1.48898038e-03 -9.33278899e+01] [-4.63374482e-03 -4.36441283e-04 -9.99989169e-01 -3.75695413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters 0.016660779728238737 Centerline is valid? [True, True] Translation: X:261.17, Y:-93.29, Z:-3.75 [[-9.87390585e-01 1.58126916e-01 7.46403159e-03 2.61167519e+02] [ 1.58119588e-01 9.87418728e-01 -1.56567061e-03 -9.32948360e+01] [-7.61769925e-03 -3.65718824e-04 -9.99970918e-01 -3.75420347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters 0.015299412038216905 Centerline is valid? [True, True] Translation: X:261.27, Y:-92.57, Z:-4.74 [[-9.84598386e-01 -1.74741646e-01 -5.60132190e-03 2.61273219e+02] [ 1.74739734e-01 -9.84614306e-01 8.32768730e-04 -9.25697436e+01] [-5.66066106e-03 -1.58830751e-04 9.99983966e-01 -4.73943864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters 0.014728586138948906 Centerline is valid? [True, True] Translation: X:261.11, Y:-93.28, Z:-3.75 [[-9.89026614e-01 1.46901832e-01 1.56910130e-02 2.61112232e+02] [ 1.46879075e-01 9.89151041e-01 -2.59928415e-03 -9.32791197e+01] [-1.59026215e-02 -2.66079724e-04 -9.99873510e-01 -3.74704102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters 0.01306387519665741 Centerline is valid? [True, True] Translation: X:261.10, Y:-93.24, Z:-3.74 [[-9.97538907e-01 6.66056500e-02 2.19047141e-02 2.61101509e+02] [ 6.65816541e-02 9.97779313e-01 -1.82377234e-03 -9.32391995e+01] [-2.19775442e-02 -3.60831768e-04 -9.99758399e-01 -3.74036847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters 0.012574301169626923 Centerline is valid? [True, True] Translation: X:261.15, Y:-92.56, Z:-4.76 [[-9.92178883e-01 -1.24544736e-01 8.34707022e-03 2.61149774e+02] [ 1.24535977e-01 -9.92213862e-01 -1.56297470e-03 -9.25557197e+01] [ 8.47673905e-03 -5.11239947e-04 9.99963941e-01 -4.75604301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters 0.012805936463632765 Centerline is valid? [True, True] Translation: X:261.04, Y:-93.22, Z:-3.74 [[-9.98560761e-01 4.73245337e-02 2.52348041e-02 2.61042564e+02] [ 4.72913470e-02 9.98879311e-01 -1.91062036e-03 -9.32190153e+01] [-2.52969429e-02 -7.14482642e-04 -9.99679726e-01 -3.73681367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters 0.013463235121743779 Centerline is valid? [True, True] Translation: X:261.03, Y:-93.18, Z:-3.74 [[-9.99135894e-01 -3.07823390e-02 2.79269126e-02 2.61026614e+02] [-3.07960469e-02 9.99525687e-01 -6.07772130e-05 -9.31829469e+01] [-2.79117956e-02 -9.20763206e-04 -9.99609966e-01 -3.73605539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters 0.014315895370347869 Centerline is valid? [True, True] Translation: X:261.03, Y:-92.55, Z:-4.76 [[-9.97757979e-01 -6.55725151e-02 1.33888304e-02 2.61028010e+02] [ 6.55630942e-02 -9.97847772e-01 -1.14182950e-03 -9.25462610e+01] [ 1.34348873e-02 -2.61456342e-04 9.99909714e-01 -4.76122370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters 0.015378645950538693 Centerline is valid? [True, True] Translation: X:260.96, Y:-93.17, Z:-3.73 [[-9.98703652e-01 -4.12169675e-02 2.98693323e-02 2.60964057e+02] [-4.12323344e-02 9.99149581e-01 1.01535358e-04 -9.31702206e+01] [-2.98481159e-02 -1.13017857e-03 -9.99553807e-01 -3.73215006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters 0.015538206259174606 Centerline is valid? [True, True] Translation: X:260.96, Y:-93.14, Z:-3.73 [[-9.93145075e-01 -1.12767416e-01 3.07631094e-02 2.60955140e+02] [-1.12749483e-01 9.93620732e-01 2.32254531e-03 -9.31398982e+01] [-3.08287707e-02 -1.16190025e-03 -9.99524005e-01 -3.73238753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters 0.015181868439638735 Centerline is valid? [True, True] Translation: X:260.91, Y:-92.54, Z:-4.76 [[-9.99854814e-01 6.28469630e-03 1.58383409e-02 2.60907732e+02] [-6.28592129e-03 -9.99980243e-01 -2.75615641e-05 -9.25367442e+01] [ 1.58378547e-02 -1.27116127e-04 9.99874565e-01 -4.76265497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters 0.01540678030229259 Centerline is valid? [True, True] Translation: X:260.89, Y:-93.14, Z:-3.74 [[-9.92745477e-01 -1.16165786e-01 3.10149549e-02 2.60886650e+02] [-1.16144588e-01 9.93229195e-01 2.49028534e-03 -9.31443697e+01] [-3.10942446e-02 -1.12999965e-03 -9.99515818e-01 -3.73527892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters 0.014435753088095056 Centerline is valid? [True, True] Translation: X:260.84, Y:-92.54, Z:-4.76 [[-9.99773793e-01 1.45229412e-02 1.55385924e-02 2.60841253e+02] [-1.45236377e-02 -9.99894524e-01 6.80251253e-05 -9.25429994e+01] [ 1.55379414e-02 -1.57667150e-04 9.99879266e-01 -4.76119529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters 0.013591889357455108 Centerline is valid? [True, True] Translation: X:260.82, Y:-93.16, Z:-3.74 [[-9.93021291e-01 -1.13958097e-01 3.03688720e-02 2.60818586e+02] [-1.13932301e-01 9.93485155e-01 2.58413186e-03 -9.31585125e+01] [-3.04655063e-02 -8.93897495e-04 -9.99535419e-01 -3.73777601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters 0.012806231374168255 Centerline is valid? [True, True] Translation: X:260.76, Y:-92.54, Z:-4.76 [[-9.99432643e-01 3.12314027e-02 1.26091958e-02 2.60757732e+02] [-3.12336301e-02 -9.99512111e-01 2.02838710e-05 -9.25364213e+01] [ 1.26036774e-02 -3.73558593e-04 9.99920501e-01 -4.75703228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters 0.012594686213791803 Centerline is valid? [True, True] Translation: X:260.73, Y:-93.18, Z:-3.75 [[-9.93392188e-01 -1.11424305e-01 2.75060877e-02 2.60734026e+02] [-1.11399246e-01 9.93772722e-01 2.44649016e-03 -9.31831116e+01] [-2.76073981e-02 -6.33833225e-04 -9.99618642e-01 -3.74514047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters 0.012797760792589258 Centerline is valid? [True, True] Translation: X:260.72, Y:-93.17, Z:-3.75 [[-9.82705627e-01 -1.83193325e-01 2.70158580e-02 2.60721168e+02] [-1.83142349e-01 9.83076690e-01 4.37043328e-03 -9.31660475e+01] [-2.73592944e-02 -6.52898315e-04 -9.99625451e-01 -3.74710988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters 0.013182994838741056 Centerline is valid? [True, True] Translation: X:260.70, Y:-93.15, Z:-3.75 [[-9.65554342e-01 -2.59017590e-01 2.47931450e-02 2.60700657e+02] [-2.58953650e-01 9.65872266e-01 5.81149245e-03 -9.31475127e+01] [-2.54522899e-02 -8.08963627e-04 -9.99675711e-01 -3.74904737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters 0.014160645807916653 Centerline is valid? [True, True] Translation: X:260.67, Y:-93.13, Z:-3.75 [[-9.42641404e-01 -3.33008886e-01 2.30708699e-02 2.60674993e+02] [-3.32933209e-01 9.42923228e-01 7.15997199e-03 -9.31296400e+01] [-2.41383934e-02 -9.31772683e-04 -9.99708192e-01 -3.75087188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters 0.015476414920156951 Centerline is valid? [True, True] Translation: X:260.64, Y:-93.12, Z:-3.75 [[-9.14543023e-01 -4.03944147e-01 2.09806111e-02 2.60635504e+02] [-4.03862660e-01 9.14783106e-01 8.17435685e-03 -9.31189456e+01] [-2.24946922e-02 -9.97484395e-04 -9.99746465e-01 -3.75251308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters 0.016049340123564692 Centerline is valid? [True, True] Translation: X:260.58, Y:-93.13, Z:-3.76 [[-8.81431320e-01 -4.71987678e-01 1.75059735e-02 2.60575714e+02] [-4.71916727e-01 8.81604584e-01 8.24383948e-03 -9.31255849e+01] [-1.93243372e-02 -9.94983417e-04 -9.99812772e-01 -3.75801650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters 0.01653215091343564 Centerline is valid? [True, True] Translation: X:260.51, Y:-93.13, Z:-3.76 [[-8.45014138e-01 -5.34493514e-01 1.63642819e-02 2.60511934e+02] [-5.34414964e-01 8.45172031e-01 9.21328869e-03 -9.31272054e+01] [-1.87550765e-02 -9.59957938e-04 -9.99823647e-01 -3.75748698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters 0.01400968656925826 Centerline is valid? [True, True] Translation: X:260.45, Y:-93.14, Z:-3.76 [[-8.04804981e-01 -5.93342083e-01 1.53008181e-02 2.60447263e+02] [-5.93255609e-01 8.04949920e-01 1.01689966e-02 -9.31377084e+01] [-1.83500859e-02 -8.93236999e-04 -9.99831224e-01 -3.76027687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters 0.014429956519673643 Centerline is valid? [True, True] Translation: X:260.37, Y:-93.16, Z:-3.76 [[-7.59017838e-01 -6.50944406e-01 1.27789378e-02 2.60368470e+02] [-6.50870274e-01 7.59124946e-01 9.85911272e-03 -9.31616783e+01] [-1.61185447e-02 -8.34188313e-04 -9.99869740e-01 -3.76230547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters 0.014471598574121902 Centerline is valid? [True, True] Translation: X:260.29, Y:-93.20, Z:-3.76 [[-7.08755366e-01 -7.05361489e-01 1.14456202e-02 2.60290505e+02] [-7.05287440e-01 7.08847318e-01 1.02521758e-02 -9.31989569e+01] [-1.53446872e-02 -8.06167612e-04 -9.99881938e-01 -3.76404354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters 0.0132523560094888 Centerline is valid? [True, True] Translation: X:260.21, Y:-93.25, Z:-3.76 [[-6.54257554e-01 -7.56183853e-01 1.15340233e-02 2.60206390e+02] [-7.56087664e-01 6.54358710e-01 1.20881194e-02 -9.32532735e+01] [-1.66882293e-02 -8.11989277e-04 -9.99860412e-01 -3.76412122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters 0.013586867898227708 Centerline is valid? [True, True] Translation: X:260.13, Y:-93.30, Z:-3.76 [[-5.95266822e-01 -8.03447666e-01 1.13691921e-02 2.60128845e+02] [-8.03326951e-01 5.95374808e-01 1.39515859e-02 -9.33039712e+01] [-1.79782997e-02 -8.28262251e-04 -9.99838034e-01 -3.76293376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters 0.0135676649197098 Centerline is valid? [True, True] Translation: X:260.05, Y:-93.37, Z:-3.77 [[-5.31787230e-01 -8.46816096e-01 1.02392622e-02 2.60048921e+02] [-8.46688600e-01 5.31885129e-01 1.47181945e-02 -9.33731155e+01] [-1.79097153e-02 -8.42518678e-04 -9.99839253e-01 -3.76522739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters 0.01382067290137625 Centerline is valid? [True, True] Translation: X:259.97, Y:-93.45, Z:-3.77 [[-4.65668793e-01 -8.84917823e-01 8.54529775e-03 2.59971870e+02] [-8.84800032e-01 4.65746459e-01 1.44616376e-02 -9.34502487e+01] [-1.67773030e-02 -8.26546396e-04 -9.99858910e-01 -3.76665716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters 0.013184935851441744 Centerline is valid? [True, True] Translation: X:259.90, Y:-93.53, Z:-3.77 [[-3.97390026e-01 -9.17627534e-01 6.39346053e-03 2.59903136e+02] [-9.17538535e-01 3.97440692e-01 1.28036656e-02 -9.35340025e+01] [-1.42900175e-02 -7.78197402e-04 -9.99897590e-01 -3.76900731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters 0.013765414883089258 Centerline is valid? [True, True] Translation: X:259.84, Y:-93.62, Z:-3.77 [[-3.26377333e-01 -9.45226296e-01 5.00861386e-03 2.59837382e+02] [-9.45148011e-01 3.26414887e-01 1.21884752e-02 -9.36243008e+01] [-1.31557534e-02 -7.55839383e-04 -9.99913174e-01 -3.76930887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters 0.013373606363709063 Centerline is valid? [True, True] Translation: X:259.78, Y:-93.72, Z:-3.77 [[-2.52046454e-01 -9.67706201e-01 4.15855646e-03 2.59781325e+02] [-9.67620580e-01 2.52079571e-01 1.28958731e-02 -9.37225359e+01] [-1.35277035e-02 -7.73545720e-04 -9.99908197e-01 -3.77076654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters 0.01306688543128297 Centerline is valid? [True, True] Translation: X:259.73, Y:-93.83, Z:-3.77 [[-1.77318678e-01 -9.84147814e-01 3.34175397e-03 2.59727694e+02] [-9.84046795e-01 1.77348430e-01 1.41223105e-02 -9.38298673e+01] [-1.44910958e-02 -7.84292867e-04 -9.99894691e-01 -3.77078430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters 0.013246696846020244 Centerline is valid? [True, True] Translation: X:259.68, Y:-93.93, Z:-3.77 [[-1.02037237e-01 -9.94778042e-01 2.24693789e-03 2.59681914e+02] [-9.94674951e-01 1.02059057e-01 1.43419057e-02 -9.39344378e+01] [-1.44963332e-02 -7.71564407e-04 -9.99894625e-01 -3.77049874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters 0.012648586532368831 Centerline is valid? [True, True] Translation: X:259.65, Y:-94.05, Z:-3.77 [[-2.71818904e-02 -9.99629840e-01 1.15270162e-03 2.59647008e+02] [-9.99519508e-01 2.71960377e-02 1.48703704e-02 -9.40450598e+01] [-1.48962149e-02 -7.47942977e-04 -9.99888765e-01 -3.77166335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters 0.012276372507495368 Centerline is valid? [True, True] Translation: X:259.62, Y:-94.16, Z:-3.77 [[ 4.70192698e-02 -9.98893982e-01 8.35957239e-06 2.59621931e+02] [-9.98784118e-01 -4.70139743e-02 1.48314198e-02 -9.41624481e+01] [-1.48146230e-02 -7.05711940e-04 -9.99890008e-01 -3.77330576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters 0.012087375156208993 Centerline is valid? [True, True] Translation: X:259.60, Y:-94.27, Z:-3.77 [[ 1.22267031e-01 -9.92496645e-01 -1.08769677e-03 2.59603979e+02] [-9.92392056e-01 -1.22269955e-01 1.44244564e-02 -9.42734768e+01] [-1.44492172e-02 -6.84213827e-04 -9.99895371e-01 -3.77441804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters 0.012049302357442502 Centerline is valid? [True, True] Translation: X:259.59, Y:-94.39, Z:-3.77 [[ 1.97635193e-01 -9.80273242e-01 -2.16843670e-03 2.59593162e+02] [-9.80170934e-01 -1.97645930e-01 1.41783895e-02 -9.43904633e+01] [-1.43272786e-02 -6.76710121e-04 -9.99897130e-01 -3.77433936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters 0.011758210098246655 Centerline is valid? [True, True] Translation: X:259.59, Y:-94.51, Z:-3.78 [[ 2.70520982e-01 -9.62709088e-01 -3.09998700e-03 2.59593964e+02] [-9.62615964e-01 -2.70537981e-01 1.34055021e-02 -9.45097974e+01] [-1.37442630e-02 -6.42372629e-04 -9.99905337e-01 -3.77533070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters 0.011784267634486954 Centerline is valid? [True, True] Translation: X:259.60, Y:-94.63, Z:-3.78 [[ 3.43731735e-01 -9.39058660e-01 -4.16267341e-03 2.59603182e+02] [-9.38965593e-01 -3.43756341e-01 1.32360475e-02 -9.46295205e+01] [-1.38603704e-02 -6.41042456e-04 -9.99903735e-01 -3.77623392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters 0.012067874801050676 Centerline is valid? [True, True] Translation: X:259.62, Y:-94.75, Z:-3.78 [[ 4.16125495e-01 -9.09288696e-01 -5.80004105e-03 2.59622009e+02] [-9.09176759e-01 -4.16165374e-01 1.42829451e-02 -9.47513272e+01] [-1.54010967e-02 -6.70235056e-04 -9.99881171e-01 -3.77581535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters 0.012236156619246829 Centerline is valid? [True, True] Translation: X:259.65, Y:-94.87, Z:-3.77 [[ 4.85577732e-01 -8.74160884e-01 -7.55082306e-03 2.59645969e+02] [-8.74032012e-01 -4.85635937e-01 1.50259559e-02 -9.48658043e+01] [-1.68020540e-02 -6.96608529e-04 -9.99858593e-01 -3.77459932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters 0.012489604885676278 Centerline is valid? [True, True] Translation: X:259.68, Y:-94.97, Z:-3.77 [[ 5.52064455e-01 -8.33750367e-01 -9.22836948e-03 2.59677288e+02] [-8.33611240e-01 -5.52141104e-01 1.52480007e-02 -9.49737075e+01] [-1.78083883e-02 -7.25006652e-04 -9.99841155e-01 -3.77472459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters 0.012317892294570332 Centerline is valid? [True, True] Translation: X:259.72, Y:-95.08, Z:-3.78 [[ 6.13248142e-01 -7.89837433e-01 -9.14031789e-03 2.59719586e+02] [-7.89732603e-01 -6.13315874e-01 1.28861710e-02 -9.50788565e+01] [-1.57838823e-02 -6.84013411e-04 -9.99875193e-01 -3.77823187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters 0.011991732525758653 Centerline is valid? [True, True] Translation: X:259.77, Y:-95.18, Z:-3.78 [[ 6.70793947e-01 -7.41590260e-01 -8.90878965e-03 2.59769449e+02] [-7.41511705e-01 -6.70852791e-01 1.08131549e-02 -9.51800210e+01] [-1.39954168e-02 -6.47427047e-04 -9.99901850e-01 -3.78104397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters 0.011821885416472987 Centerline is valid? [True, True] Translation: X:259.82, Y:-95.27, Z:-3.78 [[ 7.24393889e-01 -6.89329360e-01 -8.86153198e-03 2.59821159e+02] [-6.89267099e-01 -7.24447825e-01 9.28517918e-03 -9.52709594e+01] [-1.28202642e-02 -6.18164621e-04 -9.99917626e-01 -3.78288570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters 0.011766800875644634 Centerline is valid? [True, True] Translation: X:259.84, Y:-95.30, Z:-3.78 [[ 7.76090917e-01 -6.30556901e-01 -8.99356961e-03 2.59839293e+02] [-6.30505004e-01 -7.76142772e-01 8.11405755e-03 -9.53007576e+01] [-1.20966690e-02 -6.26755721e-04 -9.99926636e-01 -3.78345320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters 0.012165735115080591 Centerline is valid? [True, True] Translation: X:259.86, Y:-95.33, Z:-3.78 [[ 8.24173848e-01 -5.66217219e-01 -1.16417422e-02 2.59858490e+02] [-5.66149062e-01 -8.24255793e-01 8.81068203e-03 -9.53298170e+01] [-1.45845333e-02 -6.70572268e-04 -9.99893415e-01 -3.78088062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters 0.012494050847396803 Centerline is valid? [True, True] Translation: X:259.88, Y:-95.35, Z:-3.78 [[ 8.66434976e-01 -4.99091681e-01 -1.40686297e-02 2.59883459e+02] [-4.99012542e-01 -8.66548901e-01 8.91546070e-03 -9.53531681e+01] [-1.66407879e-02 -7.04244326e-04 -9.99861284e-01 -3.77918956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters 0.012152683510438725 Centerline is valid? [True, True] Translation: X:259.91, Y:-95.37, Z:-3.78 [[ 9.01861123e-01 -4.31741204e-01 -1.56858894e-02 2.59910469e+02] [-4.31662782e-01 -9.01997271e-01 8.25620530e-03 -9.53741018e+01] [-1.77131734e-02 -6.74935934e-04 -9.99842882e-01 -3.78000760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters 0.011734300105545452 Centerline is valid? [True, True] Translation: X:259.94, Y:-95.39, Z:-3.78 [[ 9.30707471e-01 -3.65473628e-01 -1.45818791e-02 2.59939390e+02] [-3.65419201e-01 -9.30821523e-01 6.33245953e-03 -9.53909777e+01] [-1.58874739e-02 -5.65168789e-04 -9.99873626e-01 -3.78284998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters 0.01180609174354366 Centerline is valid? [True, True] Translation: X:259.97, Y:-95.41, Z:-3.78 [[ 9.55161385e-01 -2.95781802e-01 -1.34109502e-02 2.59968981e+02] [-2.95745271e-01 -9.55255398e-01 4.67535080e-03 -9.54059129e+01] [-1.41937663e-02 -4.99489441e-04 -9.99899139e-01 -3.78404956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters 0.01220435787183079 Centerline is valid? [True, True] Translation: X:260.00, Y:-95.42, Z:-3.79 [[ 9.74508680e-01 -2.23951582e-01 -1.33612041e-02 2.59999708e+02] [-2.23924233e-01 -9.74600169e-01 3.52821105e-03 -9.54179854e+01] [-1.38119802e-02 -4.46374905e-04 -9.99904510e-01 -3.78515364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters 0.012678049822542121 Centerline is valid? [True, True] Translation: X:260.03, Y:-95.43, Z:-3.79 [[ 9.88451522e-01 -1.50925692e-01 -1.36023429e-02 2.60026650e+02] [-1.50905961e-01 -9.88545034e-01 2.47134366e-03 -9.54298846e+01] [-1.38195177e-02 -3.90128776e-04 -9.99904430e-01 -3.78525861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters 0.012740113800486636 Centerline is valid? [True, True] Translation: X:260.05, Y:-95.44, Z:-3.79 [[ 9.97132721e-01 -7.42324283e-02 -1.46929605e-02 2.60054820e+02] [-7.42190404e-02 -9.97240902e-01 1.45512101e-03 -9.54435427e+01] [-1.47604383e-02 -3.60451347e-04 -9.99890994e-01 -3.78625502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters 0.012786612991186885 Centerline is valid? [True, True] Translation: X:260.08, Y:-95.45, Z:-3.79 [[ 9.99877051e-01 4.96889947e-03 -1.48725556e-02 2.60082906e+02] [ 4.97386227e-03 -9.99987586e-01 2.96717910e-04 -9.54538073e+01] [-1.48708967e-02 -3.70655472e-04 -9.99889353e-01 -3.78682970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters 0.01223798761316046 Centerline is valid? [True, True] Translation: X:260.11, Y:-95.47, Z:-3.79 [[ 9.96145301e-01 8.65162662e-02 -1.44732692e-02 2.60112858e+02] [ 8.65132622e-02 -9.96250349e-01 -8.34702556e-04 -9.54654351e+01] [-1.44912148e-02 -4.20644701e-04 -9.99894908e-01 -3.78704822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters 0.012046634739712767 Centerline is valid? [True, True] Translation: X:260.14, Y:-95.47, Z:-3.79 [[ 9.85967521e-01 1.66335202e-01 -1.41650068e-02 2.60143698e+02] [ 1.66324582e-01 -9.86069165e-01 -1.93277544e-03 -9.54726268e+01] [-1.42891651e-02 -4.50335027e-04 -9.99897803e-01 -3.78708216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters 0.011776378793750946 Centerline is valid? [True, True] Translation: X:260.18, Y:-95.48, Z:-3.79 [[ 9.69345728e-01 2.45343740e-01 -1.32404241e-02 2.60175650e+02] [ 2.45327664e-01 -9.69436029e-01 -2.85024660e-03 -9.54787666e+01] [-1.35350343e-02 -4.85367956e-04 -9.99908279e-01 -3.78858641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters 0.011724617473237336 Centerline is valid? [True, True] Translation: X:260.21, Y:-95.48, Z:-3.79 [[ 9.46852534e-01 3.21424377e-01 -1.25159487e-02 2.60207406e+02] [ 3.21403216e-01 -9.46935120e-01 -3.72178048e-03 -9.54786267e+01] [-1.30480623e-02 -4.98688873e-04 -9.99914746e-01 -3.79007894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters 0.011725367683811607 Centerline is valid? [True, True] Translation: X:260.24, Y:-95.48, Z:-3.79 [[ 9.18494834e-01 3.95271494e-01 -1.12998353e-02 2.60240282e+02] [ 3.95248341e-01 -9.18564198e-01 -4.30843443e-03 -9.54791010e+01] [-1.20826255e-02 -5.08966386e-04 -9.99926873e-01 -3.79200926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters 0.011848726915962835 Centerline is valid? [True, True] Translation: X:260.27, Y:-95.48, Z:-3.79 [[ 8.85509242e-01 4.64514113e-01 -1.00010455e-02 2.60273507e+02] [ 4.64490682e-01 -8.85565580e-01 -4.69138464e-03 -9.54762860e+01] [-1.10357961e-02 -4.91128000e-04 -9.99938983e-01 -3.79205945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters 0.01213615913601278 Centerline is valid? [True, True] Translation: X:260.30, Y:-95.47, Z:-3.79 [[ 8.47375271e-01 5.30902627e-01 -9.87681025e-03 2.60302234e+02] [ 5.30872925e-01 -8.47432700e-01 -5.63520797e-03 -9.54676936e+01] [-1.13616787e-02 -4.68195269e-04 -9.99935344e-01 -3.79105102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters 0.012176357602574132 Centerline is valid? [True, True] Translation: X:260.33, Y:-95.46, Z:-3.79 [[ 8.04169050e-01 5.94324155e-01 -9.53610462e-03 2.60332724e+02] [ 5.94288871e-01 -8.04225465e-01 -6.49146955e-03 -9.54580277e+01] [-1.15272153e-02 -4.46961945e-04 -9.99933460e-01 -3.79200780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters 0.012217133320386887 Centerline is valid? [True, True] Translation: X:260.36, Y:-95.45, Z:-3.79 [[ 7.55705380e-01 6.54843264e-01 -9.46986935e-03 2.60364076e+02] [ 6.54798890e-01 -7.55764589e-01 -7.63543510e-03 -9.54471313e+01] [-1.21570052e-02 -4.30720557e-04 -9.99926008e-01 -3.79198341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters 0.012205766738809694 Centerline is valid? [True, True] Translation: X:260.39, Y:-95.43, Z:-3.79 [[ 7.01453168e-01 7.12653097e-01 -9.43487671e-03 2.60392997e+02] [ 7.12596833e-01 -7.01516482e-01 -8.96545897e-03 -9.54342927e+01] [-1.30079836e-02 -4.34413667e-04 -9.99915298e-01 -3.79161137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters 0.011929427511366228 Centerline is valid? [True, True] Translation: X:260.43, Y:-95.42, Z:-3.79 [[ 6.40863424e-01 7.67599852e-01 -9.19451423e-03 2.60425103e+02] [ 7.67531276e-01 -6.40929202e-01 -1.02712269e-02 -9.54220290e+01] [-1.37772249e-02 -4.74623597e-04 -9.99904977e-01 -3.79140532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters 0.011819397786764 Centerline is valid? [True, True] Translation: X:260.45, Y:-95.41, Z:-3.79 [[ 5.76295928e-01 8.17191288e-01 -9.02230720e-03 2.60453183e+02] [ 8.17104811e-01 -5.76366319e-01 -1.18993405e-02 -9.54051118e+01] [-1.49241913e-02 -5.14629182e-04 -9.99888496e-01 -3.79090022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters 0.011870543620324468 Centerline is valid? [True, True] Translation: X:260.48, Y:-95.38, Z:-3.79 [[ 5.09389405e-01 8.60498693e-01 -8.02701052e-03 2.60477964e+02] [ 8.60407887e-01 -5.09452368e-01 -1.25121422e-02 -9.53838128e+01] [-1.48560616e-02 -5.32950466e-04 -9.99889501e-01 -3.79156018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters 0.01204004737746202 Centerline is valid? [True, True] Translation: X:260.50, Y:-95.36, Z:-3.79 [[ 4.39524322e-01 8.98202543e-01 -7.11065930e-03 2.60499014e+02] [ 8.98104439e-01 -4.39581497e-01 -1.32862264e-02 -9.53602136e+01] [-1.50594366e-02 -5.46495029e-04 -9.99886451e-01 -3.79135442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters 0.012056389211465226 Centerline is valid? [True, True] Translation: X:260.52, Y:-95.34, Z:-3.79 [[ 3.66424206e-01 9.30427701e-01 -6.13144120e-03 2.60521047e+02] [ 9.30322305e-01 -3.66475061e-01 -1.40156599e-02 -9.53362278e+01] [-1.52875785e-02 -5.68539458e-04 -9.99882977e-01 -3.79257394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters 0.012125692956448164 Centerline is valid? [True, True] Translation: X:260.54, Y:-95.31, Z:-3.79 [[ 2.91682308e-01 9.56503865e-01 -4.66771975e-03 2.60538723e+02] [ 9.56411052e-01 -2.91719089e-01 -1.33369148e-02 -9.53107766e+01] [-1.41184735e-02 -5.74116669e-04 -9.99900165e-01 -3.79334897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters 0.012085635533045294 Centerline is valid? [True, True] Translation: X:260.56, Y:-95.28, Z:-3.80 [[ 2.15149793e-01 9.76576036e-01 -3.13241511e-03 2.60557677e+02] [ 9.76507811e-01 -2.15171834e-01 -1.15575816e-02 -9.52828752e+01] [-1.19608647e-02 -5.72216545e-04 -9.99928303e-01 -3.79510552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters 0.012214954396189323 Centerline is valid? [True, True] Translation: X:260.57, Y:-95.26, Z:-3.80 [[ 1.37088252e-01 9.90556294e-01 -2.24500318e-03 2.60572074e+02] [ 9.90484134e-01 -1.37105395e-01 -1.19704039e-02 -9.52551323e+01] [-1.21651610e-02 -5.82638288e-04 -9.99925832e-01 -3.79534619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters 0.012188291902680844 Centerline is valid? [True, True] Translation: X:260.58, Y:-95.22, Z:-3.79 [[ 5.92088536e-02 9.98244654e-01 -1.38642362e-03 2.60582956e+02] [ 9.98154062e-01 -5.92221760e-02 -1.34611719e-02 -9.52244828e+01] [-1.35196499e-02 -5.86843811e-04 -9.99908433e-01 -3.79433682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters 0.012183364206700121 Centerline is valid? [True, True] Translation: X:260.59, Y:-95.19, Z:-3.79 [[-1.85320064e-02 9.99828218e-01 -3.16070505e-04 2.60588060e+02] [ 9.99726870e-01 1.85256239e-02 -1.42473693e-02 -9.51942886e+01] [-1.42390665e-02 -5.80016517e-04 -9.99898451e-01 -3.79421471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters 0.012167399789634464 Centerline is valid? [True, True] Translation: X:260.59, Y:-95.16, Z:-3.79 [[-9.57125055e-02 9.95408542e-01 9.75115337e-04 2.60593037e+02] [ 9.95278494e-01 9.57157726e-02 -1.60999846e-02 -9.51627490e+01] [-1.61193961e-02 -5.70458536e-04 -9.99869911e-01 -3.79369495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters 0.012214849017247113 Centerline is valid? [True, True] Translation: X:260.59, Y:-95.13, Z:-3.79 [[-1.73306135e-01 9.84865773e-01 2.09606825e-03 2.60594328e+02] [ 9.84749134e-01 1.73317891e-01 -1.51674890e-02 -9.51318362e+01] [-1.53012269e-02 -5.64517498e-04 -9.99882770e-01 -3.79423176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters 0.012142741634172467 Centerline is valid? [True, True] Translation: X:260.59, Y:-95.10, Z:-3.79 [[-2.48804813e-01 9.68548494e-01 3.15893034e-03 2.60591784e+02] [ 9.68440356e-01 2.48824271e-01 -1.44830495e-02 -9.51016871e+01] [-1.48135543e-02 -5.44216804e-04 -9.99890125e-01 -3.79477254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters 0.012188258462876215 Centerline is valid? [True, True] Translation: X:260.58, Y:-95.07, Z:-3.80 [[-3.21864815e-01 9.46776594e-01 4.13790719e-03 2.60583926e+02] [ 9.46676799e-01 3.21891008e-01 -1.37556437e-02 -9.50724029e+01] [-1.43554767e-02 -5.10196998e-04 -9.99896825e-01 -3.79529374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters 0.012173410553557338 Centerline is valid? [True, True] Translation: X:260.58, Y:-95.04, Z:-3.80 [[-3.94018025e-01 9.19090404e-01 4.75666073e-03 2.60575035e+02] [ 9.19007616e-01 3.94046427e-01 -1.23456512e-02 -9.50447451e+01] [-1.32211148e-02 -4.93001678e-04 -9.99912476e-01 -3.79641243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters 0.012098298943397654 Centerline is valid? [True, True] Translation: X:260.56, Y:-95.02, Z:-3.80 [[-4.66091300e-01 8.84725735e-01 4.39014453e-03 2.60563907e+02] [ 8.84675705e-01 4.66111698e-01 -9.42239864e-03 -9.50182005e+01] [-1.03825363e-02 -5.07843826e-04 -9.99945971e-01 -3.79928949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters 0.01215728343943465 Centerline is valid? [True, True] Translation: X:260.55, Y:-94.99, Z:-3.80 [[-5.35936895e-01 8.44242601e-01 5.10645431e-03 2.60551958e+02] [ 8.44194443e-01 5.35960959e-01 -9.03290753e-03 -9.49915713e+01] [-1.03628255e-02 -5.30228062e-04 -9.99946164e-01 -3.79897212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters 0.012323063160249519 Centerline is valid? [True, True] Translation: X:260.54, Y:-94.96, Z:-3.80 [[-6.03635267e-01 7.97235514e-01 6.32458268e-03 2.60541795e+02] [ 7.97181386e-01 6.03668124e-01 -9.30773601e-03 -9.49629903e+01] [-1.12384067e-02 -5.76638123e-04 -9.99936681e-01 -3.79885767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters 0.012525149844741401 Centerline is valid? [True, True] Translation: X:260.53, Y:-94.94, Z:-3.80 [[-6.64865617e-01 7.46926299e-01 7.40372132e-03 2.60529120e+02] [ 7.46869829e-01 6.64906578e-01 -9.20334068e-03 -9.49369114e+01] [-1.17970002e-02 -5.89368703e-04 -9.99930239e-01 -3.79786817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters 0.012476503466559978 Centerline is valid? [True, True] Translation: X:260.51, Y:-94.91, Z:-3.80 [[-7.21033950e-01 6.92832141e-01 9.67818319e-03 2.60510921e+02] [ 6.92758320e-01 7.21098650e-01 -1.01314306e-02 -9.49126785e+01] [-1.39983056e-02 -6.00463472e-04 -9.99901839e-01 -3.79633830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters 0.012494347702559971 Centerline is valid? [True, True] Translation: X:260.53, Y:-94.90, Z:-3.80 [[-7.67676388e-01 6.40744757e-01 1.09141944e-02 2.60528577e+02] [ 6.40669772e-01 7.67753776e-01 -9.81744516e-03 -9.48973090e+01] [-1.46698905e-02 -5.44226400e-04 -9.99892243e-01 -3.79576291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters 0.012159453022622115 Centerline is valid? [True, True] Translation: X:260.98, Y:-94.38, Z:-4.79 [[-7.14942185e-01 -6.99182991e-01 9.04540844e-04 2.60978009e+02] [ 6.99181863e-01 -7.14942698e-01 -1.28866653e-03 -9.43841133e+01] [ 1.54770859e-03 -2.88883514e-04 9.99998761e-01 -4.78784976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters 0.012137694440493372 Centerline is valid? [True, True] Translation: X:260.96, Y:-94.41, Z:-4.79 [[-6.67140889e-01 -7.44931406e-01 4.84162812e-04 2.60964108e+02] [ 7.44930717e-01 -6.67140970e-01 -1.07408084e-03 -9.44064888e+01] [ 1.12312140e-03 -3.55895497e-04 9.99999306e-01 -4.78753165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters 0.012142833017719346 Centerline is valid? [True, True] Translation: X:260.93, Y:-94.36, Z:-4.79 [[-6.67829886e-01 -7.44313858e-01 3.52193054e-04 2.60930750e+02] [ 7.44313758e-01 -6.67829979e-01 -3.87179233e-04 -9.43605785e+01] [ 5.23387948e-04 3.57227251e-06 9.99999863e-01 -4.78723630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters 0.012161172286228499 Centerline is valid? [True, True] Translation: X:260.89, Y:-94.32, Z:-4.79 [[-6.67851452e-01 -7.44294528e-01 3.06030427e-04 2.60894449e+02] [ 7.44294452e-01 -6.67851523e-01 -3.35953021e-04 -9.43165513e+01] [ 4.54430881e-04 3.41003638e-06 9.99999897e-01 -4.78751776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters 0.0122479908639953 Centerline is valid? [True, True] Translation: X:260.86, Y:-94.27, Z:-4.79 [[-6.66605803e-01 -7.45410358e-01 3.17063303e-04 2.60857252e+02] [ 7.45410277e-01 -6.66605879e-01 -3.48051749e-04 -9.42725226e+01] [ 4.70797640e-04 4.32892910e-06 9.99999889e-01 -4.78790725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters 0.012418679664820366 Centerline is valid? [True, True] Translation: X:260.82, Y:-94.23, Z:-4.79 [[-6.65131681e-01 -7.46726082e-01 -7.67127533e-05 2.60818277e+02] [ 7.46726077e-01 -6.65131685e-01 8.75229613e-05 -9.42300294e+01] [-1.16379761e-04 9.30881006e-07 9.99999993e-01 -4.78829470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters 0.01277008516634889 Centerline is valid? [True, True] Translation: X:260.78, Y:-94.19, Z:-4.79 [[-6.63375175e-01 -7.48286436e-01 8.87162032e-04 2.60778114e+02] [ 7.48285797e-01 -6.63375768e-01 -9.78087686e-04 -9.41880176e+01] [ 1.32041154e-03 1.50116583e-05 9.99999128e-01 -4.78971142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters 0.01296780446299907 Centerline is valid? [True, True] Translation: X:260.74, Y:-94.15, Z:-4.79 [[-6.62512147e-01 -7.49050307e-01 1.13698530e-03 2.60737859e+02] [ 7.49049259e-01 -6.62513122e-01 -1.25313567e-03 -9.41471979e+01] [ 1.69192934e-03 2.14403968e-05 9.99998568e-01 -4.79073189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters 0.013305307592469038 Centerline is valid? [True, True] Translation: X:260.70, Y:-94.11, Z:-4.79 [[-6.61455302e-01 -7.49982768e-01 1.65242093e-03 2.60696261e+02] [ 7.49980556e-01 -6.61457365e-01 -1.82187845e-03 -9.41070826e+01] [ 2.45938344e-03 3.41924073e-05 9.99996975e-01 -4.79259761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98655999499994 meters 0.01336708956059377 Centerline is valid? [True, True] Translation: X:260.66, Y:-94.07, Z:-4.79 [[-6.61395332e-01 -7.50035519e-01 1.71293225e-03 2.60656856e+02] [ 7.50033146e-01 -6.61397549e-01 -1.88716562e-03 -9.40654934e+01] [ 2.54837044e-03 3.65934289e-05 9.99996752e-01 -4.79309275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters 0.013716377830252112 Centerline is valid? [True, True] Translation: X:260.62, Y:-94.02, Z:-4.79 [[-6.60999582e-01 -7.50383398e-01 2.07588930e-03 2.60617093e+02] [ 7.50379916e-01 -6.61002840e-01 -2.28626575e-03 -9.40242836e+01] [ 3.08774458e-03 4.64849347e-05 9.99995232e-01 -4.79424666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters 0.013684031944140699 Centerline is valid? [True, True] Translation: X:260.58, Y:-93.98, Z:-4.80 [[-6.60079059e-01 -7.51190351e-01 2.94829188e-03 2.60577612e+02] [ 7.51183338e-01 -6.60085640e-01 -3.24666919e-03 -9.39814667e+01] [ 4.38499170e-03 7.16493866e-05 9.99990383e-01 -4.79503405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters 0.013824525128023974 Centerline is valid? [True, True] Translation: X:260.54, Y:-93.94, Z:-4.79 [[-6.60327703e-01 -7.50975425e-01 1.79858140e-03 2.60538378e+02] [ 7.50972822e-01 -6.60330151e-01 -1.97802536e-03 -9.39391855e+01] [ 2.67310597e-03 4.45408072e-05 9.99996426e-01 -4.79445887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters 0.013980198854365288 Centerline is valid? [True, True] Translation: X:260.50, Y:-93.90, Z:-4.79 [[-6.61671946e-01 -7.49793087e-01 7.50042702e-04 2.60498891e+02] [ 7.49792635e-01 -6.61672371e-01 -8.23071589e-04 -9.38972987e+01] [ 1.11341592e-03 1.77731143e-05 9.99999380e-01 -4.79430249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters 0.012783885925933363 Centerline is valid? [True, True] Translation: X:260.46, Y:-93.85, Z:-4.79 [[-6.64024145e-01 -7.47710919e-01 5.62852881e-04 2.60462188e+02] [ 7.47710665e-01 -6.64024383e-01 -6.16591285e-04 -9.38516522e+01] [ 8.34780073e-04 1.14196011e-05 9.99999652e-01 -4.79392858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters 0.012428711221278933 Centerline is valid? [True, True] Translation: X:260.42, Y:-93.81, Z:-4.79 [[-6.65921805e-01 -7.46021318e-01 5.85793522e-04 2.60424778e+02] [ 7.46021042e-01 -6.65922063e-01 -6.41439728e-04 -9.38070457e+01] [ 8.68620541e-04 9.86559243e-06 9.99999623e-01 -4.79430285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters 0.012125434805340516 Centerline is valid? [True, True] Translation: X:260.39, Y:-93.76, Z:-4.80 [[-6.68647763e-01 -7.43578618e-01 1.00455908e-03 2.60387999e+02] [ 7.43577802e-01 -6.68648517e-01 -1.10126558e-03 -9.37622101e+01] [ 1.49057448e-03 1.06090643e-05 9.99998889e-01 -4.79508771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters 0.012154004851632297 Centerline is valid? [True, True] Translation: X:260.35, Y:-93.72, Z:-4.80 [[-6.68802472e-01 -7.43438137e-01 1.72892147e-03 2.60347701e+02] [ 7.43435719e-01 -6.68804707e-01 -1.89617170e-03 -9.37209592e+01] [ 2.56599718e-03 1.71776563e-05 9.99996708e-01 -4.79677865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters 0.012217878404470773 Centerline is valid? [True, True] Translation: X:260.31, Y:-93.68, Z:-4.80 [[-6.68320813e-01 -7.43869802e-01 2.23793754e-03 2.60306699e+02] [ 7.43865757e-01 -6.68324560e-01 -2.45334987e-03 -9.36804368e+01] [ 3.32064150e-03 2.51003163e-05 9.99994486e-01 -4.79788584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters 0.012128802255002223 Centerline is valid? [True, True] Translation: X:260.27, Y:-93.64, Z:-4.80 [[-6.68264392e-01 -7.43920758e-01 2.14679149e-03 2.60267241e+02] [ 7.43917041e-01 -6.68267839e-01 -2.35180143e-03 -9.36383658e+01] [ 3.18418561e-03 2.54096205e-05 9.99994930e-01 -4.79757203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters 0.01227115480481184 Centerline is valid? [True, True] Translation: X:260.23, Y:-93.60, Z:-4.80 [[-6.68116663e-01 -7.44054359e-01 1.79853730e-03 2.60227060e+02] [ 7.44051755e-01 -6.68119084e-01 -1.96857524e-03 -9.35971095e+01] [ 2.66636409e-03 2.29669166e-05 9.99996445e-01 -4.79785760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters 0.012158346188756582 Centerline is valid? [True, True] Translation: X:260.19, Y:-93.56, Z:-4.80 [[-6.68973183e-01 -7.43285552e-01 1.21186786e-03 2.60187230e+02] [ 7.43284372e-01 -6.68974280e-01 -1.32465446e-03 -9.35557295e+01] [ 1.79530495e-03 1.46041324e-05 9.99998388e-01 -4.79824175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters 0.012180758921537178 Centerline is valid? [True, True] Translation: X:260.15, Y:-93.51, Z:-4.80 [[-6.69905981e-01 -7.42441548e-01 2.55422081e-03 2.60148455e+02] [ 7.42436294e-01 -6.69910850e-01 -2.79345445e-03 -9.35130126e+01] [ 3.78507687e-03 2.49943875e-05 9.99992836e-01 -4.79998175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters 0.012289585290039894 Centerline is valid? [True, True] Translation: X:260.11, Y:-93.47, Z:-4.80 [[-6.71632484e-01 -7.40870165e-01 4.60492764e-03 2.60111948e+02] [ 7.40853050e-01 -6.71648270e-01 -5.03581531e-03 -9.34696185e+01] [ 6.82377699e-03 2.93575412e-05 9.99976717e-01 -4.80335445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters 0.012070477016123756 Centerline is valid? [True, True] Translation: X:260.07, Y:-93.43, Z:-4.80 [[-6.72709437e-01 -7.39892853e-01 4.53645377e-03 2.60073949e+02] [ 7.39876240e-01 -6.72724733e-01 -4.95814207e-03 -9.34258987e+01] [ 6.72027853e-03 2.10254000e-05 9.99977418e-01 -4.80291649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters 0.011863867864130713 Centerline is valid? [True, True] Translation: X:260.03, Y:-93.38, Z:-4.80 [[-6.72639773e-01 -7.39962264e-01 3.40346804e-03 2.60033544e+02] [ 7.39952928e-01 -6.72648383e-01 -3.71701640e-03 -9.33838614e+01] [ 5.03978915e-03 1.81930719e-05 9.99987300e-01 -4.80210990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters 0.011796132195471725 Centerline is valid? [True, True] Translation: X:260.00, Y:-93.34, Z:-4.80 [[-6.74479464e-01 -7.38290037e-01 2.29642728e-03 2.59997841e+02] [ 7.38285788e-01 -6.74483373e-01 -2.50499536e-03 -9.33406868e+01] [ 3.39831514e-03 5.85168994e-06 9.99994226e-01 -4.80079923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters 0.011717754303380486 Centerline is valid? [True, True] Translation: X:259.96, Y:-93.30, Z:-4.80 [[-6.75746183e-01 -7.37133616e-01 1.06231355e-03 2.59960424e+02] [ 7.37132709e-01 -6.75747018e-01 -1.15658205e-03 -9.32970279e+01] [ 1.57041072e-03 1.51016575e-06 9.99998767e-01 -4.79961383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters 0.011781246268809064 Centerline is valid? [True, True] Translation: X:259.92, Y:-93.26, Z:-4.80 [[-6.74747236e-01 -7.38048893e-01 5.73458444e-07 2.59920442e+02] [ 7.38048893e-01 -6.74747236e-01 2.24267792e-06 -9.32554658e+01] [-1.26826649e-06 1.93648111e-06 1.00000000e+00 -4.79913847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters 0.011774714729827628 Centerline is valid? [True, True] Translation: X:259.88, Y:-93.21, Z:-4.80 [[-6.72866525e-01 -7.39763598e-01 6.76732631e-04 2.59878617e+02] [ 7.39763233e-01 -6.72866866e-01 -7.35124190e-04 -9.32147197e+01] [ 9.99169080e-04 5.98145888e-06 9.99999501e-01 -4.80051752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters 0.012965625158251283 Centerline is valid? [True, True] Translation: X:259.83, Y:-93.18, Z:-4.80 [[-6.67913496e-01 -7.44237265e-01 1.56685086e-03 2.59834500e+02] [ 7.44235312e-01 -6.67915333e-01 -1.70523428e-03 -9.31785796e+01] [ 2.31562261e-03 2.71567515e-05 9.99997319e-01 -4.80458606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters 0.01302835409705541 Centerline is valid? [True, True] Translation: X:259.79, Y:-93.14, Z:-4.81 [[-6.66662955e-01 -7.45356940e-01 1.88033384e-03 2.59794301e+02] [ 7.45354135e-01 -6.66665606e-01 -2.04522829e-03 -9.31361714e+01] [ 2.77797900e-03 3.80366667e-05 9.99996141e-01 -4.80531002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters 0.013569140451727062 Centerline is valid? [True, True] Translation: X:259.76, Y:-93.10, Z:-4.81 [[-6.66969569e-01 -7.45083742e-01 1.34570855e-03 2.59755280e+02] [ 7.45082307e-01 -6.66970926e-01 -1.46263585e-03 -9.30952404e+01] [ 1.98733467e-03 2.71300324e-05 9.99998025e-01 -4.80632207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters 0.012533538768670473 Centerline is valid? [True, True] Translation: X:259.72, Y:-93.05, Z:-4.81 [[-6.68874093e-01 -7.43375091e-01 9.60056457e-04 2.59718772e+02] [ 7.43374361e-01 -6.68874781e-01 -1.04185445e-03 -9.30503998e+01] [ 1.41664620e-03 1.68119028e-05 9.99998996e-01 -4.80573879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters 0.011979555751300724 Centerline is valid? [True, True] Translation: X:259.68, Y:-93.01, Z:-4.81 [[-6.72755493e-01 -7.39864820e-01 -3.06061800e-04 2.59682062e+02] [ 7.39864744e-01 -6.72755563e-01 3.35376881e-04 -9.30052394e+01] [-4.54038334e-04 -8.17695959e-07 9.99999897e-01 -4.80520409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters 0.01171722621865457 Centerline is valid? [True, True] Translation: X:259.65, Y:-92.96, Z:-4.80 [[-6.76796391e-01 -7.36168092e-01 -1.78467762e-03 2.59646460e+02] [ 7.36165531e-01 -6.76798744e-01 1.94215713e-03 -9.29600157e+01] [-2.63762168e-03 6.26785797e-07 9.99996521e-01 -4.80345919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters 0.011806574448202083 Centerline is valid? [True, True] Translation: X:259.61, Y:-92.92, Z:-4.81 [[-6.78647533e-01 -7.34463933e-01 -5.06281351e-04 2.59608614e+02] [ 7.34463725e-01 -6.78647722e-01 5.52695356e-04 -9.29164332e+01] [-7.49521490e-04 3.24005305e-06 9.99999719e-01 -4.80532237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters 0.011789288544583023 Centerline is valid? [True, True] Translation: X:259.56, Y:-92.88, Z:-4.81 [[-6.75010339e-01 -7.37806325e-01 1.69400682e-03 2.59564932e+02] [ 7.37804041e-01 -6.75012464e-01 -1.83588196e-03 -9.28779628e+01] [ 2.49800104e-03 1.06057770e-05 9.99996880e-01 -4.80863122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters 0.011789288544583023 Centerline is valid? [True, True] Translation: X:259.53, Y:-92.84, Z:-4.81 [[-6.75221157e-01 -7.37613393e-01 1.69453303e-03 2.59525856e+02] [ 7.37611110e-01 -6.75223283e-01 -1.83539662e-03 -9.28356601e+01] [ 2.49800129e-03 1.06077611e-05 9.99996880e-01 -4.80898953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters 0.011856764575077845 Centerline is valid? [True, True] Translation: X:259.49, Y:-92.79, Z:-4.81 [[-6.75252273e-01 -7.37584854e-01 1.71785874e-03 2.59487322e+02] [ 7.37582511e-01 -6.75254458e-01 -1.85900826e-03 -9.27947315e+01] [ 2.53116811e-03 1.17630114e-05 9.99996797e-01 -4.80993816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters 0.01200166181498548 Centerline is valid? [True, True] Translation: X:259.45, Y:-92.75, Z:-4.81 [[-6.74906402e-01 -7.37901120e-01 1.81280528e-03 2.59449346e+02] [ 7.37898512e-01 -6.74908836e-01 -1.96187115e-03 -9.27531549e+01] [ 2.67114522e-03 1.35869174e-05 9.99996432e-01 -4.81028251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters 0.011913322409849351 Centerline is valid? [True, True] Translation: X:259.41, Y:-92.71, Z:-4.81 [[-6.75062699e-01 -7.37758212e-01 1.78116095e-03 2.59411046e+02] [ 7.37755699e-01 -6.75065049e-01 -1.92561916e-03 -9.27109443e+01] [ 2.62304085e-03 1.41479750e-05 9.99996560e-01 -4.80944637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters 0.011961328436247583 Centerline is valid? [True, True] Translation: X:259.37, Y:-92.67, Z:-4.81 [[-6.74282870e-01 -7.38472671e-01 8.51754161e-04 2.59370434e+02] [ 7.38472100e-01 -6.74283407e-01 -9.19106165e-04 -9.26691001e+01] [ 1.25305848e-03 9.25914169e-06 9.99999215e-01 -4.80897789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters 0.012021909975762019 Centerline is valid? [True, True] Translation: X:259.33, Y:-92.63, Z:-4.81 [[-6.73739343e-01 -7.38968976e-01 -3.87110742e-04 2.59329933e+02] [ 7.38968856e-01 -6.73739454e-01 4.21551106e-04 -9.26285370e+01] [-5.72324969e-04 -2.04721699e-06 9.99999836e-01 -4.80888806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters 0.01200422421993278 Centerline is valid? [True, True] Translation: X:259.29, Y:-92.59, Z:-4.81 [[-6.74234974e-01 -7.38515890e-01 -1.21651733e-03 2.59291700e+02] [ 7.38514715e-01 -6.74236071e-01 1.31766276e-03 -9.25861089e+01] [-1.79333475e-03 -1.00016270e-05 9.99998392e-01 -4.80813589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters 0.012004329018356859 Centerline is valid? [True, True] Translation: X:259.25, Y:-92.54, Z:-4.81 [[-6.74842793e-01 -7.37959834e-01 -1.57731272e-03 2.59254198e+02] [ 7.37957861e-01 -6.74844636e-01 1.70648962e-03 -9.25434373e+01] [-2.32376182e-03 -1.23780996e-05 9.99997300e-01 -4.80744469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters 0.011981598421081546 Centerline is valid? [True, True] Translation: X:259.21, Y:-92.50, Z:-4.81 [[-6.74708083e-01 -7.38083262e-01 -1.44977722e-03 2.59214665e+02] [ 7.38081597e-01 -6.74709640e-01 1.56761674e-03 -9.25008237e+01] [-2.13521034e-03 -1.23701981e-05 9.99997720e-01 -4.80783589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters 0.01218990221015911 Centerline is valid? [True, True] Translation: X:259.17, Y:-92.46, Z:-4.81 [[-6.73779017e-01 -7.38932556e-01 -7.17013761e-04 2.59174078e+02] [ 7.38932148e-01 -6.73779398e-01 7.76289658e-04 -9.24608349e+01] [-1.05673480e-03 -6.77683603e-06 9.99999442e-01 -4.80916142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters 0.012583035790754822 Centerline is valid? [True, True] Translation: X:259.13, Y:-92.42, Z:-4.81 [[-6.71697551e-01 -7.40825481e-01 -8.88131518e-05 2.59132042e+02] [ 7.40825474e-01 -6.71697556e-01 9.83531504e-05 -9.24202676e+01] [-1.32518097e-04 2.68524924e-07 9.99999991e-01 -4.81047558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters 0.013203678800240655 Centerline is valid? [True, True] Translation: X:259.09, Y:-92.38, Z:-4.81 [[-6.69572594e-01 -7.42746589e-01 -2.13548996e-04 2.59091348e+02] [ 7.42746553e-01 -6.69572628e-01 2.32869714e-04 -9.23793615e+01] [-3.15949748e-04 -2.68960271e-06 9.99999950e-01 -4.81012655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters 0.013552562274913183 Centerline is valid? [True, True] Translation: X:259.05, Y:-92.34, Z:-4.81 [[-6.68806886e-01 -7.43436174e-01 -6.94493037e-05 2.59050087e+02] [ 7.43436170e-01 -6.68806889e-01 7.73615139e-05 -9.23378173e+01] [-1.03961521e-04 1.08788866e-07 9.99999995e-01 -4.81067061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters 0.01368496406923652 Centerline is valid? [True, True] Translation: X:259.01, Y:-92.30, Z:-4.81 [[-6.69089547e-01 -7.43181777e-01 1.53786052e-04 2.59010131e+02] [ 7.43181760e-01 -6.69089565e-01 -1.62637863e-04 -9.22961623e+01] [ 2.23766139e-04 5.47169446e-06 9.99999975e-01 -4.81171418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters 0.013382432944673488 Centerline is valid? [True, True] Translation: X:258.97, Y:-92.25, Z:-4.81 [[-6.71029083e-01 -7.41430973e-01 2.86650802e-04 2.58972536e+02] [ 7.41430910e-01 -6.71029144e-01 -3.06155198e-04 -9.22543204e+01] [ 4.19343988e-04 7.09272309e-06 9.99999912e-01 -4.81259732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters 0.01272083692380111 Centerline is valid? [True, True] Translation: X:258.93, Y:-92.21, Z:-4.81 [[-6.73807274e-01 -7.38907114e-01 -1.85731714e-04 2.58934809e+02] [ 7.38907086e-01 -6.73807300e-01 2.02162716e-04 -9.22095648e+01] [-2.74526853e-04 -1.01977111e-06 9.99999962e-01 -4.81235379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters 0.01194845861016003 Centerline is valid? [True, True] Translation: X:258.90, Y:-92.16, Z:-4.81 [[-6.78084878e-01 -7.34982615e-01 -1.20541967e-03 2.58897953e+02] [ 7.34981471e-01 -6.78085950e-01 1.29710841e-03 -9.21637798e+01] [-1.77073027e-03 -6.41152257e-06 9.99998432e-01 -4.81078152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters 0.011831246776002035 Centerline is valid? [True, True] Translation: X:258.86, Y:-92.12, Z:-4.81 [[-6.81099761e-01 -7.32190333e-01 -6.57026054e-04 2.58859754e+02] [ 7.32189990e-01 -6.81100078e-01 7.08340696e-04 -9.21205971e+01] [-9.66140707e-04 1.38277865e-06 9.99999533e-01 -4.81166127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters 0.011810317006599498 Centerline is valid? [True, True] Translation: X:258.82, Y:-92.08, Z:-4.81 [[-6.82370002e-01 -7.31006952e-01 -1.31332390e-04 2.58821022e+02] [ 7.31006937e-01 -6.82370015e-01 1.43880640e-04 -9.20779675e+01] [-1.94795033e-04 2.17494426e-06 9.99999981e-01 -4.81233862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters 0.011869425439062107 Centerline is valid? [True, True] Translation: X:258.78, Y:-92.04, Z:-4.81 [[-6.83260915e-01 -7.30174142e-01 4.95048053e-04 2.58781722e+02] [ 7.30173951e-01 -6.83261094e-01 -5.28496164e-04 -9.20355130e+01] [ 7.24141308e-04 3.70420395e-07 9.99999738e-01 -4.81210187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters 0.011933428418939957 Centerline is valid? [True, True] Translation: X:258.74, Y:-92.00, Z:-4.81 [[-6.83121981e-01 -7.30303294e-01 1.20687110e-03 2.58742157e+02] [ 7.30302154e-01 -6.83123048e-01 -1.29087342e-03 -9.19950836e+01] [ 1.76717058e-03 -4.43438944e-07 9.99998439e-01 -4.81316800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters 0.011941571768616965 Centerline is valid? [True, True] Translation: X:258.70, Y:-91.95, Z:-4.81 [[-6.82138422e-01 -7.31220640e-01 1.88405237e-03 2.58700870e+02] [ 7.31217860e-01 -6.82141024e-01 -2.01622265e-03 -9.19547630e+01] [ 2.75949303e-03 2.30980081e-06 9.99996193e-01 -4.81427674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters 0.012024896610912954 Centerline is valid? [True, True] Translation: X:258.66, Y:-91.92, Z:-4.82 [[-6.80394218e-01 -7.32840704e-01 2.86543449e-03 2.58659112e+02] [ 7.32834292e-01 -6.80400251e-01 -3.06557504e-03 -9.19159431e+01] [ 4.19622052e-03 1.40891274e-05 9.99991196e-01 -4.81617730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters 0.0122230321247691 Centerline is valid? [True, True] Translation: X:258.62, Y:-91.87, Z:-4.81 [[-6.78008284e-01 -7.35049365e-01 2.68304343e-03 2.58618266e+02] [ 7.35043767e-01 -6.78013592e-01 -2.86887610e-03 -9.18745465e+01] [ 3.92790547e-03 2.70325928e-05 9.99992285e-01 -4.81390016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters 0.012509703460318346 Centerline is valid? [True, True] Translation: X:258.58, Y:-91.84, Z:-4.81 [[-6.76074507e-01 -7.36830231e-01 2.11436547e-03 2.58576356e+02] [ 7.36826771e-01 -6.76077813e-01 -2.25853155e-03 -9.18353849e+01] [ 3.09362990e-03 3.09854759e-05 9.99995214e-01 -4.81377755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters 0.013220589065846992 Centerline is valid? [True, True] Translation: X:258.53, Y:-91.80, Z:-4.81 [[-6.73563381e-01 -7.39126977e-01 1.91921898e-03 2.58533443e+02] [ 7.39124135e-01 -6.73566114e-01 -2.05000911e-03 -9.17972767e+01] [ 2.80793790e-03 3.77300015e-05 9.99996057e-01 -4.81459072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters 0.014075298291128106 Centerline is valid? [True, True] Translation: X:258.49, Y:-91.76, Z:-4.81 [[-6.70413242e-01 -7.41987101e-01 1.10764309e-03 2.58490106e+02] [ 7.41986162e-01 -6.70414156e-01 -1.18098822e-03 -9.17584201e+01] [ 1.61885763e-03 3.01057067e-05 9.99998689e-01 -4.81372700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters 0.014127662678815251 Centerline is valid? [True, True] Translation: X:258.45, Y:-91.72, Z:-4.81 [[-6.69585420e-01 -7.42734877e-01 5.16698394e-04 2.58450237e+02] [ 7.42734675e-01 -6.69585619e-01 -5.49011097e-04 -9.17168133e+01] [ 7.53743504e-04 1.61599869e-05 9.99999716e-01 -4.81249206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters 0.015453252624346844 Centerline is valid? [True, True] Translation: X:258.41, Y:-91.68, Z:-4.82 [[-6.69402060e-01 -7.42897338e-01 2.10414045e-03 2.58407647e+02] [ 7.42893955e-01 -6.69405364e-01 -2.24289829e-03 -9.16786618e+01] [ 3.07476607e-03 6.17524788e-05 9.99995271e-01 -4.81647341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters 0.01391771032448229 Centerline is valid? [True, True] Translation: X:258.37, Y:-91.64, Z:-4.82 [[-6.70509104e-01 -7.41897192e-01 2.46943220e-03 2.58369470e+02] [ 7.41892529e-01 -6.70513648e-01 -2.63133546e-03 -9.16353407e+01] [ 3.60796838e-03 6.77189145e-05 9.99993489e-01 -4.81581740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters 0.013447202906013443 Centerline is valid? [True, True] Translation: X:258.33, Y:-91.59, Z:-4.82 [[-6.72951437e-01 -7.39680520e-01 3.01537305e-03 2.58330848e+02] [ 7.39673550e-01 -6.72958189e-01 -3.21184139e-03 -9.15917014e+01] [ 4.40495650e-03 6.89784118e-05 9.99990296e-01 -4.81688709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters 0.012681929325304726 Centerline is valid? [True, True] Translation: X:258.30, Y:-91.55, Z:-4.82 [[-6.76952596e-01 -7.36012240e-01 4.60063665e-03 2.58295891e+02] [ 7.35995939e-01 -6.76968226e-01 -4.89898644e-03 -9.15451822e+01] [ 6.72019881e-03 6.96683014e-05 9.99977417e-01 -4.81788066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters 0.012392172179821654 Centerline is valid? [True, True] Translation: X:258.26, Y:-91.50, Z:-4.82 [[-6.79311067e-01 -7.33833226e-01 5.02693548e-03 2.58258170e+02] [ 7.33813725e-01 -6.79329664e-01 -5.35011745e-03 -9.15006386e+01] [ 7.34104034e-03 5.44402624e-05 9.99973053e-01 -4.81863031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters 0.012074078300908208 Centerline is valid? [True, True] Translation: X:258.22, Y:-91.46, Z:-4.82 [[-6.82178345e-01 -7.31170000e-01 4.81006662e-03 2.58221085e+02] [ 7.31152107e-01 -6.82195302e-01 -5.11535528e-03 -9.14588433e+01] [ 7.02159917e-03 2.73057446e-05 9.99975348e-01 -4.81990072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters 0.011932723502952873 Centerline is valid? [True, True] Translation: X:258.19, Y:-91.41, Z:-4.82 [[-6.84890763e-01 -7.28632863e-01 4.33530379e-03 2.58185316e+02] [ 7.28618292e-01 -6.84904483e-01 -4.60799736e-03 -9.14130096e+01] [ 6.32680731e-03 2.80681262e-06 9.99979986e-01 -4.81816913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters 0.011878999131584432 Centerline is valid? [True, True] Translation: X:258.15, Y:-91.37, Z:-4.82 [[-6.85468673e-01 -7.28090005e-01 4.20035450e-03 2.58146938e+02] [ 7.28076332e-01 -6.85481543e-01 -4.46193978e-03 -9.13697695e+01] [ 6.12795923e-03 -3.41238405e-07 9.99981224e-01 -4.81775087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters 0.011917640138874764 Centerline is valid? [True, True] Translation: X:258.11, Y:-91.33, Z:-4.82 [[-6.85836834e-01 -7.27743702e-01 4.11592312e-03 2.58108868e+02] [ 7.27730586e-01 -6.85849185e-01 -4.36916793e-03 -9.13266696e+01] [ 6.00253696e-03 -1.25315704e-06 9.99981985e-01 -4.81792731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters 0.011815229849359355 Centerline is valid? [True, True] Translation: X:258.07, Y:-91.29, Z:-4.82 [[-6.84685619e-01 -7.28823195e-01 4.72804377e-03 2.58068232e+02] [ 7.28805929e-01 -6.84701943e-01 -5.01670180e-03 -9.12857397e+01] [ 6.89358939e-03 1.09627539e-05 9.99976239e-01 -4.81883744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters 0.011799962725321737 Centerline is valid? [True, True] Translation: X:258.03, Y:-91.24, Z:-4.82 [[-6.83328587e-01 -7.30096996e-01 4.51875755e-03 2.58027739e+02] [ 7.30081271e-01 -6.83343527e-01 -4.79178931e-03 -9.12444080e+01] [ 6.58633470e-03 2.46936334e-05 9.99978310e-01 -4.81929712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters 0.012102424345370932 Centerline is valid? [True, True] Translation: X:257.99, Y:-91.20, Z:-4.82 [[-6.80625447e-01 -7.32622997e-01 3.54185803e-03 2.57986996e+02] [ 7.32613385e-01 -6.80634661e-01 -3.75319791e-03 -9.12031051e+01] [ 5.16039045e-03 4.02905906e-05 9.99986684e-01 -4.81850213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters 0.012738283101662421 Centerline is valid? [True, True] Translation: X:257.95, Y:-91.16, Z:-4.82 [[-6.78461212e-01 -7.34626999e-01 3.68188251e-03 2.57946499e+02] [ 7.34616653e-01 -6.78471199e-01 -3.89924885e-03 -9.11632543e+01] [ 5.36254472e-03 5.92831055e-05 9.99985620e-01 -4.81914714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters 0.012834948237011127 Centerline is valid? [True, True] Translation: X:257.91, Y:-91.12, Z:-4.82 [[-6.77559810e-01 -7.35456604e-01 4.03580895e-03 2.57905831e+02] [ 7.35444200e-01 -6.77571825e-01 -4.27205819e-03 -9.11216020e+01] [ 5.87646384e-03 7.35373560e-05 9.99982731e-01 -4.81940531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters 0.013134375850864051 Centerline is valid? [True, True] Translation: X:257.87, Y:-91.08, Z:-4.82 [[-6.77348098e-01 -7.35650436e-01 4.24145170e-03 2.57866368e+02] [ 7.35636759e-01 -6.77361373e-01 -4.48648852e-03 -9.10811922e+01] [ 6.17348278e-03 8.12533193e-05 9.99980941e-01 -4.82101468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters 0.012631107868781168 Centerline is valid? [True, True] Translation: X:257.83, Y:-91.04, Z:-4.82 [[-6.78820717e-01 -7.34296703e-01 3.28434401e-03 2.57828547e+02] [ 7.34288497e-01 -6.78828660e-01 -3.47190268e-03 -9.10372079e+01] [ 4.77891353e-03 5.48565639e-05 9.99988579e-01 -4.81955215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters 0.011835165242199951 Centerline is valid? [True, True] Translation: X:257.79, Y:-90.99, Z:-4.82 [[-6.84057646e-01 -7.29426158e-01 1.61767809e-03 2.57792280e+02] [ 7.29424156e-01 -6.84059559e-01 -1.70909146e-03 -9.09908502e+01] [ 2.35324418e-03 1.08563936e-05 9.99997231e-01 -4.81845787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters 0.011804987569985766 Centerline is valid? [True, True] Translation: X:257.75, Y:-90.95, Z:-4.82 [[-6.85635873e-01 -7.27941963e-01 1.98722267e-03 2.57753536e+02] [ 7.27938940e-01 -6.85638752e-01 -2.09773667e-03 -9.09476721e+01] [ 2.88954742e-03 8.29324929e-06 9.99995825e-01 -4.81911462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters 0.01192638827227307 Centerline is valid? [True, True] Translation: X:257.72, Y:-90.90, Z:-4.82 [[-6.89956902e-01 -7.23845793e-01 2.59630616e-03 2.57717356e+02] [ 7.23840608e-01 -6.89961787e-01 -2.73986692e-03 -9.09020905e+01] [ 3.77459318e-03 -1.10782644e-05 9.99992876e-01 -4.81995731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters 0.012223681822375888 Centerline is valid? [True, True] Translation: X:257.68, Y:-90.86, Z:-4.82 [[-6.91945067e-01 -7.21943472e-01 3.10623842e-03 2.57679600e+02] [ 7.21936037e-01 -6.91952038e-01 -3.27641876e-03 -9.08593566e+01] [ 4.51475715e-03 -2.45963413e-05 9.99989808e-01 -4.82152539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters 0.012507486452876524 Centerline is valid? [True, True] Translation: X:257.64, Y:-90.82, Z:-4.82 [[-6.93361545e-01 -7.20582698e-01 3.21616576e-03 2.57641247e+02] [ 7.20574723e-01 -6.93369003e-01 -3.39020210e-03 -9.08170997e+01] [ 4.67291063e-03 -3.31480167e-05 9.99989081e-01 -4.82244960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters 0.012453608163181773 Centerline is valid? [True, True] Translation: X:257.60, Y:-90.78, Z:-4.82 [[-6.92345492e-01 -7.21557706e-01 3.49235796e-03 2.57601191e+02] [ 7.21548328e-01 -6.92354299e-01 -3.67907343e-03 -9.07775472e+01] [ 5.07261284e-03 -2.72848587e-05 9.99987134e-01 -4.82373908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters 0.01224101810032921 Centerline is valid? [True, True] Translation: X:257.56, Y:-90.74, Z:-4.82 [[-6.90262326e-01 -7.23543134e-01 4.82229031e-03 2.57559771e+02] [ 7.23525314e-01 -6.90279171e-01 -5.07810440e-03 -9.07374289e+01] [ 7.00295413e-03 -1.61750469e-05 9.99975479e-01 -4.82484694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters 0.01222889907525419 Centerline is valid? [True, True] Translation: X:257.52, Y:-90.70, Z:-4.83 [[-6.86856375e-01 -7.26774269e-01 5.24225762e-03 2.57517725e+02] [ 7.26753328e-01 -6.86876380e-01 -5.51714778e-03 -9.06986425e+01] [ 7.61050398e-03 2.03400497e-05 9.99971039e-01 -4.82612274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters 0.012243415652680166 Centerline is valid? [True, True] Translation: X:257.48, Y:-90.66, Z:-4.83 [[-6.85153661e-01 -7.28382867e-01 4.78115512e-03 2.57475866e+02] [ 7.28365507e-01 -6.85170342e-01 -5.02903135e-03 -9.06579098e+01] [ 6.93896596e-03 3.67692298e-05 9.99975924e-01 -4.82574095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters 0.012565731985898736 Centerline is valid? [True, True] Translation: X:257.43, Y:-90.62, Z:-4.83 [[-6.82171494e-01 -7.31181962e-01 3.87196958e-03 2.57433773e+02] [ 7.31170640e-01 -6.82182480e-01 -4.06935172e-03 -9.06183803e+01] [ 5.61682638e-03 5.50747289e-05 9.99984224e-01 -4.82550660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters 0.01312983509422483 Centerline is valid? [True, True] Translation: X:257.39, Y:-90.58, Z:-4.83 [[-6.79733503e-01 -7.33448898e-01 3.88310294e-03 2.57391702e+02] [ 7.33437559e-01 -6.79744590e-01 -4.07907062e-03 -9.05781762e+01] [ 5.63130807e-03 7.53325818e-05 9.99984141e-01 -4.82612794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters 0.013974355598219914 Centerline is valid? [True, True] Translation: X:257.35, Y:-90.54, Z:-4.83 [[-6.77379762e-01 -7.35627892e-01 2.87466658e-03 2.57349083e+02] [ 7.35621706e-01 -6.77385858e-01 -3.01743501e-03 -9.05379594e+01] [ 4.16696784e-03 7.07177330e-05 9.99991316e-01 -4.82630211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters 0.013452465732711106 Centerline is valid? [True, True] Translation: X:257.31, Y:-90.49, Z:-4.82 [[-6.77625653e-01 -7.35405428e-01 1.52671971e-03 2.57309924e+02] [ 7.35403687e-01 -6.77627372e-01 -1.60033651e-03 -9.04946106e+01] [ 2.21144322e-03 3.83262338e-05 9.99997554e-01 -4.82497730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters 0.013400314214297295 Centerline is valid? [True, True] Translation: X:257.27, Y:-90.45, Z:-4.83 [[-6.78754095e-01 -7.34364510e-01 1.28278173e-03 2.57270524e+02] [ 7.34363281e-01 -6.78755307e-01 -1.34348916e-03 -9.04525096e+01] [ 1.85730567e-03 3.01290298e-05 9.99998275e-01 -4.82556827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters 0.013608269757295236 Centerline is valid? [True, True] Translation: X:257.23, Y:-90.41, Z:-4.83 [[-6.79134690e-01 -7.34010741e-01 2.07479711e-03 2.57231683e+02] [ 7.34007527e-01 -6.79137857e-01 -2.17269102e-03 -9.04113771e+01] [ 3.00385181e-03 4.73668574e-05 9.99995487e-01 -4.82780175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters 0.013568068665049619 Centerline is valid? [True, True] Translation: X:257.19, Y:-90.37, Z:-4.83 [[-6.78885377e-01 -7.34236527e-01 3.37151733e-03 2.57191637e+02] [ 7.34228041e-01 -6.78893745e-01 -3.53089572e-03 -9.03687262e+01] [ 4.88141464e-03 7.83890936e-05 9.99988083e-01 -4.83009686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters 0.013728075505973436 Centerline is valid? [True, True] Translation: X:257.15, Y:-90.32, Z:-4.83 [[-6.78757774e-01 -7.34348219e-01 4.53615234e-03 2.57153760e+02] [ 7.34332873e-01 -6.78772923e-01 -4.74878521e-03 -9.03248156e+01] [ 6.56627935e-03 1.07770898e-04 9.99978436e-01 -4.83192512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters 0.013881919814898523 Centerline is valid? [True, True] Translation: X:257.11, Y:-90.28, Z:-4.83 [[-6.78845269e-01 -7.34270390e-01 4.01186772e-03 2.57114420e+02] [ 7.34258404e-01 -6.78857117e-01 -4.19667118e-03 -9.02827103e+01] [ 5.80497634e-03 9.68572081e-05 9.99983146e-01 -4.83233860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters 0.013677305502222478 Centerline is valid? [True, True] Translation: X:257.08, Y:-90.24, Z:-4.83 [[-6.79067956e-01 -7.34068729e-01 3.13251345e-03 2.57075650e+02] [ 7.34061432e-01 -6.79075176e-01 -3.27406541e-03 -9.02402742e+01] [ 4.53060116e-03 7.61444063e-05 9.99989734e-01 -4.83146437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters 0.013789015172937149 Centerline is valid? [True, True] Translation: X:257.04, Y:-90.20, Z:-4.83 [[-6.78769912e-01 -7.34347546e-01 2.25555084e-03 2.57035557e+02] [ 7.34343770e-01 -6.78773657e-01 -2.35563016e-03 -9.01988326e+01] [ 3.26085972e-03 5.74188309e-05 9.99994682e-01 -4.83097440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters 0.01404598260897518 Centerline is valid? [True, True] Translation: X:257.00, Y:-90.16, Z:-4.83 [[-6.78582385e-01 -7.34521262e-01 2.11241945e-03 2.56995406e+02] [ 7.34517957e-01 -6.78585671e-01 -2.20431341e-03 -9.01580692e+01] [ 3.05257264e-03 5.58017645e-05 9.99995339e-01 -4.83174186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters 0.014226610102177009 Centerline is valid? [True, True] Translation: X:256.96, Y:-90.12, Z:-4.83 [[-6.79161156e-01 -7.33986948e-01 1.81212107e-03 2.56955719e+02] [ 7.33984518e-01 -6.79163572e-01 -1.88939721e-03 -9.01172065e+01] [ 2.61751951e-03 4.68636120e-05 9.99996573e-01 -4.83237532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters 0.013744964372814904 Centerline is valid? [True, True] Translation: X:256.92, Y:-90.08, Z:-4.83 [[-6.79889631e-01 -7.33313304e-01 1.29890589e-03 2.56916923e+02] [ 7.33312057e-01 -6.79890871e-01 -1.35257998e-03 -9.00756470e+01] [ 1.87497915e-03 3.28982416e-05 9.99998242e-01 -4.83123909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters 0.013725485952412094 Centerline is valid? [True, True] Translation: X:256.88, Y:-90.03, Z:-4.83 [[-6.79668749e-01 -7.33518068e-01 1.27892192e-03 2.56876642e+02] [ 7.33516860e-01 -6.79669952e-01 -1.33125460e-03 -9.00336120e+01] [ 1.84574410e-03 3.32986401e-05 9.99998296e-01 -4.83086433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters 0.01402970163737815 Centerline is valid? [True, True] Translation: X:256.84, Y:-89.99, Z:-4.83 [[-6.79812762e-01 -7.33382486e-01 2.17661794e-03 2.56836388e+02] [ 7.33378989e-01 -6.79816244e-01 -2.26551879e-03 -8.99944658e+01] [ 3.14119204e-03 5.61572822e-05 9.99995065e-01 -4.83203432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters 0.014316416945758727 Centerline is valid? [True, True] Translation: X:256.80, Y:-89.96, Z:-4.83 [[-6.80114648e-01 -7.33099143e-01 3.11644173e-03 2.56796059e+02] [ 7.33091974e-01 -6.80121784e-01 -3.24297154e-03 -8.99553874e+01] [ 4.49697956e-03 7.90459687e-05 9.99989885e-01 -4.83467484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters 0.013705462850576593 Centerline is valid? [True, True] Translation: X:256.76, Y:-89.91, Z:-4.83 [[-6.82459011e-01 -7.30919335e-01 2.57377965e-03 2.56757136e+02] [ 7.30914435e-01 -6.82463862e-01 -2.67680642e-03 -8.99118679e+01] [ 3.71304117e-03 5.44020352e-05 9.99993105e-01 -4.83392471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters 0.01290495753137322 Centerline is valid? [True, True] Translation: X:256.72, Y:-89.87, Z:-4.83 [[-6.85790983e-01 -7.27797148e-01 1.42794501e-03 2.56719004e+02] [ 7.27795637e-01 -6.85792469e-01 -1.48323405e-03 -8.98676361e+01] [ 2.05876744e-03 2.20636119e-05 9.99997880e-01 -4.83212667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters 0.011949185056752586 Centerline is valid? [True, True] Translation: X:256.68, Y:-89.82, Z:-4.83 [[-6.93685836e-01 -7.20277679e-01 -1.61734884e-04 2.56684170e+02] [ 7.20277659e-01 -6.93685854e-01 1.70618568e-04 -8.98207492e+01] [-2.35085948e-04 1.86166017e-06 9.99999972e-01 -4.83005976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters 0.013132544737400314 Centerline is valid? [True, True] Translation: X:256.65, Y:-89.77, Z:-4.83 [[-7.01782198e-01 -7.12391363e-01 5.40583351e-04 2.56649801e+02] [ 7.12391143e-01 -7.01782406e-01 -5.59312378e-04 -8.97729665e+01] [ 7.77821192e-04 -7.40867803e-06 9.99999697e-01 -4.83000435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters 0.015050956960716956 Centerline is valid? [True, True] Translation: X:256.61, Y:-89.73, Z:-4.83 [[-7.05878872e-01 -7.08331615e-01 1.15776582e-03 2.56613211e+02] [ 7.08330598e-01 -7.05879821e-01 -1.20095547e-03 -8.97293463e+01] [ 1.66791826e-03 -2.76481427e-05 9.99998609e-01 -4.83158844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters 0.015050581473548508 Centerline is valid? [True, True] Translation: X:256.57, Y:-89.69, Z:-4.83 [[-7.08217504e-01 -7.05992444e-01 1.62349219e-03 2.56570687e+02] [ 7.05990439e-01 -7.08219364e-01 -1.68314469e-03 -8.96898767e+01] [ 2.33807604e-03 -4.58625649e-05 9.99997266e-01 -4.83233150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters 0.016410696340108964 Centerline is valid? [True, True] Translation: X:256.53, Y:-89.65, Z:-4.83 [[-7.09466133e-01 -7.04738619e-01 1.13376842e-03 2.56531562e+02] [ 7.04737642e-01 -7.09467038e-01 -1.17387900e-03 -8.96483270e+01] [ 1.63164919e-03 -3.38181144e-05 9.99998668e-01 -4.83292894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters 0.015005555609997185 Centerline is valid? [True, True] Translation: X:256.49, Y:-89.61, Z:-4.83 [[-7.08720497e-01 -7.05489138e-01 5.77819040e-04 2.56487801e+02] [ 7.05488885e-01 -7.08720732e-01 -5.96777485e-04 -8.96101711e+01] [ 8.30532367e-04 -1.53035253e-05 9.99999655e-01 -4.83221367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters 0.013737733464076302 Centerline is valid? [True, True] Translation: X:256.44, Y:-89.58, Z:-4.83 [[-7.05040938e-01 -7.09166213e-01 7.47281639e-04 2.56440920e+02] [ 7.09165793e-01 -7.05041334e-01 -7.72047802e-04 -8.95750822e+01] [ 1.07437466e-03 -1.43787308e-05 9.99999423e-01 -4.83296339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters 0.013543642346907981 Centerline is valid? [True, True] Translation: X:256.40, Y:-89.54, Z:-4.84 [[-7.01605152e-01 -7.12562909e-01 2.07617864e-03 2.56397179e+02] [ 7.12559671e-01 -7.01608224e-01 -2.14845541e-03 -8.95376004e+01] [ 2.98757364e-03 -2.79662162e-05 9.99995537e-01 -4.83576165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters 0.012023442715091955 Centerline is valid? [True, True] Translation: X:256.35, Y:-89.51, Z:-4.84 [[-6.95885668e-01 -7.18144338e-01 3.44194121e-03 2.56348443e+02] [ 7.18135510e-01 -6.95894180e-01 -3.56073030e-03 -8.95052872e+01] [ 4.95234516e-03 -6.08097532e-06 9.99987737e-01 -4.83679145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters 0.012062221315040237 Centerline is valid? [True, True] Translation: X:256.30, Y:-89.47, Z:-4.84 [[-6.91110640e-01 -7.22741304e-01 3.33026617e-03 2.56300858e+02] [ 7.22733102e-01 -6.91118663e-01 -3.44339997e-03 -8.94707891e+01] [ 4.79029649e-03 2.71232478e-05 9.99988526e-01 -4.83699172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters 0.012428831458121733 Centerline is valid? [True, True] Translation: X:256.26, Y:-89.43, Z:-4.84 [[-6.88632848e-01 -7.25104750e-01 2.81106031e-03 2.56257407e+02] [ 7.25098936e-01 -6.88638584e-01 -2.90405252e-03 -8.94330771e+01] [ 4.04154687e-03 3.84708816e-05 9.99991832e-01 -4.83661075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters 0.013226191332405123 Centerline is valid? [True, True] Translation: X:256.21, Y:-89.39, Z:-4.83 [[-6.85869361e-01 -7.27723802e-01 1.13451108e-03 2.56213380e+02] [ 7.27722862e-01 -6.85870299e-01 -1.17004100e-03 -8.93949962e+01] [ 1.62959414e-03 2.31143752e-05 9.99998672e-01 -4.83446905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters 0.0137373769942733 Centerline is valid? [True, True] Translation: X:256.17, Y:-89.36, Z:-4.83 [[-6.84231998e-01 -7.29264401e-01 8.31589423e-05 2.56169927e+02] [ 7.29264396e-01 -6.84232003e-01 -8.40867484e-05 -8.93569476e+01] [ 1.18221482e-04 3.11001197e-06 9.99999993e-01 -4.83396591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters 0.01468712858282467 Centerline is valid? [True, True] Translation: X:256.13, Y:-89.32, Z:-4.83 [[-6.81923167e-01 -7.31423798e-01 1.49665186e-04 2.56126322e+02] [ 7.31423782e-01 -6.81923184e-01 -1.52057691e-04 -8.93186887e+01] [ 2.13278774e-04 5.77701419e-06 9.99999977e-01 -4.83462327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters 0.0147021130582687 Centerline is valid? [True, True] Translation: X:256.08, Y:-89.28, Z:-4.84 [[-6.80490289e-01 -7.32756975e-01 4.26628131e-04 2.56084014e+02] [ 7.32756844e-01 -6.80490423e-01 -4.37685477e-04 -8.92786562e+01] [ 6.11033444e-04 1.47739657e-05 9.99999813e-01 -4.83579101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters 0.016211566535661612 Centerline is valid? [True, True] Translation: X:256.04, Y:-89.24, Z:-4.84 [[-6.79064907e-01 -7.34073017e-01 2.76718800e-03 2.56040646e+02] [ 7.34067486e-01 -6.79070539e-01 -2.85114480e-03 -8.92408259e+01] [ 3.97206431e-03 9.51903632e-05 9.99992107e-01 -4.83888944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters 0.01639477397006003 Centerline is valid? [True, True] Translation: X:256.00, Y:-89.20, Z:-4.84 [[-6.78879590e-01 -7.34237175e-01 4.27477362e-03 2.55999728e+02] [ 7.34223984e-01 -6.78893032e-01 -4.40367762e-03 -8.91990707e+01] [ 6.13545784e-03 1.49074459e-04 9.99981167e-01 -4.84075428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters 0.015731960819677586 Centerline is valid? [True, True] Translation: X:255.96, Y:-89.16, Z:-4.84 [[-6.80741778e-01 -7.32507481e-01 4.83964457e-03 2.55960596e+02] [ 7.32490547e-01 -6.80758964e-01 -4.98313185e-03 -8.91563894e+01] [ 6.94481278e-03 1.52767865e-04 9.99975873e-01 -4.84238081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters 0.014674907504373459 Centerline is valid? [True, True] Translation: X:255.92, Y:-89.11, Z:-4.84 [[-6.83669741e-01 -7.29782778e-01 3.57518975e-03 2.55923366e+02] [ 7.29773514e-01 -6.83679082e-01 -3.67835040e-03 -8.91119728e+01] [ 5.12867922e-03 9.43019243e-05 9.99986844e-01 -4.84143399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters 0.012954220376910896 Centerline is valid? [True, True] Translation: X:255.89, Y:-89.06, Z:-4.84 [[-6.89599121e-01 -7.24190379e-01 1.16066120e-03 2.55889415e+02] [ 7.24189399e-01 -6.89600097e-01 -1.19162511e-03 -8.90640847e+01] [ 1.66335552e-03 1.87949078e-05 9.99998616e-01 -4.83804920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters 0.012453913690206698 Centerline is valid? [True, True] Translation: X:255.86, Y:-89.02, Z:-4.84 [[-6.95084902e-01 -7.18927512e-01 -4.59923637e-04 2.55855193e+02] [ 7.18927355e-01 -6.95085054e-01 4.74932986e-04 -8.90176558e+01] [-6.61128436e-04 -5.32936109e-07 9.99999781e-01 -4.83658930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters 0.01250323064651574 Centerline is valid? [True, True] Translation: X:255.82, Y:-88.97, Z:-4.84 [[-6.98186993e-01 -7.15915443e-01 -2.32464985e-05 2.55817496e+02] [ 7.15915443e-01 -6.98186994e-01 2.64263822e-05 -8.89730050e+01] [-3.51494581e-05 1.80802905e-06 9.99999999e-01 -4.83717968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters 0.012808909587383545 Centerline is valid? [True, True] Translation: X:255.78, Y:-88.93, Z:-4.84 [[-7.01794306e-01 -7.12379167e-01 8.21689871e-04 2.55780993e+02] [ 7.12378670e-01 -7.01794787e-01 -8.41657559e-04 -8.89281052e+01] [ 1.17623698e-03 -5.31614473e-06 9.99999308e-01 -4.83915639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters 0.013370993120683301 Centerline is valid? [True, True] Translation: X:255.74, Y:-88.88, Z:-4.84 [[-7.04599783e-01 -7.09604240e-01 9.83999157e-04 2.55743220e+02] [ 7.09603525e-01 -7.04600470e-01 -1.00786972e-03 -8.88838518e+01] [ 1.40851490e-03 -1.18955179e-05 9.99999008e-01 -4.83989494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters 0.014144807344666282 Centerline is valid? [True, True] Translation: X:255.71, Y:-88.84, Z:-4.84 [[-7.09416534e-01 -7.04788801e-01 9.63106430e-04 2.55706972e+02] [ 7.04788111e-01 -7.09417188e-01 -9.85779348e-04 -8.88377773e+01] [ 1.37801050e-03 -2.05422070e-05 9.99999050e-01 -4.83908938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters 0.015134869646136065 Centerline is valid? [True, True] Translation: X:255.67, Y:-88.79, Z:-4.84 [[-7.12731012e-01 -7.01437061e-01 7.44788017e-04 2.55669241e+02] [ 7.01436648e-01 -7.12731401e-01 -7.61336187e-04 -8.87932895e+01] [ 1.06486322e-03 -2.02063015e-05 9.99999433e-01 -4.83954295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters 0.015086605788165085 Centerline is valid? [True, True] Translation: X:255.63, Y:-88.75, Z:-4.84 [[-7.14203027e-01 -6.99938160e-01 7.80593356e-04 2.55628663e+02] [ 6.99937706e-01 -7.14203453e-01 -7.97715131e-04 -8.87509730e+01] [ 1.11585373e-03 -2.33638379e-05 9.99999377e-01 -4.84015410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters 0.017185468647174233 Centerline is valid? [True, True] Translation: X:255.59, Y:-88.71, Z:-4.84 [[-7.17217913e-01 -6.96848925e-01 2.01322203e-04 2.55594169e+02] [ 6.96848895e-01 -7.17217942e-01 -2.03533501e-04 -8.87050012e+01] [ 2.86223998e-04 -5.68671860e-06 9.99999959e-01 -4.84116980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters 0.0172832290915415 Centerline is valid? [True, True] Translation: X:255.56, Y:-88.66, Z:-4.84 [[-7.17253314e-01 -6.96812405e-01 -3.94522507e-04 2.55555620e+02] [ 6.96812287e-01 -7.17253422e-01 4.06661617e-04 -8.86626989e+01] [-5.66339478e-04 1.67712617e-05 9.99999839e-01 -4.84104415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters 0.015546855733915373 Centerline is valid? [True, True] Translation: X:255.51, Y:-88.62, Z:-4.84 [[-7.13972327e-01 -7.00172689e-01 -1.31224128e-03 2.55513465e+02] [ 7.00171399e-01 -7.13973532e-01 1.34467313e-03 -8.86224355e+01] [-1.87840894e-03 4.12655944e-05 9.99998235e-01 -4.84100327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters 0.01401100314891325 Centerline is valid? [True, True] Translation: X:255.47, Y:-88.58, Z:-4.84 [[-7.09519113e-01 -7.04684057e-01 -1.73443991e-03 2.55470305e+02] [ 7.04681819e-01 -7.09521232e-01 1.77661564e-03 -8.85838571e+01] [-2.48257465e-03 3.83144823e-05 9.99996918e-01 -4.84169507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters 0.01275067255723956 Centerline is valid? [True, True] Translation: X:255.43, Y:-88.55, Z:-4.84 [[-7.01628323e-01 -7.12536528e-01 -3.06472056e-03 2.55425191e+02] [ 7.12529630e-01 -7.01635016e-01 3.13540913e-03 -8.85473524e+01] [-4.38440880e-03 1.61876425e-05 9.99990388e-01 -4.84186761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters 0.013101857120485665 Centerline is valid? [True, True] Translation: X:255.38, Y:-88.51, Z:-4.84 [[-6.94232858e-01 -7.19742628e-01 -3.35991461e-03 2.55380452e+02] [ 7.19734431e-01 -6.94240988e-01 3.43520190e-03 -8.85106165e+01] [-4.80505168e-03 -3.34161963e-05 9.99988455e-01 -4.84267549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters 0.01392534631807939 Centerline is valid? [True, True] Translation: X:255.34, Y:-88.47, Z:-4.84 [[-6.89784956e-01 -7.24004207e-01 -3.82404413e-03 2.55338266e+02] [ 7.23993669e-01 -6.89795552e-01 3.90698164e-03 -8.84712282e+01] [-5.46647977e-03 -7.36065766e-05 9.99985056e-01 -4.84265392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters 0.015363794894110076 Centerline is valid? [True, True] Translation: X:255.30, Y:-88.43, Z:-4.84 [[-6.85625648e-01 -7.27946397e-01 -3.39304207e-03 2.55295145e+02] [ 7.27938154e-01 -6.85634038e-01 3.46557231e-03 -8.84328194e+01] [-4.84913601e-03 -9.38395186e-05 9.99988238e-01 -4.84432221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters 0.017036963111929086 Centerline is valid? [True, True] Translation: X:255.25, Y:-88.39, Z:-4.85 [[-6.80440091e-01 -7.32800264e-01 -2.24859516e-03 2.55252050e+02] [ 7.32796671e-01 -6.80443801e-01 2.29614348e-03 -8.83936750e+01] [-3.21265719e-03 -8.53749669e-05 9.99994836e-01 -4.84689208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters 0.019003330094864143 Centerline is valid? [True, True] Translation: X:255.21, Y:-88.35, Z:-4.85 [[-6.78478594e-01 -7.34619507e-01 -9.88336597e-04 2.55212187e+02] [ 7.34618814e-01 -6.78479313e-01 1.01015329e-03 -8.83530013e+01] [-1.41264424e-03 -4.06832784e-05 9.99999001e-01 -4.84917362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters 0.017913913179760394 Centerline is valid? [True, True] Translation: X:255.18, Y:-88.31, Z:-4.85 [[-6.79585983e-01 -7.33595767e-01 -3.76050560e-04 2.55175795e+02] [ 7.33595666e-01 -6.79586087e-01 3.85931986e-04 -8.83085964e+01] [-5.38676800e-04 -1.35950927e-05 9.99999855e-01 -4.85005256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters 0.018372146534585854 Centerline is valid? [True, True] Translation: X:255.14, Y:-88.26, Z:-4.85 [[-6.82256358e-01 -7.31112973e-01 -2.87651420e-04 2.55139252e+02] [ 7.31112914e-01 -6.82256418e-01 2.95189370e-04 -8.82645279e+01] [-4.12068806e-04 -8.91084359e-06 9.99999915e-01 -4.85147178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters 0.016419820651836746 Centerline is valid? [True, True] Translation: X:255.10, Y:-88.22, Z:-4.85 [[-6.84218536e-01 -7.29276902e-01 -4.42689091e-04 2.55104640e+02] [ 7.29276761e-01 -6.84218679e-01 4.52847112e-04 -8.82165330e+01] [-6.33147083e-04 -1.29964786e-05 9.99999799e-01 -4.85055875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters 0.015507473724242105 Centerline is valid? [True, True] Translation: X:255.07, Y:-88.17, Z:-4.85 [[-6.86728479e-01 -7.26913854e-01 -4.95874290e-04 2.55070741e+02] [ 7.26913677e-01 -6.86728658e-01 5.06852360e-04 -8.81688464e+01] [-7.08969088e-04 -1.23878530e-05 9.99999749e-01 -4.84998612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters 0.01594266333494312 Centerline is valid? [True, True] Translation: X:255.03, Y:-88.13, Z:-4.85 [[-6.85964556e-01 -7.27634918e-01 2.33764116e-04 2.55027539e+02] [ 7.27634880e-01 -6.85964596e-01 -2.35137273e-04 -8.81297179e+01] [ 3.31447998e-04 8.79908933e-06 9.99999945e-01 -4.85234046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters 0.01641400165108606 Centerline is valid? [True, True] Translation: X:254.99, Y:-88.09, Z:-4.85 [[-6.86602174e-01 -7.27031398e-01 1.67335719e-03 2.54985981e+02] [ 7.27029420e-01 -6.86604211e-01 -1.69697364e-03 -8.80919593e+01] [ 2.38268721e-03 5.14341112e-05 9.99997160e-01 -4.85457786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters 0.01524137799243616 Centerline is valid? [True, True] Translation: X:254.95, Y:-88.05, Z:-4.85 [[-6.88210944e-01 -7.25509406e-01 1.34111225e-03 2.54946013e+02] [ 7.25508134e-01 -6.88212250e-01 -1.35910330e-03 -8.80499077e+01] [ 1.90901211e-03 3.76380826e-05 9.99998177e-01 -4.85368725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters 0.015069958945021313 Centerline is valid? [True, True] Translation: X:254.91, Y:-88.01, Z:-4.85 [[-6.88480203e-01 -7.25254439e-01 1.00429795e-03 2.54906413e+02] [ 7.25253727e-01 -6.88480935e-01 -1.01653793e-03 -8.80072398e+01] [ 1.42868864e-03 2.85045891e-05 9.99998979e-01 -4.85257785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters 0.014912881055819354 Centerline is valid? [True, True] Translation: X:254.87, Y:-87.96, Z:-4.85 [[-6.88730912e-01 -7.25016572e-01 8.37734752e-04 2.54866688e+02] [ 7.25016077e-01 -6.88731421e-01 -8.47001678e-04 -8.79643489e+01] [ 1.19106450e-03 2.40149257e-05 9.99999290e-01 -4.85197061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters 0.014657944346788614 Centerline is valid? [True, True] Translation: X:254.83, Y:-87.92, Z:-4.85 [[-6.90105490e-01 -7.23707587e-01 1.31981789e-03 2.54826202e+02] [ 7.23706356e-01 -6.90106751e-01 -1.33511589e-03 -8.79223404e+01] [ 1.87704874e-03 3.37897873e-05 9.99998238e-01 -4.85303211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters 0.014463771537602732 Centerline is valid? [True, True] Translation: X:254.79, Y:-87.88, Z:-4.85 [[-6.91860779e-01 -7.22030519e-01 7.69723482e-04 2.54785723e+02] [ 7.22030101e-01 -6.91861207e-01 -7.77177319e-04 -8.78816683e+01] [ 1.09368756e-03 1.80650186e-05 9.99999402e-01 -4.85315313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters 0.014435494999564216 Centerline is valid? [True, True] Translation: X:254.75, Y:-87.84, Z:-4.85 [[-6.92591254e-01 -7.21330231e-01 2.29849972e-04 2.54746355e+02] [ 7.21330195e-01 -6.92591292e-01 -2.29868236e-04 -8.78403836e+01] [ 3.25002997e-04 6.59299555e-06 9.99999947e-01 -4.85200534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters 0.014147408057493122 Centerline is valid? [True, True] Translation: X:254.71, Y:-87.80, Z:-4.85 [[-6.93361378e-01 -7.20589927e-01 -3.95624080e-04 2.54706770e+02] [ 7.20589814e-01 -6.93361491e-01 4.02791219e-04 -8.77974761e+01] [-5.64557797e-04 -5.80280777e-06 9.99999841e-01 -4.85068670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters 0.0142998152858887 Centerline is valid? [True, True] Translation: X:254.67, Y:-87.76, Z:-4.85 [[-6.94118675e-01 -7.19860559e-01 -2.02614433e-04 2.54667488e+02] [ 7.19860529e-01 -6.94118705e-01 2.07682677e-04 -8.77553401e+01] [-2.90141036e-04 -1.69770842e-06 9.99999958e-01 -4.85105489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters 0.013987244132895637 Centerline is valid? [True, True] Translation: X:254.63, Y:-87.71, Z:-4.85 [[-6.95662523e-01 -7.18368727e-01 -1.59417294e-04 2.54628831e+02] [ 7.18368709e-01 -6.95662542e-01 1.63894074e-04 -8.77133750e+01] [-2.28637018e-04 -5.05430546e-07 9.99999974e-01 -4.85079452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters 0.013696739302867258 Centerline is valid? [True, True] Translation: X:254.59, Y:-87.67, Z:-4.85 [[-6.97491044e-01 -7.16593111e-01 -7.46347679e-04 2.54589167e+02] [ 7.16592712e-01 -6.97491443e-01 7.56261903e-04 -8.76704120e+01] [-1.06250319e-03 -7.34140341e-06 9.99999436e-01 -4.84976170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters 0.013451034697396832 Centerline is valid? [True, True] Translation: X:254.55, Y:-87.63, Z:-4.85 [[-6.99390397e-01 -7.14738279e-01 -1.50484624e-03 2.54549571e+02] [ 7.14736660e-01 -6.99392016e-01 1.52165912e-03 -8.76301832e+01] [-2.14006547e-03 -1.13349997e-05 9.99997710e-01 -4.84896098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters 0.01348718705415779 Centerline is valid? [True, True] Translation: X:254.51, Y:-87.59, Z:-4.85 [[-7.00251388e-01 -7.13895229e-01 -1.26326720e-03 2.54509460e+02] [ 7.13894087e-01 -7.00252528e-01 1.27686894e-03 -8.75891274e+01] [-1.79615669e-03 -7.70973253e-06 9.99998387e-01 -4.85015745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters 0.013442314559034305 Centerline is valid? [True, True] Translation: X:254.47, Y:-87.55, Z:-4.85 [[-7.01182742e-01 -7.12981599e-01 3.33661308e-05 2.54470273e+02] [ 7.12981599e-01 -7.01182743e-01 -3.08469582e-05 -8.75473642e+01] [ 4.53890687e-05 2.16008252e-06 9.99999999e-01 -4.85121304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters 0.013514340757567474 Centerline is valid? [True, True] Translation: X:254.43, Y:-87.51, Z:-4.85 [[-7.01045259e-01 -7.13116684e-01 3.73492276e-04 2.54428723e+02] [ 7.13116586e-01 -7.01045359e-01 -3.73416857e-04 -8.75075703e+01] [ 5.28124817e-04 4.56141972e-06 9.99999861e-01 -4.85196574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters 0.013540139088522658 Centerline is valid? [True, True] Translation: X:254.38, Y:-87.47, Z:-4.85 [[-6.99861487e-01 -7.14278212e-01 7.31566393e-04 2.54384078e+02] [ 7.14277835e-01 -6.99861869e-01 -7.33633331e-04 -8.74707520e+01] [ 1.03601373e-03 9.09994478e-06 9.99999463e-01 -4.85408240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters 0.013542760263777166 Centerline is valid? [True, True] Translation: X:254.34, Y:-87.43, Z:-4.85 [[-6.99891849e-01 -7.14248022e-01 1.07811153e-03 2.54342630e+02] [ 7.14247202e-01 -6.99892680e-01 -1.08211375e-03 -8.74303208e+01] [ 1.52745997e-03 1.26755536e-05 9.99998833e-01 -4.85424980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters 0.01364333141162935 Centerline is valid? [True, True] Translation: X:254.30, Y:-87.39, Z:-4.86 [[-6.99634304e-01 -7.14500183e-01 1.15325517e-03 2.54300500e+02] [ 7.14499246e-01 -6.99635254e-01 -1.15709917e-03 -8.73905841e+01] [ 1.63360554e-03 1.44536763e-05 9.99998666e-01 -4.85515228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters 0.013699052694276348 Centerline is valid? [True, True] Translation: X:254.26, Y:-87.35, Z:-4.86 [[-6.99658300e-01 -7.14476046e-01 1.49786131e-03 2.54258990e+02] [ 7.14474466e-01 -6.99659903e-01 -1.50274168e-03 -8.73493387e+01] [ 2.12166644e-03 1.87779719e-05 9.99997749e-01 -4.85551535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters 0.013767923389987611 Centerline is valid? [True, True] Translation: X:254.22, Y:-87.31, Z:-4.86 [[-6.99362044e-01 -7.14765476e-01 1.74506263e-03 2.54216998e+02] [ 7.14763335e-01 -6.99364221e-01 -1.74976054e-03 -8.73104076e+01] [ 2.47110280e-03 2.35906778e-05 9.99996947e-01 -4.85652571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters 0.01382839220750588 Centerline is valid? [True, True] Translation: X:254.18, Y:-87.27, Z:-4.86 [[-6.99857783e-01 -7.14277729e-01 2.53156862e-03 2.54176854e+02] [ 7.14273221e-01 -6.99862361e-01 -2.53808971e-03 -8.72698604e+01] [ 3.58465055e-03 3.19298372e-05 9.99993575e-01 -4.85660421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters 0.013584621899882042 Centerline is valid? [True, True] Translation: X:254.14, Y:-87.23, Z:-4.86 [[-7.01420078e-01 -7.12742594e-01 2.80526067e-03 2.54136679e+02] [ 7.12737049e-01 -7.01425687e-01 -2.81143418e-03 -8.72274640e+01] [ 3.97151078e-03 2.74168291e-05 9.99992113e-01 -4.85700152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters 0.013408851740704856 Centerline is valid? [True, True] Translation: X:254.10, Y:-87.19, Z:-4.86 [[-7.03633597e-01 -7.10555773e-01 3.20220341e-03 2.54098688e+02] [ 7.10548536e-01 -7.03640883e-01 -3.20704426e-03 -8.71858927e+01] [ 4.53198505e-03 1.87368568e-05 9.99989730e-01 -4.85793710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters 0.013370991352408088 Centerline is valid? [True, True] Translation: X:254.06, Y:-87.14, Z:-4.86 [[-7.07104617e-01 -7.07099441e-01 3.66611537e-03 2.54061051e+02] [ 7.07089915e-01 -7.07114121e-01 -3.67040218e-03 -8.71411834e+01] [ 5.18770128e-03 -3.08512428e-06 9.99986544e-01 -4.85716396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters 0.013488886819773175 Centerline is valid? [True, True] Translation: X:254.02, Y:-87.10, Z:-4.86 [[-7.08566455e-01 -7.05635446e-01 3.49234461e-03 2.54022742e+02] [ 7.05626798e-01 -7.08575062e-01 -3.49354747e-03 -8.71002513e+01] [ 4.93975923e-03 -1.11186052e-05 9.99987799e-01 -4.85771766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters 0.013516436342924813 Centerline is valid? [True, True] Translation: X:253.98, Y:-87.06, Z:-4.86 [[-7.09127126e-01 -7.05070189e-01 3.84025233e-03 2.53982182e+02] [ 7.05059734e-01 -7.09137524e-01 -3.83970384e-03 -8.70604526e+01] [ 5.43052774e-03 -1.52308635e-05 9.99985254e-01 -4.85843485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters 0.01349099679410725 Centerline is valid? [True, True] Translation: X:253.94, Y:-87.02, Z:-4.86 [[-7.08828826e-01 -7.05362585e-01 5.03189673e-03 2.53940468e+02] [ 7.05344653e-01 -7.08846686e-01 -5.02959802e-03 -8.70199147e+01] [ 7.11453358e-03 -1.59026036e-05 9.99974691e-01 -4.86025528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters 0.013518131450518866 Centerline is valid? [True, True] Translation: X:253.90, Y:-86.98, Z:-4.86 [[-7.06225751e-01 -7.07959012e-01 6.26301683e-03 2.53897379e+02] [ 7.07931361e-01 -7.06253522e-01 -6.25705223e-03 -8.69820872e+01] [ 8.85301421e-03 1.48946236e-05 9.99960811e-01 -4.86208163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters 0.013612496091232518 Centerline is valid? [True, True] Translation: X:253.39, Y:-87.48, Z:-3.85 [[-7.58075896e-01 6.51968306e-01 1.60706068e-02 2.53394954e+02] [ 6.51806869e-01 7.58246033e-01 -1.45175424e-02 -8.74794353e+01] [-2.16504514e-02 -5.30467089e-04 -9.99765461e-01 -3.84991098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters 0.013461914533766387 Centerline is valid? [True, True] Translation: X:253.42, Y:-87.46, Z:-3.85 [[-8.02180480e-01 5.96858892e-01 1.63076789e-02 2.53416343e+02] [ 5.96722250e-01 8.02346054e-01 -1.27814662e-02 -8.74606366e+01] [-2.07131336e-02 -5.21887857e-04 -9.99785324e-01 -3.85080804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters 0.013295827615140773 Centerline is valid? [True, True] Translation: X:253.43, Y:-87.44, Z:-3.85 [[-8.41116566e-01 5.40615499e-01 1.60563141e-02 2.53433521e+02] [ 5.40506294e-01 8.41269673e-01 -1.08758529e-02 -8.74409202e+01] [-1.93873448e-02 -4.69321247e-04 -9.99811938e-01 -3.85185789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters 0.013188190169693702 Centerline is valid? [True, True] Translation: X:253.45, Y:-87.42, Z:-3.85 [[-8.75963471e-01 4.82118687e-01 1.57977663e-02 2.53446299e+02] [ 4.82031671e-01 8.76105815e-01 -9.16893942e-03 -8.74203560e+01] [-1.82610320e-02 -4.16632300e-04 -9.99833167e-01 -3.85317152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters 0.013423392627930833 Centerline is valid? [True, True] Translation: X:253.46, Y:-87.40, Z:-3.85 [[-9.06153636e-01 4.22697494e-01 1.45745288e-02 2.53461706e+02] [ 4.22636592e-01 9.06270769e-01 -7.18368020e-03 -8.74014356e+01] [-1.62449931e-02 -3.49788735e-04 -9.99867980e-01 -3.85389537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters 0.013811566447239979 Centerline is valid? [True, True] Translation: X:253.47, Y:-87.38, Z:-3.85 [[-9.33053009e-01 3.59441279e-01 1.46304305e-02 2.53474044e+02] [ 3.59391742e-01 9.33167652e-01 -5.97578116e-03 -8.73794276e+01] [-1.58005869e-02 -3.17664696e-04 -9.99875112e-01 -3.85465610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters 0.014693266027968702 Centerline is valid? [True, True] Translation: X:253.48, Y:-87.36, Z:-3.85 [[-9.55471749e-01 2.94619825e-01 1.65195719e-02 2.53483001e+02] [ 2.94570997e-01 9.55614508e-01 -5.37020434e-03 -8.73555987e+01] [-1.73685112e-02 -2.64891769e-04 -9.99849121e-01 -3.85245922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters 0.015185462092847896 Centerline is valid? [True, True] Translation: X:253.48, Y:-87.33, Z:-3.85 [[-9.73850320e-01 2.26418613e-01 1.87126986e-02 2.53483270e+02] [ 2.26372080e-01 9.74030058e-01 -4.59648998e-03 -8.73281225e+01] [-1.92674618e-02 -2.40260737e-04 -9.99814336e-01 -3.84996751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters 0.01338851916310356 Centerline is valid? [True, True] Translation: X:253.50, Y:-87.30, Z:-3.85 [[-9.87506134e-01 1.56500649e-01 1.84169082e-02 2.53495017e+02] [ 1.56468698e-01 9.87677824e-01 -3.17212921e-03 -8.72997487e+01] [-1.86864121e-02 -2.50827397e-04 -9.99825362e-01 -3.85366893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters 0.015052543630029683 Centerline is valid? [True, True] Translation: X:253.50, Y:-87.28, Z:-3.85 [[-9.96178801e-01 8.55697418e-02 1.74818971e-02 2.53497931e+02] [ 8.55518295e-02 9.96332147e-01 -1.77130042e-03 -8.72758094e+01] [-1.75693458e-02 -2.68923644e-04 -9.99845611e-01 -3.85073225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters 0.012693781549003197 Centerline is valid? [True, True] Translation: X:253.50, Y:-87.24, Z:-3.86 [[-9.99803435e-01 1.11140609e-02 1.64185713e-02 2.53495390e+02] [ 1.11070468e-02 9.99938181e-01 -5.18335445e-04 -8.72424689e+01] [-1.64233171e-02 -3.35871719e-04 -9.99865072e-01 -3.85556032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters 0.012231619523686274 Centerline is valid? [True, True] Translation: X:253.49, Y:-87.21, Z:-3.86 [[-9.97662973e-01 -6.64984303e-02 1.57019651e-02 2.53487586e+02] [-6.64971564e-02 9.97786432e-01 6.03794841e-04 -8.72120970e+01] [-1.57073591e-02 -4.41752272e-04 -9.99876534e-01 -3.85651124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters 0.01249066407052026 Centerline is valid? [True, True] Translation: X:253.45, Y:-86.52, Z:-4.86 [[-9.99952507e-01 -8.43852028e-03 4.87599103e-03 2.53446290e+02] [ 8.43674256e-03 -9.99964336e-01 -3.85041615e-04 -8.65178190e+01] [ 4.87906631e-03 -3.43885848e-04 9.99988038e-01 -4.86048268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters 0.01402240148954796 Centerline is valid? [True, True] Translation: X:253.41, Y:-87.20, Z:-3.85 [[-9.96123637e-01 -8.61914896e-02 1.75706470e-02 2.53410230e+02] [-8.61906877e-02 9.96278334e-01 8.04319442e-04 -8.72049227e+01] [-1.75745804e-02 -7.13224537e-04 -9.99845301e-01 -3.85489129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters 0.014901651903783205 Centerline is valid? [True, True] Translation: X:253.36, Y:-86.53, Z:-4.86 [[-9.99845176e-01 -1.68204917e-02 5.16678141e-03 2.53360850e+02] [ 1.68184875e-02 -9.99858466e-01 -4.31114735e-04 -8.65335648e+01] [ 5.17330170e-03 -3.44150540e-04 9.99986559e-01 -4.86207691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters 0.015863543988155895 Centerline is valid? [True, True] Translation: X:253.33, Y:-87.21, Z:-3.86 [[-9.95085008e-01 -9.76297566e-02 1.65607335e-02 2.53332939e+02] [-9.76296695e-02 9.95222479e-01 8.15661822e-04 -8.72062316e+01] [-1.65612471e-02 -8.05166087e-04 -9.99862529e-01 -3.85638806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters 0.01626230032000599 Centerline is valid? [True, True] Translation: X:253.31, Y:-87.18, Z:-3.86 [[-9.85506778e-01 -1.68976649e-01 1.49426692e-02 2.53310222e+02] [-1.68969108e-01 9.85619749e-01 1.77486504e-03 -8.71815162e+01] [-1.50277006e-02 -7.75707963e-04 -9.99886777e-01 -3.85691428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters 0.016125412944641714 Centerline is valid? [True, True] Translation: X:253.31, Y:-87.16, Z:-3.86 [[-9.71274737e-01 -2.37542962e-01 1.40970740e-02 2.53313279e+02] [-2.37528936e-01 9.71376751e-01 2.68536505e-03 -8.71554334e+01] [-1.43314595e-02 -7.40235763e-04 -9.99897025e-01 -3.85757698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters 0.015437204880174894 Centerline is valid? [True, True] Translation: X:253.30, Y:-87.14, Z:-3.86 [[-9.52766307e-01 -3.03363283e-01 1.43903958e-02 2.53296215e+02] [-3.03339754e-01 9.52874716e-01 3.84317972e-03 -8.71358887e+01] [-1.48781239e-02 -7.03526974e-04 -9.99889067e-01 -3.85645378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters 0.013712291204655615 Centerline is valid? [True, True] Translation: X:253.26, Y:-87.13, Z:-3.86 [[-9.29050256e-01 -3.69614624e-01 1.58319442e-02 2.53262675e+02] [-3.69573914e-01 9.29184870e-01 5.53164895e-03 -8.71254019e+01] [-1.67553814e-02 -7.11893722e-04 -9.99859365e-01 -3.85713051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters 0.013677725740663062 Centerline is valid? [True, True] Translation: X:253.21, Y:-87.12, Z:-3.86 [[-8.99719004e-01 -4.36191293e-01 1.55843033e-02 2.53211233e+02] [-4.36139465e-01 8.99853681e-01 6.76161848e-03 -8.71178484e+01] [-1.69729518e-02 -7.13373057e-04 -9.99855695e-01 -3.85701471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters 0.013634964675986204 Centerline is valid? [True, True] Translation: X:253.14, Y:-87.12, Z:-3.86 [[-8.65663853e-01 -5.00393671e-01 1.52403479e-02 2.53144594e+02] [-5.00330240e-01 8.65797714e-01 7.99806788e-03 -8.71224976e+01] [-1.71972409e-02 -7.01568682e-04 -9.99851870e-01 -3.85650146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters 0.01325386571266982 Centerline is valid? [True, True] Translation: X:253.08, Y:-87.13, Z:-3.86 [[-8.27097440e-01 -5.61866694e-01 1.46847845e-02 2.53080945e+02] [-5.61792444e-01 8.27227516e-01 9.15894202e-03 -8.71335540e+01] [-1.72937623e-02 -6.74463498e-04 -9.99850224e-01 -3.85706810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters 0.012458780360420212 Centerline is valid? [True, True] Translation: X:253.01, Y:-87.16, Z:-3.86 [[-7.84310755e-01 -6.20224669e-01 1.33416303e-02 2.53006061e+02] [-6.20148318e-01 7.84423973e-01 9.75165187e-03 -8.71589720e+01] [-1.65137097e-02 -6.25464120e-04 -9.99863444e-01 -3.85916166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters 0.012551475075197657 Centerline is valid? [True, True] Translation: X:252.93, Y:-87.19, Z:-3.86 [[-7.36686828e-01 -6.76127260e-01 1.20185316e-02 2.52925780e+02] [-6.76050181e-01 7.36784621e-01 1.02262076e-02 -8.71925647e+01] [-1.57692870e-02 -5.91618043e-04 -9.99875482e-01 -3.85971836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters 0.012354536435653055 Centerline is valid? [True, True] Translation: X:252.84, Y:-87.24, Z:-3.86 [[-6.85362227e-01 -7.28116311e-01 1.11917242e-02 2.52844824e+02] [-7.28032200e-01 6.85453376e-01 1.10808513e-02 -8.72391074e+01] [-1.57395537e-02 -5.53538685e-04 -9.99875972e-01 -3.86065579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters 0.012285435738446556 Centerline is valid? [True, True] Translation: X:252.76, Y:-87.29, Z:-3.86 [[-6.27510739e-01 -7.78548361e-01 9.62922976e-03 2.52760713e+02] [-7.78470124e-01 6.27584364e-01 1.10512981e-02 -8.72935080e+01] [-1.46471241e-02 -5.61259449e-04 -9.99892568e-01 -3.86302352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters 0.012359219326806855 Centerline is valid? [True, True] Translation: X:252.68, Y:-87.35, Z:-3.86 [[-5.65709282e-01 -8.24560677e-01 8.52629843e-03 2.52678891e+02] [-8.24481898e-01 5.65773241e-01 1.14122534e-02 -8.73548952e+01] [-1.42340469e-02 -5.73761062e-04 -9.99898526e-01 -3.86424489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters 0.012395775255290698 Centerline is valid? [True, True] Translation: X:252.60, Y:-87.43, Z:-3.87 [[-5.00872021e-01 -8.65490487e-01 7.30993909e-03 2.52598301e+02] [-8.65414499e-01 5.00925031e-01 1.14829963e-02 -8.74268478e+01] [-1.36001555e-02 -5.74615699e-04 -9.99907349e-01 -3.86516269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters 0.012928903661324377 Centerline is valid? [True, True] Translation: X:252.52, Y:-87.51, Z:-3.87 [[-4.32827323e-01 -9.01454401e-01 6.36174929e-03 2.52521410e+02] [-9.01375986e-01 4.32873683e-01 1.19041027e-02 -8.75069806e+01] [-1.34848396e-02 -5.81907137e-04 -9.99908906e-01 -3.86539468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters 0.012570851590846368 Centerline is valid? [True, True] Translation: X:252.45, Y:-87.59, Z:-3.87 [[-3.61809800e-01 -9.32238807e-01 4.94731431e-03 2.52451300e+02] [-9.32172370e-01 3.61843158e-01 1.11445428e-02 -8.75936110e+01] [-1.21795271e-02 -5.79544919e-04 -9.99925659e-01 -3.86742288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters 0.01257733685360585 Centerline is valid? [True, True] Translation: X:252.39, Y:-87.69, Z:-3.87 [[-2.89856541e-01 -9.57062258e-01 3.87545696e-03 2.52386713e+02] [-9.57001056e-01 2.89881893e-01 1.08381857e-02 -8.76909370e+01] [-1.14962433e-02 -5.67297376e-04 -9.99933755e-01 -3.86866979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters 0.012391838550887225 Centerline is valid? [True, True] Translation: X:252.33, Y:-87.79, Z:-3.87 [[-2.17556250e-01 -9.76043460e-01 2.90546305e-03 2.52333087e+02] [-9.75986586e-01 2.17574979e-01 1.05504718e-02 -8.77863453e+01] [-1.09298751e-02 -5.40371871e-04 -9.99940121e-01 -3.86988756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters 0.012159749802801881 Centerline is valid? [True, True] Translation: X:252.29, Y:-87.89, Z:-3.87 [[-1.44124006e-01 -9.89557377e-01 2.11386514e-03 2.52286126e+02] [-9.89497310e-01 1.44138575e-01 1.09153671e-02 -8.78922018e+01] [-1.11060716e-02 -5.18497429e-04 -9.99938191e-01 -3.87055273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters 0.012069901101380828 Centerline is valid? [True, True] Translation: X:252.25, Y:-88.00, Z:-3.87 [[-7.01080063e-02 -9.97538622e-01 1.25095353e-03 2.52245852e+02] [-9.97480278e-01 7.01174494e-02 1.07998945e-02 -8.79987462e+01] [-1.08610256e-02 -4.90642402e-04 -9.99940897e-01 -3.86942193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters 0.011872443512525456 Centerline is valid? [True, True] Translation: X:252.21, Y:-88.12, Z:-3.87 [[ 5.02106616e-03 -9.99987307e-01 4.16927362e-04 2.52214509e+02] [-9.99932101e-01 -5.01640364e-03 1.05180526e-02 -8.81178738e+01] [-1.05158277e-02 -4.69710891e-04 -9.99944597e-01 -3.86942502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters 0.011919825181001526 Centerline is valid? [True, True] Translation: X:252.19, Y:-88.23, Z:-3.87 [[ 8.00844648e-02 -9.96788013e-01 -3.69523558e-04 2.52192718e+02] [-9.96735818e-01 -8.00840565e-02 1.02104336e-02 -8.82324051e+01] [-1.02072307e-02 -4.49379741e-04 -9.99947804e-01 -3.86996860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters 0.01190494154523766 Centerline is valid? [True, True] Translation: X:252.18, Y:-88.35, Z:-3.87 [[ 1.56259630e-01 -9.87715324e-01 -1.16927437e-03 2.52178419e+02] [-9.87662287e-01 -1.56263368e-01 1.02453399e-02 -8.83498662e+01] [-1.03021939e-02 -4.46084818e-04 -9.99946831e-01 -3.87041844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters 0.011904702978935934 Centerline is valid? [True, True] Translation: X:252.17, Y:-88.47, Z:-3.87 [[ 2.32574838e-01 -9.72576690e-01 -1.87784702e-03 2.52171570e+02] [-9.72527411e-01 -2.32581977e-01 9.80098993e-03 -8.84730951e+01] [-9.96896772e-03 -4.53205942e-04 -9.99950206e-01 -3.86978315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters 0.011901207389515328 Centerline is valid? [True, True] Translation: X:252.18, Y:-88.60, Z:-3.87 [[ 3.06443829e-01 -9.51885355e-01 -2.53991469e-03 2.52177586e+02] [-9.51839463e-01 -3.06454024e-01 9.35774353e-03 -8.85961886e+01] [-9.68586609e-03 -4.50031724e-04 -9.99952990e-01 -3.87110074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters 0.011859585931613093 Centerline is valid? [True, True] Translation: X:252.19, Y:-88.71, Z:-3.87 [[ 3.77988433e-01 -9.25805034e-01 -3.12795595e-03 2.52189178e+02] [-9.25763026e-01 -3.78001117e-01 8.83031231e-03 -8.87093738e+01] [-9.35751843e-03 -4.42009948e-04 -9.99956120e-01 -3.87250573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters 0.011865878794763017 Centerline is valid? [True, True] Translation: X:252.21, Y:-88.82, Z:-3.87 [[ 4.46704228e-01 -8.94673499e-01 -3.82935644e-03 2.52208246e+02] [-8.94631992e-01 -4.46720435e-01 8.62853838e-03 -8.88223967e+01] [-9.43037639e-03 -4.28539795e-04 -9.99955441e-01 -3.87238193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters 0.011885104314605125 Centerline is valid? [True, True] Translation: X:252.24, Y:-88.93, Z:-3.87 [[ 5.12388300e-01 -8.58742420e-01 -4.43685079e-03 2.52238245e+02] [-8.58703008e-01 -5.12407345e-01 8.23752974e-03 -8.89338296e+01] [-9.34739116e-03 -4.10876742e-04 -9.99956228e-01 -3.87296755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters 0.01190810854945832 Centerline is valid? [True, True] Translation: X:252.28, Y:-89.04, Z:-3.87 [[ 5.75219645e-01 -8.17979972e-01 -5.57893991e-03 2.52275082e+02] [-8.17934713e-01 -5.75246566e-01 8.61361084e-03 -8.90415593e+01] [-1.02550272e-02 -3.91509558e-04 -9.99947339e-01 -3.87284275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters 0.011903027944674627 Centerline is valid? [True, True] Translation: X:252.32, Y:-89.14, Z:-3.87 [[ 6.36157288e-01 -7.71527269e-01 -7.04120368e-03 2.52316965e+02] [-7.71473108e-01 -6.36196135e-01 9.14992058e-03 -8.91447698e+01] [-1.15389998e-02 -3.88689365e-04 -9.99933348e-01 -3.87245349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters 0.01171901827845476 Centerline is valid? [True, True] Translation: X:252.37, Y:-89.25, Z:-3.87 [[ 6.94248903e-01 -7.19696821e-01 -7.41256030e-03 2.52365430e+02] [-7.19649425e-01 -6.94288355e-01 8.26947217e-03 -8.92458409e+01] [-1.10979671e-02 -4.06627222e-04 -9.99938333e-01 -3.87313617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters 0.011718618780291656 Centerline is valid? [True, True] Translation: X:252.42, Y:-89.34, Z:-3.87 [[ 7.48361458e-01 -6.63238781e-01 -8.33350755e-03 2.52419468e+02] [-6.63191152e-01 -7.48407732e-01 7.96002711e-03 -8.93394091e+01] [-1.15162602e-02 -4.30269026e-04 -9.99933593e-01 -3.87340500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters 0.011874388777200292 Centerline is valid? [True, True] Translation: X:252.44, Y:-89.37, Z:-3.87 [[ 7.99129411e-01 -6.01099989e-01 -8.42543822e-03 2.52442152e+02] [-6.01060374e-01 -7.99173692e-01 6.91645694e-03 -8.93665612e+01] [-1.08908707e-02 -4.62947110e-04 -9.99940586e-01 -3.87482546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters 0.012016633344915878 Centerline is valid? [True, True] Translation: X:252.46, Y:-89.39, Z:-3.88 [[ 8.44956807e-01 -5.34772161e-01 -8.16887081e-03 2.52464920e+02] [-5.34741563e-01 -8.44996155e-01 5.74088349e-03 -8.93947670e+01] [-9.97272910e-03 -4.82563834e-04 -9.99950155e-01 -3.87541727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters 0.01248562968002351 Centerline is valid? [True, True] Translation: X:252.49, Y:-89.42, Z:-3.88 [[ 8.86105465e-01 -4.63394709e-01 -9.08014039e-03 2.52489803e+02] [-4.63364191e-01 -8.86151829e-01 5.34434449e-03 -8.94227695e+01] [-1.05229240e-02 -5.28240953e-04 -9.99944493e-01 -3.87566529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters 0.01358300221524246 Centerline is valid? [True, True] Translation: X:252.52, Y:-89.45, Z:-3.88 [[ 9.21853964e-01 -3.87403031e-01 -1.02059080e-02 2.52516313e+02] [-3.87372005e-01 -9.21910262e-01 4.93950741e-03 -8.94497144e+01] [-1.13225114e-02 -6.00021461e-04 -9.99935718e-01 -3.87521058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters 0.014053040259320249 Centerline is valid? [True, True] Translation: X:252.55, Y:-89.47, Z:-3.88 [[ 9.49901260e-01 -3.12371970e-01 -1.05521710e-02 2.52547070e+02] [-3.12345389e-01 -9.49959667e-01 4.12184205e-03 -8.94706101e+01] [-1.13116848e-02 -6.19420993e-04 -9.99935829e-01 -3.87536155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters 0.01473465006094627 Centerline is valid? [True, True] Translation: X:252.58, Y:-89.49, Z:-3.88 [[ 9.72305000e-01 -2.33397241e-01 -1.21948902e-02 2.52578862e+02] [-2.33369913e-01 -9.72381227e-01 3.63777738e-03 -8.94914428e+01] [-1.27071295e-02 -6.91108660e-04 -9.99919022e-01 -3.87505753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters 0.015227564427993421 Centerline is valid? [True, True] Translation: X:252.61, Y:-89.51, Z:-3.88 [[ 9.87813314e-01 -1.55106719e-01 -1.29136173e-02 2.52612517e+02] [-1.55083890e-01 -9.87897457e-01 2.75694550e-03 -8.95067372e+01] [-1.31849504e-02 -7.20653470e-04 -9.99912815e-01 -3.87582925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters 0.015292417703548798 Centerline is valid? [True, True] Translation: X:252.65, Y:-89.52, Z:-3.88 [[ 9.96939833e-01 -7.69269888e-02 -1.38998996e-02 2.52647143e+02] [-7.69090870e-02 -9.97036451e-01 1.81868431e-03 -8.95182304e+01] [-1.39986125e-02 -7.44090242e-04 -9.99901738e-01 -3.87569339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters 0.014995149327041778 Centerline is valid? [True, True] Translation: X:252.68, Y:-89.53, Z:-3.88 [[ 9.99900869e-01 8.04540692e-04 -1.40571774e-02 2.52679600e+02] [ 8.14817167e-04 -9.99999405e-01 7.25336231e-04 -8.95269468e+01] [-1.40565854e-02 -7.36718357e-04 -9.99900930e-01 -3.87544084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters 0.014800223454608793 Centerline is valid? [True, True] Translation: X:252.71, Y:-89.53, Z:-3.88 [[ 9.96955364e-01 7.68940084e-02 -1.29350106e-02 2.52711353e+02] [ 7.68963834e-02 -9.97039040e-01 -3.14374944e-04 -8.95288093e+01] [-1.29208841e-02 -6.81237750e-04 -9.99916290e-01 -3.87734018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters 0.013534782048393357 Centerline is valid? [True, True] Translation: X:252.74, Y:-89.53, Z:-3.88 [[ 9.88236835e-01 1.52430824e-01 -1.23613068e-02 2.52743539e+02] [ 1.52426979e-01 -9.88313935e-01 -1.25812594e-03 -8.95305615e+01] [-1.24086289e-02 -6.40870252e-04 -9.99922805e-01 -3.87893760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters 0.013388136372539713 Centerline is valid? [True, True] Translation: X:252.77, Y:-89.53, Z:-3.88 [[ 9.73864301e-01 2.26773600e-01 -1.27301644e-02 2.52774558e+02] [ 2.26762439e-01 -9.73947306e-01 -2.33250595e-03 -8.95303994e+01] [-1.29274601e-02 -6.15178842e-04 -9.99916248e-01 -3.87826085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters 0.013066206542623677 Centerline is valid? [True, True] Translation: X:252.81, Y:-89.53, Z:-3.88 [[ 9.53626046e-01 3.00678612e-01 -1.37745217e-02 2.52805733e+02] [ 3.00656427e-01 -9.53725327e-01 -3.70303648e-03 -8.95263157e+01] [-1.42505341e-02 -6.10086449e-04 -9.99898270e-01 -3.87746304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters 0.013122249438229528 Centerline is valid? [True, True] Translation: X:252.84, Y:-89.52, Z:-3.88 [[ 9.27239321e-01 3.74196300e-01 -1.42958282e-02 2.52836732e+02] [ 3.74162018e-01 -9.27349313e-01 -5.10266039e-03 -8.95213644e+01] [-1.51666231e-02 -6.17568561e-04 -9.99884789e-01 -3.87697182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters 0.013253613467963356 Centerline is valid? [True, True] Translation: X:252.87, Y:-89.51, Z:-3.88 [[ 8.94804616e-01 4.46235341e-01 -1.40968048e-02 2.52867389e+02] [ 4.46190957e-01 -8.94915428e-01 -6.32506697e-03 -8.95130728e+01] [-1.54379165e-02 -6.30167709e-04 -9.99880630e-01 -3.87700410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters 0.013523368128176335 Centerline is valid? [True, True] Translation: X:252.90, Y:-89.50, Z:-3.88 [[ 8.56678983e-01 5.15679343e-01 -1.32640808e-02 2.52897504e+02] [ 5.15628922e-01 -8.56781424e-01 -7.23923175e-03 -8.95035116e+01] [-1.50975403e-02 -6.37646002e-04 -9.99885822e-01 -3.87737039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters 0.013670673783391934 Centerline is valid? [True, True] Translation: X:252.93, Y:-89.49, Z:-3.88 [[ 8.12780065e-01 5.82419509e-01 -1.32695593e-02 2.52925959e+02] [ 5.82355196e-01 -8.12888100e-01 -8.68110646e-03 -8.94909761e+01] [-1.58427126e-02 -6.71766535e-04 -9.99874271e-01 -3.87792787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters 0.013977663621115558 Centerline is valid? [True, True] Translation: X:252.95, Y:-89.48, Z:-3.88 [[ 7.64206653e-01 6.44839993e-01 -1.30221232e-02 2.52953096e+02] [ 6.44761572e-01 -7.64317279e-01 -1.00802911e-02 -8.94765888e+01] [-1.64532086e-02 -6.92739130e-04 -9.99864397e-01 -3.87798045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters 0.014503427697650877 Centerline is valid? [True, True] Translation: X:252.98, Y:-89.46, Z:-3.88 [[ 7.10497150e-01 7.03588584e-01 -1.25261207e-02 2.52978513e+02] [ 7.03496786e-01 -7.10607194e-01 -1.13880361e-02 -8.94597992e+01] [-1.69136437e-02 -7.20918511e-04 -9.99856694e-01 -3.87767722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters 0.014713776861822372 Centerline is valid? [True, True] Translation: X:253.00, Y:-89.44, Z:-3.88 [[ 6.52393102e-01 7.57792030e-01 -1.15965338e-02 2.53001485e+02] [ 7.57691990e-01 -6.52495741e-01 -1.23351689e-02 -8.94410155e+01] [-1.69141816e-02 -7.39221634e-04 -9.99856672e-01 -3.87887539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters 0.014312319042273982 Centerline is valid? [True, True] Translation: X:253.02, Y:-89.42, Z:-3.88 [[ 5.91621591e-01 8.06157588e-01 -9.68688455e-03 2.53023961e+02] [ 8.06068309e-01 -5.91700477e-01 -1.20177511e-02 -8.94208926e+01] [-1.54199354e-02 -6.98329639e-04 -9.99880862e-01 -3.88114801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters 0.013736889306876351 Centerline is valid? [True, True] Translation: X:253.05, Y:-89.40, Z:-3.88 [[ 5.28800657e-01 8.48710585e-01 -7.75945579e-03 2.53046452e+02] [ 8.48636097e-01 -5.28857208e-01 -1.12617544e-02 -8.94007326e+01] [-1.36616143e-02 -6.29731152e-04 -9.99906477e-01 -3.88219901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters 0.01331151823347299 Centerline is valid? [True, True] Translation: X:253.07, Y:-89.38, Z:-3.88 [[ 4.61462175e-01 8.87134826e-01 -6.66786901e-03 2.53068908e+02] [ 8.87060576e-01 -4.61509942e-01 -1.14938212e-02 -8.93800367e+01] [-1.32738569e-02 -6.10840008e-04 -9.99911712e-01 -3.88291349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters 0.013818927115225303 Centerline is valid? [True, True] Translation: X:253.09, Y:-89.36, Z:-3.88 [[ 3.90282265e-01 9.20675063e-01 -6.09770669e-03 2.53089597e+02] [ 9.20586640e-01 -3.90329393e-01 -1.27751080e-02 -8.93582700e+01] [-1.41418375e-02 -6.27569236e-04 -9.99899802e-01 -3.88255964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters 0.013929675840852213 Centerline is valid? [True, True] Translation: X:253.11, Y:-89.33, Z:-3.88 [[ 3.15256639e-01 9.48990976e-01 -5.42022761e-03 2.53108064e+02] [ 9.48885147e-01 -3.15302518e-01 -1.41880375e-02 -8.93339951e+01] [-1.51733309e-02 -6.70300468e-04 -9.99884654e-01 -3.88285750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters 0.015068345762777807 Centerline is valid? [True, True] Translation: X:253.13, Y:-89.31, Z:-3.88 [[ 2.36260979e-01 9.71677320e-01 -4.89231527e-03 2.53127527e+02] [ 9.71531914e-01 -2.36310348e-01 -1.68273427e-02 -8.93087462e+01] [-1.75068520e-02 -7.77395963e-04 -9.99846441e-01 -3.87973106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters 0.015029431920613696 Centerline is valid? [True, True] Translation: X:253.14, Y:-89.28, Z:-3.88 [[ 1.59199381e-01 9.87237747e-01 -4.14572283e-03 2.53141541e+02] [ 9.87028274e-01 -1.59251075e-01 -2.03539143e-02 -8.92811457e+01] [-2.07543633e-02 -8.51615089e-04 -9.99784242e-01 -3.87761010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters 0.014406128476776883 Centerline is valid? [True, True] Translation: X:253.15, Y:-89.25, Z:-3.88 [[ 8.43879352e-02 9.96429729e-01 -2.54387983e-03 2.53148734e+02] [ 9.96215372e-01 -8.44225832e-02 -2.06823629e-02 -8.92524396e+01] [-2.08232822e-02 -7.88910294e-04 -9.99782861e-01 -3.87866451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters 0.013274451525363643 Centerline is valid? [True, True] Translation: X:253.15, Y:-89.22, Z:-3.88 [[ 1.28317328e-02 9.99917318e-01 -8.38860191e-04 2.53149933e+02] [ 9.99759256e-01 -1.28446281e-02 -1.77889307e-02 -8.92248024e+01] [-1.77982348e-02 -6.10395434e-04 -9.99841413e-01 -3.88108493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters 0.01200448547382316 Centerline is valid? [True, True] Translation: X:253.15, Y:-89.20, Z:-3.88 [[-6.10111115e-02 9.98136971e-01 4.80321379e-04 2.53152131e+02] [ 9.98003227e-01 6.10108031e-02 -1.63474941e-02 -8.91961264e+01] [-1.63463430e-02 -5.18016500e-04 -9.99866255e-01 -3.88482241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters 0.01166511309897907 Centerline is valid? [True, True] Translation: X:253.15, Y:-89.17, Z:-3.89 [[-1.32951695e-01 9.91121381e-01 1.50173470e-03 2.53152274e+02] [ 9.91018212e-01 1.32959532e-01 -1.43061974e-02 -8.91676447e+01] [-1.43788480e-02 -4.13786743e-04 -9.99896533e-01 -3.88656148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters 0.011785132441197632 Centerline is valid? [True, True] Translation: X:253.16, Y:-89.14, Z:-3.89 [[-2.07141144e-01 9.78307000e-01 2.82142046e-03 2.53156034e+02] [ 9.78190642e-01 2.07160034e-01 -1.50926602e-02 -8.91392046e+01] [-1.53497407e-02 -3.66423807e-04 -9.99882119e-01 -3.88622029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters 0.011951329818564936 Centerline is valid? [True, True] Translation: X:253.16, Y:-89.11, Z:-3.89 [[-2.81432817e-01 9.59571595e-01 4.23360533e-03 2.53155541e+02] [ 9.59444458e-01 2.81464459e-01 -1.56233834e-02 -8.91104836e+01] [-1.61833643e-02 -3.35023618e-04 -9.99868985e-01 -3.88649528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters 0.012397822170909652 Centerline is valid? [True, True] Translation: X:253.15, Y:-89.08, Z:-3.89 [[-3.52793186e-01 9.35683281e-01 5.81081185e-03 2.53152704e+02] [ 9.35543220e-01 3.52840929e-01 -1.61913999e-02 -8.90820036e+01] [-1.72003145e-02 -2.75949931e-04 -9.99852026e-01 -3.88587284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters 0.012539900663094667 Centerline is valid? [True, True] Translation: X:253.15, Y:-89.05, Z:-3.89 [[-4.23272840e-01 9.05972458e-01 7.34902987e-03 2.53150606e+02] [ 9.05826105e-01 4.23336568e-01 -1.62855309e-02 -8.90523244e+01] [-1.78653556e-02 -2.36279835e-04 -9.99840374e-01 -3.88677784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters 0.013108806206267053 Centerline is valid? [True, True] Translation: X:253.15, Y:-89.02, Z:-3.89 [[-4.90202529e-01 8.71565100e-01 8.70387243e-03 2.53145339e+02] [ 8.71421277e-01 4.90279762e-01 -1.58339089e-02 -8.90244680e+01] [-1.80676149e-02 -1.77082540e-04 -9.99836752e-01 -3.88690740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters 0.013381329280123255 Centerline is valid? [True, True] Translation: X:253.14, Y:-89.00, Z:-3.89 [[-5.56860778e-01 8.30544363e-01 1.01061942e-02 2.53136557e+02] [ 8.30402052e-01 5.56952451e-01 -1.53753090e-02 -8.89982074e+01] [-1.83985459e-02 -1.69702117e-04 -9.99830718e-01 -3.88678127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters 0.013194063899663981 Centerline is valid? [True, True] Translation: X:253.13, Y:-88.97, Z:-3.89 [[-6.20540228e-01 7.84097722e-01 1.09812787e-02 2.53126474e+02] [ 7.83969755e-01 6.20637358e-01 -1.41666180e-02 -8.89707599e+01] [-1.79234047e-02 -1.81966015e-04 -9.99839346e-01 -3.88770519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters 0.012415590805975603 Centerline is valid? [True, True] Translation: X:253.12, Y:-88.94, Z:-3.89 [[-6.81807065e-01 7.31453712e-01 1.07048119e-02 2.53118090e+02] [ 7.31357975e-01 6.81891054e-01 -1.18365139e-02 -8.89403231e+01] [-1.59573775e-02 -2.41169239e-04 -9.99872644e-01 -3.88983738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters 0.012182980037361303 Centerline is valid? [True, True] Translation: X:253.11, Y:-88.91, Z:-3.89 [[-7.38683415e-01 6.73958302e-01 1.12703001e-02 2.53105454e+02] [ 6.73873991e-01 7.38769333e-01 -1.06638180e-02 -8.89116634e+01] [-1.55131208e-02 -2.82423379e-04 -9.99879624e-01 -3.89090192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters 0.011946588231459184 Centerline is valid? [True, True] Translation: X:253.12, Y:-88.89, Z:-3.89 [[-7.86807668e-01 6.17086384e-01 1.17511016e-02 2.53124767e+02] [ 6.17011772e-01 7.86895357e-01 -9.60055208e-03 -8.88866556e+01] [-1.51712573e-02 -3.03219945e-04 -9.99884864e-01 -3.89173299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters 0.011769370007537978 Centerline is valid? [True, True] Translation: X:253.14, Y:-88.86, Z:-3.89 [[-8.29822084e-01 5.57907293e-01 1.16086839e-02 2.53143101e+02] [ 5.57846957e-01 8.29903210e-01 -8.21188619e-03 -8.88615878e+01] [-1.42155552e-02 -3.38535529e-04 -9.99898897e-01 -3.89269655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters 0.011732541153812233 Centerline is valid? [True, True] Translation: X:253.16, Y:-88.83, Z:-3.89 [[-8.68793414e-01 4.95053177e-01 1.09706614e-02 2.53160713e+02] [ 4.95008172e-01 8.68862595e-01 -6.68578619e-03 -8.88339244e+01] [-1.28418170e-02 -3.77999980e-04 -9.99917469e-01 -3.89467857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters 0.01180963090324867 Centerline is valid? [True, True] Translation: X:253.17, Y:-88.80, Z:-3.90 [[-9.01795627e-01 4.32028612e-01 1.07668944e-02 2.53167074e+02] [ 4.31992768e-01 9.01859820e-01 -5.57795550e-03 -8.88036078e+01] [-1.21200659e-02 -3.78955337e-04 -9.99926477e-01 -3.89521821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters 0.011851474479854103 Centerline is valid? [True, True] Translation: X:253.46, Y:-88.23, Z:-4.89 [[-8.67917580e-01 -4.96699669e-01 2.91773752e-03 2.53461248e+02] [ 4.96696183e-01 -8.67922467e-01 -1.86900160e-03 -8.82309421e+01] [ 3.46070242e-03 -1.72910255e-04 9.99993997e-01 -4.89089959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters 0.011868863515044462 Centerline is valid? [True, True] Translation: X:253.13, Y:-88.79, Z:-3.89 [[-9.02831134e-01 4.29794946e-01 1.31243054e-02 2.53133184e+02] [ 4.29743545e-01 9.02926446e-01 -6.65720277e-03 -8.87850153e+01] [-1.47115146e-02 -3.70244378e-04 -9.99891711e-01 -3.89385540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters 0.012005054743491232 Centerline is valid? [True, True] Translation: X:253.14, Y:-88.76, Z:-3.89 [[-9.30861682e-01 3.65046499e-01 1.54137293e-02 2.53143934e+02] [ 3.64989887e-01 9.30989215e-01 -6.43932118e-03 -8.87576750e+01] [-1.67006674e-02 -3.68262042e-04 -9.99860466e-01 -3.89230311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters 0.01209488393403974 Centerline is valid? [True, True] Translation: X:253.16, Y:-88.73, Z:-3.89 [[-9.53607724e-01 3.00508362e-01 1.80840692e-02 2.53159662e+02] [ 3.00442953e-01 9.53779010e-01 -6.29547194e-03 -8.87299663e+01] [-1.91400476e-02 -5.70179501e-04 -9.99816650e-01 -3.89067880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters 0.01214463864749911 Centerline is valid? [True, True] Translation: X:253.16, Y:-88.70, Z:-3.89 [[-9.72776372e-01 2.30950808e-01 1.91795376e-02 2.53163539e+02] [ 2.30897449e-01 9.72965338e-01 -4.98182554e-03 -8.87022599e+01] [-1.98115819e-02 -4.17695888e-04 -9.99803644e-01 -3.89059759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters 0.012128320411167737 Centerline is valid? [True, True] Translation: X:253.16, Y:-88.67, Z:-3.89 [[-9.87046298e-01 1.59389619e-01 1.82908423e-02 2.53163649e+02] [ 1.59353816e-01 9.87215654e-01 -3.40788798e-03 -8.86746287e+01] [-1.86001878e-02 -4.49027702e-04 -9.99826901e-01 -3.89290280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters 0.012269620498298465 Centerline is valid? [True, True] Translation: X:253.16, Y:-88.65, Z:-3.89 [[-9.96088041e-01 8.65628314e-02 1.77620513e-02 2.53161787e+02] [ 8.65403509e-02 9.96246274e-01 -2.03184163e-03 -8.86460603e+01] [-1.78712594e-02 -4.86758997e-04 -9.99840178e-01 -3.89412159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters 0.012849947149106847 Centerline is valid? [True, True] Translation: X:253.16, Y:-88.62, Z:-3.90 [[-9.99795102e-01 1.09919199e-02 1.69980207e-02 2.53158726e+02] [ 1.09808572e-02 9.99939432e-01 -7.44021575e-04 -8.86173553e+01] [-1.70051694e-02 -5.57216288e-04 -9.99855246e-01 -3.89574798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters 0.01355725539460444 Centerline is valid? [True, True] Translation: X:253.17, Y:-88.00, Z:-4.89 [[-9.94159937e-01 -1.07641360e-01 7.70438853e-03 2.53169406e+02] [ 1.07636646e-01 -9.94189771e-01 -1.02504250e-03 -8.79958248e+01] [ 7.76996124e-03 -1.89781646e-04 9.99969795e-01 -4.89136715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters 0.014292026311374276 Centerline is valid? [True, True] Translation: X:253.09, Y:-88.61, Z:-3.90 [[-9.99828097e-01 3.75181708e-04 1.85374298e-02 2.53093122e+02] [ 3.62176810e-04 9.99999686e-01 -7.04900279e-04 -8.86133174e+01] [-1.85376885e-02 -6.98065278e-04 -9.99827919e-01 -3.89534909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters 0.01606228945265787 Centerline is valid? [True, True] Translation: X:253.08, Y:-88.59, Z:-3.89 [[-9.97048519e-01 -7.43551789e-02 1.91195960e-02 2.53084581e+02] [-7.43564240e-02 9.97231520e-01 6.46758052e-04 -8.85858991e+01] [-1.91147536e-02 -7.76815631e-04 -9.99816995e-01 -3.89414701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters 0.016462958517247828 Centerline is valid? [True, True] Translation: X:253.06, Y:-87.97, Z:-4.89 [[-9.99121783e-01 -4.08991882e-02 9.10600004e-03 2.53061377e+02] [ 4.08963375e-02 -9.99163270e-01 -4.99118483e-04 -8.79699685e+01] [ 9.11879432e-03 -1.26278098e-04 9.99958415e-01 -4.89373227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters 0.016073955566693526 Centerline is valid? [True, True] Translation: X:253.02, Y:-88.59, Z:-3.89 [[-9.96508066e-01 -8.13381486e-02 1.88621338e-02 2.53021039e+02] [-8.13391168e-02 9.96686226e-01 7.17122734e-04 -8.85928431e+01] [-1.88579584e-02 -8.19610717e-04 -9.99821837e-01 -3.89408928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters 0.016866508975818408 Centerline is valid? [True, True] Translation: X:253.00, Y:-87.97, Z:-4.90 [[-9.99211056e-01 -3.82320152e-02 1.07507835e-02 2.52995155e+02] [ 3.82305737e-02 -9.99268887e-01 -3.39635304e-04 -8.79671354e+01] [ 1.07559084e-02 7.16412728e-05 9.99942151e-01 -4.89525029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters 0.016097826089792953 Centerline is valid? [True, True] Translation: X:252.96, Y:-88.60, Z:-3.89 [[-9.96035421e-01 -8.65655627e-02 2.04900865e-02 2.52956132e+02] [-8.65652703e-02 9.96245772e-01 9.02896173e-04 -8.86046778e+01] [-2.04913218e-02 -8.74413310e-04 -9.99789648e-01 -3.89373660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters 0.015778840108797716 Centerline is valid? [True, True] Translation: X:252.95, Y:-88.58, Z:-3.89 [[-9.87539051e-01 -1.56184826e-01 1.93112388e-02 2.52946148e+02] [-1.56171191e-01 9.87727505e-01 2.22140510e-03 -8.85834508e+01] [-1.94211915e-02 -8.22134888e-04 -9.99811053e-01 -3.89440239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters 0.015406137574829924 Centerline is valid? [True, True] Translation: X:252.87, Y:-87.94, Z:-4.89 [[-9.99200618e-01 3.90092806e-02 8.74075335e-03 2.52867272e+02] [-3.90091408e-02 -9.99238836e-01 1.86539426e-04 -8.79371080e+01] [ 8.74137697e-03 -1.54578969e-04 9.99961781e-01 -4.89274890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters 0.015938014638533102 Centerline is valid? [True, True] Translation: X:252.87, Y:-88.60, Z:-3.90 [[-9.86718899e-01 -1.61623618e-01 1.62363717e-02 2.52867482e+02] [-1.61614179e-01 9.86852190e-01 1.90043508e-03 -8.85993359e+01] [-1.63300541e-02 -7.48832681e-04 -9.99866375e-01 -3.89747809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters 0.016045601972891912 Centerline is valid? [True, True] Translation: X:252.78, Y:-87.95, Z:-4.89 [[-9.99070079e-01 4.25095781e-02 7.20513872e-03 2.52780960e+02] [-4.25092226e-02 -9.99096054e-01 2.02543259e-04 -8.79454860e+01] [ 7.20723569e-03 -1.03929936e-04 9.99974022e-01 -4.89254110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters 0.01674883126000089 Centerline is valid? [True, True] Translation: X:252.78, Y:-88.61, Z:-3.90 [[-9.85315611e-01 -1.69941629e-01 1.65224076e-02 2.52782285e+02] [-1.69931359e-01 9.85453802e-01 2.03381778e-03 -8.86114628e+01] [-1.66276997e-02 -8.03722772e-04 -9.99861427e-01 -3.89637412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters 0.017355707350165755 Centerline is valid? [True, True] Translation: X:252.77, Y:-88.59, Z:-3.90 [[-9.70376746e-01 -2.41000388e-01 1.69642009e-02 2.52769620e+02] [-2.40978549e-01 9.70524659e-01 3.35051668e-03 -8.85875013e+01] [-1.72716511e-02 -8.36745044e-04 -9.99850484e-01 -3.89643602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters 0.017702297494386968 Centerline is valid? [True, True] Translation: X:252.75, Y:-88.56, Z:-3.90 [[-9.51291694e-01 -3.07826153e-01 1.69461709e-02 2.52752937e+02] [-3.07792367e-01 9.51442276e-01 4.63189669e-03 -8.85637232e+01] [-1.75491223e-02 -8.09617201e-04 -9.99845675e-01 -3.89505732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters 0.01604040588599159 Centerline is valid? [True, True] Translation: X:252.55, Y:-87.93, Z:-4.90 [[-9.81585246e-01 1.90878183e-01 7.47820241e-03 2.52553595e+02] [-1.90873512e-01 -9.81613726e-01 1.33999023e-03 -8.79304131e+01] [ 7.59648103e-03 -1.12076124e-04 9.99971140e-01 -4.89504958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters 0.015159564019782114 Centerline is valid? [True, True] Translation: X:252.63, Y:-88.60, Z:-3.90 [[-9.50661454e-01 -3.09899302e-01 1.43255815e-02 2.52630832e+02] [-3.09874822e-01 9.50769141e-01 3.95401049e-03 -8.86049885e+01] [-1.48456659e-02 -6.80211647e-04 -9.99889566e-01 -3.89825125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters 0.01409156344685032 Centerline is valid? [True, True] Translation: X:252.60, Y:-88.59, Z:-3.90 [[-9.27221979e-01 -3.74318328e-01 1.20495311e-02 2.52603928e+02] [-3.74294744e-01 9.27300089e-01 4.24135344e-03 -8.85895163e+01] [-1.27611476e-02 -5.77400022e-04 -9.99918407e-01 -3.89974254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters 0.01365843403172949 Centerline is valid? [True, True] Translation: X:252.55, Y:-88.58, Z:-3.90 [[-8.98508081e-01 -4.38819545e-01 1.09834261e-02 2.52554534e+02] [-4.38793968e-01 8.98575050e-01 4.76793436e-03 -8.85841761e+01] [-1.19616954e-02 -5.35433573e-04 -9.99928313e-01 -3.90076790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters 0.0130175354687101 Centerline is valid? [True, True] Translation: X:252.49, Y:-88.59, Z:-3.90 [[-8.64915400e-01 -5.01799313e-01 1.08995824e-02 2.52494889e+02] [-5.01766874e-01 8.64983922e-01 5.72877964e-03 -8.85876929e+01] [-1.23026612e-02 -5.14139641e-04 -9.99924187e-01 -3.90108036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters 0.013303794630774676 Centerline is valid? [True, True] Translation: X:252.42, Y:-88.60, Z:-3.90 [[-8.24743161e-01 -5.65378057e-01 1.20984042e-02 2.52423248e+02] [-5.65327048e-01 8.24831704e-01 7.61501851e-03 -8.85980929e+01] [-1.42845117e-02 -5.59120666e-04 -9.99897815e-01 -3.89952785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters 0.013791813351103433 Centerline is valid? [True, True] Translation: X:252.34, Y:-88.62, Z:-3.90 [[-7.79028823e-01 -6.26878535e-01 1.17215776e-02 2.52343325e+02] [-6.26818897e-01 7.79116774e-01 8.66732346e-03 -8.86188989e+01] [-1.45658368e-02 -5.95211568e-04 -9.99893735e-01 -3.89975866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters 0.014678525092752935 Centerline is valid? [True, True] Translation: X:252.26, Y:-88.65, Z:-3.90 [[-7.28378595e-01 -6.85082650e-01 1.12421154e-02 2.52261203e+02] [-6.85014246e-01 7.28465072e-01 9.70164398e-03 -8.86462990e+01] [-1.48359164e-02 -6.34539400e-04 -9.99889740e-01 -3.89923999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters 0.014225772461466838 Centerline is valid? [True, True] Translation: X:252.18, Y:-88.69, Z:-3.90 [[-6.74963909e-01 -7.37775191e-01 1.05588150e-02 2.52181973e+02] [-7.37699312e-01 6.75046194e-01 1.06000360e-02 -8.86866107e+01] [-1.49481315e-02 -6.34588789e-04 -9.99888069e-01 -3.90023263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters 0.014443127353686008 Centerline is valid? [True, True] Translation: X:252.10, Y:-88.74, Z:-3.90 [[-6.19030468e-01 -7.85310447e-01 9.42237870e-03 2.52100423e+02] [-7.85233741e-01 6.19101888e-01 1.09920189e-02 -8.87392735e+01] [-1.44655598e-02 -5.94375050e-04 -9.99895192e-01 -3.90043259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters 0.012635329885034782 Centerline is valid? [True, True] Translation: X:252.03, Y:-88.80, Z:-3.90 [[-5.61393791e-01 -8.27507785e-01 8.23873994e-03 2.52025206e+02] [-8.27431998e-01 5.61453998e-01 1.12114454e-02 -8.88035467e+01] [-1.39032319e-02 -5.22961186e-04 -9.99903209e-01 -3.90222397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters 0.012099668571851678 Centerline is valid? [True, True] Translation: X:251.95, Y:-88.87, Z:-3.90 [[-5.00385206e-01 -8.65774782e-01 6.97662200e-03 2.51951408e+02] [-8.65703102e-01 5.00433628e-01 1.11500695e-02 -8.88722222e+01] [-1.31447853e-02 -4.60353467e-04 -9.99913498e-01 -3.90241800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters 0.011405105469359727 Centerline is valid? [True, True] Translation: X:251.88, Y:-88.95, Z:-3.90 [[-4.38202608e-01 -8.98856354e-01 5.97735691e-03 2.51882092e+02] [-8.98784312e-01 4.38243206e-01 1.13864865e-02 -8.89526979e+01] [-1.28543518e-02 -3.82766553e-04 -9.99917306e-01 -3.90306211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters 0.01149069229891061 Centerline is valid? [True, True] Translation: X:251.82, Y:-89.04, Z:-3.90 [[-3.71662666e-01 -9.28350661e-01 5.64912421e-03 2.51817886e+02] [-9.28256740e-01 3.71705446e-01 1.32093472e-02 -8.90392632e+01] [-1.43627164e-02 -3.34416435e-04 -9.99896795e-01 -3.90291918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters 0.011512926042108332 Centerline is valid? [True, True] Translation: X:251.76, Y:-89.14, Z:-3.90 [[-3.00848131e-01 -9.53660515e-01 4.69291658e-03 2.51755505e+02] [-9.53560234e-01 3.00884568e-01 1.38331629e-02 -8.91367467e+01] [-1.46041674e-02 -3.13297437e-04 -9.99893304e-01 -3.90387890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters 0.011580026899121559 Centerline is valid? [True, True] Translation: X:251.70, Y:-89.24, Z:-3.90 [[-2.26362397e-01 -9.74035713e-01 3.80718349e-03 2.51698195e+02] [-9.73920728e-01 2.26394186e-01 1.49695531e-02 -8.92372750e+01] [-1.54428035e-02 -3.19350996e-04 -9.99880702e-01 -3.90297242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters 0.011626972537943859 Centerline is valid? [True, True] Translation: X:251.65, Y:-89.35, Z:-3.90 [[-1.49018684e-01 -9.88830445e-01 2.78969764e-03 2.51647516e+02] [-9.88698471e-01 1.49044383e-01 1.61587819e-02 -8.93472456e+01] [-1.63940842e-02 -3.50209385e-04 -9.99865547e-01 -3.90266735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters 0.011615302015711324 Centerline is valid? [True, True] Translation: X:251.61, Y:-89.46, Z:-3.90 [[-7.07581566e-02 -9.97492343e-01 1.51969772e-03 2.51606111e+02] [-9.97363443e-01 7.07734502e-02 1.60400052e-02 -8.94618206e+01] [-1.61073366e-02 -3.80729751e-04 -9.99870196e-01 -3.90355824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters 0.011914539816051574 Centerline is valid? [True, True] Translation: X:250.91, Y:-89.51, Z:-4.91 [[-1.46907600e-01 9.89149297e-01 1.35116714e-03 2.50908302e+02] [-9.89121907e-01 -1.46913593e-01 7.36537833e-03 -8.95147328e+01] [ 7.48396361e-03 -2.54438972e-04 9.99971962e-01 -4.90548979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters 0.012299364674813209 Centerline is valid? [True, True] Translation: X:251.58, Y:-89.74, Z:-3.90 [[-5.48542562e-02 -9.98493414e-01 1.38299275e-03 2.51576987e+02] [-9.98360451e-01 5.48695308e-02 1.63016828e-02 -8.97410595e+01] [-1.63530071e-02 -4.86508581e-04 -9.99866162e-01 -3.90445001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters 0.012216195703102768 Centerline is valid? [True, True] Translation: X:251.55, Y:-89.86, Z:-3.91 [[ 2.29269849e-02 -9.99737133e-01 1.35075814e-04 2.51546770e+02] [-9.99616728e-01 -2.29221263e-02 1.55232968e-02 -8.98579049e+01] [-1.55161200e-02 -4.90926434e-04 -9.99879497e-01 -3.90623712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters 0.012353601133083357 Centerline is valid? [True, True] Translation: X:251.53, Y:-89.98, Z:-3.91 [[ 1.00292253e-01 -9.94957569e-01 -9.48279314e-04 2.51526116e+02] [-9.94855510e-01 -1.00295556e-01 1.42589007e-02 -8.99764396e+01] [-1.42821094e-02 -4.86656380e-04 -9.99897887e-01 -3.90823750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters 0.012439901088550205 Centerline is valid? [True, True] Translation: X:251.51, Y:-90.09, Z:-3.91 [[ 1.77450464e-01 -9.84127588e-01 -2.05510780e-03 2.51514004e+02] [-9.84024853e-01 -1.77461652e-01 1.42285147e-02 -9.00945778e+01] [-1.43673767e-02 -5.02579383e-04 -9.99896658e-01 -3.90941591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters 0.012864379893259755 Centerline is valid? [True, True] Translation: X:251.51, Y:-90.21, Z:-3.91 [[ 2.54194840e-01 -9.67148271e-01 -3.03401900e-03 2.51508182e+02] [-9.67052865e-01 -2.54212411e-01 1.35943482e-02 -9.02118110e+01] [-1.39190356e-02 -5.21556392e-04 -9.99902990e-01 -3.90929829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters 0.012960206489395887 Centerline is valid? [True, True] Translation: X:251.52, Y:-90.34, Z:-3.91 [[ 3.28811451e-01 -9.44386316e-01 -4.18528899e-03 2.51516429e+02] [-9.44287504e-01 -3.28837637e-01 1.36717981e-02 -9.03389318e+01] [-1.42877395e-02 -5.43327663e-04 -9.99897777e-01 -3.90956170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters 0.013476092150176587 Centerline is valid? [True, True] Translation: X:251.53, Y:-90.45, Z:-3.91 [[ 4.01748552e-01 -9.15735905e-01 -5.08459589e-03 2.51529737e+02] [-9.15644026e-01 -4.01780336e-01 1.29838401e-02 -9.04522266e+01] [-1.39326592e-02 -5.60559096e-04 -9.99902779e-01 -3.91058557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters 0.013762160372154063 Centerline is valid? [True, True] Translation: X:251.55, Y:-90.56, Z:-3.91 [[ 4.71374375e-01 -8.81913695e-01 -5.86795868e-03 2.51549759e+02] [-8.81829901e-01 -4.71410562e-01 1.21699441e-02 -9.05628202e+01] [-1.34990581e-02 -5.62058376e-04 -9.99908726e-01 -3.91054206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters 0.014608062613807692 Centerline is valid? [True, True] Translation: X:251.58, Y:-90.68, Z:-3.91 [[ 5.38724650e-01 -8.42449327e-01 -7.40833954e-03 2.51583324e+02] [-8.42353733e-01 -5.38775247e-01 1.27052022e-02 -9.06827701e+01] [-1.46949190e-02 -6.04163163e-04 -9.99891841e-01 -3.90913166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters 0.014889361046083464 Centerline is valid? [True, True] Translation: X:251.62, Y:-90.78, Z:-3.91 [[ 6.01961460e-01 -7.98474873e-01 -8.95985126e-03 2.51617265e+02] [-7.98370384e-01 -6.02027806e-01 1.29325336e-02 -9.07798820e+01] [-1.57203827e-02 -6.31606901e-04 -9.99876228e-01 -3.90947115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters 0.014442405027222166 Centerline is valid? [True, True] Translation: X:251.66, Y:-90.88, Z:-3.91 [[ 6.59322230e-01 -7.51789268e-01 -1.03485833e-02 2.51661904e+02] [-7.51681994e-01 -6.59403163e-01 1.27141336e-02 -9.08756624e+01] [-1.63822378e-02 -6.03867182e-04 -9.99865620e-01 -3.90982784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters 0.013007687641923603 Centerline is valid? [True, True] Translation: X:251.72, Y:-90.97, Z:-3.91 [[ 7.12519793e-01 -7.01566826e-01 -1.09331493e-02 2.51716586e+02] [-7.01472316e-01 -7.12603461e-01 1.15281274e-02 -9.09675421e+01] [-1.58787518e-02 -5.44717417e-04 -9.99873776e-01 -3.91217576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters 0.01216029420025555 Centerline is valid? [True, True] Translation: X:251.77, Y:-91.05, Z:-3.92 [[ 7.60839140e-01 -6.48861984e-01 -1.00959964e-02 2.51774629e+02] [-6.48796934e-01 -7.60905989e-01 9.19855096e-03 -9.10513777e+01] [-1.36506942e-02 -4.48366053e-04 -9.99906724e-01 -3.91609527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters 0.011981898017136975 Centerline is valid? [True, True] Translation: X:251.80, Y:-91.08, Z:-3.92 [[ 8.07192775e-01 -5.90190079e-01 -1.07468410e-02 2.51796671e+02] [-5.90130958e-01 -8.07264209e-01 8.36357927e-03 -9.10752070e+01] [-1.36116416e-02 -4.08977164e-04 -9.99907274e-01 -3.91621380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters 0.012039068719676324 Centerline is valid? [True, True] Translation: X:251.82, Y:-91.09, Z:-3.91 [[ 8.48740899e-01 -5.28655071e-01 -1.27554647e-02 2.51823557e+02] [-5.28589006e-01 -8.48836668e-01 8.36510087e-03 -9.10933509e+01] [-1.52495592e-02 -3.57404819e-04 -9.99883655e-01 -3.91445918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters 0.011782347449219827 Centerline is valid? [True, True] Translation: X:251.85, Y:-91.11, Z:-3.92 [[ 8.87214788e-01 -4.61157101e-01 -1.35664045e-02 2.51849252e+02] [-4.61097164e-01 -8.87318436e-01 7.44299114e-03 -9.11146624e+01] [-1.54701091e-02 -3.48101143e-04 -9.99880270e-01 -3.91695624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters 0.011735654868905904 Centerline is valid? [True, True] Translation: X:251.88, Y:-91.14, Z:-3.92 [[ 9.20565519e-01 -3.90301605e-01 -1.49593458e-02 2.51875678e+02] [-3.90243877e-01 -9.20686990e-01 6.72174636e-03 -9.11357546e+01] [-1.63963835e-02 -3.50014811e-04 -9.99865509e-01 -3.91798512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters 0.011823835059174427 Centerline is valid? [True, True] Translation: X:251.90, Y:-91.16, Z:-3.92 [[ 9.48774186e-01 -3.15557432e-01 -1.58445888e-02 2.51903309e+02] [-3.15506762e-01 -9.48906404e-01 5.66733112e-03 -9.11550808e+01] [-1.68234002e-02 -3.77942564e-04 -9.99858405e-01 -3.91843859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters 0.011876568247191114 Centerline is valid? [True, True] Translation: X:251.93, Y:-91.17, Z:-3.92 [[ 9.71351966e-01 -2.37093994e-01 -1.61800917e-02 2.51932060e+02] [-2.37053647e-01 -9.71486618e-01 4.39531165e-03 -9.11745243e+01] [-1.67608446e-02 -4.33844865e-04 -9.99859433e-01 -3.92001489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters 0.01220540019119483 Centerline is valid? [True, True] Translation: X:251.96, Y:-91.19, Z:-3.92 [[ 9.87346967e-01 -1.57701180e-01 -1.66224149e-02 2.51963094e+02] [-1.57670624e-01 -9.87486763e-01 3.14129022e-03 -9.11907332e+01] [-1.69097998e-02 -4.80676849e-04 -9.99856904e-01 -3.91995213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters 0.012730070385560734 Centerline is valid? [True, True] Translation: X:251.99, Y:-91.21, Z:-3.92 [[ 9.96981844e-01 -7.58616275e-02 -1.64989649e-02 2.51991064e+02] [-7.58421925e-02 -9.97118206e-01 1.80138458e-03 -9.12059736e+01] [-1.65880742e-02 -5.44630049e-04 -9.99862260e-01 -3.92057765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters 0.013453676986944817 Centerline is valid? [True, True] Translation: X:252.02, Y:-91.22, Z:-3.92 [[ 9.99864612e-01 4.48280295e-03 -1.58323172e-02 2.52019562e+02] [ 4.49120677e-03 -9.99989792e-01 4.95286348e-04 -9.12173339e+01] [-1.58299353e-02 -5.66325502e-04 -9.99874538e-01 -3.92017103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters 0.013042482311007774 Centerline is valid? [True, True] Translation: X:252.05, Y:-91.23, Z:-3.92 [[ 9.96458198e-01 8.29792921e-02 -1.36196968e-02 2.52049250e+02] [ 8.29788472e-02 -9.96551129e-01 -5.98734734e-04 -9.12264842e+01] [-1.36224068e-02 -5.33532608e-04 -9.99907068e-01 -3.92239871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters 0.013269315925116494 Centerline is valid? [True, True] Translation: X:252.08, Y:-91.23, Z:-3.92 [[ 9.87070991e-01 1.59826425e-01 -1.20984749e-02 2.52079237e+02] [ 1.59820587e-01 -9.87145007e-01 -1.45405647e-03 -9.12326086e+01] [-1.21753458e-02 -4.98328413e-04 -9.99925754e-01 -3.92249159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters 0.01256989151322898 Centerline is valid? [True, True] Translation: X:252.11, Y:-91.23, Z:-3.92 [[ 9.72149925e-01 2.34110014e-01 -1.08177978e-02 2.52110037e+02] [ 2.34100664e-01 -9.72210007e-01 -2.14045538e-03 -9.12330498e+01] [-1.10182733e-02 -4.51610119e-04 -9.99939195e-01 -3.92324540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters 0.012249058243556975 Centerline is valid? [True, True] Translation: X:252.14, Y:-91.23, Z:-3.92 [[ 9.51602977e-01 3.07159957e-01 -1.02242612e-02 2.52139957e+02] [ 3.07146932e-01 -9.51657809e-01 -2.85950631e-03 -9.12319527e+01] [-1.06083239e-02 -4.19235747e-04 -9.99943642e-01 -3.92255422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters 0.011812084791040182 Centerline is valid? [True, True] Translation: X:252.17, Y:-91.23, Z:-3.92 [[ 9.25837308e-01 3.77737943e-01 -1.18036636e-02 2.52170536e+02] [ 3.77712685e-01 -9.25912463e-01 -4.38623156e-03 -9.12296274e+01] [-1.25860054e-02 -3.97456663e-04 -9.99920714e-01 -3.92031343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters 0.011573478275605783 Centerline is valid? [True, True] Translation: X:252.20, Y:-91.22, Z:-3.92 [[ 8.94666478e-01 4.46589053e-01 -1.14066558e-02 2.52199796e+02] [ 4.46557875e-01 -8.94739117e-01 -5.28930270e-03 -9.12230876e+01] [-1.25681258e-02 -3.61570170e-04 -9.99920953e-01 -3.91977070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters 0.011641099375845733 Centerline is valid? [True, True] Translation: X:252.23, Y:-91.22, Z:-3.92 [[ 8.59776847e-01 5.10516217e-01 -1.25286155e-02 2.52229312e+02] [ 5.10466885e-01 -8.59868077e-01 -7.10283867e-03 -9.12156379e+01] [-1.43990708e-02 -2.88587100e-04 -9.99896286e-01 -3.91923753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters 0.011911888638809235 Centerline is valid? [True, True] Translation: X:252.26, Y:-91.21, Z:-3.92 [[ 8.19292485e-01 5.73237524e-01 -1.25922293e-02 2.52257195e+02] [ 5.73174126e-01 -8.19389216e-01 -8.52838046e-03 -9.12055553e+01] [-1.52067246e-02 -2.30302031e-04 -9.99884345e-01 -3.91828682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters 0.012669708815729324 Centerline is valid? [True, True] Translation: X:252.28, Y:-91.19, Z:-3.92 [[ 7.75240988e-01 6.31562163e-01 -1.14300316e-02 2.52283552e+02] [ 6.31496469e-01 -7.75325229e-01 -9.11039607e-03 -9.11917318e+01] [-1.46157733e-02 -1.55272163e-04 -9.99893172e-01 -3.91753780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters 0.013065148451128506 Centerline is valid? [True, True] Translation: X:252.31, Y:-91.18, Z:-3.92 [[ 7.25306953e-01 6.88354425e-01 -9.90001487e-03 2.52308209e+02] [ 6.88292727e-01 -7.25374503e-01 -9.21698201e-03 -9.11764913e+01] [-1.35257687e-02 -1.28967100e-04 -9.99908514e-01 -3.91887955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters 0.013049115634751519 Centerline is valid? [True, True] Translation: X:252.33, Y:-91.16, Z:-3.92 [[ 6.70254163e-01 7.42080698e-01 -8.69450438e-03 2.52334510e+02] [ 7.42020552e-01 -6.70310543e-01 -9.44863158e-03 -9.11618144e+01] [-1.28396651e-02 -1.18516279e-04 -9.99917561e-01 -3.92068315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters 0.012691681038963573 Centerline is valid? [True, True] Translation: X:252.36, Y:-91.15, Z:-3.92 [[ 6.08198122e-01 7.93752859e-01 -7.17243498e-03 2.52362296e+02] [ 7.93700813e-01 -6.08240390e-01 -9.09102384e-03 -9.11471236e+01] [-1.15785908e-02 -1.63623860e-04 -9.99932952e-01 -3.92145156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters 0.011983810804457687 Centerline is valid? [True, True] Translation: X:252.39, Y:-91.13, Z:-3.92 [[ 5.39189297e-01 8.42165206e-01 -5.71563343e-03 2.52388446e+02] [ 8.42122530e-01 -5.39219536e-01 -8.48156441e-03 -9.11316590e+01] [-1.02248596e-02 -2.40094932e-04 -9.99947696e-01 -3.92188592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters 0.011633565308818209 Centerline is valid? [True, True] Translation: X:252.41, Y:-91.11, Z:-3.92 [[ 4.67981665e-01 8.83725010e-01 -4.82372628e-03 2.52414976e+02] [ 8.83684124e-01 -4.68006440e-01 -8.50538212e-03 -9.11137470e+01] [-9.77395386e-03 -2.82287447e-04 -9.99952194e-01 -3.92282802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters 0.011623053707075781 Centerline is valid? [True, True] Translation: X:252.44, Y:-91.09, Z:-3.92 [[ 3.90954850e-01 9.20401235e-01 -3.98402594e-03 2.52442705e+02] [ 9.20362142e-01 -3.90974995e-01 -8.49007395e-03 -9.10943310e+01] [-9.37192907e-03 -3.47511051e-04 -9.99956022e-01 -3.92301844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters 0.012212138467179107 Centerline is valid? [True, True] Translation: X:252.47, Y:-91.07, Z:-3.92 [[ 3.13183057e-01 9.49686486e-01 -3.45714574e-03 2.52466035e+02] [ 9.49641809e-01 -3.13201888e-01 -9.22022644e-03 -9.10727727e+01] [-9.83910901e-03 -3.95431430e-04 -9.99951517e-01 -3.92245315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters 0.012430188903021281 Centerline is valid? [True, True] Translation: X:252.48, Y:-91.05, Z:-3.92 [[ 2.36159006e-01 9.71710129e-01 -2.88935627e-03 2.52484110e+02] [ 9.71657590e-01 -2.36176309e-01 -1.01133423e-02 -9.10467807e+01] [-1.05096346e-02 -4.19108093e-04 -9.99944684e-01 -3.92255044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters 0.012644638930032344 Centerline is valid? [True, True] Translation: X:252.50, Y:-91.02, Z:-3.92 [[ 1.59518734e-01 9.87192224e-01 -2.29929273e-03 2.52498715e+02] [ 9.87124951e-01 -1.59534725e-01 -1.15327051e-02 -9.10204028e+01] [-1.17518138e-02 -4.30006711e-04 -9.99930853e-01 -3.92127501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters 0.012487124723653365 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.99, Z:-3.92 [[ 8.41472475e-02 9.96452283e-01 -1.44488864e-03 2.52505898e+02] [ 9.96376593e-01 -8.41586741e-02 -1.22882951e-02 -9.09915322e+01] [-1.23662997e-02 -4.05627005e-04 -9.99923452e-01 -3.92194292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters 0.012062349162857066 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.96, Z:-3.92 [[ 1.20640553e-02 9.99927110e-01 -4.83192567e-04 2.52511919e+02] [ 9.99845602e-01 -1.20692433e-02 -1.27713123e-02 -9.09624790e+01] [-1.27762132e-02 -3.29044145e-04 -9.99918327e-01 -3.92272882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters 0.0122742476424815 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.93, Z:-3.92 [[-6.15034367e-02 9.98106719e-01 5.52549666e-04 2.52513454e+02] [ 9.98018270e-01 6.15053438e-02 -1.32900459e-02 -9.09345468e+01] [-1.32988688e-02 -2.65928832e-04 -9.99911531e-01 -3.92297007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters 0.013289780107317187 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.91, Z:-3.92 [[-1.33457780e-01 9.91053164e-01 1.62695422e-03 2.52508184e+02] [ 9.90961943e-01 1.33467572e-01 -1.34475118e-02 -9.09063587e+01] [-1.35443448e-02 -1.82425361e-04 -9.99908255e-01 -3.92337198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters 0.01337410433897826 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.88, Z:-3.92 [[-2.08103189e-01 9.78103559e-01 2.54759109e-03 2.52508273e+02] [ 9.78021036e-01 2.08118727e-01 -1.27062465e-02 -9.08771299e+01] [-1.29582263e-02 -1.52612744e-04 -9.99916027e-01 -3.92457594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters 0.013618046221057624 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.85, Z:-3.93 [[-2.81421069e-01 9.59576698e-01 3.83965378e-03 2.52510158e+02] [ 9.59482406e-01 2.81447243e-01 -1.34521968e-02 -9.08472214e+01] [-1.39890745e-02 -1.01651351e-04 -9.99902143e-01 -3.92555904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters 0.014355591860463899 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.82, Z:-3.92 [[-3.54700862e-01 9.34966590e-01 4.97735844e-03 2.52507955e+02] [ 9.34871287e-01 3.54735773e-01 -1.33494300e-02 -9.08189158e+01] [-1.42469181e-02 -8.18648211e-05 -9.99898504e-01 -3.92471198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters 0.014189671808434029 Centerline is valid? [True, True] Translation: X:252.50, Y:-90.79, Z:-3.93 [[-4.25510846e-01 9.04935256e-01 5.71854538e-03 2.52504768e+02] [ 9.04851307e-01 4.25549265e-01 -1.23261678e-02 -9.07897284e+01] [-1.35879066e-02 -7.04848459e-05 -9.99907678e-01 -3.92641154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters 0.014409186527019155 Centerline is valid? [True, True] Translation: X:252.50, Y:-90.76, Z:-3.93 [[-4.95232389e-01 8.68736902e-01 6.40903378e-03 2.52499697e+02] [ 8.68662064e-01 4.95273852e-01 -1.14030488e-02 -9.07602936e+01] [-1.30804761e-02 -7.98745824e-05 -9.99914444e-01 -3.92565343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters 0.014276583307163977 Centerline is valid? [True, True] Translation: X:252.49, Y:-90.73, Z:-3.93 [[-5.63094496e-01 8.26359432e-01 7.39448092e-03 2.52490699e+02] [ 8.26285913e-01 5.63143037e-01 -1.10231552e-02 -9.07321913e+01] [-1.32732387e-02 -9.71225809e-05 -9.99911902e-01 -3.92556946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters 0.013927878788822724 Centerline is valid? [True, True] Translation: X:252.48, Y:-90.70, Z:-3.92 [[-6.27549208e-01 7.78532719e-01 8.29434864e-03 2.52479670e+02] [ 7.78462188e-01 6.27604008e-01 -1.04800179e-02 -9.07047383e+01] [-1.33646033e-02 -1.19890173e-04 -9.99910683e-01 -3.92492652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters 0.013023017074281487 Centerline is valid? [True, True] Translation: X:252.47, Y:-90.67, Z:-3.93 [[-6.88632579e-01 7.25052035e-01 9.20420693e-03 2.52470862e+02] [ 7.24984248e-01 6.88694070e-01 -9.91552489e-03 -9.06738279e+01] [-1.35281542e-02 -1.55248447e-04 -9.99908478e-01 -3.92521325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters 0.012515290249390817 Centerline is valid? [True, True] Translation: X:252.46, Y:-90.64, Z:-3.92 [[-7.46729155e-01 6.65051169e-01 1.01248115e-02 2.52458886e+02] [ 6.64985963e-01 7.46797759e-01 -9.31536829e-03 -9.06431250e+01] [-1.37563831e-02 -2.23199538e-04 -9.99905352e-01 -3.92444125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters 0.012172767743935116 Centerline is valid? [True, True] Translation: X:252.48, Y:-90.62, Z:-3.92 [[-7.94673905e-01 6.06953278e-01 1.00549504e-02 2.52478868e+02] [ 6.06900569e-01 7.94737473e-01 -8.00299952e-03 -9.06204795e+01] [-1.28484927e-02 -2.57419743e-04 -9.99917422e-01 -3.92456355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters 0.01214544908488987 Centerline is valid? [True, True] Translation: X:252.88, Y:-90.10, Z:-4.92 [[-7.50519393e-01 -6.60835582e-01 4.11993780e-03 2.52884130e+02] [ 6.60824226e-01 -7.50530677e-01 -3.87870651e-03 -9.01030851e+01] [ 5.65532698e-03 -1.88489741e-04 9.99983991e-01 -4.91958115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters 0.012190525688108116 Centerline is valid? [True, True] Translation: X:252.86, Y:-90.13, Z:-4.92 [[-7.02559973e-01 -7.11617706e-01 3.11855955e-03 2.52860431e+02] [ 7.11609504e-01 -7.02566870e-01 -3.42157200e-03 -9.01258116e+01] [ 4.62584784e-03 -1.84662919e-04 9.99989284e-01 -4.92028081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters 0.012232888592583906 Centerline is valid? [True, True] Translation: X:252.82, Y:-90.09, Z:-4.92 [[-7.03094136e-01 -7.11090207e-01 3.05842425e-03 2.52820508e+02] [ 7.11083610e-01 -7.03100787e-01 -3.06298299e-03 -9.00858213e+01] [ 4.32843770e-03 2.12299849e-05 9.99990632e-01 -4.92099887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters 0.011998175044750231 Centerline is valid? [True, True] Translation: X:252.78, Y:-90.04, Z:-4.92 [[-7.06157540e-01 -7.08049191e-01 2.80574602e-03 2.52782584e+02] [ 7.08043621e-01 -7.06163114e-01 -2.80842843e-03 -9.00418795e+01] [ 3.96981982e-03 3.39766768e-06 9.99992120e-01 -4.92034948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters 0.012118034999560419 Centerline is valid? [True, True] Translation: X:252.74, Y:-90.00, Z:-4.92 [[-7.08534606e-01 -7.05669160e-01 3.12219768e-03 2.52743054e+02] [ 7.05662247e-01 -7.08541485e-01 -3.12358896e-03 -8.99989035e+01] [ 4.41642697e-03 -9.95384365e-06 9.99990247e-01 -4.92102400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters 0.01249052139531799 Centerline is valid? [True, True] Translation: X:252.70, Y:-89.95, Z:-4.92 [[-7.12026274e-01 -7.02143687e-01 3.58171852e-03 2.52704963e+02] [ 7.02134553e-01 -7.12035281e-01 -3.58148110e-03 -8.99545301e+01] [ 5.06502430e-03 -3.52603047e-05 9.99987172e-01 -4.92162438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters 0.012923603029594671 Centerline is valid? [True, True] Translation: X:252.67, Y:-89.91, Z:-4.92 [[-7.14411061e-01 -6.99717152e-01 3.56966581e-03 2.52665690e+02] [ 6.99708060e-01 -7.14419977e-01 -3.56741106e-03 -8.99120104e+01] [ 5.04641928e-03 -5.08739816e-05 9.99987265e-01 -4.92160821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters 0.01376899997568378 Centerline is valid? [True, True] Translation: X:252.18, Y:-90.39, Z:-3.92 [[-7.45642561e-01 6.66285615e-01 8.98052416e-03 2.52182022e+02] [ 6.66235987e-01 7.45696636e-01 -8.13249411e-03 -9.03924581e+01] [-1.21153105e-02 -8.07853682e-05 -9.99926604e-01 -3.92427441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters 0.0145259221808489 Centerline is valid? [True, True] Translation: X:252.64, Y:-89.89, Z:-4.92 [[-7.21698947e-01 -6.92199072e-01 3.32786930e-03 2.52642966e+02] [ 6.92190219e-01 -7.21706583e-01 -3.50837662e-03 -8.98850817e+01] [ 4.83024023e-03 -2.28473132e-04 9.99988308e-01 -4.92128955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters 0.01520105121326151 Centerline is valid? [True, True] Translation: X:252.15, Y:-90.37, Z:-3.93 [[-7.43839831e-01 6.68297024e-01 9.02185684e-03 2.52152056e+02] [ 6.68247802e-01 7.43894541e-01 -8.11092391e-03 -9.03748301e+01] [-1.21318164e-02 -4.39226111e-06 -9.99926407e-01 -3.92624194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters 0.015605593545675287 Centerline is valid? [True, True] Translation: X:252.17, Y:-90.36, Z:-3.93 [[-7.88398669e-01 6.15113055e-01 7.96671944e-03 2.52170962e+02] [ 6.15081254e-01 7.88438919e-01 -6.25475692e-03 -9.03558095e+01] [-1.01286543e-02 -3.10622446e-05 -9.99948703e-01 -3.92808017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters 0.015856574958659067 Centerline is valid? [True, True] Translation: X:252.19, Y:-90.33, Z:-3.93 [[-8.30899728e-01 5.56372277e-01 7.45186615e-03 2.52187366e+02] [ 5.56349140e-01 8.30933141e-01 -5.07445139e-03 -9.03325123e+01] [-9.01528662e-03 -7.05209559e-05 -9.99959359e-01 -3.92875581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters 0.014320697446598443 Centerline is valid? [True, True] Translation: X:252.20, Y:-90.30, Z:-3.93 [[-8.69754564e-01 4.93434098e-01 7.05607701e-03 2.52201784e+02] [ 4.93416805e-01 8.69783179e-01 -4.13267277e-03 -9.03030295e+01] [-8.17645875e-03 -1.12824035e-04 -9.99966566e-01 -3.92961373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters 0.013001739564328823 Centerline is valid? [True, True] Translation: X:252.21, Y:-90.27, Z:-3.93 [[-9.05236704e-01 4.24852679e-01 6.83458171e-03 2.52212132e+02] [ 4.24839141e-01 9.05262488e-01 -3.39584565e-03 -9.02694141e+01] [-7.62982456e-03 -1.70446299e-04 -9.99970878e-01 -3.92995860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters 0.012201968514612714 Centerline is valid? [True, True] Translation: X:252.49, Y:-89.67, Z:-4.92 [[-8.82098745e-01 -4.71063812e-01 8.30490954e-04 2.52489185e+02] [ 4.71063377e-01 -8.82099113e-01 -6.70827349e-04 -8.96700327e+01] [ 1.04857782e-03 -2.00522089e-04 9.99999430e-01 -4.91737987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters 0.01224156626667815 Centerline is valid? [True, True] Translation: X:252.46, Y:-89.70, Z:-4.92 [[-8.42426402e-01 -5.38809177e-01 1.55847597e-03 2.52461986e+02] [ 5.38807755e-01 -8.42427815e-01 -1.25706029e-03 -8.97011627e+01] [ 1.99021912e-03 -2.19261838e-04 9.99997995e-01 -4.91869911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters 0.013353228481946169 Centerline is valid? [True, True] Translation: X:252.12, Y:-90.23, Z:-3.93 [[-8.88318509e-01 4.59158944e-01 7.95554525e-03 2.52120594e+02] [ 4.59136592e-01 8.88354048e-01 -4.54696252e-03 -9.02259017e+01] [-9.15511934e-03 -3.86469035e-04 -9.99958016e-01 -3.92909058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters 0.013813850872030922 Centerline is valid? [True, True] Translation: X:252.13, Y:-90.20, Z:-3.93 [[-9.19679079e-01 3.92593381e-01 7.79930930e-03 2.52127821e+02] [ 3.92575524e-01 9.19712061e-01 -3.76594229e-03 -9.01964519e+01] [-8.65160285e-03 -4.01640399e-04 -9.99962494e-01 -3.92973096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters 0.014125724291210544 Centerline is valid? [True, True] Translation: X:252.14, Y:-90.17, Z:-3.93 [[-9.45515432e-01 3.25466010e-01 8.51137015e-03 2.52135094e+02] [ 3.25448805e-01 9.45553648e-01 -3.37262793e-03 -9.01692453e+01] [-9.14563285e-03 -4.18856510e-04 -9.99958090e-01 -3.92977971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters 0.013774547280791014 Centerline is valid? [True, True] Translation: X:252.15, Y:-90.14, Z:-3.93 [[-9.66039827e-01 2.58211182e-01 9.69738169e-03 2.52145273e+02] [ 2.58193675e-01 9.66088402e-01 -3.03741552e-03 -9.01443714e+01] [-1.01528226e-02 -4.30461741e-04 -9.99948366e-01 -3.92830553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters 0.013442108458050828 Centerline is valid? [True, True] Translation: X:252.31, Y:-89.56, Z:-4.92 [[-9.34913021e-01 -3.54864873e-01 2.92663697e-03 2.52314553e+02] [ 3.54862727e-01 -9.34917594e-01 -1.24013711e-03 -8.95619895e+01] [ 3.17624549e-03 -1.20865960e-04 9.99994948e-01 -4.92075184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters 0.013288080902294839 Centerline is valid? [True, True] Translation: X:252.10, Y:-90.13, Z:-3.93 [[-9.66558872e-01 2.56262589e-01 9.66600516e-03 2.52098421e+02] [ 2.56245492e-01 9.66607115e-01 -2.98864073e-03 -9.01345812e+01] [-1.01091062e-02 -4.11826964e-04 -9.99948817e-01 -3.92849466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters 0.012928099127931181 Centerline is valid? [True, True] Translation: X:252.27, Y:-89.55, Z:-4.92 [[-9.37088496e-01 -3.49084597e-01 2.25724675e-03 2.52272787e+02] [ 3.49083131e-01 -9.37091198e-01 -1.02655995e-03 -8.95471808e+01] [ 2.47360233e-03 -1.74010756e-04 9.99996926e-01 -4.92006621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters 0.012625748995686387 Centerline is valid? [True, True] Translation: X:252.05, Y:-90.13, Z:-3.93 [[-9.66617687e-01 2.56051686e-01 9.36916702e-03 2.52052579e+02] [ 2.56035912e-01 9.66663021e-01 -2.86634068e-03 -9.01280936e+01] [-9.79075865e-03 -3.71812379e-04 -9.99952000e-01 -3.92901891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters 0.012579396580025768 Centerline is valid? [True, True] Translation: X:252.23, Y:-89.53, Z:-4.92 [[-9.39381304e-01 -3.42865303e-01 2.48002822e-03 2.52229513e+02] [ 3.42863676e-01 -9.39384565e-01 -1.06699687e-03 -8.95313558e+01] [ 2.69553644e-03 -1.52005317e-04 9.99996355e-01 -4.92066374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters 0.012038392338558624 Centerline is valid? [True, True] Translation: X:252.01, Y:-90.13, Z:-3.93 [[-9.66313549e-01 2.57124911e-01 1.11761486e-02 2.52010117e+02] [ 2.57103658e-01 9.66378118e-01 -3.32303966e-03 -9.01255518e+01] [-1.16548217e-02 -3.37669553e-04 -9.99932023e-01 -3.92856659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters 0.011971826409617452 Centerline is valid? [True, True] Translation: X:252.19, Y:-89.51, Z:-4.92 [[-9.42740205e-01 -3.33489881e-01 5.04039942e-03 2.52186894e+02] [ 3.33484623e-01 -9.42753675e-01 -1.87453985e-03 -8.95079850e+01] [ 5.37699515e-03 -8.63083794e-05 9.99985540e-01 -4.92151824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters 0.011850745342214078 Centerline is valid? [True, True] Translation: X:251.96, Y:-90.12, Z:-3.93 [[-9.66320551e-01 2.57076321e-01 1.16772588e-02 2.51964749e+02] [ 2.57053846e-01 9.66391059e-01 -3.41204513e-03 -9.01233894e+01] [-1.21619545e-02 -2.95445028e-04 -9.99925997e-01 -3.92891635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters 0.011715512399632488 Centerline is valid? [True, True] Translation: X:252.15, Y:-89.49, Z:-4.92 [[-9.44844230e-01 -3.27494171e-01 4.11686271e-03 2.52148321e+02] [ 3.27490097e-01 -9.44853176e-01 -1.64667976e-03 -8.94896953e+01] [ 4.42910883e-03 -2.07624100e-04 9.99990170e-01 -4.92045072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters 0.011731220881454637 Centerline is valid? [True, True] Translation: X:251.92, Y:-90.12, Z:-3.93 [[-9.66601284e-01 2.56062359e-01 1.06783463e-02 2.51921371e+02] [ 2.56043751e-01 9.66660230e-01 -3.09782130e-03 -9.01218296e+01] [-1.11155681e-02 -2.60234194e-04 -9.99938186e-01 -3.92978108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters 0.011717090361776424 Centerline is valid? [True, True] Translation: X:252.10, Y:-89.47, Z:-4.92 [[-9.46795878e-01 -3.21814043e-01 3.64510691e-03 2.52102232e+02] [ 3.21810876e-01 -9.46802876e-01 -1.44046329e-03 -8.94695538e+01] [ 3.91475902e-03 -1.90789654e-04 9.99992319e-01 -4.92038573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters 0.011734949945675343 Centerline is valid? [True, True] Translation: X:251.87, Y:-90.12, Z:-3.93 [[-9.67883343e-01 2.51175967e-01 1.06051217e-02 2.51873903e+02] [ 2.51157787e-01 9.67941403e-01 -3.03428451e-03 -9.01177207e+01] [-1.10272758e-02 -2.73274527e-04 -9.99939160e-01 -3.93019010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters 0.011904010574506784 Centerline is valid? [True, True] Translation: X:252.05, Y:-89.45, Z:-4.92 [[-9.46417149e-01 -3.22929938e-01 3.29173472e-03 2.52054285e+02] [ 3.22927127e-01 -9.46422845e-01 -1.36707711e-03 -8.94542371e+01] [ 3.55684306e-03 -2.30834784e-04 9.99993648e-01 -4.92030772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters 0.012419708007354511 Centerline is valid? [True, True] Translation: X:251.82, Y:-90.11, Z:-3.93 [[-9.70308504e-01 2.41650003e-01 1.03287824e-02 2.51824767e+02] [ 2.41632605e-01 9.70363418e-01 -2.91912860e-03 -9.01062020e+01] [-1.07280800e-02 -3.36684713e-04 -9.99942396e-01 -3.93000463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters 0.012989909935415853 Centerline is valid? [True, True] Translation: X:251.83, Y:-90.08, Z:-3.93 [[-9.85972639e-01 1.66571640e-01 1.05756576e-02 2.51828203e+02] [ 1.66557711e-01 9.86029274e-01 -2.19065325e-03 -9.00796008e+01] [-1.07928087e-02 -3.98466846e-04 -9.99941677e-01 -3.93028572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters 0.0135774671246367 Centerline is valid? [True, True] Translation: X:251.96, Y:-89.40, Z:-4.92 [[-9.64756144e-01 -2.63129122e-01 2.94069608e-03 2.51956888e+02] [ 2.63127204e-01 -9.64760601e-01 -1.02782653e-03 -8.94029638e+01] [ 3.10751881e-03 -2.17824820e-04 9.99995148e-01 -4.92072699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters 0.014171688273628935 Centerline is valid? [True, True] Translation: X:251.77, Y:-90.07, Z:-3.93 [[-9.87371241e-01 1.58139636e-01 9.48088544e-03 2.51766437e+02] [ 1.58128171e-01 9.87416666e-01 -1.95167615e-03 -9.00721829e+01] [-9.67022165e-03 -4.27833824e-04 -9.99953151e-01 -3.93144957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters 0.014283157060989012 Centerline is valid? [True, True] Translation: X:251.90, Y:-89.39, Z:-4.92 [[-9.65446510e-01 -2.60586739e-01 2.75465522e-03 2.51897466e+02] [ 2.60585309e-01 -9.65450432e-01 -8.72307703e-04 -8.93866926e+01] [ 2.88679490e-03 -1.24343744e-04 9.99995825e-01 -4.92048116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters 0.013484091236765205 Centerline is valid? [True, True] Translation: X:251.73, Y:-90.07, Z:-3.93 [[-9.87625349e-01 1.56485876e-01 1.04086773e-02 2.51730423e+02] [ 1.56472670e-01 9.87680106e-01 -2.07627123e-03 -9.00707669e+01] [-1.06053506e-02 -4.21904564e-04 -9.99943673e-01 -3.92986554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters 0.013017128313565933 Centerline is valid? [True, True] Translation: X:251.86, Y:-89.38, Z:-4.92 [[-9.67588408e-01 -2.52482985e-01 5.00153809e-03 2.51856163e+02] [ 2.52479631e-01 -9.67601334e-01 -1.30134776e-03 -8.93792032e+01] [ 5.16806310e-03 3.61748390e-06 9.99986645e-01 -4.92355177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters 0.012885631829450184 Centerline is valid? [True, True] Translation: X:251.68, Y:-90.06, Z:-3.93 [[-9.87671045e-01 1.56069091e-01 1.21797291e-02 2.51683917e+02] [ 1.56052113e-01 9.87746056e-01 -2.33796147e-03 -9.00639158e+01] [-1.23953629e-02 -4.08464393e-04 -9.99923091e-01 -3.92892494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters 0.01319040225593303 Centerline is valid? [True, True] Translation: X:251.68, Y:-90.04, Z:-3.93 [[-9.96457726e-01 8.32723244e-02 1.17353939e-02 2.51683165e+02] [ 8.32614980e-02 9.96526737e-01 -1.40896353e-03 -9.00363919e+01] [-1.18119614e-02 -4.26866123e-04 -9.99930145e-01 -3.93049471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters 0.014610649843607873 Centerline is valid? [True, True] Translation: X:251.68, Y:-90.01, Z:-3.93 [[-9.99886288e-01 9.97454337e-03 1.13101229e-02 2.51682975e+02] [ 9.96886684e-03 9.99950154e-01 -5.58164679e-04 -9.00054799e+01] [-1.13151266e-02 -4.45352100e-04 -9.99935883e-01 -3.92920692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters 0.013899083853457745 Centerline is valid? [True, True] Translation: X:251.71, Y:-89.31, Z:-4.92 [[-9.93532520e-01 -1.13419670e-01 5.39546132e-03 2.51705319e+02] [ 1.13417772e-01 -9.93547169e-01 -6.57391089e-04 -8.93091604e+01] [ 5.43520640e-03 -4.11982237e-05 9.99985228e-01 -4.92332284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters 0.013752089754774745 Centerline is valid? [True, True] Translation: X:251.62, Y:-90.01, Z:-3.93 [[-9.99902143e-01 7.24797816e-03 1.19654539e-02 2.51623151e+02] [ 7.24220371e-03 9.99973637e-01 -5.25853568e-04 -9.00069636e+01] [-1.19689498e-02 -4.39145855e-04 -9.99928273e-01 -3.93036829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters 0.012937926631049718 Centerline is valid? [True, True] Translation: X:251.65, Y:-89.31, Z:-4.92 [[-9.94408805e-01 -1.05512067e-01 4.28158229e-03 2.51648897e+02] [ 1.05510360e-01 -9.94418008e-01 -6.23318825e-04 -8.93067658e+01] [ 4.32345019e-03 -1.68082439e-04 9.99990640e-01 -4.92111874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters 0.013132879930666867 Centerline is valid? [True, True] Translation: X:251.56, Y:-90.00, Z:-3.93 [[-9.99930442e-01 4.63067360e-03 1.08475236e-02 2.51562451e+02] [ 4.62603970e-03 9.99989198e-01 -4.52237578e-04 -9.00036808e+01] [-1.08495006e-02 -4.02025047e-04 -9.99941062e-01 -3.93172923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters 0.014261661004439909 Centerline is valid? [True, True] Translation: X:251.56, Y:-89.97, Z:-3.93 [[-9.97601368e-01 -6.83178518e-02 1.11436693e-02 2.51562094e+02] [-6.83183436e-02 9.97663516e-01 3.36980472e-04 -8.99738788e+01] [-1.11406541e-02 -4.25144850e-04 -9.99937851e-01 -3.93089070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters 0.013812650045505075 Centerline is valid? [True, True] Translation: X:251.53, Y:-89.28, Z:-4.92 [[-9.99401801e-01 -3.41627671e-02 5.38008684e-03 2.51531023e+02] [ 3.41619623e-02 -9.99416281e-01 -2.41441522e-04 -8.92828100e+01] [ 5.38519469e-03 -5.75027684e-05 9.99985498e-01 -4.92206465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters 0.014295612186533063 Centerline is valid? [True, True] Translation: X:251.49, Y:-89.98, Z:-3.93 [[-9.97066946e-01 -7.55011298e-02 1.25333240e-02 2.51493758e+02] [-7.55012454e-02 9.97145599e-01 4.64614876e-04 -8.99772251e+01] [-1.25326279e-02 -4.83029438e-04 -9.99921347e-01 -3.93059853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters 0.01486676907592691 Centerline is valid? [True, True] Translation: X:251.46, Y:-89.29, Z:-4.92 [[-9.99462332e-01 -3.21838143e-02 6.26487559e-03 2.51460754e+02] [ 3.21828104e-02 -9.99481965e-01 -2.61004410e-04 -8.92920300e+01] [ 6.27003029e-03 -5.92427727e-05 9.99980341e-01 -4.92436898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters 0.014789655990520062 Centerline is valid? [True, True] Translation: X:251.42, Y:-89.98, Z:-3.93 [[-9.96568964e-01 -8.17738441e-02 1.27803677e-02 2.51423151e+02] [-8.17736414e-02 9.96650782e-01 5.39309838e-04 -8.99796322e+01] [-1.27816648e-02 -5.07637754e-04 -9.99918182e-01 -3.93062192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters 0.014476372910760288 Centerline is valid? [True, True] Translation: X:251.39, Y:-89.29, Z:-4.92 [[-9.99662587e-01 -2.53938718e-02 5.46469067e-03 2.51387826e+02] [ 2.53928867e-02 -9.99677518e-01 -2.49600358e-04 -8.92929991e+01] [ 5.46926673e-03 -1.10751869e-04 9.99985037e-01 -4.92429747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters 0.01347797677825294 Centerline is valid? [True, True] Translation: X:251.36, Y:-89.99, Z:-3.93 [[-9.96620075e-01 -8.14983814e-02 1.03170132e-02 2.51355018e+02] [-8.14981775e-02 9.96673393e-01 4.40884237e-04 -8.99897205e+01] [-1.03186239e-02 -4.01423695e-04 -9.99946681e-01 -3.93247137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters 0.013152799319236259 Centerline is valid? [True, True] Translation: X:251.35, Y:-89.96, Z:-3.93 [[-9.88580226e-01 -1.50412555e-01 9.23038323e-03 2.51351197e+02] [-1.50409422e-01 9.88623250e-01 1.03667403e-03 -8.99637222e+01] [-9.28130026e-03 -3.63501159e-04 -9.99956862e-01 -3.93285208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters 0.013209388826020293 Centerline is valid? [True, True] Translation: X:251.26, Y:-89.27, Z:-4.92 [[-9.98325552e-01 5.78004048e-02 2.28135658e-03 2.51263314e+02] [-5.78006792e-02 -9.98328142e-01 -5.45069635e-05 -8.92717144e+01] [ 2.27439195e-03 -1.86279654e-04 9.99997396e-01 -4.92284988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters 0.0124944163755567 Centerline is valid? [True, True] Translation: X:251.26, Y:-89.98, Z:-3.93 [[-9.88052190e-01 -1.53859252e-01 8.95550826e-03 2.51260592e+02] [-1.53856074e-01 9.88092715e-01 1.04686037e-03 -8.99783043e+01] [-9.00994162e-03 -3.43506662e-04 -9.99959351e-01 -3.93365597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters 0.012547959875422515 Centerline is valid? [True, True] Translation: X:251.25, Y:-89.95, Z:-3.93 [[-9.74732498e-01 -2.23149654e-01 1.00393625e-02 2.51245103e+02] [-2.23141424e-01 9.74784137e-01 1.94689808e-03 -8.99534701e+01] [-1.02206609e-02 -3.42492814e-04 -9.99947709e-01 -3.93241184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters 0.012666062270419902 Centerline is valid? [True, True] Translation: X:251.23, Y:-89.93, Z:-3.93 [[-9.56048517e-01 -2.92978372e-01 1.16149118e-02 2.51227042e+02] [-2.92961429e-01 9.56118997e-01 3.17249277e-03 -8.99287299e+01] [-1.20347096e-02 -3.69664156e-04 -9.99927512e-01 -3.93019796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters 0.012341015278273602 Centerline is valid? [True, True] Translation: X:251.20, Y:-89.91, Z:-3.93 [[-9.32821097e-01 -3.60160754e-01 1.13592008e-02 2.51197038e+02] [-3.60138693e-01 9.32890188e-01 4.00232017e-03 -8.99118024e+01] [-1.20383656e-02 -3.57439040e-04 -9.99927472e-01 -3.93066735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters 0.01222000617365254 Centerline is valid? [True, True] Translation: X:251.15, Y:-89.91, Z:-3.93 [[-9.04851896e-01 -4.25581713e-01 1.11018692e-02 2.51145047e+02] [-4.25554247e-01 9.04919936e-01 4.84692160e-03 -8.99053932e+01] [-1.21090640e-02 -3.38701379e-04 -9.99926625e-01 -3.93051657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters 0.011913391550480509 Centerline is valid? [True, True] Translation: X:251.09, Y:-89.91, Z:-3.93 [[-8.72424590e-01 -4.88630737e-01 1.07395449e-02 2.51085308e+02] [-4.88598000e-01 8.72490636e-01 5.66440468e-03 -8.99093336e+01] [-1.21379546e-02 -3.05554210e-04 -9.99926286e-01 -3.93098502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters 0.011831320252840427 Centerline is valid? [True, True] Translation: X:251.01, Y:-89.92, Z:-3.93 [[-8.34002869e-01 -5.51673361e-01 9.78354686e-03 2.51013879e+02] [-5.51639564e-01 8.34060198e-01 6.11376344e-03 -8.99202406e+01] [-1.15328675e-02 -2.98095270e-04 -9.99933450e-01 -3.93182472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters 0.011794205939009572 Centerline is valid? [True, True] Translation: X:250.93, Y:-89.94, Z:-3.93 [[-7.89401380e-01 -6.13798323e-01 9.85295720e-03 2.50934467e+02] [-6.13755592e-01 7.89462801e-01 7.24979950e-03 -8.99412980e+01] [-1.22284580e-02 -3.24305849e-04 -9.99925177e-01 -3.93218137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters 0.012053310962419584 Centerline is valid? [True, True] Translation: X:250.85, Y:-89.97, Z:-3.93 [[-7.40317542e-01 -6.72190941e-01 9.44859128e-03 2.50851964e+02] [-6.72142021e-01 7.40377757e-01 8.11669399e-03 -8.99721922e+01] [-1.24514950e-02 -3.41864294e-04 -9.99922419e-01 -3.93149509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters 0.011959738984408077 Centerline is valid? [True, True] Translation: X:250.77, Y:-90.02, Z:-3.93 [[-6.87500458e-01 -7.26128241e-01 8.99432199e-03 2.50769021e+02] [-7.26072593e-01 6.87559204e-01 8.99615793e-03 -9.00154410e+01] [-1.27164932e-02 -3.45667988e-04 -9.99919082e-01 -3.93159443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters 0.01199830242395904 Centerline is valid? [True, True] Translation: X:250.69, Y:-90.07, Z:-3.93 [[-6.30531653e-01 -7.76113620e-01 8.80245672e-03 2.50685585e+02] [-7.76045717e-01 6.30592993e-01 1.02723649e-02 -9.00674495e+01] [-1.35232898e-02 -3.54057619e-04 -9.99908493e-01 -3.93128887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters 0.01209745638042289 Centerline is valid? [True, True] Translation: X:250.60, Y:-90.13, Z:-3.93 [[-5.68697309e-01 -8.22506533e-01 8.14707508e-03 2.50603064e+02] [-8.22431432e-01 5.68755538e-01 1.11210492e-02 -9.01288669e+01] [-1.37808297e-02 -3.75899886e-04 -9.99904969e-01 -3.93164093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters 0.012552231014771983 Centerline is valid? [True, True] Translation: X:250.52, Y:-90.20, Z:-3.93 [[-5.02367315e-01 -8.64626591e-01 6.92377729e-03 2.50521509e+02] [-8.64555270e-01 5.02414864e-01 1.11125685e-02 -9.01974972e+01] [-1.30868308e-02 -4.03396957e-04 -9.99914282e-01 -3.93198016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters 0.012691916537923101 Centerline is valid? [True, True] Translation: X:250.45, Y:-90.28, Z:-3.93 [[-4.33880674e-01 -9.00952594e-01 5.65543637e-03 2.50445116e+02] [-9.00887931e-01 4.33917339e-01 1.08017725e-02 -9.02773647e+01] [-1.21858769e-02 -4.08234018e-04 -9.99925666e-01 -3.93257756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters 0.012786302882364436 Centerline is valid? [True, True] Translation: X:250.37, Y:-90.36, Z:-3.93 [[-3.63056773e-01 -9.31754084e-01 4.90975906e-03 2.50374561e+02] [-9.31683999e-01 3.63089724e-01 1.14358639e-02 -9.03629674e+01] [-1.24380960e-02 -4.22476099e-04 -9.99922555e-01 -3.93118740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters 0.012831381114546583 Centerline is valid? [True, True] Translation: X:250.31, Y:-90.46, Z:-3.93 [[-2.91062692e-01 -9.56696301e-01 3.83364309e-03 2.50312265e+02] [-9.56630901e-01 2.91087650e-01 1.11937403e-02 -9.04557951e+01] [-1.18249361e-02 -4.09301272e-04 -9.99929999e-01 -3.93149466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters 0.013212515586861167 Centerline is valid? [True, True] Translation: X:250.26, Y:-90.56, Z:-3.93 [[-2.17936073e-01 -9.75957920e-01 3.16325537e-03 2.50255399e+02] [-9.75880640e-01 2.17958645e-01 1.22883935e-02 -9.05551901e+01] [-1.26824138e-02 -4.08875462e-04 -9.99919491e-01 -3.92993813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters 0.012600013095790077 Centerline is valid? [True, True] Translation: X:250.21, Y:-90.67, Z:-3.93 [[-1.43567793e-01 -9.89637703e-01 2.34637423e-03 2.50207644e+02] [-9.89547740e-01 1.43586393e-01 1.33498125e-02 -9.06665363e+01] [-1.35483852e-02 -4.05246205e-04 -9.99908134e-01 -3.93020528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters 0.012842275778291362 Centerline is valid? [True, True] Translation: X:249.52, Y:-90.66, Z:-4.94 [[-2.33075726e-01 9.72456880e-01 1.82269304e-03 2.49517478e+02] [-9.72429518e-01 -2.33082842e-01 7.29534798e-03 -9.06558938e+01] [ 7.51924981e-03 -7.20719831e-05 9.99971727e-01 -4.93860986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters 0.012405774316638203 Centerline is valid? [True, True] Translation: X:250.16, Y:-90.94, Z:-3.93 [[-1.35053978e-01 -9.90835571e-01 2.30107443e-03 2.50164407e+02] [-9.90737726e-01 1.35072992e-01 1.39299937e-02 -9.09353856e+01] [-1.41131463e-02 -3.98460192e-04 -9.99900325e-01 -3.93070335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters 0.012265342584479304 Centerline is valid? [True, True] Translation: X:250.13, Y:-91.05, Z:-3.93 [[-5.86392789e-02 -9.98278486e-01 1.22439290e-03 2.50126714e+02] [-9.98179097e-01 5.86507246e-02 1.40919649e-02 -9.10481599e+01] [-1.41395169e-02 -3.95820741e-04 -9.99899954e-01 -3.93079501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters 0.01245498327910213 Centerline is valid? [True, True] Translation: X:250.10, Y:-91.16, Z:-3.93 [[ 1.90676355e-02 -9.99818187e-01 1.33138347e-04 2.50096198e+02] [-9.99707913e-01 -1.90635543e-02 1.48549592e-02 -9.11630485e+01] [-1.48497203e-02 -4.16348407e-04 -9.99889650e-01 -3.93069739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters 0.01307028952768082 Centerline is valid? [True, True] Translation: X:250.07, Y:-91.28, Z:-3.93 [[ 9.69978632e-02 -9.95284113e-01 -9.73649295e-04 2.50072215e+02] [-9.95179208e-01 -9.70017819e-02 1.44567891e-02 -9.12782517e+01] [-1.44830583e-02 -4.33322123e-04 -9.99895021e-01 -3.93066063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters 0.013564127445731227 Centerline is valid? [True, True] Translation: X:250.06, Y:-91.39, Z:-3.93 [[ 1.74482730e-01 -9.84658712e-01 -1.73133234e-03 2.50055828e+02] [-9.84583435e-01 -1.74490811e-01 1.21826459e-02 -9.13928595e+01] [-1.22978500e-02 -4.21020160e-04 -9.99924290e-01 -3.93158784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters 0.012899441430234452 Centerline is valid? [True, True] Translation: X:250.05, Y:-91.51, Z:-3.93 [[ 2.49014339e-01 -9.68497081e-01 -2.29391490e-03 2.50054704e+02] [-9.68440363e-01 -2.49024599e-01 1.04886539e-02 -9.15137089e+01] [-1.07294719e-02 -3.90305436e-04 -9.99942361e-01 -3.93460633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters 0.01223276113066009 Centerline is valid? [True, True] Translation: X:250.06, Y:-91.63, Z:-3.94 [[ 3.19713170e-01 -9.47510117e-01 -2.84042292e-03 2.50061875e+02] [-9.47462535e-01 -3.19725599e-01 9.50193411e-03 -9.16293000e+01] [-9.91133461e-03 -3.46699171e-04 -9.99950821e-01 -3.93571536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters 0.012088568866844252 Centerline is valid? [True, True] Translation: X:250.08, Y:-91.75, Z:-3.94 [[ 3.88538267e-01 -9.21427000e-01 -3.20921919e-03 2.50077487e+02] [-9.21388772e-01 -3.88551400e-01 8.39887439e-03 -9.17490931e+01] [-8.98589624e-03 -3.06345581e-04 -9.99959579e-01 -3.93517638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters 0.011742745611990424 Centerline is valid? [True, True] Translation: X:250.10, Y:-91.86, Z:-3.94 [[ 4.56215542e-01 -8.89860961e-01 -3.85343222e-03 2.50098117e+02] [-8.89823737e-01 -4.56231726e-01 8.14423759e-03 -9.18568375e+01] [-9.00529712e-03 -2.86652311e-04 -9.99959410e-01 -3.93521858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters 0.011518769865189925 Centerline is valid? [True, True] Translation: X:250.13, Y:-91.96, Z:-3.94 [[ 5.20810612e-01 -8.53658450e-01 -4.85354539e-03 2.50129732e+02] [-8.53616543e-01 -5.20833160e-01 8.46267806e-03 -9.19648167e+01] [-9.75212402e-03 -2.64385898e-04 -9.99952412e-01 -3.93580540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters 0.011475819766895599 Centerline is valid? [True, True] Translation: X:250.17, Y:-92.07, Z:-3.94 [[ 5.83744034e-01 -8.11918447e-01 -5.59797647e-03 2.50168675e+02] [-8.11876871e-01 -5.83770820e-01 8.22046365e-03 -9.20722321e+01] [-9.94228140e-03 -2.53778999e-04 -9.99950542e-01 -3.93622098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters 0.01151960253611164 Centerline is valid? [True, True] Translation: X:250.21, Y:-92.18, Z:-3.94 [[ 6.43442389e-01 -7.65473506e-01 -5.67475462e-03 2.50212926e+02] [-7.65440342e-01 -6.43467367e-01 7.12960554e-03 -9.21751893e+01] [-9.10904356e-03 -2.43804307e-04 -9.99958482e-01 -3.93674097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters 0.011366539885843133 Centerline is valid? [True, True] Translation: X:250.26, Y:-92.27, Z:-3.94 [[ 6.99959062e-01 -7.14158232e-01 -5.94402804e-03 2.50261330e+02] [-7.14129490e-01 -6.99984257e-01 6.41181499e-03 -9.22701512e+01] [-8.73977651e-03 -2.43202291e-04 -9.99961778e-01 -3.93778787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters 0.011425913038785622 Centerline is valid? [True, True] Translation: X:250.32, Y:-92.36, Z:-3.94 [[ 7.52942415e-01 -6.58056042e-01 -6.32174972e-03 2.50318880e+02] [-6.58030005e-01 -7.52968912e-01 5.85923738e-03 -9.23631722e+01] [-8.61578757e-03 -2.51767342e-04 -9.99962852e-01 -3.93807519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters 0.011668156216209574 Centerline is valid? [True, True] Translation: X:250.34, Y:-92.39, Z:-3.94 [[ 8.03258405e-01 -5.95595093e-01 -6.51307387e-03 2.50340260e+02] [-5.95572720e-01 -8.03284763e-01 5.16954249e-03 -9.23909660e+01] [-8.31080714e-03 -2.73469339e-04 -9.99965427e-01 -3.93802689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters 0.011881110968278359 Centerline is valid? [True, True] Translation: X:250.36, Y:-92.42, Z:-3.94 [[ 8.49033159e-01 -5.28309459e-01 -5.64012223e-03 2.50362578e+02] [-5.28295524e-01 -8.49051843e-01 3.84784954e-03 -9.24186182e+01] [-6.82161148e-03 -2.87300523e-04 -9.99976691e-01 -3.93999639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters 0.012209146676570293 Centerline is valid? [True, True] Translation: X:250.39, Y:-92.45, Z:-3.94 [[ 8.89060805e-01 -4.57761404e-01 -5.03808622e-03 2.50385727e+02] [-4.57752146e-01 -8.89075031e-01 2.92631926e-03 -9.24458928e+01] [-5.81879267e-03 -2.95480978e-04 -9.99983027e-01 -3.94078811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters 0.013940688226901744 Centerline is valid? [True, True] Translation: X:250.41, Y:-92.47, Z:-3.94 [[ 9.23918768e-01 -3.82547020e-01 -5.64692500e-03 2.50410224e+02] [-3.82537679e-01 -9.23935966e-01 2.69352822e-03 -9.24713288e+01] [-6.24779830e-03 -3.28439690e-04 -9.99980428e-01 -3.94079478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters 0.013488570463095704 Centerline is valid? [True, True] Translation: X:250.44, Y:-92.49, Z:-3.94 [[ 9.51771231e-01 -3.06745341e-01 -6.23055390e-03 2.50438218e+02] [-3.06736335e-01 -9.51791560e-01 2.37655297e-03 -9.24927512e+01] [-6.65918516e-03 -3.50797482e-04 -9.99977766e-01 -3.94142453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters 0.014500709617667269 Centerline is valid? [True, True] Translation: X:250.47, Y:-92.51, Z:-3.94 [[ 9.73544357e-01 -2.28370216e-01 -7.64389503e-03 2.50466797e+02] [-2.28359949e-01 -9.73574284e-01 2.20180437e-03 -9.25138302e+01] [-7.94472617e-03 -3.97994741e-04 -9.99968361e-01 -3.94005254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters 0.015074251407715589 Centerline is valid? [True, True] Translation: X:250.50, Y:-92.53, Z:-3.94 [[ 9.88525526e-01 -1.50748820e-01 -9.59567648e-03 2.50498460e+02] [-1.50737343e-01 -9.88571998e-01 1.91241560e-03 -9.25276741e+01] [-9.77431147e-03 -4.44044857e-04 -9.99952132e-01 -3.93943927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters 0.014559359923932775 Centerline is valid? [True, True] Translation: X:250.53, Y:-92.54, Z:-3.94 [[ 9.97249369e-01 -7.32278622e-02 -1.14619549e-02 2.50529069e+02] [-7.32175102e-02 -9.97315122e-01 1.32075205e-03 -9.25376492e+01] [-1.15278968e-02 -4.77903350e-04 -9.99933437e-01 -3.93963587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters 0.015367295658356954 Centerline is valid? [True, True] Translation: X:250.56, Y:-92.55, Z:-3.94 [[ 9.99918677e-01 3.99653714e-03 -1.21106010e-02 2.50558203e+02] [ 4.00201271e-03 -9.99991900e-01 4.27930198e-04 -9.25469648e+01] [-1.21087927e-02 -4.76362177e-04 -9.99926572e-01 -3.93849161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters 0.013924938743029466 Centerline is valid? [True, True] Translation: X:250.59, Y:-92.55, Z:-3.94 [[ 9.96782469e-01 7.91596018e-02 -1.25883722e-02 2.50589381e+02] [ 7.91589343e-02 -9.96861855e-01 -5.52059826e-04 -9.25467617e+01] [-1.25925689e-02 -4.46198569e-04 -9.99920611e-01 -3.93919325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters 0.013197342619196787 Centerline is valid? [True, True] Translation: X:250.62, Y:-92.55, Z:-3.94 [[ 9.87922130e-01 1.54480203e-01 -1.20719192e-02 2.50619813e+02] [ 1.54473694e-01 -9.87995800e-01 -1.47535997e-03 -9.25456417e+01] [-1.21549194e-02 -4.07253191e-04 -9.99926043e-01 -3.94006160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters 0.012405196967128293 Centerline is valid? [True, True] Translation: X:250.65, Y:-92.54, Z:-3.94 [[ 9.73518857e-01 2.28302732e-01 -1.17854554e-02 2.50650090e+02] [ 2.28290553e-01 -9.73590123e-01 -2.38661594e-03 -9.25448948e+01] [-1.20190739e-02 -3.67092499e-04 -9.99927701e-01 -3.94111970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters 0.012751091237861964 Centerline is valid? [True, True] Translation: X:250.68, Y:-92.55, Z:-3.94 [[ 9.52146361e-01 3.05449558e-01 -1.08569830e-02 2.50680898e+02] [ 3.05434193e-01 -9.52208184e-01 -3.08685464e-03 -9.25462074e+01] [-1.12809864e-02 -3.76956417e-04 -9.99936297e-01 -3.94120780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters 0.013108944643529118 Centerline is valid? [True, True] Translation: X:250.71, Y:-92.54, Z:-3.94 [[ 9.24711553e-01 3.80517623e-01 -1.07182842e-02 2.50712033e+02] [ 3.80497000e-01 -9.24773584e-01 -3.98146019e-03 -9.25443210e+01] [-1.14270019e-02 -3.96572753e-04 -9.99934631e-01 -3.94137882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters 0.013463450081938685 Centerline is valid? [True, True] Translation: X:250.74, Y:-92.54, Z:-3.94 [[ 8.91309013e-01 4.53281813e-01 -1.01903176e-02 2.50743957e+02] [ 4.53257431e-01 -8.91367168e-01 -4.71942383e-03 -9.25407288e+01] [-1.12225436e-02 -4.12372208e-04 -9.99936940e-01 -3.94122892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters 0.013549536707185053 Centerline is valid? [True, True] Translation: X:250.78, Y:-92.54, Z:-3.94 [[ 8.52630392e-01 5.22436796e-01 -9.01156195e-03 2.50775994e+02] [ 5.22412590e-01 -8.52677917e-01 -5.04540211e-03 -9.25362287e+01] [-1.03198636e-02 -4.05890240e-04 -9.99946666e-01 -3.94159313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters 0.014011614668564383 Centerline is valid? [True, True] Translation: X:250.81, Y:-92.53, Z:-3.94 [[ 8.08322873e-01 5.88689638e-01 -7.65784291e-03 2.50807700e+02] [ 5.88667813e-01 -8.08359049e-01 -5.08467803e-03 -9.25290274e+01] [-9.18358388e-03 -3.97864087e-04 -9.99957751e-01 -3.94191624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters 0.01405783159281682 Centerline is valid? [True, True] Translation: X:250.84, Y:-92.52, Z:-3.94 [[ 7.59434814e-01 6.50534818e-01 -7.95069636e-03 2.50836996e+02] [ 6.50504856e-01 -7.59476316e-01 -6.25767957e-03 -9.25178664e+01] [-1.01092040e-02 -4.19666870e-04 -9.99948813e-01 -3.94169165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters 0.014467005886632234 Centerline is valid? [True, True] Translation: X:250.86, Y:-92.50, Z:-3.94 [[ 7.06553534e-01 7.07611946e-01 -8.21198012e-03 2.50864267e+02] [ 7.07571165e-01 -7.06601121e-01 -7.60931769e-03 -9.25046637e+01] [-1.11870385e-02 -4.34170033e-04 -9.99937329e-01 -3.94046273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters 0.014052278483471434 Centerline is valid? [True, True] Translation: X:250.89, Y:-92.49, Z:-3.94 [[ 6.48825740e-01 7.60892429e-01 -8.23830954e-03 2.50890993e+02] [ 7.60839804e-01 -6.48877881e-01 -8.96039309e-03 -9.24886384e+01] [-1.21635521e-02 -4.54300132e-04 -9.99925918e-01 -3.93993378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters 0.013990955706153907 Centerline is valid? [True, True] Translation: X:250.92, Y:-92.47, Z:-3.94 [[ 5.87063109e-01 8.09502407e-01 -7.92204317e-03 2.50917146e+02] [ 8.09439243e-01 -5.87116370e-01 -1.01232022e-02 -9.24713481e+01] [-1.28459178e-02 -4.69454093e-04 -9.99917378e-01 -3.93966031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters 0.013495621461305259 Centerline is valid? [True, True] Translation: X:250.94, Y:-92.45, Z:-3.94 [[ 5.24030557e-01 8.51670594e-01 -7.01242534e-03 2.50939772e+02] [ 8.51605131e-01 -5.24077295e-01 -1.05683852e-02 -9.24500333e+01] [-1.26758358e-02 -4.33660601e-04 -9.99919564e-01 -3.93932857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters 0.013486086162973051 Centerline is valid? [True, True] Translation: X:250.96, Y:-92.43, Z:-3.94 [[ 4.56603138e-01 8.89650848e-01 -5.91122468e-03 2.50959753e+02] [ 8.89587622e-01 -4.56641214e-01 -1.06143557e-02 -9.24276071e+01] [-1.21423794e-02 -4.12004174e-04 -9.99926194e-01 -3.93937253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters 0.013047943594376558 Centerline is valid? [True, True] Translation: X:250.98, Y:-92.40, Z:-3.94 [[ 3.87425190e-01 9.21890044e-01 -4.52431463e-03 2.50976316e+02] [ 9.21837862e-01 -3.87451432e-01 -9.81551373e-03 -9.24034595e+01] [-1.08017766e-02 -3.67907256e-04 -9.99941591e-01 -3.94083139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters 0.012978365956340334 Centerline is valid? [True, True] Translation: X:250.99, Y:-92.38, Z:-3.94 [[ 3.14707932e-01 9.49183498e-01 -3.09904512e-03 2.50992203e+02] [ 9.49147394e-01 -3.14723013e-01 -8.28550832e-03 -9.23788150e+01] [-8.83980859e-03 -3.33935412e-04 -9.99960872e-01 -3.94262528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters 0.012876872306426125 Centerline is valid? [True, True] Translation: X:251.01, Y:-92.35, Z:-3.94 [[ 2.39303326e-01 9.70943099e-01 -1.84824632e-03 2.51008700e+02] [ 9.70923145e-01 -2.39310272e-01 -6.23216622e-03 -9.23534720e+01] [-6.49338311e-03 -3.03127024e-04 -9.99978872e-01 -3.94441853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters 0.013292246951115355 Centerline is valid? [True, True] Translation: X:251.02, Y:-92.33, Z:-3.94 [[ 1.60830906e-01 9.86980857e-01 -1.48588819e-03 2.51023875e+02] [ 9.86955376e-01 -1.60837442e-01 -7.09946298e-03 -9.23274363e+01] [-7.24602051e-03 -3.24692280e-04 -9.99973695e-01 -3.94352267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters 0.014224862456099704 Centerline is valid? [True, True] Translation: X:251.04, Y:-92.30, Z:-3.94 [[ 8.04960817e-02 9.96754398e-01 -1.02543462e-03 2.51038397e+02] [ 9.96720574e-01 -8.05018059e-02 -8.21922632e-03 -9.23013527e+01] [-8.27509932e-03 -3.60456271e-04 -9.99965696e-01 -3.94140929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters 0.01501452613087954 Centerline is valid? [True, True] Translation: X:251.05, Y:-92.27, Z:-3.94 [[-1.34065951e-03 9.99999020e-01 -4.04301862e-04 2.51049867e+02] [ 9.99952781e-01 1.33670592e-03 -9.62547879e-03 -9.22727753e+01] [-9.62492892e-03 -4.17187261e-04 -9.99953592e-01 -3.94028844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters 0.014930339469952116 Centerline is valid? [True, True] Translation: X:251.06, Y:-92.24, Z:-3.94 [[-8.02020967e-02 9.96778570e-01 3.25814761e-04 2.51058106e+02] [ 9.96736319e-01 8.02017000e-02 -9.18687117e-03 -9.22441080e+01] [-9.18340721e-03 -4.12054925e-04 -9.99957747e-01 -3.94094674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters 0.015257498445228904 Centerline is valid? [True, True] Translation: X:251.06, Y:-92.21, Z:-3.94 [[-1.57769009e-01 9.87475505e-01 1.03237536e-03 2.51063108e+02] [ 9.87434207e-01 1.57771862e-01 -9.04029293e-03 -9.22149072e+01] [-9.08994762e-03 -4.06875311e-04 -9.99958603e-01 -3.94090653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters 0.015006642924542759 Centerline is valid? [True, True] Translation: X:251.06, Y:-92.19, Z:-3.94 [[-2.33470549e-01 9.72362512e-01 1.62748696e-03 2.51063163e+02] [ 9.72326076e-01 2.33475904e-01 -8.42636057e-03 -9.21860160e+01] [-8.57345612e-03 -3.84859020e-04 -9.99963173e-01 -3.94161436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters 0.013692140424282013 Centerline is valid? [True, True] Translation: X:251.06, Y:-92.16, Z:-3.94 [[-3.05555104e-01 9.52171506e-01 2.34538703e-03 2.51059177e+02] [ 9.52133828e-01 3.05563896e-01 -8.47819190e-03 -9.21571680e+01] [-8.78935835e-03 -3.57432473e-04 -9.99961309e-01 -3.94372782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters 0.01350451835604568 Centerline is valid? [True, True] Translation: X:251.06, Y:-92.13, Z:-3.94 [[-3.77505342e-01 9.26001446e-01 3.32255919e-03 2.51057410e+02] [ 9.25956939e-01 3.77519798e-01 -9.08566923e-03 -9.21281587e+01] [-9.66767472e-03 -3.53341942e-04 -9.99953205e-01 -3.94395622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters 0.013525265611738235 Centerline is valid? [True, True] Translation: X:251.05, Y:-92.10, Z:-3.94 [[-4.48111396e-01 8.93965491e-01 4.67731652e-03 2.51054392e+02] [ 8.93908006e-01 4.48135657e-01 -1.01444064e-02 -9.20993749e+01] [-1.11648216e-02 -3.64733450e-04 -9.99937605e-01 -3.94285713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters 0.013987175079075079 Centerline is valid? [True, True] Translation: X:251.05, Y:-92.07, Z:-3.94 [[-5.17600113e-01 8.55591866e-01 7.25820215e-03 2.51048254e+02] [ 8.55495873e-01 5.17650824e-01 -1.28232295e-02 -9.20713104e+01] [-1.47286652e-02 -4.27943035e-04 -9.99891436e-01 -3.94082086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters 0.01427849284903888 Centerline is valid? [True, True] Translation: X:251.04, Y:-92.04, Z:-3.94 [[-5.84033225e-01 8.11674799e-01 9.44524620e-03 2.51038242e+02] [ 8.11555114e-01 5.84109399e-01 -1.39465888e-02 -9.20446460e+01] [-1.68371518e-02 -4.79933394e-04 -9.99858130e-01 -3.94110689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters 0.014547389064123638 Centerline is valid? [True, True] Translation: X:251.03, Y:-92.02, Z:-3.94 [[-6.47580337e-01 7.61921458e-01 1.07424109e-02 2.51029530e+02] [ 7.61802958e-01 6.47669219e-01 -1.34475233e-02 -9.20158255e+01] [-1.72034854e-02 -5.24751282e-04 -9.99851871e-01 -3.94172199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters 0.014555756362270234 Centerline is valid? [True, True] Translation: X:251.02, Y:-91.99, Z:-3.94 [[-7.04760053e-01 7.09354932e-01 1.13511063e-02 2.51015684e+02] [ 7.09251314e-01 7.04851282e-01 -1.21344048e-02 -9.19897270e+01] [-1.66084417e-02 -5.01056721e-04 -9.99861945e-01 -3.94289481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters 0.01349082506933895 Centerline is valid? [True, True] Translation: X:251.00, Y:-91.97, Z:-3.95 [[-7.55465800e-01 6.55088464e-01 1.14249628e-02 2.50997224e+02] [ 6.55005135e-01 7.55552071e-01 -1.04566342e-02 -9.19676976e+01] [-1.54821748e-02 -4.16220226e-04 -9.99880057e-01 -3.94618667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters 0.013006507099362437 Centerline is valid? [True, True] Translation: X:251.01, Y:-91.95, Z:-3.95 [[-7.98268205e-01 6.02173037e-01 1.24702115e-02 2.51013590e+02] [ 6.02092520e-01 7.98365521e-01 -9.85351077e-03 -9.19492452e+01] [-1.58893054e-02 -3.57523299e-04 -9.99873693e-01 -3.94655425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters 0.012867543985709627 Centerline is valid? [True, True] Translation: X:251.03, Y:-91.93, Z:-3.95 [[-8.37407694e-01 5.46405866e-01 1.37471140e-02 2.51033706e+02] [ 5.46325943e-01 8.37520464e-01 -9.35073237e-03 -9.19327687e+01] [-1.66227843e-02 -3.19970209e-04 -9.99861781e-01 -3.94553101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters 0.012757088509266441 Centerline is valid? [True, True] Translation: X:251.05, Y:-91.91, Z:-3.95 [[-8.73316462e-01 4.86930842e-01 1.47211774e-02 2.51051242e+02] [ 4.86855854e-01 8.73440476e-01 -8.55058145e-03 -9.19128574e+01] [-1.70216140e-02 -3.00272153e-04 -9.99855077e-01 -3.94557971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters 0.012781434566064329 Centerline is valid? [True, True] Translation: X:251.06, Y:-91.89, Z:-3.95 [[-9.04875139e-01 4.25411544e-01 1.50333159e-02 2.51064667e+02] [ 4.25347879e-01 9.04999970e-01 -7.36457420e-03 -9.18905453e+01] [-1.67381253e-02 -2.69631091e-04 -9.99859871e-01 -3.94557576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters 0.01278081962398235 Centerline is valid? [True, True] Translation: X:251.07, Y:-91.86, Z:-3.94 [[-9.32184536e-01 3.61677754e-01 1.48725702e-02 2.51067282e+02] [ 3.61627581e-01 9.32303140e-01 -6.02897615e-03 -9.18617184e+01] [-1.60462905e-02 -2.41786747e-04 -9.99871221e-01 -3.94492627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters 0.012698400866649633 Centerline is valid? [True, True] Translation: X:251.09, Y:-91.84, Z:-3.95 [[-9.55569669e-01 2.94450907e-01 1.36114076e-02 2.51086447e+02] [ 2.94417458e-01 9.55666577e-01 -4.44459948e-03 -9.18378047e+01] [-1.43166837e-02 -2.39688422e-04 -9.99897482e-01 -3.94515916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters 0.012632231624553356 Centerline is valid? [True, True] Translation: X:251.30, Y:-91.18, Z:-4.95 [[-9.30504754e-01 -3.66201893e-01 7.55486664e-03 2.51301734e+02] [ 3.66188331e-01 -9.30535407e-01 -3.15627056e-03 -9.11777607e+01] [ 8.18590316e-03 -1.70420753e-04 9.99966480e-01 -4.94833104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters 0.0126251783716956 Centerline is valid? [True, True] Translation: X:251.04, Y:-91.82, Z:-3.95 [[-9.57246105e-01 2.89028248e-01 1.19401546e-02 2.51044543e+02] [ 2.89002406e-01 9.57320535e-01 -3.87344629e-03 -9.18213302e+01] [-1.25500905e-02 -2.57107975e-04 -9.99921211e-01 -3.94601069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters 0.012586527828385001 Centerline is valid? [True, True] Translation: X:251.04, Y:-91.79, Z:-3.95 [[-9.75233225e-01 2.20860617e-01 1.18636193e-02 2.51044736e+02] [ 2.20841162e-01 9.75305350e-01 -2.94198382e-03 -9.17920079e+01] [-1.22204198e-02 -2.49144891e-04 -9.99925297e-01 -3.94589805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters 0.012438508259828958 Centerline is valid? [True, True] Translation: X:251.05, Y:-91.77, Z:-3.94 [[-9.88246475e-01 1.52252159e-01 1.37180851e-02 2.51053485e+02] [ 1.52234090e-01 9.88341652e-01 -2.35800853e-03 -9.17650197e+01] [-1.39171668e-02 -2.41933417e-04 -9.99903122e-01 -3.94462277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters 0.012438282193483426 Centerline is valid? [True, True] Translation: X:251.06, Y:-91.74, Z:-3.94 [[-9.96357658e-01 8.39454271e-02 1.49861055e-02 2.51058807e+02] [ 8.39327113e-02 9.96470331e-01 -1.47655584e-03 -9.17379109e+01] [-1.50571597e-02 -2.13353244e-04 -9.99886612e-01 -3.94269347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters 0.012369271405714862 Centerline is valid? [True, True] Translation: X:251.12, Y:-91.06, Z:-4.95 [[-9.88190399e-01 -1.52927694e-01 9.63620357e-03 2.51124159e+02] [ 1.52919171e-01 -9.88237372e-01 -1.61955267e-03 -9.10594712e+01] [ 9.77053095e-03 -1.26866139e-04 9.99952259e-01 -4.95237680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters 0.012271463589235185 Centerline is valid? [True, True] Translation: X:251.01, Y:-91.74, Z:-3.94 [[-9.96364572e-01 8.41674247e-02 1.31713597e-02 2.51006998e+02] [ 8.41580411e-02 9.96451615e-01 -1.26605428e-03 -9.17362868e+01] [-1.32311832e-02 -1.52975794e-04 -9.99912452e-01 -3.94435993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters 0.012317063023738773 Centerline is valid? [True, True] Translation: X:251.07, Y:-91.05, Z:-4.95 [[-9.89321476e-01 -1.45550708e-01 7.61636238e-03 2.51070850e+02] [ 1.45544966e-01 -9.89350776e-01 -1.30579864e-03 -9.10546520e+01] [ 7.72531395e-03 -1.83331426e-04 9.99970143e-01 -4.95113282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters 0.012306324216367313 Centerline is valid? [True, True] Translation: X:250.95, Y:-91.73, Z:-3.94 [[-9.96700765e-01 8.01277287e-02 1.29279397e-02 2.50953488e+02] [ 8.01190032e-02 9.96784592e-01 -1.19227071e-03 -9.17314051e+01] [-1.29819050e-02 -1.52563490e-04 -9.99915720e-01 -3.94278195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters 0.012194233066444595 Centerline is valid? [True, True] Translation: X:251.01, Y:-91.05, Z:-4.95 [[-9.89440498e-01 -1.44700879e-01 8.31608142e-03 2.51009261e+02] [ 1.44694580e-01 -9.89475435e-01 -1.35735997e-03 -9.10528187e+01] [ 8.42496946e-03 -1.39735019e-04 9.99964500e-01 -4.95453473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters 0.012051855312569224 Centerline is valid? [True, True] Translation: X:250.90, Y:-91.72, Z:-3.94 [[-9.97329090e-01 7.19904042e-02 1.23315645e-02 2.50897893e+02] [ 7.19823759e-02 9.97405304e-01 -1.09423061e-03 -9.17241557e+01] [-1.23783419e-02 -2.03652708e-04 -9.99923365e-01 -3.94172829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters 0.012041442683097012 Centerline is valid? [True, True] Translation: X:250.89, Y:-91.70, Z:-3.94 [[-9.99931310e-01 5.34563074e-04 1.17084856e-02 2.50894323e+02] [ 5.32111351e-04 9.99999836e-01 -2.12511331e-04 -9.16968192e+01] [-1.17085973e-02 -2.06266515e-04 -9.99931431e-01 -3.94218033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters 0.012021688486365291 Centerline is valid? [True, True] Translation: X:250.90, Y:-91.02, Z:-4.95 [[-9.97398005e-01 -7.19532613e-02 4.46625507e-03 2.50897707e+02] [ 7.19513020e-02 -9.97407967e-01 -5.98028762e-04 -9.10209460e+01] [ 4.49770851e-03 -2.75119827e-04 9.99989847e-01 -4.95300935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters 0.012042160281299848 Centerline is valid? [True, True] Translation: X:250.83, Y:-91.70, Z:-3.94 [[-9.99954634e-01 -2.85138968e-03 9.08847149e-03 2.50831586e+02] [-2.85300697e-03 9.99995917e-01 -1.64989165e-04 -9.16987896e+01] [-9.08796393e-03 -1.90911152e-04 -9.99958685e-01 -3.94314358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters 0.011989846136511224 Centerline is valid? [True, True] Translation: X:250.84, Y:-91.02, Z:-4.95 [[-9.97889192e-01 -6.48257740e-02 3.84439178e-03 2.50835404e+02] [ 6.48247302e-02 -9.97896587e-01 -3.95635643e-04 -9.10195391e+01] [ 3.86195282e-03 -1.45588872e-04 9.99992532e-01 -4.95452806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters 0.012025869815563032 Centerline is valid? [True, True] Translation: X:250.76, Y:-91.70, Z:-3.94 [[-9.99957666e-01 -4.23810995e-03 8.16730462e-03 2.50763804e+02] [-4.23930698e-03 9.99991006e-01 -1.29257182e-04 -9.17015173e+01] [-8.16668335e-03 -1.63875421e-04 -9.99966639e-01 -3.94132408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters 0.011961407260834094 Centerline is valid? [True, True] Translation: X:250.77, Y:-91.02, Z:-4.95 [[-9.98278947e-01 -5.85714653e-02 2.92031925e-03 2.50767066e+02] [ 5.85707333e-02 -9.98283205e-01 -3.35627192e-04 -9.10175281e+01] [ 2.93496384e-03 -1.64004319e-04 9.99995680e-01 -4.95451464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters 0.011865374784305561 Centerline is valid? [True, True] Translation: X:250.70, Y:-91.70, Z:-3.94 [[-9.99925042e-01 -9.42901010e-03 7.81054675e-03 2.50701846e+02] [-9.43003998e-03 9.99955532e-01 -9.50400890e-05 -9.17046290e+01] [-7.80930329e-03 -1.68686733e-04 -9.99969493e-01 -3.94189927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters 0.011957846625160912 Centerline is valid? [True, True] Translation: X:250.70, Y:-91.02, Z:-4.96 [[-9.98359194e-01 -5.71844632e-02 2.97618524e-03 2.50697768e+02] [ 5.71837658e-02 -9.98363619e-01 -3.18983809e-04 -9.10170541e+01] [ 2.98955598e-03 -1.48270939e-04 9.99995520e-01 -4.95556438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters 0.012128149931999517 Centerline is valid? [True, True] Translation: X:250.63, Y:-91.70, Z:-3.94 [[-9.99773869e-01 -2.01160137e-02 6.89619439e-03 2.50631240e+02] [-2.01169987e-02 9.99797630e-01 -7.34875120e-05 -9.17027870e+01] [-6.89332053e-03 -2.12201628e-04 -9.99976218e-01 -3.94066638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters 0.01275262694656191 Centerline is valid? [True, True] Translation: X:250.62, Y:-91.68, Z:-3.94 [[-9.95351256e-01 -9.61423577e-02 5.70295007e-03 2.50619407e+02] [-9.61421203e-02 9.95367567e-01 3.16402116e-04 -9.16753026e+01] [-5.70695118e-03 -2.33362468e-04 -9.99983688e-01 -3.94188971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters 0.013153220984109613 Centerline is valid? [True, True] Translation: X:250.62, Y:-91.65, Z:-3.94 [[-9.85533739e-01 -1.69427683e-01 4.18441553e-03 2.50618842e+02] [-1.69427142e-01 9.85542595e-01 4.86021366e-04 -9.16473184e+01] [-4.20626521e-03 -2.29963109e-04 -9.99991127e-01 -3.94283492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters 0.013932207408340117 Centerline is valid? [True, True] Translation: X:250.51, Y:-90.98, Z:-4.95 [[-9.97339588e-01 7.28855501e-02 -1.20120655e-03 2.50512787e+02] [-7.28852256e-02 -9.97340286e-01 -3.11784634e-04 -9.09800412e+01] [-1.22073628e-03 -2.23404948e-04 9.99999230e-01 -4.95482021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters 0.014831554687669906 Centerline is valid? [True, True] Translation: X:250.53, Y:-91.66, Z:-3.94 [[-9.83276933e-01 -1.82030697e-01 5.59450884e-03 2.50525183e+02] [-1.82029431e-01 9.83292805e-01 7.38929357e-04 -9.16579712e+01] [-5.63554812e-03 -2.91793069e-04 -9.99984078e-01 -3.94116039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters 0.014863142192251932 Centerline is valid? [True, True] Translation: X:250.42, Y:-91.00, Z:-4.96 [[-9.97095485e-01 7.61608381e-02 3.47760383e-04 2.50421814e+02] [-7.61608903e-02 -9.97095532e-01 -1.39433349e-04 -9.09950636e+01] [ 3.36130964e-04 -1.65514103e-04 9.99999930e-01 -4.95653252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters 0.014490691828756546 Centerline is valid? [True, True] Translation: X:250.44, Y:-91.67, Z:-3.94 [[-9.82396866e-01 -1.86731344e-01 5.27283057e-03 2.50436288e+02] [-1.86730171e-01 9.82410977e-01 7.18271261e-04 -9.16742095e+01] [-5.31421039e-03 -2.78969116e-04 -9.99985841e-01 -3.94199504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters 0.014341244254669809 Centerline is valid? [True, True] Translation: X:250.33, Y:-91.01, Z:-4.96 [[-9.96445664e-01 8.42326107e-02 9.51754803e-04 2.50325861e+02] [-8.42326567e-02 -9.96446115e-01 -8.31415885e-06 -9.10084160e+01] [ 9.47672053e-04 -8.84534432e-05 9.99999547e-01 -4.95648128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters 0.013962765726324143 Centerline is valid? [True, True] Translation: X:250.34, Y:-91.69, Z:-3.94 [[-9.81917058e-01 -1.89196769e-01 6.59347140e-03 2.50340511e+02] [-1.89194413e-01 9.81939155e-01 9.85040374e-04 -9.16925969e+01] [-6.66075419e-03 -2.80220002e-04 -9.99977778e-01 -3.94142147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters 0.013114918903855504 Centerline is valid? [True, True] Translation: X:250.33, Y:-91.67, Z:-3.94 [[-9.66859601e-01 -2.55222264e-01 6.64136019e-03 2.50332860e+02] [-2.55218024e-01 9.66882378e-01 1.49263763e-03 -9.16707413e+01] [-6.80236849e-03 -2.51823799e-04 -9.99976832e-01 -3.94214494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters 0.012714664191443579 Centerline is valid? [True, True] Translation: X:250.31, Y:-91.65, Z:-3.94 [[-9.47334260e-01 -3.20196267e-01 5.67016570e-03 2.50307124e+02] [-3.20191905e-01 9.47351204e-01 1.68559823e-03 -9.16524363e+01] [-5.91136056e-03 -2.18716199e-04 -9.99982504e-01 -3.94220999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters 0.01233202452031887 Centerline is valid? [True, True] Translation: X:250.27, Y:-91.64, Z:-3.94 [[-9.24209042e-01 -3.81862765e-01 4.29823170e-03 2.50267290e+02] [-3.81859528e-01 9.24219020e-01 1.58248083e-03 -9.16442207e+01] [-4.57679799e-03 -1.78777634e-04 -9.99989510e-01 -3.94394618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters 0.012360288122022143 Centerline is valid? [True, True] Translation: X:250.21, Y:-91.64, Z:-3.94 [[-8.95201422e-01 -4.45637510e-01 4.65004904e-03 2.50208917e+02] [-4.45632432e-01 8.95213485e-01 2.13361913e-03 -9.16437803e+01] [-5.11360732e-03 -1.62193784e-04 -9.99986912e-01 -3.94405588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters 0.012278193909882397 Centerline is valid? [True, True] Translation: X:250.14, Y:-91.65, Z:-3.94 [[-8.58573979e-01 -5.12663448e-01 5.18756205e-03 2.50138506e+02] [-5.12655309e-01 8.58589633e-01 2.89416462e-03 -9.16464558e+01] [-5.93771941e-03 -1.74576787e-04 -9.99982356e-01 -3.94332452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters 0.01232506751377817 Centerline is valid? [True, True] Translation: X:250.06, Y:-91.66, Z:-3.94 [[-8.17330995e-01 -5.76141713e-01 5.54715336e-03 2.50061919e+02] [-5.76129954e-01 8.17349799e-01 3.68552026e-03 -9.16616808e+01] [-6.65734664e-03 -1.83591266e-04 -9.99977823e-01 -3.94381953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters 0.012225700773722387 Centerline is valid? [True, True] Translation: X:249.98, Y:-91.69, Z:-3.95 [[-7.71513264e-01 -6.36192670e-01 5.11562576e-03 2.49982714e+02] [-6.36180289e-01 7.71530201e-01 3.97353783e-03 -9.16864180e+01] [-6.47479541e-03 -1.88823133e-04 -9.99979020e-01 -3.94521004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters 0.012330021006080065 Centerline is valid? [True, True] Translation: X:249.89, Y:-91.72, Z:-3.95 [[-7.19981873e-01 -6.93978715e-01 4.43243925e-03 2.49894578e+02] [-6.93967270e-01 7.19995488e-01 3.99077066e-03 -9.17215797e+01] [-5.96084615e-03 -2.02685232e-04 -9.99982213e-01 -3.94560480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters 0.012575286719154338 Centerline is valid? [True, True] Translation: X:249.81, Y:-91.76, Z:-3.95 [[-6.63352604e-01 -7.48296103e-01 4.03297506e-03 2.49809475e+02] [-7.48284257e-01 6.63364827e-01 4.21639597e-03 -9.17616190e+01] [-5.83044648e-03 -2.20854494e-04 -9.99982978e-01 -3.94608517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters 0.012907245293968294 Centerline is valid? [True, True] Translation: X:249.73, Y:-91.81, Z:-3.95 [[-6.02295197e-01 -7.98264164e-01 3.84975056e-03 2.49725732e+02] [-7.98250372e-01 6.02307451e-01 4.69873100e-03 -9.18129951e+01] [-6.06956202e-03 -2.43041708e-04 -9.99981551e-01 -3.94684515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters 0.013496874370845556 Centerline is valid? [True, True] Translation: X:249.64, Y:-91.88, Z:-3.95 [[-5.39166613e-01 -8.42194127e-01 2.90119367e-03 2.49640837e+02] [-8.42184229e-01 5.39174366e-01 4.09005672e-03 -9.18782679e+01] [-5.00887100e-03 -2.38117522e-04 -9.99987427e-01 -3.94773052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters 0.013303758789216366 Centerline is valid? [True, True] Translation: X:249.56, Y:-91.94, Z:-3.95 [[-4.72825032e-01 -8.81152797e-01 2.49743838e-03 2.49564641e+02] [-8.81143084e-01 4.72831566e-01 4.14441099e-03 -9.19441527e+01] [-4.83272704e-03 -2.41019293e-04 -9.99988293e-01 -3.94833686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters 0.013308827810608104 Centerline is valid? [True, True] Translation: X:249.49, Y:-92.02, Z:-3.95 [[-4.04643935e-01 -9.14470166e-01 2.75701388e-03 2.49490632e+02] [-9.14453088e-01 4.04653246e-01 5.59462201e-03 -9.20239155e+01] [-6.23174953e-03 -2.57329992e-04 -9.99980549e-01 -3.94780826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters 0.013645040827133406 Centerline is valid? [True, True] Translation: X:249.42, Y:-92.11, Z:-3.95 [[-3.34020915e-01 -9.42562889e-01 2.28652938e-03 2.49422434e+02] [-9.42545753e-01 3.34028644e-01 5.68935933e-03 -9.21112294e+01] [-6.12634528e-03 -2.54793545e-04 -9.99981201e-01 -3.94782090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters 0.014010113395813734 Centerline is valid? [True, True] Translation: X:249.36, Y:-92.20, Z:-3.95 [[-2.60807274e-01 -9.65388919e-01 1.94933569e-03 2.49359195e+02] [-9.65368976e-01 2.60814428e-01 6.21088393e-03 -9.22040492e+01] [-6.50433340e-03 -2.61984494e-04 -9.99978812e-01 -3.94762212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters 0.013643689834880823 Centerline is valid? [True, True] Translation: X:249.31, Y:-92.30, Z:-3.95 [[-1.86772558e-01 -9.82401788e-01 1.65498062e-03 2.49306175e+02] [-9.82375033e-01 1.86779694e-01 7.25539843e-03 -9.23035234e+01] [-7.43683317e-03 -2.70702320e-04 -9.99972310e-01 -3.94780935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters 0.013288487219880669 Centerline is valid? [True, True] Translation: X:249.26, Y:-92.41, Z:-3.95 [[-1.11712299e-01 -9.93739765e-01 1.28132245e-03 2.49262049e+02] [-9.93700384e-01 1.11719285e-01 8.85146247e-03 -9.24093361e+01] [-8.93919866e-03 -2.84433386e-04 -9.99960004e-01 -3.94783458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters 0.013427620343353286 Centerline is valid? [True, True] Translation: X:249.22, Y:-92.52, Z:-3.95 [[-3.56032893e-02 -9.99365735e-01 7.30562303e-04 2.49223911e+02] [-9.99297677e-01 3.56093937e-02 1.16671840e-02 -9.25203329e+01] [-1.16857988e-02 -3.14659086e-04 -9.99931669e-01 -3.94508263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters 0.013212791384611464 Centerline is valid? [True, True] Translation: X:249.20, Y:-92.63, Z:-3.95 [[ 4.06985241e-02 -9.99171449e-01 -2.11484565e-04 2.49196247e+02] [-9.99083112e-01 -4.06977389e-02 1.32902184e-02 -9.26327960e+01] [-1.32878138e-02 -3.29601618e-04 -9.99911659e-01 -3.94508440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters 0.013346229737265514 Centerline is valid? [True, True] Translation: X:249.18, Y:-92.75, Z:-3.95 [[ 1.17055447e-01 -9.93124531e-01 -1.29916889e-03 2.49177739e+02] [-9.93027254e-01 -1.17062170e-01 1.39039804e-02 -9.27450435e+01] [-1.39604675e-02 -3.37426519e-04 -9.99902491e-01 -3.94556070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters 0.01328503505918009 Centerline is valid? [True, True] Translation: X:249.17, Y:-92.87, Z:-3.95 [[ 1.93182309e-01 -9.81159964e-01 -2.39176595e-03 2.49167828e+02] [-9.81060997e-01 -1.93196804e-01 1.39396740e-02 -9.28651126e+01] [-1.41391316e-02 -3.46430130e-04 -9.99899977e-01 -3.94572239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters 0.013946528030443136 Centerline is valid? [True, True] Translation: X:249.17, Y:-92.98, Z:-3.95 [[ 2.70689651e-01 -9.62660106e-01 -3.55429474e-03 2.49165201e+02] [-9.62556730e-01 -2.70712691e-01 1.41131702e-02 -9.29790801e+01] [-1.45483786e-02 -3.99078781e-04 -9.99894087e-01 -3.94682848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters 0.015094411347306247 Centerline is valid? [True, True] Translation: X:249.17, Y:-93.09, Z:-3.95 [[ 3.46480231e-01 -9.38045869e-01 -4.62566335e-03 2.49169720e+02] [-9.37944348e-01 -3.46510820e-01 1.38076383e-02 -9.30945315e+01] [-1.45550404e-02 -4.45458900e-04 -9.99893971e-01 -3.94701676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters 0.015408132183420454 Centerline is valid? [True, True] Translation: X:249.19, Y:-93.21, Z:-3.95 [[ 4.21088836e-01 -9.07003937e-01 -5.29622929e-03 2.49186100e+02] [-9.06917045e-01 -4.21121860e-01 1.25639384e-02 -9.32119003e+01] [-1.36258995e-02 -4.87293588e-04 -9.99907044e-01 -3.94972647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters 0.016938050105218348 Centerline is valid? [True, True] Translation: X:249.21, Y:-93.33, Z:-3.95 [[ 4.90902535e-01 -8.71192468e-01 -6.19548603e-03 2.49209894e+02] [-8.71109440e-01 -4.90941362e-01 1.20384335e-02 -9.33289680e+01] [-1.35294130e-02 -5.12751186e-04 -9.99908342e-01 -3.94928847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters 0.01723862141158452 Centerline is valid? [True, True] Translation: X:249.24, Y:-93.43, Z:-3.95 [[ 5.56133164e-01 -8.31054849e-01 -7.98383432e-03 2.49239616e+02] [-8.30954401e-01 -5.56190189e-01 1.29328199e-02 -9.34324964e+01] [-1.51884130e-02 -5.58167788e-04 -9.99884494e-01 -3.94802257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters 0.015201103799411182 Centerline is valid? [True, True] Translation: X:249.28, Y:-93.53, Z:-3.95 [[ 6.14603035e-01 -7.88781037e-01 -9.35873969e-03 2.49281433e+02] [-7.88676698e-01 -6.14674073e-01 1.28394204e-02 -9.35279074e+01] [-1.58800660e-02 -5.10126826e-04 -9.99873774e-01 -3.94820910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters 0.014528365128558783 Centerline is valid? [True, True] Translation: X:249.33, Y:-93.62, Z:-3.95 [[ 6.69144646e-01 -7.43067606e-01 -9.79670201e-03 2.49328381e+02] [-7.42978704e-01 -6.69216227e-01 1.15015995e-02 -9.36205514e+01] [-1.51025780e-02 -4.17492782e-04 -9.99885862e-01 -3.94843940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters 0.012555500554596699 Centerline is valid? [True, True] Translation: X:249.38, Y:-93.70, Z:-3.95 [[ 7.17255142e-01 -6.96745269e-01 -9.54419051e-03 2.49383972e+02] [-6.96678608e-01 -7.17318590e-01 9.64143561e-03 -9.37019155e+01] [-1.35638499e-02 -2.66135912e-04 -9.99907971e-01 -3.95174887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters 0.012343247584742202 Centerline is valid? [True, True] Translation: X:249.41, Y:-93.72, Z:-3.95 [[ 7.63996490e-01 -6.45158649e-01 -8.92640659e-03 2.49410573e+02] [-6.45112213e-01 -7.64048620e-01 7.74206342e-03 -9.37245033e+01] [-1.18150678e-02 -1.56375373e-04 -9.99930187e-01 -3.95291727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters 0.012618057890419502 Centerline is valid? [True, True] Translation: X:249.44, Y:-93.75, Z:-3.95 [[ 8.09535809e-01 -5.86988739e-01 -9.79772007e-03 2.49436006e+02] [-5.86944220e-01 -8.09595090e-01 7.22996175e-03 -9.37461852e+01] [-1.21760922e-02 -1.02197766e-04 -9.99925863e-01 -3.95282994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters 0.012474009096175548 Centerline is valid? [True, True] Translation: X:249.46, Y:-93.77, Z:-3.95 [[ 8.53991930e-01 -5.20192992e-01 -9.85064444e-03 2.49458892e+02] [-5.20156655e-01 -8.54048731e-01 6.14971314e-03 -9.37724695e+01] [-1.16119681e-02 -1.27927121e-04 -9.99932571e-01 -3.95277521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters 0.012366950490766835 Centerline is valid? [True, True] Translation: X:249.48, Y:-93.80, Z:-3.95 [[ 8.95189095e-01 -4.45557643e-01 -1.07177981e-02 2.49482710e+02] [-4.45522889e-01 -8.95253228e-01 5.56896106e-03 -9.37991693e+01] [-1.20764365e-02 -2.10248838e-04 -9.99927055e-01 -3.95150391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters 0.013124485185220873 Centerline is valid? [True, True] Translation: X:249.51, Y:-93.82, Z:-3.95 [[ 9.30003257e-01 -3.67340635e-01 -1.24418839e-02 2.49508427e+02] [-3.67303235e-01 -9.30086426e-01 5.25107479e-03 -9.38232740e+01] [-1.35009605e-02 -3.13572447e-04 -9.99908809e-01 -3.95004434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters 0.013585693732330172 Centerline is valid? [True, True] Translation: X:249.54, Y:-93.85, Z:-3.95 [[ 9.57177376e-01 -2.89188076e-01 -1.34806161e-02 2.49537109e+02] [-2.89153716e-01 -9.57272223e-01 4.47433607e-03 -9.38459060e+01] [-1.41985440e-02 -3.84763021e-04 -9.99899122e-01 -3.95061166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters 0.014595164242567807 Centerline is valid? [True, True] Translation: X:249.57, Y:-93.87, Z:-3.95 [[ 9.77776841e-01 -2.09229918e-01 -1.32397322e-02 2.49566880e+02] [-2.09204694e-01 -9.77866377e-01 3.27780871e-03 -9.38679104e+01] [-1.36325046e-02 -4.35151330e-04 -9.99906978e-01 -3.95073569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters 0.01471164779636959 Centerline is valid? [True, True] Translation: X:249.60, Y:-93.88, Z:-3.95 [[ 9.91258260e-01 -1.31387532e-01 -1.20157435e-02 2.49599079e+02] [-1.31372786e-01 -9.91330996e-01 2.01182591e-03 -9.38831958e+01] [-1.21759078e-02 -4.15697345e-04 -9.99925784e-01 -3.95194821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters 0.014152470404951151 Centerline is valid? [True, True] Translation: X:249.63, Y:-93.89, Z:-3.95 [[ 9.98388611e-01 -5.58876222e-02 -9.83640084e-03 2.49629746e+02] [-5.58815108e-02 -9.98437006e-01 8.95273408e-04 -9.38918218e+01] [-9.87106131e-03 -3.44157835e-04 -9.99951221e-01 -3.95459285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters 0.013266360191816925 Centerline is valid? [True, True] Translation: X:249.66, Y:-93.90, Z:-3.96 [[ 9.99798109e-01 1.81764318e-02 -8.56496208e-03 2.49660672e+02] [ 1.81781988e-02 -9.99834755e-01 1.28490931e-04 -9.38976240e+01] [-8.56121125e-03 -2.84160573e-04 -9.99963312e-01 -3.95563287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters 0.012656187920311236 Centerline is valid? [True, True] Translation: X:249.69, Y:-93.90, Z:-3.96 [[ 9.95730958e-01 9.18183664e-02 -9.44707284e-03 2.49692100e+02] [ 9.18166358e-02 -9.95775740e-01 -6.17647640e-04 -9.39017151e+01] [-9.46387735e-03 -2.52387571e-04 -9.99955185e-01 -3.95544146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters 0.012381730978434624 Centerline is valid? [True, True] Translation: X:249.72, Y:-93.91, Z:-3.95 [[ 9.86233799e-01 1.65043195e-01 -1.01802669e-02 2.49723742e+02] [ 1.65036626e-01 -9.86286317e-01 -1.48780724e-03 -9.39051528e+01] [-1.02862104e-02 -2.12791119e-04 -9.99947073e-01 -3.95406123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters 0.012373047654441227 Centerline is valid? [True, True] Translation: X:249.75, Y:-93.91, Z:-3.95 [[ 9.70710057e-01 2.40024947e-01 -1.04885299e-02 2.49754375e+02] [ 2.40013105e-01 -9.70766700e-01 -2.39226332e-03 -9.39061295e+01] [-1.07561184e-02 -1.95190560e-04 -9.99942132e-01 -3.95360047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters 0.012446663033987776 Centerline is valid? [True, True] Translation: X:249.79, Y:-93.90, Z:-3.95 [[ 9.49349682e-01 3.14042289e-01 -1.06123622e-02 2.49785546e+02] [ 3.14024791e-01 -9.49408978e-01 -3.31998939e-03 -9.39039951e+01] [-1.11180890e-02 -1.80713943e-04 -9.99938176e-01 -3.95367353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters 0.012600667502285542 Centerline is valid? [True, True] Translation: X:249.82, Y:-93.90, Z:-3.95 [[ 9.20594685e-01 3.90344035e-01 -1.17029699e-02 2.49817494e+02] [ 3.90315553e-01 -9.20669042e-01 -4.72066750e-03 -9.39036452e+01] [-1.26172465e-02 -2.22029741e-04 -9.99920375e-01 -3.95208531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters 0.01296913596224174 Centerline is valid? [True, True] Translation: X:249.85, Y:-93.90, Z:-3.95 [[ 8.85875437e-01 4.63747038e-01 -1.27826479e-02 2.49849129e+02] [ 4.63703126e-01 -8.85967614e-01 -6.38734158e-03 -9.38986138e+01] [-1.42871228e-02 -2.68964772e-04 -9.99897898e-01 -3.95071543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters 0.013141725817756996 Centerline is valid? [True, True] Translation: X:249.88, Y:-93.89, Z:-3.95 [[ 8.45385251e-01 5.33994285e-01 -1.31864083e-02 2.49881380e+02] [ 5.33935173e-01 -8.45488026e-01 -7.95168043e-03 -9.38925566e+01] [-1.53951022e-02 -3.18453835e-04 -9.99881438e-01 -3.95040373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters 0.013212911059005922 Centerline is valid? [True, True] Translation: X:249.91, Y:-93.89, Z:-3.95 [[ 7.99948717e-01 5.99933577e-01 -1.27182204e-02 2.49914009e+02] [ 5.99864622e-01 -8.00049737e-01 -9.10239192e-03 -9.38852475e+01] [-1.56360394e-02 -3.47763713e-04 -9.99877689e-01 -3.95062879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters 0.013381633010852519 Centerline is valid? [True, True] Translation: X:249.94, Y:-93.87, Z:-3.95 [[ 7.50476329e-01 6.60786137e-01 -1.21227227e-02 2.49943871e+02] [ 6.60707425e-01 -7.50574152e-01 -1.02049604e-02 -9.38727401e+01] [-1.58422987e-02 -3.50991686e-04 -9.99874441e-01 -3.95057786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters 0.013019504181488558 Centerline is valid? [True, True] Translation: X:249.97, Y:-93.86, Z:-3.95 [[ 6.97888648e-01 7.16119557e-01 -1.11451792e-02 2.49969986e+02] [ 7.16035417e-01 -6.97977564e-01 -1.09819017e-02 -9.38556608e+01] [-1.56434396e-02 -3.16198515e-04 -9.99877584e-01 -3.95168814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters 0.01266168952248386 Centerline is valid? [True, True] Translation: X:250.00, Y:-93.84, Z:-3.95 [[ 6.40884423e-01 7.67579927e-01 -9.39209736e-03 2.49995480e+02] [ 7.67503859e-01 -6.40953178e-01 -1.08097056e-02 -9.38371890e+01] [-1.43172077e-02 -2.80698999e-04 -9.99897464e-01 -3.95315947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters 0.012710525221827905 Centerline is valid? [True, True] Translation: X:250.02, Y:-93.82, Z:-3.95 [[ 5.78992088e-01 8.15295251e-01 -7.86225751e-03 2.50019482e+02] [ 8.15226304e-01 -5.79045405e-01 -1.06062198e-02 -9.38172991e+01] [-1.31998048e-02 -2.68601749e-04 -9.99912843e-01 -3.95355187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters 0.012798953078714474 Centerline is valid? [True, True] Translation: X:250.04, Y:-93.80, Z:-3.95 [[ 5.11694682e-01 8.59142807e-01 -6.49540603e-03 2.50041257e+02] [ 8.59080521e-01 -5.11735827e-01 -1.03489982e-02 -9.37954029e+01] [-1.22151993e-02 -2.84549461e-04 -9.99925351e-01 -3.95458235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters 0.013127397259428988 Centerline is valid? [True, True] Translation: X:250.06, Y:-93.77, Z:-3.95 [[ 4.41805085e-01 8.97093475e-01 -5.61813153e-03 2.50061487e+02] [ 8.97029300e-01 -4.41840704e-01 -1.07343748e-02 -9.37728710e+01] [-1.21120568e-02 -2.97127228e-04 -9.99926602e-01 -3.95419493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters 0.013457670900064908 Centerline is valid? [True, True] Translation: X:250.08, Y:-93.75, Z:-3.95 [[ 3.66660798e-01 9.30340611e-01 -5.11925034e-03 2.50082465e+02] [ 9.30263082e-01 -3.66696360e-01 -1.20157496e-02 -9.37499607e+01] [-1.30559503e-02 -3.56545234e-04 -9.99914704e-01 -3.95386932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters 0.01459571775134428 Centerline is valid? [True, True] Translation: X:250.10, Y:-93.73, Z:-3.95 [[ 2.88604819e-01 9.57438904e-01 -4.24305495e-03 2.50104172e+02] [ 9.57355663e-01 -2.88635707e-01 -1.26318305e-02 -9.37273208e+01] [-1.33189031e-02 -4.16505536e-04 -9.99911213e-01 -3.95113855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters 0.014962382753702139 Centerline is valid? [True, True] Translation: X:250.12, Y:-93.70, Z:-3.95 [[ 2.10332488e-01 9.77623978e-01 -3.40622951e-03 2.50122677e+02] [ 9.77529143e-01 -2.10359555e-01 -1.36246845e-02 -9.37009681e+01] [-1.40363512e-02 -4.63974825e-04 -9.99901378e-01 -3.95030207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters 0.015807901945920404 Centerline is valid? [True, True] Translation: X:250.14, Y:-93.67, Z:-3.95 [[ 1.33195465e-01 9.91087216e-01 -2.25802313e-03 2.50137262e+02] [ 9.90996700e-01 -1.33213835e-01 -1.34020516e-02 -9.36742581e+01] [-1.35834019e-02 -4.52600968e-04 -9.99907639e-01 -3.95003070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters 0.016172085040439304 Centerline is valid? [True, True] Translation: X:250.14, Y:-93.65, Z:-3.95 [[ 5.75674100e-02 9.98340947e-01 -1.16032797e-03 2.50144832e+02] [ 9.98256200e-01 -5.75776493e-02 -1.30143674e-02 -9.36459753e+01] [-1.30595849e-02 -4.09101165e-04 -9.99914636e-01 -3.94969793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters 0.013924667176479277 Centerline is valid? [True, True] Translation: X:250.15, Y:-93.62, Z:-3.95 [[-1.76169502e-02 9.99844800e-01 -1.38435391e-04 2.50148611e+02] [ 9.99769272e-01 1.76139172e-02 -1.22944307e-02 -9.36167117e+01] [-1.22900843e-02 -3.54993824e-04 -9.99924411e-01 -3.95202888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters 0.012678620982810168 Centerline is valid? [True, True] Translation: X:250.15, Y:-93.59, Z:-3.95 [[-8.96301253e-02 9.95974832e-01 7.58633367e-04 2.50151637e+02] [ 9.95909230e-01 8.96329312e-02 -1.14342626e-02 -9.35873956e+01] [-1.14562363e-02 -2.69324413e-04 -9.99934339e-01 -3.95417334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters 0.012316767458689596 Centerline is valid? [True, True] Translation: X:250.15, Y:-93.56, Z:-3.95 [[-1.59287037e-01 9.87230902e-01 1.66894324e-03 2.50154498e+02] [ 9.87164584e-01 1.59295684e-01 -1.14441410e-02 -9.35589794e+01] [-1.15638651e-02 -1.75381656e-04 -9.99933121e-01 -3.95363654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters 0.01234388654678239 Centerline is valid? [True, True] Translation: X:250.16, Y:-93.53, Z:-3.95 [[-2.34392397e-01 9.72138624e-01 2.58824228e-03 2.50156369e+02] [ 9.72071885e-01 2.34406636e-01 -1.13920542e-02 -9.35293714e+01] [-1.16813571e-02 -1.54253342e-04 -9.99931759e-01 -3.95326897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters 0.012426040575389614 Centerline is valid? [True, True] Translation: X:250.15, Y:-93.50, Z:-3.95 [[-3.06915386e-01 9.51731431e-01 3.19819543e-03 2.50153650e+02] [ 9.51675565e-01 3.06932024e-01 -1.03126551e-02 -9.35004992e+01] [-1.07965066e-02 -1.21468063e-04 -9.99941709e-01 -3.95437600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters 0.012335635370908664 Centerline is valid? [True, True] Translation: X:250.15, Y:-93.47, Z:-3.96 [[-3.80990080e-01 9.24572651e-01 3.45999762e-03 2.50151022e+02] [ 9.24531357e-01 3.81005769e-01 -8.73920251e-03 -9.34710355e+01] [-9.39830668e-03 -1.30673170e-04 -9.99955826e-01 -3.95526495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters 0.012271337963625312 Centerline is valid? [True, True] Translation: X:250.15, Y:-93.44, Z:-3.95 [[-4.55161873e-01 8.90399948e-01 3.94986713e-03 2.50150045e+02] [ 8.90363306e-01 4.55178983e-01 -8.07939490e-03 -9.34399255e+01] [-8.99178930e-03 -1.60615761e-04 -9.99959560e-01 -3.95493709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters 0.012295931807232258 Centerline is valid? [True, True] Translation: X:250.14, Y:-93.41, Z:-3.95 [[-5.25608618e-01 8.50712885e-01 4.81343089e-03 2.50144674e+02] [ 8.50673965e-01 5.25630625e-01 -8.13947560e-03 -9.34096384e+01] [-9.45444345e-03 -1.83518179e-04 -9.99955289e-01 -3.95437767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters 0.012514640824969748 Centerline is valid? [True, True] Translation: X:250.14, Y:-93.38, Z:-3.96 [[-5.94026520e-01 8.04428908e-01 5.16007260e-03 2.50138731e+02] [ 8.04395293e-01 5.94048890e-01 -7.35723268e-03 -9.33782248e+01] [-8.98370604e-03 -2.19653214e-04 -9.99959622e-01 -3.95516368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters 0.013439253850069584 Centerline is valid? [True, True] Translation: X:250.13, Y:-93.35, Z:-3.95 [[-6.58565291e-01 7.52506617e-01 5.05453172e-03 2.50131890e+02] [ 7.52481517e-01 6.58584641e-01 -6.15118651e-03 -9.33468466e+01] [-7.95764551e-03 -2.47516241e-04 -9.99968307e-01 -3.95479416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters 0.013498252975749529 Centerline is valid? [True, True] Translation: X:250.12, Y:-93.32, Z:-3.96 [[-7.17643642e-01 6.96391675e-01 5.12232977e-03 2.50119131e+02] [ 6.96371268e-01 7.17661874e-01 -5.33769549e-03 -9.33175268e+01] [-7.39322748e-03 -2.63519948e-04 -9.99972635e-01 -3.95513716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters 0.013894731772333361 Centerline is valid? [True, True] Translation: X:250.15, Y:-93.31, Z:-3.95 [[-7.65668468e-01 6.43204492e-01 6.30702114e-03 2.50146053e+02] [ 6.43179713e-01 7.65694396e-01 -5.65235278e-03 -9.33059436e+01] [-8.46486944e-03 -2.71280239e-04 -9.99964136e-01 -3.95419144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters 0.01370523427320806 Centerline is valid? [True, True] Translation: X:250.16, Y:-93.29, Z:-3.95 [[-8.09477537e-01 5.87094005e-01 8.16987612e-03 2.50161684e+02] [ 5.87060278e-01 8.09518707e-01 -6.30024498e-03 -9.32858285e+01] [-1.03125036e-02 -3.03697041e-04 -9.99946779e-01 -3.95219704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters 0.013968502604034485 Centerline is valid? [True, True] Translation: X:250.17, Y:-93.26, Z:-3.95 [[-8.48898329e-01 5.28477027e-01 9.14648662e-03 2.50172184e+02] [ 5.28442360e-01 8.48947545e-01 -6.06118406e-03 -9.32635345e+01] [-1.09680839e-02 -3.11938043e-04 -9.99939800e-01 -3.95092200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters 0.013362700904688754 Centerline is valid? [True, True] Translation: X:250.19, Y:-93.25, Z:-3.95 [[-8.82797708e-01 4.69658255e-01 9.45146057e-03 2.50185478e+02] [ 4.69627947e-01 8.82848258e-01 -5.34270053e-03 -9.32476845e+01] [-1.08534489e-02 -2.77853758e-04 -9.99941061e-01 -3.95118866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters 0.012773199117258839 Centerline is valid? [True, True] Translation: X:250.20, Y:-93.23, Z:-3.95 [[-9.12420654e-01 4.09140672e-01 9.61568420e-03 2.50198829e+02] [ 4.09115193e-01 9.12471290e-01 -4.57214527e-03 -9.32313156e+01] [-1.06446863e-02 -2.37797279e-04 -9.99943315e-01 -3.95183348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters 0.012581227436809925 Centerline is valid? [True, True] Translation: X:250.21, Y:-93.21, Z:-3.95 [[-9.38607148e-01 3.44896054e-01 7.95830849e-03 2.50210071e+02] [ 3.44881795e-01 9.38640863e-01 -3.14282224e-03 -9.32086494e+01] [-8.55394054e-03 -2.05199701e-04 -9.99963393e-01 -3.95338297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters 0.012406842806087568 Centerline is valid? [True, True] Translation: X:250.22, Y:-93.18, Z:-3.95 [[-9.60543125e-01 2.78013143e-01 8.09927728e-03 2.50219421e+02] [ 2.78001496e-01 9.60577250e-01 -2.55261278e-03 -9.31847903e+01] [-8.48964139e-03 -2.00283460e-04 -9.99963942e-01 -3.95434119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters 0.012262649949179088 Centerline is valid? [True, True] Translation: X:250.22, Y:-93.16, Z:-3.95 [[-9.77403002e-01 2.11152114e-01 9.90742405e-03 2.50222774e+02] [ 2.11139269e-01 9.77453195e-01 -2.33692749e-03 -9.31580426e+01] [-1.01774905e-02 -1.92273669e-04 -9.99948190e-01 -3.95283777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters 0.012304484736913672 Centerline is valid? [True, True] Translation: X:250.38, Y:-92.49, Z:-4.97 [[-9.58065986e-01 -2.86444139e-01 7.70212346e-03 2.50380077e+02] [ 2.86435268e-01 -9.58096944e-01 -2.25479289e-03 -9.24879682e+01] [ 8.02525316e-03 4.59194252e-05 9.99967796e-01 -4.97374218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters 0.012389718809570124 Centerline is valid? [True, True] Translation: X:250.18, Y:-93.15, Z:-3.95 [[-9.77799630e-01 2.09106334e-01 1.35064482e-02 2.50179749e+02] [ 2.09083723e-01 9.77892891e-01 -3.08076401e-03 -9.31470608e+01] [-1.38520670e-02 -1.88391422e-04 -9.99904038e-01 -3.95116042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters 0.01239021684325526 Centerline is valid? [True, True] Translation: X:250.33, Y:-92.48, Z:-4.97 [[-9.60237073e-01 -2.78995869e-01 1.02989770e-02 2.50332106e+02] [ 2.78979691e-01 -9.60292302e-01 -3.00450132e-03 -9.24781520e+01] [ 1.07282718e-02 -1.18281415e-05 9.99942450e-01 -4.97497870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters 0.01249719278401316 Centerline is valid? [True, True] Translation: X:250.14, Y:-93.14, Z:-3.95 [[-9.76925700e-01 2.13170442e-01 1.32113225e-02 2.50138821e+02] [ 2.13149855e-01 9.77015024e-01 -2.96365567e-03 -9.31412602e+01] [-1.35394243e-02 -7.92799300e-05 -9.99908335e-01 -3.95134412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters 0.013125575917549308 Centerline is valid? [True, True] Translation: X:250.14, Y:-93.12, Z:-3.95 [[-9.88739581e-01 1.49269962e-01 1.06075453e-02 2.50142271e+02] [ 1.49261087e-01 9.88796479e-01 -1.62792977e-03 -9.31191458e+01] [-1.07317044e-02 -2.63048614e-05 -9.99942413e-01 -3.95429228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters 0.01383308012898471 Centerline is valid? [True, True] Translation: X:250.25, Y:-92.43, Z:-4.97 [[-9.81371225e-01 -1.92062564e-01 4.74240191e-03 2.50248482e+02] [ 1.92058998e-01 -9.81382647e-01 -1.20046846e-03 -9.24275244e+01] [ 4.88467599e-03 -2.67284241e-04 9.99988034e-01 -4.97045296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters 0.013749765204800219 Centerline is valid? [True, True] Translation: X:250.10, Y:-93.11, Z:-3.96 [[-9.88811940e-01 1.48921871e-01 8.55712444e-03 2.50095040e+02] [ 1.48916152e-01 9.88848965e-01 -1.30514963e-03 -9.31132633e+01] [-8.65606898e-03 -1.62534920e-05 -9.99962535e-01 -3.95566086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters 0.013970331153441132 Centerline is valid? [True, True] Translation: X:250.10, Y:-93.08, Z:-3.96 [[-9.96809319e-01 7.94045852e-02 8.12973212e-03 2.50095356e+02] [ 7.94018300e-02 9.96842471e-01 -6.61628917e-04 -9.30849558e+01] [-8.15659862e-03 -1.40022638e-05 -9.99966734e-01 -3.95552875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters 0.014462034758660284 Centerline is valid? [True, True] Translation: X:250.15, Y:-92.39, Z:-4.97 [[-9.93507265e-01 -1.13707675e-01 3.72536146e-03 2.50148615e+02] [ 1.13706154e-01 -9.93514232e-01 -6.18252645e-04 -9.23899400e+01] [ 3.77149970e-03 -1.90641970e-04 9.99992870e-01 -4.96974304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters 0.015565550851881691 Centerline is valid? [True, True] Translation: X:250.04, Y:-93.08, Z:-3.96 [[-9.96651138e-01 8.15082320e-02 6.55119552e-03 2.50041774e+02] [ 8.15064939e-02 9.96672669e-01 -5.32295554e-04 -9.30816484e+01] [-6.57278399e-03 3.45200856e-06 -9.99978399e-01 -3.95664536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters 0.015733123351808206 Centerline is valid? [True, True] Translation: X:250.09, Y:-92.39, Z:-4.97 [[-9.94323887e-01 -1.06367213e-01 2.45432935e-03 2.50090262e+02] [ 1.06366437e-01 -9.94326899e-01 -4.44962789e-04 -9.23912930e+01] [ 2.48773515e-03 -1.81378861e-04 9.99996889e-01 -4.97081997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters 0.01398045470783026 Centerline is valid? [True, True] Translation: X:249.99, Y:-93.07, Z:-3.96 [[-9.97248700e-01 7.38388323e-02 6.54656169e-03 2.49985041e+02] [ 7.38371132e-02 9.97270187e-01 -5.04230530e-04 -9.30689547e+01] [-6.56592260e-03 -1.94640237e-05 -9.99978444e-01 -3.95608345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters 0.012954284211208282 Centerline is valid? [True, True] Translation: X:250.02, Y:-92.40, Z:-4.97 [[-9.93717609e-01 -1.11882899e-01 2.74432037e-03 2.50020132e+02] [ 1.11881969e-01 -9.93721382e-01 -4.90696028e-04 -9.24023259e+01] [ 2.78199032e-03 -1.80573317e-04 9.99996114e-01 -4.97201652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters 0.012261612816011869 Centerline is valid? [True, True] Translation: X:249.92, Y:-93.05, Z:-3.95 [[-9.98434310e-01 5.53951599e-02 7.76560503e-03 2.49923435e+02] [ 5.53926354e-02 9.98464503e-01 -5.39948930e-04 -9.30486022e+01] [-7.78359153e-03 -1.08946209e-04 -9.99969701e-01 -3.95378568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters 0.012164179014445494 Centerline is valid? [True, True] Translation: X:249.92, Y:-93.01, Z:-3.95 [[-9.99738097e-01 -2.14393285e-02 8.00573789e-03 2.49915036e+02] [-2.14398698e-02 9.99770139e-01 1.82115092e-05 -9.30149364e+01] [-8.00428813e-03 -1.53435238e-04 -9.99967953e-01 -3.95384159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters 0.012805956328786545 Centerline is valid? [True, True] Translation: X:249.89, Y:-92.39, Z:-4.97 [[-9.98268949e-01 -5.87131846e-02 3.44478489e-03 2.49893868e+02] [ 5.87121853e-02 -9.98274875e-01 -3.90578531e-04 -9.23937721e+01] [ 3.46177431e-03 -1.87651571e-04 9.99993990e-01 -4.97267695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters 0.013630291611990435 Centerline is valid? [True, True] Translation: X:249.85, Y:-93.00, Z:-3.95 [[-9.99198507e-01 -3.94879853e-02 6.56066397e-03 2.49846973e+02] [-3.94887144e-02 9.99220016e-01 1.84251268e-05 -9.30043633e+01] [-6.55627433e-03 -2.40661826e-04 -9.99978478e-01 -3.95482552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters 0.014348283471353198 Centerline is valid? [True, True] Translation: X:249.84, Y:-92.98, Z:-3.96 [[-9.93706066e-01 -1.11831359e-01 6.48089655e-03 2.49839864e+02] [-1.11830603e-01 9.93727169e-01 4.79960895e-04 -9.29770265e+01] [-6.49391765e-03 -2.47822518e-04 -9.99978884e-01 -3.95611390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters 0.014082662506249195 Centerline is valid? [True, True] Translation: X:249.83, Y:-92.95, Z:-3.96 [[-9.83320429e-01 -1.81762168e-01 6.59159307e-03 2.49826056e+02] [-1.81759764e-01 9.83342490e-01 9.66912505e-04 -9.29515422e+01] [-6.65754165e-03 -2.47301581e-04 -9.99977808e-01 -3.95587816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters 0.014195149205189507 Centerline is valid? [True, True] Translation: X:249.81, Y:-92.93, Z:-3.95 [[-9.67849776e-01 -2.51402568e-01 7.97239892e-03 2.49810964e+02] [-2.51396357e-01 9.67882572e-01 1.78821332e-03 -9.29271154e+01] [-8.16590740e-03 -2.73510180e-04 -9.99966621e-01 -3.95472968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters 0.014281883034402558 Centerline is valid? [True, True] Translation: X:249.79, Y:-92.91, Z:-3.95 [[-9.47722053e-01 -3.18906270e-01 1.10318084e-02 2.49789565e+02] [-3.18888567e-01 9.47786204e-01 3.37537536e-03 -9.29065847e+01] [-1.15322242e-02 -3.18999918e-04 -9.99933451e-01 -3.95210664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters 0.013656555328595171 Centerline is valid? [True, True] Translation: X:249.76, Y:-92.89, Z:-3.95 [[-9.23469808e-01 -3.83484000e-01 1.19806432e-02 2.49761528e+02] [-3.83455932e-01 9.23547471e-01 4.64944526e-03 -9.28929358e+01] [-1.28476806e-02 -3.00426390e-04 -9.99917420e-01 -3.95161334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters 0.012764228540373547 Centerline is valid? [True, True] Translation: X:249.71, Y:-92.89, Z:-3.95 [[-8.94483259e-01 -4.46966205e-01 1.09959795e-02 2.49712130e+02] [-4.46935909e-01 8.94550807e-01 5.21023377e-03 -9.28917518e+01] [-1.21652608e-02 -2.54031226e-04 -9.99925968e-01 -3.95372401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters 0.012282565542370932 Centerline is valid? [True, True] Translation: X:249.65, Y:-92.90, Z:-3.95 [[-8.61907980e-01 -5.06963868e-01 1.01128492e-02 2.49654365e+02] [-5.06931507e-01 8.61967286e-01 5.73111583e-03 -9.29010058e+01] [-1.16224138e-02 -1.86827409e-04 -9.99932440e-01 -3.95442032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters 0.012136114707209539 Centerline is valid? [True, True] Translation: X:249.59, Y:-92.92, Z:-3.96 [[-8.24628328e-01 -5.65598440e-01 9.30188480e-03 2.49586410e+02] [-5.65564268e-01 8.24680779e-01 6.21872142e-03 -9.29195646e+01] [-1.11883847e-02 -1.32679818e-04 -9.99937399e-01 -3.95564932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters 0.012660287903345327 Centerline is valid? [True, True] Translation: X:249.51, Y:-92.95, Z:-3.96 [[-7.84841240e-01 -6.19634009e-01 8.82746302e-03 2.49514197e+02] [-6.19595488e-01 7.84890880e-01 6.90926202e-03 -9.29508392e+01] [-1.12098089e-02 -4.67824903e-05 -9.99937167e-01 -3.95556440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters 0.013309910763873362 Centerline is valid? [True, True] Translation: X:249.44, Y:-92.99, Z:-3.96 [[-7.39169155e-01 -6.73451324e-01 9.60595519e-03 2.49437376e+02] [-6.73393981e-01 7.39231570e-01 8.78822801e-03 -9.29909760e+01] [-1.30194691e-02 2.73946703e-05 -9.99915243e-01 -3.95551623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters 0.013296237612945173 Centerline is valid? [True, True] Translation: X:249.36, Y:-93.04, Z:-3.96 [[-6.86768443e-01 -7.26822412e-01 8.84794453e-03 2.49355122e+02] [-7.26761436e-01 6.86825436e-01 9.41462854e-03 -9.30391356e+01] [-1.29197564e-02 3.53249114e-05 -9.99916536e-01 -3.95582510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters 0.013144461048240283 Centerline is valid? [True, True] Translation: X:249.27, Y:-93.10, Z:-3.96 [[-6.27737065e-01 -7.78389363e-01 7.49507108e-03 2.49272409e+02] [-7.78334065e-01 6.27781808e-01 9.27820693e-03 -9.30961166e+01] [-1.19273269e-02 -9.39475411e-06 -9.99928867e-01 -3.95633711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters 0.012474710842167983 Centerline is valid? [True, True] Translation: X:249.19, Y:-93.16, Z:-3.96 [[-5.63605182e-01 -8.26021352e-01 6.15833792e-03 2.49190036e+02] [-8.25973298e-01 5.63638822e-01 8.91002523e-03 -9.31634620e+01] [-1.08309494e-02 -6.48862941e-05 -9.99941341e-01 -3.95729211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters 0.012142995870801608 Centerline is valid? [True, True] Translation: X:249.11, Y:-93.24, Z:-3.96 [[-4.91299564e-01 -8.70970074e-01 5.98902966e-03 2.49107114e+02] [-8.70909437e-01 4.91336039e-01 1.02786240e-02 -9.32411761e+01] [-1.18950000e-02 -1.66018945e-04 -9.99929238e-01 -3.95538649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters 0.012182717138566234 Centerline is valid? [True, True] Translation: X:249.03, Y:-93.33, Z:-3.96 [[-4.20803297e-01 -9.07135190e-01 5.50748042e-03 2.49031003e+02] [-9.07063797e-01 4.20839286e-01 1.13825792e-02 -9.33280793e+01] [-1.26433023e-02 -2.05809259e-04 -9.99920049e-01 -3.95603215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters 0.013023896216574063 Centerline is valid? [True, True] Translation: X:248.96, Y:-93.42, Z:-3.96 [[-3.44152005e-01 -9.38901565e-01 4.82173054e-03 2.48961364e+02] [-9.38821115e-01 3.44185653e-01 1.22942911e-02 -9.34152105e+01] [-1.32026996e-02 -2.95637509e-04 -9.99912797e-01 -3.95547325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters 0.014282217684193256 Centerline is valid? [True, True] Translation: X:248.90, Y:-93.51, Z:-3.96 [[-2.65923146e-01 -9.63986964e-01 3.74342232e-03 2.48896706e+02] [-9.63909784e-01 2.65949245e-01 1.22035494e-02 -9.35124040e+01] [-1.27596229e-02 -3.63115144e-04 -9.99918527e-01 -3.95549474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters 0.015599716737208504 Centerline is valid? [True, True] Translation: X:248.84, Y:-93.62, Z:-3.96 [[-1.86715377e-01 -9.82410774e-01 2.53755928e-03 2.48839373e+02] [-9.82346646e-01 1.86732200e-01 1.12317414e-02 -9.36167398e+01] [-1.15080278e-02 -3.95624023e-04 -9.99933702e-01 -3.95704532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters 0.01634973910523015 Centerline is valid? [True, True] Translation: X:248.79, Y:-93.72, Z:-3.96 [[-1.12681819e-01 -9.93629773e-01 1.63796400e-03 2.48790883e+02] [-9.93567176e-01 1.12693116e-01 1.11592259e-02 -9.37185156e+01] [-1.12727263e-02 -3.69985402e-04 -9.99936392e-01 -3.95606880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters 0.01392444141977944 Centerline is valid? [True, True] Translation: X:248.76, Y:-93.83, Z:-3.96 [[-3.93936924e-02 -9.99223455e-01 7.89429285e-04 2.48756968e+02] [-9.99157753e-01 3.94001588e-02 1.14634732e-02 -9.38293312e+01] [-1.14856750e-02 -3.37175852e-04 -9.99933981e-01 -3.95841267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters 0.014058748382184419 Centerline is valid? [True, True] Translation: X:248.73, Y:-93.94, Z:-3.96 [[ 3.67450158e-02 -9.99324670e-01 -8.70983658e-05 2.48727686e+02] [-9.99261990e-01 -3.67436870e-02 1.11972149e-02 -9.39428098e+01] [-1.11928534e-02 -3.24407753e-04 -9.99937305e-01 -3.95885298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters 0.014113407120800581 Centerline is valid? [True, True] Translation: X:248.71, Y:-94.06, Z:-3.96 [[ 1.12943366e-01 -9.93600942e-01 -9.81754202e-04 2.48707296e+02] [-9.93534219e-01 -1.12947163e-01 1.15193125e-02 -9.40586379e+01] [-1.15564861e-02 -3.25623531e-04 -9.99933169e-01 -3.95830613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters 0.013469496434977577 Centerline is valid? [True, True] Translation: X:248.70, Y:-94.18, Z:-3.96 [[ 1.85669622e-01 -9.82609408e-01 -2.35447709e-03 2.48698295e+02] [-9.82506726e-01 -1.85684266e-01 1.42086735e-02 -9.41781659e+01] [-1.43987656e-02 -3.24829473e-04 -9.99896280e-01 -3.95533968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters 0.012520087690832479 Centerline is valid? [True, True] Translation: X:248.70, Y:-94.29, Z:-3.95 [[ 2.54165753e-01 -9.67152342e-01 -4.01473569e-03 2.48699465e+02] [-9.67016103e-01 -2.54197342e-01 1.62347839e-02 -9.42901204e+01] [-1.67220444e-02 -2.44012002e-04 -9.99860147e-01 -3.95392632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters 0.012281637860897535 Centerline is valid? [True, True] Translation: X:248.71, Y:-94.41, Z:-3.96 [[ 3.22697762e-01 -9.46487420e-01 -5.26482648e-03 2.48708889e+02] [-9.46353503e-01 -3.22740669e-01 1.59219518e-02 -9.44064910e+01] [-1.67691007e-02 -1.55591249e-04 -9.99859377e-01 -3.95567483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters 0.013064440276876168 Centerline is valid? [True, True] Translation: X:248.73, Y:-94.52, Z:-3.96 [[ 3.85843131e-01 -9.22540206e-01 -6.68184668e-03 2.48728127e+02] [-9.22402113e-01 -3.85900983e-01 1.59616147e-02 -9.45167550e+01] [-1.73037625e-02 4.67009959e-06 -9.99850279e-01 -3.95746368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters 0.014539931902780903 Centerline is valid? [True, True] Translation: X:248.75, Y:-94.62, Z:-3.96 [[ 4.47818076e-01 -8.94089281e-01 -7.95789053e-03 2.48752090e+02] [-8.93954270e-01 -4.47888751e-01 1.55379886e-02 -9.46248686e+01] [-1.74565987e-02 1.55798056e-04 -9.99847610e-01 -3.95887542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters 0.015790273458451624 Centerline is valid? [True, True] Translation: X:248.78, Y:-94.73, Z:-3.96 [[ 5.10843448e-01 -8.59622160e-01 -9.41880048e-03 2.48783563e+02] [-8.59485054e-01 -5.10930210e-01 1.53545749e-02 -9.47338258e+01] [-1.80114826e-02 2.51534223e-04 -9.99837748e-01 -3.95892617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters 0.015199036831222324 Centerline is valid? [True, True] Translation: X:248.82, Y:-94.84, Z:-3.96 [[ 5.73693668e-01 -8.19008707e-01 -1.00156053e-02 2.48819424e+02] [-8.18891764e-01 -5.73781029e-01 1.38423194e-02 -9.48421264e+01] [-1.70837445e-02 2.60445661e-04 -9.99854028e-01 -3.96192031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters 0.014224225053817518 Centerline is valid? [True, True] Translation: X:248.86, Y:-94.95, Z:-3.96 [[ 6.38885270e-01 -7.69235583e-01 -1.01108855e-02 2.48860894e+02] [-7.69142656e-01 -6.38965257e-01 1.19572292e-02 -9.49480167e+01] [-1.56584307e-02 1.37415730e-04 -9.99877390e-01 -3.96372988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters 0.012907062698846346 Centerline is valid? [True, True] Translation: X:248.91, Y:-95.05, Z:-3.96 [[ 7.00323056e-01 -7.13755014e-01 -1.00696338e-02 2.48908007e+02] [-7.13681615e-01 -7.00395446e-01 1.02358520e-02 -9.50489219e+01] [-1.43586163e-02 1.81093463e-05 -9.99896910e-01 -3.96486790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters 0.011974906636416777 Centerline is valid? [True, True] Translation: X:248.92, Y:-95.09, Z:-3.96 [[ 7.63214707e-01 -6.46053358e-01 -1.08797889e-02 2.48919761e+02] [-6.45984164e-01 -7.63292226e-01 9.45713436e-03 -9.50875310e+01] [-1.44142717e-02 -1.89652712e-04 -9.99896091e-01 -3.96392703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters 0.013358558694237514 Centerline is valid? [True, True] Translation: X:248.93, Y:-95.13, Z:-3.96 [[ 8.19484955e-01 -5.72997578e-01 -1.08712661e-02 2.48934496e+02] [-5.72941037e-01 -8.19556975e-01 8.05808130e-03 -9.51263181e+01] [-1.35268830e-02 -3.74881921e-04 -9.99908437e-01 -3.96496162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters 0.016676742852698066 Centerline is valid? [True, True] Translation: X:248.95, Y:-95.16, Z:-3.96 [[ 8.66307905e-01 -4.99405140e-01 -1.02528034e-02 2.48954608e+02] [-4.99363844e-01 -8.66368453e-01 6.43856881e-03 -9.51608403e+01] [-1.20981598e-02 -4.57903726e-04 -9.99926710e-01 -3.96449627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters 0.017127280950718804 Centerline is valid? [True, True] Translation: X:248.98, Y:-95.19, Z:-3.96 [[ 9.03779187e-01 -4.27887147e-01 -9.78627934e-03 2.48983114e+02] [-4.27856532e-01 -9.03832053e-01 5.13886214e-03 -9.51864369e+01] [-1.10440060e-02 -4.57273109e-04 -9.99938909e-01 -3.96496548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters 0.01804689321977909 Centerline is valid? [True, True] Translation: X:249.01, Y:-95.21, Z:-3.96 [[ 9.35376496e-01 -3.53494814e-01 -1.05937649e-02 2.49013025e+02] [-3.53466033e-01 -9.35436351e-01 4.53844896e-03 -9.52087779e+01] [-1.15141109e-02 -5.00622434e-04 -9.99933585e-01 -3.96424142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters 0.017469350197920324 Centerline is valid? [True, True] Translation: X:249.05, Y:-95.23, Z:-3.96 [[ 9.60000972e-01 -2.79723300e-01 -1.23696570e-02 2.49045289e+02] [-2.79692744e-01 -9.60080507e-01 4.17003698e-03 -9.52283895e+01] [-1.30423230e-02 -5.43536266e-04 -9.99914798e-01 -3.96136118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters 0.015870358072778434 Centerline is valid? [True, True] Translation: X:249.08, Y:-95.24, Z:-3.96 [[ 9.77928203e-01 -2.08586490e-01 -1.21698948e-02 2.49079561e+02] [-2.08564390e-01 -9.78003814e-01 3.07178750e-03 -9.52411584e+01] [-1.25429369e-02 -4.65780948e-04 -9.99921226e-01 -3.96012642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters 0.014064871956501654 Centerline is valid? [True, True] Translation: X:249.11, Y:-95.25, Z:-3.96 [[ 9.90406005e-01 -1.37613397e-01 -1.25896387e-02 2.49114587e+02] [-1.37597230e-01 -9.90485941e-01 2.14558637e-03 -9.52492659e+01] [-1.27651215e-02 -3.92702220e-04 -9.99918445e-01 -3.96003695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters 0.012273577144721345 Centerline is valid? [True, True] Translation: X:249.15, Y:-95.25, Z:-3.96 [[ 9.97427871e-01 -7.01267674e-02 -1.48282797e-02 2.49145812e+02] [-7.01148464e-02 -9.97538049e-01 1.32292459e-03 -9.52465111e+01] [-1.48845457e-02 -2.79839304e-04 -9.99889180e-01 -3.95825403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters 0.011860443316821179 Centerline is valid? [True, True] Translation: X:249.18, Y:-95.24, Z:-3.96 [[ 9.99828588e-01 -1.30286684e-03 -1.84688038e-02 2.49176618e+02] [-1.30007213e-03 -9.99999142e-01 1.63326117e-04 -9.52412953e+01] [-1.84690007e-02 -1.39287344e-04 -9.99829424e-01 -3.95621536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters 0.01205087439043616 Centerline is valid? [True, True] Translation: X:249.21, Y:-95.25, Z:-3.96 [[ 9.96974362e-01 7.52146640e-02 -1.96182651e-02 2.49207128e+02] [ 7.52021506e-02 -9.97167360e-01 -1.37585078e-03 -9.52458978e+01] [-1.96661778e-02 -1.03647779e-04 -9.99806597e-01 -3.95527963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters 0.01237598656521663 Centerline is valid? [True, True] Translation: X:249.24, Y:-95.25, Z:-3.95 [[ 9.87490488e-01 1.55975151e-01 -2.31146810e-02 2.49237523e+02] [ 1.55936399e-01 -9.87760965e-01 -3.48067225e-03 -9.52527982e+01] [-2.33746780e-02 -1.67289386e-04 -9.99726761e-01 -3.95365242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters 0.012591775613430771 Centerline is valid? [True, True] Translation: X:249.27, Y:-95.26, Z:-3.95 [[ 9.71938438e-01 2.33658437e-01 -2.71920437e-02 2.49269685e+02] [ 2.33572734e-01 -9.72318721e-01 -6.33106891e-03 -9.52608309e+01] [-2.79186408e-02 -1.97910762e-04 -9.99610179e-01 -3.95232114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters 0.012287540643069614 Centerline is valid? [True, True] Translation: X:249.30, Y:-95.26, Z:-3.95 [[ 9.50978868e-01 3.08165111e-01 -2.59510497e-02 2.49301456e+02] [ 3.08055343e-01 -9.51332873e-01 -8.22620132e-03 -9.52593656e+01] [-2.72231149e-02 -1.71415907e-04 -9.99629368e-01 -3.95496736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters 0.01191981732526028 Centerline is valid? [True, True] Translation: X:249.33, Y:-95.25, Z:-3.96 [[ 9.25337628e-01 3.78649322e-01 -1.93640181e-02 2.49330716e+02] [ 3.78568531e-01 -9.25540211e-01 -7.82208192e-03 -9.52534746e+01] [-2.08840034e-02 -9.25411350e-05 -9.99781901e-01 -3.96059650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters 0.011214492023412065 Centerline is valid? [True, True] Translation: X:249.36, Y:-95.25, Z:-3.97 [[ 8.92945865e-01 4.49972767e-01 -1.31221486e-02 2.49363241e+02] [ 4.49925882e-01 -8.93042271e-01 -6.49633197e-03 -9.52522203e+01] [-1.46418059e-02 -1.03121512e-04 -9.99892798e-01 -3.96543246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters 0.010683992638166398 Centerline is valid? [True, True] Translation: X:249.40, Y:-95.25, Z:-3.97 [[ 8.53004209e-01 5.21860287e-01 -6.75732995e-03 2.49396295e+02] [ 5.21845254e-01 -8.53030961e-01 -3.96372782e-03 -9.52478887e+01] [-7.83272380e-03 -1.45204050e-04 -9.99969313e-01 -3.97198368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters 0.012301364963984431 Centerline is valid? [True, True] Translation: X:249.44, Y:-95.25, Z:-3.97 [[ 8.01448484e-01 5.98053463e-01 -3.51904126e-03 2.49436379e+02] [ 5.98048748e-01 -8.01456186e-01 -2.38271565e-03 -9.52504587e+01] [-4.24534873e-03 -1.94934379e-04 -9.99990969e-01 -3.97352893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters 0.011600603215490628 Centerline is valid? [True, True] Translation: X:249.47, Y:-95.24, Z:-3.97 [[ 7.54011001e-01 6.56855961e-01 -2.76703617e-03 2.49467223e+02] [ 6.56852364e-01 -7.54016058e-01 -2.18085112e-03 -9.52373534e+01] [-3.51889476e-03 -1.73148507e-04 -9.99993794e-01 -3.97311392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters 0.01307314540914546 Centerline is valid? [True, True] Translation: X:249.48, Y:-95.21, Z:-3.97 [[ 7.21241650e-01 6.92671662e-01 -4.05593303e-03 2.49483403e+02] [ 6.92660968e-01 -7.21253054e-01 -3.84914881e-03 -9.52096029e+01] [-5.59155039e-03 -3.32200551e-05 -9.99984367e-01 -3.96862896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters 0.01583178524677945 Centerline is valid? [True, True] Translation: X:249.51, Y:-95.20, Z:-3.96 [[ 6.72523790e-01 7.40017811e-01 -9.24074730e-03 2.49514260e+02] [ 7.39942706e-01 -6.72587224e-01 -1.05459716e-02 -9.51968088e+01] [-1.40194154e-02 2.54793212e-04 -9.99901691e-01 -3.95962200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters 0.01656129750081427 Centerline is valid? [True, True] Translation: X:249.54, Y:-95.18, Z:-3.96 [[ 6.14084942e-01 7.89196993e-01 -8.23350116e-03 2.49539556e+02] [ 7.89119975e-01 -6.14140074e-01 -1.10287933e-02 -9.51775191e+01] [-1.37604135e-02 2.75395652e-04 -9.99905283e-01 -3.96007600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters 0.01656129750081427 Centerline is valid? [True, True] Translation: X:249.56, Y:-95.16, Z:-3.96 [[ 5.50379825e-01 8.34882119e-01 -7.34135552e-03 2.49563717e+02] [ 8.34801075e-01 -5.50428716e-01 -1.16358804e-02 -9.51575512e+01] [-1.37554813e-02 2.75582321e-04 -9.99905351e-01 -3.96016788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters 0.016150287601677075 Centerline is valid? [True, True] Translation: X:249.59, Y:-95.14, Z:-3.96 [[ 4.84735251e-01 8.74639248e-01 -6.15806008e-03 2.49589106e+02] [ 8.74561150e-01 -4.84774284e-01 -1.16914404e-02 -9.51367357e+01] [-1.32110618e-02 2.81653187e-04 -9.99912690e-01 -3.96095132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters 0.017612752913310614 Centerline is valid? [True, True] Translation: X:249.61, Y:-95.11, Z:-3.96 [[ 4.16266908e-01 9.09227888e-01 -5.14879544e-03 2.49608451e+02] [ 9.09149273e-01 -4.16298643e-01 -1.19599116e-02 -9.51132972e+01] [-1.30177217e-02 2.97491787e-04 -9.99915222e-01 -3.96092087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters 0.017612752913310614 Centerline is valid? [True, True] Translation: X:249.63, Y:-95.09, Z:-3.96 [[ 3.43806955e-01 9.39030981e-01 -4.19469621e-03 2.49627111e+02] [ 9.38950182e-01 -3.43832414e-01 -1.23218142e-02 -9.50887333e+01] [-1.30128378e-02 2.97714653e-04 -9.99915285e-01 -3.96101123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters 0.017612752913310614 Centerline is valid? [True, True] Translation: X:249.64, Y:-95.06, Z:-3.96 [[ 2.69237433e-01 9.63068463e-01 -3.21556711e-03 2.49643770e+02] [ 9.62985980e-01 -2.69256469e-01 -1.26077814e-02 -9.50628491e+01] [-1.30079689e-02 2.97940653e-04 -9.99915348e-01 -3.96110121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters 0.01724021436266809 Centerline is valid? [True, True] Translation: X:249.66, Y:-95.04, Z:-3.96 [[ 1.94052419e-01 9.80988561e-01 -2.25877819e-03 2.49660933e+02] [ 9.80901524e-01 -1.94065299e-01 -1.30713721e-02 -9.50353643e+01] [-1.32612169e-02 3.20892399e-04 -9.99912015e-01 -3.96166840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters 0.01724021436266809 Centerline is valid? [True, True] Translation: X:249.67, Y:-95.01, Z:-3.96 [[ 1.16632878e-01 9.93174338e-01 -1.22731647e-03 2.49674991e+02] [ 9.93086623e-01 -1.16638893e-01 -1.32033433e-02 -9.50073964e+01] [-1.32563745e-02 3.21112356e-04 -9.99912079e-01 -3.96175785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters 0.01781621773246214 Centerline is valid? [True, True] Translation: X:249.69, Y:-94.98, Z:-3.96 [[ 3.93106804e-02 9.99227019e-01 -1.88692451e-04 2.49685602e+02] [ 9.99140250e-01 -3.93097542e-02 -1.31721092e-02 -9.49781918e+01] [-1.31693448e-02 3.29274352e-04 -9.99913226e-01 -3.96167720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters 0.01819786327450147 Centerline is valid? [True, True] Translation: X:249.69, Y:-94.95, Z:-3.96 [[-4.07575401e-02 9.99168694e-01 8.62472919e-04 2.49693494e+02] [ 9.99078891e-01 4.07654433e-02 -1.33995262e-02 -9.49490115e+01] [-1.34235462e-02 3.15546760e-04 -9.99909850e-01 -3.96156156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters 0.01497562898160197 Centerline is valid? [True, True] Translation: X:249.71, Y:-94.92, Z:-3.96 [[-1.25779996e-01 9.92056751e-01 1.67219394e-03 2.49708429e+02] [ 9.91987339e-01 1.25790978e-01 -1.17366791e-02 -9.49170349e+01] [-1.18537987e-02 1.82555760e-04 -9.99929725e-01 -3.96372030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters 0.012842931097329572 Centerline is valid? [True, True] Translation: X:249.72, Y:-94.89, Z:-3.97 [[-2.12953647e-01 9.77059530e-01 2.32800283e-03 2.49717947e+02] [ 9.77003484e-01 2.12966367e-01 -1.04651660e-02 -9.48853398e+01] [-1.07208764e-02 4.58716195e-05 -9.99942529e-01 -3.96555989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters 0.011519662405962942 Centerline is valid? [True, True] Translation: X:249.72, Y:-94.85, Z:-3.97 [[-2.95523841e-01 9.55329705e-01 3.28857170e-03 2.49723680e+02] [ 9.55269633e-01 2.95542137e-01 -1.07132550e-02 -9.48512286e+01] [-1.12066022e-02 -2.45495832e-05 -9.99937204e-01 -3.96551512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters 0.010905506332401371 Centerline is valid? [True, True] Translation: X:249.73, Y:-94.81, Z:-3.96 [[-3.78471535e-01 9.25601487e-01 4.60257655e-03 2.49730512e+02] [ 9.25528664e-01 3.78499496e-01 -1.16113509e-02 -9.48144340e+01] [-1.24895566e-02 -1.34749295e-04 -9.99921993e-01 -3.96435225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters 0.011118859658543477 Centerline is valid? [True, True] Translation: X:249.73, Y:-94.78, Z:-3.96 [[-4.56175854e-01 8.89872774e-01 5.48048018e-03 2.49732145e+02] [ 8.89802573e-01 4.56208720e-01 -1.11796765e-02 -9.47780680e+01] [-1.24487326e-02 -2.23353124e-04 -9.99922487e-01 -3.96484107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters 0.011834167207094029 Centerline is valid? [True, True] Translation: X:249.73, Y:-94.74, Z:-3.97 [[-5.28589578e-01 8.48857162e-01 5.88015455e-03 2.49726956e+02] [ 8.48798810e-01 5.28622213e-01 -9.95670515e-03 -9.47431537e+01] [-1.15602008e-02 -2.71942392e-04 -9.99933142e-01 -3.96619408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters 0.01212638313224103 Centerline is valid? [True, True] Translation: X:249.72, Y:-94.71, Z:-3.97 [[-5.94930905e-01 8.03746749e-01 6.95568848e-03 2.49716700e+02] [ 8.03685812e-01 5.94971489e-01 -9.90168626e-03 -9.47104095e+01] [-1.20968845e-02 -3.00631026e-04 -9.99926785e-01 -3.96672799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters 0.012728284519411829 Centerline is valid? [True, True] Translation: X:249.70, Y:-94.68, Z:-3.96 [[-6.56349303e-01 7.54410951e-01 8.34922214e-03 2.49702983e+02] [ 7.54343629e-01 6.56402327e-01 -1.00833641e-02 -9.46806237e+01] [-1.30874491e-02 -3.20026458e-04 -9.99914304e-01 -3.96474760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters 0.012661236050405046 Centerline is valid? [True, True] Translation: X:249.68, Y:-94.65, Z:-3.96 [[-7.12932212e-01 7.01168107e-01 9.53659566e-03 2.49684183e+02] [ 7.01099324e-01 7.12995921e-01 -9.82621191e-03 -9.46541707e+01] [-1.36893802e-02 -3.19322229e-04 -9.99906245e-01 -3.96359247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters 0.012193200955491201 Centerline is valid? [True, True] Translation: X:249.66, Y:-94.63, Z:-3.96 [[-7.63559245e-01 6.45653928e-01 1.04060006e-02 2.49660180e+02] [ 6.45589004e-01 7.63630100e-01 -9.16016218e-03 -9.46345655e+01] [-1.38606299e-02 -2.76326975e-04 -9.99903899e-01 -3.96239575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters 0.011454386934320963 Centerline is valid? [True, True] Translation: X:249.68, Y:-94.62, Z:-3.96 [[-8.05781974e-01 5.92106537e-01 1.11918841e-02 2.49676895e+02] [ 5.92045444e-01 8.05859663e-01 -8.50864797e-03 -9.46216856e+01] [-1.40571140e-02 -2.30011190e-04 -9.99901167e-01 -3.96347643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters 0.011117389029970351 Centerline is valid? [True, True] Translation: X:249.69, Y:-94.61, Z:-3.97 [[-8.44293900e-01 5.35757186e-01 1.14912085e-02 2.49687206e+02] [ 5.35704469e-01 8.44372075e-01 -7.51805542e-03 -9.46059687e+01] [-1.37307078e-02 -1.91556562e-04 -9.99905711e-01 -3.96517509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters 0.011677053571225457 Centerline is valid? [True, True] Translation: X:249.70, Y:-94.59, Z:-3.96 [[-8.80172756e-01 4.74509866e-01 1.16750439e-02 2.49698281e+02] [ 4.74465241e-01 8.80250164e-01 -6.51030943e-03 -9.45858628e+01] [-1.33661654e-02 -1.90794460e-04 -9.99910651e-01 -3.96281510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters 0.011518115992258982 Centerline is valid? [True, True] Translation: X:249.71, Y:-94.56, Z:-3.96 [[-9.11902442e-01 4.10230063e-01 1.20511948e-02 2.49707284e+02] [ 4.10191318e-01 9.11982048e-01 -5.64158477e-03 -9.45642702e+01] [-1.33048210e-02 -2.01279450e-04 -9.99911467e-01 -3.96348117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters 0.011438984795648695 Centerline is valid? [True, True] Translation: X:249.98, Y:-93.98, Z:-4.98 [[-8.75374988e-01 -4.83375320e-01 8.18106408e-03 2.49981180e+02] [ 4.83353500e-01 -8.75413214e-01 -4.59335986e-03 -9.39751667e+01] [ 9.38212840e-03 -6.65663752e-05 9.99955985e-01 -4.98338070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters 0.011257139136941003 Centerline is valid? [True, True] Translation: X:249.66, Y:-94.56, Z:-3.97 [[-9.13109532e-01 4.07594347e-01 9.89095251e-03 2.49659261e+02] [ 4.07568347e-01 9.13163084e-01 -4.60701657e-03 -9.45581231e+01] [-1.09098466e-02 -1.75471582e-04 -9.99940470e-01 -3.96688937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters 0.011230687859460934 Centerline is valid? [True, True] Translation: X:249.67, Y:-94.54, Z:-3.97 [[-9.39465243e-01 3.42513487e-01 9.46404755e-03 2.49667738e+02] [ 3.42494353e-01 9.39512898e-01 -3.62398672e-03 -9.45399745e+01] [-1.01328591e-02 -1.63226718e-04 -9.99948648e-01 -3.96673922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters 0.011357270015729205 Centerline is valid? [True, True] Translation: X:249.68, Y:-94.52, Z:-3.97 [[-9.62006444e-01 2.72898706e-01 8.36053986e-03 2.49675571e+02] [ 2.72886816e-01 9.62042757e-01 -2.55352584e-03 -9.45193034e+01] [-8.74005071e-03 -1.75027215e-04 -9.99961790e-01 -3.96790919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters 0.012139877104772387 Centerline is valid? [True, True] Translation: X:249.67, Y:-94.49, Z:-3.97 [[-9.79860291e-01 1.99487600e-01 8.86044950e-03 2.49674096e+02] [ 1.99477411e-01 9.79900326e-01 -2.02818218e-03 -9.44891218e+01] [-9.08695455e-03 -2.19875654e-04 -9.99958689e-01 -3.96711145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters 0.01338137924606479 Centerline is valid? [True, True] Translation: X:249.81, Y:-93.82, Z:-4.98 [[-9.55694969e-01 -2.94267079e-01 7.34927712e-03 2.49814963e+02] [ 2.94259222e-01 -9.55723221e-01 -2.15284198e-03 -9.38175045e+01] [ 7.65738532e-03 1.05132326e-04 9.99970676e-01 -4.98236675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters 0.013722832303522784 Centerline is valid? [True, True] Translation: X:249.63, Y:-94.47, Z:-3.97 [[-9.82070285e-01 1.88224390e-01 1.04658812e-02 2.49629081e+02] [ 1.88210178e-01 9.82125997e-01 -2.33556840e-03 -9.44746648e+01] [-1.07184250e-02 -3.23906960e-04 -9.99942504e-01 -3.96650795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters 0.014587512621843554 Centerline is valid? [True, True] Translation: X:249.63, Y:-94.44, Z:-3.97 [[-9.93040725e-01 1.17342463e-01 1.00431129e-02 2.49631920e+02] [ 1.17333200e-01 9.93091458e-01 -1.50864096e-03 -9.44445432e+01] [-1.01507572e-02 -3.19751344e-04 -9.99948429e-01 -3.96658824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters 0.01309508383297744 Centerline is valid? [True, True] Translation: X:249.73, Y:-93.78, Z:-4.98 [[-9.74755942e-01 -2.23174006e-01 6.64951775e-03 2.49728439e+02] [ 2.23169127e-01 -9.74778622e-01 -1.47639862e-03 -9.37762684e+01] [ 6.81130154e-03 4.48387360e-05 9.99976802e-01 -4.98081350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters 0.013114450040168622 Centerline is valid? [True, True] Translation: X:249.58, Y:-94.44, Z:-3.97 [[-9.92992456e-01 1.17815553e-01 9.24537849e-03 2.49583956e+02] [ 1.17807986e-01 9.93035461e-01 -1.36078125e-03 -9.44424151e+01] [-9.34130989e-03 -2.62066101e-04 -9.99956335e-01 -3.96785429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters 0.011764643558268128 Centerline is valid? [True, True] Translation: X:249.59, Y:-94.42, Z:-3.97 [[-9.98451432e-01 5.49296860e-02 8.80156627e-03 2.49591936e+02] [ 5.49259326e-02 9.98490208e-01 -6.67784757e-04 -9.44212022e+01] [-8.82495895e-03 -1.83316410e-04 -9.99961042e-01 -3.96761738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters 0.01116589760423048 Centerline is valid? [True, True] Translation: X:249.60, Y:-94.40, Z:-3.97 [[-9.99922209e-01 -7.75384662e-03 9.77005789e-03 2.49595115e+02] [-7.75454866e-03 9.99969932e-01 -3.39755364e-05 -9.44009558e+01] [-9.76950068e-03 -1.09735283e-04 -9.99952271e-01 -3.96752064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters 0.011274412828710478 Centerline is valid? [True, True] Translation: X:249.60, Y:-93.70, Z:-4.98 [[-9.98343212e-01 -5.70536086e-02 7.46443026e-03 2.49596764e+02] [ 5.70517703e-02 -9.98371116e-01 -4.59152777e-04 -9.36962284e+01] [ 7.47846789e-03 -3.25330974e-05 9.99972035e-01 -4.98139763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters 0.011638872148330728 Centerline is valid? [True, True] Translation: X:249.53, Y:-94.41, Z:-3.97 [[-9.99920286e-01 -5.34270695e-03 1.14401867e-02 2.49531263e+02] [-5.34271788e-03 9.99985727e-01 2.96065448e-05 -9.44058721e+01] [-1.14401816e-02 -3.15175053e-05 -9.99934558e-01 -3.96714607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters 0.011763244217072349 Centerline is valid? [True, True] Translation: X:249.53, Y:-94.38, Z:-3.97 [[-9.97031984e-01 -7.60767638e-02 1.18130932e-02 2.49527634e+02] [-7.60716985e-02 9.97101963e-01 8.78179728e-04 -9.43779804e+01] [-1.18456675e-02 -2.30687870e-05 -9.99929837e-01 -3.96616781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters 0.011540132229593138 Centerline is valid? [True, True] Translation: X:249.52, Y:-94.35, Z:-3.97 [[-9.88743282e-01 -1.49144044e-01 1.19488845e-02 2.49517260e+02] [-1.49133764e-01 9.88815479e-01 1.75181191e-03 -9.43483634e+01] [-1.20765143e-02 -4.98898648e-05 -9.99927075e-01 -3.96582575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters 0.011439375837956291 Centerline is valid? [True, True] Translation: X:249.41, Y:-93.66, Z:-4.98 [[-9.96316547e-01 8.50315071e-02 1.10896994e-02 2.49409543e+02] [-8.50264051e-02 -9.96378263e-01 9.31582879e-04 -9.36596971e+01] [ 1.11287493e-02 -1.47658377e-05 9.99938073e-01 -4.98403329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters 0.011834780629868931 Centerline is valid? [True, True] Translation: X:249.42, Y:-94.35, Z:-3.97 [[-9.85825092e-01 -1.67113067e-01 1.49033917e-02 2.49415246e+02] [-1.67097416e-01 9.85937712e-01 2.29815166e-03 -9.43515914e+01] [-1.50778671e-02 -2.24742660e-04 -9.99886297e-01 -3.96521863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters 0.012425299558596368 Centerline is valid? [True, True] Translation: X:249.30, Y:-93.69, Z:-4.98 [[-9.96700899e-01 8.02470064e-02 1.21546313e-02 2.49303643e+02] [-8.02410701e-02 -9.96775009e-01 9.76068971e-04 -9.36874471e+01] [ 1.21937593e-02 -2.45179672e-06 9.99925653e-01 -4.98456011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters 0.012830566975808234 Centerline is valid? [True, True] Translation: X:249.32, Y:-94.36, Z:-3.97 [[-9.83840152e-01 -1.78486999e-01 1.41755403e-02 2.49315689e+02] [-1.78472802e-01 9.83942226e-01 2.27054132e-03 -9.43607491e+01] [-1.43531748e-02 -2.96098687e-04 -9.99896944e-01 -3.96606252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters 0.012274825517166816 Centerline is valid? [True, True] Translation: X:249.20, Y:-93.70, Z:-4.98 [[-9.96144509e-01 8.71953000e-02 9.64862573e-03 2.49201868e+02] [-8.71918784e-02 -9.96191234e-01 7.75512657e-04 -9.37025673e+01] [ 9.67949743e-03 -6.87591257e-05 9.99953150e-01 -4.98122706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters 0.012059203912909272 Centerline is valid? [True, True] Translation: X:249.22, Y:-94.38, Z:-3.97 [[-9.83419289e-01 -1.81013156e-01 1.09881252e-02 2.49216953e+02] [-1.81004263e-01 9.83480652e-01 1.80681341e-03 -9.43787008e+01] [-1.11336656e-02 -2.12042351e-04 -9.99937996e-01 -3.96979880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters 0.011698868204392924 Centerline is valid? [True, True] Translation: X:249.21, Y:-94.36, Z:-3.97 [[-9.68659377e-01 -2.48181397e-01 1.02471838e-02 2.49206017e+02] [-2.48169420e-01 9.68713561e-01 2.44441069e-03 -9.43560170e+01] [-1.05332432e-02 -1.75236336e-04 -9.99944509e-01 -3.97051240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters 0.0116456854849225 Centerline is valid? [True, True] Translation: X:249.18, Y:-94.34, Z:-3.97 [[-9.48502154e-01 -3.16559260e-01 1.15714342e-02 2.49180193e+02] [-3.16538011e-01 9.48572719e-01 3.67221735e-03 -9.43374747e+01] [-1.21388212e-02 -1.79692709e-04 -9.99926306e-01 -3.96929059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters 0.011895532967557515 Centerline is valid? [True, True] Translation: X:249.14, Y:-94.32, Z:-3.97 [[-9.22624883e-01 -3.85465347e-01 1.34086226e-02 2.49139598e+02] [-3.85427976e-01 9.22722288e-01 5.37159581e-03 -9.43232706e+01] [-1.44429990e-02 -2.12090303e-04 -9.99895672e-01 -3.96704142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters 0.012449375748190826 Centerline is valid? [True, True] Translation: X:249.08, Y:-94.32, Z:-3.96 [[-8.90420960e-01 -4.54867312e-01 1.56921266e-02 2.49077627e+02] [-4.54802391e-01 8.90559175e-01 7.69024373e-03 -9.43195871e+01] [-1.74728079e-02 -2.89262517e-04 -9.99847297e-01 -3.96334101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters 0.012792543042853476 Centerline is valid? [True, True] Translation: X:249.01, Y:-94.33, Z:-3.96 [[-8.53768395e-01 -5.20435898e-01 1.50334260e-02 2.49011318e+02] [-5.20361666e-01 8.53900684e-01 8.79537283e-03 -9.43261703e+01] [-1.74144805e-02 -3.13607242e-04 -9.99848307e-01 -3.96411908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters 0.012988698174253195 Centerline is valid? [True, True] Translation: X:248.94, Y:-94.34, Z:-3.97 [[-8.12187643e-01 -5.83285055e-01 1.13919938e-02 2.48941459e+02] [-5.83232592e-01 8.12267482e-01 7.82821219e-03 -9.43405097e+01] [-1.38194253e-02 -2.86204878e-04 -9.99904466e-01 -3.96730632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters 0.012837345346769495 Centerline is valid? [True, True] Translation: X:248.86, Y:-94.37, Z:-3.97 [[-7.66204595e-01 -6.42526948e-01 9.46778400e-03 2.48862740e+02] [-6.42482200e-01 7.66263041e-01 7.58776017e-03 -9.43674624e+01] [-1.21301533e-02 -2.69105990e-04 -9.99926391e-01 -3.96909138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters 0.013462569033808538 Centerline is valid? [True, True] Translation: X:248.78, Y:-94.40, Z:-3.97 [[-7.15920204e-01 -6.98114815e-01 9.69362064e-03 2.48784090e+02] [-6.98056112e-01 7.15985772e-01 9.05754694e-03 -9.44016745e+01] [-1.32637022e-02 -2.82210283e-04 -9.99911993e-01 -3.96715336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters 0.013030671458882325 Centerline is valid? [True, True] Translation: X:248.70, Y:-94.45, Z:-3.97 [[-6.60712151e-01 -7.50572352e-01 1.00298350e-02 2.48699942e+02] [-7.50493029e-01 6.60788200e-01 1.09164417e-02 -9.44517964e+01] [-1.48211759e-02 -3.14695566e-04 -9.99890111e-01 -3.96762351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters 0.013150751473896716 Centerline is valid? [True, True] Translation: X:248.62, Y:-94.51, Z:-3.97 [[-6.01524145e-01 -7.98808141e-01 8.61727493e-03 2.48618747e+02] [-7.98733505e-01 6.01585786e-01 1.09238490e-02 -9.45061712e+01] [-1.39100896e-02 -3.11947281e-04 -9.99903201e-01 -3.96886777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters 0.013743418888329157 Centerline is valid? [True, True] Translation: X:248.54, Y:-94.57, Z:-3.97 [[-5.38630407e-01 -8.42509605e-01 7.40606553e-03 2.48539839e+02] [-8.42437778e-01 5.38681231e-01 1.10055072e-02 -9.45669619e+01] [-1.32617540e-02 -3.11248553e-04 -9.99912011e-01 -3.96876951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters 0.013444225156976674 Centerline is valid? [True, True] Translation: X:248.46, Y:-94.64, Z:-3.97 [[-4.72426290e-01 -8.81340822e-01 7.19409087e-03 2.48464559e+02] [-8.81249422e-01 4.72480940e-01 1.26971521e-02 -9.46420047e+01] [-1.45895893e-02 -3.41319945e-04 -9.99893508e-01 -3.96962665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters 0.013475767911291462 Centerline is valid? [True, True] Translation: X:248.39, Y:-94.73, Z:-3.97 [[-4.03834285e-01 -9.14807926e-01 6.65803446e-03 2.48390307e+02] [-9.14697919e-01 4.03889007e-01 1.41910719e-02 -9.47280826e+01] [-1.56712120e-02 -3.59248880e-04 -9.99877134e-01 -3.96831353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters 0.013746841483879056 Centerline is valid? [True, True] Translation: X:248.32, Y:-94.82, Z:-3.97 [[-3.32859373e-01 -9.42958851e-01 5.76565719e-03 2.48324509e+02] [-9.42835944e-01 3.32909102e-01 1.52286353e-02 -9.48160102e+01] [-1.62794162e-02 -3.67074853e-04 -9.99867414e-01 -3.96840022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters 0.013265523682467393 Centerline is valid? [True, True] Translation: X:248.26, Y:-94.91, Z:-3.97 [[-2.59770479e-01 -9.65660776e-01 4.30855034e-03 2.48263945e+02] [-9.65549477e-01 2.59805971e-01 1.46650613e-02 -9.49137604e+01] [-1.52808616e-02 -3.50568521e-04 -9.99883179e-01 -3.97115221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters 0.013745683559374874 Centerline is valid? [True, True] Translation: X:248.21, Y:-95.01, Z:-3.97 [[-1.84570942e-01 -9.82813896e-01 3.22695624e-03 2.48209741e+02] [-9.82696099e-01 1.84598794e-01 1.52204267e-02 -9.50116306e+01] [-1.55545391e-02 -3.61868816e-04 -9.99878955e-01 -3.97117457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters 0.013358586951136934 Centerline is valid? [True, True] Translation: X:248.16, Y:-95.13, Z:-3.97 [[-1.09156940e-01 -9.94022300e-01 2.10449630e-03 2.48162982e+02] [-9.93896052e-01 1.09176625e-01 1.58462134e-02 -9.51259976e+01] [-1.59812513e-02 -3.61926389e-04 -9.99872226e-01 -3.97199902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters 0.013535349454757381 Centerline is valid? [True, True] Translation: X:248.13, Y:-95.24, Z:-3.97 [[-3.46459761e-02 -9.99399214e-01 9.30882689e-04 2.48126513e+02] [-9.99255167e-01 3.46567900e-02 1.69710881e-02 -9.52353692e+01] [-1.69931535e-02 -3.42209423e-04 -9.99855547e-01 -3.97043824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters 0.012896600872524469 Centerline is valid? [True, True] Translation: X:248.10, Y:-95.34, Z:-3.97 [[ 4.13534549e-02 -9.99144507e-01 -3.82721463e-04 2.48099884e+02] [-9.98995552e-01 -4.13538994e-02 1.72551817e-02 -9.53436424e+01] [-1.72562470e-02 -3.31224339e-04 -9.99851045e-01 -3.97195447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters 0.01301829130401629 Centerline is valid? [True, True] Translation: X:248.08, Y:-95.46, Z:-3.97 [[ 1.16778493e-01 -9.93156425e-01 -1.76065971e-03 2.48080286e+02] [-9.92998948e-01 -1.16791333e-01 1.76882278e-02 -9.54600190e+01] [-1.77728069e-02 -3.17271345e-04 -9.99842001e-01 -3.97203848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters 0.013477835420820943 Centerline is valid? [True, True] Translation: X:248.07, Y:-95.58, Z:-3.97 [[ 1.91935986e-01 -9.81402305e-01 -3.17703862e-03 2.48068577e+02] [-9.81240085e-01 -1.91962032e-01 1.78458455e-02 -9.55818012e+01] [-1.81238247e-02 -3.07822321e-04 -9.99835703e-01 -3.97054164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters 0.013229163204206574 Centerline is valid? [True, True] Translation: X:248.07, Y:-95.70, Z:-3.97 [[ 2.66152227e-01 -9.63918445e-01 -4.92165799e-03 2.48068505e+02] [-9.63731206e-01 -2.66197544e-01 1.90007817e-02 -9.56995199e+01] [-1.96253372e-02 -3.13944986e-04 -9.99807355e-01 -3.97164161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters 0.01353458621398641 Centerline is valid? [True, True] Translation: X:248.07, Y:-95.81, Z:-3.97 [[ 3.39502372e-01 -9.40581185e-01 -6.72110472e-03 2.48074259e+02] [-9.40377215e-01 -3.39568733e-01 1.95900248e-02 -9.58140787e+01] [-2.07082857e-02 -3.30486146e-04 -9.99785506e-01 -3.97070377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters 0.012901064110071235 Centerline is valid? [True, True] Translation: X:248.09, Y:-95.93, Z:-3.97 [[ 4.10526051e-01 -9.11817299e-01 -7.58783483e-03 2.48090447e+02] [-9.11647300e-01 -4.10596050e-01 1.76091907e-02 -9.59305330e+01] [-1.91718997e-02 -3.11602385e-04 -9.99816154e-01 -3.97425959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters 0.012708964881598535 Centerline is valid? [True, True] Translation: X:248.12, Y:-96.04, Z:-3.98 [[ 4.78645979e-01 -8.77971800e-01 -7.97160273e-03 2.48115063e+02] [-8.77840213e-01 -4.78712274e-01 1.52026153e-02 -9.60440811e+01] [-1.71635716e-02 -2.78877236e-04 -9.99852656e-01 -3.97663339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters 0.01250600581851917 Centerline is valid? [True, True] Translation: X:248.15, Y:-96.15, Z:-3.98 [[ 5.43791470e-01 -8.39172358e-01 -8.97728928e-03 2.48146405e+02] [-8.39049916e-01 -5.43865502e-01 1.43371460e-02 -9.61508325e+01] [-1.69137745e-02 -2.64023854e-04 -9.99856917e-01 -3.97902754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters 0.012697567486033786 Centerline is valid? [True, True] Translation: X:248.18, Y:-96.26, Z:-3.98 [[ 6.07361206e-01 -7.94355391e-01 -1.05772523e-02 2.48184330e+02] [-7.94226303e-01 -6.07453227e-01 1.43232583e-02 -9.62558550e+01] [-1.78029435e-02 -2.98659425e-04 -9.99841470e-01 -3.97921860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters 0.013665092752508835 Centerline is valid? [True, True] Translation: X:248.23, Y:-96.36, Z:-3.98 [[ 6.67844853e-01 -7.44204189e-01 -1.19740160e-02 2.48226293e+02] [-7.44075180e-01 -6.67952097e-01 1.38608536e-02 -9.63586987e+01] [-1.83133744e-02 -3.47331658e-04 -9.99832236e-01 -3.97770373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters 0.013434059790207958 Centerline is valid? [True, True] Translation: X:248.28, Y:-96.46, Z:-3.98 [[ 7.23605665e-01 -6.90087452e-01 -1.31966114e-02 2.48276509e+02] [-6.89962991e-01 -7.23725889e-01 1.31113989e-02 -9.64557182e+01] [-1.85987412e-02 -3.82309076e-04 -9.99826955e-01 -3.97832860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters 0.013937245211497485 Centerline is valid? [True, True] Translation: X:248.30, Y:-96.48, Z:-3.98 [[ 7.75903473e-01 -6.30678653e-01 -1.47728279e-02 2.48296654e+02] [-6.30554116e-01 -7.76043983e-01 1.25396256e-02 -9.64847982e+01] [-1.93728384e-02 -4.14471566e-04 -9.99812243e-01 -3.97749493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters 0.014535946055935632 Centerline is valid? [True, True] Translation: X:248.32, Y:-96.51, Z:-3.98 [[ 8.23462102e-01 -5.67116707e-01 -1.69943301e-02 2.48321104e+02] [-5.66984253e-01 -8.23637314e-01 1.22650402e-02 -9.65110234e+01] [-2.09528736e-02 -4.64278252e-04 -9.99780357e-01 -3.97656619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters 0.014608521262466884 Centerline is valid? [True, True] Translation: X:248.35, Y:-96.54, Z:-3.98 [[ 8.66045820e-01 -4.99599369e-01 -1.91077889e-02 2.48345947e+02] [-4.99464362e-01 -8.66256426e-01 1.16256528e-02 -9.65366764e+01] [-2.23604137e-02 -5.24688443e-04 -9.99749837e-01 -3.97736208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters 0.014819487287840197 Centerline is valid? [True, True] Translation: X:248.37, Y:-96.56, Z:-3.98 [[ 9.02430369e-01 -4.30425934e-01 -1.87868103e-02 2.48372326e+02] [-4.30321146e-01 -9.02625762e-01 9.51021396e-03 -9.65599266e+01] [-2.10509017e-02 -4.97944164e-04 -9.99778281e-01 -3.97858019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters 0.014413777632913728 Centerline is valid? [True, True] Translation: X:248.40, Y:-96.58, Z:-3.98 [[ 9.32846677e-01 -3.59848459e-01 -1.74975495e-02 2.48403029e+02] [-3.59776459e-01 -9.33010665e-01 7.21101499e-03 -9.65774023e+01] [-1.89202729e-02 -4.31564951e-04 -9.99820902e-01 -3.98124627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters 0.013160442029734966 Centerline is valid? [True, True] Translation: X:248.43, Y:-96.60, Z:-3.98 [[ 9.57491530e-01 -2.88011220e-01 -1.61092054e-02 2.48434317e+02] [-2.87964165e-01 -9.57626968e-01 5.21825769e-03 -9.65950137e+01] [-1.69295263e-02 -3.57563648e-04 -9.99856621e-01 -3.98484833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters 0.013002893835550974 Centerline is valid? [True, True] Translation: X:248.47, Y:-96.61, Z:-3.98 [[ 9.76752109e-01 -2.13749147e-01 -1.63285095e-02 2.48466821e+02] [-2.13713635e-01 -9.76888527e-01 3.91012486e-03 -9.66111926e+01] [-1.67869195e-02 -3.29597587e-04 -9.99859035e-01 -3.98479975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters 0.01250893285356412 Centerline is valid? [True, True] Translation: X:248.50, Y:-96.63, Z:-3.98 [[ 9.90208633e-01 -1.38551104e-01 -1.70427573e-02 2.48500199e+02] [-1.38525293e-01 -9.90355239e-01 2.69147792e-03 -9.66270928e+01] [-1.72512912e-02 -3.04271717e-04 -9.99851139e-01 -3.98492771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters 0.012385227400853998 Centerline is valid? [True, True] Translation: X:248.53, Y:-96.64, Z:-3.98 [[ 9.97957167e-01 -6.16581907e-02 -1.67260248e-02 2.48531059e+02] [-6.16448174e-02 -9.98097284e-01 1.31444171e-03 -9.66406367e+01] [-1.67752460e-02 -2.80683780e-04 -9.99859246e-01 -3.98428711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters 0.01226579547540468 Centerline is valid? [True, True] Translation: X:248.56, Y:-96.65, Z:-3.98 [[ 9.99718519e-01 1.64530578e-02 -1.70932448e-02 2.48562345e+02] [ 1.64554357e-02 -9.99864600e-01 -1.53894664e-06 -9.66517617e+01] [-1.70909557e-02 -2.79738276e-04 -9.99853900e-01 -3.98373269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters 0.012951998930040072 Centerline is valid? [True, True] Translation: X:248.59, Y:-96.66, Z:-3.98 [[ 9.95298858e-01 9.52332406e-02 -1.76299213e-02 2.48593850e+02] [ 9.52235521e-02 -9.95454943e-01 -1.39010785e-03 -9.66606196e+01] [-1.76821768e-02 -2.95210971e-04 -9.99843615e-01 -3.98066085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters 0.013277014019962 Centerline is valid? [True, True] Translation: X:248.63, Y:-96.66, Z:-3.98 [[ 9.84186845e-01 1.76145432e-01 -1.86826636e-02 2.48627010e+02] [ 1.76120857e-01 -9.84364083e-01 -2.96566935e-03 -9.66647413e+01] [-1.89129321e-02 -3.71633955e-04 -9.99821065e-01 -3.98185418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters 0.013903023221330694 Centerline is valid? [True, True] Translation: X:248.66, Y:-96.67, Z:-3.98 [[ 9.66272134e-01 2.56690489e-01 -2.06919239e-02 2.48660726e+02] [ 2.56642571e-01 -9.66493533e-01 -4.98424052e-03 -9.66690544e+01] [-2.12780178e-02 -4.94295816e-04 -9.99773475e-01 -3.98083119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters 0.016245161149969694 Centerline is valid? [True, True] Translation: X:248.69, Y:-96.67, Z:-3.98 [[ 9.40935701e-01 3.37958502e-01 -2.05926553e-02 2.48694698e+02] [ 3.37892577e-01 -9.41160789e-01 -6.70637338e-03 -9.66735629e+01] [-2.16474756e-02 -6.47839231e-04 -9.99765456e-01 -3.97892261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters 0.01755737227971032 Centerline is valid? [True, True] Translation: X:248.73, Y:-96.67, Z:-3.98 [[ 9.09621881e-01 4.15047014e-01 -1.80002588e-02 2.48729005e+02] [ 4.14980624e-01 -9.09799705e-01 -7.45514257e-03 -9.66713855e+01] [-1.94708648e-02 -6.88397805e-04 -9.99810188e-01 -3.98198325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters 0.018981048037416157 Centerline is valid? [True, True] Translation: X:248.76, Y:-96.67, Z:-3.98 [[ 8.72992512e-01 4.87471822e-01 -1.59780336e-02 2.48763585e+02] [ 4.87404540e-01 -8.73138445e-01 -8.12831896e-03 -9.66661130e+01] [-1.79133618e-02 -6.91804517e-04 -9.99839304e-01 -3.98320073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters 0.020636680303434737 Centerline is valid? [True, True] Translation: X:248.80, Y:-96.66, Z:-3.99 [[ 8.30540691e-01 5.56818631e-01 -1.24568224e-02 2.48797961e+02] [ 5.56767126e-01 -8.30633868e-01 -7.59899622e-03 -9.66573848e+01] [-1.45783212e-02 -6.24273611e-04 -9.99893536e-01 -3.98595064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters 0.020899937285216597 Centerline is valid? [True, True] Translation: X:248.83, Y:-96.64, Z:-3.99 [[ 7.83606338e-01 6.21169935e-01 -1.04412381e-02 2.48830197e+02] [ 6.21124471e-01 -7.83675684e-01 -7.53750807e-03 -9.66447263e+01] [-1.28646178e-02 -5.78869418e-04 -9.99917080e-01 -3.98784259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters 0.02073686580421804 Centerline is valid? [True, True] Translation: X:248.86, Y:-96.63, Z:-3.99 [[ 7.31350502e-01 6.81923261e-01 -1.03493379e-02 2.48863167e+02] [ 6.81866907e-01 -7.31423455e-01 -8.78924029e-03 -9.66311910e+01] [-1.35633359e-02 -6.28855707e-04 -9.99907816e-01 -3.98882938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters 0.021455838061958124 Centerline is valid? [True, True] Translation: X:248.89, Y:-96.61, Z:-3.99 [[ 6.75491281e-01 7.37296930e-01 -1.02355592e-02 2.48894463e+02] [ 7.37226889e-01 -6.75568496e-01 -1.01843429e-02 -9.66142476e+01] [-1.44237061e-02 -6.66494624e-04 -9.99895751e-01 -3.98749331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters 0.02203089421699682 Centerline is valid? [True, True] Translation: X:248.92, Y:-96.59, Z:-3.99 [[ 6.16115914e-01 7.87584382e-01 -1.05840283e-02 2.48922769e+02] [ 7.87487964e-01 -6.16206385e-01 -1.23449406e-02 -9.65941595e+01] [-1.62446282e-02 -7.28880525e-04 -9.99867782e-01 -3.98628734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters 0.021917145129095383 Centerline is valid? [True, True] Translation: X:248.95, Y:-96.57, Z:-3.99 [[ 5.53128408e-01 8.33039509e-01 -9.70256576e-03 2.48947352e+02] [ 8.32933638e-01 -5.53213024e-01 -1.33005094e-02 -9.65694075e+01] [-1.64474355e-02 -7.24703835e-04 -9.99864469e-01 -3.98592390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters 0.018690332288791165 Centerline is valid? [True, True] Translation: X:248.97, Y:-96.54, Z:-3.99 [[ 4.90509773e-01 8.71391020e-01 -8.82344849e-03 2.48968947e+02] [ 8.71273318e-01 -4.90588688e-01 -1.43368043e-02 -9.65424028e+01] [-1.68216466e-02 -6.55292606e-04 -9.99858291e-01 -3.98678126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters 0.016792270135728565 Centerline is valid? [True, True] Translation: X:248.99, Y:-96.51, Z:-3.99 [[ 4.25687963e-01 9.04839233e-01 -7.46459680e-03 2.48988403e+02] [ 9.04722057e-01 -4.25753050e-01 -1.45718999e-02 -9.65136603e+01] [-1.63633016e-02 -5.50302987e-04 -9.99865961e-01 -3.98732308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters 0.013333397211774263 Centerline is valid? [True, True] Translation: X:249.00, Y:-96.48, Z:-3.99 [[ 3.64368459e-01 9.31240195e-01 -5.22743641e-03 2.49004493e+02] [ 9.31156418e-01 -3.64405819e-01 -1.24950037e-02 -9.64839061e+01] [-1.35407579e-02 -3.14775745e-04 -9.99908270e-01 -3.99140606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters 0.011841718522335742 Centerline is valid? [True, True] Translation: X:249.02, Y:-96.46, Z:-3.99 [[ 3.01523205e-01 9.53447239e-01 -4.70301949e-03 2.49024283e+02] [ 9.53339567e-01 -3.01559837e-01 -1.43295028e-02 -9.64558287e+01] [-1.50806666e-02 -1.62896966e-04 -9.99886267e-01 -3.99000727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters 0.011960058556462528 Centerline is valid? [True, True] Translation: X:249.04, Y:-96.43, Z:-3.99 [[ 2.27452994e-01 9.73782298e-01 -3.62930243e-03 2.49038431e+02] [ 9.73667984e-01 -2.27481904e-01 -1.49211665e-02 -9.64257914e+01] [-1.53555684e-02 -1.39871596e-04 -9.99882087e-01 -3.98981158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters 0.011960058556462528 Centerline is valid? [True, True] Translation: X:249.05, Y:-96.39, Z:-3.99 [[ 1.50486873e-01 9.88608975e-01 -2.44853520e-03 2.49050636e+02] [ 9.88492803e-01 -1.50506726e-01 -1.51559912e-02 -9.63949210e+01] [-1.53518700e-02 -1.39581709e-04 -9.99882143e-01 -3.98987980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters 0.011775266457180139 Centerline is valid? [True, True] Translation: X:249.06, Y:-96.36, Z:-3.99 [[ 7.44440315e-02 9.97224428e-01 -1.23583756e-03 2.49060179e+02] [ 9.97110504e-01 -7.44542073e-02 -1.50736000e-02 -9.63628277e+01] [-1.51237754e-02 -1.10127064e-04 -9.99885623e-01 -3.99075433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters 0.011775266457180139 Centerline is valid? [True, True] Translation: X:249.07, Y:-96.33, Z:-3.99 [[-3.84915053e-03 9.99992591e-01 -5.15524306e-05 2.49068509e+02] [ 9.99878276e-01 3.84793101e-03 -1.51204133e-02 -9.63306322e+01] [-1.51201029e-02 -1.09746902e-04 -9.99885679e-01 -3.99082209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters 0.011870464491400837 Centerline is valid? [True, True] Translation: X:249.07, Y:-96.30, Z:-3.99 [[-7.85511429e-02 9.96909504e-01 1.07634119e-03 2.49073107e+02] [ 9.96805802e-01 7.85584964e-02 -1.43789897e-02 -9.62980790e+01] [-1.44191073e-02 -5.65829331e-05 -9.99896038e-01 -3.99118111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters 0.012276308844668944 Centerline is valid? [True, True] Translation: X:249.08, Y:-96.27, Z:-3.99 [[-1.50581503e-01 9.88595639e-01 1.96815029e-03 2.49075009e+02] [ 9.88512583e-01 1.50594364e-01 -1.28145133e-02 -9.62650527e+01] [-1.29647643e-02 1.59126418e-05 -9.99915954e-01 -3.99259629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters 0.012852753672674277 Centerline is valid? [True, True] Translation: X:249.07, Y:-96.23, Z:-3.99 [[-2.23724799e-01 9.74648319e-01 2.80496533e-03 2.49074940e+02] [ 9.74574992e-01 2.23742375e-01 -1.19555076e-02 -9.62317850e+01] [-1.22800050e-02 5.89055270e-05 -9.99924596e-01 -3.99346851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters 0.012857660537874783 Centerline is valid? [True, True] Translation: X:249.08, Y:-96.20, Z:-3.99 [[-2.99771833e-01 9.54003715e-01 3.70935761e-03 2.49075194e+02] [ 9.53932872e-01 2.99794777e-01 -1.16261723e-02 -9.61976241e+01] [-1.22034576e-02 5.32791803e-05 -9.99925534e-01 -3.99366115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters 0.012209563418932876 Centerline is valid? [True, True] Translation: X:249.08, Y:-96.16, Z:-3.99 [[-3.79245769e-01 9.25283631e-01 4.77998911e-03 2.49077051e+02] [ 9.25209525e-01 3.79275890e-01 -1.17104549e-02 -9.61635804e+01] [-1.26484268e-02 -1.86490072e-05 -9.99920005e-01 -3.99237693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters 0.011533060296969289 Centerline is valid? [True, True] Translation: X:249.08, Y:-96.13, Z:-3.99 [[-4.55980330e-01 8.89969643e-01 5.99775626e-03 2.49077446e+02] [ 8.89889892e-01 4.56019765e-01 -1.19144950e-02 -9.61263303e+01] [-1.33386343e-02 -9.54327043e-05 -9.99911032e-01 -3.99317166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters 0.012020217734877579 Centerline is valid? [True, True] Translation: X:249.07, Y:-96.09, Z:-3.99 [[-5.30976296e-01 8.47354592e-01 7.37342012e-03 2.49074892e+02] [ 8.47267408e-01 5.31027449e-01 -1.21567693e-02 -9.60895037e+01] [-1.42165828e-02 -2.07697775e-04 -9.99898918e-01 -3.99224336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters 0.012390484037253957 Centerline is valid? [True, True] Translation: X:249.06, Y:-96.05, Z:-3.99 [[-5.98036282e-01 8.01424307e-01 8.46669021e-03 2.49064670e+02] [ 8.01337972e-01 5.98096160e-01 -1.17659737e-02 -9.60545692e+01] [-1.44934323e-02 -2.51798823e-04 -9.99894933e-01 -3.99276268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters 0.013111286387566068 Centerline is valid? [True, True] Translation: X:249.05, Y:-96.02, Z:-3.99 [[-6.60563335e-01 7.50722547e-01 8.46980948e-03 2.49050414e+02] [ 7.50655645e-01 6.60617580e-01 -1.00257495e-02 -9.60228926e+01] [-1.31218612e-02 -2.64732219e-04 -9.99913870e-01 -3.99384657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters 0.013349283599985178 Centerline is valid? [True, True] Translation: X:249.03, Y:-95.99, Z:-3.99 [[-7.18087126e-01 6.95897107e-01 8.83718652e-03 2.49030363e+02] [ 6.95839724e-01 7.18141451e-01 -8.94066965e-03 -9.59947238e+01] [-1.25681361e-02 -2.70914349e-04 -9.99920981e-01 -3.99481166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters 0.01345176637549081 Centerline is valid? [True, True] Translation: X:249.05, Y:-95.97, Z:-4.00 [[-7.67363906e-01 6.41152099e-01 8.75338621e-03 2.49045378e+02] [ 6.41106162e-01 7.67413778e-01 -7.67998079e-03 -9.59718338e+01] [-1.16415050e-02 -2.81490213e-04 -9.99932196e-01 -3.99637773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters 0.014692627810430446 Centerline is valid? [True, True] Translation: X:249.06, Y:-95.95, Z:-4.00 [[-8.11634638e-01 5.84093128e-01 9.18873567e-03 2.49064138e+02] [ 5.84051500e-01 8.11686595e-01 -6.97967670e-03 -9.59490748e+01] [-1.15351548e-02 -2.98252516e-04 -9.99933423e-01 -3.99517900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters 0.014681358085601112 Centerline is valid? [True, True] Translation: X:249.07, Y:-95.92, Z:-4.00 [[-8.51867981e-01 5.23647504e-01 1.06880512e-02 2.49071766e+02] [ 5.23601187e-01 8.51934959e-01 -6.97306558e-03 -9.59226985e+01] [-1.27569528e-02 -3.43855020e-04 -9.99918568e-01 -3.99527003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters 0.014665245614160029 Centerline is valid? [True, True] Translation: X:249.08, Y:-95.90, Z:-3.99 [[-8.87204834e-01 4.61219441e-01 1.20087326e-02 2.49079507e+02] [ 4.61171423e-01 8.87286023e-01 -6.66581157e-03 -9.58983287e+01] [-1.37295825e-02 -3.75855951e-04 -9.99905674e-01 -3.99478392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters 0.01506999245653905 Centerline is valid? [True, True] Translation: X:249.34, Y:-95.43, Z:-4.97 [[-8.31278931e-01 -5.55751092e-01 1.07732237e-02 2.49339430e+02] [ 5.55709006e-01 -8.31348685e-01 -6.84581047e-03 -9.54311700e+01] [ 1.27608720e-02 2.95999417e-04 9.99918533e-01 -4.97253752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters 0.014068162774224598 Centerline is valid? [True, True] Translation: X:249.04, Y:-95.89, Z:-3.99 [[-8.87260739e-01 4.61080838e-01 1.31469364e-02 2.49038464e+02] [ 4.61024331e-01 8.87358066e-01 -7.22696592e-03 -9.58869736e+01] [-1.49982555e-02 -3.51145574e-04 -9.99887458e-01 -3.99367783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters 0.013716676214012168 Centerline is valid? [True, True] Translation: X:249.05, Y:-95.87, Z:-3.99 [[-9.16552267e-01 3.99706919e-01 1.28965644e-02 2.49046850e+02] [ 3.99662794e-01 9.16642946e-01 -5.94641218e-03 -9.58667913e+01] [-1.41983669e-02 -2.95920590e-04 -9.99899154e-01 -3.99422369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters 0.012785123937003588 Centerline is valid? [True, True] Translation: X:249.05, Y:-95.85, Z:-4.00 [[-9.41486096e-01 3.36794301e-01 1.31730993e-02 2.49053044e+02] [ 3.36757630e-01 9.41578216e-01 -4.97608114e-03 -9.58503538e+01] [-1.40794191e-02 -2.48769507e-04 -9.99900849e-01 -3.99598802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters 0.012348020618754313 Centerline is valid? [True, True] Translation: X:249.06, Y:-95.83, Z:-4.00 [[-9.62759352e-01 2.70027713e-01 1.33964590e-02 2.49056700e+02] [ 2.69998162e-01 9.62852522e-01 -4.00176308e-03 -9.58294193e+01] [-1.39794013e-02 -2.35715522e-04 -9.99902256e-01 -3.99722605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters 0.012691540416905855 Centerline is valid? [True, True] Translation: X:249.05, Y:-95.81, Z:-4.00 [[-9.79868439e-01 1.99108974e-01 1.46101948e-02 2.49054680e+02] [ 1.99082626e-01 9.79977316e-01 -3.25087420e-03 -9.58055720e+01] [-1.49649377e-02 -2.76793086e-04 -9.99887981e-01 -3.99691966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters 0.014367598666561307 Centerline is valid? [True, True] Translation: X:249.05, Y:-95.78, Z:-4.00 [[-9.92223065e-01 1.23415069e-01 1.61897938e-02 2.49051885e+02] [ 1.23392242e-01 9.92355062e-01 -2.40519270e-03 -9.57778328e+01] [-1.63628608e-02 -3.88792720e-04 -9.99866044e-01 -3.99509015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters 0.015311295307182188 Centerline is valid? [True, True] Translation: X:249.05, Y:-95.75, Z:-4.00 [[-9.98691672e-01 4.86161331e-02 1.58561204e-02 2.49048855e+02] [ 4.86029354e-02 9.98817438e-01 -1.21686183e-03 -9.57512677e+01] [-1.58965287e-02 -4.44615777e-04 -9.99873543e-01 -3.99508668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters 0.016601554144567914 Centerline is valid? [True, True] Translation: X:249.04, Y:-95.73, Z:-4.00 [[-9.99533179e-01 -2.60519545e-02 1.59599268e-02 2.49044335e+02] [-2.60566787e-02 9.99660463e-01 -8.80938779e-05 -9.57277668e+01] [-1.59522128e-02 -5.03915439e-04 -9.99872628e-01 -3.99532477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters 0.016270848267847044 Centerline is valid? [True, True] Translation: X:249.04, Y:-95.12, Z:-4.97 [[-9.95386027e-01 -9.50165802e-02 1.33606237e-02 2.49040570e+02] [ 9.50116389e-02 -9.95475654e-01 -1.00553457e-03 -9.51169665e+01] [ 1.33957180e-02 2.68519692e-04 9.99910237e-01 -4.97016841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters 0.01677263014441935 Centerline is valid? [True, True] Translation: X:248.99, Y:-95.73, Z:-4.00 [[-9.99387405e-01 -3.17905461e-02 1.46347493e-02 2.48985610e+02] [-3.17943269e-02 9.99494432e-01 -2.56940705e-05 -9.57337815e+01] [-1.46265336e-02 -4.90980334e-04 -9.99892906e-01 -3.99652399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters 0.01854564867119807 Centerline is valid? [True, True] Translation: X:248.98, Y:-95.71, Z:-4.00 [[-9.94559495e-01 -1.03293118e-01 1.34885945e-02 2.48978650e+02] [-1.03289965e-01 9.94650850e-01 9.32072584e-04 -9.57102940e+01] [-1.35127186e-02 -4.66234814e-04 -9.99908590e-01 -3.99700853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters 0.016157222860213122 Centerline is valid? [True, True] Translation: X:248.94, Y:-95.08, Z:-4.97 [[-9.99716018e-01 -2.09112190e-02 1.14282167e-02 2.48935149e+02] [ 2.09129354e-02 -9.99781300e-01 3.06878344e-05 -9.50796215e+01] [ 1.14250756e-02 2.69676676e-04 9.99934695e-01 -4.96776607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters 0.017226277428039942 Centerline is valid? [True, True] Translation: X:248.91, Y:-95.73, Z:-4.00 [[-9.94232906e-01 -1.06350907e-01 1.37990571e-02 2.48913195e+02] [-1.06347005e-01 9.94328556e-01 1.01834791e-03 -9.57262773e+01] [-1.38290987e-02 -4.55013393e-04 -9.99904270e-01 -3.99812690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters 0.015208672147299245 Centerline is valid? [True, True] Translation: X:248.87, Y:-95.07, Z:-4.97 [[-9.99873984e-01 -1.06901973e-02 1.17361147e-02 2.48869322e+02] [ 1.06926185e-02 -9.99942822e-01 1.43577379e-04 -9.50729976e+01] [ 1.17339087e-02 2.69049082e-04 9.99931119e-01 -4.96796086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters 0.013819264270049614 Centerline is valid? [True, True] Translation: X:248.85, Y:-95.75, Z:-4.00 [[-9.94510055e-01 -1.03771030e-01 1.34656238e-02 2.48847609e+02] [-1.03766180e-01 9.94601154e-01 1.06022053e-03 -9.57467461e+01] [-1.35029451e-02 -3.42876362e-04 -9.99908772e-01 -4.00006137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters 0.013342062189740173 Centerline is valid? [True, True] Translation: X:248.83, Y:-95.73, Z:-4.00 [[-9.85395852e-01 -1.69859288e-01 1.19514658e-02 2.48829987e+02] [-1.69849991e-01 9.85468292e-01 1.79608894e-03 -9.57273368e+01] [-1.20828730e-02 -2.60097774e-04 -9.99926966e-01 -4.00041846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters 0.012541478844959219 Centerline is valid? [True, True] Translation: X:248.83, Y:-95.71, Z:-4.00 [[-9.71174976e-01 -2.38078446e-01 1.17396457e-02 2.48829051e+02] [-2.38064013e-01 9.71245899e-01 2.63227638e-03 -9.57050321e+01] [-1.20287710e-02 -2.38386210e-04 -9.99927623e-01 -4.00128998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters 0.012286365494377302 Centerline is valid? [True, True] Translation: X:248.81, Y:-95.69, Z:-4.00 [[-9.52048871e-01 -3.05668796e-01 1.30205516e-02 2.48807668e+02] [-3.05643634e-01 9.52137873e-01 3.92925076e-03 -9.56874746e+01] [-1.35984097e-02 -2.38809970e-04 -9.99907509e-01 -4.00024736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters 0.01231962769999906 Centerline is valid? [True, True] Translation: X:248.77, Y:-95.67, Z:-4.00 [[-9.27640517e-01 -3.73242439e-01 1.31587783e-02 2.48773391e+02] [-3.73208501e-01 9.27733812e-01 5.03877639e-03 -9.56733170e+01] [-1.40885288e-02 -2.36794804e-04 -9.99900724e-01 -3.99977570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters 0.01278596721361708 Centerline is valid? [True, True] Translation: X:248.72, Y:-95.67, Z:-4.00 [[-8.98347580e-01 -4.39112313e-01 1.23289155e-02 2.48715886e+02] [-4.39074247e-01 8.98432151e-01 5.78583460e-03 -9.56712131e+01] [-1.36173253e-02 -2.15618761e-04 -9.99907257e-01 -3.99874510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters 0.011935544825187668 Centerline is valid? [True, True] Translation: X:248.65, Y:-95.68, Z:-4.00 [[-8.63940819e-01 -5.03476599e-01 1.08432490e-02 2.48654699e+02] [-5.03439733e-01 8.64008841e-01 6.09574429e-03 -9.56772418e+01] [-1.24377276e-02 -1.92560075e-04 -9.99922630e-01 -4.00200109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters 0.0119873348054433 Centerline is valid? [True, True] Translation: X:248.58, Y:-95.69, Z:-4.00 [[-8.23795902e-01 -5.66795502e-01 1.01573457e-02 2.48581119e+02] [-5.66755371e-01 8.23858495e-01 6.74759327e-03 -9.56930168e+01] [-1.21927210e-02 -1.98090543e-04 -9.99925646e-01 -4.00280731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters 0.012953646108150509 Centerline is valid? [True, True] Translation: X:248.50, Y:-95.72, Z:-4.00 [[-7.77196342e-01 -6.29171173e-01 1.04633138e-02 2.48501978e+02] [-6.29118449e-01 7.77266732e-01 8.14887649e-03 -9.57153054e+01] [-1.32598239e-02 -2.49386745e-04 -9.99912054e-01 -4.00118957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters 0.013213937401109052 Centerline is valid? [True, True] Translation: X:248.42, Y:-95.75, Z:-4.00 [[-7.25896420e-01 -6.87727632e-01 1.02514419e-02 2.48419800e+02] [-6.87664734e-01 7.25968744e-01 9.30572233e-03 -9.57487565e+01] [-1.38420288e-02 -2.94564568e-04 -9.99904151e-01 -4.00136052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters 0.01402866497977358 Centerline is valid? [True, True] Translation: X:248.33, Y:-95.79, Z:-4.00 [[-6.69616668e-01 -7.42641582e-01 9.84878459e-03 2.48333605e+02] [-7.42568804e-01 6.69689002e-01 1.04025151e-02 -9.57938458e+01] [-1.43209630e-02 -3.47702726e-04 -9.99897389e-01 -4.00147218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters 0.014342791850240889 Centerline is valid? [True, True] Translation: X:248.25, Y:-95.85, Z:-4.00 [[-6.09719904e-01 -7.92564234e-01 9.14186053e-03 2.48251000e+02] [-7.92484430e-01 6.09788314e-01 1.12534234e-02 -9.58470873e+01] [-1.44936606e-02 -3.83345929e-04 -9.99894888e-01 -4.00261905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters 0.014704273548534425 Centerline is valid? [True, True] Translation: X:248.17, Y:-95.91, Z:-4.00 [[-5.46531206e-01 -8.37400560e-01 7.99639195e-03 2.48168281e+02] [-8.37321318e-01 5.46589558e-01 1.15267041e-02 -9.59118623e+01] [-1.40232128e-02 -3.95845937e-04 -9.99901592e-01 -4.00322861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters 0.014908084526836009 Centerline is valid? [True, True] Translation: X:248.09, Y:-95.98, Z:-4.00 [[-4.79286168e-01 -8.77627547e-01 7.39306002e-03 2.48088601e+02] [-8.77536996e-01 4.79342981e-01 1.26145897e-02 -9.59844540e+01] [-1.46147229e-02 -4.41685293e-04 -9.99893102e-01 -4.00295448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters 0.01483303461479495 Centerline is valid? [True, True] Translation: X:248.02, Y:-96.06, Z:-4.00 [[-4.10990314e-01 -9.11615261e-01 6.67660586e-03 2.48017429e+02] [-9.11512413e-01 4.11044290e-01 1.37008386e-02 -9.60612240e+01] [-1.52342742e-02 -4.54897173e-04 -9.99883848e-01 -4.00254084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters 0.01455248099833138 Centerline is valid? [True, True] Translation: X:247.95, Y:-96.15, Z:-4.00 [[-3.41587660e-01 -9.39831652e-01 5.85975749e-03 2.47950491e+02] [-9.39715003e-01 3.41637626e-01 1.48137337e-02 -9.61504268e+01] [-1.59243295e-02 -4.46313382e-04 -9.99873100e-01 -4.00313818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters 0.01568301391947761 Centerline is valid? [True, True] Translation: X:247.89, Y:-96.25, Z:-4.00 [[-2.70274182e-01 -9.62772858e-01 4.50452248e-03 2.47886933e+02] [-9.62662980e-01 2.70311415e-01 1.45507835e-02 -9.62465232e+01] [-1.52267232e-02 -4.03635949e-04 -9.99883985e-01 -4.00222741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters 0.013213886260759606 Centerline is valid? [True, True] Translation: X:247.84, Y:-96.35, Z:-4.01 [[-1.99265857e-01 -9.79940999e-01 2.95913797e-03 2.47837603e+02] [-9.79855106e-01 1.99287581e-01 1.29780787e-02 -9.63471084e+01] [-1.33074709e-02 -3.13438477e-04 -9.99911403e-01 -4.00590588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters 0.012291519093465058 Centerline is valid? [True, True] Translation: X:247.79, Y:-96.46, Z:-4.01 [[-1.27456097e-01 -9.91842524e-01 1.83072154e-03 2.47793185e+02] [-9.91766208e-01 1.27469004e-01 1.23061510e-02 -9.64553612e+01] [-1.24391241e-02 -2.47153788e-04 -9.99922601e-01 -4.00696519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters 0.01147963027125042 Centerline is valid? [True, True] Translation: X:247.76, Y:-96.58, Z:-4.01 [[-5.79792492e-02 -9.98317378e-01 9.04825241e-04 2.47758972e+02] [-9.98234968e-01 5.79860899e-02 1.28281413e-02 -9.65752444e+01] [-1.28590237e-02 -1.59462195e-04 -9.99917307e-01 -4.00639322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters 0.011286347230272673 Centerline is valid? [True, True] Translation: X:247.73, Y:-96.68, Z:-4.01 [[ 1.28544220e-02 -9.99917373e-01 -1.01256021e-04 2.47733859e+02] [-9.99820381e-01 -1.28545854e-02 1.39271306e-02 -9.66780356e+01] [-1.39272814e-02 -7.77873798e-05 -9.99903008e-01 -4.00675014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters 0.011403742776401181 Centerline is valid? [True, True] Translation: X:247.71, Y:-96.80, Z:-4.01 [[ 8.79184423e-02 -9.96126878e-01 -1.26138194e-03 2.47713812e+02] [-9.96016305e-01 -8.79274771e-02 1.48418002e-02 -9.67950260e+01] [-1.48952262e-02 -4.85109754e-05 -9.99889059e-01 -4.00635531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters 0.011423480917818446 Centerline is valid? [True, True] Translation: X:247.70, Y:-96.91, Z:-4.01 [[ 1.63340783e-01 -9.86566666e-01 -2.45006253e-03 2.47702073e+02] [-9.86452785e-01 -1.63359154e-01 1.49896204e-02 -9.69148068e+01] [-1.51884999e-02 -3.15453329e-05 -9.99884648e-01 -4.00663803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters 0.011432232211324549 Centerline is valid? [True, True] Translation: X:247.70, Y:-97.04, Z:-4.01 [[ 2.39606870e-01 -9.70864557e-01 -3.24972675e-03 2.47698949e+02] [-9.70772569e-01 -2.39628902e-01 1.33644335e-02 -9.70360298e+01] [-1.37537833e-02 -4.74644992e-05 -9.99905411e-01 -4.00742544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters 0.01120133507134212 Centerline is valid? [True, True] Translation: X:247.70, Y:-97.16, Z:-4.01 [[ 3.16946571e-01 -9.48437685e-01 -3.29063250e-03 2.47703305e+02] [-9.48383505e-01 -3.16963639e-01 1.01379684e-02 -9.71628780e+01] [-1.06582421e-02 -9.24127276e-05 -9.99943195e-01 -4.00982041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters 0.01111100337673342 Centerline is valid? [True, True] Translation: X:247.71, Y:-97.28, Z:-4.01 [[ 3.92194247e-01 -9.19875987e-01 -3.44101156e-03 2.47714866e+02] [-9.19837788e-01 -3.92209323e-01 8.38397007e-03 -9.72817786e+01] [-9.06180955e-03 -1.22972371e-04 -9.99958933e-01 -4.01186291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters 0.011295654425963194 Centerline is valid? [True, True] Translation: X:247.74, Y:-97.40, Z:-4.01 [[ 4.63572007e-01 -8.86050414e-01 -3.95693554e-03 2.47736999e+02] [-8.86015508e-01 -4.63588873e-01 7.86614015e-03 -9.73983685e+01] [-8.80418803e-03 -1.40616127e-04 -9.99961233e-01 -4.01219887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters 0.012298297270119581 Centerline is valid? [True, True] Translation: X:247.76, Y:-97.52, Z:-4.01 [[ 5.35098660e-01 -8.44773862e-01 -5.15227705e-03 2.47764455e+02] [-8.44730915e-01 -5.35123425e-01 8.52067438e-03 -9.75169606e+01] [-9.95514714e-03 -2.07113738e-04 -9.99950425e-01 -4.01068590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters 0.013968904410307967 Centerline is valid? [True, True] Translation: X:247.80, Y:-97.63, Z:-4.01 [[ 6.03092520e-01 -7.97642034e-01 -6.82619925e-03 2.47797304e+02] [-7.97585178e-01 -6.03131075e-01 9.52839407e-03 -9.76295406e+01] [-1.17173405e-02 -3.02027852e-04 -9.99931304e-01 -4.00754195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters 0.014382743137045842 Centerline is valid? [True, True] Translation: X:247.84, Y:-97.73, Z:-4.01 [[ 6.64324211e-01 -7.47404712e-01 -7.71611545e-03 2.47840307e+02] [-7.47348241e-01 -6.64368934e-01 9.19382678e-03 -9.77319864e+01] [-1.19978569e-02 -3.41056415e-04 -9.99927965e-01 -4.00807437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters 0.013799825776957196 Centerline is valid? [True, True] Translation: X:247.89, Y:-97.83, Z:-4.01 [[ 7.19392063e-01 -6.94562094e-01 -7.65224829e-03 2.47894403e+02] [-6.94518024e-01 -7.19432690e-01 7.83066227e-03 -9.78306901e+01] [-1.09441588e-02 -3.18691921e-04 -9.99940060e-01 -4.00979721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters 0.013710549440486629 Centerline is valid? [True, True] Translation: X:247.95, Y:-97.92, Z:-4.01 [[ 7.68258213e-01 -6.40090360e-01 -7.97804305e-03 2.47949206e+02] [-6.40052023e-01 -7.68299585e-01 7.01103517e-03 -9.79184624e+01] [-1.06172232e-02 -2.79922753e-04 -9.99943597e-01 -4.00918970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters 0.012227955134769335 Centerline is valid? [True, True] Translation: X:247.97, Y:-97.94, Z:-4.01 [[ 8.12262473e-01 -5.83229291e-01 -8.55968566e-03 2.47972900e+02] [-5.83194096e-01 -8.12307545e-01 6.41084851e-03 -9.79422855e+01] [-1.06920919e-02 -2.15333522e-04 -9.99942815e-01 -4.00870448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters 0.011365266615338482 Centerline is valid? [True, True] Translation: X:248.00, Y:-97.96, Z:-4.01 [[ 8.51912649e-01 -5.23604789e-01 -9.10290287e-03 2.47997453e+02] [-5.23573078e-01 -8.51961269e-01 5.76438636e-03 -9.79644756e+01] [-1.07735810e-02 -1.44718782e-04 -9.99941953e-01 -4.00809220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters 0.011213955574371878 Centerline is valid? [True, True] Translation: X:248.02, Y:-97.98, Z:-4.01 [[ 8.88433154e-01 -4.58914562e-01 -9.16271025e-03 2.48024378e+02] [-4.58888983e-01 -8.88480396e-01 4.84625521e-03 -9.79845441e+01] [-1.03649055e-02 -1.00907010e-04 -9.99946278e-01 -4.00875096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters 0.011203074642134369 Centerline is valid? [True, True] Translation: X:248.05, Y:-98.00, Z:-4.01 [[ 9.19891047e-01 -3.92067057e-01 -9.15887662e-03 2.48052936e+02] [-3.92047015e-01 -9.19936639e-01 3.96460626e-03 -9.80018706e+01] [-9.97997768e-03 -5.62955617e-05 -9.99950197e-01 -4.00956073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters 0.011310852493001875 Centerline is valid? [True, True] Translation: X:248.08, Y:-98.02, Z:-4.01 [[ 9.47430255e-01 -3.19828473e-01 -9.25525320e-03 2.48080634e+02] [-3.19812720e-01 -9.47475459e-01 3.17475297e-03 -9.80223574e+01] [-9.78450167e-03 -4.79093203e-05 -9.99952129e-01 -4.01022081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters 0.011226106814526385 Centerline is valid? [True, True] Translation: X:248.11, Y:-98.04, Z:-4.01 [[ 9.69660668e-01 -2.44248213e-01 -1.00498626e-02 2.48109221e+02] [-2.44234543e-01 -9.69712745e-01 2.58458647e-03 -9.80403471e+01] [-1.03767605e-02 -5.16482297e-05 -9.99946159e-01 -4.00975010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters 0.011421619936563059 Centerline is valid? [True, True] Translation: X:248.14, Y:-98.05, Z:-4.01 [[ 9.85641070e-01 -1.68488825e-01 -1.10994324e-02 2.48138705e+02] [-1.68477683e-01 -9.85703563e-01 1.93806914e-03 -9.80538160e+01] [-1.12672931e-02 -4.02338762e-05 -9.99936521e-01 -4.00858848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters 0.011607502592173427 Centerline is valid? [True, True] Translation: X:248.17, Y:-98.06, Z:-4.01 [[ 9.95671122e-01 -9.23478986e-02 -1.05301150e-02 2.48167091e+02] [-9.23424606e-02 -9.95726802e-01 1.00250605e-03 -9.80645000e+01] [-1.05776971e-02 -2.57895971e-05 -9.99944054e-01 -4.00873298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters 0.012063648208666592 Centerline is valid? [True, True] Translation: X:248.20, Y:-98.07, Z:-4.01 [[ 9.99792681e-01 -1.79490450e-02 -9.61391321e-03 2.48196198e+02] [-1.79482792e-02 -9.99838903e-01 1.65937139e-04 -9.80706074e+01] [-9.61534285e-03 6.65046107e-06 -9.99953772e-01 -4.00990444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters 0.012544679219774138 Centerline is valid? [True, True] Translation: X:248.23, Y:-98.07, Z:-4.01 [[ 9.98319538e-01 5.73809343e-02 -8.09496218e-03 2.48225112e+02] [ 5.73789026e-02 -9.98352357e-01 -4.83189261e-04 -9.80741105e+01] [-8.10935042e-03 1.78972328e-05 -9.99967119e-01 -4.01122972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters 0.012533945536634273 Centerline is valid? [True, True] Translation: X:248.25, Y:-98.08, Z:-4.01 [[ 9.91035104e-01 1.33404200e-01 -7.26237040e-03 2.48254707e+02] [ 1.33400445e-01 -9.91061713e-01 -1.00115792e-03 -9.80815865e+01] [-7.33101592e-03 2.33792048e-05 -9.99973127e-01 -4.01155508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters 0.013037084409251382 Centerline is valid? [True, True] Translation: X:248.28, Y:-98.09, Z:-4.01 [[ 9.77983252e-01 2.08577934e-01 -6.63360696e-03 2.48284813e+02] [ 2.08572926e-01 -9.78005749e-01 -1.44564043e-03 -9.80873384e+01] [-6.78923444e-03 3.02213124e-05 -9.99976952e-01 -4.01133659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters 0.01321646101521367 Centerline is valid? [True, True] Translation: X:248.32, Y:-98.09, Z:-4.01 [[ 9.59170674e-01 2.82746441e-01 -6.78737776e-03 2.48315610e+02] [ 2.82739004e-01 -9.59194687e-01 -2.05126764e-03 -9.80920649e+01] [-7.09040531e-03 4.84593378e-05 -9.99974862e-01 -4.01146463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters 0.013594597010603525 Centerline is valid? [True, True] Translation: X:248.35, Y:-98.09, Z:-4.01 [[ 9.34290046e-01 3.56437028e-01 -7.39964530e-03 2.48346587e+02] [ 3.56425269e-01 -9.34319346e-01 -2.89607065e-03 -9.80926427e+01] [-7.94589857e-03 6.83494206e-05 -9.99968429e-01 -4.01093382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters 0.013668547266734722 Centerline is valid? [True, True] Translation: X:248.38, Y:-98.09, Z:-4.01 [[ 9.03029106e-01 4.29514240e-01 -7.47999819e-03 2.48376981e+02] [ 4.29498901e-01 -9.03060083e-01 -3.63062282e-03 -9.80919276e+01] [-8.31429199e-03 6.59070781e-05 -9.99965434e-01 -4.00991877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters 0.013282511694665494 Centerline is valid? [True, True] Translation: X:248.41, Y:-98.09, Z:-4.01 [[ 8.65557071e-01 5.00756092e-01 -7.36841251e-03 2.48408398e+02] [ 5.00737441e-01 -8.65588432e-01 -4.32221200e-03 -9.80880483e+01] [-8.54238662e-03 5.14811336e-05 -9.99963512e-01 -4.00999544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters 0.012922859126536864 Centerline is valid? [True, True] Translation: X:248.44, Y:-98.08, Z:-4.01 [[ 8.22178054e-01 5.69193267e-01 -6.50169224e-03 2.48437604e+02] [ 5.69175265e-01 -8.22203761e-01 -4.52689670e-03 -9.80799492e+01] [-7.92239493e-03 2.13127164e-05 -9.99968617e-01 -4.01022150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters 0.011724331111657285 Centerline is valid? [True, True] Translation: X:248.47, Y:-98.07, Z:-4.01 [[ 7.71925122e-01 6.35691878e-01 -5.23842666e-03 2.48471627e+02] [ 6.35677473e-01 -7.71942896e-01 -4.27965875e-03 -9.80744663e+01] [-6.76431056e-03 -2.63737164e-05 -9.99977121e-01 -4.01131437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters 0.011316553918562665 Centerline is valid? [True, True] Translation: X:248.50, Y:-98.07, Z:-4.01 [[ 7.15737864e-01 6.98352537e-01 -4.80039806e-03 2.48504753e+02] [ 6.98337440e-01 -7.15753959e-01 -4.59231920e-03 -9.80661905e+01] [-6.64296169e-03 -6.54009567e-05 -9.99977933e-01 -4.01137415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters 0.011261942520775 Centerline is valid? [True, True] Translation: X:248.54, Y:-98.05, Z:-4.01 [[ 6.56081571e-01 7.54674654e-01 -4.81021910e-03 2.48535219e+02] [ 7.54655380e-01 -6.56099198e-01 -5.39440921e-03 -9.80529282e+01] [-7.22700480e-03 -9.08852528e-05 -9.99973881e-01 -4.01137050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters 0.011452326706456468 Centerline is valid? [True, True] Translation: X:248.56, Y:-98.04, Z:-4.01 [[ 5.92229132e-01 8.05759939e-01 -3.94672375e-03 2.48564977e+02] [ 8.05743287e-01 -5.92242272e-01 -5.18137248e-03 -9.80373744e+01] [-6.51235901e-03 -1.11486443e-04 -9.99978788e-01 -4.01172522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters 0.011608208841025203 Centerline is valid? [True, True] Translation: X:248.59, Y:-98.02, Z:-4.01 [[ 5.26451745e-01 8.50198270e-01 -3.38556368e-03 2.48589927e+02] [ 8.50182086e-01 -5.26462618e-01 -5.24711337e-03 -9.80171874e+01] [-6.24345943e-03 -1.15993604e-04 -9.99980503e-01 -4.01198748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters 0.011717015745549886 Centerline is valid? [True, True] Translation: X:248.61, Y:-98.00, Z:-4.01 [[ 4.56975244e-01 8.89474636e-01 -2.91504761e-03 2.48614438e+02] [ 8.89458238e-01 -4.56984525e-01 -5.40255572e-03 -9.79950555e+01] [-6.13756793e-03 -1.23978895e-04 -9.99981157e-01 -4.01270786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters 0.012122593035634089 Centerline is valid? [True, True] Translation: X:248.64, Y:-97.97, Z:-4.01 [[ 3.83453944e-01 9.23556819e-01 -2.42366107e-03 2.48636890e+02] [ 9.23540594e-01 -3.83461579e-01 -5.47621350e-03 -9.79714031e+01] [-5.98697522e-03 -1.38473724e-04 -9.99982068e-01 -4.01274133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters 0.012481367052140304 Centerline is valid? [True, True] Translation: X:248.66, Y:-97.95, Z:-4.01 [[ 3.07327033e-01 9.51601265e-01 -2.26449407e-03 2.48658705e+02] [ 9.51579286e-01 -3.07335331e-01 -6.46969247e-03 -9.79457336e+01] [-6.85252657e-03 -1.66534261e-04 -9.99976507e-01 -4.01226092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters 0.01285541132635508 Centerline is valid? [True, True] Translation: X:248.68, Y:-97.92, Z:-4.01 [[ 2.30302427e-01 9.73117297e-01 -1.87586970e-03 2.48676318e+02] [ 9.73091252e-01 -2.30309992e-01 -7.12204021e-03 -9.79176738e+01] [-7.36261205e-03 -1.85169243e-04 -9.99972878e-01 -4.01184672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters 0.013891042632894415 Centerline is valid? [True, True] Translation: X:248.69, Y:-97.89, Z:-4.01 [[ 1.49951067e-01 9.88692364e-01 -1.44451491e-03 2.48691539e+02] [ 9.88659833e-01 -1.49957856e-01 -8.02348630e-03 -9.78889630e+01] [-8.14937600e-03 -2.25003536e-04 -9.99966768e-01 -4.01082540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters 0.013547865263552424 Centerline is valid? [True, True] Translation: X:248.70, Y:-97.86, Z:-4.01 [[ 7.21635324e-02 9.97392521e-01 -7.63877640e-04 2.48702414e+02] [ 9.97363683e-01 -7.21672570e-02 -7.58757440e-03 -9.78589350e+01] [-7.62291691e-03 -2.14317645e-04 -9.99970922e-01 -4.01156939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters 0.014024272098179837 Centerline is valid? [True, True] Translation: X:248.71, Y:-97.83, Z:-4.01 [[-4.31764706e-03 9.99990667e-01 -1.53118488e-04 2.48709525e+02] [ 9.99969623e-01 4.31656245e-03 -6.48995696e-03 -9.78294416e+01] [-6.48923545e-03 -1.81135181e-04 -9.99978928e-01 -4.01213326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters 0.01285151564983752 Centerline is valid? [True, True] Translation: X:248.71, Y:-97.80, Z:-4.01 [[-8.06514775e-02 9.96742271e-01 4.28810670e-04 2.48710366e+02] [ 9.96713422e-01 8.06524066e-02 -7.58573188e-03 -9.77990463e+01] [-7.59560423e-03 -1.84399133e-04 -9.99971136e-01 -4.01284483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters 0.012219815896406137 Centerline is valid? [True, True] Translation: X:248.71, Y:-97.77, Z:-4.01 [[-1.57333640e-01 9.87544997e-01 1.00271236e-03 2.48714980e+02] [ 9.87517303e-01 1.57336739e-01 -7.39768799e-03 -9.77679355e+01] [-7.46331325e-03 -1.73709372e-04 -9.99972134e-01 -4.01347986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters 0.012398331575940365 Centerline is valid? [True, True] Translation: X:248.72, Y:-97.74, Z:-4.01 [[-2.31859552e-01 9.72748195e-01 1.44787275e-03 2.48716906e+02] [ 9.72725014e-01 2.31864025e-01 -6.71720272e-03 -9.77377463e+01] [-6.86985642e-03 -1.49065576e-04 -9.99976391e-01 -4.01292982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters 0.011664986581422926 Centerline is valid? [True, True] Translation: X:248.71, Y:-97.71, Z:-4.01 [[-3.04946341e-01 9.52367559e-01 1.93951188e-03 2.48713577e+02] [ 9.52345486e-01 3.04952481e-01 -6.48527152e-03 -9.77073403e+01] [-6.76782117e-03 -1.30574435e-04 -9.99977090e-01 -4.01355242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters 0.011319078678799796 Centerline is valid? [True, True] Translation: X:248.71, Y:-97.68, Z:-4.01 [[-3.74237773e-01 9.27330433e-01 2.08751082e-03 2.48706078e+02] [ 9.27314566e-01 3.74243583e-01 -5.42552708e-03 -9.76803008e+01] [-5.81249390e-03 -9.46579831e-05 -9.99983103e-01 -4.01356198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters 0.011303709272983993 Centerline is valid? [True, True] Translation: X:248.70, Y:-97.65, Z:-4.01 [[-4.41971408e-01 8.97026125e-01 2.32495951e-03 2.48697041e+02] [ 8.97012867e-01 4.41977518e-01 -4.87761486e-03 -9.76532343e+01] [-5.40292779e-03 -7.02477162e-05 -9.99985402e-01 -4.01375445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters 0.011818951790712037 Centerline is valid? [True, True] Translation: X:248.68, Y:-97.63, Z:-4.01 [[-5.05075463e-01 8.63070165e-01 2.94399176e-03 2.48684626e+02] [ 8.63055153e-01 5.05084042e-01 -5.09054305e-03 -9.76273080e+01] [-5.88045909e-03 -3.02811327e-05 -9.99982709e-01 -4.01213412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters 0.012582090434679566 Centerline is valid? [True, True] Translation: X:248.67, Y:-97.60, Z:-4.01 [[-5.67824992e-01 8.23140943e-01 3.71034610e-03 2.48671358e+02] [ 8.23123379e-01 5.67837115e-01 -5.37719644e-03 -9.76019551e+01] [-6.53306276e-03 7.66092379e-07 -9.99978659e-01 -4.01162559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters 0.012963143631520988 Centerline is valid? [True, True] Translation: X:248.66, Y:-97.58, Z:-4.01 [[-6.28011028e-01 7.78191557e-01 4.47759984e-03 2.48658189e+02] [ 7.78172125e-01 6.28026989e-01 -5.49954847e-03 -9.75766587e+01] [-7.09175573e-03 3.05662938e-05 -9.99974853e-01 -4.01145039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters 0.012898081146450037 Centerline is valid? [True, True] Translation: X:248.65, Y:-97.55, Z:-4.01 [[-6.87381633e-01 7.26276089e-01 5.43444376e-03 2.48645850e+02] [ 7.26253829e-01 6.87403114e-01 -5.68629537e-03 -9.75508963e+01] [-7.86547392e-03 3.81305872e-05 -9.99969066e-01 -4.01063784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters 0.01237765325060754 Centerline is valid? [True, True] Translation: X:248.63, Y:-97.53, Z:-4.01 [[-7.44194581e-01 6.67938358e-01 5.72504829e-03 2.48632298e+02] [ 6.67918720e-01 7.44216602e-01 -5.12178563e-03 -9.75250904e+01] [-7.68171306e-03 1.22618233e-05 -9.99970495e-01 -4.01082294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters 0.011791635490229817 Centerline is valid? [True, True] Translation: X:248.65, Y:-97.50, Z:-4.01 [[-7.91488445e-01 6.11157540e-01 5.70117480e-03 2.48650804e+02] [ 6.11141611e-01 7.91508977e-01 -4.41245237e-03 -9.75028435e+01] [-7.20923457e-03 -8.17990620e-06 -9.99974013e-01 -4.01178684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters 0.0112919963535272 Centerline is valid? [True, True] Translation: X:248.67, Y:-97.48, Z:-4.01 [[-8.35658092e-01 5.49226283e-01 5.10323660e-03 2.48665088e+02] [ 5.49215685e-01 8.35673673e-01 -3.41234800e-03 -9.74765766e+01] [-6.13879168e-03 -4.87786339e-05 -9.99981156e-01 -4.01254081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters 0.011206155535565475 Centerline is valid? [True, True] Translation: X:249.05, Y:-96.90, Z:-4.97 [[-7.97664864e-01 -6.03094056e-01 2.88528520e-03 2.49051333e+02] [ 6.03089644e-01 -7.97670075e-01 -2.30921616e-03 -9.68966762e+01] [ 3.69418020e-03 -1.01894970e-04 9.99993171e-01 -4.96649167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters 0.011466609845789061 Centerline is valid? [True, True] Translation: X:248.62, Y:-97.45, Z:-4.01 [[-8.42580840e-01 5.38551206e-01 4.48617781e-03 2.48624383e+02] [ 5.38542939e-01 8.42592777e-01 -2.98563296e-03 -9.74457735e+01] [-5.38793726e-03 -9.96377420e-05 -9.99985480e-01 -4.01275477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters 0.012625903235449517 Centerline is valid? [True, True] Translation: X:248.64, Y:-97.42, Z:-4.01 [[-8.81660804e-01 4.71855227e-01 5.18379082e-03 2.48641582e+02] [ 4.71846116e-01 8.81676032e-01 -2.93566377e-03 -9.74202672e+01] [-5.95563242e-03 -1.42308110e-04 -9.99982255e-01 -4.01222742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters 0.01299039910258611 Centerline is valid? [True, True] Translation: X:248.65, Y:-97.39, Z:-4.01 [[-9.14475490e-01 4.04606000e-01 5.34448794e-03 2.48651913e+02] [ 4.04598027e-01 9.14491092e-01 -2.54540307e-03 -9.73937756e+01] [-5.91737197e-03 -1.65339440e-04 -9.99982479e-01 -4.01144429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters 0.014004900071904882 Centerline is valid? [True, True] Translation: X:248.94, Y:-96.78, Z:-4.97 [[-8.66705748e-01 -4.98807866e-01 3.44366066e-03 2.48939809e+02] [ 4.98803958e-01 -8.66712589e-01 -1.97459109e-03 -9.67793007e+01] [ 3.96960562e-03 6.32212235e-06 9.99992121e-01 -4.96891945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters 0.014075204286435775 Centerline is valid? [True, True] Translation: X:248.61, Y:-97.37, Z:-4.01 [[-9.17406910e-01 3.97921453e-01 4.80394655e-03 2.48605954e+02] [ 3.97914995e-01 9.17419472e-01 -2.27375229e-03 -9.73740178e+01] [-5.31200892e-03 -1.74393699e-04 -9.99985876e-01 -4.01090754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters 0.013892953521369926 Centerline is valid? [True, True] Translation: X:248.90, Y:-96.76, Z:-4.97 [[-8.69188197e-01 -4.94464264e-01 4.11943482e-03 2.48903584e+02] [ 4.94459374e-01 -8.69197950e-01 -2.20228399e-03 -9.67573161e+01] [ 4.66955503e-03 1.22693916e-04 9.99989090e-01 -4.96861949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters 0.013660918314449728 Centerline is valid? [True, True] Translation: X:248.57, Y:-97.36, Z:-4.01 [[-9.17832033e-01 3.96919693e-01 6.25438608e-03 2.48569314e+02] [ 3.96909055e-01 9.17853322e-01 -2.91220455e-03 -9.73644392e+01] [-6.89652037e-03 -1.90492151e-04 -9.99976201e-01 -4.01015467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters 0.013473790558369137 Centerline is valid? [True, True] Translation: X:248.57, Y:-97.34, Z:-4.01 [[-9.43202524e-01 3.32118363e-01 8.14809043e-03 2.48573775e+02] [ 3.32104010e-01 9.43237694e-01 -3.09500468e-03 -9.73412269e+01] [-8.71349392e-03 -2.13202716e-04 -9.99962014e-01 -4.00857677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters 0.013179544828916036 Centerline is valid? [True, True] Translation: X:248.59, Y:-97.32, Z:-4.01 [[-9.63939763e-01 2.65966329e-01 9.05789929e-03 2.48590794e+02] [ 2.65952523e-01 9.63982296e-01 -2.71817849e-03 -9.73223523e+01] [-9.45459851e-03 -2.11189164e-04 -9.99955282e-01 -4.00861699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters 0.012467562438776864 Centerline is valid? [True, True] Translation: X:248.60, Y:-97.30, Z:-4.01 [[-9.79612468e-01 2.00695421e-01 8.98670867e-03 2.48598601e+02] [ 2.00685365e-01 9.79653673e-01 -2.01648177e-03 -9.73026057e+01] [-9.20856082e-03 -1.71869777e-04 -9.99957586e-01 -4.00936650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters 0.011717745946520593 Centerline is valid? [True, True] Translation: X:248.61, Y:-97.28, Z:-4.01 [[-9.90561926e-01 1.36814062e-01 8.30558507e-03 2.48610970e+02] [ 1.36808293e-01 9.90596739e-01 -1.26144897e-03 -9.72843333e+01] [-8.40006945e-03 -1.13270398e-04 -9.99964712e-01 -4.01063502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters 0.0113314093313911 Centerline is valid? [True, True] Translation: X:248.73, Y:-96.56, Z:-4.97 [[-9.77408589e-01 -2.11276784e-01 5.87974223e-03 2.48726327e+02] [ 2.11272699e-01 -9.77426273e-01 -1.31457483e-03 -9.65568828e+01] [ 6.02475368e-03 -4.26477229e-05 9.99981850e-01 -4.96710369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters 0.011441573774926632 Centerline is valid? [True, True] Translation: X:248.56, Y:-97.28, Z:-4.01 [[-9.89981656e-01 1.41039743e-01 6.64165608e-03 2.48562116e+02] [ 1.41036244e-01 9.90003934e-01 -9.94616761e-04 -9.72849336e+01] [-6.71554614e-03 -4.79381208e-05 -9.99977449e-01 -4.01254375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters 0.011516502524304447 Centerline is valid? [True, True] Translation: X:248.57, Y:-97.26, Z:-4.01 [[-9.97231607e-01 7.40635746e-02 6.61132197e-03 2.48569129e+02] [ 7.40617905e-02 9.97253522e-01 -5.14605279e-04 -9.72600424e+01] [-6.63127762e-03 -2.35343072e-05 -9.99978013e-01 -4.01427555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters 0.011819989341038605 Centerline is valid? [True, True] Translation: X:248.63, Y:-96.51, Z:-4.97 [[-9.91756704e-01 -1.27998475e-01 5.91874543e-03 2.48628188e+02] [ 1.27996110e-01 -9.91774365e-01 -7.78129659e-04 -9.65136350e+01] [ 5.96965940e-03 -1.41389140e-05 9.99982181e-01 -4.96576800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters 0.012260722633117813 Centerline is valid? [True, True] Translation: X:248.51, Y:-97.25, Z:-4.01 [[-9.97235519e-01 7.34646779e-02 1.11472568e-02 2.48509847e+02] [ 7.34605734e-02 9.97297819e-01 -7.77768482e-04 -9.72545140e+01] [-1.11742734e-02 4.32655177e-05 -9.99937565e-01 -4.01109577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters 0.012648692237949724 Centerline is valid? [True, True] Translation: X:248.56, Y:-96.51, Z:-4.97 [[-9.92634400e-01 -1.20625694e-01 1.12423446e-02 2.48557762e+02] [ 1.20617559e-01 -9.92698061e-01 -1.40128053e-03 -9.65126400e+01] [ 1.13292842e-02 -3.49350848e-05 9.99935821e-01 -4.97067980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters 0.013331833487478099 Centerline is valid? [True, True] Translation: X:248.45, Y:-97.25, Z:-4.01 [[-9.97207746e-01 7.33361153e-02 1.40899194e-02 2.48447897e+02] [ 7.33306882e-02 9.97307273e-01 -9.02126374e-04 -9.72486923e+01] [-1.41181375e-02 1.33616076e-04 -9.99900325e-01 -4.00915347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters 0.014629474561980972 Centerline is valid? [True, True] Translation: X:248.50, Y:-96.51, Z:-4.97 [[-9.94105196e-01 -1.07817853e-01 1.14091804e-02 2.48503822e+02] [ 1.07807819e-01 -9.94170632e-01 -1.49261503e-03 -9.65120812e+01] [ 1.15036027e-02 -2.53817497e-04 9.99933799e-01 -4.97060069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters 0.018246362223924804 Centerline is valid? [True, True] Translation: X:248.39, Y:-97.25, Z:-4.01 [[-9.96991618e-01 7.66074827e-02 1.17901400e-02 2.48389809e+02] [ 7.66044186e-02 9.97061310e-01 -7.11938826e-04 -9.72491517e+01] [-1.18100323e-02 1.93379779e-04 -9.99930240e-01 -4.00882647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters 0.014582081864099964 Centerline is valid? [True, True] Translation: X:248.39, Y:-97.22, Z:-4.01 [[-9.99924008e-01 6.25500395e-03 1.06232297e-02 2.48390419e+02] [ 6.25651759e-03 9.99980422e-01 1.09256206e-04 -9.72155941e+01] [-1.06223383e-02 1.75712326e-04 -9.99943566e-01 -4.01325018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters 0.013979720928600439 Centerline is valid? [True, True] Translation: X:248.38, Y:-96.49, Z:-4.97 [[-9.99439221e-01 -3.27464237e-02 6.99388122e-03 2.48380714e+02] [ 3.27432092e-02 -9.99463633e-01 -5.73660063e-04 -9.64870584e+01] [ 7.00891525e-03 -3.44336251e-04 9.99975378e-01 -4.96685494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters 0.011805256722517777 Centerline is valid? [True, True] Translation: X:248.31, Y:-97.20, Z:-4.01 [[-9.99901884e-01 -1.11640920e-02 8.46084150e-03 2.48314775e+02] [-1.11635290e-02 9.99937679e-01 1.13767111e-04 -9.72013748e+01] [-8.46158432e-03 1.93030995e-05 -9.99964200e-01 -4.01279559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters 0.010983120167361348 Centerline is valid? [True, True] Translation: X:248.30, Y:-97.17, Z:-4.01 [[-9.95826605e-01 -9.08829669e-02 8.34624794e-03 2.48304397e+02] [-9.08802272e-02 9.95861578e-01 7.07716311e-04 -9.71676822e+01] [-8.37602700e-03 -5.37461778e-05 -9.99964919e-01 -4.01217123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters 0.011724579237440896 Centerline is valid? [True, True] Translation: X:248.29, Y:-97.13, Z:-4.01 [[-9.84769763e-01 -1.73663697e-01 8.33271404e-03 2.48287242e+02] [-1.73658834e-01 9.84805004e-01 1.30918936e-03 -9.71326423e+01] [-8.43345715e-03 -1.57799308e-04 -9.99964425e-01 -4.01118026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters 0.012873094357520655 Centerline is valid? [True, True] Translation: X:248.26, Y:-97.11, Z:-4.01 [[-9.68343970e-01 -2.49459198e-01 8.94789898e-03 2.48264418e+02] [-2.49450683e-01 9.68385284e-01 2.07337080e-03 -9.71051103e+01] [-9.18223511e-03 -2.24323396e-04 -9.99957817e-01 -4.00998809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters 0.014084086047977125 Centerline is valid? [True, True] Translation: X:248.25, Y:-97.08, Z:-4.01 [[-9.46423967e-01 -3.22812171e-01 8.60095066e-03 2.48245081e+02] [-3.22801387e-01 9.46463011e-01 2.65202909e-03 -9.70805977e+01] [-8.99658893e-03 -2.66454903e-04 -9.99959494e-01 -4.00985677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters 0.014482989540677343 Centerline is valid? [True, True] Translation: X:248.22, Y:-97.06, Z:-4.01 [[-9.20221082e-01 -3.91308944e-01 8.39472722e-03 2.48216950e+02] [-3.91295410e-01 9.20259329e-01 3.26645500e-03 -9.70616724e+01] [-9.00351909e-03 -2.78957474e-04 -9.99959429e-01 -4.00943521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters 0.015585462496037416 Centerline is valid? [True, True] Translation: X:248.17, Y:-97.05, Z:-4.01 [[-8.89230352e-01 -4.57370721e-01 9.02243725e-03 2.48167485e+02] [-4.57350657e-01 8.89276070e-01 4.29502124e-03 -9.70540513e+01] [-9.98785450e-03 -3.07154358e-04 -9.99950073e-01 -4.00772227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters 0.014233054365487233 Centerline is valid? [True, True] Translation: X:248.11, Y:-97.06, Z:-4.01 [[-8.54228775e-01 -5.19819924e-01 8.96920528e-03 2.48112247e+02] [-5.19794858e-01 8.54275811e-01 5.11320149e-03 -9.70614709e+01] [-1.03201191e-02 -2.94302936e-04 -9.99946703e-01 -4.00869102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters 0.013188451462184858 Centerline is valid? [True, True] Translation: X:248.04, Y:-97.08, Z:-4.01 [[-8.14414180e-01 -5.80229315e-01 7.96773830e-03 2.48044755e+02] [-5.80204658e-01 8.14453113e-01 5.35550687e-03 -9.70769132e+01] [-9.59677135e-03 -2.61318134e-04 -9.99953916e-01 -4.00968029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters 0.013407117828744538 Centerline is valid? [True, True] Translation: X:247.97, Y:-97.10, Z:-4.01 [[-7.69412442e-01 -6.38707463e-01 7.56771832e-03 2.47970500e+02] [-6.38679785e-01 7.69449616e-01 5.95144268e-03 -9.70995258e+01] [-9.62420881e-03 -2.54234663e-04 -9.99953654e-01 -4.00938395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters 0.01260459476764224 Centerline is valid? [True, True] Translation: X:247.89, Y:-97.14, Z:-4.01 [[-7.21794514e-01 -6.92067553e-01 7.42840999e-03 2.47894855e+02] [-6.92034110e-01 7.21832702e-01 6.80737543e-03 -9.71377067e+01] [-1.00732329e-02 -2.27186860e-04 -9.99949238e-01 -4.00880763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters 0.01163693340303734 Centerline is valid? [True, True] Translation: X:247.81, Y:-97.19, Z:-4.01 [[-6.69415639e-01 -7.42861479e-01 6.28692111e-03 2.47814897e+02] [-7.42831354e-01 6.69445134e-01 6.69269331e-03 -9.71875953e+01] [-9.18049279e-03 -1.89928552e-04 -9.99957840e-01 -4.01015980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters 0.010903565414419536 Centerline is valid? [True, True] Translation: X:247.74, Y:-97.25, Z:-4.01 [[-6.14216654e-01 -7.89120032e-01 5.24177729e-03 2.47738865e+02] [-7.89093314e-01 6.14239003e-01 6.49531159e-03 -9.72451337e+01] [-8.34528455e-03 -1.46722865e-04 -9.99965167e-01 -4.01130884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters 0.010576247087030472 Centerline is valid? [True, True] Translation: X:247.66, Y:-97.31, Z:-4.01 [[-5.54490585e-01 -8.32177313e-01 4.59458085e-03 2.47663383e+02] [-8.32150579e-01 5.54509607e-01 6.67159300e-03 -9.73095721e+01] [-8.09968756e-03 -1.24047606e-04 -9.99967189e-01 -4.01166965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters 0.01041132523384691 Centerline is valid? [True, True] Translation: X:247.59, Y:-97.39, Z:-4.01 [[-4.90782404e-01 -8.71272377e-01 4.13231519e-03 2.47588196e+02] [-8.71243396e-01 4.90799788e-01 7.10721753e-03 -9.73860139e+01] [-8.22046173e-03 -1.12155012e-04 -9.99966205e-01 -4.01093187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters 0.010863166987774576 Centerline is valid? [True, True] Translation: X:247.51, Y:-97.47, Z:-4.01 [[-4.19659952e-01 -9.07675135e-01 3.37261482e-03 2.47511234e+02] [-9.07648383e-01 4.19673481e-01 6.97012251e-03 -9.74675521e+01] [-7.74200389e-03 -1.36067113e-04 -9.99970021e-01 -4.01074040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters 0.011848455780680228 Centerline is valid? [True, True] Translation: X:247.44, Y:-97.56, Z:-4.01 [[-3.46054311e-01 -9.38208584e-01 3.32654559e-03 2.47436460e+02] [-9.38170062e-01 3.46070254e-01 8.50382604e-03 -9.75588389e+01] [-9.12958107e-03 -1.78079824e-04 -9.99958309e-01 -4.00873514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters 0.012105232914257627 Centerline is valid? [True, True] Translation: X:247.37, Y:-97.65, Z:-4.01 [[-2.69056298e-01 -9.63118949e-01 3.25555277e-03 2.47371743e+02] [-9.63059350e-01 2.69075875e-01 1.07173518e-02 -9.76540417e+01] [-1.11980753e-02 -2.51719542e-04 -9.99937268e-01 -4.00782794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters 0.012868325526225018 Centerline is valid? [True, True] Translation: X:247.31, Y:-97.76, Z:-4.01 [[-1.92424399e-01 -9.81309252e-01 2.23683017e-03 2.47314272e+02] [-9.81257660e-01 1.92437226e-01 1.00657465e-02 -9.77562195e+01] [-1.03080595e-02 -2.58011517e-04 -9.99946837e-01 -4.00785886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters 0.012514374462012251 Centerline is valid? [True, True] Translation: X:247.27, Y:-97.87, Z:-4.01 [[-1.16885879e-01 -9.93144675e-01 1.15968550e-03 2.47268001e+02] [-9.93112271e-01 1.16891437e-01 8.02551176e-03 -9.78656096e+01] [-8.10605158e-03 -2.13628897e-04 -9.99967123e-01 -4.00992251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters 0.01233229478813584 Centerline is valid? [True, True] Translation: X:247.23, Y:-97.97, Z:-4.01 [[-4.17020799e-02 -9.99129997e-01 4.29894402e-04 2.47231022e+02] [-9.99110566e-01 4.17039510e-02 6.23362249e-03 -9.79744771e+01] [-6.24612751e-03 -1.69557016e-04 -9.99980478e-01 -4.01120136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters 0.011412279304513648 Centerline is valid? [True, True] Translation: X:247.21, Y:-98.09, Z:-4.01 [[ 2.99435074e-02 -9.99551592e-01 -2.66366736e-05 2.47205048e+02] [-9.99539586e-01 -2.99432784e-02 4.90052691e-03 -9.80886981e+01] [-4.89912706e-03 -1.20114554e-04 -9.99987992e-01 -4.01136574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters 0.010410387622369406 Centerline is valid? [True, True] Translation: X:247.19, Y:-98.20, Z:-4.01 [[ 9.94782493e-02 -9.95039584e-01 -5.52145593e-04 2.47189254e+02] [-9.95018780e-01 -9.94797403e-02 6.43501472e-03 -9.82010278e+01] [-6.45802166e-03 -9.07487641e-05 -9.99979143e-01 -4.00942797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters 0.01045588047526048 Centerline is valid? [True, True] Translation: X:247.18, Y:-98.32, Z:-4.01 [[ 1.71022559e-01 -9.85266250e-01 -1.30400185e-03 2.47181339e+02] [-9.85234805e-01 -1.71027519e-01 7.87192681e-03 -9.83164130e+01] [-7.97896401e-03 -6.15290617e-05 -9.99968166e-01 -4.00806493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters 0.010483226472172322 Centerline is valid? [True, True] Translation: X:247.18, Y:-98.43, Z:-4.01 [[ 2.44551840e-01 -9.69634234e-01 -1.96195133e-03 2.47179716e+02] [-9.69601503e-01 -2.44559705e-01 7.96715787e-03 -9.84325466e+01] [-8.20504326e-03 -4.60721564e-05 -9.99966337e-01 -4.00878086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters 0.010654778809385788 Centerline is valid? [True, True] Translation: X:247.19, Y:-98.55, Z:-4.01 [[ 3.16189500e-01 -9.48692492e-01 -2.59928402e-03 2.47187469e+02] [-9.48659754e-01 -3.16200183e-01 7.88133523e-03 -9.85505423e+01] [-8.29885764e-03 -2.61593071e-05 -9.99965564e-01 -4.00826803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters 0.010490111470313144 Centerline is valid? [True, True] Translation: X:247.20, Y:-98.68, Z:-4.01 [[ 3.89145924e-01 -9.21170893e-01 -3.10412409e-03 2.47203554e+02] [-9.21140849e-01 -3.89158303e-01 7.43986922e-03 -9.86753595e+01] [-8.06138663e-03 -3.58592786e-05 -9.99967506e-01 -4.00815892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters 0.010399215243896929 Centerline is valid? [True, True] Translation: X:247.22, Y:-98.79, Z:-4.01 [[ 4.60507101e-01 -8.87647789e-01 -3.82264484e-03 2.47224351e+02] [-8.87616280e-01 -4.60522963e-01 7.47933328e-03 -9.87883140e+01] [-8.39942938e-03 -5.12442981e-05 -9.99964723e-01 -4.00835559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters 0.010247227154758743 Centerline is valid? [True, True] Translation: X:247.26, Y:-98.91, Z:-4.01 [[ 5.31523922e-01 -8.47033446e-01 -4.08186733e-03 2.47255528e+02] [-8.47007129e-01 -5.31539587e-01 6.67757787e-03 -9.89071717e+01] [-7.82580587e-03 -9.19216485e-05 -9.99969374e-01 -4.00818312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters 0.01075970668053073 Centerline is valid? [True, True] Translation: X:247.29, Y:-99.02, Z:-4.01 [[ 5.98630179e-01 -8.01013301e-01 -4.42714614e-03 2.47291581e+02] [-8.00989809e-01 -5.98646536e-01 6.13597270e-03 -9.90174683e+01] [-7.56529145e-03 -1.27079494e-04 -9.99971375e-01 -4.00760247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters 0.012198012058689072 Centerline is valid? [True, True] Translation: X:247.33, Y:-99.13, Z:-4.01 [[ 6.64152615e-01 -7.47580614e-01 -4.95279039e-03 2.47334409e+02] [-7.47557659e-01 -6.64171054e-01 5.86146427e-03 -9.91257398e+01] [-7.67141707e-03 -1.90410423e-04 -9.99970556e-01 -4.00765540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters 0.013961818059611001 Centerline is valid? [True, True] Translation: X:247.38, Y:-99.23, Z:-4.01 [[ 7.22350035e-01 -6.91505554e-01 -5.52233036e-03 2.47384748e+02] [-6.91482879e-01 -7.22371107e-01 5.60457384e-03 -9.92263526e+01] [-7.86476583e-03 -2.29867215e-04 -9.99969046e-01 -4.00697712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters 0.017547729521881432 Centerline is valid? [True, True] Translation: X:247.40, Y:-99.26, Z:-4.01 [[ 7.76845484e-01 -6.29669145e-01 -5.27845285e-03 2.47400654e+02] [-6.29652467e-01 -7.76863379e-01 4.58924395e-03 -9.92575250e+01] [-6.99034203e-03 -2.41542577e-04 -9.99975538e-01 -4.00636897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters 0.015185801704182388 Centerline is valid? [True, True] Translation: X:247.42, Y:-99.28, Z:-4.01 [[ 8.24668154e-01 -5.65597094e-01 -4.72895898e-03 2.47424124e+02] [-5.65586225e-01 -8.24681683e-01 3.51353687e-03 -9.92833146e+01] [-5.88713209e-03 -2.22867913e-04 -9.99982646e-01 -4.00778409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters 0.01602819617485908 Centerline is valid? [True, True] Translation: X:247.45, Y:-99.31, Z:-4.01 [[ 8.67071733e-01 -4.98175324e-01 -2.82076913e-03 2.47447863e+02] [-4.98172089e-01 -8.67076307e-01 1.80233569e-03 -9.93107462e+01] [-3.34370124e-03 -1.57525883e-04 -9.99994397e-01 -4.00891957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters 0.018180556218161 Centerline is valid? [True, True] Translation: X:247.47, Y:-99.34, Z:-4.01 [[ 9.03453201e-01 -4.28679948e-01 -2.41163914e-03 2.47472294e+02] [-4.28678001e-01 -9.03456409e-01 1.29974125e-03 -9.93354332e+01] [-2.73598384e-03 -1.40438744e-04 -9.99996247e-01 -4.00901614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters 0.01566569096196227 Centerline is valid? [True, True] Translation: X:247.50, Y:-99.35, Z:-4.01 [[ 9.33449045e-01 -3.58696349e-01 -3.13193284e-03 2.47502336e+02] [-3.58693775e-01 -9.33454287e-01 1.36735261e-03 -9.93527106e+01] [-3.41398052e-03 -1.52949174e-04 -9.99994161e-01 -4.00702538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters 0.014379890414985419 Centerline is valid? [True, True] Translation: X:247.53, Y:-99.37, Z:-4.01 [[ 9.57344293e-01 -2.88932139e-01 -3.18180740e-03 2.47533404e+02] [-2.88930067e-01 -9.57349571e-01 1.10274551e-03 -9.93663255e+01] [-3.36472057e-03 -1.36387297e-04 -9.99994330e-01 -4.00647493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters 0.013152697332124371 Centerline is valid? [True, True] Translation: X:247.57, Y:-99.38, Z:-4.01 [[ 9.76029688e-01 -2.17624282e-01 -2.39186572e-03 2.47566032e+02] [-2.17623364e-01 -9.76032613e-01 6.40783321e-04 -9.93766725e+01] [-2.47398896e-03 -1.04897681e-04 -9.99996934e-01 -4.00684300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters 0.011477305126291052 Centerline is valid? [True, True] Translation: X:247.60, Y:-99.38, Z:-4.01 [[ 9.89072867e-01 -1.47416089e-01 -1.83296018e-03 2.47598693e+02] [-1.47415684e-01 -9.89074562e-01 3.55016081e-04 -9.93814342e+01] [-1.86526937e-03 -8.09296942e-05 -9.99998257e-01 -4.00641841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters 0.010810136061540977 Centerline is valid? [True, True] Translation: X:247.63, Y:-99.39, Z:-4.01 [[ 9.97362996e-01 -7.25612944e-02 -1.38297604e-03 2.47627324e+02] [-7.25611254e-02 -9.97363952e-01 1.72050753e-04 -9.93887842e+01] [-1.39181467e-03 -7.12467573e-05 -9.99999029e-01 -4.00586845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters 0.010426150620377387 Centerline is valid? [True, True] Translation: X:247.66, Y:-99.40, Z:-4.00 [[ 9.99994507e-01 2.89066303e-03 -1.62204217e-03 2.47656362e+02] [ 2.89077006e-03 -9.99995820e-01 6.36410808e-05 -9.93960765e+01] [-1.62185142e-03 -6.83296822e-05 -9.99998682e-01 -4.00479324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters 0.010578353129972077 Centerline is valid? [True, True] Translation: X:247.69, Y:-99.41, Z:-4.00 [[ 9.96686838e-01 8.13292845e-02 -9.45741263e-04 2.47685380e+02] [ 8.13293092e-02 -9.96687285e-01 -1.23572009e-05 -9.94055230e+01] [-9.43613294e-04 -6.46002241e-05 -9.99999553e-01 -4.00400941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters 0.010773088029930987 Centerline is valid? [True, True] Translation: X:247.72, Y:-99.41, Z:-4.00 [[ 9.87059426e-01 1.60353186e-01 -7.38293066e-04 2.47715777e+02] [ 1.60353189e-01 -9.87059700e-01 -5.48787686e-05 -9.94120628e+01] [-7.37539317e-04 -6.42190419e-05 -9.99999726e-01 -4.00333272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters 0.01100836010996354 Centerline is valid? [True, True] Translation: X:247.75, Y:-99.42, Z:-4.00 [[ 9.71113114e-01 2.38618490e-01 -7.32380558e-04 2.47746569e+02] [ 2.38618472e-01 -9.71113388e-01 -1.12882566e-04 -9.94158995e+01] [-7.38160432e-04 -6.51377900e-05 -9.99999725e-01 -4.00339490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters 0.01124730554638317 Centerline is valid? [True, True] Translation: X:247.78, Y:-99.42, Z:-4.00 [[ 9.49180290e-01 3.14728739e-01 -1.61177495e-03 2.47776704e+02] [ 3.14728417e-01 -9.49181656e-01 -4.56291325e-04 -9.94156885e+01] [-1.67347521e-03 -7.41686467e-05 -9.99998597e-01 -4.00305234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters 0.01144274440369658 Centerline is valid? [True, True] Translation: X:247.81, Y:-99.41, Z:-4.00 [[ 9.21282530e-01 3.88886324e-01 -2.43463259e-03 2.47807782e+02] [ 3.88885207e-01 -9.21285743e-01 -9.35577829e-04 -9.94146731e+01] [-2.60682572e-03 -8.48610920e-05 -9.99996599e-01 -4.00081406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters 0.011430566518162861 Centerline is valid? [True, True] Translation: X:247.84, Y:-99.41, Z:-4.00 [[ 8.88158403e-01 4.59533341e-01 -1.93917568e-03 2.47837138e+02] [ 4.59532438e-01 -8.88160516e-01 -9.14115164e-04 -9.94092633e+01] [-2.14236567e-03 -7.92350648e-05 -9.99997702e-01 -4.00115256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters 0.011217739647468205 Centerline is valid? [True, True] Translation: X:247.87, Y:-99.40, Z:-4.00 [[ 8.50243632e-01 5.26388811e-01 -7.64895380e-04 2.47865523e+02] [ 5.26388666e-01 -8.50243974e-01 -3.96755217e-04 -9.94004430e+01] [-8.59195195e-04 -6.52936620e-05 -9.99999629e-01 -4.00266399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters 0.011068300150750459 Centerline is valid? [True, True] Translation: X:247.89, Y:-99.39, Z:-4.00 [[ 8.08542319e-01 5.88437362e-01 8.88300251e-04 2.47892367e+02] [ 5.88436934e-01 -8.08542805e-01 7.11829888e-04 -9.93886692e+01] [ 1.13709608e-03 -5.28359115e-05 -9.99999352e-01 -4.00434678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters 0.010956764903265363 Centerline is valid? [True, True] Translation: X:247.92, Y:-99.38, Z:-4.00 [[ 7.61451535e-01 6.48221178e-01 9.29550426e-04 2.47919789e+02] [ 6.48220605e-01 -7.61452100e-01 8.63368797e-04 -9.93769980e+01] [ 1.26746206e-03 -5.48597563e-05 -9.99999195e-01 -4.00382352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters 0.01093744979906689 Centerline is valid? [True, True] Translation: X:247.95, Y:-99.36, Z:-4.00 [[ 7.09508998e-01 7.04696254e-01 4.14706068e-04 2.47945309e+02] [ 7.04696084e-01 -7.09509117e-01 4.92582445e-04 -9.93629769e+01] [ 6.41358739e-04 -5.72499346e-05 -9.99999793e-01 -4.00308560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters 0.010841169934013824 Centerline is valid? [True, True] Translation: X:247.97, Y:-99.35, Z:-4.00 [[ 6.53387245e-01 7.57023143e-01 -1.03381309e-03 2.47971757e+02] [ 7.57022329e-01 -6.53388060e-01 -1.11179598e-03 -9.93492651e+01] [-1.51713641e-03 -5.61862804e-05 -9.99998848e-01 -4.00266459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters 0.01091268098122447 Centerline is valid? [True, True] Translation: X:248.00, Y:-99.33, Z:-4.00 [[ 5.93266605e-01 8.05004664e-01 -1.49251599e-03 2.47996442e+02] [ 8.05002332e-01 -5.93268480e-01 -1.93813437e-03 -9.93328592e+01] [-2.44566990e-03 -5.16484607e-05 -9.99997008e-01 -4.00246247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters 0.010944468386237994 Centerline is valid? [True, True] Translation: X:248.02, Y:-99.32, Z:-4.00 [[ 5.29598926e-01 8.48244180e-01 -2.60552371e-03 2.48021368e+02] [ 8.48234274e-01 -5.29605333e-01 -4.09957170e-03 -9.93161899e+01] [-4.85733709e-03 -3.89657508e-05 -9.99988202e-01 -3.99953571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters 0.011036929424385989 Centerline is valid? [True, True] Translation: X:248.04, Y:-99.30, Z:-4.00 [[ 4.62284991e-01 8.86726473e-01 -2.95778648e-03 2.48042480e+02] [ 8.86708709e-01 -4.62294453e-01 -5.61293154e-03 -9.92957115e+01] [-6.34450327e-03 -2.79210186e-05 -9.99979873e-01 -3.99881307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters 0.011191645500806707 Centerline is valid? [True, True] Translation: X:248.06, Y:-99.27, Z:-4.00 [[ 3.91690814e-01 9.20092660e-01 -2.79360921e-03 2.48060368e+02] [ 9.20069664e-01 -3.91700775e-01 -6.50505674e-03 -9.92741539e+01] [-7.07951385e-03 -2.23441193e-05 -9.99974940e-01 -3.99847672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters 0.011187699023505039 Centerline is valid? [True, True] Translation: X:248.08, Y:-99.25, Z:-4.00 [[ 3.19002472e-01 9.47750097e-01 -2.67893713e-03 2.48078433e+02] [ 9.47716962e-01 -3.19013720e-01 -7.92504867e-03 -9.92518628e+01] [-8.36558334e-03 -1.07640403e-05 -9.99965008e-01 -3.99939754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters 0.010943506970148799 Centerline is valid? [True, True] Translation: X:248.10, Y:-99.23, Z:-4.00 [[ 2.43521299e-01 9.69893830e-01 -1.82643465e-03 2.48097900e+02] [ 9.69867090e-01 -2.43528147e-01 -7.20201011e-03 -9.92285909e+01] [-7.42997341e-03 -1.75560077e-05 -9.99972397e-01 -4.00088017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters 0.010806459174357817 Centerline is valid? [True, True] Translation: X:248.11, Y:-99.20, Z:-4.00 [[ 1.65472352e-01 9.86213886e-01 -1.03532868e-03 2.48112618e+02] [ 9.86195808e-01 -1.65475587e-01 -5.97150034e-03 -9.92036683e+01] [-6.06049818e-03 -3.29186011e-05 -9.99981634e-01 -4.00189024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters 0.010549431026779228 Centerline is valid? [True, True] Translation: X:248.13, Y:-99.18, Z:-4.00 [[ 8.27112578e-02 9.96573424e-01 -5.08883600e-04 2.48127678e+02] [ 9.96558915e-01 -8.27127997e-02 -5.37788364e-03 -9.91779605e+01] [-5.40154710e-03 -6.23209686e-05 -9.99985410e-01 -4.00308677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters 0.01085101343682063 Centerline is valid? [True, True] Translation: X:248.14, Y:-99.15, Z:-4.00 [[-1.02806177e-04 9.99999991e-01 -8.49514837e-05 2.48141083e+02] [ 9.99986500e-01 1.02363451e-04 -5.19517429e-03 -9.91518776e+01] [-5.19516555e-03 -8.54844329e-05 -9.99986501e-01 -4.00219325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters 0.011537777817787469 Centerline is valid? [True, True] Translation: X:248.15, Y:-99.12, Z:-4.00 [[-8.47766734e-02 9.96399899e-01 3.97208993e-04 2.48154785e+02] [ 9.96380541e-01 8.47775029e-02 -6.21224637e-03 -9.91232617e+01] [-6.22355604e-03 -1.30882271e-04 -9.99980625e-01 -4.00144678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters 0.012065995714027812 Centerline is valid? [True, True] Translation: X:248.16, Y:-99.09, Z:-4.00 [[-1.65147742e-01 9.86268317e-01 1.01480200e-03 2.48161877e+02] [ 9.86243279e-01 1.65150783e-01 -7.02941647e-03 -9.90933663e+01] [-7.10048609e-03 -1.60050603e-04 -9.99974778e-01 -4.00140021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters 0.013072205746325024 Centerline is valid? [True, True] Translation: X:248.17, Y:-99.06, Z:-4.00 [[-2.45311207e-01 9.69442516e-01 1.90266937e-03 2.48167283e+02] [ 9.69406277e-01 2.45318494e-01 -8.38494683e-03 -9.90628674e+01] [-8.59548393e-03 -2.12461803e-04 -9.99963036e-01 -4.00034616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters 0.013581714107104275 Centerline is valid? [True, True] Translation: X:248.17, Y:-99.03, Z:-4.00 [[-3.21682041e-01 9.46843587e-01 2.80815686e-03 2.48168177e+02] [ 9.46800751e-01 3.21694209e-01 -9.00966286e-03 -9.90331330e+01] [-9.43410930e-03 -2.39481709e-04 -9.99955469e-01 -3.99921050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters 0.013407226956015384 Centerline is valid? [True, True] Translation: X:248.16, Y:-99.00, Z:-4.00 [[-3.95138627e-01 9.18614876e-01 3.48923278e-03 2.48164842e+02] [ 9.18573505e-01 3.95153959e-01 -8.72154404e-03 -9.90034107e+01] [-9.39052425e-03 -2.41102161e-04 -9.99955879e-01 -4.00058376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters 0.013191902080851218 Centerline is valid? [True, True] Translation: X:248.16, Y:-98.98, Z:-4.00 [[-4.64222413e-01 8.85711000e-01 3.68463361e-03 2.48157080e+02] [ 8.85679524e-01 4.64236990e-01 -7.46971825e-03 -9.89754510e+01] [-8.32655483e-03 -2.04206081e-04 -9.99965313e-01 -4.00145759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters 0.012432348456033972 Centerline is valid? [True, True] Translation: X:248.15, Y:-98.95, Z:-4.00 [[-5.30753795e-01 8.47514704e-01 4.38587981e-03 2.48148194e+02] [ 8.47482685e-01 5.30771881e-01 -7.36945065e-03 -9.89476052e+01] [-8.57361946e-03 -1.94406706e-04 -9.99963227e-01 -4.00108386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters 0.011878479965593639 Centerline is valid? [True, True] Translation: X:248.14, Y:-98.92, Z:-4.00 [[-5.94391132e-01 8.04152422e-01 6.16965081e-03 2.48138948e+02] [ 8.04105318e-01 5.94423113e-01 -8.70635293e-03 -9.89195696e+01] [-1.06686178e-02 -2.13929950e-04 -9.99943066e-01 -4.00023970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters 0.011876753656649518 Centerline is valid? [True, True] Translation: X:248.13, Y:-98.89, Z:-4.00 [[-6.54618530e-01 7.55920227e-01 7.69356254e-03 2.48128891e+02] [ 7.55864044e-01 6.54663702e-01 -9.21865558e-03 -9.88928926e+01] [-1.20052643e-02 -2.19415472e-04 -9.99927910e-01 -3.99845228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters 0.011903310921794898 Centerline is valid? [True, True] Translation: X:248.12, Y:-98.87, Z:-4.00 [[-7.11021273e-01 7.03112313e-01 9.04572035e-03 2.48115474e+02] [ 7.03051495e-01 7.11078778e-01 -9.25027175e-03 -9.88687368e+01] [-1.29361997e-02 -2.17532782e-04 -9.99916300e-01 -3.99747946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters 0.011409578404279246 Centerline is valid? [True, True] Translation: X:248.10, Y:-98.85, Z:-4.00 [[-7.62640655e-01 6.46760594e-01 8.94230385e-03 2.48097658e+02] [ 6.46713343e-01 7.62693059e-01 -7.81984188e-03 -9.88457254e+01] [-1.18777986e-02 -1.80622118e-04 -9.99929440e-01 -3.99880189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters 0.01119430210474349 Centerline is valid? [True, True] Translation: X:248.56, Y:-98.31, Z:-4.99 [[-7.03496297e-01 -7.10665249e-01 6.91838743e-03 2.48563474e+02] [ 7.10631440e-01 -7.03530314e-01 -6.93207782e-03 -9.83117368e+01] [ 9.79368209e-03 3.97325490e-05 9.99952040e-01 -4.99036477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters 0.010847621833029895 Centerline is valid? [True, True] Translation: X:248.06, Y:-98.82, Z:-4.00 [[-7.62476753e-01 6.46974176e-01 7.32240529e-03 2.48055553e+02] [ 6.46942887e-01 7.62511903e-01 -6.36383843e-03 -9.88198217e+01] [-9.70066032e-03 -1.15100842e-04 -9.99952941e-01 -4.00107087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters 0.010846434340783064 Centerline is valid? [True, True] Translation: X:248.08, Y:-98.80, Z:-4.00 [[-8.05895204e-01 5.92008623e-01 7.66226835e-03 2.48078825e+02] [ 5.91980598e-01 8.05931622e-01 -5.76128264e-03 -9.88047536e+01] [-9.58599336e-03 -1.07075839e-04 -9.99954048e-01 -4.00040034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters 0.01064574351035501 Centerline is valid? [True, True] Translation: X:248.10, Y:-98.79, Z:-4.00 [[-8.45708095e-01 5.33598251e-01 7.12207575e-03 2.48100267e+02] [ 5.33578339e-01 8.45738078e-01 -4.61081166e-03 -9.87864874e+01] [-8.48373170e-03 -9.92153968e-05 -9.99964008e-01 -4.00089385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters 0.010732707989753414 Centerline is valid? [True, True] Translation: X:248.49, Y:-98.18, Z:-4.99 [[-8.00986673e-01 -5.98661059e-01 5.02857425e-03 2.48492782e+02] [ 5.98648928e-01 -8.01002456e-01 -3.81119100e-03 -9.81821098e+01] [ 6.30951196e-03 -4.23626166e-05 9.99980094e-01 -4.98843951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters 0.010641740241278444 Centerline is valid? [True, True] Translation: X:248.07, Y:-98.77, Z:-4.00 [[-8.46347432e-01 5.32593152e-01 6.36856250e-03 2.48066315e+02] [ 5.32577392e-01 8.46371389e-01 -4.09794396e-03 -9.87657810e+01] [-7.57270598e-03 -7.65319417e-05 -9.99971324e-01 -4.00078373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters 0.010542081586198949 Centerline is valid? [True, True] Translation: X:248.08, Y:-98.75, Z:-4.00 [[-8.80034074e-01 4.74865691e-01 6.52726079e-03 2.48083225e+02] [ 4.74852236e-01 8.80058278e-01 -3.57500107e-03 -9.87461306e+01] [-7.44201524e-03 -4.66383763e-05 -9.99972307e-01 -4.00027380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters 0.010823397751963061 Centerline is valid? [True, True] Translation: X:248.10, Y:-98.72, Z:-4.00 [[-9.09357714e-01 4.15972437e-01 5.95654500e-03 2.48098340e+02] [ 4.15963414e-01 9.09377222e-01 -2.73975530e-03 -9.87246263e+01] [-6.55640903e-03 -1.37128231e-05 -9.99978506e-01 -3.99966333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters 0.011333537418690833 Centerline is valid? [True, True] Translation: X:248.11, Y:-98.70, Z:-4.00 [[-9.35311515e-01 3.53783230e-01 5.45851754e-03 2.48110732e+02] [ 3.53777224e-01 9.35327443e-01 -2.06139256e-03 -9.87009284e+01] [-5.83478737e-03 3.05498410e-06 -9.99982977e-01 -3.99904334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters 0.01275607626313043 Centerline is valid? [True, True] Translation: X:248.13, Y:-98.68, Z:-4.00 [[-9.56281962e-01 2.92406422e-01 4.82644154e-03 2.48126592e+02] [ 2.92402839e-01 9.56294141e-01 -1.44766049e-03 -9.86786890e+01] [-5.03880300e-03 2.68935946e-05 -9.99987305e-01 -3.99855070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters 0.01285389160997463 Centerline is valid? [True, True] Translation: X:248.14, Y:-98.65, Z:-4.00 [[-9.73965749e-01 2.26649196e-01 4.56743198e-03 2.48135382e+02] [ 2.26646871e-01 9.73976458e-01 -1.02713937e-03 -9.86514939e+01] [-4.68137153e-03 3.47955968e-05 -9.99989042e-01 -3.99957897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters 0.01331464936144602 Centerline is valid? [True, True] Translation: X:248.14, Y:-98.62, Z:-4.00 [[-9.87505524e-01 1.57474590e-01 5.88169297e-03 2.48139160e+02] [ 1.57472158e-01 9.87523038e-01 -8.77247054e-04 -9.86216486e+01] [-5.94645143e-03 5.99165751e-05 -9.99982318e-01 -3.99832313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters 0.013072429431223324 Centerline is valid? [True, True] Translation: X:248.14, Y:-98.59, Z:-4.00 [[-9.96360420e-01 8.49427631e-02 7.11624319e-03 2.48140012e+02] [ 8.49410759e-02 9.96385830e-01 -5.39545791e-04 -9.85899477e+01] [-7.13635439e-03 6.68792824e-05 -9.99974534e-01 -3.99708026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters 0.012305214186526695 Centerline is valid? [True, True] Translation: X:248.19, Y:-97.89, Z:-4.99 [[-9.92189292e-01 -1.24584787e-01 6.24811310e-03 2.48190162e+02] [ 1.24581616e-01 -9.92208959e-01 -8.95764285e-04 -9.78855239e+01] [ 6.31103240e-03 -1.10367708e-04 9.99980079e-01 -4.99409876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters 0.012009394506804464 Centerline is valid? [True, True] Translation: X:248.08, Y:-98.58, Z:-4.00 [[-9.97171673e-01 7.47666982e-02 7.65474577e-03 2.48080912e+02] [ 7.47647158e-02 9.97201053e-01 -5.45207029e-04 -9.85777967e+01] [-7.67408387e-03 2.86398860e-05 -9.99970553e-01 -3.99576843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters 0.011223400663431964 Centerline is valid? [True, True] Translation: X:248.08, Y:-98.54, Z:-4.00 [[-9.99971470e-01 -8.18868588e-04 7.50920056e-03 2.48078740e+02] [-8.18896205e-04 9.99999665e-01 -6.03078173e-07 -9.85446318e+01] [-7.50919755e-03 -6.75231683e-06 -9.99971806e-01 -3.99680020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters 0.010957548792648476 Centerline is valid? [True, True] Translation: X:248.07, Y:-98.51, Z:-4.00 [[-9.97172841e-01 -7.47935635e-02 7.22824670e-03 2.48069923e+02] [-7.47918112e-02 9.97199038e-01 5.12814085e-04 -9.85136641e+01] [-7.24635585e-03 -2.92493842e-05 -9.99973744e-01 -3.99669366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters 0.01076170484802268 Centerline is valid? [True, True] Translation: X:248.02, Y:-97.84, Z:-4.99 [[-9.99940278e-01 9.56489735e-03 5.28698382e-03 2.48021288e+02] [-9.56529419e-03 -9.99954250e-01 -4.97791220e-05 -9.78438659e+01] [ 5.28626581e-03 -1.00347705e-04 9.99986023e-01 -4.99263688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters 0.010644981084640476 Centerline is valid? [True, True] Translation: X:248.00, Y:-98.51, Z:-4.00 [[-9.96500839e-01 -8.33263143e-02 6.54244258e-03 2.47998304e+02] [-8.33248823e-02 9.96522314e-01 4.91638098e-04 -9.85129229e+01] [-6.56065641e-03 -5.52304806e-05 -9.99978477e-01 -3.99849584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters 0.01072044470446523 Centerline is valid? [True, True] Translation: X:247.94, Y:-97.85, Z:-4.99 [[-9.99892605e-01 1.35263528e-02 5.64055569e-03 2.47943702e+02] [-1.35261737e-02 -9.99908515e-01 6.98934656e-05 -9.78529903e+01] [ 5.64098506e-03 -6.40917668e-06 9.99984089e-01 -4.99211019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters 0.010671916367228416 Centerline is valid? [True, True] Translation: X:247.92, Y:-98.52, Z:-4.00 [[-9.96071730e-01 -8.81163714e-02 8.75288679e-03 2.47921576e+02] [-8.81134739e-02 9.96110186e-01 7.16859965e-04 -9.85164039e+01] [-8.78200679e-03 -5.72033159e-05 -9.99961436e-01 -3.99699808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters 0.010681975170430236 Centerline is valid? [True, True] Translation: X:247.87, Y:-97.86, Z:-4.99 [[-9.99780533e-01 1.88996356e-02 9.03824788e-03 2.47866401e+02] [-1.88981896e-02 -9.99821383e-01 2.45369143e-04 -9.78619647e+01] [ 9.04127088e-03 7.45087699e-05 9.99959124e-01 -4.99370016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters 0.010911934469695496 Centerline is valid? [True, True] Translation: X:247.84, Y:-98.52, Z:-3.99 [[-9.95772740e-01 -9.09912897e-02 1.25393972e-02 2.47844961e+02] [-9.09844991e-02 9.95851688e-01 1.11213412e-03 -9.85229931e+01] [-1.25885744e-02 -3.34579394e-05 -9.99920760e-01 -3.99470988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters 0.01117147484406076 Centerline is valid? [True, True] Translation: X:247.79, Y:-97.86, Z:-5.00 [[-9.99510435e-01 2.90313577e-02 1.16649072e-02 2.47791252e+02] [-2.90296563e-02 -9.99578501e-01 3.15187793e-04 -9.78649698e+01] [ 1.16691408e-02 -2.35947571e-05 9.99931913e-01 -4.99511030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters 0.011340664539382633 Centerline is valid? [True, True] Translation: X:247.77, Y:-98.54, Z:-4.00 [[-9.95796134e-01 -9.06886241e-02 1.28698847e-02 2.47769654e+02] [-9.06805276e-02 9.95879296e-01 1.21247155e-03 -9.85362453e+01] [-1.29268091e-02 4.03265486e-05 -9.99916445e-01 -3.99599280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters 0.011090477954830504 Centerline is valid? [True, True] Translation: X:247.71, Y:-97.87, Z:-4.99 [[-9.99268606e-01 3.67617380e-02 1.05274809e-02 2.47705364e+02] [-3.67616288e-02 -9.99324042e-01 2.03946676e-04 -9.78686127e+01] [ 1.05278622e-02 -1.83209833e-04 9.99944564e-01 -4.99371205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters 0.010944218975637951 Centerline is valid? [True, True] Translation: X:247.69, Y:-98.55, Z:-4.00 [[-9.95189639e-01 -9.73605798e-02 1.08857474e-02 2.47687105e+02] [-9.73546135e-02 9.95249174e-01 1.07791341e-03 -9.85456838e+01] [-1.09389774e-02 1.29505299e-05 -9.99940168e-01 -3.99720284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters 0.01052067196303178 Centerline is valid? [True, True] Translation: X:247.62, Y:-97.88, Z:-4.99 [[-9.99364632e-01 3.45158827e-02 8.88741661e-03 2.47616761e+02] [-3.45158563e-02 -9.99404138e-01 1.56393890e-04 -9.78800735e+01] [ 8.88751901e-03 -1.50462272e-04 9.99960494e-01 -4.99280327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters 0.011017548165624455 Centerline is valid? [True, True] Translation: X:247.61, Y:-98.55, Z:-4.00 [[-9.93081988e-01 -1.17003146e-01 9.92112526e-03 2.47605362e+02] [-1.16998717e-01 9.93131534e-01 1.02771185e-03 -9.85463324e+01] [-9.97322787e-03 -1.40156800e-04 -9.99950256e-01 -3.99700380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters 0.01178413322264748 Centerline is valid? [True, True] Translation: X:247.59, Y:-98.52, Z:-4.00 [[-9.81400701e-01 -1.91706333e-01 1.00670293e-02 2.47592581e+02] [-1.91698196e-01 9.81452315e-01 1.77618660e-03 -9.85193731e+01] [-1.02208154e-02 -1.86680576e-04 -9.99947749e-01 -3.99701290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters 0.01320353222504393 Centerline is valid? [True, True] Translation: X:247.58, Y:-98.49, Z:-4.00 [[-9.64031461e-01 -2.65598792e-01 1.00311640e-02 2.47578288e+02] [-2.65586990e-01 9.64083619e-01 2.51526991e-03 -9.84919142e+01] [-1.03389335e-02 -2.39347330e-04 -9.99946523e-01 -3.99620395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters 0.013444857787874485 Centerline is valid? [True, True] Translation: X:247.42, Y:-97.87, Z:-5.00 [[-9.86902563e-01 1.61040503e-01 9.44923962e-03 2.47416383e+02] [-1.61031424e-01 -9.86947783e-01 1.71898907e-03 -9.78658867e+01] [ 9.60273296e-03 1.74850213e-04 9.99953877e-01 -4.99563652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters 0.013943331460937297 Centerline is valid? [True, True] Translation: X:247.47, Y:-98.52, Z:-3.99 [[-9.61685701e-01 -2.73903647e-01 1.17219748e-02 2.47468636e+02] [-2.73887137e-01 9.61757090e-01 3.02263091e-03 -9.85183557e+01] [-1.21016020e-02 -3.03677194e-04 -9.99926727e-01 -3.99358398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters 0.01297170551539421 Centerline is valid? [True, True] Translation: X:247.45, Y:-98.50, Z:-3.99 [[-9.40801856e-01 -3.38797205e-01 1.04077394e-02 2.47448709e+02] [-3.38779249e-01 9.40859393e-01 3.49607859e-03 -9.85020416e+01] [-1.09766811e-02 -2.36808920e-04 -9.99939726e-01 -3.99442412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters 0.01193005690709075 Centerline is valid? [True, True] Translation: X:247.41, Y:-98.49, Z:-4.00 [[-9.15294901e-01 -4.02683809e-01 8.99970350e-03 2.47411889e+02] [-4.02666265e-01 9.15339127e-01 3.76319811e-03 -9.84930815e+01] [-9.75315970e-03 -1.79440949e-04 -9.99952421e-01 -3.99589884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters 0.011286328541966244 Centerline is valid? [True, True] Translation: X:247.35, Y:-98.50, Z:-4.00 [[-8.85694772e-01 -4.64200682e-01 7.90556938e-03 2.47350645e+02] [-4.64183424e-01 8.85730045e-01 4.00458783e-03 -9.84997092e+01] [-8.86113272e-03 -1.22791767e-04 -9.99960732e-01 -3.99644799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters 0.010798041364771355 Centerline is valid? [True, True] Translation: X:247.29, Y:-98.51, Z:-4.00 [[-8.50225675e-01 -5.26366159e-01 7.41408864e-03 2.47292655e+02] [-5.26347156e-01 8.50257995e-01 4.47366280e-03 -9.85068506e+01] [-8.65867284e-03 -9.87614943e-05 -9.99962508e-01 -3.99712256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters 0.010753046484832851 Centerline is valid? [True, True] Translation: X:247.22, Y:-98.53, Z:-4.00 [[-8.09674644e-01 -5.86823240e-01 8.09050072e-03 2.47218378e+02] [-5.86795055e-01 8.09715059e-01 5.75214073e-03 -9.85291179e+01] [-9.92649013e-03 -9.01033144e-05 -9.99950727e-01 -3.99645001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters 0.010962776345854231 Centerline is valid? [True, True] Translation: X:247.14, Y:-98.56, Z:-4.00 [[-7.63183541e-01 -6.46127036e-01 8.41041916e-03 2.47140652e+02] [-6.46089233e-01 7.63229876e-01 6.98996376e-03 -9.85577892e+01] [-1.09354877e-02 -9.92559737e-05 -9.99940201e-01 -3.99522543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters 0.011363340215808416 Centerline is valid? [True, True] Translation: X:247.06, Y:-98.60, Z:-4.00 [[-7.10839168e-01 -7.03304069e-01 8.42993971e-03 2.47056304e+02] [-7.03256780e-01 7.10889140e-01 8.15675019e-03 -9.85974555e+01] [-1.17294282e-02 -1.30274740e-04 -9.99931199e-01 -3.99523446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters 0.011623430047956374 Centerline is valid? [True, True] Translation: X:246.97, Y:-98.65, Z:-4.00 [[-6.53083706e-01 -7.57244541e-01 7.89795187e-03 2.46971344e+02] [-7.57192371e-01 6.53131437e-01 8.89042879e-03 -9.86466842e+01] [-1.18906293e-02 -1.74074724e-04 -9.99929289e-01 -3.99650003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters 0.012053010394220803 Centerline is valid? [True, True] Translation: X:246.89, Y:-98.70, Z:-4.00 [[-5.91906484e-01 -8.05970058e-01 7.67985321e-03 2.46889126e+02] [-8.05906838e-01 5.91956266e-01 1.00969062e-02 -9.87023914e+01] [-1.26839413e-02 -2.12821974e-04 -9.99919533e-01 -3.99619927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters 0.013047889577902422 Centerline is valid? [True, True] Translation: X:246.81, Y:-98.77, Z:-4.00 [[-5.26088592e-01 -8.50404341e-01 6.57640268e-03 2.46805894e+02] [-8.50343679e-01 5.26129637e-01 1.01603219e-02 -9.87684435e+01] [-1.21004222e-02 -2.46973014e-04 -9.99926757e-01 -3.99670086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters 0.012913300924975465 Centerline is valid? [True, True] Translation: X:246.73, Y:-98.85, Z:-4.00 [[-4.59642010e-01 -8.88088069e-01 5.36704026e-03 2.46727787e+02] [-8.88033394e-01 4.59673283e-01 9.85715373e-03 -9.88483682e+01] [-1.12211056e-02 -2.35349029e-04 -9.99937014e-01 -3.99876760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters 0.01271480047693875 Centerline is valid? [True, True] Translation: X:246.66, Y:-98.93, Z:-4.00 [[-3.91463905e-01 -9.20183768e-01 4.22425608e-03 2.46658390e+02] [-9.20135841e-01 3.91486640e-01 9.39387240e-03 -9.89291395e+01] [-1.02978287e-02 -2.09527441e-04 -9.99946954e-01 -3.99978822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters 0.012284401595971606 Centerline is valid? [True, True] Translation: X:246.60, Y:-99.02, Z:-4.00 [[-3.22921908e-01 -9.46420071e-01 3.23892068e-03 2.46595558e+02] [-9.46377547e-01 3.22938108e-01 8.97318721e-03 -9.90157638e+01] [-9.53837539e-03 -1.67603066e-04 -9.99954495e-01 -4.00013916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters 0.012227715096643645 Centerline is valid? [True, True] Translation: X:246.54, Y:-99.11, Z:-4.00 [[-2.50968394e-01 -9.67991508e-01 2.70288687e-03 2.46536746e+02] [-9.67942034e-01 2.50982897e-01 9.78799542e-03 -9.91135862e+01] [-1.01530748e-02 -1.59760332e-04 -9.99948443e-01 -3.99958467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters 0.011776042860619748 Centerline is valid? [True, True] Translation: X:246.49, Y:-99.22, Z:-4.00 [[-1.78907264e-01 -9.83863647e-01 2.12496888e-03 2.46486964e+02] [-9.83803057e-01 1.78919830e-01 1.09196329e-02 -9.92164577e+01] [-1.11236289e-02 -1.36949246e-04 -9.99938121e-01 -3.99938174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters 0.01142617876066132 Centerline is valid? [True, True] Translation: X:246.44, Y:-99.33, Z:-4.00 [[-1.07447775e-01 -9.94209871e-01 1.30734367e-03 2.46444620e+02] [-9.94145729e-01 1.07455693e-01 1.12935279e-02 -9.93282767e+01] [-1.13686184e-02 -8.62256858e-05 -9.99935371e-01 -3.99936499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters 0.011398940917719922 Centerline is valid? [True, True] Translation: X:246.41, Y:-99.44, Z:-4.00 [[-3.46234315e-02 -9.99400332e-01 4.41579384e-04 2.46410527e+02] [-9.99333796e-01 3.46262218e-02 1.15320627e-02 -9.94390618e+01] [-1.15404375e-02 -4.20056207e-05 -9.99933406e-01 -3.99949215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters 0.011390970367057144 Centerline is valid? [True, True] Translation: X:246.38, Y:-99.55, Z:-4.00 [[ 4.02813228e-02 -9.99188284e-01 -4.33055407e-04 2.46384723e+02] [-9.99123735e-01 -4.02836430e-02 1.13574242e-02 -9.95459286e+01] [-1.13656502e-02 -2.48161338e-05 -9.99935409e-01 -3.99961865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters 0.011506351469807462 Centerline is valid? [True, True] Translation: X:246.37, Y:-99.66, Z:-4.00 [[ 1.17305826e-01 -9.93094800e-01 -1.43596678e-03 2.46366753e+02] [-9.93017536e-01 -1.17314612e-01 1.23877071e-02 -9.96635287e+01] [-1.24706274e-02 -2.72100333e-05 -9.99922238e-01 -4.00013580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters 0.011594035868730541 Centerline is valid? [True, True] Translation: X:246.36, Y:-99.79, Z:-4.00 [[ 1.95485974e-01 -9.80703286e-01 -2.50967115e-03 2.46356489e+02] [-9.80618779e-01 -1.95502075e-01 1.28743322e-02 -9.97873095e+01] [-1.31165458e-02 -5.57207160e-05 -9.99913973e-01 -3.99896185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters 0.011746417375686598 Centerline is valid? [True, True] Translation: X:246.35, Y:-99.91, Z:-4.00 [[ 2.74113067e-01 -9.61691304e-01 -3.44414248e-03 2.46353454e+02] [-9.61610388e-01 -2.74134682e-01 1.24755193e-02 -9.99068561e+01] [-1.29417573e-02 -1.07779659e-04 -9.99916246e-01 -3.99934634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters 0.011797460562480025 Centerline is valid? [True, True] Translation: X:246.36, Y:-100.03, Z:-4.00 [[ 3.48878497e-01 -9.37159632e-01 -3.95196844e-03 2.46363370e+02] [-9.37095452e-01 -3.48900857e-01 1.09684236e-02 -1.00029943e+02] [-1.16580090e-02 -1.23275473e-04 -9.99932036e-01 -4.00133156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters 0.011828833097304968 Centerline is valid? [True, True] Translation: X:246.38, Y:-100.14, Z:-4.00 [[ 4.19415157e-01 -9.07783508e-01 -4.47526715e-03 2.46380760e+02] [-9.07728908e-01 -4.19439017e-01 9.95693067e-03 -1.00143281e+02] [-1.09158391e-02 -1.13758280e-04 -9.99940414e-01 -4.00174563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters 0.01167796096314232 Centerline is valid? [True, True] Translation: X:246.41, Y:-100.26, Z:-4.00 [[ 4.85212848e-01 -8.74379523e-01 -5.37973844e-03 2.46408494e+02] [-8.74323872e-01 -4.85242664e-01 9.86531505e-03 -1.00257163e+02] [-1.12365081e-02 -8.31438761e-05 -9.99936865e-01 -4.00202932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters 0.011790119650121715 Centerline is valid? [True, True] Translation: X:246.44, Y:-100.36, Z:-4.00 [[ 5.48013708e-01 -8.36446421e-01 -6.19360272e-03 2.46441681e+02] [-8.36392045e-01 -5.48048705e-01 9.53754072e-03 -1.00361840e+02] [-1.13720377e-02 -4.64230207e-05 -9.99935335e-01 -4.00215667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters 0.012297886309730667 Centerline is valid? [True, True] Translation: X:246.48, Y:-100.46, Z:-4.00 [[ 6.05570827e-01 -7.95757503e-01 -7.34643610e-03 2.46484338e+02] [-7.95699476e-01 -6.05615386e-01 9.60975141e-03 -1.00463728e+02] [-1.20961465e-02 2.61702427e-05 -9.99926839e-01 -4.00165211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters 0.013059410871002953 Centerline is valid? [True, True] Translation: X:246.53, Y:-100.56, Z:-4.00 [[ 6.61804936e-01 -7.49629095e-01 -8.39325278e-03 2.46533386e+02] [-7.49570246e-01 -6.61858152e-01 9.39321743e-03 -1.00561700e+02] [-1.25965719e-02 7.48549015e-05 -9.99920657e-01 -4.00089787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters 0.013322605494222211 Centerline is valid? [True, True] Translation: X:246.58, Y:-100.65, Z:-4.00 [[ 7.15270474e-01 -6.98776920e-01 -9.94812917e-03 2.46584749e+02] [-6.98711657e-01 -7.15339641e-01 9.55081916e-03 -1.00652900e+02] [-1.37901831e-02 1.19454866e-04 -9.99904904e-01 -4.00154546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters 0.013287649793403807 Centerline is valid? [True, True] Translation: X:246.60, Y:-100.68, Z:-4.00 [[ 7.68135608e-01 -6.40178588e-01 -1.17924654e-02 2.46603529e+02] [-6.40105648e-01 -7.68226112e-01 9.66434129e-03 -1.00682097e+02] [-1.52461842e-02 1.24899066e-04 -9.99883762e-01 -4.00101284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters 0.012537731644179718 Centerline is valid? [True, True] Translation: X:246.62, Y:-100.71, Z:-4.00 [[ 8.18584098e-01 -5.74207904e-01 -1.43302826e-02 2.46620518e+02] [-5.74121324e-01 -8.18709521e-01 9.97128284e-03 -1.00714472e+02] [-1.74579282e-02 6.49872409e-05 -9.99847597e-01 -4.00015179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters 0.012244481615358833 Centerline is valid? [True, True] Translation: X:246.64, Y:-100.74, Z:-4.00 [[ 8.63341110e-01 -5.04385771e-01 -1.53987872e-02 2.46642727e+02] [-5.04305213e-01 -8.63478427e-01 9.01430003e-03 -1.00742598e+02] [-1.78432052e-02 -1.67271429e-05 -9.99840797e-01 -4.00014382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters 0.012310573370870272 Centerline is valid? [True, True] Translation: X:246.67, Y:-100.77, Z:-4.00 [[ 9.03226545e-01 -4.28859845e-01 -1.61568045e-02 2.46666584e+02] [-4.28788351e-01 -9.03371027e-01 7.83186942e-03 -1.00768877e+02] [-1.79543634e-02 -1.46102778e-04 -9.99838797e-01 -4.00119507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters 0.012999646771184155 Centerline is valid? [True, True] Translation: X:246.69, Y:-100.79, Z:-4.00 [[ 9.36315487e-01 -3.50847934e-01 -1.47998523e-02 2.46694508e+02] [-3.50800093e-01 -9.36432417e-01 5.79863736e-03 -1.00790830e+02] [-1.58935014e-02 -2.37564397e-04 -9.99873662e-01 -4.00264521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters 0.013363027682519117 Centerline is valid? [True, True] Translation: X:246.72, Y:-100.81, Z:-4.01 [[ 9.61782465e-01 -2.73529620e-01 -1.24915197e-02 2.46724485e+02] [-2.73503241e-01 -9.61863549e-01 3.80652552e-03 -1.00809580e+02] [-1.30563350e-02 -2.44578366e-04 -9.99914733e-01 -4.00552351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters 0.01383354615636803 Centerline is valid? [True, True] Translation: X:246.76, Y:-100.83, Z:-4.01 [[ 9.80789395e-01 -1.94764256e-01 -1.09108417e-02 2.46755035e+02] [-1.94749396e-01 -9.80850051e-01 2.41854532e-03 -1.00826537e+02] [-1.11729458e-02 -2.47203767e-04 -9.99937550e-01 -4.00692906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters 0.0143520306748306 Centerline is valid? [True, True] Translation: X:246.79, Y:-100.84, Z:-4.01 [[ 9.93282449e-01 -1.15108429e-01 -1.18332417e-02 2.46787425e+02] [-1.15096786e-01 -9.93352891e-01 1.66249711e-03 -1.00841293e+02] [-1.19459523e-02 -2.89361115e-04 -9.99928603e-01 -4.00558229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters 0.015532436150040185 Centerline is valid? [True, True] Translation: X:246.82, Y:-100.85, Z:-4.00 [[ 9.99334436e-01 -3.32176317e-02 -1.50755923e-02 2.46816722e+02] [-3.32076561e-02 -9.99448058e-01 9.11617505e-04 -1.00853611e+02] [-1.50975532e-02 -4.10385681e-04 -9.99885941e-01 -4.00328783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters 0.01625634992117286 Centerline is valid? [True, True] Translation: X:246.85, Y:-100.86, Z:-4.00 [[ 9.98731263e-01 4.72345783e-02 -1.74573343e-02 2.46847460e+02] [ 4.72361838e-02 -9.98883697e-01 -3.20589827e-04 -1.00862839e+02] [-1.74529896e-02 -5.04434769e-04 -9.99847558e-01 -4.00052202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters 0.01712444019539094 Centerline is valid? [True, True] Translation: X:246.88, Y:-100.87, Z:-4.00 [[ 9.91835209e-01 1.26042584e-01 -1.93954711e-02 2.46877223e+02] [ 1.26029758e-01 -9.92024667e-01 -1.88708715e-03 -1.00867118e+02] [-1.94786391e-02 -5.72727048e-04 -9.99810109e-01 -3.99825927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters 0.016818247653116344 Centerline is valid? [True, True] Translation: X:246.91, Y:-100.86, Z:-4.00 [[ 9.79253371e-01 2.01817759e-01 -1.82325918e-02 2.46908246e+02] [ 2.01792605e-01 -9.79422954e-01 -3.22812572e-03 -1.00864519e+02] [-1.85089120e-02 -5.18049197e-04 -9.99828561e-01 -3.99916006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters 0.01497792598312922 Centerline is valid? [True, True] Translation: X:246.94, Y:-100.86, Z:-4.00 [[ 9.61971373e-01 2.72768130e-01 -1.44438690e-02 2.46937348e+02] [ 2.72742775e-01 -9.62079741e-01 -3.73516371e-03 -1.00855458e+02] [-1.49149874e-02 -3.46340358e-04 -9.99888705e-01 -4.00253026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters 0.013010727946723118 Centerline is valid? [True, True] Translation: X:246.97, Y:-100.85, Z:-4.01 [[ 9.39133092e-01 3.43350869e-01 -1.17990248e-02 2.46966667e+02] [ 3.43327039e-01 -9.39207177e-01 -4.05257419e-03 -1.00848971e+02] [-1.24731837e-02 -2.45017735e-04 -9.99922177e-01 -4.00617061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters 0.012295287659613465 Centerline is valid? [True, True] Translation: X:246.99, Y:-100.84, Z:-4.01 [[ 9.11083286e-01 4.12075813e-01 -1.09895668e-02 2.46994894e+02] [ 4.12048311e-01 -9.11149543e-01 -4.76448807e-03 -1.00841226e+02] [-1.19764691e-02 -1.87387003e-04 -9.99928262e-01 -4.00654341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters 0.012320779211822718 Centerline is valid? [True, True] Translation: X:247.02, Y:-100.83, Z:-4.00 [[ 8.76391230e-01 4.81446110e-01 -1.21678154e-02 2.47022920e+02] [ 4.81402831e-01 -8.76475673e-01 -6.45834906e-03 -1.00834373e+02] [-1.37741412e-02 -1.97580280e-04 -9.99905112e-01 -4.00487908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters 0.012354267252380426 Centerline is valid? [True, True] Translation: X:247.05, Y:-100.83, Z:-4.00 [[ 8.35458690e-01 5.49402326e-01 -1.28786991e-02 2.47053036e+02] [ 5.49341271e-01 -8.35557916e-01 -8.19369934e-03 -1.00827312e+02] [-1.52625365e-02 -2.29303633e-04 -9.99883494e-01 -4.00415772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters 0.01265982388562513 Centerline is valid? [True, True] Translation: X:247.08, Y:-100.82, Z:-4.00 [[ 7.88725061e-01 6.14605579e-01 -1.31438505e-02 2.47084210e+02] [ 6.14526014e-01 -7.88834525e-01 -9.89294748e-03 -1.00819263e+02] [-1.64485838e-02 -2.74422489e-04 -9.99864675e-01 -4.00338472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters 0.012934936422901304 Centerline is valid? [True, True] Translation: X:247.11, Y:-100.81, Z:-4.00 [[ 7.37211580e-01 6.75551964e-01 -1.21914037e-02 2.47113598e+02] [ 6.75466172e-01 -7.37312320e-01 -1.07700521e-02 -1.00808572e+02] [-1.62646020e-02 -2.95073688e-04 -9.99867679e-01 -4.00354446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters 0.013348260422429993 Centerline is valid? [True, True] Translation: X:247.14, Y:-100.79, Z:-4.00 [[ 6.81347960e-01 7.31876078e-01 -1.10618547e-02 2.47140192e+02] [ 7.31786830e-01 -6.81437682e-01 -1.14333083e-02 -1.00794689e+02] [-1.59057294e-02 -3.04858281e-04 -9.99873449e-01 -4.00472181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters 0.012970890423200036 Centerline is valid? [True, True] Translation: X:247.17, Y:-100.78, Z:-4.01 [[ 6.22369108e-01 7.82651076e-01 -1.06763963e-02 2.47166220e+02] [ 7.82544383e-01 -6.22460598e-01 -1.29264205e-02 -1.00777500e+02] [-1.67625129e-02 -3.09749137e-04 -9.99859451e-01 -4.00550544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters 0.012568930499747685 Centerline is valid? [True, True] Translation: X:247.19, Y:-100.76, Z:-4.01 [[ 5.59638440e-01 8.28682838e-01 -9.46416111e-03 2.47191418e+02] [ 8.28573175e-01 -5.59718381e-01 -1.34843323e-02 -1.00758721e+02] [-1.64714997e-02 -2.95399341e-04 -9.99864292e-01 -4.00662426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters 0.012294073897056656 Centerline is valid? [True, True] Translation: X:247.22, Y:-100.74, Z:-4.01 [[ 4.93446874e-01 8.69738484e-01 -8.07165812e-03 2.47215639e+02] [ 8.69631227e-01 -4.93512808e-01 -1.36615593e-02 -1.00738815e+02] [-1.58654505e-02 -2.78112244e-04 -9.99874097e-01 -4.00871025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters 0.012533599099461185 Centerline is valid? [True, True] Translation: X:247.24, Y:-100.72, Z:-4.01 [[ 4.24340439e-01 9.05479191e-01 -6.52895528e-03 2.47236962e+02] [ 9.05381103e-01 -4.24390587e-01 -1.33299445e-02 -1.00717539e+02] [-1.48408145e-02 -2.54758232e-04 -9.99889837e-01 -4.00935069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters 0.011992429311582519 Centerline is valid? [True, True] Translation: X:247.26, Y:-100.69, Z:-4.01 [[ 3.52310596e-01 9.35868293e-01 -5.27090851e-03 2.47257622e+02] [ 9.35773734e-01 -3.52349938e-01 -1.33056498e-02 -1.00693951e+02] [-1.43095400e-02 -2.44656337e-04 -9.99897583e-01 -4.01086157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters 0.01225225043723005 Centerline is valid? [True, True] Translation: X:247.28, Y:-100.67, Z:-4.01 [[ 2.77761011e-01 9.60640693e-01 -4.27551805e-03 2.47276189e+02] [ 9.60540396e-01 -2.77793803e-01 -1.38834871e-02 -1.00669458e+02] [-1.45247551e-02 -2.50516372e-04 -9.99894479e-01 -4.01081794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters 0.012863149959135869 Centerline is valid? [True, True] Translation: X:247.29, Y:-100.64, Z:-4.01 [[ 2.00599635e-01 9.79667468e-01 -3.38220409e-03 2.47292911e+02] [ 9.79550899e-01 -2.00627949e-01 -1.51149722e-02 -1.00643447e+02] [-1.54862112e-02 -2.80983162e-04 -9.99880042e-01 -4.01092870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters 0.012766993602093643 Centerline is valid? [True, True] Translation: X:247.31, Y:-100.62, Z:-4.01 [[ 1.22871478e-01 9.92419802e-01 -2.35306330e-03 2.47308087e+02] [ 9.92282392e-01 -1.22893628e-01 -1.65169751e-02 -1.00616256e+02] [-1.66809496e-02 -3.05438138e-04 -9.99860817e-01 -4.01100448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters 0.01311541953098101 Centerline is valid? [True, True] Translation: X:247.32, Y:-100.59, Z:-4.01 [[ 4.41079701e-02 9.99026057e-01 -1.19353145e-03 2.47320438e+02] [ 9.98845864e-01 -4.41226862e-02 -1.89770444e-02 -1.00587292e+02] [-1.90112237e-02 -3.55115046e-04 -9.99819207e-01 -4.00842368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters 0.013440088487519316 Centerline is valid? [True, True] Translation: X:247.33, Y:-100.56, Z:-4.01 [[-3.39567317e-02 9.99423257e-01 3.06066306e-04 2.47328049e+02] [ 9.99232524e-01 3.39562316e-02 -1.95278381e-02 -1.00558775e+02] [-1.95269684e-02 -3.57270152e-04 -9.99809267e-01 -4.00703025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters 0.012599456085848912 Centerline is valid? [True, True] Translation: X:247.33, Y:-100.53, Z:-4.01 [[-1.10502229e-01 9.93874234e-01 1.80686686e-03 2.47332305e+02] [ 9.93689786e-01 1.10516536e-01 -1.91495251e-02 -1.00529115e+02] [-1.92319083e-02 -3.20600068e-04 -9.99814998e-01 -4.00861887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters 0.011699378799711047 Centerline is valid? [True, True] Translation: X:247.33, Y:-100.50, Z:-4.01 [[-1.83944048e-01 9.82931743e-01 3.12670381e-03 2.47333505e+02] [ 9.82767688e-01 1.83970476e-01 -1.79592493e-02 -1.00498863e+02] [-1.82279374e-02 -2.30673546e-04 -9.99833831e-01 -4.01041111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters 0.01109026806552569 Centerline is valid? [True, True] Translation: X:247.33, Y:-100.47, Z:-4.01 [[-2.56231542e-01 9.66605672e-01 4.34423361e-03 2.47333911e+02] [ 9.66456842e-01 2.56268323e-01 -1.69622855e-02 -1.00468985e+02] [-1.75091308e-02 -1.47758262e-04 -9.99846693e-01 -4.01140314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters 0.01099516875774886 Centerline is valid? [True, True] Translation: X:247.33, Y:-100.44, Z:-4.01 [[-3.26762050e-01 9.45088881e-01 5.79384997e-03 2.47331286e+02] [ 9.44936671e-01 3.26813405e-01 -1.69613174e-02 -1.00440391e+02] [-1.79234603e-02 -6.74935480e-05 -9.99839360e-01 -4.01037635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters 0.011816917686450074 Centerline is valid? [True, True] Translation: X:247.32, Y:-100.41, Z:-4.01 [[-3.92928767e-01 9.19541012e-01 7.16318126e-03 2.47322300e+02] [ 9.19391355e-01 3.92994049e-01 -1.65895758e-02 -1.00414571e+02] [-1.80698829e-02 6.72453628e-05 -9.99836724e-01 -4.00954065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters 0.013179728225115126 Centerline is valid? [True, True] Translation: X:247.31, Y:-100.39, Z:-4.01 [[-4.57383387e-01 8.89234009e-01 7.95704129e-03 2.47310437e+02] [ 8.89106360e-01 4.57452559e-01 -1.50677517e-02 -1.00389069e+02] [-1.70387262e-02 1.82916693e-04 -9.99854814e-01 -4.01061523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters 0.012876134902763067 Centerline is valid? [True, True] Translation: X:247.30, Y:-100.36, Z:-4.01 [[-5.22380404e-01 8.52667346e-01 8.78120935e-03 2.47304587e+02] [ 8.52554447e-01 5.22454151e-01 -1.38771536e-02 -1.00358598e+02] [-1.64203750e-02 2.37305975e-04 -9.99865148e-01 -4.01299794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters 0.012940335813618144 Centerline is valid? [True, True] Translation: X:247.30, Y:-100.33, Z:-4.01 [[-5.85663068e-01 8.10498595e-01 9.52879238e-03 2.47298189e+02] [ 8.10398655e-01 5.85740519e-01 -1.27304291e-02 -1.00326834e+02] [-1.58993947e-02 2.66378345e-04 -9.99873561e-01 -4.01423766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters 0.013456173628006196 Centerline is valid? [True, True] Translation: X:247.29, Y:-100.30, Z:-4.01 [[-6.47610612e-01 7.61893806e-01 1.08776860e-02 2.47289032e+02] [ 7.61793328e-01 6.47701903e-01 -1.23761812e-02 -1.00298109e+02] [-1.64748337e-02 2.71602382e-04 -9.99864244e-01 -4.01333922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters 0.013293701375863907 Centerline is valid? [True, True] Translation: X:247.28, Y:-100.27, Z:-4.01 [[-7.06952349e-01 7.07162855e-01 1.17928711e-02 2.47278601e+02] [ 7.07069928e-01 7.07050664e-01 -1.14662750e-02 -1.00268946e+02] [-1.64466811e-02 2.32274497e-04 -9.99864717e-01 -4.01266769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters 0.012117474095288617 Centerline is valid? [True, True] Translation: X:247.30, Y:-100.24, Z:-4.01 [[-7.57050977e-01 6.53232718e-01 1.26820573e-02 2.47297496e+02] [ 6.53145296e-01 7.57157169e-01 -1.06884431e-02 -1.00243335e+02] [-1.65843513e-02 1.91529821e-04 -9.99862452e-01 -4.01348903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters 0.011704563002429929 Centerline is valid? [True, True] Translation: X:247.32, Y:-100.22, Z:-4.01 [[-8.03546392e-01 5.95081594e-01 1.38235825e-02 2.47315838e+02] [ 5.94996475e-01 8.03665277e-01 -1.00656787e-02 -1.00216425e+02] [-1.70994334e-02 1.36743092e-04 -9.99853785e-01 -4.01304636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters 0.011201270368237306 Centerline is valid? [True, True] Translation: X:247.33, Y:-100.19, Z:-4.01 [[-8.44649587e-01 5.35147074e-01 1.35898488e-02 2.47327682e+02] [ 5.35079659e-01 8.44758900e-01 -8.49467048e-03 -1.00187207e+02] [-1.60260438e-02 9.66317678e-05 -9.99871570e-01 -4.01377078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters 0.010818087536486132 Centerline is valid? [True, True] Translation: X:247.35, Y:-100.16, Z:-4.02 [[-8.80720134e-01 4.73472742e-01 1.24743484e-02 2.47348833e+02] [ 4.73426317e-01 8.80808469e-01 -6.63047814e-03 -1.00163058e+02] [-1.41268624e-02 6.60892516e-05 -9.99900209e-01 -4.01546121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters 0.010670696945596908 Centerline is valid? [True, True] Translation: X:247.36, Y:-100.14, Z:-4.02 [[-9.11417261e-01 4.11331060e-01 1.11953279e-02 2.47359419e+02] [ 4.11300996e-01 9.11486014e-01 -4.97358316e-03 -1.00135222e+02] [-1.22501741e-02 7.16399851e-05 -9.99924961e-01 -4.01642891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters 0.011217200699737579 Centerline is valid? [True, True] Translation: X:247.37, Y:-100.11, Z:-4.02 [[-9.37276427e-01 3.48392932e-01 1.16302808e-02 2.47371773e+02] [ 3.48367530e-01 9.37348576e-01 -4.20843583e-03 -1.00111064e+02] [-1.23678164e-02 1.07144488e-04 -9.99923510e-01 -4.01607425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters 0.012896202865196474 Centerline is valid? [True, True] Translation: X:247.59, Y:-99.52, Z:-4.98 [[-9.23125666e-01 -3.84328448e-01 1.14301956e-02 2.47587662e+02] [ 3.84297584e-01 -9.23196422e-01 -4.87169160e-03 -9.95248080e+01] [ 1.24246453e-02 -1.04586999e-04 9.99922806e-01 -4.98393423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters 0.013993619703234346 Centerline is valid? [True, True] Translation: X:247.33, Y:-100.10, Z:-4.01 [[-9.35328338e-01 3.53504519e-01 1.39804943e-02 2.47329703e+02] [ 3.53469348e-01 9.35432778e-01 -4.99383497e-03 -1.00098924e+02] [-1.48431558e-02 2.70800841e-04 -9.99889798e-01 -4.01298563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters 0.014273914100090705 Centerline is valid? [True, True] Translation: X:247.34, Y:-100.07, Z:-4.01 [[-9.57661563e-01 2.87516941e-01 1.47763170e-02 2.47340141e+02] [ 2.87487543e-01 9.57775505e-01 -4.12239524e-03 -1.00072235e+02] [-1.53376530e-02 3.00147609e-04 -9.99882326e-01 -4.01266689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters 0.014273914100090705 Centerline is valid? [True, True] Translation: X:247.34, Y:-100.04, Z:-4.01 [[-9.75633976e-01 2.18889101e-01 1.50301493e-02 2.47342869e+02] [ 2.18867860e-01 9.75749697e-01 -3.06408638e-03 -1.00044709e+02] [-1.53363588e-02 3.00189840e-04 -9.99882346e-01 -4.01268125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters 0.013825413422718888 Centerline is valid? [True, True] Translation: X:247.47, Y:-99.44, Z:-4.99 [[-9.69914307e-01 -2.43066780e-01 1.35933100e-02 2.47467330e+02] [ 2.43037796e-01 -9.70009493e-01 -3.77013538e-03 -9.94351985e+01] [ 1.41020344e-02 -3.53020148e-04 9.99900499e-01 -4.98552524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters 0.012460790252085976 Centerline is valid? [True, True] Translation: X:247.29, Y:-100.03, Z:-4.01 [[-9.77756424e-01 2.09298067e-01 1.36636457e-02 2.47291509e+02] [ 2.09280282e-01 9.77851873e-01 -2.73479111e-03 -1.00029234e+02] [-1.39334080e-02 1.85572041e-04 -9.99902908e-01 -4.01427557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters 0.01134838148799113 Centerline is valid? [True, True] Translation: X:247.29, Y:-100.00, Z:-4.01 [[-9.90911415e-01 1.33879259e-01 1.30733280e-02 2.47288035e+02] [ 1.33868941e-01 9.90997646e-01 -1.66507356e-03 -9.99969933e+01] [-1.31785561e-02 1.00172190e-04 -9.99913154e-01 -4.01412037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters 0.009796504908880344 Centerline is valid? [True, True] Translation: X:247.28, Y:-99.96, Z:-4.02 [[-9.98541741e-01 5.25375236e-02 1.24177495e-02 2.47281893e+02] [ 5.25329608e-02 9.98618950e-01 -6.93566542e-04 -9.99605280e+01] [-1.24370383e-02 -4.02139924e-05 -9.99922656e-01 -4.01563599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters 0.010742390057421385 Centerline is valid? [True, True] Translation: X:247.26, Y:-99.93, Z:-4.01 [[-9.99496310e-01 -2.92796903e-02 1.22403100e-02 2.47264541e+02] [-2.92796127e-02 9.99571243e-01 1.85586664e-04 -9.99252735e+01] [-1.22404958e-02 -1.72898349e-04 -9.99925067e-01 -4.01454431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters 0.013107912067928109 Centerline is valid? [True, True] Translation: X:247.25, Y:-99.89, Z:-4.01 [[-9.93948039e-01 -1.09164805e-01 1.22613503e-02 2.47252782e+02] [-1.09160022e-01 9.94023624e-01 1.06065281e-03 -9.98937721e+01] [-1.23038578e-02 -2.84215483e-04 -9.99924264e-01 -4.01404064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters 0.013966113909928399 Centerline is valid? [True, True] Translation: X:247.24, Y:-99.87, Z:-4.01 [[-9.82956619e-01 -1.83463169e-01 1.17282346e-02 2.47238053e+02] [-1.83454018e-01 9.83026531e-01 1.86056181e-03 -9.98673622e+01] [-1.18705104e-02 -3.22740222e-04 -9.99929491e-01 -4.01456973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters 0.015371697186318617 Centerline is valid? [True, True] Translation: X:247.14, Y:-99.32, Z:-4.98 [[-9.97770590e-01 6.59625832e-02 1.01384370e-02 2.47144813e+02] [-6.59575037e-02 -9.97822084e-01 8.34929904e-04 -9.93159280e+01] [ 1.01714305e-02 1.64362507e-04 9.99948256e-01 -4.98336393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters 0.015519724677197656 Centerline is valid? [True, True] Translation: X:247.17, Y:-99.88, Z:-4.02 [[-9.81368166e-01 -1.91841596e-01 1.06453982e-02 2.47168278e+02] [-1.91834018e-01 9.81425845e-01 1.73802938e-03 -9.98811299e+01] [-1.07810952e-02 -3.36502795e-04 -9.99941826e-01 -4.01606976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters 0.016652006946341735 Centerline is valid? [True, True] Translation: X:247.07, Y:-99.32, Z:-4.99 [[-9.97521228e-01 6.94008645e-02 1.16155013e-02 2.47072488e+02] [-6.93912400e-02 -9.97588764e-01 1.23005201e-03 -9.93236760e+01] [ 1.16728603e-02 4.20988950e-04 9.99931781e-01 -4.98511647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters 0.01652808961345638 Centerline is valid? [True, True] Translation: X:247.10, Y:-99.90, Z:-4.01 [[-9.80352936e-01 -1.96851302e-01 1.25573031e-02 2.47096426e+02] [-1.96840274e-01 9.80433277e-01 2.12034464e-03 -9.98969830e+01] [-1.27289904e-02 -3.93096883e-04 -9.99918906e-01 -4.01247171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters 0.015656288790972948 Centerline is valid? [True, True] Translation: X:247.08, Y:-99.88, Z:-4.01 [[-9.64003732e-01 -2.65600128e-01 1.23845400e-02 2.47083712e+02] [-2.65583327e-01 9.64083204e-01 3.01216056e-03 -9.98806261e+01] [-1.27397572e-02 -3.85393311e-04 -9.99918772e-01 -4.01431892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters 0.01513748058532246 Centerline is valid? [True, True] Translation: X:247.07, Y:-99.87, Z:-4.02 [[-9.43038657e-01 -3.32496833e-01 1.11331846e-02 2.47065531e+02] [-3.32477910e-01 9.43104310e-01 3.56355923e-03 -9.98658874e+01] [-1.16846265e-02 -3.40963830e-04 -9.99931674e-01 -4.01587268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters 0.015532865245040894 Centerline is valid? [True, True] Translation: X:247.04, Y:-99.85, Z:-4.02 [[-9.17228341e-01 -3.98232715e-01 1.01427349e-02 2.47036748e+02] [-3.98212040e-01 9.17284367e-01 4.06951651e-03 -9.98512262e+01] [-1.09243868e-02 -3.06283296e-04 -9.99940280e-01 -4.01577992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters 0.013589935287886299 Centerline is valid? [True, True] Translation: X:247.00, Y:-99.85, Z:-4.02 [[-8.87436740e-01 -4.60856929e-01 8.18062763e-03 2.46997270e+02] [-4.60839747e-01 8.87474415e-01 3.98637975e-03 -9.98500475e+01] [-9.09724845e-03 -2.32298516e-04 -9.99958592e-01 -4.01758034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters 0.013453479609274848 Centerline is valid? [True, True] Translation: X:246.94, Y:-99.86, Z:-4.02 [[-8.52685624e-01 -5.22381088e-01 6.72504683e-03 2.46940309e+02] [-5.22366504e-01 8.52712124e-01 3.90758181e-03 -9.98557107e+01] [-7.77577580e-03 -1.81000375e-04 -9.99969752e-01 -4.01830261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters 0.01156180569014302 Centerline is valid? [True, True] Translation: X:246.88, Y:-99.88, Z:-4.02 [[-8.15439030e-01 -5.78824968e-01 4.56551912e-03 2.46877515e+02] [-5.78816600e-01 8.15451805e-01 3.11418299e-03 -9.98792446e+01] [-5.52552768e-03 -1.03171894e-04 -9.99984729e-01 -4.02130726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters 0.011852528744503774 Centerline is valid? [True, True] Translation: X:246.80, Y:-99.91, Z:-4.02 [[-7.70817562e-01 -6.37022089e-01 6.56842322e-03 2.46802279e+02] [-6.37000354e-01 7.70845537e-01 5.26365261e-03 -9.99065687e+01] [-8.41630270e-03 -1.26772042e-04 -9.99964574e-01 -4.01972140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters 0.011715503437196392 Centerline is valid? [True, True] Translation: X:246.72, Y:-99.95, Z:-4.02 [[-7.22176721e-01 -6.91668347e-01 7.46197090e-03 2.46722040e+02] [-6.91633234e-01 7.22215260e-01 6.97056005e-03 -9.99460849e+01] [-1.02104650e-02 -1.26970855e-04 -9.99947864e-01 -4.01674061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters 0.011487600219212322 Centerline is valid? [True, True] Translation: X:246.64, Y:-99.99, Z:-4.02 [[-6.69051282e-01 -7.43183061e-01 7.02283602e-03 2.46644977e+02] [-7.43143902e-01 6.69088130e-01 7.62994158e-03 -9.99905937e+01] [-1.03693396e-02 -1.14155565e-04 -9.99946230e-01 -4.01665171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters 0.011329586072611317 Centerline is valid? [True, True] Translation: X:246.57, Y:-100.05, Z:-4.02 [[-6.13023236e-01 -7.90039978e-01 6.27251379e-03 2.46566506e+02] [-7.90000031e-01 6.13055320e-01 7.94514605e-03 -1.00047746e+02] [-1.01223810e-02 -8.47269427e-05 -9.99948764e-01 -4.01606629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters 0.011072056733635177 Centerline is valid? [True, True] Translation: X:246.49, Y:-100.12, Z:-4.02 [[-5.53792204e-01 -8.32642569e-01 4.53283361e-03 2.46489556e+02] [-8.32615427e-01 5.53810752e-01 6.72322717e-03 -1.00116135e+02] [-8.10837713e-03 -5.08363956e-05 -9.99967125e-01 -4.01656945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters 0.01097977029304287 Centerline is valid? [True, True] Translation: X:246.42, Y:-100.19, Z:-4.02 [[-4.91307891e-01 -8.70980844e-01 2.98746713e-03 2.46415632e+02] [-8.70965109e-01 4.91316973e-01 5.23554790e-03 -1.00193612e+02] [-6.02785524e-03 -2.97136374e-05 -9.99981832e-01 -4.01873428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters 0.010975533205774764 Centerline is valid? [True, True] Translation: X:246.35, Y:-100.27, Z:-4.02 [[-4.25466993e-01 -9.04971497e-01 2.10431036e-03 2.46347812e+02] [-9.04960652e-01 4.25472196e-01 4.43045379e-03 -1.00273177e+02] [-4.90475995e-03 -1.93062294e-05 -9.99987971e-01 -4.01876596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters 0.011004963476948317 Centerline is valid? [True, True] Translation: X:246.28, Y:-100.37, Z:-4.02 [[-3.57159225e-01 -9.34043141e-01 8.35783359e-04 2.46281354e+02] [-9.34040735e-01 3.57160202e-01 2.12040654e-03 -1.00369377e+02] [-2.27905974e-03 -2.33329452e-05 -9.99997403e-01 -4.01999568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters 0.011032211440457643 Centerline is valid? [True, True] Translation: X:246.22, Y:-100.47, Z:-4.02 [[-2.84879305e-01 -9.58563270e-01 4.90023607e-04 2.46221263e+02] [-9.58562007e-01 2.84879725e-01 1.55597415e-03 -1.00469183e+02] [-1.63109746e-03 -2.64531776e-05 -9.99998669e-01 -4.01957496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters 0.010795075166834317 Centerline is valid? [True, True] Translation: X:246.17, Y:-100.57, Z:-4.02 [[-2.08780316e-01 -9.77962406e-01 5.59618568e-04 2.46166808e+02] [-9.77959205e-01 2.08781064e-01 2.50224798e-03 -1.00573870e+02] [-2.56394222e-03 -2.48640064e-05 -9.99996713e-01 -4.01774502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters 0.010589258110518314 Centerline is valid? [True, True] Translation: X:246.12, Y:-100.68, Z:-4.02 [[-1.29997036e-01 -9.91514314e-01 3.69186756e-04 2.46119979e+02] [-9.91510995e-01 1.29997556e-01 2.56538821e-03 -1.00679961e+02] [-2.59161251e-03 -3.25598637e-05 -9.99996641e-01 -4.01727506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters 0.010745727434116017 Centerline is valid? [True, True] Translation: X:246.08, Y:-100.80, Z:-4.01 [[-4.66153586e-02 -9.98912891e-01 2.09373132e-04 2.46077527e+02] [-9.98907349e-01 4.66157975e-02 3.32807357e-03 -1.00797633e+02] [-3.33421569e-03 -5.40050170e-05 -9.99994440e-01 -4.01484649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters 0.01100202508527702 Centerline is valid? [True, True] Translation: X:246.05, Y:-100.91, Z:-4.01 [[ 3.35530543e-02 -9.99436934e-01 -8.15098149e-05 2.46047536e+02] [-9.99425804e-01 -3.35530653e-02 4.71739285e-03 -1.00913569e+02] [-4.71747155e-03 -7.68199259e-05 -9.99988870e-01 -4.01261159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters 0.011409110429460986 Centerline is valid? [True, True] Translation: X:245.34, Y:-101.05, Z:-4.99 [[-5.34926916e-02 9.98568227e-01 1.67085832e-04 2.45336769e+02] [-9.98555427e-01 -5.34928521e-02 5.05709420e-03 -1.01046955e+02] [ 5.05879148e-03 1.03673116e-04 9.99987199e-01 -4.98877361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters 0.012163200270779254 Centerline is valid? [True, True] Translation: X:246.05, Y:-101.21, Z:-4.01 [[ 4.99755027e-02 -9.98750416e-01 -2.34955922e-04 2.46051378e+02] [-9.98719600e-01 -4.99758068e-02 7.84731173e-03 -1.01214000e+02] [-7.84924797e-03 -1.57518264e-04 -9.99969182e-01 -4.01083972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters 0.014239917937470072 Centerline is valid? [True, True] Translation: X:246.03, Y:-101.33, Z:-4.01 [[ 1.32925502e-01 -9.91125683e-01 -8.31188385e-04 2.46029219e+02] [-9.91095428e-01 -1.32927941e-01 7.74697504e-03 -1.01333471e+02] [-7.78871409e-03 -2.05983535e-04 -9.99969646e-01 -4.00981118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters 0.014239917937470072 Centerline is valid? [True, True] Translation: X:246.02, Y:-101.45, Z:-4.01 [[ 2.08807966e-01 -9.77955624e-01 -1.42474309e-03 2.46020138e+02] [-9.77925657e-01 -2.08812725e-01 7.65863005e-03 -1.01451498e+02] [-7.78730482e-03 -2.05890143e-04 -9.99969657e-01 -4.00987995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters 0.01370035942842886 Centerline is valid? [True, True] Translation: X:246.02, Y:-101.56, Z:-4.01 [[ 2.83990845e-01 -9.58824686e-01 -2.10255204e-03 2.46019447e+02] [-9.58792438e-01 -2.83998544e-01 7.86692265e-03 -1.01563007e+02] [-8.14012137e-03 -2.18223014e-04 -9.99966845e-01 -4.01008676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters 0.013852871048729183 Centerline is valid? [True, True] Translation: X:246.03, Y:-101.68, Z:-4.01 [[ 3.56933249e-01 -9.34125163e-01 -2.97248261e-03 2.46029096e+02] [-9.34087045e-01 -3.56945547e-01 8.44203002e-03 -1.01680681e+02] [-8.94692710e-03 -2.36683707e-04 -9.99959947e-01 -4.01024834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters 0.013122763770762571 Centerline is valid? [True, True] Translation: X:246.05, Y:-101.80, Z:-4.01 [[ 4.24891975e-01 -9.05238540e-01 -3.16160236e-03 2.46047853e+02] [-9.05210100e-01 -4.24903696e-01 7.17801051e-03 -1.01796211e+02] [-7.84118828e-03 -1.87964672e-04 -9.99969240e-01 -4.01062677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters 0.012550293050610803 Centerline is valid? [True, True] Translation: X:246.07, Y:-101.91, Z:-4.01 [[ 4.92077847e-01 -8.70544149e-01 -3.50390834e-03 2.46072203e+02] [-8.70519555e-01 -4.92090292e-01 6.54596935e-03 -1.01905374e+02] [-7.42279460e-03 -1.70905772e-04 -9.99972436e-01 -4.01170586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters 0.012844867786887568 Centerline is valid? [True, True] Translation: X:246.10, Y:-102.02, Z:-4.01 [[ 5.58431013e-01 -8.29535659e-01 -5.03919207e-03 2.46104840e+02] [-8.29498299e-01 -5.58453707e-01 7.87589210e-03 -1.02016036e+02] [-9.34748883e-03 -2.18141160e-04 -9.99956287e-01 -4.01040655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters 0.01422918106000512 Centerline is valid? [True, True] Translation: X:246.15, Y:-102.13, Z:-4.01 [[ 6.21317283e-01 -7.83535679e-01 -6.05591961e-03 2.46146463e+02] [-7.83494549e-01 -6.21346747e-01 8.03195911e-03 -1.02125339e+02] [-1.00561525e-02 -2.45615012e-04 -9.99949405e-01 -4.00917351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters 0.013036500689890627 Centerline is valid? [True, True] Translation: X:246.20, Y:-102.22, Z:-4.01 [[ 6.79313577e-01 -7.33818803e-01 -6.55952406e-03 2.46196018e+02] [-7.33781111e-01 -6.79345203e-01 7.44151780e-03 -1.02223182e+02] [-9.91690689e-03 -2.41869225e-04 -9.99950797e-01 -4.01103389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters 0.013282428221130937 Centerline is valid? [True, True] Translation: X:246.26, Y:-102.32, Z:-4.01 [[ 7.32256258e-01 -6.81002344e-01 -6.04814646e-03 2.46255306e+02] [-6.80976856e-01 -7.32281209e-01 5.89518504e-03 -1.02323375e+02] [-8.44357883e-03 -1.98138376e-04 -9.99964333e-01 -4.01204848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters 0.012870134922760054 Centerline is valid? [True, True] Translation: X:246.28, Y:-102.35, Z:-4.01 [[ 7.83026272e-01 -6.21958996e-01 -6.07163756e-03 2.46275417e+02] [-6.21938443e-01 -7.83049789e-01 5.05967387e-03 -1.02349777e+02] [-7.90130420e-03 -1.85672757e-04 -9.99968767e-01 -4.01380644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters 0.013539402969666962 Centerline is valid? [True, True] Translation: X:246.29, Y:-102.38, Z:-4.01 [[ 8.29865809e-01 -5.57922647e-01 -6.71258945e-03 2.46294777e+02] [-5.57902425e-01 -8.29892932e-01 4.75444187e-03 -1.02376237e+02] [-8.22334134e-03 -2.00578814e-04 -9.99966168e-01 -4.01260625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters 0.013314001191201328 Centerline is valid? [True, True] Translation: X:246.32, Y:-102.40, Z:-4.01 [[ 8.71380091e-01 -4.90540282e-01 -8.18344150e-03 2.46317989e+02] [-4.90516096e-01 -8.71418485e-01 4.87673310e-03 -1.02401716e+02] [-9.52343622e-03 -2.35378351e-04 -9.99954623e-01 -4.01167312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters 0.01333030835450726 Centerline is valid? [True, True] Translation: X:246.34, Y:-102.42, Z:-4.01 [[ 9.07360580e-01 -4.20252121e-01 -9.21590312e-03 2.46342801e+02] [-4.20227531e-01 -9.07407344e-01 4.55356818e-03 -1.02423779e+02] [-1.02762249e-02 -2.58952051e-04 -9.99947165e-01 -4.01225955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters 0.014516575420129971 Centerline is valid? [True, True] Translation: X:246.37, Y:-102.45, Z:-4.01 [[ 9.38320358e-01 -3.45671186e-01 -8.14475526e-03 2.46367900e+02] [-3.45655858e-01 -9.38355673e-01 3.26472738e-03 -1.02445642e+02] [-8.77119949e-03 -2.48077797e-04 -9.99961502e-01 -4.01402879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters 0.014534182653958517 Centerline is valid? [True, True] Translation: X:246.40, Y:-102.47, Z:-4.01 [[ 9.62639575e-01 -2.70631574e-01 -9.14328850e-03 2.46396331e+02] [-2.70616656e-01 -9.62682957e-01 2.85475984e-03 -1.02465850e+02] [-9.57467616e-03 -2.73778647e-04 -9.99954124e-01 -4.01318908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters 0.014563490265666853 Centerline is valid? [True, True] Translation: X:246.43, Y:-102.48, Z:-4.01 [[ 9.80736138e-01 -1.95063348e-01 -1.03401032e-02 2.46425758e+02] [-1.95049343e-01 -9.80790602e-01 2.35573972e-03 -1.02482043e+02] [-1.06009945e-02 -2.93528729e-04 -9.99943765e-01 -4.01205663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters 0.01466022729586105 Centerline is valid? [True, True] Translation: X:246.46, Y:-102.49, Z:-4.01 [[ 9.92931937e-01 -1.18264636e-01 -9.98224564e-03 2.46457295e+02] [-1.18255862e-01 -9.92982074e-01 1.46679445e-03 -1.02493687e+02] [-1.00856609e-02 -2.75967992e-04 -9.99949100e-01 -4.01326265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters 0.013741986481690217 Centerline is valid? [True, True] Translation: X:246.49, Y:-102.50, Z:-4.01 [[ 9.99049483e-01 -4.25703040e-02 -9.37551045e-03 2.46486273e+02] [-4.25662048e-02 -9.99093446e-01 6.36429473e-04 -1.02502114e+02] [-9.39410404e-03 -2.36744638e-04 -9.99955846e-01 -4.01354685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters 0.01192165318270779 Centerline is valid? [True, True] Translation: X:246.51, Y:-102.51, Z:-4.01 [[ 9.99510573e-01 3.00669733e-02 -8.63669054e-03 2.46514899e+02] [ 3.00673294e-02 -9.99547872e-01 -8.86354788e-05 -1.02508474e+02] [-8.63545064e-03 -1.71090121e-04 -9.99962699e-01 -4.01384723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters 0.010471835321647372 Centerline is valid? [True, True] Translation: X:246.54, Y:-102.51, Z:-4.01 [[ 9.95030221e-01 9.92396477e-02 -8.14564963e-03 2.46543456e+02] [ 9.92370616e-02 -9.95063558e-01 -7.22057751e-04 -1.02508676e+02] [-8.17709586e-03 -8.98810508e-05 -9.99966563e-01 -4.01499670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters 0.010297406112393553 Centerline is valid? [True, True] Translation: X:246.57, Y:-102.51, Z:-4.01 [[ 9.85903310e-01 1.67076765e-01 -8.94523239e-03 2.46572259e+02] [ 1.67069942e-01 -9.85943890e-01 -1.50990970e-03 -1.02506972e+02] [-9.07176805e-03 -5.85448731e-06 -9.99958851e-01 -4.01440451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters 0.010953475361479614 Centerline is valid? [True, True] Translation: X:246.60, Y:-102.51, Z:-4.01 [[ 9.71332169e-01 2.37557686e-01 -8.95336118e-03 2.46601507e+02] [ 2.37547087e-01 -9.71373431e-01 -2.24467220e-03 -1.02508174e+02] [-9.23029630e-03 5.34774497e-05 -9.99957398e-01 -4.01477592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters 0.012397748199187309 Centerline is valid? [True, True] Translation: X:246.63, Y:-102.51, Z:-4.01 [[ 9.51416305e-01 3.07763683e-01 -9.40898527e-03 2.46628521e+02] [ 3.07747455e-01 -9.51462822e-01 -3.16255123e-03 -1.02505205e+02] [-9.92561810e-03 1.13311540e-04 -9.99950733e-01 -4.01414945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters 0.013660082729317907 Centerline is valid? [True, True] Translation: X:246.66, Y:-102.50, Z:-4.01 [[ 9.26504672e-01 3.76145262e-01 -1.01898934e-02 2.46656583e+02] [ 3.76120225e-01 -9.26560686e-01 -4.34413673e-03 -1.02501077e+02] [-1.10755810e-02 1.92237994e-04 -9.99938645e-01 -4.01394443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters 0.014318002378765666 Centerline is valid? [True, True] Translation: X:246.68, Y:-102.50, Z:-4.01 [[ 8.94362848e-01 4.47195522e-01 -1.14569540e-02 2.46683580e+02] [ 4.47155452e-01 -8.94436197e-01 -5.99094912e-03 -1.02497002e+02] [-1.29266400e-02 2.35042877e-04 -9.99916420e-01 -4.01203428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters 0.013216021592072035 Centerline is valid? [True, True] Translation: X:246.71, Y:-102.49, Z:-4.01 [[ 8.53651287e-01 5.20703928e-01 -1.21202101e-02 2.46712273e+02] [ 5.20648411e-01 -8.53737305e-01 -7.60565854e-03 -1.02493938e+02] [-1.43077717e-02 1.82212105e-04 -9.99897622e-01 -4.00908586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters 0.01145272732968362 Centerline is valid? [True, True] Translation: X:246.74, Y:-102.49, Z:-4.01 [[ 8.06401042e-01 5.91257729e-01 -1.14742372e-02 2.46743097e+02] [ 5.91196331e-01 -8.06482666e-01 -8.52100532e-03 -1.02489248e+02] [-1.42918837e-02 8.78206081e-05 -9.99897862e-01 -4.00900495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters 0.010512763556322836 Centerline is valid? [True, True] Translation: X:246.78, Y:-102.49, Z:-4.01 [[ 7.47805785e-01 6.63858604e-01 -8.84653829e-03 2.46778484e+02] [ 6.63813887e-01 -7.47858103e-01 -7.70597566e-03 -1.02487770e+02] [-1.17316336e-02 -1.09881785e-04 -9.99931176e-01 -4.01105541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters 0.012402518451588957 Centerline is valid? [True, True] Translation: X:246.81, Y:-102.48, Z:-4.01 [[ 6.86686902e-01 7.26923950e-01 -6.53224844e-03 2.46810264e+02] [ 7.26893563e-01 -6.86717947e-01 -6.64900041e-03 -1.02479521e+02] [-9.31912987e-03 -1.82467858e-04 -9.99956559e-01 -4.01181892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters 0.012647833747998223 Centerline is valid? [True, True] Translation: X:246.84, Y:-102.46, Z:-4.01 [[ 6.25319512e-01 7.80349554e-01 -5.48466305e-03 2.46837121e+02] [ 7.80322244e-01 -6.25343534e-01 -6.53139104e-03 -1.02464134e+02] [-8.52656666e-03 -1.95598323e-04 -9.99963629e-01 -4.01331957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters 0.014059976982312284 Centerline is valid? [True, True] Translation: X:246.86, Y:-102.45, Z:-4.01 [[ 5.58349531e-01 8.29594432e-01 -4.34513462e-03 2.46864482e+02] [ 8.29572198e-01 -5.58366398e-01 -6.07742053e-03 -1.02447838e+02] [-7.46797140e-03 -2.11277975e-04 -9.99972092e-01 -4.01442053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters 0.01768086335590851 Centerline is valid? [True, True] Translation: X:246.89, Y:-102.43, Z:-4.01 [[ 4.88048836e-01 8.72799849e-01 -5.36264122e-03 2.46892637e+02] [ 8.72754273e-01 -4.88078189e-01 -8.92526916e-03 -1.02431577e+02] [-1.04073618e-02 -3.24300817e-04 -9.99945789e-01 -4.00918626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters 0.015916227015437455 Centerline is valid? [True, True] Translation: X:246.91, Y:-102.41, Z:-4.01 [[ 4.16861373e-01 9.08953257e-01 -5.52924496e-03 2.46912473e+02] [ 9.08885554e-01 -4.16897852e-01 -1.11009014e-02 -1.02407718e+02] [-1.23953308e-02 -3.97913864e-04 -9.99923096e-01 -4.00900917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters 0.016725606468848773 Centerline is valid? [True, True] Translation: X:246.93, Y:-102.38, Z:-4.01 [[ 3.45128961e-01 9.38539465e-01 -5.44726217e-03 2.46932057e+02] [ 9.38442354e-01 -3.45171653e-01 -1.35084374e-02 -1.02384580e+02] [-1.45584421e-02 -4.49788569e-04 -9.99893919e-01 -4.00696615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters 0.014744902317784941 Centerline is valid? [True, True] Translation: X:246.94, Y:-102.36, Z:-4.01 [[ 2.76061489e-01 9.61127891e-01 -4.81990062e-03 2.46941757e+02] [ 9.61005728e-01 -2.76103272e-01 -1.53288802e-02 -1.02355937e+02] [-1.60638046e-02 -4.00238614e-04 -9.99870889e-01 -4.00548012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters 0.012447938158626718 Centerline is valid? [True, True] Translation: X:246.95, Y:-102.33, Z:-4.01 [[ 2.05582700e-01 9.78634223e-01 -3.28791471e-03 2.46950020e+02] [ 9.78530229e-01 -2.05608794e-01 -1.42693502e-02 -1.02327474e+02] [-1.46404986e-02 -2.83792390e-04 -9.99892782e-01 -4.00822024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters 0.01058363344480932 Centerline is valid? [True, True] Translation: X:246.95, Y:-102.30, Z:-4.01 [[ 1.39423716e-01 9.90231156e-01 -1.81255933e-03 2.46951500e+02] [ 9.90157044e-01 -1.39435457e-01 -1.21153392e-02 -1.02298818e+02] [-1.22497213e-02 -1.05552786e-04 -9.99924964e-01 -4.01091758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters 0.010492674597862885 Centerline is valid? [True, True] Translation: X:246.96, Y:-102.27, Z:-4.01 [[ 6.39745200e-02 9.97951181e-01 -8.37100558e-04 2.46958305e+02] [ 9.97880063e-01 -6.39799547e-02 -1.19140850e-02 -1.02271205e+02] [-1.19432329e-02 -7.31280864e-05 -9.99928674e-01 -4.01108303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters 0.01040359057063968 Centerline is valid? [True, True] Translation: X:246.96, Y:-102.24, Z:-4.01 [[-1.01968640e-02 9.99948007e-01 8.60885376e-05 2.46962782e+02] [ 9.99890083e-01 1.01972000e-02 -1.07628786e-02 -1.02243935e+02] [-1.07631969e-02 -2.36685350e-05 -9.99942075e-01 -4.01408451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters 0.010650046878840781 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.22, Z:-4.01 [[-8.53122213e-02 9.96353806e-01 9.58282805e-04 2.46968255e+02] [ 9.96292553e-01 8.53176022e-02 -1.10479230e-02 -1.02215866e+02] [-1.10893985e-02 1.22071709e-05 -9.99938511e-01 -4.01332073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters 0.011807226299962042 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.19, Z:-4.01 [[-1.56160360e-01 9.87729610e-01 2.03943899e-03 2.46969991e+02] [ 9.87653906e-01 1.56173642e-01 -1.22292932e-02 -1.02187729e+02] [-1.23977416e-02 1.04529057e-04 -9.99923140e-01 -4.01253052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters 0.013029433494583393 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.16, Z:-4.01 [[-2.28075602e-01 9.73639541e-01 2.75045598e-03 2.46967838e+02] [ 9.73576591e-01 2.28092134e-01 -1.10725036e-02 -1.02160726e+02] [-1.14079847e-02 1.52411636e-04 -9.99934915e-01 -4.01381491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters 0.014809684260502245 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.13, Z:-4.02 [[-2.92979139e-01 9.56113284e-01 3.25762576e-03 2.46966494e+02] [ 9.56063323e-01 2.92997143e-01 -9.77732721e-03 -1.02133114e+02] [-1.03027075e-02 2.49943596e-04 -9.99946894e-01 -4.01628291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters 0.017284912471216773 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.10, Z:-4.01 [[-3.63746548e-01 9.31484461e-01 5.01471426e-03 2.46967660e+02] [ 9.31409312e-01 3.63780930e-01 -1.18376222e-02 -1.02104799e+02] [-1.28508186e-02 3.64857342e-04 -9.99917358e-01 -4.01404592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters 0.01639958034957364 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.08, Z:-4.01 [[-4.38931664e-01 8.98497607e-01 6.40666880e-03 2.46967474e+02] [ 8.98413108e-01 4.38978282e-01 -1.23270579e-02 -1.02075654e+02] [-1.38882204e-02 3.45099202e-04 -9.99903494e-01 -4.01335652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters 0.015034901811516855 Centerline is valid? [True, True] Translation: X:246.96, Y:-102.05, Z:-4.01 [[-5.10132932e-01 8.60063867e-01 7.38486822e-03 2.46964947e+02] [ 8.59982435e-01 5.10186288e-01 -1.18390756e-02 -1.02045078e+02] [-1.39500196e-02 3.11354606e-04 -9.99902645e-01 -4.01405081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters 0.015070353615570804 Centerline is valid? [True, True] Translation: X:246.96, Y:-102.02, Z:-4.01 [[-5.78242911e-01 8.15821987e-01 8.34394386e-03 2.46957253e+02] [ 8.15743798e-01 5.78303044e-01 -1.12980090e-02 -1.02017727e+02] [-1.40424923e-02 2.73526816e-04 -9.99901362e-01 -4.01378912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters 0.01328999512989786 Centerline is valid? [True, True] Translation: X:246.95, Y:-101.99, Z:-4.01 [[-6.44960511e-01 7.64156206e-01 9.55153812e-03 2.46950893e+02] [ 7.64076911e-01 6.45031204e-01 -1.10100478e-02 -1.01987121e+02] [-1.45744365e-02 1.97063663e-04 -9.99893768e-01 -4.01476006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters 0.01157613062697749 Centerline is valid? [True, True] Translation: X:246.94, Y:-101.96, Z:-4.01 [[-7.09574449e-01 7.04559865e-01 9.97489237e-03 2.46943076e+02] [ 7.04491343e-01 7.09644554e-01 -9.82620676e-03 -1.01955434e+02] [-1.40017790e-02 5.48000814e-05 -9.99901969e-01 -4.01417481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters 0.010760862740797714 Centerline is valid? [True, True] Translation: X:246.96, Y:-101.93, Z:-4.02 [[-7.61700551e-01 6.47844891e-01 1.04531074e-02 2.46963439e+02] [ 6.47783369e-01 7.61772273e-01 -8.92810863e-03 -1.01929008e+02] [-1.37469169e-02 -2.91961357e-05 -9.99905506e-01 -4.01595815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters 0.011237362443880418 Centerline is valid? [True, True] Translation: X:246.98, Y:-101.90, Z:-4.02 [[-8.11392932e-01 5.84394985e-01 1.11360419e-02 2.46978954e+02] [ 5.84337147e-01 8.11469331e-01 -8.22335560e-03 -1.01896180e+02] [-1.38422442e-02 -1.65169671e-04 -9.99904178e-01 -4.01586789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters 0.012815642943422604 Centerline is valid? [True, True] Translation: X:246.99, Y:-101.86, Z:-4.02 [[-8.55263230e-01 5.18069239e-01 1.13609240e-02 2.46990969e+02] [ 5.18019191e-01 8.55338638e-01 -7.20634071e-03 -1.01862016e+02] [-1.34508207e-02 -2.78141557e-04 -9.99909495e-01 -4.01569818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters 0.013739749808013424 Centerline is valid? [True, True] Translation: X:247.01, Y:-101.84, Z:-4.02 [[-8.91346065e-01 4.53184693e-01 1.12172328e-02 2.47005447e+02] [ 4.53144431e-01 8.91416591e-01 -6.04862281e-03 -1.01835763e+02] [-1.27403707e-02 -3.08389549e-04 -9.99918791e-01 -4.01579263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters 0.015238767912641418 Centerline is valid? [True, True] Translation: X:247.01, Y:-101.81, Z:-4.02 [[-9.21816809e-01 3.87464074e-01 1.11965265e-02 2.47014039e+02] [ 3.87431292e-01 9.21884749e-01 -5.05005418e-03 -1.01805868e+02] [-1.22786216e-02 -3.17340112e-04 -9.99924565e-01 -4.01503930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters 0.014734748661469663 Centerline is valid? [True, True] Translation: X:247.02, Y:-101.78, Z:-4.02 [[-9.47332817e-01 3.20010153e-01 1.24111345e-02 2.47024374e+02] [ 3.19977751e-01 9.47414046e-01 -4.56769833e-03 -1.01781051e+02] [-1.32201930e-02 -3.55843619e-04 -9.99912546e-01 -4.01528588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters 0.014164697403876932 Centerline is valid? [True, True] Translation: X:247.03, Y:-101.76, Z:-4.01 [[-9.67476574e-01 2.52496874e-01 1.53103580e-02 2.47029489e+02] [ 2.52458445e-01 9.67597621e-01 -4.42467522e-03 -1.01755033e+02] [-1.59314827e-02 -4.15540441e-04 -9.99873000e-01 -4.01256501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters 0.014283640059885113 Centerline is valid? [True, True] Translation: X:247.03, Y:-101.73, Z:-4.01 [[-9.82174234e-01 1.87325798e-01 1.55826851e-02 2.47030196e+02] [ 1.87296562e-01 9.82297777e-01 -3.32795591e-03 -1.01730472e+02] [-1.59302490e-02 -3.50049198e-04 -9.99873044e-01 -4.01189507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters 0.011850221804744059 Centerline is valid? [True, True] Translation: X:247.04, Y:-101.72, Z:-4.01 [[-9.91780881e-01 1.27169291e-01 1.40945470e-02 2.47042302e+02] [ 1.27153976e-01 9.91881012e-01 -1.98107877e-03 -1.01715439e+02] [-1.42320459e-02 -1.72618346e-04 -9.99898704e-01 -4.01452589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters 0.011442424218739866 Centerline is valid? [True, True] Translation: X:247.05, Y:-101.70, Z:-4.02 [[-9.97402078e-01 7.09301007e-02 1.25704105e-02 2.47047490e+02] [ 7.09248080e-02 9.97481288e-01 -8.66906542e-04 -1.01701434e+02] [-1.26002390e-02 2.68995647e-05 -9.99920613e-01 -4.01590625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters 0.012179102682245757 Centerline is valid? [True, True] Translation: X:247.10, Y:-101.03, Z:-4.99 [[-9.92234141e-01 -1.23918501e-01 1.07523981e-02 2.47100883e+02] [ 1.23909882e-01 -9.92292391e-01 -1.46664022e-03 -1.01033017e+02] [ 1.08512667e-02 -1.22922114e-04 9.99941116e-01 -4.98807313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters 0.016268079699597725 Centerline is valid? [True, True] Translation: X:247.00, Y:-101.72, Z:-4.02 [[-9.96029853e-01 8.82410327e-02 1.17495447e-02 2.46996097e+02] [ 8.82382218e-02 9.96099112e-01 -7.58432749e-04 -1.01715429e+02] [-1.17706359e-02 2.81337271e-04 -9.99930684e-01 -4.01628948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters 0.018251975799155894 Centerline is valid? [True, True] Translation: X:247.00, Y:-101.69, Z:-4.02 [[-9.99671252e-01 2.25259154e-02 1.22462376e-02 2.46995752e+02] [ 2.25286241e-02 9.99746195e-01 8.32603083e-05 -1.01691874e+02] [-1.22412540e-02 3.59123821e-04 -9.99925009e-01 -4.01550510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters 0.020438984287914488 Centerline is valid? [True, True] Translation: X:247.00, Y:-101.67, Z:-4.02 [[-9.99342709e-01 -3.43723534e-02 1.15191673e-02 2.47003138e+02] [-3.43642667e-02 9.99408970e-01 8.99274977e-04 -1.01669662e+02] [-1.15432693e-02 5.02836154e-04 -9.99933248e-01 -4.01764540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters 0.024262037380035836 Centerline is valid? [True, True] Translation: X:247.00, Y:-101.65, Z:-4.02 [[-9.95258069e-01 -9.67769568e-02 9.77734750e-03 2.46999336e+02] [-9.67672049e-02 9.95305961e-01 1.46670513e-03 -1.01648020e+02] [-9.87339552e-03 5.13623530e-04 -9.99951125e-01 -4.01860756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters 0.031040398024781 Centerline is valid? [True, True] Translation: X:246.98, Y:-101.63, Z:-4.02 [[-9.86195150e-01 -1.65382258e-01 8.23622417e-03 2.46982190e+02] [-1.65372614e-01 9.86229436e-01 1.84313601e-03 -1.01630675e+02] [-8.42762872e-03 4.55645872e-04 -9.99964383e-01 -4.01778363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters 0.021715385501856935 Centerline is valid? [True, True] Translation: X:246.95, Y:-101.59, Z:-4.02 [[-9.70248257e-01 -2.42050317e-01 5.47401038e-03 2.46946378e+02] [-2.42044926e-01 9.70263663e-01 1.63678056e-03 -1.01593072e+02] [-5.70741661e-03 2.63127051e-04 -9.99983678e-01 -4.01991126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters 0.020492656060650597 Centerline is valid? [True, True] Translation: X:246.90, Y:-101.57, Z:-4.02 [[-9.47482494e-01 -3.19780635e-01 4.15571514e-03 2.46902124e+02] [-3.19776816e-01 9.47491594e-01 1.57079411e-03 -1.01572298e+02] [-4.43981470e-03 1.59398562e-04 -9.99990131e-01 -4.01999880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters 0.0151598413969424 Centerline is valid? [True, True] Translation: X:246.84, Y:-101.55, Z:-4.02 [[-9.14454115e-01 -4.04670849e-01 3.89562186e-03 2.46842409e+02] [-4.04666839e-01 9.14462410e-01 1.80298111e-03 -1.01547852e+02] [-4.29201365e-03 7.23145062e-05 -9.99990787e-01 -4.01776164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters 0.010633881351470366 Centerline is valid? [True, True] Translation: X:246.77, Y:-101.52, Z:-4.02 [[-8.69986740e-01 -4.93065821e-01 3.02786351e-03 2.46772300e+02] [-4.93062993e-01 8.69992008e-01 1.67063918e-03 -1.01522678e+02] [-3.45795213e-03 -3.94935095e-05 -9.99994020e-01 -4.01705771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters 0.012375075567701333 Centerline is valid? [True, True] Translation: X:246.70, Y:-101.52, Z:-4.02 [[-8.24488147e-01 -5.65873360e-01 2.57601586e-03 2.46696676e+02] [-5.65870887e-01 8.24492168e-01 1.67447057e-03 -1.01520266e+02] [-3.07144319e-03 -7.71112447e-05 -9.99995280e-01 -4.01588925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters 0.013235643432194103 Centerline is valid? [True, True] Translation: X:246.63, Y:-101.53, Z:-4.02 [[-7.78123694e-01 -6.28108813e-01 1.68398784e-03 2.46625466e+02] [-6.28107534e-01 7.78125513e-01 1.26945036e-03 -1.01531211e+02] [-2.10770686e-03 -6.99360475e-05 -9.99997776e-01 -4.01556777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters 0.014237735917353335 Centerline is valid? [True, True] Translation: X:246.55, Y:-101.55, Z:-4.02 [[-7.28487489e-01 -6.85058646e-01 7.93046599e-04 2.46550888e+02] [-6.85058314e-01 7.28487919e-01 6.76303017e-04 -1.01553406e+02] [-1.04103210e-03 -5.06048791e-05 -9.99999457e-01 -4.01552584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters 0.01388173381572494 Centerline is valid? [True, True] Translation: X:246.48, Y:-101.59, Z:-4.01 [[-6.76740064e-01 -7.36219573e-01 1.90435422e-03 2.46476781e+02] [-7.36216991e-01 6.76742738e-01 1.95162056e-03 -1.01587679e+02] [-2.72557914e-03 -8.12781067e-05 -9.99996282e-01 -4.01366005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters 0.012168704275506696 Centerline is valid? [True, True] Translation: X:246.40, Y:-101.64, Z:-4.01 [[-6.22022595e-01 -7.82994644e-01 2.69781562e-03 2.46402088e+02] [-7.82987950e-01 6.22028438e-01 3.23932463e-03 -1.01636799e+02] [-4.21449187e-03 -9.74240073e-05 -9.99991114e-01 -4.01271355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters 0.011823201856470629 Centerline is valid? [True, True] Translation: X:246.33, Y:-101.69, Z:-4.01 [[-5.63431706e-01 -8.26154840e-01 3.59081820e-03 2.46329176e+02] [-8.26139338e-01 5.63443137e-01 5.06228806e-03 -1.01692104e+02] [-6.20545565e-03 -1.14262573e-04 -9.99980739e-01 -4.01043465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters 0.011352695904078182 Centerline is valid? [True, True] Translation: X:246.26, Y:-101.76, Z:-4.01 [[-5.01781004e-01 -8.64985810e-01 3.92084242e-03 2.46257940e+02] [-8.64961153e-01 5.01796310e-01 6.53208040e-03 -1.01758562e+02] [-7.61762111e-03 -1.13702517e-04 -9.99970979e-01 -4.00869867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters 0.010939337430375368 Centerline is valid? [True, True] Translation: X:246.19, Y:-101.83, Z:-4.01 [[-4.38064879e-01 -8.98937052e-01 3.36737746e-03 2.46191174e+02] [-8.98911980e-01 4.38077813e-01 6.71437288e-03 -1.01834321e+02] [-7.51097191e-03 -8.56449973e-05 -9.99971789e-01 -4.00822800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters 0.010402325013471748 Centerline is valid? [True, True] Translation: X:246.14, Y:-101.92, Z:-4.01 [[-3.76531691e-01 -9.26400762e-01 2.34813432e-03 2.46135485e+02] [-9.26383111e-01 3.76539012e-01 5.71871439e-03 -1.01918432e+02] [-6.18198554e-03 -2.19947752e-05 -9.99980891e-01 -4.01081653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters 0.011076859124412312 Centerline is valid? [True, True] Translation: X:246.08, Y:-102.01, Z:-4.01 [[-3.11940822e-01 -9.50099950e-01 1.73435866e-03 2.46081207e+02] [-9.50084920e-01 3.11945643e-01 5.34424618e-03 -1.02012595e+02] [-5.61859366e-03 1.93005341e-05 -9.99984215e-01 -4.01173253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters 0.0140819290876018 Centerline is valid? [True, True] Translation: X:246.04, Y:-102.11, Z:-4.01 [[-2.49762421e-01 -9.68306337e-01 1.25331988e-03 2.46039400e+02] [-9.68292502e-01 2.49765553e-01 5.17679929e-03 -1.02107849e+02] [-5.32576369e-03 7.93896862e-05 -9.99985815e-01 -4.01268294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters 0.016726416380903452 Centerline is valid? [True, True] Translation: X:246.00, Y:-102.21, Z:-4.01 [[-1.85457581e-01 -9.82651994e-01 7.37654877e-04 2.46000912e+02] [-9.82641604e-01 1.85459013e-01 4.52018485e-03 -1.02209397e+02] [-4.57857340e-03 1.13452174e-04 -9.99989512e-01 -4.01426052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters 0.018213507060671905 Centerline is valid? [True, True] Translation: X:245.96, Y:-102.32, Z:-4.01 [[-1.16221029e-01 -9.93223264e-01 4.68699350e-04 2.45964691e+02] [-9.93207647e-01 1.16221831e-01 5.57270806e-03 -1.02320375e+02] [-5.58941639e-03 1.82150086e-04 -9.99984363e-01 -4.01426010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters 0.018626183617408712 Centerline is valid? [True, True] Translation: X:245.93, Y:-102.43, Z:-4.02 [[-4.20700450e-02 -9.99114663e-01 4.08242047e-05 2.45933756e+02] [-9.99094964e-01 4.20694721e-02 6.27790454e-03 -1.02434495e+02] [-6.27406394e-03 2.23324469e-04 -9.99980293e-01 -4.01500395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters 0.018692260049298085 Centerline is valid? [True, True] Translation: X:245.91, Y:-102.55, Z:-4.01 [[ 3.53062895e-02 -9.99376358e-01 -6.00538575e-04 2.45910141e+02] [-9.99341155e-01 -3.53100897e-02 8.39360009e-03 -1.02554831e+02] [-8.40957056e-03 3.03796038e-04 -9.99964593e-01 -4.01426935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters 0.01842235803748682 Centerline is valid? [True, True] Translation: X:245.89, Y:-102.67, Z:-4.01 [[ 1.14574895e-01 -9.93413770e-01 -1.29451592e-03 2.45892642e+02] [-9.93375864e-01 -1.14581838e-01 8.68298951e-03 -1.02672872e+02] [-8.77412936e-03 2.91088257e-04 -9.99961464e-01 -4.01439198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters 0.017940892601743523 Centerline is valid? [True, True] Translation: X:245.89, Y:-102.79, Z:-4.02 [[ 1.92762596e-01 -9.81243688e-01 -1.84550875e-03 2.45885014e+02] [-9.81210445e-01 -1.92771264e-01 8.08096616e-03 -1.02794756e+02] [-8.28515810e-03 2.53124451e-04 -9.99965645e-01 -4.01581928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters 0.0161856964249434 Centerline is valid? [True, True] Translation: X:245.88, Y:-102.92, Z:-4.02 [[ 2.69498667e-01 -9.62998455e-01 -2.10818992e-03 2.45882321e+02] [-9.62974465e-01 -2.69506840e-01 6.80027066e-03 -1.02915540e+02] [-7.11682174e-03 1.97469182e-04 -9.99974656e-01 -4.01833503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters 0.016517070433367267 Centerline is valid? [True, True] Translation: X:245.89, Y:-103.04, Z:-4.02 [[ 3.44039376e-01 -9.38950308e-01 -3.03749744e-03 2.45892836e+02] [-9.38919120e-01 -3.44052715e-01 7.65604529e-03 -1.03042818e+02] [-8.23370533e-03 2.17983377e-04 -9.99966079e-01 -4.01795464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters 0.015948401133010777 Centerline is valid? [True, True] Translation: X:245.91, Y:-103.15, Z:-4.02 [[ 4.15599062e-01 -9.09539686e-01 -3.87043962e-03 2.45905854e+02] [-9.09505198e-01 -4.15617022e-01 7.92375593e-03 -1.03153191e+02] [-8.81559107e-03 2.27079426e-04 -9.99961116e-01 -4.01757918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters 0.015010502606992316 Centerline is valid? [True, True] Translation: X:245.93, Y:-103.27, Z:-4.02 [[ 4.84630995e-01 -8.74704877e-01 -4.91694760e-03 2.45928468e+02] [-8.74664818e-01 -4.84655877e-01 8.37477486e-03 -1.03269200e+02] [-9.70848396e-03 2.42005605e-04 -9.99952842e-01 -4.01756622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters 0.01532757950663506 Centerline is valid? [True, True] Translation: X:245.96, Y:-103.38, Z:-4.02 [[ 5.49887148e-01 -8.35212482e-01 -6.65084484e-03 2.45957538e+02] [-8.35157743e-01 -5.49927289e-01 9.56671521e-03 -1.03376055e+02] [-1.16477210e-02 2.93890821e-04 -9.99932120e-01 -4.01640454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters 0.015651036917222104 Centerline is valid? [True, True] Translation: X:246.00, Y:-103.48, Z:-4.02 [[ 6.11553613e-01 -7.91167644e-01 -7.47909089e-03 2.45997579e+02] [-7.91114404e-01 -6.11599271e-01 9.18325235e-03 -1.03476883e+02] [-1.18396987e-02 3.00765373e-04 -9.99929863e-01 -4.01598126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters 0.018012382517441257 Centerline is valid? [True, True] Translation: X:246.04, Y:-103.57, Z:-4.02 [[ 6.66516432e-01 -7.45444240e-01 -8.29040191e-03 2.46039960e+02] [-7.45393147e-01 -6.66567894e-01 8.73490213e-03 -1.03572300e+02] [-1.20374982e-02 3.57652965e-04 -9.99927483e-01 -4.01527006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters 0.018869412384028436 Centerline is valid? [True, True] Translation: X:246.09, Y:-103.66, Z:-4.02 [[ 7.19678219e-01 -6.94248444e-01 -9.07520063e-03 2.46088234e+02] [-6.94199903e-01 -7.19735333e-01 8.21856737e-03 -1.03657884e+02] [-1.22374702e-02 3.85279475e-04 -9.99925045e-01 -4.01548314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters 0.022128327478345852 Centerline is valid? [True, True] Translation: X:246.11, Y:-103.69, Z:-4.02 [[ 7.68044455e-01 -6.40328113e-01 -9.36076275e-03 2.46113046e+02] [-6.40287416e-01 -7.68101371e-01 7.23254804e-03 -1.03685167e+02] [-1.18212185e-02 4.38660177e-04 -9.99930031e-01 -4.01604809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters 0.02098431793187057 Centerline is valid? [True, True] Translation: X:246.14, Y:-103.72, Z:-4.02 [[ 8.13734573e-01 -5.81151239e-01 -9.96407639e-03 2.46136198e+02] [-5.81114842e-01 -8.13795431e-01 6.52201550e-03 -1.03718442e+02] [-1.18989972e-02 4.83083182e-04 -9.99929088e-01 -4.01764248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters 0.022527577488227604 Centerline is valid? [True, True] Translation: X:246.16, Y:-103.75, Z:-4.02 [[ 8.55896389e-01 -5.17046032e-01 -1.02358069e-02 2.46161910e+02] [-5.17015834e-01 -8.55957452e-01 5.60962765e-03 -1.03746767e+02] [-1.16618509e-02 4.90814183e-04 -9.99931878e-01 -4.01796882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters 0.021853811600420093 Centerline is valid? [True, True] Translation: X:246.19, Y:-103.78, Z:-4.02 [[ 8.94818867e-01 -4.46306730e-01 -1.04641605e-02 2.46189662e+02] [-4.46282079e-01 -8.94879935e-01 4.71259286e-03 -1.03777498e+02] [-1.14674291e-02 4.53050288e-04 -9.99934144e-01 -4.01802123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters 0.021424770249174083 Centerline is valid? [True, True] Translation: X:246.22, Y:-103.81, Z:-4.02 [[ 9.28836536e-01 -3.70328239e-01 -1.09400714e-02 2.46219344e+02] [-3.70307605e-01 -9.28900874e-01 3.92981867e-03 -1.03806563e+02] [-1.16175647e-02 4.01032481e-04 -9.99932433e-01 -4.01766255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters 0.017374871979735435 Centerline is valid? [True, True] Translation: X:246.25, Y:-103.84, Z:-4.02 [[ 9.55628949e-01 -2.94332311e-01 -1.19081187e-02 2.46251515e+02] [-2.94314634e-01 -9.55703056e-01 3.25035071e-03 -1.03838127e+02] [-1.23373087e-02 3.98604356e-04 -9.99923813e-01 -4.01880830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters 0.01730174580535575 Centerline is valid? [True, True] Translation: X:246.29, Y:-103.86, Z:-4.02 [[ 9.76047248e-01 -2.17217899e-01 -1.21718268e-02 2.46287993e+02] [-2.17205859e-01 -9.76123066e-01 2.31852446e-03 -1.03858094e+02] [-1.23848259e-02 3.80802684e-04 -9.99923233e-01 -4.01875352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters 0.01501265660099452 Centerline is valid? [True, True] Translation: X:246.32, Y:-103.88, Z:-4.02 [[ 9.90830078e-01 -1.34550345e-01 -1.23272601e-02 2.46323419e+02] [-1.34543831e-01 -9.90906710e-01 1.36000102e-03 -1.03885000e+02] [-1.23981533e-02 3.11026877e-04 -9.99923092e-01 -4.01909527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters 0.0139681434308348 Centerline is valid? [True, True] Translation: X:246.36, Y:-103.91, Z:-4.02 [[ 9.98691071e-01 -4.96718657e-02 -1.22004706e-02 2.46359656e+02] [-4.96708702e-02 -9.98765566e-01 3.84787096e-04 -1.03905298e+02] [-1.22045231e-02 2.21724557e-04 -9.99925497e-01 -4.01855651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters 0.012712036491352349 Centerline is valid? [True, True] Translation: X:246.40, Y:-103.92, Z:-4.02 [[ 9.99360951e-01 3.30374671e-02 -1.36461090e-02 2.46398241e+02] [ 3.30317611e-02 -9.99454095e-01 -6.43381719e-04 -1.03920345e+02] [-1.36599152e-02 1.92215555e-04 -9.99906681e-01 -4.01790582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters 0.012907085117706453 Centerline is valid? [True, True] Translation: X:246.44, Y:-103.92, Z:-4.02 [[ 9.93598299e-01 1.12161925e-01 -1.34952683e-02 2.46436145e+02] [ 1.12149148e-01 -9.93689927e-01 -1.70226400e-03 -1.03924940e+02] [-1.36010414e-02 1.77883777e-04 -9.99907486e-01 -4.01741502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters 0.012431871517381088 Centerline is valid? [True, True] Translation: X:246.48, Y:-103.93, Z:-4.02 [[ 9.81443705e-01 1.91307323e-01 -1.30293034e-02 2.46476485e+02] [ 1.91288425e-01 -9.81530175e-01 -2.69316576e-03 -1.03928404e+02] [-1.33038768e-02 1.50835658e-04 -9.99911488e-01 -4.01832092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters 0.011758144189750741 Centerline is valid? [True, True] Translation: X:246.52, Y:-103.93, Z:-4.02 [[ 9.63106596e-01 2.68816504e-01 -1.27817120e-02 2.46518322e+02] [ 2.68790995e-01 -9.63191398e-01 -3.70559264e-03 -1.03932193e+02] [-1.33073595e-02 1.33271624e-04 -9.99911444e-01 -4.01980844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters 0.01187190484185583 Centerline is valid? [True, True] Translation: X:246.56, Y:-103.93, Z:-4.02 [[ 9.39200568e-01 3.43184171e-01 -1.12657965e-02 2.46558589e+02] [ 3.43157941e-01 -9.39268125e-01 -4.24469310e-03 -1.03928790e+02] [-1.20383150e-02 1.20670646e-04 -9.99927530e-01 -4.02132478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters 0.011921599990475982 Centerline is valid? [True, True] Translation: X:246.60, Y:-103.92, Z:-4.02 [[ 9.09716756e-01 4.15102381e-01 -1.02682694e-02 2.46599151e+02] [ 4.15074461e-01 -9.09774697e-01 -4.81585238e-03 -1.03922445e+02] [-1.13408835e-02 1.18965195e-04 -9.99935683e-01 -4.02197970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters 0.012690223236248813 Centerline is valid? [True, True] Translation: X:246.64, Y:-103.91, Z:-4.02 [[ 8.75090948e-01 4.83828984e-01 -1.11958335e-02 2.46636474e+02] [ 4.83787092e-01 -8.75162550e-01 -6.36869987e-03 -1.03910471e+02] [-1.28795358e-02 1.56791872e-04 -9.99917043e-01 -4.02020899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters 0.01252004556416257 Centerline is valid? [True, True] Translation: X:246.67, Y:-103.90, Z:-4.02 [[ 8.34903871e-01 5.50298532e-01 -1.03465490e-02 2.46674455e+02] [ 5.50253899e-01 -8.34967963e-01 -7.01051390e-03 -1.03896801e+02] [-1.24969125e-02 1.59876262e-04 -9.99921898e-01 -4.02182466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters 0.01273444252351463 Centerline is valid? [True, True] Translation: X:246.71, Y:-103.88, Z:-4.02 [[ 7.89442024e-01 6.13762358e-01 -8.77832622e-03 2.46709427e+02] [ 6.13722376e-01 -7.89490815e-01 -7.00700516e-03 -1.03879654e+02] [-1.12310439e-02 1.44169111e-04 -9.99936919e-01 -4.02313323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters 0.012597486380130817 Centerline is valid? [True, True] Translation: X:246.74, Y:-103.86, Z:-4.02 [[ 7.37773852e-01 6.74997610e-01 -8.24439878e-03 2.46742909e+02] [ 6.74953570e-01 -7.37819905e-01 -7.71143180e-03 -1.03858854e+02] [-1.12880795e-02 1.24706351e-04 -9.99936280e-01 -4.02216600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters 0.011982496427589003 Centerline is valid? [True, True] Translation: X:246.78, Y:-103.83, Z:-4.02 [[ 6.80423292e-01 7.32783038e-01 -7.29122110e-03 2.46775204e+02] [ 7.32739626e-01 -6.80462351e-01 -7.97681003e-03 -1.03834544e+02] [-1.08066725e-02 8.50407208e-05 -9.99941603e-01 -4.02219236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters 0.011015041970797524 Centerline is valid? [True, True] Translation: X:246.81, Y:-103.81, Z:-4.02 [[ 6.15539127e-01 7.88077903e-01 -6.69343628e-03 2.46807016e+02] [ 7.88031124e-01 -6.15575518e-01 -8.58651716e-03 -1.03809278e+02] [-1.08871599e-02 1.07011581e-05 -9.99940733e-01 -4.02130917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters 0.0110350718083842 Centerline is valid? [True, True] Translation: X:246.83, Y:-103.78, Z:-4.02 [[ 5.45744256e-01 8.37932000e-01 -5.75944717e-03 2.46834565e+02] [ 8.37886657e-01 -5.45774641e-01 -8.71730179e-03 -1.03781088e+02] [-1.04478663e-02 -6.83465537e-05 -9.99945417e-01 -4.02095078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters 0.011464176685255309 Centerline is valid? [True, True] Translation: X:246.86, Y:-103.75, Z:-4.02 [[ 4.73132215e-01 8.80978311e-01 -4.80868106e-03 2.46861343e+02] [ 8.80935500e-01 -4.73156634e-01 -8.68594747e-03 -1.03750447e+02] [-9.92739067e-03 -1.26536292e-04 -9.99950714e-01 -4.02369429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters 0.0124634585586224 Centerline is valid? [True, True] Translation: X:246.89, Y:-103.72, Z:-4.02 [[ 3.98763945e-01 9.17045521e-01 -3.85078287e-03 2.46885246e+02] [ 9.17006566e-01 -3.98782506e-01 -8.45404648e-03 -1.03717696e+02] [-9.28837030e-03 -1.60024253e-04 -9.99956849e-01 -4.02411291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters 0.012745821845691901 Centerline is valid? [True, True] Translation: X:246.91, Y:-103.68, Z:-4.02 [[ 3.23654699e-01 9.46169530e-01 -3.29495739e-03 2.46905601e+02] [ 9.46126201e-01 -3.23671417e-01 -9.05681555e-03 -1.03682853e+02] [-9.63576644e-03 -1.86164609e-04 -9.99953558e-01 -4.02407021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters 0.012713101750721397 Centerline is valid? [True, True] Translation: X:246.92, Y:-103.65, Z:-4.02 [[ 2.48321951e-01 9.68674153e-01 -2.56796076e-03 2.46924287e+02] [ 9.68629914e-01 -2.48335158e-01 -9.25952706e-03 -1.03646689e+02] [-9.60717947e-03 -1.88059784e-04 -9.99953832e-01 -4.02426612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters 0.013277359297285319 Centerline is valid? [True, True] Translation: X:246.93, Y:-103.61, Z:-4.02 [[ 1.70939427e-01 9.85279478e-01 -2.01556005e-03 2.46934982e+02] [ 9.85224887e-01 -1.70951177e-01 -1.03738915e-02 -1.03610205e+02] [-1.05657447e-02 -2.12472862e-04 -9.99944158e-01 -4.02408151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters 0.01323584004555817 Centerline is valid? [True, True] Translation: X:246.95, Y:-103.57, Z:-4.02 [[ 9.24996347e-02 9.95711896e-01 -1.27941235e-03 2.46945886e+02] [ 9.95648499e-01 -9.25081857e-02 -1.12384471e-02 -1.03572251e+02] [-1.13086115e-02 -2.34292738e-04 -9.99936028e-01 -4.02350037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters 0.01353176074458756 Centerline is valid? [True, True] Translation: X:246.95, Y:-103.53, Z:-4.02 [[ 1.21057414e-02 9.99926646e-01 -3.92060679e-04 2.46952996e+02] [ 9.99863938e-01 -1.21093741e-02 -1.12012894e-02 -1.03533870e+02] [-1.12052153e-02 -2.56407422e-04 -9.99937187e-01 -4.02320471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters 0.014601829610479304 Centerline is valid? [True, True] Translation: X:246.96, Y:-103.50, Z:-4.02 [[-6.85834580e-02 9.97645250e-01 5.13860328e-04 2.46955304e+02] [ 9.97575554e-01 6.85847425e-02 -1.17960401e-02 -1.03496259e+02] [-1.18035064e-02 -2.96398722e-04 -9.99930292e-01 -4.02207494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters 0.014629866777458134 Centerline is valid? [True, True] Translation: X:246.96, Y:-103.46, Z:-4.02 [[-1.47123442e-01 9.89117033e-01 1.47946445e-03 2.46957837e+02] [ 9.89043535e-01 1.47130551e-01 -1.20617665e-02 -1.03458303e+02] [-1.21481731e-02 -3.11313853e-04 -9.99926160e-01 -4.02188235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters 0.015418062336631183 Centerline is valid? [True, True] Translation: X:246.95, Y:-103.42, Z:-4.02 [[-2.25288774e-01 9.74288943e-01 2.45447426e-03 2.46951599e+02] [ 9.74214133e-01 2.25301902e-01 -1.20778917e-02 -1.03422377e+02] [-1.23203541e-02 -3.29829901e-04 -9.99924047e-01 -4.02157543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters 0.015489614611118198 Centerline is valid? [True, True] Translation: X:246.94, Y:-103.39, Z:-4.02 [[-3.01019779e-01 9.53611037e-01 3.61710868e-03 2.46943332e+02] [ 9.53527505e-01 3.01041305e-01 -1.26265520e-02 -1.03386703e+02] [-1.31297185e-02 -3.51829282e-04 -9.99913740e-01 -4.02151957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters 0.015762465326043664 Centerline is valid? [True, True] Translation: X:246.93, Y:-103.35, Z:-4.02 [[-3.74011602e-01 9.27412552e-01 4.61291515e-03 2.46928265e+02] [ 9.27330376e-01 3.74039892e-01 -1.23504490e-02 -1.03354444e+02] [-1.31793758e-02 -3.41514894e-04 -9.99913090e-01 -4.02163355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters 0.014182260575341301 Centerline is valid? [True, True] Translation: X:246.91, Y:-103.32, Z:-4.02 [[-4.44242278e-01 8.95891500e-01 5.21715429e-03 2.46914048e+02] [ 8.95821482e-01 4.44272808e-01 -1.12046623e-02 -1.03321598e+02] [-1.23560015e-02 -3.03945792e-04 -9.99923616e-01 -4.02376066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters 0.01350206168462162 Centerline is valid? [True, True] Translation: X:246.90, Y:-103.29, Z:-4.02 [[-5.10472447e-01 8.59873622e-01 5.93590446e-03 2.46895763e+02] [ 8.59809442e-01 5.10506891e-01 -1.05089134e-02 -1.03292377e+02] [-1.20666575e-02 -2.60764021e-04 -9.99927161e-01 -4.02402704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters 0.012692711986095475 Centerline is valid? [True, True] Translation: X:246.87, Y:-103.27, Z:-4.02 [[-5.73270925e-01 8.19330894e-01 7.57182795e-03 2.46873567e+02] [ 8.19253837e-01 5.73320877e-01 -1.12393274e-02 -1.03266347e+02] [-1.35498152e-02 -2.39930514e-04 -9.99908168e-01 -4.02366019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters 0.012204927712103903 Centerline is valid? [True, True] Translation: X:246.85, Y:-103.24, Z:-4.02 [[-6.33675404e-01 7.73549057e-01 8.79422934e-03 2.46853592e+02] [ 7.73469866e-01 6.33736389e-01 -1.10704880e-02 -1.03239387e+02] [-1.41367887e-02 -2.13024546e-04 -9.99900048e-01 -4.02322234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters 0.011937015199542635 Centerline is valid? [True, True] Translation: X:246.83, Y:-103.21, Z:-4.02 [[-6.91517861e-01 7.22295319e-01 9.61871546e-03 2.46833768e+02] [ 7.22221465e-01 6.91584726e-01 -1.03306426e-02 -1.03213023e+02] [-1.41139315e-02 -1.96981125e-04 -9.99900374e-01 -4.02360052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters 0.011696183415510094 Centerline is valid? [True, True] Translation: X:246.81, Y:-103.19, Z:-4.02 [[-7.46136032e-01 6.65710981e-01 1.04838888e-02 2.46812337e+02] [ 6.65641444e-01 7.46209655e-01 -9.62389942e-03 -1.03189443e+02] [-1.42299146e-02 -2.02227233e-04 -9.99898729e-01 -4.02434285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters 0.012259110737341957 Centerline is valid? [True, True] Translation: X:246.82, Y:-103.17, Z:-4.02 [[-7.91971763e-01 6.10465344e-01 1.06202579e-02 2.46824028e+02] [ 6.10406971e-01 7.92042942e-01 -8.44444141e-03 -1.03170202e+02] [-1.35667392e-02 -2.05079690e-04 -9.99907947e-01 -4.02351768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters 0.012632367007223448 Centerline is valid? [True, True] Translation: X:246.83, Y:-103.15, Z:-4.02 [[-8.34643265e-01 5.50681270e-01 1.09890018e-02 2.46832597e+02] [ 5.50629795e-01 8.34715570e-01 -7.53299058e-03 -1.03152561e+02] [-1.33209677e-02 -2.36488050e-04 -9.99911244e-01 -4.02284973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters 0.013555808769938315 Centerline is valid? [True, True] Translation: X:246.84, Y:-103.14, Z:-4.02 [[-8.73031026e-01 4.87563262e-01 9.94449701e-03 2.46844796e+02] [ 4.87528456e-01 8.73087628e-01 -5.83076709e-03 -1.03136063e+02] [-1.15252851e-02 -2.42215297e-04 -9.99933552e-01 -4.02350430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters 0.014181916749558819 Centerline is valid? [True, True] Translation: X:246.85, Y:-103.12, Z:-4.02 [[-9.06830451e-01 4.21404940e-01 8.74125279e-03 2.46853467e+02] [ 4.21382778e-01 9.06872548e-01 -4.32855814e-03 -1.03117538e+02] [-9.75127797e-03 -2.41854948e-04 -9.99952426e-01 -4.02440431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters 0.01454804487681883 Centerline is valid? [True, True] Translation: X:246.86, Y:-103.10, Z:-4.02 [[-9.35008955e-01 3.54513861e-01 8.84174006e-03 2.46861090e+02] [ 3.54495429e-01 9.35050725e-01 -3.62393532e-03 -1.03095823e+02] [-9.55221076e-03 -2.54055545e-04 -9.99954344e-01 -4.02426592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters 0.015581630348458187 Centerline is valid? [True, True] Translation: X:246.87, Y:-103.08, Z:-4.02 [[-9.58043631e-01 2.86476312e-01 9.15003341e-03 2.46868749e+02] [ 2.86460598e-01 9.58087289e-01 -3.01220207e-03 -1.03075954e+02] [-9.62945524e-03 -2.64696966e-04 -9.99953601e-01 -4.02346075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters 0.014393680929246054 Centerline is valid? [True, True] Translation: X:246.87, Y:-103.06, Z:-4.02 [[-9.75661271e-01 2.19075644e-01 9.53656195e-03 2.46873487e+02] [ 2.19062594e-01 9.75707844e-01 -2.40497608e-03 -1.03056398e+02] [-9.83176998e-03 -2.57338020e-04 -9.99951634e-01 -4.02370104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters 0.013565084055410178 Centerline is valid? [True, True] Translation: X:247.05, Y:-102.37, Z:-4.99 [[-9.45146796e-01 -3.26512625e-01 9.32950411e-03 2.47047078e+02] [ 3.26499352e-01 -9.45192807e-01 -2.95485943e-03 -1.02370186e+02] [ 9.78297908e-03 2.53301128e-04 9.99952113e-01 -4.98593980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters 0.012548689102083092 Centerline is valid? [True, True] Translation: X:246.83, Y:-103.06, Z:-4.02 [[-9.74699264e-01 2.23298609e-01 9.95373378e-03 2.46830540e+02] [ 2.23285030e-01 9.74750069e-01 -2.46947452e-03 -1.03062280e+02] [-1.02538329e-02 -1.84475253e-04 -9.99947411e-01 -4.02278317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters 0.012224820303040661 Centerline is valid? [True, True] Translation: X:246.84, Y:-103.04, Z:-4.02 [[-9.87820420e-01 1.55307202e-01 9.51264330e-03 2.46838088e+02] [ 1.55298453e-01 9.87866210e-01 -1.65604106e-03 -1.03036001e+02] [-9.65441399e-03 -1.58572381e-04 -9.99953382e-01 -4.02234966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters 0.012241196667014021 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.32, Z:-4.99 [[-9.68798079e-01 -2.47669921e-01 9.48117692e-03 2.46968401e+02] [ 2.47659728e-01 -9.68844458e-01 -2.25303631e-03 -1.02321965e+02] [ 9.74379504e-03 1.65368453e-04 9.99952514e-01 -4.98816785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters 0.011609812689834893 Centerline is valid? [True, True] Translation: X:246.79, Y:-103.03, Z:-4.02 [[-9.88039528e-01 1.53925833e-01 9.20479814e-03 2.46794732e+02] [ 1.53917915e-01 9.88082396e-01 -1.56672113e-03 -1.03025281e+02] [-9.33625786e-03 -1.31199072e-04 -9.99956408e-01 -4.02148558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters 0.01150076840116871 Centerline is valid? [True, True] Translation: X:246.92, Y:-102.32, Z:-4.99 [[-9.70212459e-01 -2.42119847e-01 8.10949324e-03 2.46920436e+02] [ 2.42111885e-01 -9.70246348e-01 -1.96435480e-03 -1.02315671e+02] [ 8.34381548e-03 5.75631903e-05 9.99965188e-01 -4.98662310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters 0.011270091211771135 Centerline is valid? [True, True] Translation: X:246.75, Y:-103.02, Z:-4.02 [[-9.88257268e-01 1.52616784e-01 7.46256733e-03 2.46748234e+02] [ 1.52611737e-01 9.88285439e-01 -1.24447830e-03 -1.03018689e+02] [-7.56507490e-03 -9.09893616e-05 -9.99971380e-01 -4.02159308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters 0.010698946867830777 Centerline is valid? [True, True] Translation: X:246.75, Y:-102.99, Z:-4.02 [[-9.96136816e-01 8.75933740e-02 6.23254453e-03 2.46748235e+02] [ 8.75913788e-02 9.96156312e-01 -5.92881984e-04 -1.02993416e+02] [-6.26052110e-03 -4.46744033e-05 -9.99980402e-01 -4.02174767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters 0.010702003654452211 Centerline is valid? [True, True] Translation: X:246.75, Y:-102.97, Z:-4.02 [[-9.99769764e-01 2.06994383e-02 5.65267330e-03 2.46753849e+02] [ 2.06989960e-02 9.99785743e-01 -1.36732367e-04 -1.02969352e+02] [-5.65429247e-03 -1.96962239e-05 -9.99984014e-01 -4.02380089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters 0.010899453823707933 Centerline is valid? [True, True] Translation: X:246.76, Y:-102.94, Z:-4.02 [[-9.98868432e-01 -4.71857610e-02 5.94635403e-03 2.46755259e+02] [-4.71849277e-02 9.98886132e-01 2.80424182e-04 -1.02943978e+02] [-5.95296260e-03 -4.71422067e-07 -9.99982281e-01 -4.02445088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters 0.010973178747924778 Centerline is valid? [True, True] Translation: X:246.75, Y:-102.92, Z:-4.02 [[-9.92988100e-01 -1.17966954e-01 7.64408040e-03 2.46750738e+02] [-1.17963403e-01 9.93017521e-01 9.15325148e-04 -1.02916425e+02] [-7.69868389e-03 7.18524032e-06 -9.99970365e-01 -4.02159413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters 0.011039178275899649 Centerline is valid? [True, True] Translation: X:246.74, Y:-102.89, Z:-4.02 [[-9.81918555e-01 -1.89104692e-01 8.68135424e-03 2.46742225e+02] [-1.89097251e-01 9.81956931e-01 1.67764242e-03 -1.02889655e+02] [-8.84196602e-03 5.68800422e-06 -9.99960909e-01 -4.01948116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters 0.010955107436232283 Centerline is valid? [True, True] Translation: X:246.60, Y:-102.17, Z:-4.99 [[-9.91773721e-01 1.27695976e-01 8.86700927e-03 2.46603730e+02] [-1.27690867e-01 -9.91813358e-01 1.14230602e-03 -1.02173079e+02] [ 8.94028612e-03 6.72997074e-07 9.99960035e-01 -4.98945628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters 0.010968820693104703 Centerline is valid? [True, True] Translation: X:246.64, Y:-102.91, Z:-4.02 [[-9.79963921e-01 -1.98989649e-01 8.59263202e-03 2.46637253e+02] [-1.98982249e-01 9.80001591e-01 1.71624251e-03 -1.02906661e+02] [-8.76230755e-03 -2.79255021e-05 -9.99961610e-01 -4.02018313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters 0.0111462831740922 Centerline is valid? [True, True] Translation: X:246.62, Y:-102.88, Z:-4.02 [[-9.62598467e-01 -2.70823292e-01 7.67702041e-03 2.46620039e+02] [-2.70815059e-01 9.62629078e-01 2.11217585e-03 -1.02881814e+02] [-7.96214950e-03 -4.58755047e-05 -9.99968301e-01 -4.02010717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters 0.01113884063280225 Centerline is valid? [True, True] Translation: X:246.59, Y:-102.86, Z:-4.02 [[-9.40474696e-01 -3.39785707e-01 7.28147326e-03 2.46590061e+02] [-3.39775923e-01 9.40502882e-01 2.57901969e-03 -1.02862911e+02] [-7.72456061e-03 -4.85665381e-05 -9.99970164e-01 -4.02030879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters 0.01128251018084965 Centerline is valid? [True, True] Translation: X:246.54, Y:-102.85, Z:-4.02 [[-9.12462841e-01 -4.09094955e-01 7.27192538e-03 2.46540439e+02] [-4.09082525e-01 9.12491816e-01 3.18971651e-03 -1.02853459e+02] [-7.94046932e-03 -6.43198052e-05 -9.99968472e-01 -4.02031186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters 0.01142920970602907 Centerline is valid? [True, True] Translation: X:246.48, Y:-102.85, Z:-4.02 [[-8.79158325e-01 -4.76483938e-01 6.61033164e-03 2.46480358e+02] [-4.76471093e-01 8.79183173e-01 3.49941377e-03 -1.02852040e+02] [-7.47910680e-03 -7.30931977e-05 -9.99972028e-01 -4.02056340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters 0.011741364393964164 Centerline is valid? [True, True] Translation: X:246.41, Y:-102.86, Z:-4.02 [[-8.40629316e-01 -5.41569504e-01 6.69514266e-03 2.46407686e+02] [-5.41553164e-01 8.40655973e-01 4.20785417e-03 -1.02861567e+02] [-7.90715716e-03 -8.85301133e-05 -9.99968734e-01 -4.02023938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters 0.012111014579835594 Centerline is valid? [True, True] Translation: X:246.33, Y:-102.88, Z:-4.02 [[-7.96813363e-01 -6.04181557e-01 7.28769936e-03 2.46329412e+02] [-6.04157602e-01 7.96846681e-01 5.38136637e-03 -1.02880642e+02] [-9.05850136e-03 -1.14974337e-04 -9.99958964e-01 -4.01901436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters 0.012114626512184017 Centerline is valid? [True, True] Translation: X:246.25, Y:-102.91, Z:-4.02 [[-7.48973204e-01 -6.62562106e-01 7.11302472e-03 2.46250861e+02] [-6.62533775e-01 7.49006969e-01 6.12840214e-03 -1.02909682e+02] [-9.38815212e-03 -1.22610125e-04 -9.99955923e-01 -4.01902589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters 0.01220036793106116 Centerline is valid? [True, True] Translation: X:246.17, Y:-102.95, Z:-4.02 [[-6.97494715e-01 -7.16553425e-01 7.23265812e-03 2.46166093e+02] [-7.16516758e-01 6.97532203e-01 7.24998524e-03 -1.02952583e+02] [-1.02400137e-02 -1.25494356e-04 -9.99947562e-01 -4.01793544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters 0.0117485421340322 Centerline is valid? [True, True] Translation: X:246.09, Y:-103.00, Z:-4.02 [[-6.42389656e-01 -7.66350926e-01 6.46434420e-03 2.46088914e+02] [-7.66313808e-01 6.42422171e-01 7.54330182e-03 -1.02998082e+02] [-9.93365437e-03 -1.07977161e-04 -9.99950654e-01 -4.01773717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters 0.01173390312312783 Centerline is valid? [True, True] Translation: X:246.01, Y:-103.06, Z:-4.02 [[-5.83546590e-01 -8.12055359e-01 6.28259134e-03 2.46006183e+02] [-8.12010107e-01 5.83580401e-01 8.57331110e-03 -1.03061046e+02] [-1.06284004e-02 -9.86012035e-05 -9.99943512e-01 -4.01668387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters 0.011491912917030183 Centerline is valid? [True, True] Translation: X:245.93, Y:-103.13, Z:-4.02 [[-5.23049653e-01 -8.52279047e-01 6.28384124e-03 2.45930069e+02] [-8.52219030e-01 5.23087395e-01 1.01145140e-02 -1.03132868e+02] [-1.19073865e-02 -6.48160256e-05 -9.99929102e-01 -4.01631936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters 0.011505959689144547 Centerline is valid? [True, True] Translation: X:245.86, Y:-103.21, Z:-4.02 [[-4.59824328e-01 -8.87995311e-01 5.09075415e-03 2.45857047e+02] [-8.87941372e-01 4.59852506e-01 9.78733365e-03 -1.03212513e+02] [-1.10321024e-02 -1.98371066e-05 -9.99939144e-01 -4.01688996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters 0.011447332277063925 Centerline is valid? [True, True] Translation: X:245.79, Y:-103.30, Z:-4.02 [[-3.93884224e-01 -9.19154220e-01 3.27674715e-03 2.45788535e+02] [-9.19122207e-01 3.93897854e-01 7.67132944e-03 -1.03299206e+02] [-8.34183850e-03 9.88456936e-06 -9.99965206e-01 -4.01974060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters 0.011460210968716017 Centerline is valid? [True, True] Translation: X:245.72, Y:-103.39, Z:-4.02 [[-3.23646626e-01 -9.46174981e-01 2.40131054e-03 2.45724108e+02] [-9.46148536e-01 3.23655534e-01 7.07414250e-03 -1.03393683e+02] [-7.47057410e-03 1.75259002e-05 -9.99972095e-01 -4.02051551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters 0.011914942331458287 Centerline is valid? [True, True] Translation: X:245.67, Y:-103.49, Z:-4.02 [[-2.53628024e-01 -9.67300177e-01 1.78684665e-03 2.45668284e+02] [-9.67274964e-01 2.53634315e-01 6.98415150e-03 -1.03494772e+02] [-7.20897661e-03 4.30045163e-05 -9.99974014e-01 -4.02069043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters 0.012416222305299525 Centerline is valid? [True, True] Translation: X:245.62, Y:-103.60, Z:-4.02 [[-1.81407659e-01 -9.83406931e-01 1.43855535e-03 2.45617994e+02] [-9.83372514e-01 1.81413346e-01 8.22784265e-03 -1.03603925e+02] [-8.35229063e-03 7.79578861e-05 -9.99965116e-01 -4.01944978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters 0.01247406719689524 Centerline is valid? [True, True] Translation: X:245.57, Y:-103.72, Z:-4.02 [[-1.06218650e-01 -9.94342407e-01 8.80403812e-04 2.45574819e+02] [-9.94300150e-01 1.06222253e-01 9.16753570e-03 -1.03715116e+02] [-9.20918800e-03 9.83776276e-05 -9.99957590e-01 -4.01944479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters 0.013039884798666586 Centerline is valid? [True, True] Translation: X:245.54, Y:-103.83, Z:-4.02 [[-2.94947591e-02 -9.99564917e-01 1.89047438e-04 2.45540393e+02] [-9.99512609e-01 2.94951497e-02 1.02264831e-02 -1.03834137e+02] [-1.02276097e-02 1.12672357e-04 -9.99947690e-01 -4.01820273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters 0.012768529268550896 Centerline is valid? [True, True] Translation: X:245.51, Y:-103.95, Z:-4.02 [[ 4.80900723e-02 -9.98842770e-01 -6.82344256e-04 2.45514025e+02] [-9.98775610e-01 -4.80947519e-02 1.15833965e-02 -1.03951291e+02] [-1.16028090e-02 1.24462427e-04 -9.99932677e-01 -4.01792830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters 0.012338218426678635 Centerline is valid? [True, True] Translation: X:245.50, Y:-104.08, Z:-4.02 [[ 1.26582899e-01 -9.91954890e-01 -1.50519342e-03 2.45496721e+02] [-9.91893707e-01 -1.26591810e-01 1.10176241e-02 -1.04075067e+02] [-1.11195313e-02 9.83490784e-05 -9.99938171e-01 -4.01848980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters 0.011583649837027131 Centerline is valid? [True, True] Translation: X:245.49, Y:-104.20, Z:-4.02 [[ 2.04831233e-01 -9.78794809e-01 -2.21090935e-03 2.45487597e+02] [-9.78741287e-01 -2.04843153e-01 1.02360433e-02 -1.04197186e+02] [-1.04718757e-02 6.72468903e-05 -9.99945166e-01 -4.02057823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters 0.011241749534808566 Centerline is valid? [True, True] Translation: X:245.49, Y:-104.32, Z:-4.02 [[ 2.81271660e-01 -9.59623961e-01 -2.84729981e-03 2.45488317e+02] [-9.59576401e-01 -2.81286068e-01 9.55396483e-03 -1.04317650e+02] [-9.96911934e-03 4.49421492e-05 -9.99950306e-01 -4.02115572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters 0.010983511733622152 Centerline is valid? [True, True] Translation: X:245.50, Y:-104.44, Z:-4.02 [[ 3.56426107e-01 -9.34317131e-01 -3.45385921e-03 2.45498865e+02] [-9.34273795e-01 -3.56442840e-01 8.99879931e-03 -1.04438652e+02] [-9.63883574e-03 1.94431458e-05 -9.99953545e-01 -4.02091385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters 0.010936217249180032 Centerline is valid? [True, True] Translation: X:245.53, Y:-104.58, Z:-4.02 [[ 4.30299408e-01 -9.02678136e-01 -3.82138050e-03 2.45526593e+02] [-9.02642222e-01 -4.30316376e-01 8.05206169e-03 -1.04580116e+02] [-8.91282264e-03 -1.54579937e-05 -9.99960280e-01 -4.02015816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters 0.010651415712124176 Centerline is valid? [True, True] Translation: X:245.54, Y:-104.67, Z:-4.02 [[ 5.00760039e-01 -8.65577936e-01 -3.77102084e-03 2.45540381e+02] [-8.65552788e-01 -5.00774236e-01 6.59810887e-03 -1.04671726e+02] [-7.59960754e-03 -4.00516445e-05 -9.99971122e-01 -4.02208496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters 0.010975107051594338 Centerline is valid? [True, True] Translation: X:245.57, Y:-104.78, Z:-4.02 [[ 5.69695429e-01 -8.21844188e-01 -4.38739230e-03 2.45572625e+02] [-8.21818724e-01 -5.69712317e-01 6.47002661e-03 -1.04782915e+02] [-7.81690520e-03 -8.03034480e-05 -9.99969444e-01 -4.02094080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters 0.011326676390975645 Centerline is valid? [True, True] Translation: X:245.62, Y:-104.89, Z:-4.02 [[ 6.33262868e-01 -7.73913968e-01 -5.94226201e-03 2.45616490e+02] [-7.73878059e-01 -6.33290735e-01 7.45622075e-03 -1.04891862e+02] [-9.53365286e-03 -1.23161544e-04 -9.99954546e-01 -4.01982035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters 0.011475709611330667 Centerline is valid? [True, True] Translation: X:245.66, Y:-104.99, Z:-4.02 [[ 6.90892197e-01 -7.22929004e-01 -6.45183326e-03 2.45664934e+02] [-7.22895733e-01 -6.90922310e-01 6.93692662e-03 -1.04990628e+02] [-9.47262100e-03 -1.28665743e-04 -9.99955125e-01 -4.01998032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters 0.011874762796288947 Centerline is valid? [True, True] Translation: X:245.72, Y:-105.08, Z:-4.02 [[ 7.44063083e-01 -6.68058974e-01 -8.20590883e-03 2.45720546e+02] [-6.68016102e-01 -7.44108316e-01 7.56981096e-03 -1.05084857e+02] [-1.11631651e-02 -1.50737645e-04 -9.99937679e-01 -4.01790516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters 0.011659176137742283 Centerline is valid? [True, True] Translation: X:245.74, Y:-105.11, Z:-4.02 [[ 7.93717133e-01 -6.08218396e-01 -9.13761858e-03 2.45743592e+02] [-6.08175895e-01 -7.93769715e-01 7.19171574e-03 -1.05110403e+02] [-1.16272987e-02 -1.50908632e-04 -9.99932389e-01 -4.01852916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters 0.011306050917169052 Centerline is valid? [True, True] Translation: X:245.77, Y:-105.13, Z:-4.02 [[ 8.37354633e-01 -5.46572330e-01 -9.79323862e-03 2.45769286e+02] [-5.46533257e-01 -8.37411890e-01 6.53645346e-03 -1.05131018e+02] [-1.17736191e-02 -1.20998988e-04 -9.99930681e-01 -4.01926315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters 0.01083730654526102 Centerline is valid? [True, True] Translation: X:245.80, Y:-105.15, Z:-4.02 [[ 8.76186185e-01 -4.81857017e-01 -1.05634104e-02 2.45795089e+02] [-4.81820753e-01 -8.76249854e-01 5.91220534e-03 -1.05152164e+02] [-1.21050244e-02 -9.05222923e-05 -9.99926727e-01 -4.01949590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters 0.010737457221103511 Centerline is valid? [True, True] Translation: X:245.82, Y:-105.17, Z:-4.02 [[ 9.09474780e-01 -4.15613655e-01 -1.09960580e-02 2.45822760e+02] [-4.15582734e-01 -9.09541251e-01 5.06984825e-03 -1.05167216e+02] [-1.21084665e-02 -4.11272834e-05 -9.99926689e-01 -4.01951601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters 0.0106817380750834 Centerline is valid? [True, True] Translation: X:245.85, Y:-105.18, Z:-4.02 [[ 9.38781327e-01 -3.44342367e-01 -1.08606252e-02 2.45850482e+02] [-3.44318993e-01 -9.38844147e-01 4.01220990e-03 -1.05183788e+02] [-1.15780082e-02 -2.70682160e-05 -9.99932972e-01 -4.02052121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters 0.010579836593525014 Centerline is valid? [True, True] Translation: X:245.88, Y:-105.20, Z:-4.02 [[ 9.61879845e-01 -2.73297778e-01 -9.77183118e-03 2.45879847e+02] [-2.73283775e-01 -9.61929480e-01 2.76651423e-03 -1.05196260e+02] [-1.01558947e-02 9.42863578e-06 -9.99948428e-01 -4.02280729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters 0.010939422196148652 Centerline is valid? [True, True] Translation: X:245.91, Y:-105.21, Z:-4.02 [[ 9.79624112e-01 -2.00603562e-01 -9.73704471e-03 2.45909008e+02] [-2.00594084e-01 -9.79672501e-01 1.95048778e-03 -1.05205905e+02] [-9.93038974e-03 4.24487087e-05 -9.99950692e-01 -4.02246758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters 0.011121959139464772 Centerline is valid? [True, True] Translation: X:245.94, Y:-105.21, Z:-4.02 [[ 9.92134368e-01 -1.24697309e-01 -1.09534244e-02 2.45935715e+02] [-1.24690440e-01 -9.92194828e-01 1.31043921e-03 -1.05214684e+02] [-1.10313392e-02 6.56555321e-05 -9.99939151e-01 -4.02242800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters 0.011092216925702843 Centerline is valid? [True, True] Translation: X:245.96, Y:-105.22, Z:-4.02 [[ 9.98849973e-01 -4.66118912e-02 -1.12277756e-02 2.45963330e+02] [-4.66097015e-02 -9.98913073e-01 4.56758551e-04 -1.05222492e+02] [-1.12368622e-02 6.70900011e-05 -9.99936862e-01 -4.02170870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters 0.011170178484354257 Centerline is valid? [True, True] Translation: X:245.99, Y:-105.23, Z:-4.02 [[ 9.99378902e-01 3.30745584e-02 -1.21607787e-02 2.45989459e+02] [ 3.30714034e-02 -9.99452885e-01 -4.60503253e-04 -1.05227375e+02] [-1.21693563e-02 5.80432186e-05 -9.99925949e-01 -4.02004325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters 0.010850461496175483 Centerline is valid? [True, True] Translation: X:246.02, Y:-105.23, Z:-4.02 [[ 9.93401436e-01 1.14058743e-01 -1.20079141e-02 2.46016656e+02] [ 1.14050131e-01 -9.93474007e-01 -1.40176159e-03 -1.05229760e+02] [-1.20894337e-02 2.30077927e-05 -9.99926920e-01 -4.01938860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters 0.010343891497815389 Centerline is valid? [True, True] Translation: X:246.05, Y:-105.23, Z:-4.02 [[ 9.80938146e-01 1.94009487e-01 -1.09850692e-02 2.46045019e+02] [ 1.93997426e-01 -9.80999653e-01 -2.16331696e-03 -1.05231175e+02] [-1.11960531e-02 -8.99501061e-06 -9.99937322e-01 -4.02109173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters 0.010159970608343583 Centerline is valid? [True, True] Translation: X:246.08, Y:-105.24, Z:-4.02 [[ 9.61471758e-01 2.74759882e-01 -8.89192094e-03 2.46075024e+02] [ 2.74748657e-01 -9.61512873e-01 -2.48416824e-03 -1.05235361e+02] [-9.23224622e-03 -5.45857261e-05 -9.99957380e-01 -4.02219350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters 0.010458732762044074 Centerline is valid? [True, True] Translation: X:246.11, Y:-105.24, Z:-4.02 [[ 9.35605238e-01 3.52949989e-01 -8.31530491e-03 2.46105526e+02] [ 3.52936893e-01 -9.35642184e-01 -3.04178897e-03 -1.05236863e+02] [-8.85374944e-03 -8.88641858e-05 -9.99960801e-01 -4.02242051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters 0.010857176946690266 Centerline is valid? [True, True] Translation: X:246.14, Y:-105.23, Z:-4.02 [[ 9.03917869e-01 4.27627201e-01 -8.21357946e-03 2.46135983e+02] [ 4.27610702e-01 -9.03955178e-01 -3.75821596e-03 -1.05234897e+02] [-9.03182306e-03 -1.15095913e-04 -9.99959206e-01 -4.02227583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters 0.01087614481015666 Centerline is valid? [True, True] Translation: X:246.17, Y:-105.23, Z:-4.02 [[ 8.67575565e-01 4.97241289e-01 -7.98367865e-03 2.46166255e+02] [ 4.97221481e-01 -8.67612291e-01 -4.43982742e-03 -1.05229921e+02] [-9.13440322e-03 -1.17770738e-04 -9.99958274e-01 -4.02167083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters 0.010759034087861549 Centerline is valid? [True, True] Translation: X:246.19, Y:-105.22, Z:-4.02 [[ 8.26163401e-01 5.63379939e-01 -7.55516310e-03 2.46194511e+02] [ 5.63357641e-01 -8.26197937e-01 -5.01365516e-03 -1.05221561e+02] [-9.06665290e-03 -1.14160462e-04 -9.99958891e-01 -4.02158276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters 0.010404457305678804 Centerline is valid? [True, True] Translation: X:246.22, Y:-105.21, Z:-4.02 [[ 7.81207458e-01 6.24236790e-01 -6.58310378e-03 2.46220330e+02] [ 6.24215536e-01 -7.81235191e-01 -5.15185402e-03 -1.05207665e+02] [-8.35892915e-03 -8.46088740e-05 -9.99965060e-01 -4.02200689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters 0.01006792313852723 Centerline is valid? [True, True] Translation: X:246.24, Y:-105.19, Z:-4.02 [[ 7.32351715e-01 6.80902793e-01 -5.68792717e-03 2.46244038e+02] [ 6.80882814e-01 -7.32373800e-01 -5.21636571e-03 -1.05192286e+02] [-7.71752682e-03 -5.25974854e-05 -9.99970218e-01 -4.02229610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters 0.010027616775250409 Centerline is valid? [True, True] Translation: X:246.27, Y:-105.17, Z:-4.02 [[ 6.79949864e-01 7.33238047e-01 -5.49087177e-03 2.46265245e+02] [ 7.33214368e-01 -6.79972034e-01 -5.89266137e-03 -1.05174584e+02] [-8.05436275e-03 -1.92717792e-05 -9.99967563e-01 -4.02177851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters 0.01064377115293763 Centerline is valid? [True, True] Translation: X:246.28, Y:-105.15, Z:-4.02 [[ 6.25230353e-01 7.80417659e-01 -5.93986796e-03 2.46283022e+02] [ 7.80381841e-01 -6.25258567e-01 -7.47711639e-03 -1.05154059e+02] [-9.54922700e-03 3.95550300e-05 -9.99954404e-01 -4.02077297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters 0.010887098403734181 Centerline is valid? [True, True] Translation: X:246.31, Y:-105.14, Z:-4.02 [[ 5.63990536e-01 8.25761914e-01 -5.65126615e-03 2.46305265e+02] [ 8.25719299e-01 -5.64018845e-01 -8.38937313e-03 -1.05136497e+02] [-1.01150454e-02 6.51675161e-05 -9.99948839e-01 -4.02034620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters 0.01150747973981594 Centerline is valid? [True, True] Translation: X:246.33, Y:-105.12, Z:-4.02 [[ 4.99987572e-01 8.66015736e-01 -5.40117095e-03 2.46325319e+02] [ 8.65962965e-01 -5.00016734e-01 -9.56085274e-03 -1.05117818e+02] [-1.09805248e-02 1.03093533e-04 -9.99939707e-01 -4.02072023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters 0.011647578720073529 Centerline is valid? [True, True] Translation: X:246.35, Y:-105.10, Z:-4.02 [[ 4.31972098e-01 9.01875011e-01 -4.64452391e-03 2.46345467e+02] [ 9.01819882e-01 -4.31997050e-01 -9.97242677e-03 -1.05098387e+02] [-1.10003031e-02 1.19286108e-04 -9.99939488e-01 -4.02122794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters 0.012542987550472832 Centerline is valid? [True, True] Translation: X:246.36, Y:-105.08, Z:-4.02 [[ 3.62735876e-01 9.31884968e-01 -3.61819253e-03 2.46361890e+02] [ 9.31834666e-01 -3.62753894e-01 -9.68335164e-03 -1.05078044e+02] [-1.03362833e-02 1.40941816e-04 -9.99946569e-01 -4.02185615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters 0.012360849897492738 Centerline is valid? [True, True] Translation: X:246.38, Y:-105.06, Z:-4.02 [[ 2.89871415e-01 9.57062195e-01 -2.55294218e-03 2.46380954e+02] [ 9.57020847e-01 -2.89882625e-01 -8.89734262e-03 -1.05056621e+02] [-9.25536384e-03 1.35866402e-04 -9.99957159e-01 -4.02368322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters 0.012141766952665702 Centerline is valid? [True, True] Translation: X:246.40, Y:-105.03, Z:-4.02 [[ 2.13472684e-01 9.76947699e-01 -1.61421022e-03 2.46400613e+02] [ 9.76915685e-01 -2.13478758e-01 -7.90972528e-03 -1.05034211e+02] [-8.07198751e-03 1.11563008e-04 -9.99967415e-01 -4.02438086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters 0.011879340265814988 Centerline is valid? [True, True] Translation: X:246.42, Y:-105.01, Z:-4.02 [[ 1.34487231e-01 9.90914869e-01 -9.52874606e-04 2.46416727e+02] [ 9.90884900e-01 -1.34490574e-01 -7.70711797e-03 -1.05009210e+02] [-7.76525044e-03 9.23198923e-05 -9.99969846e-01 -4.02450478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters 0.011103654895172186 Centerline is valid? [True, True] Translation: X:246.43, Y:-104.98, Z:-4.02 [[ 5.15510037e-02 9.98670276e-01 -4.15893115e-04 2.46432856e+02] [ 9.98625910e-01 -5.15526339e-02 -9.41373929e-03 -1.04983439e+02] [-9.42266201e-03 6.99660694e-05 -9.99955603e-01 -4.02280758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters 0.010433325676115773 Centerline is valid? [True, True] Translation: X:246.45, Y:-104.96, Z:-4.02 [[-3.14724632e-02 9.99504559e-01 3.46837477e-04 2.46446124e+02] [ 9.99453710e-01 3.14743606e-02 -1.00819797e-02 -1.04955503e+02] [-1.00879012e-02 2.93432676e-05 -9.99949115e-01 -4.02169166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters 0.010157166047410862 Centerline is valid? [True, True] Translation: X:246.46, Y:-104.93, Z:-4.02 [[-1.16882639e-01 9.93145039e-01 1.17489552e-03 2.46457827e+02] [ 9.93090991e-01 1.16888536e-01 -1.03611414e-02 -1.04927515e+02] [-1.04274480e-02 -4.42593999e-05 -9.99945632e-01 -4.02066516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters 0.010358506769236135 Centerline is valid? [True, True] Translation: X:246.46, Y:-104.90, Z:-4.02 [[-1.98261371e-01 9.80147279e-01 1.93421766e-03 2.46461967e+02] [ 9.80096388e-01 1.98270787e-01 -9.98829895e-03 -1.04898199e+02] [-1.01735029e-02 -8.45741005e-05 -9.99948245e-01 -4.02136934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters 0.010590470330155068 Centerline is valid? [True, True] Translation: X:246.47, Y:-104.87, Z:-4.02 [[-2.77644054e-01 9.60680929e-01 2.43544602e-03 2.46466633e+02] [ 9.60640456e-01 2.77654714e-01 -8.81899972e-03 -1.04867989e+02] [-9.14845792e-03 -1.08954857e-04 -9.99958146e-01 -4.02296569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters 0.010983126829558569 Centerline is valid? [True, True] Translation: X:246.47, Y:-104.84, Z:-4.02 [[-3.53776682e-01 9.35325685e-01 2.81466859e-03 2.46467844e+02] [ 9.35293431e-01 3.53787860e-01 -7.76840292e-03 -1.04837381e+02] [-8.26178236e-03 -1.15738766e-04 -9.99965864e-01 -4.02277461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters 0.01106349882223909 Centerline is valid? [True, True] Translation: X:246.47, Y:-104.81, Z:-4.02 [[-4.26911789e-01 9.04286271e-01 3.55860696e-03 2.46465739e+02] [ 9.04252303e-01 4.26926601e-01 -7.83897678e-03 -1.04806606e+02] [-8.60794306e-03 -1.28673069e-04 -9.99962943e-01 -4.02229361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters 0.010532589240856939 Centerline is valid? [True, True] Translation: X:246.46, Y:-104.78, Z:-4.02 [[-4.93299829e-01 8.69847412e-01 4.55604991e-03 2.46456683e+02] [ 8.69808334e-01 4.93320857e-01 -8.24583741e-03 -1.04778340e+02] [-9.42021478e-03 -1.04780002e-04 -9.99955623e-01 -4.02104929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters 0.01035387710451361 Centerline is valid? [True, True] Translation: X:246.45, Y:-104.75, Z:-4.02 [[-5.58315047e-01 8.29612732e-01 5.19832872e-03 2.46445596e+02] [ 8.29575317e-01 5.58339240e-01 -7.87954709e-03 -1.04751255e+02] [-9.43940350e-03 -8.68645052e-05 -9.99955444e-01 -4.02070601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters 0.009882205447238652 Centerline is valid? [True, True] Translation: X:246.43, Y:-104.73, Z:-4.02 [[-6.17444154e-01 7.86593821e-01 5.73384481e-03 2.46431937e+02] [ 7.86559348e-01 6.17470776e-01 -7.36426059e-03 -1.04725846e+02] [-9.33316348e-03 -3.70104110e-05 -9.99956444e-01 -4.02199500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters 0.010450751167918881 Centerline is valid? [True, True] Translation: X:246.42, Y:-104.70, Z:-4.02 [[-6.70129163e-01 7.42223133e-01 5.63257090e-03 2.46415517e+02] [ 7.42197472e-01 6.70152833e-01 -6.17202315e-03 -1.04701761e+02] [-8.35570170e-03 4.44271762e-05 -9.99965090e-01 -4.02305795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters 0.012059712150995777 Centerline is valid? [True, True] Translation: X:246.40, Y:-104.68, Z:-4.02 [[-7.21372206e-01 6.92525787e-01 5.49320725e-03 2.46398036e+02] [ 6.92506661e-01 7.21393115e-01 -5.14759460e-03 -1.04680918e+02] [-7.52760388e-03 9.07509395e-05 -9.99971663e-01 -4.02313794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters 0.015073938472599496 Centerline is valid? [True, True] Translation: X:246.42, Y:-104.67, Z:-4.02 [[-7.61728849e-01 6.47872846e-01 5.47135988e-03 2.46418795e+02] [ 6.47857629e-01 7.61748482e-01 -4.44332503e-03 -1.04673920e+02] [-7.04650972e-03 1.60053376e-04 -9.99975160e-01 -4.02430394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters 0.017505388142399138 Centerline is valid? [True, True] Translation: X:246.44, Y:-104.66, Z:-4.02 [[-8.00316114e-01 5.99550095e-01 5.81388732e-03 2.46438934e+02] [ 5.99536293e-01 8.00337199e-01 -4.07444070e-03 -1.04660691e+02] [-7.09590160e-03 2.24795901e-04 -9.99974799e-01 -4.02469923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters 0.019074261483436133 Centerline is valid? [True, True] Translation: X:246.87, Y:-104.06, Z:-4.99 [[-8.04426237e-01 -5.94026229e-01 5.59185651e-03 2.46867518e+02] [ 5.94009913e-01 -8.04445641e-01 -4.40849864e-03 -1.04058237e+02] [ 7.11710842e-03 -2.24693779e-04 9.99974648e-01 -4.98714789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters 0.021580119049087555 Centerline is valid? [True, True] Translation: X:246.41, Y:-104.64, Z:-4.03 [[-7.94677412e-01 6.06997651e-01 6.45473634e-03 2.46405201e+02] [ 6.06981167e-01 7.94703547e-01 -4.48715361e-03 -1.04643908e+02] [-7.85329357e-03 3.52063778e-04 -9.99969100e-01 -4.02652807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters 0.023107794390940257 Centerline is valid? [True, True] Translation: X:246.43, Y:-104.62, Z:-4.03 [[-8.33937900e-01 5.51820937e-01 6.42131977e-03 2.46426755e+02] [ 5.51807826e-01 8.33962545e-01 -3.82063611e-03 -1.04623343e+02] [-7.46344717e-03 3.57161249e-04 -9.99972084e-01 -4.02642950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters 0.023274637826664203 Centerline is valid? [True, True] Translation: X:246.44, Y:-104.59, Z:-4.03 [[-8.70409733e-01 4.92277710e-01 7.03942385e-03 2.46444517e+02] [ 4.92265147e-01 8.70438112e-01 -3.53808053e-03 -1.04594830e+02] [-7.86910099e-03 3.85683286e-04 -9.99968964e-01 -4.02713907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters 0.02343478223158633 Centerline is valid? [True, True] Translation: X:246.46, Y:-104.57, Z:-4.03 [[-9.03692057e-01 4.28109396e-01 7.93793119e-03 2.46459967e+02] [ 4.28096823e-01 9.03726826e-01 -3.30655521e-03 -1.04566372e+02] [-8.58928871e-03 4.10095445e-04 -9.99963027e-01 -4.02650598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters 0.021460624003792773 Centerline is valid? [True, True] Translation: X:246.47, Y:-104.53, Z:-4.03 [[-9.33665114e-01 3.58065573e-01 7.64855457e-03 2.46470815e+02] [ 3.58056527e-01 9.33696379e-01 -2.56799348e-03 -1.04528337e+02] [-8.06093777e-03 3.40968962e-04 -9.99967452e-01 -4.02754010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters 0.018883177182009075 Centerline is valid? [True, True] Translation: X:246.69, Y:-103.87, Z:-4.98 [[-9.39523071e-01 -3.42420833e-01 6.66129902e-03 2.46688778e+02] [ 3.42409486e-01 -9.39546616e-01 -2.81075123e-03 -1.03874642e+02] [ 7.22106073e-03 -3.59873653e-04 9.99973863e-01 -4.98414970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters 0.01601610951527588 Centerline is valid? [True, True] Translation: X:246.43, Y:-104.49, Z:-4.03 [[-9.39896691e-01 3.41395099e-01 6.60277493e-03 2.46425167e+02] [ 3.41388116e-01 9.39919863e-01 -2.19209481e-03 -1.04486434e+02] [-6.95444973e-03 1.93766236e-04 -9.99975799e-01 -4.02904250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters 0.014695428581080848 Centerline is valid? [True, True] Translation: X:246.43, Y:-104.45, Z:-4.03 [[-9.63441705e-01 2.67852305e-01 5.93494870e-03 2.46429684e+02] [ 2.67848053e-01 9.63459976e-01 -1.51479375e-03 -1.04447659e+02] [-6.12382653e-03 1.30248981e-04 -9.99981241e-01 -4.02923727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters 0.013138797010787887 Centerline is valid? [True, True] Translation: X:246.43, Y:-104.40, Z:-4.03 [[-9.81644150e-01 1.90621585e-01 6.17849907e-03 2.46426053e+02] [ 1.90618329e-01 9.81663590e-01 -1.11711678e-03 -1.04401589e+02] [-6.27815415e-03 8.11240174e-05 -9.99980289e-01 -4.02830063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters 0.012379665037316068 Centerline is valid? [True, True] Translation: X:246.43, Y:-104.36, Z:-4.03 [[-9.93268947e-01 1.15531848e-01 8.31814730e-03 2.46425615e+02] [ 1.15528380e-01 9.93303774e-01 -8.97799194e-04 -1.04360786e+02] [-8.36617151e-03 6.92260215e-05 -9.99965001e-01 -4.02723657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters 0.012694814161617664 Centerline is valid? [True, True] Translation: X:246.42, Y:-104.33, Z:-4.03 [[-9.99024910e-01 4.32938238e-02 8.65294700e-03 2.46422299e+02] [ 4.32927196e-02 9.99062381e-01 -3.14974004e-04 -1.04327020e+02] [-8.65847026e-03 5.99427315e-05 -9.99962513e-01 -4.02575961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters 0.012560735227659221 Centerline is valid? [True, True] Translation: X:246.42, Y:-104.29, Z:-4.03 [[-9.99606136e-01 -2.63208337e-02 9.73587453e-03 2.46417246e+02] [-2.63187653e-02 9.99653543e-01 3.40528235e-04 -1.04290039e+02] [-9.74146446e-03 8.41579159e-05 -9.99952547e-01 -4.02686966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters 0.013708118802523856 Centerline is valid? [True, True] Translation: X:246.39, Y:-103.76, Z:-4.99 [[-9.99770827e-01 -1.70583966e-02 1.29345917e-02 2.46392661e+02] [ 1.70580239e-02 -9.99854492e-01 -1.39145830e-04 -1.03758965e+02] [ 1.29350833e-02 8.15246333e-05 9.99916335e-01 -4.98960502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters 0.015143275523195538 Centerline is valid? [True, True] Translation: X:246.36, Y:-104.29, Z:-4.02 [[-9.99691458e-01 -2.03975580e-02 1.41749312e-02 2.46359740e+02] [-2.03916068e-02 9.99791910e-01 5.64265595e-04 -1.04288714e+02] [-1.41834912e-02 2.75041872e-04 -9.99899371e-01 -4.02307432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters 0.01672304032845741 Centerline is valid? [True, True] Translation: X:246.34, Y:-103.76, Z:-4.99 [[-9.99918581e-01 2.70336062e-04 1.27576852e-02 2.46342854e+02] [-2.74538323e-04 -9.99999909e-01 -3.27640452e-04 -1.03762689e+02] [ 1.27575955e-02 -3.31116249e-04 9.99918564e-01 -4.98802600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters 0.019389475393973073 Centerline is valid? [True, True] Translation: X:246.31, Y:-104.29, Z:-4.03 [[-9.99867741e-01 -1.03557168e-02 1.25402840e-02 2.46309683e+02] [-1.03496005e-02 9.99946289e-01 5.52530965e-04 -1.04293180e+02] [-1.25453323e-02 4.22670958e-04 -9.99921215e-01 -4.02610613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters 0.020440751522924037 Centerline is valid? [True, True] Translation: X:246.30, Y:-104.26, Z:-4.03 [[-9.97091272e-01 -7.54318347e-02 1.09102262e-02 2.46300940e+02] [-7.54225499e-02 9.97150866e-01 1.26057234e-03 -1.04263985e+02] [-1.09742288e-02 4.34028593e-04 -9.99939687e-01 -4.02727629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters 0.020521706018953364 Centerline is valid? [True, True] Translation: X:246.24, Y:-103.75, Z:-4.99 [[-9.95688307e-01 9.22291840e-02 9.92842046e-03 2.46240168e+02] [-9.22291806e-02 -9.95737700e-01 4.59177394e-04 -1.03746996e+02] [ 9.92845211e-03 -4.58492522e-04 9.99950607e-01 -4.98528551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters 0.021726285204701032 Centerline is valid? [True, True] Translation: X:246.23, Y:-104.26, Z:-4.03 [[-9.96836478e-01 -7.88132370e-02 1.02717752e-02 2.46233471e+02] [-7.88047077e-02 9.96889311e-01 1.23310811e-03 -1.04263203e+02] [-1.03370081e-02 4.19742908e-04 -9.99946484e-01 -4.02646950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters 0.019775544432829865 Centerline is valid? [True, True] Translation: X:246.16, Y:-103.77, Z:-4.99 [[-9.95656740e-01 9.25795853e-02 9.83243523e-03 2.46164048e+02] [-9.25793613e-02 -9.95705194e-01 4.78911991e-04 -1.03769944e+02] [ 9.83454430e-03 -4.33448622e-04 9.99951546e-01 -4.98614427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters 0.01876410993673737 Centerline is valid? [True, True] Translation: X:246.16, Y:-104.26, Z:-4.03 [[-9.96022098e-01 -8.84921827e-02 1.04457537e-02 2.46162742e+02] [-8.84833930e-02 9.96076802e-01 1.30154428e-03 -1.04259311e+02] [-1.05199495e-02 3.72091131e-04 -9.99944595e-01 -4.02677802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters 0.018196565425761136 Centerline is valid? [True, True] Translation: X:246.14, Y:-104.23, Z:-4.03 [[-9.86160896e-01 -1.65495987e-01 9.88763489e-03 2.46140404e+02] [-1.65484700e-01 9.86210420e-01 1.95466410e-03 -1.04227424e+02] [-1.00747776e-02 2.91361001e-04 -9.99949206e-01 -4.02640494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters 0.016620297652533214 Centerline is valid? [True, True] Translation: X:246.11, Y:-104.20, Z:-4.03 [[-9.70390557e-01 -2.41414560e-01 7.82157281e-03 2.46112409e+02] [-2.41405217e-01 9.70422062e-01 2.13146314e-03 -1.04197688e+02] [-8.10479305e-03 1.80183224e-04 -9.99967139e-01 -4.02713248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters 0.015600359687122206 Centerline is valid? [True, True] Translation: X:245.98, Y:-103.77, Z:-4.99 [[-9.75680756e-01 2.19092501e-01 6.74815412e-03 2.45984906e+02] [-2.19088942e-01 -9.75704063e-01 1.27124897e-03 -1.03769716e+02] [ 6.86272251e-03 -2.38112788e-04 9.99976423e-01 -4.98548025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters 0.013512267880601687 Centerline is valid? [True, True] Translation: X:246.04, Y:-104.20, Z:-4.03 [[-9.66866072e-01 -2.55186095e-01 7.07496314e-03 2.46036970e+02] [-2.55178572e-01 9.66891953e-01 1.96154887e-03 -1.04204908e+02] [-7.34128492e-03 9.11760627e-05 -9.99973048e-01 -4.02815552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters 0.012445085454829934 Centerline is valid? [True, True] Translation: X:246.00, Y:-104.18, Z:-4.03 [[-9.43205098e-01 -3.32143671e-01 6.68766809e-03 2.46000920e+02] [-3.32135156e-01 9.43228807e-01 2.37834636e-03 -1.04177642e+02] [-7.09795389e-03 2.20587302e-05 -9.99974809e-01 -4.02704886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters 0.01219754849469417 Centerline is valid? [True, True] Translation: X:245.96, Y:-104.15, Z:-4.03 [[-9.12829168e-01 -4.08295403e-01 6.14599322e-03 2.45962433e+02] [-4.08286525e-01 9.12849857e-01 2.69301982e-03 -1.04153606e+02] [-6.70991665e-03 -5.10591765e-05 -9.99977487e-01 -4.02724050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters 0.013915258019984436 Centerline is valid? [True, True] Translation: X:245.92, Y:-104.13, Z:-4.03 [[-8.75227432e-01 -4.83685863e-01 4.99278598e-03 2.45918309e+02] [-4.83678758e-01 8.75241665e-01 2.62419497e-03 -1.04134276e+02] [-5.63918032e-03 -1.18137095e-04 -9.99984093e-01 -4.02667984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters 0.015262182672829533 Centerline is valid? [True, True] Translation: X:245.87, Y:-104.13, Z:-4.03 [[-8.35721607e-01 -5.49131799e-01 4.86441692e-03 2.45874460e+02] [-5.49123508e-01 8.35735751e-01 3.02112129e-03 -1.04125818e+02] [-5.72436090e-03 -1.46349339e-04 -9.99983605e-01 -4.02602916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters 0.01579392681533973 Centerline is valid? [True, True] Translation: X:245.83, Y:-104.12, Z:-4.03 [[-7.92902378e-01 -6.09326074e-01 5.24918739e-03 2.45830804e+02] [-6.09314165e-01 7.92919734e-01 3.81367043e-03 -1.04122485e+02] [-6.48595310e-03 -1.74535880e-04 -9.99978951e-01 -4.02558733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters 0.016908447740788562 Centerline is valid? [True, True] Translation: X:245.78, Y:-104.13, Z:-4.02 [[-7.45139863e-01 -6.66883927e-01 5.69319781e-03 2.45777048e+02] [-6.66866635e-01 7.45161581e-01 4.80718281e-03 -1.04130849e+02] [-7.44818523e-03 -2.14580123e-04 -9.99972239e-01 -4.02449144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters 0.016153349131088266 Centerline is valid? [True, True] Translation: X:245.72, Y:-104.15, Z:-4.02 [[-6.94128486e-01 -7.19830419e-01 5.46016452e-03 2.45717293e+02] [-7.19810636e-01 6.94149925e-01 5.34141568e-03 -1.04154334e+02] [-7.63508628e-03 -2.22655718e-04 -9.99970828e-01 -4.02450846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters 0.015146773735497842 Centerline is valid? [True, True] Translation: X:245.66, Y:-104.19, Z:-4.02 [[-6.41689619e-01 -7.66948216e-01 4.98663435e-03 2.45660114e+02] [-7.66927400e-01 6.41708965e-01 5.65403468e-03 -1.04187536e+02] [-7.53631978e-03 -1.96251155e-04 -9.99971582e-01 -4.02494449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters 0.01434609798452884 Centerline is valid? [True, True] Translation: X:245.60, Y:-104.23, Z:-4.03 [[-5.88096220e-01 -8.08779506e-01 4.30657756e-03 2.45601299e+02] [-8.08759579e-01 5.88111971e-01 5.67919113e-03 -1.04232535e+02] [-7.12596321e-03 -1.43075013e-04 -9.99974600e-01 -4.02552371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters 0.013376911799433963 Centerline is valid? [True, True] Translation: X:245.54, Y:-104.28, Z:-4.03 [[-5.30319222e-01 -8.47790969e-01 3.46338711e-03 2.45542066e+02] [-8.47774101e-01 5.30330522e-01 5.34900354e-03 -1.04284240e+02] [-6.37157679e-03 -9.94904947e-05 -9.99979696e-01 -4.02567153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters 0.012556162282761458 Centerline is valid? [True, True] Translation: X:245.48, Y:-104.35, Z:-4.03 [[-4.69724247e-01 -8.82809158e-01 2.66856086e-03 2.45482607e+02] [-8.82795663e-01 4.69731823e-01 4.88174189e-03 -1.04347774e+02] [-5.56315441e-03 -6.27214185e-05 -9.99984524e-01 -4.02584227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters 0.012216419156846813 Centerline is valid? [True, True] Translation: X:245.43, Y:-104.42, Z:-4.03 [[-4.08831366e-01 -9.12607141e-01 2.26294598e-03 2.45430671e+02] [-9.12593457e-01 4.08837628e-01 4.99759313e-03 -1.04420412e+02] [-5.48601665e-03 -2.19768711e-05 -9.99984951e-01 -4.02586955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters 0.012496864701893234 Centerline is valid? [True, True] Translation: X:245.38, Y:-104.50, Z:-4.03 [[-3.43831728e-01 -9.39029032e-01 2.05403878e-03 2.45378320e+02] [-9.39012118e-01 3.43837863e-01 5.63620309e-03 -1.04500180e+02] [-5.99881464e-03 9.13814592e-06 -9.99982007e-01 -4.02534490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters 0.013696751518842707 Centerline is valid? [True, True] Translation: X:245.33, Y:-104.59, Z:-4.02 [[-2.79619649e-01 -9.60109301e-01 1.72691623e-03 2.45334064e+02] [-9.60089575e-01 2.79624975e-01 6.15484631e-03 -1.04590716e+02] [-6.39221409e-03 6.30217023e-05 -9.99979568e-01 -4.02469065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters 0.014618563105744433 Centerline is valid? [True, True] Translation: X:245.29, Y:-104.69, Z:-4.02 [[-2.10731183e-01 -9.77543233e-01 1.26347034e-03 2.45290972e+02] [-9.77522885e-01 2.10734950e-01 6.30797872e-03 -1.04686402e+02] [-6.43257927e-03 9.42166524e-05 -9.99979306e-01 -4.02452480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters 0.015414827260365492 Centerline is valid? [True, True] Translation: X:245.26, Y:-104.79, Z:-4.02 [[-1.39535629e-01 -9.90216612e-01 9.32566295e-04 2.45255108e+02] [-9.90187045e-01 1.39538670e-01 7.65352166e-03 -1.04787686e+02] [-7.70877334e-03 1.44523893e-04 -9.99970277e-01 -4.02388507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters 0.01648787895151665 Centerline is valid? [True, True] Translation: X:245.22, Y:-104.89, Z:-4.02 [[-6.48405202e-02 -9.97895574e-01 3.60570701e-04 2.45224011e+02] [-9.97863569e-01 6.48413290e-02 7.99375442e-03 -1.04894214e+02] [-8.00031204e-03 1.58518829e-04 -9.99967984e-01 -4.02329594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters 0.01616242775407171 Centerline is valid? [True, True] Translation: X:245.20, Y:-105.01, Z:-4.02 [[ 1.27927718e-02 -9.99918141e-01 -2.35718141e-04 2.45199436e+02] [-9.99889161e-01 -1.27941959e-02 7.61405585e-03 -1.05006807e+02] [-7.61644839e-03 1.38287136e-04 -9.99970985e-01 -4.02433693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters 0.014752726418816895 Centerline is valid? [True, True] Translation: X:245.18, Y:-105.12, Z:-4.03 [[ 9.11513052e-02 -9.95836720e-01 -8.16367340e-04 2.45180018e+02] [-9.95807780e-01 -9.11548808e-02 7.59294161e-03 -1.05120036e+02] [-7.63574593e-03 1.20838411e-04 -9.99970840e-01 -4.02561791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters 0.01310411654965645 Centerline is valid? [True, True] Translation: X:245.17, Y:-105.24, Z:-4.03 [[ 1.73115702e-01 -9.84900878e-01 -1.10162170e-03 2.45168135e+02] [-9.84882825e-01 -1.73119199e-01 5.96350424e-03 -1.05237943e+02] [-6.06417243e-03 5.25920738e-05 -9.99981611e-01 -4.02745692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters 0.012087873558101104 Centerline is valid? [True, True] Translation: X:245.16, Y:-105.36, Z:-4.03 [[ 2.57010514e-01 -9.66407806e-01 -1.24446898e-03 2.45163286e+02] [-9.66396297e-01 -2.57013526e-01 4.71637589e-03 -1.05357128e+02] [-4.87778784e-03 -9.50797180e-06 -9.99988103e-01 -4.02760495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters 0.012130602947535511 Centerline is valid? [True, True] Translation: X:245.17, Y:-105.47, Z:-4.03 [[ 3.36325683e-01 -9.41744324e-01 -1.63193672e-03 2.45166463e+02] [-9.41732572e-01 -3.36329639e-01 4.70497792e-03 -1.05469356e+02] [-4.97975494e-03 -4.55569503e-05 -9.99987600e-01 -4.02688301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters 0.013545421343896852 Centerline is valid? [True, True] Translation: X:245.18, Y:-105.59, Z:-4.03 [[ 4.15076548e-01 -9.09784024e-01 -2.11879862e-03 2.45179341e+02] [-9.09770972e-01 -4.15081945e-01 4.87413706e-03 -1.05586158e+02] [-5.31388708e-03 -9.55185097e-05 -9.99985877e-01 -4.02554986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters 0.014268016627696369 Centerline is valid? [True, True] Translation: X:245.20, Y:-105.69, Z:-4.02 [[ 4.85877067e-01 -8.74022947e-01 -2.71364100e-03 2.45201757e+02] [-8.74007874e-01 -4.85884629e-01 5.13451752e-03 -1.05693466e+02] [-5.80620258e-03 -1.23000713e-04 -9.99983136e-01 -4.02470995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters 0.015213382559288186 Centerline is valid? [True, True] Translation: X:245.24, Y:-105.80, Z:-4.02 [[ 5.52982066e-01 -8.33185151e-01 -3.65233525e-03 2.45235927e+02] [-8.33165031e-01 -5.52994104e-01 5.79246776e-03 -1.05800310e+02] [-6.84591799e-03 -1.60132775e-04 -9.99976554e-01 -4.02373239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters 0.015999969203160026 Centerline is valid? [True, True] Translation: X:245.27, Y:-105.90, Z:-4.02 [[ 6.15683517e-01 -7.87983760e-01 -3.92441256e-03 2.45273971e+02] [-7.87966028e-01 -6.15696002e-01 5.28881903e-03 -1.05896772e+02] [-6.58374863e-03 -1.63934924e-04 -9.99978313e-01 -4.02309599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters 0.016433434103698633 Centerline is valid? [True, True] Translation: X:245.32, Y:-105.99, Z:-4.02 [[ 6.73985586e-01 -7.38730913e-01 -4.47984766e-03 2.45321120e+02] [-7.38712864e-01 -6.74000452e-01 5.16683426e-03 -1.05992488e+02] [-6.83631953e-03 -1.73050718e-04 -9.99976617e-01 -4.02273710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters 0.016103302598006405 Centerline is valid? [True, True] Translation: X:245.37, Y:-106.08, Z:-4.02 [[ 7.28866283e-01 -6.84628999e-01 -6.08895918e-03 2.45372742e+02] [-6.84602515e-01 -7.28891682e-01 6.02591812e-03 -1.06076192e+02] [-8.56370998e-03 -2.23571772e-04 -9.99963306e-01 -4.02290163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters 0.015358203308219022 Centerline is valid? [True, True] Translation: X:245.40, Y:-106.11, Z:-4.02 [[ 7.80630202e-01 -6.24953051e-01 -7.08316315e-03 2.45398820e+02] [-6.24924408e-01 -7.80662297e-01 5.98848841e-03 -1.06105009e+02] [-9.27208252e-03 -2.48353383e-04 -9.99956982e-01 -4.02291719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters 0.016887352041271873 Centerline is valid? [True, True] Translation: X:245.43, Y:-106.13, Z:-4.02 [[ 8.27770917e-01 -5.61008334e-01 -8.05959752e-03 2.45425847e+02] [-5.60978459e-01 -8.27810106e-01 5.79626680e-03 -1.06130154e+02] [-9.92357027e-03 -2.76720486e-04 -9.99950722e-01 -4.02169085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters 0.016279971409418642 Centerline is valid? [True, True] Translation: X:245.46, Y:-106.15, Z:-4.02 [[ 8.68933321e-01 -4.94858824e-01 -8.34436888e-03 2.45457185e+02] [-4.94833005e-01 -8.68973344e-01 5.06212982e-03 -1.06151422e+02] [-9.75607373e-03 -2.69584145e-04 -9.99952372e-01 -4.02247350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters 0.016532643896374214 Centerline is valid? [True, True] Translation: X:245.49, Y:-106.17, Z:-4.02 [[ 9.04816483e-01 -4.25715894e-01 -8.55039302e-03 2.45488639e+02] [-4.25694138e-01 -9.04856844e-01 4.31183886e-03 -1.06172384e+02] [-9.57249998e-03 -2.61570692e-04 -9.99954148e-01 -4.02222517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters 0.014976100655055814 Centerline is valid? [True, True] Translation: X:245.52, Y:-106.18, Z:-4.02 [[ 9.34413075e-01 -3.56076823e-01 -9.02784881e-03 2.45522929e+02] [-3.56057698e-01 -9.34456654e-01 3.69835902e-03 -1.06184567e+02] [-9.75303332e-03 -2.41359965e-04 -9.99952409e-01 -4.02418049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters 0.014067734923701893 Centerline is valid? [True, True] Translation: X:245.56, Y:-106.20, Z:-4.02 [[ 9.58427132e-01 -2.85190971e-01 -9.14011531e-03 2.45556690e+02] [-2.85175953e-01 -9.58470692e-01 2.93394706e-03 -1.06198027e+02] [-9.59726786e-03 -2.05433374e-04 -9.99953924e-01 -4.02449322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters 0.012428042460320116 Centerline is valid? [True, True] Translation: X:245.59, Y:-106.20, Z:-4.03 [[ 9.76280555e-01 -2.16298429e-01 -9.55336287e-03 2.45592081e+02] [-2.16286666e-01 -9.76327286e-01 2.26010778e-03 -1.06204079e+02] [-9.81606661e-03 -1.40234275e-04 -9.99951811e-01 -4.02540886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters 0.011556374958010141 Centerline is valid? [True, True] Translation: X:245.63, Y:-106.21, Z:-4.03 [[ 9.89281422e-01 -1.45715427e-01 -9.44897232e-03 2.45626284e+02] [-1.45708058e-01 -9.89326543e-01 1.46734214e-03 -1.06209012e+02] [-9.56193351e-03 -7.48229103e-05 -9.99954281e-01 -4.02541630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters 0.011444209122185673 Centerline is valid? [True, True] Translation: X:245.66, Y:-106.21, Z:-4.03 [[ 9.96917239e-01 -7.77908176e-02 -1.02277942e-02 2.45657196e+02] [-7.77869686e-02 -9.96969703e-01 7.74199611e-04 -1.06207667e+02] [-1.02570266e-02 2.37761677e-05 -9.99947395e-01 -4.02536057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters 0.012104369810301241 Centerline is valid? [True, True] Translation: X:245.69, Y:-106.21, Z:-4.02 [[ 9.99925388e-01 -4.89602183e-03 -1.11913604e-02 2.45686423e+02] [-4.89669906e-03 -9.99988011e-01 -3.31131074e-05 -1.06209129e+02] [-1.11910641e-02 8.79113609e-05 -9.99937374e-01 -4.02391255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters 0.012674070548979687 Centerline is valid? [True, True] Translation: X:245.72, Y:-106.21, Z:-4.02 [[ 9.97499020e-01 6.96070711e-02 -1.22703601e-02 2.45715554e+02] [ 6.96000101e-02 -9.97574476e-01 -1.00205879e-03 -1.06209816e+02] [-1.23103484e-02 1.45535474e-04 -9.99924214e-01 -4.02243991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters 0.012971856619154615 Centerline is valid? [True, True] Translation: X:245.74, Y:-106.21, Z:-4.02 [[ 9.89012321e-01 1.47267173e-01 -1.29231687e-02 2.45744139e+02] [ 1.47252501e-01 -9.89096737e-01 -2.08486345e-03 -1.06210138e+02] [-1.30892959e-02 1.58986730e-04 -9.99914319e-01 -4.02175296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters 0.012359310755014683 Centerline is valid? [True, True] Translation: X:245.77, Y:-106.21, Z:-4.02 [[ 9.73809266e-01 2.26999005e-01 -1.29214804e-02 2.45772966e+02] [ 2.26977328e-01 -9.73894982e-01 -3.13949801e-03 -1.06209254e+02] [-1.32968278e-02 1.24389174e-04 -9.99911586e-01 -4.02190976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters 0.011242401824164482 Centerline is valid? [True, True] Translation: X:245.80, Y:-106.21, Z:-4.02 [[ 9.50536049e-01 3.10437552e-01 -1.04759430e-02 2.45803649e+02] [ 3.10418601e-01 -9.50593776e-01 -3.43017260e-03 -1.06214318e+02] [-1.10232206e-02 8.57514558e-06 -9.99939242e-01 -4.02372485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters 0.011286158986058883 Centerline is valid? [True, True] Translation: X:245.83, Y:-106.22, Z:-4.02 [[ 9.20474921e-01 3.90664807e-01 -1.03406206e-02 2.45833476e+02] [ 3.90641051e-01 -9.20533000e-01 -4.30885933e-03 -1.06215648e+02] [-1.12022022e-02 -7.32739412e-05 -9.99937251e-01 -4.02354101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters 0.012775830666301396 Centerline is valid? [True, True] Translation: X:245.86, Y:-106.21, Z:-4.02 [[ 8.82774342e-01 4.69680231e-01 -1.04853112e-02 2.45863289e+02] [ 4.69649582e-01 -8.82836591e-01 -5.36879510e-03 -1.06214931e+02] [-1.17784333e-02 -1.84987469e-04 -9.99930615e-01 -4.02278624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters 0.013401121004508049 Centerline is valid? [True, True] Translation: X:245.89, Y:-106.21, Z:-4.02 [[ 8.41073898e-01 5.40815394e-01 -1.06492579e-02 2.45892717e+02] [ 5.40775739e-01 -8.41141277e-01 -6.55376605e-03 -1.06208808e+02] [-1.25019079e-02 -2.46658741e-04 -9.99921818e-01 -4.02319187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters 0.014060367496124375 Centerline is valid? [True, True] Translation: X:245.92, Y:-106.20, Z:-4.02 [[ 7.94387358e-01 6.07323370e-01 -1.03464210e-02 2.45922760e+02] [ 6.07276567e-01 -7.94454681e-01 -7.54531109e-03 -1.06201314e+02] [-1.28022063e-02 -2.89239259e-04 -9.99918007e-01 -4.02339379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters 0.01366962223291993 Centerline is valid? [True, True] Translation: X:245.95, Y:-106.19, Z:-4.02 [[ 7.44484706e-01 6.67562537e-01 -1.01380923e-02 2.45951752e+02] [ 6.67506064e-01 -7.44553671e-01 -8.68820891e-03 -1.06190856e+02] [-1.33482766e-02 -2.98999447e-04 -9.99910863e-01 -4.02286974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters 0.013030480157389765 Centerline is valid? [True, True] Translation: X:245.98, Y:-106.18, Z:-4.02 [[ 6.91473822e-01 7.22339947e-01 -9.43157639e-03 2.45979253e+02] [ 7.22278049e-01 -6.91538088e-01 -9.46005897e-03 -1.06176993e+02] [-1.33556728e-02 -2.70837464e-04 -9.99910772e-01 -4.02252623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters 0.011810980392470001 Centerline is valid? [True, True] Translation: X:246.00, Y:-106.16, Z:-4.02 [[ 6.37100266e-01 7.70735915e-01 -8.33070528e-03 2.46003625e+02] [ 7.70673894e-01 -6.37154701e-01 -9.77936802e-03 -1.06159565e+02] [-1.28452582e-02 -1.89819111e-04 -9.99917478e-01 -4.02287737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters 0.011513052639443168 Centerline is valid? [True, True] Translation: X:246.02, Y:-106.14, Z:-4.02 [[ 5.78813667e-01 8.15426045e-01 -7.42314012e-03 2.46024862e+02] [ 8.15361746e-01 -5.78861252e-01 -1.02407731e-02 -1.06141619e+02] [-1.26475613e-02 -1.25045082e-04 -9.99920009e-01 -4.02118566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters 0.010978969155895794 Centerline is valid? [True, True] Translation: X:246.04, Y:-106.12, Z:-4.02 [[ 5.21197127e-01 8.53410307e-01 -6.66353397e-03 2.46040474e+02] [ 8.53340714e-01 -5.21239722e-01 -1.08984996e-02 -1.06118149e+02] [-1.27741904e-02 -5.99818508e-06 -9.99918407e-01 -4.02217065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters 0.011544608220292903 Centerline is valid? [True, True] Translation: X:246.06, Y:-106.10, Z:-4.02 [[ 4.58592388e-01 8.88629648e-01 -5.51099017e-03 2.46057528e+02] [ 8.88563565e-01 -4.58625494e-01 -1.08373268e-02 -1.06096587e+02] [-1.21578505e-02 7.30505293e-05 -9.99926088e-01 -4.02259819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters 0.012217219273381477 Centerline is valid? [True, True] Translation: X:246.08, Y:-106.08, Z:-4.02 [[ 3.92128067e-01 9.19901601e-01 -4.07724376e-03 2.46075104e+02] [ 9.19848800e-01 -3.92149247e-01 -9.85661044e-03 -1.06075127e+02] [-1.06659998e-02 1.14605819e-04 -9.99943110e-01 -4.02356219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters 0.013362812511517625 Centerline is valid? [True, True] Translation: X:246.09, Y:-106.05, Z:-4.02 [[ 3.23857147e-01 9.46101308e-01 -2.97703408e-03 2.46088823e+02] [ 9.46056900e-01 -3.23870793e-01 -9.16792840e-03 -1.06052157e+02] [-9.63796345e-03 1.52655503e-04 -9.99953542e-01 -4.02493645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters 0.0136096277663277 Centerline is valid? [True, True] Translation: X:246.11, Y:-106.03, Z:-4.03 [[ 2.51106571e-01 9.67957225e-01 -2.07381592e-03 2.46105444e+02] [ 9.67918732e-01 -2.51115083e-01 -8.63386677e-03 -1.06029206e+02] [-8.87798017e-03 1.60735404e-04 -9.99960577e-01 -4.02522658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters 0.014733640763244616 Centerline is valid? [True, True] Translation: X:246.12, Y:-106.00, Z:-4.02 [[ 1.77600913e-01 9.84101374e-01 -1.54982022e-03 2.46118967e+02] [ 9.84052765e-01 -1.77607548e-01 -9.78334865e-03 -1.06004742e+02] [-9.90306662e-03 2.12426785e-04 -9.99950941e-01 -4.02469056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters 0.015991074928898952 Centerline is valid? [True, True] Translation: X:246.13, Y:-105.98, Z:-4.03 [[ 1.02821225e-01 9.94699524e-01 -8.07299647e-04 2.46128009e+02] [ 9.94646858e-01 -1.02824091e-01 -1.02388751e-02 -1.05980341e+02] [-1.02676140e-02 2.49795618e-04 -9.99947255e-01 -4.02517580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters 0.01834104954541132 Centerline is valid? [True, True] Translation: X:246.13, Y:-105.96, Z:-4.03 [[ 3.03520012e-02 9.99539272e-01 -3.27385068e-06 2.46132776e+02] [ 9.99488022e-01 -3.03504781e-02 -1.01263646e-02 -1.05955014e+02] [-1.01217985e-02 3.04083257e-04 -9.99948727e-01 -4.02569334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters 0.018679821827637184 Centerline is valid? [True, True] Translation: X:246.14, Y:-105.93, Z:-4.03 [[-4.50815469e-02 9.98983057e-01 7.11237085e-04 2.46139841e+02] [ 9.98941570e-01 4.50861601e-02 -9.10922510e-03 -1.05928897e+02] [-9.13202848e-03 2.99826333e-04 -9.99958257e-01 -4.02715644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters 0.019462276530351534 Centerline is valid? [True, True] Translation: X:246.15, Y:-105.90, Z:-4.03 [[-1.22630174e-01 9.92451560e-01 1.31963806e-03 2.46145606e+02] [ 9.92416234e-01 1.22636950e-01 -8.37835241e-03 -1.05901948e+02] [-8.47694531e-03 2.82191414e-04 -9.99964030e-01 -4.02739202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters 0.01838439326605377 Centerline is valid? [True, True] Translation: X:246.15, Y:-105.88, Z:-4.03 [[-2.05136347e-01 9.78732101e-01 1.59776500e-03 2.46151968e+02] [ 9.78709203e-01 2.05142481e-01 -6.69770063e-03 -1.05875559e+02] [-6.88302409e-03 1.89805474e-04 -9.99976294e-01 -4.02831904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters 0.016410171615579994 Centerline is valid? [True, True] Translation: X:246.15, Y:-105.85, Z:-4.03 [[-2.87253220e-01 9.57852577e-01 2.00701871e-03 2.46154124e+02] [ 9.57832445e-01 2.87260198e-01 -6.21173658e-03 -1.05848012e+02] [-6.52646448e-03 1.38046300e-04 -9.99978693e-01 -4.02873505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters 0.012453597590549075 Centerline is valid? [True, True] Translation: X:246.16, Y:-105.82, Z:-4.03 [[-3.72094097e-01 9.28191261e-01 2.63911226e-03 2.46163313e+02] [ 9.28169193e-01 3.72103450e-01 -6.40087526e-03 -1.05816003e+02] [-6.92325926e-03 6.78147987e-05 -9.99976032e-01 -4.02810553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters 0.012080339106602856 Centerline is valid? [True, True] Translation: X:246.16, Y:-105.79, Z:-4.03 [[-4.47051284e-01 8.94501375e-01 3.52695039e-03 2.46158472e+02] [ 8.94474394e-01 4.47065193e-01 -6.94773670e-03 -1.05788848e+02] [-7.79153679e-03 4.87721996e-05 -9.99969644e-01 -4.02636221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters 0.010935659158819977 Centerline is valid? [True, True] Translation: X:246.16, Y:-105.76, Z:-4.02 [[-5.24849848e-01 8.51180658e-01 4.91165738e-03 2.46158967e+02] [ 8.51142704e-01 5.24872828e-01 -8.03809339e-03 -1.05755527e+02] [-9.41986512e-03 -3.82707473e-05 -9.99955631e-01 -4.02383823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters 0.011548050250853446 Centerline is valid? [True, True] Translation: X:246.15, Y:-105.73, Z:-4.02 [[-5.94761385e-01 8.03882553e-01 5.63348117e-03 2.46149943e+02] [ 8.03844942e-01 5.94788056e-01 -7.77675717e-03 -1.05725415e+02] [-9.60232672e-03 -9.68695209e-05 -9.99953892e-01 -4.02382380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters 0.013669279758266971 Centerline is valid? [True, True] Translation: X:246.14, Y:-105.70, Z:-4.02 [[-6.61250566e-01 7.50144696e-01 5.53386097e-03 2.46139038e+02] [ 7.50116529e-01 6.61273705e-01 -6.50230098e-03 -1.05697412e+02] [-8.53706334e-03 -1.48609619e-04 -9.99963548e-01 -4.02448865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters 0.013812845690218838 Centerline is valid? [True, True] Translation: X:246.12, Y:-105.67, Z:-4.03 [[-7.20596981e-01 6.93332396e-01 5.49357728e-03 2.46122981e+02] [ 6.93310472e-01 7.20617902e-01 -5.51624921e-03 -1.05669846e+02] [-7.78336442e-03 -1.66237868e-04 -9.99969695e-01 -4.02602849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters 0.017507028869088014 Centerline is valid? [True, True] Translation: X:246.14, Y:-105.64, Z:-4.03 [[-7.70962865e-01 6.36855439e-01 5.60447918e-03 2.46144937e+02] [ 6.36836759e-01 7.70983211e-01 -4.88160445e-03 -1.05643189e+02] [-7.42983570e-03 -1.94397394e-04 -9.99972379e-01 -4.02509943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters 0.01884622846861093 Centerline is valid? [True, True] Translation: X:246.55, Y:-105.19, Z:-4.99 [[-6.90448607e-01 -7.23361061e-01 5.43106082e-03 2.46546226e+02] [ 7.23341073e-01 -6.90469934e-01 -5.38166876e-03 -1.05188190e+02] [ 7.64287384e-03 2.12743663e-04 9.99970770e-01 -4.99129287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters 0.01715103960179052 Centerline is valid? [True, True] Translation: X:246.11, Y:-105.62, Z:-4.02 [[-7.76593658e-01 6.29956526e-01 7.55418941e-03 2.46114378e+02] [ 6.29922794e-01 7.76630336e-01 -6.52647089e-03 -1.05615652e+02] [-9.97820559e-03 -3.09859801e-04 -9.99950168e-01 -4.02297763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters 0.017181164696306803 Centerline is valid? [True, True] Translation: X:246.51, Y:-105.16, Z:-4.99 [[-6.90506437e-01 -7.23279010e-01 8.26646267e-03 2.46511408e+02] [ 7.23234772e-01 -6.90555772e-01 -8.01184570e-03 -1.05156707e+02] [ 1.15032533e-02 4.46362215e-04 9.99933736e-01 -4.99370942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters 0.016836417289947767 Centerline is valid? [True, True] Translation: X:246.49, Y:-105.18, Z:-4.99 [[-6.41853817e-01 -7.66777837e-01 8.68484390e-03 2.46494865e+02] [ 7.66715013e-01 -6.41912473e-01 -9.82166661e-03 -1.05177562e+02] [ 1.31059459e-02 3.54726004e-04 9.99914050e-01 -4.99424658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters 0.014385581774551282 Centerline is valid? [True, True] Translation: X:246.46, Y:-105.13, Z:-4.99 [[-6.45324783e-01 -7.63869992e-01 7.65243034e-03 2.46461653e+02] [ 7.63821275e-01 -6.45370095e-01 -8.63134325e-03 -1.05129591e+02] [ 1.15318738e-02 2.75069388e-04 9.99933468e-01 -4.99109682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters 0.013720793056204047 Centerline is valid? [True, True] Translation: X:246.43, Y:-105.08, Z:-4.99 [[-6.48422639e-01 -7.61255717e-01 6.14930557e-03 2.46425801e+02] [ 7.61224179e-01 -6.48451770e-01 -6.93188672e-03 -1.05084891e+02] [ 9.26446648e-03 1.86207810e-04 9.99957067e-01 -4.98975792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters 0.012083521145479847 Centerline is valid? [True, True] Translation: X:246.39, Y:-105.04, Z:-4.99 [[-6.52674559e-01 -7.57620026e-01 5.27415542e-03 2.46391593e+02] [ 7.57596734e-01 -6.52695858e-01 -5.94184730e-03 -1.05037505e+02] [ 7.94408190e-03 1.17590359e-04 9.99968438e-01 -4.98815515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters 0.011678771335545778 Centerline is valid? [True, True] Translation: X:246.36, Y:-104.99, Z:-4.99 [[-6.55093393e-01 -7.55527782e-01 5.51517871e-03 2.46355197e+02] [ 7.55502268e-01 -6.55116601e-01 -6.20983664e-03 -1.04992086e+02] [ 8.30478923e-03 9.87070723e-05 9.99965510e-01 -4.98833516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters 0.011466058682999963 Centerline is valid? [True, True] Translation: X:246.32, Y:-104.95, Z:-4.99 [[-6.57649661e-01 -7.53298619e-01 6.17366079e-03 2.46318999e+02] [ 7.53266581e-01 -6.57678633e-01 -6.94785769e-03 -1.04949409e+02] [ 9.29409639e-03 8.11561025e-05 9.99956806e-01 -4.98928273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters 0.01138003391906734 Centerline is valid? [True, True] Translation: X:246.28, Y:-104.91, Z:-4.99 [[-6.58221825e-01 -7.52798644e-01 6.18306189e-03 2.46280705e+02] [ 7.52766527e-01 -6.58250860e-01 -6.95419704e-03 -1.04906295e+02] [ 9.30511591e-03 7.69977583e-05 9.99956704e-01 -4.98900631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters 0.011109851931839533 Centerline is valid? [True, True] Translation: X:246.24, Y:-104.86, Z:-4.99 [[-6.59444204e-01 -7.51725332e-01 6.50896741e-03 2.46242998e+02] [ 7.51689733e-01 -6.59476322e-01 -7.31613674e-03 -1.04863279e+02] [ 9.79223522e-03 6.81400042e-05 9.99952053e-01 -4.98936656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters 0.010943760791188991 Centerline is valid? [True, True] Translation: X:246.20, Y:-104.82, Z:-4.99 [[-6.60800690e-01 -7.50530545e-01 6.80802648e-03 2.46204728e+02] [ 7.50491580e-01 -6.60835757e-01 -7.64792119e-03 -1.04819053e+02] [ 1.02389858e-02 5.56149462e-05 9.99947579e-01 -4.98988650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters 0.010905986865581084 Centerline is valid? [True, True] Translation: X:246.17, Y:-104.78, Z:-4.99 [[-6.63027839e-01 -7.48559696e-01 7.24336915e-03 2.46167225e+02] [ 7.48515526e-01 -6.63067403e-01 -8.13178205e-03 -1.04775147e+02] [ 1.08899663e-02 3.01763871e-05 9.99940702e-01 -4.99008100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters 0.010850932181921895 Centerline is valid? [True, True] Translation: X:246.13, Y:-104.73, Z:-4.99 [[-6.64379564e-01 -7.47357257e-01 7.54488996e-03 2.46129558e+02] [ 7.47309311e-01 -6.64422403e-01 -8.46545940e-03 -1.04730998e+02] [ 1.13397164e-02 1.40882980e-05 9.99935703e-01 -4.98958177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters 0.010860150840050422 Centerline is valid? [True, True] Translation: X:246.09, Y:-104.69, Z:-4.99 [[-6.65272138e-01 -7.46563481e-01 7.48009781e-03 2.46091982e+02] [ 7.46516358e-01 -6.65314189e-01 -8.38794428e-03 -1.04687227e+02] [ 1.12387481e-02 3.74974979e-06 9.99936843e-01 -4.98854990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters 0.010820077212238047 Centerline is valid? [True, True] Translation: X:246.05, Y:-104.65, Z:-4.99 [[-6.64553878e-01 -7.47204019e-01 7.36863374e-03 2.46053338e+02] [ 7.47158375e-01 -6.64594729e-01 -8.25888013e-03 -1.04646024e+02] [ 1.10682236e-02 1.70655843e-05 9.99938745e-01 -4.98935690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters 0.010879991204674396 Centerline is valid? [True, True] Translation: X:246.01, Y:-104.61, Z:-4.99 [[-6.62247722e-01 -7.49251957e-01 7.03271732e-03 2.46012540e+02] [ 7.49210547e-01 -6.62285061e-01 -7.87739485e-03 -1.04605082e+02] [ 1.05598171e-02 5.21991917e-05 9.99944242e-01 -4.98941550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters 0.011092597577912306 Centerline is valid? [True, True] Translation: X:245.97, Y:-104.56, Z:-4.99 [[-6.60637203e-01 -7.50677360e-01 6.47977545e-03 2.45973352e+02] [ 7.50642319e-01 -6.60668976e-01 -7.25344388e-03 -1.04563393e+02] [ 9.72598271e-03 7.20987891e-05 9.99952699e-01 -4.98916670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters 0.011567273740316056 Centerline is valid? [True, True] Translation: X:245.93, Y:-104.52, Z:-4.99 [[-6.58953686e-01 -7.52161721e-01 5.72578786e-03 2.45934669e+02] [ 7.52134453e-01 -6.58978556e-01 -6.40520349e-03 -1.04522399e+02] [ 8.59092030e-03 8.58298746e-05 9.99963094e-01 -4.98926488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters 0.011711261513212544 Centerline is valid? [True, True] Translation: X:245.90, Y:-104.48, Z:-4.99 [[-6.58135028e-01 -7.52881302e-01 5.29428701e-03 2.45896452e+02] [ 7.52858043e-01 -6.58156316e-01 -5.91870793e-03 -1.04480108e+02] [ 7.94055296e-03 9.05375443e-05 9.99968469e-01 -4.98922656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters 0.012060531900607553 Centerline is valid? [True, True] Translation: X:245.86, Y:-104.44, Z:-4.99 [[-6.56717957e-01 -7.54115647e-01 5.57812991e-03 2.45857556e+02] [ 7.54089903e-01 -6.56741637e-01 -6.23224169e-03 -1.04437555e+02] [ 8.36322114e-03 1.13586414e-04 9.99965021e-01 -4.99076675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters 0.012493406882661436 Centerline is valid? [True, True] Translation: X:245.82, Y:-104.40, Z:-4.99 [[-6.56051452e-01 -7.54691812e-01 6.06313335e-03 2.45818645e+02] [ 7.54661455e-01 -6.56079455e-01 -6.77030967e-03 -1.04395010e+02] [ 9.08739449e-03 1.33941549e-04 9.99958700e-01 -4.99183263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters 0.012230524315464463 Centerline is valid? [True, True] Translation: X:245.78, Y:-104.35, Z:-4.99 [[-6.55330659e-01 -7.55312676e-01 6.67005737e-03 2.45780700e+02] [ 7.55276011e-01 -6.55364583e-01 -7.44386134e-03 -1.04350361e+02] [ 9.99376219e-03 1.59543762e-04 9.99950048e-01 -4.99258903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters 0.012632799875009091 Centerline is valid? [True, True] Translation: X:245.74, Y:-104.31, Z:-4.99 [[-6.55571509e-01 -7.55102711e-01 6.77443711e-03 2.45743297e+02] [ 7.55064926e-01 -6.55606490e-01 -7.55566416e-03 -1.04307694e+02] [ 1.01466674e-02 1.61861698e-04 9.99948508e-01 -4.99412536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters 0.012459083372609855 Centerline is valid? [True, True] Translation: X:245.71, Y:-104.26, Z:-4.99 [[-6.56743422e-01 -7.54089388e-01 6.10511355e-03 2.45707795e+02] [ 7.54058693e-01 -6.56771784e-01 -6.80521849e-03 -1.04261802e+02] [ 9.14140937e-03 1.34331465e-04 9.99958207e-01 -4.99406206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters 0.012341618035042896 Centerline is valid? [True, True] Translation: X:245.67, Y:-104.22, Z:-4.99 [[-6.57791369e-01 -7.53175998e-01 6.03580184e-03 2.45671349e+02] [ 7.53145993e-01 -6.57819049e-01 -6.72408077e-03 -1.04216647e+02] [ 9.03488167e-03 1.22797670e-04 9.99959177e-01 -4.99428576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters 0.012462494462049398 Centerline is valid? [True, True] Translation: X:245.63, Y:-104.17, Z:-5.00 [[-6.58353806e-01 -7.52683536e-01 6.14500973e-03 2.45633473e+02] [ 7.52652453e-01 -6.58382473e-01 -6.84136767e-03 -1.04173280e+02] [ 9.19515151e-03 1.21016200e-04 9.99957716e-01 -4.99509898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters 0.01240829611792491 Centerline is valid? [True, True] Translation: X:245.60, Y:-104.13, Z:-5.00 [[-6.58882607e-01 -7.52224093e-01 5.71180185e-03 2.45597690e+02] [ 7.52197252e-01 -6.58907355e-01 -6.35542942e-03 -1.04127648e+02] [ 8.54425538e-03 1.08919754e-04 9.99963491e-01 -4.99627118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters 0.012544854954857193 Centerline is valid? [True, True] Translation: X:245.56, Y:-104.08, Z:-5.00 [[-6.59099168e-01 -7.52033141e-01 5.86879041e-03 2.45562434e+02] [ 7.52004835e-01 -6.59125286e-01 -6.52572907e-03 -1.04083370e+02] [ 8.77583268e-03 1.12256167e-04 9.99961485e-01 -4.99734594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters 0.012461564074372844 Centerline is valid? [True, True] Translation: X:245.53, Y:-104.04, Z:-5.00 [[-6.59253595e-01 -7.51899418e-01 5.65360572e-03 2.45526554e+02] [ 7.51873179e-01 -6.59277827e-01 -6.28245055e-03 -1.04038952e+02] [ 8.45106781e-03 1.09066397e-04 9.99964283e-01 -4.99706051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters 0.012612340974088199 Centerline is valid? [True, True] Translation: X:245.49, Y:-103.99, Z:-5.00 [[-6.59276487e-01 -7.51885223e-01 4.80874405e-03 2.45491132e+02] [ 7.51866265e-01 -6.59294018e-01 -5.34019442e-03 -1.03993448e+02] [ 7.18558946e-03 9.48678133e-05 9.99974179e-01 -4.99575216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters 0.012752245242253064 Centerline is valid? [True, True] Translation: X:245.45, Y:-103.95, Z:-5.00 [[-6.59459172e-01 -7.51730155e-01 3.92103377e-03 2.45453872e+02] [ 7.51717563e-01 -6.59470825e-01 -4.35163193e-03 -1.03949404e+02] [ 5.85706032e-03 7.77863585e-05 9.99982844e-01 -4.99536637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters 0.012375561654243144 Centerline is valid? [True, True] Translation: X:245.42, Y:-103.90, Z:-4.99 [[-6.59325005e-01 -7.51851399e-01 3.16429778e-03 2.45417984e+02] [ 7.51843209e-01 -6.59332595e-01 -3.50971609e-03 -1.03903193e+02] [ 4.72510961e-03 6.50122208e-05 9.99988834e-01 -4.99480523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters 0.0135806196107242 Centerline is valid? [True, True] Translation: X:245.38, Y:-103.86, Z:-4.99 [[-6.58465821e-01 -7.52605883e-01 2.67326496e-03 2.45380126e+02] [ 7.52600050e-01 -6.58471245e-01 -2.96368980e-03 -1.03861114e+02] [ 3.99075848e-03 6.04109109e-05 9.99992035e-01 -4.99499784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters 0.01323700447332948 Centerline is valid? [True, True] Translation: X:245.34, Y:-103.82, Z:-5.00 [[-6.57578742e-01 -7.53372695e-01 4.44751514e-03 2.45342446e+02] [ 7.53356586e-01 -6.57593773e-01 -4.92788409e-03 -1.03816278e+02] [ 6.63719158e-03 1.10092999e-04 9.99977968e-01 -4.99680981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters 0.013518303580921568 Centerline is valid? [True, True] Translation: X:245.30, Y:-103.77, Z:-5.00 [[-6.56947368e-01 -7.53908979e-01 6.43480471e-03 2.45302529e+02] [ 7.53875322e-01 -6.56978860e-01 -7.12574206e-03 -1.03774051e+02] [ 9.59969158e-03 1.69802980e-04 9.99953907e-01 -4.99931374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters 0.01429972334188933 Centerline is valid? [True, True] Translation: X:245.26, Y:-103.73, Z:-5.00 [[-6.55847365e-01 -7.54867911e-01 6.21855641e-03 2.45262085e+02] [ 7.54836560e-01 -6.55876821e-01 -6.88211261e-03 -1.03733115e+02] [ 9.27369298e-03 1.80378308e-04 9.99956982e-01 -4.99825163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters 0.0148990405395302 Centerline is valid? [True, True] Translation: X:245.22, Y:-103.69, Z:-5.00 [[-6.54787485e-01 -7.55791067e-01 5.76301216e-03 2.45220728e+02] [ 7.55764208e-01 -6.54812820e-01 -6.37436912e-03 -1.03691743e+02] [ 8.59138548e-03 1.81621198e-04 9.99963077e-01 -4.99690623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters 0.013955422024838125 Centerline is valid? [True, True] Translation: X:245.18, Y:-103.65, Z:-5.00 [[-6.56704882e-01 -7.54125389e-01 5.79612900e-03 2.45182803e+02] [ 7.54098187e-01 -6.56730440e-01 -6.40729784e-03 -1.03647438e+02] [ 8.63840033e-03 1.63146597e-04 9.99962675e-01 -4.99637602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters 0.013532042300651834 Centerline is valid? [True, True] Translation: X:245.15, Y:-103.60, Z:-5.00 [[-6.58664972e-01 -7.52414406e-01 5.74602485e-03 2.45145422e+02] [ 7.52387636e-01 -6.58690020e-01 -6.34847457e-03 -1.03602213e+02] [ 8.56153295e-03 1.41720224e-04 9.99963339e-01 -4.99576403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters 0.013142128946435487 Centerline is valid? [True, True] Translation: X:245.11, Y:-103.56, Z:-5.00 [[-6.62565773e-01 -7.48984450e-01 5.37495635e-03 2.45109545e+02] [ 7.48960933e-01 -6.62587568e-01 -5.93600942e-03 -1.03557604e+02] [ 8.00735800e-03 9.26356501e-05 9.99967936e-01 -4.99529306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters 0.012441830665606446 Centerline is valid? [True, True] Translation: X:245.07, Y:-103.51, Z:-5.00 [[-6.65712144e-01 -7.46189910e-01 5.28769275e-03 2.45072269e+02] [ 7.46167087e-01 -6.65733141e-01 -5.83633984e-03 -1.03512854e+02] [ 7.87521020e-03 6.01799931e-05 9.99968988e-01 -4.99519066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters 0.01216873413591092 Centerline is valid? [True, True] Translation: X:245.04, Y:-103.47, Z:-5.00 [[-6.69040922e-01 -7.43208544e-01 5.03038202e-03 2.45036416e+02] [ 7.43187824e-01 -6.69059833e-01 -5.54965705e-03 -1.03469975e+02] [ 7.49017909e-03 2.55710025e-05 9.99971948e-01 -4.99525061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters 0.012166146864117563 Centerline is valid? [True, True] Translation: X:245.00, Y:-103.43, Z:-5.00 [[-6.70715496e-01 -7.41698464e-01 4.91043397e-03 2.44998886e+02] [ 7.41678704e-01 -6.70733471e-01 -5.41401514e-03 -1.03426553e+02] [ 7.30915913e-03 1.07004547e-05 9.99973288e-01 -4.99542877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters 0.012130612124600567 Centerline is valid? [True, True] Translation: X:244.96, Y:-103.38, Z:-5.00 [[-6.72120833e-01 -7.40420073e-01 5.63040163e-03 2.44960305e+02] [ 7.40394079e-01 -6.72144416e-01 -6.20422691e-03 -1.03383539e+02] [ 8.37817716e-03 -1.27413100e-06 9.99964902e-01 -4.99583411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters 0.012217021298564305 Centerline is valid? [True, True] Translation: X:244.92, Y:-103.34, Z:-5.00 [[-6.73500920e-01 -7.39165676e-01 5.53301599e-03 2.44922136e+02] [ 7.39140562e-01 -6.73523647e-01 -6.09321635e-03 -1.03340853e+02] [ 8.23051349e-03 -1.41102677e-05 9.99966129e-01 -4.99688123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters 0.012151251040077332 Centerline is valid? [True, True] Translation: X:244.88, Y:-103.30, Z:-5.00 [[-6.74466975e-01 -7.38287394e-01 5.10128948e-03 2.44883425e+02] [ 7.38266045e-01 -6.74486266e-01 -5.61454555e-03 -1.03297948e+02] [ 7.58589790e-03 -2.07167474e-05 9.99971226e-01 -4.99613220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters 0.012111604088095931 Centerline is valid? [True, True] Translation: X:244.84, Y:-103.26, Z:-5.00 [[-6.74440717e-01 -7.38314764e-01 4.58554780e-03 2.44843375e+02] [ 7.38297535e-01 -6.74456306e-01 -5.04400136e-03 -1.03255795e+02] [ 6.81681231e-03 -1.63812613e-05 9.99976765e-01 -4.99588824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters 0.012342778694871541 Centerline is valid? [True, True] Translation: X:244.80, Y:-103.22, Z:-5.00 [[-6.67586151e-01 -7.44520366e-01 4.26099722e-03 2.44797250e+02] [ 7.44505631e-01 -6.67599747e-01 -4.68433009e-03 -1.03219549e+02] [ 6.33221982e-03 4.51425300e-05 9.99979950e-01 -4.99717186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters 0.012797615808972956 Centerline is valid? [True, True] Translation: X:244.75, Y:-103.18, Z:-5.00 [[-6.64364454e-01 -7.47392041e-01 5.00096236e-03 2.44754475e+02] [ 7.47371848e-01 -6.64383270e-01 -5.49464755e-03 -1.03180179e+02] [ 7.42921157e-03 8.71299579e-05 9.99972399e-01 -4.99863195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters 0.013148766473508674 Centerline is valid? [True, True] Translation: X:244.71, Y:-103.14, Z:-5.00 [[-6.63662031e-01 -7.48013779e-01 5.30047509e-03 2.44714642e+02] [ 7.47991142e-01 -6.63683190e-01 -5.82020572e-03 -1.03139189e+02] [ 7.87143029e-03 1.02058869e-04 9.99969015e-01 -4.99951734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters 0.013516439008552766 Centerline is valid? [True, True] Translation: X:244.68, Y:-103.10, Z:-5.00 [[-6.63236287e-01 -7.48390445e-01 5.41936700e-03 2.44675407e+02] [ 7.48366824e-01 -6.63258418e-01 -5.94703457e-03 -1.03098013e+02] [ 8.04514463e-03 1.11385346e-04 9.99967631e-01 -4.99978432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters 0.013646706984742775 Centerline is valid? [True, True] Translation: X:244.64, Y:-103.06, Z:-5.00 [[-6.62794330e-01 -7.48783341e-01 5.21396107e-03 2.44635453e+02] [ 7.48761516e-01 -6.62814828e-01 -5.71803714e-03 -1.03056601e+02] [ 7.73746166e-03 1.14130801e-04 9.99970059e-01 -4.99958646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters 0.013139398970771111 Centerline is valid? [True, True] Translation: X:244.60, Y:-103.01, Z:-5.00 [[-6.63618217e-01 -7.48057540e-01 4.55826046e-03 2.44596616e+02] [ 7.48040862e-01 -6.63633865e-01 -4.99607735e-03 -1.03013619e+02] [ 6.76236935e-03 9.42771432e-05 9.99977130e-01 -4.99871104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters 0.012570138488413124 Centerline is valid? [True, True] Translation: X:244.56, Y:-102.97, Z:-5.00 [[-6.66239252e-01 -7.45729269e-01 3.62169621e-03 2.44558260e+02] [ 7.45718718e-01 -6.66249093e-01 -3.96728969e-03 -1.02970474e+02] [ 5.37147586e-03 5.76025374e-05 9.99985572e-01 -4.99830897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters 0.01234291912684365 Centerline is valid? [True, True] Translation: X:244.52, Y:-102.93, Z:-5.00 [[-6.68193054e-01 -7.43978591e-01 3.72812863e-03 2.44521035e+02] [ 7.43967398e-01 -6.68203453e-01 -4.08127675e-03 -1.02927030e+02] [ 5.52753095e-03 4.65253798e-05 9.99984722e-01 -4.99846673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters 0.012071274836317905 Centerline is valid? [True, True] Translation: X:244.48, Y:-102.88, Z:-5.00 [[-6.70189909e-01 -7.42177489e-01 4.24975808e-03 2.44483662e+02] [ 7.42162927e-01 -6.70203382e-01 -4.64937337e-03 -1.02883876e+02] [ 6.29886249e-03 3.80497746e-05 9.99980161e-01 -4.99924392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters 0.01206902163165376 Centerline is valid? [True, True] Translation: X:244.45, Y:-102.84, Z:-5.00 [[-6.70720534e-01 -7.41696645e-01 4.47795016e-03 2.44445304e+02] [ 7.41680488e-01 -6.70735481e-01 -4.89579133e-03 -1.02842393e+02] [ 6.63471206e-03 3.75004809e-05 9.99977989e-01 -4.99967578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters 0.01199508719156857 Centerline is valid? [True, True] Translation: X:244.41, Y:-102.80, Z:-5.00 [[-6.70632734e-01 -7.41771703e-01 5.14552720e-03 2.44405916e+02] [ 7.41750398e-01 -6.70652472e-01 -5.62209525e-03 -1.02801458e+02] [ 7.62117171e-03 4.63357350e-05 9.99970957e-01 -5.00013126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters 0.012040446085494113 Centerline is valid? [True, True] Translation: X:244.37, Y:-102.76, Z:-5.00 [[-6.70442647e-01 -7.41945393e-01 4.86728567e-03 2.44366619e+02] [ 7.41926359e-01 -6.70460313e-01 -5.31469375e-03 -1.02759560e+02] [ 7.20653442e-03 4.79701895e-05 9.99974031e-01 -5.00023693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters 0.012176209541496506 Centerline is valid? [True, True] Translation: X:244.33, Y:-102.72, Z:-5.00 [[-6.70083999e-01 -7.42267758e-01 5.10000631e-03 2.44327093e+02] [ 7.42246896e-01 -6.70103405e-01 -5.56528680e-03 -1.02717516e+02] [ 7.54846455e-03 5.62542222e-05 9.99971508e-01 -5.00018554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters 0.012200328767391569 Centerline is valid? [True, True] Translation: X:244.29, Y:-102.68, Z:-5.00 [[-6.69408981e-01 -7.42871618e-01 5.77713050e-03 2.44288236e+02] [ 7.42844905e-01 -6.69433906e-01 -6.30018583e-03 -1.02675343e+02] [ 8.54763627e-03 7.41109821e-05 9.99963466e-01 -5.00058114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters 0.012716836819662108 Centerline is valid? [True, True] Translation: X:244.25, Y:-102.63, Z:-5.00 [[-6.69079453e-01 -7.43169913e-01 5.58264754e-03 2.44248741e+02] [ 7.43145013e-01 -6.69102738e-01 -6.08405666e-03 -1.02634665e+02] [ 8.25685262e-03 7.79993766e-05 9.99965909e-01 -5.00146118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters 0.012484502598931949 Centerline is valid? [True, True] Translation: X:244.21, Y:-102.59, Z:-5.00 [[-6.68463376e-01 -7.43723086e-01 5.71725487e-03 2.44211937e+02] [ 7.43697024e-01 -6.68487819e-01 -6.22677724e-03 -1.02591226e+02] [ 8.45291322e-03 8.95329016e-05 9.99964269e-01 -4.99876508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters 0.012410140637904936 Centerline is valid? [True, True] Translation: X:244.17, Y:-102.55, Z:-5.00 [[-6.69112197e-01 -7.43140772e-01 5.53718823e-03 2.44173843e+02] [ 7.43116339e-01 -6.69135103e-01 -6.02664785e-03 -1.02549583e+02] [ 8.18377476e-03 8.22714628e-05 9.99966509e-01 -4.99906957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters 0.012237128159470513 Centerline is valid? [True, True] Translation: X:244.14, Y:-102.51, Z:-5.00 [[-6.70502600e-01 -7.41890885e-01 4.91715557e-03 2.44136526e+02] [ 7.41871608e-01 -6.70520627e-01 -5.34842251e-03 -1.02506031e+02] [ 7.26500014e-03 6.17669089e-05 9.99973608e-01 -4.99744922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters 0.012010586323946014 Centerline is valid? [True, True] Translation: X:244.10, Y:-102.46, Z:-5.00 [[-6.72255535e-01 -7.40305631e-01 4.47976574e-03 2.44098374e+02] [ 7.40289616e-01 -6.72270460e-01 -4.86962295e-03 -1.02463024e+02] [ 6.61662346e-03 4.26930797e-05 9.99978109e-01 -4.99646030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters 0.011684274291639384 Centerline is valid? [True, True] Translation: X:244.06, Y:-102.42, Z:-5.00 [[-6.75207603e-01 -7.37611266e-01 4.93084995e-03 2.44061491e+02] [ 7.37591814e-01 -6.75225607e-01 -5.35690043e-03 -1.02418626e+02] [ 7.28074625e-03 1.99346574e-05 9.99973495e-01 -4.99560943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters 0.011684254942347245 Centerline is valid? [True, True] Translation: X:244.02, Y:-102.37, Z:-4.99 [[-6.77430919e-01 -7.35566264e-01 5.44257654e-03 2.44022856e+02] [ 7.35542526e-01 -6.77452781e-01 -5.90941551e-03 -1.02374943e+02] [ 8.03385530e-03 2.57184698e-08 9.99967728e-01 -4.99456281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters 0.011669638354570666 Centerline is valid? [True, True] Translation: X:243.98, Y:-102.33, Z:-5.00 [[-6.78273904e-01 -7.34785069e-01 5.95095233e-03 2.43982482e+02] [ 7.34756692e-01 -6.78300009e-01 -6.45765174e-03 -1.02332790e+02] [ 8.78151710e-03 -7.55460167e-06 9.99961442e-01 -4.99500488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters 0.011848161045488782 Centerline is valid? [True, True] Translation: X:243.94, Y:-102.29, Z:-5.00 [[-6.78638688e-01 -7.34435116e-01 7.38863049e-03 2.43942394e+02] [ 7.34391403e-01 -6.78678908e-01 -8.01289542e-03 -1.02291481e+02] [ 1.08994594e-02 -1.17141213e-05 9.99940599e-01 -4.99598377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters 0.011809739670469388 Centerline is valid? [True, True] Translation: X:243.90, Y:-102.25, Z:-5.00 [[-6.78805756e-01 -7.34278304e-01 7.62346120e-03 2.43902452e+02] [ 7.34231818e-01 -6.78848563e-01 -8.26230283e-03 -1.02249817e+02] [ 1.12420054e-02 -1.11109470e-05 9.99936807e-01 -4.99556557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters 0.011743505057141588 Centerline is valid? [True, True] Translation: X:243.86, Y:-102.21, Z:-4.99 [[-6.79006799e-01 -7.34089191e-01 7.92628566e-03 2.43862239e+02] [ 7.34038983e-01 -6.79053061e-01 -8.58562244e-03 -1.02208349e+02] [ 1.16849812e-02 -1.14933500e-05 9.99931728e-01 -4.99427938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters 0.011656802629218354 Centerline is valid? [True, True] Translation: X:243.82, Y:-102.17, Z:-4.99 [[-6.79400171e-01 -7.33726001e-01 7.84620904e-03 2.43823037e+02] [ 7.33676840e-01 -6.79445476e-01 -8.49348497e-03 -1.02166821e+02] [ 1.15629620e-02 -1.38932910e-05 9.99933147e-01 -4.99394380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters 0.011648737725150862 Centerline is valid? [True, True] Translation: X:243.78, Y:-102.13, Z:-4.99 [[-6.79064798e-01 -7.34037991e-01 7.69591545e-03 2.43783217e+02] [ 7.33990775e-01 -6.79108406e-01 -8.32557452e-03 -1.02125280e+02] [ 1.13376489e-02 -4.87363265e-06 9.99935727e-01 -4.99371995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters 0.01155749630967123 Centerline is valid? [True, True] Translation: X:243.74, Y:-102.09, Z:-4.99 [[-6.76766056e-01 -7.36154944e-01 7.97520144e-03 2.43741567e+02] [ 7.36104449e-01 -6.76813044e-01 -8.62223578e-03 -1.02085406e+02] [ 1.17450219e-02 3.53447585e-05 9.99931024e-01 -4.99315597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters 0.011790059445301931 Centerline is valid? [True, True] Translation: X:243.70, Y:-102.05, Z:-4.99 [[-6.74519294e-01 -7.38209950e-01 8.35418610e-03 2.43700043e+02] [ 7.38154762e-01 -6.74571022e-01 -9.02681170e-03 -1.02045038e+02] [ 1.22991741e-02 7.79235991e-05 9.99924359e-01 -4.99301172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters 0.01257668850039057 Centerline is valid? [True, True] Translation: X:243.66, Y:-102.01, Z:-4.99 [[-6.70456253e-01 -7.41888608e-01 9.47128125e-03 2.43657420e+02] [ 7.41818125e-01 -6.70523127e-01 -1.02276868e-02 -1.02005950e+02] [ 1.39385174e-02 1.68751542e-04 9.99902840e-01 -4.99405214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters 0.013539671582190393 Centerline is valid? [True, True] Translation: X:243.62, Y:-101.97, Z:-4.99 [[-6.67393263e-01 -7.44633583e-01 1.03469614e-02 2.43615259e+02] [ 7.44549886e-01 -6.67473419e-01 -1.11670234e-02 -1.01965929e+02] [ 1.52216623e-02 2.51032739e-04 9.99884112e-01 -4.99484824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters 0.01387546816108354 Centerline is valid? [True, True] Translation: X:243.57, Y:-101.92, Z:-4.99 [[-6.65596192e-01 -7.46236423e-01 1.06259374e-02 2.43574499e+02] [ 7.46148458e-01 -6.65680938e-01 -1.14615360e-02 -1.01924435e+02] [ 1.56264996e-02 2.99772110e-04 9.99877854e-01 -4.99451186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters 0.015321277202853931 Centerline is valid? [True, True] Translation: X:243.53, Y:-101.88, Z:-5.00 [[-6.65256685e-01 -7.46535893e-01 1.08491298e-02 2.43534032e+02] [ 7.46444346e-01 -6.65345068e-01 -1.16952703e-02 -1.01884412e+02] [ 1.59493541e-02 3.17914854e-04 9.99872750e-01 -4.99638715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters 0.014858046630077407 Centerline is valid? [True, True] Translation: X:243.49, Y:-101.84, Z:-5.00 [[-6.63693137e-01 -7.47916014e-01 1.15350018e-02 2.43494874e+02] [ 7.47812852e-01 -6.63793261e-01 -1.24275765e-02 -1.01841210e+02] [ 1.69516400e-02 3.77925391e-04 9.99856239e-01 -4.99558537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters 0.015466712148039088 Centerline is valid? [True, True] Translation: X:243.45, Y:-101.80, Z:-5.00 [[-6.62958304e-01 -7.48564723e-01 1.17108308e-02 2.43454741e+02] [ 7.48458615e-01 -6.63061605e-01 -1.26098935e-02 -1.01799126e+02] [ 1.72043237e-02 4.05238583e-04 9.99851913e-01 -4.99602852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters 0.016117608395947957 Centerline is valid? [True, True] Translation: X:243.42, Y:-101.76, Z:-5.00 [[-6.62350187e-01 -7.49102447e-01 1.17368470e-02 2.43415559e+02] [ 7.48996074e-01 -6.62454031e-01 -1.26308374e-02 -1.01756741e+02] [ 1.72369128e-02 4.24814782e-04 9.99851343e-01 -4.99582396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters 0.017280409511099708 Centerline is valid? [True, True] Translation: X:243.38, Y:-101.72, Z:-5.00 [[-6.62176491e-01 -7.49263570e-01 1.12426984e-02 2.43376782e+02] [ 7.49166085e-01 -6.62271795e-01 -1.20932196e-02 -1.01716611e+02] [ 1.65067309e-02 4.14802669e-04 9.99863669e-01 -4.99640483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters 0.01599087833705864 Centerline is valid? [True, True] Translation: X:243.34, Y:-101.67, Z:-4.99 [[-6.61936697e-01 -7.49480450e-01 1.09024526e-02 2.43339832e+02] [ 7.49388914e-01 -6.62026348e-01 -1.17205326e-02 -1.01671672e+02] [ 1.60020209e-02 4.11926401e-04 9.99871875e-01 -4.99461053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters 0.01610236216647231 Centerline is valid? [True, True] Translation: X:243.30, Y:-101.63, Z:-4.99 [[-6.62193239e-01 -7.49255608e-01 1.07771717e-02 2.43301767e+02] [ 7.49166251e-01 -6.62280808e-01 -1.15784256e-02 -1.01629223e+02] [ 1.58127143e-02 4.06738188e-04 9.99874888e-01 -4.99442713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters 0.0163042368726397 Centerline is valid? [True, True] Translation: X:243.26, Y:-101.59, Z:-4.99 [[-6.62358544e-01 -7.49112894e-01 1.05370894e-02 2.43264009e+02] [ 7.49027568e-01 -6.62442233e-01 -1.13132738e-02 -1.01586159e+02] [ 1.54551323e-02 3.99126876e-04 9.99880483e-01 -4.99413635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters 0.016201183273564592 Centerline is valid? [True, True] Translation: X:243.23, Y:-101.54, Z:-4.99 [[-6.62460883e-01 -7.49027402e-01 1.01749336e-02 2.43225988e+02] [ 7.48947935e-01 -6.62538905e-01 -1.09174453e-02 -1.01542893e+02] [ 1.49187550e-02 3.88115021e-04 9.99888634e-01 -4.99309101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters 0.0171085245522026 Centerline is valid? [True, True] Translation: X:243.19, Y:-101.50, Z:-4.99 [[-6.62163834e-01 -7.49296472e-01 9.68784337e-03 2.43187389e+02] [ 7.49224532e-01 -6.62234591e-01 -1.03897331e-02 -1.01501759e+02] [ 1.42006153e-02 3.78664434e-04 9.99899094e-01 -4.99266831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters 0.01668456989456797 Centerline is valid? [True, True] Translation: X:243.15, Y:-101.46, Z:-4.99 [[-6.61851633e-01 -7.49575792e-01 9.41002665e-03 2.43149809e+02] [ 7.49508037e-01 -6.61918416e-01 -1.00853117e-02 -1.01459120e+02] [ 1.37883755e-02 3.77910559e-04 9.99904864e-01 -4.99157543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters 0.018432836625949592 Centerline is valid? [True, True] Translation: X:243.11, Y:-101.42, Z:-4.99 [[-6.59152049e-01 -7.51943814e-01 9.95368365e-03 2.43108109e+02] [ 7.51868336e-01 -6.59227042e-01 -1.06635840e-02 -1.01419486e+02] [ 1.45801534e-02 4.54936344e-04 9.99893600e-01 -4.99315131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters 0.020374275299785884 Centerline is valid? [True, True] Translation: X:243.07, Y:-101.38, Z:-4.99 [[-6.57056591e-01 -7.53772829e-01 1.01566811e-02 2.43066156e+02] [ 7.53694554e-01 -6.57134889e-01 -1.08746096e-02 -1.01380213e+02] [ 1.48712947e-02 5.09801287e-04 9.99889286e-01 -4.99461100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters 0.022467405347548416 Centerline is valid? [True, True] Translation: X:243.02, Y:-101.34, Z:-5.00 [[-6.55237094e-01 -7.55355367e-01 1.01301185e-02 2.43024048e+02] [ 7.55277782e-01 -6.55315167e-01 -1.08398974e-02 -1.01341523e+02] [ 1.48263950e-02 5.48350543e-04 9.99889933e-01 -4.99529858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters 0.02252982940821812 Centerline is valid? [True, True] Translation: X:242.98, Y:-101.30, Z:-4.99 [[-6.55563956e-01 -7.55083417e-01 9.21591440e-03 2.42984789e+02] [ 7.55019258e-01 -6.55628543e-01 -9.85561042e-03 -1.01300330e+02] [ 1.34840245e-02 4.97209891e-04 9.99908963e-01 -4.99428017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters 0.01967779104743741 Centerline is valid? [True, True] Translation: X:242.95, Y:-101.26, Z:-4.99 [[-6.56170300e-01 -7.54576718e-01 7.38336538e-03 2.42947120e+02] [ 7.54535555e-01 -6.56211721e-01 -7.89132345e-03 -1.01256396e+02] [ 1.07996599e-02 3.92959623e-04 9.99941605e-01 -4.99162857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters 0.020852030878005863 Centerline is valid? [True, True] Translation: X:242.91, Y:-101.22, Z:-4.99 [[-6.56990483e-01 -7.53873003e-01 6.24498275e-03 2.42905449e+02] [ 7.53843558e-01 -6.57020083e-01 -6.67088484e-03 -1.01217671e+02] [ 9.13207908e-03 3.25032161e-04 9.99958249e-01 -4.99167573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters 0.02039350226092 Centerline is valid? [True, True] Translation: X:242.87, Y:-101.18, Z:-4.99 [[-6.57248014e-01 -7.53650689e-01 5.97393794e-03 2.42865670e+02] [ 7.53623770e-01 -6.57275089e-01 -6.37730076e-03 -1.01176295e+02] [ 8.73277770e-03 3.10633380e-04 9.99961820e-01 -4.99179340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters 0.020494442710395418 Centerline is valid? [True, True] Translation: X:242.83, Y:-101.14, Z:-4.99 [[-6.57344220e-01 -7.53566020e-01 6.06875557e-03 2.42825142e+02] [ 7.53538273e-01 -6.57372157e-01 -6.47442743e-03 -1.01136256e+02] [ 8.86833945e-03 3.17112142e-04 9.99960625e-01 -4.99218116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters 0.020828175699166396 Centerline is valid? [True, True] Translation: X:242.78, Y:-101.10, Z:-4.99 [[-6.57662289e-01 -7.53283565e-01 6.64711942e-03 2.42783566e+02] [ 7.53250306e-01 -6.57695789e-01 -7.08701759e-03 -1.01096135e+02] [ 9.71031632e-03 3.46080530e-04 9.99952794e-01 -4.99329904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters 0.01934973828501537 Centerline is valid? [True, True] Translation: X:242.74, Y:-101.05, Z:-4.99 [[-6.59045124e-01 -7.52075562e-01 6.47105118e-03 2.42744353e+02] [ 7.52044020e-01 -6.59076813e-01 -6.89538194e-03 -1.01052823e+02] [ 9.45076803e-03 3.22147496e-04 9.99955289e-01 -4.99287773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters 0.01905215520130749 Centerline is valid? [True, True] Translation: X:242.70, Y:-101.01, Z:-4.99 [[-6.62054136e-01 -7.49432368e-01 5.95376557e-03 2.42704724e+02] [ 7.49405589e-01 -6.62080854e-01 -6.34085292e-03 -1.01012793e+02] [ 8.69391461e-03 2.63797293e-04 9.99962172e-01 -4.99348633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters 0.016579669448923553 Centerline is valid? [True, True] Translation: X:242.67, Y:-100.97, Z:-4.99 [[-6.64184089e-01 -7.47547751e-01 5.64412639e-03 2.42667094e+02] [ 7.47523646e-01 -6.64208030e-01 -6.00765558e-03 -1.00968168e+02] [ 8.23988349e-03 2.28928691e-04 9.99966025e-01 -4.99273221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters 0.016110096790473587 Centerline is valid? [True, True] Translation: X:242.63, Y:-100.93, Z:-4.99 [[-6.66789293e-01 -7.45222280e-01 5.98273609e-03 2.42627104e+02] [ 7.45195133e-01 -6.66816097e-01 -6.36439632e-03 -1.00926491e+02] [ 8.73227466e-03 2.14594497e-04 9.99961850e-01 -4.99350735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters 0.016399737913043045 Centerline is valid? [True, True] Translation: X:242.59, Y:-100.89, Z:-4.99 [[-6.67741761e-01 -7.44366474e-01 6.28433816e-03 2.42586658e+02] [ 7.44336525e-01 -6.67771297e-01 -6.68074443e-03 -1.00886698e+02] [ 9.16942282e-03 2.16650383e-04 9.99957936e-01 -4.99430892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters 0.01566189172296551 Centerline is valid? [True, True] Translation: X:242.55, Y:-100.84, Z:-4.99 [[-6.68341153e-01 -7.43824313e-01 6.74491973e-03 2.42546107e+02] [ 7.43789826e-01 -6.68375149e-01 -7.16627293e-03 -1.00844946e+02] [ 9.83858477e-03 2.27287560e-04 9.99951574e-01 -4.99442755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters 0.015880783355914203 Centerline is valid? [True, True] Translation: X:242.50, Y:-100.81, Z:-4.99 [[-6.68714105e-01 -7.43490125e-01 6.62410035e-03 2.42504868e+02] [ 7.43456890e-01 -6.68746876e-01 -7.03339828e-03 -1.00805125e+02] [ 9.65910859e-03 2.21400404e-04 9.99953325e-01 -4.99470133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters 0.015470090416972575 Centerline is valid? [True, True] Translation: X:242.46, Y:-100.76, Z:-4.99 [[-6.69955151e-01 -7.42377299e-01 6.00356444e-03 2.42464754e+02] [ 7.42349985e-01 -6.69982023e-01 -6.37089482e-03 -1.00763273e+02] [ 8.75188794e-03 1.88532173e-04 9.99961684e-01 -4.99382370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters 0.014334064437275968 Centerline is valid? [True, True] Translation: X:242.43, Y:-100.72, Z:-4.99 [[-6.72220800e-01 -7.40337362e-01 4.44817928e-03 2.42425208e+02] [ 7.40322341e-01 -6.72235506e-01 -4.71766633e-03 -1.00720241e+02] [ 6.48288869e-03 1.21773057e-04 9.99978978e-01 -4.99240330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters 0.014148724290751103 Centerline is valid? [True, True] Translation: X:242.39, Y:-100.68, Z:-4.99 [[-6.74379884e-01 -7.38373893e-01 3.97068322e-03 2.42385779e+02] [ 7.38361903e-01 -6.74391567e-01 -4.20885573e-03 -1.00678958e+02] [ 5.78550447e-03 9.34335728e-05 9.99983259e-01 -4.99235685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters 0.013452226869384422 Centerline is valid? [True, True] Translation: X:242.35, Y:-100.64, Z:-4.99 [[-6.76841622e-01 -7.36115429e-01 4.41523236e-03 2.42345809e+02] [ 7.36100573e-01 -6.76856017e-01 -4.67740727e-03 -1.00636375e+02] [ 6.43158825e-03 8.41911435e-05 9.99979314e-01 -4.99255134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters 0.01313113338133536 Centerline is valid? [True, True] Translation: X:242.31, Y:-100.59, Z:-4.99 [[-6.78428789e-01 -7.34651331e-01 4.66902297e-03 2.42305816e+02] [ 7.34634703e-01 -6.78444851e-01 -4.94346737e-03 -1.00594849e+02] [ 6.79939948e-03 7.62357225e-05 9.99976881e-01 -4.99347554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters 0.012568656736580534 Centerline is valid? [True, True] Translation: X:242.27, Y:-100.55, Z:-4.99 [[-6.81325076e-01 -7.31961213e-01 5.37813576e-03 2.42266253e+02] [ 7.31939091e-01 -6.81346299e-01 -5.69100750e-03 -1.00552766e+02] [ 7.82996965e-03 5.90416813e-05 9.99969344e-01 -4.99446717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters 0.012279744275353659 Centerline is valid? [True, True] Translation: X:242.23, Y:-100.51, Z:-5.00 [[-6.83751583e-01 -7.29694072e-01 5.50765950e-03 2.42227581e+02] [ 7.29670829e-01 -6.83773764e-01 -5.82414840e-03 -1.00511478e+02] [ 8.01583962e-03 3.65077842e-05 9.99967872e-01 -4.99547791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters 0.012135860027992981 Centerline is valid? [True, True] Translation: X:242.19, Y:-100.47, Z:-5.00 [[-6.87664572e-01 -7.26005718e-01 5.75624652e-03 2.42189041e+02] [ 7.25980229e-01 -6.87688663e-01 -6.08355116e-03 -1.00468450e+02] [ 8.37519840e-03 -4.52143532e-06 9.99964927e-01 -4.99555687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters 0.012151836568992401 Centerline is valid? [True, True] Translation: X:242.15, Y:-100.43, Z:-5.00 [[-6.89529218e-01 -7.24235313e-01 5.71567954e-03 2.42149296e+02] [ 7.24210150e-01 -6.89552906e-01 -6.03726067e-03 -1.00425943e+02] [ 8.31366081e-03 -2.35144925e-05 9.99965441e-01 -4.99511668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters 0.012110843558493348 Centerline is valid? [True, True] Translation: X:242.11, Y:-100.38, Z:-4.99 [[-6.89983291e-01 -7.23806637e-01 5.19715120e-03 2.42107780e+02] [ 7.23785842e-01 -6.90002864e-01 -5.48657795e-03 -1.00384576e+02] [ 7.55727075e-03 -2.40226516e-05 9.99971443e-01 -4.99329902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters 0.012016355306961162 Centerline is valid? [True, True] Translation: X:242.07, Y:-100.35, Z:-4.99 [[-6.88592878e-01 -7.25130583e-01 5.04833854e-03 2.42065836e+02] [ 7.25111022e-01 -6.88611383e-01 -5.32624522e-03 -1.00345243e+02] [ 7.33856669e-03 -7.00861123e-06 9.99973072e-01 -4.99394429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters 0.012048267717400099 Centerline is valid? [True, True] Translation: X:242.02, Y:-100.31, Z:-4.99 [[-6.84299145e-01 -7.29180738e-01 5.48909200e-03 2.42021248e+02] [ 7.29157771e-01 -6.84321159e-01 -5.78759072e-03 -1.00308686e+02] [ 7.97650148e-03 4.19707054e-05 9.99968186e-01 -4.99414132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters 0.012805247542963277 Centerline is valid? [True, True] Translation: X:241.98, Y:-100.27, Z:-4.99 [[-6.79706738e-01 -7.33460605e-01 5.85583013e-03 2.41976317e+02] [ 7.33434654e-01 -6.79731955e-01 -6.17075468e-03 -1.00271027e+02] [ 8.50640032e-03 1.00565203e-04 9.99963815e-01 -4.99410409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters 0.013634702265017767 Centerline is valid? [True, True] Translation: X:241.93, Y:-100.23, Z:-4.99 [[-6.77043715e-01 -7.35914741e-01 6.42665329e-03 2.41933779e+02] [ 7.35883622e-01 -6.77074200e-01 -6.76920096e-03 -1.00233332e+02] [ 9.33287591e-03 1.46223928e-04 9.99956437e-01 -4.99426671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters 0.013974164177359916 Centerline is valid? [True, True] Translation: X:241.89, Y:-100.19, Z:-4.99 [[-6.76147178e-01 -7.36740600e-01 6.18729592e-03 2.41892835e+02] [ 7.36711824e-01 -6.76175469e-01 -6.51336390e-03 -1.00192611e+02] [ 8.98235735e-03 1.54261439e-04 9.99959646e-01 -4.99394379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters 0.014572714470866234 Centerline is valid? [True, True] Translation: X:241.85, Y:-100.15, Z:-4.99 [[-6.74468645e-01 -7.38284428e-01 5.30574117e-03 2.41849826e+02] [ 7.38263339e-01 -6.74489497e-01 -5.58217600e-03 -1.00153790e+02] [ 7.69990031e-03 1.52031511e-04 9.99970344e-01 -4.99299863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters 0.014597246082361027 Centerline is valid? [True, True] Translation: X:241.81, Y:-100.11, Z:-4.99 [[-6.74496942e-01 -7.38263092e-01 4.63483743e-03 2.41809220e+02] [ 7.38247019e-01 -6.74512853e-01 -4.87353066e-03 -1.00112712e+02] [ 6.72420523e-03 1.34473390e-04 9.99977383e-01 -4.99250371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters 0.01428891817095367 Centerline is valid? [True, True] Translation: X:241.77, Y:-100.07, Z:-4.99 [[-6.75587278e-01 -7.37266717e-01 4.42930821e-03 2.41768909e+02] [ 7.37252032e-01 -6.75601786e-01 -4.65477127e-03 -1.00070648e+02] [ 6.42425647e-03 1.20812226e-04 9.99979357e-01 -4.99326202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters 0.013816577357482762 Centerline is valid? [True, True] Translation: X:241.73, Y:-100.03, Z:-4.99 [[-6.76410364e-01 -7.36506913e-01 5.15610108e-03 2.41729783e+02] [ 7.36487016e-01 -6.76430003e-01 -5.41545364e-03 -1.00027453e+02] [ 7.47626051e-03 1.34332528e-04 9.99972043e-01 -4.99368351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters 0.014171213294245174 Centerline is valid? [True, True] Translation: X:241.69, Y:-99.99, Z:-5.00 [[-6.76585097e-01 -7.36338792e-01 6.14738110e-03 2.41690708e+02] [ 7.36310522e-01 -6.76613005e-01 -6.45419239e-03 -9.99865760e+01] [ 8.91187023e-03 1.59571000e-04 9.99960276e-01 -4.99522532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters 0.014679544058693634 Centerline is valid? [True, True] Translation: X:241.65, Y:-99.94, Z:-5.00 [[-6.75859998e-01 -7.36989069e-01 7.77013891e-03 2.41650803e+02] [ 7.36943998e-01 -6.75904628e-01 -8.15339231e-03 -9.99446881e+01] [ 1.12608339e-02 2.15605517e-04 9.99936572e-01 -4.99751435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters 0.01439709481074395 Centerline is valid? [True, True] Translation: X:241.61, Y:-99.90, Z:-5.00 [[-6.75594622e-01 -7.37227347e-01 8.23076291e-03 2.41612344e+02] [ 7.37176850e-01 -6.75644717e-01 -8.63181621e-03 -9.99016775e+01] [ 1.19246824e-02 2.35919264e-04 9.99928871e-01 -4.99788465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters 0.014672395404313355 Centerline is valid? [True, True] Translation: X:241.58, Y:-99.86, Z:-5.00 [[-6.76306738e-01 -7.36576824e-01 7.98619982e-03 2.41575171e+02] [ 7.36529303e-01 -6.76353852e-01 -8.36973984e-03 -9.98592758e+01] [ 1.15664534e-02 2.21558742e-04 9.99933082e-01 -4.99793765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters 0.014320209172909075 Centerline is valid? [True, True] Translation: X:241.54, Y:-99.82, Z:-5.00 [[-6.77248847e-01 -7.35718592e-01 7.22167678e-03 2.41537259e+02] [ 7.35679735e-01 -6.77287323e-01 -7.56373785e-03 -9.98161427e+01] [ 1.04559327e-02 1.90308525e-04 9.99945317e-01 -4.99683581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters 0.013783257530361762 Centerline is valid? [True, True] Translation: X:241.50, Y:-99.77, Z:-5.00 [[-6.78494403e-01 -7.34577162e-01 6.46041978e-03 2.41500174e+02] [ 7.34546050e-01 -6.78525142e-01 -6.76263748e-03 -9.97712629e+01] [ 9.35123630e-03 1.57064151e-04 9.99956264e-01 -4.99570757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters 0.014017351584093169 Centerline is valid? [True, True] Translation: X:241.46, Y:-99.73, Z:-5.00 [[-6.78512712e-01 -7.34560244e-01 6.46118953e-03 2.41461667e+02] [ 7.34529163e-01 -6.78543456e-01 -6.75922646e-03 -9.97290543e+01] [ 9.34925691e-03 1.59711063e-04 9.99956282e-01 -4.99570375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters 0.014551317404379378 Centerline is valid? [True, True] Translation: X:241.42, Y:-99.69, Z:-5.00 [[-6.75787978e-01 -7.37067004e-01 6.54525149e-03 2.41421866e+02] [ 7.37035252e-01 -6.75819644e-01 -6.84435343e-03 -9.96874059e+01] [ 9.46815661e-03 1.98749319e-04 9.99955156e-01 -4.99550288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters 0.016759889813358873 Centerline is valid? [True, True] Translation: X:241.38, Y:-99.65, Z:-5.00 [[-6.73238711e-01 -7.39388329e-01 7.38486673e-03 2.41380004e+02] [ 7.39348097e-01 -6.73279161e-01 -7.71772808e-03 -9.96482562e+01] [ 1.06784749e-02 2.64113854e-04 9.99942949e-01 -4.99761142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters 0.018289991823839596 Centerline is valid? [True, True] Translation: X:241.34, Y:-99.61, Z:-5.00 [[-6.69462334e-01 -7.42803948e-01 7.90428423e-03 2.41340063e+02] [ 7.42758132e-01 -6.69508907e-01 -8.25715623e-03 -9.96067909e+01] [ 1.14254369e-02 3.43116308e-04 9.99934669e-01 -4.99830036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters 0.019105335718473324 Centerline is valid? [True, True] Translation: X:241.30, Y:-99.56, Z:-5.00 [[-6.68020465e-01 -7.44103614e-01 7.64660123e-03 2.41300176e+02] [ 7.44060870e-01 -6.68064133e-01 -7.98354303e-03 -9.95647560e+01] [ 1.10490032e-02 3.56366636e-04 9.99938894e-01 -4.99801962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters 0.018082188122028973 Centerline is valid? [True, True] Translation: X:241.26, Y:-99.52, Z:-5.00 [[-6.67452542e-01 -7.44622472e-01 6.66919432e-03 2.41264158e+02] [ 7.44590022e-01 -6.67485783e-01 -6.95907271e-03 -9.95192273e+01] [ 9.63347432e-03 3.20964776e-04 9.99953546e-01 -4.99574853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters 0.021111636766628784 Centerline is valid? [True, True] Translation: X:241.22, Y:-99.48, Z:-5.00 [[-6.67573561e-01 -7.44520830e-01 5.85439897e-03 2.41224015e+02] [ 7.44495855e-01 -6.67599171e-01 -6.10475714e-03 -9.94804611e+01] [ 8.45351075e-03 2.83201305e-04 9.99964228e-01 -4.99517202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters 0.018484049451928736 Centerline is valid? [True, True] Translation: X:241.19, Y:-99.43, Z:-4.99 [[-6.67053117e-01 -7.44994351e-01 4.85349148e-03 2.41188066e+02] [ 7.44977219e-01 -6.67070730e-01 -5.05813849e-03 -9.94339720e+01] [ 7.00590670e-03 2.41693540e-04 9.99975429e-01 -4.99334639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters 0.019352006341987017 Centerline is valid? [True, True] Translation: X:241.15, Y:-99.39, Z:-4.99 [[-6.65968607e-01 -7.45960978e-01 5.29467942e-03 2.41147636e+02] [ 7.45940644e-01 -6.65989596e-01 -5.51479273e-03 -9.93924033e+01] [ 7.64002159e-03 2.76837746e-04 9.99970776e-01 -4.99424242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters 0.02082191285422474 Centerline is valid? [True, True] Translation: X:241.11, Y:-99.35, Z:-5.00 [[-6.64025590e-01 -7.47682311e-01 6.41695483e-03 2.41107353e+02] [ 7.47652559e-01 -6.64056496e-01 -6.67992322e-03 -9.93505734e+01] [ 9.25568098e-03 3.62012740e-04 9.99957100e-01 -4.99562005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters 0.021158072037857103 Centerline is valid? [True, True] Translation: X:241.07, Y:-99.31, Z:-5.00 [[-6.63095099e-01 -7.48506760e-01 6.52076436e-03 2.41067750e+02] [ 7.48476113e-01 -6.63127050e-01 -6.78412622e-03 -9.93078450e+01] [ 9.40205956e-03 3.82115519e-04 9.99955727e-01 -4.99595968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters 0.02206667610463851 Centerline is valid? [True, True] Translation: X:241.03, Y:-99.27, Z:-5.00 [[-6.62660886e-01 -7.48892677e-01 6.34895199e-03 2.41028108e+02] [ 7.48863675e-01 -6.62691191e-01 -6.60165845e-03 -9.92655119e+01] [ 9.15132822e-03 3.79838687e-04 9.99958054e-01 -4.99639064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters 0.022435230619323867 Centerline is valid? [True, True] Translation: X:240.99, Y:-99.22, Z:-5.00 [[-6.63132356e-01 -7.48476048e-01 6.25174676e-03 2.40989696e+02] [ 7.48447946e-01 -6.63161721e-01 -6.49649711e-03 -9.92224410e+01] [ 9.00839162e-03 3.71069583e-04 9.99959355e-01 -4.99671427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters 0.02154169117930683 Centerline is valid? [True, True] Translation: X:240.95, Y:-99.18, Z:-5.00 [[-6.64731890e-01 -7.47058857e-01 5.88044087e-03 2.40953770e+02] [ 7.47033967e-01 -6.64757816e-01 -6.10721239e-03 -9.91769280e+01] [ 8.47151613e-03 3.33230235e-04 9.99964061e-01 -4.99638001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters 0.021793191322959603 Centerline is valid? [True, True] Translation: X:240.92, Y:-99.13, Z:-5.00 [[-6.65538313e-01 -7.46348019e-01 4.83617232e-03 2.40915620e+02] [ 7.46331185e-01 -6.65555830e-01 -5.01988770e-03 -9.91331659e+01] [ 6.96532592e-03 2.68458627e-04 9.99975706e-01 -4.99547143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters 0.021761802760294952 Centerline is valid? [True, True] Translation: X:240.88, Y:-99.09, Z:-4.99 [[-6.66261182e-01 -7.45708703e-01 3.81677326e-03 2.40876765e+02] [ 7.45698220e-01 -6.66272082e-01 -3.95956713e-03 -9.90902450e+01] [ 5.49569314e-03 2.08055142e-04 9.99984877e-01 -4.99470827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters 0.019390821795654913 Centerline is valid? [True, True] Translation: X:240.84, Y:-99.04, Z:-4.99 [[-6.66826365e-01 -7.45208956e-01 2.49227524e-03 2.40840703e+02] [ 7.45204488e-01 -6.66831009e-01 -2.58399279e-03 -9.90446324e+01] [ 3.58754098e-03 1.34180170e-04 9.99993556e-01 -4.99253161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters 0.019575805508542394 Centerline is valid? [True, True] Translation: X:240.80, Y:-99.00, Z:-4.99 [[-6.67056995e-01 -7.45004204e-01 1.92370606e-03 2.40800418e+02] [ 7.45001545e-01 -6.67059761e-01 -1.99333413e-03 -9.90024012e+01] [ 2.76826921e-03 1.03496509e-04 9.99996163e-01 -4.99237131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters 0.020897612364147257 Centerline is valid? [True, True] Translation: X:240.76, Y:-98.96, Z:-4.99 [[-6.67639133e-01 -7.44480824e-01 2.50812766e-03 2.40759522e+02] [ 7.44476305e-01 -6.67643831e-01 -2.59717618e-03 -9.89633983e+01] [ 3.60808382e-03 1.33265159e-04 9.99993482e-01 -4.99434657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters 0.02075286719600459 Centerline is valid? [True, True] Translation: X:240.72, Y:-98.92, Z:-4.99 [[-6.67831764e-01 -7.44304630e-01 3.36949746e-03 2.40720436e+02] [ 7.44296483e-01 -6.67840240e-01 -3.48698269e-03 -9.89215843e+01] [ 4.84566335e-03 1.79187312e-04 9.99988244e-01 -4.99461344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters 0.02013302937741021 Centerline is valid? [True, True] Translation: X:240.68, Y:-98.88, Z:-4.99 [[-6.67652867e-01 -7.44464271e-01 3.54955960e-03 2.40680799e+02] [ 7.44455243e-01 -6.67662275e-01 -3.67125272e-03 -9.88788772e+01] [ 5.10302352e-03 1.91365854e-04 9.99986961e-01 -4.99424565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters 0.019853380046347537 Centerline is valid? [True, True] Translation: X:240.64, Y:-98.84, Z:-4.99 [[-6.68021220e-01 -7.44134241e-01 3.44683633e-03 2.40641340e+02] [ 7.44125736e-01 -6.68030087e-01 -3.56271124e-03 -9.88378927e+01] [ 4.95372580e-03 1.84912908e-04 9.99987713e-01 -4.99413418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters 0.018894652596573875 Centerline is valid? [True, True] Translation: X:240.60, Y:-98.80, Z:-4.99 [[-6.68569910e-01 -7.43641950e-01 3.30545663e-03 2.40602017e+02] [ 7.43634131e-01 -6.68578058e-01 -3.41459535e-03 -9.87956456e+01] [ 4.74919212e-03 1.75154658e-04 9.99988707e-01 -4.99433430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters 0.01920092014755473 Centerline is valid? [True, True] Translation: X:240.56, Y:-98.75, Z:-4.99 [[-6.69732332e-01 -7.42592323e-01 3.90449480e-03 2.40561989e+02] [ 7.42581408e-01 -6.69743684e-01 -4.03111103e-03 -9.87545293e+01] [ 5.60848283e-03 1.99639855e-04 9.99984252e-01 -4.99465326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters 0.0193412732592485 Centerline is valid? [True, True] Translation: X:240.52, Y:-98.71, Z:-5.00 [[-6.70989526e-01 -7.41453220e-01 4.49212988e-03 2.40522454e+02] [ 7.41438763e-01 -6.71004527e-01 -4.63525166e-03 -9.87137744e+01] [ 6.45106175e-03 2.20433910e-04 9.99979167e-01 -4.99577239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters 0.017755338565964833 Centerline is valid? [True, True] Translation: X:240.48, Y:-98.67, Z:-5.00 [[-6.72529423e-01 -7.40058023e-01 4.27760847e-03 2.40483983e+02] [ 7.40044901e-01 -6.72542998e-01 -4.41136932e-03 -9.86705254e+01] [ 6.14154488e-03 1.98846669e-04 9.99981121e-01 -4.99567384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters 0.016967908693325918 Centerline is valid? [True, True] Translation: X:240.44, Y:-98.63, Z:-5.00 [[-6.74561806e-01 -7.38208999e-01 3.72084521e-03 2.40444731e+02] [ 7.38199054e-01 -6.74572049e-01 -3.83511086e-03 -9.86270550e+01] [ 5.34109153e-03 1.59705104e-04 9.99985724e-01 -4.99518819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters 0.01575383147001502 Centerline is valid? [True, True] Translation: X:240.41, Y:-98.58, Z:-4.99 [[-6.77867086e-01 -7.35177336e-01 3.24015777e-03 2.40406725e+02] [ 7.35169769e-01 -6.77874819e-01 -3.33775888e-03 -9.85827916e+01] [ 4.65026604e-03 1.19509149e-04 9.99989180e-01 -4.99442225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters 0.01431908156597292 Centerline is valid? [True, True] Translation: X:240.37, Y:-98.54, Z:-4.99 [[-6.80640065e-01 -7.32607884e-01 3.84581705e-03 2.40369013e+02] [ 7.32597195e-01 -6.80650919e-01 -3.95936888e-03 -9.85384218e+01] [ 5.51832376e-03 1.22529689e-04 9.99984766e-01 -4.99486672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters 0.014304527568068931 Centerline is valid? [True, True] Translation: X:240.33, Y:-98.50, Z:-5.00 [[-6.82450767e-01 -7.30920813e-01 3.96444310e-03 2.40329936e+02] [ 7.30909439e-01 -6.82462272e-01 -4.07920516e-03 -9.84965855e+01] [ 5.68715880e-03 1.13792193e-04 9.99983822e-01 -4.99559889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters 0.01342434723078565 Centerline is valid? [True, True] Translation: X:240.29, Y:-98.45, Z:-5.00 [[-6.85199894e-01 -7.28339151e-01 4.81526478e-03 2.40292961e+02] [ 7.28322326e-01 -6.85216804e-01 -4.95190988e-03 -9.84514438e+01] [ 6.90617018e-03 1.14016723e-04 9.99976146e-01 -4.99603790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters 0.012558053625247877 Centerline is valid? [True, True] Translation: X:240.26, Y:-98.41, Z:-5.00 [[-6.87763096e-01 -7.25910365e-01 6.00543238e-03 2.40256313e+02] [ 7.25884132e-01 -6.87789306e-01 -6.17239032e-03 -9.84057679e+01] [ 8.61107428e-03 1.14105795e-04 9.99962918e-01 -4.99706478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters 0.012330519601465867 Centerline is valid? [True, True] Translation: X:240.22, Y:-98.36, Z:-5.00 [[-6.89103900e-01 -7.24633833e-01 6.45163947e-03 2.40218606e+02] [ 7.24603539e-01 -6.89134092e-01 -6.62678593e-03 -9.83626763e+01] [ 9.24803799e-03 1.08336768e-04 9.99957230e-01 -4.99805421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters 0.011973343568973926 Centerline is valid? [True, True] Translation: X:240.18, Y:-98.32, Z:-5.00 [[-6.91315609e-01 -7.22521380e-01 6.75161955e-03 2.40182581e+02] [ 7.22488145e-01 -6.91348572e-01 -6.93053220e-03 -9.83179686e+01] [ 9.67518022e-03 8.67799943e-05 9.99953191e-01 -4.99804653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters 0.011889913931498866 Centerline is valid? [True, True] Translation: X:240.14, Y:-98.28, Z:-5.00 [[-6.91634234e-01 -7.22224247e-01 5.85007326e-03 2.40142509e+02] [ 7.22199314e-01 -6.91658971e-01 -6.00165136e-03 -9.82755892e+01] [ 8.38079378e-03 7.39713541e-05 9.99964878e-01 -4.99645050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters 0.012204272130245563 Centerline is valid? [True, True] Translation: X:240.10, Y:-98.24, Z:-5.00 [[-6.90654863e-01 -7.23164199e-01 5.42240729e-03 2.40101539e+02] [ 7.23142834e-01 -6.90676144e-01 -5.55935022e-03 -9.82354545e+01] [ 7.76545040e-03 8.15827163e-05 9.99969845e-01 -4.99547605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters 0.012446698272353241 Centerline is valid? [True, True] Translation: X:240.06, Y:-98.20, Z:-5.00 [[-6.89558542e-01 -7.24204267e-01 6.09888515e-03 2.40058917e+02] [ 7.24177311e-01 -6.89585504e-01 -6.24935185e-03 -9.81958972e+01] [ 8.73151007e-03 1.07380293e-04 9.99961874e-01 -4.99597882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters 0.013266362331999768 Centerline is valid? [True, True] Translation: X:240.01, Y:-98.16, Z:-5.00 [[-6.87282184e-01 -7.26358490e-01 6.82230228e-03 2.40014715e+02] [ 7.26324903e-01 -6.87316027e-01 -6.98667716e-03 -9.81576616e+01] [ 9.76390997e-03 1.53389306e-04 9.99952320e-01 -4.99712254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters 0.01378523356284198 Centerline is valid? [True, True] Translation: X:239.97, Y:-98.12, Z:-5.00 [[-6.86379159e-01 -7.27212853e-01 6.71682969e-03 2.39972066e+02] [ 7.27180376e-01 -6.86412004e-01 -6.87479868e-03 -9.81186136e+01] [ 9.60995448e-03 1.65628198e-04 9.99953810e-01 -4.99765648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters 0.013985833896137 Centerline is valid? [True, True] Translation: X:239.93, Y:-98.08, Z:-5.00 [[-6.86065174e-01 -7.27506559e-01 6.98449148e-03 2.39930851e+02] [ 7.27471502e-01 -6.86100702e-01 -7.14422968e-03 -9.80782728e+01] [ 9.98953846e-03 1.79611332e-04 9.99950087e-01 -4.99763904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters 0.013733626522020757 Centerline is valid? [True, True] Translation: X:239.89, Y:-98.04, Z:-5.00 [[-6.86991403e-01 -7.26632236e-01 6.95746184e-03 2.39890882e+02] [ 7.26597449e-01 -6.87026612e-01 -7.11205863e-03 -9.80366258e+01] [ 9.94781249e-03 1.69350891e-04 9.99950505e-01 -4.99751097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters 0.01388570263635981 Centerline is valid? [True, True] Translation: X:239.85, Y:-98.00, Z:-5.00 [[-6.89549013e-01 -7.24201252e-01 7.39627640e-03 2.39851649e+02] [ 7.24161843e-01 -6.89588664e-01 -7.55647518e-03 -9.79953182e+01] [ 1.05727971e-02 1.45541140e-04 9.99944096e-01 -4.99868492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters 0.012498241068972613 Centerline is valid? [True, True] Translation: X:239.81, Y:-97.95, Z:-5.00 [[-6.91853762e-01 -7.22001857e-01 7.18961401e-03 2.39813979e+02] [ 7.21964543e-01 -6.91891109e-01 -7.34112690e-03 -9.79503888e+01] [ 1.02747373e-02 1.11660124e-04 9.99947207e-01 -4.99721174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters 0.011978975562625987 Centerline is valid? [True, True] Translation: X:239.78, Y:-97.91, Z:-5.00 [[-6.95206804e-01 -7.18786725e-01 5.75704732e-03 2.39775562e+02] [ 7.18762717e-01 -6.95230639e-01 -5.87501089e-03 -9.79069283e+01] [ 8.22535553e-03 5.36034310e-05 9.99966170e-01 -4.99640015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters 0.011751694015446791 Centerline is valid? [True, True] Translation: X:239.74, Y:-97.86, Z:-5.00 [[-6.96906965e-01 -7.17146906e-01 4.58220422e-03 2.39736564e+02] [ 7.17131675e-01 -6.96922029e-01 -4.67404199e-03 -9.78643672e+01] [ 6.54541381e-03 2.86713704e-05 9.99978578e-01 -4.99531126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters 0.01171079200744276 Centerline is valid? [True, True] Translation: X:239.70, Y:-97.82, Z:-4.99 [[-6.97931411e-01 -7.16155621e-01 3.58776969e-03 2.39698179e+02] [ 7.16146283e-01 -6.97940632e-01 -3.65731223e-03 -9.78221650e+01] [ 5.12325496e-03 1.68148374e-05 9.99986876e-01 -4.99420549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters 0.01181917169177992 Centerline is valid? [True, True] Translation: X:239.66, Y:-97.78, Z:-5.00 [[-6.97460224e-01 -7.16608247e-01 4.67497431e-03 2.39657274e+02] [ 7.16592421e-01 -6.97475891e-01 -4.76261291e-03 -9.77818237e+01] [ 6.67360956e-03 2.83180964e-05 9.99977731e-01 -4.99581118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters 0.011990212193038141 Centerline is valid? [True, True] Translation: X:239.62, Y:-97.74, Z:-5.00 [[-6.96585158e-01 -7.17451672e-01 5.67595420e-03 2.39615538e+02] [ 7.17428398e-01 -6.96608281e-01 -5.77898403e-03 -9.77420550e+01] [ 8.10005845e-03 4.65362253e-05 9.99967193e-01 -4.99728925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters 0.0121087350647522 Centerline is valid? [True, True] Translation: X:239.57, Y:-97.70, Z:-5.00 [[-6.95535092e-01 -7.18461109e-01 6.67614570e-03 2.39573194e+02] [ 7.18428993e-01 -6.95567128e-01 -6.79351195e-03 -9.77018917e+01] [ 9.52458162e-03 7.12106735e-05 9.99954638e-01 -4.99875673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters 0.012260226678645368 Centerline is valid? [True, True] Translation: X:239.53, Y:-97.66, Z:-5.00 [[-6.95572728e-01 -7.18423061e-01 6.84735609e-03 2.39533415e+02] [ 7.18389320e-01 -6.95606426e-01 -6.96312355e-03 -9.76623767e+01] [ 9.76553344e-03 7.57086457e-05 9.99952313e-01 -4.99918958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters 0.011830752614840442 Centerline is valid? [True, True] Translation: X:239.49, Y:-97.62, Z:-5.00 [[-6.96481922e-01 -7.17547214e-01 6.23920582e-03 2.39493532e+02] [ 7.17519197e-01 -6.96509865e-01 -6.34106646e-03 -9.76194710e+01] [ 8.89568298e-03 6.03117912e-05 9.99960431e-01 -4.99748596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters 0.011724706194295904 Centerline is valid? [True, True] Translation: X:239.45, Y:-97.58, Z:-5.00 [[-6.97081524e-01 -7.16968059e-01 5.84387198e-03 2.39452471e+02] [ 7.16943488e-01 -6.97106018e-01 -5.93589836e-03 -9.75777472e+01] [ 8.32964785e-03 5.19208822e-05 9.99965307e-01 -4.99704175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters 0.011678808323148457 Centerline is valid? [True, True] Translation: X:239.41, Y:-97.54, Z:-5.00 [[-6.97436730e-01 -7.16624824e-01 5.55600181e-03 2.39411312e+02] [ 7.16602629e-01 -6.97458858e-01 -5.64028325e-03 -9.75361381e+01] [ 7.91704967e-03 4.77047984e-05 9.99968659e-01 -4.99682027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters 0.011543006164791526 Centerline is valid? [True, True] Translation: X:239.37, Y:-97.50, Z:-5.00 [[-6.98452977e-01 -7.15638350e-01 5.01903576e-03 2.39371476e+02] [ 7.15620237e-01 -6.98471009e-01 -5.09176077e-03 -9.74965150e+01] [ 7.14951025e-03 3.53680868e-05 9.99974441e-01 -4.99722056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters 0.01151185505443049 Centerline is valid? [True, True] Translation: X:239.33, Y:-97.45, Z:-5.00 [[-6.99586685e-01 -7.14530147e-01 5.01401590e-03 2.39331612e+02] [ 7.14512062e-01 -6.99604652e-01 -5.08377477e-03 -9.74545431e+01] [ 7.14033918e-03 2.60336992e-05 9.99974507e-01 -4.99685050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters 0.011491216043263055 Centerline is valid? [True, True] Translation: X:239.29, Y:-97.41, Z:-5.00 [[-7.01614732e-01 -7.12536464e-01 5.34367133e-03 2.39292412e+02] [ 7.12515891e-01 -7.01635081e-01 -5.41456067e-03 -9.74132166e+01] [ 7.60737918e-03 8.51520410e-06 9.99971063e-01 -4.99723038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters 0.011639886106449131 Centerline is valid? [True, True] Translation: X:239.25, Y:-97.37, Z:-5.00 [[-7.04331745e-01 -7.09849254e-01 5.55241457e-03 2.39252754e+02] [ 7.09826984e-01 -7.04353630e-01 -5.62285130e-03 -9.73710254e+01] [ 7.90224016e-03 -1.90989705e-05 9.99968777e-01 -4.99728499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters 0.011956952232328602 Centerline is valid? [True, True] Translation: X:239.21, Y:-97.33, Z:-5.00 [[-7.06452932e-01 -7.07737828e-01 5.60555126e-03 2.39213288e+02] [ 7.07715092e-01 -7.06475170e-01 -5.67304002e-03 -9.73301248e+01] [ 7.97520780e-03 -4.06025284e-05 9.99968197e-01 -4.99782357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters 0.012375291857521816 Centerline is valid? [True, True] Translation: X:239.17, Y:-97.29, Z:-5.00 [[-7.08990880e-01 -7.05195617e-01 5.57429766e-03 2.39173307e+02] [ 7.05173080e-01 -7.09012790e-01 -5.63824156e-03 -9.72881461e+01] [ 7.92831157e-03 -6.66171976e-05 9.99968568e-01 -4.99774717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters 0.012768117797418417 Centerline is valid? [True, True] Translation: X:239.13, Y:-97.25, Z:-5.00 [[-7.10327688e-01 -7.03850160e-01 5.43398017e-03 2.39133746e+02] [ 7.03828732e-01 -7.10348468e-01 -5.49268507e-03 -9.72474531e+01] [ 7.72604676e-03 -7.70149137e-05 9.99970151e-01 -4.99767206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters 0.012808376097522299 Centerline is valid? [True, True] Translation: X:239.09, Y:-97.21, Z:-5.00 [[-7.09917446e-01 -7.04260410e-01 5.87331456e-03 2.39091777e+02] [ 7.04235423e-01 -7.09941737e-01 -5.93295809e-03 -9.72091768e+01] [ 8.34805863e-03 -7.57142894e-05 9.99965151e-01 -4.99829064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters 0.012404165856077846 Centerline is valid? [True, True] Translation: X:239.05, Y:-97.17, Z:-5.00 [[-7.08704378e-01 -7.05473934e-01 6.68089457e-03 2.39048937e+02] [ 7.05441696e-01 -7.08735864e-01 -6.74456862e-03 -9.71708528e+01] [ 9.49310694e-03 -6.69237144e-05 9.99954937e-01 -4.99943847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters 0.012119716329213595 Centerline is valid? [True, True] Translation: X:239.01, Y:-97.13, Z:-5.00 [[-7.07035616e-01 -7.07144582e-01 6.86866292e-03 2.39006157e+02] [ 7.07110627e-01 -7.07068977e-01 -6.92985450e-03 -9.71325289e+01] [ 9.75702753e-03 -4.27494063e-05 9.99952398e-01 -5.00048204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters 0.011914075876642777 Centerline is valid? [True, True] Translation: X:238.96, Y:-97.09, Z:-5.00 [[-7.04960675e-01 -7.09209869e-01 7.19778726e-03 2.38963629e+02] [ 7.09172737e-01 -7.04997420e-01 -7.25724765e-03 -9.70948374e+01] [ 1.02213331e-02 -1.15997174e-05 9.99947761e-01 -5.00142452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters 0.011698063044588253 Centerline is valid? [True, True] Translation: X:238.92, Y:-97.06, Z:-5.00 [[-7.04112417e-01 -7.10055922e-01 6.80372891e-03 2.38920677e+02] [ 7.10022826e-01 -7.04145288e-01 -6.85559058e-03 -9.70561311e+01] [ 9.65866635e-03 3.69637856e-06 9.99953354e-01 -5.00079245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters 0.011614528462336418 Centerline is valid? [True, True] Translation: X:238.88, Y:-97.02, Z:-5.00 [[-7.04580699e-01 -7.09602618e-01 5.49213125e-03 2.38879572e+02] [ 7.09581065e-01 -7.04602104e-01 -5.53053396e-03 -9.70169291e+01] [ 7.79424861e-03 4.04855487e-07 9.99969624e-01 -5.00049846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters 0.011617176519636445 Centerline is valid? [True, True] Translation: X:238.84, Y:-96.98, Z:-5.00 [[-7.06802211e-01 -7.07399253e-01 4.11478185e-03 2.38839771e+02] [ 7.07387132e-01 -7.06814189e-01 -4.14097364e-03 -9.69758160e+01] [ 5.83770785e-03 -1.61055922e-05 9.99982960e-01 -4.99965701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters 0.011528153928572706 Centerline is valid? [True, True] Translation: X:238.80, Y:-96.93, Z:-5.00 [[-7.08445060e-01 -7.05757054e-01 3.54645362e-03 2.38799077e+02] [ 7.05748040e-01 -7.08453937e-01 -3.56699878e-03 -9.69349817e+01] [ 5.02993358e-03 -2.41199753e-05 9.99987350e-01 -4.99955163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters 0.011848566195416039 Centerline is valid? [True, True] Translation: X:238.76, Y:-96.89, Z:-5.00 [[-7.11230749e-01 -7.02944681e-01 4.42690361e-03 2.38759085e+02] [ 7.02930597e-01 -7.11244524e-01 -4.45004359e-03 -9.68930800e+01] [ 6.27674542e-03 -5.32018344e-05 9.99980300e-01 -5.00087140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters 0.012388821064831464 Centerline is valid? [True, True] Translation: X:238.72, Y:-96.85, Z:-5.00 [[-7.12890041e-01 -7.01256561e-01 5.19860172e-03 2.38719395e+02] [ 7.01237109e-01 -7.12908991e-01 -5.22367079e-03 -9.68519269e+01] [ 7.36926332e-03 -7.84504439e-05 9.99972844e-01 -5.00243262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters 0.0130971031862445 Centerline is valid? [True, True] Translation: X:238.68, Y:-96.81, Z:-5.00 [[-7.15538113e-01 -6.98546198e-01 6.19824134e-03 2.38679012e+02] [ 6.98518475e-01 -7.15564947e-01 -6.22466435e-03 -9.68096114e+01] [ 8.78345985e-03 -1.24398492e-04 9.99961417e-01 -5.00362685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters 0.013587017967326993 Centerline is valid? [True, True] Translation: X:238.64, Y:-96.77, Z:-5.00 [[-7.17168536e-01 -6.96875583e-01 5.80633472e-03 2.38639342e+02] [ 6.96851226e-01 -7.17192028e-01 -5.82788810e-03 -9.67673563e+01] [ 8.22556988e-03 -1.33426508e-04 9.99966161e-01 -5.00348472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters 0.012998569764841343 Centerline is valid? [True, True] Translation: X:238.60, Y:-96.73, Z:-5.00 [[-7.17829571e-01 -6.96199622e-01 5.17622855e-03 2.38598701e+02] [ 6.96180271e-01 -7.17848223e-01 -5.19227821e-03 -9.67265359e+01] [ 7.33060859e-03 -1.23582650e-04 9.99973123e-01 -5.00219220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters 0.012930483770990327 Centerline is valid? [True, True] Translation: X:238.56, Y:-96.68, Z:-5.00 [[-7.17830605e-01 -6.96203223e-01 4.50486010e-03 2.38558738e+02] [ 6.96188583e-01 -7.17844733e-01 -4.51627055e-03 -9.66849439e+01] [ 6.37803221e-03 -1.05685054e-04 9.99979655e-01 -5.00157016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters 0.012324846306946528 Centerline is valid? [True, True] Translation: X:238.52, Y:-96.64, Z:-5.00 [[-7.16547917e-01 -6.97528092e-01 3.69380570e-03 2.38516819e+02] [ 6.97518272e-01 -7.16557434e-01 -3.70186598e-03 -9.66441369e+01] [ 5.22897945e-03 -7.60673850e-05 9.99986326e-01 -5.00114669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters 0.011434710405363174 Centerline is valid? [True, True] Translation: X:238.47, Y:-96.60, Z:-5.00 [[-7.13890356e-01 -7.00249433e-01 3.36021735e-03 2.38474018e+02] [ 7.00241347e-01 -7.13898262e-01 -3.36558710e-03 -9.66046513e+01] [ 4.75560379e-03 -4.96970535e-05 9.99988691e-01 -5.00150246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters 0.010767521707007314 Centerline is valid? [True, True] Translation: X:238.43, Y:-96.57, Z:-5.00 [[-7.09549310e-01 -7.04647070e-01 3.50483028e-03 2.38431135e+02] [ 7.04638336e-01 -7.09557965e-01 -3.50847939e-03 -9.65665648e+01] [ 4.95911997e-03 -1.98013552e-05 9.99987703e-01 -5.00193610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters 0.01063634216918235 Centerline is valid? [True, True] Translation: X:238.39, Y:-96.53, Z:-5.00 [[-7.06090402e-01 -7.08112469e-01 3.61613167e-03 2.38387929e+02] [ 7.08103228e-01 -7.06099661e-01 -3.61766778e-03 -9.65293646e+01] [ 5.11506502e-03 6.19401168e-06 9.99986918e-01 -5.00304549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters 0.011205108450046545 Centerline is valid? [True, True] Translation: X:238.34, Y:-96.49, Z:-5.00 [[-7.01017102e-01 -7.13131848e-01 4.24132446e-03 2.38342237e+02] [ 7.13119241e-01 -7.01029931e-01 -4.24081469e-03 -9.64927154e+01] [ 5.99755541e-03 5.16864485e-05 9.99982013e-01 -5.00415063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters 0.012303362282880257 Centerline is valid? [True, True] Translation: X:238.32, Y:-96.52, Z:-5.00 [[-6.47781822e-01 -7.61815801e-01 3.92388833e-03 2.38318662e+02] [ 7.61802447e-01 -6.47793703e-01 -4.51109083e-03 -9.65167000e+01] [ 5.97849042e-03 6.70250954e-05 9.99982126e-01 -5.00479363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters 0.01214718419253783 Centerline is valid? [True, True] Translation: X:238.28, Y:-96.47, Z:-5.00 [[-6.46721825e-01 -7.62717514e-01 3.58833007e-03 2.38280502e+02] [ 7.62706473e-01 -6.46731774e-01 -4.10463370e-03 -9.64728685e+01] [ 5.45136308e-03 8.22863798e-05 9.99985138e-01 -5.00415125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters 0.012397851793033238 Centerline is valid? [True, True] Translation: X:238.24, Y:-96.43, Z:-5.01 [[-6.46207880e-01 -7.63151722e-01 3.85040893e-03 2.38242042e+02] [ 7.63139034e-01 -6.46219344e-01 -4.40160010e-03 -9.64298640e+01] [ 5.84729743e-03 9.40486847e-05 9.99982900e-01 -5.00550984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters 0.012495416140603448 Centerline is valid? [True, True] Translation: X:238.21, Y:-96.39, Z:-5.01 [[-6.46585315e-01 -7.62831076e-01 4.02250318e-03 2.38205457e+02] [ 7.62817240e-01 -6.46597820e-01 -4.59542336e-03 -9.63857201e+01] [ 6.10647353e-03 9.71015146e-05 9.99981351e-01 -5.00594548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters 0.01162863490008269 Centerline is valid? [True, True] Translation: X:238.17, Y:-96.34, Z:-5.01 [[-6.49289162e-01 -7.60533515e-01 3.51526033e-03 2.38170496e+02] [ 7.60522926e-01 -6.49298674e-01 -4.01378208e-03 -9.63384763e+01] [ 5.33506967e-03 6.73308720e-05 9.99985766e-01 -5.00528855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters 0.011461900159348835 Centerline is valid? [True, True] Translation: X:238.13, Y:-96.29, Z:-5.01 [[-6.50895539e-01 -7.59159023e-01 3.54619805e-03 2.38133866e+02] [ 7.59148240e-01 -6.50905197e-01 -4.04651447e-03 -9.62942504e+01] [ 5.38018671e-03 5.82317914e-05 9.99985525e-01 -5.00517157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters 0.01059123361634473 Centerline is valid? [True, True] Translation: X:238.10, Y:-96.25, Z:-5.01 [[-6.56664421e-01 -7.54175513e-01 3.33686044e-03 2.38100768e+02] [ 7.54165912e-01 -6.56672898e-01 -3.80548615e-03 -9.62463254e+01] [ 5.06123029e-03 1.76190443e-05 9.99987192e-01 -5.00516628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters 0.010827417554692015 Centerline is valid? [True, True] Translation: X:238.07, Y:-96.20, Z:-5.01 [[-6.64700738e-01 -7.47099704e-01 3.86805938e-03 2.38068274e+02] [ 7.47086696e-01 -6.64711991e-01 -4.40880555e-03 -9.61969598e+01] [ 5.86496278e-03 -4.07606040e-05 9.99982800e-01 -5.00515810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters 0.011943608767730061 Centerline is valid? [True, True] Translation: X:238.03, Y:-96.15, Z:-5.00 [[-6.70628351e-01 -7.41783263e-01 3.89948917e-03 2.38034524e+02] [ 7.41769968e-01 -6.70639682e-01 -4.44204639e-03 -9.61500808e+01] [ 5.91018785e-03 -8.64382879e-05 9.99982531e-01 -5.00496461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters 0.01463208388027934 Centerline is valid? [True, True] Translation: X:238.00, Y:-96.10, Z:-5.00 [[-6.77630432e-01 -7.35394288e-01 3.49848303e-03 2.38000609e+02] [ 7.35383510e-01 -6.77639451e-01 -3.98334862e-03 -9.61046901e+01] [ 5.30004194e-03 -1.26511515e-04 9.99985947e-01 -5.00423265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters 0.015122171535218696 Centerline is valid? [True, True] Translation: X:237.96, Y:-96.06, Z:-5.00 [[-6.81779270e-01 -7.31550076e-01 3.39305338e-03 2.37960724e+02] [ 7.31539902e-01 -6.81787697e-01 -3.86114531e-03 -9.60622353e+01] [ 5.13796319e-03 -1.50294899e-04 9.99986789e-01 -5.00323509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters 0.017100899265983502 Centerline is valid? [True, True] Translation: X:237.92, Y:-96.02, Z:-5.00 [[-6.84891405e-01 -7.28635056e-01 3.83645398e-03 2.37924234e+02] [ 7.28622014e-01 -6.84902122e-01 -4.36389611e-03 -9.60185166e+01] [ 5.80728316e-03 -1.93470109e-04 9.99983119e-01 -5.00293013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters 0.017278840749439334 Centerline is valid? [True, True] Translation: X:237.88, Y:-95.98, Z:-5.00 [[-6.85973947e-01 -7.27617203e-01 3.59852851e-03 2.37883904e+02] [ 7.27605727e-01 -6.85983360e-01 -4.09090754e-03 -9.59770907e+01] [ 5.44514539e-03 -1.87946040e-04 9.99985157e-01 -5.00277091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters 0.017060423841681736 Centerline is valid? [True, True] Translation: X:237.84, Y:-95.94, Z:-5.00 [[-6.84405214e-01 -7.29093361e-01 3.51759996e-03 2.37840230e+02] [ 7.29082423e-01 -6.84414232e-01 -3.99752245e-03 -9.59377016e+01] [ 5.32206255e-03 -1.71304904e-04 9.99985823e-01 -5.00318419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters 0.014389220986667567 Centerline is valid? [True, True] Translation: X:237.79, Y:-95.90, Z:-5.00 [[-6.78254659e-01 -7.34817390e-01 3.74452277e-03 2.37794626e+02] [ 7.34805095e-01 -6.78264982e-01 -4.25282551e-03 -9.59014548e+01] [ 5.66482881e-03 -1.33004307e-04 9.99983946e-01 -5.00312362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters 0.012401123710406468 Centerline is valid? [True, True] Translation: X:237.75, Y:-95.86, Z:-5.00 [[-6.71972484e-01 -7.40566853e-01 3.70371577e-03 2.37750328e+02] [ 7.40554925e-01 -6.71982686e-01 -4.20385076e-03 -9.58648603e+01] [ 5.60206540e-03 -8.20670815e-05 9.99984305e-01 -5.00349468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters 0.0102783390175307 Centerline is valid? [True, True] Translation: X:237.70, Y:-95.83, Z:-5.00 [[-6.60997690e-01 -7.50379875e-01 3.47820673e-03 2.37699014e+02] [ 7.50369501e-01 -6.61006841e-01 -3.94568360e-03 -9.58334955e+01] [ 5.25988001e-03 1.85250457e-06 9.99986167e-01 -5.00441230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters 0.011307745562053642 Centerline is valid? [True, True] Translation: X:237.65, Y:-95.80, Z:-5.00 [[-6.52481271e-01 -7.57801917e-01 2.10872859e-03 2.37651289e+02] [ 7.57798147e-01 -6.52484677e-01 -2.39063272e-03 -9.57986461e+01] [ 3.18753915e-03 3.81475462e-05 9.99994919e-01 -5.00296551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters 0.012709869148802257 Centerline is valid? [True, True] Translation: X:237.61, Y:-95.76, Z:-5.00 [[-6.48155121e-01 -7.61507782e-01 9.15351681e-04 2.37607164e+02] [ 7.61507076e-01 -6.48155767e-01 -1.03702988e-03 -9.57608404e+01] [ 1.38299680e-03 2.48905533e-05 9.99999043e-01 -5.00175871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters 0.013467161447303646 Centerline is valid? [True, True] Translation: X:237.56, Y:-95.72, Z:-5.00 [[-6.46856626e-01 -7.62611115e-01 8.90383056e-04 2.37563435e+02] [ 7.62610449e-01 -6.46857239e-01 -1.00816918e-03 -9.57216519e+01] [ 1.34479175e-03 2.68745071e-05 9.99999095e-01 -5.00273634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters 0.013373702695872436 Centerline is valid? [True, True] Translation: X:237.52, Y:-95.68, Z:-5.00 [[-6.47337482e-01 -7.62200484e-01 2.14602000e-03 2.37523325e+02] [ 7.62196618e-01 -6.47341036e-01 -2.42864836e-03 -9.56801451e+01] [ 3.24032377e-03 6.35340761e-05 9.99994748e-01 -5.00423554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters 0.011818205479921054 Centerline is valid? [True, True] Translation: X:237.49, Y:-95.63, Z:-5.01 [[-6.51209519e-01 -7.58887421e-01 4.00564510e-03 2.37486339e+02] [ 7.58873900e-01 -6.51221832e-01 -4.53089711e-03 -9.56342558e+01] [ 6.04700436e-03 8.92161973e-05 9.99981713e-01 -5.00622023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters 0.01070737162347434 Centerline is valid? [True, True] Translation: X:237.45, Y:-95.59, Z:-5.01 [[-6.59325641e-01 -7.51842569e-01 4.73827516e-03 2.37452645e+02] [ 7.51823486e-01 -6.59342666e-01 -5.35672147e-03 -9.55881619e+01] [ 7.15155821e-03 3.05227383e-05 9.99974427e-01 -5.00726295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters 0.010718964801452143 Centerline is valid? [True, True] Translation: X:237.42, Y:-95.54, Z:-5.01 [[-6.66275830e-01 -7.45694194e-01 4.08516134e-03 2.37419034e+02] [ 7.45679909e-01 -6.66288353e-01 -4.61569721e-03 -9.55399009e+01] [ 6.16379402e-03 -2.91047514e-05 9.99981003e-01 -5.00519119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters 0.01384227971787477 Centerline is valid? [True, True] Translation: X:237.39, Y:-95.49, Z:-5.00 [[-6.77758898e-01 -7.35276109e-01 3.45239342e-03 2.37389607e+02] [ 7.35265782e-01 -6.77767683e-01 -3.89834266e-03 -9.54903323e+01] [ 5.20627891e-03 -1.03709678e-04 9.99986442e-01 -5.00405327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters 0.018873328140837295 Centerline is valid? [True, True] Translation: X:237.36, Y:-95.44, Z:-5.00 [[-6.88239070e-01 -7.25479158e-01 2.64088805e-03 2.37357805e+02] [ 7.25473049e-01 -6.88244123e-01 -2.98018781e-03 -9.54420571e+01] [ 3.97963982e-03 -1.35188583e-04 9.99992072e-01 -5.00288901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters 0.02200830656852492 Centerline is valid? [True, True] Translation: X:237.32, Y:-95.40, Z:-5.00 [[-6.96029790e-01 -7.18007569e-01 2.76813659e-03 2.37321553e+02] [ 7.18000805e-01 -6.96035270e-01 -3.12200938e-03 -9.53967248e+01] [ 4.16834706e-03 -1.85487227e-04 9.99991295e-01 -5.00213742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters 0.022639895975515734 Centerline is valid? [True, True] Translation: X:237.28, Y:-95.36, Z:-5.00 [[-6.99664182e-01 -7.14463438e-01 3.46817918e-03 2.37280713e+02] [ 7.14452789e-01 -6.99672730e-01 -3.90923371e-03 -9.53553246e+01] [ 5.21959495e-03 -2.57300514e-04 9.99986345e-01 -5.00193851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters 0.02173609889144664 Centerline is valid? [True, True] Translation: X:237.24, Y:-95.32, Z:-5.00 [[-6.99361379e-01 -7.14754599e-01 4.41865123e-03 2.37237724e+02] [ 7.14737338e-01 -6.99375263e-01 -4.97779206e-03 -9.53162639e+01] [ 6.64819514e-03 -3.23100508e-04 9.99977848e-01 -5.00279259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters 0.021228124212140504 Centerline is valid? [True, True] Translation: X:237.19, Y:-95.28, Z:-5.00 [[-6.96978277e-01 -7.17076191e-01 4.79769985e-03 2.37194307e+02] [ 7.17055921e-01 -6.96994714e-01 -5.40139587e-03 -9.52781599e+01] [ 7.21718380e-03 -3.24436499e-04 9.99973903e-01 -5.00321149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters 0.01767428089411807 Centerline is valid? [True, True] Translation: X:237.14, Y:-95.24, Z:-5.00 [[-6.90026473e-01 -7.23772180e-01 4.15909481e-03 2.37144673e+02] [ 7.23757084e-01 -6.90038972e-01 -4.67977855e-03 -9.52444252e+01] [ 6.25703103e-03 -2.18996757e-04 9.99980401e-01 -5.00226849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters 0.014082261525215634 Centerline is valid? [True, True] Translation: X:237.09, Y:-95.21, Z:-5.00 [[-6.80016951e-01 -7.33185252e-01 4.04146666e-03 2.37093881e+02] [ 7.33171176e-01 -6.80028948e-01 -4.54494110e-03 -9.52138962e+01] [ 6.08059810e-03 -1.27550126e-04 9.99981505e-01 -5.00246570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters 0.011701071434273833 Centerline is valid? [True, True] Translation: X:237.05, Y:-95.18, Z:-5.00 [[-6.72567682e-01 -7.40022557e-01 4.39626716e-03 2.37046203e+02] [ 7.40006059e-01 -6.72582047e-01 -4.94192730e-03 -9.51793649e+01] [ 6.61398804e-03 -7.05162514e-05 9.99978125e-01 -5.00292965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters 0.010732055217866802 Centerline is valid? [True, True] Translation: X:236.99, Y:-95.15, Z:-5.00 [[-6.63128753e-01 -7.48489753e-01 4.83177993e-03 2.36994647e+02] [ 7.48470068e-01 -6.63146356e-01 -5.42843330e-03 -9.51474913e+01] [ 7.26730395e-03 1.66924514e-05 9.99973593e-01 -5.00267830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters 0.01127561870797934 Centerline is valid? [True, True] Translation: X:236.95, Y:-95.11, Z:-5.00 [[-6.57887876e-01 -7.53099839e-01 4.91688726e-03 2.36946218e+02] [ 7.53079605e-01 -6.57906246e-01 -5.52092438e-03 -9.51129220e+01] [ 7.39265809e-03 7.06583050e-05 9.99972671e-01 -5.00328419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters 0.01156011600358528 Centerline is valid? [True, True] Translation: X:236.90, Y:-95.08, Z:-5.00 [[-6.57878281e-01 -7.53108317e-01 4.90207722e-03 2.36903256e+02] [ 7.53088224e-01 -6.57896541e-01 -5.50161898e-03 -9.50754909e+01] [ 7.36837465e-03 7.23009910e-05 9.99972851e-01 -5.00474826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters 0.010887331209798151 Centerline is valid? [True, True] Translation: X:236.87, Y:-95.03, Z:-5.01 [[-6.61147911e-01 -7.50239429e-01 4.92338057e-03 2.36865486e+02] [ 7.50219106e-01 -6.61166241e-01 -5.52223866e-03 -9.50324271e+01] [ 7.39817420e-03 4.25976165e-05 9.99972632e-01 -5.00507557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters 0.01061700858033519 Centerline is valid? [True, True] Translation: X:236.83, Y:-94.99, Z:-5.01 [[-6.66183710e-01 -7.45768690e-01 5.32211137e-03 2.36828892e+02] [ 7.45744829e-01 -6.66204969e-01 -5.96573585e-03 -9.49878227e+01] [ 7.99467606e-03 -5.33900902e-06 9.99968042e-01 -5.00555492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters 0.011796573810880605 Centerline is valid? [True, True] Translation: X:236.79, Y:-94.94, Z:-5.01 [[-6.74177867e-01 -7.38549113e-01 5.42321747e-03 2.36792890e+02] [ 7.38524127e-01 -6.74199673e-01 -6.07568668e-03 -9.49420103e+01] [ 8.14352446e-03 -9.09165442e-05 9.99966837e-01 -5.00587141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters 0.013285930656572392 Centerline is valid? [True, True] Translation: X:236.76, Y:-94.90, Z:-5.01 [[-6.79712275e-01 -7.33452879e-01 6.17222891e-03 2.36755957e+02] [ 7.33420340e-01 -6.79740277e-01 -6.91087115e-03 -9.48975064e+01] [ 9.26431093e-03 -1.70565730e-04 9.99957071e-01 -5.00664021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters 0.014044010367050433 Centerline is valid? [True, True] Translation: X:236.72, Y:-94.85, Z:-5.01 [[-6.81223050e-01 -7.32041524e-01 7.09662261e-03 2.36717357e+02] [ 7.31998479e-01 -6.81259980e-01 -7.94145429e-03 -9.48535778e+01] [ 1.06481193e-02 -2.15184762e-04 9.99943284e-01 -5.00766697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters 0.013546047482299404 Centerline is valid? [True, True] Translation: X:236.68, Y:-94.81, Z:-5.01 [[-6.81385771e-01 -7.31883920e-01 7.70445685e-03 2.36676654e+02] [ 7.31833232e-01 -6.81429287e-01 -8.61671792e-03 -9.48114829e+01] [ 1.15564798e-02 -2.32931424e-04 9.99933195e-01 -5.00750409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters 0.013420463786159912 Centerline is valid? [True, True] Translation: X:236.64, Y:-94.77, Z:-5.01 [[-6.79809709e-01 -7.33346527e-01 7.85049838e-03 2.36636141e+02] [ 7.33294054e-01 -6.79855005e-01 -8.77514788e-03 -9.47712981e+01] [ 1.17724248e-02 -2.08706947e-04 9.99930681e-01 -5.00764609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters 0.012324536684113936 Centerline is valid? [True, True] Translation: X:236.59, Y:-94.73, Z:-5.01 [[-6.76523198e-01 -7.36388619e-01 6.94012656e-03 2.36594404e+02] [ 7.36347812e-01 -6.76558781e-01 -7.75339775e-03 -9.47303745e+01] [ 1.04049174e-02 -1.35006429e-04 9.99945858e-01 -5.00533066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters 0.011714786586923731 Centerline is valid? [True, True] Translation: X:236.55, Y:-94.69, Z:-5.01 [[-6.73623589e-01 -7.39051091e-01 5.89455007e-03 2.36553477e+02] [ 7.39021787e-01 -6.73649374e-01 -6.58178056e-03 -9.46901001e+01] [ 8.83513207e-03 -7.74417230e-05 9.99960966e-01 -5.00501958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters 0.010699571844752821 Centerline is valid? [True, True] Translation: X:236.51, Y:-94.65, Z:-5.00 [[-6.66940085e-01 -7.45093778e-01 5.11722671e-03 2.36508380e+02] [ 7.45071892e-01 -6.66959716e-01 -5.71077237e-03 -9.46519504e+01] [ 7.66804503e-03 3.95877511e-06 9.99970600e-01 -5.00380710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters 0.011746644887874327 Centerline is valid? [True, True] Translation: X:236.46, Y:-94.61, Z:-5.00 [[-6.58821099e-01 -7.52280053e-01 5.42959531e-03 2.36464171e+02] [ 7.52255683e-01 -6.58843466e-01 -6.05593363e-03 -9.46136365e+01] [ 8.13301147e-03 9.46670762e-05 9.99966922e-01 -5.00419666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters 0.013509610426195225 Centerline is valid? [True, True] Translation: X:236.42, Y:-94.57, Z:-5.00 [[-6.53698218e-01 -7.56735349e-01 5.50009213e-03 2.36422290e+02] [ 7.56710529e-01 -6.53721338e-01 -6.13085645e-03 -9.45739307e+01] [ 8.23496338e-03 1.54247693e-04 9.99966080e-01 -5.00471833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters 0.016642681996412202 Centerline is valid? [True, True] Translation: X:236.38, Y:-94.53, Z:-5.01 [[-6.48406238e-01 -7.61270377e-01 6.06330791e-03 2.36381013e+02] [ 7.61240436e-01 -6.48434544e-01 -6.75584068e-03 -9.45346099e+01] [ 9.07467968e-03 2.35105915e-04 9.99958797e-01 -5.00530762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters 0.01675576418485996 Centerline is valid? [True, True] Translation: X:236.34, Y:-94.49, Z:-5.00 [[-6.47003224e-01 -7.62464150e-01 5.93692766e-03 2.36343902e+02] [ 7.62435527e-01 -6.47030415e-01 -6.61129194e-03 -9.44900827e+01] [ 8.88224586e-03 2.48997363e-04 9.99960521e-01 -5.00499046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters 0.016486825335381664 Centerline is valid? [True, True] Translation: X:236.31, Y:-94.44, Z:-5.00 [[-6.47216830e-01 -7.62283016e-01 5.91425209e-03 2.36309328e+02] [ 7.62254641e-01 -6.47243804e-01 -6.58182788e-03 -9.44438088e+01] [ 8.84517863e-03 2.48296328e-04 9.99960850e-01 -5.00453219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters 0.01594977211322365 Centerline is valid? [True, True] Translation: X:236.28, Y:-94.40, Z:-5.01 [[-6.49351236e-01 -7.60455554e-01 7.09387162e-03 2.36276073e+02] [ 7.60414668e-01 -6.49389927e-01 -7.89019575e-03 -9.43956751e+01] [ 1.06068320e-02 2.70775676e-04 9.99943709e-01 -5.00637419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters 0.01481271041008768 Centerline is valid? [True, True] Translation: X:236.24, Y:-94.35, Z:-5.01 [[-6.51063401e-01 -7.58983398e-01 7.78773043e-03 2.36242990e+02] [ 7.58934075e-01 -6.51109919e-01 -8.65701205e-03 -9.43470319e+01] [ 1.16411970e-02 2.74110276e-04 9.99932201e-01 -5.00640308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters 0.014356683573536365 Centerline is valid? [True, True] Translation: X:236.21, Y:-94.30, Z:-5.01 [[-6.52659254e-01 -7.57609686e-01 7.96627013e-03 2.36210966e+02] [ 7.57558033e-01 -6.52707818e-01 -8.85043801e-03 -9.42973830e+01] [ 1.19048244e-02 2.58591660e-04 9.99929102e-01 -5.00542894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters 0.014280480044035652 Centerline is valid? [True, True] Translation: X:236.18, Y:-94.25, Z:-5.00 [[-6.53042851e-01 -7.57283312e-01 7.55111597e-03 2.36178466e+02] [ 7.57236935e-01 -6.53086461e-01 -8.38441494e-03 -9.42487481e+01] [ 1.12809091e-02 2.42601675e-04 9.99936339e-01 -5.00445964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters 0.014302639426919487 Centerline is valid? [True, True] Translation: X:236.14, Y:-94.20, Z:-5.00 [[-6.53169340e-01 -7.57172593e-01 7.71213417e-03 2.36144225e+02] [ 7.57124265e-01 -6.53214821e-01 -8.55832467e-03 -9.42014479e+01] [ 1.15178092e-02 2.49008644e-04 9.99933637e-01 -5.00445348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters 0.014599389288865082 Centerline is valid? [True, True] Translation: X:236.11, Y:-94.15, Z:-5.00 [[-6.53322101e-01 -7.57034536e-01 8.30323454e-03 2.36112403e+02] [ 7.56978577e-01 -6.53374808e-01 -9.20845139e-03 -9.41531207e+01] [ 1.23962400e-02 2.69285850e-04 9.99923127e-01 -5.00494043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters 0.014968193237951573 Centerline is valid? [True, True] Translation: X:236.08, Y:-94.11, Z:-5.01 [[-6.53162147e-01 -7.57161289e-01 9.27319856e-03 2.36077495e+02] [ 7.57091583e-01 -6.53227899e-01 -1.02784690e-02 -9.41062609e+01] [ 1.38399709e-02 3.07153705e-04 9.99904176e-01 -5.00577584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters 0.014544937497070467 Centerline is valid? [True, True] Translation: X:236.05, Y:-94.06, Z:-5.00 [[-6.53137276e-01 -7.57183213e-01 9.23479668e-03 2.36046892e+02] [ 7.57114175e-01 -6.53202485e-01 -1.02293518e-02 -9.40564022e+01] [ 1.37776856e-02 3.10624530e-04 9.99905035e-01 -5.00411254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters 0.015043154009637705 Centerline is valid? [True, True] Translation: X:236.01, Y:-94.01, Z:-5.00 [[-6.51750972e-01 -7.58378010e-01 9.13588117e-03 2.36013261e+02] [ 7.58310639e-01 -6.51814913e-01 -1.01140345e-02 -9.40086134e+01] [ 1.36251650e-02 3.36004052e-04 9.99907117e-01 -5.00296401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters 0.016161385746445812 Centerline is valid? [True, True] Translation: X:235.98, Y:-93.96, Z:-5.00 [[-6.50264088e-01 -7.59650506e-01 9.36612055e-03 2.35976086e+02] [ 7.59579910e-01 -6.50331429e-01 -1.03630990e-02 -9.39640710e+01] [ 1.39634160e-02 3.75565857e-04 9.99902436e-01 -5.00408190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters 0.017486998953582585 Centerline is valid? [True, True] Translation: X:235.94, Y:-93.92, Z:-5.00 [[-6.48323517e-01 -7.61297839e-01 1.01103169e-02 2.35942075e+02] [ 7.61215876e-01 -6.48402190e-01 -1.11798676e-02 -9.39171616e+01] [ 1.50667606e-02 4.47962679e-04 9.99886390e-01 -5.00450043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters 0.017557704230747116 Centerline is valid? [True, True] Translation: X:235.91, Y:-93.87, Z:-5.00 [[-6.48175796e-01 -7.61423278e-01 1.01355271e-02 2.35907365e+02] [ 7.61341029e-01 -6.48254875e-01 -1.12006840e-02 -9.38710341e+01] [ 1.50988664e-02 4.56580376e-04 9.99885901e-01 -5.00400239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters 0.018075885892723065 Centerline is valid? [True, True] Translation: X:235.87, Y:-93.82, Z:-5.00 [[-6.49043200e-01 -7.60685061e-01 1.00579718e-02 2.35874250e+02] [ 7.60604080e-01 -6.49120978e-01 -1.11080961e-02 -9.38244507e+01] [ 1.49786033e-02 4.40500140e-04 9.99887717e-01 -5.00386758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters 0.016057561447235535 Centerline is valid? [True, True] Translation: X:235.84, Y:-93.78, Z:-5.00 [[-6.50596870e-01 -7.59367403e-01 9.21194334e-03 2.35841623e+02] [ 7.59299421e-01 -6.50661973e-01 -1.01679569e-02 -9.37756023e+01] [ 1.37150762e-02 3.79382320e-04 9.99905872e-01 -5.00191151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters 0.014718822241384993 Centerline is valid? [True, True] Translation: X:235.81, Y:-93.73, Z:-5.00 [[-6.54655076e-01 -7.55867746e-01 9.52272339e-03 2.35811062e+02] [ 7.55794815e-01 -6.54724253e-01 -1.05047166e-02 -9.37255592e+01] [ 1.41749344e-02 3.20258936e-04 9.99899479e-01 -5.00101732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters 0.012898378253606298 Centerline is valid? [True, True] Translation: X:235.78, Y:-93.67, Z:-5.00 [[-6.60098509e-01 -7.51108967e-01 1.02605193e-02 2.35781372e+02] [ 7.51023818e-01 -6.60178205e-01 -1.13120114e-02 -9.36748246e+01] [ 1.52703244e-02 2.38852562e-04 9.99883373e-01 -5.00216254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters 0.012033446815621742 Centerline is valid? [True, True] Translation: X:235.75, Y:-93.63, Z:-5.00 [[-6.63740048e-01 -7.47887456e-01 1.06536743e-02 2.35748583e+02] [ 7.47795345e-01 -6.63825521e-01 -1.17388459e-02 -9.36264032e+01] [ 1.58515165e-02 1.75225931e-04 9.99874341e-01 -5.00213549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters 0.011609954470609 Centerline is valid? [True, True] Translation: X:235.71, Y:-93.58, Z:-5.00 [[-6.65830821e-01 -7.46034978e-01 1.00563511e-02 2.35713368e+02] [ 7.45952787e-01 -6.65906747e-01 -1.10744710e-02 -9.35797824e+01] [ 1.49585348e-02 1.27839070e-04 9.99888107e-01 -5.00125295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters 0.011826089292762774 Centerline is valid? [True, True] Translation: X:235.67, Y:-93.54, Z:-5.00 [[-6.64448901e-01 -7.47270441e-01 9.72349132e-03 2.35674048e+02] [ 7.47193833e-01 -6.64520026e-01 -1.07010419e-02 -9.35383076e+01] [ 1.44580270e-02 1.55037224e-04 9.99895465e-01 -5.00052219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters 0.01221062430292737 Centerline is valid? [True, True] Translation: X:235.63, Y:-93.50, Z:-5.00 [[-6.62791832e-01 -7.48732957e-01 1.02930386e-02 2.35634272e+02] [ 7.48647385e-01 -6.62871721e-01 -1.13213897e-02 -9.34964314e+01] [ 1.52996618e-02 2.02131824e-04 9.99882933e-01 -5.00063399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters 0.012533524190330958 Centerline is valid? [True, True] Translation: X:235.60, Y:-93.45, Z:-5.00 [[-6.61054655e-01 -7.50248197e-01 1.15924800e-02 2.35595009e+02] [ 7.50139980e-01 -6.61156237e-01 -1.27452727e-02 -9.34543872e+01] [ 1.72265583e-02 2.70660867e-04 9.99851575e-01 -5.00120346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters 0.013185300990361514 Centerline is valid? [True, True] Translation: X:235.55, Y:-93.41, Z:-5.00 [[-6.60538629e-01 -7.50693407e-01 1.21707978e-02 2.35554696e+02] [ 7.50574344e-01 -6.60650677e-01 -1.33729736e-02 -9.34136928e+01] [ 1.80796489e-02 3.01722954e-04 9.99836504e-01 -5.00231184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters 0.014301338692169359 Centerline is valid? [True, True] Translation: X:235.51, Y:-93.37, Z:-5.00 [[-6.60311809e-01 -7.50890899e-01 1.22952658e-02 2.35513935e+02] [ 7.50769585e-01 -6.60426194e-01 -1.35008019e-02 -9.33747238e+01] [ 1.82577449e-02 3.16172686e-04 9.99833263e-01 -5.00308810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters 0.013448181761800002 Centerline is valid? [True, True] Translation: X:235.48, Y:-93.33, Z:-5.00 [[-6.60971526e-01 -7.50313469e-01 1.20970700e-02 2.35475843e+02] [ 7.50196089e-01 -6.61082148e-01 -1.32748517e-02 -9.33316153e+01] [ 1.79574570e-02 3.00875618e-04 9.99838707e-01 -5.00053757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters 0.01286566957345315 Centerline is valid? [True, True] Translation: X:235.44, Y:-93.29, Z:-5.00 [[-6.62337976e-01 -7.49118547e-01 1.13933180e-02 2.35437382e+02] [ 7.49014368e-01 -6.62435911e-01 -1.24955944e-02 -9.32876121e+01] [ 1.69080245e-02 2.57452178e-04 9.99857016e-01 -4.99798477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters 0.012012471495866695 Centerline is valid? [True, True] Translation: X:235.40, Y:-93.24, Z:-5.00 [[-6.64858649e-01 -7.46900690e-01 1.01161045e-02 2.35398573e+02] [ 7.46818399e-01 -6.64935580e-01 -1.10884492e-02 -9.32439700e+01] [ 1.50085282e-02 1.82641564e-04 9.99887349e-01 -4.99617945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters 0.012016218331454049 Centerline is valid? [True, True] Translation: X:235.36, Y:-93.20, Z:-5.00 [[-6.66592264e-01 -7.45359554e-01 9.68967160e-03 2.35360437e+02] [ 7.45283987e-01 -6.66662669e-01 -1.06143063e-02 -9.32020212e+01] [ 1.43712169e-02 1.46142633e-04 9.99896718e-01 -4.99683495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters 0.011867598563782668 Centerline is valid? [True, True] Translation: X:235.32, Y:-93.16, Z:-5.00 [[-6.68046910e-01 -7.44048315e-01 1.02679396e-02 2.35323014e+02] [ 7.43963413e-01 -6.68125803e-01 -1.12406491e-02 -9.31585057e+01] [ 1.52238614e-02 1.29690464e-04 9.99884102e-01 -4.99628650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters 0.01206351034099068 Centerline is valid? [True, True] Translation: X:235.29, Y:-93.12, Z:-5.00 [[-6.68700206e-01 -7.43449132e-01 1.11095641e-02 2.35285469e+02] [ 7.43349775e-01 -6.68792472e-01 -1.21549128e-02 -9.31172587e+01] [ 1.64665522e-02 1.30299316e-04 9.99864409e-01 -4.99785019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters 0.012224103618116959 Centerline is valid? [True, True] Translation: X:235.25, Y:-93.08, Z:-5.00 [[-6.68118318e-01 -7.43947484e-01 1.26512169e-02 2.35245637e+02] [ 7.43818881e-01 -6.68238066e-01 -1.38332821e-02 -9.30756815e+01] [ 1.87452601e-02 1.67944804e-04 9.99824278e-01 -4.99914137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters 0.012487588812189003 Centerline is valid? [True, True] Translation: X:235.21, Y:-93.03, Z:-5.00 [[-6.68401457e-01 -7.43668889e-01 1.40027069e-02 2.35206440e+02] [ 7.43511456e-01 -6.68548091e-01 -1.53024496e-02 -9.30328936e+01] [ 2.07414387e-02 1.82993409e-04 9.99784856e-01 -5.00134148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters 0.012216100537473538 Centerline is valid? [True, True] Translation: X:235.17, Y:-92.99, Z:-5.00 [[-6.70456896e-01 -7.41813800e-01 1.41363682e-02 2.35169528e+02] [ 7.41653139e-01 -6.70605896e-01 -1.54386777e-02 -9.29885268e+01] [ 2.09325560e-02 1.33313922e-04 9.99780881e-01 -5.00060101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters 0.011820911668690993 Centerline is valid? [True, True] Translation: X:235.13, Y:-92.94, Z:-5.00 [[-6.73191715e-01 -7.39344128e-01 1.35342047e-02 2.35133906e+02] [ 7.39196534e-01 -6.73327748e-01 -1.47725516e-02 -9.29428889e+01] [ 2.00349549e-02 5.96778589e-05 9.99799278e-01 -4.99847172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters 0.011746335022009561 Centerline is valid? [True, True] Translation: X:235.10, Y:-92.90, Z:-5.00 [[-6.74469308e-01 -7.38212850e-01 1.15299392e-02 2.35096208e+02] [ 7.38105660e-01 -6.74567852e-01 -1.25796593e-02 -9.29005274e+01] [ 1.70641925e-02 2.57193207e-05 9.99854396e-01 -4.99751491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters 0.011742990970341628 Centerline is valid? [True, True] Translation: X:235.06, Y:-92.86, Z:-5.00 [[-6.73785378e-01 -7.38852448e-01 1.05035731e-02 2.35057388e+02] [ 7.38763682e-01 -6.73867241e-01 -1.14526655e-02 -9.28581207e+01] [ 1.55398438e-02 4.30197222e-05 9.99879248e-01 -4.99695881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters 0.011653008947030901 Centerline is valid? [True, True] Translation: X:235.02, Y:-92.82, Z:-5.00 [[-6.73756590e-01 -7.38887910e-01 9.83436307e-03 2.35018200e+02] [ 7.38810198e-01 -6.73828357e-01 -1.07161664e-02 -9.28163926e+01] [ 1.45447185e-02 4.56399748e-05 9.99894219e-01 -4.99654161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters 0.01167652571171184 Centerline is valid? [True, True] Translation: X:234.98, Y:-92.77, Z:-5.00 [[-6.74180308e-01 -7.38504027e-01 9.62886298e-03 2.34977747e+02] [ 7.38429576e-01 -6.74249064e-01 -1.04862276e-02 -9.27742205e+01] [ 1.42363732e-02 4.06290591e-05 9.99898657e-01 -4.99719050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters 0.011826008688408909 Centerline is valid? [True, True] Translation: X:234.94, Y:-92.73, Z:-5.00 [[-6.74610793e-01 -7.38103287e-01 1.01890077e-02 2.34938305e+02] [ 7.38019983e-01 -6.74687732e-01 -1.10891393e-02 -9.27328096e+01] [ 1.50593287e-02 3.88381982e-05 9.99886601e-01 -4.99806982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters 0.012043338302696296 Centerline is valid? [True, True] Translation: X:234.90, Y:-92.69, Z:-5.00 [[-6.74444709e-01 -7.38250539e-01 1.05108087e-02 2.34898429e+02] [ 7.38162019e-01 -6.74526604e-01 -1.14321525e-02 -9.26912673e+01] [ 1.55296129e-02 4.83249776e-05 9.99879407e-01 -4.99874949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters 0.012036335427708586 Centerline is valid? [True, True] Translation: X:234.86, Y:-92.65, Z:-5.00 [[-6.73758697e-01 -7.38887757e-01 9.70060419e-03 2.34857257e+02] [ 7.38812510e-01 -6.73828524e-01 -1.05449056e-02 -9.26507235e+01] [ 1.43280455e-02 6.22058594e-05 9.99897346e-01 -4.99811400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters 0.011948238790779659 Centerline is valid? [True, True] Translation: X:234.82, Y:-92.61, Z:-5.00 [[-6.73163708e-01 -7.39451996e-01 7.83378726e-03 2.34815909e+02] [ 7.39403021e-01 -6.73209285e-01 -8.51066685e-03 -9.26104220e+01] [ 1.15670079e-02 6.32539108e-05 9.99933098e-01 -4.99691732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters 0.012099964705155833 Centerline is valid? [True, True] Translation: X:234.78, Y:-92.57, Z:-5.00 [[-6.73282564e-01 -7.39351167e-01 7.10223936e-03 2.34776687e+02] [ 7.39310940e-01 -6.73320020e-01 -7.71269258e-03 -9.25691358e+01] [ 1.04844682e-02 5.79418210e-05 9.99945035e-01 -4.99640550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters 0.012151542150998128 Centerline is valid? [True, True] Translation: X:234.74, Y:-92.53, Z:-5.00 [[-6.72247793e-01 -7.40299860e-01 6.24678999e-03 2.34735958e+02] [ 7.40268817e-01 -6.72276813e-01 -6.77980660e-03 -9.25277732e+01] [ 9.21866194e-03 6.65938128e-05 9.99957505e-01 -4.99584083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters 0.012383825548556241 Centerline is valid? [True, True] Translation: X:234.70, Y:-92.49, Z:-5.00 [[-6.71614740e-01 -7.40873565e-01 6.32466312e-03 2.34695505e+02] [ 7.40841810e-01 -6.71644515e-01 -6.85996610e-03 -9.24868504e+01] [ 9.33029283e-03 7.83205276e-05 9.99956469e-01 -4.99644634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters 0.012630691361996866 Centerline is valid? [True, True] Translation: X:234.65, Y:-92.45, Z:-5.00 [[-6.70849313e-01 -7.41570679e-01 5.84187178e-03 2.34654736e+02] [ 7.41543647e-01 -6.70874743e-01 -6.33234777e-03 -9.24460983e+01] [ 8.61504767e-03 8.39517583e-05 9.99962886e-01 -4.99755073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters 0.012598126585601615 Centerline is valid? [True, True] Translation: X:234.62, Y:-92.40, Z:-5.00 [[-6.70584386e-01 -7.41816416e-01 4.99864221e-03 2.34615796e+02] [ 7.41796655e-01 -6.70603012e-01 -5.41516560e-03 -9.24034880e+01] [ 7.36916325e-03 7.66505691e-05 9.99972844e-01 -4.99690256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters 0.012740713189164355 Centerline is valid? [True, True] Translation: X:234.58, Y:-92.36, Z:-5.00 [[-6.70794331e-01 -7.41629024e-01 4.62121603e-03 2.34576885e+02] [ 7.41612151e-01 -6.70810246e-01 -5.00323987e-03 -9.23623059e+01] [ 6.81050696e-03 7.10050178e-05 9.99976806e-01 -4.99770624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters 0.01274977956374065 Centerline is valid? [True, True] Translation: X:234.54, Y:-92.32, Z:-5.00 [[-6.70934761e-01 -7.41503765e-01 4.32590488e-03 2.34538382e+02] [ 7.41488996e-01 -6.70948703e-01 -4.68050128e-03 -9.23196114e+01] [ 6.37306959e-03 6.72998591e-05 9.99979690e-01 -4.99793247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters 0.012843864642569048 Centerline is valid? [True, True] Translation: X:234.50, Y:-92.28, Z:-5.00 [[-6.70513680e-01 -7.41884658e-01 4.30797501e-03 2.34500021e+02] [ 7.41870036e-01 -6.70527515e-01 -4.65843972e-03 -9.22762302e+01] [ 6.34464074e-03 7.24100107e-05 9.99979870e-01 -4.99757639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters 0.013005618297848388 Centerline is valid? [True, True] Translation: X:234.46, Y:-92.23, Z:-5.00 [[-6.69694598e-01 -7.42623633e-01 4.39143212e-03 2.34460661e+02] [ 7.42608472e-01 -6.69708991e-01 -4.74598035e-03 -9.22339788e+01] [ 6.46545874e-03 8.27572948e-05 9.99979095e-01 -4.99752965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters 0.013544793008737906 Centerline is valid? [True, True] Translation: X:234.42, Y:-92.19, Z:-5.00 [[-6.68221569e-01 -7.43947269e-01 4.73237122e-03 2.34419990e+02] [ 7.43929716e-01 -6.68238318e-01 -5.11156569e-03 -9.21923411e+01] [ 6.96508712e-03 1.04893131e-04 9.99975738e-01 -4.99858753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters 0.014097318054060785 Centerline is valid? [True, True] Translation: X:234.38, Y:-92.15, Z:-5.00 [[-6.66554067e-01 -7.45434339e-01 5.77251855e-03 2.34379336e+02] [ 7.45408306e-01 -6.66579046e-01 -6.23157998e-03 -9.21504734e+01] [ 8.49307360e-03 1.49198296e-04 9.99963922e-01 -5.00012712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters 0.014371143407981846 Centerline is valid? [True, True] Translation: X:234.34, Y:-92.11, Z:-5.00 [[-6.66229351e-01 -7.45723914e-01 5.85632481e-03 2.34341094e+02] [ 7.45697165e-01 -6.66255071e-01 -6.31807576e-03 -9.21077307e+01] [ 8.61334629e-03 1.57757300e-04 9.99962892e-01 -4.99972284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters 0.013931617068066353 Centerline is valid? [True, True] Translation: X:234.30, Y:-92.06, Z:-5.00 [[-6.67187240e-01 -7.44872271e-01 5.14651386e-03 2.34304888e+02] [ 7.44851615e-01 -6.67207076e-01 -5.54876247e-03 -9.20633621e+01] [ 7.56690977e-03 1.31325638e-04 9.99971362e-01 -4.99843774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters 0.013501061564097453 Centerline is valid? [True, True] Translation: X:234.27, Y:-92.02, Z:-5.00 [[-6.68167545e-01 -7.43999692e-01 4.07315815e-03 2.34266857e+02] [ 7.43986751e-01 -6.68179953e-01 -4.38914103e-03 -9.20187240e+01] [ 5.98712219e-03 9.76941078e-05 9.99982072e-01 -4.99726134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters 0.01332017702103527 Centerline is valid? [True, True] Translation: X:234.23, Y:-91.98, Z:-5.00 [[-6.69716271e-01 -7.42610112e-01 3.21530442e-03 2.34229859e+02] [ 7.42602042e-01 -6.69723986e-01 -3.46273699e-03 -9.19756051e+01] [ 4.72482999e-03 6.86403196e-05 9.99988836e-01 -4.99630468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters 0.013255752116944367 Centerline is valid? [True, True] Translation: X:234.19, Y:-91.93, Z:-5.00 [[-6.70958680e-01 -7.41487883e-01 3.18892918e-03 2.34191720e+02] [ 7.41479942e-01 -6.70966255e-01 -3.43216005e-03 -9.19330470e+01] [ 4.68456896e-03 6.16894457e-05 9.99989025e-01 -4.99724302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters 0.012801151745297971 Centerline is valid? [True, True] Translation: X:234.15, Y:-91.89, Z:-5.00 [[-6.72524755e-01 -7.40060157e-01 4.62785528e-03 2.34154334e+02] [ 7.40043421e-01 -6.72540674e-01 -4.97771085e-03 -9.18899642e+01] [ 6.79622638e-03 7.71800809e-05 9.99976902e-01 -4.99857989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters 0.012571741134684228 Centerline is valid? [True, True] Translation: X:234.12, Y:-91.85, Z:-5.00 [[-6.73730227e-01 -7.38959012e-01 5.21152571e-03 2.34115500e+02] [ 7.38937779e-01 -6.73750378e-01 -5.60232142e-03 -9.18462873e+01] [ 7.65115332e-03 7.65399564e-05 9.99970727e-01 -4.99908959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters 0.012590506145081311 Centerline is valid? [True, True] Translation: X:234.08, Y:-91.80, Z:-5.00 [[-6.74287853e-01 -7.38445248e-01 5.87425220e-03 2.34075977e+02] [ 7.38418283e-01 -6.74313436e-01 -6.31113641e-03 -9.18039896e+01] [ 8.62151587e-03 8.21325958e-05 9.99962831e-01 -4.99962146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters 0.012706748736414327 Centerline is valid? [True, True] Translation: X:234.04, Y:-91.76, Z:-5.00 [[-6.74584246e-01 -7.38172061e-01 6.17283620e-03 2.34036700e+02] [ 7.38142311e-01 -6.74612483e-01 -6.62769047e-03 -9.17625517e+01] [ 9.05664829e-03 8.54960003e-05 9.99958984e-01 -5.00040848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters 0.013217977145621264 Centerline is valid? [True, True] Translation: X:234.00, Y:-91.72, Z:-5.00 [[-6.74043689e-01 -7.38660454e-01 6.77042126e-03 2.33996472e+02] [ 7.38624737e-01 -6.74077683e-01 -7.26471091e-03 -9.17215784e+01] [ 9.92994454e-03 1.04068078e-04 9.99950691e-01 -5.00057798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters 0.013546741308969486 Centerline is valid? [True, True] Translation: X:233.96, Y:-91.68, Z:-5.00 [[-6.73055539e-01 -7.39553607e-01 7.53020921e-03 2.33955450e+02] [ 7.39509528e-01 -6.73097649e-01 -8.07543271e-03 -9.16808339e+01] [ 1.10407815e-02 1.33446739e-04 9.99939040e-01 -4.99990625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters 0.01379078414115129 Centerline is valid? [True, True] Translation: X:233.91, Y:-91.64, Z:-5.00 [[-6.72112590e-01 -7.40410517e-01 7.54538672e-03 2.33914543e+02] [ 7.40366366e-01 -6.72154925e-01 -8.08710937e-03 -9.16394494e+01] [ 1.10594497e-02 1.50902520e-04 9.99938831e-01 -4.99910945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters 0.013988865761376937 Centerline is valid? [True, True] Translation: X:233.87, Y:-91.60, Z:-5.00 [[-6.70651973e-01 -7.41731897e-01 7.72816182e-03 2.33872317e+02] [ 7.41685721e-01 -6.70696475e-01 -8.27824864e-03 -9.15993346e+01] [ 1.13234920e-02 1.80043492e-04 9.99935871e-01 -4.99788473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters 0.014362471139745767 Centerline is valid? [True, True] Translation: X:233.83, Y:-91.56, Z:-5.00 [[-6.69865505e-01 -7.42442769e-01 7.67725935e-03 2.33830781e+02] [ 7.42397299e-01 -6.69909469e-01 -8.21905699e-03 -9.15586609e+01] [ 1.12452482e-02 1.93913848e-04 9.99936751e-01 -4.99696470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters 0.014916733653330442 Centerline is valid? [True, True] Translation: X:233.79, Y:-91.52, Z:-5.00 [[-6.68206142e-01 -7.43932202e-01 8.08886097e-03 2.33787547e+02] [ 7.43881893e-01 -6.68255059e-01 -8.65481359e-03 -9.15191965e+01] [ 1.18440168e-02 2.33957606e-04 9.99929830e-01 -4.99734278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters 0.015124818745316135 Centerline is valid? [True, True] Translation: X:233.75, Y:-91.48, Z:-5.00 [[-6.67486821e-01 -7.44567672e-01 8.96243282e-03 2.33746179e+02] [ 7.44506018e-01 -6.67546932e-01 -9.58553973e-03 -9.14791502e+01] [ 1.31199275e-02 2.74363727e-04 9.99913892e-01 -4.99811745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters 0.01494995094692926 Centerline is valid? [True, True] Translation: X:233.71, Y:-91.44, Z:-5.00 [[-6.68295207e-01 -7.43830820e-01 9.86043903e-03 2.33706743e+02] [ 7.43756208e-01 -6.68367883e-01 -1.05392678e-02 -9.14377441e+01] [ 1.44298329e-02 2.90420603e-04 9.99895842e-01 -4.99837722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters 0.01425709683113611 Centerline is valid? [True, True] Translation: X:233.67, Y:-91.39, Z:-5.00 [[-6.70517141e-01 -7.41834510e-01 9.39807702e-03 2.33667297e+02] [ 7.41766612e-01 -6.70582957e-01 -1.00394442e-02 -9.13947466e+01] [ 1.37497965e-02 2.39560316e-04 9.99905438e-01 -4.99744725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters 0.01368487942094718 Centerline is valid? [True, True] Translation: X:233.63, Y:-91.35, Z:-5.00 [[-6.72086904e-01 -7.40414442e-01 9.25459262e-03 2.33628014e+02] [ 7.40348543e-01 -6.72150585e-01 -9.88058186e-03 -9.13525660e+01] [ 1.35362054e-02 2.11014490e-04 9.99908359e-01 -4.99727872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters 0.013340290732052796 Centerline is valid? [True, True] Translation: X:233.59, Y:-91.31, Z:-5.00 [[-6.74217924e-01 -7.38468221e-01 9.74050373e-03 2.33588486e+02] [ 7.38395080e-01 -6.74288256e-01 -1.03948524e-02 -9.13105631e+01] [ 1.42441754e-02 1.83944246e-04 9.99898530e-01 -4.99873652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters 0.013105204038632056 Centerline is valid? [True, True] Translation: X:233.55, Y:-91.27, Z:-5.00 [[-6.75779105e-01 -7.37028225e-01 1.05828615e-02 2.33550084e+02] [ 7.36941819e-01 -6.75861943e-01 -1.12867122e-02 -9.12686375e+01] [ 1.54711788e-02 1.71628958e-04 9.99880299e-01 -4.99980890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters 0.012688655425400156 Centerline is valid? [True, True] Translation: X:233.51, Y:-91.23, Z:-5.00 [[-6.77838712e-01 -7.35139515e-01 1.02260993e-02 2.33511846e+02] [ 7.35058712e-01 -6.77915833e-01 -1.09001710e-02 -9.12251483e+01] [ 1.49455811e-02 1.28225481e-04 9.99888300e-01 -4.99850743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters 0.012545581018210426 Centerline is valid? [True, True] Translation: X:233.47, Y:-91.18, Z:-5.00 [[-6.78872817e-01 -7.34188206e-01 9.96873457e-03 2.33473084e+02] [ 7.34111412e-01 -6.78945996e-01 -1.06192516e-02 -9.11829063e+01] [ 1.45647617e-02 1.09040552e-04 9.99893922e-01 -4.99773428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters 0.012455969027015939 Centerline is valid? [True, True] Translation: X:233.43, Y:-91.14, Z:-5.00 [[-6.80133614e-01 -7.33027220e-01 9.45310473e-03 2.33434711e+02] [ 7.32958143e-01 -6.80199300e-01 -1.00634821e-02 -9.11413742e+01] [ 1.38068015e-02 8.42176665e-05 9.99904678e-01 -4.99831853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters 0.011918590405897017 Centerline is valid? [True, True] Translation: X:233.39, Y:-91.10, Z:-5.00 [[-6.80054539e-01 -7.33104044e-01 9.18066348e-03 2.33394815e+02] [ 7.33038974e-01 -6.80116500e-01 -9.76779189e-03 -9.10990334e+01] [ 1.34047284e-02 8.71529219e-05 9.99910149e-01 -4.99553520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters 0.011930804752386918 Centerline is valid? [True, True] Translation: X:233.35, Y:-91.06, Z:-5.00 [[-6.79967583e-01 -7.33179393e-01 9.59501660e-03 2.33353830e+02] [ 7.33108406e-01 -6.80035270e-01 -1.02027628e-02 -9.10580042e+01] [ 1.40054052e-02 9.66393587e-05 9.99901915e-01 -4.99634965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters 0.011850337411764677 Centerline is valid? [True, True] Translation: X:233.31, Y:-91.02, Z:-5.00 [[-6.80792282e-01 -7.32417654e-01 9.28703278e-03 2.33313483e+02] [ 7.32351157e-01 -6.80855618e-01 -9.86966625e-03 -9.10158281e+01] [ 1.35518463e-02 8.21765911e-05 9.99908166e-01 -4.99699797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters 0.011732919742961171 Centerline is valid? [True, True] Translation: X:233.27, Y:-90.97, Z:-5.00 [[-6.81479480e-01 -7.31791198e-01 8.20741533e-03 2.33274196e+02] [ 7.31739277e-01 -6.81528898e-01 -8.71733896e-03 -9.09733301e+01] [ 1.19728626e-02 6.50005367e-05 9.99928321e-01 -4.99502398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters 0.0117135126333529 Centerline is valid? [True, True] Translation: X:233.23, Y:-90.93, Z:-5.00 [[-6.81548134e-01 -7.31729451e-01 8.00948347e-03 2.33232721e+02] [ 7.31680056e-01 -6.81595193e-01 -8.50227539e-03 -9.09327595e+01] [ 1.16805907e-02 6.56693845e-05 9.99931777e-01 -4.99510337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters 0.011668303358288395 Centerline is valid? [True, True] Translation: X:233.19, Y:-90.89, Z:-5.00 [[-6.81664394e-01 -7.31621836e-01 7.94622235e-03 2.33191866e+02] [ 7.31573268e-01 -6.81710704e-01 -8.43027414e-03 -9.08907949e+01] [ 1.15847975e-02 6.66261303e-05 9.99932892e-01 -4.99522734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters 0.011850124920092457 Centerline is valid? [True, True] Translation: X:233.15, Y:-90.85, Z:-5.00 [[-6.80757044e-01 -7.32468269e-01 7.75120613e-03 2.33151802e+02] [ 7.32422156e-01 -6.80801166e-01 -8.21931694e-03 -9.08518232e+01] [ 1.12974190e-02 8.17972035e-05 9.99936179e-01 -4.99608571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters 0.011778977903090442 Centerline is valid? [True, True] Translation: X:233.11, Y:-90.81, Z:-4.99 [[-6.80328691e-01 -7.32869814e-01 7.39646490e-03 2.33112041e+02] [ 7.32827898e-01 -6.80368891e-01 -7.83859082e-03 -9.08096843e+01] [ 1.07769912e-02 8.75175930e-05 9.99941923e-01 -4.99469006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters 0.01197140203066083 Centerline is valid? [True, True] Translation: X:233.07, Y:-90.77, Z:-4.99 [[-6.78646313e-01 -7.34428192e-01 7.37648601e-03 2.33070659e+02] [ 7.34386641e-01 -6.78686391e-01 -7.81311520e-03 -9.07683741e+01] [ 1.07444927e-02 1.14850962e-04 9.99942270e-01 -4.99425748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters 0.012386374631602833 Centerline is valid? [True, True] Translation: X:233.03, Y:-90.73, Z:-5.00 [[-6.77511053e-01 -7.35468188e-01 8.08192022e-03 2.33029751e+02] [ 7.35418425e-01 -6.77559239e-01 -8.55674225e-03 -9.07278023e+01] [ 1.17691914e-02 1.46305587e-04 9.99930730e-01 -4.99617937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters 0.01294917161807862 Centerline is valid? [True, True] Translation: X:232.99, Y:-90.69, Z:-5.00 [[-6.75774447e-01 -7.37070394e-01 7.49206464e-03 2.32988663e+02] [ 7.37027777e-01 -6.75815957e-01 -7.92769711e-03 -9.06870867e+01] [ 1.09065277e-02 1.64524620e-04 9.99940509e-01 -4.99632812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters 0.013232032024943252 Centerline is valid? [True, True] Translation: X:232.95, Y:-90.65, Z:-5.00 [[-6.75322927e-01 -7.37492673e-01 6.59550335e-03 2.32948224e+02] [ 7.37459709e-01 -6.75355116e-01 -6.97454883e-03 -9.06469183e+01] [ 9.59798560e-03 1.53845252e-04 9.99953926e-01 -4.99561262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters 0.01294087903575072 Centerline is valid? [True, True] Translation: X:232.91, Y:-90.61, Z:-5.00 [[-6.76515976e-01 -7.36400317e-01 6.38022219e-03 2.32908044e+02] [ 7.36369457e-01 -6.76546048e-01 -6.74307448e-03 -9.06050582e+01] [ 9.28211629e-03 1.36403139e-04 9.99956911e-01 -4.99548269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters 0.012519138525090866 Centerline is valid? [True, True] Translation: X:232.87, Y:-90.56, Z:-5.00 [[-6.79778837e-01 -7.33386096e-01 6.75035865e-03 2.32870991e+02] [ 7.33351440e-01 -6.79812345e-01 -7.13028437e-03 -9.05607647e+01] [ 9.81822856e-03 1.03368829e-04 9.99951795e-01 -4.99578263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters 0.0118835413639192 Centerline is valid? [True, True] Translation: X:232.83, Y:-90.52, Z:-5.00 [[-6.83999354e-01 -7.29450197e-01 6.87708104e-03 2.32833487e+02] [ 7.29414069e-01 -6.84033923e-01 -7.26006736e-03 -9.05166306e+01] [ 1.00000143e-02 5.03582819e-05 9.99949997e-01 -4.99573521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters 0.011898534432508425 Centerline is valid? [True, True] Translation: X:232.79, Y:-90.47, Z:-5.00 [[-6.85064745e-01 -7.28449037e-01 6.94946823e-03 2.32794305e+02] [ 7.28412139e-01 -6.85099992e-01 -7.33189446e-03 -9.04742664e+01] [ 1.01019921e-02 3.92546033e-05 9.99948973e-01 -4.99635034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters 0.011769152662558792 Centerline is valid? [True, True] Translation: X:232.76, Y:-90.43, Z:-5.00 [[-6.86907407e-01 -7.26709695e-01 7.15770910e-03 2.32756022e+02] [ 7.26670503e-01 -6.86944698e-01 -7.54729235e-03 -9.04299193e+01] [ 1.04016408e-02 1.70050501e-05 9.99945901e-01 -4.99596019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters 0.012003631307068439 Centerline is valid? [True, True] Translation: X:232.72, Y:-90.39, Z:-5.00 [[-6.88085320e-01 -7.25593409e-01 7.26618870e-03 2.32719969e+02] [ 7.25553011e-01 -6.88123685e-01 -7.65654807e-03 -9.03872045e+01] [ 1.05555774e-02 3.64676318e-06 9.99944288e-01 -4.99730533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters 0.011920774850955376 Centerline is valid? [True, True] Translation: X:232.68, Y:-90.35, Z:-5.00 [[-6.88192591e-01 -7.25493382e-01 7.09294128e-03 2.32681412e+02] [ 7.25454931e-01 -6.88229143e-01 -7.46931568e-03 -9.03454020e+01] [ 1.03005080e-02 5.28151576e-06 9.99946948e-01 -4.99657981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters 0.0119300068358987 Centerline is valid? [True, True] Translation: X:232.64, Y:-90.30, Z:-5.00 [[-6.87767801e-01 -7.25904419e-01 6.18279043e-03 2.32642106e+02] [ 7.25875256e-01 -6.87795591e-01 -6.50677769e-03 -9.03035336e+01] [ 8.97579467e-03 1.27824035e-05 9.99959717e-01 -4.99575784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters 0.012048590048988258 Centerline is valid? [True, True] Translation: X:232.60, Y:-90.26, Z:-5.00 [[-6.86108383e-01 -7.27475059e-01 5.94350157e-03 2.32602563e+02] [ 7.27448204e-01 -6.86134125e-01 -6.25086301e-03 -9.02633151e+01] [ 8.62538619e-03 3.48200268e-05 9.99962800e-01 -4.99600419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters 0.012342157179565062 Centerline is valid? [True, True] Translation: X:232.56, Y:-90.22, Z:-5.00 [[-6.84165843e-01 -7.29302546e-01 5.90718530e-03 2.32561707e+02] [ 7.29276118e-01 -6.84191342e-01 -6.20898871e-03 -9.02233102e+01] [ 8.56987631e-03 5.99911710e-05 9.99963276e-01 -4.99591592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters 0.013068336778134553 Centerline is valid? [True, True] Translation: X:232.52, Y:-90.19, Z:-5.00 [[-6.81643825e-01 -7.31665190e-01 5.26741052e-03 2.32520544e+02] [ 7.31644273e-01 -6.81664172e-01 -5.53309149e-03 -9.01850441e+01] [ 7.63897546e-03 8.22730917e-05 9.99970819e-01 -4.99615781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters 0.014534515119010456 Centerline is valid? [True, True] Translation: X:232.48, Y:-90.15, Z:-5.00 [[-6.78774499e-01 -7.34323819e-01 5.80583825e-03 2.32480081e+02] [ 7.34298527e-01 -6.78799317e-01 -6.09597169e-03 -9.01457538e+01] [ 8.41741625e-03 1.25428342e-04 9.99964565e-01 -4.99674750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters 0.0148555320131305 Centerline is valid? [True, True] Translation: X:232.44, Y:-90.10, Z:-5.00 [[-6.78005482e-01 -7.35025331e-01 6.80661607e-03 2.32440898e+02] [ 7.34990645e-01 -6.78039628e-01 -7.14241053e-03 -9.01046898e+01] [ 9.86500810e-03 1.60205648e-04 9.99951327e-01 -4.99891491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters 0.015094231990346372 Centerline is valid? [True, True] Translation: X:232.40, Y:-90.06, Z:-5.00 [[-6.78172611e-01 -7.34869274e-01 7.00429841e-03 2.32402106e+02] [ 7.34832583e-01 -6.78208760e-01 -7.34519765e-03 -9.00638452e+01] [ 1.01481366e-02 1.65674833e-04 9.99948493e-01 -4.99931979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters 0.014971209313053523 Centerline is valid? [True, True] Translation: X:232.36, Y:-90.02, Z:-5.00 [[-6.78857159e-01 -7.34235379e-01 7.16696960e-03 2.32364611e+02] [ 7.34196978e-01 -6.78894971e-01 -7.51108462e-03 -9.00216385e+01] [ 1.03805237e-02 1.63013853e-04 9.99946108e-01 -4.99966947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters 0.013585391132853467 Centerline is valid? [True, True] Translation: X:232.33, Y:-89.98, Z:-5.00 [[-6.79878049e-01 -7.33294083e-01 6.75477143e-03 2.32329562e+02] [ 7.33259967e-01 -6.79911588e-01 -7.07483006e-03 -8.99756491e+01] [ 9.78057840e-03 1.42981819e-04 9.99952159e-01 -4.99670036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters 0.013790626157836404 Centerline is valid? [True, True] Translation: X:232.29, Y:-89.93, Z:-5.00 [[-6.80259322e-01 -7.32946040e-01 6.11211427e-03 2.32291654e+02] [ 7.32918128e-01 -6.80286768e-01 -6.39769861e-03 -8.99346140e+01] [ 8.84715832e-03 1.27585232e-04 9.99960855e-01 -4.99642214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters 0.014158891416977959 Centerline is valid? [True, True] Translation: X:232.25, Y:-89.89, Z:-5.00 [[-6.78896313e-01 -7.34207428e-01 6.26489710e-03 2.32251929e+02] [ 7.34178189e-01 -6.78925203e-01 -6.55412981e-03 -8.98916348e+01] [ 9.06548731e-03 1.49976238e-04 9.99958896e-01 -4.99609641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters 0.015194880804263584 Centerline is valid? [True, True] Translation: X:232.21, Y:-89.85, Z:-5.00 [[-6.77248174e-01 -7.35720608e-01 7.07796262e-03 2.32210893e+02] [ 7.35683409e-01 -6.77285131e-01 -7.40081622e-03 -8.98509322e+01] [ 1.02387318e-02 1.94950402e-04 9.99947564e-01 -4.99754277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters 0.014705389751488733 Centerline is valid? [True, True] Translation: X:232.17, Y:-89.81, Z:-5.00 [[-6.74109729e-01 -7.38589213e-01 7.87701620e-03 2.32171794e+02] [ 7.38543390e-01 -6.74155696e-01 -8.23151865e-03 -8.98075840e+01] [ 1.13900462e-02 2.68571442e-04 9.99935095e-01 -4.99695910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters 0.015631402500622803 Centerline is valid? [True, True] Translation: X:232.13, Y:-89.77, Z:-5.00 [[-6.72574912e-01 -7.39993845e-01 7.21781972e-03 2.32131096e+02] [ 7.39955497e-01 -6.72613586e-01 -7.53832519e-03 -8.97665453e+01] [ 1.04331178e-02 2.70776979e-04 9.99945537e-01 -4.99640444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters 0.01654701217993217 Centerline is valid? [True, True] Translation: X:232.09, Y:-89.73, Z:-5.00 [[-6.72068930e-01 -7.40466533e-01 5.71547621e-03 2.32091934e+02] [ 7.40442538e-01 -6.72093196e-01 -5.96524035e-03 -8.97258279e+01] [ 8.25839351e-03 2.22929014e-04 9.99965874e-01 -4.99532528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters 0.01570328534872941 Centerline is valid? [True, True] Translation: X:232.05, Y:-89.68, Z:-4.99 [[-6.72912605e-01 -7.39704609e-01 5.07115703e-03 2.32054050e+02] [ 7.39685720e-01 -6.72931686e-01 -5.28973033e-03 -8.96815578e+01] [ 7.32538016e-03 1.91536223e-04 9.99973151e-01 -4.99455632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters 0.014731310176016973 Centerline is valid? [True, True] Translation: X:232.02, Y:-89.64, Z:-4.99 [[-6.75320123e-01 -7.37508858e-01 4.83901390e-03 2.32017209e+02] [ 7.37491622e-01 -6.75337441e-01 -5.04465554e-03 -8.96367679e+01] [ 6.98844540e-03 1.61974810e-04 9.99975567e-01 -4.99499991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters 0.014362216985949465 Centerline is valid? [True, True] Translation: X:231.98, Y:-89.59, Z:-5.00 [[-6.77541440e-01 -7.35466931e-01 5.09804946e-03 2.31978435e+02] [ 7.35447764e-01 -6.77560603e-01 -5.31188548e-03 -8.95929267e+01] [ 7.36095358e-03 1.50326535e-04 9.99972897e-01 -4.99631367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters 0.013576950255648479 Centerline is valid? [True, True] Translation: X:231.94, Y:-89.55, Z:-5.00 [[-6.79973007e-01 -7.33216736e-01 5.47073443e-03 2.31940343e+02] [ 7.33194616e-01 -6.79995000e-01 -5.69696746e-03 -8.95489998e+01] [ 7.89718395e-03 1.37328939e-04 9.99968807e-01 -4.99709197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters 0.013384230719283288 Centerline is valid? [True, True] Translation: X:231.90, Y:-89.51, Z:-5.00 [[-6.81538433e-01 -7.31758900e-01 5.85461083e-03 2.31902056e+02] [ 7.31733545e-01 -6.81563567e-01 -6.09287481e-03 -8.95061227e+01] [ 8.44880481e-03 1.31486785e-04 9.99964300e-01 -4.99761344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters 0.01302496297026945 Centerline is valid? [True, True] Translation: X:231.86, Y:-89.46, Z:-5.00 [[-6.82404041e-01 -7.30946007e-01 6.53141676e-03 2.31863957e+02] [ 7.30914451e-01 -6.82435283e-01 -6.79333842e-03 -8.94616617e+01] [ 9.42283284e-03 1.38105311e-04 9.99955595e-01 -4.99720300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters 0.013207299505490275 Centerline is valid? [True, True] Translation: X:231.82, Y:-89.42, Z:-5.00 [[-6.82942377e-01 -7.30442855e-01 6.55328993e-03 2.31824331e+02] [ 7.30411108e-01 -6.82973804e-01 -6.81150869e-03 -8.94213154e+01] [ 9.45114321e-03 1.34727822e-04 9.99955328e-01 -4.99829856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters 0.013265625904697532 Centerline is valid? [True, True] Translation: X:231.78, Y:-89.38, Z:-5.00 [[-6.83014501e-01 -7.30374383e-01 6.66725145e-03 2.31784295e+02] [ 7.30341561e-01 -6.83047027e-01 -6.92559787e-03 -8.93804455e+01] [ 9.61232555e-03 1.39087063e-04 9.99953791e-01 -4.99923870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters 0.013810127649111008 Centerline is valid? [True, True] Translation: X:231.74, Y:-89.34, Z:-5.00 [[-6.83555722e-01 -7.29869008e-01 6.54258452e-03 2.31744146e+02] [ 7.29837421e-01 -6.83587020e-01 -6.79162997e-03 -8.93404155e+01] [ 9.42942608e-03 1.32565479e-04 9.99955533e-01 -5.00030686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters 0.01285794401254611 Centerline is valid? [True, True] Translation: X:231.71, Y:-89.30, Z:-5.00 [[-6.84182873e-01 -7.29289272e-01 5.56354372e-03 2.31706214e+02] [ 7.29266438e-01 -6.84205485e-01 -5.77202969e-03 -8.92965750e+01] [ 8.01608646e-03 1.08181853e-04 9.99967865e-01 -4.99788218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters 0.013153172726562358 Centerline is valid? [True, True] Translation: X:231.67, Y:-89.26, Z:-5.00 [[-6.84922024e-01 -7.28600155e-01 4.86157132e-03 2.31666218e+02] [ 7.28582726e-01 -6.84939272e-01 -5.04036779e-03 -8.92568298e+01] [ 7.00229387e-03 8.97979746e-05 9.99975480e-01 -4.99802549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters 0.012883123612621668 Centerline is valid? [True, True] Translation: X:231.63, Y:-89.22, Z:-5.00 [[-6.84802439e-01 -7.28715420e-01 4.41096872e-03 2.31625711e+02] [ 7.28701093e-01 -6.84816640e-01 -4.57028433e-03 -8.92161667e+01] [ 6.35114144e-03 8.45358709e-05 9.99979828e-01 -4.99774379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters 0.013760514905942194 Centerline is valid? [True, True] Translation: X:231.58, Y:-89.18, Z:-5.00 [[-6.84479885e-01 -7.29020290e-01 4.08707952e-03 2.31583364e+02] [ 7.29008011e-01 -6.84492082e-01 -4.23189493e-03 -8.91782539e+01] [ 5.88271084e-03 8.28667607e-05 9.99982693e-01 -4.99893465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters 0.013066906054302382 Centerline is valid? [True, True] Translation: X:231.54, Y:-89.14, Z:-5.00 [[-6.85004073e-01 -7.28527670e-01 4.10534854e-03 2.31543904e+02] [ 7.28515288e-01 -6.85016371e-01 -4.24815472e-03 -8.91363558e+01] [ 5.90712922e-03 8.08058838e-05 9.99982550e-01 -4.99822194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters 0.01365621268975597 Centerline is valid? [True, True] Translation: X:231.50, Y:-89.10, Z:-5.00 [[-6.86534384e-01 -7.27087154e-01 3.84827435e-03 2.31502480e+02] [ 7.27076266e-01 -6.86545166e-01 -3.97967971e-03 -8.90974756e+01] [ 5.53558815e-03 6.58019894e-05 9.99984676e-01 -4.99916717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters 0.01240012162609469 Centerline is valid? [True, True] Translation: X:231.46, Y:-89.05, Z:-5.00 [[-6.87694173e-01 -7.25990901e-01 3.73312053e-03 2.31464510e+02] [ 7.25980651e-01 -6.87704303e-01 -3.85815644e-03 -8.90547158e+01] [ 5.36826952e-03 5.69415719e-05 9.99985589e-01 -4.99774847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters 0.012303704250541562 Centerline is valid? [True, True] Translation: X:231.42, Y:-89.01, Z:-5.00 [[-6.88865450e-01 -7.24878213e-01 3.99606679e-03 2.31423877e+02] [ 7.24866464e-01 -6.88877038e-01 -4.12735216e-03 -8.90145245e+01] [ 5.74462632e-03 5.34245026e-05 9.99983498e-01 -4.99851924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters 0.012084957230846257 Centerline is valid? [True, True] Translation: X:231.38, Y:-88.97, Z:-5.00 [[-6.89632582e-01 -7.24146959e-01 4.25251129e-03 2.31383655e+02] [ 7.24133657e-01 -6.89645691e-01 -4.38945160e-03 -8.89741355e+01] [ 6.11133411e-03 5.22777171e-05 9.99981324e-01 -4.99868306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters 0.01173953819789808 Centerline is valid? [True, True] Translation: X:231.34, Y:-88.93, Z:-5.00 [[-6.91644872e-01 -7.22224943e-01 4.30153042e-03 2.31343199e+02] [ 7.22211311e-01 -6.91658247e-01 -4.43752521e-03 -8.89322729e+01] [ 6.18008038e-03 3.74223680e-05 9.99980902e-01 -4.99868912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters 0.011431454067936886 Centerline is valid? [True, True] Translation: X:231.30, Y:-88.89, Z:-5.00 [[-6.94171767e-01 -7.19799796e-01 3.71649531e-03 2.31303515e+02] [ 7.19789597e-01 -6.94181715e-01 -3.83179791e-03 -8.88894636e+01] [ 5.33805044e-03 1.51687331e-05 9.99985752e-01 -4.99760090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters 0.011378139256887418 Centerline is valid? [True, True] Translation: X:231.27, Y:-88.85, Z:-5.00 [[-6.98402263e-01 -7.15702164e-01 2.16587327e-03 2.31266019e+02] [ 7.15698684e-01 -6.98405622e-01 -2.23194747e-03 -8.88468739e+01] [ 3.11006771e-03 -8.68451681e-06 9.99995164e-01 -4.99533631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters 0.01210234537365349 Centerline is valid? [True, True] Translation: X:231.23, Y:-88.80, Z:-5.00 [[-7.03174391e-01 -7.11015521e-01 1.64466107e-03 2.31227262e+02] [ 7.11013504e-01 -7.03176314e-01 -1.69381010e-03 -8.88048880e+01] [ 2.36081198e-03 -2.16676540e-05 9.99997213e-01 -4.99535547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters 0.012629855038707297 Centerline is valid? [True, True] Translation: X:231.19, Y:-88.76, Z:-5.00 [[-7.06389551e-01 -7.07820508e-01 1.98242575e-03 2.31186543e+02] [ 7.07817568e-01 -7.06392332e-01 -2.04053477e-03 -8.87631286e+01] [ 2.84470271e-03 -3.82166693e-05 9.99995953e-01 -4.99549678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters 0.013681191316362777 Centerline is valid? [True, True] Translation: X:231.15, Y:-88.72, Z:-5.00 [[-7.09674798e-01 -7.04525545e-01 2.33198024e-03 2.31145968e+02] [ 7.04521463e-01 -7.09678627e-01 -2.39901310e-03 -8.87219167e+01] [ 3.34512255e-03 -5.95890095e-05 9.99994403e-01 -4.99596917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters 0.013553696869450951 Centerline is valid? [True, True] Translation: X:231.10, Y:-88.68, Z:-5.00 [[-7.09859045e-01 -7.04336394e-01 3.22186057e-03 2.31101949e+02] [ 7.04328609e-01 -7.09866352e-01 -3.31263708e-03 -8.86836519e+01] [ 4.62030127e-03 -8.22568193e-05 9.99989323e-01 -4.99622596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters 0.013387160330617971 Centerline is valid? [True, True] Translation: X:231.06, Y:-88.65, Z:-5.00 [[-7.08402651e-01 -7.05801255e-01 3.20524933e-03 2.31058752e+02] [ 7.05793573e-01 -7.08409898e-01 -3.29373196e-03 -8.86459653e+01] [ 4.59535050e-03 -7.10440706e-05 9.99989439e-01 -4.99623679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters 0.012048217533930981 Centerline is valid? [True, True] Translation: X:231.01, Y:-88.61, Z:-5.00 [[-7.04240458e-01 -7.09952582e-01 3.56486000e-03 2.31010786e+02] [ 7.09943143e-01 -7.04249479e-01 -3.66124421e-03 -8.86115610e+01] [ 5.10986057e-03 -4.75483847e-05 9.99986943e-01 -4.99588750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters 0.011481399129944624 Centerline is valid? [True, True] Translation: X:230.97, Y:-88.58, Z:-5.00 [[-7.01006875e-01 -7.13143547e-01 3.95507370e-03 2.30966550e+02] [ 7.13131993e-01 -7.01018031e-01 -4.05952253e-03 -8.85754534e+01] [ 5.66760028e-03 -2.52636045e-05 9.99983939e-01 -4.99627794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters 0.011368564244643714 Centerline is valid? [True, True] Translation: X:230.92, Y:-88.54, Z:-5.00 [[-6.96442537e-01 -7.17596972e-01 4.73058142e-03 2.30918889e+02] [ 7.17580566e-01 -6.96458603e-01 -4.85245386e-03 -8.85431552e+01] [ 6.77676033e-03 1.51180157e-05 9.99977037e-01 -4.99761730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters 0.011668503193704518 Centerline is valid? [True, True] Translation: X:230.87, Y:-88.51, Z:-5.00 [[-6.93473189e-01 -7.20468277e-01 4.51639413e-03 2.30873176e+02] [ 7.20453400e-01 -6.93487894e-01 -4.63017010e-03 -8.85072832e+01] [ 6.46795533e-03 4.29526844e-05 9.99979082e-01 -4.99755674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters 0.012763936454298037 Centerline is valid? [True, True] Translation: X:230.83, Y:-88.47, Z:-5.00 [[-6.88945567e-01 -7.24799906e-01 4.37065076e-03 2.30826248e+02] [ 7.24786075e-01 -6.88959426e-01 -4.47831871e-03 -8.84722190e+01] [ 6.25708602e-03 8.24689859e-05 9.99980421e-01 -4.99577172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters 0.01446260603131387 Centerline is valid? [True, True] Translation: X:230.78, Y:-88.44, Z:-5.00 [[-6.85463700e-01 -7.28094192e-01 4.28525780e-03 2.30779907e+02] [ 7.28080976e-01 -6.85477085e-01 -4.38831345e-03 -8.84376058e+01] [ 6.13255156e-03 1.11985107e-04 9.99981189e-01 -4.99601894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters 0.015458644116112735 Centerline is valid? [True, True] Translation: X:230.74, Y:-88.40, Z:-5.00 [[-6.84547932e-01 -7.28954447e-01 4.42074873e-03 2.30737009e+02] [ 7.28940416e-01 -6.84562195e-01 -4.52453446e-03 -8.84001967e+01] [ 6.32445697e-03 1.25201711e-04 9.99979993e-01 -4.99663138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters 0.015079719961134745 Centerline is valid? [True, True] Translation: X:230.70, Y:-88.36, Z:-5.00 [[-6.85971332e-01 -7.27613521e-01 4.67928559e-03 2.30696253e+02] [ 7.27597789e-01 -6.85987281e-01 -4.78618889e-03 -8.83608153e+01] [ 6.69242615e-03 1.21449486e-04 9.99977598e-01 -4.99734105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters 0.013883904398188915 Centerline is valid? [True, True] Translation: X:230.66, Y:-88.32, Z:-5.00 [[-6.88995935e-01 -7.24741319e-01 5.88399176e-03 2.30658200e+02] [ 7.24716368e-01 -6.89021049e-01 -6.01499697e-03 -8.83178307e+01] [ 8.41351101e-03 1.19916676e-04 9.99964599e-01 -4.99816826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters 0.013618342811604603 Centerline is valid? [True, True] Translation: X:230.62, Y:-88.28, Z:-5.00 [[-6.89971224e-01 -7.23808670e-01 6.38111518e-03 2.30619230e+02] [ 7.23779322e-01 -6.90000721e-01 -6.51904775e-03 -8.82768943e+01] [ 9.12151736e-03 1.20563864e-04 9.99958391e-01 -4.99886826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters 0.013461070463740508 Centerline is valid? [True, True] Translation: X:230.58, Y:-88.24, Z:-5.00 [[-6.91058359e-01 -7.22758701e-01 7.62923520e-03 2.30580764e+02] [ 7.22716728e-01 -6.91100458e-01 -7.79028102e-03 -8.82367407e+01] [ 1.09030613e-02 1.30237085e-04 9.99940551e-01 -5.00067451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters 0.012858149023859261 Centerline is valid? [True, True] Translation: X:230.54, Y:-88.19, Z:-5.00 [[-6.92564054e-01 -7.21305544e-01 8.56407728e-03 2.30543798e+02] [ 7.21252610e-01 -6.92616992e-01 -8.73928638e-03 -8.81939349e+01] [ 1.22353212e-02 1.24347483e-04 9.99925138e-01 -5.00145769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters 0.011559650377235688 Centerline is valid? [True, True] Translation: X:230.51, Y:-88.15, Z:-5.00 [[-6.94202010e-01 -7.19730607e-01 8.45117840e-03 2.30507414e+02] [ 7.19679003e-01 -6.94253443e-01 -8.61915518e-03 -8.81481999e+01] [ 1.20707295e-02 9.87007930e-05 9.99927141e-01 -4.99788478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters 0.0115952011919663 Centerline is valid? [True, True] Translation: X:230.47, Y:-88.10, Z:-5.00 [[-6.98849618e-01 -7.15231353e-01 7.30222958e-03 2.30472280e+02] [ 7.15192622e-01 -6.98887767e-01 -7.44324779e-03 -8.81021860e+01] [ 1.04270831e-02 2.07898456e-05 9.99945636e-01 -4.99909466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters 0.01163234520803833 Centerline is valid? [True, True] Translation: X:230.44, Y:-88.05, Z:-4.99 [[-7.05460637e-01 -7.08728799e-01 5.36458175e-03 2.30439631e+02] [ 7.08707733e-01 -7.05481032e-01 -5.46475871e-03 -8.80536218e+01] [ 7.65764254e-03 -5.32515889e-05 9.99970678e-01 -4.99470588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters 0.012604907954200831 Centerline is valid? [True, True] Translation: X:230.40, Y:-88.01, Z:-4.99 [[-7.10065401e-01 -7.04115206e-01 5.37618411e-03 2.30403408e+02] [ 7.04093938e-01 -7.10085746e-01 -5.47354621e-03 -8.80076467e+01] [ 7.67155882e-03 -1.01237140e-04 9.99970568e-01 -4.99426197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters 0.015137102854629757 Centerline is valid? [True, True] Translation: X:230.37, Y:-87.96, Z:-5.00 [[-7.15604511e-01 -6.98480367e-01 5.94648925e-03 2.30369218e+02] [ 6.98454180e-01 -7.15629196e-01 -6.05079617e-03 -8.79618064e+01] [ 8.48184365e-03 -1.76626767e-04 9.99964013e-01 -4.99567758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters 0.015883211256736213 Centerline is valid? [True, True] Translation: X:230.33, Y:-87.92, Z:-5.00 [[-7.18467200e-01 -6.95528549e-01 6.70224891e-03 2.30329832e+02] [ 6.95495190e-01 -7.18498422e-01 -6.81604885e-03 -8.79187764e+01] [ 9.55631183e-03 -2.35725649e-04 9.99954310e-01 -4.99611655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters 0.016227745857854622 Centerline is valid? [True, True] Translation: X:230.29, Y:-87.88, Z:-5.00 [[-7.21713274e-01 -6.92155885e-01 7.08391601e-03 2.30290390e+02] [ 6.92118500e-01 -7.21747979e-01 -7.19979480e-03 -8.78769396e+01] [ 1.00961824e-02 -2.93278152e-04 9.99948989e-01 -4.99602890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters 0.017499773983677705 Centerline is valid? [True, True] Translation: X:230.25, Y:-87.83, Z:-5.00 [[-7.23492642e-01 -6.90295486e-01 7.10904346e-03 2.30252038e+02] [ 6.90257789e-01 -7.23527499e-01 -7.22104765e-03 -8.78344162e+01] [ 1.01282450e-02 -3.17302229e-04 9.99948658e-01 -4.99611906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters 0.018447602694171936 Centerline is valid? [True, True] Translation: X:230.21, Y:-87.79, Z:-5.00 [[-7.24744117e-01 -6.88987707e-01 6.47332191e-03 2.30212183e+02] [ 6.88956432e-01 -7.24772963e-01 -6.57168285e-03 -8.77924068e+01] [ 9.21949740e-03 -3.02951710e-04 9.99957454e-01 -4.99569207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters 0.016393983761496707 Centerline is valid? [True, True] Translation: X:230.17, Y:-87.75, Z:-4.99 [[-7.22831299e-01 -6.91000862e-01 5.72029998e-03 2.30167835e+02] [ 6.90976529e-01 -7.22853892e-01 -5.80404322e-03 -8.77543913e+01] [ 8.14553998e-03 -2.42751072e-04 9.99966795e-01 -4.99448241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters 0.01603099300147359 Centerline is valid? [True, True] Translation: X:230.13, Y:-87.72, Z:-5.00 [[-7.19720306e-01 -6.94242557e-01 5.47288159e-03 2.30125336e+02] [ 6.94220403e-01 -7.19741088e-01 -5.54959836e-03 -8.77160743e+01] [ 7.79182511e-03 -1.94772563e-04 9.99969624e-01 -4.99511358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters 0.013188117467764052 Centerline is valid? [True, True] Translation: X:230.08, Y:-87.68, Z:-5.00 [[-7.12097573e-01 -7.02055178e-01 5.96434564e-03 2.30077786e+02] [ 7.02029167e-01 -7.12122541e-01 -6.04441771e-03 -8.76814820e+01] [ 8.49085972e-03 -1.17070579e-04 9.99963945e-01 -4.99525827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters 0.011675442032471284 Centerline is valid? [True, True] Translation: X:230.03, Y:-87.65, Z:-5.00 [[-7.05904713e-01 -7.08280726e-01 6.07855347e-03 2.30030930e+02] [ 7.08253969e-01 -7.05930883e-01 -6.15663413e-03 -8.76464816e+01] [ 8.65166391e-03 -4.08374287e-05 9.99962573e-01 -4.99556272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters 0.011968739083043516 Centerline is valid? [True, True] Translation: X:229.98, Y:-87.61, Z:-5.00 [[-6.96411888e-01 -7.17621430e-01 5.47404606e-03 2.29981551e+02] [ 7.17600040e-01 -6.96433398e-01 -5.54122297e-03 -8.76141378e+01] [ 7.78880885e-03 6.92021198e-05 9.99969664e-01 -4.99581588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters 0.013278636299331039 Centerline is valid? [True, True] Translation: X:229.94, Y:-87.58, Z:-5.00 [[-6.90819981e-01 -7.23010272e-01 4.88891376e-03 2.29935937e+02] [ 7.22993363e-01 -6.90837270e-01 -4.94606360e-03 -8.75771304e+01] [ 6.95349863e-03 1.17812643e-04 9.99975817e-01 -4.99545813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters 0.015562799165551219 Centerline is valid? [True, True] Translation: X:229.89, Y:-87.54, Z:-5.00 [[-6.85037226e-01 -7.28496250e-01 4.14874074e-03 2.29891406e+02] [ 7.28484189e-01 -6.85049773e-01 -4.19461566e-03 -8.75402117e+01] [ 5.89785568e-03 1.48824158e-04 9.99982596e-01 -4.99535128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters 0.01711745540254545 Centerline is valid? [True, True] Translation: X:229.85, Y:-87.50, Z:-5.00 [[-6.83721376e-01 -7.29731134e-01 4.18959995e-03 2.29849508e+02] [ 7.29718872e-01 -6.83734192e-01 -4.23339455e-03 -8.75011189e+01] [ 5.95381255e-03 1.62767803e-04 9.99982263e-01 -4.99578631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters 0.01662553430016507 Centerline is valid? [True, True] Translation: X:229.81, Y:-87.46, Z:-5.00 [[-6.83386715e-01 -7.30041865e-01 4.63394950e-03 2.29810530e+02] [ 7.30026889e-01 -6.83402401e-01 -4.67974003e-03 -8.74575714e+01] [ 6.58325835e-03 1.84835567e-04 9.99978313e-01 -4.99655065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters 0.016979826948136635 Centerline is valid? [True, True] Translation: X:229.77, Y:-87.42, Z:-5.00 [[-6.84041414e-01 -7.29419056e-01 5.93166665e-03 2.29771767e+02] [ 7.29394528e-01 -6.84067093e-01 -5.98631476e-03 -8.74170527e+01] [ 8.42419002e-03 2.31637983e-04 9.99964489e-01 -4.99863525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters 0.01690496130700936 Centerline is valid? [True, True] Translation: X:229.74, Y:-87.37, Z:-5.00 [[-6.85579433e-01 -7.27965665e-01 6.84334807e-03 2.29735123e+02] [ 7.27932977e-01 -6.85613542e-01 -6.90310985e-03 -8.73746654e+01] [ 9.71711906e-03 2.48868600e-04 9.99952757e-01 -5.00077999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters 0.01493609549395841 Centerline is valid? [True, True] Translation: X:229.70, Y:-87.33, Z:-5.00 [[-6.86918172e-01 -7.26703809e-01 6.70817323e-03 2.29699344e+02] [ 7.26672375e-01 -6.86950888e-01 -6.76296138e-03 -8.73278325e+01] [ 9.52285535e-03 2.29043101e-04 9.99954630e-01 -4.99930444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters 0.014291552712104713 Centerline is valid? [True, True] Translation: X:229.66, Y:-87.28, Z:-5.00 [[-6.90694011e-01 -7.23123795e-01 5.81039155e-03 2.29664690e+02] [ 7.23100113e-01 -6.90718432e-01 -5.85439577e-03 -8.72815481e+01] [ 8.24679743e-03 1.57898692e-04 9.99965982e-01 -4.99886551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters 0.013231733929135205 Centerline is valid? [True, True] Translation: X:229.63, Y:-87.23, Z:-5.00 [[-6.94183181e-01 -7.19783669e-01 4.60229496e-03 2.29629183e+02] [ 7.19768754e-01 -6.94198430e-01 -4.63464186e-03 -8.72343415e+01] [ 6.53084546e-03 9.52976761e-05 9.99978669e-01 -4.99673645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters 0.012247969060470175 Centerline is valid? [True, True] Translation: X:229.60, Y:-87.19, Z:-5.00 [[-6.98912772e-01 -7.15197047e-01 3.75781592e-03 2.29595691e+02] [ 7.15187049e-01 -6.98922872e-01 -3.78208455e-03 -8.71854574e+01] [ 5.33135920e-03 4.41940816e-05 9.99985787e-01 -4.99604680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters 0.011856151806714765 Centerline is valid? [True, True] Translation: X:229.56, Y:-87.14, Z:-5.00 [[-7.01761523e-01 -7.12399291e-01 4.24428091e-03 2.29560035e+02] [ 7.12386501e-01 -7.01774357e-01 -4.26897409e-03 -8.71398805e+01] [ 6.01974162e-03 2.77666674e-05 9.99981881e-01 -4.99644996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters 0.011835372317785763 Centerline is valid? [True, True] Translation: X:229.53, Y:-87.09, Z:-5.00 [[-7.05164871e-01 -7.09023848e-01 5.26192923e-03 2.29525596e+02] [ 7.09004119e-01 -7.05184503e-01 -5.28925784e-03 -8.70934150e+01] [ 7.46084089e-03 9.30677616e-07 9.99972168e-01 -4.99801020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters 0.011924114110610352 Centerline is valid? [True, True] Translation: X:229.49, Y:-87.05, Z:-5.00 [[-7.08262178e-01 -7.05928438e-01 5.45230035e-03 2.29489817e+02] [ 7.05907191e-01 -7.08283163e-01 -5.47715395e-03 -8.70485957e+01] [ 7.72825127e-03 -3.04429661e-05 9.99970136e-01 -4.99775452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters 0.012778862058701893 Centerline is valid? [True, True] Translation: X:229.46, Y:-87.00, Z:-5.00 [[-7.14204836e-01 -6.99920805e-01 4.72434316e-03 2.29456125e+02] [ 6.99904737e-01 -7.14220457e-01 -4.74316494e-03 -8.70001870e+01] [ 6.69406235e-03 -8.10011825e-05 9.99977591e-01 -4.99629039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters 0.013346558414550975 Centerline is valid? [True, True] Translation: X:229.42, Y:-86.96, Z:-5.00 [[-7.16022231e-01 -6.98064276e-01 4.29326550e-03 2.29417549e+02] [ 6.98050990e-01 -7.16035096e-01 -4.30778861e-03 -8.69581116e+01] [ 6.08124211e-03 -8.75541777e-05 9.99981505e-01 -4.99570112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters 0.013384453108777271 Centerline is valid? [True, True] Translation: X:229.38, Y:-86.92, Z:-4.99 [[-7.17456480e-01 -6.96599262e-01 2.38071816e-03 2.29376099e+02] [ 6.96595173e-01 -7.17460428e-01 -2.38737836e-03 -8.69180384e+01] [ 3.37111707e-03 -5.44432946e-05 9.99994316e-01 -4.99426427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters 0.013669190696227377 Centerline is valid? [True, True] Translation: X:229.34, Y:-86.88, Z:-5.00 [[-7.17924459e-01 -6.96113884e-01 3.15146404e-03 2.29336562e+02] [ 6.96106723e-01 -7.17931373e-01 -3.15819410e-03 -8.68773641e+01] [ 4.46099766e-03 -7.35894896e-05 9.99990047e-01 -4.99505969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters 0.013541570260206106 Centerline is valid? [True, True] Translation: X:229.30, Y:-86.84, Z:-5.00 [[-7.18260383e-01 -6.95764219e-01 3.76469543e-03 2.29295076e+02] [ 6.95754008e-01 -7.18270244e-01 -3.77064075e-03 -8.68368702e+01] [ 5.32754562e-03 -8.89999336e-05 9.99985805e-01 -4.99531465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters 0.013395607230424296 Centerline is valid? [True, True] Translation: X:229.25, Y:-86.80, Z:-5.00 [[-7.18466334e-01 -6.95550160e-01 4.01267629e-03 2.29251550e+02] [ 6.95538568e-01 -7.18477533e-01 -4.01673951e-03 -8.67980127e+01] [ 5.67686157e-03 -9.49209886e-05 9.99983882e-01 -4.99577577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters 0.013372406356538014 Centerline is valid? [True, True] Translation: X:229.21, Y:-86.76, Z:-4.99 [[-7.18552885e-01 -6.95464358e-01 3.32838588e-03 2.29209105e+02] [ 6.95456391e-01 -7.18560589e-01 -3.32985785e-03 -8.67576314e+01] [ 4.70744438e-03 -7.79317334e-05 9.99988917e-01 -4.99445787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters 0.013371880737004948 Centerline is valid? [True, True] Translation: X:229.17, Y:-86.72, Z:-4.99 [[-7.18124440e-01 -6.95907975e-01 3.06252460e-03 2.29167883e+02] [ 6.95901243e-01 -7.18130967e-01 -3.06183267e-03 -8.67194106e+01] [ 4.33004753e-03 -6.75622028e-05 9.99990623e-01 -4.99368918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters 0.012998521824406133 Centerline is valid? [True, True] Translation: X:228.66, Y:-87.23, Z:-4.03 [[-7.45521531e-01 6.66473392e-01 3.29625941e-03 2.28657637e+02] [ 6.66467177e-01 7.45528816e-01 -2.87865154e-03 -8.72258277e+01] [-4.37600103e-03 5.07519999e-05 -9.99990424e-01 -4.03254320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters 0.012702837557170296 Centerline is valid? [True, True] Translation: X:228.68, Y:-87.21, Z:-4.03 [[-7.91948475e-01 6.10577431e-01 3.57956477e-03 2.28682675e+02] [ 6.10571443e-01 7.91956564e-01 -2.70451726e-03 -8.72052706e+01] [-4.48617702e-03 4.37417037e-05 -9.99989936e-01 -4.03156105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters 0.012587439380769259 Centerline is valid? [True, True] Translation: X:228.70, Y:-87.18, Z:-4.03 [[-8.34687973e-01 5.50696769e-01 5.39039086e-03 2.28698969e+02] [ 5.50685684e-01 8.34705377e-01 -3.49458782e-03 -8.71787458e+01] [-6.42384645e-03 5.15206558e-05 -9.99979366e-01 -4.02944024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters 0.012234293154702945 Centerline is valid? [True, True] Translation: X:228.71, Y:-87.15, Z:-4.03 [[-8.72597801e-01 4.88392441e-01 6.77502222e-03 2.28712007e+02] [ 4.88378155e-01 8.72624101e-01 -3.73587237e-03 -8.71514246e+01] [-7.73661950e-03 4.88588432e-05 -9.99970071e-01 -4.02900271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters 0.01199867289315469 Centerline is valid? [True, True] Translation: X:228.73, Y:-87.12, Z:-4.03 [[-9.05648840e-01 4.23971453e-01 6.95592092e-03 2.28727840e+02] [ 4.23959251e-01 9.05675552e-01 -3.21682246e-03 -8.71249514e+01] [-7.66364841e-03 3.57154897e-05 -9.99970633e-01 -4.02977102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters 0.01208868304485048 Centerline is valid? [True, True] Translation: X:228.74, Y:-87.10, Z:-4.03 [[-9.33672776e-01 3.58063871e-01 6.73875332e-03 2.28740796e+02] [ 3.58054758e-01 9.33697094e-01 -2.55476744e-03 -8.70969942e+01] [-7.20672431e-03 2.75258760e-05 -9.99974031e-01 -4.02929658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters 0.0124634282848786 Centerline is valid? [True, True] Translation: X:228.98, Y:-86.46, Z:-5.00 [[-9.13321437e-01 -4.07179831e-01 6.96693932e-03 2.28983310e+02] [ 4.07167943e-01 -9.13348009e-01 -3.11137117e-03 -8.64639398e+01] [ 7.63012774e-03 -4.96763082e-06 9.99970890e-01 -4.99788196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters 0.01360143832159225 Centerline is valid? [True, True] Translation: X:228.69, Y:-87.09, Z:-4.03 [[-9.32049787e-01 3.62218630e-01 8.99216167e-03 2.28694183e+02] [ 3.62203003e-01 9.32093155e-01 -3.36673920e-03 -8.70860115e+01] [-9.60102801e-03 1.19019406e-04 -9.99953902e-01 -4.02751799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters 0.014621162497997066 Centerline is valid? [True, True] Translation: X:228.71, Y:-87.06, Z:-4.03 [[-9.54257323e-01 2.98856523e-01 8.81709689e-03 2.28709619e+02] [ 2.98845199e-01 9.54298044e-01 -2.60575968e-03 -8.70649133e+01] [-9.19288660e-03 1.48381823e-04 -9.99957734e-01 -4.02807007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters 0.014840055706146297 Centerline is valid? [True, True] Translation: X:228.72, Y:-87.04, Z:-4.03 [[-9.72441145e-01 2.32982760e-01 8.78936325e-03 2.28715593e+02] [ 2.32974807e-01 9.72480851e-01 -1.93238076e-03 -8.70388357e+01] [-8.99769885e-03 1.68573644e-04 -9.99959506e-01 -4.02906263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters 0.015009403550840659 Centerline is valid? [True, True] Translation: X:228.72, Y:-87.01, Z:-4.03 [[-9.86568409e-01 1.63079576e-01 9.37153958e-03 2.28719963e+02] [ 1.63073901e-01 9.86612904e-01 -1.37166229e-03 -8.70124030e+01] [-9.46977198e-03 1.75014833e-04 -9.99955145e-01 -4.02867169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters 0.014334168100145074 Centerline is valid? [True, True] Translation: X:228.72, Y:-86.98, Z:-4.03 [[-9.95858321e-01 9.04242547e-02 9.46885113e-03 2.28720015e+02] [ 9.04216389e-02 9.95903324e-01 -7.04863914e-04 -8.69818349e+01] [-9.49379711e-03 1.54244444e-04 -9.99954921e-01 -4.02796815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters 0.013377502602191817 Centerline is valid? [True, True] Translation: X:228.71, Y:-86.95, Z:-4.03 [[-9.99864016e-01 1.30414392e-02 1.00930531e-02 2.28712390e+02] [ 1.30417807e-02 9.99914952e-01 -3.19891357e-05 -8.69503199e+01] [-1.00926119e-02 9.96465992e-05 -9.99949063e-01 -4.02787116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters 0.012315433479800823 Centerline is valid? [True, True] Translation: X:228.70, Y:-86.92, Z:-4.03 [[-9.97609338e-01 -6.83482893e-02 1.02039134e-02 2.28700784e+02] [-6.83447604e-02 9.97661521e-01 6.94539839e-04 -8.69166806e+01] [-1.02275224e-02 -4.50458717e-06 -9.99947698e-01 -4.02764628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters 0.012488064016846432 Centerline is valid? [True, True] Translation: X:228.65, Y:-86.26, Z:-5.00 [[-9.99939669e-01 -4.41333199e-03 1.00588328e-02 2.28651753e+02] [ 4.41303205e-03 -9.99990261e-01 -5.20137953e-05 -8.62563686e+01] [ 1.00589644e-02 -7.62070548e-06 9.99949407e-01 -4.99853624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters 0.013773827258635962 Centerline is valid? [True, True] Translation: X:228.63, Y:-86.91, Z:-4.03 [[-9.96156993e-01 -8.69482112e-02 1.05476541e-02 2.28627611e+02] [-8.69449585e-02 9.96212821e-01 7.67405348e-04 -8.69114932e+01] [-1.05744328e-02 -1.52609144e-04 -9.99944077e-01 -4.02719742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters 0.01419523387071766 Centerline is valid? [True, True] Translation: X:228.61, Y:-86.89, Z:-4.03 [[-9.86468390e-01 -1.63641732e-01 1.00747030e-02 2.28611991e+02] [-1.63635373e-01 9.86519812e-01 1.45794140e-03 -8.68862962e+01] [-1.01774742e-02 -2.10364679e-04 -9.99948186e-01 -4.02936790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters 0.014601182156215574 Centerline is valid? [True, True] Translation: X:228.60, Y:-86.86, Z:-4.03 [[-9.71954638e-01 -2.34981734e-01 9.36834504e-03 2.28601731e+02] [-2.34972935e-01 9.71999763e-01 2.04468051e-03 -8.68614020e+01] [-9.58649173e-03 -2.13970820e-04 -9.99954026e-01 -4.02988165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters 0.014776160751359275 Centerline is valid? [True, True] Translation: X:228.46, Y:-86.23, Z:-5.00 [[-9.91762987e-01 1.27822160e-01 8.22634796e-03 2.28459523e+02] [-1.27816911e-01 -9.91797099e-01 1.16289095e-03 -8.62259485e+01] [ 8.30751127e-03 1.01845817e-04 9.99965487e-01 -4.99611998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters 0.01448890020750612 Centerline is valid? [True, True] Translation: X:228.50, Y:-86.89, Z:-4.03 [[-9.70808334e-01 -2.39681154e-01 9.17186978e-03 2.28502273e+02] [-2.39672372e-01 9.70851639e-01 2.06128685e-03 -8.68890554e+01] [-9.39857642e-03 -1.97129331e-04 -9.99955813e-01 -4.02942271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters 0.01431610455060122 Centerline is valid? [True, True] Translation: X:228.49, Y:-86.87, Z:-4.03 [[-9.51943137e-01 -3.06112816e-01 9.96027555e-03 2.28487021e+02] [-3.06098130e-01 9.51995225e-01 3.00444214e-03 -8.68716592e+01] [-1.04018330e-02 -1.88763646e-04 -9.99945882e-01 -4.02782166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters 0.013464536293076895 Centerline is valid? [True, True] Translation: X:228.46, Y:-86.86, Z:-4.03 [[-9.28583399e-01 -3.71009193e-01 9.22225347e-03 2.28458835e+02] [-3.70992489e-01 9.28629181e-01 3.52371864e-03 -8.68592205e+01] [-9.87138570e-03 -1.49320136e-04 -9.99951266e-01 -4.02814740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters 0.01248154248963047 Centerline is valid? [True, True] Translation: X:228.41, Y:-86.86, Z:-4.03 [[-9.02079244e-01 -4.31486165e-01 8.52804289e-03 2.28407724e+02] [-4.31467635e-01 9.02119551e-01 3.99950082e-03 -8.68632413e+01] [-9.41904350e-03 -7.17078278e-05 -9.99955637e-01 -4.02938089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters 0.012333875944405367 Centerline is valid? [True, True] Translation: X:228.35, Y:-86.87, Z:-4.03 [[-8.70697148e-01 -4.91756534e-01 7.87317709e-03 2.28346612e+02] [-4.91736591e-01 8.70732744e-01 4.42883902e-03 -8.68728367e+01] [-9.03334362e-03 -1.53517544e-05 -9.99959198e-01 -4.03025183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters 0.012417419696007782 Centerline is valid? [True, True] Translation: X:228.27, Y:-86.89, Z:-4.03 [[-8.33416988e-01 -5.52609327e-01 6.24941325e-03 2.28272873e+02] [-5.52593728e-01 8.33440419e-01 4.15215744e-03 -8.68869792e+01] [-7.50303453e-03 7.09198692e-06 -9.99971852e-01 -4.03187848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters 0.012497274175433287 Centerline is valid? [True, True] Translation: X:228.20, Y:-86.91, Z:-4.03 [[-7.90149667e-01 -6.12880809e-01 6.37318229e-03 2.28196106e+02] [-6.12860729e-01 7.90175369e-01 4.96113625e-03 -8.69091232e+01] [-8.07651687e-03 1.41670071e-05 -9.99967384e-01 -4.03132377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters 0.012880780075810477 Centerline is valid? [True, True] Translation: X:228.11, Y:-86.95, Z:-4.03 [[-7.44362122e-01 -6.67741724e-01 6.78387501e-03 2.28113137e+02] [-6.67713347e-01 7.44393033e-01 6.15621482e-03 -8.69450953e+01] [-9.16063079e-03 5.27692387e-05 -9.99958039e-01 -4.03029352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters 0.013392188463893954 Centerline is valid? [True, True] Translation: X:228.03, Y:-86.99, Z:-4.03 [[-6.94548964e-01 -7.19413687e-01 6.75899651e-03 2.28030433e+02] [-7.19378281e-01 6.94581844e-01 7.13792058e-03 -8.69906345e+01] [-9.82979403e-03 9.53600531e-05 -9.99951682e-01 -4.03033624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters 0.01446856759637553 Centerline is valid? [True, True] Translation: X:227.95, Y:-87.05, Z:-4.03 [[-6.41122262e-01 -7.67418897e-01 5.52108423e-03 2.27947380e+02] [-7.67388833e-01 6.41146023e-01 6.79379961e-03 -8.70456974e+01] [-8.75351140e-03 1.18837785e-04 -9.99961680e-01 -4.03014884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters 0.015404743900127771 Centerline is valid? [True, True] Translation: X:227.86, Y:-87.11, Z:-4.03 [[-5.84924038e-01 -8.11079154e-01 3.80482832e-03 2.27864776e+02] [-8.11060644e-01 5.84936400e-01 5.48090915e-03 -8.71096345e+01] [-6.67103374e-03 1.19968998e-04 -9.99977741e-01 -4.03184531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters 0.015811537809470075 Centerline is valid? [True, True] Translation: X:227.78, Y:-87.19, Z:-4.03 [[-5.21979780e-01 -8.52954061e-01 2.54530786e-03 2.27781370e+02] [-8.52943070e-01 5.21985978e-01 4.33106862e-03 -8.71850601e+01] [-5.02281758e-03 8.97275461e-05 -9.99987382e-01 -4.03314832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters 0.014798466482426857 Centerline is valid? [True, True] Translation: X:227.70, Y:-87.26, Z:-4.03 [[-4.52610011e-01 -8.91706190e-01 2.06118991e-03 2.27702289e+02] [-8.91696246e-01 4.52614699e-01 4.21169800e-03 -8.72633524e+01] [-4.68852203e-03 6.83013724e-05 -9.99989006e-01 -4.03258253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters 0.012754463151515107 Centerline is valid? [True, True] Translation: X:227.62, Y:-87.36, Z:-4.03 [[-3.74784748e-01 -9.27109525e-01 2.07866891e-03 2.27618978e+02] [-9.27094768e-01 3.74790511e-01 5.23108936e-03 -8.73553654e+01] [-5.62885816e-03 3.34094431e-05 -9.99984157e-01 -4.03036761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters 0.01232780016694686 Centerline is valid? [True, True] Translation: X:227.55, Y:-87.45, Z:-4.03 [[-2.92240543e-01 -9.56342721e-01 2.01637965e-03 2.27545534e+02] [-9.56320723e-01 2.92247497e-01 6.48655839e-03 -8.74489139e+01] [-6.79265480e-03 -3.26702984e-05 -9.99976929e-01 -4.02953204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters 0.012872422050265448 Centerline is valid? [True, True] Translation: X:227.48, Y:-87.56, Z:-4.03 [[-2.11805341e-01 -9.77310848e-01 1.41591614e-03 2.27482619e+02] [-9.77291287e-01 2.11810061e-01 6.18369994e-03 -8.75567030e+01] [-6.34330231e-03 -7.40218300e-05 -9.99979878e-01 -4.03031493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters 0.013731249563683734 Centerline is valid? [True, True] Translation: X:227.43, Y:-87.66, Z:-4.03 [[-1.30082097e-01 -9.91503053e-01 5.86926614e-04 2.27430768e+02] [-9.91495441e-01 1.30083398e-01 3.88589089e-03 -8.76561998e+01] [-3.92922208e-03 -7.64502285e-05 -9.99992278e-01 -4.03233054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters 0.01464154775349173 Centerline is valid? [True, True] Translation: X:227.39, Y:-87.77, Z:-4.03 [[-5.16749191e-02 -9.98663951e-01 1.24113327e-04 2.27387886e+02] [-9.98662717e-01 5.16750504e-02 1.57072384e-03 -8.77717963e+01] [-1.57503884e-03 -4.27803255e-05 -9.99998759e-01 -4.03343452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters 0.014706784862449878 Centerline is valid? [True, True] Translation: X:227.36, Y:-87.88, Z:-4.03 [[ 2.59806604e-02 -9.99662446e-01 5.31845226e-06 2.27356128e+02] [-9.99661591e-01 -2.59806312e-02 1.30787285e-03 -8.78793519e+01] [-1.30729320e-03 -3.92960529e-05 -9.99999145e-01 -4.03266427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters 0.014882212906967045 Centerline is valid? [True, True] Translation: X:227.33, Y:-87.99, Z:-4.03 [[ 1.02919545e-01 -9.94689650e-01 -2.60990041e-04 2.27333872e+02] [-9.94684231e-01 -1.02919846e-01 3.28414612e-03 -8.79948242e+01] [-3.29356721e-03 -7.84001451e-05 -9.99994573e-01 -4.03038715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters 0.01537572962708045 Centerline is valid? [True, True] Translation: X:227.32, Y:-88.11, Z:-4.03 [[ 1.79426153e-01 -9.83770977e-01 -9.59554698e-04 2.27321553e+02] [-9.83752543e-01 -1.79428667e-01 6.02400853e-03 -8.81121056e+01] [-6.09841638e-03 -1.36900302e-04 -9.99981395e-01 -4.02769108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters 0.015368199331879082 Centerline is valid? [True, True] Translation: X:227.32, Y:-88.23, Z:-4.03 [[ 2.53524011e-01 -9.67327539e-01 -1.73443388e-03 2.27319199e+02] [-9.67300445e-01 -2.53529894e-01 7.24163034e-03 -8.82301564e+01] [-7.44475930e-03 -1.58208506e-04 -9.99972275e-01 -4.02631860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters 0.013845919378661852 Centerline is valid? [True, True] Translation: X:227.33, Y:-88.34, Z:-4.03 [[ 3.22095067e-01 -9.46704265e-01 -2.40876993e-03 2.27329919e+02] [-9.46674799e-01 -3.22104049e-01 7.47031413e-03 -8.83382495e+01] [-7.84805280e-03 -1.25829544e-04 -9.99969196e-01 -4.02636229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters 0.012711470438851598 Centerline is valid? [True, True] Translation: X:227.35, Y:-88.45, Z:-4.03 [[ 3.85492549e-01 -9.22707668e-01 -2.46041728e-03 2.27352565e+02] [-9.22688071e-01 -3.85500398e-01 6.01381103e-03 -8.84473944e+01] [-6.49748139e-03 -4.80816722e-05 -9.99978890e-01 -4.02723409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters 0.012395179759529189 Centerline is valid? [True, True] Translation: X:227.38, Y:-88.56, Z:-4.03 [[ 4.49303272e-01 -8.93376518e-01 -2.22870506e-03 2.27381010e+02] [-8.93365441e-01 -4.49308799e-01 4.44888592e-03 -8.85576501e+01] [-4.97590700e-03 -7.85092256e-06 -9.99987620e-01 -4.02879431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters 0.012733769662939026 Centerline is valid? [True, True] Translation: X:227.42, Y:-88.66, Z:-4.03 [[ 5.10575728e-01 -8.59831047e-01 -1.73119017e-03 2.27416779e+02] [-8.59826192e-01 -5.10578663e-01 2.88949246e-03 -8.86619775e+01] [-3.36838409e-03 1.32179314e-05 -9.99994327e-01 -4.02978007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters 0.01305940423653325 Centerline is valid? [True, True] Translation: X:227.46, Y:-88.77, Z:-4.03 [[ 5.73515800e-01 -8.19192257e-01 -1.91677863e-03 2.27458222e+02] [-8.19187788e-01 -5.73519003e-01 2.70583957e-03 -8.87677217e+01] [-3.31591179e-03 1.83599063e-05 -9.99994502e-01 -4.02982572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters 0.012842951641347614 Centerline is valid? [True, True] Translation: X:227.51, Y:-88.87, Z:-4.03 [[ 6.35939842e-01 -7.71736036e-01 -2.00211504e-03 2.27506736e+02] [-7.71732263e-01 -6.35942993e-01 2.41328320e-03 -8.88741719e+01] [-3.13564864e-03 1.03938387e-05 -9.99995084e-01 -4.02874841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters 0.012392852331942145 Centerline is valid? [True, True] Translation: X:227.56, Y:-88.97, Z:-4.03 [[ 6.95430855e-01 -7.18589952e-01 -2.09937902e-03 2.27555334e+02] [-7.18586673e-01 -6.95434024e-01 2.17052046e-03 -8.89721165e+01] [-3.01969379e-03 -8.61114702e-07 -9.99995441e-01 -4.02781051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters 0.012263658290055046 Centerline is valid? [True, True] Translation: X:227.61, Y:-89.07, Z:-4.03 [[ 7.52011868e-01 -6.59141944e-01 -3.16986166e-03 2.27610801e+02] [-6.59135970e-01 -7.52018549e-01 2.80631927e-03 -8.90656181e+01] [-4.23355751e-03 -2.10155546e-05 -9.99991038e-01 -4.02536943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters 0.012405688583755972 Centerline is valid? [True, True] Translation: X:227.63, Y:-89.09, Z:-4.02 [[ 8.03610626e-01 -5.95140572e-01 -4.20245474e-03 2.27631517e+02] [-5.95132147e-01 -8.03621613e-01 3.16700927e-03 -8.90930657e+01] [-5.26199917e-03 -4.40263861e-05 -9.99986155e-01 -4.02383478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters 0.012938519722735013 Centerline is valid? [True, True] Translation: X:227.65, Y:-89.12, Z:-4.02 [[ 8.50478176e-01 -5.25990844e-01 -4.52821951e-03 2.27653583e+02] [-5.25982930e-01 -8.50490227e-01 2.88629305e-03 -8.91186880e+01] [-5.36937016e-03 -7.29630808e-05 -9.99985582e-01 -4.02383839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters 0.013414120798317514 Centerline is valid? [True, True] Translation: X:227.68, Y:-89.14, Z:-4.02 [[ 8.90109855e-01 -4.55728510e-01 -3.99640265e-03 2.27679241e+02] [-4.55723539e-01 -8.90118823e-01 2.12997438e-03 -8.91411796e+01] [-4.52796328e-03 -7.46564306e-05 -9.99989746e-01 -4.02408210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters 0.013497475787570417 Centerline is valid? [True, True] Translation: X:227.71, Y:-89.16, Z:-4.02 [[ 9.23528043e-01 -3.83526482e-01 -1.84150008e-03 2.27706153e+02] [-3.83525625e-01 -9.23529878e-01 8.12084990e-04 -8.91615080e+01] [-2.01213644e-03 -4.37207926e-05 -9.99997975e-01 -4.02474528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters 0.013324291774179455 Centerline is valid? [True, True] Translation: X:227.73, Y:-89.18, Z:-4.03 [[ 9.50370619e-01 -3.11119709e-01 -4.61407871e-04 2.27734616e+02] [-3.11119662e-01 -9.50370731e-01 1.72994237e-04 -8.91794969e+01] [-4.92330453e-04 -2.08555788e-05 -9.99999879e-01 -4.02543393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters 0.013145960098800435 Centerline is valid? [True, True] Translation: X:227.76, Y:-89.20, Z:-4.02 [[ 9.71443582e-01 -2.37269999e-01 -5.60012185e-04 2.27763800e+02] [-2.37269947e-01 -9.71443744e-01 1.58607750e-04 -8.91960199e+01] [-5.81653195e-04 -2.12044190e-05 -9.99999831e-01 -4.02481828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters 0.01291439387262582 Centerline is valid? [True, True] Translation: X:227.79, Y:-89.21, Z:-4.02 [[ 9.86742457e-01 -1.62288548e-01 -1.32322223e-03 2.27793801e+02] [-1.62288364e-01 -9.86743344e-01 2.46257624e-04 -8.92118063e+01] [-1.34564552e-03 -2.82492822e-05 -9.99999094e-01 -4.02270348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters 0.0133262628320012 Centerline is valid? [True, True] Translation: X:227.82, Y:-89.22, Z:-4.02 [[ 9.96456837e-01 -8.40798539e-02 -2.08580227e-03 2.27820355e+02] [-8.40795916e-02 -9.96459019e-01 2.13277584e-04 -8.92246253e+01] [-2.09634884e-03 -3.71485032e-05 -9.99997802e-01 -4.02134259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters 0.013078412104239164 Centerline is valid? [True, True] Translation: X:227.85, Y:-89.23, Z:-4.02 [[ 9.99985560e-01 -4.66350894e-03 -2.67050822e-03 2.27849723e+02] [-4.66336777e-03 -9.99989125e-01 5.90877767e-05 -8.92345039e+01] [-2.67075473e-03 -4.66333615e-05 -9.99996432e-01 -4.02118950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters 0.013637584432334825 Centerline is valid? [True, True] Translation: X:227.88, Y:-89.25, Z:-4.02 [[ 9.96978571e-01 7.75225836e-02 -4.89670103e-03 2.27879955e+02] [ 7.75221071e-02 -9.96990592e-01 -2.87316823e-04 -8.92453485e+01] [-4.90423840e-03 -9.31538654e-05 -9.99987970e-01 -4.01885701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters 0.014069174076377656 Centerline is valid? [True, True] Translation: X:227.91, Y:-89.25, Z:-4.02 [[ 9.87542171e-01 1.57221076e-01 -6.48030809e-03 2.27910819e+02] [ 1.57218568e-01 -9.87563424e-01 -8.97742149e-04 -8.92518796e+01] [-6.54085923e-03 -1.32266529e-04 -9.99978600e-01 -4.01703775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters 0.01422174439987761 Centerline is valid? [True, True] Translation: X:227.94, Y:-89.25, Z:-4.02 [[ 9.72246627e-01 2.33860498e-01 -6.76488305e-03 2.27941151e+02] [ 2.33855821e-01 -9.72270152e-01 -1.48542045e-03 -8.92527575e+01] [-6.92467504e-03 -1.37812255e-04 -9.99976015e-01 -4.01695563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters 0.014544682202787873 Centerline is valid? [True, True] Translation: X:227.97, Y:-89.25, Z:-4.02 [[ 9.51441562e-01 3.07783507e-01 -5.31670069e-03 2.27970176e+02] [ 3.07779314e-01 -9.51456411e-01 -1.60999156e-03 -8.92509002e+01] [-5.55413781e-03 -1.04557613e-04 -9.99984570e-01 -4.01805293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters 0.01316139186147083 Centerline is valid? [True, True] Translation: X:228.00, Y:-89.24, Z:-4.02 [[ 9.25626155e-01 3.78431088e-01 -2.47642678e-03 2.27999270e+02] [ 3.78429874e-01 -9.25629466e-01 -9.59726503e-04 -8.92449788e+01] [-2.65544394e-03 -4.88059219e-05 -9.99996473e-01 -4.02143290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters 0.012824486490460914 Centerline is valid? [True, True] Translation: X:228.03, Y:-89.24, Z:-4.02 [[ 8.93825362e-01 4.48411210e-01 -1.89983933e-03 2.28028836e+02] [ 4.48410288e-01 -8.93827380e-01 -9.10207659e-04 -8.92404942e+01] [-2.10627572e-03 -3.83408097e-05 -9.99997781e-01 -4.02195339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters 0.012807569849867303 Centerline is valid? [True, True] Translation: X:228.06, Y:-89.23, Z:-4.02 [[ 8.55906195e-01 5.17118501e-01 -3.61131117e-03 2.28059005e+02] [ 5.17114208e-01 -8.55913811e-01 -2.10801895e-03 -8.92336430e+01] [-4.18106671e-03 -6.31938418e-05 -9.99991257e-01 -4.02004406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters 0.012937587628951742 Centerline is valid? [True, True] Translation: X:228.09, Y:-89.23, Z:-4.02 [[ 8.11588442e-01 5.84206218e-01 -5.22445898e-03 2.28089784e+02] [ 5.84194919e-01 -8.11605252e-01 -3.63481435e-03 -8.92266644e+01] [-6.36367949e-03 -1.02129076e-04 -9.99979746e-01 -4.01867720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters 0.013532342126583377 Centerline is valid? [True, True] Translation: X:228.12, Y:-89.22, Z:-4.02 [[ 7.62052028e-01 6.47491184e-01 -5.64558603e-03 2.28119246e+02] [ 6.47474667e-01 -7.62072929e-01 -4.62669173e-03 -8.92173034e+01] [-7.29809039e-03 -1.29594116e-04 -9.99973360e-01 -4.01799238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters 0.013704372344537207 Centerline is valid? [True, True] Translation: X:228.15, Y:-89.21, Z:-4.02 [[ 7.07304080e-01 7.06885743e-01 -5.78660742e-03 2.28149878e+02] [ 7.06863927e-01 -7.07327732e-01 -5.55595804e-03 -8.92067449e+01] [-8.02045543e-03 -1.60592260e-04 -9.99967823e-01 -4.01795961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters 0.013930142961233806 Centerline is valid? [True, True] Translation: X:228.18, Y:-89.19, Z:-4.02 [[ 6.50118349e-01 7.59815251e-01 -5.18805034e-03 2.28175075e+02] [ 7.59792921e-01 -6.50139031e-01 -5.82729665e-03 -8.91917861e+01] [-7.80062289e-03 -1.53411447e-04 -9.99969563e-01 -4.01812022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters 0.013302201190904276 Centerline is valid? [True, True] Translation: X:228.20, Y:-89.17, Z:-4.02 [[ 5.90242317e-01 8.07214825e-01 -4.27013133e-03 2.28197646e+02] [ 8.07195225e-01 -5.90257749e-01 -5.62660770e-03 -8.91729029e+01] [-7.06235926e-03 -1.25767655e-04 -9.99975053e-01 -4.01879204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters 0.012774928005087529 Centerline is valid? [True, True] Translation: X:228.22, Y:-89.15, Z:-4.02 [[ 5.29059858e-01 8.48579879e-01 -2.80265919e-03 2.28216030e+02] [ 8.48568689e-01 -5.29067277e-01 -4.35854413e-03 -8.91517897e+01] [-5.18136812e-03 -7.23180948e-05 -9.99986574e-01 -4.01937224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters 0.012082155228752152 Centerline is valid? [True, True] Translation: X:228.23, Y:-89.13, Z:-4.02 [[ 4.63605159e-01 8.86039605e-01 -2.01861453e-03 2.28234474e+02] [ 8.86031663e-01 -4.63609551e-01 -3.75177125e-03 -8.91295391e+01] [-4.26006689e-03 -4.92158825e-05 -9.99990925e-01 -4.02014551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters 0.01179668060943691 Centerline is valid? [True, True] Translation: X:228.25, Y:-89.11, Z:-4.02 [[ 3.96474353e-01 9.18044197e-01 -1.71444216e-03 2.28249774e+02] [ 9.18035961e-01 -3.96478059e-01 -3.88891347e-03 -8.91070738e+01] [-4.24993314e-03 -3.20651071e-05 -9.99990968e-01 -4.01946950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters 0.011600624360001678 Centerline is valid? [True, True] Translation: X:228.27, Y:-89.08, Z:-4.02 [[ 3.26149442e-01 9.45316385e-01 -1.86374752e-03 2.28266103e+02] [ 9.45301323e-01 -3.26154767e-01 -5.33632536e-03 -8.90833962e+01] [-5.65238594e-03 -2.13634587e-05 -9.99984025e-01 -4.01848800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters 0.011621704981340013 Centerline is valid? [True, True] Translation: X:228.28, Y:-89.06, Z:-4.02 [[ 2.52549157e-01 9.67582680e-01 -1.63737272e-03 2.28280039e+02] [ 9.67562680e-01 -2.52554464e-01 -6.22124296e-03 -8.90581371e+01] [-6.43309273e-03 -1.30910728e-05 -9.99979307e-01 -4.01782471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters 0.011715264357501518 Centerline is valid? [True, True] Translation: X:228.29, Y:-89.03, Z:-4.02 [[ 1.77286992e-01 9.84158436e-01 -1.22294787e-03 2.28292953e+02] [ 9.84135164e-01 -1.77291210e-01 -6.76797983e-03 -8.90330578e+01] [-6.87758235e-03 -3.67121507e-06 -9.99976349e-01 -4.01711430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters 0.011717151548412767 Centerline is valid? [True, True] Translation: X:228.30, Y:-89.01, Z:-4.02 [[ 1.00168551e-01 9.94970206e-01 -7.41858926e-04 2.28302495e+02] [ 9.94942865e-01 -1.00171298e-01 -7.37613478e-03 -8.90065204e+01] [-7.41334731e-03 7.49486502e-07 -9.99972521e-01 -4.01660379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters 0.011610851862983716 Centerline is valid? [True, True] Translation: X:228.32, Y:-88.98, Z:-4.02 [[ 2.22329947e-02 9.99752801e-01 -1.74114338e-04 2.28315167e+02] [ 9.99720548e-01 -2.22336760e-02 -8.03056807e-03 -8.89792024e+01] [-8.03245413e-03 4.47789587e-06 -9.99967739e-01 -4.01666359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters 0.011618435436571789 Centerline is valid? [True, True] Translation: X:228.32, Y:-88.95, Z:-4.02 [[-5.69312933e-02 9.98377986e-01 4.73970778e-04 2.28324701e+02] [ 9.98343216e-01 5.69332662e-02 -8.33221954e-03 -8.89510459e+01] [-8.34568927e-03 -1.17852310e-06 -9.99965174e-01 -4.01628998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters 0.011635392384160153 Centerline is valid? [True, True] Translation: X:228.33, Y:-88.92, Z:-4.02 [[-1.35573468e-01 9.90766496e-01 1.25929580e-03 2.28331064e+02] [ 9.90723377e-01 1.35579317e-01 -9.24333796e-03 -8.89221152e+01] [-9.32872403e-03 -5.53759776e-06 -9.99956486e-01 -4.01520150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters 0.011556484743348033 Centerline is valid? [True, True] Translation: X:228.34, Y:-88.89, Z:-4.01 [[-2.13394619e-01 9.76963515e-01 2.24193951e-03 2.28338299e+02] [ 9.76909063e-01 2.13406395e-01 -1.03146763e-02 -8.88924899e+01] [-1.05555066e-02 -1.09253776e-05 -9.99944289e-01 -4.01489989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters 0.011603787163772666 Centerline is valid? [True, True] Translation: X:228.34, Y:-88.86, Z:-4.02 [[-2.89781057e-01 9.57088257e-01 3.00111668e-03 2.28339987e+02] [ 9.57036338e-01 2.89796597e-01 -9.96891679e-03 -8.88634772e+01] [-1.04108466e-02 -1.66255300e-05 -9.99945806e-01 -4.01560725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters 0.011541176472782778 Centerline is valid? [True, True] Translation: X:228.34, Y:-88.83, Z:-4.02 [[-3.64785808e-01 9.31086008e-01 3.18744258e-03 2.28341205e+02] [ 9.31049874e-01 3.64799732e-01 -8.20290217e-03 -8.88331680e+01] [-8.80038564e-03 -2.46342862e-05 -9.99961276e-01 -4.01705349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters 0.0114859269438042 Centerline is valid? [True, True] Translation: X:228.34, Y:-88.80, Z:-4.02 [[-4.36864380e-01 8.99520865e-01 3.42430934e-03 2.28340263e+02] [ 8.99492772e-01 4.36877800e-01 -7.10927645e-03 -8.88026824e+01] [-7.89094724e-03 -2.56481481e-05 -9.99968866e-01 -4.01787177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters 0.011425322258306819 Centerline is valid? [True, True] Translation: X:228.34, Y:-88.77, Z:-4.02 [[-5.04881037e-01 8.63180365e-01 3.84645509e-03 2.28336161e+02] [ 8.63155085e-01 5.04895689e-01 -6.60628646e-03 -8.87714962e+01] [-7.64447535e-03 -1.53014901e-05 -9.99970780e-01 -4.01825041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters 0.011609020181352243 Centerline is valid? [True, True] Translation: X:228.33, Y:-88.74, Z:-4.02 [[-5.69178348e-01 8.22201410e-01 4.56611452e-03 2.28328845e+02] [ 8.22174975e-01 5.69196663e-01 -6.59310530e-03 -8.87411054e+01] [-8.01987763e-03 1.49231114e-06 -9.99967840e-01 -4.01789782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters 0.012003304969185861 Centerline is valid? [True, True] Translation: X:228.32, Y:-88.71, Z:-4.02 [[-6.28565262e-01 7.77731900e-01 6.22917447e-03 2.28318125e+02] [ 7.77694434e-01 6.28596125e-01 -7.63402870e-03 -8.87137441e+01] [-9.85286259e-03 4.59090583e-05 -9.99951458e-01 -4.01685293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters 0.012137595168567248 Centerline is valid? [True, True] Translation: X:228.31, Y:-88.68, Z:-4.02 [[-6.85584840e-01 7.27957290e-01 7.18407277e-03 2.28306682e+02] [ 7.27918504e-01 6.85622475e-01 -7.51482819e-03 -8.86842059e+01] [-1.03960357e-02 7.73672228e-05 -9.99945957e-01 -4.01711825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters 0.013049308948820434 Centerline is valid? [True, True] Translation: X:228.29, Y:-88.66, Z:-4.02 [[-7.38017294e-01 6.74726827e-01 8.61300595e-03 2.28292156e+02] [ 6.74682923e-01 7.38067539e-01 -7.69809159e-03 -8.86590130e+01] [-1.15510890e-02 1.29723308e-04 -9.99933276e-01 -4.01565024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters 0.01312068368063925 Centerline is valid? [True, True] Translation: X:228.31, Y:-88.64, Z:-4.02 [[-7.83008857e-01 6.21942519e-01 9.19962036e-03 2.28311474e+02] [ 6.21901818e-01 7.83062884e-01 -7.11677815e-03 -8.86396024e+01] [-1.16301082e-02 1.48760302e-04 -9.99932357e-01 -4.01606388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters 0.01383659984575016 Centerline is valid? [True, True] Translation: X:228.73, Y:-88.11, Z:-5.01 [[-7.59559367e-01 -6.50392980e-01 7.65108285e-03 2.28731131e+02] [ 6.50357208e-01 -7.59597873e-01 -6.82449127e-03 -8.81059656e+01] [ 1.02503475e-02 -2.07669386e-04 9.99947442e-01 -5.01193649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters 0.0136072083533717 Centerline is valid? [True, True] Translation: X:228.28, Y:-88.62, Z:-4.02 [[-7.83117823e-01 6.21828331e-01 7.48343232e-03 2.28280515e+02] [ 6.21801772e-01 7.83153564e-01 -5.74908385e-03 -8.86163867e+01] [-9.43561990e-03 1.51001440e-04 -9.99955472e-01 -4.01796774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters 0.013582432585436389 Centerline is valid? [True, True] Translation: X:228.30, Y:-88.59, Z:-4.02 [[-8.26956272e-01 5.62217501e-01 7.40305818e-03 2.28297009e+02] [ 5.62196194e-01 8.26989401e-01 -4.89596265e-03 -8.85915272e+01] [-8.87484653e-03 1.13224110e-04 -9.99960611e-01 -4.01784304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters 0.012075611575774954 Centerline is valid? [True, True] Translation: X:228.31, Y:-88.56, Z:-4.02 [[-8.68415297e-01 4.95775303e-01 7.85627755e-03 2.28310949e+02] [ 4.95755509e-01 8.68450831e-01 -4.43038684e-03 -8.85579622e+01] [-9.01926714e-03 4.73771800e-05 -9.99959324e-01 -4.01793280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters 0.011694596841279147 Centerline is valid? [True, True] Translation: X:228.32, Y:-88.53, Z:-4.02 [[-9.04152255e-01 4.27133317e-01 8.11346495e-03 2.28322331e+02] [ 4.27116008e-01 9.04188658e-01 -3.84537851e-03 -8.85261429e+01] [-8.97859226e-03 -1.14168925e-05 -9.99959692e-01 -4.01774672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters 0.012211366336087218 Centerline is valid? [True, True] Translation: X:228.33, Y:-88.49, Z:-4.02 [[-9.35384118e-01 3.53522449e-01 8.85602428e-03 2.28330072e+02] [ 3.53505614e-01 9.35426036e-01 -3.45152403e-03 -8.84903975e+01] [-9.50434692e-03 -9.78464617e-05 -9.99954828e-01 -4.01661423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters 0.012790551726542452 Centerline is valid? [True, True] Translation: X:228.33, Y:-88.46, Z:-4.02 [[-9.59368321e-01 2.82000922e-01 9.37581211e-03 2.28332096e+02] [ 2.81985975e-01 9.59414123e-01 -2.90703938e-03 -8.84589125e+01] [-9.81507434e-03 -1.45073968e-04 -9.99951820e-01 -4.01667126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters 0.013928907276287927 Centerline is valid? [True, True] Translation: X:228.34, Y:-88.43, Z:-4.02 [[-9.77534599e-01 2.10579105e-01 9.08559405e-03 2.28336321e+02] [ 2.10568446e-01 9.77576807e-01 -2.12511334e-03 -8.84275196e+01] [-9.32937049e-03 -1.64232398e-04 -9.99956467e-01 -4.01638449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters 0.013486124018399376 Centerline is valid? [True, True] Translation: X:228.34, Y:-88.40, Z:-4.02 [[-9.90032574e-01 1.40610415e-01 8.01336528e-03 2.28337485e+02] [ 1.40604620e-01 9.90064993e-01 -1.28475182e-03 -8.83998761e+01] [-8.11440192e-03 -1.45229968e-04 -9.99967067e-01 -4.01789563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters 0.013432446031749702 Centerline is valid? [True, True] Translation: X:228.43, Y:-87.80, Z:-5.01 [[-9.71094107e-01 -2.38546801e-01 8.46512663e-03 2.28432531e+02] [ 2.38539433e-01 -9.71130984e-01 -1.88441929e-03 -8.77997394e+01] [ 8.67026895e-03 1.89318035e-04 9.99962395e-01 -5.01237887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters 0.013512239525894455 Centerline is valid? [True, True] Translation: X:228.29, Y:-88.39, Z:-4.01 [[-9.90303324e-01 1.38556113e-01 1.00762512e-02 2.28290206e+02] [ 1.38547274e-01 9.90354571e-01 -1.57338216e-03 -8.83919531e+01] [-1.01970632e-02 -1.62088439e-04 -9.99947995e-01 -4.01461660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters 0.013239231169143491 Centerline is valid? [True, True] Translation: X:228.29, Y:-88.37, Z:-4.01 [[-9.97523104e-01 6.95462750e-02 1.05343548e-02 2.28291970e+02] [ 6.95408077e-02 9.97578715e-01 -8.84841335e-04 -8.83676298e+01] [-1.05703856e-02 -1.50082131e-04 -9.99944121e-01 -4.01449669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters 0.012701938286782215 Centerline is valid? [True, True] Translation: X:228.35, Y:-87.76, Z:-5.02 [[-9.87060441e-01 -1.59953285e-01 1.12530770e-02 2.28345703e+02] [ 1.59945308e-01 -9.87124563e-01 -1.61110556e-03 -8.77550479e+01] [ 1.13658904e-02 2.09618311e-04 9.99935384e-01 -5.01543061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters 0.012517135686483744 Centerline is valid? [True, True] Translation: X:228.24, Y:-88.37, Z:-4.01 [[-9.97443887e-01 7.04988627e-02 1.16448531e-02 2.28242290e+02] [ 7.04927909e-02 9.97511854e-01 -9.31562119e-04 -8.83724065e+01] [-1.16815531e-02 -1.08302746e-04 -9.99931762e-01 -4.01333639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters 0.012037682104814087 Centerline is valid? [True, True] Translation: X:228.30, Y:-87.74, Z:-5.01 [[-9.88940148e-01 -1.47933628e-01 1.06313674e-02 2.28299946e+02] [ 1.47925576e-01 -9.88997290e-01 -1.54409503e-03 -8.77399255e+01] [ 1.07428171e-02 4.56335692e-05 9.99942293e-01 -5.01433372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters 0.012105881159335877 Centerline is valid? [True, True] Translation: X:228.20, Y:-88.38, Z:-4.02 [[-9.96935501e-01 7.75394126e-02 1.03559732e-02 2.28195270e+02] [ 7.75354171e-02 9.96989287e-01 -7.87349283e-04 -8.83841703e+01] [-1.03858449e-02 1.80182485e-05 -9.99946066e-01 -4.01532759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters 0.012860530890476863 Centerline is valid? [True, True] Translation: X:228.20, Y:-88.37, Z:-4.02 [[-9.99862821e-01 1.36724263e-02 9.34898323e-03 2.28197510e+02] [ 1.36725972e-02 9.99906525e-01 -4.56367373e-05 -8.83650911e+01] [-9.34873329e-03 8.21944053e-05 -9.99956296e-01 -4.01705876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters 0.013508088760961802 Centerline is valid? [True, True] Translation: X:228.19, Y:-88.34, Z:-4.02 [[-9.98489940e-01 -5.43599230e-02 7.92708843e-03 2.28194773e+02] [-5.43574750e-02 9.98521402e-01 5.24094885e-04 -8.83431037e+01] [-7.94385721e-03 9.24069591e-05 -9.99968443e-01 -4.01915930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters 0.013466029721920209 Centerline is valid? [True, True] Translation: X:228.15, Y:-87.66, Z:-5.01 [[-9.99887885e-01 1.27855583e-02 7.79400994e-03 2.28150404e+02] [-1.27859525e-02 -9.99918256e-01 -7.49885950e-07 -8.76617740e+01] [ 7.79336324e-03 -1.00403642e-04 9.99969626e-01 -5.00936676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters 0.013095085870349344 Centerline is valid? [True, True] Translation: X:228.12, Y:-88.35, Z:-4.02 [[-9.97977061e-01 -6.28445949e-02 9.60946743e-03 2.28117002e+02] [-6.28409127e-02 9.98023322e-01 6.84943815e-04 -8.83472667e+01] [-9.63351762e-03 7.96905119e-05 -9.99953593e-01 -4.01866696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters 0.012700842234365515 Centerline is valid? [True, True] Translation: X:228.11, Y:-88.32, Z:-4.02 [[-9.90615664e-01 -1.36306321e-01 1.00595217e-02 2.28108151e+02] [-1.36298698e-01 9.90666737e-01 1.44270364e-03 -8.83195123e+01] [-1.01622832e-02 5.80651121e-05 -9.99948361e-01 -4.01888739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters 0.012536067222149897 Centerline is valid? [True, True] Translation: X:228.09, Y:-88.29, Z:-4.02 [[-9.77503764e-01 -2.10653748e-01 1.05541313e-02 2.28092809e+02] [-2.10641284e-01 9.77560739e-01 2.29153376e-03 -8.82929575e+01] [-1.08000246e-02 1.68470954e-05 -9.99941678e-01 -4.01907525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters 0.012349178454696132 Centerline is valid? [True, True] Translation: X:228.07, Y:-88.27, Z:-4.02 [[-9.59219768e-01 -2.82425854e-01 1.15357449e-02 2.28071591e+02] [-2.82405553e-01 9.59289131e-01 3.38623182e-03 -8.82704574e+01] [-1.20224741e-02 -9.61791077e-06 -9.99927727e-01 -4.01982548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters 0.012401677574492476 Centerline is valid? [True, True] Translation: X:228.04, Y:-88.25, Z:-4.02 [[-9.36089655e-01 -3.51574318e-01 1.14741470e-02 2.28040803e+02] [-3.51548179e-01 9.36159975e-01 4.28708891e-03 -8.82530276e+01] [-1.22488676e-02 -2.06159169e-05 -9.99924980e-01 -4.02052973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters 0.012171899486855937 Centerline is valid? [True, True] Translation: X:227.99, Y:-88.25, Z:-4.02 [[-9.08129240e-01 -4.18580211e-01 9.58598290e-03 2.27989286e+02] [-4.18557068e-01 9.08179832e-01 4.40162744e-03 -8.82465563e+01] [-1.05482305e-02 -1.50343110e-05 -9.99944366e-01 -4.02312441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters 0.012241278123122533 Centerline is valid? [True, True] Translation: X:227.93, Y:-88.25, Z:-4.02 [[-8.75330834e-01 -4.83445780e-01 8.72399903e-03 2.27925936e+02] [-4.83421832e-01 8.75374307e-01 4.81195600e-03 -8.82504139e+01] [-9.96308443e-03 -5.31813457e-06 -9.99950367e-01 -4.02431523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters 0.012289043332224523 Centerline is valid? [True, True] Translation: X:227.86, Y:-88.26, Z:-4.02 [[-8.37537140e-01 -5.46310961e-01 8.71050144e-03 2.27856077e+02] [-5.46281364e-01 8.37582434e-01 5.68664130e-03 -8.82624175e+01] [-1.04024375e-02 4.38868689e-06 -9.99945893e-01 -4.02417629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters 0.012301635510618324 Centerline is valid? [True, True] Translation: X:227.78, Y:-88.28, Z:-4.02 [[-7.94185556e-01 -6.07600335e-01 9.54648074e-03 2.27778601e+02] [-6.07556419e-01 7.94242931e-01 7.30508163e-03 -8.82847499e+01] [-1.20207949e-02 1.56465689e-06 -9.99927748e-01 -4.02337717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters 0.01233658547837993 Centerline is valid? [True, True] Translation: X:227.70, Y:-88.32, Z:-4.02 [[-7.45742248e-01 -6.66159360e-01 1.00103310e-02 2.27695824e+02] [-6.66099539e-01 7.45809431e-01 8.92735609e-03 -8.83166824e+01] [-1.34128411e-02 -1.03702546e-05 -9.99910044e-01 -4.02287844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters 0.01255144552975124 Centerline is valid? [True, True] Translation: X:227.61, Y:-88.36, Z:-4.02 [[-6.91996544e-01 -7.21820535e-01 1.07656176e-02 2.27611699e+02] [-7.21734152e-01 6.92080280e-01 1.11669505e-02 -8.83573061e+01] [-1.55112059e-02 -4.24227637e-05 -9.99879693e-01 -4.02116913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters 0.012754293662588368 Centerline is valid? [True, True] Translation: X:227.53, Y:-88.41, Z:-4.02 [[-6.34878422e-01 -7.72542388e-01 1.03753673e-02 2.27527093e+02] [-7.72440728e-01 6.34963193e-01 1.25325811e-02 -8.84104217e+01] [-1.62699265e-02 -5.76909074e-05 -9.99867634e-01 -4.02003444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters 0.012543059939294469 Centerline is valid? [True, True] Translation: X:227.45, Y:-88.47, Z:-4.02 [[-5.73309833e-01 -8.19277602e-01 1.00023382e-02 2.27445312e+02] [-8.19155547e-01 5.73397073e-01 1.41416639e-02 -8.84724857e+01] [-1.73212599e-02 -8.59158774e-05 -9.99849972e-01 -4.02128735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters 0.012539850929488778 Centerline is valid? [True, True] Translation: X:227.37, Y:-88.54, Z:-4.02 [[-5.08984789e-01 -8.60730952e-01 8.75861457e-03 2.27366997e+02] [-8.60606702e-01 5.09060134e-01 1.46248041e-02 -8.85433304e+01] [-1.70466830e-02 -9.39195834e-05 -9.99854690e-01 -4.02112952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters 0.012473854285007581 Centerline is valid? [True, True] Translation: X:227.29, Y:-88.62, Z:-4.02 [[-4.42374513e-01 -8.96799566e-01 7.43833692e-03 2.27294161e+02] [-8.96676000e-01 4.42437036e-01 1.48868902e-02 -8.86221889e+01] [-1.66415524e-02 -8.41974119e-05 -9.99861516e-01 -4.02118639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters 0.012303270882021131 Centerline is valid? [True, True] Translation: X:227.23, Y:-88.71, Z:-4.02 [[-3.73972728e-01 -9.27420000e-01 6.04507296e-03 2.27227308e+02] [-9.27301393e-01 3.74021578e-01 1.48319043e-02 -8.87111369e+01] [-1.60163924e-02 -5.88768698e-05 -9.99871728e-01 -4.02235512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters 0.01224125107907786 Centerline is valid? [True, True] Translation: X:227.17, Y:-88.81, Z:-4.02 [[-3.02778715e-01 -9.53050458e-01 4.45813196e-03 2.27166196e+02] [-9.52949171e-01 3.02811532e-01 1.38943744e-02 -8.88058715e+01] [-1.45920136e-02 -4.14523283e-05 -9.99893530e-01 -4.02310880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters 0.012169439681153249 Centerline is valid? [True, True] Translation: X:227.11, Y:-88.91, Z:-4.02 [[-2.29413822e-01 -9.73324223e-01 3.04222789e-03 2.27110576e+02] [-9.73240505e-01 2.29433990e-01 1.27657355e-02 -8.89101970e+01] [-1.31231901e-02 -3.21832234e-05 -9.99913887e-01 -4.02316914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters 0.011995063371866793 Centerline is valid? [True, True] Translation: X:227.06, Y:-89.02, Z:-4.02 [[-1.53758156e-01 -9.88106393e-01 2.04564481e-03 2.27063418e+02] [-9.88022061e-01 1.53771759e-01 1.29093987e-02 -8.90155650e+01] [-1.30704218e-02 -3.62168696e-05 -9.99914578e-01 -4.02316885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters 0.012056680031714515 Centerline is valid? [True, True] Translation: X:227.03, Y:-89.13, Z:-4.02 [[-7.59741608e-02 -9.97109192e-01 1.08916105e-03 2.27025130e+02] [-9.97017212e-01 7.59819462e-02 1.35433996e-02 -8.91260484e+01] [-1.35870048e-02 -5.69638969e-05 -9.99907691e-01 -4.02247419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters 0.012238407028206064 Centerline is valid? [True, True] Translation: X:226.99, Y:-89.23, Z:-4.02 [[ 1.64885270e-03 -9.99998639e-01 6.29683444e-05 2.26993192e+02] [-9.99907293e-01 -1.64785099e-03 1.35162520e-02 -8.92301687e+01] [-1.35161298e-02 -8.52488154e-05 -9.99908649e-01 -4.02200880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters 0.012338324274282629 Centerline is valid? [True, True] Translation: X:226.97, Y:-89.35, Z:-4.02 [[ 7.99789231e-02 -9.96796104e-01 -9.47820476e-04 2.26969422e+02] [-9.96709969e-01 -7.99844724e-02 1.31042999e-02 -8.93528611e+01] [-1.31381260e-02 -1.03365678e-04 -9.99913686e-01 -4.02155610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters 0.012323304655066725 Centerline is valid? [True, True] Translation: X:226.96, Y:-89.47, Z:-4.02 [[ 1.57922024e-01 -9.87449961e-01 -1.79114850e-03 2.26956234e+02] [-9.87377907e-01 -1.57932139e-01 1.19293141e-02 -8.94698928e+01] [-1.20624807e-02 -1.15360980e-04 -9.99927239e-01 -4.02252931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters 0.012145082110665062 Centerline is valid? [True, True] Translation: X:226.95, Y:-89.59, Z:-4.02 [[ 2.33481443e-01 -9.72357941e-01 -2.53988841e-03 2.26952936e+02] [-9.72295141e-01 -2.33495231e-01 1.10514808e-02 -8.95894332e+01] [-1.13390470e-02 -1.10794529e-04 -9.99935705e-01 -4.02377140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters 0.012122369266732737 Centerline is valid? [True, True] Translation: X:226.96, Y:-89.71, Z:-4.02 [[ 3.06726910e-01 -9.51792455e-01 -3.11856416e-03 2.26957136e+02] [-9.51739978e-01 -3.06742747e-01 9.99506357e-03 -8.97056148e+01] [-1.04698230e-02 -9.76927792e-05 -9.99945185e-01 -4.02338371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters 0.012124768491676586 Centerline is valid? [True, True] Translation: X:226.97, Y:-89.82, Z:-4.02 [[ 3.78692654e-01 -9.25515647e-01 -3.55835215e-03 2.26969855e+02] [-9.25472541e-01 -3.78709361e-01 8.93282656e-03 -8.98206975e+01] [-9.61505202e-03 -8.96385896e-05 -9.99953770e-01 -4.02348539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters 0.012184655144833181 Centerline is valid? [True, True] Translation: X:226.99, Y:-89.94, Z:-4.02 [[ 4.49137253e-01 -8.93454749e-01 -3.78688553e-03 2.26994009e+02] [-8.93421358e-01 -4.49153209e-01 7.72476029e-03 -8.99402089e+01] [-8.60261555e-03 -8.61932030e-05 -9.99962993e-01 -4.02392631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters 0.012388256244586556 Centerline is valid? [True, True] Translation: X:227.02, Y:-90.05, Z:-4.02 [[ 5.16940893e-01 -8.56009644e-01 -4.42754335e-03 2.27020078e+02] [-8.55976686e-01 -5.16959845e-01 7.51211176e-03 -9.00459077e+01] [-8.71930224e-03 -9.34438816e-05 -9.99961982e-01 -4.02396866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters 0.012440798857327122 Centerline is valid? [True, True] Translation: X:227.06, Y:-90.15, Z:-4.02 [[ 5.81072240e-01 -8.13838274e-01 -4.72393515e-03 2.27058084e+02] [-8.13810107e-01 -5.81091435e-01 6.77157887e-03 -9.01549404e+01] [-8.25600831e-03 -9.03903343e-05 -9.99965915e-01 -4.02359515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters 0.012576359683896816 Centerline is valid? [True, True] Translation: X:227.11, Y:-90.27, Z:-4.02 [[ 6.41420467e-01 -7.67168881e-01 -5.62965268e-03 2.27110815e+02] [-7.67138027e-01 -6.41445165e-01 6.88100776e-03 -9.02692831e+01] [-8.89000851e-03 -9.48985604e-05 -9.99960479e-01 -4.02257614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters 0.01266715173037972 Centerline is valid? [True, True] Translation: X:227.15, Y:-90.35, Z:-4.02 [[ 6.98089352e-01 -7.15983462e-01 -6.24002282e-03 2.27149691e+02] [-7.15953625e-01 -6.98117234e-01 6.53714738e-03 -9.03538818e+01] [-9.03675689e-03 -9.59460190e-05 -9.99959163e-01 -4.02206661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters 0.012189721214282698 Centerline is valid? [True, True] Translation: X:227.21, Y:-90.44, Z:-4.02 [[ 7.49562910e-01 -6.61894194e-01 -7.17775120e-03 2.27207172e+02] [-6.61862731e-01 -7.49597271e-01 6.45425356e-03 -9.04444589e+01] [-9.65245567e-03 -8.71830664e-05 -9.99953410e-01 -4.02302801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters 0.01218247620915037 Centerline is valid? [True, True] Translation: X:227.23, Y:-90.47, Z:-4.02 [[ 7.98715026e-01 -6.01665528e-01 -7.27323696e-03 2.27226301e+02] [-6.01639679e-01 -7.98748137e-01 5.57765441e-03 -9.04724853e+01] [-9.16536686e-03 -7.90884321e-05 -9.99957994e-01 -4.02344197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters 0.01235236045685182 Centerline is valid? [True, True] Translation: X:227.25, Y:-90.50, Z:-4.02 [[ 8.44267605e-01 -5.35863116e-01 -7.93292789e-03 2.27246521e+02] [-5.35838369e-01 -8.44304868e-01 5.15087796e-03 -9.05002234e+01] [-9.45797516e-03 -9.79522536e-05 -9.99955268e-01 -4.02377880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters 0.012719901592796547 Centerline is valid? [True, True] Translation: X:227.27, Y:-90.52, Z:-4.02 [[ 8.84221085e-01 -4.66978597e-01 -9.16855608e-03 2.27268577e+02] [-4.66952066e-01 -8.84268610e-01 4.97919302e-03 -9.05246871e+01] [-1.04326429e-02 -1.21431245e-04 -9.99945571e-01 -4.02302556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters 0.013017650420672756 Centerline is valid? [True, True] Translation: X:227.29, Y:-90.55, Z:-4.02 [[ 9.18688462e-01 -3.94853679e-01 -1.01035294e-02 2.27294775e+02] [-3.94828040e-01 -9.18744007e-01 4.50202194e-03 -9.05464687e+01] [-1.10601970e-02 -1.46798917e-04 -9.99938823e-01 -4.02251659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters 0.012841432773980806 Centerline is valid? [True, True] Translation: X:227.32, Y:-90.57, Z:-4.02 [[ 9.46690962e-01 -3.21954176e-01 -1.10332118e-02 2.27323532e+02] [-3.21930418e-01 -9.46755240e-01 3.91421993e-03 -9.05653239e+01] [-1.17059505e-02 -1.53630150e-04 -9.99931471e-01 -4.02365129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters 0.012665783647224415 Centerline is valid? [True, True] Translation: X:227.35, Y:-90.58, Z:-4.02 [[ 9.68661433e-01 -2.48133339e-01 -1.11747477e-02 2.27353404e+02] [-2.48115184e-01 -9.68725878e-01 3.00475356e-03 -9.05816230e+01] [-1.15708468e-02 -1.37964313e-04 -9.99933046e-01 -4.02399394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters 0.012258354316326716 Centerline is valid? [True, True] Translation: X:227.38, Y:-90.60, Z:-4.02 [[ 9.84680948e-01 -1.74015793e-01 -1.10424379e-02 2.27384694e+02] [-1.74003630e-01 -9.84742856e-01 2.06020738e-03 -9.05950866e+01] [-1.12324705e-02 -1.07222676e-04 -9.99936908e-01 -4.02429671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters 0.01214058069820857 Centerline is valid? [True, True] Translation: X:227.41, Y:-90.61, Z:-4.02 [[ 9.95134358e-01 -9.78256453e-02 -1.17368219e-02 2.27413159e+02] [-9.78177157e-02 -9.95203564e-01 1.24916570e-03 -9.06056105e+01] [-1.18027274e-02 -9.50186061e-05 -9.99930341e-01 -4.02373771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters 0.01205414302014683 Centerline is valid? [True, True] Translation: X:227.44, Y:-90.61, Z:-4.02 [[ 9.99680688e-01 -2.16277426e-02 -1.30676048e-02 2.27442103e+02] [-2.16248731e-02 -9.99766090e-01 3.60865422e-04 -9.06121727e+01] [-1.30723529e-02 -7.81648975e-05 -9.99914550e-01 -4.02284086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters 0.012412576340769671 Centerline is valid? [True, True] Translation: X:227.47, Y:-90.62, Z:-4.02 [[ 9.98308354e-01 5.64694562e-02 -1.38430469e-02 2.27470437e+02] [ 5.64651240e-02 -9.98404324e-01 -7.03910557e-04 -9.06171043e+01] [-1.38607074e-02 -7.89295704e-05 -9.99903933e-01 -4.02072636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters 0.01215932093052275 Centerline is valid? [True, True] Translation: X:227.50, Y:-90.62, Z:-4.02 [[ 9.90631102e-01 1.35873384e-01 -1.37274675e-02 2.27500065e+02] [ 1.35861720e-01 -9.90726205e-01 -1.78302098e-03 -9.06223380e+01] [-1.38424268e-02 -9.87213070e-05 -9.99904184e-01 -4.02310818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters 0.012241269834297764 Centerline is valid? [True, True] Translation: X:227.53, Y:-90.62, Z:-4.02 [[ 9.76765789e-01 2.13878310e-01 -1.35890159e-02 2.27530716e+02] [ 2.13859196e-01 -9.76860305e-01 -2.86151843e-03 -9.06246010e+01] [-1.38865869e-02 -1.11102689e-04 -9.99903571e-01 -4.02348718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters 0.012873122925662887 Centerline is valid? [True, True] Translation: X:227.56, Y:-90.63, Z:-4.02 [[ 9.56192793e-01 2.92420146e-01 -1.36308853e-02 2.27559895e+02] [ 2.92392728e-01 -9.56289932e-01 -4.00727052e-03 -9.06261499e+01] [-1.42068850e-02 -1.53848547e-04 -9.99899065e-01 -4.02275463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters 0.013095298857179794 Centerline is valid? [True, True] Translation: X:227.59, Y:-90.62, Z:-4.02 [[ 9.29422369e-01 3.68737157e-01 -1.43864232e-02 2.27590085e+02] [ 3.68696384e-01 -9.29533683e-01 -5.48716975e-03 -9.06237103e+01] [-1.53959884e-02 -2.04323914e-04 -9.99881454e-01 -4.02316634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters 0.013902411156861515 Centerline is valid? [True, True] Translation: X:227.62, Y:-90.62, Z:-4.02 [[ 8.96339704e-01 4.43131476e-01 -1.44786300e-02 2.27620562e+02] [ 4.43078371e-01 -8.96456595e-01 -6.86513207e-03 -9.06196770e+01] [-1.60216195e-02 -2.61677367e-04 -9.99871611e-01 -4.02330137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters 0.014532469797460016 Centerline is valid? [True, True] Translation: X:227.65, Y:-90.61, Z:-4.02 [[ 8.58194423e-01 5.13143798e-01 -1.36299145e-02 2.27649126e+02] [ 5.13084227e-01 -8.58302607e-01 -7.82375565e-03 -9.06107138e+01] [-1.57133028e-02 -2.78990650e-04 -9.99876500e-01 -4.02356931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters 0.013750764405956446 Centerline is valid? [True, True] Translation: X:227.68, Y:-90.60, Z:-4.03 [[ 8.15410336e-01 5.78746846e-01 -1.25726332e-02 2.27678262e+02] [ 5.78683128e-01 -8.15507213e-01 -8.59196468e-03 -9.06003568e+01] [-1.52256455e-02 -2.69593869e-04 -9.99884047e-01 -4.02606961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters 0.012470305245673273 Centerline is valid? [True, True] Translation: X:227.71, Y:-90.59, Z:-4.03 [[ 7.70069680e-01 6.37861831e-01 -1.11791115e-02 2.27706816e+02] [ 6.37798362e-01 -7.70150793e-01 -9.00030841e-03 -9.05888141e+01] [-1.43505548e-02 -1.99154417e-04 -9.99897006e-01 -4.02806718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters 0.011994755816849105 Centerline is valid? [True, True] Translation: X:227.73, Y:-90.57, Z:-4.03 [[ 7.21074938e-01 6.92780467e-01 -1.03032891e-02 2.27732317e+02] [ 6.92712298e-01 -7.21148534e-01 -9.71930245e-03 -9.05746947e+01] [-1.41635447e-02 -1.28869638e-04 -9.99899684e-01 -4.02776131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters 0.011741155968480315 Centerline is valid? [True, True] Translation: X:227.76, Y:-90.56, Z:-4.03 [[ 6.70849200e-01 7.41531415e-01 -9.61827686e-03 2.27755393e+02] [ 7.41455435e-01 -6.70918148e-01 -1.06149420e-02 -9.05555969e+01] [-1.43243895e-02 -1.04982783e-05 -9.99897401e-01 -4.02795117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters 0.012892946191050613 Centerline is valid? [True, True] Translation: X:227.78, Y:-90.54, Z:-4.02 [[ 6.14562438e-01 7.88817093e-01 -8.97795187e-03 2.27776183e+02] [ 7.88731489e-01 -6.14628009e-01 -1.16210673e-02 -9.05365825e+01] [-1.46849972e-02 6.06781109e-05 -9.99892168e-01 -4.02466202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters 0.01289099597055849 Centerline is valid? [True, True] Translation: X:227.80, Y:-90.52, Z:-4.03 [[ 5.56009292e-01 8.31131810e-01 -8.57797331e-03 2.27799142e+02] [ 8.31028396e-01 -5.56075434e-01 -1.31116998e-02 -9.05180000e+01] [-1.56675510e-02 1.61687514e-04 -9.99877243e-01 -4.02779730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters 0.013740600069384214 Centerline is valid? [True, True] Translation: X:227.82, Y:-90.50, Z:-4.03 [[ 4.92072717e-01 8.70520096e-01 -7.69439375e-03 2.27819271e+02] [ 8.70406695e-01 -4.92132822e-01 -1.40524232e-02 -9.04965388e+01] [-1.60195805e-02 2.17562213e-04 -9.99871655e-01 -4.02747525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters 0.014037850731036113 Centerline is valid? [True, True] Translation: X:227.84, Y:-90.48, Z:-4.03 [[ 4.24723657e-01 9.05295856e-01 -7.01631012e-03 2.27841343e+02] [ 9.05161366e-01 -4.24781516e-01 -1.56065461e-02 -9.04755296e+01] [-1.71089404e-02 2.77576498e-04 -9.99853593e-01 -4.02743646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters 0.014437588321360044 Centerline is valid? [True, True] Translation: X:227.86, Y:-90.45, Z:-4.03 [[ 3.53449224e-01 9.35438231e-01 -5.38168613e-03 2.27860272e+02] [ 9.35317756e-01 -3.53490087e-01 -1.50150785e-02 -9.04522748e+01] [-1.59480512e-02 2.73481259e-04 -9.99872784e-01 -4.02799227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters 0.013576192086379167 Centerline is valid? [True, True] Translation: X:227.88, Y:-90.43, Z:-4.03 [[ 2.77606608e-01 9.60688150e-01 -3.58464377e-03 2.27879888e+02] [ 9.60598018e-01 -2.77629671e-01 -1.31611019e-02 -9.04284829e+01] [-1.36389181e-02 2.10207140e-04 -9.99906964e-01 -4.03031053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters 0.012067219293516116 Centerline is valid? [True, True] Translation: X:227.90, Y:-90.40, Z:-4.03 [[ 1.93602431e-01 9.81077833e-01 -2.09371779e-03 2.27900581e+02] [ 9.81015924e-01 -1.93613735e-01 -1.10216774e-02 -9.04042404e+01] [-1.12184959e-02 7.98530349e-05 -9.99937068e-01 -4.03229670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters 0.011321780758802899 Centerline is valid? [True, True] Translation: X:227.93, Y:-90.38, Z:-4.03 [[ 1.02773977e-01 9.94704138e-01 -1.08927310e-03 2.27927554e+02] [ 9.94654748e-01 -1.02779729e-01 -9.91264315e-03 -9.03777593e+01] [-9.97210236e-03 -6.46888964e-05 -9.99950275e-01 -4.03305411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters 0.012733369940409 Centerline is valid? [True, True] Translation: X:227.95, Y:-90.35, Z:-4.03 [[ 1.52160153e-02 9.99884184e-01 -3.03418492e-04 2.27947010e+02] [ 9.99836563e-01 -1.52182523e-02 -9.75973693e-03 -9.03489119e+01] [-9.76322409e-03 -1.54864596e-04 -9.99952327e-01 -4.03252716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters 0.015857419792407033 Centerline is valid? [True, True] Translation: X:227.97, Y:-90.32, Z:-4.03 [[-7.42030610e-02 9.97243050e-01 4.53808939e-04 2.27966081e+02] [ 9.97197048e-01 7.42039985e-02 -9.58199205e-03 -9.03175412e+01] [-9.58924941e-03 -2.58476206e-04 -9.99953989e-01 -4.03204076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters 0.017459481640932372 Centerline is valid? [True, True] Translation: X:227.98, Y:-90.28, Z:-4.03 [[-1.56320768e-01 9.87705650e-01 1.16910084e-03 2.27975053e+02] [ 9.87662385e-01 1.56324869e-01 -9.24921625e-03 -9.02846697e+01] [-9.31826268e-03 -2.91167668e-04 -9.99956542e-01 -4.03183631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters 0.01701727766713332 Centerline is valid? [True, True] Translation: X:227.98, Y:-90.25, Z:-4.03 [[-2.35491662e-01 9.71874279e-01 2.01578752e-03 2.27982555e+02] [ 9.71825591e-01 2.35500053e-01 -9.73374671e-03 -9.02507353e+01] [-9.93469613e-03 -3.33222292e-04 -9.99950594e-01 -4.03120833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters 0.016957734642621864 Centerline is valid? [True, True] Translation: X:227.98, Y:-90.22, Z:-4.03 [[-3.09671915e-01 9.50838543e-01 3.06106476e-03 2.27983831e+02] [ 9.50780231e-01 3.09686844e-01 -1.05361643e-02 -9.02166466e+01] [-1.09661626e-02 -3.52354318e-04 -9.99939808e-01 -4.03005346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters 0.015760898799119332 Centerline is valid? [True, True] Translation: X:227.98, Y:-90.19, Z:-4.03 [[-3.78205565e-01 9.25712289e-01 4.16027157e-03 2.27979214e+02] [ 9.25646861e-01 3.78228317e-01 -1.10103745e-02 -9.01851144e+01] [-1.17659715e-02 -3.13242586e-04 -9.99930730e-01 -4.02913705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters 0.01462463610141612 Centerline is valid? [True, True] Translation: X:227.97, Y:-90.16, Z:-4.03 [[-4.44719838e-01 8.95654538e-01 5.21679398e-03 2.27969396e+02] [ 8.95585931e-01 4.44750359e-01 -1.10886652e-02 -9.01553160e+01] [-1.22517843e-02 -2.59262079e-04 -9.99924910e-01 -4.02850232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters 0.012295082240677534 Centerline is valid? [True, True] Translation: X:227.95, Y:-90.13, Z:-4.03 [[-5.05953551e-01 8.62538430e-01 6.20174621e-03 2.27954357e+02] [ 8.62469862e-01 5.05991535e-01 -1.08767575e-02 -9.01272920e+01] [-1.25196524e-02 -1.54314890e-04 -9.99921614e-01 -4.02999711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters 0.01156526170709944 Centerline is valid? [True, True] Translation: X:227.94, Y:-90.10, Z:-4.03 [[-5.67006698e-01 8.23678989e-01 7.50518442e-03 2.27940770e+02] [ 8.23604892e-01 5.67056361e-01 -1.10483318e-02 -9.00979766e+01] [-1.33561413e-02 -8.31715090e-05 -9.99910799e-01 -4.03066813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters 0.011878971777131174 Centerline is valid? [True, True] Translation: X:227.92, Y:-90.07, Z:-4.03 [[-6.21818679e-01 7.83116414e-01 8.37931938e-03 2.27923218e+02] [ 7.83046471e-01 6.21875132e-01 -1.04663555e-02 -9.00737949e+01] [-1.34072651e-02 5.32211140e-05 -9.99910117e-01 -4.03025845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters 0.01317382123312242 Centerline is valid? [True, True] Translation: X:227.91, Y:-90.05, Z:-4.03 [[-6.73665047e-01 7.38983732e-01 8.85710260e-03 2.27905358e+02] [ 7.38923444e-01 6.73723245e-01 -9.44108763e-03 -9.00489868e+01] [-1.29440461e-02 1.84590008e-04 -9.99916205e-01 -4.03259757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters 0.015227807111628648 Centerline is valid? [True, True] Translation: X:227.89, Y:-90.03, Z:-4.03 [[-7.23895058e-01 6.89842829e-01 9.63414734e-03 2.27885701e+02] [ 6.89787058e-01 7.23959105e-01 -8.77661205e-03 -9.00250705e+01] [-1.30292116e-02 2.92164058e-04 -9.99915074e-01 -4.03361905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters 0.017043353690706944 Centerline is valid? [True, True] Translation: X:227.90, Y:-90.01, Z:-4.03 [[-7.68762223e-01 6.39453659e-01 1.01815197e-02 2.27903566e+02] [ 6.39403270e-01 7.68829570e-01 -8.03439928e-03 -9.00077189e+01] [-1.29654795e-02 3.33554364e-04 -9.99915889e-01 -4.03341565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters 0.017024828360968147 Centerline is valid? [True, True] Translation: X:227.92, Y:-89.99, Z:-4.03 [[-8.11158724e-01 5.84732977e-01 1.04340876e-02 2.27922016e+02] [ 5.84690016e-01 8.11225756e-01 -7.09637804e-03 -8.99855386e+01] [-1.26138868e-02 3.44417873e-04 -9.99920382e-01 -4.03413320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters 0.016899559096289218 Centerline is valid? [True, True] Translation: X:227.94, Y:-89.96, Z:-4.03 [[-8.51033417e-01 5.25004400e-01 1.06067700e-02 2.27935635e+02] [ 5.24968311e-01 8.51099452e-01 -6.16409668e-03 -8.99584809e+01] [-1.22635940e-02 3.22365856e-04 -9.99924747e-01 -4.03427537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters 0.01627776815497972 Centerline is valid? [True, True] Translation: X:227.95, Y:-89.93, Z:-4.03 [[-8.86635185e-01 4.62337488e-01 1.10497002e-02 2.27948890e+02] [ 4.62305892e-01 8.86703982e-01 -5.41382556e-03 -8.99321134e+01] [-1.23008277e-02 3.08253309e-04 -9.99924294e-01 -4.03457526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters 0.014493594625831937 Centerline is valid? [True, True] Translation: X:227.96, Y:-89.90, Z:-4.03 [[-9.19784607e-01 3.92223812e-01 1.25203033e-02 2.27955173e+02] [ 3.92191153e-01 9.19869784e-01 -5.06760920e-03 -8.98964857e+01] [-1.35046856e-02 2.49243235e-04 -9.99908777e-01 -4.03371047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters 0.012844212704669664 Centerline is valid? [True, True] Translation: X:227.96, Y:-89.86, Z:-4.03 [[-9.47119486e-01 3.20631852e-01 1.26449736e-02 2.27960991e+02] [ 3.20605652e-01 9.47203878e-01 -4.10230248e-03 -8.98623451e+01] [-1.32926969e-02 1.68679383e-04 -9.99911634e-01 -4.03372626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters 0.011517376934390967 Centerline is valid? [True, True] Translation: X:227.96, Y:-89.83, Z:-4.03 [[-9.69521345e-01 2.44756398e-01 1.10755360e-02 2.27960357e+02] [ 2.44741017e-01 9.69584603e-01 -2.74434662e-03 -8.98253360e+01] [-1.14103655e-02 4.99353059e-05 -9.99934898e-01 -4.03462924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters 0.01109796181465973 Centerline is valid? [True, True] Translation: X:228.10, Y:-89.25, Z:-5.00 [[-9.52506985e-01 -3.04409558e-01 8.07858759e-03 2.28102739e+02] [ 3.04396565e-01 -9.52541216e-01 -2.82186239e-03 -8.92454532e+01] [ 8.55418953e-03 -2.28749332e-04 9.99963386e-01 -4.99535711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters 0.011444557544016345 Centerline is valid? [True, True] Translation: X:227.91, Y:-89.80, Z:-4.04 [[-9.73327132e-01 2.29345714e-01 5.90238241e-03 2.27912423e+02] [ 2.29341183e-01 9.73345027e-01 -1.44258599e-03 -8.98003890e+01] [-6.07590548e-03 -5.04487203e-05 -9.99981540e-01 -4.03589006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters 0.012462675997144698 Centerline is valid? [True, True] Translation: X:227.91, Y:-89.77, Z:-4.03 [[-9.88072221e-01 1.53857915e-01 6.40533207e-03 2.27908404e+02] [ 1.53854079e-01 9.88092978e-01 -1.09043685e-03 -8.97657236e+01] [-6.49683599e-03 -9.19438990e-05 -9.99978891e-01 -4.03499112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters 0.013324447643838902 Centerline is valid? [True, True] Translation: X:227.91, Y:-89.73, Z:-4.03 [[-9.96829182e-01 7.92889150e-02 6.69699380e-03 2.27907103e+02] [ 7.92862974e-02 9.96851670e-01 -6.55871193e-04 -8.97344510e+01] [-6.72791277e-03 -1.22811703e-04 -9.99977360e-01 -4.03375473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters 0.013651788251072427 Centerline is valid? [True, True] Translation: X:227.90, Y:-89.71, Z:-4.03 [[-9.99952705e-01 7.22019572e-03 6.51592637e-03 2.27899380e+02] [ 7.21921867e-03 9.99973926e-01 -1.73454982e-04 -8.97059504e+01] [-6.51700885e-03 -1.26406881e-04 -9.99978756e-01 -4.03350733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters 0.014535936013490736 Centerline is valid? [True, True] Translation: X:227.89, Y:-89.68, Z:-4.03 [[-9.97814902e-01 -6.55465284e-02 8.31109922e-03 2.27892294e+02] [-6.55456987e-02 9.97849499e-01 3.72469280e-04 -8.96776609e+01] [-8.31764026e-03 -1.73101408e-04 -9.99965393e-01 -4.03162906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters 0.014797406182676867 Centerline is valid? [True, True] Translation: X:227.87, Y:-89.13, Z:-5.00 [[-9.99091584e-01 -4.11801775e-02 1.09635595e-02 2.27866060e+02] [ 4.11820597e-02 -9.99151658e-01 -5.41206694e-05 -8.91261186e+01] [ 1.09564873e-02 3.97430455e-04 9.99939897e-01 -5.00244971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters 0.014292033011272342 Centerline is valid? [True, True] Translation: X:227.83, Y:-89.69, Z:-4.03 [[-9.97552344e-01 -6.87115504e-02 1.29631538e-02 2.27833038e+02] [-6.87090380e-02 9.97636537e-01 6.39603385e-04 -8.96868039e+01] [-1.29764640e-02 -2.52647970e-04 -9.99915770e-01 -4.02713364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters 0.013933528693490295 Centerline is valid? [True, True] Translation: X:227.80, Y:-89.12, Z:-5.00 [[-9.99319641e-01 -3.46483528e-02 1.26391320e-02 2.27804035e+02] [ 3.46484247e-02 -9.99399540e-01 -2.13354710e-04 -8.91183577e+01] [ 1.26389351e-02 2.24716460e-04 9.99920100e-01 -5.00334520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters 0.013723502188373688 Centerline is valid? [True, True] Translation: X:227.77, Y:-89.70, Z:-4.03 [[-9.97377775e-01 -7.14039774e-02 1.17917840e-02 2.27774180e+02] [-7.14014805e-02 9.97447456e-01 6.33146388e-04 -8.97025447e+01] [-1.18068941e-02 -2.10464698e-04 -9.99930274e-01 -4.02898427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters 0.01355385205265223 Centerline is valid? [True, True] Translation: X:227.72, Y:-89.11, Z:-5.00 [[-9.99436858e-01 -3.20444743e-02 9.95579137e-03 2.27724829e+02] [ 3.20434358e-02 -9.99486442e-01 -2.63845433e-04 -8.91105795e+01] [ 9.95913328e-03 5.53209110e-05 9.99950405e-01 -4.99966352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters 0.014249608106481744 Centerline is valid? [True, True] Translation: X:227.71, Y:-89.72, Z:-4.03 [[-9.96635062e-01 -8.13434630e-02 1.00892802e-02 2.27705471e+02] [-8.13416852e-02 9.96686102e-01 5.87110381e-04 -8.97161039e+01] [-1.01036030e-02 -2.35544264e-04 -9.99948930e-01 -4.03061420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters 0.01587821059097639 Centerline is valid? [True, True] Translation: X:227.70, Y:-89.69, Z:-4.03 [[-9.88054655e-01 -1.53781558e-01 9.96145190e-03 2.27696266e+02] [-1.53776313e-01 9.88104837e-01 1.29487747e-03 -8.96906774e+01] [-1.00420871e-02 -2.52425640e-04 -9.99949545e-01 -4.02923073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters 0.015405261654958462 Centerline is valid? [True, True] Translation: X:227.68, Y:-89.67, Z:-4.03 [[-9.74300691e-01 -2.25042125e-01 9.70598148e-03 2.27683272e+02] [-2.25033633e-01 9.74349000e-01 1.97248034e-03 -8.96720987e+01] [-9.90090452e-03 -2.62383313e-04 -9.99950950e-01 -4.02939438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters 0.015613173670562058 Centerline is valid? [True, True] Translation: X:227.56, Y:-89.06, Z:-5.00 [[-9.94065059e-01 1.08333200e-01 9.92851415e-03 2.27560552e+02] [-1.08325049e-01 -9.94114603e-01 1.35665927e-03 -8.90614085e+01] [ 1.00170521e-02 2.73100796e-04 9.99949791e-01 -5.00253880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters 0.01419338340955954 Centerline is valid? [True, True] Translation: X:227.59, Y:-89.70, Z:-4.03 [[-9.74188274e-01 -2.25496326e-01 1.04217882e-02 2.27590220e+02] [-2.25485859e-01 9.74243993e-01 2.18399387e-03 -8.97029844e+01] [-1.06458471e-02 -2.22344646e-04 -9.99943307e-01 -4.02700951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters 0.012131735090945905 Centerline is valid? [True, True] Translation: X:227.58, Y:-89.69, Z:-4.03 [[-9.57536703e-01 -2.88162268e-01 9.27194333e-03 2.27580562e+02] [-2.88150132e-01 9.57581583e-01 2.64817082e-03 -8.96879925e+01] [-9.64174508e-03 -1.35990934e-04 -9.99953508e-01 -4.02858786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters 0.010959892188034693 Centerline is valid? [True, True] Translation: X:227.55, Y:-89.68, Z:-4.03 [[-9.39223677e-01 -3.43236924e-01 6.87744792e-03 2.27553734e+02] [-3.43227719e-01 9.39248856e-01 2.51381481e-03 -8.96839366e+01] [-7.32246916e-03 5.03632074e-07 -9.99973190e-01 -4.02989875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters 0.0132441700874134 Centerline is valid? [True, True] Translation: X:227.51, Y:-89.69, Z:-4.03 [[-9.17664882e-01 -3.97305005e-01 6.31644659e-03 2.27508984e+02] [-3.97294785e-01 9.17686614e-01 2.85162038e-03 -8.96902846e+01] [-6.92948153e-03 1.07340586e-04 -9.99975985e-01 -4.03016859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters 0.017386496819900534 Centerline is valid? [True, True] Translation: X:227.45, Y:-89.71, Z:-4.03 [[-8.91856739e-01 -4.52262324e-01 7.09556553e-03 2.27445806e+02] [-4.52245891e-01 8.91884934e-01 3.86255149e-03 -8.97067258e+01] [-8.07531450e-03 2.35902229e-04 -9.99967366e-01 -4.02881865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters 0.018991481934715906 Centerline is valid? [True, True] Translation: X:227.37, Y:-89.72, Z:-4.03 [[-8.58455367e-01 -5.12844132e-01 6.72900452e-03 2.27370285e+02] [-5.12825813e-01 8.58481694e-01 4.34348289e-03 -8.97233895e+01] [-8.00425692e-03 2.77878982e-04 -9.99967927e-01 -4.02857625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters 0.020041149664235033 Centerline is valid? [True, True] Translation: X:227.29, Y:-89.75, Z:-4.03 [[-8.19455831e-01 -5.73110233e-01 6.06643532e-03 2.27289545e+02] [-5.73091879e-01 8.19478235e-01 4.59571084e-03 -8.97467968e+01] [-7.60516062e-03 2.89357233e-04 -9.99971038e-01 -4.02840496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters 0.021040194958838174 Centerline is valid? [True, True] Translation: X:227.20, Y:-89.78, Z:-4.03 [[-7.75540461e-01 -6.31274930e-01 5.38098966e-03 2.27201992e+02] [-6.31257090e-01 7.75559074e-01 4.75485302e-03 -8.97829932e+01] [-7.17489487e-03 2.90793034e-04 -9.99974218e-01 -4.02826998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters 0.022057368797513004 Centerline is valid? [True, True] Translation: X:227.12, Y:-89.83, Z:-4.03 [[-7.26502661e-01 -6.87149106e-01 4.47098096e-03 2.27116390e+02] [-6.87133780e-01 7.26516369e-01 4.59714024e-03 -8.98269327e+01] [-6.40716166e-03 2.67672568e-04 -9.99979438e-01 -4.02811185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters 0.021433116528187114 Centerline is valid? [True, True] Translation: X:227.02, Y:-89.88, Z:-4.03 [[-6.72181250e-01 -7.40379691e-01 3.20636361e-03 2.27023904e+02] [-7.40369769e-01 6.72188865e-01 3.83850414e-03 -8.98787616e+01] [-4.99723243e-03 2.06275824e-04 -9.99987492e-01 -4.02800419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters 0.01924254389577958 Centerline is valid? [True, True] Translation: X:226.93, Y:-89.94, Z:-4.03 [[-6.09726641e-01 -7.92609593e-01 1.85889774e-03 2.26929190e+02] [-7.92605341e-01 6.09729465e-01 2.59878014e-03 -8.99411689e+01] [-3.19324279e-03 1.11173208e-04 -9.99994895e-01 -4.02868191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters 0.017533038473860438 Centerline is valid? [True, True] Translation: X:226.84, Y:-90.01, Z:-4.03 [[-5.42409134e-01 -8.40113750e-01 1.10401564e-03 2.26842056e+02] [-8.40111788e-01 5.42410254e-01 1.81638993e-03 -9.00108633e+01] [-2.12480356e-03 5.77299373e-05 -9.99997741e-01 -4.02866762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters 0.01468876553781684 Centerline is valid? [True, True] Translation: X:226.75, Y:-90.09, Z:-4.03 [[-4.66821110e-01 -8.84350904e-01 1.23686860e-03 2.26750734e+02] [-8.84347537e-01 4.66822746e-01 2.44087569e-03 -9.00933349e+01] [-2.73598901e-03 4.56306006e-05 -9.99996256e-01 -4.02705338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters 0.013655290463317375 Centerline is valid? [True, True] Translation: X:226.68, Y:-90.18, Z:-4.03 [[-3.94260083e-01 -9.18998059e-01 1.24647694e-03 2.26675914e+02] [-9.18993118e-01 3.94262051e-01 3.01386681e-03 -9.01789560e+01] [-3.26117631e-03 4.27436463e-05 -9.99994681e-01 -4.02587507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters 0.012393861324950779 Centerline is valid? [True, True] Translation: X:226.60, Y:-90.27, Z:-4.02 [[-3.13493020e-01 -9.49589578e-01 1.32636382e-03 2.26600765e+02] [-9.49580865e-01 3.13495825e-01 4.06794137e-03 -9.02732564e+01] [-4.27868425e-03 1.57815206e-05 -9.99990846e-01 -4.02359253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters 0.012154329253701284 Centerline is valid? [True, True] Translation: X:226.54, Y:-90.38, Z:-4.02 [[-2.35351765e-01 -9.71909748e-01 9.94533192e-04 2.26539189e+02] [-9.71901160e-01 2.35353866e-01 4.08563283e-03 -9.03757797e+01] [-4.20493361e-03 -5.02706395e-06 -9.99991159e-01 -4.02351656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters 0.01227668362083701 Centerline is valid? [True, True] Translation: X:226.48, Y:-90.48, Z:-4.02 [[-1.54118195e-01 -9.88052296e-01 4.93338847e-04 2.26484495e+02] [-9.88047750e-01 1.54118982e-01 2.99732716e-03 -9.04807862e+01] [-3.03754887e-03 -2.54996864e-05 -9.99995386e-01 -4.02446935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters 0.012631178276769819 Centerline is valid? [True, True] Translation: X:226.44, Y:-90.59, Z:-4.02 [[-7.41825249e-02 -9.97244659e-01 2.08931994e-04 2.26440042e+02] [-9.97241807e-01 7.41828125e-02 2.38511511e-03 -9.05908514e+01] [-2.39404247e-03 -3.14218577e-05 -9.99997134e-01 -4.02425835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters 0.013231289798771802 Centerline is valid? [True, True] Translation: X:226.41, Y:-90.70, Z:-4.02 [[ 6.31577494e-03 -9.99980055e-01 2.70291579e-05 2.26405542e+02] [-9.99976802e-01 -6.31568544e-03 2.55099419e-03 -9.07046478e+01] [-2.55077260e-03 -4.31400361e-05 -9.99996746e-01 -4.02360170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters 0.01330772893257023 Centerline is valid? [True, True] Translation: X:226.38, Y:-90.82, Z:-4.02 [[ 8.42010334e-02 -9.96448770e-01 -1.87898267e-04 2.26382324e+02] [-9.96444757e-01 -8.42012276e-02 2.82845929e-03 -9.08190132e+01] [-2.83423604e-03 -5.09289513e-05 -9.99995982e-01 -4.02357449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters 0.013938396745866116 Centerline is valid? [True, True] Translation: X:226.37, Y:-90.94, Z:-4.02 [[ 1.61980715e-01 -9.86793726e-01 -6.24748563e-04 2.26367425e+02] [-9.86784324e-01 -1.61981899e-01 4.30833364e-03 -9.09393019e+01] [-4.35263456e-03 -8.13748735e-05 -9.99990524e-01 -4.02151232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters 0.014409678633108011 Centerline is valid? [True, True] Translation: X:226.36, Y:-91.05, Z:-4.02 [[ 2.38825555e-01 -9.71061106e-01 -1.63766650e-03 2.26362914e+02] [-9.71033885e-01 -2.38831125e-01 7.27246222e-03 -9.10540005e+01] [-7.45313094e-03 -1.46620163e-04 -9.99972214e-01 -4.01868650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters 0.014486108688125497 Centerline is valid? [True, True] Translation: X:226.37, Y:-91.17, Z:-4.02 [[ 3.13046113e-01 -9.49734634e-01 -2.50116420e-03 2.26369754e+02] [-9.49699802e-01 -3.13056058e-01 8.13578056e-03 -9.11695520e+01] [-8.50983718e-03 -1.71519340e-04 -9.99963776e-01 -4.01814200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters 0.01410712686355531 Centerline is valid? [True, True] Translation: X:226.39, Y:-91.28, Z:-4.02 [[ 3.82933388e-01 -9.23771439e-01 -2.88953356e-03 2.26385879e+02] [-9.23742250e-01 -3.82944263e-01 7.34491968e-03 -9.12844004e+01] [-7.89155732e-03 -1.43430753e-04 -9.99968851e-01 -4.01869708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters 0.012612083972915909 Centerline is valid? [True, True] Translation: X:226.41, Y:-91.39, Z:-4.02 [[ 4.45911715e-01 -8.95074701e-01 -2.00578391e-03 2.26414425e+02] [-8.95065104e-01 -4.45916223e-01 4.14507888e-03 -9.13896752e+01] [-4.60456682e-03 -5.30320465e-05 -9.99989398e-01 -4.02143571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters 0.011995166933170194 Centerline is valid? [True, True] Translation: X:226.45, Y:-91.50, Z:-4.02 [[ 5.06856731e-01 -8.62028880e-01 -1.56993333e-03 2.26450420e+02] [-8.62024648e-01 -5.06859162e-01 2.70125714e-03 -9.14952012e+01] [-3.12429676e-03 -1.58291433e-05 -9.99995119e-01 -4.02323360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters 0.012564672683456062 Centerline is valid? [True, True] Translation: X:226.49, Y:-91.59, Z:-4.02 [[ 5.62054153e-01 -8.27099847e-01 -9.86006475e-04 2.26493468e+02] [-8.27098597e-01 -5.62055018e-01 1.43805158e-03 -9.15913485e+01] [-1.74360213e-03 7.26171155e-06 -9.99998480e-01 -4.02418758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters 0.013655156177272391 Centerline is valid? [True, True] Translation: X:226.54, Y:-91.69, Z:-4.02 [[ 6.18655418e-01 -7.85661788e-01 -1.01434280e-03 2.26541345e+02] [-7.85660775e-01 -6.18656250e-01 1.26144279e-03 -9.16886738e+01] [-1.61859691e-03 1.65309324e-05 -9.99998690e-01 -4.02431500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters 0.0158835797139693 Centerline is valid? [True, True] Translation: X:226.60, Y:-91.78, Z:-4.02 [[ 6.73166071e-01 -7.39486426e-01 -2.69571740e-03 2.26597283e+02] [-7.39480918e-01 -6.73171465e-01 2.85489430e-03 -9.17815115e+01] [-3.92583561e-03 7.16136025e-05 -9.99992291e-01 -4.02181108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters 0.015541846435801171 Centerline is valid? [True, True] Translation: X:226.65, Y:-91.87, Z:-4.02 [[ 7.26440019e-01 -6.87218046e-01 -4.03198078e-03 2.26650999e+02] [-6.87208302e-01 -7.26451199e-01 3.66120081e-03 -9.18713802e+01] [-5.44508054e-03 1.11167878e-04 -9.99985169e-01 -4.02018781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters 0.015662265174873933 Centerline is valid? [True, True] Translation: X:226.67, Y:-91.90, Z:-4.02 [[ 7.78261126e-01 -6.27921493e-01 -4.92112100e-03 2.26671615e+02] [-6.27909946e-01 -7.78276675e-01 3.81013783e-03 -9.18965257e+01] [-6.22246113e-03 1.24738664e-04 -9.99980633e-01 -4.01892529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters 0.013946771539462024 Centerline is valid? [True, True] Translation: X:226.69, Y:-91.93, Z:-4.02 [[ 8.26920465e-01 -5.62298459e-01 -4.79452264e-03 2.26689999e+02] [-5.62289666e-01 -8.26934359e-01 3.14606225e-03 -9.19254292e+01] [-5.73378147e-03 9.43672748e-05 -9.99983557e-01 -4.02004979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters 0.013790783310536753 Centerline is valid? [True, True] Translation: X:226.71, Y:-91.95, Z:-4.02 [[ 8.69710536e-01 -4.93542726e-01 -4.37738074e-03 2.26712189e+02] [-4.93536864e-01 -8.69721549e-01 2.40629500e-03 -9.19489311e+01] [-4.99471175e-03 6.76186531e-05 -9.99987524e-01 -4.02016682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters 0.01265570161538743 Centerline is valid? [True, True] Translation: X:226.74, Y:-91.97, Z:-4.02 [[ 9.08001051e-01 -4.18957484e-01 -2.95266655e-03 2.26735590e+02] [-4.18955350e-01 -9.08005851e-01 1.33748755e-03 -9.19729365e+01] [-3.24138893e-03 2.25953502e-05 -9.99994746e-01 -4.02036266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters 0.011953095833959052 Centerline is valid? [True, True] Translation: X:226.76, Y:-92.00, Z:-4.02 [[ 9.39730738e-01 -3.41904392e-01 -2.74351310e-03 2.26759723e+02] [-3.41902950e-01 -9.39734743e-01 9.93215885e-04 -9.19997783e+01] [-2.91775945e-03 4.65972413e-06 -9.99995743e-01 -4.02043697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters 0.01185587038121589 Centerline is valid? [True, True] Translation: X:226.79, Y:-92.02, Z:-4.02 [[ 9.65810691e-01 -2.59231321e-01 -2.97176880e-03 2.26785571e+02] [-2.59230028e-01 -9.65815263e-01 8.19058559e-04 -9.20244466e+01] [-3.08250529e-03 -2.06838054e-05 -9.99995249e-01 -4.02003093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters 0.01268808581088319 Centerline is valid? [True, True] Translation: X:226.81, Y:-92.05, Z:-4.02 [[ 9.84514207e-01 -1.75263565e-01 -3.80249517e-03 2.26814538e+02] [-1.75262046e-01 -9.84521549e-01 7.31614645e-04 -9.20472981e+01] [-3.87186383e-03 -5.38519277e-05 -9.99992503e-01 -4.01911202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters 0.013262564410327473 Centerline is valid? [True, True] Translation: X:226.84, Y:-92.06, Z:-4.02 [[ 9.95590930e-01 -9.37072221e-02 -4.20209991e-03 2.26842659e+02] [-9.37060708e-02 -9.95599795e-01 4.70465782e-04 -9.20648903e+01] [-4.22769585e-03 -7.46291932e-05 -9.99991060e-01 -4.01841787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters 0.013831226757848985 Centerline is valid? [True, True] Translation: X:226.87, Y:-92.08, Z:-4.02 [[ 9.99896185e-01 -1.34643261e-02 -5.13135948e-03 2.26872499e+02] [-1.34636412e-02 -9.99909347e-01 1.67983690e-04 -9.20782756e+01] [-5.13315609e-03 -9.88794682e-05 -9.99986820e-01 -4.01715916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters 0.01321076143495287 Centerline is valid? [True, True] Translation: X:226.90, Y:-92.09, Z:-4.02 [[ 9.97954928e-01 6.36391308e-02 -6.00190129e-03 2.26903588e+02] [ 6.36386227e-02 -9.97972970e-01 -2.75784869e-04 -9.20865565e+01] [-6.00728597e-03 -1.06731863e-04 -9.99981950e-01 -4.01655482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters 0.012517662118411607 Centerline is valid? [True, True] Translation: X:226.93, Y:-92.09, Z:-4.02 [[ 9.90514149e-01 1.37284726e-01 -5.88434677e-03 2.26934332e+02] [ 1.37282782e-01 -9.90531624e-01 -7.34973980e-04 -9.20901624e+01] [-5.92953226e-03 -7.98173697e-05 -9.99982417e-01 -4.01688833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters 0.01202081746286355 Centerline is valid? [True, True] Translation: X:226.97, Y:-92.09, Z:-4.02 [[ 9.77787891e-01 2.09483761e-01 -6.88429350e-03 2.26965289e+02] [ 2.09478982e-01 -9.77812124e-01 -1.41619239e-03 -9.20903272e+01] [-7.02821496e-03 -5.73790216e-05 -9.99975300e-01 -4.01607930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters 0.011762044773753276 Centerline is valid? [True, True] Translation: X:226.99, Y:-92.09, Z:-4.02 [[ 9.59445870e-01 2.81786446e-01 -7.74734600e-03 2.26994849e+02] [ 2.81777550e-01 -9.59477148e-01 -2.23929538e-03 -9.20878261e+01] [-8.06440454e-03 -3.45454755e-05 -9.99967482e-01 -4.01528262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters 0.011965195354344874 Centerline is valid? [True, True] Translation: X:227.02, Y:-92.08, Z:-4.02 [[ 9.37015536e-01 3.49170390e-01 -9.05120165e-03 2.27021927e+02] [ 3.49153777e-01 -9.37059250e-01 -3.40622436e-03 -9.20778877e+01] [-9.67086492e-03 3.14238986e-05 -9.99953236e-01 -4.01512596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters 0.012380230686784418 Centerline is valid? [True, True] Translation: X:227.05, Y:-92.07, Z:-4.01 [[ 9.07975769e-01 4.18915024e-01 -9.49770066e-03 2.27050058e+02] [ 4.18891368e-01 -9.08025439e-01 -4.45237179e-03 -9.20701689e+01] [-1.04893193e-02 6.41408768e-05 -9.99944984e-01 -4.01484060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters 0.013693178901561147 Centerline is valid? [True, True] Translation: X:227.08, Y:-92.06, Z:-4.02 [[ 8.76025753e-01 4.82187301e-01 -8.61904219e-03 2.27075989e+02] [ 4.82162448e-01 -8.76068142e-01 -4.89742533e-03 -9.20575971e+01] [-9.91234457e-03 1.34492231e-04 -9.99950862e-01 -4.01613451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters 0.014904932682278733 Centerline is valid? [True, True] Translation: X:227.10, Y:-92.04, Z:-4.02 [[ 8.38000022e-01 5.45622145e-01 -7.24140654e-03 2.27101408e+02] [ 5.45600157e-01 -8.38031294e-01 -4.90084633e-03 -9.20445675e+01] [-8.74253558e-03 1.55996787e-04 -9.99961771e-01 -4.01717052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters 0.015977028798405575 Centerline is valid? [True, True] Translation: X:227.13, Y:-92.03, Z:-4.02 [[ 7.97098537e-01 6.03819917e-01 -5.95229716e-03 2.27128525e+02] [ 6.03801286e-01 -7.97120739e-01 -4.74704151e-03 -9.20341324e+01] [-7.61105771e-03 1.89855163e-04 -9.99971017e-01 -4.01901201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters 0.01809096220070121 Centerline is valid? [True, True] Translation: X:227.15, Y:-92.02, Z:-4.02 [[ 7.53395240e-01 6.57541431e-01 -5.90586087e-03 2.27154438e+02] [ 6.57518315e-01 -7.53418337e-01 -5.52037677e-03 -9.20225145e+01] [-8.07946032e-03 2.75813888e-04 -9.99967323e-01 -4.01855784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters 0.020553308911683547 Centerline is valid? [True, True] Translation: X:227.18, Y:-92.01, Z:-4.02 [[ 7.05477614e-01 7.08709860e-01 -5.62760985e-03 2.27180897e+02] [ 7.08683224e-01 -7.05499971e-01 -6.15460553e-03 -9.20098649e+01] [-8.33210821e-03 3.53743734e-04 -9.99965225e-01 -4.01820832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters 0.02076195567156264 Centerline is valid? [True, True] Translation: X:227.21, Y:-92.00, Z:-4.02 [[ 6.49792591e-01 7.60095148e-01 -4.99552782e-03 2.27209315e+02] [ 7.60068238e-01 -6.49811690e-01 -6.40633096e-03 -9.19980694e+01] [-8.11557345e-03 3.65844360e-04 -9.99967001e-01 -4.01864817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters 0.022431747172793476 Centerline is valid? [True, True] Translation: X:227.24, Y:-91.98, Z:-4.02 [[ 5.87242740e-01 8.09396511e-01 -4.82208140e-03 2.27235353e+02] [ 8.09363687e-01 -5.87262412e-01 -7.29940415e-03 -9.19840148e+01] [-8.73993941e-03 3.83704513e-04 -9.99961732e-01 -4.01847945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters 0.02029930873540045 Centerline is valid? [True, True] Translation: X:227.26, Y:-91.97, Z:-4.02 [[ 5.19581067e-01 8.54410450e-01 -4.27760440e-03 2.27264450e+02] [ 8.54375552e-01 -5.19598549e-01 -7.73077532e-03 -9.19694734e+01] [-8.82789226e-03 3.62083869e-04 -9.99960968e-01 -4.01901196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters 0.01861050480455058 Centerline is valid? [True, True] Translation: X:227.30, Y:-91.95, Z:-4.02 [[ 4.45996586e-01 8.95027404e-01 -3.60436111e-03 2.27295789e+02] [ 8.94992396e-01 -4.46011044e-01 -7.92212224e-03 -9.19538024e+01] [-8.69810136e-03 3.07363688e-04 -9.99962124e-01 -4.01925256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters 0.018261881082589335 Centerline is valid? [True, True] Translation: X:227.32, Y:-91.93, Z:-4.02 [[ 3.70669765e-01 9.28759726e-01 -3.04913355e-03 2.27321303e+02] [ 9.28721863e-01 -3.70682202e-01 -8.39089960e-03 -9.19338996e+01] [-8.92338915e-03 2.78455791e-04 -9.99960147e-01 -4.01922765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters 0.017898721632311265 Centerline is valid? [True, True] Translation: X:227.34, Y:-91.91, Z:-4.02 [[ 2.95089002e-01 9.55466728e-01 -2.41103250e-03 2.27341366e+02] [ 9.55427096e-01 -2.95098732e-01 -8.70645589e-03 -9.19093554e+01] [-9.03022155e-03 2.65613606e-04 -9.99959191e-01 -4.02022832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters 0.01719974827655351 Centerline is valid? [True, True] Translation: X:227.36, Y:-91.88, Z:-4.02 [[ 2.15953576e-01 9.76402175e-01 -1.68685020e-03 2.27363574e+02] [ 9.76363554e-01 -2.15960043e-01 -8.68735360e-03 -9.18836868e+01] [-8.84664319e-03 2.29086025e-04 -9.99960841e-01 -4.02029001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters 0.016545420744917834 Centerline is valid? [True, True] Translation: X:227.38, Y:-91.86, Z:-4.02 [[ 1.35867391e-01 9.90726503e-01 -1.02401996e-03 2.27379713e+02] [ 9.90685691e-01 -1.35871091e-01 -8.99490871e-03 -9.18553883e+01] [-9.05062916e-03 2.07632855e-04 -9.99959021e-01 -4.01888379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters 0.015038989063533603 Centerline is valid? [True, True] Translation: X:227.40, Y:-91.83, Z:-4.02 [[ 5.59566848e-02 9.98433138e-01 -3.43724804e-04 2.27399189e+02] [ 9.98384455e-01 -5.59573515e-02 -9.86180457e-03 -9.18260699e+01] [-9.86558641e-03 2.08664389e-04 -9.99951312e-01 -4.01940795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters 0.016287253379848453 Centerline is valid? [True, True] Translation: X:227.41, Y:-91.79, Z:-4.02 [[-1.71958294e-02 9.99851981e-01 5.64502664e-04 2.27414445e+02] [ 9.99768942e-01 1.72016790e-02 -1.28904862e-02 -9.17948119e+01] [-1.28982886e-02 3.42709629e-04 -9.99916755e-01 -4.01774036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters 0.016717497003269657 Centerline is valid? [True, True] Translation: X:227.42, Y:-91.76, Z:-4.02 [[-9.30643886e-02 9.95658844e-01 1.57657537e-03 2.27422746e+02] [ 9.95576149e-01 9.30769869e-02 -1.28376771e-02 -9.17624335e+01] [-1.29286896e-02 3.74870267e-04 -9.99916351e-01 -4.01785477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters 0.021115240267934137 Centerline is valid? [True, True] Translation: X:227.42, Y:-91.73, Z:-4.02 [[-1.62708109e-01 9.86670973e-01 2.54225960e-03 2.27422376e+02] [ 9.86591892e-01 1.62727278e-01 -1.25008825e-02 -9.17314374e+01] [-1.27479529e-02 4.74177755e-04 -9.99918629e-01 -4.01833492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters 0.020156082780608476 Centerline is valid? [True, True] Translation: X:227.43, Y:-91.70, Z:-4.02 [[-2.34610581e-01 9.72083527e-01 3.38988112e-03 2.27429894e+02] [ 9.72011635e-01 2.34634496e-01 -1.18335996e-02 -9.16975347e+01] [-1.22986303e-02 5.18716211e-04 -9.99924234e-01 -4.01979405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters 0.021249408211629548 Centerline is valid? [True, True] Translation: X:227.43, Y:-91.66, Z:-4.02 [[-3.06306986e-01 9.51923771e-01 4.14297046e-03 2.27433640e+02] [ 9.51859262e-01 3.06334518e-01 -1.10954054e-02 -9.16623691e+01] [-1.18311150e-02 5.44924605e-04 -9.99929861e-01 -4.01989497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters 0.020954634658062077 Centerline is valid? [True, True] Translation: X:227.44, Y:-91.63, Z:-4.02 [[-3.81118860e-01 9.24514964e-01 4.52721043e-03 2.27436518e+02] [ 9.24463953e-01 3.81145447e-01 -9.72362356e-03 -9.16262936e+01] [-1.07151611e-02 4.79386520e-04 -9.99942476e-01 -4.02087578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters 0.019450753638806707 Centerline is valid? [True, True] Translation: X:227.44, Y:-91.59, Z:-4.02 [[-4.58017394e-01 8.88927956e-01 5.21104737e-03 2.27438530e+02] [ 8.88880164e-01 4.58046857e-01 -9.22658431e-03 -9.15877776e+01] [-1.05886726e-02 4.06060544e-04 -9.99943856e-01 -4.02074277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters 0.017300797270709035 Centerline is valid? [True, True] Translation: X:227.44, Y:-91.55, Z:-4.02 [[-5.33936296e-01 8.45510218e-01 4.95001174e-03 2.27437608e+02] [ 8.45478265e-01 5.33959179e-01 -7.35517144e-03 -9.15482759e+01] [-8.86197681e-03 2.57934341e-04 -9.99960699e-01 -4.02079559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters 0.014850034757090999 Centerline is valid? [True, True] Translation: X:227.43, Y:-91.51, Z:-4.02 [[-6.03522125e-01 7.97333075e-01 4.58393229e-03 2.27432628e+02] [ 7.97312149e-01 6.03539510e-01 -5.77896365e-03 -9.15088333e+01] [-7.37434310e-03 1.67092486e-04 -9.99972795e-01 -4.02195584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters 0.01356134417398296 Centerline is valid? [True, True] Translation: X:227.42, Y:-91.47, Z:-4.02 [[-6.69616806e-01 7.42695911e-01 4.01462053e-03 2.27423762e+02] [ 7.42683349e-01 6.69628835e-01 -4.32050309e-03 -9.14704603e+01] [-5.89712564e-03 8.85103411e-05 -9.99982608e-01 -4.02214530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters 0.01293887967627592 Centerline is valid? [True, True] Translation: X:227.41, Y:-91.43, Z:-4.02 [[-7.28073374e-01 6.85489832e-01 3.58492579e-03 2.27409057e+02] [ 6.85481892e-01 7.28082198e-01 -3.29973281e-03 -9.14338865e+01] [-4.87205394e-03 5.49541113e-05 -9.99988130e-01 -4.02127362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters 0.013031341698653632 Centerline is valid? [True, True] Translation: X:227.42, Y:-91.41, Z:-4.02 [[-7.74710754e-01 6.32306320e-01 3.45907876e-03 2.27424607e+02] [ 6.32300308e-01 7.74718474e-01 -2.75793602e-03 -9.14088438e+01] [-4.42367260e-03 5.05738756e-05 -9.99990214e-01 -4.02075230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters 0.013578409678505115 Centerline is valid? [True, True] Translation: X:227.44, Y:-91.38, Z:-4.02 [[-8.16418293e-01 5.77447939e-01 3.87920376e-03 2.27436668e+02] [ 5.77441788e-01 8.16427506e-01 -2.66606114e-03 -9.13817606e+01] [-4.70660017e-03 6.33932726e-05 -9.99988922e-01 -4.01931183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters 0.014906599713939346 Centerline is valid? [True, True] Translation: X:227.45, Y:-91.36, Z:-4.02 [[-8.53245064e-01 5.21491659e-01 4.39431491e-03 2.27448916e+02] [ 5.21485277e-01 8.53256375e-01 -2.58149636e-03 -9.13569695e+01] [-5.09570603e-03 8.89215040e-05 -9.99987013e-01 -4.01845155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters 0.01489577024337465 Centerline is valid? [True, True] Translation: X:227.70, Y:-90.93, Z:-5.01 [[-8.39526365e-01 -5.43305728e-01 3.79056136e-03 2.27702158e+02] [ 5.43299601e-01 -8.39534916e-01 -2.58254930e-03 -9.09290104e+01] [ 4.58542244e-03 -1.08707755e-04 9.99989481e-01 -5.01325995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters 0.016837283430594336 Centerline is valid? [True, True] Translation: X:227.42, Y:-91.34, Z:-4.02 [[-8.49050822e-01 5.28299596e-01 3.49853357e-03 2.27419477e+02] [ 5.28295670e-01 8.49058022e-01 -2.03997025e-03 -9.13404855e+01] [-4.04817345e-03 1.16221716e-04 -9.99991799e-01 -4.01925254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters 0.020865894841540944 Centerline is valid? [True, True] Translation: X:227.42, Y:-91.32, Z:-4.02 [[-8.82392510e-01 4.70500685e-01 3.54471054e-03 2.27424351e+02] [ 4.70497474e-01 8.82399620e-01 -1.74292464e-03 -9.13160458e+01] [-3.94789847e-03 1.29833711e-04 -9.99992199e-01 -4.01831139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters 0.018666745667820797 Centerline is valid? [True, True] Translation: X:227.44, Y:-91.28, Z:-4.02 [[-9.12388760e-01 4.09309193e-01 3.56858765e-03 2.27436213e+02] [ 4.09306644e-01 9.12395729e-01 -1.45087116e-03 -9.12842340e+01] [-3.84981903e-03 1.36888092e-04 -9.99992580e-01 -4.01876920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters 0.02057841274102881 Centerline is valid? [True, True] Translation: X:227.62, Y:-90.83, Z:-5.01 [[-9.15822120e-01 -4.01569889e-01 3.38648845e-03 2.27618950e+02] [ 4.01566578e-01 -9.15828371e-01 -1.63674831e-03 -9.08277902e+01] [ 3.75871104e-03 -1.39069733e-04 9.99992926e-01 -5.01393289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters 0.018811217650624098 Centerline is valid? [True, True] Translation: X:227.40, Y:-91.26, Z:-4.02 [[-9.14131307e-01 4.05398502e-01 4.00090641e-03 2.27397213e+02] [ 4.05395340e-01 9.14140050e-01 -1.60847563e-03 -9.12570493e+01] [-4.30946239e-03 1.51590885e-04 -9.99990703e-01 -4.01788211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters 0.017690554894366613 Centerline is valid? [True, True] Translation: X:227.40, Y:-91.22, Z:-4.02 [[-9.42102232e-01 3.35299676e-01 4.18468800e-03 2.27397135e+02] [ 3.35297001e-01 9.42111516e-01 -1.34621345e-03 -9.12168256e+01] [-4.39382769e-03 1.34842636e-04 -9.99990338e-01 -4.01711978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters 0.017163496252720213 Centerline is valid? [True, True] Translation: X:227.39, Y:-91.18, Z:-4.02 [[-9.64524528e-01 2.63952652e-01 4.62959476e-03 2.27392159e+02] [ 2.63950249e-01 9.64535630e-01 -1.13356703e-03 -9.11798915e+01] [-4.76461712e-03 1.28629492e-04 -9.99988641e-01 -4.01663237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters 0.01558134237623591 Centerline is valid? [True, True] Translation: X:227.48, Y:-90.76, Z:-5.01 [[-9.60256967e-01 -2.79081190e-01 4.49952168e-03 2.27484505e+02] [ 2.79077488e-01 -9.60267500e-01 -1.44335856e-03 -9.07635791e+01] [ 4.72355866e-03 -1.30279906e-04 9.99988835e-01 -5.01498143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters 0.015287488817336341 Centerline is valid? [True, True] Translation: X:227.34, Y:-91.15, Z:-4.02 [[-9.67533373e-01 2.52718406e-01 3.54688534e-03 2.27344404e+02] [ 2.52716965e-01 9.67539871e-01 -8.56169523e-04 -9.11497667e+01] [-3.64812278e-03 6.79855096e-05 -9.99993343e-01 -4.01811137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters 0.014856833690791835 Centerline is valid? [True, True] Translation: X:227.34, Y:-91.11, Z:-4.02 [[-9.83160199e-01 1.82709254e-01 3.65406933e-03 2.27338860e+02] [ 1.82708243e-01 9.83166987e-01 -6.11515367e-04 -9.11148503e+01] [-3.70428985e-03 6.64110151e-05 -9.99993137e-01 -4.01792797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters 0.014485017043759396 Centerline is valid? [True, True] Translation: X:227.33, Y:-91.08, Z:-4.02 [[-9.93704160e-01 1.11994407e-01 3.04878546e-03 2.27330937e+02] [ 1.11994042e-01 9.93708836e-01 -2.90859745e-04 -9.10794918e+01] [-3.06217971e-03 5.24172684e-05 -9.99995310e-01 -4.01872984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters 0.01460323434979941 Centerline is valid? [True, True] Translation: X:227.31, Y:-91.05, Z:-4.02 [[-9.99164922e-01 4.06491925e-02 4.13536177e-03 2.27314607e+02] [ 4.06491388e-02 9.99173477e-01 -9.70649343e-05 -9.10462022e+01] [-4.13588941e-03 7.11150172e-05 -9.99991445e-01 -4.01756889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters 0.014226145574810238 Centerline is valid? [True, True] Translation: X:227.32, Y:-90.69, Z:-5.01 [[-9.97537382e-01 -7.00112604e-02 4.19474473e-03 2.27315996e+02] [ 7.00103557e-02 -9.97546199e-01 -3.62301071e-04 -9.06850994e+01] [ 4.20981681e-03 -6.77332911e-05 9.99991136e-01 -5.01488387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters 0.015026808163365879 Centerline is valid? [True, True] Translation: X:227.26, Y:-91.04, Z:-4.02 [[-9.99235196e-01 3.89195159e-02 3.78076711e-03 2.27264697e+02] [ 3.89195100e-02 9.99242346e-01 -7.51539516e-05 -9.10390342e+01] [-3.78082755e-03 7.20491297e-05 -9.99992850e-01 -4.01764020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters 0.016042061223197516 Centerline is valid? [True, True] Translation: X:227.25, Y:-91.01, Z:-4.02 [[-9.99572991e-01 -2.89124105e-02 4.23174819e-03 2.27248451e+02] [-2.89117460e-02 9.99581944e-01 2.18123429e-04 -9.10096896e+01] [-4.23628556e-03 9.56830593e-05 -9.99991022e-01 -4.01730415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters 0.0170731580868359 Centerline is valid? [True, True] Translation: X:227.23, Y:-90.66, Z:-5.02 [[-9.99874408e-01 1.50934069e-02 4.83285085e-03 2.27230085e+02] [-1.50935886e-02 -9.99886085e-01 -1.12147216e-06 -9.06639431e+01] [ 4.83228339e-03 -7.40663939e-05 9.99988322e-01 -5.01518439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters 0.01798864638269067 Centerline is valid? [True, True] Translation: X:227.21, Y:-91.01, Z:-4.02 [[-9.99703917e-01 -2.38905945e-02 4.61716022e-03 2.27206905e+02] [-2.38896664e-02 9.99714568e-01 2.56054353e-04 -9.10119450e+01] [-4.62195962e-03 1.45676122e-04 -9.99989308e-01 -4.01760528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters 0.019363535642928295 Centerline is valid? [True, True] Translation: X:227.18, Y:-90.67, Z:-5.01 [[-9.99671610e-01 2.50735716e-02 5.29040334e-03 2.27181566e+02] [-2.50738855e-02 -9.99685601e-01 6.98568173e-06 -9.06692854e+01] [ 5.28891520e-03 -1.25667580e-04 9.99986006e-01 -5.01460156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters 0.01991663950968513 Centerline is valid? [True, True] Translation: X:227.16, Y:-91.01, Z:-4.02 [[-9.99631399e-01 -2.67750429e-02 4.49024002e-03 2.27158107e+02] [-2.67741187e-02 9.99641474e-01 2.65813413e-04 -9.10127180e+01] [-4.49574732e-03 1.45493215e-04 -9.99989884e-01 -4.01876325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters 0.019269895707119875 Centerline is valid? [True, True] Translation: X:227.13, Y:-90.98, Z:-4.02 [[-9.94972755e-01 -1.00051383e-01 4.35171334e-03 2.27134781e+02] [-1.00049845e-01 9.94982263e-01 5.70069440e-04 -9.09838823e+01] [-4.38691382e-03 1.31815314e-04 -9.99990369e-01 -4.01908222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters 0.01661469683624967 Centerline is valid? [True, True] Translation: X:227.08, Y:-90.66, Z:-5.01 [[-9.95688006e-01 9.26171398e-02 5.24020471e-03 2.27079100e+02] [-9.26163818e-02 -9.95701790e-01 3.87649079e-04 -9.06633017e+01] [ 5.25358416e-03 -9.93512617e-05 9.99986195e-01 -5.01347968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters 0.01627272461575653 Centerline is valid? [True, True] Translation: X:227.08, Y:-90.98, Z:-4.02 [[-9.93898977e-01 -1.10106400e-01 6.43463482e-03 2.27077280e+02] [-1.10103064e-01 9.93919793e-01 8.71431948e-04 -9.09816627e+01] [-6.49146115e-03 1.57642309e-04 -9.99978918e-01 -4.01789849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters 0.014949246174137952 Centerline is valid? [True, True] Translation: X:227.02, Y:-90.68, Z:-5.01 [[-9.95993060e-01 8.92201841e-02 6.13049110e-03 2.27020790e+02] [-8.92195639e-02 -9.96011912e-01 3.75122145e-04 -9.06790297e+01] [ 6.13951063e-03 -1.73340690e-04 9.99981138e-01 -5.01248113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters 0.014453867904673645 Centerline is valid? [True, True] Translation: X:227.01, Y:-90.98, Z:-4.02 [[-9.92581641e-01 -1.21281246e-01 8.51733352e-03 2.27012394e+02] [-1.21275501e-01 9.92618173e-01 1.18967928e-03 -9.09829903e+01] [-8.59874583e-03 1.47909922e-04 -9.99963019e-01 -4.01755820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters 0.014204717411740616 Centerline is valid? [True, True] Translation: X:226.96, Y:-90.69, Z:-5.01 [[-9.95963848e-01 8.93064245e-02 8.96531283e-03 2.26961768e+02] [-8.93039707e-02 -9.96004190e-01 6.74457596e-04 -9.06922730e+01] [ 8.98972254e-03 -1.28902652e-04 9.99959583e-01 -5.01463854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters 0.014712536225925056 Centerline is valid? [True, True] Translation: X:226.96, Y:-90.99, Z:-4.02 [[-9.92118463e-01 -1.24935589e-01 9.59447873e-03 2.26961609e+02] [-1.24928100e-01 9.92164840e-01 1.37835604e-03 -9.09913400e+01] [-9.69151018e-03 1.68872479e-04 -9.99953022e-01 -4.01802404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters 0.01502440872626901 Centerline is valid? [True, True] Translation: X:226.94, Y:-90.97, Z:-4.02 [[-9.81335502e-01 -1.92021477e-01 1.04107703e-02 2.26943253e+02] [-1.92008282e-01 9.81390699e-01 2.26186370e-03 -9.09677322e+01] [-1.06513596e-02 2.20693018e-04 -9.99943248e-01 -4.01855160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters 0.01709306818509842 Centerline is valid? [True, True] Translation: X:226.92, Y:-90.95, Z:-4.02 [[-9.65935846e-01 -2.58573799e-01 1.03697283e-02 2.26922433e+02] [-2.58556053e-01 9.65991473e-01 3.04014340e-03 -9.09502475e+01] [-1.08031705e-02 2.55427465e-04 -9.99941611e-01 -4.01807914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters 0.01689395258134967 Centerline is valid? [True, True] Translation: X:226.89, Y:-90.93, Z:-4.02 [[-9.46295295e-01 -3.23171529e-01 9.24004469e-03 2.26893801e+02] [-3.23153329e-01 9.46340367e-01 3.44034516e-03 -9.09326950e+01] [-9.85604889e-03 2.69631240e-04 -9.99951392e-01 -4.02083627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters 0.01724512671992402 Centerline is valid? [True, True] Translation: X:226.87, Y:-90.92, Z:-4.02 [[-9.21098253e-01 -3.89229289e-01 8.86390305e-03 2.26865084e+02] [-3.89208387e-01 9.21140861e-01 4.04304870e-03 -9.09158547e+01] [-9.73857626e-03 2.74139686e-04 -9.99952541e-01 -4.02114687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters 0.01723589339826191 Centerline is valid? [True, True] Translation: X:226.82, Y:-90.91, Z:-4.02 [[-8.90279783e-01 -4.55331534e-01 8.66610147e-03 2.26823056e+02] [-4.55307061e-01 8.90321922e-01 4.72824175e-03 -9.09064277e+01] [-9.86853769e-03 2.63720857e-04 -9.99951270e-01 -4.02101096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters 0.01677711959420711 Centerline is valid? [True, True] Translation: X:226.78, Y:-90.90, Z:-4.02 [[-8.54549057e-01 -5.19305997e-01 8.19707098e-03 2.26780671e+02] [-5.19279307e-01 8.54588334e-01 5.27070361e-03 -9.08999537e+01] [-9.74222922e-03 2.47505456e-04 -9.99952513e-01 -4.02148016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters 0.015951801030798678 Centerline is valid? [True, True] Translation: X:226.73, Y:-90.90, Z:-4.02 [[-8.12403910e-01 -5.83042060e-01 7.86411666e-03 2.26731576e+02] [-5.83012271e-01 8.12441945e-01 5.89727868e-03 -9.08980941e+01] [-9.82749974e-03 2.06095745e-04 -9.99951688e-01 -4.02134749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters 0.014227758232369532 Centerline is valid? [True, True] Translation: X:226.68, Y:-90.90, Z:-4.02 [[-7.64487984e-01 -6.44595508e-01 7.39954752e-03 2.26679401e+02] [-6.44563436e-01 7.64523779e-01 6.43183332e-03 -9.09008455e+01] [-9.80306090e-03 1.47581517e-04 -9.99951938e-01 -4.02173052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters 0.013453250587277903 Centerline is valid? [True, True] Translation: X:226.62, Y:-90.91, Z:-4.02 [[-7.14271427e-01 -6.99836156e-01 6.75895936e-03 2.26622136e+02] [-6.99803179e-01 7.14303395e-01 6.79488849e-03 -9.09146797e+01] [-9.58325625e-03 1.23453443e-04 -9.99954072e-01 -4.02245291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters 0.012822777429456325 Centerline is valid? [True, True] Translation: X:226.56, Y:-90.94, Z:-4.02 [[-6.58474951e-01 -7.52577174e-01 6.19170530e-03 2.26561269e+02] [-7.52542700e-01 6.58504055e-01 7.20372441e-03 -9.09387173e+01] [-9.49862161e-03 8.39494447e-05 -9.99954884e-01 -4.02259256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters 0.012446123308803002 Centerline is valid? [True, True] Translation: X:226.50, Y:-90.98, Z:-4.02 [[-5.97780721e-01 -8.01630256e-01 6.86602290e-03 2.26496764e+02] [-8.01576435e-01 5.97820148e-01 9.28920138e-03 -9.09761930e+01] [-1.15511517e-02 4.92633367e-05 -9.99933282e-01 -4.02115119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters 0.012388449857550844 Centerline is valid? [True, True] Translation: X:226.44, Y:-91.02, Z:-4.02 [[-5.37105670e-01 -8.43487590e-01 6.79587474e-03 2.26436397e+02] [-8.43418802e-01 5.37148659e-01 1.07723375e-02 -9.10204498e+01] [-1.27367280e-02 5.41150143e-05 -9.99918883e-01 -4.02068885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters 0.013391954229742835 Centerline is valid? [True, True] Translation: X:226.39, Y:-91.08, Z:-4.02 [[-4.77969544e-01 -8.78356201e-01 5.95809762e-03 2.26385954e+02] [-8.78284763e-01 4.78006662e-01 1.12029712e-02 -9.10751759e+01] [-1.26882096e-02 1.21772670e-04 -9.99919494e-01 -4.02110098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters 0.014284307127906095 Centerline is valid? [True, True] Translation: X:226.34, Y:-91.14, Z:-4.02 [[-4.17947728e-01 -9.08459397e-01 4.60659469e-03 2.26335496e+02] [-9.08399113e-01 4.17973071e-01 1.04672242e-02 -9.11375289e+01] [-1.14344807e-02 1.90126032e-04 -9.99934606e-01 -4.02394569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters 0.014284307127906095 Centerline is valid? [True, True] Translation: X:226.28, Y:-91.21, Z:-4.02 [[-3.49252368e-01 -9.37020931e-01 3.81551910e-03 2.26278637e+02] [-9.36958933e-01 3.49273157e-01 1.07804886e-02 -9.12065403e+01] [-1.14342019e-02 1.90126481e-04 -9.99934609e-01 -4.02395576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters 0.016348421705235892 Centerline is valid? [True, True] Translation: X:226.24, Y:-91.28, Z:-4.02 [[-2.84322773e-01 -9.58723720e-01 3.06428556e-03 2.26235856e+02] [-9.58657491e-01 2.84339159e-01 1.12719571e-02 -9.12823543e+01] [-1.16779890e-02 2.67273793e-04 -9.99931774e-01 -4.02349339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters 0.01704555121039721 Centerline is valid? [True, True] Translation: X:226.19, Y:-91.37, Z:-4.02 [[-2.13567190e-01 -9.76925978e-01 2.16534936e-03 2.26192601e+02] [-9.76861540e-01 2.13577981e-01 1.12240126e-02 -9.13667037e+01] [-1.14275005e-02 2.81834328e-04 -9.99934664e-01 -4.02391363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters 0.0162492955115035 Centerline is valid? [True, True] Translation: X:226.15, Y:-91.46, Z:-4.02 [[-1.39465599e-01 -9.90225839e-01 1.46092706e-03 2.26152848e+02] [-9.90145934e-01 1.39472910e-01 1.25831999e-02 -9.14624657e+01] [-1.26639694e-02 3.08392530e-04 -9.99919761e-01 -4.02438532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters 0.016626780589869238 Centerline is valid? [True, True] Translation: X:226.12, Y:-91.55, Z:-4.02 [[-6.39411215e-02 -9.97953536e-01 5.23376052e-04 2.26120610e+02] [-9.97869936e-01 6.39425413e-02 1.29205952e-02 -9.15531635e+01] [-1.29276197e-02 3.03896120e-04 -9.99916389e-01 -4.02401307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters 0.01554775821369819 Centerline is valid? [True, True] Translation: X:226.09, Y:-91.65, Z:-4.03 [[ 1.26048727e-02 -9.99920453e-01 -4.51648768e-04 2.26092952e+02] [-9.99835351e-01 -1.26096938e-02 1.30486453e-02 -9.16533539e+01] [-1.30533025e-02 2.87097892e-04 -9.99914761e-01 -4.02553654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters 0.014890084018493194 Centerline is valid? [True, True] Translation: X:226.07, Y:-91.75, Z:-4.03 [[ 9.19627841e-02 -9.95761494e-01 -1.37621835e-03 2.26071786e+02] [-9.95683084e-01 -9.19728157e-02 1.24978910e-02 -9.17538717e+01] [-1.25714933e-02 2.20936475e-04 -9.99920951e-01 -4.02543086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters 0.013783753030129837 Centerline is valid? [True, True] Translation: X:226.06, Y:-91.86, Z:-4.03 [[ 1.71098010e-01 -9.85251521e-01 -2.21619424e-03 2.26057176e+02] [-9.85180072e-01 -1.71112294e-01 1.18663168e-02 -9.18585370e+01] [-1.20705248e-02 1.53047215e-04 -9.99927137e-01 -4.02554259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters 0.012355066530769843 Centerline is valid? [True, True] Translation: X:226.05, Y:-91.96, Z:-4.03 [[ 2.52777535e-01 -9.67520121e-01 -2.88671752e-03 2.26047115e+02] [-9.67459021e-01 -2.52794014e-01 1.08733226e-02 -9.19611694e+01] [-1.12499033e-02 4.42492159e-05 -9.99936717e-01 -4.02664124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters 0.012172771559596118 Centerline is valid? [True, True] Translation: X:226.05, Y:-92.07, Z:-4.03 [[ 3.31617085e-01 -9.43405685e-01 -3.97770272e-03 2.26046985e+02] [-9.43336246e-01 -3.31640938e-01 1.14462149e-02 -9.20679303e+01] [-1.21175933e-02 -4.34492627e-05 -9.99926578e-01 -4.02602179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters 0.013329203940937277 Centerline is valid? [True, True] Translation: X:226.05, Y:-92.17, Z:-4.03 [[ 4.12156936e-01 -9.11101330e-01 -4.58539073e-03 2.26051369e+02] [-9.11039986e-01 -4.12182403e-01 1.05740978e-02 -9.21710964e+01] [-1.15240919e-02 -1.80713431e-04 -9.99933579e-01 -4.02703164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters 0.014784933873140449 Centerline is valid? [True, True] Translation: X:226.06, Y:-92.27, Z:-4.03 [[ 4.84450717e-01 -8.74804653e-01 -4.93174565e-03 2.26064260e+02] [-8.74754349e-01 -4.84475764e-01 9.38415946e-03 -9.22668069e+01] [-1.05986176e-02 -2.32096824e-04 -9.99943806e-01 -4.02755286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters 0.016792589043451496 Centerline is valid? [True, True] Translation: X:226.09, Y:-92.36, Z:-4.03 [[ 5.50162594e-01 -8.35039553e-01 -5.48310339e-03 2.26088257e+02] [-8.34993491e-01 -5.50189860e-01 8.77424150e-03 -9.23623728e+01] [-1.03435866e-02 -2.48903824e-04 -9.99946473e-01 -4.02678518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters 0.01398414861274264 Centerline is valid? [True, True] Translation: X:226.12, Y:-92.44, Z:-4.03 [[ 6.07402006e-01 -7.94371840e-01 -6.01520350e-03 2.26120803e+02] [-7.94329622e-01 -6.07431758e-01 8.19208226e-03 -9.24398371e+01] [-1.01613851e-02 -1.97832875e-04 -9.99948352e-01 -4.02759708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters 0.013280870649363659 Centerline is valid? [True, True] Translation: X:226.16, Y:-92.52, Z:-4.03 [[ 6.61989813e-01 -7.49480735e-01 -6.93655787e-03 2.26156788e+02] [-7.49436971e-01 -6.62026133e-01 8.10098595e-03 -9.25188774e+01] [-1.06637155e-02 -1.64257251e-04 -9.99943127e-01 -4.02685492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters 0.012906805357435526 Centerline is valid? [True, True] Translation: X:226.20, Y:-92.59, Z:-4.03 [[ 7.13337820e-01 -7.00775706e-01 -7.90971200e-03 2.26200210e+02] [-7.00730608e-01 -7.13381660e-01 7.95125714e-03 -9.25933651e+01] [-1.12146913e-02 -1.29355141e-04 -9.99937105e-01 -4.02628574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters 0.012963434564381987 Centerline is valid? [True, True] Translation: X:226.25, Y:-92.67, Z:-4.03 [[ 7.63481856e-01 -6.45774201e-01 -8.43423446e-03 2.26246565e+02] [-6.45732943e-01 -7.63528431e-01 7.30076478e-03 -9.26666283e+01] [-1.11544233e-02 -1.27738403e-04 -9.99937779e-01 -4.02618337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters 0.013629584772132736 Centerline is valid? [True, True] Translation: X:226.01, Y:-93.03, Z:-5.01 [[ 7.47229008e-01 6.64518556e-01 -7.99367488e-03 2.26008038e+02] [-6.64482640e-01 7.47271749e-01 6.91042891e-03 -9.30344796e+01] [ 1.05655557e-02 1.47985247e-04 9.99944172e-01 -5.00627727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters 0.0140395312378027 Centerline is valid? [True, True] Translation: X:226.05, Y:-93.08, Z:-5.01 [[ 7.44624106e-01 6.67428230e-01 -8.63128046e-03 2.26052787e+02] [-6.67386507e-01 7.44674102e-01 7.46541331e-03 -9.30778054e+01] [ 1.14101186e-02 2.01473409e-04 9.99934882e-01 -5.00651320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters 0.015820659697821197 Centerline is valid? [True, True] Translation: X:226.10, Y:-93.12, Z:-5.01 [[ 7.41071823e-01 6.71360120e-01 -9.38844700e-03 2.26096407e+02] [-6.71311023e-01 7.41131237e-01 8.12403682e-03 -9.31204997e+01] [ 1.24122257e-02 2.82073186e-04 9.99922926e-01 -5.00821270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters 0.016195041844151135 Centerline is valid? [True, True] Translation: X:226.14, Y:-93.17, Z:-5.01 [[ 7.39970512e-01 6.72582457e-01 -8.74534416e-03 2.26139919e+02] [-6.72539898e-01 7.40022136e-01 7.57127799e-03 -9.31654001e+01] [ 1.15640570e-02 2.79070426e-04 9.99933095e-01 -5.00750380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters 0.015719539334300387 Centerline is valid? [True, True] Translation: X:226.18, Y:-93.21, Z:-5.01 [[ 7.41011171e-01 6.71448685e-01 -7.68819345e-03 2.26180362e+02] [-6.71415721e-01 7.41051018e-01 6.65720426e-03 -9.32143618e+01] [ 1.01673146e-02 2.28911231e-04 9.99948285e-01 -5.00604750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters 0.01500035719141121 Centerline is valid? [True, True] Translation: X:226.22, Y:-93.26, Z:-5.00 [[ 7.42613577e-01 6.69687238e-01 -6.63919325e-03 2.26221853e+02] [-6.69662561e-01 7.42643234e-01 5.75170888e-03 -9.32615083e+01] [ 8.78239798e-03 1.74722053e-04 9.99961419e-01 -5.00474077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters 0.013562311532645786 Centerline is valid? [True, True] Translation: X:226.26, Y:-93.31, Z:-5.00 [[ 7.45126604e-01 6.66894990e-01 -6.11681194e-03 2.26260409e+02] [-6.66873928e-01 7.45151699e-01 5.30182676e-03 -9.33121151e+01] [ 8.09371451e-03 1.28610233e-04 9.99967237e-01 -5.00364875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters 0.013275035822387277 Centerline is valid? [True, True] Translation: X:226.30, Y:-93.36, Z:-5.00 [[ 7.47079612e-01 6.64694902e-01 -7.26232122e-03 2.26299964e+02] [-6.64665077e-01 7.47114899e-01 6.29782003e-03 -9.33605759e+01] [ 9.61191725e-03 1.22038352e-04 9.99953797e-01 -5.00486180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters 0.012880192528037166 Centerline is valid? [True, True] Translation: X:226.34, Y:-93.41, Z:-5.01 [[ 7.48013613e-01 6.63633118e-01 -8.16823870e-03 2.26342533e+02] [-6.63595282e-01 7.48058200e-01 7.08739731e-03 -9.34081435e+01] [ 1.08137495e-02 1.18934999e-04 9.99941523e-01 -5.00524909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters 0.0127909656435083 Centerline is valid? [True, True] Translation: X:226.39, Y:-93.45, Z:-5.01 [[ 7.48242738e-01 6.63366417e-01 -8.82051559e-03 2.26387458e+02] [-6.63322228e-01 7.48294716e-01 7.65766849e-03 -9.34524569e+01] [ 1.16801853e-02 1.21049213e-04 9.99931777e-01 -5.00536214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters 0.01250589116112766 Centerline is valid? [True, True] Translation: X:226.43, Y:-93.50, Z:-5.01 [[ 7.49010393e-01 6.62484822e-01 -9.86361884e-03 2.26427981e+02] [-6.62429423e-01 7.49075328e-01 8.56815824e-03 -9.35017495e+01] [ 1.30648683e-02 1.16311757e-04 9.99914644e-01 -5.00533542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters 0.012477547709150584 Centerline is valid? [True, True] Translation: X:226.47, Y:-93.55, Z:-5.01 [[ 7.49559190e-01 6.61867413e-01 -9.62016834e-03 2.26470733e+02] [-6.61814611e-01 7.49620916e-01 8.36079661e-03 -9.35469830e+01] [ 1.27452182e-02 9.98560355e-05 9.99918771e-01 -5.00535435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters 0.012103382728683762 Centerline is valid? [True, True] Translation: X:226.51, Y:-93.60, Z:-5.00 [[ 7.52441173e-01 6.58611644e-01 -7.93626192e-03 2.26507761e+02] [-6.58575492e-01 7.52483024e-01 6.90075121e-03 -9.35991428e+01] [ 1.05168175e-02 3.42182660e-05 9.99944696e-01 -5.00270359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters 0.012079561159977369 Centerline is valid? [True, True] Translation: X:226.55, Y:-93.65, Z:-5.00 [[ 7.54538496e-01 6.56211436e-01 -7.62954083e-03 2.26549605e+02] [-6.56177867e-01 7.54577068e-01 6.63741288e-03 -9.36450922e+01] [ 1.01126228e-02 -1.84770027e-06 9.99948866e-01 -5.00140213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters 0.012314185172123517 Centerline is valid? [True, True] Translation: X:226.59, Y:-93.69, Z:-5.00 [[ 7.56428127e-01 6.54040853e-01 -6.85948982e-03 2.26591960e+02] [-6.54013600e-01 7.56459227e-01 5.97069490e-03 -9.36910994e+01] [ 9.09400275e-03 -3.02019256e-05 9.99958648e-01 -5.00142416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters 0.012506856933642297 Centerline is valid? [True, True] Translation: X:226.63, Y:-93.74, Z:-5.00 [[ 7.56935128e-01 6.53448755e-01 -7.34419547e-03 2.26634683e+02] [-6.53417451e-01 7.56970755e-01 6.39617411e-03 -9.37380606e+01] [ 9.73891320e-03 -4.26633855e-05 9.99952575e-01 -5.00174230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters 0.012383702263247054 Centerline is valid? [True, True] Translation: X:226.68, Y:-93.78, Z:-5.00 [[ 7.55656420e-01 6.54923176e-01 -7.68168354e-03 2.26680547e+02] [-6.54888967e-01 7.55695463e-01 6.69386600e-03 -9.37814546e+01] [ 1.01889814e-02 -2.76130220e-05 9.99948091e-01 -5.00191212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters 0.012557028661555426 Centerline is valid? [True, True] Translation: X:226.73, Y:-93.83, Z:-5.00 [[ 7.53833564e-01 6.57010881e-01 -8.46526336e-03 2.26725709e+02] [-6.56969422e-01 7.53881093e-01 7.38078616e-03 -9.38255598e+01] [ 1.12310588e-02 -2.46515266e-06 9.99936930e-01 -5.00298391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters 0.012570220220927715 Centerline is valid? [True, True] Translation: X:226.77, Y:-93.87, Z:-5.00 [[ 7.53178484e-01 6.57753701e-01 -9.06868501e-03 2.26770611e+02] [-6.57706120e-01 7.53233078e-01 7.91138280e-03 -9.38692204e+01] [ 1.20345748e-02 5.84633158e-06 9.99927582e-01 -5.00277236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters 0.012633233665107898 Centerline is valid? [True, True] Translation: X:226.81, Y:-93.91, Z:-5.00 [[ 7.53304290e-01 6.57622032e-01 -8.11852384e-03 2.26813701e+02] [-6.57583854e-01 7.53348036e-01 7.08599050e-03 -9.39143159e+01] [ 1.07759775e-02 7.03162151e-07 9.99941937e-01 -5.00119307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters 0.012706211552081818 Centerline is valid? [True, True] Translation: X:226.86, Y:-93.96, Z:-5.00 [[ 7.53972652e-01 6.56869065e-01 -6.94772851e-03 2.26856464e+02] [-6.56841048e-01 7.54004663e-01 6.06684898e-03 -9.39589024e+01] [ 9.22374511e-03 -1.06849399e-05 9.99957460e-01 -5.00006215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters 0.012710039177886687 Centerline is valid? [True, True] Translation: X:226.90, Y:-94.00, Z:-5.00 [[ 7.53959165e-01 6.56889915e-01 -6.42011252e-03 2.26901808e+02] [-6.56865964e-01 7.53986499e-01 5.60938566e-03 -9.40023557e+01] [ 8.52542703e-03 -1.20943310e-05 9.99963658e-01 -4.99884102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters 0.012814768860722796 Centerline is valid? [True, True] Translation: X:226.95, Y:-94.04, Z:-5.00 [[ 7.53117506e-01 6.57860354e-01 -5.81172445e-03 2.26947830e+02] [-6.57840734e-01 7.53139930e-01 5.08075537e-03 -9.40448294e+01] [ 7.71946927e-03 -3.21672790e-06 9.99970204e-01 -4.99840117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters 0.013065079417272593 Centerline is valid? [True, True] Translation: X:226.99, Y:-94.09, Z:-5.00 [[ 7.50544727e-01 6.60796460e-01 -5.53643776e-03 2.26994862e+02] [-6.60778714e-01 7.50565146e-01 4.84287728e-03 -9.40863204e+01] [ 7.35561338e-03 2.35642166e-05 9.99972947e-01 -4.99870737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters 0.013457287437804919 Centerline is valid? [True, True] Translation: X:227.04, Y:-94.13, Z:-5.00 [[ 7.47563505e-01 6.64158378e-01 -6.51568011e-03 2.27041871e+02] [-6.64133902e-01 7.47591897e-01 5.70226445e-03 -9.41263171e+01] [ 8.65827636e-03 6.44792597e-05 9.99962514e-01 -5.00039772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters 0.013844288371292299 Centerline is valid? [True, True] Translation: X:227.09, Y:-94.17, Z:-5.00 [[ 7.45705090e-01 6.66237224e-01 -7.20280780e-03 2.27088300e+02] [-6.66207379e-01 7.45739869e-01 6.30679955e-03 -9.41675816e+01] [ 9.57324558e-03 9.55511784e-05 9.99954171e-01 -5.00110145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters 0.014079251981007596 Centerline is valid? [True, True] Translation: X:227.13, Y:-94.21, Z:-5.00 [[ 7.44657324e-01 6.67413109e-01 -6.72402230e-03 2.27134964e+02] [-6.67387117e-01 7.44687674e-01 5.89098140e-03 -9.42095617e+01] [ 8.93901473e-03 1.00763415e-04 9.99960041e-01 -5.00104154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters 0.014294385616198568 Centerline is valid? [True, True] Translation: X:227.18, Y:-94.25, Z:-5.00 [[ 7.44022835e-01 6.68121551e-01 -6.60411889e-03 2.27180087e+02] [-6.68096479e-01 7.44052137e-01 5.78900773e-03 -9.42526326e+01] [ 8.78156959e-03 1.05034630e-04 9.99961436e-01 -5.00113940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters 0.014357495691777048 Centerline is valid? [True, True] Translation: X:227.23, Y:-94.30, Z:-5.00 [[ 7.43634099e-01 6.68555123e-01 -6.50952569e-03 2.27225500e+02] [-6.68530753e-01 7.43662582e-01 5.70937161e-03 -9.42957950e+01] [ 8.65792032e-03 1.06134694e-04 9.99962514e-01 -5.00122096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters 0.014601762534013206 Centerline is valid? [True, True] Translation: X:227.27, Y:-94.34, Z:-5.00 [[ 7.42639045e-01 6.69659593e-01 -6.57863878e-03 2.27270902e+02] [-6.69634720e-01 7.42668173e-01 5.77287715e-03 -9.43386789e+01] [ 8.75160820e-03 1.18120961e-04 9.99961697e-01 -5.00097124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters 0.014934815663721453 Centerline is valid? [True, True] Translation: X:227.32, Y:-94.38, Z:-5.00 [[ 7.41677067e-01 6.70717667e-01 -7.27594609e-03 2.27317621e+02] [-6.70687262e-01 7.41712742e-01 6.38795515e-03 -9.43801770e+01] [ 9.68117630e-03 1.42084515e-04 9.99953126e-01 -5.00163880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters 0.015288986381644871 Centerline is valid? [True, True] Translation: X:227.36, Y:-94.42, Z:-5.00 [[ 7.40245265e-01 6.72286735e-01 -8.21538739e-03 2.27364444e+02] [-6.72248028e-01 7.40290830e-01 7.21632828e-03 -9.44212764e+01] [ 1.09332177e-02 1.80925128e-04 9.99940214e-01 -5.00277346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters 0.015790820993356956 Centerline is valid? [True, True] Translation: X:227.41, Y:-94.46, Z:-5.00 [[ 7.39759978e-01 6.72814841e-01 -8.68127374e-03 2.27411122e+02] [-6.72771632e-01 7.39810888e-01 7.62759573e-03 -9.44607586e+01] [ 1.15544604e-02 1.97924659e-04 9.99933225e-01 -5.00349441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters 0.01502252886805114 Centerline is valid? [True, True] Translation: X:227.46, Y:-94.50, Z:-5.00 [[ 7.40289012e-01 6.72237881e-01 -8.27097260e-03 2.27456561e+02] [-6.72198584e-01 7.40335194e-01 7.27079964e-03 -9.45031498e+01] [ 1.10109990e-02 1.77242983e-04 9.99939361e-01 -5.00184494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters 0.014684807336560702 Centerline is valid? [True, True] Translation: X:227.50, Y:-94.54, Z:-5.00 [[ 7.41533826e-01 6.70868710e-01 -7.92211543e-03 2.27502685e+02] [-6.70832542e-01 7.41576127e-01 6.96766659e-03 -9.45449660e+01] [ 1.05492412e-02 1.47652373e-04 9.99944344e-01 -5.00081134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters 0.014431145777423972 Centerline is valid? [True, True] Translation: X:227.55, Y:-94.59, Z:-5.00 [[ 7.43040366e-01 6.69200537e-01 -7.85220700e-03 2.27548062e+02] [-6.69164878e-01 7.43081844e-01 6.90935334e-03 -9.45859302e+01] [ 1.04585754e-02 1.20492701e-04 9.99945300e-01 -5.00087726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters 0.013985580320346845 Centerline is valid? [True, True] Translation: X:227.59, Y:-94.63, Z:-5.00 [[ 7.46201684e-01 6.65673594e-01 -7.85579432e-03 2.27592915e+02] [-6.65637670e-01 7.46243031e-01 6.91591089e-03 -9.46286062e+01] [ 1.04660710e-02 6.84482773e-05 9.99945227e-01 -5.00110395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters 0.013797660346699433 Centerline is valid? [True, True] Translation: X:227.64, Y:-94.67, Z:-5.00 [[ 7.48992924e-01 6.62524104e-01 -8.45046923e-03 2.27637497e+02] [-6.62482294e-01 7.49040594e-01 7.44310711e-03 -9.46720283e+01] [ 1.12609824e-02 2.34516819e-05 9.99936593e-01 -5.00129009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters 0.013884681215721817 Centerline is valid? [True, True] Translation: X:227.68, Y:-94.71, Z:-5.00 [[ 7.52663968e-01 6.58362905e-01 -7.43208549e-03 2.27681900e+02] [-6.58330344e-01 7.52700660e-01 6.54791238e-03 -9.47145449e+01] [ 9.90503827e-03 -3.56103191e-05 9.99950943e-01 -4.99966347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters 0.014378947744802754 Centerline is valid? [True, True] Translation: X:227.73, Y:-94.76, Z:-5.00 [[ 7.55896938e-01 6.54661750e-01 -6.14915295e-03 2.27727428e+02] [-6.54639315e-01 7.55921946e-01 5.42024382e-03 -9.47565176e+01] [ 8.19670597e-03 -7.16684338e-05 9.99966404e-01 -4.99832612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters 0.014484083608170273 Centerline is valid? [True, True] Translation: X:227.77, Y:-94.80, Z:-5.00 [[ 7.56854488e-01 6.53557262e-01 -5.84719652e-03 2.27774220e+02] [-6.53536924e-01 7.56877070e-01 5.15661879e-03 -9.47980268e+01] [ 7.79575463e-03 -8.14512523e-05 9.99969609e-01 -4.99791867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters 0.01593346295213448 Centerline is valid? [True, True] Translation: X:227.82, Y:-94.84, Z:-5.00 [[ 7.61221362e-01 6.48466782e-01 -5.73331949e-03 2.27817503e+02] [-6.48447076e-01 7.61242941e-01 5.05713663e-03 -9.48406284e+01] [ 7.64383411e-03 -1.31846172e-04 9.99970777e-01 -4.99776764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters 0.01686754033809232 Centerline is valid? [True, True] Translation: X:227.86, Y:-94.88, Z:-5.00 [[ 7.64952763e-01 6.44055133e-01 -6.34481047e-03 2.27864754e+02] [-6.44030841e-01 7.64979050e-01 5.59713823e-03 -9.48808954e+01] [ 8.45851270e-03 -1.95292725e-04 9.99964207e-01 -4.99818016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters 0.018040357787960978 Centerline is valid? [True, True] Translation: X:227.91, Y:-94.92, Z:-5.00 [[ 7.67140388e-01 6.41439494e-01 -7.14143916e-03 2.27911264e+02] [-6.41408598e-01 7.67173586e-01 6.30077615e-03 -9.49220433e+01] [ 9.52029016e-03 -2.52999381e-04 9.99954649e-01 -4.99909712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters 0.01927586974406603 Centerline is valid? [True, True] Translation: X:227.96, Y:-94.96, Z:-5.00 [[ 7.70349909e-01 6.37566292e-01 -8.38105763e-03 2.27958133e+02] [-6.37523474e-01 7.70395416e-01 7.39750978e-03 -9.49617803e+01] [ 1.11731313e-02 -3.55550015e-04 9.99937515e-01 -4.99955902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters 0.020922247729924143 Centerline is valid? [True, True] Translation: X:228.00, Y:-95.00, Z:-5.00 [[ 7.71992742e-01 6.35571925e-01 -8.69104941e-03 2.28002644e+02] [-6.35525733e-01 7.72041558e-01 7.67296611e-03 -9.50027935e+01] [ 1.15865732e-02 -4.00088596e-04 9.99932793e-01 -4.99939905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters 0.020905341619138703 Centerline is valid? [True, True] Translation: X:228.05, Y:-95.04, Z:-5.00 [[ 7.72499371e-01 6.34961432e-01 -8.28864202e-03 2.28050822e+02] [-6.34919344e-01 7.72543737e-01 7.32124894e-03 -9.50421377e+01] [ 1.10520492e-02 -3.93041053e-04 9.99938847e-01 -4.99837856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters 0.01982039921769357 Centerline is valid? [True, True] Translation: X:228.10, Y:-95.08, Z:-5.00 [[ 7.71346401e-01 6.36364155e-01 -8.08649590e-03 2.28102399e+02] [-6.36324135e-01 7.71388701e-01 7.14619204e-03 -9.50776082e+01] [ 1.07854120e-02 -3.66557006e-04 9.99941769e-01 -4.99825263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters 0.019542519371152752 Centerline is valid? [True, True] Translation: X:228.15, Y:-95.12, Z:-5.00 [[ 7.69595079e-01 6.38481751e-01 -8.02925611e-03 2.28151247e+02] [-6.38442402e-01 7.69636890e-01 7.09632039e-03 -9.51157095e+01] [ 1.07104828e-02 -3.35075694e-04 9.99942585e-01 -4.99779533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters 0.017060981946190008 Centerline is valid? [True, True] Translation: X:228.20, Y:-95.15, Z:-5.00 [[ 7.65591662e-01 6.43277236e-01 -7.98774285e-03 2.28203155e+02] [-6.43238548e-01 7.65633285e-01 7.06002401e-03 -9.51490340e+01] [ 1.06572345e-02 -2.67071412e-04 9.99943174e-01 -4.99515369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters 0.016487189585462886 Centerline is valid? [True, True] Translation: X:228.25, Y:-95.18, Z:-5.00 [[ 7.62535090e-01 6.46897348e-01 -8.00358547e-03 2.28252183e+02] [-6.46858702e-01 7.62577061e-01 7.07427626e-03 -9.51845348e+01] [ 1.06796812e-02 -2.17194971e-04 9.99942947e-01 -4.99532536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters 0.014633061334083175 Centerline is valid? [True, True] Translation: X:228.31, Y:-95.22, Z:-4.99 [[ 7.57742163e-01 6.52512152e-01 -7.39636042e-03 2.28305334e+02] [-6.52479409e-01 7.57778249e-01 6.53802379e-03 -9.52167550e+01] [ 9.87094102e-03 -1.28163409e-04 9.99951273e-01 -4.99465863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters 0.013863449640888295 Centerline is valid? [True, True] Translation: X:228.36, Y:-95.25, Z:-4.99 [[ 7.54057068e-01 6.56764493e-01 -7.63802267e-03 2.28356210e+02] [-6.56729758e-01 7.54095747e-01 6.75501377e-03 -9.52525469e+01] [ 1.01962536e-02 -7.75490991e-05 9.99948014e-01 -4.99494175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters 0.013591753149960488 Centerline is valid? [True, True] Translation: X:228.41, Y:-95.28, Z:-5.00 [[ 7.48524366e-01 6.63049993e-01 -8.71668532e-03 2.28408625e+02] [-6.63005152e-01 7.48575118e-01 7.71109016e-03 -9.52849861e+01] [ 1.16379320e-02 7.26840211e-06 9.99932277e-01 -4.99761724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters 0.013501818994500182 Centerline is valid? [True, True] Translation: X:228.46, Y:-95.32, Z:-5.00 [[ 7.45006030e-01 6.66995223e-01 -9.13171137e-03 2.28459466e+02] [-6.66946255e-01 7.45061990e-01 8.08233529e-03 -9.53216465e+01] [ 1.21945701e-02 6.89721781e-05 9.99925641e-01 -4.99631108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters 0.014539420012373962 Centerline is valid? [True, True] Translation: X:228.51, Y:-95.36, Z:-5.00 [[ 7.40777604e-01 6.71674345e-01 -1.01052475e-02 2.28510594e+02] [-6.71614757e-01 7.40846509e-01 8.94812682e-03 -9.53556581e+01] [ 1.34966645e-02 1.58261393e-04 9.99908903e-01 -4.99913817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters 0.014717106361239577 Centerline is valid? [True, True] Translation: X:228.56, Y:-95.39, Z:-5.00 [[ 7.38133257e-01 6.74572792e-01 -1.05282130e-02 2.28559702e+02] [-6.74508340e-01 7.38208305e-01 9.32727598e-03 -9.53936151e+01] [ 1.40639409e-02 2.16594871e-04 9.99901074e-01 -4.99823982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters 0.014690538027854546 Centerline is valid? [True, True] Translation: X:228.61, Y:-95.43, Z:-5.00 [[ 7.37042267e-01 6.75771688e-01 -1.00658486e-02 2.28607143e+02] [-6.75712824e-01 7.37110965e-01 8.92217139e-03 -9.54333059e+01] [ 1.34489982e-02 2.25605564e-04 9.99909533e-01 -4.99753088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters 0.015369352336484652 Centerline is valid? [True, True] Translation: X:228.65, Y:-95.47, Z:-5.00 [[ 7.36248037e-01 6.76648705e-01 -9.23893047e-03 2.28654723e+02] [-6.76599130e-01 7.36305971e-01 8.19359005e-03 -9.54726718e+01] [ 1.23468618e-02 2.18537725e-04 9.99923751e-01 -4.99836012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters 0.015245326453651138 Centerline is valid? [True, True] Translation: X:228.70, Y:-95.51, Z:-5.00 [[ 7.35436845e-01 6.77542470e-01 -8.29748711e-03 2.28701163e+02] [-6.77502495e-01 7.35483622e-01 7.36283183e-03 -9.55147038e+01] [ 1.10912971e-02 2.06670410e-04 9.99938468e-01 -4.99725001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters 0.015444479522114384 Centerline is valid? [True, True] Translation: X:228.75, Y:-95.56, Z:-5.00 [[ 7.34300526e-01 6.78787530e-01 -7.08707151e-03 2.28747907e+02] [-6.78758391e-01 7.34334701e-01 6.29233501e-03 -9.55570182e+01] [ 9.47544108e-03 1.89944344e-04 9.99955089e-01 -4.99643092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters 0.016134123371482612 Centerline is valid? [True, True] Translation: X:228.79, Y:-95.60, Z:-5.00 [[ 7.33307137e-01 6.79867646e-01 -6.37393916e-03 2.28793656e+02] [-6.79844104e-01 7.33334815e-01 5.66067219e-03 -9.55972732e+01] [ 8.52273937e-03 1.82273636e-04 9.99963664e-01 -4.99712818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters 0.016735851598163022 Centerline is valid? [True, True] Translation: X:228.84, Y:-95.64, Z:-5.00 [[ 7.31596386e-01 6.81710121e-01 -6.16762044e-03 2.28839106e+02] [-6.81688122e-01 7.31622357e-01 5.48012007e-03 -9.56397348e+01] [ 8.24822232e-03 1.95157561e-04 9.99965964e-01 -4.99753307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters 0.01642173086250445 Centerline is valid? [True, True] Translation: X:228.88, Y:-95.68, Z:-5.00 [[ 7.30609926e-01 6.82762161e-01 -6.70574023e-03 2.28884641e+02] [-6.82736173e-01 7.30640665e-01 5.96123534e-03 -9.56825174e+01] [ 8.96959243e-03 2.22913706e-04 9.99959748e-01 -4.99882489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters 0.01702766083666135 Centerline is valid? [True, True] Translation: X:228.93, Y:-95.73, Z:-5.00 [[ 7.29198989e-01 6.84259294e-01 -7.61921912e-03 2.28929412e+02] [-6.84225790e-01 7.29238743e-01 6.77664746e-03 -9.57253036e+01] [ 1.01932138e-02 2.71741743e-04 9.99948011e-01 -5.00046312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters 0.017185019678325916 Centerline is valid? [True, True] Translation: X:228.97, Y:-95.77, Z:-5.00 [[ 7.29012338e-01 6.84454987e-01 -7.89816073e-03 2.28972843e+02] [-6.84418955e-01 7.29055067e-01 7.02868971e-03 -9.57705131e+01] [ 1.05690158e-02 2.81649392e-04 9.99944107e-01 -5.00062572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters 0.01708276191406478 Centerline is valid? [True, True] Translation: X:229.02, Y:-95.81, Z:-5.00 [[ 7.29753504e-01 6.83668900e-01 -7.52722178e-03 2.29016363e+02] [-6.83636099e-01 7.29792279e-01 6.70182279e-03 -9.58144749e+01] [ 1.00751361e-02 2.55201872e-04 9.99949212e-01 -5.00016888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters 0.015550602311341151 Centerline is valid? [True, True] Translation: X:229.06, Y:-95.86, Z:-5.00 [[ 7.32381580e-01 6.80870563e-01 -5.70065359e-03 2.29057272e+02] [-6.80851661e-01 7.32403748e-01 5.07606136e-03 -9.58615059e+01] [ 7.63132081e-03 1.63685628e-04 9.99970868e-01 -4.99866250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters 0.014587597637756793 Centerline is valid? [True, True] Translation: X:229.10, Y:-95.91, Z:-5.00 [[ 7.33714075e-01 6.79443745e-01 -4.45571345e-03 2.29099950e+02] [-6.79432159e-01 7.33727595e-01 3.96951593e-03 -9.59074704e+01] [ 5.96634269e-03 1.14865299e-04 9.99982195e-01 -4.99699909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters 0.014242832008112907 Centerline is valid? [True, True] Translation: X:229.14, Y:-95.95, Z:-5.00 [[ 7.34496949e-01 6.78600409e-01 -3.96443641e-03 2.29144241e+02] [-6.78591222e-01 7.34507642e-01 3.53245184e-03 -9.59518415e+01] [ 5.30903210e-03 9.56566469e-05 9.99985902e-01 -4.99646103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters 0.014299207230353043 Centerline is valid? [True, True] Translation: X:229.19, Y:-96.00, Z:-5.00 [[ 7.34290527e-01 6.78824344e-01 -3.86417792e-03 2.29189299e+02] [-6.78815608e-01 7.34300689e-01 3.44507055e-03 -9.59957675e+01] [ 5.17606626e-03 9.33816097e-05 9.99986600e-01 -4.99662756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters 0.01403407120100684 Centerline is valid? [True, True] Translation: X:229.23, Y:-96.04, Z:-5.00 [[ 7.33179615e-01 6.80020705e-01 -4.41506589e-03 2.29234448e+02] [-6.80009311e-01 7.33192899e-01 3.93818740e-03 -9.60390546e+01] [ 5.91514393e-03 1.14887187e-04 9.99982499e-01 -4.99768884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters 0.014340810308209287 Centerline is valid? [True, True] Translation: X:229.28, Y:-96.08, Z:-5.00 [[ 7.32854154e-01 6.80368676e-01 -4.82222317e-03 2.29280394e+02] [-6.80355076e-01 7.32870008e-01 4.30365907e-03 -9.60799702e+01] [ 6.46213756e-03 1.26869580e-04 9.99979112e-01 -4.99839955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters 0.01433775040375722 Centerline is valid? [True, True] Translation: X:229.33, Y:-96.12, Z:-5.00 [[ 7.33266792e-01 6.79917650e-01 -5.63922665e-03 2.29325033e+02] [-6.79899028e-01 7.33288462e-01 5.03416821e-03 -9.61212895e+01] [ 7.55799965e-03 1.42716347e-04 9.99971428e-01 -4.99999544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters 0.013666717979162666 Centerline is valid? [True, True] Translation: X:229.37, Y:-96.16, Z:-5.00 [[ 7.34153669e-01 6.78958225e-01 -5.84107403e-03 2.29370323e+02] [-6.78938209e-01 7.34176893e-01 5.21528389e-03 -9.61646065e+01] [ 7.82934147e-03 1.36908537e-04 9.99969341e-01 -5.00013427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters 0.013431902903359123 Centerline is valid? [True, True] Translation: X:229.42, Y:-96.21, Z:-5.00 [[ 7.35612038e-01 6.77378244e-01 -5.80041148e-03 2.29415068e+02] [-6.77358437e-01 7.35634897e-01 5.18136262e-03 -9.62062104e+01] [ 7.77672741e-03 1.17484938e-04 9.99969754e-01 -5.00016565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters 0.012435461825018703 Centerline is valid? [True, True] Translation: X:229.46, Y:-96.25, Z:-5.00 [[ 7.38708751e-01 6.74004543e-01 -5.22082154e-03 2.29458428e+02] [-6.73988396e-01 7.38727197e-01 4.66591686e-03 -9.62508499e+01] [ 7.00161202e-03 7.20195199e-05 9.99975486e-01 -4.99927963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters 0.011964088454254595 Centerline is valid? [True, True] Translation: X:229.50, Y:-96.29, Z:-5.00 [[ 7.42038777e-01 6.70341511e-01 -4.55102886e-03 2.29500908e+02] [-6.70329161e-01 7.42052733e-01 4.06913386e-03 -9.62945920e+01] [ 6.10481274e-03 3.12322461e-05 9.99981365e-01 -4.99892619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters 0.011788491851844787 Centerline is valid? [True, True] Translation: X:229.55, Y:-96.34, Z:-5.00 [[ 7.43439663e-01 6.68784123e-01 -5.02641222e-03 2.29546131e+02] [-6.68769006e-01 7.43456654e-01 4.49670529e-03 -9.63386472e+01] [ 6.74424471e-03 1.84796367e-05 9.99977257e-01 -4.99924017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters 0.011901690122160384 Centerline is valid? [True, True] Translation: X:229.59, Y:-96.38, Z:-5.00 [[ 7.44644373e-01 6.67433849e-01 -6.06750496e-03 2.29591215e+02] [-6.67411751e-01 7.44669092e-01 5.43114185e-03 -9.63828012e+01] [ 8.14321132e-03 5.25489737e-06 9.99966843e-01 -4.99969258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters 0.01195641781442187 Centerline is valid? [True, True] Translation: X:229.64, Y:-96.43, Z:-5.00 [[ 7.44625655e-01 6.67450673e-01 -6.49870161e-03 2.29637353e+02] [-6.67425295e-01 7.44654013e-01 5.82037826e-03 -9.64252293e+01] [ 8.72409962e-03 3.39486771e-06 9.99961944e-01 -5.00010447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters 0.01198283078072697 Centerline is valid? [True, True] Translation: X:229.68, Y:-96.47, Z:-5.00 [[ 7.43889539e-01 6.68272313e-01 -6.36156501e-03 2.29683201e+02] [-6.68247997e-01 7.43916740e-01 5.70073868e-03 -9.64683041e+01] [ 8.54212053e-03 1.03832087e-05 9.99963515e-01 -4.99978785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters 0.012012598724517511 Centerline is valid? [True, True] Translation: X:229.73, Y:-96.51, Z:-5.00 [[ 7.42877556e-01 6.69398767e-01 -6.18284597e-03 2.29729319e+02] [-6.69375811e-01 7.42903285e-01 5.54373150e-03 -9.65106005e+01] [ 8.30422362e-03 2.03338278e-05 9.99965519e-01 -4.99930716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters 0.012055240631042735 Centerline is valid? [True, True] Translation: X:229.78, Y:-96.55, Z:-5.00 [[ 7.41360596e-01 6.71077262e-01 -6.30667430e-03 2.29776657e+02] [-6.71053411e-01 7.41387420e-01 5.65794219e-03 -9.65526060e+01] [ 8.47260534e-03 3.75399050e-05 9.99964106e-01 -4.99984602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters 0.012102580534012971 Centerline is valid? [True, True] Translation: X:229.82, Y:-96.59, Z:-5.00 [[ 7.39762581e-01 6.72838934e-01 -6.25242590e-03 2.29823658e+02] [-6.72815528e-01 7.39789001e-01 5.61247796e-03 -9.65939725e+01] [ 8.40176959e-03 5.48280554e-05 9.99964703e-01 -4.99997574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters 0.012154226645744556 Centerline is valid? [True, True] Translation: X:229.87, Y:-96.64, Z:-5.00 [[ 7.39416500e-01 6.73218847e-01 -6.29468391e-03 2.29870520e+02] [-6.73195110e-01 7.39443291e-01 5.65359998e-03 -9.66362968e+01] [ 8.46067184e-03 5.71853122e-05 9.99964206e-01 -5.00010298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters 0.01180410960717507 Centerline is valid? [True, True] Translation: X:229.92, Y:-96.68, Z:-5.00 [[ 7.40898450e-01 6.71580287e-01 -7.02880688e-03 2.29915162e+02] [-6.71550596e-01 7.40931789e-01 6.31513186e-03 -9.66797137e+01] [ 9.44898453e-03 4.13280426e-05 9.99955357e-01 -5.00080182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters 0.011754503031792847 Centerline is valid? [True, True] Translation: X:229.96, Y:-96.72, Z:-5.00 [[ 7.42836766e-01 6.69428592e-01 -7.67457605e-03 2.29959019e+02] [-6.69393043e-01 7.42876410e-01 6.89884839e-03 -9.67229399e+01] [ 1.03195479e-02 1.25895902e-05 9.99946752e-01 -5.00163103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters 0.011973780039167659 Centerline is valid? [True, True] Translation: X:230.00, Y:-96.77, Z:-5.00 [[ 7.47685294e-01 6.64002494e-01 -8.20908977e-03 2.30001438e+02] [-6.63961451e-01 7.47730355e-01 7.38294110e-03 -9.67690400e+01] [ 1.10404769e-02 -6.95973350e-05 9.99939050e-01 -5.00105811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters 0.012951598217517186 Centerline is valid? [True, True] Translation: X:230.04, Y:-96.81, Z:-5.00 [[ 7.51497312e-01 6.59689931e-01 -7.80923977e-03 2.30044351e+02] [-6.59652520e-01 7.51537875e-01 7.02673048e-03 -9.68143142e+01] [ 1.05044028e-02 -1.29184377e-04 9.99944819e-01 -5.00045454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters 0.01485405484706488 Centerline is valid? [True, True] Translation: X:230.09, Y:-96.86, Z:-5.00 [[ 7.56680886e-01 6.53750714e-01 -6.63637043e-03 2.30086185e+02] [-6.53723460e-01 7.56709965e-01 5.97214832e-03 -9.68607450e+01] [ 8.92610387e-03 -1.80659438e-04 9.99960145e-01 -4.99904033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters 0.015456480913931344 Centerline is valid? [True, True] Translation: X:230.13, Y:-96.90, Z:-5.00 [[ 7.59704139e-01 6.50241345e-01 -5.98444239e-03 2.30130648e+02] [-6.50219054e-01 7.59727683e-01 5.38795438e-03 -9.69036390e+01] [ 8.05001726e-03 -2.02052777e-04 9.99967578e-01 -4.99741930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters 0.015861458286431315 Centerline is valid? [True, True] Translation: X:230.18, Y:-96.95, Z:-5.00 [[ 7.60269253e-01 6.49582908e-01 -5.71907832e-03 2.30176241e+02] [-6.49562512e-01 7.60290737e-01 5.15156232e-03 -9.69453972e+01] [ 7.69452910e-03 -2.01675560e-04 9.99970376e-01 -4.99792397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters 0.015881957556346426 Centerline is valid? [True, True] Translation: X:230.22, Y:-96.98, Z:-5.00 [[ 7.58821352e-01 6.51263904e-01 -6.74411235e-03 2.30222615e+02] [-6.51235582e-01 7.58851289e-01 6.07759060e-03 -9.69847680e+01] [ 9.07589373e-03 -2.19799583e-04 9.99958789e-01 -4.99996360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters 0.015126881134976313 Centerline is valid? [True, True] Translation: X:230.27, Y:-97.02, Z:-5.00 [[ 7.56546295e-01 6.53901270e-01 -7.12968420e-03 2.30271059e+02] [-6.53869705e-01 7.56579862e-01 6.42811418e-03 -9.70241545e+01] [ 9.59752752e-03 -2.01281462e-04 9.99953922e-01 -5.00083037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters 0.013604254153417643 Centerline is valid? [True, True] Translation: X:230.32, Y:-97.06, Z:-5.00 [[ 7.52536032e-01 6.58513175e-01 -7.06531775e-03 2.30320561e+02] [-6.58482375e-01 7.52569185e-01 6.37048468e-03 -9.70605771e+01] [ 9.51218852e-03 -1.41632049e-04 9.99954748e-01 -5.00151050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters 0.012181664713604967 Centerline is valid? [True, True] Translation: X:230.37, Y:-97.10, Z:-5.00 [[ 7.49211500e-01 6.62299709e-01 -6.42065882e-03 2.30370643e+02] [-6.62274387e-01 7.49239006e-01 5.79203615e-03 -9.70980415e+01] [ 8.64667189e-03 -8.72222025e-05 9.99962613e-01 -5.00078255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters 0.011237506731872255 Centerline is valid? [True, True] Translation: X:230.42, Y:-97.14, Z:-5.00 [[ 7.45447308e-01 6.66543307e-01 -5.32279493e-03 2.30420540e+02] [-6.66526006e-01 7.45466310e-01 4.80246276e-03 -9.71361099e+01] [ 7.16901370e-03 -3.22016845e-05 9.99974302e-01 -5.00004816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters 0.011106841709603884 Centerline is valid? [True, True] Translation: X:230.47, Y:-97.17, Z:-5.00 [[ 7.39618475e-01 6.73015263e-01 -3.86876280e-03 2.30471950e+02] [-6.73006203e-01 7.39628593e-01 3.49222974e-03 -9.71723526e+01] [ 5.21177150e-03 2.07837252e-05 9.99986418e-01 -4.99895979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters 0.01243880998569878 Centerline is valid? [True, True] Translation: X:230.52, Y:-97.21, Z:-5.00 [[ 7.34766619e-01 6.78311373e-01 -3.42009728e-03 2.30522249e+02] [-6.78304346e-01 7.34774577e-01 3.08796566e-03 -9.72078531e+01] [ 4.60760276e-03 5.09327560e-05 9.99989384e-01 -4.99896214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters 0.013764485804909956 Centerline is valid? [True, True] Translation: X:230.57, Y:-97.25, Z:-5.00 [[ 7.31957402e-01 6.81341975e-01 -3.38737467e-03 2.30571737e+02] [-6.81335108e-01 7.31965237e-01 3.05983464e-03 -9.72461172e+01] [ 4.56423428e-03 6.82686666e-05 9.99989582e-01 -4.99955735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters 0.01518677383943424 Centerline is valid? [True, True] Translation: X:230.62, Y:-97.28, Z:-5.00 [[ 7.29556096e-01 6.83911669e-01 -3.56818574e-03 2.30620072e+02] [-6.83904072e-01 7.29564817e-01 3.22462042e-03 -9.72847453e+01] [ 4.80857831e-03 8.77552707e-05 9.99988435e-01 -5.00010069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters 0.017008781575988337 Centerline is valid? [True, True] Translation: X:230.67, Y:-97.32, Z:-5.00 [[ 7.27158420e-01 6.86458679e-01 -3.88760537e-03 2.30668708e+02] [-6.86449690e-01 7.27168804e-01 3.51480408e-03 -9.73236603e+01] [ 5.23971311e-03 1.12826119e-04 9.99986266e-01 -5.00050566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters 0.01872530193370786 Centerline is valid? [True, True] Translation: X:230.72, Y:-97.36, Z:-5.00 [[ 7.25264118e-01 6.88459633e-01 -3.91058421e-03 2.30717618e+02] [-6.88450558e-01 7.25274650e-01 3.53713887e-03 -9.73627235e+01] [ 5.27142492e-03 1.26883982e-04 9.99986098e-01 -5.00059724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters 0.019195104671010904 Centerline is valid? [True, True] Translation: X:230.76, Y:-97.40, Z:-5.00 [[ 7.24616842e-01 6.89142168e-01 -3.67483491e-03 2.30764419e+02] [-6.89134156e-01 7.24626150e-01 3.32536839e-03 -9.74038274e+01] [ 4.95453305e-03 1.22836312e-04 9.99987719e-01 -5.00034560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters 0.015513521532495236 Centerline is valid? [True, True] Translation: X:230.81, Y:-97.45, Z:-5.00 [[ 7.23856181e-01 6.89943568e-01 -3.17838682e-03 2.30805957e+02] [-6.89937576e-01 7.23863151e-01 2.87758497e-03 -9.74498483e+01] [ 4.28608834e-03 1.09930833e-04 9.99990809e-01 -4.99807188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters 0.017720645183263058 Centerline is valid? [True, True] Translation: X:230.85, Y:-97.49, Z:-5.00 [[ 7.23763298e-01 6.90042134e-01 -2.92252483e-03 2.30854405e+02] [-6.90037065e-01 7.23769192e-01 2.64686812e-03 -9.74889328e+01] [ 3.94168396e-03 1.00944458e-04 9.99992226e-01 -4.99816052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters 0.015979747131001466 Centerline is valid? [True, True] Translation: X:230.90, Y:-97.53, Z:-5.00 [[ 7.23310344e-01 6.90517870e-01 -2.68644424e-03 2.30898956e+02] [-6.90513585e-01 7.23315327e-01 2.43445791e-03 -9.75330755e+01] [ 3.62418298e-03 9.41576591e-05 9.99993428e-01 -4.99714587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters 0.0161926883434968 Centerline is valid? [True, True] Translation: X:230.95, Y:-97.57, Z:-5.00 [[ 7.23013372e-01 6.90826502e-01 -3.22606513e-03 2.30946224e+02] [-6.90820319e-01 7.23020560e-01 2.92511475e-03 -9.75746785e+01] [ 4.35325821e-03 1.13734269e-04 9.99990518e-01 -4.99775602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters 0.017377778462631565 Centerline is valid? [True, True] Translation: X:230.99, Y:-97.61, Z:-5.00 [[ 7.22298804e-01 6.91570113e-01 -3.90074455e-03 2.30993124e+02] [-6.91561075e-01 7.22309323e-01 3.53844955e-03 -9.76136260e+01] [ 5.26463011e-03 1.41785212e-04 9.99986132e-01 -4.99815507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters 0.016311716913963433 Centerline is valid? [True, True] Translation: X:231.04, Y:-97.66, Z:-5.00 [[ 7.22271278e-01 6.91598577e-01 -3.95085772e-03 2.31039190e+02] [-6.91589295e-01 7.22282069e-01 3.58594382e-03 -9.76568547e+01] [ 5.33366734e-03 1.42346681e-04 9.99985766e-01 -4.99790588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters 0.01573686645003437 Centerline is valid? [True, True] Translation: X:231.08, Y:-97.70, Z:-5.00 [[ 7.22616533e-01 6.91238922e-01 -3.75474376e-03 2.31084886e+02] [-6.91230525e-01 7.22626276e-01 3.40964704e-03 -9.76994208e+01] [ 5.07015725e-03 1.31526180e-04 9.99987138e-01 -4.99756008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters 0.015132217372148765 Centerline is valid? [True, True] Translation: X:231.13, Y:-97.74, Z:-5.00 [[ 7.23995772e-01 6.89792836e-01 -3.99561593e-03 2.31130366e+02] [-6.89783302e-01 7.24006786e-01 3.62900721e-03 -9.77424455e+01] [ 5.39611622e-03 1.28723268e-04 9.99985433e-01 -4.99706395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters 0.015193848528568981 Centerline is valid? [True, True] Translation: X:231.18, Y:-97.78, Z:-5.00 [[ 7.22557260e-01 6.91292492e-01 -5.06924747e-03 2.31176491e+02] [-6.91277167e-01 7.22575021e-01 4.60632810e-03 -9.77832284e+01] [ 6.84723163e-03 1.75919220e-04 9.99976542e-01 -4.99771285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters 0.01585459302545121 Centerline is valid? [True, True] Translation: X:231.22, Y:-97.82, Z:-5.00 [[ 7.22025239e-01 6.91842207e-01 -5.82375716e-03 2.31222962e+02] [-6.91821987e-01 7.22048695e-01 5.29336588e-03 -9.78226302e+01] [ 7.86721020e-03 2.07059489e-04 9.99969032e-01 -4.99914944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters 0.016163985658530538 Centerline is valid? [True, True] Translation: X:231.27, Y:-97.86, Z:-5.00 [[ 7.21035076e-01 6.92876838e-01 -5.48692484e-03 2.31269639e+02] [-6.92858902e-01 7.21055924e-01 4.98971559e-03 -9.78641767e+01] [ 7.41363802e-03 2.03904760e-04 9.99972498e-01 -4.99857559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters 0.015768572850864603 Centerline is valid? [True, True] Translation: X:231.31, Y:-97.91, Z:-5.00 [[ 7.21346948e-01 6.92556756e-01 -4.87035964e-03 2.31314880e+02] [-6.92542602e-01 7.21363368e-01 4.43124816e-03 -9.79066258e+01] [ 6.58218988e-03 1.76464207e-04 9.99978322e-01 -4.99782085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters 0.01543318582623688 Centerline is valid? [True, True] Translation: X:231.36, Y:-97.95, Z:-5.00 [[ 7.22676217e-01 6.91175279e-01 -3.97733733e-03 2.31359617e+02] [-6.91165809e-01 7.22687149e-01 3.62054017e-03 -9.79493558e+01] [ 5.37679844e-03 1.32521303e-04 9.99985536e-01 -4.99758713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters 0.014892650862920898 Centerline is valid? [True, True] Translation: X:231.40, Y:-97.99, Z:-5.00 [[ 7.23908275e-01 6.89884278e-01 -4.06101713e-03 2.31404642e+02] [-6.89874375e-01 7.23919655e-01 3.69854296e-03 -9.79921516e+01] [ 5.49141677e-03 1.24185801e-04 9.99984914e-01 -4.99785889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters 0.013907106821212732 Centerline is valid? [True, True] Translation: X:231.45, Y:-98.04, Z:-5.00 [[ 7.25548038e-01 6.88152508e-01 -5.11575183e-03 2.31448969e+02] [-6.88136733e-01 7.25566060e-01 4.66146780e-03 -9.80361783e+01] [ 6.91961665e-03 1.38217938e-04 9.99976050e-01 -4.99856914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters 0.013249886428316938 Centerline is valid? [True, True] Translation: X:231.49, Y:-98.08, Z:-5.00 [[ 7.28136320e-01 6.85410477e-01 -5.47520674e-03 2.31493599e+02] [-6.85392320e-01 7.28156896e-01 4.99032857e-03 -9.80799778e+01] [ 7.40723303e-03 1.19025169e-04 9.99972559e-01 -4.99979751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters 0.012748833668978676 Centerline is valid? [True, True] Translation: X:231.54, Y:-98.12, Z:-5.00 [[ 7.30110954e-01 6.83301814e-01 -6.05197523e-03 2.31537991e+02] [-6.83279535e-01 7.30136029e-01 5.51871711e-03 -9.81240019e+01] [ 8.18971457e-03 1.05915014e-04 9.99966458e-01 -5.00042175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters 0.012246908902393388 Centerline is valid? [True, True] Translation: X:231.58, Y:-98.17, Z:-5.00 [[ 7.32437807e-01 6.80811070e-01 -5.58081644e-03 2.31580666e+02] [-6.80792034e-01 7.32459065e-01 5.09157554e-03 -9.81689030e+01] [ 7.55412058e-03 7.01129492e-05 9.99971465e-01 -4.99999021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters 0.01230275984152226 Centerline is valid? [True, True] Translation: X:231.63, Y:-98.21, Z:-5.00 [[ 7.32861361e-01 6.80353761e-01 -5.74331309e-03 2.31625824e+02] [-6.80333565e-01 7.32883863e-01 5.24254597e-03 -9.82109217e+01] [ 7.77596734e-03 6.53092965e-05 9.99969765e-01 -5.00037565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters 0.012478327663210241 Centerline is valid? [True, True] Translation: X:231.67, Y:-98.25, Z:-5.00 [[ 7.31972129e-01 6.81306786e-01 -6.15354074e-03 2.31671709e+02] [-6.81283613e-01 7.31997990e-01 5.61974091e-03 -9.82531669e+01] [ 8.33314707e-03 7.88127436e-05 9.99965276e-01 -5.00092878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters 0.012995520110322954 Centerline is valid? [True, True] Translation: X:231.72, Y:-98.29, Z:-5.00 [[ 7.30793322e-01 6.82564956e-01 -6.79713890e-03 2.31717433e+02] [-6.82536711e-01 7.30824924e-01 6.21027190e-03 -9.82931299e+01] [ 9.20643249e-03 1.00871603e-04 9.99957615e-01 -5.00160672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters 0.013482150799392177 Centerline is valid? [True, True] Translation: X:231.76, Y:-98.33, Z:-5.00 [[ 7.29470625e-01 6.83976999e-01 -6.93346395e-03 2.31763723e+02] [-6.83947645e-01 7.29503565e-01 6.33779987e-03 -9.83349789e+01] [ 9.39289600e-03 1.18887513e-04 9.99955879e-01 -5.00147010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters 0.013067755545648627 Centerline is valid? [True, True] Translation: X:231.81, Y:-98.38, Z:-5.00 [[ 7.29394005e-01 6.84056109e-01 -7.18513729e-03 2.31809178e+02] [-6.84024553e-01 7.29429383e-01 6.57153513e-03 -9.83786344e+01] [ 9.73634901e-03 1.21572002e-04 9.99952593e-01 -5.00033688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters 0.01287329639519925 Centerline is valid? [True, True] Translation: X:231.85, Y:-98.42, Z:-5.00 [[ 7.30350411e-01 6.83040328e-01 -6.64732949e-03 2.31853405e+02] [-6.83013268e-01 7.30380654e-01 6.08070741e-03 -9.84231460e+01] [ 9.00844925e-03 9.91670838e-05 9.99959418e-01 -4.99902193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters 0.012532748233160456 Centerline is valid? [True, True] Translation: X:231.90, Y:-98.47, Z:-5.00 [[ 7.32006645e-01 6.81272018e-01 -5.89145862e-03 2.31896910e+02] [-6.81250684e-01 7.32030349e-01 5.39191432e-03 -9.84675358e+01] [ 7.98608686e-03 6.66431062e-05 9.99968108e-01 -4.99760866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters 0.012222414816909461 Centerline is valid? [True, True] Translation: X:231.94, Y:-98.51, Z:-5.00 [[ 7.33241310e-01 6.79941507e-01 -6.06030715e-03 2.31941084e+02] [-6.79918865e-01 7.33266353e-01 5.54919303e-03 -9.85115356e+01] [ 8.21694600e-03 5.16195915e-05 9.99966239e-01 -4.99759650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters 0.012074568333545721 Centerline is valid? [True, True] Translation: X:231.98, Y:-98.56, Z:-5.00 [[ 7.34972775e-01 6.78063367e-01 -6.71491708e-03 2.31984490e+02] [-6.78035458e-01 7.35003449e-01 6.15211041e-03 -9.85565872e+01] [ 9.10700791e-03 3.13182081e-05 9.99958530e-01 -4.99759525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters 0.012234615015560687 Centerline is valid? [True, True] Translation: X:232.03, Y:-98.60, Z:-5.00 [[ 7.35421273e-01 6.77567476e-01 -7.60694310e-03 2.32028457e+02] [-6.77531595e-01 7.35460614e-01 6.97303507e-03 -9.85996084e+01] [ 1.03193088e-02 2.58259625e-05 9.99946754e-01 -4.99840361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters 0.012242599867848782 Centerline is valid? [True, True] Translation: X:232.07, Y:-98.64, Z:-5.00 [[ 7.35827928e-01 6.77117249e-01 -8.33612627e-03 2.32073122e+02] [-6.77074085e-01 7.35875146e-01 7.64550421e-03 -9.86432678e+01] [ 1.13112509e-02 1.83995397e-05 9.99936026e-01 -4.99818582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters 0.012297222236799807 Centerline is valid? [True, True] Translation: X:232.12, Y:-98.69, Z:-5.00 [[ 7.35808523e-01 6.77139249e-01 -8.26162527e-03 2.32117667e+02] [-6.77096809e-01 7.35854902e-01 7.58113180e-03 -9.86860521e+01] [ 1.12128393e-02 1.56587184e-05 9.99937134e-01 -4.99860976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters 0.012275336915294803 Centerline is valid? [True, True] Translation: X:232.16, Y:-98.73, Z:-5.00 [[ 7.36196052e-01 6.76726560e-01 -7.51907156e-03 2.32160649e+02] [-6.76691350e-01 7.36234449e-01 6.90315364e-03 -9.87306715e+01] [ 1.02073469e-02 6.01622786e-06 9.99947904e-01 -4.99674679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters 0.01226762997798047 Centerline is valid? [True, True] Translation: X:232.21, Y:-98.77, Z:-5.00 [[ 7.35897535e-01 6.77052287e-01 -7.41752430e-03 2.32205378e+02] [-6.77018002e-01 7.35934916e-01 6.81348245e-03 -9.87729168e+01] [ 1.00718990e-02 7.77254194e-06 9.99949277e-01 -4.99680490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters 0.012090148293478703 Centerline is valid? [True, True] Translation: X:232.25, Y:-98.82, Z:-5.00 [[ 7.34462708e-01 6.78609578e-01 -7.31925341e-03 2.32251620e+02] [-6.78576235e-01 7.34499177e-01 6.72704588e-03 -9.88157662e+01] [ 9.94102336e-03 2.59070802e-05 9.99950586e-01 -4.99603740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters 0.01219255513593031 Centerline is valid? [True, True] Translation: X:232.30, Y:-98.86, Z:-5.00 [[ 7.32298653e-01 6.80941738e-01 -7.55202598e-03 2.32298672e+02] [-6.80906329e-01 7.32337590e-01 6.94445016e-03 -9.88566133e+01] [ 1.02593985e-02 5.68107868e-05 9.99947369e-01 -4.99616691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters 0.012613732690190992 Centerline is valid? [True, True] Translation: X:232.35, Y:-98.90, Z:-5.00 [[ 7.28872242e-01 6.84610789e-01 -7.30220054e-03 2.32346097e+02] [-6.84577834e-01 7.28908812e-01 6.71804998e-03 -9.88964301e+01] [ 9.92188782e-03 1.02324479e-04 9.99950772e-01 -4.99600430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters 0.01311816570718397 Centerline is valid? [True, True] Translation: X:232.39, Y:-98.94, Z:-5.00 [[ 7.26676985e-01 6.86941317e-01 -7.22397429e-03 2.32392849e+02] [-6.86909149e-01 7.26712880e-01 6.64912564e-03 -9.89366526e+01] [ 9.81731428e-03 1.30447465e-04 9.99951801e-01 -4.99572261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters 0.013730923786040218 Centerline is valid? [True, True] Translation: X:232.44, Y:-98.98, Z:-5.00 [[ 7.23889210e-01 6.89880089e-01 -7.06214080e-03 2.32440327e+02] [-6.89849455e-01 7.23923640e-01 6.50339799e-03 -9.89771709e+01] [ 9.59901545e-03 1.64074344e-04 9.99953915e-01 -4.99537936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters 0.014404927529127275 Centerline is valid? [True, True] Translation: X:232.49, Y:-99.02, Z:-5.00 [[ 7.22573010e-01 6.91257160e-01 -7.19608870e-03 2.32487252e+02] [-6.91225389e-01 7.22608819e-01 6.62998940e-03 -9.90182210e+01] [ 9.78298480e-03 1.83467807e-04 9.99952129e-01 -4.99590968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters 0.014951745110307056 Centerline is valid? [True, True] Translation: X:232.53, Y:-99.06, Z:-5.00 [[ 7.21904342e-01 6.91961729e-01 -6.56402893e-03 2.32533011e+02] [-6.91935295e-01 7.21934163e-01 6.05078320e-03 -9.90593934e+01] [ 8.92570714e-03 1.73796629e-04 9.99960150e-01 -4.99601684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters 0.014755879818607813 Centerline is valid? [True, True] Translation: X:232.58, Y:-99.10, Z:-5.00 [[ 7.22964248e-01 6.90858962e-01 -6.04906517e-03 2.32576830e+02] [-6.90836454e-01 7.22989539e-01 5.57853466e-03 -9.91016486e+01] [ 8.22739151e-03 1.45833616e-04 9.99966144e-01 -4.99623222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters 0.014480675132161447 Centerline is valid? [True, True] Translation: X:232.62, Y:-99.15, Z:-5.00 [[ 7.23971168e-01 6.89803709e-01 -6.04898646e-03 2.32621336e+02] [-6.89781154e-01 7.23996426e-01 5.57986070e-03 -9.91457756e+01] [ 8.22845318e-03 1.32818594e-04 9.99966137e-01 -4.99628791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters 0.014027388253011516 Centerline is valid? [True, True] Translation: X:232.67, Y:-99.19, Z:-5.00 [[ 7.25390937e-01 6.88302233e-01 -6.92996204e-03 2.32665233e+02] [-6.88272532e-01 7.25424027e-01 6.39547198e-03 -9.91898650e+01] [ 9.42917861e-03 1.30485107e-04 9.99955536e-01 -4.99817180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters 0.013863609235136218 Centerline is valid? [True, True] Translation: X:232.71, Y:-99.23, Z:-5.00 [[ 7.26184953e-01 6.87458450e-01 -7.50287218e-03 2.32709907e+02] [-6.87423559e-01 7.26223700e-01 6.92734321e-03 -9.92326348e+01] [ 1.02110242e-02 1.27118692e-04 9.99947858e-01 -4.99991024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters 0.012940749111090248 Centerline is valid? [True, True] Translation: X:232.75, Y:-99.28, Z:-5.00 [[ 7.27066496e-01 6.86527179e-01 -7.39891795e-03 2.32753281e+02] [-6.86493165e-01 7.27104134e-01 6.83468953e-03 -9.92773569e+01] [ 1.00719839e-02 1.10032838e-04 9.99949270e-01 -4.99873718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters 0.01266259693722656 Centerline is valid? [True, True] Translation: X:232.80, Y:-99.32, Z:-5.00 [[ 7.27405800e-01 6.86178969e-01 -6.26294445e-03 2.32798291e+02] [-6.86154561e-01 7.27432756e-01 5.78823129e-03 -9.93204539e+01] [ 8.52763352e-03 8.69548796e-05 9.99963635e-01 -4.99687605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters 0.012610050345141741 Centerline is valid? [True, True] Translation: X:232.84, Y:-99.36, Z:-5.00 [[ 7.27514462e-01 6.86065836e-01 -6.03126595e-03 2.32844727e+02] [-6.86043170e-01 7.27539458e-01 5.57732864e-03 -9.93631372e+01] [ 8.21439859e-03 8.01215634e-05 9.99966258e-01 -4.99610714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters 0.012536526678908956 Centerline is valid? [True, True] Translation: X:232.89, Y:-99.40, Z:-5.00 [[ 7.27470532e-01 6.86114775e-01 -5.75668359e-03 2.32891100e+02] [-6.86094104e-01 7.27493305e-01 5.32645230e-03 -9.94049842e+01] [ 7.84250640e-03 7.47895764e-05 9.99969244e-01 -4.99602688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters 0.012528770573699197 Centerline is valid? [True, True] Translation: X:232.94, Y:-99.45, Z:-5.00 [[ 7.27593551e-01 6.85982355e-01 -5.98605319e-03 2.32937911e+02] [-6.85959973e-01 7.27618171e-01 5.54180698e-03 -9.94473285e+01] [ 8.15714288e-03 7.40098637e-05 9.99966727e-01 -4.99624131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters 0.012408446356046517 Centerline is valid? [True, True] Translation: X:232.98, Y:-99.49, Z:-5.00 [[ 7.27937745e-01 6.85618746e-01 -5.79438123e-03 2.32983912e+02] [-6.85597739e-01 7.27960803e-01 5.36740717e-03 -9.94898270e+01] [ 7.89807739e-03 6.54764031e-05 9.99968808e-01 -4.99608700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters 0.012201147318061868 Centerline is valid? [True, True] Translation: X:233.03, Y:-99.53, Z:-5.00 [[ 7.29035764e-01 6.84450296e-01 -5.88618596e-03 2.33029611e+02] [-6.84428559e-01 7.29059524e-01 5.45512645e-03 -9.95321633e+01] [ 8.02514285e-03 5.16914891e-05 9.99967797e-01 -4.99664862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters 0.012237361848603839 Centerline is valid? [True, True] Translation: X:233.07, Y:-99.57, Z:-5.00 [[ 7.29448970e-01 6.84006538e-01 -6.26547200e-03 2.33074526e+02] [-6.83981867e-01 7.29475876e-01 5.80965373e-03 -9.95742067e+01] [ 8.54435181e-03 4.76233036e-05 9.99963495e-01 -4.99704049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters 0.012117636100741139 Centerline is valid? [True, True] Translation: X:233.12, Y:-99.62, Z:-5.00 [[ 7.29424759e-01 6.84035699e-01 -5.88931920e-03 2.33120439e+02] [-6.84013877e-01 7.29448532e-01 5.46394990e-03 -9.96165960e+01] [ 8.03349203e-03 4.28357182e-05 9.99967730e-01 -4.99639387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters 0.01235632351535392 Centerline is valid? [True, True] Translation: X:233.17, Y:-99.66, Z:-5.00 [[ 7.28124655e-01 6.85420648e-01 -5.74647924e-03 2.33168067e+02] [-6.85399891e-01 7.28147329e-01 5.33440605e-03 -9.96575061e+01] [ 7.84059556e-03 5.45236759e-05 9.99969261e-01 -4.99677898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters 0.01273417717844213 Centerline is valid? [True, True] Translation: X:233.22, Y:-99.70, Z:-5.00 [[ 7.26064455e-01 6.87600999e-01 -5.93920998e-03 2.33215512e+02] [-6.87578878e-01 7.26088741e-01 5.51596758e-03 -9.96973011e+01] [ 8.10517832e-03 7.87273428e-05 9.99967149e-01 -4.99715751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters 0.01379437581354404 Centerline is valid? [True, True] Translation: X:233.26, Y:-99.74, Z:-5.00 [[ 7.22061818e-01 6.91796481e-01 -6.66027569e-03 2.33264089e+02] [-6.91768833e-01 7.22092521e-01 6.18648483e-03 -9.97360186e+01] [ 9.08912369e-03 1.40346661e-04 9.99958683e-01 -4.99770751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters 0.014685044136638977 Centerline is valid? [True, True] Translation: X:233.31, Y:-99.78, Z:-5.00 [[ 7.18280082e-01 6.95729270e-01 -5.87416872e-03 2.33312079e+02] [-6.95707874e-01 7.18304082e-01 5.45883985e-03 -9.97751321e+01] [ 8.01731404e-03 1.65729502e-04 9.99967847e-01 -4.99733642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters 0.015532364447589786 Centerline is valid? [True, True] Translation: X:233.36, Y:-99.82, Z:-5.00 [[ 7.16517870e-01 6.97548333e-01 -5.33532749e-03 2.33359141e+02] [-6.97530714e-01 7.16537714e-01 4.96054767e-03 -9.98151572e+01] [ 7.28318512e-03 1.67233742e-04 9.99973463e-01 -4.99708133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters 0.01706273727947954 Centerline is valid? [True, True] Translation: X:233.41, Y:-99.85, Z:-5.00 [[ 7.14865665e-01 6.99247239e-01 -4.51437868e-03 2.33406631e+02] [-6.99234647e-01 7.14879903e-01 4.19915695e-03 -9.98536263e+01] [ 6.16348749e-03 1.54776862e-04 9.99980994e-01 -4.99664475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters 0.016278709408048115 Centerline is valid? [True, True] Translation: X:233.45, Y:-99.90, Z:-5.00 [[ 7.13548772e-01 7.00588396e-01 -4.90395922e-03 2.33452571e+02] [-7.00573554e-01 7.13565601e-01 4.56380813e-03 -9.98953451e+01] [ 6.69664763e-03 1.79084455e-04 9.99977561e-01 -4.99737880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters 0.018642176618263288 Centerline is valid? [True, True] Translation: X:233.50, Y:-99.93, Z:-5.00 [[ 7.13014908e-01 7.01126397e-01 -5.61392029e-03 2.33500001e+02] [-7.01106945e-01 7.13036978e-01 5.22689838e-03 -9.99335609e+01] [ 7.66764918e-03 2.09102032e-04 9.99970581e-01 -4.99907405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters 0.01669347584327208 Centerline is valid? [True, True] Translation: X:233.54, Y:-99.98, Z:-5.00 [[ 7.13058668e-01 7.01073302e-01 -6.60007740e-03 2.33544095e+02] [-7.01046382e-01 7.13089171e-01 6.14852714e-03 -9.99779037e+01] [ 9.01701195e-03 2.42699813e-04 9.99959316e-01 -4.99958257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters 0.015770228451786886 Centerline is valid? [True, True] Translation: X:233.59, Y:-100.02, Z:-5.00 [[ 7.14024359e-01 7.00082261e-01 -7.35131638e-03 2.33588642e+02] [-7.00048777e-01 7.14062156e-01 6.85176456e-03 -1.00021277e+02] [ 1.00460956e-02 2.53953241e-04 9.99949504e-01 -5.00011942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters 0.014897395987414 Centerline is valid? [True, True] Translation: X:233.63, Y:-100.07, Z:-5.00 [[ 7.14807947e-01 6.99280432e-01 -7.51504276e-03 2.33633271e+02] [-6.99245376e-01 7.14847408e-01 7.00627459e-03 -1.00065259e+02] [ 1.02714596e-02 2.46718141e-04 9.99947217e-01 -5.00009428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters 0.014615193837965565 Centerline is valid? [True, True] Translation: X:233.68, Y:-100.11, Z:-5.00 [[ 7.16707292e-01 6.97330202e-01 -7.82599028e-03 2.33676081e+02] [-6.97292032e-01 7.16749983e-01 7.29956878e-03 -1.00108660e+02] [ 1.06994882e-02 2.25346493e-04 9.99942733e-01 -5.00053163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters 0.013767562418318295 Centerline is valid? [True, True] Translation: X:233.72, Y:-100.15, Z:-5.00 [[ 7.18186363e-01 6.95815608e-01 -6.99912278e-03 2.33719379e+02] [-6.95784988e-01 7.18220445e-01 6.53010391e-03 -1.00154122e+02] [ 9.57066130e-03 1.80052986e-04 9.99954184e-01 -4.99904561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters 0.013334375069204306 Centerline is valid? [True, True] Translation: X:233.76, Y:-100.20, Z:-5.00 [[ 7.19875519e-01 6.94083571e-01 -5.21856823e-03 2.33762379e+02] [-6.94066486e-01 7.19894425e-01 4.87131774e-03 -1.00199126e+02] [ 7.13791979e-03 1.15290927e-04 9.99974518e-01 -4.99768504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters 0.013408703952722414 Centerline is valid? [True, True] Translation: X:233.81, Y:-100.24, Z:-5.00 [[ 7.20270116e-01 6.93677823e-01 -4.69455802e-03 2.33807550e+02] [-6.93663983e-01 7.20285408e-01 4.38293295e-03 -1.00242486e+02] [ 6.42176502e-03 9.95501925e-05 9.99979375e-01 -4.99836598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters 0.013559283167478554 Centerline is valid? [True, True] Translation: X:233.85, Y:-100.29, Z:-5.00 [[ 7.19610315e-01 6.94352970e-01 -5.91167020e-03 2.33852843e+02] [-6.94331025e-01 7.19634585e-01 5.52201562e-03 -1.00285557e+02] [ 8.08847028e-03 1.30956632e-04 9.99967279e-01 -5.00059462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters 0.014163286214985837 Centerline is valid? [True, True] Translation: X:233.90, Y:-100.33, Z:-5.00 [[ 7.18567270e-01 6.95427133e-01 -6.49471424e-03 2.33897698e+02] [-6.95400675e-01 7.18596604e-01 6.06809564e-03 -1.00326351e+02] [ 8.88699795e-03 1.56093744e-04 9.99960498e-01 -5.00231759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters 0.013909002462719987 Centerline is valid? [True, True] Translation: X:233.94, Y:-100.37, Z:-5.00 [[ 7.17912344e-01 6.96114129e-01 -5.19482811e-03 2.33942392e+02] [-6.96097200e-01 7.17931127e-01 4.85641881e-03 -1.00370277e+02] [ 7.11015055e-03 1.29622295e-04 9.99974714e-01 -5.00062575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters 0.013809922919517322 Centerline is valid? [True, True] Translation: X:233.99, Y:-100.41, Z:-5.00 [[ 7.17887286e-01 6.96149366e-01 -3.72881019e-03 2.33987143e+02] [-6.96140636e-01 7.17896964e-01 3.48766576e-03 -1.00413175e+02] [ 5.10483782e-03 9.20253856e-05 9.99986966e-01 -4.99921138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters 0.013972217807806674 Centerline is valid? [True, True] Translation: X:234.03, Y:-100.46, Z:-5.00 [[ 7.17057138e-01 6.97007695e-01 -3.05534771e-03 2.34033317e+02] [-6.97001834e-01 7.17063642e-01 2.85942681e-03 -1.00456551e+02] [ 4.18392125e-03 7.92105585e-05 9.99991244e-01 -4.99808010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters 0.014558529746739882 Centerline is valid? [True, True] Translation: X:234.08, Y:-100.50, Z:-5.00 [[ 7.16419174e-01 6.97659087e-01 -3.91994743e-03 2.34079200e+02] [-6.97649444e-01 7.16429890e-01 3.66955821e-03 -1.00496388e+02] [ 5.36846814e-03 1.05807286e-04 9.99985584e-01 -5.00007637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters 0.014765793394633013 Centerline is valid? [True, True] Translation: X:234.13, Y:-100.54, Z:-5.00 [[ 7.16090913e-01 6.97993420e-01 -4.35786897e-03 2.34125315e+02] [-6.97981494e-01 7.16104163e-01 4.08183284e-03 -1.00539104e+02] [ 5.96978058e-03 1.18748490e-04 9.99982174e-01 -5.00055023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters 0.014445388557696807 Centerline is valid? [True, True] Translation: X:234.17, Y:-100.58, Z:-5.00 [[ 7.16420494e-01 6.97654907e-01 -4.39393336e-03 2.34169823e+02] [-6.97642765e-01 7.16433959e-01 4.11766588e-03 -1.00582733e+02] [ 6.02067287e-03 1.15415594e-04 9.99981869e-01 -5.00012311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters 0.014512816549823088 Centerline is valid? [True, True] Translation: X:234.21, Y:-100.63, Z:-5.00 [[ 7.16827231e-01 6.97237570e-01 -4.30033379e-03 2.34214837e+02] [-6.97225920e-01 7.16840122e-01 4.03193752e-03 -1.00625253e+02] [ 5.89387011e-03 1.08101572e-04 9.99982625e-01 -4.99993700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters 0.013998989085036741 Centerline is valid? [True, True] Translation: X:234.26, Y:-100.67, Z:-5.00 [[ 7.18144623e-01 6.95882772e-01 -3.93289933e-03 2.34259907e+02] [-6.95872998e-01 7.18155387e-01 3.68925764e-03 -1.00668263e+02] [ 5.39172368e-03 8.73779101e-05 9.99985461e-01 -4.99933705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters 0.013677147841034057 Centerline is valid? [True, True] Translation: X:234.30, Y:-100.71, Z:-5.00 [[ 7.20316968e-01 6.93637238e-01 -3.29354196e-03 2.34304237e+02] [-6.93630354e-01 7.20324495e-01 3.09090386e-03 -1.00710691e+02] [ 4.51638497e-03 5.80701732e-05 9.99989799e-01 -4.99897278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters 0.013045841546210782 Centerline is valid? [True, True] Translation: X:234.35, Y:-100.75, Z:-5.00 [[ 7.21761182e-01 6.92135043e-01 -3.14296289e-03 2.34347895e+02] [-6.92128753e-01 7.21768024e-01 2.95101687e-03 -1.00754573e+02] [ 4.31099230e-03 4.54055643e-05 9.99990707e-01 -4.99826231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters 0.012784719597006701 Centerline is valid? [True, True] Translation: X:234.39, Y:-100.80, Z:-5.00 [[ 7.22958069e-01 6.90879905e-01 -4.07272902e-03 2.34392292e+02] [-6.90869314e-01 7.22969539e-01 3.82586927e-03 -1.00797353e+02] [ 5.58767522e-03 4.77804424e-05 9.99984388e-01 -4.99892090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters 0.012673735330901303 Centerline is valid? [True, True] Translation: X:234.44, Y:-100.84, Z:-5.00 [[ 7.22135952e-01 6.91733934e-01 -4.88173446e-03 2.34439193e+02] [-6.91718721e-01 7.22152449e-01 4.58818018e-03 -1.00838473e+02] [ 6.69915643e-03 6.34972546e-05 9.99977558e-01 -4.99940116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters 0.013089765307991755 Centerline is valid? [True, True] Translation: X:234.49, Y:-100.88, Z:-5.00 [[ 7.21065555e-01 6.92851733e-01 -4.57628507e-03 2.34485545e+02] [-6.92838378e-01 7.21080073e-01 4.30228414e-03 -1.00878650e+02] [ 6.28071300e-03 6.83970284e-05 9.99980274e-01 -4.99946084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters 0.013156085143766452 Centerline is valid? [True, True] Translation: X:234.53, Y:-100.92, Z:-5.00 [[ 7.20756082e-01 6.93179188e-01 -3.64472002e-03 2.34531437e+02] [-6.93170712e-01 7.20765295e-01 3.42843826e-03 -1.00921190e+02] [ 5.00350975e-03 5.53454482e-05 9.99987481e-01 -4.99876618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters 0.01300347054540571 Centerline is valid? [True, True] Translation: X:234.58, Y:-100.97, Z:-5.00 [[ 7.20977572e-01 6.92946263e-01 -4.10091029e-03 2.34576941e+02] [-6.92935516e-01 7.20989232e-01 3.85973560e-03 -1.00965220e+02] [ 5.63130153e-03 5.88835861e-05 9.99984142e-01 -4.99887614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters 0.0130697724395152 Centerline is valid? [True, True] Translation: X:234.62, Y:-101.01, Z:-5.00 [[ 7.20631471e-01 6.93306263e-01 -4.08776567e-03 2.34622723e+02] [-6.93295578e-01 7.20643062e-01 3.84955249e-03 -1.01008798e+02] [ 5.61473882e-03 5.99211916e-05 9.99984235e-01 -4.99886841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters 0.013072965287565085 Centerline is valid? [True, True] Translation: X:234.67, Y:-101.05, Z:-5.00 [[ 7.20055996e-01 6.93904726e-01 -3.94904930e-03 2.34668960e+02] [-6.93894751e-01 7.20066822e-01 3.72103315e-03 -1.01051933e+02] [ 5.42562187e-03 6.08723517e-05 9.99985279e-01 -4.99833207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters 0.01298440474927689 Centerline is valid? [True, True] Translation: X:234.71, Y:-101.10, Z:-5.00 [[ 7.19573961e-01 6.94407301e-01 -3.43735390e-03 2.34714302e+02] [-6.94399741e-01 7.19582169e-01 3.24075594e-03 -1.01095066e+02] [ 4.72386316e-03 5.49340674e-05 9.99988841e-01 -4.99758471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters 0.013239785276718301 Centerline is valid? [True, True] Translation: X:234.76, Y:-101.14, Z:-5.00 [[ 7.18868758e-01 6.95130115e-01 -4.67241729e-03 2.34759947e+02] [-6.95116147e-01 7.18883938e-01 4.40737294e-03 -1.01136944e+02] [ 6.42262340e-03 7.95500001e-05 9.99979372e-01 -5.00002839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters 0.013102382836661137 Centerline is valid? [True, True] Translation: X:234.80, Y:-101.18, Z:-5.00 [[ 7.18894348e-01 6.95097931e-01 -5.45732518e-03 2.34804512e+02] [-6.95078855e-01 7.18915056e-01 5.15048634e-03 -1.01179901e+02] [ 7.50344564e-03 9.06158182e-05 9.99971845e-01 -5.00127242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters 0.012967390880149513 Centerline is valid? [True, True] Translation: X:234.85, Y:-101.22, Z:-5.00 [[ 7.19263054e-01 6.94721567e-01 -4.75422915e-03 2.34848887e+02] [-6.94707067e-01 7.19278763e-01 4.48914472e-03 -1.01223810e+02] [ 6.53832172e-03 7.39206468e-05 9.99978622e-01 -4.99963859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters 0.013007298932916501 Centerline is valid? [True, True] Translation: X:234.89, Y:-101.27, Z:-5.00 [[ 7.18860215e-01 6.95140428e-01 -4.44712361e-03 2.34894808e+02] [-6.95127734e-01 7.18873967e-01 4.20153962e-03 -1.01267035e+02] [ 6.11758144e-03 7.09992873e-05 9.99981285e-01 -4.99917240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters 0.01368282820245317 Centerline is valid? [True, True] Translation: X:234.94, Y:-101.31, Z:-5.00 [[ 7.16286769e-01 6.97791684e-01 -4.47543708e-03 2.34942294e+02] [-6.97778867e-01 7.16300745e-01 4.23036531e-03 -1.01306952e+02] [ 6.15767265e-03 9.27107113e-05 9.99981037e-01 -4.99956227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters 0.014460256070182939 Centerline is valid? [True, True] Translation: X:234.99, Y:-101.35, Z:-5.00 [[ 7.14480525e-01 6.99636111e-01 -5.18575762e-03 2.34988655e+02] [-6.99618935e-01 7.14499333e-01 4.90398818e-03 -1.01346811e+02] [ 7.13622758e-03 1.24250169e-04 9.99974529e-01 -5.00111558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters 0.014150664126451364 Centerline is valid? [True, True] Translation: X:235.03, Y:-101.39, Z:-5.00 [[ 7.13089586e-01 7.01049926e-01 -5.67834722e-03 2.35034092e+02] [-7.01029355e-01 7.13112179e-01 5.37253709e-03 -1.01388769e+02] [ 7.81571528e-03 1.49587839e-04 9.99969446e-01 -5.00089837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters 0.015511119767897376 Centerline is valid? [True, True] Translation: X:235.08, Y:-101.43, Z:-5.00 [[ 7.12702341e-01 7.01444966e-01 -5.50748107e-03 2.35081388e+02] [-7.01425605e-01 7.12723606e-01 5.21366798e-03 -1.01429483e+02] [ 7.58241293e-03 1.47294863e-04 9.99971242e-01 -5.00162788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters 0.015684615798020003 Centerline is valid? [True, True] Translation: X:235.13, Y:-101.47, Z:-5.00 [[ 7.12787796e-01 7.01364696e-01 -4.59584969e-03 2.35126618e+02] [-7.01351199e-01 7.12802602e-01 4.35268568e-03 -1.01472589e+02] [ 6.32875369e-03 1.20763459e-04 9.99979966e-01 -4.99970838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters 0.015589048153437101 Centerline is valid? [True, True] Translation: X:235.17, Y:-101.51, Z:-5.00 [[ 7.13550692e-01 7.00594528e-01 -3.56613602e-03 2.35170838e+02] [-7.00586388e-01 7.13559598e-01 3.37833186e-03 -1.01514213e+02] [ 4.91149140e-03 8.77753168e-05 9.99987935e-01 -4.99859555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters 0.01421686438295393 Centerline is valid? [True, True] Translation: X:235.22, Y:-101.56, Z:-5.00 [[ 7.13278870e-01 7.00873230e-01 -3.15743914e-03 2.35215682e+02] [-7.00866844e-01 7.13285854e-01 2.99288279e-03 -1.01559072e+02] [ 4.34978810e-03 7.81843565e-05 9.99990537e-01 -4.99782197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters 0.014256498205923732 Centerline is valid? [True, True] Translation: X:235.26, Y:-101.60, Z:-5.00 [[ 7.12840992e-01 7.01317961e-01 -3.29219978e-03 2.35262672e+02] [-7.01311015e-01 7.12848589e-01 3.12240087e-03 -1.01601638e+02] [ 4.53663578e-03 8.30806386e-05 9.99989706e-01 -4.99841725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters 0.014412805664332257 Centerline is valid? [True, True] Translation: X:235.31, Y:-101.64, Z:-5.00 [[ 7.12580741e-01 7.01579221e-01 -3.90949347e-03 2.35309744e+02] [-7.01569419e-01 7.12591458e-01 3.70994995e-03 -1.01643427e+02] [ 5.38869546e-03 9.91421808e-05 9.99985476e-01 -4.99920331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters 0.014243514891284304 Centerline is valid? [True, True] Translation: X:235.36, Y:-101.68, Z:-5.00 [[ 7.12041656e-01 7.02122245e-01 -4.58618829e-03 2.35355568e+02] [-7.02108754e-01 7.12056415e-01 4.35429698e-03 -1.01684974e+02] [ 6.32287357e-03 1.19562110e-04 9.99980003e-01 -4.99960660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters 0.01457620050832759 Centerline is valid? [True, True] Translation: X:235.40, Y:-101.73, Z:-5.00 [[ 7.11355665e-01 7.02816704e-01 -4.66878924e-03 2.35402932e+02] [-7.02802723e-01 7.11370975e-01 4.43493228e-03 -1.01725214e+02] [ 6.43818564e-03 1.26423588e-04 9.99979267e-01 -5.00010234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters 0.014682371540688658 Centerline is valid? [True, True] Translation: X:235.45, Y:-101.77, Z:-5.00 [[ 7.10548581e-01 7.03636001e-01 -4.13421514e-03 2.35450147e+02] [-7.03625041e-01 7.10560598e-01 3.92911768e-03 -1.01766115e+02] [ 5.70227904e-03 1.17108305e-04 9.99983735e-01 -4.99986124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters 0.015092372427512398 Centerline is valid? [True, True] Translation: X:235.50, Y:-101.81, Z:-5.00 [[ 7.10371534e-01 7.03816820e-01 -3.76399179e-03 2.35496805e+02] [-7.03807727e-01 7.10381498e-01 3.57930504e-03 -1.01808723e+02] [ 5.19304522e-03 1.06490093e-04 9.99986510e-01 -4.99975416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters 0.01480511149532971 Centerline is valid? [True, True] Translation: X:235.54, Y:-101.85, Z:-5.00 [[ 7.11076914e-01 7.03105802e-01 -3.44301440e-03 2.35541285e+02] [-7.03098177e-01 7.11085243e-01 3.27569123e-03 -1.01851696e+02] [ 4.75143424e-03 9.15087371e-05 9.99988708e-01 -4.99921121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters 0.014120080129762498 Centerline is valid? [True, True] Translation: X:235.59, Y:-101.90, Z:-5.00 [[ 7.12968623e-01 7.01189711e-01 -2.95488181e-03 2.35585275e+02] [-7.01184073e-01 7.12974743e-01 2.81267788e-03 -1.01895702e+02] [ 4.07897689e-03 6.65649898e-05 9.99991679e-01 -4.99851212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters 0.01332802822813232 Centerline is valid? [True, True] Translation: X:235.63, Y:-101.94, Z:-5.00 [[ 7.14792627e-01 6.99331324e-01 -2.68331541e-03 2.35628942e+02] [-6.99326657e-01 7.14797661e-01 2.55548734e-03 -1.01939495e+02] [ 3.70515993e-03 4.98704801e-05 9.99993135e-01 -4.99854965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters 0.012717846460358643 Centerline is valid? [True, True] Translation: X:235.67, Y:-101.98, Z:-5.00 [[ 7.18746589e-01 6.95265585e-01 -3.01771523e-03 2.35671032e+02] [-6.95259640e-01 7.18752924e-01 2.87529058e-03 -1.01983341e+02] [ 4.16808223e-03 3.14903103e-05 9.99991313e-01 -4.99949808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters 0.012418200072447158 Centerline is valid? [True, True] Translation: X:235.71, Y:-102.03, Z:-5.00 [[ 7.24604502e-01 6.89151582e-01 -4.29105255e-03 2.35712323e+02] [-6.89139442e-01 7.24617207e-01 4.09056442e-03 -1.02029967e+02] [ 5.92838946e-03 -6.90783089e-06 9.99982427e-01 -5.00122670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters 0.012737315096101813 Centerline is valid? [True, True] Translation: X:235.75, Y:-102.08, Z:-5.00 [[ 7.28676974e-01 6.84842005e-01 -4.61479312e-03 2.35754382e+02] [-6.84827863e-01 7.28691585e-01 4.40134977e-03 -1.02075419e+02] [ 6.37699011e-03 -4.68233206e-05 9.99979666e-01 -5.00170917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters 0.014101318014751785 Centerline is valid? [True, True] Translation: X:235.80, Y:-102.12, Z:-5.00 [[ 7.34153346e-01 6.78968758e-01 -4.50441173e-03 2.35795459e+02] [-6.78955170e-01 7.34167158e-01 4.29665052e-03 -1.02122725e+02] [ 6.22428263e-03 -9.61067295e-05 9.99980624e-01 -5.00089751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters 0.014943083942814843 Centerline is valid? [True, True] Translation: X:235.84, Y:-102.17, Z:-5.00 [[ 7.36727215e-01 6.76179582e-01 -3.76609982e-03 2.35838662e+02] [-6.76170038e-01 7.36736834e-01 3.59416523e-03 -1.02166965e+02] [ 5.20492561e-03 -1.01395482e-04 9.99986449e-01 -4.99980483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters 0.015032339486655829 Centerline is valid? [True, True] Translation: X:235.88, Y:-102.21, Z:-5.00 [[ 7.36817454e-01 6.76082586e-01 -3.51789091e-03 2.35884517e+02] [-6.76074248e-01 7.36825846e-01 3.35915891e-03 -1.02209792e+02] [ 4.86314179e-03 -9.67314675e-05 9.99988170e-01 -4.99984498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters 0.014208060137577987 Centerline is valid? [True, True] Translation: X:235.93, Y:-102.25, Z:-5.00 [[ 7.34451918e-01 6.78648606e-01 -4.05571045e-03 2.35932225e+02] [-6.78637552e-01 7.34463110e-01 3.87460149e-03 -1.02250043e+02] [ 5.60826261e-03 -9.33510867e-05 9.99984269e-01 -5.00075484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters 0.013639819715191901 Centerline is valid? [True, True] Translation: X:235.98, Y:-102.29, Z:-5.00 [[ 7.31715986e-01 6.81592958e-01 -4.77013901e-03 2.35979455e+02] [-6.81577721e-01 7.31731530e-01 4.55830525e-03 -1.02291346e+02] [ 6.59736988e-03 -8.41643445e-05 9.99978234e-01 -5.00137140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters 0.012503537670437617 Centerline is valid? [True, True] Translation: X:236.03, Y:-102.33, Z:-5.00 [[ 7.26402855e-01 6.87249149e-01 -5.24400929e-03 2.36029309e+02] [-6.87230862e-01 7.26421782e-01 5.01361148e-03 -1.02329025e+02] [ 7.25496280e-03 -3.80566656e-05 9.99973682e-01 -5.00107555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters 0.012288019499658473 Centerline is valid? [True, True] Translation: X:236.08, Y:-102.37, Z:-5.00 [[ 7.20493583e-01 6.93444067e-01 -4.93188646e-03 2.36079810e+02] [-6.93428020e-01 7.20510462e-01 4.71750408e-03 -1.02366575e+02] [ 6.82480101e-03 2.09768482e-05 9.99976711e-01 -5.00110947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters 0.01258796858199906 Centerline is valid? [True, True] Translation: X:236.13, Y:-102.41, Z:-5.00 [[ 7.16830923e-01 6.97233559e-01 -4.33499505e-03 2.36127684e+02] [-6.97221218e-01 7.16844029e-01 4.14866567e-03 -1.02406784e+02] [ 6.00010424e-03 4.85586904e-05 9.99981998e-01 -5.00062405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters 0.013377814335212021 Centerline is valid? [True, True] Translation: X:236.18, Y:-102.45, Z:-5.00 [[ 7.12751562e-01 7.01409396e-01 -3.17331009e-03 2.36176359e+02] [-7.01402817e-01 7.12758624e-01 3.03844265e-03 -1.02446339e+02] [ 4.39299636e-03 6.01138963e-05 9.99990349e-01 -4.99992436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters 0.014207563665460549 Centerline is valid? [True, True] Translation: X:236.22, Y:-102.49, Z:-5.00 [[ 7.10262664e-01 7.03929014e-01 -3.30023204e-03 2.36223016e+02] [-7.03921922e-01 7.10270326e-01 3.16077096e-03 -1.02486721e+02] [ 4.56901528e-03 7.81280802e-05 9.99989559e-01 -5.00042365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters 0.016471175963564403 Centerline is valid? [True, True] Translation: X:236.27, Y:-102.53, Z:-5.00 [[ 7.06710030e-01 7.07491467e-01 -4.09359515e-03 2.36270288e+02] [-7.07480610e-01 7.06721875e-01 3.92151023e-03 -1.02525437e+02] [ 5.66746827e-03 1.24768582e-04 9.99983932e-01 -5.00145244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters 0.01638592126062384 Centerline is valid? [True, True] Translation: X:236.32, Y:-102.57, Z:-5.00 [[ 7.04477992e-01 7.09711564e-01 -4.50055442e-03 2.36315103e+02] [-7.09698473e-01 7.04492350e-01 4.31348267e-03 -1.02568980e+02] [ 6.23193469e-03 1.55282987e-04 9.99980569e-01 -5.00130885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters 0.01762176463644442 Centerline is valid? [True, True] Translation: X:236.36, Y:-102.61, Z:-5.00 [[ 7.02091314e-01 7.12066490e-01 -5.39454744e-03 2.36361594e+02] [-7.12047745e-01 7.02112007e-01 5.17100841e-03 -1.02610321e+02] [ 7.46967833e-03 2.10655246e-04 9.99972079e-01 -5.00319647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters 0.017224323725243504 Centerline is valid? [True, True] Translation: X:236.40, Y:-102.66, Z:-5.00 [[ 7.02118723e-01 7.12030830e-01 -6.43406354e-03 2.36404227e+02] [-7.12004132e-01 7.02148158e-01 6.17095506e-03 -1.02656156e+02] [ 8.91157612e-03 2.48336736e-04 9.99960260e-01 -5.00404622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters 0.016286907086994082 Centerline is valid? [True, True] Translation: X:236.45, Y:-102.70, Z:-5.00 [[ 7.03978196e-01 7.10193268e-01 -6.34205544e-03 2.36445144e+02] [-7.10167227e-01 7.04006729e-01 6.08570516e-03 -1.02702788e+02] [ 8.78687654e-03 2.19716179e-04 9.99961371e-01 -5.00348697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters 0.014258818625882295 Centerline is valid? [True, True] Translation: X:236.48, Y:-102.75, Z:-5.00 [[ 7.09354816e-01 7.04830573e-01 -5.44144494e-03 2.36482448e+02] [-7.04811242e-01 7.09375674e-01 5.22167215e-03 -1.02752117e+02] [ 7.54042285e-03 1.31173286e-04 9.99971562e-01 -5.00170799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters 0.013585242472976586 Centerline is valid? [True, True] Translation: X:236.52, Y:-102.80, Z:-5.00 [[ 7.11456665e-01 7.02711410e-01 -5.10761300e-03 2.36524567e+02] [-7.02694307e-01 7.11474992e-01 4.90373141e-03 -1.02797434e+02] [ 7.07984693e-03 1.00298178e-04 9.99974933e-01 -5.00128967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters 0.012167492234913717 Centerline is valid? [True, True] Translation: X:236.56, Y:-102.85, Z:-5.00 [[ 7.19045838e-01 6.94945681e-01 -4.85634673e-03 2.36560006e+02] [-6.94930038e-01 7.19062237e-01 4.66280262e-03 -1.02849119e+02] [ 6.73241008e-03 2.20524037e-05 9.99977337e-01 -5.00054272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters 0.0123072436100679 Centerline is valid? [True, True] Translation: X:236.60, Y:-102.90, Z:-5.00 [[ 7.24264709e-01 6.89502933e-01 -5.13193934e-03 2.36599711e+02] [-6.89485306e-01 7.24282890e-01 4.93030780e-03 -1.02898509e+02] [ 7.11643754e-03 -3.24511775e-05 9.99974677e-01 -5.00058039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters 0.014073805940856691 Centerline is valid? [True, True] Translation: X:236.64, Y:-102.95, Z:-5.00 [[ 7.32664225e-01 6.80562748e-01 -6.12198290e-03 2.36635083e+02] [-6.80537347e-01 7.32689788e-01 5.88162588e-03 -1.02948596e+02] [ 8.48832983e-03 -1.43018861e-04 9.99963963e-01 -5.00196179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters 0.0161263542185857 Centerline is valid? [True, True] Translation: X:236.67, Y:-103.00, Z:-5.00 [[ 7.38735418e-01 6.73958342e-01 -7.08069307e-03 2.36672580e+02] [-6.73924027e-01 7.38769306e-01 6.80567181e-03 -1.02997666e+02] [ 9.81773800e-03 -2.55741615e-04 9.99951772e-01 -5.00257918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters 0.017528644556526772 Centerline is valid? [True, True] Translation: X:236.71, Y:-103.04, Z:-5.00 [[ 7.41565598e-01 6.70844795e-01 -6.90832317e-03 2.36713569e+02] [-6.70811988e-01 7.41597719e-01 6.64083856e-03 -1.03044335e+02] [ 9.57816869e-03 -2.90431424e-04 9.99954086e-01 -5.00247592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters 0.018020389633380995 Centerline is valid? [True, True] Translation: X:236.76, Y:-103.09, Z:-5.00 [[ 7.42637565e-01 6.69666879e-01 -5.97654578e-03 2.36755957e+02] [-6.69642263e-01 7.42661565e-01 5.74798582e-03 -1.03089756e+02] [ 8.28778657e-03 -2.66522552e-04 9.99965620e-01 -5.00117352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters 0.018179685190918584 Centerline is valid? [True, True] Translation: X:236.80, Y:-103.13, Z:-5.00 [[ 7.41147858e-01 6.71317610e-01 -5.70252568e-03 2.36800244e+02] [-6.71295227e-01 7.41169758e-01 5.48709707e-03 -1.03132608e+02] [ 7.91012447e-03 -2.38671970e-04 9.99968686e-01 -5.00131580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters 0.016055505571503377 Centerline is valid? [True, True] Translation: X:236.85, Y:-103.17, Z:-5.00 [[ 7.37107114e-01 6.75750195e-01 -5.89719615e-03 2.36847643e+02] [-6.75726396e-01 7.37130677e-01 5.67476725e-03 -1.03171796e+02] [ 8.18172927e-03 -1.98020211e-04 9.99966509e-01 -5.00154191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters 0.014455662615659306 Centerline is valid? [True, True] Translation: X:236.90, Y:-103.21, Z:-5.00 [[ 7.33388021e-01 6.79780647e-01 -6.34688211e-03 2.36895136e+02] [-6.79753224e-01 7.33415466e-01 6.10814827e-03 -1.03211419e+02] [ 8.80710248e-03 -1.65329198e-04 9.99961203e-01 -5.00186602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters 0.012810096779093042 Centerline is valid? [True, True] Translation: X:236.94, Y:-103.25, Z:-5.00 [[ 7.26390655e-01 6.87251441e-01 -6.48631636e-03 2.36944051e+02] [-6.87223087e-01 7.26419610e-01 6.24327392e-03 -1.03248796e+02] [ 9.00248640e-03 -7.75094865e-05 9.99959474e-01 -5.00236608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters 0.01223259081780676 Centerline is valid? [True, True] Translation: X:236.99, Y:-103.29, Z:-5.00 [[ 7.18782457e-01 6.95207410e-01 -6.19974087e-03 2.36993463e+02] [-6.95181784e-01 7.18809194e-01 5.96915044e-03 -1.03285032e+02] [ 8.60622835e-03 1.94262993e-05 9.99962966e-01 -5.00278371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters 0.012754551157264859 Centerline is valid? [True, True] Translation: X:237.04, Y:-103.32, Z:-5.00 [[ 7.14186870e-01 6.99933998e-01 -5.43261249e-03 2.37041941e+02] [-6.99914438e-01 7.14207529e-01 5.23315496e-03 -1.03324487e+02] [ 7.54287582e-03 6.49133512e-05 9.99971550e-01 -5.00314064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters 0.013587540294406222 Centerline is valid? [True, True] Translation: X:237.09, Y:-103.36, Z:-5.00 [[ 7.09719175e-01 7.04464674e-01 -5.31189630e-03 2.37089817e+02] [-7.04446080e-01 7.09739045e-01 5.11941950e-03 -1.03364081e+02] [ 7.37651039e-03 1.08594340e-04 9.99972787e-01 -5.00357672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters 0.014328777270087387 Centerline is valid? [True, True] Translation: X:237.13, Y:-103.40, Z:-5.00 [[ 7.08054974e-01 7.06139296e-01 -5.04464061e-03 2.37134920e+02] [-7.06122560e-01 7.08072935e-01 4.86302624e-03 -1.03404650e+02] [ 7.00594741e-03 1.18844627e-04 9.99975451e-01 -5.00432302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters 0.014256360521978548 Centerline is valid? [True, True] Translation: X:237.18, Y:-103.45, Z:-5.00 [[ 7.07480313e-01 7.06717361e-01 -4.70935387e-03 2.37179335e+02] [-7.06702772e-01 7.07495978e-01 4.54240386e-03 -1.03449375e+02] [ 6.54204459e-03 1.14452128e-04 9.99978594e-01 -5.00384282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters 0.01432511810106808 Centerline is valid? [True, True] Translation: X:237.22, Y:-103.49, Z:-5.00 [[ 7.07147436e-01 7.07055525e-01 -3.87151403e-03 2.37223024e+02] [-7.07045659e-01 7.07158027e-01 3.73641057e-03 -1.03494856e+02] [ 5.37962196e-03 9.51440292e-05 9.99985525e-01 -5.00216024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters 0.014390118282063807 Centerline is valid? [True, True] Translation: X:237.27, Y:-103.54, Z:-5.00 [[ 7.06710394e-01 7.07476549e-01 -6.11155403e-03 2.37267027e+02] [-7.07451954e-01 7.06736803e-01 5.90120264e-03 -1.03539112e+02] [ 8.49422264e-03 1.53189600e-04 9.99963912e-01 -5.00433975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters 0.014840280396909869 Centerline is valid? [True, True] Translation: X:237.31, Y:-103.58, Z:-5.01 [[ 7.06057428e-01 7.08080902e-01 -1.02149411e-02 2.37311355e+02] [-7.08012233e-01 7.06131266e-01 9.86470153e-03 -1.03582917e+02] [ 1.41980960e-02 2.67257436e-04 9.99899166e-01 -5.00983060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters 0.014328303651928663 Centerline is valid? [True, True] Translation: X:237.35, Y:-103.63, Z:-5.01 [[ 7.07010623e-01 7.07122785e-01 -1.06464539e-02 2.37351569e+02] [-7.07048007e-01 7.07090731e-01 1.02865541e-02 -1.03629990e+02] [ 1.48018657e-02 2.54850962e-04 9.99890414e-01 -5.00795734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters 0.013631988715752462 Centerline is valid? [True, True] Translation: X:237.39, Y:-103.67, Z:-5.01 [[ 7.10184791e-01 7.03952101e-01 -9.43404785e-03 2.37392304e+02] [-7.03893101e-01 7.10247430e-01 9.11542443e-03 -1.03674804e+02] [ 1.31173304e-02 1.66925399e-04 9.99913950e-01 -5.00549597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters 0.013064568147932937 Centerline is valid? [True, True] Translation: X:237.43, Y:-103.72, Z:-5.00 [[ 7.12903307e-01 7.01210724e-01 -8.50853113e-03 2.37434571e+02] [-7.01162490e-01 7.12954073e-01 8.22517550e-03 -1.03720522e+02] [ 1.18337732e-02 1.02108059e-04 9.99929973e-01 -5.00404508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters 0.012472919696831137 Centerline is valid? [True, True] Translation: X:237.48, Y:-103.77, Z:-5.00 [[ 7.15596710e-01 6.98476968e-01 -7.16056817e-03 2.37476962e+02] [-6.98442635e-01 7.15632534e-01 6.92550402e-03 -1.03766210e+02] [ 9.96164059e-03 4.53782065e-05 9.99950381e-01 -5.00174556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters 0.012610815984736026 Centerline is valid? [True, True] Translation: X:237.52, Y:-103.81, Z:-5.00 [[ 7.21203144e-01 6.92693292e-01 -6.48292118e-03 2.37517703e+02] [-6.92664889e-01 7.21232280e-01 6.27291057e-03 -1.03812569e+02] [ 9.02089510e-03 -3.35509476e-05 9.99959310e-01 -5.00091201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters 0.01318497176238821 Centerline is valid? [True, True] Translation: X:237.56, Y:-103.86, Z:-5.00 [[ 7.26117852e-01 6.87538637e-01 -6.59450303e-03 2.37559695e+02] [-6.87509007e-01 7.26147790e-01 6.38382065e-03 -1.03857779e+02] [ 9.17770715e-03 -1.01625907e-04 9.99957879e-01 -4.99941187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters 0.014809192203583888 Centerline is valid? [True, True] Translation: X:237.60, Y:-103.90, Z:-5.00 [[ 7.32372299e-01 6.80873338e-01 -6.50486466e-03 2.37601115e+02] [-6.80844218e-01 7.32401163e-01 6.29981171e-03 -1.03903468e+02] [ 9.05354427e-03 -1.85008092e-04 9.99958999e-01 -4.99771509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters 0.01612889195566648 Centerline is valid? [True, True] Translation: X:237.64, Y:-103.95, Z:-5.00 [[ 7.35948640e-01 6.77003037e-01 -6.81818184e-03 2.37644889e+02] [-6.76970869e-01 7.35980182e-01 6.60405966e-03 -1.03947583e+02] [ 9.48901516e-03 -2.44538233e-04 9.99954948e-01 -4.99797673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters 0.01795817794403723 Centerline is valid? [True, True] Translation: X:237.69, Y:-103.99, Z:-5.00 [[ 7.39584675e-01 6.73028294e-01 -6.88653766e-03 2.37689098e+02] [-6.72995280e-01 7.39616674e-01 6.67300015e-03 -1.03990213e+02] [ 9.58451599e-03 -3.00641310e-04 9.99954022e-01 -4.99867563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters 0.017989384175661798 Centerline is valid? [True, True] Translation: X:237.74, Y:-104.03, Z:-5.00 [[ 7.41690414e-01 6.70715199e-01 -6.03751733e-03 2.37735983e+02] [-6.70689740e-01 7.41714930e-01 5.85112713e-03 -1.04030972e+02] [ 8.40255664e-03 -2.90423976e-04 9.99964656e-01 -4.99821398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters 0.01843423928498683 Centerline is valid? [True, True] Translation: X:237.78, Y:-104.07, Z:-5.00 [[ 7.39875841e-01 6.72715175e-01 -6.16710292e-03 2.37782715e+02] [-6.72688665e-01 7.39901492e-01 5.97839444e-03 -1.04070229e+02] [ 8.58480531e-03 -2.74729385e-04 9.99963112e-01 -4.99834799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters 0.012651363950527012 Centerline is valid? [True, True] Translation: X:237.85, Y:-104.09, Z:-5.00 [[ 7.22368909e-01 6.91467143e-01 -7.50665099e-03 2.37848831e+02] [-6.91428851e-01 7.22407908e-01 7.27728866e-03 -1.04089681e+02] [ 1.04548700e-02 -6.65719987e-05 9.99945344e-01 -5.00067282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters 0.012207568063205195 Centerline is valid? [True, True] Translation: X:237.90, Y:-104.13, Z:-5.00 [[ 7.17717285e-01 6.96304899e-01 -6.43315430e-03 2.37898337e+02] [-6.96276941e-01 7.17746116e-01 6.23969344e-03 -1.04127237e+02] [ 8.96210063e-03 9.21157252e-07 9.99959840e-01 -5.00028925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters 0.012207568063205195 Centerline is valid? [True, True] Translation: X:237.94, Y:-104.17, Z:-5.00 [[ 7.17520808e-01 6.96507378e-01 -6.43139115e-03 2.37943093e+02] [-6.96479412e-01 7.17549631e-01 6.24151075e-03 -1.04170752e+02] [ 8.96210063e-03 9.17690723e-07 9.99959840e-01 -5.00029525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters 0.012171991830295137 Centerline is valid? [True, True] Translation: X:237.99, Y:-104.21, Z:-5.00 [[ 7.15089706e-01 6.99001748e-01 -6.57786388e-03 2.37990406e+02] [-6.98972566e-01 7.15119959e-01 6.38724254e-03 -1.04212438e+02] [ 9.16865545e-03 3.02950048e-05 9.99957967e-01 -5.00015529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters 0.012322293590187543 Centerline is valid? [True, True] Translation: X:238.04, Y:-104.25, Z:-5.00 [[ 7.12818944e-01 7.01318487e-01 -6.44455424e-03 2.38036890e+02] [-7.01290543e-01 7.12848074e-01 6.26088558e-03 -1.04254093e+02] [ 8.98486288e-03 5.66270892e-05 9.99959634e-01 -5.00029211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters 0.012686320668910869 Centerline is valid? [True, True] Translation: X:238.08, Y:-104.30, Z:-5.00 [[ 7.10437220e-01 7.03727510e-01 -6.82258946e-03 2.38083045e+02] [-7.03696270e-01 7.10469974e-01 6.63140709e-03 -1.04295396e+02] [ 9.51394856e-03 8.98323380e-05 9.99954737e-01 -5.00077056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters 0.01359191807054495 Centerline is valid? [True, True] Translation: X:238.13, Y:-104.33, Z:-5.00 [[ 7.06260358e-01 7.07910403e-01 -7.69202000e-03 2.38130757e+02] [-7.07870904e-01 7.06302226e-01 7.47990135e-03 -1.04334857e+02] [ 1.07279908e-02 1.62199341e-04 9.99942440e-01 -5.00204874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters 0.016764648851389556 Centerline is valid? [True, True] Translation: X:238.18, Y:-104.37, Z:-5.00 [[ 6.99508929e-01 7.14575490e-01 -8.31434825e-03 2.38181577e+02] [-7.14529803e-01 6.99558281e-01 8.08531835e-03 -1.04369316e+02] [ 1.15939415e-02 2.85097238e-04 9.99932747e-01 -5.00397352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters 0.015841343983749867 Centerline is valid? [True, True] Translation: X:238.23, Y:-104.41, Z:-5.00 [[ 6.98970339e-01 7.15106925e-01 -7.90894046e-03 2.38226263e+02] [-7.15065570e-01 6.99015028e-01 7.69549490e-03 -1.04413560e+02] [ 1.10315699e-02 2.76488340e-04 9.99939112e-01 -5.00265418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters 0.015165676543649689 Centerline is valid? [True, True] Translation: X:238.27, Y:-104.46, Z:-5.00 [[ 7.00933007e-01 7.13193170e-01 -6.95856021e-03 2.38268821e+02] [-7.13161031e-01 7.00967514e-01 6.77411790e-03 -1.04458529e+02] [ 9.70897928e-03 2.14371143e-04 9.99952844e-01 -5.00157396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters 0.014128382513251984 Centerline is valid? [True, True] Translation: X:238.31, Y:-104.50, Z:-5.00 [[ 7.03665940e-01 7.10502470e-01 -6.36272699e-03 2.38310654e+02] [-7.10475481e-01 7.03694688e-01 6.19496520e-03 -1.04503948e+02] [ 8.87895526e-03 1.61375509e-04 9.99960568e-01 -5.00057249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters 0.012705444990648988 Centerline is valid? [True, True] Translation: X:238.35, Y:-104.55, Z:-5.00 [[ 7.08475775e-01 7.05699738e-01 -7.06798867e-03 2.38351022e+02] [-7.05666188e-01 7.08511021e-01 6.88211031e-03 -1.04550485e+02] [ 9.86445131e-03 1.11832190e-04 9.99951339e-01 -5.00094164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters 0.012064871128841971 Centerline is valid? [True, True] Translation: X:238.39, Y:-104.60, Z:-5.00 [[ 7.11841103e-01 7.02296750e-01 -7.84341691e-03 2.38392312e+02] [-7.02255185e-01 7.11884310e-01 7.64103153e-03 -1.04597170e+02] [ 1.09498770e-02 6.88798786e-05 9.99940046e-01 -5.00116935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters 0.01207700483027336 Centerline is valid? [True, True] Translation: X:238.43, Y:-104.65, Z:-5.00 [[ 7.17705810e-01 6.96288167e-01 -9.00882485e-03 2.38431412e+02] [-6.96232796e-01 7.17762347e-01 8.78103761e-03 -1.04646193e+02] [ 1.25803279e-02 -2.99623952e-05 9.99920864e-01 -5.00246696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters 0.012914317417672945 Centerline is valid? [True, True] Translation: X:238.47, Y:-104.69, Z:-5.00 [[ 7.22501948e-01 6.91303507e-01 -9.50771579e-03 2.38471681e+02] [-6.91241338e-01 7.22564492e-01 9.27184683e-03 -1.04693989e+02] [ 1.32795981e-02 -1.26801207e-04 9.99911814e-01 -5.00287406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters 0.014613628291311898 Centerline is valid? [True, True] Translation: X:238.51, Y:-104.74, Z:-5.00 [[ 7.29932813e-01 6.83449734e-01 -9.72369358e-03 2.38508906e+02] [-6.83383951e-01 7.29997523e-01 9.48640647e-03 -1.04743279e+02] [ 1.35817542e-02 -2.79423210e-04 9.99907725e-01 -5.00125100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters 0.016688573992019798 Centerline is valid? [True, True] Translation: X:238.55, Y:-104.79, Z:-5.00 [[ 7.35677639e-01 6.77266388e-01 -9.41544658e-03 2.38548081e+02] [-6.77204153e-01 7.35737787e-01 9.18928324e-03 -1.04790625e+02] [ 1.31508925e-02 -3.84170674e-04 9.99913449e-01 -5.00044146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters 0.019843338147187625 Centerline is valid? [True, True] Translation: X:238.59, Y:-104.84, Z:-5.00 [[ 7.43657826e-01 6.68513569e-01 -7.91492704e-03 2.38586179e+02] [-6.68469084e-01 7.43699806e-01 7.72542028e-03 -1.04839255e+02] [ 1.10508780e-02 -4.54185218e-04 9.99938834e-01 -4.99778200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters 0.022328804059058224 Centerline is valid? [True, True] Translation: X:238.63, Y:-104.88, Z:-5.00 [[ 7.47402122e-01 6.64333976e-01 -7.10188842e-03 2.38626987e+02] [-6.64297947e-01 7.47435718e-01 6.93429944e-03 -1.04884798e+02] [ 9.91489579e-03 -4.64940211e-04 9.99950738e-01 -4.99687879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters 0.024513713090431127 Centerline is valid? [True, True] Translation: X:238.67, Y:-104.93, Z:-5.00 [[ 7.49348202e-01 6.62129356e-01 -7.87324979e-03 2.38668720e+02] [-6.62084952e-01 7.49389362e-01 7.68770967e-03 -1.04928269e+02] [ 1.09903879e-02 -5.48011213e-04 9.99939454e-01 -4.99728900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters 0.023817894519771343 Centerline is valid? [True, True] Translation: X:238.72, Y:-104.97, Z:-5.00 [[ 7.48211044e-01 6.63403372e-01 -8.72921628e-03 2.38715479e+02] [-6.63348856e-01 7.48261732e-01 8.52497616e-03 -1.04969987e+02] [ 1.21872364e-02 -5.87965680e-04 9.99925560e-01 -4.99773433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters 0.02124683172909996 Centerline is valid? [True, True] Translation: X:238.77, Y:-105.01, Z:-5.00 [[ 7.43993416e-01 6.68131112e-01 -8.63792140e-03 2.38765085e+02] [-6.68078041e-01 7.44043386e-01 8.43628297e-03 -1.05006117e+02] [ 1.20635314e-02 -5.05733381e-04 9.99927105e-01 -4.99826502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters 0.01753514067307385 Centerline is valid? [True, True] Translation: X:238.82, Y:-105.04, Z:-5.00 [[ 7.38610378e-01 6.74086216e-01 -7.90462183e-03 2.38816289e+02] [-6.74042105e-01 7.38652580e-01 7.72054287e-03 -1.05040634e+02] [ 1.10430808e-02 -3.74425155e-04 9.99938953e-01 -4.99725780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters 0.01733210592746121 Centerline is valid? [True, True] Translation: X:238.86, Y:-105.08, Z:-5.00 [[ 7.35561273e-01 6.77423041e-01 -6.90196507e-03 2.38862449e+02] [-6.77389555e-01 7.35593599e-01 6.74144348e-03 -1.05079475e+02] [ 9.64385048e-03 -2.83425697e-04 9.99953457e-01 -4.99728562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters 0.015249546461168951 Centerline is valid? [True, True] Translation: X:238.91, Y:-105.12, Z:-5.00 [[ 7.32090177e-01 6.81178882e-01 -6.26928500e-03 2.38913379e+02] [-6.81151383e-01 7.32116989e-01 6.12442400e-03 -1.05115668e+02] [ 8.76167834e-03 -2.13298498e-04 9.99961593e-01 -4.99688800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters 0.014605192508481303 Centerline is valid? [True, True] Translation: X:238.96, Y:-105.16, Z:-5.00 [[ 7.30370674e-01 6.83021751e-01 -6.32182627e-03 2.38961959e+02] [-6.82993831e-01 7.30398007e-01 6.17881997e-03 -1.05155200e+02] [ 8.83771775e-03 -1.95060564e-04 9.99960928e-01 -4.99675086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters 0.014243113396363171 Centerline is valid? [True, True] Translation: X:239.01, Y:-105.19, Z:-5.00 [[ 7.28955982e-01 6.84530009e-01 -6.46856755e-03 2.39011874e+02] [-6.84500822e-01 7.28984659e-01 6.32390152e-03 -1.05193663e+02] [ 9.04438688e-03 -1.82106044e-04 9.99959082e-01 -4.99712307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters 0.014484992881521885 Centerline is valid? [True, True] Translation: X:239.06, Y:-105.23, Z:-5.00 [[ 7.28769829e-01 6.84729198e-01 -6.36101233e-03 2.39059906e+02] [-6.84700949e-01 7.28797567e-01 6.22223252e-03 -1.05234881e+02] [ 8.89643459e-03 -1.79184151e-04 9.99960410e-01 -4.99744070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters 0.014640202192207652 Centerline is valid? [True, True] Translation: X:239.11, Y:-105.27, Z:-5.00 [[ 7.29937281e-01 6.83482674e-01 -6.55749211e-03 2.39107926e+02] [-6.83452574e-01 7.29966707e-01 6.41757103e-03 -1.05274758e+02] [ 9.17304953e-03 -2.02689482e-04 9.99957906e-01 -4.99712315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters 0.015416721013973931 Centerline is valid? [True, True] Translation: X:239.15, Y:-105.32, Z:-5.00 [[ 7.31362688e-01 6.81956873e-01 -6.59107971e-03 2.39153528e+02] [-6.81926373e-01 7.31392352e-01 6.45359117e-03 -1.05316505e+02] [ 9.22173614e-03 -2.25284707e-04 9.99957454e-01 -4.99730325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters 0.016761282114457526 Centerline is valid? [True, True] Translation: X:239.20, Y:-105.36, Z:-5.00 [[ 7.35339636e-01 6.77651662e-01 -7.99025022e-03 2.39198212e+02] [-6.77606576e-01 7.35382968e-01 7.82419809e-03 -1.05357580e+02] [ 1.11779748e-02 -3.39196882e-04 9.99937467e-01 -4.99725002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters 0.019072980403166215 Centerline is valid? [True, True] Translation: X:239.24, Y:-105.40, Z:-5.00 [[ 7.40234851e-01 6.72296588e-01 -8.34645471e-03 2.39242115e+02] [-6.72247045e-01 7.40281773e-01 8.17354450e-03 -1.05400109e+02] [ 1.16737744e-02 -4.39462976e-04 9.99931763e-01 -4.99654755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters 0.020430469052757177 Centerline is valid? [True, True] Translation: X:239.29, Y:-105.44, Z:-5.00 [[ 7.42822721e-01 6.69437832e-01 -8.20936494e-03 2.39286073e+02] [-6.69389725e-01 7.42867930e-01 8.03957293e-03 -1.05442343e+02] [ 1.14804682e-02 -4.76712907e-04 9.99933984e-01 -4.99584201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters 0.019944837672492628 Centerline is valid? [True, True] Translation: X:239.33, Y:-105.48, Z:-5.00 [[ 7.43662842e-01 6.68506693e-01 -8.02364239e-03 2.39332172e+02] [-6.68460640e-01 7.43705969e-01 7.86161811e-03 -1.05484352e+02] [ 1.12227751e-02 -4.82904138e-04 9.99936906e-01 -4.99508668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters 0.021545243567294595 Centerline is valid? [True, True] Translation: X:239.38, Y:-105.52, Z:-4.99 [[ 7.44681372e-01 6.67376883e-01 -7.59931820e-03 2.39378166e+02] [-6.67335478e-01 7.44719994e-01 7.44923058e-03 -1.05524555e+02] [ 1.06308085e-02 -4.76008609e-04 9.99943378e-01 -4.99448990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters 0.020706634452113504 Centerline is valid? [True, True] Translation: X:239.43, Y:-105.56, Z:-4.99 [[ 7.42180584e-01 6.70147454e-01 -8.38873987e-03 2.39427834e+02] [-6.70097164e-01 7.42227834e-01 8.22388880e-03 -1.05561775e+02] [ 1.17375744e-02 -4.82339795e-04 9.99930996e-01 -4.99457195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters 0.019391790699073586 Centerline is valid? [True, True] Translation: X:239.48, Y:-105.60, Z:-5.00 [[ 7.38749279e-01 6.73921616e-01 -8.89709318e-03 2.39476263e+02] [-6.73865319e-01 7.38802717e-01 8.72224482e-03 -1.05598773e+02] [ 1.24513059e-02 -4.48109536e-04 9.99922379e-01 -4.99501417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters 0.01556203749142496 Centerline is valid? [True, True] Translation: X:239.53, Y:-105.63, Z:-4.99 [[ 7.32144825e-01 6.81096342e-01 -8.46922842e-03 2.39529246e+02] [-6.81045800e-01 7.32193742e-01 8.30311685e-03 -1.05630916e+02] [ 1.18563386e-02 -3.11151589e-04 9.99929663e-01 -4.99422040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters 0.014165412886111272 Centerline is valid? [True, True] Translation: X:239.58, Y:-105.67, Z:-4.99 [[ 7.27469462e-01 6.86094667e-01 -7.89242978e-03 2.39577573e+02] [-6.86051067e-01 7.27512242e-01 7.73762881e-03 -1.05667217e+02] [ 1.10505851e-02 -2.14278796e-04 9.99938917e-01 -4.99448814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters 0.012086305442482232 Centerline is valid? [True, True] Translation: X:239.63, Y:-105.70, Z:-4.99 [[ 7.21099186e-01 6.92792736e-01 -7.36133158e-03 2.39629988e+02] [-6.92755145e-01 7.21136751e-01 7.21771064e-03 -1.05701797e+02] [ 1.03089042e-02 -1.05084943e-04 9.99946856e-01 -4.99479161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters 0.011374471181135054 Centerline is valid? [True, True] Translation: X:239.68, Y:-105.74, Z:-5.00 [[ 7.17101261e-01 6.96925180e-01 -7.81502823e-03 2.39678355e+02] [-6.96883015e-01 7.17143842e-01 7.66634755e-03 -1.05740849e+02] [ 1.09473700e-02 -5.13870552e-05 9.99940074e-01 -4.99540172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters 0.011162399399316491 Centerline is valid? [True, True] Translation: X:239.73, Y:-105.78, Z:-5.00 [[ 7.12532862e-01 7.01587946e-01 -8.44243445e-03 2.39727364e+02] [-7.01539030e-01 7.12582875e-01 8.28467870e-03 -1.05778743e+02] [ 1.18283649e-02 1.95914495e-05 9.99930042e-01 -4.99658496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters 0.011319030648963582 Centerline is valid? [True, True] Translation: X:239.77, Y:-105.82, Z:-5.00 [[ 7.09456890e-01 7.04700356e-01 -8.26613072e-03 2.39774337e+02] [-7.04653626e-01 7.09505041e-01 8.11564523e-03 -1.05819089e+02] [ 1.15839595e-02 6.70585644e-05 9.99932901e-01 -4.99667113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters 0.0121019928583362 Centerline is valid? [True, True] Translation: X:239.82, Y:-105.86, Z:-5.00 [[ 7.04987086e-01 7.09176591e-01 -7.85956450e-03 2.39821064e+02] [-7.09134618e-01 7.05030883e-01 7.71672027e-03 -1.05858367e+02] [ 1.10137531e-02 1.33301139e-04 9.99939338e-01 -4.99656622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters 0.013060541465322798 Centerline is valid? [True, True] Translation: X:239.86, Y:-105.90, Z:-5.00 [[ 7.02344835e-01 7.11793876e-01 -7.82373255e-03 2.39863821e+02] [-7.11752462e-01 7.02388388e-01 7.68020674e-03 -1.05897857e+02] [ 1.09620230e-02 1.74407372e-04 9.99939900e-01 -4.99666418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters 0.013095327543805156 Centerline is valid? [True, True] Translation: X:239.90, Y:-105.94, Z:-5.00 [[ 7.01944483e-01 7.12187185e-01 -7.95967514e-03 2.39904697e+02] [-7.12144356e-01 7.01989587e-01 7.81258234e-03 -1.05939926e+02] [ 1.11516301e-02 1.84438646e-04 9.99937802e-01 -4.99655624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters 0.013043989676468444 Centerline is valid? [True, True] Translation: X:239.94, Y:-105.98, Z:-5.00 [[ 7.02560019e-01 7.11581738e-01 -7.80056753e-03 2.39943522e+02] [-7.11540582e-01 7.02603302e-01 7.65511560e-03 -1.05982697e+02] [ 1.09279450e-02 1.72242193e-04 9.99940273e-01 -4.99611359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters 0.012215983736999416 Centerline is valid? [True, True] Translation: X:239.99, Y:-106.03, Z:-4.99 [[ 7.02725722e-01 7.11423951e-01 -7.24716312e-03 2.39985058e+02] [-7.11388382e-01 7.02763074e-01 7.11559255e-03 -1.06029652e+02] [ 1.01552416e-02 1.55237732e-04 9.99948422e-01 -4.99447163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters 0.011981055205711516 Centerline is valid? [True, True] Translation: X:240.03, Y:-106.08, Z:-4.99 [[ 7.03149297e-01 7.11006055e-01 -7.17335149e-03 2.40026223e+02] [-7.10971150e-01 7.03185871e-01 7.04659229e-03 -1.06076712e+02] [ 1.00543692e-02 1.45239544e-04 9.99949443e-01 -4.99419425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters 0.011738621358258 Centerline is valid? [True, True] Translation: X:240.07, Y:-106.12, Z:-5.00 [[ 7.04191205e-01 7.09969625e-01 -7.60779926e-03 2.40067473e+02] [-7.09930265e-01 7.04232287e-01 7.47701110e-03 -1.06122692e+02] [ 1.06661086e-02 1.35761483e-04 9.99943106e-01 -4.99524253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters 0.010716126526162688 Centerline is valid? [True, True] Translation: X:240.11, Y:-106.17, Z:-5.00 [[ 7.07979748e-01 7.06190123e-01 -7.75807671e-03 2.40105656e+02] [-7.06148942e-01 7.08022249e-01 7.62671926e-03 -1.06173259e+02] [ 1.08788047e-02 7.87948830e-05 9.99940821e-01 -4.99543102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters 0.010499377217000384 Centerline is valid? [True, True] Translation: X:240.14, Y:-106.22, Z:-5.00 [[ 7.14214479e-01 6.99885406e-01 -7.62213180e-03 2.40140788e+02] [-6.99845258e-01 7.14255150e-01 7.49644649e-03 -1.06224080e+02] [ 1.06908004e-02 -1.97578360e-05 9.99942852e-01 -4.99558128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters 0.011175304298525743 Centerline is valid? [True, True] Translation: X:240.18, Y:-106.27, Z:-4.99 [[ 7.19332617e-01 6.94630118e-01 -7.04164084e-03 2.40179066e+02] [-6.94595566e-01 7.19367076e-01 6.92891987e-03 -1.06273454e+02] [ 9.87856101e-03 -9.31055595e-05 9.99951202e-01 -4.99459065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters 0.013309667942190512 Centerline is valid? [True, True] Translation: X:240.21, Y:-106.32, Z:-4.99 [[ 7.27471146e-01 6.86110287e-01 -6.19728501e-03 2.40214246e+02] [-6.86083210e-01 7.27497519e-01 6.09827059e-03 -1.06324463e+02] [ 8.69259566e-03 -1.84462700e-04 9.99962202e-01 -4.99325738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters 0.01568365667442393 Centerline is valid? [True, True] Translation: X:240.25, Y:-106.37, Z:-4.99 [[ 7.31921092e-01 6.81361572e-01 -6.15820284e-03 2.40252215e+02] [-6.81334665e-01 7.31946959e-01 6.06002440e-03 -1.06372066e+02] [ 8.63654559e-03 -2.39662603e-04 9.99962676e-01 -4.99344980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters 0.01785089884525554 Centerline is valid? [True, True] Translation: X:240.29, Y:-106.42, Z:-4.99 [[ 7.36700559e-01 6.76188846e-01 -6.39780239e-03 2.40290729e+02] [-6.76159606e-01 7.36728272e-01 6.29601479e-03 -1.06419745e+02] [ 8.97073688e-03 -3.12342069e-04 9.99959713e-01 -4.99396144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters 0.01834592836867979 Centerline is valid? [True, True] Translation: X:240.33, Y:-106.47, Z:-4.99 [[ 7.38796267e-01 6.73895882e-01 -6.66457615e-03 2.40331329e+02] [-6.73864055e-01 7.38826241e-01 6.55901147e-03 -1.06465773e+02] [ 9.34405457e-03 -3.54754878e-04 9.99956280e-01 -4.99363905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters 0.019305912108307396 Centerline is valid? [True, True] Translation: X:240.37, Y:-106.51, Z:-4.99 [[ 7.38169441e-01 6.74578569e-01 -7.04495180e-03 2.40373667e+02] [-6.74543005e-01 7.38202966e-01 6.93650789e-03 -1.06510239e+02] [ 9.87982387e-03 -3.68195187e-04 9.99951126e-01 -4.99428337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters 0.017985259406000192 Centerline is valid? [True, True] Translation: X:240.42, Y:-106.55, Z:-4.99 [[ 7.35189922e-01 6.77824798e-01 -7.02296300e-03 2.40419182e+02] [-6.77789599e-01 7.35223394e-01 6.91530192e-03 -1.06551516e+02] [ 9.85080982e-03 -3.23969013e-04 9.99951427e-01 -4.99461076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters 0.01629680589708603 Centerline is valid? [True, True] Translation: X:240.46, Y:-106.59, Z:-4.99 [[ 7.30739733e-01 6.82629599e-01 -6.02273159e-03 2.40464662e+02] [-6.82603872e-01 7.30764518e-01 5.93060304e-03 -1.06591935e+02] [ 8.44960373e-03 -2.22587376e-04 9.99964277e-01 -4.99434418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters 0.014174374239566483 Centerline is valid? [True, True] Translation: X:240.51, Y:-106.63, Z:-4.99 [[ 7.27369108e-01 6.86221811e-01 -5.81435194e-03 2.40511578e+02] [-6.86197945e-01 7.27392326e-01 5.72581216e-03 -1.06631891e+02] [ 8.15849217e-03 -1.74982538e-04 9.99966704e-01 -4.99425436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters 0.012002457526703795 Centerline is valid? [True, True] Translation: X:240.56, Y:-106.67, Z:-4.99 [[ 7.21388286e-01 6.92506334e-01 -5.82391871e-03 2.40560161e+02] [-6.92482588e-01 7.21411787e-01 5.73583668e-03 -1.06670324e+02] [ 8.17354683e-03 -1.04803095e-04 9.99966591e-01 -4.99461005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters 0.010991516496234997 Centerline is valid? [True, True] Translation: X:240.61, Y:-106.71, Z:-4.99 [[ 7.16709568e-01 6.97351015e-01 -5.38121017e-03 2.40607488e+02] [-6.97330857e-01 7.16729768e-01 5.30243412e-03 -1.06710574e+02] [ 7.55453133e-03 -4.78213607e-05 9.99971463e-01 -4.99448568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters 0.010498143360598807 Centerline is valid? [True, True] Translation: X:240.66, Y:-106.75, Z:-4.99 [[ 7.10026283e-01 7.04158867e-01 -4.79244970e-03 2.40655974e+02] [-7.04143018e-01 7.10042456e-01 4.72440113e-03 -1.06748888e+02] [ 6.72957170e-03 2.01210218e-05 9.99977356e-01 -4.99475265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters 0.011183166464746718 Centerline is valid? [True, True] Translation: X:240.70, Y:-106.79, Z:-5.00 [[ 7.05672915e-01 7.08522348e-01 -4.67119091e-03 2.40703226e+02] [-7.08507372e-01 7.05688372e-01 4.60706050e-03 -1.06789367e+02] [ 6.56061044e-03 5.84953845e-05 9.99978477e-01 -4.99540104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters 0.012224902439210573 Centerline is valid? [True, True] Translation: X:240.75, Y:-106.83, Z:-5.00 [[ 7.01816595e-01 7.12340945e-01 -4.88312260e-03 2.40749376e+02] [-7.12324655e-01 7.01833576e-01 4.81840598e-03 -1.06830628e+02] [ 6.85948727e-03 9.67313466e-05 9.99976469e-01 -4.99642978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters 0.012935521029334467 Centerline is valid? [True, True] Translation: X:240.79, Y:-106.87, Z:-5.00 [[ 6.98643463e-01 7.15450029e-01 -5.34488135e-03 2.40794246e+02] [-7.15430584e-01 6.98663894e-01 5.27662117e-03 -1.06873883e+02] [ 7.50943439e-03 1.37414696e-04 9.99971794e-01 -4.99720111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters 0.013952547426547463 Centerline is valid? [True, True] Translation: X:240.84, Y:-106.92, Z:-5.00 [[ 6.96687140e-01 7.17346352e-01 -6.42180299e-03 2.40838351e+02] [-7.17318334e-01 6.96716711e-01 6.34287077e-03 -1.06917320e+02] [ 9.02421267e-03 1.87480522e-04 9.99959263e-01 -4.99843912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters 0.013823961552000615 Centerline is valid? [True, True] Translation: X:240.88, Y:-106.96, Z:-5.00 [[ 6.95433953e-01 7.18561673e-01 -6.38278960e-03 2.40880524e+02] [-7.18534017e-01 6.95463214e-01 6.30748341e-03 -1.06963408e+02] [ 8.97131121e-03 1.99813331e-04 9.99959737e-01 -4.99830521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters 0.014295590102774975 Centerline is valid? [True, True] Translation: X:240.92, Y:-107.01, Z:-5.00 [[ 6.95210591e-01 7.18778328e-01 -6.32058392e-03 2.40923159e+02] [-7.18751188e-01 6.95239294e-01 6.24930641e-03 -1.07008025e+02] [ 8.88618431e-03 1.98343200e-04 9.99960497e-01 -4.99837394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters 0.013690384017297627 Centerline is valid? [True, True] Translation: X:240.96, Y:-107.06, Z:-5.00 [[ 6.96040274e-01 7.17972406e-01 -6.60012602e-03 2.40962847e+02] [-7.17942746e-01 6.96071539e-01 6.52891237e-03 -1.07056520e+02] [ 9.28173879e-03 1.94126643e-04 9.99956905e-01 -4.99768312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters 0.013513868991773766 Centerline is valid? [True, True] Translation: X:241.00, Y:-107.10, Z:-5.00 [[ 6.97640318e-01 7.16425167e-01 -5.74171485e-03 2.41003762e+02] [-7.16402647e-01 6.97663929e-01 5.68232473e-03 -1.07102402e+02] [ 8.07674778e-03 1.49160890e-04 9.99967371e-01 -4.99761191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters 0.01158661052642254 Centerline is valid? [True, True] Translation: X:241.04, Y:-107.15, Z:-5.00 [[ 7.02030496e-01 7.12130021e-01 -4.90051050e-03 2.41039604e+02] [-7.12113510e-01 7.02047595e-01 4.85014505e-03 -1.07153464e+02] [ 6.89432551e-03 8.47699891e-05 9.99976230e-01 -4.99601885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters 0.010466612977108356 Centerline is valid? [True, True] Translation: X:241.07, Y:-107.21, Z:-4.99 [[ 7.07806061e-01 7.06394267e-01 -4.20948079e-03 2.41074964e+02] [-7.06381977e-01 7.07818578e-01 4.16695007e-03 -1.07206742e+02] [ 5.92305835e-03 2.41088465e-05 9.99982458e-01 -4.99409483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters 0.01043219341921366 Centerline is valid? [True, True] Translation: X:241.11, Y:-107.26, Z:-4.99 [[ 7.11557753e-01 7.02616027e-01 -4.03524485e-03 2.41114085e+02] [-7.02604660e-01 7.11569194e-01 3.99672457e-03 -1.07257030e+02] [ 5.67951867e-03 -8.71851861e-06 9.99983871e-01 -4.99400551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters 0.011222310886957519 Centerline is valid? [True, True] Translation: X:241.15, Y:-107.31, Z:-4.99 [[ 7.16851944e-01 6.97211740e-01 -4.36800334e-03 2.41150191e+02] [-6.97198308e-01 7.16865250e-01 4.32826480e-03 -1.07308098e+02] [ 6.14898683e-03 -5.73605029e-05 9.99981093e-01 -4.99454951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters 0.012286112413224522 Centerline is valid? [True, True] Translation: X:241.19, Y:-107.36, Z:-4.99 [[ 7.20034658e-01 6.93920987e-01 -4.87378936e-03 2.41189153e+02] [-6.93904172e-01 7.20051147e-01 4.83179355e-03 -1.07357331e+02] [ 6.86226057e-03 -9.71160526e-05 9.99976450e-01 -4.99480133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters 0.013399739730488101 Centerline is valid? [True, True] Translation: X:241.23, Y:-107.41, Z:-4.99 [[ 7.23794822e-01 6.89991148e-01 -5.76809111e-03 2.41226682e+02] [-6.89967459e-01 7.23817788e-01 5.71970373e-03 -1.07407323e+02] [ 8.12159189e-03 -1.60096775e-04 9.99967007e-01 -4.99465335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters 0.014587718371058569 Centerline is valid? [True, True] Translation: X:241.27, Y:-107.45, Z:-4.99 [[ 7.25652849e-01 6.88042775e-01 -5.00823079e-03 2.41265033e+02] [-6.88024854e-01 7.25670114e-01 4.96846939e-03 -1.07454880e+02] [ 7.05284288e-03 -1.59596708e-04 9.99975116e-01 -4.99394576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters 0.013795383630431797 Centerline is valid? [True, True] Translation: X:241.31, Y:-107.50, Z:-4.99 [[ 7.25219018e-01 6.88506839e-01 -3.96356176e-03 2.41309084e+02] [-6.88495617e-01 7.25229838e-01 3.93277585e-03 -1.07499438e+02] [ 5.58223632e-03 -1.23228936e-04 9.99984412e-01 -4.99244600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters 0.012794267605081629 Centerline is valid? [True, True] Translation: X:241.35, Y:-107.54, Z:-4.99 [[ 7.22550866e-01 6.91312142e-01 -2.78712844e-03 2.41353971e+02] [-6.91306609e-01 7.22556238e-01 2.76687824e-03 -1.07542741e+02] [ 3.92663356e-03 -7.24499622e-05 9.99992288e-01 -4.99101715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters 0.012399184797580768 Centerline is valid? [True, True] Translation: X:241.40, Y:-107.58, Z:-4.99 [[ 7.19511251e-01 6.94474840e-01 -2.87341602e-03 2.41397929e+02] [-6.94468981e-01 7.19516986e-01 2.85332329e-03 -1.07584699e+02] [ 4.04903287e-03 -5.74999135e-05 9.99991801e-01 -4.99135089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters 0.010830220644682356 Centerline is valid? [True, True] Translation: X:241.45, Y:-107.62, Z:-4.99 [[ 7.13810617e-01 7.00330379e-01 -3.42970358e-03 2.41447129e+02] [-7.00322096e-01 7.13818856e-01 3.40632293e-03 -1.07624123e+02] [ 4.83373851e-03 -2.95722707e-05 9.99988317e-01 -4.99273196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters 0.010569325025382473 Centerline is valid? [True, True] Translation: X:241.49, Y:-107.67, Z:-4.99 [[ 7.09736176e-01 7.04458898e-01 -3.49579970e-03 2.41493727e+02] [-7.04450334e-01 7.09744786e-01 3.47370696e-03 -1.07665665e+02] [ 4.92820939e-03 -2.79822726e-06 9.99987856e-01 -4.99374301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters 0.010960561895520493 Centerline is valid? [True, True] Translation: X:241.54, Y:-107.71, Z:-5.00 [[ 7.05339886e-01 7.08859399e-01 -3.74142121e-03 2.41539983e+02] [-7.08849641e-01 7.05349808e-01 3.71945261e-03 -1.07706167e+02] [ 5.27557967e-03 2.86268023e-05 9.99986084e-01 -4.99533791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters 0.01138141814708876 Centerline is valid? [True, True] Translation: X:241.58, Y:-107.75, Z:-5.00 [[ 7.03389187e-01 7.10793872e-01 -3.96522293e-03 2.41584347e+02] [-7.10782932e-01 7.03400362e-01 3.94383395e-03 -1.07749542e+02] [ 5.59239225e-03 4.43626240e-05 9.99984361e-01 -4.99611611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters 0.011367017572898198 Centerline is valid? [True, True] Translation: X:241.63, Y:-107.80, Z:-5.00 [[ 7.02903111e-01 7.11279338e-01 -2.98659895e-03 2.41627362e+02] [-7.11273129e-01 7.02909455e-01 2.97217984e-03 -1.07795704e+02] [ 4.21335875e-03 3.51331280e-05 9.99991123e-01 -4.99593017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters 0.011262778471226424 Centerline is valid? [True, True] Translation: X:241.67, Y:-107.84, Z:-5.00 [[ 7.03567016e-01 7.10625103e-01 -2.32739576e-03 2.41669541e+02] [-7.10621325e-01 7.03570865e-01 2.31730439e-03 -1.07841708e+02] [ 3.28422252e-03 2.35181233e-05 9.99994607e-01 -4.99579252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters 0.011360514423827073 Centerline is valid? [True, True] Translation: X:241.71, Y:-107.89, Z:-5.00 [[ 7.03466917e-01 7.10726148e-01 -1.62474049e-03 2.41712079e+02] [-7.10724306e-01 7.03468793e-01 1.61809080e-03 -1.07888930e+02] [ 2.29297367e-03 1.64692129e-05 9.99997371e-01 -4.99591988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters 0.0121491760197966 Centerline is valid? [True, True] Translation: X:241.76, Y:-107.93, Z:-5.00 [[ 6.99743355e-01 7.14390197e-01 -2.42553521e-03 2.41756689e+02] [-7.14386110e-01 6.99747558e-01 2.41680472e-03 -1.07932226e+02] [ 3.42380394e-03 4.16256138e-05 9.99994138e-01 -4.99760913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters 0.013143949313634311 Centerline is valid? [True, True] Translation: X:241.80, Y:-107.97, Z:-5.00 [[ 6.96219252e-01 7.17820489e-01 -3.53537388e-03 2.41801358e+02] [-7.17811848e-01 6.96228223e-01 3.52310958e-03 -1.07974993e+02] [ 4.99038732e-03 8.48765375e-05 9.99987544e-01 -4.99933288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters 0.01496747414432539 Centerline is valid? [True, True] Translation: X:241.85, Y:-108.02, Z:-5.00 [[ 6.92081633e-01 7.21807251e-01 -4.15997066e-03 2.41845383e+02] [-7.21795348e-01 6.92094122e-01 4.14743995e-03 -1.08018069e+02] [ 5.87274348e-03 1.32280461e-04 9.99982747e-01 -5.00072741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters 0.01523429605377699 Centerline is valid? [True, True] Translation: X:241.89, Y:-108.06, Z:-5.00 [[ 6.91493215e-01 7.22373351e-01 -3.72504940e-03 2.41886978e+02] [-7.22363809e-01 6.91503237e-01 3.71482128e-03 -1.08063646e+02] [ 5.25937161e-03 1.22067164e-04 9.99986162e-01 -5.00056953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters 0.01390862858419656 Centerline is valid? [True, True] Translation: X:241.92, Y:-108.11, Z:-5.00 [[ 6.94510499e-01 7.19478099e-01 -2.53594968e-03 2.41923820e+02] [-7.19473657e-01 6.94515126e-01 2.52915919e-03 -1.08113504e+02] [ 3.58093006e-03 6.80213770e-05 9.99993586e-01 -4.99923282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters 0.012501598328414474 Centerline is valid? [True, True] Translation: X:241.96, Y:-108.16, Z:-5.00 [[ 6.98588861e-01 7.15521115e-01 -1.77139965e-03 2.41961178e+02] [-7.15518934e-01 6.98591106e-01 1.76685366e-03 -1.08163664e+02] [ 2.50170514e-03 3.31657091e-05 9.99996870e-01 -4.99815659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters 0.011657409513243842 Centerline is valid? [True, True] Translation: X:242.00, Y:-108.21, Z:-5.00 [[ 7.04980575e-01 7.09226349e-01 -6.12229067e-04 2.41996130e+02] [-7.09226086e-01 7.04980840e-01 6.10969662e-04 -1.08214621e+02] [ 8.64925546e-04 3.48708149e-06 9.99999626e-01 -4.99730016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters 0.011710366905777711 Centerline is valid? [True, True] Translation: X:242.03, Y:-108.27, Z:-5.00 [[ 7.10239454e-01 7.03959834e-01 -6.84886157e-04 2.42033060e+02] [-7.03959502e-01 7.10239785e-01 6.83868176e-04 -1.08266658e+02] [ 9.67849124e-04 -3.57804185e-06 9.99999532e-01 -4.99777580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters 0.011868185983652807 Centerline is valid? [True, True] Translation: X:242.08, Y:-108.31, Z:-5.00 [[ 7.11276442e-01 7.02911590e-01 -1.05810422e-03 2.42075419e+02] [-7.02910795e-01 7.11277229e-01 1.05710214e-03 -1.08313437e+02] [ 1.49565479e-03 -8.13897023e-06 9.99998881e-01 -4.99831598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters 0.011952656618163977 Centerline is valid? [True, True] Translation: X:242.12, Y:-108.36, Z:-5.00 [[ 7.10747814e-01 7.03445947e-01 -1.15988373e-03 2.42118896e+02] [-7.03444992e-01 7.10748760e-01 1.15937791e-03 -1.08357463e+02] [ 1.63994561e-03 -8.11091714e-06 9.99998655e-01 -4.99887261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters 0.011703643995272545 Centerline is valid? [True, True] Translation: X:242.17, Y:-108.40, Z:-5.00 [[ 7.06955797e-01 7.07254150e-01 -2.25123599e-03 2.42166511e+02] [-7.07250567e-01 7.06959381e-01 2.25147000e-03 -1.08398299e+02] [ 3.18389390e-03 4.98158019e-07 9.99994931e-01 -5.00111029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters 0.01177889222632785 Centerline is valid? [True, True] Translation: X:242.77, Y:-107.93, Z:-4.03 [[ 7.60660769e-01 -6.49139322e-01 -3.65165486e-03 2.42773044e+02] [-6.49131715e-01 -7.60669534e-01 3.14260892e-03 -1.07931138e+02] [-4.81769363e-03 -2.00543391e-05 -9.99988395e-01 -4.03450917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters 0.011847059193534928 Centerline is valid? [True, True] Translation: X:242.79, Y:-107.96, Z:-4.03 [[ 8.10191765e-01 -5.86150728e-01 -4.07782251e-03 2.42791851e+02] [-5.86143113e-01 -8.10202026e-01 2.98803825e-03 -1.07958217e+02] [-5.05530086e-03 -3.06964054e-05 -9.99987221e-01 -4.03413320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters 0.01191074117395262 Centerline is valid? [True, True] Translation: X:242.81, Y:-107.98, Z:-4.04 [[ 8.53482765e-01 -5.21114502e-01 -2.61638787e-03 2.42812556e+02] [-5.21111977e-01 -8.53486775e-01 1.62235161e-03 -1.07982408e+02] [-3.07848340e-03 -2.12180785e-05 -9.99995261e-01 -4.03543273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters 0.011769697394706694 Centerline is valid? [True, True] Translation: X:242.84, Y:-108.00, Z:-4.04 [[ 8.91298632e-01 -4.53415099e-01 -1.22382592e-03 2.42836816e+02] [-4.53414652e-01 -8.91299472e-01 6.36738812e-04 -1.08003584e+02] [-1.37950239e-03 -1.26238280e-05 -9.99999048e-01 -4.03676709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters 0.011858597576403245 Centerline is valid? [True, True] Translation: X:242.86, Y:-108.02, Z:-4.04 [[ 9.24286449e-01 -3.81698614e-01 -8.53436457e-04 2.42862309e+02] [-3.81698439e-01 -9.24286843e-01 3.64968748e-04 -1.08022780e+02] [-9.28128154e-04 -1.15803046e-05 -9.99999569e-01 -4.03747034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters 0.011920134428956987 Centerline is valid? [True, True] Translation: X:242.89, Y:-108.04, Z:-4.04 [[ 9.51839751e-01 -3.06591677e-01 -1.62211047e-03 2.42888595e+02] [-3.06591199e-01 -9.51841133e-01 5.41571408e-04 -1.08042647e+02] [-1.71003276e-03 -1.81643982e-05 -9.99998538e-01 -4.03593129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters 0.012223518881732759 Centerline is valid? [True, True] Translation: X:242.92, Y:-108.06, Z:-4.03 [[ 9.73609220e-01 -2.28187364e-01 -3.95141595e-03 2.42915540e+02] [-2.28185293e-01 -9.73617237e-01 9.73212660e-04 -1.08062759e+02] [-4.06924151e-03 -4.58738107e-05 -9.99991720e-01 -4.03322204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters 0.01233547691011656 Centerline is valid? [True, True] Translation: X:242.95, Y:-108.08, Z:-4.03 [[ 9.88605878e-01 -1.50459492e-01 -4.51204885e-03 2.42945033e+02] [-1.50457671e-01 -9.88616173e-01 7.42379505e-04 -1.08077257e+02] [-4.57238251e-03 -5.50483825e-05 -9.99989545e-01 -4.03238353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters 0.012203724603564926 Centerline is valid? [True, True] Translation: X:242.97, Y:-108.09, Z:-4.03 [[ 9.97296836e-01 -7.33873534e-02 -3.64925509e-03 2.42971883e+02] [-7.33867060e-02 -9.97303512e-01 3.11164258e-04 -1.08088395e+02] [-3.66225043e-03 -4.25163196e-05 -9.99993293e-01 -4.03323748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters 0.012038926667861702 Centerline is valid? [True, True] Translation: X:243.00, Y:-108.10, Z:-4.03 [[ 9.99987156e-01 3.50755691e-03 -3.65845701e-03 2.42999471e+02] [ 3.50766996e-03 -9.99993848e-01 2.44850028e-05 -1.08099187e+02] [-3.65834862e-03 -3.73173481e-05 -9.99993308e-01 -4.03315129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters 0.012043824688277046 Centerline is valid? [True, True] Translation: X:243.03, Y:-108.11, Z:-4.03 [[ 9.96793828e-01 7.98802212e-02 -4.60586353e-03 2.43027691e+02] [ 7.98795370e-02 -9.96804469e-01 -3.32621386e-04 -1.08105970e+02] [-4.61771522e-03 -3.63593014e-05 -9.99989338e-01 -4.03212074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters 0.011966191350773854 Centerline is valid? [True, True] Translation: X:243.06, Y:-108.11, Z:-4.03 [[ 9.87818255e-01 1.55524747e-01 -5.21033884e-03 2.43055507e+02] [ 1.55522739e-01 -9.87831996e-01 -7.90971398e-04 -1.08108821e+02] [-5.26995504e-03 -2.89901806e-05 -9.99986113e-01 -4.03154330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters 0.011898788910892636 Centerline is valid? [True, True] Translation: X:243.08, Y:-108.11, Z:-4.03 [[ 9.73072959e-01 2.30440923e-01 -5.09875063e-03 2.43084396e+02] [ 2.30437859e-01 -9.73086317e-01 -1.18863818e-03 -1.08109531e+02] [-5.23543536e-03 -1.83135099e-05 -9.99986295e-01 -4.03150165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters 0.011926105665390324 Centerline is valid? [True, True] Translation: X:243.11, Y:-108.11, Z:-4.03 [[ 9.52780616e-01 3.03635500e-01 -3.81854717e-03 2.43112905e+02] [ 3.03633087e-01 -9.52788268e-01 -1.21056886e-03 -1.08108507e+02] [-4.00583862e-03 -6.03072117e-06 -9.99991977e-01 -4.03203623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters 0.011961597343245863 Centerline is valid? [True, True] Translation: X:243.14, Y:-108.11, Z:-4.03 [[ 9.26703087e-01 3.75778812e-01 -3.41655273e-03 2.43141068e+02] [ 3.75776259e-01 -9.26709385e-01 -1.38533523e-03 -1.08105569e+02] [-3.68673111e-03 -6.49645260e-08 -9.99993204e-01 -4.03232871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters 0.012065300705498315 Centerline is valid? [True, True] Translation: X:243.17, Y:-108.10, Z:-4.03 [[ 8.95236655e-01 4.45576203e-01 -3.63015178e-03 2.43169530e+02] [ 4.45572504e-01 -8.95244015e-01 -1.81569769e-03 -1.08101316e+02] [-4.05890334e-03 7.98330624e-06 -9.99991763e-01 -4.03153340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters 0.012259722449392926 Centerline is valid? [True, True] Translation: X:243.20, Y:-108.09, Z:-4.03 [[ 8.58925569e-01 5.12081585e-01 -4.39516941e-03 2.43196020e+02] [ 5.12074730e-01 -8.58936814e-01 -2.64975875e-03 -1.08094619e+02] [-5.13206547e-03 2.52903527e-05 -9.99986831e-01 -4.02981775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters 0.012406713190191166 Centerline is valid? [True, True] Translation: X:243.22, Y:-108.08, Z:-4.03 [[ 8.17005647e-01 5.76614784e-01 -4.14288404e-03 2.43222473e+02] [ 5.76607172e-01 -8.17016150e-01 -2.96313033e-03 -1.08084915e+02] [-5.09338793e-03 3.20775654e-05 -9.99987028e-01 -4.02972247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters 0.012284069414657612 Centerline is valid? [True, True] Translation: X:243.25, Y:-108.08, Z:-4.03 [[ 7.69952032e-01 6.38093237e-01 -3.29994319e-03 2.43251964e+02] [ 6.38087209e-01 -7.69959103e-01 -2.77373010e-03 -1.08077257e+02] [-4.31071972e-03 2.99875839e-05 -9.99990708e-01 -4.03095619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters 0.012069306929390216 Centerline is valid? [True, True] Translation: X:243.28, Y:-108.07, Z:-4.03 [[ 7.17226073e-01 6.96834535e-01 -2.89652792e-03 2.43282251e+02] [ 6.96828708e-01 -7.17231922e-01 -2.84990520e-03 -1.08069020e+02] [-4.06339465e-03 2.56425111e-05 -9.99991744e-01 -4.03098433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters 0.012053336704071412 Centerline is valid? [True, True] Translation: X:243.31, Y:-108.06, Z:-4.03 [[ 6.59851180e-01 7.51391727e-01 -2.62532283e-03 2.43308713e+02] [ 7.51385648e-01 -6.59856403e-01 -3.02253339e-03 -1.08057918e+02] [-4.00344266e-03 2.17923274e-05 -9.99991986e-01 -4.03062936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters 0.011838341617744044 Centerline is valid? [True, True] Translation: X:243.33, Y:-108.04, Z:-4.03 [[ 5.97168837e-01 8.02109703e-01 -3.06680823e-03 2.43334386e+02] [ 8.02098966e-01 -5.97176711e-01 -4.15026483e-03 -1.08044264e+02] [-5.16039414e-03 1.85251142e-05 -9.99986685e-01 -4.02986460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters 0.01157780352439005 Centerline is valid? [True, True] Translation: X:243.36, Y:-108.03, Z:-4.03 [[ 5.31033061e-01 8.47346061e-01 -2.92232678e-03 2.43358668e+02] [ 8.47333121e-01 -5.31041102e-01 -4.68295559e-03 -1.08027327e+02] [-5.51995961e-03 1.06199751e-05 -9.99984765e-01 -4.02958369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters 0.011369029494478945 Centerline is valid? [True, True] Translation: X:243.38, Y:-108.01, Z:-4.03 [[ 4.60994915e-01 8.87400128e-01 -2.16839537e-03 2.43384608e+02] [ 8.87390340e-01 -4.61000015e-01 -4.16777476e-03 -1.08010140e+02] [-4.69811415e-03 -2.89013743e-06 -9.99988964e-01 -4.03045373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters 0.011296815207941206 Centerline is valid? [True, True] Translation: X:243.41, Y:-107.99, Z:-4.03 [[ 3.88503385e-01 9.21446061e-01 -1.50892261e-03 2.43408637e+02] [ 9.21439213e-01 -3.88506315e-01 -3.55243132e-03 -1.07989817e+02] [-3.85959981e-03 -1.02488718e-05 -9.99992552e-01 -4.03104281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters 0.011468423295940704 Centerline is valid? [True, True] Translation: X:243.43, Y:-107.97, Z:-4.03 [[ 3.14600356e-01 9.49223473e-01 -1.18913326e-03 2.43428794e+02] [ 9.49216840e-01 -3.14602603e-01 -3.54860297e-03 -1.07967049e+02] [-3.74252166e-03 -1.23535583e-05 -9.99992997e-01 -4.03072828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters 0.011616601533303319 Centerline is valid? [True, True] Translation: X:243.45, Y:-107.94, Z:-4.03 [[ 2.39285915e-01 9.70948610e-01 -1.02384460e-03 2.43445827e+02] [ 9.70939954e-01 -2.39288105e-01 -4.09976847e-03 -1.07942431e+02] [-4.22565833e-03 -1.30747760e-05 -9.99991072e-01 -4.03040697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters 0.011711452598328988 Centerline is valid? [True, True] Translation: X:243.46, Y:-107.92, Z:-4.03 [[ 1.63156024e-01 9.86599800e-01 -9.72472102e-04 2.43458653e+02] [ 9.86582699e-01 -1.63158922e-01 -5.80890911e-03 -1.07917363e+02] [-5.88973607e-03 -1.16656353e-05 -9.99982655e-01 -4.02904023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters 0.011812285167523223 Centerline is valid? [True, True] Translation: X:243.47, Y:-107.89, Z:-4.03 [[ 8.54858798e-02 9.96339144e-01 -6.89041938e-04 2.43472880e+02] [ 9.96307945e-01 -8.54886558e-02 -7.88466469e-03 -1.07890607e+02] [-7.91470534e-03 -1.24704587e-05 -9.99968678e-01 -4.02832493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters 0.011818706290670757 Centerline is valid? [True, True] Translation: X:243.48, Y:-107.86, Z:-4.03 [[ 6.70659700e-03 9.99977508e-01 -7.24307241e-05 2.43483074e+02] [ 9.99943183e-01 -6.70696692e-03 -8.28542373e-03 -1.07862850e+02] [-8.28572316e-03 -1.68596109e-05 -9.99965673e-01 -4.02809478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters 0.012058352480555128 Centerline is valid? [True, True] Translation: X:243.49, Y:-107.83, Z:-4.03 [[-7.31596733e-02 9.97320018e-01 6.65557969e-04 2.43490892e+02] [ 9.97274573e-01 7.31626933e-02 -9.52081874e-03 -1.07834759e+02] [-9.54399714e-03 -3.27959492e-05 -9.99954454e-01 -4.02745923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters 0.012096427426939884 Centerline is valid? [True, True] Translation: X:243.50, Y:-107.81, Z:-4.03 [[-1.51326797e-01 9.88482692e-01 1.47258854e-03 2.43495608e+02] [ 9.88433497e-01 1.51333957e-01 -9.86183828e-03 -1.07805734e+02] [-9.97110910e-03 -3.68045570e-05 -9.99950287e-01 -4.02718380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters 0.0119562161161295 Centerline is valid? [True, True] Translation: X:243.50, Y:-107.78, Z:-4.03 [[-2.26936017e-01 9.73907335e-01 2.13243828e-03 2.43496590e+02] [ 9.73863424e-01 2.26946034e-01 -9.24824088e-03 -1.07776169e+02] [-9.49087804e-03 -2.20553020e-05 -9.99954960e-01 -4.02764874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters 0.011888544409596021 Centerline is valid? [True, True] Translation: X:243.49, Y:-107.75, Z:-4.03 [[-3.00433040e-01 9.53799667e-01 2.48675171e-03 2.43493818e+02] [ 9.53766940e-01 3.00443332e-01 -7.90122970e-03 -1.07747138e+02] [-8.28331822e-03 -2.00889524e-06 -9.99965693e-01 -4.02848738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters 0.012050629718288903 Centerline is valid? [True, True] Translation: X:243.49, Y:-107.72, Z:-4.03 [[-3.70184648e-01 9.28953688e-01 2.89348755e-03 2.43487933e+02] [ 9.28925973e-01 3.70195955e-01 -7.17579080e-03 -1.07719488e+02] [-7.73713471e-03 3.14681420e-05 -9.99970067e-01 -4.02948055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters 0.012450597856522954 Centerline is valid? [True, True] Translation: X:243.48, Y:-107.69, Z:-4.03 [[-4.38902878e-01 8.98527777e-01 3.47808345e-03 2.43480335e+02] [ 8.98500595e-01 4.38916656e-01 -6.98927873e-03 -1.07692443e+02] [-7.80664984e-03 5.74454948e-05 -9.99969526e-01 -4.02902423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters 0.013065982262701116 Centerline is valid? [True, True] Translation: X:243.47, Y:-107.67, Z:-4.03 [[-5.04707111e-01 8.63280646e-01 4.15426911e-03 2.43469367e+02] [ 8.63252859e-01 5.04724199e-01 -6.92706428e-03 -1.07667153e+02] [-8.07676068e-03 9.00460874e-05 -9.99967378e-01 -4.02892573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters 0.01291774613386854 Centerline is valid? [True, True] Translation: X:243.46, Y:-107.64, Z:-4.03 [[-5.69626272e-01 8.21892349e-01 4.34481181e-03 2.43461709e+02] [ 8.21869682e-01 5.69642834e-01 -6.10467865e-03 -1.07638690e+02] [-7.49237959e-03 9.34837588e-05 -9.99971927e-01 -4.02946208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters 0.012882744646875591 Centerline is valid? [True, True] Translation: X:243.45, Y:-107.61, Z:-4.03 [[-6.32188194e-01 7.74797816e-01 5.14111908e-03 2.43452380e+02] [ 7.74773484e-01 6.32209090e-01 -6.14120873e-03 -1.07611009e+02] [-8.00845733e-03 1.00803085e-04 -9.99967927e-01 -4.02897863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters 0.012765937211673085 Centerline is valid? [True, True] Translation: X:243.44, Y:-107.59, Z:-4.03 [[-6.92495779e-01 7.21396945e-01 6.00363219e-03 2.43441113e+02] [ 7.21370952e-01 6.92521797e-01 -6.12459350e-03 -1.07585609e+02] [-8.57590919e-03 8.95907184e-05 -9.99963222e-01 -4.02828729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters 0.012249756994179628 Centerline is valid? [True, True] Translation: X:243.43, Y:-107.56, Z:-4.03 [[-7.48280123e-01 6.63349598e-01 6.64592910e-03 2.43427578e+02] [ 6.63324305e-01 7.48309632e-01 -5.79327739e-03 -1.07558971e+02] [-8.81618099e-03 7.34119814e-05 -9.99961134e-01 -4.02802610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters 0.011752113759744958 Centerline is valid? [True, True] Translation: X:243.44, Y:-107.54, Z:-4.03 [[-7.95693117e-01 6.05657349e-01 7.18610936e-03 2.43443751e+02] [ 6.05633109e-01 7.95725565e-01 -5.41876077e-03 -1.07535159e+02] [-9.00008321e-03 4.04751059e-05 -9.99959498e-01 -4.02806330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters 0.011497860823135558 Centerline is valid? [True, True] Translation: X:243.46, Y:-107.51, Z:-4.03 [[-8.38490499e-01 5.44872382e-01 6.91164932e-03 2.43460828e+02] [ 5.44853944e-01 8.38518984e-01 -4.48247443e-03 -1.07511469e+02] [-8.23792569e-03 7.32716915e-06 -9.99966068e-01 -4.02875212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters 0.011536781356761705 Centerline is valid? [True, True] Translation: X:243.47, Y:-107.48, Z:-4.03 [[-8.77938183e-01 4.78719589e-01 7.21823062e-03 2.43472795e+02] [ 4.78702999e-01 8.77967854e-01 -3.98560900e-03 -1.07482448e+02] [-8.24536355e-03 -4.37296722e-05 -9.99966005e-01 -4.02813174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters 0.011872293022659389 Centerline is valid? [True, True] Translation: X:243.81, Y:-106.88, Z:-5.01 [[-8.36337108e-01 -5.48176809e-01 6.51363770e-03 2.43810043e+02] [ 5.48160292e-01 -8.36362473e-01 -4.25539613e-03 -1.06879044e+02] [ 7.78047160e-03 1.15718538e-05 9.99969732e-01 -5.00948346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters 0.012930038822001368 Centerline is valid? [True, True] Translation: X:243.79, Y:-106.91, Z:-5.01 [[-7.93997556e-01 -6.07895170e-01 5.59850621e-03 2.43792919e+02] [ 6.07880947e-01 -7.94017287e-01 -4.15953010e-03 -1.06906088e+02] [ 6.97386897e-03 1.00568522e-04 9.99975677e-01 -5.00874050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters 0.013393006775623103 Centerline is valid? [True, True] Translation: X:243.38, Y:-107.45, Z:-4.03 [[-8.52469384e-01 5.22753608e-01 4.96134843e-03 2.43380608e+02] [ 5.22744009e-01 8.52483814e-01 -3.16985054e-03 -1.07453881e+02] [-5.88652004e-03 -1.08685370e-04 -9.99982668e-01 -4.02911598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters 0.01363784541306893 Centerline is valid? [True, True] Translation: X:243.75, Y:-106.88, Z:-5.01 [[-7.93311092e-01 -6.08806671e-01 3.45666085e-03 2.43752232e+02] [ 6.08800827e-01 -7.93318623e-01 -2.66762107e-03 -1.06881420e+02] [ 4.36629892e-03 -1.18353982e-05 9.99990468e-01 -5.00776555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters 0.013532295261766797 Centerline is valid? [True, True] Translation: X:243.34, Y:-107.43, Z:-4.03 [[-8.55130274e-01 5.18393375e-01 4.53035420e-03 2.43344739e+02] [ 5.18385431e-01 8.55142268e-01 -2.87183498e-03 -1.07434107e+02] [-5.36283759e-03 -1.07323422e-04 -9.99985614e-01 -4.02851497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters 0.013535094115733845 Centerline is valid? [True, True] Translation: X:243.36, Y:-107.41, Z:-4.03 [[-8.89067334e-01 4.57746609e-01 5.22673778e-03 2.43359461e+02] [ 4.57737968e-01 8.89082690e-01 -2.81460126e-03 -1.07413905e+02] [-5.93537627e-03 -1.09893706e-04 -9.99982379e-01 -4.02658524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters 0.012931038447259416 Centerline is valid? [True, True] Translation: X:243.37, Y:-107.39, Z:-4.03 [[-9.18599154e-01 3.95133045e-01 6.74324276e-03 2.43371997e+02] [ 3.95121405e-01 9.18623896e-01 -3.03534344e-03 -1.07393552e+02] [-7.39386843e-03 -1.23864356e-04 -9.99972657e-01 -4.02619530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters 0.012057525557434874 Centerline is valid? [True, True] Translation: X:243.38, Y:-107.37, Z:-4.03 [[-9.42632616e-01 3.33729094e-01 8.28506658e-03 2.43376455e+02] [ 3.33715234e-01 9.42669020e-01 -3.04323363e-03 -1.07370776e+02] [-8.82569119e-03 -1.03798340e-04 -9.99961047e-01 -4.02528198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters 0.011509684907187795 Centerline is valid? [True, True] Translation: X:243.40, Y:-107.35, Z:-4.03 [[-9.62556662e-01 2.70962784e-01 7.99010785e-03 2.43398895e+02] [ 2.70952948e-01 9.62589823e-01 -2.30950035e-03 -1.07353579e+02] [-8.31698514e-03 -5.80816733e-05 -9.99965412e-01 -4.02580884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters 0.011085777957878542 Centerline is valid? [True, True] Translation: X:243.41, Y:-107.33, Z:-4.03 [[-9.77987847e-01 2.08602199e-01 4.98945596e-03 2.43411384e+02] [ 2.08599464e-01 9.78000574e-01 -1.06821263e-03 -1.07331522e+02] [-5.10252230e-03 -3.90113149e-06 -9.99986982e-01 -4.02803141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters 0.011379140298217927 Centerline is valid? [True, True] Translation: X:243.42, Y:-107.31, Z:-4.03 [[-9.89640324e-01 1.43485538e-01 4.89181744e-03 2.43417063e+02] [ 1.43483885e-01 9.89652414e-01 -6.89116868e-04 -1.07307902e+02] [-4.94007724e-03 1.99191311e-05 -9.99987798e-01 -4.02902943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters 0.012790117293850297 Centerline is valid? [True, True] Translation: X:243.43, Y:-107.29, Z:-4.03 [[-9.96651659e-01 8.16591602e-02 4.15363762e-03 2.43425541e+02] [ 8.16586698e-02 9.96660313e-01 -2.87813695e-04 -1.07285489e+02] [-4.16326839e-03 5.23305260e-05 -9.99991332e-01 -4.02892873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters 0.014817411293897166 Centerline is valid? [True, True] Translation: X:243.48, Y:-106.56, Z:-5.01 [[-9.93794855e-01 -1.11145330e-01 4.30139220e-03 2.43483221e+02] [ 1.11144091e-01 -9.93804163e-01 -5.26759464e-04 -1.06557482e+02] [ 4.33328833e-03 -4.54165187e-05 9.99990610e-01 -5.00878951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters 0.016537673436806514 Centerline is valid? [True, True] Translation: X:243.37, Y:-107.28, Z:-4.03 [[-9.95462284e-01 9.50120647e-02 5.24867359e-03 2.43371321e+02] [ 9.50116010e-02 9.95476108e-01 -3.38191174e-04 -1.07284083e+02] [-5.25706140e-03 1.62028322e-04 -9.99986168e-01 -4.02791272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters 0.02156057060636553 Centerline is valid? [True, True] Translation: X:243.43, Y:-106.55, Z:-5.01 [[-9.96145827e-01 -8.74987834e-02 6.11993264e-03 2.43428687e+02] [ 8.74962536e-02 -9.96164616e-01 -6.80407507e-04 -1.06548297e+02] [ 6.15599518e-03 -1.42313921e-04 9.99981042e-01 -5.01030314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters 0.021259490496405613 Centerline is valid? [True, True] Translation: X:243.32, Y:-107.28, Z:-4.03 [[-9.94275658e-01 1.06701675e-01 5.53796761e-03 2.43315117e+02] [ 1.06701481e-01 9.94291046e-01 -3.31285066e-04 -1.07283361e+02] [-5.54170028e-03 2.61520669e-04 -9.99984610e-01 -4.02802526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters 0.024203488829692425 Centerline is valid? [True, True] Translation: X:243.31, Y:-107.26, Z:-4.03 [[-9.99288676e-01 3.73656022e-02 5.09447753e-03 2.43314956e+02] [ 3.73663805e-02 9.99301631e-01 5.76255219e-05 -1.07257738e+02] [-5.08876649e-03 2.47946717e-04 -9.99987021e-01 -4.02764990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters 0.02267680051500444 Centerline is valid? [True, True] Translation: X:243.31, Y:-106.52, Z:-5.01 [[-9.99977933e-01 -5.03460963e-03 4.33426084e-03 2.43305924e+02] [ 5.03343651e-03 -9.99987293e-01 -2.81526590e-04 -1.06523907e+02] [ 4.33562314e-03 -2.59704150e-04 9.99990567e-01 -5.01011682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters 0.021106989644160957 Centerline is valid? [True, True] Translation: X:243.24, Y:-107.24, Z:-4.03 [[-9.99638730e-01 2.66592706e-02 3.41941789e-03 2.43238334e+02] [ 2.66596074e-02 9.99644568e-01 5.29468215e-05 -1.07243363e+02] [-3.41679100e-03 1.44088032e-04 -9.99994152e-01 -4.02835699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters 0.019356112829025683 Centerline is valid? [True, True] Translation: X:243.22, Y:-106.54, Z:-5.01 [[-9.99904294e-01 -1.36636516e-02 2.16976914e-03 2.43222517e+02] [ 1.36632292e-02 -9.99906632e-01 -2.09384526e-04 -1.06539388e+02] [ 2.17242751e-03 -1.79718434e-04 9.99997624e-01 -5.00855729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters 0.014924000887533994 Centerline is valid? [True, True] Translation: X:243.16, Y:-107.22, Z:-4.03 [[-9.99999693e-01 -2.18971255e-04 7.52596438e-04 2.43160047e+02] [-2.18963145e-04 9.99999976e-01 1.08588013e-05 -1.07221080e+02] [-7.52598798e-04 1.06940070e-05 -9.99999717e-01 -4.02895774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters 0.012268743148318367 Centerline is valid? [True, True] Translation: X:243.14, Y:-106.57, Z:-5.01 [[-9.99373409e-01 -3.53775937e-02 1.10271968e-03 2.43137876e+02] [ 3.53775814e-02 -9.99374017e-01 -3.06821139e-05 -1.06568726e+02] [ 1.10311485e-03 8.34866638e-06 9.99999392e-01 -5.00951389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters 0.011710833706487926 Centerline is valid? [True, True] Translation: X:243.08, Y:-107.20, Z:-4.03 [[-9.99555088e-01 -2.97422797e-02 2.24111306e-03 2.43083974e+02] [-2.97422379e-02 9.99557600e-01 5.20193475e-05 -1.07196380e+02] [-2.24166877e-03 -1.46595142e-05 -9.99997487e-01 -4.02599107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters 0.01262834712457862 Centerline is valid? [True, True] Translation: X:243.08, Y:-107.16, Z:-4.03 [[-9.94116798e-01 -1.08293956e-01 2.05201672e-03 2.43075464e+02] [-1.08293787e-01 9.94118916e-01 1.93672969e-04 -1.07162045e+02] [-2.06092225e-03 -2.96871086e-05 -9.99997876e-01 -4.02520443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters 0.01505720193938893 Centerline is valid? [True, True] Translation: X:243.01, Y:-106.58, Z:-5.01 [[-9.99962795e-01 8.58070821e-03 8.83699715e-04 2.43009361e+02] [-8.58076818e-03 -9.99963182e-01 -6.40925503e-05 -1.06578761e+02] [ 8.83117220e-04 -7.16729881e-05 9.99999607e-01 -5.01233765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters 0.01663041490312153 Centerline is valid? [True, True] Translation: X:243.00, Y:-107.15, Z:-4.02 [[-9.91829248e-01 -1.27556413e-01 2.02591484e-03 2.43002302e+02] [-1.27556269e-01 9.91831315e-01 2.00485744e-04 -1.07154787e+02] [-2.03493902e-03 -5.95705143e-05 -9.99997928e-01 -4.02408167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters 0.018016825318275014 Centerline is valid? [True, True] Translation: X:242.99, Y:-107.13, Z:-4.02 [[-9.79717764e-01 -2.00348655e-01 3.67695171e-03 2.42988262e+02] [-2.00347682e-01 9.79724657e-01 6.34757294e-04 -1.07125901e+02] [-3.72957302e-03 -1.14785754e-04 -9.99993039e-01 -4.02172737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters 0.017561855303916345 Centerline is valid? [True, True] Translation: X:242.97, Y:-107.10, Z:-4.02 [[-9.62805033e-01 -2.70137019e-01 5.69736335e-03 2.42970893e+02] [-2.70133397e-01 9.62821873e-01 1.41054614e-03 -1.07103694e+02] [-5.86658677e-03 -1.80967194e-04 -9.99982775e-01 -4.01969097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters 0.016314272239072263 Centerline is valid? [True, True] Translation: X:242.96, Y:-107.08, Z:-4.02 [[-9.41921702e-01 -3.35786969e-01 5.53349716e-03 2.42955019e+02] [-3.35782195e-01 9.41937941e-01 1.79819005e-03 -1.07084876e+02] [-5.81601971e-03 -1.64295591e-04 -9.99983073e-01 -4.01995772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters 0.016057590271885202 Centerline is valid? [True, True] Translation: X:242.76, Y:-106.54, Z:-5.02 [[-9.75049690e-01 2.21917699e-01 5.53503026e-03 2.42764115e+02] [-2.21913220e-01 -9.75065388e-01 1.41854349e-03 -1.06543969e+02] [ 5.71181634e-03 1.54854005e-04 9.99983675e-01 -5.01795824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters 0.014409259730934362 Centerline is valid? [True, True] Translation: X:242.85, Y:-107.13, Z:-4.02 [[-9.42707401e-01 -3.33570079e-01 5.81021761e-03 2.42849711e+02] [-3.33564533e-01 9.42725298e-01 1.92730907e-03 -1.07128181e+02] [-6.12033176e-03 -1.21194005e-04 -9.99981263e-01 -4.01972577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters 0.013901635384060796 Centerline is valid? [True, True] Translation: X:242.64, Y:-106.57, Z:-5.02 [[-9.72177371e-01 2.34163441e-01 6.21627841e-03 2.42643465e+02] [-2.34157683e-01 -9.72197234e-01 1.64863265e-03 -1.06571579e+02] [ 6.42949817e-03 1.47174004e-04 9.99979320e-01 -5.01804596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters 0.01401810481185084 Centerline is valid? [True, True] Translation: X:242.73, Y:-107.17, Z:-4.02 [[-9.41620108e-01 -3.36626615e-01 5.83911879e-03 2.42734335e+02] [-3.36620822e-01 9.41638206e-01 1.97755298e-03 -1.07173436e+02] [-6.16403431e-03 -1.03465315e-04 -9.99980997e-01 -4.01964356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters 0.013993967790025564 Centerline is valid? [True, True] Translation: X:242.70, Y:-107.16, Z:-4.02 [[-9.14503358e-01 -4.04544782e-01 5.20849963e-03 2.42699973e+02] [-4.04538850e-01 9.14518184e-01 2.19306448e-03 -1.07161823e+02] [-5.65046042e-03 -1.01475619e-04 -9.99984031e-01 -4.02133834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters 0.014291552230718547 Centerline is valid? [True, True] Translation: X:242.65, Y:-107.16, Z:-4.02 [[-8.81767408e-01 -4.71655163e-01 5.25782981e-03 2.42651478e+02] [-4.71647565e-01 8.81783076e-01 2.67974231e-03 -1.07156242e+02] [-5.90017964e-03 -1.16933195e-04 -9.99982587e-01 -4.02170572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters 0.015505207903739621 Centerline is valid? [True, True] Translation: X:242.59, Y:-107.16, Z:-4.02 [[-8.42588706e-01 -5.38524162e-01 6.00000550e-03 2.42585259e+02] [-5.38511892e-01 8.42610052e-01 3.63898363e-03 -1.07162505e+02] [-7.01534555e-03 -1.64907811e-04 -9.99975379e-01 -4.02062422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters 0.01641696724529099 Centerline is valid? [True, True] Translation: X:242.52, Y:-107.17, Z:-4.02 [[-7.98817707e-01 -6.01536586e-01 6.63369387e-03 2.42517892e+02] [-6.01518049e-01 7.98845223e-01 4.72726838e-03 -1.07173667e+02] [-8.14291954e-03 -2.14060904e-04 -9.99966823e-01 -4.01972708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters 0.016677485196207785 Centerline is valid? [True, True] Translation: X:242.44, Y:-107.20, Z:-4.02 [[-7.49229234e-01 -6.62280726e-01 6.30837156e-03 2.42443741e+02] [-6.62260028e-01 7.49255749e-01 5.24193460e-03 -1.07197575e+02] [-8.19821591e-03 -2.50371678e-04 -9.99966363e-01 -4.01954098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters 0.018099529346803762 Centerline is valid? [True, True] Translation: X:242.37, Y:-107.23, Z:-4.02 [[-6.96208102e-01 -7.17818870e-01 5.50903442e-03 2.42366709e+02] [-7.17799204e-01 6.96229852e-01 5.31937687e-03 -1.07229043e+02] [-7.65390331e-03 -2.50987248e-04 -9.99970677e-01 -4.01995980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters 0.01896791427764691 Centerline is valid? [True, True] Translation: X:242.29, Y:-107.27, Z:-4.02 [[-6.39817311e-01 -7.68517152e-01 3.89803992e-03 2.42290090e+02] [-7.68504743e-01 6.39829155e-01 4.37175836e-03 -1.07270284e+02] [-5.85385087e-03 -1.98535493e-04 -9.99982846e-01 -4.02153296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters 0.018007301308991024 Centerline is valid? [True, True] Translation: X:242.21, Y:-107.32, Z:-4.02 [[-5.80824533e-01 -8.14023808e-01 2.84634196e-03 2.42214679e+02] [-8.14015322e-01 5.80831486e-01 3.72038619e-03 -1.07323171e+02] [-4.68172797e-03 -1.56074390e-04 -9.99989028e-01 -4.02226316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters 0.017092982529980667 Centerline is valid? [True, True] Translation: X:242.14, Y:-107.39, Z:-4.02 [[-5.20025467e-01 -8.54148504e-01 1.96144531e-03 2.42141215e+02] [-8.54143214e-01 5.20029154e-01 3.00805584e-03 -1.07386007e+02] [-3.58933514e-03 -1.11089553e-04 -9.99993552e-01 -4.02288282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters 0.015972099806627827 Centerline is valid? [True, True] Translation: X:242.07, Y:-107.46, Z:-4.02 [[-4.56233668e-01 -8.89857822e-01 1.97384726e-03 2.42069473e+02] [-8.89850558e-01 4.56237923e-01 3.59748491e-03 -1.07458290e+02] [-4.10179407e-03 -1.15135350e-04 -9.99991581e-01 -4.02222650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters 0.015008019808029401 Centerline is valid? [True, True] Translation: X:242.00, Y:-107.54, Z:-4.02 [[-3.91620430e-01 -9.20124227e-01 2.20139292e-03 2.42003645e+02] [-9.20111411e-01 3.91626598e-01 4.85793185e-03 -1.07537075e+02] [-5.33202481e-03 -1.23061390e-04 -9.99985777e-01 -4.02126208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters 0.014321230871879967 Centerline is valid? [True, True] Translation: X:241.94, Y:-107.62, Z:-4.02 [[-3.24377710e-01 -9.45925373e-01 2.07141696e-03 2.41942601e+02] [-9.45908256e-01 3.24384304e-01 5.69155597e-03 -1.07621935e+02] [-6.05572235e-03 -1.13156516e-04 -9.99981658e-01 -4.02065474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters 0.012688172927521566 Centerline is valid? [True, True] Translation: X:241.89, Y:-107.72, Z:-4.02 [[-2.58282667e-01 -9.66067512e-01 1.90449712e-03 2.41889823e+02] [-9.66043464e-01 2.58289676e-01 6.81676738e-03 -1.07716190e+02] [-7.07736944e-03 -7.91741392e-05 -9.99974952e-01 -4.01984111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters 0.012149104617408212 Centerline is valid? [True, True] Translation: X:241.84, Y:-107.83, Z:-4.02 [[-1.89133809e-01 -9.81950343e-01 1.38771155e-03 2.41838404e+02] [-9.81925449e-01 1.89138896e-01 6.99212054e-03 -1.07827794e+02] [-7.12838540e-03 -4.01828944e-05 -9.99974592e-01 -4.01882696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters 0.012091132507328843 Centerline is valid? [True, True] Translation: X:241.80, Y:-107.93, Z:-4.02 [[-1.21979216e-01 -9.92532325e-01 8.09700539e-04 2.41800910e+02] [-9.92509315e-01 1.21981902e-01 6.75828647e-03 -1.07927585e+02] [-6.80658659e-03 2.07351602e-05 -9.99976835e-01 -4.01843416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters 0.012313011626559626 Centerline is valid? [True, True] Translation: X:241.77, Y:-108.04, Z:-4.02 [[-4.79379605e-02 -9.98850277e-01 2.76317366e-04 2.41766245e+02] [-9.98829155e-01 4.79387438e-02 6.49590572e-03 -1.08038880e+02] [-6.50168353e-03 3.54066303e-05 -9.99978863e-01 -4.01883924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters 0.012977387275165802 Centerline is valid? [True, True] Translation: X:241.74, Y:-108.14, Z:-4.02 [[ 2.43253701e-02 -9.99704067e-01 -2.35481495e-04 2.41742385e+02] [-9.99680601e-01 -2.43264126e-02 6.85000285e-03 -1.08144027e+02] [-6.85370413e-03 6.87774276e-05 -9.99976511e-01 -4.01943191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters 0.012663757191210767 Centerline is valid? [True, True] Translation: X:241.72, Y:-108.27, Z:-4.02 [[ 1.01853944e-01 -9.94798990e-01 -8.62551625e-04 2.41722384e+02] [-9.94769021e-01 -1.01857571e-01 7.72202872e-03 -1.08266770e+02] [-7.76972378e-03 7.15205539e-05 -9.99969813e-01 -4.01903043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters 0.012157829631346899 Centerline is valid? [True, True] Translation: X:241.71, Y:-108.38, Z:-4.02 [[ 1.84216603e-01 -9.82883919e-01 -1.85616113e-03 2.41707934e+02] [-9.82835445e-01 -1.84225952e-01 9.76146046e-03 -1.08384603e+02] [-9.93633557e-03 2.60778660e-05 -9.99950633e-01 -4.01704592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters 0.011993695273857411 Centerline is valid? [True, True] Translation: X:241.70, Y:-108.50, Z:-4.02 [[ 2.65162206e-01 -9.64199501e-01 -2.88563566e-03 2.41703170e+02] [-9.64140684e-01 -2.65177904e-01 1.06499126e-02 -1.08504741e+02] [-1.10338473e-02 -4.17955838e-05 -9.99939124e-01 -4.01732214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters 0.012816276893647303 Centerline is valid? [True, True] Translation: X:241.71, Y:-108.63, Z:-4.02 [[ 3.45762365e-01 -9.38315014e-01 -3.64999156e-03 2.41707889e+02] [-9.38258691e-01 -3.45781605e-01 1.02815532e-02 -1.08629965e+02] [-1.09094357e-02 -1.30337857e-04 -9.99940482e-01 -4.01745601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters 0.013709416032507952 Centerline is valid? [True, True] Translation: X:241.72, Y:-108.74, Z:-4.02 [[ 4.19766288e-01 -9.07623674e-01 -3.94081435e-03 2.41720926e+02] [-9.07580240e-01 -4.19784759e-01 8.88052513e-03 -1.08743249e+02] [-9.71446865e-03 -1.51139835e-04 -9.99952802e-01 -4.01848484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters 0.013908725802476407 Centerline is valid? [True, True] Translation: X:241.75, Y:-108.86, Z:-4.02 [[ 4.91593642e-01 -8.70816069e-01 -3.88132549e-03 2.41748478e+02] [-8.70786264e-01 -4.91608937e-01 7.20661850e-03 -1.08859548e+02] [-8.18373349e-03 -1.62922911e-04 -9.99966499e-01 -4.02174769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters 0.01432164956253046 Centerline is valid? [True, True] Translation: X:241.78, Y:-108.97, Z:-4.02 [[ 5.57879372e-01 -8.29910566e-01 -4.36565613e-03 2.41779602e+02] [-8.29882685e-01 -5.57896427e-01 6.80480675e-03 -1.08965469e+02] [-8.08296498e-03 -1.73278884e-04 -9.99967317e-01 -4.02209608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters 0.015044852091013812 Centerline is valid? [True, True] Translation: X:241.82, Y:-109.07, Z:-4.02 [[ 6.20449701e-01 -7.84230763e-01 -4.92741636e-03 2.41819561e+02] [-7.84203634e-01 -6.20469239e-01 6.52564319e-03 -1.09068890e+02] [-8.17492041e-03 -1.84735549e-04 -9.99966568e-01 -4.02158162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters 0.014443944965134407 Centerline is valid? [True, True] Translation: X:241.87, Y:-109.17, Z:-4.02 [[ 6.78268439e-01 -7.34789474e-01 -6.02934951e-03 2.41870340e+02] [-7.34757737e-01 -6.78295206e-01 6.83241828e-03 -1.09169449e+02] [-9.11006790e-03 -2.04102479e-04 -9.99958482e-01 -4.02133713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters 0.01422525887785546 Centerline is valid? [True, True] Translation: X:241.92, Y:-109.26, Z:-4.02 [[ 7.30788702e-01 -6.82553022e-01 -8.32141972e-03 2.41923282e+02] [-6.82505069e-01 -7.30836040e-01 8.09408002e-03 -1.09257545e+02] [-1.16062322e-02 -2.35651086e-04 -9.99932618e-01 -4.01935933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters 0.013076716515445449 Centerline is valid? [True, True] Translation: X:241.95, Y:-109.28, Z:-4.02 [[ 7.78321997e-01 -6.27772673e-01 -1.07860926e-02 2.41949888e+02] [-6.27708754e-01 -7.78396705e-01 8.96047144e-03 -1.09280637e+02] [-1.40209981e-02 -2.03607270e-04 -9.99901680e-01 -4.01803918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters 0.012389187812679944 Centerline is valid? [True, True] Translation: X:241.98, Y:-109.30, Z:-4.02 [[ 8.21533564e-01 -5.70025409e-01 -1.23950478e-02 2.41977051e+02] [-5.69958209e-01 -8.21627055e-01 8.75346156e-03 -1.09301206e+02] [-1.51738021e-02 -1.26603255e-04 -9.99884863e-01 -4.01767846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters 0.012397072528802056 Centerline is valid? [True, True] Translation: X:242.01, Y:-109.31, Z:-4.02 [[ 8.57212248e-01 -5.14799282e-01 -1.29946293e-02 2.42008727e+02] [-5.14741257e-01 -8.57310734e-01 7.72939722e-03 -1.09312372e+02] [-1.51195233e-02 6.31378295e-05 -9.99885691e-01 -4.01846314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters 0.013211219689437254 Centerline is valid? [True, True] Translation: X:242.04, Y:-109.33, Z:-4.02 [[ 8.91353219e-01 -4.53147875e-01 -1.21013397e-02 2.42037063e+02] [-4.53108552e-01 -8.91435347e-01 5.97182194e-03 -1.09329123e+02] [-1.34936804e-02 1.60217801e-04 -9.99908943e-01 -4.02131984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters 0.014243097861047542 Centerline is valid? [True, True] Translation: X:242.06, Y:-109.35, Z:-4.02 [[ 9.22363400e-01 -3.86187937e-01 -1.02291234e-02 2.42063683e+02] [-3.86166331e-01 -9.22420102e-01 4.08893182e-03 -1.09346142e+02] [-1.10146452e-02 1.78661998e-04 -9.99939321e-01 -4.02335117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters 0.01509593098167412 Centerline is valid? [True, True] Translation: X:242.09, Y:-109.36, Z:-4.02 [[ 9.49778922e-01 -3.12723474e-01 -1.11367810e-02 2.42091686e+02] [-3.12704280e-01 -9.49844195e-01 3.46978737e-03 -1.09359963e+02] [-1.16632908e-02 1.86988184e-04 -9.99931964e-01 -4.02275224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters 0.01327247453374371 Centerline is valid? [True, True] Translation: X:242.12, Y:-109.38, Z:-4.02 [[ 9.72142167e-01 -2.34023666e-01 -1.31351244e-02 2.42119356e+02] [-2.34004643e-01 -9.72230886e-01 2.98855465e-03 -1.09382769e+02] [-1.34697661e-02 1.68380102e-04 -9.99909264e-01 -4.02329719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters 0.013036726621953045 Centerline is valid? [True, True] Translation: X:242.15, Y:-109.40, Z:-4.02 [[ 9.87833971e-01 -1.54853307e-01 -1.43003032e-02 2.42145758e+02] [-1.54839237e-01 -9.87937463e-01 2.09264129e-03 -1.09399856e+02] [-1.44518577e-02 1.47065874e-04 -9.99895556e-01 -4.02236989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters 0.012724663164278437 Centerline is valid? [True, True] Translation: X:242.17, Y:-109.41, Z:-4.02 [[ 9.97119441e-01 -7.45745608e-02 -1.38367384e-02 2.42172639e+02] [-7.45688584e-02 -9.97215435e-01 9.28304959e-04 -1.09414103e+02] [-1.38674370e-02 1.06158863e-04 -9.99903837e-01 -4.02227746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters 0.012434258071199649 Centerline is valid? [True, True] Translation: X:242.20, Y:-109.43, Z:-4.02 [[ 9.99903624e-01 4.29896110e-03 -1.32008473e-02 2.42202548e+02] [ 4.29736407e-03 -9.99990755e-01 -1.49342806e-04 -1.09425464e+02] [-1.32013673e-02 9.25995658e-05 -9.99912854e-01 -4.02450030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters 0.01262724292619963 Centerline is valid? [True, True] Translation: X:242.23, Y:-109.43, Z:-4.03 [[ 9.96500021e-01 8.27592198e-02 -1.17737176e-02 2.42230946e+02] [ 8.27524958e-02 -9.96569569e-01 -1.05796838e-03 -1.09431658e+02] [-1.18208853e-02 7.99609997e-05 -9.99930128e-01 -4.02577886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters 0.012343238978246882 Centerline is valid? [True, True] Translation: X:242.26, Y:-109.44, Z:-4.03 [[ 9.86785821e-01 1.61686082e-01 -1.05524689e-02 2.42262078e+02] [ 1.61676200e-01 -9.86842240e-01 -1.78856721e-03 -1.09437458e+02] [-1.07028084e-02 5.88496989e-05 -9.99942722e-01 -4.02701073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters 0.01201286109973667 Centerline is valid? [True, True] Translation: X:242.29, Y:-109.44, Z:-4.03 [[ 9.70575810e-01 2.40603200e-01 -9.62794639e-03 2.42293437e+02] [ 2.40591036e-01 -9.70623562e-01 -2.41951072e-03 -1.09439625e+02] [-9.92725365e-03 3.19209723e-05 -9.99950723e-01 -4.02746184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters 0.011702339644791991 Centerline is valid? [True, True] Translation: X:242.33, Y:-109.45, Z:-4.03 [[ 9.46801671e-01 3.21680491e-01 -9.39455949e-03 2.42326600e+02] [ 3.21664962e-01 -9.46848278e-01 -3.16091177e-03 -1.09445355e+02] [-9.91202612e-03 -2.91440821e-05 -9.99950874e-01 -4.02785794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters 0.012001604724291442 Centerline is valid? [True, True] Translation: X:242.36, Y:-109.45, Z:-4.03 [[ 9.16923982e-01 3.98943952e-01 -9.70223649e-03 2.42359878e+02] [ 3.98922520e-01 -9.16975309e-01 -4.13595519e-03 -1.09446668e+02] [-1.05467256e-02 -7.80841219e-05 -9.99944379e-01 -4.02820872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters 0.01286977223575455 Centerline is valid? [True, True] Translation: X:242.39, Y:-109.45, Z:-4.03 [[ 8.80136828e-01 4.74593766e-01 -1.09508538e-02 2.42392910e+02] [ 4.74559312e-01 -8.80204937e-01 -5.72082316e-03 -1.09446579e+02] [-1.23540626e-02 -1.61722497e-04 -9.99923673e-01 -4.02642495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters 0.013278235822991386 Centerline is valid? [True, True] Translation: X:242.43, Y:-109.44, Z:-4.03 [[ 8.38579535e-01 5.44665695e-01 -1.11195725e-02 2.42425549e+02] [ 5.44621156e-01 -8.38653228e-01 -6.96854191e-03 -1.09440389e+02] [-1.31209911e-02 -2.12277782e-04 -9.99913894e-01 -4.02610824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters 0.01393783551923653 Centerline is valid? [True, True] Translation: X:242.46, Y:-109.43, Z:-4.03 [[ 7.91816190e-01 6.10653091e-01 -1.13983964e-02 2.42458499e+02] [ 6.10594616e-01 -7.91898183e-01 -8.45470502e-03 -1.09431611e+02] [-1.41892611e-02 -2.65227149e-04 -9.99899292e-01 -4.02552946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters 0.013805723588657262 Centerline is valid? [True, True] Translation: X:242.49, Y:-109.42, Z:-4.03 [[ 7.42001107e-01 6.70304585e-01 -1.12303112e-02 2.42487560e+02] [ 6.70233269e-01 -7.42086040e-01 -9.78135042e-03 -1.09417121e+02] [-1.48903412e-02 -2.69155324e-04 -9.99889097e-01 -4.02546884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters 0.012660758288424785 Centerline is valid? [True, True] Translation: X:242.51, Y:-109.40, Z:-4.03 [[ 6.91717719e-01 7.22089776e-01 -1.06278709e-02 2.42511546e+02] [ 7.22008545e-01 -6.91799337e-01 -1.08323294e-02 -1.09395831e+02] [-1.51742684e-02 -1.80499353e-04 -9.99884848e-01 -4.02617586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters 0.012268264920996932 Centerline is valid? [True, True] Translation: X:242.53, Y:-109.37, Z:-4.03 [[ 6.35708754e-01 7.71870412e-01 -9.51035762e-03 2.42534660e+02] [ 7.71786998e-01 -6.35779876e-01 -1.13480972e-02 -1.09374689e+02] [-1.48057544e-02 -1.25885642e-04 -9.99890381e-01 -4.02669163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters 0.012000538171776213 Centerline is valid? [True, True] Translation: X:242.55, Y:-109.35, Z:-4.03 [[ 5.84248693e-01 8.11536005e-01 -7.92317940e-03 2.42551337e+02] [ 8.11459857e-01 -5.84302411e-01 -1.11172584e-02 -1.09349688e+02] [-1.36515883e-02 6.59016503e-05 -9.99906811e-01 -4.02895811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters 0.01354055642998117 Centerline is valid? [True, True] Translation: X:242.57, Y:-109.33, Z:-4.03 [[ 5.28207493e-01 8.49088873e-01 -6.70294734e-03 2.42569236e+02] [ 8.49015538e-01 -5.28249982e-01 -1.11611702e-02 -1.09326074e+02] [-1.30176572e-02 2.04507268e-04 -9.99915246e-01 -4.02999457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters 0.017678485334209952 Centerline is valid? [True, True] Translation: X:242.58, Y:-109.30, Z:-4.03 [[ 4.74664961e-01 8.80148502e-01 -5.63823269e-03 2.42581285e+02] [ 8.80075909e-01 -4.74698271e-01 -1.13113168e-02 -1.09300227e+02] [-1.26320978e-02 4.07012965e-04 -9.99920129e-01 -4.03147474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters 0.020932162256112465 Centerline is valid? [True, True] Translation: X:242.60, Y:-109.28, Z:-4.03 [[ 4.13198609e-01 9.10627675e-01 -4.91384938e-03 2.42595364e+02] [ 9.10546656e-01 -4.13227461e-01 -1.21594493e-02 -1.09275728e+02] [-1.31032686e-02 5.49978429e-04 -9.99913997e-01 -4.03120907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters 0.026148220573075625 Centerline is valid? [True, True] Translation: X:242.61, Y:-109.25, Z:-4.03 [[ 3.50485567e-01 9.36557472e-01 -4.46864563e-03 2.42605365e+02] [ 9.36450681e-01 -3.50513186e-01 -1.41643073e-02 -1.09251586e+02] [-1.48320070e-02 7.79719025e-04 -9.99889696e-01 -4.02887493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters 0.02734403986341239 Centerline is valid? [True, True] Translation: X:242.62, Y:-109.23, Z:-4.03 [[ 2.80552170e-01 9.59832402e-01 -3.49854879e-03 2.42620251e+02] [ 9.59713530e-01 -2.80572579e-01 -1.51316787e-02 -1.09227994e+02] [-1.55054724e-02 8.87620673e-04 -9.99879389e-01 -4.02919576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters 0.025687249066162782 Centerline is valid? [True, True] Translation: X:242.64, Y:-109.20, Z:-4.03 [[ 2.04159727e-01 9.78934870e-01 -2.30783856e-03 2.42638595e+02] [ 9.78814258e-01 -2.04170859e-01 -1.53918474e-02 -1.09204297e+02] [-1.55388095e-02 8.83450066e-04 -9.99878875e-01 -4.03049348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters 0.024658601433019206 Centerline is valid? [True, True] Translation: X:242.66, Y:-109.18, Z:-4.03 [[ 1.21191292e-01 9.92628639e-01 -1.02738907e-03 2.42656387e+02] [ 9.92522180e-01 -1.21193361e-01 -1.45564849e-02 -1.09178857e+02] [-1.45736965e-02 7.44412778e-04 -9.99893521e-01 -4.03100119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters 0.02117018474080982 Centerline is valid? [True, True] Translation: X:242.68, Y:-109.15, Z:-4.03 [[ 3.60015639e-02 9.99351728e-01 1.06784627e-04 2.42676854e+02] [ 9.99261312e-01 -3.59968689e-02 -1.34556790e-02 -1.09151065e+02] [-1.34431122e-02 5.91131234e-04 -9.99909463e-01 -4.03187565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters 0.017236082131306982 Centerline is valid? [True, True] Translation: X:242.70, Y:-109.12, Z:-4.03 [[-5.61680384e-02 9.98420891e-01 9.35619147e-04 2.42697987e+02] [ 9.98362264e-01 5.61748839e-02 -1.08246192e-02 -1.09120830e+02] [-1.08600842e-02 3.26089223e-04 -9.99940974e-01 -4.03303952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters 0.014537049806627227 Centerline is valid? [True, True] Translation: X:242.71, Y:-109.09, Z:-4.03 [[-1.44505620e-01 9.89502350e-01 1.79567808e-03 2.42712358e+02] [ 9.89443330e-01 1.44516617e-01 -1.08094816e-02 -1.09088689e+02] [-1.09555127e-02 2.14690860e-04 -9.99939964e-01 -4.03248702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters 0.011693898098723845 Centerline is valid? [True, True] Translation: X:242.73, Y:-109.06, Z:-4.03 [[-2.36831871e-01 9.71546382e-01 2.87977239e-03 2.42728292e+02] [ 9.71476995e-01 2.36849374e-01 -1.16113161e-02 -1.09055184e+02] [-1.19630044e-02 4.77029126e-05 -9.99928440e-01 -4.03022468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters 0.011418749202446156 Centerline is valid? [True, True] Translation: X:242.74, Y:-109.02, Z:-4.03 [[-3.20729541e-01 9.47162841e-01 3.88773781e-03 2.42736713e+02] [ 9.47090938e-01 3.20753097e-01 -1.16707421e-02 -1.09020265e+02] [-1.23010972e-02 -6.11104985e-05 -9.99924337e-01 -4.02997402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters 0.01255917581617485 Centerline is valid? [True, True] Translation: X:242.74, Y:-108.98, Z:-4.03 [[-4.02013274e-01 9.15621951e-01 4.66596980e-03 2.42740829e+02] [ 9.15555434e-01 4.02040316e-01 -1.10377010e-02 -1.08983671e+02] [-1.19822693e-02 -1.65348327e-04 -9.99928196e-01 -4.02964028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters 0.012864032537897044 Centerline is valid? [True, True] Translation: X:242.74, Y:-108.95, Z:-4.03 [[-4.74831267e-01 8.80061502e-01 5.19819407e-03 2.42736574e+02] [ 8.80004422e-01 4.74859683e-01 -1.00249190e-02 -1.08948690e+02] [-1.12909581e-02 -1.85711236e-04 -9.99936238e-01 -4.03032465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters 0.013253775487234557 Centerline is valid? [True, True] Translation: X:242.73, Y:-108.92, Z:-4.03 [[-5.42143785e-01 8.40267064e-01 5.60159570e-03 2.42727974e+02] [ 8.40218882e-01 5.42172695e-01 -8.99997410e-03 -1.08916319e+02] [-1.05994141e-02 -1.72713540e-04 -9.99943810e-01 -4.02975642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters 0.012735054483405894 Centerline is valid? [True, True] Translation: X:242.71, Y:-108.89, Z:-4.03 [[-6.04860031e-01 7.96307039e-01 6.28023472e-03 2.42712208e+02] [ 7.96261452e-01 6.04892615e-01 -8.52200253e-03 -1.08886566e+02] [-1.05849982e-02 -1.53909900e-04 -9.99943966e-01 -4.02938896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters 0.012282890902754749 Centerline is valid? [True, True] Translation: X:242.69, Y:-108.86, Z:-4.03 [[-6.63602472e-01 7.48050568e-01 7.21845356e-03 2.42693241e+02] [ 7.48004101e-01 6.63641718e-01 -8.33876532e-03 -1.08859305e+02] [-1.10282851e-02 -1.34192419e-04 -9.99939178e-01 -4.02879422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters 0.011803061986305869 Centerline is valid? [True, True] Translation: X:242.67, Y:-108.83, Z:-4.03 [[-7.19227132e-01 6.94726402e-01 8.21945533e-03 2.42674273e+02] [ 6.94679041e-01 7.19274086e-01 -8.11288615e-03 -1.08831611e+02] [-1.15482774e-02 -1.25124498e-04 -9.99933309e-01 -4.02897797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters 0.011756305754142934 Centerline is valid? [True, True] Translation: X:242.69, Y:-108.81, Z:-4.03 [[-7.66025929e-01 6.42744948e-01 9.12180715e-03 2.42689650e+02] [ 6.42697521e-01 7.66080229e-01 -7.80890979e-03 -1.08811522e+02] [-1.20071734e-02 -1.19264534e-04 -9.99927904e-01 -4.02877868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters 0.011636629996548783 Centerline is valid? [True, True] Translation: X:242.70, Y:-108.79, Z:-4.03 [[-8.07811079e-01 5.89356358e-01 1.00171778e-02 2.42702114e+02] [ 5.89309721e-01 8.07873181e-01 -7.41462581e-03 -1.08793430e+02] [-1.24624661e-02 -8.63966436e-05 -9.99922337e-01 -4.02792003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters 0.011344544161831546 Centerline is valid? [True, True] Translation: X:242.71, Y:-108.77, Z:-4.03 [[-8.45851468e-01 5.33327519e-01 9.85153168e-03 2.42714060e+02] [ 5.33290728e-01 8.45908834e-01 -6.26448493e-03 -1.08774310e+02] [-1.16745199e-02 -4.50932731e-05 -9.99931849e-01 -4.02908211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters 0.011287825979061836 Centerline is valid? [True, True] Translation: X:242.73, Y:-108.76, Z:-4.03 [[-8.79122114e-01 4.76518815e-01 8.60975504e-03 2.42727735e+02] [ 4.76496080e-01 8.79164273e-01 -4.65477549e-03 -1.08759138e+02] [-9.78747713e-03 1.03984682e-05 -9.99952101e-01 -4.03100814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters 0.011479938272087974 Centerline is valid? [True, True] Translation: X:242.73, Y:-108.74, Z:-4.03 [[-9.09216756e-01 4.16238615e-01 8.38483287e-03 2.42734629e+02] [ 4.16221335e-01 9.09255417e-01 -3.79297573e-03 -1.08737578e+02] [-9.20273767e-03 4.13092436e-05 -9.99957653e-01 -4.03135575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters 0.012114580954833417 Centerline is valid? [True, True] Translation: X:243.00, Y:-108.16, Z:-5.01 [[-8.86030362e-01 -4.63564605e-01 7.61942437e-03 2.43004003e+02] [ 4.63546778e-01 -8.86063120e-01 -4.06598691e-03 -1.08164100e+02] [ 8.63613854e-03 -7.06282363e-05 9.99962705e-01 -5.00618499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters 0.012979519898184771 Centerline is valid? [True, True] Translation: X:242.70, Y:-108.73, Z:-4.03 [[-9.06663237e-01 4.21765413e-01 8.70119499e-03 2.42697067e+02] [ 4.21747425e-01 9.06704978e-01 -3.89762860e-03 -1.08734306e+02] [-9.53330175e-03 1.35870016e-04 -9.99954548e-01 -4.03209489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters 0.014308295407649477 Centerline is valid? [True, True] Translation: X:242.97, Y:-108.14, Z:-5.01 [[-8.92206218e-01 -4.51543057e-01 8.77107629e-03 2.42971744e+02] [ 4.51519903e-01 -8.92249322e-01 -4.57426899e-03 -1.08139420e+02] [ 9.89146628e-03 -1.20875720e-04 9.99951071e-01 -5.00613265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters 0.016639922999919288 Centerline is valid? [True, True] Translation: X:242.66, Y:-108.73, Z:-4.03 [[-9.02397429e-01 4.30807653e-01 9.14584011e-03 2.42658986e+02] [ 4.30788633e-01 9.02443732e-01 -4.05762414e-03 -1.08733470e+02] [-1.00016616e-02 2.78334366e-04 -9.99949943e-01 -4.03341347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters 0.017268931975747918 Centerline is valid? [True, True] Translation: X:242.67, Y:-108.71, Z:-4.03 [[-9.28618053e-01 3.70931695e-01 8.84242053e-03 2.42672157e+02] [ 3.70918064e-01 9.28660099e-01 -3.19528930e-03 -1.08712081e+02] [-9.39683721e-03 3.12610178e-04 -9.99955800e-01 -4.03425660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters 0.01960887050129507 Centerline is valid? [True, True] Translation: X:242.68, Y:-108.69, Z:-4.04 [[-9.50871155e-01 3.09472236e-01 8.42500548e-03 2.42680295e+02] [ 3.09463236e-01 9.50908418e-01 -2.38451710e-03 -1.08690679e+02] [-8.74935047e-03 3.39860934e-04 -9.99961666e-01 -4.03514549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters 0.020398827749849364 Centerline is valid? [True, True] Translation: X:242.68, Y:-108.66, Z:-4.04 [[-9.70153156e-01 2.42389449e-01 7.08581855e-03 2.42684315e+02] [ 2.42385144e-01 9.70178990e-01 -1.47301843e-03 -1.08663731e+02] [-7.23155640e-03 2.88443673e-04 -9.99973810e-01 -4.03582388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters 0.02054631992613276 Centerline is valid? [True, True] Translation: X:242.69, Y:-108.64, Z:-4.04 [[-9.85066236e-01 1.72022669e-01 7.26034327e-03 2.42687508e+02] [ 1.72020124e-01 9.85092950e-01 -9.78294778e-04 -1.08635346e+02] [-7.32040185e-03 2.85239992e-04 -9.99973165e-01 -4.03534033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters 0.018495387330109275 Centerline is valid? [True, True] Translation: X:242.68, Y:-108.60, Z:-4.03 [[-9.95171866e-01 9.78070408e-02 8.16940772e-03 2.42684873e+02] [ 9.78061110e-02 9.95205356e-01 -5.14223047e-04 -1.08601614e+02] [-8.18053295e-03 2.87277688e-04 -9.99966498e-01 -4.03445034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters 0.015687013695117945 Centerline is valid? [True, True] Translation: X:242.68, Y:-108.56, Z:-4.03 [[-9.99801856e-01 1.67074141e-02 1.08217867e-02 2.42677109e+02] [ 1.67093728e-02 9.99860385e-01 9.05933477e-05 -1.08564817e+02] [-1.08187622e-02 2.71400664e-04 -9.99941439e-01 -4.03280948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters 0.012906805459891783 Centerline is valid? [True, True] Translation: X:242.66, Y:-108.53, Z:-4.03 [[-9.97756502e-01 -6.59404857e-02 1.15678055e-02 2.42662223e+02] [-6.59342287e-02 9.97823545e-01 9.21850161e-04 -1.08526675e+02] [-1.16034160e-02 1.57067657e-04 -9.99932666e-01 -4.03203510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters 0.011787226304529557 Centerline is valid? [True, True] Translation: X:242.65, Y:-108.49, Z:-4.03 [[-9.89661940e-01 -1.43032806e-01 1.05290778e-02 2.42653760e+02] [-1.43023941e-01 9.89717945e-01 1.59407082e-03 -1.08493041e+02] [-1.06488217e-02 7.16810240e-05 -9.99943297e-01 -4.03222831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters 0.011226247380230031 Centerline is valid? [True, True] Translation: X:242.63, Y:-108.46, Z:-4.03 [[-9.75404543e-01 -2.20272023e-01 8.13713575e-03 2.42632912e+02] [-2.20264407e-01 9.75438484e-01 1.83162811e-03 -1.08461492e+02] [-8.34073179e-03 -5.74300736e-06 -9.99965215e-01 -4.03388054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters 0.011365443777429126 Centerline is valid? [True, True] Translation: X:242.50, Y:-107.87, Z:-5.01 [[-9.88585042e-01 1.50424163e-01 8.49624854e-03 2.42497513e+02] [-1.50418401e-01 -9.88621551e-01 1.31681238e-03 -1.07870937e+02] [ 8.59765481e-03 2.37888956e-05 9.99963039e-01 -5.00577781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters 0.011609404055200423 Centerline is valid? [True, True] Translation: X:242.54, Y:-108.47, Z:-4.03 [[-9.72348681e-01 -2.33314416e-01 1.01205407e-02 2.42537819e+02] [-2.33302689e-01 9.72401345e-01 2.34077981e-03 -1.08472756e+02] [-1.03873651e-02 -8.50951998e-05 -9.99946046e-01 -4.03190055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters 0.012111146861569137 Centerline is valid? [True, True] Translation: X:242.40, Y:-107.90, Z:-5.01 [[-9.88967853e-01 1.47745862e-01 1.06651411e-02 2.42403228e+02] [-1.47735988e-01 -9.89025352e-01 1.71218487e-03 -1.07901167e+02] [ 1.08010631e-02 1.17670639e-04 9.99941660e-01 -5.00706063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters 0.012734300223606146 Centerline is valid? [True, True] Translation: X:242.45, Y:-108.49, Z:-4.03 [[-9.69367248e-01 -2.45352720e-01 1.13657727e-02 2.42445891e+02] [-2.45337962e-01 9.69433862e-01 2.69664848e-03 -1.08486335e+02] [-1.16799949e-02 -1.74412793e-04 -9.99931771e-01 -4.03060832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters 0.01281932046483676 Centerline is valid? [True, True] Translation: X:242.43, Y:-108.46, Z:-4.03 [[-9.49034471e-01 -3.14911122e-01 1.28280555e-02 2.42425931e+02] [-3.14885381e-01 9.49121141e-01 4.03194440e-03 -1.08464316e+02] [-1.34450828e-02 -2.12912933e-04 -9.99909588e-01 -4.02931213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters 0.013096335914702816 Centerline is valid? [True, True] Translation: X:242.39, Y:-108.45, Z:-4.03 [[-9.24492417e-01 -3.80968862e-01 1.32851986e-02 2.42393188e+02] [-3.80932700e-01 9.24587846e-01 5.25297947e-03 -1.08449409e+02] [-1.42845548e-02 -2.04426897e-04 -9.99897950e-01 -4.02818898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters 0.012304789924028146 Centerline is valid? [True, True] Translation: X:242.35, Y:-108.44, Z:-4.03 [[-8.95470669e-01 -4.44938371e-01 1.27328820e-02 2.42347808e+02] [-4.44896066e-01 8.95561175e-01 6.13788286e-03 -1.08444704e+02] [-1.41340544e-02 -1.68515055e-04 -9.99900095e-01 -4.02928227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters 0.011747466440510546 Centerline is valid? [True, True] Translation: X:242.29, Y:-108.45, Z:-4.03 [[-8.62518167e-01 -5.05884375e-01 1.19754382e-02 2.42290599e+02] [-5.05837297e-01 8.62601291e-01 6.90224201e-03 -1.08451838e+02] [-1.38217649e-02 -1.04314172e-04 -9.99904469e-01 -4.02987914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters 0.011415545231710551 Centerline is valid? [True, True] Translation: X:242.23, Y:-108.47, Z:-4.03 [[-8.25808281e-01 -5.63858367e-01 1.02188130e-02 2.42225609e+02] [-5.63815612e-01 8.25871504e-01 6.94373410e-03 -1.08471519e+02] [-1.23547090e-02 -2.73331709e-05 -9.99923677e-01 -4.03129731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters 0.011336964271520552 Centerline is valid? [True, True] Translation: X:242.15, Y:-108.50, Z:-4.03 [[-7.83465401e-01 -6.21366053e-01 9.28405424e-03 2.42154768e+02] [-6.21322285e-01 7.83520407e-01 7.37497591e-03 -1.08497168e+02] [-1.18568056e-02 9.64865800e-06 -9.99929706e-01 -4.03224641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters 0.01138714884447166 Centerline is valid? [True, True] Translation: X:242.08, Y:-108.53, Z:-4.03 [[-7.37094188e-01 -6.75739431e-01 8.26917464e-03 2.42081463e+02] [-6.75696182e-01 7.37140570e-01 7.64530750e-03 -1.08533661e+02] [-1.12617798e-02 4.78619975e-05 -9.99936583e-01 -4.03366293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters 0.011689175614640005 Centerline is valid? [True, True] Translation: X:242.00, Y:-108.58, Z:-4.03 [[-6.86103114e-01 -7.27462003e-01 7.84542566e-03 2.42001522e+02] [-7.27413118e-01 6.86147964e-01 8.43373329e-03 -1.08582584e+02] [-1.15183433e-02 7.95451353e-05 -9.99933659e-01 -4.03395972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters 0.01292837391845177 Centerline is valid? [True, True] Translation: X:241.93, Y:-108.64, Z:-4.03 [[-6.33826687e-01 -7.73439236e-01 7.44847549e-03 2.41926929e+02] [-7.73382941e-01 6.33870432e-01 9.33286360e-03 -1.08642306e+02] [-1.19397713e-02 1.54894134e-04 -9.99928706e-01 -4.03375881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters 0.013821867937566321 Centerline is valid? [True, True] Translation: X:241.85, Y:-108.71, Z:-4.03 [[-5.77088046e-01 -8.16656561e-01 6.43804511e-03 2.41850582e+02] [-8.16601811e-01 5.77123921e-01 9.45838640e-03 -1.08709382e+02] [-1.14398031e-02 2.01002430e-04 -9.99934543e-01 -4.03460183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters 0.015956646471145808 Centerline is valid? [True, True] Translation: X:241.78, Y:-108.78, Z:-4.03 [[-5.18833772e-01 -8.54858835e-01 5.28101877e-03 2.41781383e+02] [-8.54809416e-01 5.18860584e-01 9.19546558e-03 -1.08782054e+02] [-1.06009375e-02 2.56653526e-04 -9.99943776e-01 -4.03459559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters 0.018015542244402178 Centerline is valid? [True, True] Translation: X:241.71, Y:-108.87, Z:-4.04 [[-4.56952434e-01 -8.89482971e-01 3.81008303e-03 2.41712786e+02] [-8.89447122e-01 4.56968243e-01 7.99011096e-03 -1.08867373e+02] [-8.84815458e-03 2.62233265e-04 -9.99960820e-01 -4.03570096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters 0.01688313859708952 Centerline is valid? [True, True] Translation: X:241.64, Y:-108.96, Z:-4.04 [[-3.88638004e-01 -9.21385139e-01 3.15080403e-03 2.41642193e+02] [-9.21349033e-01 3.88650683e-01 8.16129667e-03 -1.08957283e+02] [-8.74425961e-03 2.68799797e-04 -9.99961732e-01 -4.03627713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters 0.016925384393441757 Centerline is valid? [True, True] Translation: X:241.58, Y:-109.06, Z:-4.04 [[-3.14957002e-01 -9.49102452e-01 2.57337675e-03 2.41576254e+02] [-9.49063805e-01 3.14967410e-01 8.56884058e-03 -1.09059380e+02] [-8.94323741e-03 2.56517605e-04 -9.99959976e-01 -4.03545982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters 0.015101137283929396 Centerline is valid? [True, True] Translation: X:241.52, Y:-109.16, Z:-4.03 [[-2.36524782e-01 -9.71623514e-01 1.94296061e-03 2.41515069e+02] [-9.71582822e-01 2.36532664e-01 8.89492427e-03 -1.09164970e+02] [-9.10209122e-03 2.16122869e-04 -9.99958552e-01 -4.03464941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters 0.012950445217904163 Centerline is valid? [True, True] Translation: X:241.46, Y:-109.28, Z:-4.03 [[-1.51390954e-01 -9.88472974e-01 1.39951541e-03 2.41458333e+02] [-9.88421911e-01 1.51397360e-01 1.00481057e-02 -1.09280797e+02] [-1.01441639e-02 1.37880610e-04 -9.99948537e-01 -4.03347010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters 0.011758850388886737 Centerline is valid? [True, True] Translation: X:241.41, Y:-109.39, Z:-4.03 [[-6.81438477e-02 -9.97675326e-01 5.99252500e-04 2.41413335e+02] [-9.97628121e-01 6.81464530e-02 9.70531418e-03 -1.09390595e+02] [-9.72358943e-03 6.35263061e-05 -9.99952723e-01 -4.03339405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters 0.011356867387234503 Centerline is valid? [True, True] Translation: X:241.38, Y:-109.51, Z:-4.03 [[ 1.70742713e-02 -9.99854216e-01 -1.30206068e-04 2.41375032e+02] [-9.99816228e-01 -1.70747576e-02 8.71569922e-03 -1.09512275e+02] [-8.71665184e-03 -1.86320735e-05 -9.99962009e-01 -4.03253279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters 0.011825151071654052 Centerline is valid? [True, True] Translation: X:241.35, Y:-109.63, Z:-4.03 [[ 1.00831307e-01 -9.94903268e-01 -7.31542190e-04 2.41348166e+02] [-9.94871368e-01 -1.00833932e-01 7.96735412e-03 -1.09629210e+02] [-8.00051093e-03 -7.55683470e-05 -9.99967993e-01 -4.03274115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters 0.012610835465179064 Centerline is valid? [True, True] Translation: X:241.33, Y:-109.75, Z:-4.03 [[ 1.81354412e-01 -9.83417018e-01 -1.24333407e-03 2.41333209e+02] [-9.83389748e-01 -1.81358643e-01 7.32437910e-03 -1.09752178e+02] [-7.42840843e-03 -1.05626488e-04 -9.99972403e-01 -4.03306373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters 0.013980040282833438 Centerline is valid? [True, True] Translation: X:241.33, Y:-109.87, Z:-4.03 [[ 2.61677807e-01 -9.65153861e-01 -1.65850279e-03 2.41325353e+02] [-9.65131022e-01 -2.61683027e-01 6.64114732e-03 -1.09868435e+02] [-6.84373101e-03 -1.37168373e-04 -9.99976572e-01 -4.03298815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters 0.01449071506435845 Centerline is valid? [True, True] Translation: X:241.33, Y:-109.99, Z:-4.03 [[ 3.36059724e-01 -9.41838155e-01 -2.17964538e-03 2.41329977e+02] [-9.41815397e-01 -3.36066760e-01 6.54908250e-03 -1.09986860e+02] [-6.90068214e-03 -1.48059273e-04 -9.99976179e-01 -4.03244281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters 0.01491988570656664 Centerline is valid? [True, True] Translation: X:241.34, Y:-110.10, Z:-4.03 [[ 4.10010093e-01 -9.12076166e-01 -2.96515704e-03 2.41343112e+02] [-9.12048892e-01 -4.10020771e-01 7.05594969e-03 -1.10101074e+02] [-7.65133951e-03 -1.88642394e-04 -9.99970710e-01 -4.03144538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters 0.0156782353780869 Centerline is valid? [True, True] Translation: X:241.36, Y:-110.21, Z:-4.03 [[ 4.79213894e-01 -8.77689592e-01 -3.87602806e-03 2.41364049e+02] [-8.77657143e-01 -4.79229520e-01 7.55021656e-03 -1.10212602e+02] [-8.48425356e-03 -2.16344968e-04 -9.99963985e-01 -4.03026308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters 0.015328933218974742 Centerline is valid? [True, True] Translation: X:241.40, Y:-110.32, Z:-4.03 [[ 5.43773054e-01 -8.39215708e-01 -5.27844632e-03 2.41398663e+02] [-8.39171742e-01 -5.43798618e-01 8.59364780e-03 -1.10321620e+02] [-1.00823360e-02 -2.43471118e-04 -9.99949142e-01 -4.02890254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters 0.01450806819898801 Centerline is valid? [True, True] Translation: X:241.44, Y:-110.42, Z:-4.03 [[ 6.03972988e-01 -7.96977203e-01 -6.63075791e-03 2.41437742e+02] [-7.96924741e-01 -6.04009337e-01 9.14755101e-03 -1.10419945e+02] [-1.12954293e-02 -2.40658695e-04 -9.99936176e-01 -4.02745242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters 0.012395184893396199 Centerline is valid? [True, True] Translation: X:241.49, Y:-110.51, Z:-4.03 [[ 6.55908582e-01 -7.54799878e-01 -7.81510035e-03 2.41491065e+02] [-7.54743678e-01 -6.55955123e-01 9.21182066e-03 -1.10508594e+02] [-1.20794362e-02 -1.43714657e-04 -9.99927031e-01 -4.02776537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters 0.01161555233358295 Centerline is valid? [True, True] Translation: X:241.54, Y:-110.59, Z:-4.03 [[ 7.07490733e-01 -7.06682585e-01 -7.52242167e-03 2.41543587e+02] [-7.06641625e-01 -7.07530720e-01 7.60879497e-03 -1.10593718e+02] [-1.06993473e-02 -6.74956575e-05 -9.99942758e-01 -4.02881225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters 0.011276408201216628 Centerline is valid? [True, True] Translation: X:241.60, Y:-110.67, Z:-4.03 [[ 7.54387920e-01 -6.56399799e-01 -6.17820071e-03 2.41604873e+02] [-6.56377865e-01 -7.54413218e-01 5.36596052e-03 -1.10671843e+02] [-8.18313169e-03 7.21839913e-06 -9.99966518e-01 -4.03279471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters 0.01151111380978314 Centerline is valid? [True, True] Translation: X:241.63, Y:-110.69, Z:-4.03 [[ 8.01139334e-01 -5.98446336e-01 -6.14412125e-03 2.41628569e+02] [-5.98429072e-01 -8.01162894e-01 4.54573650e-03 -1.10694939e+02] [-7.64282131e-03 3.50524622e-05 -9.99970793e-01 -4.03400396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters 0.012140965521632097 Centerline is valid? [True, True] Translation: X:241.65, Y:-110.71, Z:-4.03 [[ 8.43478480e-01 -5.37101659e-01 -8.11553217e-03 2.41653897e+02] [-5.37077716e-01 -8.43517517e-01 5.07204426e-03 -1.10712715e+02] [-9.56979693e-03 8.05113055e-05 -9.99954205e-01 -4.03299302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters 0.012665966732824238 Centerline is valid? [True, True] Translation: X:241.68, Y:-110.73, Z:-4.03 [[ 8.81925185e-01 -4.71289751e-01 -9.69219851e-03 2.41680028e+02] [-4.71262714e-01 -8.81978434e-01 5.04946628e-03 -1.10730485e+02] [-1.09280718e-02 1.14320294e-04 -9.99940280e-01 -4.03263019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters 0.013163096027618934 Centerline is valid? [True, True] Translation: X:241.71, Y:-110.75, Z:-4.03 [[ 9.15201244e-01 -4.02856260e-01 -1.06544176e-02 2.41707502e+02] [-4.02830815e-01 -9.15263248e-01 4.53016614e-03 -1.10747185e+02] [-1.15766027e-02 1.45914057e-04 -9.99932978e-01 -4.03236110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters 0.01292766870984119 Centerline is valid? [True, True] Translation: X:241.73, Y:-110.77, Z:-4.03 [[ 9.43298539e-01 -3.31774049e-01 -1.06698592e-02 2.41732833e+02] [-3.31754762e-01 -9.43358868e-01 3.58104801e-03 -1.10768529e+02] [-1.12536051e-02 1.61779249e-04 -9.99936663e-01 -4.03393566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters 0.013099415106347673 Centerline is valid? [True, True] Translation: X:241.76, Y:-110.79, Z:-4.03 [[ 9.66468950e-01 -2.56553417e-01 -1.08680029e-02 2.41759071e+02] [-2.56539004e-01 -9.66530041e-01 2.72386835e-03 -1.10786548e+02] [-1.12030690e-02 1.55532447e-04 -9.99937232e-01 -4.03437693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters 0.012998783920865597 Centerline is valid? [True, True] Translation: X:241.79, Y:-110.80, Z:-4.04 [[ 9.83798578e-01 -1.78922116e-01 -1.12798456e-02 2.41785430e+02] [-1.78912047e-01 -9.83863230e-01 1.90367092e-03 -1.10801448e+02] [-1.14384342e-02 1.45271530e-04 -9.99934568e-01 -4.03502217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters 0.012542061104190894 Centerline is valid? [True, True] Translation: X:241.81, Y:-110.82, Z:-4.04 [[ 9.94910211e-01 -1.00181113e-01 -1.08359021e-02 2.41812093e+02] [-1.00176538e-01 -9.94969210e-01 9.65516291e-04 -1.10818183e+02] [-1.08781154e-02 1.24901135e-04 -9.99940824e-01 -4.03581239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters 0.012481698990604301 Centerline is valid? [True, True] Translation: X:241.84, Y:-110.83, Z:-4.04 [[ 9.99720042e-01 -2.12706050e-02 -1.03633472e-02 2.41840069e+02] [-2.12706121e-02 -9.99773749e-01 1.09549330e-04 -1.10831354e+02] [-1.03633327e-02 1.10916077e-04 -9.99946293e-01 -4.03542467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters 0.012228302027875173 Centerline is valid? [True, True] Translation: X:241.87, Y:-110.84, Z:-4.04 [[ 9.98195656e-01 5.91773198e-02 -1.01723782e-02 2.41868789e+02] [ 5.91733546e-02 -9.98247483e-01 -6.90598795e-04 -1.10842198e+02] [-1.01954187e-02 8.74189762e-05 -9.99948022e-01 -4.03656988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters 0.011832991284042523 Centerline is valid? [True, True] Translation: X:241.90, Y:-110.85, Z:-4.04 [[ 9.90111338e-01 1.39924277e-01 -1.00367098e-02 2.41899317e+02] [ 1.39916485e-01 -9.90162205e-01 -1.47784512e-03 -1.10850693e+02] [-1.01447571e-02 5.89300420e-05 -9.99948539e-01 -4.03638531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters 0.011408178015160267 Centerline is valid? [True, True] Translation: X:241.93, Y:-110.86, Z:-4.04 [[ 9.74711405e-01 2.23224990e-01 -1.04058256e-02 2.41931534e+02] [ 2.23212332e-01 -9.74766948e-01 -2.37715303e-03 -1.10861646e+02] [-1.06738949e-02 -5.67043392e-06 -9.99943032e-01 -4.03511308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters 0.011845075688345467 Centerline is valid? [True, True] Translation: X:241.96, Y:-110.87, Z:-4.03 [[ 9.51539198e-01 3.07349855e-01 -1.04508982e-02 2.41964870e+02] [ 3.07332506e-01 -9.51596583e-01 -3.26721057e-03 -1.10869472e+02] [-1.09492157e-02 -1.03021797e-04 -9.99940050e-01 -4.03413418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters 0.01307620204842703 Centerline is valid? [True, True] Translation: X:242.00, Y:-110.87, Z:-4.03 [[ 9.22182179e-01 3.86613275e-01 -1.04978265e-02 2.41998489e+02] [ 3.86590394e-01 -9.22241912e-01 -4.20987318e-03 -1.10870898e+02] [-1.13091285e-02 -1.76088861e-04 -9.99936034e-01 -4.03388659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters 0.015925209217181338 Centerline is valid? [True, True] Translation: X:242.03, Y:-110.87, Z:-4.03 [[ 8.85840582e-01 4.63846901e-01 -1.15115392e-02 2.42031464e+02] [ 4.63811966e-01 -8.85915328e-01 -5.70012597e-03 -1.10870702e+02] [-1.28422348e-02 -2.89786705e-04 -9.99917493e-01 -4.03215782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters 0.01641301133753329 Centerline is valid? [True, True] Translation: X:242.06, Y:-110.86, Z:-4.03 [[ 8.45146427e-01 5.34417039e-01 -1.12225128e-02 2.42062168e+02] [ 5.34375166e-01 -8.45220868e-01 -6.69829508e-03 -1.10861717e+02] [-1.30651850e-02 -3.35991961e-04 -9.99914590e-01 -4.03227980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters 0.017844972697512274 Centerline is valid? [True, True] Translation: X:242.09, Y:-110.85, Z:-4.03 [[ 7.99429564e-01 6.00642693e-01 -1.18628276e-02 2.42091539e+02] [ 6.00584000e-01 -7.99517474e-01 -8.40640625e-03 -1.10850044e+02] [-1.45337844e-02 -4.04294749e-04 -9.99894297e-01 -4.03079239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters 0.01578071294203755 Centerline is valid? [True, True] Translation: X:242.12, Y:-110.83, Z:-4.03 [[ 7.50973364e-01 6.60237284e-01 -1.12131676e-02 2.42118587e+02] [ 6.60171238e-01 -7.51056976e-01 -9.34641690e-03 -1.10833323e+02] [-1.45925807e-02 -3.83700584e-04 -9.99893449e-01 -4.03260462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters 0.014566443633850335 Centerline is valid? [True, True] Translation: X:242.15, Y:-110.82, Z:-4.03 [[ 6.99155641e-01 7.14897157e-01 -1.01707853e-02 2.42145255e+02] [ 7.14828312e-01 -6.99229537e-01 -9.92664365e-03 -1.10816538e+02] [-1.42082428e-02 -3.30096391e-04 -9.99899003e-01 -4.03330552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters 0.013153027410261243 Centerline is valid? [True, True] Translation: X:242.17, Y:-110.80, Z:-4.03 [[ 6.45591706e-01 7.63630209e-01 -8.95836783e-03 2.42168789e+02] [ 7.63561714e-01 -6.45653815e-01 -1.02303998e-02 -1.10796469e+02] [-1.35962467e-02 -2.35605427e-04 -9.99907539e-01 -4.03371541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters 0.012805851306347139 Centerline is valid? [True, True] Translation: X:242.19, Y:-110.78, Z:-4.03 [[ 5.87174489e-01 8.09421337e-01 -7.95101859e-03 2.42190683e+02] [ 8.09351146e-01 -5.87228293e-01 -1.06608346e-02 -1.10776613e+02] [-1.32981701e-02 -1.75395894e-04 -9.99911560e-01 -4.03356097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters 0.011879144578828103 Centerline is valid? [True, True] Translation: X:242.21, Y:-110.75, Z:-4.03 [[ 5.27836850e-01 8.49318184e-01 -6.84698379e-03 2.42207240e+02] [ 8.49248729e-01 -5.27881251e-01 -1.08619135e-02 -1.10751808e+02] [-1.28396150e-02 -8.14740550e-05 -9.99917565e-01 -4.03453765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters 0.011710045379456378 Centerline is valid? [True, True] Translation: X:242.22, Y:-110.73, Z:-4.03 [[ 4.65527887e-01 8.85012483e-01 -6.05727806e-03 2.42222008e+02] [ 8.84937501e-01 -4.65567293e-01 -1.15202063e-02 -1.10727194e+02] [-1.30155970e-02 2.66480166e-06 -9.99915294e-01 -4.03416333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters 0.011960830943694137 Centerline is valid? [True, True] Translation: X:242.24, Y:-110.70, Z:-4.03 [[ 3.98068344e-01 9.17341702e-01 -5.07893812e-03 2.42237110e+02] [ 9.17265485e-01 -3.98100741e-01 -1.18249950e-02 -1.10702566e+02] [-1.28694900e-02 4.84215282e-05 -9.99917184e-01 -4.03431714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters 0.012131579188638062 Centerline is valid? [True, True] Translation: X:242.25, Y:-110.68, Z:-4.03 [[ 3.26523274e-01 9.45180100e-01 -4.13897141e-03 2.42251114e+02] [ 9.45101478e-01 -3.26549498e-01 -1.21910185e-02 -1.10677716e+02] [-1.28742871e-02 6.89032669e-05 -9.99917121e-01 -4.03462983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters 0.013080510105480978 Centerline is valid? [True, True] Translation: X:242.26, Y:-110.65, Z:-4.03 [[ 2.55744119e-01 9.66739738e-01 -3.03734696e-03 2.42259347e+02] [ 9.66665905e-01 -2.55762127e-01 -1.19482921e-02 -1.10652716e+02] [-1.23277271e-02 1.19605689e-04 -9.99924004e-01 -4.03498727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters 0.012877868143312701 Centerline is valid? [True, True] Translation: X:242.28, Y:-110.63, Z:-4.04 [[ 1.82358269e-01 9.83230143e-01 -1.98701293e-03 2.42276354e+02] [ 9.83162450e-01 -1.82369032e-01 -1.15383608e-02 -1.10628327e+02] [-1.17072337e-02 1.50558998e-04 -9.99931457e-01 -4.03659045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters 0.014049965740933906 Centerline is valid? [True, True] Translation: X:242.29, Y:-110.60, Z:-4.04 [[ 1.08512493e-01 9.94094619e-01 -9.63261712e-04 2.42288723e+02] [ 9.94040038e-01 -1.08516631e-01 -1.04184300e-02 -1.10602778e+02] [-1.04614351e-02 1.73009108e-04 -9.99945263e-01 -4.03593098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters 0.014720813749921614 Centerline is valid? [True, True] Translation: X:242.30, Y:-110.58, Z:-4.04 [[ 3.32909595e-02 9.99445692e-01 -1.41318981e-04 2.42297510e+02] [ 9.99393347e-01 -3.32906625e-02 -1.02307807e-02 -1.10576243e+02] [-1.02298143e-02 1.99359256e-04 -9.99947654e-01 -4.03684835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters 0.01466697106666719 Centerline is valid? [True, True] Translation: X:242.31, Y:-110.55, Z:-4.04 [[-4.39344286e-02 9.99034197e-01 6.62559460e-04 2.42307929e+02] [ 9.98981727e-01 4.39389130e-02 -1.02411468e-02 -1.10548555e+02] [-1.02603680e-02 2.11945863e-04 -9.99947339e-01 -4.03738948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters 0.014723008898188086 Centerline is valid? [True, True] Translation: X:242.32, Y:-110.52, Z:-4.04 [[-1.21830599e-01 9.92550180e-01 1.20216466e-03 2.42317990e+02] [ 9.92515037e-01 1.21836404e-01 -8.35417996e-03 -1.10519889e+02] [-8.43841024e-03 1.75371752e-04 -9.99964381e-01 -4.03786838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters 0.014973408349977109 Centerline is valid? [True, True] Translation: X:242.32, Y:-110.49, Z:-4.04 [[-1.99338565e-01 9.79929474e-01 1.53688857e-03 2.42323190e+02] [ 9.79905659e-01 1.99344438e-01 -6.83336488e-03 -1.10490966e+02] [-7.00258584e-03 1.43852652e-04 -9.99975471e-01 -4.03836689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters 0.014698408819901195 Centerline is valid? [True, True] Translation: X:242.33, Y:-110.46, Z:-4.04 [[-2.76068678e-01 9.61136159e-01 1.83536211e-03 2.42329160e+02] [ 9.61117801e-01 2.76074751e-01 -5.94184292e-03 -1.10459677e+02] [-6.21761722e-03 1.23642474e-04 -9.99980663e-01 -4.03916691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters 0.013940673069060695 Centerline is valid? [True, True] Translation: X:242.34, Y:-110.43, Z:-4.04 [[-3.53722304e-01 9.35347559e-01 2.33986698e-03 2.42335086e+02] [ 9.35329007e-01 3.53730028e-01 -5.89203293e-03 -1.10426833e+02] [-6.33877983e-03 1.04401997e-04 -9.99979904e-01 -4.03803860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters 0.013354488469047326 Centerline is valid? [True, True] Translation: X:242.34, Y:-110.39, Z:-4.04 [[-4.29071004e-01 9.03266230e-01 2.86222534e-03 2.42335740e+02] [ 9.03247424e-01 4.29080542e-01 -5.82917396e-03 -1.10394711e+02] [-6.49342119e-03 8.41681428e-05 -9.99978914e-01 -4.03731564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters 0.012098719240937413 Centerline is valid? [True, True] Translation: X:242.34, Y:-110.36, Z:-4.04 [[-5.03865463e-01 8.63775466e-01 3.39702007e-03 2.42339814e+02] [ 8.63756434e-01 5.03876912e-01 -5.73415280e-03 -1.10357875e+02] [-6.66470049e-03 4.49563888e-05 -9.99977790e-01 -4.03759384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters 0.011757407771974366 Centerline is valid? [True, True] Translation: X:242.34, Y:-110.32, Z:-4.04 [[-5.73879887e-01 8.18928321e-01 4.27550268e-03 2.42335764e+02] [ 8.18905793e-01 5.73895814e-01 -6.07428236e-03 -1.10324298e+02] [-7.42809494e-03 1.53254412e-05 -9.99972411e-01 -4.03684639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters 0.011796630500763655 Centerline is valid? [True, True] Translation: X:242.33, Y:-110.29, Z:-4.04 [[-6.41002206e-01 7.67520972e-01 5.26593649e-03 2.42330232e+02] [ 7.67494639e-01 6.41023835e-01 -6.35785996e-03 -1.10290205e+02] [-8.25538166e-03 -3.38242389e-05 -9.99965923e-01 -4.03501578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters 0.012268358832498912 Centerline is valid? [True, True] Translation: X:242.32, Y:-110.26, Z:-4.03 [[-7.02145134e-01 7.12007696e-01 6.10344863e-03 2.42318258e+02] [ 7.11979895e-01 7.02171657e-01 -6.29233319e-03 -1.10257672e+02] [-8.76585829e-03 -7.25984204e-05 -9.99961577e-01 -4.03465057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters 0.012586429209240933 Centerline is valid? [True, True] Translation: X:242.30, Y:-110.23, Z:-4.03 [[-7.56946983e-01 6.53443328e-01 6.56379207e-03 2.42299946e+02] [ 6.53417742e-01 7.56975435e-01 -5.78311723e-03 -1.10229335e+02] [-8.74756873e-03 -8.86149442e-05 -9.99961735e-01 -4.03462981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters 0.012940637901846658 Centerline is valid? [True, True] Translation: X:242.32, Y:-110.20, Z:-4.03 [[-8.02009142e-01 5.97273516e-01 6.75895368e-03 2.42316101e+02] [ 5.97251298e-01 8.02037616e-01 -5.15261733e-03 -1.10201920e+02] [-8.49845697e-03 -9.56523506e-05 -9.99963883e-01 -4.03397793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters 0.012354685141233477 Centerline is valid? [True, True] Translation: X:242.66, Y:-109.76, Z:-5.00 [[-7.45596434e-01 -6.66368055e-01 6.29072041e-03 2.42656206e+02] [ 6.66345305e-01 -7.45622966e-01 -5.50700545e-03 -1.09764078e+02] [ 8.36019813e-03 8.57883873e-05 9.99965049e-01 -5.00379336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters 0.012668352120459074 Centerline is valid? [True, True] Translation: X:242.29, Y:-110.18, Z:-4.04 [[-8.04407716e-01 5.94044177e-01 6.30410489e-03 2.42288114e+02] [ 5.94025027e-01 8.04432413e-01 -4.77072176e-03 -1.10176083e+02] [-7.90524579e-03 -9.28093157e-05 -9.99968749e-01 -4.03500221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters 0.012358536620051945 Centerline is valid? [True, True] Translation: X:242.30, Y:-110.15, Z:-4.03 [[-8.43925879e-01 5.36425851e-01 6.03471644e-03 2.42300406e+02] [ 5.36411474e-01 8.43947451e-01 -3.92814604e-03 -1.10151007e+02] [-7.20014264e-03 -7.79729576e-05 -9.99974076e-01 -4.03486487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters 0.012132964908537396 Centerline is valid? [True, True] Translation: X:242.31, Y:-110.13, Z:-4.03 [[-8.78869969e-01 4.77023293e-01 6.02959637e-03 2.42310630e+02] [ 4.77011585e-01 8.78890650e-01 -3.34262358e-03 -1.10127591e+02] [-6.89386517e-03 -6.15441567e-05 -9.99976235e-01 -4.03487269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters 0.011932392761238338 Centerline is valid? [True, True] Translation: X:242.32, Y:-110.10, Z:-4.03 [[-9.10049291e-01 4.14436012e-01 7.28556868e-03 2.42318051e+02] [ 4.14422174e-01 9.10078451e-01 -3.38730824e-03 -1.10103135e+02] [-8.03426158e-03 -6.33162457e-05 -9.99967723e-01 -4.03472134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters 0.012024496061262619 Centerline is valid? [True, True] Translation: X:242.32, Y:-110.08, Z:-4.03 [[-9.37314041e-01 3.48362848e-01 9.25817325e-03 2.42324614e+02] [ 3.48344963e-01 9.37359760e-01 -3.53100280e-03 -1.10078415e+02] [-9.90830924e-03 -8.46204849e-05 -9.99950908e-01 -4.03353699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters 0.012162555626418317 Centerline is valid? [True, True] Translation: X:242.33, Y:-110.05, Z:-4.03 [[-9.59935573e-01 2.80047365e-01 9.85744096e-03 2.42327306e+02] [ 2.80031544e-01 9.59986179e-01 -2.97841791e-03 -1.10051988e+02] [-1.02971052e-02 -9.86948924e-05 -9.99946979e-01 -4.03358449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters 0.012150017116859082 Centerline is valid? [True, True] Translation: X:242.33, Y:-110.03, Z:-4.03 [[-9.77492156e-01 2.10750446e-01 9.66102993e-03 2.42325921e+02] [ 2.10739134e-01 9.77539892e-01 -2.18589881e-03 -1.10026169e+02] [-9.90472130e-03 -1.00741867e-04 -9.99950942e-01 -4.03371793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters 0.012024123352757793 Centerline is valid? [True, True] Translation: X:242.33, Y:-110.00, Z:-4.03 [[-9.89829470e-01 1.41939512e-01 9.52863546e-03 2.42328529e+02] [ 1.41932085e-01 9.89875329e-01 -1.45460812e-03 -1.10004448e+02] [-9.63862753e-03 -8.73948802e-05 -9.99953544e-01 -4.03405906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters 0.011859416695206683 Centerline is valid? [True, True] Translation: X:242.32, Y:-109.98, Z:-4.03 [[-9.97352681e-01 7.22025902e-02 8.62648330e-03 2.42324696e+02] [ 7.21992693e-02 9.97389984e-01 -6.96166731e-04 -1.09980140e+02] [-8.65423309e-03 -7.14979640e-05 -9.99962549e-01 -4.03464043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters 0.011832797342992373 Centerline is valid? [True, True] Translation: X:242.32, Y:-109.96, Z:-4.04 [[-9.99974246e-01 1.47878116e-03 7.02292662e-03 2.42321564e+02] [ 1.47834508e-03 9.99998905e-01 -6.72851323e-05 -1.09956976e+02] [-7.02301843e-03 -5.69010904e-05 -9.99975337e-01 -4.03585021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters 0.01200624956002117 Centerline is valid? [True, True] Translation: X:242.31, Y:-109.93, Z:-4.04 [[-9.97478188e-01 -7.06075830e-02 7.19950970e-03 2.42314268e+02] [-7.06062189e-02 9.97504168e-01 4.43792629e-04 -1.09932098e+02] [-7.21287606e-03 -6.56566897e-05 -9.99973985e-01 -4.03552464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters 0.01250750510719867 Centerline is valid? [True, True] Translation: X:242.30, Y:-109.91, Z:-4.03 [[-9.89437179e-01 -1.44791562e-01 7.03370154e-03 2.42301418e+02] [-1.44788545e-01 9.89462175e-01 9.39017170e-04 -1.09907375e+02] [-7.09554338e-03 -8.93009101e-05 -9.99974822e-01 -4.03472275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters 0.012896696188184035 Centerline is valid? [True, True] Translation: X:242.29, Y:-109.88, Z:-4.03 [[-9.76101951e-01 -2.17200059e-01 7.00820202e-03 2.42285198e+02] [-2.17195248e-01 9.76127104e-01 1.44959211e-03 -1.09883443e+02] [-7.15574744e-03 -1.07198493e-04 -9.99974392e-01 -4.03443247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters 0.014129522859889982 Centerline is valid? [True, True] Translation: X:242.27, Y:-109.86, Z:-4.03 [[-9.57030774e-01 -2.89902275e-01 6.98344256e-03 2.42266059e+02] [-2.89895593e-01 9.57056243e-01 1.97307410e-03 -1.09860230e+02] [-7.25554598e-03 -1.36176587e-04 -9.99973669e-01 -4.03347150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters 0.013879694093789988 Centerline is valid? [True, True] Translation: X:242.24, Y:-109.84, Z:-4.03 [[-9.33255648e-01 -3.59144773e-01 6.99482055e-03 2.42241627e+02] [-3.59135894e-01 9.33281849e-01 2.52988731e-03 -1.09841849e+02] [-7.43673485e-03 -1.51059511e-04 -9.99972336e-01 -4.03383012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters 0.016213440269284684 Centerline is valid? [True, True] Translation: X:242.21, Y:-109.83, Z:-4.03 [[-9.03285916e-01 -4.28983177e-01 6.92732610e-03 2.42205835e+02] [-4.28972119e-01 9.03312460e-01 3.08565311e-03 -1.09826185e+02] [-7.58123325e-03 -1.84402751e-04 -9.99971245e-01 -4.03299800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters 0.015642688183437375 Centerline is valid? [True, True] Translation: X:242.16, Y:-109.82, Z:-4.03 [[-8.68941440e-01 -4.94867132e-01 6.87715128e-03 2.42156401e+02] [-4.94853452e-01 8.68968631e-01 3.68515770e-03 -1.09823764e+02] [-7.79969215e-03 -2.00995811e-04 -9.99969562e-01 -4.03339547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters 0.01657503584245129 Centerline is valid? [True, True] Translation: X:242.09, Y:-109.83, Z:-4.03 [[-8.30117689e-01 -5.57544389e-01 6.99113294e-03 2.42093470e+02] [-5.57526766e-01 8.30147100e-01 4.43813812e-03 -1.09832621e+02] [-8.27812775e-03 -2.13566780e-04 -9.99965713e-01 -4.03286902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters 0.015137023595493576 Centerline is valid? [True, True] Translation: X:242.03, Y:-109.85, Z:-4.03 [[-7.86929993e-01 -6.17006280e-01 6.66605706e-03 2.42027643e+02] [-6.16986377e-01 7.86958198e-01 4.96031766e-03 -1.09852197e+02] [-8.30645541e-03 -2.09443652e-04 -9.99965479e-01 -4.03403296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters 0.015474532522890883 Centerline is valid? [True, True] Translation: X:241.95, Y:-109.88, Z:-4.03 [[-7.39033381e-01 -6.73633030e-01 6.94288264e-03 2.41954861e+02] [-6.73606169e-01 7.39065957e-01 6.01989814e-03 -1.09880864e+02] [-9.18645043e-03 -2.27862907e-04 -9.99957778e-01 -4.03341706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters 0.015533369824429696 Centerline is valid? [True, True] Translation: X:241.88, Y:-109.92, Z:-4.03 [[-6.87688164e-01 -7.25978348e-01 6.35821099e-03 2.41879584e+02] [-7.25950108e-01 6.87717525e-01 6.40680524e-03 -1.09921823e+02] [-9.02385501e-03 -2.09859820e-04 -9.99959262e-01 -4.03369908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters 0.014262268516506317 Centerline is valid? [True, True] Translation: X:241.81, Y:-109.97, Z:-4.04 [[-6.32640959e-01 -7.74422479e-01 5.93638255e-03 2.41805060e+02] [-7.74391226e-01 6.32668781e-01 6.96005316e-03 -1.09972720e+02] [-9.14578554e-03 -1.93867856e-04 -9.99958158e-01 -4.03502507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters 0.013504390179066026 Centerline is valid? [True, True] Translation: X:241.73, Y:-110.03, Z:-4.04 [[-5.75662147e-01 -8.17673148e-01 4.86985718e-03 2.41732297e+02] [-8.17645942e-01 5.75682727e-01 6.67168229e-03 -1.10034134e+02] [-8.25874812e-03 -1.41184014e-04 -9.99965886e-01 -4.03557037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters 0.01271552471580572 Centerline is valid? [True, True] Translation: X:241.66, Y:-110.10, Z:-4.04 [[-5.14672690e-01 -8.57376484e-01 4.19373948e-03 2.41660696e+02] [-8.57349755e-01 5.14689764e-01 6.77082540e-03 -1.10102242e+02] [-7.96362126e-03 -1.10742596e-04 -9.99968284e-01 -4.03551535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters 0.01216807763474764 Centerline is valid? [True, True] Translation: X:241.59, Y:-110.18, Z:-4.03 [[-4.51952576e-01 -8.92034163e-01 3.73106452e-03 2.41593426e+02] [-8.92005136e-01 4.51967970e-01 7.19665173e-03 -1.10182949e+02] [-8.10598087e-03 -7.55834278e-05 -9.99967143e-01 -4.03486846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters 0.012055129372678285 Centerline is valid? [True, True] Translation: X:241.53, Y:-110.27, Z:-4.03 [[-3.84820972e-01 -9.22984518e-01 3.52128771e-03 2.41527728e+02] [-9.22947305e-01 3.84837078e-01 8.28834320e-03 -1.10274033e+02] [-9.00513452e-03 -6.04347108e-05 -9.99959451e-01 -4.03374361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters 0.011936660560059865 Centerline is valid? [True, True] Translation: X:241.47, Y:-110.37, Z:-4.03 [[-3.13458498e-01 -9.49596680e-01 3.14896865e-03 2.41466635e+02] [-9.49550718e-01 3.13474309e-01 9.34299465e-03 -1.10369537e+02] [-9.85919747e-03 -6.14643740e-05 -9.99951395e-01 -4.03378963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters 0.01218071122916568 Centerline is valid? [True, True] Translation: X:241.41, Y:-110.47, Z:-4.03 [[-2.37865764e-01 -9.71294798e-01 2.50860104e-03 2.41411560e+02] [-9.71244387e-01 2.37878977e-01 9.89610690e-03 -1.10468081e+02] [-1.02087806e-02 -8.25196568e-05 -9.99947886e-01 -4.03330265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters 0.01272228272041789 Centerline is valid? [True, True] Translation: X:241.36, Y:-110.58, Z:-4.03 [[-1.57409911e-01 -9.87532055e-01 1.60021137e-03 2.41357853e+02] [-9.87488872e-01 1.57417993e-01 9.23592600e-03 -1.10578465e+02] [-9.37267504e-03 -1.26364633e-04 -9.99956068e-01 -4.03430944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters 0.013235227289032106 Centerline is valid? [True, True] Translation: X:241.31, Y:-110.70, Z:-4.03 [[-7.76709254e-02 -9.96978615e-01 9.32201488e-04 2.41312568e+02] [-9.96930353e-01 7.76763391e-02 9.81113136e-03 -1.10695613e+02] [-9.85389815e-03 -1.67300307e-04 -9.99951435e-01 -4.03448535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters 0.014405966647867334 Centerline is valid? [True, True] Translation: X:241.28, Y:-110.80, Z:-4.03 [[ 1.33931955e-03 -9.99999086e-01 1.86563761e-04 2.41275576e+02] [-9.99945215e-01 -1.33731056e-03 1.03816530e-02 -1.10804142e+02] [-1.03813940e-02 -2.00457891e-04 -9.99946092e-01 -4.03440670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters 0.014252261389204091 Centerline is valid? [True, True] Translation: X:241.25, Y:-110.92, Z:-4.03 [[ 7.83861175e-02 -9.96922856e-01 -6.60121521e-04 2.41250510e+02] [-9.96860298e-01 -7.83885951e-02 1.11702673e-02 -1.10916096e+02] [-1.11876408e-02 -2.17544948e-04 -9.99937393e-01 -4.03408668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters 0.014517144335457607 Centerline is valid? [True, True] Translation: X:241.23, Y:-111.03, Z:-4.03 [[ 1.55314725e-01 -9.87863798e-01 -1.56635672e-03 2.41232813e+02] [-9.87797479e-01 -1.55322451e-01 1.14488741e-02 -1.11034478e+02] [-1.15532186e-02 -2.30935518e-04 -9.99933233e-01 -4.03362102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters 0.01458989102033867 Centerline is valid? [True, True] Translation: X:241.23, Y:-111.15, Z:-4.04 [[ 2.30624284e-01 -9.73040809e-01 -2.00570274e-03 2.41226074e+02] [-9.72996545e-01 -2.30632928e-01 9.28311967e-03 -1.11154955e+02] [-9.49543537e-03 -1.89370989e-04 -9.99954899e-01 -4.03508803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters 0.013778574488594254 Centerline is valid? [True, True] Translation: X:241.23, Y:-111.27, Z:-4.03 [[ 3.02788512e-01 -9.53053989e-01 -2.68551333e-03 2.41228865e+02] [-9.53011431e-01 -3.02800374e-01 9.00813740e-03 -1.11270524e+02] [-9.39841572e-03 -1.68235619e-04 -9.99955820e-01 -4.03483816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters 0.01272825311480375 Centerline is valid? [True, True] Translation: X:241.24, Y:-111.39, Z:-4.03 [[ 3.70077666e-01 -9.28992933e-01 -3.82778358e-03 2.41243656e+02] [-9.28939417e-01 -3.70097436e-01 9.97230443e-03 -1.11387351e+02] [-1.06808532e-02 -1.34748097e-04 -9.99942949e-01 -4.03330154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters 0.012114869864535666 Centerline is valid? [True, True] Translation: X:241.26, Y:-111.50, Z:-4.03 [[ 4.37872654e-01 -8.99025529e-01 -4.54288409e-03 2.41264159e+02] [-8.98974629e-01 -4.37896207e-01 9.56708518e-03 -1.11496125e+02] [-1.05903655e-02 -1.05227441e-04 -9.99943915e-01 -4.03481286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters 0.011819026653827435 Centerline is valid? [True, True] Translation: X:241.29, Y:-111.61, Z:-4.04 [[ 5.03263216e-01 -8.64117461e-01 -5.21048187e-03 2.41293227e+02] [-8.64069559e-01 -5.03290182e-01 9.09884806e-03 -1.11607143e+02] [-1.04848579e-02 -7.68967647e-05 -9.99945029e-01 -4.03546228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters 0.011737500411950555 Centerline is valid? [True, True] Translation: X:241.33, Y:-111.71, Z:-4.03 [[ 5.67013842e-01 -8.23684655e-01 -6.23636381e-03 2.41328978e+02] [-8.23633505e-01 -5.67048133e-01 9.17954585e-03 -1.11714696e+02] [-1.10973695e-02 -6.84513760e-05 -9.99938420e-01 -4.03422161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters 0.011592481966255792 Centerline is valid? [True, True] Translation: X:241.37, Y:-111.82, Z:-4.04 [[ 6.28441608e-01 -7.77825333e-01 -6.99262403e-03 2.41373234e+02] [-7.77775923e-01 -6.28480506e-01 8.76737262e-03 -1.11818803e+02] [-1.12142124e-02 -7.10871337e-05 -9.99937116e-01 -4.03500919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters 0.011828162673827892 Centerline is valid? [True, True] Translation: X:241.42, Y:-111.92, Z:-4.03 [[ 6.87038968e-01 -7.26576531e-01 -8.00005674e-03 2.41422555e+02] [-7.26525715e-01 -6.87085537e-01 8.59359212e-03 -1.11918916e+02] [-1.17406256e-02 -9.18857190e-05 -9.99931072e-01 -4.03476402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters 0.012135405383370185 Centerline is valid? [True, True] Translation: X:241.48, Y:-112.01, Z:-4.03 [[ 7.41787336e-01 -6.70583256e-01 -8.34534379e-03 2.41475546e+02] [-6.70539090e-01 -7.41834270e-01 7.69705532e-03 -1.12012289e+02] [-1.13523784e-02 -1.13698933e-04 -9.99935553e-01 -4.03469468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters 0.012399504490450143 Centerline is valid? [True, True] Translation: X:241.50, Y:-112.03, Z:-4.04 [[ 7.92674072e-01 -6.09594901e-01 -7.86585394e-03 2.41498941e+02] [-6.09563474e-01 -7.92713090e-01 6.19095781e-03 -1.12034732e+02] [-1.00093417e-02 -1.12674487e-04 -9.99949899e-01 -4.03680701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters 0.012352990349915131 Centerline is valid? [True, True] Translation: X:241.52, Y:-112.05, Z:-4.04 [[ 8.37819659e-01 -5.45909241e-01 -6.42804942e-03 2.41524026e+02] [-5.45892380e-01 -8.37844313e-01 4.29146645e-03 -1.12054017e+02] [-7.72845584e-03 -8.64517608e-05 -9.99970131e-01 -4.03815476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters 0.012374936426985329 Centerline is valid? [True, True] Translation: X:241.55, Y:-112.07, Z:-4.04 [[ 8.77723507e-01 -4.79123715e-01 -6.47392437e-03 2.41551919e+02] [-4.79110010e-01 -8.77747378e-01 3.62483677e-03 -1.12070186e+02] [-7.41921541e-03 -7.98824757e-05 -9.99972474e-01 -4.03738816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters 0.011847851726457654 Centerline is valid? [True, True] Translation: X:241.58, Y:-112.09, Z:-4.03 [[ 9.12740054e-01 -4.08425775e-01 -9.69437916e-03 2.41577528e+02] [-4.08401329e-01 -9.12791527e-01 4.47021049e-03 -1.12091773e+02] [-1.06746963e-02 -1.20942826e-04 -9.99943017e-01 -4.03491841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters 0.011847851726457654 Centerline is valid? [True, True] Translation: X:241.60, Y:-112.11, Z:-4.03 [[ 9.41879007e-01 -3.35802999e-01 -1.00141074e-02 2.41603805e+02] [-3.35782653e-01 -9.41932233e-01 3.69845439e-03 -1.12112498e+02] [-1.06745626e-02 -1.20933000e-04 -9.99943018e-01 -4.03492110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters 0.012074993982818973 Centerline is valid? [True, True] Translation: X:241.63, Y:-112.13, Z:-4.03 [[ 9.65472125e-01 -2.60296386e-01 -1.04579000e-02 2.41631896e+02] [-2.60279627e-01 -9.65528753e-01 2.95673964e-03 -1.12131769e+02] [-1.08670318e-02 -1.32671393e-04 -9.99940943e-01 -4.03424790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters 0.012183607576923763 Centerline is valid? [True, True] Translation: X:241.66, Y:-112.15, Z:-4.03 [[ 9.82990269e-01 -1.83318500e-01 -1.11560837e-02 2.41661508e+02] [-1.83305000e-01 -9.83053562e-01 2.22951438e-03 -1.12149512e+02] [-1.13757390e-02 -1.46625030e-04 -9.99935283e-01 -4.03410904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters 0.012725997713734657 Centerline is valid? [True, True] Translation: X:241.69, Y:-112.16, Z:-4.03 [[ 9.94561656e-01 -1.03517630e-01 -1.14548324e-02 2.41688454e+02] [-1.03508734e-01 -9.94627603e-01 1.36838321e-03 -1.12164580e+02] [-1.15349443e-02 -1.75266262e-04 -9.99933455e-01 -4.03283498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters 0.013060075187641797 Centerline is valid? [True, True] Translation: X:241.72, Y:-112.17, Z:-4.03 [[ 9.99637003e-01 -2.44999429e-02 -1.12077814e-02 2.41716450e+02] [-2.44963883e-02 -9.99699815e-01 4.54344490e-04 -1.12173282e+02] [-1.12155485e-02 -1.79629398e-04 -9.99937088e-01 -4.03316061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters 0.013199249477745591 Centerline is valid? [True, True] Translation: X:241.75, Y:-112.18, Z:-4.03 [[ 9.98472407e-01 5.43425366e-02 -9.98707259e-03 2.41746144e+02] [ 5.43414745e-02 -9.98522339e-01 -3.77883382e-04 -1.12179283e+02] [-9.99285022e-03 -1.65406120e-04 -9.99950057e-01 -4.03380609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters 0.012653174038918837 Centerline is valid? [True, True] Translation: X:241.78, Y:-112.19, Z:-4.04 [[ 9.91153062e-01 1.32472062e-01 -8.17073193e-03 2.41775839e+02] [ 1.32468703e-01 -9.91186730e-01 -9.53328476e-04 -1.12185162e+02] [-8.22501045e-03 -1.37471822e-04 -9.99966165e-01 -4.03540546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters 0.012693054347184627 Centerline is valid? [True, True] Translation: X:241.81, Y:-112.19, Z:-4.04 [[ 9.77571778e-01 2.10449897e-01 -8.01619265e-03 2.41806796e+02] [ 2.10444019e-01 -9.77604634e-01 -1.57936237e-03 -1.12189810e+02] [-8.16904373e-03 -1.43019720e-04 -9.99966623e-01 -4.03561661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters 0.013084991501296802 Centerline is valid? [True, True] Translation: X:241.84, Y:-112.19, Z:-4.03 [[ 9.57790989e-01 2.87349108e-01 -8.17991657e-03 2.41837595e+02] [ 2.87340032e-01 -9.57825905e-01 -2.28929630e-03 -1.12193455e+02] [-8.49276324e-03 -1.57750121e-04 -9.99963923e-01 -4.03496399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters 0.013421167826782526 Centerline is valid? [True, True] Translation: X:241.87, Y:-112.20, Z:-4.03 [[ 9.31585628e-01 3.63413406e-01 -8.88338500e-03 2.41869901e+02] [ 3.63398874e-01 -9.31627961e-01 -3.25578740e-03 -1.12196651e+02] [-9.45920664e-03 -1.95167359e-04 -9.99955242e-01 -4.03321927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters 0.013778188314944219 Centerline is valid? [True, True] Translation: X:241.90, Y:-112.19, Z:-4.03 [[ 9.00146905e-01 4.35484593e-01 -9.41903491e-03 2.41899852e+02] [ 4.35463257e-01 -9.00196158e-01 -4.31618871e-03 -1.12194931e+02] [-1.03586127e-02 -2.16439704e-04 -9.99946325e-01 -4.03202727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters 0.01382615728762462 Centerline is valid? [True, True] Translation: X:241.93, Y:-112.19, Z:-4.03 [[ 8.63202549e-01 5.04788855e-01 -8.34095238e-03 2.41930068e+02] [ 5.04767533e-01 -8.63242823e-01 -4.64386611e-03 -1.12188706e+02] [-9.54443914e-03 -2.01644895e-04 -9.99954430e-01 -4.03279371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters 0.013917462701989432 Centerline is valid? [True, True] Translation: X:241.96, Y:-112.18, Z:-4.03 [[ 8.20807330e-01 5.71157732e-01 -7.36017413e-03 2.41959410e+02] [ 5.71136834e-01 -8.20840307e-01 -4.88951732e-03 -1.12180455e+02] [-8.83421322e-03 -1.90314897e-04 -9.99960959e-01 -4.03358442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters 0.01420739439591919 Centerline is valid? [True, True] Translation: X:241.99, Y:-112.17, Z:-4.03 [[ 7.73172870e-01 6.34161046e-01 -6.59404174e-03 2.41989339e+02] [ 6.34140020e-01 -7.73200966e-01 -5.16739685e-03 -1.12170468e+02] [-8.37548124e-03 -1.86254707e-04 -9.99964908e-01 -4.03326090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters 0.014937155589025848 Centerline is valid? [True, True] Translation: X:242.02, Y:-112.16, Z:-4.03 [[ 7.20718006e-01 6.93181591e-01 -8.05212284e-03 2.42016297e+02] [ 6.93142146e-01 -7.20762943e-01 -7.39904671e-03 -1.12157506e+02] [-1.09325547e-02 -2.48639514e-04 -9.99940207e-01 -4.03011791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters 0.014578097025761926 Centerline is valid? [True, True] Translation: X:242.04, Y:-112.14, Z:-4.03 [[ 6.63282562e-01 7.48324741e-01 -8.14400309e-03 2.42042177e+02] [ 7.48273570e-01 -6.63332496e-01 -8.75582763e-03 -1.12141778e+02] [-1.19543843e-02 -2.86354484e-04 -9.99928503e-01 -4.03086092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters 0.01531609183537092 Centerline is valid? [True, True] Translation: X:242.07, Y:-112.13, Z:-4.03 [[ 6.00911582e-01 7.99287139e-01 -6.73347330e-03 2.42068784e+02] [ 7.99242166e-01 -6.00949240e-01 -8.48357957e-03 -1.12125449e+02] [-1.08272917e-02 -2.83794568e-04 -9.99941343e-01 -4.03232929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters 0.01598140625720006 Centerline is valid? [True, True] Translation: X:242.09, Y:-112.11, Z:-4.03 [[ 5.35546414e-01 8.44489348e-01 -5.27052987e-03 2.42093455e+02] [ 8.44453102e-01 -5.35572286e-01 -7.82844876e-03 -1.12107155e+02] [-9.43379132e-03 -2.58217636e-04 -9.99955467e-01 -4.03290642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters 0.015582959532267777 Centerline is valid? [True, True] Translation: X:242.11, Y:-112.09, Z:-4.03 [[ 4.68682268e-01 8.83354803e-01 -4.60691960e-03 2.42114170e+02] [ 8.83317181e-01 -4.68704844e-01 -8.15640593e-03 -1.12085403e+02] [-9.36428589e-03 -2.46608406e-04 -9.99956124e-01 -4.03280579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters 0.015573814331440559 Centerline is valid? [True, True] Translation: X:242.13, Y:-112.06, Z:-4.03 [[ 3.97823728e-01 9.17455897e-01 -3.31048215e-03 2.42134019e+02] [ 9.17428387e-01 -3.97837446e-01 -7.10784124e-03 -1.12062488e+02] [-7.83816463e-03 -2.09462402e-04 -9.99969259e-01 -4.03493668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters 0.01620469566542358 Centerline is valid? [True, True] Translation: X:242.15, Y:-112.04, Z:-4.03 [[ 3.24326256e-01 9.45941824e-01 -2.55847094e-03 2.42153181e+02] [ 9.45917047e-01 -3.24336287e-01 -6.84930407e-03 -1.12039258e+02] [-7.30884815e-03 -1.98692126e-04 -9.99973270e-01 -4.03455401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters 0.015528657441123656 Centerline is valid? [True, True] Translation: X:242.17, Y:-112.01, Z:-4.03 [[ 2.49282171e-01 9.68428928e-01 -1.95223459e-03 2.42169394e+02] [ 9.68404986e-01 -2.49289741e-01 -6.81237151e-03 -1.12014186e+02] [-7.08396969e-03 -1.92350948e-04 -9.99974890e-01 -4.03489214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters 0.015384381445514527 Centerline is valid? [True, True] Translation: X:242.19, Y:-111.99, Z:-4.04 [[ 1.72951219e-01 9.84929391e-01 -1.40403009e-03 2.42185025e+02] [ 9.84905227e-01 -1.72956815e-01 -6.90177390e-03 -1.11988563e+02] [-7.04059653e-03 -1.89166360e-04 -9.99975197e-01 -4.03557913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters 0.014696226748369063 Centerline is valid? [True, True] Translation: X:242.20, Y:-111.96, Z:-4.04 [[ 9.72538765e-02 9.95259266e-01 -8.22431404e-04 2.42198156e+02] [ 9.95236791e-01 -9.72572091e-02 -6.69066803e-03 -1.11960927e+02] [-6.73893673e-03 -1.67820590e-04 -9.99977279e-01 -4.03577940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters 0.013696629257125146 Centerline is valid? [True, True] Translation: X:242.21, Y:-111.93, Z:-4.04 [[ 2.28446203e-02 9.99738987e-01 -2.84493577e-04 2.42209016e+02] [ 9.99718054e-01 -2.28459834e-02 -6.47105291e-03 -1.11932825e+02] [-6.47586342e-03 -1.36584619e-04 -9.99979022e-01 -4.03586162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters 0.012256454351115042 Centerline is valid? [True, True] Translation: X:242.21, Y:-111.90, Z:-4.04 [[-4.83927832e-02 9.98828364e-01 1.92464265e-04 2.42213430e+02] [ 9.98812720e-01 4.83931025e-02 -5.59082282e-03 -1.11904474e+02] [-5.59358636e-03 -7.83197205e-05 -9.99984353e-01 -4.03671477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters 0.011330287399547426 Centerline is valid? [True, True] Translation: X:242.22, Y:-111.88, Z:-4.04 [[-1.19785678e-01 9.92799606e-01 5.77431966e-04 2.42215800e+02] [ 9.92786511e-01 1.19787064e-01 -5.09929636e-03 -1.11875807e+02] [-5.13174830e-03 -3.75560076e-05 -9.99986832e-01 -4.03750576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters 0.011138190633910064 Centerline is valid? [True, True] Translation: X:242.22, Y:-111.85, Z:-4.04 [[-1.94462159e-01 9.80909538e-01 9.72843790e-04 2.42219601e+02] [ 9.80896657e-01 1.94464591e-01 -5.02709080e-03 -1.11847287e+02] [-5.12030498e-03 -2.33197094e-05 -9.99986891e-01 -4.03701032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters 0.011169686474809084 Centerline is valid? [True, True] Translation: X:242.22, Y:-111.82, Z:-4.04 [[-2.70232607e-01 9.62793657e-01 1.64671884e-03 2.42222092e+02] [ 9.62775229e-01 2.70237623e-01 -5.95700207e-03 -1.11818772e+02] [-6.18036920e-03 -2.43560881e-05 -9.99980901e-01 -4.03545731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters 0.011160490236630302 Centerline is valid? [True, True] Translation: X:242.22, Y:-111.79, Z:-4.04 [[-3.44997134e-01 9.38600893e-01 2.31124678e-03 2.42222372e+02] [ 9.38579291e-01 3.45004875e-01 -6.36796503e-03 -1.11788947e+02] [-6.77436906e-03 -2.76413208e-05 -9.99977053e-01 -4.03531684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters 0.011237500514672526 Centerline is valid? [True, True] Translation: X:242.22, Y:-111.76, Z:-4.03 [[-4.17821883e-01 9.08523382e-01 3.18413359e-03 2.42219494e+02] [ 9.08496377e-01 4.17834014e-01 -7.00501514e-03 -1.11759504e+02] [-7.69465936e-03 -3.40747905e-05 -9.99970395e-01 -4.03457945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters 0.011285345999984896 Centerline is valid? [True, True] Translation: X:242.21, Y:-111.73, Z:-4.03 [[-4.88059157e-01 8.72801495e-01 3.97617713e-03 2.42214769e+02] [ 8.72771867e-01 4.88075351e-01 -7.19157332e-03 -1.11730371e+02] [-8.21748999e-03 -3.96176688e-05 -9.99966235e-01 -4.03398732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters 0.01130152632894956 Centerline is valid? [True, True] Translation: X:242.21, Y:-111.70, Z:-4.03 [[-5.55766536e-01 8.31324003e-01 4.89486796e-03 2.42208369e+02] [ 8.31290945e-01 5.55788089e-01 -7.41384723e-03 -1.11700258e+02] [-8.88381846e-03 -5.13087783e-05 -9.99960537e-01 -4.03436207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters 0.011361444105386967 Centerline is valid? [True, True] Translation: X:242.20, Y:-111.67, Z:-4.03 [[-6.19806752e-01 7.84735893e-01 5.40077608e-03 2.42198616e+02] [ 7.84705286e-01 6.19830279e-01 -6.93107214e-03 -1.11671404e+02] [-8.78662563e-03 -5.79077662e-05 -9.99961395e-01 -4.03463821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters 0.011347992037951284 Centerline is valid? [True, True] Translation: X:242.19, Y:-111.64, Z:-4.04 [[-6.79628143e-01 7.33538909e-01 5.12408268e-03 2.42186589e+02] [ 7.33517470e-01 6.79647457e-01 -5.60857343e-03 -1.11644266e+02] [-7.59667660e-03 -5.31401804e-05 -9.99971143e-01 -4.03657331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters 0.01125209925206063 Centerline is valid? [True, True] Translation: X:242.17, Y:-111.62, Z:-4.04 [[-7.35077946e-01 6.77959545e-01 5.59191710e-03 2.42171756e+02] [ 6.77939366e-01 7.35099213e-01 -5.23095082e-03 -1.11618044e+02] [-7.65698690e-03 -5.41758472e-05 -9.99970683e-01 -4.03746282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters 0.011281182413408091 Centerline is valid? [True, True] Translation: X:242.19, Y:-111.60, Z:-4.04 [[-7.81576791e-01 6.23777805e-01 6.24261630e-03 2.42190457e+02] [ 6.23757279e-01 7.81601719e-01 -5.06063855e-03 -1.11596699e+02] [-8.03595364e-03 -6.14002806e-05 -9.99967709e-01 -4.03719733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters 0.011453008853967932 Centerline is valid? [True, True] Translation: X:242.62, Y:-111.07, Z:-5.00 [[-7.27245012e-01 -6.86348897e-01 6.31534371e-03 2.42617831e+02] [ 6.86324192e-01 -7.27272426e-01 -5.82432310e-03 -1.11070557e+02] [ 8.59049308e-03 9.86632397e-05 9.99963096e-01 -5.00327196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters 0.011697502771931259 Centerline is valid? [True, True] Translation: X:242.16, Y:-111.57, Z:-4.04 [[-7.85268155e-01 6.19117717e-01 6.86854361e-03 2.42160741e+02] [ 6.19093044e-01 7.85298189e-01 -5.52797513e-03 -1.11568328e+02] [-8.81632219e-03 -8.86752614e-05 -9.99961132e-01 -4.03622888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters 0.011754332240452782 Centerline is valid? [True, True] Translation: X:242.17, Y:-111.54, Z:-4.04 [[-8.27191279e-01 5.61866692e-01 7.77223358e-03 2.42173520e+02] [ 5.61840773e-01 8.27227786e-01 -5.39774960e-03 -1.11541296e+02] [-9.46222329e-03 -9.82136784e-05 -9.99955227e-01 -4.03513455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters 0.011851209830391174 Centerline is valid? [True, True] Translation: X:242.20, Y:-111.52, Z:-4.03 [[-8.64127518e-01 5.03202800e-01 8.40088929e-03 2.42196759e+02] [ 5.03178023e-01 8.64168348e-01 -4.99430523e-03 -1.11524100e+02] [-9.77293100e-03 -8.85737100e-05 -9.99952240e-01 -4.03407164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters 0.01159142870415713 Centerline is valid? [True, True] Translation: X:242.21, Y:-111.50, Z:-4.03 [[-8.96827680e-01 4.42288440e-01 9.00269520e-03 2.42207818e+02] [ 4.42265321e-01 8.96872862e-01 -4.52278985e-03 -1.11501685e+02] [-1.00746507e-02 -7.45832501e-05 -9.99949247e-01 -4.03485985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters 0.011491934390452697 Centerline is valid? [True, True] Translation: X:242.22, Y:-111.48, Z:-4.03 [[-9.24902725e-01 3.80107323e-01 8.56575741e-03 2.42219310e+02] [ 3.80090576e-01 9.24942388e-01 -3.56835395e-03 -1.11480254e+02] [-9.27918958e-03 -4.46166255e-05 -9.99956946e-01 -4.03495149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters 0.011432868860250292 Centerline is valid? [True, True] Translation: X:242.48, Y:-110.86, Z:-5.00 [[-8.93685290e-01 -4.48634330e-01 7.33760095e-03 2.42484836e+02] [ 4.48618990e-01 -8.93715412e-01 -3.70997969e-03 -1.10857621e+02] [ 8.22215131e-03 -2.37671525e-05 9.99966197e-01 -5.00454878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters 0.011383774125396607 Centerline is valid? [True, True] Translation: X:242.18, Y:-111.47, Z:-4.04 [[-9.25628310e-01 3.78383927e-01 6.15101383e-03 2.42179644e+02] [ 3.78375426e-01 9.25648747e-01 -2.53653680e-03 -1.11468189e+02] [-6.65346301e-03 -2.04977961e-05 -9.99977865e-01 -4.03653451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters 0.011505385051472942 Centerline is valid? [True, True] Translation: X:242.44, Y:-110.84, Z:-5.01 [[-8.95719999e-01 -4.44562250e-01 7.07735465e-03 2.42442921e+02] [ 4.44549226e-01 -8.95747954e-01 -3.40424407e-03 -1.10838599e+02] [ 7.85292435e-03 9.69830315e-05 9.99969161e-01 -5.00500803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters 0.011553591720171159 Centerline is valid? [True, True] Translation: X:242.14, Y:-111.45, Z:-4.03 [[-9.27253689e-01 3.74370905e-01 6.85724179e-03 2.42138405e+02] [ 3.74360445e-01 9.27279044e-01 -2.79861187e-03 -1.11453566e+02] [-7.40629547e-03 -2.79430935e-05 -9.99972573e-01 -4.03481488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters 0.011641369979691747 Centerline is valid? [True, True] Translation: X:242.15, Y:-111.43, Z:-4.04 [[-9.52216750e-01 3.05351470e-01 6.61367401e-03 2.42147208e+02] [ 3.05343784e-01 9.52239717e-01 -2.16699420e-03 -1.11426718e+02] [-6.95949793e-03 -4.40039311e-05 -9.99975781e-01 -4.03558369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters 0.01214573706433732 Centerline is valid? [True, True] Translation: X:242.15, Y:-111.40, Z:-4.03 [[-9.72317250e-01 2.33541796e-01 7.57601750e-03 2.42151484e+02] [ 2.33534083e-01 9.72346761e-01 -1.89962095e-03 -1.11397250e+02] [-7.81015697e-03 -7.77759222e-05 -9.99969497e-01 -4.03452986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters 0.012347880646705897 Centerline is valid? [True, True] Translation: X:242.16, Y:-111.37, Z:-4.03 [[-9.86613535e-01 1.62872681e-01 8.13777563e-03 2.42157287e+02] [ 1.62866372e-01 9.86647091e-01 -1.43645713e-03 -1.11370220e+02] [-8.26307228e-03 -9.18580545e-05 -9.99965856e-01 -4.03383140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters 0.012559835586384334 Centerline is valid? [True, True] Translation: X:242.15, Y:-111.34, Z:-4.03 [[-9.95872224e-01 9.04341534e-02 7.75735182e-03 2.42149962e+02] [ 9.04306051e-02 9.95902432e-01 -8.07667325e-04 -1.11341040e+02] [-7.79860625e-03 -1.02831437e-04 -9.99969585e-01 -4.03379175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters 0.012787015392232896 Centerline is valid? [True, True] Translation: X:242.16, Y:-111.32, Z:-4.03 [[-9.99786365e-01 1.93837625e-02 7.17597095e-03 2.42157858e+02] [ 1.93825734e-02 9.99812113e-01 -2.35215827e-04 -1.11315125e+02] [-7.17918204e-03 -9.60767932e-05 -9.99974225e-01 -4.03444449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters 0.01209672632736467 Centerline is valid? [True, True] Translation: X:242.15, Y:-111.29, Z:-4.04 [[-9.98741081e-01 -4.98782427e-02 5.33056876e-03 2.42149941e+02] [-4.98778665e-02 9.98755304e-01 2.03567473e-04 -1.11291359e+02] [-5.33408741e-03 -6.25661996e-05 -9.99985772e-01 -4.03619580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters 0.011760796321899724 Centerline is valid? [True, True] Translation: X:242.13, Y:-110.61, Z:-5.00 [[-9.99312791e-01 -3.66741735e-02 5.38064720e-03 2.42131392e+02] [ 3.66739978e-02 -9.99327274e-01 -1.31343459e-04 -1.10608697e+02] [ 5.38184441e-03 6.60766450e-05 9.99985516e-01 -5.00408371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters 0.01147309005023907 Centerline is valid? [True, True] Translation: X:242.09, Y:-111.30, Z:-4.04 [[-9.98812534e-01 -4.84679434e-02 4.93763614e-03 2.42091516e+02] [-4.84674907e-02 9.98824738e-01 2.11376050e-04 -1.11298245e+02] [-4.94207808e-03 -2.81897854e-05 -9.99987787e-01 -4.03582049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters 0.011290388741363544 Centerline is valid? [True, True] Translation: X:242.06, Y:-110.61, Z:-5.00 [[-9.99642011e-01 -2.62743875e-02 5.05039040e-03 2.42064171e+02] [ 2.62742320e-02 -9.99654768e-01 -9.71487295e-05 -1.10607017e+02] [ 5.05119937e-03 3.55811779e-05 9.99987242e-01 -5.00394529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters 0.011404570096338808 Centerline is valid? [True, True] Translation: X:242.02, Y:-111.31, Z:-4.03 [[-9.98876555e-01 -4.68866100e-02 6.87553250e-03 2.42022500e+02] [-4.68854504e-02 9.98900218e-01 3.29829747e-04 -1.11306617e+02] [-6.88343551e-03 7.09676343e-06 -9.99976309e-01 -4.03333895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters 0.011325634785902915 Centerline is valid? [True, True] Translation: X:241.99, Y:-110.61, Z:-5.01 [[-9.99833346e-01 -1.70239232e-02 6.59296859e-03 2.41991618e+02] [ 1.70233851e-02 -9.99855082e-01 -1.37723518e-04 -1.10607373e+02] [ 6.59435775e-03 -2.54659226e-05 9.99978257e-01 -5.00631857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters 0.011435428136661617 Centerline is valid? [True, True] Translation: X:241.95, Y:-111.31, Z:-4.03 [[-9.98629705e-01 -5.18660509e-02 6.97310432e-03 2.41951184e+02] [-5.18647471e-02 9.98654051e-01 3.67800229e-04 -1.11309234e+02] [-6.98279522e-03 5.63794173e-06 -9.99975620e-01 -4.03243368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters 0.011393684673600782 Centerline is valid? [True, True] Translation: X:241.91, Y:-110.61, Z:-5.01 [[-9.99866901e-01 -1.46328895e-02 7.21524567e-03 2.41911872e+02] [ 1.46325785e-02 -9.99892934e-01 -9.58941616e-05 -1.10613987e+02] [ 7.21587637e-03 9.69625056e-06 9.99973965e-01 -5.00891440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters 0.011443188283946802 Centerline is valid? [True, True] Translation: X:241.88, Y:-111.31, Z:-4.03 [[-9.98152194e-01 -6.04963886e-02 5.69068948e-03 2.41878219e+02] [-6.04955055e-02 9.98168416e-01 3.27347586e-04 -1.11309788e+02] [-5.70006985e-03 -1.75184258e-05 -9.99983754e-01 -4.03125405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters 0.011442740704383458 Centerline is valid? [True, True] Translation: X:241.87, Y:-111.28, Z:-4.03 [[-9.91233943e-01 -1.32027421e-01 4.90199541e-03 2.41870288e+02] [-1.32025901e-01 9.91246064e-01 6.33799547e-04 -1.11282723e+02] [-4.94276258e-03 -1.89467365e-05 -9.99987784e-01 -4.03199614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters 0.01176422021607884 Centerline is valid? [True, True] Translation: X:241.78, Y:-110.60, Z:-5.01 [[-9.98488105e-01 5.47242723e-02 5.17279064e-03 2.41779106e+02] [-5.47233485e-02 -9.98501504e-01 3.20052188e-04 -1.10602109e+02] [ 5.18255385e-03 3.64958783e-05 9.99986570e-01 -5.00858770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters 0.011857067036697568 Centerline is valid? [True, True] Translation: X:241.78, Y:-111.29, Z:-4.03 [[-9.89732293e-01 -1.42847961e-01 4.94457698e-03 2.41779134e+02] [-1.42846411e-01 9.89744643e-01 6.67138205e-04 -1.11290039e+02] [-4.98916791e-03 -4.60268502e-05 -9.99987553e-01 -4.03156740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters 0.012642786931858122 Centerline is valid? [True, True] Translation: X:241.77, Y:-111.26, Z:-4.03 [[-9.76033159e-01 -2.17578563e-01 4.34073236e-03 2.41767553e+02] [-2.17576694e-01 9.76042809e-01 9.03946419e-04 -1.11260483e+02] [-4.43341997e-03 -6.21605177e-05 -9.99990170e-01 -4.03125129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters 0.013303006819389724 Centerline is valid? [True, True] Translation: X:241.74, Y:-111.24, Z:-4.03 [[-9.57519636e-01 -2.88331615e-01 4.58545252e-03 2.41744783e+02] [-2.88328684e-01 9.57530613e-01 1.30224822e-03 -1.11235743e+02] [-4.76619049e-03 -7.51892511e-05 -9.99988639e-01 -4.03048990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters 0.013698672574211406 Centerline is valid? [True, True] Translation: X:241.72, Y:-111.21, Z:-4.03 [[-9.33799203e-01 -3.57774304e-01 4.07372609e-03 2.41720709e+02] [-3.57771246e-01 9.33808086e-01 1.48094765e-03 -1.11214801e+02] [-4.33392338e-03 -7.45543294e-05 -9.99990606e-01 -4.03094330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters 0.013847749410564386 Centerline is valid? [True, True] Translation: X:241.68, Y:-111.20, Z:-4.03 [[-9.04905682e-01 -4.25588919e-01 4.44741722e-03 2.41678629e+02] [-4.25584270e-01 9.04916606e-01 1.99115348e-03 -1.11202986e+02] [-4.87195456e-03 -9.09447130e-05 -9.99988128e-01 -4.03133954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters 0.01420254363195736 Centerline is valid? [True, True] Translation: X:241.62, Y:-111.20, Z:-4.03 [[-8.69996593e-01 -4.93017036e-01 6.33487847e-03 2.41615292e+02] [-4.93005236e-01 8.70019643e-01 3.41438411e-03 -1.11203208e+02] [-7.19481824e-03 -1.52625706e-04 -9.99974105e-01 -4.02958770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters 0.015144952910360096 Centerline is valid? [True, True] Translation: X:241.55, Y:-111.21, Z:-4.03 [[-8.29988585e-01 -5.57741703e-01 6.56821028e-03 2.41552107e+02] [-5.57725962e-01 8.30014554e-01 4.19427595e-03 -1.11207868e+02] [-7.79103274e-03 -1.82060238e-04 -9.99969633e-01 -4.02845609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters 0.015220701108497532 Centerline is valid? [True, True] Translation: X:241.48, Y:-111.22, Z:-4.03 [[-7.86169200e-01 -6.17982670e-01 5.95049226e-03 2.41483849e+02] [-6.17966630e-01 7.86191700e-01 4.45587611e-03 -1.11224260e+02] [-7.43188184e-03 -1.74133094e-04 -9.99972368e-01 -4.02935970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters 0.017164015949985133 Centerline is valid? [True, True] Translation: X:241.41, Y:-111.25, Z:-4.03 [[-7.38316664e-01 -6.74433442e-01 5.29498600e-03 2.41405467e+02] [-6.74417634e-01 7.38335633e-01 4.62033995e-03 -1.11249327e+02] [-7.02558862e-03 -1.59757958e-04 -9.99975307e-01 -4.02772794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters 0.01474178795441035 Centerline is valid? [True, True] Translation: X:241.33, Y:-111.29, Z:-4.03 [[-6.86113220e-01 -7.27478651e-01 4.84382093e-03 2.41329652e+02] [-7.27462073e-01 6.86130301e-01 4.91346801e-03 -1.11289845e+02] [-6.89793539e-03 -1.52500657e-04 -9.99976197e-01 -4.02896334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters 0.014037086091674545 Centerline is valid? [True, True] Translation: X:241.25, Y:-111.34, Z:-4.03 [[-6.30796681e-01 -7.75934880e-01 4.53971070e-03 2.41250737e+02] [-7.75916384e-01 6.30813001e-01 5.35946336e-03 -1.11341174e+02] [-7.02230309e-03 -1.41704216e-04 -9.99975333e-01 -4.02897826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters 0.013800041857142465 Centerline is valid? [True, True] Translation: X:241.17, Y:-111.40, Z:-4.03 [[-5.71440013e-01 -8.20632046e-01 4.39956705e-03 2.41170987e+02] [-8.20609590e-01 5.71456932e-01 6.07255234e-03 -1.11400341e+02] [-7.49749414e-03 -1.40227530e-04 -9.99971884e-01 -4.02828156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters 0.013674833083948458 Centerline is valid? [True, True] Translation: X:241.09, Y:-111.47, Z:-4.03 [[-5.08578369e-01 -8.61006013e-01 4.08506438e-03 2.41093297e+02] [-8.60980357e-01 5.08594757e-01 6.64820458e-03 -1.11469230e+02] [-7.80178645e-03 -1.36027142e-04 -9.99969556e-01 -4.02748268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters 0.013105020718601562 Centerline is valid? [True, True] Translation: X:241.02, Y:-111.55, Z:-4.03 [[-4.42335825e-01 -8.96842872e-01 3.44687048e-03 2.41021376e+02] [-8.96817811e-01 4.42349237e-01 6.70573999e-03 -1.11545333e+02] [-7.53871564e-03 -1.25025804e-04 -9.99971576e-01 -4.02793707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters 0.013361709600698138 Centerline is valid? [True, True] Translation: X:240.95, Y:-111.63, Z:-4.03 [[-3.72676836e-01 -9.27956054e-01 3.08830309e-03 2.40951600e+02] [-9.27927053e-01 3.72689609e-01 7.33754750e-03 -1.11631005e+02] [-7.95990010e-03 -1.31186001e-04 -9.99968311e-01 -4.02743503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters 0.013688804485042661 Centerline is valid? [True, True] Translation: X:240.89, Y:-111.73, Z:-4.03 [[-2.98833671e-01 -9.54300777e-01 2.90937866e-03 2.40885888e+02] [-9.54260907e-01 2.98847785e-01 8.72487054e-03 -1.11726615e+02] [-9.19561210e-03 -1.69021223e-04 -9.99957705e-01 -4.02699646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters 0.014018644388747106 Centerline is valid? [True, True] Translation: X:240.83, Y:-111.82, Z:-4.03 [[-2.25105183e-01 -9.74332131e-01 2.13422102e-03 2.40829697e+02] [-9.74294817e-01 2.25115244e-01 8.52862257e-03 -1.11821146e+02] [-8.79015669e-03 -1.59523326e-04 -9.99961353e-01 -4.02653651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters 0.013240409220156445 Centerline is valid? [True, True] Translation: X:240.78, Y:-111.93, Z:-4.03 [[-1.51763411e-01 -9.88415795e-01 1.44353852e-03 2.40782969e+02] [-9.88379408e-01 1.51770212e-01 8.48225723e-03 -1.11925284e+02] [-8.60308317e-03 -1.39467464e-04 -9.99962983e-01 -4.02759343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters 0.012217026073526233 Centerline is valid? [True, True] Translation: X:240.75, Y:-112.03, Z:-4.03 [[-8.11707424e-02 -9.96700014e-01 6.26039693e-04 2.40746606e+02] [-9.96676811e-01 8.11731247e-02 6.80137051e-03 -1.12032480e+02] [-6.82974369e-03 -7.18869512e-05 -9.99976674e-01 -4.02917972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters 0.011661857327102995 Centerline is valid? [True, True] Translation: X:240.72, Y:-112.15, Z:-4.03 [[-8.92014729e-03 -9.99960210e-01 1.01472364e-04 2.40716923e+02] [-9.99936922e-01 8.92063209e-03 6.82450334e-03 -1.12146166e+02] [-6.82513698e-03 -4.05903880e-05 -9.99976708e-01 -4.02947576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters 0.011599519043161581 Centerline is valid? [True, True] Translation: X:240.70, Y:-112.26, Z:-4.03 [[ 6.08058388e-02 -9.98149499e-01 -4.77004634e-04 2.40697379e+02] [-9.98120071e-01 -6.08077089e-02 7.66457509e-03 -1.12259571e+02] [-7.67939735e-03 1.00569825e-05 -9.99970513e-01 -4.02795437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters 0.01182016313650495 Centerline is valid? [True, True] Translation: X:240.68, Y:-112.38, Z:-4.03 [[ 1.33251827e-01 -9.91081475e-01 -1.20828519e-03 2.40684819e+02] [-9.91043951e-01 -1.33257296e-01 8.62442850e-03 -1.12379201e+02] [-8.70852413e-03 4.82428754e-05 -9.99962079e-01 -4.02740425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters 0.012477947839724638 Centerline is valid? [True, True] Translation: X:240.68, Y:-112.50, Z:-4.03 [[ 2.04775472e-01 -9.78806850e-01 -2.03872616e-03 2.40681163e+02] [-9.78762843e-01 -2.04785599e-01 9.28200458e-03 -1.12498215e+02] [-9.50279142e-03 9.47025420e-05 -9.99954843e-01 -4.02670038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters 0.012535117248717777 Centerline is valid? [True, True] Translation: X:240.68, Y:-112.62, Z:-4.03 [[ 2.78784941e-01 -9.60350612e-01 -2.37883123e-03 2.40684163e+02] [-9.60318266e-01 -2.78795076e-01 7.88251243e-03 -1.12621202e+02] [-8.23318207e-03 8.69093126e-05 -9.99966103e-01 -4.02729133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters 0.012193210330274446 Centerline is valid? [True, True] Translation: X:240.69, Y:-112.73, Z:-4.03 [[ 3.53228278e-01 -9.35533170e-01 -2.73341111e-03 2.40692017e+02] [-9.35506621e-01 -3.53238847e-01 7.04830802e-03 -1.12734731e+02] [-7.55947294e-03 6.74624854e-05 -9.99971425e-01 -4.02784723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters 0.011841173199155949 Centerline is valid? [True, True] Translation: X:240.71, Y:-112.85, Z:-4.03 [[ 4.26891006e-01 -9.04297234e-01 -3.25299984e-03 2.40710299e+02] [-9.04271737e-01 -4.26903398e-01 6.79078530e-03 -1.12853145e+02] [-7.52960505e-03 4.26706466e-05 -9.99971651e-01 -4.02769249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters 0.011496896203821499 Centerline is valid? [True, True] Translation: X:240.73, Y:-112.97, Z:-4.03 [[ 5.01564118e-01 -8.65110013e-01 -4.25454902e-03 2.40734517e+02] [-8.65078604e-01 -5.01582163e-01 7.37179998e-03 -1.12973581e+02] [-8.51142388e-03 -1.69110295e-05 -9.99963777e-01 -4.02712438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters 0.012403346043161307 Centerline is valid? [True, True] Translation: X:240.77, Y:-113.09, Z:-4.02 [[ 5.73516789e-01 -8.19175598e-01 -5.46194577e-03 2.40766050e+02] [-8.19136690e-01 -5.73542787e-01 7.98460215e-03 -1.13092781e+02] [-9.67345084e-03 -1.05223205e-04 -9.99953206e-01 -4.02496569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters 0.01321327277245106 Centerline is valid? [True, True] Translation: X:240.80, Y:-113.20, Z:-4.02 [[ 6.37508748e-01 -7.70415937e-01 -6.47142981e-03 2.40804807e+02] [-7.70373761e-01 -6.37541575e-01 8.06277145e-03 -1.13197500e+02] [-1.03374932e-02 -1.54667608e-04 -9.99946555e-01 -4.02441566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters 0.014695168296526636 Centerline is valid? [True, True] Translation: X:240.85, Y:-113.30, Z:-4.02 [[ 6.96555271e-01 -7.17465499e-01 -7.34937590e-03 2.40851871e+02] [-7.17422585e-01 -6.96594014e-01 7.84945592e-03 -1.13298976e+02] [-1.07512451e-02 -1.94971640e-04 -9.99942185e-01 -4.02381919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters 0.014642249933493489 Centerline is valid? [True, True] Translation: X:240.90, Y:-113.39, Z:-4.03 [[ 7.50981581e-01 -6.60286107e-01 -6.99442067e-03 2.40902638e+02] [-6.60254958e-01 -7.51014126e-01 6.41661547e-03 -1.13390402e+02] [-9.48971077e-03 -2.00659105e-04 -9.99954952e-01 -4.02585109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters 0.014655419406874905 Centerline is valid? [True, True] Translation: X:240.92, Y:-113.42, Z:-4.03 [[ 8.00714175e-01 -5.99010410e-01 -6.58323974e-03 2.40923092e+02] [-5.98988269e-01 -8.00741216e-01 5.15343603e-03 -1.13420719e+02] [-8.35843322e-03 -1.83145902e-04 -9.99965051e-01 -4.02744877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters 0.014655419406874905 Centerline is valid? [True, True] Translation: X:240.95, Y:-113.45, Z:-4.03 [[ 8.45105376e-01 -5.34554373e-01 -6.96599985e-03 2.40946524e+02] [-5.34534416e-01 -8.45134065e-01 4.62274036e-03 -1.13447372e+02] [-8.35830985e-03 -1.83136073e-04 -9.99965052e-01 -4.02745124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters 0.015255918417514126 Centerline is valid? [True, True] Translation: X:240.97, Y:-113.47, Z:-4.03 [[ 8.84530570e-01 -4.66409140e-01 -8.25740548e-03 2.40972037e+02] [-4.66386570e-01 -8.84569087e-01 4.59326229e-03 -1.13472707e+02] [-9.44658515e-03 -2.11737889e-04 -9.99955358e-01 -4.02704073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters 0.016252627498718263 Centerline is valid? [True, True] Translation: X:241.00, Y:-113.50, Z:-4.03 [[ 9.19079169e-01 -3.93934213e-01 -1.04554635e-02 2.40999513e+02] [-3.93905226e-01 -9.19138595e-01 4.78704159e-03 -1.13496457e+02] [-1.14957995e-02 -2.81208480e-04 -9.99933882e-01 -4.02500914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters 0.016939338549698854 Centerline is valid? [True, True] Translation: X:241.03, Y:-113.52, Z:-4.03 [[ 9.48083392e-01 -3.17789187e-01 -1.21620336e-02 2.41029395e+02] [-3.17758164e-01 -9.48161328e-01 4.45476074e-03 -1.13519049e+02] [-1.29472448e-02 -3.58899193e-04 -9.99916117e-01 -4.02501237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters 0.01773728090417706 Centerline is valid? [True, True] Translation: X:241.06, Y:-113.54, Z:-4.02 [[ 9.70419070e-01 -2.41090163e-01 -1.27421340e-02 2.41061464e+02] [-2.41064112e-01 -9.70502644e-01 3.56531029e-03 -1.13538658e+02] [-1.32258360e-02 -3.88173880e-04 -9.99912459e-01 -4.02486368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters 0.017708212134843915 Centerline is valid? [True, True] Translation: X:241.10, Y:-113.55, Z:-4.03 [[ 9.86288667e-01 -1.64530224e-01 -1.28246331e-02 2.41095452e+02] [-1.64511254e-01 -9.86371968e-01 2.52753313e-03 -1.13553024e+02] [-1.30657142e-02 -3.83080811e-04 -9.99914567e-01 -4.02519045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters 0.01648922495898929 Centerline is valid? [True, True] Translation: X:241.13, Y:-113.56, Z:-4.03 [[ 9.96010033e-01 -8.85273341e-02 -1.12661150e-02 2.41130088e+02] [-8.85180964e-02 -9.96073698e-01 1.31695217e-03 -1.13563574e+02] [-1.13384671e-02 -3.14442520e-04 -9.99935668e-01 -4.02811927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters 0.016873016311585456 Centerline is valid? [True, True] Translation: X:241.16, Y:-113.57, Z:-4.03 [[ 9.99866281e-01 -1.27924510e-02 -1.01868937e-02 2.41161399e+02] [-1.27891613e-02 -9.99918140e-01 3.88013432e-04 -1.13572410e+02] [-1.01910235e-02 -2.57679721e-04 -9.99948037e-01 -4.02902269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters 0.014715662395741458 Centerline is valid? [True, True] Translation: X:241.19, Y:-113.58, Z:-4.03 [[ 9.98054572e-01 6.15953438e-02 -9.64806676e-03 2.41194172e+02] [ 6.15944632e-02 -9.98101183e-01 -3.88669201e-04 -1.13576364e+02] [-9.65368706e-03 -2.06354420e-04 -9.99953381e-01 -4.03063695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters 0.01448147830224933 Centerline is valid? [True, True] Translation: X:241.23, Y:-113.58, Z:-4.03 [[ 9.90469742e-01 1.37345235e-01 -1.02945254e-02 2.41225315e+02] [ 1.37339894e-01 -9.90523219e-01 -1.22728980e-03 -1.13578875e+02] [-1.03655289e-02 -1.98255626e-04 -9.99946257e-01 -4.03022774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters 0.013740690344982822 Centerline is valid? [True, True] Translation: X:241.26, Y:-113.58, Z:-4.03 [[ 9.77198302e-01 2.12026873e-01 -1.13174101e-02 2.41258128e+02] [ 2.12014927e-01 -9.77263817e-01 -2.25893555e-03 -1.13580006e+02] [-1.15390504e-02 -1.92031893e-04 -9.99933405e-01 -4.03006174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters 0.013318095834279517 Centerline is valid? [True, True] Translation: X:241.29, Y:-113.58, Z:-4.03 [[ 9.58227330e-01 2.85741087e-01 -1.23456749e-02 2.41291244e+02] [ 2.85719841e-01 -9.58306839e-01 -3.48925013e-03 -1.13578341e+02] [-1.28279669e-02 -1.83909453e-04 -9.99917701e-01 -4.02911091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters 0.01292535218423982 Centerline is valid? [True, True] Translation: X:241.32, Y:-113.57, Z:-4.03 [[ 9.33596436e-01 3.58145432e-01 -1.13817294e-02 2.41323216e+02] [ 3.58120795e-01 -9.33665800e-01 -4.20348873e-03 -1.13573565e+02] [-1.21321918e-02 -1.51671882e-04 -9.99926391e-01 -4.03001381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters 0.012354541975120013 Centerline is valid? [True, True] Translation: X:241.35, Y:-113.57, Z:-4.03 [[ 9.04055518e-01 4.27287063e-01 -1.04587927e-02 2.41354679e+02] [ 4.27259846e-01 -9.04116007e-01 -4.82391450e-03 -1.13566474e+02] [-1.15171582e-02 -1.07535630e-04 -9.99933670e-01 -4.03035998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters 0.01211235896296647 Centerline is valid? [True, True] Translation: X:241.39, Y:-113.56, Z:-4.03 [[ 8.68653866e-01 4.95321389e-01 -9.85815017e-03 2.41385197e+02] [ 4.95290620e-01 -8.68709799e-01 -5.52161483e-03 -1.13557411e+02] [-1.12988456e-02 -8.62772414e-05 -9.99936162e-01 -4.03093385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters 0.012149250907289456 Centerline is valid? [True, True] Translation: X:241.42, Y:-113.55, Z:-4.03 [[ 8.27254033e-01 5.61757341e-01 -8.91373144e-03 2.41415488e+02] [ 5.61725788e-01 -8.27302051e-01 -5.95449447e-03 -1.13546491e+02] [-1.07193293e-02 -8.11932477e-05 -9.99942543e-01 -4.03172865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters 0.0121843165963067 Centerline is valid? [True, True] Translation: X:241.45, Y:-113.53, Z:-4.03 [[ 7.80506048e-01 6.25084041e-01 -8.95825547e-03 2.41445745e+02] [ 6.25044199e-01 -7.80557450e-01 -7.05804238e-03 -1.13533229e+02] [-1.14043027e-02 -9.04608488e-05 -9.99934965e-01 -4.03091516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters 0.01218758443123947 Centerline is valid? [True, True] Translation: X:241.48, Y:-113.52, Z:-4.03 [[ 7.28663898e-01 6.84814828e-01 -8.80766535e-03 2.41476038e+02] [ 6.84766520e-01 -7.28717120e-01 -8.13466363e-03 -1.13519551e+02] [-1.19890348e-02 -1.03758639e-04 -9.99928124e-01 -4.03178296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters 0.011984403981683267 Centerline is valid? [True, True] Translation: X:241.51, Y:-113.50, Z:-4.03 [[ 6.73213844e-01 7.39406431e-01 -7.82624548e-03 2.41506165e+02] [ 7.39358083e-01 -6.73259326e-01 -8.45604605e-03 -1.13504798e+02] [-1.15215476e-02 -9.36705897e-05 -9.99933620e-01 -4.03244547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters 0.011840323362650907 Centerline is valid? [True, True] Translation: X:241.53, Y:-113.49, Z:-4.03 [[ 6.15025394e-01 7.88481134e-01 -6.42382084e-03 2.41533153e+02] [ 7.88439170e-01 -6.15058938e-01 -8.13501624e-03 -1.13486304e+02] [-1.03653353e-02 -6.15503956e-05 -9.99946277e-01 -4.03240274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters 0.011769159241818894 Centerline is valid? [True, True] Translation: X:241.56, Y:-113.46, Z:-4.03 [[ 5.53717285e-01 8.32686122e-01 -5.56688201e-03 2.41557290e+02] [ 8.32644617e-01 -5.53745267e-01 -8.31387547e-03 -1.13464976e+02] [-1.00054833e-02 -3.16977803e-05 -9.99949943e-01 -4.03306396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters 0.011909350195227045 Centerline is valid? [True, True] Translation: X:241.58, Y:-113.44, Z:-4.03 [[ 4.91082305e-01 8.71097528e-01 -5.22179055e-03 2.41581097e+02] [ 8.71047887e-01 -4.91110066e-01 -9.29954526e-03 -1.13442668e+02] [-1.06652848e-02 1.84124974e-05 -9.99943124e-01 -4.03268166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters 0.01224041696860409 Centerline is valid? [True, True] Translation: X:241.60, Y:-113.42, Z:-4.03 [[ 4.24707471e-01 9.05316657e-01 -5.03135037e-03 2.41603023e+02] [ 9.05251294e-01 -4.24737267e-01 -1.08788245e-02 -1.13418982e+02] [-1.19857830e-02 6.56816126e-05 -9.99928166e-01 -4.03138233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters 0.012894740240176103 Centerline is valid? [True, True] Translation: X:241.62, Y:-113.39, Z:-4.03 [[ 3.56999348e-01 9.34093822e-01 -4.49403325e-03 2.41621709e+02] [ 9.34015047e-01 -3.57027609e-01 -1.21317550e-02 -1.13392910e+02] [-1.29366913e-02 1.33533944e-04 -9.99916309e-01 -4.03061783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters 0.013392312943532202 Centerline is valid? [True, True] Translation: X:241.64, Y:-113.37, Z:-4.03 [[ 2.84851103e-01 9.58565618e-01 -3.43582219e-03 2.41637731e+02] [ 9.58489109e-01 -2.84871781e-01 -1.21118628e-02 -1.13365578e+02] [-1.25887840e-02 1.56879340e-04 -9.99920746e-01 -4.03060999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters 0.013565870332806037 Centerline is valid? [True, True] Translation: X:241.65, Y:-113.34, Z:-4.03 [[ 2.09789653e-01 9.77743359e-01 -2.49511108e-03 2.41653660e+02] [ 9.77664297e-01 -2.09804422e-01 -1.24348899e-02 -1.13337815e+02] [-1.26816164e-02 1.69330220e-04 -9.99919571e-01 -4.03073686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters 0.01312430456781183 Centerline is valid? [True, True] Translation: X:241.67, Y:-113.31, Z:-4.03 [[ 1.30786731e-01 9.91409238e-01 -1.59800877e-03 2.41669874e+02] [ 9.91320035e-01 -1.30796401e-01 -1.32999598e-02 -1.13308767e+02] [-1.33947168e-02 1.55320151e-04 -9.99910275e-01 -4.03095681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters 0.012573942974494991 Centerline is valid? [True, True] Translation: X:241.68, Y:-113.28, Z:-4.03 [[ 5.03155358e-02 9.98733233e-01 -5.25221211e-04 2.41684987e+02] [ 9.98651875e-01 -5.03181412e-02 -1.27482204e-02 -1.13279110e+02] [-1.27584996e-02 1.16920395e-04 -9.99918600e-01 -4.03174930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters 0.012166242901871054 Centerline is valid? [True, True] Translation: X:241.70, Y:-113.25, Z:-4.03 [[-3.28946199e-02 9.99458725e-01 4.49466236e-04 2.41699052e+02] [ 9.99385852e-01 3.28976491e-02 -1.20691120e-02 -1.13248349e+02] [-1.20773656e-02 5.21813461e-05 -9.99927065e-01 -4.03209283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters 0.011869838587229809 Centerline is valid? [True, True] Translation: X:241.71, Y:-113.22, Z:-4.03 [[-1.16305358e-01 9.93212640e-01 1.30939393e-03 2.41709565e+02] [ 9.93148617e-01 1.16312728e-01 -1.12771462e-02 -1.13215811e+02] [-1.13529034e-02 -1.11697629e-05 -9.99935554e-01 -4.03266662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters 0.011997593275970319 Centerline is valid? [True, True] Translation: X:241.71, Y:-113.18, Z:-4.03 [[-1.97119222e-01 9.80377525e-01 1.97991025e-03 2.41714963e+02] [ 9.80325712e-01 1.97129160e-01 -1.00793560e-02 -1.13184321e+02] [-1.02718721e-02 -4.58778950e-05 -9.99947242e-01 -4.03282861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters 0.012322249506584329 Centerline is valid? [True, True] Translation: X:241.72, Y:-113.15, Z:-4.03 [[-2.76151842e-01 9.61110373e-01 2.64789587e-03 2.41715649e+02] [ 9.61063618e-01 2.76164527e-01 -9.48031231e-03 -1.13151357e+02] [-9.84288140e-03 -7.32093210e-05 -9.99951555e-01 -4.03308928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters 0.012379479463064953 Centerline is valid? [True, True] Translation: X:241.71, Y:-113.12, Z:-4.03 [[-3.51626201e-01 9.36134163e-01 3.44137106e-03 2.41712887e+02] [ 9.36086923e-01 3.51643030e-01 -9.40491794e-03 -1.13119287e+02] [-1.00143991e-02 -8.55931127e-05 -9.99949851e-01 -4.03309369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters 0.013094273561289853 Centerline is valid? [True, True] Translation: X:241.71, Y:-113.09, Z:-4.03 [[-4.25924901e-01 9.04746722e-01 4.62038813e-03 2.41706561e+02] [ 9.04690404e-01 4.25949944e-01 -1.00954649e-02 -1.13088166e+02] [-1.11018929e-02 -1.19889094e-04 -9.99938365e-01 -4.03201084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters 0.012897367681289606 Centerline is valid? [True, True] Translation: X:241.70, Y:-113.06, Z:-4.03 [[-4.96378137e-01 8.68087977e-01 5.65771799e-03 2.41697680e+02] [ 8.68028399e-01 4.96410360e-01 -1.01711766e-02 -1.13056436e+02] [-1.16380260e-02 -1.37689818e-04 -9.99932266e-01 -4.03315613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters 0.013433898275008373 Centerline is valid? [True, True] Translation: X:241.69, Y:-113.03, Z:-4.03 [[-5.62939562e-01 8.26471252e-01 6.65722588e-03 2.41686640e+02] [ 8.26410420e-01 5.62978906e-01 -1.00284285e-02 -1.13026365e+02] [-1.20360856e-02 -1.43798330e-04 -9.99927553e-01 -4.03200271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters 0.012743259891663031 Centerline is valid? [True, True] Translation: X:241.67, Y:-113.00, Z:-4.03 [[-6.25135426e-01 7.80477732e-01 7.75952065e-03 2.41671831e+02] [ 7.80414865e-01 6.25183566e-01 -9.90690382e-03 -1.12996907e+02] [-1.25832426e-02 -1.37511274e-04 -9.99920818e-01 -4.03400072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters 0.012573198485829239 Centerline is valid? [True, True] Translation: X:241.66, Y:-112.97, Z:-4.03 [[-6.82666703e-01 7.30674064e-01 9.03242875e-03 2.41655374e+02] [ 7.30607872e-01 6.82726445e-01 -9.83556640e-03 -1.12969501e+02] [-1.33532712e-02 -1.15250138e-04 -9.99910834e-01 -4.03396896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters 0.012423952880539098 Centerline is valid? [True, True] Translation: X:241.64, Y:-112.94, Z:-4.03 [[-7.36994920e-01 6.75829430e-01 9.64724728e-03 2.41638207e+02] [ 6.75769784e-01 7.37058052e-01 -8.97925003e-03 -1.12941370e+02] [-1.31790227e-02 -9.83434423e-05 -9.99913148e-01 -4.03433043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters 0.012295043537365035 Centerline is valid? [True, True] Translation: X:241.65, Y:-112.92, Z:-4.03 [[-7.82658207e-01 6.22365248e-01 1.03744784e-02 2.41654395e+02] [ 6.22309006e-01 7.82726957e-01 -8.36728864e-03 -1.12924097e+02] [-1.33278936e-02 -9.25957764e-05 -9.99911175e-01 -4.03465722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters 0.012494001043562988 Centerline is valid? [True, True] Translation: X:241.67, Y:-112.90, Z:-4.03 [[-8.24728629e-01 5.65413012e-01 1.14373821e-02 2.41668587e+02] [ 5.65357012e-01 8.24807927e-01 -7.95820814e-03 -1.12902981e+02] [-1.39333179e-02 -9.71578921e-05 -9.99902922e-01 -4.03393694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters 0.012527240486310437 Centerline is valid? [True, True] Translation: X:241.68, Y:-112.88, Z:-4.03 [[-8.63287621e-01 5.04584976e-01 1.13351474e-02 2.41679757e+02] [ 5.04539839e-01 8.63362027e-01 -6.74987398e-03 -1.12880555e+02] [-1.31922208e-02 -1.08049217e-04 -9.99912973e-01 -4.03459972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters 0.012572336155744523 Centerline is valid? [True, True] Translation: X:241.69, Y:-112.86, Z:-4.04 [[-8.97348258e-01 4.41189201e-01 1.08716718e-02 2.41689288e+02] [ 4.41155287e-01 8.97414105e-01 -5.47138180e-03 -1.12856990e+02] [-1.21703062e-02 -1.13639425e-04 -9.99925933e-01 -4.03545505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters 0.012523982978286318 Centerline is valid? [True, True] Translation: X:241.70, Y:-112.83, Z:-4.04 [[-9.26793322e-01 3.75426460e-01 1.04456592e-02 2.41696220e+02] [ 3.75401161e-01 9.26852178e-01 -4.35996868e-03 -1.12832920e+02] [-1.13184296e-02 -1.19477266e-04 -9.99935937e-01 -4.03714356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters 0.012671225869833823 Centerline is valid? [True, True] Translation: X:241.70, Y:-112.81, Z:-4.04 [[-9.51430491e-01 3.07666032e-01 1.10288068e-02 2.41699229e+02] [ 3.07643693e-01 9.51494401e-01 -3.70998244e-03 -1.12807419e+02] [-1.16352835e-02 -1.36847579e-04 -9.99932298e-01 -4.03679952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters 0.012777769648488953 Centerline is valid? [True, True] Translation: X:241.71, Y:-112.78, Z:-4.04 [[-9.70740061e-01 2.39834821e-01 1.19579499e-02 2.41709085e+02] [ 2.39814846e-01 9.70813699e-01 -3.09852196e-03 -1.12783829e+02] [-1.23520750e-02 -1.40165491e-04 -9.99923700e-01 -4.03554541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters 0.012675095961996206 Centerline is valid? [True, True] Translation: X:241.87, Y:-112.16, Z:-5.00 [[-9.45577304e-01 -3.25169765e-01 1.21731801e-02 2.41873427e+02] [ 3.25145183e-01 -9.45655642e-01 -4.00204819e-03 -1.12155845e+02] [ 1.28129815e-02 1.73804932e-04 9.99917895e-01 -5.00483472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters 0.01246869910940065 Centerline is valid? [True, True] Translation: X:241.66, Y:-112.78, Z:-4.04 [[-9.71188511e-01 2.37957122e-01 1.30109421e-02 2.41660152e+02] [ 2.37933996e-01 9.71275652e-01 -3.31993107e-03 -1.12778241e+02] [-1.34272125e-02 -1.28533462e-04 -9.99909843e-01 -4.03594015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters 0.0122295347538407 Centerline is valid? [True, True] Translation: X:241.67, Y:-112.75, Z:-4.04 [[-9.85540853e-01 1.68946328e-01 1.28982544e-02 2.41670114e+02] [ 1.68930260e-01 9.85625245e-01 -2.33313948e-03 -1.12754822e+02] [-1.31070205e-02 -1.20498810e-04 -9.99914092e-01 -4.03675270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters 0.012278092120001296 Centerline is valid? [True, True] Translation: X:241.79, Y:-112.10, Z:-5.00 [[-9.67412322e-01 -2.52928390e-01 1.18587165e-02 2.41790433e+02] [ 2.52910118e-01 -9.67485000e-01 -3.04070875e-03 -1.12103136e+02] [ 1.22422119e-02 5.75702872e-05 9.99925060e-01 -5.00308544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters 0.012415954048444143 Centerline is valid? [True, True] Translation: X:241.62, Y:-112.75, Z:-4.04 [[-9.86420486e-01 1.63832254e-01 1.15592681e-02 2.41621530e+02] [ 1.63819534e-01 9.86488204e-01 -2.04525489e-03 -1.12748513e+02] [-1.17381603e-02 -1.23847409e-04 -9.99931098e-01 -4.03793610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters 0.012838149750797697 Centerline is valid? [True, True] Translation: X:241.61, Y:-112.72, Z:-4.04 [[-9.95752908e-01 9.13516378e-02 1.14466303e-02 2.41605641e+02] [ 9.13439168e-02 9.95818687e-01 -1.19660987e-03 -1.12718126e+02] [-1.15080806e-02 -1.45947712e-04 -9.99933769e-01 -4.03750335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters 0.012943779711823597 Centerline is valid? [True, True] Translation: X:241.62, Y:-112.69, Z:-4.04 [[-9.99762913e-01 1.85721751e-02 1.13662891e-02 2.41615653e+02] [ 1.85690979e-02 9.99827509e-01 -3.76215102e-04 -1.12691521e+02] [-1.13713156e-02 -1.65064171e-04 -9.99935331e-01 -4.03779330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters 0.013817053656402924 Centerline is valid? [True, True] Translation: X:241.61, Y:-112.66, Z:-4.04 [[-9.98388843e-01 -5.55932679e-02 1.13625325e-02 2.41610292e+02] [-5.55919479e-02 9.98453478e-01 4.32224710e-04 -1.12662326e+02] [-1.13689888e-02 -2.00136984e-04 -9.99935351e-01 -4.03677668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters 0.013737052558576362 Centerline is valid? [True, True] Translation: X:241.59, Y:-112.01, Z:-5.00 [[-9.98795607e-01 -4.77499307e-02 1.12817844e-02 2.41590570e+02] [ 4.77490677e-02 -9.98859303e-01 -3.45995980e-04 -1.12005746e+02] [ 1.12854366e-02 1.93115422e-04 9.99936299e-01 -5.00329154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters 0.013959163299475458 Centerline is valid? [True, True] Translation: X:241.55, Y:-112.66, Z:-4.04 [[-9.98078264e-01 -6.10918866e-02 1.03711256e-02 2.41548335e+02] [-6.10905872e-02 9.98132128e-01 4.42336412e-04 -1.12664230e+02] [-1.03787768e-02 -1.92091795e-04 -9.99946121e-01 -4.03631227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters 0.014060350566441877 Centerline is valid? [True, True] Translation: X:241.54, Y:-112.64, Z:-4.04 [[-9.91315391e-01 -1.31153522e-01 9.62027607e-03 2.41538339e+02] [-1.31149026e-01 9.91362055e-01 1.09944253e-03 -1.12638764e+02] [-9.68137242e-03 -1.71795539e-04 -9.99953120e-01 -4.03630996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters 0.014267266404640187 Centerline is valid? [True, True] Translation: X:241.46, Y:-111.99, Z:-5.00 [[-9.99536341e-01 2.89024859e-02 9.57858808e-03 2.41462780e+02] [-2.88995871e-02 -9.99582222e-01 4.40938997e-04 -1.11986523e+02] [ 9.58733059e-03 1.63917311e-04 9.99954027e-01 -5.00444121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters 0.01366881847097642 Centerline is valid? [True, True] Translation: X:241.46, Y:-112.65, Z:-4.04 [[-9.90416266e-01 -1.37728712e-01 1.03161095e-02 2.41459795e+02] [-1.37723306e-01 9.90469971e-01 1.23605022e-03 -1.12649112e+02] [-1.03880362e-02 -1.96564452e-04 -9.99946024e-01 -4.03575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters 0.015122699795866364 Centerline is valid? [True, True] Translation: X:241.45, Y:-112.62, Z:-4.03 [[-9.78069950e-01 -2.07990762e-01 1.09094263e-02 2.41450741e+02] [-2.07980251e-01 9.78130767e-01 2.10175987e-03 -1.12621385e+02] [-1.11079922e-02 -2.13277062e-04 -9.99938282e-01 -4.03379698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters 0.014194144633359494 Centerline is valid? [True, True] Translation: X:241.44, Y:-112.60, Z:-4.04 [[-9.60599923e-01 -2.77744072e-01 1.02965015e-02 2.41437890e+02] [-2.77730454e-01 9.60655082e-01 2.75838101e-03 -1.12600380e+02] [-1.06575105e-02 -2.09951448e-04 -9.99943185e-01 -4.03598672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters 0.014700454436708064 Centerline is valid? [True, True] Translation: X:241.41, Y:-112.58, Z:-4.04 [[-9.37720931e-01 -3.47243307e-01 1.00768067e-02 2.41412197e+02] [-3.47225821e-01 9.37775045e-01 3.49195964e-03 -1.12579590e+02] [-1.06623375e-02 -2.24443853e-04 -9.99943130e-01 -4.03574092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters 0.015671491431716318 Centerline is valid? [True, True] Translation: X:241.37, Y:-112.56, Z:-4.04 [[-9.09618812e-01 -4.15318266e-01 1.02154633e-02 2.41374574e+02] [-4.15295166e-01 9.09676137e-01 4.38752946e-03 -1.12564767e+02] [-1.11149843e-02 -2.51453190e-04 -9.99938195e-01 -4.03511171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters 0.015195861658859553 Centerline is valid? [True, True] Translation: X:241.32, Y:-112.56, Z:-4.04 [[-8.76738082e-01 -4.80863635e-01 1.00249444e-02 2.41321554e+02] [-4.80835572e-01 8.76795356e-01 5.20149195e-03 -1.12561972e+02] [-1.12910330e-02 -2.60003778e-04 -9.99936220e-01 -4.03576703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters 0.01579036996043702 Centerline is valid? [True, True] Translation: X:241.26, Y:-112.57, Z:-4.04 [[-8.38749347e-01 -5.44438975e-01 9.25930043e-03 2.41260953e+02] [-5.44409105e-01 8.38800416e-01 5.70862805e-03 -1.12565336e+02] [-1.08747047e-02 -2.52739405e-04 -9.99940837e-01 -4.03590779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters 0.014937940354856237 Centerline is valid? [True, True] Translation: X:241.19, Y:-112.58, Z:-4.04 [[-7.96088890e-01 -6.05126925e-01 7.99277608e-03 2.41191398e+02] [-6.05099291e-01 7.96128980e-01 5.78757403e-03 -1.12582808e+02] [-9.86549754e-03 -2.28999756e-04 -9.99951309e-01 -4.03783628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters 0.014734956574060218 Centerline is valid? [True, True] Translation: X:241.12, Y:-112.61, Z:-4.04 [[-7.49054497e-01 -6.62472965e-01 6.85063985e-03 2.41116689e+02] [-6.62447723e-01 7.49085796e-01 5.78663170e-03 -1.12609089e+02] [-8.96520406e-03 -2.03688271e-04 -9.99959791e-01 -4.03920728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters 0.014903495064997958 Centerline is valid? [True, True] Translation: X:241.04, Y:-112.65, Z:-4.04 [[-6.97448857e-01 -7.16609273e-01 6.02014763e-03 2.41036331e+02] [-7.16584906e-01 6.97474812e-01 5.91256511e-03 -1.12646288e+02] [-8.43590032e-03 -1.90235154e-04 -9.99964399e-01 -4.03966573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters 0.015416249613063752 Centerline is valid? [True, True] Translation: X:240.95, Y:-112.69, Z:-4.04 [[-6.40967342e-01 -7.67543004e-01 6.21319790e-03 2.40953890e+02] [-7.67510217e-01 6.40997418e-01 7.09772673e-03 -1.12693452e+02] [-9.43045430e-03 -2.19281825e-04 -9.99955508e-01 -4.03845810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters 0.015508848175528781 Centerline is valid? [True, True] Translation: X:240.87, Y:-112.75, Z:-4.04 [[-5.80145729e-01 -8.14489954e-01 6.08661913e-03 2.40872643e+02] [-8.14449536e-01 5.80177604e-01 8.11787981e-03 -1.12750798e+02] [-1.01432517e-02 -2.47690830e-04 -9.99948525e-01 -4.03807810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters 0.015774737313038228 Centerline is valid? [True, True] Translation: X:240.79, Y:-112.82, Z:-4.04 [[-5.15387808e-01 -8.56935178e-01 6.12440944e-03 2.40792835e+02] [-8.56881377e-01 5.15424110e-01 9.60691886e-03 -1.12818824e+02] [-1.13891750e-02 -2.96603540e-04 -9.99935097e-01 -4.03752711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters 0.015942993827116596 Centerline is valid? [True, True] Translation: X:240.72, Y:-112.89, Z:-4.04 [[-4.48236684e-01 -8.93898356e-01 5.44107703e-03 2.40720154e+02] [-8.93840596e-01 4.48269602e-01 1.01662661e-02 -1.12890923e+02] [-1.15266780e-02 -3.06562116e-04 -9.99933519e-01 -4.03766544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters 0.016519365794242846 Centerline is valid? [True, True] Translation: X:240.65, Y:-112.97, Z:-4.04 [[-3.79087363e-01 -9.25351474e-01 4.17396625e-03 2.40651801e+02] [-9.25303084e-01 3.79110242e-01 9.46718675e-03 -1.12970474e+02] [-1.03428686e-02 -2.73292982e-04 -9.99946474e-01 -4.03807780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters 0.016245546474993353 Centerline is valid? [True, True] Translation: X:240.59, Y:-113.06, Z:-4.04 [[-3.07803778e-01 -9.51444891e-01 3.07461568e-03 2.40587839e+02] [-9.51404938e-01 3.07819039e-01 8.72252039e-03 -1.13061612e+02] [-9.24542271e-03 -2.40379815e-04 -9.99957231e-01 -4.03895132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters 0.01605005063765154 Centerline is valid? [True, True] Translation: X:240.53, Y:-113.16, Z:-4.04 [[-2.34040760e-01 -9.72224600e-01 2.06135877e-03 2.40530766e+02] [-9.72194325e-01 2.34049746e-01 7.67537059e-03 -1.13157797e+02] [-7.94464460e-03 -2.07691726e-04 -9.99968419e-01 -4.04019109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters 0.016121530661492047 Centerline is valid? [True, True] Translation: X:240.48, Y:-113.26, Z:-4.04 [[-1.58161797e-01 -9.87412121e-01 1.46637216e-03 2.40480542e+02] [-9.87381306e-01 1.58168450e-01 7.80373789e-03 -1.13259822e+02] [-7.93743919e-03 -2.13615251e-04 -9.99968475e-01 -4.04060181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters 0.016800581832940493 Centerline is valid? [True, True] Translation: X:240.44, Y:-113.37, Z:-4.04 [[-8.06840308e-02 -9.96739268e-01 9.58515245e-04 2.40435723e+02] [-9.96700814e-01 8.06893410e-02 8.75887320e-03 -1.13373237e+02] [-8.80765482e-03 -2.48651730e-04 -9.99961181e-01 -4.03972760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters 0.016861254272283913 Centerline is valid? [True, True] Translation: X:240.40, Y:-113.48, Z:-4.04 [[-3.22141330e-03 -9.99994772e-01 2.79516692e-04 2.40401699e+02] [-9.99957035e-01 3.22372106e-03 8.69112516e-03 -1.13479197e+02] [-8.69198080e-03 -2.51506977e-04 -9.99962192e-01 -4.03958575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters 0.016940437952061203 Centerline is valid? [True, True] Translation: X:240.38, Y:-113.60, Z:-4.04 [[ 7.31472735e-02 -9.97321070e-01 -3.98902024e-04 2.40376059e+02] [-9.97281144e-01 -7.31479160e-02 8.92760417e-03 -1.13596754e+02] [-8.93286659e-03 -2.55212437e-04 -9.99960069e-01 -4.03994831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters 0.015611306683531067 Centerline is valid? [True, True] Translation: X:240.36, Y:-113.71, Z:-4.04 [[ 1.46730188e-01 -9.89175986e-01 -1.05853063e-03 2.40361574e+02] [-9.89138040e-01 -1.46733834e-01 8.66718443e-03 -1.13709863e+02] [-8.72869297e-03 -2.24704687e-04 -9.99961879e-01 -4.03955572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters 0.015335535829614333 Centerline is valid? [True, True] Translation: X:240.35, Y:-113.83, Z:-4.04 [[ 2.20067399e-01 -9.75482920e-01 -1.84710179e-03 2.40354958e+02] [-9.75439704e-01 -2.20075041e-01 9.18475312e-03 -1.13829904e+02] [-9.36607079e-03 -2.19528311e-04 -9.99956113e-01 -4.03942361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters 0.01477096433213329 Centerline is valid? [True, True] Translation: X:240.36, Y:-113.95, Z:-4.04 [[ 2.93222416e-01 -9.56040630e-01 -2.63221210e-03 2.40356839e+02] [-9.55995256e-01 -2.93234151e-01 9.31683113e-03 -1.13945652e+02] [-9.67912358e-03 -2.15521457e-04 -9.99953133e-01 -4.03953080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters 0.014752858080150607 Centerline is valid? [True, True] Translation: X:240.37, Y:-114.06, Z:-4.04 [[ 3.64547783e-01 -9.31178368e-01 -3.42945912e-03 2.40365459e+02] [-9.31131637e-01 -3.64563855e-01 9.33117304e-03 -1.14060928e+02] [-9.93924332e-03 -2.08380568e-04 -9.99950583e-01 -4.03924474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters 0.014226644818449694 Centerline is valid? [True, True] Translation: X:240.38, Y:-114.18, Z:-4.04 [[ 4.33935925e-01 -9.00935846e-01 -3.77031877e-03 2.40384919e+02] [-9.00898154e-01 -4.33952266e-01 8.24302077e-03 -1.14178220e+02] [-9.06257126e-03 -1.80269618e-04 -9.99958918e-01 -4.04052356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters 0.013866490488372966 Centerline is valid? [True, True] Translation: X:240.41, Y:-114.29, Z:-4.04 [[ 5.00476442e-01 -8.65741358e-01 -3.90273324e-03 2.40409228e+02] [-8.65712675e-01 -5.00491637e-01 7.04881669e-03 -1.14286242e+02] [-8.05573748e-03 -1.49121067e-04 -9.99967541e-01 -4.04148425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters 0.013724668735636929 Centerline is valid? [True, True] Translation: X:240.45, Y:-114.40, Z:-4.04 [[ 5.63952293e-01 -8.25797580e-01 -4.02101153e-03 2.40445327e+02] [-8.25775004e-01 -5.63966614e-01 6.10744102e-03 -1.14397438e+02] [-7.31122627e-03 -1.23854547e-04 -9.99973265e-01 -4.04275629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters 0.013335477738304005 Centerline is valid? [True, True] Translation: X:240.49, Y:-114.50, Z:-4.04 [[ 6.24697068e-01 -7.80854980e-01 -4.36727386e-03 2.40486807e+02] [-7.80834606e-01 -6.24712324e-01 5.64187431e-03 -1.14502228e+02] [-7.13377545e-03 -1.14343778e-04 -9.99974548e-01 -4.04376744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters 0.013418694553870434 Centerline is valid? [True, True] Translation: X:240.53, Y:-114.60, Z:-4.04 [[ 6.82453166e-01 -7.30914054e-01 -4.72456854e-03 2.40530245e+02] [-7.30895382e-01 -6.82469511e-01 5.22567786e-03 -1.14598810e+02] [-7.04389537e-03 -1.13115075e-04 -9.99975185e-01 -4.04285427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters 0.013830440948089497 Centerline is valid? [True, True] Translation: X:240.58, Y:-114.70, Z:-4.04 [[ 7.36656249e-01 -6.76247413e-01 -5.19677722e-03 2.40582056e+02] [-6.76229415e-01 -7.36674570e-01 4.93527728e-03 -1.14695736e+02] [-7.16580211e-03 -1.21389237e-04 -9.99974318e-01 -4.04187710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters 0.013457702390576073 Centerline is valid? [True, True] Translation: X:240.60, Y:-114.73, Z:-4.04 [[ 7.87473026e-01 -6.16324638e-01 -5.49305875e-03 2.40600615e+02] [-6.16308555e-01 -7.87492175e-01 4.45401488e-03 -1.14726457e+02] [-7.07085990e-03 -1.21997474e-04 -9.99974994e-01 -4.04199718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters 0.013583532248638522 Centerline is valid? [True, True] Translation: X:240.62, Y:-114.75, Z:-4.04 [[ 8.32798996e-01 -5.53556147e-01 -4.62860971e-03 2.40622315e+02] [-5.53546975e-01 -8.32811853e-01 3.18807358e-03 -1.14754225e+02] [-5.61953876e-03 -9.28715724e-05 -9.99984206e-01 -4.04251718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters 0.013453625080912359 Centerline is valid? [True, True] Translation: X:240.65, Y:-114.78, Z:-4.04 [[ 8.73230517e-01 -4.87294609e-01 -3.52533554e-03 2.40646492e+02] [-4.87290334e-01 -8.73237631e-01 2.04220992e-03 -1.14780607e+02] [-4.07361354e-03 -6.54580910e-05 -9.99991701e-01 -4.04404060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters 0.013710094741069247 Centerline is valid? [True, True] Translation: X:240.67, Y:-114.80, Z:-4.04 [[ 9.08697343e-01 -4.17441677e-01 -3.40374758e-03 2.40672816e+02] [-4.17438496e-01 -9.08703715e-01 1.63093192e-03 -1.14804302e+02] [-3.77381703e-03 -6.11682279e-05 -9.99992877e-01 -4.04321043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters 0.013936494394956653 Centerline is valid? [True, True] Translation: X:240.70, Y:-114.82, Z:-4.04 [[ 9.38413860e-01 -3.45481424e-01 -4.69183937e-03 2.40700613e+02] [-3.45476685e-01 -9.38425586e-01 1.81124093e-03 -1.14824646e+02] [-5.02869221e-03 -7.87724843e-05 -9.99987353e-01 -4.04129836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters 0.013761107052041545 Centerline is valid? [True, True] Translation: X:240.73, Y:-114.84, Z:-4.04 [[ 9.62147858e-01 -2.72463198e-01 -5.94179466e-03 2.40731421e+02] [-2.72457438e-01 -9.62166201e-01 1.77389966e-03 -1.14839518e+02] [-6.20031637e-03 -8.78676117e-05 -9.99980774e-01 -4.04002468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters 0.012833799162374782 Centerline is valid? [True, True] Translation: X:240.76, Y:-114.86, Z:-4.04 [[ 9.80327374e-01 -1.97274166e-01 -6.41429024e-03 2.40763255e+02] [-1.97269362e-01 -9.80348354e-01 1.37945300e-03 -1.14855632e+02] [-6.56036932e-03 -8.69725932e-05 -9.99978477e-01 -4.04090892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters 0.012585276427780106 Centerline is valid? [True, True] Translation: X:240.80, Y:-114.87, Z:-4.04 [[ 9.92560639e-01 -1.21579821e-01 -6.45946175e-03 2.40796017e+02] [-1.21576750e-01 -9.92581655e-01 8.67466072e-04 -1.14870789e+02] [-6.51700960e-03 -7.56923126e-05 -9.99978761e-01 -4.04134734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters 0.012371835481241421 Centerline is valid? [True, True] Translation: X:240.83, Y:-114.88, Z:-4.04 [[ 9.98915291e-01 -4.61658948e-02 -6.07883482e-03 2.40825830e+02] [-4.61647087e-02 -9.98933785e-01 3.35358601e-04 -1.14880760e+02] [-6.08783560e-03 -5.43671955e-05 -9.99981467e-01 -4.04205549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters 0.012211357102183408 Centerline is valid? [True, True] Translation: X:240.86, Y:-114.89, Z:-4.04 [[ 9.99526482e-01 3.02245198e-02 -5.76968187e-03 2.40857375e+02] [ 3.02242480e-02 -9.99543134e-01 -1.34324314e-04 -1.14888114e+02] [-5.77110579e-03 -4.01235867e-05 -9.99983346e-01 -4.04192550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters 0.012016398454754969 Centerline is valid? [True, True] Translation: X:240.89, Y:-114.89, Z:-4.04 [[ 9.94200571e-01 1.07404323e-01 -5.43478537e-03 2.40889371e+02] [ 1.07402899e-01 -9.94215424e-01 -5.54112316e-04 -1.14894338e+02] [-5.46286150e-03 -3.28129233e-05 -9.99985078e-01 -4.04195459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters 0.012074323872213261 Centerline is valid? [True, True] Translation: X:240.92, Y:-114.90, Z:-4.04 [[ 9.82485199e-01 1.86260036e-01 -5.48014867e-03 2.40921553e+02] [ 1.86257373e-01 -9.82500482e-01 -9.96845834e-04 -1.14898932e+02] [-5.56992125e-03 -4.13318198e-05 -9.99984487e-01 -4.04183917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters 0.012912036607820261 Centerline is valid? [True, True] Translation: X:240.95, Y:-114.90, Z:-4.04 [[ 9.63916286e-01 2.66140718e-01 -5.87469579e-03 2.40953990e+02] [ 2.66136200e-01 -9.63934185e-01 -1.55225342e-03 -1.14902200e+02] [-6.07593794e-03 -6.72268638e-05 -9.99981539e-01 -4.04081888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters 0.013027162395501488 Centerline is valid? [True, True] Translation: X:240.99, Y:-114.90, Z:-4.04 [[ 9.38959692e-01 3.43968534e-01 -6.35174200e-03 2.40987514e+02] [ 3.43961362e-01 -9.38981170e-01 -2.22333158e-03 -1.14902566e+02] [-6.72892224e-03 -9.71351005e-05 -9.99977356e-01 -4.04089677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters 0.01411495801710832 Centerline is valid? [True, True] Translation: X:241.02, Y:-114.90, Z:-4.04 [[ 9.07459771e-01 4.20083621e-01 -6.82023277e-03 2.41021424e+02] [ 4.20072889e-01 -9.07485390e-01 -3.00585217e-03 -1.14900890e+02] [-7.45197086e-03 -1.37304967e-04 -9.99972224e-01 -4.03939222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters 0.015056736924917111 Centerline is valid? [True, True] Translation: X:241.05, Y:-114.89, Z:-4.04 [[ 8.71245993e-01 4.90797731e-01 -6.92861080e-03 2.41051973e+02] [ 4.90783605e-01 -8.71273530e-01 -3.72695444e-03 -1.14894034e+02] [-7.86589597e-03 -1.53354456e-04 -9.99969052e-01 -4.03797345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters 0.01412872482873354 Centerline is valid? [True, True] Translation: X:241.08, Y:-114.88, Z:-4.04 [[ 8.30163650e-01 5.57476162e-01 -6.97450458e-03 2.41082010e+02] [ 5.57458107e-01 -8.30192931e-01 -4.48950452e-03 -1.14881008e+02] [-8.29297615e-03 -1.60970661e-04 -9.99965600e-01 -4.03868669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters 0.014408449760519079 Centerline is valid? [True, True] Translation: X:241.11, Y:-114.87, Z:-4.04 [[ 7.84457270e-01 6.20151075e-01 -6.27974184e-03 2.41110458e+02] [ 6.20132692e-01 -7.84482391e-01 -4.77718386e-03 -1.14868166e+02] [-7.88892261e-03 -1.46776605e-04 -9.99968871e-01 -4.03820912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters 0.014088275181612958 Centerline is valid? [True, True] Translation: X:241.14, Y:-114.85, Z:-4.04 [[ 7.33944186e-01 6.79188824e-01 -5.33603100e-03 2.41136656e+02] [ 6.79172139e-01 -7.33963572e-01 -4.76252128e-03 -1.14851021e+02] [-7.15110360e-03 -1.28658788e-04 -9.99974422e-01 -4.03907533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters 0.014523374100071913 Centerline is valid? [True, True] Translation: X:241.16, Y:-114.83, Z:-4.04 [[ 6.77635630e-01 7.35384929e-01 -4.35416402e-03 2.41162553e+02] [ 7.35370882e-01 -6.77649608e-01 -4.54689370e-03 -1.14833100e+02] [-6.29431464e-03 -1.20788257e-04 -9.99980183e-01 -4.03933630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters 0.015143896169784192 Centerline is valid? [True, True] Translation: X:241.19, Y:-114.81, Z:-4.04 [[ 6.16444236e-01 7.87385518e-01 -4.53315906e-03 2.41188003e+02] [ 7.87366004e-01 -6.16460886e-01 -5.54549242e-03 -1.14813657e+02] [-7.16095567e-03 -1.50768492e-04 -9.99974349e-01 -4.03861955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters 0.01648216399111757 Centerline is valid? [True, True] Translation: X:241.21, Y:-114.79, Z:-4.04 [[ 5.50713640e-01 8.34678715e-01 -5.09214448e-03 2.41210557e+02] [ 8.34646512e-01 -5.50737141e-01 -7.33494332e-03 -1.14793794e+02] [-8.92675416e-03 -2.10687295e-04 -9.99960134e-01 -4.03675677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters 0.01603546123260742 Centerline is valid? [True, True] Translation: X:241.23, Y:-114.77, Z:-4.04 [[ 4.81158633e-01 8.76619744e-01 -4.91874698e-03 2.41231879e+02] [ 8.76579295e-01 -4.81183705e-01 -8.42510898e-03 -1.14770985e+02] [-9.75243778e-03 -2.57857837e-04 -9.99952411e-01 -4.03677856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters 0.017842495767993648 Centerline is valid? [True, True] Translation: X:241.25, Y:-114.75, Z:-4.04 [[ 4.10597250e-01 9.11807536e-01 -4.11279774e-03 2.41252490e+02] [ 9.11767825e-01 -4.10617769e-01 -8.51359500e-03 -1.14748470e+02] [-9.45154792e-03 -2.54257949e-04 -9.99955301e-01 -4.03590026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters 0.015969440446971076 Centerline is valid? [True, True] Translation: X:241.27, Y:-114.72, Z:-4.04 [[ 3.39178334e-01 9.40718615e-01 -2.55835984e-03 2.41265939e+02] [ 9.40695741e-01 -3.39187935e-01 -6.56262467e-03 -1.14721402e+02] [-7.04134798e-03 -1.80738099e-04 -9.99975193e-01 -4.03827867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters 0.015953653290442286 Centerline is valid? [True, True] Translation: X:241.28, Y:-114.70, Z:-4.04 [[ 2.65212101e-01 9.64188712e-01 -1.63377182e-03 2.41281044e+02] [ 9.64173552e-01 -2.65217096e-01 -5.40863929e-03 -1.14695366e+02] [-5.64825316e-03 -1.40802991e-04 -9.99984039e-01 -4.03909244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters 0.01590122643300808 Centerline is valid? [True, True] Translation: X:241.29, Y:-114.67, Z:-4.04 [[ 1.89211917e-01 9.81935664e-01 -1.09667365e-03 2.41293091e+02] [ 9.81922832e-01 -1.89215053e-01 -5.02149553e-03 -1.14668339e+02] [-5.13829271e-03 -1.26722098e-04 -9.99986791e-01 -4.03886614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters 0.016113223399660297 Centerline is valid? [True, True] Translation: X:241.30, Y:-114.64, Z:-4.04 [[ 1.11840862e-01 9.93725821e-01 -7.83721002e-04 2.41303487e+02] [ 9.93709466e-01 -1.11843519e-01 -5.70296228e-03 -1.14640910e+02] [-5.75483499e-03 -1.40966759e-04 -9.99983431e-01 -4.03800210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters 0.014844338860620393 Centerline is valid? [True, True] Translation: X:241.31, Y:-114.61, Z:-4.04 [[ 3.50527242e-02 9.99385378e-01 -4.16608188e-04 2.41311763e+02] [ 9.99359699e-01 -3.50548108e-02 -7.16608828e-03 -1.14612893e+02] [-7.17628796e-03 -1.65150517e-04 -9.99974236e-01 -4.03700934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters 0.015570500639473999 Centerline is valid? [True, True] Translation: X:241.32, Y:-114.59, Z:-4.04 [[-4.31060331e-02 9.99070491e-01 1.56890858e-04 2.41320508e+02] [ 9.99040722e-01 4.31059601e-02 -7.71440576e-03 -1.14585649e+02] [-7.71399808e-03 -1.75797074e-04 -9.99970231e-01 -4.03648309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters 0.01515236496078492 Centerline is valid? [True, True] Translation: X:241.33, Y:-114.56, Z:-4.04 [[-1.21600972e-01 9.92578751e-01 7.91807468e-04 2.41325365e+02] [ 9.92546568e-01 1.21603407e-01 -7.99508970e-03 -1.14556562e+02] [-8.03204263e-03 -1.86304895e-04 -9.99967725e-01 -4.03653215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters 0.015328130233123361 Centerline is valid? [True, True] Translation: X:241.33, Y:-114.53, Z:-4.04 [[-1.98509068e-01 9.80097999e-01 1.43584850e-03 2.41328149e+02] [ 9.80065188e-01 1.98514175e-01 -8.02180225e-03 -1.14527454e+02] [-8.14718862e-03 -1.85175358e-04 -9.99966794e-01 -4.03585714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters 0.015486451357983377 Centerline is valid? [True, True] Translation: X:241.33, Y:-114.50, Z:-4.04 [[-2.73593684e-01 9.61843264e-01 2.00775511e-03 2.41327551e+02] [ 9.61812572e-01 2.73600997e-01 -7.68574202e-03 -1.14500138e+02] [-7.94180299e-03 -1.71686369e-04 -9.99968449e-01 -4.03583973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters 0.014966099552492958 Centerline is valid? [True, True] Translation: X:241.32, Y:-114.47, Z:-4.04 [[-3.45844816e-01 9.38289106e-01 2.21732805e-03 2.41321818e+02] [ 9.38267339e-01 3.45851899e-01 -6.39258153e-03 -1.14473170e+02] [-6.76495673e-03 -1.30394689e-04 -9.99977109e-01 -4.03734173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters 0.014473243401517169 Centerline is valid? [True, True] Translation: X:241.32, Y:-114.45, Z:-4.04 [[-4.16778152e-01 9.09005129e-01 2.37633271e-03 2.41316627e+02] [ 9.08988894e-01 4.16784913e-01 -5.43386925e-03 -1.14445758e+02] [-5.92983465e-03 -1.04657940e-04 -9.99982413e-01 -4.03815698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters 0.013720472577840965 Centerline is valid? [True, True] Translation: X:241.31, Y:-114.42, Z:-4.04 [[-4.84611013e-01 8.74726871e-01 2.25083353e-03 2.41310856e+02] [ 8.74716724e-01 4.84616235e-01 -4.21392083e-03 -1.14418771e+02] [-4.77682026e-03 -7.32707086e-05 -9.99988588e-01 -4.03873391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters 0.013349161018359517 Centerline is valid? [True, True] Translation: X:241.30, Y:-114.39, Z:-4.04 [[-5.49459084e-01 8.35514519e-01 3.19424096e-03 2.41303352e+02] [ 8.35499600e-01 5.49468364e-01 -4.99363027e-03 -1.14391291e+02] [-5.92738494e-03 -7.50084712e-05 -9.99982430e-01 -4.03686895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters 0.013086643082497143 Centerline is valid? [True, True] Translation: X:241.30, Y:-114.36, Z:-4.04 [[-6.12353928e-01 7.90571934e-01 4.32251526e-03 2.41295224e+02] [ 7.90551283e-01 6.12369178e-01 -5.71475933e-03 -1.14364426e+02] [-7.16490345e-03 -8.22853310e-05 -9.99974328e-01 -4.03599048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters 0.012946128606567502 Centerline is valid? [True, True] Translation: X:241.29, Y:-114.34, Z:-4.04 [[-6.71814274e-01 7.40702864e-01 4.98481255e-03 2.41285618e+02] [ 7.40681583e-01 6.71832762e-01 -5.61535555e-03 -1.14337194e+02] [-7.50827033e-03 -8.03171628e-05 -9.99971809e-01 -4.03570162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters 0.01285057091534572 Centerline is valid? [True, True] Translation: X:241.27, Y:-114.31, Z:-4.04 [[-7.26467909e-01 6.87178299e-01 5.51027887e-03 2.41273188e+02] [ 6.87157828e-01 7.26488803e-01 -5.30453123e-03 -1.14312266e+02] [-7.64831465e-03 -6.71404478e-05 -9.99970749e-01 -4.03529385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters 0.012645464523571154 Centerline is valid? [True, True] Translation: X:241.78, Y:-113.79, Z:-5.01 [[-6.67416063e-01 -7.44670940e-01 4.58152330e-03 2.41784217e+02] [ 7.44653553e-01 -6.67431787e-01 -5.08875430e-03 -1.13792349e+02] [ 6.84730173e-03 1.53312514e-05 9.99976557e-01 -5.00531896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters 0.01242690667306977 Centerline is valid? [True, True] Translation: X:241.75, Y:-113.75, Z:-5.00 [[-6.69070822e-01 -7.43187432e-01 4.08367368e-03 2.41745558e+02] [ 7.43173849e-01 -6.69083283e-01 -4.49336866e-03 -1.13749086e+02] [ 6.07173292e-03 2.84976237e-05 9.99981566e-01 -5.00477591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters 0.012410412241941154 Centerline is valid? [True, True] Translation: X:241.71, Y:-113.71, Z:-5.01 [[-6.69586410e-01 -7.42721853e-01 4.27643688e-03 2.41706699e+02] [ 7.42706967e-01 -6.69600066e-01 -4.70246957e-03 -1.13707373e+02] [ 6.35612934e-03 2.74297447e-05 9.99979799e-01 -5.00531958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters 0.012466225504828966 Centerline is valid? [True, True] Translation: X:241.67, Y:-113.67, Z:-5.01 [[-6.69531155e-01 -7.42768935e-01 4.72674030e-03 2.41667638e+02] [ 7.42750773e-01 -6.69547838e-01 -5.19434911e-03 -1.13665620e+02] [ 7.02297991e-03 3.30114501e-05 9.99975338e-01 -5.00582545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters 0.012432122321845075 Centerline is valid? [True, True] Translation: X:241.63, Y:-113.62, Z:-5.01 [[-6.68806775e-01 -7.43415148e-01 5.60491309e-03 2.41628721e+02] [ 7.43389666e-01 -6.68830259e-01 -6.15547606e-03 -1.13623987e+02] [ 8.32480962e-03 4.98103763e-05 9.99965347e-01 -5.00604654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters 0.012371824291669178 Centerline is valid? [True, True] Translation: X:241.59, Y:-113.58, Z:-5.01 [[-6.68886569e-01 -7.43347285e-01 5.05686117e-03 2.41588523e+02] [ 7.43326567e-01 -6.68905682e-01 -5.55009881e-03 -1.13582502e+02] [ 7.50821405e-03 4.65127004e-05 9.99971812e-01 -5.00667936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters 0.012370871791001851 Centerline is valid? [True, True] Translation: X:241.55, Y:-113.54, Z:-5.01 [[-6.69510869e-01 -7.42786295e-01 4.86992695e-03 2.41549341e+02] [ 7.42767089e-01 -6.69528579e-01 -5.34162512e-03 -1.13540177e+02] [ 7.22824121e-03 4.09453882e-05 9.99973875e-01 -5.00725165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters 0.01226499370938428 Centerline is valid? [True, True] Translation: X:241.51, Y:-113.50, Z:-5.01 [[-6.70793650e-01 -7.41627654e-01 4.92965903e-03 2.41511896e+02] [ 7.41607968e-01 -6.70811763e-01 -5.40366962e-03 -1.13497657e+02] [ 7.31438409e-03 3.11271496e-05 9.99973249e-01 -5.00800865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters 0.012145858506004595 Centerline is valid? [True, True] Translation: X:241.47, Y:-113.45, Z:-5.01 [[-6.71532518e-01 -7.40956186e-01 5.29217628e-03 2.41474219e+02] [ 7.40933506e-01 -6.71553371e-01 -5.79743837e-03 -1.13454921e+02] [ 7.84962664e-03 2.79823394e-05 9.99969191e-01 -5.00811745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters 0.012238165625680157 Centerline is valid? [True, True] Translation: X:241.44, Y:-113.41, Z:-5.01 [[-6.71630145e-01 -7.40866086e-01 5.51286177e-03 2.41435129e+02] [ 7.40841502e-01 -6.71652769e-01 -6.03546216e-03 -1.13412737e+02] [ 8.17419810e-03 3.05584703e-05 9.99966590e-01 -5.00856394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters 0.012280189741752103 Centerline is valid? [True, True] Translation: X:241.40, Y:-113.37, Z:-5.01 [[-6.71148740e-01 -7.41300652e-01 5.71938734e-03 2.41396262e+02] [ 7.41274242e-01 -6.71173108e-01 -6.25754463e-03 -1.13371921e+02] [ 8.47742089e-03 3.98913192e-05 9.99964065e-01 -5.00901283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters 0.012426580032866433 Centerline is valid? [True, True] Translation: X:241.36, Y:-113.33, Z:-5.01 [[-6.70790640e-01 -7.41619818e-01 6.32155436e-03 2.41356857e+02] [ 7.41587607e-01 -6.70820425e-01 -6.91222485e-03 -1.13330122e+02] [ 9.36687072e-03 5.13306400e-05 9.99956129e-01 -5.01040763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters 0.012458607242252005 Centerline is valid? [True, True] Translation: X:241.32, Y:-113.29, Z:-5.01 [[-6.70568259e-01 -7.41820252e-01 6.39719838e-03 2.41317834e+02] [ 7.41787313e-01 -6.70598770e-01 -6.99079604e-03 -1.13288335e+02] [ 9.47586745e-03 5.75546707e-05 9.99955101e-01 -5.01062004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters 0.012711618511610666 Centerline is valid? [True, True] Translation: X:241.28, Y:-113.25, Z:-5.01 [[-6.70406947e-01 -7.41969065e-01 6.03589733e-03 2.41279969e+02] [ 7.41939785e-01 -6.70434115e-01 -6.59190813e-03 -1.13246945e+02] [ 8.93766340e-03 5.90113588e-05 9.99960057e-01 -5.01055690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters 0.012269303533871739 Centerline is valid? [True, True] Translation: X:241.24, Y:-113.20, Z:-5.01 [[-6.70732508e-01 -7.41675879e-01 5.89859628e-03 2.41242563e+02] [ 7.41647939e-01 -6.70758442e-01 -6.43795100e-03 -1.13203281e+02] [ 8.73140621e-03 5.65387491e-05 9.99961879e-01 -5.00862111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters 0.012254054396801967 Centerline is valid? [True, True] Translation: X:241.20, Y:-113.16, Z:-5.01 [[-6.70265141e-01 -7.42094895e-01 6.30934131e-03 2.41203976e+02] [ 7.42062987e-01 -6.70294832e-01 -6.88189684e-03 -1.13161235e+02] [ 9.33613938e-03 6.92331052e-05 9.99956415e-01 -5.00920428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters 0.012342800779247199 Centerline is valid? [True, True] Translation: X:241.17, Y:-113.12, Z:-5.01 [[-6.69899696e-01 -7.42421923e-01 6.63969167e-03 2.41165353e+02] [ 7.42386648e-01 -6.69932595e-01 -7.23767789e-03 -1.13119298e+02] [ 9.82155661e-03 8.07002292e-05 9.99951764e-01 -5.00957823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters 0.012144457770988517 Centerline is valid? [True, True] Translation: X:241.13, Y:-113.08, Z:-5.01 [[-6.70467262e-01 -7.41911343e-01 6.41952304e-03 2.41127270e+02] [ 7.41878383e-01 -6.70497990e-01 -6.99368577e-03 -1.13075307e+02] [ 9.49297209e-03 7.34680183e-05 9.99954938e-01 -5.00870800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters 0.012081866450458088 Centerline is valid? [True, True] Translation: X:241.09, Y:-113.03, Z:-5.01 [[-6.72278442e-01 -7.40273502e-01 6.06954519e-03 2.41090236e+02] [ 7.40244010e-01 -6.72305838e-01 -6.60799476e-03 -1.13032474e+02] [ 8.97231409e-03 5.05320460e-05 9.99959747e-01 -5.00902504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters 0.011747432049912106 Centerline is valid? [True, True] Translation: X:241.06, Y:-112.99, Z:-5.01 [[-6.75994505e-01 -7.36886185e-01 5.49363721e-03 2.41055392e+02] [ 7.36861943e-01 -6.76016827e-01 -5.97717592e-03 -1.12986772e+02] [ 8.11828956e-03 7.51411403e-06 9.99967046e-01 -5.00688702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters 0.011754526370327843 Centerline is valid? [True, True] Translation: X:241.02, Y:-112.94, Z:-5.01 [[-6.78701902e-01 -7.34392779e-01 5.56541574e-03 2.41018076e+02] [ 7.34367844e-01 -6.78724720e-01 -6.05177492e-03 -1.12942737e+02] [ 8.22176504e-03 -2.02887875e-05 9.99966201e-01 -5.00643861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters 0.012082742742002443 Centerline is valid? [True, True] Translation: X:240.98, Y:-112.90, Z:-5.01 [[-6.80264858e-01 -7.32939648e-01 6.26060950e-03 2.40980240e+02] [ 7.32908076e-01 -6.80293665e-01 -6.80312107e-03 -1.12901564e+02] [ 9.24533015e-03 -3.94729259e-05 9.99957260e-01 -5.00818594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters 0.012100775340136736 Centerline is valid? [True, True] Translation: X:240.94, Y:-112.86, Z:-5.01 [[-6.80771995e-01 -7.32464778e-01 6.69628941e-03 2.40941229e+02] [ 7.32428680e-01 -6.80804926e-01 -7.27196102e-03 -1.12860203e+02] [ 9.88532213e-03 -4.59929935e-05 9.99951138e-01 -5.00778566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters 0.012173909847084448 Centerline is valid? [True, True] Translation: X:240.90, Y:-112.82, Z:-5.01 [[-6.81164681e-01 -7.32103247e-01 6.28599323e-03 2.40902049e+02] [ 7.32071463e-01 -6.81193683e-01 -6.82191961e-03 -1.12820313e+02] [ 9.27632838e-03 -4.50544309e-05 9.99956973e-01 -5.00761630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters 0.0120395897769703 Centerline is valid? [True, True] Translation: X:240.86, Y:-112.78, Z:-5.01 [[-6.81541844e-01 -7.31753629e-01 6.11076819e-03 2.40861158e+02] [ 7.31723617e-01 -6.81569237e-01 -6.62756331e-03 -1.12779666e+02] [ 9.01465511e-03 -4.55683167e-05 9.99959366e-01 -5.00656443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters 0.012069619969720367 Centerline is valid? [True, True] Translation: X:240.82, Y:-112.74, Z:-5.01 [[-6.82257747e-01 -7.31083407e-01 6.43568056e-03 2.40820319e+02] [ 7.31050132e-01 -6.82288098e-01 -6.97536922e-03 -1.12740259e+02] [ 9.49056494e-03 -5.41945621e-05 9.99954962e-01 -5.00683790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters 0.012283252226648035 Centerline is valid? [True, True] Translation: X:240.78, Y:-112.70, Z:-5.01 [[-6.83688894e-01 -7.29743607e-01 6.61545077e-03 2.40778851e+02] [ 7.29708428e-01 -6.83720895e-01 -7.16577162e-03 -1.12700513e+02] [ 9.75229796e-03 -7.18082918e-05 9.99952443e-01 -5.00684965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters 0.012554277809144808 Centerline is valid? [True, True] Translation: X:240.74, Y:-112.66, Z:-5.01 [[-6.84806461e-01 -7.28687365e-01 7.40511686e-03 2.40736638e+02] [ 7.28643271e-01 -6.84846490e-01 -8.01673235e-03 -1.12659943e+02] [ 1.09130599e-02 -9.42215308e-05 9.99940446e-01 -5.00731195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters 0.012425147808073463 Centerline is valid? [True, True] Translation: X:240.70, Y:-112.62, Z:-5.01 [[-6.85188032e-01 -7.28329047e-01 7.35933673e-03 2.40696140e+02] [ 7.28285531e-01 -6.85227546e-01 -7.96215572e-03 -1.12620018e+02] [ 1.08418895e-02 -9.58753482e-05 9.99941220e-01 -5.00641539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters 0.012375188442920328 Centerline is valid? [True, True] Translation: X:240.66, Y:-112.58, Z:-5.01 [[-6.85642196e-01 -7.27904463e-01 7.06203702e-03 2.40655380e+02] [ 7.27864419e-01 -6.85678557e-01 -7.63572317e-03 -1.12579488e+02] [ 1.04003643e-02 -9.51685270e-05 9.99945910e-01 -5.00585087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters 0.01206989040444656 Centerline is valid? [True, True] Translation: X:240.61, Y:-112.54, Z:-5.00 [[-6.85668196e-01 -7.27880615e-01 6.99537392e-03 2.40614097e+02] [ 7.27841367e-01 -6.85703873e-01 -7.55930370e-03 -1.12538104e+02] [ 1.02990256e-02 -9.16516101e-05 9.99946959e-01 -5.00492118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters 0.012080644335133051 Centerline is valid? [True, True] Translation: X:240.57, Y:-112.50, Z:-5.01 [[-6.84186945e-01 -7.29276183e-01 6.66887081e-03 2.40571912e+02] [ 7.29240627e-01 -6.84219442e-01 -7.20164206e-03 -1.12500082e+02] [ 9.81495709e-03 -6.40579507e-05 9.99951830e-01 -5.00539014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters 0.011833478840300306 Centerline is valid? [True, True] Translation: X:240.53, Y:-112.46, Z:-5.01 [[-6.82694209e-01 -7.30672428e-01 6.81327101e-03 2.40530000e+02] [ 7.30635419e-01 -6.82728205e-01 -7.35412599e-03 -1.12461841e+02] [ 1.00250694e-02 -4.26021070e-05 9.99949747e-01 -5.00578914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters 0.011520381763450518 Centerline is valid? [True, True] Translation: X:240.49, Y:-112.43, Z:-5.01 [[-6.79370773e-01 -7.33760126e-01 7.17143341e-03 2.40485010e+02] [ 7.33719346e-01 -6.79408623e-01 -7.73591302e-03 -1.12425294e+02] [ 1.05486382e-02 6.26622424e-06 9.99944362e-01 -5.00551781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters 0.01151538902366716 Centerline is valid? [True, True] Translation: X:240.44, Y:-112.39, Z:-5.01 [[-6.77087073e-01 -7.35868258e-01 7.14159916e-03 2.40442460e+02] [ 7.35827987e-01 -6.77124734e-01 -7.69855559e-03 -1.12387346e+02] [ 1.05008761e-02 4.23960612e-05 9.99944863e-01 -5.00514878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters 0.012150013134208612 Centerline is valid? [True, True] Translation: X:240.40, Y:-112.35, Z:-5.01 [[-6.73200968e-01 -7.39420137e-01 7.63663937e-03 2.40396795e+02] [ 7.39374369e-01 -6.73244272e-01 -8.22757710e-03 -1.12350465e+02] [ 1.12249599e-02 1.07522552e-04 9.99936992e-01 -5.00588398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters 0.012700613598304466 Centerline is valid? [True, True] Translation: X:240.35, Y:-112.31, Z:-5.01 [[-6.71085422e-01 -7.41342602e-01 7.45005612e-03 2.40353535e+02] [ 7.41299210e-01 -6.71126760e-01 -8.02209071e-03 -1.12311688e+02] [ 1.09470496e-02 1.39212586e-04 9.99940070e-01 -5.00659919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters 0.01261204898991668 Centerline is valid? [True, True] Translation: X:240.31, Y:-112.27, Z:-5.00 [[-6.69168866e-01 -7.43080673e-01 6.64388944e-03 2.40310736e+02] [ 7.43046289e-01 -6.69201830e-01 -7.15003897e-03 -1.12271358e+02] [ 9.75915874e-03 1.52133920e-04 9.99952367e-01 -5.00473666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters 0.013010063564133314 Centerline is valid? [True, True] Translation: X:240.27, Y:-112.23, Z:-5.00 [[-6.69508537e-01 -7.42787906e-01 4.94423324e-03 2.40269075e+02] [ 7.42768879e-01 -6.69526784e-01 -5.31772617e-03 -1.12231732e+02] [ 7.26023927e-03 1.12159511e-04 9.99973638e-01 -5.00409782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters 0.012331381690687274 Centerline is valid? [True, True] Translation: X:240.23, Y:-112.19, Z:-5.00 [[-6.71255356e-01 -7.41211842e-01 4.61004461e-03 2.40229181e+02] [ 7.41195281e-01 -6.71271180e-01 -4.95559476e-03 -1.12188811e+02] [ 6.76773561e-03 9.04737819e-05 9.99977095e-01 -5.00404625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters 0.011755107243861985 Centerline is valid? [True, True] Translation: X:240.19, Y:-112.15, Z:-5.01 [[-6.75816578e-01 -7.37054900e-01 4.69332548e-03 2.40190131e+02] [ 7.37037653e-01 -6.75832873e-01 -5.04240562e-03 -1.12145312e+02] [ 6.88843341e-03 5.14162808e-05 9.99976273e-01 -5.00506166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters 0.01146420096459077 Centerline is valid? [True, True] Translation: X:240.15, Y:-112.10, Z:-5.01 [[-6.79779411e-01 -7.33403631e-01 4.36650631e-03 2.40153295e+02] [ 7.33388647e-01 -6.79793435e-01 -4.68813150e-03 -1.12102808e+02] [ 6.40661499e-03 1.54508869e-05 9.99979477e-01 -5.00547039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters 0.011647304678993171 Centerline is valid? [True, True] Translation: X:240.12, Y:-112.06, Z:-5.00 [[-6.86647413e-01 -7.26980068e-01 3.91298501e-03 2.40116690e+02] [ 7.26967943e-01 -6.86658561e-01 -4.19879782e-03 -1.12058112e+02] [ 5.73932698e-03 -3.84789986e-05 9.99983529e-01 -5.00459011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters 0.012576461048788384 Centerline is valid? [True, True] Translation: X:240.08, Y:-112.01, Z:-5.01 [[-6.91003449e-01 -7.22838216e-01 4.37562281e-03 2.40078999e+02] [ 7.22822990e-01 -6.91017298e-01 -4.69241420e-03 -1.12014562e+02] [ 6.41548736e-03 -7.96736354e-05 9.99979417e-01 -5.00579463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters 0.014421043285457477 Centerline is valid? [True, True] Translation: X:240.04, Y:-111.97, Z:-5.01 [[-6.96637223e-01 -7.17409462e-01 4.49918895e-03 2.40041660e+02] [ 7.17393269e-01 -6.96651740e-01 -4.82203519e-03 -1.11970529e+02] [ 6.59374148e-03 -1.31521341e-04 9.99978252e-01 -5.00704344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters 0.015076202025627556 Centerline is valid? [True, True] Translation: X:240.00, Y:-111.93, Z:-5.01 [[-6.99762715e-01 -7.14364059e-01 4.01684414e-03 2.40001772e+02] [ 7.14351115e-01 -6.99774229e-01 -4.30263425e-03 -1.11928416e+02] [ 5.88453128e-03 -1.41385931e-04 9.99982676e-01 -5.00695597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters 0.015053155562170717 Centerline is valid? [True, True] Translation: X:239.96, Y:-111.89, Z:-5.01 [[-7.00441595e-01 -7.13701062e-01 3.51647345e-03 2.39960657e+02] [ 7.13691145e-01 -7.00450410e-01 -3.76451244e-03 -1.11887425e+02] [ 5.14985180e-03 -1.27145134e-04 9.99986731e-01 -5.00700294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters 0.014950376064578906 Centerline is valid? [True, True] Translation: X:239.92, Y:-111.85, Z:-5.01 [[-6.99420486e-01 -7.14703182e-01 3.21640468e-03 2.39918713e+02] [ 7.14694905e-01 -6.99427873e-01 -3.44133513e-03 -1.11846593e+02] [ 4.70917625e-03 -1.08192256e-04 9.99988906e-01 -5.00737104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters 0.013598145180110582 Centerline is valid? [True, True] Translation: X:239.87, Y:-111.81, Z:-5.01 [[-6.94862852e-01 -7.19135834e-01 3.04442885e-03 2.39874176e+02] [ 7.19128470e-01 -6.94869518e-01 -3.25534711e-03 -1.11809758e+02] [ 4.45651756e-03 -7.26843159e-05 9.99990067e-01 -5.00819895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters 0.011927782401113621 Centerline is valid? [True, True] Translation: X:239.83, Y:-111.78, Z:-5.01 [[-6.87892930e-01 -7.25806936e-01 2.75825200e-03 2.39826771e+02] [ 7.25800952e-01 -6.87898459e-01 -2.94762457e-03 -1.11775015e+02] [ 4.03680366e-03 -2.57081776e-05 9.99991852e-01 -5.00873325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters 0.011655274129829129 Centerline is valid? [True, True] Translation: X:239.78, Y:-111.74, Z:-5.01 [[-6.82447769e-01 -7.30929502e-01 2.66558270e-03 2.39782562e+02] [ 7.30923958e-01 -6.82452975e-01 -2.84679065e-03 -1.11738611e+02] [ 3.89993811e-03 5.55233191e-06 9.99992395e-01 -5.00844579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters 0.012880225214401785 Centerline is valid? [True, True] Translation: X:239.73, Y:-111.70, Z:-5.01 [[-6.74050340e-01 -7.38680945e-01 2.56898534e-03 2.39734347e+02] [ 7.38675858e-01 -6.74055234e-01 -2.74206823e-03 -1.11703932e+02] [ 3.75715157e-03 4.93554261e-05 9.99992941e-01 -5.00871809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters 0.014539505648801507 Centerline is valid? [True, True] Translation: X:239.69, Y:-111.67, Z:-5.01 [[-6.68102408e-01 -7.44062378e-01 3.21709397e-03 2.39688804e+02] [ 7.44054471e-01 -6.68110146e-01 -3.43183019e-03 -1.11667157e+02] [ 4.70286885e-03 1.00879135e-04 9.99988936e-01 -5.00909914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters 0.01620358266671502 Centerline is valid? [True, True] Translation: X:239.65, Y:-111.63, Z:-5.01 [[-6.66166709e-01 -7.45795892e-01 3.22530669e-03 2.39645328e+02] [ 7.45787974e-01 -6.66174507e-01 -3.43851321e-03 -1.11629342e+02] [ 4.71304612e-03 1.14771908e-04 9.99988887e-01 -5.00900912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters 0.015860812025607105 Centerline is valid? [True, True] Translation: X:239.61, Y:-111.59, Z:-5.01 [[-6.66877802e-01 -7.45160921e-01 3.03317041e-03 2.39605926e+02] [ 7.45153920e-01 -6.66884691e-01 -3.23163989e-03 -1.11587568e+02] [ 4.43086667e-03 1.05069924e-04 9.99990178e-01 -5.00868226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters 0.014882222642795795 Centerline is valid? [True, True] Translation: X:239.57, Y:-111.54, Z:-5.01 [[-6.69490274e-01 -7.42812842e-01 3.44304413e-03 2.39568128e+02] [ 7.42803802e-01 -6.69499119e-01 -3.66628196e-03 -1.11543505e+02] [ 5.02847634e-03 1.02966155e-04 9.99987352e-01 -5.00944992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters 0.014361280353561183 Centerline is valid? [True, True] Translation: X:239.53, Y:-111.50, Z:-5.01 [[-6.71411100e-01 -7.41073257e-01 4.19070669e-03 2.39529783e+02] [ 7.41059846e-01 -6.71424169e-01 -4.45980762e-03 -1.11500284e+02] [ 6.11878592e-03 1.11200113e-04 9.99981274e-01 -5.01012967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters 0.013291685347421893 Centerline is valid? [True, True] Translation: X:239.49, Y:-111.46, Z:-5.01 [[-6.73257587e-01 -7.39388903e-01 5.31712802e-03 2.39493441e+02] [ 7.39367285e-01 -6.73278571e-01 -5.65530933e-03 -1.11455202e+02] [ 7.76138131e-03 1.23830596e-04 9.99969872e-01 -5.01052279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters 0.013752352523644986 Centerline is valid? [True, True] Translation: X:239.46, Y:-111.41, Z:-5.01 [[-6.74116916e-01 -7.38601495e-01 5.84934933e-03 2.39455357e+02] [ 7.38575339e-01 -6.74142281e-01 -6.21720277e-03 -1.11413779e+02] [ 8.53532896e-03 1.29063612e-04 9.99963565e-01 -5.01129386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters 0.013281624152341447 Centerline is valid? [True, True] Translation: X:239.42, Y:-111.37, Z:-5.01 [[-6.75795512e-01 -7.37065264e-01 5.93483715e-03 2.39419210e+02] [ 7.37038312e-01 -6.75821562e-01 -6.30416345e-03 -1.11369487e+02] [ 8.65747081e-03 1.13876987e-04 9.99962517e-01 -5.01099893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters 0.012470237019945084 Centerline is valid? [True, True] Translation: X:239.38, Y:-111.32, Z:-5.01 [[-6.77521299e-01 -7.35474097e-01 6.53779185e-03 2.39383064e+02] [ 7.35441354e-01 -6.77552833e-01 -6.94064308e-03 -1.11323381e+02] [ 9.53436259e-03 1.05728977e-04 9.99954541e-01 -5.01063400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters 0.012683048506702705 Centerline is valid? [True, True] Translation: X:239.34, Y:-111.28, Z:-5.01 [[-6.77799726e-01 -7.35215132e-01 6.80015479e-03 2.39344488e+02] [ 7.35179725e-01 -6.77833828e-01 -7.21616698e-03 -1.11281628e+02] [ 9.91481010e-03 1.08219933e-04 9.99950841e-01 -5.01093074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters 0.01268225867112097 Centerline is valid? [True, True] Translation: X:239.31, Y:-111.24, Z:-5.01 [[-6.77793801e-01 -7.35216264e-01 7.25309818e-03 2.39306347e+02] [ 7.35176031e-01 -6.77832598e-01 -7.69242328e-03 -1.11238046e+02] [ 1.05719811e-02 1.18427119e-04 9.99944108e-01 -5.01077739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters 0.013123227473196348 Centerline is valid? [True, True] Translation: X:239.27, Y:-111.20, Z:-5.01 [[-6.76282892e-01 -7.36608048e-01 7.07350832e-03 2.39267477e+02] [ 7.36569901e-01 -6.76319868e-01 -7.49773336e-03 -1.11195367e+02] [ 1.03068449e-02 1.39544529e-04 9.99946873e-01 -5.01048745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters 0.013785973980086297 Centerline is valid? [True, True] Translation: X:239.23, Y:-111.15, Z:-5.01 [[-6.74351588e-01 -7.38377098e-01 7.01413449e-03 2.39228316e+02] [ 7.38339727e-01 -6.74388044e-01 -7.43062668e-03 -1.11152148e+02] [ 1.02168530e-02 1.67959241e-04 9.99947793e-01 -5.01046808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters 0.014036108189928289 Centerline is valid? [True, True] Translation: X:239.19, Y:-111.11, Z:-5.01 [[-6.72755314e-01 -7.39830124e-01 7.18862476e-03 2.39189299e+02] [ 7.39790999e-01 -6.72793690e-01 -7.61112822e-03 -1.11109284e+02] [ 1.04674033e-02 1.97652938e-04 9.99945196e-01 -5.01020980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters 0.015725953670463522 Centerline is valid? [True, True] Translation: X:239.15, Y:-111.07, Z:-5.01 [[-6.69566029e-01 -7.42715965e-01 7.37079172e-03 2.39149850e+02] [ 7.42675048e-01 -6.69606550e-01 -7.80006626e-03 -1.11068779e+02] [ 1.07287642e-02 2.51443707e-04 9.99942414e-01 -5.01120232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters 0.016520899469653943 Centerline is valid? [True, True] Translation: X:239.11, Y:-111.03, Z:-5.01 [[-6.67398256e-01 -7.44660595e-01 7.75668998e-03 2.39109829e+02] [ 7.44615464e-01 -6.67443262e-01 -8.20381957e-03 -1.11026558e+02] [ 1.12862116e-02 3.00536432e-04 9.99936264e-01 -5.01108627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters 0.017630855104377546 Centerline is valid? [True, True] Translation: X:239.07, Y:-110.98, Z:-5.01 [[-6.64726842e-01 -7.47049199e-01 7.46451037e-03 2.39070782e+02] [ 7.47007606e-01 -6.64768670e-01 -7.89002347e-03 -1.10984368e+02] [ 1.08564083e-02 3.31335632e-04 9.99941013e-01 -5.01027665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters 0.0183394315208724 Centerline is valid? [True, True] Translation: X:239.03, Y:-110.94, Z:-5.01 [[-6.63724715e-01 -7.47944840e-01 6.92957651e-03 2.39031131e+02] [ 7.47909085e-01 -6.63760809e-01 -7.32046069e-03 -1.10941890e+02] [ 1.00748821e-02 3.23922536e-04 9.99949195e-01 -5.00945557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters 0.018907207960133992 Centerline is valid? [True, True] Translation: X:238.99, Y:-110.90, Z:-5.01 [[-6.63562748e-01 -7.48090329e-01 6.73342463e-03 2.38993227e+02] [ 7.48056621e-01 -6.63596833e-01 -7.10877016e-03 -1.10898999e+02] [ 9.78628147e-03 3.19867811e-04 9.99952062e-01 -5.00874745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters 0.017914703794155818 Centerline is valid? [True, True] Translation: X:238.96, Y:-110.85, Z:-5.01 [[-6.65823569e-01 -7.46082416e-01 6.32472708e-03 2.38955873e+02] [ 7.46052618e-01 -6.65853552e-01 -6.67373064e-03 -1.10853768e+02] [ 9.19049507e-03 2.75052045e-04 9.99957729e-01 -5.00896120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters 0.01595662040511388 Centerline is valid? [True, True] Translation: X:238.92, Y:-110.81, Z:-5.01 [[-6.68989266e-01 -7.43230993e-01 7.81362279e-03 2.38920751e+02] [ 7.43185372e-01 -6.69034831e-01 -8.24002034e-03 -1.10806890e+02] [ 1.13518243e-02 2.94485001e-04 9.99935523e-01 -5.01018835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters 0.015060498052571666 Centerline is valid? [True, True] Translation: X:238.88, Y:-110.76, Z:-5.01 [[-6.71522605e-01 -7.40932553e-01 8.73741363e-03 2.38883593e+02] [ 7.40875379e-01 -6.71579383e-01 -9.20897346e-03 -1.10761658e+02] [ 1.26910951e-02 2.89300796e-04 9.99919423e-01 -5.01096566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters 0.013589282629142954 Centerline is valid? [True, True] Translation: X:238.85, Y:-110.71, Z:-5.01 [[-6.76062359e-01 -7.36783180e-01 9.49904295e-03 2.38849298e+02] [ 7.36715272e-01 -6.76129049e-01 -1.00058810e-02 -1.10714557e+02] [ 1.37947437e-02 2.33490490e-04 9.99904821e-01 -5.01114957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters 0.012492041888938075 Centerline is valid? [True, True] Translation: X:238.81, Y:-110.67, Z:-5.01 [[-6.79624727e-01 -7.33501697e-01 9.24613900e-03 2.38813546e+02] [ 7.33437119e-01 -6.79687599e-01 -9.73442350e-03 -1.10667338e+02] [ 1.34247022e-02 1.65706649e-04 9.99909871e-01 -5.00984395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters 0.011710140508323013 Centerline is valid? [True, True] Translation: X:238.78, Y:-110.62, Z:-5.01 [[-6.84228295e-01 -7.29225143e-01 7.89508993e-03 2.38778597e+02] [ 7.29177824e-01 -6.84273839e-01 -8.30750974e-03 -1.10619832e+02] [ 1.14604485e-02 7.26912792e-05 9.99934324e-01 -5.00812210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters 0.011664716183120333 Centerline is valid? [True, True] Translation: X:238.74, Y:-110.58, Z:-5.01 [[-6.86645639e-01 -7.26948540e-01 7.97415755e-03 2.38743210e+02] [ 7.26900180e-01 -6.86691939e-01 -8.38507905e-03 -1.10575661e+02] [ 1.15713107e-02 3.88385965e-05 9.99933049e-01 -5.00815232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters 0.011699899203116388 Centerline is valid? [True, True] Translation: X:238.70, Y:-110.53, Z:-5.01 [[-6.87048125e-01 -7.26558782e-01 8.78694067e-03 2.38704997e+02] [ 7.26500103e-01 -6.87104311e-01 -9.23395354e-03 -1.10532355e+02] [ 1.27465548e-02 3.95428384e-05 9.99918759e-01 -5.00846599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters 0.012013038569628947 Centerline is valid? [True, True] Translation: X:238.67, Y:-110.49, Z:-5.01 [[-6.85774439e-01 -7.27756201e-01 9.18320930e-03 2.38666660e+02] [ 7.27692301e-01 -6.85835919e-01 -9.64409189e-03 -1.10490729e+02] [ 1.33167225e-02 6.88790072e-05 9.99911326e-01 -5.00917063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters 0.01198865851063932 Centerline is valid? [True, True] Translation: X:238.63, Y:-110.45, Z:-5.01 [[-6.83760669e-01 -7.29661158e-01 8.12047986e-03 2.38627250e+02] [ 7.29611390e-01 -6.83808880e-01 -8.52262468e-03 -1.10449340e+02] [ 1.17714844e-02 9.73590421e-05 9.99930709e-01 -5.00763831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters 0.012169695762972495 Centerline is valid? [True, True] Translation: X:238.59, Y:-110.41, Z:-5.01 [[-6.81965968e-01 -7.31342353e-01 7.79626365e-03 2.38586944e+02] [ 7.31296642e-01 -6.82010519e-01 -8.17765502e-03 -1.10406884e+02] [ 1.12977993e-02 1.24499002e-04 9.99936170e-01 -5.00698981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters 0.013197131932146855 Centerline is valid? [True, True] Translation: X:238.55, Y:-110.37, Z:-5.01 [[-6.77670187e-01 -7.35323321e-01 7.92028594e-03 2.38545848e+02] [ 7.35276470e-01 -6.77716441e-01 -8.30296512e-03 -1.10365715e+02] [ 1.14730719e-02 1.96927957e-04 9.99934163e-01 -5.00730211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters 0.016247230551796846 Centerline is valid? [True, True] Translation: X:238.50, Y:-110.33, Z:-5.01 [[-6.74302115e-01 -7.38410177e-01 8.18953319e-03 2.38502453e+02] [ 7.38360354e-01 -6.74351794e-01 -8.58166050e-03 -1.10328334e+02] [ 1.18594118e-02 2.60194806e-04 9.99929641e-01 -5.00966656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters 0.019687983386252213 Centerline is valid? [True, True] Translation: X:238.46, Y:-110.29, Z:-5.01 [[-6.69742478e-01 -7.42546903e-01 8.31326555e-03 2.38460015e+02] [ 7.42495944e-01 -6.69793984e-01 -8.70592269e-03 -1.10290959e+02] [ 1.20327312e-02 3.41839708e-04 9.99927546e-01 -5.01028934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters 0.018757146574269367 Centerline is valid? [True, True] Translation: X:238.42, Y:-110.25, Z:-5.01 [[-6.67544417e-01 -7.44517812e-01 8.81352590e-03 2.38422312e+02] [ 7.44460772e-01 -6.67602475e-01 -9.22468422e-03 -1.10246815e+02] [ 1.27518734e-02 4.03437846e-04 9.99918610e-01 -5.00875398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters 0.01929891774475926 Centerline is valid? [True, True] Translation: X:238.38, Y:-110.21, Z:-5.01 [[-6.67473887e-01 -7.44584172e-01 8.54522488e-03 2.38382750e+02] [ 7.44530626e-01 -6.67528467e-01 -8.93834715e-03 -1.10205153e+02] [ 1.23595327e-02 3.96068311e-04 9.99923540e-01 -5.00864921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters 0.017148046464537332 Centerline is valid? [True, True] Translation: X:238.35, Y:-110.16, Z:-5.01 [[-6.68584471e-01 -7.43588230e-01 8.44679311e-03 2.38346412e+02] [ 7.43535893e-01 -6.68637721e-01 -8.83031986e-03 -1.10159012e+02] [ 1.22139664e-02 3.76679124e-04 9.99925336e-01 -5.00745609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters 0.016576705927350225 Centerline is valid? [True, True] Translation: X:238.31, Y:-110.11, Z:-5.01 [[-6.70350022e-01 -7.41992985e-01 8.78969557e-03 2.38308787e+02] [ 7.41936241e-01 -6.70407545e-01 -9.18353432e-03 -1.10114717e+02] [ 1.27067963e-02 3.65211260e-04 9.99919199e-01 -5.00733894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters 0.01545630725219506 Centerline is valid? [True, True] Translation: X:238.27, Y:-110.07, Z:-5.01 [[-6.73669619e-01 -7.38981472e-01 8.69645271e-03 2.38273403e+02] [ 7.38925737e-01 -6.73725678e-01 -9.08110056e-03 -1.10068119e+02] [ 1.25697886e-02 3.08371163e-04 9.99920950e-01 -5.00700090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters 0.017248663913200995 Centerline is valid? [True, True] Translation: X:238.23, Y:-110.03, Z:-5.01 [[-6.75580334e-01 -7.37238378e-01 8.41348611e-03 2.38233343e+02] [ 7.37186133e-01 -6.75632667e-01 -8.78086732e-03 -1.10027107e+02] [ 1.21580184e-02 2.70124018e-04 9.99926052e-01 -5.00891689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters 0.01384977726177473 Centerline is valid? [True, True] Translation: X:238.20, Y:-109.98, Z:-5.01 [[-6.78279344e-01 -7.34757043e-01 8.31987303e-03 2.38200067e+02] [ 7.34705827e-01 -6.78330330e-01 -8.67820749e-03 -1.09978614e+02] [ 1.20199963e-02 2.26410314e-04 9.99927732e-01 -5.00554871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters 0.013283078163343114 Centerline is valid? [True, True] Translation: X:238.16, Y:-109.93, Z:-5.01 [[-6.81431347e-01 -7.31828165e-01 8.88007070e-03 2.38163396e+02] [ 7.31769634e-01 -6.81489179e-01 -9.25750039e-03 -1.09934758e+02] [ 1.28265716e-02 1.89815131e-04 9.99917718e-01 -5.00576478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters 0.01308030256311156 Centerline is valid? [True, True] Translation: X:238.12, Y:-109.89, Z:-5.01 [[-6.82369762e-01 -7.30957674e-01 8.50801805e-03 2.38123919e+02] [ 7.30903946e-01 -6.82422779e-01 -8.86406640e-03 -1.09893209e+02] [ 1.22853227e-02 1.69973092e-04 9.99924518e-01 -5.00540462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters 0.012605658167828713 Centerline is valid? [True, True] Translation: X:238.08, Y:-109.85, Z:-5.00 [[-6.83847034e-01 -7.29579695e-01 8.16710680e-03 2.38083920e+02] [ 7.29530152e-01 -6.83895787e-01 -8.50348791e-03 -1.09851730e+02] [ 1.17894221e-02 1.43065680e-04 9.99930492e-01 -5.00456407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters 0.012141737786140076 Centerline is valid? [True, True] Translation: X:238.04, Y:-109.81, Z:-5.00 [[-6.85492292e-01 -7.28036493e-01 7.94881800e-03 2.38043545e+02] [ 7.27989513e-01 -6.85538367e-01 -8.27147425e-03 -1.09809754e+02] [ 1.14711548e-02 1.16624309e-04 9.99934197e-01 -5.00294215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters 0.012128110519560578 Centerline is valid? [True, True] Translation: X:238.00, Y:-109.77, Z:-5.00 [[-6.86047937e-01 -7.27512367e-01 7.99896548e-03 2.38003330e+02] [ 7.27464818e-01 -6.86094559e-01 -8.31838256e-03 -1.09768937e+02] [ 1.15397729e-02 1.12156765e-04 9.99933408e-01 -5.00266944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters 0.012326530846632251 Centerline is valid? [True, True] Translation: X:237.96, Y:-109.73, Z:-5.00 [[-6.85403215e-01 -7.28113618e-01 8.54360785e-03 2.37960204e+02] [ 7.28059481e-01 -6.85456448e-01 -8.87975997e-03 -1.09729648e+02] [ 1.23217452e-02 1.34038669e-04 9.99924075e-01 -5.00293295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters 0.012524588879091456 Centerline is valid? [True, True] Translation: X:237.92, Y:-109.69, Z:-5.00 [[-6.84158698e-01 -7.29274081e-01 9.28388506e-03 2.37916664e+02] [ 7.29210337e-01 -6.84221664e-01 -9.64365325e-03 -1.09691336e+02] [ 1.33851016e-02 1.72115702e-04 9.99910401e-01 -5.00346777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters 0.012940374758050783 Centerline is valid? [True, True] Translation: X:237.87, Y:-109.65, Z:-5.00 [[-6.83233713e-01 -7.30139940e-01 9.34671039e-03 2.37874652e+02] [ 7.30075489e-01 -6.83297615e-01 -9.70311148e-03 -1.09652888e+02] [ 1.34712141e-02 1.94311271e-04 9.99909240e-01 -5.00368933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters 0.01298745226869467 Centerline is valid? [True, True] Translation: X:237.83, Y:-109.61, Z:-5.00 [[-6.82371270e-01 -7.30948844e-01 9.12345506e-03 2.37832618e+02] [ 7.30887578e-01 -6.82432226e-01 -9.46595738e-03 -1.09612643e+02] [ 1.31452704e-02 2.08922622e-04 9.99913575e-01 -5.00237760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters 0.013275562925898632 Centerline is valid? [True, True] Translation: X:237.79, Y:-109.57, Z:-5.00 [[-6.82008410e-01 -7.31289976e-01 8.91629525e-03 2.37791891e+02] [ 7.31231565e-01 -6.82066658e-01 -9.24511891e-03 -1.09572962e+02] [ 1.28423705e-02 2.14627679e-04 9.99917510e-01 -5.00201656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters 0.013407751202998947 Centerline is valid? [True, True] Translation: X:237.75, Y:-109.53, Z:-5.00 [[-6.80947974e-01 -7.32276211e-01 9.02262377e-03 2.37750468e+02] [ 7.32216555e-01 -6.81007705e-01 -9.35000510e-03 -1.09532290e+02] [ 1.29912626e-02 2.39647460e-04 9.99915581e-01 -5.00102737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters 0.013902354726579198 Centerline is valid? [True, True] Translation: X:237.71, Y:-109.49, Z:-5.00 [[-6.80001614e-01 -7.33155580e-01 8.98337109e-03 2.37708736e+02] [ 7.33096588e-01 -6.80060901e-01 -9.30396503e-03 -1.09491274e+02] [ 1.29304933e-02 2.58967464e-04 9.99916364e-01 -5.00037141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters 0.01410784025247202 Centerline is valid? [True, True] Translation: X:237.67, Y:-109.45, Z:-5.00 [[-6.79204002e-01 -7.33892495e-01 9.15045110e-03 2.37667762e+02] [ 7.33831427e-01 -6.79265579e-01 -9.47152090e-03 -1.09450341e+02] [ 1.31666646e-02 2.81793698e-04 9.99913276e-01 -4.99992235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters 0.015222804807128846 Centerline is valid? [True, True] Translation: X:237.63, Y:-109.41, Z:-5.00 [[-6.77257730e-01 -7.35685264e-01 9.44244835e-03 2.37625816e+02] [ 7.35620491e-01 -6.77323470e-01 -9.76785288e-03 -1.09411549e+02] [ 1.35816573e-02 3.30704621e-04 9.99907710e-01 -5.00027514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters 0.015927441191430174 Centerline is valid? [True, True] Translation: X:237.58, Y:-109.37, Z:-5.00 [[-6.75211229e-01 -7.37559735e-01 9.76895018e-03 2.37584009e+02] [ 7.37490681e-01 -6.75281785e-01 -1.00998194e-02 -1.09371044e+02] [ 1.40460142e-02 3.84998286e-04 9.99901276e-01 -5.00057914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters 0.018362858737731386 Centerline is valid? [True, True] Translation: X:237.54, Y:-109.33, Z:-5.00 [[-6.72311361e-01 -7.40181775e-01 1.13302109e-02 2.37541522e+02] [ 7.40089367e-01 -6.72406629e-01 -1.17070223e-02 -1.09333689e+02] [ 1.62838335e-02 5.14604458e-04 9.99867277e-01 -5.00312391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters 0.018677961509138242 Centerline is valid? [True, True] Translation: X:237.50, Y:-109.29, Z:-5.00 [[-6.71174393e-01 -7.41200359e-01 1.21227656e-02 2.37500848e+02] [ 7.41094858e-01 -6.71283613e-01 -1.25189082e-02 -1.09292611e+02] [ 1.74168332e-02 5.81748640e-04 9.99848146e-01 -5.00354484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters 0.019315548626581955 Centerline is valid? [True, True] Translation: X:237.46, Y:-109.25, Z:-5.00 [[-6.70996064e-01 -7.41373167e-01 1.14065439e-02 2.37460853e+02] [ 7.41279910e-01 -6.71092778e-01 -1.17719261e-02 -1.09251598e+02] [ 1.63822394e-02 5.56525786e-04 9.99865647e-01 -5.00275314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters 0.018919495370968292 Centerline is valid? [True, True] Translation: X:237.42, Y:-109.21, Z:-5.00 [[-6.71710326e-01 -7.40735465e-01 1.07800403e-02 2.37421711e+02] [ 7.40652185e-01 -6.71796625e-01 -1.11191673e-02 -1.09208918e+02] [ 1.54783562e-02 5.15400920e-04 9.99880070e-01 -5.00127399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters 0.01682012722022668 Centerline is valid? [True, True] Translation: X:237.38, Y:-109.16, Z:-5.00 [[-6.73946156e-01 -7.38721083e-01 9.36695301e-03 2.37384731e+02] [ 7.38658083e-01 -6.74011122e-01 -9.65628778e-03 -1.09163774e+02] [ 1.34467339e-02 4.11157523e-04 9.99909504e-01 -4.99878350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters 0.01663824068072254 Centerline is valid? [True, True] Translation: X:237.34, Y:-109.12, Z:-5.00 [[-6.75175117e-01 -7.37608836e-01 8.47149948e-03 2.37344592e+02] [ 7.37557279e-01 -6.75228168e-01 -8.72823289e-03 -1.09121978e+02] [ 1.21582168e-02 3.55130438e-04 9.99926023e-01 -4.99790459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters 0.016694878539934805 Centerline is valid? [True, True] Translation: X:237.30, Y:-109.08, Z:-5.00 [[-6.75146520e-01 -7.37635543e-01 8.42508709e-03 2.37303625e+02] [ 7.37584618e-01 -6.75198992e-01 -8.67487760e-03 -1.09081314e+02] [ 1.20875084e-02 3.57401220e-04 9.99926880e-01 -4.99768261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters 0.016729656832233434 Centerline is valid? [True, True] Translation: X:237.26, Y:-109.04, Z:-5.00 [[-6.73618912e-01 -7.39030269e-01 8.47477858e-03 2.37261433e+02] [ 7.38978909e-01 -6.73672109e-01 -8.72129899e-03 -1.09040982e+02] [ 1.21545259e-02 3.87850695e-04 9.99926056e-01 -4.99809006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters 0.01767417290193463 Centerline is valid? [True, True] Translation: X:237.22, Y:-109.00, Z:-5.00 [[-6.72999601e-01 -7.39593924e-01 8.50671235e-03 2.37219302e+02] [ 7.39542286e-01 -6.73053241e-01 -8.74880473e-03 -1.09001936e+02] [ 1.21960331e-02 4.03131409e-04 9.99925544e-01 -4.99874988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters 0.018050988455417444 Centerline is valid? [True, True] Translation: X:237.18, Y:-108.96, Z:-5.00 [[-6.71430384e-01 -7.41020142e-01 8.38981872e-03 2.37177480e+02] [ 7.40970088e-01 -6.71482663e-01 -8.62328941e-03 -1.08962176e+02] [ 1.20236490e-02 4.26666201e-04 9.99927622e-01 -4.99808296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters 0.01995419028918416 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.92, Z:-5.00 [[-6.69857156e-01 -7.42446035e-01 8.07934601e-03 2.37133878e+02] [ 7.42399778e-01 -6.69905734e-01 -8.29916392e-03 -1.08924803e+02] [ 1.15740816e-02 4.38850343e-04 9.99932922e-01 -4.99850059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters 0.021241114404185652 Centerline is valid? [True, True] Translation: X:237.09, Y:-108.89, Z:-5.00 [[-6.68455956e-01 -7.43707260e-01 8.13305478e-03 2.37090758e+02] [ 7.43660534e-01 -6.68505268e-01 -8.34965078e-03 -1.08885647e+02] [ 1.16466859e-02 4.66858062e-04 9.99932066e-01 -4.99892525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters 0.021716235756340744 Centerline is valid? [True, True] Translation: X:237.05, Y:-108.85, Z:-5.00 [[-6.66462599e-01 -7.45496870e-01 7.87525606e-03 2.37048213e+02] [ 7.45453236e-01 -6.66508950e-01 -8.08033923e-03 -1.08846290e+02] [ 1.12727963e-02 4.85391230e-04 9.99936342e-01 -4.99793794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters 0.02281589514188786 Centerline is valid? [True, True] Translation: X:237.01, Y:-108.81, Z:-5.00 [[-6.66705629e-01 -7.45289225e-01 6.89744551e-03 2.37006981e+02] [ 7.45255789e-01 -6.66741172e-01 -7.07235795e-03 -1.08808450e+02] [ 9.86976308e-03 4.25180338e-04 9.99951202e-01 -4.99793316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters 0.021507902843684115 Centerline is valid? [True, True] Translation: X:236.97, Y:-108.77, Z:-5.00 [[-6.67807739e-01 -7.44315809e-01 5.17687769e-03 2.36967110e+02] [ 7.44296967e-01 -6.67827732e-01 -5.30514763e-03 -1.08766722e+02] [ 7.40596774e-03 3.10315722e-04 9.99972527e-01 -4.99543351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters 0.02226391793252381 Centerline is valid? [True, True] Translation: X:236.92, Y:-108.73, Z:-5.00 [[-6.67492881e-01 -7.44602161e-01 4.56909276e-03 2.36924371e+02] [ 7.44587507e-01 -6.67508460e-01 -4.67967083e-03 -1.08726826e+02] [ 6.53440108e-03 2.78442426e-04 9.99978612e-01 -4.99515148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters 0.023668310401572846 Centerline is valid? [True, True] Translation: X:236.88, Y:-108.69, Z:-5.00 [[-6.67881355e-01 -7.44255268e-01 4.31166407e-03 2.36881413e+02] [ 7.44242230e-01 -6.67895222e-01 -4.41310556e-03 -1.08690108e+02] [ 6.16421690e-03 2.61491564e-04 9.99980967e-01 -4.99622021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters 0.02224136380624082 Centerline is valid? [True, True] Translation: X:236.84, Y:-108.65, Z:-5.00 [[-6.67961322e-01 -7.44184369e-01 4.15894918e-03 2.36841227e+02] [ 7.44172253e-01 -6.67974221e-01 -4.25409921e-03 -1.08649082e+02] [ 5.94390497e-03 2.53400852e-04 9.99982303e-01 -4.99645797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters 0.021278077430596006 Centerline is valid? [True, True] Translation: X:236.80, Y:-108.61, Z:-5.00 [[-6.68307052e-01 -7.43871473e-01 4.57337263e-03 2.36801309e+02] [ 7.43856834e-01 -6.68322643e-01 -4.67500554e-03 -1.08608733e+02] [ 6.53409174e-03 2.77595308e-04 9.99978614e-01 -4.99700375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters 0.02168843507930504 Centerline is valid? [True, True] Translation: X:236.76, Y:-108.57, Z:-5.00 [[-6.69056603e-01 -7.43190754e-01 5.54658155e-03 2.36759596e+02] [ 7.43169227e-01 -6.69079512e-01 -5.66625299e-03 -1.08569659e+02] [ 7.92221091e-03 3.31004749e-04 9.99968564e-01 -4.99868286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters 0.020947775448029272 Centerline is valid? [True, True] Translation: X:236.72, Y:-108.53, Z:-5.00 [[-6.70221259e-01 -7.42137669e-01 5.92823495e-03 2.36718908e+02] [ 7.42113065e-01 -6.70247389e-01 -6.05272406e-03 -1.08528683e+02] [ 8.46533852e-03 3.42756274e-04 9.99964110e-01 -4.99884076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters 0.020580212502672758 Centerline is valid? [True, True] Translation: X:236.68, Y:-108.49, Z:-5.00 [[-6.71776353e-01 -7.40735315e-01 5.26542804e-03 2.36677443e+02] [ 7.40715877e-01 -6.71796925e-01 -5.37409306e-03 -1.08487654e+02] [ 7.51807888e-03 2.89997516e-04 9.99971697e-01 -4.99882094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters 0.01668765438590644 Centerline is valid? [True, True] Translation: X:236.64, Y:-108.44, Z:-5.00 [[-6.76094326e-01 -7.36804317e-01 3.98260384e-03 2.36640801e+02] [ 7.36793142e-01 -6.76106030e-01 -4.06225094e-03 -1.08442827e+02] [ 5.68574649e-03 1.87890384e-04 9.99983818e-01 -4.99795569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters 0.014388243867392783 Centerline is valid? [True, True] Translation: X:236.60, Y:-108.40, Z:-5.00 [[-6.82793629e-01 -7.30605437e-01 2.92494765e-03 2.36603805e+02] [ 7.30599360e-01 -6.82799886e-01 -2.98155187e-03 -1.08398804e+02] [ 4.17549193e-03 1.01180261e-04 9.99991277e-01 -4.99739142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters 0.012919554198991885 Centerline is valid? [True, True] Translation: X:236.57, Y:-108.36, Z:-5.00 [[-6.87575584e-01 -7.26107646e-01 2.73904502e-03 2.36565117e+02] [ 7.26102288e-01 -6.87581036e-01 -2.79042004e-03 -1.08355529e+02] [ 3.90946074e-03 7.02021675e-05 9.99992356e-01 -4.99726921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters 0.01117375467027727 Centerline is valid? [True, True] Translation: X:236.53, Y:-108.31, Z:-5.00 [[-6.93826441e-01 -7.20132692e-01 3.71154004e-03 2.36528596e+02] [ 7.20122779e-01 -6.93836366e-01 -3.77892141e-03 -1.08310605e+02] [ 5.29652631e-03 5.08489361e-05 9.99985972e-01 -4.99820482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters 0.010664501142151894 Centerline is valid? [True, True] Translation: X:236.49, Y:-108.27, Z:-5.00 [[-6.97742207e-01 -7.16335775e-01 4.34403711e-03 2.36489396e+02] [ 7.16322136e-01 -6.97755729e-01 -4.42053587e-03 -1.08266996e+02] [ 6.19766476e-03 2.73354879e-05 9.99980794e-01 -4.99902342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters 0.01072525038962878 Centerline is valid? [True, True] Translation: X:236.45, Y:-108.22, Z:-5.00 [[-7.03541120e-01 -7.10640501e-01 4.46879372e-03 2.36451331e+02] [ 7.10625968e-01 -7.03555312e-01 -4.54488326e-03 -1.08222387e+02] [ 6.37382168e-03 -2.18713925e-05 9.99979687e-01 -4.99903136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters 0.011432752441452669 Centerline is valid? [True, True] Translation: X:236.41, Y:-108.18, Z:-5.00 [[-7.08851855e-01 -7.05342074e-01 4.64820787e-03 2.36413818e+02] [ 7.05326254e-01 -7.08867091e-01 -4.72467056e-03 -1.08178194e+02] [ 6.62747053e-03 -7.05884448e-05 9.99978036e-01 -4.99846565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters 0.012054558422051574 Centerline is valid? [True, True] Translation: X:236.37, Y:-108.14, Z:-5.00 [[-7.11739314e-01 -7.02426076e-01 4.97563818e-03 2.36374527e+02] [ 7.02407897e-01 -7.11756698e-01 -5.05459541e-03 -1.08135786e+02] [ 7.09192342e-03 -1.02626719e-04 9.99974847e-01 -4.99813486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters 0.012869097929583056 Centerline is valid? [True, True] Translation: X:236.33, Y:-108.09, Z:-5.00 [[-7.13790753e-01 -7.00334542e-01 5.85572064e-03 2.36334990e+02] [ 7.00309313e-01 -7.13814758e-01 -5.94619486e-03 -1.08094783e+02] [ 8.34422547e-03 -1.43523209e-04 9.99965176e-01 -4.99911472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters 0.012766610422844146 Centerline is valid? [True, True] Translation: X:236.29, Y:-108.06, Z:-5.00 [[-7.13606342e-01 -7.00516791e-01 6.49730633e-03 2.36292712e+02] [ 7.00485776e-01 -7.13635903e-01 -6.59352315e-03 -1.08055856e+02] [ 9.25558475e-03 -1.53909264e-04 9.99957154e-01 -4.99949084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters 0.012452603935784753 Centerline is valid? [True, True] Translation: X:236.25, Y:-108.02, Z:-5.00 [[-7.12012213e-01 -7.02133210e-01 6.89660293e-03 2.36250181e+02] [ 7.02098380e-01 -7.12045600e-01 -6.99486975e-03 -1.08016994e+02] [ 9.82202612e-03 -1.38338946e-04 9.99951753e-01 -4.99978538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters 0.011330908545492903 Centerline is valid? [True, True] Translation: X:236.21, Y:-107.98, Z:-5.00 [[-7.09536876e-01 -7.04631127e-01 7.23854590e-03 2.36205606e+02] [ 7.04592930e-01 -7.09573790e-01 -7.33752551e-03 -1.07978990e+02] [ 1.03065313e-02 -1.06016654e-04 9.99946881e-01 -4.99903843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters 0.010671009336960607 Centerline is valid? [True, True] Translation: X:236.16, Y:-107.94, Z:-5.00 [[-7.05134882e-01 -7.09034541e-01 7.40389012e-03 2.36159854e+02] [ 7.08994865e-01 -7.05173750e-01 -7.50093449e-03 -1.07942350e+02] [ 1.05394506e-02 -3.98504781e-05 9.99944458e-01 -4.99969927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters 0.010405933171572112 Centerline is valid? [True, True] Translation: X:236.12, Y:-107.90, Z:-5.00 [[-7.02046198e-01 -7.12091343e-01 7.55342908e-03 2.36116081e+02] [ 7.12050276e-01 -7.02086831e-01 -7.64759524e-03 -1.07904469e+02] [ 1.07489494e-02 9.45609733e-06 9.99942228e-01 -4.99914960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters 0.010883101752407566 Centerline is valid? [True, True] Translation: X:236.07, Y:-107.87, Z:-5.00 [[-6.97303350e-01 -7.16736725e-01 7.51698459e-03 2.36070557e+02] [ 7.16696367e-01 -6.97343861e-01 -7.60644880e-03 -1.07868148e+02] [ 1.06937443e-02 8.33933126e-05 9.99942817e-01 -4.99863355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters 0.011327348001912969 Centerline is valid? [True, True] Translation: X:236.03, Y:-107.83, Z:-5.00 [[-6.94175644e-01 -7.19771680e-01 6.99316765e-03 2.36026474e+02] [ 7.19736944e-01 -6.94210857e-01 -7.07236968e-03 -1.07829772e+02] [ 9.94522431e-03 1.23774332e-04 9.99950537e-01 -4.99765645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters 0.013144731474067937 Centerline is valid? [True, True] Translation: X:235.98, Y:-107.79, Z:-5.00 [[-6.90266954e-01 -7.23526761e-01 6.36857075e-03 2.35981896e+02] [ 7.23498146e-01 -6.90296313e-01 -6.43686185e-03 -1.07793249e+02] [ 9.05344271e-03 1.64496113e-04 9.99959003e-01 -4.99732765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters 0.014510916651798022 Centerline is valid? [True, True] Translation: X:235.94, Y:-107.75, Z:-5.00 [[-6.87338313e-01 -7.26312769e-01 5.98374353e-03 2.35938973e+02] [ 7.26287643e-01 -6.87364332e-01 -6.04436459e-03 -1.07754672e+02] [ 8.50311105e-03 1.91395625e-04 9.99963830e-01 -4.99691958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters 0.01511899569361646 Centerline is valid? [True, True] Translation: X:235.90, Y:-107.72, Z:-5.00 [[-6.85569658e-01 -7.27979593e-01 6.32109267e-03 2.35896710e+02] [ 7.27951659e-01 -6.85598761e-01 -6.38134039e-03 -1.07715336e+02] [ 8.97921888e-03 2.26596541e-04 9.99959660e-01 -4.99745525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters 0.018195923954193054 Centerline is valid? [True, True] Translation: X:235.85, Y:-107.68, Z:-5.00 [[-6.82516241e-01 -7.30830564e-01 7.63329848e-03 2.35853590e+02] [ 7.30790043e-01 -6.82558850e-01 -7.70253858e-03 -1.07678899e+02] [ 1.08394260e-02 3.21230841e-04 9.99941200e-01 -4.99984857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters 0.01721019593563385 Centerline is valid? [True, True] Translation: X:235.81, Y:-107.64, Z:-5.00 [[-6.81822984e-01 -7.31472893e-01 8.05146675e-03 2.35814528e+02] [ 7.31427907e-01 -6.81870430e-01 -8.11995105e-03 -1.07636123e+02] [ 1.14295812e-02 3.52698224e-04 9.99934618e-01 -4.99939542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters 0.016355519426004564 Centerline is valid? [True, True] Translation: X:235.78, Y:-107.59, Z:-5.00 [[-6.83962225e-01 -7.29478872e-01 7.49999235e-03 2.35776858e+02] [ 7.29439763e-01 -6.84003279e-01 -7.55950168e-03 -1.07591634e+02] [ 1.06445161e-02 3.00379048e-04 9.99943300e-01 -4.99873176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters 0.014438929141165058 Centerline is valid? [True, True] Translation: X:235.74, Y:-107.55, Z:-5.00 [[-6.89145288e-01 -7.24589086e-01 7.03060078e-03 2.35742503e+02] [ 7.24554507e-01 -6.89181117e-01 -7.08196199e-03 -1.07545910e+02] [ 9.97686966e-03 2.13552754e-04 9.99950207e-01 -4.99785111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters 0.012727816644005937 Centerline is valid? [True, True] Translation: X:235.71, Y:-107.50, Z:-5.00 [[-6.93099563e-01 -7.20808746e-01 6.90988158e-03 2.35706172e+02] [ 7.20775192e-01 -6.93133989e-01 -6.95672608e-03 -1.07499460e+02] [ 9.80394278e-03 1.58767419e-04 9.99951928e-01 -4.99768312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters 0.010527702556061494 Centerline is valid? [True, True] Translation: X:235.67, Y:-107.45, Z:-5.00 [[-6.99731120e-01 -7.14371811e-01 7.01962407e-03 2.35673155e+02] [ 7.14336895e-01 -6.99766326e-01 -7.06330746e-03 -1.07449802e+02] [ 9.95792428e-03 7.19604150e-05 9.99950416e-01 -4.99698530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters 0.010228939411518728 Centerline is valid? [True, True] Translation: X:235.64, Y:-107.40, Z:-5.00 [[-7.04475622e-01 -7.09695880e-01 6.77171905e-03 2.35637710e+02] [ 7.09663206e-01 -7.04508168e-01 -6.80994122e-03 -1.07404809e+02] [ 9.60371861e-03 8.20227664e-06 9.99953883e-01 -4.99682225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters 0.010756040026088364 Centerline is valid? [True, True] Translation: X:235.60, Y:-107.36, Z:-5.00 [[-7.10732896e-01 -7.03434995e-01 6.16104416e-03 2.35602848e+02] [ 7.03407742e-01 -7.10759596e-01 -6.19234792e-03 -1.07356963e+02] [ 8.73493548e-03 -6.73792098e-05 9.99961847e-01 -4.99553248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters 0.011519386708653297 Centerline is valid? [True, True] Translation: X:235.57, Y:-107.31, Z:-5.00 [[-7.13683803e-01 -7.00440308e-01 6.22929440e-03 2.35565362e+02] [ 7.00412364e-01 -7.13710981e-01 -6.25746943e-03 -1.07312889e+02] [ 8.82889964e-03 -1.02779762e-04 9.99961019e-01 -4.99592663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters 0.012147554486531884 Centerline is valid? [True, True] Translation: X:235.53, Y:-107.27, Z:-5.00 [[-7.15422635e-01 -6.98659226e-01 6.76310526e-03 2.35526862e+02] [ 6.98626244e-01 -7.15454589e-01 -6.78993092e-03 -1.07269829e+02] [ 9.58254257e-03 -1.32787449e-04 9.99954078e-01 -4.99645518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters 0.011705554446047824 Centerline is valid? [True, True] Translation: X:235.49, Y:-107.23, Z:-5.00 [[-7.15730076e-01 -6.98341325e-01 7.06051820e-03 2.35486059e+02] [ 6.98305404e-01 -7.15764887e-01 -7.08445925e-03 -1.07228605e+02] [ 1.00010417e-02 -1.40162552e-04 9.99949979e-01 -4.99624943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters 0.01122250392247975 Centerline is valid? [True, True] Translation: X:235.45, Y:-107.19, Z:-5.00 [[-7.13520660e-01 -7.00598672e-01 7.05475663e-03 2.35445166e+02] [ 7.00562958e-01 -7.13555527e-01 -7.07470609e-03 -1.07188873e+02] [ 9.99049027e-03 -1.05647784e-04 9.99950088e-01 -4.99593573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters 0.01055334244463007 Centerline is valid? [True, True] Translation: X:235.40, Y:-107.15, Z:-5.00 [[-7.11211694e-01 -7.02943757e-01 6.92829736e-03 2.35402291e+02] [ 7.02909462e-01 -7.11245436e-01 -6.94395618e-03 -1.07149287e+02] [ 9.80893052e-03 -6.86570646e-05 9.99951889e-01 -4.99569048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters 0.010119908606041356 Centerline is valid? [True, True] Translation: X:235.36, Y:-107.11, Z:-5.00 [[-7.06704085e-01 -7.07475502e-01 6.91008289e-03 2.35360045e+02] [ 7.07441648e-01 -7.06737868e-01 -6.92111624e-03 -1.07112087e+02] [ 9.78013743e-03 -2.70069850e-06 9.99952173e-01 -4.99657646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters 0.010111291513221708 Centerline is valid? [True, True] Translation: X:235.32, Y:-107.07, Z:-5.00 [[-7.03306024e-01 -7.10855317e-01 6.73455473e-03 2.35317247e+02] [ 7.10823356e-01 -7.03338265e-01 -6.74104571e-03 -1.07074534e+02] [ 9.52857823e-03 4.60607368e-05 9.99954601e-01 -4.99570518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters 0.010409635971689896 Centerline is valid? [True, True] Translation: X:235.27, Y:-107.03, Z:-5.00 [[-7.01577185e-01 -7.12565349e-01 6.33060914e-03 2.35274742e+02] [ 7.12537208e-01 -7.01605743e-01 -6.33312705e-03 -1.07034467e+02] [ 8.95435862e-03 6.76171180e-05 9.99959907e-01 -4.99513699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters 0.010726749435954433 Centerline is valid? [True, True] Translation: X:235.23, Y:-106.99, Z:-4.99 [[-6.99818915e-01 -7.14300482e-01 5.32051925e-03 2.35233162e+02] [ 7.14280680e-01 -6.99839136e-01 -5.31924935e-03 -1.06994822e+02] [ 7.52304996e-03 7.78327959e-05 9.99971698e-01 -4.99447206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters 0.010923138594088772 Centerline is valid? [True, True] Translation: X:234.77, Y:-107.46, Z:-4.05 [[-7.63173836e-01 6.46169458e-01 5.54330060e-03 2.34767140e+02] [ 6.46151563e-01 7.63193962e-01 -4.80976373e-03 -1.07464961e+02] [-7.33853597e-03 -8.88734912e-05 -9.99973069e-01 -4.04685657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters 0.011357180766394049 Centerline is valid? [True, True] Translation: X:234.79, Y:-107.44, Z:-4.05 [[-8.08291421e-01 5.88749279e-01 6.26620247e-03 2.34785094e+02] [ 5.88730508e-01 8.08315702e-01 -4.70263186e-03 -1.07443471e+02] [-7.83374096e-03 -1.11992423e-04 -9.99969310e-01 -4.04601858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters 0.012641639736312514 Centerline is valid? [True, True] Translation: X:234.80, Y:-107.42, Z:-4.04 [[-8.50004970e-01 5.26717297e-01 7.77440370e-03 2.34801098e+02] [ 5.26693419e-01 8.50040505e-01 -5.01819547e-03 -1.07418433e+02] [-9.25172839e-03 -1.70763824e-04 -9.99957187e-01 -4.04406408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters 0.01353225204752588 Centerline is valid? [True, True] Translation: X:234.82, Y:-107.40, Z:-4.04 [[-8.86762299e-01 4.62139509e-01 8.92749515e-03 2.34815324e+02] [ 4.62113540e-01 8.86807208e-01 -4.90422155e-03 -1.07395426e+02] [-1.01834016e-02 -2.23362387e-04 -9.99948123e-01 -4.04288699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters 0.013378947504369182 Centerline is valid? [True, True] Translation: X:234.83, Y:-107.37, Z:-4.04 [[-9.17504761e-01 3.97608082e-01 9.63466832e-03 2.34825054e+02] [ 3.97583408e-01 9.17555315e-01 -4.43601911e-03 -1.07372798e+02] [-1.06041382e-02 -2.39484390e-04 -9.99943746e-01 -4.04297876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters 0.013237781355927035 Centerline is valid? [True, True] Translation: X:235.11, Y:-106.78, Z:-5.00 [[-8.67946738e-01 -4.96572349e-01 9.18493053e-03 2.35105277e+02] [ 4.96547297e-01 -8.67995306e-01 -4.99308669e-03 -1.06775342e+02] [ 1.04519054e-02 2.27019128e-04 9.99945352e-01 -4.99817383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters 0.012802899972259215 Centerline is valid? [True, True] Translation: X:234.78, Y:-107.36, Z:-4.04 [[-9.17823374e-01 3.96889902e-01 8.86899859e-03 2.34782342e+02] [ 3.96869338e-01 9.17866204e-01 -4.04475060e-03 -1.07362825e+02] [-9.74587474e-03 -1.92533048e-04 -9.99952489e-01 -4.04349975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters 0.011879979798866338 Centerline is valid? [True, True] Translation: X:235.07, Y:-106.75, Z:-5.00 [[-8.71862585e-01 -4.89683716e-01 8.09265406e-03 2.35067505e+02] [ 4.89664213e-01 -8.71900129e-01 -4.37299236e-03 -1.06748226e+02] [ 9.19736927e-03 1.50034659e-04 9.99957692e-01 -4.99689201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters 0.01168039563609285 Centerline is valid? [True, True] Translation: X:234.74, Y:-107.36, Z:-4.04 [[-9.17364589e-01 3.97959001e-01 8.41690652e-03 2.34744282e+02] [ 3.97940832e-01 9.17403190e-01 -3.80535405e-03 -1.07357106e+02] [-9.23607179e-03 -1.41466274e-04 -9.99957337e-01 -4.04392757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters 0.011533782654323366 Centerline is valid? [True, True] Translation: X:234.75, Y:-107.33, Z:-4.04 [[-9.42938524e-01 3.32844541e-01 9.02500420e-03 2.34746682e+02] [ 3.32827885e-01 9.42981703e-01 -3.33267281e-03 -1.07333740e+02] [-9.61967578e-03 -1.38732518e-04 -9.99953720e-01 -4.04341117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters 0.011135203561050834 Centerline is valid? [True, True] Translation: X:234.76, Y:-107.31, Z:-4.04 [[-9.64102701e-01 2.65360331e-01 9.48029397e-03 2.34763703e+02] [ 2.65346063e-01 9.64149301e-01 -2.75537838e-03 -1.07314810e+02] [-9.87158692e-03 -1.40909060e-04 -9.99951265e-01 -4.04338040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters 0.011206460940266864 Centerline is valid? [True, True] Translation: X:234.77, Y:-107.29, Z:-4.04 [[-9.80542331e-01 1.96100561e-01 9.01703154e-03 2.34770071e+02] [ 1.96091010e-01 9.80583781e-01 -1.94008137e-03 -1.07290528e+02] [-9.22240593e-03 -1.34173087e-04 -9.99957464e-01 -4.04385021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters 0.010740475647190913 Centerline is valid? [True, True] Translation: X:234.77, Y:-107.27, Z:-4.04 [[-9.91687914e-01 1.28395183e-01 8.35211872e-03 2.34774246e+02] [ 1.28389751e-01 9.91723080e-01 -1.18548775e-03 -1.07267220e+02] [-8.43519982e-03 -1.03307425e-04 -9.99964418e-01 -4.04377502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters 0.010567145544347609 Centerline is valid? [True, True] Translation: X:234.88, Y:-106.56, Z:-5.00 [[-9.76571845e-01 -2.15057849e-01 7.58638400e-03 2.34884255e+02] [ 2.15051792e-01 -9.76601310e-01 -1.61496558e-03 -1.06557403e+02] [ 7.75618358e-03 5.43355597e-05 9.99969919e-01 -4.99858505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters 0.0095235553095788 Centerline is valid? [True, True] Translation: X:234.73, Y:-107.27, Z:-4.04 [[-9.90858111e-01 1.34698966e-01 7.50948679e-03 2.34731205e+02] [ 1.34694987e-01 9.90886567e-01 -1.03537712e-03 -1.07272585e+02] [-7.58051381e-03 -1.44215875e-05 -9.99971267e-01 -4.04402784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters 0.009818496401943322 Centerline is valid? [True, True] Translation: X:234.74, Y:-107.25, Z:-4.04 [[-9.97497544e-01 7.03745316e-02 6.78790988e-03 2.34735315e+02] [ 7.03731072e-02 9.97520639e-01 -4.48753156e-04 -1.07251296e+02] [-6.80266099e-03 3.00561390e-05 -9.99976861e-01 -4.04458054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters 0.009962631231225802 Centerline is valid? [True, True] Translation: X:234.79, Y:-106.51, Z:-5.00 [[-9.92034244e-01 -1.25836298e-01 5.76937461e-03 2.34793042e+02] [ 1.25833665e-01 -9.92051016e-01 -8.18565891e-04 -1.06505464e+02] [ 5.82651924e-03 -8.60638413e-05 9.99983022e-01 -4.99614285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters 0.010418465910107613 Centerline is valid? [True, True] Translation: X:234.68, Y:-107.25, Z:-4.04 [[-9.97504150e-01 7.03439936e-02 6.09869762e-03 2.34677955e+02] [ 7.03430051e-02 9.97522792e-01 -3.76704310e-04 -1.07248872e+02] [-6.11008877e-03 5.32366055e-05 -9.99981332e-01 -4.04455893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters 0.010555133600162896 Centerline is valid? [True, True] Translation: X:234.68, Y:-107.22, Z:-4.04 [[-9.99981903e-01 1.16228760e-04 6.01499979e-03 2.34681139e+02] [ 1.16571106e-04 9.99999992e-01 5.65649704e-05 -1.07221353e+02] [-6.01499317e-03 5.72651219e-05 -9.99981908e-01 -4.04423702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters 0.011039303591923707 Centerline is valid? [True, True] Translation: X:234.68, Y:-106.47, Z:-5.00 [[-9.98894466e-01 -4.65627713e-02 6.46170171e-03 2.34678977e+02] [ 4.65615855e-02 -9.98915365e-01 -3.33902019e-04 -1.06473094e+02] [ 6.47024052e-03 -3.26658019e-05 9.99979067e-01 -4.99792391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters 0.011071350777764657 Centerline is valid? [True, True] Translation: X:234.61, Y:-107.22, Z:-4.04 [[-9.99973396e-01 -2.44939973e-03 6.87082113e-03 2.34610559e+02] [-2.44878565e-03 9.99996997e-01 9.77871439e-05 -1.07220617e+02] [-6.87104001e-03 8.09593741e-05 -9.99976391e-01 -4.04266727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters 0.011117595075202914 Centerline is valid? [True, True] Translation: X:234.60, Y:-106.48, Z:-5.00 [[-9.99091672e-01 -4.20047631e-02 7.17155817e-03 2.34603437e+02] [ 4.20032201e-02 -9.99117408e-01 -3.65707394e-04 -1.06477925e+02] [ 7.18059006e-03 -6.41466758e-05 9.99974217e-01 -4.99908323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters 0.010846495436996503 Centerline is valid? [True, True] Translation: X:234.54, Y:-107.22, Z:-4.04 [[-9.99919234e-01 -1.00699637e-02 7.75385836e-03 2.34539403e+02] [-1.00691296e-02 9.99949294e-01 1.46598870e-04 -1.07216091e+02] [-7.75494145e-03 6.85124250e-05 -9.99969928e-01 -4.04190152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters 0.010553974825936946 Centerline is valid? [True, True] Translation: X:234.53, Y:-107.19, Z:-4.04 [[-9.96463920e-01 -8.36543483e-02 7.84892096e-03 2.34533793e+02] [-8.36513625e-02 9.96494831e-01 7.08518001e-04 -1.07185977e+02] [-7.88067978e-03 4.94396929e-05 -9.99968946e-01 -4.04202831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters 0.010464185740301264 Centerline is valid? [True, True] Translation: X:234.53, Y:-107.16, Z:-4.04 [[-9.87568393e-01 -1.57018739e-01 7.33379448e-03 2.34525193e+02] [-1.57014209e-01 9.87595623e-01 1.19302412e-03 -1.07156648e+02] [-7.43015047e-03 2.66829758e-05 -9.99972396e-01 -4.04127287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters 0.010334482047907413 Centerline is valid? [True, True] Translation: X:234.51, Y:-107.13, Z:-4.04 [[-9.72878484e-01 -2.31203458e-01 7.23988155e-03 2.34509863e+02] [-2.31197099e-01 9.72905422e-01 1.71481400e-03 -1.07127270e+02] [-7.44019094e-03 -5.53396750e-06 -9.99972321e-01 -4.04167152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters 0.010437292665144458 Centerline is valid? [True, True] Translation: X:234.49, Y:-107.10, Z:-4.04 [[-9.52762611e-01 -3.03612485e-01 7.92883575e-03 2.34485046e+02] [-3.03602278e-01 9.52795601e-01 2.48987813e-03 -1.07102169e+02] [-8.31051792e-03 -3.49498076e-05 -9.99965466e-01 -4.04133223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters 0.010978802631708738 Centerline is valid? [True, True] Translation: X:234.45, Y:-107.08, Z:-4.04 [[-9.26198202e-01 -3.76940582e-01 8.52577222e-03 2.34450111e+02] [-3.76925532e-01 9.26237437e-01 3.36959312e-03 -1.07079683e+02] [-9.16702580e-03 -9.26701430e-05 -9.99957978e-01 -4.04101704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters 0.012047122964972061 Centerline is valid? [True, True] Translation: X:234.39, Y:-107.07, Z:-4.04 [[-8.94218747e-01 -4.47548747e-01 8.54118011e-03 2.34394897e+02] [-4.47529807e-01 8.94259526e-01 4.11964221e-03 -1.07068106e+02] [-9.48177239e-03 -1.38571392e-04 -9.99955037e-01 -4.03981430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters 0.01258039684912886 Centerline is valid? [True, True] Translation: X:234.33, Y:-107.07, Z:-4.04 [[-8.57683486e-01 -5.14113724e-01 8.13129569e-03 2.34329895e+02] [-5.14092371e-01 8.57722014e-01 4.68833782e-03 -1.07069781e+02] [-9.38473013e-03 -1.59127157e-04 -9.99955950e-01 -4.03971995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters 0.0131297427317761 Centerline is valid? [True, True] Translation: X:234.26, Y:-107.08, Z:-4.04 [[-8.15792585e-01 -5.78293863e-01 7.65931754e-03 2.34256607e+02] [-5.78270453e-01 8.15828520e-01 5.20664399e-03 -1.07081863e+02] [-9.25965996e-03 -1.81615461e-04 -9.99957112e-01 -4.04047006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters 0.01346235166023602 Centerline is valid? [True, True] Translation: X:234.18, Y:-107.10, Z:-4.04 [[-7.69456982e-01 -6.38655001e-01 7.46615701e-03 2.34182941e+02] [-6.38627467e-01 7.69493177e-01 5.93367109e-03 -1.07101201e+02] [-9.53472559e-03 -2.02388301e-04 -9.99954523e-01 -4.04044852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters 0.01461804145351441 Centerline is valid? [True, True] Translation: X:234.10, Y:-107.13, Z:-4.04 [[-7.18010831e-01 -6.95991106e-01 7.53834972e-03 2.34100398e+02] [-6.95956223e-01 7.18050363e-01 6.97225383e-03 -1.07133349e+02] [-1.02655414e-02 -2.40207634e-04 -9.99947279e-01 -4.03911348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters 0.015027590926801192 Centerline is valid? [True, True] Translation: X:234.02, Y:-107.18, Z:-4.04 [[-6.63064348e-01 -7.48530671e-01 6.89243548e-03 2.34018953e+02] [-7.48494023e-01 6.63100125e-01 7.41092395e-03 -1.07175386e+02] [-1.01176787e-02 -2.45027308e-04 -9.99948785e-01 -4.03888541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters 0.014709710942254834 Centerline is valid? [True, True] Translation: X:233.94, Y:-107.23, Z:-4.04 [[-6.05470735e-01 -7.95849510e-01 5.36147827e-03 2.33939902e+02] [-7.95821200e-01 6.05494440e-01 6.71577591e-03 -1.07227688e+02] [-8.59109225e-03 -2.00572293e-04 -9.99963076e-01 -4.04067816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters 0.01532478642108137 Centerline is valid? [True, True] Translation: X:233.86, Y:-107.29, Z:-4.04 [[-5.44728710e-01 -8.38603322e-01 3.88591050e-03 2.33861758e+02] [-8.38583934e-01 5.44742549e-01 5.70451468e-03 -1.07286535e+02] [-6.90064576e-03 -1.51249187e-04 -9.99976179e-01 -4.04188201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters 0.013726585087803275 Centerline is valid? [True, True] Translation: X:233.79, Y:-107.36, Z:-4.04 [[-4.79983564e-01 -8.77270226e-01 3.56768146e-03 2.33788047e+02] [-8.77248307e-01 4.79996799e-01 6.20329801e-03 -1.07358494e+02] [-7.15444433e-03 -1.52261432e-04 -9.99974395e-01 -4.04253037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters 0.01378253495047506 Centerline is valid? [True, True] Translation: X:233.72, Y:-107.44, Z:-4.04 [[-4.12277823e-01 -9.11051344e-01 3.52784868e-03 2.33715306e+02] [-9.11021444e-01 4.12292882e-01 7.38300860e-03 -1.07436002e+02] [-8.18080681e-03 -1.70095084e-04 -9.99966522e-01 -4.04130925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters 0.01408960600726071 Centerline is valid? [True, True] Translation: X:233.65, Y:-107.52, Z:-4.04 [[-3.42797704e-01 -9.39404422e-01 3.01085170e-03 2.33648255e+02] [-9.39372278e-01 3.42810887e-01 7.77293589e-03 -1.07519547e+02] [-8.33408310e-03 -1.63766046e-04 -9.99965258e-01 -4.04015168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters 0.01332458369915516 Centerline is valid? [True, True] Translation: X:233.59, Y:-107.61, Z:-4.04 [[-2.71305328e-01 -9.62490538e-01 2.32036542e-03 2.33587740e+02] [-9.62459828e-01 2.71315211e-01 7.68999341e-03 -1.07614598e+02] [-8.03109632e-03 -1.46922314e-04 -9.99967739e-01 -4.04132304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters 0.013125122566916555 Centerline is valid? [True, True] Translation: X:233.53, Y:-107.72, Z:-4.04 [[-1.97902732e-01 -9.80220320e-01 1.62257960e-03 2.33533264e+02] [-9.80192582e-01 1.97909340e-01 7.37536414e-03 -1.07715403e+02] [-7.55060545e-03 -1.30835779e-04 -9.99971485e-01 -4.04184107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters 0.012597625263693195 Centerline is valid? [True, True] Translation: X:233.49, Y:-107.82, Z:-4.04 [[-1.23434030e-01 -9.92352281e-01 9.95773699e-04 2.33486748e+02] [-9.92327097e-01 1.23437992e-01 7.07074765e-03 -1.07821809e+02] [-7.13958886e-03 -1.15362350e-04 -9.99974506e-01 -4.04217804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters 0.01284716292698443 Centerline is valid? [True, True] Translation: X:233.45, Y:-107.93, Z:-4.04 [[-4.68179473e-02 -9.98903361e-01 3.95164616e-04 2.33446422e+02] [-9.98883886e-01 4.68195024e-02 6.23826309e-03 -1.07928541e+02] [-6.24992338e-03 -1.02660895e-04 -9.99980464e-01 -4.04286712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters 0.013398515396984155 Centerline is valid? [True, True] Translation: X:233.41, Y:-108.05, Z:-4.04 [[ 3.10118324e-02 -9.99519014e-01 -8.00172269e-05 2.33413533e+02] [-9.99501277e-01 -3.10117589e-02 5.95556960e-03 -1.08048301e+02] [-5.95518653e-03 -1.04715806e-04 -9.99982262e-01 -4.04261824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters 0.013395538421075924 Centerline is valid? [True, True] Translation: X:233.39, Y:-108.16, Z:-4.04 [[ 1.08611463e-01 -9.94084144e-01 -5.14636456e-04 2.33388955e+02] [-9.94067846e-01 -1.08612630e-01 5.69343118e-03 -1.08157762e+02] [-5.71564568e-03 -1.06788338e-04 -9.99983660e-01 -4.04273037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters 0.013409924515696645 Centerline is valid? [True, True] Translation: X:233.37, Y:-108.28, Z:-4.04 [[ 1.85190323e-01 -9.82702282e-01 -8.77574480e-04 2.33374959e+02] [-9.82688465e-01 -1.85192374e-01 5.21198404e-03 -1.08275724e+02] [-5.28434871e-03 -1.02826691e-04 -9.99986032e-01 -4.04296998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters 0.014063994921521302 Centerline is valid? [True, True] Translation: X:233.37, Y:-108.39, Z:-4.04 [[ 2.60069654e-01 -9.65589101e-01 -1.20925880e-03 2.33367242e+02] [-9.65576830e-01 -2.60072447e-01 4.86909981e-03 -1.08391103e+02] [-5.01604461e-03 -9.86728249e-05 -9.99987415e-01 -4.04254445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters 0.013768982512719942 Centerline is valid? [True, True] Translation: X:233.37, Y:-108.51, Z:-4.04 [[ 3.32375377e-01 -9.43145786e-01 -1.62306073e-03 2.33371848e+02] [-9.43133079e-01 -3.32379326e-01 4.89683607e-03 -1.08506821e+02] [-5.15790214e-03 -9.68254670e-05 -9.99986693e-01 -4.04197409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters 0.012934936700567603 Centerline is valid? [True, True] Translation: X:233.39, Y:-108.62, Z:-4.04 [[ 3.99936774e-01 -9.16539745e-01 -2.33962688e-03 2.33386443e+02] [-9.16522736e-01 -3.99943607e-01 5.58446649e-03 -1.08619287e+02] [-6.05410431e-03 -8.91122813e-05 -9.99981670e-01 -4.04064467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters 0.012106480289664058 Centerline is valid? [True, True] Translation: X:233.41, Y:-108.73, Z:-4.04 [[ 4.64873881e-01 -8.85371783e-01 -3.01335518e-03 2.33411825e+02] [-8.85352234e-01 -4.64883642e-01 5.88397901e-03 -1.08732326e+02] [-6.61036852e-03 -6.74274195e-05 -9.99978149e-01 -4.04029942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters 0.011777799239758326 Centerline is valid? [True, True] Translation: X:233.44, Y:-108.84, Z:-4.04 [[ 5.28803172e-01 -8.48737541e-01 -3.43405992e-03 2.33441734e+02] [-8.48719044e-01 -5.28814320e-01 5.60347417e-03 -1.08837689e+02] [-6.57185895e-03 -4.85828533e-05 -9.99978404e-01 -4.04036899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters 0.011649348689044194 Centerline is valid? [True, True] Translation: X:233.48, Y:-108.95, Z:-4.04 [[ 5.90312974e-01 -8.07167665e-01 -3.30971675e-03 2.33482571e+02] [-8.07154692e-01 -5.90322251e-01 4.57635033e-03 -1.08946270e+02] [-5.64768145e-03 -3.00255673e-05 -9.99984051e-01 -4.04106333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters 0.0117339968957365 Centerline is valid? [True, True] Translation: X:233.52, Y:-109.04, Z:-4.04 [[ 6.49099799e-01 -7.60696302e-01 -3.25376380e-03 2.33522543e+02] [-7.60686586e-01 -6.49107954e-01 3.84469784e-03 -1.09041269e+02] [-5.03669139e-03 -2.04981138e-05 -9.99987316e-01 -4.04125067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters 0.011744938511067329 Centerline is valid? [True, True] Translation: X:233.57, Y:-109.14, Z:-4.04 [[ 7.04168683e-01 -7.10023082e-01 -3.69973591e-03 2.33571886e+02] [-7.10013167e-01 -7.04178402e-01 3.75235724e-03 -1.09135866e+02] [-5.26953437e-03 -1.54312445e-05 -9.99986116e-01 -4.04158966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters 0.011753532976282142 Centerline is valid? [True, True] Translation: X:233.62, Y:-109.22, Z:-4.04 [[ 7.55912598e-01 -6.54657447e-01 -4.44643910e-03 2.33623015e+02] [-6.54645990e-01 -7.55925675e-01 3.87313878e-03 -1.09222116e+02] [-5.89675662e-03 -1.69108705e-05 -9.99982614e-01 -4.04145150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters 0.011789955722910425 Centerline is valid? [True, True] Translation: X:233.64, Y:-109.25, Z:-4.04 [[ 8.05053737e-01 -5.93180087e-01 -5.08572121e-03 2.33644732e+02] [-5.93168085e-01 -8.05069801e-01 3.77354300e-03 -1.09250097e+02] [-6.33275113e-03 -2.12173891e-05 -9.99979948e-01 -4.04091927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters 0.011885635174923309 Centerline is valid? [True, True] Translation: X:233.67, Y:-109.28, Z:-4.04 [[ 8.49415216e-01 -5.27687628e-01 -6.28948505e-03 2.33668123e+02] [-5.27672892e-01 -8.49438500e-01 3.94371445e-03 -1.09278498e+02] [-7.42358007e-03 -3.10602886e-05 -9.99972444e-01 -4.04070003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters 0.012073970329452356 Centerline is valid? [True, True] Translation: X:233.69, Y:-109.30, Z:-4.04 [[ 8.88802118e-01 -4.58217472e-01 -8.21853872e-03 2.33693579e+02] [-4.58197323e-01 -8.88840113e-01 4.29740086e-03 -1.09304588e+02] [-9.27411103e-03 -5.38265472e-05 -9.99956993e-01 -4.03968466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters 0.012026288187804714 Centerline is valid? [True, True] Translation: X:233.72, Y:-109.33, Z:-4.04 [[ 9.22044458e-01 -3.86979480e-01 -8.99442711e-03 2.33721548e+02] [-3.86960427e-01 -9.22088325e-01 3.84046604e-03 -1.09328901e+02] [-9.77983778e-03 -6.05930758e-05 -9.99952174e-01 -4.04013531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters 0.011971085987698096 Centerline is valid? [True, True] Translation: X:233.75, Y:-109.35, Z:-4.04 [[ 9.49158925e-01 -3.14658710e-01 -9.33979563e-03 2.33751753e+02] [-3.14642942e-01 -9.49204874e-01 3.15045906e-03 -1.09349063e+02] [-9.85669892e-03 -5.15855590e-05 -9.99951420e-01 -4.04078224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters 0.012097788622102496 Centerline is valid? [True, True] Translation: X:233.78, Y:-109.36, Z:-4.04 [[ 9.70153943e-01 -2.42322529e-01 -9.00661445e-03 2.33784131e+02] [-2.42311881e-01 -9.70195749e-01 2.27168225e-03 -1.09364116e+02] [-9.28865884e-03 -2.14718024e-05 -9.99956859e-01 -4.04056063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters 0.011970246312731548 Centerline is valid? [True, True] Translation: X:233.82, Y:-109.38, Z:-4.04 [[ 9.85772496e-01 -1.67840358e-01 -9.06643196e-03 2.33817847e+02] [-1.67833246e-01 -9.85814189e-01 1.54509731e-03 -1.09379093e+02] [-9.19714695e-03 -1.46573096e-06 -9.99957705e-01 -4.04190975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters 0.012096362469468516 Centerline is valid? [True, True] Translation: X:233.85, Y:-109.39, Z:-4.04 [[ 9.95751633e-01 -9.15523106e-02 -9.84173030e-03 2.33848220e+02] [-9.15479612e-02 -9.95800268e-01 8.92487512e-04 -1.09391460e+02] [-9.88210696e-03 1.22944459e-05 -9.99951171e-01 -4.04149729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters 0.012095602763956225 Centerline is valid? [True, True] Translation: X:233.88, Y:-109.40, Z:-4.04 [[ 9.99860296e-01 -1.27758572e-02 -1.07780586e-02 2.33878331e+02] [-1.27751990e-02 -9.99918385e-01 1.29916294e-04 -1.09400931e+02] [-1.07788387e-02 7.79369896e-06 -9.99941907e-01 -4.04088443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters 0.012186636347029578 Centerline is valid? [True, True] Translation: X:233.91, Y:-109.41, Z:-4.04 [[ 9.97583221e-01 6.83691528e-02 -1.23844729e-02 2.33910147e+02] [ 6.83642061e-02 -9.97660092e-01 -8.22832139e-04 -1.09409306e+02] [-1.24117508e-02 -2.58111249e-05 -9.99922971e-01 -4.03969212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters 0.012509748740115335 Centerline is valid? [True, True] Translation: X:233.94, Y:-109.41, Z:-4.04 [[ 9.88626056e-01 1.49856004e-01 -1.27161120e-02 2.33941435e+02] [ 1.49844567e-01 -9.88707830e-01 -1.85289952e-03 -1.09413712e+02] [-1.28501876e-02 -7.36155536e-05 -9.99917430e-01 -4.03888434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters 0.012668552430507539 Centerline is valid? [True, True] Translation: X:233.97, Y:-109.41, Z:-4.04 [[ 9.73415141e-01 2.28698195e-01 -1.26530204e-02 2.33974387e+02] [ 2.28680202e-01 -9.73497368e-01 -2.87046727e-03 -1.09414710e+02] [-1.29741527e-02 -9.93389571e-05 -9.99915827e-01 -4.03926626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters 0.012662125489314523 Centerline is valid? [True, True] Translation: X:234.01, Y:-109.41, Z:-4.04 [[ 9.52202451e-01 3.05250468e-01 -1.15171491e-02 2.34007808e+02] [ 3.05229488e-01 -9.52272094e-01 -3.58041239e-03 -1.09413210e+02] [-1.20603822e-02 -1.06096055e-04 -9.99927265e-01 -4.04083979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters 0.012844938412351223 Centerline is valid? [True, True] Translation: X:234.04, Y:-109.41, Z:-4.04 [[ 9.25703668e-01 3.78094158e-01 -1.08409397e-02 2.34039019e+02] [ 3.78069412e-01 -9.25767141e-01 -4.32677221e-03 -1.09408370e+02] [-1.16721130e-02 -9.33187831e-05 -9.99931874e-01 -4.04041816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters 0.012535554162034748 Centerline is valid? [True, True] Translation: X:234.07, Y:-109.40, Z:-4.04 [[ 8.94371992e-01 4.47224290e-01 -9.44321339e-03 2.34070427e+02] [ 4.47200052e-01 -8.94421842e-01 -4.65643152e-03 -1.09399171e+02] [-1.05286856e-02 -5.84235810e-05 -9.99944570e-01 -4.04305745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters 0.012460542358570682 Centerline is valid? [True, True] Translation: X:234.10, Y:-109.39, Z:-4.04 [[ 8.58096575e-01 5.13407183e-01 -9.12863064e-03 2.34099447e+02] [ 5.13378486e-01 -8.58145130e-01 -5.42824627e-03 -1.09387664e+02] [-1.06205906e-02 -2.84830407e-05 -9.99943600e-01 -4.04278309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters 0.012385091687081268 Centerline is valid? [True, True] Translation: X:234.13, Y:-109.38, Z:-4.04 [[ 8.16481744e-01 5.77287342e-01 -9.84312616e-03 2.34129019e+02] [ 5.77245486e-01 -8.16541073e-01 -6.95154242e-03 -1.09376320e+02] [-1.20503542e-02 -6.09267381e-06 -9.99927392e-01 -4.04230730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters 0.012625387767238833 Centerline is valid? [True, True] Translation: X:234.16, Y:-109.36, Z:-4.04 [[ 7.70789132e-01 6.36999300e-01 -1.07705861e-02 2.34156580e+02] [ 6.36936441e-01 -7.70864379e-01 -8.94870887e-03 -1.09361702e+02] [-1.40029824e-02 3.73887883e-05 -9.99901953e-01 -4.04108352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters 0.012710541235037306 Centerline is valid? [True, True] Translation: X:234.18, Y:-109.35, Z:-4.04 [[ 7.19632718e-01 6.94275107e-01 -1.05274468e-02 2.34183556e+02] [ 6.94199556e-01 -7.19709713e-01 -1.02423346e-02 -1.09345850e+02] [-1.46877037e-02 6.25702072e-05 -9.99892128e-01 -4.04117344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters 0.012868649887886743 Centerline is valid? [True, True] Translation: X:234.21, Y:-109.33, Z:-4.04 [[ 6.64142430e-01 7.47546314e-01 -9.45204717e-03 2.34207728e+02] [ 7.47468860e-01 -6.64209682e-01 -1.07611091e-02 -1.09327097e+02] [-1.43225687e-02 8.17982575e-05 -9.99897423e-01 -4.04169895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters 0.012735811601063114 Centerline is valid? [True, True] Translation: X:234.23, Y:-109.31, Z:-4.04 [[ 6.03579023e-01 7.97262858e-01 -8.01863640e-03 2.34231833e+02] [ 7.97190816e-01 -6.03632280e-01 -1.07178586e-02 -1.09307936e+02] [-1.33852584e-02 7.66913531e-05 -9.99910410e-01 -4.04345851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters 0.012483370080501287 Centerline is valid? [True, True] Translation: X:234.26, Y:-109.29, Z:-4.05 [[ 5.37499976e-01 8.43237595e-01 -6.64340209e-03 2.34255363e+02] [ 8.43172166e-01 -5.37541028e-01 -1.05043248e-02 -1.09287458e+02] [-1.24287428e-02 4.45425963e-05 -9.99922759e-01 -4.04516656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters 0.01236561235758525 Centerline is valid? [True, True] Translation: X:234.28, Y:-109.27, Z:-4.05 [[ 4.67452851e-01 8.83998515e-01 -5.86998843e-03 2.34278278e+02] [ 8.83928519e-01 -4.67489706e-01 -1.11242542e-02 -1.09266825e+02] [-1.25779834e-02 1.14141612e-05 -9.99920894e-01 -4.04539357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters 0.012355656485817516 Centerline is valid? [True, True] Translation: X:234.30, Y:-109.24, Z:-4.05 [[ 3.91754612e-01 9.20053514e-01 -5.46400858e-03 2.34302132e+02] [ 9.19966265e-01 -3.91792710e-01 -1.26706209e-02 -1.09244793e+02] [-1.37984080e-02 -6.29294095e-05 -9.99904795e-01 -4.04557508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters 0.01278264081027895 Centerline is valid? [True, True] Translation: X:234.32, Y:-109.22, Z:-4.04 [[ 3.14135685e-01 9.49365989e-01 -4.79479224e-03 2.34323349e+02] [ 9.49261936e-01 -3.14172246e-01 -1.40562202e-02 -1.09220286e+02] [-1.48508881e-02 -1.35953384e-04 -9.99889710e-01 -4.04493898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters 0.01294222081160095 Centerline is valid? [True, True] Translation: X:234.34, Y:-109.19, Z:-4.04 [[ 2.37739950e-01 9.71322059e-01 -3.62961245e-03 2.34339333e+02] [ 9.71218336e-01 -2.37767608e-01 -1.41953780e-02 -1.09193971e+02] [-1.46512880e-02 -1.50337707e-04 -9.99892653e-01 -4.04458841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters 0.012711177861912708 Centerline is valid? [True, True] Translation: X:234.35, Y:-109.17, Z:-4.04 [[ 1.62643984e-01 9.86682286e-01 -2.23623737e-03 2.34349898e+02] [ 9.86598259e-01 -1.62659318e-01 -1.28771838e-02 -1.09165359e+02] [-1.30694340e-02 -1.11871421e-04 -9.99914585e-01 -4.04476186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters 0.012469821431461628 Centerline is valid? [True, True] Translation: X:234.36, Y:-109.14, Z:-4.04 [[ 8.76210107e-02 9.96153223e-01 -1.14639569e-03 2.34356806e+02] [ 9.96078250e-01 -8.76284811e-02 -1.22216604e-02 -1.09136527e+02] [-1.22751033e-02 -7.10255738e-05 -9.99924656e-01 -4.04470129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters 0.012426227588825424 Centerline is valid? [True, True] Translation: X:234.36, Y:-109.11, Z:-4.04 [[ 1.51474631e-02 9.99885254e-01 -1.82259646e-04 2.34356425e+02] [ 9.99812366e-01 -1.51485596e-02 -1.20728917e-02 -1.09108263e+02] [-1.20742673e-02 6.48234002e-07 -9.99927103e-01 -4.04342424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters 0.01294279004564299 Centerline is valid? [True, True] Translation: X:234.35, Y:-109.08, Z:-4.04 [[-5.67325091e-02 9.98389115e-01 7.72874108e-04 2.34353205e+02] [ 9.98314648e-01 5.67377173e-02 -1.21940307e-02 -1.09080146e+02] [-1.22182386e-02 7.97735871e-05 -9.99925351e-01 -4.04312631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters 0.013420839673514491 Centerline is valid? [True, True] Translation: X:234.35, Y:-109.05, Z:-4.04 [[-1.30481817e-01 9.91449247e-01 1.69910384e-03 2.34352551e+02] [ 9.91377689e-01 1.30492815e-01 -1.19123003e-02 -1.09052684e+02] [-1.20321620e-02 1.30115048e-04 -9.99927602e-01 -4.04390646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters 0.013915029908533204 Centerline is valid? [True, True] Translation: X:234.35, Y:-109.02, Z:-4.04 [[-2.04027134e-01 9.78961849e-01 2.57434073e-03 2.34353582e+02] [ 9.78894236e-01 2.04043302e-01 -1.15067834e-02 -1.09024627e+02] [-1.17899789e-02 1.72311259e-04 -9.99930481e-01 -4.04440950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters 0.0151283293307307 Centerline is valid? [True, True] Translation: X:234.35, Y:-109.00, Z:-4.04 [[-2.77174487e-01 9.60813633e-01 3.38633040e-03 2.34350607e+02] [ 9.60750632e-01 2.77195098e-01 -1.10045488e-02 -1.08998439e+02] [-1.15119947e-02 2.03238903e-04 -9.99933714e-01 -4.04355610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters 0.014694468464638273 Centerline is valid? [True, True] Translation: X:234.35, Y:-108.97, Z:-4.04 [[-3.49715139e-01 9.36847406e-01 4.03216807e-03 2.34351386e+02] [ 9.36792061e-01 3.49738318e-01 -1.01854812e-02 -1.08969972e+02] [-1.09524453e-02 2.15286049e-04 -9.99939997e-01 -4.04468505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters 0.01511221781527895 Centerline is valid? [True, True] Translation: X:234.35, Y:-108.94, Z:-4.04 [[-4.21640230e-01 9.06749254e-01 5.03053646e-03 2.34347080e+02] [ 9.06691093e-01 4.21670176e-01 -1.02725788e-02 -1.08944244e+02] [-1.14358803e-02 2.29810127e-04 -9.99934582e-01 -4.04463818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters 0.015107442408350992 Centerline is valid? [True, True] Translation: X:234.34, Y:-108.92, Z:-4.04 [[-4.94090978e-01 8.69391880e-01 5.64495100e-03 2.34340867e+02] [ 8.69339432e-01 4.94123188e-01 -9.55126880e-03 -1.08918038e+02] [-1.10930967e-02 1.88182760e-04 -9.99938452e-01 -4.04484769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters 0.0137364273756282 Centerline is valid? [True, True] Translation: X:234.34, Y:-108.89, Z:-4.05 [[-5.63731256e-01 8.25935068e-01 6.19154826e-03 2.34336978e+02] [ 8.25888014e-01 5.63765238e-01 -8.81735184e-03 -1.08888450e+02] [-1.07731398e-02 1.42908669e-04 -9.99941958e-01 -4.04602830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters 0.012873324840330288 Centerline is valid? [True, True] Translation: X:234.33, Y:-108.86, Z:-4.05 [[-6.32299718e-01 7.74695216e-01 6.66254195e-03 2.34330394e+02] [ 7.74653257e-01 6.32334815e-01 -8.06301408e-03 -1.08858747e+02] [-1.04593357e-02 6.29182958e-05 -9.99945298e-01 -4.04558889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters 0.01251622342085884 Centerline is valid? [True, True] Translation: X:234.32, Y:-108.83, Z:-4.05 [[-6.94942488e-01 7.19020083e-01 8.06588847e-03 2.34321457e+02] [ 7.18971781e-01 6.94989295e-01 -8.33420296e-03 -1.08829720e+02] [-1.15981654e-02 7.35445792e-06 -9.99932739e-01 -4.04550438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters 0.012920974296530751 Centerline is valid? [True, True] Translation: X:234.31, Y:-108.80, Z:-4.04 [[-7.54785536e-01 6.55906969e-01 9.21095858e-03 2.34310760e+02] [ 6.55856540e-01 7.54841730e-01 -8.13394466e-03 -1.08799520e+02] [-1.22879269e-02 -9.83163598e-05 -9.99924496e-01 -4.04429958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters 0.013820427142466266 Centerline is valid? [True, True] Translation: X:234.33, Y:-108.77, Z:-4.04 [[-8.02730845e-01 5.96254769e-01 1.01706221e-02 2.34328482e+02] [ 5.96204067e-01 8.02795253e-01 -7.77766242e-03 -1.08773583e+02] [-1.28023954e-02 -1.79603290e-04 -9.99918030e-01 -4.04387366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters 0.01594800693946585 Centerline is valid? [True, True] Translation: X:234.34, Y:-108.74, Z:-4.04 [[-8.47035810e-01 5.31424291e-01 1.08885448e-02 2.34343947e+02] [ 5.31376066e-01 8.47105745e-01 -7.16469147e-03 -1.08744947e+02] [-1.30312399e-02 -2.82838159e-04 -9.99915050e-01 -4.04337381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters 0.015736176556308473 Centerline is valid? [True, True] Translation: X:234.36, Y:-108.73, Z:-4.05 [[-8.84012926e-01 4.67335008e-01 1.09149846e-02 2.34361897e+02] [ 4.67294982e-01 8.84080252e-01 -6.12433186e-03 -1.08725470e+02] [-1.25118370e-02 -3.13470988e-04 -9.99921675e-01 -4.04517226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters 0.019030374559029402 Centerline is valid? [True, True] Translation: X:234.37, Y:-108.69, Z:-4.05 [[-9.16483697e-01 3.99948274e-01 9.95047964e-03 2.34370304e+02] [ 3.99920902e-01 9.16537657e-01 -4.69000612e-03 -1.08693223e+02] [-1.09957491e-02 -3.18909355e-04 -9.99939494e-01 -4.04519550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters 0.018288843486069038 Centerline is valid? [True, True] Translation: X:234.66, Y:-108.09, Z:-5.00 [[-8.57622435e-01 -5.14189149e-01 9.65802305e-03 2.34662125e+02] [ 5.14160783e-01 -8.57676753e-01 -5.41072356e-03 -1.08091419e+02] [ 1.10655972e-02 3.25418782e-04 9.99938721e-01 -4.99523404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters 0.01920192526628483 Centerline is valid? [True, True] Translation: X:234.32, Y:-108.67, Z:-4.05 [[-9.20037414e-01 3.91695606e-01 1.02814683e-02 2.34315071e+02] [ 3.91666364e-01 9.20094777e-01 -4.80210218e-03 -1.08666768e+02] [-1.13408876e-02 -3.91208366e-04 -9.99935614e-01 -4.04567328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters 0.02020127672864927 Centerline is valid? [True, True] Translation: X:234.35, Y:-108.65, Z:-4.04 [[-9.46247502e-01 3.23210236e-01 1.22804462e-02 2.34345765e+02] [ 3.23176250e-01 9.46327059e-01 -4.71261398e-03 -1.08650684e+02] [-1.31444837e-02 -4.90550641e-04 -9.99913487e-01 -4.04483000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters 0.02007789032417453 Centerline is valid? [True, True] Translation: X:234.34, Y:-108.62, Z:-4.04 [[-9.66787596e-01 2.55232964e-01 1.33370791e-02 2.34344534e+02] [ 2.55201194e-01 9.66879445e-01 -4.06067083e-03 -1.08623166e+02] [-1.39317647e-02 -5.22167686e-04 -9.99902812e-01 -4.04362940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters 0.02042547684996794 Centerline is valid? [True, True] Translation: X:234.55, Y:-107.99, Z:-5.00 [[-9.21117763e-01 -3.89094152e-01 1.21575812e-02 2.34549962e+02] [ 3.89066403e-01 -9.21197891e-01 -4.66678933e-03 -1.07987196e+02] [ 1.30153586e-02 4.31443851e-04 9.99915204e-01 -4.99788405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters 0.01942818520538508 Centerline is valid? [True, True] Translation: X:234.31, Y:-108.62, Z:-4.04 [[-9.67416892e-01 2.52900302e-01 1.20828240e-02 2.34305573e+02] [ 2.52874660e-01 9.67492237e-01 -3.63005183e-03 -1.08616655e+02] [-1.26080796e-02 -4.56333466e-04 -9.99920411e-01 -4.04466120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters 0.01870493208789507 Centerline is valid? [True, True] Translation: X:234.32, Y:-108.60, Z:-4.05 [[-9.82597229e-01 1.85405899e-01 1.12844565e-02 2.34319698e+02] [ 1.85389006e-01 9.82661943e-01 -2.53421397e-03 -1.08595459e+02] [-1.15586642e-02 -3.98097452e-04 -9.99933117e-01 -4.04542126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters 0.019066481534537275 Centerline is valid? [True, True] Translation: X:234.32, Y:-108.57, Z:-4.04 [[-9.93159472e-01 1.16279894e-01 1.06418672e-02 2.34320050e+02] [ 1.16269312e-01 9.93216419e-01 -1.60981723e-03 -1.08568013e+02] [-1.07568666e-02 -3.61482653e-04 -9.99942078e-01 -4.04473657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters 0.0183609510719225 Centerline is valid? [True, True] Translation: X:234.43, Y:-107.90, Z:-5.00 [[-9.68436372e-01 -2.49035242e-01 1.06038817e-02 2.34431098e+02] [ 2.49024490e-01 -9.68494352e-01 -2.34367996e-03 -1.07896005e+02] [ 1.08534584e-02 3.70921313e-04 9.99941031e-01 -4.99598713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters 0.01957858378594123 Centerline is valid? [True, True] Translation: X:234.28, Y:-108.56, Z:-4.05 [[-9.93962809e-01 1.09236153e-01 1.02663406e-02 2.34277451e+02] [ 1.09226337e-01 9.94015752e-01 -1.51377482e-03 -1.08560350e+02] [-1.03702632e-02 -3.83281098e-04 -9.99946154e-01 -4.04501682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters 0.021055170308053636 Centerline is valid? [True, True] Translation: X:234.37, Y:-107.90, Z:-5.00 [[-9.67845154e-01 -2.51323011e-01 1.06066763e-02 2.34374593e+02] [ 2.51312793e-01 -9.67903175e-01 -2.30721026e-03 -1.07895656e+02] [ 1.08460907e-02 4.32571168e-04 9.99941086e-01 -4.99748477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters 0.024847154192198757 Centerline is valid? [True, True] Translation: X:234.23, Y:-108.54, Z:-4.04 [[-9.94798014e-01 1.01201440e-01 1.16267178e-02 2.34228173e+02] [ 1.01188832e-01 9.94865837e-01 -1.66910773e-03 -1.08543760e+02] [-1.17359405e-02 -4.83931056e-04 -9.99931014e-01 -4.04168812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters 0.022238327364725263 Centerline is valid? [True, True] Translation: X:234.33, Y:-107.89, Z:-5.00 [[-9.68566182e-01 -2.48499258e-01 1.12990965e-02 2.34325343e+02] [ 2.48487910e-01 -9.68631975e-01 -2.41970601e-03 -1.07890730e+02] [ 1.15459613e-02 4.64043461e-04 9.99933236e-01 -4.99806973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters 0.021336635131985256 Centerline is valid? [True, True] Translation: X:234.18, Y:-108.54, Z:-4.04 [[-9.95172465e-01 9.75514200e-02 1.07464460e-02 2.34182796e+02] [ 9.75408963e-02 9.95230387e-01 -1.50033420e-03 -1.08543963e+02] [-1.08415494e-02 -4.44873307e-04 -9.99941130e-01 -4.04425991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters 0.021356663021363204 Centerline is valid? [True, True] Translation: X:234.17, Y:-108.52, Z:-4.04 [[-9.99576011e-01 2.74777223e-02 9.63183602e-03 2.34173253e+02] [ 2.74726998e-02 9.99622341e-01 -6.53394252e-04 -1.08515964e+02] [-9.64615226e-03 -3.88504681e-04 -9.99953399e-01 -4.04422704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters 0.021519724879866066 Centerline is valid? [True, True] Translation: X:234.18, Y:-108.49, Z:-4.04 [[-9.99096706e-01 -4.16660924e-02 8.34917163e-03 2.34184868e+02] [-4.16673104e-02 9.99131540e-01 2.80882806e-05 -1.08489372e+02] [-8.34309103e-03 -3.19824617e-04 -9.99965145e-01 -4.04421471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters 0.02025610074930777 Centerline is valid? [True, True] Translation: X:234.18, Y:-108.47, Z:-4.04 [[-9.93827578e-01 -1.10668561e-01 7.69517530e-03 2.34180554e+02] [-1.10667429e-01 9.93857329e-01 5.74140249e-04 -1.08465012e+02] [-7.71144565e-03 -2.81008851e-04 -9.99970227e-01 -4.04464213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters 0.02018676846206411 Centerline is valid? [True, True] Translation: X:234.17, Y:-108.44, Z:-4.04 [[-9.84082918e-01 -1.77564029e-01 7.19906608e-03 2.34168018e+02] [-1.77561053e-01 9.84109221e-01 1.05557342e-03 -1.08439354e+02] [-7.27209918e-03 -2.39501988e-04 -9.99973529e-01 -4.04473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters 0.019633744963041728 Centerline is valid? [True, True] Translation: X:234.16, Y:-108.41, Z:-4.04 [[-9.69740771e-01 -2.44023765e-01 7.43227311e-03 2.34160656e+02] [-2.44018373e-01 9.69769226e-01 1.63780655e-03 -1.08414716e+02] [-7.60725346e-03 -2.25363401e-04 -9.99971039e-01 -4.04393597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters 0.016629671689064533 Centerline is valid? [True, True] Translation: X:234.15, Y:-108.40, Z:-4.04 [[-9.51929175e-01 -3.06201516e-01 8.45446137e-03 2.34149982e+02] [-3.06191283e-01 9.51966697e-01 2.51107493e-03 -1.08396219e+02] [-8.81726062e-03 -1.98316893e-04 -9.99961108e-01 -4.04281339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters 0.014880822571838958 Centerline is valid? [True, True] Translation: X:234.12, Y:-108.38, Z:-4.04 [[-9.28538561e-01 -3.71143282e-01 8.29493482e-03 2.34121980e+02] [-3.71130132e-01 9.28575594e-01 3.12901738e-03 -1.08381517e+02] [-8.86378781e-03 -1.73086954e-04 -9.99960701e-01 -4.04353243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters 0.013146647076747344 Centerline is valid? [True, True] Translation: X:234.07, Y:-108.38, Z:-4.04 [[-9.02623131e-01 -4.30357143e-01 8.01327733e-03 2.34071330e+02] [-4.30341106e-01 9.02658696e-01 3.71632451e-03 -1.08380460e+02] [-8.83260126e-03 -9.40021656e-05 -9.99960987e-01 -4.04434438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters 0.012586802068253997 Centerline is valid? [True, True] Translation: X:234.01, Y:-108.38, Z:-4.05 [[-8.71233070e-01 -4.90822826e-01 6.77436402e-03 2.34010999e+02] [-4.90808328e-01 8.71259406e-01 3.77261524e-03 -1.08384427e+02] [-7.75391404e-03 -3.80871172e-05 -9.99969937e-01 -4.04524177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters 0.012513751058073081 Centerline is valid? [True, True] Translation: X:233.94, Y:-108.40, Z:-4.05 [[-8.36089089e-01 -5.48563551e-01 5.75025005e-03 2.33938725e+02] [-5.48550477e-01 8.36108863e-01 3.78724013e-03 -1.08401809e+02] [-6.88537693e-03 1.21677441e-05 -9.99976295e-01 -4.04658311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters 0.012752812666037956 Centerline is valid? [True, True] Translation: X:233.86, Y:-108.43, Z:-4.05 [[-7.95551774e-01 -6.05863880e-01 5.13158302e-03 2.33863027e+02] [-6.05850935e-01 7.95568323e-01 3.96075338e-03 -1.08425071e+02] [-6.48220231e-03 4.20100073e-05 -9.99978989e-01 -4.04752078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters 0.012674456857988403 Centerline is valid? [True, True] Translation: X:233.78, Y:-108.45, Z:-4.05 [[-7.48668853e-01 -6.62927757e-01 4.66239256e-03 2.33784164e+02] [-6.62914489e-01 7.48683369e-01 4.19437709e-03 -1.08453886e+02] [-6.27122477e-03 4.94319003e-05 -9.99980334e-01 -4.04763718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters 0.012625224318657695 Centerline is valid? [True, True] Translation: X:233.70, Y:-108.50, Z:-4.05 [[-6.95910950e-01 -7.18113135e-01 4.63409315e-03 2.33697295e+02] [-7.18096763e-01 6.95926378e-01 4.84936335e-03 -1.08495814e+02] [-6.70737917e-03 4.69977684e-05 -9.99977504e-01 -4.04698428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters 0.012470692367035128 Centerline is valid? [True, True] Translation: X:233.61, Y:-108.55, Z:-4.05 [[-6.38222765e-01 -7.69837120e-01 4.74468820e-03 2.33611302e+02] [-7.69815385e-01 6.38240400e-01 5.78492733e-03 -1.08548684e+02] [-7.48170349e-03 3.95383374e-05 -9.99972011e-01 -4.04674880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters 0.012197695432392925 Centerline is valid? [True, True] Translation: X:233.52, Y:-108.61, Z:-4.05 [[-5.74610120e-01 -8.18416354e-01 4.22873675e-03 2.33524337e+02] [-8.18394091e-01 5.74625680e-01 6.03646082e-03 -1.08610162e+02] [-7.37027898e-03 7.83830821e-06 -9.99972839e-01 -4.04665604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters 0.01212560522700669 Centerline is valid? [True, True] Translation: X:233.44, Y:-108.68, Z:-4.05 [[-5.07481086e-01 -8.61656145e-01 3.41113357e-03 2.33440810e+02] [-8.61636927e-01 5.07492549e-01 5.75481115e-03 -1.08681309e+02] [-6.68979327e-03 -1.87008403e-05 -9.99977623e-01 -4.04674148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters 0.012508664328200943 Centerline is valid? [True, True] Translation: X:233.36, Y:-108.76, Z:-4.05 [[-4.34499500e-01 -9.00667705e-01 2.80528977e-03 2.33357885e+02] [-9.00649820e-01 4.34508552e-01 5.67621736e-03 -1.08764670e+02] [-6.33130805e-03 -6.02701174e-05 -9.99979955e-01 -4.04700325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters 0.0131565906556025 Centerline is valid? [True, True] Translation: X:233.29, Y:-108.84, Z:-4.05 [[-3.60115592e-01 -9.32904183e-01 2.55834316e-03 2.33288392e+02] [-9.32882536e-01 3.60124666e-01 6.35602926e-03 -1.08844735e+02] [-6.85088876e-03 -9.77284126e-05 -9.99976528e-01 -4.04688327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters 0.014652740162399197 Centerline is valid? [True, True] Translation: X:233.22, Y:-108.94, Z:-4.05 [[-2.81834319e-01 -9.59460457e-01 2.24683808e-03 2.33219124e+02] [-9.59434166e-01 2.81843234e-01 7.10447397e-03 -1.08939855e+02] [-7.44971795e-03 -1.53408630e-04 -9.99972239e-01 -4.04612434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters 0.015052118558122472 Centerline is valid? [True, True] Translation: X:233.16, Y:-109.04, Z:-4.05 [[-2.04813387e-01 -9.78799661e-01 1.64328892e-03 2.33161885e+02] [-9.78774475e-01 2.04819909e-01 7.02369338e-03 -1.09038960e+02] [-7.21136699e-03 -1.69862819e-04 -9.99973983e-01 -4.04683103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters 0.016266969644320377 Centerline is valid? [True, True] Translation: X:233.11, Y:-109.14, Z:-4.05 [[-1.26914016e-01 -9.91913162e-01 1.05428577e-03 2.33110756e+02] [-9.91889710e-01 1.26918268e-01 6.82317551e-03 -1.09143781e+02] [-6.90180572e-03 -1.79778600e-04 -9.99976166e-01 -4.04624420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters 0.01703923490951832 Centerline is valid? [True, True] Translation: X:233.07, Y:-109.25, Z:-4.04 [[-5.04464535e-02 -9.98726572e-01 6.24775988e-04 2.33070109e+02] [-9.98693454e-01 5.04498704e-02 8.13602279e-03 -1.09251842e+02] [-8.15718202e-03 -2.13526195e-04 -9.99966707e-01 -4.04433378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters 0.015806150900957515 Centerline is valid? [True, True] Translation: X:233.04, Y:-109.37, Z:-4.04 [[ 2.50217265e-02 -9.99686908e-01 -6.70290625e-07 2.33041835e+02] [-9.99653338e-01 -2.50208918e-02 8.19507405e-03 -1.09365295e+02] [-8.19252500e-03 -2.04384843e-04 -9.99966420e-01 -4.04431553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters 0.01453315880965259 Centerline is valid? [True, True] Translation: X:233.02, Y:-109.48, Z:-4.05 [[ 9.83159743e-02 -9.95155062e-01 -6.09431303e-04 2.33023914e+02] [-9.95123606e-01 -9.83177133e-02 7.91425375e-03 -1.09476928e+02] [-7.93582758e-03 -1.71638093e-04 -9.99968496e-01 -4.04532937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters 0.013094093810047372 Centerline is valid? [True, True] Translation: X:233.02, Y:-109.59, Z:-4.05 [[ 1.68015091e-01 -9.85783890e-01 -1.02544951e-03 2.33017259e+02] [-9.85761677e-01 -1.68018190e-01 6.61840963e-03 -1.09591877e+02] [-6.69661576e-03 -1.01143871e-04 -9.99977572e-01 -4.04679382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters 0.01217102221817263 Centerline is valid? [True, True] Translation: X:233.02, Y:-109.70, Z:-4.05 [[ 2.37227291e-01 -9.71453035e-01 -1.48741900e-03 2.33017109e+02] [-9.71432391e-01 -2.37231947e-01 6.33343110e-03 -1.09703204e+02] [-6.50549417e-03 -5.75357104e-05 -9.99978837e-01 -4.04722940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters 0.011852833766519905 Centerline is valid? [True, True] Translation: X:233.03, Y:-109.81, Z:-4.05 [[ 3.00389868e-01 -9.53814733e-01 -1.83897549e-03 2.33028861e+02] [-9.53797174e-01 -3.00395496e-01 5.78755541e-03 -1.09814825e+02] [-6.07267558e-03 1.54866249e-05 -9.99981561e-01 -4.04652141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters 0.013492359630652095 Centerline is valid? [True, True] Translation: X:233.05, Y:-109.93, Z:-4.05 [[ 3.62084262e-01 -9.32142158e-01 -2.44628887e-03 2.33050208e+02] [-9.32122574e-01 -3.62092514e-01 6.04305721e-03 -1.09925905e+02] [-6.51877128e-03 9.21451701e-05 -9.99978748e-01 -4.04640554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters 0.015318193368456091 Centerline is valid? [True, True] Translation: X:233.08, Y:-110.04, Z:-4.05 [[ 4.26508262e-01 -9.04479504e-01 -2.74405772e-03 2.33076732e+02] [-9.04462685e-01 -4.26517070e-01 5.51727613e-03 -1.10037861e+02] [-6.16065063e-03 1.28733955e-04 -9.99981015e-01 -4.04689075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters 0.01771039276769449 Centerline is valid? [True, True] Translation: X:233.11, Y:-110.14, Z:-4.05 [[ 4.88543329e-01 -8.72533850e-01 -3.17734397e-03 2.33109064e+02] [-8.72517642e-01 -4.88553631e-01 5.32109721e-03 -1.10142450e+02] [-6.19514037e-03 1.72702123e-04 -9.99980795e-01 -4.04675335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters 0.018657130789048827 Centerline is valid? [True, True] Translation: X:233.15, Y:-110.25, Z:-4.05 [[ 5.53288272e-01 -8.32982112e-01 -3.59019678e-03 2.33148965e+02] [-8.32966625e-01 -5.53299891e-01 5.08254423e-03 -1.10251375e+02] [-6.22012392e-03 1.78401983e-04 -9.99980639e-01 -4.04630360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters 0.01614661606925535 Centerline is valid? [True, True] Translation: X:233.19, Y:-110.36, Z:-4.05 [[ 6.17995995e-01 -7.86167521e-01 -4.64540037e-03 2.33191764e+02] [-7.86147518e-01 -6.18013427e-01 5.61109506e-03 -1.10361746e+02] [-7.28218049e-03 1.84335696e-04 -9.99973468e-01 -4.04582765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters 0.015415866136743029 Centerline is valid? [True, True] Translation: X:233.24, Y:-110.47, Z:-4.04 [[ 6.79234406e-01 -7.33898149e-01 -5.84198301e-03 2.33243473e+02] [-7.33873227e-01 -6.79259505e-01 6.05072268e-03 -1.10465105e+02] [-8.40883667e-03 1.77415891e-04 -9.99964629e-01 -4.04447927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters 0.013465601158471868 Centerline is valid? [True, True] Translation: X:233.30, Y:-110.56, Z:-4.04 [[ 7.38389129e-01 -6.74346419e-01 -6.19689460e-03 2.33295117e+02] [-6.74323907e-01 -7.38415124e-01 5.51129445e-03 -1.10561786e+02] [-8.29240238e-03 1.09234269e-04 -9.99965611e-01 -4.04466395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters 0.012389558874787453 Centerline is valid? [True, True] Translation: X:233.31, Y:-110.59, Z:-4.05 [[ 7.93707240e-01 -6.08271825e-01 -5.84845152e-03 2.33311249e+02] [-6.08255666e-01 -7.93728786e-01 4.43387190e-03 -1.10593717e+02] [-7.33908367e-03 3.81575419e-05 -9.99973068e-01 -4.04540746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters 0.012112128718797898 Centerline is valid? [True, True] Translation: X:233.33, Y:-110.62, Z:-4.05 [[ 8.41576880e-01 -5.40115088e-01 -4.90372571e-03 2.33331626e+02] [-5.40105924e-01 -8.41591167e-01 3.14623346e-03 -1.10621555e+02] [-5.82626041e-03 7.33963402e-07 -9.99983027e-01 -4.04637211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters 0.012376531969332406 Centerline is valid? [True, True] Translation: X:233.35, Y:-110.65, Z:-4.05 [[ 8.84071399e-01 -4.67341729e-01 -3.07734065e-03 2.33353426e+02] [-4.67338815e-01 -8.84076755e-01 1.65052976e-03 -1.10647889e+02] [-3.49196677e-03 -2.10254215e-05 -9.99993903e-01 -4.04723900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters 0.012499906306231396 Centerline is valid? [True, True] Translation: X:233.38, Y:-110.67, Z:-4.05 [[ 9.18485734e-01 -3.95442240e-01 -3.06453809e-03 2.33380545e+02] [-3.95439948e-01 -9.18490846e-01 1.34668256e-03 -1.10668664e+02] [-3.34728535e-03 -2.50679407e-05 -9.99994398e-01 -4.04731947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters 0.012651299568309187 Centerline is valid? [True, True] Translation: X:233.41, Y:-110.69, Z:-4.05 [[ 9.47406343e-01 -3.20013362e-01 -3.55939179e-03 2.33407453e+02] [-3.20010953e-01 -9.47413029e-01 1.24210774e-03 -1.10692634e+02] [-3.76970523e-03 -3.77363905e-05 -9.99992894e-01 -4.04686188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters 0.013005879805491288 Centerline is valid? [True, True] Translation: X:233.44, Y:-110.71, Z:-4.04 [[ 9.69712981e-01 -2.44184750e-01 -5.52659575e-03 2.33436349e+02] [-2.44180423e-01 -9.69728727e-01 1.45488404e-03 -1.10712914e+02] [-5.71455915e-03 -6.13334504e-05 -9.99983670e-01 -4.04491696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters 0.013021352840470115 Centerline is valid? [True, True] Translation: X:233.47, Y:-110.73, Z:-4.04 [[ 9.85810504e-01 -1.67689477e-01 -7.60848383e-03 2.33468498e+02] [-1.67683840e-01 -9.85839862e-01 1.37742387e-03 -1.10727410e+02] [-7.73172614e-03 -8.20591316e-05 -9.99970106e-01 -4.04296731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters 0.012376579111044712 Centerline is valid? [True, True] Translation: X:233.50, Y:-110.74, Z:-4.04 [[ 9.95640862e-01 -9.29284427e-02 -7.97367476e-03 2.33498055e+02] [-9.29249676e-02 -9.95672788e-01 8.05994452e-04 -1.10738979e+02] [-8.01407078e-03 -6.15275413e-05 -9.99967885e-01 -4.04341689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters 0.012189092131281743 Centerline is valid? [True, True] Translation: X:233.53, Y:-110.75, Z:-4.04 [[ 9.99813156e-01 -1.78310624e-02 -7.46365545e-03 2.33528404e+02] [-1.78303128e-02 -9.99841013e-01 1.66974913e-04 -1.10747149e+02] [-7.46544617e-03 -3.38644036e-05 -9.99972133e-01 -4.04366560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters 0.012012949823440772 Centerline is valid? [True, True] Translation: X:233.56, Y:-110.75, Z:-4.04 [[ 9.98327102e-01 5.73243233e-02 -7.54454880e-03 2.33559318e+02] [ 5.73227658e-02 -9.98355609e-01 -4.22708237e-04 -1.10751698e+02] [-7.55637408e-03 -1.04733142e-05 -9.99971450e-01 -4.04318594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters 0.01205240270735835 Centerline is valid? [True, True] Translation: X:233.59, Y:-110.76, Z:-4.04 [[ 9.91137094e-01 1.32598000e-01 -8.06419010e-03 2.33590426e+02] [ 1.32593521e-01 -9.91169900e-01 -1.08992311e-03 -1.10755670e+02] [-8.13750412e-03 1.10038666e-05 -9.99966890e-01 -4.04315747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters 0.012012673430209694 Centerline is valid? [True, True] Translation: X:233.62, Y:-110.76, Z:-4.04 [[ 9.77854339e-01 2.09131077e-01 -8.06754586e-03 2.33621900e+02] [ 2.09123819e-01 -9.77887617e-01 -1.74244273e-03 -1.10758178e+02] [-8.25355212e-03 1.67391848e-05 -9.99965939e-01 -4.04344026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters 0.012025310225419774 Centerline is valid? [True, True] Translation: X:233.65, Y:-110.76, Z:-4.04 [[ 9.58538617e-01 2.84855559e-01 -7.81222037e-03 2.33651404e+02] [ 2.84845944e-01 -9.58570451e-01 -2.34054420e-03 -1.10756861e+02] [-8.15528063e-03 1.82227109e-05 -9.99966745e-01 -4.04288337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters 0.011967213184849498 Centerline is valid? [True, True] Translation: X:233.68, Y:-110.75, Z:-4.04 [[ 9.33207909e-01 3.59257723e-01 -7.54238308e-03 2.33683223e+02] [ 3.59245852e-01 -9.33238388e-01 -2.92047410e-03 -1.10754903e+02] [-8.08804430e-03 1.58396907e-05 -9.99967291e-01 -4.04316677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters 0.011815924721293457 Centerline is valid? [True, True] Translation: X:233.72, Y:-110.75, Z:-4.04 [[ 9.01689424e-01 4.32328764e-01 -6.92989231e-03 2.33715499e+02] [ 4.32315948e-01 -9.01716053e-01 -3.32880527e-03 -1.10753827e+02] [-7.68793340e-03 5.64553748e-06 -9.99970447e-01 -4.04403053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters 0.011951130450019021 Centerline is valid? [True, True] Translation: X:233.75, Y:-110.75, Z:-4.04 [[ 8.64274924e-01 5.02963510e-01 -7.52085343e-03 2.33745586e+02] [ 5.02944542e-01 -8.64307646e-01 -4.36804061e-03 -1.10748814e+02] [-8.69729616e-03 -7.38422085e-06 -9.99962178e-01 -4.04276396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters 0.011973795699113924 Centerline is valid? [True, True] Translation: X:233.78, Y:-110.74, Z:-4.04 [[ 8.21427571e-01 5.70270201e-01 -6.97451534e-03 2.33775981e+02] [ 5.70249848e-01 -8.21457179e-01 -4.81806115e-03 -1.10739705e+02] [-8.47686240e-03 -1.95280431e-05 -9.99964071e-01 -4.04236788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters 0.012013412262943259 Centerline is valid? [True, True] Translation: X:233.81, Y:-110.73, Z:-4.04 [[ 7.73102819e-01 6.34244636e-01 -6.76558301e-03 2.33805968e+02] [ 6.34220756e-01 -7.73132421e-01 -5.50385871e-03 -1.10729699e+02] [-8.72148444e-03 -3.58244870e-05 -9.99961967e-01 -4.04324450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters 0.012079605199699786 Centerline is valid? [True, True] Translation: X:233.83, Y:-110.72, Z:-4.04 [[ 7.20479703e-01 6.93446067e-01 -6.44581251e-03 2.33834418e+02] [ 6.93418867e-01 -7.20508535e-01 -6.14209353e-03 -1.10716470e+02] [-8.90347354e-03 -4.43942842e-05 -9.99960362e-01 -4.04333917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters 0.012289240486667748 Centerline is valid? [True, True] Translation: X:233.86, Y:-110.70, Z:-4.04 [[ 6.62868578e-01 7.48716530e-01 -5.36717635e-03 2.33861662e+02] [ 7.48692627e-01 -6.62890304e-01 -5.98295650e-03 -1.10700697e+02] [-8.03738759e-03 -5.24514964e-05 -9.99967698e-01 -4.04348244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters 0.012240346934598648 Centerline is valid? [True, True] Translation: X:233.89, Y:-110.68, Z:-4.04 [[ 6.01217193e-01 7.99072789e-01 -4.53486942e-03 2.33889057e+02] [ 7.99050781e-01 -6.01234293e-01 -5.93077421e-03 -1.10683663e+02] [-7.46563930e-03 -5.79075287e-05 -9.99972130e-01 -4.04392786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters 0.012323572347087586 Centerline is valid? [True, True] Translation: X:233.91, Y:-110.66, Z:-4.04 [[ 5.35523851e-01 8.44508476e-01 -4.43157381e-03 2.33914171e+02] [ 8.44480725e-01 -5.35542182e-01 -6.84666246e-03 -1.10664378e+02] [-8.15535919e-03 -7.58276156e-05 -9.99966742e-01 -4.04382501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters 0.012689368027381045 Centerline is valid? [True, True] Translation: X:233.94, Y:-110.64, Z:-4.04 [[ 4.66267440e-01 8.84633881e-01 -4.19172117e-03 2.33936739e+02] [ 8.84599973e-01 -4.66286272e-01 -7.74597646e-03 -1.10644286e+02] [-8.80689526e-03 -9.62998187e-05 -9.99961214e-01 -4.04268728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters 0.013075360326334776 Centerline is valid? [True, True] Translation: X:233.96, Y:-110.62, Z:-4.04 [[ 3.93066218e-01 9.19503501e-01 -3.50138369e-03 2.33958029e+02] [ 9.19469653e-01 -3.93081795e-01 -7.89050423e-03 -1.10621627e+02] [-8.63167645e-03 -1.17925385e-04 -9.99962739e-01 -4.04219512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters 0.013248500003837614 Centerline is valid? [True, True] Translation: X:233.98, Y:-110.60, Z:-4.04 [[ 3.18510943e-01 9.47914519e-01 -2.97374556e-03 2.33977232e+02] [ 9.47877079e-01 -3.18524796e-01 -8.42597188e-03 -1.10596684e+02] [-8.93431278e-03 -1.34981004e-04 -9.99960079e-01 -4.04183336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters 0.013625691247593935 Centerline is valid? [True, True] Translation: X:233.99, Y:-110.57, Z:-4.04 [[ 2.41052849e-01 9.70509176e-01 -2.33741548e-03 2.33993977e+02] [ 9.70469694e-01 -2.41064130e-01 -8.75551138e-03 -1.10570596e+02] [-9.06077116e-03 -1.57849918e-04 -9.99958938e-01 -4.04127789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters 0.0139035542184474 Centerline is valid? [True, True] Translation: X:234.01, Y:-110.54, Z:-4.04 [[ 1.62683335e-01 9.86677041e-01 -1.59691499e-03 2.34009692e+02] [ 9.86639119e-01 -1.62691086e-01 -8.65218079e-03 -1.10543921e+02] [-8.79671197e-03 -1.68013175e-04 -9.99961294e-01 -4.04108368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters 0.014985388835593666 Centerline is valid? [True, True] Translation: X:234.02, Y:-110.52, Z:-4.04 [[ 8.26091295e-02 9.96581641e-01 -8.74069186e-04 2.34022808e+02] [ 9.96546536e-01 -8.26135577e-02 -8.36665595e-03 -1.10516784e+02] [-8.41026568e-03 -1.79888455e-04 -9.99964617e-01 -4.04050210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters 0.014583163315431375 Centerline is valid? [True, True] Translation: X:234.03, Y:-110.49, Z:-4.04 [[ 3.62941569e-03 9.99993392e-01 -2.10332869e-04 2.34031486e+02] [ 9.99959846e-01 -3.63101718e-03 -8.19286179e-03 -1.10488125e+02] [-8.19357137e-03 -1.80589122e-04 -9.99966416e-01 -4.04142172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters 0.014607081739173354 Centerline is valid? [True, True] Translation: X:234.04, Y:-110.46, Z:-4.04 [[-7.38880181e-02 9.97266464e-01 4.01812154e-04 2.34036350e+02] [ 9.97237402e-01 7.38889331e-02 -7.61506155e-03 -1.10458718e+02] [-7.62393497e-03 -1.61959697e-04 -9.99970924e-01 -4.04150316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters 0.014199578648420247 Centerline is valid? [True, True] Translation: X:234.04, Y:-110.43, Z:-4.04 [[-1.50361959e-01 9.88630499e-01 1.00935236e-03 2.34038270e+02] [ 9.88600884e-01 1.50365269e-01 -7.65357774e-03 -1.10429190e+02] [-7.71833192e-03 -1.52960304e-04 -9.99970202e-01 -4.04145642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters 0.01343540854042152 Centerline is valid? [True, True] Translation: X:234.04, Y:-110.40, Z:-4.04 [[-2.25596163e-01 9.74219370e-01 1.72912576e-03 2.34039732e+02] [ 9.74185458e-01 2.25602740e-01 -8.13006386e-03 -1.10400340e+02] [-8.31056120e-03 -1.49622034e-04 -9.99965456e-01 -4.03979038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters 0.014028178103279096 Centerline is valid? [True, True] Translation: X:234.04, Y:-110.37, Z:-4.04 [[-3.00755606e-01 9.53697987e-01 2.49315063e-03 2.34040473e+02] [ 9.53660867e-01 3.00765900e-01 -8.41569784e-03 -1.10372117e+02] [-8.77588878e-03 -1.53448114e-04 -9.99961479e-01 -4.03877735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters 0.013796103087569699 Centerline is valid? [True, True] Translation: X:234.03, Y:-110.34, Z:-4.04 [[-3.73899531e-01 9.27463169e-01 3.34814960e-03 2.34034130e+02] [ 9.27422148e-01 3.73914489e-01 -8.72436871e-03 -1.10344527e+02] [-9.34345230e-03 -1.56889279e-04 -9.99956337e-01 -4.03872876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters 0.012775798756450556 Centerline is valid? [True, True] Translation: X:234.03, Y:-110.32, Z:-4.04 [[-4.42648592e-01 8.96686795e-01 3.87494070e-03 2.34026751e+02] [ 8.96649968e-01 4.42665535e-01 -8.12769506e-03 -1.10317756e+02] [-9.00329953e-03 -1.23247315e-04 -9.99959462e-01 -4.03911993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters 0.01262929678317113 Centerline is valid? [True, True] Translation: X:234.02, Y:-110.29, Z:-4.04 [[-5.10256784e-01 8.60011891e-01 4.19053763e-03 2.34020061e+02] [ 8.59981221e-01 5.10273981e-01 -7.26383672e-03 -1.10290562e+02] [-8.38530828e-03 -1.02638299e-04 -9.99964837e-01 -4.03886612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters 0.01177274525509554 Centerline is valid? [True, True] Translation: X:234.01, Y:-110.27, Z:-4.04 [[-5.70419879e-01 8.21347620e-01 3.04130918e-03 2.34006224e+02] [ 8.21335673e-01 5.70427986e-01 -4.43001084e-03 -1.10267036e+02] [-5.37342673e-03 -2.90305229e-05 -9.99985563e-01 -4.04060573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters 0.011513890692301576 Centerline is valid? [True, True] Translation: X:233.99, Y:-110.24, Z:-4.04 [[-6.28528529e-01 7.77783885e-01 2.02866709e-03 2.33991578e+02] [ 7.77779839e-01 6.28531803e-01 -2.50898185e-03 -1.10244559e+02] [-3.22652744e-03 8.89692319e-07 -9.99994795e-01 -4.04140368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters 0.012295790361946014 Centerline is valid? [True, True] Translation: X:233.97, Y:-110.22, Z:-4.04 [[-6.80932055e-01 7.32345173e-01 1.44378350e-03 2.33974822e+02] [ 7.32343587e-01 6.80933585e-01 -1.52440504e-03 -1.10224481e+02] [-2.09951134e-03 1.93293324e-05 -9.99997796e-01 -4.04060600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters 0.014316661792398986 Centerline is valid? [True, True] Translation: X:233.96, Y:-110.21, Z:-4.04 [[-7.30189836e-01 6.83239855e-01 2.47073498e-03 2.33956417e+02] [ 6.83236221e-01 7.30194013e-01 -2.22904239e-03 -1.10205734e+02] [-3.32708649e-03 6.04715357e-05 -9.99994463e-01 -4.03857582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters 0.01580272955039781 Centerline is valid? [True, True] Translation: X:233.98, Y:-110.19, Z:-4.04 [[-7.73834518e-01 6.33380493e-01 3.04773831e-03 2.33978679e+02] [ 6.33376025e-01 7.73840515e-01 -2.38069848e-03 -1.10191067e+02] [-3.86635136e-03 8.80977172e-05 -9.99992522e-01 -4.03793962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters 0.018058681578455412 Centerline is valid? [True, True] Translation: X:234.00, Y:-110.17, Z:-4.04 [[-8.13564538e-01 5.81466365e-01 3.09990780e-03 2.34000007e+02] [ 5.81462632e-01 8.13570437e-01 -2.08611619e-03 -1.10173592e+02] [-3.73499974e-03 1.05290394e-04 -9.99993019e-01 -4.03733245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters 0.020149547436289657 Centerline is valid? [True, True] Translation: X:234.01, Y:-110.15, Z:-4.04 [[-8.50332559e-01 5.26243279e-01 1.59713828e-03 2.34014618e+02] [ 5.26242482e-01 8.50334056e-01 -9.18094135e-04 -1.10151917e+02] [-1.84124194e-03 5.97966794e-05 -9.99998303e-01 -4.03813061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters 0.018649377110296624 Centerline is valid? [True, True] Translation: X:234.04, Y:-110.13, Z:-4.04 [[-8.84103085e-01 4.67280766e-01 3.22829368e-03 2.34038100e+02] [ 4.67278171e-01 8.84108970e-01 -1.56221573e-03 -1.10126792e+02] [-3.58415676e-03 1.27351416e-04 -9.99993569e-01 -4.03659451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters 0.018134416120402678 Centerline is valid? [True, True] Translation: X:234.05, Y:-110.10, Z:-4.04 [[-9.15421270e-01 4.02485703e-01 3.02627990e-03 2.34053587e+02] [ 4.02483905e-01 9.15426265e-01 -1.20834584e-03 -1.10096818e+02] [-3.25667803e-03 1.11883468e-04 -9.99994691e-01 -4.03731254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters 0.017142501879755277 Centerline is valid? [True, True] Translation: X:234.07, Y:-110.06, Z:-4.04 [[-9.42886228e-01 3.33101027e-01 3.04411793e-03 2.34066064e+02] [ 3.33099624e-01 9.42891137e-01 -9.71767312e-04 -1.10064752e+02] [-3.19396851e-03 9.77285234e-05 -9.99994895e-01 -4.03734516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters 0.015821914940184312 Centerline is valid? [True, True] Translation: X:234.07, Y:-110.03, Z:-4.04 [[-9.66192282e-01 2.57785904e-01 4.34772502e-03 2.34072522e+02] [ 2.57783766e-01 9.66202058e-01 -1.05493266e-03 -1.10026972e+02] [-4.47272763e-03 1.01505133e-04 -9.99989992e-01 -4.03551896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters 0.013106241450813304 Centerline is valid? [True, True] Translation: X:234.07, Y:-109.98, Z:-4.04 [[-9.83966430e-01 1.78278529e-01 5.17988705e-03 2.34072718e+02] [ 1.78276401e-01 9.83980062e-01 -8.73510903e-04 -1.09984820e+02] [-5.25263382e-03 6.39462143e-05 -9.99986203e-01 -4.03527362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters 0.012352030854417474 Centerline is valid? [True, True] Translation: X:234.07, Y:-109.95, Z:-4.04 [[-9.94998516e-01 9.97931926e-02 4.38987804e-03 2.34070471e+02] [ 9.97922964e-02 9.95008200e-01 -4.23272380e-04 -1.09947525e+02] [-4.41020435e-03 1.69206204e-05 -9.99990275e-01 -4.03557996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters 0.012745093756200318 Centerline is valid? [True, True] Translation: X:234.13, Y:-109.30, Z:-5.01 [[-9.85136555e-01 -1.71732897e-01 3.71206740e-03 2.34126437e+02] [ 1.71731437e-01 -9.85143547e-01 -7.10913008e-04 -1.09298819e+02] [ 3.77900640e-03 -6.28677225e-05 9.99992858e-01 -5.00527896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters 0.014263636116709534 Centerline is valid? [True, True] Translation: X:234.01, Y:-109.92, Z:-4.04 [[-9.97170590e-01 7.50643229e-02 4.02009706e-03 2.34009721e+02] [ 7.50634347e-02 9.97178691e-01 -3.71581305e-04 -1.09922581e+02] [-4.03664763e-03 -6.87676566e-05 -9.99991850e-01 -4.03707172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters 0.015661429165543077 Centerline is valid? [True, True] Translation: X:234.00, Y:-109.89, Z:-4.04 [[-9.99984069e-01 -2.29674869e-03 5.15615764e-03 2.34000277e+02] [-2.29734170e-03 9.99997355e-01 -1.09090343e-04 -1.09889368e+02] [-5.15589345e-03 -1.20934061e-04 -9.99986701e-01 -4.03674186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters 0.0175997952252653 Centerline is valid? [True, True] Translation: X:233.99, Y:-109.85, Z:-4.04 [[-9.96836688e-01 -7.92424391e-02 6.10352066e-03 2.33992876e+02] [-7.92420544e-02 9.96855357e-01 3.05221273e-04 -1.09854880e+02] [-6.10851375e-03 -1.79399753e-04 -9.99981327e-01 -4.03548375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters 0.018463070207537978 Centerline is valid? [True, True] Translation: X:233.98, Y:-109.83, Z:-4.04 [[-9.88461725e-01 -1.51381727e-01 5.19522645e-03 2.33976845e+02] [-1.51380493e-01 9.88475365e-01 6.32165745e-04 -1.09827234e+02] [-5.23105170e-03 -1.61584296e-04 -9.99986305e-01 -4.03678168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters 0.019075613798978968 Centerline is valid? [True, True] Translation: X:233.97, Y:-109.80, Z:-4.04 [[-9.75271023e-01 -2.20944507e-01 5.47318817e-03 2.33967457e+02] [-2.20942002e-01 9.75286366e-01 1.06574611e-03 -1.09801251e+02] [-5.57339655e-03 -1.69865855e-04 -9.99984454e-01 -4.03655323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters 0.018430445257660612 Centerline is valid? [True, True] Translation: X:233.95, Y:-109.78, Z:-4.04 [[-9.57321380e-01 -2.88955373e-01 6.36931787e-03 2.33953301e+02] [-2.88950323e-01 9.57342548e-01 1.71935863e-03 -1.09777133e+02] [-6.59443691e-03 -1.94437676e-04 -9.99978238e-01 -4.03596252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters 0.017514165744173874 Centerline is valid? [True, True] Translation: X:233.93, Y:-109.76, Z:-4.04 [[-9.34217671e-01 -3.56626391e-01 7.41354373e-03 2.33931708e+02] [-3.56617115e-01 9.34247057e-01 2.58253084e-03 -1.09757514e+02] [-7.84708007e-03 -2.31150635e-04 -9.99969184e-01 -4.03622686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters 0.017462736415622904 Centerline is valid? [True, True] Translation: X:233.90, Y:-109.74, Z:-4.04 [[-9.06950205e-01 -4.21168712e-01 7.63166186e-03 2.33900682e+02] [-4.21155910e-01 9.06982284e-01 3.29183241e-03 -1.09740366e+02] [-8.30819892e-03 -2.28591414e-04 -9.99965460e-01 -4.03614060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters 0.016495760559130476 Centerline is valid? [True, True] Translation: X:233.85, Y:-109.74, Z:-4.04 [[-8.74158888e-01 -4.85574621e-01 7.97029574e-03 2.33852349e+02] [-4.85556954e-01 8.74195189e-01 4.14923676e-03 -1.09735550e+02] [-8.98235826e-03 -2.42940329e-04 -9.99959628e-01 -4.03653897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters 0.016621467498811125 Centerline is valid? [True, True] Translation: X:233.79, Y:-109.74, Z:-4.04 [[-8.36283190e-01 -5.48244240e-01 7.66026760e-03 2.33786196e+02] [-5.48223850e-01 8.36318239e-01 4.73439545e-03 -1.09742104e+02] [-9.00202654e-03 -2.40246065e-04 -9.99959452e-01 -4.03617820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters 0.017614629088835806 Centerline is valid? [True, True] Translation: X:233.72, Y:-109.75, Z:-4.04 [[-7.93547968e-01 -6.08454282e-01 8.06282321e-03 2.33717381e+02] [-6.08426240e-01 7.93588884e-01 5.84758348e-03 -1.09754120e+02] [-9.95655408e-03 -2.65295221e-04 -9.99950397e-01 -4.03537958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters 0.017149240448685658 Centerline is valid? [True, True] Translation: X:233.64, Y:-109.78, Z:-4.04 [[-7.46164619e-01 -6.65718905e-01 7.52993938e-03 2.33644628e+02] [-6.65688527e-01 7.46202566e-01 6.36519373e-03 -1.09778366e+02] [-9.85628989e-03 -2.63111892e-04 -9.99951391e-01 -4.03634988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters 0.01705376775927791 Centerline is valid? [True, True] Translation: X:233.57, Y:-109.81, Z:-4.04 [[-6.94524395e-01 -7.19439848e-01 6.49383199e-03 2.33569174e+02] [-7.19411608e-01 6.94554711e-01 6.37894643e-03 -1.09810363e+02] [-9.09958985e-03 -2.41404208e-04 -9.99958569e-01 -4.03726047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters 0.017445753405995794 Centerline is valid? [True, True] Translation: X:233.49, Y:-109.85, Z:-4.04 [[-6.37965005e-01 -7.70043335e-01 5.82373229e-03 2.33490513e+02] [-7.70014677e-01 6.37991539e-01 6.64782060e-03 -1.09852797e+02] [-8.83460187e-03 -2.43282440e-04 -9.99960945e-01 -4.03800162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters 0.018481450383887477 Centerline is valid? [True, True] Translation: X:233.41, Y:-109.90, Z:-4.04 [[-5.77250989e-01 -8.16543896e-01 6.11241778e-03 2.33412185e+02] [-8.16503395e-01 5.77283276e-01 8.13793705e-03 -1.09902879e+02] [-1.01735794e-02 -2.93177660e-04 -9.99948205e-01 -4.03783238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters 0.01805049209695727 Centerline is valid? [True, True] Translation: X:233.34, Y:-109.97, Z:-4.04 [[-5.12983852e-01 -8.58378136e-01 5.87737730e-03 2.33335549e+02] [-8.58328950e-01 5.13017415e-01 9.19488737e-03 -1.09965248e+02] [-1.09078872e-02 -3.27894344e-04 -9.99940453e-01 -4.03832252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters 0.017825833772625886 Centerline is valid? [True, True] Translation: X:233.26, Y:-110.03, Z:-4.04 [[-4.45962602e-01 -8.95036218e-01 5.24661777e-03 2.33264161e+02] [-8.94983039e-01 4.45993332e-01 9.76257076e-03 -1.10031520e+02] [-1.10778110e-02 -3.41892453e-04 -9.99938581e-01 -4.03940794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters 0.018283644619416214 Centerline is valid? [True, True] Translation: X:233.19, Y:-110.11, Z:-4.04 [[-3.76908924e-01 -9.26239911e-01 4.39205283e-03 2.33194772e+02] [-9.26187002e-01 3.76934365e-01 9.90570319e-03 -1.10109678e+02] [-1.08305733e-02 -3.34314309e-04 -9.99941292e-01 -4.03949165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters 0.018850375163211065 Centerline is valid? [True, True] Translation: X:233.13, Y:-110.20, Z:-4.04 [[-3.05599629e-01 -9.52151962e-01 3.93814656e-03 2.33128795e+02] [-9.52087512e-01 3.05624788e-01 1.10841632e-02 -1.10198171e+02] [-1.17574030e-02 -3.62143999e-04 -9.99930814e-01 -4.03928403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters 0.017126433208221718 Centerline is valid? [True, True] Translation: X:233.08, Y:-110.29, Z:-4.04 [[-2.32707196e-01 -9.72541047e-01 3.35746496e-03 2.33075039e+02] [-9.72462569e-01 2.32731091e-01 1.23608992e-02 -1.10285985e+02] [-1.28028684e-02 -3.88538792e-04 -9.99917964e-01 -4.03957430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters 0.016748793235474638 Centerline is valid? [True, True] Translation: X:233.02, Y:-110.38, Z:-4.04 [[-1.60112324e-01 -9.87095437e-01 2.57701234e-03 2.33024934e+02] [-9.87003581e-01 1.60132595e-01 1.34715900e-02 -1.10383536e+02] [-1.37104087e-02 -3.86552823e-04 -9.99905933e-01 -4.03893277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters 0.016304449310949837 Centerline is valid? [True, True] Translation: X:232.98, Y:-110.48, Z:-4.04 [[-8.60451527e-02 -9.96289987e-01 1.57914082e-03 2.32984237e+02] [-9.96192325e-01 8.60588363e-02 1.39545021e-02 -1.10482249e+02] [-1.40386297e-02 -3.72410707e-04 -9.99901384e-01 -4.03899285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters 0.015448635552729495 Centerline is valid? [True, True] Translation: X:232.95, Y:-110.59, Z:-4.04 [[-1.32847850e-02 -9.99911622e-01 5.13083483e-04 2.32951721e+02] [-9.99811509e-01 1.32907171e-02 1.41528417e-02 -1.10589251e+02] [-1.41584102e-02 -3.24969313e-04 -9.99899712e-01 -4.03894653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters 0.014611681346265356 Centerline is valid? [True, True] Translation: X:232.93, Y:-110.70, Z:-4.04 [[ 6.12549049e-02 -9.98121991e-01 -5.72217460e-04 2.32927377e+02] [-9.98020687e-01 -6.12568421e-02 1.42235020e-02 -1.10699178e+02] [-1.42318424e-02 -3.00174402e-04 -9.99898677e-01 -4.03958749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters 0.014166673090758943 Centerline is valid? [True, True] Translation: X:232.91, Y:-110.81, Z:-4.04 [[ 1.34774428e-01 -9.90874805e-01 -1.72441375e-03 2.32912131e+02] [-9.90765703e-01 -1.34785182e-01 1.47063233e-02 -1.10810954e+02] [-1.48045506e-02 -2.73546304e-04 -9.99890369e-01 -4.03918422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters 0.013715457834285922 Centerline is valid? [True, True] Translation: X:232.91, Y:-110.92, Z:-4.04 [[ 2.07966254e-01 -9.78131782e-01 -2.87305919e-03 2.32905416e+02] [-9.78021630e-01 -2.07985957e-01 1.46810138e-02 -1.10922335e+02] [-1.49575222e-02 -2.43241422e-04 -9.99888100e-01 -4.03939119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters 0.013212158041308996 Centerline is valid? [True, True] Translation: X:232.91, Y:-111.04, Z:-4.04 [[ 2.81051446e-01 -9.59685514e-01 -3.71462841e-03 2.32908183e+02] [-9.59591503e-01 -2.81075914e-01 1.34342102e-02 -1.11040962e+02] [-1.39367095e-02 -2.11178338e-04 -9.99902857e-01 -4.04049482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters 0.013097073093595098 Centerline is valid? [True, True] Translation: X:232.92, Y:-111.15, Z:-4.04 [[ 3.53025286e-01 -9.35602576e-01 -4.57900885e-03 2.32918950e+02] [-9.35516552e-01 -3.53054927e-01 1.26885994e-02 -1.11154057e+02] [-1.34881279e-02 -1.95657850e-04 -9.99909012e-01 -4.04129864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters 0.012938469969838677 Centerline is valid? [True, True] Translation: X:232.94, Y:-111.26, Z:-4.04 [[ 4.23507439e-01 -9.05876494e-01 -5.40620221e-03 2.32936427e+02] [-9.05796836e-01 -4.23541900e-01 1.20145966e-02 -1.11263249e+02] [-1.31734938e-02 -1.91350204e-04 -9.99913207e-01 -4.04188689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters 0.013198816314619468 Centerline is valid? [True, True] Translation: X:232.96, Y:-111.37, Z:-4.04 [[ 4.92470165e-01 -8.70307316e-01 -6.18971944e-03 2.32961811e+02] [-8.70233256e-01 -4.92509019e-01 1.13554385e-02 -1.11372997e+02] [-1.29312138e-02 -2.05714955e-04 -9.99916367e-01 -4.04190116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters 0.013833793204033652 Centerline is valid? [True, True] Translation: X:232.99, Y:-111.48, Z:-4.04 [[ 5.58705151e-01 -8.29339767e-01 -6.64125577e-03 2.32994811e+02] [-8.29276563e-01 -5.58744580e-01 1.02409087e-02 -1.11481351e+02] [-1.22039585e-02 -2.14210671e-04 -9.99925506e-01 -4.04128071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters 0.014710556474406162 Centerline is valid? [True, True] Translation: X:233.03, Y:-111.58, Z:-4.04 [[ 6.22183998e-01 -7.82833232e-01 -7.69439106e-03 2.33034484e+02] [-7.82768261e-01 -6.22231521e-01 1.00887988e-02 -1.11583863e+02] [-1.26855396e-02 -2.54164032e-04 -9.99919503e-01 -4.04117202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters 0.014633200649978239 Centerline is valid? [True, True] Translation: X:233.09, Y:-111.69, Z:-4.04 [[ 6.81011647e-01 -7.32225704e-01 -8.28579102e-03 2.33089144e+02] [-7.32166648e-01 -6.81061998e-01 9.30340005e-03 -1.11689059e+02] [-1.24553260e-02 -2.69143957e-04 -9.99922393e-01 -4.04227748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters 0.01483066647413872 Centerline is valid? [True, True] Translation: X:233.13, Y:-111.77, Z:-4.04 [[ 7.35674214e-01 -6.77280949e-01 -8.60045291e-03 2.33133797e+02] [-6.77230231e-01 -7.35724432e-01 8.29302037e-03 -1.11771303e+02] [-1.19442680e-02 -2.76474533e-04 -9.99928626e-01 -4.04328975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters 0.015235974881401826 Centerline is valid? [True, True] Translation: X:233.16, Y:-111.80, Z:-4.04 [[ 7.87444969e-01 -6.16326356e-01 -8.49962781e-03 2.33156576e+02] [-6.16286667e-01 -7.87490792e-01 6.99975248e-03 -1.11800080e+02] [-1.10075106e-02 -2.73712577e-04 -9.99939378e-01 -4.04433326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters 0.01733769427758629 Centerline is valid? [True, True] Translation: X:233.18, Y:-111.83, Z:-4.04 [[ 8.34153299e-01 -5.51461671e-01 -8.84862578e-03 2.33179114e+02] [-5.51426961e-01 -8.34200181e-01 6.19392045e-03 -1.11828246e+02] [-1.07972350e-02 -2.87308360e-04 -9.99941667e-01 -4.04339759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters 0.018592645631550657 Centerline is valid? [True, True] Translation: X:233.21, Y:-111.85, Z:-4.04 [[ 8.76274891e-01 -4.81710940e-01 -9.84308445e-03 2.33207725e+02] [-4.81676141e-01 -8.76330105e-01 5.80016781e-03 -1.11850730e+02] [-1.14197955e-02 -3.41362481e-04 -9.99934734e-01 -4.04282524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters 0.018270685620339153 Centerline is valid? [True, True] Translation: X:233.24, Y:-111.87, Z:-4.04 [[ 9.11773510e-01 -4.10554049e-01 -1.06976541e-02 2.33237636e+02] [-4.10520990e-01 -9.11836189e-01 5.22319834e-03 -1.11870636e+02] [-1.18989133e-02 -3.70762341e-04 -9.99929137e-01 -4.04327184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters 0.019136452811526705 Centerline is valid? [True, True] Translation: X:233.27, Y:-111.89, Z:-4.04 [[ 9.41834315e-01 -3.35908396e-01 -1.06617246e-02 2.33268858e+02] [-3.35882244e-01 -9.41894582e-01 4.20897133e-03 -1.11889369e+02] [-1.14560494e-02 -3.83069653e-04 -9.99934304e-01 -4.04365015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters 0.01887952235704673 Centerline is valid? [True, True] Translation: X:233.30, Y:-111.91, Z:-4.05 [[ 9.65595822e-01 -2.59846424e-01 -1.02246608e-02 2.33301017e+02] [-2.59827746e-01 -9.65649883e-01 3.13783048e-03 -1.11907044e+02] [-1.06887966e-02 -3.73225429e-04 -9.99942804e-01 -4.04503945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters 0.019461132414839627 Centerline is valid? [True, True] Translation: X:233.33, Y:-111.92, Z:-4.05 [[ 9.82981823e-01 -1.83430392e-01 -1.00013747e-02 2.33333686e+02] [-1.83417169e-01 -9.83032635e-01 2.23154528e-03 -1.11922023e+02] [-1.02410110e-02 -3.59144611e-04 -9.99947495e-01 -4.04509791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters 0.02001803976562846 Centerline is valid? [True, True] Translation: X:233.37, Y:-111.93, Z:-4.04 [[ 9.94288741e-01 -1.06152343e-01 -1.10263486e-02 2.33368331e+02] [-1.06141475e-01 -9.94349802e-01 1.56785145e-03 -1.11932123e+02] [-1.11304787e-02 -3.88544137e-04 -9.99937979e-01 -4.04419559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters 0.019482989972233487 Centerline is valid? [True, True] Translation: X:233.40, Y:-111.94, Z:-4.04 [[ 9.99498630e-01 -2.88755058e-02 -1.29881899e-02 2.33399573e+02] [-2.88673142e-02 -9.99582918e-01 8.17768540e-04 -1.11937595e+02] [-1.30063862e-02 -4.42424377e-04 -9.99915316e-01 -4.04298585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters 0.01806358136339818 Centerline is valid? [True, True] Translation: X:233.43, Y:-111.94, Z:-4.04 [[ 9.98750483e-01 4.81023029e-02 -1.35513916e-02 2.33430933e+02] [ 4.81038726e-02 -9.98842317e-01 -2.10280270e-04 -1.11942499e+02] [-1.35458184e-02 -4.41856895e-04 -9.99908154e-01 -4.04313122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters 0.01702363442629011 Centerline is valid? [True, True] Translation: X:233.46, Y:-111.95, Z:-4.04 [[ 9.92118085e-01 1.24651489e-01 -1.27949929e-02 2.33462377e+02] [ 1.24646307e-01 -9.92200507e-01 -1.20478771e-03 -1.11946338e+02] [-1.28453771e-02 -3.99556938e-04 -9.99917415e-01 -4.04352215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters 0.016513345451475862 Centerline is valid? [True, True] Translation: X:233.49, Y:-111.95, Z:-4.04 [[ 9.79839030e-01 1.99392071e-01 -1.25808665e-02 2.33494086e+02] [ 1.99380393e-01 -9.79919726e-01 -2.18847655e-03 -1.11946559e+02] [-1.27646042e-02 -3.64023372e-04 -9.99918463e-01 -4.04405073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters 0.015346774798390882 Centerline is valid? [True, True] Translation: X:233.53, Y:-111.95, Z:-4.04 [[ 9.61903648e-01 2.73145944e-01 -1.15180001e-02 2.33526282e+02] [ 2.73130206e-01 -9.61972555e-01 -2.94848478e-03 -1.11945722e+02] [-1.18853667e-02 -3.09755486e-04 -9.99929319e-01 -4.04469218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters 0.015149694867719644 Centerline is valid? [True, True] Translation: X:233.56, Y:-111.95, Z:-4.04 [[ 9.37713233e-01 3.47228075e-01 -1.12497460e-02 2.33558172e+02] [ 3.47206970e-01 -9.37780662e-01 -3.84049034e-03 -1.11945441e+02] [-1.18833203e-02 -3.04711616e-04 -9.99929344e-01 -4.04476953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters 0.016278224925226972 Centerline is valid? [True, True] Translation: X:233.59, Y:-111.94, Z:-4.04 [[ 9.07465852e-01 4.19997669e-01 -1.03771867e-02 2.33588886e+02] [ 4.19973904e-01 -9.07525135e-01 -4.47761987e-03 -1.11942704e+02] [-1.12981477e-02 -2.94860501e-04 -9.99936130e-01 -4.04446167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters 0.016365236801598418 Centerline is valid? [True, True] Translation: X:233.62, Y:-111.94, Z:-4.04 [[ 8.71530528e-01 4.90240210e-01 -9.95370006e-03 2.33619018e+02] [ 4.90212134e-01 -8.71587315e-01 -5.25518764e-03 -1.11935317e+02] [-1.12518230e-02 -2.99368088e-04 -9.99936651e-01 -4.04441640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters 0.016649679882162437 Centerline is valid? [True, True] Translation: X:233.65, Y:-111.93, Z:-4.04 [[ 8.29764140e-01 5.58026643e-01 -9.88623434e-03 2.33649414e+02] [ 5.57991681e-01 -8.29822968e-01 -6.25502457e-03 -1.11925895e+02] [-1.16942947e-02 -3.26241428e-04 -9.99931566e-01 -4.04389585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters 0.018196227862108307 Centerline is valid? [True, True] Translation: X:233.68, Y:-111.92, Z:-4.04 [[ 7.83122003e-01 6.21785250e-01 -1.01503970e-02 2.33678615e+02] [ 6.21738941e-01 -7.83187699e-01 -7.59717217e-03 -1.11915263e+02] [-1.26734756e-02 -3.61384367e-04 -9.99919623e-01 -4.04150230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters 0.01726329511334727 Centerline is valid? [True, True] Translation: X:233.70, Y:-111.90, Z:-4.04 [[ 7.32107178e-01 6.81120036e-01 -9.72500932e-03 2.33703572e+02] [ 6.81066538e-01 -7.32171674e-01 -8.54458433e-03 -1.11897717e+02] [-1.29402639e-02 -3.67826906e-04 -9.99916204e-01 -4.04238061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters 0.016894408030594697 Centerline is valid? [True, True] Translation: X:233.73, Y:-111.88, Z:-4.04 [[ 6.76511560e-01 7.36383012e-01 -8.49522907e-03 2.33729599e+02] [ 7.36331289e-01 -6.76564808e-01 -8.73458056e-03 -1.11880389e+02] [-1.21795698e-02 -3.46258256e-04 -9.99925766e-01 -4.04370785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters 0.016392642686382453 Centerline is valid? [True, True] Translation: X:233.75, Y:-111.86, Z:-4.05 [[ 6.16598387e-01 7.87246058e-01 -7.07627779e-03 2.33754970e+02] [ 7.87200015e-01 -6.16638909e-01 -8.52009083e-03 -1.11862749e+02] [-1.10709161e-02 -3.16971728e-04 -9.99938665e-01 -4.04562105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters 0.017244047828209687 Centerline is valid? [True, True] Translation: X:233.78, Y:-111.84, Z:-4.05 [[ 5.52581582e-01 8.33437801e-01 -5.91839340e-03 2.33779324e+02] [ 8.33395692e-01 -5.52613194e-01 -8.38318303e-03 -1.11844251e+02] [-1.02574439e-02 -2.99971025e-04 -9.99947346e-01 -4.04537849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters 0.016711363673689375 Centerline is valid? [True, True] Translation: X:233.80, Y:-111.82, Z:-4.05 [[ 4.84548038e-01 8.74747009e-01 -5.55596879e-03 2.33801926e+02] [ 8.74697132e-01 -4.84579777e-01 -9.34699216e-03 -1.11823625e+02] [-1.08685636e-02 -3.30723258e-04 -9.99940881e-01 -4.04563982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters 0.01770709304269769 Centerline is valid? [True, True] Translation: X:233.82, Y:-111.80, Z:-4.04 [[ 4.13091707e-01 9.10671375e-01 -5.73489774e-03 2.33824229e+02] [ 9.10597131e-01 -4.13131304e-01 -1.16357310e-02 -1.11803137e+02] [-1.29655929e-02 -4.15557462e-04 -9.99915857e-01 -4.04411138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters 0.017436497467114207 Centerline is valid? [True, True] Translation: X:233.84, Y:-111.78, Z:-4.04 [[ 3.39761548e-01 9.40496367e-01 -5.35489720e-03 2.33844360e+02] [ 9.40400669e-01 -3.39803413e-01 -1.34247004e-02 -1.11779717e+02] [-1.44454943e-02 -4.74551899e-04 -9.99895546e-01 -4.04344793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters 0.01781276499221555 Centerline is valid? [True, True] Translation: X:233.86, Y:-111.76, Z:-4.04 [[ 2.66037728e-01 9.63951435e-01 -4.64308658e-03 2.33860665e+02] [ 9.63835626e-01 -2.66077776e-01 -1.49500079e-02 -1.11755081e+02] [-1.56465038e-02 -4.97906116e-04 -9.99877462e-01 -4.04299994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters 0.016583676786666432 Centerline is valid? [True, True] Translation: X:233.87, Y:-111.73, Z:-4.04 [[ 1.91773511e-01 9.81433772e-01 -3.26663811e-03 2.33873802e+02] [ 9.81327896e-01 -1.91800826e-01 -1.44223331e-02 -1.11728101e+02] [-1.47811087e-02 -4.39821646e-04 -9.99890657e-01 -4.04423591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters 0.016101095988458165 Centerline is valid? [True, True] Translation: X:233.88, Y:-111.70, Z:-4.04 [[ 1.17249360e-01 9.93100495e-01 -1.99859725e-03 2.33884902e+02] [ 9.93005369e-01 -1.17265801e-01 -1.37502086e-02 -1.11700320e+02] [-1.38897061e-02 -3.72414637e-04 -9.99903464e-01 -4.04465534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters 0.015162713287652082 Centerline is valid? [True, True] Translation: X:233.89, Y:-111.67, Z:-4.05 [[ 4.24755050e-02 9.99097148e-01 -8.49090718e-04 2.33892125e+02] [ 9.99014464e-01 -4.24829164e-02 -1.28569777e-02 -1.11672079e+02] [-1.28814416e-02 -3.02147289e-04 -9.99916985e-01 -4.04549057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters 0.014455462533445611 Centerline is valid? [True, True] Translation: X:233.90, Y:-111.64, Z:-4.05 [[-3.42194819e-02 9.99414331e-01 1.51431217e-04 2.33898960e+02] [ 9.99340330e-01 3.42187913e-02 -1.21646380e-02 -1.11643728e+02] [-1.21626953e-02 -2.64936287e-04 -9.99925997e-01 -4.04614015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters 0.01406992862319362 Centerline is valid? [True, True] Translation: X:233.90, Y:-111.61, Z:-4.05 [[-1.10976108e-01 9.93822427e-01 1.13441838e-03 2.33904955e+02] [ 9.93744395e-01 1.10981613e-01 -1.24562993e-02 -1.11614635e+02] [-1.25052492e-02 -2.55029702e-04 -9.99921774e-01 -4.04606750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters 0.01360988130376095 Centerline is valid? [True, True] Translation: X:233.91, Y:-111.59, Z:-4.05 [[-1.86275631e-01 9.82495118e-01 2.17549187e-03 2.33908002e+02] [ 9.82412657e-01 1.86288187e-01 -1.27311975e-02 -1.11585281e+02] [-1.29136078e-02 -2.34281109e-04 -9.99916588e-01 -4.04549967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters 0.012989557991477189 Centerline is valid? [True, True] Translation: X:233.91, Y:-111.56, Z:-4.05 [[-2.59537843e-01 9.65728884e-01 2.79826010e-03 2.33907106e+02] [ 9.65665499e-01 2.59552872e-01 -1.10657855e-02 -1.11555921e+02] [-1.14128451e-02 -1.69806847e-04 -9.99934857e-01 -4.04621135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters 0.012581842431647805 Centerline is valid? [True, True] Translation: X:233.91, Y:-111.53, Z:-4.05 [[-3.32913274e-01 9.42950813e-01 3.53795588e-03 2.33905619e+02] [ 9.42892794e-01 3.32932040e-01 -1.04611179e-02 -1.11526611e+02] [-1.10422185e-02 -1.46731913e-04 -9.99939022e-01 -4.04600140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters 0.012469284552386266 Centerline is valid? [True, True] Translation: X:233.90, Y:-111.50, Z:-4.05 [[-4.03894401e-01 9.14796660e-01 4.04765387e-03 2.33901918e+02] [ 9.14747827e-01 4.03914666e-01 -9.45283268e-03 -1.11498315e+02] [-1.02823265e-02 -1.15363617e-04 -9.99947129e-01 -4.04582839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters 0.012533343250584519 Centerline is valid? [True, True] Translation: X:233.90, Y:-111.47, Z:-4.05 [[-4.74691485e-01 8.80139765e-01 4.68925113e-03 2.33898157e+02] [ 8.80094345e-01 4.74714631e-01 -8.94219037e-03 -1.11468329e+02] [-1.00964334e-02 -1.17798227e-04 -9.99949023e-01 -4.04610680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters 0.01290138825756709 Centerline is valid? [True, True] Translation: X:233.89, Y:-111.44, Z:-4.04 [[-5.43604747e-01 8.39322108e-01 5.68135692e-03 2.33893370e+02] [ 8.39273508e-01 5.43634416e-01 -9.03325586e-03 -1.11438789e+02] [-1.06703925e-02 -1.42308416e-04 -9.99943060e-01 -4.04494972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters 0.013000060586841186 Centerline is valid? [True, True] Translation: X:233.89, Y:-111.41, Z:-4.05 [[-6.08695457e-01 7.93378753e-01 6.32413599e-03 2.33886203e+02] [ 7.93333268e-01 6.08728289e-01 -8.49676891e-03 -1.11409405e+02] [-1.05908364e-02 -1.54797168e-04 -9.99943904e-01 -4.04517593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters 0.01324244972880517 Centerline is valid? [True, True] Translation: X:233.88, Y:-111.38, Z:-4.04 [[-6.69186320e-01 7.43061150e-01 7.05664808e-03 2.33876367e+02] [ 7.43017299e-01 6.69223506e-01 -8.07414107e-03 -1.11381065e+02] [-1.07220553e-02 -1.59893143e-04 -9.99942504e-01 -4.04482002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters 0.01280867819088167 Centerline is valid? [True, True] Translation: X:233.86, Y:-111.36, Z:-4.05 [[-7.24124370e-01 6.89624700e-01 7.85303556e-03 2.33861041e+02] [ 6.89581965e-01 7.24166937e-01 -7.67863587e-03 -1.11355935e+02] [-1.09822857e-02 -1.44975670e-04 -9.99939682e-01 -4.04604448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters 0.012578565428983024 Centerline is valid? [True, True] Translation: X:234.34, Y:-110.87, Z:-4.99 [[-6.57871843e-01 -7.53100274e-01 6.67948574e-03 2.34343698e+02] [ 7.53062700e-01 -6.57905746e-01 -7.52320841e-03 -1.10869801e+02] [ 1.00602024e-02 8.07645867e-05 9.99949392e-01 -4.99443389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters 0.012306347194860396 Centerline is valid? [True, True] Translation: X:234.31, Y:-110.83, Z:-4.99 [[-6.58712678e-01 -7.52369176e-01 6.18314797e-03 2.34305077e+02] [ 7.52337407e-01 -6.58741690e-01 -6.91467070e-03 -1.10825847e+02] [ 9.27548244e-03 9.70322565e-05 9.99956977e-01 -4.99356003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters 0.012183556132192805 Centerline is valid? [True, True] Translation: X:234.27, Y:-110.78, Z:-4.99 [[-6.59892090e-01 -7.51331831e-01 6.55050914e-03 2.34267237e+02] [ 7.51296169e-01 -6.59924596e-01 -7.32080995e-03 -1.10783241e+02] [ 9.82319963e-03 9.04278421e-05 9.99951747e-01 -4.99412718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters 0.01209019937571057 Centerline is valid? [True, True] Translation: X:234.23, Y:-110.74, Z:-4.99 [[-6.60657679e-01 -7.50661915e-01 6.17414818e-03 2.34228479e+02] [ 7.50630242e-01 -6.60686524e-01 -6.89618210e-03 -1.10739782e+02] [ 9.25587776e-03 7.84866854e-05 9.99957160e-01 -4.99364431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters 0.012021454009144502 Centerline is valid? [True, True] Translation: X:234.19, Y:-110.70, Z:-4.99 [[-6.60844475e-01 -7.50497813e-01 6.13289583e-03 2.34189780e+02] [ 7.50466592e-01 -6.60872928e-01 -6.84593770e-03 -1.10698366e+02] [ 9.19092610e-03 7.84333333e-05 9.99957759e-01 -4.99380148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters 0.012102768954038678 Centerline is valid? [True, True] Translation: X:234.15, Y:-110.66, Z:-4.99 [[-6.60754931e-01 -7.50575899e-01 6.22425593e-03 2.34150055e+02] [ 7.50543786e-01 -6.60784241e-01 -6.94350184e-03 -1.10656581e+02] [ 9.32451537e-03 8.36235310e-05 9.99956522e-01 -4.99408542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters 0.011967908832661073 Centerline is valid? [True, True] Translation: X:234.11, Y:-110.61, Z:-4.99 [[-6.60759497e-01 -7.50577888e-01 5.45163923e-03 2.34110153e+02] [ 7.50553285e-01 -6.60781982e-01 -6.07774456e-03 -1.10614925e+02] [ 8.16416565e-03 7.58182881e-05 9.99966670e-01 -4.99332723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters 0.012165180441748986 Centerline is valid? [True, True] Translation: X:234.07, Y:-110.57, Z:-4.99 [[-6.60550508e-01 -7.50766419e-01 4.77608388e-03 2.34070154e+02] [ 7.50747564e-01 -6.60567770e-01 -5.32124354e-03 -1.10574038e+02] [ 7.14993804e-03 7.06832178e-05 9.99974436e-01 -4.99315226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters 0.011904548043940163 Centerline is valid? [True, True] Translation: X:234.03, Y:-110.53, Z:-4.99 [[-6.61001288e-01 -7.50367883e-01 5.03364607e-03 2.34030200e+02] [ 7.50346955e-01 -6.61020450e-01 -5.60461438e-03 -1.10532700e+02] [ 7.53286562e-03 7.23236746e-05 9.99971625e-01 -4.99322387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters 0.011728892407365027 Centerline is valid? [True, True] Translation: X:233.99, Y:-110.49, Z:-4.99 [[-6.61745351e-01 -7.49714848e-01 4.55383125e-03 2.33990876e+02] [ 7.49697726e-01 -6.61761017e-01 -5.06714214e-03 -1.10491308e+02] [ 6.81245970e-03 6.08391770e-05 9.99976793e-01 -4.99220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters 0.011798141839086082 Centerline is valid? [True, True] Translation: X:233.95, Y:-110.45, Z:-4.99 [[-6.61831349e-01 -7.49641773e-01 4.05937746e-03 2.33951143e+02] [ 7.49628178e-01 -6.61843795e-01 -4.51494104e-03 -1.10449392e+02] [ 6.07126219e-03 5.48942113e-05 9.99981568e-01 -4.99143260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters 0.011801108784390665 Centerline is valid? [True, True] Translation: X:233.91, Y:-110.41, Z:-4.99 [[-6.61595242e-01 -7.49851214e-01 3.85904718e-03 2.33911108e+02] [ 7.49838946e-01 -6.61606494e-01 -4.28964089e-03 -1.10406971e+02] [ 5.76976311e-03 5.56578700e-05 9.99983353e-01 -4.99134056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters 0.012042026769182906 Centerline is valid? [True, True] Translation: X:233.87, Y:-110.37, Z:-4.99 [[-6.60390561e-01 -7.50911546e-01 4.01956131e-03 2.33870073e+02] [ 7.50898271e-01 -6.60402791e-01 -4.46550093e-03 -1.10365725e+02] [ 6.00772571e-03 6.93069708e-05 9.99981951e-01 -4.99112863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters 0.012435048958054475 Centerline is valid? [True, True] Translation: X:233.83, Y:-110.32, Z:-4.99 [[-6.59095442e-01 -7.52048380e-01 4.05367601e-03 2.33828868e+02] [ 7.52034916e-01 -6.59107903e-01 -4.50083756e-03 -1.10324071e+02] [ 6.05665749e-03 8.20243759e-05 9.99981655e-01 -4.99103842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters 0.01333052224007475 Centerline is valid? [True, True] Translation: X:233.79, Y:-110.28, Z:-4.99 [[-6.56149291e-01 -7.54620402e-01 4.01967979e-03 2.33786894e+02] [ 7.54607226e-01 -6.56161595e-01 -4.46055084e-03 -1.10284136e+02] [ 6.00358217e-03 1.06492142e-04 9.99981973e-01 -4.99069984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters 0.014381382700166683 Centerline is valid? [True, True] Translation: X:233.75, Y:-110.24, Z:-4.99 [[-6.53283146e-01 -7.57101761e-01 4.24907724e-03 2.33745568e+02] [ 7.57087109e-01 -6.53296949e-01 -4.71224377e-03 -1.10243768e+02] [ 6.34355726e-03 1.38492167e-04 9.99979870e-01 -4.99050451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters 0.014698693999505647 Centerline is valid? [True, True] Translation: X:233.71, Y:-110.20, Z:-4.99 [[-6.52367219e-01 -7.57890683e-01 4.32713710e-03 2.33705630e+02] [ 7.57875523e-01 -6.52381553e-01 -4.79605526e-03 -1.10201422e+02] [ 6.45783001e-03 1.50642062e-04 9.99979137e-01 -4.99056951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters 0.014970002677092602 Centerline is valid? [True, True] Translation: X:233.67, Y:-110.16, Z:-4.99 [[-6.52200776e-01 -7.58034005e-01 4.31229554e-03 2.33666521e+02] [ 7.58018971e-01 -6.52215014e-01 -4.77653880e-03 -1.10159045e+02] [ 6.43332273e-03 1.53539516e-04 9.99979294e-01 -4.99052270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters 0.014834849050415818 Centerline is valid? [True, True] Translation: X:233.63, Y:-110.12, Z:-4.99 [[-6.53243895e-01 -7.57135428e-01 4.28450315e-03 2.33628626e+02] [ 7.57120588e-01 -6.53257929e-01 -4.74273350e-03 -1.10115796e+02] [ 6.38977722e-03 1.45723843e-04 9.99979575e-01 -4.99025833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters 0.014658712957471324 Centerline is valid? [True, True] Translation: X:233.59, Y:-110.07, Z:-4.99 [[-6.54034374e-01 -7.56451926e-01 4.41821848e-03 2.33590798e+02] [ 7.56436150e-01 -6.54049281e-01 -4.88764843e-03 -1.10073340e+02] [ 6.58700369e-03 1.45410086e-04 9.99978295e-01 -4.99087163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters 0.014190025353868022 Centerline is valid? [True, True] Translation: X:233.55, Y:-110.03, Z:-4.99 [[-6.56832553e-01 -7.54019441e-01 5.06751040e-03 2.33554484e+02] [ 7.53998637e-01 -6.56852086e-01 -5.60293950e-03 -1.10028929e+02] [ 7.55333009e-03 1.40702875e-04 9.99971463e-01 -4.99247742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters 0.01303416924296194 Centerline is valid? [True, True] Translation: X:233.52, Y:-109.98, Z:-4.99 [[-6.58863120e-01 -7.52245593e-01 5.09474886e-03 2.33518975e+02] [ 7.52224537e-01 -6.58882807e-01 -5.62966552e-03 -1.09983139e+02] [ 7.59173351e-03 1.23216112e-04 9.99971175e-01 -4.99220315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters 0.01238921682925899 Centerline is valid? [True, True] Translation: X:233.48, Y:-109.94, Z:-4.99 [[-6.60321695e-01 -7.50965247e-01 5.14356138e-03 2.33481615e+02] [ 7.50943772e-01 -6.60341718e-01 -5.68032281e-03 -1.09938483e+02] [ 7.66223318e-03 1.11684994e-04 9.99970638e-01 -4.99203540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters 0.011772785371356662 Centerline is valid? [True, True] Translation: X:233.45, Y:-109.89, Z:-4.99 [[-6.63807340e-01 -7.47884412e-01 5.35920001e-03 2.33446874e+02] [ 7.47861024e-01 -6.63828969e-01 -5.91517939e-03 -1.09892681e+02] [ 7.98146267e-03 8.13973095e-05 9.99968144e-01 -4.99268724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters 0.011218224136233907 Centerline is valid? [True, True] Translation: X:233.41, Y:-109.85, Z:-4.99 [[-6.65938272e-01 -7.45989475e-01 5.09121809e-03 2.33411579e+02] [ 7.45968335e-01 -6.65957731e-01 -5.61635353e-03 -1.09845600e+02] [ 7.58027667e-03 5.77427221e-05 9.99971268e-01 -4.99145143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters 0.01109755708215884 Centerline is valid? [True, True] Translation: X:233.37, Y:-109.80, Z:-4.99 [[-6.66674857e-01 -7.45332175e-01 4.95826076e-03 2.33374263e+02] [ 7.45312130e-01 -6.66693292e-01 -5.46656677e-03 -1.09801416e+02] [ 7.38004729e-03 5.10292691e-05 9.99972766e-01 -4.99088127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters 0.011164007359653476 Centerline is valid? [True, True] Translation: X:233.34, Y:-109.76, Z:-4.99 [[-6.66613126e-01 -7.45385795e-01 5.19203967e-03 2.33337446e+02] [ 7.45363844e-01 -6.66633343e-01 -5.72066698e-03 -1.09757766e+02] [ 7.72529066e-03 5.64869514e-05 9.99970158e-01 -4.99107355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters 0.011376605312267894 Centerline is valid? [True, True] Translation: X:233.30, Y:-109.72, Z:-4.99 [[-6.65654307e-01 -7.46239217e-01 5.60129564e-03 2.33299446e+02] [ 7.46213733e-01 -6.65677869e-01 -6.16770356e-03 -1.09715337e+02] [ 8.33124082e-03 7.42052904e-05 9.99965292e-01 -4.99169874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters 0.012022095733141508 Centerline is valid? [True, True] Translation: X:233.26, Y:-109.67, Z:-4.99 [[-6.63237976e-01 -7.48386794e-01 5.70914338e-03 2.33260400e+02] [ 7.48360427e-01 -6.63262539e-01 -6.28294809e-03 -1.09671945e+02] [ 8.48873631e-03 1.05407208e-04 9.99963964e-01 -4.99173348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters 0.01245922053618781 Centerline is valid? [True, True] Translation: X:233.22, Y:-109.63, Z:-4.99 [[-6.60086679e-01 -7.51165541e-01 5.99227912e-03 2.33222019e+02] [ 7.51136644e-01 -6.60113860e-01 -6.59049050e-03 -1.09629121e+02] [ 8.90613586e-03 1.50725446e-04 9.99960328e-01 -4.99167807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters 0.013421836564981767 Centerline is valid? [True, True] Translation: X:233.18, Y:-109.59, Z:-4.99 [[-6.58015063e-01 -7.52979829e-01 6.12812490e-03 2.33182315e+02] [ 7.52949720e-01 -6.58043573e-01 -6.73606319e-03 -1.09586303e+02] [ 9.10469291e-03 1.81738884e-04 9.99958535e-01 -4.99204640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters 0.014179162725347078 Centerline is valid? [True, True] Translation: X:233.14, Y:-109.54, Z:-4.99 [[-6.55652723e-01 -7.55038375e-01 6.04645001e-03 2.33144776e+02] [ 7.55009185e-01 -6.55680569e-01 -6.64247136e-03 -1.09542352e+02] [ 8.97986057e-03 2.09970855e-04 9.99959658e-01 -4.99177430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters 0.014271135382044706 Centerline is valid? [True, True] Translation: X:233.11, Y:-109.50, Z:-4.99 [[-6.54903605e-01 -7.55687898e-01 6.08844923e-03 2.33107293e+02] [ 7.55658364e-01 -6.54931867e-01 -6.68473412e-03 -1.09498081e+02] [ 9.03909210e-03 2.22931117e-04 9.99959122e-01 -4.99192072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters 0.015148546511704985 Centerline is valid? [True, True] Translation: X:233.07, Y:-109.46, Z:-4.99 [[-6.54581590e-01 -7.55966162e-01 6.17288610e-03 2.33069853e+02] [ 7.55935846e-01 -6.54610654e-01 -6.77405793e-03 -1.09455910e+02] [ 9.16179558e-03 2.32132264e-04 9.99958003e-01 -4.99278253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters 0.014851975529329544 Centerline is valid? [True, True] Translation: X:233.03, Y:-109.41, Z:-4.99 [[-6.54546135e-01 -7.55999855e-01 5.79443897e-03 2.33034188e+02] [ 7.55973180e-01 -6.54571746e-01 -6.35467068e-03 -1.09411482e+02] [ 8.59700615e-03 2.21015312e-04 9.99963021e-01 -4.99219491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters 0.014555988491183123 Centerline is valid? [True, True] Translation: X:233.00, Y:-109.37, Z:-4.99 [[-6.54332779e-01 -7.56187897e-01 5.33651419e-03 2.32997286e+02] [ 7.56165304e-01 -6.54354507e-01 -5.84907485e-03 -1.09366688e+02] [ 7.91497172e-03 2.08045471e-04 9.99968654e-01 -4.99158445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters 0.01519488549116072 Centerline is valid? [True, True] Translation: X:232.96, Y:-109.32, Z:-4.99 [[-6.54713526e-01 -7.55856899e-01 5.52688161e-03 2.32961164e+02] [ 7.55832688e-01 -6.54736819e-01 -6.05361851e-03 -1.09323717e+02] [ 8.19432220e-03 2.14011857e-04 9.99966403e-01 -4.99224428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters 0.014333527724052058 Centerline is valid? [True, True] Translation: X:232.93, Y:-109.28, Z:-4.99 [[-6.56204560e-01 -7.54561299e-01 5.72902102e-03 2.32926015e+02] [ 7.54535265e-01 -6.56229535e-01 -6.27142392e-03 -1.09277292e+02] [ 8.49172658e-03 2.07411422e-04 9.99963923e-01 -4.99303738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters 0.014015098319501922 Centerline is valid? [True, True] Translation: X:232.89, Y:-109.23, Z:-4.99 [[-6.57026414e-01 -7.53846337e-01 5.65612588e-03 2.32888385e+02] [ 7.53820965e-01 -6.57050729e-01 -6.18807655e-03 -1.09232947e+02] [ 8.38122047e-03 1.97976528e-04 9.99964857e-01 -4.99265798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters 0.013059342038982893 Centerline is valid? [True, True] Translation: X:232.85, Y:-109.19, Z:-4.99 [[-6.59893836e-01 -7.51335282e-01 5.95141552e-03 2.32852720e+02] [ 7.51307119e-01 -6.59920649e-01 -6.50764089e-03 -1.09186231e+02] [ 8.81688219e-03 1.76988738e-04 9.99961115e-01 -4.99368947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters 0.012495474965471882 Centerline is valid? [True, True] Translation: X:232.82, Y:-109.14, Z:-4.99 [[-6.61682105e-01 -7.49763816e-01 5.56882362e-03 2.32815072e+02] [ 7.49739129e-01 -6.61705522e-01 -6.08603308e-03 -1.09141250e+02] [ 8.24800873e-03 1.48145788e-04 9.99965974e-01 -4.99364597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters 0.01210705841595879 Centerline is valid? [True, True] Translation: X:232.78, Y:-109.10, Z:-4.99 [[-6.62995193e-01 -7.48609780e-01 4.55767071e-03 2.32776951e+02] [ 7.48593237e-01 -6.63010849e-01 -4.97794607e-03 -1.09097805e+02] [ 6.74832423e-03 1.11487152e-04 9.99977224e-01 -4.99288319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters 0.012426287827325307 Centerline is valid? [True, True] Translation: X:232.74, Y:-109.06, Z:-4.99 [[-6.63524401e-01 -7.48142334e-01 4.29144514e-03 2.32736703e+02] [ 7.48127678e-01 -6.63538271e-01 -4.68405355e-03 -1.09058548e+02] [ 6.35187684e-03 1.02565056e-04 9.99979821e-01 -4.99344577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters 0.011889718926879352 Centerline is valid? [True, True] Translation: X:232.70, Y:-109.02, Z:-4.99 [[-6.64362816e-01 -7.47395878e-01 4.63146700e-03 2.32698196e+02] [ 7.47378811e-01 -6.64378951e-01 -5.05194586e-03 -1.09015712e+02] [ 6.85285270e-03 1.05135317e-04 9.99976513e-01 -4.99388359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters 0.011465303382278655 Centerline is valid? [True, True] Translation: X:232.66, Y:-108.97, Z:-4.99 [[-6.66362612e-01 -7.45611402e-01 4.95033370e-03 2.32659841e+02] [ 7.45591880e-01 -6.66380993e-01 -5.39634227e-03 -1.08973188e+02] [ 7.32238261e-03 9.50078848e-05 9.99973186e-01 -4.99467686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters 0.01120110418192802 Centerline is valid? [True, True] Translation: X:232.62, Y:-108.93, Z:-4.99 [[-6.67470174e-01 -7.44618083e-01 5.24192313e-03 2.32620986e+02] [ 7.44596190e-01 -6.67490751e-01 -5.71060004e-03 -1.08930957e+02] [ 7.75115125e-03 9.14607931e-05 9.99969955e-01 -4.99475855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters 0.010530140117570775 Centerline is valid? [True, True] Translation: X:232.58, Y:-108.89, Z:-4.99 [[-6.69566104e-01 -7.42731741e-01 5.54919328e-03 2.32582023e+02] [ 7.42707174e-01 -6.69589094e-01 -6.04147798e-03 -1.08888665e+02] [ 8.20287676e-03 7.62567800e-05 9.99966353e-01 -4.99460399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters 0.010224092343456018 Centerline is valid? [True, True] Translation: X:232.54, Y:-108.85, Z:-4.99 [[-6.71382398e-01 -7.41091084e-01 5.44792052e-03 2.32543377e+02] [ 7.41067379e-01 -6.71404499e-01 -5.92779017e-03 -1.08845408e+02] [ 8.05079080e-03 5.74622002e-05 9.99967590e-01 -4.99380882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters 0.010088122326706262 Centerline is valid? [True, True] Translation: X:232.51, Y:-108.80, Z:-4.99 [[-6.74795875e-01 -7.37989074e-01 4.75960812e-03 2.32506177e+02] [ 7.37970921e-01 -6.74812660e-01 -5.17626994e-03 -1.08802869e+02] [ 7.03187448e-03 1.95267885e-05 9.99975276e-01 -4.99308231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters 0.010002535900996682 Centerline is valid? [True, True] Translation: X:232.47, Y:-108.76, Z:-4.99 [[-6.77062548e-01 -7.35913474e-01 4.20292543e-03 2.32467414e+02] [ 7.35899295e-01 -6.77075593e-01 -4.56824899e-03 -1.08759748e+02] [ 6.20753421e-03 -6.04372833e-08 9.99980733e-01 -4.99228825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters 0.010171306044502422 Centerline is valid? [True, True] Translation: X:232.43, Y:-108.72, Z:-4.99 [[-6.79683930e-01 -7.33492979e-01 4.21951381e-03 2.32428711e+02] [ 7.33478659e-01 -6.79697028e-01 -4.58337198e-03 -1.08717832e+02] [ 6.22986216e-03 -2.03209514e-05 9.99980594e-01 -4.99218609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters 0.010427789130145304 Centerline is valid? [True, True] Translation: X:232.39, Y:-108.68, Z:-4.99 [[-6.82209361e-01 -7.31144976e-01 4.17281080e-03 2.32388879e+02] [ 7.31130943e-01 -6.82222122e-01 -4.53006284e-03 -1.08675604e+02] [ 6.15891653e-03 -3.95801807e-05 9.99981033e-01 -4.99246591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters 0.010823854465845353 Centerline is valid? [True, True] Translation: X:232.35, Y:-108.63, Z:-4.99 [[-6.83859486e-01 -7.29601843e-01 4.16586450e-03 2.32350777e+02] [ 7.29587846e-01 -6.83872173e-01 -4.51951696e-03 -1.08634416e+02] [ 6.14636670e-03 -5.13504346e-05 9.99981110e-01 -4.99265955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters 0.010843589188020492 Centerline is valid? [True, True] Translation: X:232.31, Y:-108.59, Z:-4.99 [[-6.84542754e-01 -7.28958904e-01 4.48718857e-03 2.32308582e+02] [ 7.28942670e-01 -6.84557458e-01 -4.86534975e-03 -1.08593843e+02] [ 6.61837842e-03 -5.96366977e-05 9.99978097e-01 -4.99325267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters 0.010708053785023616 Centerline is valid? [True, True] Translation: X:232.27, Y:-108.56, Z:-4.99 [[-6.83227145e-01 -7.30186863e-01 5.27385159e-03 2.32265747e+02] [ 7.30164502e-01 -6.83247498e-01 -5.71469975e-03 -1.08555404e+02] [ 7.77614459e-03 -5.36587780e-05 9.99969764e-01 -4.99470519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters 0.010365044340361607 Centerline is valid? [True, True] Translation: X:232.22, Y:-108.52, Z:-5.00 [[-6.81388019e-01 -7.31900971e-01 5.59792162e-03 2.32223519e+02] [ 7.31875867e-01 -6.81411013e-01 -6.06199324e-03 -1.08516307e+02] [ 8.25126417e-03 -3.35858263e-05 9.99965957e-01 -4.99533998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters 0.010262278210757947 Centerline is valid? [True, True] Translation: X:232.18, Y:-108.48, Z:-5.00 [[-6.79418981e-01 -7.33729775e-01 5.51956662e-03 2.32181091e+02] [ 7.33705459e-01 -6.79441401e-01 -5.97336288e-03 -1.08477481e+02] [ 8.13305628e-03 -8.67996172e-06 9.99966926e-01 -4.99584519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters 0.010361472489118801 Centerline is valid? [True, True] Translation: X:232.14, Y:-108.44, Z:-5.00 [[-6.76156409e-01 -7.36743347e-01 4.66383627e-03 2.32136753e+02] [ 7.36726078e-01 -6.76172493e-01 -5.04438505e-03 -1.08439688e+02] [ 6.86997492e-03 2.51765214e-05 9.99976401e-01 -4.99572046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters 0.010848860326520071 Centerline is valid? [True, True] Translation: X:232.09, Y:-108.40, Z:-5.00 [[-6.73564011e-01 -7.39115436e-01 4.46036691e-03 2.32093595e+02] [ 7.39099712e-01 -6.73578778e-01 -4.82142556e-03 -1.08401436e+02] [ 6.56799855e-03 4.91171571e-05 9.99978429e-01 -4.99607061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters 0.011142041016237503 Centerline is valid? [True, True] Translation: X:232.05, Y:-108.36, Z:-5.00 [[-6.72145232e-01 -7.40407764e-01 4.13881918e-03 2.32052600e+02] [ 7.40394267e-01 -6.72157972e-01 -4.47102197e-03 -1.08361773e+02] [ 6.09231969e-03 5.91818957e-05 9.99981440e-01 -4.99591836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters 0.0115185187975984 Centerline is valid? [True, True] Translation: X:232.01, Y:-108.32, Z:-5.00 [[-6.71246254e-01 -7.41226867e-01 3.34637176e-03 2.32010165e+02] [ 7.41218065e-01 -6.71254593e-01 -3.61267518e-03 -1.08323104e+02] [ 4.92407932e-03 5.53965230e-05 9.99987875e-01 -4.99636514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters 0.01150084644290512 Centerline is valid? [True, True] Translation: X:231.97, Y:-108.28, Z:-5.00 [[-6.72066071e-01 -7.40484780e-01 3.08015456e-03 2.31969043e+02] [ 7.40477323e-01 -6.72073127e-01 -3.32337287e-03 -1.08281622e+02] [ 4.53099613e-03 4.72584581e-05 9.99989734e-01 -4.99732541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters 0.01120506375977909 Centerline is valid? [True, True] Translation: X:231.93, Y:-108.24, Z:-5.00 [[-6.73841119e-01 -7.38868397e-01 3.41134240e-03 2.31929598e+02] [ 7.38859241e-01 -6.73849753e-01 -3.67860112e-03 -1.08239370e+02] [ 5.01673435e-03 4.17091607e-05 9.99987415e-01 -4.99854310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters 0.011002705848897622 Centerline is valid? [True, True] Translation: X:231.89, Y:-108.20, Z:-5.00 [[-6.76860496e-01 -7.36099707e-01 4.13397966e-03 2.31890563e+02] [ 7.36086225e-01 -6.76873120e-01 -4.45529881e-03 -1.08195982e+02] [ 6.07772386e-03 2.73497232e-05 9.99981530e-01 -5.00011680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters 0.010895397029031967 Centerline is valid? [True, True] Translation: X:231.85, Y:-108.15, Z:-5.00 [[-6.78958934e-01 -7.34164105e-01 4.22291734e-03 2.31851553e+02] [ 7.34150015e-01 -6.78972066e-01 -4.54852112e-03 -1.08152809e+02] [ 6.20660385e-03 1.19957780e-05 9.99980739e-01 -5.00052971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters 0.010949371031970212 Centerline is valid? [True, True] Translation: X:231.81, Y:-108.11, Z:-5.00 [[-6.80850095e-01 -7.32408244e-01 4.61652261e-03 2.31812521e+02] [ 7.32391384e-01 -6.80865746e-01 -4.96947106e-03 -1.08110550e+02] [ 6.78291368e-03 -2.36346413e-06 9.99976996e-01 -5.00145372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters 0.011025199597038645 Centerline is valid? [True, True] Translation: X:231.77, Y:-108.07, Z:-5.00 [[-6.81198809e-01 -7.32083867e-01 4.62544872e-03 2.31772193e+02] [ 7.32066954e-01 -6.81214512e-01 -4.97624877e-03 -1.08068186e+02] [ 6.79395424e-03 -3.67658087e-06 9.99976921e-01 -5.00165970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters 0.011056162102298959 Centerline is valid? [True, True] Translation: X:231.73, Y:-108.03, Z:-5.00 [[-6.80310690e-01 -7.32908383e-01 4.76107176e-03 2.31731489e+02] [ 7.32890504e-01 -6.80327350e-01 -5.11922174e-03 -1.08026738e+02] [ 6.99100785e-03 6.68300804e-06 9.99975563e-01 -5.00179733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters 0.011053698926175236 Centerline is valid? [True, True] Translation: X:231.69, Y:-107.99, Z:-5.00 [[-6.79617310e-01 -7.33545746e-01 5.56337534e-03 2.31691907e+02] [ 7.33521386e-01 -6.79640080e-01 -5.97807937e-03 -1.07985893e+02] [ 8.16628755e-03 1.80485726e-05 9.99966655e-01 -5.00274296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters 0.011174223059698984 Centerline is valid? [True, True] Translation: X:231.65, Y:-107.94, Z:-5.00 [[-6.78407639e-01 -7.34670353e-01 4.74841000e-03 2.31652056e+02] [ 7.34652658e-01 -6.78424256e-01 -5.09913519e-03 -1.07944575e+02] [ 6.96761997e-03 2.91397572e-05 9.99975725e-01 -5.00197255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters 0.011137193227221516 Centerline is valid? [True, True] Translation: X:231.61, Y:-107.90, Z:-5.00 [[-6.78261926e-01 -7.34806992e-01 4.40964315e-03 2.31612609e+02] [ 7.34791752e-01 -6.78276259e-01 -4.73260578e-03 -1.07902342e+02] [ 6.46850808e-03 3.02231060e-05 9.99979079e-01 -5.00111917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters 0.011247726186592005 Centerline is valid? [True, True] Translation: X:231.57, Y:-107.86, Z:-5.00 [[-6.77640105e-01 -7.35385754e-01 3.41769217e-03 2.31572767e+02] [ 7.35376618e-01 -6.77648723e-01 -3.66578182e-03 -1.07861583e+02] [ 5.01175847e-03 2.92101299e-05 9.99987441e-01 -5.00068059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters 0.011282603806877402 Centerline is valid? [True, True] Translation: X:231.53, Y:-107.82, Z:-5.00 [[-6.77634598e-01 -7.35392931e-01 2.93072855e-03 2.31533527e+02] [ 7.35386220e-01 -6.77640935e-01 -3.14168241e-03 -1.07818894e+02] [ 4.29635267e-03 2.63046892e-05 9.99990770e-01 -5.00039520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters 0.01131716021465044 Centerline is valid? [True, True] Translation: X:231.50, Y:-107.78, Z:-5.00 [[-6.77847798e-01 -7.35197695e-01 2.59063799e-03 2.31495415e+02] [ 7.35192457e-01 -6.77852748e-01 -2.77534553e-03 -1.07776726e+02] [ 3.79649872e-03 2.33556522e-05 9.99992793e-01 -5.00030082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters 0.011288021782373658 Centerline is valid? [True, True] Translation: X:231.46, Y:-107.74, Z:-5.00 [[-6.77968437e-01 -7.35082954e-01 3.44220308e-03 2.31456374e+02] [ 7.35073717e-01 -6.77977175e-01 -3.68528233e-03 -1.07735156e+02] [ 5.04272334e-03 3.17679097e-05 9.99987285e-01 -5.00153371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters 0.011406870360073705 Centerline is valid? [True, True] Translation: X:231.42, Y:-107.69, Z:-5.00 [[-6.78083024e-01 -7.34968508e-01 4.97031827e-03 2.31417269e+02] [ 7.34949270e-01 -6.78101238e-01 -5.31796470e-03 -1.07693279e+02] [ 7.27891555e-03 4.69101974e-05 9.99973507e-01 -5.00383594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters 0.011293585224377425 Centerline is valid? [True, True] Translation: X:231.38, Y:-107.65, Z:-5.00 [[-6.77809328e-01 -7.35217237e-01 5.48897200e-03 2.31378834e+02] [ 7.35193810e-01 -6.77831551e-01 -5.86953506e-03 -1.07650322e+02] [ 8.03598175e-03 5.70326124e-05 9.99967709e-01 -5.00335364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters 0.011274492665371179 Centerline is valid? [True, True] Translation: X:231.34, Y:-107.61, Z:-5.00 [[-6.77786367e-01 -7.35239813e-01 5.29707282e-03 2.31339225e+02] [ 7.35218020e-01 -6.77807063e-01 -5.66109822e-03 -1.07608169e+02] [ 7.75265816e-03 5.74881989e-05 9.99969946e-01 -5.00361774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters 0.011460242518301472 Centerline is valid? [True, True] Translation: X:231.30, Y:-107.57, Z:-5.00 [[-6.77558836e-01 -7.35451490e-01 5.01286019e-03 2.31300256e+02] [ 7.35432005e-01 -6.77577377e-01 -5.35394567e-03 -1.07565672e+02] [ 7.33416798e-03 5.90046222e-05 9.99973103e-01 -5.00377893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters 0.01142271474401984 Centerline is valid? [True, True] Translation: X:231.26, Y:-107.52, Z:-5.00 [[-6.77277291e-01 -7.35713495e-01 4.59613681e-03 2.31261071e+02] [ 7.35697139e-01 -6.77292884e-01 -4.90607817e-03 -1.07522418e+02] [ 6.72239867e-03 5.85893712e-05 9.99977403e-01 -5.00295813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters 0.011805646206844852 Centerline is valid? [True, True] Translation: X:231.22, Y:-107.48, Z:-5.00 [[-6.75752610e-01 -7.37112021e-01 4.92734140e-03 2.31221787e+02] [ 7.37093283e-01 -6.75770569e-01 -5.25646784e-03 -1.07480304e+02] [ 7.20435793e-03 7.98383859e-05 9.99974045e-01 -5.00321929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters 0.011991833836739171 Centerline is valid? [True, True] Translation: X:231.18, Y:-107.44, Z:-5.00 [[-6.73643282e-01 -7.39041279e-01 4.76617396e-03 2.31181696e+02] [ 7.39023814e-01 -6.73660135e-01 -5.08172002e-03 -1.07437374e+02] [ 6.96638226e-03 9.90495032e-05 9.99975730e-01 -5.00301882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters 0.013436211762503465 Centerline is valid? [True, True] Translation: X:231.14, Y:-107.40, Z:-5.00 [[-6.69532544e-01 -7.42767395e-01 4.77174758e-03 2.31140790e+02] [ 7.42749998e-01 -6.69549533e-01 -5.08550629e-03 -1.07397171e+02] [ 6.97226962e-03 1.39303543e-04 9.99975684e-01 -5.00320708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters 0.015418477970839228 Centerline is valid? [True, True] Translation: X:231.10, Y:-107.36, Z:-5.00 [[-6.65853276e-01 -7.46067164e-01 4.81686790e-03 2.31100406e+02] [ 7.46049542e-01 -6.65870675e-01 -5.13083336e-03 -1.07357528e+02] [ 7.03535737e-03 1.77239889e-04 9.99975236e-01 -5.00371101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters 0.016188500939681574 Centerline is valid? [True, True] Translation: X:231.06, Y:-107.32, Z:-5.00 [[-6.62977179e-01 -7.48624919e-01 4.68943440e-03 2.31061412e+02] [ 7.48608302e-01 -6.62993733e-01 -4.99204104e-03 -1.07315382e+02] [ 6.84623194e-03 2.00940232e-04 9.99976544e-01 -5.00358996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters 0.016861626732120466 Centerline is valid? [True, True] Translation: X:231.02, Y:-107.27, Z:-5.00 [[-6.62434502e-01 -7.49104440e-01 4.80289699e-03 2.31020918e+02] [ 7.49087042e-01 -6.62451879e-01 -5.10992919e-03 -1.07273206e+02] [ 7.00955878e-03 2.12794503e-04 9.99975410e-01 -5.00382157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters 0.01711584661962939 Centerline is valid? [True, True] Translation: X:230.98, Y:-107.23, Z:-5.00 [[-6.60688447e-01 -7.50645562e-01 4.69206830e-03 2.30983239e+02] [ 7.50629011e-01 -6.60705070e-01 -4.98990292e-03 -1.07229763e+02] [ 6.84572179e-03 2.25231373e-04 9.99976542e-01 -5.00364821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters 0.01893186406375321 Centerline is valid? [True, True] Translation: X:230.94, Y:-107.19, Z:-5.01 [[-6.59937350e-01 -7.51302327e-01 5.24477481e-03 2.30943926e+02] [ 7.51281693e-01 -6.59958139e-01 -5.57431830e-03 -1.07188680e+02] [ 7.64933014e-03 2.61602450e-04 9.99970709e-01 -5.00524860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters 0.018020220233448365 Centerline is valid? [True, True] Translation: X:230.91, Y:-107.14, Z:-5.01 [[-6.60038205e-01 -7.51212356e-01 5.43725339e-03 2.30907693e+02] [ 7.51190208e-01 -6.60060544e-01 -5.77497885e-03 -1.07144823e+02] [ 7.92715190e-03 2.72704831e-04 9.99968542e-01 -5.00562216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters 0.01772920780554547 Centerline is valid? [True, True] Translation: X:230.87, Y:-107.10, Z:-5.00 [[-6.60977071e-01 -7.50396161e-01 3.86187835e-03 2.30871541e+02] [ 7.50384987e-01 -6.60988326e-01 -4.09941734e-03 -1.07099005e+02] [ 5.62884354e-03 1.88274668e-04 9.99984140e-01 -5.00324453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters 0.017740559329921905 Centerline is valid? [True, True] Translation: X:230.83, Y:-107.06, Z:-5.00 [[-6.61870055e-01 -7.49605765e-01 4.38492929e-03 2.30833635e+02] [ 7.49591360e-01 -6.61884548e-01 -4.65167492e-03 -1.07055611e+02] [ 6.38923928e-03 2.08100773e-04 9.99979567e-01 -5.00356611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters 0.017436287178083643 Centerline is valid? [True, True] Translation: X:230.79, Y:-107.01, Z:-5.00 [[-6.63268520e-01 -7.48372871e-01 3.59394972e-03 2.30793450e+02] [ 7.48363187e-01 -6.63278237e-01 -3.81056397e-03 -1.07013132e+02] [ 5.23551133e-03 1.62152542e-04 9.99986281e-01 -5.00405082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters 0.01728939685754227 Centerline is valid? [True, True] Translation: X:230.75, Y:-106.97, Z:-5.00 [[-6.63526051e-01 -7.48148082e-01 2.76173751e-03 2.30753087e+02] [ 7.48142369e-01 -6.63531787e-01 -2.92632881e-03 -1.06972716e+02] [ 4.02182791e-03 1.24477440e-04 9.99991905e-01 -5.00369180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters 0.017441787325100218 Centerline is valid? [True, True] Translation: X:230.71, Y:-106.93, Z:-5.00 [[-6.62379812e-01 -7.49163733e-01 2.58548466e-03 2.30712217e+02] [ 7.49158741e-01 -6.62384847e-01 -2.73790239e-03 -1.06932091e+02] [ 3.76372303e-03 1.23407163e-04 9.99992910e-01 -5.00421271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters 0.018796188125606544 Centerline is valid? [True, True] Translation: X:230.67, Y:-106.89, Z:-5.00 [[-6.60191231e-01 -7.51093473e-01 2.47657104e-03 2.30669385e+02] [ 7.51088911e-01 -6.60195864e-01 -2.62106152e-03 -1.06892999e+02] [ 3.60368416e-03 1.29723214e-04 9.99993498e-01 -5.00483690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters 0.020031869344207556 Centerline is valid? [True, True] Translation: X:230.63, Y:-106.85, Z:-5.01 [[-6.59163036e-01 -7.51996739e-01 2.23508225e-03 2.30627254e+02] [ 7.51993033e-01 -6.59166814e-01 -2.36414805e-03 -1.06853021e+02] [ 3.25112367e-03 1.22407274e-04 9.99994708e-01 -5.00515067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters 0.02044642588767162 Centerline is valid? [True, True] Translation: X:230.58, Y:-106.81, Z:-5.01 [[-6.58647775e-01 -7.52448916e-01 1.93320227e-03 2.30584974e+02] [ 7.52446149e-01 -6.58650603e-01 -2.04367746e-03 -1.06813451e+02] [ 2.81106773e-03 1.08566987e-04 9.99996043e-01 -5.00583822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters 0.019599507555757074 Centerline is valid? [True, True] Translation: X:230.54, Y:-106.77, Z:-5.01 [[-6.59291237e-01 -7.51885735e-01 1.70468784e-03 2.30544889e+02] [ 7.51883584e-01 -6.59293434e-01 -1.80106896e-03 -1.06771451e+02] [ 2.47808756e-03 9.42978236e-05 9.99996925e-01 -5.00602938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters 0.02045843794072763 Centerline is valid? [True, True] Translation: X:230.50, Y:-106.73, Z:-5.01 [[-6.60700382e-01 -7.50649335e-01 7.62383692e-04 2.30503413e+02] [ 7.50648905e-01 -6.60700820e-01 -8.05033250e-04 -1.06731396e+02] [ 1.10800520e-03 4.03967072e-05 9.99999385e-01 -5.00546144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters 0.02132631918308952 Centerline is valid? [True, True] Translation: X:230.46, Y:-106.69, Z:-5.01 [[-6.63346903e-01 -7.48311042e-01 1.21282976e-03 2.30462893e+02] [ 7.48309949e-01 -6.63348009e-01 -1.28004439e-03 -1.06691762e+02] [ 1.76239956e-03 5.84590910e-05 9.99998445e-01 -5.00660660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters 0.01837883383258725 Centerline is valid? [True, True] Translation: X:230.43, Y:-106.65, Z:-5.01 [[-6.69125139e-01 -7.43147027e-01 2.01088513e-03 2.30426865e+02] [ 7.43144004e-01 -6.69128157e-01 -2.12102212e-03 -1.06647940e+02] [ 2.92177115e-03 7.51480098e-05 9.99995729e-01 -5.00867455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters 0.013757262668516316 Centerline is valid? [True, True] Translation: X:230.39, Y:-106.60, Z:-5.01 [[-6.73740014e-01 -7.38965363e-01 2.14133863e-03 2.30393519e+02] [ 7.38961917e-01 -6.73743414e-01 -2.25777038e-03 -1.06599162e+02] [ 3.11112691e-03 6.12174516e-05 9.99995159e-01 -5.00770962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters 0.013164282922896382 Centerline is valid? [True, True] Translation: X:230.36, Y:-106.56, Z:-5.01 [[-6.78532853e-01 -7.34567679e-01 1.86879789e-03 2.30355763e+02] [ 7.34565040e-01 -6.78535426e-01 -1.96927406e-03 -1.06556102e+02] [ 2.71461065e-03 3.65364502e-05 9.99996315e-01 -5.00756587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters 0.011300446198905714 Centerline is valid? [True, True] Translation: X:230.32, Y:-106.51, Z:-5.01 [[-6.84765281e-01 -7.28762790e-01 1.14242635e-03 2.30320830e+02] [ 7.28761797e-01 -6.84766234e-01 -1.20315517e-03 -1.06509693e+02] [ 1.65910970e-03 8.67779406e-06 9.99998624e-01 -5.00667049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters 0.011165245953878316 Centerline is valid? [True, True] Translation: X:230.28, Y:-106.47, Z:-5.01 [[-6.88716781e-01 -7.25028367e-01 1.74999508e-03 2.30282815e+02] [ 7.25026028e-01 -6.88719004e-01 -1.84179191e-03 -1.06467780e+02] [ 2.54060625e-03 3.18990653e-07 9.99996773e-01 -5.00740440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters 0.011200444439090516 Centerline is valid? [True, True] Translation: X:230.24, Y:-106.43, Z:-5.01 [[-6.88773677e-01 -7.24966822e-01 3.73202748e-03 2.30240752e+02] [ 7.24956194e-01 -6.88783788e-01 -3.92556076e-03 -1.06427143e+02] [ 5.41646133e-03 1.73351958e-06 9.99985331e-01 -5.00932533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters 0.011200444439090516 Centerline is valid? [True, True] Translation: X:230.20, Y:-106.39, Z:-5.01 [[-6.88979341e-01 -7.24771365e-01 3.73314113e-03 2.30201020e+02] [ 7.24760739e-01 -6.88989455e-01 -3.92450171e-03 -1.06385458e+02] [ 5.41646133e-03 1.73351959e-06 9.99985331e-01 -5.00932532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters 0.011243655636474552 Centerline is valid? [True, True] Translation: X:230.16, Y:-106.34, Z:-5.01 [[-6.88558698e-01 -7.25168273e-01 4.23028860e-03 2.30160078e+02] [ 7.25154653e-01 -6.88571692e-01 -4.44459666e-03 -1.06344127e+02] [ 6.13593747e-03 7.24777820e-06 9.99981175e-01 -5.00987205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters 0.011610080987117147 Centerline is valid? [True, True] Translation: X:230.12, Y:-106.31, Z:-5.01 [[-6.85194711e-01 -7.28336706e-01 5.81807257e-03 2.30116400e+02] [ 7.28311085e-01 -6.85219410e-01 -6.10938442e-03 -1.06305844e+02] [ 8.43634518e-03 5.12488446e-05 9.99964412e-01 -5.01173715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters 0.012432494199812455 Centerline is valid? [True, True] Translation: X:230.07, Y:-106.27, Z:-5.01 [[-6.81260661e-01 -7.32013003e-01 6.39336394e-03 2.30072528e+02] [ 7.31982259e-01 -6.81290652e-01 -6.70972958e-03 -1.06267755e+02] [ 9.26734838e-03 1.08754168e-04 9.99957051e-01 -5.01190960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters 0.012761163581626718 Centerline is valid? [True, True] Translation: X:230.03, Y:-106.23, Z:-5.01 [[-6.79323456e-01 -7.33813688e-01 6.09207424e-03 2.30030661e+02] [ 7.33785879e-01 -6.79350759e-01 -6.38988772e-03 -1.06226955e+02] [ 8.82764234e-03 1.29477444e-04 9.99961027e-01 -5.01078018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters 0.013577955620246785 Centerline is valid? [True, True] Translation: X:229.99, Y:-106.19, Z:-5.01 [[-6.78217830e-01 -7.34840549e-01 5.47190785e-03 2.29989058e+02] [ 7.34818174e-01 -6.78239891e-01 -5.73598346e-03 -1.06187454e+02] [ 7.92629943e-03 1.30611079e-04 9.99968578e-01 -5.01017754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters 0.013619894401167931 Centerline is valid? [True, True] Translation: X:229.95, Y:-106.15, Z:-5.01 [[-6.77897464e-01 -7.35143992e-01 4.28237822e-03 2.29948142e+02] [ 7.35130311e-01 -6.77910982e-01 -4.48621318e-03 -1.06147664e+02] [ 6.20108389e-03 1.06913492e-04 9.99980767e-01 -5.00798204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters 0.013664069758354758 Centerline is valid? [True, True] Translation: X:229.91, Y:-106.11, Z:-5.01 [[-6.77451274e-01 -7.35554762e-01 4.35464368e-03 2.29906578e+02] [ 7.35540641e-01 -6.77465260e-01 -4.55931548e-03 -1.06107331e+02] [ 6.30374603e-03 1.14303328e-04 9.99980125e-01 -5.00744494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters 0.013954154543369965 Centerline is valid? [True, True] Translation: X:229.86, Y:-106.07, Z:-5.01 [[-6.77078411e-01 -7.35892076e-01 5.26091214e-03 2.29864624e+02] [ 7.35871499e-01 -6.77098834e-01 -5.50506962e-03 -1.06067021e+02] [ 7.61329459e-03 1.43991505e-04 9.99971008e-01 -5.00866790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters 0.014306446977670856 Centerline is valid? [True, True] Translation: X:229.82, Y:-106.03, Z:-5.01 [[-6.76069755e-01 -7.36805038e-01 6.92984731e-03 2.29822266e+02] [ 7.36769422e-01 -6.76105239e-01 -7.24734474e-03 -1.06027292e+02] [ 1.00251862e-02 2.05989018e-04 9.99949725e-01 -5.01059119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters 0.014599789762857512 Centerline is valid? [True, True] Translation: X:229.78, Y:-105.99, Z:-5.01 [[-6.75283530e-01 -7.37515696e-01 7.92165269e-03 2.29780948e+02] [ 7.37469259e-01 -6.75329946e-01 -8.27987972e-03 -1.05986983e+02] [ 1.14562705e-02 2.50708929e-04 9.99934343e-01 -5.01162934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters 0.014642168881655088 Centerline is valid? [True, True] Translation: X:229.74, Y:-105.95, Z:-5.01 [[-6.75740069e-01 -7.37090804e-01 8.51499304e-03 2.29741250e+02] [ 7.37037186e-01 -6.75793664e-01 -8.89438285e-03 -1.05945890e+02] [ 1.23103461e-02 2.65575626e-04 9.99924190e-01 -5.01162812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters 0.014132641340566045 Centerline is valid? [True, True] Translation: X:229.70, Y:-105.90, Z:-5.01 [[-6.77643690e-01 -7.35348497e-01 7.84968624e-03 2.29701616e+02] [ 7.35302862e-01 -6.77689118e-01 -8.19512565e-03 -1.05902763e+02] [ 1.13459203e-02 2.18521576e-04 9.99935609e-01 -5.01100494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters 0.013189163832546959 Centerline is valid? [True, True] Translation: X:229.66, Y:-105.86, Z:-5.01 [[-6.79473259e-01 -7.33662125e-01 7.48170442e-03 2.29662994e+02] [ 7.33620615e-01 -6.79514424e-01 -7.80645524e-03 -1.05859041e+02] [ 1.08112266e-02 1.84455013e-04 9.99941540e-01 -5.00936105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters 0.012918357497775907 Centerline is valid? [True, True] Translation: X:229.62, Y:-105.82, Z:-5.01 [[-6.81792062e-01 -7.31515792e-01 6.65056388e-03 2.29624263e+02] [ 7.31482918e-01 -6.81824485e-01 -6.93633883e-03 -1.05817694e+02] [ 9.60855868e-03 1.35633118e-04 9.99953828e-01 -5.00814897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters 0.01300765344542905 Centerline is valid? [True, True] Translation: X:229.59, Y:-105.78, Z:-5.01 [[-6.83042544e-01 -7.30350762e-01 6.37557444e-03 2.29585335e+02] [ 7.30320540e-01 -6.83072288e-01 -6.64519172e-03 -1.05777566e+02] [ 9.20829906e-03 1.17264308e-04 9.99957596e-01 -5.00836375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters 0.012667041001584846 Centerline is valid? [True, True] Translation: X:229.55, Y:-105.74, Z:-5.01 [[-6.83225807e-01 -7.30174217e-01 6.93609714e-03 2.29545515e+02] [ 7.30138484e-01 -6.83261001e-01 -7.22486704e-03 -1.05736242e+02] [ 1.00145763e-02 1.28095840e-04 9.99949845e-01 -5.00812360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters 0.0130791498213676 Centerline is valid? [True, True] Translation: X:229.50, Y:-105.70, Z:-5.01 [[-6.82711926e-01 -7.30649477e-01 7.46772942e-03 2.29503736e+02] [ 7.30608130e-01 -6.82752751e-01 -7.77434509e-03 -1.05695527e+02] [ 1.07789340e-02 1.48345712e-04 9.99941895e-01 -5.00934645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters 0.013222488712642203 Centerline is valid? [True, True] Translation: X:229.46, Y:-105.65, Z:-5.01 [[-6.81760742e-01 -7.31522220e-01 8.80518891e-03 2.29462665e+02] [ 7.31464874e-01 -6.81817573e-01 -9.16159598e-03 -1.05654765e+02] [ 1.27054436e-02 1.94669917e-04 9.99919264e-01 -5.01078558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters 0.013005128980779157 Centerline is valid? [True, True] Translation: X:229.42, Y:-105.61, Z:-5.01 [[-6.81749672e-01 -7.31532203e-01 8.83294475e-03 2.29423809e+02] [ 7.31474562e-01 -6.81806862e-01 -9.18521739e-03 -1.05612125e+02] [ 1.27416447e-02 1.99055452e-04 9.99918802e-01 -5.01057686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters 0.012920929406059493 Centerline is valid? [True, True] Translation: X:229.39, Y:-105.57, Z:-5.01 [[-6.82461057e-01 -7.30875383e-01 8.25108635e-03 2.29385586e+02] [ 7.30825096e-01 -6.82510911e-01 -8.57529314e-03 -1.05568850e+02] [ 1.18989271e-02 1.77797349e-04 9.99929189e-01 -5.00932911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters 0.0128143396359965 Centerline is valid? [True, True] Translation: X:229.35, Y:-105.53, Z:-5.01 [[-6.82569472e-01 -7.30778538e-01 7.85147038e-03 2.29346852e+02] [ 7.30733051e-01 -6.82614606e-01 -8.15528379e-03 -1.05526063e+02] [ 1.13192347e-02 1.70781151e-04 9.99935921e-01 -5.00816692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters 0.013052641268490192 Centerline is valid? [True, True] Translation: X:229.31, Y:-105.48, Z:-5.01 [[-6.82036384e-01 -7.31282374e-01 7.24296812e-03 2.29306952e+02] [ 7.31243738e-01 -6.82074821e-01 -7.51893384e-03 -1.05483867e+02] [ 1.04387100e-02 1.68188632e-04 9.99945501e-01 -5.00751876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters 0.014289061012101098 Centerline is valid? [True, True] Translation: X:229.27, Y:-105.44, Z:-5.01 [[-6.79344494e-01 -7.33790085e-01 6.57033689e-03 2.29266366e+02] [ 7.33758448e-01 -6.79376239e-01 -6.81659576e-03 -1.05443260e+02] [ 9.46568115e-03 1.90223401e-04 9.99955181e-01 -5.00701702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters 0.014461060643908747 Centerline is valid? [True, True] Translation: X:229.23, Y:-105.40, Z:-5.01 [[-6.77280846e-01 -7.35690354e-01 7.09647754e-03 2.29225736e+02] [ 7.35653591e-01 -6.77317981e-01 -7.35845951e-03 -1.05400942e+02] [ 1.02201195e-02 2.36805505e-04 9.99947745e-01 -5.00702054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters 0.016916440174427737 Centerline is valid? [True, True] Translation: X:229.18, Y:-105.36, Z:-5.01 [[-6.73474154e-01 -7.39171771e-01 7.59321698e-03 2.29183998e+02] [ 7.39129937e-01 -6.73516886e-01 -7.87017006e-03 -1.05361923e+02] [ 1.09315674e-02 3.12017865e-04 9.99940200e-01 -5.00837628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters 0.01860579361477093 Centerline is valid? [True, True] Translation: X:229.14, Y:-105.32, Z:-5.01 [[-6.70591866e-01 -7.41780367e-01 8.27264514e-03 2.29142696e+02] [ 7.41730968e-01 -6.70642778e-01 -8.56949154e-03 -1.05320950e+02] [ 1.19046703e-02 3.89445756e-04 9.99929061e-01 -5.00920412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters 0.01862688692620338 Centerline is valid? [True, True] Translation: X:229.10, Y:-105.28, Z:-5.01 [[-6.70151381e-01 -7.42176787e-01 8.41091697e-03 2.29102558e+02] [ 7.42125813e-01 -6.70204037e-01 -8.70781492e-03 -1.05278833e+02] [ 1.20997686e-02 4.06404406e-04 9.99926713e-01 -5.00952462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters 0.020245806271758388 Centerline is valid? [True, True] Translation: X:229.06, Y:-105.24, Z:-5.01 [[-6.69688232e-01 -7.42587984e-01 8.98653516e-03 2.29062270e+02] [ 7.42529902e-01 -6.69748376e-01 -9.29826835e-03 -1.05238232e+02] [ 1.29234997e-02 4.45830185e-04 9.99916389e-01 -5.01091904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters 0.018446601844832988 Centerline is valid? [True, True] Translation: X:229.03, Y:-105.19, Z:-5.01 [[-6.71220993e-01 -7.41208921e-01 8.46840743e-03 2.29026792e+02] [ 7.41157293e-01 -6.71274294e-01 -8.75723458e-03 -1.05191525e+02] [ 1.21755646e-02 3.98382237e-04 9.99925796e-01 -5.00979077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters 0.016561386448836403 Centerline is valid? [True, True] Translation: X:228.99, Y:-105.15, Z:-5.01 [[-6.75202138e-01 -7.37600230e-01 6.92625433e-03 2.28991656e+02] [ 7.37565547e-01 -6.75237606e-01 -7.15819590e-03 -1.05145229e+02] [ 9.95675434e-03 2.75337389e-04 9.99950392e-01 -5.00806587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters 0.015059628786917178 Centerline is valid? [True, True] Translation: X:228.96, Y:-105.10, Z:-5.01 [[-6.80107531e-01 -7.33085621e-01 6.26255908e-03 2.28957089e+02] [ 7.33057104e-01 -6.80136337e-01 -6.46883214e-03 -1.05100570e+02] [ 9.00160182e-03 1.91311972e-04 9.99959466e-01 -5.00730986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters 0.013403081532664321 Centerline is valid? [True, True] Translation: X:228.92, Y:-105.05, Z:-5.01 [[-6.83286237e-01 -7.30122457e-01 6.41215936e-03 2.28920584e+02] [ 7.30092466e-01 -6.83316305e-01 -6.61957027e-03 -1.05054674e+02] [ 9.21462995e-03 1.58407983e-04 9.99957532e-01 -5.00661674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters 0.012714825035753798 Centerline is valid? [True, True] Translation: X:228.88, Y:-105.01, Z:-5.01 [[-6.86004406e-01 -7.27562180e-01 7.15741533e-03 2.28882828e+02] [ 7.27524699e-01 -6.86041729e-01 -7.38632019e-03 -1.05009713e+02] [ 1.02842928e-02 1.40148243e-04 9.99947105e-01 -5.00711993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters 0.012307097629609638 Centerline is valid? [True, True] Translation: X:228.85, Y:-104.97, Z:-5.01 [[-6.90544712e-01 -7.23239759e-01 8.50009887e-03 2.28846830e+02] [ 7.23186627e-01 -6.90597018e-01 -8.76706214e-03 -1.04965379e+02] [ 1.22108309e-02 9.31094319e-05 9.99925441e-01 -5.01007214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters 0.01172596212100533 Centerline is valid? [True, True] Translation: X:228.81, Y:-104.92, Z:-5.01 [[-6.94387970e-01 -7.19550136e-01 8.54104113e-03 2.28811519e+02] [ 7.19496277e-01 -6.94440495e-01 -8.80374782e-03 -1.04919394e+02] [ 1.22659828e-02 3.20307233e-05 9.99924770e-01 -5.00902764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters 0.011798204041753382 Centerline is valid? [True, True] Translation: X:228.77, Y:-104.88, Z:-5.01 [[-6.96264680e-01 -7.17739557e-01 8.08850165e-03 2.28774615e+02] [ 7.17691195e-01 -6.96311661e-01 -8.33184527e-03 -1.04876918e+02] [ 1.16122129e-02 3.87683689e-06 9.99932576e-01 -5.00865738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters 0.011564833429431699 Centerline is valid? [True, True] Translation: X:228.74, Y:-104.84, Z:-5.01 [[-6.96476501e-01 -7.17542378e-01 7.30882924e-03 2.28735537e+02] [ 7.17502930e-01 -6.96514850e-01 -7.52394149e-03 -1.04835373e+02] [ 1.04894550e-02 3.85794589e-06 9.99944984e-01 -5.00616417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters 0.011598330221569376 Centerline is valid? [True, True] Translation: X:228.70, Y:-104.80, Z:-5.01 [[-6.95624996e-01 -7.18372637e-01 6.82777314e-03 2.28695590e+02] [ 7.18338297e-01 -6.95658504e-01 -7.02409769e-03 -1.04795322e+02] [ 9.79571803e-03 1.85129974e-05 9.99952021e-01 -5.00691355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters 0.01154561586176111 Centerline is valid? [True, True] Translation: X:228.65, Y:-104.75, Z:-5.01 [[-6.94460035e-01 -7.19501427e-01 6.55416016e-03 2.28654496e+02] [ 7.19469874e-01 -6.94490961e-01 -6.73835266e-03 -1.04754959e+02] [ 9.40005935e-03 3.60041630e-05 9.99955818e-01 -5.00623859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters 0.011858933782474811 Centerline is valid? [True, True] Translation: X:228.61, Y:-104.72, Z:-5.01 [[-6.92131583e-01 -7.21745779e-01 6.07469672e-03 2.28612352e+02] [ 7.21718795e-01 -6.92158238e-01 -6.24130915e-03 -1.04717459e+02] [ 8.70928991e-03 6.44156130e-05 9.99962071e-01 -5.00677860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters 0.012640083968621391 Centerline is valid? [True, True] Translation: X:228.57, Y:-104.68, Z:-5.01 [[-6.90246570e-01 -7.23550358e-01 5.87813517e-03 2.28570314e+02] [ 7.23525187e-01 -6.90271593e-01 -6.03588054e-03 -1.04679310e+02] [ 8.42477325e-03 8.67330150e-05 9.99964507e-01 -5.00717056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters 0.013729955083075219 Centerline is valid? [True, True] Translation: X:228.53, Y:-104.64, Z:-5.01 [[-6.87749226e-01 -7.25927304e-01 5.52733908e-03 2.28527294e+02] [ 7.25905152e-01 -6.87771427e-01 -5.67215789e-03 -1.04642700e+02] [ 7.91912018e-03 1.11301727e-04 9.99968637e-01 -5.00736908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters 0.013306525113237992 Centerline is valid? [True, True] Translation: X:228.49, Y:-104.60, Z:-5.01 [[-6.86685778e-01 -7.26934592e-01 5.36104081e-03 2.28486427e+02] [ 7.26913807e-01 -6.86706694e-01 -5.49842298e-03 -1.04601590e+02] [ 7.67845648e-03 1.21325729e-04 9.99970513e-01 -5.00628978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters 0.014480080014281206 Centerline is valid? [True, True] Translation: X:228.44, Y:-104.56, Z:-5.01 [[-6.85988501e-01 -7.27593169e-01 5.28733690e-03 2.28443389e+02] [ 7.27572996e-01 -6.86008865e-01 -5.41965763e-03 -1.04563559e+02] [ 7.57046586e-03 1.29100731e-04 9.99971335e-01 -5.00736633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters 0.015211864905457565 Centerline is valid? [True, True] Translation: X:228.40, Y:-104.52, Z:-5.01 [[-6.85879919e-01 -7.27694245e-01 5.46102774e-03 2.28402373e+02] [ 7.27672755e-01 -6.85901645e-01 -5.59423513e-03 -1.04524389e+02] [ 7.81662063e-03 1.36867564e-04 9.99969440e-01 -5.00804327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters 0.01353011854526015 Centerline is valid? [True, True] Translation: X:228.36, Y:-104.48, Z:-5.01 [[-6.86775752e-01 -7.26838991e-01 6.64437313e-03 2.28364923e+02] [ 7.26807178e-01 -6.86807875e-01 -6.80213601e-03 -1.04481336e+02] [ 9.50746546e-03 1.57636007e-04 9.99954791e-01 -5.00837383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters 0.01330399062413949 Centerline is valid? [True, True] Translation: X:228.33, Y:-104.44, Z:-5.01 [[-6.88613266e-01 -7.25090742e-01 7.42872321e-03 2.28326793e+02] [ 7.25050926e-01 -6.88653318e-01 -7.60010400e-03 -1.04439720e+02] [ 1.06265799e-02 1.52670204e-04 9.99943525e-01 -5.00969499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters 0.01254193887877396 Centerline is valid? [True, True] Translation: X:228.29, Y:-104.40, Z:-5.01 [[-6.90407546e-01 -7.23379258e-01 7.73751135e-03 2.28289026e+02] [ 7.23336006e-01 -6.90450889e-01 -7.91147371e-03 -1.04395944e+02] [ 1.10653676e-02 1.34679403e-04 9.99938768e-01 -5.00870048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters 0.012292023938892943 Centerline is valid? [True, True] Translation: X:228.25, Y:-104.35, Z:-5.01 [[-6.92876514e-01 -7.21012631e-01 7.93239904e-03 2.28251858e+02] [ 7.20967078e-01 -6.92921912e-01 -8.10531579e-03 -1.04353648e+02] [ 1.13405682e-02 1.03015613e-04 9.99935688e-01 -5.00893951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters 0.012248346003251795 Centerline is valid? [True, True] Translation: X:228.21, Y:-104.31, Z:-5.01 [[-6.94344499e-01 -7.19599891e-01 7.85581939e-03 2.28213887e+02] [ 7.19555182e-01 -6.94388933e-01 -8.02179626e-03 -1.04312613e+02] [ 1.12274778e-02 8.28054516e-05 9.99936966e-01 -5.00913862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters 0.011813500688488186 Centerline is valid? [True, True] Translation: X:228.18, Y:-104.27, Z:-5.01 [[-6.96345477e-01 -7.17672932e-01 6.96694120e-03 2.28176252e+02] [ 7.17637717e-01 -6.96380327e-01 -7.10967390e-03 -1.04269575e+02] [ 9.95406131e-03 4.89505054e-05 9.99950456e-01 -5.00683933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters 0.011775628949073701 Centerline is valid? [True, True] Translation: X:228.14, Y:-104.23, Z:-5.01 [[-6.96709284e-01 -7.17325813e-01 6.31287568e-03 2.28135632e+02] [ 7.17296918e-01 -6.96737882e-01 -6.43852133e-03 -1.04227611e+02] [ 9.01693718e-03 4.24286899e-05 9.99959346e-01 -5.00563842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters 0.011818478327317179 Centerline is valid? [True, True] Translation: X:228.10, Y:-104.19, Z:-5.01 [[-6.96891891e-01 -7.17146653e-01 6.50920582e-03 2.28096154e+02] [ 7.17115956e-01 -6.96922288e-01 -6.63548163e-03 -1.04188211e+02] [ 9.29502406e-03 4.36420175e-05 9.99956799e-01 -5.00621757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters 0.011784455235654051 Centerline is valid? [True, True] Translation: X:228.06, Y:-104.15, Z:-5.01 [[-6.97329173e-01 -7.16714897e-01 7.19586991e-03 2.28055515e+02] [ 7.16677406e-01 -6.97366299e-01 -7.33087006e-03 -1.04147809e+02] [ 1.02723009e-02 4.50878262e-05 9.99947238e-01 -5.00686163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters 0.011807312537704789 Centerline is valid? [True, True] Translation: X:228.02, Y:-104.11, Z:-5.01 [[-6.97660690e-01 -7.16392111e-01 7.20452766e-03 2.28015297e+02] [ 7.16354559e-01 -6.97697887e-01 -7.33512619e-03 -1.04107717e+02] [ 1.02814103e-02 4.35670280e-05 9.99947144e-01 -5.00681763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters 0.011836117640828727 Centerline is valid? [True, True] Translation: X:227.97, Y:-104.07, Z:-5.01 [[-6.98172539e-01 -7.15893222e-01 7.21120318e-03 2.27974011e+02] [ 7.15855620e-01 -6.98209778e-01 -7.33742621e-03 -1.04067770e+02] [ 1.02877463e-02 3.93908394e-05 9.99947079e-01 -5.00736484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters 0.011812905236831013 Centerline is valid? [True, True] Translation: X:227.93, Y:-104.03, Z:-5.01 [[-6.98235262e-01 -7.15830542e-01 7.35898683e-03 2.27933208e+02] [ 7.15791429e-01 -6.98274039e-01 -7.48313444e-03 -1.04027667e+02] [ 1.04952456e-02 4.25113570e-05 9.99944923e-01 -5.00710156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters 0.01178787587744737 Centerline is valid? [True, True] Translation: X:227.89, Y:-103.99, Z:-5.01 [[-6.97871960e-01 -7.16189248e-01 6.90568319e-03 2.27890691e+02] [ 7.16154866e-01 -6.97906125e-01 -7.01778334e-03 -1.03988494e+02] [ 9.84557957e-03 4.80244067e-05 9.99951530e-01 -5.00737803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters 0.011624431825426664 Centerline is valid? [True, True] Translation: X:227.85, Y:-103.95, Z:-5.01 [[-6.98210697e-01 -7.15864582e-01 6.30261176e-03 2.27849421e+02] [ 7.15835963e-01 -6.98239141e-01 -6.40127259e-03 -1.03948019e+02] [ 8.98317456e-03 4.21991597e-05 9.99959650e-01 -5.00636644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters 0.011638301220879027 Centerline is valid? [True, True] Translation: X:227.81, Y:-103.91, Z:-5.01 [[-6.98716535e-01 -7.15375847e-01 5.70978562e-03 2.27808449e+02] [ 7.15352371e-01 -6.98739864e-01 -5.79549561e-03 -1.03907867e+02] [ 8.13561240e-03 3.51000734e-05 9.99966905e-01 -5.00622316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters 0.011486624468039006 Centerline is valid? [True, True] Translation: X:227.77, Y:-103.87, Z:-5.01 [[-6.99673485e-01 -7.14443545e-01 5.23789573e-03 2.27767936e+02] [ 7.14423789e-01 -6.99693090e-01 -5.31314785e-03 -1.03867276e+02] [ 7.46086363e-03 2.46086419e-05 9.99972167e-01 -5.00584442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters 0.011578923925453326 Centerline is valid? [True, True] Translation: X:227.73, Y:-103.83, Z:-5.01 [[-6.99628355e-01 -7.14490197e-01 4.89108372e-03 2.27726733e+02] [ 7.14472995e-01 -6.99645451e-01 -4.95808223e-03 -1.03828625e+02] [ 6.96452563e-03 2.57323170e-05 9.99975747e-01 -5.00644022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters 0.011710106288756827 Centerline is valid? [True, True] Translation: X:227.68, Y:-103.79, Z:-5.01 [[-6.99009246e-01 -7.15096487e-01 4.80496938e-03 2.27684474e+02] [ 7.15079920e-01 -6.99025760e-01 -4.86777089e-03 -1.03789797e+02] [ 6.83972323e-03 3.33202596e-05 9.99976608e-01 -5.00740880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters 0.011793891794536155 Centerline is valid? [True, True] Translation: X:227.64, Y:-103.75, Z:-5.01 [[-6.98125873e-01 -7.15951419e-01 5.81644339e-03 2.27642260e+02] [ 7.15927200e-01 -6.98150100e-01 -5.88907685e-03 -1.03749929e+02] [ 8.27704347e-03 5.28331097e-05 9.99965743e-01 -5.00879917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters 0.011859805897848491 Centerline is valid? [True, True] Translation: X:227.60, Y:-103.71, Z:-5.01 [[-6.97941503e-01 -7.16127403e-01 6.26110689e-03 2.27600896e+02] [ 7.16099379e-01 -6.97969583e-01 -6.33566399e-03 -1.03708786e+02] [ 8.90720476e-03 6.16519071e-05 9.99960328e-01 -5.00941962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters 0.011844000877897871 Centerline is valid? [True, True] Translation: X:227.56, Y:-103.67, Z:-5.01 [[-6.98542387e-01 -7.15540081e-01 6.39731400e-03 2.27560330e+02] [ 7.15510834e-01 -6.98571677e-01 -6.46979032e-03 -1.03667861e+02] [ 9.09837666e-03 5.79247072e-05 9.99958607e-01 -5.00997829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters 0.01183639491487078 Centerline is valid? [True, True] Translation: X:227.52, Y:-103.63, Z:-5.01 [[-6.99121960e-01 -7.14976749e-01 6.06080131e-03 2.27520944e+02] [ 7.14950502e-01 -6.99148229e-01 -6.12644368e-03 -1.03628355e+02] [ 8.61766329e-03 5.00416226e-05 9.99962866e-01 -5.00977558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters 0.012319887480862188 Centerline is valid? [True, True] Translation: X:227.48, Y:-103.59, Z:-5.01 [[-6.98403274e-01 -7.15687338e-01 4.94994000e-03 2.27480104e+02] [ 7.15669866e-01 -6.98420813e-01 -5.00112372e-03 -1.03589816e+02] [ 7.03638204e-03 4.97217143e-05 9.99975243e-01 -5.00962602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters 0.0122099914968769 Centerline is valid? [True, True] Translation: X:227.44, Y:-103.55, Z:-5.01 [[-6.97084453e-01 -7.16975670e-01 4.37644028e-03 2.27439447e+02] [ 7.16962055e-01 -6.97098189e-01 -4.41887928e-03 -1.03549259e+02] [ 6.21903753e-03 5.74095701e-05 9.99980660e-01 -5.00750132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters 0.0131393406019472 Centerline is valid? [True, True] Translation: X:227.40, Y:-103.51, Z:-5.01 [[-6.93940781e-01 -7.20015740e-01 4.85048348e-03 2.27395956e+02] [ 7.19999109e-01 -6.93957726e-01 -4.89461973e-03 -1.03511128e+02] [ 6.89023373e-03 9.57675480e-05 9.99976257e-01 -5.00816299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters 0.013562354547974609 Centerline is valid? [True, True] Translation: X:227.35, Y:-103.47, Z:-5.01 [[-6.91823121e-01 -7.22046910e-01 5.38787823e-03 2.27353912e+02] [ 7.22026475e-01 -6.91844089e-01 -5.43379546e-03 -1.03470847e+02] [ 7.65102692e-03 1.30965394e-04 9.99970722e-01 -5.00859929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters 0.01446733237511218 Centerline is valid? [True, True] Translation: X:227.31, Y:-103.43, Z:-5.01 [[-6.89236336e-01 -7.24511098e-01 6.07809268e-03 2.27312056e+02] [ 7.24485220e-01 -6.89263111e-01 -6.12618208e-03 -1.03431291e+02] [ 8.62789197e-03 1.81101024e-04 9.99962763e-01 -5.00894704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters 0.015207677223299836 Centerline is valid? [True, True] Translation: X:227.27, Y:-103.39, Z:-5.01 [[-6.88101922e-01 -7.25588400e-01 6.10075757e-03 2.27269468e+02] [ 7.25562401e-01 -6.88128938e-01 -6.14554900e-03 -1.03392213e+02] [ 8.65724689e-03 1.97716237e-04 9.99962506e-01 -5.00939640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters 0.015104734362898437 Centerline is valid? [True, True] Translation: X:227.23, Y:-103.35, Z:-5.01 [[-6.87949116e-01 -7.25733788e-01 6.04006785e-03 2.27228350e+02] [ 7.25708339e-01 -6.87975602e-01 -6.08092761e-03 -1.03350752e+02] [ 8.56855395e-03 1.99958832e-04 9.99963269e-01 -5.00853605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters 0.01568742429791813 Centerline is valid? [True, True] Translation: X:227.19, Y:-103.31, Z:-5.01 [[-6.87712325e-01 -7.25963007e-01 5.42858575e-03 2.27188494e+02] [ 7.25942486e-01 -6.87733726e-01 -5.46165467e-03 -1.03311347e+02] [ 7.69838075e-03 1.84793796e-04 9.99970350e-01 -5.00702593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters 0.01596947934755229 Centerline is valid? [True, True] Translation: X:227.15, Y:-103.27, Z:-5.01 [[-6.87423840e-01 -7.26234134e-01 5.69619324e-03 2.27146476e+02] [ 7.26211574e-01 -6.87447411e-01 -5.72767835e-03 -1.03270927e+02] [ 8.07546882e-03 1.99298814e-04 9.99967373e-01 -5.00741898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters 0.016834397145836073 Centerline is valid? [True, True] Translation: X:227.10, Y:-103.23, Z:-5.01 [[-6.86999579e-01 -7.26626971e-01 6.69505613e-03 2.27103509e+02] [ 7.26595850e-01 -6.87032158e-01 -6.72933987e-03 -1.03232930e+02] [ 9.48943871e-03 2.41546340e-04 9.99954945e-01 -5.00920792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters 0.016542022663625675 Centerline is valid? [True, True] Translation: X:227.06, Y:-103.19, Z:-5.01 [[-6.86217474e-01 -7.27354073e-01 7.85046178e-03 2.27062328e+02] [ 7.27311381e-01 -6.86262314e-01 -7.88621578e-03 -1.03192384e+02] [ 1.11235472e-02 2.98071124e-04 9.99938087e-01 -5.00939499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters 0.01656485831002416 Centerline is valid? [True, True] Translation: X:227.02, Y:-103.15, Z:-5.01 [[-6.86109057e-01 -7.27447458e-01 8.63472392e-03 2.27020358e+02] [ 7.27395876e-01 -6.86163308e-01 -8.66915125e-03 -1.03151582e+02] [ 1.22311828e-02 3.32879380e-04 9.99925141e-01 -5.00982504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters 0.01644139388112531 Centerline is valid? [True, True] Translation: X:226.98, Y:-103.11, Z:-5.01 [[-6.87113045e-01 -7.26490683e-01 9.32474283e-03 2.26979139e+02] [ 7.26430518e-01 -6.87176228e-01 -9.35602769e-03 -1.03111607e+02] [ 1.32048086e-02 3.45129089e-04 9.99912753e-01 -5.01022611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters 0.01646924488764355 Centerline is valid? [True, True] Translation: X:226.94, Y:-103.07, Z:-5.01 [[-6.88445229e-01 -7.25233681e-01 8.90363606e-03 2.26938323e+02] [ 7.25178784e-01 -6.88502732e-01 -8.92859090e-03 -1.03071080e+02] [ 1.26054926e-02 3.09882169e-04 9.99920500e-01 -5.00986769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters 0.014390503816526113 Centerline is valid? [True, True] Translation: X:226.90, Y:-103.03, Z:-5.01 [[-6.91498733e-01 -7.22334592e-01 7.88913722e-03 2.26900088e+02] [ 7.22291355e-01 -6.91543696e-01 -7.90663260e-03 -1.03027806e+02] [ 1.11669173e-02 2.30829184e-04 9.99937621e-01 -5.00611441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters 0.013497271245361816 Centerline is valid? [True, True] Translation: X:226.86, Y:-102.99, Z:-5.00 [[-6.94428301e-01 -7.19525760e-01 7.21217521e-03 2.26859691e+02] [ 7.19489515e-01 -6.94465730e-01 -7.22401931e-03 -1.02985752e+02] [ 1.02064765e-02 1.72520997e-04 9.99947898e-01 -5.00452746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters 0.012989118168020283 Centerline is valid? [True, True] Translation: X:226.82, Y:-102.94, Z:-5.00 [[-6.96362742e-01 -7.17650975e-01 7.48401234e-03 2.26818249e+02] [ 7.17611883e-01 -6.96402940e-01 -7.49203659e-03 -1.02944579e+02] [ 1.05885556e-02 1.53441049e-04 9.99943928e-01 -5.00468221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters 0.012583209601925292 Centerline is valid? [True, True] Translation: X:226.78, Y:-102.90, Z:-5.01 [[-6.98466667e-01 -7.15593101e-01 8.41593895e-03 2.26777671e+02] [ 7.15543581e-01 -6.98517354e-01 -8.41959696e-03 -1.02904611e+02] [ 1.19036849e-02 1.41163271e-04 9.99929139e-01 -5.00594179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters 0.012868968937471323 Centerline is valid? [True, True] Translation: X:226.74, Y:-102.87, Z:-5.01 [[-7.00859610e-01 -7.13228193e-01 1.00673079e-02 2.26736537e+02] [ 7.13157182e-01 -7.00931900e-01 -1.00650264e-02 -1.02866546e+02] [ 1.42351578e-02 1.25402438e-04 9.99898667e-01 -5.00971889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters 0.012051264210510542 Centerline is valid? [True, True] Translation: X:226.26, Y:-103.33, Z:-4.03 [[-7.58496846e-01 6.51576878e-01 1.14063995e-02 2.26259745e+02] [ 6.51501786e-01 7.58582604e-01 -9.89219944e-03 -1.03330655e+02] [-1.50982246e-02 -7.19124500e-05 -9.99886013e-01 -4.03347512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters 0.01192542235284974 Centerline is valid? [True, True] Translation: X:226.29, Y:-103.32, Z:-4.03 [[-8.01209253e-01 5.98259405e-01 1.22236029e-02 2.26286200e+02] [ 5.98189143e-01 8.01302491e-01 -9.16880291e-03 -1.03317719e+02] [-1.52801260e-02 -3.41032117e-05 -9.99883251e-01 -4.03338763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters 0.011924378590750639 Centerline is valid? [True, True] Translation: X:226.69, Y:-102.79, Z:-5.01 [[-7.57419738e-01 -6.52821896e-01 1.17861506e-02 2.26691883e+02] [ 6.52743864e-01 -7.57511432e-01 -1.00934658e-02 -1.02792292e+02] [ 1.55173793e-02 4.83472706e-05 9.99879597e-01 -5.00788351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters 0.011796530789987731 Centerline is valid? [True, True] Translation: X:226.25, Y:-103.29, Z:-4.03 [[-8.03054425e-01 5.95784197e-01 1.20325237e-02 2.26252713e+02] [ 5.95716837e-01 8.03144564e-01 -8.95879006e-03 -1.03288684e+02] [-1.50013615e-02 -2.64190363e-05 -9.99887473e-01 -4.03438990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters 0.011898256122296749 Centerline is valid? [True, True] Translation: X:226.27, Y:-103.27, Z:-4.03 [[-8.43894553e-01 5.36368862e-01 1.22648708e-02 2.26273903e+02] [ 5.36311425e-01 8.43983674e-01 -7.84944871e-03 -1.03268409e+02] [-1.45615506e-02 -4.63166886e-05 -9.99893974e-01 -4.03479744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters 0.012170545364350128 Centerline is valid? [True, True] Translation: X:226.29, Y:-103.24, Z:-4.04 [[-8.82232062e-01 4.70650911e-01 1.24220898e-02 2.26287960e+02] [ 4.70602356e-01 8.82319503e-01 -6.76137164e-03 -1.03237602e+02] [-1.41424978e-02 -1.19234134e-04 -9.99899983e-01 -4.03527259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters 0.012633270193682546 Centerline is valid? [True, True] Translation: X:226.30, Y:-103.21, Z:-4.03 [[-9.14702876e-01 4.03914953e-01 1.30904204e-02 2.26296498e+02] [ 4.03870942e-01 9.14796525e-01 -5.96491405e-03 -1.03206809e+02] [-1.43843891e-02 -1.69283632e-04 -9.99896525e-01 -4.03462349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters 0.013766104919008598 Centerline is valid? [True, True] Translation: X:226.31, Y:-103.18, Z:-4.03 [[-9.42768076e-01 3.33198207e-01 1.29348408e-02 2.26307427e+02] [ 3.33163430e-01 9.42856776e-01 -4.81963047e-03 -1.03175584e+02] [-1.38015945e-02 -2.34377808e-04 -9.99904726e-01 -4.03477092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters 0.014237878548080618 Centerline is valid? [True, True] Translation: X:226.31, Y:-103.14, Z:-4.04 [[-9.64579207e-01 2.63476194e-01 1.29324718e-02 2.26308066e+02] [ 2.63448920e-01 9.64665864e-01 -3.79973501e-03 -1.03144513e+02] [-1.34766538e-02 -2.58099650e-04 -9.99909152e-01 -4.03518159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters 0.014897226361967494 Centerline is valid? [True, True] Translation: X:226.48, Y:-102.56, Z:-5.01 [[-9.31087325e-01 -3.64598058e-01 1.20270414e-02 2.26481531e+02] [ 3.64570483e-01 -9.31164977e-01 -4.48877803e-03 -1.02558560e+02] [ 1.28357594e-02 2.05259954e-04 9.99917597e-01 -5.00643584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters 0.015718407000192242 Centerline is valid? [True, True] Translation: X:226.27, Y:-103.13, Z:-4.03 [[-9.65862613e-01 2.58771120e-01 1.21210457e-02 2.26269540e+02] [ 2.58747415e-01 9.65938633e-01 -3.51182082e-03 -1.03128053e+02] [-1.26169441e-02 -2.55647192e-04 -9.99920371e-01 -4.03414218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters 0.014173946439571998 Centerline is valid? [True, True] Translation: X:226.27, Y:-103.10, Z:-4.04 [[-9.81674961e-01 1.90096993e-01 1.33192996e-02 2.26271982e+02] [ 1.90075762e-01 9.81765278e-01 -2.85377235e-03 -1.03103243e+02] [-1.36189195e-02 -2.69800822e-04 -9.99907222e-01 -4.03516283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters 0.014327111179749798 Centerline is valid? [True, True] Translation: X:226.27, Y:-103.08, Z:-4.03 [[-9.92648802e-01 1.20131779e-01 1.47211151e-02 2.26272597e+02] [ 1.20114192e-01 9.92757911e-01 -2.07625845e-03 -1.03075317e+02] [-1.48639281e-02 -2.92780619e-04 -9.99889483e-01 -4.03445268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters 0.014519212203927745 Centerline is valid? [True, True] Translation: X:226.36, Y:-102.48, Z:-5.01 [[-9.74151470e-01 -2.25390301e-01 1.51038120e-02 2.26357845e+02] [ 2.25368605e-01 -9.74268493e-01 -3.14563657e-03 -1.02477391e+02] [ 1.54241641e-02 3.39598550e-04 9.99880983e-01 -5.00791984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters 0.014313030838939717 Centerline is valid? [True, True] Translation: X:226.22, Y:-103.07, Z:-4.03 [[-9.93115604e-01 1.16137496e-01 1.52799942e-02 2.26221310e+02] [ 1.16119002e-01 9.93233099e-01 -2.09500961e-03 -1.03068636e+02] [-1.54199051e-02 -3.06289057e-04 -9.99881059e-01 -4.03426429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters 0.014659652234901463 Centerline is valid? [True, True] Translation: X:226.30, Y:-102.47, Z:-5.01 [[-9.75094644e-01 -2.21292852e-01 1.48292955e-02 2.26302805e+02] [ 2.21271672e-01 -9.75207359e-01 -3.07471325e-03 -1.02469772e+02] [ 1.51420501e-02 2.83166573e-04 9.99885313e-01 -5.00689799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters 0.014121757809114266 Centerline is valid? [True, True] Translation: X:226.18, Y:-103.07, Z:-4.04 [[-9.93506105e-01 1.12888085e-01 1.42091559e-02 2.26175214e+02] [ 1.12872550e-01 9.93607671e-01 -1.89313655e-03 -1.03065041e+02] [-1.43320388e-02 -2.77019061e-04 -9.99897253e-01 -4.03637946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters 0.01388111486211584 Centerline is valid? [True, True] Translation: X:226.17, Y:-103.04, Z:-4.04 [[-9.99012653e-01 4.21511164e-02 1.40357855e-02 2.26173730e+02] [ 4.21431451e-02 9.99111210e-01 -8.63348750e-04 -1.03039106e+02] [-1.40597018e-02 -2.70984180e-04 -9.99901121e-01 -4.03693528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters 0.014356078015003652 Centerline is valid? [True, True] Translation: X:226.21, Y:-102.43, Z:-5.01 [[-9.88967333e-01 -1.47456777e-01 1.41461645e-02 2.26211865e+02] [ 1.47445848e-01 -9.89068459e-01 -1.81815435e-03 -1.02429608e+02] [ 1.42596243e-02 2.87697961e-04 9.99898285e-01 -5.00514227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters 0.014021248762792517 Centerline is valid? [True, True] Translation: X:226.12, Y:-103.04, Z:-4.04 [[-9.99135891e-01 3.90671400e-02 1.41855617e-02 2.26122702e+02] [ 3.90594872e-02 9.99236554e-01 -8.16234475e-04 -1.03039654e+02] [-1.42066198e-02 -2.61448393e-04 -9.99899047e-01 -4.03686241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters 0.013798828904318458 Centerline is valid? [True, True] Translation: X:226.12, Y:-103.02, Z:-4.04 [[-9.99454137e-01 -3.00255795e-02 1.37801387e-02 2.26115440e+02] [-3.00258560e-02 9.99549105e-01 1.86867845e-04 -1.03016010e+02] [-1.37795361e-02 -2.26994621e-04 -9.99905032e-01 -4.03713777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters 0.013186079883071272 Centerline is valid? [True, True] Translation: X:226.11, Y:-102.99, Z:-4.04 [[-9.95075884e-01 -9.82205764e-02 1.32929503e-02 2.26114056e+02] [-9.82142544e-02 9.95164652e-01 1.12914278e-03 -1.02993505e+02] [-1.33395794e-02 -1.81974458e-04 -9.99911007e-01 -4.03843055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters 0.012972628046679612 Centerline is valid? [True, True] Translation: X:226.06, Y:-102.36, Z:-5.00 [[-9.99881826e-01 6.02918689e-03 1.41415560e-02 2.26064992e+02] [-6.02513085e-03 -9.99981795e-01 3.29404213e-04 -1.02361338e+02] [ 1.41432846e-02 2.44160560e-04 9.99899949e-01 -5.00356480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters 0.012684172001611718 Centerline is valid? [True, True] Translation: X:226.04, Y:-103.01, Z:-4.04 [[-9.95265025e-01 -9.59885168e-02 1.52883524e-02 2.26044634e+02] [-9.59787075e-02 9.95382437e-01 1.37575188e-03 -1.03008140e+02] [-1.53498139e-02 -9.81185758e-05 -9.99882180e-01 -4.03731573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters 0.012565413663734228 Centerline is valid? [True, True] Translation: X:225.99, Y:-102.36, Z:-5.00 [[-9.99688918e-01 1.89125219e-02 1.62598672e-02 2.25991723e+02] [-1.89073864e-02 -9.99821129e-01 4.69516335e-04 -1.02358721e+02] [ 1.62658385e-02 1.61938685e-04 9.99867689e-01 -5.00358438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters 0.012673683769850765 Centerline is valid? [True, True] Translation: X:225.97, Y:-103.02, Z:-4.04 [[-9.95356242e-01 -9.47791176e-02 1.68187483e-02 2.25969488e+02] [-9.47655603e-02 9.95498327e-01 1.60303311e-03 -1.03022416e+02] [-1.68949698e-02 1.75091060e-06 -9.99857270e-01 -4.03857910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters 0.012657829088524336 Centerline is valid? [True, True] Translation: X:225.96, Y:-103.00, Z:-4.04 [[-9.86340571e-01 -1.63908382e-01 1.63193437e-02 2.25961802e+02] [-1.63885513e-01 9.86475566e-01 2.73803024e-03 -1.02997955e+02] [-1.65474199e-02 2.61262966e-05 -9.99863082e-01 -4.04005516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters 0.01270015303268259 Centerline is valid? [True, True] Translation: X:225.95, Y:-102.97, Z:-4.04 [[-9.72164966e-01 -2.33824568e-01 1.48778672e-02 2.25949849e+02] [-2.33796798e-01 9.72278803e-01 3.60370418e-03 -1.02973791e+02] [-1.53080695e-02 2.49972304e-05 -9.99882824e-01 -4.04082388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters 0.012617050446334563 Centerline is valid? [True, True] Translation: X:225.78, Y:-102.33, Z:-5.00 [[-9.85511881e-01 1.68908988e-01 1.53650667e-02 2.25783586e+02] [-1.68888561e-01 -9.85631652e-01 2.62684556e-03 -1.02326334e+02] [ 1.55879939e-02 -6.19648826e-06 9.99878500e-01 -5.00123459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters 0.012584691044776256 Centerline is valid? [True, True] Translation: X:225.84, Y:-103.00, Z:-4.04 [[-9.69594564e-01 -2.44257718e-01 1.49849614e-02 2.25835129e+02] [-2.44229278e-01 9.69710351e-01 3.72757217e-03 -1.02998911e+02] [-1.54415605e-02 -4.55325967e-05 -9.99880771e-01 -4.04016798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters 0.013047978625115685 Centerline is valid? [True, True] Translation: X:225.81, Y:-102.97, Z:-4.04 [[-9.47498428e-01 -3.19432144e-01 1.44856671e-02 2.25810833e+02] [-3.19397173e-01 9.47609141e-01 4.72882407e-03 -1.02974613e+02] [-1.52372890e-02 -1.46127765e-04 -9.99883895e-01 -4.03981378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters 0.013457066577699588 Centerline is valid? [True, True] Translation: X:225.58, Y:-102.36, Z:-5.00 [[-9.72852602e-01 2.30990563e-01 1.41836117e-02 2.25581388e+02] [-2.30964606e-01 -9.72955986e-01 3.46404691e-03 -1.02357708e+02] [ 1.46001921e-02 9.40947635e-05 9.99893407e-01 -5.00157953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters 0.015836934590095116 Centerline is valid? [True, True] Translation: X:225.67, Y:-103.01, Z:-4.04 [[-9.40925697e-01 -3.38387747e-01 1.23517726e-02 2.25672213e+02] [-3.38362835e-01 9.41006716e-01 4.11727374e-03 -1.03010428e+02] [-1.30163359e-02 -3.05332127e-04 -9.99915237e-01 -4.03972138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters 0.01793714351968804 Centerline is valid? [True, True] Translation: X:225.63, Y:-102.99, Z:-4.04 [[-9.11375662e-01 -4.11436517e-01 1.06955739e-02 2.25634263e+02] [-4.11412674e-01 9.11438352e-01 4.44324127e-03 -1.02991955e+02] [-1.15764680e-02 -3.50832714e-04 -9.99932929e-01 -4.03980432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters 0.019383773025991775 Centerline is valid? [True, True] Translation: X:225.59, Y:-102.98, Z:-4.04 [[-8.77563949e-01 -4.79358453e-01 9.84828918e-03 2.25588283e+02] [-4.79332945e-01 8.77619130e-01 4.95890327e-03 -1.02981180e+02] [-1.10201392e-02 -3.68854713e-04 -9.99939208e-01 -4.03902267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters 0.021483288215476903 Centerline is valid? [True, True] Translation: X:225.52, Y:-102.98, Z:-4.04 [[-8.38415079e-01 -5.44945965e-01 9.69802334e-03 2.25523740e+02] [-5.44915089e-01 8.38471066e-01 5.81524254e-03 -1.02983756e+02] [-1.13005049e-02 -4.09012222e-04 -9.99936064e-01 -4.03802418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters 0.02039789878472005 Centerline is valid? [True, True] Translation: X:225.46, Y:-103.00, Z:-4.04 [[-7.95383619e-01 -6.06032353e-01 9.47025456e-03 2.25457780e+02] [-6.05995719e-01 7.95439881e-01 6.67713786e-03 -1.02997180e+02] [-1.15795797e-02 -4.28047641e-04 -9.99932863e-01 -4.03836140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters 0.02090115087738407 Centerline is valid? [True, True] Translation: X:225.38, Y:-103.02, Z:-4.04 [[-7.47308111e-01 -6.64402087e-01 1.00227299e-02 2.25381701e+02] [-6.64351106e-01 7.47375154e-01 8.24542626e-03 -1.03021265e+02] [-1.29690177e-02 -4.96737765e-04 -9.99915775e-01 -4.03650242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters 0.021362046448668695 Centerline is valid? [True, True] Translation: X:225.31, Y:-103.05, Z:-4.04 [[-6.95516777e-01 -7.18444001e-01 9.72778591e-03 2.25307045e+02] [-7.18383912e-01 6.95584611e-01 9.30610165e-03 -1.03053113e+02] [-1.34524111e-02 -5.15735069e-04 -9.99909379e-01 -4.03549180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters 0.02116131853636911 Centerline is valid? [True, True] Translation: X:225.23, Y:-103.09, Z:-4.04 [[-6.39942082e-01 -7.68375829e-01 8.52737613e-03 2.25231723e+02] [-7.68317470e-01 6.39998712e-01 9.48229635e-03 -1.03094689e+02] [-1.27434771e-02 -4.83611589e-04 -9.99918682e-01 -4.03598809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters 0.021441439261364152 Centerline is valid? [True, True] Translation: X:225.15, Y:-103.15, Z:-4.04 [[-5.81405734e-01 -8.13581734e-01 7.22045630e-03 2.25150312e+02] [-8.13528009e-01 5.81450406e-01 9.35964129e-03 -1.03152129e+02] [-1.18131704e-02 -4.32294330e-04 -9.99930129e-01 -4.03649625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters 0.0213556258792107 Centerline is valid? [True, True] Translation: X:225.08, Y:-103.21, Z:-4.04 [[-5.19690031e-01 -8.54337063e-01 5.51855070e-03 2.25077607e+02] [-8.54295872e-01 5.19719212e-01 8.39663090e-03 -1.03211800e+02] [-1.00416498e-02 -3.50829709e-04 -9.99949520e-01 -4.03756573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters 0.01967723533252361 Centerline is valid? [True, True] Translation: X:225.01, Y:-103.29, Z:-4.04 [[-4.53824033e-01 -8.91079073e-01 4.67251995e-03 2.25005629e+02] [-8.91039150e-01 4.53847964e-01 8.44146239e-03 -1.03285215e+02] [-9.64262415e-03 -3.32459707e-04 -9.99953454e-01 -4.03802784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters 0.019922177730476356 Centerline is valid? [True, True] Translation: X:224.94, Y:-103.36, Z:-4.04 [[-3.84872571e-01 -9.22960831e-01 4.05072583e-03 2.24936848e+02] [-9.22918490e-01 3.84893742e-01 8.84688396e-03 -1.03361871e+02] [-9.72442639e-03 -3.33566796e-04 -9.99952661e-01 -4.03711194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters 0.020287264424611772 Centerline is valid? [True, True] Translation: X:224.87, Y:-103.45, Z:-4.04 [[-3.14019440e-01 -9.49411493e-01 3.09960277e-03 2.24873877e+02] [-9.49374282e-01 3.14034593e-01 8.41115226e-03 -1.03445762e+02] [-8.95902712e-03 -3.01417833e-04 -9.99959822e-01 -4.03668837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters 0.020866405844282114 Centerline is valid? [True, True] Translation: X:224.82, Y:-103.54, Z:-4.04 [[-2.41038079e-01 -9.70512624e-01 2.42710714e-03 2.24815166e+02] [-9.70475029e-01 2.41050117e-01 8.54742030e-03 -1.03539714e+02] [-8.88043377e-03 -2.95193108e-04 -9.99960525e-01 -4.03688261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters 0.01836626688034158 Centerline is valid? [True, True] Translation: X:224.77, Y:-103.64, Z:-4.04 [[-1.66192767e-01 -9.86091883e-01 1.66198504e-03 2.24767094e+02] [-9.86057905e-01 1.66200845e-01 8.19066767e-03 -1.03639913e+02] [-8.35297423e-03 -2.77583759e-04 -9.99965075e-01 -4.03767403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters 0.019441595675784292 Centerline is valid? [True, True] Translation: X:224.72, Y:-103.75, Z:-4.04 [[-8.99371788e-02 -9.95946922e-01 1.01585414e-03 2.24720134e+02] [-9.95913415e-01 8.99424906e-02 8.17424136e-03 -1.03749559e+02] [-8.23247897e-03 -2.76534555e-04 -9.99966074e-01 -4.03678110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters 0.019059659750094184 Centerline is valid? [True, True] Translation: X:224.69, Y:-103.85, Z:-4.04 [[-1.31203021e-02 -9.99913846e-01 3.97874997e-04 2.24685460e+02] [-9.99877901e-01 1.31232060e-02 8.48321577e-03 -1.03853253e+02] [-8.48770631e-03 -2.86524063e-04 -9.99963938e-01 -4.03665848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters 0.018750307525703905 Centerline is valid? [True, True] Translation: X:224.66, Y:-103.97, Z:-4.04 [[ 6.35924088e-02 -9.97975929e-01 -2.25338596e-04 2.24658942e+02] [-9.97947439e-01 -6.35922971e-02 7.54509627e-03 -1.03966756e+02] [-7.54415425e-03 -2.54934771e-04 -9.99971510e-01 -4.03776659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters 0.018807318711064135 Centerline is valid? [True, True] Translation: X:224.64, Y:-104.08, Z:-4.04 [[ 1.39337462e-01 -9.90244692e-01 -7.21874783e-04 2.24639271e+02] [-9.90221716e-01 -1.39339149e-01 6.74941349e-03 -1.04080178e+02] [-6.78415630e-03 -2.25630059e-04 -9.99976962e-01 -4.03875263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters 0.019260353249791563 Centerline is valid? [True, True] Translation: X:224.63, Y:-104.20, Z:-4.04 [[ 2.14738222e-01 -9.76670790e-01 -1.28984532e-03 2.24628588e+02] [-9.76646030e-01 -2.14741968e-01 6.95841116e-03 -1.04196366e+02] [-7.07306084e-03 -2.34514535e-04 -9.99974958e-01 -4.03888607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters 0.01970927703867146 Centerline is valid? [True, True] Translation: X:224.63, Y:-104.32, Z:-4.04 [[ 2.88193774e-01 -9.57570103e-01 -1.96107119e-03 2.24627330e+02] [-9.57541763e-01 -2.88200341e-01 7.37130686e-03 -1.04316194e+02] [-7.62372446e-03 -2.46557182e-04 -9.99970909e-01 -4.03851499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters 0.017811038916085487 Centerline is valid? [True, True] Translation: X:224.64, Y:-104.43, Z:-4.04 [[ 3.58078732e-01 -9.33686315e-01 -3.08016941e-03 2.24636907e+02] [-9.33644888e-01 -3.58091874e-01 8.79963495e-03 -1.04428471e+02] [-9.31908236e-03 -2.75177705e-04 -9.99956539e-01 -4.03815329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters 0.01579429219596034 Centerline is valid? [True, True] Translation: X:224.66, Y:-104.54, Z:-4.04 [[ 4.23982837e-01 -9.05659155e-01 -4.47766547e-03 2.24655547e+02] [-9.05601690e-01 -4.24006394e-01 1.02057229e-02 -1.04537760e+02] [-1.11414651e-02 -2.72069927e-04 -9.99937895e-01 -4.03789067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters 0.014583434746255735 Centerline is valid? [True, True] Translation: X:224.68, Y:-104.65, Z:-4.04 [[ 4.88618948e-01 -8.72479886e-01 -5.51101800e-03 2.24683931e+02] [-8.72418783e-01 -4.88649968e-01 1.03284319e-02 -1.04650886e+02] [-1.17043079e-02 -2.38751921e-04 -9.99931474e-01 -4.03789274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters 0.012810936208501982 Centerline is valid? [True, True] Translation: X:224.72, Y:-104.75, Z:-4.04 [[ 5.46856549e-01 -8.37201813e-01 -6.40627030e-03 2.24716230e+02] [-8.37141301e-01 -5.46894053e-01 1.00666699e-02 -1.04747404e+02] [-1.19313854e-02 -1.42070888e-04 -9.99928808e-01 -4.03885336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters 0.012436782472812036 Centerline is valid? [True, True] Translation: X:224.76, Y:-104.85, Z:-4.04 [[ 6.04024626e-01 -7.96938026e-01 -6.63577300e-03 2.24757601e+02] [-7.96888873e-01 -6.04061072e-01 8.85127975e-03 -1.04848647e+02] [-1.10623336e-02 -5.84172751e-05 -9.99938809e-01 -4.03803007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters 0.012198561051187039 Centerline is valid? [True, True] Translation: X:224.81, Y:-104.94, Z:-4.04 [[ 6.55974901e-01 -7.54756303e-01 -6.31278317e-03 2.24806500e+02] [-7.54721939e-01 -6.56005275e-01 7.20236558e-03 -1.04941372e+02] [-9.57724988e-03 3.98249020e-05 -9.99954136e-01 -4.03954815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters 0.013052839900273961 Centerline is valid? [True, True] Translation: X:224.86, Y:-105.03, Z:-4.04 [[ 7.06113987e-01 -7.08070510e-01 -6.26019880e-03 2.24858372e+02] [-7.08043987e-01 -7.06141729e-01 6.12952177e-03 -1.05028628e+02] [-8.76072122e-03 1.04355063e-04 -9.99961619e-01 -4.03991116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters 0.014263886229959418 Centerline is valid? [True, True] Translation: X:224.88, Y:-105.05, Z:-4.04 [[ 7.55878425e-01 -6.54678434e-01 -6.62983427e-03 2.24879108e+02] [-6.54654960e-01 -7.55907485e-01 5.54596793e-03 -1.05054117e+02] [-8.64236695e-03 1.48176385e-04 -9.99962643e-01 -4.03968860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters 0.014692703926874386 Centerline is valid? [True, True] Translation: X:224.90, Y:-105.08, Z:-4.04 [[ 8.03779351e-01 -5.94896052e-01 -6.11904198e-03 2.24900320e+02] [-5.94880139e-01 -8.03802630e-01 4.35347013e-03 -1.05080139e+02] [-7.50836422e-03 1.40867150e-04 -9.99971802e-01 -4.03937448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters 0.014430839370031104 Centerline is valid? [True, True] Translation: X:224.92, Y:-105.11, Z:-4.04 [[ 8.47263567e-01 -5.31141270e-01 -5.77923441e-03 2.24920531e+02] [-5.31129984e-01 -8.47283267e-01 3.46501831e-03 -1.05108360e+02] [-6.73706283e-03 1.33740901e-04 -9.99977297e-01 -4.03922668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters 0.014852037349979896 Centerline is valid? [True, True] Translation: X:224.94, Y:-105.13, Z:-4.04 [[ 8.86170887e-01 -4.63321415e-01 -5.86731350e-03 2.24944223e+02] [-4.63312229e-01 -8.86190301e-01 2.92035129e-03 -1.05131560e+02] [-6.55261761e-03 1.30467801e-04 -9.99978523e-01 -4.03847586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters 0.01409072832530037 Centerline is valid? [True, True] Translation: X:224.97, Y:-105.16, Z:-4.04 [[ 9.20581051e-01 -3.90509775e-01 -5.71353151e-03 2.24968859e+02] [-3.90502981e-01 -9.20598775e-01 2.30599163e-03 -1.05157606e+02] [-6.16038238e-03 1.08298888e-04 -9.99981019e-01 -4.03873533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters 0.012845433976331021 Centerline is valid? [True, True] Translation: X:224.99, Y:-105.18, Z:-4.04 [[ 9.50428038e-01 -3.10897899e-01 -5.38887392e-03 2.24994164e+02] [-3.10893265e-01 -9.50443314e-01 1.69860269e-03 -1.05184007e+02] [-5.64991120e-03 6.09649825e-05 -9.99984037e-01 -4.03855818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters 0.011804054511468693 Centerline is valid? [True, True] Translation: X:225.02, Y:-105.21, Z:-4.04 [[ 9.73950828e-01 -2.26712001e-01 -4.63181977e-03 2.25021850e+02] [-2.26709475e-01 -9.73961841e-01 1.07035958e-03 -1.05212458e+02] [-4.75387908e-03 7.59982612e-06 -9.99988700e-01 -4.03918121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters 0.011793452677157404 Centerline is valid? [True, True] Translation: X:225.05, Y:-105.23, Z:-4.04 [[ 9.89171599e-01 -1.46702817e-01 -4.22263814e-03 2.25052509e+02] [-1.46701451e-01 -9.89180612e-01 6.33167870e-04 -1.05229723e+02] [-4.26983929e-03 -6.84453304e-06 -9.99990884e-01 -4.03926644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters 0.012181659825446481 Centerline is valid? [True, True] Translation: X:225.08, Y:-105.25, Z:-4.04 [[ 9.98047518e-01 -6.23394996e-02 -3.86517451e-03 2.25081854e+02] [-6.23389103e-02 -9.98055001e-01 2.72864506e-04 -1.05249364e+02] [-3.87466698e-03 -3.13809763e-05 -9.99992493e-01 -4.03977532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters 0.013688394222441749 Centerline is valid? [True, True] Translation: X:225.11, Y:-105.27, Z:-4.04 [[ 9.99688763e-01 2.43841216e-02 -5.27178545e-03 2.25113173e+02] [ 2.43842410e-02 -9.99702659e-01 -4.16357365e-05 -1.05268009e+02] [-5.27123319e-03 -8.69257092e-05 -9.99986103e-01 -4.03787540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters 0.014871182519237556 Centerline is valid? [True, True] Translation: X:225.15, Y:-105.28, Z:-4.04 [[ 9.94204225e-01 1.07402519e-01 -4.75995633e-03 2.25146634e+02] [ 1.07401778e-01 -9.94215615e-01 -4.11682056e-04 -1.05278957e+02] [-4.77663860e-03 -1.01931735e-04 -9.99988587e-01 -4.03807877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters 0.017116703762147956 Centerline is valid? [True, True] Translation: X:225.18, Y:-105.29, Z:-4.04 [[ 9.81753508e-01 1.90089707e-01 -5.09428913e-03 2.25179648e+02] [ 1.90087872e-01 -9.81766716e-01 -8.46537322e-04 -1.05287841e+02] [-5.16232154e-03 -1.37271594e-04 -9.99986666e-01 -4.03760373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters 0.01848095413696965 Centerline is valid? [True, True] Translation: X:225.21, Y:-105.29, Z:-4.04 [[ 9.63300544e-01 2.68357190e-01 -6.03986943e-03 2.25213311e+02] [ 2.68353071e-01 -9.63319462e-01 -1.49743956e-03 -1.05288834e+02] [-6.22017244e-03 -1.78333171e-04 -9.99980639e-01 -4.03610753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters 0.018242577623329606 Centerline is valid? [True, True] Translation: X:225.25, Y:-105.29, Z:-4.04 [[ 9.38872286e-01 3.44205324e-01 -6.44397174e-03 2.25247139e+02] [ 3.44198698e-01 -9.38894378e-01 -2.14550795e-03 -1.05285541e+02] [-6.78870410e-03 -2.03648722e-04 -9.99976936e-01 -4.03500689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters 0.01831515728212651 Centerline is valid? [True, True] Translation: X:225.28, Y:-105.28, Z:-4.04 [[ 9.09283087e-01 4.16130877e-01 -6.27389130e-03 2.25280761e+02] [ 4.16122481e-01 -9.09304709e-01 -2.65096890e-03 -1.05278256e+02] [-6.80802891e-03 -2.00226023e-04 -9.99976805e-01 -4.03531952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters 0.017337015224528726 Centerline is valid? [True, True] Translation: X:225.31, Y:-105.27, Z:-4.04 [[ 8.74756563e-01 4.84527950e-01 -5.79835581e-03 2.25312221e+02] [ 4.84518667e-01 -8.74775761e-01 -3.00481229e-03 -1.05267098e+02] [-6.52817666e-03 -1.80932349e-04 -9.99978675e-01 -4.03626368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters 0.016215539627902828 Centerline is valid? [True, True] Translation: X:225.34, Y:-105.25, Z:-4.04 [[ 8.34890166e-01 5.50387626e-01 -5.64559091e-03 2.25343638e+02] [ 5.50376450e-01 -8.34909235e-01 -3.51175520e-03 -1.05254918e+02] [-6.64638259e-03 -1.75270405e-04 -9.99977897e-01 -4.03737508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters 0.01628104128334047 Centerline is valid? [True, True] Translation: X:225.38, Y:-105.24, Z:-4.04 [[ 7.89280302e-01 6.14012156e-01 -5.06718520e-03 2.25375746e+02] [ 6.14000836e-01 -7.89296551e-01 -3.73204004e-03 -1.05242506e+02] [-6.29102976e-03 -1.65630257e-04 -9.99980198e-01 -4.03754113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters 0.016817476829925657 Centerline is valid? [True, True] Translation: X:225.41, Y:-105.23, Z:-4.04 [[ 7.38609713e-01 6.74110801e-01 -5.50634528e-03 2.25405515e+02] [ 6.74093999e-01 -7.38630213e-01 -4.76328841e-03 -1.05227738e+02] [-7.27813715e-03 -1.93583229e-04 -9.99973495e-01 -4.03709063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters 0.016928337408925142 Centerline is valid? [True, True] Translation: X:225.43, Y:-105.21, Z:-4.04 [[ 6.84311523e-01 7.29169670e-01 -5.41586081e-03 2.25432460e+02] [ 7.29149085e-01 -6.84332926e-01 -5.48261009e-03 -1.05207062e+02] [-7.70400486e-03 -1.97156699e-04 -9.99970304e-01 -4.03756048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters 0.015708435322542468 Centerline is valid? [True, True] Translation: X:225.46, Y:-105.19, Z:-4.04 [[ 6.25469965e-01 7.80232659e-01 -4.93170718e-03 2.25459303e+02] [ 7.80210794e-01 -6.25489377e-01 -5.84430482e-03 -1.05186205e+02] [-7.64464794e-03 -1.92334042e-04 -9.99970761e-01 -4.03898503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters 0.01541237494678998 Centerline is valid? [True, True] Translation: X:225.49, Y:-105.17, Z:-4.04 [[ 5.62884161e-01 8.26521267e-01 -4.90070751e-03 2.25486297e+02] [ 8.26493089e-01 -5.62905456e-01 -6.82800133e-03 -1.05165050e+02] [-8.40212330e-03 -2.07027086e-04 -9.99964680e-01 -4.03984200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters 0.017156065147283312 Centerline is valid? [True, True] Translation: X:225.51, Y:-105.14, Z:-4.04 [[ 4.94552983e-01 8.69133396e-01 -4.94837509e-03 2.25513396e+02] [ 8.69094960e-01 -4.94577672e-01 -8.17786030e-03 -1.05144157e+02] [-9.55500733e-03 -2.56222641e-04 -9.99954317e-01 -4.03891691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters 0.018252478601261248 Centerline is valid? [True, True] Translation: X:225.54, Y:-105.12, Z:-4.04 [[ 4.21890026e-01 9.06633365e-01 -4.97472447e-03 2.25536405e+02] [ 9.06579415e-01 -4.21919222e-01 -9.89614945e-03 -1.05119349e+02] [-1.10711112e-02 -3.34896050e-04 -9.99938657e-01 -4.03798273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters 0.017397299405124154 Centerline is valid? [True, True] Translation: X:225.56, Y:-105.09, Z:-4.04 [[ 3.47828618e-01 9.37546456e-01 -4.67919416e-03 2.25557020e+02] [ 9.37476391e-01 -3.47859863e-01 -1.14687208e-02 -1.05092007e+02] [-1.23801624e-02 -3.97484736e-04 -9.99923284e-01 -4.03837227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters 0.018554638779220294 Centerline is valid? [True, True] Translation: X:225.58, Y:-105.06, Z:-4.04 [[ 2.73583199e-01 9.61841306e-01 -3.67910325e-03 2.25575187e+02] [ 9.61772314e-01 -2.73607665e-01 -1.15265301e-02 -1.05064581e+02] [-1.20933236e-02 -3.84994658e-04 -9.99926799e-01 -4.03807318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters 0.018382570815787633 Centerline is valid? [True, True] Translation: X:225.59, Y:-105.03, Z:-4.04 [[ 1.97983420e-01 9.80201792e-01 -2.64801265e-03 2.25587807e+02] [ 9.80136929e-01 -1.98000798e-01 -1.12820754e-02 -1.05033744e+02] [-1.15830191e-02 -3.61751108e-04 -9.99932849e-01 -4.03881998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters 0.018007103660819694 Centerline is valid? [True, True] Translation: X:225.60, Y:-105.00, Z:-4.04 [[ 1.21457542e-01 9.92595448e-01 -1.53024742e-03 2.25598171e+02] [ 9.92545286e-01 -1.21466796e-01 -9.98359992e-03 -1.05002956e+02] [-1.00955501e-02 -3.06256357e-04 -9.99948992e-01 -4.03971409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters 0.01702070109418969 Centerline is valid? [True, True] Translation: X:225.60, Y:-104.97, Z:-4.04 [[ 4.57764754e-02 9.98951482e-01 -6.71402015e-04 2.25604339e+02] [ 9.98910139e-01 -4.57806915e-02 -9.09184947e-03 -1.04971520e+02] [-9.11305375e-03 -2.54477457e-04 -9.99958443e-01 -4.04046475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters 0.017027266970604613 Centerline is valid? [True, True] Translation: X:225.61, Y:-104.94, Z:-4.04 [[-3.18695894e-02 9.99492035e-01 4.11229401e-05 2.25608607e+02] [ 9.99454130e-01 3.18687391e-02 -8.70773458e-03 -1.04940016e+02] [-8.70462189e-03 -2.36411433e-04 -9.99962086e-01 -4.04055034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters 0.018996403174621618 Centerline is valid? [True, True] Translation: X:225.61, Y:-104.91, Z:-4.04 [[-1.11478573e-01 9.93766379e-01 9.54534392e-04 2.25613382e+02] [ 9.93700427e-01 1.11482176e-01 -1.14536700e-02 -1.04908715e+02] [-1.14886857e-02 -3.28317553e-04 -9.99933949e-01 -4.03731472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters 0.017071563240518672 Centerline is valid? [True, True] Translation: X:225.61, Y:-104.88, Z:-4.04 [[-1.91771131e-01 9.81437216e-01 2.19641505e-03 2.25614670e+02] [ 9.81344772e-01 1.91783229e-01 -1.34770718e-02 -1.04875840e+02] [-1.36481354e-02 -4.29072871e-04 -9.99906768e-01 -4.03757066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters 0.01801238649393536 Centerline is valid? [True, True] Translation: X:225.62, Y:-104.84, Z:-4.04 [[-2.69483975e-01 9.62999125e-01 3.32760589e-03 2.25616150e+02] [ 9.62903205e-01 2.69504125e-01 -1.35994114e-02 -1.04842918e+02] [-1.39930248e-02 -4.60661057e-04 -9.99901987e-01 -4.03727331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters 0.018866349065563066 Centerline is valid? [True, True] Translation: X:225.61, Y:-104.81, Z:-4.04 [[-3.44985826e-01 9.38599433e-01 3.98553231e-03 2.25612855e+02] [ 9.38521628e-01 3.45008577e-01 -1.20927842e-02 -1.04810385e+02] [-1.27253232e-02 -4.31330873e-04 -9.99918937e-01 -4.03776483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters 0.018353276459827286 Centerline is valid? [True, True] Translation: X:225.61, Y:-104.78, Z:-4.04 [[-4.17580919e-01 9.08629288e-01 4.35812990e-03 2.25606563e+02] [ 9.08569837e-01 4.17603484e-01 -1.04010349e-02 -1.04778797e+02] [-1.12706552e-02 -3.83608337e-04 -9.99936411e-01 -4.03947894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters 0.017942436941013325 Centerline is valid? [True, True] Translation: X:225.60, Y:-104.75, Z:-4.04 [[-4.87377485e-01 8.73178808e-01 4.68580352e-03 2.25598698e+02] [ 8.73131382e-01 4.87399886e-01 -9.10715331e-03 -1.04747656e+02] [-1.02360334e-02 -3.47299377e-04 -9.99947550e-01 -4.04049870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters 0.021190755922963912 Centerline is valid? [True, True] Translation: X:225.59, Y:-104.72, Z:-4.04 [[-5.54701462e-01 8.32031317e-01 5.49321622e-03 2.25592551e+02] [ 8.31983930e-01 5.54728544e-01 -8.88721926e-03 -1.04715983e+02] [-1.04416886e-02 -3.59485891e-04 -9.99945419e-01 -4.03926039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters 0.01978191774190146 Centerline is valid? [True, True] Translation: X:225.58, Y:-104.69, Z:-4.04 [[-6.18377133e-01 7.85856389e-01 6.28143644e-03 2.25577221e+02] [ 7.85809648e-01 6.18408925e-01 -8.57889074e-03 -1.04688640e+02] [-1.06262725e-02 -3.68976503e-04 -9.99943472e-01 -4.03935544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters 0.018882526506691467 Centerline is valid? [True, True] Translation: X:225.56, Y:-104.66, Z:-4.04 [[-6.77532296e-01 7.35456190e-01 7.36075633e-03 2.25560466e+02] [ 7.35406517e-01 6.77572170e-01 -8.55624228e-03 -1.04661478e+02] [-1.12801850e-02 -3.83982310e-04 -9.99936303e-01 -4.03897450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters 0.018123682379803604 Centerline is valid? [True, True] Translation: X:225.54, Y:-104.64, Z:-4.04 [[-7.31939222e-01 6.81324659e-01 7.85393851e-03 2.25541893e+02] [ 6.81280104e-01 7.31981271e-01 -7.79989912e-03 -1.04635283e+02] [-1.10631995e-02 -3.58320044e-04 -9.99938737e-01 -4.03932361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters 0.017320007758175077 Centerline is valid? [True, True] Translation: X:225.56, Y:-104.62, Z:-4.04 [[-7.77347920e-01 6.29014955e-01 8.39034975e-03 2.25558567e+02] [ 6.28973517e-01 7.77393125e-01 -7.22799512e-03 -1.04618076e+02] [-1.10691172e-02 -3.41359182e-04 -9.99938677e-01 -4.04008611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters 0.016001858357019744 Centerline is valid? [True, True] Translation: X:225.97, Y:-104.14, Z:-5.00 [[-6.93353265e-01 -7.20560915e-01 7.29506058e-03 2.25966899e+02] [ 7.20525088e-01 -6.93391588e-01 -7.19055172e-03 -1.04139204e+02] [ 1.02395642e-02 2.70681652e-04 9.99947538e-01 -5.00132693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters 0.014195643133074856 Centerline is valid? [True, True] Translation: X:225.53, Y:-104.61, Z:-4.04 [[-7.74031808e-01 6.33104599e-01 7.30251909e-03 2.25526469e+02] [ 6.33073814e-01 7.74066226e-01 -6.24697740e-03 -1.04605564e+02] [-9.60762351e-03 -2.12325607e-04 -9.99953823e-01 -4.04156959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters 0.013646810336877768 Centerline is valid? [True, True] Translation: X:225.54, Y:-104.59, Z:-4.04 [[-8.15291077e-01 5.79001132e-01 7.62559254e-03 2.25540799e+02] [ 5.78973695e-01 8.15326717e-01 -5.63957499e-03 -1.04585960e+02] [-9.48266964e-03 -1.82877683e-04 -9.99955022e-01 -4.04131723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters 0.013186748932770014 Centerline is valid? [True, True] Translation: X:225.55, Y:-104.57, Z:-4.04 [[-8.52945672e-01 5.21936589e-01 8.11649477e-03 2.25554709e+02] [ 5.21911139e-01 8.52984273e-01 -5.15682383e-03 -1.04565230e+02] [-9.61477744e-03 -1.62401538e-04 -9.99953764e-01 -4.04099569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters 0.012434400825686491 Centerline is valid? [True, True] Translation: X:225.91, Y:-104.01, Z:-5.00 [[-7.98984526e-01 -6.01286831e-01 8.82466108e-03 2.25909650e+02] [ 6.01253603e-01 -7.99033218e-01 -6.32620070e-03 -1.04010489e+02] [ 1.08550585e-02 2.51322806e-04 9.99941051e-01 -5.00155265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters 0.011924389807718701 Centerline is valid? [True, True] Translation: X:225.52, Y:-104.55, Z:-4.04 [[-8.50240335e-01 5.26310113e-01 9.43600594e-03 2.25519214e+02] [ 5.26276494e-01 8.50292688e-01 -5.94941424e-03 -1.04552940e+02] [-1.11546037e-02 -9.24838327e-05 -9.99937781e-01 -4.03987223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters 0.011664070677043748 Centerline is valid? [True, True] Translation: X:225.54, Y:-104.53, Z:-4.04 [[-8.83487757e-01 4.68360090e-01 9.39196622e-03 2.25535986e+02] [ 4.68333081e-01 8.83537676e-01 -5.02999537e-03 -1.04534921e+02] [-1.06540051e-02 -4.53708479e-05 -9.99943243e-01 -4.03917740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters 0.01168137972122119 Centerline is valid? [True, True] Translation: X:225.55, Y:-104.52, Z:-4.04 [[-9.11971200e-01 4.10168592e-01 8.38193075e-03 2.25548979e+02] [ 4.10151433e-01 9.12009718e-01 -3.75182697e-03 -1.04517383e+02] [-9.18328388e-03 1.63027686e-05 -9.99957833e-01 -4.04048859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters 0.011759444365744732 Centerline is valid? [True, True] Translation: X:225.56, Y:-104.50, Z:-4.04 [[-9.37789714e-01 3.47116409e-01 7.78790671e-03 2.25561290e+02] [ 3.47104772e-01 9.37822050e-01 -2.84253395e-03 -1.04496211e+02] [-8.29036081e-03 3.75204842e-05 -9.99965634e-01 -4.04105781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters 0.011910312683563915 Centerline is valid? [True, True] Translation: X:225.57, Y:-104.47, Z:-4.04 [[-9.59866720e-01 2.80350299e-01 7.71949745e-03 2.25569216e+02] [ 2.80341577e-01 9.59897759e-01 -2.21170196e-03 -1.04471294e+02] [-8.02997961e-03 4.11569886e-05 -9.99967758e-01 -4.04070866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters 0.01180099032258625 Centerline is valid? [True, True] Translation: X:225.57, Y:-104.44, Z:-4.04 [[-9.77714440e-01 2.09787368e-01 7.98333473e-03 2.25574574e+02] [ 2.09780597e-01 9.77747033e-01 -1.68572333e-03 -1.04443930e+02] [-8.15932530e-03 2.65926803e-05 -9.99966712e-01 -4.04052771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters 0.011746603316709767 Centerline is valid? [True, True] Translation: X:225.57, Y:-104.41, Z:-4.04 [[-9.90764619e-01 1.35339110e-01 8.29424496e-03 2.25573108e+02] [ 1.35334271e-01 9.90799336e-01 -1.14460933e-03 -1.04413667e+02] [-8.37284281e-03 -1.15428360e-05 -9.99964947e-01 -4.04026924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters 0.011865653882951407 Centerline is valid? [True, True] Translation: X:225.57, Y:-104.38, Z:-4.04 [[-9.98106537e-01 6.09279805e-02 8.43334212e-03 2.25573539e+02] [ 6.09254364e-02 9.98142164e-01 -5.58490958e-04 -1.04384366e+02] [-8.45170208e-03 -4.36284282e-05 -9.99964283e-01 -4.04017587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters 0.012407036237945328 Centerline is valid? [True, True] Translation: X:225.62, Y:-103.70, Z:-5.00 [[-9.89775811e-01 -1.42360503e-01 8.79385514e-03 2.25615154e+02] [ 1.42355554e-01 -9.89814872e-01 -1.18938157e-03 -1.03704024e+02] [ 8.87360956e-03 7.46330138e-05 9.99960626e-01 -5.00259818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters 0.012946461747968685 Centerline is valid? [True, True] Translation: X:225.51, Y:-104.38, Z:-4.04 [[-9.98739452e-01 4.94179712e-02 8.79612979e-03 2.25508929e+02] [ 4.94150733e-02 9.98778179e-01 -5.46616831e-04 -1.04376901e+02] [-8.81239520e-03 -1.11266395e-04 -9.99961164e-01 -4.03903008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters 0.013565364059454722 Centerline is valid? [True, True] Translation: X:225.56, Y:-103.70, Z:-5.00 [[-9.89680442e-01 -1.43030790e-01 8.64965707e-03 2.25559456e+02] [ 1.43026248e-01 -9.89718234e-01 -1.14458445e-03 -1.03702616e+02] [ 8.72443414e-03 1.04355155e-04 9.99961936e-01 -5.00358477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters 0.013287580521347118 Centerline is valid? [True, True] Translation: X:225.46, Y:-104.38, Z:-4.04 [[-9.99014597e-01 4.35761993e-02 8.42320953e-03 2.25459668e+02] [ 4.35736197e-02 9.99050099e-01 -4.89609677e-04 -1.04376631e+02] [-8.43654364e-03 -1.22097486e-04 -9.99964404e-01 -4.03877027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters 0.013358634846205392 Centerline is valid? [True, True] Translation: X:225.50, Y:-103.70, Z:-5.00 [[-9.90184083e-01 -1.39512926e-01 8.46317609e-03 2.25503293e+02] [ 1.39508946e-01 -9.90220242e-01 -1.06175132e-03 -1.03695795e+02] [ 8.52853630e-03 1.29359518e-04 9.99963623e-01 -5.00311264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters 0.013975153183248379 Centerline is valid? [True, True] Translation: X:225.41, Y:-104.38, Z:-4.04 [[-9.99242493e-01 3.78035968e-02 9.23736795e-03 2.25406527e+02] [ 3.78005980e-02 9.99285177e-01 -4.99072174e-04 -1.04376824e+02] [-9.24963160e-03 -1.49516090e-04 -9.99957210e-01 -4.03799896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters 0.014087366930711095 Centerline is valid? [True, True] Translation: X:225.44, Y:-103.69, Z:-5.00 [[-9.90302259e-01 -1.38556598e-01 1.01737746e-02 2.25443140e+02] [ 1.38551677e-01 -9.90354490e-01 -1.19040465e-03 -1.03691384e+02] [ 1.02405818e-02 2.30733109e-04 9.99947537e-01 -5.00401706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters 0.015166233467331794 Centerline is valid? [True, True] Translation: X:225.33, Y:-104.37, Z:-4.04 [[-9.99530412e-01 2.85773422e-02 1.10585080e-02 2.25331023e+02] [ 2.85729610e-02 9.99591556e-01 -5.54006199e-04 -1.04372151e+02] [-1.10698232e-02 -2.37771728e-04 -9.99938699e-01 -4.03676051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters 0.015534214643739035 Centerline is valid? [True, True] Translation: X:225.39, Y:-103.69, Z:-5.00 [[-9.89903547e-01 -1.41239775e-01 1.19287341e-02 2.25387768e+02] [ 1.41233423e-01 -9.89975365e-01 -1.37747507e-03 -1.03689556e+02] [ 1.20037071e-02 3.21168485e-04 9.99927901e-01 -5.00474150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters 0.017402166995275407 Centerline is valid? [True, True] Translation: X:225.29, Y:-104.37, Z:-4.04 [[-9.99721760e-01 2.04808598e-02 1.17019873e-02 2.25288046e+02] [ 2.04759384e-02 9.99790200e-01 -5.40230742e-04 -1.04369866e+02] [-1.17105966e-02 -3.00471258e-04 -9.99931383e-01 -4.03594114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters 0.01836518917229677 Centerline is valid? [True, True] Translation: X:225.29, Y:-104.34, Z:-4.04 [[-9.98586710e-01 -5.19503467e-02 1.12135632e-02 2.25286503e+02] [-5.19504858e-02 9.98649623e-01 2.79079825e-04 -1.04343883e+02] [-1.12129190e-02 -3.03864653e-04 -9.99937087e-01 -4.03667742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters 0.016620452468829663 Centerline is valid? [True, True] Translation: X:225.28, Y:-103.66, Z:-5.00 [[-9.97430433e-01 -7.06436472e-02 1.19166866e-02 2.25280860e+02] [ 7.06430341e-02 -9.97501548e-01 -4.72897534e-04 -1.03656132e+02] [ 1.19203206e-02 3.70148510e-04 9.99928882e-01 -5.00325906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters 0.01729075204609845 Centerline is valid? [True, True] Translation: X:225.23, Y:-104.35, Z:-4.04 [[-9.98185447e-01 -5.89142065e-02 1.24470730e-02 2.25228899e+02] [-5.89142076e-02 9.98262982e-01 3.66899955e-04 -1.04349572e+02] [-1.24470679e-02 -3.67075250e-04 -9.99922465e-01 -4.03763664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters 0.017645010427466697 Centerline is valid? [True, True] Translation: X:225.22, Y:-104.32, Z:-4.04 [[-9.91346419e-01 -1.30763737e-01 1.15378994e-02 2.25219198e+02] [-1.30759036e-01 9.91413496e-01 1.16419003e-03 -1.04323555e+02] [-1.15910630e-02 -3.54568979e-04 -9.99932759e-01 -4.03848503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters 0.017824128166700263 Centerline is valid? [True, True] Translation: X:225.22, Y:-104.30, Z:-4.04 [[-9.79429511e-01 -2.01492558e-01 1.08895039e-02 2.25215693e+02] [-2.01483994e-01 9.79489985e-01 1.88924436e-03 -1.04296853e+02] [-1.10468287e-02 -3.43679066e-04 -9.99938923e-01 -4.03936540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters 0.01762948542707939 Centerline is valid? [True, True] Translation: X:225.20, Y:-104.27, Z:-4.04 [[-9.62857758e-01 -2.69761432e-01 1.15632150e-02 2.25203237e+02] [-2.69746420e-01 9.62927122e-01 2.86824766e-03 -1.04272348e+02] [-1.19082760e-02 -3.57421349e-04 -9.99929030e-01 -4.03881779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters 0.016383777287630786 Centerline is valid? [True, True] Translation: X:225.18, Y:-104.25, Z:-4.04 [[-9.41886977e-01 -3.35690262e-01 1.26874241e-02 2.25178144e+02] [-3.35665047e-01 9.41972353e-01 4.13081438e-03 -1.04253439e+02] [-1.33378768e-02 -3.67964520e-04 -9.99910979e-01 -4.03777847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters 0.01711296771082748 Centerline is valid? [True, True] Translation: X:225.14, Y:-104.24, Z:-4.04 [[-9.15469452e-01 -4.02194550e-01 1.24590146e-02 2.25144609e+02] [-4.02162655e-01 9.15554156e-01 5.07793034e-03 -1.04236247e+02] [-1.34492185e-02 -3.61860274e-04 -9.99909490e-01 -4.03723497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters 0.015858224026244195 Centerline is valid? [True, True] Translation: X:225.09, Y:-104.23, Z:-4.04 [[-8.84532862e-01 -4.66338143e-01 1.14172227e-02 2.25092408e+02] [-4.66303826e-01 8.84606488e-01 5.66594423e-03 -1.04233439e+02] [-1.27419952e-02 -3.12180768e-04 -9.99918769e-01 -4.03873175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters 0.014877299844502567 Centerline is valid? [True, True] Translation: X:225.03, Y:-104.24, Z:-4.04 [[-8.48897649e-01 -5.28449007e-01 1.06971404e-02 2.25031144e+02] [-5.28411129e-01 8.48965000e-01 6.33311757e-03 -1.04239018e+02] [-1.24282275e-02 -2.76319423e-04 -9.99922728e-01 -4.03946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters 0.01602677609132036 Centerline is valid? [True, True] Translation: X:224.96, Y:-104.25, Z:-4.04 [[-8.08597581e-01 -5.88268468e-01 1.04958102e-02 2.24958329e+02] [-5.88222987e-01 8.08665657e-01 7.31937278e-03 -1.04251818e+02] [-1.27933575e-02 -2.55449729e-04 -9.99918129e-01 -4.03780885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters 0.014120132534467618 Centerline is valid? [True, True] Translation: X:224.88, Y:-104.28, Z:-4.04 [[-7.63301972e-01 -6.45953876e-01 1.06625437e-02 2.24880858e+02] [-6.45895490e-01 7.63376398e-01 8.68855556e-03 -1.04281713e+02] [-1.37519404e-02 -2.54897301e-04 -9.99905405e-01 -4.03907822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters 0.013726943906486832 Centerline is valid? [True, True] Translation: X:224.80, Y:-104.32, Z:-4.04 [[-7.13601071e-01 -7.00471145e-01 1.06623639e-02 2.24798071e+02] [-7.00398194e-01 7.13680679e-01 1.01122888e-02 -1.04321079e+02] [-1.46928896e-02 -2.51760277e-04 -9.99892022e-01 -4.03889436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters 0.01366221465849351 Centerline is valid? [True, True] Translation: X:224.72, Y:-104.36, Z:-4.04 [[-6.59058528e-01 -7.52033985e-01 9.31351493e-03 2.24719200e+02] [-7.51963803e-01 6.59124292e-01 1.02765401e-02 -1.04364263e+02] [-1.38670713e-02 -2.30584726e-04 -9.99903821e-01 -4.03937021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters 0.013465395095118075 Centerline is valid? [True, True] Translation: X:224.64, Y:-104.42, Z:-4.04 [[-6.01716101e-01 -7.98674199e-01 7.56684038e-03 2.24639946e+02] [-7.98614823e-01 6.01763650e-01 9.74035392e-03 -1.04419064e+02] [-1.23328189e-02 -1.82063106e-04 -9.99923931e-01 -4.04048535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters 0.01318911703709873 Centerline is valid? [True, True] Translation: X:224.56, Y:-104.49, Z:-4.04 [[-5.40248786e-01 -8.41481378e-01 6.35137561e-03 2.24559081e+02] [-8.41426607e-01 5.40286097e-01 9.60199928e-03 -1.04487609e+02] [-1.15114635e-02 -1.56747970e-04 -9.99933729e-01 -4.04190862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters 0.013409510853638016 Centerline is valid? [True, True] Translation: X:224.48, Y:-104.56, Z:-4.04 [[-4.74066193e-01 -8.80472028e-01 5.50025669e-03 2.24481362e+02] [-8.80416650e-01 4.74098072e-01 9.87622541e-03 -1.04561886e+02] [-1.13034013e-02 -1.60532992e-04 -9.99936102e-01 -4.04244484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters 0.013165110500025865 Centerline is valid? [True, True] Translation: X:224.41, Y:-104.65, Z:-4.04 [[-4.05471121e-01 -9.14094654e-01 4.91254555e-03 2.24408320e+02] [-9.14032466e-01 4.05500845e-01 1.06637566e-02 -1.04645970e+02] [-1.17397242e-02 -1.66380794e-04 -9.99931073e-01 -4.04224000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters 0.012962702631142575 Centerline is valid? [True, True] Translation: X:224.34, Y:-104.74, Z:-4.04 [[-3.36195103e-01 -9.41784363e-01 3.88158685e-03 2.24342157e+02] [-9.41726208e-01 3.36217482e-01 1.04668192e-02 -1.04735045e+02] [-1.11625440e-02 -1.36498717e-04 -9.99937688e-01 -4.04130845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters 0.012415325495481966 Centerline is valid? [True, True] Translation: X:224.29, Y:-104.83, Z:-4.04 [[-2.65899582e-01 -9.63996426e-01 2.88132753e-03 2.24285110e+02] [-9.63943704e-01 2.65915176e-01 1.00824235e-02 -1.04828744e+02] [-1.04856090e-02 -9.65253174e-05 -9.99945020e-01 -4.04270988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters 0.012165742296905537 Centerline is valid? [True, True] Translation: X:224.23, Y:-104.93, Z:-4.04 [[-1.92848834e-01 -9.81226600e-01 1.92005303e-03 2.24232083e+02] [-9.81181588e-01 1.92858379e-01 9.39878739e-03 -1.04933956e+02] [-9.59263851e-03 -7.13754922e-05 -9.99953987e-01 -4.04332660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters 0.012096448251238017 Centerline is valid? [True, True] Translation: X:223.51, Y:-104.90, Z:-5.00 [[-2.71742689e-01 9.62367091e-01 2.34364234e-03 2.23505718e+02] [-9.62331312e-01 -2.71752795e-01 8.29841480e-03 -1.04896662e+02] [ 8.62301267e-03 -3.26857489e-07 9.99962821e-01 -4.99825713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters 0.012268603376354006 Centerline is valid? [True, True] Translation: X:224.17, Y:-105.21, Z:-4.04 [[-1.83484633e-01 -9.83020948e-01 1.79036456e-03 2.24170360e+02] [-9.82977662e-01 1.83493355e-01 9.22523022e-03 -1.05208813e+02] [-9.39711455e-03 -6.72003947e-05 -9.99955844e-01 -4.04261217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters 0.012594796989717442 Centerline is valid? [True, True] Translation: X:224.12, Y:-105.32, Z:-4.04 [[-1.05220305e-01 -9.94448278e-01 1.14429148e-03 2.24122734e+02] [-9.94398802e-01 1.05226485e-01 9.92014213e-03 -1.05319773e+02] [-9.98547803e-03 -9.40816953e-05 -9.99950139e-01 -4.04209677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters 0.012894795938699478 Centerline is valid? [True, True] Translation: X:224.08, Y:-105.44, Z:-4.04 [[-2.69534224e-02 -9.99636616e-01 3.85532461e-04 2.24084221e+02] [-9.99585192e-01 2.69559466e-02 1.01400690e-02 -1.05443281e+02] [-1.01467767e-02 -1.12062975e-04 -9.99948514e-01 -4.04188843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters 0.013006813709698042 Centerline is valid? [True, True] Translation: X:224.06, Y:-105.55, Z:-4.04 [[ 5.24163717e-02 -9.98625242e-01 -3.87916515e-04 2.24055958e+02] [-9.98575587e-01 -5.24176341e-02 9.95938471e-03 -1.05551195e+02] [-9.96602663e-03 -1.34670850e-04 -9.99950329e-01 -4.04290827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters 0.01328410911987721 Centerline is valid? [True, True] Translation: X:223.36, Y:-105.69, Z:-5.00 [[-4.34058327e-02 9.99057461e-01 3.50419526e-04 2.23360862e+02] [-9.99020260e-01 -4.34072404e-02 8.62163020e-03 -1.05688534e+02] [ 8.62871473e-03 2.41528321e-05 9.99962772e-01 -4.99841874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters 0.013661423328604878 Centerline is valid? [True, True] Translation: X:224.06, Y:-105.83, Z:-4.05 [[ 6.59017943e-02 -9.97826075e-01 -2.77922437e-04 2.24061283e+02] [-9.97809685e-01 -6.59023050e-02 5.72000632e-03 -1.05832138e+02] [-5.72588718e-03 -9.96449798e-05 -9.99983602e-01 -4.04545229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters 0.014476211327275793 Centerline is valid? [True, True] Translation: X:224.04, Y:-105.95, Z:-4.05 [[ 1.45281717e-01 -9.89390150e-01 -5.95394840e-04 2.24042333e+02] [-9.89378889e-01 -1.45282905e-01 4.72137026e-03 -1.05950638e+02] [-4.75777792e-03 -9.68576935e-05 -9.99988677e-01 -4.04603603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters 0.015473902427966492 Centerline is valid? [True, True] Translation: X:223.37, Y:-106.15, Z:-5.00 [[ 3.31618254e-02 9.99449926e-01 -3.73547883e-04 2.23373753e+02] [-9.99433714e-01 3.31634162e-02 5.69546033e-03 -1.06148884e+02] [ 5.70471553e-03 1.84464487e-04 9.99983711e-01 -4.99663388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters 0.016098703757609904 Centerline is valid? [True, True] Translation: X:224.07, Y:-106.24, Z:-4.04 [[ 1.61055821e-01 -9.86944776e-01 -1.01578835e-03 2.24071086e+02] [-9.86916435e-01 -1.61058897e-01 7.48209960e-03 -1.06235517e+02] [-7.54802086e-03 -2.02537476e-04 -9.99971493e-01 -4.04374859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters 0.016574194312670272 Centerline is valid? [True, True] Translation: X:224.06, Y:-106.35, Z:-4.04 [[ 2.36757426e-01 -9.71567320e-01 -1.69210974e-03 2.24063505e+02] [-9.71535491e-01 -2.36763372e-01 7.86741463e-03 -1.06351782e+02] [-8.04435256e-03 -2.18724168e-04 -9.99967620e-01 -4.04259247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters 0.01621173925081095 Centerline is valid? [True, True] Translation: X:224.07, Y:-106.47, Z:-4.04 [[ 3.10351084e-01 -9.50619335e-01 -2.25487023e-03 2.24066360e+02] [-9.50589053e-01 -3.10359203e-01 7.59062800e-03 -1.06468020e+02] [-7.91561747e-03 -2.12304668e-04 -9.99968648e-01 -4.04338537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters 0.01650045634791554 Centerline is valid? [True, True] Translation: X:224.08, Y:-106.59, Z:-4.04 [[ 3.81638114e-01 -9.24309037e-01 -2.27045378e-03 2.24078558e+02] [-9.24290013e-01 -3.81644832e-01 5.93251085e-03 -1.06588171e+02] [-6.34998034e-03 -1.65514504e-04 -9.99979825e-01 -4.04473652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters 0.016076576987710898 Centerline is valid? [True, True] Translation: X:224.10, Y:-106.70, Z:-4.05 [[ 4.51503152e-01 -8.92265754e-01 -2.59379301e-03 2.24097951e+02] [-8.92248957e-01 -4.51510574e-01 5.47714712e-03 -1.06699373e+02] [-6.05819577e-03 -1.58640080e-04 -9.99981636e-01 -4.04536943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters 0.017135501173181404 Centerline is valid? [True, True] Translation: X:224.13, Y:-106.81, Z:-4.04 [[ 5.18749097e-01 -8.54920399e-01 -3.23820471e-03 2.24125235e+02] [-8.54901622e-01 -5.18759175e-01 5.66879674e-03 -1.06814355e+02] [-6.52621837e-03 -1.72336727e-04 -9.99978689e-01 -4.04463491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters 0.016929790233613802 Centerline is valid? [True, True] Translation: X:224.16, Y:-106.93, Z:-4.04 [[ 5.82845368e-01 -8.12575797e-01 -3.44244126e-03 2.24163031e+02] [-8.12559935e-01 -5.82855511e-01 5.07984051e-03 -1.06926057e+02] [-6.13420131e-03 -1.63571666e-04 -9.99981172e-01 -4.04484204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters 0.01612278861723328 Centerline is valid? [True, True] Translation: X:224.20, Y:-107.03, Z:-4.04 [[ 6.42711459e-01 -7.66097170e-01 -4.13600736e-03 2.24203427e+02] [-7.66079553e-01 -6.42724744e-01 5.19819185e-03 -1.07025542e+02] [-6.64063433e-03 -1.72426800e-04 -9.99977936e-01 -4.04469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters 0.018440763082601532 Centerline is valid? [True, True] Translation: X:224.25, Y:-107.13, Z:-4.04 [[ 6.98973461e-01 -7.15131934e-01 -4.73474813e-03 2.24247630e+02] [-7.15113781e-01 -6.98989475e-01 5.09851271e-03 -1.07125137e+02] [-6.95564836e-03 -1.77841435e-04 -9.99975793e-01 -4.04349777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters 0.01856744957123675 Centerline is valid? [True, True] Translation: X:224.30, Y:-107.22, Z:-4.04 [[ 7.51390519e-01 -6.59838121e-01 -5.09338955e-03 2.24300112e+02] [-6.59821336e-01 -7.51407760e-01 4.70978219e-03 -1.07216279e+02] [-6.93490627e-03 -1.78158589e-04 -9.99975937e-01 -4.04359204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters 0.015963166748659083 Centerline is valid? [True, True] Translation: X:224.32, Y:-107.24, Z:-4.05 [[ 8.01057347e-01 -5.98564857e-01 -5.21906088e-03 2.24322539e+02] [-5.98550716e-01 -8.01074329e-01 4.11826619e-03 -1.07243343e+02] [-6.64590511e-03 -1.75094760e-04 -9.99977900e-01 -4.04513905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters 0.016898557615309732 Centerline is valid? [True, True] Translation: X:224.34, Y:-107.27, Z:-4.04 [[ 8.46092448e-01 -5.33009257e-01 -5.35728368e-03 2.24342474e+02] [-5.32997227e-01 -8.46109390e-01 3.58559363e-03 -1.07272352e+02] [-6.44400263e-03 -1.78326347e-04 -9.99979221e-01 -4.04481565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters 0.018102541152402014 Centerline is valid? [True, True] Translation: X:224.37, Y:-107.30, Z:-4.04 [[ 8.86035981e-01 -4.63588397e-01 -5.10284074e-03 2.24366322e+02] [-4.63579577e-01 -8.86050658e-01 2.86487057e-03 -1.07298530e+02] [-5.84949615e-03 -1.72805646e-04 -9.99982877e-01 -4.04457857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters 0.018026785920819688 Centerline is valid? [True, True] Translation: X:224.39, Y:-107.32, Z:-4.04 [[ 9.20309258e-01 -3.91155271e-01 -5.33132306e-03 2.24393026e+02] [-3.91147537e-01 -9.20324682e-01 2.46673177e-03 -1.07322726e+02] [-5.87142333e-03 -1.84822205e-04 -9.99982746e-01 -4.04456052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters 0.01970470424438916 Centerline is valid? [True, True] Translation: X:224.42, Y:-107.35, Z:-4.04 [[ 9.49210542e-01 -3.14592119e-01 -5.58090248e-03 2.24420582e+02] [-3.14585382e-01 -9.49226925e-01 2.06934978e-03 -1.07348135e+02] [-5.94854403e-03 -2.08578288e-04 -9.99982286e-01 -4.04389855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters 0.021195243394998127 Centerline is valid? [True, True] Translation: X:224.45, Y:-107.37, Z:-4.04 [[ 9.71443696e-01 -2.37191456e-01 -6.11213829e-03 2.24451508e+02] [-2.37185217e-01 -9.71462895e-01 1.73668006e-03 -1.07368824e+02] [-6.34964123e-03 -2.37378050e-04 -9.99979813e-01 -4.04389971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters 0.02150004957497318 Centerline is valid? [True, True] Translation: X:224.48, Y:-107.38, Z:-4.04 [[ 9.87051286e-01 -1.60291103e-01 -6.04334669e-03 2.24484651e+02] [-1.60286656e-01 -9.87069759e-01 1.21621623e-03 -1.07384248e+02] [-6.16015340e-03 -2.31799954e-04 -9.99980999e-01 -4.04386280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters 0.02107105468442698 Centerline is valid? [True, True] Translation: X:224.52, Y:-107.40, Z:-4.04 [[ 9.96553974e-01 -8.27361670e-02 -5.90794903e-03 2.24519212e+02] [-8.27333833e-02 -9.96571461e-01 7.14449608e-04 -1.07397819e+02] [-5.94680422e-03 -2.23202984e-04 -9.99982293e-01 -4.04392950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters 0.021416743140512187 Centerline is valid? [True, True] Translation: X:224.55, Y:-107.41, Z:-4.04 [[ 9.99971557e-01 -4.91439650e-03 -5.72133302e-03 2.24551650e+02] [-4.91310070e-03 -9.99987902e-01 2.40516800e-04 -1.07407499e+02] [-5.72244579e-03 -2.12400474e-04 -9.99983604e-01 -4.04404899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters 0.021544666808046106 Centerline is valid? [True, True] Translation: X:224.58, Y:-107.41, Z:-4.04 [[ 9.97364881e-01 7.23388740e-02 -5.51193363e-03 2.24583832e+02] [ 7.23388692e-02 -9.97380092e-01 -2.00491224e-04 -1.07413106e+02] [-5.51199618e-03 -1.98764141e-04 -9.99984789e-01 -4.04392885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters 0.020452909775108385 Centerline is valid? [True, True] Translation: X:224.62, Y:-107.42, Z:-4.04 [[ 9.88577781e-01 1.50617789e-01 -5.31529343e-03 2.24617286e+02] [ 1.50616669e-01 -9.88592051e-01 -6.12561509e-04 -1.07417459e+02] [-5.34691950e-03 -1.95007095e-04 -9.99985686e-01 -4.04425977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters 0.02145165006855882 Centerline is valid? [True, True] Translation: X:224.65, Y:-107.42, Z:-4.04 [[ 9.73537174e-01 2.28448419e-01 -6.05735289e-03 2.24651617e+02] [ 2.28445464e-01 -9.73555991e-01 -1.18458357e-03 -1.07420585e+02] [-6.16778844e-03 -2.30538648e-04 -9.99980952e-01 -4.04351422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters 0.023445468480817355 Centerline is valid? [True, True] Translation: X:224.69, Y:-107.42, Z:-4.04 [[ 9.51903060e-01 3.06319294e-01 -7.00391249e-03 2.24685122e+02] [ 3.06313227e-01 -9.51928782e-01 -1.94956073e-03 -1.07421854e+02] [-7.26441395e-03 -2.89598214e-04 -9.99973572e-01 -4.04214522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters 0.024918474687715988 Centerline is valid? [True, True] Translation: X:224.72, Y:-107.42, Z:-4.04 [[ 9.24170531e-01 3.81898577e-01 -7.89342787e-03 2.24719076e+02] [ 3.81887879e-01 -9.24204173e-01 -2.88016842e-03 -1.07417562e+02] [-8.39507119e-03 -3.52637640e-04 -9.99964699e-01 -4.04143230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters 0.023889107723179273 Centerline is valid? [True, True] Translation: X:224.75, Y:-107.41, Z:-4.04 [[ 8.90256913e-01 4.55393940e-01 -7.68039870e-03 2.24753464e+02] [ 4.55380601e-01 -8.90289963e-01 -3.50576422e-03 -1.07411965e+02] [-8.43428565e-03 -3.76473746e-04 -9.99964360e-01 -4.04191033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters 0.023040670286450363 Centerline is valid? [True, True] Translation: X:224.79, Y:-107.40, Z:-4.04 [[ 8.51542818e-01 5.24235654e-01 -7.19781369e-03 2.24788043e+02] [ 5.24220572e-01 -8.51573156e-01 -3.99396043e-03 -1.07403472e+02] [-8.22324138e-03 -3.72213693e-04 -9.99966119e-01 -4.04242338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters 0.02392149317486118 Centerline is valid? [True, True] Translation: X:224.82, Y:-107.39, Z:-4.04 [[ 8.08743733e-01 5.88129233e-01 -6.13019089e-03 2.24820897e+02] [ 5.88115309e-01 -8.08766902e-01 -4.05977678e-03 -1.07393704e+02] [-7.34556890e-03 -3.21940085e-04 -9.99972969e-01 -4.04271243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters 0.022877104392046536 Centerline is valid? [True, True] Translation: X:224.85, Y:-107.38, Z:-4.04 [[ 7.61418603e-01 6.48242596e-01 -4.82148975e-03 2.24852322e+02] [ 6.48231699e-01 -7.61433825e-01 -3.76755489e-03 -1.07377519e+02] [-6.11353494e-03 -2.56756110e-04 -9.99981279e-01 -4.04339258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters 0.020831978407672976 Centerline is valid? [True, True] Translation: X:224.88, Y:-107.36, Z:-4.04 [[ 7.11020561e-01 7.03158545e-01 -4.22174630e-03 2.24881688e+02] [ 7.03147944e-01 -7.11033060e-01 -3.86735726e-03 -1.07359218e+02] [-5.72116650e-03 -2.18741705e-04 -9.99983610e-01 -4.04346119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters 0.020366193300749718 Centerline is valid? [True, True] Translation: X:224.91, Y:-107.34, Z:-4.04 [[ 6.56160464e-01 7.54608051e-01 -4.48718084e-03 2.24908730e+02] [ 7.54592763e-01 -6.56175766e-01 -4.80901632e-03 -1.07339706e+02] [-6.57330176e-03 -2.30507808e-04 -9.99978369e-01 -4.04254218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters 0.017686698629397958 Centerline is valid? [True, True] Translation: X:224.93, Y:-107.31, Z:-4.04 [[ 6.01267694e-01 7.99034473e-01 -4.59025138e-03 2.24931243e+02] [ 7.99013702e-01 -6.01285182e-01 -5.76490317e-03 -1.07314442e+02] [-7.36640650e-03 -2.01423710e-04 -9.99972847e-01 -4.04150408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters 0.013692950189499108 Centerline is valid? [True, True] Translation: X:224.95, Y:-107.29, Z:-4.04 [[ 5.46111179e-01 8.37705068e-01 -3.57757213e-03 2.24951140e+02] [ 8.37688332e-01 -5.46122887e-01 -5.29626202e-03 -1.07287287e+02] [-6.39049956e-03 -1.04542532e-04 -9.99979575e-01 -4.04188768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters 0.012281214406202614 Centerline is valid? [True, True] Translation: X:224.97, Y:-107.26, Z:-4.04 [[ 4.86116828e-01 8.73888810e-01 -2.96253902e-03 2.24971500e+02] [ 8.73873187e-01 -4.86125853e-01 -5.22573792e-03 -1.07261418e+02] [-6.00688070e-03 -4.85642748e-05 -9.99981957e-01 -4.04191905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters 0.01215803460805679 Centerline is valid? [True, True] Translation: X:224.99, Y:-107.23, Z:-4.04 [[ 4.28189119e-01 9.03685670e-01 -2.50754106e-03 2.24988251e+02] [ 9.03669753e-01 -4.28196460e-01 -5.36358825e-03 -1.07233721e+02] [-5.92071805e-03 3.06411133e-05 -9.99982472e-01 -4.04162553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters 0.013220484523490296 Centerline is valid? [True, True] Translation: X:225.00, Y:-107.21, Z:-4.04 [[ 3.62925754e-01 9.31815863e-01 -2.02353628e-03 2.25004674e+02] [ 9.31800260e-01 -3.62931388e-01 -5.39280982e-03 -1.07207449e+02] [-5.75951057e-03 7.16579361e-05 -9.99983411e-01 -4.04107653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters 0.014523541657811598 Centerline is valid? [True, True] Translation: X:225.02, Y:-107.18, Z:-4.04 [[ 2.94752398e-01 9.55572225e-01 -1.65707367e-03 2.25020905e+02] [ 9.55554932e-01 -2.94757035e-01 -5.75004371e-03 -1.07179617e+02] [-5.98301619e-03 1.11414258e-04 -9.99982095e-01 -4.04041671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters 0.015094312489362768 Centerline is valid? [True, True] Translation: X:225.04, Y:-107.15, Z:-4.04 [[ 2.20989573e-01 9.75275516e-01 -1.12983142e-03 2.25037574e+02] [ 9.75259950e-01 -2.20992430e-01 -5.51148986e-03 -1.07151949e+02] [-5.62490531e-03 1.16102454e-04 -9.99984173e-01 -4.04069278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters 0.014466591336093172 Centerline is valid? [True, True] Translation: X:225.06, Y:-107.12, Z:-4.04 [[ 1.43348551e-01 9.89672065e-01 -6.29227976e-04 2.25056383e+02] [ 9.89659147e-01 -1.43349895e-01 -5.05766860e-03 -1.07123082e+02] [-5.09563310e-03 1.02288242e-04 -9.99987012e-01 -4.04124842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters 0.014161910704208188 Centerline is valid? [True, True] Translation: X:225.07, Y:-107.09, Z:-4.04 [[ 6.29265789e-02 9.98018133e-01 -2.28276560e-04 2.25073222e+02] [ 9.98005456e-01 -6.29269303e-02 -5.03105312e-03 -1.07092320e+02] [-5.03544698e-03 8.87657081e-05 -9.99987318e-01 -4.04053647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters 0.01359074362693214 Centerline is valid? [True, True] Translation: X:225.09, Y:-107.06, Z:-4.04 [[-1.89499354e-02 9.99820416e-01 1.87391570e-04 2.25086343e+02] [ 9.99804374e-01 1.89506930e-02 -5.66433525e-03 -1.07060085e+02] [-5.66686923e-03 8.00161238e-05 -9.99983940e-01 -4.03946464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters 0.013211727122005558 Centerline is valid? [True, True] Translation: X:225.09, Y:-107.03, Z:-4.04 [[-9.88561472e-02 9.95101557e-01 5.93987947e-04 2.25094362e+02] [ 9.95087416e-01 9.88579093e-02 -5.30555073e-03 -1.07027618e+02] [-5.33828220e-03 6.65836273e-05 -9.99985749e-01 -4.03968665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters 0.012381087382340707 Centerline is valid? [True, True] Translation: X:225.11, Y:-106.99, Z:-4.04 [[-1.81800204e-01 9.83335175e-01 7.87570069e-04 2.25105804e+02] [ 9.83326637e-01 1.81801908e-01 -4.09774971e-03 -1.06992622e+02] [-4.17264316e-03 2.94668943e-05 -9.99991294e-01 -4.03999781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters 0.012085851058641841 Centerline is valid? [True, True] Translation: X:225.11, Y:-106.96, Z:-4.04 [[-2.60956720e-01 9.65349810e-01 1.15529188e-03 2.25111166e+02] [ 9.65340664e-01 2.60959277e-01 -4.20211084e-03 -1.06957504e+02] [-4.35799103e-03 1.86811668e-05 -9.99990504e-01 -4.03953378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters 0.012042253009485984 Centerline is valid? [True, True] Translation: X:225.11, Y:-106.92, Z:-4.04 [[-3.38182984e-01 9.41079108e-01 1.54364803e-03 2.25111332e+02] [ 9.41069410e-01 3.38186507e-01 -4.27233848e-03 -1.06924079e+02] [-4.54264941e-03 7.84776275e-06 -9.99989682e-01 -4.03857472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters 0.01213281225161699 Centerline is valid? [True, True] Translation: X:225.11, Y:-106.89, Z:-4.04 [[-4.14263031e-01 9.10155681e-01 1.66637499e-03 2.25108051e+02] [ 9.10148239e-01 4.14266382e-01 -3.68069343e-03 -1.06889317e+02] [-4.04032718e-03 -8.12695447e-06 -9.99991838e-01 -4.03828352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters 0.012233113970702827 Centerline is valid? [True, True] Translation: X:225.10, Y:-106.85, Z:-4.04 [[-4.87014171e-01 8.73391950e-01 1.92327013e-03 2.25101286e+02] [ 8.73384972e-01 4.87017968e-01 -3.49126569e-03 -1.06854718e+02] [-3.98591046e-03 -2.05406381e-05 -9.99992056e-01 -4.03894971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters 0.012353346957196927 Centerline is valid? [True, True] Translation: X:225.09, Y:-106.82, Z:-4.04 [[-5.55208766e-01 8.31708138e-01 2.19082913e-03 2.25090702e+02] [ 8.31701471e-01 5.55213088e-01 -3.33016406e-03 -1.06821166e+02] [-3.98610156e-03 -2.68204684e-05 -9.99992055e-01 -4.03916070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters 0.012703680399792706 Centerline is valid? [True, True] Translation: X:225.08, Y:-106.79, Z:-4.04 [[-6.20678791e-01 7.84060536e-01 2.62945314e-03 2.25077373e+02] [ 7.84053225e-01 6.20684359e-01 -3.38615029e-03 -1.06787980e+02] [-4.28700725e-03 -4.00804548e-05 -9.99990810e-01 -4.03961677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters 0.01330050449222957 Centerline is valid? [True, True] Translation: X:225.06, Y:-106.76, Z:-4.04 [[-6.82580247e-01 7.30799921e-01 3.96015794e-03 2.25061140e+02] [ 7.30786988e-01 6.82591730e-01 -4.34831421e-03 -1.06756222e+02] [-5.88091874e-03 -7.40414975e-05 -9.99982705e-01 -4.03748262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters 0.014060723221898112 Centerline is valid? [True, True] Translation: X:225.04, Y:-106.73, Z:-4.04 [[-7.39234952e-01 6.73433856e-01 4.30428787e-03 2.25041830e+02] [ 6.73421747e-01 7.39247478e-01 -4.03939203e-03 -1.06728844e+02] [-5.90219730e-03 -8.74587090e-05 -9.99982578e-01 -4.03730771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters 0.014530070938971363 Centerline is valid? [True, True] Translation: X:225.06, Y:-106.71, Z:-4.04 [[-7.86158340e-01 6.18012137e-01 4.00792017e-03 2.25056478e+02] [ 6.18003540e-01 7.86168551e-01 -3.26101655e-03 -1.06708506e+02] [-5.16624860e-03 -8.67665026e-05 -9.99986651e-01 -4.03842681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters 0.01432828435266629 Centerline is valid? [True, True] Translation: X:225.07, Y:-106.69, Z:-4.04 [[-8.27752033e-01 5.61080067e-01 3.96610762e-03 2.25067427e+02] [ 5.61073161e-01 8.27761531e-01 -2.78488178e-03 -1.06685947e+02] [-4.84553297e-03 -7.99150142e-05 -9.99988257e-01 -4.03884515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters 0.014112159689805429 Centerline is valid? [True, True] Translation: X:225.08, Y:-106.67, Z:-4.04 [[-8.64468249e-01 5.02676917e-01 3.25034184e-03 2.25077738e+02] [ 5.02673120e-01 8.64474357e-01 -1.95451827e-03 -1.06665379e+02] [-3.79232839e-03 -5.57595112e-05 -9.99992808e-01 -4.03923005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters 0.012650177999799918 Centerline is valid? [True, True] Translation: X:225.09, Y:-106.65, Z:-4.04 [[-8.96003105e-01 4.44033259e-01 3.59175234e-03 2.25085518e+02] [ 4.44029504e-01 8.96010303e-01 -1.82671636e-03 -1.06647367e+02] [-4.02936992e-03 -4.18995169e-05 -9.99991881e-01 -4.03914429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters 0.012182222942827668 Centerline is valid? [True, True] Translation: X:225.09, Y:-106.63, Z:-4.04 [[-9.23471020e-01 3.83636404e-01 4.93805352e-03 2.25094001e+02] [ 3.83630736e-01 9.23484222e-01 -2.08558337e-03 -1.06627453e+02] [-5.36032022e-03 -3.15866977e-05 -9.99985633e-01 -4.03797858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters 0.011953905846194301 Centerline is valid? [True, True] Translation: X:225.10, Y:-106.61, Z:-4.04 [[-9.46501779e-01 3.22639655e-01 6.16729218e-03 2.25102771e+02] [ 3.22632795e-01 9.46521872e-01 -2.10384186e-03 -1.06609170e+02] [-6.51625975e-03 -1.51934546e-06 -9.99978769e-01 -4.03764469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters 0.012633846447499646 Centerline is valid? [True, True] Translation: X:225.11, Y:-106.59, Z:-4.04 [[-9.64656580e-01 2.63438696e-01 6.14302156e-03 2.25106844e+02] [ 2.63433722e-01 9.64676138e-01 -1.61982106e-03 -1.06593255e+02] [-6.35274986e-03 5.57079932e-05 -9.99979820e-01 -4.03873237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters 0.013574002955376203 Centerline is valid? [True, True] Translation: X:225.28, Y:-105.99, Z:-5.00 [[-9.52639858e-01 -3.04054393e-01 5.31299566e-03 2.25276850e+02] [ 3.04049132e-01 -9.52654669e-01 -1.79090243e-03 -1.05991023e+02] [ 5.60598187e-03 -9.06733150e-05 9.99984282e-01 -5.00190752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters 0.014454077133215481 Centerline is valid? [True, True] Translation: X:225.07, Y:-106.60, Z:-4.04 [[-9.62971856e-01 2.69534518e-01 6.02900488e-03 2.25069131e+02] [ 2.69529999e-01 9.62990721e-01 -1.56531043e-03 -1.06596901e+02] [-6.22778095e-03 1.17647792e-04 -9.99980600e-01 -4.03984670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters 0.014860319360915796 Centerline is valid? [True, True] Translation: X:225.07, Y:-106.57, Z:-4.04 [[-9.79577429e-01 2.00949697e-01 6.87607383e-03 2.25071763e+02] [ 2.00945711e-01 9.79601552e-01 -1.27283746e-03 -1.06573636e+02] [-6.99158890e-03 1.34874692e-04 -9.99975549e-01 -4.04020337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters 0.01433456721826435 Centerline is valid? [True, True] Translation: X:225.19, Y:-105.93, Z:-5.00 [[-9.73033585e-01 -2.30560478e-01 6.89263028e-03 2.25192017e+02] [ 2.30553751e-01 -9.73057989e-01 -1.76602733e-03 -1.05934791e+02] [ 7.11410506e-03 -1.29282145e-04 9.99974686e-01 -5.00075795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters 0.01317404172083791 Centerline is valid? [True, True] Translation: X:225.01, Y:-106.56, Z:-4.04 [[-9.81775400e-01 1.89903910e-01 7.31906039e-03 2.25013534e+02] [ 1.89899299e-01 9.81802677e-01 -1.32621698e-03 -1.06560191e+02] [-7.43772688e-03 8.78372352e-05 -9.99972336e-01 -4.04211063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters 0.012174061725779756 Centerline is valid? [True, True] Translation: X:225.01, Y:-106.53, Z:-4.04 [[-9.93917086e-01 1.09893604e-01 7.22648821e-03 2.25011135e+02] [ 1.09890799e-01 9.93943356e-01 -7.85366967e-04 -1.06527102e+02] [-7.26902675e-03 1.35349139e-05 -9.99973580e-01 -4.04234798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters 0.01240193471613741 Centerline is valid? [True, True] Translation: X:225.00, Y:-106.49, Z:-4.04 [[-9.99498768e-01 3.06683002e-02 7.85289481e-03 2.25004281e+02] [ 3.06669484e-02 9.99529616e-01 -2.92519043e-04 -1.06494773e+02] [-7.85817199e-03 -5.15481033e-05 -9.99969123e-01 -4.04238450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters 0.01266205552984705 Centerline is valid? [True, True] Translation: X:225.00, Y:-106.47, Z:-4.04 [[-9.99028859e-01 -4.32692036e-02 8.31358457e-03 2.24998864e+02] [-4.32683588e-02 9.99063446e-01 2.81535325e-04 -1.06466265e+02] [-8.31798026e-03 -7.84532466e-05 -9.99965402e-01 -4.04195246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters 0.013724076487356152 Centerline is valid? [True, True] Translation: X:224.97, Y:-105.85, Z:-5.00 [[-9.98769862e-01 -4.85438556e-02 1.01122603e-02 2.24972964e+02] [ 4.85436206e-02 -9.98821027e-01 -2.68830992e-04 -1.05847890e+02] [ 1.01133883e-02 2.22385433e-04 9.99948834e-01 -5.00079190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters 0.015283124144762503 Centerline is valid? [True, True] Translation: X:224.93, Y:-106.46, Z:-4.04 [[-9.98063722e-01 -6.11672487e-02 1.12860284e-02 2.24930155e+02] [-6.11662955e-02 9.98127497e-01 4.29932531e-04 -1.06463232e+02] [-1.12911931e-02 -2.61224488e-04 -9.99936218e-01 -4.04109901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters 0.016929170384259756 Centerline is valid? [True, True] Translation: X:224.91, Y:-105.86, Z:-5.00 [[-9.98351649e-01 -5.62456111e-02 1.14199493e-02 2.24905685e+02] [ 5.62450612e-02 -9.98416925e-01 -3.69571712e-04 -1.05855936e+02] [ 1.14226575e-02 2.73353220e-04 9.99934722e-01 -5.00059138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters 0.01708369874334801 Centerline is valid? [True, True] Translation: X:224.87, Y:-106.47, Z:-4.04 [[-9.97387241e-01 -7.13184721e-02 1.15051263e-02 2.24869451e+02] [-7.13175780e-02 9.97453540e-01 4.88493682e-04 -1.06465137e+02] [-1.15106676e-02 -3.33300379e-04 -9.99933695e-01 -4.04198316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters 0.016670086219871046 Centerline is valid? [True, True] Translation: X:224.86, Y:-106.44, Z:-4.04 [[-9.89999169e-01 -1.40549082e-01 1.21490993e-02 2.24859351e+02] [-1.40542649e-01 9.90073655e-01 1.38589947e-03 -1.06441754e+02] [-1.22232901e-02 -3.35427282e-04 -9.99925237e-01 -4.04256257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters 0.016031765991205763 Centerline is valid? [True, True] Translation: X:224.79, Y:-105.83, Z:-5.00 [[-9.99655992e-01 2.25620761e-02 1.33734854e-02 2.24792948e+02] [-2.25541669e-02 -9.99745347e-01 7.41952128e-04 -1.05826752e+02] [ 1.33868197e-02 4.40069070e-04 9.99910296e-01 -4.99999882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters 0.014854316009408824 Centerline is valid? [True, True] Translation: X:224.79, Y:-106.46, Z:-4.04 [[-9.90330825e-01 -1.38001016e-01 1.41625259e-02 2.24789159e+02] [-1.37990969e-01 9.90432047e-01 1.68888665e-03 -1.06461733e+02] [-1.42600876e-02 -2.81744164e-04 -9.99898280e-01 -4.04208599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters 0.014017178726629843 Centerline is valid? [True, True] Translation: X:224.78, Y:-106.44, Z:-4.04 [[-9.78260406e-01 -2.06848707e-01 1.48388301e-02 2.24781073e+02] [-2.06829211e-01 9.78372902e-01 2.85343024e-03 -1.06439079e+02] [-1.51081377e-02 -2.77705715e-04 -9.99885827e-01 -4.04277906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters 0.013849587378319324 Centerline is valid? [True, True] Translation: X:224.77, Y:-106.42, Z:-4.04 [[-9.61745417e-01 -2.73515650e-01 1.53278094e-02 2.24765456e+02] [-2.73485028e-01 9.61867521e-01 4.10021271e-03 -1.06418852e+02] [-1.58647944e-02 -2.48565606e-04 -9.99874115e-01 -4.04168717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters 0.013800131010336118 Centerline is valid? [True, True] Translation: X:224.58, Y:-105.79, Z:-5.00 [[-9.83505261e-01 1.80210069e-01 1.55477388e-02 2.24582699e+02] [-1.80183571e-01 -9.83628116e-01 3.10012036e-03 -1.05787130e+02] [ 1.58518659e-02 2.47537574e-04 9.99874321e-01 -5.00087855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters 0.013211530264961907 Centerline is valid? [True, True] Translation: X:224.65, Y:-106.46, Z:-4.04 [[-9.60648750e-01 -2.77405920e-01 1.41398497e-02 2.24652436e+02] [-2.77378839e-01 9.60752787e-01 3.88095585e-03 -1.06461907e+02] [-1.46615002e-02 -1.93859719e-04 -9.99892496e-01 -4.04462035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters 0.013386592974557066 Centerline is valid? [True, True] Translation: X:224.62, Y:-106.44, Z:-4.05 [[-9.37471512e-01 -3.47824235e-01 1.28633843e-02 2.24623713e+02] [-3.47794568e-01 9.37559735e-01 4.54766844e-03 -1.06444230e+02] [-1.36419805e-02 -2.10505585e-04 -9.99906922e-01 -4.04564182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters 0.01473969930479182 Centerline is valid? [True, True] Translation: X:224.58, Y:-106.43, Z:-4.05 [[-9.07612883e-01 -4.19623090e-01 1.24626326e-02 2.24581845e+02] [-4.19587821e-01 9.07698398e-01 5.44781708e-03 -1.06430588e+02] [-1.35983415e-02 -2.84659889e-04 -9.99907498e-01 -4.04529464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters 0.016212923919292 Centerline is valid? [True, True] Translation: X:224.52, Y:-106.43, Z:-4.04 [[-8.72281144e-01 -4.88844101e-01 1.25319845e-02 2.24521143e+02] [-4.88799557e-01 8.72371088e-01 6.60892076e-03 -1.06428133e+02] [-1.41632728e-02 -3.60791496e-04 -9.99899631e-01 -4.04469183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters 0.017937620213067842 Centerline is valid? [True, True] Translation: X:224.45, Y:-106.44, Z:-4.04 [[-8.31094019e-01 -5.55988557e-01 1.26276037e-02 2.24445790e+02] [-5.55932648e-01 8.31189820e-01 7.89776606e-03 -1.06438101e+02] [-1.48870032e-02 -4.56311008e-04 -9.99889078e-01 -4.04378636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters 0.018505201192750995 Centerline is valid? [True, True] Translation: X:224.38, Y:-106.45, Z:-4.04 [[-7.86285369e-01 -6.17755551e-01 1.15498169e-02 2.24382111e+02] [-6.17697484e-01 7.86370055e-01 8.48259340e-03 -1.06449384e+02] [-1.43225993e-02 -4.64553773e-04 -9.99897318e-01 -4.04433051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters 0.01857953302386193 Centerline is valid? [True, True] Translation: X:224.31, Y:-106.48, Z:-4.04 [[-7.37439411e-01 -6.75332846e-01 1.04241187e-02 2.24305316e+02] [-6.75274011e-01 7.37512941e-01 8.92592925e-03 -1.06478522e+02] [-1.37158957e-02 -4.56804455e-04 -9.99905828e-01 -4.04486638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters 0.0170460526592516 Centerline is valid? [True, True] Translation: X:224.23, Y:-106.52, Z:-4.05 [[-6.85654644e-01 -7.27866356e-01 9.39556448e-03 2.24226951e+02] [-7.27806370e-01 6.85718884e-01 9.35413641e-03 -1.06520890e+02] [-1.32512772e-02 -4.24444606e-04 -9.99912108e-01 -4.04554375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters 0.01844522030086563 Centerline is valid? [True, True] Translation: X:224.14, Y:-106.57, Z:-4.04 [[-6.27902889e-01 -7.78243155e-01 8.69218910e-03 2.24143802e+02] [-7.78178155e-01 6.27962894e-01 1.00678946e-02 -1.06569101e+02] [-1.32936423e-02 -4.42411588e-04 -9.99911538e-01 -4.04493170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters 0.018452693798224284 Centerline is valid? [True, True] Translation: X:224.07, Y:-106.62, Z:-4.04 [[-5.66453097e-01 -8.24057599e-01 7.74353632e-03 2.24067098e+02] [-8.23991102e-01 5.66505847e-01 1.04780539e-02 -1.06622934e+02] [-1.30212786e-02 -4.45278925e-04 -9.99915120e-01 -4.04452125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters 0.019311006634534552 Centerline is valid? [True, True] Translation: X:223.99, Y:-106.69, Z:-4.04 [[-5.01579876e-01 -8.65087453e-01 6.42854795e-03 2.23990472e+02] [-8.65026917e-01 5.01620892e-01 1.02427810e-02 -1.06686326e+02] [-1.20855953e-02 -4.23294183e-04 -9.99926877e-01 -4.04437038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters 0.018958412354232273 Centerline is valid? [True, True] Translation: X:223.92, Y:-106.76, Z:-4.04 [[-4.34690102e-01 -9.00563852e-01 5.40965724e-03 2.23917742e+02] [-9.00505241e-01 4.34723576e-01 1.02821634e-02 -1.06760755e+02] [-1.16114502e-02 -4.01870056e-04 -9.99932504e-01 -4.04465074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters 0.020471444032327344 Centerline is valid? [True, True] Translation: X:223.85, Y:-106.84, Z:-4.04 [[-3.65764324e-01 -9.30696970e-01 4.42814125e-03 2.23845904e+02] [-9.30640670e-01 3.65790937e-01 1.02437164e-02 -1.06844186e+02] [-1.11535697e-02 -3.74222346e-04 -9.99937727e-01 -4.04399457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters 0.01835109551931121 Centerline is valid? [True, True] Translation: X:223.79, Y:-106.93, Z:-4.05 [[-2.94385856e-01 -9.55680877e-01 3.32093600e-03 2.23785730e+02] [-9.55632251e-01 2.94404397e-01 9.64637002e-03 -1.06934425e+02] [-1.01965495e-02 -3.33838656e-04 -9.99947958e-01 -4.04604639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters 0.01810800028020218 Centerline is valid? [True, True] Translation: X:223.73, Y:-107.03, Z:-4.05 [[-2.21667686e-01 -9.75118718e-01 2.63106523e-03 2.23728250e+02] [-9.75066521e-01 2.21683058e-01 1.00946495e-02 -1.07033697e+02] [-1.04267443e-02 -3.27806015e-04 -9.99945586e-01 -4.04584420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters 0.01777609690053178 Centerline is valid? [True, True] Translation: X:223.68, Y:-107.13, Z:-4.05 [[-1.46508572e-01 -9.89207340e-01 2.01897165e-03 2.23679116e+02] [-9.89143930e-01 1.46522052e-01 1.12059805e-02 -1.07133714e+02] [-1.13808620e-02 -3.55281360e-04 -9.99935173e-01 -4.04511118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters 0.018326210525835693 Centerline is valid? [True, True] Translation: X:223.64, Y:-107.24, Z:-4.04 [[-6.89754258e-02 -9.97617538e-01 1.27995949e-03 2.23635798e+02] [-9.97538557e-01 6.89860795e-02 1.25597466e-02 -1.07240646e+02] [-1.26181229e-02 -4.10495073e-04 -9.99920304e-01 -4.04432177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters 0.018043038423373594 Centerline is valid? [True, True] Translation: X:223.60, Y:-107.35, Z:-4.04 [[ 8.57347779e-03 -9.99963200e-01 3.07366317e-04 2.23601615e+02] [-9.99886262e-01 -8.56900326e-03 1.24110565e-02 -1.07353053e+02] [-1.24079660e-02 -4.13737276e-04 -9.99922933e-01 -4.04485599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters 0.018892236871416307 Centerline is valid? [True, True] Translation: X:223.57, Y:-107.47, Z:-4.05 [[ 8.64490961e-02 -9.96256101e-01 -5.78905558e-04 2.23573814e+02] [-9.96194185e-01 -8.64501814e-02 1.11135718e-02 -1.07470070e+02] [-1.11220102e-02 -3.84055888e-04 -9.99938075e-01 -4.04534834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters 0.019537288488439525 Centerline is valid? [True, True] Translation: X:223.56, Y:-107.59, Z:-4.05 [[ 1.62887627e-01 -9.86643919e-01 -1.18206617e-03 2.23555886e+02] [-9.86601797e-01 -1.62891602e-01 9.12249772e-03 -1.07592041e+02] [-9.19320556e-03 -3.19713399e-04 -9.99957690e-01 -4.04607830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters 0.020082852001619047 Centerline is valid? [True, True] Translation: X:223.55, Y:-107.70, Z:-4.05 [[ 2.37545897e-01 -9.71374903e-01 -1.65697355e-03 2.23545996e+02] [-9.71342492e-01 -2.37551515e-01 7.93980861e-03 -1.07702342e+02] [-8.10614740e-03 -2.76580140e-04 -9.99967106e-01 -4.04698722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters 0.017169743162342606 Centerline is valid? [True, True] Translation: X:223.55, Y:-107.82, Z:-4.05 [[ 3.10224851e-01 -9.50661288e-01 -1.91267796e-03 2.23551559e+02] [-9.50638466e-01 -3.10230664e-01 6.59099072e-03 -1.07823456e+02] [-6.85917108e-03 -2.26423871e-04 -9.99976450e-01 -4.04870314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters 0.01774640864975856 Centerline is valid? [True, True] Translation: X:223.56, Y:-107.93, Z:-4.05 [[ 3.79562754e-01 -9.25163167e-01 -2.28674420e-03 2.23556214e+02] [-9.25143148e-01 -3.79569592e-01 6.08930747e-03 -1.07933473e+02] [-6.50158155e-03 -1.95708586e-04 -9.99978845e-01 -4.04751817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters 0.015198610429478353 Centerline is valid? [True, True] Translation: X:223.57, Y:-108.04, Z:-4.05 [[ 4.43730834e-01 -8.96153451e-01 -3.45524687e-03 2.23574462e+02] [-8.96122804e-01 -4.43744244e-01 7.41391911e-03 -1.08039092e+02] [-8.17725511e-03 -1.93459002e-04 -9.99966547e-01 -4.04592474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters 0.01293080233843345 Centerline is valid? [True, True] Translation: X:223.61, Y:-108.15, Z:-4.05 [[ 5.02815665e-01 -8.64382787e-01 -4.33632677e-03 2.23606374e+02] [-8.64348489e-01 -5.02834348e-01 7.70120349e-03 -1.08148028e+02] [-8.83724178e-03 -1.24188259e-04 -9.99960943e-01 -4.04572041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters 0.012416646096187343 Centerline is valid? [True, True] Translation: X:223.64, Y:-108.25, Z:-4.05 [[ 5.64497226e-01 -8.25420926e-01 -4.81415167e-03 2.23638777e+02] [-8.25389544e-01 -5.64517747e-01 7.19828824e-03 -1.08249313e+02] [-8.65929180e-03 -8.98632970e-05 -9.99962504e-01 -4.04551864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters 0.011587204890580346 Centerline is valid? [True, True] Translation: X:223.68, Y:-108.35, Z:-4.05 [[ 6.18395707e-01 -7.85849885e-01 -5.16793540e-03 2.23681196e+02] [-7.85822364e-01 -6.18417301e-01 6.57680227e-03 -1.08346062e+02] [-8.36431997e-03 -5.98707683e-06 -9.99965018e-01 -4.04631168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters 0.011708687712130487 Centerline is valid? [True, True] Translation: X:223.73, Y:-108.44, Z:-4.05 [[ 6.72003202e-01 -7.40532996e-01 -4.75164370e-03 2.23729596e+02] [-7.40514879e-01 -6.72020000e-01 5.18004809e-03 -1.08443224e+02] [-7.02919613e-03 3.76539518e-05 -9.99975294e-01 -4.04731287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters 0.011922137177050639 Centerline is valid? [True, True] Translation: X:223.78, Y:-108.53, Z:-4.05 [[ 7.25173640e-01 -6.88549950e-01 -4.70713872e-03 2.23780465e+02] [-6.88535854e-01 -7.25188916e-01 4.40617477e-03 -1.08533777e+02] [-6.44743625e-03 4.57919768e-05 -9.99979214e-01 -4.04734246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters 0.012092535796945955 Centerline is valid? [True, True] Translation: X:223.80, Y:-108.56, Z:-4.05 [[ 7.76614747e-01 -6.29955010e-01 -5.12054351e-03 2.23799995e+02] [-6.29941726e-01 -7.76631626e-01 4.09121921e-03 -1.08562298e+02] [-6.55406007e-03 4.83428512e-05 -9.99978521e-01 -4.04719984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters 0.011934227983046468 Centerline is valid? [True, True] Translation: X:223.82, Y:-108.59, Z:-4.05 [[ 8.24341517e-01 -5.66064688e-01 -5.64210215e-03 2.23819293e+02] [-5.66051761e-01 -8.24360824e-01 3.82562298e-03 -1.08591874e+02] [-6.81667806e-03 4.01020125e-05 -9.99976765e-01 -4.04727011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters 0.011703144792513637 Centerline is valid? [True, True] Translation: X:223.84, Y:-108.62, Z:-4.05 [[ 8.67253764e-01 -4.97835482e-01 -5.54453325e-03 2.23841732e+02] [-4.97825471e-01 -8.67271487e-01 3.15723010e-03 -1.08620670e+02] [-6.38039676e-03 2.20901906e-05 -9.99979645e-01 -4.04744986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters 0.011653067900802288 Centerline is valid? [True, True] Translation: X:223.87, Y:-108.65, Z:-4.05 [[ 9.05858302e-01 -4.23547394e-01 -5.32366220e-03 2.23865376e+02] [-4.23540002e-01 -9.05873946e-01 2.50229412e-03 -1.08648146e+02] [-5.88240704e-03 -1.19400043e-05 -9.99982698e-01 -4.04741826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters 0.012081583200387972 Centerline is valid? [True, True] Translation: X:223.89, Y:-108.68, Z:-4.05 [[ 9.38350080e-01 -3.45626363e-01 -6.44550785e-03 2.23891797e+02] [-3.45617795e-01 -9.38372215e-01 2.43439483e-03 -1.08675247e+02] [-6.88967651e-03 -5.66323718e-05 -9.99976264e-01 -4.04578224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters 0.012780962352364764 Centerline is valid? [True, True] Translation: X:223.92, Y:-108.70, Z:-4.04 [[ 9.63607547e-01 -2.67219348e-01 -7.36987281e-03 2.23921966e+02] [-2.67210780e-01 -9.63635725e-01 2.14201732e-03 -1.08697550e+02] [-7.67426120e-03 -9.47545973e-05 -9.99970548e-01 -4.04427943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters 0.014043248995263205 Centerline is valid? [True, True] Translation: X:223.95, Y:-108.72, Z:-4.04 [[ 9.82622630e-01 -1.85416509e-01 -8.57233299e-03 2.23953573e+02] [-1.85408045e-01 -9.82660009e-01 1.77862650e-03 -1.08717698e+02] [-8.75347552e-03 -1.58339149e-04 -9.99961675e-01 -4.04325061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters 0.017038401067862575 Centerline is valid? [True, True] Translation: X:223.99, Y:-108.73, Z:-4.04 [[ 9.94532089e-01 -1.04062687e-01 -8.76824260e-03 2.23986390e+02] [-1.04056909e-01 -9.94570721e-01 1.11379123e-03 -1.08734768e+02] [-8.83654147e-03 -1.95304898e-04 -9.99960938e-01 -4.04185941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters 0.016268867226959124 Centerline is valid? [True, True] Translation: X:224.02, Y:-108.74, Z:-4.04 [[ 9.99745988e-01 -2.07834420e-02 -8.71821785e-03 2.24018584e+02] [-2.07805799e-02 -9.99783973e-01 4.18756639e-04 -1.08744942e+02] [-8.72503769e-03 -2.37480648e-04 -9.99961908e-01 -4.04386028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters 0.01772284955783645 Centerline is valid? [True, True] Translation: X:224.05, Y:-108.75, Z:-4.04 [[ 9.98178495e-01 5.97145290e-02 -8.59456292e-03 2.24050085e+02] [ 5.97144936e-02 -9.98215463e-01 -2.60963506e-04 -1.08754251e+02] [-8.59480892e-03 -2.52731812e-04 -9.99963032e-01 -4.04300086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters 0.017521958347555964 Centerline is valid? [True, True] Translation: X:224.08, Y:-108.76, Z:-4.04 [[ 9.90258541e-01 1.38981634e-01 -8.49276686e-03 2.24082939e+02] [ 1.38978791e-01 -9.90294924e-01 -9.26979177e-04 -1.08757840e+02] [-8.53917699e-03 -2.62365420e-04 -9.99963506e-01 -4.04335146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters 0.019522256000758638 Centerline is valid? [True, True] Translation: X:224.12, Y:-108.76, Z:-4.04 [[ 9.75885967e-01 2.18111032e-01 -8.61148082e-03 2.24115324e+02] [ 2.18105129e-01 -9.75923919e-01 -1.63018869e-03 -1.08760869e+02] [-8.75971225e-03 -2.87329868e-04 -9.99961592e-01 -4.04244469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters 0.021360639931644738 Centerline is valid? [True, True] Translation: X:224.15, Y:-108.76, Z:-4.04 [[ 9.55259851e-01 2.95628607e-01 -9.07431790e-03 2.24147138e+02] [ 2.95618492e-01 -9.55302895e-01 -2.46710536e-03 -1.08757722e+02] [-9.39806908e-03 -3.25809473e-04 -9.99955784e-01 -4.04136637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters 0.019971497993086285 Centerline is valid? [True, True] Translation: X:224.18, Y:-108.75, Z:-4.04 [[ 9.28075986e-01 3.72297659e-01 -8.33175665e-03 2.24179042e+02] [ 3.72285859e-01 -9.28113324e-01 -2.98289959e-03 -1.08751304e+02] [-8.84334090e-03 -3.33437706e-04 -9.99960841e-01 -4.04271876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters 0.020903846250244728 Centerline is valid? [True, True] Translation: X:224.21, Y:-108.75, Z:-4.04 [[ 8.95436577e-01 4.45124802e-01 -7.56626257e-03 2.24211441e+02] [ 4.45111946e-01 -8.95468484e-01 -3.39857537e-03 -1.08745277e+02] [-8.28813986e-03 -3.24625164e-04 -9.99965600e-01 -4.04373330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters 0.0218131947728448 Centerline is valid? [True, True] Translation: X:224.24, Y:-108.74, Z:-4.04 [[ 8.57493784e-01 5.14457481e-01 -6.15718099e-03 2.24242542e+02] [ 5.14446536e-01 -8.57515844e-01 -3.36744155e-03 -1.08735399e+02] [-7.01228575e-03 -2.79980232e-04 -9.99975374e-01 -4.04371689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters 0.02081326336417015 Centerline is valid? [True, True] Translation: X:224.27, Y:-108.72, Z:-4.04 [[ 8.15378214e-01 5.78903886e-01 -5.35342241e-03 2.24271742e+02] [ 5.78893370e-01 -8.15395750e-01 -3.49810234e-03 -1.08720825e+02] [-6.39022292e-03 -2.46784301e-04 -9.99979552e-01 -4.04332657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters 0.020648646835262095 Centerline is valid? [True, True] Translation: X:224.30, Y:-108.71, Z:-4.04 [[ 7.68325003e-01 6.40038196e-01 -5.27235975e-03 2.24299721e+02] [ 6.40025313e-01 -7.68343053e-01 -4.06839805e-03 -1.08705592e+02] [-6.65491113e-03 -2.48591753e-04 -9.99977825e-01 -4.04267063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters 0.021052738287943382 Centerline is valid? [True, True] Translation: X:224.33, Y:-108.69, Z:-4.04 [[ 7.16746284e-01 6.97314618e-01 -5.20457960e-03 2.24325243e+02] [ 6.97298756e-01 -7.16765136e-01 -4.71009410e-03 -1.08688528e+02] [-7.01487867e-03 -2.53204440e-04 -9.99975363e-01 -4.04266454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters 0.019081495389669505 Centerline is valid? [True, True] Translation: X:224.35, Y:-108.67, Z:-4.04 [[ 6.60533831e-01 7.50781690e-01 -4.68104555e-03 2.24350509e+02] [ 7.50765371e-01 -6.60550374e-01 -4.95586407e-03 -1.08668721e+02] [-6.81283839e-03 -2.40851014e-04 -9.99976763e-01 -4.04380451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters 0.01938724273381629 Centerline is valid? [True, True] Translation: X:224.38, Y:-108.65, Z:-4.04 [[ 6.00002468e-01 7.99987245e-01 -4.17692997e-03 2.24376254e+02] [ 7.99970503e-01 -6.00016961e-01 -5.18068905e-03 -1.08649888e+02] [-6.65071399e-03 -2.32994552e-04 -9.99977857e-01 -4.04342066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters 0.02007257188039535 Centerline is valid? [True, True] Translation: X:224.40, Y:-108.63, Z:-4.04 [[ 5.35073077e-01 8.44798633e-01 -3.47448543e-03 2.24400241e+02] [ 8.44783405e-01 -5.35084313e-01 -5.07709057e-03 -1.08628733e+02] [-6.14826182e-03 -2.18573162e-04 -9.99981075e-01 -4.04354270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters 0.023195508517067663 Centerline is valid? [True, True] Translation: X:224.42, Y:-108.61, Z:-4.04 [[ 4.65730425e-01 8.84921937e-01 -2.88731395e-03 2.24424164e+02] [ 8.84907711e-01 -4.65739324e-01 -5.02240806e-03 -1.08608328e+02] [-5.78917472e-03 -2.15918141e-04 -9.99983219e-01 -4.04345497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters 0.02193734506236634 Centerline is valid? [True, True] Translation: X:224.44, Y:-108.58, Z:-4.04 [[ 3.93133412e-01 9.19477916e-01 -2.54599299e-03 2.24442041e+02] [ 9.19462316e-01 -3.93141586e-01 -5.36128717e-03 -1.08581796e+02] [-5.93052088e-03 -2.33243495e-04 -9.99982387e-01 -4.04439063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters 0.0228288682669939 Centerline is valid? [True, True] Translation: X:224.46, Y:-108.56, Z:-4.04 [[ 3.17960997e-01 9.48100871e-01 -2.35421783e-03 2.24460990e+02] [ 9.48080885e-01 -3.17969595e-01 -6.16218694e-03 -1.08555579e+02] [-6.59094450e-03 -2.72653822e-04 -9.99978242e-01 -4.04409505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters 0.023016236858241095 Centerline is valid? [True, True] Translation: X:224.48, Y:-108.53, Z:-4.04 [[ 2.43081670e-01 9.70003991e-01 -1.88631685e-03 2.24475757e+02] [ 9.69982897e-01 -2.43088836e-01 -6.40288853e-03 -1.08527402e+02] [-6.66937000e-03 -2.73270248e-04 -9.99977722e-01 -4.04392684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters 0.020798715212505585 Centerline is valid? [True, True] Translation: X:224.49, Y:-108.50, Z:-4.05 [[ 1.69345502e-01 9.85556062e-01 -1.16211325e-03 2.24485391e+02] [ 9.85540720e-01 -1.69349355e-01 -5.50321928e-03 -1.08497901e+02] [-5.62053424e-03 -2.13364494e-04 -9.99984182e-01 -4.04509743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters 0.019397120265536808 Centerline is valid? [True, True] Translation: X:224.50, Y:-108.47, Z:-4.05 [[ 9.33157670e-02 9.95636387e-01 -5.93895874e-04 2.24496338e+02] [ 9.95626000e-01 -9.33175081e-02 -4.55099684e-03 -1.08468670e+02] [-4.58655894e-03 -1.66618412e-04 -9.99989468e-01 -4.04674072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters 0.019111508407300463 Centerline is valid? [True, True] Translation: X:224.51, Y:-108.44, Z:-4.05 [[ 1.57653475e-02 9.99875690e-01 -2.43580179e-04 2.24506979e+02] [ 9.99864472e-01 -1.57663252e-02 -4.73921318e-03 -1.08438930e+02] [-4.74246441e-03 -1.68831825e-04 -9.99988740e-01 -4.04633630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters 0.020055476285549354 Centerline is valid? [True, True] Translation: X:224.52, Y:-108.41, Z:-4.04 [[-6.25137837e-02 9.98044081e-01 2.00310633e-04 2.24516188e+02] [ 9.98016862e-01 6.25135591e-02 -7.37546826e-03 -1.08409241e+02] [-7.37356457e-03 -2.61155038e-04 -9.99972781e-01 -4.04423479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters 0.019319697388385196 Centerline is valid? [True, True] Translation: X:224.52, Y:-108.38, Z:-4.04 [[-1.40570178e-01 9.90070158e-01 1.05240700e-03 2.24520769e+02] [ 9.90020456e-01 1.40573673e-01 -9.92669710e-03 -1.08378150e+02] [-9.97606728e-03 -3.53493121e-04 -9.99950175e-01 -4.04289405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters 0.019985948599110116 Centerline is valid? [True, True] Translation: X:224.52, Y:-108.35, Z:-4.04 [[-2.17661556e-01 9.76022397e-01 1.93076018e-03 2.24523581e+02] [ 9.75967355e-01 2.17669799e-01 -1.03720997e-02 -1.08346366e+02] [-1.05436698e-02 -3.73248466e-04 -9.99944344e-01 -4.04233632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters 0.018748508851890215 Centerline is valid? [True, True] Translation: X:224.52, Y:-108.32, Z:-4.04 [[-2.93424850e-01 9.55978245e-01 2.72985432e-03 2.24523059e+02] [ 9.55924311e-01 2.93437313e-01 -1.01614455e-02 -1.08315396e+02] [-1.05151620e-02 -3.72086520e-04 -9.99944645e-01 -4.04385701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters 0.021165483899460418 Centerline is valid? [True, True] Translation: X:224.52, Y:-108.28, Z:-4.04 [[-3.67511443e-01 9.30013525e-01 3.19118070e-03 2.24524106e+02] [ 9.29970068e-01 3.67525141e-01 -8.99685485e-03 -1.08284357e+02] [-9.54003583e-03 -3.38744577e-04 -9.99954435e-01 -4.04388263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters 0.019178712817116906 Centerline is valid? [True, True] Translation: X:224.52, Y:-108.25, Z:-4.05 [[-4.38812683e-01 8.98571996e-01 3.43478050e-03 2.24516388e+02] [ 8.98538995e-01 4.38826026e-01 -7.70671315e-03 -1.08254129e+02] [-8.43230769e-03 -2.95519254e-04 -9.99964404e-01 -4.04628976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters 0.020449952673768007 Centerline is valid? [True, True] Translation: X:224.51, Y:-108.22, Z:-4.05 [[-5.07939326e-01 8.61384628e-01 3.76341254e-03 2.24510693e+02] [ 8.61356815e-01 5.07953192e-01 -6.92764360e-03 -1.08223995e+02] [-7.87900312e-03 -2.77181585e-04 -9.99968922e-01 -4.04622322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters 0.019430508983517298 Centerline is valid? [True, True] Translation: X:224.50, Y:-108.19, Z:-4.05 [[-5.74136949e-01 8.18745585e-01 4.73616141e-03 2.24499610e+02] [ 8.18713172e-01 5.74156400e-01 -7.29172002e-03 -1.08194519e+02] [-8.68936096e-03 -3.08888157e-04 -9.99962199e-01 -4.04672922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters 0.020398613757609967 Centerline is valid? [True, True] Translation: X:224.49, Y:-108.17, Z:-4.05 [[-6.36679894e-01 7.71106053e-01 5.84533883e-03 2.24488166e+02] [ 7.71068494e-01 6.36706634e-01 -7.61838760e-03 -1.08165622e+02] [-9.59635080e-03 -3.43317599e-04 -9.99953895e-01 -4.04662116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters 0.01841989222837219 Centerline is valid? [True, True] Translation: X:224.47, Y:-108.14, Z:-4.05 [[-6.94457279e-01 7.19497697e-01 7.22157799e-03 2.24473105e+02] [ 7.19453061e-01 6.94494724e-01 -8.02319818e-03 -1.08137378e+02] [-1.07880204e-02 -3.76181986e-04 -9.99941737e-01 -4.04689914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters 0.019192013095887042 Centerline is valid? [True, True] Translation: X:224.46, Y:-108.11, Z:-4.05 [[-7.47536490e-01 6.64173807e-01 7.89624446e-03 2.24457791e+02] [ 6.64131579e-01 7.47578106e-01 -7.49808941e-03 -1.08110048e+02] [-1.08830941e-02 -3.60950134e-04 -9.99940712e-01 -4.04637135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters 0.015922810094066785 Centerline is valid? [True, True] Translation: X:224.48, Y:-108.10, Z:-4.05 [[-7.89552553e-01 6.13643145e-01 6.98970456e-03 2.24477157e+02] [ 6.13616219e-01 7.89583451e-01 -5.75409271e-03 -1.08098085e+02] [-9.04991460e-03 -2.54162505e-04 -9.99959016e-01 -4.04842628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters 0.014493303784335727 Centerline is valid? [True, True] Translation: X:224.49, Y:-108.08, Z:-4.05 [[-8.27336379e-01 5.61675776e-01 5.90242516e-03 2.24494249e+02] [ 5.61660128e-01 8.27357419e-01 -4.19555208e-03 -1.08081563e+02] [-7.23995521e-03 -1.55975997e-04 -9.99973779e-01 -4.04955326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters 0.013581105240454068 Centerline is valid? [True, True] Translation: X:224.51, Y:-108.06, Z:-4.05 [[-8.63066439e-01 5.05051926e-01 6.23497273e-03 2.24509220e+02] [ 5.05037663e-01 8.63088950e-01 -3.79783608e-03 -1.08061679e+02] [-7.29944049e-03 -1.28888809e-04 -9.99973350e-01 -4.04963595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters 0.01277311800796868 Centerline is valid? [True, True] Translation: X:224.52, Y:-108.04, Z:-4.05 [[-8.94727892e-01 4.46558417e-01 6.89776423e-03 2.24522217e+02] [ 4.46544256e-01 8.94754474e-01 -3.55784070e-03 -1.08039884e+02] [-7.76058912e-03 -1.03142316e-04 -9.99969881e-01 -4.04904326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters 0.012175156074613695 Centerline is valid? [True, True] Translation: X:224.54, Y:-108.02, Z:-4.05 [[-9.22949479e-01 3.84849854e-01 7.40598224e-03 2.24535716e+02] [ 3.84836741e-01 9.22979189e-01 -3.17804247e-03 -1.08017196e+02] [-8.05863666e-03 -8.30785718e-05 -9.99967525e-01 -4.04876613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters 0.012028093266826283 Centerline is valid? [True, True] Translation: X:224.80, Y:-107.43, Z:-4.99 [[-8.86579049e-01 -4.62534036e-01 6.31310449e-03 2.24796656e+02] [ 4.62522448e-01 -8.86601525e-01 -3.27415540e-03 -1.07425765e+02] [ 7.11161638e-03 1.71549647e-05 9.99974712e-01 -4.99329077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters 0.011670652718823425 Centerline is valid? [True, True] Translation: X:224.50, Y:-108.00, Z:-4.05 [[-9.23130752e-01 3.84440775e-01 5.90812742e-03 2.24496451e+02] [ 3.84432587e-01 9.23149657e-01 -2.50957576e-03 -1.08002297e+02] [-6.41886905e-03 -4.53898513e-05 -9.99979398e-01 -4.04938576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters 0.011782507366382757 Centerline is valid? [True, True] Translation: X:224.51, Y:-107.98, Z:-4.05 [[-9.47793027e-01 3.18847935e-01 4.93688918e-03 2.24505883e+02] [ 3.18843429e-01 9.47805884e-01 -1.69537582e-03 -1.07976066e+02] [-5.21977969e-03 -3.27707037e-05 -9.99986376e-01 -4.04839622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters 0.011920327685727075 Centerline is valid? [True, True] Translation: X:224.51, Y:-107.95, Z:-4.05 [[-9.68488725e-01 2.49022886e-01 4.14620890e-03 2.24513877e+02] [ 2.49020448e-01 9.68497600e-01 -1.10252707e-03 -1.07948969e+02] [-4.29014784e-03 -3.52942427e-05 -9.99990797e-01 -4.04907937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters 0.012629727629220159 Centerline is valid? [True, True] Translation: X:224.68, Y:-107.33, Z:-4.99 [[-9.43485500e-01 -3.31399041e-01 3.12840738e-03 2.24678520e+02] [ 3.31397096e-01 -9.43490686e-01 -1.13595598e-03 -1.07330404e+02] [ 3.32807795e-03 -3.50128776e-05 9.99994461e-01 -4.99322485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters 0.013549073699942701 Centerline is valid? [True, True] Translation: X:224.46, Y:-107.93, Z:-4.05 [[-9.71585199e-01 2.36672730e-01 2.86716943e-03 2.24464304e+02] [ 2.36671543e-01 9.71589428e-01 -7.51089342e-04 -1.07929188e+02] [-2.96347387e-03 -5.11698737e-05 -9.99995608e-01 -4.04775674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters 0.01431039553676252 Centerline is valid? [True, True] Translation: X:224.46, Y:-107.90, Z:-4.05 [[-9.86531266e-01 1.63545474e-01 2.99001357e-03 2.24458876e+02] [ 1.63544527e-01 9.86535795e-01 -5.60170698e-04 -1.07898538e+02] [-3.04136879e-03 -6.36255542e-05 -9.99995373e-01 -4.04687623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters 0.016633574160165903 Centerline is valid? [True, True] Translation: X:224.45, Y:-107.87, Z:-4.05 [[-9.96182871e-01 8.72519140e-02 2.60591778e-03 2.24453506e+02] [ 8.72514300e-02 9.96186277e-01 -2.99067508e-04 -1.07867197e+02] [-2.62207374e-03 -7.05558757e-05 -9.99996560e-01 -4.04703597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters 0.019958631495150453 Centerline is valid? [True, True] Translation: X:224.53, Y:-107.26, Z:-5.00 [[-9.76753848e-01 -2.14266484e-01 6.46481554e-03 2.24530423e+02] [ 2.14264846e-01 -9.76775137e-01 -9.53010186e-04 -1.07257977e+02] [ 6.51886922e-03 4.54326341e-04 9.99978649e-01 -4.99777045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters 0.020939725936891515 Centerline is valid? [True, True] Translation: X:224.41, Y:-107.86, Z:-4.04 [[-9.97481590e-01 7.03361266e-02 9.12727967e-03 2.24407925e+02] [ 7.03298090e-02 9.97523280e-01 -1.01169191e-03 -1.07857183e+02] [-9.17583244e-03 -3.67224217e-04 -9.99957834e-01 -4.04237330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters 0.023731917264119065 Centerline is valid? [True, True] Translation: X:224.40, Y:-107.83, Z:-4.04 [[-9.99934743e-01 -7.50061683e-03 8.61689593e-03 2.24401382e+02] [-7.50382083e-03 9.99971788e-01 -3.39556659e-04 -1.07826553e+02] [-8.61410595e-03 -4.04194143e-04 -9.99962816e-01 -4.04322673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters 0.02683024287409395 Centerline is valid? [True, True] Translation: X:224.42, Y:-107.23, Z:-5.00 [[-9.87752105e-01 -1.55865348e-01 7.19528446e-03 2.24418721e+02] [ 1.55863035e-01 -9.87778281e-01 -8.84466662e-04 -1.07230761e+02] [ 7.24520341e-03 2.47845067e-04 9.99973722e-01 -4.99831701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters 0.03010659434943102 Centerline is valid? [True, True] Translation: X:224.35, Y:-107.81, Z:-4.05 [[-9.99816900e-01 -1.80970852e-02 6.21787700e-03 2.24345705e+02] [-1.80988089e-02 9.99836179e-01 -2.21061801e-04 -1.07814822e+02] [-6.21285781e-03 -3.33557492e-04 -9.99980644e-01 -4.04501263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters 0.029376294826101275 Centerline is valid? [True, True] Translation: X:224.36, Y:-107.24, Z:-4.99 [[-9.87942776e-01 -1.54790095e-01 3.01622079e-03 2.24364706e+02] [ 1.54789263e-01 -9.87947380e-01 -5.08812194e-04 -1.07235593e+02] [ 3.05862651e-03 -3.57987396e-05 9.99995322e-01 -4.99463649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters 0.023869808160438946 Centerline is valid? [True, True] Translation: X:224.30, Y:-107.82, Z:-4.05 [[-9.99847805e-01 -1.74100470e-02 1.12098103e-03 2.24298769e+02] [-1.74100976e-02 9.99848432e-01 -3.54648054e-05 -1.07819581e+02] [-1.12019368e-03 -5.49757971e-05 -9.99999371e-01 -4.04901201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters 0.021226107137531234 Centerline is valid? [True, True] Translation: X:224.30, Y:-107.80, Z:-4.05 [[-9.96883187e-01 -7.88906029e-02 -4.28562728e-04 2.24302217e+02] [-7.88906027e-02 9.96883279e-01 -1.73112505e-05 -1.07797371e+02] [ 4.28592712e-04 1.65522773e-05 -9.99999908e-01 -4.04991076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters 0.01738751692699953 Centerline is valid? [True, True] Translation: X:224.30, Y:-107.78, Z:-4.05 [[-9.90407645e-01 -1.38175239e-01 5.48587490e-04 2.24299236e+02] [-1.38175226e-01 9.90407796e-01 6.08048001e-05 -1.07777139e+02] [-5.51727045e-04 -1.55796618e-05 -9.99999848e-01 -4.04753950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters 0.012929693317029131 Centerline is valid? [True, True] Translation: X:224.30, Y:-107.76, Z:-4.04 [[-9.80614390e-01 -1.95923019e-01 3.09655642e-03 2.24299042e+02] [-1.95922195e-01 9.80619278e-01 5.70169827e-04 -1.07760142e+02] [-3.14825231e-03 -4.75673922e-05 -9.99995043e-01 -4.04366593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters 0.011304165470469309 Centerline is valid? [True, True] Translation: X:224.29, Y:-107.74, Z:-4.04 [[-9.67434953e-01 -2.53095797e-01 3.48269984e-03 2.24291269e+02] [-2.53094188e-01 9.67441222e-01 9.02714698e-04 -1.07744976e+02] [-3.59778069e-03 -8.13333669e-06 -9.99993528e-01 -4.04355758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters 0.011291163341440601 Centerline is valid? [True, True] Translation: X:224.27, Y:-107.73, Z:-4.04 [[-9.48204176e-01 -3.17615928e-01 5.38179247e-03 2.24266556e+02] [-3.17610730e-01 9.48219448e-01 1.81718656e-03 -1.07730916e+02] [-5.68028768e-03 1.37488541e-05 -9.99983867e-01 -4.03928901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters 0.011291163341440601 Centerline is valid? [True, True] Translation: X:224.23, Y:-107.72, Z:-4.04 [[-9.22753227e-01 -3.85355763e-01 5.23628114e-03 2.24226940e+02] [-3.85349474e-01 9.22768083e-01 2.20161380e-03 -1.07716753e+02] [-5.68027768e-03 1.37480541e-05 -9.99983867e-01 -4.03928923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters 0.011256239600953302 Centerline is valid? [True, True] Translation: X:224.17, Y:-107.71, Z:-4.04 [[-8.91167649e-01 -4.53643120e-01 5.30473786e-03 2.24165744e+02] [-4.53635069e-01 8.91183438e-01 2.70272598e-03 -1.07714375e+02] [-5.95356757e-03 2.16683393e-06 -9.99982277e-01 -4.03911962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters 0.011256239600953302 Centerline is valid? [True, True] Translation: X:224.10, Y:-107.72, Z:-4.04 [[-8.55286410e-01 -5.18130524e-01 5.09096492e-03 2.24099710e+02] [-5.18121330e-01 8.55301561e-01 3.08657161e-03 -1.07720090e+02] [-5.95355721e-03 2.16523639e-06 -9.99982277e-01 -4.03911995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters 0.011236351130643793 Centerline is valid? [True, True] Translation: X:224.03, Y:-107.73, Z:-4.04 [[-8.13366103e-01 -5.81727281e-01 5.38078411e-03 2.24027141e+02] [-5.81714637e-01 8.13383901e-01 3.83541690e-03 -1.07734632e+02] [-6.60780982e-03 -1.04827724e-05 -9.99978168e-01 -4.03915913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters 0.011236351130643793 Centerline is valid? [True, True] Translation: X:223.95, Y:-107.76, Z:-4.04 [[-7.67672660e-01 -6.40822039e-01 5.07945599e-03 2.23949088e+02] [-6.40808102e-01 7.67689464e-01 4.22637526e-03 -1.07760475e+02] [-6.60779926e-03 -1.04838128e-05 -9.99978168e-01 -4.03915953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters 0.011236351130643793 Centerline is valid? [True, True] Translation: X:223.87, Y:-107.80, Z:-4.04 [[-7.17451834e-01 -6.96591933e-01 4.74817704e-03 2.23868035e+02] [-6.96576775e-01 7.17467545e-01 4.59541027e-03 -1.07796699e+02] [-6.60778865e-03 -1.04843243e-05 -9.99978168e-01 -4.03915995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters 0.011321803719893 Centerline is valid? [True, True] Translation: X:223.79, Y:-107.84, Z:-4.04 [[-6.61972261e-01 -7.49516040e-01 4.29329398e-03 2.23785625e+02] [-7.49500461e-01 6.61986182e-01 4.83244203e-03 -1.07842306e+02] [-6.46409410e-03 -1.88832413e-05 -9.99979107e-01 -4.03841869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters 0.011487850777559372 Centerline is valid? [True, True] Translation: X:223.70, Y:-107.90, Z:-4.04 [[-6.01422095e-01 -7.98923978e-01 3.45563372e-03 2.23701536e+02] [-7.98911092e-01 6.01432021e-01 4.53772032e-03 -1.07899289e+02] [-5.70362235e-03 -3.16588468e-05 -9.99983734e-01 -4.03786037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters 0.011764430593959544 Centerline is valid? [True, True] Translation: X:223.62, Y:-107.96, Z:-4.04 [[-5.38479891e-01 -8.42633926e-01 2.73372219e-03 2.23624659e+02] [-8.42623368e-01 5.38486829e-01 4.21834039e-03 -1.07964611e+02] [-5.02659012e-03 -3.20067280e-05 -9.99987366e-01 -4.03866002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters 0.011870120546810541 Centerline is valid? [True, True] Translation: X:223.55, Y:-108.04, Z:-4.04 [[-4.71845442e-01 -8.81677978e-01 2.41302159e-03 2.23549364e+02] [-8.81666858e-01 4.71851611e-01 4.42828720e-03 -1.08039234e+02] [-5.04291143e-03 -3.80140306e-05 -9.99987284e-01 -4.03926801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters 0.012121974829833387 Centerline is valid? [True, True] Translation: X:223.48, Y:-108.12, Z:-4.04 [[-4.00999598e-01 -9.16075570e-01 2.20759909e-03 2.23475826e+02] [-9.16062427e-01 4.01005671e-01 4.90727113e-03 -1.08123754e+02] [-5.38069095e-03 -5.44848361e-05 -9.99985523e-01 -4.03897686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters 0.013156673803995059 Centerline is valid? [True, True] Translation: X:223.41, Y:-108.21, Z:-4.04 [[-3.25249537e-01 -9.45625273e-01 2.36245975e-03 2.23407840e+02] [-9.45602631e-01 3.25258100e-01 6.54464722e-03 -1.08213691e+02] [-6.95719298e-03 -1.05304676e-04 -9.99975793e-01 -4.03736343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters 0.014207824824458577 Centerline is valid? [True, True] Translation: X:223.35, Y:-108.31, Z:-4.04 [[-2.49031630e-01 -9.68492494e-01 2.35307470e-03 2.23348635e+02] [-9.68455168e-01 2.49042694e-01 8.50433006e-03 -1.08312679e+02] [-8.82239589e-03 -1.61000177e-04 -9.99961069e-01 -4.03591642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters 0.013708019875459667 Centerline is valid? [True, True] Translation: X:223.30, Y:-108.42, Z:-4.04 [[-1.74124232e-01 -9.84722134e-01 1.75240649e-03 2.23299686e+02] [-9.84681474e-01 1.74132970e-01 8.95002285e-03 -1.08416694e+02] [-9.11843735e-03 -1.67146352e-04 -9.99958412e-01 -4.03617621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters 0.013238267252120586 Centerline is valid? [True, True] Translation: X:223.26, Y:-108.53, Z:-4.04 [[-9.92608990e-02 -9.95060973e-01 9.66478577e-04 2.23259204e+02] [-9.95026802e-01 9.92655011e-02 8.24765269e-03 -1.08528136e+02] [-8.30285529e-03 -1.43002667e-04 -9.99965520e-01 -4.03670018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters 0.013516341004605192 Centerline is valid? [True, True] Translation: X:223.23, Y:-108.64, Z:-4.04 [[-2.31818293e-02 -9.99731219e-01 3.04779458e-04 2.23226275e+02] [-9.99702000e-01 2.31834823e-02 7.64446439e-03 -1.08636068e+02] [-7.64947556e-03 -1.27475965e-04 -9.99970734e-01 -4.03692101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters 0.012945855338522912 Centerline is valid? [True, True] Translation: X:223.20, Y:-108.75, Z:-4.04 [[ 5.33290382e-02 -9.98576956e-01 -2.76829023e-04 2.23204631e+02] [-9.98548972e-01 -5.33296165e-02 7.47675710e-03 -1.08752511e+02] [-7.48088053e-03 -1.22300929e-04 -9.99972010e-01 -4.03792397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters 0.013095765785976146 Centerline is valid? [True, True] Translation: X:223.19, Y:-108.87, Z:-4.04 [[ 1.30172988e-01 -9.91490892e-01 -8.96642312e-04 2.23188974e+02] [-9.91459942e-01 -1.30176010e-01 7.83514960e-03 -1.08868530e+02] [-7.88520079e-03 -1.30939898e-04 -9.99968903e-01 -4.03778190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters 0.013565635680177867 Centerline is valid? [True, True] Translation: X:223.18, Y:-108.98, Z:-4.04 [[ 2.07541854e-01 -9.78224943e-01 -1.52939205e-03 2.23182593e+02] [-9.78192861e-01 -2.07547436e-01 7.92389562e-03 -1.08984490e+02] [-8.06877374e-03 -1.48499605e-04 -9.99967436e-01 -4.03725434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters 0.014380749059753352 Centerline is valid? [True, True] Translation: X:223.19, Y:-109.11, Z:-4.04 [[ 2.84795108e-01 -9.58586361e-01 -1.98381117e-03 2.23185382e+02] [-9.58559058e-01 -2.84801973e-01 7.23667602e-03 -1.09105753e+02] [-7.50197226e-03 -1.59369766e-04 -9.99971847e-01 -4.03782505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters 0.015079646579932302 Centerline is valid? [True, True] Translation: X:223.20, Y:-109.23, Z:-4.04 [[ 3.59704266e-01 -9.33062893e-01 -2.54531298e-03 2.23196764e+02] [-9.33035940e-01 -3.59713228e-01 7.09421215e-03 -1.09228015e+02] [-7.53492886e-03 -1.76949887e-04 -9.99971596e-01 -4.03784542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters 0.01528150535528224 Centerline is valid? [True, True] Translation: X:223.22, Y:-109.36, Z:-4.04 [[ 4.32548542e-01 -9.01604972e-01 -3.19888919e-03 2.23223518e+02] [-9.01576752e-01 -4.32560323e-01 7.13630178e-03 -1.09361084e+02] [-7.81783771e-03 -2.02752805e-04 -9.99969420e-01 -4.03774457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters 0.015645431068446434 Centerline is valid? [True, True] Translation: X:223.25, Y:-109.46, Z:-4.04 [[ 5.01448959e-01 -8.65179536e-01 -3.64853294e-03 2.23245313e+02] [-8.65153577e-01 -5.01462190e-01 6.70522597e-03 -1.09461759e+02] [-7.63082561e-03 -2.05787259e-04 -9.99970864e-01 -4.03779603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters 0.015751483668434058 Centerline is valid? [True, True] Translation: X:223.28, Y:-109.56, Z:-4.04 [[ 5.66633101e-01 -8.23956421e-01 -4.76917039e-03 2.23277269e+02] [-8.23923606e-01 -5.66653121e-01 7.35743411e-03 -1.09564246e+02] [-8.76467036e-03 -2.39533641e-04 -9.99961561e-01 -4.03775629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters 0.016296362789766424 Centerline is valid? [True, True] Translation: X:223.32, Y:-109.67, Z:-4.04 [[ 6.27794010e-01 -7.78360430e-01 -5.45168226e-03 2.23319386e+02] [-7.78327670e-01 -6.27817634e-01 7.14545347e-03 -1.09670452e+02] [-8.98440050e-03 -2.42677738e-04 -9.99959610e-01 -4.03801062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters 0.016418099251543725 Centerline is valid? [True, True] Translation: X:223.37, Y:-109.77, Z:-4.04 [[ 6.85640516e-01 -7.27915849e-01 -5.96654433e-03 2.23365732e+02] [-7.27885148e-01 -6.85666433e-01 6.68979742e-03 -1.09768734e+02] [-8.96066874e-03 -2.43837148e-04 -9.99959823e-01 -4.03817998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters 0.017059665941891792 Centerline is valid? [True, True] Translation: X:223.42, Y:-109.87, Z:-4.04 [[ 7.39943191e-01 -6.72631766e-01 -7.11202209e-03 2.23422803e+02] [-6.72597011e-01 -7.39977316e-01 6.84342056e-03 -1.09869356e+02] [-9.86583707e-03 -2.80217653e-04 -9.99951292e-01 -4.03719292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters 0.016085345035215862 Centerline is valid? [True, True] Translation: X:223.44, Y:-109.90, Z:-4.04 [[ 7.90168310e-01 -6.12829393e-01 -8.61256463e-03 2.23442177e+02] [-6.12788604e-01 -7.90215183e-01 7.07748093e-03 -1.09897134e+02] [-1.11430677e-02 -3.14719690e-04 -9.99937865e-01 -4.03668467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters 0.016872806686016695 Centerline is valid? [True, True] Translation: X:223.46, Y:-109.92, Z:-4.04 [[ 8.35787225e-01 -5.48973066e-01 -9.39611441e-03 2.23461912e+02] [-5.48933949e-01 -8.35839976e-01 6.56148767e-03 -1.09923150e+02] [-1.14557281e-02 -3.26161378e-04 -9.99934328e-01 -4.03658991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters 0.016954862340318077 Centerline is valid? [True, True] Translation: X:223.49, Y:-109.95, Z:-4.04 [[ 8.76427353e-01 -4.81439712e-01 -9.53412971e-03 2.23485754e+02] [-4.81407212e-01 -8.76479150e-01 5.60312192e-03 -1.09947241e+02] [-1.10540313e-02 -3.20930504e-04 -9.99938851e-01 -4.03770032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters 0.01689132977924318 Centerline is valid? [True, True] Translation: X:223.51, Y:-109.97, Z:-4.04 [[ 9.11268443e-01 -4.11693786e-01 -9.90206405e-03 2.23511358e+02] [-4.11665687e-01 -9.11322186e-01 4.82029527e-03 -1.09969210e+02] [-1.10084563e-02 -3.16242969e-04 -9.99939355e-01 -4.03753969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters 0.016438101823909822 Centerline is valid? [True, True] Translation: X:223.54, Y:-109.99, Z:-4.04 [[ 9.40431289e-01 -3.39849048e-01 -9.57159548e-03 2.23538552e+02] [-3.39828316e-01 -9.40479953e-01 3.76479928e-03 -1.09989453e+02] [-1.02813571e-02 -2.87835864e-04 -9.99947104e-01 -4.03840553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters 0.017122572218010536 Centerline is valid? [True, True] Translation: X:223.57, Y:-110.01, Z:-4.04 [[ 9.64223991e-01 -2.64911940e-01 -9.68290230e-03 2.23566384e+02] [-2.64895581e-01 -9.64272566e-01 2.95805768e-03 -1.10007527e+02] [-1.01205818e-02 -2.87272161e-04 -9.99948744e-01 -4.03848371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters 0.017885229057729005 Centerline is valid? [True, True] Translation: X:223.60, Y:-110.02, Z:-4.04 [[ 9.82292501e-01 -1.87058740e-01 -1.05105076e-02 2.23596241e+02] [-1.87044493e-01 -9.82348677e-01 2.33134309e-03 -1.10023844e+02] [-1.07610814e-02 -3.24128263e-04 -9.99942045e-01 -4.03812228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters 0.018311313340050043 Centerline is valid? [True, True] Translation: X:223.63, Y:-110.04, Z:-4.04 [[ 9.94048686e-01 -1.08429098e-01 -1.05042951e-02 2.23627676e+02] [-1.08419502e-01 -9.94104129e-01 1.48035701e-03 -1.10036871e+02] [-1.06028769e-02 -3.32676492e-04 -9.99943733e-01 -4.03823935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters 0.018760533773033324 Centerline is valid? [True, True] Translation: X:223.66, Y:-110.05, Z:-4.04 [[ 9.99541701e-01 -2.81583962e-02 -1.11127345e-02 2.23657000e+02] [-2.81525056e-02 -9.99603404e-01 6.86184451e-04 -1.10048090e+02] [-1.11276491e-02 -3.73018654e-04 -9.99938016e-01 -4.03820370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters 0.018511882204820418 Centerline is valid? [True, True] Translation: X:223.69, Y:-110.06, Z:-4.04 [[ 9.98588114e-01 5.17539805e-02 -1.19709953e-02 2.23686583e+02] [ 5.17552971e-02 -9.98659777e-01 -1.99994697e-04 -1.10058097e+02] [-1.19653020e-02 -4.19850089e-04 -9.99928325e-01 -4.03741824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters 0.019458850040698254 Centerline is valid? [True, True] Translation: X:223.72, Y:-110.07, Z:-4.04 [[ 9.91407922e-01 1.30200282e-01 -1.25785315e-02 2.23716589e+02] [ 1.30195538e-01 -9.91487612e-01 -1.19879031e-03 -1.10065637e+02] [-1.26275410e-02 -4.49178475e-04 -9.99920169e-01 -4.03613457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters 0.021720944011856622 Centerline is valid? [True, True] Translation: X:223.75, Y:-110.07, Z:-4.04 [[ 9.78261115e-01 2.07008538e-01 -1.23553727e-02 2.23746879e+02] [ 2.06997700e-01 -9.78339037e-01 -2.16369058e-03 -1.10069936e+02] [-1.25356459e-02 -4.40879366e-04 -9.99921329e-01 -4.03505246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters 0.01841306523591255 Centerline is valid? [True, True] Translation: X:223.78, Y:-110.06, Z:-4.04 [[ 9.59640543e-01 2.81043625e-01 -1.02229505e-02 2.23776735e+02] [ 2.81031548e-01 -9.59694930e-01 -2.62885077e-03 -1.10064863e+02] [-1.05497356e-02 -3.50219835e-04 -9.99944289e-01 -4.03812106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters 0.016622836382610286 Centerline is valid? [True, True] Translation: X:223.81, Y:-110.06, Z:-4.04 [[ 9.36159840e-01 3.51469329e-01 -8.60604032e-03 2.23806651e+02] [ 3.51457059e-01 -9.36199360e-01 -2.94864424e-03 -1.10059931e+02] [-9.09332745e-03 -2.64251301e-04 -9.99958620e-01 -4.03982401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters 0.01568279383410226 Centerline is valid? [True, True] Translation: X:223.84, Y:-110.06, Z:-4.04 [[ 9.06723292e-01 4.21648035e-01 -8.11212282e-03 2.23836836e+02] [ 4.21633485e-01 -9.06759548e-01 -3.51080270e-03 -1.10055932e+02] [-8.83606788e-03 -2.37016034e-04 -9.99960933e-01 -4.04019626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters 0.014986505705754908 Centerline is valid? [True, True] Translation: X:223.86, Y:-110.05, Z:-4.04 [[ 8.73069626e-01 4.87528505e-01 -8.08604925e-03 2.23864941e+02] [ 4.87509758e-01 -8.73107046e-01 -4.28038538e-03 -1.10048708e+02] [-9.14679646e-03 -2.04953447e-04 -9.99958146e-01 -4.03915630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters 0.01453178391545522 Centerline is valid? [True, True] Translation: X:223.89, Y:-110.04, Z:-4.04 [[ 8.33558078e-01 5.52371464e-01 -8.16681489e-03 2.23892626e+02] [ 5.52347210e-01 -8.33598062e-01 -5.17994146e-03 -1.10037603e+02] [-9.66909291e-03 -1.93135367e-04 -9.99953235e-01 -4.03807537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters 0.013141337544507456 Centerline is valid? [True, True] Translation: X:223.92, Y:-110.03, Z:-4.04 [[ 7.89685132e-01 6.13448468e-01 -8.85262239e-03 2.23920173e+02] [ 6.13412549e-01 -7.89734729e-01 -6.64100562e-03 -1.10025461e+02] [-1.10651381e-02 -1.86006262e-04 -9.99938762e-01 -4.03938683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters 0.012647043143862982 Centerline is valid? [True, True] Translation: X:223.95, Y:-110.01, Z:-4.04 [[ 7.41669218e-01 6.70702249e-01 -9.23390988e-03 2.23947825e+02] [ 6.70652980e-01 -7.41726680e-01 -8.13103759e-03 -1.10012717e+02] [-1.23025425e-02 -1.62208885e-04 -9.99924308e-01 -4.03842541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters 0.01207730606899008 Centerline is valid? [True, True] Translation: X:223.97, Y:-110.00, Z:-4.04 [[ 6.88961004e-01 7.24742091e-01 -9.03531800e-03 2.23972953e+02] [ 7.24682306e-01 -6.89020235e-01 -9.30974519e-03 -1.09997621e+02] [-1.29726811e-02 -1.33683691e-04 -9.99915842e-01 -4.03847428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters 0.011828671530970107 Centerline is valid? [True, True] Translation: X:224.00, Y:-109.98, Z:-4.04 [[ 6.32121795e-01 7.74826383e-01 -8.13096687e-03 2.23997682e+02] [ 7.74764276e-01 -6.32174079e-01 -9.81070727e-03 -1.09980989e+02] [-1.27417813e-02 -9.80207752e-05 -9.99918815e-01 -4.03934691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters 0.011718491469033348 Centerline is valid? [True, True] Translation: X:224.02, Y:-109.96, Z:-4.04 [[ 5.71326374e-01 8.20692679e-01 -7.04993963e-03 2.24019583e+02] [ 8.20631654e-01 -5.71369865e-01 -1.00083015e-02 -1.09962958e+02] [-1.22418628e-02 -6.73969946e-05 -9.99925063e-01 -4.03956972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters 0.011425633536543817 Centerline is valid? [True, True] Translation: X:224.04, Y:-109.94, Z:-4.04 [[ 5.07451092e-01 8.61660789e-01 -5.83724525e-03 2.24039011e+02] [ 8.61604569e-01 -5.07484663e-01 -9.84293827e-03 -1.09941781e+02] [-1.14435864e-02 -3.45874032e-05 -9.99934519e-01 -4.04141015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters 0.01125389760307362 Centerline is valid? [True, True] Translation: X:224.06, Y:-109.92, Z:-4.04 [[ 4.38858167e-01 8.98543579e-01 -4.79011666e-03 2.24061718e+02] [ 8.98490736e-01 -4.38884308e-01 -9.74486286e-03 -1.09920869e+02] [-1.08584910e-02 -2.72627828e-05 -9.99941044e-01 -4.04333403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters 0.011347316253909553 Centerline is valid? [True, True] Translation: X:224.09, Y:-109.90, Z:-4.04 [[ 3.65444690e-01 9.30823380e-01 -4.24425567e-03 2.24085312e+02] [ 9.30762184e-01 -3.65469332e-01 -1.06735351e-02 -1.09899478e+02] [-1.14863213e-02 -4.98059587e-05 -9.99934029e-01 -4.04245623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters 0.01145152335604055 Centerline is valid? [True, True] Translation: X:224.11, Y:-109.88, Z:-4.04 [[ 2.89109652e-01 9.57290010e-01 -3.38317989e-03 2.24105332e+02] [ 9.57227578e-01 -2.89129436e-01 -1.09330950e-02 -1.09875449e+02] [-1.14443195e-02 -7.76098135e-05 -9.99934509e-01 -4.04175708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters 0.011758689955111444 Centerline is valid? [True, True] Translation: X:224.13, Y:-109.85, Z:-4.04 [[ 2.09137047e-01 9.77882739e-01 -2.65406293e-03 2.24127437e+02] [ 9.77811842e-01 -2.09153845e-01 -1.17758775e-02 -1.09850978e+02] [-1.20705348e-02 -1.32401909e-04 -9.99927140e-01 -4.04253731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters 0.01219959088515106 Centerline is valid? [True, True] Translation: X:224.15, Y:-109.82, Z:-4.04 [[ 1.29294324e-01 9.91604927e-01 -1.62688591e-03 2.24145394e+02] [ 9.91540798e-01 -1.29304466e-01 -1.12783656e-02 -1.09824076e+02] [-1.13940465e-02 -1.54895103e-04 -9.99935074e-01 -4.04292714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters 0.01286067958714567 Centerline is valid? [True, True] Translation: X:224.16, Y:-109.79, Z:-4.04 [[ 4.74795295e-02 9.98871920e-01 -7.63139902e-04 2.24164254e+02] [ 9.98802857e-01 -4.74852219e-02 -1.17475807e-02 -1.09794889e+02] [-1.17705664e-02 -2.04456710e-04 -9.99930704e-01 -4.04259741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters 0.013635639985858473 Centerline is valid? [True, True] Translation: X:224.18, Y:-109.76, Z:-4.04 [[-3.46186333e-02 9.99400581e-01 1.67829426e-04 2.24181044e+02] [ 9.99323828e-01 3.46180550e-02 -1.23885820e-02 -1.09763783e+02] [-1.23869660e-02 -2.61159833e-04 -9.99923245e-01 -4.04177254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters 0.015223964947186834 Centerline is valid? [True, True] Translation: X:224.19, Y:-109.73, Z:-4.04 [[-1.14382304e-01 9.93436124e-01 1.16414083e-03 2.24192619e+02] [ 9.93355956e-01 1.14387866e-01 -1.26238058e-02 -1.09732917e+02] [-1.26741082e-02 -2.87533759e-04 -9.99919639e-01 -4.04004921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters 0.015684717111853423 Centerline is valid? [True, True] Translation: X:224.19, Y:-109.70, Z:-4.04 [[-1.92889418e-01 9.81218333e-01 2.06265453e-03 2.24194842e+02] [ 9.81145117e-01 1.92900230e-01 -1.19899834e-02 -1.09701203e+02] [-1.21626781e-02 -2.88977506e-04 -9.99925990e-01 -4.04095622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters 0.014435622734056937 Centerline is valid? [True, True] Translation: X:224.19, Y:-109.67, Z:-4.04 [[-2.68545008e-01 9.63263569e-01 2.62229208e-03 2.24194710e+02] [ 9.63208288e-01 2.68557698e-01 -1.03226313e-02 -1.09668429e+02] [-1.06476514e-02 -2.46277644e-04 -9.99943282e-01 -4.04412800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters 0.013968364997947416 Centerline is valid? [True, True] Translation: X:224.19, Y:-109.64, Z:-4.04 [[-3.42180917e-01 9.39629081e-01 3.06763889e-03 2.24193652e+02] [ 9.39585634e-01 3.42194603e-01 -9.03828866e-03 -1.09635864e+02] [-9.54236834e-03 -2.10420478e-04 -9.99954448e-01 -4.04486088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters 0.013093199003882231 Centerline is valid? [True, True] Translation: X:224.19, Y:-109.60, Z:-4.04 [[-4.11515761e-01 9.11394397e-01 3.87706896e-03 2.24187824e+02] [ 9.11349695e-01 4.11533984e-01 -9.02852201e-03 -1.09604493e+02] [-9.82409001e-03 -1.82013497e-04 -9.99951726e-01 -4.04456885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters 0.012604155028748088 Centerline is valid? [True, True] Translation: X:224.18, Y:-109.57, Z:-4.04 [[-4.80148661e-01 8.77174469e-01 4.71326317e-03 2.24180877e+02] [ 8.77128677e-01 4.80171763e-01 -8.96448643e-03 -1.09573003e+02] [-1.01265945e-02 -1.70147863e-04 -9.99948710e-01 -4.04423740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters 0.011536354186326283 Centerline is valid? [True, True] Translation: X:224.17, Y:-109.54, Z:-4.04 [[-5.42254092e-01 8.40192073e-01 6.14658417e-03 2.24169321e+02] [ 8.40135497e-01 5.42288914e-01 -9.75091180e-03 -1.09543915e+02] [-1.15258632e-02 -1.23508278e-04 -9.99933567e-01 -4.04312263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters 0.011080750621089056 Centerline is valid? [True, True] Translation: X:224.16, Y:-109.52, Z:-4.04 [[-6.02729666e-01 7.97916560e-01 6.79068352e-03 2.24155454e+02] [ 7.97864621e-01 6.02767915e-01 -9.10430456e-03 -1.09516914e+02] [-1.13576815e-02 -6.93883128e-05 -9.99935497e-01 -4.04323045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters 0.010861119995833553 Centerline is valid? [True, True] Translation: X:224.14, Y:-109.49, Z:-4.04 [[-6.58145391e-01 7.52853955e-01 7.45437038e-03 2.24137617e+02] [ 7.52805840e-01 6.58187605e-01 -8.51144443e-03 -1.09492278e+02] [-1.13142488e-02 9.92563452e-06 -9.99935992e-01 -4.04361414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters 0.011292488744685213 Centerline is valid? [True, True] Translation: X:224.12, Y:-109.47, Z:-4.04 [[-7.11748694e-01 7.02395709e-01 7.35286674e-03 2.24119095e+02] [ 7.02359066e-01 7.11786671e-01 -7.17478532e-03 -1.09467782e+02] [-1.02732110e-02 5.77085276e-05 -9.99947228e-01 -4.04321839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters 0.0123259416478191 Centerline is valid? [True, True] Translation: X:224.14, Y:-109.46, Z:-4.04 [[-7.55813665e-01 6.54748323e-01 7.09487589e-03 2.24142580e+02] [ 6.54720806e-01 7.55846956e-01 -6.00370709e-03 -1.09458362e+02] [-9.29355750e-03 1.07479009e-04 -9.99956808e-01 -4.04297662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters 0.012345864816268183 Centerline is valid? [True, True] Translation: X:224.16, Y:-109.44, Z:-4.04 [[-7.98422885e-01 6.02058606e-01 6.80673725e-03 2.24160285e+02] [ 6.02038040e-01 7.98451889e-01 -4.97789131e-03 -1.09439064e+02] [-8.43183452e-03 1.23452415e-04 -9.99964444e-01 -4.04327145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters 0.012479329932900712 Centerline is valid? [True, True] Translation: X:224.17, Y:-109.42, Z:-4.04 [[-8.39240057e-01 5.43713999e-01 7.15636728e-03 2.24174430e+02] [ 5.43695450e-01 8.39270560e-01 -4.49278304e-03 -1.09417054e+02] [-8.44891741e-03 1.20360830e-04 -9.99964300e-01 -4.04294894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters 0.012112807197126844 Centerline is valid? [True, True] Translation: X:224.18, Y:-109.39, Z:-4.04 [[-8.76437624e-01 4.81456346e-01 7.54179224e-03 2.24183901e+02] [ 4.81439572e-01 8.76470065e-01 -4.02036346e-03 -1.09389782e+02] [-8.54578464e-03 1.07319430e-04 -9.99963478e-01 -4.04314867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters 0.011861154360370213 Centerline is valid? [True, True] Translation: X:224.19, Y:-109.36, Z:-4.04 [[-9.09491091e-01 4.15660808e-01 7.21444832e-03 2.24194755e+02] [ 4.15648405e-01 9.09519701e-01 -3.21205561e-03 -1.09363139e+02] [-7.89680851e-03 7.73379747e-05 -9.99968817e-01 -4.04301712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters 0.011583827142370275 Centerline is valid? [True, True] Translation: X:224.47, Y:-108.77, Z:-5.00 [[-8.88192901e-01 -4.59423163e-01 6.61263126e-03 2.24467368e+02] [ 4.59409604e-01 -8.88217511e-01 -3.53105992e-03 -1.08767252e+02] [ 7.49570560e-03 -9.83560498e-05 9.99971902e-01 -4.99883780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters 0.01143888859339107 Centerline is valid? [True, True] Translation: X:224.45, Y:-108.79, Z:-5.00 [[-8.55077686e-01 -5.18465582e-01 5.96579754e-03 2.24454866e+02] [ 5.18452476e-01 -8.55098495e-01 -3.68690007e-03 -1.08794730e+02] [ 7.01287529e-03 -5.96034754e-05 9.99975408e-01 -4.99875327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters 0.011448501057739478 Centerline is valid? [True, True] Translation: X:224.11, Y:-109.35, Z:-4.04 [[-8.81797971e-01 4.71597654e-01 5.29061106e-03 2.24105376e+02] [ 4.71589511e-01 8.81813841e-01 -2.77175388e-03 -1.09350467e+02] [-5.97248669e-03 5.08697394e-05 -9.99982163e-01 -4.04287584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters 0.011191116985893633 Centerline is valid? [True, True] Translation: X:224.12, Y:-109.32, Z:-4.04 [[-9.13330813e-01 4.07187006e-01 5.05648079e-03 2.24118638e+02] [ 4.07181023e-01 9.13344809e-01 -2.20777610e-03 -1.09324627e+02] [-5.51728822e-03 4.24730788e-05 -9.99984779e-01 -4.04326079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters 0.010908872476551562 Centerline is valid? [True, True] Translation: X:224.13, Y:-109.29, Z:-4.04 [[-9.40799573e-01 3.38917130e-01 5.59834503e-03 2.24127031e+02] [ 3.38911318e-01 9.40816230e-01 -1.98511592e-03 -1.09294480e+02] [-5.93980366e-03 2.97462868e-05 -9.99982359e-01 -4.04201092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters 0.010758883581124288 Centerline is valid? [True, True] Translation: X:224.13, Y:-109.26, Z:-4.04 [[-9.63088603e-01 2.69101896e-01 6.67172571e-03 2.24128934e+02] [ 2.69095569e-01 9.63111712e-01 -1.84547246e-03 -1.09263874e+02] [-6.92223731e-03 1.79783283e-05 -9.99976041e-01 -4.04121039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters 0.010814214853602821 Centerline is valid? [True, True] Translation: X:224.13, Y:-109.23, Z:-4.04 [[-9.80462986e-01 1.96504208e-01 8.85603908e-03 2.24134009e+02] [ 1.96496095e-01 9.80502981e-01 -1.78568090e-03 -1.09233602e+02] [-9.03426653e-03 -1.06169307e-05 -9.99959190e-01 -4.03946977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters 0.010909494721723015 Centerline is valid? [True, True] Translation: X:224.13, Y:-109.20, Z:-4.04 [[-9.92426578e-01 1.22422053e-01 1.01157763e-02 2.24133560e+02] [ 1.22415142e-01 9.92478130e-01 -1.30182067e-03 -1.09202696e+02] [-1.01990583e-02 -5.36372403e-05 -9.99947987e-01 -4.04007046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters 0.011256777641710708 Centerline is valid? [True, True] Translation: X:224.13, Y:-109.17, Z:-4.04 [[-9.98768521e-01 4.85475422e-02 1.02263305e-02 2.24128605e+02] [ 4.85441148e-02 9.98820869e-01 -5.83261912e-04 -1.09172124e+02] [-1.02425883e-02 -8.61154744e-05 -9.99947540e-01 -4.04024771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters 0.012061123673039761 Centerline is valid? [True, True] Translation: X:224.16, Y:-108.56, Z:-5.00 [[-9.90342150e-01 -1.38345025e-01 9.11483136e-03 2.24162621e+02] [ 1.38339205e-01 -9.90384094e-01 -1.26893226e-03 -1.08558707e+02] [ 9.20273446e-03 4.26142709e-06 9.99957654e-01 -5.00051243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters 0.013737283832658808 Centerline is valid? [True, True] Translation: X:224.07, Y:-109.16, Z:-4.04 [[-9.99445814e-01 3.17914176e-02 9.86764350e-03 2.24069865e+02] [ 3.17877946e-02 9.99494503e-01 -5.23821369e-04 -1.09160292e+02] [-9.87930846e-03 -2.09860449e-04 -9.99951176e-01 -4.04109851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters 0.015387822643810405 Centerline is valid? [True, True] Translation: X:224.06, Y:-109.13, Z:-4.04 [[-9.98998054e-01 -4.37387037e-02 9.47702253e-03 2.24059270e+02] [-4.37390526e-02 9.99042975e-01 1.70540051e-04 -1.09129793e+02] [-9.47541198e-03 -2.44146808e-04 -9.99955077e-01 -4.04087545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters 0.017718322135039023 Centerline is valid? [True, True] Translation: X:224.05, Y:-108.54, Z:-5.00 [[-9.96596000e-01 -8.19226525e-02 9.22450547e-03 2.24046808e+02] [ 8.19211932e-02 -9.96638666e-01 -5.36567139e-04 -1.08541037e+02] [ 9.23745583e-03 2.20941830e-04 9.99957309e-01 -5.00114860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters 0.01937080724581536 Centerline is valid? [True, True] Translation: X:224.00, Y:-109.13, Z:-4.04 [[-9.98245042e-01 -5.86432859e-02 8.23411504e-03 2.24003455e+02] [-5.86437778e-02 9.98278956e-01 1.81898989e-04 -1.09125031e+02] [-8.23061092e-03 -3.01299850e-04 -9.99966083e-01 -4.04147411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters 0.01979108035554445 Centerline is valid? [True, True] Translation: X:223.99, Y:-108.55, Z:-5.00 [[-9.96478297e-01 -8.33948177e-02 8.73547507e-03 2.23986595e+02] [ 8.33947173e-02 -9.96516522e-01 -3.76388307e-04 -1.08545215e+02] [ 8.73643407e-03 3.53429694e-04 9.99961774e-01 -5.00146400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters 0.021032999454210766 Centerline is valid? [True, True] Translation: X:223.95, Y:-109.13, Z:-4.04 [[-9.97891245e-01 -6.40470487e-02 1.05375276e-02 2.23947422e+02] [-6.40476974e-02 9.97946800e-01 2.76234954e-04 -1.09127049e+02] [-1.05335840e-02 -3.99251939e-04 -9.99944441e-01 -4.03836211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters 0.01927835057107659 Centerline is valid? [True, True] Translation: X:223.94, Y:-109.11, Z:-4.04 [[-9.91123629e-01 -1.32419452e-01 1.17915792e-02 2.23938823e+02] [-1.32415110e-01 9.91193681e-01 1.15168707e-03 -1.09107229e+02] [-1.18402446e-02 -4.19918989e-04 -9.99929814e-01 -4.03824196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters 0.01859541961134741 Centerline is valid? [True, True] Translation: X:223.88, Y:-108.51, Z:-5.00 [[-9.99927534e-01 -4.03495420e-03 1.13422394e-02 2.23882566e+02] [ 4.03889163e-03 -9.99991791e-01 3.24262653e-04 -1.08512992e+02] [ 1.13408379e-02 3.70049230e-04 9.99935622e-01 -5.00312127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters 0.019684075053409935 Centerline is valid? [True, True] Translation: X:223.87, Y:-109.12, Z:-4.04 [[-9.91024660e-01 -1.33281815e-01 1.02995861e-02 2.23874295e+02] [-1.33278053e-01 9.91078125e-01 1.05386200e-03 -1.09119992e+02] [-1.03481551e-02 -3.28305544e-04 -9.99946403e-01 -4.03905193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters 0.016904067936485145 Centerline is valid? [True, True] Translation: X:223.87, Y:-109.10, Z:-4.04 [[-9.79524937e-01 -2.01132577e-01 8.75125114e-03 2.23868370e+02] [-2.01126915e-01 9.79563994e-01 1.53134213e-03 -1.09102002e+02] [-8.88041331e-03 -2.60124345e-04 -9.99960535e-01 -4.04109219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters 0.016450797797583638 Centerline is valid? [True, True] Translation: X:223.86, Y:-109.08, Z:-4.04 [[-9.63519025e-01 -2.67530048e-01 7.66566349e-03 2.23856948e+02] [-2.67523288e-01 9.63549496e-01 1.91311544e-03 -1.09081834e+02] [-7.89806205e-03 -2.07420381e-04 -9.99968788e-01 -4.04101857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters 0.014855016795316225 Centerline is valid? [True, True] Translation: X:223.84, Y:-109.07, Z:-4.04 [[-9.42598413e-01 -3.33835093e-01 7.89697357e-03 2.23837509e+02] [-3.33825159e-01 9.42631471e-01 2.58321430e-03 -1.09065558e+02] [-8.30630339e-03 -2.01274764e-04 -9.99965482e-01 -4.04149827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters 0.01444039400003295 Centerline is valid? [True, True] Translation: X:223.81, Y:-109.05, Z:-4.04 [[-9.16392385e-01 -4.00198317e-01 8.14271705e-03 2.23808158e+02] [-4.00184516e-01 9.16428537e-01 3.33002887e-03 -1.09049798e+02] [-8.79489022e-03 -2.06976182e-04 -9.99961303e-01 -4.04124188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters 0.0145969447266725 Centerline is valid? [True, True] Translation: X:223.76, Y:-109.05, Z:-4.04 [[-8.85024179e-01 -4.65476764e-01 7.97402854e-03 2.23759700e+02] [-4.65459946e-01 8.85060077e-01 3.96220719e-03 -1.09045528e+02] [-8.90180969e-03 -2.04941725e-04 -9.99960357e-01 -4.04034219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters 0.014851280953759392 Centerline is valid? [True, True] Translation: X:223.69, Y:-109.05, Z:-4.04 [[-8.48227003e-01 -5.29580366e-01 7.45568661e-03 2.23694366e+02] [-5.29561986e-01 8.48259745e-01 4.41679479e-03 -1.09051968e+02] [-8.66340663e-03 -2.01803597e-04 -9.99962452e-01 -4.04003392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters 0.014160797540679294 Centerline is valid? [True, True] Translation: X:223.63, Y:-109.07, Z:-4.04 [[-8.06998503e-01 -5.90516723e-01 6.58903993e-03 2.23626658e+02] [-5.90498886e-01 8.07025381e-01 4.59341429e-03 -1.09066850e+02] [-8.03001042e-03 -1.83942279e-04 -9.99967742e-01 -4.03973305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters 0.013924058922640072 Centerline is valid? [True, True] Translation: X:223.56, Y:-109.09, Z:-4.04 [[-7.60924618e-01 -6.48806504e-01 6.62162825e-03 2.23556937e+02] [-6.48784119e-01 7.60953404e-01 5.39289839e-03 -1.09088516e+02] [-8.53769811e-03 -1.92418102e-04 -9.99963535e-01 -4.03909609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters 0.014252916213567137 Centerline is valid? [True, True] Translation: X:223.47, Y:-109.13, Z:-4.04 [[-7.10434094e-01 -7.03734161e-01 6.45203246e-03 2.23473144e+02] [-7.03707663e-01 7.10463363e-01 6.11021433e-03 -1.09127373e+02] [-8.88389924e-03 -1.99440102e-04 -9.99960518e-01 -4.03896295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters 0.015105736127137436 Centerline is valid? [True, True] Translation: X:223.40, Y:-109.17, Z:-4.04 [[-6.55061378e-01 -7.55553765e-01 5.75315046e-03 2.23398353e+02] [-7.55527225e-01 6.55086612e-01 6.33579937e-03 -1.09165089e+02] [-8.55584892e-03 -1.96324339e-04 -9.99963379e-01 -4.03842184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters 0.015943693882449886 Centerline is valid? [True, True] Translation: X:223.32, Y:-109.22, Z:-4.04 [[-5.95381666e-01 -8.03428826e-01 4.77422408e-03 2.23317521e+02] [-8.03405463e-01 5.95400779e-01 6.12981682e-03 -1.09217648e+02] [-7.76744827e-03 -1.86057158e-04 -9.99969816e-01 -4.03821148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters 0.015855202854338904 Centerline is valid? [True, True] Translation: X:223.24, Y:-109.28, Z:-4.04 [[-5.32573898e-01 -8.46371945e-01 4.42427655e-03 2.23239729e+02] [-8.46345710e-01 5.32592239e-01 6.66677077e-03 -1.09283179e+02] [-7.99890310e-03 -1.93919390e-04 -9.99967989e-01 -4.03805154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters 0.01448768493335079 Centerline is valid? [True, True] Translation: X:223.17, Y:-109.36, Z:-4.04 [[-4.66958086e-01 -8.84269364e-01 4.22364218e-03 2.23166933e+02] [-8.84237130e-01 4.66977140e-01 7.55308843e-03 -1.09358465e+02] [-8.65130905e-03 -2.07725525e-04 -9.99962555e-01 -4.03789414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters 0.014860512448208747 Centerline is valid? [True, True] Translation: X:223.10, Y:-109.44, Z:-4.04 [[-3.98217484e-01 -9.17282920e-01 3.85751489e-03 2.23097162e+02] [-9.17245107e-01 3.98236107e-01 8.33168120e-03 -1.09440797e+02] [-9.17871057e-03 -2.20465528e-04 -9.99957850e-01 -4.03720889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters 0.015126597741156681 Centerline is valid? [True, True] Translation: X:223.03, Y:-109.53, Z:-4.04 [[-3.26680660e-01 -9.45129420e-01 3.18209903e-03 2.23031548e+02] [-9.45090989e-01 3.26696082e-01 8.52599568e-03 -1.09531190e+02] [-9.09774864e-03 -2.22095226e-04 -9.99958590e-01 -4.03715702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters 0.01527741348616841 Centerline is valid? [True, True] Translation: X:222.97, Y:-109.63, Z:-4.04 [[-2.52446957e-01 -9.67608232e-01 2.20054965e-03 2.22972595e+02] [-9.67578146e-01 2.52456467e-01 7.63305324e-03 -1.09630154e+02] [-7.94134814e-03 -2.02262687e-04 -9.99968447e-01 -4.03741467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters 0.016216591272432364 Centerline is valid? [True, True] Translation: X:222.92, Y:-109.73, Z:-4.04 [[-1.76372207e-01 -9.84322383e-01 1.51369814e-03 2.22920964e+02] [-9.84295218e-01 1.76378589e-01 7.31554190e-03 -1.09728793e+02] [-7.46783558e-03 -1.99667567e-04 -9.99972095e-01 -4.03684997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters 0.01570497203372124 Centerline is valid? [True, True] Translation: X:222.88, Y:-109.83, Z:-4.04 [[-1.00549309e-01 -9.94931600e-01 9.73342242e-04 2.22879523e+02] [-9.94902669e-01 1.00553810e-01 7.59020427e-03 -1.09831769e+02] [-7.64960735e-03 -2.05191002e-04 -9.99970720e-01 -4.03678036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters 0.016425308635920215 Centerline is valid? [True, True] Translation: X:222.84, Y:-109.94, Z:-4.04 [[-2.50633996e-02 -9.99685757e-01 4.61888816e-04 2.22844219e+02] [-9.99644333e-01 2.50665672e-02 9.10350994e-03 -1.09941692e+02] [-9.11222719e-03 -2.33559631e-04 -9.99958456e-01 -4.03539765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters 0.015286776046722057 Centerline is valid? [True, True] Translation: X:222.82, Y:-110.05, Z:-4.04 [[ 4.96536265e-02 -9.98766468e-01 -2.46617587e-04 2.22819719e+02] [-9.98721723e-01 -4.96537371e-02 9.45654154e-03 -1.10052925e+02] [-9.45712208e-03 -2.23249241e-04 -9.99955256e-01 -4.03587641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters 0.014127315712810777 Centerline is valid? [True, True] Translation: X:222.80, Y:-110.17, Z:-4.04 [[ 1.24832923e-01 -9.92177318e-01 -9.54363123e-04 2.22803292e+02] [-9.92134451e-01 -1.24836403e-01 9.22512719e-03 -1.10170047e+02] [-9.27210121e-03 -2.04743056e-04 -9.99956992e-01 -4.03718169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters 0.013566597597581758 Centerline is valid? [True, True] Translation: X:222.79, Y:-110.29, Z:-4.04 [[ 1.99127722e-01 -9.79972529e-01 -1.41179017e-03 2.22794448e+02] [-9.79941852e-01 -1.99132661e-01 7.75567873e-03 -1.10290360e+02] [-7.88148564e-03 -1.60898362e-04 -9.99968928e-01 -4.03841104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters 0.014138642368918587 Centerline is valid? [True, True] Translation: X:222.79, Y:-110.41, Z:-4.04 [[ 2.73234073e-01 -9.61945801e-01 -1.84832704e-03 2.22791667e+02] [-9.61920115e-01 -2.73240287e-01 7.03120945e-03 -1.10405280e+02] [-7.26867982e-03 -1.43223039e-04 -9.99973573e-01 -4.03900676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters 0.013596101053606405 Centerline is valid? [True, True] Translation: X:222.80, Y:-110.52, Z:-4.04 [[ 3.45499982e-01 -9.38414626e-01 -2.78423212e-03 2.22800626e+02] [-9.38380331e-01 -3.45511163e-01 8.02433145e-03 -1.10522533e+02] [-8.49213328e-03 -1.59737709e-04 -9.99963928e-01 -4.03911397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters 0.013892137464067781 Centerline is valid? [True, True] Translation: X:222.82, Y:-110.64, Z:-4.04 [[ 4.16848163e-01 -9.08968450e-01 -3.73713512e-03 2.22818221e+02] [-9.08927981e-01 -4.16864876e-01 8.57902536e-03 -1.10644607e+02] [-9.35594375e-03 -1.79364276e-04 -9.99956216e-01 -4.03848082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters 0.013574326375975448 Centerline is valid? [True, True] Translation: X:222.84, Y:-110.76, Z:-4.04 [[ 4.86555891e-01 -8.73638547e-01 -4.36509503e-03 2.22844729e+02] [-8.73599801e-01 -4.86575434e-01 8.23008616e-03 -1.10764520e+02] [-9.31406852e-03 -1.91050762e-04 -9.99956605e-01 -4.03910573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters 0.014473177089278111 Centerline is valid? [True, True] Translation: X:222.88, Y:-110.88, Z:-4.04 [[ 5.53796349e-01 -8.32634779e-01 -5.37862301e-03 2.22879503e+02] [-8.32591457e-01 -5.53822421e-01 8.49662300e-03 -1.10884714e+02] [-1.00533858e-02 -2.27203224e-04 -9.99949438e-01 -4.03906193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters 0.01538085134477861 Centerline is valid? [True, True] Translation: X:222.91, Y:-110.98, Z:-4.04 [[ 6.16508580e-01 -7.87320832e-01 -6.56345656e-03 2.22911366e+02] [-7.87271726e-01 -6.16543463e-01 8.79698617e-03 -1.10982451e+02] [-1.09727067e-02 -2.56193671e-04 -9.99939765e-01 -4.03858939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters 0.014606407898117419 Centerline is valid? [True, True] Translation: X:222.96, Y:-111.08, Z:-4.04 [[ 6.74273519e-01 -7.38448256e-01 -7.02812957e-03 2.22957328e+02] [-7.38404366e-01 -6.74310103e-01 8.05465901e-03 -1.11082292e+02] [-1.06870877e-02 -2.41441720e-04 -9.99942862e-01 -4.03962245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters 0.013799777800609772 Centerline is valid? [True, True] Translation: X:223.00, Y:-111.17, Z:-4.04 [[ 7.26640908e-01 -6.86981328e-01 -7.04593509e-03 2.23002323e+02] [-6.86946413e-01 -7.26675042e-01 6.92888623e-03 -1.11168413e+02] [-9.88012064e-03 -1.94632351e-04 -9.99951171e-01 -4.04034539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters 0.012958967613492193 Centerline is valid? [True, True] Translation: X:223.02, Y:-111.20, Z:-4.04 [[ 7.76509065e-01 -6.30067245e-01 -6.99563798e-03 2.23021457e+02] [-6.30039853e-01 -7.76540561e-01 5.87714640e-03 -1.11196768e+02] [-9.13539408e-03 -1.56126736e-04 -9.99958259e-01 -4.04133301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters 0.01215680657718173 Centerline is valid? [True, True] Translation: X:223.04, Y:-111.22, Z:-4.04 [[ 8.20732674e-01 -5.71261013e-01 -7.66372304e-03 2.23042923e+02] [-5.71234774e-01 -8.20768446e-01 5.47647347e-03 -1.11222917e+02] [-9.41863783e-03 -1.16935623e-04 -9.99955637e-01 -4.04175866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters 0.011538695837369377 Centerline is valid? [True, True] Translation: X:223.07, Y:-111.25, Z:-4.04 [[ 8.59441407e-01 -5.11165258e-01 -8.39925713e-03 2.23066701e+02] [-5.11140212e-01 -8.59482446e-01 5.06041752e-03 -1.11245622e+02] [-9.80572370e-03 -5.59342777e-05 -9.99951921e-01 -4.04113950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters 0.011448115678894543 Centerline is valid? [True, True] Translation: X:223.09, Y:-111.27, Z:-4.04 [[ 8.93784569e-01 -4.48407896e-01 -8.91646711e-03 2.23093547e+02] [-4.48385694e-01 -8.93829044e-01 4.46213586e-03 -1.11265202e+02] [-9.97065422e-03 9.82811059e-06 -9.99950292e-01 -4.04237411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters 0.011504459955269462 Centerline is valid? [True, True] Translation: X:223.12, Y:-111.29, Z:-4.04 [[ 9.25305219e-01 -3.79106830e-01 -9.39489075e-03 2.23120160e+02] [-3.79087633e-01 -9.25352911e-01 3.81528437e-03 -1.11286220e+02] [-1.01399899e-02 3.11843536e-05 -9.99948589e-01 -4.04252642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters 0.011830503148599653 Centerline is valid? [True, True] Translation: X:223.15, Y:-111.30, Z:-4.04 [[ 9.51149746e-01 -3.08564140e-01 -1.01159171e-02 2.23148063e+02] [-3.08547425e-01 -9.51203536e-01 3.21240977e-03 -1.11303734e+02] [-1.06135306e-02 6.57574362e-05 -9.99943673e-01 -4.04268635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters 0.012266576824157003 Centerline is valid? [True, True] Translation: X:223.18, Y:-111.32, Z:-4.04 [[ 9.72090543e-01 -2.34354282e-01 -1.08649525e-02 2.23176240e+02] [-2.34340584e-01 -9.72151256e-01 2.53506598e-03 -1.11318862e+02] [-1.11564807e-02 8.17856472e-05 -9.99937761e-01 -4.04245855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters 0.011659266728059932 Centerline is valid? [True, True] Translation: X:223.20, Y:-111.34, Z:-4.04 [[ 9.88049609e-01 -1.53729471e-01 -1.11901927e-02 2.23203294e+02] [-1.53720060e-01 -9.88112973e-01 1.70146808e-03 -1.11336698e+02] [-1.13187403e-02 3.90222113e-05 -9.99935940e-01 -4.04389580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters 0.011646345071519421 Centerline is valid? [True, True] Translation: X:223.23, Y:-111.35, Z:-4.04 [[ 9.97464493e-01 -7.00527338e-02 -1.25379232e-02 2.23230888e+02] [-7.00468160e-02 -9.97543289e-01 9.11049975e-04 -1.11352676e+02] [-1.25709427e-02 -3.04983997e-05 -9.99920982e-01 -4.04334456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters 0.012071936667556418 Centerline is valid? [True, True] Translation: X:223.26, Y:-111.37, Z:-4.04 [[ 9.99827138e-01 1.28872993e-02 -1.34019235e-02 2.23259489e+02] [ 1.28874131e-02 -9.99916951e-01 -7.78737562e-05 -1.11366198e+02] [-1.34018141e-02 -9.48558301e-05 -9.99910187e-01 -4.04292902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters 0.012919702287210899 Centerline is valid? [True, True] Translation: X:223.29, Y:-111.38, Z:-4.04 [[ 9.95081406e-01 9.80841228e-02 -1.38744381e-02 2.23289983e+02] [ 9.80773298e-02 -9.95178108e-01 -1.17082100e-03 -1.11379489e+02] [-1.39223760e-02 -1.95705634e-04 -9.99903060e-01 -4.04251321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters 0.01414742607383234 Centerline is valid? [True, True] Translation: X:223.32, Y:-111.39, Z:-4.04 [[ 9.83337971e-01 1.81318871e-01 -1.30346296e-02 2.23321139e+02] [ 1.81306459e-01 -9.83424323e-01 -2.13756596e-03 -1.11388222e+02] [-1.32061528e-02 -2.61312757e-04 -9.99912761e-01 -4.04308536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters 0.015378011971767852 Centerline is valid? [True, True] Translation: X:223.35, Y:-111.39, Z:-4.04 [[ 9.64982293e-01 2.62082145e-01 -1.10509778e-02 2.23353083e+02] [ 2.62068222e-01 -9.65045529e-01 -2.71546608e-03 -1.11392528e+02] [-1.13763719e-02 -2.75733430e-04 -9.99935249e-01 -4.04416053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters 0.016915540095984116 Centerline is valid? [True, True] Translation: X:223.39, Y:-111.39, Z:-4.04 [[ 9.40261947e-01 3.40284320e-01 -1.06795026e-02 2.23385551e+02] [ 3.40266142e-01 -9.40322542e-01 -3.53122083e-03 -1.11392196e+02] [-1.12437961e-02 -3.13600554e-04 -9.99936737e-01 -4.04392974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters 0.0171290837311176 Centerline is valid? [True, True] Translation: X:223.42, Y:-111.39, Z:-4.04 [[ 9.10039718e-01 4.14368900e-01 -1.12305639e-02 2.23417090e+02] [ 4.14342195e-01 -9.10108942e-01 -4.71808022e-03 -1.11388035e+02] [-1.21760623e-02 -3.59656087e-04 -9.99925804e-01 -4.04381039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters 0.01829498656275835 Centerline is valid? [True, True] Translation: X:223.45, Y:-111.38, Z:-4.04 [[ 8.74063818e-01 4.85655805e-01 -1.22833725e-02 2.23447668e+02] [ 4.85614688e-01 -8.74150019e-01 -6.33401819e-03 -1.11381967e+02] [-1.38136630e-02 -4.28649970e-04 -9.99904495e-01 -4.04228268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters 0.019076741301231943 Centerline is valid? [True, True] Translation: X:223.48, Y:-111.37, Z:-4.04 [[ 8.33458444e-01 5.52423892e-01 -1.32236619e-02 2.23475384e+02] [ 5.52363397e-01 -8.33563203e-01 -8.18922881e-03 -1.11370576e+02] [-1.55466836e-02 -4.78884913e-04 -9.99879028e-01 -4.04030467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters 0.018756349181547116 Centerline is valid? [True, True] Translation: X:223.50, Y:-111.35, Z:-4.04 [[ 7.88408774e-01 6.15017653e-01 -1.28410148e-02 2.23500744e+02] [ 6.14945709e-01 -7.88513199e-01 -9.41859935e-03 -1.11353338e+02] [-1.59179145e-02 -4.70820604e-04 -9.99873191e-01 -4.04030356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters 0.016975500401696073 Centerline is valid? [True, True] Translation: X:223.52, Y:-111.33, Z:-4.04 [[ 7.39726810e-01 6.72811479e-01 -1.13560605e-02 2.23524079e+02] [ 6.72740450e-01 -7.39813863e-01 -9.78444521e-03 -1.11333256e+02] [-1.49844581e-02 -4.01864826e-04 -9.99887646e-01 -4.04264176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters 0.015456869705804224 Centerline is valid? [True, True] Translation: X:223.55, Y:-111.32, Z:-4.04 [[ 6.86371760e-01 7.27181609e-01 -1.00356871e-02 2.23548137e+02] [ 7.27111282e-01 -6.86445033e-01 -1.01192711e-02 -1.11315816e+02] [-1.42474954e-02 -3.51479364e-04 -9.99898438e-01 -4.04435863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters 0.015033086579185758 Centerline is valid? [True, True] Translation: X:223.57, Y:-111.30, Z:-4.04 [[ 6.29916724e-01 7.76615260e-01 -8.58240882e-03 2.23569121e+02] [ 7.76549242e-01 -6.29975124e-01 -1.01300842e-02 -1.11297305e+02] [-1.32738820e-02 -2.83553626e-04 -9.99911858e-01 -4.04487272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters 0.01414391818911817 Centerline is valid? [True, True] Translation: X:223.59, Y:-111.28, Z:-4.05 [[ 5.69146863e-01 8.22205549e-01 -7.06288386e-03 2.23588859e+02] [ 8.22147170e-01 -5.69190639e-01 -9.80041327e-03 -1.11275923e+02] [-1.20780815e-02 -2.28855507e-04 -9.99927031e-01 -4.04658613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters 0.013537193449539265 Centerline is valid? [True, True] Translation: X:223.61, Y:-111.26, Z:-4.05 [[ 5.05178757e-01 8.62991021e-01 -6.39689019e-03 2.23609126e+02] [ 8.62926857e-01 -5.05219216e-01 -1.05253805e-02 -1.11255850e+02] [-1.23151407e-02 -2.02849706e-04 -9.99924145e-01 -4.04652298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters 0.013001816097488154 Centerline is valid? [True, True] Translation: X:223.63, Y:-111.23, Z:-4.04 [[ 4.39210011e-01 8.98362842e-01 -6.22653630e-03 2.23626062e+02] [ 8.98278276e-01 -4.39254109e-01 -1.23275243e-02 -1.11233115e+02] [-1.38096214e-02 -1.78790202e-04 -9.99904627e-01 -4.04493487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters 0.012176872881225211 Centerline is valid? [True, True] Translation: X:223.64, Y:-111.21, Z:-4.05 [[ 3.71581711e-01 9.28385842e-01 -5.17313389e-03 2.23642388e+02] [ 9.28300222e-01 -3.71617700e-01 -1.26088615e-02 -1.11210006e+02] [-1.36283167e-02 -1.16999001e-04 -9.99907123e-01 -4.04627651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters 0.011856997182937827 Centerline is valid? [True, True] Translation: X:223.66, Y:-111.19, Z:-4.05 [[ 3.02388241e-01 9.53177891e-01 -3.64138549e-03 2.23656639e+02] [ 9.53110537e-01 -3.02410162e-01 -1.13312549e-02 -1.11187446e+02] [-1.19018936e-02 -4.42046342e-05 -9.99929169e-01 -4.04669515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters 0.011641401649105432 Centerline is valid? [True, True] Translation: X:223.67, Y:-111.16, Z:-4.05 [[ 2.30954022e-01 9.72961403e-01 -2.51940209e-03 2.23669209e+02] [ 9.72903244e-01 -2.30967763e-01 -1.06381838e-02 -1.11162860e+02] [-1.09324429e-02 5.79687879e-06 -9.99940239e-01 -4.04828417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters 0.011635249241089394 Centerline is valid? [True, True] Translation: X:223.68, Y:-111.14, Z:-4.05 [[ 1.55644497e-01 9.87811660e-01 -1.70738973e-03 2.23682306e+02] [ 9.87750529e-01 -1.55653860e-01 -1.09894618e-02 -1.11137835e+02] [-1.11212803e-02 2.39741501e-05 -9.99938156e-01 -4.04838320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters 0.011617384218690895 Centerline is valid? [True, True] Translation: X:223.70, Y:-111.11, Z:-4.05 [[ 7.82845030e-02 9.96930638e-01 -9.15786311e-04 2.23695279e+02] [ 9.96857547e-01 -7.82898527e-02 -1.20718693e-02 -1.11112201e+02] [-1.21065131e-02 3.21317930e-05 -9.99926713e-01 -4.04829437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters 0.011544453635925345 Centerline is valid? [True, True] Translation: X:223.71, Y:-111.09, Z:-4.05 [[-3.75438188e-03 9.99992952e-01 3.44814925e-05 2.23709867e+02] [ 9.99911729e-01 3.75451641e-03 -1.27451196e-02 -1.11085905e+02] [-1.27451592e-02 -1.33715972e-05 -9.99918777e-01 -4.04774303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters 0.01159796004489585 Centerline is valid? [True, True] Translation: X:223.72, Y:-111.06, Z:-4.05 [[-8.54886678e-02 9.96338624e-01 1.01654671e-03 2.23720187e+02] [ 9.96260183e-01 8.54946931e-02 -1.25022060e-02 -1.11059217e+02] [-1.25433401e-02 -5.60519278e-05 -9.99921328e-01 -4.04675954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters 0.012022499256345315 Centerline is valid? [True, True] Translation: X:223.73, Y:-111.03, Z:-4.05 [[-1.68851718e-01 9.85639867e-01 1.77461458e-03 2.23731337e+02] [ 9.85578174e-01 1.68861005e-01 -1.10283499e-02 -1.11029727e+02] [-1.11696446e-02 -1.13134427e-04 -9.99937611e-01 -4.04725451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters 0.012675405771818141 Centerline is valid? [True, True] Translation: X:223.74, Y:-111.00, Z:-4.05 [[-2.49405422e-01 9.68397106e-01 1.99514400e-03 2.23737520e+02] [ 9.68362183e-01 2.49413374e-01 -8.22505685e-03 -1.11000442e+02] [-8.46273685e-03 -1.19351781e-04 -9.99964183e-01 -4.04944039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters 0.012811583411750389 Centerline is valid? [True, True] Translation: X:223.74, Y:-110.97, Z:-4.05 [[-3.25322310e-01 9.45597232e-01 3.35696705e-03 2.23739620e+02] [ 9.45541637e-01 3.25339589e-01 -1.02549238e-02 -1.10970910e+02] [-1.07891819e-02 -1.62003390e-04 -9.99941782e-01 -4.04768479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters 0.012837106471801354 Centerline is valid? [True, True] Translation: X:223.74, Y:-110.94, Z:-4.05 [[-3.98698085e-01 9.17069954e-01 4.74733578e-03 2.23739526e+02] [ 9.16999181e-01 3.98726303e-01 -1.13946472e-02 -1.10941003e+02] [-1.23425762e-02 -1.89720984e-04 -9.99923810e-01 -4.04587139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters 0.012636668530873984 Centerline is valid? [True, True] Translation: X:223.74, Y:-110.91, Z:-4.05 [[-4.67518256e-01 8.83964253e-01 5.82060959e-03 2.23735502e+02] [ 8.83891161e-01 4.67554457e-01 -1.13685824e-02 -1.10913256e+02] [-1.27708724e-02 -1.70234456e-04 -9.99918435e-01 -4.04537215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters 0.012182718582401565 Centerline is valid? [True, True] Translation: X:223.73, Y:-110.89, Z:-4.04 [[-5.32526306e-01 8.46385703e-01 6.85380468e-03 2.23728252e+02] [ 8.46312427e-01 5.32570394e-01 -1.11378021e-02 -1.10885408e+02] [-1.30770099e-02 -1.30712514e-04 -9.99914484e-01 -4.04461725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters 0.011740856361758019 Centerline is valid? [True, True] Translation: X:223.72, Y:-110.86, Z:-4.04 [[-5.93818174e-01 8.04558666e-01 8.08265965e-03 2.23717498e+02] [ 8.04482319e-01 5.93873174e-01 -1.10838555e-02 -1.10858822e+02] [-1.37176868e-02 -7.94380685e-05 -9.99905905e-01 -4.04417670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters 0.011541752890966492 Centerline is valid? [True, True] Translation: X:223.70, Y:-110.83, Z:-4.05 [[-6.50054144e-01 7.59844118e-01 8.15631183e-03 2.23703978e+02] [ 7.59784506e-01 6.50105311e-01 -9.51779860e-03 -1.10833823e+02] [-1.25345049e-02 9.95493416e-06 -9.99921440e-01 -4.04693501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters 0.011840530885828853 Centerline is valid? [True, True] Translation: X:223.69, Y:-110.81, Z:-4.05 [[-7.03571107e-01 7.10585237e-01 7.50459828e-03 2.23688818e+02] [ 7.10545852e-01 7.03611126e-01 -7.48168888e-03 -1.10809406e+02] [-1.05966965e-02 6.84610604e-05 -9.99943851e-01 -4.04994931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters 0.012115815154823222 Centerline is valid? [True, True] Translation: X:223.71, Y:-110.79, Z:-4.05 [[-7.50691474e-01 6.60613571e-01 7.21247383e-03 2.23712608e+02] [ 6.60584122e-01 7.50726117e-01 -6.23815401e-03 -1.10793472e+02] [-9.53560167e-03 8.15166684e-05 -9.99954532e-01 -4.05105718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters 0.011833840746318464 Centerline is valid? [True, True] Translation: X:223.73, Y:-110.77, Z:-4.05 [[-7.96384395e-01 6.04745043e-01 7.43837915e-03 2.23733272e+02] [ 6.04719442e-01 7.96419129e-01 -5.56487917e-03 -1.10770215e+02] [-9.28940054e-03 6.63495568e-05 -9.99956850e-01 -4.05142071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters 0.011516427515081173 Centerline is valid? [True, True] Translation: X:223.75, Y:-110.74, Z:-4.05 [[-8.40281610e-01 5.42085565e-01 8.37000097e-03 2.23751123e+02] [ 5.42058843e-01 8.40323295e-01 -5.38236095e-03 -1.10740800e+02] [-9.95120698e-03 1.43341225e-05 -9.99950485e-01 -4.04912273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters 0.011906192589583678 Centerline is valid? [True, True] Translation: X:223.76, Y:-110.71, Z:-4.05 [[-8.80774640e-01 4.73452847e-01 8.85640646e-03 2.23762527e+02] [ 4.73428050e-01 8.80819162e-01 -4.84615672e-03 -1.10706145e+02] [-1.00953192e-02 -7.55006987e-05 -9.99949038e-01 -4.04929371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters 0.01402863343803104 Centerline is valid? [True, True] Translation: X:223.77, Y:-110.67, Z:-4.05 [[-9.16684747e-01 3.99493090e-01 9.71313125e-03 2.23771706e+02] [ 3.99468326e-01 9.16736184e-01 -4.45264558e-03 -1.10669383e+02] [-1.06831800e-02 -2.01583999e-04 -9.99942913e-01 -4.04923226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters 0.017635320856025618 Centerline is valid? [True, True] Translation: X:223.78, Y:-110.63, Z:-4.05 [[-9.45374389e-01 3.25844684e-01 9.61803264e-03 2.23781120e+02] [ 3.25824823e-01 9.45423273e-01 -3.60832397e-03 -1.10630641e+02] [-1.02688651e-02 -2.77423287e-04 -9.99947235e-01 -4.04648814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters 0.017097552063875823 Centerline is valid? [True, True] Translation: X:223.78, Y:-110.60, Z:-4.05 [[-9.66190991e-01 2.57607780e-01 1.06395620e-02 2.23784424e+02] [ 2.57588684e-01 9.66249522e-01 -3.15133299e-03 -1.10604075e+02] [-1.10922796e-02 -3.04158775e-04 -9.99938433e-01 -4.04609376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters 0.01772304115632115 Centerline is valid? [True, True] Translation: X:223.79, Y:-110.58, Z:-4.05 [[-9.82009857e-01 1.88477441e-01 1.15279789e-02 2.23789536e+02] [ 1.88460576e-01 9.82077466e-01 -2.54200144e-03 -1.10576717e+02] [-1.18004782e-02 -3.23700929e-04 -9.99930320e-01 -4.04500890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters 0.01772304115632115 Centerline is valid? [True, True] Translation: X:223.79, Y:-110.55, Z:-4.05 [[-9.92897274e-01 1.18400168e-01 1.16791750e-02 2.23790934e+02] [ 1.18388137e-01 9.92965909e-01 -1.71858578e-03 -1.10549806e+02] [-1.18005034e-02 -3.23703367e-04 -9.99930319e-01 -4.04500862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters 0.01703775170523833 Centerline is valid? [True, True] Translation: X:223.79, Y:-110.52, Z:-4.04 [[-9.98789780e-01 4.76201836e-02 1.23001614e-02 2.23792037e+02] [ 4.76123954e-02 9.98865458e-01 -9.25406806e-04 -1.10524528e+02] [-1.23302744e-02 -3.38646713e-04 -9.99923922e-01 -4.04486101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters 0.016940459047153293 Centerline is valid? [True, True] Translation: X:223.79, Y:-110.50, Z:-4.04 [[-9.99663503e-01 -2.23081595e-02 1.32373260e-02 2.23786865e+02] [-2.23108252e-02 9.99751081e-01 -5.37208725e-05 -1.10499501e+02] [-1.32328326e-02 -3.49038463e-04 -9.99912381e-01 -4.04375732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters 0.015158345775426884 Centerline is valid? [True, True] Translation: X:223.79, Y:-109.88, Z:-5.00 [[-9.95456502e-01 -9.43262192e-02 1.29968097e-02 2.23793060e+02] [ 9.43225113e-02 -9.95541287e-01 -8.99344233e-04 -1.09875044e+02] [ 1.30236924e-02 3.30633668e-04 9.99915133e-01 -4.99722987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters 0.013506130414039318 Centerline is valid? [True, True] Translation: X:223.73, Y:-110.52, Z:-4.05 [[-9.99840606e-01 -1.39885453e-02 1.10943232e-02 2.23733314e+02] [-1.39893589e-02 9.99902144e-01 4.26880828e-06 -1.10515308e+02] [-1.10932973e-02 -1.50934342e-04 -9.99938456e-01 -4.04684421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters 0.012938159398844901 Centerline is valid? [True, True] Translation: X:223.73, Y:-110.49, Z:-4.05 [[-9.96700648e-01 -8.02828321e-02 1.19367119e-02 2.23731053e+02] [-8.02783496e-02 9.96772118e-01 8.54966937e-04 -1.10493680e+02] [-1.19668207e-02 -1.06113429e-04 -9.99928389e-01 -4.04612460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters 0.012520157332078093 Centerline is valid? [True, True] Translation: X:223.69, Y:-109.83, Z:-4.99 [[-9.99937077e-01 -1.22884128e-03 1.11504259e-02 2.23689595e+02] [ 1.22929985e-03 -9.99999244e-01 3.42720633e-05 -1.09831191e+02] [ 1.11503754e-02 4.79771237e-05 9.99937832e-01 -4.99499987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters 0.01247583478162324 Centerline is valid? [True, True] Translation: X:223.66, Y:-110.51, Z:-4.05 [[-9.96948290e-01 -7.74177970e-02 1.00295527e-02 2.23662851e+02] [-7.74139797e-02 9.96998739e-01 7.68851424e-04 -1.10505498e+02] [-1.00589742e-02 -9.92247515e-06 -9.99949407e-01 -4.04817060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters 0.01273505551707005 Centerline is valid? [True, True] Translation: X:223.66, Y:-110.48, Z:-4.05 [[-9.89285899e-01 -1.45680812e-01 9.51370151e-03 2.23655989e+02] [-1.45673930e-01 9.89331644e-01 1.41606089e-03 -1.10479563e+02] [-9.61849886e-03 1.49907841e-05 -9.99953741e-01 -4.04702103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters 0.012817231092675744 Centerline is valid? [True, True] Translation: X:223.64, Y:-110.45, Z:-4.05 [[-9.76612439e-01 -2.14800647e-01 9.42476642e-03 2.23644014e+02] [-2.14790395e-01 9.76657914e-01 2.09883608e-03 -1.10454549e+02] [-9.65560406e-03 2.54001227e-05 -9.99953383e-01 -4.04801487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters 0.01299959829924769 Centerline is valid? [True, True] Translation: X:223.62, Y:-110.43, Z:-4.05 [[-9.58596976e-01 -2.84599661e-01 9.74015902e-03 2.23622743e+02] [-2.84584736e-01 9.58646458e-01 2.91472366e-03 -1.10429520e+02] [-1.01668983e-02 2.21447008e-05 -9.99948316e-01 -4.04729788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters 0.012759315589285216 Centerline is valid? [True, True] Translation: X:223.59, Y:-110.41, Z:-4.05 [[-9.35284860e-01 -3.53788229e-01 8.72467192e-03 2.23590929e+02] [-3.53772725e-01 9.35325552e-01 3.31211353e-03 -1.10409614e+02] [-9.33219537e-03 1.12186817e-05 -9.99956454e-01 -4.04817913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters 0.012905557365538485 Centerline is valid? [True, True] Translation: X:223.54, Y:-110.40, Z:-4.05 [[-9.06508235e-01 -4.22122741e-01 7.43049159e-03 2.23540258e+02] [-4.22108569e-01 9.06538687e-01 3.45904592e-03 -1.10400494e+02] [-8.19617004e-03 -8.20564071e-07 -9.99966411e-01 -4.04898769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters 0.013349213722008679 Centerline is valid? [True, True] Translation: X:223.47, Y:-110.40, Z:-4.05 [[-8.71241649e-01 -4.90806557e-01 6.84921099e-03 2.23472960e+02] [-4.90791661e-01 8.71268571e-01 3.82400689e-03 -1.10400198e+02] [-7.84434992e-03 -2.99015680e-05 -9.99969232e-01 -4.04871095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters 0.014931830515060755 Centerline is valid? [True, True] Translation: X:223.40, Y:-110.41, Z:-4.05 [[-8.28522214e-01 -5.59913506e-01 6.91423901e-03 2.23401273e+02] [-5.59894945e-01 8.28551059e-01 4.55994729e-03 -1.10406588e+02] [-8.28197613e-03 -9.32298466e-05 -9.99965700e-01 -4.04820204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters 0.01736244909741634 Centerline is valid? [True, True] Translation: X:223.32, Y:-110.42, Z:-4.05 [[-7.78931843e-01 -6.27073699e-01 6.61513209e-03 2.23323671e+02] [-6.27052950e-01 7.78959913e-01 5.10403445e-03 -1.10422882e+02] [-8.35352848e-03 -1.72343125e-04 -9.99965094e-01 -4.04939192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters 0.02066455736622928 Centerline is valid? [True, True] Translation: X:223.24, Y:-110.45, Z:-4.05 [[-7.24135784e-01 -6.89619078e-01 7.27282936e-03 2.23239516e+02] [-6.89588234e-01 7.24172248e-01 6.52860995e-03 -1.10448166e+02] [-9.76903516e-03 -2.87657472e-04 -9.99952240e-01 -4.04864021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters 0.025541394227607456 Centerline is valid? [True, True] Translation: X:223.15, Y:-110.49, Z:-4.04 [[-6.63624056e-01 -7.48004315e-01 9.62585529e-03 2.23149729e+02] [-7.47937225e-01 6.63693642e-01 1.00327325e-02 -1.10487801e+02] [-1.38931461e-02 -5.41572894e-04 -9.99903339e-01 -4.04375584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters 0.024668279742393853 Centerline is valid? [True, True] Translation: X:223.08, Y:-110.53, Z:-4.04 [[-6.04947421e-01 -7.96205487e-01 9.76939045e-03 2.23077847e+02] [-7.96117510e-01 6.05025994e-01 1.18514544e-02 -1.10533011e+02] [-1.53469282e-02 -6.08076035e-04 -9.99882044e-01 -4.04311156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters 0.023680436487642578 Centerline is valid? [True, True] Translation: X:223.00, Y:-110.59, Z:-4.04 [[-5.43734288e-01 -8.39210737e-01 8.85226863e-03 2.23004977e+02] [-8.39116920e-01 5.43806014e-01 1.25623758e-02 -1.10588473e+02] [-1.53563976e-02 -5.97493945e-04 -9.99881905e-01 -4.04328713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters 0.023680436487642578 Centerline is valid? [True, True] Translation: X:222.93, Y:-110.65, Z:-4.04 [[-4.78724185e-01 -8.77930013e-01 7.87697963e-03 2.22930188e+02] [-8.77831040e-01 4.78788612e-01 1.31958275e-02 -1.10654756e+02] [-1.53564212e-02 -5.97495445e-04 -9.99881905e-01 -4.04328613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters 0.02334611541926276 Centerline is valid? [True, True] Translation: X:222.86, Y:-110.73, Z:-4.04 [[-4.14109637e-01 -9.10207798e-01 5.91376359e-03 2.22862857e+02] [-9.10130553e-01 4.14151597e-01 1.18672659e-02 -1.10731197e+02] [-1.32508726e-02 -4.67947740e-04 -9.99912094e-01 -4.04449596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters 0.020258727160346397 Centerline is valid? [True, True] Translation: X:222.81, Y:-110.81, Z:-4.05 [[-3.47805825e-01 -9.37554177e-01 4.82421813e-03 2.22805424e+02] [-9.37479107e-01 3.47839058e-01 1.18707516e-02 -1.10814728e+02] [-1.28075242e-02 -3.93887147e-04 -9.99917903e-01 -4.04560283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters 0.019814884965307367 Centerline is valid? [True, True] Translation: X:222.75, Y:-110.91, Z:-4.04 [[-2.80992557e-01 -9.59702764e-01 3.71314289e-03 2.22747624e+02] [-9.59632613e-01 2.81016927e-01 1.16075391e-02 -1.10908108e+02] [-1.21832434e-02 -3.01620910e-04 -9.99925736e-01 -4.04435443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters 0.0161038607354308 Centerline is valid? [True, True] Translation: X:222.71, Y:-111.00, Z:-4.05 [[-2.20361456e-01 -9.75414640e-01 2.66607255e-03 2.22712344e+02] [-9.75349908e-01 2.20377549e-01 1.12379854e-02 -1.10999758e+02] [-1.15492380e-02 -1.23934792e-04 -9.99933298e-01 -4.04590277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters 0.01548765175860376 Centerline is valid? [True, True] Translation: X:222.67, Y:-111.11, Z:-4.05 [[-1.51651452e-01 -9.88432305e-01 1.84819682e-03 2.22670358e+02] [-9.88362566e-01 1.51662707e-01 1.17414243e-02 -1.11112564e+02] [-1.18859057e-02 -4.60844989e-05 -9.99929359e-01 -4.04543963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters 0.015451808853088701 Centerline is valid? [True, True] Translation: X:222.64, Y:-111.21, Z:-4.05 [[-8.46626827e-02 -9.96409298e-01 8.61226242e-04 2.22642123e+02] [-9.96349997e-01 8.46670401e-02 1.08708815e-02 -1.11214544e+02] [-1.09047649e-02 6.22752303e-05 -9.99940539e-01 -4.04666290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters 0.01596922145580175 Centerline is valid? [True, True] Translation: X:222.62, Y:-111.33, Z:-4.05 [[-1.44190309e-02 -9.99896040e-01 1.63676148e-05 2.22618107e+02] [-9.99860356e-01 1.44186546e-02 8.44816179e-03 -1.11327541e+02] [-8.44751952e-03 1.05448977e-04 -9.99964314e-01 -4.04845160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters 0.016166281863909976 Centerline is valid? [True, True] Translation: X:222.60, Y:-111.45, Z:-4.05 [[ 6.01392251e-02 -9.98189844e-01 -5.55606662e-04 2.22597707e+02] [-9.98162589e-01 -6.01416893e-02 7.37721659e-03 -1.11445962e+02] [-7.39727780e-03 1.10925695e-04 -9.99972634e-01 -4.04935483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters 0.016049368735984636 Centerline is valid? [True, True] Translation: X:222.59, Y:-111.57, Z:-4.05 [[ 1.36952146e-01 -9.90577175e-01 -9.84545850e-04 2.22585647e+02] [-9.90556404e-01 -1.36955651e-01 6.41568651e-03 -1.11570212e+02] [-6.49007174e-03 9.66061596e-05 -9.99978935e-01 -4.04925504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters 0.01487864408884028 Centerline is valid? [True, True] Translation: X:222.58, Y:-111.69, Z:-4.05 [[ 2.17220280e-01 -9.76121509e-01 -1.46617817e-03 2.22576790e+02] [-9.76101283e-01 -2.17225218e-01 6.28418220e-03 -1.11688119e+02] [-6.45261628e-03 6.60865761e-05 -9.99979179e-01 -4.04853261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters 0.014449902664154845 Centerline is valid? [True, True] Translation: X:222.58, Y:-111.81, Z:-4.05 [[ 2.95435015e-01 -9.55361020e-01 -1.86374767e-03 2.22580478e+02] [-9.55342831e-01 -2.95440891e-01 5.89535783e-03 -1.11813859e+02] [-6.18282234e-03 3.88228456e-05 -9.99980885e-01 -4.04747095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters 0.01374667333418726 Centerline is valid? [True, True] Translation: X:222.59, Y:-111.94, Z:-4.05 [[ 3.73302379e-01 -9.27707530e-01 -2.01793579e-03 2.22589677e+02] [-9.27694021e-01 -3.73307833e-01 5.00659237e-03 -1.11935589e+02] [-5.39796468e-03 3.05412643e-06 -9.99985431e-01 -4.04720066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters 0.01346949313340339 Centerline is valid? [True, True] Translation: X:222.61, Y:-112.06, Z:-4.05 [[ 4.47051352e-01 -8.94506525e-01 -1.77909951e-03 2.22611964e+02] [-8.94499319e-01 -4.47054892e-01 3.59067807e-03 -1.12058563e+02] [-4.00724011e-03 -1.38141872e-05 -9.99991971e-01 -4.04769141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters 0.013356724424616452 Centerline is valid? [True, True] Translation: X:222.64, Y:-112.17, Z:-4.05 [[ 5.16047355e-01 -8.56559126e-01 -1.26100183e-03 2.22641627e+02] [-8.56556506e-01 -5.16048896e-01 2.11880009e-03 -1.12171190e+02] [-2.46561616e-03 -1.32818618e-05 -9.99996960e-01 -4.04761219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters 0.013345251076174175 Centerline is valid? [True, True] Translation: X:222.68, Y:-112.28, Z:-4.05 [[ 5.80556494e-01 -8.14219777e-01 -5.58745346e-04 2.22677075e+02] [-8.14219391e-01 -5.80556763e-01 7.92825033e-04 -1.12276939e+02] [-9.69917211e-04 -5.33842639e-06 -9.99999530e-01 -4.04695588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters 0.01331046407593691 Centerline is valid? [True, True] Translation: X:222.72, Y:-112.38, Z:-4.05 [[ 6.40621791e-01 -7.67856393e-01 -5.29305725e-04 2.22722219e+02] [-7.67856126e-01 -6.40622010e-01 6.40562245e-04 -1.12379964e+02] [-8.30944712e-04 -3.92748931e-06 -9.99999655e-01 -4.04567653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters 0.013120769048579709 Centerline is valid? [True, True] Translation: X:222.77, Y:-112.47, Z:-4.04 [[ 6.94543589e-01 -7.19448309e-01 -1.82578212e-03 2.22774509e+02] [-7.19445810e-01 -6.94545989e-01 1.89620285e-03 -1.12474676e+02] [-2.63230958e-03 -3.44423494e-06 -9.99996535e-01 -4.04292670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters 0.01319557513133609 Centerline is valid? [True, True] Translation: X:222.83, Y:-112.56, Z:-4.04 [[ 7.43995726e-01 -6.68180358e-01 -2.31696227e-03 2.22831341e+02] [-6.68177165e-01 -7.43999334e-01 2.06562022e-03 -1.12561310e+02] [-3.10402525e-03 1.13286599e-05 -9.99995182e-01 -4.04211443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters 0.013808057539563441 Centerline is valid? [True, True] Translation: X:222.86, Y:-112.58, Z:-4.04 [[ 7.90261890e-01 -6.12765390e-01 -2.17299071e-03 2.22855645e+02] [-6.12763166e-01 -7.90264877e-01 1.65131144e-03 -1.12582080e+02] [-2.72910473e-03 2.65601667e-05 -9.99996276e-01 -4.04243546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters 0.015376644707176625 Centerline is valid? [True, True] Translation: X:222.88, Y:-112.60, Z:-4.04 [[ 8.31862885e-01 -5.54979611e-01 -1.33122047e-03 2.22880434e+02] [-5.54978951e-01 -8.31863950e-01 8.55944795e-04 -1.12599722e+02] [-1.58242623e-03 2.67706333e-05 -9.99998748e-01 -4.04328043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters 0.01557175946404604 Centerline is valid? [True, True] Translation: X:222.90, Y:-112.62, Z:-4.04 [[ 8.70516110e-01 -4.92136846e-01 -1.74000464e-03 2.22902221e+02] [-4.92135958e-01 -8.70517848e-01 9.35375861e-04 -1.12622937e+02] [-1.97503802e-03 4.20590938e-05 -9.99998049e-01 -4.04312610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters 0.016294286952888554 Centerline is valid? [True, True] Translation: X:222.93, Y:-112.64, Z:-4.04 [[ 9.05601955e-01 -4.24123402e-01 -2.10686167e-03 2.22926794e+02] [-4.24122389e-01 -9.05604404e-01 9.28383838e-04 -1.12642213e+02] [-2.30173252e-03 5.28209856e-05 -9.99997350e-01 -4.04290470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters 0.016746477535791327 Centerline is valid? [True, True] Translation: X:222.95, Y:-112.66, Z:-4.04 [[ 9.35720412e-01 -3.52732513e-01 -2.66191113e-03 2.22952755e+02] [-3.52731287e-01 -9.35724196e-01 9.32238101e-04 -1.12660843e+02] [-2.81964534e-03 6.66251212e-05 -9.99996023e-01 -4.04209099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters 0.016516854302263167 Centerline is valid? [True, True] Translation: X:222.98, Y:-112.68, Z:-4.04 [[ 9.60621053e-01 -2.77838250e-01 -3.61922446e-03 2.22979695e+02] [-2.77836613e-01 -9.60627867e-01 9.57564939e-04 -1.12680248e+02] [-3.74277604e-03 8.56960278e-05 -9.99992992e-01 -4.04164054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters 0.0154860781358617 Centerline is valid? [True, True] Translation: X:223.01, Y:-112.70, Z:-4.04 [[ 9.79780481e-01 -2.00045319e-01 -3.47564946e-03 2.23006394e+02] [-2.00044330e-01 -9.79786643e-01 6.33593760e-04 -1.12699805e+02] [-3.53214238e-03 7.45011674e-05 -9.99993759e-01 -4.04250629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters 0.015347510393422931 Centerline is valid? [True, True] Translation: X:223.03, Y:-112.71, Z:-4.04 [[ 9.92601712e-01 -1.21378060e-01 -3.03459071e-03 2.23032305e+02] [-1.21377679e-01 -9.92606348e-01 3.10261637e-04 -1.12713551e+02] [-3.04981296e-03 6.03653447e-05 -9.99995348e-01 -4.04245716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters 0.015453274207305702 Centerline is valid? [True, True] Translation: X:223.06, Y:-112.72, Z:-4.04 [[ 9.99075966e-01 -4.29464095e-02 -1.67903148e-03 2.23059115e+02] [-4.29464042e-02 -9.99077377e-01 3.92507158e-05 -1.12724524e+02] [-1.67916804e-03 3.28939175e-05 -9.99998590e-01 -4.04282921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters 0.015753216434737566 Centerline is valid? [True, True] Translation: X:223.09, Y:-112.73, Z:-4.04 [[ 9.99414979e-01 3.41857757e-02 -1.01597546e-03 2.23088404e+02] [ 3.41857363e-02 -9.99415495e-01 -5.61892295e-05 -1.12731605e+02] [-1.01730249e-03 2.14244884e-05 -9.99999482e-01 -4.04359070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters 0.015856640307972767 Centerline is valid? [True, True] Translation: X:223.12, Y:-112.74, Z:-4.04 [[ 9.93776618e-01 1.11386921e-01 -9.93838787e-04 2.23117988e+02] [ 1.11386843e-01 -9.93777115e-01 -1.33577749e-04 -1.12736839e+02] [-1.00253306e-03 2.20458789e-05 -9.99999497e-01 -4.04348646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters 0.016147808840049786 Centerline is valid? [True, True] Translation: X:223.15, Y:-112.74, Z:-4.04 [[ 9.82086278e-01 1.88425149e-01 -1.58267805e-03 2.23148137e+02] [ 1.88424846e-01 -9.82087553e-01 -3.40191831e-04 -1.12740031e+02] [-1.61842911e-03 3.58818616e-05 -9.99998690e-01 -4.04232498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters 0.016416585876095933 Centerline is valid? [True, True] Translation: X:223.18, Y:-112.74, Z:-4.04 [[ 9.64086702e-01 2.65576747e-01 -2.41298187e-03 2.23176679e+02] [ 2.65575777e-01 -9.64089720e-01 -7.19948698e-04 -1.12739126e+02] [-2.51753265e-03 5.32634305e-05 -9.99996830e-01 -4.04083899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters 0.01615046479603854 Centerline is valid? [True, True] Translation: X:223.21, Y:-112.73, Z:-4.04 [[ 9.40182144e-01 3.40661389e-01 -2.71168895e-03 2.23206609e+02] [ 3.40659787e-01 -9.40186053e-01 -1.04641555e-03 -1.12733965e+02] [-2.90596551e-03 6.00578365e-05 -9.99995776e-01 -4.04052490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters 0.015681894577636277 Centerline is valid? [True, True] Translation: X:223.24, Y:-112.73, Z:-4.04 [[ 9.09550943e-01 4.15583651e-01 -2.70376158e-03 2.23235034e+02] [ 4.15581637e-01 -9.09554960e-01 -1.29495509e-03 -1.12728056e+02] [-2.99738192e-03 5.41939564e-05 -9.99995506e-01 -4.04050996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters 0.014620093494902174 Centerline is valid? [True, True] Translation: X:223.26, Y:-112.72, Z:-4.04 [[ 8.72410683e-01 4.88768125e-01 -2.30671076e-03 2.23264551e+02] [ 4.88766300e-01 -8.72413731e-01 -1.33635963e-03 -1.12718963e+02] [-2.66557614e-03 3.84119350e-05 -9.99996447e-01 -4.04075981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters 0.01374495391415524 Centerline is valid? [True, True] Translation: X:223.29, Y:-112.71, Z:-4.04 [[ 8.29581422e-01 5.58381754e-01 -2.11691282e-03 2.23291586e+02] [ 5.58379849e-01 -8.29584122e-01 -1.45905127e-03 -1.12705080e+02] [-2.57086487e-03 2.83603648e-05 -9.99996695e-01 -4.04102074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters 0.012370169735226791 Centerline is valid? [True, True] Translation: X:223.32, Y:-112.70, Z:-4.04 [[ 7.79143939e-01 6.26843686e-01 -1.30964129e-03 2.23324628e+02] [ 6.26842784e-01 -7.79145040e-01 -1.06330772e-03 -1.12698000e+02] [-1.68692824e-03 7.53057247e-06 -9.99998577e-01 -4.04231647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters 0.012143318494522678 Centerline is valid? [True, True] Translation: X:223.36, Y:-112.69, Z:-4.04 [[ 7.23240612e-01 6.90595224e-01 -1.11956602e-03 2.23355775e+02] [ 6.90594403e-01 -7.23241479e-01 -1.06481809e-03 -1.12685373e+02] [-1.54507487e-03 -3.04633662e-06 -9.99998806e-01 -4.04298478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters 0.012472098445409766 Centerline is valid? [True, True] Translation: X:223.38, Y:-112.67, Z:-4.04 [[ 6.63888114e-01 7.47831451e-01 -8.32310079e-04 2.23383888e+02] [ 7.47830877e-01 -6.63888636e-01 -9.26357134e-04 -1.12667930e+02] [-1.24532020e-03 -7.42968553e-06 -9.99999225e-01 -4.04306660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters 0.013559223267621535 Centerline is valid? [True, True] Translation: X:223.41, Y:-112.65, Z:-4.04 [[ 5.99265587e-01 8.00548962e-01 -1.45448832e-03 2.23410248e+02] [ 8.00546712e-01 -5.99267352e-01 -1.89824530e-03 -1.12648063e+02] [-2.39126566e-03 -2.68327607e-05 -9.99997141e-01 -4.04223027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters 0.014532850544551308 Centerline is valid? [True, True] Translation: X:223.43, Y:-112.62, Z:-4.04 [[ 5.32267359e-01 8.46573570e-01 -2.15634791e-03 2.23431691e+02] [ 8.46567048e-01 -5.32271724e-01 -3.32345039e-03 -1.12624584e+02] [-3.96130828e-03 -5.65289232e-05 -9.99992152e-01 -4.04043192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters 0.014442020538285562 Centerline is valid? [True, True] Translation: X:223.45, Y:-112.60, Z:-4.04 [[ 4.64141479e-01 8.85758075e-01 -2.30638164e-03 2.23449105e+02] [ 8.85747884e-01 -4.64147204e-01 -4.24968171e-03 -1.12596716e+02] [-4.83469048e-03 -7.04190992e-05 -9.99988310e-01 -4.03998849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters 0.013965641291081406 Centerline is valid? [True, True] Translation: X:223.46, Y:-112.57, Z:-4.04 [[ 3.95597335e-01 9.18420729e-01 -2.47232469e-03 2.23461056e+02] [ 9.18403944e-01 -3.95605053e-01 -5.55314469e-03 -1.12567539e+02] [-6.07818734e-03 -7.37835033e-05 -9.99981525e-01 -4.03916951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters 0.012993210370753603 Centerline is valid? [True, True] Translation: X:223.47, Y:-112.54, Z:-4.04 [[ 3.25600859e-01 9.45505062e-01 -2.06351258e-03 2.23467007e+02] [ 9.45487124e-01 -3.25607393e-01 -5.82445639e-03 -1.12535900e+02] [-6.17894796e-03 -5.45765694e-05 -9.99980909e-01 -4.03993466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters 0.012530205574338347 Centerline is valid? [True, True] Translation: X:223.47, Y:-112.50, Z:-4.04 [[ 2.53415105e-01 9.67356155e-01 -1.68944259e-03 2.23470091e+02] [ 9.67335653e-01 -2.53420734e-01 -6.29813506e-03 -1.12503981e+02] [-6.52067950e-03 -3.82154925e-05 -9.99978739e-01 -4.03951599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters 0.012107263172487923 Centerline is valid? [True, True] Translation: X:223.47, Y:-112.47, Z:-4.04 [[ 1.79641467e-01 9.83731270e-01 -1.31588132e-03 2.23469636e+02] [ 9.83705773e-01 -1.79646285e-01 -7.08263764e-03 -1.12471980e+02] [-7.20380532e-03 -2.21046387e-05 -9.99974052e-01 -4.03914394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters 0.01218809179393551 Centerline is valid? [True, True] Translation: X:223.46, Y:-112.44, Z:-4.04 [[ 1.05971083e-01 9.94368874e-01 -8.19441868e-04 2.23462611e+02] [ 9.94338658e-01 -1.05974251e-01 -7.75185877e-03 -1.12440644e+02] [-7.79504681e-03 6.67014041e-06 -9.99969618e-01 -4.03927859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters 0.012348472439050188 Centerline is valid? [True, True] Translation: X:223.46, Y:-112.41, Z:-4.04 [[ 3.02433870e-02 9.99542541e-01 -2.13427616e-04 2.23455885e+02] [ 9.99511016e-01 -3.02441282e-02 -7.93857712e-03 -1.12410442e+02] [-7.94140048e-03 2.67662067e-05 -9.99968466e-01 -4.03980505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters 0.012991469718230016 Centerline is valid? [True, True] Translation: X:223.45, Y:-112.38, Z:-4.04 [[-4.42876822e-02 9.99018711e-01 4.64640724e-04 2.23448908e+02] [ 9.98978046e-01 4.42900718e-02 -9.01400268e-03 -1.12380685e+02] [-9.02573631e-03 6.49565971e-05 -9.99959265e-01 -4.04017585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters 0.014329734551252046 Centerline is valid? [True, True] Translation: X:223.44, Y:-112.35, Z:-4.04 [[-1.17811373e-01 9.93035285e-01 1.18492141e-03 2.23437698e+02] [ 9.92993853e-01 1.17817282e-01 -9.07171404e-03 -1.12352435e+02] [-9.14813636e-03 1.07868592e-04 -9.99958149e-01 -4.03952724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters 0.016071077657521794 Centerline is valid? [True, True] Translation: X:223.42, Y:-112.33, Z:-4.04 [[-1.91214849e-01 9.81546202e-01 1.98358198e-03 2.23422513e+02] [ 9.81501347e-01 1.91225077e-01 -9.38489055e-03 -1.12325808e+02] [-9.59101429e-03 1.52357952e-04 -9.99953994e-01 -4.03963735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters 0.018673277096018563 Centerline is valid? [True, True] Translation: X:223.40, Y:-112.30, Z:-4.04 [[-2.61631716e-01 9.65163936e-01 2.72436004e-03 2.23404417e+02] [ 9.65119716e-01 2.61645814e-01 -9.24126727e-03 -1.12301677e+02] [-9.63215530e-03 2.11524978e-04 -9.99953587e-01 -4.04001231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters 0.020473580771593888 Centerline is valid? [True, True] Translation: X:223.39, Y:-112.28, Z:-4.04 [[-3.33799199e-01 9.42637550e-01 3.54173904e-03 2.23386906e+02] [ 9.42592042e-01 3.33817898e-01 -9.26572989e-03 -1.12278361e+02] [-9.91652080e-03 2.45521823e-04 -9.99950800e-01 -4.03991683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters 0.01617872800140642 Centerline is valid? [True, True] Translation: X:223.39, Y:-112.25, Z:-4.04 [[-4.05355381e-01 9.14147537e-01 4.61463813e-03 2.23389592e+02] [ 9.14095980e-01 4.05381550e-01 -9.71283280e-03 -1.12245388e+02] [-1.07496513e-02 2.81073122e-04 -9.99942181e-01 -4.04290663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters 0.015331417760585442 Centerline is valid? [True, True] Translation: X:223.39, Y:-112.21, Z:-4.04 [[-4.77253338e-01 8.78750254e-01 5.21946242e-03 2.23387075e+02] [ 8.78703432e-01 4.77281810e-01 -9.07485769e-03 -1.12212976e+02] [-1.04656880e-02 2.55353417e-04 -9.99945201e-01 -4.04325916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters 0.01464525100148745 Centerline is valid? [True, True] Translation: X:223.38, Y:-112.18, Z:-4.04 [[-5.48117991e-01 8.36373489e-01 6.78635079e-03 2.23382245e+02] [ 8.36314788e-01 5.48159947e-01 -9.91197802e-03 -1.12180117e+02] [-1.20101213e-02 2.42592049e-04 -9.99927846e-01 -4.04215831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters 0.013690987682871813 Centerline is valid? [True, True] Translation: X:223.37, Y:-112.15, Z:-4.04 [[-6.15056877e-01 7.88446412e-01 7.56925214e-03 2.23373391e+02] [ 7.88390592e-01 6.15103420e-01 -9.38390596e-03 -1.12149292e+02] [-1.20545799e-02 1.95891279e-04 -9.99927322e-01 -4.04191867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters 0.012272903106640214 Centerline is valid? [True, True] Translation: X:223.36, Y:-112.12, Z:-4.04 [[-6.80253591e-01 7.32928929e-01 8.38070114e-03 2.23363341e+02] [ 7.32875292e-01 6.80305205e-01 -8.86761123e-03 -1.12117043e+02] [-1.22007634e-02 1.09784407e-04 -9.99925562e-01 -4.04327426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters 0.011606080302882146 Centerline is valid? [True, True] Translation: X:223.35, Y:-112.09, Z:-4.04 [[-7.40232418e-01 6.72289064e-01 9.13137408e-03 2.23350258e+02] [ 6.72238338e-01 7.40288737e-01 -8.25851587e-03 -1.12086073e+02] [-1.23119633e-02 2.52385620e-05 -9.99924205e-01 -4.04297798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters 0.011614568595187488 Centerline is valid? [True, True] Translation: X:223.76, Y:-111.63, Z:-5.00 [[-6.93028043e-01 -7.20864295e-01 8.17308940e-03 2.23763339e+02] [ 7.20813253e-01 -6.93076233e-01 -8.57839560e-03 -1.11629511e+02] [ 1.18484331e-02 -5.37975588e-05 9.99929803e-01 -4.99876877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters 0.0117584710900573 Centerline is valid? [True, True] Translation: X:223.72, Y:-111.59, Z:-5.00 [[-6.90480043e-01 -7.23311295e-01 7.62108423e-03 2.23721485e+02] [ 7.23268343e-01 -6.90522096e-01 -7.88277006e-03 -1.11590314e+02] [ 1.09642237e-02 6.91935489e-05 9.99939889e-01 -4.99762107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters 0.012369493113176517 Centerline is valid? [True, True] Translation: X:223.68, Y:-111.55, Z:-5.00 [[-6.87090283e-01 -7.26533023e-01 7.53056216e-03 2.23678681e+02] [ 7.26491325e-01 -6.87131539e-01 -7.78479072e-03 -1.11551169e+02] [ 1.08303943e-02 1.22034028e-04 9.99941342e-01 -4.99772531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters 0.0130501164446224 Centerline is valid? [True, True] Translation: X:223.64, Y:-111.51, Z:-5.00 [[-6.84306054e-01 -7.29163447e-01 6.77432599e-03 2.23636861e+02] [ 7.29129871e-01 -6.84339568e-01 -6.99909349e-03 -1.11511333e+02] [ 9.73942246e-03 1.49841391e-04 9.99952559e-01 -4.99617608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters 0.013210031844844065 Centerline is valid? [True, True] Translation: X:223.60, Y:-111.47, Z:-5.00 [[-6.83755648e-01 -7.29676975e-01 7.05161580e-03 2.23596287e+02] [ 7.29640662e-01 -6.83791989e-01 -7.28144359e-03 -1.11469148e+02] [ 1.01349401e-02 1.66417442e-04 9.99948626e-01 -4.99630187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters 0.013343701419999188 Centerline is valid? [True, True] Translation: X:223.56, Y:-111.43, Z:-5.00 [[-6.83215824e-01 -7.30166707e-01 8.52745658e-03 2.23556346e+02] [ 7.30113707e-01 -6.83269005e-01 -8.80004957e-03 -1.11427678e+02] [ 1.22520500e-02 2.13679817e-04 9.99924918e-01 -4.99843768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters 0.013381080140792057 Centerline is valid? [True, True] Translation: X:223.52, Y:-111.38, Z:-5.00 [[-6.83658810e-01 -7.29744359e-01 9.15437310e-03 2.23516766e+02] [ 7.29683312e-01 -6.83720060e-01 -9.44159055e-03 -1.11384565e+02] [ 1.31489760e-02 2.24966728e-04 9.99913523e-01 -4.99896894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters 0.012914755761368713 Centerline is valid? [True, True] Translation: X:223.48, Y:-111.34, Z:-5.00 [[-6.86212861e-01 -7.27329670e-01 1.01715589e-02 2.23479500e+02] [ 7.27254124e-01 -6.86288213e-01 -1.04846676e-02 -1.11339576e+02] [ 1.46064308e-02 2.02594422e-04 9.99893300e-01 -4.99956478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters 0.012435082920074355 Centerline is valid? [True, True] Translation: X:223.44, Y:-111.29, Z:-5.00 [[-6.89630382e-01 -7.24084557e-01 1.05589035e-02 2.23442732e+02] [ 7.24002860e-01 -6.89711196e-01 -1.08777833e-02 -1.11294023e+02] [ 1.51590288e-02 1.43026483e-04 9.99885085e-01 -4.99943673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters 0.011806993175914923 Centerline is valid? [True, True] Translation: X:223.41, Y:-111.24, Z:-5.00 [[-6.95950558e-01 -7.18028485e-01 9.37633009e-03 2.23409005e+02] [ 7.17963580e-01 -6.96013718e-01 -9.65416814e-03 -1.11244931e+02] [ 1.34580221e-02 1.30398115e-05 9.99909437e-01 -4.99641856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters 0.012268066710106806 Centerline is valid? [True, True] Translation: X:223.37, Y:-111.20, Z:-4.99 [[-7.01429003e-01 -7.12694070e-01 8.03223686e-03 2.23374933e+02] [ 7.12646127e-01 -7.01474987e-01 -8.26679976e-03 -1.11198696e+02] [ 1.15261124e-02 -7.44306273e-05 9.99933569e-01 -4.99491571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters 0.012794974299217676 Centerline is valid? [True, True] Translation: X:223.34, Y:-111.15, Z:-4.99 [[-7.04460645e-01 -7.09699964e-01 7.82047975e-03 2.23337610e+02] [ 7.09654382e-01 -7.04504043e-01 -8.04436524e-03 -1.11154071e+02] [ 1.12186453e-02 -1.17101010e-04 9.99937062e-01 -4.99450610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters 0.014005407800959555 Centerline is valid? [True, True] Translation: X:223.30, Y:-111.11, Z:-4.99 [[-7.09258672e-01 -7.04897150e-01 8.49377241e-03 2.23301773e+02] [ 7.04843093e-01 -7.09309499e-01 -8.73200311e-03 -1.11108225e+02] [ 1.21798776e-02 -2.06472112e-04 9.99925801e-01 -4.99386370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters 0.0152965381627004 Centerline is valid? [True, True] Translation: X:223.26, Y:-111.06, Z:-4.99 [[-7.12480870e-01 -7.01635492e-01 8.86824731e-03 2.23264093e+02] [ 7.01576375e-01 -7.12536008e-01 -9.11191113e-03 -1.11063399e+02] [ 1.27121858e-02 -2.70309569e-04 9.99919160e-01 -4.99408659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters 0.016287378985285473 Centerline is valid? [True, True] Translation: X:223.23, Y:-111.02, Z:-4.99 [[-7.16439718e-01 -6.97580716e-01 9.76093319e-03 2.23225488e+02] [ 6.97508800e-01 -7.16506110e-01 -1.00233448e-02 -1.11019827e+02] [ 1.39858603e-02 -3.72785522e-04 9.99902124e-01 -4.99451437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters 0.016868946569010668 Centerline is valid? [True, True] Translation: X:223.19, Y:-110.98, Z:-4.99 [[-7.17975219e-01 -6.95999912e-01 9.78298987e-03 2.23186213e+02] [ 6.95927604e-01 -7.18041755e-01 -1.00403372e-02 -1.10977392e+02] [ 1.40126690e-02 -4.00460605e-04 9.99901738e-01 -4.99440221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters 0.01644335707540553 Centerline is valid? [True, True] Translation: X:223.15, Y:-110.94, Z:-4.99 [[-7.17987456e-01 -6.95995851e-01 9.15362956e-03 2.23145084e+02] [ 6.95932612e-01 -7.18045707e-01 -9.38941677e-03 -1.10935669e+02] [ 1.31077195e-02 -3.71174129e-04 9.99914021e-01 -4.99308107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters 0.015442611142203445 Centerline is valid? [True, True] Translation: X:223.10, Y:-110.90, Z:-4.99 [[-7.16026124e-01 -6.98015238e-01 9.01758608e-03 2.23102603e+02] [ 6.97954094e-01 -7.16082831e-01 -9.24449891e-03 -1.10896338e+02] [ 1.29101397e-02 -3.25441595e-04 9.99916608e-01 -4.99288688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters 0.014523880324320315 Centerline is valid? [True, True] Translation: X:223.06, Y:-110.86, Z:-4.99 [[-7.11796767e-01 -7.02325490e-01 9.17982115e-03 2.23060734e+02] [ 7.02262554e-01 -7.11855916e-01 -9.40532294e-03 -1.10857476e+02] [ 1.31403080e-02 -2.48033811e-04 9.99913632e-01 -4.99295405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters 0.013024972882378172 Centerline is valid? [True, True] Translation: X:223.02, Y:-110.82, Z:-4.99 [[-7.05456075e-01 -7.08693840e-01 9.20696590e-03 2.23015851e+02] [ 7.08631144e-01 -7.05516141e-01 -9.42741806e-03 -1.10820993e+02] [ 1.31768162e-02 -1.26286561e-04 9.99913174e-01 -4.99341081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters 0.01208521515727619 Centerline is valid? [True, True] Translation: X:222.97, Y:-110.79, Z:-4.99 [[-6.97851538e-01 -7.16182216e-01 9.28786447e-03 2.22968797e+02] [ 7.16119136e-01 -6.97913342e-01 -9.50520077e-03 -1.10785117e+02] [ 1.32895803e-02 1.79985060e-05 9.99911689e-01 -4.99418292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters 0.012416681413258237 Centerline is valid? [True, True] Translation: X:222.93, Y:-110.75, Z:-5.00 [[-6.95203216e-01 -7.18749377e-01 9.58235795e-03 2.22926516e+02] [ 7.18682557e-01 -6.95269249e-01 -9.80075376e-03 -1.10746091e+02] [ 1.37066045e-02 7.31579762e-05 9.99906057e-01 -4.99542596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters 0.01379365980284318 Centerline is valid? [True, True] Translation: X:222.88, Y:-110.71, Z:-5.00 [[-6.87955879e-01 -7.25693970e-01 9.21796716e-03 2.22881101e+02] [ 7.25632822e-01 -6.88017601e-01 -9.42273981e-03 -1.10709135e+02] [ 1.31801491e-02 2.06430271e-04 9.99913117e-01 -4.99582670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters 0.01528149987283957 Centerline is valid? [True, True] Translation: X:222.84, Y:-110.67, Z:-5.00 [[-6.83787690e-01 -7.29628648e-01 8.74251105e-03 2.22838178e+02] [ 7.29574032e-01 -6.83843522e-01 -8.93136416e-03 -1.10670716e+02] [ 1.24950887e-02 2.71152168e-04 9.99921897e-01 -4.99592346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters 0.017112784414158196 Centerline is valid? [True, True] Translation: X:222.80, Y:-110.63, Z:-5.00 [[-6.79176656e-01 -7.33932430e-01 7.89032366e-03 2.22795242e+02] [ 7.33888284e-01 -6.79222413e-01 -8.05612254e-03 -1.10631691e+02] [ 1.12719343e-02 3.19085719e-04 9.99936419e-01 -4.99554724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters 0.018774877635029504 Centerline is valid? [True, True] Translation: X:222.75, Y:-110.59, Z:-5.00 [[-6.76883408e-01 -7.36053000e-01 7.40486934e-03 2.22753427e+02] [ 7.36014290e-01 -6.76923827e-01 -7.55624472e-03 -1.10591556e+02] [ 1.05743291e-02 3.35392972e-04 9.99944034e-01 -4.99646662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters 0.022893552866438578 Centerline is valid? [True, True] Translation: X:222.71, Y:-110.55, Z:-5.00 [[-6.76714802e-01 -7.36207320e-01 7.47386825e-03 2.22709963e+02] [ 7.36167942e-01 -6.76755985e-01 -7.62220335e-03 -1.10553963e+02] [ 1.06695070e-02 3.43964381e-04 9.99943020e-01 -4.99952267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters 0.018453576770546414 Centerline is valid? [True, True] Translation: X:222.68, Y:-110.51, Z:-5.00 [[-6.77554091e-01 -7.35428647e-01 8.07212600e-03 2.22676084e+02] [ 7.35382717e-01 -6.77602077e-01 -8.22712768e-03 -1.10506787e+02] [ 1.15201547e-02 3.61777936e-04 9.99933575e-01 -4.99862869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters 0.016699549047173957 Centerline is valid? [True, True] Translation: X:222.64, Y:-110.46, Z:-5.00 [[-6.80684986e-01 -7.32519411e-01 9.12484378e-03 2.22640912e+02] [ 7.32460523e-01 -6.80746051e-01 -9.29497520e-03 -1.10459636e+02] [ 1.30204511e-02 3.56637789e-04 9.99915167e-01 -4.99930930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters 0.015062936334915268 Centerline is valid? [True, True] Translation: X:222.61, Y:-110.41, Z:-5.00 [[-6.83999502e-01 -7.29428077e-01 8.90856906e-03 2.22605609e+02] [ 7.29371753e-01 -6.84057450e-01 -9.06927776e-03 -1.10413572e+02] [ 1.27093589e-02 2.94277159e-04 9.99919190e-01 -4.99868096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters 0.013100396913982758 Centerline is valid? [True, True] Translation: X:222.57, Y:-110.36, Z:-5.00 [[-6.91230657e-01 -7.22595855e-01 7.44379040e-03 2.22573324e+02] [ 7.22556177e-01 -6.91270721e-01 -7.57369772e-03 -1.10364386e+02] [ 1.06183969e-02 1.43384688e-04 9.99943613e-01 -4.99769061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters 0.012300219042598117 Centerline is valid? [True, True] Translation: X:222.54, Y:-110.32, Z:-5.00 [[-6.96755988e-01 -7.17277272e-01 6.66390151e-03 2.22539398e+02] [ 7.17245263e-01 -6.96787853e-01 -6.77656377e-03 -1.10317496e+02] [ 9.50400080e-03 5.80404028e-05 9.99954834e-01 -4.99709907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters 0.01233463100625461 Centerline is valid? [True, True] Translation: X:222.51, Y:-110.27, Z:-5.00 [[-7.05357124e-01 -7.08826299e-01 6.05031324e-03 2.22508575e+02] [ 7.08799631e-01 -7.05383070e-01 -6.14872116e-03 -1.10267066e+02] [ 8.62616380e-03 -4.85844762e-05 9.99962793e-01 -4.99662209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters 0.014241228322414682 Centerline is valid? [True, True] Translation: X:222.48, Y:-110.22, Z:-5.00 [[-7.13159320e-01 -7.00970175e-01 6.67820320e-03 2.22476442e+02] [ 7.00937376e-01 -7.13190570e-01 -6.78275778e-03 -1.10217664e+02] [ 9.51734245e-03 -1.56184702e-04 9.99954697e-01 -4.99769347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters 0.015163990972132436 Centerline is valid? [True, True] Translation: X:222.44, Y:-110.17, Z:-5.00 [[-7.16402993e-01 -6.97655719e-01 6.57641844e-03 2.22438535e+02] [ 6.97623807e-01 -7.16433151e-01 -6.67563521e-03 -1.10173348e+02] [ 9.36885927e-03 -1.94578972e-04 9.99956092e-01 -4.99715893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters 0.014920931818380558 Centerline is valid? [True, True] Translation: X:222.40, Y:-110.13, Z:-5.00 [[-7.17205012e-01 -6.96830137e-01 6.68812665e-03 2.22397383e+02] [ 6.96797132e-01 -7.17236166e-01 -6.78514200e-03 -1.10132669e+02] [ 9.52505775e-03 -2.06070385e-04 9.99954614e-01 -4.99695155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters 0.016857127820318105 Centerline is valid? [True, True] Translation: X:222.36, Y:-110.09, Z:-5.00 [[-7.17730723e-01 -6.96283769e-01 7.17795395e-03 2.22360638e+02] [ 6.96245775e-01 -7.17766580e-01 -7.27721212e-03 -1.10090425e+02] [ 1.02191001e-02 -2.25458604e-04 9.99947758e-01 -4.99876321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters 0.015395693790010958 Centerline is valid? [True, True] Translation: X:222.32, Y:-110.05, Z:-5.00 [[-7.18705834e-01 -6.95271832e-01 7.68136496e-03 2.22318217e+02] [ 6.95228314e-01 -7.18746836e-01 -7.78311758e-03 -1.10050217e+02] [ 1.09323392e-02 -2.53469598e-04 9.99940208e-01 -4.99761488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters 0.01578116958956548 Centerline is valid? [True, True] Translation: X:222.28, Y:-110.01, Z:-5.00 [[-7.18865316e-01 -6.95108362e-01 7.55131906e-03 2.22276978e+02] [ 6.95066347e-01 -7.18904934e-01 -7.64649357e-03 -1.10010679e+02] [ 1.07438221e-02 -2.48131263e-04 9.99942253e-01 -4.99749613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters 0.014981008450944027 Centerline is valid? [True, True] Translation: X:222.23, Y:-109.97, Z:-5.00 [[-7.16933162e-01 -6.97110003e-01 6.66975364e-03 2.22231745e+02] [ 6.97077335e-01 -7.16964161e-01 -6.75142164e-03 -1.09973134e+02] [ 9.48845788e-03 -1.90983970e-04 9.99954965e-01 -4.99672729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters 0.014453557571109842 Centerline is valid? [True, True] Translation: X:222.19, Y:-109.93, Z:-5.00 [[-7.14842174e-01 -6.99259182e-01 6.10428048e-03 2.22188775e+02] [ 6.99231927e-01 -7.14868222e-01 -6.17556329e-03 -1.09934044e+02] [ 8.68207547e-03 -1.46245289e-04 9.99962299e-01 -4.99597089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters 0.013259694181754648 Centerline is valid? [True, True] Translation: X:222.14, Y:-109.90, Z:-5.00 [[-7.09879572e-01 -7.04298202e-01 5.91911524e-03 2.22142006e+02] [ 7.04272775e-01 -7.09904245e-01 -5.98506135e-03 -1.09898014e+02] [ 8.41727298e-03 -8.00010780e-05 9.99964571e-01 -4.99628693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters 0.012557314969456772 Centerline is valid? [True, True] Translation: X:222.10, Y:-109.86, Z:-5.00 [[-7.05924570e-01 -7.08255294e-01 6.70370590e-03 2.22096014e+02] [ 7.08222894e-01 -7.05956399e-01 -6.77455266e-03 -1.09861359e+02] [ 9.53063686e-03 -3.46051848e-05 9.99954582e-01 -4.99704992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters 0.012738531223699416 Centerline is valid? [True, True] Translation: X:222.05, Y:-109.83, Z:-5.00 [[-6.99469945e-01 -7.14617696e-01 7.95893388e-03 2.22048578e+02] [ 7.14572486e-01 -6.99515221e-01 -8.03852620e-03 -1.09826656e+02] [ 1.13118685e-02 6.45276941e-05 9.99936017e-01 -4.99901624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters 0.013732673534539467 Centerline is valid? [True, True] Translation: X:222.00, Y:-109.79, Z:-5.00 [[-6.93267918e-01 -7.20619357e-01 9.34538021e-03 2.22002924e+02] [ 7.20557635e-01 -6.93330877e-01 -9.43343422e-03 -1.09790441e+02] [ 1.32773560e-02 1.93987767e-04 9.99911833e-01 -4.99966713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters 0.014687426537842942 Centerline is valid? [True, True] Translation: X:221.96, Y:-109.75, Z:-5.00 [[-6.89928102e-01 -7.23815763e-01 9.48441769e-03 2.21959340e+02] [ 7.23752565e-01 -6.89993240e-01 -9.56830711e-03 -1.09751638e+02] [ 1.34698756e-02 2.62927671e-04 9.99909243e-01 -4.99962067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters 0.016587719099315393 Centerline is valid? [True, True] Translation: X:221.92, Y:-109.72, Z:-5.00 [[-6.85944719e-01 -7.27589699e-01 9.64735993e-03 2.21915744e+02] [ 7.27524757e-01 -6.86012470e-01 -9.72722598e-03 -1.09715137e+02] [ 1.36956386e-02 3.46353897e-04 9.99906150e-01 -5.00037277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters 0.0182452604854427 Centerline is valid? [True, True] Translation: X:221.87, Y:-109.68, Z:-5.00 [[-6.84555904e-01 -7.28892893e-01 9.91794423e-03 2.21873913e+02] [ 7.28824475e-01 -6.84627637e-01 -9.99416901e-03 -1.09676671e+02] [ 1.40747775e-02 3.86873097e-04 9.99900871e-01 -5.00122389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters 0.01746277730955374 Centerline is valid? [True, True] Translation: X:221.83, Y:-109.63, Z:-5.00 [[-6.83877876e-01 -7.29515038e-01 1.09023082e-02 2.21834658e+02] [ 7.29432540e-01 -6.83964628e-01 -1.09798482e-02 -1.09633563e+02] [ 1.54667575e-02 4.43623127e-04 9.99880284e-01 -5.00065505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters 0.017248643819603317 Centerline is valid? [True, True] Translation: X:221.80, Y:-109.59, Z:-5.00 [[-6.84757347e-01 -7.28679248e-01 1.15728003e-02 2.21795669e+02] [ 7.28586279e-01 -6.84854982e-01 -1.16484730e-02 -1.09590155e+02] [ 1.64136905e-02 4.55406033e-04 9.99865183e-01 -5.00101748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters 0.01679613144685051 Centerline is valid? [True, True] Translation: X:221.76, Y:-109.55, Z:-5.00 [[-6.86074414e-01 -7.27432678e-01 1.19832181e-02 2.21757225e+02] [ 7.27332925e-01 -6.86178913e-01 -1.20547072e-02 -1.09546830e+02] [ 1.69916195e-02 4.45362860e-04 9.99855533e-01 -5.00064911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters 0.015884828016647097 Centerline is valid? [True, True] Translation: X:221.72, Y:-109.50, Z:-5.00 [[-6.88195094e-01 -7.25424638e-01 1.21081301e-02 2.21720467e+02] [ 7.25322604e-01 -6.88301482e-01 -1.21733369e-02 -1.09501154e+02] [ 1.71648824e-02 4.04669764e-04 9.99852591e-01 -4.99885364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters 0.015398490952080986 Centerline is valid? [True, True] Translation: X:221.68, Y:-109.46, Z:-5.00 [[-6.91113201e-01 -7.22656839e-01 1.13858192e-02 2.21682757e+02] [ 7.22566306e-01 -6.91206910e-01 -1.14429439e-02 -1.09456302e+02] [ 1.61392786e-02 3.18639776e-04 9.99869703e-01 -4.99877631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters 0.01434229789063523 Centerline is valid? [True, True] Translation: X:221.65, Y:-109.41, Z:-5.00 [[-6.94236854e-01 -7.19664235e-01 1.08894494e-02 2.21646009e+02] [ 7.19581154e-01 -6.94322209e-01 -1.09376818e-02 -1.09411337e+02] [ 1.54322450e-02 2.42500766e-04 9.99880886e-01 -4.99780513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters 0.013595358329416996 Centerline is valid? [True, True] Translation: X:221.61, Y:-109.36, Z:-5.00 [[-6.98865417e-01 -7.15178896e-01 1.03090328e-02 2.21610045e+02] [ 7.15104033e-01 -6.98941433e-01 -1.03486550e-02 -1.09364890e+02] [ 1.46065498e-02 1.39713839e-04 9.99893309e-01 -4.99688121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters 0.0133526094910331 Centerline is valid? [True, True] Translation: X:221.57, Y:-109.32, Z:-5.00 [[-7.01979680e-01 -7.12124454e-01 1.01632308e-02 2.21572921e+02] [ 7.12051471e-01 -7.02053243e-01 -1.01954647e-02 -1.09322563e+02] [ 1.43955689e-02 7.97344530e-05 9.99896375e-01 -4.99717622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters 0.013304755701454424 Centerline is valid? [True, True] Translation: X:221.54, Y:-109.28, Z:-5.00 [[-7.06811766e-01 -7.07331306e-01 9.97753413e-03 2.21536276e+02] [ 7.07260574e-01 -7.06882185e-01 -1.00028675e-02 -1.09278792e+02] [ 1.41282824e-02 -1.34278872e-05 9.99900191e-01 -4.99717827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters 0.014169522782413221 Centerline is valid? [True, True] Translation: X:221.50, Y:-109.23, Z:-5.00 [[-7.13160999e-01 -7.00940800e-01 9.13154383e-03 2.21498621e+02] [ 7.00881091e-01 -7.13219447e-01 -9.14967607e-03 -1.09233766e+02] [ 1.29261759e-02 -1.25065731e-04 9.99916446e-01 -4.99697501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters 0.015148461092226872 Centerline is valid? [True, True] Translation: X:221.46, Y:-109.19, Z:-5.00 [[-7.18306256e-01 -6.95672837e-01 8.68488612e-03 2.21460340e+02] [ 6.95618499e-01 -7.18358728e-01 -8.69725037e-03 -1.09190211e+02] [ 1.22893046e-02 -2.05921902e-04 9.99924462e-01 -4.99544079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters 0.01954747456831486 Centerline is valid? [True, True] Translation: X:221.43, Y:-109.14, Z:-5.00 [[-7.26765642e-01 -6.86831317e-01 8.62808543e-03 2.21425470e+02] [ 6.86777124e-01 -7.26816771e-01 -8.63495903e-03 -1.09144833e+02] [ 1.22017975e-02 -3.50019839e-04 9.99925494e-01 -4.99585118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters 0.01973954705540762 Centerline is valid? [True, True] Translation: X:221.38, Y:-109.10, Z:-4.99 [[-7.31935822e-01 -6.81320119e-01 8.53511243e-03 2.21384144e+02] [ 6.81266772e-01 -7.31985456e-01 -8.53679769e-03 -1.09104572e+02] [ 1.20638702e-02 -4.33699538e-04 9.99927135e-01 -4.99418430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters 0.022196646879719374 Centerline is valid? [True, True] Translation: X:221.34, Y:-109.06, Z:-4.99 [[-7.36568348e-01 -6.76306142e-01 8.77899546e-03 2.21343607e+02] [ 6.76249411e-01 -7.36620475e-01 -8.77552799e-03 -1.09063867e+02] [ 1.24017313e-02 -5.26985649e-04 9.99922957e-01 -4.99438368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters 0.02216765887593572 Centerline is valid? [True, True] Translation: X:220.81, Y:-109.61, Z:-4.05 [[-7.26056432e-01 6.87572500e-01 9.27976294e-03 2.20805581e+02] [ 6.87525643e-01 7.26115533e-01 -8.04511622e-03 -1.09608861e+02] [-1.22697807e-02 5.38866594e-04 -9.99924578e-01 -4.04757747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters 0.022692705472614875 Centerline is valid? [True, True] Translation: X:220.83, Y:-109.59, Z:-4.05 [[-7.73974277e-01 6.33149185e-01 9.26970133e-03 2.20830319e+02] [ 6.33111212e-01 7.74029632e-01 -6.95140722e-03 -1.09586040e+02] [-1.15763013e-02 4.88541467e-04 -9.99932873e-01 -4.04774926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters 0.021498693297596717 Centerline is valid? [True, True] Translation: X:220.85, Y:-109.56, Z:-4.05 [[-8.18546214e-01 5.74365937e-01 9.26640464e-03 2.20851177e+02] [ 5.74335036e-01 8.18598549e-01 -5.97349674e-03 -1.09559229e+02] [-1.10164384e-02 4.32437700e-04 -9.99939224e-01 -4.04879546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters 0.01822849191773498 Centerline is valid? [True, True] Translation: X:220.87, Y:-109.52, Z:-4.05 [[-8.60702908e-01 5.09029557e-01 8.91152230e-03 2.20871168e+02] [ 5.09006172e-01 8.60748978e-01 -4.89016102e-03 -1.09522346e+02] [-1.01598202e-02 3.27044039e-04 -9.99948334e-01 -4.04980308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters 0.0156208881989995 Centerline is valid? [True, True] Translation: X:220.89, Y:-109.48, Z:-4.05 [[-8.98524182e-01 4.38832226e-01 8.97621994e-03 2.20885525e+02] [ 4.38812874e-01 8.98568987e-01 -4.12760110e-03 -1.09482645e+02] [-9.87707724e-03 2.30131470e-04 -9.99951194e-01 -4.04982500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters 0.014780987213659067 Centerline is valid? [True, True] Translation: X:220.90, Y:-109.45, Z:-4.05 [[-9.29588765e-01 3.68473106e-01 9.60714477e-03 2.20895836e+02] [ 3.68455389e-01 9.29638391e-01 -3.61773979e-03 -1.09448436e+02] [-1.02642104e-02 1.76793990e-04 -9.99947306e-01 -4.04896296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters 0.01415628794075614 Centerline is valid? [True, True] Translation: X:220.90, Y:-109.42, Z:-4.05 [[-9.54154748e-01 2.99140781e-01 1.01739799e-02 2.20900881e+02] [ 2.99125500e-01 9.54208976e-01 -3.02751525e-03 -1.09416132e+02] [-1.06137562e-02 1.54578768e-04 -9.99943661e-01 -4.04882572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters 0.01331210207350169 Centerline is valid? [True, True] Translation: X:221.08, Y:-108.80, Z:-4.99 [[-9.39613948e-01 -3.42048081e-01 1.13463288e-02 2.21079470e+02] [ 3.42022202e-01 -9.39682449e-01 -4.20814875e-03 -1.08800456e+02] [ 1.21013352e-02 -7.33389059e-05 9.99926773e-01 -4.99386841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters 0.013078298125488389 Centerline is valid? [True, True] Translation: X:220.86, Y:-109.38, Z:-4.05 [[-9.58338433e-01 2.85403675e-01 1.14974433e-02 2.20856353e+02] [ 2.85383725e-01 9.58407398e-01 -3.37480285e-03 -1.09380888e+02] [-1.19824158e-02 4.69799154e-05 -9.99928207e-01 -4.04765564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters 0.013015777255973493 Centerline is valid? [True, True] Translation: X:220.86, Y:-109.35, Z:-4.05 [[-9.76308511e-01 2.16043259e-01 1.21243967e-02 2.20859548e+02] [ 2.16027108e-01 9.76383792e-01 -2.64198473e-03 -1.09348513e+02] [-1.24088475e-02 3.98061870e-05 -9.99923007e-01 -4.04795299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters 0.013180335811130574 Centerline is valid? [True, True] Translation: X:220.86, Y:-109.32, Z:-4.05 [[-9.89073157e-01 1.46827959e-01 1.32604781e-02 2.20862925e+02] [ 1.46815444e-01 9.89162043e-01 -1.91763866e-03 -1.09315728e+02] [-1.33983246e-02 5.01580594e-05 -9.99910237e-01 -4.04704745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters 0.01347830195299552 Centerline is valid? [True, True] Translation: X:220.87, Y:-109.29, Z:-4.05 [[-9.96862751e-01 7.79260302e-02 1.38632357e-02 2.20867357e+02] [ 7.79194611e-02 9.96959141e-01 -1.01417205e-03 -1.09286488e+02] [-1.39001099e-02 6.92255111e-05 -9.99903386e-01 -4.04616425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters 0.013477978045471841 Centerline is valid? [True, True] Translation: X:220.86, Y:-109.26, Z:-4.05 [[-9.99873368e-01 8.29388050e-03 1.35815878e-02 2.20861710e+02] [ 8.29428522e-03 9.99965601e-01 -2.65286833e-05 -1.09255585e+02] [-1.35813407e-02 8.61242393e-05 -9.99907766e-01 -4.04749668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters 0.013308734223258024 Centerline is valid? [True, True] Translation: X:220.86, Y:-108.68, Z:-4.99 [[-9.97956254e-01 -6.26233374e-02 1.27134802e-02 2.20861728e+02] [ 6.26165352e-02 -9.98037223e-01 -9.32785812e-04 -1.08681352e+02] [ 1.27469407e-02 -1.34805354e-04 9.99918745e-01 -4.99248116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters 0.013258221470970315 Centerline is valid? [True, True] Translation: X:220.81, Y:-109.25, Z:-4.05 [[-9.99911867e-01 4.73335978e-03 1.24037666e-02 2.20805551e+02] [ 4.73406190e-03 9.99988794e-01 2.72445153e-05 -1.09250714e+02] [-1.24034987e-02 8.59623131e-05 -9.99923070e-01 -4.04957420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters 0.013306242898457787 Centerline is valid? [True, True] Translation: X:220.80, Y:-109.22, Z:-4.05 [[-9.97719414e-01 -6.61805733e-02 1.32703708e-02 2.20795689e+02] [-6.61734623e-02 9.97807658e-01 9.74719265e-04 -1.09222014e+02] [-1.33057851e-02 9.43499503e-05 -9.99911470e-01 -4.04850462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters 0.01314629651007609 Centerline is valid? [True, True] Translation: X:220.75, Y:-108.66, Z:-4.99 [[-9.99839822e-01 1.25395628e-02 1.27706443e-02 2.20753891e+02] [-1.25401493e-02 -9.99921369e-01 3.41496831e-05 -1.08662802e+02] [ 1.27700683e-02 -1.26001573e-04 9.99918451e-01 -4.99332775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters 0.012970882448717951 Centerline is valid? [True, True] Translation: X:220.73, Y:-109.22, Z:-4.05 [[-9.97247509e-01 -7.32172088e-02 1.16895704e-02 2.20731754e+02] [-7.32115627e-02 9.97316017e-01 9.10771665e-04 -1.09223029e+02] [-1.17248800e-02 5.24530557e-05 -9.99931260e-01 -4.04830054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters 0.01271157074891562 Centerline is valid? [True, True] Translation: X:220.68, Y:-108.67, Z:-4.99 [[-9.99890401e-01 9.98706092e-03 1.09290448e-02 2.20683196e+02] [-9.98761040e-03 -9.99950123e-01 4.30210071e-06 -1.08674623e+02] [ 1.09285426e-02 -1.04853412e-04 9.99940276e-01 -4.99365204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters 0.012768823129015448 Centerline is valid? [True, True] Translation: X:220.66, Y:-109.22, Z:-4.05 [[-9.96170947e-01 -8.67901937e-02 1.05312516e-02 2.20664530e+02] [-8.67858767e-02 9.96226611e-01 8.67092018e-04 -1.09221772e+02] [-1.05667681e-02 -5.01920222e-05 -9.99944169e-01 -4.04825828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters 0.013577651670086987 Centerline is valid? [True, True] Translation: X:220.65, Y:-109.19, Z:-4.05 [[-9.86200567e-01 -1.65254775e-01 9.96494536e-03 2.20645439e+02] [-1.65247650e-01 9.86250903e-01 1.53990003e-03 -1.09191084e+02] [-1.00824122e-02 -1.28033513e-04 -9.99949163e-01 -4.04803518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters 0.01640997749972762 Centerline is valid? [True, True] Translation: X:220.62, Y:-109.16, Z:-4.05 [[-9.69874473e-01 -2.43415099e-01 9.62271146e-03 2.20619943e+02] [-2.43405272e-01 9.69922185e-01 2.19738871e-03 -1.09160933e+02] [-9.86815892e-03 -2.11027491e-04 -9.99951286e-01 -4.04681294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters 0.01661613659921033 Centerline is valid? [True, True] Translation: X:220.50, Y:-108.66, Z:-4.99 [[-9.91431450e-01 1.30292534e-01 9.35601795e-03 2.20499748e+02] [-1.30285085e-01 -9.91475580e-01 1.40397603e-03 -1.08660945e+02] [ 9.45919092e-03 1.72996405e-04 9.99955246e-01 -4.99398381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters 0.019440834914202024 Centerline is valid? [True, True] Translation: X:220.55, Y:-109.17, Z:-4.05 [[-9.66141068e-01 -2.57869180e-01 8.65576673e-03 2.20550601e+02] [-2.57861430e-01 9.66179800e-01 2.01896029e-03 -1.09172838e+02] [-8.88365461e-03 -2.81387933e-04 -9.99960500e-01 -4.04726313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters 0.019740499457715107 Centerline is valid? [True, True] Translation: X:220.43, Y:-108.68, Z:-4.99 [[-9.91833029e-01 1.27277759e-01 8.22287492e-03 2.20427618e+02] [-1.27271504e-01 -9.91867089e-01 1.28162375e-03 -1.08680736e+02] [ 8.31912121e-03 2.24619104e-04 9.99965370e-01 -4.99444418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters 0.02078726389621718 Centerline is valid? [True, True] Translation: X:220.48, Y:-109.19, Z:-4.05 [[-9.64024156e-01 -2.65700057e-01 7.80427094e-03 2.20479700e+02] [-2.65693692e-01 9.64055705e-01 1.86027511e-03 -1.09192131e+02] [-8.01802712e-03 -2.80195416e-04 -9.99967816e-01 -4.04689899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters 0.01988557684497787 Centerline is valid? [True, True] Translation: X:220.46, Y:-109.17, Z:-4.05 [[-9.42613099e-01 -3.33788427e-01 8.11366405e-03 2.20458423e+02] [-3.33778765e-01 9.42647971e-01 2.55716225e-03 -1.09174912e+02] [-8.50188012e-03 -2.97754130e-04 -9.99963814e-01 -4.04618431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters 0.019714691914277778 Centerline is valid? [True, True] Translation: X:220.44, Y:-109.16, Z:-4.05 [[-9.16544150e-01 -3.99854210e-01 7.96435004e-03 2.20435186e+02] [-3.99841891e-01 9.16578706e-01 3.15259148e-03 -1.09160004e+02] [-8.56053062e-03 -2.94991494e-04 -9.99963314e-01 -4.04563498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters 0.02069403467195899 Centerline is valid? [True, True] Translation: X:220.40, Y:-109.15, Z:-4.04 [[-8.85679108e-01 -4.64224619e-01 8.24742592e-03 2.20402238e+02] [-4.64207725e-01 8.85717453e-01 3.97257586e-03 -1.09147242e+02] [-9.14905660e-03 -3.10091376e-04 -9.99958098e-01 -4.04378130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters 0.019755442891110753 Centerline is valid? [True, True] Translation: X:220.36, Y:-109.15, Z:-4.04 [[-8.49998802e-01 -5.26721176e-01 8.17552800e-03 2.20355853e+02] [-5.26700314e-01 8.50038061e-01 4.69833296e-03 -1.09149476e+02] [-9.42422143e-03 -3.12475770e-04 -9.99955542e-01 -4.04319303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters 0.017961464554238905 Centerline is valid? [True, True] Translation: X:220.30, Y:-109.17, Z:-4.04 [[-8.09858376e-01 -5.86569993e-01 8.06555726e-03 2.20295863e+02] [-5.86544642e-01 8.09898480e-01 5.46214718e-03 -1.09165645e+02] [-9.73621421e-03 -3.07243742e-04 -9.99952555e-01 -4.04317145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters 0.018622805904211 Centerline is valid? [True, True] Translation: X:220.23, Y:-109.19, Z:-4.04 [[-7.65430035e-01 -6.43483086e-01 6.81024043e-03 2.20229861e+02] [-6.43460584e-01 7.65460288e-01 5.38750975e-03 -1.09185017e+02] [-8.67973999e-03 -2.58359506e-04 -9.99962297e-01 -4.04317794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters 0.015927061443294328 Centerline is valid? [True, True] Translation: X:220.17, Y:-109.22, Z:-4.05 [[-7.18444056e-01 -6.95566208e-01 5.07823218e-03 2.20166236e+02] [-6.95550525e-01 7.18461983e-01 4.67409014e-03 -1.09220889e+02] [-6.89965592e-03 -1.74094773e-04 -9.99976182e-01 -4.04508907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters 0.015923125150893565 Centerline is valid? [True, True] Translation: X:220.09, Y:-109.26, Z:-4.04 [[-6.66683009e-01 -7.45326868e-01 4.65034902e-03 2.20092323e+02] [-7.45310292e-01 6.66699210e-01 4.97304096e-03 -1.09264400e+02] [-6.80692506e-03 -1.50511073e-04 -9.99976821e-01 -4.04444364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters 0.013488190155861942 Centerline is valid? [True, True] Translation: X:220.02, Y:-109.32, Z:-4.04 [[-6.12800609e-01 -7.90225295e-01 4.40433185e-03 2.20024575e+02] [-7.90206260e-01 6.12816424e-01 5.48601384e-03 -1.09321188e+02] [-7.03423380e-03 -1.18497977e-04 -9.99975252e-01 -4.04439039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters 0.012667771935800952 Centerline is valid? [True, True] Translation: X:219.95, Y:-109.39, Z:-4.04 [[-5.54336472e-01 -8.32284680e-01 3.64528658e-03 2.19954301e+02] [-8.32267676e-01 5.54348451e-01 5.32072428e-03 -1.09387640e+02] [-6.44911627e-03 -8.43826634e-05 -9.99979201e-01 -4.04447387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters 0.012215155213087933 Centerline is valid? [True, True] Translation: X:219.88, Y:-109.46, Z:-4.04 [[-4.91622865e-01 -8.70801518e-01 3.41679226e-03 2.19883457e+02] [-8.70781512e-01 4.91634732e-01 5.90320000e-03 -1.09462469e+02] [-6.82032927e-03 -7.31314366e-05 -9.99976739e-01 -4.04426743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters 0.011857914435592594 Centerline is valid? [True, True] Translation: X:219.82, Y:-109.55, Z:-4.04 [[-4.26088838e-01 -9.04676281e-01 3.02128701e-03 2.19816771e+02] [-9.04654491e-01 4.26099545e-01 6.27926108e-03 -1.09545971e+02] [-6.96806759e-03 -5.76978054e-05 -9.99975721e-01 -4.04384793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters 0.011668797580302776 Centerline is valid? [True, True] Translation: X:219.76, Y:-109.64, Z:-4.04 [[-3.58134974e-01 -9.33665945e-01 2.69131890e-03 2.19756192e+02] [-9.33640463e-01 3.58145084e-01 6.89814075e-03 -1.09635153e+02] [-7.40444174e-03 -4.22587679e-05 -9.99972586e-01 -4.04347948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters 0.011404986059508668 Centerline is valid? [True, True] Translation: X:219.70, Y:-109.73, Z:-4.04 [[-2.87697347e-01 -9.57719121e-01 2.07868712e-03 2.19700926e+02] [-9.57694745e-01 2.87704856e-01 6.83309873e-03 -1.09731253e+02] [-7.14223769e-03 -2.48833497e-05 -9.99974494e-01 -4.04378413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters 0.011316657477188912 Centerline is valid? [True, True] Translation: X:219.65, Y:-109.84, Z:-4.04 [[-2.14681247e-01 -9.76683370e-01 1.24767135e-03 2.19653549e+02] [-9.76667192e-01 2.14684873e-01 5.62155151e-03 -1.09835820e+02] [-5.75833203e-03 -1.17179794e-05 -9.99983421e-01 -4.04422943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters 0.011339818436932736 Centerline is valid? [True, True] Translation: X:219.61, Y:-109.94, Z:-4.04 [[-1.37734434e-01 -9.90468875e-01 7.95888962e-04 2.19611906e+02] [-9.90453128e-01 1.37736732e-01 5.58513198e-03 -1.09944640e+02] [-5.64152253e-03 -1.90257185e-05 -9.99984086e-01 -4.04460403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters 0.011441116286430306 Centerline is valid? [True, True] Translation: X:219.57, Y:-110.06, Z:-4.04 [[-5.90177049e-02 -9.98256867e-01 3.71676951e-04 2.19574512e+02] [-9.98240297e-01 5.90188668e-02 5.75176792e-03 -1.10062843e+02] [-5.76367777e-03 -3.15667682e-05 -9.99983389e-01 -4.04450144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters 0.011981173467102023 Centerline is valid? [True, True] Translation: X:219.54, Y:-110.19, Z:-4.04 [[ 2.17592377e-02 -9.99763237e-01 -7.54742795e-05 2.19544708e+02] [-9.99744960e-01 -2.17592963e-02 6.04554280e-03 -1.10187173e+02] [-6.04575370e-03 -5.60913723e-05 -9.99981723e-01 -4.04395846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters 0.012021721407970464 Centerline is valid? [True, True] Translation: X:219.52, Y:-110.30, Z:-4.04 [[ 1.00544251e-01 -9.94932452e-01 -5.19774748e-04 2.19524724e+02] [-9.94915642e-01 -1.00545574e-01 5.78390245e-03 -1.10302081e+02] [-5.80685329e-03 -6.44061126e-05 -9.99983138e-01 -4.04437309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters 0.012268553956860394 Centerline is valid? [True, True] Translation: X:219.51, Y:-110.42, Z:-4.04 [[ 1.78217202e-01 -9.83990765e-01 -8.96251512e-04 2.19511149e+02] [-9.83976354e-01 -1.78219443e-01 5.32581057e-03 -1.10419583e+02] [-5.40027786e-03 -6.72607629e-05 -9.99985416e-01 -4.04443091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters 0.01200108981724313 Centerline is valid? [True, True] Translation: X:219.51, Y:-110.54, Z:-4.04 [[ 2.53042829e-01 -9.67453981e-01 -1.45649828e-03 2.19506352e+02] [-9.67436258e-01 -2.53047010e-01 5.85637760e-03 -1.10540195e+02] [-6.03433836e-03 -7.28451056e-05 -9.99981791e-01 -4.04359735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters 0.01195604233762137 Centerline is valid? [True, True] Translation: X:219.51, Y:-110.66, Z:-4.04 [[ 3.25840131e-01 -9.45421873e-01 -2.38584328e-03 2.19509829e+02] [-9.45394593e-01 -3.25848854e-01 7.18244233e-03 -1.10661286e+02] [-7.56786237e-03 -8.47646089e-05 -9.99971360e-01 -4.04168285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters 0.011669615762788533 Centerline is valid? [True, True] Translation: X:219.53, Y:-110.78, Z:-4.04 [[ 3.97121800e-01 -9.17761953e-01 -2.69677895e-03 2.19527914e+02] [-9.17739504e-01 -3.97130950e-01 6.41957192e-03 -1.10784245e+02] [-6.96261326e-03 -7.44113854e-05 -9.99975758e-01 -4.04313365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters 0.011224622748432157 Centerline is valid? [True, True] Translation: X:219.55, Y:-110.90, Z:-4.04 [[ 4.65244888e-01 -8.85175795e-01 -3.31760850e-03 2.19550084e+02] [-8.85152243e-01 -4.65256712e-01 6.45751372e-03 -1.10895387e+02] [-7.25957447e-03 -6.77366421e-05 -9.99973647e-01 -4.04242322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters 0.01108645195058147 Centerline is valid? [True, True] Translation: X:219.58, Y:-111.01, Z:-4.04 [[ 5.30275065e-01 -8.47814414e-01 -4.36749100e-03 2.19580802e+02] [-8.47784676e-01 -5.30293047e-01 7.10118086e-03 -1.11005078e+02] [-8.33653360e-03 -6.28872036e-05 -9.99965249e-01 -4.04059935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters 0.010784598389497562 Centerline is valid? [True, True] Translation: X:219.62, Y:-111.11, Z:-4.04 [[ 5.90405849e-01 -8.07086119e-01 -5.73853388e-03 2.19621431e+02] [-8.07047431e-01 -5.90433736e-01 7.90239609e-03 -1.11109281e+02] [-9.76613818e-03 -3.43518467e-05 -9.99952310e-01 -4.04013973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters 0.010754850359018173 Centerline is valid? [True, True] Translation: X:219.67, Y:-111.21, Z:-4.04 [[ 6.48463233e-01 -7.61217549e-01 -6.57867673e-03 2.19669649e+02] [-7.61178235e-01 -6.48496602e-01 7.73642052e-03 -1.11210087e+02] [-1.01553486e-02 -9.23871170e-06 -9.99948433e-01 -4.04070281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters 0.010760464392257625 Centerline is valid? [True, True] Translation: X:219.72, Y:-111.30, Z:-4.04 [[ 7.01821588e-01 -7.12325754e-01 -6.20322148e-03 2.19723685e+02] [-7.12298283e-01 -7.01849001e-01 6.25587992e-03 -1.11304590e+02] [-8.80994918e-03 2.80324294e-05 -9.99961191e-01 -4.04162713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters 0.011191315725555408 Centerline is valid? [True, True] Translation: X:219.78, Y:-111.39, Z:-4.04 [[ 7.52392112e-01 -6.58685409e-01 -6.29608534e-03 2.19781015e+02] [-6.58662876e-01 -7.52418453e-01 5.44853507e-03 -1.11391984e+02] [-8.32616135e-03 4.75628663e-05 -9.99965336e-01 -4.04137816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters 0.011500966232099806 Centerline is valid? [True, True] Translation: X:219.80, Y:-111.42, Z:-4.04 [[ 7.99385765e-01 -6.00790600e-01 -5.74925348e-03 2.19802505e+02] [-6.00775664e-01 -7.99406436e-01 4.23694824e-03 -1.11416034e+02] [-7.14150891e-03 6.70554624e-05 -9.99974497e-01 -4.04227589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters 0.011929232098356219 Centerline is valid? [True, True] Translation: X:219.82, Y:-111.44, Z:-4.04 [[ 8.43076030e-01 -5.37773226e-01 -4.77127529e-03 2.19822886e+02] [-5.37765029e-01 -8.43089529e-01 2.96983043e-03 -1.11438271e+02] [-5.61970753e-03 6.20321446e-05 -9.99984207e-01 -4.04243473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters 0.011980120372049406 Centerline is valid? [True, True] Translation: X:219.84, Y:-111.46, Z:-4.04 [[ 8.82172788e-01 -4.70897746e-01 -5.14631434e-03 2.19844940e+02] [-4.70890184e-01 -8.82187797e-01 2.66945395e-03 -1.11461753e+02] [-5.79705555e-03 6.84292740e-05 -9.99983195e-01 -4.04233969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters 0.01201772742258172 Centerline is valid? [True, True] Translation: X:219.87, Y:-111.48, Z:-4.04 [[ 9.16082883e-01 -4.00932827e-01 -6.70972292e-03 2.19868603e+02] [-4.00922780e-01 -9.16107450e-01 2.83968163e-03 -1.11484364e+02] [-7.28534874e-03 8.86970353e-05 -9.99973458e-01 -4.04067583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters 0.011930625930990299 Centerline is valid? [True, True] Translation: X:219.89, Y:-111.51, Z:-4.04 [[ 9.44806374e-01 -3.27529546e-01 -8.08158993e-03 2.19892494e+02] [-3.27518450e-01 -9.44840932e-01 2.69772317e-03 -1.11507282e+02] [-8.51940101e-03 9.80437593e-05 -9.99963704e-01 -4.03908256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters 0.01187660312429903 Centerline is valid? [True, True] Translation: X:219.92, Y:-111.53, Z:-4.04 [[ 9.68037664e-01 -2.50649590e-01 -8.82403446e-03 2.19919144e+02] [-2.50639980e-01 -9.68077877e-01 2.19647073e-03 -1.11528705e+02] [-9.09289703e-03 8.53894213e-05 -9.99958655e-01 -4.03774148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters 0.01158405898356252 Centerline is valid? [True, True] Translation: X:219.95, Y:-111.55, Z:-4.04 [[ 9.84889633e-01 -1.73033325e-01 -7.20270601e-03 2.19945089e+02] [-1.73029150e-01 -9.84915968e-01 1.20353512e-03 -1.11547109e+02] [-7.30231185e-03 6.09288288e-05 -9.99973336e-01 -4.03964733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters 0.011515402006238415 Centerline is valid? [True, True] Translation: X:219.97, Y:-111.56, Z:-4.04 [[ 9.95469701e-01 -9.48769984e-02 -6.19917400e-03 2.19972083e+02] [-9.48754652e-02 -9.95489002e-01 5.41609030e-04 -1.11560934e+02] [-6.22259578e-03 4.89941373e-05 -9.99980638e-01 -4.04066559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters 0.011180230798210894 Centerline is valid? [True, True] Translation: X:220.00, Y:-111.58, Z:-4.04 [[ 9.99874005e-01 -1.48166224e-02 -5.69577224e-03 2.19999699e+02] [-1.48165786e-02 -9.99890227e-01 4.98980870e-05 -1.11576571e+02] [-5.69588632e-03 3.45000567e-05 -9.99983778e-01 -4.04064985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters 0.010888068770748077 Centerline is valid? [True, True] Translation: X:220.03, Y:-111.59, Z:-4.04 [[ 9.97697690e-01 6.75554582e-02 -5.96485390e-03 2.20028560e+02] [ 6.75541795e-02 -9.97715521e-01 -4.15825135e-04 -1.11589136e+02] [-5.97931857e-03 1.19169654e-05 -9.99982124e-01 -4.04051667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters 0.01078915407841837 Centerline is valid? [True, True] Translation: X:220.06, Y:-111.60, Z:-4.04 [[ 9.88847606e-01 1.48787775e-01 -6.52768936e-03 2.20059359e+02] [ 1.48784597e-01 -9.88869151e-01 -9.72552525e-04 -1.11599990e+02] [-6.59973456e-03 -9.51339227e-06 -9.99978221e-01 -4.04049471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters 0.011128991434693258 Centerline is valid? [True, True] Translation: X:220.09, Y:-111.61, Z:-4.04 [[ 9.72780193e-01 2.31623100e-01 -7.03103434e-03 2.20091118e+02] [ 2.31617453e-01 -9.72805601e-01 -1.61820871e-03 -1.11609121e+02] [-7.21464411e-03 -5.43488837e-05 -9.99973973e-01 -4.03965131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters 0.011585822837180054 Centerline is valid? [True, True] Translation: X:220.12, Y:-111.62, Z:-4.04 [[ 9.50358718e-01 3.11063456e-01 -7.60481867e-03 2.20123812e+02] [ 3.11054287e-01 -9.50389140e-01 -2.39023657e-03 -1.11615830e+02] [-7.97105233e-03 -9.39292883e-05 -9.99968226e-01 -4.03892215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters 0.01296254172516238 Centerline is valid? [True, True] Translation: X:220.16, Y:-111.62, Z:-4.04 [[ 9.20976570e-01 3.89524909e-01 -8.51486983e-03 2.20156609e+02] [ 3.89509846e-01 -9.21015918e-01 -3.42922626e-03 -1.11620245e+02] [-9.17809970e-03 -1.58388602e-04 -9.99957868e-01 -4.03749238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters 0.01305563680497432 Centerline is valid? [True, True] Translation: X:220.19, Y:-111.62, Z:-4.04 [[ 8.86970963e-01 4.61755284e-01 -8.03543743e-03 2.20188107e+02] [ 4.61738042e-01 -8.87007345e-01 -3.99393457e-03 -1.11616725e+02] [-8.97171241e-03 -1.67763151e-04 -9.99959739e-01 -4.03798622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters 0.013551191103516751 Centerline is valid? [True, True] Translation: X:220.22, Y:-111.61, Z:-4.04 [[ 8.46661063e-01 5.32073874e-01 -7.90177509e-03 2.20220364e+02] [ 5.32052866e-01 -8.46697912e-01 -4.73225035e-03 -1.11612530e+02] [-9.20832325e-03 -1.97549971e-04 -9.99957583e-01 -4.03871776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters 0.013994062465159999 Centerline is valid? [True, True] Translation: X:220.25, Y:-111.60, Z:-4.04 [[ 8.01913971e-01 5.97400289e-01 -6.84678354e-03 2.20251569e+02] [ 5.97380490e-01 -8.01943177e-01 -4.86725626e-03 -1.11604632e+02] [-8.39843165e-03 -1.87014113e-04 -9.99964715e-01 -4.03892841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters 0.014142373186451822 Centerline is valid? [True, True] Translation: X:220.28, Y:-111.59, Z:-4.04 [[ 7.53110009e-01 6.57854122e-01 -7.29852778e-03 2.20279698e+02] [ 6.57825854e-01 -7.53145346e-01 -6.10194679e-03 -1.11591707e+02] [-9.51104308e-03 -2.05723076e-04 -9.99954748e-01 -4.03856875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters 0.012978756008865729 Centerline is valid? [True, True] Translation: X:220.30, Y:-111.57, Z:-4.04 [[ 7.01857141e-01 7.12273771e-01 -7.91385020e-03 2.20304090e+02] [ 7.12231674e-01 -7.01901728e-01 -7.74637056e-03 -1.11573549e+02] [-1.10722817e-02 -1.99649284e-04 -9.99938680e-01 -4.03789182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters 0.012229950278310081 Centerline is valid? [True, True] Translation: X:220.33, Y:-111.55, Z:-4.04 [[ 6.46655269e-01 7.62745526e-01 -7.49839420e-03 2.20327502e+02] [ 7.62697185e-01 -6.46698721e-01 -8.58883680e-03 -1.11554707e+02] [-1.14002988e-02 -1.64987578e-04 -9.99935001e-01 -4.03855473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters 0.011085303629019091 Centerline is valid? [True, True] Translation: X:220.35, Y:-111.53, Z:-4.04 [[ 5.92054185e-01 8.05867124e-01 -7.07250224e-03 2.20346902e+02] [ 8.05810982e-01 -5.92096423e-01 -9.51247594e-03 -1.11532215e+02] [-1.18533949e-02 -6.71987839e-05 -9.99929744e-01 -4.04028728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters 0.011497780136196801 Centerline is valid? [True, True] Translation: X:220.36, Y:-111.51, Z:-4.04 [[ 5.37572930e-01 8.43194978e-01 -6.12971474e-03 2.20360052e+02] [ 8.43138534e-01 -5.37607871e-01 -9.75650425e-03 -1.11507711e+02] [-1.15220183e-02 7.66338847e-05 -9.99933616e-01 -4.04132341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters 0.013218758494080877 Centerline is valid? [True, True] Translation: X:220.37, Y:-111.48, Z:-4.04 [[ 4.78328511e-01 8.78166359e-01 -5.06764168e-03 2.20373288e+02] [ 8.78113091e-01 -4.78355322e-01 -9.67397069e-03 -1.11483885e+02] [-1.09194890e-02 1.77373491e-04 -9.99940365e-01 -4.04239557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters 0.01732397626104614 Centerline is valid? [True, True] Translation: X:220.38, Y:-111.46, Z:-4.04 [[ 4.21602871e-01 9.06770377e-01 -4.30146585e-03 2.20382426e+02] [ 9.06714675e-01 -4.21624677e-01 -1.00563046e-02 -1.11458613e+02] [-1.09323632e-02 3.39564658e-04 -9.99940182e-01 -4.04283845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters 0.019718197541206874 Centerline is valid? [True, True] Translation: X:220.40, Y:-111.44, Z:-4.04 [[ 3.60299867e-01 9.32830834e-01 -3.26213893e-03 2.20396720e+02] [ 9.32780940e-01 -3.60314369e-01 -9.65776486e-03 -1.11436093e+02] [-1.01844564e-02 4.36830370e-04 -9.99948042e-01 -4.04369190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters 0.021121852584014358 Centerline is valid? [True, True] Translation: X:220.41, Y:-111.41, Z:-4.04 [[ 2.90419666e-01 9.56896638e-01 -2.28951134e-03 2.20412185e+02] [ 9.56853776e-01 -2.90428353e-01 -9.06771106e-03 -1.11414685e+02] [-9.34180124e-03 4.42714050e-04 -9.99956266e-01 -4.04410961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters 0.023215100104976037 Centerline is valid? [True, True] Translation: X:220.43, Y:-111.39, Z:-4.04 [[ 2.15703693e-01 9.76457574e-01 -1.58822839e-03 2.20426548e+02] [ 9.76413271e-01 -2.15709054e-01 -9.31284973e-03 -1.11393302e+02] [-9.43619790e-03 4.58048806e-04 -9.99955373e-01 -4.04227773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters 0.02275260780462827 Centerline is valid? [True, True] Translation: X:220.44, Y:-111.37, Z:-4.04 [[ 1.36939058e-01 9.90579044e-01 -9.23374650e-04 2.20441222e+02] [ 9.90526941e-01 -1.36941336e-01 -1.01709859e-02 -1.11369995e+02] [-1.02016137e-02 4.78177763e-04 -9.99947848e-01 -4.04107179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters 0.01938915492806276 Centerline is valid? [True, True] Translation: X:220.46, Y:-111.35, Z:-4.04 [[ 5.43974536e-02 9.98519356e-01 -1.13937732e-04 2.20462359e+02] [ 9.98475004e-01 -5.43961122e-02 -9.41958886e-03 -1.11345685e+02] [-9.41183957e-03 3.98637670e-04 -9.99955628e-01 -4.04177590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters 0.017751579662159244 Centerline is valid? [True, True] Translation: X:220.48, Y:-111.32, Z:-4.04 [[-3.00279456e-02 9.99548928e-01 5.12505337e-04 2.20480681e+02] [ 9.99519251e-01 3.00310060e-02 -7.70751936e-03 -1.11318863e+02] [-7.71943377e-03 2.80817979e-04 -9.99970165e-01 -4.04235031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters 0.018031032126115943 Centerline is valid? [True, True] Translation: X:220.49, Y:-111.29, Z:-4.04 [[-1.13594258e-01 9.93526769e-01 9.50504315e-04 2.20490631e+02] [ 9.93505432e-01 1.13598051e-01 -6.51459523e-03 -1.11291905e+02] [-6.58040019e-03 2.04310589e-04 -9.99978328e-01 -4.04221740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters 0.014129888907431908 Centerline is valid? [True, True] Translation: X:220.51, Y:-111.26, Z:-4.04 [[-2.01518944e-01 9.79483557e-01 1.44141143e-03 2.20506608e+02] [ 9.79463000e-01 2.01524055e-01 -6.34713875e-03 -1.11261061e+02] [-6.50739712e-03 1.32740467e-04 -9.99978818e-01 -4.04178014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters 0.01197074672379966 Centerline is valid? [True, True] Translation: X:220.52, Y:-111.23, Z:-4.04 [[-2.85392628e-01 9.58408588e-01 2.00688466e-03 2.20518830e+02] [ 9.58386900e-01 2.85399672e-01 -6.44810712e-03 -1.11228549e+02] [-6.75268545e-03 8.31297302e-05 -9.99977197e-01 -4.04089964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters 0.010698111960910889 Centerline is valid? [True, True] Translation: X:220.53, Y:-111.19, Z:-4.04 [[-3.71315493e-01 9.28503463e-01 2.47447725e-03 2.20530872e+02] [ 9.28482815e-01 3.71323738e-01 -6.19226518e-03 -1.11192652e+02] [-6.66837181e-03 -1.77440322e-06 -9.99977766e-01 -4.03949474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters 0.011938357460822037 Centerline is valid? [True, True] Translation: X:220.54, Y:-111.16, Z:-4.04 [[-4.53290384e-01 8.91356317e-01 3.42687979e-03 2.20535903e+02] [ 8.91329284e-01 4.53303328e-01 -6.94259376e-03 -1.11158460e+02] [-7.74174082e-03 -9.25326768e-05 -9.99970028e-01 -4.03811815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters 0.013603491626724635 Centerline is valid? [True, True] Translation: X:220.53, Y:-111.13, Z:-4.04 [[-5.26976629e-01 8.49870760e-01 3.91463192e-03 2.20531611e+02] [ 8.49845328e-01 5.26991150e-01 -6.57613396e-03 -1.11125754e+02] [-7.65184034e-03 -1.38637248e-04 -9.99970715e-01 -4.03758517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters 0.015230200554994954 Centerline is valid? [True, True] Translation: X:220.52, Y:-111.09, Z:-4.04 [[-5.96418848e-01 8.02661619e-01 4.34553265e-03 2.20523778e+02] [ 8.02638097e-01 5.96434652e-01 -6.14745195e-03 -1.11093026e+02] [-7.52614998e-03 -1.78566156e-04 -9.99971662e-01 -4.03732638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters 0.015509841643505478 Centerline is valid? [True, True] Translation: X:220.51, Y:-111.06, Z:-4.04 [[-6.58167585e-01 7.52855753e-01 4.86263698e-03 2.20509825e+02] [ 7.52833070e-01 6.58185521e-01 -5.84721564e-03 -1.11064339e+02] [-7.60262718e-03 -1.87693869e-04 -9.99971082e-01 -4.03721763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters 0.016971847713922485 Centerline is valid? [True, True] Translation: X:220.49, Y:-111.04, Z:-4.04 [[-7.14803376e-01 6.99304781e-01 5.38123978e-03 2.20493508e+02] [ 6.99282971e-01 7.14823607e-01 -5.52608714e-03 -1.11037120e+02] [-7.71105639e-03 -1.87056399e-04 -9.99970252e-01 -4.03680132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters 0.014844994957631178 Centerline is valid? [True, True] Translation: X:220.47, Y:-111.01, Z:-4.04 [[-7.66656432e-01 6.42018398e-01 7.09163579e-03 2.20471330e+02] [ 6.41988266e-01 7.66689200e-01 -6.22395918e-03 -1.11013600e+02] [-9.43297687e-03 -2.18891381e-04 -9.99955485e-01 -4.03672821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters 0.015023941073713425 Centerline is valid? [True, True] Translation: X:220.49, Y:-110.99, Z:-4.04 [[-8.09311525e-01 5.87326131e-01 7.92911043e-03 2.20485304e+02] [ 5.87295296e-01 8.09350337e-01 -6.02220929e-03 -1.10992633e+02] [-9.95442908e-03 -2.17114135e-04 -9.99950430e-01 -4.03630201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters 0.013579867309204637 Centerline is valid? [True, True] Translation: X:220.50, Y:-110.98, Z:-4.04 [[-8.47188871e-01 5.31246604e-01 6.93273993e-03 2.20496575e+02] [ 5.31227319e-01 8.47217223e-01 -4.52910987e-03 -1.10976679e+02] [-8.27961091e-03 -1.54150629e-04 -9.99965712e-01 -4.03802393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters 0.012843253140295878 Centerline is valid? [True, True] Translation: X:220.51, Y:-110.96, Z:-4.04 [[-8.81052385e-01 4.72970355e-01 6.76302392e-03 2.20509612e+02] [ 4.72955394e-01 8.81078334e-01 -3.76365579e-03 -1.10959442e+02] [-7.73885146e-03 -1.17369260e-04 -9.99970048e-01 -4.03888268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters 0.011968200289374072 Centerline is valid? [True, True] Translation: X:220.52, Y:-110.95, Z:-4.04 [[-9.09802562e-01 4.14996125e-01 6.12490392e-03 2.20522862e+02] [ 4.14986270e-01 9.09823177e-01 -2.86058409e-03 -1.10945139e+02] [-6.75971085e-03 -6.08156984e-05 -9.99977151e-01 -4.03921274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters 0.011596303869131913 Centerline is valid? [True, True] Translation: X:220.53, Y:-110.93, Z:-4.04 [[-9.34241994e-01 3.56573347e-01 6.88079126e-03 2.20528845e+02] [ 3.56563592e-01 9.34267332e-01 -2.63756088e-03 -1.10927809e+02] [-7.36898240e-03 -1.06804843e-05 -9.99972849e-01 -4.03861114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters 0.011852228040222882 Centerline is valid? [True, True] Translation: X:220.54, Y:-110.91, Z:-4.04 [[-9.55452051e-01 2.95051737e-01 7.47329553e-03 2.20541337e+02] [ 2.95042992e-01 9.55481277e-01 -2.27186695e-03 -1.10909643e+02] [-7.81091225e-03 3.42835352e-05 -9.99969494e-01 -4.03824282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters 0.012227050424614484 Centerline is valid? [True, True] Translation: X:220.55, Y:-110.89, Z:-4.04 [[-9.73239122e-01 2.29657082e-01 7.95207928e-03 2.20545948e+02] [ 2.29649927e-01 9.73271607e-01 -1.81391844e-03 -1.10885900e+02] [-8.15611219e-03 6.08180370e-05 -9.99966737e-01 -4.03781219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters 0.013916103456164076 Centerline is valid? [True, True] Translation: X:220.72, Y:-110.20, Z:-5.00 [[-9.62520106e-01 -2.71096361e-01 7.86183799e-03 2.20721279e+02] [ 2.71086812e-01 -9.62552211e-01 -2.27606455e-03 -1.10200302e+02] [ 8.18446236e-03 -5.95172949e-05 9.99966505e-01 -5.00332550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters 0.015489919704357933 Centerline is valid? [True, True] Translation: X:220.51, Y:-110.89, Z:-4.04 [[-9.70253407e-01 2.41975137e-01 7.50725529e-03 2.20511243e+02] [ 2.41969357e-01 9.70282433e-01 -1.68263354e-03 -1.10892732e+02] [-7.69131341e-03 1.83944812e-04 -9.99970405e-01 -4.03835253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters 0.016911056491219847 Centerline is valid? [True, True] Translation: X:220.68, Y:-110.18, Z:-5.00 [[-9.66780187e-01 -2.55511814e-01 7.05575329e-03 2.20681331e+02] [ 2.55503530e-01 -9.66805914e-01 -2.06678881e-03 -1.10183156e+02] [ 7.34963297e-03 -1.95360598e-04 9.99972972e-01 -5.00219755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters 0.017616861513913232 Centerline is valid? [True, True] Translation: X:220.47, Y:-110.89, Z:-4.04 [[-9.69329038e-01 2.45694382e-01 5.95713945e-03 2.20468264e+02] [ 2.45690959e-01 9.69347324e-01 -1.31108346e-03 -1.10888745e+02] [-6.09666302e-03 1.92744040e-04 -9.99981397e-01 -4.04031419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters 0.018205304886538782 Centerline is valid? [True, True] Translation: X:220.62, Y:-110.17, Z:-5.00 [[-9.67213892e-01 -2.53901372e-01 5.60180300e-03 2.20624706e+02] [ 2.53895901e-01 -9.67230093e-01 -1.67891530e-03 -1.10171517e+02] [ 5.84451133e-03 -2.01595377e-04 9.99982900e-01 -5.00166989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters 0.014867903358840572 Centerline is valid? [True, True] Translation: X:220.41, Y:-110.87, Z:-4.04 [[-9.73036064e-01 2.30552088e-01 6.82301438e-03 2.20412315e+02] [ 2.30547412e-01 9.73059975e-01 -1.47486419e-03 -1.10866786e+02] [-6.97923522e-03 1.37932266e-04 -9.99975635e-01 -4.03897108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters 0.013678445891809091 Centerline is valid? [True, True] Translation: X:220.41, Y:-110.83, Z:-4.04 [[-9.88025866e-01 1.54091915e-01 7.78269936e-03 2.20414962e+02] [ 1.54087935e-01 9.88056512e-01 -1.11205243e-03 -1.10833592e+02] [-7.86110508e-03 1.00483511e-04 -9.99969096e-01 -4.03732641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters 0.012433206953419857 Centerline is valid? [True, True] Translation: X:220.41, Y:-110.80, Z:-4.04 [[-9.97354463e-01 7.21642635e-02 8.74039840e-03 2.20410974e+02] [ 7.21615878e-02 9.97392761e-01 -6.21524398e-04 -1.10795449e+02] [-8.76246194e-03 1.08408945e-05 -9.99961609e-01 -4.03598740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters 0.012828935396136566 Centerline is valid? [True, True] Translation: X:220.40, Y:-110.76, Z:-4.04 [[-9.99938611e-01 -6.86683854e-03 8.69604419e-03 2.20404577e+02] [-6.86709355e-03 9.99976421e-01 5.34181878e-07 -1.10761417e+02] [-8.69584281e-03 -5.91823998e-05 -9.99962189e-01 -4.03571930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters 0.013731778538733615 Centerline is valid? [True, True] Translation: X:220.40, Y:-110.10, Z:-5.01 [[-9.96568592e-01 -8.22996201e-02 8.82122154e-03 2.20401403e+02] [ 8.22970273e-02 -9.96607630e-01 -6.57132530e-04 -1.10097784e+02] [ 8.84537845e-03 7.10826700e-05 9.99960876e-01 -5.00504072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters 0.016119542363393215 Centerline is valid? [True, True] Translation: X:220.33, Y:-110.75, Z:-4.04 [[-9.99562727e-01 -2.82101805e-02 8.86229876e-03 2.20334504e+02] [-2.82109612e-02 9.99601991e-01 3.69281317e-05 -1.10746594e+02] [-8.85981324e-03 -2.13101983e-04 -9.99960728e-01 -4.03633983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters 0.01724481147023402 Centerline is valid? [True, True] Translation: X:220.32, Y:-110.72, Z:-4.04 [[-9.94451132e-01 -1.04796288e-01 9.20235751e-03 2.20323916e+02] [-1.04794346e-01 9.94493672e-01 6.94287323e-04 -1.10716096e+02] [-9.22444504e-03 -2.73920222e-04 -9.99957416e-01 -4.03703297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters 0.019066325940113846 Centerline is valid? [True, True] Translation: X:220.32, Y:-110.69, Z:-4.04 [[-9.84114618e-01 -1.77244452e-01 1.01401594e-02 2.20316152e+02] [-1.77238437e-01 9.84166804e-01 1.49597621e-03 -1.10685873e+02] [-1.02447618e-02 -3.25013949e-04 -9.99947468e-01 -4.03550261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters 0.019848138770681832 Centerline is valid? [True, True] Translation: X:220.23, Y:-110.07, Z:-5.01 [[-9.98841626e-01 4.59680846e-02 1.42246610e-02 2.20228149e+02] [-4.59530667e-02 -9.98942645e-01 1.38099030e-03 -1.10071579e+02] [ 1.42731019e-02 7.25723797e-04 9.99897871e-01 -5.00919692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters 0.018251798073036108 Centerline is valid? [True, True] Translation: X:220.24, Y:-110.70, Z:-4.03 [[-9.83150415e-01 -1.82145724e-01 1.54336057e-02 2.20238354e+02] [-1.82131237e-01 9.83271420e-01 2.35096050e-03 -1.10699113e+02] [-1.56036408e-02 -4.99593896e-04 -9.99878131e-01 -4.03218329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters 0.018075720553600266 Centerline is valid? [True, True] Translation: X:220.23, Y:-110.68, Z:-4.03 [[-9.68270331e-01 -2.49408334e-01 1.57495619e-02 2.20233318e+02] [-2.49383332e-01 9.68398294e-01 3.56350251e-03 -1.10676523e+02] [-1.61406161e-02 -4.77244469e-04 -9.99869618e-01 -4.03245541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters 0.017920926845687954 Centerline is valid? [True, True] Translation: X:220.22, Y:-110.66, Z:-4.03 [[-9.48924012e-01 -3.15192274e-01 1.40374242e-02 2.20217177e+02] [-3.15163864e-01 9.49027754e-01 4.24988385e-03 -1.10656883e+02] [-1.46614357e-02 -3.91272002e-04 -9.99892439e-01 -4.03417121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters 0.017264205147475186 Centerline is valid? [True, True] Translation: X:220.19, Y:-110.64, Z:-4.04 [[-9.24983710e-01 -3.79833167e-01 1.14848006e-02 2.20192823e+02] [-3.79807768e-01 9.25054961e-01 4.40207316e-03 -1.10641168e+02] [-1.22961252e-02 -2.90170536e-04 -9.99924358e-01 -4.03586891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters 0.017089331646598056 Centerline is valid? [True, True] Translation: X:220.15, Y:-110.63, Z:-4.04 [[-8.95709251e-01 -4.44516840e-01 1.04745713e-02 2.20147768e+02] [-4.44489727e-01 8.95770459e-01 4.91597813e-03 -1.10633327e+02] [-1.15680466e-02 -2.52552268e-04 -9.99933056e-01 -4.03601881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters 0.01585484876586644 Centerline is valid? [True, True] Translation: X:220.09, Y:-110.64, Z:-4.04 [[-8.61113700e-01 -5.08289476e-01 1.11804827e-02 2.20087928e+02] [-5.08250624e-01 8.61186239e-01 6.29013860e-03 -1.10637556e+02] [-1.28256891e-02 -2.65962769e-04 -9.99917712e-01 -4.03567507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters 0.015342177940942198 Centerline is valid? [True, True] Translation: X:220.02, Y:-110.65, Z:-4.04 [[-8.21104908e-01 -5.70677152e-01 1.06919823e-02 2.20019955e+02] [-5.70632998e-01 8.21174473e-01 7.10389998e-03 -1.10649565e+02] [-1.28340164e-02 -2.68150802e-04 -9.99917605e-01 -4.03678208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters 0.016255449086190994 Centerline is valid? [True, True] Translation: X:219.95, Y:-110.67, Z:-4.04 [[-7.75789889e-01 -6.30906105e-01 1.03699207e-02 2.19945649e+02] [-6.30854644e-01 7.75859140e-01 8.06312590e-03 -1.10668033e+02] [-1.31326731e-02 -2.86621085e-04 -9.99913722e-01 -4.03612893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters 0.01687893973400677 Centerline is valid? [True, True] Translation: X:219.87, Y:-110.70, Z:-4.03 [[-7.26759019e-01 -6.86814195e-01 1.03726034e-02 2.19865428e+02] [-6.86750072e-01 7.26832974e-01 9.38964747e-03 -1.10697933e+02] [-1.39880933e-02 -2.99375139e-04 -9.99902117e-01 -4.03443266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters 0.01672132797178279 Centerline is valid? [True, True] Translation: X:219.79, Y:-110.74, Z:-4.03 [[-6.73896775e-01 -7.38760735e-01 9.78324407e-03 2.19785232e+02] [-7.38689057e-01 6.73967723e-01 1.02948870e-02 -1.10739066e+02] [-1.41990490e-02 -2.89084173e-04 -9.99899147e-01 -4.03338428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters 0.016501118904490443 Centerline is valid? [True, True] Translation: X:219.71, Y:-110.79, Z:-4.03 [[-6.17653848e-01 -7.86405312e-01 8.39103876e-03 2.19706593e+02] [-7.86338108e-01 6.17710794e-01 1.02837548e-02 -1.10789104e+02] [-1.32704346e-02 -2.46392834e-04 -9.99911914e-01 -4.03415612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters 0.016383134488167733 Centerline is valid? [True, True] Translation: X:219.63, Y:-110.85, Z:-4.03 [[-5.57261189e-01 -8.30307593e-01 7.01918703e-03 2.19625421e+02] [-8.30246543e-01 5.57305352e-01 1.00709311e-02 -1.10851123e+02] [-1.22738010e-02 -2.15516752e-04 -9.99924651e-01 -4.03472004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters 0.014791806929600053 Centerline is valid? [True, True] Translation: X:219.55, Y:-110.92, Z:-4.04 [[-4.93384595e-01 -8.69793390e-01 5.57670638e-03 2.19550837e+02] [-8.69741989e-01 4.93416076e-01 9.45774356e-03 -1.10921764e+02] [-1.09779194e-02 -1.83990725e-04 -9.99939724e-01 -4.03763138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters 0.014523088863112201 Centerline is valid? [True, True] Translation: X:219.48, Y:-111.00, Z:-4.04 [[-4.25870789e-01 -9.04772846e-01 4.49091605e-03 2.19479404e+02] [-9.04726671e-01 4.25894433e-01 9.14239447e-03 -1.10997166e+02] [-1.01844464e-02 -1.69572778e-04 -9.99948123e-01 -4.03808103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters 0.014604691916281718 Centerline is valid? [True, True] Translation: X:219.41, Y:-111.08, Z:-4.04 [[-3.55800208e-01 -9.34553374e-01 4.02537517e-03 2.19409187e+02] [-9.34499146e-01 3.55822933e-01 1.00690909e-02 -1.11083047e+02] [-1.08424237e-02 -1.79125027e-04 -9.99941203e-01 -4.03710975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters 0.014298803528933555 Centerline is valid? [True, True] Translation: X:219.35, Y:-111.18, Z:-4.04 [[-2.84142852e-01 -9.58775737e-01 3.45343863e-03 2.19345048e+02] [-9.58712542e-01 2.84163778e-01 1.10094866e-02 -1.11177779e+02] [-1.15369708e-02 -1.82587994e-04 -9.99933430e-01 -4.03592264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters 0.013932585245286382 Centerline is valid? [True, True] Translation: X:219.29, Y:-111.27, Z:-4.04 [[-2.11610620e-01 -9.77349518e-01 2.97735586e-03 2.19292012e+02] [-9.77264841e-01 2.11631482e-01 1.28664686e-02 -1.11273078e+02] [-1.32051391e-02 -1.86983814e-04 -9.99912791e-01 -4.03587496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters 0.014165024351258824 Centerline is valid? [True, True] Translation: X:219.24, Y:-111.38, Z:-4.04 [[-1.37052364e-01 -9.90561848e-01 1.96852865e-03 2.19244272e+02] [-9.90477150e-01 1.37066389e-01 1.29545347e-02 -1.11376715e+02] [-1.31020870e-02 -1.74333040e-04 -9.99914149e-01 -4.03526389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters 0.013880194525757759 Centerline is valid? [True, True] Translation: X:219.21, Y:-111.49, Z:-4.04 [[-6.21232618e-02 -9.98068024e-01 9.59399339e-04 2.19205482e+02] [-9.97984570e-01 6.21304747e-02 1.29074271e-02 -1.11492167e+02] [-1.29420982e-02 -1.55614263e-04 -9.99916235e-01 -4.03640892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters 0.01372830694938893 Centerline is valid? [True, True] Translation: X:219.18, Y:-111.60, Z:-4.04 [[ 1.32128393e-02 -9.99912706e-01 -3.32644981e-05 2.19175602e+02] [-9.99828046e-01 -1.32121535e-02 1.30121789e-02 -1.11601393e+02] [-1.30114825e-02 -1.38669051e-04 -9.99915337e-01 -4.03700590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters 0.013460059907858314 Centerline is valid? [True, True] Translation: X:219.16, Y:-111.71, Z:-4.04 [[ 8.72563724e-02 -9.96185204e-01 -1.16846458e-03 2.19155525e+02] [-9.96076930e-01 -8.72641162e-02 1.46874997e-02 -1.11714010e+02] [-1.47334349e-02 -1.17697331e-04 -9.99891450e-01 -4.03670394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters 0.013515103651669354 Centerline is valid? [True, True] Translation: X:219.15, Y:-111.83, Z:-4.04 [[ 1.60596784e-01 -9.87017120e-01 -2.42435121e-03 2.19145019e+02] [-9.86897053e-01 -1.60615062e-01 1.53950872e-02 -1.11833635e+02] [-1.55846019e-02 -7.98164318e-05 -9.99878550e-01 -4.03599354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters 0.01316724571415605 Centerline is valid? [True, True] Translation: X:219.14, Y:-111.95, Z:-4.04 [[ 2.31539655e-01 -9.72818514e-01 -3.67783979e-03 2.19144300e+02] [-9.72695126e-01 -2.31568863e-01 1.54936930e-02 -1.11946029e+02] [-1.59242246e-02 -9.98749958e-06 -9.99873201e-01 -4.03885438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters 0.013676196270537497 Centerline is valid? [True, True] Translation: X:219.15, Y:-112.06, Z:-4.04 [[ 3.01242599e-01 -9.53535016e-01 -4.88573388e-03 2.19151788e+02] [-9.53412847e-01 -3.01282210e-01 1.52634810e-02 -1.12059151e+02] [-1.60262483e-02 6.01107823e-05 -9.99871570e-01 -4.03725598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters 0.01444463854266107 Centerline is valid? [True, True] Translation: X:219.17, Y:-112.18, Z:-4.04 [[ 3.70580648e-01 -9.28780554e-01 -6.05524638e-03 2.19169104e+02] [-9.28661408e-01 -3.70630099e-01 1.48767961e-02 -1.12175789e+02] [-1.60615355e-02 1.10220887e-04 -9.99870999e-01 -4.03579758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters 0.014598209043203816 Centerline is valid? [True, True] Translation: X:219.19, Y:-112.28, Z:-4.04 [[ 4.35046087e-01 -9.00381896e-01 -6.88070317e-03 2.19192890e+02] [-9.00276588e-01 -4.35100448e-01 1.37719131e-02 -1.12283371e+02] [-1.53937783e-02 2.03119073e-04 -9.99881488e-01 -4.03852755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters 0.015808138139926587 Centerline is valid? [True, True] Translation: X:219.23, Y:-112.39, Z:-4.04 [[ 4.96516738e-01 -8.67991405e-01 -7.87714399e-03 2.19225972e+02] [-8.67891999e-01 -4.96579121e-01 1.31398194e-02 -1.12389438e+02] [-1.53168755e-02 3.12369984e-04 -9.99882641e-01 -4.03945398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters 0.021534111280722006 Centerline is valid? [True, True] Translation: X:219.28, Y:-112.50, Z:-4.04 [[ 5.57949790e-01 -8.29832375e-01 -8.38220078e-03 2.19275709e+02] [-8.29748198e-01 -5.58012636e-01 1.18247826e-02 -1.12496883e+02] [-1.44899614e-02 3.57481025e-04 -9.99894951e-01 -4.03559380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters 0.01755319077837048 Centerline is valid? [True, True] Translation: X:219.31, Y:-112.60, Z:-4.04 [[ 6.17075608e-01 -7.86852881e-01 -8.95757495e-03 2.19310312e+02] [-7.86779061e-01 -6.17140494e-01 1.07851315e-02 -1.12595712e+02] [-1.40143940e-02 3.92390829e-04 -9.99901717e-01 -4.03974854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters 0.017608738098717946 Centerline is valid? [True, True] Translation: X:219.36, Y:-112.69, Z:-4.04 [[ 6.74893291e-01 -7.37850447e-01 -9.78590151e-03 2.19359358e+02] [-7.37781344e-01 -6.74964116e-01 1.01059687e-02 -1.12692975e+02] [-1.40618259e-02 3.99405063e-04 -9.99901048e-01 -4.03963313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters 0.017846016040542163 Centerline is valid? [True, True] Translation: X:219.42, Y:-112.79, Z:-4.04 [[ 7.29219305e-01 -6.84217885e-01 -9.22452646e-03 2.19415237e+02] [-6.84169079e-01 -7.29277564e-01 8.17959580e-03 -1.12785897e+02] [-1.23238659e-02 3.46416613e-04 -9.99923998e-01 -4.04016717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters 0.016892337831445257 Centerline is valid? [True, True] Translation: X:219.43, Y:-112.82, Z:-4.04 [[ 7.81621886e-01 -6.23670682e-01 -1.01048177e-02 2.19432072e+02] [-6.23624015e-01 -7.81687130e-01 7.63666951e-03 -1.12817135e+02] [-1.26615728e-02 3.32618964e-04 -9.99919784e-01 -4.03955136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters 0.015910295337463007 Centerline is valid? [True, True] Translation: X:219.45, Y:-112.85, Z:-4.04 [[ 8.29390515e-01 -5.58577737e-01 -1.01136113e-02 2.19451319e+02] [-5.58540368e-01 -8.29452127e-01 6.46739527e-03 -1.12847988e+02] [-1.20012994e-02 2.84863874e-04 -9.99927941e-01 -4.03989886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters 0.015103500782482064 Centerline is valid? [True, True] Translation: X:219.47, Y:-112.88, Z:-4.04 [[ 8.72606065e-01 -4.88315998e-01 -1.03025007e-02 2.19472797e+02] [-4.88285029e-01 -8.72666852e-01 5.50414917e-03 -1.12878367e+02] [-1.16784149e-02 2.27602895e-04 -9.99931779e-01 -4.03985354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters 0.014725189664361395 Centerline is valid? [True, True] Translation: X:219.50, Y:-112.90, Z:-4.04 [[ 9.09470669e-01 -4.15641591e-01 -1.02551990e-02 2.19496701e+02] [-4.15617412e-01 -9.09528468e-01 4.48685357e-03 -1.12903378e+02] [-1.11923184e-02 1.81577547e-04 -9.99937348e-01 -4.03888762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters 0.013503549889509803 Centerline is valid? [True, True] Translation: X:219.52, Y:-112.93, Z:-4.04 [[ 9.40976652e-01 -3.38361393e-01 -8.63176471e-03 2.19522503e+02] [-3.38348133e-01 -9.41016237e-01 2.99718294e-03 -1.12930256e+02] [-9.13676174e-03 1.00262305e-04 -9.99958254e-01 -4.03955318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters 0.013076883082816109 Centerline is valid? [True, True] Translation: X:219.55, Y:-112.95, Z:-4.04 [[ 9.65559520e-01 -2.60061204e-01 -7.93617594e-03 2.19550789e+02] [-2.60052919e-01 -9.65592133e-01 2.07671711e-03 -1.12951283e+02] [-8.20318260e-03 5.86317454e-05 -9.99966352e-01 -4.03977201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters 0.012537615446165513 Centerline is valid? [True, True] Translation: X:219.58, Y:-112.98, Z:-4.04 [[ 9.84263918e-01 -1.76522287e-01 -8.02632794e-03 2.19580971e+02] [-1.76516402e-01 -9.84296643e-01 1.44139612e-03 -1.12975386e+02] [-8.15472619e-03 -1.93566270e-06 -9.99966750e-01 -4.03982380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters 0.01311010544637446 Centerline is valid? [True, True] Translation: X:219.61, Y:-113.00, Z:-4.04 [[ 9.95893780e-01 -9.02043829e-02 -7.66468702e-03 2.19611134e+02] [-9.02011761e-02 -9.95923272e-01 7.63764606e-04 -1.12996298e+02] [-7.70233509e-03 -6.92646378e-05 -9.99970334e-01 -4.03904768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters 0.01420816685118911 Centerline is valid? [True, True] Translation: X:219.64, Y:-113.01, Z:-4.04 [[ 9.99949435e-01 -5.72613403e-03 -8.26667449e-03 2.19643177e+02] [-5.72489654e-03 -9.99983598e-01 1.73352244e-04 -1.13011797e+02] [-8.26753154e-03 -1.26017622e-04 -9.99965815e-01 -4.03786113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters 0.01575833067746189 Centerline is valid? [True, True] Translation: X:219.68, Y:-113.03, Z:-4.04 [[ 9.96739077e-01 8.03508796e-02 -7.41278973e-03 2.19676713e+02] [ 8.03499335e-02 -9.96766626e-01 -4.25842042e-04 -1.13026145e+02] [-7.42303819e-03 -1.71163758e-04 -9.99972434e-01 -4.03769405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters 0.016841114548694913 Centerline is valid? [True, True] Translation: X:219.71, Y:-113.03, Z:-4.04 [[ 9.86631452e-01 1.62894728e-01 -4.86676672e-03 2.19711068e+02] [ 1.62893428e-01 -9.86643446e-01 -6.65023821e-04 -1.13034545e+02] [-4.91009236e-03 -1.36630897e-04 -9.99987936e-01 -4.03994221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters 0.018629828714754527 Centerline is valid? [True, True] Translation: X:219.75, Y:-113.04, Z:-4.04 [[ 9.70180196e-01 2.42352180e-01 -3.97595020e-03 2.19745056e+02] [ 2.42350669e-01 -9.70188335e-01 -8.64779572e-04 -1.13040570e+02] [-4.06700172e-03 -1.24582175e-04 -9.99991722e-01 -4.04007945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters 0.021056224773269704 Centerline is valid? [True, True] Translation: X:219.78, Y:-113.04, Z:-4.04 [[ 9.47050360e-01 3.21065870e-01 -3.51030718e-03 2.19779261e+02] [ 3.21064155e-01 -9.47056857e-01 -1.05713720e-03 -1.13042400e+02] [-3.66387116e-03 -1.25871638e-04 -9.99993280e-01 -4.03908260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters 0.021512504341970943 Centerline is valid? [True, True] Translation: X:219.81, Y:-113.04, Z:-4.04 [[ 9.18398463e-01 3.95635646e-01 -4.08647485e-03 2.19812861e+02] [ 3.95632486e-01 -9.18407541e-01 -1.58909800e-03 -1.13035472e+02] [-4.38175313e-03 -1.57317041e-04 -9.99990388e-01 -4.03820799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters 0.020286767948288858 Centerline is valid? [True, True] Translation: X:219.84, Y:-113.02, Z:-4.04 [[ 8.86167560e-01 4.63344472e-01 -4.35381297e-03 2.19844377e+02] [ 4.63339745e-01 -8.86178242e-01 -2.09878102e-03 -1.13022463e+02] [-4.83071290e-03 -1.57422934e-04 -9.99988320e-01 -4.03811175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters 0.018092194396780736 Centerline is valid? [True, True] Translation: X:219.87, Y:-113.00, Z:-4.04 [[ 8.51423338e-01 5.24475660e-01 -1.89252142e-03 2.19870656e+02] [ 5.24474503e-01 -8.51425440e-01 -1.10299451e-03 -1.13002487e+02] [-2.18983466e-03 -5.34639633e-05 -9.99997601e-01 -4.04032003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters 0.015105805554843537 Centerline is valid? [True, True] Translation: X:219.90, Y:-112.98, Z:-4.04 [[ 8.11668689e-01 5.84117132e-01 -1.05608898e-03 2.19896989e+02] [ 5.84116674e-01 -8.11669376e-01 -7.32173217e-04 -1.12982445e+02] [-1.28487000e-03 -2.25971071e-05 -9.99999174e-01 -4.04121664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters 0.013459602195654327 Centerline is valid? [True, True] Translation: X:219.92, Y:-112.96, Z:-4.04 [[ 7.68229619e-01 6.40173360e-01 -1.14984733e-03 2.19923541e+02] [ 6.40172672e-01 -7.68230479e-01 -9.38479633e-04 -1.12964638e+02] [-1.48413742e-03 -1.51329850e-05 -9.99998899e-01 -4.04086317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters 0.012878156627139732 Centerline is valid? [True, True] Translation: X:219.95, Y:-112.95, Z:-4.04 [[ 7.20889484e-01 6.93047048e-01 -2.03487016e-03 2.19947355e+02] [ 6.93044320e-01 -7.20892356e-01 -1.94449582e-03 -1.12946433e+02] [-2.81454944e-03 -8.48862222e-06 -9.99996039e-01 -4.03913824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters 0.012913754642300301 Centerline is valid? [True, True] Translation: X:219.97, Y:-112.93, Z:-4.04 [[ 6.70133102e-01 7.42237803e-01 -2.16065870e-03 2.19969984e+02] [ 7.42233873e-01 -6.70136585e-01 -2.41553427e-03 -1.12925727e+02] [-3.24083730e-03 1.50153956e-05 -9.99994748e-01 -4.03924157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters 0.013991578180055999 Centerline is valid? [True, True] Translation: X:219.99, Y:-112.90, Z:-4.04 [[ 6.17651096e-01 7.86449416e-01 -2.10713299e-03 2.19988048e+02] [ 7.86444560e-01 -6.17654688e-01 -2.76391432e-03 -1.12902003e+02] [-3.47515937e-03 4.99914326e-05 -9.99993960e-01 -4.04064223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters 0.01534235190941426 Centerline is valid? [True, True] Translation: X:220.00, Y:-112.88, Z:-4.04 [[ 5.58545933e-01 8.29471244e-01 -1.97362116e-03 2.20004461e+02] [ 8.29465606e-01 -5.58549415e-01 -3.05921109e-03 -1.12880192e+02] [-3.63989257e-03 7.16590364e-05 -9.99993373e-01 -4.04105418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters 0.015158520218383953 Centerline is valid? [True, True] Translation: X:220.03, Y:-112.86, Z:-4.04 [[ 4.92611896e-01 8.70246900e-01 -1.96261936e-03 2.20026478e+02] [ 8.70239294e-01 -4.92615799e-01 -3.63941115e-03 -1.12859986e+02] [-4.13400357e-03 8.48687416e-05 -9.99991451e-01 -4.04055151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters 0.015111817620657957 Centerline is valid? [True, True] Translation: X:220.05, Y:-112.84, Z:-4.04 [[ 4.21740803e-01 9.06714157e-01 -2.03290513e-03 2.20045832e+02] [ 9.06702499e-01 -4.21745691e-01 -4.59902760e-03 -1.12838154e+02] [-5.02737241e-03 9.63574285e-05 -9.99987358e-01 -4.03979216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters 0.014285795594955826 Centerline is valid? [True, True] Translation: X:220.06, Y:-112.82, Z:-4.04 [[ 3.44153780e-01 9.38910457e-01 -2.30878595e-03 2.20063687e+02] [ 9.38887459e-01 -3.44161511e-01 -6.57220109e-03 -1.12816454e+02] [-6.96530358e-03 9.41576752e-05 -9.99975738e-01 -4.03883611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters 0.012992081585547684 Centerline is valid? [True, True] Translation: X:220.08, Y:-112.79, Z:-4.04 [[ 2.60930820e-01 9.65355207e-01 -2.10487377e-03 2.20084896e+02] [ 9.65322622e-01 -2.60939307e-01 -7.93175395e-03 -1.12793653e+02] [-8.20620429e-03 3.77567932e-05 -9.99966328e-01 -4.03958285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters 0.01301023038464421 Centerline is valid? [True, True] Translation: X:220.10, Y:-112.77, Z:-4.04 [[ 1.75160018e-01 9.84538918e-01 -1.44447209e-03 2.20102640e+02] [ 9.84507281e-01 -1.75165969e-01 -7.89289160e-03 -1.12770029e+02] [-8.02388131e-03 -3.95742585e-05 -9.99967807e-01 -4.03966278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters 0.01382599606888468 Centerline is valid? [True, True] Translation: X:220.12, Y:-112.74, Z:-4.04 [[ 8.93732323e-02 9.95997978e-01 -6.72681235e-04 2.20119827e+02] [ 9.95976556e-01 -8.93757223e-02 -6.53303648e-03 -1.12743269e+02] [-6.56701250e-03 -8.60961529e-05 -9.99978433e-01 -4.04118345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters 0.015322850407484077 Centerline is valid? [True, True] Translation: X:220.13, Y:-112.72, Z:-4.04 [[ 8.40616274e-03 9.99964655e-01 -1.59804705e-04 2.20131917e+02] [ 9.99942873e-01 -8.40703453e-03 -6.60094111e-03 -1.12715767e+02] [-6.60205128e-03 -1.04306991e-04 -9.99978201e-01 -4.04030683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters 0.016113956565108715 Centerline is valid? [True, True] Translation: X:220.14, Y:-112.69, Z:-4.04 [[-7.66940854e-02 9.97054597e-01 3.84383589e-04 2.20140465e+02] [ 9.97029414e-01 7.66948809e-02 -7.08824384e-03 -1.12686383e+02] [-7.09684636e-03 -1.60384634e-04 -9.99974804e-01 -4.04019873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters 0.017920444800805478 Centerline is valid? [True, True] Translation: X:220.15, Y:-112.66, Z:-4.04 [[-1.60501607e-01 9.87034714e-01 1.30639306e-03 2.20146737e+02] [ 9.86986162e-01 1.60506675e-01 -9.79408012e-03 -1.12656174e+02] [-9.87678188e-03 -2.82573725e-04 -9.99951183e-01 -4.03877546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters 0.018944100284836313 Centerline is valid? [True, True] Translation: X:220.15, Y:-112.63, Z:-4.04 [[-2.40561492e-01 9.70631081e-01 2.33964414e-03 2.20149662e+02] [ 9.70569703e-01 2.40572605e-01 -1.09212015e-02 -1.12626437e+02] [-1.11633119e-02 -3.56432807e-04 -9.99937625e-01 -4.03749211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters 0.019698823859074677 Centerline is valid? [True, True] Translation: X:220.15, Y:-112.60, Z:-4.04 [[-3.18034648e-01 9.48072766e-01 3.46312862e-03 2.20149086e+02] [ 9.48001554e-01 3.18053233e-01 -1.16273011e-02 -1.12596121e+02] [-1.21249867e-02 -4.14833295e-04 -9.99926404e-01 -4.03591489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters 0.01992077306704503 Centerline is valid? [True, True] Translation: X:220.14, Y:-112.57, Z:-4.04 [[-3.90559951e-01 9.20566614e-01 4.47591069e-03 2.20143121e+02] [ 9.20493445e-01 3.90585376e-01 -1.16138694e-02 -1.12568253e+02] [-1.24395657e-02 -4.15865819e-04 -9.99922539e-01 -4.03510790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters 0.018054731472067216 Centerline is valid? [True, True] Translation: X:220.13, Y:-112.54, Z:-4.03 [[-4.58024183e-01 8.88920699e-01 5.81705735e-03 2.20130619e+02] [ 8.88837647e-01 4.58060948e-01 -1.21575511e-02 -1.12541807e+02] [-1.34716656e-02 -3.98032836e-04 -9.99909174e-01 -4.03488775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters 0.01631816429949944 Centerline is valid? [True, True] Translation: X:220.12, Y:-112.52, Z:-4.04 [[-5.21453373e-01 8.53251626e-01 6.93129721e-03 2.20115910e+02] [ 8.53167651e-01 5.21499332e-01 -1.19752555e-02 -1.12517978e+02] [-1.38325731e-02 -3.30978835e-04 -9.99904271e-01 -4.03530731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters 0.016624435297305094 Centerline is valid? [True, True] Translation: X:220.10, Y:-112.49, Z:-4.03 [[-5.84232311e-01 8.11550490e-01 7.64261264e-03 2.20104852e+02] [ 8.11474662e-01 5.84282229e-01 -1.10972475e-02 -1.12494138e+02] [-1.34714194e-02 -2.81584044e-04 -9.99909217e-01 -4.03477294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters 0.01653468134332297 Centerline is valid? [True, True] Translation: X:220.09, Y:-112.48, Z:-4.04 [[-6.43641431e-01 7.65281343e-01 8.37701220e-03 2.20086565e+02] [ 7.65211689e-01 6.43695899e-01 -1.03276530e-02 -1.12475918e+02] [-1.32958086e-02 -2.37117703e-04 -9.99911579e-01 -4.03571738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters 0.015119175592981362 Centerline is valid? [True, True] Translation: X:220.07, Y:-112.45, Z:-4.04 [[-7.00412732e-01 7.13675320e-01 9.46263422e-03 2.20070626e+02] [ 7.13605887e-01 7.00476615e-01 -9.95737612e-03 -1.12454084e+02] [-1.37346876e-02 -2.21681526e-04 -9.99905650e-01 -4.03726968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters 0.015235974427779284 Centerline is valid? [True, True] Translation: X:220.06, Y:-112.43, Z:-4.04 [[-7.54210974e-01 6.56558223e-01 9.85426520e-03 2.20057163e+02] [ 6.56498440e-01 7.54275317e-01 -8.86256625e-03 -1.12429591e+02] [-1.32516198e-02 -2.14934994e-04 -9.99912170e-01 -4.03722847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters 0.015518296313431976 Centerline is valid? [True, True] Translation: X:220.08, Y:-112.41, Z:-4.04 [[-7.99692421e-01 6.00325629e-01 1.00584014e-02 2.20077678e+02] [ 6.00274567e-01 7.99755643e-01 -7.83301188e-03 -1.12407945e+02] [-1.27466211e-02 -2.26197656e-04 -9.99918733e-01 -4.03787650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters 0.01578336205754167 Centerline is valid? [True, True] Translation: X:220.10, Y:-112.38, Z:-4.04 [[-8.41524993e-01 5.40107017e-01 1.09588473e-02 2.20096078e+02] [ 5.40057051e-01 8.41596304e-01 -7.35140515e-03 -1.12384596e+02] [-1.31934709e-02 -2.67988432e-04 -9.99912926e-01 -4.03749339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters 0.01804094322515564 Centerline is valid? [True, True] Translation: X:220.10, Y:-112.35, Z:-4.04 [[-8.79284395e-01 4.76139169e-01 1.22656088e-02 2.20100174e+02] [ 4.76087476e-01 8.79369876e-01 -7.02396825e-03 -1.12347881e+02] [-1.41303933e-02 -3.36562924e-04 -9.99900104e-01 -4.03520632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters 0.017275720878416393 Centerline is valid? [True, True] Translation: X:220.13, Y:-112.33, Z:-4.04 [[-9.11312602e-01 4.11512313e-01 1.29211970e-02 2.20126442e+02] [ 4.11465316e-01 9.11404129e-01 -6.22952024e-03 -1.12331060e+02] [-1.43399566e-02 -3.60415879e-04 -9.99897113e-01 -4.03573183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters 0.017963138726160743 Centerline is valid? [True, True] Translation: X:220.14, Y:-112.31, Z:-4.04 [[-9.38005573e-01 3.46394859e-01 1.24958621e-02 2.20141577e+02] [ 3.46359404e-01 9.38088744e-01 -4.96696563e-03 -1.12305394e+02] [-1.34427589e-02 -3.30982093e-04 -9.99909587e-01 -4.03592543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters 0.01645902250353972 Centerline is valid? [True, True] Translation: X:220.15, Y:-112.28, Z:-4.04 [[-9.59775758e-01 2.80538954e-01 1.13308968e-02 2.20149873e+02] [ 2.80516018e-01 9.59842602e-01 -3.59770636e-03 -1.12282640e+02] [-1.18851743e-02 -2.74493289e-04 -9.99929331e-01 -4.03888735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters 0.01568509364750758 Centerline is valid? [True, True] Translation: X:220.16, Y:-112.26, Z:-4.04 [[-9.76685180e-01 2.14418642e-01 1.05216906e-02 2.20158790e+02] [ 2.14403758e-01 9.76741827e-01 -2.53600267e-03 -1.12258021e+02] [-1.08207415e-02 -2.20986223e-04 -9.99941430e-01 -4.03975811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters 0.014777294117264441 Centerline is valid? [True, True] Translation: X:220.33, Y:-111.57, Z:-5.00 [[-9.48851450e-01 -3.15546026e-01 1.05655595e-02 2.20332317e+02] [ 3.15529267e-01 -9.48910242e-01 -3.26089901e-03 -1.11573694e+02] [ 1.10547313e-02 2.39634490e-04 9.99938866e-01 -5.00180203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters 0.013952906065884617 Centerline is valid? [True, True] Translation: X:220.11, Y:-112.25, Z:-4.04 [[-9.75687358e-01 2.18803772e-01 1.26130135e-02 2.20114728e+02] [ 2.18783404e-01 9.75768868e-01 -2.98964316e-03 -1.12252652e+02] [-1.29615311e-02 -1.57439020e-04 -9.99915983e-01 -4.03820925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters 0.013964820379221185 Centerline is valid? [True, True] Translation: X:220.13, Y:-112.23, Z:-4.04 [[-9.88421610e-01 1.51103589e-01 1.37994672e-02 2.20125569e+02] [ 1.51086875e-01 9.88517924e-01 -2.25181538e-03 -1.12228318e+02] [-1.39812780e-02 -1.40824607e-04 -9.99902247e-01 -4.03708136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters 0.013224672917952268 Centerline is valid? [True, True] Translation: X:220.13, Y:-112.21, Z:-4.04 [[-9.95962036e-01 8.84526779e-02 1.53540350e-02 2.20133217e+02] [ 8.84416501e-02 9.96080380e-01 -1.39709379e-03 -1.12207917e+02] [-1.54174297e-02 -3.35161830e-05 -9.99881144e-01 -4.03753341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters 0.013281911640294483 Centerline is valid? [True, True] Translation: X:220.13, Y:-112.18, Z:-4.04 [[-9.99611075e-01 2.31813518e-02 1.55023968e-02 2.20130421e+02] [ 2.31794130e-02 9.99731275e-01 -3.04761709e-04 -1.12184221e+02] [-1.55052958e-02 5.46932791e-05 -9.99879784e-01 -4.03874268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters 0.013803062602001311 Centerline is valid? [True, True] Translation: X:220.16, Y:-111.45, Z:-5.00 [[-9.96904799e-01 -7.70230278e-02 1.57567460e-02 2.20159690e+02] [ 7.70128063e-02 -9.97029313e-01 -1.25535640e-03 -1.11449366e+02] [ 1.58066290e-02 -3.79995972e-05 9.99875067e-01 -5.00093581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters 0.014432384822565808 Centerline is valid? [True, True] Translation: X:220.08, Y:-112.19, Z:-4.04 [[-9.99445353e-01 2.86414534e-02 1.69898361e-02 2.20075546e+02] [ 2.86412553e-02 9.99589723e-01 -2.55028960e-04 -1.12186358e+02] [-1.69901699e-02 2.31722725e-04 -9.99855630e-01 -4.04034737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters 0.015097454599250559 Centerline is valid? [True, True] Translation: X:220.07, Y:-112.16, Z:-4.04 [[-9.99070688e-01 -3.92349049e-02 1.78432680e-02 2.20073880e+02] [-3.92232352e-02 9.99229969e-01 1.00364087e-03 -1.12159315e+02] [-1.78689059e-02 3.02837478e-04 -9.99840293e-01 -4.04096524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters 0.015296166223385142 Centerline is valid? [True, True] Translation: X:220.04, Y:-111.42, Z:-5.00 [[-9.99806001e-01 6.60811834e-03 1.85551219e-02 2.20035007e+02] [-6.61198811e-03 -9.99978130e-01 -1.47213822e-04 -1.11422625e+02] [ 1.85537433e-02 -2.69871508e-04 9.99827828e-01 -5.00014572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters 0.015227757627723206 Centerline is valid? [True, True] Translation: X:219.99, Y:-112.16, Z:-4.04 [[-9.98823801e-01 -4.47835955e-02 1.85861440e-02 2.19986016e+02] [-4.47699317e-02 9.98996661e-01 1.15080367e-03 -1.12159491e+02] [-1.86190330e-02 3.17349699e-04 -9.99826600e-01 -4.04093298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters 0.014576705693263565 Centerline is valid? [True, True] Translation: X:219.94, Y:-111.43, Z:-5.00 [[-9.99804051e-01 9.02074108e-03 1.76206199e-02 2.19938076e+02] [-9.02583507e-03 -9.99959244e-01 -2.09585640e-04 -1.11434175e+02] [ 1.76180111e-02 -3.68585380e-04 9.99844723e-01 -4.99932810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters 0.013735046841590085 Centerline is valid? [True, True] Translation: X:219.90, Y:-112.16, Z:-4.04 [[-9.98197074e-01 -5.78893218e-02 1.58565092e-02 2.19897749e+02] [-5.78796685e-02 9.98322996e-01 1.06741596e-03 -1.12156163e+02] [-1.58917097e-02 1.47721994e-04 -9.99873708e-01 -4.04273550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters 0.012935239475696643 Centerline is valid? [True, True] Translation: X:219.88, Y:-112.12, Z:-4.04 [[-9.90796378e-01 -1.34525891e-01 1.50107519e-02 2.19884612e+02] [-1.34509645e-01 9.90910078e-01 2.09130064e-03 -1.12122885e+02] [-1.51556394e-02 5.29621877e-05 -9.99885145e-01 -4.04258580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters 0.012747165740520044 Centerline is valid? [True, True] Translation: X:219.79, Y:-111.44, Z:-5.00 [[-9.97410941e-01 7.03132561e-02 1.50817852e-02 2.19788729e+02] [-7.03060629e-02 -9.97524959e-01 1.00727585e-03 -1.11435457e+02] [ 1.51152820e-02 -5.56729866e-05 9.99885756e-01 -4.99893949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters 0.012857857430006323 Centerline is valid? [True, True] Translation: X:219.79, Y:-112.12, Z:-4.04 [[-9.88487797e-01 -1.50607630e-01 1.44643628e-02 2.19790295e+02] [-1.50593029e-01 9.88593613e-01 2.09964694e-03 -1.12122835e+02] [-1.46155995e-02 -1.02756824e-04 -9.99893181e-01 -4.04239142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters 0.013520847270382828 Centerline is valid? [True, True] Translation: X:219.69, Y:-111.46, Z:-5.00 [[-9.97819026e-01 6.43725061e-02 1.46072720e-02 2.19690531e+02] [-6.43640686e-02 -9.97925934e-01 1.04749085e-03 -1.11463990e+02] [ 1.46444051e-02 1.05022844e-04 9.99892759e-01 -4.99983912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters 0.013811160438189 Centerline is valid? [True, True] Translation: X:219.70, Y:-112.13, Z:-4.04 [[-9.86449033e-01 -1.63460409e-01 1.41067656e-02 2.19695461e+02] [-1.63446704e-01 9.86549873e-01 2.12683789e-03 -1.12125938e+02] [-1.42646816e-02 -2.07687155e-04 -9.99898233e-01 -4.04166541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters 0.014305230211015466 Centerline is valid? [True, True] Translation: X:219.61, Y:-111.48, Z:-5.00 [[-9.97693017e-01 6.65286231e-02 1.35124283e-02 2.19608848e+02] [-6.65204995e-02 -9.97784506e-01 1.05024793e-03 -1.11481624e+02] [ 1.35523631e-02 1.48971544e-04 9.99908151e-01 -5.00029683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters 0.01398629541377413 Centerline is valid? [True, True] Translation: X:219.62, Y:-112.13, Z:-4.04 [[-9.85488277e-01 -1.69220755e-01 1.33113594e-02 2.19618009e+02] [-1.69208074e-01 9.85578153e-01 2.08133768e-03 -1.12133719e+02] [-1.34715906e-02 -2.01255606e-04 -9.99909234e-01 -4.04121097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters 0.013883040197901538 Centerline is valid? [True, True] Translation: X:219.61, Y:-112.11, Z:-4.04 [[-9.71224075e-01 -2.37842345e-01 1.24424529e-02 2.19606969e+02] [-2.37825140e-01 9.71303757e-01 2.86615092e-03 -1.12108476e+02] [-1.27670933e-02 -1.75453330e-04 -9.99918482e-01 -4.04120890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters 0.014185499607782592 Centerline is valid? [True, True] Translation: X:219.59, Y:-112.09, Z:-4.04 [[-9.52260268e-01 -3.05034491e-01 1.24234086e-02 2.19585323e+02] [-3.05010669e-01 9.52341291e-01 3.81531451e-03 -1.12085132e+02] [-1.29951275e-02 -1.56099757e-04 -9.99915548e-01 -4.03912172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters 0.013500836262011685 Centerline is valid? [True, True] Translation: X:219.56, Y:-112.07, Z:-4.04 [[-9.28642160e-01 -3.70788792e-01 1.18071890e-02 2.19555732e+02] [-3.70760535e-01 9.28717210e-01 4.57927807e-03 -1.12068173e+02] [-1.26634846e-02 -1.25129037e-04 -9.99919807e-01 -4.03927247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters 0.012929046157990157 Centerline is valid? [True, True] Translation: X:219.51, Y:-112.06, Z:-4.04 [[-9.01569462e-01 -4.32528212e-01 9.58388012e-03 2.19505029e+02] [-4.32504270e-01 9.01620399e-01 4.55113534e-03 -1.12064190e+02] [-1.06095162e-02 -4.19044339e-05 -9.99943717e-01 -4.04010783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters 0.012844033589316453 Centerline is valid? [True, True] Translation: X:219.45, Y:-112.07, Z:-4.04 [[-8.69949797e-01 -4.93073445e-01 8.11967647e-03 2.19445476e+02] [-4.93051820e-01 8.69987688e-01 4.61789166e-03 -1.12068231e+02] [-9.34097831e-03 1.39126477e-05 -9.99956372e-01 -4.04085098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters 0.013835653394994806 Centerline is valid? [True, True] Translation: X:219.38, Y:-112.08, Z:-4.04 [[-8.35942302e-01 -5.48771563e-01 7.08799422e-03 2.19377821e+02] [-5.48750914e-01 8.35972346e-01 4.76141271e-03 -1.12083656e+02] [-8.53829505e-03 9.07229943e-05 -9.99963544e-01 -4.03987828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters 0.016334581690105647 Centerline is valid? [True, True] Translation: X:219.30, Y:-112.11, Z:-4.04 [[-7.98714382e-01 -6.01677761e-01 6.26163847e-03 2.19304827e+02] [-6.01657635e-01 7.98738909e-01 4.92399041e-03 -1.12109605e+02] [-7.96406980e-03 1.65499373e-04 -9.99968273e-01 -4.03858799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters 0.017215187227899702 Centerline is valid? [True, True] Translation: X:219.22, Y:-112.15, Z:-4.04 [[-7.56045762e-01 -6.54493305e-01 5.77224779e-03 2.19222477e+02] [-6.54471987e-01 7.56067765e-01 5.28704559e-03 -1.12145291e+02] [-7.82454643e-03 2.19473934e-04 -9.99969364e-01 -4.03871926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters 0.020334503714022158 Centerline is valid? [True, True] Translation: X:219.14, Y:-112.19, Z:-4.04 [[-7.11887732e-01 -7.02280914e-01 4.16831581e-03 2.19143623e+02] [-7.02266904e-01 7.11899897e-01 4.44209146e-03 -1.12189483e+02] [-6.08701964e-03 2.35000179e-04 -9.99981446e-01 -4.03858843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters 0.021295879715100455 Centerline is valid? [True, True] Translation: X:219.06, Y:-112.24, Z:-4.04 [[-6.60951594e-01 -7.50422391e-01 3.03734828e-03 2.19059883e+02] [-7.50412936e-01 6.60958538e-01 3.77308979e-03 -1.12243718e+02] [-4.83897234e-03 2.14564275e-04 -9.99988269e-01 -4.03936535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters 0.021593228730675162 Centerline is valid? [True, True] Translation: X:218.98, Y:-112.30, Z:-4.04 [[-6.04959843e-01 -7.96253396e-01 2.02955418e-03 2.18975658e+02] [-7.96247928e-01 6.04963222e-01 2.95569768e-03 -1.12304675e+02] [-3.58128996e-03 1.72050091e-04 -9.99993572e-01 -4.03997579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters 0.02312867540379341 Centerline is valid? [True, True] Translation: X:218.89, Y:-112.38, Z:-4.04 [[-5.41147766e-01 -8.40925735e-01 1.73307881e-03 2.18894201e+02] [-8.40920442e-01 5.41150517e-01 2.98802182e-03 -1.12378664e+02] [-3.45056094e-03 1.59579933e-04 -9.99994034e-01 -4.03957627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters 0.019124822205051267 Centerline is valid? [True, True] Translation: X:218.80, Y:-112.46, Z:-4.04 [[-4.67791802e-01 -8.83837631e-01 1.36814428e-03 2.18802215e+02] [-8.83833091e-01 4.67793788e-01 2.83542165e-03 -1.12460856e+02] [-3.14606175e-03 1.17175820e-04 -9.99995044e-01 -4.03883792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters 0.015517101653032913 Centerline is valid? [True, True] Translation: X:218.72, Y:-112.55, Z:-4.04 [[-3.85947460e-01 -9.22520175e-01 1.04128430e-03 2.18717745e+02] [-9.22516352e-01 3.85948859e-01 2.65693192e-03 -1.12545217e+02] [-2.85295578e-03 6.48343347e-05 -9.99995928e-01 -4.03890785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters 0.013767526967868132 Centerline is valid? [True, True] Translation: X:218.64, Y:-112.64, Z:-4.04 [[-3.04365492e-01 -9.52554517e-01 1.24092960e-03 2.18642281e+02] [-9.52545928e-01 3.04368018e-01 4.04531208e-03 -1.12643493e+02] [-4.23107958e-03 4.92109632e-05 -9.99991048e-01 -4.03733884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters 0.013121572487710686 Centerline is valid? [True, True] Translation: X:218.58, Y:-112.74, Z:-4.04 [[-2.25537971e-01 -9.74233866e-01 9.99239869e-04 2.18582527e+02] [-9.74223765e-01 2.25540183e-01 4.43643380e-03 -1.12739069e+02] [-4.54749280e-03 2.71010499e-05 -9.99989660e-01 -4.03696452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters 0.013455432775963849 Centerline is valid? [True, True] Translation: X:218.52, Y:-112.84, Z:-4.04 [[-1.35023082e-01 -9.90842306e-01 5.40241546e-04 2.18517632e+02] [-9.90835459e-01 1.35024157e-01 3.68370813e-03 -1.12844744e+02] [-3.72291951e-03 -3.79048568e-05 -9.99993069e-01 -4.03692395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters 0.016745427093771872 Centerline is valid? [True, True] Translation: X:218.46, Y:-112.95, Z:-4.04 [[-4.61343118e-02 -9.98935223e-01 2.14410458e-04 2.18464037e+02] [-9.98930506e-01 4.61347531e-02 3.07074581e-03 -1.12951501e+02] [-3.07736793e-03 -7.25144027e-05 -9.99995262e-01 -4.03678319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters 0.020153978040453848 Centerline is valid? [True, True] Translation: X:218.42, Y:-113.06, Z:-4.04 [[ 3.88774184e-02 -9.99243987e-01 -1.50521788e-05 2.18423414e+02] [-9.99240998e-01 -3.88773389e-02 2.44562221e-03 -1.13061402e+02] [-2.44435848e-03 -8.00387235e-05 -9.99997009e-01 -4.03661589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters 0.020608064286142317 Centerline is valid? [True, True] Translation: X:218.40, Y:-113.17, Z:-4.04 [[ 1.18263277e-01 -9.92982247e-01 -2.31956756e-04 2.18398770e+02] [-9.92978241e-01 -1.18263460e-01 2.82274602e-03 -1.13168998e+02] [-2.83036870e-03 -1.03499184e-04 -9.99995989e-01 -4.03645509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters 0.02109183196683832 Centerline is valid? [True, True] Translation: X:218.38, Y:-113.28, Z:-4.03 [[ 1.95364424e-01 -9.80730424e-01 -7.60018366e-04 2.18382880e+02] [-9.80718808e-01 -1.95365812e-01 4.77696692e-03 -1.13275626e+02] [-4.83339840e-03 -1.87885087e-04 -9.99988301e-01 -4.03443764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters 0.02134324989562159 Centerline is valid? [True, True] Translation: X:218.38, Y:-113.39, Z:-4.03 [[ 2.68775509e-01 -9.63201640e-01 -1.52508981e-03 2.18377808e+02] [-9.63180361e-01 -2.68779717e-01 6.40752885e-03 -1.13385635e+02] [-6.58165550e-03 -2.53250276e-04 -9.99978309e-01 -4.03270030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters 0.020755021288095192 Centerline is valid? [True, True] Translation: X:218.38, Y:-113.49, Z:-4.03 [[ 3.37966600e-01 -9.41154724e-01 -2.52246686e-03 2.18383910e+02] [-9.41121709e-01 -3.37975887e-01 7.88846214e-03 -1.13492492e+02] [-8.27679639e-03 -2.92088410e-04 -9.99965704e-01 -4.03162525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters 0.019505230373228627 Centerline is valid? [True, True] Translation: X:218.40, Y:-113.60, Z:-4.03 [[ 4.03765553e-01 -9.14856974e-01 -3.17732742e-03 2.18399862e+02] [-9.14823498e-01 -4.03777974e-01 7.83037243e-03 -1.13595234e+02] [-8.44660566e-03 -2.54940873e-04 -9.99964294e-01 -4.03151116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters 0.017673177330485696 Centerline is valid? [True, True] Translation: X:218.42, Y:-113.70, Z:-4.03 [[ 4.68421907e-01 -8.83498952e-01 -3.24325294e-03 2.18424081e+02] [-8.83474904e-01 -4.68433097e-01 6.52140120e-03 -1.13695792e+02] [-7.28089814e-03 -1.89434606e-04 -9.99973476e-01 -4.03309741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters 0.0165311674481492 Centerline is valid? [True, True] Translation: X:218.46, Y:-113.79, Z:-4.03 [[ 5.29113167e-01 -8.48546751e-01 -2.76895046e-03 2.18457012e+02] [-8.48534046e-01 -5.29120401e-01 4.64477994e-03 -1.13793437e+02] [-5.40642111e-03 -1.08065486e-04 -9.99985379e-01 -4.03489302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters 0.015240286813328393 Centerline is valid? [True, True] Translation: X:218.50, Y:-113.89, Z:-4.04 [[ 5.88156299e-01 -8.08743274e-01 -2.54661144e-03 2.18498147e+02] [-8.08735194e-01 -5.88161808e-01 3.61560586e-03 -1.13888208e+02] [-4.42191651e-03 -6.70070623e-05 -9.99990221e-01 -4.03605765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters 0.014009526237193653 Centerline is valid? [True, True] Translation: X:218.55, Y:-113.98, Z:-4.04 [[ 6.46392163e-01 -7.62999391e-01 -3.01698376e-03 2.18545914e+02] [-7.62990622e-01 -6.46399200e-01 3.65857564e-03 -1.13981699e+02] [-4.74166687e-03 -6.29443062e-05 -9.99988756e-01 -4.03661836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters 0.013888938938091823 Centerline is valid? [True, True] Translation: X:218.60, Y:-114.07, Z:-4.04 [[ 7.01797172e-01 -7.12362154e-01 -4.57072439e-03 2.18597869e+02] [-7.12346272e-01 -7.01812051e-01 4.75751305e-03 -1.14071095e+02] [-6.59686171e-03 -8.28707232e-05 -9.99978237e-01 -4.03530116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters 0.014031921405530518 Centerline is valid? [True, True] Translation: X:218.65, Y:-114.15, Z:-4.03 [[ 7.53731964e-01 -6.57154967e-01 -5.95618264e-03 2.18653503e+02] [-6.57133381e-01 -7.53755490e-01 5.32728279e-03 -1.14154938e+02] [-7.99035572e-03 -1.01336883e-04 -9.99968071e-01 -4.03418642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters 0.014033831787942753 Centerline is valid? [True, True] Translation: X:218.68, Y:-114.18, Z:-4.03 [[ 8.02312678e-01 -5.96863340e-01 -6.96562890e-03 2.18680323e+02] [-5.96839714e-01 -8.02342908e-01 5.31158989e-03 -1.14179179e+02] [-8.75911623e-03 -1.04191944e-04 -9.99961633e-01 -4.03340692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters 0.01357434476460763 Centerline is valid? [True, True] Translation: X:218.71, Y:-114.20, Z:-4.04 [[ 8.45716604e-01 -5.33588419e-01 -6.84292767e-03 2.18706852e+02] [-5.33570139e-01 -8.45744283e-01 4.41747179e-03 -1.14203889e+02] [-8.14447875e-03 -8.47473654e-05 -9.99966830e-01 -4.03509030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters 0.013622430208132304 Centerline is valid? [True, True] Translation: X:218.73, Y:-114.23, Z:-4.04 [[ 8.84546455e-01 -4.66406609e-01 -6.51492906e-03 2.18734109e+02] [-4.66393356e-01 -8.84570444e-01 3.51674042e-03 -1.14227316e+02] [-7.40314467e-03 -7.22006451e-05 -9.99972594e-01 -4.03560112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters 0.013515078985438071 Centerline is valid? [True, True] Translation: X:218.76, Y:-114.25, Z:-4.04 [[ 9.18287321e-01 -3.95861724e-01 -6.47228865e-03 2.18764307e+02] [-3.95851363e-01 -9.18310128e-01 2.86495982e-03 -1.14247264e+02] [-7.07769615e-03 -6.87919903e-05 -9.99974950e-01 -4.03622766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters 0.01365129974925551 Centerline is valid? [True, True] Translation: X:218.79, Y:-114.27, Z:-4.04 [[ 9.46845726e-01 -3.21609894e-01 -7.08858218e-03 2.18794654e+02] [-3.21600225e-01 -9.46872256e-01 2.49519671e-03 -1.14267716e+02] [-7.51446175e-03 -8.28767115e-05 -9.99971763e-01 -4.03616851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters 0.014339852081771156 Centerline is valid? [True, True] Translation: X:218.83, Y:-114.29, Z:-4.04 [[ 9.70191456e-01 -2.42183745e-01 -8.69328369e-03 2.18825594e+02] [-2.42172724e-01 -9.70230392e-01 2.31467114e-03 -1.14287068e+02] [-8.99506377e-03 -1.40397967e-04 -9.99959534e-01 -4.03504995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters 0.015601058795448588 Centerline is valid? [True, True] Translation: X:218.86, Y:-114.30, Z:-4.03 [[ 9.87114328e-01 -1.59631510e-01 -1.10943257e-02 2.18857672e+02] [-1.59618643e-01 -9.87176642e-01 2.04143640e-03 -1.14304803e+02] [-1.12779368e-02 -2.44269915e-04 -9.99936372e-01 -4.03425276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters 0.016643473507660985 Centerline is valid? [True, True] Translation: X:218.89, Y:-114.32, Z:-4.03 [[ 9.96868548e-01 -7.81838684e-02 -1.18482646e-02 2.18890980e+02] [-7.81747380e-02 -9.96938911e-01 1.23250784e-03 -1.14318535e+02] [-1.19083583e-02 -3.02413315e-04 -9.99929047e-01 -4.03394498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters 0.01762886260828346 Centerline is valid? [True, True] Translation: X:218.92, Y:-114.33, Z:-4.03 [[ 9.99920943e-01 3.06949195e-03 -1.21936961e-02 2.18922663e+02] [ 3.07348090e-03 -9.99995229e-01 3.08406778e-04 -1.14327676e+02] [-1.21926912e-02 -3.45859488e-04 -9.99925607e-01 -4.03359475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters 0.01799408357963573 Centerline is valid? [True, True] Translation: X:218.96, Y:-114.33, Z:-4.03 [[ 9.96584676e-01 8.17756415e-02 -1.14772796e-02 2.18955193e+02] [ 8.17740363e-02 -9.96650709e-01 -6.09870188e-04 -1.14332601e+02] [-1.14887113e-02 -3.30756191e-04 -9.99933948e-01 -4.03380292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters 0.017238859233696554 Centerline is valid? [True, True] Translation: X:218.99, Y:-114.33, Z:-4.03 [[ 9.87219334e-01 1.58995176e-01 -1.08867078e-02 2.18987455e+02] [ 1.58988965e-01 -9.87279311e-01 -1.43920737e-03 -1.14333498e+02] [-1.09770484e-02 -3.10053067e-04 -9.99939702e-01 -4.03486375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters 0.0164079390386433 Centerline is valid? [True, True] Translation: X:219.02, Y:-114.33, Z:-4.03 [[ 9.72143238e-01 2.34090752e-01 -1.17917575e-02 2.19018972e+02] [ 2.34077503e-01 -9.72214697e-01 -2.51088454e-03 -1.14332254e+02] [-1.20518948e-02 -3.19245714e-04 -9.99927322e-01 -4.03444184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters 0.016743075381705618 Centerline is valid? [True, True] Translation: X:219.05, Y:-114.33, Z:-4.03 [[ 9.51379296e-01 3.07731500e-01 -1.33700559e-02 2.19049521e+02] [ 3.07706177e-01 -9.51473177e-01 -3.96269732e-03 -1.14330416e+02] [-1.39406963e-02 -3.44020603e-04 -9.99902765e-01 -4.03299333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters 0.015186695930863992 Centerline is valid? [True, True] Translation: X:219.08, Y:-114.32, Z:-4.03 [[ 9.25815049e-01 3.77665220e-01 -1.53452358e-02 2.19079892e+02] [ 3.77619441e-01 -9.25942150e-01 -5.89009836e-03 -1.14321986e+02] [-1.64332859e-02 -3.41517663e-04 -9.99864906e-01 -4.03258070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters 0.014325079937714662 Centerline is valid? [True, True] Translation: X:219.11, Y:-114.31, Z:-4.03 [[ 8.95563484e-01 4.44635842e-01 -1.62792619e-02 2.19108582e+02] [ 4.44568189e-01 -8.95711385e-01 -7.76143389e-03 -1.14311831e+02] [-1.80325320e-02 -2.86385227e-04 -9.99837360e-01 -4.03183907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters 0.013756678062603007 Centerline is valid? [True, True] Translation: X:219.13, Y:-114.30, Z:-4.03 [[ 8.62125888e-01 5.06434229e-01 -1.62273045e-02 2.19133203e+02] [ 5.06347726e-01 -8.62278580e-01 -9.36108109e-03 -1.14296814e+02] [-1.87332290e-02 -1.46228402e-04 -9.99824507e-01 -4.03132748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters 0.01335512099509487 Centerline is valid? [True, True] Translation: X:219.16, Y:-114.28, Z:-4.03 [[ 8.23897254e-01 5.66527264e-01 -1.54975719e-02 2.19158072e+02] [ 5.66427358e-01 -8.24042996e-01 -1.06390445e-02 -1.14281335e+02] [-1.87979743e-02 -1.27691702e-05 -9.99823302e-01 -4.03320375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters 0.013535020572462798 Centerline is valid? [True, True] Translation: X:219.18, Y:-114.27, Z:-4.03 [[ 7.79343923e-01 6.26420453e-01 -1.48480894e-02 2.19183733e+02] [ 6.26305392e-01 -7.79485351e-01 -1.20059763e-02 -1.14267696e+02] [-1.90946573e-02 5.73461946e-05 -9.99817679e-01 -4.03373842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters 0.014704103038074482 Centerline is valid? [True, True] Translation: X:219.20, Y:-114.25, Z:-4.03 [[ 7.33972966e-01 6.79058536e-01 -1.27745696e-02 2.19203238e+02] [ 6.78950742e-01 -7.34084097e-01 -1.21007255e-02 -1.14247878e+02] [-1.75947094e-02 2.08301870e-04 -9.99845179e-01 -4.03478518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters 0.014978762132464204 Centerline is valid? [True, True] Translation: X:219.23, Y:-114.23, Z:-4.04 [[ 6.82620010e-01 7.30698979e-01 -1.04366884e-02 2.19226803e+02] [ 7.30607477e-01 -6.82699736e-01 -1.15665244e-02 -1.14232829e+02] [-1.55767720e-02 2.70418457e-04 -9.99878638e-01 -4.03756836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters 0.015706191054281587 Centerline is valid? [True, True] Translation: X:219.25, Y:-114.22, Z:-4.04 [[ 6.25402280e-01 7.80250480e-01 -9.00980019e-03 2.19249975e+02] [ 7.80162625e-01 -6.25467106e-01 -1.17122760e-02 -1.14216980e+02] [-1.47738426e-02 2.95774752e-04 -9.99890817e-01 -4.03741465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters 0.017237911815459712 Centerline is valid? [True, True] Translation: X:219.27, Y:-114.20, Z:-4.04 [[ 5.65213555e-01 8.24901056e-01 -8.47852193e-03 2.19268387e+02] [ 8.24798446e-01 -5.65277026e-01 -1.30156866e-02 -1.14198959e+02] [-1.55293673e-02 3.63570762e-04 -9.99879346e-01 -4.03697231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters 0.017499446601626886 Centerline is valid? [True, True] Translation: X:219.29, Y:-114.18, Z:-4.04 [[ 5.00305355e-01 8.65815157e-01 -7.65928289e-03 2.19288723e+02] [ 8.65701157e-01 -5.00363820e-01 -1.40554270e-02 -1.14180865e+02] [-1.60018298e-02 4.01355341e-04 -9.99871882e-01 -4.03685681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters 0.01806298129461941 Centerline is valid? [True, True] Translation: X:219.31, Y:-114.16, Z:-4.04 [[ 4.31211385e-01 9.02226520e-01 -6.63680170e-03 2.19306951e+02] [ 9.02104564e-01 -4.31262259e-01 -1.48397998e-02 -1.14160701e+02] [-1.62510630e-02 4.12001518e-04 -9.99867858e-01 -4.03694329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters 0.018377082793323663 Centerline is valid? [True, True] Translation: X:219.32, Y:-114.14, Z:-4.04 [[ 3.58353998e-01 9.33571230e-01 -5.21253576e-03 2.19323224e+02] [ 9.33456572e-01 -3.58391705e-01 -1.46360621e-02 -1.14140400e+02] [-1.55319361e-02 3.79215601e-04 -9.99879300e-01 -4.03687108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters 0.016775493406021563 Centerline is valid? [True, True] Translation: X:219.34, Y:-114.12, Z:-4.04 [[ 2.82517705e-01 9.59254716e-01 -3.75980504e-03 2.19342773e+02] [ 9.59153695e-01 -2.82542531e-01 -1.39250951e-02 -1.14119044e+02] [-1.44200180e-02 3.27855022e-04 -9.99895972e-01 -4.03886243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters 0.015899319282517633 Centerline is valid? [True, True] Translation: X:219.36, Y:-114.10, Z:-4.04 [[ 2.02309505e-01 9.79318508e-01 -2.47469881e-03 2.19360667e+02] [ 9.79229562e-01 -2.02324489e-01 -1.32009847e-02 -1.14096846e+02] [-1.34286608e-02 2.47386439e-04 -9.99909801e-01 -4.03884318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters 0.014323224491939112 Centerline is valid? [True, True] Translation: X:219.38, Y:-114.07, Z:-4.04 [[ 1.18233913e-01 9.92984651e-01 -1.49170699e-03 2.19379234e+02] [ 9.92887299e-01 -1.18243210e-01 -1.39052191e-02 -1.14072257e+02] [-1.39840533e-02 1.62971535e-04 -9.99902205e-01 -4.03754197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters 0.013070820320981861 Centerline is valid? [True, True] Translation: X:219.40, Y:-114.05, Z:-4.04 [[ 3.52033361e-02 9.99380081e-01 -4.22343647e-04 2.19397982e+02] [ 9.99270063e-01 -3.52057275e-02 -1.48289467e-02 -1.14045180e+02] [-1.48346229e-02 9.99930333e-05 -9.99889956e-01 -4.03767414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters 0.012517908700224612 Centerline is valid? [True, True] Translation: X:219.42, Y:-114.02, Z:-4.04 [[-4.94982175e-02 9.98773930e-01 7.51151157e-04 2.19415673e+02] [ 9.98660955e-01 4.95039162e-02 -1.50219651e-02 -1.14016349e+02] [-1.50407321e-02 6.58483456e-06 -9.99886882e-01 -4.03759667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters 0.012419371334304818 Centerline is valid? [True, True] Translation: X:219.43, Y:-113.99, Z:-4.04 [[-1.30629929e-01 9.91429421e-01 1.87744125e-03 2.19426082e+02] [ 9.91322709e-01 1.30643414e-01 -1.45459865e-02 -1.13986369e+02] [-1.46665943e-02 -3.89910325e-05 -9.99892439e-01 -4.03720956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters 0.012438390555255828 Centerline is valid? [True, True] Translation: X:219.43, Y:-113.96, Z:-4.04 [[-2.11497133e-01 9.77374847e-01 2.71502522e-03 2.19433895e+02] [ 9.77289172e-01 2.11514542e-01 -1.29411357e-02 -1.13956048e+02] [-1.32226079e-02 -8.36483626e-05 -9.99912574e-01 -4.03841888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters 0.013186284112490702 Centerline is valid? [True, True] Translation: X:219.44, Y:-113.93, Z:-4.04 [[-2.90773119e-01 9.56785350e-01 3.57593687e-03 2.19436784e+02] [ 9.56707642e-01 2.90795080e-01 -1.21946729e-02 -1.13925687e+02] [-1.27075492e-02 -1.24756933e-04 -9.99919248e-01 -4.03770116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters 0.012964477916582772 Centerline is valid? [True, True] Translation: X:219.44, Y:-113.89, Z:-4.04 [[-3.66844312e-01 9.30269381e-01 4.91214368e-03 2.19436248e+02] [ 9.30179850e-01 3.66877161e-01 -1.29072058e-02 -1.13894081e+02] [-1.38093317e-02 -1.65757964e-04 -9.99904633e-01 -4.03940391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters 0.013525331261413967 Centerline is valid? [True, True] Translation: X:219.43, Y:-113.86, Z:-4.04 [[-4.40574802e-01 8.97692877e-01 6.42985127e-03 2.19434663e+02] [ 8.97590103e-01 4.40621667e-01 -1.35850597e-02 -1.13863803e+02] [-1.50283431e-02 -2.13864145e-04 -9.99887045e-01 -4.03767868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters 0.01390625948428015 Centerline is valid? [True, True] Translation: X:219.43, Y:-113.83, Z:-4.04 [[-5.09812846e-01 8.60256232e-01 7.07649703e-03 2.19427131e+02] [ 8.60167661e-01 5.09861914e-01 -1.23460043e-02 -1.13834860e+02] [-1.42287634e-02 -2.07177678e-04 -9.99898745e-01 -4.03739781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters 0.013545932914536651 Centerline is valid? [True, True] Translation: X:219.42, Y:-113.81, Z:-4.04 [[-5.75359240e-01 8.17868865e-01 7.22940725e-03 2.19415566e+02] [ 8.17800279e-01 5.75404628e-01 -1.05933269e-02 -1.13807248e+02] [-1.28237867e-02 -1.82757274e-04 -9.99917755e-01 -4.03862154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters 0.01316899913929107 Centerline is valid? [True, True] Translation: X:219.40, Y:-113.78, Z:-4.04 [[-6.36329174e-01 7.71381544e-01 7.46298862e-03 2.19401277e+02] [ 7.71325731e-01 6.36372919e-01 -9.28035400e-03 -1.13781539e+02] [-1.19079376e-02 -1.48964847e-04 -9.99929087e-01 -4.03934268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters 0.012814545418371863 Centerline is valid? [True, True] Translation: X:219.39, Y:-113.76, Z:-4.04 [[-6.93265408e-01 7.20642137e-01 7.61477128e-03 2.19385968e+02] [ 7.20596831e-01 6.93307217e-01 -8.08150463e-03 -1.13755538e+02] [-1.11032486e-02 -1.15447549e-04 -9.99938350e-01 -4.04021047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters 0.012425750936383411 Centerline is valid? [True, True] Translation: X:219.37, Y:-113.73, Z:-4.04 [[-7.44275367e-01 6.67833972e-01 7.20868850e-03 2.19367099e+02] [ 6.67801965e-01 7.44310274e-01 -6.53851311e-03 -1.13734043e+02] [-9.73214209e-03 -5.24778968e-05 -9.99952640e-01 -4.04012433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters 0.012264948293923978 Centerline is valid? [True, True] Translation: X:219.39, Y:-113.72, Z:-4.04 [[-7.86179884e-01 6.17959907e-01 6.83690304e-03 2.19387025e+02] [ 6.17936534e-01 7.86209612e-01 -5.37469201e-03 -1.13723008e+02] [-8.69658306e-03 -7.02570388e-07 -9.99962184e-01 -4.04054448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters 0.013211783713481652 Centerline is valid? [True, True] Translation: X:219.84, Y:-113.17, Z:-5.00 [[-7.49348910e-01 -6.62146929e-01 6.13635532e-03 2.19838701e+02] [ 6.62124475e-01 -7.49374034e-01 -5.45306325e-03 -1.13169996e+02] [ 8.20915443e-03 -2.32159629e-05 9.99966304e-01 -5.00088651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters 0.014858039352729224 Centerline is valid? [True, True] Translation: X:219.35, Y:-113.72, Z:-4.04 [[-7.76114554e-01 6.30553871e-01 6.92928624e-03 2.19353355e+02] [ 6.30530696e-01 7.76145467e-01 -5.40882107e-03 -1.13722106e+02] [-8.78868717e-03 1.71262922e-04 -9.99961364e-01 -4.03965258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters 0.016101160218517926 Centerline is valid? [True, True] Translation: X:219.37, Y:-113.71, Z:-4.04 [[-8.16017449e-01 5.77977759e-01 7.56518204e-03 2.19370143e+02] [ 5.77955416e-01 8.16052486e-01 -5.08695186e-03 -1.13705228e+02] [-9.11373065e-03 2.21296447e-04 -9.99958445e-01 -4.03879256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters 0.01633911244578816 Centerline is valid? [True, True] Translation: X:219.39, Y:-113.68, Z:-4.04 [[-8.53955419e-01 5.20295303e-01 7.27594850e-03 2.19387888e+02] [ 5.20278579e-01 8.53986387e-01 -4.17736074e-03 -1.13683867e+02] [-8.38702215e-03 2.18240305e-04 -9.99964805e-01 -4.03934885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters 0.01584604156667602 Centerline is valid? [True, True] Translation: X:219.40, Y:-113.66, Z:-4.04 [[-8.89377743e-01 4.57108494e-01 7.68469116e-03 2.19403992e+02] [ 4.57093445e-01 8.89410918e-01 -3.71494998e-03 -1.13659881e+02] [-8.53298341e-03 2.08628123e-04 -9.99963572e-01 -4.03917984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters 0.015953514141926497 Centerline is valid? [True, True] Translation: X:219.42, Y:-113.63, Z:-4.04 [[-9.20140817e-01 3.91513019e-01 7.64416822e-03 2.19415680e+02] [ 3.91501203e-01 9.20172549e-01 -3.04755798e-03 -1.13634684e+02] [-8.22711238e-03 1.88518565e-04 -9.99966139e-01 -4.03873036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters 0.015346607579618326 Centerline is valid? [True, True] Translation: X:219.42, Y:-113.60, Z:-4.04 [[-9.46382344e-01 3.22978240e-01 6.74656386e-03 2.19421350e+02] [ 3.22971118e-01 9.46406380e-01 -2.14964178e-03 -1.13602772e+02] [-7.07927859e-03 1.44562246e-04 -9.99974931e-01 -4.03901645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters 0.014963790772362304 Centerline is valid? [True, True] Translation: X:219.65, Y:-112.91, Z:-5.00 [[-9.36750207e-01 -3.49947256e-01 5.99724207e-03 2.19654261e+02] [ 3.49938908e-01 -9.36769389e-01 -2.42327251e-03 -1.12908536e+02] [ 6.46605036e-03 -1.71332682e-04 9.99979080e-01 -5.00246332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters 0.014613880063378064 Centerline is valid? [True, True] Translation: X:219.38, Y:-113.58, Z:-4.04 [[-9.48523557e-01 3.16653450e-01 5.80124307e-03 2.19381072e+02] [ 3.16648210e-01 9.48541291e-01 -1.82474280e-03 -1.13584948e+02] [-6.08052970e-03 1.06141704e-04 -9.99981508e-01 -4.03920476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters 0.014157055777736063 Centerline is valid? [True, True] Translation: X:219.39, Y:-113.55, Z:-4.04 [[-9.69389673e-01 2.45467213e-01 5.43218434e-03 2.19387184e+02] [ 2.45463816e-01 9.69404890e-01 -1.29379786e-03 -1.13553978e+02] [-5.58357102e-03 7.92104136e-05 -9.99984409e-01 -4.03939413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters 0.013439636181155743 Centerline is valid? [True, True] Translation: X:219.39, Y:-113.52, Z:-4.04 [[-9.84763072e-01 1.73736399e-01 7.57336551e-03 2.19394597e+02] [ 1.73731963e-01 9.84792189e-01 -1.24477009e-03 -1.13520173e+02] [-7.67445307e-03 8.99320314e-05 -9.99970547e-01 -4.03728874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters 0.013369055809362658 Centerline is valid? [True, True] Translation: X:219.51, Y:-112.83, Z:-5.01 [[-9.75939515e-01 -2.17882102e-01 8.33383347e-03 2.19508979e+02] [ 2.17873773e-01 -9.75975096e-01 -1.90553508e-03 -1.12831028e+02] [ 8.54879591e-03 -4.39632428e-05 9.99963457e-01 -5.00535060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters 0.013129695113451573 Centerline is valid? [True, True] Translation: X:219.34, Y:-113.51, Z:-4.04 [[-9.85786695e-01 1.67840972e-01 7.34844782e-03 2.19344957e+02] [ 1.67836845e-01 9.85814081e-01 -1.17914109e-03 -1.13505593e+02] [-7.44211153e-03 7.09586976e-05 -9.99972305e-01 -4.03683391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters 0.012500939826913287 Centerline is valid? [True, True] Translation: X:219.35, Y:-113.47, Z:-4.04 [[-9.95376782e-01 9.57861778e-02 7.07604404e-03 2.19346275e+02] [ 9.57841568e-02 9.95401931e-01 -6.24736923e-04 -1.13472747e+02] [-7.10334907e-03 5.59242841e-05 -9.99974769e-01 -4.03816181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters 0.012408471299550616 Centerline is valid? [True, True] Translation: X:219.34, Y:-113.44, Z:-4.04 [[-9.99702888e-01 2.29885888e-02 8.10306709e-03 2.19343572e+02] [ 2.29882266e-02 9.99735726e-01 -1.37847758e-04 -1.13442381e+02] [-8.10409459e-03 4.84683403e-05 -9.99967160e-01 -4.03718771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters 0.012057613704301036 Centerline is valid? [True, True] Translation: X:219.33, Y:-113.41, Z:-4.04 [[-9.98575990e-01 -5.25654524e-02 9.10303592e-03 2.19334359e+02] [-5.25631447e-02 9.98617481e-01 4.92735421e-04 -1.13410614e+02] [-9.11635166e-03 1.35495664e-05 -9.99958445e-01 -4.03702976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters 0.011933403381166992 Centerline is valid? [True, True] Translation: X:219.32, Y:-113.38, Z:-4.04 [[-9.91826193e-01 -1.27244914e-01 9.46225935e-03 2.19323716e+02] [-1.27239342e-01 9.91871328e-01 1.19100098e-03 -1.13380796e+02] [-9.53689257e-03 -2.27056868e-05 -9.99954523e-01 -4.03735884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters 0.012410033687530325 Centerline is valid? [True, True] Translation: X:219.31, Y:-113.35, Z:-4.04 [[-9.78740785e-01 -2.04868021e-01 9.77596090e-03 2.19305397e+02] [-2.04858804e-01 9.78789602e-01 1.94574138e-03 -1.13349811e+02] [-9.96722906e-03 -9.83152195e-05 -9.99950321e-01 -4.03705588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters 0.013289617461007739 Centerline is valid? [True, True] Translation: X:219.29, Y:-113.32, Z:-4.04 [[-9.60253784e-01 -2.78973521e-01 9.29759118e-03 2.19286957e+02] [-2.78961885e-01 9.60298784e-01 2.55193546e-03 -1.13322641e+02] [-9.64038792e-03 -1.43167885e-04 -9.99953520e-01 -4.03728147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters 0.014618440833998684 Centerline is valid? [True, True] Translation: X:219.26, Y:-113.30, Z:-4.04 [[-9.36066184e-01 -3.51721737e-01 8.48048208e-03 2.19259823e+02] [-3.51709035e-01 9.36104582e-01 2.99450730e-03 -1.13298559e+02] [-8.99185144e-03 -1.79605144e-04 -9.99959556e-01 -4.03746214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters 0.014606158074199033 Centerline is valid? [True, True] Translation: X:219.23, Y:-113.28, Z:-4.04 [[-9.07949896e-01 -4.19003995e-01 7.91452779e-03 2.19225432e+02] [-4.18989786e-01 9.07984372e-01 3.45527818e-03 -1.13283687e+02] [-8.63404291e-03 -1.78886840e-04 -9.99962710e-01 -4.03738061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters 0.01337941085219419 Centerline is valid? [True, True] Translation: X:219.17, Y:-113.28, Z:-4.04 [[-8.76726554e-01 -4.80936764e-01 7.09783600e-03 2.19170792e+02] [-4.80922241e-01 8.76755274e-01 3.73995803e-03 -1.13284940e+02] [-8.02174846e-03 -1.34586684e-04 -9.99967816e-01 -4.03764108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters 0.012903236070866141 Centerline is valid? [True, True] Translation: X:219.11, Y:-113.29, Z:-4.04 [[-8.41328420e-01 -5.40477870e-01 7.08251174e-03 2.19108571e+02] [-5.40459736e-01 8.41358224e-01 4.42859944e-03 -1.13293281e+02] [-8.35248949e-03 -1.01905852e-04 -9.99965112e-01 -4.03654777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters 0.011756170332091472 Centerline is valid? [True, True] Translation: X:219.04, Y:-113.32, Z:-4.04 [[-8.03996330e-01 -5.94587183e-01 7.48225917e-03 2.19041504e+02] [-5.94561808e-01 8.04031144e-01 5.49318685e-03 -1.13316224e+02] [-9.28214790e-03 -3.21634768e-05 -9.99956919e-01 -4.03569327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters 0.0118945032515075 Centerline is valid? [True, True] Translation: X:218.97, Y:-113.35, Z:-4.04 [[-7.61152999e-01 -6.48534554e-01 7.00312443e-03 2.18966961e+02] [-6.48506823e-01 7.61185215e-01 5.99737363e-03 -1.13348200e+02] [-9.22017880e-03 2.33449498e-05 -9.99957493e-01 -4.03524175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters 0.012861151570860391 Centerline is valid? [True, True] Translation: X:218.89, Y:-113.39, Z:-4.04 [[-7.16048213e-01 -6.98018337e-01 6.73477989e-03 2.18891668e+02] [-6.97986094e-01 7.16079877e-01 6.70990636e-03 -1.13392624e+02] [-9.50627804e-03 1.03833757e-04 -9.99954809e-01 -4.03528446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters 0.014320484783539457 Centerline is valid? [True, True] Translation: X:218.81, Y:-113.45, Z:-4.03 [[-6.65324352e-01 -7.46529789e-01 6.06465385e-03 2.18813532e+02] [-7.46496663e-01 6.65351975e-01 7.03434052e-03 -1.13445708e+02] [-9.28647416e-03 1.52874189e-04 -9.99956868e-01 -4.03438076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters 0.013889366412524843 Centerline is valid? [True, True] Translation: X:218.73, Y:-113.51, Z:-4.03 [[-6.08184220e-01 -7.93776473e-01 5.55576671e-03 2.18731468e+02] [-7.93740768e-01 6.08209571e-01 7.53068348e-03 -1.13505937e+02] [-9.35674986e-03 1.70204319e-04 -9.99956210e-01 -4.03480562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters 0.013928998074872226 Centerline is valid? [True, True] Translation: X:218.65, Y:-113.58, Z:-4.04 [[-5.45521401e-01 -8.38085943e-01 4.28410164e-03 2.18651953e+02] [-8.38058027e-01 5.45538204e-01 6.84185169e-03 -1.13577323e+02] [-8.07120084e-03 1.42050756e-04 -9.99967417e-01 -4.03525204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters 0.01349663524190946 Centerline is valid? [True, True] Translation: X:218.57, Y:-113.66, Z:-4.04 [[-4.77621061e-01 -8.78559675e-01 3.31965204e-03 2.18572894e+02] [-8.78536894e-01 4.77632585e-01 6.32768035e-03 -1.13659436e+02] [-7.14481878e-03 1.05796606e-04 -9.99974470e-01 -4.03592469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters 0.012326079830355672 Centerline is valid? [True, True] Translation: X:218.50, Y:-113.75, Z:-4.04 [[-4.02418668e-01 -9.15452624e-01 2.38941041e-03 2.18497445e+02] [-9.15435818e-01 4.02425760e-01 5.54713099e-03 -1.13745737e+02] [-6.03969591e-03 4.49171967e-05 -9.99981760e-01 -4.03555504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters 0.011902843745521984 Centerline is valid? [True, True] Translation: X:218.42, Y:-113.84, Z:-4.04 [[-3.21895042e-01 -9.46773853e-01 1.68936266e-03 2.18424768e+02] [-9.46761037e-01 3.21899475e-01 4.92622997e-03 -1.13840268e+02] [-5.20783068e-03 -1.36937364e-05 -9.99986439e-01 -4.03536203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters 0.012759183260577695 Centerline is valid? [True, True] Translation: X:218.36, Y:-113.94, Z:-4.03 [[-2.41498023e-01 -9.70400304e-01 1.39824268e-03 2.18361834e+02] [-9.70385344e-01 2.41502064e-01 5.38853343e-03 -1.13940050e+02] [-5.56671298e-03 -5.55140352e-05 -9.99984504e-01 -4.03468184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters 0.014596106895053572 Centerline is valid? [True, True] Translation: X:218.31, Y:-114.05, Z:-4.03 [[-1.57713257e-01 -9.87484383e-01 1.05969142e-03 2.18306093e+02] [-9.87466693e-01 1.57716776e-01 5.91180326e-03 -1.14047290e+02] [-6.00494451e-03 -1.14040241e-04 -9.99981964e-01 -4.03402983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters 0.01566271300851209 Centerline is valid? [True, True] Translation: X:218.26, Y:-114.16, Z:-4.03 [[-7.74898206e-02 -9.96992960e-01 6.04048469e-04 2.18261282e+02] [-9.96975045e-01 7.74920503e-02 5.97845640e-03 -1.14160810e+02] [-6.00728790e-03 -1.38951735e-04 -9.99981946e-01 -4.03387472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters 0.018362304735878354 Centerline is valid? [True, True] Translation: X:218.22, Y:-114.28, Z:-4.03 [[ 2.19580046e-03 -9.99997581e-01 1.31731179e-04 2.18223807e+02] [-9.99982549e-01 -2.19504493e-03 5.48481763e-03 -1.14278122e+02] [-5.48451520e-03 -1.43772446e-04 -9.99984950e-01 -4.03300972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters 0.01615997185299622 Centerline is valid? [True, True] Translation: X:218.21, Y:-114.39, Z:-4.03 [[ 7.83346877e-02 -9.96927059e-01 -3.39428942e-04 2.18205268e+02] [-9.96906421e-01 -7.83352508e-02 6.41682329e-03 -1.14386553e+02] [-6.42369402e-03 -1.64280957e-04 -9.99979354e-01 -4.03333949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters 0.016531969097822483 Centerline is valid? [True, True] Translation: X:218.19, Y:-114.50, Z:-4.03 [[ 1.53002394e-01 -9.88225511e-01 -7.79234243e-04 2.18190905e+02] [-9.88207454e-01 -1.53004310e-01 5.97575061e-03 -1.14503351e+02] [-6.02461540e-03 -1.44259059e-04 -9.99981841e-01 -4.03284455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters 0.015329951932090207 Centerline is valid? [True, True] Translation: X:218.19, Y:-114.62, Z:-4.03 [[ 2.24526566e-01 -9.74467050e-01 -1.33748702e-03 2.18189726e+02] [-9.74446158e-01 -2.24530512e-01 6.38240983e-03 -1.14616718e+02] [-6.51975473e-03 -1.29711473e-04 -9.99978738e-01 -4.03260818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters 0.014600008615602997 Centerline is valid? [True, True] Translation: X:218.20, Y:-114.74, Z:-4.03 [[ 2.96625068e-01 -9.54991863e-01 -2.02762208e-03 2.18195960e+02] [-9.54966501e-01 -2.96631970e-01 6.96099850e-03 -1.14739420e+02] [-7.24915446e-03 -1.28495489e-04 -9.99973716e-01 -4.03268579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters 0.013438948048260504 Centerline is valid? [True, True] Translation: X:218.21, Y:-114.84, Z:-4.03 [[ 3.61279026e-01 -9.32453166e-01 -2.92535420e-03 2.18210203e+02] [-9.32420849e-01 -3.61290861e-01 7.76363676e-03 -1.14841967e+02] [-8.29613142e-03 -7.71778832e-05 -9.99965584e-01 -4.03149735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters 0.013042338076079645 Centerline is valid? [True, True] Translation: X:218.23, Y:-114.95, Z:-4.03 [[ 4.26897663e-01 -9.04294018e-01 -3.27317572e-03 2.18232017e+02] [-9.04266892e-01 -4.26910210e-01 7.00438090e-03 -1.14953435e+02] [-7.73137189e-03 -3.03294020e-05 -9.99970112e-01 -4.03240854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters 0.013246565632129824 Centerline is valid? [True, True] Translation: X:218.26, Y:-115.06, Z:-4.03 [[ 4.90892832e-01 -8.71212392e-01 -3.63271605e-03 2.18259874e+02] [-8.71188632e-01 -4.90906273e-01 6.43413693e-03 -1.15063561e+02] [-7.38882292e-03 6.30922907e-06 -9.99972702e-01 -4.03301495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters 0.013668481248836743 Centerline is valid? [True, True] Translation: X:218.30, Y:-115.17, Z:-4.03 [[ 5.51117613e-01 -8.34414606e-01 -4.65206473e-03 2.18297688e+02] [-8.34385771e-01 -5.51137244e-01 6.93712549e-03 -1.15170804e+02] [-8.35236496e-03 5.84445696e-05 -9.99965117e-01 -4.03360528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters 0.01401345569573265 Centerline is valid? [True, True] Translation: X:218.34, Y:-115.28, Z:-4.03 [[ 6.11516807e-01 -7.91214866e-01 -5.12161538e-03 2.18340529e+02] [-7.91188162e-01 -6.11538249e-01 6.50094578e-03 -1.15275959e+02] [-8.27570865e-03 7.67238511e-05 -9.99965753e-01 -4.03352778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters 0.01460284939523766 Centerline is valid? [True, True] Translation: X:218.39, Y:-115.37, Z:-4.03 [[ 6.68112663e-01 -7.44033029e-01 -6.34999407e-03 2.18385984e+02] [-7.44001014e-01 -6.68142829e-01 6.90298947e-03 -1.15374053e+02] [-9.37875516e-03 1.12427351e-04 -9.99956012e-01 -4.03147061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters 0.014754838408395985 Centerline is valid? [True, True] Translation: X:218.44, Y:-115.47, Z:-4.03 [[ 7.22216958e-01 -6.91626458e-01 -7.45042427e-03 2.18443067e+02] [-6.91591510e-01 -7.22255375e-01 6.95395650e-03 -1.15472550e+02] [-1.01906493e-02 1.30384861e-04 -9.99948066e-01 -4.03143061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters 0.01487101157699638 Centerline is valid? [True, True] Translation: X:218.46, Y:-115.50, Z:-4.03 [[ 7.73968171e-01 -6.33159833e-01 -9.04968012e-03 2.18460776e+02] [-6.33118803e-01 -7.74021062e-01 7.20950481e-03 -1.15501996e+02] [-1.15694119e-02 1.49595393e-04 -9.99933061e-01 -4.03176155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters 0.014632140823058701 Centerline is valid? [True, True] Translation: X:218.48, Y:-115.53, Z:-4.03 [[ 8.21967860e-01 -5.69448116e-01 -9.88332381e-03 2.18478812e+02] [-5.69408930e-01 -8.22027265e-01 6.68174879e-03 -1.15532604e+02] [-1.19292709e-02 1.35470084e-04 -9.99928835e-01 -4.03235876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters 0.014333755114168479 Centerline is valid? [True, True] Translation: X:218.50, Y:-115.56, Z:-4.03 [[ 8.66048363e-01 -4.99849445e-01 -1.05244747e-02 2.18498796e+02] [-4.99813756e-01 -8.66112305e-01 5.97366922e-03 -1.15563198e+02] [-1.21013123e-02 8.67907875e-05 -9.99926773e-01 -4.03262574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters 0.014297683918816195 Centerline is valid? [True, True] Translation: X:218.52, Y:-115.59, Z:-4.03 [[ 9.04626692e-01 -4.26022143e-01 -1.24772761e-02 2.18521714e+02] [-4.25982054e-01 -9.04712735e-01 5.84440204e-03 -1.15591926e+02] [-1.37781953e-02 2.80936137e-05 -9.99905076e-01 -4.03234253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters 0.01423420123594191 Centerline is valid? [True, True] Translation: X:218.55, Y:-115.62, Z:-4.03 [[ 9.36690698e-01 -3.49928194e-01 -1.26805471e-02 2.18546808e+02] [-3.49895678e-01 -9.36776525e-01 4.77035938e-03 -1.15617208e+02] [-1.35481221e-02 -3.14826244e-05 -9.99908220e-01 -4.03238474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters 0.014134067718870451 Centerline is valid? [True, True] Translation: X:218.58, Y:-115.64, Z:-4.03 [[ 9.61766872e-01 -2.73581048e-01 -1.25655883e-02 2.18575307e+02] [-2.73556906e-01 -9.61848952e-01 3.63486437e-03 -1.15639679e+02] [-1.30806279e-02 -5.84886754e-05 -9.99914443e-01 -4.03416529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters 0.014162211234081278 Centerline is valid? [True, True] Translation: X:218.61, Y:-115.66, Z:-4.03 [[ 9.80478365e-01 -1.96187628e-01 -1.31373477e-02 2.18605609e+02] [-1.96168938e-01 -9.80566371e-01 2.70913818e-03 -1.15661393e+02] [-1.34135408e-02 -7.91118142e-05 -9.99910031e-01 -4.03452339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters 0.014166406698866164 Centerline is valid? [True, True] Translation: X:218.64, Y:-115.68, Z:-4.03 [[ 9.92876762e-01 -1.18359976e-01 -1.36620200e-02 2.18636728e+02] [-1.18347558e-01 -9.92970749e-01 1.71671633e-03 -1.15677692e+02] [-1.37691767e-02 -8.76210588e-05 -9.99905197e-01 -4.03431325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters 0.014293980932811002 Centerline is valid? [True, True] Translation: X:218.67, Y:-115.69, Z:-4.03 [[ 9.99089743e-01 -4.02262679e-02 -1.41961938e-02 2.18666461e+02] [-4.02209144e-02 -9.99190592e-01 6.62531708e-04 -1.15690818e+02] [-1.42113545e-02 -9.09447379e-05 -9.99899009e-01 -4.03283883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters 0.014115115397818982 Centerline is valid? [True, True] Translation: X:218.70, Y:-115.70, Z:-4.03 [[ 9.99208823e-01 3.69072381e-02 -1.48183534e-02 2.18697886e+02] [ 3.69043249e-02 -9.99318693e-01 -4.70085771e-04 -1.15699191e+02] [-1.48256071e-02 -7.71474771e-05 -9.99890092e-01 -4.03259793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters 0.014054030964673015 Centerline is valid? [True, True] Translation: X:218.73, Y:-115.70, Z:-4.03 [[ 9.93627566e-01 1.11639129e-01 -1.55230483e-02 2.18729852e+02] [ 1.11625948e-01 -9.93748813e-01 -1.71566658e-03 -1.15704360e+02] [-1.56175463e-02 -2.80413769e-05 -9.99878038e-01 -4.03234735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters 0.014067757569746861 Centerline is valid? [True, True] Translation: X:218.76, Y:-115.71, Z:-4.03 [[ 9.82356726e-01 1.86360227e-01 -1.56565549e-02 2.18762797e+02] [ 1.86336305e-01 -9.82481483e-01 -2.98599794e-03 -1.15706616e+02] [-1.59387466e-02 1.59305725e-05 -9.99872970e-01 -4.03228238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters 0.014261698698051014 Centerline is valid? [True, True] Translation: X:218.79, Y:-115.70, Z:-4.03 [[ 9.65620200e-01 2.59548009e-01 -1.45760403e-02 2.18794740e+02] [ 2.59517440e-01 -9.65730204e-01 -3.98392760e-03 -1.15704973e+02] [-1.51105429e-02 6.42243010e-05 -9.99885827e-01 -4.03260571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters 0.014437617689780599 Centerline is valid? [True, True] Translation: X:218.83, Y:-115.70, Z:-4.03 [[ 9.43543676e-01 3.30997739e-01 -1.28774197e-02 2.18826717e+02] [ 3.30965365e-01 -9.43631541e-01 -4.63055856e-03 -1.15700482e+02] [-1.36842438e-02 1.07154328e-04 -9.99906361e-01 -4.03337105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters 0.014312846065418541 Centerline is valid? [True, True] Translation: X:218.86, Y:-115.70, Z:-4.03 [[ 9.15669383e-01 4.01763815e-01 -1.16369376e-02 2.18860072e+02] [ 4.01729576e-01 -9.15743316e-01 -5.24668755e-03 -1.15697788e+02] [-1.27643770e-02 1.29329129e-04 -9.99918524e-01 -4.03482279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters 0.014379853146771078 Centerline is valid? [True, True] Translation: X:218.89, Y:-115.69, Z:-4.04 [[ 8.81844108e-01 4.71436889e-01 -9.91105058e-03 2.18891211e+02] [ 4.71405526e-01 -8.81899792e-01 -5.43928736e-03 -1.15692141e+02] [-1.13048342e-02 1.24479495e-04 -9.99936091e-01 -4.03534089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters 0.014170059085401483 Centerline is valid? [True, True] Translation: X:218.92, Y:-115.69, Z:-4.03 [[ 8.40860686e-01 5.41162148e-01 -9.84053030e-03 2.18923730e+02] [ 5.41123704e-01 -8.40918260e-01 -6.45119990e-03 -1.15685122e+02] [-1.17662268e-02 9.96161710e-05 -9.99930771e-01 -4.03374071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters 0.01392238298077778 Centerline is valid? [True, True] Translation: X:218.96, Y:-115.68, Z:-4.03 [[ 7.94180578e-01 6.07603346e-01 -9.76648826e-03 2.18956392e+02] [ 6.07556332e-01 -7.94240624e-01 -7.55873369e-03 -1.15676398e+02] [-1.23496536e-02 6.93077118e-05 -9.99923738e-01 -4.03285603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters 0.01347532481989609 Centerline is valid? [True, True] Translation: X:218.99, Y:-115.67, Z:-4.03 [[ 7.41285581e-01 6.71129304e-01 -9.00802561e-03 2.18990027e+02] [ 6.71079498e-01 -7.41340311e-01 -8.17620396e-03 -1.15666495e+02] [-1.21653026e-02 1.58007973e-05 -9.99926000e-01 -4.03291789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters 0.013501547452332665 Centerline is valid? [True, True] Translation: X:219.02, Y:-115.65, Z:-4.03 [[ 6.85381466e-01 7.28142271e-01 -7.81533178e-03 2.19019048e+02] [ 7.28094979e-01 -6.85426023e-01 -8.29867168e-03 -1.15652196e+02] [-1.13994454e-02 -2.54807058e-06 -9.99935024e-01 -4.03252927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters 0.01332895510796199 Centerline is valid? [True, True] Translation: X:219.05, Y:-115.63, Z:-4.03 [[ 6.25121009e-01 7.80499582e-01 -6.64277702e-03 2.19046157e+02] [ 7.80455821e-01 -6.25156302e-01 -8.26491617e-03 -1.15633095e+02] [-1.06035375e-02 -1.78212581e-05 -9.99943781e-01 -4.03276504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters 0.01317428935252293 Centerline is valid? [True, True] Translation: X:219.07, Y:-115.61, Z:-4.03 [[ 5.61760231e-01 8.27282150e-01 -5.44861027e-03 2.19070343e+02] [ 8.27243585e-01 -5.61786654e-01 -7.98793377e-03 -1.15611724e+02] [-9.66923155e-03 -2.00243658e-05 -9.99953252e-01 -4.03332696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters 0.013171993452025878 Centerline is valid? [True, True] Translation: X:219.10, Y:-115.59, Z:-4.03 [[ 4.92879500e-01 8.70085044e-01 -4.67058731e-03 2.19095439e+02] [ 8.70046846e-01 -4.92901627e-01 -8.15301599e-03 -1.15589402e+02] [-9.39595737e-03 -4.51753194e-05 -9.99955856e-01 -4.03280283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters 0.01335352239941177 Centerline is valid? [True, True] Translation: X:219.12, Y:-115.57, Z:-4.03 [[ 4.20105309e-01 9.07467742e-01 -3.71844810e-03 2.19120527e+02] [ 9.07433691e-01 -4.20121759e-01 -7.86159022e-03 -1.15565927e+02] [-8.69634048e-03 -7.15493006e-05 -9.99962184e-01 -4.03317997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters 0.01369578321583674 Centerline is valid? [True, True] Translation: X:219.14, Y:-115.54, Z:-4.03 [[ 3.43930769e-01 9.38990880e-01 -2.78457881e-03 2.19144381e+02] [ 9.38962332e-01 -3.43942028e-01 -7.32257954e-03 -1.15541338e+02] [-7.83356909e-03 -9.61541954e-05 -9.99969313e-01 -4.03362259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters 0.014451712197308269 Centerline is valid? [True, True] Translation: X:219.16, Y:-115.51, Z:-4.03 [[ 2.65496252e-01 9.64109646e-01 -2.08116335e-03 2.19164167e+02] [ 9.64083473e-01 -2.65504382e-01 -7.10500503e-03 -1.15514736e+02] [-7.40256187e-03 -1.20062986e-04 -9.99972593e-01 -4.03333269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters 0.015350550802459624 Centerline is valid? [True, True] Translation: X:219.18, Y:-115.49, Z:-4.03 [[ 1.85253477e-01 9.82689339e-01 -1.67668518e-03 2.19180291e+02] [ 9.82656777e-01 -1.85260991e-01 -8.00153812e-03 -1.15485797e+02] [-8.17365057e-03 -1.65293291e-04 -9.99966582e-01 -4.03281479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters 0.015700632691485972 Centerline is valid? [True, True] Translation: X:219.19, Y:-115.46, Z:-4.03 [[ 1.06257122e-01 9.94338233e-01 -9.49932652e-04 2.19192840e+02] [ 9.94310904e-01 -1.06261246e-01 -7.37390311e-03 -1.15455162e+02] [-7.43309481e-03 -1.60998676e-04 -9.99972361e-01 -4.03272563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters 0.016104662001803088 Centerline is valid? [True, True] Translation: X:219.20, Y:-115.42, Z:-4.03 [[ 2.67054557e-02 9.99643277e-01 -3.71728282e-04 2.19202389e+02] [ 9.99615380e-01 -2.67074883e-02 -7.47014089e-03 -1.15423889e+02] [-7.47740405e-03 -1.72091791e-04 -9.99972029e-01 -4.03155060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters 0.015994045162147603 Centerline is valid? [True, True] Translation: X:219.21, Y:-115.39, Z:-4.03 [[-5.12268389e-02 9.98687010e-01 2.59824285e-04 2.19205567e+02] [ 9.98646026e-01 5.12270911e-02 -9.04990301e-03 -1.15392374e+02] [-9.05133062e-03 -2.04125434e-04 -9.99959015e-01 -4.03047808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters 0.015228898024324384 Centerline is valid? [True, True] Translation: X:219.21, Y:-115.36, Z:-4.03 [[-1.27274113e-01 9.91867108e-01 9.70149217e-04 2.19206195e+02] [ 9.91826067e-01 1.27277674e-01 -9.02473383e-03 -1.15361178e+02] [-9.07481498e-03 -1.86395710e-04 -9.99958806e-01 -4.03081956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters 0.014278991754491077 Centerline is valid? [True, True] Translation: X:219.20, Y:-115.33, Z:-4.03 [[-1.99399359e-01 9.79917412e-01 1.32673221e-03 2.19201153e+02] [ 9.79891912e-01 1.99403743e-01 -7.07016557e-03 -1.15332152e+02] [-7.19273372e-03 -1.09732320e-04 -9.99974126e-01 -4.03198747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters 0.01301992497097885 Centerline is valid? [True, True] Translation: X:219.19, Y:-115.30, Z:-4.03 [[-2.69079066e-01 9.63116753e-01 1.60485842e-03 2.19190669e+02] [ 9.63098448e-01 2.69083847e-01 -5.93818380e-03 -1.15303295e+02] [-6.15100579e-03 -5.22042969e-05 -9.99981081e-01 -4.03304305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters 0.012606227264401158 Centerline is valid? [True, True] Translation: X:219.18, Y:-115.28, Z:-4.03 [[-3.38759395e-01 9.40870649e-01 2.12018559e-03 2.19180067e+02] [ 9.40851848e-01 3.38766029e-01 -5.94797826e-03 -1.15277365e+02] [-6.31452502e-03 -2.01529864e-05 -9.99980063e-01 -4.03245440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters 0.012643490604985638 Centerline is valid? [True, True] Translation: X:219.17, Y:-115.25, Z:-4.03 [[-4.03621099e-01 9.14921099e-01 3.06449695e-03 2.19170073e+02] [ 9.14895471e-01 4.03632730e-01 -6.84813731e-03 -1.15250514e+02] [-7.50243658e-03 3.96416742e-05 -9.99971856e-01 -4.03210662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters 0.01343465619537518 Centerline is valid? [True, True] Translation: X:219.16, Y:-115.22, Z:-4.03 [[-4.69993549e-01 8.82662010e-01 3.72010439e-03 2.19160026e+02] [ 8.82635646e-01 4.70008265e-01 -6.82247045e-03 -1.15224520e+02] [-7.77041529e-03 7.69796408e-05 -9.99969807e-01 -4.03134793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters 0.014496005271265633 Centerline is valid? [True, True] Translation: X:219.14, Y:-115.20, Z:-4.03 [[-5.33848665e-01 8.45566754e-01 4.73987880e-03 2.19144073e+02] [ 8.45535489e-01 5.33869692e-01 -7.27241454e-03 -1.15202062e+02] [-8.67978959e-03 1.25366951e-04 -9.99962322e-01 -4.03132004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters 0.014371481296209904 Centerline is valid? [True, True] Translation: X:219.13, Y:-115.18, Z:-4.03 [[-5.97883966e-01 8.01562462e-01 5.69065800e-03 2.19132931e+02] [ 8.01528381e-01 5.97911030e-01 -7.39286813e-03 -1.15175482e+02] [-9.32835277e-03 1.41146582e-04 -9.99956480e-01 -4.03181198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters 0.013727310265778822 Centerline is valid? [True, True] Translation: X:219.12, Y:-115.15, Z:-4.03 [[-6.60501854e-01 7.50798126e-01 6.28286832e-03 2.19122853e+02] [ 7.50765890e-01 6.60531725e-01 -6.95841962e-03 -1.15146930e+02] [-9.37440226e-03 1.20914165e-04 -9.99956052e-01 -4.03123182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters 0.013175353304453767 Centerline is valid? [True, True] Translation: X:219.11, Y:-115.12, Z:-4.03 [[-7.19585515e-01 6.94373801e-01 6.45848861e-03 2.19110184e+02] [ 6.94346890e-01 7.19614492e-01 -6.11383812e-03 -1.15119453e+02] [-8.89291102e-03 8.50021350e-05 -9.99960454e-01 -4.03166685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters 0.013049148652475128 Centerline is valid? [True, True] Translation: X:219.13, Y:-115.10, Z:-4.03 [[-7.68523147e-01 6.39790617e-01 6.33552768e-03 2.19127550e+02] [ 6.39769496e-01 7.68549259e-01 -5.19884665e-03 -1.15098466e+02] [-8.19533841e-03 5.78433635e-05 -9.99966416e-01 -4.03189209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters 0.012732107964334513 Centerline is valid? [True, True] Translation: X:219.15, Y:-115.08, Z:-4.03 [[-8.14332757e-01 5.80363986e-01 6.30912975e-03 2.19145806e+02] [ 5.80346774e-01 8.14357196e-01 -4.46978867e-03 -1.15075514e+02] [-7.73198958e-03 2.15877658e-05 -9.99970108e-01 -4.03201602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters 0.01265145343306636 Centerline is valid? [True, True] Translation: X:219.16, Y:-115.05, Z:-4.03 [[-8.54794510e-01 5.18931347e-01 6.05003358e-03 2.19155960e+02] [ 5.18918347e-01 8.54815920e-01 -3.67311332e-03 -1.15047278e+02] [-7.07775867e-03 -2.83675388e-07 -9.99974952e-01 -4.03202439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters 0.01278832625261902 Centerline is valid? [True, True] Translation: X:219.17, Y:-115.02, Z:-4.03 [[-8.91221747e-01 4.53543998e-01 4.65187782e-03 2.19174997e+02] [ 4.53537695e-01 8.91233887e-01 -2.39117284e-03 -1.15023454e+02] [-5.23041325e-03 -2.12632898e-05 -9.99986321e-01 -4.03241990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters 0.013127040167908265 Centerline is valid? [True, True] Translation: X:219.19, Y:-115.00, Z:-4.03 [[-9.22534227e-01 3.85889260e-01 4.48103134e-03 2.19186342e+02] [ 3.85884508e-01 9.22545109e-01 -1.91553788e-03 -1.14995857e+02] [-4.87313904e-03 -3.79886811e-05 -9.99988125e-01 -4.03178551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters 0.013278993884760693 Centerline is valid? [True, True] Translation: X:219.20, Y:-114.97, Z:-4.03 [[-9.48111787e-01 3.17905806e-01 4.46522494e-03 2.19197083e+02] [ 3.17902056e-01 9.48122301e-01 -1.54470177e-03 -1.14969804e+02] [-4.72464901e-03 -4.50457703e-05 -9.99988838e-01 -4.03081401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters 0.013789841036616608 Centerline is valid? [True, True] Translation: X:219.42, Y:-114.32, Z:-5.01 [[-9.15887762e-01 -4.01394400e-01 5.66955108e-03 2.19419443e+02] [ 4.01387709e-01 -9.15905297e-01 -2.32240627e-03 -1.14321570e+02] [ 6.12497274e-03 1.48624640e-04 9.99981231e-01 -5.01210028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters 0.014242512645650868 Centerline is valid? [True, True] Translation: X:219.15, Y:-114.95, Z:-4.03 [[-9.50759698e-01 3.09849207e-01 7.03320008e-03 2.19151158e+02] [ 3.09839894e-01 9.50785705e-01 -2.40469627e-03 -1.14951537e+02] [-7.43215933e-03 -1.07122333e-04 -9.99972375e-01 -4.02736568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters 0.014466050768903541 Centerline is valid? [True, True] Translation: X:219.37, Y:-114.31, Z:-5.02 [[-9.15651987e-01 -4.01894645e-01 7.88245394e-03 2.19373988e+02] [ 4.01881557e-01 -9.15685894e-01 -3.24914603e-03 -1.14309821e+02] [ 8.52366628e-03 1.92725848e-04 9.99963654e-01 -5.01580569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters 0.0152440780979617 Centerline is valid? [True, True] Translation: X:219.10, Y:-114.93, Z:-4.02 [[-9.52949960e-01 3.03027460e-01 7.79305425e-03 2.19096025e+02] [ 3.03016056e-01 9.52981813e-01 -2.63308701e-03 -1.14930760e+02] [-8.22453664e-03 -1.47779598e-04 -9.99966167e-01 -4.02471693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters 0.015810516837045516 Centerline is valid? [True, True] Translation: X:219.11, Y:-114.91, Z:-4.02 [[-9.72374044e-01 2.33301030e-01 7.70378351e-03 2.19111705e+02] [ 2.33292447e-01 9.72404548e-01 -2.00711637e-03 -1.14908143e+02] [-7.95945644e-03 -1.54433360e-04 -9.99968311e-01 -4.02480605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters 0.015262295583316548 Centerline is valid? [True, True] Translation: X:219.12, Y:-114.88, Z:-4.03 [[-9.86559747e-01 1.63208844e-01 7.92083209e-03 2.19118603e+02] [ 1.63202275e-01 9.86591530e-01 -1.47314820e-03 -1.14884796e+02] [-8.05505667e-03 -1.60650899e-04 -9.99967545e-01 -4.02554159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters 0.015450527228760013 Centerline is valid? [True, True] Translation: X:219.12, Y:-114.86, Z:-4.02 [[-9.95654546e-01 9.27048382e-02 8.82259026e-03 2.19120591e+02] [ 9.26996110e-02 9.95693618e-01 -1.00046635e-03 -1.14857468e+02] [-8.87734489e-03 -1.78268186e-04 -9.99960580e-01 -4.02424594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters 0.01617063383919069 Centerline is valid? [True, True] Translation: X:219.20, Y:-114.18, Z:-5.02 [[-9.79881490e-01 -1.99377066e-01 9.00284988e-03 2.19198728e+02] [ 1.99370531e-01 -9.79922826e-01 -1.62672188e-03 -1.14183175e+02] [ 9.14642914e-03 2.00908304e-04 9.99958150e-01 -5.01805456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters 0.015692726527208833 Centerline is valid? [True, True] Translation: X:219.06, Y:-114.85, Z:-4.02 [[-9.96127989e-01 8.74547626e-02 8.98298029e-03 2.19063763e+02] [ 8.74494472e-02 9.96168473e-01 -9.83570657e-04 -1.14849818e+02] [-9.03457970e-03 -1.94205601e-04 -9.99959169e-01 -4.02411667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters 0.015509180432753409 Centerline is valid? [True, True] Translation: X:219.15, Y:-114.18, Z:-5.02 [[-9.80334035e-01 -1.97197470e-01 7.63790643e-03 2.19148718e+02] [ 1.97192165e-01 -9.80363785e-01 -1.44892213e-03 -1.14179416e+02] [ 7.77365063e-03 8.57076315e-05 9.99969781e-01 -5.01541900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters 0.01590447400332801 Centerline is valid? [True, True] Translation: X:219.02, Y:-114.84, Z:-4.03 [[-9.96556912e-01 8.26061770e-02 7.10915367e-03 2.19022160e+02] [ 8.26029288e-02 9.96582257e-01 -7.49817972e-04 -1.14843634e+02] [-7.14679600e-03 -1.59999368e-04 -9.99974449e-01 -4.02565486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters 0.017281341085964286 Centerline is valid? [True, True] Translation: X:219.01, Y:-114.81, Z:-4.03 [[-9.99919915e-01 1.07521663e-02 6.67497632e-03 2.19008747e+02] [ 1.07508867e-02 9.99942182e-01 -2.27547271e-04 -1.14813608e+02] [-6.67703701e-03 -1.55767133e-04 -9.99977696e-01 -4.02534345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters 0.016621553816227985 Centerline is valid? [True, True] Translation: X:219.05, Y:-114.15, Z:-5.02 [[-9.92002415e-01 -1.25943080e-01 8.33956198e-03 2.19047776e+02] [ 1.25941229e-01 -9.92037422e-01 -7.48838657e-04 -1.14146366e+02] [ 8.36746861e-03 3.07444931e-04 9.99964945e-01 -5.01606166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters 0.017765491993346386 Centerline is valid? [True, True] Translation: X:218.97, Y:-114.81, Z:-4.02 [[-9.99944359e-01 3.22679951e-03 1.00432360e-02 2.18965012e+02] [ 3.22392585e-03 9.99994757e-01 -3.02305327e-04 -1.14810985e+02] [-1.00441588e-02 -2.69909858e-04 -9.99949520e-01 -4.02369305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters 0.01774207572276116 Centerline is valid? [True, True] Translation: X:218.96, Y:-114.78, Z:-4.02 [[-9.97496175e-01 -6.96689775e-02 1.21496681e-02 2.18958695e+02] [-6.96680758e-02 9.97570103e-01 4.97951886e-04 -1.14783765e+02] [-1.21548375e-02 -3.49738896e-04 -9.99926066e-01 -4.02332698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters 0.01745137737434099 Centerline is valid? [True, True] Translation: X:218.95, Y:-114.76, Z:-4.02 [[-9.89999274e-01 -1.40486799e-01 1.28411922e-02 2.18954452e+02] [-1.40479852e-01 9.90082482e-01 1.44587635e-03 -1.14758718e+02] [-1.29169659e-02 -3.72512235e-04 -9.99916503e-01 -4.02371509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters 0.0201236493063892 Centerline is valid? [True, True] Translation: X:218.88, Y:-114.10, Z:-5.02 [[-9.99787993e-01 1.72121505e-02 1.13009269e-02 2.18883842e+02] [-1.72085456e-02 -9.99851835e-01 4.16165317e-04 -1.14100092e+02] [ 1.13064156e-02 2.21604572e-04 9.99936056e-01 -5.01779999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters 0.017246111707651036 Centerline is valid? [True, True] Translation: X:218.88, Y:-114.77, Z:-4.03 [[-9.89721859e-01 -1.42608355e-01 1.06535689e-02 2.18877471e+02] [-1.42603120e-01 9.89779157e-01 1.25332424e-03 -1.14770318e+02] [-1.07234149e-02 -2.78789763e-04 -9.99942464e-01 -4.02647779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters 0.016201122079571174 Centerline is valid? [True, True] Translation: X:218.88, Y:-114.75, Z:-4.03 [[-9.77986323e-01 -2.08464585e-01 9.23409158e-03 2.18876249e+02] [-2.08457250e-01 9.78029895e-01 1.76052143e-03 -1.14746432e+02] [-9.39822399e-03 -2.03147457e-04 -9.99955815e-01 -4.02738471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters 0.014401929483121861 Centerline is valid? [True, True] Translation: X:218.87, Y:-114.73, Z:-4.03 [[-9.62345657e-01 -2.71642425e-01 1.00612651e-02 2.18866195e+02] [-2.71629290e-01 9.62398238e-01 2.67599589e-03 -1.14727950e+02] [-1.04098578e-02 -1.57701260e-04 -9.99945804e-01 -4.02770749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters 0.013215601790571385 Centerline is valid? [True, True] Translation: X:218.84, Y:-114.72, Z:-4.03 [[-9.43925288e-01 -3.29906418e-01 1.29153365e-02 2.18839873e+02] [-3.29876285e-01 9.44013640e-01 4.45911374e-03 -1.14717024e+02] [-1.36633441e-02 -5.13930191e-05 -9.99906651e-01 -4.02526965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters 0.013395980966131222 Centerline is valid? [True, True] Translation: X:218.79, Y:-114.71, Z:-4.02 [[-9.19780898e-01 -3.92206078e-01 1.33226476e-02 2.18786950e+02] [-3.92164369e-01 9.19877378e-01 5.71980551e-03 -1.14712458e+02] [-1.44985446e-02 3.63001565e-05 -9.99894890e-01 -4.02397650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters 0.013836459715311847 Centerline is valid? [True, True] Translation: X:218.73, Y:-114.71, Z:-4.02 [[-8.90747161e-01 -4.54322461e-01 1.26726658e-02 2.18730061e+02] [-4.54274709e-01 8.90837297e-01 6.58780237e-03 -1.14712132e+02] [-1.42822699e-02 1.11194703e-04 -9.99897997e-01 -4.02458868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters 0.013901083129752113 Centerline is valid? [True, True] Translation: X:218.66, Y:-114.72, Z:-4.03 [[-8.56279437e-01 -5.16394938e-01 1.10360046e-02 2.18659590e+02] [-5.16349880e-01 8.56350540e-01 6.82306040e-03 -1.14722075e+02] [-1.29740823e-02 1.44006668e-04 -9.99915823e-01 -4.02732160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters 0.014318568256673702 Centerline is valid? [True, True] Translation: X:218.58, Y:-114.74, Z:-4.03 [[-8.17127009e-01 -5.76362913e-01 1.04520257e-02 2.18580817e+02] [-5.76312882e-01 8.17193832e-01 7.59621081e-03 -1.14744010e+02] [-1.29195051e-02 1.83431942e-04 -9.99916523e-01 -4.02871273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters 0.01447100070249028 Centerline is valid? [True, True] Translation: X:218.50, Y:-114.77, Z:-4.03 [[-7.71349470e-01 -6.36327716e-01 1.03457262e-02 2.18497745e+02] [-6.36267220e-01 7.71418825e-01 8.77616140e-03 -1.14772798e+02] [-1.35654027e-02 1.86840986e-04 -9.99907968e-01 -4.02848939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters 0.01396821230096835 Centerline is valid? [True, True] Translation: X:218.41, Y:-114.81, Z:-4.03 [[-7.17490029e-01 -6.96483515e-01 1.08982454e-02 2.18408259e+02] [-6.96400473e-01 7.17572782e-01 1.07556248e-02 -1.14807546e+02] [-1.53113996e-02 1.27510324e-04 -9.99882766e-01 -4.02755506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters 0.013670557940611963 Centerline is valid? [True, True] Translation: X:218.31, Y:-114.85, Z:-4.03 [[-6.56178205e-01 -7.54523500e-01 1.11558239e-02 2.18314901e+02] [-7.54414788e-01 6.56273029e-01 1.28077980e-02 -1.14854820e+02] [-1.69850510e-02 -1.19206318e-05 -9.99855744e-01 -4.02893162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters 0.01403221076730617 Centerline is valid? [True, True] Translation: X:218.23, Y:-114.91, Z:-4.03 [[-5.91724632e-01 -8.06077312e-01 1.00661030e-02 2.18227590e+02] [-8.05964339e-01 5.91810232e-01 1.34957035e-02 -1.14910096e+02] [-1.68358031e-02 -1.27179819e-04 -9.99858260e-01 -4.02976036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters 0.015062069773159093 Centerline is valid? [True, True] Translation: X:218.14, Y:-114.97, Z:-4.03 [[-5.21304969e-01 -8.53330418e-01 8.26604201e-03 2.18138689e+02] [-8.53230870e-01 5.21370437e-01 1.30365030e-02 -1.14974543e+02] [-1.54341145e-02 -2.56848427e-04 -9.99880854e-01 -4.03092939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters 0.01579447756092569 Centerline is valid? [True, True] Translation: X:218.06, Y:-115.05, Z:-4.03 [[-4.51297878e-01 -8.92347474e-01 6.79785449e-03 2.18060242e+02] [-8.92256142e-01 4.51348971e-01 1.27703993e-02 -1.15046509e+02] [-1.44638382e-02 -3.02173315e-04 -9.99895348e-01 -4.03223814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters 0.01772265027605706 Centerline is valid? [True, True] Translation: X:217.98, Y:-115.13, Z:-4.03 [[-3.78163562e-01 -9.25722857e-01 5.43259265e-03 2.17983928e+02] [-9.25639944e-01 3.78202427e-01 1.23942843e-02 -1.15127357e+02] [-1.35282920e-02 -3.41558067e-04 -9.99908430e-01 -4.03255214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters 0.018859602842384377 Centerline is valid? [True, True] Translation: X:217.91, Y:-115.22, Z:-4.03 [[-3.03822734e-01 -9.52718663e-01 4.34700250e-03 2.17914117e+02] [-9.52637904e-01 3.03853604e-01 1.24101270e-02 -1.15217052e+02] [-1.31442119e-02 -3.70640651e-04 -9.99913542e-01 -4.03231244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters 0.018632115670440482 Centerline is valid? [True, True] Translation: X:217.86, Y:-115.31, Z:-4.03 [[-2.29046207e-01 -9.73408017e-01 3.82970712e-03 2.17856439e+02] [-9.73302149e-01 2.29077803e-01 1.43627064e-02 -1.15307451e+02] [-1.48580745e-02 -4.37738742e-04 -9.99889517e-01 -4.03089569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters 0.01761718185902841 Centerline is valid? [True, True] Translation: X:217.81, Y:-115.41, Z:-4.03 [[-1.54317468e-01 -9.88015694e-01 3.33280630e-03 2.17806466e+02] [-9.87853761e-01 1.54352541e-01 1.78952294e-02 -1.15408245e+02] [-1.81951946e-02 -5.30778748e-04 -9.99834313e-01 -4.02887077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters 0.01671737287959345 Centerline is valid? [True, True] Translation: X:217.77, Y:-115.52, Z:-4.03 [[-8.13445146e-02 -9.96684183e-01 1.92574422e-03 2.17765390e+02] [-9.96524981e-01 8.13659518e-02 1.78197458e-02 -1.15516574e+02] [-1.79173488e-02 -4.69513646e-04 -9.99839361e-01 -4.02894940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters 0.016817003366409934 Centerline is valid? [True, True] Translation: X:217.73, Y:-115.62, Z:-4.03 [[-7.66077487e-03 -9.99970529e-01 5.02951911e-04 2.17731498e+02] [-9.99839216e-01 7.66792167e-03 1.62094081e-02 -1.15624683e+02] [-1.62127870e-02 -3.78694418e-04 -9.99868492e-01 -4.02949346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters 0.015357627013641103 Centerline is valid? [True, True] Translation: X:217.71, Y:-115.73, Z:-4.03 [[ 6.51087814e-02 -9.97877939e-01 -6.82163188e-04 2.17709709e+02] [-9.97766432e-01 -6.51117056e-02 1.49202190e-02 -1.15734361e+02] [-1.49329742e-02 -2.90797747e-04 -9.99888455e-01 -4.03165217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters 0.014050952600506383 Centerline is valid? [True, True] Translation: X:217.70, Y:-115.84, Z:-4.03 [[ 1.33822531e-01 -9.91003905e-01 -1.67026370e-03 2.17696800e+02] [-9.90910918e-01 -1.33832856e-01 1.35764407e-02 -1.15843420e+02] [-1.36778419e-02 -1.61751116e-04 -9.99906441e-01 -4.03161926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters 0.013105802525171665 Centerline is valid? [True, True] Translation: X:217.70, Y:-115.96, Z:-4.03 [[ 1.99410434e-01 -9.79912140e-01 -2.77053460e-03 2.17695590e+02] [-9.79816081e-01 -1.99429678e-01 1.37204509e-02 -1.15956979e+02] [-1.39973632e-02 -2.13867098e-05 -9.99902032e-01 -4.03128877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters 0.01342773104953692 Centerline is valid? [True, True] Translation: X:217.70, Y:-116.07, Z:-4.03 [[ 2.66328665e-01 -9.63874022e-01 -3.98906387e-03 2.17700057e+02] [-9.63771185e-01 -2.66358520e-01 1.40798248e-02 -1.16067842e+02] [-1.46336985e-02 9.46838909e-05 -9.99892917e-01 -4.03138176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters 0.015214102832347743 Centerline is valid? [True, True] Translation: X:217.71, Y:-116.18, Z:-4.03 [[ 3.28848789e-01 -9.44368831e-01 -5.09757074e-03 2.17714603e+02] [-9.44267437e-01 -3.28888191e-01 1.38407294e-02 -1.16178878e+02] [-1.47472842e-02 2.61962971e-04 -9.99891219e-01 -4.03170884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters 0.01614411758694769 Centerline is valid? [True, True] Translation: X:217.74, Y:-116.30, Z:-4.03 [[ 3.97111561e-01 -9.17750779e-01 -5.99299448e-03 2.17737559e+02] [-9.17657591e-01 -3.97156663e-01 1.30817030e-02 -1.16300409e+02] [-1.43859008e-02 3.04621373e-04 -9.99896471e-01 -4.03154138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters 0.017666452482577345 Centerline is valid? [True, True] Translation: X:217.77, Y:-116.41, Z:-4.03 [[ 4.61596277e-01 -8.87065571e-01 -6.59923295e-03 2.17765800e+02] [-8.86985779e-01 -4.61643308e-01 1.19031091e-02 -1.16409688e+02] [-1.36053300e-02 3.58994910e-04 -9.99907379e-01 -4.03213575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters 0.018011457284533662 Centerline is valid? [True, True] Translation: X:217.79, Y:-116.51, Z:-4.03 [[ 5.24098097e-01 -8.51621422e-01 -7.88279678e-03 2.17793403e+02] [-8.51537566e-01 -5.24157186e-01 1.19590164e-02 -1.16509228e+02] [-1.43163792e-02 4.44799834e-04 -9.99897416e-01 -4.03210959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters 0.01941272039709515 Centerline is valid? [True, True] Translation: X:217.84, Y:-116.62, Z:-4.03 [[ 5.86279208e-01 -8.10061896e-01 -8.74154721e-03 2.17836195e+02] [-8.09983464e-01 -5.86344188e-01 1.12819076e-02 -1.16615721e+02] [-1.42645989e-02 4.66160832e-04 -9.99898147e-01 -4.03053005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters 0.018530624962760898 Centerline is valid? [True, True] Translation: X:217.88, Y:-116.72, Z:-4.03 [[ 6.47564702e-01 -7.61961136e-01 -8.67091979e-03 2.17879851e+02] [-7.61900943e-01 -6.47622628e-01 9.58560276e-03 -1.16716783e+02] [-1.29193406e-02 3.99083975e-04 -9.99916462e-01 -4.03115839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters 0.016870583714709196 Centerline is valid? [True, True] Translation: X:217.93, Y:-116.81, Z:-4.03 [[ 7.07622793e-01 -7.06547375e-01 -7.79678306e-03 2.17928037e+02] [-7.06508633e-01 -7.07665694e-01 7.40387293e-03 -1.16814828e+02] [-1.07487029e-02 2.69345294e-04 -9.99942195e-01 -4.03230423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters 0.014985021914543421 Centerline is valid? [True, True] Translation: X:217.94, Y:-116.85, Z:-4.03 [[ 7.64780537e-01 -6.44247769e-01 -7.45266019e-03 2.17943729e+02] [-6.44219453e-01 -7.64816828e-01 6.04286794e-03 -1.16849327e+02] [-9.59302412e-03 1.79680882e-04 -9.99953970e-01 -4.03298508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters 0.012928820633061054 Centerline is valid? [True, True] Translation: X:217.96, Y:-116.89, Z:-4.03 [[ 8.19879804e-01 -5.72496840e-01 -6.66898263e-03 2.17959238e+02] [-5.72478422e-01 -8.19906925e-01 4.59251669e-03 -1.16885215e+02] [-8.09714633e-03 5.25369710e-05 -9.99967216e-01 -4.03221933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters 0.012479427526814222 Centerline is valid? [True, True] Translation: X:217.98, Y:-116.92, Z:-4.03 [[ 8.66315613e-01 -4.99453701e-01 -6.57714272e-03 2.17982258e+02] [-4.99439185e-01 -8.66340580e-01 3.80783949e-03 -1.16915791e+02] [-7.59988516e-03 -1.39080011e-05 -9.99971120e-01 -4.03208543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters 0.013573076115400115 Centerline is valid? [True, True] Translation: X:218.01, Y:-116.95, Z:-4.03 [[ 9.06977511e-01 -4.21112191e-01 -7.50448444e-03 2.18007575e+02] [-4.21096875e-01 -9.07008552e-01 3.59293067e-03 -1.16946128e+02] [-8.31965847e-03 -9.85923718e-05 -9.99965386e-01 -4.03159101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters 0.014215135310834818 Centerline is valid? [True, True] Translation: X:218.04, Y:-116.97, Z:-4.03 [[ 9.38808827e-01 -3.44330289e-01 -8.63941169e-03 2.18036794e+02] [-3.44314183e-01 -9.38848565e-01 3.33393991e-03 -1.16972167e+02] [-9.25907576e-03 -1.55260232e-04 -9.99957122e-01 -4.03203354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters 0.016360761599352194 Centerline is valid? [True, True] Translation: X:218.07, Y:-117.00, Z:-4.03 [[ 9.64144388e-01 -2.65166849e-01 -1.05897142e-02 2.18066399e+02] [-2.65148119e-01 -9.64202512e-01 3.16071078e-03 -1.16997315e+02] [-1.10487447e-02 -2.39538762e-04 -9.99938932e-01 -4.02941943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters 0.016708595862984236 Centerline is valid? [True, True] Translation: X:218.10, Y:-117.01, Z:-4.03 [[ 9.82143802e-01 -1.87711759e-01 -1.25637798e-02 2.18102152e+02] [-1.87692549e-01 -9.82224113e-01 2.70158734e-03 -1.17012526e+02] [-1.28475672e-02 -2.95219406e-04 -9.99917423e-01 -4.02795342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters 0.015702272369846018 Centerline is valid? [True, True] Translation: X:218.14, Y:-117.02, Z:-4.03 [[ 9.93695548e-01 -1.11200825e-01 -1.42665133e-02 2.18138957e+02] [-1.11184754e-01 -9.93797904e-01 1.91723656e-03 -1.17023794e+02] [-1.43912293e-02 -3.18930671e-04 -9.99896390e-01 -4.02795584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters 0.01490140062977713 Centerline is valid? [True, True] Translation: X:218.17, Y:-117.03, Z:-4.03 [[ 9.99250327e-01 -3.62097834e-02 -1.36979914e-02 2.18172382e+02] [-3.62028042e-02 -9.99344177e-01 7.57210275e-04 -1.17029761e+02] [-1.37164263e-02 -2.60736915e-04 -9.99905891e-01 -4.02986735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters 0.01419125868830385 Centerline is valid? [True, True] Translation: X:218.21, Y:-117.03, Z:-4.03 [[ 9.99183415e-01 3.82932870e-02 -1.28890763e-02 2.18206369e+02] [ 3.82926191e-02 -9.99266524e-01 -2.98688954e-04 -1.17032315e+02] [-1.28910603e-02 -1.95111441e-04 -9.99916888e-01 -4.03123980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters 0.013755149861886501 Centerline is valid? [True, True] Translation: X:218.24, Y:-117.04, Z:-4.03 [[ 9.93336539e-01 1.14574272e-01 -1.24602140e-02 2.18239694e+02] [ 1.14567358e-01 -9.93414671e-01 -1.26957225e-03 -1.17035907e+02] [-1.25236197e-02 -1.66421304e-04 -9.99921563e-01 -4.03177159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters 0.013620962925902515 Centerline is valid? [True, True] Translation: X:218.27, Y:-117.03, Z:-4.03 [[ 9.81648436e-01 1.90285768e-01 -1.25568318e-02 2.18271579e+02] [ 1.90272113e-01 -9.81728733e-01 -2.28428351e-03 -1.17034958e+02] [-1.27620692e-02 -1.46851595e-04 -9.99918551e-01 -4.03097280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters 0.013316583705091983 Centerline is valid? [True, True] Translation: X:218.30, Y:-117.03, Z:-4.03 [[ 9.64174876e-01 2.64955253e-01 -1.28655569e-02 2.18304426e+02] [ 2.64933486e-01 -9.64260700e-01 -3.39869133e-03 -1.17033288e+02] [-1.33062520e-02 -1.31584045e-04 -9.99911459e-01 -4.03097894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters 0.01319066359222133 Centerline is valid? [True, True] Translation: X:218.33, Y:-117.03, Z:-4.03 [[ 9.41462662e-01 3.36875345e-01 -1.27694321e-02 2.18334738e+02] [ 3.36845720e-01 -9.41549252e-01 -4.46853260e-03 -1.17025766e+02] [-1.35283877e-02 -9.43719475e-05 -9.99908483e-01 -4.02964770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters 0.012991320032362091 Centerline is valid? [True, True] Translation: X:218.36, Y:-117.01, Z:-4.03 [[ 9.13621053e-01 4.06394462e-01 -1.18369056e-02 2.18364109e+02] [ 4.06360998e-01 -9.13697729e-01 -5.21529984e-03 -1.17013330e+02] [-1.29348227e-02 -4.52490391e-05 -9.99916341e-01 -4.03001118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters 0.013027422945278878 Centerline is valid? [True, True] Translation: X:218.39, Y:-117.00, Z:-4.03 [[ 8.80132395e-01 4.74600501e-01 -1.10150978e-02 2.18392414e+02] [ 4.74563544e-01 -8.80201321e-01 -5.92263981e-03 -1.17000997e+02] [-1.25063914e-02 -1.46566936e-05 -9.99921792e-01 -4.03001009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters 0.013122411081319556 Centerline is valid? [True, True] Translation: X:218.42, Y:-116.98, Z:-4.03 [[ 8.41685142e-01 5.39876980e-01 -9.94830471e-03 2.18416272e+02] [ 5.39839043e-01 -8.41743931e-01 -6.40015749e-03 -1.16984294e+02] [-1.18292228e-02 1.64341772e-05 -9.99930032e-01 -4.02975735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters 0.01297626343229383 Centerline is valid? [True, True] Translation: X:218.45, Y:-116.97, Z:-4.03 [[ 7.97570682e-01 6.03149191e-01 -9.59477323e-03 2.18445180e+02] [ 6.03105075e-01 -7.97628392e-01 -7.29491295e-03 -1.16972527e+02] [-1.20529844e-02 3.15522603e-05 -9.99927360e-01 -4.03035057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters 0.013223605905744125 Centerline is valid? [True, True] Translation: X:218.47, Y:-116.96, Z:-4.03 [[ 7.48890482e-01 6.62631557e-01 -9.08111163e-03 2.18469234e+02] [ 6.62582031e-01 -7.48945537e-01 -8.10151912e-03 -1.16956729e+02] [-1.21695803e-02 5.01691636e-05 -9.99925947e-01 -4.02961834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters 0.013259359409698428 Centerline is valid? [True, True] Translation: X:218.49, Y:-116.94, Z:-4.03 [[ 6.95213908e-01 7.18761110e-01 -7.75167871e-03 2.18493701e+02] [ 7.18715563e-01 -6.95257121e-01 -8.09167686e-03 -1.16940427e+02] [-1.12053925e-02 5.41941593e-05 -9.99937216e-01 -4.03037567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters 0.013237329757827402 Centerline is valid? [True, True] Translation: X:218.51, Y:-116.92, Z:-4.03 [[ 6.36955808e-01 7.70874989e-01 -6.24891589e-03 2.18514810e+02] [ 7.70837131e-01 -6.36986459e-01 -7.63992404e-03 -1.16921449e+02] [-9.86990116e-03 4.93975890e-05 -9.99951290e-01 -4.03031793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters 0.013068304775762313 Centerline is valid? [True, True] Translation: X:218.54, Y:-116.90, Z:-4.03 [[ 5.72573901e-01 8.19842688e-01 -4.13458540e-03 2.18536359e+02] [ 8.19821089e-01 -5.72588828e-01 -5.95104939e-03 -1.16902559e+02] [-7.24634174e-03 1.77952606e-05 -9.99973745e-01 -4.03029260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters 0.012965466527227215 Centerline is valid? [True, True] Translation: X:218.56, Y:-116.88, Z:-4.03 [[ 5.03426011e-01 8.64032973e-01 -3.04527563e-03 2.18557619e+02] [ 8.64017257e-01 -5.03435222e-01 -5.21128403e-03 -1.16882777e+02] [-6.03582024e-03 -7.67476550e-06 -9.99981784e-01 -4.02975360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters 0.01303529788189852 Centerline is valid? [True, True] Translation: X:218.58, Y:-116.86, Z:-4.03 [[ 4.33597767e-01 9.01102878e-01 -2.56523467e-03 2.18575145e+02] [ 9.01087265e-01 -4.33605355e-01 -5.30444959e-03 -1.16860353e+02] [-5.89215428e-03 -1.15027984e-05 -9.99982641e-01 -4.02934662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters 0.013195006445850943 Centerline is valid? [True, True] Translation: X:218.59, Y:-116.84, Z:-4.03 [[ 3.60064553e-01 9.32925226e-01 -2.01019681e-03 2.18588037e+02] [ 9.32911004e-01 -3.60070163e-01 -5.15130813e-03 -1.16836645e+02] [-5.52959720e-03 -2.05312691e-05 -9.99984711e-01 -4.02840481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters 0.013386457031548614 Centerline is valid? [True, True] Translation: X:218.60, Y:-116.81, Z:-4.03 [[ 2.83883159e-01 9.58857715e-01 -1.49521607e-03 2.18600601e+02] [ 9.58844966e-01 -2.83887095e-01 -4.94459504e-03 -1.16811400e+02] [-5.16563565e-03 -2.99931456e-05 -9.99986658e-01 -4.02844958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters 0.013587355328021676 Centerline is valid? [True, True] Translation: X:218.62, Y:-116.79, Z:-4.03 [[ 2.05536595e-01 9.78648992e-01 -9.27055015e-04 2.18617816e+02] [ 9.78639805e-01 -2.05538683e-01 -4.24055192e-03 -1.16786321e+02] [-4.34055752e-03 -3.56643352e-05 -9.99990579e-01 -4.02891487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters 0.013956840546751257 Centerline is valid? [True, True] Translation: X:218.64, Y:-116.76, Z:-4.03 [[ 1.25606686e-01 9.92079916e-01 -6.32620808e-04 2.18636740e+02] [ 9.92069272e-01 -1.25608269e-01 -4.59584485e-03 -1.16760718e+02] [-4.63890778e-03 -5.03348250e-05 -9.99989239e-01 -4.02749357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters 0.014422962490642482 Centerline is valid? [True, True] Translation: X:218.65, Y:-116.73, Z:-4.03 [[ 4.69497353e-02 9.98897210e-01 -2.93663485e-04 2.18650264e+02] [ 9.98884575e-01 -4.69506186e-02 -5.02437623e-03 -1.16734002e+02] [-5.03262308e-03 -5.74427915e-05 -9.99987335e-01 -4.02588323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters 0.013899688329961708 Centerline is valid? [True, True] Translation: X:218.66, Y:-116.70, Z:-4.03 [[-3.01608616e-02 9.99545053e-01 9.95783435e-05 2.18657976e+02] [ 9.99532708e-01 3.01609841e-02 -4.96787311e-03 -1.16704961e+02] [-4.96861638e-03 -5.03035222e-05 -9.99987655e-01 -4.02614385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters 0.013875493852923724 Centerline is valid? [True, True] Translation: X:218.66, Y:-116.68, Z:-4.03 [[-1.07632338e-01 9.94190632e-01 5.16380519e-04 2.18664469e+02] [ 9.94176897e-01 1.07633565e-01 -5.22626313e-03 -1.16676338e+02] [-5.25148172e-03 -4.91413356e-05 -9.99986210e-01 -4.02543639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters 0.013725853319858386 Centerline is valid? [True, True] Translation: X:218.67, Y:-116.65, Z:-4.02 [[-1.84510387e-01 9.82830094e-01 9.60649289e-04 2.18668815e+02] [ 9.82815404e-01 1.84512882e-01 -5.37383985e-03 -1.16646604e+02] [-5.45882369e-03 -4.73883525e-05 -9.99985099e-01 -4.02375937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters 0.013768928691324013 Centerline is valid? [True, True] Translation: X:218.67, Y:-116.62, Z:-4.02 [[-2.61641066e-01 9.65164603e-01 1.11422816e-03 2.18670318e+02] [ 9.65155163e-01 2.61643436e-01 -4.26887291e-03 -1.16617347e+02] [-4.41169551e-03 -4.15093976e-05 -9.99990268e-01 -4.02370933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters 0.01406245213108291 Centerline is valid? [True, True] Translation: X:218.67, Y:-116.59, Z:-4.02 [[-3.38753712e-01 9.40874401e-01 1.13314239e-03 2.18670924e+02] [ 9.40868725e-01 3.38755605e-01 -3.26832745e-03 -1.16587837e+02] [-3.45894397e-03 -4.10198193e-05 -9.99994017e-01 -4.02431374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters 0.014514530621526231 Centerline is valid? [True, True] Translation: X:218.67, Y:-116.56, Z:-4.02 [[-4.13714725e-01 9.10405692e-01 1.26610140e-03 2.18670549e+02] [ 9.10401086e-01 4.13716660e-01 -2.89609011e-03 -1.16557618e+02] [-3.16042417e-03 -4.54950337e-05 -9.99995005e-01 -4.02429102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters 0.015561113366136801 Centerline is valid? [True, True] Translation: X:218.67, Y:-116.53, Z:-4.02 [[-4.87821421e-01 8.72942498e-01 1.28686820e-03 2.18668687e+02] [ 8.72939175e-01 4.87823115e-01 -2.40927594e-03 -1.16526015e+02] [-2.73092341e-03 -5.19387521e-05 -9.99996270e-01 -4.02418194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters 0.016458715538454346 Centerline is valid? [True, True] Translation: X:218.66, Y:-116.49, Z:-4.02 [[-5.57289164e-01 8.30316920e-01 1.61247049e-03 2.18663602e+02] [ 8.30313095e-01 5.57291492e-01 -2.52140321e-03 -1.16494822e+02] [-2.99217984e-03 -6.62953215e-05 -9.99995521e-01 -4.02369949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters 0.017043825694534546 Centerline is valid? [True, True] Translation: X:218.66, Y:-116.46, Z:-4.02 [[-6.23674469e-01 7.81680880e-01 2.27099492e-03 2.18656870e+02] [ 7.81675116e-01 6.23678596e-01 -3.00371545e-03 -1.16464063e+02] [-3.76431786e-03 -9.81604200e-05 -9.99992910e-01 -4.02304568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters 0.01801220370732704 Centerline is valid? [True, True] Translation: X:218.65, Y:-116.43, Z:-4.02 [[-6.83708791e-01 7.29749465e-01 2.82975667e-03 2.18646982e+02] [ 7.29742507e-01 6.83714637e-01 -3.18883931e-03 -1.16434728e+02] [-4.26179984e-03 -1.15243739e-04 -9.99990912e-01 -4.02176873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters 0.017320530206145265 Centerline is valid? [True, True] Translation: X:218.63, Y:-116.41, Z:-4.02 [[-7.38319692e-01 6.74444370e-01 2.97052377e-03 2.18631336e+02] [ 6.74438311e-01 7.38325660e-01 -2.86090260e-03 -1.16408280e+02] [-4.12273358e-03 -1.08825696e-04 -9.99991496e-01 -4.02191433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters 0.017135343482333115 Centerline is valid? [True, True] Translation: X:218.65, Y:-116.39, Z:-4.02 [[-7.83101397e-01 6.21886673e-01 3.02784647e-03 2.18648056e+02] [ 6.21881541e-01 7.83107245e-01 -2.52838246e-03 -1.16390358e+02] [-3.94349586e-03 -9.70180067e-05 -9.99992220e-01 -4.02212556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters 0.016489088162468052 Centerline is valid? [True, True] Translation: X:219.08, Y:-115.88, Z:-5.02 [[-7.06543172e-01 -7.07664619e-01 2.74479795e-03 2.19080925e+02] [ 7.07659742e-01 -7.06548498e-01 -2.62854206e-03 -1.15881122e+02] [ 3.79945908e-03 8.52045652e-05 9.99992778e-01 -5.01853861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters 0.015794817984975992 Centerline is valid? [True, True] Translation: X:218.62, Y:-116.37, Z:-4.02 [[-7.82322048e-01 6.22868324e-01 2.69515895e-03 2.18618470e+02] [ 6.22864319e-01 7.82326688e-01 -2.23451701e-03 -1.16372401e+02] [-3.50030464e-03 -6.93935781e-05 -9.99993872e-01 -4.02244489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters 0.015359262578577152 Centerline is valid? [True, True] Translation: X:218.63, Y:-116.35, Z:-4.02 [[-8.23076539e-01 5.67925703e-01 2.32499043e-03 2.18630184e+02] [ 5.67923265e-01 8.23079822e-01 -1.66490706e-03 -1.16350096e+02] [-2.85919622e-03 -4.99297830e-05 -9.99995911e-01 -4.02307229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters 0.014597512942592898 Centerline is valid? [True, True] Translation: X:218.65, Y:-116.33, Z:-4.02 [[-8.60139547e-01 5.10055191e-01 1.91381139e-03 2.18646122e+02] [ 5.10053838e-01 8.60141675e-01 -1.17495833e-03 -1.16331995e+02] [-2.24544253e-03 -3.44812832e-05 -9.99997478e-01 -4.02427386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters 0.014365319592655995 Centerline is valid? [True, True] Translation: X:218.66, Y:-116.31, Z:-4.02 [[-8.93717088e-01 4.48627420e-01 1.79045372e-03 2.18661368e+02] [ 4.48626453e-01 8.93718881e-01 -9.31626092e-04 -1.16310248e+02] [-2.01811530e-03 -2.93652555e-05 -9.99997963e-01 -4.02405435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters 0.014249216809208863 Centerline is valid? [True, True] Translation: X:218.98, Y:-115.70, Z:-5.02 [[-8.46446782e-01 -5.32466523e-01 2.69208191e-03 2.18978019e+02] [ 5.32464242e-01 -8.46451056e-01 -1.56248416e-03 -1.15704225e+02] [ 3.11068608e-03 1.10877662e-04 9.99995156e-01 -5.01879646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters 0.014209400054582835 Centerline is valid? [True, True] Translation: X:218.62, Y:-116.29, Z:-4.02 [[-8.95471982e-01 4.45092747e-01 4.73043469e-03 2.18620704e+02] [ 4.45086063e-01 8.95484473e-01 -2.44040347e-03 -1.16287546e+02] [-5.32223669e-03 -7.98623784e-05 -9.99985834e-01 -4.02067320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters 0.014597649103593045 Centerline is valid? [True, True] Translation: X:218.64, Y:-116.26, Z:-4.02 [[-9.24759579e-01 3.80503740e-01 6.05179908e-03 2.18639780e+02] [ 3.80494887e-01 9.24779376e-01 -2.59757922e-03 -1.16264994e+02] [-6.58496758e-03 -9.94576638e-05 -9.99978314e-01 -4.01935161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters 0.014285847036235866 Centerline is valid? [True, True] Translation: X:218.65, Y:-116.24, Z:-4.02 [[-9.49231724e-01 3.14506763e-01 6.68059467e-03 2.18650265e+02] [ 3.14498206e-01 9.49255227e-01 -2.32234416e-03 -1.16240238e+02] [-7.07198236e-03 -1.03407715e-04 -9.99974988e-01 -4.01913671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters 0.013880706772926594 Centerline is valid? [True, True] Translation: X:218.87, Y:-115.60, Z:-5.02 [[-9.15106926e-01 -4.03168222e-01 5.89054368e-03 2.18867546e+02] [ 4.03160252e-01 -9.15125883e-01 -2.53574613e-03 -1.15597148e+02] [ 6.41292124e-03 5.43542240e-05 9.99979436e-01 -5.02116932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters 0.013520242669975677 Centerline is valid? [True, True] Translation: X:218.61, Y:-116.23, Z:-4.02 [[-9.49007857e-01 3.15205086e-01 5.46265055e-03 2.18608070e+02] [ 3.15199507e-01 9.49023577e-01 -1.87634150e-03 -1.16229717e+02] [-5.77561655e-03 -5.88380726e-05 -9.99983319e-01 -4.02084862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters 0.013191426545691552 Centerline is valid? [True, True] Translation: X:218.84, Y:-115.59, Z:-5.02 [[-9.18599648e-01 -3.95158827e-01 4.91820038e-03 2.18838433e+02] [ 3.95153329e-01 -9.18612813e-01 -2.08459053e-03 -1.15585428e+02] [ 5.34166624e-03 2.85391244e-05 9.99985733e-01 -5.02041114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters 0.012880355686726219 Centerline is valid? [True, True] Translation: X:218.57, Y:-116.22, Z:-4.02 [[-9.48842701e-01 3.15719226e-01 4.34741889e-03 2.18566317e+02] [ 3.15715779e-01 9.48852660e-01 -1.47558758e-03 -1.16220025e+02] [-4.59093135e-03 -2.75517639e-05 -9.99989461e-01 -4.02153014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters 0.013133383523508966 Centerline is valid? [True, True] Translation: X:218.57, Y:-116.19, Z:-4.02 [[-9.68948938e-01 2.47225638e-01 4.17601550e-03 2.18573101e+02] [ 2.47223217e-01 9.68957937e-01 -1.09458190e-03 -1.16192111e+02] [-4.31699207e-03 -2.81859808e-05 -9.99990681e-01 -4.02142782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters 0.01338533761972814 Centerline is valid? [True, True] Translation: X:218.75, Y:-115.53, Z:-5.02 [[-9.44810254e-01 -3.27564351e-01 5.93122002e-03 2.18749246e+02] [ 3.27558993e-01 -9.44828857e-01 -1.88084078e-03 -1.15531383e+02] [ 6.22008422e-03 1.65786801e-04 9.99980641e-01 -5.02070248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters 0.014216065365337097 Centerline is valid? [True, True] Translation: X:218.52, Y:-116.17, Z:-4.02 [[-9.71805982e-01 2.35647522e-01 7.96106523e-03 2.18523984e+02] [ 2.35638586e-01 9.71838582e-01 -2.05586767e-03 -1.16172392e+02] [-8.22133046e-03 -1.21970346e-04 -9.99966197e-01 -4.01805105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters 0.014581579194159444 Centerline is valid? [True, True] Translation: X:218.53, Y:-116.14, Z:-4.02 [[-9.86380033e-01 1.64258671e-01 8.57436979e-03 2.18531696e+02] [ 1.64251179e-01 9.86417289e-01 -1.57550412e-03 -1.16144981e+02] [-8.71669681e-03 -1.45695458e-04 -9.99961998e-01 -4.01798769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters 0.01561560792856572 Centerline is valid? [True, True] Translation: X:218.53, Y:-116.11, Z:-4.02 [[-9.95874816e-01 9.02597212e-02 9.30232231e-03 2.18526024e+02] [ 9.02539982e-02 9.95918243e-01 -1.03405402e-03 -1.16112661e+02] [-9.35768592e-03 -1.90216575e-04 -9.99956198e-01 -4.01872765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters 0.016103205987189204 Centerline is valid? [True, True] Translation: X:218.61, Y:-115.46, Z:-5.02 [[-9.80483871e-01 -1.96417019e-01 8.46960685e-03 2.18605081e+02] [ 1.96410816e-01 -9.80520443e-01 -1.56615246e-03 -1.15459202e+02] [ 8.61224165e-03 1.27935172e-04 9.99962906e-01 -5.02215147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters 0.014738687796006969 Centerline is valid? [True, True] Translation: X:218.48, Y:-116.11, Z:-4.02 [[-9.95978796e-01 8.92720038e-02 7.53301830e-03 2.18484956e+02] [ 8.92684471e-02 9.96007275e-01 -8.07738560e-04 -1.16110218e+02] [-7.57504947e-03 -1.32029633e-04 -9.99971300e-01 -4.02155865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters 0.013732043500213054 Centerline is valid? [True, True] Translation: X:218.49, Y:-116.09, Z:-4.02 [[-9.99709354e-01 2.32847242e-02 6.24740068e-03 2.18486311e+02] [ 2.32837805e-02 9.99728871e-01 -2.23760127e-04 -1.16086120e+02] [-6.25091702e-03 -7.82319864e-05 -9.99980460e-01 -4.02388634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters 0.013025239545087348 Centerline is valid? [True, True] Translation: X:218.48, Y:-116.06, Z:-4.02 [[-9.99076334e-01 -4.25369458e-02 6.08997924e-03 2.18484036e+02] [-4.25364242e-02 9.99094894e-01 2.15196197e-04 -1.16061731e+02] [-6.09362095e-03 -4.40485134e-05 -9.99981433e-01 -4.02444497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters 0.012796018764125196 Centerline is valid? [True, True] Translation: X:218.48, Y:-116.04, Z:-4.03 [[-9.93889787e-01 -1.10201729e-01 6.21847442e-03 2.18482525e+02] [-1.10199728e-01 9.93909241e-01 6.64574021e-04 -1.16036389e+02] [-6.25383640e-03 -2.47608561e-05 -9.99980444e-01 -4.02515092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters 0.012878223454432042 Centerline is valid? [True, True] Translation: X:218.47, Y:-116.01, Z:-4.02 [[-9.83868887e-01 -1.78656709e-01 9.15390538e-03 2.18471708e+02] [-1.78649142e-01 9.83911470e-01 1.64433271e-03 -1.16009559e+02] [-9.30040357e-03 -1.75295517e-05 -9.99956750e-01 -4.02398628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters 0.013015937101415218 Centerline is valid? [True, True] Translation: X:218.46, Y:-115.98, Z:-4.02 [[-9.68925375e-01 -2.47123447e-01 1.06592722e-02 2.18456796e+02] [-2.47108559e-01 9.68984005e-01 2.71254222e-03 -1.15984668e+02] [-1.09989970e-02 -5.74640984e-06 -9.99939509e-01 -4.02342703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters 0.0130872520750483 Centerline is valid? [True, True] Translation: X:218.28, Y:-115.34, Z:-5.02 [[-9.83184217e-01 1.82257157e-01 1.14509411e-02 2.18279026e+02] [-1.82244223e-01 -9.83250897e-01 2.17184493e-03 -1.15337227e+02] [ 1.16549824e-02 4.84557905e-05 9.99932077e-01 -5.01691947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters 0.01329673454700121 Centerline is valid? [True, True] Translation: X:218.34, Y:-116.01, Z:-4.03 [[-9.68645651e-01 -2.48174235e-01 1.16254887e-02 2.18337658e+02] [-2.48155648e-01 9.68715410e-01 3.03781983e-03 -1.16011990e+02] [-1.20156987e-02 5.76402772e-05 -9.99927807e-01 -4.02623639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters 0.013432359087304618 Centerline is valid? [True, True] Translation: X:218.31, Y:-115.99, Z:-4.03 [[-9.48868890e-01 -3.15473257e-01 1.11559011e-02 2.18309009e+02] [-3.15450483e-01 9.48934465e-01 3.79133962e-03 -1.15992190e+02] [-1.17822853e-02 7.83498348e-05 -9.99930583e-01 -4.02731698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters 0.013604709839415825 Centerline is valid? [True, True] Translation: X:218.26, Y:-115.98, Z:-4.03 [[-9.23259767e-01 -3.83989754e-01 1.19695938e-02 2.18263180e+02] [-3.83956366e-01 9.23337350e-01 5.06425244e-03 -1.15976335e+02] [-1.29965941e-02 7.98187778e-05 -9.99915538e-01 -4.02738206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters 0.013416903629544808 Centerline is valid? [True, True] Translation: X:218.20, Y:-115.97, Z:-4.03 [[-8.91157951e-01 -4.53508963e-01 1.29277413e-02 2.18199025e+02] [-4.53460591e-01 8.91251715e-01 6.62368616e-03 -1.15969296e+02] [-1.45257727e-02 4.05293585e-05 -9.99894495e-01 -4.02698143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters 0.013361467014110331 Centerline is valid? [True, True] Translation: X:218.13, Y:-115.97, Z:-4.03 [[-8.54402357e-01 -5.19463361e-01 1.24269144e-02 2.18131153e+02] [-5.19408152e-01 8.54492725e-01 7.57334091e-03 -1.15973873e+02] [-1.45527811e-02 1.60396875e-05 -9.99894103e-01 -4.02711108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters 0.013439860785335676 Centerline is valid? [True, True] Translation: X:218.06, Y:-115.99, Z:-4.03 [[-8.11048207e-01 -5.84862423e-01 1.16941022e-02 2.18055545e+02] [-5.84802470e-01 8.11132507e-01 8.37419699e-03 -1.15985829e+02] [-1.43832196e-02 -4.68624074e-05 -9.99896555e-01 -4.02824659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters 0.01381404159722416 Centerline is valid? [True, True] Translation: X:217.97, Y:-116.01, Z:-4.03 [[-7.61218857e-01 -6.48407384e-01 1.06637405e-02 2.17972802e+02] [-6.48346251e-01 7.61293534e-01 8.90467180e-03 -1.16005236e+02] [-1.38920916e-02 -1.35392087e-04 -9.99903491e-01 -4.02930102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters 0.01457918047140387 Centerline is valid? [True, True] Translation: X:217.89, Y:-116.03, Z:-4.03 [[-7.06382940e-01 -7.07757318e-01 1.01351419e-02 2.17887805e+02] [-7.07689029e-01 7.06455610e-01 9.83409639e-03 -1.16034773e+02] [-1.41201815e-02 -2.25890792e-04 -9.99900280e-01 -4.02877260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters 0.015014204847603073 Centerline is valid? [True, True] Translation: X:217.80, Y:-116.08, Z:-4.03 [[-6.48927999e-01 -7.60787673e-01 9.72461495e-03 2.17803565e+02] [-7.60708705e-01 6.49000799e-01 1.09649060e-02 -1.16079347e+02] [-1.46532482e-02 -2.82164722e-04 -9.99892596e-01 -4.02903927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters 0.01768320502169503 Centerline is valid? [True, True] Translation: X:217.72, Y:-116.12, Z:-4.03 [[-5.86578932e-01 -8.09832891e-01 9.79004264e-03 2.17721885e+02] [-8.09730708e-01 5.86660503e-01 1.28699251e-02 -1.16122866e+02] [-1.61659200e-02 -3.78071244e-04 -9.99869252e-01 -4.02565891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters 0.016778619599846268 Centerline is valid? [True, True] Translation: X:217.64, Y:-116.18, Z:-4.03 [[-5.22738809e-01 -8.52436720e-01 9.78650106e-03 2.17644513e+02] [-8.52303028e-01 5.22830220e-01 1.51033184e-02 -1.16183465e+02] [-1.79913017e-02 -4.45973822e-04 -9.99838044e-01 -4.02515863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters 0.015849017337575027 Centerline is valid? [True, True] Translation: X:217.57, Y:-116.25, Z:-4.03 [[-4.58890379e-01 -8.88452041e-01 8.52008962e-03 2.17573032e+02] [-8.88314758e-01 4.58969293e-01 1.56230253e-02 -1.16251606e+02] [-1.77907682e-02 -3.99265361e-04 -9.99841652e-01 -4.02726141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters 0.016018181039029446 Centerline is valid? [True, True] Translation: X:217.50, Y:-116.33, Z:-4.03 [[-3.91604423e-01 -9.20106504e-01 7.07081268e-03 2.17503397e+02] [-9.19972830e-01 3.91668086e-01 1.56876156e-02 -1.16329691e+02] [-1.72036889e-02 -3.61615883e-04 -9.99851940e-01 -4.02674133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters 0.015562003464180374 Centerline is valid? [True, True] Translation: X:217.44, Y:-116.41, Z:-4.03 [[-3.21554260e-01 -9.46873048e-01 5.85559475e-03 2.17441336e+02] [-9.46735081e-01 3.21607387e-01 1.61671104e-02 -1.16412782e+02] [-1.71914037e-02 -3.45093730e-04 -9.99852157e-01 -4.02730476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters 0.014959675519695341 Centerline is valid? [True, True] Translation: X:217.39, Y:-116.51, Z:-4.03 [[-2.51178598e-01 -9.67929925e-01 4.57963574e-03 2.17386063e+02] [-9.67790042e-01 2.51220167e-01 1.64578845e-02 -1.16505776e+02] [-1.70805758e-02 -2.98257500e-04 -9.99854072e-01 -4.02764492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters 0.01424226428231584 Centerline is valid? [True, True] Translation: X:217.34, Y:-116.61, Z:-4.03 [[-1.79287268e-01 -9.83790775e-01 3.43305008e-03 2.17339616e+02] [-9.83637613e-01 1.79319939e-01 1.73610529e-02 -1.16606702e+02] [-1.76952580e-02 -2.64261450e-04 -9.99843392e-01 -4.02890172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters 0.014183134798568215 Centerline is valid? [True, True] Translation: X:217.30, Y:-116.70, Z:-4.03 [[-1.07155060e-01 -9.94239976e-01 2.15953349e-03 2.17300330e+02] [-9.94075983e-01 1.07176609e-01 1.80586317e-02 -1.16704301e+02] [-1.81860650e-02 -2.11666623e-04 -9.99834597e-01 -4.02709920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters 0.013288267620172732 Centerline is valid? [True, True] Translation: X:217.27, Y:-116.81, Z:-4.03 [[-3.45341210e-02 -9.99403251e-01 7.32277761e-04 2.17269589e+02] [-9.99254997e-01 3.45416112e-02 1.72141675e-02 -1.16812130e+02] [-1.72291891e-02 -1.37256068e-04 -9.99851557e-01 -4.02896635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters 0.012910381692295643 Centerline is valid? [True, True] Translation: X:217.25, Y:-116.92, Z:-4.03 [[ 3.66332725e-02 -9.99328602e-01 -5.90799571e-04 2.17248052e+02] [-9.99178547e-01 -3.66380097e-02 1.73172697e-02 -1.16924534e+02] [-1.73272886e-02 -4.40740039e-05 -9.99849870e-01 -4.03009773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters 0.013636915437020804 Centerline is valid? [True, True] Translation: X:217.24, Y:-117.03, Z:-4.03 [[ 1.01656637e-01 -9.94817784e-01 -1.87236869e-03 2.17239458e+02] [-9.94675520e-01 -1.01673765e-01 1.68242377e-02 -1.17029664e+02] [-1.69274216e-02 1.52103871e-04 -9.99856709e-01 -4.03066358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters 0.01505465359656048 Centerline is valid? [True, True] Translation: X:217.24, Y:-117.14, Z:-4.03 [[ 1.66844384e-01 -9.85978776e-01 -2.96731389e-03 2.17237192e+02] [-9.85854937e-01 -1.66870466e-01 1.56298248e-02 -1.17144466e+02] [-1.59058325e-02 3.17592564e-04 -9.99873444e-01 -4.03311279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters 0.016581527747070397 Centerline is valid? [True, True] Translation: X:217.24, Y:-117.26, Z:-4.03 [[ 2.37631593e-01 -9.71346789e-01 -4.07934071e-03 2.17239104e+02] [-9.71229898e-01 -2.37666301e-01 1.50736163e-02 -1.17257105e+02] [-1.56112306e-02 3.80010209e-04 -9.99878065e-01 -4.03329137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters 0.017302239518181044 Centerline is valid? [True, True] Translation: X:217.25, Y:-117.37, Z:-4.03 [[ 3.09164933e-01 -9.50993701e-01 -5.29380318e-03 2.17248357e+02] [-9.50876788e-01 -3.09209965e-01 1.49174742e-02 -1.17373567e+02] [-1.58233207e-02 4.21794658e-04 -9.99874714e-01 -4.03284766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters 0.017835255585944093 Centerline is valid? [True, True] Translation: X:217.27, Y:-117.49, Z:-4.03 [[ 3.80549947e-01 -9.24734742e-01 -6.88442854e-03 2.17266499e+02] [-9.24604694e-01 -3.80611934e-01 1.55150093e-02 -1.17490279e+02] [-1.69675638e-02 4.61138966e-04 -9.99855934e-01 -4.03215944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters 0.015833052947847984 Centerline is valid? [True, True] Translation: X:217.29, Y:-117.60, Z:-4.03 [[ 4.52976775e-01 -8.91478511e-01 -8.83771786e-03 2.17287973e+02] [-8.91327628e-01 -4.53062762e-01 1.64071230e-02 -1.17604998e+02] [-1.86306384e-02 4.45256434e-04 -9.99826335e-01 -4.03261095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters 0.014919087771744726 Centerline is valid? [True, True] Translation: X:217.32, Y:-117.72, Z:-4.03 [[ 5.24387701e-01 -8.51422797e-01 -9.83669476e-03 2.17319579e+02] [-8.51284790e-01 -5.24479847e-01 1.53328202e-02 -1.17718624e+02] [-1.82138608e-02 3.33486295e-04 -9.99834058e-01 -4.03237015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters 0.013913803748084739 Centerline is valid? [True, True] Translation: X:217.36, Y:-117.83, Z:-4.03 [[ 5.91063675e-01 -8.06566175e-01 -9.73334709e-03 2.17358724e+02] [-8.06463164e-01 -5.91143767e-01 1.28922948e-02 -1.17826846e+02] [-1.61522964e-02 2.29418744e-04 -9.99869517e-01 -4.03392072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters 0.012675793984042553 Centerline is valid? [True, True] Translation: X:217.40, Y:-117.93, Z:-4.04 [[ 6.55827685e-01 -7.54855187e-01 -9.14845609e-03 2.17401724e+02] [-7.54783897e-01 -6.55891482e-01 1.03746098e-02 -1.17929933e+02] [-1.38317224e-02 1.01151037e-04 -9.99904332e-01 -4.03572952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters 0.011990878243640575 Centerline is valid? [True, True] Translation: X:217.45, Y:-118.03, Z:-4.04 [[ 7.14921437e-01 -6.99141804e-01 -9.38486841e-03 2.17450870e+02] [-6.99082044e-01 -7.14983032e-01 9.14102800e-03 -1.18027972e+02] [-1.31008965e-02 2.56761158e-05 -9.99914179e-01 -4.03659905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters 0.012122923427536765 Centerline is valid? [True, True] Translation: X:217.47, Y:-118.06, Z:-4.04 [[ 7.72702994e-01 -6.34698975e-01 -9.34313946e-03 2.17466591e+02] [-6.34651366e-01 -7.72759474e-01 7.77422800e-03 -1.18063178e+02] [-1.21542941e-02 -7.75330322e-05 -9.99926131e-01 -4.03641113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters 0.012842155475941202 Centerline is valid? [True, True] Translation: X:217.49, Y:-118.09, Z:-4.04 [[ 8.22926145e-01 -5.68055683e-01 -1.02616223e-02 2.17488678e+02] [-5.68009301e-01 -8.22990109e-01 7.26044443e-03 -1.18094514e+02] [-1.25695504e-02 -1.46112611e-04 -9.99920989e-01 -4.03597214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters 0.014524946504052562 Centerline is valid? [True, True] Translation: X:217.51, Y:-118.13, Z:-4.03 [[ 8.68797336e-01 -4.95035832e-01 -1.14330228e-02 2.17511221e+02] [-4.94988998e-01 -8.68872521e-01 6.81427717e-03 -1.18127006e+02] [-1.33071507e-02 -2.61005365e-04 -9.99911422e-01 -4.03451179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters 0.015103011611616202 Centerline is valid? [True, True] Translation: X:217.54, Y:-118.15, Z:-4.03 [[ 9.05853700e-01 -4.23421750e-01 -1.19622451e-02 2.17539071e+02] [-4.23380524e-01 -9.05932633e-01 5.91585193e-03 -1.18152768e+02] [-1.33418886e-02 -2.94314767e-04 -9.99910950e-01 -4.03423885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters 0.015405489426758288 Centerline is valid? [True, True] Translation: X:217.57, Y:-118.17, Z:-4.03 [[ 9.36802722e-01 -3.49611246e-01 -1.31391234e-02 2.17569724e+02] [-3.49571781e-01 -9.36894798e-01 5.26381583e-03 -1.18174978e+02] [-1.41502656e-02 -3.38090232e-04 -9.99899823e-01 -4.03415193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters 0.016906339135026975 Centerline is valid? [True, True] Translation: X:217.60, Y:-118.19, Z:-4.03 [[ 9.61719074e-01 -2.73538426e-01 -1.65273156e-02 2.17601445e+02] [-2.73490064e-01 -9.61860973e-01 5.16266957e-03 -1.18194015e+02] [-1.73091683e-02 -4.44981198e-04 -9.99850086e-01 -4.03075850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters 0.016284791510494206 Centerline is valid? [True, True] Translation: X:217.64, Y:-118.21, Z:-4.03 [[ 9.80224981e-01 -1.97120015e-01 -1.73978570e-02 2.17636811e+02] [-1.97080512e-01 -9.80379254e-01 3.97357528e-03 -1.18208223e+02] [-1.78397693e-02 -4.66219180e-04 -9.99840750e-01 -4.03189406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters 0.017028625931330307 Centerline is valid? [True, True] Translation: X:217.67, Y:-118.22, Z:-4.03 [[ 9.92558190e-01 -1.20639132e-01 -1.65661978e-02 2.17671669e+02] [-1.20615182e-01 -9.92696338e-01 2.44099502e-03 -1.18218171e+02] [-1.67396834e-02 -4.24694637e-04 -9.99859792e-01 -4.03302505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters 0.01689162003474018 Centerline is valid? [True, True] Translation: X:217.70, Y:-118.22, Z:-4.03 [[ 9.98944130e-01 -4.36502955e-02 -1.43274866e-02 2.17704466e+02] [-4.36407943e-02 -9.99046811e-01 9.75272914e-04 -1.18220643e+02] [-1.43564008e-02 -3.48980257e-04 -9.99896881e-01 -4.03479055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters 0.015860910956525125 Centerline is valid? [True, True] Translation: X:217.74, Y:-118.22, Z:-4.04 [[ 9.99325480e-01 3.40792911e-02 -1.36816330e-02 2.17736747e+02] [ 3.40805377e-02 -9.99419080e-01 -1.42091196e-04 -1.18223274e+02] [-1.36785275e-02 -3.24282058e-04 -9.99906392e-01 -4.03616509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters 0.016975188307451608 Centerline is valid? [True, True] Translation: X:217.77, Y:-118.22, Z:-4.04 [[ 9.93490709e-01 1.13200800e-01 -1.27196369e-02 2.17768255e+02] [ 1.13195577e-01 -9.93572081e-01 -1.13208888e-03 -1.18222647e+02] [-1.27660295e-02 -3.15086862e-04 -9.99918461e-01 -4.03663667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters 0.01675219449889813 Centerline is valid? [True, True] Translation: X:217.80, Y:-118.22, Z:-4.04 [[ 9.81280963e-01 1.92123692e-01 -1.32724900e-02 2.17800211e+02] [ 1.92110971e-01 -9.81370655e-01 -2.23881653e-03 -1.18221534e+02] [-1.34553619e-02 -3.52882907e-04 -9.99909410e-01 -4.03739342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters 0.01709277194539814 Centerline is valid? [True, True] Translation: X:217.83, Y:-118.22, Z:-4.04 [[ 9.62835948e-01 2.69714402e-01 -1.41802396e-02 2.17832042e+02] [ 2.69691302e-01 -9.62940278e-01 -3.55292155e-03 -1.18220560e+02] [-1.46129979e-02 -4.03406680e-04 -9.99893143e-01 -4.03710948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters 0.01863684981538046 Centerline is valid? [True, True] Translation: X:217.86, Y:-118.22, Z:-4.03 [[ 9.38103178e-01 3.46012014e-01 -1.54309508e-02 2.17862558e+02] [ 3.45973569e-01 -9.38229959e-01 -5.18008958e-03 -1.18216269e+02] [-1.62701535e-02 -4.79242600e-04 -9.99867517e-01 -4.03484930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters 0.018024995048887257 Centerline is valid? [True, True] Translation: X:217.89, Y:-118.21, Z:-4.04 [[ 9.07737229e-01 4.19234915e-01 -1.59752956e-02 2.17893001e+02] [ 4.19180153e-01 -9.07877640e-01 -6.79640716e-03 -1.18206928e+02] [-1.73529049e-02 -5.27175060e-04 -9.99849288e-01 -4.03583965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters 0.018294290182873606 Centerline is valid? [True, True] Translation: X:217.92, Y:-118.20, Z:-4.04 [[ 8.72068903e-01 4.89122702e-01 -1.59628122e-02 2.17922481e+02] [ 4.89052206e-01 -8.72214813e-01 -8.32220296e-03 -1.18198081e+02] [-1.79935797e-02 -5.49114124e-04 -9.99837952e-01 -4.03527351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters 0.01774890030413503 Centerline is valid? [True, True] Translation: X:217.95, Y:-118.18, Z:-4.04 [[ 8.31829580e-01 5.54819293e-01 -1.53330186e-02 2.17949383e+02] [ 5.54736645e-01 -8.31970717e-01 -9.59069780e-03 -1.18184553e+02] [-1.80777266e-02 -5.27961137e-04 -9.99836445e-01 -4.03594564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters 0.0182943314341669 Centerline is valid? [True, True] Translation: X:217.98, Y:-118.17, Z:-4.04 [[ 7.85755898e-01 6.18383373e-01 -1.37721836e-02 2.17976601e+02] [ 6.18299509e-01 -7.85876422e-01 -1.01963695e-02 -1.18171523e+02] [-1.71284997e-02 -5.03476882e-04 -9.99853170e-01 -4.03709143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters 0.01825220021452286 Centerline is valid? [True, True] Translation: X:218.00, Y:-118.15, Z:-4.04 [[ 7.35761652e-01 6.77156660e-01 -1.06606250e-02 2.18001479e+02] [ 6.77093332e-01 -7.35838772e-01 -9.26931050e-03 -1.18154507e+02] [-1.41212766e-02 -3.98234919e-04 -9.99900211e-01 -4.04006444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters 0.017011002704978455 Centerline is valid? [True, True] Translation: X:218.03, Y:-118.14, Z:-4.04 [[ 6.82234310e-01 7.31069770e-01 -9.66117127e-03 2.18025420e+02] [ 7.31003753e-01 -6.82302620e-01 -9.83098652e-03 -1.18137536e+02] [-1.37789795e-02 -3.55316149e-04 -9.99905002e-01 -4.04034676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters 0.016625086197662245 Centerline is valid? [True, True] Translation: X:218.05, Y:-118.12, Z:-4.04 [[ 6.24351501e-01 7.81088864e-01 -9.24063986e-03 2.18049062e+02] [ 7.81011356e-01 -6.24419786e-01 -1.10088066e-02 -1.18120413e+02] [-1.43688946e-02 -3.43679725e-04 -9.99896703e-01 -4.03949373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters 0.016129022942424732 Centerline is valid? [True, True] Translation: X:218.07, Y:-118.10, Z:-4.04 [[ 5.63567514e-01 8.26018920e-01 -9.18698889e-03 2.18070798e+02] [ 8.25918694e-01 -5.63642291e-01 -1.28715959e-02 -1.18100807e+02] [-1.58103573e-02 -3.33692534e-04 -9.99874953e-01 -4.03805243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters 0.01591518733503258 Centerline is valid? [True, True] Translation: X:218.09, Y:-118.08, Z:-4.04 [[ 4.98374196e-01 8.66918737e-01 -8.66396694e-03 2.18090278e+02] [ 8.66799117e-01 -4.98449389e-01 -1.44047522e-02 -1.18079469e+02] [-1.68062986e-02 -3.30962126e-04 -9.99858709e-01 -4.03794910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters 0.016080275220126297 Centerline is valid? [True, True] Translation: X:218.11, Y:-118.06, Z:-4.04 [[ 4.30998404e-01 9.02323194e-01 -7.29581556e-03 2.18107104e+02] [ 9.02204940e-01 -4.31060056e-01 -1.46107437e-02 -1.18058354e+02] [-1.63285476e-02 -2.85113633e-04 -9.99866640e-01 -4.03771856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters 0.015638517692644786 Centerline is valid? [True, True] Translation: X:218.12, Y:-118.04, Z:-4.04 [[ 3.59110047e-01 9.33278544e-01 -5.57963993e-03 2.18123157e+02] [ 9.33176833e-01 -3.59153299e-01 -1.37806782e-02 -1.18035538e+02] [-1.48651574e-02 -2.58010702e-04 -9.99889474e-01 -4.03992167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters 0.015419952859115595 Centerline is valid? [True, True] Translation: X:218.14, Y:-118.01, Z:-4.04 [[ 2.84276341e-01 9.58732753e-01 -4.29760859e-03 2.18141676e+02] [ 9.58636516e-01 -2.84308708e-01 -1.35863529e-02 -1.18012407e+02] [-1.42475290e-02 -2.57565846e-04 -9.99898466e-01 -4.04103773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters 0.01536464809493876 Centerline is valid? [True, True] Translation: X:218.16, Y:-117.99, Z:-4.04 [[ 2.07429050e-01 9.78244657e-01 -3.25288806e-03 2.18160134e+02] [ 9.78144174e-01 -2.07454374e-01 -1.40234298e-02 -1.17988330e+02] [-1.43931712e-02 -2.72926785e-04 -9.99896376e-01 -4.04123013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters 0.015963741026947288 Centerline is valid? [True, True] Translation: X:218.18, Y:-117.96, Z:-4.04 [[ 1.28238003e-01 9.91741094e-01 -2.14870785e-03 2.18175158e+02] [ 9.91638605e-01 -1.28255647e-01 -1.42606769e-02 -1.17963241e+02] [-1.44184833e-02 -3.01980929e-04 -9.99896003e-01 -4.04148801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters 0.01668455696742445 Centerline is valid? [True, True] Translation: X:218.19, Y:-117.94, Z:-4.04 [[ 4.71035005e-02 9.98889422e-01 -1.08790072e-03 2.18190888e+02] [ 9.98772852e-01 -4.71146281e-02 -1.52643962e-02 -1.17936340e+02] [-1.52986999e-02 -3.67559212e-04 -9.99882901e-01 -4.04059479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters 0.018556819050560065 Centerline is valid? [True, True] Translation: X:218.20, Y:-117.91, Z:-4.04 [[-3.37078149e-02 9.99431723e-01 1.23323583e-04 2.18203945e+02] [ 9.99289098e-01 3.37050887e-02 -1.68897897e-02 -1.17909795e+02] [-1.68843482e-02 -4.46081991e-04 -9.99857350e-01 -4.03831151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters 0.01808775330061976 Centerline is valid? [True, True] Translation: X:218.21, Y:-117.88, Z:-4.04 [[-1.14054245e-01 9.93473269e-01 1.57901521e-03 2.18211059e+02] [ 9.93303335e-01 1.14063952e-01 -1.83820577e-02 -1.17881125e+02] [-1.84421917e-02 -5.28110636e-04 -9.99829789e-01 -4.03915071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters 0.017524584693265108 Centerline is valid? [True, True] Translation: X:218.22, Y:-117.85, Z:-4.04 [[-1.91084000e-01 9.81569426e-01 2.89256791e-03 2.18216327e+02] [ 9.81414077e-01 1.91105240e-01 -1.74699010e-02 -1.17851645e+02] [-1.77007056e-02 -4.99411701e-04 -9.99843206e-01 -4.04115863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters 0.016395475208219497 Centerline is valid? [True, True] Translation: X:218.22, Y:-117.82, Z:-4.05 [[-2.64648135e-01 9.64338532e-01 3.54413004e-03 2.18217903e+02] [ 9.64232159e-01 2.64671600e-01 -1.43278376e-02 -1.17822188e+02] [-1.47549164e-02 -3.74471315e-04 -9.99891070e-01 -4.04515128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters 0.015813413853389607 Centerline is valid? [True, True] Translation: X:218.22, Y:-117.79, Z:-4.05 [[-3.36365939e-01 9.41722267e-01 4.13841653e-03 2.18217730e+02] [ 9.41640009e-01 3.36391270e-01 -1.24501845e-02 -1.17792696e+02] [-1.31167432e-02 -2.90919438e-04 -9.99913930e-01 -4.04722261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters 0.015703975490765427 Centerline is valid? [True, True] Translation: X:218.21, Y:-117.76, Z:-4.05 [[-4.08069175e-01 9.12936351e-01 5.17363374e-03 2.18214272e+02] [ 9.12854076e-01 4.08101874e-01 -1.22595142e-02 -1.17763171e+02] [-1.33035258e-02 -2.79957185e-04 -9.99911465e-01 -4.04701318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters 0.014578754749506782 Centerline is valid? [True, True] Translation: X:218.21, Y:-117.73, Z:-4.05 [[-4.75220239e-01 8.79841602e-01 6.66928107e-03 2.18209378e+02] [ 8.79747354e-01 4.75266967e-01 -1.28803390e-02 -1.17733522e+02] [-1.45023471e-02 -2.53715414e-04 -9.99894803e-01 -4.04565630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters 0.01385438386835246 Centerline is valid? [True, True] Translation: X:218.20, Y:-117.70, Z:-4.04 [[-5.39458771e-01 8.41971209e-01 8.28956344e-03 2.18202415e+02] [ 8.41865646e-01 5.39522415e-01 -1.33340843e-02 -1.17704264e+02] [-1.56993204e-02 -2.14490036e-04 -9.99876735e-01 -4.04438071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters 0.013254292624189248 Centerline is valid? [True, True] Translation: X:218.19, Y:-117.68, Z:-4.04 [[-5.99719424e-01 8.00156767e-01 9.26068983e-03 2.18191983e+02] [ 8.00057901e-01 5.99790906e-01 -1.25787358e-02 -1.17676834e+02] [-1.56194381e-02 -1.34624145e-04 -9.99878000e-01 -4.04469681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters 0.013012059588687236 Centerline is valid? [True, True] Translation: X:218.18, Y:-117.65, Z:-4.05 [[-6.58530638e-01 7.52494510e-01 9.45577768e-03 2.18179908e+02] [ 7.52415062e-01 6.58598516e-01 -1.09347592e-02 -1.17650116e+02] [-1.44559074e-02 -8.62043806e-05 -9.99895504e-01 -4.04562070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters 0.012939909012867398 Centerline is valid? [True, True] Translation: X:218.17, Y:-117.63, Z:-4.05 [[-7.13914091e-01 7.00176110e-01 8.94901577e-03 2.18165878e+02] [ 7.00120277e-01 7.13970176e-01 -8.84223401e-03 -1.17625071e+02] [-1.25804514e-02 -4.72080525e-05 -9.99920862e-01 -4.04584894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters 0.012693505474312425 Centerline is valid? [True, True] Translation: X:218.19, Y:-117.61, Z:-4.05 [[-7.61669690e-01 6.47908257e-01 8.61243374e-03 2.18187243e+02] [ 6.47866201e-01 7.61718379e-01 -7.38226251e-03 -1.17605757e+02] [-1.13432779e-02 -4.31408674e-05 -9.99935662e-01 -4.04661187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters 0.012822302316173439 Centerline is valid? [True, True] Translation: X:218.20, Y:-117.58, Z:-4.05 [[-8.06491321e-01 5.91189127e-01 8.19543088e-03 2.18204988e+02] [ 5.91157922e-01 8.06532959e-01 -6.07436215e-03 -1.17582595e+02] [-1.02009820e-02 -5.41264656e-05 -9.99947967e-01 -4.04664889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters 0.013162029527291641 Centerline is valid? [True, True] Translation: X:218.22, Y:-117.56, Z:-4.05 [[-8.47712734e-01 5.30393110e-01 8.14060842e-03 2.18222515e+02] [ 5.30367785e-01 8.47751817e-01 -5.18362396e-03 -1.17557937e+02] [-9.65057401e-03 -7.67075885e-05 -9.99953429e-01 -4.04603232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters 0.013853613313176284 Centerline is valid? [True, True] Translation: X:218.24, Y:-117.53, Z:-4.05 [[-8.85302595e-01 4.64941010e-01 8.31698083e-03 2.18239300e+02] [ 4.64919222e-01 8.85341653e-01 -4.50269698e-03 -1.17530856e+02] [-9.45685804e-03 -1.19525066e-04 -9.99955276e-01 -4.04560736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters 0.014461975196280905 Centerline is valid? [True, True] Translation: X:218.25, Y:-117.50, Z:-4.05 [[-9.17689438e-01 3.97229382e-01 7.41037846e-03 2.18247938e+02] [ 3.97215220e-01 9.17719347e-01 -3.35694596e-03 -1.17500365e+02] [-8.13412524e-03 -1.37118737e-04 -9.99966908e-01 -4.04588209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters 0.014972613145386313 Centerline is valid? [True, True] Translation: X:218.25, Y:-117.47, Z:-4.05 [[-9.44774779e-01 3.27650980e-01 6.74176637e-03 2.18253654e+02] [ 3.27641515e-01 9.44798821e-01 -2.49489066e-03 -1.17470340e+02] [-7.18706629e-03 -1.48227230e-04 -9.99974162e-01 -4.04567155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters 0.01544318122240094 Centerline is valid? [True, True] Translation: X:218.26, Y:-117.44, Z:-4.05 [[-9.66081826e-01 2.58166088e-01 6.01475631e-03 2.18263619e+02] [ 2.58160177e-01 9.66100539e-01 -1.75264799e-03 -1.17443329e+02] [-6.26333359e-03 -1.40430817e-04 -9.99980375e-01 -4.04519893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters 0.01569776807613807 Centerline is valid? [True, True] Translation: X:218.27, Y:-117.42, Z:-4.04 [[-9.82182025e-01 1.87847370e-01 5.64219048e-03 2.18266537e+02] [ 1.87843470e-01 9.82198222e-01 -1.21821491e-03 -1.17415475e+02] [-5.77058793e-03 -1.36660154e-04 -9.99983341e-01 -4.04492000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters 0.016017768844908763 Centerline is valid? [True, True] Translation: X:218.27, Y:-117.39, Z:-4.04 [[-9.93029556e-01 1.17784124e-01 4.38194135e-03 2.18269456e+02] [ 1.17782512e-01 9.93039218e-01 -6.25139481e-04 -1.17387922e+02] [-4.42507112e-03 -1.04665923e-04 -9.99990204e-01 -4.04442325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters 0.016312591547216496 Centerline is valid? [True, True] Translation: X:218.27, Y:-117.36, Z:-4.04 [[-9.98826253e-01 4.83229333e-02 3.31830513e-03 2.18271127e+02] [ 4.83224189e-02 9.98831762e-01 -2.35059197e-04 -1.17360003e+02] [-3.32578731e-03 -7.44347665e-05 -9.99994467e-01 -4.04406463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters 0.01480645967819047 Centerline is valid? [True, True] Translation: X:218.32, Y:-116.72, Z:-5.00 [[-9.87605335e-01 -1.56948983e-01 1.64918646e-03 2.18319898e+02] [ 1.56948657e-01 -9.87606710e-01 -3.26376852e-04 -1.16724593e+02] [ 1.67997212e-03 -6.34939214e-05 9.99998587e-01 -4.99681166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters 0.013337247824098316 Centerline is valid? [True, True] Translation: X:218.22, Y:-117.36, Z:-4.04 [[-9.98515658e-01 5.44389407e-02 1.69773190e-03 2.18222503e+02] [ 5.44388268e-02 9.98517101e-01 -1.13228856e-04 -1.17364444e+02] [-1.70137840e-03 -2.06382527e-05 -9.99998552e-01 -4.04341487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters 0.012485230770210229 Centerline is valid? [True, True] Translation: X:218.28, Y:-116.71, Z:-5.00 [[-9.90365625e-01 -1.38458448e-01 2.27745768e-03 2.18275420e+02] [ 1.38458224e-01 -9.90368242e-01 -2.56220088e-04 -1.16713867e+02] [ 2.29099759e-03 6.15811785e-05 9.99997374e-01 -4.99914044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters 0.01272117309085776 Centerline is valid? [True, True] Translation: X:218.18, Y:-117.37, Z:-4.04 [[-9.97638387e-01 6.85876202e-02 3.65892019e-03 2.18178697e+02] [ 6.85872417e-02 9.97645096e-01 -2.28967402e-04 -1.17373422e+02] [-3.66600811e-03 2.25285734e-05 -9.99993280e-01 -4.04059630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters 0.014244957126285875 Centerline is valid? [True, True] Translation: X:218.23, Y:-116.70, Z:-5.00 [[-9.93539126e-01 -1.13454508e-01 2.84249841e-03 2.18232803e+02] [ 1.13453867e-01 -9.93543190e-01 -3.86345529e-04 -1.16701428e+02] [ 2.86797758e-03 -6.13569636e-05 9.99995885e-01 -5.00007333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters 0.015491753303053673 Centerline is valid? [True, True] Translation: X:218.13, Y:-117.38, Z:-4.04 [[-9.96802920e-01 7.98927339e-02 1.04422567e-03 2.18133612e+02] [ 7.98927138e-02 9.96803466e-01 -6.10283416e-05 -1.17376849e+02] [-1.04576349e-03 2.25927935e-05 -9.99999453e-01 -4.04265524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters 0.015347060343080825 Centerline is valid? [True, True] Translation: X:218.13, Y:-117.35, Z:-4.04 [[-9.99948311e-01 1.01587468e-02 4.18771454e-04 2.18133230e+02] [ 1.01587499e-02 9.99948399e-01 5.18264652e-06 -1.17348248e+02] [-4.18697195e-04 9.43657306e-06 -9.99999912e-01 -4.04270049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters 0.01605394659337307 Centerline is valid? [True, True] Translation: X:218.13, Y:-117.32, Z:-4.04 [[-9.98214797e-01 -5.97239970e-02 5.13732468e-04 2.18125859e+02] [-5.97239827e-02 9.98214929e-01 4.30795813e-05 -1.17320252e+02] [-5.15388304e-04 1.23205264e-05 -9.99999867e-01 -4.04231119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters 0.015123653879345219 Centerline is valid? [True, True] Translation: X:218.07, Y:-116.65, Z:-5.00 [[-9.99269050e-01 3.81923509e-02 1.64651089e-03 2.18067307e+02] [-3.81922365e-02 -9.99270405e-01 1.00897009e-04 -1.16651704e+02] [ 1.64916309e-03 3.79393249e-05 9.99998639e-01 -5.00071575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters 0.013457119310545046 Centerline is valid? [True, True] Translation: X:218.05, Y:-117.31, Z:-4.04 [[-9.97288307e-01 -7.35615760e-02 2.17437690e-03 2.18047738e+02] [-7.35613297e-02 9.97290677e-01 1.93158980e-04 -1.17312476e+02] [-2.18269489e-03 3.26851364e-05 -9.99997617e-01 -4.04016664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters 0.012827296310592725 Centerline is valid? [True, True] Translation: X:217.99, Y:-116.67, Z:-5.00 [[-9.99470154e-01 3.24954999e-02 1.85824348e-03 2.17989173e+02] [-3.24955376e-02 -9.99471881e-01 9.91128369e-06 -1.16672228e+02] [ 1.85758417e-03 -5.04785886e-05 9.99998273e-01 -5.00112435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters 0.012294204583380515 Centerline is valid? [True, True] Translation: X:217.97, Y:-117.31, Z:-4.04 [[-9.96178947e-01 -8.73232458e-02 1.46867219e-03 2.17974143e+02] [-8.73231385e-02 9.96180029e-01 1.37202993e-04 -1.17306599e+02] [-1.47504291e-03 8.42966855e-06 -9.99998912e-01 -4.04006618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters 0.012036613904410546 Centerline is valid? [True, True] Translation: X:217.96, Y:-117.28, Z:-4.04 [[-9.87131444e-01 -1.59906074e-01 1.24904607e-03 2.17958713e+02] [-1.59905940e-01 9.87132234e-01 2.07070285e-04 -1.17277457e+02] [-1.26608543e-03 4.67570292e-06 -9.99999199e-01 -4.03990081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters 0.012057348404753209 Centerline is valid? [True, True] Translation: X:217.94, Y:-117.25, Z:-4.04 [[-9.73005990e-01 -2.30773999e-01 1.64486435e-03 2.17943324e+02] [-2.30773661e-01 9.73007380e-01 3.94970351e-04 -1.17249811e+02] [-1.69161403e-03 4.71715047e-06 -9.99998569e-01 -4.03947279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters 0.012151699174575911 Centerline is valid? [True, True] Translation: X:217.92, Y:-117.23, Z:-4.04 [[-9.54189542e-01 -2.99194579e-01 2.21853993e-03 2.17920600e+02] [-2.99193751e-01 9.54192121e-01 7.04056774e-04 -1.17226066e+02] [-2.32756329e-03 8.03032831e-06 -9.99997291e-01 -4.03931789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters 0.012193789758359679 Centerline is valid? [True, True] Translation: X:217.89, Y:-117.21, Z:-4.04 [[-9.30448490e-01 -3.66406318e-01 3.46670911e-03 2.17890165e+02] [-3.66403712e-01 9.30454948e-01 1.38222012e-03 -1.17206237e+02] [-3.73207083e-03 1.58695388e-05 -9.99993036e-01 -4.03912111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters 0.012371522152249698 Centerline is valid? [True, True] Translation: X:217.84, Y:-117.20, Z:-4.04 [[-9.01768048e-01 -4.32193385e-01 4.82342802e-03 2.17839828e+02] [-4.32187037e-01 9.01780947e-01 2.34271612e-03 -1.17198392e+02] [-5.36218190e-03 2.79634796e-05 -9.99985623e-01 -4.03823673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters 0.012614057988080185 Centerline is valid? [True, True] Translation: X:217.78, Y:-117.20, Z:-4.04 [[-8.68487732e-01 -4.95676207e-01 5.84442758e-03 2.17776137e+02] [-4.95664607e-01 8.68507395e-01 3.39137084e-03 -1.17202775e+02] [-6.75695041e-03 4.84880646e-05 -9.99977170e-01 -4.03798725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters 0.012747313107141967 Centerline is valid? [True, True] Translation: X:217.71, Y:-117.21, Z:-4.04 [[-8.30220719e-01 -5.57399519e-01 6.27175034e-03 2.17707964e+02] [-5.57383024e-01 8.30244405e-01 4.28860523e-03 -1.17214512e+02] [-7.59755213e-03 6.47217479e-05 -9.99971136e-01 -4.03836814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters 0.012696959980569982 Centerline is valid? [True, True] Translation: X:217.63, Y:-117.24, Z:-4.04 [[-7.86288228e-01 -6.17827046e-01 6.36900884e-03 2.17632422e+02] [-6.17806090e-01 7.86314019e-01 5.08904580e-03 -1.17236827e+02] [-8.15219108e-03 6.66443548e-05 -9.99966768e-01 -4.03848331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters 0.012566407942074188 Centerline is valid? [True, True] Translation: X:217.55, Y:-117.27, Z:-4.04 [[-7.36973321e-01 -6.75896092e-01 5.89894208e-03 2.17552642e+02] [-6.75873861e-01 7.36996927e-01 5.48208591e-03 -1.17269289e+02] [-8.05282262e-03 5.32102956e-05 -9.99967574e-01 -4.03904463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters 0.0122045798665614 Centerline is valid? [True, True] Translation: X:217.47, Y:-117.31, Z:-4.04 [[-6.81122425e-01 -7.32149134e-01 5.46692708e-03 2.17469954e+02] [-7.32125342e-01 6.81144364e-01 5.90237239e-03 -1.17311237e+02] [-8.04518341e-03 1.77623424e-05 -9.99967637e-01 -4.04006451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters 0.01233083887372502 Centerline is valid? [True, True] Translation: X:217.39, Y:-117.36, Z:-4.04 [[-6.18555610e-01 -7.85726763e-01 4.73410099e-03 2.17385383e+02] [-7.85704234e-01 6.18573724e-01 5.95015100e-03 -1.17361137e+02] [-7.60358336e-03 -3.91039103e-05 -9.99971092e-01 -4.04058914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters 0.014073606567030583 Centerline is valid? [True, True] Translation: X:217.30, Y:-117.42, Z:-4.04 [[-5.49301916e-01 -8.35604798e-01 5.65920248e-03 2.17301607e+02] [-8.35563294e-01 5.49331046e-01 8.32967027e-03 -1.17420626e+02] [-1.00690881e-02 -1.53118026e-04 -9.99949294e-01 -4.03905785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters 0.015342687364233828 Centerline is valid? [True, True] Translation: X:217.22, Y:-117.49, Z:-4.04 [[-4.78555145e-01 -8.78041191e-01 5.35162345e-03 2.17224634e+02] [-8.77991766e-01 4.78585007e-01 9.31933897e-03 -1.17488703e+02] [-1.07439702e-02 -2.38863716e-04 -9.99942253e-01 -4.03914244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters 0.018301751079487595 Centerline is valid? [True, True] Translation: X:217.15, Y:-117.57, Z:-4.04 [[-4.02466689e-01 -9.15418072e-01 5.50624298e-03 2.17148250e+02] [-9.15345595e-01 4.02504153e-01 1.15259867e-02 -1.17568772e+02] [-1.27673822e-02 -4.01289530e-04 -9.99918413e-01 -4.03821408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters 0.018800101120953296 Centerline is valid? [True, True] Translation: X:217.09, Y:-117.65, Z:-4.04 [[-3.31479900e-01 -9.43450916e-01 4.63080497e-03 2.17085374e+02] [-9.43375385e-01 3.31511993e-01 1.19449100e-02 -1.17652159e+02] [-1.28046037e-02 -4.09089838e-04 -9.99917934e-01 -4.03837902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters 0.01815757974972043 Centerline is valid? [True, True] Translation: X:217.03, Y:-117.74, Z:-4.04 [[-2.60391570e-01 -9.65496642e-01 3.53055798e-03 2.17030798e+02] [-9.65426177e-01 2.60415241e-01 1.16704168e-02 -1.17740721e+02] [-1.21871593e-02 -3.69614951e-04 -9.99925666e-01 -4.03921101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters 0.016680466205573653 Centerline is valid? [True, True] Translation: X:216.99, Y:-117.84, Z:-4.04 [[-1.90921611e-01 -9.81602141e-01 2.48481554e-03 2.16985484e+02] [-9.81537762e-01 1.90937557e-01 1.12459534e-02 -1.17837795e+02] [-1.15134966e-02 -2.91844729e-04 -9.99933675e-01 -4.04016878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters 0.0157084171689103 Centerline is valid? [True, True] Translation: X:216.95, Y:-117.93, Z:-4.04 [[-1.20006828e-01 -9.92771738e-01 1.62421186e-03 2.16948091e+02] [-9.92706392e-01 1.20017568e-01 1.13931215e-02 -1.17930182e+02] [-1.15057030e-02 -2.45113125e-04 -9.99933777e-01 -4.04064170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters 0.014448485464387784 Centerline is valid? [True, True] Translation: X:216.92, Y:-118.04, Z:-4.04 [[-4.77253878e-02 -9.98860177e-01 7.96315309e-04 2.16917078e+02] [-9.98785247e-01 4.77315627e-02 1.22363931e-02 -1.18036346e+02] [-1.22604552e-02 -2.11361375e-04 -9.99924815e-01 -4.04056091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters 0.013063008480971371 Centerline is valid? [True, True] Translation: X:216.90, Y:-118.15, Z:-4.04 [[ 2.28184754e-02 -9.99739614e-01 -1.45237088e-04 2.16896373e+02] [-9.99662538e-01 -2.28185198e-02 1.24147359e-02 -1.18147614e+02] [-1.24148174e-02 -1.38097270e-04 -9.99922924e-01 -4.03991755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters 0.012054537457555779 Centerline is valid? [True, True] Translation: X:216.89, Y:-118.26, Z:-4.04 [[ 9.11102313e-02 -9.95840066e-01 -1.22015553e-03 2.16886991e+02] [-9.95745210e-01 -9.11183935e-02 1.37446500e-02 -1.18257969e+02] [-1.37986518e-02 -3.73142130e-05 -9.99904793e-01 -4.03925009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters 0.013146025144584838 Centerline is valid? [True, True] Translation: X:216.89, Y:-118.37, Z:-4.04 [[ 1.56337737e-01 -9.87700831e-01 -2.36208986e-03 2.16888318e+02] [-9.87599566e-01 -1.56355533e-01 1.41437133e-02 -1.18368522e+02] [-1.43390832e-02 1.21602773e-04 -9.99897183e-01 -4.03840335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters 0.014724557668862747 Centerline is valid? [True, True] Translation: X:216.90, Y:-118.48, Z:-4.04 [[ 2.19405174e-01 -9.75628341e-01 -3.27250146e-03 2.16895367e+02] [-9.75538614e-01 -2.19429388e-01 1.32346777e-02 -1.18481165e+02] [-1.36302097e-02 2.88694765e-04 -9.99907063e-01 -4.04147267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters 0.01735960170706747 Centerline is valid? [True, True] Translation: X:216.91, Y:-118.60, Z:-4.04 [[ 2.86544621e-01 -9.58057220e-01 -4.30609137e-03 2.16908029e+02] [-9.57968853e-01 -2.86576703e-01 1.30180858e-02 -1.18595199e+02] [-1.37060966e-02 3.94838940e-04 -9.99905989e-01 -4.04135746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters 0.02033934777540088 Centerline is valid? [True, True] Translation: X:216.93, Y:-118.71, Z:-4.04 [[ 3.51722458e-01 -9.36090384e-01 -5.10926282e-03 2.16929683e+02] [-9.36010956e-01 -3.51759225e-01 1.22039991e-02 -1.18708712e+02] [-1.32212765e-02 4.89905427e-04 -9.99912475e-01 -4.04221844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters 0.020515090978558147 Centerline is valid? [True, True] Translation: X:216.95, Y:-118.83, Z:-4.04 [[ 4.20705791e-01 -9.07179608e-01 -5.63890646e-03 2.16954536e+02] [-9.07112946e-01 -4.20743301e-01 1.10081259e-02 -1.18825626e+02] [-1.23588795e-02 4.83942726e-04 -9.99923509e-01 -4.04373562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters 0.019945335106143578 Centerline is valid? [True, True] Translation: X:216.98, Y:-118.94, Z:-4.04 [[ 4.90583941e-01 -8.71367599e-01 -6.77529727e-03 2.16984375e+02] [-8.71297695e-01 -4.90630486e-01 1.10477665e-02 -1.18937771e+02] [-1.29508332e-02 4.83444060e-04 -9.99916018e-01 -4.04385730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters 0.019168780876924477 Centerline is valid? [True, True] Translation: X:217.02, Y:-119.05, Z:-4.04 [[ 5.58939863e-01 -8.29171575e-01 -7.79284104e-03 2.17023746e+02] [-8.29101827e-01 -5.58994008e-01 1.07638115e-02 -1.19050489e+02] [-1.32811980e-02 4.44735392e-04 -9.99911702e-01 -4.04387879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters 0.017975457963633524 Centerline is valid? [True, True] Translation: X:217.07, Y:-119.16, Z:-4.04 [[ 6.25200551e-01 -7.80419016e-01 -8.39225984e-03 2.17068423e+02] [-7.80356288e-01 -6.25256772e-01 9.90121334e-03 -1.19157478e+02] [-1.29744125e-02 3.58708698e-04 -9.99915764e-01 -4.04408502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters 0.015369056748385351 Centerline is valid? [True, True] Translation: X:217.12, Y:-119.26, Z:-4.04 [[ 6.87928255e-01 -7.25715290e-01 -9.59341922e-03 2.17116962e+02] [-7.25650378e-01 -6.87995086e-01 9.71034693e-03 -1.19262126e+02] [-1.36471725e-02 2.81446267e-04 -9.99906833e-01 -4.04408326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters 0.01331108755123211 Centerline is valid? [True, True] Translation: X:217.17, Y:-119.36, Z:-4.04 [[ 7.48795231e-01 -6.62715809e-01 -1.06516920e-02 2.17168683e+02] [-6.62651160e-01 -7.48870977e-01 9.25742408e-03 -1.19360916e+02] [-1.41117843e-02 1.26441030e-04 -9.99900416e-01 -4.04232934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters 0.01284838463220089 Centerline is valid? [True, True] Translation: X:217.19, Y:-119.39, Z:-4.04 [[ 8.03849177e-01 -5.94729764e-01 -1.10908902e-02 2.17185482e+02] [-5.94673096e-01 -8.03925685e-01 8.20985923e-03 -1.19391914e+02] [-1.37988991e-02 -4.03458848e-06 -9.99904791e-01 -4.04030693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters 0.012700490154021277 Centerline is valid? [True, True] Translation: X:217.21, Y:-119.42, Z:-4.04 [[ 8.50649392e-01 -5.25618663e-01 -1.09832831e-02 2.17206915e+02] [-5.25573774e-01 -8.50720292e-01 6.86967145e-03 -1.19419606e+02] [-1.29545294e-02 -7.11562774e-05 -9.99916084e-01 -4.04256617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters 0.014137226612858867 Centerline is valid? [True, True] Translation: X:217.23, Y:-119.45, Z:-4.04 [[ 8.93863569e-01 -4.48220258e-01 -1.03208695e-02 2.17229336e+02] [-4.48187979e-01 -8.93923132e-01 5.38238882e-03 -1.19448597e+02] [-1.16385597e-02 -1.85431643e-04 -9.99932253e-01 -4.04343879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters 0.015158127993985691 Centerline is valid? [True, True] Translation: X:217.26, Y:-119.47, Z:-4.04 [[ 9.28077840e-01 -3.72235596e-01 -1.05916673e-02 2.17256011e+02] [-3.72208366e-01 -9.28138245e-01 4.50891878e-03 -1.19472782e+02] [-1.15089115e-02 -2.42320432e-04 -9.99933741e-01 -4.04392622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters 0.016935541129062415 Centerline is valid? [True, True] Translation: X:217.29, Y:-119.49, Z:-4.04 [[ 9.55928538e-01 -2.93344683e-01 -1.22281162e-02 2.17285182e+02] [-2.93316094e-01 -9.56006684e-01 4.10963052e-03 -1.19494270e+02] [-1.28956991e-02 -3.41809821e-04 -9.99916789e-01 -4.04215389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters 0.018019372292119824 Centerline is valid? [True, True] Translation: X:217.32, Y:-119.51, Z:-4.04 [[ 9.76326388e-01 -2.15870168e-01 -1.36695168e-02 2.17317585e+02] [-2.15843259e-01 -9.76421994e-01 3.43178420e-03 -1.19509542e+02] [-1.40880367e-02 -4.00068425e-04 -9.99900679e-01 -4.04037878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters 0.018349987253968518 Centerline is valid? [True, True] Translation: X:217.35, Y:-119.52, Z:-4.04 [[ 9.90294803e-01 -1.38220866e-01 -1.45325977e-02 2.17351068e+02] [-1.38199633e-01 -9.90401337e-01 2.46012212e-03 -1.19519647e+02] [-1.47331444e-02 -4.27846480e-04 -9.99891370e-01 -4.03988109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters 0.017668261542134727 Centerline is valid? [True, True] Translation: X:217.38, Y:-119.52, Z:-4.04 [[ 9.97895278e-01 -6.29854072e-02 -1.54224772e-02 2.17382974e+02] [-6.29715720e-02 -9.98014365e-01 1.38154898e-03 -1.19520456e+02] [-1.54788712e-02 -4.07463576e-04 -9.99880112e-01 -4.03935679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters 0.016721942169602454 Centerline is valid? [True, True] Translation: X:217.41, Y:-119.52, Z:-4.04 [[ 9.99815945e-01 1.21699266e-02 -1.48313459e-02 2.17414175e+02] [ 1.21736834e-02 -9.99925885e-01 1.63045353e-04 -1.19518887e+02] [-1.48282624e-02 -3.43567454e-04 -9.99889996e-01 -4.03999833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters 0.014692478957041604 Centerline is valid? [True, True] Translation: X:217.44, Y:-119.51, Z:-4.04 [[ 9.96398008e-01 8.37623071e-02 -1.32244365e-02 2.17444097e+02] [ 8.37578369e-02 -9.96485739e-01 -8.92492294e-04 -1.19508963e+02] [-1.32527196e-02 -2.18372653e-04 -9.99912155e-01 -4.04180616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters 0.013172442037602011 Centerline is valid? [True, True] Translation: X:217.47, Y:-119.50, Z:-4.04 [[ 9.87461064e-01 1.57432365e-01 -1.16489101e-02 2.17472866e+02] [ 1.57423141e-01 -9.87529761e-01 -1.71038146e-03 -1.19503022e+02] [-1.17729148e-02 -1.44872913e-04 -9.99930686e-01 -4.04374973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters 0.012200738556939985 Centerline is valid? [True, True] Translation: X:217.50, Y:-119.50, Z:-4.05 [[ 9.73271478e-01 2.29431008e-01 -1.02001813e-02 2.17500717e+02] [ 2.29419233e-01 -9.73324924e-01 -2.32562711e-03 -1.19496643e+02] [-1.04616616e-02 -7.66512361e-05 -9.99945272e-01 -4.04558549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters 0.011944922922186633 Centerline is valid? [True, True] Translation: X:217.53, Y:-119.49, Z:-4.04 [[ 9.53596555e-01 3.00898253e-01 -1.06701136e-02 2.17527495e+02] [ 3.00879825e-01 -9.53656248e-01 -3.33028468e-03 -1.19489046e+02] [-1.11776974e-02 -3.46739169e-05 -9.99937527e-01 -4.04458361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters 0.012038141107751378 Centerline is valid? [True, True] Translation: X:217.55, Y:-119.48, Z:-4.04 [[ 9.28331935e-01 3.71532089e-01 -1.27954920e-02 2.17553811e+02] [ 3.71496747e-01 -9.28420113e-01 -5.12444050e-03 -1.19480212e+02] [-1.37834862e-02 3.69809667e-06 -9.99905003e-01 -4.04225770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters 0.012007014628951358 Centerline is valid? [True, True] Translation: X:217.58, Y:-119.47, Z:-4.04 [[ 8.97098334e-01 4.41669920e-01 -1.19273482e-02 2.17581378e+02] [ 4.41630528e-01 -8.97177620e-01 -5.89873114e-03 -1.19473856e+02] [-1.33062420e-02 2.42607834e-05 -9.99911468e-01 -4.04261781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters 0.01209044333449421 Centerline is valid? [True, True] Translation: X:217.61, Y:-119.47, Z:-4.04 [[ 8.61138094e-01 5.08271155e-01 -1.00805038e-02 2.17608279e+02] [ 5.08235626e-01 -8.61197092e-01 -6.00980089e-03 -1.19465285e+02] [-1.17359090e-02 5.19973418e-05 -9.99931131e-01 -4.04346026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters 0.012607734017765153 Centerline is valid? [True, True] Translation: X:217.63, Y:-119.45, Z:-4.05 [[ 8.21670642e-01 5.69917630e-01 -7.15902235e-03 2.17633163e+02] [ 5.69895108e-01 -8.21701824e-01 -5.06729685e-03 -1.19453865e+02] [-8.77052354e-03 8.37572381e-05 -9.99961535e-01 -4.04574765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters 0.013662489695506945 Centerline is valid? [True, True] Translation: X:217.66, Y:-119.44, Z:-4.05 [[ 7.77371852e-01 6.29019381e-01 -5.25569666e-03 2.17656081e+02] [ 6.29004166e-01 -7.77389612e-01 -4.37618676e-03 -1.19441183e+02] [-6.83843027e-03 9.60693126e-05 -9.99976613e-01 -4.04599802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters 0.01371481849879707 Centerline is valid? [True, True] Translation: X:217.68, Y:-119.43, Z:-4.05 [[ 7.27592029e-01 6.85994922e-01 -4.56127385e-03 2.17682868e+02] [ 6.85980517e-01 -7.27606319e-01 -4.44700733e-03 -1.19430721e+02] [-6.36943613e-03 1.06662101e-04 -9.99979709e-01 -4.04636443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters 0.014333777339103241 Centerline is valid? [True, True] Translation: X:217.71, Y:-119.42, Z:-4.05 [[ 6.73045880e-01 7.39589879e-01 -4.00677378e-03 2.17706573e+02] [ 7.39575761e-01 -6.73057797e-01 -4.57119760e-03 -1.19417078e+02] [-6.07760181e-03 1.13312947e-04 -9.99981525e-01 -4.04570918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters 0.013898875697236782 Centerline is valid? [True, True] Translation: X:217.74, Y:-119.41, Z:-4.04 [[ 6.12519083e-01 7.90446762e-01 -3.78009978e-03 2.17735754e+02] [ 7.90430555e-01 -6.12530736e-01 -5.06303084e-03 -1.19407203e+02] [-6.31748364e-03 1.13296636e-04 -9.99980038e-01 -4.04430038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters 0.013709474711151253 Centerline is valid? [True, True] Translation: X:217.76, Y:-119.39, Z:-4.04 [[ 5.47115687e-01 8.37049494e-01 -3.54538345e-03 2.17760675e+02] [ 8.37030646e-01 -5.47127164e-01 -5.61823758e-03 -1.19391677e+02] [-6.64251851e-03 1.06231310e-04 -9.99977933e-01 -4.04316824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters 0.01276059935182931 Centerline is valid? [True, True] Translation: X:217.79, Y:-119.38, Z:-4.04 [[ 4.76357044e-01 8.79247306e-01 -2.85330091e-03 2.17788341e+02] [ 8.79230605e-01 -4.76365583e-01 -5.41983686e-03 -1.19376138e+02] [-6.12459131e-03 7.30679805e-05 -9.99981242e-01 -4.04334952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters 0.012244795425205787 Centerline is valid? [True, True] Translation: X:217.81, Y:-119.36, Z:-4.04 [[ 4.02522250e-01 9.15407438e-01 -2.24963419e-03 2.17813388e+02] [ 9.15392496e-01 -4.02528534e-01 -5.23043924e-03 -1.19357984e+02] [-5.69352494e-03 4.60699161e-05 -9.99983791e-01 -4.04328461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters 0.011646307562975898 Centerline is valid? [True, True] Translation: X:217.84, Y:-119.34, Z:-4.04 [[ 3.23192114e-01 9.46332306e-01 -1.42257966e-03 2.17839611e+02] [ 9.46323062e-01 -3.23195245e-01 -4.18286517e-03 -1.19338016e+02] [-4.41815142e-03 5.64909237e-06 -9.99990240e-01 -4.04261365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters 0.011899333016942614 Centerline is valid? [True, True] Translation: X:217.86, Y:-119.32, Z:-4.04 [[ 2.40590327e-01 9.70626369e-01 -8.63536537e-04 2.17863435e+02] [ 9.70620451e-01 -2.40591876e-01 -3.38956874e-03 -1.19315551e+02] [-3.49776467e-03 -2.26687715e-05 -9.99993883e-01 -4.04317459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters 0.012443895480316419 Centerline is valid? [True, True] Translation: X:217.88, Y:-119.29, Z:-4.04 [[ 1.59211360e-01 9.87244320e-01 -6.29558601e-04 2.17883116e+02] [ 9.87237591e-01 -1.59212599e-01 -3.64515409e-03 -1.19290302e+02] [-3.69889133e-03 -4.11739782e-05 -9.99993158e-01 -4.04227227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters 0.013100833536979726 Centerline is valid? [True, True] Translation: X:217.90, Y:-119.26, Z:-4.04 [[ 7.74782244e-02 9.96993979e-01 -3.61877713e-04 2.17900630e+02] [ 9.96986361e-01 -7.74790472e-02 -3.89791755e-03 -1.19263275e+02] [-3.91423827e-03 -5.87834136e-05 -9.99992338e-01 -4.04106124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters 0.013388258444692843 Centerline is valid? [True, True] Translation: X:217.92, Y:-119.23, Z:-4.04 [[-3.73848536e-03 9.99993010e-01 -5.96355850e-05 2.17915978e+02] [ 9.99984095e-01 3.73820017e-03 -4.22329883e-03 -1.19233968e+02] [-4.22304638e-03 -7.54233774e-05 -9.99991080e-01 -4.04018680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters 0.013891879664215028 Centerline is valid? [True, True] Translation: X:217.93, Y:-119.20, Z:-4.04 [[-8.38390500e-02 9.96479257e-01 3.21280257e-04 2.17927596e+02] [ 9.96466774e-01 8.38396082e-02 -4.98878275e-03 -1.19203629e+02] [-4.99815454e-03 -9.81097050e-05 -9.99987504e-01 -4.03928410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters 0.014017809955480865 Centerline is valid? [True, True] Translation: X:217.93, Y:-119.17, Z:-4.04 [[-1.60406064e-01 9.87050995e-01 4.77512331e-04 2.17933603e+02] [ 9.87045399e-01 1.60406762e-01 -3.32432947e-03 -1.19174468e+02] [-3.35787892e-03 -6.19162543e-05 -9.99994360e-01 -4.04006400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters 0.013476593209724707 Centerline is valid? [True, True] Translation: X:217.93, Y:-119.14, Z:-4.04 [[-2.35117220e-01 9.71966895e-01 4.97273333e-04 2.17934652e+02] [ 9.71964375e-01 2.35117743e-01 -2.21352197e-03 -1.19143915e+02] [-2.26838786e-03 -3.71051691e-05 -9.99997427e-01 -4.04047080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters 0.012395922569270227 Centerline is valid? [True, True] Translation: X:217.93, Y:-119.11, Z:-4.04 [[-3.04758668e-01 9.52429410e-01 6.11665934e-04 2.17929591e+02] [ 9.52427349e-01 3.04759281e-01 -1.98151495e-03 -1.19114564e+02] [-2.07366399e-03 -2.13164935e-05 -9.99997850e-01 -4.04020183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters 0.011741662276555634 Centerline is valid? [True, True] Translation: X:217.92, Y:-119.09, Z:-4.04 [[-3.72719517e-01 9.27943953e-01 4.26503384e-04 2.17923008e+02] [ 9.27943330e-01 3.72719761e-01 -1.07513656e-03 -1.19086635e+02] [-1.15663271e-03 -4.95341028e-06 -9.99999331e-01 -4.03991828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters 0.012075128042302166 Centerline is valid? [True, True] Translation: X:217.91, Y:-119.06, Z:-4.04 [[-4.34642400e-01 9.00603009e-01 4.52034208e-04 2.17910027e+02] [ 9.00602537e-01 4.34642636e-01 -9.21531062e-04 -1.19062789e+02] [-1.02640699e-03 6.56668182e-06 -9.99999473e-01 -4.03903484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters 0.01358620827172325 Centerline is valid? [True, True] Translation: X:217.90, Y:-119.04, Z:-4.04 [[-4.94819036e-01 8.68995597e-01 8.80146421e-04 2.17897972e+02] [ 8.68994326e-01 4.94819818e-01 -1.48637332e-03 -1.19036970e+02] [-1.72716576e-03 2.93564329e-05 -9.99998508e-01 -4.03831364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters 0.01565756098941253 Centerline is valid? [True, True] Translation: X:217.89, Y:-119.01, Z:-4.04 [[-5.54322612e-01 8.32301082e-01 1.16264640e-03 2.17886230e+02] [ 8.32299442e-01 5.54323828e-01 -1.65273063e-03 -1.19011847e+02] [-2.02005210e-03 5.15239923e-05 -9.99997958e-01 -4.03754310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters 0.017356135520301637 Centerline is valid? [True, True] Translation: X:217.87, Y:-118.99, Z:-4.04 [[-6.12993121e-01 7.90087426e-01 1.13689665e-03 2.17873619e+02] [ 7.90086234e-01 6.12994173e-01 -1.37344786e-03 -1.18987150e+02] [-1.78205491e-03 5.63322970e-05 -9.99998411e-01 -4.03731906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters 0.017688426402529565 Centerline is valid? [True, True] Translation: X:217.86, Y:-118.96, Z:-4.04 [[-6.71235367e-01 7.41242929e-01 1.41524378e-03 2.17861422e+02] [ 7.41241494e-01 6.71236855e-01 -1.45998529e-03 -1.18960557e+02] [-2.03216755e-03 6.90436523e-05 -9.99997933e-01 -4.03743207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters 0.019859214560720435 Centerline is valid? [True, True] Translation: X:217.85, Y:-118.94, Z:-4.04 [[-7.27194672e-01 6.86430392e-01 1.10693941e-03 2.17845920e+02] [ 6.86429700e-01 7.27195513e-01 -9.76025506e-04 -1.18938652e+02] [-1.47493494e-03 5.00755358e-05 -9.99998911e-01 -4.03751845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters 0.017063224441866007 Centerline is valid? [True, True] Translation: X:217.87, Y:-118.91, Z:-4.04 [[-7.76266091e-01 6.30405205e-01 4.83012915e-04 2.17869826e+02] [ 6.30405097e-01 7.76266241e-01 -3.68853676e-04 -1.18914216e+02] [-6.07473897e-04 1.81652027e-05 -9.99999815e-01 -4.03773039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters 0.014808348770228788 Centerline is valid? [True, True] Translation: X:217.89, Y:-118.88, Z:-4.04 [[-8.23223294e-01 5.67717614e-01 3.44726982e-04 2.17886470e+02] [ 5.67717569e-01 8.23223366e-01 -2.26636772e-04 -1.18883563e+02] [-4.12452995e-04 9.13489387e-06 -9.99999915e-01 -4.03718162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters 0.013007431828672672 Centerline is valid? [True, True] Translation: X:217.90, Y:-118.85, Z:-4.04 [[-8.66033007e-01 4.99986685e-01 3.81797427e-04 2.17899184e+02] [ 4.99986639e-01 8.66033091e-01 -2.13922241e-04 -1.18850411e+02] [-4.37607478e-04 5.62989075e-06 -9.99999904e-01 -4.03706189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters 0.012007125058225192 Centerline is valid? [True, True] Translation: X:218.23, Y:-118.25, Z:-5.01 [[-8.42006090e-01 -5.39467863e-01 4.11324333e-04 2.18232385e+02] [ 5.39467797e-01 -8.42006191e-01 -2.66924643e-04 -1.18254065e+02] [ 4.90334901e-04 -2.85594358e-06 9.99999880e-01 -5.00504225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters 0.011811872246729912 Centerline is valid? [True, True] Translation: X:217.86, Y:-118.81, Z:-4.04 [[-8.74507718e-01 4.85010841e-01 8.57441806e-04 2.17860571e+02] [ 4.85010607e-01 8.74508138e-01 -4.75985830e-04 -1.18814008e+02] [-9.80698125e-04 -3.84910450e-07 -9.99999519e-01 -4.03595046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters 0.012172534436783884 Centerline is valid? [True, True] Translation: X:217.87, Y:-118.78, Z:-4.04 [[-9.09565876e-01 4.15559205e-01 6.82406771e-04 2.17871485e+02] [ 4.15559083e-01 9.09566131e-01 -3.17969980e-04 -1.18782256e+02] [-7.52829439e-04 -5.63431118e-06 -9.99999717e-01 -4.03565244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters 0.014200110509817367 Centerline is valid? [True, True] Translation: X:217.88, Y:-118.75, Z:-4.03 [[-9.39378586e-01 3.42872125e-01 2.56487116e-03 2.17877168e+02] [ 3.42870728e-01 9.39382086e-01 -9.79564212e-04 -1.18745854e+02] [-2.74525929e-03 -4.07624004e-05 -9.99996231e-01 -4.03423758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters 0.0147342231235699 Centerline is valid? [True, True] Translation: X:218.10, Y:-118.16, Z:-5.01 [[-8.99861993e-01 -4.36163447e-01 3.13706168e-03 2.18100861e+02] [ 4.36161169e-01 -8.99867456e-01 -1.41300126e-03 -1.18156055e+02] [ 3.43923922e-03 9.67583649e-05 9.99994081e-01 -5.00757053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters 0.015146292497880959 Centerline is valid? [True, True] Translation: X:217.83, Y:-118.73, Z:-4.03 [[-9.43289057e-01 3.31953730e-01 3.53209449e-03 2.17834462e+02] [ 3.31951059e-01 9.43295666e-01 -1.33445223e-03 -1.18726497e+02] [-3.77478582e-03 -8.62916820e-05 -9.99992872e-01 -4.03334614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters 0.016320026564245558 Centerline is valid? [True, True] Translation: X:217.83, Y:-118.70, Z:-4.03 [[-9.65244078e-01 2.61285494e-01 5.81042816e-03 2.17833147e+02] [ 2.61279779e-01 9.65261553e-01 -1.73535502e-03 -1.18696325e+02] [-6.06200601e-03 -1.56893769e-04 -9.99981614e-01 -4.03172608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters 0.016414454637763542 Centerline is valid? [True, True] Translation: X:217.84, Y:-118.67, Z:-4.03 [[-9.81429116e-01 1.91705522e-01 6.77376069e-03 2.17842394e+02] [ 1.91699665e-01 9.81452474e-01 -1.50970039e-03 -1.18673757e+02] [-6.93754209e-03 -1.83136259e-04 -9.99975918e-01 -4.03151980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters 0.01617775062977703 Centerline is valid? [True, True] Translation: X:217.98, Y:-118.06, Z:-5.01 [[-9.51611250e-01 -3.07254053e-01 5.56559703e-03 2.17983027e+02] [ 3.07249316e-01 -9.51627521e-01 -1.70833822e-03 -1.18058822e+02] [ 5.82126915e-03 8.43520132e-05 9.99983053e-01 -5.00842751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters 0.01530001522961076 Centerline is valid? [True, True] Translation: X:217.79, Y:-118.67, Z:-4.03 [[-9.81303810e-01 1.92390745e-01 5.35105958e-03 2.17793733e+02] [ 1.92387215e-01 9.81318392e-01 -1.17165314e-03 -1.18672617e+02] [-5.47650840e-03 -1.20272240e-04 -9.99984997e-01 -4.03314038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters 0.013348742644023488 Centerline is valid? [True, True] Translation: X:217.95, Y:-118.04, Z:-5.01 [[-9.56315632e-01 -2.92297232e-01 4.76869849e-03 2.17945059e+02] [ 2.92294018e-01 -9.56327518e-01 -1.37307463e-03 -1.18035021e+02] [ 4.96178350e-03 8.07693068e-05 9.99987687e-01 -5.00731319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters 0.012248718537363682 Centerline is valid? [True, True] Translation: X:217.76, Y:-118.69, Z:-4.03 [[-9.78217946e-01 2.07500066e-01 5.77698852e-03 2.17757608e+02] [ 2.07496350e-01 9.78235004e-01 -1.24189509e-03 -1.18688174e+02] [-5.90894570e-03 -1.61400335e-05 -9.99982542e-01 -4.03371670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters 0.012421555883778105 Centerline is valid? [True, True] Translation: X:217.77, Y:-118.67, Z:-4.03 [[-9.89451830e-01 1.44672598e-01 7.41048419e-03 2.17765769e+02] [ 1.44668791e-01 9.89479580e-01 -1.04999093e-03 -1.18669179e+02] [-7.48442770e-03 3.31503432e-05 -9.99971991e-01 -4.03252725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters 0.013644814997899168 Centerline is valid? [True, True] Translation: X:217.77, Y:-118.65, Z:-4.03 [[-9.96560005e-01 8.24374662e-02 8.49829687e-03 2.17772086e+02] [ 8.24354002e-02 9.96596233e-01 -5.93704902e-04 -1.18651751e+02] [-8.51831418e-03 1.08897944e-04 -9.99963713e-01 -4.03130180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters 0.014308585875226492 Centerline is valid? [True, True] Translation: X:217.83, Y:-117.93, Z:-5.01 [[-9.92885455e-01 -1.18627138e-01 1.02992976e-02 2.17829664e+02] [ 1.18620518e-01 -9.92938871e-01 -1.25339462e-03 -1.17928391e+02] [ 1.03752596e-02 -2.27692636e-05 9.99946175e-01 -5.01076848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters 0.015255769008170616 Centerline is valid? [True, True] Translation: X:217.71, Y:-118.66, Z:-4.03 [[-9.96215511e-01 8.63644278e-02 9.78988568e-03 2.17713211e+02] [ 8.63622937e-02 9.96263591e-01 -6.41317634e-04 -1.18659635e+02] [-9.80869369e-03 2.06586408e-04 -9.99951872e-01 -4.03143144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters 0.015290639574729255 Centerline is valid? [True, True] Translation: X:217.71, Y:-118.63, Z:-4.03 [[-9.99839521e-01 1.52190514e-02 9.45051707e-03 2.17711745e+02] [ 1.52202386e-02 9.99884164e-01 5.37102617e-05 -1.18633712e+02] [-9.44860494e-03 1.97540767e-04 -9.99955341e-01 -4.03208879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters 0.01489721832835549 Centerline is valid? [True, True] Translation: X:217.71, Y:-117.89, Z:-5.01 [[-9.99068846e-01 -4.22354410e-02 8.80959630e-03 2.17707683e+02] [ 4.22318036e-02 -9.99107660e-01 -5.98584144e-04 -1.17886183e+02] [ 8.82701662e-03 -2.25981629e-04 9.99961016e-01 -5.00831783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters 0.013801366214343282 Centerline is valid? [True, True] Translation: X:217.64, Y:-118.63, Z:-4.03 [[-9.99954469e-01 3.44696005e-03 8.89820563e-03 2.17637746e+02] [ 3.44792069e-03 9.99994052e-01 9.26204717e-05 -1.18633502e+02] [-8.89783344e-03 1.23296562e-04 -9.99960406e-01 -4.03241937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters 0.012638066630124074 Centerline is valid? [True, True] Translation: X:217.63, Y:-118.60, Z:-4.03 [[-9.97277140e-01 -7.32101605e-02 8.86446173e-03 2.17632324e+02] [-7.32066108e-02 9.97316533e-01 7.24684224e-04 -1.18603051e+02] [-8.89372849e-03 7.37738105e-05 -9.99960447e-01 -4.03273085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters 0.012106113765205635 Centerline is valid? [True, True] Translation: X:217.57, Y:-117.87, Z:-5.01 [[-9.99880115e-01 1.26166885e-02 8.97632044e-03 2.17568559e+02] [-1.26167927e-02 -9.99920404e-01 4.50276102e-05 -1.17872411e+02] [ 8.97617406e-03 -6.82301619e-05 9.99959711e-01 -5.00916343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters 0.013007704221535405 Centerline is valid? [True, True] Translation: X:217.54, Y:-118.60, Z:-4.03 [[-9.95111202e-01 -9.82255714e-02 1.02680374e-02 2.17543247e+02] [-9.82215966e-02 9.95164169e-01 8.91898032e-04 -1.18597632e+02] [-1.03059901e-02 -1.21005307e-04 -9.99946885e-01 -4.03086660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters 0.014214545998044802 Centerline is valid? [True, True] Translation: X:217.53, Y:-118.57, Z:-4.03 [[-9.84561033e-01 -1.74756687e-01 9.98361129e-03 2.17531587e+02] [-1.74749556e-01 9.84611633e-01 1.58897932e-03 -1.18567314e+02] [-1.01076646e-02 -1.80184520e-04 -9.99948900e-01 -4.03099142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters 0.016783310530404 Centerline is valid? [True, True] Translation: X:217.51, Y:-118.54, Z:-4.03 [[-9.67425984e-01 -2.52977625e-01 9.44915374e-03 2.17507244e+02] [-2.52968167e-01 9.67472095e-01 2.20282864e-03 -1.18538945e+02] [-9.69905892e-03 -2.59261435e-04 -9.99952929e-01 -4.03203965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters 0.016712307676070938 Centerline is valid? [True, True] Translation: X:217.49, Y:-118.52, Z:-4.03 [[-9.46345316e-01 -3.23036030e-01 8.84679155e-03 2.17489767e+02] [-3.23024495e-01 9.46386631e-01 2.74247910e-03 -1.18515652e+02] [-9.25840481e-03 -2.62398117e-04 -9.99957106e-01 -4.03286306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters 0.017200409418962333 Centerline is valid? [True, True] Translation: X:217.27, Y:-117.86, Z:-5.01 [[-9.79406366e-01 2.01726186e-01 8.34962744e-03 2.17268076e+02] [-2.01717152e-01 -9.79441937e-01 1.91902921e-03 -1.17861175e+02] [ 8.56509372e-03 1.95246352e-04 9.99963300e-01 -5.00851969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters 0.017915189644857228 Centerline is valid? [True, True] Translation: X:217.36, Y:-118.55, Z:-4.03 [[-9.43172481e-01 -3.32173089e-01 9.31184068e-03 2.17361888e+02] [-3.32160089e-01 9.43218397e-01 2.95469240e-03 -1.18550334e+02] [-9.76456874e-03 -3.06237271e-04 -9.99952279e-01 -4.03126715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters 0.020021569912892792 Centerline is valid? [True, True] Translation: X:217.32, Y:-118.53, Z:-4.03 [[-9.16146395e-01 -4.00664896e-01 1.19759507e-02 2.17321408e+02] [-4.00636702e-01 9.16224568e-01 4.77221424e-03 -1.18531801e+02] [-1.28847190e-02 -4.25958520e-04 -9.99916898e-01 -4.02702940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters 0.01827574272198331 Centerline is valid? [True, True] Translation: X:217.27, Y:-118.53, Z:-4.03 [[-8.84996280e-01 -4.65422504e-01 1.27857960e-02 2.17272219e+02] [-4.65381155e-01 8.85088523e-01 6.21984469e-03 -1.18528215e+02] [-1.42114170e-02 -4.45729110e-04 -9.99898913e-01 -4.02683147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters 0.015920788588016505 Centerline is valid? [True, True] Translation: X:217.21, Y:-118.54, Z:-4.03 [[-8.51915345e-01 -5.23580127e-01 1.02027421e-02 2.17208222e+02] [-5.23546637e-01 8.51976388e-01 5.92900984e-03 -1.18539719e+02] [-1.17968071e-02 -2.90596843e-04 -9.99930373e-01 -4.02946260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters 0.014299683628373076 Centerline is valid? [True, True] Translation: X:217.15, Y:-118.55, Z:-4.03 [[-8.14394420e-01 -5.80252928e-01 8.26245592e-03 2.17150496e+02] [-5.80225296e-01 8.14436312e-01 5.66557988e-03 -1.18551760e+02] [-1.00167135e-02 -1.80069296e-04 -9.99949815e-01 -4.03102422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters 0.01248446744896911 Centerline is valid? [True, True] Translation: X:217.08, Y:-118.58, Z:-4.03 [[-7.76539739e-01 -6.30031463e-01 6.81101028e-03 2.17081106e+02] [-6.30007764e-01 7.76569607e-01 5.46471334e-03 -1.18583344e+02] [-8.73216491e-03 -4.74222831e-05 -9.99961873e-01 -4.03257267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters 0.012500247296791955 Centerline is valid? [True, True] Translation: X:217.00, Y:-118.62, Z:-4.03 [[-7.32531778e-01 -6.80697577e-01 6.92837318e-03 2.17003979e+02] [-6.80666789e-01 7.32564542e-01 6.47413588e-03 -1.18624562e+02] [-9.48240913e-03 2.65967435e-05 -9.99955041e-01 -4.03245803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters 0.013760524230281762 Centerline is valid? [True, True] Translation: X:216.93, Y:-118.67, Z:-4.03 [[-6.84906890e-01 -7.28596620e-01 7.03685477e-03 2.16926320e+02] [-7.28556431e-01 6.84943028e-01 7.65342163e-03 -1.18674106e+02] [-1.03961018e-02 1.15135407e-04 -9.99945952e-01 -4.03179720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters 0.013574159923424901 Centerline is valid? [True, True] Translation: X:216.84, Y:-118.73, Z:-4.03 [[-6.28598972e-01 -7.77701771e-01 6.57932997e-03 2.16839842e+02] [-7.77656966e-01 6.28633389e-01 8.34896907e-03 -1.18732499e+02] [-1.06289945e-02 1.31691590e-04 -9.99943502e-01 -4.03199749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters 0.013291098302389323 Centerline is valid? [True, True] Translation: X:216.76, Y:-118.80, Z:-4.03 [[-5.66848533e-01 -8.23801782e-01 5.77624064e-03 2.16755018e+02] [-8.23756840e-01 5.66877949e-01 8.60577876e-03 -1.18799566e+02] [-1.03638793e-02 1.19955320e-04 -9.99946286e-01 -4.03256921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters 0.01282619897594344 Centerline is valid? [True, True] Translation: X:216.67, Y:-118.87, Z:-4.03 [[-4.99227749e-01 -8.66457241e-01 4.84812627e-03 2.16671319e+02] [-8.66414849e-01 4.99251283e-01 8.57122991e-03 -1.18874761e+02] [-9.84703748e-03 7.85072281e-05 -9.99951514e-01 -4.03278803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters 0.012395974777819261 Centerline is valid? [True, True] Translation: X:216.59, Y:-118.96, Z:-4.03 [[-4.27532026e-01 -9.03991235e-01 4.02668310e-03 2.16590862e+02] [-9.03950416e-01 4.27550986e-01 8.59069447e-03 -1.18957889e+02] [-9.48752483e-03 3.28751445e-05 -9.99954992e-01 -4.03225361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters 0.012160295548879653 Centerline is valid? [True, True] Translation: X:216.52, Y:-119.05, Z:-4.03 [[-3.54580525e-01 -9.35020140e-01 3.16040879e-03 2.16517983e+02] [-9.34982837e-01 3.54594609e-01 8.35209610e-03 -1.19050293e+02] [-8.93004199e-03 6.56264109e-06 -9.99960126e-01 -4.03231532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters 0.012046128166145809 Centerline is valid? [True, True] Translation: X:216.45, Y:-119.15, Z:-4.03 [[-2.78216378e-01 -9.60515587e-01 2.33539068e-03 2.16452016e+02] [-9.60482543e-01 2.78226178e-01 7.96731372e-03 -1.19147484e+02] [-8.30249584e-03 -2.64648158e-05 -9.99965533e-01 -4.03270778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters 0.012128982358311145 Centerline is valid? [True, True] Translation: X:216.39, Y:-119.25, Z:-4.03 [[-2.01878484e-01 -9.79409138e-01 1.67895523e-03 2.16394946e+02] [-9.79376982e-01 2.01885461e-01 7.93648412e-03 -1.19249602e+02] [-8.11202172e-03 -4.21247251e-05 -9.99967096e-01 -4.03204949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters 0.011983964808772668 Centerline is valid? [True, True] Translation: X:216.35, Y:-119.36, Z:-4.03 [[-1.27493638e-01 -9.91838772e-01 1.10530115e-03 2.16347553e+02] [-9.91803644e-01 1.27498425e-01 8.34763438e-03 -1.19356744e+02] [-8.42043159e-03 -3.19714283e-05 -9.99964547e-01 -4.03099530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters 0.011832603121912219 Centerline is valid? [True, True] Translation: X:216.31, Y:-119.47, Z:-4.03 [[-5.34628173e-02 -9.98569736e-01 4.58772105e-04 2.16311292e+02] [-9.98534592e-01 5.34647847e-02 8.37766578e-03 -1.19467136e+02] [-8.39021165e-03 -1.02062017e-05 -9.99964802e-01 -4.03107738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters 0.012131692266426745 Centerline is valid? [True, True] Translation: X:216.29, Y:-119.58, Z:-4.03 [[ 1.67601356e-02 -9.99859522e-01 -1.86953529e-04 2.16286468e+02] [-9.99824426e-01 -1.67611137e-02 8.37753187e-03 -1.19580411e+02] [-8.37948855e-03 4.65121347e-05 -9.99964890e-01 -4.03259961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters 0.013253602065905605 Centerline is valid? [True, True] Translation: X:216.27, Y:-119.70, Z:-4.03 [[ 8.59030980e-02 -9.96303144e-01 -8.38153456e-04 2.16270201e+02] [-9.96267677e-01 -8.59071127e-02 8.40731637e-03 -1.19699373e+02] [-8.44823907e-03 1.12810675e-04 -9.99964307e-01 -4.03312454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters 0.014573715645151988 Centerline is valid? [True, True] Translation: X:216.26, Y:-119.82, Z:-4.03 [[ 1.56179878e-01 -9.87726992e-01 -1.79857399e-03 2.16261419e+02] [-9.87675483e-01 -1.56190105e-01 1.00891255e-02 -1.19818964e+02] [-1.02462210e-02 2.00689043e-04 -9.99947486e-01 -4.03239066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters 0.015387597484815305 Centerline is valid? [True, True] Translation: X:216.26, Y:-119.93, Z:-4.03 [[ 2.29194284e-01 -9.73376369e-01 -2.90240134e-03 2.16259119e+02] [-9.73311903e-01 -2.29212516e-01 1.12054716e-02 -1.19933528e+02] [-1.15724080e-02 2.56711735e-04 -9.99933005e-01 -4.03188911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters 0.016120078923429197 Centerline is valid? [True, True] Translation: X:216.27, Y:-120.06, Z:-4.03 [[ 3.02214354e-01 -9.53231095e-01 -4.11878035e-03 2.16266794e+02] [-9.53155481e-01 -3.02242274e-01 1.20098782e-02 -1.20055927e+02] [-1.26930589e-02 2.96280483e-04 -9.99919396e-01 -4.03134436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters 0.01600763606429544 Centerline is valid? [True, True] Translation: X:216.28, Y:-120.18, Z:-4.03 [[ 3.75378238e-01 -9.26858478e-01 -4.95379992e-03 2.16281176e+02] [-9.26787373e-01 -3.75410819e-01 1.14840250e-02 -1.20175738e+02] [-1.25037760e-02 2.80266143e-04 -9.99921785e-01 -4.03219554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters 0.014272588612292645 Centerline is valid? [True, True] Translation: X:216.30, Y:-120.29, Z:-4.04 [[ 4.49755432e-01 -8.93135372e-01 -5.40916783e-03 2.16300446e+02] [-8.93076118e-01 -4.49787912e-01 1.02898416e-02 -1.20294488e+02] [-1.16231998e-02 2.02886462e-04 -9.99932428e-01 -4.03507380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters 0.01252449765816286 Centerline is valid? [True, True] Translation: X:216.33, Y:-120.42, Z:-4.04 [[ 5.24494999e-01 -8.51390035e-01 -6.32487641e-03 2.16326327e+02] [-8.51330392e-01 -5.24533124e-01 1.00779734e-02 -1.20415708e+02] [-1.18978933e-02 9.87128728e-05 -9.99929213e-01 -4.03519378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters 0.01171121961280059 Centerline is valid? [True, True] Translation: X:216.36, Y:-120.53, Z:-4.04 [[ 5.94240170e-01 -8.04256906e-01 -7.03205979e-03 2.16360000e+02] [-8.04200722e-01 -5.94281776e-01 9.50629268e-03 -1.20528511e+02] [-1.18245265e-02 6.16657409e-06 -9.99930088e-01 -4.03547346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters 0.01251721766519809 Centerline is valid? [True, True] Translation: X:216.40, Y:-120.64, Z:-4.04 [[ 6.62933208e-01 -7.48641780e-01 -7.41932995e-03 2.16400724e+02] [-7.48592639e-01 -6.62974711e-01 8.57865671e-03 -1.20642841e+02] [-1.13411690e-02 -1.33020626e-04 -9.99935678e-01 -4.03620793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters 0.013863448722702789 Centerline is valid? [True, True] Translation: X:216.45, Y:-120.74, Z:-4.04 [[ 7.22325207e-01 -6.91506951e-01 -8.02699836e-03 2.16447493e+02] [-6.91461062e-01 -7.22369777e-01 7.96901132e-03 -1.20743415e+02] [-1.13090877e-02 -2.05860939e-04 -9.99936029e-01 -4.03657491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters 0.01615968175911361 Centerline is valid? [True, True] Translation: X:216.46, Y:-120.78, Z:-4.04 [[ 7.78310689e-01 -6.27826292e-01 -8.16197942e-03 2.16464656e+02] [-6.27788163e-01 -7.78353439e-01 6.92430779e-03 -1.20778471e+02] [-1.07001672e-02 -2.65268697e-04 -9.99942716e-01 -4.03680421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters 0.015881621450009695 Centerline is valid? [True, True] Translation: X:216.49, Y:-120.81, Z:-4.04 [[ 8.26387140e-01 -5.63034818e-01 -8.72289211e-03 2.16486791e+02] [-5.62999680e-01 -8.26433124e-01 6.29697254e-03 -1.20809696e+02] [-1.07543018e-02 -2.92751659e-04 -9.99942128e-01 -4.03728236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters 0.015654120773266812 Centerline is valid? [True, True] Translation: X:216.51, Y:-120.84, Z:-4.04 [[ 8.67124561e-01 -4.97986790e-01 -1.02054998e-02 2.16512180e+02] [-4.97948095e-01 -8.67184561e-01 6.21550582e-03 -1.20836904e+02] [-1.19452916e-02 -3.07808584e-04 -9.99928605e-01 -4.03590224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters 0.016148979645912376 Centerline is valid? [True, True] Translation: X:216.54, Y:-120.86, Z:-4.03 [[ 9.02580470e-01 -4.30385932e-01 -1.07909813e-02 2.16539605e+02] [-4.30351331e-01 -9.02644928e-01 5.46498744e-03 -1.20860015e+02] [-1.20924782e-02 -2.88677782e-04 -9.99926842e-01 -4.03456583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters 0.014171134233231878 Centerline is valid? [True, True] Translation: X:216.57, Y:-120.88, Z:-4.04 [[ 9.32647891e-01 -3.60588110e-01 -1.20052704e-02 2.16571099e+02] [-3.60554348e-01 -9.32725113e-01 4.94229548e-03 -1.20878726e+02] [-1.29797502e-02 -2.80869014e-04 -9.99915720e-01 -4.03627276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters 0.014097693443743533 Centerline is valid? [True, True] Translation: X:216.60, Y:-120.90, Z:-4.03 [[ 9.57391301e-01 -2.88474221e-01 -1.35838310e-02 2.16601489e+02] [-2.88441029e-01 -9.57487622e-01 4.38490498e-03 -1.20896509e+02] [-1.42712820e-02 -2.79935710e-04 -9.99898121e-01 -4.03469162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters 0.013855234274697488 Centerline is valid? [True, True] Translation: X:216.63, Y:-120.91, Z:-4.03 [[ 9.76867857e-01 -2.13355619e-01 -1.44419275e-02 2.16634786e+02] [-2.13328040e-01 -9.76974565e-01 3.44193669e-03 -1.20911838e+02] [-1.48437524e-02 -2.81449233e-04 -9.99889786e-01 -4.03418692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters 0.01385192256220699 Centerline is valid? [True, True] Translation: X:216.67, Y:-120.92, Z:-4.03 [[ 9.90453935e-01 -1.37128620e-01 -1.40265213e-02 2.16669505e+02] [-1.37111189e-01 -9.90553217e-01 2.20146527e-03 -1.20923231e+02] [-1.41958997e-02 -2.57256918e-04 -9.99899200e-01 -4.03436317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters 0.014184698021587148 Centerline is valid? [True, True] Translation: X:216.70, Y:-120.93, Z:-4.04 [[ 9.98262893e-01 -5.72575647e-02 -1.38840985e-02 2.16700623e+02] [-5.72481355e-02 -9.98359401e-01 1.07594818e-03 -1.20930799e+02] [-1.39229264e-02 -2.79240392e-04 -9.99903032e-01 -4.03696562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters 0.014928010734293657 Centerline is valid? [True, True] Translation: X:216.73, Y:-120.94, Z:-4.04 [[ 9.99633625e-01 2.36928684e-02 -1.30868083e-02 2.16732480e+02] [ 2.36947189e-02 -9.99719241e-01 -1.36498595e-05 -1.20939607e+02] [-1.30834575e-02 -2.96443386e-04 -9.99914364e-01 -4.03748576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters 0.016789813714151985 Centerline is valid? [True, True] Translation: X:216.76, Y:-120.95, Z:-4.04 [[ 9.94106219e-01 1.07736099e-01 -1.20730081e-02 2.16764791e+02] [ 1.07732366e-01 -9.94179468e-01 -9.60993349e-04 -1.20947445e+02] [-1.21062704e-02 -3.45324260e-04 -9.99926657e-01 -4.03857463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters 0.01956603227899384 Centerline is valid? [True, True] Translation: X:216.80, Y:-120.95, Z:-4.04 [[ 9.81441264e-01 1.91363498e-01 -1.23716347e-02 2.16797985e+02] [ 1.91353866e-01 -9.81519140e-01 -1.96873158e-03 -1.20953014e+02] [-1.25197396e-02 -4.35165718e-04 -9.99921530e-01 -4.03798144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters 0.019211257884631967 Centerline is valid? [True, True] Translation: X:216.83, Y:-120.95, Z:-4.04 [[ 9.62829703e-01 2.69846189e-01 -1.19162615e-02 2.16831726e+02] [ 2.69831331e-01 -9.62903333e-01 -2.86785034e-03 -1.20953210e+02] [-1.22480864e-02 -4.54129223e-04 -9.99924886e-01 -4.03837689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters 0.020300253824097395 Centerline is valid? [True, True] Translation: X:216.87, Y:-120.95, Z:-4.04 [[ 9.38239725e-01 3.45791068e-01 -1.16083959e-02 2.16865304e+02] [ 3.45770761e-01 -9.38311417e-01 -3.77690940e-03 -1.20950282e+02] [-1.21983119e-02 -4.70197449e-04 -9.99925487e-01 -4.03897920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters 0.02087138028942882 Centerline is valid? [True, True] Translation: X:216.90, Y:-120.94, Z:-4.04 [[ 9.09362386e-01 4.15885899e-01 -9.94835413e-03 2.16896374e+02] [ 4.15865633e-01 -9.09416719e-01 -4.12384240e-03 -1.20943416e+02] [-1.07622475e-02 -3.87111420e-04 -9.99942010e-01 -4.03911969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters 0.01876600699019829 Centerline is valid? [True, True] Translation: X:216.93, Y:-120.93, Z:-4.04 [[ 8.75927627e-01 4.82389553e-01 -7.14924093e-03 2.16925402e+02] [ 4.82375860e-01 -8.75956764e-01 -3.64374608e-03 -1.20929430e+02] [-8.02013100e-03 -2.56963384e-04 -9.99967805e-01 -4.04111574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters 0.01800422624356768 Centerline is valid? [True, True] Translation: X:216.95, Y:-120.92, Z:-4.04 [[ 8.37433040e-01 5.46499978e-01 -6.60882206e-03 2.16954791e+02] [ 5.46485019e-01 -8.37459089e-01 -4.04957871e-03 -1.20915135e+02] [-7.74771278e-03 -2.20371235e-04 -9.99969962e-01 -4.04011544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters 0.014739023994849212 Centerline is valid? [True, True] Translation: X:216.98, Y:-120.89, Z:-4.04 [[ 7.98202593e-01 6.02345767e-01 -7.22474052e-03 2.16977114e+02] [ 6.02322939e-01 -7.98235272e-01 -5.24658066e-03 -1.20892067e+02] [-8.92729837e-03 -1.63792656e-04 -9.99960137e-01 -4.03776797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters 0.013236982968017225 Centerline is valid? [True, True] Translation: X:217.00, Y:-120.87, Z:-4.04 [[ 7.51372933e-01 6.59842807e-01 -6.79597872e-03 2.17003554e+02] [ 6.59817330e-01 -7.51403656e-01 -5.79975325e-03 -1.20874748e+02] [-8.93344871e-03 -1.26326925e-04 -9.99960088e-01 -4.03832206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters 0.012844444360282299 Centerline is valid? [True, True] Translation: X:217.03, Y:-120.86, Z:-4.04 [[ 6.99433287e-01 7.14670739e-01 -6.22989712e-03 2.17030051e+02] [ 7.14643653e-01 -6.99461025e-01 -6.22291243e-03 -1.20858435e+02] [-8.80490365e-03 -9.96443403e-05 -9.99961231e-01 -4.03823570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters 0.01272580216479113 Centerline is valid? [True, True] Translation: X:217.05, Y:-120.84, Z:-4.04 [[ 6.43637120e-01 7.65309910e-01 -5.65680232e-03 2.17054395e+02] [ 7.65281336e-01 -6.43661973e-01 -6.61373035e-03 -1.20839467e+02] [-8.70262193e-03 -7.22028822e-05 -9.99962129e-01 -4.03794406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters 0.012749161088881385 Centerline is valid? [True, True] Translation: X:217.08, Y:-120.82, Z:-4.04 [[ 5.82975277e-01 8.12472354e-01 -5.33859265e-03 2.17076481e+02] [ 8.12439253e-01 -5.82999717e-01 -7.33421444e-03 -1.20819402e+02] [-9.07124448e-03 -6.16165263e-05 -9.99958854e-01 -4.03650910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters 0.013027178114153711 Centerline is valid? [True, True] Translation: X:217.10, Y:-120.80, Z:-4.04 [[ 5.17428820e-01 8.55708163e-01 -5.56383930e-03 2.17099659e+02] [ 8.55660222e-01 -5.17458727e-01 -9.05816183e-03 -1.20799529e+02] [-1.06302002e-02 -7.38019822e-05 -9.99943495e-01 -4.03613826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters 0.013546502431003785 Centerline is valid? [True, True] Translation: X:217.12, Y:-120.78, Z:-4.04 [[ 4.46739165e-01 8.94647804e-01 -5.42453462e-03 2.17120497e+02] [ 8.94584826e-01 -4.46772084e-01 -1.06157292e-02 -1.20779068e+02] [-1.19208695e-02 -1.10244337e-04 -9.99928938e-01 -4.03604503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters 0.013737981732437909 Centerline is valid? [True, True] Translation: X:217.14, Y:-120.76, Z:-4.04 [[ 3.72797453e-01 9.27901311e-01 -4.60601759e-03 2.17141361e+02] [ 9.27835188e-01 -3.72825879e-01 -1.10782271e-02 -1.20756211e+02] [-1.19967440e-02 -1.43690333e-04 -9.99928026e-01 -4.03682954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters 0.014076091504384273 Centerline is valid? [True, True] Translation: X:217.16, Y:-120.73, Z:-4.04 [[ 2.97593033e-01 9.54685929e-01 -3.62828365e-03 2.17159781e+02] [ 9.54621273e-01 -2.97615109e-01 -1.11117778e-02 -1.20732602e+02] [-1.16880899e-02 -1.56849096e-04 -9.99931680e-01 -4.03666259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters 0.015207219843853748 Centerline is valid? [True, True] Translation: X:217.18, Y:-120.71, Z:-4.03 [[ 2.17403519e-01 9.76077352e-01 -2.95180374e-03 2.17177563e+02] [ 9.76001019e-01 -2.17423439e-01 -1.22089334e-02 -1.20707991e+02] [-1.25586547e-02 -2.26698374e-04 -9.99921111e-01 -4.03490951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters 0.015402808075705295 Centerline is valid? [True, True] Translation: X:217.19, Y:-120.68, Z:-4.03 [[ 1.37049644e-01 9.90561247e-01 -2.41045940e-03 2.17193182e+02] [ 9.90446972e-01 -1.37070455e-01 -1.50494668e-02 -1.20681600e+02] [-1.52378214e-02 -3.24908151e-04 -9.99883845e-01 -4.03340463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters 0.017131385224980703 Centerline is valid? [True, True] Translation: X:217.21, Y:-120.65, Z:-4.03 [[ 5.80103713e-02 9.98315268e-01 -1.19305839e-03 2.17206004e+02] [ 9.98205529e-01 -5.80216883e-02 -1.48055715e-02 -1.20654879e+02] [-1.48498513e-02 -3.32040783e-04 -9.99889680e-01 -4.03261794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters 0.015873803677029955 Centerline is valid? [True, True] Translation: X:217.21, Y:-120.63, Z:-4.03 [[-2.05003209e-02 9.99789846e-01 -3.01980942e-05 2.17212428e+02] [ 9.99671763e-01 2.04974354e-02 -1.53695193e-02 -1.20626279e+02] [-1.53656704e-02 -3.45268261e-04 -9.99881882e-01 -4.03462876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters 0.01632847544029266 Centerline is valid? [True, True] Translation: X:217.22, Y:-120.60, Z:-4.03 [[-9.88261047e-02 9.95103850e-01 1.31477975e-03 2.17218173e+02] [ 9.94956013e-01 9.88340910e-02 -1.71567601e-02 -1.20598399e+02] [-1.72027031e-02 -3.87387754e-04 -9.99851948e-01 -4.03256740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters 0.01592876965160303 Centerline is valid? [True, True] Translation: X:217.22, Y:-120.57, Z:-4.03 [[-1.75552121e-01 9.84465701e-01 2.95570209e-03 2.17219882e+02] [ 9.84283752e-01 1.75576513e-01 -1.89310047e-02 -1.20568932e+02] [-1.91558767e-02 -4.14128494e-04 -9.99816424e-01 -4.03218864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters 0.015249582550793297 Centerline is valid? [True, True] Translation: X:217.22, Y:-120.54, Z:-4.03 [[-2.50289097e-01 9.68159998e-01 4.64616180e-03 2.17219976e+02] [ 9.67962624e-01 2.50331903e-01 -1.95524005e-02 -1.20539679e+02] [-2.00929346e-02 -3.96441705e-04 -9.99798038e-01 -4.03303825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters 0.014860761975852139 Centerline is valid? [True, True] Translation: X:217.22, Y:-120.51, Z:-4.03 [[-3.22069283e-01 9.46695773e-01 6.20402892e-03 2.17215481e+02] [ 9.46500017e-01 3.22128863e-01 -1.92539030e-02 -1.20512538e+02] [-2.02260854e-02 -3.28977255e-04 -9.99795378e-01 -4.03375231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters 0.014890709300653962 Centerline is valid? [True, True] Translation: X:217.21, Y:-120.49, Z:-4.03 [[-3.91775926e-01 9.20032227e-01 7.23368040e-03 2.17207208e+02] [ 9.19864049e-01 3.91842628e-01 -1.75922125e-02 -1.20486640e+02] [-1.90198668e-02 -2.38202798e-04 -9.99819078e-01 -4.03390603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters 0.014084377408999834 Centerline is valid? [True, True] Translation: X:217.20, Y:-120.46, Z:-4.04 [[-4.61658173e-01 8.87017654e-01 8.45062790e-03 2.17197755e+02] [ 8.86860512e-01 4.61735462e-01 -1.66971524e-02 -1.20461207e+02] [-1.87126235e-02 -2.13848666e-04 -9.99824881e-01 -4.03629537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters 0.013837835276986378 Centerline is valid? [True, True] Translation: X:217.19, Y:-120.43, Z:-4.04 [[-5.30137579e-01 8.47857105e-01 9.61646141e-03 2.17190133e+02] [ 8.47710032e-01 5.30224745e-01 -1.57930564e-02 -1.20433608e+02] [-1.84891409e-02 -2.20521855e-04 -9.99829037e-01 -4.03689590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters 0.014236434500173705 Centerline is valid? [True, True] Translation: X:217.18, Y:-120.41, Z:-4.04 [[-5.95677720e-01 8.03155982e-01 1.04174636e-02 2.17181073e+02] [ 8.03026397e-01 5.95768761e-01 -1.44287414e-02 -1.20408322e+02] [-1.77949293e-02 -2.29381548e-04 -9.99841631e-01 -4.03639538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters 0.014250664117468273 Centerline is valid? [True, True] Translation: X:217.17, Y:-120.38, Z:-4.04 [[-6.58315815e-01 7.52663151e-01 1.08843880e-02 2.17169222e+02] [ 7.52553930e-01 6.58405740e-01 -1.28243196e-02 -1.20382258e+02] [-1.68187363e-02 -2.51363416e-04 -9.99858523e-01 -4.03795174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters 0.01460699417611733 Centerline is valid? [True, True] Translation: X:217.16, Y:-120.35, Z:-4.04 [[-7.17710854e-01 6.96234375e-01 1.21994081e-02 2.17158114e+02] [ 6.96126160e-01 7.17814456e-01 -1.22790842e-02 -1.20354442e+02] [-1.73060320e-02 -3.20504883e-04 -9.99850188e-01 -4.03681848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters 0.01584123418016754 Centerline is valid? [True, True] Translation: X:217.14, Y:-120.33, Z:-4.04 [[-7.71919730e-01 6.35604358e-01 1.21255937e-02 2.17144905e+02] [ 6.35518905e-01 7.72014884e-01 -1.04278298e-02 -1.20328627e+02] [-1.59891128e-02 -3.43403526e-04 -9.99872107e-01 -4.03558269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters 0.016192593139543958 Centerline is valid? [True, True] Translation: X:217.16, Y:-120.31, Z:-4.04 [[-8.14860427e-01 5.79535073e-01 1.18989142e-02 2.17159205e+02] [ 5.79467585e-01 8.14947237e-01 -8.84983755e-03 -1.20306623e+02] [-1.48257785e-02 -3.16347355e-04 -9.99890042e-01 -4.03599705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters 0.015576266664862871 Centerline is valid? [True, True] Translation: X:217.18, Y:-120.29, Z:-4.04 [[-8.53650024e-01 5.20714111e-01 1.17665533e-02 2.17183950e+02] [ 5.20659890e-01 8.53731064e-01 -7.51999281e-03 -1.20293149e+02] [-1.39612384e-02 -2.93069726e-04 -9.99902494e-01 -4.03750016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters 0.015994379886642793 Centerline is valid? [True, True] Translation: X:217.20, Y:-120.27, Z:-4.04 [[-8.88903434e-01 4.57956663e-01 1.12419110e-02 2.17195029e+02] [ 4.57915982e-01 8.88974474e-01 -6.11054486e-03 -1.20268690e+02] [-1.27921366e-02 -2.83833600e-04 -9.99918137e-01 -4.03866921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters 0.01621738366740035 Centerline is valid? [True, True] Translation: X:217.21, Y:-120.25, Z:-4.04 [[-9.19550664e-01 3.92793475e-01 1.18263562e-02 2.17210317e+02] [ 3.92756736e-01 9.19626660e-01 -5.38074856e-03 -1.20245172e+02] [-1.29893553e-02 -3.02989870e-04 -9.99915589e-01 -4.03764795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters 0.016731963068810897 Centerline is valid? [True, True] Translation: X:217.21, Y:-120.21, Z:-4.04 [[-9.45903175e-01 3.24191012e-01 1.29372202e-02 2.17207831e+02] [ 3.24155496e-01 9.45991575e-01 -4.81193490e-03 -1.20213671e+02] [-1.37984874e-02 -3.57953456e-04 -9.99904732e-01 -4.03578759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters 0.017560804442368887 Centerline is valid? [True, True] Translation: X:217.47, Y:-119.56, Z:-5.01 [[-9.00288825e-01 -4.35116323e-01 1.24022826e-02 2.17467074e+02] [ 4.35080232e-01 -9.00374183e-01 -5.61454016e-03 -1.19562127e+02] [ 1.36096732e-02 3.41280243e-04 9.99907326e-01 -5.00682063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters 0.01696304044432334 Centerline is valid? [True, True] Translation: X:217.17, Y:-120.20, Z:-4.03 [[-9.47076766e-01 3.20759462e-01 1.26082159e-02 2.17174455e+02] [ 3.20726124e-01 9.47160623e-01 -4.63762386e-03 -1.20202114e+02] [-1.34295674e-02 -3.48401591e-04 -9.99909759e-01 -4.03424392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters 0.01698603135336428 Centerline is valid? [True, True] Translation: X:217.19, Y:-120.18, Z:-4.03 [[-9.67301762e-01 2.53347584e-01 1.19291275e-02 2.17188438e+02] [ 2.53324281e-01 9.67375264e-01 -3.45059390e-03 -1.20178570e+02] [-1.24141425e-02 -3.15827899e-04 -9.99922892e-01 -4.03481047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters 0.01732707212449574 Centerline is valid? [True, True] Translation: X:217.20, Y:-120.15, Z:-4.04 [[-9.82819209e-01 1.84288468e-01 1.02060073e-02 2.17195801e+02] [ 1.84275738e-01 9.82872164e-01 -2.18214186e-03 -1.20151689e+02] [-1.04333441e-02 -2.63931412e-04 -9.99945536e-01 -4.03649394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters 0.01704844510313906 Centerline is valid? [True, True] Translation: X:217.34, Y:-119.47, Z:-5.00 [[-9.54327202e-01 -2.98623047e-01 9.15794793e-03 2.17344491e+02] [ 2.98611155e-01 -9.54371124e-01 -2.67139869e-03 -1.19467949e+02] [ 9.53782227e-03 1.85276978e-04 9.99954497e-01 -5.00462581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters 0.016891777109755333 Centerline is valid? [True, True] Translation: X:217.15, Y:-120.14, Z:-4.04 [[-9.83334389e-01 1.81574926e-01 9.16653825e-03 2.17148928e+02] [ 1.81564875e-01 9.83377087e-01 -1.92403325e-03 -1.20143067e+02] [-9.36351987e-03 -2.27646695e-04 -9.99956135e-01 -4.03583674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters 0.01840240863474039 Centerline is valid? [True, True] Translation: X:217.30, Y:-119.46, Z:-5.01 [[-9.55006078e-01 -2.96351866e-01 1.17882528e-02 2.17299344e+02] [ 2.96335467e-01 -9.55078709e-01 -3.15444107e-03 -1.19462309e+02] [ 1.21935337e-02 4.80767001e-04 9.99925541e-01 -5.00832589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters 0.017648825485862264 Centerline is valid? [True, True] Translation: X:217.10, Y:-120.13, Z:-4.03 [[-9.84303732e-01 1.76031621e-01 1.26107306e-02 2.17104840e+02] [ 1.76012771e-01 9.84384455e-01 -2.59809155e-03 -1.20131602e+02] [-1.28711534e-02 -3.37661568e-04 -9.99917106e-01 -4.03237359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters 0.018239670567443217 Centerline is valid? [True, True] Translation: X:217.25, Y:-119.45, Z:-5.01 [[-9.56158936e-01 -2.92626742e-01 1.13876958e-02 2.17246799e+02] [ 2.92609035e-01 -9.56226715e-01 -3.22848462e-03 -1.19452601e+02] [ 1.18339599e-02 2.45198257e-04 9.99929946e-01 -5.00787386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters 0.018412263667692157 Centerline is valid? [True, True] Translation: X:217.06, Y:-120.12, Z:-4.03 [[-9.84863834e-01 1.73028592e-01 1.02144099e-02 2.17060383e+02] [ 1.73016487e-01 9.84916766e-01 -2.06379494e-03 -1.20121141e+02] [-1.04174391e-02 -2.65295684e-04 -9.99945702e-01 -4.03466440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters 0.017724097951006806 Centerline is valid? [True, True] Translation: X:217.06, Y:-120.09, Z:-4.03 [[-9.94405167e-01 1.05195891e-01 9.60148031e-03 2.17058702e+02] [ 1.05188828e-01 9.94451495e-01 -1.23907861e-03 -1.20094099e+02] [-9.67855242e-03 -2.22177716e-04 -9.99953137e-01 -4.03470991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters 0.01576891233500461 Centerline is valid? [True, True] Translation: X:217.16, Y:-119.41, Z:-5.00 [[-9.76318410e-01 -2.16141323e-01 9.23532424e-03 2.17160341e+02] [ 2.16133582e-01 -9.76362068e-01 -1.84012515e-03 -1.19407124e+02] [ 9.41474736e-03 1.99515645e-04 9.99955660e-01 -5.00470525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters 0.01606405393061296 Centerline is valid? [True, True] Translation: X:217.02, Y:-120.09, Z:-4.04 [[-9.94477993e-01 1.04597729e-01 8.53446747e-03 2.17015732e+02] [ 1.04592423e-01 9.94514599e-01 -1.06694532e-03 -1.20092048e+02] [-8.59925254e-03 -1.68413009e-04 -9.99963012e-01 -4.03682902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters 0.016258163519670948 Centerline is valid? [True, True] Translation: X:217.02, Y:-120.06, Z:-4.03 [[-9.99299110e-01 3.61736000e-02 9.63121413e-03 2.17022903e+02] [ 3.61703265e-02 9.99345508e-01 -5.13912073e-04 -1.20063471e+02] [-9.64350063e-03 -1.65187717e-04 -9.99953487e-01 -4.03460148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters 0.014814728214805813 Centerline is valid? [True, True] Translation: X:217.06, Y:-119.37, Z:-5.01 [[-9.90731169e-01 -1.35480536e-01 9.83749423e-03 2.17063824e+02] [ 1.35475718e-01 -9.90779991e-01 -1.15758347e-03 -1.19370376e+02] [ 9.90362247e-03 1.85887563e-04 9.99950941e-01 -5.00590178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters 0.014198303695863574 Centerline is valid? [True, True] Translation: X:216.97, Y:-120.07, Z:-4.04 [[-9.99254806e-01 3.72843037e-02 9.98567220e-03 2.16969203e+02] [ 3.72812632e-02 9.99304692e-01 -4.90524321e-04 -1.20066503e+02] [-9.99701794e-03 -1.17880312e-04 -9.99950022e-01 -4.03618806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters 0.013886136903672639 Centerline is valid? [True, True] Translation: X:216.97, Y:-120.04, Z:-4.04 [[-9.99466572e-01 -3.11545453e-02 9.79619684e-03 2.16969002e+02] [-3.11539327e-02 9.99514575e-01 2.15160657e-04 -1.20040913e+02] [-9.79814476e-03 -9.01441726e-05 -9.99951993e-01 -4.03665285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters 0.013517363473801175 Centerline is valid? [True, True] Translation: X:216.96, Y:-119.33, Z:-5.00 [[-9.98685484e-01 -5.04183900e-02 9.23526912e-03 2.16956357e+02] [ 5.04167087e-02 -9.98728183e-01 -4.14921740e-04 -1.19334339e+02] [ 9.24444324e-03 5.12355543e-05 9.99957268e-01 -5.00352934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters 0.013241495101505617 Centerline is valid? [True, True] Translation: X:216.90, Y:-120.05, Z:-4.04 [[-9.99511703e-01 -2.91939414e-02 1.11386631e-02 2.16899530e+02] [-2.91924617e-02 9.99573766e-01 2.95436375e-04 -1.20046598e+02] [-1.11425404e-02 -2.98728832e-05 -9.99937920e-01 -4.03812454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters 0.013269268499590727 Centerline is valid? [True, True] Translation: X:216.90, Y:-120.02, Z:-4.04 [[-9.94853469e-01 -1.00659414e-01 1.15869838e-02 2.16898164e+02] [-1.00653011e-01 9.94920942e-01 1.13593311e-03 -1.20017495e+02] [-1.16424752e-02 -3.61778106e-05 -9.99932223e-01 -4.03897434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters 0.0131976009329769 Centerline is valid? [True, True] Translation: X:216.89, Y:-119.99, Z:-4.04 [[-9.85093240e-01 -1.71549251e-01 1.27343454e-02 2.16890982e+02] [-1.71535494e-01 9.85175544e-01 2.17292539e-03 -1.19988059e+02] [-1.29183294e-02 -4.38581217e-05 -9.99916554e-01 -4.03863812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters 0.013114322792990478 Centerline is valid? [True, True] Translation: X:216.87, Y:-119.96, Z:-4.04 [[-9.70158451e-01 -2.42029776e-01 1.46344573e-02 2.16869728e+02] [-2.42003198e-01 9.70268821e-01 3.58722054e-03 -1.19961152e+02] [-1.50675718e-02 -6.14131466e-05 -9.99886476e-01 -4.03869798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters 0.013140079986012772 Centerline is valid? [True, True] Translation: X:216.84, Y:-119.94, Z:-4.04 [[-9.50239361e-01 -3.11185083e-01 1.44568911e-02 2.16843184e+02] [-3.11150069e-01 9.50349326e-01 4.66841464e-03 -1.19939386e+02] [-1.51918377e-02 -6.21513191e-05 -9.99884595e-01 -4.03885545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters 0.013067780796658528 Centerline is valid? [True, True] Translation: X:216.80, Y:-119.92, Z:-4.04 [[-9.25212931e-01 -3.79166447e-01 1.46232117e-02 2.16801706e+02] [-3.79120145e-01 9.25328483e-01 5.92575178e-03 -1.19923457e+02] [-1.57781205e-02 -6.13719438e-05 -9.99875516e-01 -4.03953482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters 0.013007238254720615 Centerline is valid? [True, True] Translation: X:216.74, Y:-119.92, Z:-4.04 [[-8.95225535e-01 -4.45396763e-01 1.38911974e-02 2.16740334e+02] [-4.45343935e-01 8.95333302e-01 6.85991339e-03 -1.19917650e+02] [-1.54926349e-02 -4.51908814e-05 -9.99879981e-01 -4.04031769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters 0.012777157387107586 Centerline is valid? [True, True] Translation: X:216.67, Y:-119.92, Z:-4.04 [[-8.60038300e-01 -5.10057515e-01 1.32458683e-02 2.16674138e+02] [-5.09997773e-01 8.60140296e-01 7.80656702e-03 -1.19920417e+02] [-1.53751033e-02 -4.14167288e-05 -9.99881795e-01 -4.04339791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters 0.012760095365293876 Centerline is valid? [True, True] Translation: X:216.60, Y:-119.93, Z:-4.04 [[-8.18874275e-01 -5.73818085e-01 1.33314653e-02 2.16598161e+02] [-5.73743442e-01 8.18982784e-01 9.25540737e-03 -1.19931448e+02] [-1.62291607e-02 -6.98257571e-05 -9.99868296e-01 -4.04387729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters 0.012880259817936396 Centerline is valid? [True, True] Translation: X:216.52, Y:-119.95, Z:-4.04 [[-7.73148369e-01 -6.34095228e-01 1.28390611e-02 2.16517776e+02] [-6.34009704e-01 7.73254961e-01 1.04144224e-02 -1.19953368e+02] [-1.65316032e-02 -8.81956564e-05 -9.99863340e-01 -4.04303809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters 0.012732266950846758 Centerline is valid? [True, True] Translation: X:216.44, Y:-119.99, Z:-4.04 [[-7.23548094e-01 -6.90158803e-01 1.26088029e-02 2.16435483e+02] [-6.90056203e-01 7.23657943e-01 1.19003751e-02 -1.19985790e+02] [-1.73376090e-02 -9.02889219e-05 -9.99849688e-01 -4.04357131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters 0.012548888673877889 Centerline is valid? [True, True] Translation: X:216.35, Y:-120.03, Z:-4.04 [[-6.70269872e-01 -7.42035880e-01 1.10023348e-02 2.16352051e+02] [-7.41937674e-01 6.70360163e-01 1.20722875e-02 -1.20029952e+02] [-1.63335974e-02 -7.13560807e-05 -9.99866595e-01 -4.04411514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters 0.012377016194292424 Centerline is valid? [True, True] Translation: X:216.27, Y:-120.08, Z:-4.04 [[-6.12808290e-01 -7.90167296e-01 1.00818575e-02 2.16269834e+02] [-7.90062044e-01 6.12891214e-01 1.28967425e-02 -1.20083326e+02] [-1.63696661e-02 -6.20621936e-05 -9.99866006e-01 -4.04437357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters 0.01227600764525389 Centerline is valid? [True, True] Translation: X:216.19, Y:-120.14, Z:-4.04 [[-5.51859941e-01 -8.33887958e-01 9.02657725e-03 2.16190525e+02] [-8.33777856e-01 5.51933756e-01 1.35504794e-02 -1.20144166e+02] [-1.62816543e-02 -4.81934353e-05 -9.99867444e-01 -4.04345365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters 0.012475617824202253 Centerline is valid? [True, True] Translation: X:216.11, Y:-120.22, Z:-4.04 [[-4.86528747e-01 -8.73624121e-01 8.40679033e-03 2.16112329e+02] [-8.73495858e-01 4.86601369e-01 1.49697991e-02 -1.20218211e+02] [-1.71687332e-02 -6.00589466e-05 -9.99852605e-01 -4.04234642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters 0.012439210738593436 Centerline is valid? [True, True] Translation: X:216.04, Y:-120.30, Z:-4.04 [[-4.18300971e-01 -9.08276801e-01 7.58623589e-03 2.16040038e+02] [-9.08130506e-01 4.18369751e-01 1.63013769e-02 -1.20298756e+02] [-1.79800141e-02 -7.04104399e-05 -9.99838344e-01 -4.04220760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters 0.012577463303334441 Centerline is valid? [True, True] Translation: X:215.97, Y:-120.39, Z:-4.04 [[-3.45311811e-01 -9.38467272e-01 6.23964347e-03 2.15969385e+02] [-9.38320331e-01 3.45368159e-01 1.66069455e-02 -1.20389830e+02] [-1.77400490e-02 -1.20209904e-04 -9.99842626e-01 -4.04202583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters 0.012537372493719917 Centerline is valid? [True, True] Translation: X:215.91, Y:-120.48, Z:-4.04 [[-2.71187047e-01 -9.62515116e-01 4.71563655e-03 2.15908567e+02] [-9.62378609e-01 2.71228007e-01 1.62105202e-02 -1.20483740e+02] [-1.68818834e-02 -1.42144649e-04 -9.99857481e-01 -4.04242419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters 0.012584743860366957 Centerline is valid? [True, True] Translation: X:215.86, Y:-120.58, Z:-4.04 [[-1.95751875e-01 -9.80648937e-01 2.97747406e-03 2.15855616e+02] [-9.80546163e-01 1.95774467e-01 1.41979017e-02 -1.20584499e+02] [-1.45060706e-02 -1.40284895e-04 -9.99894772e-01 -4.04447844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters 0.012666513778867978 Centerline is valid? [True, True] Translation: X:215.81, Y:-120.69, Z:-4.05 [[-1.19127002e-01 -9.92877413e-01 1.78894358e-03 2.15810629e+02] [-9.92783789e-01 1.19140337e-01 1.36355447e-02 -1.20685039e+02] [-1.37515597e-02 -1.51672625e-04 -9.99905431e-01 -4.04506427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters 0.012775065566837912 Centerline is valid? [True, True] Translation: X:215.77, Y:-120.80, Z:-4.05 [[-4.10197457e-02 -9.99158127e-01 6.46980461e-04 2.15772326e+02] [-9.99086151e-01 4.10245571e-02 1.19936869e-02 -1.20796903e+02] [-1.20101318e-02 -1.54411232e-04 -9.99927864e-01 -4.04579783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters 0.01382376082585935 Centerline is valid? [True, True] Translation: X:215.74, Y:-120.91, Z:-4.04 [[ 3.77286199e-02 -9.99287984e-01 -2.75867036e-04 2.15741021e+02] [-9.99214333e-01 -3.77291888e-02 1.21336138e-02 -1.20912770e+02] [-1.21353827e-02 -1.82134206e-04 -9.99926347e-01 -4.04406832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters 0.014001873886120902 Centerline is valid? [True, True] Translation: X:215.72, Y:-121.02, Z:-4.04 [[ 1.16510557e-01 -9.93188633e-01 -1.27615278e-03 2.15721818e+02] [-9.93106141e-01 -1.16517330e-01 1.28025572e-02 -1.21024644e+02] [-1.28640482e-02 -2.24277904e-04 -9.99917230e-01 -4.04375546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters 0.014609083920028411 Centerline is valid? [True, True] Translation: X:215.71, Y:-121.14, Z:-4.04 [[ 1.93448050e-01 -9.81108383e-01 -2.04747102e-03 2.15711841e+02] [-9.81040860e-01 -1.93458762e-01 1.15125462e-02 -1.21141890e+02] [-1.16911568e-02 -2.18426875e-04 -9.99931632e-01 -4.04440875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters 0.014626067080628451 Centerline is valid? [True, True] Translation: X:215.71, Y:-121.26, Z:-4.05 [[ 2.68239395e-01 -9.63348920e-01 -2.54665053e-03 2.15712479e+02] [-9.63298427e-01 -2.68251414e-01 9.86506434e-03 -1.21258294e+02] [-1.01866417e-02 -1.93014444e-04 -9.99948096e-01 -4.04605809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters 0.014888874156533744 Centerline is valid? [True, True] Translation: X:215.72, Y:-121.38, Z:-4.05 [[ 3.41595252e-01 -9.39842653e-01 -2.91071181e-03 2.15720943e+02] [-9.39804070e-01 -3.41607608e-01 8.51777554e-03 -1.21377942e+02] [-8.99969006e-03 -1.74132878e-04 -9.99959487e-01 -4.04689614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters 0.014973646029027954 Centerline is valid? [True, True] Translation: X:215.74, Y:-121.49, Z:-4.05 [[ 4.14073603e-01 -9.10236489e-01 -3.54772145e-03 2.15736538e+02] [-9.10199057e-01 -4.14088757e-01 8.25695299e-03 -1.21487875e+02] [-8.98485146e-03 -1.89853549e-04 -9.99959617e-01 -4.04648424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters 0.017587608252461827 Centerline is valid? [True, True] Translation: X:215.76, Y:-121.60, Z:-4.04 [[ 4.85405122e-01 -8.74278183e-01 -4.41881603e-03 2.15758561e+02] [-8.74237476e-01 -4.85425178e-01 8.43991973e-03 -1.21603786e+02] [-9.52384224e-03 -2.33685692e-04 -9.99954620e-01 -4.04467772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters 0.017560266494366275 Centerline is valid? [True, True] Translation: X:215.79, Y:-121.71, Z:-4.04 [[ 5.53641597e-01 -8.32735749e-01 -5.67050944e-03 2.15792423e+02] [-8.32686417e-01 -5.53670555e-01 9.06902553e-03 -1.21712718e+02] [-1.06916959e-02 -2.99233588e-04 -9.99942797e-01 -4.04499934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters 0.019365593344795817 Centerline is valid? [True, True] Translation: X:215.83, Y:-121.82, Z:-4.04 [[ 6.17938903e-01 -7.86198578e-01 -6.58091778e-03 2.15834081e+02] [-7.86147941e-01 -6.17973849e-01 8.92960201e-03 -1.21822069e+02] [-1.10872755e-02 -3.44373507e-04 -9.99938475e-01 -4.04489816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters 0.01778718054160577 Centerline is valid? [True, True] Translation: X:215.88, Y:-121.92, Z:-4.05 [[ 6.76855497e-01 -7.36075456e-01 -7.71748777e-03 2.15884928e+02] [-7.36021098e-01 -6.76899386e-01 8.95344628e-03 -1.21922015e+02] [-1.18143748e-02 -3.79955511e-04 -9.99930136e-01 -4.04530675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters 0.017774341830444178 Centerline is valid? [True, True] Translation: X:215.94, Y:-122.02, Z:-4.05 [[ 7.31351262e-01 -6.81949170e-01 -8.40608226e-03 2.15939289e+02] [-6.81897919e-01 -7.31399466e-01 8.36955199e-03 -1.22015589e+02] [-1.18558131e-02 -3.88992403e-04 -9.99929642e-01 -4.04618019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters 0.01927613579226876 Centerline is valid? [True, True] Translation: X:215.96, Y:-122.04, Z:-4.05 [[ 7.82477244e-01 -6.22620683e-01 -8.53508563e-03 2.15959756e+02] [-6.22578440e-01 -7.82523705e-01 7.26198520e-03 -1.22043177e+02] [-1.12003690e-02 -3.68577867e-04 -9.99937206e-01 -4.04710274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters 0.017812493711017136 Centerline is valid? [True, True] Translation: X:215.98, Y:-122.07, Z:-4.05 [[ 8.28704571e-01 -5.59622639e-01 -8.44018873e-03 2.15984815e+02] [-5.59589369e-01 -8.28747480e-01 6.11163242e-03 -1.22067559e+02] [-1.04149930e-02 -3.41697831e-04 -9.99945704e-01 -4.04923787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters 0.017737995362368034 Centerline is valid? [True, True] Translation: X:216.01, Y:-122.09, Z:-4.05 [[ 8.69756483e-01 -4.93408526e-01 -8.46673965e-03 2.16010238e+02] [-4.93381511e-01 -8.69797633e-01 5.17324747e-03 -1.22092532e+02] [-9.91687452e-03 -3.22132722e-04 -9.99950775e-01 -4.04967472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters 0.01850182473659506 Centerline is valid? [True, True] Translation: X:216.04, Y:-122.12, Z:-4.05 [[ 9.06076648e-01 -4.22993753e-01 -1.00694312e-02 2.16036767e+02] [-4.22962958e-01 -9.06132519e-01 5.11808387e-03 -1.22116448e+02] [-1.12891565e-02 -3.78379880e-04 -9.99936204e-01 -4.04934758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters 0.022275742220133034 Centerline is valid? [True, True] Translation: X:216.06, Y:-122.14, Z:-4.05 [[ 9.36506443e-01 -3.50463394e-01 -1.14495603e-02 2.16062721e+02] [-3.50431687e-01 -9.36576336e-01 4.73281280e-03 -1.22141389e+02] [-1.23820649e-02 -4.20020946e-04 -9.99923251e-01 -4.04644473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters 0.019954181266181484 Centerline is valid? [True, True] Translation: X:216.09, Y:-122.16, Z:-4.05 [[ 9.61098506e-01 -2.75989576e-01 -1.09277576e-02 2.16094438e+02] [-2.75967080e-01 -9.61160549e-01 3.54543225e-03 -1.22155227e+02] [-1.14818318e-02 -3.91808293e-04 -9.99934005e-01 -4.04859540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters 0.019788734958481855 Centerline is valid? [True, True] Translation: X:216.13, Y:-122.17, Z:-4.05 [[ 9.79869930e-01 -1.99373910e-01 -1.02452306e-02 2.16125882e+02] [-1.99359097e-01 -9.79923421e-01 2.45771583e-03 -1.22170670e+02] [-1.05295459e-02 -3.65761913e-04 -9.99944496e-01 -4.04909026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters 0.018726270067124778 Centerline is valid? [True, True] Translation: X:216.16, Y:-122.18, Z:-4.05 [[ 9.92275336e-01 -1.23580489e-01 -1.08407021e-02 2.16158236e+02] [-1.23569085e-01 -9.92334485e-01 1.71805153e-03 -1.22183455e+02] [-1.09699201e-02 -3.65204524e-04 -9.99939762e-01 -4.04819545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters 0.018605025480916738 Centerline is valid? [True, True] Translation: X:216.19, Y:-122.20, Z:-4.05 [[ 9.98878253e-01 -4.62334189e-02 -1.02326775e-02 2.16188541e+02] [-4.62275620e-02 -9.98930608e-01 8.08286745e-04 -1.22195336e+02] [-1.02591046e-02 -3.34348318e-04 -9.99947318e-01 -4.04727004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters 0.018399803416876432 Centerline is valid? [True, True] Translation: X:216.22, Y:-122.20, Z:-4.05 [[ 9.99488471e-01 3.05944921e-02 -9.31518586e-03 2.16219718e+02] [ 3.05958567e-02 -9.99531837e-01 3.97766918e-06 -1.22203375e+02] [-9.31070314e-03 -2.88981726e-04 -9.99956613e-01 -4.04599087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters 0.01751089804105838 Centerline is valid? [True, True] Translation: X:216.25, Y:-122.21, Z:-4.05 [[ 9.94243035e-01 1.06801740e-01 -8.61254820e-03 2.16250775e+02] [ 1.06799916e-01 -9.94280305e-01 -6.72814845e-04 -1.22207790e+02] [-8.63514485e-03 -2.50877946e-04 -9.99962685e-01 -4.04588477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters 0.01649788639837581 Centerline is valid? [True, True] Translation: X:216.28, Y:-122.21, Z:-4.05 [[ 9.83779165e-01 1.79301094e-01 -5.44723398e-03 2.16282363e+02] [ 1.79299088e-01 -9.83794237e-01 -8.58390888e-04 -1.22208067e+02] [-5.51286782e-03 -1.32217013e-04 -9.99984795e-01 -4.04686358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters 0.015670756781820297 Centerline is valid? [True, True] Translation: X:216.31, Y:-122.21, Z:-4.05 [[ 9.67885018e-01 2.51378195e-01 -2.75582025e-03 2.16313090e+02] [ 2.51377338e-01 -9.67888940e-01 -6.58660978e-04 -1.22206713e+02] [-2.83290095e-03 -5.52426650e-05 -9.99995986e-01 -4.04765637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters 0.014577992882898027 Centerline is valid? [True, True] Translation: X:216.34, Y:-122.20, Z:-4.05 [[ 9.46645280e-01 3.22273760e-01 -1.52886941e-03 2.16344632e+02] [ 3.22273381e-01 -9.46646514e-01 -4.94659070e-04 -1.22204737e+02] [-1.60671453e-03 -2.44472386e-05 -9.99998709e-01 -4.04732939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters 0.014406613774415994 Centerline is valid? [True, True] Translation: X:216.38, Y:-122.20, Z:-4.05 [[ 9.19000965e-01 3.94253440e-01 -1.20486835e-03 2.16376201e+02] [ 3.94253127e-01 -9.19001754e-01 -4.97039395e-04 -1.22202182e+02] [-1.30323562e-03 -1.82434318e-05 -9.99999151e-01 -4.04722489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters 0.013895654502230381 Centerline is valid? [True, True] Translation: X:216.41, Y:-122.20, Z:-4.05 [[ 8.86844717e-01 4.62064208e-01 -1.76538935e-03 2.16405582e+02] [ 4.62063339e-01 -8.86846473e-01 -8.96178348e-04 -1.22196005e+02] [-1.97972126e-03 -2.09506655e-05 -9.99998040e-01 -4.04558253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters 0.013648754704126609 Centerline is valid? [True, True] Translation: X:216.44, Y:-122.19, Z:-4.04 [[ 8.48983646e-01 5.28411020e-01 -2.92601275e-03 2.16436708e+02] [ 5.28408001e-01 -8.48988688e-01 -1.78645999e-03 -1.22190096e+02] [-3.42813688e-03 -2.94532319e-05 -9.99994124e-01 -4.04354462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters 0.013485971780290382 Centerline is valid? [True, True] Translation: X:216.47, Y:-122.18, Z:-4.04 [[ 8.06485559e-01 5.91242437e-01 -3.66394009e-03 2.16465563e+02] [ 5.91236490e-01 -8.06493881e-01 -2.65198197e-03 -1.22180100e+02] [-4.52290954e-03 -2.74699168e-05 -9.99989771e-01 -4.04172444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters 0.013352915954481622 Centerline is valid? [True, True] Translation: X:216.49, Y:-122.17, Z:-4.04 [[ 7.59443296e-01 6.50564239e-01 -3.47141551e-03 2.16494292e+02] [ 6.50557537e-01 -7.59451230e-01 -2.95313883e-03 -1.22167217e+02] [-4.55757730e-03 -1.56140355e-05 -9.99989614e-01 -4.04139354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters 0.013340421233059608 Centerline is valid? [True, True] Translation: X:216.52, Y:-122.15, Z:-4.04 [[ 7.08207929e-01 7.05999558e-01 -2.48058842e-03 2.16522687e+02] [ 7.05995237e-01 -7.08212274e-01 -2.47010279e-03 -1.22154018e+02] [-3.50067464e-03 -1.93722526e-06 -9.99993873e-01 -4.04108374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters 0.013367497497097989 Centerline is valid? [True, True] Translation: X:216.55, Y:-122.14, Z:-4.04 [[ 6.52392390e-01 7.57879026e-01 -1.88476985e-03 2.16549932e+02] [ 7.57875842e-01 -6.52395112e-01 -2.19671201e-03 -1.22138683e+02] [-2.89445659e-03 4.69666301e-06 -9.99995811e-01 -4.04055815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters 0.013442317357626559 Centerline is valid? [True, True] Translation: X:216.57, Y:-122.12, Z:-4.04 [[ 5.90669235e-01 8.06912537e-01 -1.41869425e-03 2.16574898e+02] [ 8.06910198e-01 -5.90670939e-01 -1.94284212e-03 -1.22121262e+02] [-2.40568513e-03 2.81821144e-06 -9.99997106e-01 -4.04082932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters 0.013468974110928853 Centerline is valid? [True, True] Translation: X:216.60, Y:-122.10, Z:-4.04 [[ 5.22268536e-01 8.52780618e-01 -8.91134775e-04 2.16601193e+02] [ 8.52779392e-01 -5.22269297e-01 -1.44586112e-03 -1.22103303e+02] [-1.69841467e-03 -4.81359978e-06 -9.99998558e-01 -4.04101342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters 0.013575161622720688 Centerline is valid? [True, True] Translation: X:216.63, Y:-122.08, Z:-4.04 [[ 4.50722545e-01 8.92663655e-01 -8.86808175e-04 2.16626798e+02] [ 8.92661981e-01 -4.50723418e-01 -1.72895626e-03 -1.22083184e+02] [-1.94308163e-03 -1.23403744e-05 -9.99998112e-01 -4.04035397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters 0.013915378807040269 Centerline is valid? [True, True] Translation: X:216.65, Y:-122.06, Z:-4.04 [[ 3.76172855e-01 9.26549347e-01 -5.39333215e-04 2.16651113e+02] [ 9.26548447e-01 -3.76173241e-01 -1.29156356e-03 -1.22060877e+02] [-1.39958009e-03 -1.38672023e-05 -9.99999021e-01 -4.04075492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters 0.014497231879496987 Centerline is valid? [True, True] Translation: X:216.67, Y:-122.04, Z:-4.04 [[ 2.99381337e-01 9.54133461e-01 -3.92249468e-04 2.16672073e+02] [ 9.54132713e-01 -2.99381594e-01 -1.19487561e-03 -1.22035832e+02] [-1.25750307e-03 -1.65345912e-05 -9.99999209e-01 -4.04103311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters 0.01537828085203037 Centerline is valid? [True, True] Translation: X:216.69, Y:-122.01, Z:-4.04 [[ 2.20458279e-01 9.75396299e-01 -4.55234468e-04 2.16689878e+02] [ 9.75394506e-01 -2.20458746e-01 -1.87062098e-03 -1.22009121e+02] [-1.92495721e-03 -3.16393170e-05 -9.99998147e-01 -4.04051244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters 0.01601612829267952 Centerline is valid? [True, True] Translation: X:216.71, Y:-121.98, Z:-4.04 [[ 1.39661189e-01 9.90199253e-01 -4.37302298e-04 2.16706643e+02] [ 9.90195558e-01 -1.39661862e-01 -2.70563079e-03 -1.21980554e+02] [-2.74018804e-03 -5.51431803e-05 -9.99996244e-01 -4.03946356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters 0.01714192995567919 Centerline is valid? [True, True] Translation: X:216.72, Y:-121.95, Z:-4.04 [[ 5.98043505e-02 9.98210101e-01 -1.86667053e-04 2.16717900e+02] [ 9.98207510e-01 -5.98046206e-02 -2.27455268e-03 -1.21951024e+02] [-2.28164502e-03 -5.03043079e-05 -9.99997396e-01 -4.04067193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters 0.017063857822286022 Centerline is valid? [True, True] Translation: X:216.72, Y:-121.92, Z:-4.04 [[-1.85324433e-02 9.99828260e-01 -6.71536735e-06 2.16723199e+02] [ 9.99826391e-01 1.85323957e-02 -1.93354692e-03 -1.21919666e+02] [-1.93309040e-03 -4.25475501e-05 -9.99998131e-01 -4.04106198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters 0.01706488899757102 Centerline is valid? [True, True] Translation: X:216.72, Y:-121.89, Z:-4.04 [[-9.57502397e-02 9.95405376e-01 1.70496648e-04 2.16724929e+02] [ 9.95402791e-01 9.57503797e-02 -2.26918737e-03 -1.21889265e+02] [-2.27508642e-03 -4.75623949e-05 -9.99997411e-01 -4.04004931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters 0.015768253505629628 Centerline is valid? [True, True] Translation: X:216.73, Y:-121.86, Z:-4.04 [[-1.72914534e-01 9.84936811e-01 2.04904783e-04 2.16726799e+02] [ 9.84935919e-01 1.72914653e-01 -1.32559902e-03 -1.21858023e+02] [-1.34106231e-03 -2.73972561e-05 -9.99999100e-01 -4.04090737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters 0.015811244456579075 Centerline is valid? [True, True] Translation: X:216.73, Y:-121.83, Z:-4.04 [[-2.49814347e-01 9.68293705e-01 3.03170218e-04 2.16729771e+02] [ 9.68292854e-01 2.49814530e-01 -1.28455207e-03 -1.21825412e+02] [-1.31956001e-03 -2.73419815e-05 -9.99999129e-01 -4.04120583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters 0.016295343376833617 Centerline is valid? [True, True] Translation: X:216.73, Y:-121.79, Z:-4.04 [[-3.26466822e-01 9.45208432e-01 6.59740196e-04 2.16730771e+02] [ 9.45206193e-01 3.26467485e-01 -2.05774209e-03 -1.21793408e+02] [-2.16037890e-03 -4.81940003e-05 -9.99997665e-01 -4.03999042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters 0.017032249719360272 Centerline is valid? [True, True] Translation: X:216.73, Y:-121.76, Z:-4.04 [[-4.01655311e-01 9.15790329e-01 1.04159130e-03 2.16728311e+02] [ 9.15786799e-01 4.01656656e-01 -2.54340073e-03 -1.21760999e+02] [-2.74758386e-03 -6.76948488e-05 -9.99996223e-01 -4.03977621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters 0.018043569411760146 Centerline is valid? [True, True] Translation: X:216.73, Y:-121.73, Z:-4.04 [[-4.75952146e-01 8.79469837e-01 1.53634104e-03 2.16725560e+02] [ 8.79464567e-01 4.75954616e-01 -3.04620271e-03 -1.21727314e+02] [-3.41027201e-03 -9.86892098e-05 -9.99994180e-01 -4.03937173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters 0.019831585982391625 Centerline is valid? [True, True] Translation: X:216.72, Y:-121.70, Z:-4.04 [[-5.46215138e-01 8.37642260e-01 2.11352169e-03 2.16719340e+02] [ 8.37635033e-01 5.46219211e-01 -3.48210326e-03 -1.21695945e+02] [-4.07120300e-03 -1.31617703e-04 -9.99991704e-01 -4.03879130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters 0.022390518638578952 Centerline is valid? [True, True] Translation: X:216.71, Y:-121.67, Z:-4.04 [[-6.13302355e-01 7.89843617e-01 2.69835816e-03 2.16708772e+02] [ 7.89834742e-01 6.13308268e-01 -3.74818009e-03 -1.21665821e+02] [-4.61540149e-03 -1.67510657e-04 -9.99989335e-01 -4.03888497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters 0.021648046258658543 Centerline is valid? [True, True] Translation: X:216.69, Y:-121.64, Z:-4.04 [[-6.75183663e-01 7.37640627e-01 3.65048283e-03 2.16692638e+02] [ 7.37628051e-01 6.75193496e-01 -4.31298461e-03 -1.21637895e+02] [-5.64621494e-03 -2.19358207e-04 -9.99984036e-01 -4.03847129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters 0.025032093146335064 Centerline is valid? [True, True] Translation: X:216.68, Y:-121.61, Z:-4.04 [[-7.30904726e-01 6.82469424e-01 3.71050105e-03 2.16678299e+02] [ 6.82459180e-01 7.30914115e-01 -3.74480574e-03 -1.21609083e+02] [-5.26777301e-03 -2.04830709e-04 -9.99986104e-01 -4.03876805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters 0.024479871717974704 Centerline is valid? [True, True] Translation: X:216.65, Y:-121.59, Z:-4.04 [[-7.81520559e-01 6.23871390e-01 3.17875901e-03 2.16652907e+02] [ 6.23865388e-01 7.81527008e-01 -2.74124209e-03 -1.21588732e+02] [-4.19446852e-03 -1.59219327e-04 -9.99991191e-01 -4.04052116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters 0.02077692890381844 Centerline is valid? [True, True] Translation: X:216.67, Y:-121.58, Z:-4.04 [[-8.21558725e-01 5.70117838e-01 2.62920273e-03 2.16666964e+02] [ 5.70114477e-01 8.21562924e-01 -1.96096393e-03 -1.21576321e+02] [-3.27803600e-03 -1.12100482e-04 -9.99994621e-01 -4.04143361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters 0.018897909825136342 Centerline is valid? [True, True] Translation: X:217.04, Y:-121.09, Z:-5.00 [[-7.39446912e-01 -6.73203688e-01 3.88051354e-03 2.17036966e+02] [ 6.73196274e-01 -7.39457046e-01 -3.17084373e-03 -1.21088036e+02] [ 5.00409677e-03 2.67676648e-04 9.99987444e-01 -5.00141955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters 0.018193058423081526 Centerline is valid? [True, True] Translation: X:216.63, Y:-121.57, Z:-4.04 [[-8.20107401e-01 5.72183370e-01 5.48108581e-03 2.16633625e+02] [ 5.72168978e-01 8.20125693e-01 -4.06297328e-03 -1.21565146e+02] [-6.81994504e-03 -1.95967188e-04 -9.99976725e-01 -4.03896065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters 0.0181341152744704 Centerline is valid? [True, True] Translation: X:216.65, Y:-121.55, Z:-4.04 [[-8.57598824e-01 5.14270762e-01 7.05970652e-03 2.16648161e+02] [ 5.14251162e-01 8.57627852e-01 -4.49556114e-03 -1.21545765e+02] [-8.36653659e-03 -2.24925666e-04 -9.99964975e-01 -4.03848114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters 0.018125443426552885 Centerline is valid? [True, True] Translation: X:216.66, Y:-121.52, Z:-4.04 [[-8.91708892e-01 4.52541672e-01 7.82865486e-03 2.16660709e+02] [ 4.52521888e-01 8.91743225e-01 -4.23817789e-03 -1.21524918e+02] [-8.89910204e-03 -2.36583235e-04 -9.99960374e-01 -4.03799879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters 0.01857188920923852 Centerline is valid? [True, True] Translation: X:216.67, Y:-121.50, Z:-4.04 [[-9.21474813e-01 3.88332690e-01 9.04936359e-03 2.16667297e+02] [ 3.88311145e-01 9.21519209e-01 -4.09899388e-03 -1.21499979e+02] [-9.93093570e-03 -2.63150878e-04 -9.99950652e-01 -4.03741889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters 0.018971081779454876 Centerline is valid? [True, True] Translation: X:216.68, Y:-121.48, Z:-4.04 [[-9.46766022e-01 3.21774218e-01 9.77000470e-03 2.16675157e+02] [ 3.21754028e-01 9.46816389e-01 -3.61536853e-03 -1.21476505e+02] [-1.04137330e-02 -2.79369714e-04 -9.99945737e-01 -4.03666806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters 0.019630306680718895 Centerline is valid? [True, True] Translation: X:216.90, Y:-120.88, Z:-5.01 [[-9.00895442e-01 -4.33918085e-01 1.01241043e-02 2.16903914e+02] [ 4.33894874e-01 -9.00952264e-01 -4.50080583e-03 -1.20875055e+02] [ 1.10743158e-02 3.38041510e-04 9.99938621e-01 -5.00523930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters 0.01971893422149322 Centerline is valid? [True, True] Translation: X:216.63, Y:-121.46, Z:-4.04 [[-9.48433070e-01 3.16826021e-01 9.79713949e-03 2.16634995e+02] [ 3.16805880e-01 9.48483624e-01 -3.58455525e-03 -1.21464947e+02] [-1.04281067e-02 -2.95919340e-04 -9.99945582e-01 -4.03746967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters 0.021749277731283063 Centerline is valid? [True, True] Translation: X:216.64, Y:-121.43, Z:-4.04 [[-9.68853151e-01 2.47474756e-01 8.93401690e-03 2.16635469e+02] [ 2.47461589e-01 9.68894302e-01 -2.56782342e-03 -1.21434780e+02] [-9.29158954e-03 -2.77017794e-04 -9.99956794e-01 -4.03799452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters 0.018613975249340543 Centerline is valid? [True, True] Translation: X:216.64, Y:-121.41, Z:-4.04 [[-9.84207715e-01 1.76802630e-01 8.71804321e-03 2.16641803e+02] [ 1.76793185e-01 9.84246287e-01 -1.84852476e-03 -1.21414571e+02] [-8.90752569e-03 -2.78041703e-04 -9.99960289e-01 -4.04007994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters 0.01969139572348041 Centerline is valid? [True, True] Translation: X:216.64, Y:-121.39, Z:-4.04 [[-9.94396175e-01 1.05369533e-01 8.57370786e-03 2.16639611e+02] [ 1.05363181e-01 9.94433096e-01 -1.19042172e-03 -1.21386104e+02] [-8.65141304e-03 -2.80397675e-04 -9.99962537e-01 -4.03954257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters 0.020615065001960236 Centerline is valid? [True, True] Translation: X:216.64, Y:-121.36, Z:-4.04 [[-9.99392459e-01 3.38310879e-02 8.37681479e-03 2.16640753e+02] [ 3.38275664e-02 9.99427526e-01 -5.61747705e-04 -1.21358593e+02] [-8.39102382e-03 -2.78039161e-04 -9.99964756e-01 -4.03926515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters 0.019501005026093577 Centerline is valid? [True, True] Translation: X:216.65, Y:-121.33, Z:-4.04 [[-9.99257608e-01 -3.76303191e-02 8.25785697e-03 2.16646603e+02] [-3.76313198e-02 9.99291690e-01 3.42279568e-05 -1.21334472e+02] [-8.25329586e-03 -2.76551510e-04 -9.99965903e-01 -4.03966579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters 0.019256304948886544 Centerline is valid? [True, True] Translation: X:216.64, Y:-121.31, Z:-4.04 [[-9.94075089e-01 -1.08348802e-01 8.67497016e-03 2.16640740e+02] [-1.08347215e-01 9.94112898e-01 6.54061340e-04 -1.21309138e+02] [-8.69476648e-03 -2.89722774e-04 -9.99962158e-01 -4.03936879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters 0.01959651189986801 Centerline is valid? [True, True] Translation: X:216.63, Y:-121.28, Z:-4.04 [[-9.83937684e-01 -1.78294196e-01 8.82122327e-03 2.16626025e+02] [-1.78289694e-01 9.83977181e-01 1.30049787e-03 -1.21283898e+02] [-8.91175364e-03 -2.93124336e-04 -9.99960247e-01 -4.03895695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters 0.020365767299470077 Centerline is valid? [True, True] Translation: X:216.53, Y:-120.63, Z:-5.00 [[-9.98861101e-01 4.66486682e-02 1.00201285e-02 2.16531485e+02] [-4.66422437e-02 -9.98911276e-01 8.74017740e-04 -1.20634526e+02] [ 1.00499911e-02 4.05661047e-04 9.99949415e-01 -5.00366444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters 0.018568885888879467 Centerline is valid? [True, True] Translation: X:216.55, Y:-121.30, Z:-4.04 [[-9.83156402e-01 -1.82502214e-01 9.81996557e-03 2.16545362e+02] [-1.82496272e-01 9.83205393e-01 1.50539369e-03 -1.21298283e+02] [-9.92978079e-03 -3.12069660e-04 -9.99950650e-01 -4.03838344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters 0.018118922893120146 Centerline is valid? [True, True] Translation: X:216.53, Y:-121.28, Z:-4.04 [[-9.68124169e-01 -2.50284610e-01 9.65439259e-03 2.16534685e+02] [-2.50275186e-01 9.68172261e-01 2.19174794e-03 -1.21275138e+02] [-9.89567588e-03 -2.94370750e-04 -9.99950993e-01 -4.03827513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters 0.016989181565886427 Centerline is valid? [True, True] Translation: X:216.52, Y:-121.26, Z:-4.04 [[-9.48858171e-01 -3.15549599e-01 9.82965176e-03 2.16521613e+02] [-3.15535586e-01 9.48909046e-01 2.98592695e-03 -1.21256419e+02] [-1.02696535e-02 -2.68383744e-04 -9.99947230e-01 -4.03866472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters 0.016229621635773465 Centerline is valid? [True, True] Translation: X:216.49, Y:-121.24, Z:-4.04 [[-9.24970820e-01 -3.79902711e-01 1.01445995e-02 2.16494440e+02] [-3.79882786e-01 9.25026415e-01 3.89870245e-03 -1.21241414e+02] [-1.08651501e-02 -2.47572712e-04 -9.99940942e-01 -4.03812945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters 0.015561714715664716 Centerline is valid? [True, True] Translation: X:216.44, Y:-121.24, Z:-4.04 [[-8.95856332e-01 -4.44228221e-01 1.01350662e-02 2.16444689e+02] [-4.44202694e-01 8.95913631e-01 4.76779896e-03 -1.21236756e+02] [-1.11981348e-02 -2.30760812e-04 -9.99937272e-01 -4.03753715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters 0.014886897370098975 Centerline is valid? [True, True] Translation: X:216.39, Y:-121.24, Z:-4.04 [[-8.61649817e-01 -5.07405085e-01 9.98362545e-03 2.16388033e+02] [-5.07373877e-01 8.61707627e-01 5.63159964e-03 -1.21239892e+02] [-1.14604685e-02 -2.12963952e-04 -9.99934304e-01 -4.03804112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters 0.014693725148956123 Centerline is valid? [True, True] Translation: X:216.32, Y:-121.25, Z:-4.04 [[-8.22787701e-01 -5.68274468e-01 9.19391733e-03 2.16319231e+02] [-5.68241459e-01 8.22839046e-01 6.12772033e-03 -1.21254708e+02] [-1.10473412e-02 -1.82552068e-04 -9.99938960e-01 -4.03806219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters 0.014361770368340127 Centerline is valid? [True, True] Translation: X:216.25, Y:-121.28, Z:-4.04 [[-7.78696740e-01 -6.27337662e-01 8.87948092e-03 2.16245220e+02] [-6.27299429e-01 7.78747345e-01 6.92817319e-03 -1.21277914e+02] [-1.12611762e-02 -1.75147429e-04 -9.99936576e-01 -4.03906607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters 0.014395079177120438 Centerline is valid? [True, True] Translation: X:216.16, Y:-121.32, Z:-4.04 [[-7.29558480e-01 -6.83865817e-01 8.48345600e-03 2.16160081e+02] [-6.83822387e-01 7.29607780e-01 7.70911537e-03 -1.21315565e+02] [-1.14615960e-02 -1.76926634e-04 -9.99934298e-01 -4.03894463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters 0.014640074115852617 Centerline is valid? [True, True] Translation: X:216.08, Y:-121.35, Z:-4.04 [[-6.75849879e-01 -7.36997998e-01 7.80334515e-03 2.16082900e+02] [-7.36951849e-01 6.75894903e-01 8.24936257e-03 -1.21354230e+02] [-1.13540049e-02 -1.75358949e-04 -9.99935526e-01 -4.03824739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters 0.01489146575268741 Centerline is valid? [True, True] Translation: X:216.00, Y:-121.41, Z:-4.04 [[-6.17536114e-01 -7.86509063e-01 7.25543923e-03 2.15999762e+02] [-7.86458294e-01 6.17578707e-01 8.93830159e-03 -1.21407689e+02] [-1.15108600e-02 -1.86376329e-04 -9.99933731e-01 -4.03803230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters 0.014940919774523637 Centerline is valid? [True, True] Translation: X:215.92, Y:-121.47, Z:-4.04 [[-5.55738979e-01 -8.31328041e-01 6.91919248e-03 2.15917945e+02] [-8.31268081e-01 5.55782014e-01 9.98651422e-03 -1.21470960e+02] [-1.21476320e-02 -2.01808643e-04 -9.99926194e-01 -4.03728949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters 0.01468161574415908 Centerline is valid? [True, True] Translation: X:215.84, Y:-121.55, Z:-4.04 [[-4.91297215e-01 -8.70968985e-01 6.33046900e-03 2.15836674e+02] [-8.70901928e-01 4.91337956e-01 1.08094592e-02 -1.21549568e+02] [-1.25251034e-02 -2.02560461e-04 -9.99921537e-01 -4.03732074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters 0.014415560524349787 Centerline is valid? [True, True] Translation: X:215.76, Y:-121.63, Z:-4.04 [[-4.24397077e-01 -9.05458561e-01 5.64942229e-03 2.15764484e+02] [-9.05384338e-01 4.24434633e-01 1.15949398e-02 -1.21629007e+02] [-1.28965479e-02 -1.94039920e-04 -9.99916817e-01 -4.03766644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters 0.014220091379840327 Centerline is valid? [True, True] Translation: X:215.70, Y:-121.71, Z:-4.04 [[-3.55628489e-01 -9.34614942e-01 4.82588910e-03 2.15698816e+02] [-9.34535357e-01 3.55661189e-01 1.21977475e-02 -1.21713984e+02] [-1.31165785e-02 -1.72097498e-04 -9.99913959e-01 -4.03776917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters 0.013709632703781305 Centerline is valid? [True, True] Translation: X:215.64, Y:-121.81, Z:-4.04 [[-2.86278201e-01 -9.58138552e-01 3.91239933e-03 2.15636396e+02] [-9.58055097e-01 2.86304906e-01 1.26464534e-02 -1.21814999e+02] [-1.32371937e-02 -1.27890172e-04 -9.99912376e-01 -4.03765503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters 0.01335199540675522 Centerline is valid? [True, True] Translation: X:215.59, Y:-121.91, Z:-4.04 [[-2.15425856e-01 -9.76515319e-01 3.08753209e-03 2.15585186e+02] [-9.76420525e-01 2.15447964e-01 1.36063325e-02 -1.21910616e+02] [-1.39519946e-02 -8.35738913e-05 -9.99902663e-01 -4.03771142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters 0.01321162395629697 Centerline is valid? [True, True] Translation: X:215.54, Y:-122.01, Z:-4.04 [[-1.42109477e-01 -9.89848766e-01 2.07759106e-03 2.15540098e+02] [-9.89748203e-01 1.42124654e-01 1.41094809e-02 -1.22013590e+02] [-1.42615292e-02 -5.12010599e-05 -9.99898298e-01 -4.03818214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters 0.013216458452900755 Centerline is valid? [True, True] Translation: X:215.50, Y:-122.13, Z:-4.04 [[-6.75196730e-02 -9.97717429e-01 1.01323852e-03 2.15501346e+02] [-9.97610329e-01 6.75272710e-02 1.46184502e-02 -1.22126334e+02] [-1.46535037e-02 -2.37842399e-05 -9.99892631e-01 -4.03857190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters 0.01321261999203863 Centerline is valid? [True, True] Translation: X:215.47, Y:-122.24, Z:-4.04 [[ 8.90453795e-03 -9.99960347e-01 -1.21010033e-04 2.15469977e+02] [-9.99841009e-01 -8.90534474e-03 1.54483821e-02 -1.22242734e+02] [-1.54488472e-02 -1.65699117e-05 -9.99880659e-01 -4.03885365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters 0.013256502562468646 Centerline is valid? [True, True] Translation: X:215.45, Y:-122.36, Z:-4.04 [[ 8.63594098e-02 -9.96263109e-01 -1.36742228e-03 2.15447856e+02] [-9.96133482e-01 -8.63702312e-02 1.60707824e-02 -1.22363143e+02] [-1.61288322e-02 -2.57281662e-05 -9.99869922e-01 -4.03930893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters 0.013163366225852877 Centerline is valid? [True, True] Translation: X:215.43, Y:-122.47, Z:-4.04 [[ 1.63261493e-01 -9.86579903e-01 -2.40410327e-03 2.15431323e+02] [-9.86468197e-01 -1.63279184e-01 1.48460024e-02 -1.22471630e+02] [-1.50393076e-02 -5.22090881e-05 -9.99886902e-01 -4.03997914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters 0.013187637221945025 Centerline is valid? [True, True] Translation: X:215.43, Y:-122.60, Z:-4.04 [[ 2.39579751e-01 -9.70871085e-01 -3.29843854e-03 2.15427008e+02] [-9.70775445e-01 -2.39602447e-01 1.36272888e-02 -1.22596010e+02] [-1.40206546e-02 -6.27793190e-05 -9.99901704e-01 -4.04007882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters 0.013384159532681275 Centerline is valid? [True, True] Translation: X:215.43, Y:-122.71, Z:-4.04 [[ 3.15460310e-01 -9.48930219e-01 -4.02884798e-03 2.15429397e+02] [-9.48849361e-01 -3.15486024e-01 1.23878570e-02 -1.22713547e+02] [-1.30262571e-02 -8.51073701e-05 -9.99915151e-01 -4.04008784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters 0.013803421299292842 Centerline is valid? [True, True] Translation: X:215.44, Y:-122.83, Z:-4.04 [[ 3.89409112e-01 -9.21051793e-01 -4.91313341e-03 2.15441564e+02] [-9.20974801e-01 -3.89440088e-01 1.19093736e-02 -1.22832385e+02] [-1.28825210e-02 -1.12746513e-04 -9.99917011e-01 -4.03925105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters 0.013928962538445909 Centerline is valid? [True, True] Translation: X:215.47, Y:-122.96, Z:-4.04 [[ 4.62001163e-01 -8.86860704e-01 -5.74612310e-03 2.15468255e+02] [-8.86787854e-01 -4.62036869e-01 1.13681245e-02 -1.22959827e+02] [-1.27368636e-02 -1.56494583e-04 -9.99918871e-01 -4.04074275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters 0.01516803557784275 Centerline is valid? [True, True] Translation: X:215.49, Y:-123.07, Z:-4.04 [[ 5.30982039e-01 -8.47357534e-01 -6.57901154e-03 2.15491257e+02] [-8.47287966e-01 -5.31022760e-01 1.08595772e-02 -1.23065014e+02] [-1.26955494e-02 -1.91923126e-04 -9.99919390e-01 -4.03911534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters 0.015110360580955993 Centerline is valid? [True, True] Translation: X:215.53, Y:-123.18, Z:-4.04 [[ 5.97481468e-01 -8.01846971e-01 -7.57176128e-03 2.15533301e+02] [-8.01777241e-01 -5.97529392e-01 1.05774336e-02 -1.23180839e+02] [-1.30058330e-02 -2.48954685e-04 -9.99915390e-01 -4.03945539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters 0.015227675464537942 Centerline is valid? [True, True] Translation: X:215.58, Y:-123.28, Z:-4.04 [[ 6.58830208e-01 -7.52239813e-01 -8.83294022e-03 2.15577898e+02] [-7.52166079e-01 -6.58889350e-01 1.05363491e-02 -1.23283961e+02] [-1.37457915e-02 -2.97827030e-04 -9.99905478e-01 -4.03923683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters 0.015510127514782429 Centerline is valid? [True, True] Translation: X:215.62, Y:-123.37, Z:-4.04 [[ 7.15443234e-01 -6.98607959e-01 -9.37546074e-03 2.15623197e+02] [-6.98542177e-01 -7.15504592e-01 9.59196551e-03 -1.23374575e+02] [-1.34092087e-02 -3.13352070e-04 -9.99910043e-01 -4.03927923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters 0.016008440146226266 Centerline is valid? [True, True] Translation: X:215.68, Y:-123.46, Z:-4.04 [[ 7.66299903e-01 -6.42406788e-01 -9.89840076e-03 2.15677618e+02] [-6.42348031e-01 -7.66363769e-01 8.69370904e-03 -1.23464883e+02] [-1.31706734e-02 -3.03770153e-04 -9.99913217e-01 -4.03875134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters 0.015299680942374085 Centerline is valid? [True, True] Translation: X:215.70, Y:-123.49, Z:-4.04 [[ 8.13459072e-01 -5.81550071e-01 -9.15711872e-03 2.15699938e+02] [-5.81509742e-01 -8.13510573e-01 6.85325797e-03 -1.23490992e+02] [-1.14349256e-02 -2.49891123e-04 -9.99934588e-01 -4.03984168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters 0.015039744800547868 Centerline is valid? [True, True] Translation: X:215.72, Y:-123.52, Z:-4.04 [[ 8.56027661e-01 -5.16848406e-01 -9.18521240e-03 2.15723385e+02] [-5.16815771e-01 -8.56076908e-01 5.81255499e-03 -1.23516127e+02] [-1.08674580e-02 -2.28645226e-04 -9.99940921e-01 -4.03981498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters 0.01548288420170155 Centerline is valid? [True, True] Translation: X:215.75, Y:-123.54, Z:-4.04 [[ 8.94147306e-01 -4.47642260e-01 -1.08167374e-02 2.15748824e+02] [-4.47605875e-01 -8.94212690e-01 5.71359644e-03 -1.23539242e+02] [-1.22301111e-02 -2.67161647e-04 -9.99925174e-01 -4.03866881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters 0.01754921022370235 Centerline is valid? [True, True] Translation: X:215.77, Y:-123.56, Z:-4.04 [[ 9.26998969e-01 -3.74894353e-01 -1.12753997e-02 2.15773570e+02] [-3.74862832e-01 -9.27067495e-01 4.86993882e-03 -1.23562763e+02] [-1.22787691e-02 -2.87699997e-04 -9.99924572e-01 -4.03585398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters 0.015551993286078213 Centerline is valid? [True, True] Translation: X:215.80, Y:-123.58, Z:-4.04 [[ 9.53447054e-01 -3.01361569e-01 -1.09508085e-02 2.15803580e+02] [-3.01338426e-01 -9.53509901e-01 3.74450350e-03 -1.23579853e+02] [-1.15701538e-02 -2.70286424e-04 -9.99933027e-01 -4.03760744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters 0.015088762046246273 Centerline is valid? [True, True] Translation: X:215.83, Y:-123.59, Z:-4.04 [[ 9.73427897e-01 -2.28815190e-01 -9.04086159e-03 2.15833998e+02] [-2.28803504e-01 -9.73469862e-01 2.32036248e-03 -1.23593812e+02] [-9.33194047e-03 -1.90124759e-04 -9.99956438e-01 -4.03887491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters 0.014122543007110031 Centerline is valid? [True, True] Translation: X:215.86, Y:-123.60, Z:-4.04 [[ 9.87797695e-01 -1.55531296e-01 -8.10737436e-03 2.15864978e+02] [-1.55524906e-01 -9.87830956e-01 1.41656747e-03 -1.23604695e+02] [-8.22903594e-03 -1.38383445e-04 -9.99966131e-01 -4.03977544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters 0.01377218548476186 Centerline is valid? [True, True] Translation: X:215.89, Y:-123.62, Z:-4.04 [[ 9.96789317e-01 -7.96681691e-02 -8.00256825e-03 2.15893081e+02] [-7.96646387e-02 -9.96821433e-01 7.59460587e-04 -1.23615566e+02] [-8.03763638e-03 -1.19500491e-04 -9.99967691e-01 -4.03933407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters 0.013417268258009749 Centerline is valid? [True, True] Translation: X:215.92, Y:-123.62, Z:-4.04 [[ 9.99957078e-01 -3.54974784e-03 -8.55817296e-03 2.15922057e+02] [-3.54868644e-03 -9.99993694e-01 1.39203624e-04 -1.23624537e+02] [-8.55861312e-03 -1.08827377e-04 -9.99963369e-01 -4.03816528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters 0.013151774794789033 Centerline is valid? [True, True] Translation: X:215.95, Y:-123.63, Z:-4.04 [[ 9.97270471e-01 7.33703744e-02 -8.27014091e-03 2.15951069e+02] [ 7.33686315e-02 -9.97304758e-01 -5.14349901e-04 -1.23630293e+02] [-8.28558892e-03 -9.38229533e-05 -9.99965670e-01 -4.03812086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters 0.01296285758389224 Centerline is valid? [True, True] Translation: X:215.98, Y:-123.64, Z:-4.04 [[ 9.88487755e-01 1.51066110e-01 -8.42550825e-03 2.15980761e+02] [ 1.51061439e-01 -9.88523658e-01 -1.19170416e-03 -1.23636699e+02] [-8.50884034e-03 -9.47844365e-05 -9.99963795e-01 -4.03825660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters 0.013708984171039095 Centerline is valid? [True, True] Translation: X:216.01, Y:-123.64, Z:-4.03 [[ 9.73510727e-01 2.28428991e-01 -9.85188607e-03 2.16010137e+02] [ 2.28418506e-01 -9.73560570e-01 -2.19167362e-03 -1.23642545e+02] [-1.00920496e-02 -1.16735322e-04 -9.99949067e-01 -4.03491321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters 0.013319838009246408 Centerline is valid? [True, True] Translation: X:216.04, Y:-123.64, Z:-4.04 [[ 9.52509648e-01 3.04351815e-01 -9.76433655e-03 2.16040028e+02] [ 3.04337145e-01 -9.52559687e-01 -2.99077792e-03 -1.23641194e+02] [-1.02113621e-02 -1.22905486e-04 -9.99947855e-01 -4.03587305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters 0.013147027008532009 Centerline is valid? [True, True] Translation: X:216.07, Y:-123.64, Z:-4.04 [[ 9.26060106e-01 3.77280468e-01 -8.49280805e-03 2.16068590e+02] [ 3.77265624e-01 -9.26099043e-01 -3.34838499e-03 -1.23636948e+02] [-9.12846166e-03 -1.03238769e-04 -9.99958329e-01 -4.03712474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters 0.01255533985996736 Centerline is valid? [True, True] Translation: X:216.10, Y:-123.63, Z:-4.04 [[ 8.94788534e-01 4.46436980e-01 -6.89218101e-03 2.16097767e+02] [ 4.46424321e-01 -8.94815075e-01 -3.36270084e-03 -1.23630938e+02] [-7.66846147e-03 -6.79310745e-05 -9.99970595e-01 -4.03823254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters 0.011925547545350105 Centerline is valid? [True, True] Translation: X:216.13, Y:-123.62, Z:-4.04 [[ 8.59589073e-01 5.10957298e-01 -5.40981432e-03 2.16126450e+02] [ 5.10947365e-01 -8.59606096e-01 -3.18599531e-03 -1.23623099e+02] [-6.27821692e-03 -2.54836174e-05 -9.99980292e-01 -4.03944379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters 0.011869087150940663 Centerline is valid? [True, True] Translation: X:216.15, Y:-123.61, Z:-4.04 [[ 8.19646630e-01 5.72845441e-01 -5.24432009e-03 2.16153060e+02] [ 5.72833682e-01 -8.19663407e-01 -3.67034950e-03 -1.23612766e+02] [-6.40112025e-03 4.26641095e-06 -9.99979513e-01 -4.03976936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters 0.011843835576130448 Centerline is valid? [True, True] Translation: X:216.18, Y:-123.60, Z:-4.04 [[ 7.73801405e-01 6.33403489e-01 -5.60402592e-03 2.16180679e+02] [ 6.33386669e-01 -7.73821697e-01 -4.61614869e-03 -1.23602660e+02] [-7.26040153e-03 2.24670373e-05 -9.99973643e-01 -4.03914573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters 0.012048002291207024 Centerline is valid? [True, True] Translation: X:216.21, Y:-123.59, Z:-4.04 [[ 7.23599217e-01 6.90194941e-01 -5.92604175e-03 2.16208474e+02] [ 6.90171262e-01 -7.23623481e-01 -5.71723861e-03 -1.23591736e+02] [-8.23423212e-03 4.70056616e-05 -9.99966097e-01 -4.03846487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters 0.012207280263292717 Centerline is valid? [True, True] Translation: X:216.23, Y:-123.58, Z:-4.04 [[ 6.68563079e-01 7.43633212e-01 -5.74944925e-03 2.16234056e+02] [ 7.43604889e-01 -6.68587797e-01 -6.49046654e-03 -1.23577184e+02] [-8.67053808e-03 6.39677178e-05 -9.99962408e-01 -4.03912824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters 0.012373646843951317 Centerline is valid? [True, True] Translation: X:216.26, Y:-123.56, Z:-4.04 [[ 6.09951467e-01 7.92421828e-01 -5.18209865e-03 2.16260745e+02] [ 7.92392089e-01 -6.09973475e-01 -6.86560832e-03 -1.23563016e+02] [-8.60140062e-03 8.14338908e-05 -9.99963004e-01 -4.03998938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters 0.012466086344712017 Centerline is valid? [True, True] Translation: X:216.29, Y:-123.55, Z:-4.04 [[ 5.46399951e-01 8.37508677e-01 -5.12922115e-03 2.16285829e+02] [ 8.37470134e-01 -5.46424017e-01 -8.03540660e-03 -1.23547623e+02] [-9.53245238e-03 9.49762455e-05 -9.99954561e-01 -4.03871556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters 0.012568759971884431 Centerline is valid? [True, True] Translation: X:216.31, Y:-123.53, Z:-4.04 [[ 4.77414433e-01 8.78663808e-01 -5.03703581e-03 2.16308110e+02] [ 8.78613000e-01 -4.77440996e-01 -9.44938294e-03 -1.23528934e+02] [-1.07077182e-02 8.56666476e-05 -9.99942667e-01 -4.03779295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters 0.012159522135999854 Centerline is valid? [True, True] Translation: X:216.33, Y:-123.51, Z:-4.04 [[ 4.04535250e-01 9.14512277e-01 -4.30422093e-03 2.16328568e+02] [ 9.14459045e-01 -4.04558144e-01 -9.86726127e-03 -1.23507355e+02] [-1.07650392e-02 5.56212495e-05 -9.99942054e-01 -4.03837670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters 0.011700520247876416 Centerline is valid? [True, True] Translation: X:216.35, Y:-123.49, Z:-4.04 [[ 3.26164943e-01 9.45305575e-01 -3.71472682e-03 2.16351557e+02] [ 9.45244544e-01 -3.26186096e-01 -1.07416095e-02 -1.23485312e+02] [-1.13657956e-02 -7.78880186e-06 -9.99935407e-01 -4.03926691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters 0.01192197152584816 Centerline is valid? [True, True] Translation: X:216.37, Y:-123.46, Z:-4.04 [[ 2.46054598e-01 9.69251306e-01 -3.00685964e-03 2.16373279e+02] [ 9.69182428e-01 -2.46072960e-01 -1.15550695e-02 -1.23461855e+02] [-1.19396731e-02 -7.10175413e-05 -9.99928717e-01 -4.03939389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters 0.013065906015109586 Centerline is valid? [True, True] Translation: X:216.39, Y:-123.44, Z:-4.04 [[ 1.61084106e-01 9.86938474e-01 -2.08773172e-03 2.16394658e+02] [ 9.86868784e-01 -1.61097544e-01 -1.17296668e-02 -1.23436299e+02] [-1.19127879e-02 -1.70854375e-04 -9.99929026e-01 -4.03950357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters 0.014299583287935902 Centerline is valid? [True, True] Translation: X:216.41, Y:-123.41, Z:-4.04 [[ 7.83158188e-02 9.96927981e-01 -1.11030464e-03 2.16410572e+02] [ 9.96863732e-01 -7.83233792e-02 -1.13202496e-02 -1.23408343e+02] [-1.13724364e-02 -2.20267811e-04 -9.99935308e-01 -4.03970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters 0.01611395745919055 Centerline is valid? [True, True] Translation: X:216.42, Y:-123.38, Z:-4.04 [[-5.55637890e-03 9.99984542e-01 -2.04379043e-04 2.16423161e+02] [ 9.99928955e-01 5.55391442e-03 -1.05469708e-02 -1.23378846e+02] [-1.05456726e-02 -2.62967489e-04 -9.99944358e-01 -4.04039750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters 0.016796549765354506 Centerline is valid? [True, True] Translation: X:216.43, Y:-123.35, Z:-4.04 [[-8.74881863e-02 9.96165365e-01 6.19231711e-04 2.16431613e+02] [ 9.96110257e-01 8.74898625e-02 -1.04823320e-02 -1.23347861e+02] [-1.04963126e-02 -3.00257158e-04 -9.99944867e-01 -4.04028553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters 0.017263594198646162 Centerline is valid? [True, True] Translation: X:216.44, Y:-123.32, Z:-4.04 [[-1.66843385e-01 9.85982308e-01 1.47419634e-03 2.16437371e+02] [ 9.85924745e-01 1.66849581e-01 -1.06589912e-02 -1.23316834e+02] [-1.07555458e-02 -3.24935522e-04 -9.99942105e-01 -4.04009191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters 0.017433325672705842 Centerline is valid? [True, True] Translation: X:216.44, Y:-123.29, Z:-4.04 [[-2.44209442e-01 9.69719625e-01 2.36585504e-03 2.16439873e+02] [ 9.69659667e-01 2.44220665e-01 -1.07887144e-02 -1.23285681e+02] [-1.10398188e-02 -3.40631724e-04 -9.99939001e-01 -4.03969741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters 0.01883542589976009 Centerline is valid? [True, True] Translation: X:216.44, Y:-123.26, Z:-4.04 [[-3.18592333e-01 9.47886186e-01 3.27152233e-03 2.16440192e+02] [ 9.47824799e-01 3.18608951e-01 -1.07928979e-02 -1.23255349e+02] [-1.12727751e-02 -3.37704517e-04 -9.99936403e-01 -4.03749703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters 0.015057147513288746 Centerline is valid? [True, True] Translation: X:216.43, Y:-123.23, Z:-4.04 [[-3.86013137e-01 9.22483721e-01 4.20031720e-03 2.16429123e+02] [ 9.22421215e-01 3.86035893e-01 -1.07420504e-02 -1.23227010e+02] [-1.15308398e-02 -2.72110880e-04 -9.99933481e-01 -4.03838048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters 0.013555546931231111 Centerline is valid? [True, True] Translation: X:216.42, Y:-123.20, Z:-4.04 [[-4.51078012e-01 8.92470362e-01 5.02789055e-03 2.16419112e+02] [ 8.92410047e-01 4.51105991e-01 -1.03774986e-02 -1.23199338e+02] [-1.15297215e-02 -1.94121379e-04 -9.99933512e-01 -4.03881797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters 0.012015143063078007 Centerline is valid? [True, True] Translation: X:216.40, Y:-123.18, Z:-4.04 [[-5.09087530e-01 8.60699713e-01 5.08829706e-03 2.16403131e+02] [ 8.60655815e-01 5.09112955e-01 -8.69294977e-03 -1.23176184e+02] [-1.00725373e-02 -4.61998777e-05 -9.99949270e-01 -4.03996299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters 0.012078107578241563 Centerline is valid? [True, True] Translation: X:216.39, Y:-123.15, Z:-4.04 [[-5.67385203e-01 8.23437997e-01 4.88834424e-03 2.16388023e+02] [ 8.23408038e-01 5.67406259e-01 -7.02428843e-03 -1.23153133e+02] [-8.55774311e-03 3.96246203e-05 -9.99963381e-01 -4.04088432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters 0.013898810270201211 Centerline is valid? [True, True] Translation: X:216.37, Y:-123.13, Z:-4.04 [[-6.20055333e-01 7.84545702e-01 4.40733572e-03 2.16372450e+02] [ 7.84527266e-01 6.20070985e-01 -5.37985346e-03 -1.23129961e+02] [-6.95360191e-03 1.21868211e-04 -9.99975816e-01 -4.04247850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters 0.016097061635604946 Centerline is valid? [True, True] Translation: X:216.36, Y:-123.11, Z:-4.04 [[-6.74071922e-01 7.38648202e-01 5.08695258e-03 2.16357959e+02] [ 7.38629203e-01 6.74091091e-01 -5.30100817e-03 -1.23107866e+02] [-7.34464957e-03 1.84110968e-04 -9.99973011e-01 -4.04169751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters 0.01918000767103703 Centerline is valid? [True, True] Translation: X:216.34, Y:-123.09, Z:-4.04 [[-7.22857865e-01 6.90971704e-01 5.88315835e-03 2.16340966e+02] [ 6.90951892e-01 7.22881752e-01 -5.23979322e-03 -1.23087149e+02] [-7.87337667e-03 2.77353652e-04 -9.99968966e-01 -4.04059451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters 0.019834440151414234 Centerline is valid? [True, True] Translation: X:216.37, Y:-123.07, Z:-4.04 [[-7.64286909e-01 6.44849987e-01 5.83220778e-03 2.16369393e+02] [ 6.44834022e-01 7.64309108e-01 -4.54663453e-03 -1.23071872e+02] [-7.38950675e-03 2.85872747e-04 -9.99972656e-01 -4.04125957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters 0.020463356884905387 Centerline is valid? [True, True] Translation: X:216.83, Y:-122.49, Z:-5.00 [[-7.77319772e-01 -6.29094079e-01 3.82255732e-03 2.16828730e+02] [ 6.29084443e-01 -7.77329108e-01 -3.49588529e-03 -1.22494716e+02] [ 5.17062581e-03 -3.12709414e-04 9.99986583e-01 -4.99898040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters 0.022676969911913043 Centerline is valid? [True, True] Translation: X:216.82, Y:-122.53, Z:-5.00 [[-7.34710779e-01 -6.78371828e-01 3.42557441e-03 2.16815342e+02] [ 6.78362885e-01 -7.34718725e-01 -3.49153504e-03 -1.22526175e+02] [ 4.88539267e-03 -2.41485890e-04 9.99988037e-01 -4.99978444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters 0.02321298157297073 Centerline is valid? [True, True] Translation: X:216.77, Y:-122.49, Z:-5.00 [[-7.33737826e-01 -6.79424223e-01 3.39540962e-03 2.16772267e+02] [ 6.79415461e-01 -7.33745646e-01 -3.45818864e-03 -1.22487811e+02] [ 4.84094415e-03 -2.30510022e-04 9.99988256e-01 -5.00022927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters 0.019694084401804385 Centerline is valid? [True, True] Translation: X:216.72, Y:-122.46, Z:-5.00 [[-7.28729692e-01 -6.84795649e-01 2.82063923e-03 2.16722077e+02] [ 6.84789649e-01 -7.28735133e-01 -2.87108096e-03 -1.22456272e+02] [ 4.02160265e-03 -1.60697395e-04 9.99991900e-01 -4.99964260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters 0.01618175140926939 Centerline is valid? [True, True] Translation: X:216.67, Y:-122.43, Z:-5.00 [[-7.19886306e-01 -6.94085828e-01 2.92741020e-03 2.16670403e+02] [ 6.94079449e-01 -7.19892249e-01 -2.97794275e-03 -1.22426383e+02] [ 4.17436777e-03 -1.11924941e-04 9.99991281e-01 -4.99985211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters 0.013970738911335625 Centerline is valid? [True, True] Translation: X:216.62, Y:-122.39, Z:-5.00 [[-7.13303599e-01 -7.00846705e-01 3.44566190e-03 2.16621921e+02] [ 7.00837955e-01 -7.13311916e-01 -3.50296327e-03 -1.22393726e+02] [ 4.91287196e-03 -8.38256619e-05 9.99987928e-01 -5.00100191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters 0.011801373468399637 Centerline is valid? [True, True] Translation: X:216.57, Y:-122.36, Z:-5.00 [[-7.04868170e-01 -7.09329128e-01 3.61253188e-03 2.16568607e+02] [ 7.09319632e-01 -7.04877427e-01 -3.67044866e-03 -1.22364828e+02] [ 5.14994833e-03 -2.47426432e-05 9.99986739e-01 -5.00161172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters 0.011656400156627568 Centerline is valid? [True, True] Translation: X:216.52, Y:-122.33, Z:-5.00 [[-7.00030463e-01 -7.14108045e-01 2.65552757e-03 2.16519267e+02] [ 7.14102954e-01 -7.00035499e-01 -2.69656354e-03 -1.22331605e+02] [ 3.78460129e-03 8.64346374e-06 9.99992838e-01 -5.00117573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters 0.011752610215250451 Centerline is valid? [True, True] Translation: X:216.48, Y:-122.29, Z:-5.00 [[-6.98918176e-01 -7.15195319e-01 3.00665533e-03 2.16475311e+02] [ 7.15188810e-01 -6.98924643e-01 -3.05125782e-03 -1.22294083e+02] [ 4.28367081e-03 1.77466982e-05 9.99990825e-01 -5.00135737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters 0.011833955295033356 Centerline is valid? [True, True] Translation: X:216.43, Y:-122.26, Z:-5.00 [[-6.99431715e-01 -7.14686835e-01 4.24306917e-03 2.16430702e+02] [ 7.14673879e-01 -6.99444585e-01 -4.30343526e-03 -1.22257485e+02] [ 6.04340028e-03 2.24515960e-05 9.99981738e-01 -5.00361502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters 0.011739635424708583 Centerline is valid? [True, True] Translation: X:216.39, Y:-122.22, Z:-5.00 [[-7.01468879e-01 -7.12682975e-01 4.93851364e-03 2.16388860e+02] [ 7.12665396e-01 -7.01486263e-01 -5.00560209e-03 -1.22217886e+02] [ 7.03170687e-03 8.23369251e-06 9.99975277e-01 -5.00483513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters 0.012172470492473978 Centerline is valid? [True, True] Translation: X:216.35, Y:-122.18, Z:-5.01 [[-7.06751646e-01 -7.07441557e-01 5.34360029e-03 2.16349168e+02] [ 7.07420849e-01 -7.06771845e-01 -5.41300331e-03 -1.22176665e+02] [ 7.60608973e-03 -4.54747461e-05 9.99971072e-01 -5.00547548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters 0.01373130228036338 Centerline is valid? [True, True] Translation: X:216.31, Y:-122.13, Z:-5.00 [[-7.14731036e-01 -6.99379950e-01 5.21841027e-03 2.16311103e+02] [ 6.99360007e-01 -7.14750074e-01 -5.28315114e-03 -1.22132801e+02] [ 7.42478911e-03 -1.26484642e-04 9.99972428e-01 -5.00480254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters 0.015504564506124424 Centerline is valid? [True, True] Translation: X:216.27, Y:-122.09, Z:-5.00 [[-7.19886113e-01 -6.94073476e-01 5.09853824e-03 2.16272798e+02] [ 6.94054327e-01 -7.19904146e-01 -5.15865819e-03 -1.22089970e+02] [ 7.25094663e-03 -1.74983865e-04 9.99973696e-01 -5.00443205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters 0.017063940522689128 Centerline is valid? [True, True] Translation: X:216.23, Y:-122.05, Z:-5.00 [[-7.24213034e-01 -6.89559040e-01 4.87983159e-03 2.16233063e+02] [ 6.89541415e-01 -7.24229444e-01 -4.93454082e-03 -1.22047753e+02] [ 6.93677495e-03 -2.08812793e-04 9.99975919e-01 -5.00421058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters 0.018097604688009902 Centerline is valid? [True, True] Translation: X:216.19, Y:-122.01, Z:-5.00 [[-7.26723826e-01 -6.86912400e-01 4.88210231e-03 2.16191057e+02] [ 6.86894718e-01 -7.26740188e-01 -4.93405283e-03 -1.22007810e+02] [ 6.93728202e-03 -2.32203461e-04 9.99975910e-01 -5.00421570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters 0.017943112155238153 Centerline is valid? [True, True] Translation: X:216.15, Y:-121.97, Z:-5.00 [[-7.24515335e-01 -6.89240498e-01 5.00662208e-03 2.16147836e+02] [ 6.89221976e-01 -7.24532602e-01 -5.05742439e-03 -1.21970734e+02] [ 7.11324262e-03 -2.13507559e-04 9.99974678e-01 -5.00497672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters 0.015978561232688846 Centerline is valid? [True, True] Translation: X:216.10, Y:-121.93, Z:-5.00 [[-7.21319146e-01 -6.92584954e-01 4.97718385e-03 2.16102994e+02] [ 6.92566750e-01 -7.21336295e-01 -5.02461227e-03 -1.21934312e+02] [ 7.07019421e-03 -1.77316988e-04 9.99974990e-01 -5.00442066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters 0.01338938407610245 Centerline is valid? [True, True] Translation: X:216.06, Y:-121.90, Z:-5.00 [[-7.14235587e-01 -6.99887089e-01 5.05859035e-03 2.16055131e+02] [ 6.99868487e-01 -7.14253493e-01 -5.10378007e-03 -1.21900768e+02] [ 7.18518560e-03 -1.04953386e-04 9.99974181e-01 -5.00429810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters 0.012054257159225996 Centerline is valid? [True, True] Translation: X:216.01, Y:-121.86, Z:-5.00 [[-7.08858314e-01 -7.05334428e-01 4.82025859e-03 2.16008579e+02] [ 7.05317675e-01 -7.08874702e-01 -4.86158697e-03 -1.21864860e+02] [ 6.84600404e-03 -4.63627646e-05 9.99976565e-01 -5.00442743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters 0.011767012016105777 Centerline is valid? [True, True] Translation: X:215.96, Y:-121.83, Z:-5.00 [[-7.01936033e-01 -7.12224189e-01 4.74461607e-03 2.15962104e+02] [ 7.12208133e-01 -7.01952067e-01 -4.78231966e-03 -1.21831029e+02] [ 6.73657680e-03 2.22716617e-05 9.99977309e-01 -5.00473988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters 0.011940433443622866 Centerline is valid? [True, True] Translation: X:215.92, Y:-121.79, Z:-5.00 [[-7.00208755e-01 -7.13923641e-01 4.55345017e-03 2.15920028e+02] [ 7.13908908e-01 -7.00223559e-01 -4.58679143e-03 -1.21792318e+02] [ 6.46305193e-03 3.90371195e-05 9.99979114e-01 -5.00480241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters 0.013738717960243908 Centerline is valid? [True, True] Translation: X:215.88, Y:-121.76, Z:-5.01 [[-6.95660802e-01 -7.18353723e-01 4.89663829e-03 2.15875254e+02] [ 7.18336814e-01 -6.95678029e-01 -4.92964916e-03 -1.21756323e+02] [ 6.94771551e-03 8.80718650e-05 9.99975860e-01 -5.00586551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters 0.013847201863655668 Centerline is valid? [True, True] Translation: X:215.83, Y:-121.72, Z:-5.01 [[-6.93242997e-01 -7.20685959e-01 5.08882593e-03 2.15833299e+02] [ 7.20667779e-01 -6.93261664e-01 -5.12028934e-03 -1.21715782e+02] [ 7.21800857e-03 1.17748153e-04 9.99973943e-01 -5.00527934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters 0.01481764587526916 Centerline is valid? [True, True] Translation: X:215.79, Y:-121.68, Z:-5.01 [[-6.90429354e-01 -7.23382093e-01 5.06508691e-03 2.15791270e+02] [ 7.23364175e-01 -6.90447917e-01 -5.09353310e-03 -1.21675180e+02] [ 7.18174934e-03 1.47177644e-04 9.99974200e-01 -5.00550067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters 0.016274486858277752 Centerline is valid? [True, True] Translation: X:215.75, Y:-121.64, Z:-5.01 [[-6.88152152e-01 -7.25549094e-01 5.01269697e-03 2.15750356e+02] [ 7.25531617e-01 -6.88170388e-01 -5.03880049e-03 -1.21635290e+02] [ 7.10548675e-03 1.69408739e-04 9.99974741e-01 -5.00622759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters 0.016744548320778044 Centerline is valid? [True, True] Translation: X:215.71, Y:-121.59, Z:-5.01 [[-6.86924509e-01 -7.26708482e-01 5.43155832e-03 2.15710234e+02] [ 7.26688021e-01 -6.86945954e-01 -5.45680253e-03 -1.21593610e+02] [ 7.69669169e-03 1.98636971e-04 9.99970360e-01 -5.00664119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters 0.017490863861326592 Centerline is valid? [True, True] Translation: X:215.67, Y:-121.55, Z:-5.01 [[-6.85445759e-01 -7.28094601e-01 6.50875422e-03 2.15671496e+02] [ 7.28065316e-01 -6.85476612e-01 -6.53535314e-03 -1.21550353e+02] [ 9.21995412e-03 2.59168105e-04 9.99957462e-01 -5.00771087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters 0.017459565503915798 Centerline is valid? [True, True] Translation: X:215.63, Y:-121.51, Z:-5.01 [[-6.85269421e-01 -7.28261437e-01 6.41095854e-03 2.15634413e+02] [ 7.28233070e-01 -6.85299359e-01 -6.43307869e-03 -1.21507115e+02] [ 9.07838892e-03 2.60279909e-04 9.99958757e-01 -5.00697240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters 0.018285325918015388 Centerline is valid? [True, True] Translation: X:215.60, Y:-121.46, Z:-5.01 [[-6.86056632e-01 -7.27525968e-01 5.68014599e-03 2.15598412e+02] [ 7.27503704e-01 -6.86080109e-01 -5.69599243e-03 -1.21463790e+02] [ 8.04101758e-03 2.24553866e-04 9.99967645e-01 -5.00572798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters 0.017320554423702825 Centerline is valid? [True, True] Translation: X:215.56, Y:-121.42, Z:-5.00 [[-6.87578814e-01 -7.26091996e-01 5.07812584e-03 2.15563195e+02] [ 7.26074183e-01 -6.87597541e-01 -5.08948778e-03 -1.21416735e+02] [ 7.18714318e-03 1.87672097e-04 9.99974155e-01 -5.00419104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters 0.016382159489469295 Centerline is valid? [True, True] Translation: X:215.53, Y:-121.37, Z:-5.00 [[-6.88691224e-01 -7.25038368e-01 4.87464060e-03 2.15526757e+02] [ 7.25021947e-01 -6.88708454e-01 -4.88280154e-03 -1.21370780e+02] [ 6.89742466e-03 1.71478851e-04 9.99976198e-01 -5.00389816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters 0.015740329018110913 Centerline is valid? [True, True] Translation: X:215.49, Y:-121.32, Z:-5.00 [[-6.90781929e-01 -7.23046903e-01 4.84787963e-03 2.15491415e+02] [ 7.23030631e-01 -6.90798923e-01 -4.85329162e-03 -1.21324324e+02] [ 6.85806750e-03 1.52599322e-04 9.99976472e-01 -5.00386100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters 0.014650638363743201 Centerline is valid? [True, True] Translation: X:215.46, Y:-121.28, Z:-5.00 [[-6.92366093e-01 -7.21531606e-01 4.61901221e-03 2.15456957e+02] [ 7.21516817e-01 -6.92381487e-01 -4.62151710e-03 -1.21277172e+02] [ 6.53268920e-03 1.32913255e-04 9.99978653e-01 -5.00274346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters 0.014346265670883674 Centerline is valid? [True, True] Translation: X:215.42, Y:-121.23, Z:-5.00 [[-6.93823411e-01 -7.20130309e-01 4.62732325e-03 2.15418996e+02] [ 7.20115453e-01 -6.93838831e-01 -4.62720331e-03 -1.21232959e+02] [ 6.54280590e-03 1.21744992e-04 9.99978588e-01 -5.00283970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters 0.013124485113200263 Centerline is valid? [True, True] Translation: X:215.00, Y:-121.65, Z:-4.04 [[-7.63763972e-01 6.45476046e-01 5.02687960e-03 2.15003017e+02] [ 6.45461318e-01 7.63780509e-01 -4.36120975e-03 -1.21648611e+02] [-6.65448909e-03 -8.62785499e-05 -9.99977855e-01 -4.03909774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters 0.012199751883609361 Centerline is valid? [True, True] Translation: X:215.02, Y:-121.64, Z:-4.04 [[-8.01763992e-01 5.97620920e-01 4.87203743e-03 2.15015447e+02] [ 5.97609735e-01 8.01778795e-01 -3.65645631e-03 -1.21640173e+02] [-6.09147109e-03 -2.00380116e-05 -9.99981447e-01 -4.03955781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters 0.012260501648090408 Centerline is valid? [True, True] Translation: X:215.03, Y:-121.63, Z:-4.04 [[-8.38314158e-01 5.45161097e-01 5.36195132e-03 2.15028634e+02] [ 5.45150123e-01 8.38331306e-01 -3.45906064e-03 -1.21627357e+02] [-6.38083694e-03 2.32889185e-05 -9.99979642e-01 -4.03955737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters 0.013399000691586201 Centerline is valid? [True, True] Translation: X:215.39, Y:-121.08, Z:-5.00 [[-8.09096511e-01 -5.87652670e-01 5.21295300e-03 2.15385626e+02] [ 5.87640317e-01 -8.09113304e-01 -3.81038757e-03 -1.21083444e+02] [ 6.45705406e-03 -1.96299393e-05 9.99979153e-01 -5.00204185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters 0.013933236337445273 Centerline is valid? [True, True] Translation: X:214.99, Y:-121.63, Z:-4.04 [[-8.33763651e-01 5.52085097e-01 6.34200137e-03 2.14989648e+02] [ 5.52070188e-01 8.33787762e-01 -4.05900839e-03 -1.21625950e+02] [-7.52880117e-03 1.16976238e-04 -9.99971651e-01 -4.03952896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters 0.01464948250964118 Centerline is valid? [True, True] Translation: X:215.00, Y:-121.61, Z:-4.04 [[-8.71109487e-01 4.91036765e-01 7.15243513e-03 2.15001208e+02] [ 4.91021343e-01 8.71138842e-01 -3.89350500e-03 -1.21605508e+02] [-8.14261816e-03 1.20329163e-04 -9.99966841e-01 -4.03832946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters 0.013520517761745381 Centerline is valid? [True, True] Translation: X:215.33, Y:-121.00, Z:-5.00 [[-8.50331804e-01 -5.26199488e-01 7.06553154e-03 2.15328025e+02] [ 5.26180255e-01 -8.50361151e-01 -4.50025031e-03 -1.21003925e+02] [ 8.37628294e-03 -1.08962775e-04 9.99964912e-01 -5.00230172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters 0.013153557083563649 Centerline is valid? [True, True] Translation: X:214.96, Y:-121.58, Z:-4.04 [[-8.75983739e-01 4.82278021e-01 7.77169332e-03 2.14959006e+02] [ 4.82259790e-01 8.76018211e-01 -4.19396626e-03 -1.21583578e+02] [-8.83080262e-03 7.41289451e-05 -9.99961005e-01 -4.03932544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters 0.012628720824770059 Centerline is valid? [True, True] Translation: X:214.97, Y:-121.56, Z:-4.04 [[-9.09891779e-01 4.14762237e-01 8.32087721e-03 2.14968202e+02] [ 4.14745232e-01 9.09929824e-01 -3.75593416e-03 -1.21557604e+02] [-9.12923400e-03 3.35505339e-05 -9.99958327e-01 -4.03928555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters 0.012532085225517449 Centerline is valid? [True, True] Translation: X:214.98, Y:-121.53, Z:-4.04 [[-9.38062618e-01 3.46367811e-01 8.23800042e-03 2.14976961e+02] [ 3.46354504e-01 9.38098790e-01 -3.03614079e-03 -1.21531593e+02] [-8.77967967e-03 5.17836595e-06 -9.99961458e-01 -4.03926440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters 0.012561764032137133 Centerline is valid? [True, True] Translation: X:215.22, Y:-120.89, Z:-5.00 [[-9.12124124e-01 -4.09829033e-01 8.35136680e-03 2.15215414e+02] [ 4.09812038e-01 -9.12162356e-01 -3.73235681e-03 -1.20890206e+02] [ 9.14743060e-03 1.81179603e-05 9.99958161e-01 -5.00206416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters 0.01254716897811503 Centerline is valid? [True, True] Translation: X:214.93, Y:-121.52, Z:-4.04 [[-9.39980088e-01 3.41119060e-01 8.67303322e-03 2.14931527e+02] [ 3.41104420e-01 9.40020099e-01 -3.16041404e-03 -1.21518680e+02] [-9.23090301e-03 -1.23162995e-05 -9.99957394e-01 -4.03984173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters 0.01276406061631218 Centerline is valid? [True, True] Translation: X:215.17, Y:-120.87, Z:-5.00 [[-9.14995608e-01 -4.03374359e-01 8.49499756e-03 2.15173482e+02] [ 4.03357128e-01 -9.15035041e-01 -3.72837864e-03 -1.20870127e+02] [ 9.27715279e-03 1.50677420e-05 9.99956966e-01 -5.00192210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters 0.013285594892221758 Centerline is valid? [True, True] Translation: X:214.89, Y:-121.51, Z:-4.04 [[-9.38089930e-01 3.46270215e-01 9.17721890e-03 2.14892545e+02] [ 3.46254449e-01 9.38134816e-01 -3.30509311e-03 -1.21513466e+02] [-9.75392387e-03 7.71783096e-05 -9.99952426e-01 -4.03911592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters 0.01399678016595794 Centerline is valid? [True, True] Translation: X:214.90, Y:-121.49, Z:-4.04 [[-9.58676583e-01 2.84320659e-01 1.00484770e-02 2.14900604e+02] [ 2.84306586e-01 9.58729233e-01 -2.83231475e-03 -1.21491626e+02] [-1.04390542e-02 1.41574368e-04 -9.99945502e-01 -4.03889357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters 0.015623478208526548 Centerline is valid? [True, True] Translation: X:214.91, Y:-121.47, Z:-4.04 [[-9.74603129e-01 2.23669279e-01 1.09907027e-02 2.14913327e+02] [ 2.23657882e-01 9.74665068e-01 -2.27108436e-03 -1.21472588e+02] [-1.12202258e-02 2.44751363e-04 -9.99937021e-01 -4.03881721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters 0.017305001529879887 Centerline is valid? [True, True] Translation: X:215.07, Y:-120.76, Z:-5.00 [[-9.70420276e-01 -2.41156340e-01 1.13184996e-02 2.15069847e+02] [ 2.41137205e-01 -9.70486254e-01 -3.04631836e-03 -1.20763009e+02] [ 1.17190872e-02 -2.26897757e-04 9.99931303e-01 -5.00324895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters 0.017257726140801732 Centerline is valid? [True, True] Translation: X:214.87, Y:-121.47, Z:-4.04 [[-9.73938228e-01 2.26525702e-01 1.14207566e-02 2.14868177e+02] [ 2.26514123e-01 9.74005131e-01 -2.31436499e-03 -1.21468106e+02] [-1.16481387e-02 3.32914138e-04 -9.99932103e-01 -4.03865926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters 0.0176148003616487 Centerline is valid? [True, True] Translation: X:214.88, Y:-121.44, Z:-4.04 [[-9.87498196e-01 1.57177121e-01 1.19442836e-02 2.14879878e+02] [ 1.57169737e-01 9.87570372e-01 -1.56024288e-03 -1.21442427e+02] [-1.20410551e-02 3.36542880e-04 -9.99927447e-01 -4.03825495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters 0.016181080456608515 Centerline is valid? [True, True] Translation: X:214.88, Y:-121.41, Z:-4.04 [[-9.96572320e-01 8.18278752e-02 1.21576796e-02 2.14878806e+02] [ 8.18252147e-02 9.96646437e-01 -7.16932265e-04 -1.21411198e+02] [-1.21755731e-02 2.80329896e-04 -9.99925836e-01 -4.03802988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters 0.015429097718211734 Centerline is valid? [True, True] Translation: X:214.92, Y:-120.69, Z:-5.00 [[-9.94059631e-01 -1.08239613e-01 1.13858165e-02 2.14920885e+02] [ 1.08228909e-01 -9.94124785e-01 -1.55394159e-03 -1.20690400e+02] [ 1.14871204e-02 -3.12436115e-04 9.99933972e-01 -5.00442788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters 0.012986271320040122 Centerline is valid? [True, True] Translation: X:214.81, Y:-121.39, Z:-4.04 [[-9.98110101e-01 6.06241006e-02 1.00470967e-02 2.14814548e+02] [ 6.06216248e-02 9.98160666e-01 -5.51057246e-04 -1.21394501e+02] [-1.00620241e-02 5.90555247e-05 -9.99949375e-01 -4.03899014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters 0.013070127553849654 Centerline is valid? [True, True] Translation: X:214.80, Y:-121.36, Z:-4.04 [[-9.99690699e-01 -2.32344988e-02 8.86929683e-03 2.14804805e+02] [-2.32341340e-02 9.99730041e-01 1.44179002e-04 -1.21357732e+02] [-8.87025241e-03 -6.19360244e-05 -9.99960657e-01 -4.03871062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters 0.014974532844243259 Centerline is valid? [True, True] Translation: X:214.79, Y:-120.69, Z:-5.00 [[-9.97530789e-01 -6.97206231e-02 8.44752009e-03 2.14787460e+02] [ 6.97183627e-02 -9.97566556e-01 -5.62114835e-04 -1.20685694e+02] [ 8.46615452e-03 2.82204152e-05 9.99964161e-01 -5.00224165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters 0.016453251452047703 Centerline is valid? [True, True] Translation: X:214.73, Y:-121.35, Z:-4.04 [[-9.98925236e-01 -4.55878105e-02 8.37405672e-03 2.14733488e+02] [-4.55879624e-02 9.98960313e-01 1.72838818e-04 -1.21346549e+02] [-8.37322967e-03 -2.09103126e-04 -9.99964922e-01 -4.03964102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters 0.01790497345476185 Centerline is valid? [True, True] Translation: X:214.73, Y:-121.32, Z:-4.04 [[-9.92573867e-01 -1.21362426e-01 8.26312726e-03 2.14725139e+02] [-1.21360300e-01 9.92608231e-01 7.60077937e-04 -1.21318114e+02] [-8.29429303e-03 -2.48382107e-04 -9.99965571e-01 -4.03930107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters 0.019166377008527847 Centerline is valid? [True, True] Translation: X:214.67, Y:-120.67, Z:-5.00 [[-9.99943194e-01 -6.02413336e-03 8.79310102e-03 2.14666052e+02] [ 6.02650488e-03 -9.99981811e-01 2.43229984e-04 -1.20669855e+02] [ 8.79147583e-03 2.96207833e-04 9.99961310e-01 -5.00353967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters 0.01768200664691097 Centerline is valid? [True, True] Translation: X:214.66, Y:-121.33, Z:-4.04 [[-9.92202415e-01 -1.24224489e-01 1.01313340e-02 2.14655234e+02] [-1.24220919e-01 9.92254099e-01 9.83399084e-04 -1.21331207e+02] [-1.01750199e-02 -2.82792670e-04 -9.99948193e-01 -4.03699632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters 0.016601703942222677 Centerline is valid? [True, True] Translation: X:214.59, Y:-120.66, Z:-5.00 [[-9.99927159e-01 4.77337435e-03 1.10856273e-02 2.14592318e+02] [-4.76902880e-03 -9.99988541e-01 4.18400947e-04 -1.20663939e+02] [ 1.10874975e-02 3.65502795e-04 9.99938465e-01 -5.00494570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters 0.014718348015951259 Centerline is valid? [True, True] Translation: X:214.58, Y:-121.36, Z:-4.04 [[-9.92636880e-01 -1.20752730e-01 9.52899772e-03 2.14578027e+02] [-1.20748909e-01 9.92682601e-01 9.77430282e-04 -1.21356322e+02] [-9.57729762e-03 -1.80382734e-04 -9.99954120e-01 -4.03893420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters 0.013304708504431776 Centerline is valid? [True, True] Translation: X:214.57, Y:-121.34, Z:-4.04 [[-9.82983077e-01 -1.83543065e-01 7.49761282e-03 2.14574324e+02] [-1.83538385e-01 9.83011666e-01 1.31343633e-03 -1.21342431e+02] [-7.61131300e-03 -8.50140665e-05 -9.99971030e-01 -4.04168026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters 0.012619492557043047 Centerline is valid? [True, True] Translation: X:214.57, Y:-121.33, Z:-4.04 [[-9.69261103e-01 -2.45955106e-01 6.24500736e-03 2.14565264e+02] [-2.45950153e-01 9.69281221e-01 1.56105181e-03 -1.21328565e+02] [-6.43711703e-03 -2.28937188e-05 -9.99979281e-01 -4.04297558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters 0.012639452226125817 Centerline is valid? [True, True] Translation: X:214.54, Y:-121.31, Z:-4.04 [[-9.50234122e-01 -3.11478103e-01 6.04192022e-03 2.14544391e+02] [-3.11471796e-01 9.50253330e-01 1.98224435e-03 -1.21312975e+02] [-6.35878052e-03 1.70847656e-06 -9.99979783e-01 -4.04337205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters 0.012562500514041028 Centerline is valid? [True, True] Translation: X:214.50, Y:-121.30, Z:-4.04 [[-9.24805885e-01 -3.80402539e-01 5.28989565e-03 2.14498617e+02] [-3.80396330e-01 9.24821014e-01 2.17351805e-03 -1.21301026e+02] [-5.71901845e-03 -2.17461011e-06 -9.99983646e-01 -4.04312921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters 0.012668761053587352 Centerline is valid? [True, True] Translation: X:214.44, Y:-121.30, Z:-4.04 [[-8.92081792e-01 -4.51832190e-01 6.14389121e-03 2.14435499e+02] [-4.51821755e-01 8.92102948e-01 3.07099673e-03 -1.21296305e+02] [-6.86855864e-03 -3.63634419e-05 -9.99976411e-01 -4.04246040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters 0.012883639502897195 Centerline is valid? [True, True] Translation: X:214.37, Y:-121.30, Z:-4.04 [[-8.55102129e-01 -5.18424333e-01 6.04651036e-03 2.14366382e+02] [-5.18411804e-01 8.55123505e-01 3.60461360e-03 -1.21301924e+02] [-7.03923254e-03 -5.22695746e-05 -9.99975223e-01 -4.04233929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters 0.013043975553538577 Centerline is valid? [True, True] Translation: X:214.29, Y:-121.32, Z:-4.04 [[-8.14000274e-01 -5.80842715e-01 5.02943530e-03 2.14290489e+02] [-5.80831985e-01 8.14015810e-01 3.53079782e-03 -1.21318259e+02] [-6.14487804e-03 -4.71864907e-05 -9.99981119e-01 -4.04226457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters 0.012964583657256704 Centerline is valid? [True, True] Translation: X:214.21, Y:-121.35, Z:-4.04 [[-7.68577549e-01 -6.39740969e-01 4.47712380e-03 2.14209261e+02] [-6.39730424e-01 7.68590587e-01 3.67342236e-03 -1.21345296e+02] [-5.79111399e-03 -4.08423563e-05 -9.99983231e-01 -4.04212903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters 0.012985881010728942 Centerline is valid? [True, True] Translation: X:214.13, Y:-121.38, Z:-4.04 [[-7.18021157e-01 -6.96008968e-01 4.13936479e-03 2.14126358e+02] [-6.95997736e-01 7.18033088e-01 3.95430154e-03 -1.21383239e+02] [-5.72443021e-03 -4.17163615e-05 -9.99983614e-01 -4.04317871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters 0.013223037960726599 Centerline is valid? [True, True] Translation: X:214.04, Y:-121.43, Z:-4.04 [[-6.62269251e-01 -7.49257042e-01 3.65020218e-03 2.14039137e+02] [-7.49246055e-01 6.62279309e-01 4.05780557e-03 -1.21433372e+02] [-5.45779278e-03 -4.75397294e-05 -9.99985105e-01 -4.04389471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters 0.013453850583551 Centerline is valid? [True, True] Translation: X:213.96, Y:-121.49, Z:-4.05 [[-6.01500702e-01 -7.98867414e-01 2.78570603e-03 2.13957682e+02] [-7.98859238e-01 6.01507150e-01 3.61463478e-03 -1.21486653e+02] [-4.56323603e-03 -5.11816407e-05 -9.99989587e-01 -4.04529428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters 0.013656423902253405 Centerline is valid? [True, True] Translation: X:213.87, Y:-121.56, Z:-4.05 [[-5.37484645e-01 -8.43270102e-01 2.40650971e-03 2.13874118e+02] [-8.43262122e-01 5.37490029e-01 3.66916851e-03 -1.21556852e+02] [-4.38757508e-03 -5.71967554e-05 -9.99990373e-01 -4.04592881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters 0.01456943715322107 Centerline is valid? [True, True] Translation: X:213.80, Y:-121.63, Z:-4.05 [[-4.69498717e-01 -8.82929888e-01 2.40174182e-03 2.13795842e+02] [-8.82919155e-01 4.69504854e-01 4.35402430e-03 -1.21629928e+02] [-4.97192762e-03 -7.63350361e-05 -9.99987637e-01 -4.04631290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters 0.014680331347198613 Centerline is valid? [True, True] Translation: X:213.72, Y:-121.72, Z:-4.05 [[-3.99720494e-01 -9.16633509e-01 2.55667954e-03 2.13722008e+02] [-9.16616341e-01 3.99728658e-01 5.61095303e-03 -1.21717083e+02] [-6.16516565e-03 -1.00681327e-04 -9.99980990e-01 -4.04666332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters 0.014248540797980179 Centerline is valid? [True, True] Translation: X:213.66, Y:-121.81, Z:-4.05 [[-3.30157450e-01 -9.43922418e-01 2.55491261e-03 2.13658820e+02] [-9.43896620e-01 3.30167318e-01 6.97953907e-03 -1.21806243e+02] [-7.43169204e-03 -1.07226557e-04 -9.99972379e-01 -4.04628690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters 0.013695093503547001 Centerline is valid? [True, True] Translation: X:213.60, Y:-121.91, Z:-4.05 [[-2.59253257e-01 -9.65806967e-01 2.15661556e-03 2.13599711e+02] [-9.65776506e-01 2.59262210e-01 7.67123753e-03 -1.21913746e+02] [-7.96806357e-03 -9.40153223e-05 -9.99968250e-01 -4.04662877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters 0.013145077386591495 Centerline is valid? [True, True] Translation: X:213.56, Y:-122.01, Z:-4.05 [[-1.90123178e-01 -9.81758816e-01 1.67444116e-03 2.13555798e+02] [-9.81722936e-01 1.90130545e-01 8.39361725e-03 -1.22008046e+02] [-8.55887015e-03 -4.80161087e-05 -9.99963371e-01 -4.04686169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters 0.013020084915415888 Centerline is valid? [True, True] Translation: X:213.51, Y:-122.12, Z:-4.05 [[-1.17591719e-01 -9.93061706e-01 7.97310588e-04 2.13512383e+02] [-9.93039639e-01 1.17594421e-01 6.62023142e-03 -1.22116759e+02] [-6.66805758e-03 -1.32766273e-05 -9.99977768e-01 -4.04881923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters 0.013008471095372388 Centerline is valid? [True, True] Translation: X:213.48, Y:-122.24, Z:-4.05 [[-4.23140184e-02 -9.99104327e-01 2.60787668e-04 2.13476059e+02] [-9.99085719e-01 4.23148220e-02 6.09778236e-03 -1.22235243e+02] [-6.10335592e-03 -2.52756007e-06 -9.99981374e-01 -4.04959914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters 0.013050274880703202 Centerline is valid? [True, True] Translation: X:213.45, Y:-122.35, Z:-4.05 [[ 3.45565977e-02 -9.99402717e-01 -2.27655254e-04 2.13448241e+02] [-9.99380887e-01 -3.45573476e-02 6.60553264e-03 -1.22351289e+02] [-6.60945443e-03 -7.50424222e-07 -9.99978157e-01 -4.04940553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters 0.013014142601405033 Centerline is valid? [True, True] Translation: X:213.43, Y:-122.47, Z:-4.05 [[ 1.11650317e-01 -9.93747216e-01 -8.22597728e-04 2.13429695e+02] [-9.93720138e-01 -1.11653348e-01 7.33609681e-03 -1.22472028e+02] [-7.38207158e-03 -1.64561034e-06 -9.99972752e-01 -4.04890476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters 0.013055113381210189 Centerline is valid? [True, True] Translation: X:213.42, Y:-122.59, Z:-4.05 [[ 1.88162947e-01 -9.82136498e-01 -1.61386782e-03 2.13419879e+02] [-9.82100211e-01 -1.88169868e-01 8.44254828e-03 -1.22593585e+02] [-8.59541610e-03 -3.59483446e-06 -9.99963059e-01 -4.04738409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters 0.013016156292767785 Centerline is valid? [True, True] Translation: X:213.42, Y:-122.72, Z:-4.05 [[ 2.64922316e-01 -9.64267091e-01 -2.26807458e-03 2.13419294e+02] [-9.64231170e-01 -2.64932024e-01 8.32307663e-03 -1.22719382e+02] [-8.62655448e-03 -1.80205373e-05 -9.99962790e-01 -4.04693474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters 0.01299948940835191 Centerline is valid? [True, True] Translation: X:213.43, Y:-122.84, Z:-4.05 [[ 3.40169437e-01 -9.40361262e-01 -2.33464748e-03 2.13427758e+02] [-9.40338548e-01 -3.40177447e-01 6.53605908e-03 -1.22842764e+02] [-6.94045119e-03 -2.80085132e-05 -9.99975914e-01 -4.04817821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters 0.01283330719845617 Centerline is valid? [True, True] Translation: X:213.45, Y:-122.96, Z:-4.05 [[ 4.10562648e-01 -9.11830058e-01 -2.06336981e-03 2.13445927e+02] [-9.11818356e-01 -4.10567833e-01 4.61955266e-03 -1.22957277e+02] [-5.05940024e-03 -1.51973028e-05 -9.99987201e-01 -4.04955435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters 0.012796629131307021 Centerline is valid? [True, True] Translation: X:213.47, Y:-123.07, Z:-4.05 [[ 4.75510534e-01 -8.79709656e-01 -8.08268400e-04 2.13474055e+02] [-8.79708392e-01 -4.75511221e-01 1.49108931e-03 -1.23066726e+02] [-1.69606636e-03 2.01182136e-06 -9.99998562e-01 -4.05087265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters 0.012931479762346461 Centerline is valid? [True, True] Translation: X:213.51, Y:-123.18, Z:-4.05 [[ 5.38874193e-01 -8.42386247e-01 1.25384923e-04 2.13509563e+02] [-8.42386225e-01 -5.38874207e-01 -1.92197182e-04 -1.23175113e+02] [ 2.29470963e-04 -2.05243099e-06 -9.99999974e-01 -4.05197782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters 0.013141726583409152 Centerline is valid? [True, True] Translation: X:213.55, Y:-123.28, Z:-4.05 [[ 5.99546183e-01 -8.00339254e-01 1.20511320e-03 2.13552592e+02] [-8.00337694e-01 -5.99547394e-01 -1.58048575e-03 -1.23282450e+02] [ 1.98744726e-03 -1.69233251e-05 -9.99998025e-01 -4.05265979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters 0.013303680413866516 Centerline is valid? [True, True] Translation: X:213.60, Y:-123.39, Z:-4.05 [[ 6.58175015e-01 -7.52863664e-01 1.39734994e-03 2.13603153e+02] [-7.52862033e-01 -6.58176498e-01 -1.56737420e-03 -1.23385757e+02] [ 2.09972197e-03 -2.04051774e-05 -9.99997795e-01 -4.05244056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters 0.013403367494924798 Centerline is valid? [True, True] Translation: X:213.66, Y:-123.48, Z:-4.05 [[ 7.13340321e-01 -7.00814323e-01 2.20716882e-03 2.13657075e+02] [-7.00811102e-01 -7.13343735e-01 -2.12481015e-03 -1.23481739e+02] [ 3.06356744e-03 -3.10956574e-05 -9.99995307e-01 -4.05244836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters 0.01327112714408609 Centerline is valid? [True, True] Translation: X:213.67, Y:-123.51, Z:-4.05 [[ 7.67115227e-01 -6.41504120e-01 2.58695782e-03 2.13673388e+02] [-6.41500593e-01 -7.67119588e-01 -2.12741802e-03 -1.23512080e+02] [ 3.34925344e-03 -2.75602227e-05 -9.99994391e-01 -4.05153644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters 0.013130467988446968 Centerline is valid? [True, True] Translation: X:213.69, Y:-123.54, Z:-4.05 [[ 8.16001642e-01 -5.78036267e-01 3.92367818e-03 2.13691647e+02] [-5.78029760e-01 -8.16011074e-01 -2.74276848e-03 -1.23539947e+02] [ 4.78718450e-03 -2.98991778e-05 -9.99988541e-01 -4.05172159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters 0.013154754564815921 Centerline is valid? [True, True] Translation: X:213.71, Y:-123.56, Z:-4.05 [[ 8.59101529e-01 -5.11767022e-01 6.25125612e-03 2.13711996e+02] [-5.11753799e-01 -8.59124272e-01 -3.67899298e-03 -1.23563974e+02] [ 7.25339314e-03 -3.84755757e-05 -9.99973693e-01 -4.05285666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters 0.013407445173762116 Centerline is valid? [True, True] Translation: X:213.73, Y:-123.59, Z:-4.05 [[ 8.95314819e-01 -4.45342598e-01 9.01918118e-03 2.13733897e+02] [-4.45320885e-01 -8.95360243e-01 -4.39835210e-03 -1.23588196e+02] [ 1.00341898e-02 -7.85199334e-05 -9.99949653e-01 -4.05288905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters 0.014011186702295146 Centerline is valid? [True, True] Translation: X:213.76, Y:-123.61, Z:-4.06 [[ 9.25930959e-01 -3.77430444e-01 1.40754906e-02 2.13757610e+02] [-3.77389692e-01 -9.26037920e-01 -5.54894008e-03 -1.23608341e+02] [ 1.51287770e-02 -1.74009659e-04 -9.99885538e-01 -4.05521618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters 0.014545699572918326 Centerline is valid? [True, True] Translation: X:213.78, Y:-123.63, Z:-4.06 [[ 9.51761909e-01 -3.06206478e-01 1.96687774e-02 2.13783188e+02] [-3.06147323e-01 -9.51965078e-01 -6.02544625e-03 -1.23628743e+02] [ 2.05690199e-02 -2.86753317e-04 -9.99788394e-01 -4.05727307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters 0.014823862649417156 Centerline is valid? [True, True] Translation: X:213.81, Y:-123.65, Z:-4.06 [[ 9.72370538e-01 -2.32277633e-01 2.32945796e-02 2.13810362e+02] [-2.32220021e-01 -9.72649457e-01 -5.18601972e-03 -1.23647667e+02] [ 2.38620566e-02 -3.66734991e-04 -9.99715193e-01 -4.05813451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters 0.01587118644612634 Centerline is valid? [True, True] Translation: X:213.83, Y:-123.66, Z:-4.06 [[ 9.87132455e-01 -1.57531916e-01 2.74446976e-02 2.13833774e+02] [-1.57484741e-01 -9.87513776e-01 -3.88559700e-03 -1.23661180e+02] [ 2.77141225e-02 -4.86522180e-04 -9.99615772e-01 -4.06041986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters 0.015888484453155136 Centerline is valid? [True, True] Translation: X:213.86, Y:-123.68, Z:-4.06 [[ 9.96231783e-01 -8.17604467e-02 2.89389857e-02 2.13859112e+02] [-8.17424917e-02 -9.96651849e-01 -1.80490490e-03 -1.23675185e+02] [ 2.89896635e-02 -5.67441175e-04 -9.99579550e-01 -4.05795217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters 0.01637480576955309 Centerline is valid? [True, True] Translation: X:213.89, Y:-123.68, Z:-4.06 [[ 9.99593971e-01 -5.73170312e-03 2.79113176e-02 2.13886105e+02] [-5.74650087e-03 -9.99983388e-01 4.49986761e-04 -1.23684588e+02] [ 2.79082747e-02 -6.10196464e-04 -9.99610302e-01 -4.05624118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters 0.017237775598359803 Centerline is valid? [True, True] Translation: X:213.91, Y:-123.69, Z:-4.05 [[ 9.97263853e-01 6.86238519e-02 2.74877301e-02 2.13913442e+02] [ 6.85781059e-02 -9.97642350e-01 2.60461035e-03 -1.23693046e+02] [ 2.76016621e-02 -7.12427283e-04 -9.99618748e-01 -4.05379489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters 0.018112503489252363 Centerline is valid? [True, True] Translation: X:213.94, Y:-123.70, Z:-4.05 [[ 9.89351054e-01 1.43172751e-01 2.61926526e-02 2.13941364e+02] [ 1.43101823e-01 -9.89697409e-01 4.57231390e-03 -1.23697473e+02] [ 2.65774312e-02 -7.75407241e-04 -9.99646457e-01 -4.05242693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters 0.019459480756752776 Centerline is valid? [True, True] Translation: X:213.97, Y:-123.70, Z:-4.05 [[ 9.76573944e-01 2.13656012e-01 2.55820149e-02 2.13968927e+02] [ 2.13557266e-01 -9.76908497e-01 6.56368229e-03 -1.23700407e+02] [ 2.63936579e-02 -9.46695951e-04 -9.99651178e-01 -4.04992068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters 0.02046827652286353 Centerline is valid? [True, True] Translation: X:214.00, Y:-123.70, Z:-4.05 [[ 9.58255769e-01 2.84983691e-01 2.30255932e-02 2.13998222e+02] [ 2.84876614e-01 -9.58531859e-01 7.87336869e-03 -1.23703604e+02] [ 2.43145463e-02 -9.85247953e-04 -9.99703872e-01 -4.04570884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters 0.02099511731278992 Centerline is valid? [True, True] Translation: X:214.03, Y:-123.71, Z:-4.04 [[ 9.33909127e-01 3.57018238e-01 1.87542044e-02 2.14028582e+02] [ 3.56927350e-01 -9.34097005e-01 8.10256023e-03 -1.23706198e+02] [ 2.04110080e-02 -8.73166456e-04 -9.99791292e-01 -4.04118708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters 0.02229768725222745 Centerline is valid? [True, True] Translation: X:214.06, Y:-123.71, Z:-4.03 [[ 9.04625032e-01 4.26072340e-01 1.07662822e-02 2.14059549e+02] [ 4.26034705e-01 -9.04688923e-01 5.69064259e-03 -1.23707032e+02] [ 1.21647616e-02 -5.61087884e-04 -9.99925849e-01 -4.03246553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters 0.02255645314254573 Centerline is valid? [True, True] Translation: X:214.09, Y:-123.71, Z:-4.02 [[ 8.69790791e-01 4.93408131e-01 3.52082758e-03 2.14091460e+02] [ 4.93403131e-01 -8.69797893e-01 2.23051357e-03 -1.23707336e+02] [ 4.16296194e-03 -2.02892811e-04 -9.99991314e-01 -4.02465298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters 0.021620236818678418 Centerline is valid? [True, True] Translation: X:214.13, Y:-123.71, Z:-4.02 [[ 8.28219698e-01 5.60403538e-01 -8.24577700e-05 2.14125306e+02] [ 5.60403535e-01 -8.28219702e-01 -6.07050798e-05 -1.23707078e+02] [-1.02312491e-04 4.06751706e-06 -9.99999995e-01 -4.02113745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters 0.02260102561441227 Centerline is valid? [True, True] Translation: X:214.16, Y:-123.70, Z:-4.02 [[ 7.78811813e-01 6.27241073e-01 -4.56033223e-03 2.14158889e+02] [ 6.27228319e-01 -7.78825120e-01 -4.00849329e-03 -1.23704711e+02] [-6.06599293e-03 2.61492409e-04 -9.99981568e-01 -4.01504831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters 0.019951167546585154 Centerline is valid? [True, True] Translation: X:214.20, Y:-123.70, Z:-4.01 [[ 7.22280968e-01 6.91556057e-01 -7.77331577e-03 2.14196479e+02] [ 6.91509937e-01 -7.22322684e-01 -7.99663937e-03 -1.23702154e+02] [-1.11449667e-02 4.00495324e-04 -9.99937813e-01 -4.01075839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters 0.01799505034828072 Centerline is valid? [True, True] Translation: X:214.23, Y:-123.69, Z:-4.01 [[ 6.60432321e-01 7.50817932e-01 -1.00787741e-02 2.14233886e+02] [ 7.50719899e-01 -6.60509067e-01 -1.21410563e-02 -1.23694387e+02] [-1.57728445e-02 4.52009689e-04 -9.99875499e-01 -4.00686684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters 0.016556857712383518 Centerline is valid? [True, True] Translation: X:214.27, Y:-123.68, Z:-4.00 [[ 5.93080530e-01 8.05057390e-01 -1.17508795e-02 2.14271155e+02] [ 8.04885228e-01 -5.93196783e-01 -1.66537249e-02 -1.23683093e+02] [-2.03777882e-02 4.18890730e-04 -9.99792264e-01 -4.00229022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters 0.015444748345268315 Centerline is valid? [True, True] Translation: X:214.31, Y:-123.67, Z:-4.00 [[ 5.21731816e-01 8.53021859e-01 -1.22319274e-02 2.14307212e+02] [ 8.52773443e-01 -5.21875092e-01 -2.05874283e-02 -1.23667609e+02] [-2.39450646e-02 3.10053481e-04 -9.99713228e-01 -3.99944239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters 0.014729981263078385 Centerline is valid? [True, True] Translation: X:214.34, Y:-123.65, Z:-4.00 [[ 4.47733396e-01 8.94092488e-01 -1.15511505e-02 2.14341582e+02] [ 8.93784962e-01 -4.47882342e-01 -2.34488647e-02 -1.23648373e+02] [-2.61390102e-02 1.74595253e-04 -9.99658302e-01 -3.99771718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters 0.014701971698651688 Centerline is valid? [True, True] Translation: X:214.38, Y:-123.63, Z:-4.00 [[ 3.70078621e-01 9.28936479e-01 -1.09009785e-02 2.14378531e+02] [ 9.28533839e-01 -3.70239135e-01 -2.73476158e-02 -1.23626795e+02] [-2.94401668e-02 -1.15943301e-06 -9.99566544e-01 -3.99551184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters 0.014490145237890543 Centerline is valid? [True, True] Translation: X:214.41, Y:-123.60, Z:-4.00 [[ 2.94905916e-01 9.55485307e-01 -8.85038984e-03 2.14411014e+02] [ 9.55059521e-01 -2.95038687e-01 -2.85216364e-02 -1.23600364e+02] [-2.98632119e-02 -4.14497880e-05 -9.99553994e-01 -3.99712954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters 0.015073358131039282 Centerline is valid? [True, True] Translation: X:214.43, Y:-123.57, Z:-4.00 [[ 2.20241344e-01 9.75423422e-01 -6.54968121e-03 2.14432473e+02] [ 9.74993563e-01 -2.20338711e-01 -2.89552095e-02 -1.23569849e+02] [-2.96867379e-02 -8.76277435e-06 -9.99559252e-01 -3.99551520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters 0.014517900104169692 Centerline is valid? [True, True] Translation: X:214.45, Y:-123.54, Z:-4.00 [[ 1.46026589e-01 9.89271494e-01 -4.25995395e-03 2.14451641e+02] [ 9.88835514e-01 -1.46088693e-01 -2.93669809e-02 -1.23535280e+02] [-2.96742482e-02 7.59663074e-05 -9.99559620e-01 -3.99901719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters 0.01495052368823237 Centerline is valid? [True, True] Translation: X:214.46, Y:-123.50, Z:-4.00 [[ 6.96361563e-02 9.97570426e-01 -2.01280329e-03 2.14464611e+02] [ 9.97101132e-01 -6.96651302e-02 -3.05957985e-02 -1.23499166e+02] [-3.06616859e-02 1.23605369e-04 -9.99529812e-01 -3.99835033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters 0.015070806923700114 Centerline is valid? [True, True] Translation: X:214.48, Y:-123.46, Z:-4.00 [[-1.10840021e-02 9.99938486e-01 4.11209181e-04 2.14476185e+02] [ 9.99414485e-01 1.10915044e-02 -3.23676564e-02 -1.23461880e+02] [-3.23702262e-02 5.22052403e-05 -9.99475946e-01 -3.99779709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters 0.015025253873692593 Centerline is valid? [True, True] Translation: X:214.49, Y:-123.42, Z:-4.00 [[-9.70229451e-02 9.95278417e-01 2.72409106e-03 2.14485289e+02] [ 9.94831345e-01 9.70610049e-02 -2.98287817e-02 -1.23423480e+02] [-2.99523456e-02 -1.84065075e-04 -9.99551311e-01 -4.00025114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters 0.015089808974026819 Centerline is valid? [True, True] Translation: X:214.49, Y:-123.38, Z:-4.00 [[-1.79767338e-01 9.83698403e-01 4.59956232e-03 2.14488816e+02] [ 9.83331263e-01 1.79825907e-01 -2.68750969e-02 -1.23384645e+02] [-2.72641104e-02 -3.08371208e-04 -9.99628218e-01 -4.00282394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters 0.015000692072469684 Centerline is valid? [True, True] Translation: X:214.49, Y:-123.35, Z:-4.01 [[-2.58852097e-01 9.65897822e-01 6.08182386e-03 2.14486264e+02] [ 9.65599018e-01 2.58923302e-01 -2.40262187e-02 -1.23345984e+02] [-2.47815983e-02 -3.46633953e-04 -9.99692829e-01 -4.00637930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters 0.014483799755425786 Centerline is valid? [True, True] Translation: X:214.48, Y:-123.31, Z:-4.01 [[-3.32419331e-01 9.43103459e-01 7.29759599e-03 2.14477479e+02] [ 9.42856940e-01 3.32499299e-01 -2.15640473e-02 -1.23308694e+02] [-2.27635731e-02 -2.87717139e-04 -9.99740835e-01 -4.00914384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters 0.013744453941385857 Centerline is valid? [True, True] Translation: X:214.46, Y:-123.27, Z:-4.01 [[-4.00825850e-01 9.16121547e-01 7.74272557e-03 2.14461936e+02] [ 9.15943213e-01 4.00900597e-01 -1.80759977e-02 -1.23274887e+02] [-1.96638743e-02 -1.53430216e-04 -9.99806636e-01 -4.01234737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters 0.013444503285671707 Centerline is valid? [True, True] Translation: X:214.45, Y:-123.24, Z:-4.01 [[-4.67795343e-01 8.83799692e-01 8.10072403e-03 2.14445836e+02] [ 8.83664764e-01 4.67865473e-01 -1.54429503e-02 -1.23241962e+02] [-1.74385238e-02 -6.58158708e-05 -9.99847935e-01 -4.01449004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters 0.013117015007621871 Centerline is valid? [True, True] Translation: X:214.43, Y:-123.21, Z:-4.02 [[-5.32077146e-01 8.46662901e-01 7.47281080e-03 2.14425022e+02] [ 8.46579554e-01 5.32129619e-01 -1.18797228e-02 -1.23213273e+02] [-1.40346245e-02 5.39982626e-06 -9.99901510e-01 -4.01751403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters 0.01301667030499197 Centerline is valid? [True, True] Translation: X:214.41, Y:-123.18, Z:-4.02 [[-5.96012834e-01 8.02939549e-01 7.53541083e-03 2.14406266e+02] [ 8.02875738e-01 5.96060467e-01 -1.01227071e-02 -1.23184148e+02] [-1.26194824e-02 1.67351528e-05 -9.99920371e-01 -4.01858109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters 0.012951064561174534 Centerline is valid? [True, True] Translation: X:214.38, Y:-123.16, Z:-4.02 [[-6.57112911e-01 7.53752740e-01 7.70900417e-03 2.14383711e+02] [ 7.53701145e-01 6.57158129e-01 -8.81919381e-03 -1.23157395e+02] [-1.17135263e-02 1.50791474e-05 -9.99931394e-01 -4.01977181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters 0.012825852287249018 Centerline is valid? [True, True] Translation: X:214.36, Y:-123.13, Z:-4.02 [[-7.14744263e-01 6.99341459e-01 7.88433299e-03 2.14362114e+02] [ 6.99298986e-01 7.14787747e-01 -7.70743986e-03 -1.23130891e+02] [-1.10257569e-02 4.65764229e-06 -9.99939215e-01 -4.02046255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters 0.012704494461102288 Centerline is valid? [True, True] Translation: X:214.37, Y:-123.11, Z:-4.02 [[-7.63546585e-01 6.45718525e-01 6.64831311e-03 2.14365584e+02] [ 6.45693918e-01 7.63575528e-01 -5.63710992e-03 -1.23108547e+02] [-8.71647549e-03 -1.14206890e-05 -9.99962011e-01 -4.02272031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters 0.012697572118908668 Centerline is valid? [True, True] Translation: X:214.38, Y:-123.09, Z:-4.02 [[-8.08288952e-01 5.88743350e-01 7.08787091e-03 2.14382920e+02] [ 5.88720434e-01 8.08320027e-01 -5.19455558e-03 -1.23094264e+02] [-8.78752806e-03 -2.59274440e-05 -9.99961389e-01 -4.02313153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters 0.012821083451862805 Centerline is valid? [True, True] Translation: X:214.73, Y:-122.62, Z:-5.02 [[-7.61776211e-01 -6.47812629e-01 5.98353311e-03 2.14732082e+02] [ 6.47792307e-01 -7.61799709e-01 -5.13130415e-03 -1.22618507e+02] [ 7.88237741e-03 -3.28187103e-05 9.99968933e-01 -5.01740874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters 0.012898539683798806 Centerline is valid? [True, True] Translation: X:214.34, Y:-123.08, Z:-4.03 [[-8.12542462e-01 5.82879988e-01 5.06624167e-03 2.14339144e+02] [ 5.82868336e-01 8.12558255e-01 -3.68580754e-03 -1.23077431e+02] [-6.26499994e-03 -4.19232808e-05 -9.99980374e-01 -4.02543970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters 0.013061841599372556 Centerline is valid? [True, True] Translation: X:214.35, Y:-123.06, Z:-4.03 [[-8.52144281e-01 5.23287384e-01 4.52094580e-03 2.14348108e+02] [ 5.23279773e-01 8.52156272e-01 -2.82254675e-03 -1.23060174e+02] [-5.32955542e-03 -3.94975788e-05 -9.99985797e-01 -4.02582312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters 0.012753646248302207 Centerline is valid? [True, True] Translation: X:214.36, Y:-123.04, Z:-4.03 [[-8.86094482e-01 4.63482707e-01 4.51109771e-03 2.14358301e+02] [ 4.63476544e-01 8.86105964e-01 -2.39024388e-03 -1.23043278e+02] [-5.10514729e-03 -2.71939409e-05 -9.99986968e-01 -4.02634354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters 0.012627492972784189 Centerline is valid? [True, True] Translation: X:214.36, Y:-123.03, Z:-4.03 [[-9.14692846e-01 4.04126251e-01 4.35545689e-03 2.14363851e+02] [ 4.04121660e-01 9.14703216e-01 -1.92620638e-03 -1.23027266e+02] [-4.76238099e-03 -1.75272269e-06 -9.99988660e-01 -4.02674715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters 0.012683508395360685 Centerline is valid? [True, True] Translation: X:214.37, Y:-123.01, Z:-4.03 [[-9.39868254e-01 3.41506178e-01 4.60389644e-03 2.14373225e+02] [ 3.41502157e-01 9.39879530e-01 -1.65729534e-03 -1.23008440e+02] [-4.89308462e-03 1.46012860e-05 -9.99988029e-01 -4.02727193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters 0.013430635592928323 Centerline is valid? [True, True] Translation: X:214.61, Y:-122.38, Z:-5.02 [[-9.18984174e-01 -3.94247322e-01 6.09410921e-03 2.14612900e+02] [ 3.94239215e-01 -9.19004376e-01 -2.52948585e-03 -1.22376540e+02] [ 6.59775606e-03 7.79793641e-05 9.99978232e-01 -5.01747291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters 0.013492044241750096 Centerline is valid? [True, True] Translation: X:214.33, Y:-123.01, Z:-4.02 [[-9.38888052e-01 3.44136663e-01 7.69300512e-03 2.14333106e+02] [ 3.44125784e-01 9.38919566e-01 -2.73742695e-03 -1.23005401e+02] [-8.16516201e-03 7.72239586e-05 -9.99966662e-01 -4.02261760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters 0.013868307957297153 Centerline is valid? [True, True] Translation: X:214.34, Y:-122.99, Z:-4.02 [[-9.60386231e-01 2.78493486e-01 9.98329646e-03 2.14342374e+02] [ 2.78479708e-01 9.60438111e-01 -2.77262458e-03 -1.22985984e+02] [-1.03604963e-02 1.17355013e-04 -9.99946322e-01 -4.02178714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters 0.014258801676234884 Centerline is valid? [True, True] Translation: X:214.35, Y:-122.96, Z:-4.02 [[-9.76608431e-01 2.14762411e-01 1.06338437e-02 2.14354335e+02] [ 2.14750708e-01 9.76666319e-01 -2.24393419e-03 -1.22964559e+02] [-1.08676297e-02 9.21804242e-05 -9.99940941e-01 -4.02259317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters 0.014110369169990752 Centerline is valid? [True, True] Translation: X:214.50, Y:-122.27, Z:-5.02 [[-9.66867540e-01 -2.55004557e-01 1.18252287e-02 2.14503755e+02] [ 2.54985188e-01 -9.66939851e-01 -3.14307215e-03 -1.22266897e+02] [ 1.22357826e-02 -2.36762740e-05 9.99925140e-01 -5.01932182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters 0.014570659159877404 Centerline is valid? [True, True] Translation: X:214.30, Y:-122.96, Z:-4.02 [[-9.77659936e-01 2.09779449e-01 1.31769382e-02 2.14303999e+02] [ 2.09762555e-01 9.77748719e-01 -2.66685669e-03 -1.22960394e+02] [-1.34431861e-02 1.56749276e-04 -9.99909624e-01 -4.02010385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters 0.013609174820351413 Centerline is valid? [True, True] Translation: X:214.31, Y:-122.93, Z:-4.02 [[-9.90494889e-01 1.36970038e-01 1.26128492e-02 2.14306236e+02] [ 1.36960347e-01 9.90575185e-01 -1.63301177e-03 -1.22930822e+02] [-1.27176491e-02 1.09970398e-04 -9.99919121e-01 -4.02117514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters 0.013410521366659368 Centerline is valid? [True, True] Translation: X:214.40, Y:-122.22, Z:-5.02 [[-9.82063901e-01 -1.88204801e-01 1.13774675e-02 2.14401156e+02] [ 1.88190133e-01 -9.82129789e-01 -2.35598307e-03 -1.22218670e+02] [ 1.16175571e-02 -1.72598798e-04 9.99932499e-01 -5.01978696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters 0.013383222186241026 Centerline is valid? [True, True] Translation: X:214.25, Y:-122.93, Z:-4.02 [[-9.91212194e-01 1.31817534e-01 1.10690370e-02 2.14254758e+02] [ 1.31810263e-01 9.91273994e-01 -1.38710316e-03 -1.22926621e+02] [-1.11552930e-02 8.40991008e-05 -9.99937774e-01 -4.02351545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters 0.013988564439316483 Centerline is valid? [True, True] Translation: X:214.26, Y:-122.90, Z:-4.02 [[-9.97859542e-01 6.44919076e-02 1.08225665e-02 2.14255134e+02] [ 6.44894004e-02 9.97918223e-01 -5.80854239e-04 -1.22901865e+02] [-1.08374967e-02 1.18329878e-04 -9.99941266e-01 -4.02449908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters 0.014172207986948373 Centerline is valid? [True, True] Translation: X:214.30, Y:-122.18, Z:-5.02 [[-9.94252047e-01 -1.06526157e-01 1.07258772e-02 2.14302023e+02] [ 1.06518653e-01 -9.94309893e-01 -1.27002423e-03 -1.22178191e+02] [ 1.08001366e-02 -1.20218196e-04 9.99941670e-01 -5.01731335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters 0.01499948412043612 Centerline is valid? [True, True] Translation: X:214.20, Y:-122.90, Z:-4.02 [[-9.97720890e-01 6.65007363e-02 1.14314808e-02 2.14197385e+02] [ 6.64986685e-02 9.97786356e-01 -5.61321139e-04 -1.22899925e+02] [-1.14435039e-02 2.00136428e-04 -9.99934501e-01 -4.02365863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters 0.015819636159631525 Centerline is valid? [True, True] Translation: X:214.24, Y:-122.17, Z:-5.02 [[-9.95216363e-01 -9.70647289e-02 1.10828640e-02 2.14235917e+02] [ 9.70563231e-02 -9.95278048e-01 -1.29507353e-03 -1.22174194e+02] [ 1.11562372e-02 -2.13216338e-04 9.99937745e-01 -5.01889739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters 0.016120513369390015 Centerline is valid? [True, True] Translation: X:214.13, Y:-122.90, Z:-4.02 [[-9.97899809e-01 6.37822728e-02 1.13045276e-02 2.14133491e+02] [ 6.37806625e-02 9.97963814e-01 -5.03273304e-04 -1.22895925e+02] [-1.13136094e-02 2.18793925e-04 -9.99935975e-01 -4.02301978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters 0.015513151549577824 Centerline is valid? [True, True] Translation: X:214.13, Y:-122.87, Z:-4.02 [[-9.99889129e-01 -8.61172237e-03 1.21477808e-02 2.14129726e+02] [-8.60842496e-03 9.99962894e-01 3.23704369e-04 -1.22866637e+02] [-1.21501177e-02 2.19095219e-04 -9.99926161e-01 -4.02390461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters 0.014561951867910277 Centerline is valid? [True, True] Translation: X:214.12, Y:-122.84, Z:-4.02 [[-9.96521694e-01 -8.24372419e-02 1.21907248e-02 2.14122790e+02] [-8.24287767e-02 9.96596240e-01 1.19608105e-03 -1.22836151e+02] [-1.22478321e-02 1.87054179e-04 -9.99924975e-01 -4.02403179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters 0.013442423630068123 Centerline is valid? [True, True] Translation: X:214.05, Y:-122.13, Z:-5.02 [[-9.99131700e-01 3.99657625e-02 1.17721654e-02 2.14048041e+02] [-3.99655092e-02 -9.99201027e-01 2.56855891e-04 -1.22131612e+02] [ 1.17730252e-02 -2.13847723e-04 9.99930673e-01 -5.01773956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters 0.01308137446560739 Centerline is valid? [True, True] Translation: X:214.03, Y:-122.84, Z:-4.02 [[-9.95051277e-01 -9.87788094e-02 1.07565112e-02 2.14028095e+02] [-9.87725109e-02 9.95109413e-01 1.11653282e-03 -1.22836324e+02] [-1.08141953e-02 4.85597883e-05 -9.99941524e-01 -4.02481716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters 0.013056356214318677 Centerline is valid? [True, True] Translation: X:214.01, Y:-122.81, Z:-4.03 [[-9.84275925e-01 -1.76345194e-01 1.01624719e-02 2.14014940e+02] [-1.76336077e-01 9.84328386e-01 1.79326675e-03 -1.22806233e+02] [-1.03194436e-02 -2.69411524e-05 -9.99946753e-01 -4.02529466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters 0.013365363115945753 Centerline is valid? [True, True] Translation: X:213.89, Y:-122.13, Z:-5.02 [[-9.94943741e-01 9.98632216e-02 1.06905992e-02 2.13894535e+02] [-9.98568222e-02 -9.95001173e-01 1.13205669e-03 -1.22131506e+02] [ 1.07502096e-02 5.88034521e-05 9.99942213e-01 -5.01657585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters 0.01442851551732674 Centerline is valid? [True, True] Translation: X:213.91, Y:-122.82, Z:-4.03 [[-9.81145902e-01 -1.92939617e-01 1.12704608e-02 2.13913450e+02] [-1.92928687e-01 9.81210620e-01 2.05946824e-03 -1.22816995e+02] [-1.14560488e-02 -1.53756376e-04 -9.99934366e-01 -4.02505896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters 0.01540389226075904 Centerline is valid? [True, True] Translation: X:213.79, Y:-122.15, Z:-5.02 [[-9.95331540e-01 9.59754546e-02 1.01900847e-02 2.13791030e+02] [-9.59698925e-02 -9.95383700e-01 1.03456096e-03 -1.22154513e+02] [ 1.02423367e-02 5.17898173e-05 9.99947545e-01 -5.01532390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters 0.015887368604382734 Centerline is valid? [True, True] Translation: X:213.81, Y:-122.83, Z:-4.03 [[-9.78857092e-01 -2.04354211e-01 8.84027674e-03 2.13814758e+02] [-2.04347449e-01 9.78896995e-01 1.67115690e-03 -1.22832337e+02] [-8.99522829e-03 -1.70664221e-04 -9.99959528e-01 -4.02809955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters 0.016086762971986468 Centerline is valid? [True, True] Translation: X:213.69, Y:-122.17, Z:-5.01 [[-9.95112059e-01 9.81385834e-02 1.09913028e-02 2.13689214e+02] [-9.81286633e-02 -9.95172695e-01 1.43954104e-03 -1.22171715e+02] [ 1.10795190e-02 3.53942797e-04 9.99938558e-01 -5.01457989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters 0.015897109371438376 Centerline is valid? [True, True] Translation: X:213.71, Y:-122.85, Z:-4.03 [[-9.77192321e-01 -2.11998821e-01 1.23153247e-02 2.13712503e+02] [-2.11985322e-01 9.77269887e-01 2.40630073e-03 -1.22853802e+02] [-1.25455289e-02 -2.59249483e-04 -9.99921268e-01 -4.02615837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters 0.014832467333696019 Centerline is valid? [True, True] Translation: X:213.69, Y:-122.84, Z:-4.03 [[-9.61280510e-01 -2.75302688e-01 1.21741550e-02 2.13694365e+02] [-2.75283025e-01 9.61357580e-01 3.29544734e-03 -1.22838443e+02] [-1.26109617e-02 -1.83488922e-04 -9.99920462e-01 -4.02681166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters 0.014020866248020803 Centerline is valid? [True, True] Translation: X:213.67, Y:-122.82, Z:-4.03 [[-9.40747488e-01 -3.38879281e-01 1.24497451e-02 2.13671833e+02] [-3.38851253e-01 9.40829857e-01 4.35991387e-03 -1.22823660e+02] [-1.31905763e-02 -1.17033701e-04 -9.99912994e-01 -4.02681813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters 0.013759464560651802 Centerline is valid? [True, True] Translation: X:213.62, Y:-122.82, Z:-4.03 [[-9.17073037e-01 -3.98536468e-01 1.20718092e-02 2.13620500e+02] [-3.98501907e-01 9.17152487e-01 5.24848025e-03 -1.22823146e+02] [-1.31634006e-02 2.60073733e-06 -9.99913359e-01 -4.02711997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters 0.013929767973274625 Centerline is valid? [True, True] Translation: X:213.56, Y:-122.82, Z:-4.03 [[-8.87298373e-01 -4.61075932e-01 1.05158219e-02 2.13558973e+02] [-4.61042818e-01 8.87360683e-01 5.52612309e-03 -1.22824368e+02] [-1.18792893e-02 5.50758341e-05 -9.99929437e-01 -4.02787644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters 0.014429372919825668 Centerline is valid? [True, True] Translation: X:213.49, Y:-122.83, Z:-4.03 [[-8.52803731e-01 -5.22089493e-01 1.21802268e-02 2.13490398e+02] [-5.22034065e-01 8.52890699e-01 7.60859542e-03 -1.22833189e+02] [-1.43607699e-02 1.30145261e-04 -9.99896870e-01 -4.02783488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters 0.015017490743424481 Centerline is valid? [True, True] Translation: X:213.41, Y:-122.86, Z:-4.03 [[-8.13773434e-01 -5.81029760e-01 1.33122387e-02 2.13412432e+02] [-5.80947619e-01 8.13882283e-01 9.77208484e-03 -1.22855764e+02] [-1.65124674e-02 2.18549631e-04 -9.99863636e-01 -4.02911310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters 0.015360649604760596 Centerline is valid? [True, True] Translation: X:213.33, Y:-122.89, Z:-4.03 [[-7.69383521e-01 -6.38672594e-01 1.20960898e-02 2.13327998e+02] [-6.38588549e-01 7.69478561e-01 1.03638275e-02 -1.22885173e+02] [-1.59267744e-02 2.49333624e-04 -9.99873130e-01 -4.02928110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters 0.016121473886905522 Centerline is valid? [True, True] Translation: X:213.24, Y:-122.92, Z:-4.03 [[-7.22723207e-01 -6.91039750e-01 1.16288113e-02 2.13242887e+02] [-6.90942536e-01 7.22816674e-01 1.15960243e-02 -1.22924326e+02] [-1.64188124e-02 3.45875497e-04 -9.99865142e-01 -4.02961580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters 0.01822360148959131 Centerline is valid? [True, True] Translation: X:213.16, Y:-122.98, Z:-4.03 [[-6.71347379e-01 -7.41065560e-01 1.07020146e-02 2.13157471e+02] [-7.40961487e-01 6.71432548e-01 1.24261533e-02 -1.22979290e+02] [-1.63942752e-02 4.12484838e-04 -9.99865520e-01 -4.02893204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters 0.018512718343120998 Centerline is valid? [True, True] Translation: X:213.07, Y:-123.04, Z:-4.03 [[-6.16559545e-01 -7.87243873e-01 1.00703610e-02 2.13071460e+02] [-7.87125327e-01 6.16641576e-01 1.36706728e-02 -1.23036922e+02] [-1.69719567e-02 5.02147585e-04 -9.99855840e-01 -4.02879927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters 0.01874390912012086 Centerline is valid? [True, True] Translation: X:212.99, Y:-123.10, Z:-4.03 [[-5.56177650e-01 -8.31019428e-01 8.55173566e-03 2.12987965e+02] [-8.30907009e-01 5.56243165e-01 1.36778654e-02 -1.23104129e+02] [-1.61234164e-02 5.01625965e-04 -9.99869883e-01 -4.02815305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters 0.019811869287216476 Centerline is valid? [True, True] Translation: X:212.91, Y:-123.18, Z:-4.03 [[-4.93315601e-01 -8.69822430e-01 6.97555559e-03 2.12907205e+02] [-8.69720566e-01 4.93364658e-01 1.33211023e-02 -1.23183261e+02] [-1.50284861e-02 5.04723417e-04 -9.99886939e-01 -4.02745115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters 0.020248003695880316 Centerline is valid? [True, True] Translation: X:212.83, Y:-123.27, Z:-4.03 [[-4.26664728e-01 -9.04389647e-01 6.04792055e-03 2.12834238e+02] [-9.04280290e-01 4.26707253e-01 1.40739904e-02 -1.23270053e+02] [-1.53090628e-02 5.35859951e-04 -9.99882666e-01 -4.02710033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters 0.021893767146077735 Centerline is valid? [True, True] Translation: X:212.77, Y:-123.36, Z:-4.03 [[-3.58987469e-01 -9.33330654e-01 4.67846035e-03 2.12765578e+02] [-9.33230402e-01 3.59017535e-01 1.36903923e-02 -1.23364860e+02] [-1.44573121e-02 5.48597839e-04 -9.99895337e-01 -4.02675384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters 0.020402886773863326 Centerline is valid? [True, True] Translation: X:212.70, Y:-123.46, Z:-4.03 [[-2.87773600e-01 -9.57694493e-01 2.75911424e-03 2.12701261e+02] [-9.57634989e-01 2.87786502e-01 1.06844282e-02 -1.23461239e+02] [-1.10264539e-02 4.32472044e-04 -9.99939113e-01 -4.02910652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters 0.01987927812693022 Centerline is valid? [True, True] Translation: X:212.64, Y:-123.57, Z:-4.03 [[-2.13915694e-01 -9.76851231e-01 1.32192849e-03 2.12642641e+02] [-9.76823028e-01 2.13919572e-01 7.42890652e-03 -1.23565141e+02] [-7.53972286e-03 2.97869506e-04 -9.99971532e-01 -4.03037258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters 0.01958334050523919 Centerline is valid? [True, True] Translation: X:212.59, Y:-123.68, Z:-4.03 [[-1.36180292e-01 -9.90683665e-01 8.96742345e-04 2.12594773e+02] [-9.90642931e-01 1.36182830e-01 8.99003239e-03 -1.23676774e+02] [-9.02839915e-03 3.35913772e-04 -9.99959187e-01 -4.02908911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters 0.017393297414374734 Centerline is valid? [True, True] Translation: X:212.55, Y:-123.79, Z:-4.03 [[-5.33732072e-02 -9.98574598e-01 2.69300936e-04 2.12550284e+02] [-9.98507156e-01 5.33727338e-02 1.16108083e-02 -1.23786686e+02] [-1.16086316e-02 3.50807165e-04 -9.99932556e-01 -4.02716043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters 0.015015274625338611 Centerline is valid? [True, True] Translation: X:212.51, Y:-123.91, Z:-4.03 [[ 3.40734525e-02 -9.99419126e-01 -6.40517079e-04 2.12510928e+02] [-9.99347046e-01 -3.40786890e-02 1.20052328e-02 -1.23908593e+02] [-1.20200872e-02 2.31039122e-04 -9.99927729e-01 -4.02597127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters 0.012720225570418362 Centerline is valid? [True, True] Translation: X:212.48, Y:-124.03, Z:-4.03 [[ 1.22191765e-01 -9.92505498e-01 -1.41729928e-03 2.12480646e+02] [-9.92445911e-01 -1.22199960e-01 1.08758541e-02 -1.24031175e+02] [-1.09675389e-02 7.76530708e-05 -9.99939852e-01 -4.02596072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters 0.012255182413682404 Centerline is valid? [True, True] Translation: X:212.47, Y:-124.15, Z:-4.03 [[ 2.03851509e-01 -9.78999447e-01 -2.15503522e-03 2.12466481e+02] [-9.78945080e-01 -2.03862900e-01 1.03173614e-02 -1.24150693e+02] [-1.05400229e-02 6.45142914e-06 -9.99944452e-01 -4.02542186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters 0.01243325085582419 Centerline is valid? [True, True] Translation: X:212.46, Y:-124.27, Z:-4.03 [[ 2.85795748e-01 -9.58287215e-01 -2.53050197e-03 2.12460744e+02] [-9.58247440e-01 -2.85806942e-01 8.73133302e-03 -1.24270817e+02] [-9.09035983e-03 -7.05308103e-05 -9.99958679e-01 -4.02724832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters 0.013614906063141214 Centerline is valid? [True, True] Translation: X:212.46, Y:-124.39, Z:-4.03 [[ 3.65379860e-01 -9.30855378e-01 -2.41303724e-03 2.12463747e+02] [-9.30833060e-01 -3.65387812e-01 6.44680535e-03 -1.24387954e+02] [-6.88273783e-03 -1.09397998e-04 -9.99976308e-01 -4.02892864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters 0.01447083381574485 Centerline is valid? [True, True] Translation: X:212.48, Y:-124.50, Z:-4.03 [[ 4.38544012e-01 -8.98706431e-01 -2.42906741e-03 2.12478098e+02] [-8.98691176e-01 -4.38550725e-01 5.23765006e-03 -1.24500360e+02] [-5.77237906e-03 -1.13958624e-04 -9.99983333e-01 -4.02945158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters 0.015800499963881227 Centerline is valid? [True, True] Translation: X:212.50, Y:-124.61, Z:-4.03 [[ 5.07654393e-01 -8.61556275e-01 -2.79311806e-03 2.12501756e+02] [-8.61541826e-01 -5.07662061e-01 4.99132912e-03 -1.24607047e+02] [-5.71827100e-03 -1.27482117e-04 -9.99983642e-01 -4.02963909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters 0.015430108952417993 Centerline is valid? [True, True] Translation: X:212.53, Y:-124.71, Z:-4.03 [[ 5.71207767e-01 -8.20796551e-01 -3.83520870e-03 2.12533875e+02] [-8.20776244e-01 -5.71220622e-01 5.77568871e-03 -1.24708362e+02] [-6.93141567e-03 -1.51270058e-04 -9.99975966e-01 -4.02856672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters 0.01429017801437073 Centerline is valid? [True, True] Translation: X:212.58, Y:-124.81, Z:-4.03 [[ 6.29803724e-01 -7.76731110e-01 -6.00432448e-03 2.12575312e+02] [-7.76692926e-01 -6.29832317e-01 7.70403308e-03 -1.24805590e+02] [-9.76567976e-03 -1.88512371e-04 -9.99952297e-01 -4.02615352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters 0.013664051736442685 Centerline is valid? [True, True] Translation: X:212.62, Y:-124.90, Z:-4.03 [[ 6.85143238e-01 -7.28379464e-01 -6.48849030e-03 2.12622243e+02] [-7.28344512e-01 -6.85173941e-01 7.13735955e-03 -1.24896624e+02] [-9.64445060e-03 -1.64257333e-04 -9.99953478e-01 -4.02621480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters 0.012684202227244173 Centerline is valid? [True, True] Translation: X:212.67, Y:-124.98, Z:-4.03 [[ 7.34516825e-01 -6.78568081e-01 -5.51303369e-03 2.12674757e+02] [-6.78548068e-01 -7.34537508e-01 5.21231627e-03 -1.24975209e+02] [-7.58644148e-03 -8.76756388e-05 -9.99971219e-01 -4.02855053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters 0.0118963864650635 Centerline is valid? [True, True] Translation: X:212.70, Y:-125.00, Z:-4.03 [[ 7.81005066e-01 -6.24509036e-01 -4.42154431e-03 2.12702945e+02] [-6.24498835e-01 -7.81017582e-01 3.56952353e-03 -1.24999920e+02] [-5.68250354e-03 -2.65666893e-05 -9.99983854e-01 -4.03017576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters 0.011791906032815321 Centerline is valid? [True, True] Translation: X:212.73, Y:-125.02, Z:-4.03 [[ 8.24497523e-01 -5.65845766e-01 -4.73332667e-03 2.12732187e+02] [-5.65836462e-01 -8.24511109e-01 3.24483038e-03 -1.25022858e+02] [-5.73875395e-03 2.93420326e-06 -9.99983533e-01 -4.03060808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters 0.01241617109888203 Centerline is valid? [True, True] Translation: X:212.76, Y:-125.04, Z:-4.03 [[ 8.62521582e-01 -5.06002364e-01 -4.25763678e-03 2.12763512e+02] [-5.05996419e-01 -8.62532090e-01 2.45310023e-03 -1.25040332e+02] [-4.91362287e-03 3.84970720e-05 -9.99987927e-01 -4.03192503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters 0.013202312349115716 Centerline is valid? [True, True] Translation: X:212.79, Y:-125.06, Z:-4.03 [[ 8.97155921e-01 -4.41691074e-01 -4.49997271e-03 2.12793163e+02] [-4.41685880e-01 -8.97167204e-01 2.14295807e-03 -1.25060947e+02] [-4.98375338e-03 6.50068826e-05 -9.99987579e-01 -4.03129218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters 0.015280534220957681 Centerline is valid? [True, True] Translation: X:212.83, Y:-125.07, Z:-4.03 [[ 9.26418882e-01 -3.76448561e-01 -5.87669894e-03 2.12825820e+02] [-3.76441837e-01 -9.26437513e-01 2.25336689e-03 -1.25073226e+02] [-6.29267108e-03 1.24673712e-04 -9.99980193e-01 -4.02943356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters 0.01595557873602939 Centerline is valid? [True, True] Translation: X:212.86, Y:-125.09, Z:-4.03 [[ 9.51184059e-01 -3.08545216e-01 -6.98108751e-03 2.12857443e+02] [-3.08538348e-01 -9.51209659e-01 2.06711391e-03 -1.25088501e+02] [-7.27827597e-03 1.87727410e-04 -9.99973495e-01 -4.02931379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters 0.017814631666680972 Centerline is valid? [True, True] Translation: X:212.89, Y:-125.10, Z:-4.03 [[ 9.71731335e-01 -2.35996100e-01 -6.63721512e-03 2.12888515e+02] [-2.35991956e-01 -9.71753983e-01 1.41190659e-03 -1.25100339e+02] [-6.78294468e-03 1.94335504e-04 -9.99976977e-01 -4.02921840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters 0.017377143844909397 Centerline is valid? [True, True] Translation: X:212.92, Y:-125.11, Z:-4.03 [[ 9.87236061e-01 -1.59172580e-01 -5.38982193e-03 2.12917350e+02] [-1.59171066e-01 -9.87250761e-01 7.11347490e-04 -1.25113001e+02] [-5.43433282e-03 1.55635811e-04 -9.99985222e-01 -4.03012205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters 0.01553742191768137 Centerline is valid? [True, True] Translation: X:212.95, Y:-125.13, Z:-4.03 [[ 9.97077846e-01 -7.61321928e-02 -6.29752732e-03 2.12946436e+02] [-7.61316074e-02 -9.97097722e-01 3.32972835e-04 -1.25127040e+02] [-6.30460010e-03 1.47441040e-04 -9.99980115e-01 -4.02941413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters 0.01426610774339043 Centerline is valid? [True, True] Translation: X:212.98, Y:-125.14, Z:-4.03 [[ 9.99950792e-01 7.99027951e-03 -5.87946627e-03 2.12977266e+02] [ 7.98953312e-03 -9.99968072e-01 -1.50424146e-04 -1.25138637e+02] [-5.88048049e-03 1.03442554e-04 -9.99982705e-01 -4.02974451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters 0.012334086157572706 Centerline is valid? [True, True] Translation: X:213.01, Y:-125.15, Z:-4.03 [[ 9.95187734e-01 9.78001106e-02 -6.04263324e-03 2.13009558e+02] [ 9.77980841e-02 -9.95206078e-01 -6.30658657e-04 -1.25153402e+02] [-6.07534381e-03 3.66658061e-05 -9.99981544e-01 -4.02903492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters 0.012049134962686853 Centerline is valid? [True, True] Translation: X:213.04, Y:-125.16, Z:-4.03 [[ 9.82868761e-01 1.84145682e-01 -7.70495140e-03 2.13042732e+02] [ 1.84140202e-01 -9.82898961e-01 -1.42078379e-03 -1.25161996e+02] [-7.83481993e-03 -2.23473098e-05 -9.99969307e-01 -4.02688142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters 0.013107464894008136 Centerline is valid? [True, True] Translation: X:213.08, Y:-125.17, Z:-4.02 [[ 9.62522134e-01 2.71066416e-01 -8.61044237e-03 2.13077783e+02] [ 2.71056710e-01 -9.62560639e-01 -2.29722328e-03 -1.25170793e+02] [-8.91077299e-03 -1.22789923e-04 -9.99960291e-01 -4.02471691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters 0.014684650441903237 Centerline is valid? [True, True] Translation: X:213.11, Y:-125.17, Z:-4.02 [[ 9.36282323e-01 3.51113432e-01 -9.73497164e-03 2.13111022e+02] [ 3.51096696e-01 -9.36332909e-01 -3.43415619e-03 -1.25170572e+02] [-1.03209527e-02 -2.02576637e-04 -9.99946717e-01 -4.02292214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters 0.015009677075562989 Centerline is valid? [True, True] Translation: X:213.14, Y:-125.17, Z:-4.02 [[ 9.04860414e-01 4.25612709e-01 -9.02511884e-03 2.13143528e+02] [ 4.25593937e-01 -9.04905395e-01 -4.00336439e-03 -1.25165055e+02] [-9.87076149e-03 -2.18549897e-04 -9.99951259e-01 -4.02341126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters 0.01613605031725032 Centerline is valid? [True, True] Translation: X:213.18, Y:-125.16, Z:-4.02 [[ 8.67249106e-01 4.97813266e-01 -7.80639071e-03 2.13175611e+02] [ 4.97795407e-01 -8.67284211e-01 -4.22267402e-03 -1.25157565e+02] [-8.87246255e-03 -2.23875162e-04 -9.99960614e-01 -4.02441882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters 0.017066288517403803 Centerline is valid? [True, True] Translation: X:213.21, Y:-125.15, Z:-4.02 [[ 8.23631553e-01 5.67095790e-01 -5.78183364e-03 2.13207936e+02] [ 5.67083489e-01 -8.23651823e-01 -3.74044442e-03 -1.25148079e+02] [-6.88340810e-03 -1.98034349e-04 -9.99976289e-01 -4.02450419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters 0.017208188127508194 Centerline is valid? [True, True] Translation: X:213.24, Y:-125.13, Z:-4.02 [[ 7.76709391e-01 6.29828564e-01 -6.20504515e-03 2.13236813e+02] [ 6.29810750e-01 -7.76734144e-01 -4.74232626e-03 -1.25132658e+02] [-7.80652297e-03 -2.24594796e-04 -9.99969503e-01 -4.02395835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters 0.01716308911445182 Centerline is valid? [True, True] Translation: X:213.26, Y:-125.11, Z:-4.02 [[ 7.25292983e-01 6.88400106e-01 -7.44200269e-03 2.13262662e+02] [ 6.88367830e-01 -7.25331106e-01 -6.67206776e-03 -1.25113504e+02] [-9.99096820e-03 -2.83631320e-04 -9.99950049e-01 -4.02301986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters 0.0168042118962749 Centerline is valid? [True, True] Translation: X:213.29, Y:-125.09, Z:-4.02 [[ 6.69819092e-01 7.42474765e-01 -8.57944491e-03 2.13288057e+02] [ 7.42420293e-01 -6.69873949e-01 -9.00005225e-03 -1.25093905e+02] [-1.24294583e-02 -3.41147178e-04 -9.99922693e-01 -4.02040009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters 0.016365573709221155 Centerline is valid? [True, True] Translation: X:213.31, Y:-125.07, Z:-4.02 [[ 6.10280572e-01 7.92128957e-01 -9.45195208e-03 2.13311658e+02] [ 7.92043893e-01 -6.10353633e-01 -1.16152374e-02 -1.25072875e+02] [-1.49697992e-02 -3.97807181e-04 -9.99887867e-01 -4.01830970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters 0.016402534686301276 Centerline is valid? [True, True] Translation: X:213.33, Y:-125.05, Z:-4.02 [[ 5.48816261e-01 8.35902331e-01 -8.24654790e-03 2.13326716e+02] [ 8.35817208e-01 -5.48878107e-01 -1.19339268e-02 -1.25048024e+02] [-1.45019469e-02 -3.43073542e-04 -9.99894782e-01 -4.01894719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters 0.013933630761968827 Centerline is valid? [True, True] Translation: X:213.33, Y:-125.02, Z:-4.02 [[ 4.89103844e-01 8.72210766e-01 -5.08019064e-03 2.13334580e+02] [ 8.72166945e-01 -4.89130203e-01 -8.74438699e-03 -1.25019059e+02] [-1.01118232e-02 -1.53861058e-04 -9.99948862e-01 -4.02319972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters 0.013421709355717452 Centerline is valid? [True, True] Translation: X:213.35, Y:-124.99, Z:-4.03 [[ 4.22945865e-01 9.06152100e-01 -2.27290667e-03 2.13348465e+02] [ 9.06139757e-01 -4.22951968e-01 -4.73002015e-03 -1.24994741e+02] [-5.24744805e-03 -5.90286272e-05 -9.99986230e-01 -4.02702077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters 0.013646282027349316 Centerline is valid? [True, True] Translation: X:213.36, Y:-124.97, Z:-4.03 [[ 3.50556082e-01 9.36540917e-01 -1.24281885e-03 2.13362993e+02] [ 9.36535423e-01 -3.50558283e-01 -3.20795917e-03 -1.24970844e+02] [-3.44006547e-03 -3.93742735e-05 -9.99994082e-01 -4.02851637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters 0.013347094559896154 Centerline is valid? [True, True] Translation: X:213.38, Y:-124.95, Z:-4.03 [[ 2.76635482e-01 9.60973391e-01 -1.71808412e-03 2.13380108e+02] [ 9.60956287e-01 -2.76640809e-01 -5.73379339e-03 -1.24947410e+02] [-5.98531506e-03 -6.48330393e-05 -9.99982086e-01 -4.02649872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters 0.013358730230569915 Centerline is valid? [True, True] Translation: X:213.40, Y:-124.92, Z:-4.02 [[ 2.01847501e-01 9.79415635e-01 -1.61236571e-03 2.13395205e+02] [ 9.79387186e-01 -2.01853928e-01 -7.46532302e-03 -1.24924369e+02] [-7.63711645e-03 -7.22735208e-05 -9.99970834e-01 -4.02358288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters 0.012861988904971745 Centerline is valid? [True, True] Translation: X:213.41, Y:-124.90, Z:-4.03 [[ 1.28271449e-01 9.91738737e-01 -8.44519818e-04 2.13406233e+02] [ 9.91719053e-01 -1.28274224e-01 -6.24851727e-03 -1.24898047e+02] [-6.30522675e-03 -3.60200316e-05 -9.99980121e-01 -4.02511099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters 0.012775637958024751 Centerline is valid? [True, True] Translation: X:213.42, Y:-124.87, Z:-4.03 [[ 5.31229553e-02 9.98587914e-01 -3.60474706e-04 2.13418600e+02] [ 9.98567154e-01 -5.31241753e-02 -6.43906764e-03 -1.24872151e+02] [-6.44912504e-03 -1.78958989e-05 -9.99979204e-01 -4.02507233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters 0.012832857969928836 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.85, Z:-4.02 [[-2.03365428e-02 9.99793167e-01 2.20916537e-04 2.13428337e+02] [ 9.99744868e-01 2.03377319e-02 -9.82725992e-03 -1.24845273e+02] [-9.82972025e-03 2.10076815e-05 -9.99951687e-01 -4.02261798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters 0.013295784339104772 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.82, Z:-4.02 [[-9.34461841e-02 9.95623948e-01 8.75017611e-04 2.13433058e+02] [ 9.95586415e-01 9.34502593e-02 -8.64516849e-03 -1.24817708e+02] [-8.68910740e-03 6.32976404e-05 -9.99962247e-01 -4.02352362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters 0.013284085261637473 Centerline is valid? [True, True] Translation: X:213.44, Y:-124.79, Z:-4.02 [[-1.70749101e-01 9.85313289e-01 1.57055008e-03 2.13438472e+02] [ 9.85275167e-01 1.70756310e-01 -8.66767282e-03 -1.24789201e+02] [-8.80855456e-03 6.74266509e-05 -9.99961202e-01 -4.02368626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters 0.012948359106934496 Centerline is valid? [True, True] Translation: X:213.44, Y:-124.76, Z:-4.02 [[-2.51920593e-01 9.67745153e-01 2.30952689e-03 2.13444928e+02] [ 9.67705472e-01 2.51931178e-01 -8.76359244e-03 -1.24759698e+02] [-9.06276593e-03 2.72124076e-05 -9.99958932e-01 -4.02369020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters 0.012836110446052802 Centerline is valid? [True, True] Translation: X:213.45, Y:-124.73, Z:-4.02 [[-3.31862578e-01 9.43323947e-01 2.67591303e-03 2.13450737e+02] [ 9.43292850e-01 3.31873366e-01 -7.65956233e-03 -1.24728960e+02] [-8.11351283e-03 -1.77524674e-05 -9.99967085e-01 -4.02422622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters 0.01342412480849387 Centerline is valid? [True, True] Translation: X:213.45, Y:-124.70, Z:-4.02 [[-4.11704110e-01 9.11310451e-01 3.60389111e-03 2.13453404e+02] [ 9.11273648e-01 4.11719874e-01 -8.19054235e-03 -1.24697122e+02] [-8.94792043e-03 -8.79489492e-05 -9.99959963e-01 -4.02393742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters 0.014878556886409591 Centerline is valid? [True, True] Translation: X:213.45, Y:-124.67, Z:-4.02 [[-4.88171930e-01 8.72739793e-01 3.66353748e-03 2.13452513e+02] [ 8.72713150e-01 4.88185658e-01 -6.82062581e-03 -1.24665343e+02] [-7.74111801e-03 -1.32420724e-04 -9.99970028e-01 -4.02406917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters 0.01692941131154515 Centerline is valid? [True, True] Translation: X:213.45, Y:-124.63, Z:-4.02 [[-5.59358433e-01 8.28913758e-01 4.48599165e-03 2.13448177e+02] [ 8.28884409e-01 5.59376391e-01 -6.97778265e-03 -1.24634737e+02] [-8.29333786e-03 -1.84713029e-04 -9.99965593e-01 -4.02155501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters 0.01722646786542403 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.61, Z:-4.02 [[-6.23444296e-01 7.81848479e-01 5.49231853e-03 2.13434493e+02] [ 7.81815097e-01 6.23468452e-01 -7.22801383e-03 -1.24609073e+02] [-9.07549895e-03 -2.12286452e-04 -9.99958794e-01 -4.02098387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters 0.01649380627517568 Centerline is valid? [True, True] Translation: X:213.42, Y:-124.59, Z:-4.02 [[-6.81632944e-01 7.31670564e-01 5.89195122e-03 2.13417077e+02] [ 7.31640750e-01 6.81658381e-01 -6.60791274e-03 -1.24585488e+02] [-8.85111317e-03 -1.93379411e-04 -9.99960809e-01 -4.02214186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters 0.014832869697689245 Centerline is valid? [True, True] Translation: X:213.40, Y:-124.56, Z:-4.02 [[-7.33630026e-01 6.79514857e-01 6.82237759e-03 2.13398938e+02] [ 6.79483416e-01 7.33661730e-01 -6.53870600e-03 -1.24562387e+02] [-9.44846521e-03 -1.61298625e-04 -9.99955349e-01 -4.02125214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters 0.014154309597646918 Centerline is valid? [True, True] Translation: X:213.42, Y:-124.55, Z:-4.02 [[-7.77445191e-01 6.28912029e-01 6.97384643e-03 2.13416812e+02] [ 6.28885338e-01 7.77476460e-01 -5.79533867e-03 -1.24548408e+02] [-9.06675963e-03 -1.19808406e-04 -9.99958889e-01 -4.02111495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters 0.013266099074141106 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.54, Z:-4.02 [[-8.15871261e-01 5.78179671e-01 7.89644095e-03 2.13431313e+02] [ 5.78151890e-01 8.15909471e-01 -5.66810522e-03 -1.24537569e+02] [-9.71996416e-03 -5.91018872e-05 -9.99952758e-01 -4.02092069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters 0.013159266442759965 Centerline is valid? [True, True] Translation: X:213.45, Y:-124.53, Z:-4.02 [[-8.51346696e-01 5.24508472e-01 9.98327205e-03 2.13450167e+02] [ 5.24472474e-01 8.51405228e-01 -6.14501720e-03 -1.24527208e+02] [-1.17229236e-02 4.41129677e-06 -9.99931284e-01 -4.01945444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters 0.013163209704576538 Centerline is valid? [True, True] Translation: X:213.83, Y:-123.92, Z:-5.02 [[-8.15048202e-01 -5.79321415e-01 9.11740638e-03 2.13833808e+02] [ 5.79284699e-01 -8.15099194e-01 -6.52230424e-03 -1.23915474e+02] [ 1.12101011e-02 -3.44183274e-05 9.99937164e-01 -5.02157284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters 0.012990193381711054 Centerline is valid? [True, True] Translation: X:213.41, Y:-124.50, Z:-4.02 [[-8.53809566e-01 5.20505120e-01 9.14571968e-03 2.13410797e+02] [ 5.20475158e-01 8.53858548e-01 -5.58484543e-03 -1.24503134e+02] [-1.07160916e-02 -8.27456375e-06 -9.99942581e-01 -4.02150060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters 0.013047934586413588 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.48, Z:-4.02 [[-8.89021243e-01 4.57776264e-01 9.06208750e-03 2.13429526e+02] [ 4.57752267e-01 8.89067428e-01 -4.68723920e-03 -1.24479769e+02] [-1.02025137e-02 -1.88641248e-05 -9.99947953e-01 -4.02175283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters 0.013034337971413535 Centerline is valid? [True, True] Translation: X:213.44, Y:-124.45, Z:-4.02 [[-9.18459492e-01 3.95405283e-01 9.31791132e-03 2.13443566e+02] [ 3.95384944e-01 9.18506757e-01 -4.01054916e-03 -1.24454954e+02] [-1.01443568e-02 6.34902282e-07 -9.99948545e-01 -4.02138753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters 0.01309651903796296 Centerline is valid? [True, True] Translation: X:213.45, Y:-124.43, Z:-4.02 [[-9.43716690e-01 3.30600206e-01 1.01150335e-02 2.13454858e+02] [ 3.30581384e-01 9.43770896e-01 -3.52770330e-03 -1.24430687e+02] [-1.07125337e-02 1.46893102e-05 -9.99942619e-01 -4.02115408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters 0.013338022289043504 Centerline is valid? [True, True] Translation: X:213.46, Y:-124.41, Z:-4.02 [[-9.63888635e-01 2.66023836e-01 1.22481883e-02 2.13464671e+02] [ 2.66003130e-01 9.63966449e-01 -3.31961710e-03 -1.24405234e+02] [-1.26899399e-02 5.83152424e-05 -9.99919478e-01 -4.02144022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters 0.013506211972797003 Centerline is valid? [True, True] Translation: X:213.47, Y:-124.38, Z:-4.02 [[-9.79916374e-01 1.98983504e-01 1.30178954e-02 2.13469470e+02] [ 1.98967133e-01 9.80002835e-01 -2.55395160e-03 -1.24378376e+02] [-1.32657686e-02 8.74743210e-05 -9.99912002e-01 -4.02099547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters 0.014089482859468984 Centerline is valid? [True, True] Translation: X:213.62, Y:-123.68, Z:-5.02 [[-9.69088294e-01 -2.46435530e-01 1.17221560e-02 2.13618536e+02] [ 2.46415684e-01 -9.69159176e-01 -3.13084990e-03 -1.23680756e+02] [ 1.21321877e-02 -1.45546886e-04 9.99926392e-01 -5.01935271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters 0.014755016069700831 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.37, Z:-4.02 [[-9.78761825e-01 2.04691181e-01 1.12609943e-02 2.13429856e+02] [ 2.04679830e-01 9.78826586e-01 -2.16378671e-03 -1.24373568e+02] [-1.14654687e-02 1.87066561e-04 -9.99934252e-01 -4.02400274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters 0.015689227543448907 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.35, Z:-4.02 [[-9.90456039e-01 1.37223113e-01 1.29093550e-02 2.13432815e+02] [ 1.37214676e-01 9.90540134e-01 -1.54126168e-03 -1.24348367e+02] [-1.29987310e-02 2.44801029e-04 -9.99915483e-01 -4.02497344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters 0.015270086392457924 Centerline is valid? [True, True] Translation: X:213.43, Y:-124.32, Z:-4.02 [[-9.97896311e-01 6.32454618e-02 1.42465670e-02 2.13433906e+02] [ 6.32421819e-02 9.97997977e-01 -6.81069346e-04 -1.24315131e+02] [-1.42611196e-02 2.21347395e-04 -9.99898281e-01 -4.02368713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters 0.013455646743403698 Centerline is valid? [True, True] Translation: X:213.46, Y:-123.62, Z:-5.02 [[-9.94135922e-01 -1.07210678e-01 1.41293967e-02 2.13463188e+02] [ 1.07196664e-01 -9.94236300e-01 -1.74767997e-03 -1.23617047e+02] [ 1.42353290e-02 -2.22807259e-04 9.99898648e-01 -5.01758891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters 0.013107052802906315 Centerline is valid? [True, True] Translation: X:213.37, Y:-124.30, Z:-4.02 [[-9.98812712e-01 4.68056910e-02 1.35053035e-02 2.13367102e+02] [ 4.68020076e-02 9.98904012e-01 -5.88835429e-04 -1.24297102e+02] [-1.35180627e-02 4.39390028e-05 -9.99908626e-01 -4.02359769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters 0.012949681074816234 Centerline is valid? [True, True] Translation: X:213.40, Y:-123.62, Z:-5.02 [[-9.93505660e-01 -1.13068645e-01 1.27273549e-02 2.13396975e+02] [ 1.13058200e-01 -9.93587175e-01 -1.53950635e-03 -1.23622987e+02] [ 1.28198065e-02 -9.05764362e-05 9.99917819e-01 -5.01635075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters 0.013235403955393266 Centerline is valid? [True, True] Translation: X:213.31, Y:-124.29, Z:-4.02 [[-9.99348275e-01 3.33738696e-02 1.37554017e-02 2.13308069e+02] [ 3.33695689e-02 9.99442934e-01 -5.42121865e-04 -1.24286627e+02] [-1.37658318e-02 -8.27567253e-05 -9.99905243e-01 -4.02420562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters 0.013991941503826945 Centerline is valid? [True, True] Translation: X:213.29, Y:-124.25, Z:-4.02 [[-9.98907852e-01 -4.43534155e-02 1.46927912e-02 2.13286900e+02] [-4.43513647e-02 9.99015886e-01 4.65549631e-04 -1.24254123e+02] [-1.46989805e-02 -1.86604159e-04 -9.99891947e-01 -4.02342525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters 0.014830632761578427 Centerline is valid? [True, True] Translation: X:213.29, Y:-124.22, Z:-4.02 [[-9.92628073e-01 -1.20455334e-01 1.34172331e-02 2.13289160e+02] [-1.20447617e-01 9.92718719e-01 1.38469348e-03 -1.24223150e+02] [-1.34863321e-02 -2.41588121e-04 -9.99909026e-01 -4.02473968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters 0.015065465795058235 Centerline is valid? [True, True] Translation: X:213.22, Y:-123.58, Z:-5.01 [[-9.99795093e-01 1.70551665e-02 1.09038027e-02 2.13223303e+02] [-1.70538888e-02 -9.99854550e-01 2.10154306e-04 -1.23583932e+02] [ 1.09058010e-02 2.41590047e-05 9.99940530e-01 -5.01456043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters 0.014014344633920895 Centerline is valid? [True, True] Translation: X:213.21, Y:-124.23, Z:-4.03 [[-9.92630596e-01 -1.20744335e-01 1.02618135e-02 2.13214427e+02] [-1.20739285e-01 9.92683629e-01 1.11251550e-03 -1.24234200e+02] [-1.03210642e-02 -1.34687103e-04 -9.99946727e-01 -4.02747417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters 0.012863949523695541 Centerline is valid? [True, True] Translation: X:213.21, Y:-124.22, Z:-4.03 [[-9.83190181e-01 -1.82164976e-01 1.23688637e-02 2.13213131e+02] [-1.82151191e-01 9.83267979e-01 2.24153539e-03 -1.24216488e+02] [-1.25702369e-02 -4.91476836e-05 -9.99920990e-01 -4.02572931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters 0.01290135334248764 Centerline is valid? [True, True] Translation: X:213.20, Y:-124.20, Z:-4.03 [[-9.69885906e-01 -2.43256996e-01 1.21393018e-02 2.13198145e+02] [-2.43237126e-01 9.69961870e-01 3.10979027e-03 -1.24201993e+02] [-1.25311382e-02 6.34128663e-05 -9.99921480e-01 -4.02589827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters 0.013895080841705196 Centerline is valid? [True, True] Translation: X:213.17, Y:-124.19, Z:-4.03 [[-9.51743706e-01 -3.06682075e-01 1.14027537e-02 2.13173708e+02] [-3.06658370e-01 9.51812002e-01 3.81540928e-03 -1.24187791e+02] [-1.20233954e-02 1.34541908e-04 -9.99927707e-01 -4.02545193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters 0.014931996336998755 Centerline is valid? [True, True] Translation: X:213.12, Y:-124.19, Z:-4.03 [[-9.29422484e-01 -3.68830669e-01 1.17381034e-02 2.13123077e+02] [-3.68798002e-01 9.29496574e-01 4.91459792e-03 -1.24186946e+02] [-1.27231813e-02 2.38748741e-04 -9.99919029e-01 -4.02604374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters 0.016970835724118657 Centerline is valid? [True, True] Translation: X:213.06, Y:-124.20, Z:-4.02 [[-9.02316036e-01 -4.30889182e-01 1.26603119e-02 2.13063531e+02] [-4.30841236e-01 9.02404780e-01 6.43756431e-03 -1.24195359e+02] [-1.41986028e-02 3.54133101e-04 -9.99899132e-01 -4.02480381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters 0.017408783691983582 Centerline is valid? [True, True] Translation: X:212.99, Y:-124.21, Z:-4.02 [[-8.68754309e-01 -4.95073480e-01 1.29691793e-02 2.12990561e+02] [-4.95011243e-01 8.68851012e-01 7.86053308e-03 -1.24207785e+02] [-1.51598261e-02 4.08982406e-04 -9.99885000e-01 -4.02415691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters 0.016642017054376596 Centerline is valid? [True, True] Translation: X:212.91, Y:-124.23, Z:-4.03 [[-8.28357302e-01 -5.60090311e-01 1.10916138e-02 2.12910344e+02] [-5.60034509e-01 8.28431485e-01 7.91346792e-03 -1.24229475e+02] [-1.36208988e-02 3.43492443e-04 -9.99907172e-01 -4.02719004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters 0.015735113687008386 Centerline is valid? [True, True] Translation: X:212.82, Y:-124.26, Z:-4.03 [[-7.81705672e-01 -6.23581010e-01 9.10857048e-03 2.12823998e+02] [-6.23534852e-01 7.81758696e-01 7.59142242e-03 -1.24258497e+02] [-1.18545710e-02 2.54746821e-04 -9.99929700e-01 -4.02878213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters 0.014449560296665253 Centerline is valid? [True, True] Translation: X:212.73, Y:-124.30, Z:-4.03 [[-7.28861813e-01 -6.84619824e-01 7.49362947e-03 2.12732600e+02] [-6.84581259e-01 7.28900315e-01 7.26846177e-03 -1.24297941e+02] [-1.04382419e-02 1.67705931e-04 -9.99945506e-01 -4.02939820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters 0.013811239176473615 Centerline is valid? [True, True] Translation: X:212.64, Y:-124.35, Z:-4.03 [[-6.72503293e-01 -7.40072183e-01 5.69952518e-03 2.12644214e+02] [-7.40044224e-01 6.72527436e-01 6.43381146e-03 -1.24346396e+02] [-8.59457195e-03 1.08858707e-04 -9.99963060e-01 -4.03069489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters 0.013327759824116728 Centerline is valid? [True, True] Translation: X:212.55, Y:-124.41, Z:-4.03 [[-6.11133703e-01 -7.91504063e-01 6.07587393e-03 2.12552646e+02] [-7.91463575e-01 6.11163899e-01 8.00608343e-03 -1.24408928e+02] [-1.00502024e-02 8.39545116e-05 -9.99949492e-01 -4.02880498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters 0.012869029901143279 Centerline is valid? [True, True] Translation: X:212.47, Y:-124.47, Z:-4.03 [[-5.46416249e-01 -8.37495983e-01 5.45545720e-03 2.12474304e+02] [-8.37453304e-01 5.46443480e-01 8.45498048e-03 -1.24468469e+02] [-1.00621112e-02 5.12480658e-05 -9.99949374e-01 -4.02916864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters 0.012590224832294897 Centerline is valid? [True, True] Translation: X:212.39, Y:-124.54, Z:-4.03 [[-4.74824313e-01 -8.80066341e-01 5.01078852e-03 2.12388124e+02] [-8.80017835e-01 4.74850751e-01 9.23980376e-03 -1.24544414e+02] [-1.05110170e-02 -2.22997910e-05 -9.99944758e-01 -4.02700092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters 0.01319514135926024 Centerline is valid? [True, True] Translation: X:212.31, Y:-124.63, Z:-4.03 [[-3.99232733e-01 -9.16836969e-01 4.81637018e-03 2.12311358e+02] [-9.16773761e-01 3.99261767e-01 1.07662617e-02 -1.24627776e+02] [-1.17938992e-02 -1.17277734e-04 -9.99930443e-01 -4.02624930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters 0.013504617222537473 Centerline is valid? [True, True] Translation: X:212.24, Y:-124.72, Z:-4.03 [[-3.25879244e-01 -9.45405154e-01 3.43703376e-03 2.12243675e+02] [-9.45356543e-01 3.25897345e-01 9.58784336e-03 -1.24720563e+02] [-1.01845167e-02 -1.24743208e-04 -9.99948129e-01 -4.02717527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters 0.01447429845399705 Centerline is valid? [True, True] Translation: X:212.18, Y:-124.82, Z:-4.03 [[-2.51271961e-01 -9.67913890e-01 2.25901197e-03 2.12183621e+02] [-9.67878828e-01 2.51282089e-01 8.23936023e-03 -1.24821810e+02] [-8.54264045e-03 -1.16129655e-04 -9.99963504e-01 -4.02717072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters 0.014256579372214948 Centerline is valid? [True, True] Translation: X:212.14, Y:-124.93, Z:-4.03 [[-1.74901218e-01 -9.84585264e-01 1.19225736e-03 2.12135030e+02] [-9.84565920e-01 1.74905256e-01 6.17263304e-03 -1.24927313e+02] [-6.28601561e-03 -9.42549299e-05 -9.99980238e-01 -4.02932232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters 0.01483040240434303 Centerline is valid? [True, True] Translation: X:212.09, Y:-125.03, Z:-4.03 [[-9.51884237e-02 -9.95459134e-01 5.25426780e-04 2.12091446e+02] [-9.95448538e-01 9.51898352e-02 4.59393913e-03 -1.25033757e+02] [-4.62309395e-03 -8.57454958e-05 -9.99989310e-01 -4.03054793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters 0.017175011450070263 Centerline is valid? [True, True] Translation: X:212.05, Y:-125.15, Z:-4.03 [[-1.14815037e-02 -9.99934051e-01 2.63944805e-04 2.12051453e+02] [-9.99909016e-01 1.14830846e-02 7.07808341e-03 -1.25150450e+02] [-7.08064752e-03 -1.82653749e-04 -9.99974915e-01 -4.02669450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters 0.018310828151886553 Centerline is valid? [True, True] Translation: X:212.03, Y:-125.27, Z:-4.02 [[ 7.23082919e-02 -9.97382248e-01 -4.02987168e-04 2.12026586e+02] [-9.97330157e-01 -7.23086363e-02 1.01990233e-02 -1.25269491e+02] [-1.02014643e-02 -3.35562700e-04 -9.99947907e-01 -4.02489624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters 0.018834593035636157 Centerline is valid? [True, True] Translation: X:212.01, Y:-125.38, Z:-4.02 [[ 1.49670143e-01 -9.88735006e-01 -1.39138062e-03 2.12010161e+02] [-9.88663478e-01 -1.49676061e-01 1.18997220e-02 -1.25384126e+02] [-1.19739281e-02 -4.05425883e-04 -9.99928228e-01 -4.02288734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters 0.017620893985904443 Centerline is valid? [True, True] Translation: X:212.01, Y:-125.50, Z:-4.02 [[ 2.18568420e-01 -9.75820390e-01 -1.55295125e-03 2.12006546e+02] [-9.75788230e-01 -2.18573830e-01 7.92538794e-03 -1.25497495e+02] [-8.07318965e-03 -2.16887970e-04 -9.99967388e-01 -4.02488726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters 0.01503720112317869 Centerline is valid? [True, True] Translation: X:212.02, Y:-125.62, Z:-4.03 [[ 2.82784594e-01 -9.59183209e-01 -6.67345480e-04 2.12016986e+02] [-9.59180201e-01 -2.82785379e-01 2.40231203e-03 -1.25619839e+02] [-2.49297290e-03 -3.92322605e-05 -9.99996892e-01 -4.02972152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters 0.013313688533892934 Centerline is valid? [True, True] Translation: X:212.02, Y:-125.72, Z:-4.03 [[ 3.49192580e-01 -9.37050949e-01 -2.48515973e-04 2.12024900e+02] [-9.37050701e-01 -3.49192668e-01 6.82034640e-04 -1.25716123e+02] [-7.25881163e-04 -5.28936880e-06 -9.99999737e-01 -4.03158552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters 0.013228353972557493 Centerline is valid? [True, True] Translation: X:212.04, Y:-125.83, Z:-4.03 [[ 4.19335744e-01 -9.07831036e-01 -5.86739564e-04 2.12043949e+02] [-9.07830112e-01 -4.19336154e-01 1.29548739e-03 -1.25834323e+02] [-1.42212477e-03 -1.05843235e-05 -9.99998989e-01 -4.03095206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters 0.01294222460984678 Centerline is valid? [True, True] Translation: X:212.07, Y:-125.95, Z:-4.03 [[ 4.86421894e-01 -8.73721345e-01 -2.18024160e-03 2.12068838e+02] [-8.73712289e-01 -4.86426779e-01 3.97805679e-03 -1.25947903e+02] [-4.53624103e-03 -3.01100378e-05 -9.99989711e-01 -4.02696004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters 0.012510243089694263 Centerline is valid? [True, True] Translation: X:212.10, Y:-126.05, Z:-4.03 [[ 5.47669161e-01 -8.36689874e-01 -2.92326624e-03 2.12104246e+02] [-8.36677878e-01 -5.47676963e-01 4.48024088e-03 -1.26054690e+02] [-5.34957775e-03 -7.85756399e-06 -9.99985691e-01 -4.02662239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters 0.012757320928319625 Centerline is valid? [True, True] Translation: X:212.15, Y:-126.16, Z:-4.03 [[ 6.04156015e-01 -7.96857610e-01 -3.66861255e-03 2.12147595e+02] [-7.96843282e-01 -6.04167153e-01 4.77867907e-03 -1.26156517e+02] [-6.02438198e-03 3.62415620e-05 -9.99981853e-01 -4.02698289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters 0.0135736337884666 Centerline is valid? [True, True] Translation: X:212.20, Y:-126.26, Z:-4.03 [[ 6.58611832e-01 -7.52472561e-01 -3.93706166e-03 2.12196158e+02] [-7.52459772e-01 -6.58623595e-01 4.38763177e-03 -1.26255058e+02] [-5.89461422e-03 7.27343262e-05 -9.99982624e-01 -4.02662185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters 0.01474573299144435 Centerline is valid? [True, True] Translation: X:212.25, Y:-126.34, Z:-4.03 [[ 7.08965972e-01 -7.05235514e-01 -3.18133488e-03 2.12247732e+02] [-7.05228959e-01 -7.08973104e-01 3.04181155e-03 -1.26341579e+02] [-4.40067440e-03 8.70286086e-05 -9.99990313e-01 -4.02742298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters 0.016632154357683223 Centerline is valid? [True, True] Translation: X:212.27, Y:-126.37, Z:-4.03 [[ 7.57915246e-01 -6.52345195e-01 -3.19779602e-03 2.12265872e+02] [-6.52339979e-01 -7.57921985e-01 2.61086998e-03 -1.26366966e+02] [-4.12686839e-03 1.07232021e-04 -9.99991479e-01 -4.02768107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters 0.017287255271681064 Centerline is valid? [True, True] Translation: X:212.28, Y:-126.39, Z:-4.03 [[ 8.06567887e-01 -5.91120376e-01 -4.99454361e-03 2.12283532e+02] [-5.91110238e-01 -8.06583335e-01 3.46555341e-03 -1.26394051e+02] [-6.07707488e-03 1.57121775e-04 -9.99981522e-01 -4.02646792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters 0.016268918770488285 Centerline is valid? [True, True] Translation: X:212.30, Y:-126.42, Z:-4.02 [[ 8.52390303e-01 -5.22863562e-01 -6.66834823e-03 2.12303566e+02] [-5.22849096e-01 -8.52416370e-01 3.89296609e-03 -1.26420418e+02] [-7.71969931e-03 1.68213298e-04 -9.99970189e-01 -4.02444034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters 0.015088104746027982 Centerline is valid? [True, True] Translation: X:212.33, Y:-126.45, Z:-4.02 [[ 8.91995217e-01 -4.51974183e-01 -7.99192194e-03 2.12326164e+02] [-4.51957711e-01 -8.92031003e-01 3.86229069e-03 -1.26446510e+02] [-8.87469782e-03 1.66865924e-04 -9.99960605e-01 -4.02433852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters 0.014686383188395097 Centerline is valid? [True, True] Translation: X:212.35, Y:-126.47, Z:-4.02 [[ 9.25568352e-01 -3.78490475e-01 -8.25747179e-03 2.12351139e+02] [-3.78476794e-01 -9.25605175e-01 3.22129285e-03 -1.26468832e+02] [-8.86238728e-03 1.43734740e-04 -9.99960718e-01 -4.02371502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters 0.013489293279254723 Centerline is valid? [True, True] Translation: X:212.38, Y:-126.50, Z:-4.03 [[ 9.53909144e-01 -2.99989101e-01 -7.99269373e-03 2.12375994e+02] [-2.99979378e-01 -9.53942624e-01 2.41702719e-03 -1.26495373e+02] [-8.34965305e-03 9.20189558e-05 -9.99965137e-01 -4.02521266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters 0.013251238631547863 Centerline is valid? [True, True] Translation: X:212.40, Y:-126.52, Z:-4.02 [[ 9.75557976e-01 -2.19396365e-01 -1.23235416e-02 2.12404283e+02] [-2.19379801e-01 -9.75635808e-01 2.69682307e-03 -1.26517900e+02] [-1.26149616e-02 7.26288453e-05 -9.99920426e-01 -4.02205224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters 0.013087026066531341 Centerline is valid? [True, True] Translation: X:212.43, Y:-126.54, Z:-4.02 [[ 9.90983075e-01 -1.33205816e-01 -1.44483564e-02 2.12433842e+02] [-1.33190905e-01 -9.91088396e-01 1.99368118e-03 -1.26538328e+02] [-1.45851683e-02 -5.13146373e-05 -9.99893629e-01 -4.02140495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters 0.013761024676369459 Centerline is valid? [True, True] Translation: X:212.46, Y:-126.55, Z:-4.02 [[ 9.98658720e-01 -4.96970217e-02 -1.45247228e-02 2.12461834e+02] [-4.96898480e-02 -9.98764331e-01 8.54585505e-04 -1.26554469e+02] [-1.45492454e-02 -1.31708001e-04 -9.99894145e-01 -4.01957442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters 0.01396200245214124 Centerline is valid? [True, True] Translation: X:212.49, Y:-126.56, Z:-4.02 [[ 9.99389089e-01 3.21540649e-02 -1.36954137e-02 2.12493050e+02] [ 3.21534070e-02 -9.99482910e-01 -2.68278951e-04 -1.26564003e+02] [-1.36969582e-02 -1.72239154e-04 -9.99906177e-01 -4.02065886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters 0.01419150762625508 Centerline is valid? [True, True] Translation: X:212.52, Y:-126.57, Z:-4.02 [[ 9.93457861e-01 1.13561108e-01 -1.20562079e-02 2.12524810e+02] [ 1.13555093e-01 -9.93530995e-01 -1.18452384e-03 -1.26569096e+02] [-1.21127321e-02 -1.92269297e-04 -9.99926620e-01 -4.02396468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters 0.015829835132853246 Centerline is valid? [True, True] Translation: X:212.56, Y:-126.58, Z:-4.02 [[ 9.81044039e-01 1.93385225e-01 -1.24397474e-02 2.12556000e+02] [ 1.93372671e-01 -9.81122878e-01 -2.21571386e-03 -1.26575798e+02] [-1.26334071e-02 -2.31794301e-04 -9.99920168e-01 -4.02187515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters 0.015004343116645912 Centerline is valid? [True, True] Translation: X:212.59, Y:-126.57, Z:-4.02 [[ 9.62790482e-01 2.69893351e-01 -1.38588303e-02 2.12586753e+02] [ 2.69869370e-01 -9.62890185e-01 -3.60763833e-03 -1.26572659e+02] [-1.43182092e-02 -2.66673950e-04 -9.99897454e-01 -4.02240275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters 0.015519420764325652 Centerline is valid? [True, True] Translation: X:212.62, Y:-126.57, Z:-4.02 [[ 9.38612134e-01 3.44701258e-01 -1.37224420e-02 2.12616759e+02] [ 3.44668690e-01 -9.38712398e-01 -4.74630031e-03 -1.26566854e+02] [-1.45174822e-02 -2.74761059e-04 -9.99894578e-01 -4.02158242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters 0.01673775032512879 Centerline is valid? [True, True] Translation: X:212.65, Y:-126.56, Z:-4.02 [[ 9.08702491e-01 4.17245868e-01 -1.28712374e-02 2.12646270e+02] [ 4.17208170e-01 -9.08793604e-01 -5.61501111e-03 -1.26559680e+02] [-1.40401384e-02 -2.67610821e-04 -9.99901397e-01 -4.02063990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters 0.014349760689212954 Centerline is valid? [True, True] Translation: X:212.67, Y:-126.54, Z:-4.02 [[ 8.74643420e-01 4.84612664e-01 -1.22251231e-02 2.12672409e+02] [ 4.84568902e-01 -8.74728824e-01 -6.51641672e-03 -1.26544211e+02] [-1.38516056e-02 -2.24373450e-04 -9.99904037e-01 -4.02348266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters 0.013650764222999847 Centerline is valid? [True, True] Translation: X:212.70, Y:-126.53, Z:-4.02 [[ 8.36013574e-01 5.48587373e-01 -1.15411487e-02 2.12697572e+02] [ 5.48537939e-01 -8.36093215e-01 -7.36641790e-03 -1.26527001e+02] [-1.36906000e-02 -1.72332595e-04 -9.99906265e-01 -4.02399986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters 0.013925373456637073 Centerline is valid? [True, True] Translation: X:212.72, Y:-126.51, Z:-4.02 [[ 7.91682382e-01 6.10836606e-01 -1.08464790e-02 2.12721590e+02] [ 6.10781789e-01 -7.91756667e-01 -8.18454910e-03 -1.26511974e+02] [-1.35871942e-02 -1.45268505e-04 -9.99907679e-01 -4.02254854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters 0.01305855487187266 Centerline is valid? [True, True] Translation: X:212.75, Y:-126.50, Z:-4.03 [[ 7.42494468e-01 6.69782954e-01 -9.63118011e-03 2.12746057e+02] [ 6.69728650e-01 -7.42556921e-01 -8.52967443e-03 -1.26496200e+02] [-1.28647300e-02 -1.17041172e-04 -9.99917239e-01 -4.02530548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters 0.012626551379543483 Centerline is valid? [True, True] Translation: X:212.77, Y:-126.48, Z:-4.03 [[ 6.91219003e-01 7.22603992e-01 -7.73050193e-03 2.12767665e+02] [ 7.22559586e-01 -6.91262228e-01 -8.01100551e-03 -1.26477840e+02] [-1.11325886e-02 -4.83890355e-05 -9.99938030e-01 -4.02647517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters 0.012448078620579974 Centerline is valid? [True, True] Translation: X:212.79, Y:-126.46, Z:-4.03 [[ 6.35213930e-01 7.72309120e-01 -6.47189399e-03 2.12789776e+02] [ 7.72269180e-01 -6.35246899e-01 -7.85439642e-03 -1.26460935e+02] [-1.01772726e-02 -8.82224450e-06 -9.99948210e-01 -4.02752553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters 0.01255295907922945 Centerline is valid? [True, True] Translation: X:212.81, Y:-126.44, Z:-4.03 [[ 5.75256174e-01 8.17948906e-01 -6.31828326e-03 2.12811911e+02] [ 8.17899121e-01 -5.75290871e-01 -9.02448188e-03 -1.26443540e+02] [-1.10164158e-02 2.36705942e-05 -9.99939317e-01 -4.02803489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters 0.012751979275615161 Centerline is valid? [True, True] Translation: X:212.83, Y:-126.42, Z:-4.03 [[ 5.12014722e-01 8.58956406e-01 -5.90058683e-03 2.12832862e+02] [ 8.58898013e-01 -5.12048718e-01 -1.00157078e-02 -1.26424643e+02] [-1.16244443e-02 6.01875612e-05 -9.99932432e-01 -4.02738044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters 0.013809024238764216 Centerline is valid? [True, True] Translation: X:212.85, Y:-126.40, Z:-4.03 [[ 4.48415938e-01 8.93808298e-01 -5.46561440e-03 2.12850647e+02] [ 8.93738126e-01 -4.48449225e-01 -1.12006779e-02 -1.26404430e+02] [-1.24623094e-02 1.37734506e-04 -9.99922333e-01 -4.02546525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters 0.015118797574979755 Centerline is valid? [True, True] Translation: X:212.87, Y:-126.38, Z:-4.03 [[ 3.86223101e-01 9.22394604e-01 -4.46205785e-03 2.12867924e+02] [ 9.22325223e-01 -3.86248791e-01 -1.13160964e-02 -1.26382491e+02] [-1.21613707e-02 2.55069339e-04 -9.99926015e-01 -4.02631017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters 0.01810417624882122 Centerline is valid? [True, True] Translation: X:212.88, Y:-126.36, Z:-4.03 [[ 3.20316021e-01 9.47305531e-01 -3.14276144e-03 2.12877848e+02] [ 9.47249982e-01 -3.20331288e-01 -1.02634260e-02 -1.26359618e+02] [-1.07293250e-02 3.10559050e-04 -9.99942391e-01 -4.02891735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters 0.017900235814720743 Centerline is valid? [True, True] Translation: X:212.89, Y:-126.34, Z:-4.03 [[ 2.46350630e-01 9.69179052e-01 -1.82544867e-03 2.12894949e+02] [ 9.69144287e-01 -2.46357262e-01 -8.21276589e-03 -1.26337692e+02] [-8.40935319e-03 2.54096900e-04 -9.99964609e-01 -4.03147886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters 0.016682820152356614 Centerline is valid? [True, True] Translation: X:212.92, Y:-126.31, Z:-4.03 [[ 1.68215729e-01 9.85749750e-01 -9.48421809e-04 2.12916838e+02] [ 9.85726893e-01 -1.68218290e-01 -6.71562929e-03 -1.26314450e+02] [-6.77947179e-03 1.94789595e-04 -9.99977000e-01 -4.03204154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters 0.01759679517133683 Centerline is valid? [True, True] Translation: X:212.93, Y:-126.29, Z:-4.03 [[ 8.77665349e-02 9.96140944e-01 -5.04738619e-04 2.12932226e+02] [ 9.96107739e-01 -8.77677319e-02 -8.13616643e-03 -1.26289670e+02] [-8.14906827e-03 2.11309090e-04 -9.99966773e-01 -4.02955733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters 0.016729606175656126 Centerline is valid? [True, True] Translation: X:212.94, Y:-126.26, Z:-4.03 [[ 8.04694143e-03 9.99967611e-01 1.52471944e-04 2.12943400e+02] [ 9.99924324e-01 -8.04517398e-03 -9.30707740e-03 -1.26262971e+02] [-9.30554929e-03 2.27353912e-04 -9.99956677e-01 -4.02965684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters 0.0147985012658744 Centerline is valid? [True, True] Translation: X:212.96, Y:-126.23, Z:-4.03 [[-7.51210280e-02 9.97173920e-01 1.00272383e-03 2.12962562e+02] [ 9.97118112e-01 7.51274343e-02 -1.05517611e-02 -1.26234733e+02] [-1.05972731e-02 2.07174949e-04 -9.99943826e-01 -4.02937399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters 0.013940185596787388 Centerline is valid? [True, True] Translation: X:212.98, Y:-126.21, Z:-4.03 [[-1.58975565e-01 9.87281132e-01 1.65412011e-03 2.12975964e+02] [ 9.87235865e-01 1.58984118e-01 -9.45504291e-03 -1.26205417e+02] [-9.59776430e-03 1.29885907e-04 -9.99953932e-01 -4.02911134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters 0.01284845031149483 Centerline is valid? [True, True] Translation: X:212.98, Y:-126.17, Z:-4.03 [[-2.41475437e-01 9.70403850e-01 2.44551603e-03 2.12984893e+02] [ 9.70357216e-01 2.41487808e-01 -9.51374163e-03 -1.26174274e+02] [-9.82273381e-03 7.56892128e-05 -9.99951753e-01 -4.03033187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters 0.01245095831794756 Centerline is valid? [True, True] Translation: X:212.99, Y:-126.14, Z:-4.03 [[-3.23994147e-01 9.46052294e-01 3.58471573e-03 2.12993210e+02] [ 9.45994418e-01 3.24013978e-01 -1.04644049e-02 -1.26140746e+02] [-1.10613723e-02 7.15122477e-07 -9.99938821e-01 -4.02882473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters 0.012513604089183566 Centerline is valid? [True, True] Translation: X:212.99, Y:-126.11, Z:-4.03 [[-3.99646358e-01 9.16660334e-01 4.07676354e-03 2.12991365e+02] [ 9.16611938e-01 3.99667150e-01 -9.41937390e-03 -1.26109413e+02] [-1.02637149e-02 -2.76083459e-05 -9.99947326e-01 -4.02952302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters 0.012617282362856553 Centerline is valid? [True, True] Translation: X:212.99, Y:-126.08, Z:-4.03 [[-4.73261078e-01 8.80907450e-01 5.10074234e-03 2.12987154e+02] [ 8.80854757e-01 4.73288560e-01 -9.63515823e-03 -1.26077923e+02] [-1.09018057e-02 -6.69322138e-05 -9.99940571e-01 -4.03002419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters 0.012710040746427401 Centerline is valid? [True, True] Translation: X:212.98, Y:-126.05, Z:-4.03 [[-5.42086062e-01 8.40303027e-01 5.78995518e-03 2.12979263e+02] [ 8.40253455e-01 5.42116976e-01 -9.12780533e-03 -1.26047023e+02] [-1.08089554e-02 -8.30262091e-05 -9.99941578e-01 -4.03073970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters 0.012499939818154884 Centerline is valid? [True, True] Translation: X:212.97, Y:-126.02, Z:-4.03 [[-6.04350010e-01 7.96705819e-01 4.57208672e-03 2.12967067e+02] [ 7.96682522e-01 6.04367303e-01 -6.09278485e-03 -1.26020139e+02] [-7.61737686e-03 -3.96730037e-05 -9.99970987e-01 -4.03230567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters 0.012392171665610272 Centerline is valid? [True, True] Translation: X:212.95, Y:-125.99, Z:-4.03 [[-6.63155747e-01 7.48465934e-01 4.81666192e-03 2.12951409e+02] [ 7.48445963e-01 6.63173239e-01 -5.46770630e-03 -1.25993926e+02] [-7.28667319e-03 -2.09296851e-05 -9.99973452e-01 -4.03319737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters 0.01240430908547995 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.97, Z:-4.03 [[-7.19394886e-01 6.94574828e-01 6.06682674e-03 2.12934529e+02] [ 6.94549889e-01 7.19420467e-01 -5.88582033e-03 -1.25969378e+02] [-8.45274196e-03 -2.05152085e-05 -9.99964275e-01 -4.03183060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters 0.01255615360403223 Centerline is valid? [True, True] Translation: X:212.95, Y:-125.95, Z:-4.03 [[-7.67652934e-01 6.40827903e-01 6.96936553e-03 2.12953105e+02] [ 6.40801040e-01 7.67684569e-01 -5.86771248e-03 -1.25953446e+02] [-9.11046826e-03 -3.83900151e-05 -9.99958498e-01 -4.03145145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters 0.013003875988418298 Centerline is valid? [True, True] Translation: X:213.39, Y:-125.45, Z:-5.01 [[-7.14181897e-01 -6.99911886e-01 8.22007225e-03 2.13386256e+02] [ 6.99868517e-01 -7.14229176e-01 -7.79370930e-03 -1.25446284e+02] [ 1.13259252e-02 1.86843681e-04 9.99935842e-01 -5.01195567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters 0.013551563028873538 Centerline is valid? [True, True] Translation: X:212.92, Y:-125.93, Z:-4.03 [[-7.75163319e-01 6.31709151e-01 8.08568173e-03 2.12916115e+02] [ 6.31672971e-01 7.75205477e-01 -6.76213230e-03 -1.25928930e+02] [-1.05397656e-02 -1.34250309e-04 -9.99944446e-01 -4.02990519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters 0.014209025607754023 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.91, Z:-4.03 [[-8.19626192e-01 5.72837647e-01 8.36267248e-03 2.12931389e+02] [ 5.72805806e-01 8.19668838e-01 -6.04197555e-03 -1.25908414e+02] [-1.03156931e-02 -1.61974072e-04 -9.99946779e-01 -4.02958063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters 0.01572912748017527 Centerline is valid? [True, True] Translation: X:212.94, Y:-125.89, Z:-4.03 [[-8.60895812e-01 5.08698893e-01 9.15622030e-03 2.12935136e+02] [ 5.08667294e-01 8.60944472e-01 -5.67452164e-03 -1.25886134e+02] [-1.07696201e-02 -2.27702116e-04 -9.99941980e-01 -4.02983713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters 0.015838480997531747 Centerline is valid? [True, True] Translation: X:212.95, Y:-125.87, Z:-4.03 [[-8.94857239e-01 4.46284067e-01 7.81365482e-03 2.12951733e+02] [ 4.46265211e-01 8.94891332e-01 -4.10671996e-03 -1.25869264e+02] [-8.82513565e-03 -1.87965768e-04 -9.99961040e-01 -4.03141463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters 0.015132642663799413 Centerline is valid? [True, True] Translation: X:213.28, Y:-125.25, Z:-5.01 [[-8.42355384e-01 -5.38845865e-01 9.08516124e-03 2.13283645e+02] [ 5.38818642e-01 -8.42404314e-01 -5.42618376e-03 -1.25248607e+02] [ 1.05772557e-02 3.24479132e-04 9.99944007e-01 -5.01116725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters 0.014436888774476119 Centerline is valid? [True, True] Translation: X:213.28, Y:-125.28, Z:-5.01 [[-8.06116915e-01 -5.91714623e-01 7.02318843e-03 2.13278759e+02] [ 5.91693514e-01 -8.06147499e-01 -4.99957564e-03 -1.25277787e+02] [ 8.62004780e-03 1.25332551e-04 9.99962839e-01 -5.00967748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters 0.014771478843318817 Centerline is valid? [True, True] Translation: X:212.86, Y:-125.86, Z:-4.03 [[-8.61427045e-01 5.07845497e-01 6.03298822e-03 2.12860926e+02] [ 5.07832177e-01 8.61448164e-01 -3.67973018e-03 -1.25859186e+02] [-7.06584103e-03 -1.06073555e-04 -9.99975031e-01 -4.03411381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters 0.014670684569092473 Centerline is valid? [True, True] Translation: X:212.88, Y:-125.84, Z:-4.04 [[-8.95753133e-01 4.44533517e-01 4.03450704e-03 2.12880678e+02] [ 4.44528636e-01 8.95762216e-01 -2.08438574e-03 -1.25837817e+02] [-4.54053829e-03 -7.36411439e-05 -9.99989689e-01 -4.03644423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters 0.01451915799204391 Centerline is valid? [True, True] Translation: X:212.89, Y:-125.81, Z:-4.04 [[-9.24702214e-01 3.80677361e-01 3.24999639e-03 2.12888631e+02] [ 3.80674801e-01 9.24707924e-01 -1.39703715e-03 -1.25811369e+02] [-3.53711783e-03 -5.46516169e-05 -9.99993743e-01 -4.03679183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters 0.013956495979252118 Centerline is valid? [True, True] Translation: X:212.91, Y:-125.79, Z:-4.04 [[-9.48182646e-01 3.17724165e-01 1.01199335e-03 2.12905345e+02] [ 3.17723970e-01 9.48183186e-01 -3.52249544e-04 -1.25792632e+02] [-1.07147327e-03 -1.24623597e-05 -9.99999426e-01 -4.03845402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters 0.013638854553157406 Centerline is valid? [True, True] Translation: X:212.91, Y:-125.77, Z:-4.04 [[-9.67442934e-01 2.53083553e-01 -1.69860752e-03 2.12906794e+02] [ 2.53083136e-01 9.67444425e-01 4.59985146e-04 -1.25768580e+02] [ 1.75972305e-03 1.51204609e-05 -9.99998452e-01 -4.04140279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters 0.013564428560508232 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.75, Z:-4.04 [[-9.82509708e-01 1.86196225e-01 -2.37489245e-03 2.12927385e+02] [ 1.86195644e-01 9.82512578e-01 4.65495419e-04 -1.25746664e+02] [ 2.42003519e-03 1.51591410e-05 -9.99997072e-01 -4.04105407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters 0.013487460639838115 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.72, Z:-4.04 [[-9.93183169e-01 1.16542628e-01 -2.23818295e-03 2.12931174e+02] [ 1.16542302e-01 9.93185691e-01 2.75727817e-04 -1.25720657e+02] [ 2.25506533e-03 1.30052333e-05 -9.99997457e-01 -4.04035193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters 0.013232200868841948 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.70, Z:-4.04 [[-9.98814766e-01 4.86341925e-02 -1.94390904e-03 2.12934368e+02] [ 4.86340893e-02 9.98816658e-01 1.00395783e-04 -1.25696050e+02] [ 1.94649140e-03 5.73654513e-06 -9.99998106e-01 -4.03956092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters 0.013180800712407353 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.67, Z:-4.04 [[-9.99765195e-01 -2.13912511e-02 -3.45976092e-03 2.12933110e+02] [-2.13911459e-02 9.99771181e-01 -6.74145311e-05 -1.25669634e+02] [ 3.46041135e-03 6.60954882e-06 -9.99994013e-01 -4.04022982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters 0.013274682041381054 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.64, Z:-4.04 [[-9.95847542e-01 -9.07592480e-02 -7.10160677e-03 2.12930093e+02] [-9.07569546e-02 9.95872863e-01 -6.45205324e-04 -1.25643026e+02] [ 7.13085581e-03 1.99406745e-06 -9.99974575e-01 -4.04243755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters 0.013133938314307748 Centerline is valid? [True, True] Translation: X:212.93, Y:-125.62, Z:-4.04 [[-9.87119954e-01 -1.59841649e-01 -6.69652773e-03 2.12926801e+02] [-1.59837911e-01 9.87142668e-01 -1.09310525e-03 -1.25615710e+02] [ 6.78515200e-03 -8.66699565e-06 -9.99976981e-01 -4.04071723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters 0.013237720330504061 Centerline is valid? [True, True] Translation: X:212.91, Y:-125.59, Z:-4.04 [[-9.73722010e-01 -2.27702259e-01 -4.13873528e-03 2.12912874e+02] [-2.27700139e-01 9.73730805e-01 -9.82672494e-04 -1.25591818e+02] [ 4.25377078e-03 -1.44592378e-05 -9.99990953e-01 -4.03735306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters 0.013159119511950071 Centerline is valid? [True, True] Translation: X:212.89, Y:-125.57, Z:-4.04 [[-9.55052101e-01 -2.96396445e-01 -4.96306571e-03 2.12891503e+02] [-2.96392331e-01 9.55064996e-01 -1.56178408e-03 -1.25566563e+02] [ 5.20295758e-03 -2.05705531e-05 -9.99986464e-01 -4.03641645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters 0.013098597878563684 Centerline is valid? [True, True] Translation: X:212.85, Y:-125.55, Z:-4.03 [[-9.31546279e-01 -3.63610381e-01 -3.00359422e-03 2.12853237e+02] [-3.63608433e-01 9.31551121e-01 -1.19048289e-03 -1.25549238e+02] [ 3.23087350e-03 -1.68577177e-05 -9.99994781e-01 -4.03455461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters 0.013149784551204262 Centerline is valid? [True, True] Translation: X:212.79, Y:-125.54, Z:-4.03 [[-9.02613237e-01 -4.30452393e-01 -2.86556926e-04 2.12793303e+02] [-4.30452371e-01 9.02613282e-01 -1.38554594e-04 -1.25543738e+02] [ 3.18291244e-04 -1.71210264e-06 -9.99999949e-01 -4.03064105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters 0.01314531136693713 Centerline is valid? [True, True] Translation: X:212.72, Y:-125.55, Z:-4.03 [[-8.68784040e-01 -4.95184534e-01 2.56283263e-03 2.12723896e+02] [-4.95182308e-01 8.68787820e-01 1.48491259e-03 -1.25546076e+02] [-2.96186353e-03 2.09989792e-05 -9.99995613e-01 -4.02594529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters 0.013507440451297021 Centerline is valid? [True, True] Translation: X:212.65, Y:-125.56, Z:-4.02 [[-8.30752370e-01 -5.56612430e-01 5.75345823e-03 2.12647090e+02] [-5.56598543e-01 8.30772290e-01 3.93230369e-03 -1.25557803e+02] [-6.96858278e-03 6.44041357e-05 -9.99975717e-01 -4.02017566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters 0.013948374482141352 Centerline is valid? [True, True] Translation: X:212.56, Y:-125.59, Z:-4.02 [[-7.88539443e-01 -6.14935350e-01 7.74991067e-03 2.12564363e+02] [-6.14904163e-01 7.88577517e-01 6.19431834e-03 -1.25585168e+02] [-9.92051064e-03 1.19012004e-04 -9.99950783e-01 -4.01769136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters 0.014707355424927406 Centerline is valid? [True, True] Translation: X:212.48, Y:-125.62, Z:-4.01 [[-7.41624222e-01 -6.70723674e-01 1.11025826e-02 2.12481682e+02] [-6.70644048e-01 7.41707291e-01 1.03370715e-02 -1.25615414e+02] [-1.51681850e-02 2.20341714e-04 -9.99884932e-01 -4.01243625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters 0.015290548620836033 Centerline is valid? [True, True] Translation: X:212.39, Y:-125.66, Z:-4.01 [[-6.88562097e-01 -7.25018465e-01 1.51810098e-02 2.12392950e+02] [-7.24832071e-01 6.88729355e-01 1.64421593e-02 -1.25657925e+02] [-2.23764761e-02 3.17764918e-04 -9.99749565e-01 -4.00553419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters 0.01593178306091601 Centerline is valid? [True, True] Translation: X:212.30, Y:-125.72, Z:-4.00 [[-6.31429912e-01 -7.75288440e-01 1.49700490e-02 2.12302485e+02] [-7.75058086e-01 6.31607256e-01 1.89007196e-02 -1.25716082e+02] [-2.41087010e-02 3.31822215e-04 -9.99709288e-01 -4.00143608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters 0.01634727513329836 Centerline is valid? [True, True] Translation: X:212.22, Y:-125.78, Z:-4.00 [[-5.71128814e-01 -8.20753955e-01 1.32220698e-02 2.12218432e+02] [-8.20520380e-01 5.71281746e-01 1.95824872e-02 -1.25776173e+02] [-2.36259310e-02 3.35144941e-04 -9.99720813e-01 -4.00152350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters 0.015474437767786528 Centerline is valid? [True, True] Translation: X:212.14, Y:-125.85, Z:-4.01 [[-5.08127935e-01 -8.61208841e-01 1.11952951e-02 2.12135540e+02] [-8.60984714e-01 5.08251132e-01 1.96496416e-02 -1.25846605e+02] [-2.26124665e-02 3.45553836e-04 -9.99744246e-01 -4.00577336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters 0.0151164020428584 Centerline is valid? [True, True] Translation: X:212.06, Y:-125.93, Z:-4.01 [[-4.40574804e-01 -8.97664409e-01 9.61513209e-03 2.12057356e+02] [-8.97434168e-01 4.40679589e-01 2.03325891e-02 -1.25927683e+02] [-2.24890341e-02 3.29078416e-04 -9.99747036e-01 -4.00740317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters 0.01579757882588282 Centerline is valid? [True, True] Translation: X:211.98, Y:-126.01, Z:-4.01 [[-3.66938137e-01 -9.30211057e-01 7.98709749e-03 2.11983970e+02] [-9.29976927e-01 3.67024982e-01 2.08705202e-02 -1.26011183e+02] [-2.23454529e-02 2.30373412e-04 -9.99750283e-01 -4.00513508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters 0.014134796068960882 Centerline is valid? [True, True] Translation: X:211.91, Y:-126.10, Z:-4.01 [[-2.91649828e-01 -9.56506228e-01 6.01773355e-03 2.11913569e+02] [-9.56292557e-01 2.91711870e-01 2.02171036e-02 -1.26104935e+02] [-2.10932298e-02 1.41600982e-04 -9.99777503e-01 -4.00926543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters 0.013691604094773642 Centerline is valid? [True, True] Translation: X:211.85, Y:-126.20, Z:-4.01 [[-2.16182469e-01 -9.76345099e-01 3.92265000e-03 2.11852767e+02] [-9.76176704e-01 2.16218036e-01 1.81329238e-02 -1.26203349e+02] [-1.85521389e-02 9.08206849e-05 -9.99827890e-01 -4.01128744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters 0.014025154471558809 Centerline is valid? [True, True] Translation: X:211.81, Y:-126.31, Z:-4.02 [[-1.45347051e-01 -9.89377207e-01 2.64148312e-03 2.11810244e+02] [-9.89190558e-01 1.45370940e-01 1.92179730e-02 -1.26309751e+02] [-1.93978193e-02 1.80345545e-04 -9.99811828e-01 -4.01556254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters 0.01454940643313384 Centerline is valid? [True, True] Translation: X:211.78, Y:-126.41, Z:-4.02 [[-7.39681035e-02 -9.97259991e-01 1.10887106e-03 2.11775432e+02] [-9.97089623e-01 7.39759650e-02 1.84347845e-02 -1.26413782e+02] [-1.84663028e-02 2.57942219e-04 -9.99829450e-01 -4.01774309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters 0.016024865873584638 Centerline is valid? [True, True] Translation: X:211.75, Y:-126.52, Z:-4.02 [[-3.73087856e-03 -9.99992998e-01 -2.92093078e-04 2.11748341e+02] [-9.99835369e-01 3.72510334e-03 1.77583155e-02 -1.26522927e+02] [-1.77571031e-02 3.58299109e-04 -9.99842266e-01 -4.01873661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters 0.016913512287414743 Centerline is valid? [True, True] Translation: X:211.73, Y:-126.63, Z:-4.02 [[ 6.73117762e-02 -9.97730768e-01 -1.56202410e-03 2.11731336e+02] [-9.97590062e-01 -6.73285244e-02 1.67611954e-02 -1.26634802e+02] [-1.68283291e-02 4.30033884e-04 -9.99858301e-01 -4.02052572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters 0.020206012079399018 Centerline is valid? [True, True] Translation: X:211.73, Y:-126.75, Z:-4.02 [[ 1.34242279e-01 -9.90945278e-01 -2.54274969e-03 2.11728417e+02] [-9.90834247e-01 -1.34265325e-01 1.48430615e-02 -1.26747400e+02] [-1.50500648e-02 5.26877064e-04 -9.99886603e-01 -4.02338581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters 0.02069073945347289 Centerline is valid? [True, True] Translation: X:211.73, Y:-126.86, Z:-4.03 [[ 2.05329515e-01 -9.78685191e-01 -3.88412201e-03 2.11727280e+02] [-9.78563510e-01 -2.05365284e-01 1.54453199e-02 -1.26863866e+02] [-1.59137697e-02 6.29480023e-04 -9.99873170e-01 -4.02526013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters 0.019151823361174814 Centerline is valid? [True, True] Translation: X:211.13, Y:-127.13, Z:-5.01 [[ 2.13460067e-01 9.76949840e-01 -1.95186974e-03 2.11125151e+02] [-9.76871734e-01 2.13467726e-01 1.23751727e-02 -1.27126235e+02] [ 1.25065842e-02 -7.34878823e-04 9.99921520e-01 -5.01250546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters 0.018923841689652894 Centerline is valid? [True, True] Translation: X:211.79, Y:-127.13, Z:-4.03 [[ 2.19290656e-01 -9.75654791e-01 -3.05556487e-03 2.11785459e+02] [-9.75584800e-01 -2.19311547e-01 1.16936943e-02 -1.27131751e+02] [-1.20791295e-02 4.16644744e-04 -9.99926958e-01 -4.02952179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters 0.018071616666081713 Centerline is valid? [True, True] Translation: X:211.79, Y:-127.25, Z:-4.03 [[ 2.98710182e-01 -9.54337343e-01 -3.53028128e-03 2.11792111e+02] [-9.54282477e-01 -2.98730881e-01 1.02379585e-02 -1.27254348e+02] [-1.08250702e-02 3.10703113e-04 -9.99941359e-01 -4.03111590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters 0.01734088486957018 Centerline is valid? [True, True] Translation: X:211.81, Y:-127.37, Z:-4.03 [[ 3.73868112e-01 -9.27469773e-01 -4.73867550e-03 2.11805097e+02] [-9.27405182e-01 -3.73898021e-01 1.09498017e-02 -1.27374482e+02] [-1.19273915e-02 3.00890526e-04 -9.99928821e-01 -4.02873686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters 0.015173428908499605 Centerline is valid? [True, True] Translation: X:211.82, Y:-127.49, Z:-4.03 [[ 4.47123830e-01 -8.94449840e-01 -6.30599594e-03 2.11822564e+02] [-8.94369728e-01 -4.47168204e-01 1.19744173e-02 -1.27487882e+02] [-1.35303566e-02 2.85844535e-04 -9.99908420e-01 -4.02794190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters 0.015256213887154747 Centerline is valid? [True, True] Translation: X:211.85, Y:-127.60, Z:-4.03 [[ 5.14581417e-01 -8.57419157e-01 -6.19307708e-03 2.11854046e+02] [-8.57362524e-01 -5.14618628e-01 9.85751870e-03 -1.27596286e+02] [-1.16390982e-02 2.37216259e-04 -9.99932235e-01 -4.02935700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters 0.014790329917402076 Centerline is valid? [True, True] Translation: X:211.89, Y:-127.70, Z:-4.03 [[ 5.79850014e-01 -8.14702541e-01 -5.80785212e-03 2.11894426e+02] [-8.14664761e-01 -5.79879071e-01 7.84790375e-03 -1.27700869e+02] [-9.76155902e-03 1.80845366e-04 -9.99952339e-01 -4.03176586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters 0.013809328337744408 Centerline is valid? [True, True] Translation: X:211.94, Y:-127.80, Z:-4.03 [[ 6.43683872e-01 -7.65264193e-01 -6.46436894e-03 2.11938463e+02] [-7.65227706e-01 -6.43716317e-01 7.47405633e-03 -1.27803067e+02] [-9.88084745e-03 1.35784690e-04 -9.99951174e-01 -4.03113017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters 0.012990303614093925 Centerline is valid? [True, True] Translation: X:211.99, Y:-127.90, Z:-4.03 [[ 7.03647926e-01 -7.10513987e-01 -7.03352861e-03 2.11986572e+02] [-7.10479656e-01 -7.03683073e-01 6.98498820e-03 -1.27900805e+02] [-9.91230684e-03 8.22065255e-05 -9.99950869e-01 -4.03009878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters 0.01252796947658047 Centerline is valid? [True, True] Translation: X:212.00, Y:-127.94, Z:-4.03 [[ 7.64235727e-01 -6.44898009e-01 -7.09304048e-03 2.12003141e+02] [-6.44869921e-01 -7.64268642e-01 6.01896892e-03 -1.27937145e+02] [-9.30260949e-03 -2.58226435e-05 -9.99956729e-01 -4.02966914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters 0.013452117463108768 Centerline is valid? [True, True] Translation: X:212.03, Y:-127.97, Z:-4.03 [[ 8.17343668e-01 -5.76096932e-01 -7.85198316e-03 2.12025253e+02] [-5.76069035e-01 -8.17381375e-01 5.67051353e-03 -1.27969424e+02] [-9.68483024e-03 -1.11473965e-04 -9.99953095e-01 -4.02928745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters 0.013743329958715026 Centerline is valid? [True, True] Translation: X:212.05, Y:-128.00, Z:-4.03 [[ 8.61326337e-01 -5.07970843e-01 -9.08646583e-03 2.12051757e+02] [-5.07940700e-01 -8.61374251e-01 5.53581098e-03 -1.27998106e+02] [-1.06388783e-02 -1.52753981e-04 -9.99943394e-01 -4.02826152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters 0.014609609758651334 Centerline is valid? [True, True] Translation: X:212.08, Y:-128.02, Z:-4.03 [[ 8.99827510e-01 -4.36117106e-01 -1.05981948e-02 2.12081391e+02] [-4.36084104e-01 -8.99889897e-01 5.36916957e-03 -1.28019289e+02] [-1.18787951e-02 -2.09622187e-04 -9.99929423e-01 -4.02879613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters 0.015174914938137343 Centerline is valid? [True, True] Translation: X:212.11, Y:-128.04, Z:-4.03 [[ 9.31957974e-01 -3.62380070e-01 -1.16198136e-02 2.12112293e+02] [-3.62348562e-01 -9.32030377e-01 4.78503759e-03 -1.28041188e+02] [-1.25640215e-02 -2.49031183e-04 -9.99921039e-01 -4.02752406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters 0.016151376342843856 Centerline is valid? [True, True] Translation: X:212.15, Y:-128.06, Z:-4.03 [[ 9.58241774e-01 -2.85707460e-01 -1.19978941e-02 2.12145571e+02] [-2.85681330e-01 -9.58316840e-01 3.87451501e-03 -1.28058417e+02] [-1.26047618e-02 -2.85147810e-04 -9.99920516e-01 -4.02589275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters 0.01554703022424434 Centerline is valid? [True, True] Translation: X:212.18, Y:-128.07, Z:-4.03 [[ 9.77653495e-01 -2.09956664e-01 -1.05755908e-02 2.12180762e+02] [-2.09941665e-01 -9.77710662e-01 2.52153056e-03 -1.28068419e+02] [-1.08692800e-02 -2.44926026e-04 -9.99940898e-01 -4.02917120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters 0.015214253768946688 Centerline is valid? [True, True] Translation: X:212.22, Y:-128.08, Z:-4.03 [[ 9.90884906e-01 -1.34392871e-01 -9.25518316e-03 2.12215638e+02] [-1.34385152e-01 -9.90928109e-01 1.45380034e-03 -1.28076633e+02] [-9.36660155e-03 -1.96789623e-04 -9.99956113e-01 -4.03086807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters 0.015349300741519625 Centerline is valid? [True, True] Translation: X:212.25, Y:-128.09, Z:-4.03 [[ 9.98428526e-01 -5.51745429e-02 -9.81058583e-03 2.12247203e+02] [-5.51697247e-02 -9.98476701e-01 7.61283009e-04 -1.28085353e+02] [-9.83764481e-03 -2.18839353e-04 -9.99951585e-01 -4.02946474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters 0.017180820069225285 Centerline is valid? [True, True] Translation: X:212.28, Y:-128.09, Z:-4.03 [[ 9.99636323e-01 2.52055769e-02 -9.58651952e-03 2.12278009e+02] [ 2.52066459e-02 -9.99682262e-01 -9.31302589e-06 -1.28093798e+02] [-9.58370826e-03 -2.32334364e-04 -9.99954048e-01 -4.02945729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters 0.017653319565556366 Centerline is valid? [True, True] Translation: X:212.31, Y:-128.10, Z:-4.03 [[ 9.94199285e-01 1.06978955e-01 -1.11033577e-02 2.12309704e+02] [ 1.06975766e-01 -9.94261237e-01 -8.82411909e-04 -1.28096982e+02] [-1.11340377e-02 -3.10496909e-04 -9.99937967e-01 -4.02730978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters 0.018761327783052024 Centerline is valid? [True, True] Translation: X:212.34, Y:-128.09, Z:-4.03 [[ 9.82234163e-01 1.87232058e-01 -1.26572203e-02 2.12341243e+02] [ 1.87221661e-01 -9.82315633e-01 -2.01197150e-03 -1.28094509e+02] [-1.28100910e-02 -3.93478666e-04 -9.99917870e-01 -4.02749937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters 0.01824173591604538 Centerline is valid? [True, True] Translation: X:212.37, Y:-128.09, Z:-4.03 [[ 9.65013660e-01 2.61884622e-01 -1.28484008e-02 2.12371356e+02] [ 2.61866677e-01 -9.65099113e-01 -3.08958700e-03 -1.28088838e+02] [-1.32090955e-02 -3.83074358e-04 -9.99912683e-01 -4.02575074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters 0.017414283793329405 Centerline is valid? [True, True] Translation: X:212.40, Y:-128.08, Z:-4.03 [[ 9.43103608e-01 3.32283051e-01 -1.19815993e-02 2.12398496e+02] [ 3.32260351e-01 -9.43179665e-01 -3.89605443e-03 -1.28076980e+02] [-1.25953937e-02 -3.06627406e-04 -9.99920628e-01 -4.02667576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters 0.013896761101136128 Centerline is valid? [True, True] Translation: X:212.42, Y:-128.06, Z:-4.03 [[ 9.18741708e-01 3.94735914e-01 -9.86067921e-03 2.12423302e+02] [ 3.94714794e-01 -9.18794612e-01 -4.08559241e-03 -1.28057981e+02] [-1.06726690e-02 -1.38551816e-04 -9.99943036e-01 -4.02888101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters 0.013043045426792675 Centerline is valid? [True, True] Translation: X:212.45, Y:-128.05, Z:-4.03 [[ 8.87161064e-01 4.61364136e-01 -9.40110981e-03 2.12450964e+02] [ 4.61339283e-01 -8.87210869e-01 -4.78960539e-03 -1.28049933e+02] [-1.05505190e-02 -8.79498420e-05 -9.99944338e-01 -4.02830656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters 0.01263153207751994 Centerline is valid? [True, True] Translation: X:212.48, Y:-128.04, Z:-4.03 [[ 8.51521956e-01 5.24240463e-01 -9.07172602e-03 2.12476748e+02] [ 5.24211018e-01 -8.51570277e-01 -5.55626992e-03 -1.28038208e+02] [-1.06380338e-02 -2.42129010e-05 -9.99943414e-01 -4.02859786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters 0.013039012782800334 Centerline is valid? [True, True] Translation: X:212.50, Y:-128.02, Z:-4.03 [[ 8.13259189e-01 5.81849741e-01 -7.76984157e-03 2.12499598e+02] [ 5.81822405e-01 -8.13296302e-01 -5.64038471e-03 -1.28022539e+02] [-9.60103980e-03 6.64267860e-05 -9.99953907e-01 -4.03007900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters 0.01413769891041681 Centerline is valid? [True, True] Translation: X:212.52, Y:-128.01, Z:-4.03 [[ 7.69186056e-01 6.38989623e-01 -6.71360681e-03 2.12521005e+02] [ 6.38963968e-01 -7.69215346e-01 -5.72705558e-03 -1.28005700e+02] [-8.82373847e-03 1.15418450e-04 -9.99961063e-01 -4.03125377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters 0.015925258415737057 Centerline is valid? [True, True] Translation: X:212.55, Y:-127.99, Z:-4.03 [[ 7.24798988e-01 6.88931995e-01 -6.25570416e-03 2.12547644e+02] [ 6.88903713e-01 -7.24825951e-01 -6.24626284e-03 -1.27994672e+02] [-8.83754703e-03 2.17707162e-04 -9.99960924e-01 -4.03010154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters 0.01766027100705632 Centerline is valid? [True, True] Translation: X:212.57, Y:-127.98, Z:-4.03 [[ 6.73050684e-01 7.39568816e-01 -6.38297676e-03 2.12572760e+02] [ 7.39531252e-01 -6.73080884e-01 -7.45996348e-03 -1.27980671e+02] [-9.81341600e-03 3.00522727e-04 -9.99951802e-01 -4.02943730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters 0.01960022695438499 Centerline is valid? [True, True] Translation: X:212.60, Y:-127.97, Z:-4.03 [[ 6.19743125e-01 7.84771923e-01 -7.17550915e-03 2.12598190e+02] [ 7.84710196e-01 -6.19784480e-01 -9.85428719e-03 -1.27965528e+02] [-1.21806371e-02 4.76431545e-04 -9.99925700e-01 -4.02884364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters 0.02139243287669968 Centerline is valid? [True, True] Translation: X:212.62, Y:-127.95, Z:-4.03 [[ 5.57931128e-01 8.29859349e-01 -6.80565887e-03 2.12622068e+02] [ 8.29785605e-01 -5.57972380e-01 -1.10757343e-02 -1.27950642e+02] [-1.29886714e-02 5.32259180e-04 -9.99915502e-01 -4.02708492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters 0.020549992616952797 Centerline is valid? [True, True] Translation: X:212.65, Y:-127.93, Z:-4.03 [[ 4.90885728e-01 8.71206185e-01 -5.56641405e-03 2.12646572e+02] [ 8.71138290e-01 -4.90917037e-01 -1.08877491e-02 -1.27933660e+02] [-1.22181218e-02 4.95524224e-04 -9.99925233e-01 -4.02766987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters 0.02091024135186282 Centerline is valid? [True, True] Translation: X:212.67, Y:-127.91, Z:-4.03 [[ 4.17847456e-01 9.08512594e-01 -2.89292350e-03 2.12668866e+02] [ 9.08486010e-01 -4.17857378e-01 -6.95568223e-03 -1.27914698e+02] [-7.52815434e-03 2.78233603e-04 -9.99971624e-01 -4.03114248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters 0.017182571893656445 Centerline is valid? [True, True] Translation: X:212.70, Y:-127.90, Z:-4.03 [[ 3.41249610e-01 9.39970204e-01 -2.17236030e-03 2.12698019e+02] [ 9.39946706e-01 -3.41256449e-01 -6.65025782e-03 -1.27895960e+02] [-6.99237617e-03 2.27494983e-04 -9.99975527e-01 -4.03242532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters 0.015334300904775503 Centerline is valid? [True, True] Translation: X:212.72, Y:-127.87, Z:-4.03 [[ 2.57853311e-01 9.66182649e-01 -1.66070798e-03 2.12723372e+02] [ 9.66158277e-01 -2.57858606e-01 -6.86462704e-03 -1.27873666e+02] [-7.06071138e-03 1.65560048e-04 -9.99975059e-01 -4.03168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters 0.013154804182068963 Centerline is valid? [True, True] Translation: X:212.75, Y:-127.85, Z:-4.03 [[ 1.69879008e-01 9.85464564e-01 -8.46131940e-04 2.12747812e+02] [ 9.85450412e-01 -1.69881104e-01 -5.28166132e-03 -1.27848843e+02] [-5.34863189e-03 6.34223170e-05 -9.99985694e-01 -4.03240950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters 0.01238527455885376 Centerline is valid? [True, True] Translation: X:212.77, Y:-127.82, Z:-4.03 [[ 8.52614860e-02 9.96358416e-01 -6.21876242e-04 2.12765006e+02] [ 9.96328639e-01 -8.52637457e-02 -7.70309108e-03 -1.27821516e+02] [-7.72806312e-03 3.71838818e-05 -9.99970137e-01 -4.03023539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters 0.012256384521955802 Centerline is valid? [True, True] Translation: X:212.78, Y:-127.79, Z:-4.03 [[-1.57738391e-04 9.99999987e-01 -1.83718322e-05 2.12780427e+02] [ 9.99963579e-01 1.57575876e-04 -8.53324897e-03 -1.27791970e+02] [-8.53324597e-03 -1.97171840e-05 -9.99963591e-01 -4.02839921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters 0.01277419300783007 Centerline is valid? [True, True] Translation: X:212.79, Y:-127.76, Z:-4.03 [[-8.53788326e-02 9.96348338e-01 6.66202513e-04 2.12792254e+02] [ 9.96310163e-01 8.53813934e-02 -8.72223860e-03 -1.27761164e+02] [-8.74726923e-03 -8.09502156e-05 -9.99961739e-01 -4.02745597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters 0.012881969918306101 Centerline is valid? [True, True] Translation: X:212.79, Y:-127.73, Z:-4.03 [[-1.63596919e-01 9.86526157e-01 1.47949686e-03 2.12792815e+02] [ 9.86480497e-01 1.63603582e-01 -9.49191480e-03 -1.27730220e+02] [-9.60607322e-03 -9.33532212e-05 -9.99953856e-01 -4.02778646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters 0.012764004500438162 Centerline is valid? [True, True] Translation: X:212.79, Y:-127.70, Z:-4.03 [[-2.39692313e-01 9.70846626e-01 2.10323449e-03 2.12791089e+02] [ 9.70806192e-01 2.39701527e-01 -8.86085866e-03 -1.27699774e+02] [-9.10668326e-03 -8.20466394e-05 -9.99958530e-01 -4.02800592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters 0.012530665725676713 Centerline is valid? [True, True] Translation: X:212.79, Y:-127.67, Z:-4.03 [[-3.12633521e-01 9.49870352e-01 2.56820001e-03 2.12786000e+02] [ 9.49836863e-01 3.12644064e-01 -7.97643871e-03 -1.27670552e+02] [-8.37951513e-03 -5.43310780e-05 -9.99964890e-01 -4.02746054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters 0.012282541816145727 Centerline is valid? [True, True] Translation: X:212.77, Y:-127.64, Z:-4.03 [[-3.80367306e-01 9.24829013e-01 3.46559323e-03 2.12773816e+02] [ 9.24790567e-01 3.80383093e-01 -8.43270098e-03 -1.27644189e+02] [-9.11705960e-03 -2.57582729e-06 -9.99958439e-01 -4.02740699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters 0.012711070348438689 Centerline is valid? [True, True] Translation: X:212.76, Y:-127.62, Z:-4.03 [[-4.46666442e-01 8.94689418e-01 4.46483620e-03 2.12758817e+02] [ 8.94645880e-01 4.46688753e-01 -8.82655419e-03 -1.27620234e+02] [-9.89141675e-03 5.19217524e-05 -9.99951077e-01 -4.02769330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters 0.013957465362161187 Centerline is valid? [True, True] Translation: X:212.74, Y:-127.60, Z:-4.03 [[-5.06401926e-01 8.62281815e-01 5.21170897e-03 2.12744578e+02] [ 8.62239312e-01 5.06428719e-01 -8.56282190e-03 -1.27596227e+02] [-1.00229247e-02 1.57510854e-04 -9.99949757e-01 -4.02771890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters 0.014900671828886176 Centerline is valid? [True, True] Translation: X:212.73, Y:-127.57, Z:-4.03 [[-5.68468104e-01 8.22686184e-01 5.60867228e-03 2.12733850e+02] [ 8.22649506e-01 5.68495738e-01 -7.77081833e-03 -1.27570635e+02] [-9.58145116e-03 1.96509116e-04 -9.99954078e-01 -4.02886376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters 0.014888139176027427 Centerline is valid? [True, True] Translation: X:212.72, Y:-127.55, Z:-4.03 [[-6.32345265e-01 7.74664855e-01 5.81619496e-03 2.12723941e+02] [ 7.74634545e-01 6.32371989e-01 -6.85490836e-03 -1.27545086e+02] [-8.98825537e-03 1.70756689e-04 -9.99959590e-01 -4.03039573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters 0.014123409606854142 Centerline is valid? [True, True] Translation: X:212.71, Y:-127.52, Z:-4.03 [[-6.93326554e-01 7.20597701e-01 6.10272914e-03 2.12713458e+02] [ 7.20571523e-01 6.93353398e-01 -6.14372565e-03 -1.27517392e+02] [-8.65850256e-03 1.37844699e-04 -9.99962505e-01 -4.03121618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters 0.013684092344592037 Centerline is valid? [True, True] Translation: X:212.70, Y:-127.49, Z:-4.03 [[-7.49214423e-01 6.62290190e-01 7.03220920e-03 2.12701775e+02] [ 6.62262575e-01 7.49247415e-01 -6.04930904e-03 -1.27490241e+02] [-9.27526260e-03 1.24939392e-04 -9.99956976e-01 -4.03048786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters 0.013094097279661071 Centerline is valid? [True, True] Translation: X:212.72, Y:-127.46, Z:-4.03 [[-7.96976567e-01 6.03960809e-01 7.72616809e-03 2.12721195e+02] [ 6.03933461e-01 7.97014011e-01 -5.74801528e-03 -1.27463995e+02] [-9.62944018e-03 8.50579497e-05 -9.99953632e-01 -4.02979817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters 0.012573109631866548 Centerline is valid? [True, True] Translation: X:212.74, Y:-127.43, Z:-4.03 [[-8.43858400e-01 5.36497529e-01 8.56752251e-03 2.12737933e+02] [ 5.36469571e-01 8.43901891e-01 -5.47709096e-03 -1.27429320e+02] [-1.01685942e-02 -2.56740889e-05 -9.99948298e-01 -4.02933702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters 0.01336548768797104 Centerline is valid? [True, True] Translation: X:212.75, Y:-127.40, Z:-4.03 [[-8.83853178e-01 4.67670373e-01 9.37984071e-03 2.12749029e+02] [ 4.67642585e-01 8.83902940e-01 -5.09958987e-03 -1.27398979e+02] [-1.06757959e-02 -1.20875761e-04 -9.99943005e-01 -4.02926670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters 0.01365205892634916 Centerline is valid? [True, True] Translation: X:212.75, Y:-127.37, Z:-4.03 [[-9.15665071e-01 4.01824723e-01 9.71441469e-03 2.12754451e+02] [ 4.01800426e-01 9.15716589e-01 -4.42114713e-03 -1.27369982e+02] [-1.06721769e-02 -1.45034042e-04 -9.99943040e-01 -4.02926652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters 0.015300543380091756 Centerline is valid? [True, True] Translation: X:212.77, Y:-127.34, Z:-4.03 [[-9.42972893e-01 3.32689370e-01 1.09501441e-02 2.12770378e+02] [ 3.32664484e-01 9.43036449e-01 -4.07401046e-03 -1.27342095e+02] [-1.16817650e-02 -1.98957379e-04 -9.99931746e-01 -4.02601883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters 0.01423445256046643 Centerline is valid? [True, True] Translation: X:213.01, Y:-126.71, Z:-5.01 [[-9.03371835e-01 -4.28743869e-01 9.90065300e-03 2.13006133e+02] [ 4.28719759e-01 -9.03426077e-01 -4.54877045e-03 -1.26711880e+02] [ 1.08947655e-02 1.35374458e-04 9.99940641e-01 -5.01247955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters 0.014069938229249436 Centerline is valid? [True, True] Translation: X:212.73, Y:-127.34, Z:-4.03 [[-9.44448966e-01 3.28528049e-01 9.24509552e-03 2.12725186e+02] [ 3.28510498e-01 9.44494198e-01 -3.40032672e-03 -1.27335983e+02] [-9.84904178e-03 -1.74324125e-04 -9.99951482e-01 -4.02972504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters 0.013784513977002168 Centerline is valid? [True, True] Translation: X:212.73, Y:-127.31, Z:-4.03 [[-9.64816220e-01 2.62747237e-01 9.67215217e-03 2.12729776e+02] [ 2.62732393e-01 9.64864687e-01 -2.79731191e-03 -1.27313382e+02] [-1.00673041e-02 -1.57704217e-04 -9.99949311e-01 -4.02889754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters 0.013513515948153148 Centerline is valid? [True, True] Translation: X:212.74, Y:-127.29, Z:-4.03 [[-9.80496225e-01 1.96234849e-01 1.09104321e-02 2.12739095e+02] [ 1.96221049e-01 9.80556915e-01 -2.33173924e-03 -1.27294983e+02] [-1.11558681e-02 -1.45405104e-04 -9.99937761e-01 -4.02762022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters 0.014511227767576174 Centerline is valid? [True, True] Translation: X:212.74, Y:-127.26, Z:-4.03 [[-9.92380745e-01 1.22842094e-01 9.50137753e-03 2.12738171e+02] [ 1.22834942e-01 9.92426216e-01 -1.33492845e-03 -1.27264814e+02] [-9.59340156e-03 -1.57656140e-04 -9.99953970e-01 -4.02789907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters 0.014353067571421713 Centerline is valid? [True, True] Translation: X:212.74, Y:-127.24, Z:-4.03 [[-9.98659954e-01 5.08171872e-02 9.79334851e-03 2.12741738e+02] [ 5.08130269e-02 9.98707957e-01 -6.73321455e-04 -1.27237398e+02] [-9.81491139e-03 -1.74789491e-04 -9.99951817e-01 -4.02759510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters 0.014044932305710467 Centerline is valid? [True, True] Translation: X:212.75, Y:-127.21, Z:-4.03 [[-9.99759753e-01 -1.92312730e-02 1.05164307e-02 2.12745381e+02] [-1.92320751e-02 9.99815046e-01 2.48634880e-05 -1.27214000e+02] [-1.05149638e-02 -1.77395271e-04 -9.99944701e-01 -4.02774062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters 0.014285462401390699 Centerline is valid? [True, True] Translation: X:212.75, Y:-126.51, Z:-5.01 [[-9.96576228e-01 -8.22029234e-02 8.86010305e-03 2.12747974e+02] [ 8.22000658e-02 -9.96615612e-01 -6.86821338e-04 -1.26509299e+02] [ 8.88657574e-03 4.38312348e-05 9.99960513e-01 -5.01318840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters 0.013998727486264084 Centerline is valid? [True, True] Translation: X:212.68, Y:-127.21, Z:-4.02 [[-9.99709785e-01 -2.18278657e-02 1.01926791e-02 2.12682259e+02] [-2.18282676e-02 9.99761732e-01 7.18222159e-05 -1.27210479e+02] [-1.01918182e-02 -1.50687155e-04 -9.99948051e-01 -4.02498718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters 0.01390182142017335 Centerline is valid? [True, True] Translation: X:212.67, Y:-127.18, Z:-4.02 [[-9.95680763e-01 -9.21818634e-02 1.10599444e-02 2.12674961e+02] [-9.21779239e-02 9.95742175e-01 8.66508419e-04 -1.27184464e+02] [-1.10927294e-02 -1.56716947e-04 -9.99938462e-01 -4.02406436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters 0.013181431496751668 Centerline is valid? [True, True] Translation: X:212.67, Y:-127.16, Z:-4.02 [[-9.87117571e-01 -1.59620452e-01 1.09641100e-02 2.12673925e+02] [-1.59611964e-01 9.87178452e-01 1.65052188e-03 -1.27160764e+02] [-1.10869902e-02 -1.20743986e-04 -9.99938530e-01 -4.02483912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters 0.012629655713051507 Centerline is valid? [True, True] Translation: X:212.66, Y:-127.14, Z:-4.03 [[-9.74114792e-01 -2.25856343e-01 9.44901401e-03 2.12663371e+02] [-2.25846394e-01 9.74160617e-01 2.12099640e-03 -1.27138006e+02] [-9.68389780e-03 -6.79317714e-05 -9.99953108e-01 -4.02579909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters 0.0123949159569245 Centerline is valid? [True, True] Translation: X:212.64, Y:-127.12, Z:-4.03 [[-9.56538095e-01 -2.91520808e-01 7.10574083e-03 2.12643281e+02] [-2.91512950e-01 9.56564487e-01 2.14058841e-03 -1.27117376e+02] [-7.42112539e-03 -2.38611133e-05 -9.99972463e-01 -4.02769710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters 0.01239624216345971 Centerline is valid? [True, True] Translation: X:212.61, Y:-127.10, Z:-4.03 [[-9.33678860e-01 -3.58058682e-01 6.14553421e-03 2.12613681e+02] [-3.58050981e-01 9.33699085e-01 2.34836374e-03 -1.27101062e+02] [-6.57893169e-03 -7.79697503e-06 -9.99978359e-01 -4.02827792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters 0.012422991467587458 Centerline is valid? [True, True] Translation: X:212.56, Y:-127.10, Z:-4.03 [[-9.06589201e-01 -4.21987876e-01 4.71740394e-03 2.12555833e+02] [-4.21982075e-01 9.06601474e-01 2.21271877e-03 -1.27098561e+02] [-5.21054586e-03 1.53670374e-05 -9.99986425e-01 -4.02838832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters 0.012738888565922047 Centerline is valid? [True, True] Translation: X:212.49, Y:-127.11, Z:-4.03 [[-8.75065807e-01 -4.83973251e-01 5.45218674e-03 2.12491134e+02] [-4.83963533e-01 8.75082790e-01 3.06741183e-03 -1.27106631e+02] [-6.25566006e-03 4.55276532e-05 -9.99980432e-01 -4.02750513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters 0.013016496980742318 Centerline is valid? [True, True] Translation: X:212.42, Y:-127.12, Z:-4.03 [[-8.38072758e-01 -5.45541484e-01 4.30603796e-03 2.12420117e+02] [-5.45533963e-01 8.38083819e-01 2.86501478e-03 -1.27120121e+02] [-5.17180515e-03 5.20008851e-05 -9.99986625e-01 -4.02953817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters 0.013863201529617536 Centerline is valid? [True, True] Translation: X:212.34, Y:-127.15, Z:-4.03 [[-7.97269829e-01 -6.03613604e-01 3.38185585e-03 2.12339686e+02] [-6.03607851e-01 7.97276999e-01 2.63610005e-03 -1.27145672e+02] [-4.28746173e-03 6.03682930e-05 -9.99990807e-01 -4.03005183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters 0.014184091165351369 Centerline is valid? [True, True] Translation: X:212.26, Y:-127.18, Z:-4.03 [[-7.51253452e-01 -6.60007381e-01 2.91674852e-03 2.12257598e+02] [-6.60002064e-01 7.51259112e-01 2.65010069e-03 -1.27179673e+02] [-3.94031991e-03 6.58372543e-05 -9.99992235e-01 -4.03074793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters 0.0152289364147133 Centerline is valid? [True, True] Translation: X:212.17, Y:-127.23, Z:-4.03 [[-7.02924293e-01 -7.11258809e-01 2.88875354e-03 2.12173787e+02] [-7.11252257e-01 7.02930223e-01 3.05417554e-03 -1.27225568e+02] [-4.20290143e-03 9.22217029e-05 -9.99991164e-01 -4.02998394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters 0.01637305527080765 Centerline is valid? [True, True] Translation: X:212.09, Y:-127.28, Z:-4.03 [[-6.49710192e-01 -7.60173773e-01 3.53565154e-03 2.12092270e+02] [-7.60161298e-01 6.49719797e-01 4.35733634e-03 -1.27281183e+02] [-5.60951560e-03 1.43340367e-04 -9.99984256e-01 -4.02992260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters 0.016779938730303846 Centerline is valid? [True, True] Translation: X:212.01, Y:-127.35, Z:-4.03 [[-5.91997308e-01 -8.05925824e-01 4.77014708e-03 2.12008457e+02] [-8.05896404e-01 5.92016479e-01 6.89016954e-03 -1.27347955e+02] [-8.37697124e-03 2.34717443e-04 -9.99964885e-01 -4.02815955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters 0.016955289347246848 Centerline is valid? [True, True] Translation: X:211.92, Y:-127.43, Z:-4.03 [[-5.26759446e-01 -8.50001401e-01 4.70156815e-03 2.11922736e+02] [-8.49963431e-01 5.26780374e-01 8.03770380e-03 -1.27430463e+02] [-9.30875332e-03 2.37775409e-04 -9.99956644e-01 -4.02716367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters 0.01545839298475747 Centerline is valid? [True, True] Translation: X:211.84, Y:-127.51, Z:-4.03 [[-4.57420452e-01 -8.89240954e-01 4.12975477e-03 2.11843340e+02] [-8.89200446e-01 4.57439046e-01 8.49038837e-03 -1.27512340e+02] [-9.43911214e-03 2.11497504e-04 -9.99955428e-01 -4.02841508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters 0.014419031826468637 Centerline is valid? [True, True] Translation: X:211.77, Y:-127.60, Z:-4.03 [[-3.83782705e-01 -9.23417110e-01 3.41707992e-03 2.11771408e+02] [-9.23376579e-01 3.83797881e-01 8.65332072e-03 -1.27600113e+02] [-9.30209245e-03 1.65743263e-04 -9.99956721e-01 -4.02943014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters 0.013946906005901635 Centerline is valid? [True, True] Translation: X:211.71, Y:-127.70, Z:-4.03 [[-3.09090651e-01 -9.51029003e-01 2.60872977e-03 2.11705676e+02] [-9.50991441e-01 3.09101631e-01 8.45339829e-03 -1.27699918e+02] [-8.84578957e-03 1.31986694e-04 -9.99960867e-01 -4.03040668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters 0.01317367410960457 Centerline is valid? [True, True] Translation: X:211.65, Y:-127.80, Z:-4.03 [[-2.31454842e-01 -9.72843388e-01 2.09747574e-03 2.11645215e+02] [-9.72799243e-01 2.31464322e-01 9.26824890e-03 -1.27803298e+02] [-9.50204546e-03 1.04758274e-04 -9.99954849e-01 -4.03029306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters 0.012876889025601537 Centerline is valid? [True, True] Translation: X:211.59, Y:-127.92, Z:-4.03 [[-1.54227171e-01 -9.88034505e-01 1.34009133e-03 2.11593924e+02] [-9.87992292e-01 1.54232970e-01 9.13354347e-03 -1.27921796e+02] [-9.23094237e-03 8.46406729e-05 -9.99957390e-01 -4.03126631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters 0.012564600567719127 Centerline is valid? [True, True] Translation: X:211.55, Y:-128.03, Z:-4.03 [[-7.71251895e-02 -9.97021196e-01 6.62883561e-04 2.11553576e+02] [-9.96974683e-01 7.71279947e-02 9.63086775e-03 -1.28025162e+02] [-9.65330617e-03 8.19043718e-05 -9.99953402e-01 -4.03016527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters 0.012455675709100847 Centerline is valid? [True, True] Translation: X:211.52, Y:-128.14, Z:-4.03 [[-1.30118559e-04 -9.99999989e-01 -6.83617385e-05 2.11524290e+02] [-9.99965390e-01 1.29545372e-04 8.31877465e-03 -1.28144563e+02] [-8.31876571e-03 6.94417995e-05 -9.99965396e-01 -4.03228812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters 0.012535502100846729 Centerline is valid? [True, True] Translation: X:211.50, Y:-128.26, Z:-4.03 [[ 7.60677444e-02 -9.97102396e-01 -7.14341545e-04 2.11502388e+02] [-9.97067297e-01 -7.60710607e-02 8.36652510e-03 -1.28260259e+02] [-8.39662294e-03 7.58239006e-05 -9.99964745e-01 -4.03117820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters 0.012697891075249526 Centerline is valid? [True, True] Translation: X:211.49, Y:-128.38, Z:-4.03 [[ 1.52027910e-01 -9.88374878e-01 -1.61700998e-03 2.11491605e+02] [-9.88325449e-01 -1.52036479e-01 9.88517188e-03 -1.28380784e+02] [-1.00161001e-02 9.53100901e-05 -9.99949833e-01 -4.02882760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters 0.012612966965593771 Centerline is valid? [True, True] Translation: X:211.49, Y:-128.50, Z:-4.03 [[ 2.28377724e-01 -9.73568680e-01 -2.76432478e-03 2.11490648e+02] [-9.73502659e-01 -2.28394431e-01 1.13383186e-02 -1.28502198e+02] [-1.16699882e-02 1.01658128e-04 -9.99931898e-01 -4.02700912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters 0.012515192756430583 Centerline is valid? [True, True] Translation: X:211.50, Y:-128.62, Z:-4.03 [[ 3.04090969e-01 -9.52634728e-01 -3.96948504e-03 2.11496800e+02] [-9.52557430e-01 -3.04116862e-01 1.21357728e-02 -1.28623529e+02] [-1.27681460e-02 9.07835600e-05 -9.99918480e-01 -4.02590373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters 0.012236064749835294 Centerline is valid? [True, True] Translation: X:211.51, Y:-128.74, Z:-4.02 [[ 3.79379893e-01 -9.25226608e-01 -5.15948706e-03 2.11510386e+02] [-9.25142885e-01 -3.79414972e-01 1.24467475e-02 -1.28744444e+02] [-1.34736486e-02 5.12170307e-05 -9.99909225e-01 -4.02461234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters 0.01184959010322101 Centerline is valid? [True, True] Translation: X:211.53, Y:-128.86, Z:-4.03 [[ 4.52915113e-01 -8.91533020e-01 -6.06417885e-03 2.11531777e+02] [-8.91453000e-01 -4.52955709e-01 1.19446425e-02 -1.28861826e+02] [-1.33958477e-02 -3.97870511e-06 -9.99910272e-01 -4.02524477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters 0.01164939995753213 Centerline is valid? [True, True] Translation: X:211.57, Y:-128.98, Z:-4.03 [[ 5.19920438e-01 -8.54199748e-01 -5.05271160e-03 2.11567655e+02] [-8.54159384e-01 -5.19944989e-01 8.30394020e-03 -1.28975999e+02] [-9.72035570e-03 -1.56719697e-06 -9.99952756e-01 -4.02812056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters 0.011549513847520473 Centerline is valid? [True, True] Translation: X:211.61, Y:-129.09, Z:-4.03 [[ 5.82058825e-01 -8.13137978e-01 -3.76199542e-03 2.11608634e+02] [-8.13121143e-01 -5.82070982e-01 5.23240254e-03 -1.29086086e+02] [-6.44441359e-03 1.33919411e-05 -9.99979234e-01 -4.02956629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters 0.011606855023989742 Centerline is valid? [True, True] Translation: X:211.65, Y:-129.18, Z:-4.03 [[ 6.41702559e-01 -7.66945391e-01 -3.54861746e-03 2.11648804e+02] [-7.66933817e-01 -6.41712370e-01 4.21356246e-03 -1.29182143e+02] [-5.50876403e-03 1.77009244e-05 -9.99984827e-01 -4.03013930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters 0.011641880554345702 Centerline is valid? [True, True] Translation: X:211.70, Y:-129.28, Z:-4.03 [[ 6.97530880e-01 -7.16541140e-01 -4.41199985e-03 2.11698765e+02] [-7.16527051e-01 -6.97544832e-01 4.49360222e-03 -1.29278631e+02] [-6.29741856e-03 2.68909270e-05 -9.99980171e-01 -4.02873139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters 0.011772846718147259 Centerline is valid? [True, True] Translation: X:211.75, Y:-129.37, Z:-4.03 [[ 7.49626843e-01 -6.61834892e-01 -5.84564904e-03 2.11754382e+02] [-6.61815157e-01 -7.49649634e-01 5.11113877e-03 -1.29367303e+02] [-7.76491864e-03 3.72923128e-05 -9.99969852e-01 -4.02775020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters 0.011899984143839125 Centerline is valid? [True, True] Translation: X:211.77, Y:-129.39, Z:-4.03 [[ 7.98873212e-01 -6.01461931e-01 -6.71835024e-03 2.11774839e+02] [-6.01441110e-01 -7.98901461e-01 5.00470891e-03 -1.29393094e+02] [-8.37744171e-03 4.25641436e-05 -9.99964908e-01 -4.02739123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters 0.012153118374100904 Centerline is valid? [True, True] Translation: X:211.80, Y:-129.42, Z:-4.02 [[ 8.42491112e-01 -5.38654312e-01 -7.76261225e-03 2.11796159e+02] [-5.38632133e-01 -8.42526871e-01 4.88853664e-03 -1.29418321e+02] [-9.17344075e-03 6.26437217e-05 -9.99957921e-01 -4.02469023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters 0.012387045372863456 Centerline is valid? [True, True] Translation: X:211.82, Y:-129.44, Z:-4.02 [[ 8.81312328e-01 -4.72458877e-01 -8.43741801e-03 2.11821517e+02] [-4.72438083e-01 -8.81352712e-01 4.43337734e-03 -1.29437578e+02] [-9.53092972e-03 7.89674874e-05 -9.99954577e-01 -4.02416817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters 0.012716118030117214 Centerline is valid? [True, True] Translation: X:211.85, Y:-129.45, Z:-4.03 [[ 9.14959378e-01 -4.03480300e-01 -7.27897659e-03 2.11849438e+02] [-4.03468206e-01 -9.14988329e-01 3.12497151e-03 -1.29454359e+02] [-7.92104307e-03 7.76136312e-05 -9.99968625e-01 -4.02600423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters 0.012317857562511131 Centerline is valid? [True, True] Translation: X:211.88, Y:-129.48, Z:-4.03 [[ 9.43671877e-01 -3.30840649e-01 -5.27756617e-03 2.11875266e+02] [-3.30835807e-01 -9.43686633e-01 1.79089499e-03 -1.29475695e+02] [-5.57286952e-03 5.59906249e-05 -9.99984470e-01 -4.02766934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters 0.0122476517920271 Centerline is valid? [True, True] Translation: X:211.90, Y:-129.49, Z:-4.03 [[ 9.66687878e-01 -2.55914374e-01 -4.73077882e-03 2.11903917e+02] [-2.55911555e-01 -9.66699452e-01 1.20225112e-03 -1.29493545e+02] [-4.88091463e-03 4.84593815e-05 -9.99988087e-01 -4.02736504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters 0.012056234658435113 Centerline is valid? [True, True] Translation: X:211.93, Y:-129.51, Z:-4.03 [[ 9.83968510e-01 -1.78307822e-01 -3.50601794e-03 2.11934070e+02] [-1.78306804e-01 -9.83974756e-01 6.03306802e-04 -1.29508780e+02] [-3.55740747e-03 3.15119598e-05 -9.99993672e-01 -4.02882871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters 0.011873175213844614 Centerline is valid? [True, True] Translation: X:211.96, Y:-129.52, Z:-4.03 [[ 9.95164417e-01 -9.81504070e-02 -3.77895791e-03 2.11960252e+02] [-9.81497898e-02 -9.95171592e-01 3.48872996e-04 -1.29522743e+02] [-3.79495358e-03 2.37179321e-05 -9.99992799e-01 -4.02702777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters 0.011528657745690266 Centerline is valid? [True, True] Translation: X:211.99, Y:-129.54, Z:-4.03 [[ 9.99842958e-01 -1.72861075e-02 -3.90502655e-03 2.11989055e+02] [-1.72860307e-02 -9.99850584e-01 5.34280914e-05 -1.29538951e+02] [-3.90536664e-03 1.40827077e-05 -9.99992374e-01 -4.02709459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters 0.011544308977227616 Centerline is valid? [True, True] Translation: X:212.02, Y:-129.55, Z:-4.02 [[ 9.97849696e-01 6.52380294e-02 -6.32329590e-03 2.12017486e+02] [ 6.52367523e-02 -9.97869731e-01 -4.08236640e-04 -1.29550022e+02] [-6.33645813e-03 -5.15248184e-06 -9.99979924e-01 -4.02414579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters 0.011577683973260625 Centerline is valid? [True, True] Translation: X:212.05, Y:-129.56, Z:-4.02 [[ 9.89320615e-01 1.45590762e-01 -6.93189150e-03 2.12047492e+02] [ 1.45587352e-01 -9.89344899e-01 -9.96687268e-04 -1.29555564e+02] [-7.00313996e-03 -2.31524660e-05 -9.99975477e-01 -4.02335025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters 0.01189612125006127 Centerline is valid? [True, True] Translation: X:212.08, Y:-129.56, Z:-4.02 [[ 9.74340315e-01 2.24970398e-01 -7.01924413e-03 2.12076932e+02] [ 2.24964865e-01 -9.74365598e-01 -1.57839354e-03 -1.29555917e+02] [-7.19440183e-03 -4.11908469e-05 -9.99974119e-01 -4.02266787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters 0.011978905747041716 Centerline is valid? [True, True] Translation: X:212.11, Y:-129.55, Z:-4.02 [[ 9.53331159e-01 3.01870545e-01 -5.82018895e-03 2.12107297e+02] [ 3.01865193e-01 -9.53348925e-01 -1.79804045e-03 -1.29554755e+02] [-6.09144633e-03 -4.27844722e-05 -9.99981446e-01 -4.02279823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters 0.012910145568474547 Centerline is valid? [True, True] Translation: X:212.14, Y:-129.55, Z:-4.02 [[ 9.24465801e-01 3.81247395e-01 -3.66165811e-03 2.12138443e+02] [ 3.81244623e-01 -9.24473051e-01 -1.45475557e-03 -1.29553699e+02] [-3.93972602e-03 -5.11156900e-05 -9.99992238e-01 -4.02440366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters 0.013804909938111346 Centerline is valid? [True, True] Translation: X:212.17, Y:-129.55, Z:-4.02 [[ 8.90447454e-01 4.55076714e-01 -2.91826755e-03 2.12170502e+02] [ 4.55074459e-01 -8.90452234e-01 -1.43368595e-03 -1.29552147e+02] [-3.25101496e-03 -5.14070238e-05 -9.99994714e-01 -4.02353454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters 0.014421887691398043 Centerline is valid? [True, True] Translation: X:212.20, Y:-129.54, Z:-4.02 [[ 8.51125939e-01 5.24947114e-01 -3.89399902e-03 2.12200028e+02] [ 5.24942052e-01 -8.51134843e-01 -2.30672526e-03 -1.29543875e+02] [-4.52522701e-03 -8.08101342e-05 -9.99989758e-01 -4.02276690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters 0.01469956801272423 Centerline is valid? [True, True] Translation: X:212.23, Y:-129.54, Z:-4.02 [[ 8.06812664e-01 5.90793244e-01 -4.08271064e-03 2.12230788e+02] [ 5.90786269e-01 -8.06822988e-01 -2.87228166e-03 -1.29535217e+02] [-4.99094939e-03 -9.46161697e-05 -9.99987541e-01 -4.02085278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters 0.014231718388299692 Centerline is valid? [True, True] Translation: X:212.26, Y:-129.52, Z:-4.02 [[ 7.57980954e-01 6.52264798e-01 -3.93783363e-03 2.12260406e+02] [ 6.52256660e-01 -7.57991177e-01 -3.25975047e-03 -1.29524309e+02] [-5.11106363e-03 -9.76494386e-05 -9.99986934e-01 -4.01967322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters 0.01419300516545279 Centerline is valid? [True, True] Translation: X:212.29, Y:-129.51, Z:-4.02 [[ 7.05396462e-01 7.08804979e-01 -3.36648526e-03 2.12287006e+02] [ 7.08797472e-01 -7.05404490e-01 -3.26340196e-03 -1.29508276e+02] [-4.68784938e-03 -8.41640398e-05 -9.99989008e-01 -4.02024740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters 0.014177326824235158 Centerline is valid? [True, True] Translation: X:212.31, Y:-129.49, Z:-4.02 [[ 6.48090938e-01 7.61556185e-01 -3.21131822e-03 2.12311219e+02] [ 7.61547478e-01 -6.48098889e-01 -3.64259685e-03 -1.29490431e+02] [-4.85529393e-03 -8.48372884e-05 -9.99988209e-01 -4.02055053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters 0.013659836056985944 Centerline is valid? [True, True] Translation: X:212.33, Y:-129.47, Z:-4.02 [[ 5.88271593e-01 8.08655840e-01 -3.50231313e-03 2.12333089e+02] [ 8.08642401e-01 -5.88282011e-01 -4.66282902e-03 -1.29470812e+02] [-5.83097173e-03 -8.91090419e-05 -9.99982996e-01 -4.01950973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters 0.013248663162907893 Centerline is valid? [True, True] Translation: X:212.36, Y:-129.45, Z:-4.02 [[ 5.24767033e-01 8.51238892e-01 -3.45097833e-03 2.12355645e+02] [ 8.51221558e-01 -5.24778373e-01 -5.43310345e-03 -1.29451472e+02] [-6.43586775e-03 -8.64335753e-05 -9.99979286e-01 -4.01759522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters 0.012866765070934523 Centerline is valid? [True, True] Translation: X:212.38, Y:-129.43, Z:-4.02 [[ 4.58260543e-01 8.88813724e-01 -2.72722042e-03 2.12376141e+02] [ 8.88798843e-01 -4.58268654e-01 -5.14380812e-03 -1.29429679e+02] [-5.82168688e-03 -6.67460523e-05 -9.99983052e-01 -4.01858489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters 0.01298606222344571 Centerline is valid? [True, True] Translation: X:212.39, Y:-129.41, Z:-4.02 [[ 3.87360721e-01 9.21926724e-01 -1.66950670e-03 2.12393886e+02] [ 9.21918676e-01 -3.87364315e-01 -3.85244281e-03 -1.29408055e+02] [-4.19837730e-03 -4.68643849e-05 -9.99991186e-01 -4.02087285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters 0.013050372917676226 Centerline is valid? [True, True] Translation: X:212.41, Y:-129.38, Z:-4.02 [[ 3.13061983e-01 9.49731543e-01 -1.48017171e-03 2.12413565e+02] [ 9.49721749e-01 -3.13065477e-01 -4.31341880e-03 -1.29384625e+02] [-4.55998055e-03 -5.53838256e-05 -9.99989602e-01 -4.02010564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters 0.013375493484519774 Centerline is valid? [True, True] Translation: X:212.43, Y:-129.36, Z:-4.02 [[ 2.35846592e-01 9.71788699e-01 -1.76338087e-03 2.12431318e+02] [ 9.71764634e-01 -2.35853162e-01 -6.83973307e-03 -1.29360032e+02] [-7.06267426e-03 -1.00463430e-04 -9.99975054e-01 -4.01700867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters 0.01365264660709314 Centerline is valid? [True, True] Translation: X:212.44, Y:-129.33, Z:-4.02 [[ 1.58282209e-01 9.87392678e-01 -1.56281968e-03 2.12444824e+02] [ 9.87352645e-01 -1.58289866e-01 -8.89227073e-03 -1.29333703e+02] [-9.02754152e-03 -1.35565895e-04 -9.99959242e-01 -4.01511165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters 0.014480378306866378 Centerline is valid? [True, True] Translation: X:212.45, Y:-129.31, Z:-4.01 [[ 8.04956333e-02 9.96754502e-01 -9.57123965e-04 2.12453975e+02] [ 9.96704476e-01 -8.05011836e-02 -9.98733736e-03 -1.29307114e+02] [-1.00319731e-02 -1.50032694e-04 -9.99949667e-01 -4.01414467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters 0.013019654928477287 Centerline is valid? [True, True] Translation: X:212.46, Y:-129.28, Z:-4.02 [[ 4.73390499e-03 9.99988789e-01 -1.11880054e-04 2.12458898e+02] [ 9.99967131e-01 -4.73453885e-03 -6.58184987e-03 -1.29279061e+02] [-6.58230578e-03 -8.07185247e-05 -9.99978333e-01 -4.01824686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters 0.012890050323237583 Centerline is valid? [True, True] Translation: X:212.46, Y:-129.25, Z:-4.02 [[-7.25207542e-02 9.97366876e-01 2.34076354e-04 2.12463794e+02] [ 9.97359665e-01 7.25211200e-02 -3.79294743e-03 -1.29252167e+02] [-3.79993561e-03 -4.16090948e-05 -9.99992779e-01 -4.01999109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters 0.012589173747512436 Centerline is valid? [True, True] Translation: X:212.47, Y:-129.22, Z:-4.02 [[-1.49190782e-01 9.88808358e-01 3.77004144e-04 2.12466221e+02] [ 9.88804754e-01 1.49191256e-01 -2.66972297e-03 -1.29223885e+02] [-2.69609011e-03 -2.55145690e-05 -9.99996365e-01 -4.02089227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters 0.012349136294831425 Centerline is valid? [True, True] Translation: X:212.47, Y:-129.19, Z:-4.02 [[-2.24845347e-01 9.74394229e-01 6.75481649e-04 2.12470776e+02] [ 9.74389486e-01 2.24846360e-01 -3.04033748e-03 -1.29194555e+02] [-3.11436689e-03 -2.54235196e-05 -9.99995150e-01 -4.01851138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters 0.012395166312475113 Centerline is valid? [True, True] Translation: X:212.47, Y:-129.17, Z:-4.02 [[-2.99768224e-01 9.54011474e-01 1.05825118e-03 2.12470658e+02] [ 9.54005206e-01 2.99770091e-01 -3.45818823e-03 -1.29166547e+02] [-3.61638330e-03 -2.70778057e-05 -9.99993461e-01 -4.01726701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters 0.011947769682485634 Centerline is valid? [True, True] Translation: X:212.47, Y:-129.14, Z:-4.02 [[-3.71061127e-01 9.28607199e-01 1.51965264e-03 2.12467549e+02] [ 9.28599188e-01 3.71064239e-01 -3.85721104e-03 -1.29138178e+02] [-4.14572269e-03 -2.01128659e-05 -9.99991406e-01 -4.01550422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters 0.01172129790474977 Centerline is valid? [True, True] Translation: X:212.46, Y:-129.11, Z:-4.02 [[-4.40347165e-01 8.97825214e-01 2.06385747e-03 2.12461065e+02] [ 8.97815235e-01 4.40352002e-01 -4.23292170e-03 -1.29111047e+02] [-4.70924760e-03 -1.09923874e-05 -9.99988911e-01 -4.01510490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters 0.011788698775354054 Centerline is valid? [True, True] Translation: X:212.46, Y:-129.08, Z:-4.01 [[-5.07621772e-01 8.61575860e-01 2.67836584e-03 2.12455410e+02] [ 8.61563845e-01 5.07628838e-01 -4.55017918e-03 -1.29084209e+02] [-5.27994028e-03 -2.18685100e-06 -9.99986061e-01 -4.01285134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters 0.011795766688321135 Centerline is valid? [True, True] Translation: X:212.44, Y:-129.06, Z:-4.01 [[-5.71243465e-01 8.20775304e-01 2.96713029e-03 2.12443733e+02] [ 8.20764347e-01 5.71251170e-01 -4.24115387e-03 -1.29058387e+02] [-5.17601100e-03 1.25833232e-05 -9.99986604e-01 -4.01227202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters 0.011885062607587543 Centerline is valid? [True, True] Translation: X:212.43, Y:-129.03, Z:-4.01 [[-6.31803975e-01 7.75124563e-01 2.37673738e-03 2.12434069e+02] [ 7.75119192e-01 6.31808445e-01 -2.88556094e-03 -1.29030805e+02] [-3.73831191e-03 1.91458872e-05 -9.99993012e-01 -4.01256952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters 0.012161393416867552 Centerline is valid? [True, True] Translation: X:212.42, Y:-129.01, Z:-4.01 [[-6.88311093e-01 7.25411093e-01 2.56630526e-03 2.12419970e+02] [ 7.25406215e-01 6.88315877e-01 -2.66024100e-03 -1.29005305e+02] [-3.69619699e-03 3.05403897e-05 -9.99993169e-01 -4.01216033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters 0.012338140159192924 Centerline is valid? [True, True] Translation: X:212.41, Y:-128.98, Z:-4.01 [[-7.42632390e-01 6.69689886e-01 3.54818362e-03 2.12406050e+02] [ 6.69682507e-01 7.42640866e-01 -3.14388110e-03 -1.28980551e+02] [-4.74045153e-03 4.14085632e-05 -9.99988763e-01 -4.01085887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters 0.012076726863552507 Centerline is valid? [True, True] Translation: X:212.42, Y:-128.95, Z:-4.01 [[-7.89776275e-01 6.13369924e-01 5.54727950e-03 2.12420094e+02] [ 6.13355159e-01 7.89795755e-01 -4.25601629e-03 -1.28951825e+02] [-6.99173019e-03 4.11518116e-05 -9.99975557e-01 -4.00843684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters 0.011802981553071735 Centerline is valid? [True, True] Translation: X:212.44, Y:-128.93, Z:-4.01 [[-8.33164370e-01 5.52991065e-01 6.16561943e-03 2.12443142e+02] [ 5.52976074e-01 8.33187183e-01 -4.07189303e-03 -1.28930659e+02] [-7.38883555e-03 1.68838337e-05 -9.99972702e-01 -4.00817782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters 0.011742756255117932 Centerline is valid? [True, True] Translation: X:212.46, Y:-128.90, Z:-4.01 [[-8.72185795e-01 4.89132519e-01 6.42787271e-03 2.12457682e+02] [ 4.89119129e-01 8.72209481e-01 -3.61927427e-03 -1.28903761e+02] [-7.37675626e-03 -1.26841058e-05 -9.99972791e-01 -4.00825657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters 0.012001446441374198 Centerline is valid? [True, True] Translation: X:212.47, Y:-128.88, Z:-4.01 [[-9.06363609e-01 4.22479152e-01 4.04663694e-03 2.12471163e+02] [ 4.22474816e-01 9.06372642e-01 -1.91425443e-03 -1.28875088e+02] [-4.47649360e-03 -2.54083573e-05 -9.99989980e-01 -4.01040621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters 0.01221642288551256 Centerline is valid? [True, True] Translation: X:212.47, Y:-128.85, Z:-4.01 [[-9.34915844e-01 3.54863340e-01 2.09145036e-03 2.12471805e+02] [ 3.54862410e-01 9.34918183e-01 -8.12536932e-04 -1.28846288e+02] [-2.24367454e-03 -1.74765364e-05 -9.99997483e-01 -4.01275703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters 0.012633108768084272 Centerline is valid? [True, True] Translation: X:212.49, Y:-128.82, Z:-4.01 [[-9.58141107e-01 2.86295893e-01 5.30387467e-04 2.12488810e+02] [ 2.86295847e-01 9.58141254e-01 -1.62509765e-04 -1.28822843e+02] [-5.54711990e-04 -3.85955682e-06 -9.99999846e-01 -4.01432297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters 0.013297571825754726 Centerline is valid? [True, True] Translation: X:212.49, Y:-128.79, Z:-4.01 [[-9.76247480e-01 2.16658349e-01 -1.31323137e-04 2.12493118e+02] [ 2.16658347e-01 9.76247489e-01 3.24644557e-05 -1.28792410e+02] [ 1.35237577e-04 3.24108934e-06 -9.99999991e-01 -4.01373780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters 0.013033995152543333 Centerline is valid? [True, True] Translation: X:212.65, Y:-128.15, Z:-5.03 [[-9.52676416e-01 -3.03986239e-01 -1.17430940e-04 2.12647165e+02] [ 3.03986237e-01 -9.52676423e-01 3.50618683e-05 -1.28145243e+02] [-1.22532013e-04 -2.29477440e-06 9.99999993e-01 -5.02722024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters 0.012917052690156942 Centerline is valid? [True, True] Translation: X:212.44, Y:-128.78, Z:-4.01 [[-9.77255845e-01 2.12062807e-01 6.16411495e-04 2.12442200e+02] [ 2.12062761e-01 9.77256039e-01 -1.39855674e-04 -1.28782283e+02] [-6.32050043e-04 -5.95685129e-06 -9.99999800e-01 -4.01156570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters 0.012323880504841733 Centerline is valid? [True, True] Translation: X:212.60, Y:-128.13, Z:-5.03 [[-9.54660134e-01 -2.97686683e-01 2.58226173e-03 2.12603328e+02] [ 2.97686020e-01 -9.54663614e-01 -6.46380684e-04 -1.28132652e+02] [ 2.65761024e-03 1.51629346e-04 9.99996457e-01 -5.03056260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters 0.011767097679156055 Centerline is valid? [True, True] Translation: X:212.40, Y:-128.78, Z:-4.01 [[-9.76178923e-01 2.16949466e-01 2.76386580e-03 2.12401352e+02] [ 2.16948571e-01 9.76182836e-01 -6.23076297e-04 -1.28781077e+02] [-2.83321443e-03 -8.61721112e-06 -9.99995986e-01 -4.01033922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters 0.012308200460778414 Centerline is valid? [True, True] Translation: X:212.41, Y:-128.76, Z:-4.01 [[-9.87440701e-01 1.57929848e-01 4.36174307e-03 2.12414553e+02] [ 1.57928459e-01 9.87450334e-01 -6.63262788e-04 -1.28764247e+02] [-4.41175364e-03 3.39106878e-05 -9.99990268e-01 -4.00964014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters 0.013367935838321696 Centerline is valid? [True, True] Translation: X:212.53, Y:-128.07, Z:-5.03 [[-9.79157378e-01 -2.03022579e-01 5.71509784e-03 2.12525686e+02] [ 2.03019337e-01 -9.79174056e-01 -1.14794978e-03 -1.28072548e+02] [ 5.82913525e-03 3.62518740e-05 9.99983010e-01 -5.03158593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters 0.015290554891830795 Centerline is valid? [True, True] Translation: X:212.37, Y:-128.77, Z:-4.01 [[-9.85950255e-01 1.66945487e-01 5.59455511e-03 2.12372134e+02] [ 1.66943471e-01 9.85966121e-01 -8.28660404e-04 -1.28765685e+02] [-5.65438291e-03 1.16956513e-04 -9.99984007e-01 -4.00969028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters 0.01679231509757276 Centerline is valid? [True, True] Translation: X:212.38, Y:-128.74, Z:-4.01 [[-9.95068799e-01 9.90366303e-02 5.46188222e-03 2.12376181e+02] [ 9.90358380e-02 9.95083780e-01 -4.15995424e-04 -1.28737517e+02] [-5.47622920e-03 1.26978017e-04 -9.99984997e-01 -4.01065247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters 0.01588829546324682 Centerline is valid? [True, True] Translation: X:212.43, Y:-128.04, Z:-5.03 [[-9.92683085e-01 -1.20631163e-01 5.33066607e-03 2.12433586e+02] [ 1.20628715e-01 -9.92697389e-01 -7.79491307e-04 -1.28035852e+02] [ 5.38576923e-03 -1.30756435e-04 9.99985488e-01 -5.02886400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters 0.014467785322433133 Centerline is valid? [True, True] Translation: X:212.32, Y:-128.72, Z:-4.01 [[-9.95640339e-01 9.31294543e-02 5.21733761e-03 2.12320296e+02] [ 9.31287641e-02 9.95654002e-01 -3.75602922e-04 -1.28722614e+02] [-5.22964277e-03 1.11918783e-04 -9.99986319e-01 -4.01361557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters 0.014502378947149997 Centerline is valid? [True, True] Translation: X:212.31, Y:-128.69, Z:-4.01 [[-9.99807364e-01 1.87373601e-02 5.84356353e-03 2.12312343e+02] [ 1.87376543e-02 9.99824435e-01 -4.39319292e-06 -1.28689092e+02] [-5.84261992e-03 1.05102327e-04 -9.99982926e-01 -4.01206667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters 0.013490289855074507 Centerline is valid? [True, True] Translation: X:212.32, Y:-128.02, Z:-5.03 [[-9.98572404e-01 -5.30447736e-02 6.27748549e-03 2.12315444e+02] [ 5.30432045e-02 -9.98592132e-01 -4.16310065e-04 -1.28019068e+02] [ 6.29073069e-03 -8.27377954e-05 9.99980210e-01 -5.02865479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters 0.01289753594220405 Centerline is valid? [True, True] Translation: X:212.25, Y:-128.68, Z:-4.01 [[-9.99955408e-01 7.83741459e-03 5.26844781e-03 2.12248806e+02] [ 7.83762217e-03 9.99969285e-01 1.87568515e-05 -1.28682508e+02] [-5.26813899e-03 6.00481185e-05 -9.99986121e-01 -4.01365311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters 0.012198736669086425 Centerline is valid? [True, True] Translation: X:212.24, Y:-128.03, Z:-5.03 [[-9.98198128e-01 -5.98001977e-02 4.94300117e-03 2.12244141e+02] [ 5.97990726e-02 -9.98210364e-01 -3.75229526e-04 -1.28030319e+02] [ 4.95659380e-03 -7.89665248e-05 9.99987713e-01 -5.02794582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters 0.012014450197701624 Centerline is valid? [True, True] Translation: X:212.18, Y:-128.67, Z:-4.01 [[-9.99961379e-01 -7.63873558e-03 4.34622046e-03 2.12181477e+02] [-7.63865982e-03 9.99970824e-01 3.40300113e-05 -1.28673485e+02] [-4.34635360e-03 8.29397484e-07 -9.99990555e-01 -4.01382509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters 0.012282418822167565 Centerline is valid? [True, True] Translation: X:212.18, Y:-128.04, Z:-5.03 [[-9.97878231e-01 -6.49152665e-02 5.00440852e-03 2.12177153e+02] [ 6.49146807e-02 -9.97890779e-01 -2.79586608e-04 -1.28035505e+02] [ 5.01200256e-03 4.58661912e-05 9.99987439e-01 -5.02761777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters 0.012319101571605534 Centerline is valid? [True, True] Translation: X:212.12, Y:-128.67, Z:-4.01 [[-9.99811246e-01 -1.87589485e-02 5.05718478e-03 2.12120803e+02] [-1.87588803e-02 9.99824035e-01 6.09145741e-05 -1.28670974e+02] [-5.05743759e-03 -3.39640480e-05 -9.99987211e-01 -4.01319953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters 0.012649970381923236 Centerline is valid? [True, True] Translation: X:212.11, Y:-128.64, Z:-4.01 [[-9.95682466e-01 -9.26777183e-02 5.22179498e-03 2.12112230e+02] [-9.26767097e-02 9.95696157e-01 4.35312054e-04 -1.28641954e+02] [-5.23966493e-03 -5.05061984e-05 -9.99986272e-01 -4.01198874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters 0.013615501609875659 Centerline is valid? [True, True] Translation: X:212.06, Y:-128.02, Z:-5.03 [[-9.99973787e-01 3.00028313e-03 6.58971169e-03 2.12057070e+02] [-2.99918868e-03 -9.99995487e-01 1.75961129e-04 -1.28016059e+02] [ 6.59020988e-03 1.56192728e-04 9.99978272e-01 -5.03141936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters 0.013613422959539719 Centerline is valid? [True, True] Translation: X:212.04, Y:-128.65, Z:-4.01 [[-9.94696704e-01 -1.02487858e-01 8.64325961e-03 2.12042262e+02] [-1.02485120e-01 9.94734247e-01 7.60264615e-04 -1.28648608e+02] [-8.67566424e-03 -1.29572792e-04 -9.99962357e-01 -4.00787932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters 0.014039250793340435 Centerline is valid? [True, True] Translation: X:212.03, Y:-128.62, Z:-4.01 [[-9.84555179e-01 -1.74702205e-01 1.14121936e-02 2.12032152e+02] [-1.74692743e-01 9.84621299e-01 1.82851527e-03 -1.28624084e+02] [-1.15561346e-02 -1.93353230e-04 -9.99933207e-01 -4.00519944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters 0.014083982344062407 Centerline is valid? [True, True] Translation: X:212.02, Y:-128.60, Z:-4.00 [[-9.69958982e-01 -2.42950397e-01 1.24369737e-02 2.12021201e+02] [-2.42932991e-01 9.70038694e-01 2.91458690e-03 -1.28604482e+02] [-1.27724458e-02 -1.94321491e-04 -9.99918410e-01 -4.00306646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters 0.013260341316110067 Centerline is valid? [True, True] Translation: X:212.00, Y:-128.59, Z:-4.00 [[-9.51451616e-01 -3.07542237e-01 1.25536566e-02 2.12002372e+02] [-3.07517410e-01 9.51534420e-01 3.91020034e-03 -1.28594124e+02] [-1.31477882e-02 -1.40101546e-04 -9.99913554e-01 -4.00363366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters 0.012946242954365554 Centerline is valid? [True, True] Translation: X:211.97, Y:-128.58, Z:-4.00 [[-9.27857788e-01 -3.72707818e-01 1.29926026e-02 2.11968412e+02] [-3.72672894e-01 9.27948744e-01 5.10320073e-03 -1.28584343e+02] [-1.39584721e-02 -1.06946271e-04 -9.99902570e-01 -4.00268265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters 0.012851042454163205 Centerline is valid? [True, True] Translation: X:211.92, Y:-128.58, Z:-4.01 [[-8.98311165e-01 -4.39271127e-01 8.82767846e-03 2.11915588e+02] [-4.39250718e-01 8.98354536e-01 4.23491575e-03 -1.28581712e+02] [-9.79066120e-03 -7.32920070e-05 -9.99952068e-01 -4.00656058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters 0.013453599929980442 Centerline is valid? [True, True] Translation: X:211.85, Y:-128.58, Z:-4.01 [[-8.62645023e-01 -5.05750418e-01 7.75100779e-03 2.11852807e+02] [-5.05730858e-01 8.62679841e-01 4.44884629e-03 -1.28583463e+02] [-8.93664404e-03 -8.21486986e-05 -9.99960064e-01 -4.00690114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters 0.013383194756437174 Centerline is valid? [True, True] Translation: X:211.78, Y:-128.60, Z:-4.01 [[-8.21913024e-01 -5.69560347e-01 7.74546518e-03 2.11781514e+02] [-5.69536205e-01 8.21949512e-01 5.24507133e-03 -1.28596434e+02] [-9.35376597e-03 -1.00330406e-04 -9.99956248e-01 -4.00699556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters 0.013573119152122741 Centerline is valid? [True, True] Translation: X:211.70, Y:-128.62, Z:-4.01 [[-7.76565470e-01 -6.29990652e-01 7.60593688e-03 2.11703738e+02] [-6.29961856e-01 7.76602708e-01 6.02441136e-03 -1.28620699e+02] [-9.70211401e-03 -1.13100281e-04 -9.99952927e-01 -4.00690047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters 0.013575706295770724 Centerline is valid? [True, True] Translation: X:211.62, Y:-128.65, Z:-4.01 [[-7.26833818e-01 -6.86778060e-01 6.96392870e-03 2.11623630e+02] [-6.86748043e-01 7.26867170e-01 6.42208994e-03 -1.28652354e+02] [-9.47240162e-03 -1.14672252e-04 -9.99955129e-01 -4.00730031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters 0.013581412983855144 Centerline is valid? [True, True] Translation: X:211.53, Y:-128.71, Z:-4.01 [[-6.74211829e-01 -7.38503401e-01 7.15092890e-03 2.11529643e+02] [-7.38463625e-01 6.74249741e-01 7.66556074e-03 -1.28708364e+02] [-1.04825546e-02 -1.12489147e-04 -9.99945050e-01 -4.00686978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters 0.013305180114876306 Centerline is valid? [True, True] Translation: X:211.46, Y:-128.75, Z:-4.01 [[-6.17037315e-01 -7.86904166e-01 6.83991307e-03 2.11460969e+02] [-7.86857719e-01 6.17075216e-01 8.55037146e-03 -1.28747013e+02] [-1.09490638e-02 -1.06140144e-04 -9.99940052e-01 -4.00643573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters 0.01325230136327858 Centerline is valid? [True, True] Translation: X:211.38, Y:-128.81, Z:-4.01 [[-5.57400566e-01 -8.30226452e-01 5.35228868e-03 2.11383857e+02] [-8.30189446e-01 5.57426258e-01 7.83904467e-03 -1.28805577e+02] [-9.49168850e-03 -7.39256321e-05 -9.99954950e-01 -4.00674473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters 0.012935940687373216 Centerline is valid? [True, True] Translation: X:211.31, Y:-128.88, Z:-4.01 [[-4.94740813e-01 -8.69032347e-01 3.78260889e-03 2.11308940e+02] [-8.69007580e-01 4.94755271e-01 6.56101198e-03 -1.28876202e+02] [-7.57319733e-03 -4.11153967e-05 -9.99971322e-01 -4.00894154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters 0.012735043100159117 Centerline is valid? [True, True] Translation: X:211.24, Y:-128.96, Z:-4.01 [[-4.30941598e-01 -9.02375550e-01 2.77582073e-03 2.11238820e+02] [-9.02356942e-01 4.30950538e-01 5.79509857e-03 -1.28956030e+02] [-6.42559670e-03 -7.43205984e-06 -9.99979356e-01 -4.01026549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters 0.012778781349868382 Centerline is valid? [True, True] Translation: X:211.17, Y:-129.05, Z:-4.01 [[-3.63863855e-01 -9.31450450e-01 1.77610573e-03 2.11172528e+02] [-9.31439213e-01 3.63868190e-01 4.57532948e-03 -1.29045513e+02] [-4.90796108e-03 1.04624961e-05 -9.99987956e-01 -4.01207635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters 0.01287269586523628 Centerline is valid? [True, True] Translation: X:211.11, Y:-129.14, Z:-4.01 [[-2.93228325e-01 -9.56041657e-01 1.22466881e-03 2.11111443e+02] [-9.56033077e-01 2.93230882e-01 4.05043780e-03 -1.29139988e+02] [-4.23149798e-03 1.68792000e-05 -9.99991047e-01 -4.01223292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters 0.013026808692050524 Centerline is valid? [True, True] Translation: X:211.05, Y:-129.24, Z:-4.01 [[-2.19171589e-01 -9.75685702e-01 1.10658518e-03 2.11052466e+02] [-9.75672790e-01 2.19174382e-01 5.01967503e-03 -1.29242940e+02] [-5.14016028e-03 2.05051049e-05 -9.99986789e-01 -4.00954047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters 0.013208161379915054 Centerline is valid? [True, True] Translation: X:211.00, Y:-129.35, Z:-4.00 [[-1.40947624e-01 -9.90015397e-01 1.81141392e-03 2.11002799e+02] [-9.89932299e-01 1.40959262e-01 1.28269054e-02 -1.29354020e+02] [-1.29541694e-02 1.47446807e-05 -9.99916091e-01 -4.00385162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters 0.013619290873953034 Centerline is valid? [True, True] Translation: X:210.96, Y:-129.47, Z:-4.00 [[-5.93341834e-02 -9.98237564e-01 1.10455917e-03 2.10956684e+02] [-9.98086746e-01 5.93444189e-02 1.73518841e-02 -1.29466431e+02] [-1.73868519e-02 -7.28859957e-05 -9.99848835e-01 -3.99836992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters 0.013734118484552414 Centerline is valid? [True, True] Translation: X:210.93, Y:-129.58, Z:-4.00 [[ 2.00607368e-02 -9.99798730e-01 -2.56957025e-04 2.10925467e+02] [-9.99608508e-01 -2.00619324e-02 1.95025744e-02 -1.29582910e+02] [-1.95038042e-02 -1.34379584e-04 -9.99809774e-01 -3.99842748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters 0.013720544076624167 Centerline is valid? [True, True] Translation: X:210.90, Y:-129.70, Z:-4.00 [[ 9.64660472e-02 -9.95334830e-01 -1.69618333e-03 2.10904231e+02] [-9.95157268e-01 -9.64808764e-02 1.88003485e-02 -1.29697509e+02] [-1.88762909e-02 -1.25626133e-04 -9.99821819e-01 -3.99950238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters 0.013388880903449698 Centerline is valid? [True, True] Translation: X:210.90, Y:-129.81, Z:-4.00 [[ 1.64258844e-01 -9.86414002e-01 -2.53937421e-03 2.10896676e+02] [-9.86298539e-01 -1.64278470e-01 1.50922314e-02 -1.29811707e+02] [-1.53043529e-02 2.55485848e-05 -9.99882881e-01 -4.00273369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters 0.014226964286159697 Centerline is valid? [True, True] Translation: X:210.90, Y:-129.92, Z:-4.01 [[ 2.28435385e-01 -9.73555370e-01 -2.68638955e-03 2.10900062e+02] [-9.73495386e-01 -2.28451134e-01 1.08079785e-02 -1.29921747e+02] [-1.11358742e-02 1.46263113e-04 -9.99937984e-01 -4.00935026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters 0.015425520546917254 Centerline is valid? [True, True] Translation: X:210.91, Y:-130.03, Z:-4.01 [[ 2.97385100e-01 -9.54754287e-01 -2.52073022e-03 2.10908855e+02] [-9.54724110e-01 -2.97395745e-01 7.59241471e-03 -1.30034680e+02] [-7.99854494e-03 1.48730908e-04 -9.99968000e-01 -4.01334275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters 0.016001754091512797 Centerline is valid? [True, True] Translation: X:210.92, Y:-130.15, Z:-4.01 [[ 3.67618075e-01 -9.29972228e-01 -2.93368273e-03 2.10922098e+02] [-9.29945970e-01 -3.67629747e-01 6.99012618e-03 -1.30153446e+02] [-7.57913225e-03 1.58469696e-04 -9.99971265e-01 -4.01335726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters 0.015825290720791394 Centerline is valid? [True, True] Translation: X:210.95, Y:-130.27, Z:-4.01 [[ 4.39335757e-01 -8.98312438e-01 -4.34245564e-03 2.10945087e+02] [-8.98272582e-01 -4.39357179e-01 8.46393592e-03 -1.30271933e+02] [-9.51114797e-03 1.82199147e-04 -9.99954751e-01 -4.01091955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters 0.014879953427874517 Centerline is valid? [True, True] Translation: X:210.98, Y:-130.39, Z:-4.01 [[ 5.11808686e-01 -8.59071307e-01 -6.95397847e-03 2.10975197e+02] [-8.58996615e-01 -5.11855896e-01 1.13294718e-02 -1.30386114e+02] [-1.32922591e-02 1.74921870e-04 -9.99911639e-01 -4.00780706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters 0.014147664645961455 Centerline is valid? [True, True] Translation: X:211.01, Y:-130.49, Z:-4.01 [[ 5.80269235e-01 -8.14397102e-01 -6.70642823e-03 2.11011870e+02] [-8.14344473e-01 -5.80307981e-01 9.25883963e-03 -1.30494970e+02] [-1.14321660e-02 8.87229785e-05 -9.99934647e-01 -4.00833439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters 0.013743697704335364 Centerline is valid? [True, True] Translation: X:211.06, Y:-130.60, Z:-4.01 [[ 6.42482844e-01 -7.66281723e-01 -5.30245902e-03 2.11058171e+02] [-7.66256201e-01 -6.42504723e-01 6.25417248e-03 -1.30599036e+02] [-8.19931303e-03 4.48435798e-05 -9.99966384e-01 -4.01058683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters 0.014561780228301104 Centerline is valid? [True, True] Translation: X:211.11, Y:-130.71, Z:-4.01 [[ 7.13680002e-01 -7.00444658e-01 -6.17543988e-03 2.11109912e+02] [-7.00416779e-01 -7.13706706e-01 6.25091612e-03 -1.30711251e+02] [-8.78587366e-03 -1.35772116e-04 -9.99961394e-01 -4.00755604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters 0.01707134167521324 Centerline is valid? [True, True] Translation: X:211.16, Y:-130.81, Z:-4.00 [[ 7.70789329e-01 -6.37003045e-01 -1.05323260e-02 2.11162436e+02] [-6.36937322e-01 -7.70861205e-01 9.15697056e-03 -1.30807244e+02] [-1.39519796e-02 -3.49663703e-04 -9.99902605e-01 -4.00224009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters 0.017534155282493132 Centerline is valid? [True, True] Translation: X:211.19, Y:-130.83, Z:-4.00 [[ 8.18999323e-01 -5.73656613e-01 -1.25777591e-02 2.11185329e+02] [-5.73581138e-01 -8.19095794e-01 9.31442441e-03 -1.30834935e+02] [-1.56456708e-02 -4.14141872e-04 -9.99877513e-01 -4.00052983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters 0.017534155282493132 Centerline is valid? [True, True] Translation: X:211.21, Y:-130.86, Z:-4.00 [[ 8.61334189e-01 -5.07865523e-01 -1.32674596e-02 2.11210406e+02] [-5.07797821e-01 -8.61436265e-01 8.30261990e-03 -1.30859758e+02] [-1.56456853e-02 -4.14143295e-04 -9.99877513e-01 -4.00052954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters 0.018356687084903466 Centerline is valid? [True, True] Translation: X:211.24, Y:-130.88, Z:-4.00 [[ 8.98721695e-01 -4.38259111e-01 -1.51084825e-02 2.11236897e+02] [-4.38188459e-01 -8.98848561e-01 7.88279584e-03 -1.30882088e+02] [-1.70349449e-02 -4.64076964e-04 -9.99854787e-01 -3.99882909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters 0.018356687084903466 Centerline is valid? [True, True] Translation: X:211.27, Y:-130.90, Z:-4.00 [[ 9.30221125e-01 -3.66664487e-01 -1.56783945e-02 2.11266546e+02] [-3.66603966e-01 -9.30353126e-01 6.67781037e-03 -1.30900843e+02] [-1.70349593e-02 -4.64078656e-04 -9.99854787e-01 -3.99882880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters 0.018666128694190254 Centerline is valid? [True, True] Translation: X:211.30, Y:-130.92, Z:-4.00 [[ 9.55946251e-01 -2.93016863e-01 -1.75466244e-02 2.11298453e+02] [-2.92957866e-01 -9.56107142e-01 5.90098346e-03 -1.30915113e+02] [-1.85055406e-02 -5.00601374e-04 -9.99828633e-01 -3.99710014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters 0.016535356247597024 Centerline is valid? [True, True] Translation: X:211.33, Y:-130.93, Z:-4.00 [[ 9.75375768e-01 -2.19965314e-01 -1.60427983e-02 2.11330914e+02] [-2.19928757e-01 -9.75507611e-01 4.03032907e-03 -1.30927734e+02] [-1.65364045e-02 -4.02812628e-04 -9.99863183e-01 -3.99969500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters 0.01757969399609062 Centerline is valid? [True, True] Translation: X:211.36, Y:-130.94, Z:-4.00 [[ 9.89329960e-01 -1.44862211e-01 -1.55296780e-02 2.11362742e+02] [-1.44838735e-01 -9.89451775e-01 2.63187467e-03 -1.30942250e+02] [-1.57471266e-02 -3.54493550e-04 -9.99875944e-01 -3.99880485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters 0.015773695763508577 Centerline is valid? [True, True] Translation: X:211.39, Y:-130.95, Z:-4.00 [[ 9.97533210e-01 -6.85817165e-02 -1.49680915e-02 2.11393211e+02] [-6.85692651e-02 -9.97645453e-01 1.34409439e-03 -1.30950557e+02] [-1.50250287e-02 -3.14427764e-04 -9.99887068e-01 -4.00134215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters 0.015248786699732715 Centerline is valid? [True, True] Translation: X:211.42, Y:-130.95, Z:-4.00 [[ 9.99880844e-01 6.31109452e-03 -1.40878929e-02 2.11423466e+02] [ 6.31394162e-03 -9.99980054e-01 1.57626842e-04 -1.30954425e+02] [-1.40866172e-02 -2.46558194e-04 -9.99900748e-01 -4.00213650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters 0.015088772888677776 Centerline is valid? [True, True] Translation: X:211.45, Y:-130.96, Z:-4.00 [[ 9.96389743e-01 8.37417978e-02 -1.39567554e-02 2.11454152e+02] [ 8.37368559e-02 -9.96487460e-01 -9.39115176e-04 -1.30957792e+02] [-1.39863749e-02 -2.32970084e-04 -9.99902159e-01 -4.00207934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters 0.015162590038481583 Centerline is valid? [True, True] Translation: X:211.49, Y:-130.96, Z:-4.00 [[ 9.86743889e-01 1.61773790e-01 -1.28739252e-02 2.11485492e+02] [ 1.61762931e-01 -9.86827843e-01 -1.88729477e-03 -1.30960970e+02] [-1.30096627e-02 -2.20247289e-04 -9.99915347e-01 -4.00253573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters 0.015272294735905263 Centerline is valid? [True, True] Translation: X:211.52, Y:-130.96, Z:-4.00 [[ 9.70998674e-01 2.38716907e-01 -1.32594432e-02 2.11517273e+02] [ 2.38697922e-01 -9.71089174e-01 -3.01961774e-03 -1.30964297e+02] [-1.35969355e-02 -2.32956713e-04 -9.99907530e-01 -4.00109668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters 0.015215373091702301 Centerline is valid? [True, True] Translation: X:211.55, Y:-130.97, Z:-4.00 [[ 9.49050916e-01 3.14781637e-01 -1.46587579e-02 2.11550398e+02] [ 3.14748567e-01 -9.49164077e-01 -4.57106972e-03 -1.30966451e+02] [-1.53524552e-02 -2.75645130e-04 -9.99882106e-01 -3.99996814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters 0.015710932492783103 Centerline is valid? [True, True] Translation: X:211.58, Y:-130.96, Z:-4.00 [[ 9.21758673e-01 3.87527829e-01 -1.35326041e-02 2.11581412e+02] [ 3.87490078e-01 -9.21857971e-01 -5.41494657e-03 -1.30962680e+02] [-1.45735815e-02 -2.52475857e-04 -9.99893768e-01 -4.00024413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters 0.013979547617786626 Centerline is valid? [True, True] Translation: X:211.61, Y:-130.95, Z:-4.00 [[ 8.90593115e-01 4.54617439e-01 -1.29185318e-02 2.11610564e+02] [ 4.54572640e-01 -8.90686785e-01 -6.38480057e-03 -1.30952943e+02] [-1.44090073e-02 -1.86151695e-04 -9.99896168e-01 -4.00280002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters 0.013786280602493818 Centerline is valid? [True, True] Translation: X:211.64, Y:-130.94, Z:-4.00 [[ 8.53667186e-01 5.20646536e-01 -1.33984841e-02 2.11640278e+02] [ 5.20585332e-01 -8.53772311e-01 -7.98450999e-03 -1.30943661e+02] [-1.55963622e-02 -1.58940100e-04 -9.99878357e-01 -4.00152205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters 0.01329057697610368 Centerline is valid? [True, True] Translation: X:211.67, Y:-130.93, Z:-4.00 [[ 8.13007589e-01 5.82118403e-01 -1.25229586e-02 2.11668187e+02] [ 5.82050976e-01 -8.13104026e-01 -8.86029110e-03 -1.30930773e+02] [-1.53402066e-02 -8.55163907e-05 -9.99882328e-01 -4.00177822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters 0.01305920099975668 Centerline is valid? [True, True] Translation: X:211.70, Y:-130.92, Z:-4.00 [[ 7.67123043e-01 6.41428222e-01 -9.59548749e-03 2.11696211e+02] [ 6.41378504e-01 -7.67183052e-01 -7.98617253e-03 -1.30917464e+02] [-1.24840518e-02 -2.79624473e-05 -9.99922071e-01 -4.00251994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters 0.012943341862970916 Centerline is valid? [True, True] Translation: X:211.72, Y:-130.90, Z:-4.01 [[ 7.14751569e-01 6.99341141e-01 -7.22247370e-03 2.11722356e+02] [ 6.99305720e-01 -7.14788059e-01 -7.03852279e-03 -1.30902507e+02] [-1.00848665e-02 -1.99219659e-05 -9.99949146e-01 -4.00550488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters 0.013170467140648696 Centerline is valid? [True, True] Translation: X:211.75, Y:-130.89, Z:-4.00 [[ 6.55952037e-01 7.54778435e-01 -6.03645320e-03 2.11749501e+02] [ 7.54747044e-01 -6.55979811e-01 -6.88387506e-03 -1.30889004e+02] [-9.15559187e-03 -4.05033401e-05 -9.99958086e-01 -4.00424158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters 0.013472863435869968 Centerline is valid? [True, True] Translation: X:211.78, Y:-130.87, Z:-4.01 [[ 5.90754627e-01 8.06826740e-01 -6.29147203e-03 2.11776804e+02] [ 8.06782775e-01 -5.90788119e-01 -8.42337821e-03 -1.30873339e+02] [-1.05131337e-02 -9.97016146e-05 -9.99944731e-01 -4.00516395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters 0.014287418229536329 Centerline is valid? [True, True] Translation: X:211.81, Y:-130.86, Z:-4.00 [[ 5.21854601e-01 8.53016804e-01 -5.48697535e-03 2.11805620e+02] [ 8.52972531e-01 -5.21883426e-01 -8.69196920e-03 -1.30857339e+02] [-1.02779573e-02 -1.44295134e-04 -9.99947170e-01 -4.00370498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters 0.014711773443936023 Centerline is valid? [True, True] Translation: X:211.83, Y:-130.84, Z:-4.00 [[ 4.51196359e-01 8.92412916e-01 -4.58606689e-03 2.11830605e+02] [ 8.92370433e-01 -4.51219636e-01 -8.70919010e-03 -1.30836801e+02] [-9.84151718e-03 -1.62915631e-04 -9.99951558e-01 -4.00370129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters 0.015154879033435258 Centerline is valid? [True, True] Translation: X:211.85, Y:-130.81, Z:-4.00 [[ 3.78941987e-01 9.25411333e-01 -4.10312644e-03 2.11850418e+02] [ 9.25362200e-01 -3.78964156e-01 -9.53764674e-03 -1.30812277e+02] [-1.03811842e-02 -1.82663300e-04 -9.99946097e-01 -4.00394465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters 0.015071072057107593 Centerline is valid? [True, True] Translation: X:211.87, Y:-130.79, Z:-4.00 [[ 3.05206328e-01 9.52278451e-01 -3.85351219e-03 2.11866951e+02] [ 9.52211074e-01 -3.05230581e-01 -1.13297649e-02 -1.30785906e+02] [-1.19653007e-02 -2.11441042e-04 -9.99928391e-01 -4.00319730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters 0.014349233226809645 Centerline is valid? [True, True] Translation: X:211.88, Y:-130.76, Z:-4.00 [[ 2.32529065e-01 9.72585816e-01 -2.65800509e-03 2.11880886e+02] [ 9.72529867e-01 -2.32544202e-01 -1.04331883e-02 -1.30758438e+02] [-1.07652746e-02 -1.58969815e-04 -9.99942040e-01 -4.00335458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters 0.013616328314860093 Centerline is valid? [True, True] Translation: X:211.89, Y:-130.73, Z:-4.00 [[ 1.60699462e-01 9.87001653e-01 -1.84943664e-03 2.11888661e+02] [ 9.86943602e-01 -1.60710069e-01 -1.07051135e-02 -1.30729699e+02] [-1.08631878e-02 -1.04983675e-04 -9.99940988e-01 -4.00303272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters 0.013211144278075987 Centerline is valid? [True, True] Translation: X:211.89, Y:-130.70, Z:-4.00 [[ 8.71279268e-02 9.96196566e-01 -1.06159165e-03 2.11894411e+02] [ 9.96131116e-01 -8.71343715e-02 -1.14193093e-02 -1.30701419e+02] [-1.14683778e-02 -6.25437307e-05 -9.99934234e-01 -4.00404534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters 0.013382233985243805 Centerline is valid? [True, True] Translation: X:211.91, Y:-130.67, Z:-4.00 [[ 7.37149490e-03 9.99972817e-01 -1.60571605e-04 2.11908140e+02] [ 9.99909531e-01 -7.37283492e-03 -1.12503418e-02 -1.30673431e+02] [-1.12512198e-02 -7.76252410e-05 -9.99936700e-01 -4.00444022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters 0.013615318255768524 Centerline is valid? [True, True] Translation: X:211.92, Y:-130.64, Z:-4.00 [[-7.11318432e-02 9.97466591e-01 8.13055905e-04 2.11915211e+02] [ 9.97386329e-01 7.11364339e-02 -1.26538310e-02 -1.30644659e+02] [-1.26796116e-02 -8.91594814e-05 -9.99919607e-01 -4.00379569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters 0.013612370714921124 Centerline is valid? [True, True] Translation: X:211.92, Y:-130.61, Z:-4.00 [[-1.48577100e-01 9.88898757e-01 2.02310700e-03 2.11920188e+02] [ 9.88798295e-01 1.48590844e-01 -1.40958315e-02 -1.30614967e+02] [-1.42399654e-02 -9.38730203e-05 -9.99898602e-01 -4.00329644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters 0.0137477029193135 Centerline is valid? [True, True] Translation: X:211.93, Y:-130.59, Z:-4.00 [[-2.25945419e-01 9.74135171e-01 3.05542804e-03 2.11925113e+02] [ 9.74040181e-01 2.25966057e-01 -1.36039123e-02 -1.30585617e+02] [-1.39424725e-02 -9.76319915e-05 -9.99902794e-01 -4.00241824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters 0.013497744617212204 Centerline is valid? [True, True] Translation: X:211.92, Y:-130.56, Z:-4.01 [[-2.99430299e-01 9.54109962e-01 3.95934716e-03 2.11923467e+02] [ 9.54023701e-01 2.99456468e-01 -1.28297008e-02 -1.30556962e+02] [-1.34265974e-02 -6.42900985e-05 -9.99909857e-01 -4.00513906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters 0.01352007217854353 Centerline is valid? [True, True] Translation: X:211.92, Y:-130.53, Z:-4.01 [[-3.69849971e-01 9.29077156e-01 5.16100879e-03 2.11917487e+02] [ 9.28986124e-01 3.69885979e-01 -1.30055751e-02 -1.30529498e+02] [-1.39921675e-02 -1.56060237e-05 -9.99902105e-01 -4.00618978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters 0.013795339118381758 Centerline is valid? [True, True] Translation: X:211.91, Y:-130.50, Z:-4.00 [[-4.39984509e-01 8.97980900e-01 6.62834231e-03 2.11912280e+02] [ 8.97879322e-01 4.40034433e-01 -1.35063470e-02 -1.30502874e+02] [-1.50451405e-02 8.86804390e-06 -9.99886815e-01 -4.00458212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters 0.013825699923859302 Centerline is valid? [True, True] Translation: X:211.90, Y:-130.48, Z:-4.01 [[-5.08515947e-01 8.61022038e-01 7.25135750e-03 2.11901887e+02] [ 8.60934956e-01 5.08567646e-01 -1.22454769e-02 -1.30477420e+02] [-1.42314313e-02 1.59268752e-05 -9.99898728e-01 -4.00549810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters 0.013652351554954558 Centerline is valid? [True, True] Translation: X:211.89, Y:-130.45, Z:-4.01 [[-5.73589812e-01 8.19104428e-01 7.91601023e-03 2.11892823e+02] [ 8.19027135e-01 5.73644433e-01 -1.12524605e-02 -1.30449079e+02] [-1.37579154e-02 2.91304777e-05 -9.99905355e-01 -4.00977230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters 0.013925904307635234 Centerline is valid? [True, True] Translation: X:211.88, Y:-130.42, Z:-4.01 [[-6.36119216e-01 7.71540375e-01 8.82001320e-03 2.11883658e+02] [ 7.71466815e-01 6.36180359e-01 -1.06538656e-02 -1.30422218e+02] [-1.38310066e-02 2.72188825e-05 -9.99904347e-01 -4.00817642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters 0.013645265730114245 Centerline is valid? [True, True] Translation: X:211.87, Y:-130.39, Z:-4.01 [[-6.95929045e-01 7.18043481e-01 9.81448319e-03 2.11871700e+02] [ 7.17972126e-01 6.95998247e-01 -1.01225876e-02 -1.30394358e+02] [-1.40993211e-02 1.92261196e-06 -9.99900600e-01 -4.01076778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters 0.013623724134096104 Centerline is valid? [True, True] Translation: X:211.86, Y:-130.36, Z:-4.01 [[-7.53224820e-01 6.57675701e-01 1.07258126e-02 2.11860057e+02] [ 6.57607766e-01 7.53301180e-01 -9.45296036e-03 -1.30364974e+02] [-1.42967496e-02 -6.68267309e-05 -9.99897794e-01 -4.01148308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters 0.013785212170572476 Centerline is valid? [True, True] Translation: X:211.88, Y:-130.34, Z:-4.01 [[-8.00249559e-01 5.99555299e-01 1.15795632e-02 2.11880825e+02] [ 5.99490258e-01 8.00333323e-01 -8.83192747e-03 -1.30342875e+02] [-1.45627392e-02 -1.25910725e-04 -9.99893950e-01 -4.01279767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters 0.01398370101605085 Centerline is valid? [True, True] Translation: X:212.29, Y:-129.80, Z:-5.03 [[-7.45427170e-01 -6.66496385e-01 1.09955757e-02 2.12288306e+02] [ 6.66426465e-01 -7.45508250e-01 -9.65485354e-03 -1.29804192e+02] [ 1.46322174e-02 1.30752490e-04 9.99892935e-01 -5.02735641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters 0.014520583639240785 Centerline is valid? [True, True] Translation: X:211.85, Y:-130.31, Z:-4.01 [[-8.06123960e-01 5.91608902e-01 1.27698103e-02 2.11845139e+02] [ 5.91529952e-01 8.06225061e-01 -9.66780919e-03 -1.30312970e+02] [-1.60149031e-02 -2.39727347e-04 -9.99871725e-01 -4.01358184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters 0.01536210828998305 Centerline is valid? [True, True] Translation: X:211.85, Y:-130.28, Z:-4.01 [[-8.47274730e-01 5.30961437e-01 1.43347235e-02 2.11854364e+02] [ 5.30879464e-01 8.47395930e-01 -9.33446651e-03 -1.30282778e+02] [-1.71034281e-02 -2.98847281e-04 -9.99853681e-01 -4.01158836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters 0.0156240616746201 Centerline is valid? [True, True] Translation: X:211.88, Y:-130.26, Z:-4.01 [[-8.83091590e-01 4.68927463e-01 1.60086695e-02 2.11875484e+02] [ 4.68843523e-01 8.83236617e-01 -8.87855995e-03 -1.30263850e+02] [-1.83028437e-02 -3.35020623e-04 -9.99832433e-01 -4.01068442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters 0.015500520545881876 Centerline is valid? [True, True] Translation: X:211.88, Y:-130.24, Z:-4.01 [[-9.13407630e-01 4.06704560e-01 1.66703928e-02 2.11882761e+02] [ 4.06630687e-01 9.13559690e-01 -7.75742812e-03 -1.30240829e+02] [-1.83843803e-02 -3.07000758e-04 -9.99830946e-01 -4.01166774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters 0.014887133855100106 Centerline is valid? [True, True] Translation: X:212.17, Y:-129.63, Z:-5.03 [[-8.69533279e-01 -4.93628316e-01 1.55872236e-02 2.12174897e+02] [ 4.93554394e-01 -8.69672937e-01 -8.54651523e-03 -1.29632766e+02] [ 1.77745884e-02 2.61663278e-04 9.99841985e-01 -5.02877326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters 0.01436852072242114 Centerline is valid? [True, True] Translation: X:211.84, Y:-130.24, Z:-4.01 [[-9.12443813e-01 4.08899999e-01 1.57187687e-02 2.11844674e+02] [ 4.08835833e-01 9.12579178e-01 -7.24606234e-03 -1.30236447e+02] [-1.73075359e-02 -1.85228858e-04 -9.99850196e-01 -4.01380570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters 0.0137916332797449 Centerline is valid? [True, True] Translation: X:211.85, Y:-130.22, Z:-4.02 [[-9.38231321e-01 3.45625048e-01 1.62885090e-02 2.11854087e+02] [ 3.45570340e-01 9.38372691e-01 -6.15092904e-03 -1.30216755e+02] [-1.74106072e-02 -1.42168666e-04 -9.99848414e-01 -4.01572605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters 0.014124610502356217 Centerline is valid? [True, True] Translation: X:211.86, Y:-130.19, Z:-4.02 [[-9.60801752e-01 2.76715589e-01 1.69845901e-02 2.11861767e+02] [ 2.76669170e-01 9.60951847e-01 -5.07126432e-03 -1.30190246e+02] [-1.77246712e-02 -1.73367195e-04 -9.99842891e-01 -4.01655236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters 0.014865292794380622 Centerline is valid? [True, True] Translation: X:211.86, Y:-130.16, Z:-4.02 [[-9.78817575e-01 2.03906190e-01 1.83962118e-02 2.11862989e+02] [ 2.03865148e-01 9.78990397e-01 -4.09933564e-03 -1.30159183e+02] [-1.88455946e-02 -2.62155334e-04 -9.99822372e-01 -4.01560834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters 0.015600501735176868 Centerline is valid? [True, True] Translation: X:212.02, Y:-129.49, Z:-5.03 [[-9.53690213e-01 -3.00197366e-01 1.88816977e-02 2.12017109e+02] [ 3.00145391e-01 -9.53877053e-01 -5.59571908e-03 -1.29488254e+02] [ 1.96906382e-02 3.30672009e-04 9.99806066e-01 -5.02612610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters 0.016022637862209966 Centerline is valid? [True, True] Translation: X:211.82, Y:-130.14, Z:-4.02 [[-9.80650161e-01 1.94872951e-01 1.87027803e-02 2.11818442e+02] [ 1.94830307e-01 9.80828423e-01 -4.09337425e-03 -1.30144130e+02] [-1.91419064e-02 -3.70299696e-04 -9.99816708e-01 -4.01556886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters 0.015633534678252257 Centerline is valid? [True, True] Translation: X:211.82, Y:-130.12, Z:-4.01 [[-9.91584010e-01 1.28058865e-01 1.90283650e-02 2.11817661e+02] [ 1.28029306e-01 9.91766521e-01 -2.76860154e-03 -1.30117487e+02] [-1.92262393e-02 -3.09112646e-04 -9.99815111e-01 -4.01452689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters 0.014311288278273908 Centerline is valid? [True, True] Translation: X:211.93, Y:-129.44, Z:-5.02 [[-9.75129719e-01 -2.20868648e-01 1.84138859e-02 2.11931525e+02] [ 2.20834662e-01 -9.75303523e-01 -3.88448960e-03 -1.29437947e+02] [ 1.88170898e-02 2.78543028e-04 9.99822904e-01 -5.02423113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters 0.013561853347519668 Centerline is valid? [True, True] Translation: X:211.78, Y:-130.12, Z:-4.02 [[-9.90444371e-01 1.36796640e-01 1.75107872e-02 2.11780873e+02] [ 1.36774218e-01 9.90599150e-01 -2.47742338e-03 -1.30123545e+02] [-1.76850741e-02 -5.87258200e-05 -9.99843605e-01 -4.01816829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters 0.01365158907867944 Centerline is valid? [True, True] Translation: X:211.79, Y:-130.10, Z:-4.02 [[-9.97337918e-01 7.08795817e-02 1.71219714e-02 2.11788315e+02] [ 7.08695757e-02 9.97484879e-01 -1.19121233e-03 -1.30098473e+02] [-1.71633402e-02 2.53856182e-05 -9.99852699e-01 -4.01793085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters 0.01430928362166406 Centerline is valid? [True, True] Translation: X:211.78, Y:-130.07, Z:-4.02 [[-9.99861836e-01 2.64342061e-03 1.64110042e-02 2.11783633e+02] [ 2.64421491e-03 9.99996504e-01 2.67022294e-05 -1.30072536e+02] [-1.64108762e-02 7.00927621e-05 -9.99865330e-01 -4.01622323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters 0.013873917256100233 Centerline is valid? [True, True] Translation: X:211.78, Y:-130.04, Z:-4.02 [[-9.97542976e-01 -6.78557390e-02 1.74243793e-02 2.11780498e+02] [-6.78439014e-02 9.97695140e-01 1.27026938e-03 -1.30042499e+02] [-1.74704136e-02 8.50104297e-05 -9.99847377e-01 -4.01753919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters 0.013777925101901171 Centerline is valid? [True, True] Translation: X:211.73, Y:-129.35, Z:-5.02 [[-9.99787167e-01 9.60632247e-03 1.82576094e-02 2.11731253e+02] [-9.60538564e-03 -9.99953858e-01 1.39006197e-04 -1.29345163e+02] [ 1.82581023e-02 -3.63947673e-05 9.99833306e-01 -5.02279646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters 0.013714676043260403 Centerline is valid? [True, True] Translation: X:211.70, Y:-130.04, Z:-4.02 [[-9.97052350e-01 -7.47368226e-02 1.73499113e-02 2.11699037e+02] [-7.47244743e-02 9.97203291e-01 1.35982267e-03 -1.30042755e+02] [-1.74030175e-02 5.93513908e-05 -9.99848554e-01 -4.01904567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters 0.013654340659014717 Centerline is valid? [True, True] Translation: X:211.65, Y:-129.36, Z:-5.02 [[-9.99768353e-01 1.31312889e-02 1.70531373e-02 2.11645367e+02] [-1.31307706e-02 -9.99913778e-01 1.42369423e-04 -1.29356834e+02] [ 1.70535364e-02 -8.15843894e-05 9.99854575e-01 -5.02194447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters 0.013647970515597383 Centerline is valid? [True, True] Translation: X:211.62, Y:-130.04, Z:-4.02 [[-9.96466195e-01 -8.21232874e-02 1.76320268e-02 2.11617265e+02] [-8.21100487e-02 9.96622178e-01 1.47469103e-03 -1.30042639e+02] [-1.76935754e-02 2.17131775e-05 -9.99843456e-01 -4.01791222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters 0.013523447175723858 Centerline is valid? [True, True] Translation: X:211.56, Y:-129.37, Z:-5.02 [[-9.99723854e-01 1.57684526e-02 1.74232881e-02 2.11560923e+02] [-1.57667470e-02 -9.99875669e-01 2.35257417e-04 -1.29366707e+02] [ 1.74248315e-02 -3.95161252e-05 9.99848175e-01 -5.02167473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters 0.01340360096711939 Centerline is valid? [True, True] Translation: X:211.54, Y:-130.05, Z:-4.02 [[-9.95743789e-01 -9.04661297e-02 1.76121102e-02 2.11536095e+02] [-9.04525990e-02 9.95899532e-01 1.56498540e-03 -1.30046797e+02] [-1.76814705e-02 -3.47366515e-05 -9.99843670e-01 -4.01847659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters 0.013396082032727288 Centerline is valid? [True, True] Translation: X:211.53, Y:-130.02, Z:-4.02 [[-9.86530337e-01 -1.62656645e-01 1.73410110e-02 2.11527690e+02] [-1.62632633e-01 9.86682731e-01 2.79549829e-03 -1.30019325e+02] [-1.75647825e-02 -6.23704152e-05 -9.99845725e-01 -4.01830688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters 0.013283780014484362 Centerline is valid? [True, True] Translation: X:211.42, Y:-129.36, Z:-5.02 [[-9.96024662e-01 8.77091391e-02 1.55556802e-02 2.11419323e+02] [-8.76996515e-02 -9.96146124e-01 1.29233955e-03 -1.29355543e+02] [ 1.56090806e-02 -7.70256676e-05 9.99878168e-01 -5.02091580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters 0.013159655840312597 Centerline is valid? [True, True] Translation: X:211.43, Y:-130.04, Z:-4.02 [[-9.85195438e-01 -1.70789159e-01 1.48665127e-02 2.11428938e+02] [-1.70770999e-01 9.85307595e-01 2.49193766e-03 -1.30035975e+02] [-1.50736838e-02 -8.37236089e-05 -9.99886382e-01 -4.01981541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters 0.01319824132092617 Centerline is valid? [True, True] Translation: X:211.41, Y:-130.01, Z:-4.02 [[-9.69989402e-01 -2.42693029e-01 1.48544257e-02 2.11414110e+02] [-2.42666425e-01 9.70103129e-01 3.59526260e-03 -1.30011384e+02] [-1.52828700e-02 -1.17303760e-04 -9.99883203e-01 -4.02015083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters 0.013304355231399594 Centerline is valid? [True, True] Translation: X:211.25, Y:-129.36, Z:-5.02 [[-9.86941552e-01 1.60436236e-01 1.43731660e-02 2.11248814e+02] [-1.60418286e-01 -9.87046205e-01 2.40068386e-03 -1.29356658e+02] [ 1.45721357e-02 6.36159958e-05 9.99893819e-01 -5.02092624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters 0.013486552981907608 Centerline is valid? [True, True] Translation: X:211.30, Y:-130.04, Z:-4.02 [[-9.68161839e-01 -2.49857533e-01 1.52927184e-02 2.11304937e+02] [-2.49828563e-01 9.68282601e-01 3.80713688e-03 -1.30039300e+02] [-1.57589150e-02 -1.34633218e-04 -9.99875812e-01 -4.01816216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters 0.013648807039871674 Centerline is valid? [True, True] Translation: X:211.13, Y:-129.38, Z:-5.02 [[-9.85901177e-01 1.66513428e-01 1.64968648e-02 2.11128416e+02] [-1.66486537e-01 -9.86039164e-01 2.99987257e-03 -1.29379090e+02] [ 1.67660738e-02 2.11072012e-04 9.99859417e-01 -5.02368583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters 0.01338115428182057 Centerline is valid? [True, True] Translation: X:211.20, Y:-130.07, Z:-4.02 [[-9.66646384e-01 -2.55687223e-01 1.47922725e-02 2.11196183e+02] [-2.55659156e-01 9.66759551e-01 3.79023531e-03 -1.30073811e+02] [-1.52696854e-02 -1.17962647e-04 -9.99883405e-01 -4.01802989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters 0.013559366823409351 Centerline is valid? [True, True] Translation: X:211.01, Y:-129.40, Z:-5.02 [[-9.84641590e-01 1.73901110e-01 1.54707027e-02 2.11009799e+02] [-1.73877204e-01 -9.84763109e-01 2.88745106e-03 -1.29402398e+02] [ 1.57371082e-02 1.53101866e-04 9.99876152e-01 -5.02444565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters 0.01437113579310383 Centerline is valid? [True, True] Translation: X:211.07, Y:-130.10, Z:-4.02 [[-9.62936066e-01 -2.69364770e-01 1.40268625e-02 2.11074948e+02] [-2.69339610e-01 9.63038197e-01 3.68848555e-03 -1.30100550e+02] [-1.45019524e-02 -2.26213890e-04 -9.99894816e-01 -4.01709902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters 0.015102398623760623 Centerline is valid? [True, True] Translation: X:211.05, Y:-130.08, Z:-4.02 [[-9.39873906e-01 -3.41229355e-01 1.41268733e-02 2.11045689e+02] [-3.41195410e-01 9.39980023e-01 4.82162071e-03 -1.30079879e+02] [-1.49242572e-02 -2.88308848e-04 -9.99888586e-01 -4.01720968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters 0.015638127450014597 Centerline is valid? [True, True] Translation: X:211.01, Y:-130.06, Z:-4.02 [[-9.11239967e-01 -4.11686054e-01 1.25025964e-02 2.11007119e+02] [-4.11652041e-01 9.11325679e-01 5.30135048e-03 -1.30064753e+02] [-1.35764293e-02 -3.15916910e-04 -9.99907786e-01 -4.01806440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters 0.01618969256313224 Centerline is valid? [True, True] Translation: X:210.95, Y:-130.06, Z:-4.02 [[-8.78006937e-01 -4.78514041e-01 1.13195021e-02 2.10950471e+02] [-4.78478778e-01 8.78079847e-01 5.81730278e-03 -1.30059326e+02] [-1.27230878e-02 -3.08509354e-04 -9.99919011e-01 -4.01755303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters 0.01648386600294685 Centerline is valid? [True, True] Translation: X:210.88, Y:-130.07, Z:-4.02 [[-8.40829641e-01 -5.41195591e-01 1.06229773e-02 2.10882228e+02] [-5.41156751e-01 8.40896692e-01 6.49027427e-03 -1.30066442e+02] [-1.24453343e-02 -2.91480902e-04 -9.99922511e-01 -4.01719764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters 0.015439929713596444 Centerline is valid? [True, True] Translation: X:210.82, Y:-130.08, Z:-4.02 [[-7.99002938e-01 -6.01236744e-01 1.04250756e-02 2.10815575e+02] [-6.01190163e-01 7.99070896e-01 7.48938975e-03 -1.30082908e+02] [-1.28332708e-02 -2.83408503e-04 -9.99917610e-01 -4.01746556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters 0.015414269959774109 Centerline is valid? [True, True] Translation: X:210.74, Y:-130.11, Z:-4.02 [[-7.52561361e-01 -6.58449027e-01 9.81207028e-03 2.10737747e+02] [-6.58397697e-01 7.52625276e-01 8.22593323e-03 -1.30109628e+02] [-1.28011698e-02 -2.69724961e-04 -9.99918025e-01 -4.01656701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters 0.016137936507711823 Centerline is valid? [True, True] Translation: X:210.65, Y:-130.15, Z:-4.02 [[-7.01944914e-01 -7.12182662e-01 8.31832444e-03 2.10654061e+02] [-7.12136507e-01 7.01994162e-01 8.11128048e-03 -1.30147921e+02] [-1.16161285e-02 -2.30110432e-04 -9.99932504e-01 -4.01625427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters 0.015756152996897116 Centerline is valid? [True, True] Translation: X:210.58, Y:-130.19, Z:-4.02 [[-6.47603088e-01 -7.61948794e-01 6.65402344e-03 2.10578604e+02] [-7.61911409e-01 6.47637247e-01 7.54995741e-03 -1.30190373e+02] [-1.00620744e-02 -1.80400639e-04 -9.99949360e-01 -4.01790197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters 0.014484019939612092 Centerline is valid? [True, True] Translation: X:210.50, Y:-130.25, Z:-4.02 [[-5.88857626e-01 -8.08217178e-01 5.62928372e-03 2.10498717e+02] [-8.08182793e-01 5.88884511e-01 7.45691449e-03 -1.30248111e+02] [-9.34180439e-03 -1.58429274e-04 -9.99956352e-01 -4.01856239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters 0.014093806237898144 Centerline is valid? [True, True] Translation: X:210.42, Y:-130.31, Z:-4.02 [[-5.28225942e-01 -8.49091274e-01 4.62192505e-03 2.10422364e+02] [-8.49060741e-01 5.28246149e-01 7.20165600e-03 -1.30313604e+02] [-8.55637738e-03 -1.20193582e-04 -9.99963386e-01 -4.01830336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters 0.013778618546090193 Centerline is valid? [True, True] Translation: X:210.35, Y:-130.39, Z:-4.02 [[-4.64116164e-01 -8.85762009e-01 4.67424783e-03 2.10349182e+02] [-8.85719564e-01 4.64139687e-01 8.67207010e-03 -1.30389367e+02] [-9.85089417e-03 -1.15224837e-04 -9.99951472e-01 -4.01819230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters 0.013629422096563626 Centerline is valid? [True, True] Translation: X:210.28, Y:-130.48, Z:-4.02 [[-3.96210003e-01 -9.18147768e-01 4.72320451e-03 2.10277632e+02] [-9.18086182e-01 3.96238136e-01 1.06349216e-02 -1.30475599e+02] [-1.16359433e-02 -1.22646464e-04 -9.99932293e-01 -4.01762535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters 0.013729988958083935 Centerline is valid? [True, True] Translation: X:210.21, Y:-130.57, Z:-4.02 [[-3.24189961e-01 -9.45984757e-01 3.70258267e-03 2.10209679e+02] [-9.45927372e-01 3.24211080e-01 1.04203280e-02 -1.30567827e+02] [-1.10578898e-02 -1.24208565e-04 -9.99938852e-01 -4.01812091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters 0.014088595529404863 Centerline is valid? [True, True] Translation: X:210.15, Y:-130.67, Z:-4.02 [[-2.48450308e-01 -9.68640527e-01 2.82381250e-03 2.10148554e+02] [-9.68584559e-01 2.48466311e-01 1.04136883e-02 -1.30665541e+02] [-1.07887428e-02 -1.47817116e-04 -9.99941789e-01 -4.01967079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters 0.014356348944003597 Centerline is valid? [True, True] Translation: X:210.09, Y:-130.77, Z:-4.02 [[-1.72665394e-01 -9.84978165e-01 2.16241349e-03 2.10094929e+02] [-9.84912680e-01 1.72678852e-01 1.13590080e-02 -1.30767961e+02] [-1.15617779e-02 -1.68480874e-04 -9.99933146e-01 -4.01858516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters 0.014395270300895869 Centerline is valid? [True, True] Translation: X:210.05, Y:-130.88, Z:-4.02 [[-9.66404385e-02 -9.95318140e-01 1.55721217e-03 2.10048574e+02] [-9.95220703e-01 9.66527690e-02 1.39281639e-02 -1.30879772e+02] [-1.40134631e-02 -2.03745918e-04 -9.99901786e-01 -4.01535994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters 0.013667848104004834 Centerline is valid? [True, True] Translation: X:210.02, Y:-130.98, Z:-4.02 [[-2.42024444e-02 -9.99706983e-01 4.35229070e-04 2.10019456e+02] [-9.99629264e-01 2.42059901e-02 1.24661510e-02 -1.30980690e+02] [-1.24730333e-02 -1.33356389e-04 -9.99922200e-01 -4.01874328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters 0.013549029787800915 Centerline is valid? [True, True] Translation: X:209.99, Y:-131.10, Z:-4.02 [[ 5.06167084e-02 -9.98718027e-01 -5.01873020e-04 2.09993561e+02] [-9.98646689e-01 -5.06190916e-02 1.19372646e-02 -1.31098841e+02] [-1.19473657e-02 -1.03031213e-04 -9.99928622e-01 -4.01826492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters 0.013196432744623161 Centerline is valid? [True, True] Translation: X:209.98, Y:-131.21, Z:-4.02 [[ 1.22969066e-01 -9.92409534e-01 -1.38795221e-03 2.09979739e+02] [-9.92341618e-01 -1.22976888e-01 1.16102445e-02 -1.31214855e+02] [-1.16928034e-02 -5.03781819e-05 -9.99931636e-01 -4.01926048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters 0.01330081364652046 Centerline is valid? [True, True] Translation: X:209.98, Y:-131.33, Z:-4.02 [[ 1.93412244e-01 -9.81115501e-01 -2.01943958e-03 2.09975965e+02] [-9.81062790e-01 -1.93422786e-01 1.01699955e-02 -1.31329935e+02] [-1.03685459e-02 1.41953713e-05 -9.99946245e-01 -4.02134323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters 0.01328585475250961 Centerline is valid? [True, True] Translation: X:209.98, Y:-131.45, Z:-4.02 [[ 2.65754400e-01 -9.64037055e-01 -2.67497479e-03 2.09978176e+02] [-9.63989727e-01 -2.65767859e-01 9.55261323e-03 -1.31449762e+02] [-9.91999545e-03 3.99992242e-05 -9.99950795e-01 -4.02409853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters 0.013297413105768185 Centerline is valid? [True, True] Translation: X:209.99, Y:-131.57, Z:-4.02 [[ 3.39396354e-01 -9.40635234e-01 -3.93346588e-03 2.09986906e+02] [-9.40573488e-01 -3.39419144e-01 1.07776869e-02 -1.31572014e+02] [-1.14729657e-02 4.18060796e-05 -9.99934183e-01 -4.02317051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters 0.0133220442784902 Centerline is valid? [True, True] Translation: X:210.00, Y:-131.69, Z:-4.02 [[ 4.12029362e-01 -9.11152634e-01 -5.71689341e-03 2.10003279e+02] [-9.11065914e-01 -4.12069020e-01 1.25707347e-02 -1.31687632e+02] [-1.38096127e-02 2.89549099e-05 -9.99904642e-01 -4.02182660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters 0.013590513997640427 Centerline is valid? [True, True] Translation: X:210.03, Y:-131.80, Z:-4.02 [[ 4.79928354e-01 -8.77272220e-01 -7.88839256e-03 2.10028677e+02] [-8.77155395e-01 -4.79993176e-01 1.43165616e-02 -1.31800297e+02] [-1.63458964e-02 4.84222288e-05 -9.99866396e-01 -4.02106210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters 0.013767676186201307 Centerline is valid? [True, True] Translation: X:210.06, Y:-131.91, Z:-4.02 [[ 5.44108541e-01 -8.38961430e-01 -9.46649413e-03 2.10061425e+02] [-8.38837154e-01 -5.44190879e-01 1.44401262e-02 -1.31908436e+02] [-1.72662887e-02 8.38509984e-05 -9.99850923e-01 -4.01996540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters 0.01421712829809418 Centerline is valid? [True, True] Translation: X:210.10, Y:-132.01, Z:-4.02 [[ 6.03918178e-01 -7.96966783e-01 -1.12597030e-02 2.10101971e+02] [-7.96832955e-01 -6.04023115e-01 1.46054118e-02 -1.32013000e+02] [-1.84411490e-02 1.51628733e-04 -9.99829936e-01 -4.01878645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters 0.01456767216119305 Centerline is valid? [True, True] Translation: X:210.15, Y:-132.11, Z:-4.02 [[ 6.60578166e-01 -7.50644351e-01 -1.30209489e-02 2.10152526e+02] [-7.50505109e-01 -6.60706447e-01 1.44593293e-02 -1.32112719e+02] [-1.94568388e-02 2.20771495e-04 -9.99810673e-01 -4.01931008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters 0.015810719072647597 Centerline is valid? [True, True] Translation: X:210.20, Y:-132.20, Z:-4.02 [[ 7.10918288e-01 -7.03135270e-01 -1.39992639e-02 2.10203708e+02] [-7.03008713e-01 -7.11056022e-01 1.33448210e-02 -1.32198596e+02] [-1.93374752e-02 3.54527168e-04 -9.99812951e-01 -4.01997174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters 0.01741282848611071 Centerline is valid? [True, True] Translation: X:210.23, Y:-132.22, Z:-4.02 [[ 7.59079976e-01 -6.50841786e-01 -1.42323365e-02 2.10225318e+02] [-6.50738822e-01 -7.59213245e-01 1.15859403e-02 -1.32223386e+02] [-1.83459925e-02 4.66878660e-04 -9.99831589e-01 -4.02210236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters 0.01840442037011249 Centerline is valid? [True, True] Translation: X:210.25, Y:-132.25, Z:-4.02 [[ 8.05931950e-01 -5.91822983e-01 -1.48070641e-02 2.10247281e+02] [-5.91734622e-01 -8.06067799e-01 1.02391706e-02 -1.32247919e+02] [-1.79952740e-02 5.09777771e-04 -9.99837942e-01 -4.02457939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters 0.01713209378259177 Centerline is valid? [True, True] Translation: X:210.27, Y:-132.28, Z:-4.03 [[ 8.49759714e-01 -5.26932775e-01 -1.58202147e-02 2.10267462e+02] [-5.26852697e-01 -8.49906809e-01 9.20061907e-03 -1.32276391e+02] [-1.82938159e-02 5.16607355e-04 -9.99832521e-01 -4.02660458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters 0.016471339653218304 Centerline is valid? [True, True] Translation: X:210.29, Y:-132.30, Z:-4.03 [[ 8.90992709e-01 -4.53667181e-01 -1.78348568e-02 2.10289263e+02] [-4.53586199e-01 -8.91171080e-01 8.58292613e-03 -1.32303019e+02] [-1.97877005e-02 4.42320297e-04 -9.99804106e-01 -4.02636674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters 0.015039977497643253 Centerline is valid? [True, True] Translation: X:210.31, Y:-132.33, Z:-4.03 [[ 9.26064576e-01 -3.76917148e-01 -1.83810881e-02 2.10313255e+02] [-3.76849736e-01 -9.26246923e-01 7.13544618e-03 -1.32329753e+02] [-1.97148983e-02 3.19024261e-04 -9.99805592e-01 -4.02584423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters 0.013038118629586266 Centerline is valid? [True, True] Translation: X:210.34, Y:-132.36, Z:-4.03 [[ 9.55543543e-01 -2.94254287e-01 -1.87337284e-02 2.10339170e+02] [-2.94200408e-01 -9.55727157e-01 5.63225582e-03 -1.32356752e+02] [-1.95616484e-02 1.29604859e-04 -9.99808644e-01 -4.02739574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters 0.012499057894069509 Centerline is valid? [True, True] Translation: X:210.37, Y:-132.38, Z:-4.03 [[ 9.77588948e-01 -2.09540591e-01 -2.03123156e-02 2.10368601e+02] [-2.09494165e-01 -9.77799948e-01 4.41104200e-03 -1.32380260e+02] [-2.07856735e-02 -5.68743132e-05 -9.99783953e-01 -4.02675127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters 0.012504905638249063 Centerline is valid? [True, True] Translation: X:210.40, Y:-132.40, Z:-4.03 [[ 9.91993864e-01 -1.24803747e-01 -1.92924506e-02 2.10397822e+02] [-1.24776216e-01 -9.92181427e-01 2.62897479e-03 -1.32403419e+02] [-1.94697171e-02 -2.00687873e-04 -9.99810427e-01 -4.02742054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters 0.012611403874219983 Centerline is valid? [True, True] Translation: X:210.43, Y:-132.42, Z:-4.03 [[ 9.98826508e-01 -4.51239842e-02 -1.75907313e-02 2.10428301e+02] [-4.51132866e-02 -9.98981372e-01 1.00468304e-03 -1.32417237e+02] [-1.76181482e-02 -2.09928345e-04 -9.99844766e-01 -4.02803849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters 0.012266703825572324 Centerline is valid? [True, True] Translation: X:210.46, Y:-132.42, Z:-4.03 [[ 9.99391758e-01 3.06264538e-02 -1.66773449e-02 2.10458851e+02] [ 3.06247819e-02 -9.99530888e-01 -3.55692117e-04 -1.32424080e+02] [-1.66804150e-02 -1.55264281e-04 -9.99860860e-01 -4.02939599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters 0.011609905517978397 Centerline is valid? [True, True] Translation: X:210.49, Y:-132.43, Z:-4.03 [[ 9.94512634e-01 1.03535431e-01 -1.50011587e-02 2.10490906e+02] [ 1.03524567e-01 -9.94625764e-01 -1.50104724e-03 -1.32428990e+02] [-1.50759505e-02 -6.01780016e-05 -9.99886350e-01 -4.03051008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters 0.011449131116222894 Centerline is valid? [True, True] Translation: X:210.52, Y:-132.43, Z:-4.03 [[ 9.84004677e-01 1.77575146e-01 -1.42078473e-02 2.10522854e+02] [ 1.77556738e-01 -9.84107244e-01 -2.55680829e-03 -1.32431418e+02] [-1.44360710e-02 -6.78770112e-06 -9.99895795e-01 -4.03024010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters 0.011738521114212199 Centerline is valid? [True, True] Translation: X:210.55, Y:-132.43, Z:-4.03 [[ 9.68267338e-01 2.49496119e-01 -1.44930787e-02 2.10554270e+02] [ 2.49467197e-01 -9.68375796e-01 -3.79936972e-03 -1.32430096e+02] [-1.49826746e-02 6.32578882e-05 -9.99887751e-01 -4.02974962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters 0.012149773030719523 Centerline is valid? [True, True] Translation: X:210.59, Y:-132.43, Z:-4.03 [[ 9.46517162e-01 3.22254276e-01 -1.60450351e-02 2.10585700e+02] [ 3.22205978e-01 -9.46653141e-01 -5.58021044e-03 -1.32427273e+02] [-1.69873296e-02 1.11958710e-04 -9.99855699e-01 -4.02803222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters 0.012466885925720447 Centerline is valid? [True, True] Translation: X:210.62, Y:-132.42, Z:-4.03 [[ 9.19198017e-01 3.93496614e-01 -1.53434047e-02 2.10616875e+02] [ 3.93439173e-01 -9.19326054e-01 -6.72482408e-03 -1.32421237e+02] [-1.67517872e-02 1.44748507e-04 -9.99859669e-01 -4.02750295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters 0.012827634877447557 Centerline is valid? [True, True] Translation: X:210.64, Y:-132.41, Z:-4.03 [[ 8.86419110e-01 4.62690063e-01 -1.33815707e-02 2.10644726e+02] [ 4.62634658e-01 -8.86520096e-01 -7.16191009e-03 -1.32409816e+02] [-1.51767760e-02 1.57675592e-04 -9.99884814e-01 -4.02886153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters 0.012434048603161439 Centerline is valid? [True, True] Translation: X:210.67, Y:-132.40, Z:-4.03 [[ 8.47030823e-01 5.31432440e-01 -1.08787039e-02 2.10673795e+02] [ 5.31386743e-01 -8.47100671e-01 -6.97009507e-03 -1.32397805e+02] [-1.29194920e-02 1.23086345e-04 -9.99916532e-01 -4.02990419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters 0.011454115777033754 Centerline is valid? [True, True] Translation: X:210.70, Y:-132.39, Z:-4.03 [[ 8.01260290e-01 5.98250251e-01 -8.86480215e-03 2.10703711e+02] [ 5.98212581e-01 -8.01309323e-01 -6.71391914e-03 -1.32387646e+02] [-1.11200524e-02 7.65606255e-05 -9.99938167e-01 -4.03183725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters 0.01088558991354126 Centerline is valid? [True, True] Translation: X:210.74, Y:-132.38, Z:-4.03 [[ 7.48434387e-01 6.63171942e-01 -6.99601043e-03 2.10735418e+02] [ 6.63142797e-01 -7.48467084e-01 -6.21728876e-03 -1.32377761e+02] [-9.35941498e-03 1.38787719e-05 -9.99956200e-01 -4.03190060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters 0.010873832861651252 Centerline is valid? [True, True] Translation: X:210.77, Y:-132.36, Z:-4.03 [[ 6.90886768e-01 7.22933653e-01 -6.51210415e-03 2.10765431e+02] [ 7.22901947e-01 -6.90917457e-01 -6.77073654e-03 -1.32364491e+02] [-9.39411974e-03 -2.98004875e-05 -9.99955874e-01 -4.03126917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters 0.011455841934635117 Centerline is valid? [True, True] Translation: X:210.80, Y:-132.35, Z:-4.03 [[ 6.26604701e-01 7.79319097e-01 -5.31927380e-03 2.10795665e+02] [ 7.79292182e-01 -6.26627272e-01 -6.47739600e-03 -1.32350278e+02] [-8.38116043e-03 -8.65017046e-05 -9.99964874e-01 -4.03034499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters 0.011924425712308227 Centerline is valid? [True, True] Translation: X:210.82, Y:-132.33, Z:-4.03 [[ 5.62012936e-01 8.27115009e-01 -4.71397855e-03 2.10820770e+02] [ 8.27087412e-01 -5.62032697e-01 -6.75724241e-03 -1.32331104e+02] [-8.23842669e-03 -1.01214678e-04 -9.99966058e-01 -4.02977358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters 0.012540915843449284 Centerline is valid? [True, True] Translation: X:210.85, Y:-132.31, Z:-4.03 [[ 4.92686540e-01 8.70196494e-01 -4.24678251e-03 2.10845393e+02] [ 8.70166422e-01 -4.92704825e-01 -7.23559207e-03 -1.32309901e+02] [-8.38879708e-03 -1.30528720e-04 -9.99964805e-01 -4.02853066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters 0.0126105338479368 Centerline is valid? [True, True] Translation: X:210.87, Y:-132.29, Z:-4.03 [[ 4.22491652e-01 9.06362637e-01 -2.75225932e-03 2.10865435e+02] [ 9.06344948e-01 -4.22500604e-01 -5.66347184e-03 -1.32285596e+02] [-6.29599049e-03 -1.01726756e-04 -9.99980175e-01 -4.02771067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters 0.012557953970727351 Centerline is valid? [True, True] Translation: X:210.88, Y:-132.26, Z:-4.03 [[ 3.50893992e-01 9.36413362e-01 -1.84982326e-03 2.10881523e+02] [ 9.36401498e-01 -3.50898859e-01 -4.71441507e-03 -1.32258889e+02] [-5.06374214e-03 -7.79173505e-05 -9.99987176e-01 -4.02906693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters 0.012711289087499219 Centerline is valid? [True, True] Translation: X:210.89, Y:-132.23, Z:-4.03 [[ 2.78204112e-01 9.60520890e-01 -1.44631740e-03 2.10894199e+02] [ 9.60509145e-01 -2.78207863e-01 -4.75050925e-03 -1.32232049e+02] [-4.96534025e-03 -6.75898812e-05 -9.99987670e-01 -4.02835198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters 0.012160339994530396 Centerline is valid? [True, True] Translation: X:210.91, Y:-132.20, Z:-4.03 [[ 2.02001576e-01 9.79384625e-01 -1.05811515e-03 2.10905432e+02] [ 9.79372881e-01 -2.02004336e-01 -4.79664388e-03 -1.32204332e+02] [-4.91150311e-03 -6.73596579e-05 -9.99987936e-01 -4.02742426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters 0.012560979421315429 Centerline is valid? [True, True] Translation: X:210.92, Y:-132.18, Z:-4.03 [[ 1.24171839e-01 9.92260530e-01 -6.28289727e-04 2.10915262e+02] [ 9.92250321e-01 -1.24173412e-01 -4.50149766e-03 -1.32177333e+02] [-4.54467533e-03 -6.44614403e-05 -9.99989671e-01 -4.02712286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters 0.013536533641689897 Centerline is valid? [True, True] Translation: X:210.92, Y:-132.15, Z:-4.03 [[ 4.58971486e-02 9.98946128e-01 -2.90746585e-04 2.10921917e+02] [ 9.98934534e-01 -4.58980168e-02 -4.81346154e-03 -1.32149820e+02] [-4.82173346e-03 -6.95126454e-05 -9.99988373e-01 -4.02566927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters 0.012492781079839912 Centerline is valid? [True, True] Translation: X:210.93, Y:-132.12, Z:-4.03 [[-3.25801961e-02 9.99469120e-01 9.07386017e-05 2.10925770e+02] [ 9.99456517e-01 3.25802410e-02 -5.01987931e-03 -1.32120549e+02] [-5.02017064e-03 -7.28593655e-05 -9.99987396e-01 -4.02604543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters 0.012911762112122624 Centerline is valid? [True, True] Translation: X:210.93, Y:-132.09, Z:-4.03 [[-1.11784410e-01 9.93732294e-01 6.11308261e-04 2.10927146e+02] [ 9.93712199e-01 1.11786038e-01 -6.32043677e-03 -1.32091886e+02] [-6.34915786e-03 -9.90618212e-05 -9.99979839e-01 -4.02515137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters 0.012912153483534193 Centerline is valid? [True, True] Translation: X:210.93, Y:-132.06, Z:-4.02 [[-1.90304977e-01 9.81724140e-01 1.31504173e-03 2.10930486e+02] [ 9.81695912e-01 1.90309479e-01 -7.44569775e-03 -1.32063187e+02] [-7.55988613e-03 -1.25982251e-04 -9.99971416e-01 -4.02383992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters 0.013701646439127167 Centerline is valid? [True, True] Translation: X:210.93, Y:-132.03, Z:-4.02 [[-2.69731997e-01 9.62932678e-01 2.30397868e-03 2.10932858e+02] [ 9.62891540e-01 2.69741775e-01 -8.90264160e-03 -1.32033507e+02] [-9.19412381e-03 -1.82845717e-04 -9.99957716e-01 -4.02187523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters 0.014259125466604248 Centerline is valid? [True, True] Translation: X:210.93, Y:-132.00, Z:-4.02 [[-3.45549951e-01 9.38395817e-01 2.91919452e-03 2.10931980e+02] [ 9.38357551e-01 3.45562229e-01 -8.47657712e-03 -1.32004566e+02] [-8.96314788e-03 -1.89832587e-04 -9.99959812e-01 -4.02318514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters 0.013939070138556674 Centerline is valid? [True, True] Translation: X:210.93, Y:-131.97, Z:-4.02 [[-4.17173878e-01 9.08818656e-01 3.82170108e-03 2.10930502e+02] [ 9.08776163e-01 4.17191338e-01 -8.79052156e-03 -1.31974903e+02] [-9.58337058e-03 -1.94105125e-04 -9.99954060e-01 -4.02312460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters 0.014120282974677666 Centerline is valid? [True, True] Translation: X:210.93, Y:-131.95, Z:-4.02 [[-4.86329853e-01 8.73762331e-01 4.76056370e-03 2.10926016e+02] [ 8.73716439e-01 4.86353112e-01 -8.95738093e-03 -1.31946846e+02] [-1.01419370e-02 -1.96858985e-04 -9.99948550e-01 -4.02293204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters 0.01435556312184056 Centerline is valid? [True, True] Translation: X:210.92, Y:-131.92, Z:-4.03 [[-5.54511969e-01 8.32162053e-01 4.77424312e-03 2.10917642e+02] [ 8.32128280e-01 5.54532491e-01 -7.49955685e-03 -1.31918767e+02] [-8.88831955e-03 -1.85811326e-04 -9.99960481e-01 -4.02555816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters 0.015416855339913072 Centerline is valid? [True, True] Translation: X:210.91, Y:-131.89, Z:-4.03 [[-6.19060111e-01 7.85331835e-01 4.29975895e-03 2.10908817e+02] [ 7.85311082e-01 6.19075022e-01 -5.71143310e-03 -1.31892364e+02] [-7.14724360e-03 -1.59072056e-04 -9.99974446e-01 -4.02674642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters 0.015356792276651774 Centerline is valid? [True, True] Translation: X:210.90, Y:-131.87, Z:-4.03 [[-6.79065611e-01 7.34061340e-01 4.88314863e-03 2.10895103e+02] [ 7.34040559e-01 6.79083147e-01 -5.52601789e-03 -1.31867077e+02] [-7.37250004e-03 -1.68099564e-04 -9.99972809e-01 -4.02503287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters 0.01446954421826609 Centerline is valid? [True, True] Translation: X:210.88, Y:-131.84, Z:-4.02 [[-7.32154927e-01 6.81117168e-01 5.34470549e-03 2.10878382e+02] [ 6.81097573e-01 7.32174421e-01 -5.16852353e-03 -1.31843727e+02] [-7.43362675e-03 -1.43894029e-04 -9.99972360e-01 -4.02491116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters 0.014049549989636425 Centerline is valid? [True, True] Translation: X:210.90, Y:-131.83, Z:-4.02 [[-7.77041139e-01 6.29422878e-01 5.82314760e-03 2.10897155e+02] [ 6.29403951e-01 7.77062948e-01 -4.88289265e-03 -1.31825626e+02] [-7.59835658e-03 -1.29096362e-04 -9.99971124e-01 -4.02453325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters 0.014238037128013406 Centerline is valid? [True, True] Translation: X:211.35, Y:-131.29, Z:-5.02 [[-7.09609228e-01 -7.04575927e-01 5.24467617e-03 2.11351254e+02] [ 7.04557775e-01 -7.09628602e-01 -5.05854837e-03 -1.31291634e+02] [ 7.28590362e-03 1.05584772e-04 9.99973452e-01 -5.01662147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters 0.01464791535944084 Centerline is valid? [True, True] Translation: X:211.33, Y:-131.32, Z:-5.02 [[-6.59938728e-01 -7.51308478e-01 4.05553212e-03 2.11333775e+02] [ 7.51295270e-01 -6.59951180e-01 -4.45609903e-03 -1.31316693e+02] [ 6.02435819e-03 1.06149778e-04 9.99981848e-01 -5.01579827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters 0.013872435465868426 Centerline is valid? [True, True] Translation: X:211.30, Y:-131.27, Z:-5.02 [[-6.60574841e-01 -7.50748053e-01 4.27096626e-03 2.11297631e+02] [ 7.50733405e-01 -6.60588639e-01 -4.69088462e-03 -1.31272466e+02] [ 6.34302428e-03 1.07676690e-04 9.99979877e-01 -5.01552660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters 0.01356463385919153 Centerline is valid? [True, True] Translation: X:211.26, Y:-131.23, Z:-5.02 [[-6.62000112e-01 -7.49492097e-01 4.17723111e-03 2.11260346e+02] [ 7.49478078e-01 -6.62013284e-01 -4.58499108e-03 -1.31228919e+02] [ 6.20179706e-03 9.54785350e-05 9.99980764e-01 -5.01559054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters 0.013445548182664973 Centerline is valid? [True, True] Translation: X:211.22, Y:-131.19, Z:-5.01 [[-6.62325168e-01 -7.49203632e-01 4.39194490e-03 2.11221526e+02] [ 7.49188148e-01 -6.62339722e-01 -4.81789323e-03 -1.31185763e+02] [ 6.51854267e-03 9.93811225e-05 9.99978749e-01 -5.01490999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters 0.013363039583580658 Centerline is valid? [True, True] Translation: X:211.18, Y:-131.15, Z:-5.02 [[-6.63494668e-01 -7.48166511e-01 4.65804988e-03 2.11180703e+02] [ 7.48149090e-01 -6.63511011e-01 -5.10654716e-03 -1.31145184e+02] [ 6.91121496e-03 9.67489754e-05 9.99976113e-01 -5.01706742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters 0.012982571180642381 Centerline is valid? [True, True] Translation: X:211.14, Y:-131.10, Z:-5.02 [[-6.65707047e-01 -7.46192497e-01 5.55737415e-03 2.11143304e+02] [ 7.46167663e-01 -6.65730237e-01 -6.08858793e-03 -1.31101247e+02] [ 8.24297065e-03 9.35169869e-05 9.99966022e-01 -5.01706203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters 0.012571512935955067 Centerline is valid? [True, True] Translation: X:211.11, Y:-131.06, Z:-5.02 [[-6.68403221e-01 -7.43779251e-01 5.43693159e-03 2.11105817e+02] [ 7.43755428e-01 -6.68425330e-01 -5.95328503e-03 -1.31058587e+02] [ 8.06211268e-03 6.45524922e-05 9.99967499e-01 -5.01706711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters 0.012066017251647562 Centerline is valid? [True, True] Translation: X:211.07, Y:-131.01, Z:-5.02 [[-6.74536839e-01 -7.38230487e-01 3.97494029e-03 2.11070050e+02] [ 7.38217671e-01 -6.74548551e-01 -4.35006923e-03 -1.31012808e+02] [ 5.89264394e-03 8.92143166e-08 9.99982638e-01 -5.01528499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters 0.01315889055771569 Centerline is valid? [True, True] Translation: X:211.04, Y:-130.97, Z:-5.01 [[-6.81746072e-01 -7.31582882e-01 2.96302247e-03 2.11036148e+02] [ 7.31575703e-01 -6.81752510e-01 -3.24135325e-03 -1.30967135e+02] [ 4.39136656e-03 -4.21045945e-05 9.99990357e-01 -5.01423099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters 0.014141152903515673 Centerline is valid? [True, True] Translation: X:211.00, Y:-130.92, Z:-5.01 [[-6.87246887e-01 -7.26416278e-01 3.33282526e-03 2.10998907e+02] [ 7.26407143e-01 -6.87254963e-01 -3.64382912e-03 -1.30922135e+02] [ 4.93743749e-03 -8.32221394e-05 9.99987807e-01 -5.01409431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters 0.014802173109368343 Centerline is valid? [True, True] Translation: X:210.96, Y:-130.88, Z:-5.01 [[-6.89482382e-01 -7.24293612e-01 3.57884434e-03 2.10959515e+02] [ 7.24283063e-01 -6.89491662e-01 -3.91059814e-03 -1.30878930e+02] [ 5.30000459e-03 -1.04192187e-04 9.99985949e-01 -5.01470736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters 0.01482391989492162 Centerline is valid? [True, True] Translation: X:210.92, Y:-130.84, Z:-5.02 [[-6.90135990e-01 -7.23667632e-01 4.18008445e-03 2.10919611e+02] [ 7.23653245e-01 -6.90148638e-01 -4.56496808e-03 -1.30836924e+02] [ 6.18839923e-03 -1.25517090e-04 9.99980844e-01 -5.01563358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters 0.014833734889823993 Centerline is valid? [True, True] Translation: X:210.88, Y:-130.80, Z:-5.02 [[-6.89818719e-01 -7.23945768e-01 7.25673708e-03 2.10879212e+02] [ 7.23902473e-01 -6.89856856e-01 -7.92008720e-03 -1.30795799e+02] [ 1.07398234e-02 -2.10254488e-04 9.99942304e-01 -5.01786372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters 0.01468021821676968 Centerline is valid? [True, True] Translation: X:210.84, Y:-130.76, Z:-5.02 [[-6.88337036e-01 -7.25343624e-01 8.29169439e-03 2.10838082e+02] [ 7.25287271e-01 -6.88386942e-01 -9.04389860e-03 -1.30756061e+02] [ 1.22678283e-02 -2.11389961e-04 9.99924725e-01 -5.01931726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters 0.013964167971848518 Centerline is valid? [True, True] Translation: X:210.79, Y:-130.72, Z:-5.02 [[-6.84355757e-01 -7.29100276e-01 8.36564988e-03 2.10793440e+02] [ 7.29043252e-01 -6.84406872e-01 -9.11973513e-03 -1.30720029e+02] [ 1.23747097e-02 -1.42222651e-04 9.99923420e-01 -5.02099345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters 0.012925744623543435 Centerline is valid? [True, True] Translation: X:210.75, Y:-130.68, Z:-5.02 [[-6.80261095e-01 -7.32932607e-01 7.39158780e-03 2.10747843e+02] [ 7.32888361e-01 -6.80301249e-01 -8.05362163e-03 -1.30682431e+02] [ 1.09312683e-02 -6.13568060e-05 9.99940250e-01 -5.01999009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters 0.012574185265048131 Centerline is valid? [True, True] Translation: X:210.70, Y:-130.65, Z:-5.02 [[-6.74458809e-01 -7.38282792e-01 6.62065191e-03 2.10702446e+02] [ 7.38247595e-01 -6.74491303e-01 -7.20904787e-03 -1.30645796e+02] [ 9.78788813e-03 2.54745038e-05 9.99952097e-01 -5.01859170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters 0.01309946073922023 Centerline is valid? [True, True] Translation: X:210.66, Y:-130.61, Z:-5.02 [[-6.69451174e-01 -7.42828933e-01 6.34831036e-03 2.10657661e+02] [ 7.42796812e-01 -6.69481267e-01 -6.90860738e-03 -1.30608182e+02] [ 9.38198832e-03 9.05293735e-05 9.99955984e-01 -5.01828989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters 0.014179708300261665 Centerline is valid? [True, True] Translation: X:210.61, Y:-130.57, Z:-5.02 [[-6.64428728e-01 -7.47327678e-01 5.98389186e-03 2.10612631e+02] [ 7.47299352e-01 -6.64455657e-01 -6.50833125e-03 -1.30570747e+02] [ 8.83988687e-03 1.47436253e-04 9.99960917e-01 -5.01780732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters 0.016696786573272344 Centerline is valid? [True, True] Translation: X:210.57, Y:-130.54, Z:-5.02 [[-6.58791556e-01 -7.52295573e-01 6.71246272e-03 2.10566653e+02] [ 7.52260218e-01 -6.58825707e-01 -7.29734923e-03 -1.30536220e+02] [ 9.91210652e-03 2.42086621e-04 9.99950845e-01 -5.02021231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters 0.017393666017667907 Centerline is valid? [True, True] Translation: X:210.52, Y:-130.50, Z:-5.02 [[-6.55639213e-01 -7.55029585e-01 8.21875965e-03 2.10523993e+02] [ 7.54976859e-01 -6.55690630e-01 -8.92970270e-03 -1.30496499e+02] [ 1.21311534e-02 3.50310094e-04 9.99926354e-01 -5.02185217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters 0.01741443826781183 Centerline is valid? [True, True] Translation: X:210.48, Y:-130.46, Z:-5.02 [[-6.55156853e-01 -7.55435358e-01 9.32291760e-03 2.10483312e+02] [ 7.55367634e-01 -6.55223055e-01 -1.01235235e-02 -1.30455203e+02] [ 1.37562582e-02 4.09734382e-04 9.99905294e-01 -5.02376750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters 0.017637712788775614 Centerline is valid? [True, True] Translation: X:210.44, Y:-130.41, Z:-5.02 [[-6.56900952e-01 -7.53921646e-01 9.12637553e-03 2.10444352e+02] [ 7.53856677e-01 -6.56964239e-01 -9.90447642e-03 -1.30412843e+02] [ 1.34629015e-02 3.73719145e-04 9.99909301e-01 -5.02313206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters 0.015504201695659282 Centerline is valid? [True, True] Translation: X:210.41, Y:-130.37, Z:-5.02 [[-6.62187680e-01 -7.49296387e-01 7.89945123e-03 2.10409658e+02] [ 7.49247442e-01 -6.62234750e-01 -8.56778091e-03 -1.30366589e+02] [ 1.16510984e-02 2.45164663e-04 9.99932094e-01 -5.02119768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters 0.013956101780618011 Centerline is valid? [True, True] Translation: X:210.38, Y:-130.32, Z:-5.02 [[-6.67178751e-01 -7.44863986e-01 7.08216922e-03 2.10375300e+02] [ 7.44824441e-01 -6.67216321e-01 -7.67680943e-03 -1.30319795e+02] [ 1.04435178e-02 1.53168603e-04 9.99945453e-01 -5.01926732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters 0.013048770010682916 Centerline is valid? [True, True] Translation: X:210.34, Y:-130.27, Z:-5.02 [[-6.74554598e-01 -7.38187604e-01 7.42663112e-03 2.10342212e+02] [ 7.38143756e-01 -6.74595477e-01 -8.04594926e-03 -1.30272457e+02] [ 1.09493918e-02 5.44893192e-05 9.99940052e-01 -5.02069309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters 0.01301668159452539 Centerline is valid? [True, True] Translation: X:210.31, Y:-130.23, Z:-5.02 [[-6.79314353e-01 -7.33805092e-01 7.88012646e-03 2.10308378e+02] [ 7.33755491e-01 -6.79360057e-01 -8.53190276e-03 -1.30226433e+02] [ 1.16141969e-02 -1.37579502e-05 9.99932553e-01 -5.01965036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters 0.01338518476856071 Centerline is valid? [True, True] Translation: X:210.27, Y:-130.18, Z:-5.02 [[-6.84387561e-01 -7.29056654e-01 9.49011802e-03 2.10272696e+02] [ 7.28984304e-01 -6.84453346e-01 -1.02713572e-02 -1.30180501e+02] [ 1.39839443e-02 -1.11441997e-04 9.99902214e-01 -5.02120940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters 0.014265136914302002 Centerline is valid? [True, True] Translation: X:210.24, Y:-130.13, Z:-5.02 [[-6.87301828e-01 -7.26278833e-01 1.16298695e-02 2.10239752e+02] [ 7.26169885e-01 -6.87400186e-01 -1.25810345e-02 -1.30133903e+02] [ 1.71317135e-02 -2.01706999e-04 9.99853221e-01 -5.02280759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters 0.014678141573938186 Centerline is valid? [True, True] Translation: X:210.20, Y:-130.09, Z:-5.02 [[-6.88685582e-01 -7.24973857e-01 1.11837710e-02 2.10203686e+02] [ 7.24873060e-01 -6.88776349e-01 -1.20908047e-02 -1.30088763e+02] [ 1.64686343e-02 -2.19948530e-04 9.99864359e-01 -5.02177315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters 0.014319200736879974 Centerline is valid? [True, True] Translation: X:210.17, Y:-130.05, Z:-5.02 [[-6.88857362e-01 -7.24825806e-01 1.01531200e-02 2.10165182e+02] [ 7.24742810e-01 -6.88932153e-01 -1.09703078e-02 -1.30045017e+02] [ 1.49463730e-02 -1.98576566e-04 9.99888277e-01 -5.01948101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters 0.013964263710244559 Centerline is valid? [True, True] Translation: X:210.13, Y:-130.00, Z:-5.02 [[-6.87429646e-01 -7.26197936e-01 8.77728252e-03 2.10127213e+02] [ 7.26136090e-01 -6.87485664e-01 -9.47841210e-03 -1.30000852e+02] [ 1.29174592e-02 -1.42239855e-04 9.99916556e-01 -5.01774482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters 0.013183589838834173 Centerline is valid? [True, True] Translation: X:210.09, Y:-129.96, Z:-5.02 [[-6.83638399e-01 -7.29779121e-01 7.80862469e-03 2.10086804e+02] [ 7.29730456e-01 -6.83682990e-01 -8.42798952e-03 -1.29958333e+02] [ 1.14891947e-02 -6.35060000e-05 9.99933995e-01 -5.01632830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters 0.012802917997417881 Centerline is valid? [True, True] Translation: X:210.04, Y:-129.92, Z:-5.02 [[-6.77684387e-01 -7.35312444e-01 7.71239029e-03 2.10044997e+02] [ 7.35265385e-01 -6.77728271e-01 -8.31889685e-03 -1.29919343e+02] [ 1.13438933e-02 3.30671043e-05 9.99935655e-01 -5.01519959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters 0.013886116855193448 Centerline is valid? [True, True] Translation: X:210.00, Y:-129.88, Z:-5.02 [[-6.69920414e-01 -7.42391143e-01 7.87591399e-03 2.09999739e+02] [ 7.42342606e-01 -6.69966690e-01 -8.49053631e-03 -1.29881840e+02] [ 1.15798990e-02 1.58642922e-04 9.99932938e-01 -5.01579893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters 0.015435683715845309 Centerline is valid? [True, True] Translation: X:209.96, Y:-129.84, Z:-5.02 [[-6.64383556e-01 -7.47358177e-01 7.08837654e-03 2.09956187e+02] [ 7.47319188e-01 -6.64421331e-01 -7.63718319e-03 -1.29843064e+02] [ 1.04173799e-02 2.23260868e-04 9.99945713e-01 -5.01517266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters 0.016514267293347304 Centerline is valid? [True, True] Translation: X:209.92, Y:-129.80, Z:-5.02 [[-6.62783203e-01 -7.48779629e-01 6.89146298e-03 2.09915991e+02] [ 7.48742885e-01 -6.62818986e-01 -7.42179017e-03 -1.29803104e+02] [ 1.01250778e-02 2.40896018e-04 9.99948711e-01 -5.01570896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters 0.016873637948644552 Centerline is valid? [True, True] Translation: X:209.88, Y:-129.76, Z:-5.01 [[-6.62691123e-01 -7.48862728e-01 6.71484559e-03 2.09878637e+02] [ 7.48827892e-01 -6.62725099e-01 -7.22710775e-03 -1.29759795e+02] [ 9.86220834e-03 2.38923511e-04 9.99951339e-01 -5.01445346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters 0.016026271104260508 Centerline is valid? [True, True] Translation: X:209.84, Y:-129.72, Z:-5.01 [[-6.62942107e-01 -7.48638165e-01 6.97574072e-03 2.09841547e+02] [ 7.48600605e-01 -6.62978761e-01 -7.50310787e-03 -1.29715734e+02] [ 1.02418808e-02 2.47917584e-04 9.99947520e-01 -5.01384132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters 0.01616132849101744 Centerline is valid? [True, True] Translation: X:209.80, Y:-129.67, Z:-5.02 [[-6.62462729e-01 -7.49044938e-01 8.64947547e-03 2.09802664e+02] [ 7.48987294e-01 -6.62519116e-01 -9.29804566e-03 -1.29672612e+02] [ 1.26950969e-02 3.18738518e-04 9.99919363e-01 -5.01531259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters 0.01830465351204012 Centerline is valid? [True, True] Translation: X:209.76, Y:-129.63, Z:-5.02 [[-6.62398371e-01 -7.49093673e-01 9.33101572e-03 2.09761505e+02] [ 7.49026674e-01 -6.62463997e-01 -1.00246804e-02 -1.29632554e+02] [ 1.36908866e-02 3.48847723e-04 9.99906215e-01 -5.01827411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters 0.016378532983131223 Centerline is valid? [True, True] Translation: X:209.73, Y:-129.59, Z:-5.02 [[-6.62272139e-01 -7.49184735e-01 1.08557140e-02 2.09725691e+02] [ 7.49094169e-01 -6.62360976e-01 -1.16560736e-02 -1.29586438e+02] [ 1.59229538e-02 4.12459214e-04 9.99873137e-01 -5.01797807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters 0.016354415717111107 Centerline is valid? [True, True] Translation: X:209.69, Y:-129.54, Z:-5.02 [[-6.63149630e-01 -7.48390227e-01 1.20265075e-02 2.09688761e+02] [ 7.48279084e-01 -6.63258527e-01 -1.29049574e-02 -1.29542040e+02] [ 1.76346276e-02 4.41266246e-04 9.99844401e-01 -5.01897633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters 0.015529545414297135 Centerline is valid? [True, True] Translation: X:209.65, Y:-129.50, Z:-5.02 [[-6.65405944e-01 -7.46392120e-01 1.15642639e-02 2.09652768e+02] [ 7.46289176e-01 -6.65506318e-01 -1.24018534e-02 -1.29496537e+02] [ 1.69527363e-02 3.78017980e-04 9.99856221e-01 -5.01764603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters 0.01477212304505366 Centerline is valid? [True, True] Translation: X:209.62, Y:-129.45, Z:-5.02 [[-6.68573225e-01 -7.43569720e-01 1.06730662e-02 2.09616790e+02] [ 7.43481767e-01 -6.68658350e-01 -1.14399347e-02 -1.29450134e+02] [ 1.56430239e-02 2.86796135e-04 9.99877599e-01 -5.01616663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters 0.014033837386152834 Centerline is valid? [True, True] Translation: X:209.58, Y:-129.41, Z:-5.01 [[-6.70836642e-01 -7.41555495e-01 8.58180401e-03 2.09579172e+02] [ 7.41498510e-01 -6.70891503e-01 -9.19514867e-03 -1.29405182e+02] [ 1.25761724e-02 1.94952228e-04 9.99920898e-01 -5.01291276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters 0.013410706810853682 Centerline is valid? [True, True] Translation: X:209.54, Y:-129.36, Z:-5.01 [[-6.71868325e-01 -7.40626239e-01 8.10733322e-03 2.09540493e+02] [ 7.40575369e-01 -6.71917216e-01 -8.68207061e-03 -1.29361101e+02] [ 1.18776261e-02 1.70883051e-04 9.99929444e-01 -5.01145935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters 0.013334301799437962 Centerline is valid? [True, True] Translation: X:209.50, Y:-129.32, Z:-5.01 [[-6.73431689e-01 -7.39202776e-01 8.30753530e-03 2.09501715e+02] [ 7.39149327e-01 -6.73482911e-01 -8.89047346e-03 -1.29319891e+02] [ 1.21668457e-02 1.53382571e-04 9.99925969e-01 -5.01198681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters 0.01336143281005017 Centerline is valid? [True, True] Translation: X:209.46, Y:-129.28, Z:-5.01 [[-6.74127847e-01 -7.38550246e-01 9.75601913e-03 2.09461345e+02] [ 7.38476547e-01 -6.74198417e-01 -1.04347797e-02 -1.29277843e+02] [ 1.42841018e-02 1.70215729e-04 9.99897963e-01 -5.01411433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters 0.01322218732225425 Centerline is valid? [True, True] Translation: X:209.42, Y:-129.24, Z:-5.01 [[-6.74240253e-01 -7.38449495e-01 9.61379570e-03 2.09422117e+02] [ 7.38378011e-01 -6.74308768e-01 -1.02761006e-02 -1.29236333e+02] [ 1.40710480e-02 1.70054664e-04 9.99900983e-01 -5.01311325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters 0.01299900677504586 Centerline is valid? [True, True] Translation: X:209.38, Y:-129.20, Z:-5.01 [[-6.74218299e-01 -7.38477194e-01 9.00659107e-03 2.09381503e+02] [ 7.38414532e-01 -6.74278434e-01 -9.62144201e-03 -1.29195123e+02] [ 1.31781656e-02 1.63645462e-04 9.99913151e-01 -5.01161917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters 0.012828588088468863 Centerline is valid? [True, True] Translation: X:209.34, Y:-129.15, Z:-5.01 [[-6.75664048e-01 -7.37156414e-01 8.86092770e-03 2.09340211e+02] [ 7.37095719e-01 -6.75722134e-01 -9.46039423e-03 -1.29154204e+02] [ 1.29613153e-02 1.39303616e-04 9.99915989e-01 -5.01270161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters 0.01276521609752485 Centerline is valid? [True, True] Translation: X:209.30, Y:-129.11, Z:-5.01 [[-6.77297241e-01 -7.35653436e-01 9.08126933e-03 2.09300854e+02] [ 7.35589622e-01 -6.77358110e-01 -9.69013657e-03 -1.29111151e+02] [ 1.32798537e-02 1.16984712e-04 9.99911812e-01 -5.01380918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters 0.012311889883492248 Centerline is valid? [True, True] Translation: X:209.26, Y:-129.07, Z:-5.01 [[-6.81217985e-01 -7.32038247e-01 7.87787052e-03 2.09264316e+02] [ 7.31990037e-01 -6.81263534e-01 -8.40135244e-03 -1.29065474e+02] [ 1.15170172e-02 4.33703472e-05 9.99933676e-01 -5.01187859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters 0.012228631778269406 Centerline is valid? [True, True] Translation: X:209.23, Y:-129.02, Z:-5.01 [[-6.83613849e-01 -7.29804282e-01 7.60358304e-03 2.09225150e+02] [ 7.29759284e-01 -6.83656134e-01 -8.10415213e-03 -1.29022113e+02] [ 1.11126811e-02 8.67468520e-06 9.99938252e-01 -5.01185365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters 0.012379326779633274 Centerline is valid? [True, True] Translation: X:209.19, Y:-128.98, Z:-5.01 [[-6.85117908e-01 -7.28406254e-01 6.14673554e-03 2.09185515e+02] [ 7.28376826e-01 -6.85145481e-01 -6.54755017e-03 -1.28980862e+02] [ 8.98068457e-03 -8.70415262e-06 9.99959673e-01 -5.01239897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters 0.012426394202649167 Centerline is valid? [True, True] Translation: X:209.15, Y:-128.94, Z:-5.01 [[-6.86205061e-01 -7.27390721e-01 5.03519987e-03 2.09146226e+02] [ 7.27370969e-01 -6.86223534e-01 -5.36049665e-03 -1.28938634e+02] [ 7.35444817e-03 -1.59417161e-05 9.99972956e-01 -5.01058967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters 0.012589589598259145 Centerline is valid? [True, True] Translation: X:209.11, Y:-128.90, Z:-5.01 [[-6.87020491e-01 -7.26617411e-01 5.47564532e-03 2.09107232e+02] [ 7.26594057e-01 -6.87042311e-01 -5.82573962e-03 -1.28896130e+02] [ 7.99508385e-03 -2.38311496e-05 9.99968039e-01 -5.01113750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters 0.01286484099443596 Centerline is valid? [True, True] Translation: X:209.07, Y:-128.86, Z:-5.01 [[-6.88230281e-01 -7.25466467e-01 6.12248054e-03 2.09065674e+02] [ 7.25437261e-01 -6.88257512e-01 -6.50979900e-03 -1.28855941e+02] [ 8.93648411e-03 -3.87652816e-05 9.99960068e-01 -5.01403749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters 0.013041025555642936 Centerline is valid? [True, True] Translation: X:209.03, Y:-128.81, Z:-5.01 [[-6.89978364e-01 -7.23818554e-01 4.06923869e-03 2.09028680e+02] [ 7.23805640e-01 -6.89990362e-01 -4.32381154e-03 -1.28813981e+02] [ 5.93739049e-03 -3.79984991e-05 9.99982373e-01 -5.01248688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters 0.01316984422968609 Centerline is valid? [True, True] Translation: X:208.99, Y:-128.77, Z:-5.01 [[-6.91409869e-01 -7.22447697e-01 4.66023919e-03 2.08989003e+02] [ 7.22430745e-01 -6.91425572e-01 -4.94933773e-03 -1.28773370e+02] [ 6.79784620e-03 -5.53208817e-05 9.99976893e-01 -5.01300390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters 0.013518156086811443 Centerline is valid? [True, True] Translation: X:208.95, Y:-128.73, Z:-5.01 [[-6.92653488e-01 -7.21253745e-01 4.91744754e-03 2.08948720e+02] [ 7.21234864e-01 -6.92670940e-01 -5.21922590e-03 -1.28732902e+02] [ 7.17055924e-03 -6.84804220e-05 9.99974289e-01 -5.01452777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters 0.013687270442604973 Centerline is valid? [True, True] Translation: X:208.91, Y:-128.69, Z:-5.01 [[-6.93859080e-01 -7.20095122e-01 4.75323354e-03 2.08906857e+02] [ 7.20077473e-01 -6.93875356e-01 -5.04207153e-03 -1.28692901e+02] [ 6.92892273e-03 -7.57907078e-05 9.99975992e-01 -5.01434394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters 0.01375128154864163 Centerline is valid? [True, True] Translation: X:208.87, Y:-128.65, Z:-5.02 [[-6.93751372e-01 -7.20190082e-01 5.93964272e-03 2.08866986e+02] [ 7.20162562e-01 -6.93776792e-01 -6.29660509e-03 -1.28652331e+02] [ 8.65553880e-03 -9.07700995e-05 9.99962536e-01 -5.01557735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters 0.01349478071002066 Centerline is valid? [True, True] Translation: X:208.83, Y:-128.61, Z:-5.02 [[-6.92226764e-01 -7.21649850e-01 6.60317534e-03 2.08825261e+02] [ 7.21615946e-01 -6.92258252e-01 -6.99562705e-03 -1.28612398e+02] [ 9.61949583e-03 -7.76036549e-05 9.99953729e-01 -5.01561285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters 0.01332868241166389 Centerline is valid? [True, True] Translation: X:208.78, Y:-128.57, Z:-5.02 [[-6.90428856e-01 -7.23372411e-01 6.35220812e-03 2.08784524e+02] [ 7.23341148e-01 -6.90458075e-01 -6.72536097e-03 -1.28573666e+02] [ 9.25087396e-03 -4.85697668e-05 9.99957209e-01 -5.01623244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters 0.013093629925135337 Centerline is valid? [True, True] Translation: X:208.74, Y:-128.54, Z:-5.02 [[-6.85742735e-01 -7.27821589e-01 5.71281492e-03 2.08740318e+02] [ 7.27796487e-01 -6.85766531e-01 -6.04472751e-03 -1.28536783e+02] [ 8.31714045e-03 1.26386558e-05 9.99965412e-01 -5.01566723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters 0.013094984012375842 Centerline is valid? [True, True] Translation: X:208.70, Y:-128.50, Z:-5.01 [[-6.83223850e-01 -7.30197708e-01 4.05915769e-03 2.08698022e+02] [ 7.30185094e-01 -6.83235908e-01 -4.29227165e-03 -1.28498043e+02] [ 5.90756921e-03 3.13540775e-05 9.99982550e-01 -5.01383596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters 0.013397831221583334 Centerline is valid? [True, True] Translation: X:208.66, Y:-128.46, Z:-5.01 [[-6.81078655e-01 -7.32202673e-01 3.33345662e-03 2.08656636e+02] [ 7.32194200e-01 -6.81086811e-01 -3.52267203e-03 -1.28458433e+02] [ 4.84968322e-03 4.15208736e-05 9.99988239e-01 -5.01249606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters 0.014107863528796496 Centerline is valid? [True, True] Translation: X:208.61, Y:-128.42, Z:-5.01 [[-6.78721955e-01 -7.34385851e-01 3.73226211e-03 2.08613537e+02] [ 7.34375275e-01 -6.78732213e-01 -3.94180038e-03 -1.28420936e+02] [ 5.42800894e-03 6.54945552e-05 9.99985266e-01 -5.01406005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters 0.014005066099721466 Centerline is valid? [True, True] Translation: X:208.57, Y:-128.38, Z:-5.01 [[-6.77564390e-01 -7.35450100e-01 4.43248334e-03 2.08572384e+02] [ 7.35435223e-01 -6.77578882e-01 -4.67876852e-03 -1.28379718e+02] [ 6.44435788e-03 8.96374341e-05 9.99979231e-01 -5.01482594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters 0.014275529987698711 Centerline is valid? [True, True] Translation: X:208.53, Y:-128.34, Z:-5.02 [[-6.77756177e-01 -7.35255472e-01 6.77900302e-03 2.08531695e+02] [ 7.35220706e-01 -6.77790065e-01 -7.15132102e-03 -1.28339783e+02] [ 9.85278881e-03 1.37211391e-04 9.99951451e-01 -5.01859110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters 0.013789427833099556 Centerline is valid? [True, True] Translation: X:208.49, Y:-128.30, Z:-5.02 [[-6.79778512e-01 -7.33385579e-01 6.83860884e-03 2.08492640e+02] [ 7.33350145e-01 -6.79812900e-01 -7.21009728e-03 -1.28296466e+02] [ 9.93675588e-03 1.13825584e-04 9.99950623e-01 -5.01910313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters 0.01350302781965633 Centerline is valid? [True, True] Translation: X:208.45, Y:-128.25, Z:-5.02 [[-6.81239825e-01 -7.32029645e-01 6.70068531e-03 2.08453788e+02] [ 7.31995600e-01 -6.81272772e-01 -7.06063992e-03 -1.28253657e+02] [ 9.73359219e-03 9.48830649e-05 9.99952623e-01 -5.01899078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters 0.013322978627627208 Centerline is valid? [True, True] Translation: X:208.42, Y:-128.21, Z:-5.02 [[-6.82831816e-01 -7.30546966e-01 6.46855263e-03 2.08415190e+02] [ 7.30515208e-01 -6.82862450e-01 -6.81216743e-03 -1.28210230e+02] [ 9.39373994e-03 7.38114225e-05 9.99955875e-01 -5.01881325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters 0.013036253666663555 Centerline is valid? [True, True] Translation: X:208.38, Y:-128.16, Z:-5.02 [[-6.88400082e-01 -7.25307958e-01 5.80459598e-03 2.08380655e+02] [ 7.25282226e-01 -6.88424554e-01 -6.10952606e-03 -1.28163378e+02] [ 8.42731427e-03 4.17205695e-06 9.99964490e-01 -5.01750274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters 0.013093655429938313 Centerline is valid? [True, True] Translation: X:208.34, Y:-128.12, Z:-5.02 [[-6.91777200e-01 -7.22088710e-01 5.67457237e-03 2.08342456e+02] [ 7.22064037e-01 -6.91800473e-01 -5.96929198e-03 -1.28119717e+02] [ 8.23603019e-03 -3.20154533e-05 9.99966083e-01 -5.01777106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters 0.01351773632139631 Centerline is valid? [True, True] Translation: X:208.30, Y:-128.08, Z:-5.02 [[-6.94765219e-01 -7.19211450e-01 6.01508282e-03 2.08304937e+02] [ 7.19183650e-01 -6.94791253e-01 -6.32392377e-03 -1.28075135e+02] [ 8.72746532e-03 -6.76930606e-05 9.99961913e-01 -5.01801531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters 0.014007646124366393 Centerline is valid? [True, True] Translation: X:208.27, Y:-128.03, Z:-5.02 [[-6.98221515e-01 -7.15853497e-01 6.36290914e-03 2.08267412e+02] [ 7.15822284e-01 -6.98250498e-01 -6.68577800e-03 -1.28030113e+02] [ 9.22894204e-03 -1.13441888e-04 9.99957406e-01 -5.01737789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters 0.01415697609146149 Centerline is valid? [True, True] Translation: X:208.23, Y:-127.99, Z:-5.02 [[-6.98563112e-01 -7.15517175e-01 6.68956660e-03 2.08230117e+02] [ 7.15482693e-01 -6.98595131e-01 -7.02554563e-03 -1.27988059e+02] [ 9.70019722e-03 -1.21517886e-04 9.99952945e-01 -5.01716344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters 0.013609658149297932 Centerline is valid? [True, True] Translation: X:208.19, Y:-127.95, Z:-5.02 [[-6.97295060e-01 -7.16754184e-01 6.56039218e-03 2.08188233e+02] [ 7.16721111e-01 -6.97325914e-01 -6.88620226e-03 -1.27947103e+02] [ 9.51044575e-03 -9.97432454e-05 9.99954770e-01 -5.01682744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters 0.01309827189037198 Centerline is valid? [True, True] Translation: X:208.15, Y:-127.91, Z:-5.02 [[-6.93075624e-01 -7.20835503e-01 6.50823281e-03 2.08145628e+02] [ 7.20803169e-01 -6.93106179e-01 -6.82757385e-03 -1.27907548e+02] [ 9.43245401e-03 -4.08701650e-05 9.99955513e-01 -5.01698754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters 0.012948987999183335 Centerline is valid? [True, True] Translation: X:208.10, Y:-127.87, Z:-5.02 [[-6.87969973e-01 -7.25704332e-01 7.10907611e-03 2.08102774e+02] [ 7.25666054e-01 -6.88006702e-01 -7.45367525e-03 -1.27867529e+02] [ 1.03002564e-02 3.09104450e-05 9.99946951e-01 -5.01642628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters 0.013411016399980723 Centerline is valid? [True, True] Translation: X:208.06, Y:-127.83, Z:-5.02 [[-6.83397237e-01 -7.30008706e-01 7.45018624e-03 2.08059622e+02] [ 7.29966971e-01 -6.83437838e-01 -7.80663826e-03 -1.27829103e+02] [ 1.07906531e-02 1.03354871e-04 9.99941774e-01 -5.01636013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters 0.014126168918865822 Centerline is valid? [True, True] Translation: X:208.02, Y:-127.79, Z:-5.02 [[-6.80577934e-01 -7.32644894e-01 6.71824104e-03 2.08018905e+02] [ 7.32611115e-01 -6.80611080e-01 -7.03649187e-03 -1.27789804e+02] [ 9.72775912e-03 1.32976958e-04 9.99952675e-01 -5.01527610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters 0.014661664132125862 Centerline is valid? [True, True] Translation: X:207.98, Y:-127.75, Z:-5.01 [[-6.77280980e-01 -7.35698868e-01 6.13595307e-03 2.07977628e+02] [ 7.35670850e-01 -6.77308755e-01 -6.42271231e-03 -1.27749574e+02] [ 8.88111691e-03 1.64060928e-04 9.99960549e-01 -5.01298098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters 0.015189840276367193 Centerline is valid? [True, True] Translation: X:207.94, Y:-127.71, Z:-5.01 [[-6.75857749e-01 -7.37007801e-01 5.98372824e-03 2.07935449e+02] [ 7.36981238e-01 -6.75884213e-01 -6.25980445e-03 -1.27709748e+02] [ 8.65783216e-03 1.79158099e-04 9.99962504e-01 -5.01433138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters 0.015643568668431442 Centerline is valid? [True, True] Translation: X:207.90, Y:-127.67, Z:-5.02 [[-6.75458683e-01 -7.37365966e-01 6.85566989e-03 2.07895435e+02] [ 7.37331158e-01 -6.75493440e-01 -7.16768490e-03 -1.27668311e+02] [ 9.91616693e-03 2.13424017e-04 9.99950811e-01 -5.01569313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters 0.015217849872468698 Centerline is valid? [True, True] Translation: X:207.86, Y:-127.63, Z:-5.02 [[-6.76368072e-01 -7.36532589e-01 6.78053776e-03 2.07856757e+02] [ 7.36498543e-01 -6.76402028e-01 -7.08460610e-03 -1.27625870e+02] [ 9.80441277e-03 2.02054811e-04 9.99951915e-01 -5.01584954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters 0.01553906531387707 Centerline is valid? [True, True] Translation: X:207.82, Y:-127.58, Z:-5.02 [[-6.76917004e-01 -7.36021216e-01 7.49264199e-03 2.07818889e+02] [ 7.35979668e-01 -6.76958435e-01 -7.82345045e-03 -1.27584498e+02] [ 1.08304327e-02 2.18605518e-04 9.99941325e-01 -5.01673431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters 0.016806214611758914 Centerline is valid? [True, True] Translation: X:207.78, Y:-127.54, Z:-5.02 [[-6.76178847e-01 -7.36683989e-01 8.88067850e-03 2.07777907e+02] [ 7.36625747e-01 -6.76237107e-01 -9.26737862e-03 -1.27544161e+02] [ 1.28325738e-02 2.75331042e-04 9.99917621e-01 -5.01993948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters 0.016550708984891804 Centerline is valid? [True, True] Translation: X:207.74, Y:-127.50, Z:-5.02 [[-6.75767743e-01 -7.37044047e-01 1.01995134e-02 2.07739014e+02] [ 7.36967347e-01 -6.75844631e-01 -1.06378350e-02 -1.27501289e+02] [ 1.47338393e-02 3.28002562e-04 9.99891397e-01 -5.02189482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters 0.015310453254418146 Centerline is valid? [True, True] Translation: X:207.70, Y:-127.45, Z:-5.02 [[-6.77143945e-01 -7.35790126e-01 9.43230092e-03 2.07702604e+02] [ 7.35724481e-01 -6.77209577e-01 -9.83243685e-03 -1.27454945e+02] [ 1.36222545e-02 2.81599628e-04 9.99907173e-01 -5.01975392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters 0.014352314117055386 Centerline is valid? [True, True] Translation: X:207.67, Y:-127.41, Z:-5.02 [[-6.80364699e-01 -7.32831603e-01 7.85604912e-03 2.07665901e+02] [ 7.32785921e-01 -6.80410028e-01 -8.18458981e-03 -1.27409558e+02] [ 1.13432607e-02 1.88296203e-04 9.99935645e-01 -5.01857670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters 0.014007773954492818 Centerline is valid? [True, True] Translation: X:207.63, Y:-127.37, Z:-5.02 [[-6.82681825e-01 -7.30684910e-01 6.71483518e-03 2.07628254e+02] [ 7.30651470e-01 -6.82714834e-01 -6.99177432e-03 -1.27365335e+02] [ 9.69310157e-03 1.33046941e-04 9.99953012e-01 -5.01745677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters 0.013407555366875904 Centerline is valid? [True, True] Translation: X:207.59, Y:-127.32, Z:-5.02 [[-6.85446823e-01 -7.28094943e-01 6.35672739e-03 2.07592478e+02] [ 7.28064887e-01 -6.85476291e-01 -6.61623293e-03 -1.27321123e+02] [ 9.17463165e-03 9.30341723e-05 9.99957908e-01 -5.01759797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters 0.013725852558663086 Centerline is valid? [True, True] Translation: X:207.55, Y:-127.28, Z:-5.02 [[-6.84426552e-01 -7.29056840e-01 6.03483951e-03 2.07552033e+02] [ 7.29029821e-01 -6.84453149e-01 -6.27740141e-03 -1.27280772e+02] [ 8.70714734e-03 1.03157767e-04 9.99962087e-01 -5.01779015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters 0.01483736833699258 Centerline is valid? [True, True] Translation: X:207.51, Y:-127.24, Z:-5.02 [[-6.81690874e-01 -7.31608162e-01 6.85928521e-03 2.07509028e+02] [ 7.31573423e-01 -6.81725365e-01 -7.13115055e-03 -1.27241658e+02] [ 9.89335666e-03 1.56830510e-04 9.99951047e-01 -5.01859828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters 0.015509519629486648 Centerline is valid? [True, True] Translation: X:207.47, Y:-127.20, Z:-5.02 [[-6.78334751e-01 -7.34714596e-01 7.51190710e-03 2.07465250e+02] [ 7.34673172e-01 -6.78376306e-01 -7.80500091e-03 -1.27203873e+02] [ 1.08303479e-02 2.24393275e-04 9.99941325e-01 -5.02010704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters 0.016337205588040107 Centerline is valid? [True, True] Translation: X:207.42, Y:-127.16, Z:-5.02 [[-6.76124940e-01 -7.36747783e-01 7.60062664e-03 2.07422913e+02] [ 7.36705552e-01 -6.76167608e-01 -7.89273676e-03 -1.27163562e+02] [ 1.09542538e-02 2.62947684e-04 9.99939966e-01 -5.01981560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters 0.017317363049434004 Centerline is valid? [True, True] Translation: X:207.38, Y:-127.13, Z:-5.02 [[-6.75399597e-01 -7.37414117e-01 7.47025400e-03 2.07381337e+02] [ 7.37373400e-01 -6.75440853e-01 -7.75385263e-03 -1.27125117e+02] [ 1.07635151e-02 2.71417655e-04 9.99942035e-01 -5.02041347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters 0.016395306141913653 Centerline is valid? [True, True] Translation: X:207.34, Y:-127.08, Z:-5.02 [[-6.76480501e-01 -7.36425524e-01 7.18189113e-03 2.07341621e+02] [ 7.36387878e-01 -6.76518578e-01 -7.45034583e-03 -1.27082554e+02] [ 1.03453076e-02 2.48643888e-04 9.99946455e-01 -5.01974850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters 0.01605394125067846 Centerline is valid? [True, True] Translation: X:207.30, Y:-127.04, Z:-5.02 [[-6.78713492e-01 -7.34375201e-01 6.40780468e-03 2.07303005e+02] [ 7.34345174e-01 -6.78743711e-01 -6.64381682e-03 -1.27040810e+02] [ 9.22831144e-03 1.96292338e-04 9.99957399e-01 -5.01886177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters 0.013860816632646267 Centerline is valid? [True, True] Translation: X:207.27, Y:-126.99, Z:-5.02 [[-6.83899931e-01 -7.29560902e-01 4.66638567e-03 2.07269032e+02] [ 7.29544884e-01 -6.83915843e-01 -4.83539580e-03 -1.26993455e+02] [ 6.71913081e-03 9.74109419e-05 9.99977422e-01 -5.01627370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters 0.013014299751255093 Centerline is valid? [True, True] Translation: X:207.23, Y:-126.95, Z:-5.02 [[-6.88514514e-01 -7.25208813e-01 4.46560981e-03 2.07231513e+02] [ 7.25194068e-01 -6.88528993e-01 -4.62487045e-03 -1.26948239e+02] [ 6.42869864e-03 5.41433150e-05 9.99979334e-01 -5.01724480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters 0.01282149316391837 Centerline is valid? [True, True] Translation: X:207.19, Y:-126.91, Z:-5.02 [[-6.89728086e-01 -7.24050076e-01 5.16276076e-03 2.07192741e+02] [ 7.24030355e-01 -6.89747406e-01 -5.34425681e-03 -1.26907505e+02] [ 7.43051040e-03 5.19114772e-05 9.99972392e-01 -5.01871811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters 0.012848696984704498 Centerline is valid? [True, True] Translation: X:207.15, Y:-126.87, Z:-5.02 [[-6.90013680e-01 -7.23773509e-01 5.74710340e-03 2.07152806e+02] [ 7.23749092e-01 -6.90037611e-01 -5.94539224e-03 -1.26866661e+02] [ 8.26883490e-03 5.70588875e-05 9.99965811e-01 -5.01928089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters 0.013013711228522672 Centerline is valid? [True, True] Translation: X:207.11, Y:-126.83, Z:-5.02 [[-6.90778516e-01 -7.23040388e-01 6.13510951e-03 2.07112440e+02] [ 7.23012570e-01 -6.90805758e-01 -6.34263420e-03 -1.26826792e+02] [ 8.82414966e-03 5.44058484e-05 9.99961065e-01 -5.02030607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters 0.012901318612786261 Centerline is valid? [True, True] Translation: X:207.07, Y:-126.78, Z:-5.02 [[-6.91912296e-01 -7.21954702e-01 6.22765318e-03 2.07073795e+02] [ 7.21926030e-01 -6.91940320e-01 -6.43428163e-03 -1.26784878e+02] [ 8.95442421e-03 4.39463628e-05 9.99959907e-01 -5.01883821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters 0.012791364540275465 Centerline is valid? [True, True] Translation: X:207.03, Y:-126.74, Z:-5.02 [[-6.92353374e-01 -7.21534998e-01 5.83540146e-03 2.07033343e+02] [ 7.21509842e-01 -6.92377964e-01 -6.02519580e-03 -1.26744590e+02] [ 8.38769302e-03 3.87349411e-05 9.99964822e-01 -5.01845043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters 0.012809203452713356 Centerline is valid? [True, True] Translation: X:206.99, Y:-126.70, Z:-5.02 [[-6.92725267e-01 -7.21176711e-01 5.98808858e-03 2.06992641e+02] [ 7.21150238e-01 -6.92751146e-01 -6.17932083e-03 -1.26702841e+02] [ 8.60463749e-03 3.77398311e-05 9.99962979e-01 -5.01721151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters 0.01293601407040274 Centerline is valid? [True, True] Translation: X:206.95, Y:-126.67, Z:-5.02 [[-6.92388032e-01 -7.21494418e-01 6.67967444e-03 2.06951260e+02] [ 7.21461536e-01 -6.92420250e-01 -6.88840177e-03 -1.26665050e+02] [ 9.59508527e-03 4.96812369e-05 9.99953965e-01 -5.01840625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters 0.013315095177642162 Centerline is valid? [True, True] Translation: X:206.91, Y:-126.63, Z:-5.02 [[-6.90340725e-01 -7.23441519e-01 7.87730682e-03 2.06909272e+02] [ 7.23395965e-01 -6.90385661e-01 -8.11893565e-03 -1.26625104e+02] [ 1.13119548e-02 9.35800427e-05 9.99936013e-01 -5.01908830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters 0.013489005206189966 Centerline is valid? [True, True] Translation: X:206.87, Y:-126.59, Z:-5.02 [[-6.89226438e-01 -7.24509134e-01 7.30968030e-03 2.06868316e+02] [ 7.24470019e-01 -6.89265191e-01 -7.52916132e-03 -1.26585029e+02] [ 1.04932543e-02 1.06347183e-04 9.99944939e-01 -5.01767641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters 0.013775233812277686 Centerline is valid? [True, True] Translation: X:206.83, Y:-126.55, Z:-5.02 [[-6.87869699e-01 -7.25804201e-01 6.59839018e-03 2.06826272e+02] [ 7.25772429e-01 -6.87901336e-01 -6.79221447e-03 -1.26545655e+02] [ 9.46885922e-03 1.16771139e-04 9.99955163e-01 -5.01745418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters 0.014200005615667111 Centerline is valid? [True, True] Translation: X:206.79, Y:-126.51, Z:-5.02 [[-6.86775882e-01 -7.26830593e-01 7.49509268e-03 2.06785190e+02] [ 7.26789708e-01 -6.86816763e-01 -7.71065980e-03 -1.26505189e+02] [ 1.07520987e-02 1.51861030e-04 9.99942183e-01 -5.01878568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters 0.014577877825225002 Centerline is valid? [True, True] Translation: X:206.74, Y:-126.46, Z:-5.02 [[-6.84973025e-01 -7.28523659e-01 8.07676028e-03 2.06744178e+02] [ 7.28476354e-01 -6.85020613e-01 -8.30432493e-03 -1.26464348e+02] [ 1.15826445e-02 1.95490314e-04 9.99932900e-01 -5.01896865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters 0.015384870047085348 Centerline is valid? [True, True] Translation: X:206.70, Y:-126.42, Z:-5.02 [[-6.83473557e-01 -7.29932873e-01 7.86752479e-03 2.06702054e+02] [ 7.29888131e-01 -6.83518803e-01 -8.08465384e-03 -1.26424021e+02] [ 1.12788557e-02 2.16765850e-04 9.99936368e-01 -5.01869945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters 0.016802216174905273 Centerline is valid? [True, True] Translation: X:206.66, Y:-126.39, Z:-5.02 [[-6.81619294e-01 -7.31665937e-01 7.75212204e-03 2.06658687e+02] [ 7.31622662e-01 -6.81663331e-01 -7.96138597e-03 -1.26386575e+02] [ 1.11094123e-02 2.44993881e-04 9.99938259e-01 -5.01930883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters 0.016469229360872466 Centerline is valid? [True, True] Translation: X:206.62, Y:-126.35, Z:-5.02 [[-6.80900670e-01 -7.32315698e-01 9.38066485e-03 2.06617948e+02] [ 7.32252465e-01 -6.80965213e-01 -9.62844405e-03 -1.26345589e+02] [ 1.34389672e-02 3.13000956e-04 9.99909644e-01 -5.02070471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters 0.015504588955611975 Centerline is valid? [True, True] Translation: X:206.58, Y:-126.30, Z:-5.02 [[-6.81566296e-01 -7.31687688e-01 1.00254994e-02 2.06579544e+02] [ 7.31615482e-01 -6.81639949e-01 -1.02842682e-02 -1.26302211e+02] [ 1.43586533e-02 3.25399936e-04 9.99896856e-01 -5.02022864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters 0.015491631794734624 Centerline is valid? [True, True] Translation: X:206.54, Y:-126.26, Z:-5.02 [[-6.83422535e-01 -7.29962206e-01 9.42425584e-03 2.06540921e+02] [ 7.29898309e-01 -6.83487456e-01 -9.66209468e-03 -1.26259923e+02] [ 1.34943246e-02 2.75455159e-04 9.99908910e-01 -5.01990862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters 0.01481663507802282 Centerline is valid? [True, True] Translation: X:206.50, Y:-126.22, Z:-5.02 [[-6.85392299e-01 -7.28125256e-01 8.42663704e-03 2.06502869e+02] [ 7.28074092e-01 -6.85444064e-01 -8.63432434e-03 -1.26216040e+02] [ 1.20628580e-02 2.17316698e-04 9.99927217e-01 -5.01789081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters 0.014475866770176031 Centerline is valid? [True, True] Translation: X:206.46, Y:-126.17, Z:-5.02 [[-6.87857263e-01 -7.25798145e-01 8.33299084e-03 2.06463983e+02] [ 7.25747999e-01 -6.87907712e-01 -8.53353681e-03 -1.26173518e+02] [ 1.19259539e-02 1.77796156e-04 9.99928868e-01 -5.01849545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters 0.014306382267627694 Centerline is valid? [True, True] Translation: X:206.42, Y:-126.13, Z:-5.02 [[-6.88567512e-01 -7.25108883e-01 9.58595048e-03 2.06423602e+02] [ 7.25042541e-01 -6.88634207e-01 -9.81039046e-03 -1.26133298e+02] [ 1.37148147e-02 1.95105750e-04 9.99905929e-01 -5.02010274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters 0.014474193163228063 Centerline is valid? [True, True] Translation: X:206.38, Y:-126.09, Z:-5.02 [[-6.87842470e-01 -7.25795084e-01 9.70734952e-03 2.06382080e+02] [ 7.25727197e-01 -6.87910932e-01 -9.92898135e-03 -1.26092091e+02] [ 1.38841977e-02 2.15312504e-04 9.99903587e-01 -5.02003449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters 0.015194688042353782 Centerline is valid? [True, True] Translation: X:206.34, Y:-126.06, Z:-5.02 [[-6.86623749e-01 -7.26961835e-01 8.62073812e-03 2.06338508e+02] [ 7.26908442e-01 -6.86677831e-01 -8.81323685e-03 -1.26056163e+02] [ 1.23265566e-02 2.15109585e-04 9.99924002e-01 -5.01927513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters 0.015415086167939518 Centerline is valid? [True, True] Translation: X:206.30, Y:-126.02, Z:-5.02 [[-6.85592726e-01 -7.27927963e-01 9.13750400e-03 2.06295025e+02] [ 7.27868131e-01 -6.85653570e-01 -9.33628435e-03 -1.26016992e+02] [ 1.30613047e-02 2.50009319e-04 9.99914666e-01 -5.01953638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters 0.015029731282834956 Centerline is valid? [True, True] Translation: X:206.25, Y:-125.98, Z:-5.02 [[-6.86599039e-01 -7.26974603e-01 9.47025022e-03 2.06254718e+02] [ 7.26910318e-01 -6.86664304e-01 -9.67074598e-03 -1.25975565e+02] [ 1.35332695e-02 2.44097695e-04 9.99908391e-01 -5.01955752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters 0.014390059271864392 Centerline is valid? [True, True] Translation: X:206.22, Y:-125.93, Z:-5.02 [[-6.90598582e-01 -7.23165878e-01 1.02328486e-02 2.06216700e+02] [ 7.23090487e-01 -6.90674365e-01 -1.04436126e-02 -1.25931914e+02] [ 1.46200305e-02 1.86931420e-04 9.99893104e-01 -5.02038042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters 0.013339094230873318 Centerline is valid? [True, True] Translation: X:206.18, Y:-125.89, Z:-5.02 [[-6.98128371e-01 -7.15918154e-01 8.83036136e-03 2.06181215e+02] [ 7.15861493e-01 -6.98184214e-01 -9.00702919e-03 -1.25886058e+02] [ 1.26135146e-02 3.32530529e-05 9.99920446e-01 -5.01910691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters 0.013734424310123441 Centerline is valid? [True, True] Translation: X:206.15, Y:-125.84, Z:-5.02 [[-7.04017596e-01 -7.10138230e-01 7.93212524e-03 2.06147053e+02] [ 7.10092201e-01 -7.04062278e-01 -8.08549991e-03 -1.25840932e+02] [ 1.13265328e-02 -5.97939481e-05 9.99935851e-01 -5.01788729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters 0.014881764047775418 Centerline is valid? [True, True] Translation: X:206.11, Y:-125.79, Z:-5.02 [[-7.10822584e-01 -7.03329379e-01 7.68362202e-03 2.06113220e+02] [ 7.03285836e-01 -7.10864093e-01 -7.82782023e-03 -1.25792318e+02] [ 1.09675469e-02 -1.60408875e-04 9.99939842e-01 -5.01562810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters 0.015010624938781464 Centerline is valid? [True, True] Translation: X:206.07, Y:-125.75, Z:-5.01 [[-7.12692802e-01 -7.01444039e-01 6.72540988e-03 2.06072372e+02] [ 7.01410632e-01 -7.12724515e-01 -6.84772455e-03 -1.25751014e+02] [ 9.59666005e-03 -1.63049997e-04 9.99953938e-01 -5.01489600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters 0.015174770885224533 Centerline is valid? [True, True] Translation: X:206.03, Y:-125.71, Z:-5.02 [[-7.11928325e-01 -7.02219023e-01 6.81937281e-03 2.06032955e+02] [ 7.02184757e-01 -7.11960968e-01 -6.93877870e-03 -1.25710379e+02] [ 9.72766967e-03 -1.51453453e-04 9.99952674e-01 -5.01531633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters 0.01425672937684956 Centerline is valid? [True, True] Translation: X:205.99, Y:-125.67, Z:-5.01 [[-7.08852617e-01 -7.05324026e-01 6.78124722e-03 2.05989995e+02] [ 7.05290318e-01 -7.08885045e-01 -6.89632608e-03 -1.25670421e+02] [ 9.67126922e-03 -1.05730783e-04 9.99953227e-01 -5.01405600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters 0.013803093132997534 Centerline is valid? [True, True] Translation: X:205.95, Y:-125.63, Z:-5.02 [[-7.05208522e-01 -7.08964611e-01 7.07961858e-03 2.05946447e+02] [ 7.08928095e-01 -7.05244055e-01 -7.19575198e-03 -1.25632475e+02] [ 1.00943924e-02 -5.55651064e-05 9.99949049e-01 -5.01534974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters 0.013679118509983197 Centerline is valid? [True, True] Translation: X:205.90, Y:-125.60, Z:-5.02 [[-6.97823379e-01 -7.16223798e-01 8.12427791e-03 2.05898916e+02] [ 7.16176251e-01 -6.97870667e-01 -8.25288106e-03 -1.25597154e+02] [ 1.15806051e-02 5.93615477e-05 9.99932941e-01 -5.01598684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters 0.0139387547655991 Centerline is valid? [True, True] Translation: X:205.86, Y:-125.56, Z:-5.02 [[-6.95515857e-01 -7.18462578e-01 8.31959204e-03 2.05856911e+02] [ 7.18412938e-01 -6.95565606e-01 -8.44616601e-03 -1.25557629e+02] [ 1.18550763e-02 1.02460164e-04 9.99929721e-01 -5.01591221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters 0.01597112620928348 Centerline is valid? [True, True] Translation: X:205.81, Y:-125.52, Z:-5.02 [[-6.87702640e-01 -7.25922738e-01 1.00626510e-02 2.05810123e+02] [ 7.25850991e-01 -6.87776198e-01 -1.02098472e-02 -1.25522214e+02] [ 1.43324120e-02 2.82646319e-04 9.99897246e-01 -5.01757993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters 0.017608140696680902 Centerline is valid? [True, True] Translation: X:205.77, Y:-125.48, Z:-5.02 [[-6.82532484e-01 -7.30804777e-01 8.58987674e-03 2.05766038e+02] [ 7.30752944e-01 -6.82586455e-01 -8.71017729e-03 -1.25484832e+02] [ 1.22287727e-02 3.32098772e-04 9.99925171e-01 -5.01550711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters 0.01817746089160217 Centerline is valid? [True, True] Translation: X:205.72, Y:-125.44, Z:-5.01 [[-6.80586959e-01 -7.32615206e-01 8.73792755e-03 2.05724692e+02] [ 7.32561787e-01 -6.80642945e-01 -8.85488378e-03 -1.25444741e+02] [ 1.24346313e-02 3.74553405e-04 9.99922617e-01 -5.01460490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters 0.018644718015526193 Centerline is valid? [True, True] Translation: X:205.68, Y:-125.40, Z:-5.01 [[-6.80134457e-01 -7.33028475e-01 9.29380261e-03 2.05684837e+02] [ 7.32968153e-01 -6.80197829e-01 -9.41280202e-03 -1.25402390e+02] [ 1.32214763e-02 4.10090336e-04 9.99912508e-01 -5.01398218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters 0.018358708160713097 Centerline is valid? [True, True] Translation: X:205.64, Y:-125.36, Z:-5.01 [[-6.79921957e-01 -7.33228354e-01 9.07269022e-03 2.05644293e+02] [ 7.33170954e-01 -6.79982364e-01 -9.18352661e-03 -1.25360937e+02] [ 1.29028914e-02 4.07751561e-04 9.99916671e-01 -5.01266013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters 0.01913772803385666 Centerline is valid? [True, True] Translation: X:205.60, Y:-125.32, Z:-5.01 [[-6.79302273e-01 -7.33800956e-01 9.19660856e-03 2.05602410e+02] [ 7.33742081e-01 -6.79364390e-01 -9.30505263e-03 -1.25321377e+02] [ 1.30759049e-02 4.26995302e-04 9.99914416e-01 -5.01379637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters 0.021072440306491552 Centerline is valid? [True, True] Translation: X:205.56, Y:-125.28, Z:-5.02 [[-6.77889191e-01 -7.35073396e-01 1.15475895e-02 2.05560786e+02] [ 7.34980834e-01 -6.77987298e-01 -1.16788934e-02 -1.25282433e+02] [ 1.64139629e-02 5.70261397e-04 9.99865119e-01 -5.01699156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters 0.01962209351400386 Centerline is valid? [True, True] Translation: X:205.52, Y:-125.24, Z:-5.02 [[-6.79927206e-01 -7.33164790e-01 1.29763477e-02 2.05524243e+02] [ 7.33047692e-01 -6.80050761e-01 -1.31165190e-02 -1.25236802e+02] [ 1.84411450e-02 5.94003586e-04 9.99829771e-01 -5.01811823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters 0.01808975796659504 Centerline is valid? [True, True] Translation: X:205.49, Y:-125.19, Z:-5.02 [[-6.82612841e-01 -7.30672198e-01 1.25637340e-02 2.05487694e+02] [ 7.30562139e-01 -6.82728257e-01 -1.26920157e-02 -1.25191682e+02] [ 1.78513193e-02 5.14855506e-04 9.99840520e-01 -5.01649750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters 0.01696064816737812 Centerline is valid? [True, True] Translation: X:205.45, Y:-125.15, Z:-5.02 [[-6.86126236e-01 -7.27392159e-01 1.14645401e-02 2.05451940e+02] [ 7.27300175e-01 -6.86221896e-01 -1.15743276e-02 -1.25146519e+02] [ 1.62862936e-02 3.96712184e-04 9.99867291e-01 -5.01507104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters 0.015513362401207223 Centerline is valid? [True, True] Translation: X:205.42, Y:-125.10, Z:-5.01 [[-6.89251583e-01 -7.24452988e-01 1.00061698e-02 2.05415381e+02] [ 7.24382693e-01 -6.89324150e-01 -1.00959951e-02 -1.25101027e+02] [ 1.42115684e-02 2.89615637e-04 9.99898969e-01 -5.01274939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters 0.014663143672767795 Centerline is valid? [True, True] Translation: X:205.38, Y:-125.06, Z:-5.01 [[-6.93558573e-01 -7.20339580e-01 9.34855507e-03 2.05378940e+02] [ 7.20277919e-01 -6.93621547e-01 -9.42698292e-03 -1.25056625e+02] [ 1.32749882e-02 1.95392975e-04 9.99911864e-01 -5.01305333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters 0.01468858303101494 Centerline is valid? [True, True] Translation: X:205.34, Y:-125.02, Z:-5.01 [[-6.93980458e-01 -7.19925481e-01 9.92100029e-03 2.05337909e+02] [ 7.19856084e-01 -6.94051339e-01 -9.99787984e-03 -1.25016030e+02] [ 1.40834120e-02 2.03359187e-04 9.99900803e-01 -5.01399396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters 0.014698567967452926 Centerline is valid? [True, True] Translation: X:205.30, Y:-124.98, Z:-5.01 [[-6.93215472e-01 -7.20654537e-01 1.04569236e-02 2.05295909e+02] [ 7.20577613e-01 -6.93294298e-01 -1.05319130e-02 -1.24976477e+02] [ 1.48395963e-02 2.34139985e-04 9.99889860e-01 -5.01404682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters 0.014660432510191114 Centerline is valid? [True, True] Translation: X:205.26, Y:-124.94, Z:-5.01 [[-6.94122313e-01 -7.19788688e-01 9.92263009e-03 2.05255926e+02] [ 7.19719425e-01 -6.94193201e-01 -9.98744284e-03 -1.24936238e+02] [ 1.40770707e-02 2.09002694e-04 9.99900891e-01 -5.01358463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters 0.014236831801085013 Centerline is valid? [True, True] Translation: X:205.21, Y:-124.90, Z:-5.01 [[-6.95637904e-01 -7.18322233e-01 1.00536642e-02 2.05214039e+02] [ 7.18251057e-01 -6.95710526e-01 -1.01135666e-02 -1.24895934e+02] [ 1.42592397e-02 1.85674613e-04 9.99898315e-01 -5.01476731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters 0.013939439654936128 Centerline is valid? [True, True] Translation: X:205.17, Y:-124.86, Z:-5.02 [[-6.97664197e-01 -7.16360998e-01 9.57022555e-03 2.05173593e+02] [ 7.16296372e-01 -6.97729819e-01 -9.62326382e-03 -1.24856085e+02] [ 1.35711626e-02 1.41311219e-04 9.99907898e-01 -5.01555978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters 0.01320653393136789 Centerline is valid? [True, True] Translation: X:205.14, Y:-124.81, Z:-5.01 [[-7.02057751e-01 -7.12061431e-01 9.13417685e-03 2.05135486e+02] [ 7.12002261e-01 -7.02117166e-01 -9.17960605e-03 -1.24811828e+02] [ 1.29497058e-02 5.89409907e-05 9.99916147e-01 -5.01429459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters 0.013133616988765702 Centerline is valid? [True, True] Translation: X:205.10, Y:-124.77, Z:-5.01 [[-7.06347275e-01 -7.07814057e-01 8.53162134e-03 2.05097762e+02] [ 7.07762190e-01 -7.06398797e-01 -8.56862636e-03 -1.24769187e+02] [ 1.20917212e-02 -1.40668644e-05 9.99926892e-01 -5.01424825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters 0.013593888386034142 Centerline is valid? [True, True] Translation: X:205.06, Y:-124.73, Z:-5.01 [[-7.12050129e-01 -7.02090048e-01 7.36058855e-03 2.05059041e+02] [ 7.02051178e-01 -7.12088166e-01 -7.38831245e-03 -1.24725522e+02] [ 1.04286486e-02 -9.33389726e-05 9.99945616e-01 -5.01328432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters 0.014318577399031869 Centerline is valid? [True, True] Translation: X:205.02, Y:-124.68, Z:-5.01 [[-7.15286579e-01 -6.98800286e-01 6.57798095e-03 2.05020779e+02] [ 6.98769129e-01 -7.15316814e-01 -6.60005138e-03 -1.24682993e+02] [ 9.31745817e-03 -1.24438159e-04 9.99956584e-01 -5.01237981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters 0.01531108394416573 Centerline is valid? [True, True] Translation: X:204.98, Y:-124.64, Z:-5.01 [[-7.19783223e-01 -6.94171590e-01 6.15760420e-03 2.04980689e+02] [ 6.94144147e-01 -7.19809540e-01 -6.17479146e-03 -1.24640835e+02] [ 8.71866705e-03 -1.70246376e-04 9.99961977e-01 -5.01205362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters 0.016597988528849392 Centerline is valid? [True, True] Translation: X:204.94, Y:-124.60, Z:-5.01 [[-7.23898221e-01 -6.89884822e-01 5.50443296e-03 2.04940273e+02] [ 6.89862794e-01 -7.23919122e-01 -5.51646866e-03 -1.24599852e+02] [ 7.79049227e-03 -1.96058353e-04 9.99969634e-01 -5.01248554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters 0.017296095311129446 Centerline is valid? [True, True] Translation: X:204.90, Y:-124.56, Z:-5.01 [[-7.26515906e-01 -6.87132824e-01 4.80829105e-03 2.04899942e+02] [ 6.87115975e-01 -7.26531791e-01 -4.81591385e-03 -1.24558709e+02] [ 6.80254879e-03 -1.94984426e-04 9.99976843e-01 -5.01162587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters 0.01906919338824261 Centerline is valid? [True, True] Translation: X:204.86, Y:-124.52, Z:-5.01 [[-7.29350934e-01 -6.84121102e-01 5.05295598e-03 2.04860128e+02] [ 6.84102439e-01 -7.29368400e-01 -5.05864548e-03 -1.24518290e+02] [ 7.14619254e-03 -2.32788302e-04 9.99974439e-01 -5.01229045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters 0.020127076130567738 Centerline is valid? [True, True] Translation: X:204.82, Y:-124.48, Z:-5.01 [[-7.29223218e-01 -6.84251012e-01 5.83534440e-03 2.04818700e+02] [ 6.84226149e-01 -7.29246517e-01 -5.83913212e-03 -1.24480699e+02] [ 8.25083664e-03 -2.65335484e-04 9.99965926e-01 -5.01357181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters 0.01717108136190159 Centerline is valid? [True, True] Translation: X:204.77, Y:-124.45, Z:-5.01 [[-7.26425071e-01 -6.87212951e-01 6.70636541e-03 2.04769772e+02] [ 6.87180271e-01 -7.26455979e-01 -6.70704863e-03 -1.24446964e+02] [ 9.48104993e-03 -2.63686275e-04 9.99955019e-01 -5.01411928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters 0.016151529963841813 Centerline is valid? [True, True] Translation: X:204.72, Y:-124.41, Z:-5.01 [[-7.22724273e-01 -6.91103309e-01 6.77062895e-03 2.04723551e+02] [ 6.91070207e-01 -7.22755956e-01 -6.76736877e-03 -1.24411191e+02] [ 9.57046335e-03 -2.11961728e-04 9.99954180e-01 -5.01432165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters 0.01466308595956845 Centerline is valid? [True, True] Translation: X:204.23, Y:-124.89, Z:-4.03 [[-7.43341771e-01 6.68878336e-01 6.69208672e-03 2.04230444e+02] [ 6.68853195e-01 7.43371876e-01 -5.80153172e-03 -1.24891819e+02] [-8.85522794e-03 1.63502722e-04 -9.99960778e-01 -4.02752742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters 0.013870092838323812 Centerline is valid? [True, True] Translation: X:204.26, Y:-124.86, Z:-4.03 [[-7.92155460e-01 6.10280248e-01 6.90988170e-03 2.04255386e+02] [ 6.10258264e-01 7.92185588e-01 -5.18124534e-03 -1.24864704e+02] [-8.63592039e-03 1.12460627e-04 -9.99962703e-01 -4.02783817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters 0.013583505110561575 Centerline is valid? [True, True] Translation: X:204.27, Y:-124.84, Z:-4.03 [[-8.34273421e-01 5.51307269e-01 6.93932365e-03 2.04271539e+02] [ 5.51289131e-01 8.34302275e-01 -4.47297261e-03 -1.24839421e+02] [-8.25547582e-03 9.38915447e-05 -9.99965919e-01 -4.02838210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters 0.013583505110561575 Centerline is valid? [True, True] Translation: X:204.63, Y:-124.29, Z:-5.01 [[-8.08746953e-01 -5.88119262e-01 6.64075007e-03 2.04628529e+02] [ 5.88098491e-01 -8.08774211e-01 -4.94364464e-03 -1.24292934e+02] [ 8.27832004e-03 -9.27424418e-05 9.99965730e-01 -5.01222726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters 0.012823397199406356 Centerline is valid? [True, True] Translation: X:204.23, Y:-124.81, Z:-4.03 [[-8.39244760e-01 5.43712886e-01 6.67303684e-03 2.04234572e+02] [ 5.43696140e-01 8.39271288e-01 -4.26755120e-03 -1.24806410e+02] [-7.92081081e-03 4.65843912e-05 -9.99968629e-01 -4.02795006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters 0.012684395734140663 Centerline is valid? [True, True] Translation: X:204.25, Y:-124.78, Z:-4.03 [[-8.77948285e-01 4.78685951e-01 8.15904593e-03 2.04249833e+02] [ 4.78665380e-01 8.77986196e-01 -4.43767085e-03 -1.24777525e+02] [-9.28778039e-03 9.40730976e-06 -9.99956868e-01 -4.02603154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters 0.012605705529938184 Centerline is valid? [True, True] Translation: X:204.26, Y:-124.75, Z:-4.03 [[-9.10551585e-01 4.13302890e-01 8.74824489e-03 2.04258763e+02] [ 4.13283696e-01 9.10593609e-01 -3.98319795e-03 -1.24749766e+02] [-9.61236311e-03 -1.14002263e-05 -9.99953800e-01 -4.02664384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters 0.012741753395607892 Centerline is valid? [True, True] Translation: X:204.27, Y:-124.72, Z:-4.02 [[-9.38407958e-01 3.45402868e-01 9.34684220e-03 2.04268599e+02] [ 3.45385316e-01 9.38454505e-01 -3.48231610e-03 -1.24720025e+02] [-9.97438813e-03 -3.95710943e-05 -9.99950254e-01 -4.02435546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters 0.012671424284566893 Centerline is valid? [True, True] Translation: X:204.28, Y:-124.69, Z:-4.02 [[-9.60558274e-01 2.77897258e-01 1.00457385e-02 2.04275352e+02] [ 2.77881589e-01 9.60610802e-01 -2.95128664e-03 -1.24694748e+02] [-1.04701994e-02 -4.33570174e-05 -9.99945185e-01 -4.02473042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters 0.012663473083757641 Centerline is valid? [True, True] Translation: X:204.28, Y:-124.67, Z:-4.03 [[-9.77858838e-01 2.09009578e-01 1.03484084e-02 2.04276820e+02] [ 2.08997390e-01 9.77913593e-01 -2.25751169e-03 -1.24668493e+02] [-1.05916908e-02 -4.47374075e-05 -9.99943905e-01 -4.02502214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters 0.01273504739180531 Centerline is valid? [True, True] Translation: X:204.28, Y:-124.64, Z:-4.03 [[-9.90486971e-01 1.37282213e-01 9.44210624e-03 2.04276614e+02] [ 1.37275418e-01 9.90531974e-01 -1.36714726e-03 -1.24641590e+02] [-9.54039313e-03 -5.79724769e-05 -9.99954488e-01 -4.02605389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters 0.013243523835613056 Centerline is valid? [True, True] Translation: X:204.37, Y:-124.03, Z:-5.02 [[-9.75943175e-01 -2.17797418e-01 9.96008533e-03 2.04367690e+02] [ 2.17787164e-01 -9.75993993e-01 -2.11594982e-03 -1.24031417e+02] [ 1.01818319e-02 1.04131949e-04 9.99948158e-01 -5.01624728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters 0.013874630318354477 Centerline is valid? [True, True] Translation: X:204.23, Y:-124.64, Z:-4.03 [[-9.91821532e-01 1.27202838e-01 1.04636148e-02 2.04226290e+02] [ 1.27194367e-01 9.91876717e-01 -1.47385602e-03 -1.24635194e+02] [-1.05660945e-02 -1.30889281e-04 -9.99944169e-01 -4.02583396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters 0.014250407993551855 Centerline is valid? [True, True] Translation: X:204.31, Y:-124.02, Z:-5.01 [[-9.74968327e-01 -2.22128264e-01 9.78752012e-03 2.04311506e+02] [ 2.22117967e-01 -9.75017449e-01 -2.14053231e-03 -1.24020491e+02] [ 1.00184756e-02 8.70328700e-05 9.99949810e-01 -5.01441974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters 0.014889271407477075 Centerline is valid? [True, True] Translation: X:204.18, Y:-124.63, Z:-4.03 [[-9.93046826e-01 1.17374513e-01 9.01246242e-03 2.04175006e+02] [ 1.17368145e-01 9.93087708e-01 -1.23405369e-03 -1.24630141e+02] [-9.09501210e-03 -1.67697105e-04 -9.99958625e-01 -4.02619201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters 0.0158738171390871 Centerline is valid? [True, True] Translation: X:204.25, Y:-124.01, Z:-5.01 [[-9.74692227e-01 -2.23384536e-01 8.62625808e-03 2.04254423e+02] [ 2.23377094e-01 -9.74730388e-01 -1.82915975e-03 -1.24010368e+02] [ 8.81688188e-03 1.44040670e-04 9.99961120e-01 -5.01452241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters 0.01715041814583367 Centerline is valid? [True, True] Translation: X:204.12, Y:-124.63, Z:-4.03 [[-9.94143016e-01 1.07731976e-01 8.57235475e-03 2.04120682e+02] [ 1.07726145e-01 9.94179952e-01 -1.14038830e-03 -1.24628585e+02] [-8.64531952e-03 -2.10242334e-04 -9.99962606e-01 -4.02597719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters 0.01840654429606596 Centerline is valid? [True, True] Translation: X:204.20, Y:-124.00, Z:-5.02 [[-9.74330504e-01 -2.24965190e-01 8.41026539e-03 2.04203427e+02] [ 2.24958618e-01 -9.74366780e-01 -1.73170304e-03 -1.24000105e+02] [ 8.58425611e-03 2.04710580e-04 9.99963134e-01 -5.01516850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters 0.01773647574353964 Centerline is valid? [True, True] Translation: X:204.07, Y:-124.63, Z:-4.03 [[-9.94985394e-01 9.96059387e-02 9.09523122e-03 2.04068547e+02] [ 9.95993614e-02 9.95026928e-01 -1.17439080e-03 -1.24627121e+02] [-9.16697628e-03 -2.62622468e-04 -9.99957948e-01 -4.02516853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters 0.018685155534237854 Centerline is valid? [True, True] Translation: X:204.15, Y:-123.99, Z:-5.01 [[-9.73917577e-01 -2.26715104e-01 9.20949995e-03 2.04151584e+02] [ 2.26707717e-01 -9.73961078e-01 -1.85212131e-03 -1.23986595e+02] [ 9.38959837e-03 2.84051200e-04 9.99955876e-01 -5.01478191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters 0.02015135436266463 Centerline is valid? [True, True] Translation: X:204.00, Y:-124.62, Z:-4.03 [[-9.95771420e-01 9.13831086e-02 9.40242862e-03 2.04003512e+02] [ 9.13760541e-02 9.95815761e-01 -1.17805002e-03 -1.24622902e+02] [-9.47074048e-03 -3.13911715e-04 -9.99955102e-01 -4.02507432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters 0.020266916751857482 Centerline is valid? [True, True] Translation: X:204.02, Y:-124.60, Z:-4.02 [[-9.99724301e-01 2.05839163e-02 1.12971004e-02 2.04016401e+02] [ 2.05783769e-02 9.99788059e-01 -6.06376124e-04 -1.24598697e+02] [-1.13071877e-02 -3.73732957e-04 -9.99936002e-01 -4.02342084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters 0.018758426255679514 Centerline is valid? [True, True] Translation: X:204.02, Y:-124.58, Z:-4.02 [[-9.98780485e-01 -4.76363616e-02 1.29738138e-02 2.04018155e+02] [-4.76374340e-02 9.98864667e-01 2.26534994e-04 -1.24578665e+02] [-1.29698755e-02 -3.91780467e-04 -9.99915811e-01 -4.02232919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters 0.017751617563751633 Centerline is valid? [True, True] Translation: X:204.01, Y:-124.56, Z:-4.02 [[-9.93249015e-01 -1.15352089e-01 1.22592885e-02 2.04014498e+02] [-1.15347428e-01 9.93324612e-01 1.08902247e-03 -1.24556438e+02] [-1.23030740e-02 -3.32406900e-04 -9.99924259e-01 -4.02273076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters 0.01594453501356402 Centerline is valid? [True, True] Translation: X:203.96, Y:-123.88, Z:-5.02 [[-9.99934990e-01 -2.88699653e-04 1.13988315e-02 2.03961284e+02] [ 2.91568573e-04 -9.99999926e-01 2.50024335e-04 -1.23878682e+02] [ 1.13987585e-02 2.53331621e-04 9.99935000e-01 -5.01694469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters 0.014804590976537729 Centerline is valid? [True, True] Translation: X:203.94, Y:-124.57, Z:-4.02 [[-9.93777330e-01 -1.10853387e-01 1.08694648e-02 2.03940710e+02] [-1.10848847e-01 9.93836752e-01 1.02110330e-03 -1.24573794e+02] [-1.09156663e-02 -1.90118325e-04 -9.99940404e-01 -4.02416409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters 0.014157311159197538 Centerline is valid? [True, True] Translation: X:203.88, Y:-123.88, Z:-5.02 [[-9.99873892e-01 1.12014698e-02 1.12572816e-02 2.03876286e+02] [-1.11983053e-02 -9.99937238e-01 3.44103345e-04 -1.23879984e+02] [ 1.12604295e-02 2.17997475e-04 9.99936576e-01 -5.01651379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters 0.014076780796816145 Centerline is valid? [True, True] Translation: X:203.86, Y:-124.58, Z:-4.02 [[-9.93415439e-01 -1.13876898e-01 1.25625485e-02 2.03860752e+02] [-1.13870151e-01 9.93494850e-01 1.25339712e-03 -1.24581237e+02] [-1.26235602e-02 -1.85355240e-04 -9.99920303e-01 -4.02343340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters 0.014433236381313002 Centerline is valid? [True, True] Translation: X:203.80, Y:-123.89, Z:-5.02 [[-9.99804557e-01 1.54218727e-02 1.23698600e-02 2.03795040e+02] [-1.54186540e-02 -9.99881062e-01 3.55535314e-04 -1.23892967e+02] [ 1.23738717e-02 1.64739236e-04 9.99923427e-01 -5.01711198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters 0.014773934356414617 Centerline is valid? [True, True] Translation: X:203.78, Y:-124.58, Z:-4.02 [[-9.92588648e-01 -1.20960280e-01 1.16784350e-02 2.03777840e+02] [-1.20954275e-01 9.92657328e-01 1.22174810e-03 -1.24583783e+02] [-1.17404671e-02 -1.99863347e-04 -9.99931058e-01 -4.02378811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters 0.014357509257609832 Centerline is valid? [True, True] Translation: X:203.72, Y:-123.90, Z:-5.02 [[-9.99690999e-01 2.10906023e-02 1.31565151e-02 2.03720914e+02] [-2.10846025e-02 -9.99777518e-01 5.94590226e-04 -1.23901758e+02] [ 1.31661283e-02 3.17006605e-04 9.99913273e-01 -5.01769007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters 0.014553087005002876 Centerline is valid? [True, True] Translation: X:203.71, Y:-124.59, Z:-4.02 [[-9.92145713e-01 -1.24193525e-01 1.49282355e-02 2.03707626e+02] [-1.24182827e-01 9.92257990e-01 1.64510709e-03 -1.24592034e+02] [-1.50169726e-02 -2.21644532e-04 -9.99887214e-01 -4.02084249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters 0.014343373607720231 Centerline is valid? [True, True] Translation: X:203.70, Y:-124.57, Z:-4.02 [[-9.80882297e-01 -1.93913586e-01 1.63535919e-02 2.03696299e+02] [-1.93890623e-01 9.81018586e-01 2.99336047e-03 -1.24567684e+02] [-1.66236309e-02 -2.34673822e-04 -9.99861790e-01 -4.02011579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters 0.014171547658128034 Centerline is valid? [True, True] Translation: X:203.68, Y:-124.54, Z:-4.02 [[-9.64622571e-01 -2.63102686e-01 1.67413176e-02 2.03683484e+02] [-2.63067332e-01 9.64767806e-01 4.31959157e-03 -1.24543876e+02] [-1.72879804e-02 -2.37318215e-04 -9.99850524e-01 -4.02025924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters 0.014408493291450731 Centerline is valid? [True, True] Translation: X:203.66, Y:-124.52, Z:-4.02 [[-9.42908824e-01 -3.32641862e-01 1.65027478e-02 2.03655095e+02] [-3.32595643e-01 9.43053194e-01 5.55081833e-03 -1.24523312e+02] [-1.74094036e-02 -2.54826427e-04 -9.99848412e-01 -4.01988415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters 0.014548391746370504 Centerline is valid? [True, True] Translation: X:203.61, Y:-124.51, Z:-4.02 [[-9.15678447e-01 -4.01589591e-01 1.60867091e-02 2.03614488e+02] [-4.01533066e-01 9.15819698e-01 6.74365312e-03 -1.24510061e+02] [-1.74407059e-02 -2.84327803e-04 -9.99847859e-01 -4.02097445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters 0.015155623863745494 Centerline is valid? [True, True] Translation: X:203.55, Y:-124.51, Z:-4.02 [[-8.82486578e-01 -4.70074790e-01 1.57204195e-02 2.03552611e+02] [-4.70006924e-01 8.82626524e-01 7.99438713e-03 -1.24508246e+02] [-1.76332190e-02 -3.33766658e-04 -9.99844467e-01 -4.02076611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters 0.015939045513810472 Centerline is valid? [True, True] Translation: X:203.48, Y:-124.51, Z:-4.02 [[-8.44742781e-01 -5.34962408e-01 1.49951778e-02 2.03483975e+02] [-5.34885542e-01 8.44875787e-01 9.07530706e-03 -1.24513124e+02] [-1.75240108e-02 -3.54403698e-04 -9.99846380e-01 -4.02016504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters 0.01639117252845984 Centerline is valid? [True, True] Translation: X:203.41, Y:-124.53, Z:-4.02 [[-8.01839416e-01 -5.97372269e-01 1.41394068e-02 2.03413514e+02] [-5.97287617e-01 8.01963983e-01 1.00633762e-02 -1.24525099e+02] [-1.73508769e-02 -3.76080892e-04 -9.99849392e-01 -4.01988030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters 0.016017334190483224 Centerline is valid? [True, True] Translation: X:203.33, Y:-124.55, Z:-4.02 [[-7.55083745e-01 -6.55506431e-01 1.26434475e-02 2.03334508e+02] [-6.55422336e-01 7.55189508e-01 1.05056592e-02 -1.24552470e+02] [-1.64347261e-02 -3.54145437e-04 -9.99864878e-01 -4.02154863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters 0.015675249705084153 Centerline is valid? [True, True] Translation: X:203.26, Y:-124.59, Z:-4.02 [[-7.04389682e-01 -7.09722071e-01 1.13910896e-02 2.03255922e+02] [-7.09636735e-01 7.04481706e-01 1.10104637e-02 -1.24587558e+02] [-1.58391834e-02 -3.27878579e-04 -9.99874499e-01 -4.02225125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters 0.015494944599529185 Centerline is valid? [True, True] Translation: X:203.18, Y:-124.64, Z:-4.02 [[-6.50240028e-01 -7.59649449e-01 1.09827990e-02 2.03176673e+02] [-7.59549141e-01 6.50332698e-01 1.23484422e-02 -1.24635547e+02] [-1.65229606e-02 -3.12524128e-04 -9.99863438e-01 -4.02220114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters 0.01566055720233184 Centerline is valid? [True, True] Translation: X:203.09, Y:-124.70, Z:-4.02 [[-5.92298086e-01 -8.05646373e-01 1.08119579e-02 2.03087252e+02] [-8.05521590e-01 5.92396680e-01 1.41824742e-02 -1.24700963e+02] [-1.78310269e-02 -3.09013203e-04 -9.99840967e-01 -4.01945649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters 0.014895749842825242 Centerline is valid? [True, True] Translation: X:203.02, Y:-124.76, Z:-4.02 [[-5.30867301e-01 -8.47385302e-01 1.08654971e-02 2.03017375e+02] [-8.47219577e-01 5.30978394e-01 1.67610800e-02 -1.24759190e+02] [-1.99724370e-02 -3.07552529e-04 -9.99800484e-01 -4.01946685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters 0.014251461419534013 Centerline is valid? [True, True] Translation: X:202.94, Y:-124.84, Z:-4.02 [[-4.67966090e-01 -8.83701956e-01 8.86521322e-03 2.02943305e+02] [-8.83552185e-01 4.68050003e-01 1.62705569e-02 -1.24835067e+02] [-1.85276860e-02 -2.18809633e-04 -9.99828324e-01 -4.02164099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters 0.013938386280766239 Centerline is valid? [True, True] Translation: X:202.88, Y:-124.92, Z:-4.02 [[-4.01916436e-01 -9.15649048e-01 7.07104755e-03 2.02875198e+02] [-9.15513899e-01 4.01978605e-01 1.57322154e-02 -1.24916800e+02] [-1.72475979e-02 -1.50606341e-04 -9.99851238e-01 -4.02301425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters 0.013877725349276053 Centerline is valid? [True, True] Translation: X:202.82, Y:-125.01, Z:-4.02 [[-3.36734605e-01 -9.41582903e-01 5.60742116e-03 2.02815027e+02] [-9.41454219e-01 3.36781288e-01 1.55665525e-02 -1.25007079e+02] [-1.65456742e-02 -3.73333828e-05 -9.99863110e-01 -4.02355208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters 0.013737416300245772 Centerline is valid? [True, True] Translation: X:202.76, Y:-125.11, Z:-4.02 [[-2.67913543e-01 -9.63433321e-01 4.30931101e-03 2.02756386e+02] [-9.63306491e-01 2.67948196e-01 1.56323231e-02 -1.25107505e+02] [-1.62153731e-02 3.69238223e-05 -9.99868522e-01 -4.02486104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters 0.014252207895675918 Centerline is valid? [True, True] Translation: X:202.71, Y:-125.21, Z:-4.03 [[-2.00132096e-01 -9.79764664e-01 2.88917129e-03 2.02707868e+02] [-9.79652055e-01 2.00152899e-01 1.48549136e-02 -1.25206412e+02] [-1.51325955e-02 1.42562412e-04 -9.99885486e-01 -4.02646639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters 0.01536847652631704 Centerline is valid? [True, True] Translation: X:202.67, Y:-125.32, Z:-4.03 [[-1.30885170e-01 -9.91395892e-01 1.80485502e-03 2.02667475e+02] [-9.91273079e-01 1.30897368e-01 1.56064728e-02 -1.25317940e+02] [-1.57084438e-02 2.53551656e-04 -9.99876583e-01 -4.02722715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters 0.015600592879269702 Centerline is valid? [True, True] Translation: X:202.63, Y:-125.43, Z:-4.03 [[-5.58411031e-02 -9.98439453e-01 6.55746254e-04 2.02630964e+02] [-9.98291642e-01 5.58441211e-02 1.71823315e-02 -1.25429685e+02] [-1.71921372e-02 3.04854341e-04 -9.99852158e-01 -4.02738562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters 0.015531832338015273 Centerline is valid? [True, True] Translation: X:202.60, Y:-125.54, Z:-4.03 [[ 1.91522364e-02 -9.99816405e-01 -5.90270561e-04 2.02599484e+02] [-9.99679764e-01 -1.91593787e-02 1.65314408e-02 -1.25539034e+02] [-1.65397150e-02 2.73467472e-04 -9.99863172e-01 -4.02750593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters 0.015015075505926892 Centerline is valid? [True, True] Translation: X:202.58, Y:-125.66, Z:-4.03 [[ 9.93285984e-02 -9.95053288e-01 -1.66845580e-03 2.02578054e+02] [-9.94943938e-01 -9.93424195e-02 1.47527439e-02 -1.25664819e+02] [-1.48455148e-02 1.94650613e-04 -9.99889780e-01 -4.02944167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters 0.014565576593430047 Centerline is valid? [True, True] Translation: X:202.57, Y:-125.78, Z:-4.03 [[ 1.78702277e-01 -9.83899009e-01 -2.86972492e-03 2.02565677e+02] [-9.83785396e-01 -1.78725254e-01 1.49525130e-02 -1.25782593e+02] [-1.52246550e-02 1.51145357e-04 -9.99884087e-01 -4.03012586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters 0.014065466835348366 Centerline is valid? [True, True] Translation: X:202.56, Y:-125.91, Z:-4.03 [[ 2.58906402e-01 -9.65895424e-01 -3.67493954e-03 2.02559713e+02] [-9.65801598e-01 -2.58932474e-01 1.34627945e-02 -1.25906206e+02] [-1.39552128e-02 6.36587945e-05 -9.99902619e-01 -4.03110585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters 0.013783736974048694 Centerline is valid? [True, True] Translation: X:202.56, Y:-126.03, Z:-4.03 [[ 3.37192703e-01 -9.41424061e-01 -4.67108763e-03 2.02564771e+02] [-9.41333326e-01 -3.37225056e-01 1.30702284e-02 -1.26029255e+02] [-1.38798352e-02 -1.01351765e-05 -9.99903670e-01 -4.03175914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters 0.013831005777608195 Centerline is valid? [True, True] Translation: X:202.58, Y:-126.15, Z:-4.03 [[ 4.10516879e-01 -9.11834290e-01 -5.84129441e-03 2.02579865e+02] [-9.11740438e-01 -4.10558432e-01 1.30823139e-02 -1.26146300e+02] [-1.43270951e-02 -4.47663325e-05 -9.99897361e-01 -4.03161604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters 0.013959374459213478 Centerline is valid? [True, True] Translation: X:202.60, Y:-126.26, Z:-4.03 [[ 4.81050604e-01 -8.76666174e-01 -6.83627894e-03 2.02602522e+02] [-8.76575308e-01 -4.81099171e-01 1.26220684e-02 -1.26261809e+02] [-1.43542685e-02 -7.93403130e-05 -9.99896969e-01 -4.03079558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters 0.014177787227819854 Centerline is valid? [True, True] Translation: X:202.63, Y:-126.37, Z:-4.03 [[ 5.48510952e-01 -8.36095552e-01 -8.94221410e-03 2.02633926e+02] [-8.35980651e-01 -5.48583823e-01 1.38614471e-02 -1.26371631e+02] [-1.64950483e-02 -1.27637582e-04 -9.99863939e-01 -4.02940807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters 0.014324460318747628 Centerline is valid? [True, True] Translation: X:202.68, Y:-126.48, Z:-4.03 [[ 6.10594125e-01 -7.91868636e-01 -1.09030847e-02 2.02676037e+02] [-7.91738391e-01 -6.10691448e-01 1.43623237e-02 -1.26477981e+02] [-1.80314942e-02 -1.37159728e-04 -9.99837410e-01 -4.02833053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters 0.014125608671653357 Centerline is valid? [True, True] Translation: X:202.72, Y:-126.57, Z:-4.03 [[ 6.68041837e-01 -7.44026152e-01 -1.20494650e-02 2.02721304e+02] [-7.43902142e-01 -6.68150487e-01 1.35841916e-02 -1.26573118e+02] [-1.81578496e-02 -1.11185500e-04 -9.99835127e-01 -4.02875631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters 0.014251387742661978 Centerline is valid? [True, True] Translation: X:202.77, Y:-126.66, Z:-4.03 [[ 7.21832731e-01 -6.91951639e-01 -1.26664071e-02 2.02773506e+02] [-6.91843015e-01 -7.21943849e-01 1.22605891e-02 -1.26664638e+02] [-1.76281694e-02 -8.69292391e-05 -9.99844608e-01 -4.02860152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters 0.014211487959479891 Centerline is valid? [True, True] Translation: X:202.79, Y:-126.69, Z:-4.03 [[ 7.73363109e-01 -6.33821706e-01 -1.33994942e-02 2.02794554e+02] [-6.33724865e-01 -7.73479179e-01 1.10795024e-02 -1.26691720e+02] [-1.73866589e-02 -7.68857790e-05 -9.99848838e-01 -4.02974009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters 0.014307852464714438 Centerline is valid? [True, True] Translation: X:202.82, Y:-126.72, Z:-4.03 [[ 8.20162495e-01 -5.71942902e-01 -1.46559871e-02 2.02817655e+02] [-5.71850130e-01 -8.20293431e-01 1.03012676e-02 -1.26716207e+02] [-1.79139468e-02 -6.76852441e-05 -9.99839530e-01 -4.02988369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters 0.014779160378529976 Centerline is valid? [True, True] Translation: X:202.84, Y:-126.74, Z:-4.03 [[ 8.63297377e-01 -5.04395967e-01 -1.73881202e-02 2.02841732e+02] [-5.04290985e-01 -8.63472463e-01 1.02911216e-02 -1.26739230e+02] [-2.02049632e-02 -1.15626046e-04 -9.99795852e-01 -4.02658218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters 0.014708004208575935 Centerline is valid? [True, True] Translation: X:202.87, Y:-126.76, Z:-4.03 [[ 9.00579278e-01 -4.34319136e-01 -1.79958812e-02 2.02868310e+02] [-4.34229382e-01 -9.00759052e-01 8.83033294e-03 -1.26760201e+02] [-2.00451355e-02 -1.38074501e-04 -9.99799067e-01 -4.02785478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters 0.01485612619519442 Centerline is valid? [True, True] Translation: X:202.90, Y:-126.78, Z:-4.03 [[ 9.31549684e-01 -3.63195469e-01 -1.74424029e-02 2.02896135e+02] [-3.63129480e-01 -9.31712959e-01 6.92410419e-03 -1.26775967e+02] [-1.87661161e-02 -1.16296381e-04 -9.99823894e-01 -4.02835997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters 0.014956356044298454 Centerline is valid? [True, True] Translation: X:202.93, Y:-126.79, Z:-4.03 [[ 9.56919852e-01 -2.89839695e-01 -1.72437800e-02 2.02926933e+02] [-2.89790757e-01 -9.57075201e-01 5.32693463e-03 -1.26786592e+02] [-1.80475513e-02 -1.00361444e-04 -9.99837125e-01 -4.02650473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters 0.014413759390837158 Centerline is valid? [True, True] Translation: X:202.96, Y:-126.80, Z:-4.03 [[ 9.76765000e-01 -2.13644437e-01 -1.69171196e-02 2.02957782e+02] [-2.13610542e-01 -9.76911482e-01 3.80696330e-03 -1.26799402e+02] [-1.73398649e-02 -1.04833439e-04 -9.99849648e-01 -4.02943210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters 0.014355537613231306 Centerline is valid? [True, True] Translation: X:202.99, Y:-126.81, Z:-4.03 [[ 9.90513694e-01 -1.36652546e-01 -1.44465711e-02 2.02986130e+02] [-1.36636761e-01 -9.90619036e-01 2.07871627e-03 -1.26807319e+02] [-1.45951102e-02 -8.50642530e-05 -9.99893482e-01 -4.02962682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters 0.014426916335998482 Centerline is valid? [True, True] Translation: X:203.01, Y:-126.81, Z:-4.03 [[ 9.98190153e-01 -5.85569703e-02 -1.36930645e-02 2.03014351e+02] [-5.85503394e-02 -9.98284065e-01 8.84980687e-04 -1.26810049e+02] [-1.37213899e-02 -8.16454327e-05 -9.99905854e-01 -4.02965910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters 0.01485484129323691 Centerline is valid? [True, True] Translation: X:203.04, Y:-126.82, Z:-4.03 [[ 9.99592154e-01 2.48237593e-02 -1.41175991e-02 2.03042829e+02] [ 2.48234841e-02 -9.99691831e-01 -1.94756390e-04 -1.26817703e+02] [-1.41180831e-02 -1.55771037e-04 -9.99900323e-01 -4.02896792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters 0.015106586045483894 Centerline is valid? [True, True] Translation: X:203.07, Y:-126.83, Z:-4.03 [[ 9.94008073e-01 1.08319730e-01 -1.46555855e-02 2.03072306e+02] [ 1.08311532e-01 -9.94116079e-01 -1.35426269e-03 -1.26827410e+02] [-1.47160466e-02 -2.41220878e-04 -9.99891684e-01 -4.03040687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters 0.0157212178928043 Centerline is valid? [True, True] Translation: X:203.10, Y:-126.83, Z:-4.03 [[ 9.82159985e-01 1.87427223e-01 -1.52578018e-02 2.03101818e+02] [ 1.87409019e-01 -9.82278452e-01 -2.62705729e-03 -1.26834896e+02] [-1.54797920e-02 -2.79259128e-04 -9.99880142e-01 -4.02893894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters 0.015260714796438694 Centerline is valid? [True, True] Translation: X:203.13, Y:-126.84, Z:-4.03 [[ 9.64913924e-01 2.62235903e-01 -1.31701015e-02 2.03132326e+02] [ 2.62214641e-01 -9.65003773e-01 -3.34679376e-03 -1.26836279e+02] [-1.35868471e-02 -2.24025531e-04 -9.99907669e-01 -4.02976931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters 0.0148927612805734 Centerline is valid? [True, True] Translation: X:203.16, Y:-126.83, Z:-4.03 [[ 9.42363364e-01 3.34429987e-01 -1.03862081e-02 2.03160427e+02] [ 3.34411437e-01 -9.42420586e-01 -3.52562255e-03 -1.26832485e+02] [-1.09672502e-02 -1.50849244e-04 -9.99939847e-01 -4.03145458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters 0.013942031783592367 Centerline is valid? [True, True] Translation: X:203.19, Y:-126.82, Z:-4.03 [[ 9.15598123e-01 4.02024600e-01 -7.50323398e-03 2.03186433e+02] [ 4.02011689e-01 -9.15628864e-01 -3.22263407e-03 -1.26822151e+02] [-8.16575578e-03 -6.57500688e-05 -9.99966658e-01 -4.03360741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters 0.013419940182586793 Centerline is valid? [True, True] Translation: X:203.21, Y:-126.81, Z:-4.03 [[ 8.84083826e-01 4.67274767e-01 -7.07673338e-03 2.03213359e+02] [ 4.67259955e-01 -8.84112149e-01 -3.72059867e-03 -1.26811908e+02] [-7.99516783e-03 -1.73530196e-05 -9.99968038e-01 -4.03363726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters 0.013296444633092864 Centerline is valid? [True, True] Translation: X:203.24, Y:-126.80, Z:-4.03 [[ 8.46564343e-01 5.32237395e-01 -7.22272822e-03 2.03240794e+02] [ 5.32217928e-01 -8.46595154e-01 -4.55212270e-03 -1.26802711e+02] [-8.53753664e-03 9.59931493e-06 -9.99963555e-01 -4.03230762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters 0.013224131502232249 Centerline is valid? [True, True] Translation: X:203.27, Y:-126.80, Z:-4.03 [[ 8.01641161e-01 5.97750751e-01 -8.09245602e-03 2.03271041e+02] [ 5.97720295e-01 -8.01682007e-01 -6.03402633e-03 -1.26795888e+02] [-1.00944202e-02 9.86712074e-08 -9.99949050e-01 -4.03078695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters 0.013102435125093908 Centerline is valid? [True, True] Translation: X:203.30, Y:-126.79, Z:-4.03 [[ 7.51285673e-01 6.59932483e-01 -7.67828930e-03 2.03300087e+02] [ 6.59898245e-01 -7.51324908e-01 -6.72220238e-03 -1.26786100e+02] [-1.02050897e-02 -1.65952993e-05 -9.99947927e-01 -4.03016382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters 0.01310182767005772 Centerline is valid? [True, True] Translation: X:203.33, Y:-126.77, Z:-4.03 [[ 6.96652163e-01 7.17371252e-01 -7.36554835e-03 2.03326521e+02] [ 7.17331569e-01 -6.96691098e-01 -7.54550931e-03 -1.26772324e+02] [-1.05444434e-02 -2.69449689e-05 -9.99944405e-01 -4.03004048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters 0.013010437993764633 Centerline is valid? [True, True] Translation: X:203.36, Y:-126.76, Z:-4.03 [[ 6.35891537e-01 7.71751994e-01 -6.38846886e-03 2.03355534e+02] [ 7.71713957e-01 -6.35923624e-01 -7.66245370e-03 -1.26759328e+02] [-9.97609219e-03 -5.75811265e-05 -9.99950236e-01 -4.02996282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters 0.013466810350461104 Centerline is valid? [True, True] Translation: X:203.38, Y:-126.74, Z:-4.03 [[ 5.71148141e-01 8.20825628e-01 -5.92355992e-03 2.03381724e+02] [ 8.20783088e-01 -5.71178851e-01 -8.35717191e-03 -1.26744181e+02] [-1.02431930e-02 -8.87746034e-05 -9.99947533e-01 -4.02802891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters 0.013473121088324437 Centerline is valid? [True, True] Translation: X:203.40, Y:-126.72, Z:-4.03 [[ 5.04096450e-01 8.63633118e-01 -4.96047578e-03 2.03402206e+02] [ 8.63593149e-01 -5.04120847e-01 -8.30933691e-03 -1.26722979e+02] [-9.67689780e-03 -9.51256665e-05 -9.99953173e-01 -4.02937322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters 0.013588974649236302 Centerline is valid? [True, True] Translation: X:203.42, Y:-126.70, Z:-4.03 [[ 4.33798321e-01 9.01001948e-01 -3.80880283e-03 2.03422525e+02] [ 9.00969123e-01 -4.33815031e-01 -7.69147201e-03 -1.26700740e+02] [-8.58234718e-03 -9.50661056e-05 -9.99963166e-01 -4.03060204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters 0.014222946818063954 Centerline is valid? [True, True] Translation: X:203.44, Y:-126.68, Z:-4.03 [[ 3.59650882e-01 9.33082327e-01 -2.93493123e-03 2.03441750e+02] [ 9.33053636e-01 -3.59662841e-01 -7.31798758e-03 -1.26678385e+02] [-7.88387058e-03 -1.06527571e-04 -9.99968916e-01 -4.03035705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters 0.014363125884894877 Centerline is valid? [True, True] Translation: X:203.46, Y:-126.65, Z:-4.03 [[ 2.84842265e-01 9.58571296e-01 -2.44021914e-03 2.03457773e+02] [ 9.58539526e-01 -2.84852693e-01 -7.80512706e-03 -1.26653112e+02] [-8.17687376e-03 -1.15816432e-04 -9.99966562e-01 -4.03032752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters 0.014615273592286043 Centerline is valid? [True, True] Translation: X:203.47, Y:-126.63, Z:-4.03 [[ 2.09198842e-01 9.77871041e-01 -2.01807049e-03 2.03468960e+02] [ 9.77831165e-01 -2.09208537e-01 -8.83180589e-03 -1.26627720e+02] [-9.05856479e-03 -1.25728656e-04 -9.99958962e-01 -4.02931931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters 0.01429407583560696 Centerline is valid? [True, True] Translation: X:203.48, Y:-126.60, Z:-4.03 [[ 1.32731411e-01 9.91151075e-01 -1.38524366e-03 2.03477750e+02] [ 9.91106464e-01 -1.32738581e-01 -9.40452749e-03 -1.26600116e+02] [-9.50518281e-03 -1.24647743e-04 -9.99954817e-01 -4.02992451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters 0.014050477939743466 Centerline is valid? [True, True] Translation: X:203.48, Y:-126.57, Z:-4.03 [[ 5.58443592e-02 9.98439253e-01 -6.81982547e-04 2.03484062e+02] [ 9.98388777e-01 -5.58483940e-02 -1.00402284e-02 -1.26572542e+02] [-1.00626458e-02 -1.20193600e-04 -9.99949363e-01 -4.03032365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters 0.014233259647185666 Centerline is valid? [True, True] Translation: X:203.49, Y:-126.54, Z:-4.03 [[-2.33730278e-02 9.99726806e-01 1.25170078e-04 2.03490174e+02] [ 9.99657232e-01 2.33728780e-02 -1.17952467e-02 -1.26544689e+02] [-1.17949499e-02 -1.50563456e-04 -9.99930426e-01 -4.02895168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters 0.01440052891244789 Centerline is valid? [True, True] Translation: X:203.49, Y:-126.52, Z:-4.03 [[-1.02570736e-01 9.94725203e-01 1.00771336e-03 2.03494598e+02] [ 9.94661143e-01 1.02575568e-01 -1.12899437e-02 -1.26516699e+02] [-1.13337583e-02 -1.55684514e-04 -9.99935759e-01 -4.02932817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters 0.014807413148300278 Centerline is valid? [True, True] Translation: X:203.50, Y:-126.49, Z:-4.03 [[-1.80863733e-01 9.83506306e-01 1.91219866e-03 2.03495457e+02] [ 9.83441248e-01 1.80873765e-01 -1.13133857e-02 -1.26489527e+02] [-1.14726527e-02 -1.65646119e-04 -9.99934173e-01 -4.02880491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters 0.015104914948782433 Centerline is valid? [True, True] Translation: X:203.49, Y:-126.46, Z:-4.03 [[-2.57655481e-01 9.66232337e-01 2.95368628e-03 2.03491197e+02] [ 9.66160639e-01 2.57672348e-01 -1.17720447e-02 -1.26461707e+02] [-1.21356135e-02 -1.79396421e-04 -9.99926345e-01 -4.02853027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters 0.01536697269094529 Centerline is valid? [True, True] Translation: X:203.48, Y:-126.44, Z:-4.03 [[-3.32319992e-01 9.43158195e-01 4.00539767e-03 2.03483384e+02] [ 9.43082934e-01 3.32344079e-01 -1.19160787e-02 -1.26435592e+02] [-1.25699174e-02 -1.82528974e-04 -9.99920979e-01 -4.02889808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters 0.015160722805380526 Centerline is valid? [True, True] Translation: X:203.48, Y:-126.41, Z:-4.03 [[-4.04510007e-01 9.14522149e-01 4.57098460e-03 2.03475548e+02] [ 9.14459219e-01 4.04535801e-01 -1.07294817e-02 -1.26408695e+02] [-1.16614756e-02 -1.60203725e-04 -9.99931990e-01 -4.03132512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters 0.014812726598918156 Centerline is valid? [True, True] Translation: X:203.47, Y:-126.38, Z:-4.03 [[-4.72783886e-01 8.81162259e-01 5.33587421e-03 2.03465878e+02] [ 8.81102985e-01 4.72813977e-01 -1.02211814e-02 -1.26383152e+02] [-1.15293952e-02 -1.30955165e-04 -9.99933526e-01 -4.03058258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters 0.01477237771164603 Centerline is valid? [True, True] Translation: X:203.45, Y:-126.36, Z:-4.03 [[-5.39555845e-01 8.41929476e-01 5.85215483e-03 2.03452702e+02] [ 8.41877636e-01 5.39587569e-01 -9.34354497e-03 -1.26359224e+02] [-1.10243559e-02 -1.14566036e-04 -9.99939223e-01 -4.03015865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters 0.014540513723628443 Centerline is valid? [True, True] Translation: X:203.44, Y:-126.34, Z:-4.03 [[-6.02583320e-01 7.98029441e-01 6.50800105e-03 2.03435469e+02] [ 7.97981163e-01 6.02618455e-01 -8.77846658e-03 -1.26338098e+02] [-1.09273163e-02 -9.64952824e-05 -9.99940290e-01 -4.03056277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters 0.014401102570004294 Centerline is valid? [True, True] Translation: X:203.42, Y:-126.32, Z:-4.03 [[-6.61618951e-01 7.49804095e-01 7.36088437e-03 2.03415676e+02] [ 7.49756439e-01 6.61659892e-01 -8.45398899e-03 -1.26318936e+02] [-1.12092375e-02 -7.44488707e-05 -9.99937172e-01 -4.03071171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters 0.014284575897952604 Centerline is valid? [True, True] Translation: X:203.40, Y:-126.30, Z:-4.03 [[-7.17946324e-01 6.96045319e-01 8.60171983e-03 2.03399545e+02] [ 6.95994138e-01 7.17997847e-01 -8.44108463e-03 -1.26296429e+02] [-1.20513938e-02 -7.34991011e-05 -9.99927377e-01 -4.02863998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters 0.014072331274458212 Centerline is valid? [True, True] Translation: X:203.42, Y:-126.28, Z:-4.03 [[-7.65054701e-01 6.43904897e-01 8.81978971e-03 2.03417663e+02] [ 6.43861135e-01 7.65105535e-01 -7.50726639e-03 -1.26276991e+02] [-1.15820355e-02 -6.47496261e-05 -9.99932924e-01 -4.02975642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters 0.01406818166758137 Centerline is valid? [True, True] Translation: X:203.44, Y:-126.26, Z:-4.03 [[-8.08246483e-01 5.88771844e-01 9.23786629e-03 2.03435503e+02] [ 5.88732605e-01 8.08299272e-01 -6.79758418e-03 -1.26256932e+02] [-1.14691868e-02 -5.54904249e-05 -9.99934225e-01 -4.02914474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters 0.01389762535974386 Centerline is valid? [True, True] Translation: X:203.45, Y:-126.24, Z:-4.03 [[-8.47602927e-01 5.30557962e-01 8.80496608e-03 2.03454670e+02] [ 5.30528792e-01 8.47648657e-01 -5.56370865e-03 -1.26235749e+02] [-1.04153876e-02 -4.45277262e-05 -9.99945757e-01 -4.02835052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters 0.013908327122886052 Centerline is valid? [True, True] Translation: X:203.47, Y:-126.21, Z:-4.03 [[-8.82613935e-01 4.70026775e-01 8.21421078e-03 2.03466628e+02] [ 4.70006090e-01 8.82652157e-01 -4.40973845e-03 -1.26211870e+02] [-9.32298601e-03 -3.13675166e-05 -9.99956540e-01 -4.02921436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters 0.013728934043321452 Centerline is valid? [True, True] Translation: X:203.48, Y:-126.19, Z:-4.03 [[-9.12837504e-01 4.08253636e-01 7.52735530e-03 2.03481511e+02] [ 4.08239663e-01 9.12868539e-01 -3.37764853e-03 -1.26191055e+02] [-8.25042313e-03 -1.02792584e-05 -9.99965965e-01 -4.03010372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters 0.013651956391953917 Centerline is valid? [True, True] Translation: X:203.50, Y:-126.17, Z:-4.03 [[-9.39300617e-01 3.43028150e-01 6.78524801e-03 2.03495436e+02] [ 3.43019157e-01 9.39325124e-01 -2.48382422e-03 -1.26166974e+02] [-7.22557555e-03 -5.58757337e-06 -9.99973895e-01 -4.03047019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters 0.013789093150405572 Centerline is valid? [True, True] Translation: X:203.73, Y:-125.52, Z:-5.01 [[-9.13093587e-01 -4.07677599e-01 7.68612681e-03 2.03734663e+02] [ 4.07663878e-01 -9.13125933e-01 -3.34565417e-03 -1.25516340e+02] [ 8.38234997e-03 7.84608941e-05 9.99964864e-01 -5.01345896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters 0.013703320754805473 Centerline is valid? [True, True] Translation: X:203.45, Y:-126.15, Z:-4.03 [[-9.40588073e-01 3.39442750e-01 8.52621553e-03 2.03453217e+02] [ 3.39428721e-01 9.40626717e-01 -3.08598289e-03 -1.26149645e+02] [-9.06750063e-03 -8.59626151e-06 -9.99958889e-01 -4.02755332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters 0.013872549179527916 Centerline is valid? [True, True] Translation: X:203.46, Y:-126.12, Z:-4.02 [[-9.61851388e-01 2.73385911e-01 1.01020178e-02 2.03462072e+02] [ 2.73370899e-01 9.61904436e-01 -2.86491891e-03 -1.26124150e+02] [-1.05004042e-02 5.97144350e-06 -9.99944869e-01 -4.02487060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters 0.01388929159448794 Centerline is valid? [True, True] Translation: X:203.65, Y:-125.46, Z:-5.02 [[-9.42008988e-01 -3.35435646e-01 1.00992433e-02 2.03652419e+02] [ 3.35416452e-01 -9.42063123e-01 -3.58836728e-03 -1.25458636e+02] [ 1.07177909e-02 7.17811393e-06 9.99942563e-01 -5.01598421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters 0.013991278898436486 Centerline is valid? [True, True] Translation: X:203.42, Y:-126.11, Z:-4.02 [[-9.62442858e-01 2.71303959e-01 9.89475645e-03 2.03417208e+02] [ 2.71289857e-01 9.62493720e-01 -2.76623399e-03 -1.26114634e+02] [-1.02741312e-02 2.20049122e-05 -9.99947220e-01 -4.02419664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters 0.013955797260791845 Centerline is valid? [True, True] Translation: X:203.61, Y:-125.45, Z:-5.02 [[-9.42993386e-01 -3.32677434e-01 9.44453131e-03 2.03607363e+02] [ 3.32660355e-01 -9.43040680e-01 -3.37110136e-03 -1.25446192e+02] [ 1.00280666e-02 -3.71051486e-05 9.99949717e-01 -5.01607701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters 0.014033333355803502 Centerline is valid? [True, True] Translation: X:203.37, Y:-126.10, Z:-4.03 [[-9.64988186e-01 2.62131759e-01 9.20549866e-03 2.03366581e+02] [ 2.62119484e-01 9.65032092e-01 -2.53703111e-03 -1.26097823e+02] [-9.54863807e-03 -3.52644889e-05 -9.99954410e-01 -4.02510323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters 0.014729622965014946 Centerline is valid? [True, True] Translation: X:203.37, Y:-126.07, Z:-4.02 [[-9.82045207e-01 1.88394993e-01 9.72311957e-03 2.03370486e+02] [ 1.88384917e-01 9.82093336e-01 -1.95019651e-03 -1.26067485e+02] [-9.91641819e-03 -8.34920653e-05 -9.99950828e-01 -4.02383121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters 0.015045063145675571 Centerline is valid? [True, True] Translation: X:203.37, Y:-126.04, Z:-4.02 [[-9.93267383e-01 1.15447427e-01 9.58109867e-03 2.03374930e+02] [ 1.15440996e-01 9.93313586e-01 -1.22344846e-03 -1.26039181e+02] [-9.65827945e-03 -1.09159872e-04 -9.99953352e-01 -4.02444047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters 0.015136457927219488 Centerline is valid? [True, True] Translation: X:203.37, Y:-126.01, Z:-4.02 [[-9.99039123e-01 4.27944574e-02 9.45863016e-03 2.03372765e+02] [ 4.27913561e-02 9.99083890e-01 -5.30109950e-04 -1.26010594e+02] [-9.47265078e-03 -1.24852968e-04 -9.99955126e-01 -4.02476129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters 0.014443369833549142 Centerline is valid? [True, True] Translation: X:203.42, Y:-125.33, Z:-5.01 [[-9.91157763e-01 -1.32449375e-01 7.96563217e-03 2.03418678e+02] [ 1.32445247e-01 -9.91189771e-01 -1.04576881e-03 -1.25332883e+02] [ 8.03396455e-03 1.84882470e-05 9.99967727e-01 -5.01444336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters 0.01367916033102749 Centerline is valid? [True, True] Translation: X:203.32, Y:-126.02, Z:-4.03 [[-9.98713631e-01 5.00616754e-02 8.05673800e-03 2.03323254e+02] [ 5.00599438e-02 9.98746128e-01 -4.16564521e-04 -1.26019678e+02] [-8.06748980e-03 -1.27088132e-05 -9.99967457e-01 -4.02592980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters 0.013911652388655237 Centerline is valid? [True, True] Translation: X:203.37, Y:-125.32, Z:-5.01 [[-9.93711243e-01 -1.11648457e-01 8.51988773e-03 2.03369235e+02] [ 1.11644712e-01 -9.93747765e-01 -9.15411063e-04 -1.25316456e+02] [ 8.56882362e-03 4.15461438e-05 9.99963286e-01 -5.01411508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters 0.014262170578013815 Centerline is valid? [True, True] Translation: X:203.27, Y:-126.03, Z:-4.03 [[-9.98257168e-01 5.84568646e-02 8.08838827e-03 2.03269864e+02] [ 5.84556747e-02 9.98289931e-01 -3.83643600e-04 -1.26025720e+02] [-8.09698317e-03 8.98372195e-05 -9.99967215e-01 -4.02677711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters 0.01439616661675253 Centerline is valid? [True, True] Translation: X:203.31, Y:-125.31, Z:-5.01 [[-9.94813463e-01 -1.01391101e-01 8.12515223e-03 2.03306995e+02] [ 1.01387014e-01 -9.94846640e-01 -9.14305691e-04 -1.25313204e+02] [ 8.17598285e-03 -8.57786852e-05 9.99966572e-01 -5.01396958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters 0.014831694630139695 Centerline is valid? [True, True] Translation: X:203.21, Y:-126.02, Z:-4.03 [[-9.98304610e-01 5.74893942e-02 9.10353100e-03 2.03208478e+02] [ 5.74882132e-02 9.98346108e-01 -3.91567001e-04 -1.26023195e+02] [-9.11098570e-03 1.32442589e-04 -9.99958485e-01 -4.02544406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters 0.015252759934693244 Centerline is valid? [True, True] Translation: X:203.24, Y:-125.31, Z:-5.02 [[-9.95341155e-01 -9.58923720e-02 1.00318218e-02 2.03241085e+02] [ 9.58866573e-02 -9.95391705e-01 -1.05019180e-03 -1.25310550e+02] [ 1.00862976e-02 -8.33812597e-05 9.99949129e-01 -5.01621696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters 0.014615896204697549 Centerline is valid? [True, True] Translation: X:203.15, Y:-126.01, Z:-4.03 [[-9.98624262e-01 5.15438256e-02 9.63416304e-03 2.03146431e+02] [ 5.15426279e-02 9.98670726e-01 -3.72734364e-04 -1.26013713e+02] [-9.64056875e-03 1.24348501e-04 -9.99953521e-01 -4.02531697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters 0.014210576777477406 Centerline is valid? [True, True] Translation: X:203.18, Y:-125.32, Z:-5.01 [[-9.95516767e-01 -9.42540333e-02 7.90850191e-03 2.03175899e+02] [ 9.42493561e-02 -9.95548156e-01 -9.62860234e-04 -1.25317109e+02] [ 7.96404796e-03 -2.13172294e-04 9.99968264e-01 -5.01244543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters 0.013982570939986973 Centerline is valid? [True, True] Translation: X:203.09, Y:-126.01, Z:-4.03 [[-9.98977569e-01 4.47345548e-02 6.52967310e-03 2.03085460e+02] [ 4.47340454e-02 9.98998906e-01 -2.24112786e-04 -1.26007142e+02] [-6.53316187e-03 6.82150468e-05 -9.99978656e-01 -4.02928716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters 0.013612957377509508 Centerline is valid? [True, True] Translation: X:203.11, Y:-125.32, Z:-5.01 [[-9.95473119e-01 -9.48474179e-02 6.10225484e-03 2.03106748e+02] [ 9.48450753e-02 -9.95491818e-01 -6.72795397e-04 -1.25322573e+02] [ 6.13855767e-03 -9.09809123e-05 9.99981155e-01 -5.01054711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters 0.013289763977176584 Centerline is valid? [True, True] Translation: X:203.02, Y:-125.99, Z:-4.03 [[-9.99450493e-01 3.27660294e-02 5.00985779e-03 2.03023680e+02] [ 3.27656859e-02 9.99463049e-01 -1.50646655e-04 -1.25993442e+02] [-5.01210384e-03 1.35875527e-05 -9.99987439e-01 -4.03091489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters 0.013254108414442457 Centerline is valid? [True, True] Translation: X:203.02, Y:-125.96, Z:-4.03 [[-9.99200885e-01 -3.96915299e-02 4.70899510e-03 2.03017763e+02] [-3.96910594e-02 9.99211981e-01 1.93375294e-04 -1.25964180e+02] [-4.71295968e-03 6.31576092e-06 -9.99988894e-01 -4.03117388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters 0.013209245912809206 Centerline is valid? [True, True] Translation: X:202.99, Y:-125.31, Z:-5.01 [[-9.99600820e-01 -2.78207255e-02 4.92006861e-03 2.02987864e+02] [ 2.78204258e-02 -9.99612929e-01 -1.29353207e-04 -1.25307170e+02] [ 4.92176289e-03 7.57683124e-06 9.99987888e-01 -5.00947663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters 0.013342197381638863 Centerline is valid? [True, True] Translation: X:202.95, Y:-125.96, Z:-4.03 [[-9.98707877e-01 -5.05148844e-02 5.55187922e-03 2.02947186e+02] [-5.05142568e-02 9.98723308e-01 2.53302159e-04 -1.25957310e+02] [-5.55758671e-03 -2.74741917e-05 -9.99984556e-01 -4.03120627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters 0.013582921285459374 Centerline is valid? [True, True] Translation: X:202.94, Y:-125.93, Z:-4.03 [[-9.92274196e-01 -1.23895929e-01 6.45904290e-03 2.02938919e+02] [-1.23893624e-01 9.92295216e-01 7.57396760e-04 -1.25925844e+02] [-6.50311574e-03 -4.86889697e-05 -9.99978853e-01 -4.03047522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters 0.01381531722912277 Centerline is valid? [True, True] Translation: X:202.86, Y:-125.30, Z:-5.01 [[-9.99208883e-01 3.91442395e-02 7.02397744e-03 2.02863413e+02] [-3.91426462e-02 -9.99233567e-01 3.64204447e-04 -1.25304429e+02] [ 7.03285054e-03 8.89792545e-05 9.99975265e-01 -5.01004974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters 0.013662630444797649 Centerline is valid? [True, True] Translation: X:202.86, Y:-125.93, Z:-4.03 [[-9.91278633e-01 -1.31532310e-01 8.11933487e-03 2.02862791e+02] [-1.31528599e-01 9.91311880e-01 9.91671612e-04 -1.25927471e+02] [-8.17922998e-03 -8.49018616e-05 -9.99966546e-01 -4.03039153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters 0.013834783516620297 Centerline is valid? [True, True] Translation: X:202.79, Y:-125.32, Z:-5.01 [[-9.98988645e-01 4.40820260e-02 8.85789968e-03 2.02790573e+02] [-4.40790704e-02 -9.99027906e-01 5.28723840e-04 -1.25315793e+02] [ 8.87259618e-03 1.37741129e-04 9.99960628e-01 -5.01018156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters 0.013794921539852229 Centerline is valid? [True, True] Translation: X:202.79, Y:-125.93, Z:-4.03 [[-9.90722528e-01 -1.35619384e-01 8.73244613e-03 2.02792035e+02] [-1.35614880e-01 9.90761008e-01 1.10866218e-03 -1.25932751e+02] [-8.80212321e-03 -8.58730347e-05 -9.99961257e-01 -4.02968897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters 0.013623424373551869 Centerline is valid? [True, True] Translation: X:202.78, Y:-125.91, Z:-4.03 [[-9.78836990e-01 -2.04462860e-01 8.54908384e-03 2.02780969e+02] [-2.04455713e-01 9.78874320e-01 1.71107028e-03 -1.25907684e+02] [-8.71832896e-03 -7.30501500e-05 -9.99961992e-01 -4.03026114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters 0.012984610428251282 Centerline is valid? [True, True] Translation: X:202.77, Y:-125.89, Z:-4.03 [[-9.62439098e-01 -2.71366596e-01 8.43528965e-03 2.02767021e+02] [-2.71356636e-01 9.62476061e-01 2.32557694e-03 -1.25886661e+02] [-8.74984825e-03 -5.07456458e-05 -9.99961718e-01 -4.03214940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters 0.012721353627037317 Centerline is valid? [True, True] Translation: X:202.59, Y:-125.29, Z:-5.01 [[-9.80501798e-01 1.96285295e-01 9.39714913e-03 2.02591563e+02] [-1.96275193e-01 -9.80546822e-01 1.99449802e-03 -1.25293881e+02] [ 9.60583536e-03 1.11181636e-04 9.99953857e-01 -5.00908097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters 0.012565790772875533 Centerline is valid? [True, True] Translation: X:202.66, Y:-125.92, Z:-4.03 [[-9.62003319e-01 -2.72835218e-01 1.05147121e-02 2.02656430e+02] [-2.72819071e-01 9.62060780e-01 2.96826538e-03 -1.25918544e+02] [-1.09256395e-02 -1.31328588e-05 -9.99940313e-01 -4.03093229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters 0.012598667209575096 Centerline is valid? [True, True] Translation: X:202.62, Y:-125.90, Z:-4.03 [[-9.40420408e-01 -3.39846861e-01 1.06568320e-02 2.02624056e+02] [-3.39824990e-01 9.40480787e-01 3.85553491e-03 -1.25901803e+02] [-1.13328372e-02 4.36589603e-06 -9.99935781e-01 -4.02975541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters 0.012389640657299214 Centerline is valid? [True, True] Translation: X:202.58, Y:-125.89, Z:-4.03 [[-9.13454308e-01 -4.06803256e-01 1.05989329e-02 2.02579724e+02] [-4.06775750e-01 9.13515797e-01 4.73053001e-03 -1.25889947e+02] [-1.16066876e-02 9.73413694e-06 -9.99932640e-01 -4.03163541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters 0.01232742610156172 Centerline is valid? [True, True] Translation: X:202.52, Y:-125.89, Z:-4.03 [[-8.81107546e-01 -4.72826285e-01 9.20849709e-03 2.02517003e+02] [-4.72800371e-01 8.81155664e-01 4.95028743e-03 -1.25891129e+02] [-1.04547454e-02 7.95477026e-06 -9.99945348e-01 -4.03268873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters 0.012372217575035345 Centerline is valid? [True, True] Translation: X:202.45, Y:-125.90, Z:-4.03 [[-8.43202268e-01 -5.37510746e-01 9.59856763e-03 2.02450812e+02] [-5.37475981e-01 8.43256899e-01 6.11333357e-03 -1.25897991e+02] [-1.13800409e-02 -4.22281806e-06 -9.99935245e-01 -4.03170040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters 0.012258564350794438 Centerline is valid? [True, True] Translation: X:202.38, Y:-125.91, Z:-4.03 [[-8.00453774e-01 -5.99330982e-01 8.72522276e-03 2.02376223e+02] [-5.99295581e-01 8.00501327e-01 6.51402640e-03 -1.25914922e+02] [-1.08886102e-02 -1.48104204e-05 -9.99940717e-01 -4.03172387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters 0.012067104365046802 Centerline is valid? [True, True] Translation: X:202.30, Y:-125.94, Z:-4.03 [[-7.53218672e-01 -6.57738518e-01 6.45551890e-03 2.02300826e+02] [-6.57714559e-01 7.53246335e-01 5.61405155e-03 -1.25942422e+02] [-8.55517390e-03 -1.72803054e-05 -9.99963404e-01 -4.03457933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters 0.012024738007135688 Centerline is valid? [True, True] Translation: X:202.22, Y:-125.98, Z:-4.03 [[-7.01670194e-01 -7.12477206e-01 5.93043101e-03 2.02220489e+02] [-7.12451992e-01 7.01695255e-01 5.99401658e-03 -1.25980730e+02] [-8.43195549e-03 -1.93246162e-05 -9.99964450e-01 -4.03438349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters 0.012073173861446728 Centerline is valid? [True, True] Translation: X:202.14, Y:-126.03, Z:-4.03 [[-6.44326919e-01 -7.64732202e-01 5.24218350e-03 2.02140297e+02] [-7.64707371e-01 6.44348243e-01 6.16265181e-03 -1.26026802e+02] [-8.09057001e-03 -3.79739114e-05 -9.99967270e-01 -4.03366776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters 0.01220613872487347 Centerline is valid? [True, True] Translation: X:202.06, Y:-126.08, Z:-4.03 [[-5.83319364e-01 -8.12233405e-01 3.92630253e-03 2.02059225e+02] [-8.12215509e-01 5.83332576e-01 5.39183953e-03 -1.26083113e+02] [-6.66977235e-03 -4.38394047e-05 -9.99977756e-01 -4.03315878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters 0.012480569666578498 Centerline is valid? [True, True] Translation: X:201.98, Y:-126.15, Z:-4.03 [[-5.18759269e-01 -8.54911660e-01 3.85676769e-03 2.01979459e+02] [-8.54888909e-01 5.18773602e-01 6.23724069e-03 -1.26152825e+02] [-7.33307906e-03 -6.14815057e-05 -9.99973111e-01 -4.03155484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters 0.012902225619685483 Centerline is valid? [True, True] Translation: X:201.91, Y:-126.23, Z:-4.03 [[-4.50371818e-01 -8.92833132e-01 3.77153177e-03 2.01906456e+02] [-8.92803444e-01 4.50387601e-01 7.28145416e-03 -1.26227761e+02] [-8.19977467e-03 -8.78748043e-05 -9.99966377e-01 -4.03060335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters 0.013332447629713905 Centerline is valid? [True, True] Translation: X:201.84, Y:-126.31, Z:-4.03 [[-3.78805047e-01 -9.25470969e-01 3.19715486e-03 2.01837632e+02] [-9.25440412e-01 3.78818523e-01 7.52136648e-03 -1.26310521e+02] [-8.17194781e-03 -1.09644724e-04 -9.99966603e-01 -4.03044680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters 0.013409885302684952 Centerline is valid? [True, True] Translation: X:201.78, Y:-126.40, Z:-4.03 [[-3.04958599e-01 -9.52361251e-01 2.88112036e-03 2.01778491e+02] [-9.52323104e-01 3.04972175e-01 8.52514089e-03 -1.26397575e+02] [-8.99767539e-03 -1.43942465e-04 -9.99959510e-01 -4.03047137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters 0.013773195473005113 Centerline is valid? [True, True] Translation: X:201.72, Y:-126.50, Z:-4.03 [[-2.30360628e-01 -9.73102402e-01 2.38680778e-03 2.01722293e+02] [-9.73057354e-01 2.30372934e-01 9.36464609e-03 -1.26497881e+02] [-9.66261551e-03 -1.65255109e-04 -9.99953302e-01 -4.02979562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters 0.014019036467270554 Centerline is valid? [True, True] Translation: X:201.67, Y:-126.60, Z:-4.03 [[-1.54424989e-01 -9.88003002e-01 1.72936571e-03 2.01674395e+02] [-9.87953529e-01 1.54434565e-01 9.88882861e-03 -1.26599899e+02] [-1.00372662e-02 -1.81450709e-04 -9.99949609e-01 -4.02983679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters 0.013984870068389811 Centerline is valid? [True, True] Translation: X:201.64, Y:-126.71, Z:-4.03 [[-7.78052601e-02 -9.96968148e-01 9.23837901e-04 2.01636168e+02] [-9.96922550e-01 7.78105387e-02 9.53671945e-03 -1.26708970e+02] [-9.57968985e-03 -1.78987899e-04 -9.99954098e-01 -4.03167556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters 0.014108611468340141 Centerline is valid? [True, True] Translation: X:201.61, Y:-126.82, Z:-4.03 [[-1.37984321e-03 -9.99999033e-01 1.73649573e-04 2.01606032e+02] [-9.99961131e-01 1.38130304e-03 8.70795180e-03 -1.26817028e+02] [-8.70818325e-03 -1.61627215e-04 -9.99962070e-01 -4.03303842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters 0.014016433952481705 Centerline is valid? [True, True] Translation: X:201.59, Y:-126.94, Z:-4.03 [[ 7.44119379e-02 -9.97227447e-01 -5.31165192e-04 2.01585434e+02] [-9.97183694e-01 -7.44136494e-02 9.34287427e-03 -1.26938363e+02] [-9.35649660e-03 -1.65552111e-04 -9.99956213e-01 -4.03290873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters 0.014162157950006277 Centerline is valid? [True, True] Translation: X:201.57, Y:-127.05, Z:-4.03 [[ 1.49016003e-01 -9.88833667e-01 -1.48646453e-03 2.01574063e+02] [-9.88771814e-01 -1.49023310e-01 1.10613051e-02 -1.27046032e+02] [-1.11593088e-02 -1.78537253e-04 -9.99937717e-01 -4.03128353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters 0.013454670742888891 Centerline is valid? [True, True] Translation: X:201.57, Y:-127.16, Z:-4.03 [[ 2.22754080e-01 -9.74871116e-01 -2.63195170e-03 2.01573785e+02] [-9.74793235e-01 -2.22769556e-01 1.23237002e-02 -1.27164504e+02] [-1.26003380e-02 -1.79545780e-04 -9.99920597e-01 -4.03219221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters 0.013227655262010501 Centerline is valid? [True, True] Translation: X:201.58, Y:-127.28, Z:-4.03 [[ 2.95679727e-01 -9.55279376e-01 -3.84874890e-03 2.01580831e+02] [-9.55190574e-01 -2.95704723e-01 1.30263210e-02 -1.27284269e+02] [-1.35818690e-02 -1.75330358e-04 -9.99907747e-01 -4.03283071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters 0.013495456291387117 Centerline is valid? [True, True] Translation: X:201.59, Y:-127.40, Z:-4.03 [[ 3.68683606e-01 -9.29541410e-01 -5.01647033e-03 2.01594512e+02] [-9.29448224e-01 -3.68717683e-01 1.31631608e-02 -1.27399330e+02] [-1.40853644e-02 -1.90492158e-04 -9.99900778e-01 -4.03253575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters 0.013409246713398961 Centerline is valid? [True, True] Translation: X:201.62, Y:-127.51, Z:-4.03 [[ 4.39843936e-01 -8.98052079e-01 -6.30671385e-03 2.01615911e+02] [-8.97952646e-01 -4.39889096e-01 1.33652483e-02 -1.27512778e+02] [-1.47769437e-02 -2.15493021e-04 -9.99890792e-01 -4.03289526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters 0.01367220462644386 Centerline is valid? [True, True] Translation: X:201.65, Y:-127.63, Z:-4.03 [[ 5.08763782e-01 -8.60870018e-01 -7.88833527e-03 2.01646889e+02] [-8.60758602e-01 -5.08824867e-01 1.38522282e-02 -1.27626221e+02] [-1.59387491e-02 -2.57559554e-04 -9.99872937e-01 -4.03220946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters 0.014422171794756161 Centerline is valid? [True, True] Translation: X:201.68, Y:-127.74, Z:-4.03 [[ 5.74302085e-01 -8.18593225e-01 -9.06903951e-03 2.01684926e+02] [-8.18483249e-01 -5.74373616e-01 1.34208884e-02 -1.27737412e+02] [-1.61952654e-02 -2.84787286e-04 -9.99868808e-01 -4.03163547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters 0.014300095128723442 Centerline is valid? [True, True] Translation: X:201.73, Y:-127.84, Z:-4.03 [[ 6.35203923e-01 -7.72291165e-01 -9.07369464e-03 2.01727726e+02] [-7.72206560e-01 -6.35268676e-01 1.14340901e-02 -1.27837930e+02] [-1.45946807e-02 -2.56212335e-04 -9.99893459e-01 -4.03337812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters 0.013972952994924969 Centerline is valid? [True, True] Translation: X:201.78, Y:-127.93, Z:-4.04 [[ 6.91840468e-01 -7.21998427e-01 -8.66243078e-03 2.01779398e+02] [-7.21937907e-01 -6.91894663e-01 9.35064328e-03 -1.27933832e+02] [-1.27446394e-02 -2.15416280e-04 -9.99918761e-01 -4.03503035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters 0.013844452390718591 Centerline is valid? [True, True] Translation: X:201.84, Y:-128.02, Z:-4.03 [[ 7.43996322e-01 -6.68112595e-01 -9.74846672e-03 2.01835070e+02] [-6.68051572e-01 -7.44060157e-01 9.03217040e-03 -1.28024680e+02] [-1.32879525e-02 -2.07423044e-04 -9.99911690e-01 -4.03420955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters 0.013184282443432198 Centerline is valid? [True, True] Translation: X:201.85, Y:-128.05, Z:-4.03 [[ 7.92704992e-01 -6.09502341e-01 -1.12112973e-02 2.01854770e+02] [-6.09437900e-01 -7.92784245e-01 8.86495989e-03 -1.28052288e+02] [-1.42913537e-02 -1.94708444e-04 -9.99897854e-01 -4.03329274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters 0.012952413560936701 Centerline is valid? [True, True] Translation: X:201.88, Y:-128.08, Z:-4.03 [[ 8.36692066e-01 -5.47520690e-01 -1.29414504e-02 2.01875651e+02] [-5.47451909e-01 -8.36792126e-01 8.68015130e-03 -1.28078260e+02] [-1.55818662e-02 -1.77791983e-04 -9.99878580e-01 -4.03220082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters 0.013171563818590698 Centerline is valid? [True, True] Translation: X:201.90, Y:-128.10, Z:-4.03 [[ 8.77109078e-01 -4.80111355e-01 -1.31435371e-02 2.01898011e+02] [-4.80054413e-01 -8.77207533e-01 7.39628803e-03 -1.28103476e+02] [-1.50806516e-02 -1.77738405e-04 -9.99886265e-01 -4.03256309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters 0.014300380995766948 Centerline is valid? [True, True] Translation: X:201.92, Y:-128.13, Z:-4.03 [[ 9.12752020e-01 -4.08308646e-01 -1.29537444e-02 2.01921429e+02] [-4.08264484e-01 -9.12843914e-01 6.00830514e-03 -1.28127539e+02] [-1.42779897e-02 -1.95538873e-04 -9.99898045e-01 -4.03038987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters 0.01416037967800432 Centerline is valid? [True, True] Translation: X:201.95, Y:-128.15, Z:-4.03 [[ 9.42830639e-01 -3.33014083e-01 -1.31151565e-02 2.01949010e+02] [-3.32978447e-01 -9.42921824e-01 4.87718238e-03 -1.28146812e+02] [-1.39907377e-02 -2.31292525e-04 -9.99902098e-01 -4.03272599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters 0.014186799431973483 Centerline is valid? [True, True] Translation: X:201.98, Y:-128.17, Z:-4.03 [[ 9.66271149e-01 -2.57158800e-01 -1.37629473e-02 2.01977991e+02] [-2.57128985e-01 -9.66369126e-01 3.92394604e-03 -1.28165648e+02] [-1.43091646e-02 -2.52743180e-04 -9.99897587e-01 -4.03276231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters 0.014645327811750633 Centerline is valid? [True, True] Translation: X:202.01, Y:-128.18, Z:-4.03 [[ 9.83410321e-01 -1.80806487e-01 -1.45998365e-02 2.02007410e+02] [-1.80782583e-01 -9.83518655e-01 2.95171654e-03 -1.28180659e+02] [-1.48929011e-02 -2.63352342e-04 -9.99889060e-01 -4.03206881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters 0.014346763478837425 Centerline is valid? [True, True] Translation: X:202.04, Y:-128.19, Z:-4.03 [[ 9.94455666e-01 -1.04088305e-01 -1.49517107e-02 2.02036249e+02] [-1.04072719e-01 -9.94568027e-01 1.81891826e-03 -1.28190593e+02] [-1.50598216e-02 -2.52768381e-04 -9.99886563e-01 -4.03353454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters 0.014497681950400326 Centerline is valid? [True, True] Translation: X:202.07, Y:-128.20, Z:-4.03 [[ 9.99523617e-01 -2.64776992e-02 -1.58578351e-02 2.02065314e+02] [-2.64702891e-02 -9.99649371e-01 6.77027231e-04 -1.28197695e+02] [-1.58702010e-02 -2.56943226e-04 -9.99874027e-01 -4.03363461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters 0.01455320640943847 Centerline is valid? [True, True] Translation: X:202.09, Y:-128.20, Z:-4.03 [[ 9.98565576e-01 5.10550679e-02 -1.61298331e-02 2.02094032e+02] [ 5.10524240e-02 -9.98695809e-01 -5.75896795e-04 -1.28201982e+02] [-1.61381991e-02 -2.48396362e-04 -9.99869740e-01 -4.03269680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters 0.01349448334603415 Centerline is valid? [True, True] Translation: X:202.12, Y:-128.21, Z:-4.03 [[ 9.91583074e-01 1.28366330e-01 -1.68846661e-02 2.02123776e+02] [ 1.28352004e-01 -9.91726789e-01 -1.93395645e-03 -1.28206061e+02] [-1.69932306e-02 -2.49502243e-04 -9.99855574e-01 -4.03496410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters 0.013652887726258426 Centerline is valid? [True, True] Translation: X:202.15, Y:-128.21, Z:-4.03 [[ 9.78787390e-01 2.04117260e-01 -1.76462129e-02 2.02152680e+02] [ 2.04088448e-01 -9.78946417e-01 -3.43762989e-03 -1.28209190e+02] [-1.79763765e-02 -2.36679407e-04 -9.99838384e-01 -4.03408404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters 0.013517035211717699 Centerline is valid? [True, True] Translation: X:202.18, Y:-128.21, Z:-4.03 [[ 9.59965119e-01 2.79538498e-01 -1.80332320e-02 2.02182424e+02] [ 2.79493768e-01 -9.60134456e-01 -5.00605319e-03 -1.28208223e+02] [-1.87137120e-02 -2.34539528e-04 -9.99824856e-01 -4.03381927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters 0.013112776209957374 Centerline is valid? [True, True] Translation: X:202.21, Y:-128.21, Z:-4.04 [[ 9.35231031e-01 3.53612439e-01 -1.73540141e-02 2.02212385e+02] [ 3.53556052e-01 -9.35391999e-01 -6.31872746e-03 -1.28206180e+02] [-1.84671865e-02 -2.26146706e-04 -9.99829441e-01 -4.03547520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters 0.01324298609826019 Centerline is valid? [True, True] Translation: X:202.24, Y:-128.20, Z:-4.03 [[ 9.04574506e-01 4.25920573e-01 -1.83474270e-02 2.02242437e+02] [ 4.25838589e-01 -9.04760522e-01 -8.36024284e-03 -1.28202886e+02] [-2.01608271e-02 -2.50579905e-04 -9.99796718e-01 -4.03471686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters 0.013435222834879284 Centerline is valid? [True, True] Translation: X:202.27, Y:-128.20, Z:-4.03 [[ 8.68891766e-01 4.94632640e-01 -1.91220028e-02 2.02271235e+02] [ 4.94519249e-01 -8.69102116e-01 -1.05935915e-02 -1.28195326e+02] [-2.18589093e-02 -2.51514018e-04 -9.99761034e-01 -4.03273011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters 0.013005789763232998 Centerline is valid? [True, True] Translation: X:202.30, Y:-128.18, Z:-4.03 [[ 8.28503812e-01 5.59684319e-01 -1.83001951e-02 2.02299070e+02] [ 5.59553515e-01 -8.28705869e-01 -1.21015208e-02 -1.28184554e+02] [-2.19385106e-02 -2.13782355e-04 -9.99759299e-01 -4.03448121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters 0.012478890438102092 Centerline is valid? [True, True] Translation: X:202.33, Y:-128.17, Z:-4.04 [[ 7.83964403e-01 6.20613808e-01 -1.54374915e-02 2.02326115e+02] [ 6.20496908e-01 -7.84116371e-01 -1.20459217e-02 -1.28173262e+02] [-1.95806552e-02 -1.35341903e-04 -9.99808271e-01 -4.03748781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters 0.01214633061212145 Centerline is valid? [True, True] Translation: X:202.35, Y:-128.16, Z:-4.04 [[ 7.34113131e-01 6.78911398e-01 -1.25389034e-02 2.02352860e+02] [ 6.78814489e-01 -7.34220202e-01 -1.14710223e-02 -1.28160729e+02] [-1.69941240e-02 -9.05611843e-05 -9.99855585e-01 -4.03924716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters 0.011677073296523587 Centerline is valid? [True, True] Translation: X:202.38, Y:-128.15, Z:-4.04 [[ 6.80813667e-01 7.32394571e-01 -9.53641298e-03 2.02379578e+02] [ 7.32323452e-01 -6.80880453e-01 -1.02064200e-02 -1.28147644e+02] [-1.39682838e-02 -3.50686560e-05 -9.99902438e-01 -4.04141635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters 0.011795003150097872 Centerline is valid? [True, True] Translation: X:202.40, Y:-128.13, Z:-4.04 [[ 6.23249185e-01 7.81960731e-01 -9.89282043e-03 2.02403581e+02] [ 7.81862290e-01 -6.23327695e-01 -1.24074567e-02 -1.28132403e+02] [-1.58686129e-02 -1.88595431e-06 -9.99874086e-01 -4.03890376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters 0.01193559953833844 Centerline is valid? [True, True] Translation: X:202.43, Y:-128.11, Z:-4.04 [[ 5.62548364e-01 8.26715520e-01 -8.98820751e-03 2.02425183e+02] [ 8.26608741e-01 -5.62620163e-01 -1.32869225e-02 -1.28114821e+02] [-1.60414518e-02 4.48056300e-05 -9.99871327e-01 -4.03796833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters 0.012387705979552445 Centerline is valid? [True, True] Translation: X:202.44, Y:-128.09, Z:-4.04 [[ 4.98039883e-01 8.67114162e-01 -8.32496893e-03 2.02444076e+02] [ 8.66990189e-01 -4.98109449e-01 -1.46624902e-02 -1.28094862e+02] [-1.68607985e-02 8.48384987e-05 -9.99857843e-01 -4.03641937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters 0.012152470760445492 Centerline is valid? [True, True] Translation: X:202.46, Y:-128.07, Z:-4.04 [[ 4.29198017e-01 9.03180290e-01 -7.37745622e-03 2.02464672e+02] [ 9.03042875e-01 -4.29261406e-01 -1.57547391e-02 -1.28074158e+02] [-1.73962270e-02 9.97434917e-05 -9.99848669e-01 -4.03732317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters 0.01238046842169056 Centerline is valid? [True, True] Translation: X:202.48, Y:-128.05, Z:-4.04 [[ 3.58059282e-01 9.33679297e-01 -6.04324386e-03 2.02483677e+02] [ 9.33540869e-01 -3.58110258e-01 -1.60775791e-02 -1.28052290e+02] [-1.71754504e-02 1.15111312e-04 -9.99852484e-01 -4.03616212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters 0.012136420222687109 Centerline is valid? [True, True] Translation: X:202.50, Y:-128.03, Z:-4.04 [[ 2.83908669e-01 9.58841752e-01 -4.28520659e-03 2.02501275e+02] [ 9.58726958e-01 -2.83940988e-01 -1.48369498e-02 -1.28029566e+02] [-1.54430327e-02 1.03995583e-04 -9.99880744e-01 -4.03719833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters 0.011731301926630345 Centerline is valid? [True, True] Translation: X:202.52, Y:-128.01, Z:-4.04 [[ 2.06498039e-01 9.78443544e-01 -2.60606698e-03 2.02517625e+02] [ 9.78361434e-01 -2.06514471e-01 -1.26758512e-02 -1.28005190e+02] [-1.29407953e-02 6.78629864e-05 -9.99916262e-01 -4.03827439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters 0.011344360449814433 Centerline is valid? [True, True] Translation: X:202.53, Y:-127.98, Z:-4.04 [[ 1.24873721e-01 9.92171460e-01 -1.53246029e-03 2.02532621e+02] [ 9.92095697e-01 -1.24883124e-01 -1.22610214e-02 -1.27981008e+02] [-1.23564139e-02 1.07321071e-05 -9.99923657e-01 -4.03771180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters 0.011217581773874651 Centerline is valid? [True, True] Translation: X:202.54, Y:-127.95, Z:-4.04 [[ 4.27002482e-02 9.99087791e-01 -5.24311870e-04 2.02542904e+02] [ 9.99022562e-01 -4.27034517e-02 -1.14164670e-02 -1.27953494e+02] [-1.14284427e-02 -3.63134147e-05 -9.99934693e-01 -4.03831711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters 0.012093975390541856 Centerline is valid? [True, True] Translation: X:202.55, Y:-127.93, Z:-4.04 [[-4.25395150e-02 9.99094738e-01 3.08406002e-04 2.02552944e+02] [ 9.99049688e-01 4.25405257e-02 -9.48817055e-03 -1.27925910e+02] [-9.49270102e-03 -9.55092537e-05 -9.99954939e-01 -4.03848923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters 0.013592105730380739 Centerline is valid? [True, True] Translation: X:202.56, Y:-127.90, Z:-4.04 [[-1.28492614e-01 9.91709897e-01 1.06205132e-03 2.02562194e+02] [ 9.91664084e-01 1.28496888e-01 -9.53387326e-03 -1.27896085e+02] [-9.59130676e-03 -1.71834153e-04 -9.99953988e-01 -4.03876039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters 0.01556243577727009 Centerline is valid? [True, True] Translation: X:202.57, Y:-127.87, Z:-4.04 [[-2.09891181e-01 9.77722154e-01 2.25432052e-03 2.02565228e+02] [ 9.77651418e-01 2.09903119e-01 -1.17637243e-02 -1.27866592e+02] [-1.19748428e-02 -2.65162335e-04 -9.99928264e-01 -4.03513050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters 0.016259885506028065 Centerline is valid? [True, True] Translation: X:202.57, Y:-127.84, Z:-4.03 [[-2.89715255e-01 9.57107751e-01 3.13442345e-03 2.02565289e+02] [ 9.57039592e-01 2.89732043e-01 -1.14263890e-02 -1.27836737e+02] [-1.18444284e-02 -3.10631874e-04 -9.99929804e-01 -4.03485478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters 0.014763128696075083 Centerline is valid? [True, True] Translation: X:202.56, Y:-127.81, Z:-4.04 [[-3.61885294e-01 9.32216213e-01 3.45927895e-03 2.02563052e+02] [ 9.32166894e-01 3.61901743e-01 -9.59219882e-03 -1.27806656e+02] [-1.01939223e-02 -2.46650378e-04 -9.99948010e-01 -4.03524145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters 0.013336525943221085 Centerline is valid? [True, True] Translation: X:202.55, Y:-127.78, Z:-4.04 [[-4.28405483e-01 9.03582373e-01 2.76364984e-03 2.02553675e+02] [ 9.03561697e-01 4.28414380e-01 -6.11384187e-03 -1.27779062e+02] [-6.70834707e-03 -1.22075246e-04 -9.99977491e-01 -4.03810269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters 0.01264659542438096 Centerline is valid? [True, True] Translation: X:202.55, Y:-127.75, Z:-4.04 [[-4.96658146e-01 8.67939490e-01 3.42459338e-03 2.02547334e+02] [ 8.67917178e-01 4.96669938e-01 -6.22458663e-03 -1.27749754e+02] [-7.10345713e-03 -1.19228231e-04 -9.99974763e-01 -4.03785414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters 0.012816560468261278 Centerline is valid? [True, True] Translation: X:202.54, Y:-127.72, Z:-4.04 [[-5.62627739e-01 8.26701528e-01 3.82243419e-03 2.02539553e+02] [ 8.26681073e-01 5.62640712e-01 -5.81660659e-03 -1.27721355e+02] [-6.95925465e-03 -1.12650217e-04 -9.99975778e-01 -4.03720441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters 0.012338117949524757 Centerline is valid? [True, True] Translation: X:202.53, Y:-127.69, Z:-4.04 [[-6.25266254e-01 7.80399813e-01 4.27120976e-03 2.02528878e+02] [ 7.80380402e-01 6.25280833e-01 -5.50521391e-03 -1.27692716e+02] [-6.96697350e-03 -1.09056089e-04 -9.99975724e-01 -4.03767080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters 0.012539673170043284 Centerline is valid? [True, True] Translation: X:202.52, Y:-127.66, Z:-4.04 [[-6.84690272e-01 7.28826737e-01 3.28914250e-03 2.02516923e+02] [ 7.28817777e-01 6.84698168e-01 -3.61472014e-03 -1.27663791e+02] [-4.88657453e-03 -7.77781870e-05 -9.99988058e-01 -4.03916901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters 0.012178303301536283 Centerline is valid? [True, True] Translation: X:202.50, Y:-127.64, Z:-4.04 [[-7.38292766e-01 6.74477663e-01 1.91694789e-03 2.02502291e+02] [ 6.74475260e-01 7.38295253e-01 -1.80057079e-03 -1.27636800e+02] [-2.62971830e-03 -3.64144584e-05 -9.99996542e-01 -4.03856842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters 0.012320003720528376 Centerline is valid? [True, True] Translation: X:202.52, Y:-127.62, Z:-4.04 [[-7.82145818e-01 6.23095289e-01 -4.24590309e-04 2.02517701e+02] [ 6.23095193e-01 7.82145933e-01 3.45542604e-04 -1.27617400e+02] [ 5.47397552e-04 5.70452207e-06 -9.99999850e-01 -4.04137538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters 0.012532026396561096 Centerline is valid? [True, True] Translation: X:202.94, Y:-127.11, Z:-5.00 [[-7.21968295e-01 -6.91922469e-01 -2.25336359e-03 2.02940871e+02] [ 6.91919856e-01 -7.21971789e-01 1.91026230e-03 -1.27106990e+02] [-2.94861835e-03 -1.79998198e-04 9.99995637e-01 -4.99918871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters 0.015180039505318552 Centerline is valid? [True, True] Translation: X:202.49, Y:-127.57, Z:-4.03 [[-7.93735974e-01 6.08262130e-01 6.20853426e-04 2.02493309e+02] [ 6.08261924e-01 7.93736216e-01 -5.00986819e-04 -1.27571065e+02] [-7.97525159e-04 -2.00097609e-05 -9.99999682e-01 -4.03443179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters 0.015180039505318552 Centerline is valid? [True, True] Translation: X:202.51, Y:-127.55, Z:-4.03 [[-8.34796010e-01 5.50558982e-01 6.54770965e-04 2.02508650e+02] [ 5.50558794e-01 8.34796267e-01 -4.55802431e-04 -1.27549015e+02] [-7.97546480e-04 -2.00121383e-05 -9.99999682e-01 -4.03443157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters 0.01630393395321724 Centerline is valid? [True, True] Translation: X:202.52, Y:-127.52, Z:-4.03 [[-8.71777186e-01 4.89902285e-01 5.37662559e-04 2.02523588e+02] [ 4.89902181e-01 8.71777352e-01 -3.20125261e-04 -1.27523501e+02] [-6.25552138e-04 -1.56758390e-05 -9.99999804e-01 -4.03430798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters 0.01630393395321724 Centerline is valid? [True, True] Translation: X:202.54, Y:-127.50, Z:-4.03 [[-9.04285900e-01 4.26927041e-01 5.59003995e-04 2.02535091e+02] [ 4.26926949e-01 9.04286073e-01 -2.81251482e-04 -1.27499205e+02] [-6.25573391e-04 -1.56778790e-05 -9.99999804e-01 -4.03430777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters 0.0167359093901369 Centerline is valid? [True, True] Translation: X:202.54, Y:-127.47, Z:-4.03 [[-9.32245178e-01 3.61826572e-01 6.78479345e-04 2.02542529e+02] [ 3.61826462e-01 9.32245425e-01 -2.83205005e-04 -1.27471633e+02] [-7.34980361e-04 -1.85247197e-05 -9.99999730e-01 -4.03468688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters 0.016809610016259937 Centerline is valid? [True, True] Translation: X:202.55, Y:-127.45, Z:-4.04 [[-9.55538274e-01 2.94866454e-01 -6.17766139e-04 2.02552682e+02] [ 2.94866381e-01 9.55538473e-01 2.09099574e-04 -1.27445635e+02] [ 6.51955763e-04 1.76441809e-05 -9.99999787e-01 -4.03600479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters 0.015275163924040464 Centerline is valid? [True, True] Translation: X:202.75, Y:-126.87, Z:-5.01 [[-9.14127261e-01 -4.05427174e-01 -3.97815442e-04 2.02751122e+02] [ 4.05427135e-01 -9.14127347e-01 1.77606929e-04 -1.26865422e+02] [-4.35660649e-04 1.07016117e-06 9.99999905e-01 -5.00523352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters 0.014954625571640047 Centerline is valid? [True, True] Translation: X:202.51, Y:-127.43, Z:-4.04 [[-9.55551165e-01 2.94823003e-01 -1.16963236e-03 2.02511100e+02] [ 2.94822746e-01 9.55551880e-01 3.90543283e-04 -1.27432338e+02] [ 1.23278554e-03 2.83498651e-05 -9.99999240e-01 -4.03592682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters 0.014954625571640047 Centerline is valid? [True, True] Translation: X:202.52, Y:-127.41, Z:-4.04 [[-9.74041831e-01 2.26364938e-01 -1.19435011e-03 2.02516002e+02] [ 2.26364732e-01 9.74042563e-01 3.06666714e-04 -1.27405857e+02] [ 1.23276643e-03 2.83474646e-05 -9.99999240e-01 -4.03592662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters 0.015625620853440218 Centerline is valid? [True, True] Translation: X:202.52, Y:-127.38, Z:-4.04 [[-9.87694465e-01 1.56393118e-01 -9.14743831e-04 2.02519221e+02] [ 1.56393030e-01 9.87694888e-01 1.66976198e-04 -1.27377417e+02] [ 9.29601734e-04 2.18619074e-05 -9.99999568e-01 -4.03533043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters 0.016008542752856722 Centerline is valid? [True, True] Translation: X:202.63, Y:-126.78, Z:-5.01 [[-9.63344487e-01 -2.68267187e-01 3.39581028e-04 2.02630569e+02] [ 2.68267202e-01 -9.63344543e-01 -3.14956221e-06 -1.26779553e+02] [ 3.27978455e-04 8.80643389e-05 9.99999942e-01 -5.00704975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters 0.017090781226614626 Centerline is valid? [True, True] Translation: X:202.47, Y:-127.37, Z:-4.03 [[-9.88707666e-01 1.49857054e-01 -1.23781137e-04 2.02471249e+02] [ 1.49857052e-01 9.88707673e-01 2.21956497e-05 -1.27365541e+02] [ 1.25709535e-04 3.39553263e-06 -9.99999992e-01 -4.03366782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters 0.017863516150189572 Centerline is valid? [True, True] Translation: X:202.58, Y:-126.78, Z:-5.01 [[-9.63074947e-01 -2.69232361e-01 -7.63353773e-04 2.02577230e+02] [ 2.69232328e-01 -9.63075247e-01 1.47737387e-04 -1.26776858e+02] [-7.74942809e-04 -6.32373375e-05 9.99999698e-01 -5.00699824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters 0.020696918279374678 Centerline is valid? [True, True] Translation: X:202.42, Y:-127.35, Z:-4.03 [[-9.89932147e-01 1.41542728e-01 1.86398872e-05 2.02423367e+02] [ 1.41542728e-01 9.89932147e-01 -2.89009663e-06 -1.27349503e+02] [-1.88612959e-05 -2.22659096e-07 -1.00000000e+00 -4.03271247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters 0.019624875594082252 Centerline is valid? [True, True] Translation: X:202.52, Y:-126.77, Z:-5.01 [[-9.62809696e-01 -2.70171105e-01 2.25039161e-03 2.02521821e+02] [ 2.70170892e-01 -9.62812301e-01 -4.04065976e-04 -1.26770617e+02] [ 2.27587167e-03 2.18951668e-04 9.99997386e-01 -5.00950302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters 0.020885494694531697 Centerline is valid? [True, True] Translation: X:202.38, Y:-127.34, Z:-4.03 [[-9.91192211e-01 1.32367990e-01 4.08856387e-03 2.02375836e+02] [ 1.32366240e-01 9.91200632e-01 -6.96774597e-04 -1.27339063e+02] [-4.14481774e-03 -1.49449725e-04 -9.99991399e-01 -4.02819744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters 0.02140680154951006 Centerline is valid? [True, True] Translation: X:202.37, Y:-127.31, Z:-4.03 [[-9.98116432e-01 6.12023441e-02 4.22622210e-03 2.02371543e+02] [ 6.12011362e-02 9.98125367e-01 -4.14651745e-04 -1.27310808e+02] [-4.24367714e-03 -1.55221126e-04 -9.99990984e-01 -4.02767389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters 0.02204964490377947 Centerline is valid? [True, True] Translation: X:202.37, Y:-127.29, Z:-4.03 [[-9.99950089e-01 -9.25582454e-03 3.76167626e-03 2.02372531e+02] [-9.25626879e-03 9.99957155e-01 -1.00706253e-04 -1.27286034e+02] [-3.76058297e-03 -1.35520313e-04 -9.99992920e-01 -4.02891343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters 0.01924675268550104 Centerline is valid? [True, True] Translation: X:202.37, Y:-127.27, Z:-4.03 [[-9.96986120e-01 -7.75429024e-02 2.40295810e-03 2.02368199e+02] [-7.75428708e-02 9.96989013e-01 1.06453755e-04 -1.27265026e+02] [-2.40397756e-03 -8.01993535e-05 -9.99997107e-01 -4.02994040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters 0.018051211730370654 Centerline is valid? [True, True] Translation: X:202.36, Y:-127.24, Z:-4.03 [[-9.89539723e-01 -1.44260358e-01 2.94395717e-04 2.02362085e+02] [-1.44260354e-01 9.89539766e-01 3.38440985e-05 -1.27242517e+02] [-2.96198631e-04 -8.97955057e-06 -9.99999956e-01 -4.03166087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters 0.017278357079367025 Centerline is valid? [True, True] Translation: X:202.29, Y:-126.64, Z:-5.01 [[-9.99749596e-01 2.23315448e-02 1.43099602e-03 2.02291109e+02] [-2.23313594e-02 -9.99750614e-01 1.45365936e-04 -1.26641653e+02] [ 1.43388540e-03 1.13373450e-04 9.99998966e-01 -5.00999133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters 0.015780152172739866 Centerline is valid? [True, True] Translation: X:202.30, Y:-127.26, Z:-4.03 [[-9.89531520e-01 -1.44284486e-01 3.05899554e-03 2.02295303e+02] [-1.44284034e-01 9.89536246e-01 3.69170221e-04 -1.27259874e+02] [-3.08025249e-03 -7.60586470e-05 -9.99995253e-01 -4.02918062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters 0.01606248877877337 Centerline is valid? [True, True] Translation: X:202.22, Y:-126.64, Z:-5.01 [[-9.99558015e-01 2.94238977e-02 4.24369786e-03 2.02222160e+02] [-2.94228635e-02 -9.99567007e-01 3.05934765e-04 -1.26644333e+02] [ 4.25086216e-03 1.80937804e-04 9.99990949e-01 -5.01292047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters 0.015103145142677058 Centerline is valid? [True, True] Translation: X:202.23, Y:-127.28, Z:-4.03 [[-9.89490077e-01 -1.44522806e-01 4.74828425e-03 2.02225351e+02] [-1.44521602e-01 9.89501465e-01 5.97634154e-04 -1.27275356e+02] [-4.78480599e-03 -9.48765806e-05 -9.99988548e-01 -4.02722018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters 0.01347076506411677 Centerline is valid? [True, True] Translation: X:202.22, Y:-127.26, Z:-4.03 [[-9.78124860e-01 -2.07947939e-01 5.42342944e-03 2.02220211e+02] [-2.07945154e-01 9.78139893e-01 1.07866469e-03 -1.27259158e+02] [-5.52917879e-03 -7.27071198e-05 -9.99984711e-01 -4.02755951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters 0.012660857938781907 Centerline is valid? [True, True] Translation: X:202.21, Y:-127.24, Z:-4.03 [[-9.62322740e-01 -2.71853046e-01 5.55569194e-03 2.02208400e+02] [-2.71848772e-01 9.62338776e-01 1.52497898e-03 -1.27241269e+02] [-5.76102796e-03 -4.27860757e-05 -9.99983404e-01 -4.02787054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters 0.012540544294020768 Centerline is valid? [True, True] Translation: X:202.19, Y:-127.23, Z:-4.03 [[-9.43132060e-01 -3.32368009e-01 5.78134267e-03 2.02185325e+02] [-3.32361716e-01 9.43149780e-01 2.04524605e-03 -1.27229632e+02] [-6.13244643e-03 7.44014447e-06 -9.99981196e-01 -4.02777539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters 0.013505449728953327 Centerline is valid? [True, True] Translation: X:202.13, Y:-127.23, Z:-4.03 [[-9.19902703e-01 -3.92099503e-01 6.08249070e-03 2.02134257e+02] [-3.92090436e-01 9.19922809e-01 2.66739398e-03 -1.27231626e+02] [-6.64130578e-03 6.88565030e-05 -9.99977944e-01 -4.02781557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters 0.015408594618242335 Centerline is valid? [True, True] Translation: X:202.08, Y:-127.24, Z:-4.03 [[-8.92263255e-01 -4.51458929e-01 7.14979743e-03 2.02077831e+02] [-4.51443046e-01 8.92291887e-01 3.79008566e-03 -1.27238902e+02] [-8.09077426e-03 1.54027838e-04 -9.99967257e-01 -4.02693662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters 0.016625433506138227 Centerline is valid? [True, True] Translation: X:202.00, Y:-127.25, Z:-4.03 [[-8.58292069e-01 -5.13105119e-01 7.60670998e-03 2.02004777e+02] [-5.13082809e-01 8.58325750e-01 4.78923422e-03 -1.27254782e+02] [-8.98641565e-03 2.07689616e-04 -9.99959600e-01 -4.02696814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters 0.017462279430874972 Centerline is valid? [True, True] Translation: X:201.93, Y:-127.28, Z:-4.03 [[-8.18680913e-01 -5.74207954e-01 6.84023444e-03 2.01926180e+02] [-5.74185716e-01 8.18709460e-01 5.05802953e-03 -1.27278559e+02] [-8.50452543e-03 2.13347325e-04 -9.99963813e-01 -4.02757251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters 0.016871395924463184 Centerline is valid? [True, True] Translation: X:201.84, Y:-127.31, Z:-4.03 [[-7.73558218e-01 -6.33698129e-01 5.86212040e-03 2.01842999e+02] [-6.33677968e-01 7.73580404e-01 5.05877904e-03 -1.27310378e+02] [-7.74056028e-03 1.98563557e-04 -9.99970022e-01 -4.02871906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters 0.017440641493638574 Centerline is valid? [True, True] Translation: X:201.76, Y:-127.36, Z:-4.03 [[-7.21114645e-01 -6.92789203e-01 6.06539787e-03 2.01756520e+02] [-6.92762450e-01 7.21140128e-01 6.09130361e-03 -1.27356024e+02] [-8.59399117e-03 1.90648347e-04 -9.99963053e-01 -4.02832004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters 0.014182878066340308 Centerline is valid? [True, True] Translation: X:201.66, Y:-127.41, Z:-4.03 [[-6.60016574e-01 -7.51230408e-01 5.56747707e-03 2.01662588e+02] [-7.51202213e-01 6.60040045e-01 6.50947290e-03 -1.27406212e+02] [-8.56487180e-03 1.14058902e-04 -9.99963314e-01 -4.02966838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters 0.012906477042558599 Centerline is valid? [True, True] Translation: X:201.57, Y:-127.47, Z:-4.03 [[-5.90288776e-01 -8.07174609e-01 5.32091113e-03 2.01568845e+02] [-8.07141865e-01 5.90312757e-01 7.27041170e-03 -1.27465044e+02] [-9.00949344e-03 -3.08771868e-06 -9.99959414e-01 -4.02961421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters 0.01361205396266423 Centerline is valid? [True, True] Translation: X:201.48, Y:-127.54, Z:-4.03 [[-5.18981277e-01 -8.54768786e-01 5.36254925e-03 2.01480343e+02] [-8.54725210e-01 5.19008971e-01 8.63158206e-03 -1.27535906e+02] [-1.01612181e-02 -1.03876556e-04 -9.99948368e-01 -4.02913023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters 0.017390552878072632 Centerline is valid? [True, True] Translation: X:201.39, Y:-127.61, Z:-4.03 [[-4.40394423e-01 -8.97786695e-01 5.63931109e-03 2.01394589e+02] [-8.97721340e-01 4.40430432e-01 1.08365507e-02 -1.27608534e+02] [-1.22126353e-02 -2.90173398e-04 -9.99925381e-01 -4.02677835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters 0.01905650349139033 Centerline is valid? [True, True] Translation: X:201.32, Y:-127.70, Z:-4.03 [[-3.62593989e-01 -9.31932486e-01 5.23849811e-03 2.01317465e+02] [-9.31851901e-01 3.62631567e-01 1.22629802e-02 -1.27697701e+02] [-1.33279144e-02 -4.35021519e-04 -9.99911085e-01 -4.02685881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters 0.02008237404849723 Centerline is valid? [True, True] Translation: X:201.25, Y:-127.79, Z:-4.03 [[-2.87705087e-01 -9.57708255e-01 4.54771408e-03 2.01253093e+02] [-9.57614786e-01 2.87740588e-01 1.33893615e-02 -1.27786813e+02] [-1.41316639e-02 -5.02770843e-04 -9.99900017e-01 -4.02710438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters 0.020285489117713763 Centerline is valid? [True, True] Translation: X:201.20, Y:-127.88, Z:-4.03 [[-2.14277657e-01 -9.76766564e-01 3.48793230e-03 2.01197953e+02] [-9.76671899e-01 2.14305480e-01 1.36074351e-02 -1.27882840e+02] [-1.40387706e-02 -4.90796163e-04 -9.99901331e-01 -4.02792828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters 0.020314289452713904 Centerline is valid? [True, True] Translation: X:201.15, Y:-127.99, Z:-4.03 [[-1.41308080e-01 -9.89962104e-01 2.65695612e-03 2.01149610e+02] [-9.89847378e-01 1.41332175e-01 1.50793061e-02 -1.27988995e+02] [-1.53034550e-02 -4.99153264e-04 -9.99882771e-01 -4.02659369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters 0.018122006633544283 Centerline is valid? [True, True] Translation: X:201.11, Y:-128.09, Z:-4.03 [[-6.78878504e-02 -9.97691628e-01 1.62930470e-03 2.01114986e+02] [-9.97552804e-01 6.79055953e-02 1.66503466e-02 -1.28090936e+02] [-1.67225503e-02 -4.94961235e-04 -9.99860046e-01 -4.02607412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters 0.016511436520658757 Centerline is valid? [True, True] Translation: X:201.09, Y:-128.20, Z:-4.03 [[ 6.06890543e-03 -9.99981518e-01 3.62426486e-04 2.01088109e+02] [-9.99826788e-01 -6.06158866e-03 1.75969135e-02 -1.28201599e+02] [-1.75943914e-02 -4.69157713e-04 -9.99845097e-01 -4.02636502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters 0.015795685843919414 Centerline is valid? [True, True] Translation: X:201.07, Y:-128.31, Z:-4.03 [[ 7.74820872e-02 -9.96993195e-01 -1.04667357e-03 2.01069402e+02] [-9.96821145e-01 -7.74881647e-02 1.85253823e-02 -1.28312890e+02] [-1.85507849e-02 -3.92038940e-04 -9.99827843e-01 -4.02512617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters 0.015034772085937696 Centerline is valid? [True, True] Translation: X:201.06, Y:-128.43, Z:-4.03 [[ 1.51968248e-01 -9.88382556e-01 -2.36095070e-03 2.01058986e+02] [-9.88226208e-01 -1.51986209e-01 1.75827644e-02 -1.28431176e+02] [-1.77373296e-02 -3.38868549e-04 -9.99842624e-01 -4.02759850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters 0.015147377088103556 Centerline is valid? [True, True] Translation: X:201.05, Y:-128.55, Z:-4.03 [[ 2.28012444e-01 -9.73651749e-01 -3.54925018e-03 2.01051726e+02] [-9.73510092e-01 -2.28039824e-01 1.66114259e-02 -1.28550630e+02] [-1.69831143e-02 -3.32380948e-04 -9.99855721e-01 -4.02836701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters 0.01566555716215667 Centerline is valid? [True, True] Translation: X:201.05, Y:-128.68, Z:-4.03 [[ 3.03636572e-01 -9.52778340e-01 -4.27388885e-03 2.01050243e+02] [-9.52668640e-01 -3.03666482e-01 1.44613211e-02 -1.28675278e+02] [-1.50762703e-02 -3.19386082e-04 -9.99886296e-01 -4.02878382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters 0.01597126039629548 Centerline is valid? [True, True] Translation: X:201.06, Y:-128.79, Z:-4.03 [[ 3.75721604e-01 -9.26717807e-01 -5.23276405e-03 2.01057494e+02] [-9.26616229e-01 -3.75757915e-01 1.37241704e-02 -1.28789474e+02] [-1.46846856e-02 -3.07703213e-04 -9.99892127e-01 -4.02848931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters 0.015857212808118967 Centerline is valid? [True, True] Translation: X:201.08, Y:-128.90, Z:-4.03 [[ 4.44593838e-01 -8.95711662e-01 -6.07765071e-03 2.01077904e+02] [-8.95619185e-01 -4.44635289e-01 1.28738516e-02 -1.28902681e+02] [-1.42335970e-02 -2.80374512e-04 -9.99898658e-01 -4.02855635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters 0.015235229451955514 Centerline is valid? [True, True] Translation: X:201.11, Y:-129.01, Z:-4.03 [[ 5.09560749e-01 -8.60406516e-01 -6.96208537e-03 2.01105569e+02] [-8.60319768e-01 -5.09608252e-01 1.22199360e-02 -1.29010726e+02] [-1.40620487e-02 -2.37180045e-04 -9.99901096e-01 -4.02889301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters 0.014231390124337696 Centerline is valid? [True, True] Translation: X:201.14, Y:-129.12, Z:-4.03 [[ 5.70375111e-01 -8.21352053e-01 -7.28269889e-03 2.01141271e+02] [-8.21281441e-01 -5.70421579e-01 1.07711036e-02 -1.29116933e+02] [-1.30010766e-02 -1.62423949e-04 -9.99915469e-01 -4.02893159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters 0.013244948993028718 Centerline is valid? [True, True] Translation: X:201.19, Y:-129.22, Z:-4.03 [[ 6.26442651e-01 -7.79427992e-01 -7.84925445e-03 2.01185098e+02] [-7.79365294e-01 -6.26491820e-01 9.88623692e-03 -1.29216234e+02] [-1.26231035e-02 -7.57239599e-05 -9.99920323e-01 -4.02909125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters 0.012797751660688864 Centerline is valid? [True, True] Translation: X:201.24, Y:-129.31, Z:-4.03 [[ 6.80369145e-01 -7.32823949e-01 -8.17839059e-03 2.01237055e+02] [-7.32770818e-01 -6.80418298e-01 8.82427430e-03 -1.29311141e+02] [-1.20313661e-02 -1.08780000e-05 -9.99927620e-01 -4.03111276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters 0.012953298864527549 Centerline is valid? [True, True] Translation: X:201.29, Y:-129.40, Z:-4.03 [[ 7.30163451e-01 -6.83212590e-01 -9.04940906e-03 2.01290234e+02] [-6.83161177e-01 -7.30219524e-01 8.38170830e-03 -1.29398545e+02] [-1.23345438e-02 6.21878858e-05 -9.99923925e-01 -4.03188630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters 0.014357592609302762 Centerline is valid? [True, True] Translation: X:201.31, Y:-129.42, Z:-4.03 [[ 7.79331801e-01 -6.26522699e-01 -1.05475878e-02 2.01310086e+02] [-6.26467238e-01 -7.79403167e-01 8.33689388e-03 -1.29422707e+02] [-1.34440766e-02 1.10511696e-04 -9.99909618e-01 -4.02807076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters 0.01368325888260071 Centerline is valid? [True, True] Translation: X:201.33, Y:-129.45, Z:-4.03 [[ 8.26635927e-01 -5.62601114e-01 -1.23705416e-02 2.01330717e+02] [-5.62539995e-01 -8.26728478e-01 8.29324397e-03 -1.29449073e+02] [-1.48928673e-02 1.03431010e-04 -9.99889090e-01 -4.02850967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters 0.01306160697700453 Centerline is valid? [True, True] Translation: X:201.35, Y:-129.48, Z:-4.03 [[ 8.69561513e-01 -4.93663429e-01 -1.26171752e-02 2.01352332e+02] [-4.93612432e-01 -8.69653043e-01 7.09592114e-03 -1.29475104e+02] [-1.44755615e-02 5.76545971e-05 -9.99895222e-01 -4.03037164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters 0.01282124799572879 Centerline is valid? [True, True] Translation: X:201.38, Y:-129.50, Z:-4.03 [[ 9.08342994e-01 -4.18063824e-01 -1.16466381e-02 2.01375190e+02] [-4.18028959e-01 -9.08417656e-01 5.39919221e-03 -1.29500637e+02] [-1.28372186e-02 -3.56864355e-05 -9.99917599e-01 -4.03065263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters 0.01345864898268984 Centerline is valid? [True, True] Translation: X:201.40, Y:-129.52, Z:-4.03 [[ 9.40673569e-01 -3.39127285e-01 -1.12214311e-02 2.01401460e+02] [-3.39101657e-01 -9.40740491e-01 4.17084144e-03 -1.29523319e+02] [-1.19709007e-02 -1.18194420e-04 -9.99928339e-01 -4.03048976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters 0.013929833321877505 Centerline is valid? [True, True] Translation: X:201.43, Y:-129.54, Z:-4.03 [[ 9.65537998e-01 -2.60032386e-01 -1.09331047e-02 2.01430494e+02] [-2.60013773e-01 -9.65599881e-01 3.11558034e-03 -1.29544851e+02] [-1.13671564e-02 -1.65453399e-04 -9.99935378e-01 -4.03073652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters 0.015170222900635114 Centerline is valid? [True, True] Translation: X:201.46, Y:-129.56, Z:-4.03 [[ 9.83914036e-01 -1.78324217e-01 -1.06603610e-02 2.01461452e+02] [-1.78311339e-01 -9.83971761e-01 2.15420089e-03 -1.29564439e+02] [-1.08736403e-02 -2.18685262e-04 -9.99940856e-01 -4.03067292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters 0.01523267035237237 Centerline is valid? [True, True] Translation: X:201.49, Y:-129.58, Z:-4.03 [[ 9.95163103e-01 -9.74870970e-02 -1.21105212e-02 2.01491278e+02] [-9.74763975e-02 -9.95236748e-01 1.47204474e-03 -1.29580280e+02] [-1.21963411e-02 -2.84434632e-04 -9.99925581e-01 -4.02987923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters 0.01643571787249579 Centerline is valid? [True, True] Translation: X:201.52, Y:-129.59, Z:-4.03 [[ 9.99751208e-01 -1.85374327e-02 -1.24050977e-02 2.01520059e+02] [-1.85323002e-02 -9.99828122e-01 5.28577562e-04 -1.29593694e+02] [-1.24127640e-02 -2.98551061e-04 -9.99922914e-01 -4.02789762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters 0.015389988852207399 Centerline is valid? [True, True] Translation: X:201.55, Y:-129.60, Z:-4.03 [[ 9.98251471e-01 5.79277115e-02 -1.17635213e-02 2.01550777e+02] [ 5.79267682e-02 -9.98320746e-01 -4.21183206e-04 -1.29597121e+02] [-1.17681656e-02 -2.60976018e-04 -9.99930719e-01 -4.02891850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters 0.014251323589168679 Centerline is valid? [True, True] Translation: X:201.58, Y:-129.59, Z:-4.03 [[ 9.91401767e-01 1.30399580e-01 -1.08851300e-02 2.01579366e+02] [ 1.30393736e-01 -9.91461505e-01 -1.24791249e-03 -1.29594224e+02] [-1.09549146e-02 -1.82170111e-04 -9.99939977e-01 -4.03025172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters 0.012831428396090751 Centerline is valid? [True, True] Translation: X:201.61, Y:-129.59, Z:-4.03 [[ 9.79486286e-01 2.01200174e-01 -1.11850776e-02 2.01608969e+02] [ 2.01188392e-01 -9.79550140e-01 -2.18041597e-03 -1.29589573e+02] [-1.13950444e-02 -1.14620237e-04 -9.99935068e-01 -4.03027950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters 0.012424602933165265 Centerline is valid? [True, True] Translation: X:201.64, Y:-129.58, Z:-4.03 [[ 9.62513074e-01 2.70983806e-01 -1.16772797e-02 2.01636693e+02] [ 2.70964401e-01 -9.62583905e-01 -3.24317117e-03 -1.29582802e+02] [-1.21192084e-02 -4.25324598e-05 -9.99926559e-01 -4.02892641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters 0.012478121217016469 Centerline is valid? [True, True] Translation: X:201.66, Y:-129.58, Z:-4.03 [[ 9.39396519e-01 3.42609363e-01 -1.23694772e-02 2.01663930e+02] [ 3.42579746e-01 -9.39477953e-01 -4.50486869e-03 -1.29576441e+02] [-1.31642614e-02 -5.67440137e-06 -9.99913347e-01 -4.02823455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters 0.0124090082989133 Centerline is valid? [True, True] Translation: X:201.69, Y:-129.57, Z:-4.03 [[ 9.10714803e-01 4.12866583e-01 -1.18208093e-02 2.01692619e+02] [ 4.12831430e-01 -9.10791515e-01 -5.38761857e-03 -1.29572089e+02] [-1.29906605e-02 2.65823864e-05 -9.99915617e-01 -4.03050163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters 0.012691380258202684 Centerline is valid? [True, True] Translation: X:201.72, Y:-129.56, Z:-4.03 [[ 8.77847286e-01 4.78829063e-01 -1.03378349e-02 2.01719878e+02] [ 4.78794803e-01 -8.77908151e-01 -5.72840868e-03 -1.29564059e+02] [-1.18185981e-02 7.89664021e-05 -9.99930155e-01 -4.03094649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters 0.013210638900335999 Centerline is valid? [True, True] Translation: X:201.75, Y:-129.56, Z:-4.03 [[ 8.40095009e-01 5.42362697e-01 -9.11490083e-03 2.01747484e+02] [ 5.42329202e-01 -8.40144446e-01 -6.02882296e-03 -1.29555026e+02] [-1.09276420e-02 1.21507180e-04 -9.99940284e-01 -4.03098882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters 0.01342511386013252 Centerline is valid? [True, True] Translation: X:201.78, Y:-129.55, Z:-4.03 [[ 7.96577654e-01 6.04477599e-01 -8.41861018e-03 2.01777073e+02] [ 6.04441906e-01 -7.96622126e-01 -6.57046063e-03 -1.29548108e+02] [-1.06781474e-02 1.45321338e-04 -9.99942976e-01 -4.03070192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters 0.014117477664656092 Centerline is valid? [True, True] Translation: X:201.80, Y:-129.54, Z:-4.03 [[ 7.47891839e-01 6.63779834e-01 -7.35725829e-03 2.01803643e+02] [ 6.63745707e-01 -7.47928011e-01 -6.73255099e-03 -1.29537339e+02] [-9.97163114e-03 1.51871336e-04 -9.99950271e-01 -4.03071533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters 0.013873328462438793 Centerline is valid? [True, True] Translation: X:201.83, Y:-129.53, Z:-4.03 [[ 6.92724987e-01 7.21176188e-01 -6.08266379e-03 2.01830405e+02] [ 7.21146801e-01 -6.92751681e-01 -6.51152748e-03 -1.29525492e+02] [-8.90973413e-03 1.24204252e-04 -9.99960300e-01 -4.03102397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters 0.012786018235137623 Centerline is valid? [True, True] Translation: X:201.86, Y:-129.51, Z:-4.03 [[ 6.31141118e-01 7.75653290e-01 -4.78149314e-03 2.01861531e+02] [ 7.75630099e-01 -6.31159225e-01 -5.99852063e-03 -1.29514501e+02] [-7.67065577e-03 7.72430197e-05 -9.99970577e-01 -4.03158508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters 0.012085123513349536 Centerline is valid? [True, True] Translation: X:201.89, Y:-129.50, Z:-4.03 [[ 5.63970552e-01 8.25789116e-01 -3.09051592e-03 2.01891351e+02] [ 8.25776473e-01 -5.63979020e-01 -4.56958825e-03 -1.29500816e+02] [-5.51650238e-03 2.50378747e-05 -9.99984784e-01 -4.03139441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters 0.011938855538648558 Centerline is valid? [True, True] Translation: X:201.91, Y:-129.48, Z:-4.03 [[ 4.95631647e-01 8.68530052e-01 -2.19515316e-03 2.01914623e+02] [ 8.68521442e-01 -4.95636509e-01 -3.86722646e-03 -1.29481353e+02] [-4.44680044e-03 1.01822352e-05 -9.99990113e-01 -4.03207984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters 0.011908164141390738 Centerline is valid? [True, True] Translation: X:201.94, Y:-129.46, Z:-4.03 [[ 4.21673490e-01 9.06746865e-01 -1.26156371e-03 2.01940354e+02] [ 9.06742864e-01 -4.21675377e-01 -2.69363404e-03 -1.29461277e+02] [-2.97441457e-03 -8.07982551e-06 -9.99995576e-01 -4.03337501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters 0.013481463932546327 Centerline is valid? [True, True] Translation: X:201.97, Y:-129.44, Z:-4.03 [[ 3.39235446e-01 9.40701190e-01 -7.63674117e-04 2.01971010e+02] [ 9.40698999e-01 -3.39236304e-01 -2.03070279e-03 -1.29442919e+02] [-2.16935052e-03 -2.95011109e-05 -9.99997647e-01 -4.03274866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters 0.014171515121873833 Centerline is valid? [True, True] Translation: X:201.99, Y:-129.42, Z:-4.03 [[ 2.60280842e-01 9.65532623e-01 -7.98909129e-04 2.01992639e+02] [ 9.65528662e-01 -2.60282063e-01 -2.76608603e-03 -1.29418301e+02] [-2.87868801e-03 -5.14104632e-05 -9.99995855e-01 -4.03138115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters 0.015141172222642846 Centerline is valid? [True, True] Translation: X:202.01, Y:-129.39, Z:-4.03 [[ 1.80789242e-01 9.83521706e-01 -5.50262544e-04 2.02011606e+02] [ 9.83518067e-01 -1.80790071e-01 -2.67611111e-03 -1.29391449e+02] [-2.73149537e-03 -5.73810532e-05 -9.99996268e-01 -4.03012854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters 0.015799939141151745 Centerline is valid? [True, True] Translation: X:202.02, Y:-129.36, Z:-4.03 [[ 1.03611079e-01 9.94617823e-01 -3.62181260e-04 2.02023441e+02] [ 9.94613605e-01 -1.03611695e-01 -2.89717666e-03 -1.29363367e+02] [-2.91910975e-03 -6.00508091e-05 -9.99995738e-01 -4.03000459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters 0.01447487115018457 Centerline is valid? [True, True] Translation: X:202.03, Y:-129.33, Z:-4.03 [[ 2.66777735e-02 9.99644073e-01 -1.52817243e-04 2.02031013e+02] [ 9.99638548e-01 -2.66781343e-02 -3.32426269e-03 -1.29332497e+02] [-3.32715637e-03 -6.40780797e-05 -9.99994463e-01 -4.02973573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters 0.013638574997468428 Centerline is valid? [True, True] Translation: X:202.04, Y:-129.30, Z:-4.03 [[-4.80529758e-02 9.98844783e-01 1.02777038e-04 2.02035719e+02] [ 9.98839759e-01 4.80530602e-02 -3.16834514e-03 -1.29302012e+02] [-3.16962376e-03 -4.95906201e-05 -9.99994976e-01 -4.02941011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters 0.013176242586583564 Centerline is valid? [True, True] Translation: X:202.04, Y:-129.27, Z:-4.03 [[-1.23659342e-01 9.92324645e-01 4.06871869e-04 2.02038619e+02] [ 9.92317922e-01 1.23660002e-01 -3.65315191e-03 -1.29271121e+02] [-3.67542645e-03 -4.80001131e-05 -9.99993244e-01 -4.02852519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters 0.012646755007566167 Centerline is valid? [True, True] Translation: X:202.04, Y:-129.24, Z:-4.03 [[-1.96667792e-01 9.80469724e-01 9.48598867e-04 2.02035898e+02] [ 9.80457242e-01 1.96670075e-01 -4.94755925e-03 -1.29241168e+02] [-5.03749306e-03 -4.29649239e-05 -9.99987311e-01 -4.02667219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters 0.012095856719425702 Centerline is valid? [True, True] Translation: X:202.03, Y:-129.21, Z:-4.03 [[-2.67795792e-01 9.63474906e-01 1.23265897e-03 2.02029334e+02] [ 9.63464434e-01 2.67798629e-01 -4.49199031e-03 -1.29212147e+02] [-4.65802432e-03 -1.53130288e-05 -9.99989151e-01 -4.02762982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters 0.012179999548765098 Centerline is valid? [True, True] Translation: X:202.02, Y:-129.19, Z:-4.03 [[-3.37242424e-01 9.41417058e-01 1.21281112e-03 2.02019965e+02] [ 9.41411052e-01 3.37244605e-01 -3.36265379e-03 -1.29185549e+02] [-3.57467364e-03 7.72427514e-06 -9.99993611e-01 -4.02917210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters 0.012799218979809604 Centerline is valid? [True, True] Translation: X:202.01, Y:-129.16, Z:-4.03 [[-4.05056156e-01 9.14288190e-01 2.57224378e-03 2.02007354e+02] [ 9.14270496e-01 4.05064320e-01 -5.68835376e-03 -1.29160747e+02] [-6.24271884e-03 4.76238913e-05 -9.99980513e-01 -4.02634597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters 0.01337966957297316 Centerline is valid? [True, True] Translation: X:202.00, Y:-129.13, Z:-4.03 [[-4.71387243e-01 8.81920869e-01 3.10624280e-03 2.01997302e+02] [ 8.81902811e-01 4.71397471e-01 -5.64417034e-03 -1.29134542e+02] [-6.44198661e-03 7.88143621e-05 -9.99979247e-01 -4.02677293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters 0.015034351036493953 Centerline is valid? [True, True] Translation: X:201.98, Y:-129.11, Z:-4.03 [[-5.32692387e-01 8.46303388e-01 3.06537872e-03 2.01982879e+02] [ 8.46290548e-01 5.32701196e-01 -4.66312502e-03 -1.29111295e+02] [-5.57934941e-03 1.10189841e-04 -9.99984429e-01 -4.02741537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters 0.01623488541379202 Centerline is valid? [True, True] Translation: X:201.97, Y:-129.09, Z:-4.03 [[-5.92980441e-01 8.05210043e-01 3.31408971e-03 2.01969705e+02] [ 8.05198730e-01 5.92989687e-01 -4.27043549e-03 -1.29087420e+02] [-5.40381857e-03 1.36216107e-04 -9.99985390e-01 -4.02804442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters 0.017506939593233784 Centerline is valid? [True, True] Translation: X:201.95, Y:-129.07, Z:-4.03 [[-6.50022214e-01 7.59906874e-01 3.55850757e-03 2.01954973e+02] [ 7.59896832e-01 6.50031934e-01 -3.91005653e-03 -1.29065375e+02] [-5.28442239e-03 1.62475026e-04 -9.99986024e-01 -4.03071817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters 0.017849457319785406 Centerline is valid? [True, True] Translation: X:201.94, Y:-129.04, Z:-4.03 [[-7.07223291e-01 7.06978301e-01 4.11083934e-03 2.01943303e+02] [ 7.06967784e-01 7.07235216e-01 -3.86026940e-03 -1.29040496e+02] [-5.63645705e-03 1.76158553e-04 -9.99984100e-01 -4.03139869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters 0.01759352629760589 Centerline is valid? [True, True] Translation: X:201.97, Y:-129.02, Z:-4.03 [[-7.57159842e-01 6.53212542e-01 4.72753820e-03 2.01968629e+02] [ 6.53201216e-01 7.57174581e-01 -3.85049473e-03 -1.29023808e+02] [-6.09476321e-03 1.72593720e-04 -9.99981412e-01 -4.03109730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters 0.015296907248323248 Centerline is valid? [True, True] Translation: X:201.99, Y:-129.00, Z:-4.03 [[-8.06461285e-01 5.91269067e-01 4.59196916e-03 2.01986745e+02] [ 5.91260259e-01 8.06474351e-01 -3.22915745e-03 -1.28995292e+02] [-5.61260626e-03 1.10858411e-04 -9.99984243e-01 -4.03200796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters 0.013569754955291518 Centerline is valid? [True, True] Translation: X:202.00, Y:-128.96, Z:-4.03 [[-8.51747358e-01 5.23924936e-01 5.39441450e-03 2.02003438e+02] [ 5.23914866e-01 8.51764438e-01 -3.24876549e-03 -1.28964744e+02] [-6.29687969e-03 5.90865227e-05 -9.99980173e-01 -4.03204458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters 0.013068788385067259 Centerline is valid? [True, True] Translation: X:202.37, Y:-128.35, Z:-5.01 [[-8.18835363e-01 -5.74002956e-01 5.40880250e-03 2.02368945e+02] [ 5.73990123e-01 -8.18853225e-01 -3.83840772e-03 -1.28348226e+02] [ 6.63227275e-03 -3.84247587e-05 9.99978006e-01 -5.00940058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters 0.014291043780449382 Centerline is valid? [True, True] Translation: X:201.97, Y:-128.92, Z:-4.03 [[-8.65353930e-01 5.01128109e-01 5.76148418e-03 2.01967043e+02] [ 5.01116279e-01 8.65373104e-01 -3.44463958e-03 -1.28922085e+02] [-6.71203917e-03 -9.36588910e-05 -9.99977470e-01 -4.03096482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters 0.0168793933785208 Centerline is valid? [True, True] Translation: X:202.28, Y:-128.31, Z:-5.01 [[-8.07647426e-01 -5.89644960e-01 4.94533821e-03 2.02277094e+02] [ 5.89634226e-01 -8.07662565e-01 -3.55819496e-03 -1.28313094e+02] [ 6.09223627e-03 4.21736674e-05 9.99981441e-01 -5.01084912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters 0.01764526685946464 Centerline is valid? [True, True] Translation: X:201.93, Y:-128.89, Z:-4.03 [[-8.73510372e-01 4.86764232e-01 6.34138610e-03 2.01928457e+02] [ 4.86749754e-01 8.73533367e-01 -3.75948016e-03 -1.28888213e+02] [-7.36939282e-03 -1.97276790e-04 -9.99972826e-01 -4.02907822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters 0.01716643824625319 Centerline is valid? [True, True] Translation: X:201.94, Y:-128.87, Z:-4.02 [[-9.05102380e-01 4.25062567e-01 1.05591532e-02 2.01944428e+02] [ 4.25029784e-01 9.05163922e-01 -5.28749417e-03 -1.28869676e+02] [-1.18052804e-02 -2.97768950e-04 -9.99930271e-01 -4.02366954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters 0.01716643824625319 Centerline is valid? [True, True] Translation: X:201.96, Y:-128.85, Z:-4.02 [[-9.32934385e-01 3.59881184e-01 1.09071478e-02 2.01955766e+02] [ 3.59852842e-01 9.32998095e-01 -4.52629551e-03 -1.28845365e+02] [-1.18052767e-02 -2.97768592e-04 -9.99930271e-01 -4.02366958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters 0.017051720087744162 Centerline is valid? [True, True] Translation: X:201.96, Y:-128.82, Z:-4.02 [[-9.55836837e-01 2.93637179e-01 1.23753311e-02 2.01964522e+02] [ 2.93608236e-01 9.55916893e-01 -4.13496884e-03 -1.28821139e+02] [-1.30439686e-02 -3.18856402e-04 -9.99914873e-01 -4.02256312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters 0.017591018766407188 Centerline is valid? [True, True] Translation: X:202.18, Y:-128.18, Z:-5.02 [[-9.15811776e-01 -4.01409645e-01 1.26129904e-02 2.02181910e+02] [ 4.01377066e-01 -9.15898555e-01 -5.12722156e-03 -1.28179520e+02] [ 1.36103359e-02 3.66995207e-04 9.99907308e-01 -5.01953815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters 0.015559195500177985 Centerline is valid? [True, True] Translation: X:201.92, Y:-128.82, Z:-4.02 [[-9.55159784e-01 2.95791083e-01 1.33199613e-02 2.01922633e+02] [ 2.95758528e-01 9.55252620e-01 -4.39604325e-03 -1.28819956e+02] [-1.40242383e-02 -2.59431572e-04 -9.99901622e-01 -4.02188554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters 0.015388616484523169 Centerline is valid? [True, True] Translation: X:201.93, Y:-128.80, Z:-4.02 [[-9.72667217e-01 2.31921479e-01 1.14417352e-02 2.01925710e+02] [ 2.31903464e-01 9.72734497e-01 -2.89525993e-03 -1.28799298e+02] [-1.18012435e-02 -1.62746399e-04 -9.99930350e-01 -4.02341303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters 0.014813977375435609 Centerline is valid? [True, True] Translation: X:202.11, Y:-128.11, Z:-5.01 [[-9.46345245e-01 -3.23038417e-01 8.76690427e-03 2.02109505e+02] [ 3.23024265e-01 -9.46385852e-01 -3.02390919e-03 -1.28110522e+02] [ 9.27371300e-03 -2.97392736e-05 9.99956998e-01 -5.01405685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters 0.014840940725207164 Centerline is valid? [True, True] Translation: X:201.88, Y:-128.79, Z:-4.03 [[-9.73538182e-01 2.28338794e-01 9.20885189e-03 2.01881221e+02] [ 2.28327316e-01 9.73581727e-01 -2.29309754e-03 -1.28789655e+02] [-9.48917305e-03 -1.29785578e-04 -9.99954968e-01 -4.02660466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters 0.014798955615061437 Centerline is valid? [True, True] Translation: X:202.06, Y:-128.10, Z:-5.01 [[-9.47508023e-01 -3.19578791e-01 9.89665988e-03 2.02060530e+02] [ 3.19563530e-01 -9.47559686e-01 -3.12933470e-03 -1.28100483e+02] [ 1.03777449e-02 1.97541835e-04 9.99946130e-01 -5.01406123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters 0.01492846299118499 Centerline is valid? [True, True] Translation: X:201.84, Y:-128.78, Z:-4.03 [[-9.74635398e-01 2.23533260e-01 1.08959705e-02 2.01837346e+02] [ 2.23517377e-01 9.74696288e-01 -2.66989458e-03 -1.28775460e+02] [-1.12170722e-02 -1.66735022e-04 -9.99937073e-01 -4.02592097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters 0.014928583591516954 Centerline is valid? [True, True] Translation: X:201.85, Y:-128.75, Z:-4.03 [[-9.88043327e-01 1.53769866e-01 1.11897956e-02 2.01848292e+02] [ 1.53758056e-01 9.88106674e-01 -1.91330427e-03 -1.28747739e+02] [-1.13509203e-02 -1.69906300e-04 -9.99935562e-01 -4.02514536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters 0.014836694624004842 Centerline is valid? [True, True] Translation: X:201.97, Y:-128.06, Z:-5.02 [[-9.68565043e-01 -2.48489736e-01 1.16021251e-02 2.01969328e+02] [ 2.48474553e-01 -9.68634506e-01 -2.75517761e-03 -1.28058919e+02] [ 1.19228521e-02 2.14264134e-04 9.99928897e-01 -5.01593503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters 0.014390191870677273 Centerline is valid? [True, True] Translation: X:201.80, Y:-128.74, Z:-4.02 [[-9.88001564e-01 1.54002300e-01 1.16705550e-02 2.01802128e+02] [ 1.53990013e-01 9.88070481e-01 -1.94961325e-03 -1.28740599e+02] [-1.18315758e-02 -1.29072031e-04 -9.99929996e-01 -4.02359602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters 0.01364187810049426 Centerline is valid? [True, True] Translation: X:201.80, Y:-128.72, Z:-4.03 [[-9.96069623e-01 8.80186317e-02 9.90085738e-03 2.01804749e+02] [ 8.80136482e-02 9.96118826e-01 -9.38786403e-04 -1.28718527e+02] [-9.94506113e-03 -6.36860401e-05 -9.99950545e-01 -4.02638112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters 0.013613023934700024 Centerline is valid? [True, True] Translation: X:201.81, Y:-128.69, Z:-4.03 [[-9.99783377e-01 1.88925636e-02 8.73326444e-03 2.01808445e+02] [ 1.88914930e-02 9.99821519e-01 -2.05079503e-04 -1.28692625e+02] [-8.73558020e-03 -4.00506746e-05 -9.99961843e-01 -4.02701032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters 0.013460892574184381 Centerline is valid? [True, True] Translation: X:201.83, Y:-127.98, Z:-5.01 [[-9.95497971e-01 -9.44748852e-02 7.63457190e-03 2.01828116e+02] [ 9.44718550e-02 -9.95527245e-01 -7.57383165e-04 -1.27981611e+02] [ 7.67197802e-03 -3.27212341e-05 9.99970569e-01 -5.01308424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters 0.013825964161627458 Centerline is valid? [True, True] Translation: X:201.75, Y:-128.69, Z:-4.03 [[-9.99860606e-01 1.50217484e-02 7.28804308e-03 2.01745638e+02] [ 1.50211338e-02 9.99887167e-01 -1.39061019e-04 -1.28692949e+02] [-7.28930969e-03 -2.95669645e-05 -9.99973432e-01 -4.02660262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters 0.014314198198252817 Centerline is valid? [True, True] Translation: X:201.76, Y:-127.98, Z:-5.02 [[-9.95795246e-01 -9.14226321e-02 5.80773272e-03 2.01756297e+02] [ 9.14206596e-02 -9.95812180e-01 -6.04759560e-04 -1.27979766e+02] [ 5.83869969e-03 -7.12699378e-05 9.99982952e-01 -5.01528700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters 0.014756322971939899 Centerline is valid? [True, True] Translation: X:201.68, Y:-128.69, Z:-4.03 [[-9.99958394e-01 7.74076331e-03 4.82599492e-03 2.01678308e+02] [ 7.74051492e-03 9.99970039e-01 -7.01451948e-05 -1.28690212e+02] [-4.82639331e-03 -3.27865907e-05 -9.99988352e-01 -4.02515619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters 0.014966573454107308 Centerline is valid? [True, True] Translation: X:201.69, Y:-127.98, Z:-5.02 [[-9.95868074e-01 -9.06711724e-02 5.05146864e-03 2.01694807e+02] [ 9.06702632e-02 -9.95880884e-01 -4.09183432e-04 -1.27982010e+02] [ 5.06776219e-03 5.05252744e-05 9.99987158e-01 -5.01662895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters 0.015478405486179419 Centerline is valid? [True, True] Translation: X:201.62, Y:-128.69, Z:-4.02 [[-9.99982211e-01 -1.36954692e-03 5.80535462e-03 2.01619740e+02] [-1.36991418e-03 9.99999060e-01 -5.92849629e-05 -1.28685921e+02] [-5.80526797e-03 -6.72367459e-05 -9.99983147e-01 -4.02306207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters 0.015737484458667295 Centerline is valid? [True, True] Translation: X:201.61, Y:-128.66, Z:-4.02 [[-9.97132255e-01 -7.54468692e-02 5.91918591e-03 2.01613782e+02] [-7.54460578e-02 9.97149819e-01 3.60574033e-04 -1.28656367e+02] [-5.92951934e-03 -8.70392436e-05 -9.99982416e-01 -4.02266068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters 0.01642930200668377 Centerline is valid? [True, True] Translation: X:201.61, Y:-128.63, Z:-4.02 [[-9.89053293e-01 -1.47432137e-01 6.11130760e-03 2.01607378e+02] [-1.47429936e-01 9.89072169e-01 8.11548317e-04 -1.28627437e+02] [-6.16417257e-03 -9.83251553e-05 -9.99980997e-01 -4.02168872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters 0.015615385965856422 Centerline is valid? [True, True] Translation: X:201.52, Y:-127.94, Z:-5.02 [[-9.98795094e-01 4.87181316e-02 5.90791574e-03 2.01519713e+02] [-4.87168164e-02 -9.98812564e-01 3.66417242e-04 -1.27938887e+02] [ 5.91875163e-03 7.81608973e-05 9.99982481e-01 -5.01779970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters 0.015187529721577636 Centerline is valid? [True, True] Translation: X:201.52, Y:-128.64, Z:-4.02 [[-9.88463047e-01 -1.51284576e-01 7.33359834e-03 2.01517438e+02] [-1.51281192e-01 9.88490246e-01 1.01714524e-03 -1.28642316e+02] [-7.40306881e-03 -1.04025014e-04 -9.99972592e-01 -4.02152207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters 0.014186456184060177 Centerline is valid? [True, True] Translation: X:201.51, Y:-128.62, Z:-4.02 [[-9.76795877e-01 -2.13991938e-01 8.79001669e-03 2.01511227e+02] [-2.13983813e-01 9.76835425e-01 1.86560518e-03 -1.28622349e+02] [-8.98562415e-03 -5.86058407e-05 -9.99959627e-01 -4.02019643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters 0.01394233811629457 Centerline is valid? [True, True] Translation: X:201.49, Y:-128.60, Z:-4.02 [[-9.60636493e-01 -2.77682454e-01 8.36562725e-03 2.01493129e+02] [-2.77671967e-01 9.60672918e-01 2.41331244e-03 -1.28604248e+02] [-8.70676606e-03 -4.58417578e-06 -9.99962095e-01 -4.02089977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters 0.014142591426858402 Centerline is valid? [True, True] Translation: X:201.46, Y:-128.59, Z:-4.02 [[-9.40015832e-01 -3.41052360e-01 7.31596943e-03 2.01459747e+02] [-3.41041684e-01 9.40044300e-01 2.69885236e-03 -1.28589483e+02] [-7.79778533e-03 4.19134123e-05 -9.99969596e-01 -4.02101798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters 0.01475125633176982 Centerline is valid? [True, True] Translation: X:201.40, Y:-128.59, Z:-4.02 [[-9.15219821e-01 -4.02915852e-01 5.61215535e-03 2.01403945e+02] [-4.02907764e-01 9.15237024e-01 2.55398398e-03 -1.28586128e+02] [-6.16549300e-03 7.62757969e-05 -9.99980990e-01 -4.02245441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters 0.015072438341886624 Centerline is valid? [True, True] Translation: X:201.34, Y:-128.59, Z:-4.02 [[-8.85060715e-01 -4.65444215e-01 5.40501327e-03 2.01340275e+02] [-4.65434812e-01 8.85077213e-01 2.96040793e-03 -1.28589144e+02] [-6.16175883e-03 1.04459427e-04 -9.99981011e-01 -4.02383522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters 0.01595220863251593 Centerline is valid? [True, True] Translation: X:201.27, Y:-128.60, Z:-4.02 [[-8.50776974e-01 -5.25502183e-01 5.09853650e-03 2.01265767e+02] [-5.25491785e-01 8.50792241e-01 3.30858037e-03 -1.28601304e+02] [-6.07646150e-03 1.35624953e-04 -9.99981529e-01 -4.02366587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters 0.016213003322919743 Centerline is valid? [True, True] Translation: X:201.18, Y:-128.62, Z:-4.02 [[-8.09227318e-01 -5.87466356e-01 5.86751703e-03 2.01183484e+02] [-5.87449413e-01 8.09248573e-01 4.46478065e-03 -1.28620418e+02] [-7.37118820e-03 1.66153039e-04 -9.99972819e-01 -4.02134367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters 0.01564273608514373 Centerline is valid? [True, True] Translation: X:201.10, Y:-128.65, Z:-4.02 [[-7.61234268e-01 -6.48454506e-01 5.39851995e-03 2.01095953e+02] [-6.48436843e-01 7.61253396e-01 4.78829979e-03 -1.28651660e+02] [-7.21463622e-03 1.44418652e-04 -9.99973964e-01 -4.02172641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters 0.014527092076754185 Centerline is valid? [True, True] Translation: X:201.00, Y:-128.69, Z:-4.02 [[-7.05460455e-01 -7.08723710e-01 6.02074395e-03 2.01003582e+02] [-7.08696510e-01 7.05486137e-01 6.21029594e-03 -1.28690625e+02] [-8.64893537e-03 1.14237981e-04 -9.99962591e-01 -4.02054463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters 0.013310181653198333 Centerline is valid? [True, True] Translation: X:200.91, Y:-128.74, Z:-4.02 [[-6.45037316e-01 -7.64129637e-01 5.72350575e-03 2.00911100e+02] [-7.64098727e-01 6.45062706e-01 6.87325977e-03 -1.28740343e+02] [-8.94408160e-03 6.01855824e-05 -9.99959999e-01 -4.02061179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters 0.012935637567891841 Centerline is valid? [True, True] Translation: X:200.82, Y:-128.80, Z:-4.02 [[-5.77268583e-01 -8.16542972e-01 4.30787358e-03 2.00821027e+02] [-8.16520562e-01 5.77284656e-01 6.04959509e-03 -1.28795631e+02] [-7.42662368e-03 -2.52261692e-05 -9.99972422e-01 -4.02140005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters 0.014028457980716882 Centerline is valid? [True, True] Translation: X:200.73, Y:-128.86, Z:-4.02 [[-5.05330472e-01 -8.62923356e-01 2.09643881e-03 2.00731793e+02] [-8.62916367e-01 5.05334818e-01 3.47350081e-03 -1.28861709e+02] [-4.05676850e-03 -5.37855594e-05 -9.99991770e-01 -4.02307881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters 0.01508957347977869 Centerline is valid? [True, True] Translation: X:200.65, Y:-128.93, Z:-4.02 [[-4.33170572e-01 -9.01311217e-01 1.15971373e-03 2.00653235e+02] [-9.01308284e-01 4.33172122e-01 2.30012746e-03 -1.28934036e+02] [-2.57548634e-03 -4.89120637e-05 -9.99996682e-01 -4.02403300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters 0.01599908907125637 Centerline is valid? [True, True] Translation: X:200.58, Y:-129.02, Z:-4.03 [[-3.61236633e-01 -9.32474108e-01 3.63678627e-04 2.00582385e+02] [-9.32473690e-01 3.61236816e-01 8.83514004e-04 -1.29015290e+02] [-9.55228043e-04 -1.99631267e-05 -9.99999544e-01 -4.02507749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters 0.016119119100216902 Centerline is valid? [True, True] Translation: X:200.52, Y:-129.11, Z:-4.02 [[-2.88654759e-01 -9.57433219e-01 2.48580020e-04 2.00519230e+02] [-9.57432913e-01 2.88654865e-01 7.65022683e-04 -1.29105350e+02] [-8.04211962e-04 -1.71712546e-05 -9.99999677e-01 -4.02487885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters 0.016650895730431898 Centerline is valid? [True, True] Translation: X:200.46, Y:-129.20, Z:-4.02 [[-2.14597927e-01 -9.76702092e-01 8.68312645e-04 2.00460293e+02] [-9.76695572e-01 2.14599668e-01 3.56961304e-03 -1.29201510e+02] [-3.67278813e-03 -8.20455575e-05 -9.99993252e-01 -4.02097803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters 0.01659659867110834 Centerline is valid? [True, True] Translation: X:200.41, Y:-129.30, Z:-4.02 [[-1.39815953e-01 -9.90177144e-01 8.50068648e-04 2.00412101e+02] [-9.90163533e-01 1.39818489e-01 5.19311249e-03 -1.29303142e+02] [-5.26095660e-03 -1.15627005e-04 -9.99986154e-01 -4.01913331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters 0.015196818724062635 Centerline is valid? [True, True] Translation: X:200.38, Y:-129.41, Z:-4.02 [[-6.67223710e-02 -9.97771344e-01 6.86036644e-04 2.00376332e+02] [-9.97739596e-01 6.67257217e-02 7.96097783e-03 -1.29410541e+02] [-7.98901184e-03 -1.53310607e-04 -9.99968076e-01 -4.01668969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters 0.013911622654065984 Centerline is valid? [True, True] Translation: X:200.35, Y:-129.52, Z:-4.02 [[ 3.90927956e-03 -9.99992355e-01 8.51936649e-05 2.00350313e+02] [-9.99951313e-01 -3.90834719e-03 9.06072498e-03 -1.29516923e+02] [-9.06032274e-03 -1.20610424e-04 -9.99958947e-01 -4.01560073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters 0.012469907021669264 Centerline is valid? [True, True] Translation: X:200.34, Y:-129.62, Z:-4.02 [[ 7.12728691e-02 -9.97456736e-01 -4.88249879e-04 2.00336678e+02] [-9.97430310e-01 -7.12745349e-02 7.26067814e-03 -1.29620455e+02] [-7.27701210e-03 -3.04941353e-05 -9.99973522e-01 -4.01760145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters 0.012680107514785455 Centerline is valid? [True, True] Translation: X:200.33, Y:-129.73, Z:-4.02 [[ 1.36639332e-01 -9.90620734e-01 -5.04978295e-04 2.00331002e+02] [-9.90614620e-01 -1.36640263e-01 3.48031541e-03 -1.29732385e+02] [-3.51667297e-03 2.46909083e-05 -9.99993816e-01 -4.01983363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters 0.014065750126566964 Centerline is valid? [True, True] Translation: X:200.33, Y:-129.84, Z:-4.02 [[ 2.04354180e-01 -9.78896709e-01 -7.75600625e-04 2.00330922e+02] [-9.78890625e-01 -2.04355645e-01 3.45163632e-03 -1.29842997e+02] [-3.53729380e-03 5.38718703e-05 -9.99993742e-01 -4.01966893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters 0.014646622349317606 Centerline is valid? [True, True] Translation: X:200.34, Y:-129.96, Z:-4.02 [[ 2.75163984e-01 -9.61396286e-01 -1.40130876e-03 2.00337267e+02] [-9.61385452e-01 -2.75167537e-01 4.56512068e-03 -1.29962020e+02] [-4.77448474e-03 9.10410646e-05 -9.99988598e-01 -4.01893675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters 0.015228138313534192 Centerline is valid? [True, True] Translation: X:200.35, Y:-130.08, Z:-4.02 [[ 3.46668210e-01 -9.37985434e-01 -2.11620460e-03 2.00353162e+02] [-9.37970000e-01 -3.46674649e-01 5.38212711e-03 -1.30083161e+02] [-5.78199132e-03 1.19124055e-04 -9.99983277e-01 -4.01870311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters 0.014949283509710093 Centerline is valid? [True, True] Translation: X:200.37, Y:-130.20, Z:-4.02 [[ 4.17268107e-01 -9.08778813e-01 -2.89766232e-03 2.00371984e+02] [-9.08759158e-01 -4.17278145e-01 5.97847919e-03 -1.30195582e+02] [-6.64224638e-03 1.38648474e-04 -9.99977930e-01 -4.01823145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters 0.01464067192130024 Centerline is valid? [True, True] Translation: X:200.40, Y:-130.31, Z:-4.02 [[ 4.86753067e-01 -8.73534658e-01 -2.94150769e-03 2.00400222e+02] [-8.73520101e-01 -4.86761942e-01 5.04429641e-03 -1.30307863e+02] [-5.83818173e-03 1.14139346e-04 -9.99982951e-01 -4.01881845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters 0.014727425995310864 Centerline is valid? [True, True] Translation: X:200.44, Y:-130.42, Z:-4.02 [[ 5.53931087e-01 -8.32556967e-01 -3.04091956e-03 2.00438619e+02] [-8.32545331e-01 -5.53939427e-01 4.40259768e-03 -1.30419201e+02] [-5.34989861e-03 9.29676634e-05 -9.99985685e-01 -4.01896685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters 0.013739447271891301 Centerline is valid? [True, True] Translation: X:200.48, Y:-130.52, Z:-4.02 [[ 6.17780232e-01 -7.86344941e-01 -3.03623196e-03 2.00480847e+02] [-7.86336011e-01 -6.17787689e-01 3.74817516e-03 -1.30524374e+02] [-4.82310530e-03 7.19500083e-05 -9.99988366e-01 -4.02046873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters 0.013201549349263606 Centerline is valid? [True, True] Translation: X:200.53, Y:-130.63, Z:-4.02 [[ 6.78885664e-01 -7.34240162e-01 -2.37468202e-03 2.00532807e+02] [-7.34235862e-01 -6.78889816e-01 2.51319972e-03 -1.30629474e+02] [-3.45743961e-03 3.74014421e-05 -9.99994022e-01 -4.02149385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters 0.012617172906782392 Centerline is valid? [True, True] Translation: X:200.58, Y:-130.72, Z:-4.02 [[ 7.36148329e-01 -6.76816619e-01 -2.21403688e-03 2.00582641e+02] [-6.76813628e-01 -7.36151658e-01 2.01224126e-03 -1.30722888e+02] [-2.99178525e-03 1.71822926e-05 -9.99995524e-01 -4.02196630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters 0.012412383924959764 Centerline is valid? [True, True] Translation: X:200.60, Y:-130.76, Z:-4.02 [[ 7.90978593e-01 -6.11839575e-01 -2.28016549e-03 2.00599584e+02] [-6.11837022e-01 -7.90981880e-01 1.76752041e-03 -1.30755663e+02] [-2.88500853e-03 -2.98114715e-06 -9.99995838e-01 -4.02203387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters 0.012664549154771462 Centerline is valid? [True, True] Translation: X:200.62, Y:-130.78, Z:-4.02 [[ 8.38397424e-01 -5.45052824e-01 -2.67914608e-03 2.00620318e+02] [-5.45049983e-01 -8.38401705e-01 1.75996703e-03 -1.30784212e+02] [-3.20547564e-03 -1.52833026e-05 -9.99994862e-01 -4.02064888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters 0.012846867212225072 Centerline is valid? [True, True] Translation: X:200.64, Y:-130.81, Z:-4.02 [[ 8.79978838e-01 -4.74999208e-01 -3.60512649e-03 2.00644071e+02] [-4.74995066e-01 -8.79986222e-01 1.98372440e-03 -1.30811407e+02] [-4.11472916e-03 -3.32181912e-05 -9.99991534e-01 -4.02003924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters 0.01351094444383551 Centerline is valid? [True, True] Translation: X:200.67, Y:-130.84, Z:-4.02 [[ 9.16052130e-01 -4.01042517e-01 -3.65998287e-03 2.00671708e+02] [-4.01039104e-01 -9.16059440e-01 1.65531528e-03 -1.30835154e+02] [-4.01661367e-03 -4.85588377e-05 -9.99991932e-01 -4.02033896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters 0.013965224626373765 Centerline is valid? [True, True] Translation: X:200.70, Y:-130.86, Z:-4.02 [[ 9.45327465e-01 -3.26101767e-01 -3.69077754e-03 2.00701314e+02] [-3.26099048e-01 -9.45334668e-01 1.33276441e-03 -1.30855615e+02] [-3.92363679e-03 -5.63397552e-05 -9.99992301e-01 -4.02009599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters 0.014860986693891062 Centerline is valid? [True, True] Translation: X:200.73, Y:-130.87, Z:-4.02 [[ 9.68884674e-01 -2.47460696e-01 -5.06878044e-03 2.00732465e+02] [-2.47456790e-01 -9.68897928e-01 1.39369523e-03 -1.30874006e+02] [-5.25601566e-03 -9.60258106e-05 -9.99986182e-01 -4.01781155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters 0.015480660537277174 Centerline is valid? [True, True] Translation: X:200.77, Y:-130.89, Z:-4.02 [[ 9.85523006e-01 -1.69425603e-01 -6.27456221e-03 2.00765873e+02] [-1.69421349e-01 -9.85542972e-01 1.20730272e-03 -1.30886710e+02] [-6.38839868e-03 -1.26779817e-04 -9.99979586e-01 -4.01712845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters 0.01589804252724599 Centerline is valid? [True, True] Translation: X:200.80, Y:-130.90, Z:-4.02 [[ 9.95895766e-01 -9.02314202e-02 -7.06496144e-03 2.00799609e+02] [-9.02280617e-02 -9.95920814e-01 7.93320885e-04 -1.30897014e+02] [-7.10772462e-03 -1.52607134e-04 -9.99974728e-01 -4.01649308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters 0.015764183633504764 Centerline is valid? [True, True] Translation: X:200.83, Y:-130.90, Z:-4.02 [[ 9.99894491e-01 -1.26236175e-02 -7.18688021e-03 2.00830557e+02] [-1.26222159e-02 -9.99920308e-01 2.40350520e-04 -1.30902486e+02] [-7.18934157e-03 -1.49610807e-04 -9.99974145e-01 -4.01548267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters 0.01426688576329251 Centerline is valid? [True, True] Translation: X:200.86, Y:-130.90, Z:-4.02 [[ 9.98166321e-01 6.02239562e-02 -6.08854058e-03 2.00862088e+02] [ 6.02234054e-02 -9.98184886e-01 -2.73936298e-04 -1.30900489e+02] [-6.09398671e-03 -9.32386613e-05 -9.99981427e-01 -4.01733560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters 0.013197608331479396 Centerline is valid? [True, True] Translation: X:200.89, Y:-130.90, Z:-4.02 [[ 9.91158759e-01 1.32550359e-01 -5.89206499e-03 2.00892834e+02] [ 1.32548359e-01 -9.91176270e-01 -7.30397073e-04 -1.30897860e+02] [-5.93688939e-03 -5.70440895e-05 -9.99982375e-01 -4.01735727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters 0.01247940648395422 Centerline is valid? [True, True] Translation: X:200.92, Y:-130.89, Z:-4.02 [[ 9.79568496e-01 2.00995839e-01 -6.79962920e-03 2.00922978e+02] [ 2.00991032e-01 -9.79592095e-01 -1.39015885e-03 -1.30892778e+02] [-6.94027916e-03 -4.90867332e-06 -9.99975916e-01 -4.01589482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters 0.012791773544921515 Centerline is valid? [True, True] Translation: X:200.95, Y:-130.89, Z:-4.01 [[ 9.62380187e-01 2.71579995e-01 -8.28748893e-03 2.00950981e+02] [ 2.71569543e-01 -9.62415869e-01 -2.38300301e-03 -1.30886993e+02] [-8.62318681e-03 4.27253051e-05 -9.99962819e-01 -4.01339411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters 0.013996828006780227 Centerline is valid? [True, True] Translation: X:200.98, Y:-130.88, Z:-4.01 [[ 9.40597565e-01 3.39351149e-01 -1.08174995e-02 2.00977468e+02] [ 3.39326995e-01 -9.40659757e-01 -4.05118746e-03 -1.30875201e+02] [-1.15503616e-02 1.39867453e-04 -9.99933283e-01 -4.01145561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters 0.015547422538901004 Centerline is valid? [True, True] Translation: X:201.00, Y:-130.86, Z:-4.01 [[ 9.13449280e-01 4.06796371e-01 -1.12750051e-02 2.01002641e+02] [ 4.06762392e-01 -9.13518836e-01 -5.26238251e-03 -1.30861979e+02] [-1.24406476e-02 2.20671466e-04 -9.99922588e-01 -4.01054433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters 0.01611672568885237 Centerline is valid? [True, True] Translation: X:201.03, Y:-130.85, Z:-4.01 [[ 8.79422370e-01 4.75932060e-01 -1.02455197e-02 2.01028192e+02] [ 4.75896781e-01 -8.79482021e-01 -5.79911689e-03 -1.30850507e+02] [-1.17707360e-02 2.24063296e-04 -9.99930697e-01 -4.01071865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters 0.015302275120570478 Centerline is valid? [True, True] Translation: X:201.06, Y:-130.84, Z:-4.01 [[ 8.39315792e-01 5.43568833e-01 -9.05124976e-03 2.01055972e+02] [ 5.43534583e-01 -8.39364570e-01 -6.10532704e-03 -1.30842152e+02] [-1.09159639e-02 2.04630131e-04 -9.99940398e-01 -4.01211113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters 0.014909554688251801 Centerline is valid? [True, True] Translation: X:201.08, Y:-130.83, Z:-4.01 [[ 7.92733005e-01 6.09513669e-01 -8.21401680e-03 2.01082701e+02] [ 6.09478692e-01 -7.92775540e-01 -6.53197960e-03 -1.30831577e+02] [-1.04932025e-02 1.71847604e-04 -9.99944930e-01 -4.01204747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters 0.013831335680918272 Centerline is valid? [True, True] Translation: X:201.11, Y:-130.82, Z:-4.01 [[ 7.37697179e-01 6.75087521e-01 -7.72725344e-03 2.01109819e+02] [ 6.75049118e-01 -7.37737643e-01 -7.20128971e-03 -1.30821032e+02] [-1.05621866e-02 9.60954899e-05 -9.99944214e-01 -4.01028983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters 0.012800690954252585 Centerline is valid? [True, True] Translation: X:201.13, Y:-130.80, Z:-4.01 [[ 6.78823875e-01 7.34270665e-01 -6.68852892e-03 2.01132450e+02] [ 7.34234455e-01 -6.78856825e-01 -7.29220349e-03 -1.30802591e+02] [-9.89500462e-03 3.91734419e-05 -9.99951043e-01 -4.01142230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters 0.012876379250485166 Centerline is valid? [True, True] Translation: X:201.16, Y:-130.79, Z:-4.01 [[ 6.13190304e-01 7.89916038e-01 -5.50499137e-03 2.01156235e+02] [ 7.89884698e-01 -6.13215013e-01 -7.03650752e-03 -1.30786582e+02] [-8.93399349e-03 -3.35902568e-05 -9.99960091e-01 -4.00978689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters 0.01275062596145354 Centerline is valid? [True, True] Translation: X:201.18, Y:-130.77, Z:-4.01 [[ 5.44847405e-01 8.38522361e-01 -4.64278271e-03 2.01184787e+02] [ 8.38493131e-01 -5.44867180e-01 -7.00180227e-03 -1.30770051e+02] [-8.40086770e-03 -7.80276142e-05 -9.99964709e-01 -4.01350636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters 0.013082628104173936 Centerline is valid? [True, True] Translation: X:201.21, Y:-130.75, Z:-4.01 [[ 4.76232205e-01 8.79309200e-01 -4.26834804e-03 2.01208194e+02] [ 8.79275640e-01 -4.76251323e-01 -7.68289771e-03 -1.30750161e+02] [-8.78844904e-03 -9.42111349e-05 -9.99961376e-01 -4.01297558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters 0.012740046307011364 Centerline is valid? [True, True] Translation: X:201.23, Y:-130.73, Z:-4.01 [[ 4.08164387e-01 9.12902319e-01 -3.34505358e-03 2.01227388e+02] [ 9.12872989e-01 -4.08178088e-01 -7.31807565e-03 -1.30726087e+02] [-8.04606580e-03 -6.66311984e-05 -9.99967628e-01 -4.01368903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters 0.012342346343461423 Centerline is valid? [True, True] Translation: X:201.24, Y:-130.70, Z:-4.01 [[ 3.39722466e-01 9.40521727e-01 -2.74376342e-03 2.01242297e+02] [ 9.40491755e-01 -3.39733544e-01 -7.50848660e-03 -1.30699734e+02] [-7.99404325e-03 -2.96852904e-05 -9.99968047e-01 -4.01340271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters 0.012253233766598922 Centerline is valid? [True, True] Translation: X:201.26, Y:-130.67, Z:-4.01 [[ 2.67750375e-01 9.63486022e-01 -2.10306903e-03 2.01257260e+02] [ 9.63456514e-01 -2.67758634e-01 -7.54051901e-03 -1.30672501e+02] [-7.82829955e-03 -7.23876472e-06 -9.99969358e-01 -4.01385449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters 0.012403324981735936 Centerline is valid? [True, True] Translation: X:201.27, Y:-130.65, Z:-4.01 [[ 1.93094953e-01 9.81178969e-01 -1.47303756e-03 2.01269219e+02] [ 9.81150207e-01 -1.93100571e-01 -7.51271937e-03 -1.30646260e+02] [-7.65576665e-03 5.39708232e-06 -9.99970694e-01 -4.01275208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters 0.01233983971330316 Centerline is valid? [True, True] Translation: X:201.28, Y:-130.62, Z:-4.01 [[ 1.14230875e-01 9.93453730e-01 -9.97236861e-04 2.01281612e+02] [ 9.93416368e-01 -1.14235227e-01 -8.61578231e-03 -1.30617671e+02] [-8.67330065e-03 -6.48307153e-06 -9.99962386e-01 -4.01359972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters 0.012576676138960553 Centerline is valid? [True, True] Translation: X:201.29, Y:-130.59, Z:-4.01 [[ 3.19267772e-02 9.99490142e-01 -3.71284598e-04 2.01292592e+02] [ 9.99439394e-01 -3.19288977e-02 -1.00719259e-02 -1.30588795e+02] [-1.00786454e-02 -4.95123173e-05 -9.99949208e-01 -4.01225310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters 0.013142464223859928 Centerline is valid? [True, True] Translation: X:201.30, Y:-130.56, Z:-4.01 [[-5.20304347e-02 9.98645403e-01 4.38902167e-04 2.01303055e+02] [ 9.98589657e-01 5.20321679e-02 -1.05523001e-02 -1.30558695e+02] [-1.05608430e-02 -1.10757595e-04 -9.99944227e-01 -4.01261101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters 0.014363042121206052 Centerline is valid? [True, True] Translation: X:201.31, Y:-130.53, Z:-4.01 [[-1.33384299e-01 9.91063525e-01 1.31089699e-03 2.01309653e+02] [ 9.91003913e-01 1.33390655e-01 -1.08709757e-02 -1.30528988e+02] [-1.09486889e-02 -1.50913426e-04 -9.99940050e-01 -4.01160586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters 0.014655591282611218 Centerline is valid? [True, True] Translation: X:201.31, Y:-130.50, Z:-4.01 [[-2.13600713e-01 9.76918628e-01 2.17473939e-03 2.01311447e+02] [ 9.76858755e-01 2.13611702e-01 -1.08172374e-02 -1.30497801e+02] [-1.10321105e-02 -1.86156402e-04 -9.99939127e-01 -4.01156012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters 0.014979384140570234 Centerline is valid? [True, True] Translation: X:201.31, Y:-130.47, Z:-4.01 [[-2.92512904e-01 9.56255876e-01 3.30161501e-03 2.01310602e+02] [ 9.56185275e-01 2.92531436e-01 -1.16223903e-02 -1.30467290e+02] [-1.20798052e-02 -2.42743488e-04 -9.99927007e-01 -4.01234166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters 0.015292528827033193 Centerline is valid? [True, True] Translation: X:201.31, Y:-130.44, Z:-4.01 [[-3.67419218e-01 9.30046231e-01 4.13834968e-03 2.01307775e+02] [ 9.29979353e-01 3.67442438e-01 -1.11560965e-02 -1.30436841e+02] [-1.18962908e-02 -2.50384507e-04 -9.99929205e-01 -4.01269321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters 0.015360020827800663 Centerline is valid? [True, True] Translation: X:201.30, Y:-130.41, Z:-4.01 [[-4.38204195e-01 8.98863797e-01 4.57792513e-03 2.01301244e+02] [ 8.98809448e-01 4.38228053e-01 -9.88682144e-03 -1.30408592e+02] [-1.08930811e-02 -2.17764273e-04 -9.99940645e-01 -4.01320575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters 0.014953303752698916 Centerline is valid? [True, True] Translation: X:201.29, Y:-130.38, Z:-4.01 [[-5.05570741e-01 8.62771150e-01 4.91622740e-03 2.01290109e+02] [ 8.62726824e-01 5.05594611e-01 -8.74735912e-03 -1.30381551e+02] [-1.00325872e-02 -1.81047578e-04 -9.99949656e-01 -4.01480169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters 0.015067680918645457 Centerline is valid? [True, True] Translation: X:201.28, Y:-130.36, Z:-4.01 [[-5.68761132e-01 8.22484497e-01 5.47967627e-03 2.01276157e+02] [ 8.22443872e-01 5.68787510e-01 -8.17594756e-03 -1.30356828e+02] [-9.84136154e-03 -1.43435013e-04 -9.99951562e-01 -4.01436839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters 0.013655689011978254 Centerline is valid? [True, True] Translation: X:201.26, Y:-130.33, Z:-4.02 [[-6.28696119e-01 7.77624159e-01 6.46973494e-03 2.01259172e+02] [ 7.77581085e-01 6.28729397e-01 -8.18544177e-03 -1.30334003e+02] [-1.04329098e-02 -1.15411960e-04 -9.99945569e-01 -4.01556310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters 0.013337531653225723 Centerline is valid? [True, True] Translation: X:201.24, Y:-130.31, Z:-4.02 [[-6.86648322e-01 7.26950992e-01 7.50578783e-03 2.01244901e+02] [ 7.26905861e-01 6.86689336e-01 -8.10095243e-03 -1.30308584e+02] [-1.10431399e-02 -1.06504227e-04 -9.99939017e-01 -4.01607016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters 0.013345122063703316 Centerline is valid? [True, True] Translation: X:201.23, Y:-130.29, Z:-4.02 [[-7.40450421e-01 6.72052993e-01 8.82884527e-03 2.01227836e+02] [ 6.72003642e-01 7.40503048e-01 -8.14500166e-03 -1.30285173e+02] [-1.20116596e-02 -9.79537374e-05 -9.99927853e-01 -4.01616897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters 0.013381208505394437 Centerline is valid? [True, True] Translation: X:201.25, Y:-130.27, Z:-4.02 [[-7.85541089e-01 6.18723690e-01 1.03050028e-02 2.01247759e+02] [ 6.18668833e-01 7.85608672e-01 -8.23950284e-03 -1.30269414e+02] [-1.31936752e-02 -9.70839629e-05 -9.99912955e-01 -4.01530333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters 0.013405728141376416 Centerline is valid? [True, True] Translation: X:201.27, Y:-130.25, Z:-4.02 [[-8.27105598e-01 5.61929101e-01 1.14897930e-02 2.01265085e+02] [ 5.61873262e-01 8.27185394e-01 -7.92222521e-03 -1.30250826e+02] [-1.39559178e-02 -9.67093578e-05 -9.99902607e-01 -4.01501050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters 0.013485759300596529 Centerline is valid? [True, True] Translation: X:201.28, Y:-130.23, Z:-4.02 [[-8.65335845e-01 5.01049429e-01 1.19726644e-02 2.01280085e+02] [ 5.00999697e-01 8.65418660e-01 -7.06021084e-03 -1.30228464e+02] [-1.38988818e-02 -1.11152279e-04 -9.99903400e-01 -4.01623105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters 0.013971345952178799 Centerline is valid? [True, True] Translation: X:201.30, Y:-130.20, Z:-4.02 [[-8.98745424e-01 4.38310573e-01 1.18534423e-02 2.01295949e+02] [ 4.38270851e-01 8.98823581e-01 -5.90179502e-03 -1.30204551e+02] [-1.32409726e-02 -1.09193007e-04 -9.99912329e-01 -4.01594696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters 0.013381902185146058 Centerline is valid? [True, True] Translation: X:201.31, Y:-130.18, Z:-4.02 [[-9.27208621e-01 3.74386080e-01 1.09195295e-02 2.01307489e+02] [ 3.74359016e-01 9.27272913e-01 -4.50235689e-03 -1.30181820e+02] [-1.18110037e-02 -8.67997913e-05 -9.99930244e-01 -4.01936281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters 0.013251774057632124 Centerline is valid? [True, True] Translation: X:201.31, Y:-130.15, Z:-4.02 [[-9.51177554e-01 3.08439643e-01 1.12359789e-02 2.01310904e+02] [ 3.08417144e-01 9.51243912e-01 -3.72619682e-03 -1.30153164e+02] [-1.18374633e-02 -7.89062619e-05 -9.99929932e-01 -4.01969910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters 0.013352116508824872 Centerline is valid? [True, True] Translation: X:201.54, Y:-129.49, Z:-5.02 [[-9.23051312e-01 -3.84470787e-01 1.25892585e-02 2.01538793e+02] [ 3.84437938e-01 -9.23137138e-01 -5.02962891e-03 -1.29489262e+02] [ 1.35553575e-02 1.97183027e-04 9.99908103e-01 -5.02189719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters 0.013479104524033851 Centerline is valid? [True, True] Translation: X:201.27, Y:-130.14, Z:-4.02 [[-9.52531269e-01 3.04135645e-01 1.36268353e-02 2.01273735e+02] [ 3.04102908e-01 9.52628730e-01 -4.46360665e-03 -1.30137877e+02] [-1.43388567e-02 -1.07764655e-04 -9.99897188e-01 -4.01825007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters 0.013642970107160281 Centerline is valid? [True, True] Translation: X:201.28, Y:-130.11, Z:-4.02 [[-9.71802369e-01 2.35320584e-01 1.49792987e-02 2.01283605e+02] [ 2.35290652e-01 9.71917799e-01 -3.75525161e-03 -1.30110438e+02] [-1.54423350e-02 -1.24873449e-04 -9.99880752e-01 -4.01761587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters 0.013975364185700764 Centerline is valid? [True, True] Translation: X:201.46, Y:-129.44, Z:-5.02 [[-9.48887130e-01 -3.15259129e-01 1.49965464e-02 2.01455859e+02] [ 3.15222204e-01 -9.49005616e-01 -4.82721736e-03 -1.29441891e+02] [ 1.57536311e-02 1.46759985e-04 9.99875893e-01 -5.02407208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters 0.01340648139382327 Centerline is valid? [True, True] Translation: X:201.23, Y:-130.10, Z:-4.02 [[-9.72559370e-01 2.32202235e-01 1.45049386e-02 2.01234260e+02] [ 2.32174686e-01 9.72667522e-01 -3.57854694e-03 -1.30096174e+02] [-1.49394293e-02 -1.12669797e-04 -9.99888394e-01 -4.01973242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters 0.013373069482171998 Centerline is valid? [True, True] Translation: X:201.24, Y:-130.07, Z:-4.02 [[-9.86682293e-01 1.62052256e-01 1.40398827e-02 2.01243224e+02] [ 1.62034182e-01 9.86782171e-01 -2.42296607e-03 -1.30068802e+02] [-1.42469530e-02 -1.15756805e-04 -9.99898500e-01 -4.02186905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters 0.013588122173989785 Centerline is valid? [True, True] Translation: X:201.24, Y:-130.04, Z:-4.02 [[-9.95787662e-01 9.03560684e-02 1.55792847e-02 2.01239070e+02] [ 9.03426915e-02 9.95909514e-01 -1.56172717e-03 -1.30037699e+02] [-1.56566694e-02 -1.47674136e-04 -9.99877416e-01 -4.02113079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters 0.013816898902698733 Centerline is valid? [True, True] Translation: X:201.31, Y:-129.37, Z:-5.02 [[-9.84305722e-01 -1.75754779e-01 1.58903313e-02 2.01313114e+02] [ 1.75734845e-01 -9.84433962e-01 -2.65317929e-03 -1.29365070e+02] [ 1.61092908e-02 1.80945356e-04 9.99870221e-01 -5.01991383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters 0.01352584535850451 Centerline is valid? [True, True] Translation: X:201.19, Y:-130.03, Z:-4.02 [[-9.95993130e-01 8.80842288e-02 1.54549233e-02 2.01194502e+02] [ 8.80717666e-02 9.96113023e-01 -1.48644975e-03 -1.30032344e+02] [-1.55257831e-02 -1.19351345e-04 -9.99879461e-01 -4.02170171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters 0.013370219495994628 Centerline is valid? [True, True] Translation: X:201.19, Y:-130.01, Z:-4.02 [[-9.99709094e-01 1.89662015e-02 1.49000406e-02 2.01194552e+02] [ 1.89628008e-02 9.99820122e-01 -3.69499497e-04 -1.30005014e+02] [-1.49043684e-02 -8.68455064e-05 -9.99888920e-01 -4.02237010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters 0.013279653237086523 Centerline is valid? [True, True] Translation: X:201.19, Y:-129.98, Z:-4.02 [[-9.98678073e-01 -4.93493210e-02 1.43788110e-02 2.01191921e+02] [-4.93448420e-02 9.98781579e-01 6.66326922e-04 -1.29978473e+02] [-1.43941744e-02 -4.40740726e-05 -9.99896398e-01 -4.02335582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters 0.01300381969797063 Centerline is valid? [True, True] Translation: X:201.19, Y:-129.95, Z:-4.03 [[-9.93136146e-01 -1.16086393e-01 1.43019235e-02 2.01187281e+02] [-1.16074113e-01 9.93239120e-01 1.68854615e-03 -1.29951567e+02] [-1.44012472e-02 1.68731186e-05 -9.99896297e-01 -4.02613712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters 0.01320561680041938 Centerline is valid? [True, True] Translation: X:201.18, Y:-129.93, Z:-4.03 [[-9.82884207e-01 -1.83698115e-01 1.39154029e-02 2.01175619e+02] [-1.83678886e-01 9.82982706e-01 2.65846594e-03 -1.29925149e+02] [-1.41669556e-02 5.69984880e-05 -9.99899642e-01 -4.02580250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters 0.013386403322475439 Centerline is valid? [True, True] Translation: X:201.16, Y:-129.90, Z:-4.03 [[-9.68179384e-01 -2.49895360e-01 1.34532569e-02 2.01158478e+02] [-2.49869694e-01 9.68272843e-01 3.58305737e-03 -1.29900380e+02] [-1.39218127e-02 1.07481092e-04 -9.99903081e-01 -4.02763537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters 0.013874069770631018 Centerline is valid? [True, True] Translation: X:201.13, Y:-129.88, Z:-4.03 [[-9.48094334e-01 -3.17635257e-01 1.49992102e-02 2.01130585e+02] [-3.17593092e-01 9.48212963e-01 5.17744425e-03 -1.29875875e+02] [-1.58669844e-02 1.45060013e-04 -9.99874101e-01 -4.02577520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters 0.014879199018485086 Centerline is valid? [True, True] Translation: X:201.08, Y:-129.86, Z:-4.02 [[-9.22580600e-01 -3.85458591e-01 1.63312849e-02 2.01080215e+02] [-3.85394964e-01 9.22725120e-01 7.00538862e-03 -1.29864193e+02] [-1.77695740e-02 1.69040677e-04 -9.99842094e-01 -4.02215487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters 0.01435158485324658 Centerline is valid? [True, True] Translation: X:201.01, Y:-129.86, Z:-4.02 [[-8.92061364e-01 -4.51626660e-01 1.61208791e-02 2.01013948e+02] [-4.51549132e-01 8.92206997e-01 8.36994456e-03 -1.29859987e+02] [-1.81632513e-02 1.87135188e-04 -9.99835017e-01 -4.02456652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters 0.013915397860818505 Centerline is valid? [True, True] Translation: X:200.94, Y:-129.86, Z:-4.03 [[-8.56525058e-01 -5.15885476e-01 1.50665262e-02 2.00944207e+02] [-5.15801750e-01 8.56657539e-01 9.29598795e-03 -1.29863879e+02] [-1.77025184e-02 1.90906063e-04 -9.99843280e-01 -4.02709178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters 0.013849064873943745 Centerline is valid? [True, True] Translation: X:200.87, Y:-129.88, Z:-4.03 [[-8.15629758e-01 -5.78421533e-01 1.32901875e-02 2.00866016e+02] [-5.78341371e-01 8.15738011e-01 9.63103054e-03 -1.29876359e+02] [-1.64121065e-02 1.69089870e-04 -9.99865298e-01 -4.02721979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters 0.013678367318992529 Centerline is valid? [True, True] Translation: X:200.79, Y:-129.90, Z:-4.03 [[-7.69202854e-01 -6.38882145e-01 1.25129669e-02 2.00786152e+02] [-6.38794646e-01 7.69304612e-01 1.05742452e-02 -1.29899156e+02] [-1.63819796e-02 1.40523315e-04 -9.99865797e-01 -4.02697781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters 0.013650380502170949 Centerline is valid? [True, True] Translation: X:200.70, Y:-129.93, Z:-4.02 [[-7.15367374e-01 -6.98648819e-01 1.18045609e-02 2.00699181e+02] [-6.98552619e-01 7.15464762e-01 1.15936683e-02 -1.29929780e+02] [-1.65456500e-02 4.76250800e-05 -9.99863110e-01 -4.02440124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters 0.013045903483869798 Centerline is valid? [True, True] Translation: X:200.61, Y:-129.97, Z:-4.03 [[-6.54260124e-01 -7.56186490e-01 1.12108664e-02 2.00607468e+02] [-7.56078254e-01 6.54356158e-01 1.27942037e-02 -1.29968534e+02] [-1.70107035e-02 -1.05554967e-04 -9.99855302e-01 -4.02690952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters 0.01437768246188835 Centerline is valid? [True, True] Translation: X:200.52, Y:-130.02, Z:-4.02 [[-5.90529766e-01 -8.06951810e-01 1.01671888e-02 2.00521879e+02] [-8.06838421e-01 5.90617246e-01 1.35289324e-02 -1.30016032e+02] [-1.69221135e-02 -2.14041251e-04 -9.99856788e-01 -4.02467176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters 0.015286124698761082 Centerline is valid? [True, True] Translation: X:200.44, Y:-130.07, Z:-4.03 [[-5.22480353e-01 -8.52598660e-01 9.47657811e-03 2.00438730e+02] [-8.52470157e-01 5.22566175e-01 1.48062105e-02 -1.30074590e+02] [-1.75758944e-02 -3.42545953e-04 -9.99845473e-01 -4.02599881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters 0.017815738728329325 Centerline is valid? [True, True] Translation: X:200.36, Y:-130.14, Z:-4.02 [[-4.54295746e-01 -8.90810724e-01 8.46345789e-03 2.00359757e+02] [-8.90672265e-01 4.54374399e-01 1.57105852e-02 -1.30138725e+02] [-1.78407363e-02 -4.00915200e-04 -9.99840761e-01 -4.02309016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters 0.01643760290106511 Centerline is valid? [True, True] Translation: X:200.29, Y:-130.21, Z:-4.03 [[-3.85151806e-01 -9.22823736e-01 7.37827219e-03 2.00292971e+02] [-9.22674774e-01 3.85222243e-01 1.65856688e-02 -1.30213536e+02] [-1.81479234e-02 -4.19745319e-04 -9.99835225e-01 -4.02503867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters 0.01596748258521918 Centerline is valid? [True, True] Translation: X:200.23, Y:-130.29, Z:-4.03 [[-3.14075288e-01 -9.49376620e-01 6.38328108e-03 2.00230699e+02] [-9.49208355e-01 3.14139835e-01 1.78790954e-02 -1.30294746e+02] [-1.89792380e-02 -4.43681711e-04 -9.99819780e-01 -4.02562017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters 0.016015279115819698 Centerline is valid? [True, True] Translation: X:200.17, Y:-130.38, Z:-4.03 [[-2.41567206e-01 -9.70369933e-01 5.24188950e-03 2.00174719e+02] [-9.70181008e-01 2.41623637e-01 1.91528075e-02 -1.30383766e+02] [-1.98518729e-02 -4.58891444e-04 -9.99802827e-01 -4.02582065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters 0.01586507334163428 Centerline is valid? [True, True] Translation: X:200.13, Y:-130.48, Z:-4.03 [[-1.68330270e-01 -9.85723838e-01 3.66555767e-03 2.00126172e+02] [-9.85542103e-01 1.68369638e-01 1.89322036e-02 -1.30480275e+02] [-1.92790930e-02 -4.25698462e-04 -9.99814050e-01 -4.02687084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters 0.015806949511086448 Centerline is valid? [True, True] Translation: X:200.09, Y:-130.58, Z:-4.03 [[-9.36263726e-02 -9.95605209e-01 2.09033643e-03 2.00086168e+02] [-9.95441506e-01 9.36488920e-02 1.80580505e-02 -1.30577583e+02] [-1.81744468e-02 -3.90097883e-04 -9.99834755e-01 -4.02921211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters 0.015581670087983774 Centerline is valid? [True, True] Translation: X:200.05, Y:-130.68, Z:-4.03 [[-1.87681039e-02 -9.99823607e-01 7.16354699e-04 2.00053084e+02] [-9.99660315e-01 1.87779878e-02 1.80732615e-02 -1.30675516e+02] [-1.80835252e-02 -3.76910515e-04 -9.99836409e-01 -4.02957272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters 0.015684507014047788 Centerline is valid? [True, True] Translation: X:200.03, Y:-130.78, Z:-4.03 [[ 5.58714133e-02 -9.98437742e-01 -6.79208070e-04 2.00028827e+02] [-9.98265135e-01 -5.58743857e-02 1.85680486e-02 -1.30783680e+02] [-1.85769908e-02 -3.59393380e-04 -9.99827368e-01 -4.02866199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters 0.015674112988207554 Centerline is valid? [True, True] Translation: X:200.01, Y:-130.89, Z:-4.03 [[ 1.30295442e-01 -9.91472834e-01 -2.17198565e-03 2.00012993e+02] [-9.91287611e-01 -1.30313089e-01 1.91669143e-02 -1.30891658e+02] [-1.92865130e-02 -3.44299113e-04 -9.99813939e-01 -4.02842705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters 0.015421694850403936 Centerline is valid? [True, True] Translation: X:200.01, Y:-131.00, Z:-4.03 [[ 2.03967609e-01 -9.78970295e-01 -3.79150795e-03 2.00006069e+02] [-9.78769824e-01 -2.04002578e-01 1.98136475e-02 -1.31003555e+02] [-2.01704497e-02 -3.30328728e-04 -9.99796501e-01 -4.02854927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters 0.014930710081295607 Centerline is valid? [True, True] Translation: X:200.01, Y:-131.12, Z:-4.03 [[ 2.76398549e-01 -9.61028032e-01 -5.38187429e-03 2.00009300e+02] [-9.60823948e-01 -2.76450773e-01 1.98068325e-02 -1.31119973e+02] [-2.05227445e-02 -3.03546045e-04 -9.99789340e-01 -4.02893184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters 0.01517293803144942 Centerline is valid? [True, True] Translation: X:200.02, Y:-131.22, Z:-4.03 [[ 3.49174292e-01 -9.37032263e-01 -6.91759017e-03 2.00017014e+02] [-9.36830229e-01 -3.49242667e-01 1.94597438e-02 -1.31223069e+02] [-2.06503254e-02 -3.14234687e-04 -9.99786710e-01 -4.02975160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters 0.014982872134669497 Centerline is valid? [True, True] Translation: X:200.03, Y:-131.33, Z:-4.03 [[ 4.21185563e-01 -9.06936421e-01 -8.30962320e-03 2.00034125e+02] [-9.06743154e-01 -4.21267378e-01 1.87256114e-02 -1.31333716e+02] [-2.04835122e-02 -3.52263214e-04 -9.99790129e-01 -4.03149862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters 0.016205822953580615 Centerline is valid? [True, True] Translation: X:200.06, Y:-131.44, Z:-4.03 [[ 4.92385583e-01 -8.70314005e-01 -1.04867183e-02 2.00060156e+02] [-8.70096091e-01 -4.92497021e-01 1.94801604e-02 -1.31444324e+02] [-2.21185339e-02 -4.67297555e-04 -9.99755246e-01 -4.03066368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters 0.015692658552195603 Centerline is valid? [True, True] Translation: X:200.10, Y:-131.55, Z:-4.03 [[ 5.57167712e-01 -8.30315645e-01 -1.18351480e-02 2.00096408e+02] [-8.30110434e-01 -5.57293204e-01 1.84648685e-02 -1.31548406e+02] [-2.19273167e-02 -4.63548728e-04 -9.99759460e-01 -4.03204271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters 0.015471950718572044 Centerline is valid? [True, True] Translation: X:200.14, Y:-131.64, Z:-4.03 [[ 6.16719784e-01 -7.87084480e-01 -1.24390239e-02 2.00135075e+02] [-7.86911628e-01 -6.16845096e-01 1.64990423e-02 -1.31641946e+02] [-2.06590910e-02 -3.86873308e-04 -9.99786503e-01 -4.03315082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters 0.014593750350159083 Centerline is valid? [True, True] Translation: X:200.18, Y:-131.73, Z:-4.04 [[ 6.72199168e-01 -7.40259825e-01 -1.27933521e-02 2.00184882e+02] [-7.40117337e-01 -6.72320833e-01 1.45266533e-02 -1.31732619e+02] [-1.93547350e-02 -2.96222608e-04 -9.99812636e-01 -4.03553822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters 0.01446997760878753 Centerline is valid? [True, True] Translation: X:200.24, Y:-131.82, Z:-4.04 [[ 7.24756708e-01 -6.88888716e-01 -1.26511070e-02 2.00242186e+02] [-6.88778248e-01 -7.24867080e-01 1.23386046e-02 -1.31824729e+02] [-1.76702965e-02 -2.28679107e-04 -9.99843842e-01 -4.03566796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters 0.01482268829578262 Centerline is valid? [True, True] Translation: X:200.27, Y:-131.85, Z:-4.03 [[ 7.74929397e-01 -6.31897709e-01 -1.37737124e-02 2.00267394e+02] [-6.31793534e-01 -7.75051772e-01 1.14752347e-02 -1.31849328e+02] [-1.79265147e-02 -1.90354281e-04 -9.99839289e-01 -4.03340831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters 0.01417347698178986 Centerline is valid? [True, True] Translation: X:200.30, Y:-131.87, Z:-4.04 [[ 8.19978261e-01 -5.72181373e-01 -1.56246132e-02 2.00297492e+02] [-5.72074324e-01 -8.20127099e-01 1.10684087e-02 -1.31868193e+02] [-1.91473060e-02 -1.37414521e-04 -9.99816664e-01 -4.03543752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters 0.014316042141260737 Centerline is valid? [True, True] Translation: X:200.33, Y:-131.89, Z:-4.03 [[ 8.62263813e-01 -5.06178485e-01 -1.68658879e-02 2.00325825e+02] [-5.06078412e-01 -8.62428733e-01 1.00658399e-02 -1.31889985e+02] [-1.96407379e-02 -1.43947734e-04 -9.99807092e-01 -4.03463679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters 0.014138388802599239 Centerline is valid? [True, True] Translation: X:200.35, Y:-131.91, Z:-4.04 [[ 8.99904990e-01 -4.35725585e-01 -1.77263581e-02 2.00352642e+02] [-4.35637183e-01 -9.00079543e-01 8.77849059e-03 -1.31913857e+02] [-1.97801452e-02 -1.77546787e-04 -9.99804338e-01 -4.03653585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters 0.014322097690650336 Centerline is valid? [True, True] Translation: X:200.38, Y:-131.93, Z:-4.04 [[ 9.31985255e-01 -3.62052329e-01 -1.79330820e-02 2.00381701e+02] [-3.61980874e-01 -9.32157747e-01 7.19596778e-03 -1.31934456e+02] [-1.93217782e-02 -2.15103159e-04 -9.99813294e-01 -4.03827198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters 0.014949926189825831 Centerline is valid? [True, True] Translation: X:200.41, Y:-131.95, Z:-4.04 [[ 9.58079388e-01 -2.85836497e-01 -1.95290358e-02 2.00411023e+02] [-2.85771257e-01 -9.58278363e-01 6.11292296e-03 -1.31952295e+02] [-2.04615489e-02 -2.75828396e-04 -9.99790603e-01 -4.03759929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters 0.01515010970545997 Centerline is valid? [True, True] Translation: X:200.44, Y:-131.97, Z:-4.04 [[ 9.77815541e-01 -2.08427450e-01 -2.08510297e-02 2.00442539e+02] [-2.08373028e-01 -9.78037777e-01 4.77364233e-03 -1.31966634e+02] [-2.13880529e-02 -3.22949454e-04 -9.99771197e-01 -4.03773570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters 0.015236936252160646 Centerline is valid? [True, True] Translation: X:200.48, Y:-131.98, Z:-4.04 [[ 9.91259790e-01 -1.30121910e-01 -2.17328801e-02 2.00475243e+02] [-1.30082719e-01 -9.91497938e-01 3.21344837e-03 -1.31978226e+02] [-2.19662459e-02 -3.58290028e-04 -9.99758649e-01 -4.03890427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters 0.0155332212494156 Centerline is valid? [True, True] Translation: X:200.51, Y:-131.99, Z:-4.04 [[ 9.98427061e-01 -5.13355454e-02 -2.25403306e-02 2.00505521e+02] [-5.13137518e-02 -9.98681387e-01 1.54457956e-03 -1.31987426e+02] [-2.25899004e-02 -3.85521100e-04 -9.99744741e-01 -4.03861121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters 0.015425203662703144 Centerline is valid? [True, True] Translation: X:200.54, Y:-131.99, Z:-4.04 [[ 9.99366443e-01 2.74081457e-02 -2.27047593e-02 2.00536376e+02] [ 2.74100956e-02 -9.99624247e-01 -2.25381961e-04 -1.31993742e+02] [-2.27024052e-02 -3.97100454e-04 -9.99742188e-01 -4.03936505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters 0.01570521964347129 Centerline is valid? [True, True] Translation: X:200.57, Y:-132.00, Z:-4.04 [[ 9.94442419e-01 1.03145844e-01 -2.10999874e-02 2.00565754e+02] [ 1.03129440e-01 -9.94666192e-01 -1.86698430e-03 -1.31995677e+02] [-2.11800158e-02 -3.19421516e-04 -9.99775627e-01 -4.03912998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters 0.014162265471687805 Centerline is valid? [True, True] Translation: X:200.60, Y:-131.99, Z:-4.04 [[ 9.83766921e-01 1.78107511e-01 -2.19170962e-02 2.00596585e+02] [ 1.78069563e-01 -9.84010995e-01 -3.68677871e-03 -1.31994515e+02] [-2.22233066e-02 -2.75836791e-04 -9.99752994e-01 -4.04184010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters 0.013870360121016556 Centerline is valid? [True, True] Translation: X:200.63, Y:-131.99, Z:-4.04 [[ 9.67710344e-01 2.51016575e-01 -2.29645059e-02 2.00626543e+02] [ 2.50950991e-01 -9.67982767e-01 -5.74140647e-03 -1.31990919e+02] [-2.36704341e-02 -2.06947071e-04 -9.99719795e-01 -4.04065681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters 0.014535386764581555 Centerline is valid? [True, True] Translation: X:200.66, Y:-131.98, Z:-4.04 [[ 9.46241749e-01 3.22573886e-01 -2.39299131e-02 2.00655178e+02] [ 3.22474222e-01 -9.46544279e-01 -8.01902582e-03 -1.31984594e+02] [-2.52374507e-02 -1.28843081e-04 -9.99681477e-01 -4.03754517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters 0.013355739833345176 Centerline is valid? [True, True] Translation: X:200.68, Y:-131.98, Z:-4.04 [[ 9.19295788e-01 3.92827435e-01 -2.41217903e-02 2.00684693e+02] [ 3.92693763e-01 -9.19612203e-01 -1.02472102e-02 -1.31979185e+02] [-2.62080780e-02 -5.22594352e-05 -9.99656508e-01 -4.04226766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters 0.013327896911420105 Centerline is valid? [True, True] Translation: X:200.71, Y:-131.97, Z:-4.04 [[ 8.87042872e-01 4.61174913e-01 -2.17403523e-02 2.00714005e+02] [ 4.61035974e-01 -8.87309247e-01 -1.13194999e-02 -1.31970908e+02] [-2.45106850e-02 1.77971945e-05 -9.99699568e-01 -4.04425131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters 0.013203750449456349 Centerline is valid? [True, True] Translation: X:200.74, Y:-131.96, Z:-4.04 [[ 8.48520537e-01 5.28822480e-01 -1.89652942e-02 2.00742847e+02] [ 5.28689757e-01 -8.48732457e-01 -1.18472260e-02 -1.31962725e+02] [-2.23615402e-02 2.58577925e-05 -9.99749949e-01 -4.04472262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters 0.0131992462447017 Centerline is valid? [True, True] Translation: X:200.77, Y:-131.95, Z:-4.04 [[ 8.04243715e-01 5.94026945e-01 -1.80009804e-02 2.00770342e+02] [ 5.93877799e-01 -8.04445143e-01 -1.33105817e-02 -1.31951004e+02] [-2.23876454e-02 1.45690304e-05 -9.99749365e-01 -4.04452069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters 0.013106261133461167 Centerline is valid? [True, True] Translation: X:200.80, Y:-131.94, Z:-4.04 [[ 7.53098151e-01 6.57666273e-01 -1.78395303e-02 2.00799635e+02] [ 6.57483787e-01 -7.53309412e-01 -1.54919522e-02 -1.31939754e+02] [-2.36272206e-02 -6.22413847e-05 -9.99720836e-01 -4.04456758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters 0.013045302871898123 Centerline is valid? [True, True] Translation: X:200.83, Y:-131.93, Z:-4.05 [[ 6.96156319e-01 7.17725729e-01 -1.53674406e-02 2.00829368e+02] [ 7.17555810e-01 -6.96325897e-01 -1.56174596e-02 -1.31927189e+02] [-2.19097994e-02 -1.54803120e-04 -9.99759940e-01 -4.04525545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters 0.012836563664852418 Centerline is valid? [True, True] Translation: X:200.86, Y:-131.91, Z:-4.05 [[ 6.36011209e-01 7.71563135e-01 -1.34190145e-02 2.00856762e+02] [ 7.71397957e-01 -6.36152725e-01 -1.59656628e-02 -1.31911879e+02] [-2.08550595e-02 -1.97059830e-04 -9.99782490e-01 -4.04730341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters 0.012789087197795567 Centerline is valid? [True, True] Translation: X:200.88, Y:-131.89, Z:-4.05 [[ 5.72427629e-01 8.19870249e-01 -1.18061211e-02 2.00883962e+02] [ 8.19703891e-01 -5.72549321e-01 -1.65168477e-02 -1.31894269e+02] [-2.03012586e-02 -2.22823402e-04 -9.99793883e-01 -4.04806809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters 0.012601093222604762 Centerline is valid? [True, True] Translation: X:200.91, Y:-131.87, Z:-4.05 [[ 5.06970844e-01 8.61897268e-01 -1.06612370e-02 2.00909795e+02] [ 8.61715601e-01 -5.07082885e-01 -1.76966545e-02 -1.31874764e+02] [-2.06588290e-02 -2.15266439e-04 -9.99786560e-01 -4.04803272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters 0.01281954239749981 Centerline is valid? [True, True] Translation: X:200.93, Y:-131.85, Z:-4.05 [[ 4.38246354e-01 8.98807287e-01 -9.25171658e-03 2.00931427e+02] [ 8.98616980e-01 -4.38343949e-01 -1.84961147e-02 -1.31852768e+02] [-2.06798766e-02 -2.07894799e-04 -9.99786127e-01 -4.04697188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters 0.012345911104482764 Centerline is valid? [True, True] Translation: X:200.95, Y:-131.83, Z:-4.05 [[ 3.67761483e-01 9.29888943e-01 -7.61879718e-03 2.00950838e+02] [ 9.29699310e-01 -3.67840350e-01 -1.87794871e-02 -1.31828902e+02] [-2.02653385e-02 -1.76818444e-04 -9.99794621e-01 -4.04778409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters 0.012217932560537562 Centerline is valid? [True, True] Translation: X:200.97, Y:-131.80, Z:-4.05 [[ 2.96660751e-01 9.54961804e-01 -6.35235139e-03 2.00966691e+02] [ 9.54751645e-01 -2.96728730e-01 -2.00339120e-02 -1.31803224e+02] [-2.10165459e-02 -1.21642555e-04 -9.99779121e-01 -4.04736910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters 0.012009836334828406 Centerline is valid? [True, True] Translation: X:200.98, Y:-131.78, Z:-4.05 [[ 2.23129270e-01 9.74778258e-01 -4.54719745e-03 2.00982645e+02] [ 9.74582412e-01 -2.23175587e-01 -1.95391915e-02 -1.31776471e+02] [-2.00612025e-02 -7.18531232e-05 -9.99798751e-01 -4.04804527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters 0.011882961235869167 Centerline is valid? [True, True] Translation: X:201.00, Y:-131.75, Z:-4.05 [[ 1.46608086e-01 9.89190360e-01 -2.91556353e-03 2.00997251e+02] [ 9.89002887e-01 -1.46637061e-01 -1.92577644e-02 -1.31749417e+02] [-1.94771245e-02 -6.01567791e-05 -9.99810301e-01 -4.04821360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters 0.011984286596428423 Centerline is valid? [True, True] Translation: X:201.01, Y:-131.72, Z:-4.05 [[ 6.73342980e-02 9.97729490e-01 -1.39892215e-03 2.01008670e+02] [ 9.97540266e-01 -6.73487720e-02 -1.94309455e-02 -1.31720900e+02] [-1.94810430e-02 -8.71120923e-05 -9.99810223e-01 -4.04899059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters 0.012182933921673834 Centerline is valid? [True, True] Translation: X:201.02, Y:-131.69, Z:-4.05 [[-1.33280421e-02 9.99911170e-01 1.27854596e-04 2.01020069e+02] [ 9.99718475e-01 1.33279836e-02 -1.96299588e-02 -1.31691925e+02] [-1.96299191e-02 -1.33810314e-04 -9.99807306e-01 -4.04902184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters 0.012724412422549703 Centerline is valid? [True, True] Translation: X:201.03, Y:-131.66, Z:-4.05 [[-9.61783767e-02 9.95362748e-01 1.64923330e-03 2.01030227e+02] [ 9.95174133e-01 9.61922587e-02 -1.93776846e-02 -1.31662042e+02] [-1.94464688e-02 -2.22439923e-04 -9.99810875e-01 -4.04968561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters 0.01398649473954592 Centerline is valid? [True, True] Translation: X:201.04, Y:-131.63, Z:-4.05 [[-1.77639029e-01 9.84090876e-01 3.08605916e-03 2.01036207e+02] [ 9.83912782e-01 1.77665598e-01 -1.87235818e-02 -1.31632463e+02] [-1.89739926e-02 -2.89625846e-04 -9.99819936e-01 -4.05031784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters 0.014805372879268705 Centerline is valid? [True, True] Translation: X:201.04, Y:-131.60, Z:-4.05 [[-2.57876472e-01 9.66167165e-01 4.55340664e-03 2.01037588e+02] [ 9.65990739e-01 2.57916413e-01 -1.84666045e-02 -1.31601143e+02] [-1.90162252e-02 -3.63554175e-04 -9.99819109e-01 -4.05070079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters 0.014439314244832649 Centerline is valid? [True, True] Translation: X:201.04, Y:-131.57, Z:-4.05 [[-3.35128019e-01 9.42152999e-01 6.07761532e-03 2.01038189e+02] [ 9.41974740e-01 3.35182863e-01 -1.83313325e-02 -1.31568826e+02] [-1.93080324e-02 -4.18383052e-04 -9.99813495e-01 -4.05194135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters 0.015103466477903432 Centerline is valid? [True, True] Translation: X:201.04, Y:-131.54, Z:-4.05 [[-4.10785240e-01 9.11697232e-01 7.97770269e-03 2.01035920e+02] [ 9.11500455e-01 4.10862380e-01 -1.89479673e-02 -1.31536489e+02] [-2.05525473e-02 -5.11865666e-04 -9.99788643e-01 -4.05215397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters 0.01658812060827438 Centerline is valid? [True, True] Translation: X:201.03, Y:-131.51, Z:-4.05 [[-4.81680510e-01 8.76291478e-01 9.85552906e-03 2.01031247e+02] [ 8.76084017e-01 4.81781007e-01 -1.90750174e-02 -1.31505622e+02] [-2.14634819e-02 -5.53792649e-04 -9.99769480e-01 -4.05105527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters 0.01801946137741321 Centerline is valid? [True, True] Translation: X:201.02, Y:-131.48, Z:-4.05 [[-5.50642156e-01 8.34671636e-01 1.07924440e-02 2.01021664e+02] [ 8.34490589e-01 5.50747614e-01 -1.73931993e-02 -1.31477719e+02] [-2.04615229e-02 -5.71235784e-04 -9.99790478e-01 -4.05133250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters 0.016955168856178437 Centerline is valid? [True, True] Translation: X:201.01, Y:-131.45, Z:-4.05 [[-6.15971400e-01 7.87675420e-01 1.21105748e-02 2.01008716e+02] [ 7.87503267e-01 6.16090136e-01 -1.64787500e-02 -1.31449297e+02] [-2.04411120e-02 -6.13321481e-04 -9.99790871e-01 -4.05282946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters 0.017389515486209706 Centerline is valid? [True, True] Translation: X:200.99, Y:-131.42, Z:-4.05 [[-6.76503912e-01 7.36308424e-01 1.38694707e-02 2.00993291e+02] [ 7.36133434e-01 6.76645750e-01 -1.60653677e-02 -1.31421966e+02] [-2.12137840e-02 -6.58503026e-04 -9.99774746e-01 -4.05356329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters 0.01717978156012712 Centerline is valid? [True, True] Translation: X:200.98, Y:-131.40, Z:-4.05 [[-7.32208136e-01 6.80937345e-01 1.39849335e-02 2.00976002e+02] [ 6.80796934e-01 7.32341420e-01 -1.38412142e-02 -1.31395979e+02] [-1.96667456e-02 -6.13749788e-04 -9.99806403e-01 -4.05476625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters 0.016813288205546183 Centerline is valid? [True, True] Translation: X:200.99, Y:-131.38, Z:-4.06 [[-7.77716809e-01 6.28475892e-01 1.32142987e-02 2.00994111e+02] [ 6.28373696e-01 7.77828890e-01 -1.13452772e-02 -1.31382219e+02] [-1.74086965e-02 -5.19895067e-04 -9.99848322e-01 -4.05671972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters 0.01594673139086464 Centerline is valid? [True, True] Translation: X:201.01, Y:-131.37, Z:-4.06 [[-8.18779863e-01 5.73966261e-01 1.27384120e-02 2.01010941e+02] [ 5.73888494e-01 8.18878833e-01 -9.45794487e-03 -1.31367522e+02] [-1.58597572e-02 -4.33546752e-04 -9.99874132e-01 -4.05814042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters 0.015890809880330443 Centerline is valid? [True, True] Translation: X:201.03, Y:-131.35, Z:-4.06 [[-8.54281238e-01 5.19659087e-01 1.25697802e-02 2.01025801e+02] [ 5.19597313e-01 8.54373648e-01 -8.01880220e-03 -1.31349578e+02] [-1.49063324e-02 -3.19088266e-04 -9.99888844e-01 -4.05566359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters 0.013068261804249387 Centerline is valid? [True, True] Translation: X:201.04, Y:-131.34, Z:-4.06 [[-8.85356794e-01 4.64722806e-01 1.32688193e-02 2.01040044e+02] [ 4.64667100e-01 8.85456194e-01 -7.19830091e-03 -1.31340238e+02] [-1.50941728e-02 -2.07480832e-04 -9.99886055e-01 -4.05739764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters 0.012200470902596601 Centerline is valid? [True, True] Translation: X:201.05, Y:-131.32, Z:-4.06 [[-9.13659342e-01 4.06269661e-01 1.30984622e-02 2.01051811e+02] [ 4.06226138e-01 9.13753222e-01 -5.94768727e-03 -1.31323594e+02] [-1.43851269e-02 -1.13222324e-04 -9.99896522e-01 -4.05853763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters 0.011991532308660915 Centerline is valid? [True, True] Translation: X:201.06, Y:-131.30, Z:-4.06 [[-9.37862544e-01 3.46732673e-01 1.37949976e-02 2.01059384e+02] [ 3.46694876e-01 9.37963994e-01 -5.11951177e-03 -1.31304464e+02] [-1.47143130e-02 -1.87433477e-05 -9.99891738e-01 -4.05756267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters 0.012213425063278913 Centerline is valid? [True, True] Translation: X:201.32, Y:-130.63, Z:-4.98 [[-9.13111042e-01 -4.07507849e-01 1.28676704e-02 2.01323145e+02] [ 4.07467125e-01 -9.13201704e-01 -5.76106435e-03 -1.30629323e+02] [ 1.40984575e-02 -1.73387929e-05 9.99900612e-01 -4.98341005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters 0.012353018611988226 Centerline is valid? [True, True] Translation: X:201.03, Y:-131.30, Z:-4.06 [[-9.36499938e-01 3.50433421e-01 1.28172992e-02 2.01025742e+02] [ 3.50401881e-01 9.36587641e-01 -4.70230362e-03 -1.31302277e+02] [-1.36523683e-02 8.74986861e-05 -9.99906798e-01 -4.05791828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters 0.012578496943850524 Centerline is valid? [True, True] Translation: X:201.03, Y:-131.28, Z:-4.06 [[-9.58735047e-01 2.83997723e-01 1.31302142e-02 2.01027544e+02] [ 2.83972495e-01 9.58824949e-01 -3.78661042e-03 -1.31277108e+02] [-1.36649657e-02 9.82635584e-05 -9.99906625e-01 -4.05913333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters 0.012708587567054645 Centerline is valid? [True, True] Translation: X:201.04, Y:-131.25, Z:-4.06 [[-9.76538982e-01 2.14943515e-01 1.30729810e-02 2.01041634e+02] [ 2.14925499e-01 9.76626478e-01 -2.78431305e-03 -1.31252649e+02] [-1.33658895e-02 9.07267476e-05 -9.99910668e-01 -4.05844124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters 0.012346979985989695 Centerline is valid? [True, True] Translation: X:201.20, Y:-130.53, Z:-4.98 [[-9.63085818e-01 -2.68881591e-01 1.29767976e-02 2.01199615e+02] [ 2.68856022e-01 -9.63173236e-01 -3.70900719e-03 -1.30527796e+02] [ 1.34961879e-02 -8.32020532e-05 9.99908919e-01 -4.98154278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters 0.01212594529912892 Centerline is valid? [True, True] Translation: X:200.99, Y:-131.24, Z:-4.06 [[-9.78612545e-01 2.05334907e-01 1.24524325e-02 2.00993312e+02] [ 2.05318423e-01 9.78691768e-01 -2.60180245e-03 -1.31240325e+02] [-1.27213340e-02 1.05572782e-05 -9.99919081e-01 -4.05946476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters 0.012075644862032343 Centerline is valid? [True, True] Translation: X:201.14, Y:-130.52, Z:-4.98 [[-9.61551722e-01 -2.74382910e-01 1.15023593e-02 2.01143629e+02] [ 2.74362528e-01 -9.61620515e-01 -3.34487644e-03 -1.30522485e+02] [ 1.19786816e-02 -6.04553204e-05 9.99928251e-01 -4.98030174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters 0.012340689370460501 Centerline is valid? [True, True] Translation: X:200.94, Y:-131.22, Z:-4.06 [[-9.81395006e-01 1.91646489e-01 1.16389380e-02 2.00943296e+02] [ 1.91631681e-01 9.81464014e-01 -2.38491796e-03 -1.31223219e+02] [-1.18802600e-02 -1.10157321e-04 -9.99929421e-01 -4.05945473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters 0.014515572893247867 Centerline is valid? [True, True] Translation: X:200.94, Y:-131.19, Z:-4.06 [[-9.93535137e-01 1.12869741e-01 1.21800281e-02 2.00940789e+02] [ 1.12858522e-01 9.93609769e-01 -1.60668154e-03 -1.31188939e+02] [-1.22835407e-02 -2.21674584e-04 -9.99924530e-01 -4.05733450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters 0.015015936787704442 Centerline is valid? [True, True] Translation: X:200.94, Y:-131.16, Z:-4.06 [[-9.99158675e-01 3.91444582e-02 1.22332691e-02 2.00941337e+02] [ 3.91383743e-02 9.99233529e-01 -7.36427307e-04 -1.31160286e+02] [-1.22527197e-02 -2.57017469e-04 -9.99924900e-01 -4.05714270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters 0.017038282878369223 Centerline is valid? [True, True] Translation: X:200.97, Y:-130.46, Z:-4.98 [[-9.87667588e-01 -1.56146506e-01 1.14456808e-02 2.00972778e+02] [ 1.56138276e-01 -9.87733887e-01 -1.61462781e-03 -1.30459114e+02] [ 1.15574053e-02 1.92393319e-04 9.99933192e-01 -4.98364565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters 0.018851303734973342 Centerline is valid? [True, True] Translation: X:200.88, Y:-131.15, Z:-4.06 [[-9.99695016e-01 2.20098910e-02 1.11999714e-02 2.00881588e+02] [ 2.20042391e-02 9.99757680e-01 -6.27625636e-04 -1.31148489e+02] [-1.12110714e-02 -3.80987372e-04 -9.99937081e-01 -4.05587379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters 0.019342478821174017 Centerline is valid? [True, True] Translation: X:200.87, Y:-131.12, Z:-4.05 [[-9.98702021e-01 -4.97907865e-02 1.07308397e-02 2.00865607e+02] [-4.97919195e-02 9.98759600e-01 1.61721271e-04 -1.31121165e+02] [-1.07255814e-02 -3.72797746e-04 -9.99942410e-01 -4.05489661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters 0.019400855299901043 Centerline is valid? [True, True] Translation: X:200.85, Y:-130.43, Z:-4.99 [[-9.96222723e-01 -8.62064521e-02 1.04275170e-02 2.00849474e+02] [ 8.62053422e-02 -9.96277235e-01 -5.56696321e-04 -1.30430125e+02] [ 1.04366886e-02 3.44314146e-04 9.99945477e-01 -4.98563747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters 0.018190710592220178 Centerline is valid? [True, True] Translation: X:200.81, Y:-131.13, Z:-4.06 [[-9.98601053e-01 -5.20647841e-02 9.23016997e-03 2.00810374e+02] [-5.20652925e-02 9.98643666e-01 1.85368931e-04 -1.31127559e+02] [-9.22730196e-03 -2.95461889e-04 -9.99957384e-01 -4.05563241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters 0.018730689227949553 Centerline is valid? [True, True] Translation: X:200.79, Y:-130.43, Z:-4.98 [[-9.97134161e-01 -7.52768947e-02 7.54018274e-03 2.00792020e+02] [ 7.52758039e-02 -9.97162660e-01 -4.28757411e-04 -1.30426913e+02] [ 7.55106420e-03 1.40064656e-04 9.99971481e-01 -4.98472476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters 0.01476189691820054 Centerline is valid? [True, True] Translation: X:200.75, Y:-131.14, Z:-4.06 [[-9.98791861e-01 -4.87569527e-02 6.13015632e-03 2.00747184e+02] [-4.87569278e-02 9.98810662e-01 1.53594817e-04 -1.31141357e+02] [-6.13035431e-03 -1.45478336e-04 -9.99981199e-01 -4.05805335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters 0.014793786640912538 Centerline is valid? [True, True] Translation: X:200.73, Y:-130.42, Z:-4.98 [[-9.97868894e-01 -6.50057764e-02 5.64964719e-03 2.00731080e+02] [ 6.50053236e-02 -9.97884882e-01 -2.63946001e-04 -1.30417004e+02] [ 5.65485553e-03 1.03873640e-04 9.99984006e-01 -4.98278449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters 0.014887947750106538 Centerline is valid? [True, True] Translation: X:200.67, Y:-131.15, Z:-4.06 [[-9.98708400e-01 -5.05218452e-02 5.39212756e-03 2.00672719e+02] [-5.05217167e-02 9.98722950e-01 1.60133409e-04 -1.31145693e+02] [-5.39333178e-03 -1.12492960e-04 -9.99985450e-01 -4.05621257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters 0.014538179336657922 Centerline is valid? [True, True] Translation: X:200.66, Y:-130.42, Z:-4.98 [[-9.98240079e-01 -5.90435039e-02 5.53253600e-03 2.00659503e+02] [ 5.90432890e-02 -9.98255403e-01 -2.02306662e-04 -1.30416926e+02] [ 5.53482885e-03 1.24708504e-04 9.99984675e-01 -4.98443027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters 0.0140583862220269 Centerline is valid? [True, True] Translation: X:200.61, Y:-131.15, Z:-4.06 [[-9.98513585e-01 -5.42733542e-02 5.00236439e-03 2.00613136e+02] [-5.42731755e-02 9.98526110e-01 1.71570572e-04 -1.31149419e+02] [-5.00430317e-03 -1.00178653e-04 -9.99987473e-01 -4.05664279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters 0.014818284817953843 Centerline is valid? [True, True] Translation: X:200.61, Y:-131.12, Z:-4.06 [[-9.92264041e-01 -1.24101835e-01 3.28756101e-03 2.00608493e+02] [-1.24101362e-01 9.92269485e-01 3.48289725e-04 -1.31120042e+02] [-3.30536986e-03 -6.23954290e-05 -9.99994535e-01 -4.05708897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters 0.01420535221086463 Centerline is valid? [True, True] Translation: X:200.58, Y:-131.10, Z:-4.06 [[-9.81012983e-01 -1.93927670e-01 2.36337655e-03 2.00584336e+02] [-1.93927215e-01 9.81015829e-01 4.22371703e-04 -1.31097474e+02] [-2.40041936e-03 -4.39709067e-05 -9.99997118e-01 -4.05828775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters 0.013882983859770211 Centerline is valid? [True, True] Translation: X:200.58, Y:-131.07, Z:-4.06 [[-9.64912499e-01 -2.62553881e-01 3.05434622e-03 2.00581627e+02] [-2.62552746e-01 9.64917331e-01 7.74105663e-04 -1.31069194e+02] [-3.15043605e-03 -5.49827560e-05 -9.99995036e-01 -4.05771931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters 0.0135518757933647 Centerline is valid? [True, True] Translation: X:200.40, Y:-130.37, Z:-4.98 [[-9.86560697e-01 1.63290029e-01 5.86148614e-03 2.00396712e+02] [-1.63285391e-01 -9.86578067e-01 1.26461944e-03 -1.30371293e+02] [ 5.98931341e-03 2.90528777e-04 9.99982022e-01 -4.98454146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters 0.013171015774162308 Centerline is valid? [True, True] Translation: X:200.47, Y:-131.10, Z:-4.06 [[-9.64098954e-01 -2.65452645e-01 6.93536898e-03 2.00465654e+02] [-2.65446539e-01 9.64123894e-01 1.80344011e-03 -1.31096894e+02] [-7.16528289e-03 -1.02274967e-04 -9.99974324e-01 -4.05534846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters 0.01250280191517979 Centerline is valid? [True, True] Translation: X:200.44, Y:-131.08, Z:-4.05 [[-9.43962914e-01 -3.29983428e-01 6.70473591e-03 2.00441565e+02] [-3.29975631e-01 9.43986722e-01 2.26952479e-03 -1.31075912e+02] [-7.07808724e-03 -7.00522306e-05 -9.99974948e-01 -4.05486108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters 0.012317287948671488 Centerline is valid? [True, True] Translation: X:200.40, Y:-131.07, Z:-4.06 [[-9.19950191e-01 -3.92013704e-01 4.11113907e-03 2.00396907e+02] [-3.92009871e-01 9.19959377e-01 1.73371658e-03 -1.31065409e+02] [-4.46172160e-03 -1.66741968e-05 -9.99990046e-01 -4.05582219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters 0.012408724909675992 Centerline is valid? [True, True] Translation: X:200.34, Y:-131.07, Z:-4.06 [[-8.90872961e-01 -4.54243613e-01 2.84717109e-03 2.00335379e+02] [-4.54241279e-01 8.90877511e-01 1.45640960e-03 -1.31066409e+02] [-3.19804545e-03 4.17329325e-06 -9.99994886e-01 -4.05609655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters 0.012863104998586823 Centerline is valid? [True, True] Translation: X:200.27, Y:-131.07, Z:-4.06 [[-8.57475358e-01 -5.14524129e-01 9.64319329e-04 2.00271356e+02] [-5.14523794e-01 8.57475901e-01 5.87884048e-04 -1.31072207e+02] [-1.12936111e-03 7.93084526e-06 -9.99999362e-01 -4.05570853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters 0.01308719862443192 Centerline is valid? [True, True] Translation: X:200.20, Y:-131.09, Z:-4.05 [[-8.17603076e-01 -5.75781904e-01 6.38739383e-04 2.00196492e+02] [-5.75781722e-01 8.17603326e-01 4.58303832e-04 -1.31087097e+02] [-7.86118498e-04 6.93616110e-06 -9.99999691e-01 -4.05419954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters 0.013398156968001722 Centerline is valid? [True, True] Translation: X:200.11, Y:-131.11, Z:-4.05 [[-7.71618989e-01 -6.36083657e-01 1.31051224e-03 2.00114210e+02] [-6.36082711e-01 7.71620102e-01 1.09701269e-03 -1.31113858e+02] [-1.70900943e-03 1.28816444e-05 -9.99998540e-01 -4.05228893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters 0.013361105846781867 Centerline is valid? [True, True] Translation: X:200.03, Y:-131.15, Z:-4.05 [[-7.20372870e-01 -6.93585662e-01 1.36304711e-03 2.00028901e+02] [-6.93584391e-01 7.20374160e-01 1.32752571e-03 -1.31149969e+02] [-1.90265672e-03 1.09253071e-05 -9.99998190e-01 -4.05109717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters 0.013244675255317778 Centerline is valid? [True, True] Translation: X:199.94, Y:-131.20, Z:-4.05 [[-6.63040907e-01 -7.48582668e-01 8.62563314e-04 1.99939728e+02] [-7.48582030e-01 6.63041468e-01 9.77586484e-04 -1.31195331e+02] [-1.30371954e-03 2.48043272e-06 -9.99999150e-01 -4.05124928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters 0.01326696451282006 Centerline is valid? [True, True] Translation: X:199.85, Y:-131.25, Z:-4.05 [[-6.01485641e-01 -7.98882806e-01 -1.13421866e-03 1.99851969e+02] [-7.98881402e-01 6.01486710e-01 -1.49787471e-03 -1.31250163e+02] [ 1.87884380e-03 5.15605877e-06 -9.99998235e-01 -4.05313255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters 0.01339541777616311 Centerline is valid? [True, True] Translation: X:199.77, Y:-131.32, Z:-4.05 [[-5.37385441e-01 -8.43335136e-01 -1.65399501e-03 1.99769683e+02] [-8.43331225e-01 5.37387986e-01 -2.56863394e-03 -1.31316179e+02] [ 3.05505630e-03 1.45191575e-05 -9.99995333e-01 -4.05445344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters 0.013583878173092532 Centerline is valid? [True, True] Translation: X:199.69, Y:-131.39, Z:-4.05 [[-4.69542693e-01 -8.82908417e-01 -1.54497580e-03 1.99687682e+02] [-8.82903804e-01 4.69545234e-01 -2.85422978e-03 -1.31390539e+02] [ 3.24545952e-03 2.38822767e-05 -9.99994733e-01 -4.05414402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters 0.013751933421134085 Centerline is valid? [True, True] Translation: X:199.61, Y:-131.47, Z:-4.05 [[-3.98321176e-01 -9.17245269e-01 -1.16518778e-03 1.99612927e+02] [-9.17241557e-01 3.98322880e-01 -2.60969608e-03 -1.31467508e+02] [ 2.85785233e-03 2.92614410e-05 -9.99995916e-01 -4.05250918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters 0.013836636949514116 Centerline is valid? [True, True] Translation: X:199.54, Y:-131.56, Z:-4.05 [[-3.25654528e-01 -9.45488314e-01 -9.88212954e-04 1.99543380e+02] [-9.45484281e-01 3.25656025e-01 -2.76196138e-03 -1.31559602e+02] [ 2.93321972e-03 3.48945827e-05 -9.99995698e-01 -4.05206302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters 0.013957480302227127 Centerline is valid? [True, True] Translation: X:199.48, Y:-131.65, Z:-4.05 [[-2.51997307e-01 -9.67727656e-01 -7.35441531e-04 1.99482667e+02] [-9.67723928e-01 2.51998378e-01 -2.68635101e-03 -1.31654890e+02] [ 2.78498624e-03 3.47511475e-05 -9.99996121e-01 -4.05192818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters 0.014153044494080906 Centerline is valid? [True, True] Translation: X:199.43, Y:-131.75, Z:-4.05 [[-1.76689558e-01 -9.84266518e-01 -4.70498333e-04 1.99430481e+02] [-9.84263501e-01 1.76690182e-01 -2.43713443e-03 -1.31754452e+02] [ 2.48192226e-03 3.24781302e-05 -9.99996920e-01 -4.05208373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters 0.014561322854494135 Centerline is valid? [True, True] Translation: X:199.38, Y:-131.86, Z:-4.05 [[-9.93835948e-02 -9.95049163e-01 -2.55205279e-04 1.99382565e+02] [-9.95046677e-01 9.93839171e-02 -2.22444624e-03 -1.31864143e+02] [ 2.23879667e-03 3.28677000e-05 -9.99997493e-01 -4.05083108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters 0.014385803939750166 Centerline is valid? [True, True] Translation: X:199.35, Y:-131.97, Z:-4.05 [[-2.18619327e-02 -9.99760997e-01 -6.33879637e-05 1.99345736e+02] [-9.99759589e-01 2.18620083e-02 -1.67827191e-03 -1.31974560e+02] [ 1.67925659e-03 2.66824568e-05 -9.99998590e-01 -4.05053466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters 0.01429884215699599 Centerline is valid? [True, True] Translation: X:199.32, Y:-132.08, Z:-4.05 [[ 5.46867540e-02 -9.98503557e-01 6.84955706e-05 1.99318473e+02] [-9.98502010e-01 -5.46867898e-02 -1.75835525e-03 -1.32084601e+02] [ 1.75946978e-03 2.77657762e-05 -9.99998452e-01 -4.05092588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters 0.014932822819465159 Centerline is valid? [True, True] Translation: X:199.30, Y:-132.20, Z:-4.05 [[ 1.29957747e-01 -9.91519485e-01 3.08610083e-04 1.99298074e+02] [-9.91515934e-01 -1.29958107e-01 -2.65399091e-03 -1.32201329e+02] [ 2.67159009e-03 3.89148641e-05 -9.99996431e-01 -4.05195313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters 0.01382914768198637 Centerline is valid? [True, True] Translation: X:199.29, Y:-132.32, Z:-4.05 [[ 2.05086333e-01 -9.78743817e-01 3.69671548e-04 1.99290631e+02] [-9.78741978e-01 -2.05086664e-01 -1.89765634e-03 -1.32317230e+02] [ 1.93313412e-03 2.73703183e-05 -9.99998131e-01 -4.05109488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters 0.013621341883258413 Centerline is valid? [True, True] Translation: X:199.29, Y:-132.43, Z:-4.05 [[ 2.78367612e-01 -9.60474608e-01 -1.48654435e-05 1.99290235e+02] [-9.60474607e-01 -2.78367612e-01 5.15607591e-05 -1.32434535e+02] [-5.36608582e-05 -7.49643339e-08 -9.99999999e-01 -4.04901675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters 0.012980540654599991 Centerline is valid? [True, True] Translation: X:199.30, Y:-132.55, Z:-4.05 [[ 3.48126566e-01 -9.37447535e-01 -1.17683680e-04 1.99300543e+02] [-9.37447478e-01 -3.48126586e-01 3.24591045e-04 -1.32547114e+02] [-3.45255893e-04 -2.67649714e-06 -9.99999940e-01 -4.04900178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters 0.012770035604838666 Centerline is valid? [True, True] Translation: X:199.32, Y:-132.66, Z:-4.05 [[ 4.16330176e-01 -9.09213496e-01 5.95507905e-05 1.99319418e+02] [-9.09213486e-01 -4.16330180e-01 -1.33860342e-04 -1.32659365e+02] [ 1.46500421e-04 1.58571810e-06 -9.99999989e-01 -4.04969130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters 0.01242266130917485 Centerline is valid? [True, True] Translation: X:199.35, Y:-132.77, Z:-4.05 [[ 4.81913958e-01 -8.76218539e-01 -1.00258297e-04 1.99347264e+02] [-8.76218520e-01 -4.81913968e-01 1.82578327e-04 -1.32769112e+02] [-2.08294389e-04 -1.38867884e-07 -9.99999978e-01 -4.04967736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters 0.012282272060920025 Centerline is valid? [True, True] Translation: X:199.38, Y:-132.87, Z:-4.05 [[ 5.43517624e-01 -8.39397732e-01 -2.00060437e-04 1.99383106e+02] [-8.39397676e-01 -5.43517661e-01 3.07069311e-04 -1.32872953e+02] [-3.66489665e-04 1.03268372e-06 -9.99999933e-01 -4.04990992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters 0.012504606519074892 Centerline is valid? [True, True] Translation: X:199.43, Y:-132.97, Z:-4.05 [[ 6.02407959e-01 -7.98188028e-01 -7.22445853e-04 1.99427621e+02] [-7.98187469e-01 -6.02408392e-01 9.45016565e-04 -1.32974324e+02] [-1.18950835e-03 7.36172668e-06 -9.99999293e-01 -4.04980146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters 0.013225051319711124 Centerline is valid? [True, True] Translation: X:199.48, Y:-133.07, Z:-4.05 [[ 6.57883675e-01 -7.53117859e-01 -1.60010491e-03 1.99477196e+02] [-7.53115727e-01 -6.57885621e-01 1.79227117e-03 -1.33069665e+02] [-2.40247744e-03 2.59582287e-05 -9.99997114e-01 -4.04908088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters 0.013432595956859675 Centerline is valid? [True, True] Translation: X:199.53, Y:-133.16, Z:-4.05 [[ 7.11340830e-01 -7.02844208e-01 -2.05967311e-03 1.99529224e+02] [-7.02841418e-01 -7.11343811e-01 1.98095261e-03 -1.33158917e+02] [-2.85743679e-03 3.84910916e-05 -9.99995917e-01 -4.04890665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters 0.014603903652936333 Centerline is valid? [True, True] Translation: X:199.55, Y:-133.18, Z:-4.05 [[ 7.62454784e-01 -6.47037735e-01 -2.20718680e-03 1.99552408e+02] [-6.47035197e-01 -7.62457977e-01 1.81306690e-03 -1.33181666e+02] [-2.85600988e-03 4.57460150e-05 -9.99995921e-01 -4.04900623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters 0.014107312246578727 Centerline is valid? [True, True] Translation: X:199.58, Y:-133.21, Z:-4.05 [[ 8.11517165e-01 -5.84323244e-01 -2.49738742e-03 1.99575298e+02] [-5.84320646e-01 -8.11521007e-01 1.74322536e-03 -1.33206172e+02] [-3.04528946e-03 4.46177264e-05 -9.99995362e-01 -4.04850619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters 0.013203605390398493 Centerline is valid? [True, True] Translation: X:199.60, Y:-133.23, Z:-4.05 [[ 8.56405541e-01 -5.16299267e-01 -2.14855392e-03 1.99597489e+02] [-5.16297725e-01 -8.56408236e-01 1.26215040e-03 -1.33233333e+02] [-2.49168660e-03 2.83809044e-05 -9.99996895e-01 -4.04909430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters 0.012543773411005984 Centerline is valid? [True, True] Translation: X:199.62, Y:-133.26, Z:-4.05 [[ 8.96898009e-01 -4.42235640e-01 -1.26496357e-03 1.99621498e+02] [-4.42235212e-01 -8.96898901e-01 6.15243138e-04 -1.33260679e+02] [-1.40662688e-03 7.60108931e-06 -9.99999011e-01 -4.04942524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters 0.012402391372846997 Centerline is valid? [True, True] Translation: X:199.65, Y:-133.28, Z:-4.05 [[ 9.30177565e-01 -3.67107636e-01 -1.29672625e-03 1.99647984e+02] [-3.67107282e-01 -9.30178469e-01 5.09517618e-04 -1.33283934e+02] [-1.39323464e-03 2.09579150e-06 -9.99999029e-01 -4.04927518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters 0.01251191072494159 Centerline is valid? [True, True] Translation: X:199.68, Y:-133.31, Z:-4.05 [[ 9.57359223e-01 -2.88888415e-01 -2.60794692e-03 1.99676102e+02] [-2.88887318e-01 -9.57362775e-01 7.96398468e-04 -1.33307593e+02] [-2.72682160e-03 -9.03662758e-06 -9.99996282e-01 -4.04811730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters 0.012949913117683657 Centerline is valid? [True, True] Translation: X:199.71, Y:-133.33, Z:-4.05 [[ 9.77619182e-01 -2.10356797e-01 -3.27915783e-03 1.99705475e+02] [-2.10355542e-01 -9.77624681e-01 7.26939478e-04 -1.33326422e+02] [-3.35870229e-03 -2.08809566e-05 -9.99994359e-01 -4.04709640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters 0.012613300636936178 Centerline is valid? [True, True] Translation: X:199.74, Y:-133.34, Z:-4.05 [[ 9.91016574e-01 -1.33686472e-01 -3.75196864e-03 1.99738353e+02] [-1.33685429e-01 -9.91023676e-01 5.28440674e-04 -1.33338988e+02] [-3.78893512e-03 -2.21099293e-05 -9.99992822e-01 -4.04712700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters 0.012501396772646712 Centerline is valid? [True, True] Translation: X:199.77, Y:-133.35, Z:-4.05 [[ 9.98313924e-01 -5.79166511e-02 -3.86909335e-03 1.99767557e+02] [-5.79161614e-02 -9.98321422e-01 2.38601513e-04 -1.33345485e+02] [-3.87641777e-03 -1.41161778e-05 -9.99992487e-01 -4.04669924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters 0.012406390145684412 Centerline is valid? [True, True] Translation: X:199.80, Y:-133.35, Z:-4.05 [[ 9.99864257e-01 1.58103455e-02 -4.63683210e-03 1.99798412e+02] [ 1.58101559e-02 -9.99875009e-01 -7.75504939e-05 -1.33350294e+02] [-4.63747863e-03 4.23092858e-06 -9.99989247e-01 -4.04667098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters 0.012407615975032024 Centerline is valid? [True, True] Translation: X:199.83, Y:-133.35, Z:-4.05 [[ 9.95717562e-01 9.23038052e-02 -5.15204486e-03 1.99828953e+02] [ 9.23024981e-02 -9.95730891e-01 -4.91414887e-04 -1.33354851e+02] [-5.17540968e-03 1.37638225e-05 -9.99986607e-01 -4.04618878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters 0.012400748077541653 Centerline is valid? [True, True] Translation: X:199.86, Y:-133.36, Z:-4.05 [[ 9.85501220e-01 1.69567404e-01 -5.85158233e-03 1.99860286e+02] [ 1.69564305e-01 -9.85518592e-01 -1.02533018e-03 -1.33356571e+02] [-5.94070576e-03 1.82446522e-05 -9.99982354e-01 -4.04552225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters 0.012363747246559155 Centerline is valid? [True, True] Translation: X:199.89, Y:-133.36, Z:-4.05 [[ 9.68904923e-01 2.47359133e-01 -6.05888317e-03 1.99889686e+02] [ 2.47354221e-01 -9.68923867e-01 -1.55893991e-03 -1.33355160e+02] [-6.25621453e-03 1.17742247e-05 -9.99980430e-01 -4.04518761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters 0.01227412141821642 Centerline is valid? [True, True] Translation: X:199.92, Y:-133.35, Z:-4.05 [[ 9.45502883e-01 3.25558909e-01 -5.97452087e-03 1.99919990e+02] [ 3.25552469e-01 -9.45521759e-01 -2.04780405e-03 -1.33350433e+02] [-6.31572033e-03 -8.81538714e-06 -9.99980056e-01 -4.04556539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters 0.012425676856228203 Centerline is valid? [True, True] Translation: X:199.95, Y:-133.34, Z:-4.05 [[ 9.15902675e-01 4.01365532e-01 -5.29156381e-03 1.99949836e+02] [ 4.01358995e-01 -9.15917960e-01 -2.29086784e-03 -1.33343311e+02] [-5.76611372e-03 -2.56047500e-05 -9.99983376e-01 -4.04585736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters 0.013450635151533986 Centerline is valid? [True, True] Translation: X:199.98, Y:-133.33, Z:-4.05 [[ 8.78801467e-01 4.77158489e-01 -5.26857182e-03 1.99979621e+02] [ 4.77150340e-01 -8.78817258e-01 -2.78940220e-03 -1.33333336e+02] [-5.96109878e-03 -6.25700958e-05 -9.99982231e-01 -4.04602674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters 0.013963919207611381 Centerline is valid? [True, True] Translation: X:200.01, Y:-133.33, Z:-4.05 [[ 8.35092147e-01 5.50086350e-01 -5.11017675e-03 2.00011672e+02] [ 5.50076809e-01 -8.35107775e-01 -3.24152395e-03 -1.33327247e+02] [-6.05066642e-03 -1.04018524e-04 -9.99981689e-01 -4.04703068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters 0.01485405212532843 Centerline is valid? [True, True] Translation: X:200.04, Y:-133.32, Z:-4.05 [[ 7.87523924e-01 6.16268226e-01 -4.42060194e-03 2.00042389e+02] [ 6.16259313e-01 -7.87536323e-01 -3.31649052e-03 -1.33317814e+02] [-5.52523233e-03 -1.12421484e-04 -9.99984730e-01 -4.04720589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters 0.01556193456615703 Centerline is valid? [True, True] Translation: X:200.07, Y:-133.30, Z:-4.05 [[ 7.36791343e-01 6.76108604e-01 -3.95880989e-03 2.00070245e+02] [ 6.76099623e-01 -7.36801971e-01 -3.48653629e-03 -1.33304101e+02] [-5.27413611e-03 -1.07700112e-04 -9.99986086e-01 -4.04683010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters 0.014871614562907825 Centerline is valid? [True, True] Translation: X:200.09, Y:-133.28, Z:-4.05 [[ 6.82317818e-01 7.31047210e-01 -3.51740501e-03 2.00093627e+02] [ 7.31038230e-01 -6.82326877e-01 -3.62475670e-03 -1.33284144e+02] [-5.04988825e-03 -9.81214492e-05 -9.99987244e-01 -4.04712851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters 0.014656747935530491 Centerline is valid? [True, True] Translation: X:200.12, Y:-133.26, Z:-4.05 [[ 6.24036419e-01 7.81389336e-01 -3.04200911e-03 2.00116421e+02] [ 7.81380719e-01 -6.24043827e-01 -3.67067469e-03 -1.33263629e+02] [-4.76657307e-03 -8.63325773e-05 -9.99988636e-01 -4.04664566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters 0.014442189174967332 Centerline is valid? [True, True] Translation: X:200.13, Y:-133.24, Z:-4.05 [[ 5.62331897e-01 8.26905092e-01 -3.28725597e-03 2.00134577e+02] [ 8.26891925e-01 -5.62341497e-01 -4.66734886e-03 -1.33240948e+02] [-5.70801499e-03 -9.36062777e-05 -9.99983705e-01 -4.04521347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters 0.014424029282726104 Centerline is valid? [True, True] Translation: X:200.15, Y:-133.22, Z:-4.04 [[ 4.96326645e-01 8.68129450e-01 -3.33443962e-03 2.00150367e+02] [ 8.68111244e-01 -4.96337835e-01 -5.62324770e-03 -1.33215857e+02] [-6.53671548e-03 -1.03696856e-04 -9.99978630e-01 -4.04433708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters 0.014758085145083427 Centerline is valid? [True, True] Translation: X:200.16, Y:-133.19, Z:-4.04 [[ 4.26057137e-01 9.04690361e-01 -3.26599615e-03 2.00162405e+02] [ 9.04665973e-01 -4.26069636e-01 -6.64390397e-03 -1.33189164e+02] [-7.40221767e-03 -1.23952881e-04 -9.99972596e-01 -4.04397407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters 0.01650248505335389 Centerline is valid? [True, True] Translation: X:200.18, Y:-133.16, Z:-4.04 [[ 3.50894699e-01 9.36411205e-01 -2.63936826e-03 2.00175100e+02] [ 9.36387689e-01 -3.50904596e-01 -6.63772525e-03 -1.33164492e+02] [-7.14180675e-03 -1.42329346e-04 -9.99974487e-01 -4.04294324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters 0.017589146723650362 Centerline is valid? [True, True] Translation: X:200.18, Y:-133.14, Z:-4.04 [[ 2.72882857e-01 9.62045014e-01 -2.08278404e-03 2.00182192e+02] [ 9.62021477e-01 -2.72890755e-01 -6.73154541e-03 -1.33136987e+02] [-7.04442221e-03 -1.66759632e-04 -9.99975174e-01 -4.04323579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters 0.018467874221762076 Centerline is valid? [True, True] Translation: X:200.19, Y:-133.11, Z:-4.04 [[ 1.95346862e-01 9.80733247e-01 -1.37885368e-03 2.00187176e+02] [ 9.80714165e-01 -1.95351666e-01 -6.11991548e-03 -1.33109157e+02] [-6.27136594e-03 -1.56755047e-04 -9.99980323e-01 -4.04402441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters 0.019221478623805802 Centerline is valid? [True, True] Translation: X:200.19, Y:-133.08, Z:-4.05 [[ 1.16960996e-01 9.93136280e-01 -6.74430475e-04 2.00187561e+02] [ 9.93125266e-01 -1.16962876e-01 -4.67890028e-03 -1.33080903e+02] [-4.72566895e-03 -1.22545109e-04 -9.99988826e-01 -4.04524147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters 0.01580143709040279 Centerline is valid? [True, True] Translation: X:200.19, Y:-133.05, Z:-4.05 [[ 4.01809023e-02 9.99192374e-01 -3.07328321e-04 2.00189509e+02] [ 9.99181151e-01 -4.01819081e-02 -4.73729251e-03 -1.33053735e+02] [-4.74581559e-03 -1.16727978e-04 -9.99988732e-01 -4.04597071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters 0.015480952751817509 Centerline is valid? [True, True] Translation: X:200.19, Y:-133.03, Z:-4.04 [[-3.52906225e-02 9.99377089e-01 7.65511517e-05 2.00193806e+02] [ 9.99361192e-01 3.52904930e-02 -5.63820256e-03 -1.33027685e+02] [-5.63739199e-03 -1.22473428e-04 -9.99984102e-01 -4.04479683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters 0.01408221070150954 Centerline is valid? [True, True] Translation: X:200.19, Y:-133.00, Z:-4.04 [[-1.07640404e-01 9.94189740e-01 5.52118264e-04 2.00192251e+02] [ 9.94171728e-01 1.07641778e-01 -5.98529620e-03 -1.33001849e+02] [-6.00995106e-03 -9.53593322e-05 -9.99981936e-01 -4.04399974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters 0.012935073605949695 Centerline is valid? [True, True] Translation: X:200.20, Y:-132.97, Z:-4.04 [[-1.82852794e-01 9.83139826e-01 9.69069923e-04 2.00195917e+02] [ 9.83123706e-01 1.82855345e-01 -5.63036999e-03 -1.32974692e+02] [-5.71264059e-03 -7.68132682e-05 -9.99983680e-01 -4.04442715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters 0.012660273308451658 Centerline is valid? [True, True] Translation: X:200.20, Y:-132.95, Z:-4.04 [[-2.57169221e-01 9.66365200e-01 1.51393079e-03 2.00199000e+02] [ 9.66346838e-01 2.57173668e-01 -5.95758272e-03 -1.32948643e+02] [-6.14654375e-03 -6.91246714e-05 -9.99981107e-01 -4.04385013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters 0.01192495832166781 Centerline is valid? [True, True] Translation: X:200.19, Y:-132.92, Z:-4.04 [[-3.26884080e-01 9.45061906e-01 2.18908465e-03 2.00192226e+02] [ 9.45039903e-01 3.26891408e-01 -6.44899700e-03 -1.32924866e+02] [-6.81029436e-03 -3.93021106e-05 -9.99976809e-01 -4.04382768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters 0.01161011768731068 Centerline is valid? [True, True] Translation: X:200.19, Y:-132.90, Z:-4.04 [[-3.96128841e-01 9.18191286e-01 2.58921535e-03 2.00187998e+02] [ 9.18171499e-01 3.96137303e-01 -6.02785042e-03 -1.32899256e+02] [-6.56040451e-03 -1.04616634e-05 -9.99978480e-01 -4.04463724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters 0.011722343030799637 Centerline is valid? [True, True] Translation: X:200.18, Y:-132.87, Z:-4.04 [[-4.62283893e-01 8.86727065e-01 2.95195306e-03 2.00182020e+02] [ 8.86709299e-01 4.62293318e-01 -5.61321132e-03 -1.32874744e+02] [-6.34205458e-03 2.26270417e-05 -9.99979889e-01 -4.04421108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters 0.012000905030154826 Centerline is valid? [True, True] Translation: X:200.17, Y:-132.85, Z:-4.04 [[-5.28638101e-01 8.48834208e-01 4.71649813e-03 2.00174204e+02] [ 8.48801249e-01 5.28659139e-01 -7.48028932e-03 -1.32850262e+02] [-8.84294530e-03 4.90035553e-05 -9.99960899e-01 -4.04307279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters 0.011970791491654106 Centerline is valid? [True, True] Translation: X:200.17, Y:-132.82, Z:-4.04 [[-5.94175391e-01 8.04313416e-01 5.96102695e-03 2.00166172e+02] [ 8.04273730e-01 5.94205290e-01 -7.99001695e-03 -1.32824479e+02] [-9.96855158e-03 4.68259383e-05 -9.99950312e-01 -4.04332157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters 0.011845757437182329 Centerline is valid? [True, True] Translation: X:200.16, Y:-132.80, Z:-4.04 [[-6.58365632e-01 7.52657700e-01 7.81550298e-03 2.00159484e+02] [ 7.52604816e-01 6.58412019e-01 -8.92213357e-03 -1.32795755e+02] [-1.18611336e-02 7.95907743e-06 -9.99929654e-01 -4.04319062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters 0.011957742058901585 Centerline is valid? [True, True] Translation: X:200.15, Y:-132.77, Z:-4.04 [[-7.18063417e-01 6.95915905e-01 9.27271295e-03 2.00150443e+02] [ 6.95857114e-01 7.18123285e-01 -9.04570205e-03 -1.32767656e+02] [-1.29539990e-02 -4.29044507e-05 -9.99916093e-01 -4.04315344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters 0.012613385426090104 Centerline is valid? [True, True] Translation: X:200.66, Y:-132.24, Z:-5.00 [[-6.59635660e-01 -7.51526740e-01 9.39973552e-03 2.00661935e+02] [ 7.51453058e-01 -6.59702618e-01 -1.05241717e-02 -1.32240849e+02] [ 1.41102266e-02 1.21341045e-04 9.99900438e-01 -4.99728955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters 0.01341957669992875 Centerline is valid? [True, True] Translation: X:200.62, Y:-132.20, Z:-4.99 [[-6.55454756e-01 -7.55178459e-01 9.19556755e-03 2.00620765e+02] [ 7.55108791e-01 -6.55519220e-01 -1.02599033e-02 -1.32199696e+02] [ 1.37759292e-02 2.18751470e-04 9.99905083e-01 -4.99441315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters 0.014776710687325932 Centerline is valid? [True, True] Translation: X:200.58, Y:-132.16, Z:-4.99 [[-6.52529395e-01 -7.57703133e-01 9.55780607e-03 2.00579670e+02] [ 7.57628229e-01 -6.52599326e-01 -1.06576479e-02 -1.32159795e+02] [ 1.43127510e-02 2.86835178e-04 9.99897526e-01 -4.99457207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters 0.015467023734825988 Centerline is valid? [True, True] Translation: X:200.54, Y:-132.12, Z:-4.99 [[-6.49604046e-01 -7.60201157e-01 1.04299712e-02 2.00539014e+02] [ 7.60112384e-01 -6.49687662e-01 -1.16234659e-02 -1.32118008e+02] [ 1.56123958e-02 3.77299825e-04 9.99878048e-01 -4.99330890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters 0.015587128009659171 Centerline is valid? [True, True] Translation: X:200.50, Y:-132.08, Z:-4.99 [[-6.49065370e-01 -7.60643719e-01 1.16309414e-02 2.00500141e+02] [ 7.60533526e-01 -6.49169424e-01 -1.29543077e-02 -1.32075330e+02] [ 1.74040643e-02 4.37528408e-04 9.99848442e-01 -4.99280580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters 0.015721120644301163 Centerline is valid? [True, True] Translation: X:200.46, Y:-132.03, Z:-4.99 [[-6.50363356e-01 -7.59511097e-01 1.30537132e-02 2.00462604e+02] [ 7.59372239e-01 -6.50494181e-01 -1.45300582e-02 -1.32032873e+02] [ 1.95271049e-02 4.62810039e-04 9.99809221e-01 -4.99335202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters 0.01475573695545129 Centerline is valid? [True, True] Translation: X:200.43, Y:-131.99, Z:-4.99 [[-6.54059357e-01 -7.56319273e-01 1.36936219e-02 2.00426669e+02] [ 7.56165942e-01 -6.54202571e-01 -1.52336247e-02 -1.31986995e+02] [ 2.04798866e-02 3.90955709e-04 9.99790189e-01 -4.99330758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters 0.013679882605561992 Centerline is valid? [True, True] Translation: X:200.39, Y:-131.94, Z:-4.99 [[-6.58455641e-01 -7.52494190e-01 1.37354463e-02 2.00391987e+02] [ 7.52339264e-01 -6.58598828e-01 -1.52714091e-02 -1.31940543e+02] [ 2.05377954e-02 2.78170071e-04 9.99789039e-01 -4.99243641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters 0.012966032358787932 Centerline is valid? [True, True] Translation: X:200.36, Y:-131.89, Z:-4.99 [[-6.66036940e-01 -7.45775160e-01 1.46357927e-02 2.00358659e+02] [ 7.45597811e-01 -6.66197722e-01 -1.62634456e-02 -1.31893067e+02] [ 2.18792055e-02 8.03594632e-05 9.99760618e-01 -4.99346328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters 0.012893220740662946 Centerline is valid? [True, True] Translation: X:200.32, Y:-131.85, Z:-4.99 [[-6.70485770e-01 -7.41775519e-01 1.47618115e-02 2.00322285e+02] [ 7.41594355e-01 -6.70648252e-01 -1.63931592e-02 -1.31849323e+02] [ 2.20600272e-02 -4.41038879e-05 9.99756647e-01 -4.99211140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters 0.013178403542522628 Centerline is valid? [True, True] Translation: X:200.28, Y:-131.80, Z:-4.99 [[-6.74761839e-01 -7.37879850e-01 1.51587868e-02 2.00284589e+02] [ 7.37688038e-01 -6.74932070e-01 -1.68243857e-02 -1.31804601e+02] [ 2.26455265e-02 -1.69997712e-04 9.99743543e-01 -4.99041932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters 0.01416412318891273 Centerline is valid? [True, True] Translation: X:200.25, Y:-131.76, Z:-4.99 [[-6.79795635e-01 -7.33236528e-01 1.55591969e-02 2.00247557e+02] [ 7.33033466e-01 -6.79973593e-01 -1.72583150e-02 -1.31760523e+02] [ 2.32342700e-02 -3.26715160e-04 9.99729995e-01 -4.98966502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters 0.016318260122138134 Centerline is valid? [True, True] Translation: X:200.21, Y:-131.72, Z:-4.99 [[-6.87972415e-01 -7.25579943e-01 1.50898259e-02 2.00210795e+02] [ 7.25387319e-01 -6.88137654e-01 -1.67274366e-02 -1.31716077e+02] [ 2.25209699e-02 -5.62046629e-04 9.99746213e-01 -4.98874576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters 0.018635600696985527 Centerline is valid? [True, True] Translation: X:200.17, Y:-131.67, Z:-4.99 [[-6.94041528e-01 -7.19787818e-01 1.45552171e-02 2.00172618e+02] [ 7.19607465e-01 -6.94193762e-01 -1.61281227e-02 -1.31673224e+02] [ 2.17129672e-02 -7.19544023e-04 9.99763987e-01 -4.98781131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters 0.01921692626845904 Centerline is valid? [True, True] Translation: X:200.13, Y:-131.63, Z:-4.99 [[-6.95821353e-01 -7.18074764e-01 1.41872259e-02 2.00131586e+02] [ 7.17903261e-01 -6.95965571e-01 -1.57108943e-02 -1.31632551e+02] [ 2.11554175e-02 -7.46920025e-04 9.99775920e-01 -4.98749428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters 0.0201340171986379 Centerline is valid? [True, True] Translation: X:200.09, Y:-131.59, Z:-4.99 [[-6.95679880e-01 -7.18242980e-01 1.25110405e-02 2.00089696e+02] [ 7.18109777e-01 -6.95792067e-01 -1.38473061e-02 -1.31593942e+02] [ 1.86508131e-02 -6.48991744e-04 9.99825848e-01 -4.98677491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters 0.016790492608643695 Centerline is valid? [True, True] Translation: X:200.04, Y:-131.56, Z:-4.98 [[-6.92531901e-01 -7.21310808e-01 1.05016326e-02 2.00041414e+02] [ 7.21217414e-01 -6.92611360e-01 -1.16165680e-02 -1.31559128e+02] [ 1.56527061e-02 -4.70883614e-04 9.99877378e-01 -4.98433774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters 0.015472352124343938 Centerline is valid? [True, True] Translation: X:200.00, Y:-131.52, Z:-4.99 [[-6.88888898e-01 -7.24795071e-01 1.02073764e-02 1.99995471e+02] [ 7.24707314e-01 -6.88964414e-01 -1.12847398e-02 -1.31521824e+02] [ 1.52116429e-02 -3.76571661e-04 9.99884225e-01 -4.98535982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters 0.01394099835680007 Centerline is valid? [True, True] Translation: X:199.95, Y:-131.49, Z:-4.99 [[-6.82595095e-01 -7.30738437e-01 9.23431020e-03 1.99947739e+02] [ 7.30667242e-01 -6.82657520e-01 -1.02025185e-02 -1.31488617e+02] [ 1.37592437e-02 -2.16981118e-04 9.99905314e-01 -4.98629737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters 0.012591201503674997 Centerline is valid? [True, True] Translation: X:199.90, Y:-131.45, Z:-4.99 [[-6.78632875e-01 -7.34430640e-01 8.31004812e-03 1.99902560e+02] [ 7.34373324e-01 -6.78683741e-01 -9.17609456e-03 -1.31451132e+02] [ 1.23790995e-02 -1.24521766e-04 9.99923368e-01 -4.98520442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters 0.011653895425690518 Centerline is valid? [True, True] Translation: X:199.85, Y:-131.42, Z:-4.99 [[-6.72526383e-01 -7.40035514e-01 7.46342677e-03 1.99854480e+02] [ 7.39989673e-01 -6.72567794e-01 -8.23686904e-03 -1.31418038e+02] [ 1.11152361e-02 -1.66530028e-05 9.99938224e-01 -4.98593385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters 0.011853027113089661 Centerline is valid? [True, True] Translation: X:199.81, Y:-131.38, Z:-4.99 [[-6.65974895e-01 -7.45941845e-01 6.94285318e-03 1.99805119e+02] [ 7.45902538e-01 -6.66011079e-01 -7.65807307e-03 -1.31383972e+02] [ 1.03364943e-02 7.86074050e-05 9.99946574e-01 -4.98679513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters 0.013312639591591187 Centerline is valid? [True, True] Translation: X:199.76, Y:-131.35, Z:-4.99 [[-6.61741247e-01 -7.49704626e-01 6.44172804e-03 1.99760118e+02] [ 7.49671005e-01 -6.61772587e-01 -7.10117642e-03 -1.31347373e+02] [ 9.58674384e-03 1.30035388e-04 9.99954038e-01 -4.98814827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters 0.015405880726519645 Centerline is valid? [True, True] Translation: X:199.71, Y:-131.31, Z:-4.99 [[-6.57338719e-01 -7.53571008e-01 6.04509730e-03 1.99714079e+02] [ 7.53541595e-01 -6.57366491e-01 -6.66039499e-03 -1.31310750e+02] [ 8.99292497e-03 1.77096750e-04 9.99959547e-01 -4.98842299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters 0.016705521572727793 Centerline is valid? [True, True] Translation: X:199.67, Y:-131.27, Z:-4.99 [[-6.55978164e-01 -7.54756559e-01 5.93174025e-03 1.99672158e+02] [ 7.54728313e-01 -6.56004954e-01 -6.53250467e-03 -1.31273169e+02] [ 8.82170174e-03 1.91671896e-04 9.99961070e-01 -4.99016545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters 0.013955712299561796 Centerline is valid? [True, True] Translation: X:199.64, Y:-131.23, Z:-4.99 [[-6.57987975e-01 -7.53010093e-01 5.25586695e-03 1.99637470e+02] [ 7.52987887e-01 -6.58008949e-01 -5.78490194e-03 -1.31226401e+02] [ 7.81449704e-03 1.51208230e-04 9.99969455e-01 -4.98821771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters 0.012664643348401866 Centerline is valid? [True, True] Translation: X:199.60, Y:-131.18, Z:-4.99 [[-6.63104384e-01 -7.48515217e-01 4.18875349e-03 1.99602207e+02] [ 7.48501039e-01 -6.63117609e-01 -4.60767238e-03 -1.31180492e+02] [ 6.22654909e-03 7.99185828e-05 9.99980612e-01 -4.98746811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters 0.011650473837423085 Centerline is valid? [True, True] Translation: X:199.57, Y:-131.13, Z:-4.99 [[-6.67320201e-01 -7.44762498e-01 3.54557535e-03 1.99566966e+02] [ 7.44752298e-01 -6.67329619e-01 -3.89799054e-03 -1.31134054e+02] [ 5.26914462e-03 3.93675542e-05 9.99986117e-01 -4.98661594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters 0.01140629690297194 Centerline is valid? [True, True] Translation: X:199.53, Y:-131.09, Z:-4.99 [[-6.73499171e-01 -7.39178410e-01 3.76083893e-03 1.99534466e+02] [ 7.39166860e-01 -6.73509672e-01 -4.13222156e-03 -1.31086760e+02] [ 5.58741036e-03 -3.16029029e-06 9.99984390e-01 -4.98756871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters 0.011708091391966607 Centerline is valid? [True, True] Translation: X:199.50, Y:-131.04, Z:-4.99 [[-6.77234328e-01 -7.35757708e-01 3.77627521e-03 1.99499758e+02] [ 7.35746023e-01 -6.77244856e-01 -4.14659477e-03 -1.31041251e+02] [ 5.60835203e-03 -2.98368540e-05 9.99984273e-01 -4.98737870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters 0.01238540459869199 Centerline is valid? [True, True] Translation: X:199.46, Y:-130.99, Z:-4.99 [[-6.82226448e-01 -7.31132584e-01 3.49548026e-03 1.99464679e+02] [ 7.31122522e-01 -6.82235400e-01 -3.83609940e-03 -1.30994925e+02] [ 5.18943764e-03 -6.14641207e-05 9.99986533e-01 -4.98701650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters 0.014044266732146421 Centerline is valid? [True, True] Translation: X:199.43, Y:-130.95, Z:-4.99 [[-6.87264644e-01 -7.26400945e-01 2.99598337e-03 1.99430624e+02] [ 7.26393517e-01 -6.87271169e-01 -3.28609844e-03 -1.30947702e+02] [ 4.44607800e-03 -8.21563803e-05 9.99990113e-01 -4.98651593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters 0.014834945182573632 Centerline is valid? [True, True] Translation: X:199.39, Y:-130.90, Z:-4.99 [[-6.90270451e-01 -7.23544971e-01 3.06260572e-03 1.99393243e+02] [ 7.23537189e-01 -6.90277238e-01 -3.35728279e-03 -1.30902776e+02] [ 4.54319209e-03 -1.01523978e-04 9.99989675e-01 -4.98634417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters 0.016386558916866308 Centerline is valid? [True, True] Translation: X:199.36, Y:-130.86, Z:-4.99 [[-6.93271355e-01 -7.20672292e-01 2.50517822e-03 1.99356961e+02] [ 7.20667073e-01 -6.93275874e-01 -2.74460870e-03 -1.30858332e+02] [ 3.71474307e-03 -9.73591357e-05 9.99993096e-01 -4.98702302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters 0.016514057026502174 Centerline is valid? [True, True] Translation: X:199.32, Y:-130.82, Z:-4.99 [[-6.92856720e-01 -7.21073175e-01 1.74446126e-03 1.99317886e+02] [ 7.21070648e-01 -6.92858913e-01 -1.91002434e-03 -1.30817214e+02] [ 2.58593285e-03 -6.54933868e-05 9.99996654e-01 -4.98749731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters 0.01475196718561577 Centerline is valid? [True, True] Translation: X:199.27, Y:-130.78, Z:-4.99 [[-6.89601068e-01 -7.24188252e-01 1.32030541e-03 1.99273729e+02] [ 7.24186812e-01 -6.89602330e-01 -1.44484051e-03 -1.30778481e+02] [ 1.95682222e-03 -4.02157943e-05 9.99998085e-01 -4.98821237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters 0.013645380244616036 Centerline is valid? [True, True] Translation: X:199.23, Y:-130.74, Z:-4.99 [[-6.86834194e-01 -7.26813765e-01 7.35707142e-04 1.99231442e+02] [ 7.26813320e-01 -6.86834588e-01 -8.04656544e-04 -1.30739023e+02] [ 1.09014456e-03 -1.79438788e-05 9.99999406e-01 -4.98901729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters 0.012473622628464992 Centerline is valid? [True, True] Translation: X:199.19, Y:-130.70, Z:-4.99 [[-6.82955909e-01 -7.30459505e-01 3.72349210e-04 1.99187239e+02] [ 7.30459392e-01 -6.82956010e-01 -4.07031265e-04 -1.30700338e+02] [ 5.51617987e-04 -5.99843018e-06 9.99999848e-01 -4.98998288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters 0.012068963855186358 Centerline is valid? [True, True] Translation: X:199.15, Y:-130.66, Z:-4.99 [[-6.80714748e-01 -7.32548556e-01 -2.14467424e-04 1.99145459e+02] [ 7.32548518e-01 -6.80714781e-01 2.34307442e-04 -1.30659286e+02] [-3.17632724e-04 2.38873726e-06 9.99999950e-01 -4.99010222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters 0.011751617328363047 Centerline is valid? [True, True] Translation: X:199.10, Y:-130.62, Z:-4.99 [[-6.77728175e-01 -7.35311205e-01 -1.39724527e-03 1.99102703e+02] [ 7.35309622e-01 -6.77729616e-01 1.52563938e-03 -1.30619152e+02] [-2.06877423e-03 6.56090144e-06 9.99997860e-01 -4.99122786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters 0.011713571255001205 Centerline is valid? [True, True] Translation: X:199.06, Y:-130.58, Z:-4.99 [[-6.75216092e-01 -7.37616123e-01 -2.38416238e-03 1.99061944e+02] [ 7.37611535e-01 -6.75220301e-01 2.60174481e-03 -1.30577962e+02] [-3.52892376e-03 -1.84571019e-06 9.99993773e-01 -4.99199562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters 0.011805646166192457 Centerline is valid? [True, True] Translation: X:199.02, Y:-130.54, Z:-4.99 [[-6.73342596e-01 -7.39324847e-01 -2.91880467e-03 1.99022636e+02] [ 7.39317991e-01 -6.73348922e-01 3.18398178e-03 -1.30537296e+02] [-4.31937082e-03 -1.40142411e-05 9.99990671e-01 -4.99268703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters 0.011885934595629827 Centerline is valid? [True, True] Translation: X:198.98, Y:-130.49, Z:-4.99 [[-6.72906993e-01 -7.39722350e-01 -2.65020840e-03 1.98983099e+02] [ 7.39716707e-01 -6.72912212e-01 2.88934309e-03 -1.30494938e+02] [-3.92066925e-03 -1.61442543e-05 9.99992314e-01 -4.99349820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters 0.012139810420548897 Centerline is valid? [True, True] Translation: X:198.94, Y:-130.45, Z:-5.00 [[-6.71029324e-01 -7.41427880e-01 -2.08453124e-03 1.98944000e+02] [ 7.41424401e-01 -6.71032562e-01 2.27111687e-03 -1.30454207e+02] [-3.08265770e-03 -2.15363032e-05 9.99995248e-01 -4.99525672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters 0.01284010768364228 Centerline is valid? [True, True] Translation: X:198.90, Y:-130.41, Z:-5.00 [[-6.67492763e-01 -7.44613865e-01 -1.89842534e-03 1.98903543e+02] [ 7.44610996e-01 -6.67495462e-01 2.06718905e-03 -1.30412247e+02] [-2.80644793e-03 -3.37546481e-05 9.99996061e-01 -4.99715045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters 0.013740412026991732 Centerline is valid? [True, True] Translation: X:198.86, Y:-130.37, Z:-5.00 [[-6.65682491e-01 -7.46231247e-01 -2.39728062e-03 1.98864580e+02] [ 7.46226689e-01 -6.65686806e-01 2.60885457e-03 -1.30370981e+02] [-3.54264688e-03 -5.22459642e-05 9.99993723e-01 -4.99892170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters 0.013052106295998837 Centerline is valid? [True, True] Translation: X:198.83, Y:-130.33, Z:-5.00 [[-6.66062345e-01 -7.45891754e-01 -2.53857124e-03 1.98828365e+02] [ 7.45886646e-01 -6.66067180e-01 2.76100835e-03 -1.30325032e+02] [-3.75027234e-03 -5.44826926e-05 9.99992966e-01 -5.00061643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters 0.012878945031791234 Centerline is valid? [True, True] Translation: X:198.79, Y:-130.28, Z:-5.00 [[-6.67704900e-01 -7.44418943e-01 -3.25640105e-03 1.98793873e+02] [ 7.44410530e-01 -6.67712838e-01 3.53971137e-03 -1.30278086e+02] [-4.80936898e-03 -6.06166046e-05 9.99988433e-01 -5.00087946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters 0.012737351921919292 Centerline is valid? [True, True] Translation: X:198.76, Y:-130.23, Z:-5.00 [[-6.69729612e-01 -7.42597992e-01 -3.23554578e-03 1.98759080e+02] [ 7.42589673e-01 -6.69737426e-01 3.51530718e-03 -1.30233134e+02] [-4.77742616e-03 -4.83775745e-05 9.99988587e-01 -5.00255279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters 0.012586232661432117 Centerline is valid? [True, True] Translation: X:198.72, Y:-130.19, Z:-5.00 [[-6.70197316e-01 -7.42175970e-01 -3.22285427e-03 1.98724123e+02] [ 7.42167722e-01 -6.70205063e-01 3.49931326e-03 -1.30187948e+02] [-4.75707947e-03 -4.66680632e-05 9.99988684e-01 -5.00323974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters 0.012498706671926443 Centerline is valid? [True, True] Translation: X:198.69, Y:-130.14, Z:-5.00 [[-6.70529345e-01 -7.41874321e-01 -3.59002936e-03 1.98689194e+02] [ 7.41864094e-01 -6.70538954e-01 3.89575235e-03 -1.30141196e+02] [-5.29741316e-03 -5.10976021e-05 9.99985967e-01 -5.00400066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters 0.012596754576338439 Centerline is valid? [True, True] Translation: X:198.65, Y:-130.10, Z:-5.00 [[-6.70871319e-01 -7.41565982e-01 -3.40118489e-03 1.98652692e+02] [ 7.41556809e-01 -6.70879939e-01 3.68872053e-03 -1.30096300e+02] [-5.01721637e-03 -4.75150139e-05 9.99987413e-01 -5.00455989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters 0.012480717129672433 Centerline is valid? [True, True] Translation: X:198.62, Y:-130.05, Z:-5.00 [[-6.73382934e-01 -7.39287987e-01 -2.94906300e-03 1.98619681e+02] [ 7.39281075e-01 -6.73389391e-01 3.19680309e-03 -1.30049871e+02] [-4.34922586e-03 -2.75138207e-05 9.99990542e-01 -5.00475255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters 0.011980052031146136 Centerline is valid? [True, True] Translation: X:198.59, Y:-130.00, Z:-5.00 [[-6.76911132e-01 -7.36057062e-01 -3.36461899e-03 1.98587206e+02] [ 7.36048037e-01 -6.76919494e-01 3.64495214e-03 -1.30002555e+02] [-4.96046894e-03 -9.21252232e-06 9.99987697e-01 -5.00477600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters 0.01212044605159607 Centerline is valid? [True, True] Translation: X:198.56, Y:-129.95, Z:-5.00 [[-6.82791331e-01 -7.30604176e-01 -3.67909570e-03 1.98555857e+02] [ 7.30593318e-01 -6.82801242e-01 3.98332857e-03 -1.29952611e+02] [-5.42232761e-03 3.18594813e-05 9.99985299e-01 -5.00442141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters 0.012567304509629538 Centerline is valid? [True, True] Translation: X:198.52, Y:-129.90, Z:-5.00 [[-6.87021715e-01 -7.26626210e-01 -3.93884314e-03 1.98522566e+02] [ 7.26613712e-01 -6.87033003e-01 4.26223689e-03 -1.29903457e+02] [-5.80316826e-03 6.62318651e-05 9.99983159e-01 -5.00428237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters 0.012911480859439259 Centerline is valid? [True, True] Translation: X:198.49, Y:-129.86, Z:-5.00 [[-6.89059352e-01 -7.24696600e-01 -3.47103430e-03 1.98487113e+02] [ 7.24686882e-01 -6.89068090e-01 3.75372120e-03 -1.29857851e+02] [-5.11208796e-03 7.11236724e-05 9.99986931e-01 -5.00472612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters 0.013520293024659891 Centerline is valid? [True, True] Translation: X:198.45, Y:-129.81, Z:-5.01 [[-6.91996041e-01 -7.21898449e-01 -2.02700594e-03 1.98451851e+02] [ 7.21895126e-01 -6.91999008e-01 2.19089448e-03 -1.29811042e+02] [-2.98428943e-03 5.28045994e-05 9.99995546e-01 -5.00694613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters 0.014131689110824313 Centerline is valid? [True, True] Translation: X:198.42, Y:-129.76, Z:-5.01 [[-6.93729279e-01 -7.20234801e-01 -1.23260906e-03 1.98415739e+02] [ 7.20233571e-01 -6.93730373e-01 1.33150638e-03 -1.29764971e+02] [-1.81409558e-03 3.59385387e-05 9.99998354e-01 -5.00720379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters 0.013924155572532088 Centerline is valid? [True, True] Translation: X:198.38, Y:-129.72, Z:-5.01 [[-6.92945631e-01 -7.20987286e-01 -1.91973359e-03 1.98375937e+02] [ 7.20984310e-01 -6.92948288e-01 2.07245007e-03 -1.29724295e+02] [-2.82448626e-03 5.19974265e-05 9.99996010e-01 -5.00664760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters 0.013916634710934734 Centerline is valid? [True, True] Translation: X:198.34, Y:-129.68, Z:-5.01 [[-6.92264512e-01 -7.21641453e-01 -1.85986727e-03 1.98336361e+02] [ 7.21638664e-01 -6.92267009e-01 2.00656500e-03 -1.29682462e+02] [-2.73554523e-03 4.69216080e-05 9.99996257e-01 -5.00640186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters 0.013764700262793637 Centerline is valid? [True, True] Translation: X:198.30, Y:-129.64, Z:-5.01 [[-6.91739301e-01 -7.22145353e-01 -1.68177226e-03 1.98296205e+02] [ 7.22143077e-01 -6.91741345e-01 1.81329580e-03 -1.29641106e+02] [-2.47281453e-03 3.98477746e-05 9.99996942e-01 -5.00701251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters 0.013231606806130326 Centerline is valid? [True, True] Translation: X:198.25, Y:-129.60, Z:-5.01 [[-6.90912519e-01 -7.22936936e-01 -1.44125614e-03 1.98254424e+02] [ 7.22935269e-01 -6.90914022e-01 1.55299805e-03 -1.29601547e+02] [-2.11850373e-03 3.10509031e-05 9.99997756e-01 -5.00769020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters 0.012965737293388905 Centerline is valid? [True, True] Translation: X:198.21, Y:-129.56, Z:-5.01 [[-6.90127209e-01 -7.23687275e-01 -1.07878976e-03 1.98212906e+02] [ 7.23686343e-01 -6.90128051e-01 1.16170019e-03 -1.29562160e+02] [-1.58521072e-03 2.10154933e-05 9.99998743e-01 -5.00806410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters 0.012165718603610022 Centerline is valid? [True, True] Translation: X:198.17, Y:-129.52, Z:-5.01 [[-6.87710429e-01 -7.25985100e-01 -2.16896565e-05 1.98169868e+02] [ 7.25985100e-01 -6.87710429e-01 2.33399221e-05 -1.29523131e+02] [-3.18606384e-05 3.04740406e-07 1.00000000e+00 -5.00860307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters 0.01167242480271678 Centerline is valid? [True, True] Translation: X:198.13, Y:-129.49, Z:-5.01 [[-6.84497260e-01 -7.29014921e-01 8.63390898e-04 1.98127630e+02] [ 7.29014330e-01 -6.84497805e-01 -9.28603025e-04 -1.29485166e+02] [ 1.26795464e-03 -6.20188958e-06 9.99999196e-01 -5.01004815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters 0.011470100614601549 Centerline is valid? [True, True] Translation: X:198.08, Y:-129.45, Z:-5.01 [[-6.81667764e-01 -7.31661237e-01 9.45577281e-04 1.98084021e+02] [ 7.31660531e-01 -6.81668420e-01 -1.01642035e-03 -1.29446210e+02] [ 1.38824555e-03 -1.01941439e-06 9.99999036e-01 -5.01163148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters 0.011600729290081817 Centerline is valid? [True, True] Translation: X:198.04, Y:-129.41, Z:-5.01 [[-6.77121610e-01 -7.35870636e-01 8.55476743e-04 1.98040010e+02] [ 7.35870062e-01 -6.77122151e-01 -9.18988999e-04 -1.29408934e+02] [ 1.25551927e-03 7.25241363e-06 9.99999212e-01 -5.01298852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters 0.012127493867427036 Centerline is valid? [True, True] Translation: X:198.00, Y:-129.37, Z:-5.01 [[-6.74299224e-01 -7.38456541e-01 1.57913181e-03 1.97998347e+02] [ 7.38454595e-01 -6.74301072e-01 -1.69540583e-03 -1.29368640e+02] [ 2.31679380e-03 2.29063088e-05 9.99997316e-01 -5.01392904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters 0.012199424462634854 Centerline is valid? [True, True] Translation: X:197.96, Y:-129.33, Z:-5.01 [[-6.73773243e-01 -7.38936778e-01 1.43381779e-03 1.97958216e+02] [ 7.38935176e-01 -6.73774768e-01 -1.53849931e-03 -1.29326388e+02] [ 2.10292397e-03 2.28987274e-05 9.99997789e-01 -5.01488459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters 0.012386190946861896 Centerline is valid? [True, True] Translation: X:197.92, Y:-129.28, Z:-5.02 [[-6.73881430e-01 -7.38838549e-01 1.19026703e-03 1.97919124e+02] [ 7.38837446e-01 -6.73882481e-01 -1.27663060e-03 -1.29284493e+02] [ 1.74532400e-03 1.91161959e-05 9.99998477e-01 -5.01550180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters 0.012233486708085974 Centerline is valid? [True, True] Translation: X:197.88, Y:-129.24, Z:-5.02 [[-6.75106022e-01 -7.37718686e-01 1.73162135e-03 1.97882028e+02] [ 7.37716352e-01 -6.75108243e-01 -1.85610133e-03 -1.29241376e+02] [ 2.53831248e-03 2.43801972e-05 9.99996778e-01 -5.01654966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters 0.011853906064252087 Centerline is valid? [True, True] Translation: X:197.85, Y:-129.20, Z:-5.02 [[-6.78039286e-01 -7.35020093e-01 2.86186979e-03 1.97846617e+02] [ 7.35013699e-01 -6.78045325e-01 -3.06577664e-03 -1.29195407e+02] [ 4.19388486e-03 2.47964951e-05 9.99991205e-01 -5.01873032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters 0.011758124738951612 Centerline is valid? [True, True] Translation: X:197.81, Y:-129.15, Z:-5.02 [[-6.79426573e-01 -7.33736475e-01 3.21210467e-03 1.97809034e+02] [ 7.33728417e-01 -6.79434166e-01 -3.43881248e-03 -1.29151850e+02] [ 4.70559580e-03 2.03918995e-05 9.99988928e-01 -5.01907806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters 0.011773899140439078 Centerline is valid? [True, True] Translation: X:197.77, Y:-129.11, Z:-5.02 [[-6.83352216e-01 -7.30084770e-01 2.44502763e-03 1.97774033e+02] [ 7.30080083e-01 -6.83356590e-01 -2.61593347e-03 -1.29106451e+02] [ 3.58067893e-03 -2.53796030e-06 9.99993589e-01 -5.01883061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters 0.011909804239599815 Centerline is valid? [True, True] Translation: X:197.74, Y:-129.06, Z:-5.02 [[-6.85530910e-01 -7.28042080e-01 1.44952725e-03 1.97736434e+02] [ 7.28040430e-01 -6.85532443e-01 -1.54982692e-03 -1.29064764e+02] [ 2.12203717e-03 -7.13981238e-06 9.99997748e-01 -5.01864665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters 0.012875686027016709 Centerline is valid? [True, True] Translation: X:197.70, Y:-129.02, Z:-5.02 [[-6.90221472e-01 -7.23597983e-01 5.28029709e-04 1.97700399e+02] [ 7.23597763e-01 -6.90221674e-01 -5.64324302e-04 -1.29020975e+02] [ 7.72801476e-04 -7.42763389e-06 9.99999701e-01 -5.01779878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters 0.014103702392901719 Centerline is valid? [True, True] Translation: X:197.66, Y:-128.98, Z:-5.02 [[-6.93730220e-01 -7.20234818e-01 4.33234708e-04 1.97663391e+02] [ 7.20234670e-01 -6.93730356e-01 -4.62802453e-04 -1.28978149e+02] [ 6.33874509e-04 -9.02939089e-06 9.99999799e-01 -5.01833302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters 0.015292525769796618 Centerline is valid? [True, True] Translation: X:197.62, Y:-128.94, Z:-5.02 [[-6.99144554e-01 -7.14979312e-01 1.21529181e-03 1.97623905e+02] [ 7.14978135e-01 -6.99145609e-01 -1.29745809e-03 -1.28935978e+02] [ 1.77732163e-03 -3.82036846e-05 9.99998420e-01 -5.02078337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters 0.016728654854425276 Centerline is valid? [True, True] Translation: X:197.58, Y:-128.89, Z:-5.02 [[-7.03766663e-01 -7.10425848e-01 2.75653747e-03 1.97584051e+02] [ 7.10419768e-01 -7.03772053e-01 -2.94122107e-03 -1.28893967e+02] [ 4.02949350e-03 -1.11634624e-04 9.99991875e-01 -5.02231649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters 0.01758978675124192 Centerline is valid? [True, True] Translation: X:197.54, Y:-128.85, Z:-5.02 [[-7.05889445e-01 -7.08316555e-01 2.78369052e-03 1.97543207e+02] [ 7.08310346e-01 -7.05894923e-01 -2.96843176e-03 -1.28853109e+02] [ 4.06758236e-03 -1.23667853e-04 9.99991720e-01 -5.02237475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters 0.017688945301216997 Centerline is valid? [True, True] Translation: X:197.50, Y:-128.81, Z:-5.02 [[-7.06114543e-01 -7.08095838e-01 1.59238585e-03 1.97501359e+02] [ 7.08093809e-01 -7.06116335e-01 -1.69700593e-03 -1.28813566e+02] [ 2.32605250e-03 -7.07220108e-05 9.99997292e-01 -5.02045493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters 0.016328382074888015 Centerline is valid? [True, True] Translation: X:197.46, Y:-128.78, Z:-5.02 [[-7.02680968e-01 -7.11504724e-01 6.95555556e-04 1.97457354e+02] [ 7.11504339e-01 -7.02681312e-01 -7.40795203e-04 -1.28776655e+02] [ 1.01583318e-03 -2.56518940e-05 9.99999484e-01 -5.01914158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters 0.014910927634669308 Centerline is valid? [True, True] Translation: X:197.41, Y:-128.74, Z:-5.02 [[-6.98743704e-01 -7.15371718e-01 7.35844992e-04 1.97412922e+02] [ 7.15371289e-01 -6.98744091e-01 -7.83233561e-04 -1.28739365e+02] [ 1.07447048e-03 -2.08771388e-05 9.99999423e-01 -5.01995616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters 0.012511184576963699 Centerline is valid? [True, True] Translation: X:197.37, Y:-128.71, Z:-5.02 [[-6.90141558e-01 -7.23673886e-01 8.57752626e-04 1.97366407e+02] [ 7.23673311e-01 -6.90142091e-01 -9.12468463e-04 -1.28705895e+02] [ 1.25230079e-03 -8.99972416e-06 9.99999216e-01 -5.02023186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters 0.011906397713334155 Centerline is valid? [True, True] Translation: X:197.32, Y:-128.67, Z:-5.02 [[-6.83768522e-01 -7.29698132e-01 1.11547911e-03 1.97321111e+02] [ 7.29697168e-01 -6.83769432e-01 -1.18589207e-03 -1.28669298e+02] [ 1.62807374e-03 3.08628347e-06 9.99998675e-01 -5.01962831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters 0.013516863856501901 Centerline is valid? [True, True] Translation: X:197.27, Y:-128.63, Z:-5.02 [[-6.74858745e-01 -7.37944766e-01 1.78818166e-03 1.97273536e+02] [ 7.37942321e-01 -6.74861113e-01 -1.89999619e-03 -1.28633908e+02] [ 2.60886651e-03 3.73458768e-05 9.99996596e-01 -5.02077229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters 0.014462536547094784 Centerline is valid? [True, True] Translation: X:197.23, Y:-128.59, Z:-5.02 [[-6.71116011e-01 -7.41349843e-01 1.92585039e-03 1.97231406e+02] [ 7.41347025e-01 -6.71118772e-01 -2.04511358e-03 -1.28594029e+02] [ 2.80861898e-03 5.52149873e-05 9.99996054e-01 -5.02020146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters 0.015521121075251772 Centerline is valid? [True, True] Translation: X:197.19, Y:-128.55, Z:-5.02 [[-6.68979595e-01 -7.43278358e-01 1.89305906e-03 1.97190027e+02] [ 7.43275646e-01 -6.68982270e-01 -2.00916466e-03 -1.28553681e+02] [ 2.75979156e-03 6.29745393e-05 9.99996190e-01 -5.02023019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters 0.01592759603678036 Centerline is valid? [True, True] Translation: X:197.15, Y:-128.51, Z:-5.02 [[-6.70256658e-01 -7.42121206e-01 3.48248844e-03 1.97151068e+02] [ 7.42112022e-01 -6.70265697e-01 -3.69365349e-03 -1.28512481e+02] [ 5.07533112e-03 1.08700691e-04 9.99987115e-01 -5.02297075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters 0.014026054213075533 Centerline is valid? [True, True] Translation: X:197.12, Y:-128.47, Z:-5.02 [[-6.72603524e-01 -7.39991002e-01 4.22083350e-03 1.97115989e+02] [ 7.39977485e-01 -6.72616758e-01 -4.47422495e-03 -1.28465959e+02] [ 6.14988955e-03 1.13942287e-04 9.99981083e-01 -5.02376983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters 0.012639578634831483 Centerline is valid? [True, True] Translation: X:197.08, Y:-128.42, Z:-5.03 [[-6.78398438e-01 -7.34666539e-01 6.37463981e-03 1.97081666e+02] [ 7.34635504e-01 -6.78428380e-01 -6.75348872e-03 -1.28418413e+02] [ 9.28629874e-03 1.01480532e-04 9.99956876e-01 -5.02659910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters 0.011844961220377506 Centerline is valid? [True, True] Translation: X:197.05, Y:-128.37, Z:-5.03 [[-6.87529969e-01 -7.26106663e-01 8.46500280e-03 1.97051489e+02] [ 7.26051349e-01 -6.87582078e-01 -8.96239261e-03 -1.28368195e+02] [ 1.23280372e-02 -1.58868126e-05 9.99924007e-01 -5.02931216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters 0.01366616620876761 Centerline is valid? [True, True] Translation: X:197.02, Y:-128.32, Z:-5.03 [[-6.95376354e-01 -7.18595186e-01 8.52548389e-03 1.97021250e+02] [ 7.18538560e-01 -6.95428599e-01 -9.02226176e-03 -1.28319015e+02] [ 1.24122192e-02 -1.47978572e-04 9.99922955e-01 -5.03009717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters 0.01656240216873006 Centerline is valid? [True, True] Translation: X:196.99, Y:-128.27, Z:-5.03 [[-7.04563448e-01 -7.09614247e-01 6.16183674e-03 1.96988002e+02] [ 7.09584354e-01 -7.04590358e-01 -6.51702063e-03 -1.28271408e+02] [ 8.96614144e-03 -2.19311585e-04 9.99959779e-01 -5.02630475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters 0.01795148061858283 Centerline is valid? [True, True] Translation: X:196.95, Y:-128.23, Z:-5.02 [[-7.09430953e-01 -7.04752002e-01 5.68665867e-03 1.96950819e+02] [ 7.04726415e-01 -7.09453698e-01 -6.01083446e-03 -1.28227496e+02] [ 8.27056864e-03 -2.56733439e-04 9.99965765e-01 -5.02398727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters 0.019260488012833886 Centerline is valid? [True, True] Translation: X:196.91, Y:-128.18, Z:-5.02 [[-7.14844367e-01 -6.99265284e-01 5.05897111e-03 1.96912323e+02] [ 6.99244912e-01 -7.14862212e-01 -5.34516677e-03 -1.28184780e+02] [ 7.35415684e-03 -2.83502550e-04 9.99972918e-01 -5.02225220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters 0.020366017126895463 Centerline is valid? [True, True] Translation: X:196.87, Y:-128.14, Z:-5.02 [[-7.18015349e-01 -6.96011935e-01 4.62009263e-03 1.96871681e+02] [ 6.95994896e-01 -7.18030155e-01 -4.87864198e-03 -1.28143159e+02] [ 6.71295888e-03 -2.87378932e-04 9.99977427e-01 -5.02246175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters 0.022007230829677867 Centerline is valid? [True, True] Translation: X:196.83, Y:-128.10, Z:-5.02 [[-7.21151122e-01 -6.92765683e-01 4.09474268e-03 1.96828877e+02] [ 6.92752257e-01 -7.21162693e-01 -4.32208696e-03 -1.28104871e+02] [ 5.94716918e-03 -2.80235625e-04 9.99982276e-01 -5.02324677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters 0.02201848034090205 Centerline is valid? [True, True] Translation: X:196.78, Y:-128.07, Z:-5.02 [[-7.21181921e-01 -6.92738278e-01 3.21168057e-03 1.96784495e+02] [ 6.92730027e-01 -7.21189039e-01 -3.38810171e-03 -1.28067299e+02] [ 4.66329657e-03 -2.18610129e-04 9.99989103e-01 -5.02307711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters 0.021144068792339574 Centerline is valid? [True, True] Translation: X:196.74, Y:-128.03, Z:-5.02 [[-7.17733061e-01 -6.96315530e-01 1.98367732e-03 1.96737681e+02] [ 6.96312399e-01 -7.17735793e-01 -2.09178011e-03 -1.28032002e+02] [ 2.88029518e-03 -1.20080629e-04 9.99995845e-01 -5.02199384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters 0.01743378315210481 Centerline is valid? [True, True] Translation: X:196.69, Y:-128.00, Z:-5.02 [[-7.10496642e-01 -7.03697811e-01 1.97801501e-03 1.96687220e+02] [ 7.03694728e-01 -7.10499390e-01 -2.08500509e-03 -1.27999678e+02] [ 2.87259198e-03 -8.94703812e-05 9.99995870e-01 -5.02196349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters 0.014964437338161003 Centerline is valid? [True, True] Translation: X:196.64, Y:-127.97, Z:-5.02 [[-7.04638851e-01 -7.09560824e-01 2.74352607e-03 1.96638403e+02] [ 7.09554943e-01 -7.04644186e-01 -2.89020744e-03 -1.27966129e+02] [ 3.98398766e-03 -8.98699607e-05 9.99992060e-01 -5.02384369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters 0.012908979315299916 Centerline is valid? [True, True] Translation: X:196.59, Y:-127.93, Z:-5.03 [[-6.96201941e-01 -7.17838748e-01 3.22317514e-03 1.96588442e+02] [ 7.17830729e-01 -6.96209401e-01 -3.39338529e-03 -1.27934946e+02] [ 4.67990828e-03 -4.87872655e-05 9.99989048e-01 -5.02609581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters 0.011780915739056147 Centerline is valid? [True, True] Translation: X:196.54, Y:-127.90, Z:-5.02 [[-6.91791846e-01 -7.22093568e-01 2.21812683e-03 1.96541610e+02] [ 7.22089796e-01 -6.91795402e-01 -2.33395449e-03 -1.27899269e+02] [ 3.21982347e-03 -1.29239335e-05 9.99994816e-01 -5.02324177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters 0.011780408195470715 Centerline is valid? [True, True] Translation: X:196.50, Y:-127.86, Z:-5.02 [[-6.91285065e-01 -7.22580480e-01 1.55180277e-03 1.96500579e+02] [ 7.22578638e-01 -6.91286807e-01 -1.63181079e-03 -1.27859584e+02] [ 2.25185541e-03 -6.74689666e-06 9.99997465e-01 -5.02270799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters 0.01173518006678154 Centerline is valid? [True, True] Translation: X:196.46, Y:-127.82, Z:-5.02 [[-6.91833775e-01 -7.22056520e-01 6.40055303e-04 1.96457488e+02] [ 7.22056207e-01 -6.91834071e-01 -6.72675398e-04 -1.27819765e+02] [ 9.28521723e-04 -3.22365624e-06 9.99999569e-01 -5.02216212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters 0.012274733743638503 Centerline is valid? [True, True] Translation: X:196.42, Y:-127.78, Z:-5.02 [[-6.95408759e-01 -7.18614333e-01 3.12751813e-04 1.96417593e+02] [ 7.18614258e-01 -6.95408830e-01 -3.28560992e-04 -1.27779701e+02] [ 4.53599011e-04 -3.73627940e-06 9.99999897e-01 -5.02268241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters 0.013742370523351215 Centerline is valid? [True, True] Translation: X:196.38, Y:-127.74, Z:-5.02 [[-7.01662115e-01 -7.12508490e-01 1.38834566e-03 1.96379113e+02] [ 7.12507000e-01 -7.01663488e-01 -1.45769056e-03 -1.27736432e+02] [ 2.01276835e-03 -3.36002409e-05 9.99997974e-01 -5.02413868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters 0.016121636585301198 Centerline is valid? [True, True] Translation: X:196.34, Y:-127.69, Z:-5.03 [[-7.06002822e-01 -7.08203475e-01 2.80239601e-03 1.96341799e+02] [ 7.08197375e-01 -7.06008378e-01 -2.94078938e-03 -1.27693771e+02] [ 4.06119232e-03 -9.15561050e-05 9.99991749e-01 -5.02629485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters 0.017892270134553377 Centerline is valid? [True, True] Translation: X:196.30, Y:-127.65, Z:-5.03 [[-7.10527712e-01 -7.03650590e-01 5.12038403e-03 1.96302678e+02] [ 7.03630123e-01 -7.10546129e-01 -5.37099516e-03 -1.27652013e+02] [ 7.41757297e-03 -2.13384457e-04 9.99972467e-01 -5.02867175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters 0.01871450700981206 Centerline is valid? [True, True] Translation: X:196.26, Y:-127.61, Z:-5.03 [[-7.11774885e-01 -7.02375383e-01 6.73308769e-03 1.96262508e+02] [ 7.02339974e-01 -7.11806669e-01 -7.05879971e-03 -1.27610028e+02] [ 9.75058387e-03 -2.95359726e-04 9.99952418e-01 -5.02989772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters 0.01743921744572048 Centerline is valid? [True, True] Translation: X:196.22, Y:-127.57, Z:-5.03 [[-7.10313715e-01 -7.03844891e-01 7.53623000e-03 1.96219286e+02] [ 7.03800661e-01 -7.10353628e-01 -7.89643851e-03 -1.27570697e+02] [ 1.09112562e-02 -3.04944923e-04 9.99940424e-01 -5.02955136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters 0.01536471592936444 Centerline is valid? [True, True] Translation: X:196.17, Y:-127.53, Z:-5.03 [[-7.06671335e-01 -7.07502240e-01 7.49695585e-03 1.96174254e+02] [ 7.07458706e-01 -7.06711058e-01 -7.85237581e-03 -1.27532979e+02] [ 1.08537551e-02 -2.45262219e-04 9.99941066e-01 -5.02845304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters 0.014704870034335904 Centerline is valid? [True, True] Translation: X:196.13, Y:-127.49, Z:-5.03 [[-7.01750551e-01 -7.12387932e-01 7.04260389e-03 1.96134303e+02] [ 7.12349798e-01 -7.01785872e-01 -7.37258866e-03 -1.27493203e+02] [ 1.01945431e-02 -1.56920693e-04 9.99948022e-01 -5.02855700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters 0.013534892154414169 Centerline is valid? [True, True] Translation: X:196.09, Y:-127.45, Z:-5.03 [[-6.97846385e-01 -7.16222111e-01 6.02581323e-03 1.96093173e+02] [ 7.16194370e-01 -6.97872396e-01 -6.30428081e-03 -1.27454423e+02] [ 8.72051403e-03 -8.37660633e-05 9.99961972e-01 -5.02794095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters 0.01212090877360525 Centerline is valid? [True, True] Translation: X:196.05, Y:-127.42, Z:-5.03 [[-6.93099643e-01 -7.20820406e-01 5.55229206e-03 1.96049032e+02] [ 7.20797025e-01 -6.93121881e-01 -5.80576846e-03 -1.27416278e+02] [ 8.03333150e-03 -2.19004512e-05 9.99967732e-01 -5.02664054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters 0.012618702371997376 Centerline is valid? [True, True] Translation: X:196.00, Y:-127.38, Z:-5.03 [[-6.85253296e-01 -7.28288405e-01 4.89075539e-03 1.96004285e+02] [ 7.28270471e-01 -6.85270746e-01 -5.11121947e-03 -1.27378536e+02] [ 7.07393347e-03 5.93127427e-05 9.99974978e-01 -5.02527547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters 0.013605362143350064 Centerline is valid? [True, True] Translation: X:195.96, Y:-127.34, Z:-5.02 [[-6.80894176e-01 -7.32369956e-01 4.16769494e-03 1.95964044e+02] [ 7.32357024e-01 -6.80906925e-01 -4.35298752e-03 -1.27337348e+02] [ 6.02580962e-03 8.83168151e-05 9.99981841e-01 -5.02375339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters 0.015447583027284512 Centerline is valid? [True, True] Translation: X:195.92, Y:-127.30, Z:-5.02 [[-6.77015579e-01 -7.35957988e-01 3.96811334e-03 1.95924867e+02] [ 7.35946337e-01 -6.77027198e-01 -4.14268221e-03 -1.27296441e+02] [ 5.73536072e-03 1.15658084e-04 9.99983546e-01 -5.02404542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters 0.016543469527152913 Centerline is valid? [True, True] Translation: X:195.89, Y:-127.25, Z:-5.03 [[-6.75688169e-01 -7.37169856e-01 5.10891325e-03 1.95887259e+02] [ 7.37150599e-01 -6.75707464e-01 -5.33079377e-03 -1.27252497e+02] [ 7.38183129e-03 1.64084179e-04 9.99972740e-01 -5.02617434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters 0.016820650199850927 Centerline is valid? [True, True] Translation: X:195.85, Y:-127.21, Z:-5.03 [[-6.75440092e-01 -7.37389945e-01 6.06233442e-03 1.95850067e+02] [ 7.37362870e-01 -6.75467268e-01 -6.32200337e-03 -1.27208426e+02] [ 8.75669018e-03 2.00005775e-04 9.99961639e-01 -5.02703888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters 0.017528828624036725 Centerline is valid? [True, True] Translation: X:195.81, Y:-127.16, Z:-5.03 [[-6.75363680e-01 -7.37447077e-01 7.46372834e-03 1.95814451e+02] [ 7.37406090e-01 -6.75404875e-01 -7.77903699e-03 -1.27163919e+02] [ 1.07776666e-02 2.50119684e-04 9.99941888e-01 -5.02894363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters 0.015178047788040244 Centerline is valid? [True, True] Translation: X:195.78, Y:-127.11, Z:-5.03 [[-6.78042215e-01 -7.34983587e-01 7.60800753e-03 1.95782495e+02] [ 7.34940893e-01 -6.78084861e-01 -7.92499821e-03 -1.27113663e+02] [ 1.09836183e-02 2.17952507e-04 9.99939655e-01 -5.02785733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters 0.01336224708258863 Centerline is valid? [True, True] Translation: X:195.75, Y:-127.06, Z:-5.03 [[-6.82675794e-01 -7.30682321e-01 7.55679781e-03 1.95749753e+02] [ 7.30639985e-01 -6.82717601e-01 -7.86702335e-03 -1.27064432e+02] [ 1.09074538e-02 1.50672225e-04 9.99940501e-01 -5.02689162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters 0.012318055759483956 Centerline is valid? [True, True] Translation: X:195.72, Y:-127.01, Z:-5.03 [[-6.92096860e-01 -7.21767992e-01 7.27341986e-03 1.95721665e+02] [ 7.21728318e-01 -6.92135078e-01 -7.56762742e-03 -1.27011505e+02] [ 1.04962603e-02 1.19019122e-05 9.99944913e-01 -5.02603482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters 0.013074580459550409 Centerline is valid? [True, True] Translation: X:195.69, Y:-126.96, Z:-5.03 [[-6.99501118e-01 -7.14596056e-01 7.11775414e-03 1.95690616e+02] [ 7.14557732e-01 -6.99537325e-01 -7.40128908e-03 -1.26961390e+02] [ 1.02680667e-02 -9.11637303e-05 9.99947278e-01 -5.02540116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters 0.015662371274683288 Centerline is valid? [True, True] Translation: X:195.66, Y:-126.91, Z:-5.02 [[-7.09853412e-01 -7.04307794e-01 7.65935057e-03 1.95662151e+02] [ 7.04262861e-01 -7.09894687e-01 -7.95965270e-03 -1.26908861e+02] [ 1.10433777e-02 -2.55990473e-04 9.99938987e-01 -5.02467753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters 0.019013999813147622 Centerline is valid? [True, True] Translation: X:195.63, Y:-126.86, Z:-5.03 [[-7.16537374e-01 -6.97489473e-01 9.08991198e-03 1.95633250e+02] [ 6.97425689e-01 -7.16594902e-01 -9.44214483e-03 -1.26857753e+02] [ 1.30995812e-02 -4.26111541e-04 9.99914106e-01 -5.02502161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters 0.018876144359128107 Centerline is valid? [True, True] Translation: X:195.60, Y:-126.81, Z:-5.02 [[-7.18479878e-01 -6.95475931e-01 9.99467503e-03 1.95595876e+02] [ 6.95398708e-01 -7.18549215e-01 -1.03760600e-02 -1.26812893e+02] [ 1.43979659e-02 -5.04706202e-04 9.99896217e-01 -5.02470102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters 0.018361638678296866 Centerline is valid? [True, True] Translation: X:195.56, Y:-126.77, Z:-5.02 [[-7.16504866e-01 -6.97517177e-01 9.51654492e-03 1.95557011e+02] [ 6.97447424e-01 -7.16567928e-01 -9.87397126e-03 -1.26770125e+02] [ 1.37065154e-02 -4.37458716e-04 9.99905966e-01 -5.02409253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters 0.016912911465923722 Centerline is valid? [True, True] Translation: X:195.52, Y:-126.73, Z:-5.02 [[-7.12338127e-01 -7.01782786e-01 8.67833871e-03 1.95515043e+02] [ 7.01725160e-01 -7.12390917e-01 -8.99896636e-03 -1.26730274e+02] [ 1.24976894e-02 -3.20498225e-04 9.99921850e-01 -5.02259863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters 0.01422848024121201 Centerline is valid? [True, True] Translation: X:195.47, Y:-126.69, Z:-5.02 [[-7.04525519e-01 -7.09634000e-01 7.96116114e-03 1.95471388e+02] [ 7.09586056e-01 -7.04570479e-01 -8.25043213e-03 -1.26692843e+02] [ 1.14639863e-02 -1.63511043e-04 9.99934273e-01 -5.02111732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters 0.012735069438355114 Centerline is valid? [True, True] Translation: X:195.43, Y:-126.66, Z:-5.02 [[-6.96254316e-01 -7.17744319e-01 8.54523150e-03 1.95425166e+02] [ 7.17689743e-01 -6.96306751e-01 -8.85106252e-03 -1.26656104e+02] [ 1.23029022e-02 -2.97654745e-05 9.99924316e-01 -5.02219449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters 0.012966619334757025 Centerline is valid? [True, True] Translation: X:195.38, Y:-126.62, Z:-5.03 [[-6.91112338e-01 -7.22695766e-01 8.63515413e-03 1.95380733e+02] [ 7.22640482e-01 -6.91166280e-01 -8.93909844e-03 -1.26621504e+02] [ 1.24285759e-02 6.21907175e-05 9.99922760e-01 -5.02530909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters 0.014559230761906489 Centerline is valid? [True, True] Translation: X:195.33, Y:-126.59, Z:-5.03 [[-6.84510814e-01 -7.28947025e-01 9.00994154e-03 1.95334658e+02] [ 7.28887443e-01 -6.84570084e-01 -9.32180923e-03 -1.26585985e+02] [ 1.29630415e-02 1.86354016e-04 9.99915959e-01 -5.02572130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters 0.01485714211458637 Centerline is valid? [True, True] Translation: X:195.29, Y:-126.55, Z:-5.03 [[-6.81724309e-01 -7.31551818e-01 9.15993298e-03 1.95292757e+02] [ 7.31490539e-01 -6.81785801e-01 -9.47170736e-03 -1.26545423e+02] [ 1.31741570e-02 2.43311161e-04 9.99913187e-01 -5.02503531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters 0.015215727436502492 Centerline is valid? [True, True] Translation: X:195.25, Y:-126.50, Z:-5.03 [[-6.80923587e-01 -7.32293685e-01 9.43546138e-03 1.95251685e+02] [ 7.32228808e-01 -6.80988904e-01 -9.75118737e-03 -1.26504343e+02] [ 1.35661774e-02 2.69103160e-04 9.99907939e-01 -5.02541315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters 0.015036161001620562 Centerline is valid? [True, True] Translation: X:195.21, Y:-126.46, Z:-5.03 [[-6.81071824e-01 -7.32159892e-01 9.11389090e-03 1.95213155e+02] [ 7.32099428e-01 -6.81132751e-01 -9.41291340e-03 -1.26462138e+02] [ 1.30995272e-02 2.61404219e-04 9.99914163e-01 -5.02521872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters 0.014375660084524816 Centerline is valid? [True, True] Translation: X:195.18, Y:-126.42, Z:-5.03 [[-6.83673530e-01 -7.29734154e-01 8.86390732e-03 1.95175202e+02] [ 7.29676822e-01 -6.83730955e-01 -9.14967526e-03 -1.26417899e+02] [ 1.27373584e-02 2.12396945e-04 9.99918854e-01 -5.02587145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters 0.01409836078362543 Centerline is valid? [True, True] Translation: X:195.14, Y:-126.38, Z:-5.03 [[-6.85624425e-01 -7.27903767e-01 8.67485675e-03 1.95136527e+02] [ 7.27848768e-01 -6.85679279e-01 -8.94968961e-03 -1.26375563e+02] [ 1.24626823e-02 1.77857999e-04 9.99922322e-01 -5.02622495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters 0.013693832951475828 Centerline is valid? [True, True] Translation: X:195.10, Y:-126.33, Z:-5.03 [[-6.87028263e-01 -7.26570625e-01 9.34306829e-03 1.95098224e+02] [ 7.26506781e-01 -6.87091769e-01 -9.63316905e-03 -1.26332649e+02] [ 1.34187230e-02 1.69543069e-04 9.99909951e-01 -5.02713457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters 0.014080259650352419 Centerline is valid? [True, True] Translation: X:195.06, Y:-126.29, Z:-5.03 [[-6.86615659e-01 -7.26940935e-01 1.07616932e-02 1.95057098e+02] [ 7.26856369e-01 -6.86699959e-01 -1.10898299e-02 -1.26291318e+02] [ 1.54517056e-02 2.07754344e-04 9.99880594e-01 -5.02954687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters 0.01498020492244446 Centerline is valid? [True, True] Translation: X:195.01, Y:-126.25, Z:-5.03 [[-6.84944860e-01 -7.28482040e-01 1.28240247e-02 1.95014074e+02] [ 7.28362354e-01 -6.85064837e-01 -1.32079687e-02 -1.26251715e+02] [ 1.84070563e-02 2.93806563e-04 9.99830533e-01 -5.03328299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters 0.014377982019476602 Centerline is valid? [True, True] Translation: X:194.97, Y:-126.21, Z:-5.03 [[-6.84391392e-01 -7.28993952e-01 1.32755433e-02 1.94973941e+02] [ 7.28865933e-01 -6.84520060e-01 -1.36652370e-02 -1.26209110e+02] [ 1.90492508e-02 3.23720696e-04 9.99818494e-01 -5.03153328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters 0.014578610223468512 Centerline is valid? [True, True] Translation: X:194.93, Y:-126.17, Z:-5.03 [[-6.85271678e-01 -7.28202412e-01 1.11344106e-02 1.94933924e+02] [ 7.28112353e-01 -6.85362081e-01 -1.14551224e-02 -1.26168256e+02] [ 1.59727506e-02 2.57230997e-04 9.99872394e-01 -5.02958572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters 0.01435918170110337 Centerline is valid? [True, True] Translation: X:194.89, Y:-126.13, Z:-5.03 [[-6.87913956e-01 -7.25737814e-01 8.88901662e-03 1.94894871e+02] [ 7.25680275e-01 -6.87971365e-01 -9.13998791e-03 -1.26126325e+02] [ 1.27486237e-02 1.63058786e-04 9.99918720e-01 -5.02787820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters 0.013506559677107116 Centerline is valid? [True, True] Translation: X:194.86, Y:-126.08, Z:-5.03 [[-6.90814342e-01 -7.22985653e-01 8.20308493e-03 1.94857646e+02] [ 7.22936515e-01 -6.90863036e-01 -8.42976387e-03 -1.26083176e+02] [ 1.17618065e-02 1.06907849e-04 9.99930822e-01 -5.02708241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters 0.01274896061231013 Centerline is valid? [True, True] Translation: X:194.82, Y:-126.04, Z:-5.03 [[-6.94569401e-01 -7.19375488e-01 8.50027956e-03 1.94822309e+02] [ 7.19322521e-01 -6.94621411e-01 -8.72965829e-03 -1.26038302e+02] [ 1.21843784e-02 5.10889950e-05 9.99925766e-01 -5.02531502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters 0.012664235054675083 Centerline is valid? [True, True] Translation: X:194.78, Y:-126.00, Z:-5.03 [[-6.95216933e-01 -7.18754544e-01 8.08214112e-03 1.94781196e+02] [ 7.18706673e-01 -6.95263909e-01 -8.29547680e-03 -1.25997444e+02] [ 1.15816327e-02 4.15328103e-05 9.99932930e-01 -5.02515190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters 0.012776948806538235 Centerline is valid? [True, True] Translation: X:194.74, Y:-125.96, Z:-5.03 [[-6.95265167e-01 -7.18703670e-01 8.44878807e-03 1.94741070e+02] [ 7.18651423e-01 -6.95316498e-01 -8.66599110e-03 -1.25957766e+02] [ 1.21028613e-02 4.65718218e-05 9.99926757e-01 -5.02599867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters 0.01284412660580804 Centerline is valid? [True, True] Translation: X:194.70, Y:-125.92, Z:-5.03 [[-6.95007665e-01 -7.18948065e-01 8.83318359e-03 1.94699689e+02] [ 7.18891048e-01 -6.95063793e-01 -9.05454443e-03 -1.25917518e+02] [ 1.26493733e-02 5.71188330e-05 9.99919992e-01 -5.02655860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters 0.012788544068607669 Centerline is valid? [True, True] Translation: X:194.66, Y:-125.88, Z:-5.03 [[-6.95414988e-01 -7.18553757e-01 8.85958815e-03 1.94658970e+02] [ 7.18496432e-01 -6.95471419e-01 -9.07646755e-03 -1.25876752e+02] [ 1.26835202e-02 5.36708986e-05 9.99919560e-01 -5.02653541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters 0.012714106867509213 Centerline is valid? [True, True] Translation: X:194.62, Y:-125.83, Z:-5.03 [[-6.97078320e-01 -7.16950325e-01 8.00289169e-03 1.94618965e+02] [ 7.16903498e-01 -6.97124257e-01 -8.19412725e-03 -1.25834722e+02] [ 1.14537921e-02 2.53525915e-05 9.99934403e-01 -5.02568194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters 0.012673217082219808 Centerline is valid? [True, True] Translation: X:194.58, Y:-125.79, Z:-5.02 [[-6.98704677e-01 -7.15376585e-01 6.93664497e-03 1.94581442e+02] [ 7.15341374e-01 -6.98739109e-01 -7.09767673e-03 -1.25793111e+02] [ 9.92441686e-03 2.88921993e-06 9.99950752e-01 -5.02453400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters 0.012596941616962253 Centerline is valid? [True, True] Translation: X:194.54, Y:-125.75, Z:-5.02 [[-6.99793045e-01 -7.14312896e-01 6.83962635e-03 1.94541803e+02] [ 7.14278655e-01 -6.99826469e-01 -6.99407059e-03 -1.25751778e+02] [ 9.78250638e-03 -9.00285077e-06 9.99952150e-01 -5.02448152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters 0.012864147250970582 Centerline is valid? [True, True] Translation: X:194.50, Y:-125.71, Z:-5.03 [[-7.01598816e-01 -7.12539238e-01 6.85087254e-03 1.94503834e+02] [ 7.12504832e-01 -7.01632263e-01 -7.00224120e-03 -1.25710326e+02] [ 9.79616481e-03 -3.14843479e-05 9.99952016e-01 -5.02582480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters 0.012886596111803513 Centerline is valid? [True, True] Translation: X:194.46, Y:-125.67, Z:-5.03 [[-7.02898601e-01 -7.11253403e-01 7.22180376e-03 1.94464840e+02] [ 7.11215148e-01 -7.02935698e-01 -7.37685233e-03 -1.25668170e+02] [ 1.03232750e-02 -4.89229488e-05 9.99946712e-01 -5.02530318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters 0.012892165132729934 Centerline is valid? [True, True] Translation: X:194.43, Y:-125.63, Z:-5.02 [[-7.04019685e-01 -7.10146548e-01 6.93999491e-03 1.94425643e+02] [ 7.10111212e-01 -7.04053888e-01 -7.08450815e-03 -1.25626230e+02] [ 9.91716940e-03 -5.94649975e-05 9.99950822e-01 -5.02462479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters 0.012717863364483445 Centerline is valid? [True, True] Translation: X:194.38, Y:-125.59, Z:-5.02 [[-7.03496319e-01 -7.10664531e-01 6.98951075e-03 1.94384118e+02] [ 7.10628755e-01 -7.03531038e-01 -7.13097148e-03 -1.25586169e+02] [ 9.98506626e-03 -4.96648622e-05 9.99950147e-01 -5.02485266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters 0.012788276744431518 Centerline is valid? [True, True] Translation: X:194.34, Y:-125.55, Z:-5.03 [[-7.02602141e-01 -7.11550890e-01 6.75001761e-03 1.94344411e+02] [ 7.11517608e-01 -7.02634564e-01 -6.88203015e-03 -1.25546852e+02] [ 9.63971036e-03 -3.25727266e-05 9.99953536e-01 -5.02572313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters 0.012595972165105456 Centerline is valid? [True, True] Translation: X:194.30, Y:-125.51, Z:-5.03 [[-7.00977787e-01 -7.13143347e-01 7.53048714e-03 1.94303103e+02] [ 7.13102068e-01 -7.01018236e-01 -7.67290005e-03 -1.25507231e+02] [ 1.07508864e-02 -8.52654486e-06 9.99942208e-01 -5.02561659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters 0.012523805613705056 Centerline is valid? [True, True] Translation: X:194.26, Y:-125.47, Z:-5.03 [[-7.00395223e-01 -7.13712156e-01 7.84150698e-03 1.94261200e+02] [ 7.13667489e-01 -7.00439118e-01 -7.98478026e-03 -1.25467555e+02] [ 1.11913330e-02 3.72664328e-06 9.99937375e-01 -5.02629369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters 0.012611144528126155 Centerline is valid? [True, True] Translation: X:194.22, Y:-125.43, Z:-5.03 [[-6.99705902e-01 -7.14383517e-01 8.23661929e-03 1.94219166e+02] [ 7.14334344e-01 -6.99754379e-01 -8.38184761e-03 -1.25428748e+02] [ 1.17514642e-02 1.88717945e-05 9.99930949e-01 -5.02721276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters 0.012718940864857213 Centerline is valid? [True, True] Translation: X:194.18, Y:-125.39, Z:-5.03 [[-6.98989048e-01 -7.15078116e-01 8.80902227e-03 1.94178104e+02] [ 7.15021997e-01 -6.99044553e-01 -8.95867154e-03 -1.25389435e+02] [ 1.25640490e-02 3.66314063e-05 9.99921069e-01 -5.02709274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters 0.012596735762194526 Centerline is valid? [True, True] Translation: X:194.14, Y:-125.35, Z:-5.03 [[-6.98665966e-01 -7.15395975e-01 8.62941230e-03 1.94136111e+02] [ 7.15342207e-01 -6.98719255e-01 -8.77100360e-03 -1.25348753e+02] [ 1.23042772e-02 4.49811330e-05 9.99924299e-01 -5.02670246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters 0.012713836824609418 Centerline is valid? [True, True] Translation: X:194.10, Y:-125.31, Z:-5.03 [[-6.99900066e-01 -7.14190404e-01 8.48318856e-03 1.94096791e+02] [ 7.14138423e-01 -6.99951474e-01 -8.61664011e-03 -1.25308362e+02] [ 1.20917420e-02 2.73839211e-05 9.99926892e-01 -5.02625483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters 0.012569724884341521 Centerline is valid? [True, True] Translation: X:194.06, Y:-125.27, Z:-5.02 [[-7.01683652e-01 -7.12439380e-01 8.37745950e-03 1.94057071e+02] [ 7.12388620e-01 -7.01733660e-01 -8.50437445e-03 -1.25265334e+02] [ 1.19375966e-02 6.26287754e-07 9.99928744e-01 -5.02477756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters 0.012795990801571412 Centerline is valid? [True, True] Translation: X:194.02, Y:-125.22, Z:-5.02 [[-7.04019199e-01 -7.10131429e-01 8.38580035e-03 1.94020079e+02] [ 7.10080471e-01 -7.04069139e-01 -8.50714818e-03 -1.25222907e+02] [ 1.19453765e-02 -3.46025795e-05 9.99928651e-01 -5.02401819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters 0.012841268044264342 Centerline is valid? [True, True] Translation: X:193.98, Y:-125.18, Z:-5.02 [[-7.04605388e-01 -7.09550685e-01 8.31103777e-03 1.93980230e+02] [ 7.09500654e-01 -7.04654400e-01 -8.42607346e-03 -1.25182140e+02] [ 1.18351355e-02 -4.03700274e-05 9.99929962e-01 -5.02415861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters 0.012632945616219292 Centerline is valid? [True, True] Translation: X:193.94, Y:-125.14, Z:-5.02 [[-7.03980702e-01 -7.10171148e-01 8.25299106e-03 1.93938427e+02] [ 7.10121911e-01 -7.04029076e-01 -8.36245123e-03 -1.25142025e+02] [ 1.17491173e-02 -2.63745017e-05 9.99930976e-01 -5.02362263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters 0.012702577236105737 Centerline is valid? [True, True] Translation: X:193.90, Y:-125.10, Z:-5.02 [[-7.02189652e-01 -7.11939721e-01 8.45731677e-03 1.93896539e+02] [ 7.11888203e-01 -7.02240581e-01 -8.56462858e-03 -1.25101497e+02] [ 1.20365703e-02 6.67047816e-06 9.99927558e-01 -5.02293901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters 0.013088275634511414 Centerline is valid? [True, True] Translation: X:193.85, Y:-125.06, Z:-5.02 [[-6.98155189e-01 -7.15890840e-01 8.92402250e-03 1.93853878e+02] [ 7.15833852e-01 -6.98212216e-01 -9.03315435e-03 -1.25064081e+02] [ 1.26976140e-02 8.15738163e-05 9.99919379e-01 -5.02388390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters 0.013946897276896434 Centerline is valid? [True, True] Translation: X:193.81, Y:-125.03, Z:-5.03 [[-6.93927266e-01 -7.19978071e-01 9.82475916e-03 1.93809763e+02] [ 7.19909487e-01 -6.93996791e-01 -9.93902787e-03 -1.25026763e+02] [ 1.39742334e-02 1.75974893e-04 9.99902340e-01 -5.02545227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters 0.014232953546286634 Centerline is valid? [True, True] Translation: X:193.77, Y:-124.99, Z:-5.03 [[-6.92383108e-01 -7.21461621e-01 9.93789865e-03 1.93768203e+02] [ 7.21391680e-01 -6.92454392e-01 -1.00478066e-02 -1.24985595e+02] [ 1.41306484e-02 2.12185811e-04 9.99900135e-01 -5.02519962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters 0.014472079845449688 Centerline is valid? [True, True] Translation: X:193.73, Y:-124.94, Z:-5.02 [[-6.91401243e-01 -7.22412645e-01 9.18102023e-03 1.93728454e+02] [ 7.22353106e-01 -6.91462163e-01 -9.27728439e-03 -1.24942865e+02] [ 1.30503557e-02 2.17612515e-04 9.99914817e-01 -5.02359930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters 0.014485981766007482 Centerline is valid? [True, True] Translation: X:193.69, Y:-124.90, Z:-5.02 [[-6.91939031e-01 -7.21909701e-01 8.17075815e-03 1.93688879e+02] [ 7.21862570e-01 -6.91987245e-01 -8.25119596e-03 -1.24901691e+02] [ 1.16106788e-02 1.88839941e-04 9.99932576e-01 -5.02266981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters 0.014466992383850132 Centerline is valid? [True, True] Translation: X:193.65, Y:-124.86, Z:-5.02 [[-6.92910737e-01 -7.20989433e-01 6.99625419e-03 1.93649640e+02] [ 7.20954871e-01 -6.92946040e-01 -7.06118329e-03 -1.24860816e+02] [ 9.93906517e-03 1.51213814e-04 9.99950595e-01 -5.02253604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters 0.014153782277218373 Centerline is valid? [True, True] Translation: X:193.61, Y:-124.82, Z:-5.02 [[-6.93475812e-01 -7.20449837e-01 6.58260955e-03 1.93611037e+02] [ 7.20419255e-01 -6.93507039e-01 -6.63949539e-03 -1.24818286e+02] [ 9.34850943e-03 1.37909209e-04 9.99956292e-01 -5.02127775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters 0.014178895836187746 Centerline is valid? [True, True] Translation: X:193.57, Y:-124.78, Z:-5.02 [[-6.93433237e-01 -7.20490351e-01 6.63329633e-03 1.93571047e+02] [ 7.20459334e-01 -6.93464948e-01 -6.68681239e-03 -1.24775597e+02] [ 9.41774230e-03 1.42162295e-04 9.99955642e-01 -5.02165430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters 0.014596519827756213 Centerline is valid? [True, True] Translation: X:193.53, Y:-124.74, Z:-5.02 [[-6.92266368e-01 -7.21600328e-01 7.76160418e-03 1.93528637e+02] [ 7.21557981e-01 -6.92309852e-01 -7.81978111e-03 -1.24735339e+02] [ 1.10161917e-02 1.87075973e-04 9.99939302e-01 -5.02444487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters 0.015917744942279224 Centerline is valid? [True, True] Translation: X:193.49, Y:-124.70, Z:-5.03 [[-6.91398936e-01 -7.22424170e-01 8.41607094e-03 1.93486612e+02] [ 7.22374501e-01 -6.91450121e-01 -8.47411729e-03 -1.24696054e+02] [ 1.19412004e-02 2.20559368e-04 9.99928677e-01 -5.02642532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters 0.014920878834698626 Centerline is valid? [True, True] Translation: X:193.45, Y:-124.65, Z:-5.02 [[-6.92596051e-01 -7.21290317e-01 7.14063480e-03 1.93447587e+02] [ 7.21254540e-01 -6.92632838e-01 -7.18611096e-03 -1.24652183e+02] [ 1.01291104e-02 1.73143194e-04 9.99948684e-01 -5.02375773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters 0.014439160397511802 Centerline is valid? [True, True] Translation: X:193.41, Y:-124.61, Z:-5.02 [[-6.94108816e-01 -7.19836620e-01 6.94202459e-03 1.93407489e+02] [ 7.19802771e-01 -6.94143514e-01 -6.98231010e-03 -1.24609712e+02] [ 9.84488384e-03 1.50405544e-04 9.99951527e-01 -5.02370451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters 0.013536771010925175 Centerline is valid? [True, True] Translation: X:193.37, Y:-124.57, Z:-5.02 [[-6.97605974e-01 -7.16457987e-01 5.81875667e-03 1.93369887e+02] [ 7.16434115e-01 -6.97630236e-01 -5.84921299e-03 -1.24565590e+02] [ 8.25005595e-03 8.83098581e-05 9.99965964e-01 -5.02248084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters 0.013147264459589964 Centerline is valid? [True, True] Translation: X:193.33, Y:-124.52, Z:-5.02 [[-7.00235057e-01 -7.13893053e-01 5.25099758e-03 1.93330863e+02] [ 7.13873563e-01 -7.00254743e-01 -5.27552654e-03 -1.24522516e+02] [ 7.44319772e-03 5.44397200e-05 9.99972298e-01 -5.02151801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters 0.012953632321238834 Centerline is valid? [True, True] Translation: X:193.29, Y:-124.48, Z:-5.02 [[-7.01736714e-01 -7.12418734e-01 5.01310869e-03 1.93290704e+02] [ 7.12400955e-01 -7.01754619e-01 -5.03322868e-03 -1.24482491e+02] [ 7.10373858e-03 3.93420626e-05 9.99974767e-01 -5.02214219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters 0.01278070696954758 Centerline is valid? [True, True] Translation: X:193.25, Y:-124.44, Z:-5.02 [[-7.03385557e-01 -7.10788655e-01 5.31468786e-03 1.93250152e+02] [ 7.10768649e-01 -7.03405635e-01 -5.33297464e-03 -1.24441392e+02] [ 7.52899926e-03 2.63761681e-05 9.99971656e-01 -5.02266502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters 0.012778836132430017 Centerline is valid? [True, True] Translation: X:193.21, Y:-124.40, Z:-5.02 [[-7.03858947e-01 -7.10310841e-01 6.41037808e-03 1.93208846e+02] [ 7.10281752e-01 -7.03888137e-01 -6.42835795e-03 -1.24401738e+02] [ 9.07832142e-03 2.85173180e-05 9.99958791e-01 -5.02406696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters 0.01292938552803122 Centerline is valid? [True, True] Translation: X:193.17, Y:-124.36, Z:-5.03 [[-7.04144752e-01 -7.10026055e-01 6.57041156e-03 1.93167780e+02] [ 7.09995523e-01 -7.04175405e-01 -6.58450482e-03 -1.24363363e+02] [ 9.30189220e-03 2.85182826e-05 9.99956736e-01 -5.02603119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters 0.012860196437712598 Centerline is valid? [True, True] Translation: X:193.13, Y:-124.32, Z:-5.03 [[-7.04941433e-01 -7.09236466e-01 6.41959369e-03 1.93126066e+02] [ 7.09207322e-01 -7.04970663e-01 -6.42956005e-03 -1.24323707e+02] [ 9.08570366e-03 2.03595744e-05 9.99958724e-01 -5.02631054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters 0.012686145711845388 Centerline is valid? [True, True] Translation: X:193.08, Y:-124.28, Z:-5.02 [[-7.04941123e-01 -7.09238625e-01 6.21176449e-03 1.93084362e+02] [ 7.09211369e-01 -7.04968490e-01 -6.21787964e-03 -1.24282865e+02] [ 8.78905864e-03 2.22149430e-05 9.99961375e-01 -5.02485445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters 0.012746693276646374 Centerline is valid? [True, True] Translation: X:193.04, Y:-124.25, Z:-5.02 [[-7.03826981e-01 -7.10347530e-01 5.82820572e-03 1.93042447e+02] [ 7.10323605e-01 -7.03851111e-01 -5.83006938e-03 -1.24245036e+02] [ 8.24356445e-03 3.65519667e-05 9.99966021e-01 -5.02467023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters 0.013022025729168062 Centerline is valid? [True, True] Translation: X:193.00, Y:-124.21, Z:-5.03 [[-7.01942743e-01 -7.12209308e-01 5.85553155e-03 1.92999050e+02] [ 7.12185253e-01 -7.01967163e-01 -5.85381029e-03 -1.24207634e+02] [ 8.27952905e-03 6.11835700e-05 9.99965722e-01 -5.02564123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters 0.012995958762613393 Centerline is valid? [True, True] Translation: X:192.52, Y:-124.68, Z:-4.01 [[-7.61311697e-01 6.48356919e-01 6.14869371e-03 1.92518138e+02] [ 6.48334999e-01 7.61336523e-01 -5.33181045e-03 -1.24680258e+02] [-8.13814129e-03 -7.27563300e-05 -9.99966882e-01 -4.01475842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters 0.013245579193161147 Centerline is valid? [True, True] Translation: X:192.54, Y:-124.66, Z:-4.02 [[-8.06369577e-01 5.91383255e-01 5.82671735e-03 1.92537906e+02] [ 5.91367110e-01 8.06390625e-01 -4.37056989e-03 -1.24659323e+02] [-7.28329209e-03 -7.85655924e-05 -9.99973473e-01 -4.01524952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters 0.013340954304660405 Centerline is valid? [True, True] Translation: X:192.56, Y:-124.64, Z:-4.01 [[-8.46537661e-01 5.32301139e-01 5.43010228e-03 1.92555335e+02] [ 5.32289629e-01 8.46555073e-01 -3.50140699e-03 -1.24636750e+02] [-6.46068356e-03 -7.36857605e-05 -9.99979127e-01 -4.01495207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters 0.013293857718611945 Centerline is valid? [True, True] Translation: X:192.57, Y:-124.61, Z:-4.01 [[-8.82164205e-01 4.70911804e-01 5.32807411e-03 1.92569313e+02] [ 4.70902732e-01 8.82180292e-01 -2.92389148e-03 -1.24613604e+02] [-6.07721699e-03 -7.03477516e-05 -9.99981531e-01 -4.01460619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters 0.013573297080078725 Centerline is valid? [True, True] Translation: X:192.58, Y:-124.59, Z:-4.01 [[-9.13816477e-01 4.06088122e-01 5.64656041e-03 1.92577934e+02] [ 4.06079825e-01 9.13833919e-01 -2.59708160e-03 -1.24586697e+02] [-6.21466241e-03 -8.03016967e-05 -9.99980686e-01 -4.01389109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters 0.013957346150336168 Centerline is valid? [True, True] Translation: X:192.59, Y:-124.56, Z:-4.01 [[-9.40752847e-01 3.39034322e-01 6.30947606e-03 1.92590422e+02] [ 3.39026007e-01 9.40774000e-01 -2.37653050e-03 -1.24561596e+02] [-6.74151644e-03 -9.66513564e-05 -9.99977271e-01 -4.01276648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters 0.014083119850012595 Centerline is valid? [True, True] Translation: X:192.83, Y:-123.95, Z:-5.03 [[-9.03629741e-01 -4.28261007e-01 6.76770097e-03 1.92827175e+02] [ 4.28250221e-01 -9.03655071e-01 -3.04310602e-03 -1.23946182e+02] [ 7.41891095e-03 1.48428330e-04 9.99972469e-01 -5.02832515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters 0.01421317420855456 Centerline is valid? [True, True] Translation: X:192.55, Y:-124.55, Z:-4.01 [[-9.42354836e-01 3.34490808e-01 9.12481923e-03 1.92545920e+02] [ 3.34473573e-01 9.42399001e-01 -3.39886951e-03 -1.24545795e+02] [-9.73611113e-03 -1.50930235e-04 -9.99952592e-01 -4.00875686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters 0.014024379107533142 Centerline is valid? [True, True] Translation: X:192.55, Y:-124.52, Z:-4.01 [[-9.63449233e-01 2.67708618e-01 9.88289454e-03 1.92545405e+02] [ 2.67692923e-01 9.63499908e-01 -2.90271293e-03 -1.24520224e+02] [-1.02992493e-02 -1.51035615e-04 -9.99946950e-01 -4.00787939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters 0.014127650372999357 Centerline is valid? [True, True] Translation: X:192.56, Y:-124.50, Z:-4.01 [[-9.79432039e-01 2.01536509e-01 9.79374141e-03 1.92560719e+02] [ 2.01525223e-01 9.79480996e-01 -2.13619335e-03 -1.24500808e+02] [-1.00233045e-02 -1.18570288e-04 -9.99949758e-01 -4.00767457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters 0.013327021603058176 Centerline is valid? [True, True] Translation: X:192.57, Y:-124.48, Z:-4.01 [[-9.90957796e-01 1.33883643e-01 8.82135870e-03 1.92565997e+02] [ 1.33877578e-01 9.90997055e-01 -1.27720654e-03 -1.24479358e+02] [-8.91293756e-03 -8.46756410e-05 -9.99960275e-01 -4.01012535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters 0.012863690956388795 Centerline is valid? [True, True] Translation: X:192.67, Y:-123.80, Z:-5.03 [[-9.76610104e-01 -2.14911388e-01 6.76755785e-03 1.92668134e+02] [ 2.14905865e-01 -9.76633551e-01 -1.54147944e-03 -1.23798796e+02] [ 6.94070554e-03 -5.10365163e-05 9.99975912e-01 -5.02857062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters 0.0128142147340154 Centerline is valid? [True, True] Translation: X:192.52, Y:-124.48, Z:-4.01 [[-9.90689733e-01 1.36022504e-01 5.63307675e-03 1.92520860e+02] [ 1.36020196e-01 9.90705747e-01 -7.92564869e-04 -1.24480159e+02] [-5.68852817e-03 -1.89736717e-05 -9.99983820e-01 -4.01295929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters 0.012858944985100016 Centerline is valid? [True, True] Translation: X:192.62, Y:-123.79, Z:-5.03 [[-9.77859448e-01 -2.09202619e-01 5.01632092e-03 1.92619293e+02] [ 2.09199771e-01 -9.77872315e-01 -1.09169674e-03 -1.23790584e+02] [ 5.13370717e-03 -1.81127873e-05 9.99986822e-01 -5.02663950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters 0.013060501125419777 Centerline is valid? [True, True] Translation: X:192.46, Y:-124.47, Z:-4.01 [[-9.91371304e-01 1.30952235e-01 5.86940875e-03 1.92464102e+02] [ 1.30949778e-01 9.91388678e-01 -8.02741296e-04 -1.24470636e+02] [-5.92398615e-03 -2.72169139e-05 -9.99982453e-01 -4.01193107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters 0.013072443029388068 Centerline is valid? [True, True] Translation: X:192.56, Y:-123.79, Z:-5.03 [[-9.78228084e-01 -2.07429509e-01 6.54326680e-03 1.92564881e+02] [ 2.07425408e-01 -9.78249964e-01 -1.30679340e-03 -1.23786781e+02] [ 6.67201803e-03 7.88977864e-05 9.99977739e-01 -5.02807207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters 0.013080361798501102 Centerline is valid? [True, True] Translation: X:192.42, Y:-124.46, Z:-4.01 [[-9.92002755e-01 1.26012997e-01 7.15949610e-03 1.92419819e+02] [ 1.26009415e-01 9.92028590e-01 -9.51131770e-04 -1.24461869e+02] [-7.22227978e-03 -4.13614242e-05 -9.99973918e-01 -4.01116501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters 0.01299644200310993 Centerline is valid? [True, True] Translation: X:192.52, Y:-123.79, Z:-5.03 [[-9.79093739e-01 -2.03278925e-01 7.28894417e-03 1.92515031e+02] [ 2.03273716e-01 -9.79120869e-01 -1.45625345e-03 -1.23785033e+02] [ 7.43278298e-03 5.58421325e-05 9.99972375e-01 -5.02892390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters 0.0129273142915524 Centerline is valid? [True, True] Translation: X:192.36, Y:-124.45, Z:-4.01 [[-9.91990873e-01 1.26121303e-01 6.89378097e-03 1.92362434e+02] [ 1.26118171e-01 9.92014827e-01 -8.88923576e-04 -1.24454165e+02] [-6.95084513e-03 -1.23730255e-05 -9.99975843e-01 -4.01177623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters 0.012993570094803215 Centerline is valid? [True, True] Translation: X:192.37, Y:-124.43, Z:-4.01 [[-9.98292014e-01 5.80419131e-02 6.64768383e-03 1.92369637e+02] [ 5.80406649e-02 9.98314147e-01 -3.80684886e-04 -1.24427926e+02] [-6.65857250e-03 5.80130809e-06 -9.99977831e-01 -4.01246634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters 0.013103926974422052 Centerline is valid? [True, True] Translation: X:192.38, Y:-124.40, Z:-4.01 [[-9.99926690e-01 -1.00791781e-02 6.71002324e-03 1.92376827e+02] [-1.00787803e-02 9.99949204e-01 9.30929926e-05 -1.24401002e+02] [-6.71062069e-03 2.54573180e-05 -9.99977483e-01 -4.01325911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters 0.013185081550099249 Centerline is valid? [True, True] Translation: X:192.37, Y:-123.72, Z:-5.03 [[-9.98794524e-01 -4.85987677e-02 6.90354565e-03 1.92370444e+02] [ 4.85975147e-02 -9.98818382e-01 -3.49229680e-04 -1.23718045e+02] [ 6.91236042e-03 -1.33135312e-05 9.99976109e-01 -5.02727851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters 0.01326350834202837 Centerline is valid? [True, True] Translation: X:192.31, Y:-124.40, Z:-4.01 [[-9.99883980e-01 -1.32435423e-02 7.52569508e-03 1.92308010e+02] [-1.32428749e-02 9.99912300e-01 1.38520940e-04 -1.24399608e+02] [-7.52686959e-03 3.88430308e-05 -9.99971672e-01 -4.01272617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters 0.013272038597101306 Centerline is valid? [True, True] Translation: X:192.30, Y:-123.72, Z:-5.03 [[-9.98964267e-01 -4.49849153e-02 6.83746968e-03 1.92298131e+02] [ 4.49833110e-02 -9.98987663e-01 -3.88319055e-04 -1.23723072e+02] [ 6.84801635e-03 -8.03448351e-05 9.99976549e-01 -5.02769493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters 0.013012288249183995 Centerline is valid? [True, True] Translation: X:192.24, Y:-124.39, Z:-4.01 [[-9.99735444e-01 -2.15997281e-02 7.90529953e-03 1.92240149e+02] [-2.15989711e-02 9.99766699e-01 1.81128744e-04 -1.24394646e+02] [-7.90736755e-03 1.03344894e-05 -9.99968736e-01 -4.01270338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters 0.013140052287259207 Centerline is valid? [True, True] Translation: X:192.23, Y:-124.36, Z:-4.01 [[-9.95222922e-01 -9.71963187e-02 9.17671456e-03 1.92227800e+02] [-9.71924694e-02 9.95265228e-01 8.65556727e-04 -1.24362455e+02] [-9.21739384e-03 -3.04856542e-05 -9.99957518e-01 -4.01117993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters 0.013273513327331211 Centerline is valid? [True, True] Translation: X:192.16, Y:-123.71, Z:-5.03 [[-9.99745793e-01 2.02585448e-02 9.89651535e-03 1.92164866e+02] [-2.02567626e-02 -9.99794771e-01 2.80294599e-04 -1.23714183e+02] [ 9.90016266e-03 7.97519838e-05 9.99950989e-01 -5.02901930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters 0.013468743480801994 Centerline is valid? [True, True] Translation: X:192.15, Y:-124.36, Z:-4.01 [[-9.94157626e-01 -1.07410175e-01 1.06615576e-02 1.92152978e+02] [-1.07404994e-01 9.94214789e-01 1.05900338e-03 -1.24363537e+02] [-1.07136260e-02 -9.22882382e-05 -9.99942603e-01 -4.01119093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters 0.013633250608455723 Centerline is valid? [True, True] Translation: X:192.14, Y:-124.34, Z:-4.01 [[-9.83791482e-01 -1.78983986e-01 1.09111482e-02 1.92136381e+02] [-1.78974194e-01 9.83851981e-01 1.87524498e-03 -1.24336821e+02] [-1.10705936e-02 -1.07963927e-04 -9.99938713e-01 -4.01100023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters 0.013628411313618817 Centerline is valid? [True, True] Translation: X:192.12, Y:-124.31, Z:-4.01 [[-9.68449136e-01 -2.48951031e-01 1.13866193e-02 1.92121477e+02] [-2.48935257e-01 9.68516066e-01 2.80496253e-03 -1.24312171e+02] [-1.17264220e-02 -1.18067456e-04 -9.99931236e-01 -4.01112883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters 0.013451556429945664 Centerline is valid? [True, True] Translation: X:192.10, Y:-124.29, Z:-4.01 [[-9.48450876e-01 -3.16733203e-01 1.10006669e-02 1.92100955e+02] [-3.16713150e-01 9.48514664e-01 3.56553268e-03 -1.24289949e+02] [-1.15636165e-02 -1.02323286e-04 -9.99933134e-01 -4.01103909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters 0.01332222118599777 Centerline is valid? [True, True] Translation: X:192.07, Y:-124.28, Z:-4.01 [[-9.24343014e-01 -3.81442279e-01 9.58018847e-03 1.92067152e+02] [-3.81422461e-01 9.24392657e-01 3.88871040e-03 -1.24275869e+02] [-1.03391744e-02 -5.95967731e-05 -9.99946548e-01 -4.01119240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters 0.012861523467262654 Centerline is valid? [True, True] Translation: X:192.02, Y:-124.27, Z:-4.01 [[-8.94909024e-01 -4.46153977e-01 9.19057789e-03 1.92018035e+02] [-4.46130894e-01 8.94956215e-01 4.53851472e-03 -1.24271241e+02] [-1.02500412e-02 -3.86429505e-05 -9.99947466e-01 -4.01329596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters 0.012847417864288295 Centerline is valid? [True, True] Translation: X:191.95, Y:-124.28, Z:-4.01 [[-8.60845104e-01 -5.08761100e-01 1.03850837e-02 1.91953873e+02] [-5.08724304e-01 8.60907743e-01 6.11880671e-03 -1.24278322e+02] [-1.20536098e-02 -1.57996712e-05 -9.99927353e-01 -4.01218707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters 0.012999182208564473 Centerline is valid? [True, True] Translation: X:191.88, Y:-124.29, Z:-4.01 [[-8.21291180e-01 -5.70395522e-01 1.13906448e-02 1.91880481e+02] [-5.70340751e-01 8.21370166e-01 7.90435041e-03 -1.24294719e+02] [-1.38645419e-02 -4.77566000e-06 -9.99903883e-01 -4.01029870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters 0.012942226671369333 Centerline is valid? [True, True] Translation: X:191.81, Y:-124.32, Z:-4.01 [[-7.77039981e-01 -6.29348057e-01 1.13969885e-02 1.91805496e+02] [-6.29280210e-01 7.77123557e-01 9.24094746e-03 -1.24319904e+02] [-1.46726406e-02 8.68631842e-06 -9.99892351e-01 -4.01035372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters 0.013136090494121129 Centerline is valid? [True, True] Translation: X:191.72, Y:-124.36, Z:-4.01 [[-7.27841023e-01 -6.85672059e-01 1.00634261e-02 1.91724286e+02] [-6.85606309e-01 7.27910590e-01 9.49538159e-03 -1.24357406e+02] [-1.38359923e-02 1.15798448e-05 -9.99904278e-01 -4.00960526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters 0.012759112939477159 Centerline is valid? [True, True] Translation: X:191.64, Y:-124.40, Z:-4.01 [[-6.73452176e-01 -7.39173979e-01 9.16485954e-03 1.91641908e+02] [-7.39105584e-01 6.73514534e-01 1.00552233e-02 -1.24402773e+02] [-1.36052255e-02 -2.08685552e-06 -9.99907445e-01 -4.01158311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters 0.012761875921203394 Centerline is valid? [True, True] Translation: X:191.56, Y:-124.46, Z:-4.01 [[-6.15246855e-01 -7.88293684e-01 8.02343336e-03 1.91560435e+02] [-7.88226866e-01 6.15299169e-01 1.02635320e-02 -1.24457422e+02] [-1.30274893e-02 -9.67997806e-06 -9.99915139e-01 -4.01158576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters 0.012902477050656174 Centerline is valid? [True, True] Translation: X:191.48, Y:-124.53, Z:-4.01 [[-5.51638241e-01 -8.34051661e-01 7.28548456e-03 1.91477985e+02] [-8.33979983e-01 5.51686347e-01 1.09344802e-02 -1.24525404e+02] [-1.31392237e-02 -4.40708759e-05 -9.99913676e-01 -4.01104801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters 0.013216825175990505 Centerline is valid? [True, True] Translation: X:191.40, Y:-124.60, Z:-4.01 [[-4.83840769e-01 -8.75133139e-01 6.33240639e-03 1.91402215e+02] [-8.75060483e-01 4.83882198e-01 1.12769183e-02 -1.24597226e+02] [-1.29329437e-02 -8.50057595e-05 -9.99916362e-01 -4.01080353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters 0.01324356142177248 Centerline is valid? [True, True] Translation: X:191.33, Y:-124.68, Z:-4.01 [[-4.13518477e-01 -9.10479891e-01 5.37001491e-03 1.91329550e+02] [-9.10406721e-01 4.13553327e-01 1.15433203e-02 -1.24680126e+02] [-1.27307486e-02 -1.15521433e-04 -9.99918954e-01 -4.01190407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters 0.014240374770588959 Centerline is valid? [True, True] Translation: X:191.26, Y:-124.77, Z:-4.01 [[-3.39290169e-01 -9.40670305e-01 4.64306491e-03 1.91260505e+02] [-9.40589023e-01 3.39321893e-01 1.23669637e-02 -1.24772600e+02] [-1.32087291e-02 -1.71226704e-04 -9.99912746e-01 -4.01025248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters 0.014222334646282375 Centerline is valid? [True, True] Translation: X:191.20, Y:-124.88, Z:-4.01 [[-2.64416974e-01 -9.64401485e-01 3.66597541e-03 1.91200133e+02] [-9.64318908e-01 2.64442312e-01 1.26216679e-02 -1.24875466e+02] [-1.31417943e-02 -1.97786163e-04 -9.99913623e-01 -4.01164885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters 0.015290749105619828 Centerline is valid? [True, True] Translation: X:191.15, Y:-124.97, Z:-4.01 [[-1.87687971e-01 -9.82225240e-01 2.60832674e-03 1.91148059e+02] [-9.82145979e-01 1.87705966e-01 1.24798624e-02 -1.24972108e+02] [-1.27476343e-02 -2.19437570e-04 -9.99918722e-01 -4.01116283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters 0.014605597670596512 Centerline is valid? [True, True] Translation: X:191.11, Y:-125.08, Z:-4.01 [[-1.10889172e-01 -9.93831701e-01 1.46349366e-03 1.91106403e+02] [-9.93767991e-01 1.10898637e-01 1.12548919e-02 -1.25077266e+02] [-1.13477678e-02 -2.06327504e-04 -9.99935591e-01 -4.01350025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters 0.01484974928138934 Centerline is valid? [True, True] Translation: X:191.07, Y:-125.19, Z:-4.01 [[-3.39717432e-02 -9.99422606e-01 6.13309511e-04 1.91070365e+02] [-9.99354468e-01 3.39765899e-02 1.16721148e-02 -1.25189976e+02] [-1.16862136e-02 -2.16391513e-04 -9.99931690e-01 -4.01326660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters 0.015466710081652372 Centerline is valid? [True, True] Translation: X:191.04, Y:-125.30, Z:-4.01 [[ 4.29075923e-02 -9.99078994e-01 -3.19961655e-04 1.91043456e+02] [-9.98992694e-01 -4.29080921e-02 1.31336842e-02 -1.25303502e+02] [-1.31353170e-02 -2.43895413e-04 -9.99913698e-01 -4.01099331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters 0.014513184447533979 Centerline is valid? [True, True] Translation: X:191.03, Y:-125.42, Z:-4.01 [[ 1.19294729e-01 -9.92857745e-01 -1.50562984e-03 1.91026346e+02] [-9.92747139e-01 -1.19303916e-01 1.48220559e-02 -1.25421781e+02] [-1.48958206e-02 -2.73483427e-04 -9.99889014e-01 -4.01047350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters 0.014523664940835228 Centerline is valid? [True, True] Translation: X:191.01, Y:-125.54, Z:-4.01 [[ 1.94700192e-01 -9.80859199e-01 -2.65832841e-03 1.91014828e+02] [-9.80748123e-01 -1.94718155e-01 1.47634733e-02 -1.25538894e+02] [-1.49985134e-02 -2.67300489e-04 -9.99887480e-01 -4.01027334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters 0.01376481013075453 Centerline is valid? [True, True] Translation: X:191.01, Y:-125.66, Z:-4.01 [[ 2.66529561e-01 -9.63820868e-01 -3.36553668e-03 1.91013999e+02] [-9.63734436e-01 -2.66550736e-01 1.29089795e-02 -1.25657437e+02] [-1.33390301e-02 -1.97141033e-04 -9.99911012e-01 -4.01257922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters 0.013023807525203834 Centerline is valid? [True, True] Translation: X:191.02, Y:-125.77, Z:-4.01 [[ 3.35739408e-01 -9.41947765e-01 -3.66846175e-03 1.91021541e+02] [-9.41887628e-01 -3.35759428e-01 1.06443787e-02 -1.25770506e+02] [-1.12581693e-02 -1.18458663e-04 -9.99936618e-01 -4.01374736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters 0.012339053664395304 Centerline is valid? [True, True] Translation: X:191.04, Y:-125.88, Z:-4.01 [[ 3.98597901e-01 -9.17113713e-01 -4.70643816e-03 1.91043238e+02] [-9.17049347e-01 -3.98625686e-01 1.08654427e-02 -1.25882244e+02] [-1.18409537e-02 -1.49066313e-05 -9.99929893e-01 -4.01458379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters 0.012496791911475885 Centerline is valid? [True, True] Translation: X:191.07, Y:-126.00, Z:-4.01 [[ 4.63933890e-01 -8.85853491e-01 -5.37944143e-03 1.91069672e+02] [-8.85794825e-01 -4.63965075e-01 1.01949660e-02 -1.25996024e+02] [-1.15271191e-02 3.52911626e-05 -9.99933560e-01 -4.01441302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters 0.012934898140872463 Centerline is valid? [True, True] Translation: X:191.10, Y:-126.10, Z:-4.01 [[ 5.26494255e-01 -8.50156191e-01 -6.18474674e-03 1.91100352e+02] [-8.50099511e-01 -5.26530572e-01 9.81725276e-03 -1.26101217e+02] [-1.16026564e-02 8.89229952e-05 -9.99932683e-01 -4.01488456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters 0.013517935639783436 Centerline is valid? [True, True] Translation: X:191.14, Y:-126.20, Z:-4.01 [[ 5.86256562e-01 -8.10095701e-01 -6.94252087e-03 1.91137457e+02] [-8.10041761e-01 -5.86297651e-01 9.34935173e-03 -1.26204430e+02] [-1.16442533e-02 1.42613025e-04 -9.99932193e-01 -4.01484611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters 0.013743748976092016 Centerline is valid? [True, True] Translation: X:191.18, Y:-126.31, Z:-4.01 [[ 6.44882350e-01 -7.64239336e-01 -8.06170075e-03 1.91182679e+02] [-7.64182971e-01 -6.44932715e-01 9.28336138e-03 -1.26306787e+02] [-1.22939645e-02 1.73938526e-04 -9.99924411e-01 -4.01434188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters 0.01358934646053094 Centerline is valid? [True, True] Translation: X:191.24, Y:-126.41, Z:-4.01 [[ 7.01894015e-01 -7.12228426e-01 -8.68686546e-03 1.91235051e+02] [-7.12176687e-01 -7.01947750e-01 8.58616938e-03 -1.26405170e+02] [-1.22130396e-02 1.60002170e-04 -9.99925405e-01 -4.01440261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters 0.012918628861286464 Centerline is valid? [True, True] Translation: X:191.25, Y:-126.44, Z:-4.01 [[ 7.58837297e-01 -6.51215643e-01 -9.17301515e-03 1.91249872e+02] [-6.51169573e-01 -7.58892732e-01 7.74659655e-03 -1.26439056e+02] [-1.20060394e-02 9.47819706e-05 -9.99927920e-01 -4.01453156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters 0.01242245412115121 Centerline is valid? [True, True] Translation: X:191.27, Y:-126.47, Z:-4.01 [[ 8.12200294e-01 -5.83296503e-01 -9.79145289e-03 1.91267308e+02] [-5.83254073e-01 -8.12259312e-01 7.03541256e-03 -1.26472507e+02] [-1.20569303e-02 -3.25937081e-06 -9.99927313e-01 -4.01432588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters 0.01266725454690154 Centerline is valid? [True, True] Translation: X:191.29, Y:-126.50, Z:-4.01 [[ 8.58555302e-01 -5.12616478e-01 -1.03508408e-02 1.91289800e+02] [-5.12578106e-01 -8.58617691e-01 6.27260914e-03 -1.26501610e+02] [-1.21028578e-02 -7.97674610e-05 -9.99926755e-01 -4.01407503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters 0.013454967588736114 Centerline is valid? [True, True] Translation: X:191.31, Y:-126.53, Z:-4.02 [[ 8.99208712e-01 -4.37407859e-01 -9.90240372e-03 1.91313223e+02] [-4.37379450e-01 -8.99263222e-01 4.98745992e-03 -1.26531649e+02] [-1.10864216e-02 -1.53659512e-04 -9.99938532e-01 -4.01592307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters 0.014157923482073528 Centerline is valid? [True, True] Translation: X:191.34, Y:-126.56, Z:-4.02 [[ 9.31903078e-01 -3.62604865e-01 -8.62354290e-03 1.91341209e+02] [-3.62587743e-01 -9.31942963e-01 3.52734210e-03 -1.26556220e+02] [-9.31568153e-03 -1.60349998e-04 -9.99956595e-01 -4.01760419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters 0.014272077406515133 Centerline is valid? [True, True] Translation: X:191.37, Y:-126.58, Z:-4.02 [[ 9.57381964e-01 -2.88710888e-01 -8.11163724e-03 1.91372295e+02] [-2.88699231e-01 -9.57416316e-01 2.59840845e-03 -1.26575066e+02] [-8.51640266e-03 -1.45845950e-04 -9.99963724e-01 -4.01825288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters 0.01387149504000758 Centerline is valid? [True, True] Translation: X:191.41, Y:-126.59, Z:-4.02 [[ 9.76800476e-01 -2.13985551e-01 -8.42701609e-03 1.91405026e+02] [-2.13976355e-01 -9.76836816e-01 1.98874672e-03 -1.26592224e+02] [-8.65738262e-03 -1.39426557e-04 -9.99962514e-01 -4.01785191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters 0.013927224599955127 Centerline is valid? [True, True] Translation: X:191.44, Y:-126.61, Z:-4.02 [[ 9.90575405e-01 -1.36654550e-01 -9.26825258e-03 1.91438505e+02] [-1.36647108e-01 -9.90618751e-01 1.43454389e-03 -1.26607504e+02] [-9.37734174e-03 -1.54543987e-04 -9.99956020e-01 -4.01734633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters 0.014041993726612825 Centerline is valid? [True, True] Translation: X:191.47, Y:-126.62, Z:-4.02 [[ 9.98257667e-01 -5.79943697e-02 -1.08758300e-02 1.91469449e+02] [-5.79888876e-02 -9.98316893e-01 8.18998399e-04 -1.26619694e+02] [-1.09050221e-02 -1.86894145e-04 -9.99940521e-01 -4.01594086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters 0.013891408596347282 Centerline is valid? [True, True] Translation: X:191.50, Y:-126.63, Z:-4.01 [[ 9.99714145e-01 1.95580206e-02 -1.37518239e-02 1.91501050e+02] [ 1.95592642e-02 -9.99808698e-01 -4.40692584e-05 -1.26626991e+02] [-1.37500550e-02 -2.24918896e-04 -9.99905438e-01 -4.01372052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters 0.013546039468668418 Centerline is valid? [True, True] Translation: X:191.53, Y:-126.63, Z:-4.01 [[ 9.95281597e-01 9.59984828e-02 -1.41008319e-02 1.91533277e+02] [ 9.59917787e-02 -9.95381459e-01 -1.15306025e-03 -1.26630566e+02] [-1.41463987e-02 -2.05944290e-04 -9.99899914e-01 -4.01312582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters 0.012671479894335973 Centerline is valid? [True, True] Translation: X:191.56, Y:-126.63, Z:-4.01 [[ 9.85710189e-01 1.67958578e-01 -1.28584125e-02 1.91564493e+02] [ 1.67945802e-01 -9.85794047e-01 -2.07479047e-03 -1.26627369e+02] [-1.30242254e-02 -1.14374297e-04 -9.99915175e-01 -4.01413681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters 0.012334107418544243 Centerline is valid? [True, True] Translation: X:191.60, Y:-126.63, Z:-4.01 [[ 9.70068622e-01 2.42528869e-01 -1.21084993e-02 1.91596276e+02] [ 2.42511045e-01 -9.70144186e-01 -2.94140296e-03 -1.26625942e+02] [-1.24603653e-02 -8.30821041e-05 -9.99922363e-01 -4.01469819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters 0.012062477880697284 Centerline is valid? [True, True] Translation: X:191.63, Y:-126.62, Z:-4.02 [[ 9.50054089e-01 3.11915699e-01 -1.02871304e-02 1.91625811e+02] [ 3.11897486e-01 -9.50109781e-01 -3.37068225e-03 -1.26618347e+02] [-1.08252719e-02 -6.19965895e-06 -9.99941405e-01 -4.01633163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters 0.01215884674952983 Centerline is valid? [True, True] Translation: X:191.66, Y:-126.61, Z:-4.02 [[ 9.23880334e-01 3.82561437e-01 -9.58517317e-03 1.91655987e+02] [ 3.82540566e-01 -9.23930055e-01 -3.99613539e-03 -1.26610709e+02] [-1.03847969e-02 2.52333264e-05 -9.99946076e-01 -4.01681458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters 0.012310203287754642 Centerline is valid? [True, True] Translation: X:191.68, Y:-126.60, Z:-4.02 [[ 8.92373323e-01 4.51209005e-01 -8.96030429e-03 1.91684776e+02] [ 4.51185665e-01 -8.92418305e-01 -4.58958589e-03 -1.26601751e+02] [-1.00672021e-02 5.28631598e-05 -9.99949323e-01 -4.01776226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters 0.01220761940013071 Centerline is valid? [True, True] Translation: X:191.72, Y:-126.60, Z:-4.02 [[ 8.54467456e-01 5.19434998e-01 -8.52348789e-03 1.91715727e+02] [ 5.19408511e-01 -8.54509965e-01 -5.24586049e-03 -1.26595324e+02] [-1.00082889e-02 5.52449146e-05 -9.99949914e-01 -4.01773308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters 0.012158760322725063 Centerline is valid? [True, True] Translation: X:191.75, Y:-126.59, Z:-4.02 [[ 8.10343225e-01 5.85893202e-01 -8.54479151e-03 1.91745908e+02] [ 5.85860067e-01 -8.10388274e-01 -6.23123074e-03 -1.26586859e+02] [-1.05754346e-02 4.33834915e-05 -9.99944078e-01 -4.01727518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters 0.012057883767835871 Centerline is valid? [True, True] Translation: X:191.77, Y:-126.58, Z:-4.02 [[ 7.60225920e-01 6.49612373e-01 -7.76626398e-03 1.91774567e+02] [ 6.49578286e-01 -7.60265588e-01 -6.65482465e-03 -1.26576276e+02] [-1.02274797e-02 1.43737477e-05 -9.99947698e-01 -4.01666562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters 0.011988088948097443 Centerline is valid? [True, True] Translation: X:191.80, Y:-126.56, Z:-4.02 [[ 7.05972417e-01 7.08196502e-01 -7.78849566e-03 1.91803249e+02] [ 7.08153425e-01 -7.06015378e-01 -7.81110282e-03 -1.26563441e+02] [-1.10305934e-02 -1.02673915e-06 -9.99939161e-01 -4.01660026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters 0.011962254018938889 Centerline is valid? [True, True] Translation: X:191.83, Y:-126.55, Z:-4.02 [[ 6.48543650e-01 7.61146022e-01 -6.91862876e-03 1.91830332e+02] [ 7.61102684e-01 -6.48580553e-01 -8.12230432e-03 -1.26547516e+02] [-1.06695477e-02 1.88197126e-06 -9.99943079e-01 -4.01642224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters 0.011849404644982024 Centerline is valid? [True, True] Translation: X:191.85, Y:-126.53, Z:-4.02 [[ 5.88095802e-01 8.08774882e-01 -5.14958859e-03 1.91852918e+02] [ 8.08743666e-01 -5.88118347e-01 -7.10576105e-03 -1.26528593e+02] [-8.77552858e-03 1.41710916e-05 -9.99961494e-01 -4.01735074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters 0.01179675453725475 Centerline is valid? [True, True] Translation: X:191.88, Y:-126.51, Z:-4.02 [[ 5.23813513e-01 8.51824448e-01 -3.80960847e-03 1.91875829e+02] [ 8.51801655e-01 -5.23827365e-01 -6.23156632e-03 -1.26508138e+02] [-7.30377771e-03 1.91478476e-05 -9.99973327e-01 -4.01872450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters 0.011792097858690695 Centerline is valid? [True, True] Translation: X:191.90, Y:-126.49, Z:-4.02 [[ 4.55579615e-01 8.90189556e-01 -3.12544970e-03 1.91897934e+02] [ 8.90168325e-01 -4.55590336e-01 -6.14812906e-03 -1.26487162e+02] [-6.89692495e-03 1.87859460e-05 -9.99976216e-01 -4.01837801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters 0.011903536902078436 Centerline is valid? [True, True] Translation: X:191.92, Y:-126.46, Z:-4.02 [[ 3.82368341e-01 9.24005082e-01 -3.00991662e-03 1.91919907e+02] [ 9.23976382e-01 -3.82380187e-01 -7.28274754e-03 -1.26464595e+02] [-7.88022822e-03 3.60022364e-06 -9.99968951e-01 -4.01726162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters 0.011879607985460007 Centerline is valid? [True, True] Translation: X:191.94, Y:-126.44, Z:-4.02 [[ 3.06126229e-01 9.51986021e-01 -3.05749036e-03 1.91941680e+02] [ 9.51939315e-01 -3.06141496e-01 -9.43000775e-03 -1.26441220e+02] [-9.91326023e-03 -2.37725685e-05 -9.99950862e-01 -4.01578114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters 0.011967757990666423 Centerline is valid? [True, True] Translation: X:191.96, Y:-126.42, Z:-4.02 [[ 2.28592214e-01 9.73518988e-01 -2.52572957e-03 1.91959627e+02] [ 9.73461898e-01 -2.28606162e-01 -1.05430617e-02 -1.26415349e+02] [-1.08412681e-02 -4.86396992e-05 -9.99941231e-01 -4.01522398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters 0.012435537936602478 Centerline is valid? [True, True] Translation: X:191.98, Y:-126.39, Z:-4.01 [[ 1.48065744e-01 9.88975770e-01 -1.86065369e-03 1.91976028e+02] [ 9.88905674e-01 -1.48077403e-01 -1.17750171e-02 -1.26388242e+02] [-1.19207274e-02 -9.65343289e-05 -9.99928941e-01 -4.01432696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters 0.013056139309402718 Centerline is valid? [True, True] Translation: X:191.99, Y:-126.36, Z:-4.01 [[ 6.79358494e-02 9.97689186e-01 -1.00446889e-03 1.91988285e+02] [ 9.97607058e-01 -6.79431459e-02 -1.28018557e-02 -1.26360714e+02] [-1.28405197e-02 -1.32360313e-04 -9.99917548e-01 -4.01222674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters 0.012923864303253828 Centerline is valid? [True, True] Translation: X:192.00, Y:-126.33, Z:-4.01 [[-1.19266905e-02 9.99928875e-01 9.20870286e-07 1.91998475e+02] [ 9.99830485e-01 1.19255299e-02 -1.40279494e-02 -1.26330206e+02] [-1.40269626e-02 -1.66386297e-04 -9.99901604e-01 -4.01228320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters 0.012819084204868757 Centerline is valid? [True, True] Translation: X:192.00, Y:-126.30, Z:-4.01 [[-8.88702172e-02 9.96042727e-01 9.85300644e-04 1.92001325e+02] [ 9.95963991e-01 8.88755815e-02 -1.25243260e-02 -1.26301313e+02] [-1.25623330e-02 -1.31715613e-04 -9.99921082e-01 -4.01351088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters 0.0125240144719114 Centerline is valid? [True, True] Translation: X:192.00, Y:-126.27, Z:-4.02 [[-1.64908709e-01 9.86307337e-01 1.71889207e-03 1.92001735e+02] [ 9.86247499e-01 1.64917639e-01 -1.08647593e-02 -1.26270903e+02] [-1.09994674e-02 -9.64404250e-05 -9.99939499e-01 -4.01555435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters 0.012514708640953831 Centerline is valid? [True, True] Translation: X:192.00, Y:-126.24, Z:-4.02 [[-2.41418060e-01 9.70418222e-01 2.40723522e-03 1.92000075e+02] [ 9.70366303e-01 2.41430046e-01 -1.00384803e-02 -1.26241289e+02] [-1.03227031e-02 -8.75705048e-05 -9.99946716e-01 -4.01580571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters 0.012412208100528172 Centerline is valid? [True, True] Translation: X:192.00, Y:-126.21, Z:-4.02 [[-3.16135099e-01 9.48708635e-01 3.24438669e-03 1.91996472e+02] [ 9.48655956e-01 3.16151735e-01 -9.99785399e-03 -1.26211979e+02] [-1.05107689e-02 -8.28657960e-05 -9.99944757e-01 -4.01552953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters 0.012271695751073276 Centerline is valid? [True, True] Translation: X:191.99, Y:-126.18, Z:-4.02 [[-3.88699175e-01 9.21354877e-01 4.25937687e-03 1.91991838e+02] [ 9.21297334e-01 3.88722504e-01 -1.02974254e-02 -1.26182052e+02] [-1.11432987e-02 -7.84482080e-05 -9.99937908e-01 -4.01515441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters 0.012384181972673807 Centerline is valid? [True, True] Translation: X:191.99, Y:-126.15, Z:-4.01 [[-4.59571208e-01 8.88125975e-01 5.15337143e-03 1.91985598e+02] [ 8.88068210e-01 4.59600094e-01 -1.01295492e-02 -1.26152341e+02] [-1.13648058e-02 -7.87038412e-05 -9.99935415e-01 -4.01499420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters 0.012488467103802229 Centerline is valid? [True, True] Translation: X:191.98, Y:-126.12, Z:-4.01 [[-5.28139209e-01 8.49137539e-01 5.86641458e-03 1.91975724e+02] [ 8.49083400e-01 5.28171783e-01 -9.58895357e-03 -1.26124494e+02] [-1.12408151e-02 -8.32271220e-05 -9.99936817e-01 -4.01454910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters 0.012683375675195141 Centerline is valid? [True, True] Translation: X:191.96, Y:-126.10, Z:-4.01 [[-5.94637543e-01 8.03967089e-01 6.56604665e-03 1.91964688e+02] [ 8.03916115e-01 5.94673784e-01 -9.05380179e-03 -1.26096441e+02] [-1.11836145e-02 -1.05179741e-04 -9.99937456e-01 -4.01407436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters 0.01306425723764051 Centerline is valid? [True, True] Translation: X:191.95, Y:-126.07, Z:-4.01 [[-6.57545291e-01 7.53376007e-01 7.66696228e-03 1.91952637e+02] [ 7.53322323e-01 6.57589973e-01 -8.99476603e-03 -1.26069298e+02] [-1.18181584e-02 -1.38772209e-04 -9.99930154e-01 -4.01304041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters 0.013580435683379724 Centerline is valid? [True, True] Translation: X:191.94, Y:-126.04, Z:-4.01 [[-7.16792394e-01 6.97233648e-01 8.59673116e-03 1.91938409e+02] [ 6.97180430e-01 7.16843921e-01 -8.61632587e-03 -1.26042953e+02] [-1.21701068e-02 -1.82644127e-04 -9.99925925e-01 -4.01281257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters 0.013950595875531293 Centerline is valid? [True, True] Translation: X:191.92, Y:-126.02, Z:-4.01 [[-7.70265474e-01 6.37659434e-01 9.03026824e-03 1.91921478e+02] [ 6.37612576e-01 7.70318380e-01 -7.73286888e-03 -1.26017463e+02] [-1.18871184e-02 -1.98549322e-04 -9.99929326e-01 -4.01290208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters 0.01406222057228035 Centerline is valid? [True, True] Translation: X:191.94, Y:-126.00, Z:-4.01 [[-8.14168363e-01 5.80564776e-01 8.62662355e-03 1.91937270e+02] [ 5.80529663e-01 8.14214041e-01 -6.38799912e-03 -1.26000461e+02] [-1.07325653e-02 -1.92895929e-04 -9.99942386e-01 -4.01426704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters 0.014536914165921707 Centerline is valid? [True, True] Translation: X:191.95, Y:-125.98, Z:-4.01 [[-8.52856196e-01 5.22063032e-01 9.30054630e-03 1.91954008e+02] [ 5.22029545e-01 8.52906885e-01 -5.91604292e-03 -1.25980126e+02] [-1.10210473e-02 -1.90373906e-04 -9.99939248e-01 -4.01323821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters 0.013568009962673195 Centerline is valid? [True, True] Translation: X:191.97, Y:-125.96, Z:-4.01 [[-8.87123125e-01 4.61429252e-01 9.77782348e-03 1.91968733e+02] [ 4.61398991e-01 8.87176991e-01 -5.28749777e-03 -1.25961694e+02] [-1.11144662e-02 -1.79183657e-04 -9.99938216e-01 -4.01478586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters 0.01370939647218071 Centerline is valid? [True, True] Translation: X:191.98, Y:-125.94, Z:-4.01 [[-9.17074229e-01 3.98589057e-01 1.00807994e-02 1.91979504e+02] [ 3.98562992e-01 9.17129618e-01 -4.56127608e-03 -1.25936146e+02] [-1.10634745e-02 -1.65195155e-04 -9.99938784e-01 -4.01400218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters 0.014102869298319517 Centerline is valid? [True, True] Translation: X:192.27, Y:-125.31, Z:-5.03 [[-8.74027664e-01 -4.85786894e-01 9.31319592e-03 1.92268199e+02] [ 4.85760883e-01 -8.74077272e-01 -5.02869158e-03 -1.25313704e+02] [ 1.05833253e-02 1.28770716e-04 9.99943987e-01 -5.02611495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters 0.014056107596301104 Centerline is valid? [True, True] Translation: X:191.94, Y:-125.92, Z:-4.01 [[-9.18930411e-01 3.94318445e-01 8.93668051e-03 1.91942158e+02] [ 3.94298141e-01 9.18973851e-01 -4.00459089e-03 -1.25915408e+02] [-9.79165976e-03 -1.56223836e-04 -9.99952048e-01 -4.01483203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters 0.013890310235818947 Centerline is valid? [True, True] Translation: X:191.95, Y:-125.89, Z:-4.02 [[-9.45157381e-01 3.26464381e-01 9.92642714e-03 1.91953202e+02] [ 3.26444274e-01 9.45209486e-01 -3.62820025e-03 -1.25890089e+02] [-1.05670312e-02 -1.88794945e-04 -9.99944150e-01 -4.01504637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters 0.014485490165528912 Centerline is valid? [True, True] Translation: X:191.97, Y:-125.86, Z:-4.01 [[-9.65051060e-01 2.61759769e-01 1.25807625e-02 1.91966150e+02] [ 2.61732182e-01 9.65132979e-01 -3.82057486e-03 -1.25862777e+02] [-1.31421816e-02 -3.94259394e-04 -9.99913560e-01 -4.01262188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters 0.014238839181799568 Centerline is valid? [True, True] Translation: X:192.16, Y:-125.21, Z:-5.03 [[-9.33492997e-01 -3.58368877e-01 1.27504313e-02 1.92156958e+02] [ 3.58341587e-01 -9.33579975e-01 -4.44259848e-03 -1.25211504e+02] [ 1.34956363e-02 4.21875204e-04 9.99908841e-01 -5.02718357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters 0.013470960834394917 Centerline is valid? [True, True] Translation: X:191.92, Y:-125.85, Z:-4.01 [[-9.64650793e-01 2.63254064e-01 1.20890887e-02 1.91921967e+02] [ 2.63231273e-01 9.64726527e-01 -3.46776402e-03 -1.25854271e+02] [-1.25755675e-02 -1.62955108e-04 -9.99920911e-01 -4.01424227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters 0.012663917244093562 Centerline is valid? [True, True] Translation: X:191.93, Y:-125.83, Z:-4.02 [[-9.79696153e-01 2.00176815e-01 1.11665002e-02 1.91931223e+02] [ 2.00162911e-01 9.79759785e-01 -2.36059949e-03 -1.25832334e+02] [-1.14130251e-02 -7.75510534e-05 -9.99934866e-01 -4.01549757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters 0.012391023901325496 Centerline is valid? [True, True] Translation: X:191.94, Y:-125.81, Z:-4.02 [[-9.90527654e-01 1.36858210e-01 1.11712246e-02 1.91941352e+02] [ 1.36849499e-01 9.90590647e-01 -1.54410119e-03 -1.25811704e+02] [-1.12774335e-02 -6.98441123e-07 -9.99936408e-01 -4.01710763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters 0.012614248442204415 Centerline is valid? [True, True] Translation: X:192.04, Y:-125.12, Z:-5.02 [[-9.79462706e-01 -2.01350984e-01 1.05160834e-02 1.92041888e+02] [ 2.01339027e-01 -9.79519158e-01 -2.19461239e-03 -1.25118555e+02] [ 1.07425925e-02 -3.22429956e-05 9.99942296e-01 -5.02265212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters 0.01272163581527003 Centerline is valid? [True, True] Translation: X:191.89, Y:-125.80, Z:-4.02 [[-9.90687838e-01 1.35618124e-01 1.20554054e-02 1.91892628e+02] [ 1.35608472e-01 9.90761184e-01 -1.61832059e-03 -1.25803876e+02] [-1.21635013e-02 3.15645695e-05 -9.99926021e-01 -4.01660551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters 0.012764485744289861 Centerline is valid? [True, True] Translation: X:191.89, Y:-125.77, Z:-4.02 [[-9.97868783e-01 6.40346201e-02 1.25482487e-02 1.91893681e+02] [ 6.40298176e-02 9.97947678e-01 -7.84510429e-04 -1.25774676e+02] [-1.25727314e-02 2.06236055e-05 -9.99920960e-01 -4.01748879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters 0.012731620707371737 Centerline is valid? [True, True] Translation: X:191.89, Y:-125.75, Z:-4.02 [[-9.99894047e-01 -7.56116146e-03 1.24387641e-02 1.91890648e+02] [-7.56040716e-03 9.99971414e-01 1.07663969e-04 -1.25745638e+02] [-1.24392226e-02 1.36104407e-05 -9.99922630e-01 -4.01763676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters 0.013107521760138826 Centerline is valid? [True, True] Translation: X:191.88, Y:-125.06, Z:-5.02 [[-9.98159969e-01 -5.91271641e-02 1.34407971e-02 1.91879759e+02] [ 5.91225208e-02 -9.98250457e-01 -7.42891684e-04 -1.25060736e+02] [ 1.34612069e-02 5.31290631e-05 9.99909392e-01 -5.02418445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters 0.013073733838439131 Centerline is valid? [True, True] Translation: X:191.82, Y:-125.74, Z:-4.02 [[-9.99790106e-01 -1.48932504e-02 1.40689475e-02 1.91816880e+02] [-1.48920975e-02 9.99889089e-01 1.86714320e-04 -1.25740470e+02] [-1.40701679e-02 -2.28410072e-05 -9.99901010e-01 -4.01807088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters 0.013235451117422435 Centerline is valid? [True, True] Translation: X:191.82, Y:-125.71, Z:-4.02 [[-9.96264378e-01 -8.52050083e-02 1.40497880e-02 1.91816694e+02] [-8.51967095e-02 9.96363441e-01 1.18923310e-03 -1.25712315e+02] [-1.41000237e-02 -1.22051328e-05 -9.99900590e-01 -4.01741449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters 0.013297208193638225 Centerline is valid? [True, True] Translation: X:191.81, Y:-125.69, Z:-4.02 [[-9.87782036e-01 -1.55168493e-01 1.44702772e-02 1.91807942e+02] [-1.55151877e-01 9.87888019e-01 2.27074524e-03 -1.25685740e+02] [-1.46473616e-02 -2.08931976e-06 -9.99892722e-01 -4.01717716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters 0.013612237907716082 Centerline is valid? [True, True] Translation: X:191.71, Y:-125.02, Z:-5.02 [[-9.95976397e-01 8.83712459e-02 1.48842283e-02 1.91705184e+02] [-8.83610516e-02 -9.96087608e-01 1.34243565e-03 -1.25018514e+02] [ 1.49446280e-02 2.18481607e-05 9.99888323e-01 -5.02153749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters 0.013533486263914214 Centerline is valid? [True, True] Translation: X:191.71, Y:-125.70, Z:-4.02 [[-9.86872279e-01 -1.60813834e-01 1.49001844e-02 1.91710690e+02] [-1.60795451e-01 9.86984757e-01 2.43152853e-03 -1.25700710e+02] [-1.50972783e-02 3.72623849e-06 -9.99886030e-01 -4.01904952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters 0.013478332826005992 Centerline is valid? [True, True] Translation: X:191.69, Y:-125.67, Z:-4.02 [[-9.72640209e-01 -2.31864275e-01 1.44907524e-02 1.91694453e+02] [-2.31838740e-01 9.72748147e-01 3.44102307e-03 -1.25674131e+02] [-1.48937028e-02 -1.26403700e-05 -9.99889083e-01 -4.02086088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters 0.013581523265671155 Centerline is valid? [True, True] Translation: X:191.53, Y:-125.03, Z:-5.02 [[-9.86799728e-01 1.61288731e-01 1.45685553e-02 1.91534649e+02] [-1.61271105e-01 -9.86907263e-01 2.38437201e-03 -1.25025888e+02] [ 1.47623854e-02 3.41063341e-06 9.99891030e-01 -5.01954925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters 0.013620803407785575 Centerline is valid? [True, True] Translation: X:191.59, Y:-125.69, Z:-4.02 [[-9.69962336e-01 -2.42843548e-01 1.41448925e-02 1.91585754e+02] [-2.42819041e-01 9.70065464e-01 3.45103210e-03 -1.25693616e+02] [-1.45595326e-02 -8.72780772e-05 -9.99894001e-01 -4.02162221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters 0.013995342485811349 Centerline is valid? [True, True] Translation: X:191.56, Y:-125.67, Z:-4.02 [[-9.48772325e-01 -3.15644347e-01 1.41323158e-02 1.91559102e+02] [-3.15611719e-01 9.48877560e-01 4.54092783e-03 -1.25668687e+02] [-1.48431556e-02 -1.52017835e-04 -9.99889823e-01 -4.02095086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters 0.01471723365960225 Centerline is valid? [True, True] Translation: X:191.52, Y:-125.65, Z:-4.02 [[-9.22197377e-01 -3.86392541e-01 1.58997703e-02 1.91523448e+02] [-3.86339476e-01 9.22334402e-01 6.40780480e-03 -1.25650134e+02] [-1.71408331e-02 -2.33448150e-04 -9.99853058e-01 -4.01853326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters 0.014914232107869803 Centerline is valid? [True, True] Translation: X:191.47, Y:-125.65, Z:-4.02 [[-8.90826330e-01 -4.53993317e-01 1.78470516e-02 1.91466639e+02] [-4.53908966e-01 8.91005038e-01 8.75628458e-03 -1.25647016e+02] [-1.98771076e-02 -3.00607899e-04 -9.99802386e-01 -4.01710434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters 0.014844572296218621 Centerline is valid? [True, True] Translation: X:191.41, Y:-125.65, Z:-4.02 [[-8.55389970e-01 -5.17701571e-01 1.71196320e-02 1.91405826e+02] [-5.17604539e-01 8.55561221e-01 1.00268957e-02 -1.25650583e+02] [-1.98378329e-02 -2.84293207e-04 -9.99803170e-01 -4.01675734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters 0.014198340959645173 Centerline is valid? [True, True] Translation: X:191.33, Y:-125.67, Z:-4.02 [[-8.16602677e-01 -5.77039575e-01 1.36160525e-02 1.91333723e+02] [-5.76963135e-01 8.16716165e-01 9.39395112e-03 -1.25669869e+02] [-1.65411317e-02 -1.84834696e-04 -9.99863169e-01 -4.01948228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters 0.013689891348663597 Centerline is valid? [True, True] Translation: X:191.26, Y:-125.69, Z:-4.02 [[-7.73033725e-01 -6.34279726e-01 1.03966301e-02 1.91263315e+02] [-6.34224320e-01 7.73103626e-01 8.38422953e-03 -1.25694974e+02] [-1.33556192e-02 -1.12503460e-04 -9.99910803e-01 -4.02244570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters 0.013773151016889156 Centerline is valid? [True, True] Translation: X:191.18, Y:-125.73, Z:-4.02 [[-7.23511694e-01 -6.90246199e-01 9.54009677e-03 1.91184350e+02] [-6.90188136e-01 7.23574581e-01 8.95341248e-03 -1.25729519e+02] [-1.30830305e-02 -1.06562971e-04 -9.99914408e-01 -4.02192841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters 0.013893995365732117 Centerline is valid? [True, True] Translation: X:191.10, Y:-125.77, Z:-4.02 [[-6.67536724e-01 -7.44514288e-01 9.65386756e-03 1.91101102e+02] [-7.44439766e-01 6.67606510e-01 1.05348681e-02 -1.25774415e+02] [-1.42883447e-02 -1.54311557e-04 -9.99897905e-01 -4.02010811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters 0.01536897801971487 Centerline is valid? [True, True] Translation: X:191.02, Y:-125.83, Z:-4.02 [[-6.05091142e-01 -7.96105496e-01 8.98605964e-03 1.91015187e+02] [-7.96023495e-01 6.05157817e-01 1.14286034e-02 -1.25829724e+02] [-1.45363582e-02 -2.37767895e-04 -9.99894313e-01 -4.01917632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters 0.015124857337739996 Centerline is valid? [True, True] Translation: X:190.94, Y:-125.88, Z:-4.02 [[-5.48121413e-01 -8.36355887e-01 8.47028959e-03 1.90936496e+02] [-8.36263816e-01 5.48186785e-01 1.24128229e-02 -1.25882804e+02] [-1.50248383e-02 -2.79662654e-04 -9.99887082e-01 -4.01984651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters 0.016413284585829187 Centerline is valid? [True, True] Translation: X:190.86, Y:-125.95, Z:-4.02 [[-4.78801990e-01 -8.77881153e-01 8.56365300e-03 1.90857190e+02] [-8.77755394e-01 4.78878400e-01 1.48642617e-02 -1.25952841e+02] [-1.71500037e-02 -3.99754523e-04 -9.99852848e-01 -4.01720957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters 0.01733240577691303 Centerline is valid? [True, True] Translation: X:190.78, Y:-126.03, Z:-4.02 [[-4.09480845e-01 -9.12287083e-01 7.59706282e-03 1.90782831e+02] [-9.12149227e-01 4.09551084e-01 1.58649564e-02 -1.26033966e+02] [-1.75847801e-02 -4.33259216e-04 -9.99845282e-01 -4.01562008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters 0.01636176162933685 Centerline is valid? [True, True] Translation: X:190.72, Y:-126.12, Z:-4.02 [[-3.40681649e-01 -9.40163688e-01 5.31547103e-03 1.90721752e+02] [-9.40063968e-01 3.40722953e-01 1.36969248e-02 -1.26120008e+02] [-1.46884543e-02 -3.30591876e-04 -9.99892064e-01 -4.01827012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters 0.0147043895969217 Centerline is valid? [True, True] Translation: X:190.67, Y:-126.22, Z:-4.02 [[-2.73431272e-01 -9.61886597e-01 3.08454979e-03 1.90667540e+02] [-9.61832502e-01 2.73448613e-01 1.02026746e-02 -1.26216941e+02] [-1.06572818e-02 -1.77089932e-04 -9.99943194e-01 -4.02255609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters 0.01474626424241017 Centerline is valid? [True, True] Translation: X:190.62, Y:-126.31, Z:-4.02 [[-2.02778734e-01 -9.79222768e-01 1.88589758e-03 1.90616725e+02] [-9.79185400e-01 2.02787473e-01 8.55534275e-03 -1.26311254e+02] [-8.76002281e-03 -1.11801805e-04 -9.99961624e-01 -4.02210702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters 0.014141341081166686 Centerline is valid? [True, True] Translation: X:190.57, Y:-126.42, Z:-4.02 [[-1.28691306e-01 -9.91683860e-01 1.29185830e-03 1.90571283e+02] [-9.91641681e-01 1.28697748e-01 9.14695981e-03 -1.26423483e+02] [-9.23715167e-03 -1.03926335e-04 -9.99957331e-01 -4.02155673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters 0.01484520736431786 Centerline is valid? [True, True] Translation: X:190.53, Y:-126.53, Z:-4.02 [[-4.89431312e-02 -9.98801319e-01 7.03226682e-04 1.90528946e+02] [-9.98740153e-01 4.89479172e-02 1.10547624e-02 -1.26528701e+02] [-1.10759328e-02 -1.61286037e-04 -9.99938647e-01 -4.01955386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters 0.015181264387020242 Centerline is valid? [True, True] Translation: X:190.50, Y:-126.65, Z:-4.02 [[ 3.08520493e-02 -9.99523947e-01 -1.73601480e-04 1.90495976e+02] [-9.99438009e-01 -3.08516735e-02 1.31088307e-02 -1.26648107e+02] [-1.31079461e-02 -2.30930373e-04 -9.99914061e-01 -4.01800150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters 0.015755236477440756 Centerline is valid? [True, True] Translation: X:190.47, Y:-126.76, Z:-4.02 [[ 1.08545886e-01 -9.94090639e-01 -1.26146158e-03 1.90472367e+02] [-9.93991695e-01 -1.08552883e-01 1.40278645e-02 -1.26761390e+02] [-1.40819041e-02 -2.68784647e-04 -9.99900809e-01 -4.01666685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters 0.016117383511740715 Centerline is valid? [True, True] Translation: X:190.46, Y:-126.87, Z:-4.02 [[ 1.84991192e-01 -9.82737682e-01 -2.21535935e-03 1.90458741e+02] [-9.82649335e-01 -1.85004272e-01 1.31796711e-02 -1.26872724e+02] [-1.33620103e-02 -2.61201664e-04 -9.99910690e-01 -4.01691415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters 0.01511482605650522 Centerline is valid? [True, True] Translation: X:190.46, Y:-126.99, Z:-4.02 [[ 2.57987896e-01 -9.66144516e-01 -2.64931900e-03 1.90458610e+02] [-9.66085603e-01 -2.58001427e-01 1.06710840e-02 -1.26989389e+02] [-1.09933374e-02 -1.93541577e-04 -9.99939553e-01 -4.01930973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters 0.01421049607725323 Centerline is valid? [True, True] Translation: X:190.47, Y:-127.10, Z:-4.02 [[ 3.28380876e-01 -9.44542272e-01 -2.42834177e-03 1.90466859e+02] [-9.44513821e-01 -3.28389835e-01 7.33197541e-03 -1.27098734e+02] [-7.72280347e-03 -1.14078144e-04 -9.99970172e-01 -4.02183027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters 0.01497076324435802 Centerline is valid? [True, True] Translation: X:190.48, Y:-127.22, Z:-4.02 [[ 4.00230777e-01 -9.16410401e-01 -2.70222923e-03 1.90479830e+02] [-9.16387688e-01 -4.00239885e-01 6.45292041e-03 -1.27215857e+02] [-6.99506330e-03 -1.06367757e-04 -9.99975529e-01 -4.02086229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters 0.014879290120960923 Centerline is valid? [True, True] Translation: X:190.51, Y:-127.34, Z:-4.02 [[ 4.70908430e-01 -8.82177210e-01 -2.93628900e-03 1.90505756e+02] [-8.82158583e-01 -4.70917571e-01 5.73375230e-03 -1.27336295e+02] [-6.44093569e-03 -1.09799747e-04 -9.99979251e-01 -4.02128654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters 0.01566699882605658 Centerline is valid? [True, True] Translation: X:190.54, Y:-127.45, Z:-4.02 [[ 5.39491792e-01 -8.41981585e-01 -3.95194490e-03 1.90537978e+02] [-8.41956908e-01 -5.39506245e-01 6.44800818e-03 -1.27454282e+02] [-7.56120309e-03 -1.51280180e-04 -9.99971402e-01 -4.01956883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters 0.01583748256896302 Centerline is valid? [True, True] Translation: X:190.57, Y:-127.55, Z:-4.02 [[ 6.03262845e-01 -7.97528103e-01 -4.78173280e-03 1.90568435e+02] [-7.97500740e-01 -6.03281771e-01 6.60867531e-03 -1.27550743e+02] [-8.15533652e-03 -1.73332822e-04 -9.99966730e-01 -4.01902205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters 0.016182439086095714 Centerline is valid? [True, True] Translation: X:190.62, Y:-127.66, Z:-4.02 [[ 6.63129558e-01 -7.48486162e-01 -5.25887322e-03 1.90615336e+02] [-7.48460431e-01 -6.63150385e-01 6.20895110e-03 -1.27655972e+02] [-8.13473777e-03 -1.81280480e-04 -9.99966896e-01 -4.01845968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters 0.016226223626327668 Centerline is valid? [True, True] Translation: X:190.67, Y:-127.75, Z:-4.02 [[ 7.18061933e-01 -6.95954673e-01 -5.84417863e-03 1.90666389e+02] [-6.95929515e-01 -7.18085691e-01 5.92036113e-03 -1.27750872e+02] [-8.31692404e-03 -1.84049556e-04 -9.99965397e-01 -4.01881438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters 0.016597856517041758 Centerline is valid? [True, True] Translation: X:190.72, Y:-127.84, Z:-4.02 [[ 7.68251195e-01 -6.40121120e-01 -5.92055019e-03 1.90719123e+02] [-6.40100429e-01 -7.68273990e-01 5.14943098e-03 -1.27836416e+02] [-7.84486424e-03 -1.66309789e-04 -9.99969215e-01 -4.01908691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters 0.015494316354122774 Centerline is valid? [True, True] Translation: X:190.74, Y:-127.86, Z:-4.02 [[ 8.15335679e-01 -5.78964166e-01 -5.31275417e-03 1.90742731e+02] [-5.78950806e-01 -8.15352977e-01 3.93533955e-03 -1.27861057e+02] [-6.61019051e-03 -1.32799432e-04 -9.99978144e-01 -4.02161470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters 0.015391571552363217 Centerline is valid? [True, True] Translation: X:190.77, Y:-127.89, Z:-4.02 [[ 8.57918245e-01 -5.13737940e-01 -7.04368279e-03 1.90766996e+02] [-5.13719043e-01 -8.57947144e-01 4.40941858e-03 -1.27886834e+02] [-8.30839315e-03 -1.64446667e-04 -9.99965471e-01 -4.01962810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters 0.015034110704181002 Centerline is valid? [True, True] Translation: X:190.79, Y:-127.91, Z:-4.02 [[ 8.95439840e-01 -4.45117674e-01 -7.59930396e-03 1.90793091e+02] [-4.45100033e-01 -8.95472070e-01 3.96650847e-03 -1.27910480e+02] [-8.57052747e-03 -1.69319262e-04 -9.99963258e-01 -4.02060359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters 0.014619681424273135 Centerline is valid? [True, True] Translation: X:190.82, Y:-127.93, Z:-4.02 [[ 9.26308199e-01 -3.76706182e-01 -6.75083037e-03 1.90821362e+02] [-3.76695221e-01 -9.26332790e-01 2.87619631e-03 -1.27931065e+02] [-7.33699647e-03 -1.21238684e-04 -9.99973077e-01 -4.02169668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters 0.013842338966384721 Centerline is valid? [True, True] Translation: X:190.85, Y:-127.94, Z:-4.02 [[ 9.51126562e-01 -3.08721921e-01 -7.00281983e-03 1.90851322e+02] [-3.08712944e-01 -9.51152338e-01 2.35559427e-03 -1.27944449e+02] [-7.38797204e-03 -7.86071520e-05 -9.99972706e-01 -4.02183120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters 0.013146673826372841 Centerline is valid? [True, True] Translation: X:190.88, Y:-127.96, Z:-4.02 [[ 9.71214544e-01 -2.38096810e-01 -7.22625833e-03 1.90882877e+02] [-2.38089883e-01 -9.71241426e-01 1.81665774e-03 -1.27957367e+02] [-7.45098186e-03 -4.38654210e-05 -9.99972240e-01 -4.02269037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters 0.013061013335027826 Centerline is valid? [True, True] Translation: X:190.91, Y:-127.97, Z:-4.02 [[ 9.85872255e-01 -1.67332238e-01 -7.47118003e-03 1.90914201e+02] [-1.67327438e-01 -9.85900564e-01 1.26735486e-03 -1.27966964e+02] [-7.57790993e-03 6.83416775e-07 -9.99971287e-01 -4.02235639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters 0.013020974347283797 Centerline is valid? [True, True] Translation: X:190.94, Y:-127.98, Z:-4.02 [[ 9.95630487e-01 -9.29586369e-02 -8.86712464e-03 1.90942979e+02] [-9.29552204e-02 -9.95669971e-01 7.97547261e-04 -1.27978597e+02] [-8.90286864e-03 3.01831570e-05 -9.99960368e-01 -4.02223455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters 0.012972505879412448 Centerline is valid? [True, True] Translation: X:190.97, Y:-127.99, Z:-4.02 [[ 9.99845158e-01 -1.48592619e-02 -9.42666447e-03 1.90972096e+02] [-1.48589127e-02 -9.99889595e-01 1.07079575e-04 -1.27988763e+02] [-9.42721484e-03 3.30069894e-05 -9.99955562e-01 -4.02174425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters 0.013027824963027968 Centerline is valid? [True, True] Translation: X:191.00, Y:-128.00, Z:-4.02 [[ 9.97798096e-01 6.55591265e-02 -1.00479487e-02 1.91000943e+02] [ 6.55556596e-02 -9.97848686e-01 -6.74354271e-04 -1.27996797e+02] [-1.00705425e-02 1.41695014e-05 -9.99949291e-01 -4.02146373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters 0.01292916136234471 Centerline is valid? [True, True] Translation: X:191.03, Y:-128.00, Z:-4.02 [[ 9.89188955e-01 1.46306918e-01 -9.97485421e-03 1.91031774e+02] [ 1.46299629e-01 -9.89239246e-01 -1.46050580e-03 -1.28001642e+02] [-1.00811994e-02 -1.46012694e-05 -9.99949183e-01 -4.02159193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters 0.013045015662606683 Centerline is valid? [True, True] Translation: X:191.06, Y:-128.00, Z:-4.02 [[ 9.73765670e-01 2.27374525e-01 -9.01361816e-03 1.91061534e+02] [ 2.27365280e-01 -9.73807385e-01 -2.05103690e-03 -1.28004534e+02] [-9.24388146e-03 -5.21544981e-05 -9.99957273e-01 -4.02279031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters 0.01304762645337431 Centerline is valid? [True, True] Translation: X:191.09, Y:-128.01, Z:-4.02 [[ 9.52465721e-01 3.04524269e-01 -8.60348508e-03 1.91093506e+02] [ 3.04512472e-01 -9.52504575e-01 -2.68131373e-03 -1.28006234e+02] [-9.01138400e-03 -6.60090947e-05 -9.99959395e-01 -4.02327684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters 0.014227891789255662 Centerline is valid? [True, True] Translation: X:191.13, Y:-128.01, Z:-4.02 [[ 9.24199371e-01 3.81809947e-01 -8.75714859e-03 1.91126376e+02] [ 3.81793898e-01 -9.24240852e-01 -3.50237624e-03 -1.28008757e+02] [-9.43095656e-03 -1.06531977e-04 -9.99955522e-01 -4.02056399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters 0.014790247196540554 Centerline is valid? [True, True] Translation: X:191.16, Y:-128.01, Z:-4.02 [[ 8.89033163e-01 4.57747099e-01 -9.36104437e-03 1.91159475e+02] [ 4.57723771e-01 -8.89082428e-01 -4.62446877e-03 -1.28005912e+02] [-1.04395772e-02 -1.73466437e-04 -9.99945491e-01 -4.02034551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters 0.014652554182818604 Centerline is valid? [True, True] Translation: X:191.19, Y:-128.00, Z:-4.02 [[ 8.49859957e-01 5.26931296e-01 -9.02571068e-03 1.91190896e+02] [ 5.26903897e-01 -8.49907862e-01 -5.37665916e-03 -1.27998135e+02] [-1.05041525e-02 -1.86274811e-04 -9.99944813e-01 -4.02063273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters 0.015620937530917802 Centerline is valid? [True, True] Translation: X:191.22, Y:-127.99, Z:-4.02 [[ 8.05269138e-01 5.92844572e-01 -8.77086693e-03 1.91221700e+02] [ 5.92812143e-01 -8.05316876e-01 -6.20413632e-03 -1.27988380e+02] [-1.07414157e-02 -2.03476916e-04 -9.99942289e-01 -4.01953572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters 0.015517168708360828 Centerline is valid? [True, True] Translation: X:191.25, Y:-127.97, Z:-4.02 [[ 7.55677158e-01 6.54880556e-01 -9.13725739e-03 1.91251016e+02] [ 6.54836459e-01 -7.55732360e-01 -7.60337720e-03 -1.27973701e+02] [-1.18846250e-02 -2.37710793e-04 -9.99929347e-01 -4.01904224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters 0.015389560772396952 Centerline is valid? [True, True] Translation: X:191.28, Y:-127.96, Z:-4.02 [[ 7.02717090e-01 7.11410568e-01 -9.14853009e-03 1.91277593e+02] [ 7.11354764e-01 -7.02776596e-01 -8.91380282e-03 -1.27955563e+02] [-1.27707464e-02 -2.43968883e-04 -9.99918421e-01 -4.01788773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters 0.01462398964422845 Centerline is valid? [True, True] Translation: X:191.30, Y:-127.93, Z:-4.02 [[ 6.48102390e-01 7.61506739e-01 -8.41297695e-03 1.91297914e+02] [ 7.61446349e-01 -6.48156964e-01 -9.59202147e-03 -1.27933001e+02] [-1.27573186e-02 -1.89418544e-04 -9.99918604e-01 -4.01791424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters 0.013945271650416471 Centerline is valid? [True, True] Translation: X:191.31, Y:-127.91, Z:-4.02 [[ 5.89574939e-01 8.07680055e-01 -7.37028081e-03 1.91314695e+02] [ 8.07619814e-01 -5.89620989e-01 -9.86535080e-03 -1.27907399e+02] [-1.23137193e-02 -1.36021230e-04 -9.99924174e-01 -4.01845153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters 0.013194697648320885 Centerline is valid? [True, True] Translation: X:191.33, Y:-127.88, Z:-4.02 [[ 5.28951548e-01 8.48633778e-01 -5.56511384e-03 1.91325607e+02] [ 8.48588017e-01 -5.28980819e-01 -8.81308235e-03 -1.27880363e+02] [-1.04229178e-02 -6.07953673e-05 -9.99945678e-01 -4.02040632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters 0.01282609731887311 Centerline is valid? [True, True] Translation: X:191.34, Y:-127.86, Z:-4.02 [[ 4.64479076e-01 8.85569949e-01 -5.00532375e-03 1.91342265e+02] [ 8.85518970e-01 -4.64506044e-01 -9.50203449e-03 -1.27855901e+02] [-1.07397193e-02 -1.88129353e-05 -9.99942327e-01 -4.02280659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters 0.012785289523239797 Centerline is valid? [True, True] Translation: X:191.36, Y:-127.83, Z:-4.02 [[ 3.95186927e-01 9.18590319e-01 -4.37238714e-03 1.91360819e+02] [ 9.18534154e-01 -3.95211115e-01 -1.01578927e-02 -1.27832964e+02] [-1.10589579e-02 -1.92051156e-06 -9.99938848e-01 -4.02231381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters 0.01285301667260762 Centerline is valid? [True, True] Translation: X:191.38, Y:-127.81, Z:-4.02 [[ 3.22129764e-01 9.46689462e-01 -3.38779363e-03 1.91375582e+02] [ 9.46637132e-01 -3.22147578e-01 -9.95377808e-03 -1.27808538e+02] [-1.05145063e-02 -6.03062771e-07 -9.99944721e-01 -4.02177545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters 0.012820154018238246 Centerline is valid? [True, True] Translation: X:191.39, Y:-127.78, Z:-4.02 [[ 2.46144842e-01 9.69229530e-01 -2.61425464e-03 1.91392174e+02] [ 9.69175306e-01 -2.46158724e-01 -1.02522208e-02 -1.27783524e+02] [-1.05802767e-02 -1.01397727e-05 -9.99944027e-01 -4.02233683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters 0.012934954668101866 Centerline is valid? [True, True] Translation: X:191.41, Y:-127.76, Z:-4.02 [[ 1.66777690e-01 9.85992695e-01 -1.89939115e-03 1.91405584e+02] [ 9.85931545e-01 -1.66788500e-01 -1.09811227e-02 -1.27757962e+02] [-1.11441034e-02 -4.12633683e-05 -9.99937902e-01 -4.02156444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters 0.013176044240115658 Centerline is valid? [True, True] Translation: X:191.42, Y:-127.73, Z:-4.02 [[ 8.57814047e-02 9.96313457e-01 -1.02246558e-03 1.91415774e+02] [ 9.96252952e-01 -8.57874638e-02 -1.09802829e-02 -1.27730496e+02] [-1.10275183e-02 -7.67302665e-05 -9.99939192e-01 -4.02107087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters 0.013410710511683669 Centerline is valid? [True, True] Translation: X:191.43, Y:-127.70, Z:-4.02 [[ 4.62982341e-03 9.99989274e-01 -1.32495943e-04 1.91425152e+02] [ 9.99947323e-01 -4.63084287e-03 -9.16007749e-03 -1.27702516e+02] [-9.16059281e-03 -9.00794221e-05 -9.99958037e-01 -4.02302672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters 0.013734486859575054 Centerline is valid? [True, True] Translation: X:191.43, Y:-127.67, Z:-4.02 [[-7.57680011e-02 9.97125328e-01 5.39270740e-04 1.91431926e+02] [ 9.97089787e-01 7.57698539e-02 -8.41934368e-03 -1.27674177e+02] [-8.43600129e-03 -1.00215494e-04 -9.99964411e-01 -4.02316620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters 0.013779586347435275 Centerline is valid? [True, True] Translation: X:191.44, Y:-127.64, Z:-4.02 [[-1.55037321e-01 9.87907898e-01 1.18964464e-03 1.91437654e+02] [ 9.87873041e-01 1.55041845e-01 -8.29952974e-03 -1.27644439e+02] [-8.38361568e-03 -1.11518987e-04 -9.99964851e-01 -4.02324742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters 0.014410951999264598 Centerline is valid? [True, True] Translation: X:191.44, Y:-127.61, Z:-4.02 [[-2.34491989e-01 9.72116133e-01 1.93167468e-03 1.91442510e+02] [ 9.72078046e-01 2.34499904e-01 -8.60629184e-03 -1.27614119e+02] [-8.81929267e-03 -1.40367954e-04 -9.99961099e-01 -4.02271393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters 0.014662722006454578 Centerline is valid? [True, True] Translation: X:191.45, Y:-127.58, Z:-4.02 [[-3.12154589e-01 9.50027200e-01 2.79865940e-03 1.91446551e+02] [ 9.49983900e-01 3.12167087e-01 -9.07195080e-03 -1.27583684e+02] [-9.49224936e-03 -1.73169698e-04 -9.99954933e-01 -4.02208890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters 0.014893828007168932 Centerline is valid? [True, True] Translation: X:191.45, Y:-127.55, Z:-4.02 [[-3.86308053e-01 9.22362980e-01 3.55252864e-03 1.91445754e+02] [ 9.22319519e-01 3.86324344e-01 -8.95578557e-03 -1.27553100e+02] [-9.63291336e-03 -1.83125582e-04 -9.99953586e-01 -4.02205929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters 0.014750706013325258 Centerline is valid? [True, True] Translation: X:191.44, Y:-127.52, Z:-4.02 [[-4.55929898e-01 8.90004610e-01 4.44106990e-03 1.91440391e+02] [ 8.89958578e-01 4.55951493e-01 -9.05351888e-03 -1.27524799e+02] [-1.00825860e-02 -1.75401684e-04 -9.99949154e-01 -4.02103699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters 0.014122254786227953 Centerline is valid? [True, True] Translation: X:191.43, Y:-127.50, Z:-4.02 [[-5.21173646e-01 8.53432301e-01 5.59810200e-03 1.91429773e+02] [ 8.53379904e-01 5.21203688e-01 -9.45808663e-03 -1.27498383e+02] [-1.09895880e-02 -1.51997741e-04 -9.99939601e-01 -4.01940164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters 0.013702468181723285 Centerline is valid? [True, True] Translation: X:191.42, Y:-127.47, Z:-4.02 [[-5.84362295e-01 8.11463919e-01 6.85684715e-03 1.91416663e+02] [ 8.11405333e-01 5.84402507e-01 -9.75169966e-03 -1.27473080e+02] [-1.19203111e-02 -1.34843258e-04 -9.99928942e-01 -4.01875073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters 0.01331884298510571 Centerline is valid? [True, True] Translation: X:191.40, Y:-127.45, Z:-4.02 [[-6.43258521e-01 7.65608794e-01 7.85173101e-03 1.91400185e+02] [ 7.65549981e-01 6.43306432e-01 -9.49008778e-03 -1.27451197e+02] [-1.23167637e-02 -9.36873066e-05 -9.99924141e-01 -4.01862551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters 0.012700905152452644 Centerline is valid? [True, True] Translation: X:191.39, Y:-127.43, Z:-4.02 [[-6.99049058e-01 7.15035414e-01 7.40074963e-03 1.91385386e+02] [ 7.14994617e-01 6.99088231e-01 -7.63825418e-03 -1.27425716e+02] [-1.06353992e-02 -4.80182397e-05 -9.99943441e-01 -4.02154220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters 0.012750054053877512 Centerline is valid? [True, True] Translation: X:191.37, Y:-127.40, Z:-4.02 [[-7.52022552e-01 6.59095527e-01 7.42749057e-03 1.91370491e+02] [ 6.59062968e-01 7.52059230e-01 -6.55125736e-03 -1.27401702e+02] [-9.90381726e-03 -3.15092966e-05 -9.99950956e-01 -4.02030843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters 0.012555710107936177 Centerline is valid? [True, True] Translation: X:191.83, Y:-126.88, Z:-5.02 [[-7.01750222e-01 -7.12387868e-01 7.08182994e-03 1.91834084e+02] [ 7.12352176e-01 -7.01785953e-01 -7.13113263e-03 -1.26880069e+02] [ 1.00500611e-02 4.04830670e-05 9.99949496e-01 -5.01846823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters 0.012942263371449086 Centerline is valid? [True, True] Translation: X:191.79, Y:-126.84, Z:-5.02 [[-7.01299606e-01 -7.12821766e-01 7.99955440e-03 1.91792728e+02] [ 7.12776058e-01 -7.01345228e-01 -8.07234013e-03 -1.26841610e+02] [ 1.13645891e-02 4.07619013e-05 9.99935420e-01 -5.02164342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters 0.012765807389534542 Centerline is valid? [True, True] Translation: X:191.75, Y:-126.80, Z:-5.02 [[-7.01190837e-01 -7.12922243e-01 8.56072249e-03 1.91750932e+02] [ 7.12869969e-01 -7.01243092e-01 -8.63327718e-03 -1.26801859e+02] [ 1.21580028e-02 4.91071251e-05 9.99926088e-01 -5.02112690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters 0.013126054154495696 Centerline is valid? [True, True] Translation: X:191.71, Y:-126.76, Z:-5.02 [[-7.02058007e-01 -7.12066222e-01 8.73217897e-03 1.91710615e+02] [ 7.12011837e-01 -7.02112309e-01 -8.80053123e-03 -1.26762829e+02] [ 1.23975314e-02 3.89313806e-05 9.99923147e-01 -5.02361414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters 0.013103690530560692 Centerline is valid? [True, True] Translation: X:191.67, Y:-126.72, Z:-5.02 [[-7.02679338e-01 -7.11455557e-01 8.52869719e-03 1.91670925e+02] [ 7.11403696e-01 -7.02731094e-01 -8.59020741e-03 -1.26722668e+02] [ 1.21049315e-02 3.11854412e-05 9.99926732e-01 -5.02340482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters 0.012520434194470069 Centerline is valid? [True, True] Translation: X:191.63, Y:-126.68, Z:-5.02 [[-7.03967626e-01 -7.10182060e-01 8.42756930e-03 1.91630652e+02] [ 7.10131394e-01 -7.04018069e-01 -8.48298923e-03 -1.26681681e+02] [ 1.19576278e-02 1.29317553e-05 9.99928505e-01 -5.01956583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters 0.012698483988584194 Centerline is valid? [True, True] Translation: X:191.59, Y:-126.64, Z:-5.02 [[-7.05064205e-01 -7.09106023e-01 7.28802263e-03 1.91590434e+02] [ 7.09068112e-01 -7.05101871e-01 -7.33240407e-03 -1.26642793e+02] [ 1.03382503e-02 -2.11120416e-06 9.99946559e-01 -5.02037413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters 0.012578045833987217 Centerline is valid? [True, True] Translation: X:191.55, Y:-126.61, Z:-5.02 [[-7.04139368e-01 -7.10033795e-01 6.30558061e-03 1.91547714e+02] [ 7.10005488e-01 -7.04167600e-01 -6.34011316e-03 -1.26605112e+02] [ 8.94188018e-03 1.26735691e-05 9.99960021e-01 -5.01907980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters 0.012596461095693656 Centerline is valid? [True, True] Translation: X:191.51, Y:-126.57, Z:-5.02 [[-7.03054742e-01 -7.11111756e-01 5.83957059e-03 1.91505468e+02] [ 7.11087546e-01 -7.03078993e-01 -5.86790452e-03 -1.26566718e+02] [ 8.27841529e-03 2.69878200e-05 9.99965733e-01 -5.01854324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters 0.013023077635098709 Centerline is valid? [True, True] Translation: X:191.46, Y:-126.53, Z:-5.02 [[-7.00667254e-01 -7.13463239e-01 5.96712232e-03 1.91460745e+02] [ 7.13438074e-01 -7.00692660e-01 -5.99261174e-03 -1.26530993e+02] [ 8.45662699e-03 5.83454462e-05 9.99964240e-01 -5.01995112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters 0.013445993676965447 Centerline is valid? [True, True] Translation: X:191.42, Y:-126.49, Z:-5.02 [[-6.98980718e-01 -7.15117894e-01 5.68805057e-03 1.91417925e+02] [ 7.15095109e-01 -6.99003857e-01 -5.70897534e-03 -1.26493425e+02] [ 8.05855971e-03 7.70334577e-05 9.99967526e-01 -5.01953115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters 0.013738241175831094 Centerline is valid? [True, True] Translation: X:191.38, Y:-126.45, Z:-5.02 [[-6.98224537e-01 -7.15857542e-01 5.52049913e-03 1.91376618e+02] [ 7.15836129e-01 -6.98246355e-01 -5.53753048e-03 -1.26454310e+02] [ 7.81875135e-03 8.53330696e-05 9.99969429e-01 -5.01909053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters 0.014587107225016757 Centerline is valid? [True, True] Translation: X:191.33, Y:-126.42, Z:-5.02 [[-6.97044064e-01 -7.17004923e-01 5.78910526e-03 1.91333583e+02] [ 7.16981444e-01 -6.97068095e-01 -5.80339018e-03 -1.26417813e+02] [ 8.19645990e-03 1.05462375e-04 9.99966403e-01 -5.02062998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters 0.014372251138657102 Centerline is valid? [True, True] Translation: X:191.29, Y:-126.38, Z:-5.02 [[-6.96601554e-01 -7.17429186e-01 6.45269456e-03 1.91291886e+02] [ 7.17400066e-01 -6.96631428e-01 -6.46520121e-03 -1.26376831e+02] [ 9.13347387e-03 1.25494291e-04 9.99958281e-01 -5.02135718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters 0.014508254627698627 Centerline is valid? [True, True] Translation: X:191.25, Y:-126.34, Z:-5.02 [[-6.97094264e-01 -7.16943987e-01 7.13484628e-03 1.91251705e+02] [ 7.16908403e-01 -6.97130763e-01 -7.14425877e-03 -1.26337655e+02] [ 1.00959542e-02 1.34809449e-04 9.99949026e-01 -5.02305177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters 0.01373067661828828 Centerline is valid? [True, True] Translation: X:191.21, Y:-126.30, Z:-5.02 [[-6.99844540e-01 -7.14263427e-01 6.73613652e-03 1.91213700e+02] [ 7.14231624e-01 -6.99876952e-01 -6.74092023e-03 -1.26296071e+02] [ 9.52925948e-03 9.35655069e-05 9.99954591e-01 -5.02324141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters 0.012649693400440008 Centerline is valid? [True, True] Translation: X:191.18, Y:-126.25, Z:-5.02 [[-7.03265690e-01 -7.10903404e-01 5.80688121e-03 1.91176382e+02] [ 7.10879682e-01 -7.03289662e-01 -5.80772031e-03 -1.26250687e+02] [ 8.21264767e-03 4.36234398e-05 9.99966275e-01 -5.02112887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters 0.012521702765070699 Centerline is valid? [True, True] Translation: X:191.14, Y:-126.21, Z:-5.02 [[-7.08990601e-01 -7.05201702e-01 4.78409875e-03 1.91141291e+02] [ 7.05185490e-01 -7.09006741e-01 -4.78175238e-03 -1.26205296e+02] [ 6.76405818e-03 -1.65404746e-05 9.99977123e-01 -5.02036177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters 0.013249153413132077 Centerline is valid? [True, True] Translation: X:190.66, Y:-126.69, Z:-4.02 [[-7.50980189e-01 6.60304303e-01 5.19454646e-03 1.90661835e+02] [ 6.60288945e-01 7.50998153e-01 -4.50378438e-03 -1.26687077e+02] [-6.87496301e-03 4.76487536e-05 -9.99976366e-01 -4.01828507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters 0.013624149583612421 Centerline is valid? [True, True] Translation: X:190.68, Y:-126.67, Z:-4.02 [[-7.93236388e-01 6.08877964e-01 6.60739480e-03 1.90675776e+02] [ 6.08857810e-01 7.93263901e-01 -4.95490465e-03 -1.26669092e+02] [-8.25834002e-03 9.25532593e-05 -9.99965895e-01 -4.01768618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters 0.013899212534189504 Centerline is valid? [True, True] Translation: X:191.10, Y:-126.12, Z:-5.02 [[-7.65542811e-01 -6.43336720e-01 7.87840824e-03 1.91096422e+02] [ 6.43302701e-01 -7.65583350e-01 -6.61584405e-03 -1.26117423e+02] [ 1.02877936e-02 3.48945231e-06 9.99947079e-01 -5.02463268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters 0.013555075929606359 Centerline is valid? [True, True] Translation: X:190.64, Y:-126.65, Z:-4.02 [[-7.95462063e-01 6.05943782e-01 8.49941720e-03 1.90643213e+02] [ 6.05910761e-01 7.95507461e-01 -6.32695432e-03 -1.26648870e+02] [-1.05951284e-02 1.17036208e-04 -9.99943863e-01 -4.01548731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters 0.013216054705194569 Centerline is valid? [True, True] Translation: X:190.66, Y:-126.63, Z:-4.02 [[-8.37861799e-01 5.45813890e-01 8.64894406e-03 1.90658041e+02] [ 5.45785858e-01 8.37906433e-01 -5.53239241e-03 -1.26626510e+02] [-1.02666625e-02 8.50911001e-05 -9.99947293e-01 -4.01562129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters 0.012923014430900678 Centerline is valid? [True, True] Translation: X:191.03, Y:-126.04, Z:-5.02 [[-8.07144315e-01 -5.90297515e-01 8.17912118e-03 1.91033965e+02] [ 5.90266091e-01 -8.07185750e-01 -6.09149060e-03 -1.26041448e+02] [ 1.01978618e-02 -8.88541215e-05 9.99947997e-01 -5.02445491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters 0.01264260992744134 Centerline is valid? [True, True] Translation: X:191.01, Y:-126.07, Z:-5.02 [[-7.61813821e-01 -6.47754060e-01 7.37429952e-03 1.91011894e+02] [ 6.47723825e-01 -7.61849511e-01 -6.25846309e-03 -1.26066045e+02] [ 9.67205136e-03 8.72581630e-06 9.99953225e-01 -5.02445042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters 0.01297456099317607 Centerline is valid? [True, True] Translation: X:190.57, Y:-126.59, Z:-4.02 [[-8.10507921e-01 5.85686527e-01 6.94269580e-03 1.90570164e+02] [ 5.85664391e-01 8.10537654e-01 -5.09246776e-03 -1.26590429e+02] [-8.60990612e-03 -6.13957554e-05 -9.99962932e-01 -4.01562522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters 0.013519189770634809 Centerline is valid? [True, True] Translation: X:190.57, Y:-126.56, Z:-4.02 [[-8.51896724e-01 5.23663842e-01 6.93916742e-03 1.90573999e+02] [ 5.23645609e-01 8.51924981e-01 -4.37071133e-03 -1.26555967e+02] [-8.20043356e-03 -8.97301183e-05 -9.99966372e-01 -4.01511320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters 0.013917354920984074 Centerline is valid? [True, True] Translation: X:190.59, Y:-126.53, Z:-4.02 [[-8.88463340e-01 4.58899000e-01 6.67839329e-03 1.90592960e+02] [ 4.58885107e-01 8.88488433e-01 -3.57246334e-03 -1.26533107e+02] [-7.57307504e-03 -1.09387493e-04 -9.99971318e-01 -4.01516417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters 0.014637448021961347 Centerline is valid? [True, True] Translation: X:190.61, Y:-126.51, Z:-4.01 [[-9.20129087e-01 3.91533031e-01 8.02175268e-03 1.90609103e+02] [ 3.91516644e-01 9.20164040e-01 -3.58568388e-03 -1.26508102e+02] [-8.78524203e-03 -1.58642350e-04 -9.99961396e-01 -4.01399970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters 0.015183345355306322 Centerline is valid? [True, True] Translation: X:190.62, Y:-126.48, Z:-4.01 [[-9.45471860e-01 3.25583005e-01 8.86957934e-03 1.90620388e+02] [ 3.25566998e-01 9.45513447e-01 -3.23293039e-03 -1.26482567e+02] [-9.43889373e-03 -1.69002394e-04 -9.99955438e-01 -4.01254116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters 0.01468741644076792 Centerline is valid? [True, True] Translation: X:190.63, Y:-126.46, Z:-4.01 [[-9.65858708e-01 2.58922859e-01 8.71256968e-03 1.90625649e+02] [ 2.58910909e-01 9.65897992e-01 -2.49219905e-03 -1.26457264e+02] [-9.06074086e-03 -1.51332816e-04 -9.99958939e-01 -4.01265772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters 0.01419747911093996 Centerline is valid? [True, True] Translation: X:190.81, Y:-125.82, Z:-5.03 [[-9.35608622e-01 -3.52949245e-01 7.95844309e-03 1.90814877e+02] [ 3.52937434e-01 -9.35642463e-01 -2.88937433e-03 -1.25820431e+02] [ 8.46605978e-03 1.05508951e-04 9.99964157e-01 -5.02701310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters 0.014047281519478191 Centerline is valid? [True, True] Translation: X:190.58, Y:-126.45, Z:-4.01 [[-9.65741599e-01 2.59342521e-01 9.19893057e-03 1.90582921e+02] [ 2.59329570e-01 9.65785402e-01 -2.59451091e-03 -1.26449785e+02] [-9.55705986e-03 -1.20072399e-04 -9.99954323e-01 -4.01142813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters 0.013884015024628922 Centerline is valid? [True, True] Translation: X:190.59, Y:-126.43, Z:-4.01 [[-9.81510377e-01 1.91130004e-01 1.03296504e-02 1.90592289e+02] [ 1.91118099e-01 9.81564724e-01 -2.13673684e-03 -1.26427384e+02] [-1.05476149e-02 -1.23046239e-04 -9.99944365e-01 -4.01158986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters 0.014018187571110226 Centerline is valid? [True, True] Translation: X:190.73, Y:-125.77, Z:-5.03 [[-9.59946033e-01 -2.80022008e-01 9.55450500e-03 1.90732654e+02] [ 2.80008931e-01 -9.59993578e-01 -2.70723535e-03 -1.25766495e+02] [ 9.93034892e-03 7.65468930e-05 9.99950690e-01 -5.02720442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters 0.0147589985272452 Centerline is valid? [True, True] Translation: X:190.54, Y:-126.42, Z:-4.01 [[-9.82872387e-01 1.84115073e-01 7.96943548e-03 1.90543155e+02] [ 1.84108016e-01 9.82904688e-01 -1.61651470e-03 -1.26416035e+02] [-8.13082021e-03 -1.21590702e-04 -9.99966937e-01 -4.01464172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters 0.014905935028986662 Centerline is valid? [True, True] Translation: X:190.68, Y:-125.76, Z:-5.02 [[-9.60135277e-01 -2.79444162e-01 7.15608419e-03 1.90681052e+02] [ 2.79436918e-01 -9.60161943e-01 -2.01313145e-03 -1.25759496e+02] [ 7.43355753e-03 6.67955859e-05 9.99972369e-01 -5.02475731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters 0.015219458183872988 Centerline is valid? [True, True] Translation: X:190.49, Y:-126.41, Z:-4.02 [[-9.84038182e-01 1.77798482e-01 7.52031947e-03 1.90494490e+02] [ 1.77792246e-01 9.84066909e-01 -1.49528027e-03 -1.26405787e+02] [-7.66635610e-03 -1.34358394e-04 -9.99970604e-01 -4.01599633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters 0.015769611679073075 Centerline is valid? [True, True] Translation: X:190.61, Y:-125.75, Z:-5.02 [[-9.60184242e-01 -2.79266412e-01 7.51614964e-03 1.90614052e+02] [ 2.79259028e-01 -9.60213648e-01 -2.03589507e-03 -1.25747941e+02] [ 7.78566658e-03 1.44118281e-04 9.99969681e-01 -5.02354224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters 0.016170136876179544 Centerline is valid? [True, True] Translation: X:190.44, Y:-126.39, Z:-4.02 [[-9.85312499e-01 1.70567461e-01 8.12524853e-03 1.90443874e+02] [ 1.70560202e-01 9.85345985e-01 -1.58327964e-03 -1.26393179e+02] [-8.27623701e-03 -1.74181192e-04 -9.99965736e-01 -4.01600585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters 0.016998064846067473 Centerline is valid? [True, True] Translation: X:190.45, Y:-126.36, Z:-4.02 [[-9.95022017e-01 9.92536002e-02 8.93914212e-03 1.90450038e+02] [ 9.92478029e-02 9.95062151e-01 -1.09092236e-03 -1.26364859e+02] [-9.00327996e-03 -1.98301548e-04 -9.99959450e-01 -4.01545626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters 0.016716647466129143 Centerline is valid? [True, True] Translation: X:190.53, Y:-125.71, Z:-5.02 [[-9.77780455e-01 -2.09403252e-01 9.78053255e-03 1.90528697e+02] [ 2.09395620e-01 -9.77829331e-01 -1.80942553e-03 -1.25710452e+02] [ 9.94259119e-03 2.78779760e-04 9.99950532e-01 -5.02407659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters 0.016367866594255934 Centerline is valid? [True, True] Translation: X:190.40, Y:-126.36, Z:-4.02 [[-9.95353368e-01 9.58411292e-02 9.28178883e-03 1.90400679e+02] [ 9.58350704e-02 9.95396623e-01 -1.09637442e-03 -1.26359243e+02] [-9.34413902e-03 -2.01759083e-04 -9.99956322e-01 -4.01741341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters 0.01622275252629023 Centerline is valid? [True, True] Translation: X:190.48, Y:-125.71, Z:-5.02 [[-9.79008472e-01 -2.03645596e-01 8.41925251e-03 1.90480315e+02] [ 2.03639267e-01 -9.79044663e-01 -1.61136646e-03 -1.25707987e+02] [ 8.57097193e-03 1.36948990e-04 9.99963259e-01 -5.02155202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters 0.015682902093070487 Centerline is valid? [True, True] Translation: X:190.35, Y:-126.35, Z:-4.02 [[-9.95510365e-01 9.42773920e-02 8.41941862e-03 1.90353373e+02] [ 9.42726373e-02 9.95545954e-01 -9.60713498e-04 -1.26352224e+02] [-8.47249171e-03 -1.62679447e-04 -9.99964095e-01 -4.01977541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters 0.015869078401643675 Centerline is valid? [True, True] Translation: X:190.43, Y:-125.71, Z:-5.02 [[-9.80402108e-01 -1.96797738e-01 9.07506720e-03 1.90430601e+02] [ 1.96791403e-01 -9.80444083e-01 -1.59466316e-03 -1.25706061e+02] [ 9.21142205e-03 2.22484080e-04 9.99957549e-01 -5.02068740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters 0.014763703564043407 Centerline is valid? [True, True] Translation: X:190.30, Y:-126.35, Z:-4.02 [[-9.95447456e-01 9.48400614e-02 9.47234440e-03 1.90301411e+02] [ 9.48344235e-02 9.95492513e-01 -1.04361782e-03 -1.26345534e+02] [-9.52862471e-03 -1.40562387e-04 -9.99954592e-01 -4.02001283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters 0.014041195069106895 Centerline is valid? [True, True] Translation: X:190.38, Y:-125.70, Z:-5.02 [[-9.82368166e-01 -1.86649408e-01 1.07137801e-02 1.90381444e+02] [ 1.86640969e-01 -9.82426557e-01 -1.79112714e-03 -1.25700759e+02] [ 1.08598149e-02 2.40084001e-04 9.99941002e-01 -5.02024111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters 0.013623686623277608 Centerline is valid? [True, True] Translation: X:190.26, Y:-126.34, Z:-4.02 [[-9.95030380e-01 9.90059653e-02 1.06001077e-02 1.90259538e+02] [ 9.89995904e-02 9.95086837e-01 -1.12572826e-03 -1.26341924e+02] [-1.06594815e-02 -7.07274975e-05 -9.99943184e-01 -4.02047644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters 0.013344093750017293 Centerline is valid? [True, True] Translation: X:190.26, Y:-126.32, Z:-4.02 [[-9.99360734e-01 3.43204005e-02 1.00117091e-02 1.90263849e+02] [ 3.43186360e-02 9.99410882e-01 -3.48039828e-04 -1.26315655e+02] [-1.00177559e-02 -4.22913584e-06 -9.99949821e-01 -4.02166285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters 0.013341247511788765 Centerline is valid? [True, True] Translation: X:190.28, Y:-125.66, Z:-5.02 [[-9.95066992e-01 -9.86956898e-02 1.00419893e-02 1.90284604e+02] [ 9.86907525e-02 -9.95117662e-01 -9.87231327e-04 -1.25663995e+02] [ 1.00903963e-02 8.69016841e-06 9.99949091e-01 -5.01701599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters 0.013775833232421333 Centerline is valid? [True, True] Translation: X:190.21, Y:-126.31, Z:-4.02 [[-9.99190378e-01 3.87450890e-02 1.08353894e-02 1.90206161e+02] [ 3.87437975e-02 9.99249123e-01 -3.29152263e-04 -1.26313782e+02] [-1.08400064e-02 9.09183576e-05 -9.99941241e-01 -4.02254006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters 0.01453090749589176 Centerline is valid? [True, True] Translation: X:190.23, Y:-125.67, Z:-5.02 [[-9.96301712e-01 -8.50767112e-02 1.20354181e-02 1.90230524e+02] [ 8.50701925e-02 -9.96374404e-01 -1.05347450e-03 -1.25666439e+02] [ 1.20814087e-02 -2.57231204e-05 9.99927017e-01 -5.01895018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters 0.014702674299053711 Centerline is valid? [True, True] Translation: X:190.15, Y:-126.31, Z:-4.02 [[-9.99068813e-01 4.08981601e-02 1.37421774e-02 1.90149210e+02] [ 4.08970831e-02 9.99163300e-01 -3.59498104e-04 -1.26306582e+02] [-1.37453822e-02 2.02851629e-04 -9.99905507e-01 -4.02094319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters 0.01480358895452023 Centerline is valid? [True, True] Translation: X:190.17, Y:-125.67, Z:-5.02 [[-9.96829542e-01 -7.83029917e-02 1.41246344e-02 1.90166836e+02] [ 7.82925580e-02 -9.96929591e-01 -1.29098891e-03 -1.25671938e+02] [ 1.41823543e-02 -1.81042125e-04 9.99899409e-01 -5.01913094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters 0.014022539235958168 Centerline is valid? [True, True] Translation: X:190.09, Y:-126.29, Z:-4.02 [[-9.99312128e-01 3.42983991e-02 1.41028370e-02 1.90091391e+02] [ 3.42974386e-02 9.99411622e-01 -3.10033027e-04 -1.26293811e+02] [-1.41051729e-02 1.73871424e-04 -9.99900502e-01 -4.02108768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters 0.013162809348313457 Centerline is valid? [True, True] Translation: X:190.10, Y:-125.69, Z:-5.02 [[-9.96430126e-01 -8.33087896e-02 1.36619857e-02 1.90098916e+02] [ 8.32982595e-02 -9.96523761e-01 -1.33898487e-03 -1.25687918e+02] [ 1.37260425e-02 -1.96185235e-04 9.99905774e-01 -5.01881348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters 0.012823759524444893 Centerline is valid? [True, True] Translation: X:190.03, Y:-126.28, Z:-4.02 [[-9.99757136e-01 1.83775880e-02 1.21628099e-02 1.90029483e+02] [ 1.83763043e-02 9.99831118e-01 -2.17296753e-04 -1.26277227e+02] [-1.21647492e-02 6.26351679e-06 -9.99926007e-01 -4.02180766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters 0.013022602116999016 Centerline is valid? [True, True] Translation: X:190.03, Y:-125.70, Z:-5.02 [[-9.95704388e-01 -9.19662790e-02 1.07226265e-02 1.90032869e+02] [ 9.19598061e-02 -9.95762116e-01 -1.09620225e-03 -1.25703406e+02] [ 1.07779989e-02 -1.05442741e-04 9.99941910e-01 -5.01722727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters 0.013584211809568583 Centerline is valid? [True, True] Translation: X:189.97, Y:-126.26, Z:-4.02 [[-9.99941114e-01 2.51945755e-03 1.05556113e-02 1.89967150e+02] [ 2.51805513e-03 9.99996819e-01 -1.46148040e-04 -1.26260485e+02] [-1.05559460e-02 -1.19559823e-04 -9.99944277e-01 -4.02293643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters 0.01456493163855591 Centerline is valid? [True, True] Translation: X:189.97, Y:-125.72, Z:-5.02 [[-9.95090379e-01 -9.82523706e-02 1.19000100e-02 1.89970537e+02] [ 9.82481381e-02 -9.95161503e-01 -9.41166976e-04 -1.25718078e+02] [ 1.19349038e-02 2.32607628e-04 9.99928749e-01 -5.01842276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters 0.015582622599746077 Centerline is valid? [True, True] Translation: X:189.90, Y:-126.24, Z:-4.02 [[-9.99850229e-01 -1.13304443e-02 1.30820671e-02 1.89904942e+02] [-1.13331167e-02 9.99935770e-01 -1.30160135e-04 -1.26243591e+02] [-1.30797520e-02 -2.78401234e-04 -9.99914418e-01 -4.02017536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters 0.015834103389619603 Centerline is valid? [True, True] Translation: X:189.91, Y:-125.73, Z:-5.02 [[-9.95027200e-01 -9.87597933e-02 1.29373231e-02 1.89910879e+02] [ 9.87549607e-02 -9.95111266e-01 -1.01340962e-03 -1.25727199e+02] [ 1.29741601e-02 2.69254698e-04 9.99915796e-01 -5.01990461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters 0.014704612833959189 Centerline is valid? [True, True] Translation: X:189.86, Y:-126.24, Z:-4.02 [[-9.99837694e-01 -1.26303054e-02 1.28476381e-02 1.89859007e+02] [-1.26323376e-02 9.99920206e-01 -7.70341090e-05 -1.26243939e+02] [-1.28456400e-02 -2.39317307e-04 -9.99917463e-01 -4.02092545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters 0.013715004185571174 Centerline is valid? [True, True] Translation: X:189.86, Y:-125.72, Z:-5.02 [[-9.96123548e-01 -8.70296988e-02 1.27948889e-02 1.89863749e+02] [ 8.70255801e-02 -9.96205689e-01 -8.79370618e-04 -1.25722308e+02] [ 1.28228725e-02 2.37520849e-04 9.99917755e-01 -5.01896698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters 0.013176622712213516 Centerline is valid? [True, True] Translation: X:189.81, Y:-126.25, Z:-4.02 [[-9.99889184e-01 -8.00409809e-03 1.25520382e-02 1.89813779e+02] [-8.00504036e-03 9.99967959e-01 -2.48275468e-05 -1.26251208e+02] [-1.25514373e-02 -1.25304368e-04 -9.99921220e-01 -4.02106484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters 0.012826328208177184 Centerline is valid? [True, True] Translation: X:189.82, Y:-125.72, Z:-5.02 [[-9.97136724e-01 -7.46539752e-02 1.20472818e-02 1.89815803e+02] [ 7.46496370e-02 -9.97209494e-01 -8.10009386e-04 -1.25715015e+02] [ 1.20741342e-02 9.16351038e-05 9.99927101e-01 -5.01839368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters 0.012741700217229136 Centerline is valid? [True, True] Translation: X:189.76, Y:-126.26, Z:-4.02 [[-9.99908128e-01 -6.21308793e-03 1.20471328e-02 1.89762938e+02] [-6.21324722e-03 9.99980697e-01 2.42056773e-05 -1.26258273e+02] [-1.20470507e-02 -5.06483609e-05 -9.99927430e-01 -4.02165638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters 0.01272104434960576 Centerline is valid? [True, True] Translation: X:189.76, Y:-125.71, Z:-5.02 [[-9.97650930e-01 -6.72943554e-02 1.28097978e-02 1.89761990e+02] [ 6.72901387e-02 -9.97733160e-01 -7.60382338e-04 -1.25710921e+02] [ 1.28319295e-02 1.03376922e-04 9.99917662e-01 -5.01920481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters 0.012587797815451452 Centerline is valid? [True, True] Translation: X:189.71, Y:-126.26, Z:-4.02 [[-9.99888732e-01 -8.07560024e-03 1.25423006e-02 1.89708733e+02] [-8.07528756e-03 9.99967392e-01 7.55736567e-05 -1.26264663e+02] [-1.25425019e-02 -2.57174365e-05 -9.99921339e-01 -4.02143908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters 0.012652503782381419 Centerline is valid? [True, True] Translation: X:189.70, Y:-126.24, Z:-4.02 [[-9.96592525e-01 -8.16028625e-02 1.20130309e-02 1.89695919e+02] [-8.15975997e-02 9.96664924e-01 9.28393974e-04 -1.26239357e+02] [-1.20487261e-02 -5.50039928e-05 -9.99927410e-01 -4.02269871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters 0.013163319310897066 Centerline is valid? [True, True] Translation: X:189.68, Y:-126.21, Z:-4.02 [[-9.87495017e-01 -1.57226293e-01 1.15535051e-02 1.89681916e+02] [-1.57216859e-01 9.87562596e-01 1.72600245e-03 -1.26212346e+02] [-1.16811824e-02 -1.11986954e-04 -9.99931766e-01 -4.02246522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters 0.014095646912970121 Centerline is valid? [True, True] Translation: X:189.67, Y:-126.19, Z:-4.02 [[-9.72777941e-01 -2.31422324e-01 1.21155003e-02 1.89665430e+02] [-2.31406609e-01 9.72853369e-01 2.70256196e-03 -1.26186319e+02] [-1.24120384e-02 -1.74614178e-04 -9.99922952e-01 -4.02127046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters 0.015244379967811476 Centerline is valid? [True, True] Translation: X:189.64, Y:-126.17, Z:-4.02 [[-9.51767357e-01 -3.06607046e-01 1.14462882e-02 1.89643606e+02] [-3.06588005e-01 9.51836151e-01 3.42600764e-03 -1.26165437e+02] [-1.19454290e-02 -2.48532446e-04 -9.99928620e-01 -4.02215783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters 0.017052322203093988 Centerline is valid? [True, True] Translation: X:189.62, Y:-126.15, Z:-4.02 [[-9.25552389e-01 -3.78509191e-01 9.14155066e-03 1.89617522e+02] [-3.78493408e-01 9.25597498e-01 3.46572076e-03 -1.26146578e+02] [-9.77320358e-03 -2.52310531e-04 -9.99952209e-01 -4.02421919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters 0.018566608175712245 Centerline is valid? [True, True] Translation: X:189.58, Y:-126.14, Z:-4.03 [[-8.94102234e-01 -4.47812383e-01 6.72795192e-03 1.89580732e+02] [-4.47801558e-01 8.94127519e-01 3.12154132e-03 -1.26136124e+02] [-7.41351182e-03 -2.21810282e-04 -9.99972495e-01 -4.02646590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters 0.018896136146976543 Centerline is valid? [True, True] Translation: X:189.53, Y:-126.13, Z:-4.03 [[-8.58219435e-01 -5.13249921e-01 5.82419242e-03 1.89533032e+02] [-5.13239765e-01 8.58239171e-01 3.23567225e-03 -1.26133652e+02] [-6.65925860e-03 -2.12290338e-04 -9.99977804e-01 -4.02679274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters 0.021202904012584258 Centerline is valid? [True, True] Translation: X:189.47, Y:-126.14, Z:-4.03 [[-8.16910767e-01 -5.76738604e-01 5.42057347e-03 1.89467210e+02] [-5.76727694e-01 8.16928720e-01 3.55430295e-03 -1.26142490e+02] [-6.47812587e-03 -2.22646487e-04 -9.99978992e-01 -4.02574930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters 0.0204596186153621 Centerline is valid? [True, True] Translation: X:189.41, Y:-126.16, Z:-4.02 [[-7.70625549e-01 -6.37261237e-01 5.86345110e-03 1.89405087e+02] [-6.37245423e-01 7.70647807e-01 4.49754834e-03 -1.26160256e+02] [-7.38476895e-03 -2.70531718e-04 -9.99972696e-01 -4.02475458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters 0.020828582235624647 Centerline is valid? [True, True] Translation: X:189.34, Y:-126.19, Z:-4.02 [[-7.20173004e-01 -6.93762344e-01 6.68236323e-03 1.89335318e+02] [-6.93736794e-01 7.20203925e-01 5.96381996e-03 -1.26189294e+02] [-8.95013794e-03 -3.40819106e-04 -9.99959889e-01 -4.02363495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters 0.021058902909777927 Centerline is valid? [True, True] Translation: X:189.26, Y:-126.23, Z:-4.02 [[-6.67483525e-01 -7.44582450e-01 7.91948639e-03 1.89261381e+02] [-7.44537297e-01 6.67530375e-01 8.21043799e-03 -1.26229820e+02] [-1.13998458e-02 -4.16020903e-04 -9.99934933e-01 -4.02004922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters 0.019514979547872204 Centerline is valid? [True, True] Translation: X:189.19, Y:-126.28, Z:-4.02 [[-6.12091801e-01 -7.90748062e-01 7.81851991e-03 1.89190477e+02] [-7.90691911e-01 6.12141598e-01 9.43222452e-03 -1.26280519e+02] [-1.22445545e-02 -4.08653150e-04 -9.99924949e-01 -4.01967216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters 0.01859162555095857 Centerline is valid? [True, True] Translation: X:189.12, Y:-126.34, Z:-4.02 [[-5.54156931e-01 -8.32384188e-01 6.83067596e-03 1.89120048e+02] [-8.32328468e-01 5.54198921e-01 9.63730697e-03 -1.26340032e+02] [-1.18074952e-02 -3.44785597e-04 -9.99930230e-01 -4.02049062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters 0.015738892852297195 Centerline is valid? [True, True] Translation: X:189.05, Y:-126.41, Z:-4.02 [[-4.95389666e-01 -8.68654782e-01 5.28662219e-03 1.89054657e+02] [-8.68610183e-01 4.95417821e-01 8.80534134e-03 -1.26413498e+02] [-1.02678887e-02 -2.29938758e-04 -9.99947257e-01 -4.02325702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters 0.013779874025326632 Centerline is valid? [True, True] Translation: X:188.99, Y:-126.49, Z:-4.02 [[-4.35400311e-01 -9.00227777e-01 4.06420981e-03 1.88991901e+02] [-9.00191248e-01 4.35419261e-01 8.11079711e-03 -1.26494160e+02] [-9.07120009e-03 -1.27122507e-04 -9.99958848e-01 -4.02439868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters 0.012660107187304237 Centerline is valid? [True, True] Translation: X:188.94, Y:-126.58, Z:-4.03 [[-3.73015752e-01 -9.27817933e-01 3.62375109e-03 1.88935934e+02] [-9.27775569e-01 3.73033350e-01 8.86647301e-03 -1.26579704e+02] [-9.57825267e-03 -5.46936307e-05 -9.99954126e-01 -4.02549090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters 0.012436621672908979 Centerline is valid? [True, True] Translation: X:188.88, Y:-126.68, Z:-4.03 [[-3.05894488e-01 -9.52060696e-01 2.99900163e-03 1.88878062e+02] [-9.52015084e-01 3.05909189e-01 9.31927379e-03 -1.26676533e+02] [-9.78993645e-03 -4.38030704e-06 -9.99952077e-01 -4.02563351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters 0.012878327562510665 Centerline is valid? [True, True] Translation: X:188.83, Y:-126.78, Z:-4.03 [[-2.37895279e-01 -9.71288395e-01 2.16566415e-03 1.88827662e+02] [-9.71246100e-01 2.37905131e-01 9.06428508e-03 -1.26780029e+02] [-9.31925752e-03 5.29577733e-05 -9.99956573e-01 -4.02641342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters 0.01312656276755146 Centerline is valid? [True, True] Translation: X:188.78, Y:-126.88, Z:-4.03 [[-1.66425549e-01 -9.86053226e-01 1.25373062e-03 1.88783530e+02] [-9.86021672e-01 1.66430254e-01 7.88882463e-03 -1.26884216e+02] [-7.98745968e-03 7.66964130e-05 -9.99968097e-01 -4.02807709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters 0.0133440553482605 Centerline is valid? [True, True] Translation: X:188.74, Y:-127.00, Z:-4.03 [[-9.03090878e-02 -9.95913578e-01 6.43047676e-04 1.88743320e+02] [-9.95881794e-01 9.03113433e-02 7.95696031e-03 -1.26998845e+02] [-7.98251932e-03 7.81863542e-05 -9.99968136e-01 -4.02760549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters 0.013030710526099757 Centerline is valid? [True, True] Translation: X:188.71, Y:-127.11, Z:-4.03 [[-1.08329515e-02 -9.99941321e-01 3.30870501e-05 1.88708954e+02] [-9.99899690e-01 1.08328024e-02 9.12474828e-03 -1.27114603e+02] [-9.12457128e-03 6.57642243e-05 -9.99958368e-01 -4.02676193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters 0.012641448370095894 Centerline is valid? [True, True] Translation: X:188.68, Y:-127.24, Z:-4.02 [[ 7.12917922e-02 -9.97455220e-01 -7.51746422e-04 1.88680502e+02] [-9.97402735e-01 -7.12957526e-02 1.02323354e-02 -1.27237823e+02] [-1.02598927e-02 2.03124064e-05 -9.99947366e-01 -4.02490803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters 0.01264072962005552 Centerline is valid? [True, True] Translation: X:188.66, Y:-127.36, Z:-4.02 [[ 1.50399834e-01 -9.88623856e-01 -1.66153284e-03 1.88663316e+02] [-9.88562797e-01 -1.50409012e-01 1.09875183e-02 -1.27355862e+02] [-1.11124322e-02 -9.99138406e-06 -9.99938255e-01 -4.02301047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters 0.012565242412904193 Centerline is valid? [True, True] Translation: X:188.66, Y:-127.47, Z:-4.02 [[ 2.27346341e-01 -9.73811031e-01 -2.39125000e-03 1.88656412e+02] [-9.73755987e-01 -2.27358915e-01 1.03538101e-02 -1.27474254e+02] [-1.06263265e-02 -2.54068387e-05 -9.99943539e-01 -4.02421709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters 0.012534843925372954 Centerline is valid? [True, True] Translation: X:188.66, Y:-127.59, Z:-4.03 [[ 3.00032817e-01 -9.53925498e-01 -2.54026919e-03 1.88660228e+02] [-9.53891102e-01 -3.00043570e-01 8.10065718e-03 -1.27593597e+02] [-8.48961487e-03 -7.32281313e-06 -9.99963963e-01 -4.02578274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters 0.012489997532464936 Centerline is valid? [True, True] Translation: X:188.67, Y:-127.71, Z:-4.03 [[ 3.69232787e-01 -9.29333094e-01 -2.67387774e-03 1.88673291e+02] [-9.29309082e-01 -3.69242468e-01 6.68050803e-03 -1.27712836e+02] [-7.19572641e-03 1.81962699e-05 -9.99974110e-01 -4.02645131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters 0.012861338331716196 Centerline is valid? [True, True] Translation: X:188.69, Y:-127.82, Z:-4.03 [[ 4.35814948e-01 -9.00031061e-01 -3.06938337e-03 1.88693851e+02] [-9.00009469e-01 -4.35825754e-01 6.23442511e-03 -1.27824515e+02] [-6.94889257e-03 4.54184451e-05 -9.99975855e-01 -4.02559333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters 0.014126750411166056 Centerline is valid? [True, True] Translation: X:188.72, Y:-127.93, Z:-4.03 [[ 4.95355562e-01 -8.68681162e-01 -3.98809388e-03 1.88724191e+02] [-8.68655022e-01 -4.95371600e-01 6.74022388e-03 -1.27930551e+02] [-7.83069396e-03 1.25470385e-04 -9.99969332e-01 -4.02514472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters 0.01585521916436301 Centerline is valid? [True, True] Translation: X:188.76, Y:-128.03, Z:-4.02 [[ 5.54220983e-01 -8.32351812e-01 -5.43725654e-03 1.88762988e+02] [-8.32315630e-01 -5.54247609e-01 7.76406490e-03 -1.28034887e+02] [-9.47601992e-03 2.22505922e-04 -9.99955077e-01 -4.02415233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters 0.019528102099242307 Centerline is valid? [True, True] Translation: X:188.81, Y:-128.13, Z:-4.02 [[ 6.10651616e-01 -7.91867663e-01 -7.08575699e-03 1.88808198e+02] [-7.91820717e-01 -6.10692630e-01 8.62928497e-03 -1.28131427e+02] [-1.11604713e-02 3.41162364e-04 -9.99937662e-01 -4.02178551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters 0.01979490893975908 Centerline is valid? [True, True] Translation: X:188.86, Y:-128.23, Z:-4.02 [[ 6.65070245e-01 -7.46731811e-01 -8.55408007e-03 1.88855974e+02] [-7.46678504e-01 -6.65125104e-01 8.93353227e-03 -1.28227756e+02] [-1.23604861e-02 4.45721218e-04 -9.99923507e-01 -4.02192217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters 0.021127702975471094 Centerline is valid? [True, True] Translation: X:188.91, Y:-128.32, Z:-4.02 [[ 7.16614378e-01 -6.97398420e-01 -9.96379289e-03 1.88909306e+02] [-6.97341376e-01 -7.16683436e-01 8.93633784e-03 -1.28315853e+02] [-1.33730732e-02 5.44256870e-04 -9.99910428e-01 -4.02174565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters 0.020669429471876888 Centerline is valid? [True, True] Translation: X:188.93, Y:-128.35, Z:-4.02 [[ 7.70000377e-01 -6.37970541e-01 -9.64409022e-03 1.88927097e+02] [-6.37928084e-01 -7.70060624e-01 7.37531554e-03 -1.28345353e+02] [-1.21317682e-02 4.73240249e-04 -9.99926295e-01 -4.02281138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters 0.017682879264193405 Centerline is valid? [True, True] Translation: X:188.94, Y:-128.38, Z:-4.02 [[ 8.22902041e-01 -5.68121556e-01 -8.37432034e-03 1.88943586e+02] [-5.68095753e-01 -8.22944598e-01 5.42264409e-03 -1.28377788e+02] [-9.97232268e-03 2.95110932e-04 -9.99950232e-01 -4.02460161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters 0.015049416057404471 Centerline is valid? [True, True] Translation: X:188.96, Y:-128.41, Z:-4.02 [[ 8.69778115e-01 -4.93371510e-01 -8.40142984e-03 1.88963682e+02] [-4.93350558e-01 -8.69818670e-01 4.55065999e-03 -1.28409256e+02] [-9.55288652e-03 1.86785629e-04 -9.99954353e-01 -4.02488661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters 0.013353394826300978 Centerline is valid? [True, True] Translation: X:188.99, Y:-128.44, Z:-4.02 [[ 9.10304720e-01 -4.13843545e-01 -8.87900412e-03 1.88986807e+02] [-4.13824743e-01 -9.10348018e-01 3.94570082e-03 -1.28437266e+02] [-9.71588662e-03 8.25615190e-05 -9.99952796e-01 -4.02395263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters 0.01290764093391808 Centerline is valid? [True, True] Translation: X:189.01, Y:-128.47, Z:-4.02 [[ 9.45129466e-01 -3.26540756e-01 -1.00711343e-02 1.89011022e+02] [-3.26521344e-01 -9.45183119e-01 3.56131096e-03 -1.28467531e+02] [-1.06819793e-02 -7.74596029e-05 -9.99942943e-01 -4.02273742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters 0.014209610544360436 Centerline is valid? [True, True] Translation: X:189.04, Y:-128.49, Z:-4.02 [[ 9.70360036e-01 -2.41463689e-01 -9.83298182e-03 1.89040001e+02] [-2.41449396e-01 -9.70409838e-01 2.63349482e-03 -1.28492980e+02] [-1.01779157e-02 -1.81270613e-04 -9.99948187e-01 -4.02317954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters 0.015043280619867906 Centerline is valid? [True, True] Translation: X:189.07, Y:-128.51, Z:-4.02 [[ 9.86818462e-01 -1.61557078e-01 -9.41455030e-03 1.89072038e+02] [-1.61547764e-01 -9.86863349e-01 1.74659278e-03 -1.28510653e+02] [-9.57304906e-03 -2.02670453e-04 -9.99954157e-01 -4.02362993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters 0.015378348794564766 Centerline is valid? [True, True] Translation: X:189.10, Y:-128.52, Z:-4.02 [[ 9.96531203e-01 -8.27808474e-02 -8.53772166e-03 1.89104098e+02] [-8.27761739e-02 -9.96567757e-01 8.99928301e-04 -1.28522471e+02] [-8.58291495e-03 -1.90086700e-04 -9.99963148e-01 -4.02378518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters 0.015074042818528182 Centerline is valid? [True, True] Translation: X:189.14, Y:-128.53, Z:-4.02 [[ 9.99945852e-01 -6.12000642e-03 -8.41655304e-03 1.89135489e+02] [-6.11833413e-03 -9.99981258e-01 2.24424115e-04 -1.28528114e+02] [-8.41776877e-03 -1.72916679e-04 -9.99964555e-01 -4.02377637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters 0.01568888030925077 Centerline is valid? [True, True] Translation: X:189.17, Y:-128.53, Z:-4.02 [[ 9.97484897e-01 7.02207186e-02 -9.64010194e-03 1.89166081e+02] [ 7.02191750e-02 -9.97531462e-01 -4.98909601e-04 -1.28531190e+02] [-9.65133878e-03 -1.79265214e-04 -9.99953409e-01 -4.02123744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters 0.01419608634673113 Centerline is valid? [True, True] Translation: X:189.20, Y:-128.53, Z:-4.02 [[ 9.89216862e-01 1.46088651e-01 -1.03974437e-02 1.89197213e+02] [ 1.46082420e-01 -9.89271488e-01 -1.36032906e-03 -1.28529997e+02] [-1.04846232e-02 -1.73223297e-04 -9.99945020e-01 -4.02185750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters 0.01359343584451823 Centerline is valid? [True, True] Translation: X:189.23, Y:-128.52, Z:-4.02 [[ 9.75883569e-01 2.18030172e-01 -1.06819187e-02 1.89226395e+02] [ 2.18018500e-01 -9.75942021e-01 -2.25941816e-03 -1.28523374e+02] [-1.09175547e-02 -1.23926845e-04 -9.99940394e-01 -4.02170987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters 0.012863696703084827 Centerline is valid? [True, True] Translation: X:189.25, Y:-128.51, Z:-4.02 [[ 9.58319462e-01 2.85532969e-01 -9.73307376e-03 1.89253159e+02] [ 2.85518545e-01 -9.58368887e-01 -2.87018616e-03 -1.28510404e+02] [-1.01474078e-02 -2.84177951e-05 -9.99948513e-01 -4.02335555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters 0.012979062621142632 Centerline is valid? [True, True] Translation: X:189.28, Y:-128.50, Z:-4.02 [[ 9.35154732e-01 3.54126078e-01 -8.96376462e-03 1.89279858e+02] [ 3.54109501e-01 -9.35197690e-01 -3.42654292e-03 -1.28501090e+02] [-9.59632017e-03 3.01936062e-05 -9.99953954e-01 -4.02429020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters 0.013040065148146698 Centerline is valid? [True, True] Translation: X:189.31, Y:-128.50, Z:-4.03 [[ 9.05446055e-01 4.24409758e-01 -6.61812443e-03 1.89308079e+02] [ 4.24398115e-01 -9.05470240e-01 -3.14396520e-03 -1.28495735e+02] [-7.32684423e-03 3.79713550e-05 -9.99973158e-01 -4.02689728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters 0.013483078015615196 Centerline is valid? [True, True] Translation: X:189.33, Y:-128.49, Z:-4.03 [[ 8.70740817e-01 4.91700828e-01 -6.38162261e-03 1.89333525e+02] [ 4.91687136e-01 -8.70764200e-01 -3.66986016e-03 -1.28485591e+02] [-7.36136179e-03 5.77352874e-05 -9.99972903e-01 -4.02847102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters 0.013802751300464128 Centerline is valid? [True, True] Translation: X:189.36, Y:-128.47, Z:-4.03 [[ 8.30720233e-01 5.56650756e-01 -6.62047532e-03 1.89359211e+02] [ 5.56632315e-01 -8.30746610e-01 -4.53172944e-03 -1.28474899e+02] [-8.02252804e-03 7.94288372e-05 -9.99967816e-01 -4.02796820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters 0.013947274216498566 Centerline is valid? [True, True] Translation: X:189.39, Y:-128.47, Z:-4.03 [[ 7.85523049e-01 6.18807693e-01 -5.52976493e-03 1.89386712e+02] [ 6.18791635e-01 -7.85542509e-01 -4.45862495e-03 -1.28465397e+02] [-7.10289683e-03 8.05803826e-05 -9.99974771e-01 -4.02845010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters 0.013898733763672991 Centerline is valid? [True, True] Translation: X:189.41, Y:-128.45, Z:-4.03 [[ 7.34772604e-01 6.78299292e-01 -4.39215562e-03 1.89412032e+02] [ 6.78286605e-01 -7.34785727e-01 -4.14922308e-03 -1.28453482e+02] [-6.04170834e-03 6.95951210e-05 -9.99981746e-01 -4.03081481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters 0.013407759847300074 Centerline is valid? [True, True] Translation: X:189.44, Y:-128.44, Z:-4.03 [[ 6.78159416e-01 7.34902490e-01 -4.25869295e-03 1.89441245e+02] [ 7.34887419e-01 -6.78172785e-01 -4.70697183e-03 -1.28443401e+02] [-6.34729498e-03 6.24174002e-05 -9.99979854e-01 -4.03137089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters 0.013391851669311533 Centerline is valid? [True, True] Translation: X:189.47, Y:-128.43, Z:-4.03 [[ 6.17290406e-01 7.86723852e-01 -4.25847661e-03 1.89465852e+02] [ 7.86704487e-01 -6.17305092e-01 -5.52032856e-03 -1.28429666e+02] [-6.97175345e-03 5.74831987e-05 -9.99975695e-01 -4.03020923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters 0.013005111948895398 Centerline is valid? [True, True] Translation: X:189.49, Y:-128.41, Z:-4.03 [[ 5.51746684e-01 8.33999884e-01 -4.44867002e-03 1.89492367e+02] [ 8.33972078e-01 -5.51764617e-01 -6.81040162e-03 -1.28414215e+02] [-8.13449287e-03 4.75499292e-05 -9.99966913e-01 -4.03013665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters 0.012886310990218515 Centerline is valid? [True, True] Translation: X:189.52, Y:-128.40, Z:-4.03 [[ 4.82765683e-01 8.75738761e-01 -4.34937241e-03 1.89516958e+02] [ 8.75702614e-01 -4.82785274e-01 -7.95676193e-03 -1.28396358e+02] [-9.06785778e-03 3.24948147e-05 -9.99958886e-01 -4.03039841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters 0.012788743617938789 Centerline is valid? [True, True] Translation: X:189.54, Y:-128.38, Z:-4.03 [[ 4.08323709e-01 9.12831226e-01 -3.30175161e-03 1.89540723e+02] [ 9.12801589e-01 -4.08337057e-01 -7.35578762e-03 -1.28377903e+02] [-8.06282016e-03 -1.03016331e-05 -9.99967495e-01 -4.03093357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters 0.012881414042735817 Centerline is valid? [True, True] Translation: X:189.56, Y:-128.36, Z:-4.03 [[ 3.31875234e-01 9.43320088e-01 -2.45782228e-03 1.89561321e+02] [ 9.43295062e-01 -3.31884333e-01 -6.87140417e-03 -1.28355575e+02] [-7.29764629e-03 -3.80027559e-05 -9.99973371e-01 -4.03226336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters 0.013300386040919236 Centerline is valid? [True, True] Translation: X:189.58, Y:-128.33, Z:-4.03 [[ 2.52876919e-01 9.67496826e-01 -1.77659504e-03 1.89580867e+02] [ 9.67474692e-01 -2.52883152e-01 -6.54461931e-03 -1.28332282e+02] [-6.78116936e-03 -6.38275674e-05 -9.99977006e-01 -4.03273734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters 0.013648118206030983 Centerline is valid? [True, True] Translation: X:189.60, Y:-128.31, Z:-4.03 [[ 1.73090822e-01 9.84904846e-01 -1.41847911e-03 1.89598767e+02] [ 9.84876212e-01 -1.73096607e-01 -7.51071795e-03 -1.28307461e+02] [-7.64287642e-03 -9.69899952e-05 -9.99970788e-01 -4.03145885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters 0.014664910313692828 Centerline is valid? [True, True] Translation: X:189.62, Y:-128.28, Z:-4.03 [[ 9.10436377e-02 9.95846347e-01 -1.05292226e-03 1.89615050e+02] [ 9.95799178e-01 -9.10495749e-02 -9.69395005e-03 -1.28281798e+02] [-9.74955288e-03 -1.65926645e-04 -9.99952458e-01 -4.02841581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters 0.01537705756153404 Centerline is valid? [True, True] Translation: X:189.62, Y:-128.25, Z:-4.03 [[ 1.07308982e-02 9.99942358e-01 -3.59587279e-04 1.89623165e+02] [ 9.99869509e-01 -1.07344576e-02 -1.20721290e-02 -1.28253476e+02] [-1.20752931e-02 -2.29995569e-04 -9.99927065e-01 -4.02666987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters 0.01495269013572068 Centerline is valid? [True, True] Translation: X:189.63, Y:-128.22, Z:-4.03 [[-6.70852079e-02 9.97747060e-01 6.15317037e-04 1.89628453e+02] [ 9.97666916e-01 6.70876194e-02 -1.26481794e-02 -1.28224467e+02] [-1.26609639e-02 -2.34624291e-04 -9.99919819e-01 -4.02637258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters 0.014592315768375807 Centerline is valid? [True, True] Translation: X:189.63, Y:-128.20, Z:-4.03 [[-1.42592160e-01 9.89779997e-01 1.74155323e-03 1.89628577e+02] [ 9.89686101e-01 1.42602624e-01 -1.36350266e-02 -1.28196118e+02] [-1.37440266e-02 -2.20656874e-04 -9.99905522e-01 -4.02590543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters 0.013172782387275208 Centerline is valid? [True, True] Translation: X:189.62, Y:-128.17, Z:-4.03 [[-2.12257621e-01 9.77210805e-01 2.39680429e-03 1.89622314e+02] [ 9.77143124e-01 2.12271130e-01 -1.15013942e-02 -1.28169141e+02] [-1.17480590e-02 -9.92377492e-05 -9.99930984e-01 -4.02841504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters 0.012713788910648461 Centerline is valid? [True, True] Translation: X:189.61, Y:-128.14, Z:-4.03 [[-2.81183634e-01 9.59650588e-01 2.55225320e-03 1.89613957e+02] [ 9.59610707e-01 2.81195217e-01 -8.74873719e-03 -1.28142913e+02] [-9.11341217e-03 -1.08322163e-05 -9.99958472e-01 -4.03113607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters 0.012839520429389073 Centerline is valid? [True, True] Translation: X:189.61, Y:-128.12, Z:-4.03 [[-3.52075254e-01 9.35966694e-01 3.06007370e-03 1.89606480e+02] [ 9.35931866e-01 3.52088551e-01 -8.07428512e-03 -1.28117290e+02] [-8.63467886e-03 2.12645046e-05 -9.99962720e-01 -4.03075324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters 0.012782974366690276 Centerline is valid? [True, True] Translation: X:189.60, Y:-128.09, Z:-4.03 [[-4.24405061e-01 9.05462778e-01 4.18359692e-03 1.89601136e+02] [ 9.05419332e-01 4.24425679e-01 -8.86990376e-03 -1.28090537e+02] [-9.80699367e-03 2.34774903e-05 -9.99951910e-01 -4.02981296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters 0.012813450883096475 Centerline is valid? [True, True] Translation: X:189.60, Y:-128.06, Z:-4.03 [[-4.96693838e-01 8.67905451e-01 5.94644795e-03 1.89596253e+02] [ 8.67843059e-01 4.96729432e-01 -1.04065648e-02 -1.28063741e+02] [-1.19856900e-02 -8.29301145e-06 -9.99928169e-01 -4.02818234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters 0.012938202374557057 Centerline is valid? [True, True] Translation: X:189.59, Y:-128.04, Z:-4.03 [[-5.65878094e-01 8.24458626e-01 7.06797091e-03 1.89589663e+02] [ 8.24393218e-01 5.65922231e-01 -1.03851642e-02 -1.28037884e+02] [-1.25620600e-02 -4.99496281e-05 -9.99921093e-01 -4.02679493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters 0.013414054643702558 Centerline is valid? [True, True] Translation: X:189.58, Y:-128.01, Z:-4.03 [[-6.33256616e-01 7.73909029e-01 7.13250038e-03 1.89581513e+02] [ 7.73857935e-01 6.33296772e-01 -8.89352833e-03 -1.28011021e+02] [-1.13997713e-02 -1.12343639e-04 -9.99935014e-01 -4.02729471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters 0.013891532850219386 Centerline is valid? [True, True] Translation: X:189.57, Y:-127.98, Z:-4.03 [[-6.94648794e-01 7.19303711e-01 8.07610565e-03 1.89570169e+02] [ 7.19252398e-01 6.94695721e-01 -8.59318588e-03 -1.27984699e+02] [-1.17915465e-02 -1.60487854e-04 -9.99930464e-01 -4.02741361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters 0.013900008675902511 Centerline is valid? [True, True] Translation: X:189.56, Y:-127.96, Z:-4.03 [[-7.49252849e-01 6.62226229e-01 8.75157674e-03 1.89556121e+02] [ 6.62178430e-01 7.49303939e-01 -7.95829445e-03 -1.27960901e+02] [-1.18277822e-02 -1.67669451e-04 -9.99930035e-01 -4.02812603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters 0.014219280286415021 Centerline is valid? [True, True] Translation: X:189.58, Y:-127.94, Z:-4.03 [[-7.93767475e-01 6.08180217e-01 7.07235060e-03 1.89577288e+02] [ 6.08154714e-01 7.93798972e-01 -5.57090723e-03 -1.27942491e+02] [-9.00214021e-03 -1.20921607e-04 -9.99959473e-01 -4.02941860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters 0.013257149426177927 Centerline is valid? [True, True] Translation: X:189.60, Y:-127.93, Z:-4.03 [[-8.32220403e-01 5.54422480e-01 4.99144742e-03 1.89601043e+02] [ 5.54412123e-01 8.32235370e-01 -3.38921474e-03 -1.27928754e+02] [-6.03311593e-03 -5.32546956e-05 -9.99981799e-01 -4.03230323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters 0.012983502997411456 Centerline is valid? [True, True] Translation: X:189.61, Y:-127.91, Z:-4.03 [[-8.67239882e-01 4.97865917e-01 4.95140342e-03 1.89612417e+02] [ 4.97857632e-01 8.67254016e-01 -2.87216299e-03 -1.27906354e+02] [-5.72407656e-03 -2.57603145e-05 -9.99983617e-01 -4.03215531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters 0.012908575504170726 Centerline is valid? [True, True] Translation: X:189.63, Y:-127.89, Z:-4.03 [[-8.99736214e-01 4.36395245e-01 5.82545122e-03 1.89633531e+02] [ 4.36385950e-01 8.99755072e-01 -2.84832112e-03 -1.27887737e+02] [-6.48447307e-03 -2.05925985e-05 -9.99978975e-01 -4.03182467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters 0.012974981588819457 Centerline is valid? [True, True] Translation: X:189.96, Y:-127.23, Z:-5.01 [[-8.67282705e-01 -4.97763691e-01 7.21233449e-03 1.89958825e+02] [ 4.97747673e-01 -8.67312685e-01 -3.99515231e-03 -1.27226472e+02] [ 8.24399095e-03 1.24996207e-04 9.99966010e-01 -5.01043036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters 0.013103706321291424 Centerline is valid? [True, True] Translation: X:189.60, Y:-127.87, Z:-4.03 [[-8.97776297e-01 4.40370396e-01 8.46368568e-03 1.89597650e+02] [ 4.40351308e-01 8.97816191e-01 -4.10038941e-03 -1.27872924e+02] [-9.40452415e-03 4.57626380e-05 -9.99955775e-01 -4.02875146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters 0.013322631139151149 Centerline is valid? [True, True] Translation: X:189.61, Y:-127.85, Z:-4.03 [[-9.26041970e-01 3.77321219e-01 8.65835934e-03 1.89609975e+02] [ 3.77305351e-01 9.26082444e-01 -3.46098208e-03 -1.27849345e+02] [-9.32425656e-03 6.18306447e-05 -9.99956526e-01 -4.02850173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters 0.013343162827464308 Centerline is valid? [True, True] Translation: X:189.89, Y:-127.17, Z:-5.01 [[-9.04757414e-01 -4.25830494e-01 9.07808161e-03 1.89892974e+02] [ 4.25808803e-01 -9.04802956e-01 -4.29814238e-03 -1.27166111e+02] [ 1.00441552e-02 -2.32491206e-05 9.99949556e-01 -5.01227866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters 0.013241107017276876 Centerline is valid? [True, True] Translation: X:189.57, Y:-127.83, Z:-4.03 [[-9.27400947e-01 3.73958195e-01 9.09682946e-03 1.89567632e+02] [ 3.73940898e-01 9.27445559e-01 -3.59729357e-03 -1.27829853e+02] [-9.78205149e-03 6.55431186e-05 -9.99952152e-01 -4.02740583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters 0.013196708656703995 Centerline is valid? [True, True] Translation: X:189.59, Y:-127.80, Z:-4.03 [[-9.50835909e-01 3.09583538e-01 8.31312673e-03 1.89587290e+02] [ 3.09572855e-01 9.50872240e-01 -2.57493223e-03 -1.27803916e+02] [-8.70187806e-03 1.25180342e-04 -9.99962130e-01 -4.02737810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters 0.012829566583925438 Centerline is valid? [True, True] Translation: X:189.60, Y:-127.78, Z:-4.03 [[-9.70837156e-01 2.39661000e-01 6.14986921e-03 1.89597714e+02] [ 2.39656337e-01 9.70856635e-01 -1.49518492e-03 -1.27776334e+02] [-6.32897884e-03 2.22740510e-05 -9.99979972e-01 -4.02981994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters 0.012648579139661836 Centerline is valid? [True, True] Translation: X:189.77, Y:-127.07, Z:-5.01 [[-9.54043627e-01 -2.99632482e-01 4.59702692e-03 1.89771282e+02] [ 2.99628434e-01 -9.54054696e-01 -1.56158373e-03 -1.27074863e+02] [ 4.85371633e-03 -1.12419032e-04 9.99988214e-01 -5.01062946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters 0.01260999631588995 Centerline is valid? [True, True] Translation: X:189.55, Y:-127.76, Z:-4.03 [[-9.72813804e-01 2.31534544e-01 5.00572364e-03 1.89547024e+02] [ 2.31531450e-01 9.72826683e-01 -1.19695163e-03 -1.27758501e+02] [-5.14683718e-03 -5.42861592e-06 -9.99986755e-01 -4.02919628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters 0.012533465352759487 Centerline is valid? [True, True] Translation: X:189.55, Y:-127.73, Z:-4.03 [[-9.87050748e-01 1.60319607e-01 5.33330095e-03 1.89553317e+02] [ 1.60317186e-01 9.87065157e-01 -8.81118617e-04 -1.27728783e+02] [-5.40557612e-03 -1.46889886e-05 -9.99985390e-01 -4.02765966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters 0.012655499470867625 Centerline is valid? [True, True] Translation: X:189.56, Y:-127.70, Z:-4.03 [[-9.95998514e-01 8.91426555e-02 6.36760151e-03 1.89557811e+02] [ 8.91406917e-02 9.96018869e-01 -5.92107249e-04 -1.27701101e+02] [-6.39503326e-03 -2.21255378e-05 -9.99979551e-01 -4.02689320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters 0.012719401656672971 Centerline is valid? [True, True] Translation: X:189.56, Y:-127.67, Z:-4.03 [[-9.99811298e-01 1.80384542e-02 7.20986355e-03 1.89555970e+02] [ 1.80377942e-02 9.99837294e-01 -1.56558099e-04 -1.27673348e+02] [-7.21151452e-03 -2.64785213e-05 -9.99973996e-01 -4.02566021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters 0.012733379772262078 Centerline is valid? [True, True] Translation: X:189.57, Y:-126.97, Z:-5.01 [[-9.95615523e-01 -9.32357181e-02 7.53863697e-03 1.89574966e+02] [ 9.32334337e-02 -9.95644062e-01 -6.54654269e-04 -1.26969649e+02] [ 7.56683629e-03 5.10690571e-05 9.99971370e-01 -5.01474069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters 0.012953786978188213 Centerline is valid? [True, True] Translation: X:189.50, Y:-127.67, Z:-4.02 [[-9.99919095e-01 1.03346251e-02 7.41616525e-03 1.89495748e+02] [ 1.03339521e-02 9.99946595e-01 -1.29062928e-04 -1.27670198e+02] [-7.41710301e-03 -5.24141899e-05 -9.99972492e-01 -4.02491655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters 0.013161290254069383 Centerline is valid? [True, True] Translation: X:189.49, Y:-127.64, Z:-4.02 [[-9.98028241e-01 -6.23043474e-02 7.60250613e-03 1.89489560e+02] [-6.23030410e-02 9.98057195e-01 4.08783134e-04 -1.27642523e+02] [-7.61320490e-03 -6.56821389e-05 -9.99971017e-01 -4.02473787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters 0.0132409565874754 Centerline is valid? [True, True] Translation: X:189.48, Y:-127.62, Z:-4.03 [[-9.90905383e-01 -1.34389098e-01 6.78909297e-03 1.89482508e+02] [-1.34386414e-01 9.90928638e-01 8.52099235e-04 -1.27615823e+02] [-6.84201950e-03 -6.80121360e-05 -9.99976591e-01 -4.02500018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters 0.013318832981021713 Centerline is valid? [True, True] Translation: X:189.46, Y:-127.59, Z:-4.03 [[-9.78852541e-01 -2.04481395e-01 5.92123883e-03 1.89455701e+02] [-2.04478024e-01 9.78870449e-01 1.17574360e-03 -1.27593799e+02] [-6.03654341e-03 -5.98836013e-05 -9.99981778e-01 -4.02588479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters 0.013229811480816143 Centerline is valid? [True, True] Translation: X:189.32, Y:-126.91, Z:-5.01 [[-9.92809507e-01 1.19581405e-01 5.43779093e-03 1.89320834e+02] [-1.19579514e-01 -9.92824399e-01 6.72741618e-04 -1.26905991e+02] [ 5.47921890e-03 1.76558785e-05 9.99984989e-01 -5.01396646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters 0.013057769193479346 Centerline is valid? [True, True] Translation: X:189.37, Y:-127.61, Z:-4.03 [[-9.77926654e-01 -2.08875283e-01 5.52952676e-03 1.89368921e+02] [-2.08872196e-01 9.77942286e-01 1.13645252e-03 -1.27613601e+02] [-5.64493489e-03 -4.35971805e-05 -9.99984066e-01 -4.02620622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters 0.01283351231409024 Centerline is valid? [True, True] Translation: X:189.35, Y:-127.59, Z:-4.03 [[-9.61405093e-01 -2.75082101e-01 5.48502103e-03 1.89353456e+02] [-2.75077772e-01 9.61420739e-01 1.54347683e-03 -1.27592696e+02] [-5.69799582e-03 -2.49008834e-05 -9.99983766e-01 -4.02518909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters 0.012762617830251314 Centerline is valid? [True, True] Translation: X:189.33, Y:-127.58, Z:-4.03 [[-9.40462235e-01 -3.39856615e-01 5.31659585e-03 1.89325621e+02] [-3.39851196e-01 9.40477263e-01 1.91918453e-03 -1.27578230e+02] [-5.65238507e-03 -1.93088796e-06 -9.99984025e-01 -4.02515931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters 0.01290023345088506 Centerline is valid? [True, True] Translation: X:189.27, Y:-127.57, Z:-4.02 [[-9.13910389e-01 -4.05881602e-01 5.28452757e-03 1.89272403e+02] [-4.05874753e-01 9.13925667e-01 2.35784268e-03 -1.27573462e+02] [-5.78667035e-03 1.00006032e-05 -9.99983257e-01 -4.02482334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters 0.012943252912561752 Centerline is valid? [True, True] Translation: X:189.21, Y:-127.57, Z:-4.02 [[-8.81294205e-01 -4.72536521e-01 5.45534582e-03 1.89209397e+02] [-4.72527416e-01 8.81311089e-01 2.93332039e-03 -1.27574169e+02] [-6.19395778e-03 7.31779478e-06 -9.99980817e-01 -4.02415414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters 0.012915484188896618 Centerline is valid? [True, True] Translation: X:189.13, Y:-127.59, Z:-4.02 [[-8.42780521e-01 -5.38228480e-01 5.57641150e-03 1.89132613e+02] [-5.38216747e-01 8.42798969e-01 3.55389818e-03 -1.27586360e+02] [-6.61260309e-03 -6.16190022e-06 -9.99978137e-01 -4.02381976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters 0.01307681889597698 Centerline is valid? [True, True] Translation: X:189.06, Y:-127.60, Z:-4.02 [[-7.97650990e-01 -6.03087913e-01 6.15373837e-03 1.89058349e+02] [-6.03070348e-01 7.97674726e-01 4.60302256e-03 -1.27599937e+02] [-7.68470884e-03 -3.95316430e-05 -9.99970471e-01 -4.02321210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters 0.013456043306805948 Centerline is valid? [True, True] Translation: X:188.97, Y:-127.63, Z:-4.02 [[-7.48373180e-01 -6.63255241e-01 5.48343976e-03 1.88971862e+02] [-6.63238007e-01 7.48393267e-01 4.78159376e-03 -1.27629982e+02] [-7.27518652e-03 -5.84091314e-05 -9.99973534e-01 -4.02257100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters 0.01326213134604447 Centerline is valid? [True, True] Translation: X:188.89, Y:-127.67, Z:-4.02 [[-6.96344753e-01 -7.17697594e-01 3.76140286e-03 1.88892795e+02] [-7.17687456e-01 6.96354911e-01 3.81486312e-03 -1.27667560e+02] [-5.35718943e-03 -4.30517317e-05 -9.99985649e-01 -4.02465576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters 0.013065944089276884 Centerline is valid? [True, True] Translation: X:188.81, Y:-127.72, Z:-4.03 [[-6.42224170e-01 -7.66511606e-01 2.84125206e-03 1.88809745e+02] [-7.66504266e-01 6.42230455e-01 3.35464317e-03 -1.27719153e+02] [-4.39611152e-03 -2.33988957e-05 -9.99990337e-01 -4.02578932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters 0.012968830431827616 Centerline is valid? [True, True] Translation: X:188.73, Y:-127.78, Z:-4.03 [[-5.84131979e-01 -8.11655316e-01 2.34098792e-03 1.88730382e+02] [-8.11648879e-01 5.84136669e-01 3.23254210e-03 -1.27778327e+02] [-3.99116687e-03 -1.18290012e-05 -9.99992035e-01 -4.02627075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters 0.013040069123730054 Centerline is valid? [True, True] Translation: X:188.65, Y:-127.85, Z:-4.03 [[-5.22620927e-01 -8.52561584e-01 2.47210465e-03 1.88647985e+02] [-8.52552076e-01 5.22626774e-01 4.02660221e-03 -1.27854208e+02] [-4.72491444e-03 -3.21136537e-06 -9.99988838e-01 -4.02610897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters 0.013165899651438034 Centerline is valid? [True, True] Translation: X:188.57, Y:-127.93, Z:-4.03 [[-4.57043097e-01 -8.89440701e-01 2.61684480e-03 1.88573957e+02] [-8.89426088e-01 4.57050588e-01 5.09846920e-03 -1.27930194e+02] [-5.73081647e-03 2.73011911e-06 -9.99983579e-01 -4.02501588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters 0.013160752322992804 Centerline is valid? [True, True] Translation: X:188.50, Y:-128.01, Z:-4.02 [[-3.88502069e-01 -9.21442458e-01 3.15268638e-03 1.88504178e+02] [-9.21411874e-01 3.88514861e-01 7.50736951e-03 -1.28013272e+02] [-8.14247452e-03 1.17059187e-05 -9.99966849e-01 -4.02275324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters 0.013264825936900088 Centerline is valid? [True, True] Translation: X:188.44, Y:-128.11, Z:-4.02 [[-3.17548186e-01 -9.48238027e-01 2.79189840e-03 1.88439295e+02] [-9.48200841e-01 3.17560458e-01 8.39766364e-03 -1.28107247e+02] [-8.84958053e-03 1.93824430e-05 -9.99960842e-01 -4.02275750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters 0.013262451471577036 Centerline is valid? [True, True] Translation: X:188.38, Y:-128.21, Z:-4.02 [[-2.44134092e-01 -9.69738996e-01 2.19645070e-03 1.88380133e+02] [-9.69698956e-01 2.44143971e-01 8.81228622e-03 -1.28209256e+02] [-9.08186779e-03 2.14835396e-05 -9.99958759e-01 -4.02264457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters 0.013225035246709245 Centerline is valid? [True, True] Translation: X:188.33, Y:-128.32, Z:-4.02 [[-1.68571447e-01 -9.85687870e-01 1.75777984e-03 1.88327913e+02] [-9.85633001e-01 1.68580610e-01 1.04002921e-02 -1.28315640e+02] [-1.05477693e-02 2.06664639e-05 -9.99944371e-01 -4.02139438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters 0.013321335870138184 Centerline is valid? [True, True] Translation: X:188.29, Y:-128.43, Z:-4.02 [[-9.04989380e-02 -9.95896065e-01 9.84622292e-04 1.88285118e+02] [-9.95837035e-01 9.05042942e-02 1.08430865e-02 -1.28426639e+02] [-1.08876997e-02 7.64465217e-07 -9.99940727e-01 -4.02067097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters 0.013277026085095664 Centerline is valid? [True, True] Translation: X:188.25, Y:-128.54, Z:-4.02 [[-1.16990275e-02 -9.99931555e-01 1.34009443e-04 1.88250898e+02] [-9.99884492e-01 1.16997771e-02 9.70145503e-03 -1.28539450e+02] [-9.70235890e-03 -2.04963744e-05 -9.99952931e-01 -4.02224935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters 0.013525732727140489 Centerline is valid? [True, True] Translation: X:188.22, Y:-128.66, Z:-4.02 [[ 6.96781034e-02 -9.97569373e-01 -5.55736976e-04 1.88223017e+02] [-9.97530483e-01 -6.96802942e-02 8.80865641e-03 -1.28662073e+02] [-8.82596977e-03 -5.94058977e-05 -9.99961049e-01 -4.02261121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters 0.01374914413104714 Centerline is valid? [True, True] Translation: X:188.21, Y:-128.78, Z:-4.02 [[ 1.48483487e-01 -9.88914111e-01 -1.23887021e-03 1.88205759e+02] [-9.88874968e-01 -1.48488633e-01 8.79907881e-03 -1.28778518e+02] [-8.88549134e-03 -8.14301704e-05 -9.99960520e-01 -4.02209863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters 0.013986630394960576 Centerline is valid? [True, True] Translation: X:188.20, Y:-128.90, Z:-4.02 [[ 2.25849361e-01 -9.74160170e-01 -2.00718199e-03 1.88197968e+02] [-9.74117533e-01 -2.25858257e-01 9.11477107e-03 -1.28897765e+02] [-9.33258556e-03 -1.03334056e-04 -9.99956445e-01 -4.02223994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters 0.013800082360002009 Centerline is valid? [True, True] Translation: X:188.20, Y:-129.02, Z:-4.02 [[ 2.99184485e-01 -9.54191529e-01 -2.67756572e-03 1.88202448e+02] [-9.54150436e-01 -2.99196451e-01 8.85601857e-03 -1.29022002e+02] [-9.25145607e-03 -9.47828557e-05 -9.99957200e-01 -4.02191424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters 0.013704094135738967 Centerline is valid? [True, True] Translation: X:188.21, Y:-129.14, Z:-4.02 [[ 3.71210602e-01 -9.28542077e-01 -3.50719191e-03 1.88214578e+02] [-9.28498171e-01 -3.71227157e-01 9.03023212e-03 -1.29136313e+02] [-9.68691537e-03 -9.56966296e-05 -9.99953076e-01 -4.02235910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters 0.013692012746303592 Centerline is valid? [True, True] Translation: X:188.24, Y:-129.25, Z:-4.02 [[ 4.40909675e-01 -8.97540562e-01 -4.42690053e-03 1.88235442e+02] [-8.97493116e-01 -4.40931888e-01 9.22918824e-03 -1.29249652e+02] [-1.02355324e-02 -9.61256393e-05 -9.99947611e-01 -4.02181987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters 0.013744386713461624 Centerline is valid? [True, True] Translation: X:188.27, Y:-129.36, Z:-4.02 [[ 5.08423518e-01 -8.61090317e-01 -5.38446617e-03 1.88265508e+02] [-8.61039899e-01 -5.08452020e-01 9.31861924e-03 -1.29364343e+02] [-1.07619155e-02 -1.01564976e-04 -9.99942084e-01 -4.02114947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters 0.013712135323304314 Centerline is valid? [True, True] Translation: X:188.30, Y:-129.47, Z:-4.02 [[ 5.72930681e-01 -8.19581209e-01 -6.08904839e-03 1.88300272e+02] [-8.19532978e-01 -5.72963027e-01 8.89199699e-03 -1.29469012e+02] [-1.07765132e-02 -1.04321934e-04 -9.99941926e-01 -4.02091071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters 0.013546950193000404 Centerline is valid? [True, True] Translation: X:188.34, Y:-129.57, Z:-4.02 [[ 6.33455709e-01 -7.73748244e-01 -6.89347971e-03 1.88344886e+02] [-7.73700693e-01 -6.33493209e-01 8.57859599e-03 -1.29570156e+02] [-1.10046462e-02 -1.00670584e-04 -9.99939442e-01 -4.02185099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters 0.013463113083800096 Centerline is valid? [True, True] Translation: X:188.40, Y:-129.67, Z:-4.02 [[ 6.88968800e-01 -7.24753737e-01 -7.34944832e-03 1.88398327e+02] [-7.24711361e-01 -6.89007994e-01 7.83758551e-03 -1.29668606e+02] [-1.07441480e-02 -7.36231832e-05 -9.99942277e-01 -4.02149794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters 0.01319750437098877 Centerline is valid? [True, True] Translation: X:188.45, Y:-129.75, Z:-4.02 [[ 7.38981775e-01 -6.73679893e-01 -7.83189684e-03 1.88452132e+02] [-6.73641732e-01 -7.39023275e-01 7.17041556e-03 -1.29753204e+02] [-1.06185188e-02 -2.29138626e-05 -9.99943622e-01 -4.02218064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters 0.013259411772471318 Centerline is valid? [True, True] Translation: X:188.47, Y:-129.78, Z:-4.02 [[ 7.88064488e-01 -6.15541823e-01 -7.91369371e-03 1.88473274e+02] [-6.15510788e-01 -7.88104222e-01 6.18103674e-03 -1.29779577e+02] [-1.00415020e-02 -9.16962919e-08 -9.99949583e-01 -4.02248780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters 0.013786635524800896 Centerline is valid? [True, True] Translation: X:188.50, Y:-129.80, Z:-4.02 [[ 8.28985398e-01 -5.59208846e-01 -8.28706211e-03 1.88500037e+02] [-5.59181937e-01 -8.29026814e-01 5.48656382e-03 -1.29797707e+02] [-9.93833172e-03 8.56941534e-05 -9.99950610e-01 -4.02366377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters 0.015253597071819263 Centerline is valid? [True, True] Translation: X:188.53, Y:-129.82, Z:-4.02 [[ 8.66518450e-01 -4.99081824e-01 -7.94402499e-03 1.88526216e+02] [-4.99062379e-01 -8.66554852e-01 4.40803500e-03 -1.29815446e+02] [-9.08390355e-03 1.44920345e-04 -9.99958730e-01 -4.02371621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters 0.015022672100323724 Centerline is valid? [True, True] Translation: X:188.55, Y:-129.84, Z:-4.02 [[ 9.01927274e-01 -4.31810727e-01 -8.16633062e-03 1.88549119e+02] [-4.31794660e-01 -9.01964228e-01 3.72859701e-03 -1.29840537e+02] [-8.97578628e-03 1.63254610e-04 -9.99959704e-01 -4.02477937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters 0.01542669247242884 Centerline is valid? [True, True] Translation: X:188.57, Y:-129.86, Z:-4.03 [[ 9.32049604e-01 -3.62236842e-01 -8.24653038e-03 1.88574134e+02] [-3.62224372e-01 -9.32086068e-01 3.01110419e-03 -1.29862335e+02] [-8.77720894e-03 1.80595820e-04 -9.99961463e-01 -4.02536067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters 0.015711685547448673 Centerline is valid? [True, True] Translation: X:188.60, Y:-129.88, Z:-4.03 [[ 9.57317684e-01 -2.88905058e-01 -8.75899484e-03 1.88601410e+02] [-2.88894804e-01 -9.57357734e-01 2.44176068e-03 -1.29882593e+02] [-9.09092846e-03 1.92887423e-04 -9.99958658e-01 -4.02537211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters 0.015552733483976653 Centerline is valid? [True, True] Translation: X:188.63, Y:-129.90, Z:-4.02 [[ 9.77584252e-01 -2.10365280e-01 -8.68787600e-03 1.88627843e+02] [-2.10358442e-01 -9.77622843e-01 1.70378713e-03 -1.29904042e+02] [-8.85188369e-03 1.61972597e-04 -9.99960808e-01 -4.02407202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters 0.014102455751142792 Centerline is valid? [True, True] Translation: X:188.65, Y:-129.92, Z:-4.02 [[ 9.91986327e-01 -1.26088848e-01 -8.04546444e-03 1.88653879e+02] [-1.26085436e-01 -9.92018949e-01 9.32044745e-04 -1.29923753e+02] [-8.09877363e-03 8.98402455e-05 -9.99967200e-01 -4.02437902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters 0.013226761263956414 Centerline is valid? [True, True] Translation: X:188.68, Y:-129.94, Z:-4.03 [[ 9.99083613e-01 -4.19357140e-02 -8.56328325e-03 1.88682454e+02] [-4.19345433e-02 -9.99120310e-01 3.16299926e-04 -1.29941392e+02] [-8.56901448e-03 4.30872990e-05 -9.99963284e-01 -4.02523175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters 0.013250889309556568 Centerline is valid? [True, True] Translation: X:188.71, Y:-129.96, Z:-4.02 [[ 9.98894823e-01 4.61877897e-02 -8.70756360e-03 1.88711354e+02] [ 4.61863961e-02 -9.98932774e-01 -3.61175125e-04 -1.29958861e+02] [-8.71495254e-03 -4.13950193e-05 -9.99962023e-01 -4.02412050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters 0.014068339022638099 Centerline is valid? [True, True] Translation: X:188.74, Y:-129.97, Z:-4.03 [[ 9.91124006e-01 1.32738158e-01 -7.33387015e-03 1.88743354e+02] [ 1.32735261e-01 -9.91151135e-01 -8.82543998e-04 -1.29973519e+02] [-7.38612099e-03 -9.87526262e-05 -9.99972717e-01 -4.02541688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters 0.01535472938047884 Centerline is valid? [True, True] Translation: X:188.78, Y:-129.98, Z:-4.03 [[ 9.76670033e-01 2.14660386e-01 -6.04692202e-03 1.88775367e+02] [ 2.14656985e-01 -9.76688746e-01 -1.21362505e-03 -1.29979556e+02] [-6.16647791e-03 -1.12702829e-04 -9.99980981e-01 -4.02712087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters 0.016506540712858748 Centerline is valid? [True, True] Translation: X:188.81, Y:-129.98, Z:-4.03 [[ 9.55419493e-01 2.95205875e-01 -5.20414879e-03 1.88809127e+02] [ 2.95202210e-01 -9.55433658e-01 -1.47644553e-03 -1.29984393e+02] [-5.40807431e-03 -1.25651384e-04 -9.99985368e-01 -4.02821885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters 0.018016620715427006 Centerline is valid? [True, True] Translation: X:188.84, Y:-129.99, Z:-4.03 [[ 9.28411217e-01 3.71528601e-01 -4.37161156e-03 1.88842942e+02] [ 3.71525092e-01 -9.28421501e-01 -1.61931408e-03 -1.29985264e+02] [-4.66031966e-03 -1.20774035e-04 -9.99989133e-01 -4.02767682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters 0.018695248524942514 Centerline is valid? [True, True] Translation: X:188.87, Y:-129.98, Z:-4.03 [[ 8.96144847e-01 4.43729409e-01 -5.35016939e-03 1.88874102e+02] [ 4.43722538e-01 -8.96160804e-01 -2.47425478e-03 -1.29977821e+02] [-5.89251171e-03 -1.56700065e-04 -9.99982627e-01 -4.02609923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters 0.01740866502359779 Centerline is valid? [True, True] Translation: X:188.90, Y:-129.97, Z:-4.02 [[ 8.59350917e-01 5.11331587e-01 -7.48401452e-03 1.88904749e+02] [ 5.11314364e-01 -8.59383478e-01 -4.20233464e-03 -1.29965318e+02] [-8.58042487e-03 -2.15403996e-04 -9.99963164e-01 -4.02436983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters 0.015027686995049257 Centerline is valid? [True, True] Translation: X:188.93, Y:-129.95, Z:-4.02 [[ 8.19305555e-01 5.73308660e-01 -7.45572815e-03 1.88933804e+02] [ 5.73286957e-01 -8.19339457e-01 -4.99181213e-03 -1.29950986e+02] [-8.97062138e-03 -1.84452298e-04 -9.99959746e-01 -4.02469736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters 0.01424870229531547 Centerline is valid? [True, True] Translation: X:188.96, Y:-129.94, Z:-4.02 [[ 7.75059289e-01 6.31846681e-01 -7.27116972e-03 1.88961394e+02] [ 6.31820618e-01 -7.75093382e-01 -5.74076066e-03 -1.29936009e+02] [-9.26311610e-03 -1.44645067e-04 -9.99957086e-01 -4.02455532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters 0.013017128636483456 Centerline is valid? [True, True] Translation: X:188.98, Y:-129.91, Z:-4.03 [[ 7.29884530e-01 6.83536966e-01 -6.76668202e-03 1.88984059e+02] [ 6.83508286e-01 -7.29915894e-01 -6.26185487e-03 -1.29913857e+02] [-9.21931804e-03 -5.46522258e-05 -9.99957500e-01 -4.02501119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters 0.012934393394332437 Centerline is valid? [True, True] Translation: X:189.00, Y:-129.89, Z:-4.02 [[ 6.79490140e-01 7.33661469e-01 -5.83076079e-03 1.89003895e+02] [ 7.33634313e-01 -6.79515157e-01 -6.31246098e-03 -1.29892847e+02] [-8.59329973e-03 1.16088105e-05 -9.99963077e-01 -4.02421045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters 0.013683805072800034 Centerline is valid? [True, True] Translation: X:189.02, Y:-129.87, Z:-4.03 [[ 6.27240304e-01 7.78806161e-01 -5.52856809e-03 1.89021685e+02] [ 7.78774563e-01 -6.27264661e-01 -7.01608777e-03 -1.29868986e+02] [-8.93204777e-03 9.52648289e-05 -9.99960104e-01 -4.02537364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters 0.01472348113536935 Centerline is valid? [True, True] Translation: X:189.04, Y:-129.85, Z:-4.03 [[ 5.68058799e-01 8.22970656e-01 -5.33867819e-03 1.89038303e+02] [ 8.22931862e-01 -5.68083866e-01 -7.99193760e-03 -1.29845464e+02] [-9.60994707e-03 1.46522088e-04 -9.99953813e-01 -4.02525706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters 0.01488948912372286 Centerline is valid? [True, True] Translation: X:189.06, Y:-129.82, Z:-4.02 [[ 5.01938607e-01 8.64887692e-01 -5.18797522e-03 1.89056035e+02] [ 8.64838102e-01 -5.01965391e-01 -9.26302402e-03 -1.29823065e+02] [-1.06156595e-02 1.62710739e-04 -9.99943639e-01 -4.02473602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters 0.013990525319609632 Centerline is valid? [True, True] Translation: X:189.08, Y:-129.80, Z:-4.02 [[ 4.30021377e-01 9.02806160e-01 -4.75946018e-03 1.89077069e+02] [ 9.02747195e-01 -4.30047692e-01 -1.03190942e-02 -1.29802622e+02] [-1.13629367e-02 1.40841761e-04 -9.99935430e-01 -4.02480126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters 0.013636351447291875 Centerline is valid? [True, True] Translation: X:189.09, Y:-129.78, Z:-4.02 [[ 3.54451632e-01 9.35065614e-01 -4.04198185e-03 1.89094696e+02] [ 9.35001560e-01 -3.54474663e-01 -1.09451064e-02 -1.29779494e+02] [-1.16671728e-02 1.00251503e-04 -9.99931931e-01 -4.02478691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters 0.01335863843524925 Centerline is valid? [True, True] Translation: X:189.11, Y:-129.76, Z:-4.03 [[ 2.77379883e-01 9.60755034e-01 -3.18840515e-03 1.89110165e+02] [ 9.60688743e-01 -2.77398199e-01 -1.12861834e-02 -1.29755329e+02] [-1.17277154e-02 6.74953013e-05 -9.99931226e-01 -4.02510181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters 0.013100535777356365 Centerline is valid? [True, True] Translation: X:189.12, Y:-129.73, Z:-4.03 [[ 1.96977750e-01 9.80405689e-01 -2.10992683e-03 1.89123715e+02] [ 9.80348633e-01 -1.96989049e-01 -1.05770112e-02 -1.29730759e+02] [-1.07853945e-02 1.49719884e-05 -9.99941836e-01 -4.02671494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters 0.012975046581777198 Centerline is valid? [True, True] Translation: X:189.14, Y:-129.71, Z:-4.03 [[ 1.17096147e-01 9.93119947e-01 -1.12436054e-03 1.89136763e+02] [ 9.93075052e-01 -1.17101545e-01 -9.44296282e-03 -1.29705017e+02] [-9.50965909e-03 -1.08398423e-05 -9.99954782e-01 -4.02730401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters 0.01305369646457907 Centerline is valid? [True, True] Translation: X:189.15, Y:-129.68, Z:-4.03 [[ 3.66736652e-02 9.99327242e-01 -3.26408757e-04 1.89147453e+02] [ 9.99294150e-01 -3.66751071e-02 -8.13258462e-03 -1.29677865e+02] [-8.13908443e-03 -2.79266759e-05 -9.99966877e-01 -4.02876217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters 0.01310621361914269 Centerline is valid? [True, True] Translation: X:189.16, Y:-129.65, Z:-4.03 [[-4.24462786e-02 9.99098715e-01 2.65411773e-04 1.89155412e+02] [ 9.99074721e-01 4.24470987e-02 -6.92430191e-03 -1.29650524e+02] [-6.92932710e-03 -2.87446547e-05 -9.99975992e-01 -4.02957498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters 0.01313274947700743 Centerline is valid? [True, True] Translation: X:189.16, Y:-129.62, Z:-4.03 [[-1.21372316e-01 9.92606623e-01 9.23006438e-04 1.89161888e+02] [ 9.92575421e-01 1.21375820e-01 -7.87045406e-03 -1.29622402e+02] [-7.92429549e-03 -3.91017364e-05 -9.99968602e-01 -4.02926398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters 0.013240509017259927 Centerline is valid? [True, True] Translation: X:189.17, Y:-129.59, Z:-4.03 [[-1.99865794e-01 9.79821357e-01 1.94233605e-03 1.89166213e+02] [ 9.79772120e-01 1.99875222e-01 -9.82284339e-03 -1.29593834e+02] [-1.00128566e-02 -6.02036851e-05 -9.99949868e-01 -4.02711673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters 0.013290283588867543 Centerline is valid? [True, True] Translation: X:189.17, Y:-129.57, Z:-4.03 [[-2.76471281e-01 9.61017880e-01 2.87493850e-03 1.89168571e+02] [ 9.60963288e-01 2.76486219e-01 -1.02434842e-02 -1.29565406e+02] [-1.06390523e-02 -6.93188385e-05 -9.99943401e-01 -4.02675094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters 0.013558448813791866 Centerline is valid? [True, True] Translation: X:189.17, Y:-129.54, Z:-4.03 [[-3.53235321e-01 9.35526620e-01 3.84070185e-03 1.89169849e+02] [ 9.35468189e-01 3.53256186e-01 -1.04563632e-02 -1.29537315e+02] [-1.11389578e-02 -1.00702403e-04 -9.99937955e-01 -4.02521752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters 0.013642412995584203 Centerline is valid? [True, True] Translation: X:189.17, Y:-129.51, Z:-4.02 [[-4.26101236e-01 9.04660783e-01 5.15798531e-03 1.89165170e+02] [ 9.04591041e-01 4.26132437e-01 -1.12336723e-02 -1.29509546e+02] [-1.23606477e-02 -1.20814377e-04 -9.99923597e-01 -4.02479919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters 0.013740274719996176 Centerline is valid? [True, True] Translation: X:189.16, Y:-129.48, Z:-4.02 [[-4.96074893e-01 8.68255589e-01 6.47547195e-03 1.89156661e+02] [ 8.68177997e-01 4.96117136e-01 -1.16082649e-02 -1.29483327e+02] [-1.32915335e-02 -1.36706492e-04 -9.99911654e-01 -4.02451796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters 0.01403710315477053 Centerline is valid? [True, True] Translation: X:189.15, Y:-129.46, Z:-4.02 [[-5.64062380e-01 8.25702276e-01 7.02729539e-03 1.89148579e+02] [ 8.25634794e-01 5.64106131e-01 -1.05574078e-02 -1.29456457e+02] [-1.26814161e-02 -1.53056999e-04 -9.99919576e-01 -4.02498376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters 0.013909056266442125 Centerline is valid? [True, True] Translation: X:189.14, Y:-129.43, Z:-4.03 [[-6.27984772e-01 7.78191314e-01 7.30792604e-03 1.89139544e+02] [ 7.78135679e-01 6.28027272e-01 -9.30646026e-03 -1.29428527e+02] [-1.18317834e-02 -1.57757332e-04 -9.99929990e-01 -4.02619888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters 0.01409245672443361 Centerline is valid? [True, True] Translation: X:189.13, Y:-129.40, Z:-4.03 [[-6.88209531e-01 7.25478870e-01 6.93186554e-03 1.89129110e+02] [ 7.25439807e-01 6.88244423e-01 -7.52995983e-03 -1.29400720e+02] [-1.02336446e-02 -1.53538925e-04 -9.99947623e-01 -4.02734594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters 0.014326764607684391 Centerline is valid? [True, True] Translation: X:189.11, Y:-129.37, Z:-4.03 [[-7.43784412e-01 6.68378569e-01 7.40516011e-03 1.89114943e+02] [ 6.68343230e-01 7.43821256e-01 -6.87498832e-03 -1.29374772e+02] [-1.01032104e-02 -1.64320515e-04 -9.99948948e-01 -4.02772213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters 0.014576776694445098 Centerline is valid? [True, True] Translation: X:189.14, Y:-129.36, Z:-4.03 [[-7.90518759e-01 6.12379044e-01 8.48522293e-03 1.89137025e+02] [ 6.12341026e-01 7.90564271e-01 -6.82654377e-03 -1.29356766e+02] [-1.08885464e-02 -2.00660795e-04 -9.99940698e-01 -4.02717571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters 0.01509064829105517 Centerline is valid? [True, True] Translation: X:189.16, Y:-129.33, Z:-4.03 [[-8.32843084e-01 5.53415818e-01 1.01651741e-02 1.89155072e+02] [ 5.53370922e-01 8.32905079e-01 -7.05353436e-03 -1.29334163e+02] [-1.23701626e-02 -2.49375532e-04 -9.99923456e-01 -4.02627811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters 0.015394727587656983 Centerline is valid? [True, True] Translation: X:189.18, Y:-129.31, Z:-4.02 [[-8.68557423e-01 4.95452646e-01 1.16050901e-02 1.89175669e+02] [ 4.95403083e-01 8.68634881e-01 -7.01627731e-03 -1.29310877e+02] [-1.35568192e-02 -3.44842324e-04 -9.99908043e-01 -4.02499745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters 0.01575762997978691 Centerline is valid? [True, True] Translation: X:189.53, Y:-128.72, Z:-5.02 [[-8.09246041e-01 -5.87361639e-01 1.12761036e-02 1.89533511e+02] [ 5.87310673e-01 -8.09324521e-01 -7.74560059e-03 -1.28723198e+02] [ 1.36754958e-02 3.54479393e-04 9.99906423e-01 -5.01661008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters 0.014696566641387422 Centerline is valid? [True, True] Translation: X:189.14, Y:-129.29, Z:-4.02 [[-8.69310411e-01 4.94121571e-01 1.19701154e-02 1.89141567e+02] [ 4.94070538e-01 8.69392779e-01 -7.10629711e-03 -1.29294051e+02] [-1.39181065e-02 -2.63496722e-04 -9.99903104e-01 -4.02428258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters 0.013951666426687659 Centerline is valid? [True, True] Translation: X:189.50, Y:-128.70, Z:-5.02 [[-8.15839707e-01 -5.78172429e-01 1.10550338e-02 1.89501892e+02] [ 5.78123066e-01 -8.15914574e-01 -7.55838731e-03 -1.28695618e+02] [ 1.33900144e-02 2.24737567e-04 9.99910325e-01 -5.01667302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters 0.013037481298478542 Centerline is valid? [True, True] Translation: X:189.10, Y:-129.28, Z:-4.03 [[-8.66138937e-01 4.99687794e-01 1.07447875e-02 1.89102212e+02] [ 4.99647745e-01 8.66205574e-01 -6.32728350e-03 -1.29284409e+02] [-1.24688611e-02 -1.11697778e-04 -9.99922255e-01 -4.02542292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters 0.012410875443971688 Centerline is valid? [True, True] Translation: X:189.12, Y:-129.27, Z:-4.03 [[-8.96059287e-01 4.43859820e-01 8.13721688e-03 1.89115924e+02] [ 4.43841387e-01 8.96096234e-01 -4.04514119e-03 -1.29268019e+02] [-9.08720504e-03 -1.30527055e-05 -9.99958710e-01 -4.02790508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters 0.01250368701410787 Centerline is valid? [True, True] Translation: X:189.13, Y:-129.25, Z:-4.03 [[-9.23770604e-01 3.82870548e-01 7.61678297e-03 1.89134750e+02] [ 3.82857713e-01 9.23802004e-01 -3.13498496e-03 -1.29248968e+02] [-8.23669278e-03 2.01371641e-05 -9.99966078e-01 -4.02738443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters 0.012994694457683902 Centerline is valid? [True, True] Translation: X:189.15, Y:-129.23, Z:-4.03 [[-9.46771283e-01 3.21792896e-01 8.57147565e-03 1.89147429e+02] [ 3.21780408e-01 9.46810080e-01 -2.83585468e-03 -1.29226303e+02] [-9.02811744e-03 7.32271606e-05 -9.99959243e-01 -4.02628699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters 0.013708780944505438 Centerline is valid? [True, True] Translation: X:189.38, Y:-128.53, Z:-5.01 [[-9.31180081e-01 -3.64451240e-01 8.88541028e-03 1.89381913e+02] [ 3.64434160e-01 -9.31222472e-01 -3.52863852e-03 -1.28529746e+02] [ 9.56031041e-03 -4.76508686e-05 9.99954298e-01 -5.01437790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters 0.0145000256330336 Centerline is valid? [True, True] Translation: X:189.11, Y:-129.22, Z:-4.03 [[-9.44807944e-01 3.27486216e-01 9.52505843e-03 1.89108042e+02] [ 3.27471478e-01 9.44855940e-01 -3.11199899e-03 -1.29216344e+02] [-1.00189448e-02 1.78943593e-04 -9.99949793e-01 -4.02618983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters 0.016402727777470184 Centerline is valid? [True, True] Translation: X:189.12, Y:-129.19, Z:-4.03 [[-9.63629102e-01 2.67092299e-01 8.98094201e-03 1.89118856e+02] [ 2.67082974e-01 9.63670923e-01 -2.24432058e-03 -1.29191679e+02] [-9.25411342e-03 2.35964080e-04 -9.99957152e-01 -4.02613493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters 0.018119769689484 Centerline is valid? [True, True] Translation: X:189.13, Y:-129.16, Z:-4.03 [[-9.79248463e-01 2.02542706e-01 6.99281509e-03 1.89128375e+02] [ 2.02539090e-01 9.79273408e-01 -1.22887646e-03 -1.29164178e+02] [-7.09677782e-03 2.12943017e-04 -9.99974795e-01 -4.02652749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters 0.01759632853451252 Centerline is valid? [True, True] Translation: X:189.26, Y:-128.45, Z:-5.01 [[-9.77896342e-01 -2.09021242e-01 5.37253420e-03 1.89261592e+02] [ 2.09016598e-01 -9.77911065e-01 -1.41809538e-03 -1.28446044e+02] [ 5.55027270e-03 -2.63801463e-04 9.99984562e-01 -5.01266563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters 0.016599447499104972 Centerline is valid? [True, True] Translation: X:189.08, Y:-129.14, Z:-4.03 [[-9.80432132e-01 1.96775553e-01 5.67595265e-03 1.89079195e+02] [ 1.96773206e-01 9.80448548e-01 -9.74518650e-04 -1.29143751e+02] [-5.75674098e-03 1.61426002e-04 -9.99983417e-01 -4.02668820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters 0.015508213019112585 Centerline is valid? [True, True] Translation: X:189.08, Y:-129.11, Z:-4.03 [[-9.92531762e-01 1.21840312e-01 5.96983275e-03 1.89078127e+02] [ 1.21838947e-01 9.92549706e-01 -5.93124217e-04 -1.29108445e+02] [-5.99762218e-03 1.38663514e-04 -9.99982005e-01 -4.02565274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters 0.012720514100763157 Centerline is valid? [True, True] Translation: X:189.07, Y:-129.06, Z:-4.03 [[-9.99299401e-01 3.69838335e-02 5.73619066e-03 1.89071973e+02] [ 3.69835211e-02 9.99315863e-01 -1.60560497e-04 -1.29062228e+02] [-5.73820446e-03 5.16965193e-05 -9.99983535e-01 -4.02550397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters 0.012195291530614192 Centerline is valid? [True, True] Translation: X:189.06, Y:-129.03, Z:-4.03 [[-9.99161973e-01 -4.05197802e-02 5.78786934e-03 1.89062443e+02] [-4.05190128e-02 9.99178736e-01 2.49828229e-04 -1.29027342e+02] [-5.79323896e-03 1.51001140e-05 -9.99983219e-01 -4.02519122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters 0.012212004966254075 Centerline is valid? [True, True] Translation: X:189.05, Y:-128.99, Z:-4.03 [[-9.93027272e-01 -1.17819103e-01 3.93648833e-03 1.89052313e+02] [-1.17818239e-01 9.93035074e-01 4.51364849e-04 -1.28990937e+02] [-3.96225038e-03 -1.55725182e-05 -9.99992150e-01 -4.02609065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters 0.012377931064138068 Centerline is valid? [True, True] Translation: X:189.04, Y:-128.96, Z:-4.03 [[-9.81770974e-01 -1.90030611e-01 3.75788054e-03 1.89040210e+02] [-1.90029306e-01 9.81778166e-01 7.04624628e-04 -1.28960754e+02] [-3.82330531e-03 -2.23274219e-05 -9.99992691e-01 -4.02633240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters 0.012447641127284938 Centerline is valid? [True, True] Translation: X:188.93, Y:-128.36, Z:-5.01 [[-9.93743101e-01 1.11619471e-01 3.96772925e-03 1.88926633e+02] [-1.11618440e-01 -9.93751021e-01 4.80884872e-04 -1.28360002e+02] [ 3.99661111e-03 3.50042737e-05 9.99992013e-01 -5.01452367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters 0.012614318090041996 Centerline is valid? [True, True] Translation: X:188.96, Y:-128.97, Z:-4.03 [[-9.80226616e-01 -1.97845163e-01 3.61551197e-03 1.88955005e+02] [-1.97843937e-01 9.80233284e-01 6.97449111e-04 -1.28969306e+02] [-3.68203210e-03 -3.16489378e-05 -9.99993221e-01 -4.02659662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters 0.012919457784411085 Centerline is valid? [True, True] Translation: X:188.84, Y:-128.38, Z:-5.02 [[-9.93504002e-01 1.13694659e-01 4.82933080e-03 1.88840662e+02] [-1.13692714e-01 -9.93515732e-01 6.76185135e-04 -1.28382607e+02] [ 4.87489476e-03 1.22732911e-04 9.99988110e-01 -5.01512905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters 0.012789916362945353 Centerline is valid? [True, True] Translation: X:188.87, Y:-128.98, Z:-4.02 [[-9.78749715e-01 -2.04965656e-01 6.17049789e-03 1.88871530e+02] [-2.04961996e-01 9.78769164e-01 1.22664573e-03 -1.28980814e+02] [-6.29091331e-03 -6.41384090e-05 -9.99980210e-01 -4.02407594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters 0.012728496888359872 Centerline is valid? [True, True] Translation: X:188.85, Y:-128.96, Z:-4.02 [[-9.62156863e-01 -2.72363094e-01 8.51565154e-03 1.88854188e+02] [-2.72353086e-01 9.62194544e-01 2.33595004e-03 -1.28957176e+02] [-8.82994003e-03 -7.17136074e-05 -9.99961013e-01 -4.02062006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters 0.012347931689374356 Centerline is valid? [True, True] Translation: X:188.83, Y:-128.94, Z:-4.02 [[-9.42308630e-01 -3.34624836e-01 8.98133610e-03 1.88827780e+02] [-3.34609776e-01 9.42351431e-01 3.17468571e-03 -1.28943070e+02] [-9.52590361e-03 -1.37091171e-05 -9.99954627e-01 -4.02066126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters 0.01278779579277598 Centerline is valid? [True, True] Translation: X:188.79, Y:-128.94, Z:-4.02 [[-9.18943997e-01 -3.94325568e-01 7.01969677e-03 1.88787631e+02] [-3.94313602e-01 9.18970807e-01 3.07241366e-03 -1.28936971e+02] [-7.66242767e-03 5.54141671e-05 -9.99970642e-01 -4.02186394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters 0.013270943827748434 Centerline is valid? [True, True] Translation: X:188.73, Y:-128.94, Z:-4.02 [[-8.89837774e-01 -4.56241775e-01 5.67269187e-03 1.88726130e+02] [-4.56231936e-01 8.89855852e-01 2.99730331e-03 -1.28941320e+02] [-6.41537304e-03 7.90505133e-05 -9.99979418e-01 -4.02371155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters 0.014250351726392661 Centerline is valid? [True, True] Translation: X:188.66, Y:-128.95, Z:-4.02 [[-8.56438973e-01 -5.16226574e-01 4.73386499e-03 1.88662070e+02] [-5.16218049e-01 8.56452050e-01 2.96845659e-03 -1.28953000e+02] [-5.58672456e-03 9.85953652e-05 -9.99984389e-01 -4.02430260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters 0.014900422195705122 Centerline is valid? [True, True] Translation: X:188.59, Y:-128.97, Z:-4.02 [[-8.16484195e-01 -5.77334794e-01 6.17220540e-03 1.88587045e+02] [-5.77316930e-01 8.16507510e-01 4.54399561e-03 -1.28973276e+02] [-7.66305883e-03 1.46781923e-04 -9.99970628e-01 -4.02249929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters 0.014043185941668009 Centerline is valid? [True, True] Translation: X:188.51, Y:-129.00, Z:-4.02 [[-7.69929744e-01 -6.38096684e-01 6.38836625e-03 1.88506423e+02] [-6.38073136e-01 7.69956233e-01 5.48384744e-03 -1.29001045e+02] [-8.41798728e-03 1.45932369e-04 -9.99964558e-01 -4.02194008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters 0.013601637211051041 Centerline is valid? [True, True] Translation: X:188.42, Y:-129.04, Z:-4.02 [[-7.17913032e-01 -6.96110595e-01 5.56039645e-03 1.88422641e+02] [-6.96088491e-01 7.17934556e-01 5.54854700e-03 -1.29040155e+02] [-7.85440311e-03 1.12846226e-04 -9.99969147e-01 -4.02202154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters 0.012457901209873702 Centerline is valid? [True, True] Translation: X:188.33, Y:-129.09, Z:-4.02 [[-6.57713868e-01 -7.53251754e-01 4.92565775e-03 1.88334885e+02] [-7.53230076e-01 6.57732310e-01 5.71495648e-03 -1.29088901e+02] [-7.54456525e-03 4.86525682e-05 -9.99971538e-01 -4.02183715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters 0.011974638852288551 Centerline is valid? [True, True] Translation: X:188.25, Y:-129.14, Z:-4.02 [[-5.93293647e-01 -8.04975045e-01 4.22210476e-03 1.88251356e+02] [-8.04954732e-01 5.93308670e-01 5.71856563e-03 -1.29143218e+02] [-7.10831398e-03 -5.81455171e-06 -9.99974736e-01 -4.02247114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters 0.013133125728930963 Centerline is valid? [True, True] Translation: X:188.17, Y:-129.21, Z:-4.02 [[-5.21253927e-01 -8.53397117e-01 2.77571329e-03 1.88165646e+02] [-8.53385667e-01 5.21261314e-01 4.42106170e-03 -1.29208661e+02] [-5.21979326e-03 -6.42581627e-05 -9.99986375e-01 -4.02313279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters 0.01608601686778329 Centerline is valid? [True, True] Translation: X:188.08, Y:-129.28, Z:-4.02 [[-4.45606078e-01 -8.95227954e-01 1.46086391e-03 1.88083740e+02] [-8.95223672e-01 4.45608467e-01 2.76979046e-03 -1.29283939e+02] [-3.13056717e-03 -7.35644846e-05 -9.99995097e-01 -4.02416024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters 0.018023696978594003 Centerline is valid? [True, True] Translation: X:188.01, Y:-129.36, Z:-4.02 [[-3.70259363e-01 -9.28927902e-01 9.77818288e-04 1.88013376e+02] [-9.28925176e-01 3.70260647e-01 2.25188621e-03 -1.29361860e+02] [-2.45388756e-03 -7.45380720e-05 -9.99996986e-01 -4.02466503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters 0.02061466336713404 Centerline is valid? [True, True] Translation: X:187.95, Y:-129.45, Z:-4.02 [[-2.92288198e-01 -9.56329959e-01 7.87303219e-04 1.87946898e+02] [-9.56327268e-01 2.92289245e-01 2.27009011e-03 -1.29449626e+02] [-2.40107545e-03 -8.93989885e-05 -9.99997113e-01 -4.02378319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters 0.02164752278008918 Centerline is valid? [True, True] Translation: X:187.89, Y:-129.54, Z:-4.02 [[-2.17352478e-01 -9.76093018e-01 5.66745392e-04 1.87891399e+02] [-9.76090656e-01 2.17353200e-01 2.14868411e-03 -1.29540760e+02] [-2.22049948e-03 -8.61730654e-05 -9.99997531e-01 -4.02321480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters 0.02029008338137841 Centerline is valid? [True, True] Translation: X:187.85, Y:-129.64, Z:-4.02 [[-1.44850213e-01 -9.89453429e-01 5.72345241e-04 1.87846708e+02] [-9.89448516e-01 1.44851299e-01 3.12016636e-03 -1.29635612e+02] [-3.17016425e-03 -1.14349387e-04 -9.99994969e-01 -4.02211565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters 0.016891652634879413 Centerline is valid? [True, True] Translation: X:187.81, Y:-129.74, Z:-4.02 [[-7.69923500e-02 -9.97031584e-01 4.46626671e-04 1.87814174e+02] [-9.97022553e-01 7.69935542e-02 4.24507864e-03 -1.29743481e+02] [-4.26686485e-03 -1.18458284e-04 -9.99990890e-01 -4.02071963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters 0.01431463869071637 Centerline is valid? [True, True] Translation: X:187.79, Y:-129.85, Z:-4.02 [[-1.02382265e-02 -9.99947580e-01 1.28750588e-04 1.87790267e+02] [-9.99937121e-01 1.02387084e-02 4.57413930e-03 -1.29845564e+02] [-4.57521776e-03 -8.19114180e-05 -9.99989530e-01 -4.02016299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters 0.012626082570255208 Centerline is valid? [True, True] Translation: X:187.77, Y:-129.96, Z:-4.02 [[ 5.77737667e-02 -9.98329675e-01 -2.27065635e-04 1.87773402e+02] [-9.98318744e-01 -5.77741967e-02 4.67205186e-03 -1.29955912e+02] [-4.67736655e-03 -4.32381546e-05 -9.99989060e-01 -4.01934207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters 0.012231029391312997 Centerline is valid? [True, True] Translation: X:187.76, Y:-130.07, Z:-4.02 [[ 1.29498804e-01 -9.91579349e-01 -6.73498806e-04 1.87762454e+02] [-9.91564959e-01 -1.29500553e-01 5.34220620e-03 -1.30071202e+02] [-5.38443982e-03 -2.39914966e-05 -9.99985504e-01 -4.01884672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters 0.012066992293878125 Centerline is valid? [True, True] Translation: X:187.76, Y:-130.18, Z:-4.02 [[ 1.98467805e-01 -9.80106933e-01 -9.64714466e-04 1.87762283e+02] [-9.80095644e-01 -1.98470149e-01 4.70404151e-03 -1.30182692e+02] [-4.80193072e-03 1.19116542e-05 -9.99988471e-01 -4.02016616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters 0.01262473884269907 Centerline is valid? [True, True] Translation: X:187.77, Y:-130.30, Z:-4.02 [[ 2.67564018e-01 -9.63539570e-01 -9.96651134e-04 1.87770046e+02] [-9.63533292e-01 -2.67565872e-01 3.47852067e-03 -1.30298466e+02] [-3.61836214e-03 2.95795811e-05 -9.99993453e-01 -4.02138214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters 0.013069038785236431 Centerline is valid? [True, True] Translation: X:187.78, Y:-130.42, Z:-4.02 [[ 3.38260059e-01 -9.41051817e-01 -1.26928005e-03 1.87784826e+02] [-9.41045622e-01 -3.38262438e-01 3.41481031e-03 -1.30415877e+02] [-3.64286321e-03 3.93564943e-05 -9.99993364e-01 -4.02243772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters 0.013214972610742694 Centerline is valid? [True, True] Translation: X:187.81, Y:-130.53, Z:-4.02 [[ 4.09347777e-01 -9.12377031e-01 -1.59693164e-03 1.87806941e+02] [-9.12370481e-01 -4.09350890e-01 3.45745860e-03 -1.30533472e+02] [-3.80821120e-03 4.16903014e-05 -9.99992748e-01 -4.02290362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters 0.012753046741707099 Centerline is valid? [True, True] Translation: X:187.83, Y:-130.65, Z:-4.02 [[ 4.81862215e-01 -8.76243614e-01 -2.43590902e-03 1.87833228e+02] [-8.76232769e-01 -4.81868371e-01 4.35972301e-03 -1.30647770e+02] [-4.99396696e-03 3.36375188e-05 -9.99987530e-01 -4.02131966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters 0.012375428582419046 Centerline is valid? [True, True] Translation: X:187.87, Y:-130.76, Z:-4.02 [[ 5.50965579e-01 -8.34519447e-01 -3.77148963e-03 1.87867271e+02] [-8.34500112e-01 -5.50978487e-01 5.68069462e-03 -1.30759163e+02] [-6.81865978e-03 1.74413186e-05 -9.99976753e-01 -4.02047225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters 0.012355906747498223 Centerline is valid? [True, True] Translation: X:187.91, Y:-130.87, Z:-4.02 [[ 6.17374843e-01 -7.86654025e-01 -4.87323672e-03 1.87911298e+02] [-7.86629238e-01 -6.17394075e-01 6.24486819e-03 -1.30868791e+02] [-7.92125817e-03 -2.19940309e-05 -9.99968626e-01 -4.01975044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters 0.012355922178152696 Centerline is valid? [True, True] Translation: X:187.96, Y:-130.97, Z:-4.02 [[ 6.76785325e-01 -7.36159916e-01 -5.49566325e-03 1.87959205e+02] [-7.36135215e-01 -6.76807637e-01 6.03058251e-03 -1.30966839e+02] [-8.15897997e-03 -3.58584916e-05 -9.99966714e-01 -4.02014730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters 0.012261035669379493 Centerline is valid? [True, True] Translation: X:188.02, Y:-131.06, Z:-4.02 [[ 7.30174876e-01 -6.83238929e-01 -5.40525810e-03 1.88015171e+02] [-6.83219953e-01 -7.30194882e-01 5.09212707e-03 -1.31058454e+02] [-7.42603124e-03 -2.51630714e-05 -9.99972426e-01 -4.01988135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters 0.0120609762493181 Centerline is valid? [True, True] Translation: X:188.04, Y:-131.08, Z:-4.02 [[ 7.79774152e-01 -6.26045801e-01 -4.35049773e-03 1.88037931e+02] [-6.26036020e-01 -7.79786288e-01 3.49942226e-03 -1.31081992e+02] [-5.58325709e-03 -5.19074634e-06 -9.99984414e-01 -4.02111490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters 0.012218571551409431 Centerline is valid? [True, True] Translation: X:188.06, Y:-131.11, Z:-4.02 [[ 8.24463694e-01 -5.65904524e-01 -3.41869073e-03 1.88059819e+02] [-5.65899706e-01 -8.24470781e-01 2.33512962e-03 -1.31107992e+02] [-4.14007103e-03 9.40649183e-06 -9.99991430e-01 -4.02171708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters 0.012343562961002726 Centerline is valid? [True, True] Translation: X:188.08, Y:-131.13, Z:-4.02 [[ 8.65344117e-01 -5.01166064e-01 -3.48359975e-03 1.88082904e+02] [-5.01162077e-01 -8.65351129e-01 1.99920808e-03 -1.31130311e+02] [-4.01647222e-03 1.58451315e-05 -9.99991934e-01 -4.02070279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters 0.012674566232792797 Centerline is valid? [True, True] Translation: X:188.11, Y:-131.15, Z:-4.02 [[ 9.00087613e-01 -4.35685286e-01 -4.54094297e-03 1.88109229e+02] [-4.35679971e-01 -9.00099067e-01 2.15254540e-03 -1.31150819e+02] [-5.02513089e-03 4.09184471e-05 -9.99987373e-01 -4.02061410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters 0.014244928634328205 Centerline is valid? [True, True] Translation: X:188.14, Y:-131.17, Z:-4.02 [[ 9.28718196e-01 -3.70726476e-01 -6.66274000e-03 1.88136480e+02] [-3.70717787e-01 -9.28742089e-01 2.54058327e-03 -1.31165760e+02] [-7.12982855e-03 1.10510313e-04 -9.99974576e-01 -4.01813687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters 0.01574251995719552 Centerline is valid? [True, True] Translation: X:188.16, Y:-131.19, Z:-4.02 [[ 9.52396369e-01 -3.04764699e-01 -7.72231784e-03 1.88164168e+02] [-3.04756299e-01 -9.52427657e-01 2.27086603e-03 -1.31185788e+02] [-8.04702889e-03 1.90660437e-04 -9.99967604e-01 -4.01722717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters 0.017401674336208234 Centerline is valid? [True, True] Translation: X:188.19, Y:-131.20, Z:-4.02 [[ 9.71994730e-01 -2.34814239e-01 -9.40841014e-03 1.88193662e+02] [-2.34806036e-01 -9.72040222e-01 1.98283558e-03 -1.31200630e+02] [-9.61095111e-03 2.81845756e-04 -9.99953774e-01 -4.01615879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters 0.02107581535175516 Centerline is valid? [True, True] Translation: X:188.22, Y:-131.21, Z:-4.02 [[ 9.86294245e-01 -1.64635176e-01 -1.09051071e-02 1.88219403e+02] [-1.64629546e-01 -9.86354450e-01 1.41811454e-03 -1.31210274e+02] [-1.09897724e-02 3.96624629e-04 -9.99939532e-01 -4.01504286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters 0.01915789234553386 Centerline is valid? [True, True] Translation: X:188.25, Y:-131.23, Z:-4.02 [[ 9.96105560e-01 -8.72365739e-02 -1.27864584e-02 1.88246735e+02] [-8.72353831e-02 -9.96187514e-01 6.51905400e-04 -1.31231539e+02] [-1.27945802e-02 4.66065002e-04 -9.99918037e-01 -4.01560410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters 0.01809487329856979 Centerline is valid? [True, True] Translation: X:188.28, Y:-131.25, Z:-4.02 [[ 9.99908066e-01 -5.25686734e-03 -1.24990041e-02 1.88275428e+02] [-5.26156306e-03 -9.99986099e-01 -3.42834168e-04 -1.31247515e+02] [-1.24970281e-02 4.08566948e-04 -9.99921826e-01 -4.01560381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters 0.015538237484241902 Centerline is valid? [True, True] Translation: X:188.31, Y:-131.26, Z:-4.02 [[ 9.96293056e-01 8.51588178e-02 -1.21705607e-02 1.88305365e+02] [ 8.51493847e-02 -9.96367358e-01 -1.29210554e-03 -1.31263671e+02] [-1.22363836e-02 2.51000022e-04 -9.99925101e-01 -4.01683158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters 0.0125108329046462 Centerline is valid? [True, True] Translation: X:188.34, Y:-131.28, Z:-4.02 [[ 9.83767822e-01 1.79126245e-01 -1.07080208e-02 1.88339229e+02] [ 1.79115151e-01 -9.83826096e-01 -1.99397594e-03 -1.31283270e+02] [-1.08920037e-02 4.36406002e-05 -9.99940679e-01 -4.01680512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters 0.012548031798940379 Centerline is valid? [True, True] Translation: X:188.37, Y:-131.29, Z:-4.02 [[ 9.63816487e-01 2.66388362e-01 -9.74786337e-03 1.88373327e+02] [ 2.66375495e-01 -9.63865777e-01 -2.61921148e-03 -1.31292525e+02] [-1.00933594e-02 -7.21527187e-05 -9.99949058e-01 -4.01713208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters 0.014553780957735782 Centerline is valid? [True, True] Translation: X:188.41, Y:-131.30, Z:-4.02 [[ 9.35522819e-01 3.53205661e-01 -6.54345759e-03 1.88409882e+02] [ 3.53198067e-01 -9.35545692e-01 -2.32043130e-03 -1.31299645e+02] [-6.94129303e-03 -1.40320143e-04 -9.99975899e-01 -4.02031270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters 0.01603385916078822 Centerline is valid? [True, True] Translation: X:188.44, Y:-131.30, Z:-4.02 [[ 9.02855956e-01 4.29917481e-01 -4.69927002e-03 1.88444711e+02] [ 4.29912405e-01 -9.02868176e-01 -2.09320353e-03 -1.31298491e+02] [-5.14272613e-03 -1.30413200e-04 -9.99986768e-01 -4.02195152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters 0.017381456099931532 Centerline is valid? [True, True] Translation: X:188.48, Y:-131.29, Z:-4.02 [[ 8.64861273e-01 5.01997462e-01 -3.67791564e-03 1.88479098e+02] [ 5.01993505e-01 -8.64869085e-01 -1.99661907e-03 -1.31293317e+02] [-4.18321324e-03 -1.19491253e-04 -9.99991243e-01 -4.02223242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters 0.016637236876062174 Centerline is valid? [True, True] Translation: X:188.51, Y:-131.28, Z:-4.02 [[ 8.23125936e-01 5.67834659e-01 -5.24334556e-03 1.88511356e+02] [ 5.67824483e-01 -8.23142618e-01 -3.40402761e-03 -1.31282938e+02] [-6.24894605e-03 -1.75356572e-04 -9.99980460e-01 -4.01885129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters 0.015031690588246304 Centerline is valid? [True, True] Translation: X:188.54, Y:-131.27, Z:-4.02 [[ 7.79687241e-01 6.26112780e-01 -8.40198499e-03 1.88540314e+02] [ 6.26079656e-01 -7.79732474e-01 -6.44464637e-03 -1.31266098e+02] [-1.05863760e-02 -2.35503319e-04 -9.99943935e-01 -4.01513354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters 0.014336632053944405 Centerline is valid? [True, True] Translation: X:188.57, Y:-131.25, Z:-4.01 [[ 7.33205387e-01 6.79947256e-01 -9.03275016e-03 1.88565600e+02] [ 6.79898702e-01 -7.33261002e-01 -8.12765569e-03 -1.31247341e+02] [-1.21497406e-02 -1.82114172e-04 -9.99926173e-01 -4.01282326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters 0.012537707735528321 Centerline is valid? [True, True] Translation: X:188.58, Y:-131.22, Z:-4.01 [[ 6.88457528e-01 7.25226145e-01 -8.55991061e-03 1.88581287e+02] [ 7.25170151e-01 -6.88510740e-01 -9.01180726e-03 -1.31218950e+02] [-1.24291886e-02 -3.14512595e-06 -9.99922755e-01 -4.01432651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters 0.013460659785644322 Centerline is valid? [True, True] Translation: X:188.60, Y:-131.19, Z:-4.02 [[ 6.38262020e-01 7.69784246e-01 -7.33543469e-03 1.88599805e+02] [ 7.69731088e-01 -6.38304158e-01 -9.04737550e-03 -1.31194510e+02] [-1.16467656e-02 1.28284039e-04 -9.99932166e-01 -4.01562882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters 0.01830677537464582 Centerline is valid? [True, True] Translation: X:188.61, Y:-131.17, Z:-4.02 [[ 5.94527216e-01 8.04056059e-01 -5.58956728e-03 1.88608493e+02] [ 8.04015131e-01 -5.94553398e-01 -8.11954631e-03 -1.31165082e+02] [-9.85186662e-03 3.33194597e-04 -9.99951414e-01 -4.01788195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters 0.02195113075698292 Centerline is valid? [True, True] Translation: X:188.62, Y:-131.14, Z:-4.02 [[ 5.37889115e-01 8.43001166e-01 -4.93303626e-03 1.88622117e+02] [ 8.42958155e-01 -5.37911565e-01 -8.52626668e-03 -1.31142049e+02] [-9.84119001e-03 4.27842893e-04 -9.99951483e-01 -4.01792223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters 0.024661471977494968 Centerline is valid? [True, True] Translation: X:188.64, Y:-131.12, Z:-4.02 [[ 4.76974329e-01 8.78909174e-01 -3.76215748e-03 1.88635895e+02] [ 8.78874085e-01 -4.76988958e-01 -7.86621101e-03 -1.31119739e+02] [-8.70819260e-03 4.45518004e-04 -9.99961984e-01 -4.01916363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters 0.025553812189532964 Centerline is valid? [True, True] Translation: X:188.65, Y:-131.10, Z:-4.02 [[ 4.06426864e-01 9.13679157e-01 -2.75719734e-03 1.88651864e+02] [ 9.13651207e-01 -4.06436029e-01 -7.15719966e-03 -1.31098629e+02] [-7.66000850e-03 3.89761534e-04 -9.99970586e-01 -4.02022230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters 0.021739804676644946 Centerline is valid? [True, True] Translation: X:188.68, Y:-131.08, Z:-4.02 [[ 3.30688239e-01 9.43737801e-01 -2.06208790e-03 1.88677841e+02] [ 9.43712443e-01 -3.30694489e-01 -6.92674036e-03 -1.31079123e+02] [-7.21894781e-03 3.44573563e-04 -9.99973884e-01 -4.02157546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters 0.023200892725543366 Centerline is valid? [True, True] Translation: X:188.70, Y:-131.06, Z:-4.02 [[ 2.47504339e-01 9.68885870e-01 -1.33189375e-03 1.88697037e+02] [ 9.68865947e-01 -2.47507798e-01 -6.21831775e-03 -1.31057807e+02] [-6.35449429e-03 2.48634131e-04 -9.99979779e-01 -4.02067810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters 0.01762103413996211 Centerline is valid? [True, True] Translation: X:188.72, Y:-131.04, Z:-4.02 [[ 1.60504943e-01 9.87034750e-01 -7.52340415e-04 1.88724793e+02] [ 9.87018655e-01 -1.60506624e-01 -5.63893203e-03 -1.31035477e+02] [-5.68657749e-03 1.62502441e-04 -9.99983818e-01 -4.02105877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters 0.014169519626677615 Centerline is valid? [True, True] Translation: X:188.75, Y:-131.01, Z:-4.02 [[ 7.19991361e-02 9.97404653e-01 -2.86239873e-04 1.88750769e+02] [ 9.97390711e-01 -7.19996433e-02 -5.27464606e-03 -1.31009684e+02] [-5.28156569e-03 9.42769685e-05 -9.99986048e-01 -4.02181715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters 0.012936510299553006 Centerline is valid? [True, True] Translation: X:188.77, Y:-130.98, Z:-4.02 [[-1.43762792e-02 9.99896648e-01 1.25139884e-04 1.88768313e+02] [ 9.99883260e-01 1.43767343e-02 -5.17458183e-03 -1.30980871e+02] [-5.17584613e-03 5.07340423e-05 -9.99986604e-01 -4.02236598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters 0.012334090076836841 Centerline is valid? [True, True] Translation: X:188.79, Y:-130.95, Z:-4.02 [[-1.04261058e-01 9.94549613e-01 8.36682574e-04 1.88787543e+02] [ 9.94516491e-01 1.04264414e-01 -8.11677842e-03 -1.30950905e+02] [-8.15977505e-03 -1.41692857e-05 -9.99966708e-01 -4.01838538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters 0.013197098995252534 Centerline is valid? [True, True] Translation: X:188.80, Y:-130.92, Z:-4.02 [[-1.91233877e-01 9.81543382e-01 1.48120145e-03 1.88800190e+02] [ 9.81510068e-01 1.91239590e-01 -8.08731828e-03 -1.30917966e+02] [-8.22131809e-03 -9.27550863e-05 -9.99966200e-01 -4.01783059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters 0.014421224476471862 Centerline is valid? [True, True] Translation: X:188.80, Y:-130.89, Z:-4.02 [[-2.71754113e-01 9.62364891e-01 1.87585363e-03 1.88803463e+02] [ 9.62338967e-01 2.71760563e-01 -7.06460769e-03 -1.30885879e+02] [-7.30851345e-03 -1.14629148e-04 -9.99973286e-01 -4.01815885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters 0.014484202758709775 Centerline is valid? [True, True] Translation: X:188.80, Y:-130.85, Z:-4.02 [[-3.49064823e-01 9.37095746e-01 2.30473620e-03 1.88803175e+02] [ 9.37072801e-01 3.49072408e-01 -6.55888591e-03 -1.30853344e+02] [-6.95082390e-03 -1.29770739e-04 -9.99975834e-01 -4.01904464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters 0.01548314940408588 Centerline is valid? [True, True] Translation: X:188.80, Y:-130.82, Z:-4.02 [[-4.23580434e-01 9.05853860e-01 2.89832796e-03 1.88799821e+02] [ 9.05830160e-01 4.23590323e-01 -6.55443924e-03 -1.30821879e+02] [-7.16506776e-03 -1.50939333e-04 -9.99974319e-01 -4.01788643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters 0.01771828080448619 Centerline is valid? [True, True] Translation: X:188.79, Y:-130.79, Z:-4.02 [[-4.95712398e-01 8.68478742e-01 3.72749356e-03 1.88793907e+02] [ 8.68451277e-01 4.95726376e-01 -6.90934292e-03 -1.30790722e+02] [-7.84843432e-03 -1.87900404e-04 -9.99969183e-01 -4.01649680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters 0.017640749554709845 Centerline is valid? [True, True] Translation: X:188.78, Y:-130.76, Z:-4.01 [[-5.64174935e-01 8.25632844e-01 6.08681726e-03 1.88781078e+02] [ 8.25579044e-01 5.64207692e-01 -9.42987911e-03 -1.30761183e+02] [-1.12198470e-02 -2.94952662e-04 -9.99937012e-01 -4.01345904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters 0.01822855221114869 Centerline is valid? [True, True] Translation: X:188.76, Y:-130.73, Z:-4.01 [[-6.27346342e-01 7.78695040e-01 8.40253454e-03 1.88764030e+02] [ 7.78617200e-01 6.27402502e-01 -1.10162154e-02 -1.30734472e+02] [-1.38500435e-02 -3.68624526e-04 -9.99904016e-01 -4.01079580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters 0.015658945219521443 Centerline is valid? [True, True] Translation: X:188.74, Y:-130.71, Z:-4.01 [[-6.84839738e-01 7.28625812e-01 9.94785333e-03 1.88744344e+02] [ 7.28541106e-01 6.84911887e-01 -1.11159077e-02 -1.30709580e+02] [-1.49127403e-02 -3.65195247e-04 -9.99888732e-01 -4.01204900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters 0.014370140618934471 Centerline is valid? [True, True] Translation: X:188.72, Y:-130.69, Z:-4.01 [[-7.34848907e-01 6.78158972e-01 9.87379963e-03 1.88722299e+02] [ 6.78093449e-01 7.34915202e-01 -9.42980660e-03 -1.30687802e+02] [-1.36513134e-02 -2.34124230e-04 -9.99906789e-01 -4.01304202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters 0.012340254589567636 Centerline is valid? [True, True] Translation: X:188.74, Y:-130.68, Z:-4.02 [[-7.73707799e-01 6.33481672e-01 8.78709892e-03 1.88736507e+02] [ 6.33439885e-01 7.73757693e-01 -7.27631376e-03 -1.30681531e+02] [-1.14084968e-02 -6.36417779e-05 -9.99934919e-01 -4.01519926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters 0.012475061388448594 Centerline is valid? [True, True] Translation: X:188.75, Y:-130.67, Z:-4.02 [[-8.08814735e-01 5.88020181e-01 7.14077956e-03 1.88750075e+02] [ 5.87997964e-01 8.08846254e-01 -5.11184211e-03 -1.30674908e+02] [-8.78165912e-03 6.42306253e-05 -9.99961438e-01 -4.01848170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters 0.01491745578282276 Centerline is valid? [True, True] Translation: X:189.17, Y:-130.13, Z:-5.02 [[-7.84556536e-01 -6.20018711e-01 6.91666401e-03 1.89169349e+02] [ 6.19993931e-01 -7.84587022e-01 -5.54353318e-03 -1.30130479e+02] [ 8.86381911e-03 -6.09254791e-05 9.99960714e-01 -5.02254333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters 0.018231020693748465 Centerline is valid? [True, True] Translation: X:188.72, Y:-130.68, Z:-4.02 [[-7.97987298e-01 6.02615388e-01 8.42418274e-03 1.88717506e+02] [ 6.02585739e-01 7.98031706e-01 -5.98527371e-03 -1.30679635e+02] [-1.03295830e-02 3.00119987e-04 -9.99946603e-01 -4.01618230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters 0.01809874653650311 Centerline is valid? [True, True] Translation: X:188.74, Y:-130.67, Z:-4.02 [[-8.36102383e-01 5.48488622e-01 9.64560452e-03 1.88739177e+02] [ 5.48457317e-01 8.36157932e-01 -5.87234557e-03 -1.30665461e+02] [-1.12861635e-02 3.80320252e-04 -9.99936237e-01 -4.01707820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters 0.019012372132630632 Centerline is valid? [True, True] Translation: X:188.75, Y:-130.64, Z:-4.02 [[-8.72956185e-01 4.87709406e-01 9.32922065e-03 1.88753726e+02] [ 4.87685809e-01 8.73005964e-01 -4.81035209e-03 -1.30643469e+02] [-1.04905192e-02 3.50501911e-04 -9.99944912e-01 -4.01717498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters 0.022569613659605685 Centerline is valid? [True, True] Translation: X:188.76, Y:-130.62, Z:-4.01 [[-9.06133762e-01 4.22874079e-01 9.95585068e-03 1.88763580e+02] [ 4.22852652e-01 9.06188390e-01 -4.27050695e-03 -1.30622797e+02] [-1.08277630e-02 3.40207334e-04 -9.99941320e-01 -4.01487248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters 0.016829346510416787 Centerline is valid? [True, True] Translation: X:188.77, Y:-130.59, Z:-4.02 [[-9.35736271e-01 3.52530611e-01 1.09453195e-02 1.88773014e+02] [ 3.52510241e-01 9.35800234e-01 -3.80156295e-03 -1.30588347e+02] [-1.15827998e-02 3.01076863e-04 -9.99932872e-01 -4.01591844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters 0.014861011392875285 Centerline is valid? [True, True] Translation: X:189.01, Y:-129.91, Z:-5.02 [[-9.27544542e-01 -3.73585885e-01 9.73186730e-03 1.89010053e+02] [ 3.73561430e-01 -9.27595531e-01 -4.28822899e-03 -1.29910923e+02] [ 1.06292584e-02 -3.42073136e-04 9.99943449e-01 -5.02426088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters 0.012890336106691967 Centerline is valid? [True, True] Translation: X:188.73, Y:-130.56, Z:-4.02 [[-9.42355997e-01 3.34493393e-01 8.90757122e-03 1.88725567e+02] [ 3.34479445e-01 9.42398090e-01 -3.05630962e-03 -1.30561396e+02] [-9.41679348e-03 9.92677766e-05 -9.99955656e-01 -4.01818699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters 0.012276865268922833 Centerline is valid? [True, True] Translation: X:188.73, Y:-130.53, Z:-4.02 [[-9.65187126e-01 2.61367708e-01 1.00366168e-02 1.88729322e+02] [ 2.61354122e-01 9.65239306e-01 -2.66541493e-03 -1.30529713e+02] [-1.03843904e-02 5.04869916e-05 -9.99946080e-01 -4.01673015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters 0.012148271559708141 Centerline is valid? [True, True] Translation: X:188.73, Y:-130.50, Z:-4.02 [[-9.82330822e-01 1.86862233e-01 1.04241397e-02 1.88729675e+02] [ 1.86851635e-01 9.82386129e-01 -1.99019163e-03 -1.30497841e+02] [-1.06124219e-02 -7.25904413e-06 -9.99943687e-01 -4.01542639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters 0.012119303241599069 Centerline is valid? [True, True] Translation: X:188.73, Y:-130.47, Z:-4.02 [[-9.93731256e-01 1.11327553e-01 1.02159687e-02 1.88734227e+02] [ 1.11321019e-01 9.93783765e-01 -1.20775169e-03 -1.30465084e+02] [-1.02869198e-02 -6.29285634e-05 -9.99947086e-01 -4.01747340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters 0.012121688154085122 Centerline is valid? [True, True] Translation: X:188.73, Y:-130.44, Z:-4.02 [[-9.99131865e-01 4.03667870e-02 1.02975067e-02 1.88734396e+02] [ 4.03639815e-02 9.99184927e-01 -4.80210332e-04 -1.30437078e+02] [-1.03084981e-02 -6.41450732e-05 -9.99946864e-01 -4.01742614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters 0.012004764225376238 Centerline is valid? [True, True] Translation: X:188.77, Y:-129.76, Z:-5.02 [[-9.93005353e-01 -1.17710007e-01 9.20452236e-03 1.88768463e+02] [ 1.17704884e-01 -9.93048012e-01 -1.09824117e-03 -1.29764564e+02] [ 9.26980661e-03 -7.14212759e-06 9.99957034e-01 -5.02254718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters 0.012089930478485262 Centerline is valid? [True, True] Translation: X:188.68, Y:-130.44, Z:-4.02 [[-9.99110585e-01 4.09863774e-02 9.90735400e-03 1.88679356e+02] [ 4.09842243e-02 9.99159705e-01 -4.20343586e-04 -1.30439817e+02] [-9.91625726e-03 -1.39245075e-05 -9.99950833e-01 -4.01704267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters 0.012269983868300464 Centerline is valid? [True, True] Translation: X:188.68, Y:-130.41, Z:-4.01 [[-9.99507314e-01 -2.89586412e-02 1.21047913e-02 1.88677530e+02] [-2.89565598e-02 9.99580611e-01 3.47214241e-04 -1.30412918e+02] [-1.21097695e-02 -3.46993948e-06 -9.99926674e-01 -4.01442664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters 0.012219307624205276 Centerline is valid? [True, True] Translation: X:188.67, Y:-130.39, Z:-4.02 [[-9.94872310e-01 -1.00513566e-01 1.12298838e-02 1.88669218e+02] [-1.00507269e-01 9.94935688e-01 1.12508844e-03 -1.30388491e+02] [-1.12860989e-02 -9.36562028e-06 -9.99936310e-01 -4.01584560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters 0.012083776943441371 Centerline is valid? [True, True] Translation: X:188.66, Y:-130.36, Z:-4.02 [[-9.84762714e-01 -1.73678335e-01 8.84492408e-03 1.88656500e+02] [-1.73671619e-01 9.84802435e-01 1.52762574e-03 -1.30362432e+02] [-8.97581826e-03 -3.17634214e-05 -9.99959716e-01 -4.01899265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters 0.012409079852133922 Centerline is valid? [True, True] Translation: X:188.64, Y:-130.34, Z:-4.02 [[-9.68880473e-01 -2.47365028e-01 9.00957515e-03 1.88642026e+02] [-2.47355011e-01 9.68922359e-01 2.22719723e-03 -1.30335632e+02] [-9.28050952e-03 -7.06756580e-05 -9.99956933e-01 -4.01894367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters 0.0127777559772219 Centerline is valid? [True, True] Translation: X:188.47, Y:-129.68, Z:-5.02 [[-9.86530308e-01 1.63267020e-01 1.00911190e-02 1.88474174e+02] [-1.63256962e-01 -9.86581907e-01 1.81811507e-03 -1.29678186e+02] [ 1.02525536e-02 1.46180198e-04 9.99947431e-01 -5.02153721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters 0.012875578132321592 Centerline is valid? [True, True] Translation: X:188.53, Y:-130.36, Z:-4.02 [[-9.66295133e-01 -2.57249992e-01 9.80597181e-03 1.88534315e+02] [-2.57237971e-01 9.66344881e-01 2.48961948e-03 -1.30359801e+02] [-1.01164053e-02 -1.16761110e-04 -9.99948821e-01 -4.01918629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters 0.012932884123429649 Centerline is valid? [True, True] Translation: X:188.51, Y:-130.34, Z:-4.02 [[-9.45288252e-01 -3.26109175e-01 9.10643363e-03 1.88510471e+02] [-3.26095188e-01 9.45332107e-01 3.02242508e-03 -1.30338985e+02] [-9.59424464e-03 -1.12501271e-04 -9.99953968e-01 -4.01956425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters 0.012948459244483497 Centerline is valid? [True, True] Translation: X:188.47, Y:-130.33, Z:-4.02 [[-9.19801273e-01 -3.92285907e-01 8.79690596e-03 1.88472238e+02] [-3.92268987e-01 9.19843333e-01 3.64480579e-03 -1.30326663e+02] [-9.52158125e-03 -9.82563789e-05 -9.99954664e-01 -4.01976073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters 0.012683399931002516 Centerline is valid? [True, True] Translation: X:188.41, Y:-130.33, Z:-4.02 [[-8.89740764e-01 -4.56365411e-01 9.59087769e-03 1.88413864e+02] [-4.56339891e-01 8.89792451e-01 4.82684491e-03 -1.30326623e+02] [-1.07366956e-02 -8.20593999e-05 -9.99942357e-01 -4.01879846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters 0.012683399931002516 Centerline is valid? [True, True] Translation: X:188.35, Y:-130.33, Z:-4.02 [[-8.53600505e-01 -5.20846799e-01 9.20808553e-03 1.88347624e+02] [-5.20817532e-01 8.53650165e-01 5.52210180e-03 -1.30332268e+02] [-1.07366528e-02 -8.20634957e-05 -9.99942357e-01 -4.01879984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters 0.012868435947909302 Centerline is valid? [True, True] Translation: X:188.28, Y:-130.35, Z:-4.02 [[-8.13502659e-01 -5.81497388e-01 8.61465541e-03 1.88276374e+02] [-5.81465597e-01 8.13548268e-01 6.08073136e-03 -1.30347147e+02] [-1.05443674e-02 -6.24346201e-05 -9.99944405e-01 -4.01820146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters 0.012633478376770094 Centerline is valid? [True, True] Translation: X:188.20, Y:-130.37, Z:-4.02 [[-7.68330927e-01 -6.40005400e-01 7.78941793e-03 1.88198961e+02] [-6.39973175e-01 7.68370409e-01 6.42258258e-03 -1.30374664e+02] [-1.00956458e-02 -5.03496956e-05 -9.99949036e-01 -4.02105763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters 0.012822849597175095 Centerline is valid? [True, True] Translation: X:188.12, Y:-130.41, Z:-4.02 [[-7.17842939e-01 -6.96161558e-01 7.78466922e-03 1.88116153e+02] [-6.96121495e-01 7.17885146e-01 7.46876496e-03 -1.30410199e+02] [-1.07879654e-02 -5.76753885e-05 -9.99941807e-01 -4.02172266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters 0.012906630768818754 Centerline is valid? [True, True] Translation: X:188.03, Y:-130.46, Z:-4.02 [[-6.63550149e-01 -7.48093536e-01 7.56716274e-03 1.88030916e+02] [-7.48045878e-01 6.63593293e-01 8.44425854e-03 -1.30457932e+02] [-1.13386137e-02 -5.73958871e-05 -9.99935714e-01 -4.02124851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters 0.013057890683347726 Centerline is valid? [True, True] Translation: X:187.95, Y:-130.51, Z:-4.02 [[-6.05655551e-01 -7.95698629e-01 6.71155632e-03 1.87949630e+02] [-7.95650641e-01 6.05692735e-01 8.73885783e-03 -1.30512521e+02] [-1.10186381e-02 -4.73163337e-05 -9.99939292e-01 -4.02160216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters 0.013045248502472224 Centerline is valid? [True, True] Translation: X:187.87, Y:-130.58, Z:-4.02 [[-5.45529467e-01 -8.38078916e-01 4.61867103e-03 1.87870653e+02] [-8.38049136e-01 5.45549018e-01 7.06499537e-03 -1.30577269e+02] [-8.44073510e-03 -1.65101116e-05 -9.99964376e-01 -4.02410199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters 0.01308220173406587 Centerline is valid? [True, True] Translation: X:187.79, Y:-130.65, Z:-4.02 [[-4.81732004e-01 -8.76310300e-01 3.81239130e-03 1.87793750e+02] [-8.76282879e-01 4.81747089e-01 6.93235986e-03 -1.30650015e+02] [-7.91150676e-03 -1.19361685e-06 -9.99968704e-01 -4.02450882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters 0.013172741384317703 Centerline is valid? [True, True] Translation: X:187.72, Y:-130.73, Z:-4.02 [[-4.13668586e-01 -9.10420412e-01 3.60216790e-03 1.87720102e+02] [-9.10385891e-01 4.13684269e-01 7.92816821e-03 -1.30734709e+02] [-8.70812636e-03 2.71301980e-07 -9.99962084e-01 -4.02405481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters 0.013184331880734293 Centerline is valid? [True, True] Translation: X:187.65, Y:-130.82, Z:-4.02 [[-3.42204721e-01 -9.39619477e-01 3.34167389e-03 1.87651345e+02] [-9.39574880e-01 3.42221037e-01 9.15457735e-03 -1.30824989e+02] [-9.74541029e-03 -7.01325126e-06 -9.99952512e-01 -4.02347851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters 0.013270595737712738 Centerline is valid? [True, True] Translation: X:187.59, Y:-130.92, Z:-4.02 [[-2.67692248e-01 -9.63500492e-01 2.76811192e-03 1.87587705e+02] [-9.63449950e-01 2.67706558e-01 9.86875226e-03 -1.30921315e+02] [-1.02495894e-02 -2.51488199e-05 -9.99947471e-01 -4.02318723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters 0.013403368125505851 Centerline is valid? [True, True] Translation: X:187.53, Y:-131.02, Z:-4.02 [[-1.90566131e-01 -9.81672123e-01 2.09612519e-03 1.87531027e+02] [-9.81615900e-01 1.90577651e-01 1.05063416e-02 -1.31023851e+02] [-1.07132573e-02 -5.54369388e-05 -9.99942610e-01 -4.02324815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters 0.013600397556911248 Centerline is valid? [True, True] Translation: X:187.48, Y:-131.14, Z:-4.02 [[-1.12559780e-01 -9.93644028e-01 1.35715867e-03 1.87482293e+02] [-9.93580643e-01 1.12567929e-01 1.12235578e-02 -1.31135917e+02] [-1.13049937e-02 -8.51253908e-05 -9.99936093e-01 -4.02262124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters 0.014108684715774821 Centerline is valid? [True, True] Translation: X:187.44, Y:-131.24, Z:-4.02 [[-3.30320551e-02 -9.99454157e-01 5.21804630e-04 1.87440757e+02] [-9.99382865e-01 3.30359316e-02 1.19380351e-02 -1.31243026e+02] [-1.19487571e-02 -1.27144772e-04 -9.99928603e-01 -4.02123829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters 0.014172114782076407 Centerline is valid? [True, True] Translation: X:187.41, Y:-131.36, Z:-4.02 [[ 4.48350192e-02 -9.98994322e-01 -4.07216519e-04 1.87410821e+02] [-9.98918209e-01 -4.48366302e-02 1.23323960e-02 -1.31355791e+02] [-1.23382518e-02 -1.46147215e-04 -9.99923870e-01 -4.02098398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters 0.01412364806274083 Centerline is valid? [True, True] Translation: X:187.39, Y:-131.47, Z:-4.02 [[ 1.21621181e-01 -9.92575766e-01 -1.27967353e-03 1.87390232e+02] [-9.92507687e-01 -1.21627828e-01 1.16259240e-02 -1.31473598e+02] [-1.16952543e-02 -1.43872783e-04 -9.99931598e-01 -4.02130588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters 0.01402211090487642 Centerline is valid? [True, True] Translation: X:187.38, Y:-131.59, Z:-4.02 [[ 1.96753622e-01 -9.80450227e-01 -2.31607470e-03 1.87378870e+02] [-9.80373192e-01 -1.96767198e-01 1.22912519e-02 -1.31591373e+02] [-1.25066882e-02 -1.47730777e-04 -9.99921777e-01 -4.02052029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters 0.013787708008267497 Centerline is valid? [True, True] Translation: X:187.38, Y:-131.70, Z:-4.02 [[ 2.70165556e-01 -9.62807709e-01 -3.44792715e-03 1.87375877e+02] [-9.62722456e-01 -2.70187519e-01 1.28131851e-02 -1.31703430e+02] [-1.32682203e-02 -1.42284378e-04 -9.99911963e-01 -4.01996685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters 0.013598538054544404 Centerline is valid? [True, True] Translation: X:187.38, Y:-131.82, Z:-4.02 [[ 3.41122314e-01 -9.40009833e-01 -4.13299598e-03 1.87383210e+02] [-9.39936954e-01 -3.41147333e-01 1.17055470e-02 -1.31818007e+02] [-1.24132898e-02 -1.08267611e-04 -9.99922946e-01 -4.02016584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters 0.013214326515532018 Centerline is valid? [True, True] Translation: X:187.40, Y:-131.93, Z:-4.02 [[ 4.09083257e-01 -9.12484779e-01 -4.73464249e-03 1.87400147e+02] [-9.12421825e-01 -4.09110650e-01 1.07186193e-02 -1.31931188e+02] [-1.17175696e-02 -6.48165329e-05 -9.99931345e-01 -4.02071694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters 0.013169898880175251 Centerline is valid? [True, True] Translation: X:187.43, Y:-132.04, Z:-4.02 [[ 4.74651580e-01 -8.80154827e-01 -5.77565950e-03 1.87426457e+02] [-8.80088984e-01 -4.74686718e-01 1.07656881e-02 -1.32042324e+02] [-1.22171012e-02 -2.68565742e-05 -9.99925368e-01 -4.02022105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters 0.013102682672234646 Centerline is valid? [True, True] Translation: X:187.46, Y:-132.14, Z:-4.02 [[ 5.36750292e-01 -8.43717221e-01 -6.35416967e-03 1.87458191e+02] [-8.43658664e-01 -5.36787901e-01 9.94021805e-03 -1.32144785e+02] [-1.17975745e-02 2.53353480e-05 -9.99930406e-01 -4.02135632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters 0.013113329806934167 Centerline is valid? [True, True] Translation: X:187.50, Y:-132.25, Z:-4.02 [[ 5.98188246e-01 -8.01322335e-01 -7.30325891e-03 1.87496317e+02] [-8.01263543e-01 -5.98232825e-01 9.70678797e-03 -1.32248198e+02] [-1.21473152e-02 4.53486419e-05 -9.99926218e-01 -4.02114425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters 0.01313986934138464 Centerline is valid? [True, True] Translation: X:187.54, Y:-132.35, Z:-4.02 [[ 6.58132119e-01 -7.52851893e-01 -8.72587543e-03 1.87540719e+02] [-7.52786465e-01 -6.58189962e-01 9.92530252e-03 -1.32348144e+02] [-1.32155664e-02 3.65605437e-05 -9.99912670e-01 -4.02000163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters 0.012947242018146772 Centerline is valid? [True, True] Translation: X:187.59, Y:-132.44, Z:-4.02 [[ 7.14717846e-01 -6.99347115e-01 -9.59236063e-03 1.87591340e+02] [-6.99284325e-01 -7.14782213e-01 9.37124272e-03 -1.32443891e+02] [-1.34102003e-02 9.99301630e-06 -9.99910079e-01 -4.01980734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters 0.012938564550596512 Centerline is valid? [True, True] Translation: X:187.61, Y:-132.48, Z:-4.02 [[ 7.68474739e-01 -6.39794698e-01 -1.04556573e-02 1.87610189e+02] [-6.39735183e-01 -7.68545864e-01 8.72648053e-03 -1.32476875e+02] [-1.36188081e-02 -1.72280332e-05 -9.99907260e-01 -4.02012166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters 0.01300279091982466 Centerline is valid? [True, True] Translation: X:187.63, Y:-132.51, Z:-4.02 [[ 8.16450300e-01 -5.77321473e-01 -1.04318747e-02 1.87631925e+02] [-5.77273985e-01 -8.16516942e-01 7.40477899e-03 -1.32505534e+02] [-1.27927403e-02 -2.35841677e-05 -9.99918169e-01 -4.01888851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters 0.012760355645103963 Centerline is valid? [True, True] Translation: X:187.66, Y:-132.53, Z:-4.02 [[ 8.58911955e-01 -5.12029396e-01 -9.80561690e-03 1.87657840e+02] [-5.11995802e-01 -8.58967925e-01 5.86529604e-03 -1.32531338e+02] [-1.14259144e-02 -1.73382009e-05 -9.99934722e-01 -4.02064852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters 0.012732438171070472 Centerline is valid? [True, True] Translation: X:187.69, Y:-132.55, Z:-4.02 [[ 8.95765520e-01 -4.44451119e-01 -8.20588147e-03 1.87686089e+02] [-4.44432447e-01 -8.95803105e-01 4.07397259e-03 -1.32553365e+02] [-9.16153578e-03 -2.36419638e-06 -9.99958032e-01 -4.02156887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters 0.012710816180205387 Centerline is valid? [True, True] Translation: X:187.72, Y:-132.57, Z:-4.02 [[ 9.27408542e-01 -3.73969854e-01 -7.74238996e-03 1.87716174e+02] [-3.73956877e-01 -9.27440860e-01 3.11537899e-03 -1.32573977e+02] [-8.34566662e-03 6.09088358e-06 -9.99965174e-01 -4.02149664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters 0.012733295043648389 Centerline is valid? [True, True] Translation: X:187.75, Y:-132.59, Z:-4.02 [[ 9.53588806e-01 -3.01008887e-01 -7.87642283e-03 1.87748533e+02] [-3.00998723e-01 -9.53621335e-01 2.47368813e-03 -1.32590375e+02] [-8.25572696e-03 1.19119042e-05 -9.99965921e-01 -4.02093764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters 0.01275857671655892 Centerline is valid? [True, True] Translation: X:187.78, Y:-132.61, Z:-4.02 [[ 9.74118523e-01 -2.25873381e-01 -8.62082747e-03 1.87781114e+02] [-2.25864681e-01 -9.74156669e-01 1.98253038e-03 -1.32607362e+02] [-8.84583741e-03 1.59208758e-05 -9.99960875e-01 -4.02064695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters 0.01283857492307487 Centerline is valid? [True, True] Translation: X:187.82, Y:-132.62, Z:-4.02 [[ 9.88776203e-01 -1.49138323e-01 -8.90955621e-03 1.87815237e+02] [-1.49132425e-01 -9.88816343e-01 1.32643522e-03 -1.32621874e+02] [-9.00773712e-03 1.71561371e-05 -9.99959429e-01 -4.02026481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters 0.01283744458252018 Centerline is valid? [True, True] Translation: X:187.85, Y:-132.63, Z:-4.02 [[ 9.97409719e-01 -7.12869688e-02 -9.59269522e-03 1.87846038e+02] [-7.12838489e-02 -9.97455848e-01 6.67181173e-04 -1.32634648e+02] [-9.61585127e-03 1.83512508e-05 -9.99953767e-01 -4.01950641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters 0.01294873127873487 Centerline is valid? [True, True] Translation: X:187.88, Y:-132.64, Z:-4.02 [[ 9.99929740e-01 7.00463321e-03 -9.56297942e-03 1.87877294e+02] [ 7.00413373e-03 -9.99975467e-01 -8.57212851e-05 -1.32641488e+02] [-9.56334526e-03 1.87348756e-05 -9.99954270e-01 -4.01930180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters 0.012895972347396555 Centerline is valid? [True, True] Translation: X:187.91, Y:-132.65, Z:-4.02 [[ 9.96273919e-01 8.56952281e-02 -9.72654835e-03 1.87909487e+02] [ 8.56909973e-02 -9.96321398e-01 -8.51660517e-04 -1.32645398e+02] [-9.76375149e-03 1.50095323e-05 -9.99952333e-01 -4.01990371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters 0.012813816083723499 Centerline is valid? [True, True] Translation: X:187.94, Y:-132.65, Z:-4.02 [[ 9.86037682e-01 1.66274751e-01 -9.07731235e-03 1.87941972e+02] [ 1.66267823e-01 -9.86079463e-01 -1.51781011e-03 -1.32650377e+02] [-9.20332479e-03 -1.26470014e-05 -9.99957648e-01 -4.02077654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters 0.01291156111945522 Centerline is valid? [True, True] Translation: X:187.97, Y:-132.65, Z:-4.02 [[ 9.69324697e-01 2.45650740e-01 -8.08366461e-03 1.87974073e+02] [ 2.45642493e-01 -9.69358403e-01 -2.01321886e-03 -1.32651226e+02] [-8.33051692e-03 -3.42287649e-05 -9.99965300e-01 -4.02130407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters 0.013281320979076094 Centerline is valid? [True, True] Translation: X:188.01, Y:-132.65, Z:-4.02 [[ 9.45687424e-01 3.25004147e-01 -6.89935211e-03 1.88006522e+02] [ 3.24995979e-01 -9.45712589e-01 -2.30503818e-03 -1.32649632e+02] [-7.27395112e-03 -6.24160734e-05 -9.99973543e-01 -4.02258566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters 0.014007775038064952 Centerline is valid? [True, True] Translation: X:188.04, Y:-132.65, Z:-4.02 [[ 9.15363446e-01 4.02566199e-01 -7.08645205e-03 1.88039801e+02] [ 4.02555013e-01 -9.15390870e-01 -3.00276107e-03 -1.32646326e+02] [-7.69568362e-03 -1.04069084e-04 -9.99970382e-01 -4.02246786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters 0.014668149501828369 Centerline is valid? [True, True] Translation: X:188.07, Y:-132.64, Z:-4.02 [[ 8.79431158e-01 4.75978313e-01 -6.74414622e-03 1.88071978e+02] [ 4.75965435e-01 -8.79457008e-01 -3.50363464e-03 -1.32640548e+02] [-7.59884076e-03 -1.28775015e-04 -9.99971120e-01 -4.02221814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters 0.015837609621829944 Centerline is valid? [True, True] Translation: X:188.10, Y:-132.63, Z:-4.02 [[ 8.37157511e-01 5.46917563e-01 -6.96277338e-03 1.88103937e+02] [ 5.46900364e-01 -8.37186448e-01 -4.34091984e-03 -1.32631013e+02] [-8.20326482e-03 -1.73909649e-04 -9.99966338e-01 -4.02161623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters 0.01523730538037592 Centerline is valid? [True, True] Translation: X:188.13, Y:-132.62, Z:-4.02 [[ 7.90877899e-01 6.11928094e-01 -7.49383519e-03 1.88134987e+02] [ 6.11903124e-01 -7.90913373e-01 -5.53196152e-03 -1.32619442e+02] [-9.31213713e-03 -2.10395066e-04 -9.99956619e-01 -4.02212372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters 0.01610828653402583 Centerline is valid? [True, True] Translation: X:188.16, Y:-132.61, Z:-4.02 [[ 7.40123899e-01 6.72419801e-01 -8.25987507e-03 1.88163818e+02] [ 6.72381714e-01 -7.40169945e-01 -7.16121289e-03 -1.32606757e+02] [-1.09290526e-02 -2.53604156e-04 -9.99940244e-01 -4.02039349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters 0.016165417477418502 Centerline is valid? [True, True] Translation: X:188.19, Y:-132.59, Z:-4.02 [[ 6.85229518e-01 7.28274153e-01 -8.79007354e-03 1.88190795e+02] [ 7.28219595e-01 -6.85285834e-01 -8.91893429e-03 -1.32589152e+02] [-1.25191422e-02 -2.89586743e-04 -9.99921591e-01 -4.01952927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters 0.01557296005229728 Centerline is valid? [True, True] Translation: X:188.21, Y:-132.57, Z:-4.02 [[ 6.27182230e-01 7.78820571e-01 -8.99828774e-03 1.88214378e+02] [ 7.78747287e-01 -6.27246703e-01 -1.06881478e-02 -1.32568840e+02] [-1.39682957e-02 -3.03975780e-04 -9.99902392e-01 -4.01856025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters 0.015344681273617216 Centerline is valid? [True, True] Translation: X:188.23, Y:-132.55, Z:-4.02 [[ 5.66864143e-01 8.23774494e-01 -7.78628570e-03 1.88232882e+02] [ 8.23702746e-01 -5.66917561e-01 -1.08750002e-02 -1.32546691e+02] [-1.33727299e-02 -2.48937219e-04 -9.99910550e-01 -4.01890401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters 0.014796463987475191 Centerline is valid? [True, True] Translation: X:188.25, Y:-132.52, Z:-4.02 [[ 5.03006748e-01 8.64257455e-01 -6.57743233e-03 1.88249313e+02] [ 8.64188765e-01 -5.03049710e-01 -1.08981056e-02 -1.32522507e+02] [-1.27275444e-02 -2.02322452e-04 -9.99918981e-01 -4.01971128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters 0.01397936496702138 Centerline is valid? [True, True] Translation: X:188.26, Y:-132.50, Z:-4.02 [[ 4.36449880e-01 8.99713612e-01 -5.18833746e-03 1.88263369e+02] [ 8.99654073e-01 -4.36480692e-01 -1.03515935e-02 -1.32497521e+02] [-1.15780787e-02 -1.49757201e-04 -9.99932961e-01 -4.02132657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters 0.013913902716643781 Centerline is valid? [True, True] Translation: X:188.28, Y:-132.47, Z:-4.02 [[ 3.64730133e-01 9.31103790e-01 -4.20261594e-03 1.88280893e+02] [ 9.31046430e-01 -3.64754317e-01 -1.03360599e-02 -1.32474459e+02] [-1.11568668e-02 -1.42958060e-04 -9.99937750e-01 -4.02223145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters 0.014425661378078531 Centerline is valid? [True, True] Translation: X:188.30, Y:-132.45, Z:-4.02 [[ 2.88368472e-01 9.57513407e-01 -3.42052138e-03 1.88299822e+02] [ 9.57452954e-01 -2.88388706e-01 -1.07608018e-02 -1.32450887e+02] [-1.12900517e-02 -1.71912338e-04 -9.99936251e-01 -4.02241364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters 0.015446162034774499 Centerline is valid? [True, True] Translation: X:188.32, Y:-132.43, Z:-4.02 [[ 2.11143280e-01 9.77450741e-01 -2.92644649e-03 1.88318627e+02] [ 9.77370390e-01 -2.11163451e-01 -1.25346803e-02 -1.32427365e+02] [-1.28699911e-02 -2.13608645e-04 -9.99917155e-01 -4.01991108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters 0.016142891980196614 Centerline is valid? [True, True] Translation: X:188.33, Y:-132.40, Z:-4.02 [[ 1.32127225e-01 9.91231015e-01 -1.86337109e-03 1.88327618e+02] [ 9.91155320e-01 -1.32140167e-01 -1.22518411e-02 -1.32400508e+02] [-1.23906311e-02 -2.28088396e-04 -9.99923207e-01 -4.01985406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters 0.015378194934113238 Centerline is valid? [True, True] Translation: X:188.34, Y:-132.37, Z:-4.02 [[ 5.04233959e-02 9.98727546e-01 -8.77717838e-04 1.88340491e+02] [ 9.98654587e-01 -5.04303241e-02 -1.20746765e-02 -1.32372877e+02] [-1.21035757e-02 -2.67690750e-04 -9.99926713e-01 -4.02323169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters 0.01634730845692006 Centerline is valid? [True, True] Translation: X:188.35, Y:-132.35, Z:-4.02 [[-3.02445538e-02 9.99542526e-01 7.35810554e-05 1.88354513e+02] [ 9.99464125e-01 3.02431034e-02 -1.25226863e-02 -1.32345465e+02] [-1.25191828e-02 -3.05201434e-04 -9.99921585e-01 -4.02164160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters 0.017262627438932802 Centerline is valid? [True, True] Translation: X:188.36, Y:-132.32, Z:-4.02 [[-1.08798437e-01 9.94063272e-01 1.05420716e-03 1.88362528e+02] [ 9.93984974e-01 1.08803103e-01 -1.24802367e-02 -1.32316753e+02] [-1.25208460e-02 -3.09964171e-04 -9.99921563e-01 -4.02052157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters 0.017222678971349242 Centerline is valid? [True, True] Translation: X:188.36, Y:-132.29, Z:-4.02 [[-1.85846133e-01 9.82576866e-01 1.97920070e-03 1.88362691e+02] [ 9.82502901e-01 1.85856435e-01 -1.20596798e-02 -1.32286941e+02] [-1.22174096e-02 -2.96674434e-04 -9.99925321e-01 -4.02151867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters 0.01697150098221076 Centerline is valid? [True, True] Translation: X:188.36, Y:-132.26, Z:-4.02 [[-2.61788004e-01 9.65121272e-01 2.82353885e-03 1.88360832e+02] [ 9.65052992e-01 2.61803079e-01 -1.14835354e-02 -1.32257169e+02] [-1.18222155e-02 -2.81387203e-04 -9.99930076e-01 -4.02206693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters 0.01612612046461336 Centerline is valid? [True, True] Translation: X:188.36, Y:-132.23, Z:-4.02 [[-3.36267927e-01 9.41759172e-01 3.68026467e-03 1.88358759e+02] [ 9.41693516e-01 3.36287953e-01 -1.11236506e-02 -1.32227054e+02] [-1.17134286e-02 -2.74845537e-04 -9.99931358e-01 -4.02264010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters 0.01507788712166836 Centerline is valid? [True, True] Translation: X:188.35, Y:-132.20, Z:-4.02 [[-4.06005392e-01 9.13857972e-01 4.81970850e-03 1.88353180e+02] [ 9.13786084e-01 4.06033921e-01 -1.14651148e-02 -1.32197991e+02] [-1.24344517e-02 -2.50715856e-04 -9.99922658e-01 -4.02244740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters 0.013848772747467753 Centerline is valid? [True, True] Translation: X:188.34, Y:-132.17, Z:-4.02 [[-4.71087906e-01 8.82070471e-01 5.27922923e-03 1.88343906e+02] [ 8.82011153e-01 4.71117457e-01 -1.02307235e-02 -1.32171027e+02] [-1.15113562e-02 -1.63231067e-04 -9.99933729e-01 -4.02376144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters 0.013281984359290813 Centerline is valid? [True, True] Translation: X:188.33, Y:-132.15, Z:-4.02 [[-5.34931136e-01 8.44878485e-01 5.38758273e-03 1.88333054e+02] [ 8.44833756e-01 5.34958257e-01 -8.69414747e-03 -1.32145245e+02] [-1.02276300e-02 -9.91584261e-05 -9.99947692e-01 -4.02468469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters 0.012831285953732584 Centerline is valid? [True, True] Translation: X:188.32, Y:-132.12, Z:-4.03 [[-5.95595641e-01 8.03267346e-01 5.23487110e-03 1.88319403e+02] [ 8.03235687e-01 5.95618645e-01 -7.13175951e-03 -1.32120395e+02] [-8.84669636e-03 -4.28095925e-05 -9.99960866e-01 -4.02565010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters 0.01276667999536117 Centerline is valid? [True, True] Translation: X:188.31, Y:-132.09, Z:-4.03 [[-6.55754109e-01 7.54951565e-01 5.88925406e-03 1.88307609e+02] [ 7.54920677e-01 6.55780553e-01 -6.82921242e-03 -1.32093819e+02] [-9.01778288e-03 -3.23644398e-05 -9.99959338e-01 -4.02578657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters 0.012780742379634776 Centerline is valid? [True, True] Translation: X:188.29, Y:-132.07, Z:-4.02 [[-7.12607640e-01 7.01525476e-01 7.23590036e-03 1.88294565e+02] [ 7.01488845e-01 7.12644376e-01 -7.16896975e-03 -1.32067203e+02] [-1.01858386e-02 -3.27592304e-05 -9.99948123e-01 -4.02486365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters 0.012918570867944963 Centerline is valid? [True, True] Translation: X:188.32, Y:-132.05, Z:-4.02 [[-7.60818951e-01 6.48901461e-01 9.02314505e-03 1.88316506e+02] [ 6.48855125e-01 7.60872454e-01 -7.75467369e-03 -1.32049120e+02] [-1.18974816e-02 -4.51887906e-05 -9.99929221e-01 -4.02321499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters 0.013068872703803594 Centerline is valid? [True, True] Translation: X:188.33, Y:-132.02, Z:-4.02 [[-8.05156534e-01 5.92966167e-01 1.06808446e-02 1.88329771e+02] [ 5.92913039e-01 8.05227373e-01 -7.93764954e-03 -1.32022897e+02] [-1.33072661e-02 -5.82383301e-05 -9.99911453e-01 -4.02238166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters 0.012992712596927136 Centerline is valid? [True, True] Translation: X:188.35, Y:-132.01, Z:-4.02 [[-8.44548877e-01 5.35354962e-01 1.15003972e-02 1.88352537e+02] [ 5.35304596e-01 8.44627173e-01 -7.34354779e-03 -1.32006030e+02] [-1.36449527e-02 -4.57695686e-05 -9.99906902e-01 -4.02251125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters 0.012909835565763047 Centerline is valid? [True, True] Translation: X:188.37, Y:-131.99, Z:-4.02 [[-8.79523765e-01 4.75735469e-01 1.06634753e-02 1.88368406e+02] [ 4.75700228e-01 8.79588406e-01 -5.79052664e-03 -1.31985073e+02] [-1.21342282e-02 -2.02881487e-05 -9.99926377e-01 -4.02400576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters 0.01289028628101404 Centerline is valid? [True, True] Translation: X:188.38, Y:-131.96, Z:-4.02 [[-9.10767449e-01 4.12794592e-01 1.01626084e-02 1.88376770e+02] [ 4.12768745e-01 9.10824146e-01 -4.61934053e-03 -1.31959093e+02] [-1.11631879e-02 -1.23378861e-05 -9.99937690e-01 -4.02498484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters 0.01289989911657522 Centerline is valid? [True, True] Translation: X:188.39, Y:-131.94, Z:-4.03 [[-9.38137584e-01 3.46145822e-01 8.99691450e-03 1.88393300e+02] [ 3.46129677e-01 9.38180723e-01 -3.34324210e-03 -1.31935089e+02] [-9.59798104e-03 -2.23219535e-05 -9.99953938e-01 -4.02562917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters 0.013098271961362323 Centerline is valid? [True, True] Translation: X:188.40, Y:-131.90, Z:-4.03 [[-9.61114018e-01 2.75991097e-01 9.42122463e-03 1.88399228e+02] [ 2.75977273e-01 9.61160190e-01 -2.76288251e-03 -1.31904762e+02] [-9.81783703e-03 -5.54012234e-05 -9.99951802e-01 -4.02503436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters 0.013376835069676869 Centerline is valid? [True, True] Translation: X:188.41, Y:-131.88, Z:-4.02 [[-9.78809759e-01 2.04496973e-01 1.06039355e-02 1.88407701e+02] [ 2.04483968e-01 9.78867192e-01 -2.30803805e-03 -1.31876401e+02] [-1.08518313e-02 -9.07953723e-05 -9.99941113e-01 -4.02429213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters 0.013978536876867577 Centerline is valid? [True, True] Translation: X:188.41, Y:-131.84, Z:-4.02 [[-9.91458919e-01 1.29898711e-01 1.16419999e-02 1.88410912e+02] [ 1.29887924e-01 9.91527257e-01 -1.68117771e-03 -1.31844524e+02] [-1.17617431e-02 -1.54663433e-04 -9.99930816e-01 -4.02339078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters 0.014445928511819382 Centerline is valid? [True, True] Translation: X:188.51, Y:-131.18, Z:-5.02 [[-9.74321660e-01 -2.24868402e-01 1.14675498e-02 1.88507688e+02] [ 2.24854666e-01 -9.74389131e-01 -2.49003084e-03 -1.31180016e+02] [ 1.17337851e-02 1.52441097e-04 9.99931145e-01 -5.01795240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters 0.0152354671254524 Centerline is valid? [True, True] Translation: X:188.36, Y:-131.83, Z:-4.02 [[-9.92689097e-01 1.20110739e-01 1.19065886e-02 1.88359108e+02] [ 1.20099310e-01 9.92760473e-01 -1.67289869e-03 -1.31831154e+02] [-1.20213237e-02 -2.30695203e-04 -9.99927715e-01 -4.02254397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters 0.015196614500603108 Centerline is valid? [True, True] Translation: X:188.45, Y:-131.18, Z:-5.02 [[-9.74279442e-01 -2.25028598e-01 1.19037516e-02 1.88452574e+02] [ 2.25014836e-01 -9.74352129e-01 -2.50045888e-03 -1.31176129e+02] [ 1.21611205e-02 2.42375040e-04 9.99926022e-01 -5.01825780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters 0.015415767025281656 Centerline is valid? [True, True] Translation: X:188.30, Y:-131.82, Z:-4.02 [[-9.93242351e-01 1.15450292e-01 1.18685276e-02 1.88304319e+02] [ 1.15439157e-01 9.93313230e-01 -1.62131396e-03 -1.31823844e+02] [-1.19763467e-02 -2.40264868e-04 -9.99928252e-01 -4.02217532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters 0.015312687728108726 Centerline is valid? [True, True] Translation: X:188.41, Y:-131.17, Z:-5.02 [[-9.75191318e-01 -2.21080279e-01 1.11983315e-02 1.88405184e+02] [ 2.21067999e-01 -9.75255593e-01 -2.33834370e-03 -1.31169020e+02] [ 1.14381971e-02 1.95260255e-04 9.99934563e-01 -5.01785161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters 0.015423595306539768 Centerline is valid? [True, True] Translation: X:188.26, Y:-131.82, Z:-4.02 [[-9.93668828e-01 1.11840990e-01 1.06701715e-02 1.88262132e+02] [ 1.11832228e-01 9.93726093e-01 -1.41614480e-03 -1.31820953e+02] [-1.07616108e-02 -2.13909892e-04 -9.99942069e-01 -4.02338877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters 0.015131316238736326 Centerline is valid? [True, True] Translation: X:188.35, Y:-131.16, Z:-5.02 [[-9.75940150e-01 -2.17770800e-01 1.08028718e-02 1.88353562e+02] [ 2.17760121e-01 -9.75999910e-01 -2.16938625e-03 -1.31160511e+02] [ 1.10160309e-02 2.35243528e-04 9.99939294e-01 -5.01686379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters 0.015384413242049812 Centerline is valid? [True, True] Translation: X:188.22, Y:-131.82, Z:-4.02 [[-9.94139010e-01 1.07508423e-01 1.13828213e-02 1.88216528e+02] [ 1.07498686e-01 9.94204146e-01 -1.46555620e-03 -1.31818812e+02] [-1.14744078e-02 -2.33328249e-04 -9.99934140e-01 -4.02370407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters 0.015467196351605456 Centerline is valid? [True, True] Translation: X:188.22, Y:-131.79, Z:-4.02 [[-9.99244553e-01 3.70560069e-02 1.17122349e-02 1.88216796e+02] [ 3.70507194e-02 9.99313163e-01 -6.68183483e-04 -1.31792817e+02] [-1.17289507e-02 -2.33731977e-04 -9.99931186e-01 -4.02389131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters 0.015066233066258365 Centerline is valid? [True, True] Translation: X:188.22, Y:-131.77, Z:-4.02 [[-9.99418587e-01 -3.21732190e-02 1.12859260e-02 1.88215528e+02] [-3.21734714e-02 9.99482287e-01 1.59248349e-04 -1.31768488e+02] [-1.12852067e-02 -2.03951657e-04 -9.99936299e-01 -4.02416857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters 0.014901868817880892 Centerline is valid? [True, True] Translation: X:188.21, Y:-131.74, Z:-4.02 [[-9.94707270e-01 -1.02132542e-01 1.12424028e-02 1.88209225e+02] [-1.02128200e-01 9.94770781e-01 9.61076913e-04 -1.31743923e+02] [-1.12817710e-02 -1.92176169e-04 -9.99936340e-01 -4.02382201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters 0.015132571066540675 Centerline is valid? [True, True] Translation: X:188.20, Y:-131.72, Z:-4.02 [[-9.84863941e-01 -1.72989197e-01 1.08515589e-02 1.88195088e+02] [-1.72980834e-01 9.84923703e-01 1.71172366e-03 -1.31719283e+02] [-1.09840673e-02 -1.91296793e-04 -9.99939655e-01 -4.02367221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters 0.01488866885426589 Centerline is valid? [True, True] Translation: X:188.19, Y:-131.69, Z:-4.02 [[-9.70045050e-01 -2.42709798e-01 1.02251935e-02 1.88192568e+02] [-2.42698282e-01 9.70098923e-01 2.37123180e-03 -1.31694239e+02] [-1.04949704e-02 -1.81435230e-04 -9.99944910e-01 -4.02415089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters 0.014454322037742605 Centerline is valid? [True, True] Translation: X:188.17, Y:-131.67, Z:-4.02 [[-9.50652648e-01 -3.10127130e-01 8.98366947e-03 1.88172653e+02] [-3.10114757e-01 9.50695083e-01 2.77423122e-03 -1.31674541e+02] [-9.40109476e-03 -1.48638219e-04 -9.99955798e-01 -4.02471611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters 0.014496541876533271 Centerline is valid? [True, True] Translation: X:188.14, Y:-131.66, Z:-4.02 [[-9.26192168e-01 -3.76965333e-01 8.07496651e-03 1.88142221e+02] [-3.76952222e-01 9.26227359e-01 3.14664744e-03 -1.31658020e+02] [-8.66543190e-03 -1.29476353e-04 -9.99962446e-01 -4.02484057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters 0.01449607365474966 Centerline is valid? [True, True] Translation: X:188.09, Y:-131.65, Z:-4.02 [[-8.96300718e-01 -4.43380629e-01 7.65773944e-03 1.88088723e+02] [-4.43365639e-01 8.96333421e-01 3.64798490e-03 -1.31652176e+02] [-8.48133363e-03 -1.25487057e-04 -9.99964025e-01 -4.02462281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters 0.014700431721962164 Centerline is valid? [True, True] Translation: X:188.03, Y:-131.65, Z:-4.02 [[-8.60602253e-01 -5.09221588e-01 7.55884925e-03 1.88028356e+02] [-5.09203354e-01 8.60635437e-01 4.31146808e-03 -1.31652113e+02] [-8.70090615e-03 -1.38532245e-04 -9.99962137e-01 -4.02435584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters 0.015280922705432737 Centerline is valid? [True, True] Translation: X:187.96, Y:-131.66, Z:-4.02 [[-8.20020087e-01 -5.72296557e-01 6.61114306e-03 1.87958264e+02] [-5.72279262e-01 8.20046726e-01 4.45120186e-03 -1.31661810e+02] [-7.96885372e-03 -1.33345141e-04 -9.99968239e-01 -4.02416678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters 0.015240572398073556 Centerline is valid? [True, True] Translation: X:187.88, Y:-131.68, Z:-4.03 [[-7.75211963e-01 -6.31680472e-01 5.11794825e-03 1.87881582e+02] [-6.31667620e-01 7.75228850e-01 4.03102817e-03 -1.31684075e+02] [-6.51390291e-03 -1.07940926e-04 -9.99978779e-01 -4.02507535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters 0.015213000138126365 Centerline is valid? [True, True] Translation: X:187.80, Y:-131.72, Z:-4.03 [[-7.25591743e-01 -6.88109694e-01 4.65520841e-03 1.87799109e+02] [-6.88096465e-01 7.25606669e-01 4.26816659e-03 -1.31717945e+02] [-6.31481707e-03 -1.06286011e-04 -9.99980056e-01 -4.02515780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters 0.015068418940704282 Centerline is valid? [True, True] Translation: X:187.72, Y:-131.76, Z:-4.02 [[-6.71012723e-01 -7.41426575e-01 5.34412134e-03 1.87718351e+02] [-7.41404695e-01 6.71033990e-01 5.69757635e-03 -1.31759319e+02] [-7.81042158e-03 -1.39010426e-04 -9.99969489e-01 -4.02369968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters 0.015282803409269704 Centerline is valid? [True, True] Translation: X:187.64, Y:-131.81, Z:-4.02 [[-6.12766296e-01 -7.90245305e-01 5.46116880e-03 1.87636091e+02] [-7.90216196e-01 6.12790611e-01 6.78457684e-03 -1.31811951e+02] [-8.70803296e-03 -1.58144017e-04 -9.99962072e-01 -4.02337449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters 0.015563375130746083 Centerline is valid? [True, True] Translation: X:187.56, Y:-131.87, Z:-4.02 [[-5.50737063e-01 -8.34664184e-01 4.93836141e-03 1.87555374e+02] [-8.34633239e-01 5.50759180e-01 7.18904000e-03 -1.31872498e+02] [-8.72028208e-03 -1.62449800e-04 -9.99961964e-01 -4.02337652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters 0.015325647288214405 Centerline is valid? [True, True] Translation: X:187.48, Y:-131.94, Z:-4.03 [[-4.86248653e-01 -8.73812804e-01 3.66473622e-03 1.87478298e+02] [-8.73790004e-01 4.86262445e-01 6.31367445e-03 -1.31944469e+02] [-7.29899317e-03 -1.32194179e-04 -9.99973353e-01 -4.02515856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters 0.014805565825714226 Centerline is valid? [True, True] Translation: X:187.41, Y:-132.02, Z:-4.03 [[-4.20986912e-01 -9.07063507e-01 2.41143620e-03 1.87408389e+02] [-9.07049751e-01 4.20993810e-01 4.99622732e-03 -1.32021894e+02] [-5.54709519e-03 -8.39462944e-05 -9.99984611e-01 -4.02654169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters 0.014236351045097392 Centerline is valid? [True, True] Translation: X:187.34, Y:-132.11, Z:-4.03 [[-3.53271465e-01 -9.35518243e-01 2.21091856e-03 1.87340797e+02] [-9.35501211e-01 3.53278376e-01 5.64567184e-03 -1.32113201e+02] [-6.06269872e-03 -7.38622207e-05 -9.99981619e-01 -4.02604554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters 0.013720008271161347 Centerline is valid? [True, True] Translation: X:187.28, Y:-132.20, Z:-4.02 [[-2.85328136e-01 -9.58427651e-01 2.07190920e-03 1.87284082e+02] [-9.58403673e-01 2.85335654e-01 6.77964038e-03 -1.32203071e+02] [-7.08898437e-03 -5.13032410e-05 -9.99974872e-01 -4.02449424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters 0.013521416943734058 Centerline is valid? [True, True] Translation: X:187.23, Y:-132.30, Z:-4.02 [[-2.14335687e-01 -9.76758275e-01 1.86708042e-03 1.87230905e+02] [-9.76722545e-01 2.14343817e-01 8.35449930e-03 -1.32303557e+02] [-8.56052346e-03 -3.29521946e-05 -9.99963358e-01 -4.02396530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters 0.013460083669529116 Centerline is valid? [True, True] Translation: X:187.18, Y:-132.41, Z:-4.02 [[-1.40119010e-01 -9.90133868e-01 1.25926202e-03 1.87184044e+02] [-9.90095288e-01 1.40124667e-01 8.74066549e-03 -1.32411892e+02] [-8.83088261e-03 -2.20560012e-05 -9.99961007e-01 -4.02417125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters 0.013536123187814058 Centerline is valid? [True, True] Translation: X:187.14, Y:-132.52, Z:-4.02 [[-6.49742482e-02 -9.97886749e-01 6.18927351e-04 1.87144951e+02] [-9.97843166e-01 6.49771949e-02 9.32630188e-03 -1.32522234e+02] [-9.34680923e-03 -1.16229750e-05 -9.99956318e-01 -4.02396862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters 0.013489994134175672 Centerline is valid? [True, True] Translation: X:187.11, Y:-132.64, Z:-4.02 [[ 1.10146557e-02 -9.99939332e-01 -9.78340681e-05 1.87114497e+02] [-9.99896283e-01 -1.10150893e-02 9.27853183e-03 -1.32642434e+02] [-9.27904657e-03 -4.37591214e-06 -9.99956949e-01 -4.02461772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters 0.01345262078372833 Centerline is valid? [True, True] Translation: X:187.09, Y:-132.76, Z:-4.03 [[ 8.70687591e-02 -9.96201936e-01 -8.56336822e-04 1.87093139e+02] [-9.96154074e-01 -8.70729700e-02 9.76521985e-03 -1.32756050e+02] [-9.80269472e-03 2.79783925e-06 -9.99951952e-01 -4.02523848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters 0.01344835482183544 Centerline is valid? [True, True] Translation: X:187.08, Y:-132.87, Z:-4.03 [[ 1.62514286e-01 -9.86704948e-01 -1.56603720e-03 1.87079600e+02] [-9.86659760e-01 -1.62521831e-01 9.44315173e-03 -1.32874310e+02] [-9.57211977e-03 1.04988307e-05 -9.99954186e-01 -4.02525966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters 0.013426661938104118 Centerline is valid? [True, True] Translation: X:187.07, Y:-132.99, Z:-4.03 [[ 2.37826323e-01 -9.71304946e-01 -2.31122377e-03 1.87074673e+02] [-9.71259519e-01 -2.37837553e-01 9.39389703e-03 -1.32990318e+02] [-9.67403445e-03 1.06820992e-05 -9.99953205e-01 -4.02559848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters 0.013359587881902286 Centerline is valid? [True, True] Translation: X:187.08, Y:-133.11, Z:-4.03 [[ 3.12078181e-01 -9.50051403e-01 -3.08877558e-03 1.87078861e+02] [-9.50005098e-01 -3.12093466e-01 9.37991598e-03 -1.33110603e+02] [-9.87538901e-03 7.08542823e-06 -9.99951237e-01 -4.02610730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters 0.013330592274930895 Centerline is valid? [True, True] Translation: X:187.09, Y:-133.23, Z:-4.03 [[ 3.84261384e-01 -9.23216783e-01 -3.73636957e-03 1.87090768e+02] [-9.23173247e-01 -3.84279549e-01 8.96570418e-03 -1.33230152e+02] [-9.71309898e-03 4.14252429e-06 -9.99952827e-01 -4.02644926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters 0.013198445422880014 Centerline is valid? [True, True] Translation: X:187.11, Y:-133.34, Z:-4.03 [[ 4.53734729e-01 -8.91127625e-01 -4.04368052e-03 1.87111227e+02] [-8.91092331e-01 -4.53752748e-01 7.93104055e-03 -1.33344753e+02] [-8.90240048e-03 4.70416595e-06 -9.99960373e-01 -4.02687941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters 0.01316340548497575 Centerline is valid? [True, True] Translation: X:187.14, Y:-133.46, Z:-4.03 [[ 5.19994715e-01 -8.54156536e-01 -4.70196327e-03 1.87140065e+02] [-8.54121804e-01 -5.20015973e-01 7.70267881e-03 -1.33456718e+02] [-9.02438946e-03 1.06970738e-05 -9.99959279e-01 -4.02726070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters 0.013063013198494337 Centerline is valid? [True, True] Translation: X:187.18, Y:-133.56, Z:-4.03 [[ 5.83384783e-01 -8.12178234e-01 -5.35828466e-03 1.87176517e+02] [-8.12144201e-01 -5.83409390e-01 7.43505209e-03 -1.33563216e+02] [-9.16466106e-03 1.42035633e-05 -9.99958004e-01 -4.02763083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters 0.013159728772711064 Centerline is valid? [True, True] Translation: X:187.22, Y:-133.67, Z:-4.03 [[ 6.43491398e-01 -7.65428760e-01 -6.13472134e-03 1.87221012e+02] [-7.65394203e-01 -6.43520640e-01 7.27321540e-03 -1.33668978e+02] [-9.51494805e-03 1.52286056e-05 -9.99954732e-01 -4.02754223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters 0.013207071130067236 Centerline is valid? [True, True] Translation: X:187.27, Y:-133.76, Z:-4.03 [[ 6.99892055e-01 -7.14210186e-01 -7.41084084e-03 1.87265885e+02] [-7.14170385e-01 -6.99931289e-01 7.54005018e-03 -1.33762500e+02] [-1.05722600e-02 1.53818326e-05 -9.99944112e-01 -4.02660105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters 0.013250654672511427 Centerline is valid? [True, True] Translation: X:187.32, Y:-133.85, Z:-4.03 [[ 7.51656115e-01 -6.59494906e-01 -8.91927721e-03 1.87318103e+02] [-6.59448846e-01 -7.51709032e-01 7.79431384e-03 -1.33853584e+02] [-1.18450115e-02 2.31633921e-05 -9.99929845e-01 -4.02547161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters 0.013314819858856804 Centerline is valid? [True, True] Translation: X:187.34, Y:-133.88, Z:-4.03 [[ 8.00247978e-01 -5.99585966e-01 -9.99214087e-03 1.87339130e+02] [-5.99539825e-01 -8.00310358e-01 7.43837035e-03 -1.33882887e+02] [-1.24567563e-02 3.81455569e-05 -9.99922411e-01 -4.02525813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters 0.013193133375924062 Centerline is valid? [True, True] Translation: X:187.36, Y:-133.91, Z:-4.03 [[ 8.44608715e-01 -5.35293546e-01 -9.84572898e-03 1.87362083e+02] [-5.35257687e-01 -8.44666099e-01 6.19598793e-03 -1.33912053e+02] [-1.16330258e-02 3.68167125e-05 -9.99932333e-01 -4.02649759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters 0.012927843793638519 Centerline is valid? [True, True] Translation: X:187.39, Y:-133.94, Z:-4.03 [[ 8.84818939e-01 -4.65861281e-01 -8.28926822e-03 1.87385434e+02] [-4.65840952e-01 -8.84857766e-01 4.35212196e-03 -1.33942280e+02] [-9.36230847e-03 1.06406567e-05 -9.99956173e-01 -4.02934636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters 0.012954922398307285 Centerline is valid? [True, True] Translation: X:187.41, Y:-133.97, Z:-4.03 [[ 9.19865451e-01 -3.92133176e-01 -8.89521348e-03 1.87410316e+02] [-3.92114614e-01 -9.19908458e-01 3.81544479e-03 -1.33970457e+02] [-9.67894461e-03 -2.17526379e-05 -9.99953158e-01 -4.02882643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters 0.01307270447940003 Centerline is valid? [True, True] Translation: X:187.44, Y:-133.99, Z:-4.03 [[ 9.48316922e-01 -3.17158413e-01 -1.02740415e-02 1.87440394e+02] [-3.17139282e-01 -9.48372574e-01 3.48383458e-03 -1.33994282e+02] [-1.08485466e-02 -4.54771477e-05 -9.99941152e-01 -4.02750656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters 0.01316871097478752 Centerline is valid? [True, True] Translation: X:187.47, Y:-134.01, Z:-4.03 [[ 9.70574508e-01 -2.40549506e-01 -1.10027234e-02 1.87472247e+02] [-2.40533288e-01 -9.70636869e-01 2.79399796e-03 -1.34014388e+02] [-1.13517438e-02 -6.52619611e-05 -9.99935565e-01 -4.02685292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters 0.013448346860305396 Centerline is valid? [True, True] Translation: X:187.51, Y:-134.03, Z:-4.03 [[ 9.86686746e-01 -1.62288564e-01 -1.05682340e-02 1.87506303e+02] [-1.62278388e-01 -9.86743338e-01 1.81918315e-03 -1.34032010e+02] [-1.07233671e-02 -7.99679322e-05 -9.99942500e-01 -4.02712479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters 0.013292901971358488 Centerline is valid? [True, True] Translation: X:187.54, Y:-134.05, Z:-4.03 [[ 9.96389824e-01 -8.41677586e-02 -1.10953663e-02 1.87538549e+02] [-8.41615719e-02 -9.96451595e-01 1.02416279e-03 -1.34046897e+02] [-1.11421969e-02 -8.66619205e-05 -9.99937920e-01 -4.02708117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters 0.013153303097637771 Centerline is valid? [True, True] Translation: X:187.57, Y:-134.06, Z:-4.03 [[ 9.99913872e-01 -7.00989530e-03 -1.10954798e-02 1.87571408e+02] [-7.00863825e-03 -9.99975428e-01 1.52173646e-04 -1.34058230e+02] [-1.10962739e-02 -7.43963355e-05 -9.99938432e-01 -4.02710968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters 0.013114904229543168 Centerline is valid? [True, True] Translation: X:187.60, Y:-134.07, Z:-4.03 [[ 9.97465670e-01 7.03808357e-02 -1.04295220e-02 1.87604326e+02] [ 7.03776207e-02 -9.97520192e-01 -6.75409989e-04 -1.34065031e+02] [-1.04511947e-02 -6.03066639e-05 -9.99945383e-01 -4.02707689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters 0.0132776418901265 Centerline is valid? [True, True] Translation: X:187.64, Y:-134.07, Z:-4.03 [[ 9.88923641e-01 1.48069616e-01 -1.02674701e-02 1.87637074e+02] [ 1.48062241e-01 -9.88976939e-01 -1.47898012e-03 -1.34067674e+02] [-1.03732832e-02 -5.76262290e-05 -9.99946194e-01 -4.02570455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters 0.013037415171789715 Centerline is valid? [True, True] Translation: X:187.67, Y:-134.07, Z:-4.03 [[ 9.74236227e-01 2.25294044e-01 -1.03134752e-02 1.87671502e+02] [ 2.25282086e-01 -9.74290814e-01 -2.32195421e-03 -1.34068814e+02] [-1.05714466e-02 -6.13093125e-05 -9.99944119e-01 -4.02716825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters 0.013406251362180458 Centerline is valid? [True, True] Translation: X:187.70, Y:-134.07, Z:-4.03 [[ 9.53408834e-01 3.01522713e-01 -9.78001371e-03 1.87704966e+02] [ 3.01507562e-01 -9.53458992e-01 -3.02337028e-03 -1.34068160e+02] [-1.02364568e-02 -6.62401592e-05 -9.99947604e-01 -4.02537524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters 0.013095776549960985 Centerline is valid? [True, True] Translation: X:187.74, Y:-134.06, Z:-4.03 [[ 9.26349187e-01 3.76532280e-01 -1.00312485e-02 1.87740009e+02] [ 3.76511190e-01 -9.26403495e-01 -3.98602560e-03 -1.34064890e+02] [-1.07938509e-02 -8.44257258e-05 -9.99941741e-01 -4.02688001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters 0.013249587002784773 Centerline is valid? [True, True] Translation: X:187.77, Y:-134.06, Z:-4.03 [[ 8.93715622e-01 4.48510860e-01 -1.05069226e-02 1.87773234e+02] [ 4.48481181e-01 -8.93777376e-01 -5.16061072e-03 -1.34057542e+02] [-1.17054397e-02 -1.00038631e-04 -9.99931484e-01 -4.02563035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters 0.013638043995912117 Centerline is valid? [True, True] Translation: X:187.80, Y:-134.05, Z:-4.02 [[ 8.55698113e-01 5.17381699e-01 -9.84464387e-03 1.87804588e+02] [ 5.17348822e-01 -8.55754736e-01 -5.83343247e-03 -1.34046125e+02] [-1.14427118e-02 -1.01457755e-04 -9.99934525e-01 -4.02493782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters 0.01354717537691598 Centerline is valid? [True, True] Translation: X:187.84, Y:-134.03, Z:-4.03 [[ 8.11246650e-01 5.84644851e-01 -8.32292564e-03 1.87835791e+02] [ 5.84615518e-01 -8.11289335e-01 -5.85748896e-03 -1.34032472e+02] [-1.01768516e-02 -1.13843185e-04 -9.99948208e-01 -4.02698248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters 0.01395098722255577 Centerline is valid? [True, True] Translation: X:187.87, Y:-134.02, Z:-4.03 [[ 7.61479671e-01 6.48140764e-01 -7.89049361e-03 1.87866850e+02] [ 6.48107847e-01 -7.61520539e-01 -6.53362416e-03 -1.34017953e+02] [-1.02434811e-02 -1.38668844e-04 -9.99947525e-01 -4.02691303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters 0.014324042990178837 Centerline is valid? [True, True] Translation: X:187.90, Y:-134.00, Z:-4.03 [[ 7.06036655e-01 7.08135986e-01 -7.46109348e-03 1.87896597e+02] [ 7.08099057e-01 -7.06076055e-01 -7.23398327e-03 -1.34001741e+02] [-1.03907433e-02 -1.75735911e-04 -9.99945999e-01 -4.02715191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters 0.014908596119743536 Centerline is valid? [True, True] Translation: X:187.92, Y:-133.98, Z:-4.03 [[ 6.46642641e-01 7.62767800e-01 -6.21115641e-03 1.87924155e+02] [ 7.62735278e-01 -6.46672445e-01 -7.04591098e-03 -1.33982976e+02] [-9.39097772e-03 -1.81281625e-04 -9.99955887e-01 -4.02733461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters 0.01542222157037444 Centerline is valid? [True, True] Translation: X:187.95, Y:-133.96, Z:-4.03 [[ 5.83715367e-01 8.11939841e-01 -5.48309023e-03 1.87948866e+02] [ 8.11907036e-01 -5.83741088e-01 -7.30119530e-03 -1.33961187e+02] [-9.12883641e-03 -1.89939641e-04 -9.99958313e-01 -4.02773702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters 0.01569061535717445 Centerline is valid? [True, True] Translation: X:187.97, Y:-133.94, Z:-4.03 [[ 5.17064446e-01 8.55934040e-01 -4.61277840e-03 1.87969311e+02] [ 8.55903229e-01 -5.17084986e-01 -7.26496450e-03 -1.33936637e+02] [-8.60352886e-03 -1.91637082e-04 -9.99962971e-01 -4.02781021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters 0.017173168886525987 Centerline is valid? [True, True] Translation: X:187.99, Y:-133.91, Z:-4.03 [[ 4.45925815e-01 8.95061383e-01 -3.91010647e-03 1.87988193e+02] [ 8.95030999e-01 -4.45942908e-01 -7.37789782e-03 -1.33912567e+02] [-8.34735568e-03 -2.09671408e-04 -9.99965138e-01 -4.02750222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters 0.017271369014418985 Centerline is valid? [True, True] Translation: X:188.01, Y:-133.89, Z:-4.03 [[ 3.71076773e-01 9.28595632e-01 -3.49015294e-03 1.88005515e+02] [ 9.28560743e-01 -3.71093100e-01 -8.05340108e-03 -1.33886876e+02] [-8.77352473e-03 -2.52388922e-04 -9.99961480e-01 -4.02743703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters 0.01897914870958724 Centerline is valid? [True, True] Translation: X:188.02, Y:-133.86, Z:-4.03 [[ 2.94755461e-01 9.55567977e-01 -3.00998155e-03 1.88021155e+02] [ 9.55527751e-01 -2.94770686e-01 -8.77268625e-03 -1.33861339e+02] [-9.27015238e-03 -2.90323724e-04 -9.99956989e-01 -4.02671000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters 0.018571437994585837 Centerline is valid? [True, True] Translation: X:188.03, Y:-133.83, Z:-4.03 [[ 2.20420997e-01 9.75401818e-01 -2.42432580e-03 1.88032509e+02] [ 9.75356454e-01 -2.20434138e-01 -9.41165505e-03 -1.33833256e+02] [-9.71454962e-03 -2.90055419e-04 -9.99952771e-01 -4.02613680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters 0.016209702080540712 Centerline is valid? [True, True] Translation: X:188.04, Y:-133.80, Z:-4.03 [[ 1.50076952e-01 9.88672960e-01 -1.63931629e-03 1.88038502e+02] [ 9.88628837e-01 -1.50085746e-01 -9.34299043e-03 -1.33803734e+02] [-9.48320001e-03 -2.18507826e-04 -9.99955010e-01 -4.02542720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters 0.015248198105718725 Centerline is valid? [True, True] Translation: X:188.05, Y:-133.78, Z:-4.03 [[ 7.59836850e-02 9.97108625e-01 -9.32463685e-04 1.88045271e+02] [ 9.97060913e-01 -7.59891728e-02 -9.75606241e-03 -1.33775650e+02] [-9.79871112e-03 -1.88421520e-04 -9.99951974e-01 -4.02537900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters 0.014514433680396765 Centerline is valid? [True, True] Translation: X:188.05, Y:-133.75, Z:-4.03 [[-3.72819619e-04 9.99999917e-01 -1.63999831e-04 1.88051520e+02] [ 9.99952592e-01 3.71206227e-04 -9.73018366e-03 -1.33747021e+02] [-9.73012197e-03 -1.67619659e-04 -9.99952647e-01 -4.02564073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters 0.014389797377821938 Centerline is valid? [True, True] Translation: X:188.06, Y:-133.72, Z:-4.03 [[-7.92079593e-02 9.96857944e-01 5.82759762e-04 1.88059172e+02] [ 9.96813107e-01 7.92099247e-02 -9.45610257e-03 -1.33718258e+02] [-9.47255132e-03 -1.68096019e-04 -9.99955120e-01 -4.02606678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters 0.014546967115244584 Centerline is valid? [True, True] Translation: X:188.07, Y:-133.69, Z:-4.03 [[-1.56446485e-01 9.87685737e-01 1.17592700e-03 1.88065357e+02] [ 9.87650467e-01 1.56450837e-01 -8.34803470e-03 -1.33690016e+02] [-8.42920956e-03 -1.44615832e-04 -9.99964463e-01 -4.02576838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters 0.014283526677309593 Centerline is valid? [True, True] Translation: X:188.07, Y:-133.66, Z:-4.03 [[-2.31411749e-01 9.72854358e-01 1.73202984e-03 1.88067817e+02] [ 9.72823044e-01 2.31418199e-01 -7.80652453e-03 -1.33660922e+02] [-7.99543463e-03 -1.21562955e-04 -9.99968029e-01 -4.02604098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters 0.013634098392213185 Centerline is valid? [True, True] Translation: X:188.07, Y:-133.63, Z:-4.03 [[-3.03706339e-01 9.52762607e-01 2.42384801e-03 1.88068283e+02] [ 9.52729635e-01 3.03715995e-01 -7.92698743e-03 -1.33631689e+02] [-8.28869861e-03 -9.82045040e-05 -9.99965643e-01 -4.02597812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters 0.012992208920870493 Centerline is valid? [True, True] Translation: X:188.06, Y:-133.60, Z:-4.03 [[-3.72645436e-01 9.27970099e-01 2.62176138e-03 1.88063483e+02] [ 9.27946222e-01 3.72654656e-01 -6.65714201e-03 -1.33603312e+02] [-7.15464032e-03 -4.79000168e-05 -9.99974404e-01 -4.02671231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters 0.012701682362846738 Centerline is valid? [True, True] Translation: X:188.06, Y:-133.57, Z:-4.03 [[-4.39544346e-01 8.98216226e-01 2.89463650e-03 1.88057754e+02] [ 8.98196604e-01 4.39553877e-01 -5.93721690e-03 -1.33574953e+02] [-6.60525326e-03 -9.71744521e-06 -9.99978185e-01 -4.02676913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters 0.012931473099796986 Centerline is valid? [True, True] Translation: X:188.05, Y:-133.55, Z:-4.03 [[-5.02029020e-01 8.64843064e-01 3.65222995e-03 1.88050334e+02] [ 8.64820809e-01 5.02042302e-01 -6.20436877e-03 -1.33547177e+02] [-7.19937923e-03 4.37512922e-05 -9.99974083e-01 -4.02610294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters 0.013711221669257173 Centerline is valid? [True, True] Translation: X:188.04, Y:-133.52, Z:-4.02 [[-5.63329666e-01 8.26216838e-01 5.04223457e-03 1.88043311e+02] [ 8.26185405e-01 5.63352222e-01 -7.20770637e-03 -1.33519065e+02] [-8.79568241e-03 1.05505788e-04 -9.99961312e-01 -4.02470526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters 0.01436739691812686 Centerline is valid? [True, True] Translation: X:188.03, Y:-133.49, Z:-4.02 [[-6.23406626e-01 7.81874186e-01 6.07744449e-03 1.88033116e+02] [ 7.81839367e-01 6.23436231e-01 -7.38039973e-03 -1.33492331e+02] [-9.55944312e-03 1.50595259e-04 -9.99954296e-01 -4.02453360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters 0.016020901873437993 Centerline is valid? [True, True] Translation: X:188.02, Y:-133.47, Z:-4.02 [[-6.78090560e-01 7.34945828e-01 6.91532247e-03 1.88019040e+02] [ 7.34910878e-01 6.78125786e-01 -7.17073627e-03 -1.33467105e+02] [-9.95956119e-03 2.19737134e-04 -9.99950378e-01 -4.02425987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters 0.01680878332370142 Centerline is valid? [True, True] Translation: X:188.01, Y:-133.44, Z:-4.02 [[-7.30979774e-01 6.82367706e-01 6.54857565e-03 1.88005779e+02] [ 6.82343065e-01 7.31009071e-01 -5.80343579e-03 -1.33441198e+02] [-8.74714537e-03 2.26180995e-04 -9.99961717e-01 -4.02483099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters 0.017677438012490925 Centerline is valid? [True, True] Translation: X:188.03, Y:-133.42, Z:-4.03 [[-7.77657724e-01 6.28660785e-01 5.83798356e-03 1.88025016e+02] [ 6.28644859e-01 7.77679614e-01 -4.47876149e-03 -1.33421514e+02] [-7.35570252e-03 1.87074885e-04 -9.99972929e-01 -4.02604786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters 0.015031034634256 Centerline is valid? [True, True] Translation: X:188.04, Y:-133.39, Z:-4.03 [[-8.23601174e-01 5.67150694e-01 4.60396005e-03 1.88040543e+02] [ 5.67142556e-01 8.23614035e-01 -3.04020946e-03 -1.33388285e+02] [-5.51614302e-03 1.07181592e-04 -9.99984780e-01 -4.02832057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters 0.013706868215956274 Centerline is valid? [True, True] Translation: X:188.06, Y:-133.36, Z:-4.03 [[-8.65409921e-01 5.01046208e-01 4.28567313e-03 1.88055982e+02] [ 5.01040402e-01 8.65420530e-01 -2.41279712e-03 -1.33357566e+02] [-4.91783236e-03 5.92368258e-05 -9.99987906e-01 -4.02782991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters 0.012848399504648517 Centerline is valid? [True, True] Translation: X:188.39, Y:-132.77, Z:-5.01 [[-8.38609058e-01 -5.44720441e-01 3.80646202e-03 1.88388332e+02] [ 5.44714407e-01 -8.38617693e-01 -2.56513160e-03 -1.32772519e+02] [ 4.58944601e-03 -7.77078916e-05 9.99989465e-01 -5.01387807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters 0.012955012337931926 Centerline is valid? [True, True] Translation: X:188.01, Y:-133.31, Z:-4.03 [[-8.76739251e-01 4.80950370e-01 3.87643880e-03 1.88014900e+02] [ 4.80945503e-01 8.76747821e-01 -2.16385746e-03 -1.33313199e+02] [-4.43936731e-03 -3.27829614e-05 -9.99990145e-01 -4.02685077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters 0.01361522537418063 Centerline is valid? [True, True] Translation: X:188.03, Y:-133.29, Z:-4.03 [[-9.10689915e-01 4.13071242e-01 4.00343828e-03 1.88031702e+02] [ 4.13066985e-01 9.10698713e-01 -1.87599025e-03 -1.33285360e+02] [-4.42084372e-03 -5.47572210e-05 -9.99990227e-01 -4.02663991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters 0.014289248583220036 Centerline is valid? [True, True] Translation: X:188.04, Y:-133.25, Z:-4.03 [[-9.38158953e-01 3.46181172e-01 4.04653677e-03 1.88039355e+02] [ 3.46177673e-01 9.38167678e-01 -1.55769189e-03 -1.33254915e+02] [-4.33557361e-03 -6.05419083e-05 -9.99990600e-01 -4.02583416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters 0.01329642779687471 Centerline is valid? [True, True] Translation: X:188.05, Y:-133.23, Z:-4.03 [[-9.59335693e-01 2.82241174e-01 3.86635192e-03 1.88047664e+02] [ 2.82238704e-01 9.59343483e-01 -1.18151165e-03 -1.33232749e+02] [-4.04263075e-03 -4.22321412e-05 -9.99991828e-01 -4.02569353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters 0.012828907853088071 Centerline is valid? [True, True] Translation: X:188.24, Y:-132.63, Z:-5.02 [[-9.31905202e-01 -3.62676839e-01 4.26681206e-03 1.88239675e+02] [ 3.62673417e-01 -9.31914966e-01 -1.57746976e-03 -1.32628743e+02] [ 4.54841777e-03 7.74070348e-05 9.99989653e-01 -5.01554648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters 0.01252897610872749 Centerline is valid? [True, True] Translation: X:188.00, Y:-133.23, Z:-4.02 [[-9.58121865e-01 2.86312575e-01 5.25366092e-03 1.88004961e+02] [ 2.86308190e-01 9.58136269e-01 -1.58460058e-03 -1.33227908e+02] [-5.48741415e-03 -1.40743174e-05 -9.99984944e-01 -4.02392790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters 0.012491228433052604 Centerline is valid? [True, True] Translation: X:188.20, Y:-132.61, Z:-5.02 [[-9.36389131e-01 -3.50931229e-01 4.76118827e-03 1.88202305e+02] [ 3.50926637e-01 -9.36401235e-01 -1.79517626e-03 -1.32609953e+02] [ 5.08836598e-03 -1.01557466e-05 9.99987054e-01 -5.01657308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters 0.012704966780630133 Centerline is valid? [True, True] Translation: X:187.96, Y:-133.23, Z:-4.03 [[-9.56697470e-01 2.91060117e-01 3.73630373e-03 1.87963271e+02] [ 2.91057995e-01 9.56704765e-01 -1.11188871e-03 -1.33226498e+02] [-3.89816604e-03 2.37399504e-05 -9.99992402e-01 -4.02542818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters 0.013164445086513715 Centerline is valid? [True, True] Translation: X:188.16, Y:-132.59, Z:-5.02 [[-9.40412859e-01 -3.40014511e-01 3.71316358e-03 1.88162593e+02] [ 3.40011774e-01 -9.40420189e-01 -1.36451945e-03 -1.32590708e+02] [ 3.95589041e-03 -2.06923021e-05 9.99992175e-01 -5.01608522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters 0.014292860568618733 Centerline is valid? [True, True] Translation: X:187.92, Y:-133.22, Z:-4.02 [[-9.55258694e-01 2.95739273e-01 4.37142520e-03 1.87920161e+02] [ 2.95736496e-01 9.55268694e-01 -1.28347519e-03 -1.33222771e+02] [-4.55545967e-03 6.67391400e-05 -9.99989622e-01 -4.02376046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters 0.014468206421328176 Centerline is valid? [True, True] Translation: X:187.93, Y:-133.20, Z:-4.02 [[-9.73175231e-01 2.30037146e-01 3.58908519e-03 1.87932678e+02] [ 2.30035825e-01 9.73181847e-01 -7.82340699e-04 -1.33200235e+02] [-3.67279998e-03 6.42635818e-05 -9.99993253e-01 -4.02440537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters 0.015135874009365748 Centerline is valid? [True, True] Translation: X:187.93, Y:-133.17, Z:-4.02 [[-9.86690388e-01 1.62583220e-01 2.96241876e-03 1.87931586e+02] [ 1.62582665e-01 9.86694833e-01 -4.28610939e-04 -1.33174818e+02] [-2.99268823e-03 5.87316450e-05 -9.99995520e-01 -4.02496201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters 0.015168762733102217 Centerline is valid? [True, True] Translation: X:188.03, Y:-132.49, Z:-5.01 [[-9.81603836e-01 -1.90925179e-01 1.21841711e-03 1.88030283e+02] [ 1.90924858e-01 -9.81604583e-01 -3.75249169e-04 -1.32492884e+02] [ 1.26764833e-03 -1.35719909e-04 9.99999187e-01 -5.01472693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters 0.01420190963168507 Centerline is valid? [True, True] Translation: X:187.88, Y:-133.17, Z:-4.03 [[-9.87898268e-01 1.55100946e-01 8.41334519e-04 1.87883139e+02] [ 1.55100902e-01 9.87898627e-01 -1.18192609e-04 -1.33166516e+02] [-8.49485001e-04 1.37294689e-05 -9.99999639e-01 -4.02635429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters 0.013151924507801735 Centerline is valid? [True, True] Translation: X:187.88, Y:-133.13, Z:-4.03 [[-9.96900414e-01 7.86673445e-02 1.00657996e-03 1.87880074e+02] [ 7.86673148e-02 9.96900922e-01 -6.91562945e-05 -1.33133631e+02] [-1.00890083e-03 1.02430036e-05 -9.99999491e-01 -4.02616530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters 0.012399130680822802 Centerline is valid? [True, True] Translation: X:187.92, Y:-132.47, Z:-5.02 [[-9.91178320e-01 -1.32529304e-01 1.23335633e-03 1.87921587e+02] [ 1.32529206e-01 -9.91179088e-01 -1.60824854e-04 -1.32465414e+02] [ 1.24379101e-03 4.04962704e-06 9.99999227e-01 -5.01519578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters 0.012397702795894864 Centerline is valid? [True, True] Translation: X:187.82, Y:-133.12, Z:-4.03 [[-9.97996909e-01 6.32548015e-02 9.99603394e-04 1.87820201e+02] [ 6.32547685e-02 9.97997410e-01 -6.46710234e-05 -1.33122295e+02] [-1.00169235e-03 -1.31180017e-06 -9.99999498e-01 -4.02552470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters 0.01283966970281339 Centerline is valid? [True, True] Translation: X:187.81, Y:-133.09, Z:-4.02 [[-9.99887163e-01 -1.48131902e-02 2.49604605e-03 1.87813751e+02] [-1.48131961e-02 9.99890278e-01 1.61215319e-05 -1.33091003e+02] [-2.49601099e-03 -2.08547068e-05 -9.99996885e-01 -4.02424078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters 0.01365601732607677 Centerline is valid? [True, True] Translation: X:187.81, Y:-132.44, Z:-5.02 [[-9.97229046e-01 -7.43305714e-02 3.03263026e-03 1.87805959e+02] [ 7.43304200e-02 -9.97233655e-01 -1.62771159e-04 -1.32443444e+02] [ 3.03633983e-03 6.30965532e-05 9.99995388e-01 -5.01750789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters 0.014678787356075786 Centerline is valid? [True, True] Translation: X:187.75, Y:-133.09, Z:-4.02 [[-9.99541488e-01 -3.01205293e-02 3.09308221e-03 1.87750001e+02] [-3.01205718e-02 9.99546272e-01 3.28623379e-05 -1.33085767e+02] [-3.09266863e-03 -6.03181348e-05 -9.99995216e-01 -4.02310570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters 0.015373292877935058 Centerline is valid? [True, True] Translation: X:187.74, Y:-133.06, Z:-4.02 [[-9.94617289e-01 -1.03547147e-01 3.79965175e-03 1.87736386e+02] [-1.03546713e-01 9.94624543e-01 3.11129460e-04 -1.33060045e+02] [-3.81144346e-03 -8.39867104e-05 -9.99992733e-01 -4.02307940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters 0.015492619139781982 Centerline is valid? [True, True] Translation: X:187.69, Y:-132.42, Z:-5.02 [[-9.99970020e-01 -6.94717251e-03 3.41979367e-03 1.87689736e+02] [ 6.94730241e-03 -9.99975867e-01 2.61066091e-05 -1.32420135e+02] [ 3.41952977e-03 4.98641672e-05 9.99994152e-01 -5.01832590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters 0.014732865741950246 Centerline is valid? [True, True] Translation: X:187.68, Y:-133.07, Z:-4.02 [[-9.94424223e-01 -1.05390261e-01 3.65472709e-03 1.87677078e+02] [-1.05389808e-01 9.94430937e-01 3.16960270e-04 -1.33071996e+02] [-3.66777821e-03 -6.99780150e-05 -9.99993271e-01 -4.02208536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters 0.01469948550220337 Centerline is valid? [True, True] Translation: X:187.62, Y:-132.42, Z:-5.02 [[-9.99979386e-01 1.30854510e-03 6.28618084e-03 1.87618821e+02] [-1.30670405e-03 -9.99999102e-01 2.96970496e-04 -1.32416825e+02] [ 6.28656380e-03 2.88750196e-04 9.99980198e-01 -5.02082689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters 0.014566457789581889 Centerline is valid? [True, True] Translation: X:187.60, Y:-133.09, Z:-4.02 [[-9.94040653e-01 -1.08542646e-01 1.00833467e-02 1.87599114e+02] [-1.08538849e-01 9.94091778e-01 9.24610899e-04 -1.33088314e+02] [-1.01241318e-02 -1.75334026e-04 -9.99948734e-01 -4.01699813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters 0.01418498831758039 Centerline is valid? [True, True] Translation: X:187.55, Y:-132.41, Z:-5.02 [[-9.99905533e-01 7.67037051e-03 1.14056865e-02 1.87545406e+02] [-7.66666110e-03 -9.99970543e-01 3.68913110e-04 -1.32413165e+02] [ 1.14081802e-02 2.81434727e-04 9.99934885e-01 -5.02453795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters 0.015102106238829866 Centerline is valid? [True, True] Translation: X:187.53, Y:-133.10, Z:-4.02 [[-9.93568162e-01 -1.12616737e-01 1.18228041e-02 1.87528411e+02] [-1.12611084e-01 9.93638482e-01 1.14489476e-03 -1.33100267e+02] [-1.18765275e-02 -1.93847804e-04 -9.99929453e-01 -4.01540567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters 0.01434572867081469 Centerline is valid? [True, True] Translation: X:187.47, Y:-132.42, Z:-5.02 [[-9.99874753e-01 1.24252276e-02 9.80263709e-03 1.87466462e+02] [-1.24244135e-02 -9.99922804e-01 1.43937421e-04 -1.32418670e+02] [ 9.80366881e-03 2.21273765e-05 9.99951943e-01 -5.02141986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters 0.013401000200061066 Centerline is valid? [True, True] Translation: X:187.45, Y:-133.11, Z:-4.02 [[-9.93293684e-01 -1.15332706e-01 8.12553477e-03 1.87451942e+02] [-1.15329781e-01 9.93326912e-01 8.29169674e-04 -1.33109439e+02] [-8.16694274e-03 -1.13507146e-04 -9.99966644e-01 -4.02104917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters 0.013304236303453001 Centerline is valid? [True, True] Translation: X:187.45, Y:-133.08, Z:-4.02 [[-9.83122414e-01 -1.82772707e-01 8.02849864e-03 1.87448845e+02] [-1.82767348e-01 9.83155191e-01 1.40241335e-03 -1.33083460e+02] [-8.14958300e-03 -8.86034081e-05 -9.99966788e-01 -4.02034990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters 0.012637868809861584 Centerline is valid? [True, True] Translation: X:187.44, Y:-133.06, Z:-4.02 [[-9.68484621e-01 -2.48948676e-01 7.88003961e-03 1.87436358e+02] [-2.48940927e-01 9.68516677e-01 1.96499419e-03 -1.33062530e+02] [-8.12113248e-03 -5.85977153e-05 -9.99967021e-01 -4.02112472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters 0.012574499610312146 Centerline is valid? [True, True] Translation: X:187.26, Y:-132.39, Z:-5.02 [[-9.85561997e-01 1.69143168e-01 7.62486971e-03 1.87260302e+02] [-1.69137866e-01 -9.85591491e-01 1.33962005e-03 -1.32389208e+02] [ 7.74159429e-03 3.06244233e-05 9.99970033e-01 -5.01889002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters 0.012763812923088301 Centerline is valid? [True, True] Translation: X:187.32, Y:-133.09, Z:-4.02 [[-9.66826048e-01 -2.55311801e-01 7.95466584e-03 1.87322799e+02] [-2.55303672e-01 9.66858770e-01 2.03826436e-03 -1.33086966e+02] [-8.21143137e-03 -6.02083271e-05 -9.99966284e-01 -4.02097375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters 0.012762843045281452 Centerline is valid? [True, True] Translation: X:187.30, Y:-133.06, Z:-4.02 [[-9.45952922e-01 -3.24165728e-01 9.46834464e-03 1.87295832e+02] [-3.24150261e-01 9.46000304e-01 3.16744573e-03 -1.33064048e+02] [-9.98383426e-03 -7.29118439e-05 -9.99950158e-01 -4.01945592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters 0.012779542861036287 Centerline is valid? [True, True] Translation: X:187.25, Y:-133.05, Z:-4.02 [[-9.20392428e-01 -3.90873844e-01 9.76814924e-03 1.87253360e+02] [-3.90852608e-01 9.20444259e-01 4.07495760e-03 -1.33050658e+02] [-1.05838312e-02 -6.73464932e-05 -9.99943987e-01 -4.01941444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters 0.012774644800881977 Centerline is valid? [True, True] Translation: X:187.19, Y:-133.05, Z:-4.02 [[-8.89776453e-01 -4.56311564e-01 8.81019855e-03 1.87193742e+02] [-4.56289746e-01 8.89820068e-01 4.46254733e-03 -1.33049445e+02] [-9.87580343e-03 -4.93337236e-05 -9.99951232e-01 -4.01959402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters 0.012519946702245644 Centerline is valid? [True, True] Translation: X:187.13, Y:-133.06, Z:-4.02 [[-8.55338569e-01 -5.18007964e-01 7.98006359e-03 1.87127095e+02] [-5.17985595e-01 8.55375794e-01 4.81405527e-03 -1.33058320e+02] [-9.31967220e-03 -1.59108413e-05 -9.99956571e-01 -4.02083817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters 0.01258627397117628 Centerline is valid? [True, True] Translation: X:187.05, Y:-133.08, Z:-4.02 [[-8.15527831e-01 -5.78673067e-01 7.19983461e-03 1.87054464e+02] [-5.78650497e-01 8.15559612e-01 5.11084103e-03 -1.33075341e+02] [-8.82940038e-03 1.84522289e-06 -9.99961020e-01 -4.02096499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters 0.01273208641221713 Centerline is valid? [True, True] Translation: X:186.98, Y:-133.11, Z:-4.02 [[-7.71344092e-01 -6.36384016e-01 6.60869895e-03 1.86975198e+02] [-6.36360434e-01 7.71372402e-01 5.47863439e-03 -1.33105634e+02] [-8.58428334e-03 2.03977406e-05 -9.99963154e-01 -4.02072737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters 0.012668177774573406 Centerline is valid? [True, True] Translation: X:186.90, Y:-133.14, Z:-4.02 [[-7.22857665e-01 -6.90973915e-01 5.64310022e-03 1.86897564e+02] [-6.90952462e-01 7.22879691e-01 5.44499920e-03 -1.33141891e+02] [-7.84163496e-03 3.68454164e-05 -9.99969253e-01 -4.02262158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters 0.012653567803188713 Centerline is valid? [True, True] Translation: X:186.81, Y:-133.19, Z:-4.02 [[-6.67939112e-01 -7.44195586e-01 5.50203227e-03 1.86812976e+02] [-7.44169952e-01 6.67961772e-01 6.17681387e-03 -1.33190104e+02] [-8.27190485e-03 3.12884773e-05 -9.99965787e-01 -4.02173664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters 0.012558331201495345 Centerline is valid? [True, True] Translation: X:186.73, Y:-133.25, Z:-4.02 [[-6.07598544e-01 -7.94226134e-01 5.37196320e-03 1.86728169e+02] [-7.94194945e-01 6.07622291e-01 7.03859929e-03 -1.33247263e+02] [-8.85436409e-03 1.02566613e-05 -9.99960799e-01 -4.02083339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters 0.01257545088469234 Centerline is valid? [True, True] Translation: X:186.64, Y:-133.32, Z:-4.02 [[-5.40765494e-01 -8.41159005e-01 4.92020182e-03 1.86641725e+02] [-8.41124890e-01 5.40787876e-01 7.57582421e-03 -1.33315866e+02] [-9.03325824e-03 -4.17598950e-05 -9.99959198e-01 -4.02112522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters 0.013086425770433686 Centerline is valid? [True, True] Translation: X:186.56, Y:-133.39, Z:-4.02 [[-4.71312190e-01 -8.81955077e-01 4.47894477e-03 1.86561937e+02] [-8.81916952e-01 4.71333464e-01 8.20096395e-03 -1.33388800e+02] [-9.34395835e-03 -8.48430393e-05 -9.99956341e-01 -4.01995746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters 0.013644124494236708 Centerline is valid? [True, True] Translation: X:186.49, Y:-133.47, Z:-4.02 [[-3.97326867e-01 -9.17667799e-01 4.14391740e-03 1.86486708e+02] [-9.17621790e-01 3.97348447e-01 9.19028465e-03 -1.33470902e+02] [-1.00802074e-02 -1.51001892e-04 -9.99949182e-01 -4.01958515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters 0.014098310254903173 Centerline is valid? [True, True] Translation: X:186.42, Y:-133.56, Z:-4.02 [[-3.23504885e-01 -9.46218536e-01 3.88216175e-03 1.86417446e+02] [-9.46157751e-01 3.23528114e-01 1.07270450e-02 -1.33564531e+02] [-1.14061173e-02 -2.02885972e-04 -9.99934928e-01 -4.01882346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters 0.014364278515861039 Centerline is valid? [True, True] Translation: X:186.36, Y:-133.66, Z:-4.02 [[-2.50774059e-01 -9.68041145e-01 2.95168062e-03 1.86358043e+02] [-9.67982728e-01 2.50791357e-01 1.06364492e-02 -1.33661066e+02] [-1.10367765e-02 -1.89830313e-04 -9.99939075e-01 -4.01836943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters 0.013378123502734849 Centerline is valid? [True, True] Translation: X:186.31, Y:-133.76, Z:-4.02 [[-1.79693289e-01 -9.83721109e-01 1.76088648e-03 1.86310528e+02] [-9.83680296e-01 1.79701875e-01 8.96168737e-03 -1.33760151e+02] [-9.13223564e-03 -1.21794259e-04 -9.99958293e-01 -4.02015979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters 0.012777263939287716 Centerline is valid? [True, True] Translation: X:186.27, Y:-133.86, Z:-4.02 [[-1.09110752e-01 -9.94029284e-01 7.91565265e-04 1.86269668e+02] [-9.94006597e-01 1.09113610e-01 6.71610926e-03 -1.33864225e+02] [-6.76237982e-03 -5.40213607e-05 -9.99977133e-01 -4.02189955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters 0.012507602821255733 Centerline is valid? [True, True] Translation: X:186.23, Y:-133.98, Z:-4.02 [[-3.57741752e-02 -9.99359870e-01 2.40380827e-04 1.86234906e+02] [-9.99342289e-01 3.57749717e-02 5.92793560e-03 -1.33978315e+02] [-5.93274057e-03 -2.81557200e-05 -9.99982401e-01 -4.02219092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters 0.012297317031329563 Centerline is valid? [True, True] Translation: X:186.21, Y:-134.09, Z:-4.02 [[ 3.76107775e-02 -9.99292441e-01 -2.17001402e-04 1.86209824e+02] [-9.99274571e-01 -3.76114027e-02 5.97605794e-03 -1.34087355e+02] [-5.97999126e-03 -7.92020309e-06 -9.99982120e-01 -4.02204745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters 0.0123864642622626 Centerline is valid? [True, True] Translation: X:186.19, Y:-134.20, Z:-4.02 [[ 1.13232857e-01 -9.93568145e-01 -8.13455863e-04 1.86191606e+02] [-9.93542242e-01 -1.13235778e-01 7.17440802e-03 -1.34203710e+02] [-7.22037558e-03 -4.17595316e-06 -9.99973933e-01 -4.02063146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters 0.012444632283551351 Centerline is valid? [True, True] Translation: X:186.18, Y:-134.32, Z:-4.02 [[ 1.89934927e-01 -9.81795298e-01 -1.64845862e-03 1.86180089e+02] [-9.81757807e-01 -1.89942080e-01 8.57988790e-03 -1.34320710e+02] [-8.73680525e-03 -1.12332536e-05 -9.99961833e-01 -4.01841282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters 0.012549287491099318 Centerline is valid? [True, True] Translation: X:186.18, Y:-134.44, Z:-4.02 [[ 2.66597481e-01 -9.63804335e-01 -2.64324595e-03 1.86177583e+02] [-9.63755757e-01 -2.66610582e-01 9.67665949e-03 -1.34441076e+02] [-1.00311237e-02 -3.23295391e-05 -9.99949687e-01 -4.01751397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters 0.012538926381667473 Centerline is valid? [True, True] Translation: X:186.18, Y:-134.56, Z:-4.02 [[ 3.40538582e-01 -9.40224812e-01 -3.28266191e-03 1.86184482e+02] [-9.40179933e-01 -3.40554401e-01 9.18653846e-03 -1.34557360e+02] [-9.75533636e-03 -4.20779255e-05 -9.99952415e-01 -4.01776305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters 0.012467353382824056 Centerline is valid? [True, True] Translation: X:186.20, Y:-134.67, Z:-4.02 [[ 4.11378956e-01 -9.11456875e-01 -3.70401493e-03 1.86202437e+02] [-9.11419119e-01 -4.11395629e-01 8.29613585e-03 -1.34673264e+02] [-9.08538560e-03 -3.69456831e-05 -9.99958726e-01 -4.01822301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters 0.012538853882153088 Centerline is valid? [True, True] Translation: X:186.23, Y:-134.79, Z:-4.02 [[ 4.78917238e-01 -8.77852595e-01 -3.61954698e-03 1.86230690e+02] [-8.77827187e-01 -4.78930915e-01 6.67898833e-03 -1.34788595e+02] [-7.59668018e-03 -2.13459034e-05 -9.99971145e-01 -4.01797068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters 0.012514058183736205 Centerline is valid? [True, True] Translation: X:186.26, Y:-134.89, Z:-4.02 [[ 5.42679457e-01 -8.39933843e-01 -3.18541387e-03 1.86263909e+02] [-8.39919347e-01 -5.42688806e-01 4.93462955e-03 -1.34892130e+02] [-5.87345081e-03 -2.43134332e-06 -9.99982751e-01 -4.01951570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters 0.012504091151996048 Centerline is valid? [True, True] Translation: X:186.31, Y:-134.99, Z:-4.02 [[ 6.04475017e-01 -7.96620716e-01 -2.32120712e-03 1.86305112e+02] [-7.96614857e-01 -6.04479474e-01 3.05539487e-03 -1.34994351e+02] [-3.83711291e-03 2.19821578e-06 -9.99992638e-01 -4.02128601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters 0.012538618792513759 Centerline is valid? [True, True] Translation: X:186.35, Y:-135.10, Z:-4.02 [[ 6.63592850e-01 -7.48091428e-01 -1.93528686e-03 1.86354366e+02] [-7.48088251e-01 -6.63595672e-01 2.17996890e-03 -1.35096404e+02] [-2.91506403e-03 1.15358488e-06 -9.99995751e-01 -4.02173490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters 0.012512193691964567 Centerline is valid? [True, True] Translation: X:186.40, Y:-135.19, Z:-4.02 [[ 7.19308526e-01 -6.94686162e-01 -2.52589593e-03 1.86404870e+02] [-6.94681870e-01 -7.19312961e-01 2.44213124e-03 -1.35189936e+02] [-3.51342446e-03 -1.95171796e-06 -9.99993828e-01 -4.02064457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters 0.012528978843755548 Centerline is valid? [True, True] Translation: X:186.42, Y:-135.22, Z:-4.02 [[ 7.71818697e-01 -6.35836242e-01 -2.85875413e-03 1.86423382e+02] [-6.35831859e-01 -7.71823991e-01 2.36076229e-03 -1.35218755e+02] [-3.70751325e-03 -4.39352166e-06 -9.99993127e-01 -4.01966206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters 0.012525331866503049 Centerline is valid? [True, True] Translation: X:186.44, Y:-135.25, Z:-4.02 [[ 8.19180740e-01 -5.73527041e-01 -3.10621211e-03 1.86444459e+02] [-5.73522897e-01 -8.19186629e-01 2.18027112e-03 -1.35245640e+02] [-3.79501187e-03 -4.55234202e-06 -9.99992799e-01 -4.01911155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters 0.012465987910676584 Centerline is valid? [True, True] Translation: X:186.47, Y:-135.27, Z:-4.02 [[ 8.61801940e-01 -5.07225881e-01 -4.39567983e-03 1.86468563e+02] [-5.07219229e-01 -8.61813150e-01 2.59768684e-03 -1.35269620e+02] [-5.10586868e-03 -9.11822760e-06 -9.99986965e-01 -4.01746187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters 0.012523870158326058 Centerline is valid? [True, True] Translation: X:186.49, Y:-135.29, Z:-4.02 [[ 8.99359238e-01 -4.37177340e-01 -5.37907247e-03 1.86494283e+02] [-4.37169401e-01 -8.99375324e-01 2.63477793e-03 -1.35291367e+02] [-5.98967025e-03 -1.80459814e-05 -9.99982062e-01 -4.01656093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters 0.012635629091219867 Centerline is valid? [True, True] Translation: X:186.52, Y:-135.31, Z:-4.02 [[ 9.32045235e-01 -3.62291734e-01 -6.03160998e-03 1.86520864e+02] [-3.62283856e-01 -9.32064750e-01 2.38954990e-03 -1.35314449e+02] [-6.48756522e-03 -4.20136787e-05 -9.99978955e-01 -4.01553865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters 0.012858639395637165 Centerline is valid? [True, True] Translation: X:186.55, Y:-135.34, Z:-4.02 [[ 9.58484194e-01 -2.85083059e-01 -5.97484099e-03 1.86549295e+02] [-2.85077118e-01 -9.58502815e-01 1.84144622e-03 -1.35336050e+02] [-6.25186703e-03 -6.17066491e-05 -9.99980455e-01 -4.01562942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters 0.013171640546806829 Centerline is valid? [True, True] Translation: X:186.58, Y:-135.35, Z:-4.02 [[ 9.78184369e-01 -2.07670085e-01 -5.33628529e-03 1.86578128e+02] [-2.07666644e-01 -9.78198922e-01 1.19713663e-03 -1.35352875e+02] [-5.46855798e-03 -6.28518877e-05 -9.99985045e-01 -4.01622074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters 0.0133240315591373 Centerline is valid? [True, True] Translation: X:186.61, Y:-135.37, Z:-4.02 [[ 9.91738466e-01 -1.28130225e-01 -6.12043312e-03 1.86608500e+02] [-1.28127250e-01 -9.91757348e-01 8.77391047e-04 -1.35370306e+02] [-6.18240484e-03 -8.59481861e-05 -9.99980885e-01 -4.01603233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters 0.014278917532693077 Centerline is valid? [True, True] Translation: X:186.64, Y:-135.38, Z:-4.01 [[ 9.98854347e-01 -4.74615821e-02 -6.11484829e-03 1.86636163e+02] [-4.74600724e-02 -9.98873059e-01 3.91839161e-04 -1.35384985e+02] [-6.12655452e-03 -1.01179107e-04 -9.99981227e-01 -4.01497970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters 0.014198432463227747 Centerline is valid? [True, True] Translation: X:186.67, Y:-135.39, Z:-4.02 [[ 9.99465689e-01 3.20622860e-02 -6.35185710e-03 1.86666794e+02] [ 3.20623529e-02 -9.99485866e-01 -9.13123038e-05 -1.35393623e+02] [-6.35151908e-03 -1.12391970e-04 -9.99979823e-01 -4.01549310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters 0.01461380961261859 Centerline is valid? [True, True] Translation: X:186.70, Y:-135.40, Z:-4.01 [[ 9.93811630e-01 1.10830518e-01 -7.41895167e-03 1.86696782e+02] [ 1.10828453e-01 -9.93839312e-01 -6.90221178e-04 -1.35398386e+02] [-7.44974339e-03 -1.36281099e-04 -9.99972241e-01 -4.01467201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters 0.014832920677066413 Centerline is valid? [True, True] Translation: X:186.73, Y:-135.40, Z:-4.01 [[ 9.82161088e-01 1.87871800e-01 -7.98645604e-03 1.86726350e+02] [ 1.87866785e-01 -9.82193548e-01 -1.38038029e-03 -1.35398560e+02] [-8.10358012e-03 -1.44634013e-04 -9.99967155e-01 -4.01345432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters 0.014615268646811013 Centerline is valid? [True, True] Translation: X:186.76, Y:-135.40, Z:-4.01 [[ 9.64641194e-01 2.63437652e-01 -8.24438269e-03 1.86756671e+02] [ 2.63429317e-01 -9.64676413e-01 -2.10060232e-03 -1.35395389e+02] [-8.50653927e-03 -1.45484571e-04 -9.99963808e-01 -4.01394836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters 0.01390390549711151 Centerline is valid? [True, True] Translation: X:186.79, Y:-135.39, Z:-4.01 [[ 9.41335444e-01 3.37382690e-01 -7.77831712e-03 1.86787711e+02] [ 3.37372343e-01 -9.41367570e-01 -2.64565772e-03 -1.35394008e+02] [-8.21485461e-03 -1.33737692e-04 -9.99966249e-01 -4.01494146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters 0.014132399639411125 Centerline is valid? [True, True] Translation: X:186.82, Y:-135.39, Z:-4.01 [[ 9.11848937e-01 4.10447748e-01 -8.01011173e-03 1.86819382e+02] [ 4.10433312e-01 -9.11884107e-01 -3.44554270e-03 -1.35392458e+02] [-8.71850883e-03 -1.45802230e-04 -9.99961982e-01 -4.01498029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters 0.014318203681069747 Centerline is valid? [True, True] Translation: X:186.85, Y:-135.39, Z:-4.01 [[ 8.76177714e-01 4.81914483e-01 -8.42886837e-03 1.86851323e+02] [ 4.81894079e-01 -8.76218239e-01 -4.43793574e-03 -1.35389234e+02] [-9.52423371e-03 -1.73401369e-04 -9.99954628e-01 -4.01470701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters 0.015480630630218947 Centerline is valid? [True, True] Translation: X:186.88, Y:-135.38, Z:-4.01 [[ 8.34149742e-01 5.51471366e-01 -8.57555689e-03 1.86882673e+02] [ 5.51444847e-01 -8.34193794e-01 -5.41240825e-03 -1.35384051e+02] [-1.01384645e-02 -2.14187719e-04 -9.99948582e-01 -4.01324242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters 0.015241532135285561 Centerline is valid? [True, True] Translation: X:186.91, Y:-135.37, Z:-4.01 [[ 7.87766398e-01 6.15900228e-01 -9.53999727e-03 1.86912252e+02] [ 6.15859094e-01 -7.87824117e-01 -7.12294165e-03 -1.35373051e+02] [-1.19028613e-02 -2.64079989e-04 -9.99929124e-01 -4.01222575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters 0.014843618650786563 Centerline is valid? [True, True] Translation: X:186.94, Y:-135.36, Z:-4.01 [[ 7.38483232e-01 6.74208417e-01 -9.24804483e-03 1.86940022e+02] [ 6.74159726e-01 -7.38541095e-01 -8.10653121e-03 -1.35358609e+02] [-1.22955527e-02 -2.48121998e-04 -9.99924376e-01 -4.01178827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters 0.01435378880482457 Centerline is valid? [True, True] Translation: X:186.97, Y:-135.34, Z:-4.01 [[ 6.84945135e-01 7.28548962e-01 -8.15912916e-03 1.86965630e+02] [ 7.28500925e-01 -6.84993697e-01 -8.36888709e-03 -1.35341353e+02] [-1.16860961e-02 -2.11704640e-04 -9.99931693e-01 -4.01236500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters 0.013533394105166937 Centerline is valid? [True, True] Translation: X:186.99, Y:-135.32, Z:-4.01 [[ 6.28270482e-01 7.77963061e-01 -7.04819432e-03 1.86990071e+02] [ 7.77917022e-01 -6.28309994e-01 -8.46518525e-03 -1.35322594e+02] [-1.10140524e-02 -1.64484315e-04 -9.99939330e-01 -4.01315727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters 0.013607627283427057 Centerline is valid? [True, True] Translation: X:187.01, Y:-135.31, Z:-4.01 [[ 5.65983558e-01 8.24393412e-01 -6.17363098e-03 1.87014548e+02] [ 8.24347284e-01 -5.66017207e-01 -8.72217173e-03 -1.35305462e+02] [-1.06848823e-02 -1.52610145e-04 -9.99942903e-01 -4.01242108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters 0.013389236651676765 Centerline is valid? [True, True] Translation: X:187.04, Y:-135.28, Z:-4.01 [[ 5.01434368e-01 8.65176098e-01 -5.82178316e-03 1.87035059e+02] [ 8.65120991e-01 -5.01468144e-01 -9.76582991e-03 -1.35283249e+02] [-1.13686014e-02 -1.39624065e-04 -9.99935366e-01 -4.01163087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters 0.012840984477749066 Centerline is valid? [True, True] Translation: X:187.05, Y:-135.26, Z:-4.01 [[ 4.36421716e-01 8.99729487e-01 -4.78915855e-03 1.87050548e+02] [ 8.99677349e-01 -4.36447985e-01 -9.68630751e-03 -1.35259886e+02] [-1.08052751e-02 -8.13825268e-05 -9.99941618e-01 -4.01176644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters 0.012417060289186635 Centerline is valid? [True, True] Translation: X:187.07, Y:-135.24, Z:-4.01 [[ 3.68442228e-01 9.29643816e-01 -3.56365592e-03 1.87066648e+02] [ 9.29601188e-01 -3.68459461e-01 -8.90269762e-03 -1.35235544e+02] [-9.58940053e-03 -3.26490306e-05 -9.99954020e-01 -4.01339549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters 0.012226822919499563 Centerline is valid? [True, True] Translation: X:187.08, Y:-135.21, Z:-4.01 [[ 2.99451622e-01 9.54107850e-01 -2.63369115e-03 1.87082784e+02] [ 9.54070494e-01 -2.99463203e-01 -8.44285605e-03 -1.35211182e+02] [-8.84408882e-03 1.54999236e-05 -9.99960890e-01 -4.01467563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters 0.01253077289462581 Centerline is valid? [True, True] Translation: X:187.10, Y:-135.19, Z:-4.01 [[ 2.27627260e-01 9.73745914e-01 -2.17390119e-03 1.87098539e+02] [ 9.73699155e-01 -2.27637634e-01 -9.54275133e-03 -1.35185967e+02] [-9.78707684e-03 5.54645883e-05 -9.99952104e-01 -4.01407241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters 0.012813073787219633 Centerline is valid? [True, True] Translation: X:187.11, Y:-135.16, Z:-4.01 [[ 1.52900168e-01 9.88240602e-01 -1.43258385e-03 1.87113436e+02] [ 9.88192303e-01 -1.52906859e-01 -9.77062094e-03 -1.35160164e+02] [-9.87477621e-03 7.82612485e-05 -9.99951240e-01 -4.01386020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters 0.012991804630259174 Centerline is valid? [True, True] Translation: X:187.13, Y:-135.13, Z:-4.01 [[ 7.75698311e-02 9.96986698e-01 -6.67604380e-04 1.87128130e+02] [ 9.96937307e-01 -7.75726338e-02 -9.92433783e-03 -1.35132608e+02] [-9.94622063e-03 1.04269496e-04 -9.99950530e-01 -4.01440330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters 0.01339038829919408 Centerline is valid? [True, True] Translation: X:187.14, Y:-135.11, Z:-4.01 [[ 1.84181442e-04 9.99999977e-01 1.12930315e-04 1.87137534e+02] [ 9.99949834e-01 -1.83041236e-04 -1.00147762e-02 -1.35105760e+02] [-1.00147553e-02 1.14769186e-04 -9.99949845e-01 -4.01417670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters 0.013230992841256317 Centerline is valid? [True, True] Translation: X:187.15, Y:-135.08, Z:-4.01 [[-7.86959534e-02 9.96898332e-01 8.13993000e-04 1.87147943e+02] [ 9.96857239e-01 7.87001007e-02 -9.05203524e-03 -1.35076632e+02] [-9.08802016e-03 9.90762709e-05 -9.99958698e-01 -4.01480004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters 0.013087431967831435 Centerline is valid? [True, True] Translation: X:187.15, Y:-135.05, Z:-4.02 [[-1.57004316e-01 9.87597143e-01 1.23585223e-03 1.87154075e+02] [ 9.87570290e-01 1.57009161e-01 -7.28326762e-03 -1.35047659e+02] [-7.38697442e-03 7.69864980e-05 -9.99972713e-01 -4.01622705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters 0.012732916411234153 Centerline is valid? [True, True] Translation: X:187.16, Y:-135.02, Z:-4.02 [[-2.35778510e-01 9.71806483e-01 8.08640083e-04 1.87158272e+02] [ 9.71801164e-01 2.35779895e-01 -3.21527241e-03 -1.35017908e+02] [-3.31528365e-03 2.77452358e-05 -9.99994504e-01 -4.01960939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters 0.012608482010087308 Centerline is valid? [True, True] Translation: X:187.16, Y:-134.99, Z:-4.02 [[-3.11900812e-01 9.50114208e-01 9.35453705e-04 1.87158159e+02] [ 9.50110147e-01 3.11902214e-01 -2.77804251e-03 -1.34988788e+02] [-2.93122774e-03 2.23103410e-05 -9.99995704e-01 -4.01992414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters 0.012188523679803004 Centerline is valid? [True, True] Translation: X:187.16, Y:-134.96, Z:-4.02 [[-3.89482483e-01 9.21032853e-01 1.37104010e-03 1.87158767e+02] [ 9.21027247e-01 3.89484896e-01 -3.21357704e-03 -1.34957649e+02] [-3.49380944e-03 1.11333226e-05 -9.99993897e-01 -4.01936028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters 0.012146493717232691 Centerline is valid? [True, True] Translation: X:187.16, Y:-134.92, Z:-4.02 [[-4.66972730e-01 8.84268449e-01 2.40426118e-03 1.87162434e+02] [ 8.84256489e-01 4.66978918e-01 -4.59915739e-03 -1.34923506e+02] [-5.18962906e-03 -2.16975314e-05 -9.99986534e-01 -4.01814410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters 0.012574409996236605 Centerline is valid? [True, True] Translation: X:187.16, Y:-134.89, Z:-4.02 [[-5.38171486e-01 8.42828325e-01 3.44471439e-03 1.87159231e+02] [ 8.42810428e-01 5.38182508e-01 -5.49286268e-03 -1.34892206e+02] [-6.48342528e-03 -5.28608591e-05 -9.99978981e-01 -4.01721670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters 0.012955671884940755 Centerline is valid? [True, True] Translation: X:187.15, Y:-134.86, Z:-4.02 [[-6.04833176e-01 7.96337074e-01 4.90848805e-03 1.87150901e+02] [ 7.96309628e-01 6.04853086e-01 -6.61213385e-03 -1.34860771e+02] [-8.23440148e-03 -9.05616227e-05 -9.99966093e-01 -4.01596353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters 0.013013984943973137 Centerline is valid? [True, True] Translation: X:187.14, Y:-134.83, Z:-4.01 [[-6.65020867e-01 7.46798980e-01 6.20717391e-03 1.87136932e+02] [ 7.46765041e-01 6.65049828e-01 -7.12041639e-03 -1.34833679e+02] [-9.44559964e-03 -9.99250060e-05 -9.99955384e-01 -4.01496433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters 0.012883289375728843 Centerline is valid? [True, True] Translation: X:187.12, Y:-134.81, Z:-4.02 [[-7.20571199e-01 6.93341849e-01 7.36392599e-03 1.87118761e+02] [ 6.93304276e-01 7.20608820e-01 -7.21873946e-03 -1.34809013e+02] [-1.03115642e-02 -9.61743744e-05 -9.99946830e-01 -4.01519067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters 0.012668010469816061 Centerline is valid? [True, True] Translation: X:187.14, Y:-134.79, Z:-4.02 [[-7.66680941e-01 6.41986674e-01 7.31060895e-03 1.87136587e+02] [ 6.41956590e-01 7.66715791e-01 -6.21543788e-03 -1.34793385e+02] [-9.59538762e-03 -7.21641689e-05 -9.99953961e-01 -4.01640556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters 0.012712475508344848 Centerline is valid? [True, True] Translation: X:187.15, Y:-134.77, Z:-4.02 [[-8.09906377e-01 5.86514314e-01 7.25400988e-03 1.87148162e+02] [ 5.86490087e-01 8.09938859e-01 -5.33131251e-03 -1.34770375e+02] [-9.00219558e-03 -6.34591184e-05 -9.99959477e-01 -4.01630323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters 0.012647267575315273 Centerline is valid? [True, True] Translation: X:187.16, Y:-134.75, Z:-4.02 [[-8.49582554e-01 5.27391265e-01 8.24238428e-03 1.87163450e+02] [ 5.27365622e-01 8.49622533e-01 -5.20121925e-03 -1.34752183e+02] [-9.74599300e-03 -7.21150198e-05 -9.99952504e-01 -4.01673250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters 0.012812921189298662 Centerline is valid? [True, True] Translation: X:187.18, Y:-134.73, Z:-4.02 [[-8.85051878e-01 4.65410854e-01 8.71266037e-03 1.87181243e+02] [ 4.65387422e-01 8.85094758e-01 -4.67083866e-03 -1.34733857e+02] [-9.88538903e-03 -7.91719707e-05 -9.99951135e-01 -4.01695172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters 0.013073752698635366 Centerline is valid? [True, True] Translation: X:187.18, Y:-134.70, Z:-4.02 [[-9.16326154e-01 4.00336323e-01 8.78686801e-03 1.87181956e+02] [ 4.00316971e-01 9.16368278e-01 -3.93734029e-03 -1.34704343e+02] [-9.62826744e-03 -9.03554989e-05 -9.99953643e-01 -4.01711262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters 0.013857020470519536 Centerline is valid? [True, True] Translation: X:187.20, Y:-134.68, Z:-4.02 [[-9.43419941e-01 3.31464093e-01 9.50633969e-03 1.87200182e+02] [ 3.31445911e-01 9.43467826e-01 -3.47413369e-03 -1.34681771e+02] [-1.01204762e-02 -1.26729582e-04 -9.99948779e-01 -4.01669887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters 0.013554302264542297 Centerline is valid? [True, True] Translation: X:187.21, Y:-134.66, Z:-4.02 [[-9.65108282e-01 2.61654726e-01 1.01394425e-02 1.87206770e+02] [ 2.61638591e-01 9.65161531e-01 -2.90996932e-03 -1.34657212e+02] [-1.05476070e-02 -1.55566056e-04 -9.99944360e-01 -4.01724722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters 0.014003172253961383 Centerline is valid? [True, True] Translation: X:187.21, Y:-134.63, Z:-4.02 [[-9.81539532e-01 1.90951728e-01 1.08436432e-02 1.87210721e+02] [ 1.90938025e-01 9.81599412e-01 -2.29472989e-03 -1.34631115e+02] [-1.10822964e-02 -1.81904277e-04 -9.99938573e-01 -4.01596278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters 0.013770469033242545 Centerline is valid? [True, True] Translation: X:187.21, Y:-134.61, Z:-4.02 [[-9.92613422e-01 1.20677068e-01 1.24755287e-02 1.87211808e+02] [ 1.20664893e-01 9.92691796e-01 -1.72683218e-03 -1.34608123e+02] [-1.25927440e-02 -2.08718462e-04 -9.99920687e-01 -4.01598351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters 0.013625212110743476 Centerline is valid? [True, True] Translation: X:187.21, Y:-134.58, Z:-4.02 [[-9.98652640e-01 5.03886214e-02 1.24053356e-02 1.87213913e+02] [ 5.03822462e-02 9.98729667e-01 -8.26085131e-04 -1.34584042e+02] [-1.24312020e-02 -1.99963425e-04 -9.99922710e-01 -4.01666965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters 0.01348031219494878 Centerline is valid? [True, True] Translation: X:187.26, Y:-133.90, Z:-5.02 [[-9.88938555e-01 -1.47919028e-01 1.09770697e-02 1.87263333e+02] [ 1.47910968e-01 -9.88999470e-01 -1.54693292e-03 -1.33895957e+02] [ 1.10851369e-02 9.38073978e-05 9.99938554e-01 -5.02358027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters 0.013153254300688534 Centerline is valid? [True, True] Translation: X:187.16, Y:-134.59, Z:-4.02 [[-9.98700810e-01 5.00067311e-02 9.79894918e-03 1.87161820e+02] [ 5.00031294e-02 9.98748873e-01 -6.12362520e-04 -1.34587519e+02] [-9.81731170e-03 -1.21588821e-04 -9.99951802e-01 -4.01763001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters 0.013012753131392127 Centerline is valid? [True, True] Translation: X:187.16, Y:-134.56, Z:-4.02 [[-9.99771505e-01 -1.93309917e-02 9.12413846e-03 1.87162544e+02] [-1.93310782e-02 9.99813134e-01 7.87189786e-05 -1.34562933e+02] [-9.12395518e-03 -9.76784421e-05 -9.99958371e-01 -4.01832349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters 0.012647338909860516 Centerline is valid? [True, True] Translation: X:187.16, Y:-133.86, Z:-5.02 [[-9.97720654e-01 -6.68656911e-02 9.08159221e-03 1.87160312e+02] [ 6.68637930e-02 -9.97761981e-01 -5.12800717e-04 -1.33857954e+02] [ 9.09555621e-03 9.55978347e-05 9.99958630e-01 -5.02260490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters 0.012589437651959173 Centerline is valid? [True, True] Translation: X:187.10, Y:-134.56, Z:-4.02 [[-9.99739822e-01 -2.07501995e-02 9.47189543e-03 1.87096897e+02] [-2.07499472e-02 9.99784689e-01 1.24923406e-04 -1.34563635e+02] [-9.47244822e-03 -7.16504268e-05 -9.99955133e-01 -4.01754723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters 0.012840629734519328 Centerline is valid? [True, True] Translation: X:187.08, Y:-134.53, Z:-4.02 [[-9.95567397e-01 -9.35414919e-02 9.77478446e-03 1.87080499e+02] [-9.35378974e-02 9.95615378e-01 8.25255202e-04 -1.34534231e+02] [-9.80912133e-03 -9.27156123e-05 -9.99951885e-01 -4.01696359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters 0.013074641904929194 Centerline is valid? [True, True] Translation: X:187.08, Y:-134.50, Z:-4.02 [[-9.85986767e-01 -1.66589938e-01 8.82540742e-03 1.87083308e+02] [-1.66584228e-01 9.86026258e-01 1.38333945e-03 -1.34504189e+02] [-8.93253388e-03 -1.06219291e-04 -9.99960099e-01 -4.01739652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters 0.013597266184638655 Centerline is valid? [True, True] Translation: X:186.97, Y:-133.83, Z:-5.02 [[-9.97302928e-01 7.28952947e-02 8.55253418e-03 1.86972955e+02] [-7.28919473e-02 -9.97339596e-01 7.02868436e-04 -1.33826171e+02] [ 8.58101678e-03 7.75618783e-05 9.99963179e-01 -5.02408911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters 0.0139400666166802 Centerline is valid? [True, True] Translation: X:186.99, Y:-134.51, Z:-4.02 [[-9.84274990e-01 -1.76432040e-01 8.63016167e-03 1.86985647e+02] [-1.76426495e-01 9.84312814e-01 1.40569115e-03 -1.34511117e+02] [-8.74278767e-03 -1.39002527e-04 -9.99961771e-01 -4.01566825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters 0.013750140088594036 Centerline is valid? [True, True] Translation: X:186.97, Y:-134.49, Z:-4.02 [[-9.69507841e-01 -2.44915013e-01 8.43704029e-03 1.86971413e+02] [-2.44906879e-01 9.69544543e-01 2.00007667e-03 -1.34486430e+02] [-8.66993518e-03 -1.27199193e-04 -9.99962407e-01 -4.01568372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters 0.01305869099620608 Centerline is valid? [True, True] Translation: X:186.95, Y:-134.47, Z:-4.02 [[-9.50088985e-01 -3.11891276e-01 7.39950135e-03 1.86952274e+02] [-3.11882626e-01 9.50117794e-01 2.32494748e-03 -1.34465941e+02] [-7.75552874e-03 -9.88689189e-05 -9.99969921e-01 -4.01686631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters 0.012527567018571825 Centerline is valid? [True, True] Translation: X:186.92, Y:-134.45, Z:-4.02 [[-9.26536576e-01 -3.76148373e-01 6.50961318e-03 1.86919608e+02] [-3.76139552e-01 9.26559441e-01 2.57681247e-03 -1.34450264e+02] [-7.00080737e-03 -6.10119794e-05 -9.99975492e-01 -4.01605866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters 0.012128882342196414 Centerline is valid? [True, True] Translation: X:186.86, Y:-134.45, Z:-4.02 [[-8.98353471e-01 -4.39217413e-01 7.00746106e-03 1.86863078e+02] [-4.39204338e-01 8.98380801e-01 3.38915701e-03 -1.34448705e+02] [-7.78394525e-03 -3.30463387e-05 -9.99969704e-01 -4.01512381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters 0.012058827565695285 Centerline is valid? [True, True] Translation: X:186.80, Y:-134.45, Z:-4.01 [[-8.65067040e-01 -5.01605283e-01 7.15230327e-03 1.86798345e+02] [-5.01588227e-01 8.65096607e-01 4.13651761e-03 -1.34454520e+02] [-8.26233238e-03 -9.14607166e-06 -9.99965866e-01 -4.01405010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters 0.0122084231566335 Centerline is valid? [True, True] Translation: X:186.73, Y:-134.47, Z:-4.01 [[-8.27589671e-01 -5.61292732e-01 6.76803075e-03 1.86726288e+02] [-5.61273736e-01 8.27617345e-01 4.61784137e-03 -1.34471828e+02] [-8.19330043e-03 2.29599151e-05 -9.99966434e-01 -4.01405581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters 0.012132183894989655 Centerline is valid? [True, True] Translation: X:186.65, Y:-134.50, Z:-4.01 [[-7.83848314e-01 -6.20922463e-01 6.09232608e-03 1.86647950e+02] [-6.20903428e-01 7.83871988e-01 4.86193923e-03 -1.34496766e+02] [-7.79449104e-03 2.82767154e-05 -9.99969622e-01 -4.01407499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters 0.012216427824897957 Centerline is valid? [True, True] Translation: X:186.57, Y:-134.53, Z:-4.01 [[-7.35011144e-01 -6.78035352e-01 5.16523430e-03 1.86567678e+02] [-6.78018364e-01 7.35029293e-01 4.79965186e-03 -1.34531408e+02] [-7.05093215e-03 2.56738946e-05 -9.99975142e-01 -4.01425849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters 0.012178584866846979 Centerline is valid? [True, True] Translation: X:186.48, Y:-134.58, Z:-4.01 [[-6.79765944e-01 -7.33411235e-01 5.12077349e-03 1.86481999e+02] [-7.33390355e-01 6.79785231e-01 5.53409493e-03 -1.34575995e+02] [-7.53979358e-03 6.36337501e-06 -9.99971575e-01 -4.01266813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters 0.01211500912055746 Centerline is valid? [True, True] Translation: X:186.39, Y:-134.63, Z:-4.01 [[-6.19840100e-01 -7.84708550e-01 5.54456105e-03 1.86392622e+02] [-7.84677476e-01 6.19864898e-01 6.98333048e-03 -1.34634260e+02] [-8.91675790e-03 -2.21439054e-05 -9.99960245e-01 -4.01139046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters 0.012481597883310987 Centerline is valid? [True, True] Translation: X:186.31, Y:-134.69, Z:-4.01 [[-5.54109642e-01 -8.32427193e-01 5.24151115e-03 1.86310231e+02] [-8.32391193e-01 5.54134428e-01 7.74197244e-03 -1.34693786e+02] [-9.34913017e-03 -7.30861420e-05 -9.99956293e-01 -4.01061528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters 0.012745054869494447 Centerline is valid? [True, True] Translation: X:186.23, Y:-134.77, Z:-4.01 [[-4.86872111e-01 -8.73461411e-01 4.55094313e-03 1.86229483e+02] [-8.73425110e-01 4.86893370e-01 7.96389837e-03 -1.34769183e+02] [-9.17198195e-03 -9.75079875e-05 -9.99957932e-01 -4.01108456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters 0.013322322789742453 Centerline is valid? [True, True] Translation: X:186.16, Y:-134.85, Z:-4.01 [[-4.17295731e-01 -9.08764154e-01 3.46193096e-03 1.86156678e+02] [-9.08734848e-01 4.17310079e-01 7.29884023e-03 -1.34845896e+02] [-8.07762305e-03 -1.00202435e-04 -9.99967370e-01 -4.01149834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters 0.013195145998153395 Centerline is valid? [True, True] Translation: X:186.09, Y:-134.93, Z:-4.01 [[-3.47017969e-01 -9.37854563e-01 2.71071714e-03 1.86088677e+02] [-9.37827989e-01 3.47028544e-01 7.06064540e-03 -1.34933658e+02] [-7.56255473e-03 -9.20155726e-05 -9.99971399e-01 -4.01171192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters 0.01286967899403252 Centerline is valid? [True, True] Translation: X:186.03, Y:-135.03, Z:-4.01 [[-2.76770388e-01 -9.60934417e-01 1.78858213e-03 1.86028939e+02] [-9.60915731e-01 2.76776161e-01 5.99286103e-03 -1.35027435e+02] [-6.25378332e-03 -6.00302318e-05 -9.99980443e-01 -4.01140347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters 0.012309201043089956 Centerline is valid? [True, True] Translation: X:185.98, Y:-135.13, Z:-4.01 [[-2.05488814e-01 -9.78658754e-01 1.17942156e-03 1.85978887e+02] [-9.78643610e-01 2.05492196e-01 5.44442992e-03 -1.35126218e+02] [-5.57060092e-03 -3.54639219e-05 -9.99984483e-01 -4.01210113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters 0.012090834725916952 Centerline is valid? [True, True] Translation: X:185.94, Y:-135.23, Z:-4.01 [[-1.35643494e-01 -9.90757414e-01 7.67042733e-04 1.85937397e+02] [-9.90741693e-01 1.35645663e-01 5.58147817e-03 -1.35233083e+02] [-5.63393690e-03 -2.85001264e-06 -9.99984129e-01 -4.01215137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters 0.01227067050066397 Centerline is valid? [True, True] Translation: X:185.90, Y:-135.34, Z:-4.01 [[-6.39746180e-02 -9.97951475e-01 3.18453342e-04 1.85901158e+02] [-9.97937257e-01 6.39754064e-02 5.32707637e-03 -1.35344577e+02] [-5.33653690e-03 2.30012202e-05 -9.99985760e-01 -4.01167628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters 0.012408781916347617 Centerline is valid? [True, True] Translation: X:185.87, Y:-135.46, Z:-4.01 [[ 1.08870772e-02 -9.99940729e-01 -9.71525323e-05 1.85871012e+02] [-9.99924700e-01 -1.08874528e-02 5.66191696e-03 -1.35460602e+02] [-5.66263912e-03 3.55034897e-05 -9.99983967e-01 -4.01131756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters 0.012983707040972884 Centerline is valid? [True, True] Translation: X:185.85, Y:-135.57, Z:-4.01 [[ 8.38507801e-02 -9.96478061e-01 -7.21628436e-04 1.85850667e+02] [-9.96448764e-01 -8.38538487e-02 7.64153613e-03 -1.35573593e+02] [-7.67513443e-03 7.83169971e-05 -9.99970543e-01 -4.00973767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters 0.013604303900796708 Centerline is valid? [True, True] Translation: X:185.84, Y:-135.69, Z:-4.01 [[ 1.56287362e-01 -9.87710795e-01 -1.28272141e-03 1.85839486e+02] [-9.87682879e-01 -1.56292589e-01 7.42673327e-03 -1.35691465e+02] [-7.53594448e-03 1.06217423e-04 -9.99971599e-01 -4.00949437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters 0.01412931062577968 Centerline is valid? [True, True] Translation: X:185.84, Y:-135.81, Z:-4.01 [[ 2.29941623e-01 -9.73202557e-01 -1.90590106e-03 1.85837527e+02] [-9.73173430e-01 -2.29949489e-01 7.53043073e-03 -1.35814843e+02] [-7.76689542e-03 1.23212804e-04 -9.99969830e-01 -4.00921794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters 0.014128285650741527 Centerline is valid? [True, True] Translation: X:185.84, Y:-135.93, Z:-4.01 [[ 3.04878246e-01 -9.52386681e-01 -2.97752656e-03 1.85841052e+02] [-9.52345577e-01 -3.04892754e-01 8.84926575e-03 -1.35930610e+02] [-9.33574911e-03 1.37685631e-04 -9.99956412e-01 -4.00783609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters 0.01296495976043717 Centerline is valid? [True, True] Translation: X:185.85, Y:-136.05, Z:-4.01 [[ 3.81360546e-01 -9.24417758e-01 -3.99275189e-03 1.85852764e+02] [-9.24369860e-01 -3.81381434e-01 9.41086647e-03 -1.36054051e+02] [-1.02223335e-02 1.01846326e-04 -9.99947745e-01 -4.00816993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters 0.012501947058807547 Centerline is valid? [True, True] Translation: X:185.87, Y:-136.17, Z:-4.01 [[ 4.54737169e-01 -8.90613616e-01 -4.63617575e-03 1.85871951e+02] [-8.90568622e-01 -4.54760799e-01 8.95242941e-03 -1.36170091e+02] [-1.00815065e-02 5.78302383e-05 -9.99949179e-01 -4.00778338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters 0.012198339045288682 Centerline is valid? [True, True] Translation: X:185.90, Y:-136.29, Z:-4.01 [[ 5.26803569e-01 -8.49974069e-01 -4.69910887e-03 1.85899590e+02] [-8.49940178e-01 -5.26824526e-01 7.59026414e-03 -1.36286185e+02] [-8.92713350e-03 -4.61680462e-06 -9.99960152e-01 -4.00832026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters 0.012269803479518894 Centerline is valid? [True, True] Translation: X:185.94, Y:-136.40, Z:-4.01 [[ 5.92908220e-01 -8.05256905e-01 -4.59982452e-03 1.85937372e+02] [-8.05232264e-01 -5.92926062e-01 6.29961573e-03 -1.36395648e+02] [-7.80016491e-03 -3.11668386e-05 -9.99969578e-01 -4.00927773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters 0.012468918632466507 Centerline is valid? [True, True] Translation: X:185.98, Y:-136.50, Z:-4.01 [[ 6.54621554e-01 -7.55944376e-01 -4.32679781e-03 1.85979555e+02] [-7.55927404e-01 -6.54635851e-01 5.06583304e-03 -1.36496459e+02] [-6.66196497e-03 -4.54584651e-05 -9.99977808e-01 -4.00964649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters 0.012514821089727141 Centerline is valid? [True, True] Translation: X:186.03, Y:-136.59, Z:-4.01 [[ 7.10720302e-01 -7.03464020e-01 -3.87627887e-03 1.86029863e+02] [-7.03453235e-01 -7.10730871e-01 3.89549631e-03 -1.36592476e+02] [-5.49533255e-03 -4.18274028e-05 -9.99984900e-01 -4.00990146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters 0.012475630335522112 Centerline is valid? [True, True] Translation: X:186.09, Y:-136.68, Z:-4.01 [[ 7.62054204e-01 -6.47504828e-01 -3.29979587e-03 1.86086271e+02] [-6.47498568e-01 -7.62061347e-01 2.84737855e-03 -1.36681842e+02] [-4.35833824e-03 -3.32436984e-05 -9.99990502e-01 -4.01037145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters 0.01244032608882949 Centerline is valid? [True, True] Translation: X:186.11, Y:-136.71, Z:-4.01 [[ 8.10132827e-01 -5.86234088e-01 -3.79440428e-03 1.86109227e+02] [-5.86227458e-01 -8.10141712e-01 2.78816082e-03 -1.36710122e+02] [-4.70852009e-03 -3.43966304e-05 -9.99988914e-01 -4.00992493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters 0.012578862176514789 Centerline is valid? [True, True] Translation: X:186.13, Y:-136.74, Z:-4.01 [[ 8.53784368e-01 -5.20590762e-01 -6.12461874e-03 1.86133134e+02] [-5.20576889e-01 -8.53806333e-01 3.80102022e-03 -1.36735285e+02] [-7.20801429e-03 -5.69166792e-05 -9.99974020e-01 -4.00694242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters 0.012715546535285881 Centerline is valid? [True, True] Translation: X:186.16, Y:-136.76, Z:-4.01 [[ 8.92336120e-01 -4.51280918e-01 -9.04336043e-03 1.86158969e+02] [-4.51256708e-01 -8.92381939e-01 4.67535259e-03 -1.36759397e+02] [-1.01800289e-02 -9.11089315e-05 -9.99948178e-01 -4.00534918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters 0.013330822108600279 Centerline is valid? [True, True] Translation: X:186.19, Y:-136.78, Z:-4.00 [[ 9.25409112e-01 -3.78813706e-01 -1.08697719e-02 1.86185766e+02] [-3.78786017e-01 -9.25472939e-01 4.58174180e-03 -1.36781527e+02] [-1.17953064e-02 -1.22667988e-04 -9.99930425e-01 -4.00245288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters 0.012656976792640672 Centerline is valid? [True, True] Translation: X:186.22, Y:-136.80, Z:-4.00 [[ 9.51435886e-01 -3.07662521e-01 -1.06549375e-02 1.86217492e+02] [-3.07642184e-01 -9.51495542e-01 3.53851118e-03 -1.36797499e+02] [-1.12267928e-02 -8.87582835e-05 -9.99936974e-01 -4.00457868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters 0.012342008731633568 Centerline is valid? [True, True] Translation: X:186.25, Y:-136.81, Z:-4.01 [[ 9.71602725e-01 -2.36400791e-01 -1.01395644e-02 1.86249940e+02] [-2.36387503e-01 -9.71655631e-01 2.50675609e-03 -1.36811625e+02] [-1.04447640e-02 -3.87047291e-05 -9.99945451e-01 -4.00555627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters 0.012515150379275822 Centerline is valid? [True, True] Translation: X:186.28, Y:-136.82, Z:-4.01 [[ 9.85724659e-01 -1.68062828e-01 -1.00887781e-02 1.86282535e+02] [-1.68054536e-01 -9.85776285e-01 1.67019820e-03 -1.36816747e+02] [-1.02259764e-02 4.91093606e-05 -9.99947712e-01 -4.00601178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters 0.013476912613896237 Centerline is valid? [True, True] Translation: X:186.31, Y:-136.82, Z:-4.01 [[ 9.95184902e-01 -9.75633078e-02 -9.40271397e-03 1.86311591e+02] [-9.75600324e-02 -9.95229314e-01 8.07494220e-04 -1.36821072e+02] [-9.43663838e-03 1.13723022e-04 -9.99955468e-01 -4.00700453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters 0.013503475586096485 Centerline is valid? [True, True] Translation: X:186.34, Y:-136.83, Z:-4.01 [[ 9.99757909e-01 -2.03553074e-02 -8.35371468e-03 1.86341061e+02] [-2.03555097e-02 -9.99792803e-01 6.08096292e-05 -1.36831477e+02] [-8.35322161e-03 1.09249212e-04 -9.99965105e-01 -4.00790029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters 0.01367328550910876 Centerline is valid? [True, True] Translation: X:186.37, Y:-136.84, Z:-4.01 [[ 9.98320128e-01 5.73728963e-02 -8.07922135e-03 1.86370638e+02] [ 5.73701164e-02 -9.98352813e-01 -5.75612258e-04 -1.36838052e+02] [-8.09893791e-03 1.11139433e-04 -9.99967197e-01 -4.00894420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters 0.013705459720606897 Centerline is valid? [True, True] Translation: X:186.40, Y:-136.84, Z:-4.01 [[ 9.90727926e-01 1.35591724e-01 -8.54761902e-03 1.86400732e+02] [ 1.35585663e-01 -9.90764791e-01 -1.28734894e-03 -1.36842394e+02] [-8.64323383e-03 1.16477955e-04 -9.99962640e-01 -4.00892923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters 0.013252265599623225 Centerline is valid? [True, True] Translation: X:186.43, Y:-136.85, Z:-4.01 [[ 9.76598754e-01 2.14902465e-01 -8.47374624e-03 1.86432313e+02] [ 2.14893503e-01 -9.76635511e-01 -1.96495211e-03 -1.36847952e+02] [-8.69803454e-03 9.80167673e-05 -9.99962167e-01 -4.00893763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters 0.012756430391238964 Centerline is valid? [True, True] Translation: X:186.47, Y:-136.85, Z:-4.01 [[ 9.55642797e-01 2.94410381e-01 -8.32897798e-03 1.86465756e+02] [ 2.94398611e-01 -9.55679090e-01 -2.63332403e-03 -1.36854008e+02] [-8.73510803e-03 6.44775940e-05 -9.99961846e-01 -4.00822172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters 0.012436352124416085 Centerline is valid? [True, True] Translation: X:186.50, Y:-136.85, Z:-4.01 [[ 9.28433650e-01 3.71391835e-01 -8.89176360e-03 1.86498477e+02] [ 3.71374400e-01 -9.28476227e-01 -3.59883893e-03 -1.36854144e+02] [-9.59237051e-03 3.91097912e-05 -9.99953991e-01 -4.00847692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters 0.012360436799378335 Centerline is valid? [True, True] Translation: X:186.53, Y:-136.86, Z:-4.01 [[ 8.93888034e-01 4.48181902e-01 -9.85722985e-03 1.86533240e+02] [ 4.48154896e-01 -8.93942382e-01 -4.91999051e-03 -1.36855920e+02] [-1.10168462e-02 -1.96451771e-05 -9.99939313e-01 -4.00798468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters 0.01266681699779912 Centerline is valid? [True, True] Translation: X:186.57, Y:-136.85, Z:-4.01 [[ 8.53765077e-01 5.20553967e-01 -1.04288747e-02 1.86567649e+02] [ 5.20516210e-01 -8.53828766e-01 -6.27004179e-03 -1.36853706e+02] [-1.21683683e-02 -7.52556090e-05 -9.99925960e-01 -4.00744473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters 0.013704486613184252 Centerline is valid? [True, True] Translation: X:186.60, Y:-136.85, Z:-4.01 [[ 8.06367835e-01 5.91316633e-01 -1.07496359e-02 1.86602384e+02] [ 5.91266925e-01 -8.06439465e-01 -7.66896201e-03 -1.36850462e+02] [-1.32037154e-02 -1.71899893e-04 -9.99912812e-01 -4.00597196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters 0.014673342184970135 Centerline is valid? [True, True] Translation: X:186.63, Y:-136.84, Z:-4.01 [[ 7.54997270e-01 6.55660310e-01 -9.41704150e-03 1.86634342e+02] [ 6.55612743e-01 -7.55055968e-01 -7.90040858e-03 -1.36839102e+02] [-1.22903777e-02 -2.09145504e-04 -9.99924449e-01 -4.00681414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters 0.016314277697528187 Centerline is valid? [True, True] Translation: X:186.66, Y:-136.82, Z:-4.01 [[ 6.99172738e-01 7.14917569e-01 -7.09593119e-03 1.86663742e+02] [ 7.14883625e-01 -6.99208717e-01 -6.96946307e-03 -1.36824653e+02] [-9.94412854e-03 -1.99906425e-04 -9.99950536e-01 -4.00862888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters 0.015564129477564768 Centerline is valid? [True, True] Translation: X:186.69, Y:-136.80, Z:-4.01 [[ 6.41253671e-01 7.67310188e-01 -5.36690659e-03 1.86689581e+02] [ 7.67285406e-01 -6.41276109e-01 -6.16909240e-03 -1.36803671e+02] [-8.17527643e-03 -1.61995952e-04 -9.99966569e-01 -4.01064115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters 0.01539635768203538 Centerline is valid? [True, True] Translation: X:186.71, Y:-136.78, Z:-4.01 [[ 5.79640796e-01 8.14857019e-01 -4.95835677e-03 1.86714022e+02] [ 8.14829550e-01 -5.79661981e-01 -6.69276952e-03 -1.36781607e+02] [-8.32782113e-03 -1.60813358e-04 -9.99965310e-01 -4.01049538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters 0.014821945445468051 Centerline is valid? [True, True] Translation: X:186.74, Y:-136.76, Z:-4.01 [[ 5.15093886e-01 8.57117375e-01 -5.30047357e-03 1.86737123e+02] [ 8.57075555e-01 -5.15121125e-01 -8.46877936e-03 -1.36758102e+02] [-9.98912384e-03 -1.80689860e-04 -9.99950091e-01 -4.00944834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters 0.01490619088652707 Centerline is valid? [True, True] Translation: X:186.76, Y:-136.73, Z:-4.01 [[ 4.46740222e-01 8.94646698e-01 -5.51895408e-03 1.86758669e+02] [ 8.94584184e-01 -4.46774261e-01 -1.05781789e-02 -1.36733659e+02] [-1.19294594e-02 -2.11471056e-04 -9.99928819e-01 -4.00866474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters 0.014896137814509275 Centerline is valid? [True, True] Translation: X:186.78, Y:-136.71, Z:-4.01 [[ 3.76646731e-01 9.26342052e-01 -5.25761060e-03 1.86776435e+02] [ 9.26259761e-01 -3.76683361e-01 -1.23491266e-02 -1.36707384e+02] [-1.34199697e-02 -2.18654969e-04 -9.99909924e-01 -4.00724283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters 0.013957247818669184 Centerline is valid? [True, True] Translation: X:186.79, Y:-136.68, Z:-4.01 [[ 3.06885343e-01 9.51736827e-01 -4.28920174e-03 1.86789373e+02] [ 9.51651226e-01 -3.06915272e-01 -1.27655851e-02 -1.36678658e+02] [-1.34658990e-02 -1.64253136e-04 -9.99909317e-01 -4.00868052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters 0.013203178277044904 Centerline is valid? [True, True] Translation: X:186.80, Y:-136.65, Z:-4.01 [[ 2.36190662e-01 9.71702201e-01 -2.96697144e-03 1.86800759e+02] [ 9.71630180e-01 -2.36209280e-01 -1.18308455e-02 -1.36649182e+02] [-1.21968848e-02 -8.84637640e-05 -9.99925611e-01 -4.01072411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters 0.012896252152102265 Centerline is valid? [True, True] Translation: X:186.81, Y:-136.62, Z:-4.01 [[ 1.69691924e-01 9.85495552e-01 -1.77956519e-03 1.86809623e+02] [ 9.85439232e-01 -1.69701252e-01 -1.05358687e-02 -1.36620057e+02] [-1.06850461e-02 3.41984762e-05 -9.99942913e-01 -4.01271709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters 0.013868169725409041 Centerline is valid? [True, True] Translation: X:186.82, Y:-136.59, Z:-4.01 [[ 1.02821291e-01 9.94699372e-01 -9.70128231e-04 1.86820690e+02] [ 9.94639893e-01 -1.02825752e-01 -1.08788295e-02 -1.36590499e+02] [-1.09209190e-02 1.53647045e-04 -9.99940353e-01 -4.01390634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters 0.016091523423038368 Centerline is valid? [True, True] Translation: X:186.83, Y:-136.56, Z:-4.01 [[ 3.04104411e-02 9.99537489e-01 -1.14050323e-04 1.86828073e+02] [ 9.99478663e-01 -3.04098890e-02 -1.08462009e-02 -1.36561614e+02] [-1.08446527e-02 2.15846889e-04 -9.99941172e-01 -4.01355249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters 0.017082759492558483 Centerline is valid? [True, True] Translation: X:186.84, Y:-136.53, Z:-4.02 [[-4.19451366e-02 9.99119654e-01 7.23162150e-04 1.86836978e+02] [ 9.99063115e-01 4.19504589e-02 -1.06325508e-02 -1.36531953e+02] [-1.06535275e-02 2.76500833e-04 -9.99943211e-01 -4.01575941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters 0.01723385755988016 Centerline is valid? [True, True] Translation: X:186.85, Y:-136.50, Z:-4.02 [[-1.17962933e-01 9.93016782e-01 1.55479221e-03 1.86846651e+02] [ 9.92960807e-01 1.17972799e-01 -1.05477303e-02 -1.36501323e+02] [-1.06574964e-02 2.99606513e-04 -9.99943162e-01 -4.01689122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters 0.01808366435290212 Centerline is valid? [True, True] Translation: X:186.85, Y:-136.47, Z:-4.02 [[-1.94593949e-01 9.80880995e-01 2.38094516e-03 1.86853059e+02] [ 9.80825770e-01 1.94608269e-01 -1.04130110e-02 -1.36470310e+02] [-1.06772762e-02 3.08983438e-04 -9.99942949e-01 -4.01649899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters 0.01795463617423719 Centerline is valid? [True, True] Translation: X:186.86, Y:-136.44, Z:-4.02 [[-2.72271446e-01 9.62214557e-01 3.37719839e-03 1.86855767e+02] [ 9.62154056e-01 2.72292213e-01 -1.07945754e-02 -1.36438834e+02] [-1.13062824e-02 3.10330485e-04 -9.99936034e-01 -4.01649447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters 0.01575500054255921 Centerline is valid? [True, True] Translation: X:186.86, Y:-136.40, Z:-4.02 [[-3.52656362e-01 9.35742316e-01 4.45055875e-03 1.86864802e+02] [ 9.35676623e-01 3.52684354e-01 -1.10907320e-02 -1.36402583e+02] [-1.19477097e-02 2.53066581e-04 -9.99928592e-01 -4.01661328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters 0.014874806066217038 Centerline is valid? [True, True] Translation: X:186.87, Y:-136.37, Z:-4.02 [[-4.30004813e-01 9.02809789e-01 5.50858931e-03 1.86865798e+02] [ 9.02741350e-01 4.30040053e-01 -1.11179268e-02 -1.36368637e+02] [-1.24062872e-02 1.92069317e-04 -9.99923021e-01 -4.01608465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters 0.013419261193706844 Centerline is valid? [True, True] Translation: X:186.87, Y:-136.33, Z:-4.02 [[-5.07581615e-01 8.61579704e-01 6.42787741e-03 1.86867050e+02] [ 8.61512507e-01 5.07622308e-01 -1.07607194e-02 -1.36332207e+02] [-1.25341514e-02 7.57534511e-05 -9.99921442e-01 -4.01509498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters 0.012769799588957763 Centerline is valid? [True, True] Translation: X:186.86, Y:-136.29, Z:-4.02 [[-5.78512147e-01 8.15641361e-01 7.27090289e-03 1.86862743e+02] [ 8.15576935e-01 5.78557836e-01 -1.02514827e-02 -1.36294746e+02] [-1.25681712e-02 -6.26565509e-07 -9.99921017e-01 -4.01656669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters 0.01310951844108098 Centerline is valid? [True, True] Translation: X:186.86, Y:-136.26, Z:-4.02 [[-6.46533210e-01 7.62850540e-01 7.33908198e-03 1.86856200e+02] [ 7.62799823e-01 6.46574857e-01 -8.79687044e-03 -1.36255973e+02] [-1.14559633e-02 -8.92184464e-05 -9.99934374e-01 -4.01733597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters 0.013779818390822289 Centerline is valid? [True, True] Translation: X:186.84, Y:-136.22, Z:-4.02 [[-7.07163817e-01 7.07010628e-01 7.43688248e-03 1.86844258e+02] [ 7.06969653e-01 7.07202910e-01 -7.61272644e-03 -1.36221189e+02] [-1.06416634e-02 -1.25794464e-04 -9.99943368e-01 -4.01701615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters 0.013592509026227573 Centerline is valid? [True, True] Translation: X:186.82, Y:-136.19, Z:-4.02 [[-7.60818335e-01 6.48914993e-01 8.04940016e-03 1.86824210e+02] [ 6.48876811e-01 7.60860903e-01 -7.04058579e-03 -1.36189205e+02] [-1.06932156e-02 -1.33537646e-04 -9.99942817e-01 -4.01760238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters 0.01377238205233718 Centerline is valid? [True, True] Translation: X:186.84, Y:-136.16, Z:-4.02 [[-8.04921469e-01 5.93308300e-01 9.31077311e-03 1.86836730e+02] [ 5.93266473e-01 8.04975304e-01 -7.04646467e-03 -1.36160970e+02] [-1.16756684e-02 -1.48081169e-04 -9.99931826e-01 -4.01676328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters 0.013850530943822572 Centerline is valid? [True, True] Translation: X:186.85, Y:-136.13, Z:-4.01 [[-8.44718348e-01 5.35086815e-01 1.15331514e-02 1.86849645e+02] [ 5.35034200e-01 8.44797060e-01 -7.50553183e-03 -1.36133142e+02] [-1.37592835e-02 -1.69429985e-04 -9.99905322e-01 -4.01486245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters 0.014157941980253386 Centerline is valid? [True, True] Translation: X:187.11, Y:-135.72, Z:-5.03 [[-7.91612734e-01 -6.10891765e-01 1.26701085e-02 1.87113881e+02] [ 6.10819900e-01 -7.91714059e-01 -9.37539843e-03 -1.35719510e+02] [ 1.57584567e-02 3.17469646e-04 9.99875777e-01 -5.02793325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters 0.014063709414839417 Centerline is valid? [True, True] Translation: X:187.10, Y:-135.74, Z:-5.03 [[-7.49107286e-01 -6.62323406e-01 1.28833075e-02 1.87095551e+02] [ 6.62230254e-01 -7.49218034e-01 -1.11098360e-02 -1.35742521e+02] [ 1.70107107e-02 2.09256918e-04 9.99855286e-01 -5.02873622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters 0.013126719667273717 Centerline is valid? [True, True] Translation: X:187.08, Y:-135.76, Z:-5.03 [[-7.06608590e-01 -7.07512298e-01 1.14301411e-02 1.87081478e+02] [ 7.07422326e-01 -7.06701022e-01 -1.12835446e-02 -1.35763765e+02] [ 1.60609389e-02 1.12887484e-04 9.99871008e-01 -5.02676143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters 0.012969205990487767 Centerline is valid? [True, True] Translation: X:186.73, Y:-136.12, Z:-4.02 [[-7.57443194e-01 6.52817417e-01 1.04511589e-02 1.86726003e+02] [ 6.52756094e-01 7.57515292e-01 -8.94786643e-03 -1.36124092e+02] [-1.37582357e-02 4.45571274e-05 -9.99905350e-01 -4.01640692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters 0.013819018657851435 Centerline is valid? [True, True] Translation: X:186.75, Y:-136.11, Z:-4.02 [[-7.94800967e-01 6.06778311e-01 1.05596045e-02 1.86747216e+02] [ 6.06725939e-01 7.94871107e-01 -7.97229513e-03 -1.36110295e+02] [-1.32309403e-02 7.03980911e-05 -9.99912465e-01 -4.01740621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters 0.01656623913129834 Centerline is valid? [True, True] Translation: X:186.76, Y:-136.10, Z:-4.02 [[-8.29542093e-01 5.58342296e-01 1.06675538e-02 1.86760863e+02] [ 5.58300540e-01 8.29610631e-01 -6.83433891e-03 -1.36096111e+02] [-1.26658165e-02 2.86329258e-04 -9.99919744e-01 -4.01852545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters 0.017129364303270125 Centerline is valid? [True, True] Translation: X:187.05, Y:-135.64, Z:-5.02 [[-8.20233161e-01 -5.71927184e-01 1.08101304e-02 1.87051247e+02] [ 5.71873257e-01 -8.20304350e-01 -7.85817227e-03 -1.35641016e+02] [ 1.33618993e-02 -2.63509007e-04 9.99910691e-01 -5.02131998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters 0.01868960458896989 Centerline is valid? [True, True] Translation: X:186.73, Y:-136.08, Z:-4.02 [[-8.25702333e-01 5.63981548e-01 1.18520589e-02 1.86726921e+02] [ 5.63931426e-01 8.25787260e-01 -7.53316124e-03 -1.36080395e+02] [-1.40358432e-02 4.63599658e-04 -9.99901385e-01 -4.01984550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters 0.019665526740528988 Centerline is valid? [True, True] Translation: X:187.02, Y:-135.62, Z:-5.02 [[-8.25574034e-01 -5.64177587e-01 1.14527417e-02 1.87019984e+02] [ 5.64115500e-01 -8.25653341e-01 -8.38234577e-03 -1.35618790e+02] [ 1.41851260e-02 -4.59577922e-04 9.99899280e-01 -5.02121782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters 0.018089890815322016 Centerline is valid? [True, True] Translation: X:187.00, Y:-135.64, Z:-5.02 [[-7.84532039e-01 -6.20004391e-01 1.01997408e-02 1.86995143e+02] [ 6.19944787e-01 -7.84598223e-01 -8.60755990e-03 -1.35643334e+02] [ 1.33394235e-02 -4.29630359e-04 9.99910934e-01 -5.01944859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters 0.01656651888053594 Centerline is valid? [True, True] Translation: X:186.64, Y:-136.05, Z:-4.02 [[-7.92957472e-01 6.09189758e-01 1.03095111e-02 1.86643384e+02] [ 6.09143463e-01 7.93024424e-01 -7.51701041e-03 -1.36045940e+02] [-1.27549798e-02 3.19301695e-04 -9.99918601e-01 -4.02186223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters 0.01425071427614878 Centerline is valid? [True, True] Translation: X:186.94, Y:-135.62, Z:-5.02 [[-7.75104710e-01 -6.31764701e-01 9.27639499e-03 1.86938889e+02] [ 6.31714101e-01 -7.75160141e-01 -8.00312286e-03 -1.35623120e+02] [ 1.22467822e-02 -3.43228700e-04 9.99924946e-01 -5.01918654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters 0.012906914652118417 Centerline is valid? [True, True] Translation: X:186.61, Y:-136.00, Z:-4.02 [[-8.07457282e-01 5.89834331e-01 1.04019183e-02 1.86606481e+02] [ 5.89786307e-01 8.07524277e-01 -7.52683564e-03 -1.35996732e+02] [-1.28393876e-02 5.73107293e-05 -9.99917570e-01 -4.02194325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters 0.013864337956520449 Centerline is valid? [True, True] Translation: X:186.62, Y:-135.95, Z:-4.02 [[-8.54190759e-01 5.19834438e-01 1.14151193e-02 1.86615628e+02] [ 5.19786156e-01 8.54267021e-01 -7.08582526e-03 -1.35952498e+02] [-1.34350160e-02 -1.19225470e-04 -9.99909739e-01 -4.01953385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters 0.01543750743565048 Centerline is valid? [True, True] Translation: X:186.62, Y:-135.91, Z:-4.02 [[-8.93464940e-01 4.48996960e-01 1.10513281e-02 1.86615605e+02] [ 4.48959304e-01 8.93533253e-01 -5.81982406e-03 -1.35911265e+02] [-1.24878125e-02 -2.38212180e-04 -9.99921996e-01 -4.02211238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters 0.016934754065514913 Centerline is valid? [True, True] Translation: X:186.62, Y:-135.88, Z:-4.02 [[-9.25299908e-01 3.79066009e-01 1.13596331e-02 1.86620856e+02] [ 3.79033314e-01 9.25369583e-01 -4.98813743e-03 -1.35878464e+02] [-1.24026923e-02 -3.09843706e-04 -9.99923036e-01 -4.02206157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters 0.01694214917002745 Centerline is valid? [True, True] Translation: X:186.62, Y:-135.85, Z:-4.02 [[-9.49984008e-01 3.12065345e-01 1.20667191e-02 1.86619536e+02] [ 3.12035791e-01 9.50060584e-01 -4.30711786e-03 -1.35850744e+02] [-1.28082164e-02 -3.26444834e-04 -9.99917918e-01 -4.02204866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters 0.016214745821077188 Centerline is valid? [True, True] Translation: X:186.62, Y:-135.83, Z:-4.02 [[-9.69435476e-01 2.45046035e-01 1.21366709e-02 1.86621752e+02] [ 2.45022867e-01 9.69511396e-01 -3.38340929e-03 -1.35825912e+02] [-1.25957318e-02 -3.06235081e-04 -9.99920624e-01 -4.02245452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters 0.015061803322413449 Centerline is valid? [True, True] Translation: X:186.62, Y:-135.81, Z:-4.02 [[-9.83398307e-01 1.81011642e-01 1.27497438e-02 1.86620314e+02] [ 1.80993183e-01 9.83480923e-01 -2.59662142e-03 -1.35805893e+02] [-1.30091485e-02 -2.45896390e-04 -9.99915347e-01 -4.02187168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters 0.014042996202688974 Centerline is valid? [True, True] Translation: X:186.61, Y:-135.78, Z:-4.02 [[-9.93278769e-01 1.14903919e-01 1.39419241e-02 1.86613153e+02] [ 1.14889673e-01 9.93376588e-01 -1.82116661e-03 -1.35783865e+02] [-1.40588402e-02 -2.07143030e-04 -9.99901148e-01 -4.02096237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters 0.013265083489769153 Centerline is valid? [True, True] Translation: X:186.61, Y:-135.77, Z:-4.02 [[-9.98618441e-01 5.00171924e-02 1.61087013e-02 1.86609975e+02] [ 5.00084029e-02 9.98748347e-01 -9.48238721e-04 -1.35766272e+02] [-1.61359670e-02 -1.41358248e-04 -9.99869797e-01 -4.01928237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters 0.012958023906500592 Centerline is valid? [True, True] Translation: X:186.60, Y:-135.75, Z:-4.02 [[-9.99715861e-01 -1.67868688e-02 1.69233113e-02 1.86603313e+02] [-1.67857432e-02 9.99859088e-01 2.08560035e-04 -1.35745992e+02] [-1.69244276e-02 -7.55695829e-05 -9.99856769e-01 -4.01894281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters 0.013039170211981676 Centerline is valid? [True, True] Translation: X:186.60, Y:-135.73, Z:-4.02 [[-9.96558134e-01 -8.11143048e-02 1.70984065e-02 1.86596509e+02] [-8.11016837e-02 9.96704805e-01 1.43140575e-03 -1.35730718e+02] [-1.71581714e-02 3.97694841e-05 -9.99852787e-01 -4.01899680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters 0.014178146141486431 Centerline is valid? [True, True] Translation: X:186.59, Y:-135.72, Z:-4.02 [[-9.89414996e-01 -1.44172483e-01 1.65003378e-02 1.86590152e+02] [-1.44149588e-01 9.89552559e-01 2.57483727e-03 -1.35717387e+02] [-1.66991722e-02 1.69065710e-04 -9.99860545e-01 -4.01984549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters 0.015852140040957904 Centerline is valid? [True, True] Translation: X:186.58, Y:-135.70, Z:-4.02 [[-9.78070747e-01 -2.07744252e-01 1.48303641e-02 1.86579510e+02] [-2.07716376e-01 9.78183142e-01 3.41283257e-03 -1.35704011e+02] [-1.52158085e-02 2.57482209e-04 -9.99884200e-01 -4.02111094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters 0.01732560853212895 Centerline is valid? [True, True] Translation: X:186.56, Y:-135.69, Z:-4.02 [[-9.61648731e-01 -2.73894927e-01 1.46043712e-02 1.86556691e+02] [-2.73858377e-01 9.61759570e-01 4.48539475e-03 -1.35689632e+02] [-1.52744206e-02 3.13844768e-04 -9.99883290e-01 -4.02168194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters 0.01724324125960696 Centerline is valid? [True, True] Translation: X:186.52, Y:-135.68, Z:-4.02 [[-9.41021739e-01 -3.38112028e-01 1.25834314e-02 1.86523470e+02] [-3.38076921e-01 9.41105807e-01 4.88426417e-03 -1.35678920e+02] [-1.34937688e-02 3.42031019e-04 -9.99908896e-01 -4.02473008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters 0.018526369265148775 Centerline is valid? [True, True] Translation: X:186.27, Y:-135.13, Z:-5.02 [[-9.45750746e-01 3.24689042e-01 1.15131539e-02 1.86270761e+02] [-3.24670085e-01 -9.45820737e-01 3.53108669e-03 -1.35126808e+02] [ 1.20358849e-02 -3.98448800e-04 9.99927487e-01 -5.01589404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters 0.018787981673266677 Centerline is valid? [True, True] Translation: X:186.38, Y:-135.74, Z:-4.03 [[-9.39418906e-01 -3.42604442e-01 1.06918717e-02 1.86380272e+02] [-3.42578406e-01 9.39479695e-01 4.23552665e-03 -1.35740094e+02] [-1.14959066e-02 3.16129440e-04 -9.99933870e-01 -4.02511391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters 0.01772732918857868 Centerline is valid? [True, True] Translation: X:186.32, Y:-135.73, Z:-4.03 [[-9.10724917e-01 -4.12895205e-01 9.88312755e-03 1.86323418e+02] [-4.12867668e-01 9.10778501e-01 4.77612101e-03 -1.35733799e+02] [-1.09733776e-02 2.69308583e-04 -9.99939754e-01 -4.02511320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters 0.01626302694326674 Centerline is valid? [True, True] Translation: X:186.25, Y:-135.74, Z:-4.02 [[-8.74762023e-01 -4.84461781e-01 9.39075042e-03 1.86249663e+02] [-4.84431489e-01 8.74812406e-01 5.42095514e-03 -1.35737239e+02] [-1.08413905e-02 1.92870470e-04 -9.99941212e-01 -4.02374092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters 0.015062076833142486 Centerline is valid? [True, True] Translation: X:186.18, Y:-135.74, Z:-4.02 [[-8.33971586e-01 -5.51730779e-01 9.19464910e-03 1.86179423e+02] [-5.51695329e-01 8.34022258e-01 6.25593039e-03 -1.35744139e+02] [-1.11201314e-02 1.44623230e-04 -9.99938159e-01 -4.02254654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters 0.0136780299071993 Centerline is valid? [True, True] Translation: X:186.10, Y:-135.76, Z:-4.02 [[-7.88549997e-01 -6.14905785e-01 8.93184988e-03 1.86100796e+02] [-6.14864809e-01 7.88600573e-01 7.09950876e-03 -1.35762236e+02] [-1.14091909e-02 1.06437440e-04 -9.99934907e-01 -4.02311270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters 0.012877130493260659 Centerline is valid? [True, True] Translation: X:186.02, Y:-135.79, Z:-4.02 [[-7.38188105e-01 -6.74551606e-01 7.64541434e-03 1.86020148e+02] [-6.74514595e-01 7.38227693e-01 7.06639287e-03 -1.35789530e+02] [-1.04107033e-02 5.93836017e-05 -9.99945805e-01 -4.02406793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters 0.01267750986149501 Centerline is valid? [True, True] Translation: X:185.94, Y:-135.83, Z:-4.02 [[-6.84414781e-01 -7.29063073e-01 6.59116909e-03 1.85939808e+02] [-7.29028734e-01 6.84446516e-01 7.07609821e-03 -1.35828783e+02] [-9.67022463e-03 3.78345478e-05 -9.99953242e-01 -4.02449961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters 0.012978589012533171 Centerline is valid? [True, True] Translation: X:185.86, Y:-135.88, Z:-4.02 [[-6.28346388e-01 -7.77912446e-01 5.74833376e-03 1.85862435e+02] [-7.77879273e-01 6.28372680e-01 7.18410699e-03 -1.35877350e+02] [-9.20070213e-03 4.25979925e-05 -9.99957672e-01 -4.02344010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters 0.013290293094501995 Centerline is valid? [True, True] Translation: X:185.79, Y:-135.94, Z:-4.02 [[-5.69249013e-01 -8.22146421e-01 5.55197153e-03 1.85785595e+02] [-8.22106278e-01 5.69276083e-01 8.12459247e-03 -1.35936880e+02] [-9.84020923e-03 6.06055946e-05 -9.99951582e-01 -4.02287718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters 0.013571490510918776 Centerline is valid? [True, True] Translation: X:185.71, Y:-136.00, Z:-4.02 [[-5.07969039e-01 -8.61358997e-01 5.30417120e-03 1.85712988e+02] [-8.61310051e-01 5.07996722e-01 9.18293193e-03 -1.36004114e+02] [-1.06043026e-02 9.61091358e-05 -9.99943768e-01 -4.02338666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters 0.013640993184563941 Centerline is valid? [True, True] Translation: X:185.64, Y:-136.08, Z:-4.02 [[-4.43421873e-01 -8.96302622e-01 4.31884462e-03 1.85641632e+02] [-8.96257573e-01 4.43442890e-01 8.98699087e-03 -1.36080329e+02] [-9.97022443e-03 1.14231127e-04 -9.99950290e-01 -4.02427589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters 0.014358355652507057 Centerline is valid? [True, True] Translation: X:185.58, Y:-136.17, Z:-4.02 [[-3.74591414e-01 -9.27182888e-01 3.62846124e-03 1.85576248e+02] [-9.27136270e-01 3.74608968e-01 9.29832382e-03 -1.36166282e+02] [-9.98050085e-03 1.18994249e-04 -9.99950187e-01 -4.02309992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters 0.013754341724767418 Centerline is valid? [True, True] Translation: X:185.51, Y:-136.26, Z:-4.02 [[-3.02556041e-01 -9.53127109e-01 2.92518694e-03 1.85512732e+02] [-9.53078874e-01 3.02570160e-01 9.58946207e-03 -1.36260878e+02] [-1.00250505e-02 1.13415799e-04 -9.99949742e-01 -4.02407147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters 0.013645730896119986 Centerline is valid? [True, True] Translation: X:185.46, Y:-136.36, Z:-4.02 [[-2.26619954e-01 -9.73980417e-01 2.35477193e-03 1.85457550e+02] [-9.73923490e-01 2.26632168e-01 1.05307593e-02 -1.36356006e+02] [-1.07904204e-02 9.31124976e-05 -9.99941777e-01 -4.02295680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters 0.013234502505049666 Centerline is valid? [True, True] Translation: X:185.41, Y:-136.46, Z:-4.02 [[-1.49012544e-01 -9.88834008e-01 1.60182964e-03 1.85409023e+02] [-9.88772146e-01 1.49021139e-01 1.10608561e-02 -1.36458578e+02] [-1.11760572e-02 6.43617799e-05 -9.99937544e-01 -4.02326738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters 0.012896350183116913 Centerline is valid? [True, True] Translation: X:185.37, Y:-136.57, Z:-4.02 [[-6.76636773e-02 -9.97707875e-01 7.88734321e-04 1.85366813e+02] [-9.97639933e-01 6.76682742e-02 1.16434441e-02 -1.36566330e+02] [-1.16701281e-02 9.65386463e-07 -9.99931902e-01 -4.02359118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters 0.013353199383664102 Centerline is valid? [True, True] Translation: X:185.33, Y:-136.68, Z:-4.02 [[ 1.45039903e-02 -9.99894807e-01 -9.89986119e-05 1.85330252e+02] [-9.99827348e-01 -1.45041618e-02 1.16148392e-02 -1.36681715e+02] [-1.16150533e-02 -6.94799963e-05 -9.99932541e-01 -4.02153080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters 0.013510787027570996 Centerline is valid? [True, True] Translation: X:185.31, Y:-136.79, Z:-4.02 [[ 9.35983323e-02 -9.95609594e-01 -9.43128226e-04 1.85307068e+02] [-9.95547593e-01 -9.36030292e-02 1.11113892e-02 -1.36792785e+02] [-1.11508854e-02 -1.01078464e-04 -9.99937822e-01 -4.02309387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters 0.01376058761813288 Centerline is valid? [True, True] Translation: X:185.29, Y:-136.91, Z:-4.03 [[ 1.71316741e-01 -9.85214680e-01 -1.61543721e-03 1.85293138e+02] [-9.85164404e-01 -1.71324319e-01 9.95358978e-03 -1.36905334e+02] [-1.00831864e-02 -1.13745323e-04 -9.99949157e-01 -4.02508715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters 0.013991994246152594 Centerline is valid? [True, True] Translation: X:185.29, Y:-137.02, Z:-4.02 [[ 2.46762307e-01 -9.69072953e-01 -2.44456916e-03 1.85287459e+02] [-9.69020136e-01 -2.46774382e-01 1.01183141e-02 -1.37018111e+02] [-1.04086415e-02 -1.27981778e-04 -9.99945820e-01 -4.02499910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters 0.014755553091873033 Centerline is valid? [True, True] Translation: X:185.29, Y:-137.13, Z:-4.02 [[ 3.21957159e-01 -9.46747396e-01 -3.59927438e-03 1.85290010e+02] [-9.46682197e-01 -3.21977233e-01 1.11121469e-02 -1.37132864e+02] [-1.16792806e-02 -1.70266281e-04 -9.99931780e-01 -4.02354280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters 0.016228545151677588 Centerline is valid? [True, True] Translation: X:185.30, Y:-137.25, Z:-4.02 [[ 3.96744310e-01 -9.17914637e-01 -5.16451724e-03 1.85300528e+02] [-9.17828374e-01 -3.96777842e-01 1.25865392e-02 -1.37245077e+02] [-1.36025345e-02 -2.53497330e-04 -9.99907449e-01 -4.02178194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters 0.017059376875224238 Centerline is valid? [True, True] Translation: X:185.32, Y:-137.36, Z:-4.02 [[ 4.69714247e-01 -8.82794624e-01 -6.49447636e-03 1.85322208e+02] [-8.82699981e-01 -4.69759018e-01 1.29309212e-02 -1.37357286e+02] [-1.44661866e-02 -3.41163764e-04 -9.99895301e-01 -4.02240273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters 0.017486927113702703 Centerline is valid? [True, True] Translation: X:185.35, Y:-137.46, Z:-4.02 [[ 5.38077348e-01 -8.42861795e-01 -7.53403664e-03 1.85350650e+02] [-8.42768771e-01 -5.38129948e-01 1.25282662e-02 -1.37462538e+02] [-1.46138877e-02 -3.91725428e-04 -9.99893135e-01 -4.02303196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters 0.018761376246529363 Centerline is valid? [True, True] Translation: X:185.39, Y:-137.56, Z:-4.02 [[ 6.02419609e-01 -7.98132021e-01 -8.71157512e-03 1.85388557e+02] [-7.98037810e-01 -6.02482434e-01 1.22707071e-02 -1.37564768e+02] [-1.50422152e-02 -4.39948236e-04 -9.99886763e-01 -4.02268281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters 0.018123670561541076 Centerline is valid? [True, True] Translation: X:185.44, Y:-137.66, Z:-4.03 [[ 6.62394236e-01 -7.49096324e-01 -9.41134737e-03 1.85435498e+02] [-7.49010810e-01 -6.62460936e-01 1.13276530e-02 -1.37658676e+02] [-1.47201532e-02 -4.54171121e-04 -9.99891550e-01 -4.02521220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters 0.019161346451563085 Centerline is valid? [True, True] Translation: X:185.48, Y:-137.75, Z:-4.03 [[ 7.17670213e-01 -6.96319262e-01 -9.43140889e-03 1.85482341e+02] [-6.96251198e-01 -7.17732056e-01 9.74504008e-03 -1.37748701e+02] [-1.35548836e-02 -4.27095251e-04 -9.99908037e-01 -4.02517715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters 0.01974439470127669 Centerline is valid? [True, True] Translation: X:185.54, Y:-137.84, Z:-4.03 [[ 7.69119194e-01 -6.39021557e-01 -1.03496556e-02 1.85543284e+02] [-6.38955633e-01 -7.69188691e-01 9.19005316e-03 -1.37837088e+02] [-1.38334801e-02 -4.55275539e-04 -9.99904209e-01 -4.02502414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters 0.02046738480075333 Centerline is valid? [True, True] Translation: X:185.57, Y:-137.86, Z:-4.02 [[ 8.16934416e-01 -5.76615187e-01 -1.15363217e-02 1.85573940e+02] [-5.76549281e-01 -8.17015725e-01 8.73108036e-03 -1.37859896e+02] [-1.44598298e-02 -4.81462053e-04 -9.99895335e-01 -4.02428978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters 0.020419233871015928 Centerline is valid? [True, True] Translation: X:185.60, Y:-137.88, Z:-4.02 [[ 8.59352396e-01 -5.11235393e-01 -1.23220135e-02 1.85604178e+02] [-5.11174714e-01 -8.59440597e-01 7.89130142e-03 -1.37880856e+02] [-1.46243512e-02 -4.82707060e-04 -9.99892942e-01 -4.02429650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters 0.020147474002354854 Centerline is valid? [True, True] Translation: X:185.64, Y:-137.90, Z:-4.03 [[ 8.97122334e-01 -4.41635804e-01 -1.13725113e-02 1.85636349e+02] [-4.41594083e-01 -8.97194307e-01 6.08612972e-03 -1.37898588e+02] [-1.28912052e-02 -4.37969202e-04 -9.99916809e-01 -4.02628168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters 0.02002877685843538 Centerline is valid? [True, True] Translation: X:185.67, Y:-137.92, Z:-4.03 [[ 9.29405987e-01 -3.68898850e-01 -1.08696547e-02 1.85667580e+02] [-3.68868315e-01 -9.29469452e-01 4.76483814e-03 -1.37918001e+02] [-1.18607553e-02 -4.18997895e-04 -9.99929571e-01 -4.02684022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters 0.02128885916353963 Centerline is valid? [True, True] Translation: X:185.70, Y:-137.93, Z:-4.02 [[ 9.55734119e-01 -2.93995621e-01 -1.17842780e-02 1.85699750e+02] [-2.93967372e-01 -9.55806658e-01 4.10076861e-03 -1.37933632e+02] [-1.24690994e-02 -4.55051227e-04 -9.99922154e-01 -4.02488371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters 0.020825038445519993 Centerline is valid? [True, True] Translation: X:185.73, Y:-137.95, Z:-4.02 [[ 9.75799352e-01 -2.18303769e-01 -1.26130715e-02 1.85733032e+02] [-2.18279203e-01 -9.75880750e-01 3.30935011e-03 -1.37948250e+02] [-1.30312972e-02 -4.76090506e-04 -9.99914976e-01 -4.02476702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters 0.019891796860384475 Centerline is valid? [True, True] Translation: X:185.77, Y:-137.96, Z:-4.02 [[ 9.89637792e-01 -1.42944385e-01 -1.35626129e-02 1.85767650e+02] [-1.42924285e-01 -9.89730606e-01 2.44488478e-03 -1.37956587e+02] [-1.37728156e-02 -4.81123630e-04 -9.99905035e-01 -4.02436672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters 0.018983961461405092 Centerline is valid? [True, True] Translation: X:185.80, Y:-137.96, Z:-4.03 [[ 9.97588410e-01 -6.81891666e-02 -1.29461474e-02 1.85798995e+02] [-6.81780586e-02 -9.97672325e-01 1.29794744e-03 -1.37960824e+02] [-1.30045189e-02 -4.12174128e-04 -9.99915353e-01 -4.02558736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters 0.018333695403872113 Centerline is valid? [True, True] Translation: X:185.83, Y:-137.96, Z:-4.03 [[ 9.99886190e-01 8.03740072e-03 -1.27673984e-02 1.85829459e+02] [ 8.04156614e-03 -9.99967628e-01 2.74950146e-04 -1.37964389e+02] [-1.27647752e-02 -3.77588732e-04 -9.99918456e-01 -4.02619814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters 0.01795832238983004 Centerline is valid? [True, True] Translation: X:185.86, Y:-137.97, Z:-4.03 [[ 9.96362911e-01 8.43904234e-02 -1.17985404e-02 1.85859663e+02] [ 8.43883881e-02 -9.96432712e-01 -6.71136984e-04 -1.37965622e+02] [-1.18130891e-02 -3.26963803e-04 -9.99930170e-01 -4.02593356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters 0.01734281339645655 Centerline is valid? [True, True] Translation: X:185.89, Y:-137.96, Z:-4.03 [[ 9.87004363e-01 1.60328966e-01 -1.08171269e-02 1.85890381e+02] [ 1.60322463e-01 -9.87063596e-01 -1.47132587e-03 -1.37963448e+02] [-1.09130884e-02 -2.82023380e-04 -9.99940411e-01 -4.02667351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters 0.016614732128336727 Centerline is valid? [True, True] Translation: X:185.92, Y:-137.96, Z:-4.03 [[ 9.72016536e-01 2.34681604e-01 -1.04114931e-02 1.85920567e+02] [ 2.34670877e-01 -9.72072262e-01 -2.25762512e-03 -1.37960955e+02] [-1.06505468e-02 -2.48825276e-04 -9.99943250e-01 -4.02743391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters 0.015132642816047776 Centerline is valid? [True, True] Translation: X:185.95, Y:-137.96, Z:-4.03 [[ 9.52331770e-01 3.04908118e-01 -9.75908775e-03 1.85949857e+02] [ 3.04894069e-01 -9.52381754e-01 -2.93272998e-03 -1.37955894e+02] [-1.01885903e-02 -1.82556033e-04 -9.99948078e-01 -4.02760819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters 0.014762581142752298 Centerline is valid? [True, True] Translation: X:185.98, Y:-137.95, Z:-4.03 [[ 9.26469267e-01 3.76268377e-01 -8.76394394e-03 1.85978188e+02] [ 3.76253025e-01 -9.26510706e-01 -3.40207858e-03 -1.37951163e+02] [-9.39998247e-03 -1.45539169e-04 -9.99955809e-01 -4.02785155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters 0.014435299246108122 Centerline is valid? [True, True] Translation: X:186.01, Y:-137.95, Z:-4.03 [[ 8.94316026e-01 4.47349555e-01 -8.78753144e-03 1.86008144e+02] [ 4.47329579e-01 -8.94359186e-01 -4.23019912e-03 -1.37948225e+02] [-9.75158716e-03 -1.47787868e-04 -9.99952441e-01 -4.02815727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters 0.014785898624379129 Centerline is valid? [True, True] Translation: X:186.04, Y:-137.94, Z:-4.03 [[ 8.57015090e-01 5.15209561e-01 -9.17843533e-03 1.86037959e+02] [ 5.15181905e-01 -8.57064225e-01 -5.34032328e-03 -1.37944964e+02] [-1.06178942e-02 -1.51826168e-04 -9.99943617e-01 -4.02537848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters 0.014831196783827008 Centerline is valid? [True, True] Translation: X:186.06, Y:-137.93, Z:-4.02 [[ 8.14140818e-01 5.80605761e-01 -8.46630582e-03 1.86064535e+02] [ 5.80576222e-01 -8.14184825e-01 -5.85847280e-03 -1.37934129e+02] [-1.02946008e-02 -1.45714011e-04 -9.99946999e-01 -4.02438268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters 0.01414933906161979 Centerline is valid? [True, True] Translation: X:186.09, Y:-137.92, Z:-4.03 [[ 7.66790300e-01 6.41853035e-01 -7.57087776e-03 1.86090662e+02] [ 6.41823409e-01 -7.66827663e-01 -6.16823046e-03 -1.37920588e+02] [-9.76465594e-03 -1.29427284e-04 -9.99952316e-01 -4.02636989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters 0.01385885039480486 Centerline is valid? [True, True] Translation: X:186.12, Y:-137.91, Z:-4.03 [[ 7.15841301e-01 6.98229462e-01 -6.84472063e-03 1.86117581e+02] [ 6.98198916e-01 -7.15874016e-01 -6.53196150e-03 -1.37906772e+02] [-9.46076562e-03 -1.03128706e-04 -9.99955241e-01 -4.02512828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters 0.013469940021428478 Centerline is valid? [True, True] Translation: X:186.14, Y:-137.89, Z:-4.03 [[ 6.60117956e-01 7.51136778e-01 -6.15018406e-03 1.86144233e+02] [ 7.51105395e-01 -6.60146600e-01 -6.86672673e-03 -1.37891765e+02] [-9.21787409e-03 -8.65868192e-05 -9.99957511e-01 -4.02563995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters 0.013223362439025929 Centerline is valid? [True, True] Translation: X:186.17, Y:-137.87, Z:-4.03 [[ 6.00660636e-01 7.99487680e-01 -5.12346661e-03 1.86168749e+02] [ 7.99459513e-01 -6.00682483e-01 -6.71130353e-03 -1.37874915e+02] [-8.44318113e-03 -6.47882748e-05 -9.99964354e-01 -4.02651803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters 0.013144906243480595 Centerline is valid? [True, True] Translation: X:186.19, Y:-137.86, Z:-4.03 [[ 5.37034763e-01 8.43548382e-01 -4.44859521e-03 1.86192625e+02] [ 8.43520286e-01 -5.37053185e-01 -6.88497997e-03 -1.37856476e+02] [-8.19694594e-03 -5.50067164e-05 -9.99966403e-01 -4.02700526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters 0.013305821927525148 Centerline is valid? [True, True] Translation: X:186.21, Y:-137.84, Z:-4.03 [[ 4.69708193e-01 8.82812540e-01 -4.02886925e-03 1.86214975e+02] [ 8.82781028e-01 -4.69725469e-01 -7.45925498e-03 -1.37835875e+02] [-8.47758634e-03 -5.29361620e-05 -9.99964063e-01 -4.02682228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters 0.013329943080591758 Centerline is valid? [True, True] Translation: X:186.24, Y:-137.81, Z:-4.03 [[ 3.97975455e-01 9.17389610e-01 -3.44114464e-03 1.86236088e+02] [ 9.17356687e-01 -3.97990327e-01 -7.77229919e-03 -1.37814059e+02] [-8.49976880e-03 -6.35727449e-05 -9.99963874e-01 -4.02729332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters 0.013807221693719781 Centerline is valid? [True, True] Translation: X:186.26, Y:-137.79, Z:-4.03 [[ 3.22432384e-01 9.46587847e-01 -2.96744144e-03 1.86256481e+02] [ 9.46550304e-01 -3.22446027e-01 -8.43102832e-03 -1.37791456e+02] [-8.93754864e-03 -9.03960310e-05 -9.99960055e-01 -4.02766979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters 0.014261872835244018 Centerline is valid? [True, True] Translation: X:186.27, Y:-137.77, Z:-4.03 [[ 2.46055893e-01 9.69253164e-01 -2.19125447e-03 1.86273264e+02] [ 9.69218172e-01 -2.46065631e-01 -8.23648094e-03 -1.37767169e+02] [-8.52242763e-03 -9.71689735e-05 -9.99963679e-01 -4.02728624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters 0.014749792056171258 Centerline is valid? [True, True] Translation: X:186.29, Y:-137.74, Z:-4.03 [[ 1.67845209e-01 9.85812479e-01 -1.31991762e-03 1.86285461e+02] [ 9.85786286e-01 -1.67850372e-01 -7.18690049e-03 -1.37740128e+02] [-7.30648485e-03 -9.48698711e-05 -9.99973303e-01 -4.02819188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters 0.014554748802228614 Centerline is valid? [True, True] Translation: X:186.30, Y:-137.71, Z:-4.03 [[ 8.89900669e-02 9.96032216e-01 -7.70082833e-04 1.86298304e+02] [ 9.96004471e-01 -8.89933365e-02 -7.43502065e-03 -1.37712871e+02] [-7.47405234e-03 -1.05362959e-04 -9.99972063e-01 -4.02857693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters 0.015215185672698356 Centerline is valid? [True, True] Translation: X:186.31, Y:-137.69, Z:-4.03 [[ 8.69242349e-03 9.99962198e-01 -2.08447891e-04 1.86309674e+02] [ 9.99926908e-01 -8.69386819e-03 -8.40215485e-03 -1.37685633e+02] [-8.40364945e-03 -1.35397567e-04 -9.99964680e-01 -4.02736319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters 0.015881627790591286 Centerline is valid? [True, True] Translation: X:186.32, Y:-137.66, Z:-4.03 [[-7.27976800e-02 9.97346615e-01 4.77360568e-04 1.86319526e+02] [ 9.97306981e-01 7.27990436e-02 -8.89298224e-03 -1.37656371e+02] [-8.90413712e-03 -1.71313449e-04 -9.99960343e-01 -4.02616781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters 0.016005689374176558 Centerline is valid? [True, True] Translation: X:186.33, Y:-137.63, Z:-4.03 [[-1.52891684e-01 9.88242251e-01 1.17762623e-03 1.86326911e+02] [ 9.88202510e-01 1.52896099e-01 -8.86470671e-03 -1.37626886e+02] [-8.94053216e-03 -1.91606745e-04 -9.99960014e-01 -4.02614249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters 0.016278867683811538 Centerline is valid? [True, True] Translation: X:186.33, Y:-137.60, Z:-4.03 [[-2.30145249e-01 9.73154555e-01 1.83747351e-03 1.86329522e+02] [ 9.73116572e-01 2.30152505e-01 -8.60014381e-03 -1.37596741e+02] [-8.79216826e-03 -1.91206315e-04 -9.99961330e-01 -4.02657612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters 0.01646641035908481 Centerline is valid? [True, True] Translation: X:186.33, Y:-137.57, Z:-4.03 [[-3.05762461e-01 9.52105539e-01 2.08812689e-03 1.86328039e+02] [ 9.52079631e-01 3.05769550e-01 -7.02559253e-03 -1.37566999e+02] [-7.32759118e-03 -1.60099385e-04 -9.99973140e-01 -4.02802475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters 0.016102580846531885 Centerline is valid? [True, True] Translation: X:186.33, Y:-137.54, Z:-4.03 [[-3.79425538e-01 9.25218592e-01 2.61133131e-03 1.86326367e+02] [ 9.25193718e-01 3.79434491e-01 -6.78611686e-03 -1.37536693e+02] [-7.26947065e-03 -1.58838716e-04 -9.99973564e-01 -4.02816626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters 0.017179162154947837 Centerline is valid? [True, True] Translation: X:186.32, Y:-137.51, Z:-4.03 [[-4.49869631e-01 8.93087913e-01 3.36086779e-03 1.86323340e+02] [ 8.93060233e-01 4.49882155e-01 -7.03321865e-03 -1.37508147e+02] [-7.79327701e-03 -1.62574101e-04 -9.99969619e-01 -4.02602940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters 0.015137598539005431 Centerline is valid? [True, True] Translation: X:186.31, Y:-137.48, Z:-4.03 [[-5.14604759e-01 8.57418169e-01 4.00307907e-03 1.86309990e+02] [ 8.57390220e-01 5.14620312e-01 -6.92424552e-03 -1.37482946e+02] [-7.99703972e-03 -1.31048855e-04 -9.99968015e-01 -4.02566830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters 0.014433046166971924 Centerline is valid? [True, True] Translation: X:186.30, Y:-137.46, Z:-4.03 [[-5.76737607e-01 8.16919779e-01 3.97588310e-03 1.86298399e+02] [ 8.16899343e-01 5.76751305e-01 -5.77885877e-03 -1.37457306e+02] [-7.01395979e-03 -8.49888769e-05 -9.99975398e-01 -4.02625317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters 0.013887818989506308 Centerline is valid? [True, True] Translation: X:186.28, Y:-137.43, Z:-4.03 [[-6.35522585e-01 7.72072672e-01 3.85152460e-03 1.86284538e+02] [ 7.72058047e-01 6.35534254e-01 -4.75235466e-03 -1.37433334e+02] [-6.11693897e-03 -4.66281575e-05 -9.99981290e-01 -4.02651985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters 0.013540554928986702 Centerline is valid? [True, True] Translation: X:186.27, Y:-137.41, Z:-4.03 [[-6.91150771e-01 7.22700551e-01 3.81129295e-03 1.86270209e+02] [ 7.22689403e-01 6.91161279e-01 -4.01422768e-03 -1.37409757e+02] [-5.53530267e-03 -2.00555279e-05 -9.99984680e-01 -4.02687830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters 0.013581106146705416 Centerline is valid? [True, True] Translation: X:186.25, Y:-137.39, Z:-4.03 [[-7.42596370e-01 6.69725161e-01 4.34054960e-03 1.86254079e+02] [ 6.69713762e-01 7.42609055e-01 -3.90751720e-03 -1.37387823e+02] [-5.84029402e-03 5.21771496e-06 -9.99982945e-01 -4.02613779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters 0.01370408673575491 Centerline is valid? [True, True] Translation: X:186.28, Y:-137.37, Z:-4.03 [[-7.86200797e-01 6.17953441e-01 4.67465286e-03 1.86275165e+02] [ 6.17942694e-01 7.86214694e-01 -3.64442565e-03 -1.37370926e+02] [-5.92736614e-03 2.34172318e-05 -9.99982433e-01 -4.02566029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters 0.013792084385608864 Centerline is valid? [True, True] Translation: X:186.73, Y:-136.80, Z:-5.02 [[-7.48976179e-01 -6.62583041e-01 4.28909066e-03 1.86728926e+02] [ 6.62571927e-01 -7.48988459e-01 -3.83785678e-03 -1.36802504e+02] [ 5.75537823e-03 -3.26322449e-05 9.99983437e-01 -5.01557552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters 0.013903395875731613 Centerline is valid? [True, True] Translation: X:186.25, Y:-137.35, Z:-4.02 [[-7.86644004e-01 6.17387413e-01 4.89830237e-03 1.86245083e+02] [ 6.17375777e-01 7.86659253e-01 -3.79076236e-03 -1.37345574e+02] [-6.19366385e-03 4.21127494e-05 -9.99980818e-01 -4.02467219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters 0.013795761275718342 Centerline is valid? [True, True] Translation: X:186.69, Y:-136.78, Z:-5.01 [[-7.51545723e-01 -6.59671561e-01 3.52972238e-03 1.86689994e+02] [ 6.59663550e-01 -7.51554003e-01 -3.25304798e-03 -1.36778976e+02] [ 4.79872022e-03 -1.16385102e-04 9.99988479e-01 -5.01490016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters 0.013643455158190779 Centerline is valid? [True, True] Translation: X:186.21, Y:-137.31, Z:-4.03 [[-7.90658593e-01 6.12247673e-01 3.43164989e-03 1.86213519e+02] [ 6.12242001e-01 7.90666040e-01 -2.63552403e-03 -1.37313185e+02] [-4.32688249e-03 1.72004771e-05 -9.99990639e-01 -4.02686648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters 0.013518786372417 Centerline is valid? [True, True] Translation: X:186.24, Y:-137.29, Z:-4.03 [[-8.34326466e-01 5.51259829e-01 3.45684529e-03 1.86235356e+02] [ 5.51255092e-01 8.34333627e-01 -2.28533574e-03 -1.37285001e+02] [-4.14397606e-03 -1.11252556e-06 -9.99991414e-01 -4.02665484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters 0.013613773019230068 Centerline is valid? [True, True] Translation: X:186.61, Y:-136.71, Z:-5.01 [[-7.92193317e-01 -6.10258823e-01 3.73052301e-03 1.86613878e+02] [ 6.10252268e-01 -7.92202100e-01 -2.82873657e-03 -1.36713788e+02] [ 4.68158962e-03 3.56539255e-05 9.99989041e-01 -5.01461753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters 0.013899913787591638 Centerline is valid? [True, True] Translation: X:186.20, Y:-137.25, Z:-4.03 [[-8.40391403e-01 5.41963035e-01 4.28470032e-03 1.86196584e+02] [ 5.41955747e-01 8.40402325e-01 -2.81090487e-03 -1.37246286e+02] [-5.12427865e-03 -4.01423282e-05 -9.99986870e-01 -4.02618042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters 0.015526412649572077 Centerline is valid? [True, True] Translation: X:186.56, Y:-136.70, Z:-5.02 [[-7.88451065e-01 -6.15081336e-01 4.45740097e-03 1.86561584e+02] [ 6.15072043e-01 -7.88463661e-01 -3.38201432e-03 -1.36698506e+02] [ 5.59471258e-03 7.50699280e-05 9.99984347e-01 -5.01620471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters 0.01674428437690936 Centerline is valid? [True, True] Translation: X:186.54, Y:-136.73, Z:-5.02 [[-7.40724589e-01 -6.71795934e-01 4.15999031e-03 1.86538438e+02] [ 6.71786224e-01 -7.40736261e-01 -3.61388521e-03 -1.36727068e+02] [ 5.50924906e-03 1.17730541e-04 9.99984817e-01 -5.01591477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters 0.01747342300164195 Centerline is valid? [True, True] Translation: X:186.12, Y:-137.20, Z:-4.03 [[-8.14237566e-01 5.80516803e-01 4.17466762e-03 1.86123684e+02] [ 5.80508341e-01 8.14248257e-01 -3.13708631e-03 -1.37202361e+02] [-5.22034714e-03 -1.30904147e-04 -9.99986365e-01 -4.02570891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters 0.017417762506915232 Centerline is valid? [True, True] Translation: X:186.14, Y:-137.18, Z:-4.03 [[-8.54193820e-01 5.19940449e-01 3.85313580e-03 1.86138646e+02] [ 5.19934505e-01 8.54202502e-01 -2.48931466e-03 -1.37177134e+02] [-4.58565362e-03 -1.22978944e-04 -9.99989478e-01 -4.02632834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters 0.019033268601967034 Centerline is valid? [True, True] Translation: X:186.15, Y:-137.15, Z:-4.03 [[-8.90529033e-01 4.54897694e-01 5.11170886e-03 1.86150120e+02] [ 4.54889042e-01 8.90543686e-01 -2.81115817e-03 -1.37146234e+02] [-5.83098942e-03 -1.78157617e-04 -9.99982984e-01 -4.02535660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters 0.020685555416202844 Centerline is valid? [True, True] Translation: X:186.16, Y:-137.12, Z:-4.02 [[-9.21786137e-01 3.87631075e-01 7.24347410e-03 1.86159568e+02] [ 3.87616785e-01 9.21814556e-01 -3.33937126e-03 -1.37115233e+02] [-7.97158394e-03 -2.70493990e-04 -9.99968190e-01 -4.02349809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters 0.020579991917174082 Centerline is valid? [True, True] Translation: X:186.41, Y:-136.58, Z:-5.02 [[-8.60590384e-01 -5.09232283e-01 8.16541892e-03 1.86412061e+02] [ 5.09213651e-01 -8.60629030e-01 -4.37380184e-03 -1.36575413e+02] [ 9.25467766e-03 3.93890981e-04 9.99957097e-01 -5.01861269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters 0.02044242015150494 Centerline is valid? [True, True] Translation: X:186.12, Y:-137.10, Z:-4.02 [[-9.22825423e-01 3.85131227e-01 8.19614874e-03 1.86120136e+02] [ 3.85113142e-01 9.22861771e-01 -3.74417159e-03 -1.37097408e+02] [-9.00590974e-03 -2.98772137e-04 -9.99959401e-01 -4.02268203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters 0.017304884054672006 Centerline is valid? [True, True] Translation: X:186.13, Y:-137.08, Z:-4.03 [[-9.45910519e-01 3.24360150e-01 6.61687886e-03 1.86132235e+02] [ 3.24350785e-01 9.45933643e-01 -2.47233249e-03 -1.37083111e+02] [-7.06105446e-03 -1.92415460e-04 -9.99975052e-01 -4.02544166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters 0.016804644207811387 Centerline is valid? [True, True] Translation: X:186.14, Y:-137.06, Z:-4.03 [[-9.65203663e-01 2.61429598e-01 6.03774211e-03 1.86140070e+02] [ 2.61423577e-01 9.65222537e-01 -1.77983402e-03 -1.37060948e+02] [-6.29306605e-03 -1.39494172e-04 -9.99980189e-01 -4.02554052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters 0.01443078678035783 Centerline is valid? [True, True] Translation: X:186.14, Y:-137.04, Z:-4.03 [[-9.79867358e-01 1.99554175e-01 6.17182226e-03 1.86143805e+02] [ 1.99549615e-01 9.79886791e-01 -1.35227816e-03 -1.37042914e+02] [-6.31753986e-03 -9.34684758e-05 -9.99980040e-01 -4.02531919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters 0.013606100041845766 Centerline is valid? [True, True] Translation: X:186.15, Y:-137.02, Z:-4.02 [[-9.90913648e-01 1.34260309e-01 8.01949181e-03 1.86151878e+02] [ 1.34255246e-01 9.90946095e-01 -1.16874710e-03 -1.37023680e+02] [-8.10380044e-03 -8.14686079e-05 -9.99967160e-01 -4.02446715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters 0.013368303086244067 Centerline is valid? [True, True] Translation: X:186.24, Y:-136.38, Z:-5.02 [[-9.75677834e-01 -2.19034891e-01 8.74536639e-03 1.86244119e+02] [ 2.19027386e-01 -9.75717017e-01 -1.81860988e-03 -1.36376775e+02] [ 8.93134182e-03 1.41097393e-04 9.99960105e-01 -5.01635115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters 0.013372905056809109 Centerline is valid? [True, True] Translation: X:186.10, Y:-137.02, Z:-4.02 [[-9.91330102e-01 1.31094137e-01 8.88570006e-03 1.86102635e+02] [ 1.31088107e-01 9.91369921e-01 -1.26020548e-03 -1.37019896e+02] [-8.97422132e-03 -8.44700292e-05 -9.99959727e-01 -4.02436902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters 0.013761387353557268 Centerline is valid? [True, True] Translation: X:186.10, Y:-136.99, Z:-4.02 [[-9.98270414e-01 5.78733887e-02 1.03368899e-02 1.86101834e+02] [ 5.78689982e-02 9.98323923e-01 -7.23592199e-04 -1.36991094e+02] [-1.03614412e-02 -1.24155220e-04 -9.99946311e-01 -4.02297881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters 0.014148424560719297 Centerline is valid? [True, True] Translation: X:186.15, Y:-136.34, Z:-5.02 [[-9.88377280e-01 -1.51561435e-01 1.18103232e-02 1.86145991e+02] [ 1.51553592e-01 -9.88447809e-01 -1.56145716e-03 -1.36340586e+02] [ 1.19105448e-02 2.46588125e-04 9.99929037e-01 -5.01850477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters 0.014530613382220687 Centerline is valid? [True, True] Translation: X:186.04, Y:-136.99, Z:-4.02 [[-9.98733415e-01 4.91332949e-02 1.08390414e-02 1.86041987e+02] [ 4.91284165e-02 9.98792214e-01 -7.16034384e-04 -1.36986212e+02] [-1.08611313e-02 -1.82622525e-04 -9.99941000e-01 -4.02387652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters 0.015032344640639014 Centerline is valid? [True, True] Translation: X:186.04, Y:-136.96, Z:-4.02 [[-9.99709991e-01 -2.21365581e-02 9.48191250e-03 1.86038703e+02] [-2.21370977e-02 9.99754943e-01 4.80515375e-05 -1.36957909e+02] [-9.48065259e-03 -1.61864421e-04 -9.99955045e-01 -4.02434316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters 0.014340734977338397 Centerline is valid? [True, True] Translation: X:186.04, Y:-136.93, Z:-4.03 [[-9.95737025e-01 -9.19277153e-02 7.55459342e-03 1.86036886e+02] [-9.19259851e-02 9.95765676e-01 5.76675142e-04 -1.36934105e+02] [-7.57561725e-03 -1.20246653e-04 -9.99971297e-01 -4.02703379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters 0.013712178342095068 Centerline is valid? [True, True] Translation: X:186.03, Y:-136.91, Z:-4.03 [[-9.87058566e-01 -1.60218301e-01 6.74421836e-03 1.86030833e+02] [-1.60215198e-01 9.87081601e-01 1.00125809e-03 -1.36909524e+02] [-6.81751373e-03 -9.22259056e-05 -9.99976756e-01 -4.02751513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters 0.013124046646490127 Centerline is valid? [True, True] Translation: X:186.02, Y:-136.89, Z:-4.03 [[-9.73739241e-01 -2.27562533e-01 6.86904673e-03 1.86017915e+02] [-2.27557426e-01 9.73763466e-01 1.52639187e-03 -1.36885704e+02] [-7.03617635e-03 -7.67949307e-05 -9.99975243e-01 -4.02695017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters 0.012740968628668033 Centerline is valid? [True, True] Translation: X:186.00, Y:-136.86, Z:-4.02 [[-9.55873049e-01 -2.93662960e-01 8.29343627e-03 1.86002165e+02] [-2.93652502e-01 9.55909024e-01 2.47919146e-03 -1.36863533e+02] [-8.65581727e-03 -6.55960130e-05 -9.99962536e-01 -4.02499173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters 0.012556685637267879 Centerline is valid? [True, True] Translation: X:185.97, Y:-136.85, Z:-4.02 [[-9.32907682e-01 -3.59999931e-01 9.12723632e-03 1.85972950e+02] [-3.59983297e-01 9.32952328e-01 3.46115984e-03 -1.36846281e+02] [-9.76129368e-03 -5.67100171e-05 -9.99952356e-01 -4.02457378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters 0.012412433826752011 Centerline is valid? [True, True] Translation: X:185.92, Y:-136.84, Z:-4.02 [[-9.04846910e-01 -4.25617345e-01 1.00967507e-02 1.85921599e+02] [-4.25591439e-01 9.04903240e-01 4.69617497e-03 -1.36838575e+02] [-1.11353560e-02 -4.77712566e-05 -9.99937999e-01 -4.02404752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters 0.012415214360604002 Centerline is valid? [True, True] Translation: X:185.86, Y:-136.84, Z:-4.02 [[-8.71629563e-01 -4.90052868e-01 1.04924152e-02 1.85860457e+02] [-4.90017889e-01 8.71692712e-01 5.85520554e-03 -1.36838974e+02] [-1.20155221e-02 -3.79008961e-05 -9.99927810e-01 -4.02340071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters 0.012315225072020167 Centerline is valid? [True, True] Translation: X:185.79, Y:-136.85, Z:-4.02 [[-8.33963167e-01 -5.51739889e-01 9.40904071e-03 1.85791256e+02] [-5.51704974e-01 8.34016244e-01 6.20701737e-03 -1.36851214e+02] [-1.12719519e-02 -1.45906932e-05 -9.99936469e-01 -4.02395557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters 0.012229608249121934 Centerline is valid? [True, True] Translation: X:185.72, Y:-136.87, Z:-4.03 [[-7.91222991e-01 -6.11477103e-01 7.86963599e-03 1.85717066e+02] [-6.11446883e-01 7.91262126e-01 6.07919858e-03 -1.36872272e+02] [-9.94423565e-03 -1.86271472e-06 -9.99950555e-01 -4.02569989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters 0.012261043177239295 Centerline is valid? [True, True] Translation: X:185.64, Y:-136.90, Z:-4.03 [[-7.43251334e-01 -6.68977643e-01 6.80936313e-03 1.85635953e+02] [-6.68949596e-01 7.43282526e-01 6.12571361e-03 -1.36904424e+02] [-9.15924608e-03 -2.17589718e-06 -9.99958053e-01 -4.02741576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters 0.01235909625078316 Centerline is valid? [True, True] Translation: X:185.55, Y:-136.94, Z:-4.03 [[-6.89569310e-01 -7.24183863e-01 7.20407755e-03 1.85554785e+02] [-7.24144700e-01 6.89606940e-01 7.53140912e-03 -1.36942697e+02] [-1.04221068e-02 -2.33659903e-05 -9.99945688e-01 -4.02672586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters 0.012287686889791144 Centerline is valid? [True, True] Translation: X:185.47, Y:-137.00, Z:-4.03 [[-6.31733192e-01 -7.75155370e-01 6.87946506e-03 1.85470116e+02] [-7.75110134e-01 6.31770647e-01 8.37433318e-03 -1.36995295e+02] [-1.08376534e-02 -4.19988596e-05 -9.99941270e-01 -4.02730481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters 0.012304976559079904 Centerline is valid? [True, True] Translation: X:185.39, Y:-137.05, Z:-4.03 [[-5.70578296e-01 -8.21222653e-01 5.81050945e-03 1.85390291e+02] [-8.21180928e-01 5.70607879e-01 8.27845198e-03 -1.37053934e+02] [-1.01139748e-02 -4.79745260e-05 -9.99948851e-01 -4.02783506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters 0.01224537893604071 Centerline is valid? [True, True] Translation: X:185.31, Y:-137.13, Z:-4.03 [[-5.07236487e-01 -8.61795258e-01 4.48112760e-03 1.85312095e+02] [-8.61762250e-01 5.07256279e-01 7.54271103e-03 -1.37125959e+02] [-8.77335270e-03 -3.57283577e-05 -9.99961513e-01 -4.02937094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters 0.012278730261552248 Centerline is valid? [True, True] Translation: X:185.24, Y:-137.21, Z:-4.03 [[-4.39864800e-01 -8.98057293e-01 3.47224321e-03 1.85237570e+02] [-8.98029945e-01 4.39878503e-01 7.00863538e-03 -1.37207111e+02] [-7.82152126e-03 -3.53263780e-05 -9.99969411e-01 -4.03053149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters 0.012459151199689393 Centerline is valid? [True, True] Translation: X:185.17, Y:-137.29, Z:-4.03 [[-3.68945928e-01 -9.29445874e-01 3.04452350e-03 1.85168704e+02] [-9.29415280e-01 3.68958486e-01 7.54138647e-03 -1.37292012e+02] [-8.13261333e-03 -4.72628284e-05 -9.99966929e-01 -4.03054570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters 0.012784624083569403 Centerline is valid? [True, True] Translation: X:185.10, Y:-137.39, Z:-4.03 [[-2.93129086e-01 -9.56068491e-01 2.89454085e-03 1.85100840e+02] [-9.56025001e-01 2.93143362e-01 9.11961363e-03 -1.37391337e+02] [-9.56749068e-03 -9.40294056e-05 -9.99954226e-01 -4.02954339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters 0.013293198519191042 Centerline is valid? [True, True] Translation: X:185.04, Y:-137.48, Z:-4.03 [[-2.16615182e-01 -9.76254094e-01 2.40999465e-03 1.85044748e+02] [-9.76200233e-01 2.16628548e-01 1.02556378e-02 -1.37484115e+02] [-1.05341820e-02 -1.31110503e-04 -9.99944505e-01 -4.02790768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters 0.013649863306413169 Centerline is valid? [True, True] Translation: X:185.00, Y:-137.59, Z:-4.03 [[-1.38379485e-01 -9.90377568e-01 1.84148039e-03 1.84996487e+02] [-9.90307012e-01 1.38391610e-01 1.18230466e-02 -1.37585997e+02] [-1.19641256e-02 -1.87563849e-04 -9.99928410e-01 -4.02765440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters 0.014139231366257573 Centerline is valid? [True, True] Translation: X:184.96, Y:-137.70, Z:-4.03 [[-6.01788992e-02 -9.98187212e-01 8.89222643e-04 1.84955585e+02] [-9.98122225e-01 6.01851296e-02 1.13918540e-02 -1.37695754e+02] [-1.14247210e-02 -2.02003646e-04 -9.99934715e-01 -4.02851591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters 0.014594121669523667 Centerline is valid? [True, True] Translation: X:184.92, Y:-137.81, Z:-4.03 [[ 1.71505372e-02 -9.99852919e-01 1.07987565e-05 1.84924670e+02] [-9.99817255e-01 -1.71498342e-02 8.44630440e-03 -1.37808254e+02] [-8.44487691e-03 -1.55655441e-04 -9.99964329e-01 -4.03041474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters 0.014476440851009536 Centerline is valid? [True, True] Translation: X:184.90, Y:-137.91, Z:-4.03 [[ 9.30482017e-02 -9.95661447e-01 -5.61190768e-04 1.84902959e+02] [-9.95633513e-01 -9.30497956e-02 7.45940502e-03 -1.37914336e+02] [-7.47926069e-03 -1.35343887e-04 -9.99972021e-01 -4.03132237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters 0.01419653194236944 Centerline is valid? [True, True] Translation: X:184.89, Y:-138.03, Z:-4.03 [[ 1.68733146e-01 -9.85661272e-01 -9.90608090e-04 1.84891877e+02] [-9.85640008e-01 -1.68736014e-01 6.47544111e-03 -1.38032381e+02] [-6.54974278e-03 -1.16238586e-04 -9.99978543e-01 -4.03106467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters 0.014800128461263901 Centerline is valid? [True, True] Translation: X:184.89, Y:-138.15, Z:-4.03 [[ 2.46088880e-01 -9.69245587e-01 -1.80409929e-03 1.84886640e+02] [-9.69214508e-01 -2.46095439e-01 7.76351690e-03 -1.38147221e+02] [-7.96873510e-03 -1.61955970e-04 -9.99968236e-01 -4.02950659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters 0.015965936844592694 Centerline is valid? [True, True] Translation: X:184.89, Y:-138.27, Z:-4.03 [[ 3.22669636e-01 -9.46507406e-01 -2.83484307e-03 1.84889739e+02] [-9.46464609e-01 -3.22682012e-01 9.00345828e-03 -1.38265071e+02] [-9.43659280e-03 -2.22063965e-04 -9.99955450e-01 -4.02825185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters 0.01772045218480968 Centerline is valid? [True, True] Translation: X:184.90, Y:-138.39, Z:-4.03 [[ 3.97819849e-01 -9.17454892e-01 -3.98598567e-03 1.84902791e+02] [-9.17401191e-01 -3.97839709e-01 9.93081569e-03 -1.38385635e+02] [-1.06968588e-02 -2.93927597e-04 -9.99942744e-01 -4.02613049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters 0.016869527428392973 Centerline is valid? [True, True] Translation: X:184.93, Y:-138.49, Z:-4.03 [[ 4.65988655e-01 -8.84779707e-01 -4.40954814e-03 1.84928039e+02] [-8.84734615e-01 -4.66009443e-01 8.93642611e-03 -1.38494900e+02] [-9.96165955e-03 -2.62993309e-04 -9.99950347e-01 -4.02645627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters 0.015230804285127852 Centerline is valid? [True, True] Translation: X:184.97, Y:-138.60, Z:-4.03 [[ 5.26640499e-01 -8.50077775e-01 -4.19077410e-03 1.84965021e+02] [-8.50048386e-01 -5.26657148e-01 7.07039612e-03 -1.38599671e+02] [-8.21748773e-03 -1.61196182e-04 -9.99966223e-01 -4.02801431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters 0.013753896147897047 Centerline is valid? [True, True] Translation: X:185.01, Y:-138.70, Z:-4.03 [[ 5.85168208e-01 -8.10901901e-01 -4.03440878e-03 1.85005488e+02] [-8.10881507e-01 -5.85182107e-01 5.75176705e-03 -1.38697053e+02] [-7.02498266e-03 -9.43237384e-05 -9.99975320e-01 -4.02951183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters 0.012686966767521096 Centerline is valid? [True, True] Translation: X:185.05, Y:-138.79, Z:-4.03 [[ 6.39557107e-01 -7.68729860e-01 -4.59453190e-03 1.85054260e+02] [-7.68709562e-01 -6.39573608e-01 5.58648711e-03 -1.38789942e+02] [-7.23304080e-03 -4.10169277e-05 -9.99973840e-01 -4.02975043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters 0.012661822017462946 Centerline is valid? [True, True] Translation: X:185.11, Y:-138.89, Z:-4.03 [[ 6.93227914e-01 -7.20689913e-01 -6.41162288e-03 1.85111022e+02] [-7.20658931e-01 -6.93257564e-01 6.68247659e-03 -1.38885061e+02] [-9.26089953e-03 -1.18860194e-05 -9.99957117e-01 -4.02806841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters 0.01273649363991394 Centerline is valid? [True, True] Translation: X:185.17, Y:-138.97, Z:-4.03 [[ 7.45148851e-01 -6.66853627e-01 -7.70900359e-03 1.85166493e+02] [-6.66817962e-01 -7.45188728e-01 6.89677802e-03 -1.38972695e+02] [-1.03438040e-02 1.37584731e-06 -9.99946501e-01 -4.02676674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters 0.012827038977743031 Centerline is valid? [True, True] Translation: X:185.19, Y:-138.99, Z:-4.03 [[ 7.94551851e-01 -6.07141637e-01 -8.14792806e-03 1.85190096e+02] [-6.07109830e-01 -7.94593627e-01 6.21469617e-03 -1.38992109e+02] [-1.02474925e-02 8.78887469e-06 -9.99947493e-01 -4.02632661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters 0.012771494670360234 Centerline is valid? [True, True] Translation: X:185.22, Y:-139.01, Z:-4.03 [[ 8.40022786e-01 -5.42490415e-01 -8.11595082e-03 1.85215839e+02] [-5.42465105e-01 -8.40061992e-01 5.24020965e-03 -1.39009457e+02] [-9.66066531e-03 7.24603395e-07 -9.99953335e-01 -4.02710990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters 0.012608886493039978 Centerline is valid? [True, True] Translation: X:185.24, Y:-139.03, Z:-4.03 [[ 8.80096650e-01 -4.74719601e-01 -8.43729108e-03 1.85238485e+02] [-4.74697741e-01 -8.80137092e-01 4.55568982e-03 -1.39032724e+02] [-9.58864809e-03 -4.28433161e-06 -9.99954028e-01 -4.02842070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters 0.0126272264519634 Centerline is valid? [True, True] Translation: X:185.26, Y:-139.05, Z:-4.03 [[ 9.15263804e-01 -4.02734500e-01 -9.85352496e-03 1.85263411e+02] [-4.02710870e-01 -9.15316842e-01 4.36273052e-03 -1.39054536e+02] [-1.07761194e-02 -2.49277274e-05 -9.99941936e-01 -4.02683994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters 0.012845061992509942 Centerline is valid? [True, True] Translation: X:185.29, Y:-139.07, Z:-4.02 [[ 9.44694999e-01 -3.27770581e-01 -1.08538335e-02 1.85289252e+02] [-3.27748299e-01 -9.44757346e-01 3.82216592e-03 -1.39073315e+02] [-1.15070325e-02 -5.34555690e-05 -9.99933791e-01 -4.02493414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters 0.012763990588738887 Centerline is valid? [True, True] Translation: X:185.32, Y:-139.09, Z:-4.03 [[ 9.67791466e-01 -2.51535469e-01 -1.04683754e-02 1.85316971e+02] [-2.51520020e-01 -9.67848079e-01 2.78848610e-03 -1.39091102e+02] [-1.08332002e-02 -6.56670551e-05 -9.99941317e-01 -4.02637525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters 0.012681325721982911 Centerline is valid? [True, True] Translation: X:185.35, Y:-139.11, Z:-4.03 [[ 9.84532096e-01 -1.74926943e-01 -9.85474939e-03 1.85346713e+02] [-1.74917545e-01 -9.84581414e-01 1.81431993e-03 -1.39105369e+02] [-1.00201765e-02 -6.24876343e-05 -9.99949795e-01 -4.02697401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters 0.012481795111210593 Centerline is valid? [True, True] Translation: X:185.37, Y:-139.12, Z:-4.03 [[ 9.95110952e-01 -9.83169770e-02 -9.37894414e-03 1.85373671e+02] [-9.83121412e-02 -9.95155149e-01 9.76372207e-04 -1.39117356e+02] [-9.42949851e-03 -4.95345966e-05 -9.99955540e-01 -4.02772764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters 0.012427991228846334 Centerline is valid? [True, True] Translation: X:185.40, Y:-139.13, Z:-4.03 [[ 9.99736677e-01 -2.05803656e-02 -1.01500908e-02 1.85401677e+02] [-2.05788123e-02 -9.99788201e-01 2.57466221e-04 -1.39128061e+02] [-1.01532398e-02 -4.85216109e-05 -9.99948453e-01 -4.02693396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters 0.012403416760531642 Centerline is valid? [True, True] Translation: X:185.43, Y:-139.14, Z:-4.03 [[ 9.98273243e-01 5.78348818e-02 -1.02790300e-02 1.85430616e+02] [ 5.78323300e-02 -9.98326161e-01 -5.45567206e-04 -1.39136548e+02] [-1.02933774e-02 -4.98351138e-05 -9.99947021e-01 -4.02634368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters 0.012489187855566044 Centerline is valid? [True, True] Translation: X:185.46, Y:-139.14, Z:-4.03 [[ 9.90589239e-01 1.36483612e-01 -1.02558770e-02 1.85458620e+02] [ 1.36476892e-01 -9.90642327e-01 -1.35561060e-03 -1.39141590e+02] [-1.03449245e-02 -5.68369473e-05 -9.99946488e-01 -4.02581303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters 0.01265535231523688 Centerline is valid? [True, True] Translation: X:185.49, Y:-139.14, Z:-4.02 [[ 9.76641082e-01 2.14574533e-01 -1.14003288e-02 1.85487976e+02] [ 2.14560813e-01 -9.76707614e-01 -2.42761639e-03 -1.39144424e+02] [-1.16556926e-02 -7.51539313e-05 -9.99932067e-01 -4.02494818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters 0.012762471161874848 Centerline is valid? [True, True] Translation: X:185.52, Y:-139.15, Z:-4.02 [[ 9.56677650e-01 2.90900923e-01 -1.20219230e-02 1.85518403e+02] [ 2.90879107e-01 -9.56753179e-01 -3.56366880e-03 -1.39145361e+02] [-1.25386875e-02 -8.76439153e-05 -9.99921384e-01 -4.02420057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters 0.012630081369669435 Centerline is valid? [True, True] Translation: X:185.55, Y:-139.14, Z:-4.02 [[ 9.31080790e-01 3.64636389e-01 -1.13519564e-02 1.85548663e+02] [ 3.64610356e-01 -9.31149986e-01 -4.35788879e-03 -1.39144409e+02] [-1.21594189e-02 -8.14943127e-05 -9.99926068e-01 -4.02473146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters 0.012634417776348814 Centerline is valid? [True, True] Translation: X:185.58, Y:-139.14, Z:-4.02 [[ 8.99839226e-01 4.36085645e-01 -1.08939657e-02 1.85577854e+02] [ 4.36054719e-01 -8.99905164e-01 -5.19401508e-03 -1.39140184e+02] [-1.20685714e-02 -7.65866372e-05 -9.99927169e-01 -4.02431670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters 0.012535962957539571 Centerline is valid? [True, True] Translation: X:185.61, Y:-139.13, Z:-4.03 [[ 8.63355720e-01 5.04495866e-01 -1.00410275e-02 1.85607100e+02] [ 5.04462615e-01 -8.63414105e-01 -5.79252836e-03 -1.39134698e+02] [-1.15918714e-02 -6.43104996e-05 -9.99932810e-01 -4.02575496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters 0.012526577703506939 Centerline is valid? [True, True] Translation: X:185.64, Y:-139.13, Z:-4.03 [[ 8.21689052e-01 5.69858434e-01 -9.40571751e-03 1.85636140e+02] [ 5.69821859e-01 -8.21742881e-01 -6.45648807e-03 -1.39125764e+02] [-1.14083656e-02 -5.43578860e-05 -9.99934921e-01 -4.02627617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters 0.012539906097548792 Centerline is valid? [True, True] Translation: X:185.66, Y:-139.12, Z:-4.03 [[ 7.74900517e-01 6.32029135e-01 -8.26808670e-03 1.85664927e+02] [ 6.31993780e-01 -7.74944624e-01 -6.68514340e-03 -1.39115785e+02] [-1.06325147e-02 -4.50582891e-05 -9.99943472e-01 -4.02652390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters 0.012514322377827078 Centerline is valid? [True, True] Translation: X:185.69, Y:-139.10, Z:-4.03 [[ 7.22438726e-01 6.91386387e-01 -8.19456952e-03 1.85691792e+02] [ 6.91342816e-01 -7.22485197e-01 -7.76211773e-03 -1.39104248e+02] [-1.12870777e-02 -5.76023317e-05 -9.99936297e-01 -4.02520839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters 0.012423405271531978 Centerline is valid? [True, True] Translation: X:185.72, Y:-139.09, Z:-4.03 [[ 6.66015948e-01 7.45899517e-01 -7.52772676e-03 1.85717922e+02] [ 7.45852860e-01 -6.66058486e-01 -8.34294595e-03 -1.39090116e+02] [-1.12369057e-02 -5.80414736e-05 -9.99936862e-01 -4.02619751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters 0.01237312122232528 Centerline is valid? [True, True] Translation: X:185.74, Y:-139.07, Z:-4.03 [[ 6.06707138e-01 7.94896162e-01 -6.82207846e-03 1.85742054e+02] [ 7.94846686e-01 -6.06745491e-01 -8.86874634e-03 -1.39072609e+02] [-1.11889978e-02 -4.17747447e-05 -9.99937400e-01 -4.02600533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters 0.012322582187519254 Centerline is valid? [True, True] Translation: X:185.76, Y:-139.05, Z:-4.03 [[ 5.44376126e-01 8.38820542e-01 -5.89334273e-03 1.85763847e+02] [ 8.38771744e-01 -5.44408025e-01 -9.04788156e-03 -1.39053442e+02] [-1.07979320e-02 -1.77186514e-05 -9.99941701e-01 -4.02667590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters 0.012290087595181732 Centerline is valid? [True, True] Translation: X:185.78, Y:-139.03, Z:-4.03 [[ 4.79258938e-01 8.77660594e-01 -4.76997457e-03 1.85781898e+02] [ 8.77616934e-01 -4.79282674e-01 -8.75420602e-03 -1.39032551e+02] [-9.96938782e-03 9.32102205e-06 -9.99950304e-01 -4.02725707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters 0.01225119089284664 Centerline is valid? [True, True] Translation: X:185.80, Y:-139.01, Z:-4.03 [[ 4.10316320e-01 9.11935066e-01 -3.86685343e-03 1.85801264e+02] [ 9.11894065e-01 -4.10334540e-01 -8.64748491e-03 -1.39011112e+02] [-9.47264824e-03 2.20434971e-05 -9.99955133e-01 -4.02835945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters 0.012334182281584383 Centerline is valid? [True, True] Translation: X:185.82, Y:-138.99, Z:-4.03 [[ 3.39080583e-01 9.40751141e-01 -3.41315364e-03 1.85821441e+02] [ 9.40702320e-01 -3.39097759e-01 -9.58414136e-03 -1.38989304e+02] [-1.01736847e-02 3.90346943e-05 -9.99948246e-01 -4.02824423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters 0.012424932414141521 Centerline is valid? [True, True] Translation: X:185.84, Y:-138.97, Z:-4.03 [[ 2.65262157e-01 9.64172272e-01 -2.79619884e-03 1.85837220e+02] [ 9.64116640e-01 -2.65276890e-01 -1.03573993e-02 -1.38966742e+02] [-1.07280842e-02 5.15642552e-05 -9.99942451e-01 -4.02764670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters 0.01249530684314616 Centerline is valid? [True, True] Translation: X:185.85, Y:-138.94, Z:-4.03 [[ 1.88795350e-01 9.82014454e-01 -1.98177961e-03 1.85851162e+02] [ 9.81957521e-01 -1.88805744e-01 -1.05744351e-02 -1.38941369e+02] [-1.07584195e-02 5.03807802e-05 -9.99942125e-01 -4.02759138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters 0.01244184465286511 Centerline is valid? [True, True] Translation: X:185.86, Y:-138.92, Z:-4.03 [[ 1.10662641e-01 9.93857365e-01 -1.14811615e-03 1.85864593e+02] [ 9.93799756e-01 -1.10668588e-01 -1.07008566e-02 -1.38915584e+02] [-1.07621855e-02 4.31875005e-05 -9.99942085e-01 -4.02781711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters 0.012154211316237066 Centerline is valid? [True, True] Translation: X:185.88, Y:-138.89, Z:-4.03 [[ 3.02035553e-02 9.99543729e-01 -2.80598933e-04 1.85877408e+02] [ 9.99495220e-01 -3.02048539e-02 -9.84744874e-03 -1.38889012e+02] [-9.85143109e-03 1.69706702e-05 -9.99951473e-01 -4.02799310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters 0.012166496479079818 Centerline is valid? [True, True] Translation: X:185.89, Y:-138.86, Z:-4.03 [[-4.98013438e-02 9.98759010e-01 5.15915296e-04 1.85886775e+02] [ 9.98705614e-01 4.98040161e-02 -1.03275060e-02 -1.38861050e+02] [-1.03403843e-02 9.23826781e-07 -9.99946537e-01 -4.02808705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters 0.012218787333725903 Centerline is valid? [True, True] Translation: X:185.89, Y:-138.83, Z:-4.03 [[-1.29355442e-01 9.91597419e-01 1.31440933e-03 1.85893159e+02] [ 9.91545105e-01 1.29362120e-01 -1.01855810e-02 -1.38833897e+02] [-1.02700306e-02 -1.42642035e-05 -9.99947262e-01 -4.02664248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters 0.012174128522487691 Centerline is valid? [True, True] Translation: X:185.90, Y:-138.81, Z:-4.03 [[-2.06744522e-01 9.78392791e-01 2.06115377e-03 1.85896307e+02] [ 9.78343433e-01 2.06754795e-01 -9.82758429e-03 -1.38805508e+02] [-1.00413911e-02 -1.52829578e-05 -9.99949584e-01 -4.02786319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters 0.012101635538192664 Centerline is valid? [True, True] Translation: X:185.90, Y:-138.78, Z:-4.03 [[-2.81787696e-01 9.59472926e-01 2.71992269e-03 1.85899946e+02] [ 9.59428055e-01 2.81800823e-01 -9.27922454e-03 -1.38776102e+02] [-9.66964118e-03 -5.20117016e-06 -9.99953248e-01 -4.02898484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters 0.012028853351283153 Centerline is valid? [True, True] Translation: X:185.90, Y:-138.75, Z:-4.03 [[-3.54948411e-01 9.34880146e-01 3.27685443e-03 1.85899494e+02] [ 9.34840466e-01 3.54963536e-01 -8.61340946e-03 -1.38748186e+02] [-9.21566934e-03 6.02012308e-06 -9.99957535e-01 -4.02898227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters 0.012204885306431289 Centerline is valid? [True, True] Translation: X:185.90, Y:-138.72, Z:-4.03 [[-4.26049673e-01 9.04691183e-01 3.94198226e-03 1.85895730e+02] [ 9.04652820e-01 4.26067909e-01 -8.33137191e-03 -1.38719281e+02] [-9.21687085e-03 1.65470925e-05 -9.99957524e-01 -4.02886998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters 0.01221336056772036 Centerline is valid? [True, True] Translation: X:185.89, Y:-138.69, Z:-4.03 [[-4.94126758e-01 8.69379291e-01 4.28889136e-03 1.85888010e+02] [ 8.69347076e-01 4.94145370e-01 -7.48433776e-03 -1.38691740e+02] [-8.62606407e-03 3.03236068e-05 -9.99962794e-01 -4.02991152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters 0.012147428272536342 Centerline is valid? [True, True] Translation: X:185.88, Y:-138.66, Z:-4.03 [[-5.60568437e-01 8.28093347e-01 4.94336526e-03 1.85881178e+02] [ 8.28061658e-01 5.60590232e-01 -7.24444692e-03 -1.38663210e+02] [-8.77028057e-03 3.24029463e-05 -9.99961540e-01 -4.03089029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters 0.01209520175814419 Centerline is valid? [True, True] Translation: X:185.87, Y:-138.63, Z:-4.03 [[-6.25814332e-01 7.79949688e-01 5.90820369e-03 1.85873610e+02] [ 7.79915076e-01 6.25842220e-01 -7.34783232e-03 -1.38634295e+02] [-9.42854284e-03 9.51835401e-06 -9.99955550e-01 -4.02982037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters 0.012068741973309259 Centerline is valid? [True, True] Translation: X:185.86, Y:-138.60, Z:-4.03 [[-6.87391834e-01 7.26254588e-01 6.83663828e-03 1.85864342e+02] [ 7.26218340e-01 6.87425830e-01 -7.25603195e-03 -1.38604639e+02] [-9.96940824e-03 -2.28450001e-05 -9.99950304e-01 -4.02945791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters 0.012152310057591225 Centerline is valid? [True, True] Translation: X:185.85, Y:-138.58, Z:-4.03 [[-7.43364612e-01 6.68842060e-01 7.70408113e-03 1.85850994e+02] [ 6.68805551e-01 7.43404531e-01 -6.98847561e-03 -1.38577012e+02] [-1.04014352e-02 -4.24532347e-05 -9.99945903e-01 -4.02957014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters 0.012082105450841053 Centerline is valid? [True, True] Translation: X:185.87, Y:-138.56, Z:-4.03 [[-7.89038676e-01 6.14285017e-01 8.47857590e-03 1.85869617e+02] [ 6.14248895e-01 7.89084226e-01 -6.66178935e-03 -1.38557209e+02] [-1.07825479e-02 -4.84535735e-05 -9.99941866e-01 -4.02987604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters 0.012102643540540081 Centerline is valid? [True, True] Translation: X:185.89, Y:-138.54, Z:-4.03 [[-8.30009305e-01 5.57678338e-01 8.91204096e-03 1.85890038e+02] [ 5.57645641e-01 8.30057148e-01 -6.03898033e-03 -1.38538991e+02] [-1.07653118e-02 -4.26490672e-05 -9.99942051e-01 -4.03008692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters 0.01201222755511741 Centerline is valid? [True, True] Translation: X:185.91, Y:-138.52, Z:-4.03 [[-8.66950949e-01 4.98328129e-01 8.07023386e-03 1.85906912e+02] [ 4.98306236e-01 8.66988509e-01 -4.67124326e-03 -1.38518758e+02] [-9.32461194e-03 -2.82909156e-05 -9.99956525e-01 -4.03156369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters 0.011955231517002262 Centerline is valid? [True, True] Translation: X:185.92, Y:-138.50, Z:-4.03 [[-8.99922704e-01 4.35994762e-01 6.90613627e-03 1.85920089e+02] [ 4.35981747e-01 8.99949203e-01 -3.36887052e-03 -1.38495201e+02] [-7.68398173e-03 -2.07737132e-05 -9.99970478e-01 -4.03297313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters 0.01205386867423104 Centerline is valid? [True, True] Translation: X:185.92, Y:-138.47, Z:-4.03 [[-9.28501073e-01 3.71265935e-01 6.88205797e-03 1.85924633e+02] [ 3.71255585e-01 9.28526578e-01 -2.77228477e-03 -1.38467529e+02] [-7.41942863e-03 -1.90669311e-05 -9.99972476e-01 -4.03303834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters 0.012071089332381818 Centerline is valid? [True, True] Translation: X:186.19, Y:-137.83, Z:-5.01 [[-8.99049437e-01 -4.37779755e-01 7.68089520e-03 1.86190196e+02] [ 4.37764617e-01 -8.99082242e-01 -3.64163854e-03 -1.37831460e+02] [ 8.49999211e-03 8.84110643e-05 9.99963871e-01 -5.00925103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters 0.01215926787127409 Centerline is valid? [True, True] Translation: X:185.88, Y:-138.45, Z:-4.03 [[-9.30245699e-01 3.66817125e-01 9.38806316e-03 1.85881006e+02] [ 3.66798036e-01 9.30293070e-01 -3.74231601e-03 -1.38449530e+02] [-1.01063957e-02 -3.77502453e-05 -9.99948928e-01 -4.03071352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters 0.01249463417707514 Centerline is valid? [True, True] Translation: X:186.15, Y:-137.82, Z:-5.01 [[-8.99057435e-01 -4.37733741e-01 9.21410729e-03 1.86147754e+02] [ 4.37711277e-01 -8.99104649e-01 -4.43492752e-03 -1.37819273e+02] [ 1.02257641e-02 4.58641010e-05 9.99947714e-01 -5.01122174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters 0.012654209556665475 Centerline is valid? [True, True] Translation: X:185.85, Y:-138.43, Z:-4.03 [[-9.33326369e-01 3.58889297e-01 1.00180761e-02 1.85846845e+02] [ 3.58867558e-01 9.33380129e-01 -3.95115040e-03 -1.38432571e+02] [-1.07686987e-02 -9.25503575e-05 -9.99942012e-01 -4.03005884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters 0.013074438123476473 Centerline is valid? [True, True] Translation: X:185.85, Y:-138.40, Z:-4.03 [[-9.57474989e-01 2.88323069e-01 1.05571389e-02 1.85853028e+02] [ 2.88303970e-01 9.57533179e-01 -3.32134162e-03 -1.38403570e+02] [-1.10664301e-02 -1.36436486e-04 -9.99938756e-01 -4.02990049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters 0.01395686003965974 Centerline is valid? [True, True] Translation: X:185.86, Y:-138.37, Z:-4.03 [[-9.76265148e-01 2.16335317e-01 1.02660070e-02 1.85856518e+02] [ 2.16321555e-01 9.76319109e-01 -2.44583024e-03 -1.38373426e+02] [-1.05520183e-02 -1.67020221e-04 -9.99944312e-01 -4.03020107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters 0.013994929009288037 Centerline is valid? [True, True] Translation: X:186.02, Y:-137.73, Z:-5.01 [[-9.49575178e-01 -3.13392528e-01 9.59708933e-03 1.86016392e+02] [ 3.13377881e-01 -9.49623666e-01 -3.03254803e-03 -1.37725802e+02] [ 1.00640010e-02 1.27883182e-04 9.99949349e-01 -5.00976873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters 0.014513846598317991 Centerline is valid? [True, True] Translation: X:185.81, Y:-138.36, Z:-4.03 [[-9.77733393e-01 2.09700428e-01 7.94620692e-03 1.85813707e+02] [ 2.09692224e-01 9.77765671e-01 -1.86132164e-03 -1.38361567e+02] [-8.15984828e-03 -1.53618527e-04 -9.99966696e-01 -4.03238405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters 0.014296780773688537 Centerline is valid? [True, True] Translation: X:185.97, Y:-137.72, Z:-5.01 [[-9.50830529e-01 -3.09627862e-01 7.20368652e-03 1.85968792e+02] [ 3.09619805e-01 -9.50857811e-01 -2.23616457e-03 -1.37716581e+02] [ 7.54206045e-03 1.04190479e-04 9.99971553e-01 -5.00867763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters 0.013354720395354493 Centerline is valid? [True, True] Translation: X:185.77, Y:-138.36, Z:-4.03 [[-9.77320603e-01 2.11590787e-01 8.58935430e-03 1.85767398e+02] [ 2.11581577e-01 9.77358340e-01 -1.97763239e-03 -1.38355948e+02] [-8.81332586e-03 -1.15431751e-04 -9.99961155e-01 -4.03150295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters 0.012812417421428185 Centerline is valid? [True, True] Translation: X:185.78, Y:-138.33, Z:-4.03 [[-9.89296264e-01 1.45622828e-01 9.32174423e-03 1.85777188e+02] [ 1.45615536e-01 9.89340176e-01 -1.45986608e-03 -1.38333956e+02] [-9.43496591e-03 -8.68492750e-05 -9.99955486e-01 -4.03114583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters 0.012362018859587733 Centerline is valid? [True, True] Translation: X:185.89, Y:-137.66, Z:-5.01 [[-9.74507306e-01 -2.24181816e-01 8.83312756e-03 1.85886379e+02] [ 2.24173175e-01 -9.74547336e-01 -1.96923194e-03 -1.37659216e+02] [ 9.04976692e-03 6.11193399e-05 9.99959048e-01 -5.00930316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters 0.012492227422598262 Centerline is valid? [True, True] Translation: X:185.73, Y:-138.34, Z:-4.03 [[-9.88338319e-01 1.52021651e-01 8.76274881e-03 1.85732328e+02] [ 1.52015776e-01 9.88377164e-01 -1.33651601e-03 -1.38337781e+02] [-8.86408018e-03 1.11460740e-05 -9.99960713e-01 -4.03137784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters 0.012591721204471159 Centerline is valid? [True, True] Translation: X:185.73, Y:-138.31, Z:-4.03 [[-9.96416427e-01 8.41072389e-02 8.95966634e-03 1.85731900e+02] [ 8.41041539e-02 9.96456708e-01 -7.21215095e-04 -1.38314451e+02] [-8.98857904e-03 3.49145889e-05 -9.99959601e-01 -4.03120761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters 0.0126809678252136 Centerline is valid? [True, True] Translation: X:185.73, Y:-138.29, Z:-4.03 [[-9.99875601e-01 1.29045284e-02 9.06952174e-03 1.85731728e+02] [ 1.29042981e-02 9.99916733e-01 -8.39160991e-05 -1.38288627e+02] [-9.06984945e-03 3.31301521e-05 -9.99958868e-01 -4.03068778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters 0.012602582624751307 Centerline is valid? [True, True] Translation: X:185.74, Y:-137.58, Z:-5.01 [[-9.97097089e-01 -7.55914862e-02 9.12808999e-03 1.85739074e+02] [ 7.55880653e-02 -9.97138870e-01 -7.19670024e-04 -1.37581899e+02] [ 9.15637426e-03 -2.76062243e-05 9.99958079e-01 -5.01101109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters 0.012592749231166527 Centerline is valid? [True, True] Translation: X:185.66, Y:-138.28, Z:-4.03 [[-9.99958282e-01 1.56820107e-03 8.99860815e-03 1.85664379e+02] [ 1.56788433e-03 9.99998770e-01 -4.22522236e-05 -1.38284347e+02] [-8.99866334e-03 -2.81416842e-05 -9.99959511e-01 -4.03120391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters 0.01283936809035302 Centerline is valid? [True, True] Translation: X:185.66, Y:-138.26, Z:-4.03 [[-9.97360005e-01 -7.21140040e-02 8.51997321e-03 1.85659849e+02] [-7.21117948e-02 9.97396395e-01 5.66618086e-04 -1.38255815e+02] [-8.53865166e-03 -4.92683423e-05 -9.99963544e-01 -4.03090590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters 0.013161731584777545 Centerline is valid? [True, True] Translation: X:185.62, Y:-137.56, Z:-5.01 [[-9.99942244e-01 -7.41502527e-03 7.77985521e-03 1.85616526e+02] [ 7.41475875e-03 -9.99972508e-01 -6.31003777e-05 -1.37561212e+02] [ 7.78010922e-03 -5.41098369e-06 9.99969735e-01 -5.01075184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters 0.01292453373047732 Centerline is valid? [True, True] Translation: X:185.59, Y:-138.26, Z:-4.03 [[-9.97016262e-01 -7.68558569e-02 7.19385099e-03 1.85586505e+02] [-7.68541412e-02 9.97042214e-01 5.15039759e-04 -1.38260738e+02] [-7.21215694e-03 -3.93742248e-05 -9.99973991e-01 -4.03161222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters 0.01282097609475647 Centerline is valid? [True, True] Translation: X:185.58, Y:-138.24, Z:-4.03 [[-9.89163405e-01 -1.46677548e-01 6.43851375e-03 1.85577937e+02] [-1.46674637e-01 9.89184359e-01 9.24588160e-04 -1.38235536e+02] [-6.50449342e-03 -2.97978926e-05 -9.99978845e-01 -4.03242689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters 0.012795744565113462 Centerline is valid? [True, True] Translation: X:185.57, Y:-138.21, Z:-4.03 [[-9.76230088e-01 -2.16648745e-01 6.17548814e-03 1.85567475e+02] [-2.16644592e-01 9.76249620e-01 1.34171957e-03 -1.38209842e+02] [-6.31949981e-03 -2.80590972e-05 -9.99980031e-01 -4.03240163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters 0.012952474302840638 Centerline is valid? [True, True] Translation: X:185.55, Y:-138.19, Z:-4.03 [[-9.57908618e-01 -2.86994276e-01 6.73533825e-03 1.85549142e+02] [-2.86987469e-01 9.57932296e-01 1.97703263e-03 -1.38186038e+02] [-7.01939509e-03 -3.91410803e-05 -9.99975363e-01 -4.03152170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters 0.013102889101974702 Centerline is valid? [True, True] Translation: X:185.52, Y:-138.17, Z:-4.03 [[-9.34239761e-01 -3.56534517e-01 8.89981925e-03 1.85518300e+02] [-3.56519025e-01 9.34282149e-01 3.32438594e-03 -1.38166467e+02] [-9.50020059e-03 -6.71813539e-05 -9.99954870e-01 -4.02935948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters 0.013370679899223196 Centerline is valid? [True, True] Translation: X:185.47, Y:-138.16, Z:-4.03 [[-9.05165265e-01 -4.24943839e-01 9.92860725e-03 1.85465320e+02] [-4.24919440e-01 9.05219711e-01 4.55470235e-03 -1.38157964e+02] [-1.09230637e-02 -9.60998775e-05 -9.99940337e-01 -4.02769665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters 0.0135394725807292 Centerline is valid? [True, True] Translation: X:185.41, Y:-138.16, Z:-4.03 [[-8.70756455e-01 -4.91648410e-01 8.06455148e-03 1.85408979e+02] [-4.91628317e-01 8.70793794e-01 4.44582113e-03 -1.38156529e+02] [-9.20834227e-03 -9.35344229e-05 -9.99957598e-01 -4.02941662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters 0.013531355793733017 Centerline is valid? [True, True] Translation: X:185.34, Y:-138.17, Z:-4.03 [[-8.31624298e-01 -5.55295910e-01 6.89053751e-03 1.85340370e+02] [-5.55277734e-01 8.31652839e-01 4.49371180e-03 -1.38166587e+02] [-8.22587487e-03 -8.90821347e-05 -9.99966163e-01 -4.03131315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters 0.013598630157178626 Centerline is valid? [True, True] Translation: X:185.27, Y:-138.19, Z:-4.03 [[-7.87577825e-01 -6.16190618e-01 5.50382406e-03 1.85266941e+02] [-6.16176273e-01 7.87597052e-01 4.20538022e-03 -1.38187007e+02] [-6.92611144e-03 -7.92615945e-05 -9.99976011e-01 -4.03323247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters 0.013495615524471344 Centerline is valid? [True, True] Translation: X:185.19, Y:-138.22, Z:-4.03 [[-7.39712304e-01 -6.72903033e-01 5.21684730e-03 1.85186430e+02] [-6.72887009e-01 7.39730696e-01 4.64434705e-03 -1.38219601e+02] [-6.98425730e-03 -7.48681184e-05 -9.99975607e-01 -4.03289771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters 0.013451354700240017 Centerline is valid? [True, True] Translation: X:185.10, Y:-138.26, Z:-4.03 [[-6.87567013e-01 -7.26102810e-01 5.12962460e-03 1.85103987e+02] [-7.26083391e-01 6.87586143e-01 5.31083187e-03 -1.38262923e+02] [-7.38326874e-03 -7.29824193e-05 -9.99972741e-01 -4.03205592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters 0.013541145240156248 Centerline is valid? [True, True] Translation: X:185.02, Y:-138.32, Z:-4.03 [[-6.30819788e-01 -7.75909071e-01 5.61336868e-03 1.85021659e+02] [-7.75879556e-01 6.30844757e-01 6.76811273e-03 -1.38315807e+02] [-8.79260426e-03 -8.58385683e-05 -9.99961341e-01 -4.03129300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters 0.013448807420369784 Centerline is valid? [True, True] Translation: X:184.94, Y:-138.38, Z:-4.03 [[-5.70968637e-01 -8.20954068e-01 5.40691022e-03 1.84941996e+02] [-8.20918613e-01 5.70994231e-01 7.63013183e-03 -1.38378053e+02] [-9.35130231e-03 -8.20672685e-05 -9.99956272e-01 -4.03157143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters 0.013242421549938932 Centerline is valid? [True, True] Translation: X:184.87, Y:-138.45, Z:-4.03 [[-5.08823944e-01 -8.60857326e-01 4.78094808e-03 1.84866386e+02] [-8.60820434e-01 5.08846401e-01 7.96990576e-03 -1.38448783e+02] [-9.29371999e-03 -6.02589223e-05 -9.99956811e-01 -4.03184125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters 0.01296385376264022 Centerline is valid? [True, True] Translation: X:184.79, Y:-138.53, Z:-4.03 [[-4.44938557e-01 -8.95551314e-01 4.18632663e-03 1.84794880e+02] [-8.95512225e-01 4.44958250e-01 8.36728461e-03 -1.38530172e+02] [-9.35607330e-03 -2.59791336e-05 -9.99956231e-01 -4.03253948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters 0.012948889848812248 Centerline is valid? [True, True] Translation: X:184.73, Y:-138.62, Z:-4.03 [[-3.77916778e-01 -9.25832049e-01 3.73178695e-03 1.84725734e+02] [-9.25786844e-01 3.77935202e-01 9.14887814e-03 -1.38622624e+02] [-9.88069825e-03 2.67528536e-06 -9.99951185e-01 -4.03188544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters 0.013256683883891389 Centerline is valid? [True, True] Translation: X:184.67, Y:-138.72, Z:-4.03 [[-3.10694971e-01 -9.50503533e-01 3.41603735e-03 1.84666230e+02] [-9.50443934e-01 3.10713744e-01 1.06441448e-02 -1.38715548e+02] [-1.11787070e-02 6.03302865e-05 -9.99937515e-01 -4.03124170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters 0.013511461527729068 Centerline is valid? [True, True] Translation: X:184.61, Y:-138.81, Z:-4.03 [[-2.40879952e-01 -9.70551424e-01 2.60424387e-03 1.84613528e+02] [-9.70489755e-01 2.40894005e-01 1.09413894e-02 -1.38812152e+02] [-1.12465278e-02 1.08169356e-04 -9.99936750e-01 -4.03269434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters 0.013551986114524418 Centerline is valid? [True, True] Translation: X:184.56, Y:-138.92, Z:-4.03 [[-1.67005734e-01 -9.85954407e-01 1.72991743e-03 1.84564004e+02] [-9.85893624e-01 1.67014648e-01 1.09485429e-02 -1.38923218e+02] [-1.10836857e-02 1.22954874e-04 -9.99938567e-01 -4.03320225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters 0.01364736289434341 Centerline is valid? [True, True] Translation: X:184.52, Y:-139.03, Z:-4.03 [[-9.09991401e-02 -9.95850635e-01 8.17745276e-04 1.84521323e+02] [-9.95798048e-01 9.10027390e-02 1.02346595e-02 -1.39032059e+02] [-1.02666092e-02 1.17036066e-04 -9.99947290e-01 -4.03342863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters 0.013463236308080854 Centerline is valid? [True, True] Translation: X:184.49, Y:-139.15, Z:-4.03 [[-1.20814020e-02 -9.99927017e-01 2.67744487e-05 1.84485050e+02] [-9.99879705e-01 1.20810908e-02 9.72747558e-03 -1.39148955e+02] [-9.72708911e-03 9.07503153e-05 -9.99952687e-01 -4.03303239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters 0.012986314385156352 Centerline is valid? [True, True] Translation: X:184.46, Y:-139.27, Z:-4.03 [[ 6.92817471e-02 -9.97596829e-01 -7.79145677e-04 1.84457005e+02] [-9.97541652e-01 -6.92861099e-02 1.04922401e-02 -1.39272931e+02] [-1.05210094e-02 5.03095406e-05 -9.99944651e-01 -4.03282464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters 0.012765247774431634 Centerline is valid? [True, True] Translation: X:184.43, Y:-139.39, Z:-4.03 [[ 1.52330396e-01 -9.88327696e-01 -1.95327541e-03 1.84434556e+02] [-9.88244354e-01 -1.52342917e-01 1.28347843e-02 -1.39393707e+02] [-1.29825404e-02 -2.48143817e-05 -9.99915723e-01 -4.03107924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters 0.012953245041468947 Centerline is valid? [True, True] Translation: X:184.42, Y:-139.52, Z:-4.03 [[ 2.32007326e-01 -9.72709270e-01 -3.04565108e-03 1.84424464e+02] [-9.72620484e-01 -2.32027300e-01 1.31425505e-02 -1.39516393e+02] [-1.34905549e-02 -8.69053617e-05 -9.99908995e-01 -4.03000375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters 0.013488063377584283 Centerline is valid? [True, True] Translation: X:184.42, Y:-139.64, Z:-4.03 [[ 3.09405443e-01 -9.50923080e-01 -3.68331495e-03 1.84424246e+02] [-9.50850847e-01 -3.09427342e-01 1.17211940e-02 -1.39642343e+02] [-1.22856722e-02 -1.24318070e-04 -9.99924521e-01 -4.02927117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters 0.01288781468308068 Centerline is valid? [True, True] Translation: X:184.44, Y:-139.75, Z:-4.03 [[ 3.81087455e-01 -9.24530863e-01 -3.87746616e-03 1.84435656e+02] [-9.24480255e-01 -3.81107167e-01 9.67396422e-03 -1.39753815e+02] [-1.04216086e-02 -1.01985502e-04 -9.99945688e-01 -4.03245572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters 0.012828259087718183 Centerline is valid? [True, True] Translation: X:184.46, Y:-139.87, Z:-4.03 [[ 4.50287959e-01 -8.92875316e-01 -3.79790983e-03 1.84457175e+02] [-8.92842057e-01 -4.50303969e-01 7.70696186e-03 -1.39868575e+02] [-8.59156987e-03 -7.94185063e-05 -9.99963089e-01 -4.03417597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters 0.012911334453159406 Centerline is valid? [True, True] Translation: X:184.48, Y:-139.98, Z:-4.03 [[ 5.18259862e-01 -8.55211818e-01 -4.41160242e-03 1.84482899e+02] [-8.55179344e-01 -5.18278631e-01 7.45325524e-03 -1.39977810e+02] [-8.66055122e-03 -9.00117655e-05 -9.99962493e-01 -4.03379123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters 0.01344667767036961 Centerline is valid? [True, True] Translation: X:184.52, Y:-140.09, Z:-4.03 [[ 5.83774823e-01 -8.11891914e-01 -6.20292847e-03 1.84517596e+02] [-8.11843598e-01 -5.83807761e-01 8.85834940e-03 -1.40085679e+02] [-1.08133400e-02 -1.35473581e-04 -9.99941525e-01 -4.03104362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters 0.013622942932822043 Centerline is valid? [True, True] Translation: X:184.56, Y:-140.19, Z:-4.03 [[ 6.44813776e-01 -7.64299717e-01 -7.81898603e-03 1.84560043e+02] [-7.64240336e-01 -6.44861159e-01 9.52859031e-03 -1.40187770e+02] [-1.23248593e-02 -1.68581787e-04 -9.99924032e-01 -4.02949894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters 0.013415334904726154 Centerline is valid? [True, True] Translation: X:184.61, Y:-140.29, Z:-4.03 [[ 7.00429677e-01 -7.13656567e-01 -9.62142947e-03 1.84613147e+02] [-7.13585742e-01 -7.00495733e-01 1.00556696e-02 -1.40286343e+02] [-1.39160649e-02 -1.77574480e-04 -9.99903151e-01 -4.02857095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters 0.01315888342733291 Centerline is valid? [True, True] Translation: X:184.67, Y:-140.37, Z:-4.03 [[ 7.50544506e-01 -6.60728783e-01 -1.09735751e-02 1.84665653e+02] [-6.60655383e-01 -7.50624709e-01 9.84940165e-03 -1.40371059e+02] [-1.47448198e-02 -1.42662834e-04 -9.99891279e-01 -4.02756312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters 0.012468624140237184 Centerline is valid? [True, True] Translation: X:184.69, Y:-140.39, Z:-4.03 [[ 7.95160985e-01 -6.06309746e-01 -1.03682076e-02 1.84692652e+02] [-6.06257828e-01 -7.95228578e-01 7.93442544e-03 -1.40391681e+02] [-1.30558144e-02 -2.33385406e-05 -9.99914769e-01 -4.03018316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters 0.012581443994654301 Centerline is valid? [True, True] Translation: X:184.72, Y:-140.41, Z:-4.03 [[ 8.36991014e-01 -5.47147136e-01 -8.72095244e-03 1.84718974e+02] [-5.47117955e-01 -8.37036445e-01 5.65090937e-03 -1.40410887e+02] [-1.03916339e-02 4.16293111e-05 -9.99946005e-01 -4.03213022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters 0.013010838354359597 Centerline is valid? [True, True] Translation: X:184.75, Y:-140.43, Z:-4.03 [[ 8.74728674e-01 -4.84558038e-01 -7.29755278e-03 1.84746084e+02] [-4.84541901e-01 -8.74759111e-01 3.95528862e-03 -1.40430026e+02] [-8.30016767e-03 7.61657293e-05 -9.99965550e-01 -4.03379700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters 0.01395073902001832 Centerline is valid? [True, True] Translation: X:184.77, Y:-140.45, Z:-4.03 [[ 9.07032334e-01 -4.21012855e-01 -6.36558065e-03 1.84772747e+02] [-4.21003353e-01 -9.07054664e-01 2.83084018e-03 -1.40449332e+02] [-6.96574972e-03 1.12267219e-04 -9.99975733e-01 -4.03462683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters 0.015697525922134786 Centerline is valid? [True, True] Translation: X:184.80, Y:-140.46, Z:-4.03 [[ 9.35358880e-01 -3.53619919e-01 -7.53112752e-03 1.84801109e+02] [-3.53609910e-01 -9.35389183e-01 2.66594675e-03 -1.40464298e+02] [-7.98726710e-03 1.69464359e-04 -9.99968087e-01 -4.03367536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters 0.016113675955205346 Centerline is valid? [True, True] Translation: X:184.83, Y:-140.48, Z:-4.03 [[ 9.59390666e-01 -2.81953229e-01 -8.48096768e-03 1.84829092e+02] [-2.81944139e-01 -9.59428128e-01 2.27373648e-03 -1.40481379e+02] [-8.77796628e-03 2.09757573e-04 -9.99961451e-01 -4.03354134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters 0.015843923818629285 Centerline is valid? [True, True] Translation: X:184.86, Y:-140.50, Z:-4.03 [[ 9.78454529e-01 -2.06256740e-01 -9.21372229e-03 1.84856418e+02] [-2.06249775e-01 -9.78497882e-01 1.71014804e-03 -1.40500615e+02] [-9.36833730e-03 2.27026061e-04 -9.99956090e-01 -4.03345267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters 0.015935373483747097 Centerline is valid? [True, True] Translation: X:184.88, Y:-140.52, Z:-4.03 [[ 9.91623388e-01 -1.28788808e-01 -9.82341962e-03 1.84883699e+02] [-1.28784852e-01 -9.91672016e-01 1.03682431e-03 -1.40515033e+02] [-9.87514170e-03 2.36968413e-04 -9.99951212e-01 -4.03333020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters 0.01578919840330837 Centerline is valid? [True, True] Translation: X:184.91, Y:-140.53, Z:-4.03 [[ 9.98701244e-01 -5.01078284e-02 -9.22118260e-03 1.84911182e+02] [-5.01076860e-02 -9.98743790e-01 2.46621058e-04 -1.40527631e+02] [-9.22195651e-03 2.15751365e-04 -9.99957454e-01 -4.03400677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters 0.015481748012916954 Centerline is valid? [True, True] Translation: X:184.94, Y:-140.54, Z:-4.03 [[ 9.99496620e-01 3.05663410e-02 -8.49741086e-03 1.84940208e+02] [ 3.05637127e-02 -9.99532724e-01 -4.39028596e-04 -1.40539268e+02] [-8.50685972e-03 1.79095173e-04 -9.99963800e-01 -4.03407339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters 0.01414460567302119 Centerline is valid? [True, True] Translation: X:184.97, Y:-140.55, Z:-4.03 [[ 9.93502531e-01 1.13479270e-01 -8.67036936e-03 1.84970723e+02] [ 1.13473697e-01 -9.93540354e-01 -1.13360598e-03 -1.40551581e+02] [-8.74300262e-03 1.42381541e-04 -9.99961769e-01 -4.03448845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters 0.01327775619304459 Centerline is valid? [True, True] Translation: X:185.00, Y:-140.56, Z:-4.03 [[ 9.80839813e-01 1.94646676e-01 -8.11990707e-03 1.85003259e+02] [ 1.94639130e-01 -9.80873417e-01 -1.71705281e-03 -1.40560550e+02] [-8.29881962e-03 1.03702111e-04 -9.99965559e-01 -4.03466910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters 0.012273541601503624 Centerline is valid? [True, True] Translation: X:185.04, Y:-140.57, Z:-4.03 [[ 9.60409012e-01 2.78522237e-01 -6.31610803e-03 1.85037989e+02] [ 2.78516009e-01 -9.60429780e-01 -1.86284813e-03 -1.40574136e+02] [-6.58502287e-03 2.99589336e-05 -9.99978318e-01 -4.03482055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters 0.012159829213479354 Centerline is valid? [True, True] Translation: X:185.07, Y:-140.58, Z:-4.03 [[ 9.34427766e-01 3.56096517e-01 -6.32618037e-03 1.85071470e+02] [ 3.56088302e-01 -9.34449180e-01 -2.41872031e-03 -1.40576274e+02] [-6.77279194e-03 7.44058496e-06 -9.99977064e-01 -4.03440702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters 0.012202569488763968 Centerline is valid? [True, True] Translation: X:185.11, Y:-140.58, Z:-4.03 [[ 9.01574910e-01 4.32558953e-01 -7.44542389e-03 1.85105950e+02] [ 4.32544489e-01 -9.01605652e-01 -3.53737646e-03 -1.40576408e+02] [-8.24296012e-03 -3.12672150e-05 -9.99966026e-01 -4.03299573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters 0.012698846924346705 Centerline is valid? [True, True] Translation: X:185.14, Y:-140.57, Z:-4.03 [[ 8.62438072e-01 5.06093331e-01 -8.37323349e-03 1.85140478e+02] [ 5.06070433e-01 -8.62478714e-01 -4.81501548e-03 -1.40572870e+02] [-9.65858288e-03 -8.47932276e-05 -9.99953351e-01 -4.03169662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters 0.013204888297326602 Centerline is valid? [True, True] Translation: X:185.17, Y:-140.56, Z:-4.03 [[ 8.18616439e-01 5.74275868e-01 -8.62280631e-03 1.85172372e+02] [ 5.74245550e-01 -8.18661843e-01 -5.90208650e-03 -1.40563502e+02] [-1.04485883e-02 -1.20063116e-04 -9.99945405e-01 -4.03077012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters 0.013546842244167521 Centerline is valid? [True, True] Translation: X:185.20, Y:-140.55, Z:-4.03 [[ 7.69881250e-01 6.38142432e-01 -7.55628121e-03 1.85202970e+02] [ 6.38113355e-01 -7.69918320e-01 -6.09315087e-03 -1.40549771e+02] [-9.70601745e-03 -1.30761351e-04 -9.99952887e-01 -4.03113994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters 0.013660871479100226 Centerline is valid? [True, True] Translation: X:185.23, Y:-140.53, Z:-4.03 [[ 7.17726069e-01 6.96295410e-01 -6.48012050e-03 1.85229302e+02] [ 6.96268507e-01 -7.17755313e-01 -6.12186811e-03 -1.40531768e+02] [-8.91376958e-03 -1.18079491e-04 -9.99960265e-01 -4.03202032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters 0.013121443462715978 Centerline is valid? [True, True] Translation: X:185.26, Y:-140.51, Z:-4.03 [[ 6.60953181e-01 7.50405638e-01 -5.68073821e-03 1.85256606e+02] [ 7.50379378e-01 -6.60977583e-01 -6.27884480e-03 -1.40512487e+02] [-8.46652116e-03 -1.12686360e-04 -9.99964152e-01 -4.03340666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters 0.014489008480657723 Centerline is valid? [True, True] Translation: X:185.28, Y:-140.49, Z:-4.03 [[ 5.98975911e-01 8.00747809e-01 -5.55020128e-03 1.85283688e+02] [ 8.00715492e-01 -5.99001610e-01 -7.19533828e-03 -1.40494241e+02] [-9.08623087e-03 -1.34297847e-04 -9.99958710e-01 -4.03106046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters 0.015482135827751254 Centerline is valid? [True, True] Translation: X:185.30, Y:-140.47, Z:-4.03 [[ 5.31972072e-01 8.46747511e-01 -4.93640190e-03 1.85302220e+02] [ 8.46713801e-01 -5.31994951e-01 -7.55719266e-03 -1.40467811e+02] [-9.02517496e-03 -1.59504179e-04 -9.99959260e-01 -4.03097547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters 0.014456665672558993 Centerline is valid? [True, True] Translation: X:185.32, Y:-140.44, Z:-4.03 [[ 4.62470752e-01 8.86624409e-01 -4.23804485e-03 1.85322449e+02] [ 8.86590523e-01 -4.62490138e-01 -7.75348097e-03 -1.40442176e+02] [-8.83447943e-03 -1.71652229e-04 -9.99960961e-01 -4.03277314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters 0.014162863580124639 Centerline is valid? [True, True] Translation: X:185.34, Y:-140.42, Z:-4.03 [[ 3.91336209e-01 9.20240248e-01 -3.72263583e-03 1.85341844e+02] [ 9.20202883e-01 -3.91353874e-01 -8.29456689e-03 -1.40416239e+02] [-9.08986224e-03 -1.79615865e-04 -9.99958670e-01 -4.03343444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters 0.014223009024887797 Centerline is valid? [True, True] Translation: X:185.36, Y:-140.39, Z:-4.03 [[ 3.18854771e-01 9.47799037e-01 -2.93605874e-03 1.85359370e+02] [ 9.47763501e-01 -3.18868246e-01 -8.20901654e-03 -1.40389476e+02] [-8.71671387e-03 -1.65205217e-04 -9.99961995e-01 -4.03330538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters 0.01379498833192342 Centerline is valid? [True, True] Translation: X:185.37, Y:-140.36, Z:-4.03 [[ 2.45509162e-01 9.69391967e-01 -2.11322716e-03 1.85373446e+02] [ 9.69360715e-01 -2.45518219e-01 -7.78517410e-03 -1.40361834e+02] [-8.06572100e-03 -1.37147823e-04 -9.99967462e-01 -4.03356893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters 0.013831399504684462 Centerline is valid? [True, True] Translation: X:185.38, Y:-140.33, Z:-4.03 [[ 1.70183953e-01 9.85411244e-01 -1.44965456e-03 1.85384302e+02] [ 9.85381348e-01 -1.70190084e-01 -7.67683977e-03 -1.40334154e+02] [-7.81156106e-03 -1.21987624e-04 -9.99969482e-01 -4.03303411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters 0.013691868299630943 Centerline is valid? [True, True] Translation: X:185.39, Y:-140.31, Z:-4.03 [[ 9.29464974e-02 9.95670679e-01 -9.20685697e-04 1.85393122e+02] [ 9.95634634e-01 -9.29509675e-02 -8.47306846e-03 -1.40305231e+02] [-8.52196445e-03 -1.29124533e-04 -9.99963679e-01 -4.03266993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters 0.01353773762827196 Centerline is valid? [True, True] Translation: X:185.40, Y:-140.28, Z:-4.03 [[ 1.49254221e-02 9.99888574e-01 -2.66911975e-04 1.85401433e+02] [ 9.99848503e-01 -1.49272138e-02 -8.95264048e-03 -1.40276244e+02] [-8.95562717e-03 -1.33249601e-04 -9.99959889e-01 -4.03235744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters 0.013561264658047962 Centerline is valid? [True, True] Translation: X:185.41, Y:-140.25, Z:-4.03 [[-6.28065018e-02 9.98025615e-01 4.63597919e-04 1.85406128e+02] [ 9.97980194e-01 6.28080668e-02 -9.52256387e-03 -1.40246840e+02] [-9.53288036e-03 -1.35417384e-04 -9.99954552e-01 -4.03172931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters 0.013191353730414891 Centerline is valid? [True, True] Translation: X:185.41, Y:-140.22, Z:-4.03 [[-1.39410539e-01 9.90234116e-01 1.04795343e-03 1.85406787e+02] [ 9.90200126e-01 1.39414437e-01 -8.20518508e-03 -1.40217542e+02] [-8.27115403e-03 -1.06205655e-04 -9.99965788e-01 -4.03331066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters 0.012806765224818347 Centerline is valid? [True, True] Translation: X:185.41, Y:-140.19, Z:-4.03 [[-2.15357504e-01 9.76534127e-01 1.49783724e-03 1.85408709e+02] [ 9.76507679e-01 2.15362696e-01 -7.18764947e-03 -1.40187603e+02] [-7.34156327e-03 -8.52646824e-05 -9.99973047e-01 -4.03396920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters 0.013257398856402562 Centerline is valid? [True, True] Translation: X:185.41, Y:-140.16, Z:-4.03 [[-2.90523478e-01 9.56865724e-01 2.02351518e-03 1.85409145e+02] [ 9.56840588e-01 2.90530514e-01 -6.93609382e-03 -1.40158785e+02] [-7.22480334e-03 -7.89166472e-05 -9.99973898e-01 -4.03281983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters 0.013239060239291651 Centerline is valid? [True, True] Translation: X:185.40, Y:-140.13, Z:-4.03 [[-3.65151411e-01 9.30945127e-01 2.37016679e-03 1.85401816e+02] [ 9.30924127e-01 3.65159095e-01 -6.25336087e-03 -1.40130611e+02] [-6.68702378e-03 -7.69781005e-05 -9.99977639e-01 -4.03289437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters 0.013254384565968775 Centerline is valid? [True, True] Translation: X:185.40, Y:-140.10, Z:-4.03 [[-4.38445203e-01 8.98752786e-01 3.03883944e-03 1.85397050e+02] [ 8.98729693e-01 4.38455724e-01 -6.44341121e-03 -1.40101370e+02] [-7.12343032e-03 -9.39874971e-05 -9.99974624e-01 -4.03320964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters 0.013691798557857229 Centerline is valid? [True, True] Translation: X:185.39, Y:-140.07, Z:-4.03 [[-5.10105959e-01 8.60102123e-01 4.03100616e-03 1.85392007e+02] [ 8.60073196e-01 5.10121869e-01 -7.05524108e-03 -1.40071310e+02] [-8.12453223e-03 -1.31960164e-04 -9.99966987e-01 -4.03207780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters 0.01441855251878158 Centerline is valid? [True, True] Translation: X:185.38, Y:-140.04, Z:-4.03 [[-5.77835636e-01 8.16138247e-01 4.93342785e-03 1.85383500e+02] [ 8.16106061e-01 5.77856673e-01 -7.25004436e-03 -1.40043721e+02] [-8.76785271e-03 -1.63133629e-04 -9.99961548e-01 -4.03137203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters 0.014565359708919997 Centerline is valid? [True, True] Translation: X:185.37, Y:-140.02, Z:-4.03 [[-6.40476249e-01 7.67957332e-01 5.63123464e-03 1.85371033e+02] [ 7.67925240e-01 6.40500981e-01 -7.02273584e-03 -1.40016723e+02] [-8.99997279e-03 -1.73528296e-04 -9.99959484e-01 -4.03104275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters 0.015114478011434883 Centerline is valid? [True, True] Translation: X:185.36, Y:-139.99, Z:-4.03 [[-6.99335593e-01 7.14768775e-01 5.94367170e-03 1.85356204e+02] [ 7.14740807e-01 6.99360828e-01 -6.32541677e-03 -1.39992430e+02] [-8.67798156e-03 -1.75404380e-04 -9.99962330e-01 -4.03036241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters 0.015169155636530754 Centerline is valid? [True, True] Translation: X:185.34, Y:-139.97, Z:-4.03 [[-7.53529251e-01 6.57380109e-01 6.71269205e-03 1.85339047e+02] [ 6.57351778e-01 7.53559126e-01 -6.10596385e-03 -1.39968463e+02] [-9.07234954e-03 -1.88422307e-04 -9.99958828e-01 -4.02972899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters 0.015370925679990561 Centerline is valid? [True, True] Translation: X:185.35, Y:-139.95, Z:-4.03 [[-7.98170124e-01 6.02377559e-01 8.10741408e-03 1.85354667e+02] [ 6.02343728e-01 7.98211269e-01 -6.38775101e-03 -1.39951859e+02] [-1.03192671e-02 -2.15062000e-04 -9.99946732e-01 -4.02892300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters 0.015319715569569662 Centerline is valid? [True, True] Translation: X:185.37, Y:-139.93, Z:-4.03 [[-8.40048322e-01 5.42448972e-01 8.24191899e-03 1.85372667e+02] [ 5.42420150e-01 8.40088721e-01 -5.59653385e-03 -1.39930727e+02] [-9.95977722e-03 -2.30775939e-04 -9.99950374e-01 -4.02979323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters 0.015607404489407289 Centerline is valid? [True, True] Translation: X:185.39, Y:-139.91, Z:-4.03 [[-8.76379814e-01 4.81542254e-01 8.68785413e-03 1.85389624e+02] [ 4.81515935e-01 8.76422845e-01 -5.03994683e-03 -1.39906799e+02] [-1.00411812e-02 -2.33567463e-04 -9.99949559e-01 -4.02932518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters 0.015128445706494716 Centerline is valid? [True, True] Translation: X:185.74, Y:-139.31, Z:-5.01 [[-8.17610133e-01 -5.75720940e-01 7.68572028e-03 1.85743548e+02] [ 5.75697472e-01 -8.17646238e-01 -5.20105499e-03 -1.39309425e+02] [ 9.27855654e-03 1.72214472e-04 9.99956938e-01 -5.01206441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters 0.014472760482844158 Centerline is valid? [True, True] Translation: X:185.36, Y:-139.89, Z:-4.03 [[-8.73623087e-01 4.86548394e-01 7.30489284e-03 1.85360939e+02] [ 4.86529969e-01 8.73653615e-01 -4.23691076e-03 -1.39889354e+02] [-8.44340816e-03 -1.47413768e-04 -9.99964343e-01 -4.02914432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters 0.012982323178412903 Centerline is valid? [True, True] Translation: X:185.37, Y:-139.87, Z:-4.03 [[-9.03356665e-01 4.28819017e-01 7.80937743e-03 1.85374668e+02] [ 4.28802027e-01 9.03390414e-01 -3.81851577e-03 -1.39872139e+02] [-8.69236889e-03 -1.00804800e-04 -9.99962216e-01 -4.02953268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters 0.012444272349638538 Centerline is valid? [True, True] Translation: X:185.39, Y:-139.85, Z:-4.03 [[-9.29057891e-01 3.69808474e-01 9.65032350e-03 1.85391996e+02] [ 3.69787928e-01 9.29108008e-01 -3.89851423e-03 -1.39853945e+02] [-1.04078964e-02 -5.33722724e-05 -9.99945835e-01 -4.02749296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters 0.012300755784469453 Centerline is valid? [True, True] Translation: X:185.40, Y:-139.83, Z:-4.03 [[-9.51884414e-01 3.06296378e-01 9.92932053e-03 1.85398934e+02] [ 3.06279477e-01 9.51936200e-01 -3.21774900e-03 -1.39828988e+02] [-1.04376645e-02 -2.17780222e-05 -9.99945526e-01 -4.02752402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters 0.012276537734452109 Centerline is valid? [True, True] Translation: X:185.63, Y:-139.15, Z:-5.01 [[-9.28383046e-01 -3.71527903e-01 8.48163540e-03 1.85634015e+02] [ 3.71511833e-01 -9.28421787e-01 -3.45594452e-03 -1.39153523e+02] [ 9.15851491e-03 -5.74123807e-05 9.99958058e-01 -5.01205857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters 0.012297156686483448 Centerline is valid? [True, True] Translation: X:185.36, Y:-139.82, Z:-4.03 [[-9.52133692e-01 3.05561562e-01 8.57701519e-03 1.85364937e+02] [ 3.05549239e-01 9.52172322e-01 -2.74420675e-03 -1.39819096e+02] [-9.00532058e-03 7.84876586e-06 -9.99959451e-01 -4.02910645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters 0.012507381422821897 Centerline is valid? [True, True] Translation: X:185.59, Y:-139.14, Z:-5.01 [[-9.30086645e-01 -3.67243389e-01 8.43357299e-03 1.85589153e+02] [ 3.67228254e-01 -9.30124880e-01 -3.33414026e-03 -1.39139167e+02] [ 9.06871704e-03 -3.99304789e-06 9.99958878e-01 -5.01197796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters 0.012417564610174129 Centerline is valid? [True, True] Translation: X:185.32, Y:-139.81, Z:-4.03 [[-9.53463710e-01 3.01412832e-01 7.56700484e-03 1.85319882e+02] [ 3.01403356e-01 9.53493736e-01 -2.38997509e-03 -1.39805042e+02] [-7.93546088e-03 1.96614090e-06 -9.99968514e-01 -4.03013144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters 0.012322673205682784 Centerline is valid? [True, True] Translation: X:185.33, Y:-139.78, Z:-4.03 [[-9.72684067e-01 2.32032204e-01 6.83832100e-03 1.85328182e+02] [ 2.32026426e-01 9.72708104e-01 -1.63740412e-03 -1.39777763e+02] [-7.03162074e-03 -6.00571297e-06 -9.99975278e-01 -4.03147053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters 0.012371290352898433 Centerline is valid? [True, True] Translation: X:185.50, Y:-139.09, Z:-5.01 [[-9.53984538e-01 -2.99809879e-01 5.24766484e-03 1.85497856e+02] [ 2.99804818e-01 -9.53998967e-01 -1.74443642e-03 -1.39088202e+02] [ 5.52926611e-03 -9.08901724e-05 9.99984709e-01 -5.00831285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters 0.012350784182970849 Centerline is valid? [True, True] Translation: X:185.28, Y:-139.77, Z:-4.03 [[-9.73832864e-01 2.27199159e-01 5.48586531e-03 1.85281182e+02] [ 2.27195490e-01 9.73848316e-01 -1.29111100e-03 -1.39765585e+02] [-5.63574003e-03 -1.09624672e-05 -9.99984119e-01 -4.03226017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters 0.012421934673938812 Centerline is valid? [True, True] Translation: X:185.28, Y:-139.74, Z:-4.03 [[-9.87426132e-01 1.57987760e-01 5.43151729e-03 1.85282548e+02] [ 1.57985323e-01 9.87441070e-01 -8.77536282e-04 -1.39737132e+02] [-5.50194324e-03 -8.40224205e-06 -9.99984864e-01 -4.03221252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters 0.012510613130467111 Centerline is valid? [True, True] Translation: X:185.29, Y:-139.71, Z:-4.03 [[-9.96185852e-01 8.70710522e-02 5.69033812e-03 1.85290800e+02] [ 8.70695658e-02 9.96202104e-01 -5.08899559e-04 -1.39709167e+02] [-5.71303723e-03 -1.15032712e-05 -9.99983680e-01 -4.03232139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters 0.012586299222224873 Centerline is valid? [True, True] Translation: X:185.29, Y:-139.68, Z:-4.03 [[-9.99863022e-01 1.52642457e-02 6.39838369e-03 1.85291024e+02] [ 1.52638133e-02 9.99883494e-01 -1.16405891e-04 -1.39681163e+02] [-6.39941509e-03 -1.87262121e-05 -9.99979523e-01 -4.03195279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters 0.012728890945697638 Centerline is valid? [True, True] Translation: X:185.28, Y:-139.65, Z:-4.03 [[-9.98332095e-01 -5.71985505e-02 7.83291329e-03 1.85283660e+02] [-5.71970568e-02 9.98362822e-01 4.14759223e-04 -1.39652751e+02] [-7.84381305e-03 -3.39521421e-05 -9.99969236e-01 -4.03085485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters 0.01302775258847376 Centerline is valid? [True, True] Translation: X:185.28, Y:-139.62, Z:-4.03 [[-9.91213617e-01 -1.31923560e-01 9.57807818e-03 1.85277425e+02] [-1.31918177e-01 9.91259889e-01 1.19439402e-03 -1.39623032e+02] [-9.65193342e-03 -7.96229945e-05 -9.99953416e-01 -4.02985885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters 0.01363464095736624 Centerline is valid? [True, True] Translation: X:185.19, Y:-138.94, Z:-5.01 [[-9.99009403e-01 4.34117075e-02 9.77935656e-03 1.85186853e+02] [-4.34087383e-02 -9.99057263e-01 5.15769270e-04 -1.38940924e+02] [ 9.79252763e-03 9.07488207e-05 9.99952048e-01 -5.01052581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters 0.014779026516114551 Centerline is valid? [True, True] Translation: X:185.19, Y:-139.63, Z:-4.03 [[-9.89138381e-01 -1.46712746e-01 8.97960501e-03 1.85186995e+02] [-1.46708175e-01 9.89179127e-01 1.16916614e-03 -1.39626063e+02] [-9.05396941e-03 -1.60914364e-04 -9.99958999e-01 -4.03159226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters 0.015060355457043605 Centerline is valid? [True, True] Translation: X:185.18, Y:-139.60, Z:-4.03 [[-9.75610707e-01 -2.19382680e-01 7.41544728e-03 1.85176028e+02] [-2.19377545e-01 9.75638876e-01 1.50896624e-03 -1.39599968e+02] [-7.56583970e-03 -1.54619000e-04 -9.99971367e-01 -4.03354490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters 0.01553152401201462 Centerline is valid? [True, True] Translation: X:185.16, Y:-139.57, Z:-4.03 [[-9.56631321e-01 -2.91236788e-01 6.13584791e-03 1.85159294e+02] [-2.91231794e-01 9.56650987e-01 1.71212518e-03 -1.39574544e+02] [-6.36849880e-03 -1.49081418e-04 -9.99979710e-01 -4.03478758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters 0.01596929024212037 Centerline is valid? [True, True] Translation: X:185.13, Y:-139.55, Z:-4.03 [[-9.32475106e-01 -3.61168526e-01 6.89001107e-03 1.85132860e+02] [-3.61160143e-01 9.32500542e-01 2.46774360e-03 -1.39551743e+02] [-7.31621038e-03 -1.87287909e-04 -9.99973219e-01 -4.03369091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters 0.01668300938129691 Centerline is valid? [True, True] Translation: X:185.09, Y:-139.54, Z:-4.03 [[-9.03733973e-01 -4.28034378e-01 7.17482738e-03 1.85094035e+02] [-4.28022675e-01 9.03762430e-01 3.17180723e-03 -1.39536222e+02] [-7.84198196e-03 -2.04518855e-04 -9.99969230e-01 -4.03279728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters 0.016917259253347892 Centerline is valid? [True, True] Translation: X:185.03, Y:-139.53, Z:-4.03 [[-8.69697756e-01 -4.93526130e-01 7.60078653e-03 1.85034533e+02] [-4.93509577e-01 8.69730939e-01 4.04855515e-03 -1.39534436e+02] [-8.60870696e-03 -2.30041616e-04 -9.99962918e-01 -4.03156608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters 0.017567040851350774 Centerline is valid? [True, True] Translation: X:184.97, Y:-139.54, Z:-4.03 [[-8.30638873e-01 -5.56731113e-01 9.46207961e-03 1.84966898e+02] [-5.56699148e-01 8.30692708e-01 5.97357874e-03 -1.39542381e+02] [-1.11857577e-02 -3.05644951e-04 -9.99937391e-01 -4.02907009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters 0.01640584867603995 Centerline is valid? [True, True] Translation: X:184.90, Y:-139.56, Z:-4.03 [[-7.87541149e-01 -6.16177976e-01 1.01803737e-02 1.84900968e+02] [-6.16131915e-01 7.87606876e-01 7.54141052e-03 -1.39559044e+02] [-1.26649834e-02 -3.33282059e-04 -9.99919740e-01 -4.02887986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters 0.016587219595587677 Centerline is valid? [True, True] Translation: X:184.83, Y:-139.59, Z:-4.03 [[-7.42039425e-01 -6.70286054e-01 9.70040724e-03 1.84825454e+02] [-6.70233761e-01 7.42102772e-01 8.37735927e-03 -1.39587584e+02] [-1.28139262e-02 -2.85209572e-04 -9.99917858e-01 -4.02736163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters 0.01486100537285878 Centerline is valid? [True, True] Translation: X:184.75, Y:-139.63, Z:-4.03 [[-6.93833505e-01 -7.20091544e-01 7.95213811e-03 1.84749330e+02] [-7.20047263e-01 6.93879049e-01 7.98777514e-03 -1.39631785e+02] [-1.12697514e-02 -1.83729264e-04 -9.99936477e-01 -4.02879199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters 0.013702687613640274 Centerline is valid? [True, True] Translation: X:184.67, Y:-139.68, Z:-4.03 [[-6.40725335e-01 -7.67745917e-01 6.10341292e-03 1.84672926e+02] [-7.67712752e-01 6.40754394e-01 7.13698006e-03 -1.39683108e+02] [-9.39017595e-03 -1.12823989e-04 -9.99955905e-01 -4.03017430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters 0.01262748388321156 Centerline is valid? [True, True] Translation: X:184.59, Y:-139.75, Z:-4.03 [[-5.83461921e-01 -8.12123534e-01 5.24899468e-03 1.84593850e+02] [-8.12091841e-01 5.83485526e-01 7.17520064e-03 -1.39750324e+02] [-8.88986173e-03 -7.62094097e-05 -9.99960482e-01 -4.03154754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters 0.012872510624556927 Centerline is valid? [True, True] Translation: X:184.52, Y:-139.82, Z:-4.03 [[-5.19469901e-01 -8.54470312e-01 5.61317577e-03 1.84516807e+02] [-8.54422452e-01 5.19500218e-01 9.04417188e-03 -1.39817566e+02] [-1.06440224e-02 -9.78483271e-05 -9.99943346e-01 -4.02876459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters 0.013126040017591127 Centerline is valid? [True, True] Translation: X:184.44, Y:-139.89, Z:-4.03 [[-4.50711766e-01 -8.92652156e-01 5.57074822e-03 1.84442827e+02] [-8.92587746e-01 4.50746170e-01 1.07240458e-02 -1.39892600e+02] [-1.20838361e-02 -1.38927958e-04 -9.99926978e-01 -4.02801122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters 0.01373361122954842 Centerline is valid? [True, True] Translation: X:184.37, Y:-139.98, Z:-4.03 [[-3.77674243e-01 -9.25926904e-01 4.64061704e-03 1.84368602e+02] [-9.25862849e-01 3.77702708e-01 1.08926394e-02 -1.39982213e+02] [-1.18385615e-02 -1.82705555e-04 -9.99929905e-01 -4.02803446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters 0.013930548314753795 Centerline is valid? [True, True] Translation: X:184.30, Y:-140.07, Z:-4.03 [[-3.03795220e-01 -9.52731307e-01 3.39415136e-03 1.84304586e+02] [-9.52678510e-01 3.03814123e-01 1.00316939e-02 -1.40072804e+02] [-1.05887000e-02 -1.85954396e-04 -9.99943921e-01 -4.02881131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters 0.014127302810733168 Centerline is valid? [True, True] Translation: X:184.25, Y:-140.17, Z:-4.03 [[-2.28783896e-01 -9.73474681e-01 2.23029574e-03 1.84246027e+02] [-9.73435373e-01 2.28794704e-01 8.74970525e-03 -1.40172273e+02] [-9.02789638e-03 -1.69257110e-04 -9.99959233e-01 -4.02928724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters 0.014103796073208384 Centerline is valid? [True, True] Translation: X:184.19, Y:-140.28, Z:-4.03 [[-1.54973704e-01 -9.87917155e-01 1.68730287e-03 1.84194466e+02] [-9.87869889e-01 1.54982797e-01 9.66510592e-03 -1.40279906e+02] [-9.80982686e-03 -1.68998434e-04 -9.99951868e-01 -4.02783299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters 0.013591741228459731 Centerline is valid? [True, True] Translation: X:184.15, Y:-140.39, Z:-4.03 [[-7.99160483e-02 -9.96801116e-01 9.80361891e-04 1.84153585e+02] [-9.96749078e-01 7.99218949e-02 1.01865674e-02 -1.40387504e+02] [-1.02323341e-02 -1.63104601e-04 -9.99947635e-01 -4.02770034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters 0.01363236282564754 Centerline is valid? [True, True] Translation: X:184.12, Y:-140.50, Z:-4.03 [[-3.67212073e-03 -9.99993241e-01 1.83337254e-04 1.84119480e+02] [-9.99946739e-01 3.67371824e-03 9.64485019e-03 -1.40495893e+02] [-9.64545853e-03 -1.47910435e-04 -9.99953471e-01 -4.02822055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters 0.013855823334221706 Centerline is valid? [True, True] Translation: X:184.09, Y:-140.62, Z:-4.03 [[ 7.35030826e-02 -9.97294881e-01 -4.65501682e-04 1.84093802e+02] [-9.97262596e-01 -7.35044492e-02 8.02567101e-03 -1.40617204e+02] [-8.03817706e-03 -1.25684144e-04 -9.99967685e-01 -4.02959498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters 0.013460450404324049 Centerline is valid? [True, True] Translation: X:184.08, Y:-140.73, Z:-4.03 [[ 1.49129466e-01 -9.88817342e-01 -8.16466326e-04 1.84078240e+02] [-9.88799060e-01 -1.49131674e-01 6.01357868e-03 -1.40729522e+02] [-6.06809188e-03 -8.94806387e-05 -9.99981585e-01 -4.03102775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters 0.013150892184843159 Centerline is valid? [True, True] Translation: X:184.07, Y:-140.85, Z:-4.03 [[ 2.22526283e-01 -9.74925976e-01 -1.18108515e-03 1.84072559e+02] [-9.74910529e-01 -2.22529407e-01 5.48845495e-03 -1.40847135e+02] [-5.61366348e-03 -6.98731315e-05 -9.99984241e-01 -4.03099710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters 0.012440793392654071 Centerline is valid? [True, True] Translation: X:184.08, Y:-140.97, Z:-4.03 [[ 2.92301256e-01 -9.56325551e-01 -1.19012701e-03 1.84079400e+02] [-9.56317174e-01 -2.92303677e-01 4.00288189e-03 -1.40966323e+02] [-4.17593673e-03 -3.19085003e-05 -9.99991280e-01 -4.03234013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters 0.012031761015359903 Centerline is valid? [True, True] Translation: X:184.09, Y:-141.08, Z:-4.03 [[ 3.60828982e-01 -9.32630955e-01 -1.39599604e-03 1.84091933e+02] [-9.32623840e-01 -3.60831682e-01 3.64280508e-03 -1.41078198e+02] [-3.90111238e-03 -1.24904607e-05 -9.99992391e-01 -4.03288170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters 0.01197003541431415 Centerline is valid? [True, True] Translation: X:184.11, Y:-141.19, Z:-4.03 [[ 4.29401238e-01 -9.03111621e-01 -1.99449898e-03 1.84113556e+02] [-9.03101828e-01 -4.29405870e-01 4.20559010e-03 -1.41194394e+02] [-4.65456686e-03 -4.64991337e-06 -9.99989167e-01 -4.03176164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters 0.012063155427678956 Centerline is valid? [True, True] Translation: X:184.14, Y:-141.31, Z:-4.03 [[ 4.95068517e-01 -8.68846359e-01 -3.62874934e-03 1.84142570e+02] [-8.68823193e-01 -4.95081816e-01 6.34472018e-03 -1.41305630e+02] [-7.30911484e-03 1.16703746e-05 -9.99973288e-01 -4.02900142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters 0.012082905538072205 Centerline is valid? [True, True] Translation: X:184.18, Y:-141.42, Z:-4.03 [[ 5.60052792e-01 -8.28443442e-01 -4.72582929e-03 1.84177771e+02] [-8.28414159e-01 -5.60072730e-01 6.96548891e-03 -1.41417185e+02] [-8.41732172e-03 1.39023860e-05 -9.99964574e-01 -4.02851561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters 0.01204753818576189 Centerline is valid? [True, True] Translation: X:184.22, Y:-141.53, Z:-4.03 [[ 6.22174334e-01 -7.82860411e-01 -5.35481972e-03 1.84220834e+02] [-7.82831543e-01 -6.22197377e-01 6.72305096e-03 -1.41525794e+02] [-8.59496522e-03 9.01202862e-06 -9.99963063e-01 -4.02846136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters 0.01193534677085622 Centerline is valid? [True, True] Translation: X:184.27, Y:-141.62, Z:-4.03 [[ 6.80212264e-01 -7.33001946e-01 -4.40719752e-03 1.84267538e+02] [-7.32986618e-01 -6.80226541e-01 4.74041659e-03 -1.41623338e+02] [-6.47262731e-03 5.92730396e-06 -9.99979052e-01 -4.03029330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters 0.011945660358322141 Centerline is valid? [True, True] Translation: X:184.32, Y:-141.72, Z:-4.03 [[ 7.34903549e-01 -6.78158111e-01 -4.28374179e-03 1.84321448e+02] [-6.78146572e-01 -7.34916034e-01 3.95600610e-03 -1.41717305e+02] [-5.83098815e-03 -2.27811297e-06 -9.99983000e-01 -4.03100331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters 0.012237753612899792 Centerline is valid? [True, True] Translation: X:184.34, Y:-141.75, Z:-4.03 [[ 7.88690505e-01 -6.14775546e-01 -4.27959779e-03 1.84338664e+02] [-6.14766297e-01 -7.88702115e-01 3.37234823e-03 -1.41748516e+02] [-5.44856506e-03 -2.87865407e-05 -9.99985156e-01 -4.03078221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters 0.01291862981071646 Centerline is valid? [True, True] Translation: X:184.36, Y:-141.78, Z:-4.03 [[ 8.38184563e-01 -5.45365724e-01 -4.78177690e-03 1.84356969e+02] [-5.45356364e-01 -8.38198200e-01 3.19589690e-03 -1.41780822e+02] [-5.75100942e-03 -7.09789789e-05 -9.99983460e-01 -4.03069690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters 0.014384440269229054 Centerline is valid? [True, True] Translation: X:184.38, Y:-141.81, Z:-4.03 [[ 8.81206776e-01 -4.72704756e-01 -4.98313037e-03 1.84378499e+02] [-4.72696514e-01 -8.81220859e-01 2.79337418e-03 -1.41810035e+02] [-5.71167969e-03 -1.06031904e-04 -9.99983683e-01 -4.03006447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters 0.015956780035849695 Centerline is valid? [True, True] Translation: X:184.40, Y:-141.83, Z:-4.03 [[ 9.16392065e-01 -4.00240978e-01 -5.72219364e-03 1.84404093e+02] [-4.00232273e-01 -9.16409921e-01 2.64300083e-03 -1.41833477e+02] [-6.30171225e-03 -1.31818419e-04 -9.99980135e-01 -4.02940664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters 0.015022256364807885 Centerline is valid? [True, True] Translation: X:184.43, Y:-141.85, Z:-4.03 [[ 9.45034187e-01 -3.26936397e-01 -4.79348432e-03 1.84433194e+02] [-3.26931604e-01 -9.45046338e-01 1.77357866e-03 -1.41851574e+02] [-5.10991221e-03 -1.08950950e-04 -9.99986938e-01 -4.03028328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters 0.01505106860482106 Centerline is valid? [True, True] Translation: X:184.46, Y:-141.87, Z:-4.03 [[ 9.67557354e-01 -2.52618098e-01 -4.10640530e-03 1.84463580e+02] [-2.52615434e-01 -9.67566064e-01 1.16352179e-03 -1.41868632e+02] [-4.26714508e-03 -8.84327064e-05 -9.99990892e-01 -4.03080525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters 0.01476589150522983 Centerline is valid? [True, True] Translation: X:184.50, Y:-141.88, Z:-4.03 [[ 9.83938428e-01 -1.78494225e-01 -2.23174367e-03 1.84495734e+02] [-1.78493671e-01 -9.83940959e-01 4.46770468e-04 -1.41881330e+02] [-2.27564995e-03 -4.12425117e-05 -9.99997410e-01 -4.03150701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters 0.013196424758987128 Centerline is valid? [True, True] Translation: X:184.53, Y:-141.89, Z:-4.03 [[ 9.94244419e-01 -1.07119968e-01 -1.82969649e-03 1.84526174e+02] [-1.07119747e-01 -9.94246102e-01 2.18887842e-04 -1.41887248e+02] [-1.84261586e-03 -2.16313906e-05 -9.99998302e-01 -4.03107384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters 0.012409562932261791 Centerline is valid? [True, True] Translation: X:184.55, Y:-141.89, Z:-4.03 [[ 9.99365274e-01 -3.54807101e-02 -3.18870074e-03 1.84554225e+02] [-3.54804736e-02 -9.99370361e-01 1.30707868e-04 -1.41890525e+02] [-3.19133062e-03 -1.74882917e-05 -9.99994908e-01 -4.02902708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters 0.012183585144175073 Centerline is valid? [True, True] Translation: X:184.58, Y:-141.89, Z:-4.03 [[ 9.99227403e-01 3.89375984e-02 -5.33492552e-03 1.84583735e+02] [ 3.89370924e-02 -9.99241644e-01 -1.98716174e-04 -1.41893421e+02] [-5.33861728e-03 -9.16384141e-06 -9.99985749e-01 -4.02666560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters 0.012270925732063493 Centerline is valid? [True, True] Translation: X:184.61, Y:-141.89, Z:-4.02 [[ 9.93308591e-01 1.15292864e-01 -6.75272978e-03 1.84612552e+02] [ 1.15290200e-01 -9.93331544e-01 -7.83690466e-04 -1.41894411e+02] [-6.79805341e-03 -7.70944403e-08 -9.99976893e-01 -4.02440563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters 0.012306003522054697 Centerline is valid? [True, True] Translation: X:184.64, Y:-141.90, Z:-4.02 [[ 9.81487274e-01 1.91377794e-01 -7.56772538e-03 1.84642279e+02] [ 1.91372026e-01 -9.81516449e-01 -1.48594421e-03 -1.41896215e+02] [-7.71222367e-03 1.01843920e-05 -9.99970260e-01 -4.02469524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters 0.012248866698249672 Centerline is valid? [True, True] Translation: X:184.67, Y:-141.90, Z:-4.02 [[ 9.63395906e-01 2.67984525e-01 -7.25422296e-03 1.84672585e+02] [ 2.67976871e-01 -9.63423217e-01 -2.02537489e-03 -1.41899226e+02] [-7.53165595e-03 7.27390905e-06 -9.99971637e-01 -4.02490053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters 0.012270089723526 Centerline is valid? [True, True] Translation: X:184.70, Y:-141.90, Z:-4.03 [[ 9.39316348e-01 3.43009083e-01 -5.43768521e-03 1.84702745e+02] [ 3.43003316e-01 -9.39332087e-01 -1.98889735e-03 -1.41898408e+02] [-5.79000205e-03 3.05973444e-06 -9.99983238e-01 -4.02573450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters 0.012317302406434853 Centerline is valid? [True, True] Translation: X:184.73, Y:-141.90, Z:-4.03 [[ 9.09309607e-01 4.16108446e-01 -3.13028895e-03 1.84733138e+02] [ 4.16105981e-01 -9.09314995e-01 -1.43227190e-03 -1.41895066e+02] [-3.44239912e-03 -1.53352018e-07 -9.99994075e-01 -4.02717237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters 0.012473787421214829 Centerline is valid? [True, True] Translation: X:184.76, Y:-141.89, Z:-4.03 [[ 8.73126418e-01 4.87488348e-01 -2.31688005e-03 1.84764785e+02] [ 4.87486645e-01 -8.73129492e-01 -1.28861918e-03 -1.41891799e+02] [-2.65112314e-03 -4.32063204e-06 -9.99996486e-01 -4.02692189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters 0.01251811865162077 Centerline is valid? [True, True] Translation: X:184.80, Y:-141.88, Z:-4.03 [[ 8.31485191e-01 5.55540955e-01 -2.57369313e-03 1.84795151e+02] [ 5.55538330e-01 -8.31489174e-01 -1.70792178e-03 -1.41883723e+02] [-3.08881847e-03 -9.67351788e-06 -9.99995230e-01 -4.02631586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters 0.01258515019476898 Centerline is valid? [True, True] Translation: X:184.83, Y:-141.88, Z:-4.03 [[ 7.84497304e-01 6.20124296e-01 -3.13648935e-03 1.84825175e+02] [ 6.20119436e-01 -7.84503574e-01 -2.45516620e-03 -1.41875095e+02] [-3.98309532e-03 -1.89267437e-05 -9.99992067e-01 -4.02579808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters 0.012739103487037377 Centerline is valid? [True, True] Translation: X:184.85, Y:-141.86, Z:-4.03 [[ 7.32900733e-01 6.80328223e-01 -3.16624637e-03 1.84852969e+02] [ 6.80322019e-01 -7.32907572e-01 -2.90557989e-03 -1.41863284e+02] [-4.29731394e-03 -2.45654872e-05 -9.99990766e-01 -4.02525247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters 0.012745828901063383 Centerline is valid? [True, True] Translation: X:184.88, Y:-141.85, Z:-4.03 [[ 6.76672110e-01 7.36279076e-01 -2.82450616e-03 1.84879896e+02] [ 7.36272832e-01 -6.76678004e-01 -3.03244347e-03 -1.41848504e+02] [-4.14400587e-03 -2.76372249e-05 -9.99991413e-01 -4.02530853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters 0.01294002391331261 Centerline is valid? [True, True] Translation: X:184.91, Y:-141.83, Z:-4.02 [[ 6.15716651e-01 7.87961716e-01 -3.05594907e-03 1.84906018e+02] [ 7.87952335e-01 -6.15724234e-01 -3.84518780e-03 -1.41832430e+02] [-4.91148267e-03 -4.03960467e-05 -9.99987938e-01 -4.02469985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters 0.01300195482732427 Centerline is valid? [True, True] Translation: X:184.93, Y:-141.81, Z:-4.02 [[ 5.51615349e-01 8.34092002e-01 -3.32243514e-03 1.84930218e+02] [ 8.34077444e-01 -5.51625352e-01 -4.92830113e-03 -1.41813677e+02] [-5.94339602e-03 -5.26416640e-05 -9.99982337e-01 -4.02370995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters 0.013188535819455479 Centerline is valid? [True, True] Translation: X:184.95, Y:-141.79, Z:-4.02 [[ 4.82850417e-01 8.75696257e-01 -3.39721705e-03 1.84954150e+02] [ 8.75675666e-01 -4.82862362e-01 -6.00558823e-03 -1.41793386e+02] [-6.89945938e-03 -7.50595214e-05 -9.99976196e-01 -4.02313365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters 0.013669681585830918 Centerline is valid? [True, True] Translation: X:184.97, Y:-141.77, Z:-4.02 [[ 4.11324258e-01 9.11484892e-01 -2.76526181e-03 1.84973821e+02] [ 9.11465610e-01 -4.11333545e-01 -5.92926509e-03 -1.41772110e+02] [-6.54188049e-03 -8.15904784e-05 -9.99978598e-01 -4.02266888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters 0.0140426684922966 Centerline is valid? [True, True] Translation: X:184.99, Y:-141.75, Z:-4.02 [[ 3.37811193e-01 9.41210616e-01 -2.48492763e-03 1.84988564e+02] [ 9.41187187e-01 -3.37820319e-01 -6.64164351e-03 -1.41747516e+02] [-7.09064442e-03 -9.51605284e-05 -9.99974857e-01 -4.02175193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters 0.013666972335238843 Centerline is valid? [True, True] Translation: X:185.00, Y:-141.72, Z:-4.02 [[ 2.62298441e-01 9.64983832e-01 -2.39437319e-03 1.85002991e+02] [ 9.64947810e-01 -2.62309340e-01 -8.33867244e-03 -1.41721367e+02] [-8.67475053e-03 -1.23224387e-04 -9.99962366e-01 -4.02151230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters 0.014016061487794712 Centerline is valid? [True, True] Translation: X:185.02, Y:-141.70, Z:-4.02 [[ 1.85264282e-01 9.82686774e-01 -1.96201651e-03 1.85016231e+02] [ 9.82639719e-01 -1.85274613e-01 -9.61771907e-03 -1.41695396e+02] [-9.81471718e-03 -1.46135535e-04 -9.99951824e-01 -4.01982571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters 0.014217874124729548 Centerline is valid? [True, True] Translation: X:185.03, Y:-141.67, Z:-4.02 [[ 1.07655245e-01 9.94187555e-01 -1.20597150e-03 1.85025898e+02] [ 9.94139566e-01 -1.07661899e-01 -9.76929563e-03 -1.41668906e+02] [-9.84234931e-03 -1.47188067e-04 -9.99951552e-01 -4.01947758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters 0.014033838353441058 Centerline is valid? [True, True] Translation: X:185.03, Y:-141.64, Z:-4.02 [[ 3.04025195e-02 9.99537656e-01 -4.00721622e-04 1.85033076e+02] [ 9.99496970e-01 -3.04048979e-02 -9.01939596e-03 -1.41641151e+02] [-9.02740979e-03 -1.26307686e-04 -9.99959244e-01 -4.02003124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters 0.014405440760348442 Centerline is valid? [True, True] Translation: X:185.04, Y:-141.61, Z:-4.02 [[-4.82557651e-02 9.98834971e-01 2.85716308e-04 1.85039026e+02] [ 9.98799776e-01 4.82564635e-02 -8.38576968e-03 -1.41613399e+02] [-8.38978767e-03 -1.19288347e-04 -9.99964798e-01 -4.02015709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters 0.015071930747231852 Centerline is valid? [True, True] Translation: X:185.04, Y:-141.58, Z:-4.02 [[-1.28354651e-01 9.91727840e-01 9.87589933e-04 1.85040430e+02] [ 9.91689316e-01 1.28358371e-01 -8.74234203e-03 -1.41584881e+02] [-8.79678941e-03 -1.42737875e-04 -9.99961297e-01 -4.01959847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters 0.014623727893060724 Centerline is valid? [True, True] Translation: X:185.04, Y:-141.56, Z:-4.02 [[-2.06302907e-01 9.78486803e-01 1.63948023e-03 1.85042063e+02] [ 9.78450045e-01 2.06309369e-01 -8.48252468e-03 -1.41555643e+02] [-8.63827858e-03 -1.45819995e-04 -9.99962679e-01 -4.01970716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters 0.01406609903004387 Centerline is valid? [True, True] Translation: X:185.04, Y:-141.53, Z:-4.02 [[-2.81251822e-01 9.59630482e-01 2.59817359e-03 1.85042551e+02] [ 9.59584340e-01 2.81263781e-01 -9.41168102e-03 -1.41526449e+02] [-9.76250812e-03 -1.53885749e-04 -9.99952334e-01 -4.01938503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters 0.013080814012547293 Centerline is valid? [True, True] Translation: X:185.04, Y:-141.50, Z:-4.02 [[-3.51078531e-01 9.36340062e-01 3.33965362e-03 1.85037546e+02] [ 9.36294751e-01 3.51094398e-01 -9.21214297e-03 -1.41497732e+02] [-9.79823220e-03 -1.07285465e-04 -9.99951990e-01 -4.01971541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters 0.012644731687147626 Centerline is valid? [True, True] Translation: X:185.03, Y:-141.47, Z:-4.02 [[-4.18786195e-01 9.08075941e-01 4.02580919e-03 1.85029985e+02] [ 9.08032652e-01 4.18805541e-01 -8.86684880e-03 -1.41470984e+02] [-9.73780326e-03 -5.77476782e-05 -9.99952585e-01 -4.02061935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters 0.012628397705467385 Centerline is valid? [True, True] Translation: X:185.02, Y:-141.44, Z:-4.02 [[-4.81590841e-01 8.76387210e-01 3.96473715e-03 1.85021811e+02] [ 8.76357811e-01 4.81607161e-01 -7.17846810e-03 -1.41444168e+02] [-8.20056344e-03 1.74438752e-05 -9.99966375e-01 -4.02108866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters 0.012890279154511245 Centerline is valid? [True, True] Translation: X:185.01, Y:-141.42, Z:-4.02 [[-5.46739487e-01 8.37290003e-01 4.62445287e-03 1.85012634e+02] [ 8.37260644e-01 5.46759042e-01 -7.01173661e-03 -1.41417470e+02] [-8.39931839e-03 3.82791110e-05 -9.99964724e-01 -4.02107831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters 0.013706744409671099 Centerline is valid? [True, True] Translation: X:185.00, Y:-141.39, Z:-4.02 [[-6.05624016e-01 7.95734236e-01 5.15524390e-03 1.85002366e+02] [ 7.95706679e-01 6.05645950e-01 -6.62300107e-03 -1.41390441e+02] [-8.39240129e-03 9.10134949e-05 -9.99964779e-01 -4.02099204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters 0.014751613221519053 Centerline is valid? [True, True] Translation: X:184.99, Y:-141.36, Z:-4.02 [[-6.64184836e-01 7.47544770e-01 5.94316882e-03 1.84991224e+02] [ 7.47516424e-01 6.64211415e-01 -6.51097316e-03 -1.41364884e+02] [-8.81476450e-03 1.18126663e-04 -9.99961142e-01 -4.01989312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters 0.01518923837594041 Centerline is valid? [True, True] Translation: X:184.98, Y:-141.34, Z:-4.02 [[-7.20920108e-01 6.92984131e-01 6.86966930e-03 1.84977623e+02] [ 6.92954284e-01 7.20952827e-01 -6.43281861e-03 -1.41339924e+02] [-9.41054872e-03 1.22818488e-04 -9.99955712e-01 -4.01877585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters 0.015127316342788166 Centerline is valid? [True, True] Translation: X:184.99, Y:-141.31, Z:-4.02 [[-7.70680899e-01 6.37166043e-01 8.38958771e-03 1.84992022e+02] [ 6.37129668e-01 7.70726556e-01 -6.80898270e-03 -1.41308213e+02] [-1.08045306e-02 9.77023177e-05 -9.99941625e-01 -4.01677985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters 0.01463656513520252 Centerline is valid? [True, True] Translation: X:185.43, Y:-140.78, Z:-5.02 [[-7.34936767e-01 -6.78083609e-01 8.40050872e-03 1.85433831e+02] [ 6.78038380e-01 -7.34984773e-01 -7.83196956e-03 -1.40784726e+02] [ 1.14849762e-02 -6.01350618e-05 9.99934044e-01 -5.02277490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters 0.014401714234195192 Centerline is valid? [True, True] Translation: X:184.97, Y:-141.28, Z:-4.02 [[-7.78572582e-01 6.27501699e-01 8.14563314e-03 1.84968485e+02] [ 6.27467375e-01 7.78615192e-01 -6.56320230e-03 -1.41277477e+02] [-1.04607343e-02 1.18968484e-06 -9.99945285e-01 -4.01845176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters 0.014534605794772018 Centerline is valid? [True, True] Translation: X:184.98, Y:-141.25, Z:-4.02 [[-8.22995419e-01 5.67996447e-01 7.65349674e-03 1.84983437e+02] [ 5.67971538e-01 8.23031005e-01 -5.31947850e-03 -1.41250251e+02] [-9.32051000e-03 -3.09381222e-05 -9.99956563e-01 -4.01833210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters 0.01449384819248577 Centerline is valid? [True, True] Translation: X:185.37, Y:-140.71, Z:-5.02 [[-7.77113441e-01 -6.29320613e-01 7.08975864e-03 1.85366718e+02] [ 6.29294625e-01 -7.77145781e-01 -5.71920601e-03 -1.40710122e+02] [ 9.10899026e-03 1.70751422e-05 9.99958512e-01 -5.02074195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters 0.015113935101381017 Centerline is valid? [True, True] Translation: X:185.35, Y:-140.74, Z:-5.02 [[-7.30162248e-01 -6.83244817e-01 6.29381855e-03 1.85345134e+02] [ 6.83220452e-01 -7.30189368e-01 -5.77070315e-03 -1.40736330e+02] [ 8.53848241e-03 8.65159729e-05 9.99963543e-01 -5.02060360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters 0.015083395260549132 Centerline is valid? [True, True] Translation: X:185.33, Y:-140.76, Z:-5.02 [[-6.80440398e-01 -7.32783137e-01 5.45330866e-03 1.85325977e+02] [ 7.32760807e-01 -6.80462243e-01 -5.72157290e-03 -1.40761651e+02] [ 7.90344278e-03 1.02781513e-04 9.99968762e-01 -5.01910336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters 0.015951543500770347 Centerline is valid? [True, True] Translation: X:185.28, Y:-140.72, Z:-5.02 [[-6.77269183e-01 -7.35715674e-01 5.37586320e-03 1.85282332e+02] [ 7.35694074e-01 -6.77290505e-01 -5.63930751e-03 -1.40723846e+02] [ 7.78994803e-03 1.35661508e-04 9.99969649e-01 -5.01891654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters 0.01711215301048371 Centerline is valid? [True, True] Translation: X:185.24, Y:-140.69, Z:-5.02 [[-6.75269251e-01 -7.37544869e-01 6.24538930e-03 1.85238984e+02] [ 7.37515829e-01 -6.75298106e-01 -6.54756619e-03 -1.40686050e+02] [ 9.04662342e-03 1.84703355e-04 9.99959061e-01 -5.02062503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters 0.01700106937851166 Centerline is valid? [True, True] Translation: X:185.20, Y:-140.64, Z:-5.02 [[-6.74731368e-01 -7.38029967e-01 7.02488393e-03 1.85198420e+02] [ 7.37993293e-01 -6.74767901e-01 -7.36066837e-03 -1.40643889e+02] [ 1.01725600e-02 2.17843384e-04 9.99948234e-01 -5.02066331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters 0.017186309294598766 Centerline is valid? [True, True] Translation: X:185.16, Y:-140.60, Z:-5.02 [[-6.75427113e-01 -7.37385351e-01 7.81405211e-03 1.85158571e+02] [ 7.37339975e-01 -6.75472271e-01 -8.18362227e-03 -1.40604764e+02] [ 1.13126587e-02 2.34172624e-04 9.99935982e-01 -5.02212166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters 0.016003172595383593 Centerline is valid? [True, True] Translation: X:185.12, Y:-140.56, Z:-5.02 [[-6.77797050e-01 -7.35210583e-01 7.52047733e-03 1.85120834e+02] [ 7.35168466e-01 -6.77838743e-01 -7.87179637e-03 -1.40560354e+02] [ 1.08850989e-02 1.93337424e-04 9.99940737e-01 -5.02094043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters 0.014909178357785073 Centerline is valid? [True, True] Translation: X:185.08, Y:-140.52, Z:-5.02 [[-6.81103644e-01 -7.32155349e-01 6.80955605e-03 1.85083920e+02] [ 7.32120706e-01 -6.81137671e-01 -7.12360369e-03 -1.40515106e+02] [ 9.85382970e-03 1.33504550e-04 9.99951441e-01 -5.01877729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters 0.014511419208748792 Centerline is valid? [True, True] Translation: X:185.05, Y:-140.47, Z:-5.02 [[-6.84204852e-01 -7.29255843e-01 7.04528463e-03 1.85046262e+02] [ 7.29218636e-01 -6.84241117e-01 -7.36718150e-03 -1.40472032e+02] [ 1.01932336e-02 9.68915202e-05 9.99948043e-01 -5.01940682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters 0.014072122355702236 Centerline is valid? [True, True] Translation: X:185.01, Y:-140.43, Z:-5.02 [[-6.85605138e-01 -7.27939093e-01 7.09029626e-03 1.85007883e+02] [ 7.27901381e-01 -6.85641795e-01 -7.41000475e-03 -1.40428770e+02] [ 1.02554356e-02 8.06991174e-05 9.99947408e-01 -5.01845862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters 0.014034194942088246 Centerline is valid? [True, True] Translation: X:184.97, Y:-140.39, Z:-5.02 [[-6.86464056e-01 -7.27133407e-01 6.64139732e-03 1.84968140e+02] [ 7.27100324e-01 -6.86496179e-01 -6.93644350e-03 -1.40387257e+02] [ 9.60301368e-03 6.73430083e-05 9.99953888e-01 -5.01844114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters 0.014041976506019353 Centerline is valid? [True, True] Translation: X:184.93, Y:-140.35, Z:-5.02 [[-6.85984817e-01 -7.27578973e-01 7.32589842e-03 1.84926647e+02] [ 7.27538791e-01 -6.86023929e-01 -7.64700865e-03 -1.40346800e+02] [ 1.05895443e-02 8.41434487e-05 9.99943926e-01 -5.01846158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters 0.014249878136256803 Centerline is valid? [True, True] Translation: X:184.89, Y:-140.31, Z:-5.02 [[-6.85116377e-01 -7.28392477e-01 7.74269278e-03 1.84886431e+02] [ 7.28347698e-01 -6.85160118e-01 -8.07728398e-03 -1.40306883e+02] [ 1.11884172e-02 1.05492937e-04 9.99937402e-01 -5.01959121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters 0.014396987397913076 Centerline is valid? [True, True] Translation: X:184.85, Y:-140.27, Z:-5.02 [[-6.83845018e-01 -7.29582532e-01 8.08209706e-03 1.84845729e+02] [ 7.29533879e-01 -6.83892763e-01 -8.42662203e-03 -1.40265828e+02] [ 1.16752039e-02 1.33660127e-04 9.99931834e-01 -5.01889167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters 0.014564661317821005 Centerline is valid? [True, True] Translation: X:184.81, Y:-140.23, Z:-5.02 [[-6.82982352e-01 -7.30401176e-01 7.01632873e-03 1.84805055e+02] [ 7.30364599e-01 -6.83018378e-01 -7.31080204e-03 -1.40225890e+02] [ 1.01320999e-02 1.31329339e-04 9.99948660e-01 -5.01753474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters 0.014474835641644338 Centerline is valid? [True, True] Translation: X:184.76, Y:-140.19, Z:-5.02 [[-6.83135728e-01 -7.30266583e-01 6.02456671e-03 1.84764508e+02] [ 7.30239645e-01 -6.83162283e-01 -6.27345348e-03 -1.40185556e+02] [ 8.69705018e-03 1.13757249e-04 9.99962174e-01 -5.01654205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters 0.013995241031215846 Centerline is valid? [True, True] Translation: X:184.72, Y:-140.14, Z:-5.02 [[-6.84199311e-01 -7.29268878e-01 6.18118320e-03 1.84724525e+02] [ 7.29240511e-01 -6.84227223e-01 -6.43310534e-03 -1.40142780e+02] [ 8.92079733e-03 1.06042956e-04 9.99960203e-01 -5.01623723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters 0.013877461480974851 Centerline is valid? [True, True] Translation: X:184.68, Y:-140.10, Z:-5.02 [[-6.85390831e-01 -7.28141335e-01 7.04299790e-03 1.84683892e+02] [ 7.28104489e-01 -6.85427009e-01 -7.32589917e-03 -1.40101143e+02] [ 1.01617510e-02 1.06934261e-04 9.99948362e-01 -5.01765536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters 0.01357412446245946 Centerline is valid? [True, True] Translation: X:184.64, Y:-140.06, Z:-5.02 [[-6.86107353e-01 -7.27463631e-01 7.30516371e-03 1.84643963e+02] [ 7.27423998e-01 -6.86146234e-01 -7.59418437e-03 -1.40059030e+02] [ 1.05369035e-02 1.03525659e-04 9.99944480e-01 -5.01744636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters 0.01369373180778344 Centerline is valid? [True, True] Translation: X:184.60, Y:-140.02, Z:-5.02 [[-6.87408618e-01 -7.26231627e-01 7.55089895e-03 1.84604261e+02] [ 7.26189260e-01 -6.87450082e-01 -7.84491642e-03 -1.40018213e+02] [ 1.08880925e-02 9.07185729e-05 9.99940719e-01 -5.01887357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters 0.013453230597268787 Centerline is valid? [True, True] Translation: X:184.56, Y:-139.98, Z:-5.02 [[-6.87823069e-01 -7.25838154e-01 7.64205146e-03 1.84564658e+02] [ 7.25794789e-01 -6.87865515e-01 -7.93457897e-03 -1.39976725e+02] [ 1.10159238e-02 8.89746649e-05 9.99939319e-01 -5.01883504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters 0.013593641694271987 Centerline is valid? [True, True] Translation: X:184.52, Y:-139.94, Z:-5.02 [[-6.87382324e-01 -7.26250091e-01 8.14528089e-03 1.84523715e+02] [ 7.26200912e-01 -6.87430574e-01 -8.45229493e-03 -1.39936086e+02] [ 1.17377951e-02 1.05152279e-04 9.99931104e-01 -5.02048303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters 0.013696617002047525 Centerline is valid? [True, True] Translation: X:184.48, Y:-139.89, Z:-5.02 [[-6.86912326e-01 -7.26685655e-01 8.91152913e-03 1.84483281e+02] [ 7.26626892e-01 -6.86970118e-01 -9.24214415e-03 -1.39894041e+02] [ 1.28380878e-02 1.26813971e-04 9.99917580e-01 -5.02106335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters 0.013646162386782361 Centerline is valid? [True, True] Translation: X:184.44, Y:-139.85, Z:-5.02 [[-6.87487665e-01 -7.26148710e-01 8.29221665e-03 1.84443015e+02] [ 7.26097850e-01 -6.87537663e-01 -8.59498474e-03 -1.39851889e+02] [ 1.19424483e-02 1.12014692e-04 9.99928680e-01 -5.02043560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters 0.013577559167260035 Centerline is valid? [True, True] Translation: X:184.40, Y:-139.81, Z:-5.02 [[-6.88328828e-01 -7.25355938e-01 7.88590221e-03 1.84403911e+02] [ 7.25309947e-01 -6.88373993e-01 -8.16868831e-03 -1.39809712e+02] [ 1.13536566e-02 9.69796581e-05 9.99935541e-01 -5.01986592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters 0.01336234755906371 Centerline is valid? [True, True] Translation: X:184.37, Y:-139.77, Z:-5.02 [[-6.89631703e-01 -7.24121259e-01 7.51773969e-03 1.84365207e+02] [ 7.24079436e-01 -6.89672673e-01 -7.78289466e-03 -1.39766668e+02] [ 1.08205391e-02 7.61098177e-05 9.99941453e-01 -5.01919748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters 0.013186302212626174 Centerline is valid? [True, True] Translation: X:184.33, Y:-139.72, Z:-5.02 [[-6.90230077e-01 -7.23551994e-01 7.41301796e-03 1.84325440e+02] [ 7.23511342e-01 -6.90269880e-01 -7.67011239e-03 -1.39723722e+02] [ 1.06667081e-02 6.92603121e-05 9.99943107e-01 -5.01837048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters 0.013176263613603483 Centerline is valid? [True, True] Translation: X:184.29, Y:-139.68, Z:-5.02 [[-6.91784402e-01 -7.22073975e-01 6.59659815e-03 1.84286901e+02] [ 7.22041755e-01 -6.91815851e-01 -6.82148435e-03 -1.39680546e+02] [ 9.48924749e-03 4.40228296e-05 9.99954975e-01 -5.01698168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters 0.013041073413722943 Centerline is valid? [True, True] Translation: X:184.25, Y:-139.64, Z:-5.02 [[-6.92849563e-01 -7.21052905e-01 6.49557185e-03 1.84248090e+02] [ 7.21021654e-01 -6.92880010e-01 -6.71315438e-03 -1.39637927e+02] [ 9.34119135e-03 3.22418834e-05 9.99956370e-01 -5.01715236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters 0.013099395226094549 Centerline is valid? [True, True] Translation: X:184.21, Y:-139.60, Z:-5.02 [[-6.93261960e-01 -7.20651347e-01 7.03501510e-03 1.84208826e+02] [ 7.20614712e-01 -6.93297653e-01 -7.26650928e-03 -1.39595765e+02] [ 1.01139791e-02 3.19409150e-05 9.99948852e-01 -5.01737199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters 0.013052482974265376 Centerline is valid? [True, True] Translation: X:184.17, Y:-139.55, Z:-5.02 [[-6.94145534e-01 -7.19790617e-01 7.96524192e-03 1.84171262e+02] [ 7.19743659e-01 -6.94191232e-01 -8.22184995e-03 -1.39553672e+02] [ 1.14474116e-02 2.57719321e-05 9.99934476e-01 -5.01860042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters 0.013068656375168639 Centerline is valid? [True, True] Translation: X:184.13, Y:-139.51, Z:-5.02 [[-6.95048678e-01 -7.18916987e-01 8.10565080e-03 1.84133729e+02] [ 7.18868362e-01 -6.95095940e-01 -8.36131574e-03 -1.39511792e+02] [ 1.16452969e-02 1.53744626e-05 9.99932191e-01 -5.01962310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters 0.013024753958944939 Centerline is valid? [True, True] Translation: X:184.10, Y:-139.47, Z:-5.02 [[-6.95532091e-01 -7.18450886e-01 7.96457706e-03 1.84095039e+02] [ 7.18403968e-01 -6.95577691e-01 -8.21060656e-03 -1.39469239e+02] [ 1.14388997e-02 1.10434169e-05 9.99934574e-01 -5.01868475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters 0.013063532484394324 Centerline is valid? [True, True] Translation: X:184.06, Y:-139.43, Z:-5.02 [[-6.96185162e-01 -7.17820004e-01 7.78863382e-03 1.84057134e+02] [ 7.17775153e-01 -6.96228728e-01 -8.02422758e-03 -1.39426890e+02] [ 1.11826217e-02 4.13965514e-06 9.99937473e-01 -5.01851322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters 0.013012428729791633 Centerline is valid? [True, True] Translation: X:184.02, Y:-139.38, Z:-5.02 [[-6.96601675e-01 -7.17417685e-01 7.61391766e-03 1.84018285e+02] [ 7.17374853e-01 -6.96643284e-01 -7.83931130e-03 -1.39384900e+02] [ 1.09282452e-02 1.15567587e-06 9.99940285e-01 -5.01811191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters 0.01286501713578652 Centerline is valid? [True, True] Translation: X:183.98, Y:-139.34, Z:-5.02 [[-6.96528896e-01 -7.17493686e-01 7.09277652e-03 1.83978634e+02] [ 7.17456569e-01 -6.96565008e-01 -7.29810212e-03 -1.39343339e+02] [ 1.01769221e-02 5.42009333e-06 9.99948214e-01 -5.01683866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters 0.012897784034348228 Centerline is valid? [True, True] Translation: X:183.94, Y:-139.30, Z:-5.02 [[-6.96188554e-01 -7.17819244e-01 7.55180891e-03 1.83938744e+02] [ 7.17777238e-01 -6.96229512e-01 -7.76551685e-03 -1.39302516e+02] [ 1.08320297e-02 1.42525920e-05 9.99941332e-01 -5.01689975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters 0.013051113693797198 Centerline is valid? [True, True] Translation: X:183.90, Y:-139.26, Z:-5.02 [[-6.94004926e-01 -7.19932764e-01 7.34698762e-03 1.83898162e+02] [ 7.19893177e-01 -6.94043812e-01 -7.54994773e-03 -1.39264121e+02] [ 1.05345860e-02 4.93453455e-05 9.99944509e-01 -5.01720766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters 0.013458368905921309 Centerline is valid? [True, True] Translation: X:183.86, Y:-139.22, Z:-5.02 [[-6.90761841e-01 -7.23044937e-01 7.35519663e-03 1.83855196e+02] [ 7.23005480e-01 -6.90800991e-01 -7.55419049e-03 -1.39224899e+02] [ 1.05429963e-02 9.97009438e-05 9.99944416e-01 -5.01728745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters 0.014282226326314837 Centerline is valid? [True, True] Translation: X:183.81, Y:-139.18, Z:-5.02 [[-6.86942660e-01 -7.26657702e-01 8.85243940e-03 1.83813649e+02] [ 7.26600913e-01 -6.86999671e-01 -9.08650948e-03 -1.39184825e+02] [ 1.26844051e-02 1.90279554e-04 9.99919532e-01 -5.01809043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters 0.015667533580084145 Centerline is valid? [True, True] Translation: X:183.77, Y:-139.15, Z:-5.02 [[-6.84742694e-01 -7.28725551e-01 9.30133650e-03 1.83772013e+02] [ 7.28663098e-01 -6.84805821e-01 -9.54340068e-03 -1.39146151e+02] [ 1.33241293e-02 2.42766782e-04 9.99911200e-01 -5.01968279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters 0.017211246515586195 Centerline is valid? [True, True] Translation: X:183.73, Y:-139.11, Z:-5.02 [[-6.82648121e-01 -7.30684822e-01 9.55164467e-03 1.83729840e+02] [ 7.30619206e-01 -6.82714879e-01 -9.79641379e-03 -1.39107370e+02] [ 1.36791408e-02 2.91111573e-04 9.99906394e-01 -5.02126500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters 0.015713208835650763 Centerline is valid? [True, True] Translation: X:183.69, Y:-139.06, Z:-5.02 [[-6.84389688e-01 -7.29061486e-01 8.95008341e-03 1.83693648e+02] [ 7.29003800e-01 -6.84448164e-01 -9.17442277e-03 -1.39062049e+02] [ 1.28145865e-02 2.45764482e-04 9.99917860e-01 -5.01870257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters 0.014111795210260295 Centerline is valid? [True, True] Translation: X:183.66, Y:-139.02, Z:-5.02 [[-6.89664948e-01 -7.24089796e-01 7.49841698e-03 1.83659931e+02] [ 7.24049049e-01 -6.89705698e-01 -7.68274074e-03 -1.39016435e+02] [ 1.07346951e-02 1.30704694e-04 9.99942373e-01 -5.01703086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters 0.013184444083833775 Centerline is valid? [True, True] Translation: X:183.62, Y:-138.97, Z:-5.02 [[-6.93581943e-01 -7.20344802e-01 6.88877639e-03 1.83623337e+02] [ 7.20310262e-01 -6.93616149e-01 -7.05437448e-03 -1.38971277e+02] [ 9.85974853e-03 6.92695709e-05 9.99951389e-01 -5.01580093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters 0.012836149188217173 Centerline is valid? [True, True] Translation: X:183.59, Y:-138.93, Z:-5.02 [[-6.96719005e-01 -7.17312252e-01 6.76469170e-03 1.83586237e+02] [ 7.17278840e-01 -6.96751844e-01 -6.92345802e-03 -1.38926818e+02] [ 9.67959268e-03 2.84654305e-05 9.99953151e-01 -5.01568760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters 0.012915710096516276 Centerline is valid? [True, True] Translation: X:183.55, Y:-138.88, Z:-5.02 [[-6.99138249e-01 -7.14940268e-01 8.13150264e-03 1.83549205e+02] [ 7.14891884e-01 -6.99185535e-01 -8.31752141e-03 -1.38882576e+02] [ 1.16319600e-02 -1.95211485e-06 9.99932347e-01 -5.01775944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters 0.01311137663623055 Centerline is valid? [True, True] Translation: X:183.51, Y:-138.84, Z:-5.02 [[-6.98833193e-01 -7.15224359e-01 9.28899643e-03 1.83510066e+02] [ 7.15161300e-01 -6.98894925e-01 -9.49726746e-03 -1.38841714e+02] [ 1.32847095e-02 6.12502222e-06 9.99911754e-01 -5.01976041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters 0.013319940951662959 Centerline is valid? [True, True] Translation: X:183.47, Y:-138.80, Z:-5.02 [[-6.98486121e-01 -7.15545992e-01 1.05390959e-02 1.83469559e+02] [ 7.15464945e-01 -6.98565626e-01 -1.07693410e-02 -1.38801115e+02] [ 1.50682089e-02 1.81184178e-05 9.99886468e-01 -5.02192409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters 0.013454339706854227 Centerline is valid? [True, True] Translation: X:183.43, Y:-138.76, Z:-5.02 [[-6.99499016e-01 -7.14552950e-01 1.07335236e-02 1.83431458e+02] [ 7.14468872e-01 -6.99581362e-01 -1.09612367e-02 -1.38759219e+02] [ 1.53413571e-02 1.39420573e-06 9.99882314e-01 -5.02232100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters 0.013398319344967595 Centerline is valid? [True, True] Translation: X:183.39, Y:-138.72, Z:-5.02 [[-7.01333465e-01 -7.12765920e-01 9.80376222e-03 1.83394394e+02] [ 7.12695690e-01 -7.01401983e-01 -1.00055372e-02 -1.38716702e+02] [ 1.40079842e-02 -3.01190187e-05 9.99901883e-01 -5.02041021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters 0.014088510234256646 Centerline is valid? [True, True] Translation: X:183.36, Y:-138.67, Z:-5.02 [[-7.04204828e-01 -7.09945450e-01 8.54506119e-03 1.83359528e+02] [ 7.09891957e-01 -7.04256667e-01 -8.71532540e-03 -1.38673909e+02] [ 1.22053219e-02 -7.13040107e-05 9.99925510e-01 -5.01924810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters 0.014444990892603652 Centerline is valid? [True, True] Translation: X:183.32, Y:-138.63, Z:-5.02 [[-7.05601966e-01 -7.08558906e-01 8.37515619e-03 1.83321251e+02] [ 7.08507482e-01 -7.05651663e-01 -8.53694647e-03 -1.38631987e+02] [ 1.19588723e-02 -8.98253956e-05 9.99928486e-01 -5.01935758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters 0.014826615428693372 Centerline is valid? [True, True] Translation: X:183.28, Y:-138.59, Z:-5.02 [[-7.06084144e-01 -7.08076668e-01 8.52134447e-03 1.83282854e+02] [ 7.08023463e-01 -7.06135556e-01 -8.68060345e-03 -1.38591461e+02] [ 1.21637571e-02 -9.59246365e-05 9.99926014e-01 -5.02039707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters 0.014490414151889876 Centerline is valid? [True, True] Translation: X:183.24, Y:-138.55, Z:-5.02 [[-7.04955892e-01 -7.09183296e-01 9.81037378e-03 1.83242030e+02] [ 7.09112966e-01 -7.05024145e-01 -9.98781309e-03 -1.38552474e+02] [ 1.39997406e-02 -8.43044338e-05 9.99901995e-01 -5.02138357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters 0.014376402360260877 Centerline is valid? [True, True] Translation: X:183.20, Y:-138.51, Z:-5.02 [[-7.04466614e-01 -7.09668570e-01 9.86459558e-03 1.83201585e+02] [ 7.09597591e-01 -7.04535674e-01 -1.00371235e-02 -1.38513115e+02] [ 1.40729905e-02 -7.09251251e-05 9.99900968e-01 -5.02201546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters 0.013960253986717427 Centerline is valid? [True, True] Translation: X:183.16, Y:-138.48, Z:-5.02 [[-7.02544000e-01 -7.11570377e-01 9.97626345e-03 1.83160158e+02] [ 7.11498051e-01 -7.02614829e-01 -1.01452392e-02 -1.38477009e+02] [ 1.42285223e-02 -2.93849182e-05 9.99898769e-01 -5.02264686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters 0.013636798129951756 Centerline is valid? [True, True] Translation: X:183.12, Y:-138.44, Z:-5.02 [[-7.01278426e-01 -7.12827984e-01 9.21057262e-03 1.83118894e+02] [ 7.12766521e-01 -7.01338909e-01 -9.36066396e-03 -1.38439793e+02] [ 1.31322762e-02 5.56107848e-07 9.99913768e-01 -5.02173605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters 0.013485178861239842 Centerline is valid? [True, True] Translation: X:183.08, Y:-138.40, Z:-5.02 [[-6.99775327e-01 -7.14314218e-01 8.34806370e-03 1.83076396e+02] [ 7.14263896e-01 -6.99825119e-01 -8.47880443e-03 -1.38404135e+02] [ 1.18987152e-02 2.94623572e-05 9.99929207e-01 -5.02080873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters 0.01369744957937498 Centerline is valid? [True, True] Translation: X:183.04, Y:-138.37, Z:-5.02 [[-6.99070287e-01 -7.15001264e-01 8.59806916e-03 1.83035288e+02] [ 7.14948003e-01 -6.99123158e-01 -8.72709553e-03 -1.38368050e+02] [ 1.22509936e-02 4.63192049e-05 9.99924953e-01 -5.02227285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters 0.013029446977823569 Centerline is valid? [True, True] Translation: X:183.00, Y:-138.33, Z:-5.02 [[-6.99669345e-01 -7.14402106e-01 9.61455293e-03 1.82995445e+02] [ 7.14335530e-01 -6.99735400e-01 -9.75303299e-03 -1.38327204e+02] [ 1.36952303e-02 4.41185556e-05 9.99906215e-01 -5.01918918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters 0.012800692890426185 Centerline is valid? [True, True] Translation: X:182.96, Y:-138.29, Z:-5.02 [[-7.01582488e-01 -7.12526489e-01 9.38160410e-03 1.82956349e+02] [ 7.12463013e-01 -7.01645211e-01 -9.51071540e-03 -1.38285460e+02] [ 1.33591942e-02 1.14945440e-05 9.99910762e-01 -5.01732843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters 0.013112438785315046 Centerline is valid? [True, True] Translation: X:182.92, Y:-138.24, Z:-5.02 [[-7.02774044e-01 -7.11361223e-01 8.59379705e-03 1.82917060e+02] [ 7.11307942e-01 -7.02826587e-01 -8.70635083e-03 -1.38244631e+02] [ 1.22333094e-02 -5.76128879e-06 9.99925170e-01 -5.01902335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters 0.012999587936807175 Centerline is valid? [True, True] Translation: X:182.88, Y:-138.20, Z:-5.02 [[-7.05870191e-01 -7.08298840e-01 7.74767077e-03 1.82878660e+02] [ 7.08255404e-01 -7.05912707e-01 -7.84429078e-03 -1.38202711e+02] [ 1.10252813e-02 -4.97213427e-05 9.99939219e-01 -5.01648682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters 0.013176768441230611 Centerline is valid? [True, True] Translation: X:182.84, Y:-138.16, Z:-5.02 [[-7.08775798e-01 -7.05391488e-01 7.72766937e-03 1.82838311e+02] [ 7.05348151e-01 -7.08817918e-01 -7.81953180e-03 -1.38160600e+02] [ 1.09933417e-02 -9.15975931e-05 9.99939567e-01 -5.01581443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters 0.013519307157740815 Centerline is valid? [True, True] Translation: X:182.80, Y:-138.12, Z:-5.02 [[-7.10222661e-01 -7.03928941e-01 8.23518056e-03 1.82798710e+02] [ 7.03879685e-01 -7.10270394e-01 -8.32806079e-03 -1.38119324e+02] [ 1.17115680e-02 -1.18201197e-04 9.99931410e-01 -5.01671801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters 0.013810642036503677 Centerline is valid? [True, True] Translation: X:182.76, Y:-138.08, Z:-5.02 [[-7.11028560e-01 -7.03110501e-01 8.60291290e-03 1.82758433e+02] [ 7.03056755e-01 -7.11080590e-01 -8.69447800e-03 -1.38079213e+02] [ 1.22305432e-02 -1.33686141e-04 9.99925195e-01 -5.01730191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters 0.013581945910525894 Centerline is valid? [True, True] Translation: X:182.72, Y:-138.04, Z:-5.02 [[-7.09759108e-01 -7.04384584e-01 9.18509709e-03 1.82716469e+02] [ 7.04323500e-01 -7.09818529e-01 -9.27700935e-03 -1.38039842e+02] [ 1.30543345e-02 -1.15162149e-04 9.99914782e-01 -5.01679630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters 0.012947659669025063 Centerline is valid? [True, True] Translation: X:182.67, Y:-138.00, Z:-5.02 [[-7.06259400e-01 -7.07899206e-01 8.73929847e-03 1.82672430e+02] [ 7.07844237e-01 -7.06313466e-01 -8.82174432e-03 -1.38001417e+02] [ 1.24175900e-02 -4.43777858e-05 9.99922898e-01 -5.01520502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters 0.012860147245126522 Centerline is valid? [True, True] Translation: X:182.63, Y:-137.96, Z:-5.01 [[-7.01700010e-01 -7.12418728e-01 8.75508550e-03 1.82627299e+02] [ 7.12363973e-01 -7.01754626e-01 -8.83260281e-03 -1.37963702e+02] [ 1.24364334e-02 3.89700122e-05 9.99922664e-01 -5.01491275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters 0.013140355644658028 Centerline is valid? [True, True] Translation: X:182.58, Y:-137.92, Z:-5.01 [[-6.98413796e-01 -7.15640631e-01 8.75532971e-03 1.82583662e+02] [ 7.15586189e-01 -6.98468666e-01 -8.82777629e-03 -1.37924606e+02] [ 1.24328389e-02 9.97522615e-05 9.99922704e-01 -5.01470004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters 0.014591953799303933 Centerline is valid? [True, True] Translation: X:182.54, Y:-137.89, Z:-5.01 [[-6.93462705e-01 -7.20442943e-01 8.45238509e-03 1.82538754e+02] [ 7.20392618e-01 -6.93514191e-01 -8.51721048e-03 -1.37888636e+02] [ 1.19980132e-02 1.82667999e-04 9.99928005e-01 -5.01465121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters 0.01575928739667917 Centerline is valid? [True, True] Translation: X:182.50, Y:-137.85, Z:-5.01 [[-6.89352977e-01 -7.24379637e-01 8.16180511e-03 1.82495064e+02] [ 7.24333044e-01 -6.89401248e-01 -8.21945344e-03 -1.37850672e+02] [ 1.15807633e-02 2.45760447e-04 9.99932911e-01 -5.01311289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters 0.01813376873810189 Centerline is valid? [True, True] Translation: X:182.45, Y:-137.81, Z:-5.01 [[-6.87196917e-01 -7.26423159e-01 8.35410919e-03 1.82450874e+02] [ 7.26374542e-01 -6.87247634e-01 -8.40917528e-03 -1.37814676e+02] [ 1.18499614e-02 2.89452913e-04 9.99929745e-01 -5.01445668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters 0.017162733502829132 Centerline is valid? [True, True] Translation: X:182.41, Y:-137.77, Z:-5.01 [[-6.85658054e-01 -7.27867932e-01 9.01699791e-03 1.82410129e+02] [ 7.27811488e-01 -6.85717256e-01 -9.07094868e-03 -1.37773932e+02] [ 1.27855637e-02 3.43105655e-04 9.99918203e-01 -5.01364027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters 0.017132326537802625 Centerline is valid? [True, True] Translation: X:182.37, Y:-137.73, Z:-5.01 [[-6.86938197e-01 -7.26653779e-01 9.49731293e-03 1.82370512e+02] [ 7.26591131e-01 -6.87003761e-01 -9.54778208e-03 -1.37734253e+02] [ 1.34626216e-02 3.41927137e-04 9.99909316e-01 -5.01391989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters 0.01663395949421994 Centerline is valid? [True, True] Translation: X:182.33, Y:-137.69, Z:-5.01 [[-6.88694300e-01 -7.24987601e-01 9.65083056e-03 1.82330644e+02] [ 7.24922821e-01 -6.88761843e-01 -9.69672690e-03 -1.37692220e+02] [ 1.36771306e-02 3.18026764e-04 9.99906413e-01 -5.01339301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters 0.015535086890861747 Centerline is valid? [True, True] Translation: X:182.29, Y:-137.65, Z:-5.01 [[-6.91959025e-01 -7.21874181e-01 9.50658844e-03 1.82291236e+02] [ 7.21811101e-01 -6.92024278e-01 -9.54637722e-03 -1.37650020e+02] [ 1.34700732e-02 2.56259194e-04 9.99909242e-01 -5.01276915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters 0.01459900675782854 Centerline is valid? [True, True] Translation: X:182.25, Y:-137.61, Z:-5.01 [[-6.94267401e-01 -7.19648925e-01 9.90962424e-03 1.82251981e+02] [ 7.19580235e-01 -6.94338083e-01 -9.94545299e-03 -1.37607713e+02] [ 1.40378641e-02 2.25965930e-04 9.99901439e-01 -5.01240119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters 0.014776046885717535 Centerline is valid? [True, True] Translation: X:182.21, Y:-137.57, Z:-5.01 [[-6.95231877e-01 -7.18705743e-01 1.07094232e-02 1.82212011e+02] [ 7.18625513e-01 -6.95314319e-01 -1.07410134e-02 -1.37567860e+02] [ 1.51660433e-02 2.28569889e-04 9.99884963e-01 -5.01293300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters 0.014253061890674618 Centerline is valid? [True, True] Translation: X:182.17, Y:-137.53, Z:-5.01 [[-6.96698237e-01 -7.17269424e-01 1.16679323e-02 1.82171764e+02] [ 7.17174097e-01 -6.96795899e-01 -1.16957199e-02 -1.37526194e+02] [ 1.65191496e-02 2.19551381e-04 9.99863525e-01 -5.01220753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters 0.014061079098521478 Centerline is valid? [True, True] Translation: X:182.13, Y:-137.49, Z:-5.01 [[-6.98205930e-01 -7.15812116e-01 1.10224677e-02 1.82131686e+02] [ 7.15726959e-01 -6.98292906e-01 -1.10425485e-02 -1.37485783e+02] [ 1.56013010e-02 1.79104429e-04 9.99878276e-01 -5.01148818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters 0.013556127448416796 Centerline is valid? [True, True] Translation: X:182.09, Y:-137.44, Z:-5.01 [[-7.00621192e-01 -7.13474914e-01 9.13741625e-03 1.82091786e+02] [ 7.13416261e-01 -7.00680765e-01 -9.14901193e-03 -1.37443645e+02] [ 1.29300023e-02 1.08789687e-04 9.99916398e-01 -5.00765744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters 0.013448974238107803 Centerline is valid? [True, True] Translation: X:182.05, Y:-137.40, Z:-5.01 [[-7.00913664e-01 -7.13188018e-01 9.10420610e-03 1.82050015e+02] [ 7.13129840e-01 -7.00972781e-01 -9.10998019e-03 -1.37404744e+02] [ 1.28789294e-02 1.07171435e-04 9.99917057e-01 -5.00665731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters 0.013470751397592757 Centerline is valid? [True, True] Translation: X:182.01, Y:-137.37, Z:-5.01 [[-7.01584424e-01 -7.12521500e-01 9.61294411e-03 1.82006727e+02] [ 7.12456658e-01 -7.01650270e-01 -9.61298324e-03 -1.37366841e+02] [ 1.35943821e-02 1.04486726e-04 9.99907587e-01 -5.00749220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters 0.013559295204932483 Centerline is valid? [True, True] Translation: X:181.97, Y:-137.33, Z:-5.01 [[-7.02049065e-01 -7.12064227e-01 9.57323524e-03 1.81965168e+02] [ 7.11999962e-01 -7.02114326e-01 -9.56700839e-03 -1.37328451e+02] [ 1.35338300e-02 9.96338359e-05 9.99908409e-01 -5.00834964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters 0.013267444631356925 Centerline is valid? [True, True] Translation: X:181.50, Y:-137.79, Z:-4.03 [[-7.59279132e-01 6.50674269e-01 1.08717219e-02 1.81504763e+02] [ 6.50606050e-01 7.59356957e-01 -9.42225521e-03 -1.37788574e+02] [-1.43863367e-02 -8.09137240e-05 -9.99896508e-01 -4.03319609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters 0.013494951264679646 Centerline is valid? [True, True] Translation: X:181.93, Y:-137.31, Z:-5.01 [[-7.05857597e-01 -7.08273257e-01 1.06792639e-02 1.81929976e+02] [ 7.08194792e-01 -7.05938368e-01 -1.05431172e-02 -1.37305122e+02] [ 1.50063101e-02 1.21059734e-04 9.99887392e-01 -5.00801025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters 0.013512686226879173 Centerline is valid? [True, True] Translation: X:181.48, Y:-137.76, Z:-4.03 [[-7.62476787e-01 6.46903372e-01 1.20489616e-02 1.81478318e+02] [ 6.46820270e-01 7.62571973e-01 -1.03693332e-02 -1.37757841e+02] [-1.58961570e-02 -1.12863306e-04 -9.99873642e-01 -4.03369803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters 0.013559489465081592 Centerline is valid? [True, True] Translation: X:181.50, Y:-137.73, Z:-4.03 [[-8.07093418e-01 5.90277570e-01 1.31379108e-02 1.81495741e+02] [ 5.90196606e-01 8.07200329e-01 -9.77727054e-03 -1.37731979e+02] [-1.63762294e-02 -1.37220353e-04 -9.99865891e-01 -4.03441281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters 0.014043097027249407 Centerline is valid? [True, True] Translation: X:181.51, Y:-137.70, Z:-4.03 [[-8.47444577e-01 5.30712316e-01 1.34954275e-02 1.81511130e+02] [ 5.30642169e-01 8.47552013e-01 -8.62983512e-03 -1.37700811e+02] [-1.60180366e-02 -1.52064033e-04 -9.99871692e-01 -4.03281945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters 0.013672139276882765 Centerline is valid? [True, True] Translation: X:181.53, Y:-137.68, Z:-4.04 [[-8.82606567e-01 4.69930381e-01 1.30799425e-02 1.81526751e+02] [ 4.69876570e-01 8.82703472e-01 -7.11259544e-03 -1.37675092e+02] [-1.48881354e-02 -1.31664906e-04 -9.99889157e-01 -4.03551568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters 0.013329840907870072 Centerline is valid? [True, True] Translation: X:181.54, Y:-137.65, Z:-4.04 [[-9.12744720e-01 4.08325148e-01 1.29479354e-02 1.81536743e+02] [ 4.08282621e-01 9.12836549e-01 -5.89377618e-03 -1.37646659e+02] [-1.42259257e-02 -9.30961076e-05 -9.99898802e-01 -4.03689939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters 0.013133554924221665 Centerline is valid? [True, True] Translation: X:181.55, Y:-137.62, Z:-4.04 [[-9.38228362e-01 3.45772338e-01 1.30011663e-02 1.81553178e+02] [ 3.45738426e-01 9.38318436e-01 -4.84283003e-03 -1.37620748e+02] [-1.38737507e-02 -4.86776988e-05 -9.99903754e-01 -4.03681245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters 0.013050706927902158 Centerline is valid? [True, True] Translation: X:181.56, Y:-137.59, Z:-4.04 [[-9.59020482e-01 2.83015906e-01 1.34800657e-02 1.81559939e+02] [ 2.82988220e-01 9.59115216e-01 -3.95863020e-03 -1.37594999e+02] [-1.40492914e-02 1.82923446e-05 -9.99901304e-01 -4.03671996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters 0.013173414960292422 Centerline is valid? [True, True] Translation: X:181.73, Y:-137.03, Z:-5.00 [[-9.39915189e-01 -3.41139550e-01 1.35368258e-02 1.81729432e+02] [ 3.41104205e-01 -9.40012664e-01 -4.91056172e-03 -1.37027459e+02] [ 1.43999745e-02 1.95665764e-06 9.99896315e-01 -5.00396434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters 0.014045441730581254 Centerline is valid? [True, True] Translation: X:181.52, Y:-137.59, Z:-4.04 [[-9.57578246e-01 2.87803290e-01 1.46003347e-02 1.81520858e+02] [ 2.87772253e-01 9.57689534e-01 -4.22937698e-03 -1.37587421e+02] [-1.51998164e-02 1.51611821e-04 -9.99884465e-01 -4.03506228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters 0.013865309209415491 Centerline is valid? [True, True] Translation: X:181.52, Y:-137.56, Z:-4.04 [[-9.75171037e-01 2.20918254e-01 1.53809341e-02 1.81523711e+02] [ 2.20893762e-01 9.75292310e-01 -3.29471334e-03 -1.37559338e+02] [-1.57287691e-02 1.84643374e-04 -9.99876278e-01 -4.03645777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters 0.01351865261525522 Centerline is valid? [True, True] Translation: X:181.52, Y:-137.53, Z:-4.04 [[-9.89071681e-01 1.46579462e-01 1.58641393e-02 1.81520668e+02] [ 1.46562450e-01 9.89198892e-01 -2.23601167e-03 -1.37527769e+02] [-1.60205424e-02 1.13511296e-04 -9.99871656e-01 -4.03572765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters 0.01328658423099258 Centerline is valid? [True, True] Translation: X:181.60, Y:-136.95, Z:-5.00 [[-9.79428070e-01 -2.01165876e-01 1.59042832e-02 1.81599782e+02] [ 2.01137707e-01 -9.79557186e-01 -3.36784416e-03 -1.36945944e+02] [ 1.62566502e-02 -9.96100515e-05 9.99867847e-01 -5.00462353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters 0.012960007760032092 Centerline is valid? [True, True] Translation: X:181.47, Y:-137.51, Z:-4.04 [[-9.90901136e-01 1.33618030e-01 1.61604877e-02 1.81466825e+02] [ 1.33599670e-01 9.91032906e-01 -2.21529381e-03 -1.37513464e+02] [-1.63115783e-02 -3.61013289e-05 -9.99866957e-01 -4.03567360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters 0.01368026632852779 Centerline is valid? [True, True] Translation: X:181.46, Y:-137.48, Z:-4.04 [[-9.98344401e-01 5.55135730e-02 1.50565664e-02 1.81458475e+02] [ 5.55050626e-02 9.98457922e-01 -9.82842616e-04 -1.37480288e+02] [-1.50879091e-02 -1.45499761e-04 -9.99886160e-01 -4.03607892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters 0.014469343652300907 Centerline is valid? [True, True] Translation: X:181.49, Y:-136.92, Z:-5.00 [[-9.88858215e-01 -1.48345119e-01 1.23756173e-02 1.81487280e+02] [ 1.48332734e-01 -9.88935651e-01 -1.91783531e-03 -1.36920916e+02] [ 1.25231906e-02 -6.07580589e-05 9.99921580e-01 -5.00137101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters 0.015157626125898122 Centerline is valid? [True, True] Translation: X:181.40, Y:-137.47, Z:-4.04 [[-9.99084192e-01 4.15777170e-02 1.01030426e-02 1.81401143e+02] [ 4.15735831e-02 9.99135253e-01 -6.18936508e-04 -1.37470493e+02] [-1.01200400e-02 -1.98350000e-04 -9.99948771e-01 -4.04051579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters 0.015607292695148408 Centerline is valid? [True, True] Translation: X:181.39, Y:-137.44, Z:-4.04 [[-9.99422562e-01 -3.24056424e-02 1.02184279e-02 1.81391580e+02] [-3.24063010e-02 9.99474773e-01 1.01161105e-04 -1.37443519e+02] [-1.02163391e-02 -2.30038761e-04 -9.99947785e-01 -4.04030983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters 0.016156300368405516 Centerline is valid? [True, True] Translation: X:181.39, Y:-136.89, Z:-5.00 [[-9.96666064e-01 -8.08409464e-02 1.10226261e-02 1.81388640e+02] [ 8.08393539e-02 -9.96726969e-01 -5.90679854e-04 -1.36892834e+02] [ 1.10342998e-02 3.02351403e-04 9.99939075e-01 -5.00192521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters 0.01634388641298069 Centerline is valid? [True, True] Translation: X:181.34, Y:-137.45, Z:-4.04 [[-9.99265302e-01 -3.61677773e-02 1.26786861e-02 1.81340852e+02] [-3.61684576e-02 9.99345692e-01 1.75708924e-04 -1.37446819e+02] [-1.26767453e-02 -2.82988690e-04 -9.99919607e-01 -4.03704689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters 0.015069642739401755 Centerline is valid? [True, True] Translation: X:181.33, Y:-136.89, Z:-5.00 [[-9.97209173e-01 -7.34975740e-02 1.31138212e-02 1.81333258e+02] [ 7.34954505e-02 -9.97295344e-01 -6.44425276e-04 -1.36885290e+02] [ 1.31257166e-02 3.21179403e-04 9.99913803e-01 -5.00298381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters 0.014494629906418711 Centerline is valid? [True, True] Translation: X:181.29, Y:-137.46, Z:-4.04 [[-9.99334252e-01 -3.41708715e-02 1.27829991e-02 1.81286761e+02] [-3.41707184e-02 9.99415984e-01 2.30444882e-04 -1.37460153e+02] [-1.27834081e-02 -2.06512799e-04 -9.99918268e-01 -4.03715193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters 0.01377075976930651 Centerline is valid? [True, True] Translation: X:181.28, Y:-137.44, Z:-4.04 [[-9.94719156e-01 -1.01878303e-01 1.24342952e-02 1.81278380e+02] [-1.01872362e-01 9.94796856e-01 1.11191304e-03 -1.37439147e+02] [-1.24828776e-02 -1.60669826e-04 -9.99922073e-01 -4.03783887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters 0.012959990179828036 Centerline is valid? [True, True] Translation: X:181.28, Y:-137.42, Z:-4.04 [[-9.86182077e-01 -1.65245000e-01 1.17898342e-02 1.81277140e+02] [-1.65233996e-01 9.86252547e-01 1.90813788e-03 -1.37421431e+02] [-1.19430642e-02 -6.63100304e-05 -9.99928677e-01 -4.03798781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters 0.012674985774691174 Centerline is valid? [True, True] Translation: X:181.27, Y:-137.41, Z:-4.04 [[-9.73607962e-01 -2.27944573e-01 1.13493602e-02 1.81266622e+02] [-2.27928830e-01 9.73674109e-01 2.67902991e-03 -1.37405371e+02] [-1.16612485e-02 2.14784591e-05 -9.99932005e-01 -4.03891663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters 0.013024658727740142 Centerline is valid? [True, True] Translation: X:181.24, Y:-137.39, Z:-4.04 [[-9.56193161e-01 -2.92529331e-01 1.10103933e-02 1.81242715e+02] [-2.92509012e-01 9.56256547e-01 3.44869797e-03 -1.37390427e+02] [-1.15376060e-02 7.69821461e-05 -9.99933437e-01 -4.03933676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters 0.012976714019392288 Centerline is valid? [True, True] Translation: X:181.21, Y:-137.38, Z:-4.04 [[-9.32780738e-01 -3.60284785e-01 1.07223325e-02 1.81208429e+02] [-3.60259934e-01 9.32842359e-01 4.23239672e-03 -1.37375670e+02] [-1.15271140e-02 8.50713504e-05 -9.99933557e-01 -4.04003054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters 0.013269731784774762 Centerline is valid? [True, True] Translation: X:181.15, Y:-137.37, Z:-4.04 [[-9.04333129e-01 -4.26697429e-01 1.05307423e-02 1.81154354e+02] [-4.26667278e-01 9.04394436e-01 5.07329642e-03 -1.37372544e+02] [-1.16887072e-02 9.48268820e-05 -9.99931680e-01 -4.03945120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters 0.01359654689373479 Centerline is valid? [True, True] Translation: X:181.09, Y:-137.38, Z:-4.04 [[-8.71749303e-01 -4.89855601e-01 9.72851008e-03 1.81092375e+02] [-4.89823530e-01 8.71803576e-01 5.60655862e-03 -1.37378902e+02] [-1.12277540e-02 1.22260407e-04 -9.99936959e-01 -4.04021989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters 0.014096178318199908 Centerline is valid? [True, True] Translation: X:181.02, Y:-137.39, Z:-4.04 [[-8.35000664e-01 -5.50173929e-01 9.08513215e-03 1.81022083e+02] [-5.50139276e-01 8.35050072e-01 6.17694481e-03 -1.37394429e+02] [-1.09849343e-02 1.59664997e-04 -9.99939651e-01 -4.04116917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters 0.014396945856792685 Centerline is valid? [True, True] Translation: X:180.94, Y:-137.42, Z:-4.04 [[-7.92098849e-01 -6.10337719e-01 8.20260110e-03 1.80944225e+02] [-6.10302893e-01 7.92141302e-01 6.52198410e-03 -1.37418851e+02] [-1.04782320e-02 1.59984918e-04 -9.99945089e-01 -4.04101486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters 0.014281704046136984 Centerline is valid? [True, True] Translation: X:180.86, Y:-137.45, Z:-4.04 [[-7.43983012e-01 -6.68157661e-01 7.39045716e-03 1.80862342e+02] [-6.68122661e-01 7.44019702e-01 6.84046324e-03 -1.37453055e+02] [-1.00691537e-02 1.51456537e-04 -9.99949293e-01 -4.04143402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters 0.013725712463671305 Centerline is valid? [True, True] Translation: X:180.77, Y:-137.50, Z:-4.04 [[-6.89696679e-01 -7.24058197e-01 7.63006723e-03 1.80774353e+02] [-7.24011663e-01 6.89738869e-01 8.20998943e-03 -1.37499398e+02] [-1.12072641e-02 1.38144782e-04 -9.99937187e-01 -4.04063374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters 0.013351638614716175 Centerline is valid? [True, True] Translation: X:180.69, Y:-137.55, Z:-4.04 [[-6.31048598e-01 -7.75708523e-01 7.34538514e-03 1.80690960e+02] [-7.75653848e-01 6.31091336e-01 9.21052209e-03 -1.37551734e+02] [-1.17802894e-02 1.14810795e-04 -9.99930603e-01 -4.04009325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters 0.012727392356873727 Centerline is valid? [True, True] Translation: X:180.61, Y:-137.61, Z:-4.04 [[-5.64763744e-01 -8.25223400e-01 6.94649165e-03 1.80606300e+02] [-8.25160271e-01 5.64806462e-01 1.02071936e-02 -1.37613664e+02] [-1.23466384e-02 3.26839442e-05 -9.99923777e-01 -4.03951634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters 0.012779760222117565 Centerline is valid? [True, True] Translation: X:180.52, Y:-137.69, Z:-4.04 [[-4.97696273e-01 -8.67324686e-01 6.80510853e-03 1.80524880e+02] [-8.67243869e-01 4.97742794e-01 1.18398836e-02 -1.37687815e+02] [-1.36562171e-02 -9.02269987e-06 -9.99906750e-01 -4.03852687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters 0.013021372003794903 Centerline is valid? [True, True] Translation: X:180.45, Y:-137.77, Z:-4.04 [[-4.26850663e-01 -9.04302968e-01 5.88671294e-03 1.80449924e+02] [-9.04219008e-01 4.26891248e-01 1.23226203e-02 -1.37766257e+02] [-1.36563684e-02 -6.29590770e-05 -9.99906746e-01 -4.03631874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters 0.01294387156130246 Centerline is valid? [True, True] Translation: X:180.38, Y:-137.85, Z:-4.04 [[-3.55429523e-01 -9.34692068e-01 4.53794669e-03 1.80383547e+02] [-9.34618627e-01 3.55458483e-01 1.17170319e-02 -1.37850769e+02] [-1.25648684e-02 -7.66704399e-05 -9.99921056e-01 -4.03782344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters 0.01291505114174301 Centerline is valid? [True, True] Translation: X:180.32, Y:-137.95, Z:-4.04 [[-2.82433750e-01 -9.59280520e-01 3.47282419e-03 1.80322671e+02] [-9.59211561e-01 2.82455088e-01 1.15023991e-02 -1.37946077e+02] [-1.20149443e-02 -8.25073953e-05 -9.99927815e-01 -4.03863632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters 0.013146070136371112 Centerline is valid? [True, True] Translation: X:180.27, Y:-138.05, Z:-4.04 [[-2.06180837e-01 -9.78510862e-01 2.44040452e-03 1.80267092e+02] [-9.78448157e-01 2.06195253e-01 1.10780021e-02 -1.38049600e+02] [-1.13431452e-02 -1.03737571e-04 -9.99935659e-01 -4.03853127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters 0.013893177944336959 Centerline is valid? [True, True] Translation: X:180.22, Y:-138.16, Z:-4.04 [[-1.26008647e-01 -9.92027600e-01 1.74981761e-03 1.80217915e+02] [-9.91950307e-01 1.26020674e-01 1.23845617e-02 -1.38155278e+02] [-1.25063402e-02 -1.75170246e-04 -9.99921777e-01 -4.03703299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters 0.01458693312543133 Centerline is valid? [True, True] Translation: X:180.18, Y:-138.27, Z:-4.04 [[-4.53617323e-02 -9.98970243e-01 8.75215814e-04 1.80178395e+02] [-9.98876394e-01 4.53694694e-02 1.36953049e-02 -1.38265615e+02] [-1.37209101e-02 -2.52989662e-04 -9.99905832e-01 -4.03603780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters 0.015254670879228821 Centerline is valid? [True, True] Translation: X:180.15, Y:-138.38, Z:-4.04 [[ 3.26205124e-02 -9.99467795e-01 -1.68510192e-04 1.80148470e+02] [-9.99381088e-01 -3.26199025e-02 1.31675261e-02 -1.38376363e+02] [-1.31660150e-02 -2.61125548e-04 -9.99913290e-01 -4.03585754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters 0.01472743501970286 Centerline is valid? [True, True] Translation: X:180.13, Y:-138.48, Z:-4.04 [[ 1.07419737e-01 -9.94213278e-01 -9.78297600e-04 1.80132203e+02] [-9.94152499e-01 -1.07423990e-01 1.09951988e-02 -1.38482452e+02] [-1.10366653e-02 -2.08524361e-04 -9.99939072e-01 -4.03828440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters 0.014247987707654916 Centerline is valid? [True, True] Translation: X:180.12, Y:-138.60, Z:-4.04 [[ 1.82107910e-01 -9.83277354e-01 -1.53430124e-03 1.80123774e+02] [-9.83234451e-01 -1.82114299e-01 9.18672099e-03 -1.38597764e+02] [-9.31251290e-03 -1.64396717e-04 -9.99956624e-01 -4.04017564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters 0.01399722986380023 Centerline is valid? [True, True] Translation: X:180.12, Y:-138.72, Z:-4.04 [[ 2.55035211e-01 -9.66930026e-01 -1.83479255e-03 1.80124480e+02] [-9.66901535e-01 -2.55041783e-01 7.42363310e-03 -1.38716744e+02] [-7.64608251e-03 -1.19224099e-04 -9.99970761e-01 -4.04059011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters 0.013280407510493109 Centerline is valid? [True, True] Translation: X:180.13, Y:-138.83, Z:-4.04 [[ 3.23601610e-01 -9.46189120e-01 -2.85422986e-03 1.80134555e+02] [-9.46149667e-01 -3.23614183e-01 8.64105423e-03 -1.38825269e+02] [-9.09974077e-03 -9.57304324e-05 -9.99958592e-01 -4.03883283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters 0.012785221749657497 Centerline is valid? [True, True] Translation: X:180.15, Y:-138.94, Z:-4.04 [[ 3.89719025e-01 -9.20927338e-01 -3.45242928e-03 1.80153552e+02] [-9.20890285e-01 -3.89734315e-01 8.26112396e-03 -1.38937422e+02] [-8.95342506e-03 -4.02085929e-05 -9.99959917e-01 -4.03855585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters 0.012699431461835163 Centerline is valid? [True, True] Translation: X:180.18, Y:-139.05, Z:-4.04 [[ 4.56766328e-01 -8.89577348e-01 -4.08211166e-03 1.80180520e+02] [-8.89541500e-01 -4.56784568e-01 7.98610742e-03 -1.39054615e+02] [-8.96890587e-03 -1.65772345e-05 -9.99959778e-01 -4.03844314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters 0.012988450276216826 Centerline is valid? [True, True] Translation: X:180.21, Y:-139.15, Z:-4.04 [[ 5.16466711e-01 -8.56294034e-01 -4.76069663e-03 1.80213928e+02] [-8.56258714e-01 -5.16488649e-01 7.77755112e-03 -1.39153598e+02] [-9.11871639e-03 5.95417299e-05 -9.99958422e-01 -4.03861435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters 0.015115733881172775 Centerline is valid? [True, True] Translation: X:180.26, Y:-139.25, Z:-4.04 [[ 5.69735608e-01 -8.21811664e-01 -5.18902054e-03 1.80257731e+02] [-8.21780336e-01 -5.69759211e-01 7.17779872e-03 -1.39248679e+02] [-8.85529096e-03 1.74787534e-04 -9.99960776e-01 -4.03878047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters 0.016623361196939072 Centerline is valid? [True, True] Translation: X:180.31, Y:-139.35, Z:-4.04 [[ 6.26050629e-01 -7.79764225e-01 -5.32571790e-03 1.80305859e+02] [-7.79738871e-01 -6.26073244e-01 6.29173323e-03 -1.39346678e+02] [-8.24035797e-03 2.13725721e-04 -9.99966025e-01 -4.03929010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters 0.01821482804839057 Centerline is valid? [True, True] Translation: X:180.36, Y:-139.44, Z:-4.04 [[ 6.78346927e-01 -7.34721513e-01 -5.45394147e-03 1.80363274e+02] [-7.34700771e-01 -6.78368803e-01 5.52678078e-03 -1.39442057e+02] [-7.76042848e-03 2.57940247e-04 -9.99969854e-01 -4.04080914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters 0.019186405973386982 Centerline is valid? [True, True] Translation: X:180.42, Y:-139.53, Z:-4.04 [[ 7.30521145e-01 -6.82864017e-01 -5.96583477e-03 1.80415825e+02] [-6.82844355e-01 -7.30545450e-01 5.18968051e-03 -1.39525711e+02] [-7.90215953e-03 2.82565254e-04 -9.99968738e-01 -4.04076535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters 0.020124416219009213 Centerline is valid? [True, True] Translation: X:180.44, Y:-139.55, Z:-4.04 [[ 7.81321183e-01 -6.24091644e-01 -6.84314278e-03 1.80435202e+02] [-6.24071122e-01 -7.81351089e-01 5.07055501e-03 -1.39550029e+02] [-8.51138808e-03 3.08875756e-04 -9.99963730e-01 -4.03977087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters 0.01865995492747254 Centerline is valid? [True, True] Translation: X:180.45, Y:-139.58, Z:-4.04 [[ 8.29294526e-01 -5.58760420e-01 -7.57508757e-03 1.80452928e+02] [-5.58740368e-01 -8.29329068e-01 4.74314653e-03 -1.39578853e+02] [-8.93252287e-03 2.99041760e-04 -9.99960060e-01 -4.03942833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters 0.0176724891439116 Centerline is valid? [True, True] Translation: X:180.47, Y:-139.61, Z:-4.04 [[ 8.71882045e-01 -4.89651458e-01 -7.94658806e-03 1.80473316e+02] [-4.89633956e-01 -8.71918216e-01 4.14902707e-03 -1.39605719e+02] [-8.96035204e-03 2.73457144e-04 -9.99959818e-01 -4.03963935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters 0.017527880126082144 Centerline is valid? [True, True] Translation: X:180.50, Y:-139.63, Z:-4.04 [[ 9.09081226e-01 -4.16557379e-01 -7.16068770e-03 1.80496343e+02] [-4.16546248e-01 -9.09109403e-01 3.05229408e-03 -1.39628469e+02] [-7.78130415e-03 2.07974351e-04 -9.99969704e-01 -4.03945237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters 0.0155819355630699 Centerline is valid? [True, True] Translation: X:180.52, Y:-139.65, Z:-4.04 [[ 9.41419100e-01 -3.37157993e-01 -7.38684775e-03 1.80522142e+02] [-3.37148857e-01 -9.41448068e-01 2.48650796e-03 -1.39652185e+02] [-7.79267958e-03 1.49621189e-04 -9.99969625e-01 -4.03963589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters 0.013729769590912053 Centerline is valid? [True, True] Translation: X:180.55, Y:-139.68, Z:-4.04 [[ 9.67020548e-01 -2.54577027e-01 -7.86109365e-03 1.80549142e+02] [-2.54569362e-01 -9.67052496e-01 1.97740843e-03 -1.39676044e+02] [-8.10549299e-03 8.89990099e-05 -9.99967146e-01 -4.03881582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters 0.013120818212518792 Centerline is valid? [True, True] Translation: X:180.58, Y:-139.69, Z:-4.04 [[ 9.84784946e-01 -1.73594094e-01 -7.98128753e-03 1.80579112e+02] [-1.73588813e-01 -9.84817287e-01 1.35504193e-03 -1.39693133e+02] [-8.09533720e-03 5.10373342e-05 -9.99967231e-01 -4.03839843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters 0.012989678501469202 Centerline is valid? [True, True] Translation: X:180.61, Y:-139.70, Z:-4.04 [[ 9.95622213e-01 -9.30165597e-02 -9.18302642e-03 1.80606440e+02] [-9.30128893e-02 -9.95664561e-01 8.26894044e-04 -1.39704676e+02] [-9.22012881e-03 3.08657415e-05 -9.99957493e-01 -4.03704878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters 0.012937896950299595 Centerline is valid? [True, True] Translation: X:180.64, Y:-139.71, Z:-4.04 [[ 9.99844706e-01 -1.53493478e-02 -8.65799295e-03 1.80636864e+02] [-1.53490669e-02 -9.99882191e-01 9.88936157e-05 -1.39708476e+02] [-8.65849092e-03 3.40138546e-05 -9.99962514e-01 -4.03816189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters 0.012857754569475731 Centerline is valid? [True, True] Translation: X:180.67, Y:-139.72, Z:-4.04 [[ 9.97992781e-01 6.26801820e-02 -9.03353634e-03 1.80667450e+02] [ 6.26772659e-02 -9.98033663e-01 -6.05839695e-04 -1.39716917e+02] [-9.05374751e-03 3.84262828e-05 -9.99959013e-01 -4.03950815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters 0.013027163848266977 Centerline is valid? [True, True] Translation: X:180.70, Y:-139.72, Z:-4.04 [[ 9.90183498e-01 1.39437053e-01 -9.69269692e-03 1.80698895e+02] [ 1.39429844e-01 -9.90230935e-01 -1.41883114e-03 -1.39723652e+02] [-9.79584597e-03 5.34519593e-05 -9.99952018e-01 -4.03869927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters 0.01308600363560586 Centerline is valid? [True, True] Translation: X:180.73, Y:-139.73, Z:-4.04 [[ 9.76404277e-01 2.15719020e-01 -9.99962932e-03 1.80730369e+02] [ 2.15707031e-01 -9.76455478e-01 -2.27518082e-03 -1.39726439e+02] [-1.02549926e-02 6.45059330e-05 -9.99947414e-01 -4.03793172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters 0.013145826314132261 Centerline is valid? [True, True] Translation: X:180.76, Y:-139.72, Z:-4.04 [[ 9.56181600e-01 2.92650681e-01 -8.50457021e-03 1.80761082e+02] [ 2.92638683e-01 -9.56219419e-01 -2.65029865e-03 -1.39724626e+02] [-8.90784688e-03 4.54005784e-05 -9.99960323e-01 -4.03999947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters 0.012881748147688958 Centerline is valid? [True, True] Translation: X:180.79, Y:-139.72, Z:-4.04 [[ 9.29526030e-01 3.68669034e-01 -8.03136659e-03 1.80792303e+02] [ 3.68655042e-01 -9.29560726e-01 -3.21201245e-03 -1.39723531e+02] [-8.64981248e-03 2.48453936e-05 -9.99962589e-01 -4.03982890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters 0.012885021450802888 Centerline is valid? [True, True] Translation: X:180.82, Y:-139.72, Z:-4.04 [[ 8.96365499e-01 4.43237718e-01 -8.31971756e-03 1.80823577e+02] [ 4.43218671e-01 -8.96404108e-01 -4.10911057e-03 -1.39719879e+02] [-9.27914180e-03 -4.18921032e-06 -9.99956948e-01 -4.03944300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters 0.013293886648405459 Centerline is valid? [True, True] Translation: X:180.85, Y:-139.71, Z:-4.04 [[ 8.55453311e-01 5.17822224e-01 -7.73150105e-03 1.80854005e+02] [ 5.17801759e-01 -8.55488246e-01 -4.60416056e-03 -1.39713643e+02] [-8.99834494e-03 -6.47404454e-05 -9.99959512e-01 -4.03896582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters 0.013724803114478651 Centerline is valid? [True, True] Translation: X:180.88, Y:-139.70, Z:-4.04 [[ 8.09710255e-01 5.86783147e-01 -7.40548087e-03 1.80884486e+02] [ 5.86759787e-01 -8.09744112e-01 -5.23689522e-03 -1.39704957e+02] [-9.06946639e-03 -1.04870613e-04 -9.99958866e-01 -4.03992473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters 0.014939492737809744 Centerline is valid? [True, True] Translation: X:180.91, Y:-139.69, Z:-4.04 [[ 7.57286862e-01 6.53055515e-01 -5.92481707e-03 1.80914794e+02] [ 6.53036926e-01 -7.57310026e-01 -4.92924184e-03 -1.39694152e+02] [-7.70599194e-03 -1.36274248e-04 -9.99970299e-01 -4.03990213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters 0.01604894511331268 Centerline is valid? [True, True] Translation: X:180.94, Y:-139.68, Z:-4.04 [[ 6.99747735e-01 7.14374502e-01 -4.70945408e-03 1.80944157e+02] [ 7.14359787e-01 -6.99763566e-01 -4.58775699e-03 -1.39680469e+02] [-6.57288099e-03 -1.53972050e-04 -9.99978387e-01 -4.04065935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters 0.01809099487166409 Centerline is valid? [True, True] Translation: X:180.97, Y:-139.67, Z:-4.04 [[ 6.37153159e-01 7.70723859e-01 -4.53706223e-03 1.80972997e+02] [ 7.70706532e-01 -6.37169280e-01 -5.17205676e-03 -1.39665183e+02] [-6.87710423e-03 -2.01351193e-04 -9.99976332e-01 -4.03970211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters 0.019078320701809672 Centerline is valid? [True, True] Translation: X:181.00, Y:-139.65, Z:-4.04 [[ 5.71515280e-01 8.20578114e-01 -4.67370562e-03 1.80997867e+02] [ 8.20554314e-01 -5.71534331e-01 -6.25513766e-03 -1.39646372e+02] [-7.80401228e-03 -2.60122565e-04 -9.99969514e-01 -4.03866133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters 0.019322243977566638 Centerline is valid? [True, True] Translation: X:181.02, Y:-139.63, Z:-4.04 [[ 5.04922445e-01 8.63153131e-01 -4.47171622e-03 1.81019516e+02] [ 8.63124138e-01 -5.04942166e-01 -7.08029456e-03 -1.39625237e+02] [-8.36933650e-03 -2.84646568e-04 -9.99964936e-01 -4.03857001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters 0.018938945940141595 Centerline is valid? [True, True] Translation: X:181.04, Y:-139.60, Z:-4.04 [[ 4.38066330e-01 8.98934538e-01 -3.81917827e-03 1.81035520e+02] [ 8.98905352e-01 -4.38082903e-01 -7.24840216e-03 -1.39600223e+02] [-8.18895576e-03 -2.57798849e-04 -9.99966437e-01 -4.03894348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters 0.018799006944063747 Centerline is valid? [True, True] Translation: X:181.05, Y:-139.58, Z:-4.04 [[ 3.67085037e-01 9.30181428e-01 -3.32957583e-03 1.81051847e+02] [ 9.30149312e-01 -3.67100047e-01 -7.73394997e-03 -1.39575732e+02] [-8.41626407e-03 -2.57985348e-04 -9.99964549e-01 -4.03895172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters 0.01837474008203143 Centerline is valid? [True, True] Translation: X:181.06, Y:-139.55, Z:-4.04 [[ 2.95419933e-01 9.55363962e-01 -2.60063864e-03 1.81063640e+02] [ 9.55333450e-01 -2.95431292e-01 -7.63882977e-03 -1.39549727e+02] [-8.06617271e-03 -2.27814508e-04 -9.99967442e-01 -4.03904722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters 0.016636208484245994 Centerline is valid? [True, True] Translation: X:181.07, Y:-139.52, Z:-4.04 [[ 2.23119839e-01 9.74789190e-01 -1.89035190e-03 1.81072459e+02] [ 9.74761033e-01 -2.23127767e-01 -7.41135113e-03 -1.39522608e+02] [-7.64629496e-03 -1.89021896e-04 -9.99970749e-01 -4.03964293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters 0.01605587476030652 Centerline is valid? [True, True] Translation: X:181.08, Y:-139.50, Z:-4.04 [[ 1.47927157e-01 9.88997487e-01 -1.23586273e-03 1.81083109e+02] [ 9.88971711e-01 -1.47932226e-01 -7.14217310e-03 -1.39496103e+02] [-7.24641518e-03 -1.65711923e-04 -9.99973731e-01 -4.04049258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters 0.015228077718456468 Centerline is valid? [True, True] Translation: X:181.09, Y:-139.47, Z:-4.04 [[ 7.37407912e-02 9.97277263e-01 -5.97314712e-04 1.81089771e+02] [ 9.97256671e-01 -7.37431078e-02 -6.40985718e-03 -1.39469766e+02] [-6.43645267e-03 -1.23008141e-04 -9.99979278e-01 -4.04150690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters 0.01505805522708055 Centerline is valid? [True, True] Translation: X:181.10, Y:-139.44, Z:-4.04 [[-3.50989514e-03 9.99993836e-01 -8.86581177e-05 1.81097853e+02] [ 9.99975117e-01 3.50928688e-03 -6.11959710e-03 -1.39442693e+02] [-6.11924825e-03 -1.10135056e-04 -9.99981271e-01 -4.04177664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters 0.015392246555494368 Centerline is valid? [True, True] Translation: X:181.11, Y:-139.42, Z:-4.04 [[-8.27790554e-02 9.96567838e-01 4.15905121e-04 1.81106188e+02] [ 9.96546644e-01 8.27800078e-02 -6.50054061e-03 -1.39415682e+02] [-6.51265833e-03 -1.23639758e-04 -9.99978785e-01 -4.04033455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters 0.016036066005840118 Centerline is valid? [True, True] Translation: X:181.11, Y:-139.39, Z:-4.04 [[-1.62906186e-01 9.86640907e-01 1.13795425e-03 1.81112975e+02] [ 9.86608937e-01 1.62910070e-01 -7.94447795e-03 -1.39387956e+02] [-8.02373114e-03 -1.71488769e-04 -9.99967795e-01 -4.03833775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters 0.01744590812890775 Centerline is valid? [True, True] Translation: X:181.12, Y:-139.36, Z:-4.04 [[-2.41279474e-01 9.70454041e-01 1.78010610e-03 1.81116208e+02] [ 9.70421615e-01 2.41285968e-01 -7.93542743e-03 -1.39360353e+02] [-8.13048225e-03 -1.87202327e-04 -9.99966930e-01 -4.03797386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters 0.01615586582844855 Centerline is valid? [True, True] Translation: X:181.12, Y:-139.33, Z:-4.04 [[-3.17304007e-01 9.48321738e-01 2.01193042e-03 1.81117078e+02] [ 9.48299315e-01 3.17310344e-01 -6.52338681e-03 -1.39331825e+02] [-6.82467586e-03 -1.61984529e-04 -9.99976699e-01 -4.03941438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters 0.016560986652665408 Centerline is valid? [True, True] Translation: X:181.12, Y:-139.30, Z:-4.04 [[-3.91544985e-01 9.20156814e-01 1.99064863e-03 1.81118557e+02] [ 9.20143141e-01 3.91550022e-01 -5.01788947e-03 -1.39301927e+02] [-5.39668371e-03 -1.33047769e-04 -9.99985429e-01 -4.03977510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters 0.016798724915471963 Centerline is valid? [True, True] Translation: X:181.12, Y:-139.27, Z:-4.04 [[-4.62857036e-01 8.86430475e-01 2.09240667e-03 1.81115644e+02] [ 8.86420221e-01 4.62861750e-01 -4.26519315e-03 -1.39272816e+02] [-4.74929220e-03 -1.19423076e-04 -9.99988715e-01 -4.03989308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters 0.017085517574559835 Centerline is valid? [True, True] Translation: X:181.11, Y:-139.24, Z:-4.04 [[-5.31626724e-01 8.46974673e-01 2.63237077e-03 1.81111330e+02] [ 8.46963012e-01 5.31633225e-01 -4.44648080e-03 -1.39243015e+02] [-5.16551238e-03 -1.34347350e-04 -9.99986650e-01 -4.03971994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters 0.016677204981085263 Centerline is valid? [True, True] Translation: X:181.10, Y:-139.21, Z:-4.04 [[-5.96496146e-01 8.02610771e-01 2.88076804e-03 1.81104924e+02] [ 8.02600331e-01 5.96503088e-01 -4.09573728e-03 -1.39213079e+02] [-5.00566988e-03 -1.30986119e-04 -9.99987463e-01 -4.03954333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters 0.016695688718243482 Centerline is valid? [True, True] Translation: X:181.10, Y:-139.18, Z:-4.04 [[-6.56915368e-01 7.53956129e-01 3.51484803e-03 1.81095567e+02] [ 7.53944181e-01 6.56924756e-01 -4.24696931e-03 -1.39184591e+02] [-5.51101923e-03 -1.39900191e-04 -9.99984804e-01 -4.03898074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters 0.016193461224118258 Centerline is valid? [True, True] Translation: X:181.08, Y:-139.16, Z:-4.04 [[-7.12543886e-01 7.01615270e-01 4.15010006e-03 1.81082955e+02] [ 7.01602216e-01 7.12555958e-01 -4.28215660e-03 -1.39158058e+02] [-5.96160499e-03 -1.39505107e-04 -9.99982220e-01 -4.03880496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters 0.016846534913648608 Centerline is valid? [True, True] Translation: X:181.07, Y:-139.13, Z:-4.04 [[-7.63594040e-01 6.45680901e-01 4.50727711e-03 1.81069815e+02] [ 6.45668682e-01 7.63607332e-01 -3.97421124e-03 -1.39132517e+02] [-6.00786215e-03 -1.24476343e-04 -9.99981945e-01 -4.03734312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters 0.014480130564379658 Centerline is valid? [True, True] Translation: X:181.09, Y:-139.12, Z:-4.04 [[-8.03505079e-01 5.95283338e-01 4.16365640e-03 1.81087814e+02] [ 5.95274857e-01 8.03515863e-01 -3.17843568e-03 -1.39118803e+02] [-5.23763377e-03 -7.53692415e-05 -9.99986281e-01 -4.03793202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters 0.014099151898852804 Centerline is valid? [True, True] Translation: X:181.52, Y:-138.57, Z:-5.00 [[-7.44167843e-01 -6.67981939e-01 3.78821785e-03 1.81522985e+02] [ 6.67973700e-01 -7.44177482e-01 -3.31834699e-03 -1.38567857e+02] [ 5.03570228e-03 6.10227757e-05 9.99987319e-01 -5.00230284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters 0.013168608912240212 Centerline is valid? [True, True] Translation: X:181.06, Y:-139.11, Z:-4.04 [[-7.97930504e-01 6.02737290e-01 3.83002510e-03 1.81058490e+02] [ 6.02730303e-01 7.97939696e-01 -2.90234067e-03 -1.39108875e+02] [-4.80547802e-03 -7.39396915e-06 -9.99988454e-01 -4.03862347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters 0.01336327881184752 Centerline is valid? [True, True] Translation: X:181.50, Y:-138.54, Z:-5.00 [[-7.57263034e-01 -6.53096873e-01 4.14395031e-03 1.81502558e+02] [ 6.53087396e-01 -7.57274371e-01 -3.51844804e-03 -1.38541855e+02] [ 5.43599478e-03 4.19710808e-05 9.99985224e-01 -5.00281690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters 0.014253879571980748 Centerline is valid? [True, True] Translation: X:181.03, Y:-139.09, Z:-4.04 [[-7.91977490e-01 6.10527912e-01 5.22719553e-03 1.81026819e+02] [ 6.10515252e-01 7.91994736e-01 -3.93249334e-03 -1.39094495e+02] [-6.54080830e-03 7.68363931e-05 -9.99978606e-01 -4.03641436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters 0.01495608851282897 Centerline is valid? [True, True] Translation: X:181.48, Y:-138.52, Z:-5.00 [[-7.67860316e-01 -6.40595334e-01 5.30592671e-03 1.81475736e+02] [ 6.40579506e-01 -7.67878646e-01 -4.50357698e-03 -1.38516406e+02] [ 6.95927822e-03 -5.92501280e-05 9.99975782e-01 -5.00362610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters 0.01564478507411612 Centerline is valid? [True, True] Translation: X:180.99, Y:-139.07, Z:-4.04 [[-7.89057013e-01 6.14299245e-01 5.04665299e-03 1.80987586e+02] [ 6.14287693e-01 7.89073141e-01 -3.76942702e-03 -1.39069398e+02] [-6.29773450e-03 1.25803999e-04 -9.99980161e-01 -4.03725337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters 0.0165974012065577 Centerline is valid? [True, True] Translation: X:181.02, Y:-139.06, Z:-4.04 [[-8.28636566e-01 5.59773666e-01 3.85802406e-03 1.81018233e+02] [ 5.59768198e-01 8.28645540e-01 -2.47656589e-03 -1.39057157e+02] [-4.58325080e-03 1.07426118e-04 -9.99989491e-01 -4.03905535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters 0.016233322609572606 Centerline is valid? [True, True] Translation: X:181.42, Y:-138.44, Z:-5.00 [[-8.16323946e-01 -5.77580854e-01 3.94615859e-03 1.81417028e+02] [ 5.77573536e-01 -8.16333478e-01 -2.90911314e-03 -1.38443357e+02] [ 4.90162942e-03 -9.55819539e-05 9.99987982e-01 -5.00130438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters 0.015558603974155727 Centerline is valid? [True, True] Translation: X:180.98, Y:-139.03, Z:-4.04 [[-8.32851837e-01 5.53478278e-01 4.42869809e-03 1.80982204e+02] [ 5.53471098e-01 8.32863606e-01 -2.82085797e-03 -1.39026179e+02] [-5.24978507e-03 1.01799659e-04 -9.99986215e-01 -4.03884277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters 0.014480361468326762 Centerline is valid? [True, True] Translation: X:180.99, Y:-138.99, Z:-4.04 [[-8.73304263e-01 4.87147657e-01 5.17914188e-03 1.80994065e+02] [ 4.87139589e-01 8.73319618e-01 -2.80471714e-03 -1.38991237e+02] [-5.88935759e-03 7.35936040e-05 -9.99982655e-01 -4.03807584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters 0.013746848300239527 Centerline is valid? [True, True] Translation: X:181.01, Y:-138.96, Z:-4.04 [[-9.08257224e-01 4.18374071e-01 5.65254420e-03 1.81012129e+02] [ 4.18366233e-01 9.08274812e-01 -2.56130049e-03 -1.38960414e+02] [-6.20564524e-03 3.85139472e-05 -9.99980744e-01 -4.03860208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters 0.01348759048565659 Centerline is valid? [True, True] Translation: X:181.29, Y:-138.34, Z:-5.00 [[-8.82446643e-01 -4.70383173e-01 5.25294303e-03 1.81294884e+02] [ 4.70374491e-01 -8.82462276e-01 -2.85840217e-03 -1.38341201e+02] [ 5.98006834e-03 -5.15369906e-05 9.99982118e-01 -5.00139469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters 0.013279493452840942 Centerline is valid? [True, True] Translation: X:180.97, Y:-138.93, Z:-4.04 [[-9.12751198e-01 4.08487039e-01 4.85696741e-03 1.80971595e+02] [ 4.08481226e-01 9.12764120e-01 -2.17928153e-03 -1.38927947e+02] [-5.32347384e-03 -5.16182123e-06 -9.99985830e-01 -4.03953147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters 0.013412132972972023 Centerline is valid? [True, True] Translation: X:180.98, Y:-138.90, Z:-4.04 [[-9.40410119e-01 3.40001531e-01 5.26949781e-03 1.80982877e+02] [ 3.39996060e-01 9.40424882e-01 -1.92891113e-03 -1.38895179e+02] [-5.61139959e-03 -2.23590489e-05 -9.99984256e-01 -4.03908911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters 0.013624175230719883 Centerline is valid? [True, True] Translation: X:180.99, Y:-138.86, Z:-4.04 [[-9.62703333e-01 2.70504983e-01 5.41723894e-03 1.80989622e+02] [ 2.70500501e-01 9.62718574e-01 -1.55752380e-03 -1.38862605e+02] [-5.63659450e-03 -3.40675092e-05 -9.99984114e-01 -4.03877009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters 0.013606331371187873 Centerline is valid? [True, True] Translation: X:181.16, Y:-138.26, Z:-5.00 [[-9.37566516e-01 -3.47763008e-01 5.46977989e-03 1.81163990e+02] [ 3.47757380e-01 -9.37582470e-01 -1.97903627e-03 -1.38259543e+02] [ 5.81660535e-03 4.66781773e-05 9.99983082e-01 -5.00135917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters 0.014092030917197757 Centerline is valid? [True, True] Translation: X:180.94, Y:-138.84, Z:-4.04 [[-9.64730318e-01 2.63149877e-01 6.89602757e-03 1.80943403e+02] [ 2.63142623e-01 9.64754962e-01 -1.95522603e-03 -1.38841084e+02] [-7.16749431e-03 -7.16270488e-05 -9.99974311e-01 -4.03739800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters 0.01464609418641048 Centerline is valid? [True, True] Translation: X:181.11, Y:-138.25, Z:-5.01 [[-9.36726439e-01 -3.49946105e-01 9.01682400e-03 1.81107001e+02] [ 3.49932467e-01 -9.36769801e-01 -3.09974590e-03 -1.38254931e+02] [ 9.53143243e-03 2.51665530e-04 9.99954543e-01 -5.00535605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters 0.015081784155410843 Centerline is valid? [True, True] Translation: X:180.90, Y:-138.82, Z:-4.04 [[-9.67246007e-01 2.53674498e-01 9.18757787e-03 1.80897519e+02] [ 2.53661536e-01 9.67289628e-01 -2.56908413e-03 -1.38820139e+02] [-9.53875991e-03 -1.54401258e-04 -9.99954493e-01 -4.03560840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters 0.015015363288570876 Centerline is valid? [True, True] Translation: X:181.06, Y:-138.24, Z:-5.00 [[-9.37050042e-01 -3.49098270e-01 8.22290378e-03 1.81059133e+02] [ 3.49085683e-01 -9.37086116e-01 -2.96585749e-03 -1.38244914e+02] [ 8.74094469e-03 9.13411012e-05 9.99961793e-01 -5.00377885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters 0.015143907601032344 Centerline is valid? [True, True] Translation: X:180.86, Y:-138.81, Z:-4.04 [[-9.68300110e-01 2.49670443e-01 7.71794935e-03 1.80855613e+02] [ 2.49661417e-01 9.68330859e-01 -2.12712580e-03 -1.38809092e+02] [-8.00460896e-03 -1.32821974e-04 -9.99967954e-01 -4.03725099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters 0.01506045501689628 Centerline is valid? [True, True] Translation: X:180.86, Y:-138.78, Z:-4.04 [[-9.83664795e-01 1.79843594e-01 7.73646284e-03 1.80858507e+02] [ 1.79836948e-01 9.83695209e-01 -1.55199975e-03 -1.38782268e+02] [-7.88943864e-03 -1.35345651e-04 -9.99968869e-01 -4.03777718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters 0.015310164285955365 Centerline is valid? [True, True] Translation: X:180.86, Y:-138.75, Z:-4.04 [[-9.93971104e-01 1.09265600e-01 9.08143070e-03 1.80858972e+02] [ 1.09259561e-01 9.94012577e-01 -1.15991663e-03 -1.38754715e+02] [-9.15379532e-03 -1.60690478e-04 -9.99958090e-01 -4.03627652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters 0.015335452210349943 Centerline is valid? [True, True] Translation: X:180.93, Y:-138.16, Z:-5.00 [[-9.77537416e-01 -2.10536904e-01 9.73718793e-03 1.80934934e+02] [ 2.10528721e-01 -9.77585885e-01 -1.86946801e-03 -1.38162095e+02] [ 9.91252949e-03 2.22482795e-04 9.99950845e-01 -5.00444656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters 0.015638115452355893 Centerline is valid? [True, True] Translation: X:180.81, Y:-138.75, Z:-4.04 [[-9.94477993e-01 1.04457141e-01 1.01107683e-02 1.80808778e+02] [ 1.04449808e-01 9.94529371e-01 -1.25209431e-03 -1.38750206e+02] [-1.01862462e-02 -1.89112429e-04 -9.99948101e-01 -4.03561665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters 0.01669766854401228 Centerline is valid? [True, True] Translation: X:180.81, Y:-138.72, Z:-4.03 [[-9.99445043e-01 3.13887142e-02 1.11514609e-02 1.80806383e+02] [ 3.13841706e-02 9.99507226e-01 -5.82250671e-04 -1.38721918e+02] [-1.11642418e-02 -2.31948197e-04 -9.99937651e-01 -4.03382708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters 0.016514020750989452 Centerline is valid? [True, True] Translation: X:180.83, Y:-138.12, Z:-5.01 [[-9.89926071e-01 -1.41085734e-01 1.18823560e-02 1.80834378e+02] [ 1.41079210e-01 -9.89997336e-01 -1.38973513e-03 -1.38123962e+02] [ 1.19595726e-02 3.00618358e-04 9.99928437e-01 -5.00650195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters 0.018079454905636654 Centerline is valid? [True, True] Translation: X:180.75, Y:-138.72, Z:-4.03 [[-9.99662788e-01 2.36381050e-02 1.07494360e-02 1.80747048e+02] [ 2.36338879e-02 9.99720546e-01 -5.19180264e-04 -1.38721350e+02] [-1.07587045e-02 -2.64954224e-04 -9.99942088e-01 -4.03415746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters 0.018767694362993748 Centerline is valid? [True, True] Translation: X:180.74, Y:-138.70, Z:-4.04 [[-9.98680910e-01 -5.03739316e-02 9.94519530e-03 1.80744420e+02] [-5.03741705e-02 9.98730390e-01 2.26633556e-04 -1.38696385e+02] [-9.94398520e-03 -2.74646358e-04 -9.99950520e-01 -4.03560631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters 0.018066257049215228 Centerline is valid? [True, True] Translation: X:180.74, Y:-138.67, Z:-4.04 [[-9.92442052e-01 -1.22364035e-01 9.26371109e-03 1.80737870e+02] [-1.22361219e-01 9.92485250e-01 8.72332728e-04 -1.38673429e+02] [-9.30083877e-03 -2.67779299e-04 -9.99956710e-01 -4.03729140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters 0.019220996120318024 Centerline is valid? [True, True] Translation: X:180.67, Y:-138.06, Z:-5.00 [[-9.99956781e-01 -3.81312700e-03 8.47916774e-03 1.80673549e+02] [ 3.81459199e-03 -9.99992712e-01 1.56608862e-04 -1.38064507e+02] [ 8.47850877e-03 1.88946659e-04 9.99964039e-01 -5.00235909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters 0.018913723547689523 Centerline is valid? [True, True] Translation: X:180.67, Y:-138.68, Z:-4.04 [[-9.91553686e-01 -1.29379724e-01 9.06506381e-03 1.80668295e+02] [-1.29376938e-01 9.91595082e-01 8.95532498e-04 -1.38683475e+02] [-9.10473644e-03 -2.84841651e-04 -9.99958511e-01 -4.03810433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters 0.020371094972213954 Centerline is valid? [True, True] Translation: X:180.60, Y:-138.07, Z:-5.00 [[-9.99957769e-01 -9.33764667e-04 9.14267101e-03 1.80601409e+02] [ 9.36363443e-04 -9.99999522e-01 2.79970428e-04 -1.38071367e+02] [ 9.14240521e-03 2.88519468e-04 9.99958166e-01 -5.00317073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters 0.019952424603313344 Centerline is valid? [True, True] Translation: X:180.60, Y:-138.69, Z:-4.04 [[-9.90615918e-01 -1.36297399e-01 1.01548829e-02 1.80601730e+02] [-1.36293765e-01 9.90667907e-01 1.05226569e-03 -1.38689278e+02] [-1.02035377e-02 -3.41656086e-04 -9.99947884e-01 -4.03669436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters 0.02053812261756248 Centerline is valid? [True, True] Translation: X:180.59, Y:-138.67, Z:-4.03 [[-9.78228422e-01 -2.07197888e-01 1.17554543e-02 1.80586998e+02] [-2.07187937e-01 9.78298967e-01 2.07149336e-03 -1.38665490e+02] [-1.19295578e-02 -4.09194634e-04 -9.99928757e-01 -4.03480730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters 0.02082512449321891 Centerline is valid? [True, True] Translation: X:180.58, Y:-138.64, Z:-4.03 [[-9.60865958e-01 -2.76692515e-01 1.33365598e-02 1.80576405e+02] [-2.76672699e-01 9.60958390e-01 3.34532008e-03 -1.38642032e+02] [-1.37415040e-02 -4.75457803e-04 -9.99905468e-01 -4.03375707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters 0.021156126488152523 Centerline is valid? [True, True] Translation: X:180.56, Y:-138.62, Z:-4.03 [[-9.38835199e-01 -3.44124750e-01 1.29083742e-02 1.80555024e+02] [-3.44098961e-01 9.38923821e-01 4.23827289e-03 -1.38621661e+02] [-1.35784746e-02 -4.62718386e-04 -9.99907701e-01 -4.03377138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters 0.02046343933539861 Centerline is valid? [True, True] Translation: X:180.52, Y:-138.61, Z:-4.03 [[-9.12796883e-01 -4.08220157e-01 1.25759359e-02 1.80524455e+02] [-4.08187784e-01 9.12883412e-01 5.15847020e-03 -1.38608971e+02] [-1.35861548e-02 -4.24707879e-04 -9.99907614e-01 -4.03389217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters 0.01800354526782313 Centerline is valid? [True, True] Translation: X:180.48, Y:-138.61, Z:-4.04 [[-8.83005748e-01 -4.69238804e-01 1.07607549e-02 1.80476779e+02] [-4.69208256e-01 8.83071258e-01 5.36339415e-03 -1.38609218e+02] [-1.20192261e-02 -3.13127191e-04 -9.99927718e-01 -4.03542574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters 0.01558627381295263 Centerline is valid? [True, True] Translation: X:180.42, Y:-138.62, Z:-4.04 [[-8.48075723e-01 -5.29793626e-01 9.28882487e-03 1.80416708e+02] [-5.29764945e-01 8.48126557e-01 5.51788970e-03 -1.38618795e+02] [-1.08014418e-02 -2.41305501e-04 -9.99941634e-01 -4.03743002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters 0.014279208424024843 Centerline is valid? [True, True] Translation: X:180.35, Y:-138.63, Z:-4.04 [[-8.09502602e-01 -5.87050959e-01 8.75834674e-03 1.80354199e+02] [-5.87019017e-01 8.09549960e-01 6.12660449e-03 -1.38634184e+02] [-1.06869483e-02 -1.81813815e-04 -9.99942876e-01 -4.03750902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters 0.014094379451758572 Centerline is valid? [True, True] Translation: X:180.28, Y:-138.66, Z:-4.04 [[-7.65200842e-01 -6.43733147e-01 8.67800084e-03 1.80278895e+02] [-6.43694114e-01 7.65250031e-01 7.09068928e-03 -1.38660748e+02] [-1.12053521e-02 -1.60176655e-04 -9.99937205e-01 -4.03641468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters 0.01363345585813318 Centerline is valid? [True, True] Translation: X:180.20, Y:-138.70, Z:-4.04 [[-7.15898314e-01 -6.98151668e-01 8.59368577e-03 1.80200927e+02] [-6.98103861e-01 7.15949877e-01 8.17149049e-03 -1.38698303e+02] [-1.18575880e-02 -1.49328949e-04 -9.99929685e-01 -4.03553337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters 0.01363936027552457 Centerline is valid? [True, True] Translation: X:180.12, Y:-138.75, Z:-4.03 [[-6.61403747e-01 -7.49971704e-01 9.35557134e-03 1.80120758e+02] [-7.49900357e-01 6.61469889e-01 1.03460268e-02 -1.38745089e+02] [-1.39476561e-02 -1.72845378e-04 -9.99902712e-01 -4.03377194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters 0.013559904285333142 Centerline is valid? [True, True] Translation: X:180.04, Y:-138.80, Z:-4.03 [[-6.03229638e-01 -7.97520309e-01 8.68103976e-03 1.80040379e+02] [-7.97441704e-01 6.03292075e-01 1.11982435e-02 -1.38803102e+02] [-1.41680291e-02 -1.67510772e-04 -9.99899614e-01 -4.03327541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters 0.013321318013029904 Centerline is valid? [True, True] Translation: X:179.96, Y:-138.87, Z:-4.03 [[-5.41332081e-01 -8.40777866e-01 7.22202858e-03 1.79964220e+02] [-8.40706689e-01 5.41380234e-01 1.09410207e-02 -1.38870544e+02] [-1.31088316e-02 -1.48882221e-04 -9.99914065e-01 -4.03497747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters 0.01336573714293371 Centerline is valid? [True, True] Translation: X:179.89, Y:-138.95, Z:-4.04 [[-4.76247180e-01 -8.79292886e-01 5.71359270e-03 1.79887678e+02] [-8.79232785e-01 4.76281435e-01 1.02812376e-02 -1.38948282e+02] [-1.17614972e-02 -1.27167634e-04 -9.99930823e-01 -4.03510899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters 0.012803474152306628 Centerline is valid? [True, True] Translation: X:179.82, Y:-139.03, Z:-4.04 [[-4.09000640e-01 -9.12522342e-01 4.63152820e-03 1.79822148e+02] [-9.12466676e-01 4.09026850e-01 1.00797264e-02 -1.39029176e+02] [-1.10923950e-02 -1.03500577e-04 -9.99938472e-01 -4.03657491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters 0.012925326013193624 Centerline is valid? [True, True] Translation: X:179.76, Y:-139.12, Z:-4.04 [[-3.38640784e-01 -9.40908630e-01 3.65640151e-03 1.79756190e+02] [-9.40856666e-01 3.38660511e-01 9.88900236e-03 -1.39124833e+02] [-1.05429265e-02 -9.13302184e-05 -9.99944418e-01 -4.03684123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters 0.012763471988316606 Centerline is valid? [True, True] Translation: X:179.70, Y:-139.22, Z:-4.04 [[-2.66893063e-01 -9.63721437e-01 3.01420336e-03 1.79699431e+02] [-9.63663286e-01 2.66910072e-01 1.05869982e-02 -1.39223121e+02] [-1.10074384e-02 -7.90807248e-05 -9.99939413e-01 -4.03691907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters 0.01260783398946809 Centerline is valid? [True, True] Translation: X:179.65, Y:-139.33, Z:-4.04 [[-1.94175325e-01 -9.80964037e-01 2.34535461e-03 1.79648673e+02] [-9.80896121e-01 1.94189480e-01 1.15432237e-02 -1.39327655e+02] [-1.17789305e-02 -5.91400198e-05 -9.99930624e-01 -4.03593628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters 0.012552519165144493 Centerline is valid? [True, True] Translation: X:179.61, Y:-139.44, Z:-4.04 [[-1.21643063e-01 -9.92572849e-01 1.45069716e-03 1.79607956e+02] [-9.92504017e-01 1.21651712e-01 1.16892165e-02 -1.39438205e+02] [-1.17788787e-02 -1.79106558e-05 -9.99930626e-01 -4.03614656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters 0.012456187505528862 Centerline is valid? [True, True] Translation: X:179.57, Y:-139.55, Z:-4.04 [[-4.55105749e-02 -9.98963734e-01 4.94807248e-04 1.79571159e+02] [-9.98906967e-01 4.55132637e-02 1.06496118e-02 -1.39550993e+02] [-1.06610962e-02 -9.59645329e-06 -9.99943169e-01 -4.03661341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters 0.012375028422363184 Centerline is valid? [True, True] Translation: X:179.54, Y:-139.67, Z:-4.04 [[ 3.08386489e-02 -9.99524318e-01 -3.40248664e-04 1.79543311e+02] [-9.99462677e-01 -3.08405257e-02 1.11003932e-02 -1.39669184e+02] [-1.11056064e-02 -2.25528759e-06 -9.99938331e-01 -4.03686118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters 0.012423223146539236 Centerline is valid? [True, True] Translation: X:179.53, Y:-139.79, Z:-4.04 [[ 1.07297380e-01 -9.94226252e-01 -1.19702179e-03 1.79525615e+02] [-9.94164650e-01 -1.07304057e-01 1.10674177e-02 -1.39789726e+02] [-1.11319625e-02 2.53182771e-06 -9.99938038e-01 -4.03645819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters 0.012410745001514468 Centerline is valid? [True, True] Translation: X:179.52, Y:-139.91, Z:-4.04 [[ 1.83095522e-01 -9.83093205e-01 -1.94405902e-03 1.79516333e+02] [-9.83038236e-01 -1.83105842e-01 1.03960010e-02 -1.39908273e+02] [-1.05762065e-02 7.62312735e-06 -9.99944070e-01 -4.03748666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters 0.01226401295703328 Centerline is valid? [True, True] Translation: X:179.51, Y:-140.03, Z:-4.04 [[ 2.59006438e-01 -9.65872446e-01 -2.46657321e-03 1.79514370e+02] [-9.65828634e-01 -2.59018182e-01 9.19955227e-03 -1.40029972e+02] [-9.52448136e-03 -4.56233802e-07 -9.99954641e-01 -4.03796243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters 0.01230641590873659 Centerline is valid? [True, True] Translation: X:179.52, Y:-140.15, Z:-4.04 [[ 3.34181639e-01 -9.42504218e-01 -2.90367993e-03 1.79521086e+02] [-9.42468245e-01 -3.34194253e-01 8.23461550e-03 -1.40150663e+02] [-8.73155299e-03 -1.52311775e-05 -9.99961879e-01 -4.03807851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters 0.01242695147991479 Centerline is valid? [True, True] Translation: X:179.54, Y:-140.27, Z:-4.04 [[ 4.09337718e-01 -9.12377461e-01 -3.16242089e-03 1.79535371e+02] [-9.12349370e-01 -4.09349931e-01 7.15973044e-03 -1.40271278e+02] [-7.82691346e-03 -4.55150164e-05 -9.99969368e-01 -4.03901399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters 0.012747552222247552 Centerline is valid? [True, True] Translation: X:179.56, Y:-140.39, Z:-4.04 [[ 4.81477693e-01 -8.76451589e-01 -3.44145494e-03 1.79558337e+02] [-8.76428147e-01 -4.81489987e-01 6.41067291e-03 -1.40388964e+02] [-7.27567055e-03 -7.04080283e-05 -9.99973530e-01 -4.03910010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters 0.013474094206892355 Centerline is valid? [True, True] Translation: X:179.59, Y:-140.51, Z:-4.04 [[ 5.50805925e-01 -8.34624359e-01 -3.87451952e-03 1.79591571e+02] [-8.34602415e-01 -5.50819543e-01 6.05307094e-03 -1.40505881e+02] [-7.18620152e-03 -1.00383991e-04 -9.99974174e-01 -4.03944812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters 0.01414204455650637 Centerline is valid? [True, True] Translation: X:179.63, Y:-140.61, Z:-4.04 [[ 6.15077192e-01 -7.88455630e-01 -4.21512791e-03 1.79628443e+02] [-7.88435817e-01 -6.15091625e-01 5.59064206e-03 -1.40611041e+02] [-7.00066308e-03 -1.15318600e-04 -9.99975488e-01 -4.03918410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters 0.015371898928073547 Centerline is valid? [True, True] Translation: X:179.68, Y:-140.72, Z:-4.04 [[ 6.76454709e-01 -7.36470540e-01 -4.49107403e-03 1.79675690e+02] [-7.36452929e-01 -6.76469603e-01 5.09503714e-03 -1.40719576e+02] [-6.79041982e-03 -1.39097243e-04 -9.99976935e-01 -4.03796530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters 0.015273110452671386 Centerline is valid? [True, True] Translation: X:179.73, Y:-140.82, Z:-4.04 [[ 7.31613118e-01 -6.81699499e-01 -5.29512752e-03 1.79730434e+02] [-6.81680028e-01 -7.31632262e-01 5.15489155e-03 -1.40816079e+02] [-7.38817311e-03 -1.61803607e-04 -9.99972694e-01 -4.03775710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters 0.016500692251193418 Centerline is valid? [True, True] Translation: X:179.75, Y:-140.84, Z:-4.04 [[ 7.83820792e-01 -6.20957320e-01 -6.08053163e-03 1.79748257e+02] [-6.20936759e-01 -7.83844354e-01 5.05669332e-03 -1.40844978e+02] [-7.90618112e-03 -1.87915760e-04 -9.99968728e-01 -4.03627066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters 0.015757636557148413 Centerline is valid? [True, True] Translation: X:179.77, Y:-140.87, Z:-4.04 [[ 8.30735750e-01 -5.56619127e-01 -7.29798908e-03 1.79770324e+02] [-5.56595253e-01 -8.30767776e-01 5.16021592e-03 -1.40872018e+02] [-8.93520903e-03 -2.24749772e-04 -9.99960055e-01 -4.03673118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters 0.016097555536852777 Centerline is valid? [True, True] Translation: X:179.79, Y:-140.90, Z:-4.04 [[ 8.71305905e-01 -4.90697514e-01 -6.47840762e-03 1.79793270e+02] [-4.90682376e-01 -8.71329969e-01 3.85881881e-03 -1.40896845e+02] [-7.53834351e-03 -1.83371178e-04 -9.99971570e-01 -4.03778701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters 0.015439040904735088 Centerline is valid? [True, True] Translation: X:179.82, Y:-140.92, Z:-4.04 [[ 9.06363031e-01 -4.22458287e-01 -5.92048368e-03 1.79819298e+02] [-4.22448183e-01 -9.06382355e-01 2.92573070e-03 -1.40918097e+02] [-6.60222112e-03 -1.50676576e-04 -9.99978194e-01 -4.03873312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters 0.01458306948042826 Centerline is valid? [True, True] Translation: X:179.85, Y:-140.94, Z:-4.04 [[ 9.35199113e-01 -3.54081386e-01 -5.38430207e-03 1.79848354e+02] [-3.54074845e-01 -9.35214606e-01 2.15497667e-03 -1.40935245e+02] [-5.79851507e-03 -1.08886350e-04 -9.99983183e-01 -4.03921692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters 0.01405229858114611 Centerline is valid? [True, True] Translation: X:179.88, Y:-140.95, Z:-4.04 [[ 9.59229839e-01 -2.82562668e-01 -6.03773254e-03 1.79877628e+02] [-2.82556406e-01 -9.59248836e-01 1.88391118e-03 -1.40949148e+02] [-6.32401088e-03 -1.01103813e-04 -9.99979998e-01 -4.03881605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters 0.013069831479905607 Centerline is valid? [True, True] Translation: X:179.91, Y:-140.96, Z:-4.04 [[ 9.77420167e-01 -2.11208893e-01 -6.37338894e-03 1.79909076e+02] [-2.11203905e-01 -9.77440944e-01 1.45341369e-03 -1.40958896e+02] [-6.53658519e-03 -7.45112232e-05 -9.99978634e-01 -4.03780578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters 0.012413918098042159 Centerline is valid? [True, True] Translation: X:179.94, Y:-140.97, Z:-4.04 [[ 9.90376398e-01 -1.38253433e-01 -6.37011400e-03 1.79940561e+02] [-1.38250270e-01 -9.90396883e-01 9.36336432e-04 -1.40965311e+02] [-6.43839277e-03 -4.66555214e-05 -9.99979272e-01 -4.03777615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters 0.012092341808708756 Centerline is valid? [True, True] Translation: X:179.97, Y:-140.97, Z:-4.04 [[ 9.98001462e-01 -6.28347857e-02 -6.69860906e-03 1.79968885e+02] [-6.28331572e-02 -9.98023942e-01 4.53499817e-04 -1.40974374e+02] [-6.71386778e-03 -3.16987242e-05 -9.99977461e-01 -4.03818397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters 0.011961630714290572 Centerline is valid? [True, True] Translation: X:180.00, Y:-140.98, Z:-4.04 [[ 9.99894312e-01 1.28135303e-02 -6.86859384e-03 1.79997451e+02] [ 1.28133226e-02 -9.99917903e-01 -7.42370740e-05 -1.40981903e+02] [-6.86898119e-03 -1.37802807e-05 -9.99976408e-01 -4.03768731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters 0.01193907790240783 Centerline is valid? [True, True] Translation: X:180.03, Y:-140.99, Z:-4.04 [[ 9.95973469e-01 8.94004115e-02 -6.66448455e-03 1.80026441e+02] [ 8.93984257e-02 -9.95995766e-01 -5.95878070e-04 -1.40987421e+02] [-6.69107014e-03 -2.31567857e-06 -9.99977615e-01 -4.03730380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters 0.012013419818958737 Centerline is valid? [True, True] Translation: X:180.06, Y:-140.99, Z:-4.04 [[ 9.86261739e-01 1.65079880e-01 -6.03450618e-03 1.80055562e+02] [ 1.65076725e-01 -9.86280200e-01 -1.02076575e-03 -1.40989198e+02] [-6.12022185e-03 1.05856844e-05 -9.99981271e-01 -4.03774440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters 0.011997382958647817 Centerline is valid? [True, True] Translation: X:180.08, Y:-140.99, Z:-4.04 [[ 9.70489613e-01 2.41064752e-01 -6.13979877e-03 1.80083125e+02] [ 2.41059825e-01 -9.70509034e-01 -1.54124765e-03 -1.40988711e+02] [-6.33027066e-03 1.57060192e-05 -9.99979964e-01 -4.03736990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters 0.012065306799315018 Centerline is valid? [True, True] Translation: X:180.11, Y:-140.99, Z:-4.04 [[ 9.48162269e-01 3.17728912e-01 -6.05392525e-03 1.80112460e+02] [ 3.17722395e-01 -9.48181596e-01 -2.03487321e-03 -1.40985941e+02] [-6.38675855e-03 5.92236784e-06 -9.99979604e-01 -4.03688744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters 0.012279695779752055 Centerline is valid? [True, True] Translation: X:180.14, Y:-140.98, Z:-4.04 [[ 9.18340639e-01 3.95738294e-01 -6.45552819e-03 1.80140931e+02] [ 3.95728745e-01 -9.18363328e-01 -2.74935417e-03 -1.40983706e+02] [-7.01654508e-03 -2.97943991e-05 -9.99975383e-01 -4.03544688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters 0.013380183261661543 Centerline is valid? [True, True] Translation: X:180.17, Y:-140.98, Z:-4.03 [[ 8.81578153e-01 4.71994237e-01 -6.43429235e-03 1.80169339e+02] [ 4.71982298e-01 -8.81601630e-01 -3.35808423e-03 -1.40977239e+02] [-7.25747903e-03 -7.64583933e-05 -9.99973661e-01 -4.03492990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters 0.013344710565320977 Centerline is valid? [True, True] Translation: X:180.20, Y:-140.97, Z:-4.04 [[ 8.39958206e-01 5.42613951e-01 -6.34922635e-03 1.80200037e+02] [ 5.42599400e-01 -8.39982196e-01 -3.97518720e-03 -1.40970298e+02] [-7.49022912e-03 -1.06095301e-04 -9.99971942e-01 -4.03618825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters 0.014393065252289198 Centerline is valid? [True, True] Translation: X:180.23, Y:-140.96, Z:-4.04 [[ 7.92793285e-01 6.09466291e-01 -5.44494551e-03 1.80230093e+02] [ 6.09452947e-01 -7.92811974e-01 -4.03484787e-03 -1.40961838e+02] [-6.77592176e-03 -1.19637791e-04 -9.99977036e-01 -4.03657354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters 0.015024140548405375 Centerline is valid? [True, True] Translation: X:180.26, Y:-140.95, Z:-4.04 [[ 7.41117138e-01 6.71355042e-01 -5.27218562e-03 1.80258992e+02] [ 6.71339379e-01 -7.41135878e-01 -4.58802626e-03 -1.40949938e+02] [-6.98760047e-03 -1.39160928e-04 -9.99975577e-01 -4.03670068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters 0.015028158391756473 Centerline is valid? [True, True] Translation: X:180.29, Y:-140.94, Z:-4.04 [[ 6.85104408e-01 7.28423621e-01 -5.56582833e-03 1.80286720e+02] [ 7.28401589e-01 -6.85126995e-01 -5.66802116e-03 -1.40936072e+02] [-7.94201974e-03 -1.70971922e-04 -9.99968447e-01 -4.03591489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters 0.015082173147642137 Centerline is valid? [True, True] Translation: X:180.31, Y:-140.92, Z:-4.04 [[ 6.25889176e-01 7.79895508e-01 -5.07302062e-03 1.80313145e+02] [ 7.79872076e-01 -6.25909712e-01 -6.04794688e-03 -1.40919738e+02] [-7.89201948e-03 -1.70962634e-04 -9.99968843e-01 -4.03562121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters 0.015411881960575564 Centerline is valid? [True, True] Translation: X:180.34, Y:-140.90, Z:-4.04 [[ 5.63904881e-01 8.25827236e-01 -4.54544817e-03 1.80335227e+02] [ 8.25802664e-01 -5.63923178e-01 -6.37252207e-03 -1.40900358e+02] [-7.82588586e-03 -1.60146914e-04 -9.99969365e-01 -4.03521187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters 0.014513118249369173 Centerline is valid? [True, True] Translation: X:180.36, Y:-140.88, Z:-4.04 [[ 4.98902610e-01 8.66647161e-01 -4.34559273e-03 1.80355136e+02] [ 8.66617024e-01 -4.98921509e-01 -7.22913188e-03 -1.40878279e+02] [-8.43321631e-03 -1.59331886e-04 -9.99964427e-01 -4.03541838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters 0.013916102042632059 Centerline is valid? [True, True] Translation: X:180.37, Y:-140.86, Z:-4.04 [[ 4.31435184e-01 9.02134958e-01 -4.02491020e-03 1.80373398e+02] [ 9.02098908e-01 -4.31453932e-01 -8.06633946e-03 -1.40855251e+02] [-9.01349014e-03 -1.50764449e-04 -9.99959366e-01 -4.03534725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters 0.013632106211195118 Centerline is valid? [True, True] Translation: X:180.39, Y:-140.83, Z:-4.04 [[ 3.61315487e-01 9.32437574e-01 -3.36014468e-03 1.80390646e+02] [ 9.32400596e-01 -3.61331086e-01 -8.30507081e-03 -1.40831738e+02] [-8.95808481e-03 -1.32250203e-04 -9.99959867e-01 -4.03503012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters 0.01334021558330431 Centerline is valid? [True, True] Translation: X:180.41, Y:-140.81, Z:-4.03 [[ 2.88922388e-01 9.57348431e-01 -2.79910279e-03 1.80405595e+02] [ 9.57307458e-01 -2.88935921e-01 -8.85805386e-03 -1.40806350e+02] [-9.28900532e-03 -1.20311906e-04 -9.99956849e-01 -4.03467254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters 0.012834751397681823 Centerline is valid? [True, True] Translation: X:180.42, Y:-140.78, Z:-4.04 [[ 2.15955244e-01 9.76400750e-01 -2.21526963e-03 1.80417958e+02] [ 9.76353942e-01 -2.15966583e-01 -9.56109105e-03 -1.40780769e+02] [-9.81388069e-03 -9.81194809e-05 -9.99951838e-01 -4.03523256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters 0.0127561594214444 Centerline is valid? [True, True] Translation: X:180.43, Y:-140.76, Z:-4.03 [[ 1.40693300e-01 9.90052241e-01 -1.39856617e-03 1.80428914e+02] [ 9.90008579e-01 -1.40700231e-01 -9.29835227e-03 -1.40755574e+02] [-9.40263308e-03 -7.63766364e-05 -9.99955791e-01 -4.03494293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters 0.012654210342623979 Centerline is valid? [True, True] Translation: X:180.44, Y:-140.73, Z:-4.04 [[ 6.26154932e-02 9.98037501e-01 -6.68650305e-04 1.80439387e+02] [ 9.97993049e-01 -6.26190154e-02 -9.41987799e-03 -1.40728913e+02] [-9.44326171e-03 -7.74780499e-05 -9.99955408e-01 -4.03580342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters 0.01305165622185184 Centerline is valid? [True, True] Translation: X:180.45, Y:-140.70, Z:-4.04 [[-1.81977736e-02 9.99834404e-01 7.25812803e-05 1.80448506e+02] [ 9.99788486e-01 1.81976335e-02 -9.58281058e-03 -1.40702222e+02] [-9.58254451e-03 -1.01819889e-04 -9.99954081e-01 -4.03521069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters 0.013787721904086205 Centerline is valid? [True, True] Translation: X:180.46, Y:-140.67, Z:-4.03 [[-1.00653585e-01 9.94921113e-01 9.13488094e-04 1.80456544e+02] [ 9.94864638e-01 1.00657606e-01 -1.06018518e-02 -1.40673860e+02] [-1.06399557e-02 -1.58317390e-04 -9.99943382e-01 -4.03472279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters 0.014295919756354383 Centerline is valid? [True, True] Translation: X:180.46, Y:-140.65, Z:-4.03 [[-1.79411596e-01 9.83772571e-01 1.73456386e-03 1.80460069e+02] [ 9.83717019e-01 1.79419901e-01 -1.04558607e-02 -1.40646937e+02] [-1.05974042e-02 -1.69582667e-04 -9.99943832e-01 -4.03402592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters 0.01458691320861866 Centerline is valid? [True, True] Translation: X:180.46, Y:-140.62, Z:-4.03 [[-2.57987800e-01 9.66144593e-01 2.63062504e-03 1.80459941e+02] [ 9.66086250e-01 2.58001136e-01 -1.06193818e-02 -1.40618486e+02] [-1.09385626e-02 -1.98260282e-04 -9.99940153e-01 -4.03462440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters 0.014292359029153639 Centerline is valid? [True, True] Translation: X:180.46, Y:-140.59, Z:-4.04 [[-3.32099201e-01 9.43238892e-01 3.24253218e-03 1.80457688e+02] [ 9.43188575e-01 3.32114983e-01 -9.74422104e-03 -1.40590713e+02] [-1.02680218e-02 -1.77728717e-04 -9.99947267e-01 -4.03573243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters 0.013487016752831931 Centerline is valid? [True, True] Translation: X:180.45, Y:-140.56, Z:-4.04 [[-4.00872868e-01 9.16125487e-01 3.87753620e-03 1.80451810e+02] [ 9.16079500e-01 4.00891600e-01 -9.18016828e-03 -1.40563889e+02] [-9.96465784e-03 -1.27948968e-04 -9.99950343e-01 -4.03579240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters 0.012791628928004594 Centerline is valid? [True, True] Translation: X:180.44, Y:-140.54, Z:-4.04 [[-4.66971007e-01 8.84263349e-01 4.05072606e-03 1.80443617e+02] [ 8.84228792e-01 4.66988570e-01 -7.81787577e-03 -1.40537735e+02] [-8.80470379e-03 -6.89527114e-05 -9.99961236e-01 -4.03607063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters 0.012674638747526897 Centerline is valid? [True, True] Translation: X:180.43, Y:-140.51, Z:-4.04 [[-5.33202814e-01 8.45975391e-01 4.51622401e-03 1.80434355e+02] [ 8.45944236e-01 5.33221938e-01 -7.26054666e-03 -1.40512025e+02] [-8.55039352e-03 -5.08702425e-05 -9.99963443e-01 -4.03684861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters 0.012586582502400873 Centerline is valid? [True, True] Translation: X:180.43, Y:-140.49, Z:-4.04 [[-5.97157403e-01 8.02108725e-01 4.96275636e-03 1.80425497e+02] [ 8.02080433e-01 5.97178023e-01 -6.73704355e-03 -1.40486003e+02] [-8.36749044e-03 -4.25456624e-05 -9.99964991e-01 -4.03729604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters 0.012506262071225571 Centerline is valid? [True, True] Translation: X:180.42, Y:-140.46, Z:-4.04 [[-6.58093189e-01 7.52914091e-01 5.80744882e-03 1.80417738e+02] [ 7.52884179e-01 6.58118811e-01 -6.71148777e-03 -1.40457205e+02] [-8.87516503e-03 -4.44480500e-05 -9.99960614e-01 -4.03692747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters 0.012485867263800703 Centerline is valid? [True, True] Translation: X:180.41, Y:-140.43, Z:-4.04 [[-7.14666155e-01 6.99429113e-01 7.15561850e-03 1.80407016e+02] [ 6.99393426e-01 7.14701976e-01 -7.06549811e-03 -1.40429366e+02] [-1.00559498e-02 -4.48798346e-05 -9.99949437e-01 -4.03559269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters 0.012544757249672613 Centerline is valid? [True, True] Translation: X:180.43, Y:-140.41, Z:-4.03 [[-7.61572230e-01 6.48028988e-01 8.13442707e-03 1.80432092e+02] [ 6.47991395e-01 7.61615670e-01 -6.98017338e-03 -1.40413343e+02] [-1.07186618e-02 -4.48674585e-05 -9.99942553e-01 -4.03489989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters 0.012729705414294697 Centerline is valid? [True, True] Translation: X:180.45, Y:-140.39, Z:-4.03 [[-8.05599546e-01 5.92395413e-01 8.77755130e-03 1.80451030e+02] [ 5.92359608e-01 8.05647362e-01 -6.51326840e-03 -1.40390969e+02] [-1.09300414e-02 -4.76192217e-05 -9.99940264e-01 -4.03387406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters 0.012711279071263277 Centerline is valid? [True, True] Translation: X:180.47, Y:-140.37, Z:-4.03 [[-8.46071580e-01 5.32979871e-01 9.76414219e-03 1.80470388e+02] [ 5.32943511e-01 8.46127918e-01 -6.22583891e-03 -1.40368920e+02] [-1.15799601e-02 -6.37691422e-05 -9.99932948e-01 -4.03350936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters 0.012704498796108979 Centerline is valid? [True, True] Translation: X:180.49, Y:-140.35, Z:-4.04 [[-8.82147063e-01 4.70871830e-01 9.81215606e-03 1.80487186e+02] [ 4.70841781e-01 8.82201629e-01 -5.32010384e-03 -1.40346366e+02] [-1.11613871e-02 -7.31409446e-05 -9.99937707e-01 -4.03511691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters 0.012876848280856779 Centerline is valid? [True, True] Translation: X:180.50, Y:-140.32, Z:-4.04 [[-9.13660463e-01 4.06355476e-01 9.98928134e-03 1.80498547e+02] [ 4.06330203e-01 9.13715065e-01 -4.53276338e-03 -1.40320417e+02] [-1.09692701e-02 -8.24599776e-05 -9.99939832e-01 -4.03553911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters 0.01311693004499512 Centerline is valid? [True, True] Translation: X:180.51, Y:-140.29, Z:-4.04 [[-9.40746707e-01 3.38972704e-01 9.65087553e-03 1.80509253e+02] [ 3.38953823e-01 9.40796204e-01 -3.57896884e-03 -1.40293682e+02] [-1.02926798e-02 -9.57019854e-05 -9.99947024e-01 -4.03591814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters 0.013533649103370834 Centerline is valid? [True, True] Translation: X:180.76, Y:-139.64, Z:-5.00 [[-9.07479238e-01 -4.20007720e-01 8.65723953e-03 1.80757647e+02] [ 4.19989028e-01 -9.07520531e-01 -3.96265693e-03 -1.39636367e+02] [ 9.52096911e-03 3.99167257e-05 9.99954674e-01 -5.00435221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters 0.01324953403677778 Centerline is valid? [True, True] Translation: X:180.47, Y:-140.28, Z:-4.04 [[-9.42660069e-01 3.33632246e-01 9.02882524e-03 1.80467534e+02] [ 3.33615841e-01 9.42703300e-01 -3.31030365e-03 -1.40279558e+02] [-9.61592739e-03 -1.08331947e-04 -9.99953760e-01 -4.03693217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters 0.013328369868679009 Centerline is valid? [True, True] Translation: X:180.71, Y:-139.62, Z:-5.00 [[-9.08913562e-01 -4.16887186e-01 9.01175345e-03 1.80712943e+02] [ 4.16868064e-01 -9.08958227e-01 -3.99479243e-03 -1.39617717e+02] [ 9.85668522e-03 1.25791202e-04 9.99951414e-01 -5.00387412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters 0.01330165111554101 Centerline is valid? [True, True] Translation: X:180.42, Y:-140.27, Z:-4.04 [[-9.43863447e-01 3.30182883e-01 1.00527082e-02 1.80424733e+02] [ 3.30162796e-01 9.43916972e-01 -3.64397572e-03 -1.40266161e+02] [-1.06921003e-02 -1.20385253e-04 -9.99942831e-01 -4.03557285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters 0.013715442685147163 Centerline is valid? [True, True] Translation: X:180.43, Y:-140.24, Z:-4.03 [[-9.64864474e-01 2.62523101e-01 1.08704970e-02 1.80432529e+02] [ 2.62504960e-01 9.64925699e-01 -3.08882459e-03 -1.40239593e+02] [-1.13001097e-02 -1.26737739e-04 -9.99936144e-01 -4.03387155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters 0.013337925237832778 Centerline is valid? [True, True] Translation: X:180.62, Y:-139.56, Z:-5.01 [[-9.37478337e-01 -3.47860285e-01 1.12955323e-02 1.80617704e+02] [ 3.47837298e-01 -9.37546367e-01 -4.00289151e-03 -1.39555868e+02] [ 1.19825323e-02 1.76383371e-04 9.99928191e-01 -5.00610321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters 0.01333641102526136 Centerline is valid? [True, True] Translation: X:180.39, Y:-140.23, Z:-4.03 [[-9.65643009e-01 2.59616604e-01 1.15238497e-02 1.80386481e+02] [ 2.59596558e-01 9.65711760e-01 -3.22861353e-03 -1.40229723e+02] [-1.19669188e-02 -1.26136371e-04 -9.99928386e-01 -4.03454965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters 0.013428625591941952 Centerline is valid? [True, True] Translation: X:180.59, Y:-139.55, Z:-5.01 [[-9.39323082e-01 -3.42895188e-01 9.74876027e-03 1.80587276e+02] [ 3.42876855e-01 -9.39373669e-01 -3.54584349e-03 -1.39548494e+02] [ 1.03735814e-02 1.19316273e-05 9.99946193e-01 -5.00584580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters 0.013298238663161143 Centerline is valid? [True, True] Translation: X:180.35, Y:-140.22, Z:-4.03 [[-9.66029987e-01 2.58191234e-01 1.11063365e-02 1.80345100e+02] [ 2.58173046e-01 9.66093825e-01 -3.06595916e-03 -1.40220147e+02] [-1.15213669e-02 -9.44517608e-05 -9.99933622e-01 -4.03428812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters 0.013049068464136598 Centerline is valid? [True, True] Translation: X:180.54, Y:-139.53, Z:-5.01 [[-9.41469256e-01 -3.36897955e-01 1.16364719e-02 1.80540182e+02] [ 3.36874171e-01 -9.41541155e-01 -4.00588267e-03 -1.39533929e+02] [ 1.23057909e-02 1.48611448e-04 9.99924270e-01 -5.00645594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters 0.01299123239373696 Centerline is valid? [True, True] Translation: X:180.30, Y:-140.21, Z:-4.03 [[-9.66085074e-01 2.57947741e-01 1.19411798e-02 1.80301239e+02] [ 2.57927289e-01 9.66158869e-01 -3.24871455e-03 -1.40211817e+02] [-1.23750754e-02 -5.85784958e-05 -9.99923424e-01 -4.03401417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters 0.012904128180786623 Centerline is valid? [True, True] Translation: X:180.49, Y:-139.52, Z:-5.01 [[-9.44679110e-01 -3.27810893e-01 1.10180082e-02 1.80492332e+02] [ 3.27788764e-01 -9.44743361e-01 -3.80899851e-03 -1.39517510e+02] [ 1.16578213e-02 1.32979669e-05 9.99932045e-01 -5.00588832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters 0.012845231908964201 Centerline is valid? [True, True] Translation: X:180.26, Y:-140.21, Z:-4.04 [[-9.65054481e-01 2.61874167e-01 9.57968402e-03 1.80260413e+02] [ 2.61861591e-01 9.65102026e-01 -2.56656945e-03 -1.40206038e+02] [-9.91749069e-03 3.16719531e-05 -9.99950820e-01 -4.03634363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters 0.01301326337397187 Centerline is valid? [True, True] Translation: X:180.27, Y:-140.18, Z:-4.04 [[-9.80500920e-01 1.96354174e-01 7.93625881e-03 1.80270291e+02] [ 1.96348197e-01 9.80533036e-01 -1.53298814e-03 -1.40181349e+02] [-8.08277257e-03 5.51738266e-05 -9.99967332e-01 -4.03754423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters 0.013215206632650096 Centerline is valid? [True, True] Translation: X:180.27, Y:-140.15, Z:-4.04 [[-9.91718369e-01 1.28207888e-01 7.57721403e-03 1.80273731e+02] [ 1.28204659e-01 9.91747313e-01 -9.12264013e-04 -1.40153018e+02] [-7.63164110e-03 6.67251642e-05 -9.99970876e-01 -4.03744633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters 0.01316048807747777 Centerline is valid? [True, True] Translation: X:180.37, Y:-139.44, Z:-5.00 [[-9.84004796e-01 -1.77976823e-01 7.66884228e-03 1.80365981e+02] [ 1.77970965e-01 -9.84034678e-01 -1.44513123e-03 -1.39436074e+02] [ 7.80360661e-03 -5.71848052e-05 9.99969550e-01 -5.00367316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters 0.012848784308037077 Centerline is valid? [True, True] Translation: X:180.22, Y:-140.14, Z:-4.04 [[-9.92573336e-01 1.21389046e-01 7.92926348e-03 1.80222480e+02] [ 1.21385548e-01 9.92605006e-01 -9.22717285e-04 -1.40140093e+02] [-7.98263440e-03 4.66334194e-05 -9.99968137e-01 -4.03615270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters 0.01280227619563439 Centerline is valid? [True, True] Translation: X:180.22, Y:-140.11, Z:-4.04 [[-9.98731499e-01 4.97022602e-02 8.06705380e-03 1.80222816e+02] [ 4.97009582e-02 9.98764078e-01 -3.61908425e-04 -1.40112094e+02] [-8.07507122e-03 3.94909602e-05 -9.99967395e-01 -4.03552750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters 0.012549472801321036 Centerline is valid? [True, True] Translation: X:180.22, Y:-140.08, Z:-4.04 [[-9.99689120e-01 -2.37160664e-02 7.69490192e-03 1.80220406e+02] [-2.37152135e-02 9.99718734e-01 2.02078801e-04 -1.40080848e+02] [-7.69753012e-03 1.95297371e-05 -9.99970373e-01 -4.03633376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters 0.012545077757665118 Centerline is valid? [True, True] Translation: X:180.21, Y:-140.05, Z:-4.04 [[-9.95111705e-01 -9.85056825e-02 7.02320729e-03 1.80209936e+02] [-9.85032915e-02 9.95136488e-01 6.86391361e-04 -1.40048366e+02] [-7.05666329e-03 -8.77295691e-06 -9.99975101e-01 -4.03641765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters 0.012659932972821145 Centerline is valid? [True, True] Translation: X:180.14, Y:-139.37, Z:-5.00 [[-9.99663487e-01 2.50529036e-02 6.72789305e-03 1.80144810e+02] [-2.50524332e-02 -9.99686127e-01 1.54196297e-04 -1.39367490e+02] [ 6.72964441e-03 -1.44056834e-05 9.99977356e-01 -5.00413979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters 0.013289350406098702 Centerline is valid? [True, True] Translation: X:180.13, Y:-140.04, Z:-4.04 [[-9.93548822e-01 -1.13194399e-01 6.91127729e-03 1.80132964e+02] [-1.13192201e-01 9.93572857e-01 7.09624913e-04 -1.40043362e+02] [-6.94718309e-03 -7.72556896e-05 -9.99975865e-01 -4.03612790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters 0.014526000207111069 Centerline is valid? [True, True] Translation: X:180.06, Y:-139.39, Z:-5.00 [[-9.99814427e-01 1.78906664e-02 7.14397263e-03 1.80061949e+02] [-1.78895396e-02 -9.99839945e-01 2.21605986e-04 -1.39390144e+02] [ 7.14679388e-03 9.37624804e-05 9.99974457e-01 -5.00465530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters 0.015352324520839214 Centerline is valid? [True, True] Translation: X:180.06, Y:-140.04, Z:-4.03 [[-9.91893110e-01 -1.26903196e-01 6.60585808e-03 1.80056536e+02] [-1.26901286e-01 9.91915098e-01 7.09132721e-04 -1.40038657e+02] [-6.64244157e-03 -1.34908025e-04 -9.99977930e-01 -4.03496511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters 0.015370178212247565 Centerline is valid? [True, True] Translation: X:179.99, Y:-139.40, Z:-5.01 [[-9.99795148e-01 1.87809638e-02 7.54574560e-03 1.79991188e+02] [-1.87788155e-02 -9.99823599e-01 3.55465850e-04 -1.39404874e+02] [ 7.55109051e-03 2.13692868e-04 9.99971467e-01 -5.00615373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters 0.01449831288991771 Centerline is valid? [True, True] Translation: X:179.99, Y:-140.05, Z:-4.03 [[-9.91471333e-01 -1.30118240e-01 7.33753615e-03 1.79988002e+02] [-1.30115702e-01 9.91498474e-01 8.24259887e-04 -1.40045115e+02] [-7.38240715e-03 -1.37498620e-04 -9.99972740e-01 -4.03462462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters 0.01378707033849153 Centerline is valid? [True, True] Translation: X:179.98, Y:-140.02, Z:-4.03 [[-9.80240871e-01 -1.97668430e-01 7.41798385e-03 1.79975185e+02] [-1.97663694e-01 9.80268931e-01 1.37365972e-03 -1.40021301e+02] [-7.54314826e-03 -1.19748691e-04 -9.99971543e-01 -4.03431364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters 0.013270194607884683 Centerline is valid? [True, True] Translation: X:179.97, Y:-140.00, Z:-4.03 [[-9.64862319e-01 -2.62636771e-01 7.91409433e-03 1.79965369e+02] [-2.62628709e-01 9.64894771e-01 2.05982876e-03 -1.39997749e+02] [-8.17725501e-03 -9.10172225e-05 -9.99966562e-01 -4.03324071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters 0.012709946940143263 Centerline is valid? [True, True] Translation: X:179.94, Y:-139.98, Z:-4.03 [[-9.45085455e-01 -3.26726858e-01 7.93992244e-03 1.79940452e+02] [-3.26715793e-01 9.45118806e-01 2.68947510e-03 -1.39980861e+02] [-8.38289376e-03 -5.23142572e-05 -9.99964862e-01 -4.03289852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters 0.012411108814797732 Centerline is valid? [True, True] Translation: X:179.90, Y:-139.97, Z:-4.03 [[-9.20514512e-01 -3.90643148e-01 7.13890397e-03 1.79904018e+02] [-3.90631550e-01 9.20542194e-01 3.01015029e-03 -1.39968543e+02] [-7.74755691e-03 -1.77940959e-05 -9.99969987e-01 -4.03288267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters 0.012597546219302163 Centerline is valid? [True, True] Translation: X:179.85, Y:-139.97, Z:-4.03 [[-8.92698530e-01 -4.50616220e-01 5.86142269e-03 1.79847714e+02] [-4.50606255e-01 8.92717772e-01 2.99699531e-03 -1.39970984e+02] [-6.58309090e-03 3.42195808e-05 -9.99978331e-01 -4.03359558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters 0.013128160692111222 Centerline is valid? [True, True] Translation: X:179.78, Y:-139.98, Z:-4.03 [[-8.59632451e-01 -5.10893621e-01 4.44495327e-03 1.79783128e+02] [-5.10886463e-01 8.59643941e-01 2.70496623e-03 -1.39980467e+02] [-5.20302714e-03 5.44102993e-05 -9.99986463e-01 -4.03453578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters 0.014035188233092235 Centerline is valid? [True, True] Translation: X:179.71, Y:-140.00, Z:-4.04 [[-8.23300148e-01 -5.67596351e-01 3.35390485e-03 1.79711463e+02] [-5.67591278e-01 8.23306977e-01 2.40083424e-03 -1.40000331e+02] [-4.12399802e-03 7.29600433e-05 -9.99991494e-01 -4.03567577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters 0.014944983529238795 Centerline is valid? [True, True] Translation: X:179.63, Y:-140.03, Z:-4.04 [[-7.80502379e-01 -6.25143925e-01 3.33316763e-03 1.79631892e+02] [-6.25137725e-01 7.80509491e-01 2.78561075e-03 -1.40028960e+02] [-4.34297661e-03 9.04869894e-05 -9.99990565e-01 -4.03534132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters 0.01473865031237204 Centerline is valid? [True, True] Translation: X:179.54, Y:-140.07, Z:-4.04 [[-7.31054033e-01 -6.82312256e-01 3.16019643e-03 1.79544988e+02] [-6.82305345e-01 7.31060857e-01 3.07222342e-03 -1.40068368e+02] [-4.40651160e-03 8.97424037e-05 -9.99990287e-01 -4.03542528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters 0.013983031567882399 Centerline is valid? [True, True] Translation: X:179.46, Y:-140.11, Z:-4.04 [[-6.74713782e-01 -7.38072969e-01 3.09928709e-03 1.79459845e+02] [-7.38064650e-01 6.74720896e-01 3.50514950e-03 -1.40112711e+02] [-4.67820985e-03 7.74984345e-05 -9.99989054e-01 -4.03501944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters 0.013174438271210526 Centerline is valid? [True, True] Translation: X:179.37, Y:-140.17, Z:-4.03 [[-6.12243442e-01 -7.90664175e-01 2.85145577e-03 1.79371049e+02] [-7.90655223e-01 6.12250080e-01 3.76272572e-03 -1.40169167e+02] [-4.72085645e-03 4.91857512e-05 -9.99988856e-01 -4.03398201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters 0.01260244777175981 Centerline is valid? [True, True] Translation: X:179.29, Y:-140.23, Z:-4.03 [[-5.46458074e-01 -8.37481789e-01 2.79771508e-03 1.79287176e+02] [-8.37470552e-01 5.46465235e-01 4.33836289e-03 -1.40232753e+02] [-5.16215394e-03 2.77294332e-05 -9.99986676e-01 -4.03400882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters 0.012476407547890247 Centerline is valid? [True, True] Translation: X:179.20, Y:-140.31, Z:-4.03 [[-4.75521121e-01 -8.79700158e-01 2.70107775e-03 1.79203388e+02] [-8.79686062e-01 4.75528792e-01 4.97996367e-03 -1.40307446e+02] [-5.66531507e-03 -8.02253652e-06 -9.99983952e-01 -4.03403487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters 0.012666438077160891 Centerline is valid? [True, True] Translation: X:179.13, Y:-140.39, Z:-4.03 [[-4.04167868e-01 -9.14682664e-01 1.98973644e-03 1.79129306e+02] [-9.14671865e-01 4.04172765e-01 4.44475931e-03 -1.40387495e+02] [-4.86974156e-03 -2.35270483e-05 -9.99988143e-01 -4.03451816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters 0.01283617497122642 Centerline is valid? [True, True] Translation: X:179.06, Y:-140.48, Z:-4.03 [[-3.32166307e-01 -9.43219743e-01 1.43518875e-03 1.79060122e+02] [-9.43211277e-01 3.32169407e-01 3.99655015e-03 -1.40475561e+02] [-4.24635081e-03 -2.61669048e-05 -9.99990984e-01 -4.03408273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters 0.01246322695218026 Centerline is valid? [True, True] Translation: X:179.00, Y:-140.57, Z:-4.03 [[-2.61635661e-01 -9.65166050e-01 1.13023870e-03 1.79002855e+02] [-9.65157307e-01 2.61638101e-01 4.10807661e-03 -1.40570657e+02] [-4.26068958e-03 -1.60388021e-05 -9.99990923e-01 -4.03442943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters 0.012393330031680397 Centerline is valid? [True, True] Translation: X:178.95, Y:-140.67, Z:-4.03 [[-1.93241227e-01 -9.81150842e-01 9.23455676e-04 1.78954647e+02] [-9.81139341e-01 1.93243433e-01 4.75065117e-03 -1.40671278e+02] [-4.83955714e-03 1.19829684e-05 -9.99988289e-01 -4.03348109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters 0.012679830465908197 Centerline is valid? [True, True] Translation: X:178.91, Y:-140.78, Z:-4.03 [[-1.21870082e-01 -9.92545828e-01 6.79840647e-04 1.78912508e+02] [-9.92528529e-01 1.21871972e-01 5.86009972e-03 -1.40777207e+02] [-5.89927105e-03 3.94095969e-05 -9.99982598e-01 -4.03261662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters 0.01364319832270272 Centerline is valid? [True, True] Translation: X:178.88, Y:-140.88, Z:-4.03 [[-5.11436605e-02 -9.98691279e-01 2.35562757e-04 1.78879621e+02] [-9.98672837e-01 5.11441477e-02 6.06968457e-03 -1.40882062e+02] [-6.07378871e-03 7.51757604e-05 -9.99981552e-01 -4.03216165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters 0.01400541061400087 Centerline is valid? [True, True] Translation: X:178.85, Y:-141.00, Z:-4.03 [[ 2.17712655e-02 -9.99762940e-01 -2.75982178e-04 1.78852393e+02] [-9.99736434e-01 -2.17726981e-02 7.28090169e-03 -1.40995693e+02] [-7.28518455e-03 1.17394995e-04 -9.99973456e-01 -4.03143626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters 0.014184953528215947 Centerline is valid? [True, True] Translation: X:178.83, Y:-141.11, Z:-4.03 [[ 9.76577701e-02 -9.95219624e-01 -9.26989393e-04 1.78833948e+02] [-9.95187004e-01 -9.76620755e-02 8.05888466e-03 -1.41112789e+02] [-8.11089187e-03 1.35515092e-04 -9.99967097e-01 -4.03080665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters 0.013727011812737605 Centerline is valid? [True, True] Translation: X:178.82, Y:-141.24, Z:-4.03 [[ 1.76955992e-01 -9.84217145e-01 -1.78570908e-03 1.78822334e+02] [-9.84173884e-01 -1.76964958e-01 9.22871567e-03 -1.41236694e+02] [-9.39906812e-03 1.24371700e-04 -9.99955820e-01 -4.02988815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters 0.012783221014074616 Centerline is valid? [True, True] Translation: X:178.82, Y:-141.36, Z:-4.03 [[ 2.57866205e-01 -9.66177328e-01 -2.52827641e-03 1.78817811e+02] [-9.66133364e-01 -2.57878590e-01 9.21719576e-03 -1.41356131e+02] [-9.55743392e-03 6.58489047e-05 -9.99954325e-01 -4.02969594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters 0.012503750542042733 Centerline is valid? [True, True] Translation: X:178.82, Y:-141.48, Z:-4.03 [[ 3.33369609e-01 -9.42790390e-01 -3.31431417e-03 1.78824992e+02] [-9.42745065e-01 -3.33386081e-01 9.24468735e-03 -1.41475239e+02] [-9.82074860e-03 4.26555176e-05 -9.99951774e-01 -4.03011095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters 0.0123591649108056 Centerline is valid? [True, True] Translation: X:178.84, Y:-141.59, Z:-4.03 [[ 4.11323832e-01 -9.11481573e-01 -3.74804189e-03 1.78838072e+02] [-9.11443071e-01 -4.11340907e-01 8.37780522e-03 -1.41592780e+02] [-9.17793803e-03 -2.98641345e-05 -9.99957881e-01 -4.03016929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters 0.013019373892161583 Centerline is valid? [True, True] Translation: X:178.86, Y:-141.72, Z:-4.03 [[ 4.86670370e-01 -8.73578752e-01 -3.48063148e-03 1.78863642e+02] [-8.73555186e-01 -4.86682810e-01 6.41719867e-03 -1.41715937e+02] [-7.29989192e-03 -8.25367731e-05 -9.99973352e-01 -4.03136649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters 0.014291834064866457 Centerline is valid? [True, True] Translation: X:178.89, Y:-141.83, Z:-4.03 [[ 5.55803968e-01 -8.31306415e-01 -3.40476500e-03 1.78893947e+02] [-8.31289688e-01 -5.55814388e-01 5.27461201e-03 -1.41826052e+02] [-6.27723618e-03 -1.01304255e-04 -9.99980293e-01 -4.03165303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters 0.015051076838506984 Centerline is valid? [True, True] Translation: X:178.93, Y:-141.93, Z:-4.03 [[ 6.21284536e-01 -7.83576619e-01 -3.63422556e-03 1.78931361e+02] [-7.83562006e-01 -6.21295152e-01 4.78711221e-03 -1.41925924e+02] [-6.00899592e-03 -1.26517712e-04 -9.99981938e-01 -4.03189179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters 0.015862977599293265 Centerline is valid? [True, True] Translation: X:178.98, Y:-142.03, Z:-4.03 [[ 6.80099777e-01 -7.33107752e-01 -4.16142188e-03 1.78980456e+02] [-7.33092738e-01 -6.80112493e-01 4.69405663e-03 -1.42027766e+02] [-6.27148432e-03 -1.41718708e-04 -9.99980324e-01 -4.03064760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters 0.015890240172912608 Centerline is valid? [True, True] Translation: X:179.03, Y:-142.11, Z:-4.03 [[ 7.33934699e-01 -6.79201960e-01 -4.95539435e-03 1.79027631e+02] [-6.79185012e-01 -7.33951410e-01 4.80070633e-03 -1.42111142e+02] [-6.89766782e-03 -1.57775384e-04 -9.99976198e-01 -4.02995408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters 0.015749735900367042 Centerline is valid? [True, True] Translation: X:179.05, Y:-142.14, Z:-4.03 [[ 7.84117653e-01 -6.20584775e-01 -5.83469872e-03 1.79053672e+02] [-6.20566012e-01 -7.84139343e-01 4.82851027e-03 -1.42137618e+02] [-7.57171678e-03 -1.65304415e-04 -9.99971321e-01 -4.02941432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters 0.014654918204160193 Centerline is valid? [True, True] Translation: X:179.08, Y:-142.16, Z:-4.03 [[ 8.27728154e-01 -5.61088759e-01 -6.74587047e-03 1.79083602e+02] [-5.61068707e-01 -8.27755630e-01 4.74578623e-03 -1.42156269e+02] [-8.24673957e-03 -1.43324056e-04 -9.99965985e-01 -4.02815279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters 0.01352566770874168 Centerline is valid? [True, True] Translation: X:179.12, Y:-142.17, Z:-4.03 [[ 8.66460588e-01 -4.99188594e-01 -7.53632154e-03 1.79115958e+02] [-4.99168639e-01 -8.66493356e-01 4.46468501e-03 -1.42171168e+02] [-8.75889238e-03 -1.06578231e-04 -9.99961635e-01 -4.02764299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters 0.012075441183918434 Centerline is valid? [True, True] Translation: X:179.15, Y:-142.18, Z:-4.03 [[ 8.97915444e-01 -4.40108939e-01 -7.20953325e-03 1.79149692e+02] [-4.40094694e-01 -8.97944387e-01 3.54102971e-03 -1.42181656e+02] [-8.03219874e-03 -6.66793729e-06 -9.99967741e-01 -4.02946169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters 0.01265338653935477 Centerline is valid? [True, True] Translation: X:179.18, Y:-142.19, Z:-4.03 [[ 9.26212293e-01 -3.76953613e-01 -6.06324519e-03 1.79180552e+02] [-3.76945914e-01 -9.26232137e-01 2.40970519e-03 -1.42192452e+02] [-6.52431962e-03 5.36169335e-05 -9.99978715e-01 -4.03046829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters 0.01500357993517436 Centerline is valid? [True, True] Translation: X:179.21, Y:-142.20, Z:-4.03 [[ 9.49032593e-01 -3.15137477e-01 -5.05062029e-03 1.79213232e+02] [-3.15133623e-01 -9.49046026e-01 1.56235505e-03 -1.42198768e+02] [-5.28562774e-03 1.08894409e-04 -9.99986025e-01 -4.03118424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters 0.017155595827971715 Centerline is valid? [True, True] Translation: X:179.24, Y:-142.21, Z:-4.03 [[ 9.68683173e-01 -2.48253069e-01 -4.82944476e-03 1.79243937e+02] [-2.48250722e-01 -9.68695201e-01 1.08902305e-03 -1.42205258e+02] [-4.94861328e-03 1.43994843e-04 -9.99987745e-01 -4.03119138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters 0.018079362836759788 Centerline is valid? [True, True] Translation: X:179.27, Y:-142.21, Z:-4.03 [[ 9.84702073e-01 -1.74176085e-01 -4.95155211e-03 1.79269850e+02] [-1.74174690e-01 -9.84714510e-01 7.14867774e-04 -1.42214666e+02] [-5.00037808e-03 1.58503275e-04 -9.99987486e-01 -4.03032351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters 0.018463872293558045 Centerline is valid? [True, True] Translation: X:179.30, Y:-142.22, Z:-4.03 [[ 9.95337420e-01 -9.62254310e-02 -6.63983171e-03 1.79296669e+02] [-9.62246866e-02 -9.95359545e-01 4.32230762e-04 -1.42224131e+02] [-6.65061146e-03 2.08700274e-04 -9.99977863e-01 -4.02867785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters 0.016878383872950202 Centerline is valid? [True, True] Translation: X:179.32, Y:-142.24, Z:-4.03 [[ 9.99867398e-01 -1.46536271e-02 -7.10337147e-03 1.79323967e+02] [-1.46546706e-02 -9.99892610e-01 -9.48694821e-05 -1.42236608e+02] [-7.10121846e-03 1.98954471e-04 -9.99974766e-01 -4.02863754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters 0.015403734406621409 Centerline is valid? [True, True] Translation: X:179.35, Y:-142.25, Z:-4.03 [[ 9.97438273e-01 7.12042694e-02 -6.84430437e-03 1.79351392e+02] [ 7.12016261e-02 -9.97461745e-01 -6.29407917e-04 -1.42247108e+02] [-6.87174831e-03 1.40469945e-04 -9.99976379e-01 -4.02837469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters 0.013251388013561544 Centerline is valid? [True, True] Translation: X:179.38, Y:-142.26, Z:-4.03 [[ 9.87461781e-01 1.57735703e-01 -6.21925553e-03 1.79381289e+02] [ 1.57732105e-01 -9.87481363e-01 -1.06788482e-03 -1.42259763e+02] [-6.30984249e-03 7.35191769e-05 -9.99980090e-01 -4.02901139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters 0.012457886483394022 Centerline is valid? [True, True] Translation: X:179.41, Y:-142.27, Z:-4.03 [[ 9.70640979e-01 2.40491648e-01 -4.45626733e-03 1.79412765e+02] [ 2.40488992e-01 -9.70651208e-01 -1.13037289e-03 -1.42267310e+02] [-4.59732650e-03 2.55030109e-05 -9.99989432e-01 -4.03032786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters 0.012312735011412137 Centerline is valid? [True, True] Translation: X:179.45, Y:-142.27, Z:-4.03 [[ 9.46328451e-01 3.23201409e-01 -1.81998555e-03 1.79445413e+02] [ 3.23200820e-01 -9.46330201e-01 -6.17053947e-04 -1.42274870e+02] [-1.92174000e-03 -4.28511612e-06 -9.99998153e-01 -4.03224216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters 0.012551558154178138 Centerline is valid? [True, True] Translation: X:179.48, Y:-142.28, Z:-4.03 [[ 9.16439313e-01 4.00170785e-01 -1.52616927e-03 1.79478755e+02] [ 4.00170250e-01 -9.16440583e-01 -6.54839835e-04 -1.42277249e+02] [-1.66069123e-03 -1.06065712e-05 -9.99998621e-01 -4.03148267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters 0.01316641624974557 Centerline is valid? [True, True] Translation: X:179.51, Y:-142.28, Z:-4.03 [[ 8.79689390e-01 4.75540136e-01 -2.85604804e-03 1.79513303e+02] [ 4.75537772e-01 -8.79694025e-01 -1.49989974e-03 -1.42278105e+02] [-3.22571092e-03 -3.87128344e-05 -9.99994797e-01 -4.02884529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters 0.013795809258359739 Centerline is valid? [True, True] Translation: X:179.55, Y:-142.27, Z:-4.03 [[ 8.38170706e-01 5.45396967e-01 -3.46633231e-03 1.79545024e+02] [ 5.45392604e-01 -8.38177872e-01 -2.18244295e-03 -1.42272535e+02] [-4.09570080e-03 -6.12522566e-05 -9.99991611e-01 -4.02732346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters 0.014722253480831433 Centerline is valid? [True, True] Translation: X:179.58, Y:-142.26, Z:-4.02 [[ 7.90846643e-01 6.11997736e-01 -4.51196125e-03 1.79576649e+02] [ 6.11988515e-01 -7.90859507e-01 -3.36109286e-03 -1.42263158e+02] [-5.62530867e-03 -1.03159464e-04 -9.99984173e-01 -4.02492918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters 0.01499802617941866 Centerline is valid? [True, True] Translation: X:179.60, Y:-142.25, Z:-4.02 [[ 7.39659457e-01 6.72968433e-01 -4.16832665e-03 1.79604268e+02] [ 6.72958566e-01 -7.39671195e-01 -3.64589602e-03 -1.42248437e+02] [-5.53676409e-03 -1.08389653e-04 -9.99984666e-01 -4.02426330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters 0.01609612294730076 Centerline is valid? [True, True] Translation: X:179.63, Y:-142.23, Z:-4.02 [[ 6.84419433e-01 7.29078650e-01 -3.78977376e-03 1.79628997e+02] [ 7.29068338e-01 -6.84429917e-01 -3.87913949e-03 -1.42231431e+02] [-5.42203232e-03 -1.08045608e-04 -9.99985295e-01 -4.02315788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters 0.015373226127884842 Centerline is valid? [True, True] Translation: X:179.65, Y:-142.21, Z:-4.02 [[ 6.24814822e-01 7.80762324e-01 -4.07815986e-03 1.79650272e+02] [ 7.80747039e-01 -6.24828117e-01 -4.88727353e-03 -1.42209590e+02] [-6.36394798e-03 -1.30370295e-04 -9.99979741e-01 -4.02234997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters 0.016542998159777 Centerline is valid? [True, True] Translation: X:179.67, Y:-142.19, Z:-4.02 [[ 5.60829678e-01 8.27920439e-01 -4.22116618e-03 1.79670763e+02] [ 8.27899072e-01 -5.60845541e-01 -5.95024506e-03 -1.42188988e+02] [-7.29375173e-03 -1.57625544e-04 -9.99973388e-01 -4.02114764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters 0.015433206785489274 Centerline is valid? [True, True] Translation: X:179.69, Y:-142.17, Z:-4.02 [[ 4.93555401e-01 8.69705270e-01 -3.97611781e-03 1.79690239e+02] [ 8.69679830e-01 -4.93571386e-01 -6.65432211e-03 -1.42165868e+02] [-7.74979698e-03 -1.73672839e-04 -9.99969955e-01 -4.02165319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters 0.015160698412946138 Centerline is valid? [True, True] Translation: X:179.71, Y:-142.14, Z:-4.02 [[ 4.24369854e-01 9.05482540e-01 -3.40545108e-03 1.79709570e+02] [ 9.05456501e-01 -4.24383485e-01 -6.86903280e-03 -1.42142381e+02] [-7.66500646e-03 -1.68477366e-04 -9.99970609e-01 -4.02158618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters 0.01576930331842122 Centerline is valid? [True, True] Translation: X:179.73, Y:-142.12, Z:-4.02 [[ 3.54179697e-01 9.35172858e-01 -2.91006513e-03 1.79727500e+02] [ 9.35144788e-01 -3.54191619e-01 -7.24729582e-03 -1.42119287e+02] [-7.80819502e-03 -1.54487195e-04 -9.99969504e-01 -4.02075545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters 0.01431851980560355 Centerline is valid? [True, True] Translation: X:179.74, Y:-142.09, Z:-4.02 [[ 2.82777286e-01 9.59182763e-01 -2.33081515e-03 1.79738710e+02] [ 9.59153885e-01 -2.82786862e-01 -7.44412881e-03 -1.42092735e+02] [-7.79940395e-03 -1.30579860e-04 -9.99969576e-01 -4.02169919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters 0.013285337418551072 Centerline is valid? [True, True] Translation: X:179.75, Y:-142.07, Z:-4.02 [[ 2.09017853e-01 9.77911031e-01 -1.24597817e-03 1.79752909e+02] [ 9.77895882e-01 -2.09021551e-01 -5.44390702e-03 -1.42066734e+02] [-5.58409302e-03 -8.05631641e-05 -9.99984406e-01 -4.02427448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters 0.014067286721607473 Centerline is valid? [True, True] Translation: X:179.77, Y:-142.04, Z:-4.03 [[ 1.29319367e-01 9.91602858e-01 -5.22135636e-04 1.79769026e+02] [ 9.91596552e-01 -1.29320407e-01 -3.53713413e-03 -1.42041701e+02] [-3.57495511e-03 -6.03279506e-05 -9.99993608e-01 -4.02597875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters 0.014357293540954419 Centerline is valid? [True, True] Translation: X:179.78, Y:-142.01, Z:-4.03 [[ 4.89604899e-02 9.98800674e-01 -2.88991118e-04 1.79782925e+02] [ 9.98791711e-01 -4.89612751e-02 -4.23220245e-03 -1.42013955e+02] [-4.24127603e-03 -8.14312283e-05 -9.99991002e-01 -4.02575202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters 0.015209812380281447 Centerline is valid? [True, True] Translation: X:179.80, Y:-141.99, Z:-4.02 [[-3.20507554e-02 9.99486241e-01 5.97950475e-05 1.79795183e+02] [ 9.99469162e-01 3.20505573e-02 -5.84439374e-03 -1.41985148e+02] [-5.84330759e-03 -1.27553928e-04 -9.99982920e-01 -4.02417106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters 0.01500583726574063 Centerline is valid? [True, True] Translation: X:179.80, Y:-141.96, Z:-4.02 [[-1.11322461e-01 9.93784141e-01 6.24826337e-04 1.79802795e+02] [ 9.93759292e-01 1.11324097e-01 -7.02953046e-03 -1.41955358e+02] [-7.05539412e-03 -1.61617652e-04 -9.99975097e-01 -4.02396277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters 0.014844146675592914 Centerline is valid? [True, True] Translation: X:179.81, Y:-141.93, Z:-4.02 [[-1.87722192e-01 9.82221402e-01 1.22277925e-03 1.79807118e+02] [ 9.82194643e-01 1.87726106e-01 -7.25209843e-03 -1.41925372e+02] [-7.35271387e-03 -1.60372585e-04 -9.99972956e-01 -4.02450016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters 0.013537592379194108 Centerline is valid? [True, True] Translation: X:179.80, Y:-141.90, Z:-4.03 [[-2.58115176e-01 9.66113160e-01 1.38478645e-03 1.79804030e+02] [ 9.66097352e-01 2.58118875e-01 -5.52741045e-03 -1.41897453e+02] [-5.69754350e-03 -8.88699954e-05 -9.99983765e-01 -4.02551358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters 0.012399347964702045 Centerline is valid? [True, True] Translation: X:179.80, Y:-141.87, Z:-4.03 [[-3.27311871e-01 9.44915079e-01 1.55980194e-03 1.79796082e+02] [ 9.44903657e-01 3.27315584e-01 -4.64618206e-03 -1.41871448e+02] [-4.90079497e-03 -4.68879840e-05 -9.99987990e-01 -4.02638590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters 0.01149448390467238 Centerline is valid? [True, True] Translation: X:179.79, Y:-141.85, Z:-4.03 [[-3.92224780e-01 9.19867654e-01 1.79452475e-03 1.79785003e+02] [ 9.19857989e-01 3.92228885e-01 -4.21690929e-03 -1.41845407e+02] [-4.58286290e-03 -3.26838786e-06 -9.99989499e-01 -4.02755264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters 0.011574282861891539 Centerline is valid? [True, True] Translation: X:179.78, Y:-141.82, Z:-4.03 [[-4.60301687e-01 8.87759545e-01 2.31242535e-03 1.79778978e+02] [ 8.87748472e-01 4.60307495e-01 -4.43402723e-03 -1.41818108e+02] [-5.00077672e-03 1.18618576e-05 -9.99987496e-01 -4.02695169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters 0.011473992877040925 Centerline is valid? [True, True] Translation: X:179.77, Y:-141.79, Z:-4.03 [[-5.28561847e-01 8.48889263e-01 3.06503473e-03 1.79774505e+02] [ 8.48875132e-01 5.28570733e-01 -4.89803613e-03 -1.41788534e+02] [-5.77797793e-03 1.29167445e-05 -9.99983307e-01 -4.02574509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters 0.01148799119481496 Centerline is valid? [True, True] Translation: X:179.77, Y:-141.76, Z:-4.02 [[-5.95467556e-01 8.03368261e-01 4.22218554e-03 1.79768821e+02] [ 8.03348039e-01 5.95482525e-01 -5.70001697e-03 -1.41760512e+02] [-7.09345043e-03 -2.29070141e-06 -9.99974841e-01 -4.02361294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters 0.011543248805274929 Centerline is valid? [True, True] Translation: X:179.76, Y:-141.73, Z:-4.02 [[-6.57226758e-01 7.53675162e-01 5.17094596e-03 1.79760604e+02] [ 7.53651720e-01 6.57247100e-01 -5.94435855e-03 -1.41731042e+02] [-7.87870462e-03 -9.69918262e-06 -9.99968963e-01 -4.02345173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters 0.011498765377727125 Centerline is valid? [True, True] Translation: X:179.75, Y:-141.70, Z:-4.02 [[-7.15608313e-01 6.98483556e-01 5.04626651e-03 1.79750556e+02] [ 6.98465965e-01 7.15626105e-01 -4.95720188e-03 -1.41702993e+02] [-7.07376404e-03 -2.27694695e-05 -9.99974980e-01 -4.02258840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters 0.01157647636827133 Centerline is valid? [True, True] Translation: X:180.23, Y:-141.22, Z:-5.02 [[-6.60644276e-01 -7.50687495e-01 4.17437392e-03 1.80231626e+02] [ 7.50672284e-01 -6.60657464e-01 -4.77890445e-03 -1.41218018e+02] [ 6.34529509e-03 -2.35690695e-05 9.99979868e-01 -5.01789966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters 0.011974604677774097 Centerline is valid? [True, True] Translation: X:180.19, Y:-141.18, Z:-5.02 [[-6.57840908e-01 -7.53147357e-01 3.79445472e-03 1.80189421e+02] [ 7.53135285e-01 -6.57851850e-01 -4.26454513e-03 -1.41178489e+02] [ 5.70801995e-03 5.23454939e-05 9.99983708e-01 -5.01834194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters 0.012408383956759141 Centerline is valid? [True, True] Translation: X:180.15, Y:-141.14, Z:-5.02 [[-6.56373664e-01 -7.54425950e-01 3.88577921e-03 1.80148561e+02] [ 7.54413327e-01 -6.56385163e-01 -4.36469265e-03 -1.41136887e+02] [ 5.84340521e-03 6.66143136e-05 9.99982925e-01 -5.01932055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters 0.01288958423022154 Centerline is valid? [True, True] Translation: X:180.11, Y:-141.10, Z:-5.02 [[-6.54800452e-01 -7.55793537e-01 3.53503971e-03 1.80106829e+02] [ 7.55783122e-01 -6.54809990e-01 -3.96846398e-03 -1.41095842e+02] [ 5.31411875e-03 7.31713380e-05 9.99985877e-01 -5.02068099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters 0.0134474783171319 Centerline is valid? [True, True] Translation: X:180.07, Y:-141.06, Z:-5.02 [[-6.54014781e-01 -7.56469847e-01 4.24697693e-03 1.80066682e+02] [ 7.56454847e-01 -6.54028563e-01 -4.76484166e-03 -1.41055352e+02] [ 6.38210327e-03 9.63694109e-05 9.99979630e-01 -5.02306406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters 0.013130195730054648 Centerline is valid? [True, True] Translation: X:180.03, Y:-141.01, Z:-5.02 [[-6.54421932e-01 -7.56112742e-01 5.04552077e-03 1.80029026e+02] [ 7.56091587e-01 -6.54441372e-01 -5.65713248e-03 -1.41011633e+02] [ 7.57942749e-03 1.12724242e-04 9.99971269e-01 -5.02429834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters 0.01292370637532194 Centerline is valid? [True, True] Translation: X:179.99, Y:-140.97, Z:-5.03 [[-6.55730974e-01 -7.54976333e-01 5.25615446e-03 1.79993164e+02] [ 7.54953365e-01 -6.55752031e-01 -5.88990497e-03 -1.40965820e+02] [ 7.89347281e-03 1.05958373e-04 9.99968840e-01 -5.02503732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters 0.012715902158580022 Centerline is valid? [True, True] Translation: X:179.96, Y:-140.92, Z:-5.02 [[-6.57673689e-01 -7.53290180e-01 4.38454387e-03 1.79957394e+02] [ 7.53274179e-01 -6.57688300e-01 -4.91041058e-03 -1.40921811e+02] [ 6.58262727e-03 7.33158390e-05 9.99978332e-01 -5.02496194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters 0.01213657042256426 Centerline is valid? [True, True] Translation: X:179.92, Y:-140.88, Z:-5.02 [[-6.61480884e-01 -7.49954228e-01 3.41978264e-03 1.79923720e+02] [ 7.49944460e-01 -6.61489723e-01 -3.82788539e-03 -1.40875262e+02] [ 5.13288990e-03 3.25740334e-05 9.99986826e-01 -5.02487146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters 0.011848135336435478 Centerline is valid? [True, True] Translation: X:179.89, Y:-140.83, Z:-5.02 [[-6.66458046e-01 -7.45538151e-01 2.55679053e-03 1.79891676e+02] [ 7.45532665e-01 -6.66462951e-01 -2.86008003e-03 -1.40827327e+02] [ 3.83630494e-03 4.75085054e-08 9.99992641e-01 -5.02446047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters 0.011929103509866689 Centerline is valid? [True, True] Translation: X:179.86, Y:-140.78, Z:-5.02 [[-6.69528815e-01 -7.42781109e-01 2.71834251e-03 1.79855788e+02] [ 7.42774892e-01 -6.69534333e-01 -3.03905477e-03 -1.40781534e+02] [ 4.07737611e-03 -1.56181738e-05 9.99991687e-01 -5.02468853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters 0.01224475260879468 Centerline is valid? [True, True] Translation: X:179.82, Y:-140.74, Z:-5.03 [[-6.71614474e-01 -7.40895918e-01 2.69037998e-03 1.79818492e+02] [ 7.40889821e-01 -6.71619862e-01 -3.00578536e-03 -1.40739971e+02] [ 4.03388673e-03 -2.54538155e-05 9.99991864e-01 -5.02546285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters 0.012395725296809075 Centerline is valid? [True, True] Translation: X:179.78, Y:-140.70, Z:-5.03 [[-6.73276954e-01 -7.39381292e-01 3.66714076e-03 1.79780092e+02] [ 7.39369955e-01 -6.73286939e-01 -4.09471262e-03 -1.40695933e+02] [ 5.49659189e-03 -4.55019470e-05 9.99984893e-01 -5.02578440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters 0.012739620341140468 Centerline is valid? [True, True] Translation: X:179.74, Y:-140.65, Z:-5.03 [[-6.74756172e-01 -7.38029864e-01 4.00352455e-03 1.79742064e+02] [ 7.38016344e-01 -6.74768046e-01 -4.46772898e-03 -1.40652148e+02] [ 5.99876785e-03 -5.99611560e-05 9.99982005e-01 -5.02544237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters 0.013354085432132422 Centerline is valid? [True, True] Translation: X:179.70, Y:-140.61, Z:-5.03 [[-6.76625790e-01 -7.36318328e-01 3.58594751e-03 1.79702748e+02] [ 7.36307470e-01 -6.76635290e-01 -3.99931283e-03 -1.40610553e+02] [ 5.37114597e-03 -6.56782646e-05 9.99985573e-01 -5.02571949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters 0.013716937018041692 Centerline is valid? [True, True] Translation: X:179.66, Y:-140.57, Z:-5.02 [[-6.78168189e-01 -7.34900169e-01 3.10609763e-03 1.79663183e+02] [ 7.34892017e-01 -6.78175299e-01 -3.46217328e-03 -1.40567850e+02] [ 4.65083042e-03 -6.52894378e-05 9.99989183e-01 -5.02484770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters 0.01465795921262758 Centerline is valid? [True, True] Translation: X:179.63, Y:-140.52, Z:-5.02 [[-6.79050092e-01 -7.34087000e-01 2.69229286e-03 1.79626749e+02] [ 7.34080875e-01 -6.79055427e-01 -2.99945689e-03 -1.40524355e+02] [ 4.03007839e-03 -6.04207750e-05 9.99991877e-01 -5.02465412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters 0.014574204442935423 Centerline is valid? [True, True] Translation: X:179.59, Y:-140.48, Z:-5.02 [[-6.80487527e-01 -7.32759225e-01 8.02153984e-04 1.79586680e+02] [ 7.32758681e-01 -6.80488000e-01 -8.93175746e-04 -1.40482100e+02] [ 1.20033893e-03 -2.00096597e-05 9.99999279e-01 -5.02197080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters 0.014792966731671839 Centerline is valid? [True, True] Translation: X:179.55, Y:-140.44, Z:-5.02 [[-6.80046991e-01 -7.33167700e-01 -1.10174299e-03 1.79545439e+02] [ 7.33166675e-01 -6.80047883e-01 1.22599159e-03 -1.40442490e+02] [-1.64809542e-03 2.59706494e-05 9.99998642e-01 -5.02047330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters 0.014194957155987776 Centerline is valid? [True, True] Translation: X:179.50, Y:-140.40, Z:-5.02 [[-6.78374097e-01 -7.34715723e-01 -1.17890224e-03 1.79500908e+02] [ 7.34714554e-01 -6.78375121e-01 1.31115172e-03 -1.40403682e+02] [-1.76306173e-03 2.32947349e-05 9.99998446e-01 -5.02141335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters 0.013940141967049527 Centerline is valid? [True, True] Translation: X:179.46, Y:-140.36, Z:-5.02 [[-6.76839955e-01 -7.36129658e-01 -8.95560256e-04 1.79458517e+02] [ 7.36128985e-01 -6.76840548e-01 9.95428235e-04 -1.40364197e+02] [-1.33891574e-03 1.44977401e-05 9.99999104e-01 -5.02263334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters 0.014056171711335913 Centerline is valid? [True, True] Translation: X:179.42, Y:-140.32, Z:-5.02 [[-6.76157773e-01 -7.36756670e-01 -5.24684760e-04 1.79418748e+02] [ 7.36756439e-01 -6.76157977e-01 5.82809625e-04 -1.40323908e+02] [-7.84158664e-04 7.50638240e-06 9.99999693e-01 -5.02318790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters 0.01365201996797001 Centerline is valid? [True, True] Translation: X:179.38, Y:-140.28, Z:-5.02 [[-6.75313188e-01 -7.37531073e-01 -1.16933558e-04 1.79376444e+02] [ 7.37531062e-01 -6.75313199e-01 1.29802832e-04 -1.40284368e+02] [-1.74700396e-04 1.41543311e-06 9.99999985e-01 -5.02473549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters 0.013384474607097113 Centerline is valid? [True, True] Translation: X:179.34, Y:-140.24, Z:-5.03 [[-6.74109254e-01 -7.38631635e-01 1.47747669e-04 1.79335623e+02] [ 7.38631617e-01 -6.74109270e-01 -1.63922525e-04 -1.40242949e+02] [ 2.20676436e-04 -1.37059134e-06 9.99999976e-01 -5.02542174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters 0.013271591213906706 Centerline is valid? [True, True] Translation: X:179.30, Y:-140.20, Z:-5.03 [[-6.72488084e-01 -7.40107157e-01 1.08304931e-03 1.79296079e+02] [ 7.40106183e-01 -6.72488956e-01 -1.20083028e-03 -1.40201041e+02] [ 1.61708179e-03 -5.97255729e-06 9.99998693e-01 -5.02585574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters 0.013313803452012683 Centerline is valid? [True, True] Translation: X:179.25, Y:-140.16, Z:-5.03 [[-6.67827892e-01 -7.44312026e-01 2.34815541e-03 1.79254311e+02] [ 7.44307478e-01 -6.67832021e-01 -2.60202113e-03 -1.40161032e+02] [ 3.50488899e-03 1.00473427e-05 9.99993858e-01 -5.02780845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters 0.014322540292959741 Centerline is valid? [True, True] Translation: X:179.21, Y:-140.12, Z:-5.03 [[-6.62075054e-01 -7.49430542e-01 3.23820637e-03 1.79212286e+02] [ 7.49421961e-01 -6.62082971e-01 -3.58665010e-03 -1.40122664e+02] [ 4.83190642e-03 5.21514060e-05 9.99988325e-01 -5.03007923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters 0.014969038746468741 Centerline is valid? [True, True] Translation: X:179.17, Y:-140.08, Z:-5.03 [[-6.58180115e-01 -7.52850918e-01 3.79878418e-03 1.79173646e+02] [ 7.52839180e-01 -6.58191071e-01 -4.20515356e-03 -1.40078847e+02] [ 5.66617955e-03 9.21251112e-05 9.99983943e-01 -5.02939125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters 0.015469934826114555 Centerline is valid? [True, True] Translation: X:179.14, Y:-140.04, Z:-5.03 [[-6.56745687e-01 -7.54104639e-01 3.36089910e-03 1.79135022e+02] [ 7.54095478e-01 -6.56754281e-01 -3.71831103e-03 -1.40035131e+02] [ 5.01128047e-03 9.24540780e-05 9.99987439e-01 -5.02843381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters 0.01595482369174017 Centerline is valid? [True, True] Translation: X:179.10, Y:-139.99, Z:-5.03 [[-6.55377033e-01 -7.55297422e-01 2.59791969e-03 1.79096964e+02] [ 7.55291964e-01 -6.55382177e-01 -2.87255738e-03 -1.39991357e+02] [ 3.87226545e-03 7.95797320e-05 9.99992500e-01 -5.02716635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters 0.015883339197356513 Centerline is valid? [True, True] Translation: X:179.06, Y:-139.95, Z:-5.03 [[-6.55448083e-01 -7.55229808e-01 3.96833863e-03 1.79060302e+02] [ 7.55217086e-01 -6.55460085e-01 -4.38533642e-03 -1.39945862e+02] [ 5.91302435e-03 1.22596787e-04 9.99982510e-01 -5.02802852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters 0.01553694570391245 Centerline is valid? [True, True] Translation: X:179.02, Y:-139.90, Z:-5.03 [[-6.56905386e-01 -7.53957792e-01 4.79194168e-03 1.79024240e+02] [ 7.53939229e-01 -6.56922849e-01 -5.29229358e-03 -1.39900633e+02] [ 7.13810197e-03 1.36296660e-04 9.99974514e-01 -5.02880935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters 0.014354392459208807 Centerline is valid? [True, True] Translation: X:178.99, Y:-139.85, Z:-5.03 [[-6.60879642e-01 -7.50471545e-01 5.52791347e-03 1.78991656e+02] [ 7.50446750e-01 -6.60902751e-01 -6.10160368e-03 -1.39851753e+02] [ 8.23249317e-03 1.15979039e-04 9.99966106e-01 -5.02877589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters 0.013468738243857258 Centerline is valid? [True, True] Translation: X:178.96, Y:-139.80, Z:-5.03 [[-6.66425157e-01 -7.45551879e-01 5.46871368e-03 1.78959737e+02] [ 7.45527473e-01 -6.66447592e-01 -6.03279086e-03 -1.39802667e+02] [ 8.14236963e-03 5.66726973e-05 9.99966849e-01 -5.02797843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters 0.013183252885478842 Centerline is valid? [True, True] Translation: X:178.92, Y:-139.76, Z:-5.03 [[-6.69358695e-01 -7.42925318e-01 4.57264430e-03 1.78923051e+02] [ 7.42908215e-01 -6.69374314e-01 -5.04108831e-03 -1.39758897e+02] [ 6.80596278e-03 2.27587165e-05 9.99976839e-01 -5.02669667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters 0.013134289844004318 Centerline is valid? [True, True] Translation: X:178.88, Y:-139.72, Z:-5.03 [[-6.69869637e-01 -7.42464001e-01 4.67721864e-03 1.78883286e+02] [ 7.42446119e-01 -6.69885965e-01 -5.15312894e-03 -1.39717029e+02] [ 6.95921586e-03 2.06582180e-05 9.99975784e-01 -5.02731756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters 0.013208169703143478 Centerline is valid? [True, True] Translation: X:178.85, Y:-139.67, Z:-5.03 [[-6.73126053e-01 -7.39502665e-01 6.09300510e-03 1.78847328e+02] [ 7.39472235e-01 -6.73153629e-01 -6.70858040e-03 -1.39673654e+02] [ 9.06254158e-03 -1.01121422e-05 9.99958934e-01 -5.02911411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters 0.013324616841550353 Centerline is valid? [True, True] Translation: X:178.81, Y:-139.63, Z:-5.03 [[-6.75215047e-01 -7.37593276e-01 6.38743254e-03 1.78809454e+02] [ 7.37559790e-01 -6.75245257e-01 -7.02846378e-03 -1.39630194e+02] [ 9.49723115e-03 -3.46110969e-05 9.99954900e-01 -5.02931743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters 0.013518456216306445 Centerline is valid? [True, True] Translation: X:178.77, Y:-139.59, Z:-5.03 [[-6.77062446e-01 -7.35899217e-01 6.22795276e-03 1.78769315e+02] [ 7.35867350e-01 -6.77091087e-01 -6.84861739e-03 -1.39589205e+02] [ 9.25678348e-03 -5.39945525e-05 9.99957154e-01 -5.02912564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters 0.013541871993328916 Centerline is valid? [True, True] Translation: X:178.73, Y:-139.55, Z:-5.03 [[-6.76969785e-01 -7.35984274e-01 6.24965467e-03 1.78729521e+02] [ 7.35952231e-01 -6.76998630e-01 -6.86794334e-03 -1.39549139e+02] [ 9.28570595e-03 -4.99428349e-05 9.99956886e-01 -5.02876267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters 0.013409814088184889 Centerline is valid? [True, True] Translation: X:178.69, Y:-139.51, Z:-5.03 [[-6.76657846e-01 -7.36273569e-01 5.94910178e-03 1.78689531e+02] [ 7.36244581e-01 -6.76683996e-01 -6.53352571e-03 -1.39508033e+02] [ 8.83612426e-03 -4.09674830e-05 9.99960960e-01 -5.02694161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters 0.013126108384135797 Centerline is valid? [True, True] Translation: X:178.65, Y:-139.47, Z:-5.03 [[-6.75229062e-01 -7.37591933e-01 4.88412664e-03 1.78646701e+02] [ 7.37572451e-01 -6.75246725e-01 -5.36087096e-03 -1.39468101e+02] [ 7.25212570e-03 -1.74186090e-05 9.99973703e-01 -5.02538136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters 0.013117341470660106 Centerline is valid? [True, True] Translation: X:178.61, Y:-139.43, Z:-5.03 [[-6.72739862e-01 -7.39861961e-01 5.03551642e-03 1.78605196e+02] [ 7.39841344e-01 -6.72758708e-01 -5.52335086e-03 -1.39430177e+02] [ 7.47420472e-03 9.70494008e-06 9.99972068e-01 -5.02581565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters 0.0132234160266395 Centerline is valid? [True, True] Translation: X:178.56, Y:-139.39, Z:-5.03 [[-6.70138193e-01 -7.42210476e-01 6.19771734e-03 1.78563722e+02] [ 7.42179379e-01 -6.70166851e-01 -6.79427183e-03 -1.39389972e+02] [ 9.19628444e-03 4.67169514e-05 9.99957712e-01 -5.02577627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters 0.013614819793656193 Centerline is valid? [True, True] Translation: X:178.52, Y:-139.35, Z:-5.03 [[-6.68199421e-01 -7.43956508e-01 6.18446503e-03 1.78522132e+02] [ 7.43925656e-01 -6.68228036e-01 -6.77570165e-03 -1.39350365e+02] [ 9.17346026e-03 7.32622767e-05 9.99957920e-01 -5.02631519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters 0.013534492430778462 Centerline is valid? [True, True] Translation: X:178.48, Y:-139.31, Z:-5.03 [[-6.67727134e-01 -7.44382375e-01 5.94593061e-03 1.78481993e+02] [ 7.44353906e-01 -6.67753603e-01 -6.51062987e-03 -1.39308255e+02] [ 8.81681471e-03 7.85524501e-05 9.99961128e-01 -5.02528058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters 0.013578264222704192 Centerline is valid? [True, True] Translation: X:178.44, Y:-139.27, Z:-5.03 [[-6.68217428e-01 -7.43943656e-01 5.77104779e-03 1.78443147e+02] [ 7.43916856e-01 -6.68242345e-01 -6.31510751e-03 -1.39265770e+02] [ 8.55454267e-03 7.33148326e-05 9.99963407e-01 -5.02543563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters 0.013479748109416078 Centerline is valid? [True, True] Translation: X:178.40, Y:-139.22, Z:-5.03 [[-6.69010297e-01 -7.43228282e-01 6.07812692e-03 1.78404826e+02] [ 7.43198562e-01 -6.69037903e-01 -6.64691958e-03 -1.39222779e+02] [ 9.00667591e-03 7.03975455e-05 9.99959437e-01 -5.02579047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters 0.013584407532743484 Centerline is valid? [True, True] Translation: X:178.37, Y:-139.18, Z:-5.03 [[-6.69214934e-01 -7.43041785e-01 6.34655050e-03 1.78366128e+02] [ 7.43009415e-01 -6.69245023e-01 -6.93609999e-03 -1.39180468e+02] [ 9.40120945e-03 7.38050760e-05 9.99955805e-01 -5.02639931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters 0.013682959392142837 Centerline is valid? [True, True] Translation: X:178.33, Y:-139.14, Z:-5.03 [[-6.67730885e-01 -7.44367107e-01 7.28526654e-03 1.78326933e+02] [ 7.44324567e-01 -6.67770618e-01 -7.95865723e-03 -1.39138339e+02] [ 1.07890496e-02 1.08361627e-04 9.99941791e-01 -5.02681628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters 0.014129054169077495 Centerline is valid? [True, True] Translation: X:178.29, Y:-139.10, Z:-5.03 [[-6.65973668e-01 -7.45932422e-01 7.99352617e-03 1.78286891e+02] [ 7.45881379e-01 -6.66021621e-01 -8.72742051e-03 -1.39095669e+02] [ 1.18339272e-02 1.49990079e-04 9.99929965e-01 -5.02818088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters 0.014610683730982118 Centerline is valid? [True, True] Translation: X:178.25, Y:-139.05, Z:-5.03 [[-6.64474351e-01 -7.47251162e-01 9.46246135e-03 1.78248610e+02] [ 7.47179851e-01 -6.64541690e-01 -1.03253680e-02 -1.39051908e+02] [ 1.40038433e-02 2.09218282e-04 9.99901920e-01 -5.02988828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters 0.014567383047650777 Centerline is valid? [True, True] Translation: X:178.21, Y:-139.01, Z:-5.03 [[-6.64211414e-01 -7.47483474e-01 9.57359872e-03 1.78212545e+02] [ 7.47410587e-01 -6.64280368e-01 -1.04406375e-02 -1.39006498e+02] [ 1.41637577e-02 2.20618433e-04 9.99899665e-01 -5.02921319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters 0.01459696183748723 Centerline is valid? [True, True] Translation: X:178.18, Y:-138.96, Z:-5.03 [[-6.64677652e-01 -7.47077385e-01 8.88822227e-03 1.78176293e+02] [ 7.47014610e-01 -6.64737046e-01 -9.68666753e-03 -1.38963848e+02] [ 1.31450209e-02 2.01120468e-04 9.99913580e-01 -5.02840173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters 0.015015840109495797 Centerline is valid? [True, True] Translation: X:178.14, Y:-138.92, Z:-5.03 [[-6.65254850e-01 -7.46571194e-01 8.21199494e-03 1.78140699e+02] [ 7.46517641e-01 -6.65305508e-01 -8.94379710e-03 -1.38920292e+02] [ 1.21406667e-02 1.80494698e-04 9.99926283e-01 -5.02823994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters 0.014767330681619575 Centerline is valid? [True, True] Translation: X:178.10, Y:-138.88, Z:-5.03 [[-6.63889222e-01 -7.47798653e-01 6.94804544e-03 1.78102349e+02] [ 7.47760429e-01 -6.63925556e-01 -7.56289063e-03 -1.38876850e+02] [ 1.02685044e-02 1.74551855e-04 9.99947262e-01 -5.02608410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters 0.015979580723217656 Centerline is valid? [True, True] Translation: X:178.06, Y:-138.84, Z:-5.03 [[-6.62251464e-01 -7.49246999e-01 7.20648619e-03 1.78058451e+02] [ 7.49206013e-01 -6.62290640e-01 -7.83952323e-03 -1.38839782e+02] [ 1.06465276e-02 2.07407058e-04 9.99943303e-01 -5.02840269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters 0.01568920554339897 Centerline is valid? [True, True] Translation: X:178.02, Y:-138.80, Z:-5.03 [[-6.61166121e-01 -7.50200905e-01 7.61333718e-03 1.78016909e+02] [ 7.50155277e-01 -6.61209910e-01 -8.27740244e-03 -1.38799615e+02] [ 1.12437288e-02 2.38446998e-04 9.99936759e-01 -5.02827698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters 0.017407348569978838 Centerline is valid? [True, True] Translation: X:177.97, Y:-138.76, Z:-5.03 [[-6.58929302e-01 -7.52173634e-01 6.85563877e-03 1.77973416e+02] [ 7.52136776e-01 -6.58964919e-01 -7.45021754e-03 -1.38762799e+02] [ 1.01214826e-02 2.47211404e-04 9.99948746e-01 -5.02832629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters 0.01876933992430512 Centerline is valid? [True, True] Translation: X:177.93, Y:-138.72, Z:-5.03 [[-6.56172247e-01 -7.54586153e-01 6.14167069e-03 1.77932006e+02] [ 7.54556714e-01 -6.56200938e-01 -6.67042789e-03 -1.38722541e+02] [ 9.06358259e-03 2.57289203e-04 9.99958892e-01 -5.02747285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters 0.019312688027222847 Centerline is valid? [True, True] Translation: X:177.89, Y:-138.68, Z:-5.03 [[-6.55645085e-01 -7.55040945e-01 6.53403625e-03 1.77890894e+02] [ 7.55007684e-01 -6.55677582e-01 -7.09269131e-03 -1.38681272e+02] [ 9.63949344e-03 2.82959382e-04 9.99953499e-01 -5.02874433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters 0.01891241362578258 Centerline is valid? [True, True] Translation: X:177.85, Y:-138.64, Z:-5.03 [[-6.57905985e-01 -7.53066531e-01 7.10739623e-03 1.77851986e+02] [ 7.53027102e-01 -6.57944316e-01 -7.71110071e-03 -1.38639657e+02] [ 1.04832428e-02 2.78882677e-04 9.99945010e-01 -5.03079467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters 0.016662904203407027 Centerline is valid? [True, True] Translation: X:177.82, Y:-138.59, Z:-5.03 [[-6.63245258e-01 -7.48369002e-01 7.04021443e-03 1.77817583e+02] [ 7.48330082e-01 -6.63282591e-01 -7.63503552e-03 -1.38593172e+02] [ 1.03834756e-02 2.04503141e-04 9.99946069e-01 -5.03037084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters 0.014239769744682265 Centerline is valid? [True, True] Translation: X:177.78, Y:-138.54, Z:-5.03 [[-6.68616490e-01 -7.43578447e-01 6.56376066e-03 1.77784862e+02] [ 7.43544410e-01 -6.68648696e-01 -7.11563470e-03 -1.38544438e+02] [ 9.67988260e-03 1.22816849e-04 9.99953141e-01 -5.02906397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters 0.0139794585380089 Centerline is valid? [True, True] Translation: X:177.75, Y:-138.50, Z:-5.03 [[-6.71524757e-01 -7.40953862e-01 6.47112013e-03 1.77747799e+02] [ 7.40920693e-01 -6.71555930e-01 -7.01143622e-03 -1.38500245e+02] [ 9.54086984e-03 8.62338056e-05 9.99954481e-01 -5.03043894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters 0.013293984070890288 Centerline is valid? [True, True] Translation: X:177.71, Y:-138.45, Z:-5.03 [[-6.74504674e-01 -7.38244434e-01 6.21292701e-03 1.77712813e+02] [ 7.38213778e-01 -6.74533286e-01 -6.72790144e-03 -1.38453936e+02] [ 9.15766186e-03 4.84673515e-05 9.99958067e-01 -5.02989663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters 0.013027252015703946 Centerline is valid? [True, True] Translation: X:177.68, Y:-138.41, Z:-5.03 [[-6.76029313e-01 -7.36851536e-01 5.84648819e-03 1.77676453e+02] [ 7.36824369e-01 -6.76054593e-01 -6.32736056e-03 -1.38408894e+02] [ 8.61487054e-03 3.03537539e-05 9.99962891e-01 -5.02814750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters 0.013189359224613518 Centerline is valid? [True, True] Translation: X:177.64, Y:-138.37, Z:-5.03 [[-6.76542433e-01 -7.36382731e-01 5.55070271e-03 1.77639126e+02] [ 7.36358260e-01 -6.76565202e-01 -6.00335228e-03 -1.38366951e+02] [ 8.17617725e-03 2.57832290e-05 9.99966574e-01 -5.02894632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters 0.01332613168332465 Centerline is valid? [True, True] Translation: X:177.60, Y:-138.33, Z:-5.03 [[-6.75474237e-01 -7.37361172e-01 5.74961749e-03 1.77600638e+02] [ 7.37334983e-01 -6.75498705e-01 -6.21464873e-03 -1.38326531e+02] [ 8.46629984e-03 4.15590034e-05 9.99964159e-01 -5.02933213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters 0.014242451066037215 Centerline is valid? [True, True] Translation: X:177.56, Y:-138.29, Z:-5.03 [[-6.72348580e-01 -7.40207356e-01 6.36063468e-03 1.77558305e+02] [ 7.40175471e-01 -6.72378660e-01 -6.87092013e-03 -1.38288663e+02] [ 9.36266065e-03 8.83323781e-05 9.99956165e-01 -5.03079473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters 0.014620870355428759 Centerline is valid? [True, True] Translation: X:177.52, Y:-138.25, Z:-5.03 [[-6.70520674e-01 -7.41857248e-01 7.06047002e-03 1.77516730e+02] [ 7.41818098e-01 -6.70557834e-01 -7.62238791e-03 -1.38248544e+02] [ 1.03891772e-02 1.26615766e-04 9.99946023e-01 -5.03193709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters 0.014987410560849686 Centerline is valid? [True, True] Translation: X:177.48, Y:-138.21, Z:-5.03 [[-6.70514936e-01 -7.41861051e-01 7.20432194e-03 1.77477296e+02] [ 7.41820341e-01 -6.70553625e-01 -7.77290402e-03 -1.38208282e+02] [ 1.05972989e-02 1.32464317e-04 9.99943838e-01 -5.03282327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters 0.014130036129575703 Centerline is valid? [True, True] Translation: X:177.44, Y:-138.17, Z:-5.03 [[-6.73279084e-01 -7.39365931e-01 5.77025154e-03 1.77440923e+02] [ 7.39339755e-01 -6.73303806e-01 -6.22189944e-03 -1.38165468e+02] [ 8.48539280e-03 7.71016042e-05 9.99963995e-01 -5.03097796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters 0.013519919297555786 Centerline is valid? [True, True] Translation: X:177.40, Y:-138.12, Z:-5.03 [[-6.76061593e-01 -7.36833453e-01 4.14539329e-03 1.77404637e+02] [ 7.36819912e-01 -6.76074301e-01 -4.46721584e-03 -1.38122980e+02] [ 6.09418795e-03 3.42952676e-05 9.99981430e-01 -5.02949809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters 0.013509822609009894 Centerline is valid? [True, True] Translation: X:177.37, Y:-138.08, Z:-5.03 [[-6.76612165e-01 -7.36328622e-01 4.01718819e-03 1.77366399e+02] [ 7.36315914e-01 -6.76624090e-01 -4.32628493e-03 -1.38083392e+02] [ 5.90369372e-03 3.07025817e-05 9.99982573e-01 -5.02991653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters 0.013999643277960097 Centerline is valid? [True, True] Translation: X:177.33, Y:-138.04, Z:-5.03 [[-6.75461943e-01 -7.37377847e-01 5.00734889e-03 1.77325056e+02] [ 7.37358152e-01 -6.75480501e-01 -5.38970366e-03 -1.38043611e+02] [ 7.35661462e-03 5.16698135e-05 9.99972938e-01 -5.03186924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters 0.015361560214981687 Centerline is valid? [True, True] Translation: X:177.28, Y:-138.01, Z:-5.04 [[-6.72895938e-01 -7.39700780e-01 7.33569206e-03 1.77283552e+02] [ 7.39658687e-01 -6.72935913e-01 -7.89198053e-03 -1.38006183e+02] [ 1.07741548e-02 1.15426714e-04 9.99941950e-01 -5.03617831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters 0.016260784428695305 Centerline is valid? [True, True] Translation: X:177.24, Y:-137.97, Z:-5.04 [[-6.72198588e-01 -7.40309938e-01 9.50021352e-03 1.77244656e+02] [ 7.40239492e-01 -6.72265698e-01 -1.02140439e-02 -1.37967437e+02] [ 1.39482259e-02 1.66567359e-04 9.99902705e-01 -5.04000488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters 0.01592007066727523 Centerline is valid? [True, True] Translation: X:177.21, Y:-137.93, Z:-5.04 [[-6.73360084e-01 -7.39254792e-01 9.41010987e-03 1.77207576e+02] [ 7.39185662e-01 -6.73425817e-01 -1.01107184e-02 -1.37925684e+02] [ 1.38114079e-02 1.47664121e-04 9.99904607e-01 -5.04040735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters 0.014456201643375773 Centerline is valid? [True, True] Translation: X:177.17, Y:-137.88, Z:-5.04 [[-6.76671196e-01 -7.36237938e-01 8.35406410e-03 1.77172529e+02] [ 7.36183283e-01 -6.76722759e-01 -8.97116770e-03 -1.37880581e+02] [ 1.22582993e-02 7.95915534e-05 9.99924861e-01 -5.03809467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters 0.014163083988250405 Centerline is valid? [True, True] Translation: X:177.14, Y:-137.84, Z:-5.04 [[-6.78189985e-01 -7.34843348e-01 7.97481664e-03 1.77135776e+02] [ 7.34793509e-01 -6.78236869e-01 -8.55856369e-03 -1.37838893e+02] [ 1.16980183e-02 5.55113167e-05 9.99931574e-01 -5.03730183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters 0.012941527926396183 Centerline is valid? [True, True] Translation: X:177.10, Y:-137.79, Z:-5.03 [[-6.81825456e-01 -7.31481639e-01 6.97564903e-03 1.77100737e+02] [ 7.31443378e-01 -6.81861138e-01 -7.48150500e-03 -1.37793769e+02] [ 1.02290075e-02 1.21173487e-06 9.99947682e-01 -5.03030617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters 0.01307015113323783 Centerline is valid? [True, True] Translation: X:177.06, Y:-137.75, Z:-5.03 [[-6.83392546e-01 -7.30012323e-01 7.52568246e-03 1.77063363e+02] [ 7.29967757e-01 -6.83433982e-01 -8.06633293e-03 -1.37750781e+02] [ 1.10318296e-02 -1.89662512e-05 9.99939147e-01 -5.03084418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters 0.013136864422547672 Centerline is valid? [True, True] Translation: X:177.02, Y:-137.71, Z:-5.03 [[-6.82509864e-01 -7.30822644e-01 8.86277488e-03 1.77023387e+02] [ 7.30760971e-01 -6.82567406e-01 -9.49418764e-03 -1.37709108e+02] [ 1.29880086e-02 -3.30673924e-06 9.99915652e-01 -5.03180800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters 0.013566793255895488 Centerline is valid? [True, True] Translation: X:176.98, Y:-137.67, Z:-5.04 [[-6.79237792e-01 -7.33834864e-01 1.10641076e-02 1.76980595e+02] [ 7.33739257e-01 -6.79327894e-01 -1.18454376e-02 -1.37670806e+02] [ 1.62087520e-02 7.23011773e-05 9.99868627e-01 -5.03559459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters 0.014024988088099441 Centerline is valid? [True, True] Translation: X:176.94, Y:-137.63, Z:-5.04 [[-6.75955961e-01 -7.36827490e-01 1.29918808e-02 1.76937433e+02] [ 7.36696360e-01 -6.76080779e-01 -1.39015987e-02 -1.37631308e+02] [ 1.90266410e-02 1.74202761e-04 9.99818962e-01 -5.03688021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters 0.01468223318188243 Centerline is valid? [True, True] Translation: X:176.90, Y:-137.59, Z:-5.04 [[-6.74448260e-01 -7.38214774e-01 1.25893908e-02 1.76897204e+02] [ 7.38092046e-01 -6.74565714e-01 -1.34621466e-02 -1.37591831e+02] [ 1.84303269e-02 2.12607828e-04 9.99830125e-01 -5.03734090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters 0.01400748729878071 Centerline is valid? [True, True] Translation: X:176.86, Y:-137.55, Z:-5.03 [[-6.74548427e-01 -7.38158910e-01 1.02880300e-02 1.76858037e+02] [ 7.38077033e-01 -6.74626855e-01 -1.09954375e-02 -1.37548348e+02] [ 1.50569615e-02 1.76403608e-04 9.99886622e-01 -5.03212771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters 0.013565644983895765 Centerline is valid? [True, True] Translation: X:176.82, Y:-137.51, Z:-5.03 [[-6.77125909e-01 -7.35828334e-01 7.56079110e-03 1.76820266e+02] [ 7.35784006e-01 -6.77168114e-01 -8.07730216e-03 -1.37505840e+02] [ 1.10634344e-02 9.37585913e-05 9.99938794e-01 -5.02943199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters 0.01321499230024311 Centerline is valid? [True, True] Translation: X:176.78, Y:-137.46, Z:-5.03 [[-6.79030234e-01 -7.34081857e-01 6.46292692e-03 1.76782013e+02] [ 7.34049425e-01 -6.79060987e-01 -6.90058083e-03 -1.37461913e+02] [ 9.45431272e-03 5.84047669e-05 9.99955305e-01 -5.02804038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters 0.013065367075817989 Centerline is valid? [True, True] Translation: X:176.74, Y:-137.42, Z:-5.03 [[-6.80803215e-01 -7.32433384e-01 6.95121370e-03 1.76743538e+02] [ 7.32395824e-01 -6.80838700e-01 -7.41760828e-03 -1.37417779e+02] [ 1.01655592e-02 4.11083239e-05 9.99948329e-01 -5.02815748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters 0.013164499177928885 Centerline is valid? [True, True] Translation: X:176.70, Y:-137.38, Z:-5.03 [[-6.81328925e-01 -7.31931655e-01 8.18215951e-03 1.76703865e+02] [ 7.31879641e-01 -6.81378053e-01 -8.72582887e-03 -1.37377000e+02] [ 1.19618543e-02 4.31963620e-05 9.99928454e-01 -5.03068166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters 0.013410739718735784 Centerline is valid? [True, True] Translation: X:176.66, Y:-137.34, Z:-5.03 [[-6.81228046e-01 -7.32005666e-01 9.80068012e-03 1.76664324e+02] [ 7.31931136e-01 -6.81298541e-01 -1.04456321e-02 -1.37336224e+02] [ 1.43234509e-02 5.75653955e-05 9.99897413e-01 -5.03262474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters 0.013390176988710223 Centerline is valid? [True, True] Translation: X:176.62, Y:-137.29, Z:-5.03 [[-6.81653204e-01 -7.31593778e-01 1.09294927e-02 1.76624182e+02] [ 7.31501143e-01 -6.81740816e-01 -1.16420586e-02 -1.37293860e+02] [ 1.59683389e-02 5.90899027e-05 9.99872496e-01 -5.03286781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters 0.013224895863929621 Centerline is valid? [True, True] Translation: X:176.59, Y:-137.25, Z:-5.03 [[-6.83839440e-01 -7.29563226e-01 1.00557981e-02 1.76585927e+02] [ 7.29484690e-01 -6.83913371e-01 -1.07046171e-02 -1.37251519e+02] [ 1.46869898e-02 1.53114250e-05 9.99892140e-01 -5.03196684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters 0.013217274849502022 Centerline is valid? [True, True] Translation: X:176.55, Y:-137.21, Z:-5.03 [[-6.85980610e-01 -7.27559237e-01 9.38935629e-03 1.76548510e+02] [ 7.27490664e-01 -6.86044865e-01 -9.98885409e-03 -1.37208322e+02] [ 1.37090027e-02 -2.14911843e-05 9.99906027e-01 -5.03091931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters 0.01338642396123375 Centerline is valid? [True, True] Translation: X:176.51, Y:-137.16, Z:-5.03 [[-6.88037391e-01 -7.25613726e-01 9.44819496e-03 1.76512533e+02] [ 7.25544175e-01 -6.88102258e-01 -1.00465764e-02 -1.37164365e+02] [ 1.37912581e-02 -5.73374291e-05 9.99904894e-01 -5.03065217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters 0.013342649094030035 Centerline is valid? [True, True] Translation: X:176.47, Y:-137.12, Z:-5.03 [[-6.87729332e-01 -7.25908606e-01 9.22288077e-03 1.76473463e+02] [ 7.25842439e-01 -6.87791170e-01 -9.80097981e-03 -1.37122355e+02] [ 1.34580315e-02 -4.60630265e-05 9.99909436e-01 -5.02978758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters 0.013148995609082005 Centerline is valid? [True, True] Translation: X:176.43, Y:-137.08, Z:-5.03 [[-6.86919184e-01 -7.26681965e-01 8.68078695e-03 1.76433272e+02] [ 7.26623484e-01 -6.86974032e-01 -9.21906906e-03 -1.37082007e+02] [ 1.26628064e-02 -2.50917390e-05 9.99919823e-01 -5.02774865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters 0.013023743448668476 Centerline is valid? [True, True] Translation: X:176.39, Y:-137.04, Z:-5.03 [[-6.85002514e-01 -7.28496154e-01 8.05666936e-03 1.76392754e+02] [ 7.28445971e-01 -6.85049892e-01 -8.55062452e-03 -1.37042333e+02] [ 1.17483175e-02 1.16490405e-05 9.99930986e-01 -5.02670762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters 0.01296865681388525 Centerline is valid? [True, True] Translation: X:176.35, Y:-137.00, Z:-5.02 [[-6.83398715e-01 -7.30003966e-01 7.77212530e-03 1.76351515e+02] [ 7.29957417e-01 -6.83442907e-01 -8.24393780e-03 -1.37000947e+02] [ 1.13299112e-02 3.94240088e-05 9.99935814e-01 -5.02477469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters 0.013242228324055104 Centerline is valid? [True, True] Translation: X:176.31, Y:-136.96, Z:-5.02 [[-6.80563099e-01 -7.32646402e-01 7.94466788e-03 1.76309155e+02] [ 7.32598000e-01 -6.80609463e-01 -8.42191152e-03 -1.36961712e+02] [ 1.15774993e-02 8.86056006e-05 9.99932975e-01 -5.02406640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters 0.013719865033170613 Centerline is valid? [True, True] Translation: X:176.27, Y:-136.92, Z:-5.02 [[-6.77406347e-01 -7.35555513e-01 8.87289185e-03 1.76266029e+02] [ 7.35495458e-01 -6.77464436e-01 -9.40052418e-03 -1.36922503e+02] [ 1.29256761e-02 1.57996908e-04 9.99916448e-01 -5.02478777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters 0.014314139323686557 Centerline is valid? [True, True] Translation: X:176.22, Y:-136.88, Z:-5.03 [[-6.75688013e-01 -7.37127274e-01 9.43881192e-03 1.76224677e+02] [ 7.37059548e-01 -6.75753905e-01 -9.99412068e-03 -1.36882600e+02] [ 1.37452529e-02 2.04058910e-04 9.99905509e-01 -5.02528382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters 0.014730107731381687 Centerline is valid? [True, True] Translation: X:176.18, Y:-136.84, Z:-5.03 [[-6.73724827e-01 -7.38916180e-01 9.88616825e-03 1.76183846e+02] [ 7.38842164e-01 -6.73797309e-01 -1.04614762e-02 -1.36841790e+02] [ 1.43914276e-02 2.56161699e-04 9.99896405e-01 -5.02507404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters 0.015108170080184445 Centerline is valid? [True, True] Translation: X:176.14, Y:-136.80, Z:-5.02 [[-6.73321828e-01 -7.39290721e-01 9.32451831e-03 1.76143571e+02] [ 7.39224997e-01 -6.73386343e-01 -9.86093411e-03 -1.36801077e+02] [ 1.35691004e-02 2.53334837e-04 9.99907903e-01 -5.02471183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters 0.01465981896054241 Centerline is valid? [True, True] Translation: X:176.10, Y:-136.76, Z:-5.02 [[-6.73827300e-01 -7.38841801e-01 8.34047299e-03 1.76104434e+02] [ 7.38789244e-01 -6.73878880e-01 -8.81523364e-03 -1.36757948e+02] [ 1.21335317e-02 2.21906655e-04 9.99926361e-01 -5.02314129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters 0.01421762432887071 Centerline is valid? [True, True] Translation: X:176.07, Y:-136.71, Z:-5.02 [[-6.75763376e-01 -7.37073531e-01 8.15293571e-03 1.76065222e+02] [ 7.37023236e-01 -6.75812529e-01 -8.61245626e-03 -1.36714319e+02] [ 1.18578696e-02 1.88920543e-04 9.99929675e-01 -5.02324770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters 0.014555024741603117 Centerline is valid? [True, True] Translation: X:176.03, Y:-136.67, Z:-5.02 [[-6.76962611e-01 -7.35968333e-01 8.49919769e-03 1.76026884e+02] [ 7.35913661e-01 -6.77015938e-01 -8.97230445e-03 -1.36673484e+02] [ 1.23574242e-02 1.80761043e-04 9.99923628e-01 -5.02492711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters 0.014163709395342046 Centerline is valid? [True, True] Translation: X:175.99, Y:-136.63, Z:-5.02 [[-6.77032311e-01 -7.35893090e-01 9.41329919e-03 1.75988438e+02] [ 7.35826095e-01 -6.77097717e-01 -9.93172090e-03 -1.36630427e+02] [ 1.36824082e-02 2.02455236e-04 9.99906371e-01 -5.02491118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters 0.014029223786905411 Centerline is valid? [True, True] Translation: X:175.95, Y:-136.59, Z:-5.03 [[-6.77647105e-01 -7.35319623e-01 9.97255384e-03 1.75949258e+02] [ 7.35244465e-01 -6.77720450e-01 -1.05151549e-02 -1.36588008e+02] [ 1.44906034e-02 2.06700705e-04 9.99894984e-01 -5.02544805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters 0.01400974124646138 Centerline is valid? [True, True] Translation: X:175.91, Y:-136.55, Z:-5.03 [[-6.78378369e-01 -7.34649005e-01 9.67617656e-03 1.75909989e+02] [ 7.34578268e-01 -6.78447347e-01 -1.01962899e-02 -1.36545721e+02] [ 1.40554706e-02 1.90966502e-04 9.99901199e-01 -5.02538301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters 0.013116196921092543 Centerline is valid? [True, True] Translation: X:175.87, Y:-136.50, Z:-5.02 [[-6.81663401e-01 -7.31615126e-01 8.62070008e-03 1.75873693e+02] [ 7.31558800e-01 -6.81717899e-01 -9.07898455e-03 -1.36500081e+02] [ 1.25192080e-02 1.17737517e-04 9.99921625e-01 -5.02352603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters 0.012606048561752027 Centerline is valid? [True, True] Translation: X:175.84, Y:-136.45, Z:-5.02 [[-6.86716217e-01 -7.26875463e-01 8.53808057e-03 1.75838981e+02] [ 7.26819906e-01 -6.86769292e-01 -8.98690879e-03 -1.36452678e+02] [ 1.23960550e-02 3.41909058e-05 9.99923165e-01 -5.02161155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters 0.01291686682002117 Centerline is valid? [True, True] Translation: X:175.80, Y:-136.41, Z:-5.02 [[-6.90375651e-01 -7.23402360e-01 8.39561427e-03 1.75802732e+02] [ 7.23348454e-01 -6.90426698e-01 -8.83114543e-03 -1.36408861e+02] [ 1.21850277e-02 -2.38531644e-05 9.99925760e-01 -5.02312445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters 0.013385051268718806 Centerline is valid? [True, True] Translation: X:175.77, Y:-136.36, Z:-5.02 [[-6.96075051e-01 -7.17917727e-01 8.58258890e-03 1.75766797e+02] [ 7.17861035e-01 -6.96127950e-01 -9.02281663e-03 -1.36363322e+02] [ 1.24522200e-02 -1.19451384e-04 9.99922461e-01 -5.02125724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters 0.014694303351441701 Centerline is valid? [True, True] Translation: X:175.73, Y:-136.32, Z:-5.02 [[-7.00780062e-01 -7.13317676e-01 9.23023735e-03 1.75730683e+02] [ 7.13251780e-01 -7.00840815e-01 -9.69795728e-03 -1.36318219e+02] [ 1.33866514e-02 -2.12651887e-04 9.99910372e-01 -5.02141992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters 0.015541921892776612 Centerline is valid? [True, True] Translation: X:175.69, Y:-136.27, Z:-5.02 [[-7.02824551e-01 -7.11297481e-01 9.67186775e-03 1.75692508e+02] [ 7.11225014e-01 -7.02891049e-01 -1.01563771e-02 -1.36274724e+02] [ 1.40224747e-02 -2.59276866e-04 9.99901647e-01 -5.02171975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters 0.014970825819510352 Centerline is valid? [True, True] Translation: X:175.65, Y:-136.23, Z:-5.02 [[-7.03412806e-01 -7.10718876e-01 9.43945678e-03 1.75650764e+02] [ 7.10649875e-01 -7.03476092e-01 -9.90671936e-03 -1.36233909e+02] [ 1.36813246e-02 -2.60364483e-04 9.99906372e-01 -5.02042423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters 0.014507191214198788 Centerline is valid? [True, True] Translation: X:175.61, Y:-136.19, Z:-5.02 [[-7.02117556e-01 -7.12004422e-01 8.98005834e-03 1.75609250e+02] [ 7.11942148e-01 -7.02174946e-01 -9.41928060e-03 -1.36193501e+02] [ 1.30121414e-02 -2.20160252e-04 9.99915314e-01 -5.01994838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters 0.01355752292925463 Centerline is valid? [True, True] Translation: X:175.57, Y:-136.16, Z:-5.02 [[-6.97583934e-01 -7.16455076e-01 8.29333341e-03 1.75566578e+02] [ 7.16402327e-01 -6.97633220e-01 -8.69465645e-03 -1.36155533e+02] [ 1.20150356e-02 -1.23889296e-04 9.99927809e-01 -5.02000903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters 0.012583681779125689 Centerline is valid? [True, True] Translation: X:175.52, Y:-136.12, Z:-5.02 [[-6.91493467e-01 -7.22335072e-01 8.29638086e-03 1.75521335e+02] [ 7.22282762e-01 -6.91543234e-01 -8.69298046e-03 -1.36118819e+02] [ 1.20165507e-02 -1.88063155e-05 9.99927799e-01 -5.02064816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters 0.01264614116746285 Centerline is valid? [True, True] Translation: X:175.48, Y:-136.08, Z:-5.02 [[-6.87287325e-01 -7.26339213e-01 8.21469958e-03 1.75477531e+02] [ 7.26288278e-01 -6.87336413e-01 -8.60192078e-03 -1.36080950e+02] [ 1.18941745e-02 5.42488911e-05 9.99929260e-01 -5.02059682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters 0.013163306319779574 Centerline is valid? [True, True] Translation: X:175.43, Y:-136.04, Z:-5.02 [[-6.83303857e-01 -7.30095108e-01 7.54800296e-03 1.75433289e+02] [ 7.30052382e-01 -6.83345535e-01 -7.89934364e-03 -1.36042806e+02] [ 1.09251663e-02 1.12785572e-04 9.99940312e-01 -5.02009605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters 0.013313489737464409 Centerline is valid? [True, True] Translation: X:175.39, Y:-136.00, Z:-5.02 [[-6.82154616e-01 -7.31177745e-01 6.64727208e-03 1.75391674e+02] [ 7.31144697e-01 -6.82186992e-01 -6.95270647e-03 -1.36002540e+02] [ 9.61834678e-03 1.17296921e-04 9.99953736e-01 -5.01901846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters 0.013353176058358406 Centerline is valid? [True, True] Translation: X:175.35, Y:-135.96, Z:-5.02 [[-6.82629070e-01 -7.30737232e-01 6.37577321e-03 1.75351741e+02] [ 7.30706851e-01 -6.82658835e-01 -6.66427712e-03 -1.35963390e+02] [ 9.22231334e-03 1.09591874e-04 9.99957468e-01 -5.01926717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters 0.012933282774145429 Centerline is valid? [True, True] Translation: X:175.31, Y:-135.92, Z:-5.02 [[-6.84923793e-01 -7.28590064e-01 5.99304419e-03 1.75312149e+02] [ 7.28563169e-01 -6.84950008e-01 -6.26064128e-03 -1.35921349e+02] [ 8.66637669e-03 7.82490930e-05 9.99962443e-01 -5.01918456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters 0.012857404572429563 Centerline is valid? [True, True] Translation: X:175.27, Y:-135.88, Z:-5.02 [[-6.86702475e-01 -7.26913650e-01 6.02134317e-03 1.75272859e+02] [ 7.26886471e-01 -6.86728871e-01 -6.28620637e-03 -1.35880404e+02] [ 8.70455941e-03 6.00794170e-05 9.99962113e-01 -5.01979981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters 0.01258056580364618 Centerline is valid? [True, True] Translation: X:175.23, Y:-135.84, Z:-5.02 [[-6.87638689e-01 -7.26019050e-01 7.02658499e-03 1.75232313e+02] [ 7.25982035e-01 -6.87674585e-01 -7.33142371e-03 -1.35838907e+02] [ 1.01547572e-02 5.98038847e-05 9.99948437e-01 -5.02057849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters 0.012860032435638298 Centerline is valid? [True, True] Translation: X:175.19, Y:-135.80, Z:-5.02 [[-6.86713124e-01 -7.26866853e-01 9.46909615e-03 1.75190114e+02] [ 7.26799787e-01 -6.86778398e-01 -9.87427016e-03 -1.35798575e+02] [ 1.36804504e-02 1.01346162e-04 9.99906413e-01 -5.02427357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters 0.013170923029382369 Centerline is valid? [True, True] Translation: X:175.15, Y:-135.76, Z:-5.03 [[-6.85952202e-01 -7.27562177e-01 1.10840333e-02 1.75149591e+02] [ 7.27470484e-01 -6.86041733e-01 -1.15514197e-02 -1.35758422e+02] [ 1.60084855e-02 1.39585308e-04 9.99871846e-01 -5.02648322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters 0.013065044850488363 Centerline is valid? [True, True] Translation: X:175.11, Y:-135.72, Z:-5.03 [[-6.86405412e-01 -7.27141969e-01 1.05909055e-02 1.75110078e+02] [ 7.27058310e-01 -6.86487102e-01 -1.10305568e-02 -1.35716700e+02] [ 1.52913008e-02 1.28771900e-04 9.99883073e-01 -5.02561569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters 0.012851330891574853 Centerline is valid? [True, True] Translation: X:175.07, Y:-135.67, Z:-5.02 [[-6.87554780e-01 -7.26077928e-01 8.90318013e-03 1.75070894e+02] [ 7.26018786e-01 -6.87612416e-01 -9.26756805e-03 -1.35674222e+02] [ 1.28509138e-02 9.19153168e-05 9.99917419e-01 -5.02351386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters 0.012517474918170766 Centerline is valid? [True, True] Translation: X:175.03, Y:-135.63, Z:-5.02 [[-6.90530002e-01 -7.23269229e-01 7.06673259e-03 1.75032897e+02] [ 7.23231863e-01 -6.90566160e-01 -7.35197269e-03 -1.35631151e+02] [ 1.01975020e-02 3.41284651e-05 9.99948004e-01 -5.02231939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters 0.012272084866433853 Centerline is valid? [True, True] Translation: X:174.99, Y:-135.59, Z:-5.02 [[-6.92712557e-01 -7.21184903e-01 6.45365906e-03 1.74994581e+02] [ 7.21153688e-01 -6.92742619e-01 -6.70989889e-03 -1.35587909e+02] [ 9.30980245e-03 6.04880894e-06 9.99956663e-01 -5.02072872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters 0.012307971972543621 Centerline is valid? [True, True] Translation: X:174.96, Y:-135.55, Z:-5.02 [[-6.94925768e-01 -7.19054152e-01 6.26928231e-03 1.74956328e+02] [ 7.19024645e-01 -6.94954046e-01 -6.51413099e-03 -1.35545370e+02] [ 9.04087604e-03 -1.90689899e-05 9.99959130e-01 -5.01992811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters 0.012198758362121908 Centerline is valid? [True, True] Translation: X:174.91, Y:-135.50, Z:-5.02 [[-6.94490958e-01 -7.19474675e-01 6.20497794e-03 1.74914960e+02] [ 7.19445819e-01 -6.94518677e-01 -6.44366056e-03 -1.35504567e+02] [ 8.94552365e-03 -1.09185598e-05 9.99959988e-01 -5.01959715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters 0.012304878256051898 Centerline is valid? [True, True] Translation: X:174.87, Y:-135.47, Z:-5.02 [[-6.93351972e-01 -7.20564887e-01 7.02051998e-03 1.74874711e+02] [ 7.20528052e-01 -6.93387514e-01 -7.28574616e-03 -1.35465722e+02] [ 1.01177938e-02 6.89512033e-06 9.99948814e-01 -5.02151997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters 0.012510896060300664 Centerline is valid? [True, True] Translation: X:174.83, Y:-135.42, Z:-5.02 [[-6.91547503e-01 -7.22273555e-01 9.10834176e-03 1.74833453e+02] [ 7.22211769e-01 -6.91607482e-01 -9.44728069e-03 -1.35424284e+02] [ 1.31229183e-02 4.49082494e-05 9.99913890e-01 -5.02416866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters 0.012674124618486165 Centerline is valid? [True, True] Translation: X:174.79, Y:-135.38, Z:-5.02 [[-6.91323716e-01 -7.22484209e-01 9.38551024e-03 1.74794111e+02] [ 7.22418704e-01 -6.91387421e-01 -9.72885367e-03 -1.35383134e+02] [ 1.35179669e-02 5.44808695e-05 9.99908627e-01 -5.02487930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters 0.012401063604176976 Centerline is valid? [True, True] Translation: X:174.76, Y:-135.34, Z:-5.02 [[-6.92670952e-01 -7.21206984e-01 8.21204030e-03 1.74755894e+02] [ 7.21156809e-01 -6.92719629e-01 -8.50713923e-03 -1.35340110e+02] [ 1.18240497e-02 2.95205475e-05 9.99930093e-01 -5.02369082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters 0.01235932773847206 Centerline is valid? [True, True] Translation: X:174.72, Y:-135.30, Z:-5.02 [[-6.94785878e-01 -7.19179466e-01 7.31298094e-03 1.74718815e+02] [ 7.19139613e-01 -6.94824363e-01 -7.57110279e-03 -1.35296700e+02] [ 1.05262190e-02 -1.24101399e-06 9.99944598e-01 -5.02286404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters 0.012487977211827967 Centerline is valid? [True, True] Translation: X:174.68, Y:-135.25, Z:-5.02 [[-6.99420896e-01 -7.14680729e-01 6.47034241e-03 1.74683777e+02] [ 7.14649373e-01 -6.99450822e-01 -6.69486866e-03 -1.35249497e+02] [ 9.31037993e-03 -5.85048892e-05 9.99956656e-01 -5.02045618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters 0.013116528807645992 Centerline is valid? [True, True] Translation: X:174.65, Y:-135.21, Z:-5.02 [[-7.01085645e-01 -7.13049517e-01 6.26942664e-03 1.74646538e+02] [ 7.13020048e-01 -7.01113672e-01 -6.48308469e-03 -1.35206729e+02] [ 9.01834114e-03 -7.49707301e-05 9.99959331e-01 -5.02136774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters 0.01338930143680372 Centerline is valid? [True, True] Translation: X:174.61, Y:-135.16, Z:-5.02 [[-7.04445515e-01 -7.09735269e-01 5.68906726e-03 1.74608758e+02] [ 7.09710924e-01 -7.04468479e-01 -5.87941079e-03 -1.35163092e+02] [ 8.18059376e-03 -1.04131381e-04 9.99966533e-01 -5.01980760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters 0.013657627193327276 Centerline is valid? [True, True] Translation: X:174.57, Y:-135.12, Z:-5.02 [[-7.05178856e-01 -7.09007787e-01 5.54429255e-03 1.74570244e+02] [ 7.08984671e-01 -7.05200643e-01 -5.72620743e-03 -1.35120965e+02] [ 7.96976433e-03 -1.07181975e-04 9.99968235e-01 -5.02030238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters 0.013259310709640001 Centerline is valid? [True, True] Translation: X:174.53, Y:-135.08, Z:-5.02 [[-7.04174813e-01 -7.09996791e-01 6.51071392e-03 1.74529589e+02] [ 7.09964992e-01 -7.04204902e-01 -6.72054126e-03 -1.35079821e+02] [ 9.35643938e-03 -1.10056924e-04 9.99956222e-01 -5.02100699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters 0.012701448654498727 Centerline is valid? [True, True] Translation: X:174.49, Y:-135.04, Z:-5.02 [[-7.00620750e-01 -7.13491515e-01 7.77318324e-03 1.74487619e+02] [ 7.13446458e-01 -7.00663866e-01 -8.01864081e-03 -1.35040347e+02] [ 1.11676208e-02 -7.22760859e-05 9.99937638e-01 -5.02336333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters 0.012522285166111416 Centerline is valid? [True, True] Translation: X:174.45, Y:-135.00, Z:-5.02 [[-6.97967787e-01 -7.16080240e-01 8.37011845e-03 1.74446188e+02] [ 7.16028247e-01 -6.98017972e-01 -8.62900744e-03 -1.35000826e+02] [ 1.20215548e-02 -2.95279865e-05 9.99927738e-01 -5.02442836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters 0.012599292041888435 Centerline is valid? [True, True] Translation: X:174.40, Y:-134.96, Z:-5.03 [[-6.93368075e-01 -7.20530138e-01 8.77684098e-03 1.74403613e+02] [ 7.20473395e-01 -6.93423620e-01 -9.04270527e-03 -1.34962186e+02] [ 1.26016105e-02 5.35572685e-05 9.99920595e-01 -5.02502998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters 0.013280897383354232 Centerline is valid? [True, True] Translation: X:174.36, Y:-134.92, Z:-5.02 [[-6.87686602e-01 -7.25954420e-01 8.79307265e-03 1.74360766e+02] [ 7.25897971e-01 -6.87742798e-01 -9.05424459e-03 -1.34922764e+02] [ 1.26203413e-02 1.56390905e-04 9.99920348e-01 -5.02446363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters 0.014639903716763202 Centerline is valid? [True, True] Translation: X:174.32, Y:-134.88, Z:-5.03 [[-6.84003861e-01 -7.29429458e-01 8.44888844e-03 1.74318684e+02] [ 7.29377654e-01 -6.84056006e-01 -8.69584512e-03 -1.34884852e+02] [ 1.21225185e-02 2.14438797e-04 9.99926497e-01 -5.02504553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters 0.015405289139106004 Centerline is valid? [True, True] Translation: X:174.28, Y:-134.84, Z:-5.02 [[-6.79795071e-01 -7.33361500e-01 7.71830241e-03 1.74277153e+02] [ 7.33318568e-01 -6.79838835e-01 -7.93953830e-03 -1.34843950e+02] [ 1.10697534e-02 2.62715471e-04 9.99938694e-01 -5.02269304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters 0.01687922890029762 Centerline is valid? [True, True] Translation: X:174.23, Y:-134.81, Z:-5.02 [[-6.77985838e-01 -7.35042224e-01 6.93776590e-03 1.74234912e+02] [ 7.35007667e-01 -6.78021283e-01 -7.13227878e-03 -1.34805017e+02] [ 9.94647899e-03 2.63727113e-04 9.99950498e-01 -5.02237573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters 0.017178476902647618 Centerline is valid? [True, True] Translation: X:174.19, Y:-134.76, Z:-5.02 [[-6.77497656e-01 -7.35496136e-01 6.50850379e-03 1.74194626e+02] [ 7.35465780e-01 -6.77528869e-01 -6.68718105e-03 -1.34763193e+02] [ 9.32809504e-03 2.56232334e-04 9.99956460e-01 -5.02089092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters 0.01711837863675134 Centerline is valid? [True, True] Translation: X:174.16, Y:-134.72, Z:-5.02 [[-6.78487224e-01 -7.34581439e-01 6.72275684e-03 1.74155448e+02] [ 7.34549049e-01 -6.78520482e-01 -6.90295226e-03 -1.34721730e+02] [ 9.63230882e-03 2.54629724e-04 9.99953576e-01 -5.02198141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters 0.016572002456386615 Centerline is valid? [True, True] Translation: X:174.12, Y:-134.68, Z:-5.02 [[-6.79152140e-01 -7.33954412e-01 7.95556901e-03 1.74116329e+02] [ 7.33909063e-01 -6.79198671e-01 -8.16415515e-03 -1.34679154e+02] [ 1.13955296e-02 2.93960748e-04 9.99935026e-01 -5.02355641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters 0.017633814497452865 Centerline is valid? [True, True] Translation: X:174.08, Y:-134.64, Z:-5.03 [[-6.79733697e-01 -7.33374941e-01 1.11038965e-02 1.74076652e+02] [ 7.33286625e-01 -6.79824267e-01 -1.13882427e-02 -1.34638041e+02] [ 1.59005501e-02 4.01366494e-04 9.99873498e-01 -5.02824100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters 0.01643860451133343 Centerline is valid? [True, True] Translation: X:174.04, Y:-134.59, Z:-5.03 [[-6.80155909e-01 -7.32973702e-01 1.17256788e-02 1.74038692e+02] [ 7.32875287e-01 -6.80256846e-01 -1.20182532e-02 -1.34594592e+02] [ 1.67855368e-02 4.19174329e-04 9.99859025e-01 -5.02767646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters 0.015678186533330234 Centerline is valid? [True, True] Translation: X:174.00, Y:-134.55, Z:-5.02 [[-6.81011256e-01 -7.32199268e-01 1.03875338e-02 1.74000656e+02] [ 7.32122032e-01 -6.81090378e-01 -1.06407860e-02 -1.34550140e+02] [ 1.48660250e-02 3.58447316e-04 9.99889430e-01 -5.02451363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters 0.017630280287058583 Centerline is valid? [True, True] Translation: X:173.96, Y:-134.51, Z:-5.02 [[-6.81796721e-01 -7.31490129e-01 8.68464466e-03 1.73958715e+02] [ 7.31436146e-01 -6.81851969e-01 -8.89137225e-03 -1.34511260e+02] [ 1.24255931e-02 2.90154578e-04 9.99922757e-01 -5.02470659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters 0.015393613734211204 Centerline is valid? [True, True] Translation: X:173.92, Y:-134.47, Z:-5.02 [[-6.82764281e-01 -7.30603422e-01 7.18169590e-03 1.73921583e+02] [ 7.30566502e-01 -6.82802012e-01 -7.34842343e-03 -1.34466207e+02] [ 1.02724597e-02 2.29465413e-04 9.99947211e-01 -5.02113932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters 0.015075468762402464 Centerline is valid? [True, True] Translation: X:173.88, Y:-134.42, Z:-5.02 [[-6.83249163e-01 -7.30149117e-01 7.26965822e-03 1.73881291e+02] [ 7.30111306e-01 -6.83287798e-01 -7.43410864e-03 -1.34424544e+02] [ 1.03952766e-02 2.28311152e-04 9.99945942e-01 -5.02161680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters 0.015728710781065938 Centerline is valid? [True, True] Translation: X:173.84, Y:-134.39, Z:-5.02 [[-6.83464672e-01 -7.29946093e-01 7.39891098e-03 1.73839837e+02] [ 7.29906962e-01 -6.83504680e-01 -7.56169876e-03 -1.34385090e+02] [ 1.05768227e-02 2.32362674e-04 9.99944037e-01 -5.02249134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters 0.01547225890939241 Centerline is valid? [True, True] Translation: X:173.80, Y:-134.34, Z:-5.02 [[-6.83354528e-01 -7.30040297e-01 8.23123496e-03 1.73798571e+02] [ 7.29991916e-01 -6.83404050e-01 -8.40879099e-03 -1.34344965e+02] [ 1.17640156e-02 2.62549577e-04 9.99930767e-01 -5.02276851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters 0.015462832924772943 Centerline is valid? [True, True] Translation: X:173.76, Y:-134.30, Z:-5.02 [[-6.84225892e-01 -7.29215044e-01 8.96379424e-03 1.73757825e+02] [ 7.29157670e-01 -6.84284550e-01 -9.15132659e-03 -1.34304854e+02] [ 1.28070709e-02 2.74444727e-04 9.99917948e-01 -5.02367350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters 0.014470709209953006 Centerline is valid? [True, True] Translation: X:173.72, Y:-134.26, Z:-5.02 [[-6.87055755e-01 -7.26534897e-01 1.00714279e-02 1.73718387e+02] [ 7.26462258e-01 -6.87129521e-01 -1.02766132e-02 -1.34261454e+02] [ 1.43866935e-02 2.55906022e-04 9.99896473e-01 -5.02435429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters 0.013346949350557791 Centerline is valid? [True, True] Translation: X:173.68, Y:-134.22, Z:-5.02 [[-6.93216772e-01 -7.20663875e-01 9.69980609e-03 1.73681675e+02] [ 7.20595981e-01 -6.93284618e-01 -9.89293178e-03 -1.34217797e+02] [ 1.38542049e-02 1.31695052e-04 9.99904017e-01 -5.02405268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters 0.012704350368405337 Centerline is valid? [True, True] Translation: X:173.64, Y:-134.17, Z:-5.02 [[-6.98668360e-01 -7.15388477e-01 9.04706442e-03 1.73644824e+02] [ 7.15329035e-01 -6.98726933e-01 -9.22203160e-03 -1.34172549e+02] [ 1.29187627e-02 2.84861559e-05 9.99916549e-01 -5.02244838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters 0.01334544681445694 Centerline is valid? [True, True] Translation: X:173.61, Y:-134.13, Z:-5.02 [[-7.06749369e-01 -7.07414838e-01 8.34130359e-03 1.73609330e+02] [ 7.07363804e-01 -7.06798583e-01 -8.49782174e-03 -1.34125429e+02] [ 1.19071067e-02 -1.05493920e-04 9.99929102e-01 -5.02002282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters 0.014334787624169482 Centerline is valid? [True, True] Translation: X:173.57, Y:-134.08, Z:-5.02 [[-7.12591478e-01 -7.01529933e-01 8.31499320e-03 1.73570645e+02] [ 7.01478875e-01 -7.12639960e-01 -8.46613764e-03 -1.34082200e+02] [ 1.18648454e-02 -2.00105463e-04 9.99929590e-01 -5.01949485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters 0.015965588574147208 Centerline is valid? [True, True] Translation: X:173.53, Y:-134.04, Z:-5.02 [[-7.15258408e-01 -6.98812161e-01 8.18369397e-03 1.73532510e+02] [ 6.98762583e-01 -7.15305184e-01 -8.32745285e-03 -1.34039943e+02] [ 1.16731640e-02 -2.37821535e-04 9.99931838e-01 -5.02021167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters 0.016502569160749523 Centerline is valid? [True, True] Translation: X:173.49, Y:-134.00, Z:-5.02 [[-7.16996757e-01 -6.97026436e-01 8.35450217e-03 1.73490910e+02] [ 6.96974700e-01 -7.17045379e-01 -8.49659296e-03 -1.33999388e+02] [ 1.19129071e-02 -2.69152955e-04 9.99929003e-01 -5.01951092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters 0.015448025678965251 Centerline is valid? [True, True] Translation: X:173.45, Y:-133.96, Z:-5.02 [[-7.16314243e-01 -6.97722356e-01 8.79882233e-03 1.73446784e+02] [ 6.97665083e-01 -7.16368231e-01 -8.94371662e-03 -1.33960636e+02] [ 1.25434278e-02 -2.67880489e-04 9.99921292e-01 -5.01921784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters 0.014969786859137895 Centerline is valid? [True, True] Translation: X:173.40, Y:-133.92, Z:-5.02 [[-7.13570161e-01 -7.00521915e-01 9.30976898e-03 1.73403612e+02] [ 7.00458100e-01 -7.13630854e-01 -9.45803532e-03 -1.33923237e+02] [ 1.32692994e-02 -2.27868699e-04 9.99911933e-01 -5.01954570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters 0.014723708476616745 Centerline is valid? [True, True] Translation: X:173.36, Y:-133.88, Z:-5.02 [[-7.12299617e-01 -7.01813117e-01 9.35977043e-03 1.73361447e+02] [ 7.01748796e-01 -7.12361080e-01 -9.50360558e-03 -1.33883120e+02] [ 1.33372912e-02 -2.01206975e-04 9.99911034e-01 -5.01962649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters 0.013526106118721695 Centerline is valid? [True, True] Translation: X:173.31, Y:-133.85, Z:-5.02 [[-7.08149324e-01 -7.06004911e-01 9.03332785e-03 1.73314530e+02] [ 7.05945399e-01 -7.08206928e-01 -9.16735694e-03 -1.33847101e+02] [ 1.28696644e-02 -1.14821384e-04 9.99917176e-01 -5.01874855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters 0.012972945998646897 Centerline is valid? [True, True] Translation: X:173.27, Y:-133.81, Z:-5.02 [[-7.05227671e-01 -7.08929750e-01 8.51715158e-03 1.73269450e+02] [ 7.08877115e-01 -7.05279098e-01 -8.63883432e-03 -1.33810493e+02] [ 1.21312956e-02 -5.47311693e-05 9.99926412e-01 -5.01916983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters 0.012503335339490967 Centerline is valid? [True, True] Translation: X:173.22, Y:-133.77, Z:-5.02 [[-7.02034055e-01 -7.12096885e-01 8.13711472e-03 1.73223495e+02] [ 7.12049109e-01 -7.02081211e-01 -8.24865499e-03 -1.33773894e+02] [ 1.15867569e-02 3.18857910e-06 9.99932871e-01 -5.01729324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters 0.012673734099951333 Centerline is valid? [True, True] Translation: X:173.18, Y:-133.74, Z:-5.02 [[-7.01113847e-01 -7.13003877e-01 8.05261204e-03 1.73181197e+02] [ 7.12957210e-01 -7.01160089e-01 -8.15754195e-03 -1.33736825e+02] [ 1.14625292e-02 2.18021994e-05 9.99934303e-01 -5.01842946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters 0.012525120235509809 Centerline is valid? [True, True] Translation: X:173.14, Y:-133.70, Z:-5.02 [[-7.01484286e-01 -7.12647930e-01 7.26120570e-03 1.73136922e+02] [ 7.12610012e-01 -7.01521865e-01 -7.35137739e-03 -1.33699536e+02] [ 1.03328384e-02 1.75321663e-05 9.99946615e-01 -5.01694118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters 0.012506271235386552 Centerline is valid? [True, True] Translation: X:173.09, Y:-133.66, Z:-5.02 [[-7.03422904e-01 -7.10733146e-01 7.39002881e-03 1.73093936e+02] [ 7.10693810e-01 -7.03461722e-01 -7.47758125e-03 -1.33660375e+02] [ 1.05131672e-02 -7.85418867e-06 9.99944735e-01 -5.01550835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters 0.012858695420185405 Centerline is valid? [True, True] Translation: X:173.05, Y:-133.62, Z:-5.02 [[-7.06370475e-01 -7.07792456e-01 8.40184895e-03 1.73052087e+02] [ 7.07741458e-01 -7.06420438e-01 -8.49660646e-03 -1.33620046e+02] [ 1.19490718e-02 -5.54151091e-05 9.99928606e-01 -5.01658668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters 0.013206961087404382 Centerline is valid? [True, True] Translation: X:173.01, Y:-133.58, Z:-5.02 [[-7.08789766e-01 -7.05367022e-01 8.62743491e-03 1.73010764e+02] [ 7.05313129e-01 -7.08842264e-01 -8.71982001e-03 -1.33579113e+02] [ 1.22661640e-02 -9.54760677e-05 9.99924763e-01 -5.01648459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters 0.013743285751737139 Centerline is valid? [True, True] Translation: X:172.97, Y:-133.54, Z:-5.01 [[-7.11147577e-01 -7.02999572e-01 7.79267749e-03 1.72970058e+02] [ 7.02955515e-01 -7.11190261e-01 -7.87118300e-03 -1.33538500e+02] [ 1.10755146e-02 -1.19667101e-04 9.99938657e-01 -5.01415854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters 0.01356844159102478 Centerline is valid? [True, True] Translation: X:172.93, Y:-133.50, Z:-5.01 [[-7.11102444e-01 -7.03042449e-01 8.03922919e-03 1.72926326e+02] [ 7.02995616e-01 -7.11147875e-01 -8.11561357e-03 -1.33500233e+02] [ 1.14227016e-02 -1.19489763e-04 9.99934752e-01 -5.01278032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters 0.01359178263002163 Centerline is valid? [True, True] Translation: X:172.88, Y:-133.46, Z:-5.01 [[-7.10276877e-01 -7.03871591e-01 8.45825045e-03 1.72882671e+02] [ 7.03819871e-01 -7.10327229e-01 -8.53325652e-03 -1.33462461e+02] [ 1.20144424e-02 -1.07890048e-04 9.99927818e-01 -5.01359858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters 0.013227929063680801 Centerline is valid? [True, True] Translation: X:172.84, Y:-133.43, Z:-5.01 [[-7.08762711e-01 -7.05393847e-01 8.65685875e-03 1.72837252e+02] [ 7.05339851e-01 -7.08815572e-01 -8.72813504e-03 -1.33426480e+02] [ 1.22928890e-02 -8.01491945e-05 9.99924436e-01 -5.01344694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters 0.013118802153128698 Centerline is valid? [True, True] Translation: X:172.80, Y:-133.39, Z:-5.01 [[-7.08349539e-01 -7.05816329e-01 8.01500187e-03 1.72795065e+02] [ 7.05770127e-01 -7.08394880e-01 -8.07598913e-03 -1.33388236e+02] [ 1.13779513e-02 -6.38742900e-05 9.99935267e-01 -5.01236458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters 0.013055303684952927 Centerline is valid? [True, True] Translation: X:172.75, Y:-133.35, Z:-5.01 [[-7.07517379e-01 -7.06654710e-01 7.63410049e-03 1.72749974e+02] [ 7.06612896e-01 -7.07558562e-01 -7.68748274e-03 -1.33352208e+02] [ 1.08339691e-02 -4.46737767e-05 9.99941310e-01 -5.01120804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters 0.012889514704695683 Centerline is valid? [True, True] Translation: X:172.71, Y:-133.32, Z:-5.01 [[-7.06302071e-01 -7.07866075e-01 7.93751098e-03 1.72706276e+02] [ 7.07821004e-01 -7.06346670e-01 -7.98796941e-03 -1.33315577e+02] [ 1.12610470e-02 -2.35823429e-05 9.99936592e-01 -5.01049442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters 0.012737264574950375 Centerline is valid? [True, True] Translation: X:172.66, Y:-133.28, Z:-5.01 [[-7.03715015e-01 -7.10437366e-01 7.99548396e-03 1.72660110e+02] [ 7.10391851e-01 -7.03760434e-01 -8.04170329e-03 -1.33279268e+02] [ 1.13400318e-02 2.08593048e-05 9.99935700e-01 -5.01050420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters 0.0129121409999548 Centerline is valid? [True, True] Translation: X:172.62, Y:-133.24, Z:-5.01 [[-7.01550811e-01 -7.12568693e-01 8.50404074e-03 1.72616060e+02] [ 7.12517421e-01 -7.01602348e-01 -8.54807463e-03 -1.33242680e+02] [ 1.20575453e-02 6.23684986e-05 9.99927303e-01 -5.01142731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters 0.013011039381785766 Centerline is valid? [True, True] Translation: X:172.57, Y:-133.20, Z:-5.01 [[-7.00848612e-01 -7.13251361e-01 9.14977440e-03 1.72574018e+02] [ 7.13192142e-01 -7.00908331e-01 -9.19131821e-03 -1.33203275e+02] [ 1.29688733e-02 8.38245846e-05 9.99915897e-01 -5.01202241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters 0.013132852575577609 Centerline is valid? [True, True] Translation: X:172.53, Y:-133.16, Z:-5.01 [[-7.01400554e-01 -7.12694230e-01 1.02076643e-02 1.72534294e+02] [ 7.12620538e-01 -7.01474823e-01 -1.02490293e-02 -1.33164068e+02] [ 1.44648436e-02 8.55163260e-05 9.99895375e-01 -5.01322069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters 0.012821110305941245 Centerline is valid? [True, True] Translation: X:172.50, Y:-133.12, Z:-5.01 [[-7.03961076e-01 -7.10174889e-01 9.50951713e-03 1.72496116e+02] [ 7.10110782e-01 -7.04025302e-01 -9.54204482e-03 -1.33121733e+02] [ 1.34714613e-02 3.55825120e-05 9.99909255e-01 -5.01191580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters 0.01265522470990595 Centerline is valid? [True, True] Translation: X:172.46, Y:-133.08, Z:-5.01 [[-7.05536392e-01 -7.08619616e-01 8.75435774e-03 1.72456065e+02] [ 7.08565229e-01 -7.05590703e-01 -8.77929996e-03 -1.33079947e+02] [ 1.23981776e-02 8.91788054e-06 9.99923140e-01 -5.01064780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters 0.012594488410588993 Centerline is valid? [True, True] Translation: X:172.42, Y:-133.04, Z:-5.01 [[-7.06670573e-01 -7.07493576e-01 8.33914873e-03 1.72416285e+02] [ 7.07444210e-01 -7.06719775e-01 -8.35763243e-03 -1.33038839e+02] [ 1.18064126e-02 -6.61041977e-06 9.99930302e-01 -5.01058626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters 0.01269443649317849 Centerline is valid? [True, True] Translation: X:172.38, Y:-133.00, Z:-5.01 [[-7.05696107e-01 -7.08461947e-01 8.64147606e-03 1.72375639e+02] [ 7.08409076e-01 -7.05749013e-01 -8.65515858e-03 -1.32999083e+02] [ 1.22305637e-02 1.37883516e-05 9.99925204e-01 -5.01156227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters 0.012841694290067231 Centerline is valid? [True, True] Translation: X:172.33, Y:-132.96, Z:-5.01 [[-7.03737454e-01 -7.10393840e-01 9.70509629e-03 1.72334230e+02] [ 7.10327409e-01 -7.03804369e-01 -9.71506007e-03 -1.32958394e+02] [ 1.37320080e-02 5.69442626e-05 9.99905710e-01 -5.01217955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters 0.013547836426829678 Centerline is valid? [True, True] Translation: X:172.29, Y:-132.92, Z:-5.01 [[-6.99333462e-01 -7.14729152e-01 9.74413118e-03 1.72291176e+02] [ 7.14662679e-01 -6.99401329e-01 -9.74867548e-03 -1.32919638e+02] [ 1.37827209e-02 1.46191915e-04 9.99905003e-01 -5.01257028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters 0.014428482084812302 Centerline is valid? [True, True] Translation: X:172.25, Y:-132.88, Z:-5.01 [[-6.96400230e-01 -7.17594939e-01 9.17734060e-03 1.72248673e+02] [ 7.17536271e-01 -6.96460671e-01 -9.17790211e-03 -1.32881465e+02] [ 1.29776729e-02 1.93581605e-04 9.99915768e-01 -5.01304247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters 0.01571202710344737 Centerline is valid? [True, True] Translation: X:172.21, Y:-132.84, Z:-5.01 [[-6.94228171e-01 -7.19706626e-01 8.34385282e-03 1.72207062e+02] [ 7.19658339e-01 -6.94278278e-01 -8.33957719e-03 -1.32842089e+02] [ 1.17950047e-02 2.15153843e-04 9.99930413e-01 -5.01293194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters 0.015335692314177038 Centerline is valid? [True, True] Translation: X:171.82, Y:-133.22, Z:-4.03 [[-7.68643216e-01 6.39620088e-01 8.58777249e-03 1.71816899e+02] [ 6.39576800e-01 7.68691154e-01 -7.44494058e-03 -1.33223461e+02] [-1.13632783e-02 -2.29963012e-04 -9.99935409e-01 -4.02900252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters 0.015262841736836492 Centerline is valid? [True, True] Translation: X:171.83, Y:-133.20, Z:-4.03 [[-8.12159139e-01 5.83374976e-01 8.43629070e-03 1.71828071e+02] [ 5.83340725e-01 8.12202925e-01 -6.32514332e-03 -1.33202936e+02] [-1.05419103e-02 -2.15791018e-04 -9.99944409e-01 -4.03036996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters 0.01575461722083198 Centerline is valid? [True, True] Translation: X:172.16, Y:-132.76, Z:-5.01 [[-7.44000604e-01 -6.68139314e-01 7.27724590e-03 1.72162494e+02] [ 6.68109230e-01 -7.44036180e-01 -6.34195317e-03 -1.32757780e+02] [ 9.65184248e-03 1.43578162e-04 9.99953410e-01 -5.00885496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters 0.015842214281077075 Centerline is valid? [True, True] Translation: X:171.79, Y:-133.18, Z:-4.03 [[-8.14727371e-01 5.79805928e-01 6.66309110e-03 1.71792745e+02] [ 5.79784740e-01 8.14754598e-01 -4.95995070e-03 -1.33183449e+02] [-8.30459293e-03 -1.77849059e-04 -9.99965501e-01 -4.03308664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters 0.016160407225258612 Centerline is valid? [True, True] Translation: X:172.13, Y:-132.73, Z:-5.01 [[-7.45645817e-01 -6.66312640e-01 6.30728393e-03 1.72130540e+02] [ 6.66290798e-01 -7.45672471e-01 -5.39799775e-03 -1.32730430e+02] [ 8.29992212e-03 1.77490798e-04 9.99965539e-01 -5.00740766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters 0.01708102322409871 Centerline is valid? [True, True] Translation: X:171.76, Y:-133.16, Z:-4.03 [[-8.17976459e-01 5.75178673e-01 9.16549724e-03 1.71757816e+02] [ 5.75138851e-01 8.18027764e-01 -6.77346501e-03 -1.33159994e+02] [-1.13935838e-02 -2.69101378e-04 -9.99935055e-01 -4.02958271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters 0.01758415008011362 Centerline is valid? [True, True] Translation: X:171.76, Y:-133.13, Z:-4.03 [[-8.57379991e-01 5.14551791e-01 1.16621284e-02 1.71764152e+02] [ 5.14498654e-01 8.57459232e-01 -7.40281503e-03 -1.33133448e+02] [-1.38089314e-02 -3.46876125e-04 -9.99904592e-01 -4.02759155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters 0.01667356011839544 Centerline is valid? [True, True] Translation: X:171.77, Y:-133.12, Z:-4.03 [[-8.91792638e-01 4.52251543e-01 1.32073288e-02 1.71774820e+02] [ 4.52195582e-01 8.91890350e-01 -7.12452475e-03 -1.33115649e+02] [-1.50015664e-02 -3.81302988e-04 -9.99887398e-01 -4.02800673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters 0.015943465821405007 Centerline is valid? [True, True] Translation: X:171.78, Y:-133.10, Z:-4.03 [[-9.20578074e-01 3.90335494e-01 1.31989035e-02 1.71784092e+02] [ 3.90290208e-01 9.20672631e-01 -5.95488817e-03 -1.33098120e+02] [-1.44762734e-02 -3.30536683e-04 -9.99895159e-01 -4.02898033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters 0.014746602976674825 Centerline is valid? [True, True] Translation: X:172.04, Y:-132.55, Z:-5.01 [[-8.73308777e-01 -4.87038116e-01 1.12095398e-02 1.72037604e+02] [ 4.87000818e-01 -8.73380694e-01 -6.03045721e-03 -1.32550539e+02] [ 1.27272582e-02 1.92603863e-04 9.99918987e-01 -5.00927075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters 0.013747397114910442 Centerline is valid? [True, True] Translation: X:171.74, Y:-133.10, Z:-4.03 [[-9.18169257e-01 3.96051944e-01 1.03958253e-02 1.71743197e+02] [ 3.96024743e-01 9.18228096e-01 -4.64401691e-03 -1.33097251e+02] [-1.13850108e-02 -1.46989522e-04 -9.99935178e-01 -4.03257095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters 0.012999494978662636 Centerline is valid? [True, True] Translation: X:171.75, Y:-133.08, Z:-4.03 [[-9.41639068e-01 3.36482285e-01 9.77435717e-03 1.71751261e+02] [ 3.36463469e-01 9.41689794e-01 -3.55895172e-03 -1.33080256e+02] [-1.04019366e-02 -6.25338595e-05 -9.99945896e-01 -4.03318266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters 0.012844999486106495 Centerline is valid? [True, True] Translation: X:171.77, Y:-133.06, Z:-4.03 [[-9.62157933e-01 2.72279893e-01 1.07597759e-02 1.71766112e+02] [ 2.72262472e-01 9.62218093e-01 -3.08015955e-03 -1.33061896e+02] [-1.11919166e-02 -3.41167561e-05 -9.99937368e-01 -4.03383946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters 0.012885227675572578 Centerline is valid? [True, True] Translation: X:171.77, Y:-133.04, Z:-4.03 [[-9.78753406e-01 2.04662845e-01 1.24454774e-02 1.71768534e+02] [ 2.04646013e-01 9.78832529e-01 -2.62482058e-03 -1.33039265e+02] [-1.27192414e-02 -2.21347347e-05 -9.99919107e-01 -4.03313144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters 0.012957341842023266 Centerline is valid? [True, True] Translation: X:171.77, Y:-133.01, Z:-4.03 [[-9.90994370e-01 1.33198444e-01 1.37234473e-02 1.71768789e+02] [ 1.33185036e-01 9.91089387e-01 -1.89039278e-03 -1.33012755e+02] [-1.38529603e-02 -4.56107714e-05 -9.99904042e-01 -4.03245280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters 0.01322208072996972 Centerline is valid? [True, True] Translation: X:171.86, Y:-132.36, Z:-5.01 [[-9.77486379e-01 -2.10474886e-01 1.48560221e-02 1.71859198e+02] [ 2.10452744e-01 -9.77599255e-01 -3.05606710e-03 -1.32356778e+02] [ 1.51664615e-02 1.39226648e-04 9.99884973e-01 -5.00915444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters 0.01392425057049458 Centerline is valid? [True, True] Translation: X:171.72, Y:-133.01, Z:-4.03 [[-9.92641316e-01 1.20063987e-01 1.57434580e-02 1.71716937e+02] [ 1.20045689e-01 9.92766135e-01 -2.10561048e-03 -1.33005952e+02] [-1.58823800e-02 -2.00181691e-04 -9.99873847e-01 -4.03001862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters 0.015113323955591885 Centerline is valid? [True, True] Translation: X:171.81, Y:-132.35, Z:-5.01 [[-9.76573114e-01 -2.14672745e-01 1.48514333e-02 1.71806001e+02] [ 2.14650162e-01 -9.76686025e-01 -3.11703502e-03 -1.32351815e+02] [ 1.51743298e-02 1.43849979e-04 9.99884853e-01 -5.01107392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters 0.015547968630801712 Centerline is valid? [True, True] Translation: X:171.66, Y:-133.00, Z:-4.03 [[-9.94068418e-01 1.07834293e-01 1.41331328e-02 1.71661306e+02] [ 1.07819118e-01 9.94168837e-01 -1.83350581e-03 -1.32998277e+02] [-1.42484350e-02 -2.98808314e-04 -9.99898441e-01 -4.03119891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters 0.01717307973353352 Centerline is valid? [True, True] Translation: X:171.74, Y:-132.34, Z:-5.01 [[-9.75160123e-01 -2.21182204e-01 1.18814185e-02 1.71740751e+02] [ 2.21167174e-01 -9.75232496e-01 -2.58087727e-03 -1.32343673e+02] [ 1.21579895e-02 1.11011145e-04 9.99926083e-01 -5.00772924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters 0.018957615026863068 Centerline is valid? [True, True] Translation: X:171.61, Y:-132.99, Z:-4.03 [[-9.95428583e-01 9.48468921e-02 1.12251340e-02 1.71608530e+02] [ 9.48370130e-02 9.95491814e-01 -1.41034195e-03 -1.32990271e+02] [-1.13082955e-02 -3.39336518e-04 -9.99936002e-01 -4.03223617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters 0.01844298802684138 Centerline is valid? [True, True] Translation: X:171.69, Y:-132.34, Z:-5.01 [[-9.74824486e-01 -2.22721260e-01 1.06048401e-02 1.71694212e+02] [ 2.22711328e-01 -9.74882124e-01 -2.12347070e-03 -1.32337203e+02] [ 1.08114111e-02 2.91806782e-04 9.99941512e-01 -5.00711538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters 0.01925968817347314 Centerline is valid? [True, True] Translation: X:171.56, Y:-132.99, Z:-4.03 [[-9.96054771e-01 8.81160257e-02 1.05099203e-02 1.71558041e+02] [ 8.81074356e-02 9.96110157e-01 -1.27847019e-03 -1.32987279e+02] [-1.05816921e-02 -3.47424203e-04 -9.99943952e-01 -4.03239039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters 0.021581935611080887 Centerline is valid? [True, True] Translation: X:171.54, Y:-132.96, Z:-4.03 [[-9.99805083e-01 1.66331938e-02 1.06364338e-02 1.71538264e+02] [ 1.66284644e-02 9.99861596e-01 -5.32931484e-04 -1.32957935e+02] [-1.06438260e-02 -3.55960046e-04 -9.99943290e-01 -4.03080858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters 0.022229136251138128 Centerline is valid? [True, True] Translation: X:171.58, Y:-132.30, Z:-5.01 [[-9.88491132e-01 -1.50837170e-01 1.15512286e-02 1.71582266e+02] [ 1.50832193e-01 -9.88558518e-01 -1.30579479e-03 -1.32298582e+02] [ 1.16160278e-02 4.51530575e-04 9.99932430e-01 -5.01035615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters 0.021002046082027586 Centerline is valid? [True, True] Translation: X:171.50, Y:-132.96, Z:-4.03 [[-9.99851081e-01 1.10904797e-02 1.32218652e-02 1.71498089e+02] [ 1.10833906e-02 9.99938392e-01 -6.09322029e-04 -1.32961234e+02] [-1.32278083e-02 -4.62688194e-04 -9.99912402e-01 -4.02896392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters 0.019335586998471346 Centerline is valid? [True, True] Translation: X:171.54, Y:-132.29, Z:-5.01 [[-9.88943979e-01 -1.47614800e-01 1.41307341e-02 1.71536449e+02] [ 1.47607791e-01 -9.89044770e-01 -1.54343939e-03 -1.32289616e+02] [ 1.42037632e-02 5.59431361e-04 9.99898965e-01 -5.01142180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters 0.0213255034564424 Centerline is valid? [True, True] Translation: X:171.45, Y:-132.96, Z:-4.03 [[-9.99869490e-01 8.90196513e-03 1.34818000e-02 1.71449629e+02] [ 8.89513695e-03 9.99960277e-01 -5.66354420e-04 -1.32963771e+02] [-1.34863062e-02 -4.46358047e-04 -9.99908956e-01 -4.02809958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters 0.020771125529797013 Centerline is valid? [True, True] Translation: X:171.43, Y:-132.94, Z:-4.03 [[-9.98169307e-01 -5.95367913e-02 1.06491720e-02 1.71434022e+02] [-5.95368702e-02 9.98226059e-01 3.09892893e-04 -1.32941093e+02] [-1.06487311e-02 -3.24692799e-04 -9.99943248e-01 -4.03075647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters 0.017004804576646177 Centerline is valid? [True, True] Translation: X:171.45, Y:-132.92, Z:-4.03 [[-9.91764268e-01 -1.27728382e-01 9.43916304e-03 1.71449298e+02] [-1.27725121e-01 9.91809151e-01 9.49939691e-04 -1.32920266e+02] [-9.48318253e-03 -2.63502002e-04 -9.99954999e-01 -4.03306389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters 0.01666133558839014 Centerline is valid? [True, True] Translation: X:171.44, Y:-132.90, Z:-4.03 [[-9.80554444e-01 -1.96080386e-01 8.09103850e-03 1.71443777e+02] [-1.96075484e-01 9.80587802e-01 1.40242032e-03 -1.32895091e+02] [-8.20896078e-03 -2.11304813e-04 -9.99966284e-01 -4.03345854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters 0.017313702424252193 Centerline is valid? [True, True] Translation: X:171.33, Y:-132.21, Z:-5.01 [[-9.96939378e-01 7.77580902e-02 8.09672125e-03 1.71328017e+02] [-7.77538572e-02 -9.96972235e-01 8.36754424e-04 -1.32206926e+02] [ 8.13727070e-03 2.04642127e-04 9.99966871e-01 -5.00633503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters 0.01857054810191947 Centerline is valid? [True, True] Translation: X:171.35, Y:-132.91, Z:-4.03 [[-9.79071474e-01 -2.03337771e-01 8.53231062e-03 1.71348274e+02] [-2.03332142e-01 9.79108623e-01 1.53121144e-03 -1.32905432e+02] [-8.66541202e-03 -2.35727560e-04 -9.99962427e-01 -4.03277944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters 0.01749832460038308 Centerline is valid? [True, True] Translation: X:171.22, Y:-132.23, Z:-5.01 [[-9.96654772e-01 8.12003061e-02 9.26152899e-03 1.71222790e+02] [-8.11940207e-02 -9.96697758e-01 1.05326928e-03 -1.32227942e+02] [ 9.31647098e-03 2.97765077e-04 9.99956556e-01 -5.00662381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters 0.0181677687585699 Centerline is valid? [True, True] Translation: X:171.25, Y:-132.92, Z:-4.03 [[-9.77351815e-01 -2.11381974e-01 1.00543805e-02 1.71249420e+02] [-2.11373925e-01 9.77403485e-01 1.86865585e-03 -1.32920311e+02] [-1.02221867e-02 -2.98899691e-04 -9.99947707e-01 -4.03309126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters 0.01771526177041604 Centerline is valid? [True, True] Translation: X:171.24, Y:-132.90, Z:-4.03 [[-9.59793140e-01 -2.80521799e-01 1.02298044e-02 1.71235585e+02] [-2.80509289e-01 9.59847605e-01 2.66729844e-03 -1.32895888e+02] [-1.05672886e-02 -3.09500397e-04 -9.99944117e-01 -4.03314030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters 0.017929566588694382 Centerline is valid? [True, True] Translation: X:171.21, Y:-132.87, Z:-4.03 [[-9.37333321e-01 -3.48300658e-01 9.63833401e-03 1.71212128e+02] [-3.48285465e-01 9.37382827e-01 3.26656631e-03 -1.32873522e+02] [-1.01725560e-02 -2.95030194e-04 -9.99948215e-01 -4.03352235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters 0.017097050035215593 Centerline is valid? [True, True] Translation: X:171.18, Y:-132.86, Z:-4.04 [[-9.10330839e-01 -4.13804637e-01 7.96784398e-03 1.71178669e+02] [-4.13791053e-01 9.10365677e-01 3.36130198e-03 -1.32857489e+02] [-8.64457403e-03 -2.37125701e-04 -9.99962607e-01 -4.03546647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters 0.01625304119363422 Centerline is valid? [True, True] Translation: X:171.12, Y:-132.85, Z:-4.04 [[-8.78740408e-01 -4.77245703e-01 7.19957221e-03 1.71123190e+02] [-4.77231571e-01 8.78769877e-01 3.67836036e-03 -1.32854575e+02] [-8.08224886e-03 -2.03539274e-04 -9.99967317e-01 -4.03583235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters 0.017759887811144157 Centerline is valid? [True, True] Translation: X:171.06, Y:-132.85, Z:-4.03 [[-8.41483139e-01 -5.40225059e-01 7.93796429e-03 1.71061941e+02] [-5.40203562e-01 8.41520548e-01 4.82480592e-03 -1.32853880e+02] [-9.28644112e-03 -2.28123749e-04 -9.99956854e-01 -4.03406516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters 0.016079847679517797 Centerline is valid? [True, True] Translation: X:170.99, Y:-132.87, Z:-4.03 [[-7.99346958e-01 -6.00805794e-01 8.76580798e-03 1.70989342e+02] [-6.00773203e-01 7.99394978e-01 6.26318936e-03 -1.32871144e+02] [-1.07703033e-02 -2.59801176e-04 -9.99941965e-01 -4.03399827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters 0.016351347343446464 Centerline is valid? [True, True] Translation: X:170.91, Y:-132.89, Z:-4.03 [[-7.52264567e-01 -6.58805421e-01 8.56960969e-03 1.70911178e+02] [-6.58766724e-01 7.52313329e-01 7.14556341e-03 -1.32894794e+02] [-1.11545675e-02 -2.70019537e-04 -9.99937749e-01 -4.03325895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters 0.015961494308919234 Centerline is valid? [True, True] Translation: X:170.83, Y:-132.93, Z:-4.03 [[-7.01265505e-01 -7.12858730e-01 7.68909565e-03 1.70830117e+02] [-7.12819778e-01 7.01307612e-01 7.45638757e-03 -1.32932076e+02] [-1.07077723e-02 -2.52032062e-04 -9.99942638e-01 -4.03363038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters 0.015621512846914173 Centerline is valid? [True, True] Translation: X:170.75, Y:-132.97, Z:-4.03 [[-6.47036575e-01 -7.62434421e-01 6.11755879e-03 1.70753440e+02] [-7.62403212e-01 6.47065464e-01 6.90127362e-03 -1.32974191e+02] [-9.22022957e-03 -1.98670029e-04 -9.99957473e-01 -4.03408352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters 0.01538319078138118 Centerline is valid? [True, True] Translation: X:170.67, Y:-133.03, Z:-4.03 [[-5.88354669e-01 -8.08586479e-01 5.16619353e-03 1.70673462e+02] [-8.08557897e-01 5.88377324e-01 6.80080425e-03 -1.33030215e+02] [-8.53870948e-03 -1.75881639e-04 -9.99963529e-01 -4.03471527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters 0.015003327382474122 Centerline is valid? [True, True] Translation: X:170.59, Y:-133.10, Z:-4.03 [[-5.25738158e-01 -8.50633637e-01 4.66969133e-03 1.70594314e+02] [-8.50602965e-01 5.25758867e-01 7.22563969e-03 -1.33096696e+02] [-8.60150379e-03 -1.73258786e-04 -9.99962991e-01 -4.03495933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters 0.015521757569156426 Centerline is valid? [True, True] Translation: X:170.52, Y:-133.17, Z:-4.03 [[-4.59040879e-01 -8.88404694e-01 4.30948780e-03 1.70517777e+02] [-8.88369294e-01 4.59061070e-01 7.93297817e-03 -1.33168933e+02] [-9.02601312e-03 -1.86855360e-04 -9.99959247e-01 -4.03418249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters 0.015130150995076573 Centerline is valid? [True, True] Translation: X:170.45, Y:-133.25, Z:-4.03 [[-3.89981371e-01 -9.20814261e-01 3.95311211e-03 1.70447856e+02] [-9.20772042e-01 3.90001355e-01 8.81984973e-03 -1.33250540e+02] [-9.66316248e-03 -2.00338022e-04 -9.99953291e-01 -4.03471255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters 0.015679207483603342 Centerline is valid? [True, True] Translation: X:170.38, Y:-133.34, Z:-4.03 [[-3.19062919e-01 -9.47726379e-01 3.68301544e-03 1.70379812e+02] [-9.47670988e-01 3.19084100e-01 1.02487284e-02 -1.33340805e+02] [-1.08881819e-02 -2.20297689e-04 -9.99940698e-01 -4.03318228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters 0.01585590369988953 Centerline is valid? [True, True] Translation: X:170.32, Y:-133.43, Z:-4.03 [[-2.46353650e-01 -9.69175414e-01 2.98258242e-03 1.70320506e+02] [-9.69114809e-01 2.46371606e-01 1.08406122e-02 -1.33434713e+02] [-1.12412784e-02 -2.19840407e-04 -9.99936791e-01 -4.03227041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters 0.01457193584990374 Centerline is valid? [True, True] Translation: X:170.27, Y:-133.54, Z:-4.03 [[-1.74373600e-01 -9.84676963e-01 2.26419153e-03 1.70272646e+02] [-9.84607951e-01 1.74388189e-01 1.16594038e-02 -1.33536604e+02] [-1.18755946e-02 -1.96248777e-04 -9.99929463e-01 -4.03315148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters 0.013927828935440253 Centerline is valid? [True, True] Translation: X:170.23, Y:-133.64, Z:-4.03 [[-1.04958927e-01 -9.94475537e-01 1.42458336e-03 1.70233064e+02] [-9.94399150e-01 1.04968522e-01 1.23263708e-02 -1.33642606e+02] [-1.24078107e-02 -1.22841836e-04 -9.99923013e-01 -4.03111714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters 0.012941288675718728 Centerline is valid? [True, True] Translation: X:170.20, Y:-133.75, Z:-4.03 [[-3.42053703e-02 -9.99414722e-01 4.54856785e-04 1.70203475e+02] [-9.99344990e-01 3.42083568e-02 1.18059093e-02 -1.33752849e+02] [-1.18145595e-02 -5.07333498e-05 -9.99930204e-01 -4.03314056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters 0.012871779883085108 Centerline is valid? [True, True] Translation: X:170.18, Y:-133.86, Z:-4.04 [[ 3.44227305e-02 -9.99407275e-01 -4.16798726e-04 1.70183443e+02] [-9.99348467e-01 -3.44252265e-02 1.08417925e-02 -1.33860602e+02] [-1.08497147e-02 4.33230678e-05 -9.99941139e-01 -4.03538563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters 0.013655715300941224 Centerline is valid? [True, True] Translation: X:170.17, Y:-133.98, Z:-4.04 [[ 1.04741319e-01 -9.94498836e-01 -1.14946253e-03 1.70170668e+02] [-9.94449454e-01 -1.04747574e-01 9.91102150e-03 -1.33976175e+02] [-9.97690276e-03 1.04988924e-04 -9.99950224e-01 -4.03549369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters 0.014451597730524459 Centerline is valid? [True, True] Translation: X:170.16, Y:-134.09, Z:-4.03 [[ 1.78127757e-01 -9.84005505e-01 -1.91521581e-03 1.70163921e+02] [-9.83956431e-01 -1.78138002e-01 9.82819668e-03 -1.34094783e+02] [-1.00121724e-02 1.33814286e-04 -9.99949868e-01 -4.03445675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters 0.014640791259032941 Centerline is valid? [True, True] Translation: X:170.17, Y:-134.22, Z:-4.03 [[ 2.50538505e-01 -9.68102705e-01 -2.75854775e-03 1.70165551e+02] [-9.68051195e-01 -2.50553635e-01 9.98803944e-03 -1.34216198e+02] [-1.03606122e-02 1.68026978e-04 -9.99946313e-01 -4.03471208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters 0.014948394685831637 Centerline is valid? [True, True] Translation: X:170.17, Y:-134.33, Z:-4.04 [[ 3.22809620e-01 -9.46459107e-01 -3.01787833e-03 1.70174069e+02] [-9.46422171e-01 -3.22823688e-01 8.36301964e-03 -1.34329843e+02] [-8.88949872e-03 1.56523778e-04 -9.99960475e-01 -4.03566208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters 0.014941042507687323 Centerline is valid? [True, True] Translation: X:170.19, Y:-134.45, Z:-4.04 [[ 3.95304862e-01 -9.18544900e-01 -3.05497291e-03 1.70192335e+02] [-9.18519870e-01 -3.95316646e-01 6.78212938e-03 -1.34448702e+02] [-7.43737200e-03 1.25044608e-04 -9.99972335e-01 -4.03651388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters 0.014150074062383774 Centerline is valid? [True, True] Translation: X:170.22, Y:-134.57, Z:-4.04 [[ 4.66252193e-01 -8.84645914e-01 -3.24036520e-03 1.70218061e+02] [-8.84626035e-01 -4.66263442e-01 5.93143803e-03 -1.34567209e+02] [-6.75808624e-03 1.00965432e-04 -9.99977159e-01 -4.03732180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters 0.01328484004522791 Centerline is valid? [True, True] Translation: X:170.25, Y:-134.68, Z:-4.04 [[ 5.36434218e-01 -8.43935873e-01 -3.25150167e-03 1.70248850e+02] [-8.43921066e-01 -5.36444068e-01 4.99965461e-03 -1.34681109e+02] [-5.96363667e-03 6.20249475e-05 -9.99982215e-01 -4.03727491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters 0.01261556140483631 Centerline is valid? [True, True] Translation: X:170.29, Y:-134.79, Z:-4.04 [[ 6.04659842e-01 -7.96476748e-01 -3.35634469e-03 1.70288433e+02] [-7.96464668e-01 -6.04669157e-01 4.38665663e-03 -1.34793618e+02] [-5.52334812e-03 2.07748549e-05 -9.99984746e-01 -4.03744339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters 0.012555237739657681 Centerline is valid? [True, True] Translation: X:170.33, Y:-134.90, Z:-4.04 [[ 6.66758979e-01 -7.45261380e-01 -4.23542300e-03 1.70333556e+02] [-7.45246318e-01 -6.66772431e-01 4.73816966e-03 -1.34895751e+02] [-6.35523815e-03 -2.78376733e-06 -9.99979805e-01 -4.03714998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters 0.012676844022872882 Centerline is valid? [True, True] Translation: X:170.39, Y:-135.00, Z:-4.04 [[ 7.24215399e-01 -6.89558509e-01 -4.59555338e-03 1.70386912e+02] [-6.89544386e-01 -7.24229979e-01 4.41343181e-03 -1.34995926e+02] [-6.37155698e-03 -2.74372420e-05 -9.99979701e-01 -4.03665622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters 0.0126323170181535 Centerline is valid? [True, True] Translation: X:170.41, Y:-135.03, Z:-4.04 [[ 7.76188487e-01 -6.30490122e-01 -3.69314763e-03 1.70405704e+02] [-6.30482849e-01 -7.76197273e-01 3.02848538e-03 -1.35025371e+02] [-4.77604124e-03 -2.22092464e-05 -9.99988594e-01 -4.03734595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters 0.012556369365056328 Centerline is valid? [True, True] Translation: X:170.43, Y:-135.05, Z:-4.04 [[ 8.22371096e-01 -5.68944329e-01 -2.85140306e-03 1.70427640e+02] [-5.68940862e-01 -8.22376039e-01 1.98628845e-03 -1.35051476e+02] [-3.47501311e-03 -1.11864880e-05 -9.99993962e-01 -4.03793989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters 0.012567701634290229 Centerline is valid? [True, True] Translation: X:170.45, Y:-135.07, Z:-4.04 [[ 8.62067460e-01 -5.06782512e-01 -3.34377599e-03 1.70453667e+02] [-5.06778721e-01 -8.62073944e-01 1.96034042e-03 -1.35072808e+02] [-3.87604840e-03 4.60883570e-06 -9.99992488e-01 -4.03696464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters 0.012608229780648201 Centerline is valid? [True, True] Translation: X:170.48, Y:-135.10, Z:-4.04 [[ 8.98274712e-01 -4.39414847e-01 -4.13948827e-03 1.70479467e+02] [-4.39410249e-01 -8.98284249e-01 2.01022363e-03 -1.35095712e+02] [-4.60175922e-03 1.32005148e-05 -9.99989412e-01 -4.03697086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters 0.01296464391552829 Centerline is valid? [True, True] Translation: X:170.51, Y:-135.11, Z:-4.04 [[ 9.27983331e-01 -3.72582420e-01 -5.41087338e-03 1.70507790e+02] [-3.72576374e-01 -9.27999105e-01 2.12300790e-03 -1.35112476e+02] [-5.81228107e-03 4.58476442e-05 -9.99983108e-01 -4.03609997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters 0.013294178422031816 Centerline is valid? [True, True] Translation: X:170.54, Y:-135.13, Z:-4.03 [[ 9.53770621e-01 -3.00441834e-01 -7.50379233e-03 1.70536579e+02] [-3.00433144e-01 -9.53800136e-01 2.28633721e-03 -1.35127753e+02] [-7.84402949e-03 7.37466647e-05 -9.99969232e-01 -4.03438376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters 0.01315789882535629 Centerline is valid? [True, True] Translation: X:170.57, Y:-135.14, Z:-4.03 [[ 9.74549262e-01 -2.24020030e-01 -8.29224345e-03 1.70566269e+02] [-2.24012545e-01 -9.74584538e-01 1.83268857e-03 -1.35142713e+02] [-8.49205120e-03 7.15212599e-05 -9.99963939e-01 -4.03366934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters 0.012705385369393862 Centerline is valid? [True, True] Translation: X:170.60, Y:-135.15, Z:-4.03 [[ 9.89638309e-01 -1.43326736e-01 -8.57112961e-03 1.70595229e+02] [-1.43321716e-01 -9.89675424e-01 1.20026546e-03 -1.35154930e+02] [-8.65466647e-03 4.06003186e-05 -9.99962547e-01 -4.03335007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters 0.012466695196822827 Centerline is valid? [True, True] Translation: X:170.62, Y:-135.16, Z:-4.03 [[ 9.98098698e-01 -6.11065477e-02 -8.06093619e-03 1.70624154e+02] [-6.11045822e-02 -9.98131249e-01 4.90109138e-04 -1.35163701e+02] [-8.07582118e-03 3.38284557e-06 -9.99967390e-01 -4.03447393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters 0.012439649854773837 Centerline is valid? [True, True] Translation: X:170.65, Y:-135.17, Z:-4.04 [[ 9.99743309e-01 2.13554487e-02 -7.56709625e-03 1.70652984e+02] [ 2.13550474e-02 -9.99771946e-01 -1.33836635e-04 -1.35174000e+02] [-7.56822868e-03 -2.77934190e-05 -9.99971360e-01 -4.03613026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters 0.013446699132150916 Centerline is valid? [True, True] Translation: X:170.68, Y:-135.18, Z:-4.04 [[ 9.94154317e-01 1.07776570e-01 -6.43461297e-03 1.70683165e+02] [ 1.07774815e-01 -9.94175138e-01 -6.19946461e-04 -1.35184484e+02] [-6.46394794e-03 -7.71667700e-05 -9.99979106e-01 -4.03686094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters 0.015487558343207584 Centerline is valid? [True, True] Translation: X:170.71, Y:-135.19, Z:-4.04 [[ 9.81081956e-01 1.93479872e-01 -6.61325715e-03 1.70714762e+02] [ 1.93476410e-01 -9.81104235e-01 -1.16530626e-03 -1.35191318e+02] [-6.71375791e-03 -1.36248315e-04 -9.99977453e-01 -4.03634526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters 0.016969653266051404 Centerline is valid? [True, True] Translation: X:170.75, Y:-135.19, Z:-4.04 [[ 9.61844587e-01 2.73521096e-01 -6.41875324e-03 1.70745478e+02] [ 2.73516117e-01 -9.61865991e-01 -1.65812129e-03 -1.35191349e+02] [-6.62751160e-03 -1.60777477e-04 -9.99978025e-01 -4.03588642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters 0.01790566086130549 Centerline is valid? [True, True] Translation: X:170.78, Y:-135.19, Z:-4.04 [[ 9.36723685e-01 3.50013596e-01 -6.26255541e-03 1.70775803e+02] [ 3.50007019e-01 -9.36744603e-01 -2.15292267e-03 -1.35186396e+02] [-6.61996719e-03 -1.75244690e-04 -9.99978072e-01 -4.03503925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters 0.017667806645381822 Centerline is valid? [True, True] Translation: X:170.80, Y:-135.18, Z:-4.03 [[ 9.06948663e-01 4.21201326e-01 -5.79360794e-03 1.70804098e+02] [ 4.21193851e-01 -9.06967154e-01 -2.51441920e-03 -1.35176009e+02] [-6.31368881e-03 -1.59782909e-04 -9.99980056e-01 -4.03479779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters 0.017506482578869418 Centerline is valid? [True, True] Translation: X:170.83, Y:-135.16, Z:-4.03 [[ 8.71796481e-01 4.89835371e-01 -5.67499833e-03 1.70831052e+02] [ 4.89826140e-01 -8.71814938e-01 -3.01108208e-03 -1.35162151e+02] [-6.42248282e-03 -1.54711770e-04 -9.99979364e-01 -4.03493297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters 0.017572086223351525 Centerline is valid? [True, True] Translation: X:170.86, Y:-135.15, Z:-4.03 [[ 8.31157959e-01 5.55993311e-01 -6.91984697e-03 1.70856254e+02] [ 5.55975953e-01 -8.31186742e-01 -4.39757045e-03 -1.35146725e+02] [-8.19670481e-03 -1.92192833e-04 -9.99966388e-01 -4.03241952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters 0.017385748800812645 Centerline is valid? [True, True] Translation: X:170.88, Y:-135.13, Z:-4.03 [[ 7.85505923e-01 6.18807336e-01 -7.61087263e-03 1.70880842e+02] [ 6.18780944e-01 -7.85542764e-01 -5.71923607e-03 -1.35129555e+02] [-9.51777116e-03 -2.16969144e-04 -9.99954681e-01 -4.03058483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters 0.016215428150318668 Centerline is valid? [True, True] Translation: X:170.90, Y:-135.11, Z:-4.03 [[ 7.36219852e-01 6.76692397e-01 -8.22978839e-03 1.70901754e+02] [ 6.76653503e-01 -7.36265814e-01 -7.25866067e-03 -1.35109304e+02] [-1.09711923e-02 -2.24745064e-04 -9.99939789e-01 -4.02995094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters 0.01651695748588317 Centerline is valid? [True, True] Translation: X:170.92, Y:-135.09, Z:-4.03 [[ 6.82374297e-01 7.30969840e-01 -6.95783371e-03 1.70922903e+02] [ 7.30934587e-01 -6.82409744e-01 -7.18125187e-03 -1.35090972e+02] [-9.99737205e-03 -1.85419615e-04 -9.99950008e-01 -4.03033348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters 0.015155234325167096 Centerline is valid? [True, True] Translation: X:170.94, Y:-135.07, Z:-4.03 [[ 6.24034142e-01 7.81374004e-01 -6.00466925e-03 1.70943548e+02] [ 7.81340319e-01 -6.24063009e-01 -7.25711279e-03 -1.35071857e+02] [-9.41781124e-03 -1.63004039e-04 -9.99955638e-01 -4.03172133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters 0.014785784073174645 Centerline is valid? [True, True] Translation: X:170.96, Y:-135.05, Z:-4.03 [[ 5.62784122e-01 8.26590313e-01 -4.74194331e-03 1.70963259e+02] [ 8.26562814e-01 -5.62804086e-01 -6.74359152e-03 -1.35051859e+02] [-8.24297249e-03 -1.24327768e-04 -9.99966018e-01 -4.03235071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters 0.01470662446498142 Centerline is valid? [True, True] Translation: X:170.98, Y:-135.03, Z:-4.03 [[ 4.96951504e-01 8.67769410e-01 -3.93110833e-03 1.70980588e+02] [ 8.67744004e-01 -4.96967040e-01 -6.64108901e-03 -1.35029652e+02] [-7.71656516e-03 -1.10896511e-04 -9.99970221e-01 -4.03363825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters 0.014394885641490164 Centerline is valid? [True, True] Translation: X:171.00, Y:-135.01, Z:-4.03 [[ 4.27402294e-01 9.04057133e-01 -2.82491961e-03 1.70999383e+02] [ 9.04038791e-01 -4.27411620e-01 -5.75953736e-03 -1.35008151e+02] [-6.41435429e-03 -9.21974316e-05 -9.99979424e-01 -4.03465172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters 0.014823067240725742 Centerline is valid? [True, True] Translation: X:171.02, Y:-134.99, Z:-4.03 [[ 3.55044523e-01 9.34846973e-01 -2.12672230e-03 1.71016096e+02] [ 9.34831596e-01 -3.55050883e-01 -5.36255887e-03 -1.34985801e+02] [-5.76826656e-03 -8.41800472e-05 -9.99983360e-01 -4.03463048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters 0.013982313857181716 Centerline is valid? [True, True] Translation: X:171.03, Y:-134.96, Z:-4.04 [[ 2.81889064e-01 9.59445664e-01 -1.60447132e-03 1.71031689e+02] [ 9.59431563e-01 -2.81893620e-01 -5.20228215e-03 -1.34961275e+02] [-5.44359727e-03 -7.29139835e-05 -9.99985181e-01 -4.03555790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters 0.014109222547443647 Centerline is valid? [True, True] Translation: X:171.05, Y:-134.94, Z:-4.03 [[ 2.08672943e-01 9.77984874e-01 -1.09010725e-03 1.71046970e+02] [ 9.77972806e-01 -2.08675784e-01 -4.85875295e-03 -1.34937405e+02] [-4.97926588e-03 -5.22049630e-05 -9.99987602e-01 -4.03449470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters 0.013166951214186998 Centerline is valid? [True, True] Translation: X:171.06, Y:-134.91, Z:-4.03 [[ 1.35468715e-01 9.90781328e-01 -7.66675076e-04 1.71056880e+02] [ 9.90766876e-01 -1.35470880e-01 -5.35136269e-03 -1.34910682e+02] [-5.40589238e-03 -3.46540403e-05 -9.99985388e-01 -4.03401617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters 0.012927193941576024 Centerline is valid? [True, True] Translation: X:171.07, Y:-134.88, Z:-4.03 [[ 6.05265681e-02 9.98166504e-01 -4.05940591e-04 1.71065313e+02] [ 9.98146351e-01 -6.05279256e-02 -6.34292163e-03 -1.34884002e+02] [-6.35586265e-03 -2.12728416e-05 -9.99979801e-01 -4.03324266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters 0.012982453328705852 Centerline is valid? [True, True] Translation: X:171.07, Y:-134.86, Z:-4.03 [[-1.24653763e-02 9.99922299e-01 1.05158058e-04 1.71071108e+02] [ 9.99895973e-01 1.24658112e-02 -7.25579637e-03 -1.34857088e+02] [-7.25654347e-03 1.47008858e-05 -9.99973671e-01 -4.03284395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters 0.013702364698181526 Centerline is valid? [True, True] Translation: X:171.07, Y:-134.83, Z:-4.03 [[-8.39851208e-02 9.96466752e-01 7.16008283e-04 1.71073916e+02] [ 9.96437120e-01 8.39881453e-02 -7.68493946e-03 -1.34830695e+02] [-7.71792286e-03 6.80366624e-05 -9.99970214e-01 -4.03171074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters 0.013782513700942524 Centerline is valid? [True, True] Translation: X:171.08, Y:-134.80, Z:-4.03 [[-1.59517678e-01 9.87194450e-01 1.10845737e-03 1.71078325e+02] [ 9.87173670e-01 1.59521513e-01 -6.40565192e-03 -1.34803405e+02] [-6.50044682e-03 7.24252070e-05 -9.99978869e-01 -4.03315063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters 0.013684971517285038 Centerline is valid? [True, True] Translation: X:171.08, Y:-134.77, Z:-4.03 [[-2.36432746e-01 9.71646674e-01 1.51569324e-03 1.71083502e+02] [ 9.71628513e-01 2.36437594e-01 -5.94104944e-03 -1.34774577e+02] [-6.13096779e-03 6.80321349e-05 -9.99981203e-01 -4.03346491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters 0.013544490070534305 Centerline is valid? [True, True] Translation: X:171.09, Y:-134.75, Z:-4.03 [[-3.14111831e-01 9.49384355e-01 1.76170945e-03 1.71086562e+02] [ 9.49370261e-01 3.14116768e-01 -5.17336157e-03 -1.34746714e+02] [-5.46489102e-03 4.75004783e-05 -9.99985066e-01 -4.03358660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters 0.013125902411255438 Centerline is valid? [True, True] Translation: X:171.09, Y:-134.72, Z:-4.03 [[-3.91108215e-01 9.20342551e-01 1.98805173e-03 1.71088793e+02] [ 9.20330976e-01 3.91113267e-01 -4.61592287e-03 -1.34716943e+02] [-5.02578364e-03 2.43402380e-05 -9.99987370e-01 -4.03311847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters 0.01303807969152404 Centerline is valid? [True, True] Translation: X:171.09, Y:-134.69, Z:-4.03 [[-4.64245091e-01 8.85703828e-01 2.28563164e-03 1.71086814e+02] [ 8.85693215e-01 4.64250717e-01 -4.33596561e-03 -1.34687424e+02] [-4.90148747e-03 1.14176840e-05 -9.99987988e-01 -4.03258896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters 0.013440166875792381 Centerline is valid? [True, True] Translation: X:171.09, Y:-134.66, Z:-4.03 [[-5.39835444e-01 8.41765601e-01 2.89251450e-03 1.71086500e+02] [ 8.41753153e-01 5.39843192e-01 -4.57789164e-03 -1.34655651e+02] [-5.41501597e-03 -3.65249608e-05 -9.99985338e-01 -4.03092596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters 0.014469095954851775 Centerline is valid? [True, True] Translation: X:171.08, Y:-134.62, Z:-4.03 [[-6.10581244e-01 7.91945745e-01 3.53304566e-03 1.71083461e+02] [ 7.91931645e-01 6.10591459e-01 -4.72653090e-03 -1.34623698e+02] [-5.90040354e-03 -8.80004512e-05 -9.99982589e-01 -4.03030719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters 0.015440589686518066 Centerline is valid? [True, True] Translation: X:171.07, Y:-134.59, Z:-4.03 [[-6.73695794e-01 7.38994239e-01 4.63590222e-03 1.71074169e+02] [ 7.38975367e-01 6.73711732e-01 -5.28303332e-03 -1.34593838e+02] [-7.02739290e-03 -1.33339789e-04 -9.99975299e-01 -4.02919762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters 0.015663945337631678 Centerline is valid? [True, True] Translation: X:171.06, Y:-134.57, Z:-4.03 [[-7.31049518e-01 6.82309663e-01 4.48618428e-03 1.71061805e+02] [ 6.82295691e-01 7.31063271e-01 -4.36854535e-03 -1.34565149e+02] [-6.26038526e-03 -1.32718770e-04 -9.99980395e-01 -4.02909501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters 0.015777043808544975 Centerline is valid? [True, True] Translation: X:171.08, Y:-134.54, Z:-4.03 [[-7.77224949e-01 6.29210996e-01 3.86015537e-03 1.71079833e+02] [ 6.29202560e-01 7.77234528e-01 -3.25994885e-03 -1.34544632e+02] [-5.05144170e-03 -1.04893937e-04 -9.99987236e-01 -4.02961514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters 0.01487200547826225 Centerline is valid? [True, True] Translation: X:171.10, Y:-134.53, Z:-4.03 [[-8.18798241e-01 5.74066247e-01 4.16964644e-03 1.71100159e+02] [ 5.74058188e-01 8.18808851e-01 -3.04339702e-03 -1.34529525e+02] [-5.16125492e-03 -9.83084447e-05 -9.99986676e-01 -4.02915273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters 0.015337998742959684 Centerline is valid? [True, True] Translation: X:171.11, Y:-134.51, Z:-4.03 [[-8.56876073e-01 5.15504349e-01 4.32007463e-03 1.71113304e+02] [ 5.15497250e-01 8.56886958e-01 -2.70686253e-03 -1.34505406e+02] [-5.09721501e-03 -9.24591409e-05 -9.99987005e-01 -4.02860781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters 0.014921993653547322 Centerline is valid? [True, True] Translation: X:171.13, Y:-134.49, Z:-4.03 [[-8.90781188e-01 4.54405455e-01 4.95548501e-03 1.71129009e+02] [ 4.54397818e-01 8.90794967e-01 -2.63634546e-03 -1.34485187e+02] [-5.61229087e-03 -9.66453607e-05 -9.99984246e-01 -4.02810536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters 0.014270593722715691 Centerline is valid? [True, True] Translation: X:171.14, Y:-134.47, Z:-4.03 [[-9.19807966e-01 3.92318292e-01 6.29793524e-03 1.71142378e+02] [ 3.92308324e-01 9.19829521e-01 -2.79854936e-03 -1.34465505e+02] [-6.89094886e-03 -1.03395575e-04 -9.99976252e-01 -4.02687972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters 0.014028843223284983 Centerline is valid? [True, True] Translation: X:171.15, Y:-134.44, Z:-4.03 [[-9.44575296e-01 3.28216380e-01 7.17755709e-03 1.71150838e+02] [ 3.28206114e-01 9.44602561e-01 -2.59779300e-03 -1.34442812e+02] [-7.63257703e-03 -9.80929777e-05 -9.99970867e-01 -4.02597011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters 0.013694016557859802 Centerline is valid? [True, True] Translation: X:171.16, Y:-134.42, Z:-4.03 [[-9.64928047e-01 2.62374359e-01 8.57669792e-03 1.71161701e+02] [ 2.62363097e-01 9.64966158e-01 -2.43293464e-03 -1.34421826e+02] [-8.91456290e-03 -9.73978402e-05 -9.99960260e-01 -4.02508311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters 0.013442713988988256 Centerline is valid? [True, True] Translation: X:171.36, Y:-133.75, Z:-5.01 [[-9.38029968e-01 -3.46433285e-01 9.15194743e-03 1.71357518e+02] [ 3.46418393e-01 -9.38074600e-01 -3.21583497e-03 -1.33748710e+02] [ 9.69928170e-03 1.53853343e-04 9.99952949e-01 -5.01412840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters 0.013453789163224284 Centerline is valid? [True, True] Translation: X:171.12, Y:-134.41, Z:-4.03 [[-9.65404772e-01 2.60616638e-01 8.52021942e-03 1.71115002e+02] [ 2.60605758e-01 9.65442366e-01 -2.38268821e-03 -1.34413911e+02] [-8.84674899e-03 -7.98403314e-05 -9.99960864e-01 -4.02674084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters 0.0133137413877814 Centerline is valid? [True, True] Translation: X:171.31, Y:-133.73, Z:-5.01 [[-9.40039942e-01 -3.41011663e-01 5.99606277e-03 1.71314079e+02] [ 3.41004111e-01 -9.40059061e-01 -2.27136971e-03 -1.33733038e+02] [ 6.41121669e-03 -9.04961955e-05 9.99979444e-01 -5.01061162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters 0.013006422381949496 Centerline is valid? [True, True] Translation: X:171.07, Y:-134.41, Z:-4.03 [[-9.65630240e-01 2.59877715e-01 4.67051892e-03 1.71072505e+02] [ 2.59874535e-01 9.65641534e-01 -1.28582903e-03 -1.34407279e+02] [-4.84420536e-03 -2.78864618e-05 -9.99988266e-01 -4.03043261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters 0.012835334026321388 Centerline is valid? [True, True] Translation: X:171.27, Y:-133.72, Z:-5.01 [[-9.42717744e-01 -3.33556284e-01 4.84353820e-03 1.71272731e+02] [ 3.33552133e-01 -9.42730186e-01 -1.66477074e-03 -1.33719360e+02] [ 5.12144440e-03 4.61635841e-05 9.99986884e-01 -5.00990274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters 0.012811153278054028 Centerline is valid? [True, True] Translation: X:171.02, Y:-134.40, Z:-4.03 [[-9.65622527e-01 2.59872407e-01 6.28237602e-03 1.71023425e+02] [ 2.59866811e-01 9.65642963e-01 -1.70541421e-03 -1.34397743e+02] [-6.50972229e-03 -1.42053578e-05 -9.99978811e-01 -4.02957112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters 0.01286972474579704 Centerline is valid? [True, True] Translation: X:171.22, Y:-133.71, Z:-5.01 [[-9.44858915e-01 -3.27367248e-01 8.50391710e-03 1.71224108e+02] [ 3.27355584e-01 -9.44897167e-01 -2.76851637e-03 -1.33705180e+02] [ 8.94164876e-03 1.67947377e-04 9.99960009e-01 -5.01239310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters 0.012853369965533988 Centerline is valid? [True, True] Translation: X:170.99, Y:-134.39, Z:-4.03 [[-9.65870632e-01 2.58840674e-01 9.76873633e-03 1.70987816e+02] [ 2.58827471e-01 9.65920031e-01 -2.61429154e-03 -1.34389291e+02] [-1.01125031e-02 3.34990023e-06 -9.99948867e-01 -4.02652459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters 0.012900684315991146 Centerline is valid? [True, True] Translation: X:171.18, Y:-133.69, Z:-5.01 [[-9.47012046e-01 -3.21044866e-01 9.91860333e-03 1.71180363e+02] [ 3.21027458e-01 -9.47063986e-01 -3.34331909e-03 -1.33692673e+02] [ 1.04669074e-02 1.79805613e-05 9.99945220e-01 -5.01343342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters 0.01293802301018992 Centerline is valid? [True, True] Translation: X:170.94, Y:-134.38, Z:-4.03 [[-9.65941862e-01 2.58639431e-01 7.87170053e-03 1.70944938e+02] [ 2.58631113e-01 9.65973935e-01 -2.07452902e-03 -1.34381820e+02] [-8.14041254e-03 3.19922492e-05 -9.99966866e-01 -4.02850411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters 0.012843077603014274 Centerline is valid? [True, True] Translation: X:170.95, Y:-134.35, Z:-4.03 [[-9.81862149e-01 1.89462048e-01 7.13106137e-03 1.70950227e+02] [ 1.89457260e-01 9.81888044e-01 -1.34722416e-03 -1.34353847e+02] [-7.25715175e-03 2.82429404e-05 -9.99973666e-01 -4.02899809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters 0.012673343246180307 Centerline is valid? [True, True] Translation: X:171.09, Y:-133.65, Z:-5.01 [[-9.68232273e-01 -2.49952924e-01 7.05695099e-03 1.71087976e+02] [ 2.49946090e-01 -9.68257990e-01 -1.84850050e-03 -1.33645788e+02] [ 7.29498729e-03 -2.59205289e-05 9.99973391e-01 -5.01038421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters 0.012766342396738609 Centerline is valid? [True, True] Translation: X:170.90, Y:-134.34, Z:-4.03 [[-9.83868805e-01 1.78652068e-01 9.25271088e-03 1.70899460e+02] [ 1.78643873e-01 9.83912312e-01 -1.71147701e-03 -1.34336966e+02] [-9.40961506e-03 -3.09287348e-05 -9.99955728e-01 -4.02754360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters 0.013114817548243195 Centerline is valid? [True, True] Translation: X:170.90, Y:-134.30, Z:-4.03 [[-9.94669593e-01 1.02614302e-01 1.01343974e-02 1.70899159e+02] [ 1.02608023e-01 9.94721215e-01 -1.13897332e-03 -1.34304317e+02] [-1.01977750e-02 -9.30316501e-05 -9.99947997e-01 -4.02717193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters 0.013525763247961443 Centerline is valid? [True, True] Translation: X:170.98, Y:-133.61, Z:-5.01 [[-9.81563683e-01 -1.90891513e-01 9.65233342e-03 1.70977219e+02] [ 1.90882927e-01 -9.81611138e-01 -1.81161249e-03 -1.33613496e+02] [ 9.82065944e-03 6.42526292e-05 9.99951774e-01 -5.01222423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters 0.014231516924503166 Centerline is valid? [True, True] Translation: X:170.85, Y:-134.29, Z:-4.03 [[-9.95635186e-01 9.28257559e-02 9.69310546e-03 1.70846713e+02] [ 9.28199303e-02 9.95682358e-01 -1.05012524e-03 -1.34292793e+02] [-9.74873277e-03 -1.45828268e-04 -9.99952469e-01 -4.02682225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters 0.014162125893427536 Centerline is valid? [True, True] Translation: X:170.92, Y:-133.61, Z:-5.01 [[-9.81497291e-01 -1.91247696e-01 9.34806246e-03 1.70924835e+02] [ 1.91240241e-01 -9.81541799e-01 -1.69337339e-03 -1.33610761e+02] [ 9.49936780e-03 1.25684319e-04 9.99954872e-01 -5.01210847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters 0.014522685062565875 Centerline is valid? [True, True] Translation: X:170.80, Y:-134.29, Z:-4.03 [[-9.96215353e-01 8.64598264e-02 8.92579739e-03 1.70795248e+02] [ 8.64549537e-02 9.96255326e-01 -9.31057319e-04 -1.34288174e+02] [-8.97287224e-03 -1.55854196e-04 -9.99959731e-01 -4.02812937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters 0.014231218598897174 Centerline is valid? [True, True] Translation: X:170.79, Y:-134.26, Z:-4.03 [[-9.99828684e-01 1.61533975e-02 9.03722199e-03 1.70791954e+02] [ 1.61513706e-02 9.99869514e-01 -2.97223758e-04 -1.34261731e+02] [-9.04084393e-03 -1.51209317e-04 -9.99959119e-01 -4.02767129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters 0.01399743256330624 Centerline is valid? [True, True] Translation: X:170.79, Y:-134.24, Z:-4.03 [[-9.98472762e-01 -5.41208793e-02 1.10939070e-02 1.70793219e+02] [-5.41195073e-02 9.98534376e-01 4.24067138e-04 -1.34236708e+02] [-1.11005984e-02 -1.76977296e-04 -9.99938371e-01 -4.02587697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters 0.014090820634021149 Centerline is valid? [True, True] Translation: X:170.77, Y:-133.55, Z:-5.01 [[-9.98909935e-01 -4.50331017e-02 1.22866446e-02 1.70769180e+02] [ 4.50330575e-02 -9.98985458e-01 -2.80397286e-04 -1.33545071e+02] [ 1.22868065e-02 2.73213541e-04 9.99924477e-01 -5.01460540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters 0.013727566198284403 Centerline is valid? [True, True] Translation: X:170.73, Y:-134.24, Z:-4.02 [[-9.98279520e-01 -5.69673428e-02 1.38824085e-02 1.70725777e+02] [-5.69645544e-02 9.98376023e-01 5.96517196e-04 -1.34243964e+02] [-1.38938458e-02 -1.95314313e-04 -9.99903457e-01 -4.02468027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters 0.013546218167984085 Centerline is valid? [True, True] Translation: X:170.72, Y:-134.22, Z:-4.02 [[-9.91978670e-01 -1.25680852e-01 1.35144782e-02 1.70716413e+02] [-1.25671421e-01 9.92070712e-01 1.54818823e-03 -1.34220822e+02] [-1.36018956e-02 -1.62613982e-04 -9.99907477e-01 -4.02496830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters 0.012867347522641811 Centerline is valid? [True, True] Translation: X:170.71, Y:-134.20, Z:-4.03 [[-9.81346333e-01 -1.91908778e-01 1.14190595e-02 1.70712318e+02] [-1.91896856e-01 9.81412764e-01 2.14101628e-03 -1.34201958e+02] [-1.16176906e-02 -9.02031380e-05 -9.99932508e-01 -4.02802849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters 0.012747055996472129 Centerline is valid? [True, True] Translation: X:170.70, Y:-134.18, Z:-4.03 [[-9.65581177e-01 -2.59955575e-01 8.72290697e-03 1.70701458e+02] [-2.59945481e-01 9.65620576e-01 2.29149585e-03 -1.34178451e+02] [-9.01870557e-03 -5.48549855e-05 -9.99959329e-01 -4.02980569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters 0.012826596431429908 Centerline is valid? [True, True] Translation: X:170.67, Y:-134.16, Z:-4.03 [[-9.43934575e-01 -3.30066940e-01 6.58273402e-03 1.70673806e+02] [-3.30059297e-01 9.43957527e-01 2.24681376e-03 -1.34155980e+02] [-6.95542027e-03 -5.18473682e-05 -9.99975809e-01 -4.03001003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters 0.012928310560981133 Centerline is valid? [True, True] Translation: X:170.63, Y:-134.14, Z:-4.03 [[-9.16886467e-01 -3.99088106e-01 6.92025578e-03 1.70630319e+02] [-3.99077298e-01 9.16912580e-01 2.93794950e-03 -1.34142054e+02] [-7.51777028e-03 -6.79508398e-05 -9.99971739e-01 -4.02951018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters 0.013026036363998619 Centerline is valid? [True, True] Translation: X:170.57, Y:-134.14, Z:-4.03 [[-8.84683832e-01 -4.66135359e-01 7.23499107e-03 1.70567462e+02] [-4.66120505e-01 8.84713412e-01 3.72211994e-03 -1.34139534e+02] [-8.13590534e-03 -7.94783584e-05 -9.99966900e-01 -4.02887860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters 0.013104640941801032 Centerline is valid? [True, True] Translation: X:170.50, Y:-134.14, Z:-4.03 [[-8.47739123e-01 -5.30366817e-01 7.02991109e-03 1.70497661e+02] [-5.30349374e-01 8.47768266e-01 4.30216359e-03 -1.34144407e+02] [-8.24146034e-03 -8.11965552e-05 -9.99966035e-01 -4.02790403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters 0.012785257498026685 Centerline is valid? [True, True] Translation: X:170.42, Y:-134.16, Z:-4.03 [[-8.06900812e-01 -5.90653005e-01 6.33303006e-03 1.70424916e+02] [-5.90635433e-01 8.06925662e-01 4.55654016e-03 -1.34157631e+02] [-7.80161861e-03 -6.38359902e-05 -9.99969565e-01 -4.02699661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters 0.01229178236446896 Centerline is valid? [True, True] Translation: X:170.35, Y:-134.19, Z:-4.03 [[-7.63193191e-01 -6.46140102e-01 6.25468950e-03 1.70347127e+02] [-6.46118740e-01 7.63218820e-01 5.25420933e-03 -1.34185607e+02] [-8.16865210e-03 -3.12953139e-05 -9.99966636e-01 -4.02638522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters 0.012273613097661682 Centerline is valid? [True, True] Translation: X:170.26, Y:-134.23, Z:-4.03 [[-7.14821794e-01 -6.99288537e-01 5.03430644e-03 1.70264947e+02] [-6.99271226e-01 7.14839522e-01 4.92046257e-03 -1.34226336e+02] [-7.03954428e-03 -3.09175411e-06 -9.99975222e-01 -4.02687482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters 0.012338223999827121 Centerline is valid? [True, True] Translation: X:170.18, Y:-134.28, Z:-4.03 [[-6.63382671e-01 -7.48274169e-01 3.03300263e-03 1.70182074e+02] [-7.48266218e-01 6.63389605e-01 3.44955363e-03 -1.34275575e+02] [-4.59327429e-03 1.88806939e-05 -9.99989451e-01 -4.02756491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters 0.012435721428663386 Centerline is valid? [True, True] Translation: X:170.10, Y:-134.34, Z:-4.03 [[-6.06193457e-01 -7.95314086e-01 2.23558347e-03 1.70098595e+02] [-7.95308543e-01 6.06197579e-01 2.96942963e-03 -1.34336978e+02] [-3.71683450e-03 2.20701799e-05 -9.99993092e-01 -4.02825961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters 0.01227211792062411 Centerline is valid? [True, True] Translation: X:170.02, Y:-134.40, Z:-4.03 [[-5.42527478e-01 -8.40037139e-01 1.24113782e-03 1.70019044e+02] [-8.40034898e-01 5.42528898e-01 1.94027243e-03 -1.34400054e+02] [-2.30325404e-03 1.00520265e-05 -9.99997348e-01 -4.02906138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters 0.01221662573808221 Centerline is valid? [True, True] Translation: X:169.94, Y:-134.47, Z:-4.03 [[-4.75206496e-01 -8.79873992e-01 7.38467060e-04 1.69941593e+02] [-8.79872916e-01 4.75207069e-01 1.37590361e-03 -1.34472078e+02] [-1.56154657e-03 4.08116607e-06 -9.99998781e-01 -4.02926791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters 0.012220406339664244 Centerline is valid? [True, True] Translation: X:169.86, Y:-134.56, Z:-4.03 [[-4.02516881e-01 -9.15411623e-01 1.31210577e-03 1.69863079e+02] [-9.15406819e-01 4.02519020e-01 2.96539840e-03 -1.34556565e+02] [-3.24270769e-03 -7.48765742e-06 -9.99994742e-01 -4.02743494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters 0.012452834276712298 Centerline is valid? [True, True] Translation: X:169.79, Y:-134.65, Z:-4.03 [[-3.27610082e-01 -9.44811520e-01 1.68083633e-03 1.69792765e+02] [-9.44799595e-01 3.27614392e-01 4.74713344e-03 -1.34648343e+02] [-5.03581253e-03 -3.28447048e-05 -9.99987320e-01 -4.02603203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters 0.012644130240285045 Centerline is valid? [True, True] Translation: X:169.73, Y:-134.75, Z:-4.03 [[-2.52992676e-01 -9.67466649e-01 1.72912874e-03 1.69731726e+02] [-9.67445471e-01 2.52998579e-01 6.40149930e-03 -1.34748600e+02] [-6.63070419e-03 -5.33053346e-05 -9.99978015e-01 -4.02571568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters 0.012636014397791374 Centerline is valid? [True, True] Translation: X:169.68, Y:-134.85, Z:-4.02 [[-1.78089548e-01 -9.84013191e-01 1.46709717e-03 1.69678618e+02] [-9.83982704e-01 1.78095579e-01 7.74620564e-03 -1.34848205e+02] [-7.88365205e-03 -6.40799804e-05 -9.99968922e-01 -4.02452087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters 0.012548613146471226 Centerline is valid? [True, True] Translation: X:169.63, Y:-134.96, Z:-4.02 [[-1.03368062e-01 -9.94642739e-01 9.29817719e-04 1.69634886e+02] [-9.94607405e-01 1.03372228e-01 8.38404487e-03 -1.34957745e+02] [-8.43524669e-03 -5.81611154e-05 -9.99964421e-01 -4.02374575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters 0.012263580202259906 Centerline is valid? [True, True] Translation: X:169.60, Y:-135.07, Z:-4.02 [[-3.03580152e-02 -9.99539050e-01 2.80068025e-04 1.69603876e+02] [-9.99504380e-01 3.03592948e-02 8.32510187e-03 -1.35070509e+02] [-8.32976708e-03 -2.71956491e-05 -9.99965307e-01 -4.02457497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters 0.012301828387292562 Centerline is valid? [True, True] Translation: X:169.58, Y:-135.19, Z:-4.03 [[ 4.09350153e-02 -9.99161755e-01 -3.35619427e-04 1.69582977e+02] [-9.99131753e-01 -4.09363870e-02 7.74285630e-03 -1.35185629e+02] [-7.75010493e-03 1.83740850e-05 -9.99969967e-01 -4.02548972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters 0.012460808952954096 Centerline is valid? [True, True] Translation: X:169.57, Y:-135.30, Z:-4.03 [[ 1.13197348e-01 -9.93572232e-01 -7.61399899e-04 1.69568781e+02] [-9.93552243e-01 -1.13199901e-01 6.30269600e-03 -1.35298798e+02] [-6.34837413e-03 4.30421035e-05 -9.99979848e-01 -4.02760502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters 0.012663634843546314 Centerline is valid? [True, True] Translation: X:169.56, Y:-135.42, Z:-4.03 [[ 1.87768386e-01 -9.82212550e-01 -1.24078487e-03 1.69563613e+02] [-9.82192905e-01 -1.87772478e-01 6.21236201e-03 -1.35420606e+02] [-6.33484518e-03 5.22049120e-05 -9.99979933e-01 -4.02809637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters 0.012673541378257618 Centerline is valid? [True, True] Translation: X:169.56, Y:-135.54, Z:-4.03 [[ 2.63134559e-01 -9.64757468e-01 -1.79795491e-03 1.69563216e+02] [-9.64736271e-01 -2.63140697e-01 6.39547607e-03 -1.35536531e+02] [-6.64319841e-03 5.16815401e-05 -9.99977932e-01 -4.02773174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters 0.012404752086392055 Centerline is valid? [True, True] Translation: X:169.57, Y:-135.66, Z:-4.03 [[ 3.41576273e-01 -9.39849809e-01 -2.82614033e-03 1.69571208e+02] [-9.39818087e-01 -3.41587964e-01 7.72187065e-03 -1.35660582e+02] [-8.22277417e-03 1.84500024e-05 -9.99966192e-01 -4.02650146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters 0.012466236560666467 Centerline is valid? [True, True] Translation: X:169.59, Y:-135.78, Z:-4.03 [[ 4.15995031e-01 -9.09359849e-01 -3.57769281e-03 1.69587870e+02] [-9.09325965e-01 -4.16010415e-01 7.85003880e-03 -1.35780254e+02] [-8.62686756e-03 -1.22881692e-05 -9.99962788e-01 -4.02610601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters 0.01270262839445898 Centerline is valid? [True, True] Translation: X:169.61, Y:-135.90, Z:-4.03 [[ 4.89487433e-01 -8.71999156e-01 -4.41876153e-03 1.69612614e+02] [-8.71962407e-01 -4.89507373e-01 8.00578959e-03 -1.35897594e+02] [-9.14405811e-03 -6.57394545e-05 -9.99958190e-01 -4.02650404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters 0.013689976786820584 Centerline is valid? [True, True] Translation: X:169.64, Y:-136.01, Z:-4.03 [[ 5.59815667e-01 -8.28602800e-01 -4.88053661e-03 1.69644834e+02] [-8.28569453e-01 -5.59836929e-01 7.43471924e-03 -1.36012611e+02] [-8.89273380e-03 -1.18208763e-04 -9.99960452e-01 -4.02649266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters 0.01430863116183534 Centerline is valid? [True, True] Translation: X:169.68, Y:-136.12, Z:-4.03 [[ 6.24632891e-01 -7.80901773e-01 -5.11595496e-03 1.69683315e+02] [-7.80873659e-01 -6.24653824e-01 6.62787516e-03 -1.36119056e+02] [-8.37142030e-03 -1.45074355e-04 -9.99964949e-01 -4.02666267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters 0.014269067180030213 Centerline is valid? [True, True] Translation: X:169.73, Y:-136.22, Z:-4.03 [[ 6.82833216e-01 -7.30552026e-01 -5.70406232e-03 1.69733715e+02] [-7.30524638e-01 -6.82857023e-01 6.32770574e-03 -1.36221578e+02] [-8.51777726e-03 -1.53809597e-04 -9.99963711e-01 -4.02698586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters 0.014509859093525646 Centerline is valid? [True, True] Translation: X:169.79, Y:-136.31, Z:-4.03 [[ 7.36477018e-01 -6.76436132e-01 -5.98011439e-03 1.69785973e+02] [-6.76412173e-01 -7.36501281e-01 5.69525000e-03 -1.36312636e+02] [-8.25683479e-03 -1.49398569e-04 -9.99965901e-01 -4.02763605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters 0.01401463803929213 Centerline is valid? [True, True] Translation: X:169.81, Y:-136.34, Z:-4.03 [[ 7.86518712e-01 -6.17527180e-01 -6.96404176e-03 1.69806598e+02] [-6.17501229e-01 -7.86549527e-01 5.66347416e-03 -1.36341683e+02] [-8.97491298e-03 -1.54124055e-04 -9.99959713e-01 -4.02723664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters 0.014224514288434489 Centerline is valid? [True, True] Translation: X:169.83, Y:-136.37, Z:-4.03 [[ 8.32219504e-01 -5.54384000e-01 -8.31126460e-03 1.69827489e+02] [-5.54354298e-01 -8.32260987e-01 5.74113359e-03 -1.36367993e+02] [-1.00999339e-02 -1.70498088e-04 -9.99948980e-01 -4.02599898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters 0.01440934629610239 Centerline is valid? [True, True] Translation: X:169.85, Y:-136.39, Z:-4.03 [[ 8.72811792e-01 -4.87966619e-01 -9.38912913e-03 1.69852837e+02] [-4.87936170e-01 -8.72862273e-01 5.45405579e-03 -1.36389480e+02] [-1.08568138e-02 -1.79068498e-04 -9.99941047e-01 -4.02548344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters 0.014130065424588254 Centerline is valid? [True, True] Translation: X:169.88, Y:-136.41, Z:-4.03 [[ 9.08505571e-01 -4.17742702e-01 -1.04241736e-02 1.69879868e+02] [-4.17712707e-01 -9.08565351e-01 5.00974269e-03 -1.36411094e+02] [-1.15638264e-02 -1.97069359e-04 -9.99933117e-01 -4.02607613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters 0.01482290427655794 Centerline is valid? [True, True] Translation: X:169.91, Y:-136.43, Z:-4.02 [[ 9.38898248e-01 -3.44009950e-01 -1.12797981e-02 1.69906855e+02] [-3.43982246e-01 -9.38965976e-01 4.37156614e-03 -1.36431347e+02] [-1.20952088e-02 -2.24405511e-04 -9.99926825e-01 -4.02488500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters 0.014893513445680578 Centerline is valid? [True, True] Translation: X:169.94, Y:-136.45, Z:-4.03 [[ 9.63644230e-01 -2.66877200e-01 -1.28979712e-02 1.69936815e+02] [-2.66849299e-01 -9.63730501e-01 3.86957681e-03 -1.36449707e+02] [-1.34628701e-02 -2.87080793e-04 -9.99909330e-01 -4.02507390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters 0.01547820052401406 Centerline is valid? [True, True] Translation: X:169.97, Y:-136.47, Z:-4.02 [[ 9.81774303e-01 -1.89509869e-01 -1.43257822e-02 1.69968023e+02] [-1.89484777e-01 -9.81878761e-01 3.10141605e-03 -1.36465417e+02] [-1.46539302e-02 -3.30372932e-04 -9.99892571e-01 -4.02419872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters 0.015638665844491202 Centerline is valid? [True, True] Translation: X:170.00, Y:-136.48, Z:-4.02 [[ 9.93462212e-01 -1.13410654e-01 -1.30712314e-02 1.69998806e+02] [-1.13397126e-01 -9.93548160e-01 1.77389621e-03 -1.36475575e+02] [-1.31880766e-02 -2.80058787e-04 -9.99912994e-01 -4.02455126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters 0.014950609483334161 Centerline is valid? [True, True] Translation: X:170.03, Y:-136.48, Z:-4.03 [[ 9.99198666e-01 -3.83000396e-02 -1.16246618e-02 1.70028776e+02] [-3.82949770e-02 -9.99266262e-01 6.57869175e-04 -1.36478691e+02] [-1.16413287e-02 -2.12175848e-04 -9.99932215e-01 -4.02563798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters 0.013678027337309795 Centerline is valid? [True, True] Translation: X:170.06, Y:-136.48, Z:-4.03 [[ 9.99355141e-01 3.45281236e-02 -9.85452978e-03 1.70057900e+02] [ 3.45276803e-02 -9.99403719e-01 -2.15162699e-04 -1.36475861e+02] [-9.85608287e-03 -1.25230104e-04 -9.99951420e-01 -4.02704938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters 0.012394510134821828 Centerline is valid? [True, True] Translation: X:170.09, Y:-136.48, Z:-4.03 [[ 9.94158558e-01 1.07595534e-01 -8.48311219e-03 1.70086963e+02] [ 1.07592173e-01 -9.94194748e-01 -8.52850738e-04 -1.36477238e+02] [-8.52562852e-03 -6.48476150e-05 -9.99963654e-01 -4.02881189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters 0.01236017323568511 Centerline is valid? [True, True] Translation: X:170.12, Y:-136.48, Z:-4.03 [[ 9.82949180e-01 1.83643990e-01 -9.26250444e-03 1.70116163e+02] [ 1.83636386e-01 -9.82992819e-01 -1.67210494e-03 -1.36481170e+02] [-9.41204737e-03 -5.73386636e-05 -9.99955704e-01 -4.02713561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters 0.012732705858150025 Centerline is valid? [True, True] Translation: X:170.15, Y:-136.49, Z:-4.03 [[ 9.65013780e-01 2.62009091e-01 -9.98199981e-03 1.70146564e+02] [ 2.61995978e-01 -9.65065402e-01 -2.62266079e-03 -1.36485155e+02] [-1.03204436e-02 -8.43399979e-05 -9.99946739e-01 -4.02504281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters 0.012780100981765156 Centerline is valid? [True, True] Translation: X:170.18, Y:-136.49, Z:-4.02 [[ 9.41130403e-01 3.37864725e-01 -1.09995926e-02 1.70177204e+02] [ 3.37843002e-01 -9.41194675e-01 -3.83281355e-03 -1.36485655e+02] [-1.16477305e-02 -1.08958037e-04 -9.99932157e-01 -4.02337731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters 0.012933389461633677 Centerline is valid? [True, True] Translation: X:170.21, Y:-136.48, Z:-4.02 [[ 9.11654539e-01 4.10831326e-01 -1.01795752e-02 1.70206596e+02] [ 4.10807031e-01 -9.11711364e-01 -4.46907427e-03 -1.36481876e+02] [-1.11168701e-02 -1.07589242e-04 -9.99938200e-01 -4.02331122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters 0.012948270082025206 Centerline is valid? [True, True] Translation: X:170.24, Y:-136.48, Z:-4.02 [[ 8.76825297e-01 4.80736334e-01 -8.36509622e-03 1.70236704e+02] [ 4.80715430e-01 -8.76865194e-01 -4.48408290e-03 -1.36475504e+02] [-9.49072330e-03 -8.94735068e-05 -9.99954958e-01 -4.02358611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters 0.01234318743718811 Centerline is valid? [True, True] Translation: X:170.27, Y:-136.47, Z:-4.03 [[ 8.37258908e-01 5.46765341e-01 -6.72177698e-03 1.70267470e+02] [ 5.46748336e-01 -8.37285888e-01 -4.31272658e-03 -1.36470251e+02] [-7.98609842e-03 -6.42516310e-05 -9.99968109e-01 -4.02520744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters 0.012420711806400675 Centerline is valid? [True, True] Translation: X:170.30, Y:-136.46, Z:-4.02 [[ 7.92398253e-01 6.09971589e-01 -6.29836342e-03 1.70297248e+02] [ 6.09952892e-01 -7.92423282e-01 -4.77620540e-03 -1.36462616e+02] [-7.90431941e-03 -5.70481655e-05 -9.99968759e-01 -4.02444938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters 0.012476630711585683 Centerline is valid? [True, True] Translation: X:170.33, Y:-136.45, Z:-4.02 [[ 7.42451986e-01 6.69868796e-01 -6.39097671e-03 1.70325814e+02] [ 6.69844658e-01 -7.42479490e-01 -5.68694003e-03 -1.36450472e+02] [-8.55467280e-03 -5.86816915e-05 -9.99963406e-01 -4.02365263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters 0.012423470174088689 Centerline is valid? [True, True] Translation: X:170.35, Y:-136.44, Z:-4.02 [[ 6.88242245e-01 7.25454100e-01 -6.24194156e-03 1.70352994e+02] [ 7.25424992e-01 -6.88270547e-01 -6.49884431e-03 -1.36436067e+02] [-9.01075778e-03 -5.52812119e-05 -9.99959401e-01 -4.02287431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters 0.012295102760082645 Centerline is valid? [True, True] Translation: X:170.38, Y:-136.42, Z:-4.02 [[ 6.30370809e-01 7.76276884e-01 -5.18100990e-03 1.70379214e+02] [ 7.76251176e-01 -6.30392099e-01 -6.31769283e-03 -1.36419167e+02] [-8.17034661e-03 -3.92758869e-05 -9.99966621e-01 -4.02272159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters 0.012153962329085218 Centerline is valid? [True, True] Translation: X:170.40, Y:-136.40, Z:-4.02 [[ 5.68336534e-01 8.22784059e-01 -4.46955240e-03 1.70403471e+02] [ 8.22759044e-01 -5.68354108e-01 -6.41591327e-03 -1.36400607e+02] [-7.81919963e-03 -3.09667524e-05 -9.99969429e-01 -4.02356046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters 0.012190274423074762 Centerline is valid? [True, True] Translation: X:170.43, Y:-136.38, Z:-4.02 [[ 5.03141100e-01 8.64195923e-01 -3.80013902e-03 1.70425860e+02] [ 8.64171590e-01 -5.03155450e-01 -6.48505833e-03 -1.36379845e+02] [-7.51642162e-03 -2.10727979e-05 -9.99971751e-01 -4.02385975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters 0.01226957200738847 Centerline is valid? [True, True] Translation: X:170.45, Y:-136.36, Z:-4.02 [[ 4.33450769e-01 9.01171159e-01 -3.31266931e-03 1.70448159e+02] [ 9.01145290e-01 -4.33463427e-01 -6.82815811e-03 -1.36358175e+02] [-7.58926014e-03 -2.55259695e-05 -9.99971201e-01 -4.02315333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters 0.012522434720505298 Centerline is valid? [True, True] Translation: X:170.47, Y:-136.34, Z:-4.02 [[ 3.59871617e-01 9.32997165e-01 -2.95131485e-03 1.70467302e+02] [ 9.32966745e-01 -3.59883716e-01 -7.53415437e-03 -1.36335477e+02] [-8.09147482e-03 -4.21502993e-05 -9.99967263e-01 -4.02262109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters 0.01290816285161889 Centerline is valid? [True, True] Translation: X:170.49, Y:-136.31, Z:-4.02 [[ 2.81980933e-01 9.59416948e-01 -2.42347008e-03 1.70486613e+02] [ 9.59383790e-01 -2.81991337e-01 -7.97676340e-03 -1.36311883e+02] [-8.33643956e-03 -7.57427293e-05 -9.99965248e-01 -4.02269771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters 0.014009758242996087 Centerline is valid? [True, True] Translation: X:170.50, Y:-136.29, Z:-4.02 [[ 2.00517927e-01 9.79688672e-01 -1.63328376e-03 1.70504442e+02] [ 9.79660561e-01 -2.00524547e-01 -7.42235250e-03 -1.36287183e+02] [-7.59910815e-03 -1.11748945e-04 -9.99971120e-01 -4.02288822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters 0.015022476617861196 Centerline is valid? [True, True] Translation: X:170.52, Y:-136.26, Z:-4.02 [[ 1.18925069e-01 9.92902691e-01 -1.03636796e-03 1.70518963e+02] [ 9.92874736e-01 -1.18929499e-01 -7.45202485e-03 -1.36260224e+02] [-7.52239025e-03 -1.42751002e-04 -9.99971696e-01 -4.02298571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters 0.016523833604449065 Centerline is valid? [True, True] Translation: X:170.53, Y:-136.23, Z:-4.02 [[ 3.72691789e-02 9.99305145e-01 -4.84918928e-04 1.70530405e+02] [ 9.99272272e-01 -3.72718872e-02 -8.10762589e-03 -1.36233321e+02] [-8.12006611e-03 -1.82401479e-04 -9.99967015e-01 -4.02201828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters 0.01668681455064491 Centerline is valid? [True, True] Translation: X:170.54, Y:-136.20, Z:-4.02 [[-4.43406085e-02 9.99016461e-01 1.42268004e-04 1.70539842e+02] [ 9.98987484e-01 4.43404063e-02 -7.61156723e-03 -1.36203593e+02] [-7.61038919e-03 -1.95377568e-04 -9.99971022e-01 -4.02347256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters 0.018020944285352867 Centerline is valid? [True, True] Translation: X:170.55, Y:-136.17, Z:-4.02 [[-1.24099494e-01 9.92269548e-01 6.78281823e-04 1.70547155e+02] [ 9.92245144e-01 1.24101200e-01 -6.96180734e-03 -1.36174199e+02] [-6.99216501e-03 -1.90934920e-04 -9.99975536e-01 -4.02361973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters 0.018476786250604886 Centerline is valid? [True, True] Translation: X:170.55, Y:-136.14, Z:-4.02 [[-2.03035142e-01 9.79170364e-01 1.45941423e-03 1.70550590e+02] [ 9.79135815e-01 2.03040243e-01 -8.22897998e-03 -1.36143694e+02] [-8.35389314e-03 -2.41807377e-04 -9.99965076e-01 -4.02287502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters 0.01775555977529763 Centerline is valid? [True, True] Translation: X:170.55, Y:-136.11, Z:-4.02 [[-2.79343686e-01 9.60188021e-01 2.46343106e-03 1.70551877e+02] [ 9.60141149e-01 2.79354402e-01 -9.49166062e-03 -1.36112154e+02] [-9.80194914e-03 -2.86193938e-04 -9.99951919e-01 -4.02208990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters 0.017939185504179597 Centerline is valid? [True, True] Translation: X:170.55, Y:-136.08, Z:-4.02 [[-3.53103850e-01 9.35578361e-01 3.28652205e-03 1.70549534e+02] [ 9.35529952e-01 3.53119027e-01 -9.52167745e-03 -1.36081494e+02] [-1.00688089e-02 -2.87501148e-04 -9.99949267e-01 -4.02174062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters 0.016598910050801375 Centerline is valid? [True, True] Translation: X:170.54, Y:-136.05, Z:-4.02 [[-4.22888588e-01 9.06173154e-01 3.93148465e-03 1.70543437e+02] [ 9.06128231e-01 4.22906786e-01 -9.02663246e-03 -1.36052133e+02] [-9.84234355e-03 -2.54830625e-04 -9.99951531e-01 -4.02258148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters 0.014977664303867598 Centerline is valid? [True, True] Translation: X:170.53, Y:-136.02, Z:-4.02 [[-4.86874258e-01 8.73461095e-01 4.37855624e-03 1.70533306e+02] [ 8.73422388e-01 4.86893913e-01 -8.22494073e-03 -1.36024679e+02] [-9.31605812e-03 -1.80182876e-04 -9.99956588e-01 -4.02294418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters 0.013888035962224828 Centerline is valid? [True, True] Translation: X:170.52, Y:-136.00, Z:-4.02 [[-5.49348641e-01 8.35580804e-01 4.55967731e-03 1.70521438e+02] [ 8.35550211e-01 5.49367551e-01 -7.15108943e-03 -1.35997554e+02] [-8.48025181e-03 -1.18601926e-04 -9.99964035e-01 -4.02334519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters 0.012867826587385483 Centerline is valid? [True, True] Translation: X:170.51, Y:-135.97, Z:-4.02 [[-6.06692469e-01 7.94919892e-01 5.15882041e-03 1.70505922e+02] [ 7.94890449e-01 6.06714399e-01 -6.84193451e-03 -1.35974807e+02] [-8.56872046e-03 -5.02530682e-05 -9.99963287e-01 -4.02276570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters 0.012662997328615047 Centerline is valid? [True, True] Translation: X:170.49, Y:-135.95, Z:-4.02 [[-6.61567280e-01 7.49856978e-01 6.57611328e-03 1.70487159e+02] [ 7.49820160e-01 6.61599963e-01 -7.43075167e-03 -1.35954432e+02] [-9.92275730e-03 1.49601406e-05 -9.99950768e-01 -4.02121079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters 0.012949877070113051 Centerline is valid? [True, True] Translation: X:170.47, Y:-135.93, Z:-4.02 [[-7.15604136e-01 6.98465072e-01 7.56728386e-03 1.70468671e+02] [ 6.98426850e-01 7.15644143e-01 -7.30722517e-03 -1.35932742e+02] [-1.05193239e-02 5.61136794e-05 -9.99944669e-01 -4.02128146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters 0.013404735588354056 Centerline is valid? [True, True] Translation: X:170.49, Y:-135.92, Z:-4.02 [[-7.61346927e-01 6.48292094e-01 8.25942769e-03 1.70488057e+02] [ 6.48255208e-01 7.61391721e-01 -6.91610973e-03 -1.35916385e+02] [-1.07723191e-02 8.86581247e-05 -9.99941973e-01 -4.02108514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters 0.013432476477883041 Centerline is valid? [True, True] Translation: X:170.50, Y:-135.89, Z:-4.02 [[-8.04262721e-01 5.94205455e-01 9.01960579e-03 1.70502839e+02] [ 5.94169633e-01 8.04313288e-01 -6.52555301e-03 -1.35893442e+02] [-1.11321080e-02 1.10916840e-04 -9.99938030e-01 -4.02119672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters 0.013387458651565112 Centerline is valid? [True, True] Translation: X:170.52, Y:-135.87, Z:-4.02 [[-8.44401060e-01 5.35627407e-01 9.49369078e-03 1.70522648e+02] [ 5.35595007e-01 8.44454421e-01 -5.89235108e-03 -1.35873389e+02] [-1.11730939e-02 1.09265878e-04 -9.99937573e-01 -4.02076792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters 0.013515286824152532 Centerline is valid? [True, True] Translation: X:170.53, Y:-135.85, Z:-4.02 [[-8.81089011e-01 4.72840139e-01 1.02155448e-02 1.70532523e+02] [ 4.72809561e-01 8.81148225e-01 -5.37816200e-03 -1.35846643e+02] [-1.15444201e-02 9.13678269e-05 -9.99933357e-01 -4.01892457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters 0.01277384506991813 Centerline is valid? [True, True] Translation: X:170.55, Y:-135.82, Z:-4.02 [[-9.13753698e-01 4.06112591e-01 1.12580217e-02 1.70547862e+02] [ 4.06082512e-01 9.13823047e-01 -4.94297760e-03 -1.35819820e+02] [-1.22952451e-02 5.50216645e-05 -9.99924409e-01 -4.01928307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters 0.012660400228477066 Centerline is valid? [True, True] Translation: X:170.83, Y:-135.19, Z:-5.02 [[-8.86506278e-01 -4.62598018e-01 1.04734484e-02 1.70827622e+02] [ 4.62564647e-01 -8.86568140e-01 -5.55702124e-03 -1.35188384e+02] [ 1.18560927e-02 -8.16872450e-05 9.99929711e-01 -5.02099171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters 0.01264640341481011 Centerline is valid? [True, True] Translation: X:170.81, Y:-135.22, Z:-5.02 [[-8.50855390e-01 -5.25326070e-01 8.81048179e-03 1.70812898e+02] [ 5.25298493e-01 -8.50901003e-01 -5.38287365e-03 -1.35217665e+02] [ 1.03246117e-02 4.80857459e-05 9.99946699e-01 -5.01962535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters 0.012915333055241361 Centerline is valid? [True, True] Translation: X:170.45, Y:-135.80, Z:-4.02 [[-8.91673692e-01 4.52606517e-01 8.08510141e-03 1.70453852e+02] [ 4.52587182e-01 8.91710343e-01 -4.18409727e-03 -1.35796351e+02] [-9.10331824e-03 -7.16361968e-05 -9.99958561e-01 -4.02043916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters 0.01340125968608391 Centerline is valid? [True, True] Translation: X:170.77, Y:-135.20, Z:-5.02 [[-8.48565435e-01 -5.29047648e-01 6.72972025e-03 1.70767399e+02] [ 5.29030887e-01 -8.48592120e-01 -4.21127211e-03 -1.35202949e+02] [ 7.93875118e-03 -1.33100737e-05 9.99968488e-01 -5.01878537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters 0.013732888371665343 Centerline is valid? [True, True] Translation: X:170.42, Y:-135.77, Z:-4.02 [[-8.96357489e-01 4.43283463e-01 6.55923003e-03 1.70416650e+02] [ 4.43270716e-01 8.96381481e-01 -3.36340435e-03 -1.35772164e+02] [-7.37051386e-03 -1.07298088e-04 -9.99972832e-01 -4.02106286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters 0.014629129929704596 Centerline is valid? [True, True] Translation: X:170.43, Y:-135.74, Z:-4.02 [[-9.26275315e-01 3.76768700e-01 7.70629519e-03 1.70425892e+02] [ 3.76754400e-01 9.26307361e-01 -3.28560012e-03 -1.35743071e+02] [-8.37630924e-03 -1.39989668e-04 -9.99964908e-01 -4.01975144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters 0.014646766758926935 Centerline is valid? [True, True] Translation: X:170.69, Y:-135.14, Z:-5.02 [[-8.83335399e-01 -4.68660280e-01 8.72438687e-03 1.70688310e+02] [ 4.68640170e-01 -8.83378447e-01 -4.34861187e-03 -1.35140052e+02] [ 9.74495699e-03 2.47315339e-04 9.99952486e-01 -5.02109386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters 0.014634288255578817 Centerline is valid? [True, True] Translation: X:170.39, Y:-135.73, Z:-4.02 [[-9.27125299e-01 3.74594262e-01 1.08544553e-02 1.70385485e+02] [ 3.74566275e-01 9.27188819e-01 -4.58263883e-03 -1.35726811e+02] [-1.17807598e-02 -1.82967506e-04 -9.99930588e-01 -4.01634895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters 0.013811842707712576 Centerline is valid? [True, True] Translation: X:170.39, Y:-135.71, Z:-4.02 [[-9.50447092e-01 3.10666780e-01 1.16823631e-02 1.70393979e+02] [ 3.10641285e-01 9.50518873e-01 -3.98305407e-03 -1.35706026e+02] [-1.23417091e-02 -1.56657887e-04 -9.99923826e-01 -4.01717637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters 0.013213751740871523 Centerline is valid? [True, True] Translation: X:170.41, Y:-135.69, Z:-4.02 [[-9.69221924e-01 2.45903349e-01 1.18492910e-02 1.70405438e+02] [ 2.45883557e-01 9.69294347e-01 -3.12186740e-03 -1.35686862e+02] [-1.22531284e-02 -1.12236506e-04 -9.99924921e-01 -4.01822964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters 0.012956359876433366 Centerline is valid? [True, True] Translation: X:170.58, Y:-135.03, Z:-5.02 [[-9.45468355e-01 -3.25551839e-01 1.02756832e-02 1.70582528e+02] [ 3.25532802e-01 -9.45524193e-01 -3.52066109e-03 -1.35027891e+02] [ 1.08620648e-02 1.63983018e-05 9.99941006e-01 -5.01921394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters 0.01296489034175374 Centerline is valid? [True, True] Translation: X:170.36, Y:-135.68, Z:-4.02 [[-9.69268652e-01 2.45823812e-01 9.43045004e-03 1.70356423e+02] [ 2.45811642e-01 9.69314526e-01 -2.44662418e-03 -1.35682288e+02] [-9.74251069e-03 -5.33217088e-05 -9.99952539e-01 -4.02170899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters 0.012894055802920187 Centerline is valid? [True, True] Translation: X:170.54, Y:-135.01, Z:-5.02 [[-9.47061958e-01 -3.20913088e-01 9.40409830e-03 1.70537615e+02] [ 3.20897943e-01 -9.47108645e-01 -3.11833411e-03 -1.35012624e+02] [ 9.90741703e-03 6.45001976e-05 9.99950918e-01 -5.01713335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters 0.01291800831301681 Centerline is valid? [True, True] Translation: X:170.31, Y:-135.68, Z:-4.02 [[-9.70001978e-01 2.42891467e-01 9.99484561e-03 1.70313099e+02] [ 2.42878056e-01 9.70053469e-01 -2.55286792e-03 -1.35676135e+02] [-1.03156045e-02 -4.87582607e-05 -9.99946792e-01 -4.02269986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters 0.012855186928619564 Centerline is valid? [True, True] Translation: X:170.49, Y:-135.00, Z:-5.02 [[-9.48820467e-01 -3.15644550e-01 1.04038126e-02 1.70493785e+02] [ 3.15626611e-01 -9.48877500e-01 -3.36637917e-03 -1.34997368e+02] [ 1.09345230e-02 8.96306757e-05 9.99940212e-01 -5.01588617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters 0.012787279712642792 Centerline is valid? [True, True] Translation: X:170.27, Y:-135.67, Z:-4.02 [[-9.70063840e-01 2.42631722e-01 1.02952959e-02 1.70266202e+02] [ 2.42617905e-01 9.70118471e-01 -2.58937171e-03 -1.35670036e+02] [-1.06159204e-02 -1.40327488e-05 -9.99943649e-01 -4.02434632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters 0.01293172209882816 Centerline is valid? [True, True] Translation: X:170.28, Y:-135.65, Z:-4.03 [[-9.83946451e-01 1.78203263e-01 9.64255884e-03 1.70277637e+02] [ 1.78195070e-01 9.83993697e-01 -1.70923395e-03 -1.35648443e+02] [-9.79280819e-03 3.64617651e-05 -9.99952049e-01 -4.02574240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters 0.013076224774705278 Centerline is valid? [True, True] Translation: X:170.41, Y:-134.94, Z:-5.01 [[-9.71875826e-01 -2.35300461e-01 9.54315893e-03 1.70408931e+02] [ 2.35288769e-01 -9.71922678e-01 -2.34584723e-03 -1.34943299e+02] [ 9.82719152e-03 -3.44740923e-05 9.99951711e-01 -5.01359433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters 0.013626810930006495 Centerline is valid? [True, True] Translation: X:170.23, Y:-135.65, Z:-4.03 [[-9.83412068e-01 1.81063573e-01 1.08022148e-02 1.70231910e+02] [ 1.81053938e-01 9.83471387e-01 -1.87148019e-03 -1.35645361e+02] [-1.09625260e-02 1.15347315e-04 -9.99939903e-01 -4.02581942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters 0.014398625305388954 Centerline is valid? [True, True] Translation: X:170.24, Y:-135.62, Z:-4.02 [[-9.93304096e-01 1.14759526e-01 1.33125659e-02 1.70237664e+02] [ 1.14751832e-01 9.93393283e-01 -1.34287794e-03 -1.35619141e+02] [-1.33787216e-02 1.93755174e-04 -9.99910482e-01 -4.02441216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters 0.01455168745939308 Centerline is valid? [True, True] Translation: X:170.32, Y:-134.90, Z:-5.01 [[-9.88399682e-01 -1.51231936e-01 1.39631976e-02 1.70315810e+02] [ 1.51214605e-01 -9.88498294e-01 -2.29481706e-03 -1.34898758e+02] [ 1.41496467e-02 -1.56757032e-04 9.99899876e-01 -5.01481666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters 0.014692051205782822 Centerline is valid? [True, True] Translation: X:170.18, Y:-135.61, Z:-4.03 [[-9.93479647e-01 1.13122540e-01 1.41944194e-02 1.70180409e+02] [ 1.13114450e-01 9.93581015e-01 -1.37408672e-03 -1.35612278e+02] [-1.42587458e-02 2.40466752e-04 -9.99898310e-01 -4.02622560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters 0.014666618415422201 Centerline is valid? [True, True] Translation: X:170.18, Y:-135.58, Z:-4.03 [[-9.99048174e-01 4.10657137e-02 1.47089241e-02 1.70184262e+02] [ 4.10646534e-02 9.99156421e-01 -3.74226927e-04 -1.35582402e+02] [-1.47118839e-02 2.30146143e-04 -9.99891748e-01 -4.02617028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters 0.014020996175886116 Centerline is valid? [True, True] Translation: X:170.18, Y:-135.55, Z:-4.03 [[-9.99319142e-01 -3.41064767e-02 1.40713032e-02 1.70178333e+02] [-3.41007964e-02 9.99418192e-01 6.43485113e-04 -1.35549329e+02] [-1.40850634e-02 1.63204347e-04 -9.99900787e-01 -4.02651409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters 0.012831995837499508 Centerline is valid? [True, True] Translation: X:170.14, Y:-134.85, Z:-5.01 [[-9.99750400e-01 -1.74755959e-02 1.39190823e-02 1.70144251e+02] [ 1.74714929e-02 -9.99847275e-01 -4.16327587e-04 -1.34854272e+02] [ 1.39242321e-02 -1.73036524e-04 9.99903038e-01 -5.01225365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters 0.012750710537543388 Centerline is valid? [True, True] Translation: X:170.10, Y:-135.54, Z:-4.03 [[-9.98526947e-01 -5.25006985e-02 1.36972011e-02 1.70100778e+02] [-5.24961691e-02 9.98620887e-01 6.90265591e-04 -1.35536879e+02] [-1.37145505e-02 -2.98017910e-05 -9.99905951e-01 -4.02765961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters 0.013499537749220738 Centerline is valid? [True, True] Translation: X:170.06, Y:-134.88, Z:-5.01 [[-9.99472332e-01 -2.96847172e-02 1.31861788e-02 1.70057751e+02] [ 2.96819924e-02 -9.99559312e-01 -4.02339399e-04 -1.34876036e+02] [ 1.31923112e-02 -1.07350375e-05 9.99912978e-01 -5.01091633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters 0.015043021186684474 Centerline is valid? [True, True] Translation: X:170.02, Y:-135.52, Z:-4.03 [[-9.97094317e-01 -7.50220081e-02 1.32144570e-02 1.70022037e+02] [-7.50189660e-02 9.97181843e-01 7.26444230e-04 -1.35520245e+02] [-1.32317159e-02 -2.67001485e-04 -9.99912421e-01 -4.02862202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters 0.0173710140891815 Centerline is valid? [True, True] Translation: X:170.00, Y:-135.49, Z:-4.03 [[-9.88780437e-01 -1.48749517e-01 1.36685469e-02 1.70002776e+02] [-1.48739777e-01 9.88874855e-01 1.73210969e-03 -1.35488047e+02] [-1.37741329e-02 -3.20380455e-04 -9.99905081e-01 -4.02700982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters 0.016448950103871582 Centerline is valid? [True, True] Translation: X:169.93, Y:-134.88, Z:-5.01 [[-9.99337982e-01 3.31753004e-02 1.49331254e-02 1.69930570e+02] [-3.31651846e-02 -9.99449456e-01 9.24606808e-04 -1.34876643e+02] [ 1.49555781e-02 4.28734842e-04 9.99888067e-01 -5.01120085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters 0.016916610301728325 Centerline is valid? [True, True] Translation: X:169.94, Y:-135.49, Z:-4.03 [[-9.87710245e-01 -1.55478137e-01 1.59693992e-02 1.69936375e+02] [-1.55464425e-01 9.87839251e-01 2.10408256e-03 -1.35492479e+02] [-1.61023381e-02 -4.04449562e-04 -9.99870267e-01 -4.02724500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters 0.016450702351180277 Centerline is valid? [True, True] Translation: X:169.93, Y:-135.47, Z:-4.03 [[-9.74710950e-01 -2.22751827e-01 1.78937933e-02 1.69925409e+02] [-2.22721976e-01 9.74875098e-01 3.66944537e-03 -1.35467173e+02] [-1.82615891e-02 -4.08692403e-04 -9.99833160e-01 -4.02574062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters 0.015391168426911026 Centerline is valid? [True, True] Translation: X:169.91, Y:-135.45, Z:-4.03 [[-9.57227118e-01 -2.88812491e-01 1.74238145e-02 1.69908282e+02] [-2.88771288e-01 9.57385619e-01 4.89086934e-03 -1.35446046e+02] [-1.80938536e-02 -3.49824608e-04 -9.99836232e-01 -4.02698419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters 0.013595908807748705 Centerline is valid? [True, True] Translation: X:169.89, Y:-135.43, Z:-4.03 [[-9.36242267e-01 -3.51030986e-01 1.50885314e-02 1.69886531e+02] [-3.50988994e-01 9.36363820e-01 5.43346460e-03 -1.35430154e+02] [-1.60356694e-02 -2.08869258e-04 -9.99871399e-01 -4.03037658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters 0.012750360222427233 Centerline is valid? [True, True] Translation: X:169.65, Y:-134.85, Z:-5.01 [[-9.62703632e-01 2.70161932e-01 1.46371798e-02 1.69647857e+02] [-2.70128299e-01 -9.62814887e-01 4.26554307e-03 -1.34847399e+02] [ 1.52452820e-02 1.52537330e-04 9.99883772e-01 -5.00857312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters 0.013083000941129456 Centerline is valid? [True, True] Translation: X:169.76, Y:-135.49, Z:-4.03 [[-9.40180408e-01 -3.40352747e-01 1.48596188e-02 1.69755391e+02] [-3.40308791e-01 9.40297825e-01 5.47048691e-03 -1.35488909e+02] [-1.58343625e-02 8.63856824e-05 -9.99874625e-01 -4.03131620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters 0.014024005336238555 Centerline is valid? [True, True] Translation: X:169.71, Y:-135.48, Z:-4.03 [[-9.15479540e-01 -4.02095123e-01 1.47215554e-02 1.69706643e+02] [-4.02039759e-01 9.15597879e-01 6.67507651e-03 -1.35483257e+02] [-1.61630406e-02 1.92245384e-04 -9.99869351e-01 -4.03128487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters 0.0158989134437015 Centerline is valid? [True, True] Translation: X:169.65, Y:-135.49, Z:-4.03 [[-8.87785612e-01 -4.60065229e-01 1.32925291e-02 1.69646976e+02] [-4.60008141e-01 8.87885059e-01 7.25474428e-03 -1.35487241e+02] [-1.51398936e-02 3.25985977e-04 -9.99885332e-01 -4.03265490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters 0.01703986394798268 Centerline is valid? [True, True] Translation: X:169.58, Y:-135.50, Z:-4.03 [[-8.55012077e-01 -5.18463235e-01 1.22565222e-02 1.69575270e+02] [-5.18402843e-01 8.55099817e-01 7.92438631e-03 -1.35499796e+02] [-1.45890528e-02 4.21630057e-04 -9.99893485e-01 -4.03431805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters 0.018150581162700664 Centerline is valid? [True, True] Translation: X:169.50, Y:-135.52, Z:-4.03 [[-8.15857698e-01 -5.78133674e-01 1.17333778e-02 1.69498161e+02] [-5.78065431e-01 8.15941928e-01 8.89534965e-03 -1.35521252e+02] [-1.47164561e-02 4.74679366e-04 -9.99891594e-01 -4.03390408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters 0.018226956957915316 Centerline is valid? [True, True] Translation: X:169.41, Y:-135.55, Z:-4.03 [[-7.70599418e-01 -6.37215418e-01 1.15346154e-02 1.69411470e+02] [-6.37134113e-01 7.70685575e-01 1.01914572e-02 -1.35551512e+02] [-1.53837153e-02 5.04434029e-04 -9.99881536e-01 -4.03352270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters 0.01738060662351447 Centerline is valid? [True, True] Translation: X:169.32, Y:-135.59, Z:-4.03 [[-7.18638060e-01 -6.95298114e-01 1.09485934e-02 1.69323081e+02] [-6.95207293e-01 7.18721302e-01 1.12476430e-02 -1.35590911e+02] [-1.56894523e-02 4.71442371e-04 -9.99876802e-01 -4.03364853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters 0.015855861854457667 Centerline is valid? [True, True] Translation: X:169.23, Y:-135.64, Z:-4.03 [[-6.58641709e-01 -7.52394163e-01 9.70171449e-03 1.69231091e+02] [-7.52304837e-01 6.58713069e-01 1.15984818e-02 -1.35638540e+02] [-1.51172762e-02 3.40597164e-04 -9.99885669e-01 -4.03342850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters 0.013579373985268487 Centerline is valid? [True, True] Translation: X:169.14, Y:-135.69, Z:-4.03 [[-5.91717506e-01 -8.06099880e-01 8.56596765e-03 1.69138455e+02] [-8.06011062e-01 5.91779479e-01 1.19673143e-02 -1.35693250e+02] [-1.47160145e-02 1.77004714e-04 -9.99891698e-01 -4.03407472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters 0.012644211460437723 Centerline is valid? [True, True] Translation: X:169.05, Y:-135.76, Z:-4.03 [[-5.21730965e-01 -8.53077797e-01 7.42110620e-03 1.69051701e+02] [-8.52990263e-01 5.21783739e-01 1.22205290e-02 -1.35756987e+02] [-1.42972745e-02 4.56970845e-05 -9.99897788e-01 -4.03332521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters 0.013132423325401668 Centerline is valid? [True, True] Translation: X:168.96, Y:-135.83, Z:-4.03 [[-4.43521316e-01 -8.96240323e-01 6.49049189e-03 1.68964394e+02] [-8.96149418e-01 4.43568777e-01 1.27656303e-02 -1.35830311e+02] [-1.43200522e-02 -1.54621384e-04 -9.99897451e-01 -4.03367123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters 0.015578909042738858 Centerline is valid? [True, True] Translation: X:168.89, Y:-135.91, Z:-4.03 [[-3.64060526e-01 -9.31361096e-01 5.14216615e-03 1.68886109e+02] [-9.31279389e-01 3.64096719e-01 1.23401268e-02 -1.35908296e+02] [-1.33653598e-02 -2.96240306e-04 -9.99910636e-01 -4.03441330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters 0.017224847496197297 Centerline is valid? [True, True] Translation: X:168.82, Y:-135.99, Z:-4.03 [[-2.88501614e-01 -9.57470811e-01 4.05763676e-03 1.68819335e+02] [-9.57392181e-01 2.88529943e-01 1.22753704e-02 -1.35992024e+02] [-1.29240586e-02 -3.43285532e-04 -9.99916422e-01 -4.03443562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters 0.020409986359150426 Centerline is valid? [True, True] Translation: X:168.76, Y:-136.08, Z:-4.03 [[-2.12725521e-01 -9.77106351e-01 3.32138871e-03 1.68757156e+02] [-9.77015020e-01 2.12751069e-01 1.33654012e-02 -1.36080023e+02] [-1.37660474e-02 -4.01884716e-04 -9.99905163e-01 -4.03187644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters 0.01825076558491974 Centerline is valid? [True, True] Translation: X:168.71, Y:-136.18, Z:-4.03 [[-1.37996747e-01 -9.90429942e-01 2.32985414e-03 1.68712593e+02] [-9.90334669e-01 1.38015803e-01 1.37434491e-02 -1.36176720e+02] [-1.39334802e-02 -4.10784050e-04 -9.99902840e-01 -4.03332923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters 0.01794246248201785 Centerline is valid? [True, True] Translation: X:168.67, Y:-136.27, Z:-4.03 [[-6.29342035e-02 -9.98016714e-01 1.38714794e-03 1.68673021e+02] [-9.97903601e-01 6.29479635e-02 1.50318589e-02 -1.36273929e+02] [-1.50893645e-02 -4.38221859e-04 -9.99886053e-01 -4.03258763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters 0.01665618871660053 Centerline is valid? [True, True] Translation: X:168.64, Y:-136.38, Z:-4.03 [[ 9.80191627e-03 -9.99951927e-01 2.58675418e-04 1.68643579e+02] [-9.99821001e-01 -9.79644569e-03 1.61862937e-02 -1.36378006e+02] [-1.61829814e-02 -4.17285811e-04 -9.99868960e-01 -4.03183160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters 0.015654546212323067 Centerline is valid? [True, True] Translation: X:168.62, Y:-136.48, Z:-4.03 [[ 8.08832159e-02 -9.96723109e-01 -9.74412700e-04 1.68623706e+02] [-9.96590972e-01 -8.08883627e-02 1.62328881e-02 -1.36477767e+02] [-1.62585133e-02 -3.41877290e-04 -9.99867763e-01 -4.03174858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters 0.014700655077099773 Centerline is valid? [True, True] Translation: X:168.61, Y:-136.59, Z:-4.03 [[ 1.53385662e-01 -9.88163962e-01 -2.19601482e-03 1.68612577e+02] [-9.88033937e-01 -1.53401108e-01 1.60324256e-02 -1.36587322e+02] [-1.61795363e-02 -2.89407037e-04 -9.99869061e-01 -4.03231805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters 0.01359244536187175 Centerline is valid? [True, True] Translation: X:168.08, Y:-136.76, Z:-5.01 [[ 5.56872516e-02 9.98447688e-01 -1.06966706e-03 1.68082188e+02] [-9.98331139e-01 5.56970963e-02 1.52567923e-02 -1.36758667e+02] [ 1.52926863e-02 2.18273105e-04 9.99883036e-01 -5.00678525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters 0.012489806801344764 Centerline is valid? [True, True] Translation: X:168.66, Y:-136.84, Z:-4.03 [[ 1.50195432e-01 -9.88654139e-01 -2.07981619e-03 1.68660611e+02] [-9.88551616e-01 -1.50209808e-01 1.42378570e-02 -1.36835754e+02] [-1.43887251e-02 -8.24554229e-05 -9.99896474e-01 -4.03453872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters 0.012361349974623665 Centerline is valid? [True, True] Translation: X:168.66, Y:-136.93, Z:-4.04 [[ 2.17655542e-01 -9.76021074e-01 -2.98804650e-03 1.68661343e+02] [-9.75930656e-01 -2.17676050e-01 1.32850048e-02 -1.36934497e+02] [-1.36168708e-02 2.45712642e-05 -9.99907286e-01 -4.03533345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters 0.012670156972941894 Centerline is valid? [True, True] Translation: X:168.67, Y:-137.05, Z:-4.03 [[ 2.87809550e-01 -9.57678589e-01 -4.16923955e-03 1.68669621e+02] [-9.57582194e-01 -2.87839735e-01 1.35877966e-02 -1.37048530e+02] [-1.42128147e-02 8.16919153e-05 -9.99898990e-01 -4.03487812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters 0.012831192578535109 Centerline is valid? [True, True] Translation: X:168.68, Y:-137.16, Z:-4.04 [[ 3.57754436e-01 -9.33802965e-01 -4.87718167e-03 1.68684989e+02] [-9.33720384e-01 -3.57787662e-01 1.24191140e-02 -1.37159025e+02] [-1.33420009e-02 1.10930810e-04 -9.99910985e-01 -4.03601259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters 0.012836254776383182 Centerline is valid? [True, True] Translation: X:168.71, Y:-137.27, Z:-4.04 [[ 4.28616931e-01 -9.03468383e-01 -5.69283887e-03 1.68707194e+02] [-9.03391726e-01 -4.28654723e-01 1.17693384e-02 -1.37271250e+02] [-1.30734874e-02 9.83258466e-05 -9.99914534e-01 -4.03568944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters 0.012519457068079042 Centerline is valid? [True, True] Translation: X:168.74, Y:-137.38, Z:-4.04 [[ 4.98925792e-01 -8.66617329e-01 -6.88904893e-03 1.68738113e+02] [-8.66536390e-01 -4.98973347e-01 1.18441378e-02 -1.37381845e+02] [-1.37017869e-02 6.02657589e-05 -9.99906124e-01 -4.03531493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters 0.012442279334322069 Centerline is valid? [True, True] Translation: X:168.78, Y:-137.49, Z:-4.03 [[ 5.65756093e-01 -8.24535646e-01 -7.81099863e-03 1.68775130e+02] [-8.24457613e-01 -5.65810010e-01 1.13435816e-02 -1.37488071e+02] [-1.37727286e-02 2.21368881e-05 -9.99905151e-01 -4.03427200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters 0.012320504340919027 Centerline is valid? [True, True] Translation: X:168.82, Y:-137.59, Z:-4.04 [[ 6.30288423e-01 -7.76324095e-01 -7.57645799e-03 1.68818751e+02] [-7.76267368e-01 -6.30333958e-01 9.38480324e-03 -1.37589000e+02] [-1.20613476e-02 -3.37757311e-05 -9.99927259e-01 -4.03600489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters 0.012579682899945134 Centerline is valid? [True, True] Translation: X:168.87, Y:-137.69, Z:-4.04 [[ 6.90791032e-01 -7.23020038e-01 -7.05509429e-03 1.68871590e+02] [-7.22981195e-01 -6.90827054e-01 7.49490475e-03 -1.37689457e+02] [-1.02928163e-02 -7.67124967e-05 -9.99947025e-01 -4.03724514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters 0.012919908000590808 Centerline is valid? [True, True] Translation: X:168.92, Y:-137.78, Z:-4.04 [[ 7.45665049e-01 -6.66280340e-01 -7.35822521e-03 1.68921187e+02] [-6.66246506e-01 -7.45701346e-01 6.71536682e-03 -1.37775344e+02] [-9.96135533e-03 -1.05022487e-04 -9.99950379e-01 -4.03724650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters 0.013081041880466238 Centerline is valid? [True, True] Translation: X:168.94, Y:-137.80, Z:-4.04 [[ 7.96676008e-01 -6.04360870e-01 -7.43486360e-03 1.68943213e+02] [-6.04333164e-01 -7.96710691e-01 5.78810866e-03 -1.37804797e+02] [-9.42154170e-03 -1.18112656e-04 -9.99955609e-01 -4.03782667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters 0.013352204169799002 Centerline is valid? [True, True] Translation: X:168.97, Y:-137.83, Z:-4.04 [[ 8.41957680e-01 -5.39487326e-01 -7.79041994e-03 1.68968858e+02] [-5.39462850e-01 -8.41993711e-01 5.14050872e-03 -1.37830187e+02] [-9.33272390e-03 -1.25448655e-04 -9.99956441e-01 -4.03661954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters 0.013156583466367684 Centerline is valid? [True, True] Translation: X:169.00, Y:-137.85, Z:-4.04 [[ 8.80771954e-01 -4.73456632e-01 -8.92093840e-03 1.68998352e+02] [-4.73430958e-01 -8.80817123e-01 4.93199928e-03 -1.37849426e+02] [-1.01928031e-02 -1.20518232e-04 -9.99948045e-01 -4.03541967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters 0.013589324444245534 Centerline is valid? [True, True] Translation: X:169.03, Y:-137.87, Z:-4.03 [[ 9.14447761e-01 -4.04585630e-01 -9.78575959e-03 1.69026888e+02] [-4.04561167e-01 -9.14500113e-01 4.45042534e-03 -1.37867692e+02] [-1.07496564e-02 -1.10743168e-04 -9.99942215e-01 -4.03256505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters 0.012616647707241488 Centerline is valid? [True, True] Translation: X:169.06, Y:-137.88, Z:-4.03 [[ 9.42170709e-01 -3.34971386e-01 -1.04175115e-02 1.69059485e+02] [-3.34950003e-01 -9.42228297e-01 3.78568588e-03 -1.37878808e+02] [-1.10837706e-02 -7.74168414e-05 -9.99938570e-01 -4.03321268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters 0.01233009042646395 Centerline is valid? [True, True] Translation: X:169.09, Y:-137.89, Z:-4.03 [[ 9.64222606e-01 -2.64894249e-01 -1.02860324e-02 1.69091518e+02] [-2.64878920e-01 -9.64277468e-01 2.84983576e-03 -1.37887304e+02] [-1.06734944e-02 -2.33229008e-05 -9.99943036e-01 -4.03414092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters 0.01228820863694826 Centerline is valid? [True, True] Translation: X:169.12, Y:-137.90, Z:-4.03 [[ 9.81436475e-01 -1.91512070e-01 -1.02748599e-02 1.69122893e+02] [-1.91501650e-01 -9.81490258e-01 1.99770612e-03 -1.37896491e+02] [-1.04672598e-02 7.03098603e-06 -9.99945217e-01 -4.03423504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters 0.012545945530150555 Centerline is valid? [True, True] Translation: X:169.15, Y:-137.90, Z:-4.03 [[ 9.93140187e-01 -1.16366585e-01 -1.14624165e-02 1.69150850e+02] [-1.16359229e-01 -9.93206331e-01 1.30884099e-03 -1.37899834e+02] [-1.15368500e-02 3.38953691e-05 -9.99933448e-01 -4.03348908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters 0.012554195033638686 Centerline is valid? [True, True] Translation: X:169.18, Y:-137.91, Z:-4.03 [[ 9.99157060e-01 -3.91408726e-02 -1.23758763e-02 1.69178210e+02] [-3.91384513e-02 -9.99233701e-01 4.37872764e-04 -1.37908452e+02] [-1.23835314e-02 4.68689682e-05 -9.99923320e-01 -4.03379100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters 0.01236602532625708 Centerline is valid? [True, True] Translation: X:169.21, Y:-137.92, Z:-4.03 [[ 9.98999756e-01 4.32486394e-02 -1.13596880e-02 1.69206748e+02] [ 4.32458788e-02 -9.99064340e-01 -4.88649797e-04 -1.37918753e+02] [-1.13701927e-02 -3.09866490e-06 -9.99935357e-01 -4.03402492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters 0.012566674510364521 Centerline is valid? [True, True] Translation: X:169.24, Y:-137.93, Z:-4.03 [[ 9.92035604e-01 1.25394462e-01 -1.18991222e-02 1.69235233e+02] [ 1.25386079e-01 -9.92106963e-01 -1.45088218e-03 -1.37926425e+02] [-1.19871345e-02 -5.26574906e-05 -9.99928150e-01 -4.03369686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters 0.012777243702530605 Centerline is valid? [True, True] Translation: X:169.27, Y:-137.93, Z:-4.03 [[ 9.78766765e-01 2.04658128e-01 -1.14311272e-02 1.69265020e+02] [ 2.04645065e-01 -9.78833512e-01 -2.31352335e-03 -1.37930629e+02] [-1.16626517e-02 -7.49240003e-05 -9.99931986e-01 -4.03361153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters 0.012851861466175195 Centerline is valid? [True, True] Translation: X:169.29, Y:-137.93, Z:-4.03 [[ 9.59473510e-01 2.81600252e-01 -1.05774388e-02 1.69294617e+02] [ 2.81584078e-01 -9.59531809e-01 -3.01914186e-03 -1.37934272e+02] [-1.09995801e-02 -8.16517244e-05 -9.99939500e-01 -4.03414655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters 0.01280645615382167 Centerline is valid? [True, True] Translation: X:169.32, Y:-137.93, Z:-4.03 [[ 9.34725215e-01 3.55173554e-01 -1.18540391e-02 1.69323974e+02] [ 3.55146146e-01 -9.34800374e-01 -4.41316460e-03 -1.37933815e+02] [-1.26485995e-02 -8.48200647e-05 -9.99920000e-01 -4.03323541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters 0.012657464852618846 Centerline is valid? [True, True] Translation: X:169.35, Y:-137.93, Z:-4.03 [[ 9.05141646e-01 4.24918598e-01 -1.27587502e-02 1.69353147e+02] [ 4.24877289e-01 -9.05231562e-01 -5.92515822e-03 -1.37928896e+02] [-1.40673333e-02 -5.77957542e-05 -9.99901049e-01 -4.03251395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters 0.012566442306685821 Centerline is valid? [True, True] Translation: X:169.38, Y:-137.92, Z:-4.03 [[ 8.70234292e-01 4.92495618e-01 -1.18466480e-02 1.69381887e+02] [ 4.92450374e-01 -8.70314923e-01 -6.67557200e-03 -1.37922705e+02] [-1.35980045e-02 -2.45745445e-05 -9.99907543e-01 -4.03342429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters 0.012505903697806898 Centerline is valid? [True, True] Translation: X:169.41, Y:-137.91, Z:-4.03 [[ 8.30398961e-01 5.57065707e-01 -1.07407992e-02 1.69409330e+02] [ 5.57018979e-01 -8.30468421e-01 -7.21512869e-03 -1.37914070e+02] [-1.29391953e-02 8.60634907e-06 -9.99916285e-01 -4.03388919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters 0.012588500312173987 Centerline is valid? [True, True] Translation: X:169.44, Y:-137.90, Z:-4.04 [[ 7.85791748e-01 6.18424382e-01 -9.08913503e-03 1.69435330e+02] [ 6.18382472e-01 -7.85844312e-01 -7.19965850e-03 -1.37902596e+02] [-1.15950894e-02 3.68704486e-05 -9.99932774e-01 -4.03502336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters 0.0124480972542609 Centerline is valid? [True, True] Translation: X:169.46, Y:-137.89, Z:-4.04 [[ 7.35254847e-01 6.77754445e-01 -7.01586921e-03 1.69462141e+02] [ 6.77723139e-01 -7.35288318e-01 -6.51430166e-03 -1.37890642e+02] [-9.57378358e-03 3.48549642e-05 -9.99954170e-01 -4.03712480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters 0.012292346301923239 Centerline is valid? [True, True] Translation: X:169.49, Y:-137.88, Z:-4.04 [[ 6.78838468e-01 7.34261600e-01 -6.18363567e-03 1.69489464e+02] [ 7.34230876e-01 -6.78866631e-01 -6.71699209e-03 -1.37878929e+02] [-9.12989327e-03 1.95363905e-05 -9.99958322e-01 -4.03710959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters 0.012233774154478554 Centerline is valid? [True, True] Translation: X:169.52, Y:-137.86, Z:-4.04 [[ 6.16331632e-01 7.87461894e-01 -6.25169631e-03 1.69515619e+02] [ 7.87421654e-01 -6.16363338e-01 -7.96079825e-03 -1.37864848e+02] [-1.01221417e-02 -1.62292673e-05 -9.99948770e-01 -4.03553012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters 0.012335750753830043 Centerline is valid? [True, True] Translation: X:169.54, Y:-137.85, Z:-4.04 [[ 5.49563478e-01 8.35427960e-01 -6.33309859e-03 1.69540557e+02] [ 8.35373795e-01 -5.49599964e-01 -9.51327159e-03 -1.37848299e+02] [-1.14283238e-02 -6.23579917e-05 -9.99934693e-01 -4.03512967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters 0.012492549520042879 Centerline is valid? [True, True] Translation: X:169.56, Y:-137.83, Z:-4.04 [[ 4.80264580e-01 8.77109210e-01 -5.03645662e-03 1.69563717e+02] [ 8.77062777e-01 -4.80290981e-01 -9.02545568e-03 -1.37830229e+02] [-1.03352750e-02 -8.26819403e-05 -9.99946586e-01 -4.03553018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters 0.012970123906354422 Centerline is valid? [True, True] Translation: X:169.59, Y:-137.81, Z:-4.04 [[ 4.06822691e-01 9.13501476e-01 -3.21740757e-03 1.69585240e+02] [ 9.13474617e-01 -4.06835404e-01 -7.00558764e-03 -1.37810287e+02] [-7.70856996e-03 -8.89881363e-05 -9.99970285e-01 -4.03700992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters 0.013815051294837616 Centerline is valid? [True, True] Translation: X:169.60, Y:-137.79, Z:-4.04 [[ 3.30369215e-01 9.43849359e-01 -2.13770234e-03 1.69603760e+02] [ 9.43831427e-01 -3.30376117e-01 -5.81887577e-03 -1.37787422e+02] [-6.19838797e-03 -9.52532337e-05 -9.99980785e-01 -4.03785893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters 0.01371515367412719 Centerline is valid? [True, True] Translation: X:169.62, Y:-137.76, Z:-4.04 [[ 2.53614103e-01 9.67304435e-01 -1.41982455e-03 1.69621668e+02] [ 9.67291211e-01 -2.53618062e-01 -5.05893669e-03 -1.37763999e+02] [-5.25362505e-03 -9.03661181e-05 -9.99986196e-01 -4.03859863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters 0.014827624928469719 Centerline is valid? [True, True] Translation: X:169.64, Y:-137.74, Z:-4.04 [[ 1.74905614e-01 9.84584641e-01 -1.05407175e-03 1.69639345e+02] [ 9.84570215e-01 -1.74908758e-01 -5.33077978e-03 -1.37740508e+02] [-5.43297028e-03 -1.05424341e-04 -9.99985236e-01 -4.03819464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters 0.01452035122834368 Centerline is valid? [True, True] Translation: X:169.65, Y:-137.71, Z:-4.04 [[ 9.60782988e-02 9.95373478e-01 -7.74564413e-04 1.69651906e+02] [ 9.95351621e-01 -9.60813231e-02 -6.59769382e-03 -1.37714424e+02] [-6.64159062e-03 -1.37068747e-04 -9.99977935e-01 -4.03791226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters 0.014789092834940107 Centerline is valid? [True, True] Translation: X:169.66, Y:-137.69, Z:-4.04 [[ 1.80196900e-02 9.99837590e-01 -2.92276926e-04 1.69662967e+02] [ 9.99808781e-01 -1.80213899e-02 -7.59155528e-03 -1.37687096e+02] [-7.59558956e-03 -1.55423564e-04 -9.99971141e-01 -4.03692338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters 0.014559608268885305 Centerline is valid? [True, True] Translation: X:169.67, Y:-137.66, Z:-4.04 [[-5.83409966e-02 9.98296664e-01 3.13024394e-04 1.69669755e+02] [ 9.98265894e-01 5.83416565e-02 -7.83934258e-03 -1.37659312e+02] [-7.84425191e-03 -1.44873482e-04 -9.99969223e-01 -4.03614544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters 0.014097830998336839 Centerline is valid? [True, True] Translation: X:169.67, Y:-137.63, Z:-4.04 [[-1.34464392e-01 9.90918144e-01 7.47606442e-04 1.69671528e+02] [ 9.90898207e-01 1.34466429e-01 -6.28666370e-03 -1.37632058e+02] [-6.33009710e-03 -1.04530528e-04 -9.99979959e-01 -4.03825997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters 0.013898706708866294 Centerline is valid? [True, True] Translation: X:169.67, Y:-137.60, Z:-4.04 [[-2.10866610e-01 9.77514262e-01 1.06809025e-03 1.69674809e+02] [ 9.77499586e-01 2.10869298e-01 -5.35704636e-03 -1.37604244e+02] [-5.46181666e-03 -8.55644336e-05 -9.99985081e-01 -4.03976815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters 0.013944047845162295 Centerline is valid? [True, True] Translation: X:169.68, Y:-137.58, Z:-4.04 [[-2.87502684e-01 9.57778725e-01 1.45622763e-03 1.69678160e+02] [ 9.57764846e-01 2.87506359e-01 -5.15690568e-03 -1.37575341e+02] [-5.35784925e-03 -8.79005955e-05 -9.99985643e-01 -4.04014292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters 0.014276486171520721 Centerline is valid? [True, True] Translation: X:169.68, Y:-137.55, Z:-4.04 [[-3.62914391e-01 9.31819944e-01 2.17640344e-03 1.69679665e+02] [ 9.31801299e-01 3.62920899e-01 -5.89573200e-03 -1.37545834e+02] [-6.28362296e-03 -1.11670437e-04 -9.99980252e-01 -4.03924971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters 0.01516349605906834 Centerline is valid? [True, True] Translation: X:169.68, Y:-137.52, Z:-4.04 [[-4.37432212e-01 8.99244620e-01 3.48889515e-03 1.69678853e+02] [ 8.99212789e-01 4.37446091e-01 -7.56812871e-03 -1.37516296e+02] [-8.33180258e-03 -1.73284143e-04 -9.99965275e-01 -4.03797284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters 0.015694866191126793 Centerline is valid? [True, True] Translation: X:169.68, Y:-137.49, Z:-4.04 [[-5.09134867e-01 8.60672393e-01 4.97180464e-03 1.69676484e+02] [ 8.60626609e-01 5.09159084e-01 -8.88072514e-03 -1.37485965e+02] [-1.01748345e-02 -2.42619451e-04 -9.99948206e-01 -4.03712731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters 0.01613865969866188 Centerline is valid? [True, True] Translation: X:169.67, Y:-137.46, Z:-4.04 [[-5.76172599e-01 8.17307467e-01 5.80005434e-03 1.69669964e+02] [ 8.17261366e-01 5.76201731e-01 -8.68479901e-03 -1.37457143e+02] [-1.04401524e-02 -2.63782887e-04 -9.99945465e-01 -4.03759777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters 0.01719274090368925 Centerline is valid? [True, True] Translation: X:169.66, Y:-137.43, Z:-4.04 [[-6.39702476e-01 7.68600856e-01 5.78499342e-03 1.69661629e+02] [ 7.68565813e-01 6.39728584e-01 -7.34372320e-03 -1.37428973e+02] [-9.34521758e-03 -2.51649745e-04 -9.99956301e-01 -4.03863752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters 0.016897582482962258 Centerline is valid? [True, True] Translation: X:169.65, Y:-137.40, Z:-4.04 [[-6.98338269e-01 7.15737659e-01 6.57768554e-03 1.69649369e+02] [ 7.15702261e-01 6.98369195e-01 -7.12329922e-03 -1.37402018e+02] [-9.69206646e-03 -2.66808027e-04 -9.99952995e-01 -4.03936288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters 0.017370511073785996 Centerline is valid? [True, True] Translation: X:169.64, Y:-137.38, Z:-4.04 [[-7.52190560e-01 6.58899236e-01 7.82034010e-03 1.69635270e+02] [ 6.58859533e-01 7.52231155e-01 -7.23916520e-03 -1.37376753e+02] [-1.06525839e-02 -2.92726109e-04 -9.99943217e-01 -4.03853055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters 0.01615862546009314 Centerline is valid? [True, True] Translation: X:169.65, Y:-137.36, Z:-4.04 [[-7.95862454e-01 6.05411710e-01 8.92270171e-03 1.69652103e+02] [ 6.05369469e-01 7.95912416e-01 -7.15765924e-03 -1.37359192e+02] [-1.14350198e-02 -2.94981053e-04 -9.99934575e-01 -4.03867060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters 0.015760712165312836 Centerline is valid? [True, True] Translation: X:169.66, Y:-137.33, Z:-4.04 [[-8.34290546e-01 5.51247568e-01 9.24141204e-03 1.69659495e+02] [ 5.51210537e-01 8.34341694e-01 -6.39389640e-03 -1.37333896e+02] [-1.12351152e-02 -2.40403624e-04 -9.99936855e-01 -4.03924307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters 0.014286104696116636 Centerline is valid? [True, True] Translation: X:169.69, Y:-137.33, Z:-4.04 [[-8.69299862e-01 4.94202657e-01 9.02682858e-03 1.69689061e+02] [ 4.94173811e-01 8.69346709e-01 -5.34276100e-03 -1.37326112e+02] [-1.04878504e-02 -1.83639124e-04 -9.99944984e-01 -4.04097730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters 0.013216761157080436 Centerline is valid? [True, True] Translation: X:170.06, Y:-136.73, Z:-5.00 [[-8.17641494e-01 -5.75661897e-01 8.70446816e-03 1.70059330e+02] [ 5.75631680e-01 -8.17687805e-01 -5.90113736e-03 -1.36727863e+02] [ 1.05145974e-02 1.85552863e-04 9.99944703e-01 -4.99870945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters 0.012489552885124133 Centerline is valid? [True, True] Translation: X:170.05, Y:-136.75, Z:-5.00 [[-7.79585412e-01 -6.26232383e-01 8.92120414e-03 1.70050019e+02] [ 6.26192638e-01 -7.79636451e-01 -7.05587970e-03 -1.36753857e+02] [ 1.13739163e-02 8.57314698e-05 9.99935311e-01 -4.99845571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters 0.012493997856527944 Centerline is valid? [True, True] Translation: X:169.61, Y:-137.32, Z:-4.04 [[-8.27111808e-01 5.61939424e-01 1.04948144e-02 1.69614367e+02] [ 5.61893200e-01 8.27178384e-01 -7.20784480e-03 -1.37318178e+02] [-1.27314558e-02 -6.47286825e-05 -9.99918950e-01 -4.03964757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters 0.012397410422144095 Centerline is valid? [True, True] Translation: X:169.63, Y:-137.29, Z:-4.04 [[-8.63745853e-01 5.03795084e-01 1.15592068e-02 1.69628471e+02] [ 5.03749346e-01 8.63823195e-01 -6.78859128e-03 -1.37294809e+02] [-1.34051698e-02 -4.06747200e-05 -9.99910146e-01 -4.04014152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters 0.01253172858218139 Centerline is valid? [True, True] Translation: X:169.65, Y:-137.27, Z:-4.04 [[-8.96857195e-01 4.42166714e-01 1.16519901e-02 1.69645968e+02] [ 4.42128986e-01 8.96932883e-01 -5.77611353e-03 -1.37273083e+02] [-1.30050583e-02 -2.86663913e-05 -9.99915430e-01 -4.03898253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters 0.01232616724313704 Centerline is valid? [True, True] Translation: X:169.66, Y:-137.25, Z:-4.04 [[-9.24869476e-01 3.80105372e-01 1.16772934e-02 1.69656673e+02] [ 3.80075179e-01 9.24943191e-01 -4.79084332e-03 -1.37248067e+02] [-1.26218583e-02 7.34465471e-06 -9.99920341e-01 -4.04040319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters 0.012381315168289614 Centerline is valid? [True, True] Translation: X:169.67, Y:-137.22, Z:-4.04 [[-9.48699721e-01 3.15963300e-01 1.16632817e-02 1.69668348e+02] [ 3.15939910e-01 9.48771412e-01 -3.84473344e-03 -1.37223806e+02] [-1.22805829e-02 3.73986235e-05 -9.99924590e-01 -4.04153232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters 0.01257133923610612 Centerline is valid? [True, True] Translation: X:169.69, Y:-137.20, Z:-4.04 [[-9.68293127e-01 2.49551518e-01 1.15091546e-02 1.69685391e+02] [ 2.49534442e-01 9.68361522e-01 -2.91963289e-03 -1.37198464e+02] [-1.18736213e-02 4.48700001e-05 -9.99929505e-01 -4.04164369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters 0.012506682965510591 Centerline is valid? [True, True] Translation: X:169.70, Y:-137.17, Z:-4.04 [[-9.83654876e-01 1.79739809e-01 1.08021404e-02 1.69695327e+02] [ 1.79729339e-01 9.83714186e-01 -1.94029304e-03 -1.37170808e+02] [-1.09749666e-02 3.28828350e-05 -9.99939773e-01 -4.04283482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters 0.012419096386457409 Centerline is valid? [True, True] Translation: X:169.82, Y:-136.48, Z:-5.00 [[-9.70122863e-01 -2.42424528e-01 9.59061541e-03 1.69821186e+02] [ 2.42411665e-01 -9.70170263e-01 -2.49924226e-03 -1.36480496e+02] [ 9.91040749e-03 -9.96950001e-05 9.99950886e-01 -4.99549855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters 0.012535797784999872 Centerline is valid? [True, True] Translation: X:169.64, Y:-137.15, Z:-4.04 [[-9.85508201e-01 1.69317550e-01 1.02544656e-02 1.69644460e+02] [ 1.69307978e-01 9.85561549e-01 -1.80078145e-03 -1.37153242e+02] [-1.04113109e-02 -3.85220475e-05 -9.99945800e-01 -4.04319503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters 0.012877829384109404 Centerline is valid? [True, True] Translation: X:169.76, Y:-136.48, Z:-5.00 [[-9.69117599e-01 -2.46387302e-01 1.02165260e-02 1.69758092e+02] [ 2.46374121e-01 -9.69171448e-01 -2.54893924e-03 -1.36480078e+02] [ 1.05295916e-02 4.68657514e-05 9.99944561e-01 -4.99692631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters 0.013243215423628102 Centerline is valid? [True, True] Translation: X:169.59, Y:-137.14, Z:-4.04 [[-9.87117023e-01 1.59627861e-01 1.09054790e-02 1.69593045e+02] [ 1.59616925e-01 9.87177256e-01 -1.87157507e-03 -1.37136987e+02] [-1.10643963e-02 -1.06764587e-04 -9.99938782e-01 -4.04179598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters 0.013484653535940192 Centerline is valid? [True, True] Translation: X:169.71, Y:-136.48, Z:-5.00 [[-9.69060019e-01 -2.46529950e-01 1.20691282e-02 1.69708633e+02] [ 2.46513484e-01 -9.69135151e-01 -2.85679516e-03 -1.36477229e+02] [ 1.24009020e-02 2.06796884e-04 9.99923085e-01 -4.99798045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters 0.013684332278145892 Centerline is valid? [True, True] Translation: X:169.54, Y:-137.13, Z:-4.04 [[-9.88080004e-01 1.53437193e-01 1.24472550e-02 1.69543286e+02] [ 1.53423073e-01 9.88158390e-01 -2.08716101e-03 -1.37125048e+02] [-1.26201076e-02 -1.52585957e-04 -9.99920352e-01 -4.04096556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters 0.013389577439972983 Centerline is valid? [True, True] Translation: X:169.66, Y:-136.47, Z:-5.00 [[-9.70016669e-01 -2.42735209e-01 1.21358991e-02 1.69657610e+02] [ 2.42718039e-01 -9.70092572e-01 -2.89059431e-03 -1.36471775e+02] [ 1.24745946e-02 1.41676969e-04 9.99922179e-01 -4.99723278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters 0.01322105410090436 Centerline is valid? [True, True] Translation: X:169.50, Y:-137.12, Z:-4.04 [[-9.88302645e-01 1.51987043e-01 1.25626297e-02 1.69498866e+02] [ 1.51973168e-01 9.88382478e-01 -2.05744735e-03 -1.37117613e+02] [-1.27293885e-02 -1.24198022e-04 -9.99918970e-01 -4.04180700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters 0.013049268871434417 Centerline is valid? [True, True] Translation: X:169.50, Y:-137.09, Z:-4.04 [[-9.96500623e-01 8.26560808e-02 1.24290323e-02 1.69498286e+02] [ 8.26483084e-02 9.96578126e-01 -1.13856319e-03 -1.37090640e+02] [-1.24806109e-02 -1.07340432e-04 -9.99922108e-01 -4.04181838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters 0.012808189819048634 Centerline is valid? [True, True] Translation: X:169.57, Y:-136.43, Z:-5.00 [[-9.86220839e-01 -1.64951577e-01 1.26267467e-02 1.69567879e+02] [ 1.64939729e-01 -9.86301658e-01 -1.98125806e-03 -1.36431109e+02] [ 1.27805928e-02 1.28694184e-04 9.99918317e-01 -4.99724412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters 0.012654056433480708 Centerline is valid? [True, True] Translation: X:169.45, Y:-137.09, Z:-4.04 [[-9.96443833e-01 8.32486513e-02 1.30134646e-02 1.69450433e+02] [ 8.32408639e-02 9.96528805e-01 -1.13986541e-03 -1.37090363e+02] [-1.30631846e-02 -5.25598236e-05 -9.99914672e-01 -4.04231293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters 0.012475618291971951 Centerline is valid? [True, True] Translation: X:169.45, Y:-137.07, Z:-4.04 [[-9.99818088e-01 1.48352839e-02 1.19877431e-02 1.69449366e+02] [ 1.48340070e-02 9.99889951e-01 -1.95428914e-04 -1.37065598e+02] [-1.19893231e-02 -1.75670988e-05 -9.99928125e-01 -4.04309060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters 0.012608712315797457 Centerline is valid? [True, True] Translation: X:169.47, Y:-136.39, Z:-5.00 [[-9.96710278e-01 -8.02284286e-02 1.14900688e-02 1.69468122e+02] [ 8.02229726e-02 -9.96776504e-01 -9.35704961e-04 -1.36387817e+02] [ 1.15281008e-02 -1.08592735e-05 9.99933549e-01 -4.99598484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters 0.013018078901653763 Centerline is valid? [True, True] Translation: X:169.39, Y:-137.07, Z:-4.04 [[-9.99750605e-01 1.91656761e-02 1.14631795e-02 1.69390217e+02] [ 1.91654022e-02 9.99816318e-01 -1.33754991e-04 -1.37073713e+02] [-1.14636375e-02 8.59748135e-05 -9.99934287e-01 -4.04309055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters 0.013787819108128449 Centerline is valid? [True, True] Translation: X:169.39, Y:-137.05, Z:-4.04 [[-9.98833007e-01 -4.69788238e-02 1.12077503e-02 1.69390459e+02] [-4.69742921e-02 9.98895876e-01 6.67383823e-04 -1.37051596e+02] [-1.12267285e-02 1.40128853e-04 -9.99936969e-01 -4.04312505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters 0.014502260517005575 Centerline is valid? [True, True] Translation: X:169.35, Y:-136.35, Z:-5.00 [[-9.99915073e-01 7.16492892e-03 1.08862344e-02 1.69350643e+02] [-7.16621803e-03 -9.99974319e-01 -7.94131543e-05 -1.36349483e+02] [ 1.08853858e-02 -1.57419539e-04 9.99940740e-01 -4.99655544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters 0.01500273110982181 Centerline is valid? [True, True] Translation: X:169.31, Y:-137.06, Z:-4.04 [[-9.98908664e-01 -4.55322421e-02 1.04065390e-02 1.69309233e+02] [-4.55276532e-02 9.98962849e-01 6.77556854e-04 -1.37060204e+02] [-1.04265966e-02 2.03032111e-04 -9.99945621e-01 -4.04368327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters 0.016931883831599017 Centerline is valid? [True, True] Translation: X:169.31, Y:-137.04, Z:-4.04 [[-9.93820529e-01 -1.10591373e-01 9.50290868e-03 1.69305178e+02] [-1.10583961e-01 9.93865931e-01 1.30350859e-03 -1.37036593e+02] [-9.58877398e-03 2.44584315e-04 -9.99953997e-01 -4.04363667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters 0.018604155837055117 Centerline is valid? [True, True] Translation: X:169.30, Y:-137.01, Z:-4.04 [[-9.84150227e-01 -1.77104986e-01 9.06389793e-03 1.69295700e+02] [-1.77094892e-01 9.84191927e-01 1.91078490e-03 -1.37012543e+02] [-9.25902470e-03 2.75329371e-04 -9.99957096e-01 -4.04355536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters 0.01733181453013873 Centerline is valid? [True, True] Translation: X:169.27, Y:-136.99, Z:-4.04 [[-9.69871209e-01 -2.43483239e-01 8.10865218e-03 1.69267730e+02] [-2.43472260e-01 9.69905063e-01 2.32982122e-03 -1.36987902e+02] [-8.43189522e-03 2.85394651e-04 -9.99964410e-01 -4.04492569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters 0.01844248966646459 Centerline is valid? [True, True] Translation: X:169.23, Y:-136.97, Z:-4.04 [[-9.49798465e-01 -3.12769188e-01 7.63613540e-03 1.69226937e+02] [-3.12756698e-01 9.49829120e-01 2.80913110e-03 -1.36972834e+02] [-8.13163342e-03 2.79855922e-04 -9.99966899e-01 -4.04489513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters 0.018131520230633393 Centerline is valid? [True, True] Translation: X:169.16, Y:-136.96, Z:-4.04 [[-9.23420261e-01 -3.83714592e-01 7.62453367e-03 1.69162607e+02] [-3.83699087e-01 9.23451699e-01 3.45994653e-03 -1.36964152e+02] [-8.36852054e-03 2.69458117e-04 -9.99964947e-01 -4.04401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters 0.01792786970946649 Centerline is valid? [True, True] Translation: X:169.09, Y:-136.96, Z:-4.04 [[-8.90840979e-01 -4.54265215e-01 6.74283419e-03 1.69092076e+02] [-4.54250354e-01 8.90866470e-01 3.68075562e-03 -1.36962645e+02] [-7.67900414e-03 2.16033122e-04 -9.99970493e-01 -4.04373681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters 0.015955861905592224 Centerline is valid? [True, True] Translation: X:169.02, Y:-136.97, Z:-4.04 [[-8.53068441e-01 -5.21768408e-01 5.65362518e-03 1.69015677e+02] [-5.21755634e-01 8.53087158e-01 3.65497848e-03 -1.36965781e+02] [-6.73008734e-03 1.68136002e-04 -9.99977339e-01 -4.04446858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters 0.015882464651877714 Centerline is valid? [True, True] Translation: X:168.93, Y:-136.99, Z:-4.04 [[-8.10527925e-01 -5.85680133e-01 4.82341022e-03 1.68931708e+02] [-5.85668749e-01 8.10542265e-01 3.65425904e-03 -1.36986062e+02] [-6.04980476e-03 1.36958370e-04 -9.99981690e-01 -4.04440447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters 0.0142767194370516 Centerline is valid? [True, True] Translation: X:168.85, Y:-137.01, Z:-4.04 [[-7.60962761e-01 -6.48785030e-01 3.69601511e-03 1.68845044e+02] [-6.48776834e-01 7.60971732e-01 3.26230530e-03 -1.37008517e+02] [-4.92909786e-03 8.46038697e-05 -9.99987848e-01 -4.04486307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters 0.013351763876861567 Centerline is valid? [True, True] Translation: X:168.76, Y:-137.04, Z:-4.04 [[-7.06296686e-01 -7.07905276e-01 3.88738948e-03 1.68758412e+02] [-7.07894047e-01 7.06307381e-01 3.98771940e-03 -1.37043379e+02] [-5.56861948e-03 6.46531237e-05 -9.99984493e-01 -4.04479846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters 0.012596027059874249 Centerline is valid? [True, True] Translation: X:168.67, Y:-137.09, Z:-4.04 [[-6.46319981e-01 -7.63055746e-01 4.05098547e-03 1.68669342e+02] [-7.63040438e-01 6.46332675e-01 4.83353539e-03 -1.37089250e+02] [-6.30654124e-03 3.29447701e-05 -9.99980113e-01 -4.04443565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters 0.012465979688375983 Centerline is valid? [True, True] Translation: X:168.58, Y:-137.15, Z:-4.04 [[-5.81784763e-01 -8.13330202e-01 4.52463609e-03 1.68580388e+02] [-8.13305749e-01 5.81802357e-01 6.30687179e-03 -1.37146738e+02] [-7.76201325e-03 -1.06706401e-05 -9.99969875e-01 -4.04228286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters 0.0136331903617366 Centerline is valid? [True, True] Translation: X:168.50, Y:-137.21, Z:-4.04 [[-5.11490497e-01 -8.59274561e-01 4.96997960e-03 1.68495137e+02] [-8.59235787e-01 5.11514634e-01 8.16340866e-03 -1.37207851e+02] [-9.55682668e-03 -9.48783738e-05 -9.99954328e-01 -4.04078252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters 0.014254439747164647 Centerline is valid? [True, True] Translation: X:168.42, Y:-137.28, Z:-4.04 [[-4.39429610e-01 -8.98265577e-01 4.53563590e-03 1.68418335e+02] [-8.98221492e-01 4.39452987e-01 8.90082114e-03 -1.37280520e+02] [-9.98849998e-03 -1.62721281e-04 -9.99950100e-01 -4.04250346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters 0.01502672040340635 Centerline is valid? [True, True] Translation: X:168.35, Y:-137.36, Z:-4.04 [[-3.67367016e-01 -9.30069321e-01 3.54027150e-03 1.68348535e+02] [-9.30030680e-01 3.67384031e-01 8.47979800e-03 -1.37359839e+02] [-9.18743919e-03 -1.77363027e-04 -9.99957779e-01 -4.04329023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters 0.01621444673163212 Centerline is valid? [True, True] Translation: X:168.28, Y:-137.45, Z:-4.04 [[-2.92905506e-01 -9.56137777e-01 2.62984965e-03 1.68282466e+02] [-9.56104793e-01 2.92917251e-01 7.94407608e-03 -1.37447294e+02] [-8.36595957e-03 -1.87548231e-04 -9.99964987e-01 -4.04400946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters 0.018162021221979626 Centerline is valid? [True, True] Translation: X:168.22, Y:-137.54, Z:-4.04 [[-2.16352287e-01 -9.76313215e-01 2.04810903e-03 1.68223996e+02] [-9.76278516e-01 2.16361871e-01 8.23405313e-03 -1.37537949e+02] [-8.48214758e-03 -2.18068625e-04 -9.99964002e-01 -4.04361506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters 0.017493355255472916 Centerline is valid? [True, True] Translation: X:168.18, Y:-137.63, Z:-4.04 [[-1.39210318e-01 -9.90261535e-01 1.60609177e-03 1.68177001e+02] [-9.90216152e-01 1.39219321e-01 9.48435154e-03 -1.37634423e+02] [-9.61558752e-03 -2.70058416e-04 -9.99953733e-01 -4.04311474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters 0.01852398923973085 Centerline is valid? [True, True] Translation: X:168.13, Y:-137.74, Z:-4.04 [[-6.03712878e-02 -9.98175453e-01 1.03593396e-03 1.68133793e+02] [-9.98111935e-01 6.03791384e-02 1.12660922e-02 -1.37741465e+02] [-1.13080855e-02 -3.53829559e-04 -9.99935999e-01 -4.04128766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters 0.01882725100176543 Centerline is valid? [True, True] Translation: X:168.10, Y:-137.85, Z:-4.04 [[ 1.63798503e-02 -9.99865824e-01 1.85244056e-04 1.68101543e+02] [-9.99794648e-01 -1.63764728e-02 1.19362477e-02 -1.37848335e+02] [-1.19316125e-02 -3.80719965e-04 -9.99928743e-01 -4.04083989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters 0.01824280464560996 Centerline is valid? [True, True] Translation: X:168.08, Y:-137.96, Z:-4.04 [[ 9.02890985e-02 -9.95915325e-01 -7.37604007e-04 1.68081120e+02] [-9.95841594e-01 -9.02913933e-02 1.21236735e-02 -1.37957388e+02] [-1.21407516e-02 -3.60098803e-04 -9.99926234e-01 -4.03998800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters 0.017256008592248552 Centerline is valid? [True, True] Translation: X:168.07, Y:-138.06, Z:-4.04 [[ 1.62914134e-01 -9.86639008e-01 -1.56632544e-03 1.68069301e+02] [-9.86573734e-01 -1.62921379e-01 1.13530454e-02 -1.38063177e+02] [-1.14565453e-02 -3.04276021e-04 -9.99934325e-01 -4.04008959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters 0.016316819019431886 Centerline is valid? [True, True] Translation: X:168.07, Y:-138.18, Z:-4.04 [[ 2.34372395e-01 -9.72143813e-01 -2.44669909e-03 1.68068908e+02] [-9.72078366e-01 -2.34385015e-01 1.12834028e-02 -1.38175565e+02] [-1.15425598e-02 -2.66134877e-04 -9.99933347e-01 -4.04015958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters 0.015474883849116362 Centerline is valid? [True, True] Translation: X:168.08, Y:-138.29, Z:-4.04 [[ 3.07219251e-01 -9.51632953e-01 -3.32499807e-03 1.68076724e+02] [-9.51567739e-01 -3.07237134e-01 1.11436947e-02 -1.38288274e+02] [-1.16262700e-02 -2.59596642e-04 -9.99932379e-01 -4.04143842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters 0.016373618059434596 Centerline is valid? [True, True] Translation: X:168.09, Y:-138.40, Z:-4.04 [[ 3.78823915e-01 -9.25459925e-01 -4.04570592e-03 1.68086857e+02] [-9.25399888e-01 -3.78845435e-01 1.05443805e-02 -1.38399835e+02] [-1.12910988e-02 -2.50567702e-04 -9.99936222e-01 -4.04061872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters 0.015888456126485755 Centerline is valid? [True, True] Translation: X:168.11, Y:-138.51, Z:-4.04 [[ 4.48507852e-01 -8.93766008e-01 -4.79902886e-03 1.68110578e+02] [-8.93708717e-01 -4.48533455e-01 1.01226533e-02 -1.38510586e+02] [-1.11998084e-02 -2.51155550e-04 -9.99937249e-01 -4.04124841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters 0.01551397239552866 Centerline is valid? [True, True] Translation: X:168.14, Y:-138.62, Z:-4.04 [[ 5.14897613e-01 -8.57233377e-01 -5.60229373e-03 1.68139995e+02] [-8.57177326e-01 -5.14928030e-01 9.80588015e-03 -1.38617287e+02] [-1.12907058e-02 -2.46865123e-04 -9.99936228e-01 -4.04137564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters 0.014935414644368929 Centerline is valid? [True, True] Translation: X:168.18, Y:-138.72, Z:-4.04 [[ 5.77228109e-01 -8.16555647e-01 -6.67717990e-03 1.68176478e+02] [-8.16496181e-01 -5.77266679e-01 9.85737872e-03 -1.38716663e+02] [-1.19036117e-02 -2.38064195e-04 -9.99929121e-01 -4.04101984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters 0.014062057504470557 Centerline is valid? [True, True] Translation: X:168.23, Y:-138.82, Z:-4.04 [[ 6.34175650e-01 -7.73153978e-01 -7.36014694e-03 1.68226706e+02] [-7.73098545e-01 -6.34218333e-01 9.25991710e-03 -1.38817032e+02] [-1.18272819e-02 -1.82295050e-04 -9.99930039e-01 -4.04129094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters 0.013085146449395962 Centerline is valid? [True, True] Translation: X:168.28, Y:-138.90, Z:-4.04 [[ 6.87460730e-01 -7.26180656e-01 -7.70715484e-03 1.68275174e+02] [-7.26133113e-01 -6.87503921e-01 8.31030630e-03 -1.38904142e+02] [-1.13334829e-02 -1.16588892e-04 -9.99935767e-01 -4.04197906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters 0.012189216675115794 Centerline is valid? [True, True] Translation: X:168.33, Y:-138.98, Z:-4.04 [[ 7.33871178e-01 -6.79246694e-01 -7.55130223e-03 1.68331781e+02] [-6.79210698e-01 -7.33910028e-01 6.99279970e-03 -1.38982981e+02] [-1.02918125e-02 -2.88889923e-06 -9.99947038e-01 -4.04261517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters 0.013444185251827744 Centerline is valid? [True, True] Translation: X:168.36, Y:-139.00, Z:-4.04 [[ 7.79167339e-01 -6.26771045e-01 -7.50436635e-03 1.68363007e+02] [-6.26742995e-01 -7.79203472e-01 5.93020902e-03 -1.38996353e+02] [-9.56431162e-03 8.26838685e-05 -9.99954258e-01 -4.04190395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters 0.013425861482856684 Centerline is valid? [True, True] Translation: X:168.39, Y:-139.02, Z:-4.04 [[ 8.22508747e-01 -5.68686361e-01 -8.67087607e-03 1.68386483e+02] [-5.68656680e-01 -8.22554436e-01 5.81203445e-03 -1.39019885e+02] [-1.04374923e-02 1.50302428e-04 -9.99945517e-01 -4.04432086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters 0.014310053284078481 Centerline is valid? [True, True] Translation: X:168.41, Y:-139.04, Z:-4.04 [[ 8.62897851e-01 -5.05285829e-01 -9.67107900e-03 1.68410774e+02] [-5.05256596e-01 -8.62952023e-01 5.43860459e-03 -1.39040728e+02] [-1.10937270e-02 1.93416238e-04 -9.99938444e-01 -4.04313720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters 0.015405040650486012 Centerline is valid? [True, True] Translation: X:168.44, Y:-139.06, Z:-4.04 [[ 8.97406941e-01 -4.41098370e-01 -9.64414736e-03 1.68437065e+02] [-4.41075791e-01 -8.97458728e-01 4.46966631e-03 -1.39059883e+02] [-1.06267867e-02 2.42690350e-04 -9.99943505e-01 -4.04363136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters 0.017239877325419248 Centerline is valid? [True, True] Translation: X:168.47, Y:-139.07, Z:-4.05 [[ 9.26919836e-01 -3.75176169e-01 -7.90313011e-03 1.68465625e+02] [-3.75164756e-01 -9.26953496e-01 2.93645636e-03 -1.39074633e+02] [-8.42752253e-03 2.43116231e-04 -9.99964458e-01 -4.04528874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters 0.018811628862260964 Centerline is valid? [True, True] Translation: X:168.49, Y:-139.09, Z:-4.05 [[ 9.52377931e-01 -3.04826735e-01 -7.54572544e-03 1.68494395e+02] [-3.04819261e-01 -9.52407790e-01 2.14952212e-03 -1.39088091e+02] [-7.84183950e-03 2.52925027e-04 -9.99969220e-01 -4.04561268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters 0.018362696366983088 Centerline is valid? [True, True] Translation: X:168.52, Y:-139.11, Z:-4.05 [[ 9.72971225e-01 -2.30797486e-01 -7.71466257e-03 1.68521696e+02] [-2.30792392e-01 -9.73001773e-01 1.55641775e-03 -1.39105711e+02] [-7.86559766e-03 2.66135739e-04 -9.99969030e-01 -4.04578545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters 0.01949163891987593 Centerline is valid? [True, True] Translation: X:168.55, Y:-139.12, Z:-4.04 [[ 9.88554191e-01 -1.50613950e-01 -8.72064894e-03 1.68546545e+02] [-1.50610473e-01 -9.88592619e-01 1.05777909e-03 -1.39118456e+02] [-8.78048547e-03 2.67749109e-04 -9.99961415e-01 -4.04463675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters 0.017124806576485598 Centerline is valid? [True, True] Translation: X:168.57, Y:-139.13, Z:-4.04 [[ 9.97611216e-01 -6.85065207e-02 -8.87234596e-03 1.68573928e+02] [-6.85058872e-02 -9.97650641e-01 3.75657570e-04 -1.39134175e+02] [-8.87723663e-03 2.33047726e-04 -9.99960569e-01 -4.04484910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters 0.01585856864103996 Centerline is valid? [True, True] Translation: X:168.60, Y:-139.15, Z:-4.04 [[ 9.99847925e-01 1.53760477e-02 -8.22828995e-03 1.68601550e+02] [ 1.53741289e-02 -9.99881767e-01 -2.96405836e-04 -1.39146881e+02] [-8.23187465e-03 1.69857970e-04 -9.99966103e-01 -4.04485058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters 0.015274850925122969 Centerline is valid? [True, True] Translation: X:168.63, Y:-139.15, Z:-4.04 [[ 9.95318634e-01 9.63445671e-02 -7.65116317e-03 1.68631805e+02] [ 9.63406574e-02 -9.95348032e-01 -8.78783209e-04 -1.39152438e+02] [-7.70023619e-03 1.37551214e-04 -9.99970343e-01 -4.04461948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters 0.014986343300979485 Centerline is valid? [True, True] Translation: X:168.66, Y:-139.15, Z:-4.04 [[ 9.84501291e-01 1.75211778e-01 -7.61843440e-03 1.68661654e+02] [ 1.75205520e-01 -9.84530759e-01 -1.48648302e-03 -1.39152665e+02] [-7.76103234e-03 1.28652698e-04 -9.99969875e-01 -4.04462410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters 0.01398250503139516 Centerline is valid? [True, True] Translation: X:168.69, Y:-139.15, Z:-4.05 [[ 9.66567455e-01 2.56308443e-01 -7.30321679e-03 1.68690909e+02] [ 2.56300422e-01 -9.66595041e-01 -2.02969274e-03 -1.39153419e+02] [-7.57948052e-03 9.00173943e-05 -9.99971271e-01 -4.04513381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters 0.01268518554976129 Centerline is valid? [True, True] Translation: X:168.72, Y:-139.15, Z:-4.05 [[ 9.41517717e-01 3.36907779e-01 -6.12681912e-03 1.68722055e+02] [ 3.36900383e-01 -9.41537650e-01 -2.23266503e-03 -1.39151092e+02] [-6.52083309e-03 3.79659692e-05 -9.99978738e-01 -4.04602398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters 0.012272563809687248 Centerline is valid? [True, True] Translation: X:168.75, Y:-139.14, Z:-4.05 [[ 9.10426692e-01 4.13623862e-01 -6.20801591e-03 1.68751349e+02] [ 4.13614177e-01 -9.10447857e-01 -2.83053061e-03 -1.39142267e+02] [-6.82284978e-03 9.26723011e-06 -9.99976724e-01 -4.04558316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters 0.012692127231984499 Centerline is valid? [True, True] Translation: X:168.78, Y:-139.13, Z:-4.04 [[ 8.71884641e-01 4.89655643e-01 -7.38410721e-03 1.68780853e+02] [ 4.89638541e-01 -8.71915907e-01 -4.09264606e-03 -1.39132126e+02] [-8.44230777e-03 -4.72282458e-05 -9.99964362e-01 -4.04368047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters 0.013624655247236944 Centerline is valid? [True, True] Translation: X:168.81, Y:-139.12, Z:-4.04 [[ 8.28610035e-01 5.59772414e-01 -7.76239367e-03 1.68808121e+02] [ 5.59748866e-01 -8.28646388e-01 -5.13529317e-03 -1.39115078e+02] [-9.30687494e-03 -8.98355983e-05 -9.99956686e-01 -4.04235956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters 0.013338613091435154 Centerline is valid? [True, True] Translation: X:168.84, Y:-139.10, Z:-4.04 [[ 7.80103577e-01 6.25600134e-01 -7.92981931e-03 1.68838671e+02] [ 6.25569519e-01 -7.80143868e-01 -6.19049073e-03 -1.39101697e+02] [-1.00591717e-02 -1.31429285e-04 -9.99949397e-01 -4.04475706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters 0.013318810005146469 Centerline is valid? [True, True] Translation: X:168.87, Y:-139.09, Z:-4.05 [[ 7.28205764e-01 6.85322167e-01 -7.06352618e-03 1.68868204e+02] [ 6.85291681e-01 -7.28240009e-01 -6.46547521e-03 -1.39086718e+02] [-9.57487584e-03 -1.32379418e-04 -9.99954151e-01 -4.04541593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters 0.01320311322944279 Centerline is valid? [True, True] Translation: X:168.90, Y:-139.07, Z:-4.05 [[ 6.72984266e-01 7.39640476e-01 -4.91352293e-03 1.68895096e+02] [ 7.39621764e-01 -6.73002197e-01 -5.26203923e-03 -1.39068120e+02] [-7.19882893e-03 -9.28788900e-05 -9.99974084e-01 -4.04664163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters 0.012941899376663344 Centerline is valid? [True, True] Translation: X:168.92, Y:-139.05, Z:-4.05 [[ 6.14529132e-01 7.88883667e-01 -4.06283469e-03 1.68918023e+02] [ 7.88867191e-01 -6.14542558e-01 -5.09907337e-03 -1.39045742e+02] [-6.51936052e-03 -7.15078517e-05 -9.99978746e-01 -4.04751260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters 0.012879244527948367 Centerline is valid? [True, True] Translation: X:168.94, Y:-139.02, Z:-4.05 [[ 5.51065613e-01 8.34454219e-01 -3.58432639e-03 1.68940209e+02] [ 8.34437373e-01 -5.51077265e-01 -5.30268096e-03 -1.39023461e+02] [-6.40008529e-03 -6.87707606e-05 -9.99979517e-01 -4.04768097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters 0.013094536643756611 Centerline is valid? [True, True] Translation: X:168.96, Y:-139.00, Z:-4.05 [[ 4.82649096e-01 8.75805716e-01 -3.76817493e-03 1.68963017e+02] [ 8.75780532e-01 -4.82663796e-01 -6.64222785e-03 -1.39000617e+02] [-7.63606273e-03 -9.42289853e-05 -9.99970840e-01 -4.04690877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters 0.013295153780176183 Centerline is valid? [True, True] Translation: X:168.98, Y:-138.98, Z:-4.05 [[ 4.10817894e-01 9.11708517e-01 -4.02961222e-03 1.68983807e+02] [ 9.11667866e-01 -4.10837633e-01 -8.61056088e-03 -1.38976343e+02] [-9.50583804e-03 -1.36295487e-04 -9.99954809e-01 -4.04507321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters 0.013089401499229653 Centerline is valid? [True, True] Translation: X:169.00, Y:-138.95, Z:-4.04 [[ 3.39082195e-01 9.40749553e-01 -3.68007884e-03 1.69001666e+02] [ 9.40698544e-01 -3.39102136e-01 -9.79752460e-03 -1.38949850e+02] [-1.04649395e-02 -1.39678661e-04 -9.99945231e-01 -4.04444095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters 0.012342456041859016 Centerline is valid? [True, True] Translation: X:169.01, Y:-138.92, Z:-4.04 [[ 2.70527487e-01 9.62707404e-01 -3.05520951e-03 1.69012173e+02] [ 9.62649177e-01 -2.70544727e-01 -1.05883704e-02 -1.38921038e+02] [-1.10200734e-02 -7.66496971e-05 -9.99939274e-01 -4.04385759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters 0.012120852223085144 Centerline is valid? [True, True] Translation: X:169.02, Y:-138.89, Z:-4.04 [[ 2.01264362e-01 9.79534961e-01 -1.97902020e-03 1.69018891e+02] [ 9.79487539e-01 -2.01274091e-01 -9.63856335e-03 -1.38892919e+02] [-9.83963527e-03 1.47367681e-06 -9.99951590e-01 -4.04472429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters 0.012890011944755336 Centerline is valid? [True, True] Translation: X:169.02, Y:-138.86, Z:-4.05 [[ 1.34045589e-01 9.90974679e-01 -9.82724082e-04 1.69021220e+02] [ 9.90943338e-01 -1.34049166e-01 -7.88176227e-03 -1.38864086e+02] [-7.94236018e-03 8.26915848e-05 -9.99968456e-01 -4.04703204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters 0.01389346925326337 Centerline is valid? [True, True] Translation: X:169.03, Y:-138.84, Z:-4.05 [[ 6.19447444e-02 9.98079529e-01 -3.20699671e-04 1.69026089e+02] [ 9.98054848e-01 -6.19454683e-02 -7.01993318e-03 -1.38836111e+02] [-7.02631749e-03 1.14772105e-04 -9.99975309e-01 -4.04796332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters 0.014269685970590548 Centerline is valid? [True, True] Translation: X:169.03, Y:-138.81, Z:-4.05 [[-1.48181983e-02 9.99890175e-01 2.42610499e-04 1.69033823e+02] [ 9.99862746e-01 1.48195891e-02 -7.40742694e-03 -1.38808698e+02] [-7.41020881e-03 1.32812478e-04 -9.99972535e-01 -4.04790300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters 0.01421098944503821 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.78, Z:-4.04 [[-9.51653671e-02 9.95460736e-01 1.21453386e-03 1.69039842e+02] [ 9.95401246e-01 9.51729595e-02 -1.08842943e-02 -1.38781001e+02] [-1.09504784e-02 1.73140653e-04 -9.99940027e-01 -4.04430392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters 0.014167677648006473 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.75, Z:-4.04 [[-1.76244230e-01 9.84344023e-01 2.19453374e-03 1.69041337e+02] [ 9.84277555e-01 1.76257833e-01 -1.14398534e-02 -1.38754635e+02] [-1.16475551e-02 1.43822150e-04 -9.99932155e-01 -4.04311798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters 0.013395899846341083 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.73, Z:-4.04 [[-2.54761687e-01 9.66998894e-01 3.10179300e-03 1.69043766e+02] [ 9.66932905e-01 2.54780540e-01 -1.12974970e-02 -1.38726285e+02] [-1.17149436e-02 1.21056317e-04 -9.99931370e-01 -4.04369026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters 0.01282470164694359 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.70, Z:-4.04 [[-3.33387320e-01 9.42783717e-01 3.42888614e-03 1.69044551e+02] [ 9.42735856e-01 3.33404946e-01 -9.49990997e-03 -1.38697679e+02] [-1.00995680e-02 6.53843822e-05 -9.99948996e-01 -4.04453477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters 0.012432629161059694 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.67, Z:-4.05 [[-4.09050956e-01 9.12505204e-01 3.40131128e-03 1.69043671e+02] [ 9.12474223e-01 4.09065096e-01 -7.51928167e-03 -1.38668126e+02] [-8.25274138e-03 2.78395115e-05 -9.99965945e-01 -4.04672272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters 0.012260786161210475 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.64, Z:-4.05 [[-4.84460033e-01 8.74809018e-01 2.76730582e-03 1.69043426e+02] [ 8.74794575e-01 4.84467936e-01 -5.02692416e-03 -1.38637523e+02] [-5.73826953e-03 -1.45197202e-05 -9.99983536e-01 -4.04846216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters 0.013391951719657177 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.61, Z:-4.05 [[-5.59506691e-01 8.28818298e-01 3.53428235e-03 1.69042028e+02] [ 8.28800869e-01 5.59517848e-01 -5.37570082e-03 -1.38606968e+02] [-6.43297326e-03 -7.85242950e-05 -9.99979305e-01 -4.04690420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters 0.015227546503688573 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.57, Z:-4.05 [[-6.30471432e-01 7.76197879e-01 4.75667711e-03 1.69038194e+02] [ 7.76173699e-01 6.30489352e-01 -6.12907573e-03 -1.38574922e+02] [-7.75640985e-03 -1.72199482e-04 -9.99969904e-01 -4.04578947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters 0.01710380221825032 Centerline is valid? [True, True] Translation: X:169.03, Y:-138.54, Z:-4.04 [[-6.94377658e-01 7.19588644e-01 5.64379004e-03 1.69029223e+02] [ 7.19561969e-01 6.94400550e-01 -6.20066543e-03 -1.38544159e+02] [-8.38097934e-03 -2.44546859e-04 -9.99964849e-01 -4.04491027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters 0.018684827341546507 Centerline is valid? [True, True] Translation: X:169.02, Y:-138.52, Z:-4.04 [[-7.49919682e-01 6.61499576e-01 6.22756694e-03 1.69015799e+02] [ 6.61473782e-01 7.49945492e-01 -5.84767035e-03 -1.38516993e+02] [-8.53856721e-03 -2.65910827e-04 -9.99963510e-01 -4.04402438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters 0.01927678740890112 Centerline is valid? [True, True] Translation: X:169.04, Y:-138.50, Z:-4.04 [[-7.94504247e-01 6.07222194e-01 6.64899903e-03 1.69037469e+02] [ 6.07198098e-01 7.94532024e-01 -5.41606201e-03 -1.38501957e+02] [-8.57159571e-03 -2.65824706e-04 -9.99963228e-01 -4.04343317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters 0.016820063546344032 Centerline is valid? [True, True] Translation: X:169.06, Y:-138.49, Z:-4.04 [[-8.33177127e-01 5.52965858e-01 6.68090634e-03 1.69057782e+02] [ 5.52945912e-01 8.33203883e-01 -4.70190672e-03 -1.38492629e+02] [-8.16655099e-03 -2.23341278e-04 -9.99966628e-01 -4.04416501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters 0.01687057734955591 Centerline is valid? [True, True] Translation: X:169.08, Y:-138.47, Z:-4.04 [[-8.68661508e-01 4.95355170e-01 7.10211537e-03 1.69075075e+02] [ 4.95336714e-01 8.68690517e-01 -4.28074288e-03 -1.38474503e+02] [-8.29002839e-03 -2.00578080e-04 -9.99965617e-01 -4.04314383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters 0.01590468970919495 Centerline is valid? [True, True] Translation: X:169.08, Y:-138.46, Z:-4.04 [[-8.99601308e-01 4.36638488e-01 8.01980468e-03 1.69084644e+02] [ 4.36619367e-01 8.99637037e-01 -4.09017098e-03 -1.38456983e+02] [-9.00083939e-03 -1.77921120e-04 -9.99959476e-01 -4.04167470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters 0.015373682720356404 Centerline is valid? [True, True] Translation: X:169.10, Y:-138.44, Z:-4.04 [[-9.27319945e-01 3.74170951e-01 8.59181411e-03 1.69098792e+02] [ 3.74153282e-01 9.27359733e-01 -3.63977248e-03 -1.38439961e+02] [-9.32959957e-03 -1.60578164e-04 -9.99956465e-01 -4.04088637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters 0.015373682720356404 Centerline is valid? [True, True] Translation: X:169.11, Y:-138.42, Z:-4.04 [[-9.51505317e-01 3.07505602e-01 8.82818830e-03 1.69109713e+02] [ 3.07490797e-01 9.51546257e-01 -3.02170301e-03 -1.38415357e+02] [-9.32962013e-03 -1.60579825e-04 -9.99956465e-01 -4.04088616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters 0.015316043744886723 Centerline is valid? [True, True] Translation: X:169.12, Y:-138.39, Z:-4.04 [[-9.70796200e-01 2.39728356e-01 9.22246270e-03 1.69119001e+02] [ 2.39715970e-01 9.70839992e-01 -2.44210633e-03 -1.38391279e+02] [-9.53897775e-03 -1.60015951e-04 -9.99954490e-01 -4.04055427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters 0.013936548316482453 Centerline is valid? [True, True] Translation: X:169.13, Y:-138.37, Z:-4.04 [[-9.85231869e-01 1.70966616e-01 9.41173411e-03 1.69126555e+02] [ 1.70957317e-01 9.85276810e-01 -1.78984831e-03 -1.38371745e+02] [-9.57916767e-03 -1.54410784e-04 -9.99954107e-01 -4.04181396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters 0.013817581437743812 Centerline is valid? [True, True] Translation: X:169.27, Y:-137.65, Z:-5.00 [[-9.63448551e-01 -2.67740251e-01 9.05802463e-03 1.69269913e+02] [ 2.67729758e-01 -9.63491120e-01 -2.37445766e-03 -1.37650943e+02] [ 9.36306419e-03 1.37434947e-04 9.99956156e-01 -4.99728224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters 0.014066066107828762 Centerline is valid? [True, True] Translation: X:169.07, Y:-138.37, Z:-4.04 [[-9.85855418e-01 1.67374113e-01 8.66035765e-03 1.69068018e+02] [ 1.67366402e-01 9.85893446e-01 -1.61277238e-03 -1.38365465e+02] [-8.80812619e-03 -1.40507488e-04 -9.99961198e-01 -4.04180456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters 0.014309896270614112 Centerline is valid? [True, True] Translation: X:169.08, Y:-138.34, Z:-4.04 [[-9.95365116e-01 9.56970605e-02 9.50569079e-03 1.69083389e+02] [ 9.56911077e-02 9.95410491e-01 -1.08013802e-03 -1.38341111e+02] [-9.56543037e-03 -1.65521621e-04 -9.99954237e-01 -4.04175309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters 0.014882799216121819 Centerline is valid? [True, True] Translation: X:169.17, Y:-137.61, Z:-5.00 [[-9.80266609e-01 -1.97430028e-01 9.93781135e-03 1.69166375e+02] [ 1.97422037e-01 -9.80316959e-01 -1.78848012e-03 -1.37605701e+02] [ 1.00953047e-02 2.08755623e-04 9.99949019e-01 -4.99898404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters 0.014438188932777896 Centerline is valid? [True, True] Translation: X:169.03, Y:-138.33, Z:-4.04 [[-9.95664802e-01 9.24923292e-02 9.83719670e-03 1.69031232e+02] [ 9.24861950e-02 9.95713384e-01 -1.07764632e-03 -1.38334575e+02] [-9.89470243e-03 -1.63169618e-04 -9.99951033e-01 -4.04013808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters 0.01400967752679047 Centerline is valid? [True, True] Translation: X:169.03, Y:-138.31, Z:-4.04 [[-9.99724054e-01 2.22966475e-02 7.39425404e-03 1.69034099e+02] [ 2.22951734e-02 9.99751392e-01 -2.81741161e-04 -1.38308632e+02] [-7.39869765e-03 -1.16807240e-04 -9.99972622e-01 -4.04301524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters 0.013973668957202973 Centerline is valid? [True, True] Translation: X:169.05, Y:-137.57, Z:-4.99 [[-9.92542518e-01 -1.21726865e-01 6.47464486e-03 1.69049177e+02] [ 1.21724577e-01 -9.92563634e-01 -7.47667144e-04 -1.37568273e+02] [ 6.51750822e-03 4.60319781e-05 9.99978760e-01 -4.99497792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters 0.014523316558204671 Centerline is valid? [True, True] Translation: X:168.97, Y:-138.30, Z:-4.04 [[-9.99859316e-01 1.55847392e-02 6.20192165e-03 1.68965651e+02] [ 1.55837515e-02 9.99878544e-01 -2.07549923e-04 -1.38303111e+02] [-6.20440300e-03 -1.10871519e-04 -9.99980746e-01 -4.04350308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters 0.014912504817382955 Centerline is valid? [True, True] Translation: X:169.00, Y:-137.57, Z:-5.00 [[-9.92730281e-01 -1.20049505e-01 8.64317973e-03 1.68995323e+02] [ 1.20047734e-01 -9.92767856e-01 -7.25316097e-04 -1.37571875e+02] [ 8.66774484e-03 3.17550891e-04 9.99962384e-01 -4.99771692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters 0.015304677058524651 Centerline is valid? [True, True] Translation: X:168.91, Y:-138.30, Z:-4.04 [[-9.99904354e-01 9.48006527e-03 1.00702816e-02 1.68906925e+02] [ 9.47757486e-03 9.99955043e-01 -2.94996771e-04 -1.38296978e+02] [-1.00726255e-02 -1.99526708e-04 -9.99949250e-01 -4.04006982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters 0.015327077554920087 Centerline is valid? [True, True] Translation: X:168.93, Y:-137.57, Z:-5.00 [[-9.93193545e-01 -1.16052313e-01 9.92180291e-03 1.68933917e+02] [ 1.16048438e-01 -9.93243084e-01 -9.67361856e-04 -1.37573956e+02] [ 9.96702671e-03 1.90632177e-04 9.99950310e-01 -4.99864015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters 0.014891028526626928 Centerline is valid? [True, True] Translation: X:168.85, Y:-138.29, Z:-4.04 [[-9.99933968e-01 7.70320741e-03 8.52760988e-03 1.68849327e+02] [ 7.70167116e-03 9.99970319e-01 -2.12975522e-04 -1.38293955e+02] [-8.52899737e-03 -1.47284611e-04 -9.99963617e-01 -4.04120724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters 0.01350874993156076 Centerline is valid? [True, True] Translation: X:168.85, Y:-138.27, Z:-4.04 [[-9.98195989e-01 -5.93696309e-02 8.94507887e-03 1.68847923e+02] [-5.93683154e-02 9.98236061e-01 4.12763448e-04 -1.38270911e+02] [-8.95380591e-03 -1.19035446e-04 -9.99959907e-01 -4.04114189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters 0.012992903051058217 Centerline is valid? [True, True] Translation: X:168.85, Y:-138.25, Z:-4.04 [[-9.91799279e-01 -1.27411939e-01 1.00193529e-02 1.68848537e+02] [-1.27406513e-01 9.91849881e-01 1.18063200e-03 -1.38245869e+02] [-1.00881206e-02 -1.05580849e-04 -9.99949108e-01 -4.04049293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters 0.012540034174168036 Centerline is valid? [True, True] Translation: X:168.84, Y:-138.22, Z:-4.04 [[-9.80947164e-01 -1.94013263e-01 1.00754739e-02 1.68844965e+02] [-1.94003747e-01 9.80998904e-01 1.92270048e-03 -1.38221403e+02] [-1.02570582e-02 -6.86120971e-05 -9.99947393e-01 -4.04016358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters 0.012456117192571942 Centerline is valid? [True, True] Translation: X:168.83, Y:-138.20, Z:-4.04 [[-9.65377624e-01 -2.60685304e-01 9.44541479e-03 1.68828452e+02] [-2.60673187e-01 9.65423830e-01 2.51361870e-03 -1.38200120e+02] [-9.77409197e-03 -3.55751264e-05 -9.99952232e-01 -4.04077994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters 0.012291017938570273 Centerline is valid? [True, True] Translation: X:168.80, Y:-138.18, Z:-4.04 [[-9.44905831e-01 -3.27223828e-01 8.80549887e-03 1.68802212e+02] [-3.27209719e-01 9.44946859e-01 3.03862742e-03 -1.38182418e+02] [-9.31503979e-03 -1.00280426e-05 -9.99956614e-01 -4.04153745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters 0.012254008555850791 Centerline is valid? [True, True] Translation: X:168.75, Y:-138.17, Z:-4.04 [[-9.18977410e-01 -3.94231247e-01 7.88946827e-03 1.68751470e+02] [-3.94216714e-01 9.19011275e-01 3.38506385e-03 -1.38173450e+02] [-8.58500824e-03 6.36958597e-07 -9.99963148e-01 -4.04165411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters 0.012134377276079718 Centerline is valid? [True, True] Translation: X:168.69, Y:-138.17, Z:-4.04 [[-8.87969243e-01 -4.59855659e-01 6.58761925e-03 1.68689535e+02] [-4.59842933e-01 8.87993679e-01 3.42116449e-03 -1.38172406e+02] [-7.42300610e-03 8.61868571e-06 -9.99972449e-01 -4.04189696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters 0.012107196271584485 Centerline is valid? [True, True] Translation: X:168.61, Y:-138.18, Z:-4.04 [[-8.51301466e-01 -5.24637415e-01 6.43403287e-03 1.68613628e+02] [-5.24622380e-01 8.51325779e-01 3.97193268e-03 -1.38183637e+02] [-7.56128254e-03 5.87448224e-06 -9.99971413e-01 -4.04167000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters 0.012163606551532155 Centerline is valid? [True, True] Translation: X:168.54, Y:-138.20, Z:-4.04 [[-8.07920526e-01 -5.89249858e-01 7.00212770e-03 1.68538126e+02] [-5.89227939e-01 8.07950868e-01 5.08242523e-03 -1.38197395e+02] [-8.65219350e-03 -1.96536071e-05 -9.99962569e-01 -4.04013750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters 0.012268920810745444 Centerline is valid? [True, True] Translation: X:168.46, Y:-138.22, Z:-4.04 [[-7.59883255e-01 -6.50021332e-01 7.05030956e-03 1.68456294e+02] [-6.49993887e-01 7.59915960e-01 5.97335363e-03 -1.38223976e+02] [-9.24045004e-03 -4.36067155e-05 -9.99957305e-01 -4.03958461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters 0.012463867777179281 Centerline is valid? [True, True] Translation: X:168.37, Y:-138.26, Z:-4.04 [[-7.07476855e-01 -7.06702070e-01 6.97744516e-03 1.68371676e+02] [-7.06668607e-01 7.07511258e-01 6.87739293e-03 -1.38260918e+02] [-9.79688883e-03 -6.51451313e-05 -9.99952007e-01 -4.03831752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters 0.012335967751554338 Centerline is valid? [True, True] Translation: X:168.29, Y:-138.31, Z:-4.04 [[-6.52539174e-01 -7.57729643e-01 6.19798490e-03 1.68286445e+02] [-7.57696287e-01 6.52568606e-01 7.10994489e-03 -1.38313269e+02] [-9.43202637e-03 -5.66725730e-05 -9.99955516e-01 -4.03915649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters 0.012372625091556531 Centerline is valid? [True, True] Translation: X:168.21, Y:-138.37, Z:-4.04 [[-5.94372377e-01 -8.04177171e-01 4.53378625e-03 1.68205975e+02] [-8.04154214e-01 5.94389667e-01 6.07653268e-03 -1.38372889e+02] [-7.58144457e-03 -3.41401469e-05 -9.99971260e-01 -4.04040721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters 0.012339302681624153 Centerline is valid? [True, True] Translation: X:168.13, Y:-138.44, Z:-4.04 [[-5.31542216e-01 -8.47024833e-01 3.43594564e-03 1.68127660e+02] [-8.47007475e-01 5.31553320e-01 5.42266155e-03 -1.38439239e+02] [-6.41951730e-03 -2.78981018e-05 -9.99979394e-01 -4.04095838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters 0.012402569596366462 Centerline is valid? [True, True] Translation: X:168.05, Y:-138.52, Z:-4.04 [[-4.64749996e-01 -8.85436042e-01 3.23360048e-03 1.68049346e+02] [-8.85415126e-01 4.64761244e-01 6.08613682e-03 -1.38518485e+02] [-6.89173708e-03 -3.45467132e-05 -9.99976251e-01 -4.04013115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters 0.012584295862142166 Centerline is valid? [True, True] Translation: X:167.98, Y:-138.60, Z:-4.04 [[-3.94651460e-01 -9.18825205e-01 3.23533762e-03 1.67976662e+02] [-9.18795352e-01 3.94664718e-01 7.40684676e-03 -1.38604698e+02] [-8.08247111e-03 -4.94902812e-05 -9.99967335e-01 -4.03854351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters 0.012751633450412001 Centerline is valid? [True, True] Translation: X:167.91, Y:-138.70, Z:-4.04 [[-3.22123022e-01 -9.46693922e-01 2.71614801e-03 1.67909333e+02] [-9.46661797e-01 3.22134467e-01 7.79915132e-03 -1.38698993e+02] [-8.25837404e-03 -5.89873716e-05 -9.99965897e-01 -4.03816487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters 0.01291276489407241 Centerline is valid? [True, True] Translation: X:167.85, Y:-138.80, Z:-4.04 [[-2.47537994e-01 -9.68875605e-01 2.23703553e-03 1.67848958e+02] [-9.68838632e-01 2.47548092e-01 8.46443388e-03 -1.38800245e+02] [-8.75475737e-03 -7.20574600e-05 -9.99961674e-01 -4.03795811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters 0.01307683440821606 Centerline is valid? [True, True] Translation: X:167.80, Y:-138.91, Z:-4.04 [[-1.70224285e-01 -9.85404155e-01 1.53113906e-03 1.67796390e+02] [-9.85368854e-01 1.70231148e-01 8.34134303e-03 -1.38907230e+02] [-8.48024164e-03 -8.88375886e-05 -9.99964038e-01 -4.03941062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters 0.013547446835345754 Centerline is valid? [True, True] Translation: X:167.75, Y:-139.02, Z:-4.04 [[-9.12828785e-02 -9.95824568e-01 9.30669686e-04 1.67750600e+02] [-9.95785154e-01 9.12875465e-02 8.86063164e-03 -1.39015798e+02] [-8.90859322e-03 -1.17923096e-04 -9.99960311e-01 -4.03934234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters 0.013606730960413309 Centerline is valid? [True, True] Translation: X:167.72, Y:-139.13, Z:-4.04 [[-1.32417848e-02 -9.99912285e-01 2.76738527e-04 1.67715889e+02] [-9.99862357e-01 1.32438894e-02 9.99336350e-03 -1.39129886e+02] [-9.99615203e-03 -1.44370467e-04 -9.99950027e-01 -4.03878097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters 0.013350538405459623 Centerline is valid? [True, True] Translation: X:167.69, Y:-139.25, Z:-4.04 [[ 6.27591893e-02 -9.98028550e-01 -5.45244738e-04 1.67691657e+02] [-9.97967443e-01 -6.27613808e-02 1.10450227e-02 -1.39246397e+02] [-1.10574683e-02 -1.49040175e-04 -9.99938853e-01 -4.03835365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters 0.012856182390952273 Centerline is valid? [True, True] Translation: X:166.97, Y:-139.39, Z:-5.00 [[-2.86194711e-02 9.99590348e-01 2.50538978e-04 1.66972111e+02] [-9.99546332e-01 -2.86205620e-02 9.38044519e-03 -1.39392588e+02] [ 9.38377304e-03 1.80380631e-05 9.99955971e-01 -4.99902957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters 0.012677004975187261 Centerline is valid? [True, True] Translation: X:167.71, Y:-139.54, Z:-4.04 [[ 6.64915926e-02 -9.97786856e-01 -5.08886700e-04 1.67709374e+02] [-9.97749794e-01 -6.64935091e-02 8.60015958e-03 -1.39539592e+02] [-8.61496384e-03 -6.40967069e-05 -9.99962889e-01 -4.04097105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters 0.0123014468897774 Centerline is valid? [True, True] Translation: X:167.70, Y:-139.65, Z:-4.04 [[ 1.37227691e-01 -9.90538709e-01 -1.27569500e-03 1.67697905e+02] [-9.90495015e-01 -1.37233619e-01 9.30370540e-03 -1.39645458e+02] [-9.39074857e-03 -1.31564722e-05 -9.99955906e-01 -4.03993228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters 0.012412671204685945 Centerline is valid? [True, True] Translation: X:167.69, Y:-139.77, Z:-4.04 [[ 2.10079572e-01 -9.77681837e-01 -2.19084168e-03 1.67694739e+02] [-9.77629567e-01 -2.10090994e-01 1.01096217e-02 -1.39768206e+02] [-1.03442696e-02 1.80066174e-05 -9.99946496e-01 -4.03905345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters 0.012713839629799705 Centerline is valid? [True, True] Translation: X:167.70, Y:-139.88, Z:-4.04 [[ 2.80904859e-01 -9.59731116e-01 -2.94018400e-03 1.67699487e+02] [-9.59680636e-01 -2.80920240e-01 9.84356621e-03 -1.39878918e+02] [-1.02731340e-02 5.65320786e-05 -9.99947228e-01 -4.03962476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters 0.01257374416446414 Centerline is valid? [True, True] Translation: X:167.71, Y:-140.00, Z:-4.04 [[ 3.53842391e-01 -9.35298305e-01 -3.55579822e-03 1.67709684e+02] [-9.35252650e-01 -3.53860253e-01 9.24129208e-03 -1.39996993e+02] [-9.90162048e-03 5.56088235e-05 -9.99950976e-01 -4.04139400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters 0.012416744786156505 Centerline is valid? [True, True] Translation: X:167.73, Y:-140.12, Z:-4.04 [[ 4.27027306e-01 -9.04228242e-01 -4.35503222e-03 1.67728047e+02] [-9.04181953e-01 -4.27049512e-01 9.14935052e-03 -1.40118953e+02] [-1.01329155e-02 3.07190340e-05 -9.99948660e-01 -4.04117481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters 0.012433407272423593 Centerline is valid? [True, True] Translation: X:167.76, Y:-140.24, Z:-4.04 [[ 4.97625656e-01 -8.67373236e-01 -5.69003402e-03 1.67757425e+02] [-8.67316604e-01 -4.97658186e-01 9.91156301e-03 -1.40239261e+02] [-1.14287165e-02 2.81293579e-06 -9.99934690e-01 -4.04000508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters 0.012377852351358158 Centerline is valid? [True, True] Translation: X:167.79, Y:-140.35, Z:-4.04 [[ 5.63624643e-01 -8.26004990e-01 -6.55888360e-03 1.67790793e+02] [-8.25948852e-01 -5.63662804e-01 9.62997148e-03 -1.40347278e+02] [-1.16514032e-02 -1.03868539e-05 -9.99932120e-01 -4.04002039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters 0.012350811342070275 Centerline is valid? [True, True] Translation: X:167.83, Y:-140.45, Z:-4.04 [[ 6.26655011e-01 -7.79266974e-01 -6.81768646e-03 1.67831059e+02] [-7.79220335e-01 -6.26692096e-01 8.52570515e-03 -1.40454610e+02] [-1.09163907e-02 -3.01959321e-05 -9.99940414e-01 -4.04086728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters 0.012387462701656679 Centerline is valid? [True, True] Translation: X:167.88, Y:-140.56, Z:-4.04 [[ 6.86344547e-01 -7.27247340e-01 -6.51683982e-03 1.67878094e+02] [-7.27213824e-01 -6.86375483e-01 6.98213967e-03 -1.40556942e+02] [-9.55074158e-03 -5.30174883e-05 -9.99954389e-01 -4.04245458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters 0.01264557647923432 Centerline is valid? [True, True] Translation: X:167.93, Y:-140.65, Z:-4.04 [[ 7.41787329e-01 -6.70598553e-01 -7.00985921e-03 1.67928557e+02] [-6.70567554e-01 -7.41820446e-01 6.44837851e-03 -1.40652683e+02] [-9.52433018e-03 -8.27413279e-05 -9.99954639e-01 -4.04227788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters 0.012900438127467792 Centerline is valid? [True, True] Translation: X:167.94, Y:-140.69, Z:-4.04 [[ 7.93489070e-01 -6.08544872e-01 -6.94511531e-03 1.67943354e+02] [-6.08520465e-01 -7.93519457e-01 5.45110515e-03 -1.40686219e+02] [-8.82832622e-03 -9.91475550e-05 -9.99961025e-01 -4.04212134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters 0.013155382954524127 Centerline is valid? [True, True] Translation: X:167.96, Y:-140.72, Z:-4.04 [[ 8.39496237e-01 -5.43323043e-01 -6.79254602e-03 1.67962280e+02] [-5.43304247e-01 -8.39523710e-01 4.52054770e-03 -1.40715829e+02] [-8.15862117e-03 -1.04563692e-04 -9.99966712e-01 -4.04320828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters 0.013265939334296812 Centerline is valid? [True, True] Translation: X:167.98, Y:-140.74, Z:-4.04 [[ 8.79846654e-01 -4.75192265e-01 -7.88526009e-03 1.67984794e+02] [-4.75171906e-01 -8.79881979e-01 4.40044615e-03 -1.40743660e+02] [-9.02915622e-03 -1.24863758e-04 -9.99959229e-01 -4.04327852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters 0.014065911898340902 Centerline is valid? [True, True] Translation: X:168.01, Y:-140.77, Z:-4.04 [[ 9.15399569e-01 -4.02427421e-01 -9.78769946e-03 1.68007609e+02] [-4.02402325e-01 -9.15451877e-01 4.49774471e-03 -1.40770860e+02] [-1.07701836e-02 -1.78640551e-04 -9.99941984e-01 -4.04100596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters 0.014687757773519947 Centerline is valid? [True, True] Translation: X:168.03, Y:-140.80, Z:-4.04 [[ 9.45136095e-01 -3.26481809e-01 -1.12867516e-02 1.68034203e+02] [-3.26455496e-01 -9.45203455e-01 4.15191348e-03 -1.40796977e+02] [-1.20238008e-02 -2.39501194e-04 -9.99927683e-01 -4.04043255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters 0.01568949792780886 Centerline is valid? [True, True] Translation: X:168.06, Y:-140.82, Z:-4.04 [[ 9.67952607e-01 -2.50921452e-01 -1.03041855e-02 1.68063295e+02] [-2.50904802e-01 -9.68007426e-01 2.89892684e-03 -1.40817348e+02] [-1.07019310e-02 -2.20654156e-04 -9.99942708e-01 -4.04113107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters 0.01383533943997013 Centerline is valid? [True, True] Translation: X:168.10, Y:-140.83, Z:-4.04 [[ 9.84091588e-01 -1.77468390e-01 -8.28955882e-03 1.68095879e+02] [-1.77460824e-01 -9.84126490e-01 1.64544337e-03 -1.40830954e+02] [-8.44998861e-03 -1.48195043e-04 -9.99964287e-01 -4.04493563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters 0.013267488745437829 Centerline is valid? [True, True] Translation: X:168.13, Y:-140.84, Z:-4.04 [[ 9.94609309e-01 -1.03357489e-01 -8.33974184e-03 1.68127758e+02] [-1.03352859e-01 -9.94644266e-01 9.85360744e-04 -1.40844237e+02] [-8.39692081e-03 -1.18112802e-04 -9.99964738e-01 -4.04482714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters 0.012496556930992027 Centerline is valid? [True, True] Translation: X:168.16, Y:-140.85, Z:-4.04 [[ 9.99492278e-01 -3.03687473e-02 -9.63975441e-03 1.68158566e+02] [-3.03665094e-02 -9.99538760e-01 3.78470917e-04 -1.40852514e+02] [-9.64680185e-03 -8.55530661e-05 -9.99953465e-01 -4.04284979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters 0.012135706914789449 Centerline is valid? [True, True] Translation: X:168.19, Y:-140.86, Z:-4.04 [[ 9.98976792e-01 4.38756521e-02 -1.09679582e-02 1.68189434e+02] [ 4.38735840e-02 -9.99036999e-01 -4.29209996e-04 -1.40856666e+02] [-1.09762279e-02 -5.24328085e-05 -9.99939758e-01 -4.04223716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters 0.012082270262384814 Centerline is valid? [True, True] Translation: X:168.22, Y:-140.86, Z:-4.04 [[ 9.93179366e-01 1.16021405e-01 -1.15663543e-02 1.68220162e+02] [ 1.16013373e-01 -9.93246713e-01 -1.36522125e-03 -1.40858718e+02] [-1.16466383e-02 1.40577968e-05 -9.99932176e-01 -4.04239223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters 0.01243776313168152 Centerline is valid? [True, True] Translation: X:168.25, Y:-140.86, Z:-4.04 [[ 9.81958602e-01 1.88748558e-01 -1.14580384e-02 1.68251346e+02] [ 1.88734885e-01 -9.82025446e-01 -2.27291629e-03 -1.40859855e+02] [-1.16810950e-02 6.93781367e-05 -9.99931771e-01 -4.04252131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters 0.012607571731627461 Centerline is valid? [True, True] Translation: X:168.28, Y:-140.86, Z:-4.04 [[ 9.64409368e-01 2.64190021e-01 -1.08721397e-02 1.68281419e+02] [ 2.64172328e-01 -9.64470646e-01 -3.05845892e-03 -1.40858238e+02] [-1.12938739e-02 7.74879878e-05 -9.99936219e-01 -4.04276889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters 0.012405904467817296 Centerline is valid? [True, True] Translation: X:168.31, Y:-140.86, Z:-4.04 [[ 9.41171266e-01 3.37799374e-01 -9.39311617e-03 1.68313062e+02] [ 3.37781695e-01 -9.41218134e-01 -3.45693843e-03 -1.40857211e+02] [-1.00087229e-02 8.07484221e-05 -9.99949908e-01 -4.04481027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters 0.012150337164560831 Centerline is valid? [True, True] Translation: X:168.35, Y:-140.86, Z:-4.04 [[ 9.11218507e-01 4.11828885e-01 -8.82054259e-03 1.68345917e+02] [ 4.11808916e-01 -9.11261195e-01 -4.05604542e-03 -1.40856782e+02] [-9.70821485e-03 6.35655638e-05 -9.99952872e-01 -4.04458866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters 0.011857125040002931 Centerline is valid? [True, True] Translation: X:168.38, Y:-140.85, Z:-4.04 [[ 8.74212748e-01 4.85469197e-01 -8.46941808e-03 1.68379987e+02] [ 4.85446150e-01 -8.74253772e-01 -4.73045819e-03 -1.40854798e+02] [-9.70091245e-03 2.39804561e-05 -9.99952945e-01 -4.04392141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters 0.011838125236942647 Centerline is valid? [True, True] Translation: X:168.41, Y:-140.85, Z:-4.04 [[ 8.31598722e-01 5.55318986e-01 -8.02429834e-03 1.68412313e+02] [ 5.55293244e-01 -8.31637436e-01 -5.34689741e-03 -1.40847846e+02] [-9.64254054e-03 -9.36559602e-06 -9.99953510e-01 -4.04390713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters 0.012061959244473345 Centerline is valid? [True, True] Translation: X:168.45, Y:-140.84, Z:-4.04 [[ 7.82001788e-01 6.23242558e-01 -6.47441929e-03 1.68446947e+02] [ 6.23221784e-01 -7.82028587e-01 -5.08894282e-03 -1.40841168e+02] [-8.23482670e-03 -5.54367578e-05 -9.99966092e-01 -4.04423858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters 0.012420015354177291 Centerline is valid? [True, True] Translation: X:168.48, Y:-140.83, Z:-4.04 [[ 7.28800954e-01 6.84703872e-01 -5.45681766e-03 1.68478571e+02] [ 6.84685416e-01 -7.28821379e-01 -5.02782373e-03 -1.40828813e+02] [-7.41961575e-03 -7.19207383e-05 -9.99972472e-01 -4.04408295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters 0.01294151077121318 Centerline is valid? [True, True] Translation: X:168.51, Y:-140.82, Z:-4.04 [[ 6.69972547e-01 7.42368975e-01 -5.00905503e-03 1.68510628e+02] [ 7.42349347e-01 -6.69991265e-01 -5.39922397e-03 -1.40815088e+02] [-7.36423948e-03 -1.01136893e-04 -9.99972879e-01 -4.04314805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters 0.013728120079836975 Centerline is valid? [True, True] Translation: X:168.54, Y:-140.80, Z:-4.04 [[ 6.06728023e-01 7.94895879e-01 -4.65285229e-03 1.68540884e+02] [ 7.94874155e-01 -6.06745849e-01 -5.87810799e-03 -1.40797965e+02] [-7.49558263e-03 -1.32019195e-04 -9.99971899e-01 -4.04255507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters 0.0146160869387074 Centerline is valid? [True, True] Translation: X:168.57, Y:-140.78, Z:-4.04 [[ 5.39860920e-01 8.41742089e-01 -4.52134352e-03 1.68569069e+02] [ 8.41715163e-01 -5.39879826e-01 -6.73488065e-03 -1.40777940e+02] [-8.11001466e-03 -1.69784531e-04 -9.99967099e-01 -4.04235638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters 0.017242926471344282 Centerline is valid? [True, True] Translation: X:168.60, Y:-140.76, Z:-4.04 [[ 4.68910992e-01 8.83236002e-01 -4.07998638e-03 1.68596753e+02] [ 8.83206302e-01 -4.68928696e-01 -7.24611712e-03 -1.40757355e+02] [-8.31325422e-03 -2.05685720e-04 -9.99965423e-01 -4.04094355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters 0.016200555521449438 Centerline is valid? [True, True] Translation: X:168.62, Y:-140.73, Z:-4.04 [[ 3.97850460e-01 9.17443853e-01 -3.43336692e-03 1.68616093e+02] [ 9.17414035e-01 -3.97865221e-01 -7.39962499e-03 -1.40729866e+02] [-8.15475775e-03 -2.05874791e-04 -9.99966728e-01 -4.04133801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters 0.01578591829309511 Centerline is valid? [True, True] Translation: X:168.63, Y:-140.70, Z:-4.04 [[ 3.24511438e-01 9.45877618e-01 -2.80329724e-03 1.68634515e+02] [ 9.45847604e-01 -3.24523481e-01 -7.53799158e-03 -1.40702014e+02] [-8.03975330e-03 -2.05327487e-04 -9.99967660e-01 -4.04144562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters 0.016780399071274377 Centerline is valid? [True, True] Translation: X:168.65, Y:-140.67, Z:-4.04 [[ 2.49670209e-01 9.68328474e-01 -2.18035118e-03 1.68649393e+02] [ 9.68298264e-01 -2.49679648e-01 -7.65146730e-03 -1.40673961e+02] [-7.95352297e-03 -2.00886819e-04 -9.99968350e-01 -4.04111204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters 0.016584719358629277 Centerline is valid? [True, True] Translation: X:168.66, Y:-140.64, Z:-4.04 [[ 1.72810491e-01 9.84953966e-01 -1.48979264e-03 1.68660316e+02] [ 9.84926338e-01 -1.72816806e-01 -7.37973393e-03 -1.40643814e+02] [-7.52615940e-03 -1.92040562e-04 -9.99971660e-01 -4.04163512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters 0.017062895887183623 Centerline is valid? [True, True] Translation: X:168.67, Y:-140.61, Z:-4.04 [[ 9.31511223e-02 9.95651626e-01 -8.41855332e-04 1.68670677e+02] [ 9.95627500e-01 -9.31547280e-02 -6.93381883e-03 -1.40613077e+02] [-6.98209080e-03 -1.92281314e-04 -9.99975606e-01 -4.04264309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters 0.017939370199653113 Centerline is valid? [True, True] Translation: X:168.68, Y:-140.58, Z:-4.04 [[ 1.09385259e-02 9.99940128e-01 -2.98631532e-04 1.68680876e+02] [ 9.99915405e-01 -1.09403565e-02 -7.03508515e-03 -1.40581474e+02] [-7.03793108e-03 -2.21652808e-04 -9.99975209e-01 -4.04267395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters 0.020177483570158354 Centerline is valid? [True, True] Translation: X:168.69, Y:-140.55, Z:-4.04 [[-7.10506387e-02 9.97472671e-01 2.77202546e-04 1.68689537e+02] [ 9.97442906e-01 7.10506613e-02 -7.71059826e-03 -1.40550254e+02] [-7.71080646e-03 -2.71349217e-04 -9.99970235e-01 -4.04195096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters 0.020860803660607 Centerline is valid? [True, True] Translation: X:168.69, Y:-140.52, Z:-4.04 [[-1.50892758e-01 9.88549664e-01 9.67897962e-04 1.68692109e+02] [ 9.88513796e-01 1.50895534e-01 -8.42696680e-03 -1.40517755e+02] [-8.47652668e-03 -3.14787776e-04 -9.99964024e-01 -4.04178987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters 0.02167052233259396 Centerline is valid? [True, True] Translation: X:168.69, Y:-140.49, Z:-4.04 [[-2.29302027e-01 9.73353747e-01 1.75033528e-03 1.68691854e+02] [ 9.73312502e-01 2.29308437e-01 -8.96737838e-03 -1.40485487e+02] [-9.12979799e-03 -3.52614835e-04 -9.99958260e-01 -4.04207544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters 0.02170375193981894 Centerline is valid? [True, True] Translation: X:168.69, Y:-140.45, Z:-4.04 [[-3.05911792e-01 9.52056651e-01 2.47171346e-03 1.68689826e+02] [ 9.52015220e-01 3.05921558e-01 -8.88942240e-03 -1.40453267e+02] [-9.21938415e-03 -3.66270303e-04 -9.99957434e-01 -4.04209257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters 0.021592201708440246 Centerline is valid? [True, True] Translation: X:168.69, Y:-140.42, Z:-4.04 [[-3.79962938e-01 9.24995795e-01 3.30828864e-03 1.68685592e+02] [ 9.24951375e-01 3.79977142e-01 -9.07327395e-03 -1.40421989e+02] [-9.64981431e-03 -3.87501699e-04 -9.99953364e-01 -4.04165850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters 0.022718190855581345 Centerline is valid? [True, True] Translation: X:168.68, Y:-140.39, Z:-4.04 [[-4.52047172e-01 8.91986127e-01 3.75556569e-03 1.68678063e+02] [ 8.91948222e-01 4.52062620e-01 -8.23145132e-03 -1.40391294e+02] [-9.04009125e-03 -3.71234148e-04 -9.99959069e-01 -4.04207249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters 0.022896479853254444 Centerline is valid? [True, True] Translation: X:168.67, Y:-140.36, Z:-4.04 [[-5.20664925e-01 8.53750978e-01 4.15981507e-03 1.68666694e+02] [ 8.53718113e-01 5.20681422e-01 -7.49942501e-03 -1.40361957e+02] [-8.56857986e-03 -3.53378091e-04 -9.99963227e-01 -4.04316488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters 0.022593097077518696 Centerline is valid? [True, True] Translation: X:168.65, Y:-140.33, Z:-4.04 [[-5.85387910e-01 8.10740420e-01 4.57888806e-03 1.68653544e+02] [ 8.10710991e-01 5.85405721e-01 -6.91597082e-03 -1.40333310e+02] [-8.28756436e-03 -3.36370825e-04 -9.99965601e-01 -4.04342149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters 0.021073719195784796 Centerline is valid? [True, True] Translation: X:168.64, Y:-140.31, Z:-4.04 [[-6.46755262e-01 7.62683282e-01 4.67362391e-03 1.68638067e+02] [ 7.62659882e-01 6.46772076e-01 -5.98212409e-03 -1.40305259e+02] [-7.58523548e-03 -3.04584772e-04 -9.99971185e-01 -4.04444802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters 0.02089448554303029 Centerline is valid? [True, True] Translation: X:168.62, Y:-140.28, Z:-4.04 [[-7.04099484e-01 7.10079365e-01 5.58685523e-03 1.68622681e+02] [ 7.10053246e-01 7.04121572e-01 -6.09907157e-03 -1.40276448e+02] [-8.26465015e-03 -3.27388448e-04 -9.99965794e-01 -4.04337964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters 0.020413212720202134 Centerline is valid? [True, True] Translation: X:168.60, Y:-140.25, Z:-4.04 [[-7.56377692e-01 6.54106077e-01 6.16665699e-03 1.68604515e+02] [ 6.54080849e-01 7.56402763e-01 -5.75359452e-03 -1.40249487e+02] [-8.42793752e-03 -3.18398302e-04 -9.99964434e-01 -4.04248001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters 0.0208077841506897 Centerline is valid? [True, True] Translation: X:168.63, Y:-140.23, Z:-4.04 [[-7.99814250e-01 6.00210516e-01 6.67098853e-03 1.68625130e+02] [ 6.00186357e-01 7.99842010e-01 -5.39414745e-03 -1.40231777e+02] [-8.57336089e-03 -3.10479695e-04 -9.99963200e-01 -4.04260174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters 0.01939031382634342 Centerline is valid? [True, True] Translation: X:168.64, Y:-140.21, Z:-4.04 [[-8.39512202e-01 5.43294087e-01 7.12719479e-03 1.68640136e+02] [ 5.43271420e-01 8.39542401e-01 -4.97197696e-03 -1.40211613e+02] [-8.68482791e-03 -3.02034089e-04 -9.99962241e-01 -4.04228943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters 0.02056281830611354 Centerline is valid? [True, True] Translation: X:168.66, Y:-140.19, Z:-4.04 [[-8.75438570e-01 4.83266048e-01 7.82542993e-03 1.68655401e+02] [ 4.83243558e-01 8.75473490e-01 -4.67254001e-03 -1.40185606e+02] [-9.10903639e-03 -3.08933143e-04 -9.99958464e-01 -4.04032193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters 0.01981519222619637 Centerline is valid? [True, True] Translation: X:168.67, Y:-140.16, Z:-4.04 [[-9.07369513e-01 4.20251402e-01 8.32628040e-03 1.68668292e+02] [ 4.20230502e-01 9.07407659e-01 -4.20296914e-03 -1.40162409e+02] [-9.32163428e-03 -3.14689068e-04 -9.99956503e-01 -4.03985492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters 0.019792585122666295 Centerline is valid? [True, True] Translation: X:168.67, Y:-140.14, Z:-4.04 [[-9.34737012e-01 3.55233244e-01 8.72130019e-03 1.68674010e+02] [ 3.55214609e-01 9.34777644e-01 -3.65221494e-03 -1.40135678e+02] [-9.44986460e-03 -3.15927246e-04 -9.99955299e-01 -4.04004209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters 0.020175596911349448 Centerline is valid? [True, True] Translation: X:168.69, Y:-140.11, Z:-4.04 [[-9.56956782e-01 2.90112968e-01 8.25730664e-03 1.68686205e+02] [ 2.90099694e-01 9.56992367e-01 -2.78865358e-03 -1.40111256e+02] [-8.71120400e-03 -2.73178833e-04 -9.99962019e-01 -4.04055622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters 0.017528787850401198 Centerline is valid? [True, True] Translation: X:168.89, Y:-139.53, Z:-5.00 [[-9.12220868e-01 -4.09635205e-01 7.21710761e-03 1.68886749e+02] [ 4.09624047e-01 -9.12249397e-01 -3.02963379e-03 -1.39527514e+02] [ 7.82484672e-03 1.92605655e-04 9.99969367e-01 -4.99746689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters 0.016792374730798528 Centerline is valid? [True, True] Translation: X:168.65, Y:-140.10, Z:-4.04 [[-9.56064797e-01 2.93079486e-01 6.67227953e-03 1.68646364e+02] [ 2.93071085e-01 9.56088063e-01 -2.22576649e-03 -1.40104664e+02] [-7.03161332e-03 -1.72524784e-04 -9.99975263e-01 -4.04229680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters 0.01427282017170511 Centerline is valid? [True, True] Translation: X:168.65, Y:-140.08, Z:-4.04 [[-9.73017866e-01 2.30648567e-01 6.12137430e-03 1.68650190e+02] [ 2.30643253e-01 9.73037114e-01 -1.56992643e-03 -1.40082841e+02] [-6.31842566e-03 -1.15712782e-04 -9.99980032e-01 -4.04293049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters 0.012720843366034778 Centerline is valid? [True, True] Translation: X:168.65, Y:-140.06, Z:-4.04 [[-9.85591528e-01 1.69010159e-01 6.70124623e-03 1.68652736e+02] [ 1.69005768e-01 9.85614306e-01 -1.22036215e-03 -1.40061521e+02] [-6.81109776e-03 -7.02293338e-05 -9.99976802e-01 -4.04183343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters 0.012130753546504136 Centerline is valid? [True, True] Translation: X:168.79, Y:-139.43, Z:-5.00 [[-9.68850005e-01 -2.47521213e-01 7.93201909e-03 1.68787237e+02] [ 2.47514256e-01 -9.68882461e-01 -1.86264095e-03 -1.39425606e+02] [ 8.14623732e-03 1.58668110e-04 9.99966806e-01 -4.99870088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters 0.012346198771265485 Centerline is valid? [True, True] Translation: X:168.62, Y:-140.07, Z:-4.04 [[-9.83858670e-01 1.78728499e-01 8.84545455e-03 1.68620037e+02] [ 1.78721550e-01 9.83898431e-01 -1.57629418e-03 -1.40067465e+02] [-8.98475755e-03 3.00226578e-05 -9.99959636e-01 -4.03997852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters 0.012646780860617667 Centerline is valid? [True, True] Translation: X:168.62, Y:-140.04, Z:-4.04 [[-9.93788012e-01 1.10940791e-01 8.80505901e-03 1.68623508e+02] [ 1.10936899e-01 9.93827016e-01 -9.30716865e-04 -1.40042941e+02] [-8.85395999e-03 5.18706824e-05 -9.99960802e-01 -4.03938344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters 0.012930544229640186 Centerline is valid? [True, True] Translation: X:168.62, Y:-140.02, Z:-4.04 [[-9.99058256e-01 4.25001474e-02 8.73719955e-03 1.68624400e+02] [ 4.24991565e-02 9.99096458e-01 -2.99121852e-04 -1.40018519e+02] [-8.74201784e-03 7.24834558e-05 -9.99961785e-01 -4.04054060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters 0.012988113976634259 Centerline is valid? [True, True] Translation: X:168.62, Y:-139.99, Z:-4.04 [[-9.99578126e-01 -2.77518909e-02 8.56758556e-03 1.68621363e+02] [-2.77502010e-02 9.99614839e-01 3.16079768e-04 -1.39993275e+02] [-8.57305747e-03 7.81942009e-05 -9.99963248e-01 -4.04104046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters 0.013013378163499253 Centerline is valid? [True, True] Translation: X:168.59, Y:-139.31, Z:-5.00 [[-9.99710913e-01 -2.23558008e-02 8.84919097e-03 1.68594543e+02] [ 2.23543743e-02 -9.99750076e-01 -2.60088295e-04 -1.39314251e+02] [ 8.85279383e-03 -6.21949795e-05 9.99960811e-01 -4.99842710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters 0.012576411934213575 Centerline is valid? [True, True] Translation: X:168.55, Y:-139.99, Z:-4.04 [[-9.99274512e-01 -3.72095877e-02 8.11764143e-03 1.68550290e+02] [-3.72080804e-02 9.99307483e-01 3.36673164e-04 -1.39994240e+02] [-8.12454729e-03 3.43870567e-05 -9.99966995e-01 -4.04129566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters 0.012203668425270011 Centerline is valid? [True, True] Translation: X:168.52, Y:-139.32, Z:-5.00 [[-9.99591201e-01 -2.75892494e-02 7.50094483e-03 1.68519314e+02] [ 2.75879040e-02 -9.99619341e-01 -2.82805265e-04 -1.39323273e+02] [ 7.50589192e-03 -7.57543089e-05 9.99971828e-01 -4.99726726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters 0.012522388002500969 Centerline is valid? [True, True] Translation: X:168.48, Y:-139.99, Z:-4.04 [[-9.98505254e-01 -5.40920438e-02 7.82996914e-03 1.68475172e+02] [-5.40908761e-02 9.98535952e-01 3.60984748e-04 -1.39989384e+02] [-7.83803209e-03 -6.30847234e-05 -9.99969280e-01 -4.04181074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters 0.013095063557700895 Centerline is valid? [True, True] Translation: X:168.46, Y:-139.96, Z:-4.04 [[-9.91583179e-01 -1.29225339e-01 7.97564016e-03 1.68461141e+02] [-1.29221966e-01 9.91615249e-01 9.38979605e-04 -1.39959828e+02] [-8.03010636e-03 -9.95515190e-05 -9.99967753e-01 -4.04127884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters 0.014404872946174896 Centerline is valid? [True, True] Translation: X:168.39, Y:-139.32, Z:-5.00 [[-9.99499095e-01 3.05104244e-02 8.40673775e-03 1.68385971e+02] [-3.05082313e-02 -9.99534440e-01 3.89017933e-04 -1.39315866e+02] [ 8.41469301e-03 1.32348372e-04 9.99964587e-01 -4.99802059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters 0.01613084952817142 Centerline is valid? [True, True] Translation: X:168.39, Y:-139.96, Z:-4.04 [[-9.89212291e-01 -1.46238332e-01 8.56704510e-03 1.68386695e+02] [-1.46234731e-01 9.89249364e-01 1.04856801e-03 -1.39960978e+02] [-8.62828475e-03 -2.15543175e-04 -9.99962752e-01 -4.04044348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters 0.016907647130197684 Centerline is valid? [True, True] Translation: X:168.31, Y:-139.33, Z:-5.00 [[-9.99603312e-01 2.66912862e-02 8.98859174e-03 1.68312119e+02] [-2.66879552e-02 -9.99643693e-01 4.90351322e-04 -1.39329418e+02] [ 8.99847715e-03 2.50269671e-04 9.99959482e-01 -4.99945755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters 0.017803836494709003 Centerline is valid? [True, True] Translation: X:168.32, Y:-139.97, Z:-4.04 [[-9.87769204e-01 -1.55669955e-01 8.88060189e-03 1.68315649e+02] [-1.55666083e-01 9.87809088e-01 1.12987857e-03 -1.39968352e+02] [-8.94822740e-03 -2.66349251e-04 -9.99959928e-01 -4.03925612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters 0.018146554632540012 Centerline is valid? [True, True] Translation: X:168.31, Y:-139.94, Z:-4.04 [[-9.73858014e-01 -2.26997565e-01 8.52495412e-03 1.68306334e+02] [-2.26991299e-01 9.73895288e-01 1.70832455e-03 -1.39944819e+02] [-8.69019816e-03 -2.71424850e-04 -9.99962203e-01 -4.03987948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters 0.018046925990926353 Centerline is valid? [True, True] Translation: X:168.29, Y:-139.92, Z:-4.04 [[-9.54830897e-01 -2.97022992e-01 8.67760491e-03 1.68292736e+02] [-2.97013491e-01 9.54870283e-01 2.39357716e-03 -1.39922604e+02] [-8.99693450e-03 -2.91904304e-04 -9.99959484e-01 -4.03970312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters 0.018745719830650084 Centerline is valid? [True, True] Translation: X:168.11, Y:-139.30, Z:-5.00 [[-9.85862371e-01 1.67314812e-01 9.00773281e-03 1.68113842e+02] [-1.67304936e-01 -9.85903472e-01 1.84435710e-03 -1.39303200e+02] [ 9.18934332e-03 3.11244099e-04 9.99957729e-01 -5.00085774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters 0.018391311153513244 Centerline is valid? [True, True] Translation: X:168.19, Y:-139.96, Z:-4.04 [[-9.52849937e-01 -3.03311971e-01 8.87947532e-03 1.68189958e+02] [-3.03301726e-01 9.52891262e-01 2.51095651e-03 -1.39957599e+02] [-9.22277761e-03 -3.00595439e-04 -9.99957424e-01 -4.03824904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters 0.017486560826176455 Centerline is valid? [True, True] Translation: X:168.17, Y:-139.94, Z:-4.04 [[-9.29314450e-01 -3.69217914e-01 7.26539855e-03 1.68167450e+02] [-3.69208609e-01 9.29342820e-01 2.63187511e-03 -1.39943124e+02] [-7.72378141e-03 -2.36608120e-04 -9.99970143e-01 -4.03897716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters 0.017148116177418862 Centerline is valid? [True, True] Translation: X:168.13, Y:-139.93, Z:-4.04 [[-9.00664774e-01 -4.34465226e-01 6.55225681e-03 1.68129715e+02] [-4.34455426e-01 9.00688583e-01 2.92567417e-03 -1.39933673e+02] [-7.17264659e-03 -2.11611859e-04 -9.99974254e-01 -4.03956338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters 0.01699579485896448 Centerline is valid? [True, True] Translation: X:168.07, Y:-139.94, Z:-4.04 [[-8.67358922e-01 -4.97643651e-01 6.26882162e-03 1.68071200e+02] [-4.97632261e-01 8.67381553e-01 3.37242793e-03 -1.39936984e+02] [-7.11572758e-03 -1.94462422e-04 -9.99974664e-01 -4.03871334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters 0.015980981428254177 Centerline is valid? [True, True] Translation: X:168.01, Y:-139.95, Z:-4.04 [[-8.29840053e-01 -5.57971054e-01 5.81277363e-03 1.68009786e+02] [-5.57958770e-01 8.29860395e-01 3.70623315e-03 -1.39948398e+02] [-6.89176144e-03 -1.67707313e-04 -9.99976238e-01 -4.03854102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters 0.014601401758698555 Centerline is valid? [True, True] Translation: X:167.94, Y:-139.97, Z:-4.04 [[-7.89076306e-01 -6.14278464e-01 4.53348334e-03 1.67938398e+02] [-6.14269117e-01 7.89089321e-01 3.39042932e-03 -1.39972872e+02] [-5.65999101e-03 -1.09471364e-04 -9.99983976e-01 -4.03902698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters 0.013141932747657778 Centerline is valid? [True, True] Translation: X:167.87, Y:-140.01, Z:-4.04 [[-7.44919414e-01 -6.67144620e-01 3.62247093e-03 1.67866441e+02] [-6.67137139e-01 7.44928219e-01 3.16003032e-03 -1.40005535e+02] [-4.80667805e-03 -6.27169572e-05 -9.99988446e-01 -4.03946612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters 0.01237029336753098 Centerline is valid? [True, True] Translation: X:167.79, Y:-140.05, Z:-4.04 [[-6.95488089e-01 -7.18532288e-01 2.76946425e-03 1.67788394e+02] [-7.18526790e-01 6.95493602e-01 2.81085913e-03 -1.40048869e+02] [-3.94583771e-03 -3.50152180e-05 -9.99992215e-01 -4.04004298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters 0.01215968938842212 Centerline is valid? [True, True] Translation: X:167.71, Y:-140.10, Z:-4.04 [[-6.41908678e-01 -7.66778446e-01 2.01588871e-03 1.67708417e+02] [-7.66774744e-01 6.41911843e-01 2.38286188e-03 -1.40102159e+02] [-3.12114997e-03 -1.61528327e-05 -9.99995129e-01 -4.04012183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters 0.012056265338558192 Centerline is valid? [True, True] Translation: X:167.63, Y:-140.16, Z:-4.04 [[-5.83413809e-01 -8.12173462e-01 1.61095484e-03 1.67629340e+02] [-8.12170407e-01 5.83416033e-01 2.22766639e-03 -1.40163978e+02] [-2.74910840e-03 -8.71850977e-06 -9.99996221e-01 -4.04042310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters 0.012056312103295441 Centerline is valid? [True, True] Translation: X:167.55, Y:-140.24, Z:-4.04 [[-5.19937788e-01 -8.54203188e-01 1.26858249e-03 1.67549912e+02] [-8.54200681e-01 5.19939336e-01 2.06950204e-03 -1.40236160e+02] [-2.42736118e-03 -7.61171073e-06 -9.99997054e-01 -4.04057674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters 0.012340110963196694 Centerline is valid? [True, True] Translation: X:167.47, Y:-140.32, Z:-4.04 [[-4.49797376e-01 -8.93129482e-01 1.43172311e-03 1.67470039e+02] [-8.93125112e-01 4.49799654e-01 2.79395694e-03 -1.40317575e+02] [-3.13935387e-03 -2.19933667e-05 -9.99995072e-01 -4.03927792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters 0.01298128092174796 Centerline is valid? [True, True] Translation: X:167.40, Y:-140.41, Z:-4.04 [[-3.75114320e-01 -9.26977363e-01 1.48831673e-03 1.67396037e+02] [-9.26970568e-01 3.75117269e-01 3.54973446e-03 -1.40405199e+02] [-3.84881680e-03 -4.80695819e-05 -9.99992592e-01 -4.03841839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters 0.013623651205458007 Centerline is valid? [True, True] Translation: X:167.33, Y:-140.50, Z:-4.04 [[-2.99479888e-01 -9.54101862e-01 1.19764982e-03 1.67329179e+02] [-9.54095035e-01 2.99482276e-01 3.60979412e-03 -1.40500456e+02] [-3.80278618e-03 -6.16110109e-05 -9.99992768e-01 -4.03856234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters 0.014222916731997404 Centerline is valid? [True, True] Translation: X:167.27, Y:-140.61, Z:-4.04 [[-2.23764124e-01 -9.74642957e-01 8.50394980e-04 1.67268127e+02] [-9.74636953e-01 2.23765731e-01 3.42166428e-03 -1.40606279e+02] [-3.52519025e-03 -6.31806616e-05 -9.99993785e-01 -4.03836018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters 0.014046602184204294 Centerline is valid? [True, True] Translation: X:167.22, Y:-140.71, Z:-4.04 [[-1.49798328e-01 -9.88716474e-01 4.41476991e-04 1.67218762e+02] [-9.88712991e-01 1.49798972e-01 2.62495271e-03 -1.40708404e+02] [-2.66146679e-03 -4.32805102e-05 -9.99996457e-01 -4.03905756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters 0.014505046274809308 Centerline is valid? [True, True] Translation: X:167.18, Y:-140.81, Z:-4.04 [[-7.26101116e-02 -9.97360369e-01 2.58423871e-04 1.67176428e+02] [-9.97356240e-01 7.26105547e-02 2.87013832e-03 -1.40814305e+02] [-2.88132651e-03 -4.93395971e-05 -9.99995848e-01 -4.03878773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters 0.015294470152707046 Centerline is valid? [True, True] Translation: X:167.14, Y:-140.93, Z:-4.04 [[ 6.30881760e-03 -9.99980098e-01 5.06742826e-05 1.67139898e+02] [-9.99972370e-01 -6.30856959e-03 3.93205603e-03 -1.40931362e+02] [-3.93165809e-03 -7.54795068e-05 -9.99992268e-01 -4.03688281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters 0.014459940256463 Centerline is valid? [True, True] Translation: X:167.12, Y:-141.05, Z:-4.04 [[ 8.40740756e-02 -9.96459475e-01 -2.54048783e-04 1.67116954e+02] [-9.96451630e-01 -8.40744220e-02 3.95477763e-03 -1.41047855e+02] [-3.96213464e-03 -7.93469487e-05 -9.99992148e-01 -4.03687481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters 0.016663180074807396 Centerline is valid? [True, True] Translation: X:167.10, Y:-141.17, Z:-4.04 [[ 1.61851280e-01 -9.86814974e-01 -6.08252053e-04 1.67098496e+02] [-9.86805694e-01 -1.61852397e-01 4.28056612e-03 -1.41173333e+02] [-4.32257379e-03 -9.25885154e-05 -9.99990653e-01 -4.03608157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters 0.017146712477998864 Centerline is valid? [True, True] Translation: X:167.09, Y:-141.29, Z:-4.04 [[ 2.37512446e-01 -9.71383971e-01 -1.00966544e-03 1.67091376e+02] [-9.71373296e-01 -2.37514571e-01 4.55512884e-03 -1.41290697e+02] [-4.66458940e-03 -1.01137747e-04 -9.99989116e-01 -4.03519050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters 0.014813467500520865 Centerline is valid? [True, True] Translation: X:167.10, Y:-141.42, Z:-4.04 [[ 3.11685469e-01 -9.50184638e-01 -1.15013876e-03 1.67100102e+02] [-9.50177109e-01 -3.11687579e-01 3.78341152e-03 -1.41418198e+02] [-3.95342347e-03 -8.63988706e-05 -9.99992182e-01 -4.03581238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters 0.016911137517461712 Centerline is valid? [True, True] Translation: X:167.11, Y:-141.54, Z:-4.04 [[ 3.84438861e-01 -9.23149599e-01 -1.25691312e-03 1.67110303e+02] [-9.23143983e-01 -3.84440908e-01 3.22106329e-03 -1.41542030e+02] [-3.45673211e-03 -7.79901202e-05 -9.99994022e-01 -4.03557034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters 0.01537886066323337 Centerline is valid? [True, True] Translation: X:167.13, Y:-141.64, Z:-4.04 [[ 4.55313738e-01 -8.90329719e-01 -1.54653052e-03 1.67126020e+02] [-8.90323936e-01 -4.55316357e-01 3.20987448e-03 -1.41639886e+02] [-3.56200728e-03 -8.45868114e-05 -9.99993653e-01 -4.03582205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters 0.01626955991151744 Centerline is valid? [True, True] Translation: X:167.15, Y:-141.75, Z:-4.04 [[ 5.23954540e-01 -8.51744465e-01 -1.73392175e-03 1.67152661e+02] [-8.51739228e-01 -5.23957402e-01 2.98809833e-03 -1.41753936e+02] [-3.45359735e-03 -8.87785106e-05 -9.99994032e-01 -4.03553916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters 0.016595064675034216 Centerline is valid? [True, True] Translation: X:167.19, Y:-141.86, Z:-4.04 [[ 5.89409796e-01 -8.07832180e-01 -1.80593947e-03 1.67187028e+02] [-8.07827918e-01 -5.89412556e-01 2.62565755e-03 -1.41862471e+02] [-3.18553406e-03 -8.86999571e-05 -9.99994922e-01 -4.03625094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters 0.017659374979599553 Centerline is valid? [True, True] Translation: X:167.23, Y:-141.97, Z:-4.04 [[ 6.51092803e-01 -7.58994584e-01 -2.32009320e-03 1.67228925e+02] [-7.58989147e-01 -6.51096927e-01 2.87505237e-03 -1.41969192e+02] [-3.69275473e-03 -1.11000348e-04 -9.99993176e-01 -4.03571266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters 0.017746629253643755 Centerline is valid? [True, True] Translation: X:167.28, Y:-142.07, Z:-4.04 [[ 7.08915842e-01 -7.05288484e-01 -2.54631396e-03 1.67277452e+02] [-7.05283310e-01 -7.08920405e-01 2.70424440e-03 -1.42068131e+02] [-3.71240635e-03 -1.21208960e-04 -9.99993102e-01 -4.03524039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters 0.01926661536713661 Centerline is valid? [True, True] Translation: X:167.33, Y:-142.16, Z:-4.03 [[ 7.61643742e-01 -6.47989761e-01 -2.84237176e-03 1.67330406e+02] [-6.47984591e-01 -7.61649035e-01 2.59179064e-03 -1.42162558e+02] [-3.84434351e-03 -1.32208025e-04 -9.99992602e-01 -4.03484892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters 0.019562708481351842 Centerline is valid? [True, True] Translation: X:167.35, Y:-142.19, Z:-4.03 [[ 8.10586700e-01 -5.85609972e-01 -3.18797350e-03 1.67350400e+02] [-5.85604740e-01 -8.10592956e-01 2.47962907e-03 -1.42191214e+02] [-4.03624438e-03 -1.43061955e-04 -9.99991844e-01 -4.03367079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters 0.021361725936339296 Centerline is valid? [True, True] Translation: X:167.37, Y:-142.22, Z:-4.03 [[ 8.53804002e-01 -5.20585601e-01 -3.05909883e-03 1.67372270e+02] [-5.20581712e-01 -8.53809472e-01 2.01647134e-03 -1.42218005e+02] [-3.66163350e-03 -1.29160399e-04 -9.99993288e-01 -4.03359564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters 0.01931221264725721 Centerline is valid? [True, True] Translation: X:167.40, Y:-142.24, Z:-4.03 [[ 8.91225098e-01 -4.53556006e-01 -2.18493369e-03 1.67400661e+02] [-4.53554410e-01 -8.91227772e-01 1.20631572e-03 -1.42237344e+02] [-2.49440533e-03 -8.41125385e-05 -9.99996885e-01 -4.03407915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters 0.01881026094318379 Centerline is valid? [True, True] Translation: X:167.43, Y:-142.26, Z:-4.03 [[ 9.23451191e-01 -3.83710427e-01 -2.05079720e-03 1.67428881e+02] [-3.83709304e-01 -9.23453465e-01 9.31112695e-04 -1.42257668e+02] [-2.25109343e-03 -7.29271618e-05 -9.99997464e-01 -4.03357527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters 0.01755125305903632 Centerline is valid? [True, True] Translation: X:167.46, Y:-142.27, Z:-4.03 [[ 9.49698789e-01 -3.13154394e-01 -2.55673956e-03 1.67457997e+02] [-3.13153031e-01 -9.49702227e-01 9.27447887e-04 -1.42274958e+02] [-2.71857564e-03 -8.01453924e-05 -9.99996302e-01 -4.03267100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters 0.016757200774630002 Centerline is valid? [True, True] Translation: X:167.49, Y:-142.29, Z:-4.03 [[ 9.70633379e-01 -2.40551379e-01 -2.42433264e-03 1.67489055e+02] [-2.40550455e-01 -9.70636404e-01 6.70206221e-04 -1.42289814e+02] [-2.51436455e-03 -6.73502106e-05 -9.99996837e-01 -4.03263515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters 0.015689640683215423 Centerline is valid? [True, True] Translation: X:167.52, Y:-142.30, Z:-4.03 [[ 9.85825982e-01 -1.67744612e-01 -2.97966156e-03 1.67520538e+02] [-1.67743632e-01 -9.85830483e-01 5.77613118e-04 -1.42301066e+02] [-3.03433268e-03 -6.96067667e-05 -9.99995394e-01 -4.03243463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters 0.015232707467940169 Centerline is valid? [True, True] Translation: X:167.55, Y:-142.31, Z:-4.03 [[ 9.95591454e-01 -9.37325032e-02 -3.44606941e-03 1.67549859e+02] [-9.37317101e-02 -9.95597415e-01 3.91290770e-04 -1.42308980e+02] [-3.46757446e-03 -6.65597674e-05 -9.99993986e-01 -4.03174164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters 0.01378061420132115 Centerline is valid? [True, True] Translation: X:167.58, Y:-142.32, Z:-4.03 [[ 9.99823664e-01 -1.83181742e-02 -4.13351615e-03 1.67579170e+02] [-1.83177367e-02 -9.99832206e-01 1.43663298e-04 -1.42315822e+02] [-4.13545422e-03 -6.79213038e-05 -9.99991447e-01 -4.03152703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters 0.013405000275695408 Centerline is valid? [True, True] Translation: X:167.61, Y:-142.32, Z:-4.03 [[ 9.98328952e-01 5.75835255e-02 -4.84152236e-03 1.67608039e+02] [ 5.75831776e-02 -9.98340690e-01 -2.11345415e-04 -1.42321762e+02] [-4.84565879e-03 -6.77979950e-05 -9.99988257e-01 -4.03047765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters 0.013550647609093368 Centerline is valid? [True, True] Translation: X:167.64, Y:-142.33, Z:-4.03 [[ 9.90872846e-01 1.34719399e-01 -4.65700508e-03 1.67636716e+02] [ 1.34718204e-01 -9.90883787e-01 -5.70783550e-04 -1.42325336e+02] [-4.69144645e-03 -6.18094382e-05 -9.99988993e-01 -4.03063855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters 0.013063935604163876 Centerline is valid? [True, True] Translation: X:167.67, Y:-142.33, Z:-4.03 [[ 9.77357206e-01 2.11549470e-01 -4.43993224e-03 1.67667030e+02] [ 2.11547556e-01 -9.77367290e-01 -9.01551394e-04 -1.42328992e+02] [-4.53016726e-03 -5.81190641e-05 -9.99989737e-01 -4.03124825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters 0.01330204176530247 Centerline is valid? [True, True] Translation: X:167.70, Y:-142.33, Z:-4.03 [[ 9.58152295e-01 2.86231085e-01 -3.99319920e-03 1.67696888e+02] [ 2.86228809e-01 -9.58160615e-01 -1.14253132e-03 -1.42331432e+02] [-4.15315418e-03 -4.82496401e-05 -9.99991375e-01 -4.03083890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters 0.012842897246921366 Centerline is valid? [True, True] Translation: X:167.73, Y:-142.33, Z:-4.03 [[ 9.33214180e-01 3.59304344e-01 -3.41806236e-03 1.67726175e+02] [ 3.59302083e-01 -9.33220439e-01 -1.27524014e-03 -1.42328553e+02] [-3.64800498e-03 -3.80447454e-05 -9.99993345e-01 -4.03122943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters 0.012728523188207755 Centerline is valid? [True, True] Translation: X:167.76, Y:-142.32, Z:-4.03 [[ 9.02549446e-01 4.30571562e-01 -3.55348594e-03 1.67755266e+02] [ 4.30568389e-01 -9.02556441e-01 -1.65342417e-03 -1.42324353e+02] [-3.91913905e-03 -3.77216426e-05 -9.99992319e-01 -4.03088359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters 0.012629623691242394 Centerline is valid? [True, True] Translation: X:167.78, Y:-142.32, Z:-4.03 [[ 8.66430614e-01 4.99283599e-01 -3.72535090e-03 1.67784481e+02] [ 4.99279173e-01 -8.66438622e-01 -2.10275449e-03 -1.42317457e+02] [-4.27765874e-03 -3.80992550e-05 -9.99990850e-01 -4.03055411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters 0.012411457007648388 Centerline is valid? [True, True] Translation: X:167.81, Y:-142.31, Z:-4.03 [[ 8.25469079e-01 5.64441338e-01 -2.60298006e-03 1.67812687e+02] [ 5.64438621e-01 -8.25473183e-01 -1.75149854e-03 -1.42308290e+02] [-3.13730842e-03 -2.34145871e-05 -9.99995078e-01 -4.03144952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters 0.012170885935969144 Centerline is valid? [True, True] Translation: X:167.84, Y:-142.30, Z:-4.03 [[ 7.80468894e-01 6.25190402e-01 -2.29497738e-03 1.67839819e+02] [ 6.25187751e-01 -7.80472268e-01 -1.82073518e-03 -1.42297194e+02] [-2.92947236e-03 -1.37645785e-05 -9.99995709e-01 -4.03175617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters 0.012095477897316126 Centerline is valid? [True, True] Translation: X:167.87, Y:-142.28, Z:-4.03 [[ 7.30731504e-01 6.82660904e-01 -2.35759614e-03 1.67866040e+02] [ 6.82657385e-01 -7.30735307e-01 -2.19219276e-03 -1.42284720e+02] [-3.21930303e-03 -7.52610231e-06 -9.99994818e-01 -4.03097037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters 0.012045241871807227 Centerline is valid? [True, True] Translation: X:167.89, Y:-142.27, Z:-4.03 [[ 6.77572840e-01 7.35451416e-01 -2.50236122e-03 1.67892182e+02] [ 7.35446378e-01 -6.77577461e-01 -2.72205861e-03 -1.42271310e+02] [-3.69748541e-03 4.04048559e-06 -9.99993164e-01 -4.02992600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters 0.012236672772507349 Centerline is valid? [True, True] Translation: X:167.92, Y:-142.26, Z:-4.03 [[ 6.19915450e-01 7.84662272e-01 -3.15505543e-03 1.67916184e+02] [ 7.84651957e-01 -6.19923478e-01 -4.02345582e-03 -1.42255545e+02] [-5.11294692e-03 1.85820127e-05 -9.99986929e-01 -4.02841312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters 0.012292468966140228 Centerline is valid? [True, True] Translation: X:167.94, Y:-142.24, Z:-4.03 [[ 5.57564853e-01 8.30126704e-01 -3.33025590e-03 1.67939195e+02] [ 8.30111585e-01 -5.57574797e-01 -5.01018661e-03 -1.42237506e+02] [-6.01595645e-03 2.90199567e-05 -9.99981904e-01 -4.02793994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters 0.012317661569429804 Centerline is valid? [True, True] Translation: X:167.96, Y:-142.22, Z:-4.03 [[ 4.90632040e-01 8.71362241e-01 -2.83675376e-03 1.67962277e+02] [ 8.71347358e-01 -4.90640240e-01 -5.09287675e-03 -1.42218759e+02] [-5.82956604e-03 2.69306188e-05 -9.99983008e-01 -4.02785943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters 0.01216581690325383 Centerline is valid? [True, True] Translation: X:167.99, Y:-142.20, Z:-4.03 [[ 4.18942946e-01 9.08009463e-01 -2.37113770e-03 1.67986172e+02] [ 9.07994731e-01 -4.18949656e-01 -5.17250346e-03 -1.42199555e+02] [-5.69006942e-03 1.40032993e-05 -9.99983811e-01 -4.02802921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters 0.012074226894415247 Centerline is valid? [True, True] Translation: X:168.01, Y:-142.18, Z:-4.03 [[ 3.44967392e-01 9.38612702e-01 -1.92181530e-03 1.68005545e+02] [ 9.38598064e-01 -3.44972745e-01 -5.24202572e-03 -1.42176864e+02] [-5.58320583e-03 4.51582004e-06 -9.99984414e-01 -4.02774487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters 0.012039702255412107 Centerline is valid? [True, True] Translation: X:168.02, Y:-142.15, Z:-4.03 [[ 2.67704829e-01 9.63499615e-01 -1.61770516e-03 1.68024581e+02] [ 9.63482295e-01 -2.67709716e-01 -5.77712429e-03 -1.42153783e+02] [-5.99933242e-03 -1.20662084e-05 -9.99982004e-01 -4.02860174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters 0.012244335983682618 Centerline is valid? [True, True] Translation: X:168.04, Y:-142.13, Z:-4.03 [[ 1.87866417e-01 9.82194088e-01 -9.91588827e-04 1.68043104e+02] [ 9.82181208e-01 -1.87869032e-01 -5.03006534e-03 -1.42129258e+02] [-5.12678927e-03 -2.89395588e-05 -9.99986858e-01 -4.02897178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters 0.012495644234383868 Centerline is valid? [True, True] Translation: X:168.06, Y:-142.10, Z:-4.03 [[ 1.07689517e-01 9.94184403e-01 -5.83116531e-04 1.68057991e+02] [ 9.94171867e-01 -1.07691087e-01 -4.99281773e-03 -1.42102621e+02] [-5.02657797e-03 -4.20439217e-05 -9.99987366e-01 -4.02924539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters 0.012899562703845355 Centerline is valid? [True, True] Translation: X:168.07, Y:-142.07, Z:-4.03 [[ 2.64683230e-02 9.99649637e-01 -1.76681286e-04 1.68072909e+02] [ 9.99638762e-01 -2.64688592e-02 -4.66309456e-03 -1.42074881e+02] [-4.66613734e-03 -5.31931691e-05 -9.99989112e-01 -4.02896761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters 0.013139451909349889 Centerline is valid? [True, True] Translation: X:168.08, Y:-142.05, Z:-4.03 [[-5.29908771e-02 9.98594976e-01 2.00964311e-04 1.68083852e+02] [ 9.98582674e-01 5.29912219e-02 -4.95709887e-03 -1.42045763e+02] [-4.96078337e-03 -6.20015380e-05 -9.99987693e-01 -4.02775340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters 0.013075706267973252 Centerline is valid? [True, True] Translation: X:168.09, Y:-142.02, Z:-4.03 [[-1.30381520e-01 9.91463648e-01 7.02992076e-04 1.68088488e+02] [ 9.91446192e-01 1.30383396e-01 -5.88374365e-03 -1.42016291e+02] [-5.92517644e-03 -7.01526240e-05 -9.99982444e-01 -4.02745808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters 0.01260775305551713 Centerline is valid? [True, True] Translation: X:168.09, Y:-141.99, Z:-4.03 [[-2.05564564e-01 9.78642420e-01 1.49134600e-03 1.68091782e+02] [ 9.78613997e-01 2.05569961e-01 -7.45900247e-03 -1.41986633e+02] [-7.60627216e-03 -7.38545176e-05 -9.99971069e-01 -4.02639510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters 0.01248253666744807 Centerline is valid? [True, True] Translation: X:168.09, Y:-141.96, Z:-4.02 [[-2.80034148e-01 9.59987106e-01 2.37336549e-03 1.68092438e+02] [ 9.59950453e-01 2.80044196e-01 -8.38905473e-03 -1.41957772e+02] [-8.71803160e-03 -7.09085139e-05 -9.99961995e-01 -4.02493733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters 0.012346208104905753 Centerline is valid? [True, True] Translation: X:168.09, Y:-141.93, Z:-4.02 [[-3.52835737e-01 9.35679228e-01 3.36536093e-03 1.68088672e+02] [ 9.35634955e-01 3.52851780e-01 -9.10231734e-03 -1.41929077e+02] [-9.70432286e-03 -6.28735259e-05 -9.99952910e-01 -4.02471888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters 0.012413109259638668 Centerline is valid? [True, True] Translation: X:168.08, Y:-141.90, Z:-4.02 [[-4.24567543e-01 9.05387447e-01 3.99646751e-03 1.68082501e+02] [ 9.05346069e-01 4.24586348e-01 -8.65608160e-03 -1.41901942e+02] [-9.53395317e-03 -5.69051443e-05 -9.99954549e-01 -4.02440830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters 0.012316014169335341 Centerline is valid? [True, True] Translation: X:168.08, Y:-141.87, Z:-4.03 [[-4.94884271e-01 8.68946307e-01 4.67686307e-03 1.68075236e+02] [ 8.68906262e-01 4.94906366e-01 -8.34251858e-03 -1.41873828e+02] [-9.56381002e-03 -6.48256154e-05 -9.99954264e-01 -4.02593246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters 0.01233814005724246 Centerline is valid? [True, True] Translation: X:168.07, Y:-141.85, Z:-4.03 [[-5.62971359e-01 8.26462010e-01 4.87810336e-03 1.68066742e+02] [ 8.26429816e-01 5.62992487e-01 -7.29514332e-03 -1.41845921e+02] [-8.77549435e-03 -7.55466884e-05 -9.99961492e-01 -4.02688008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters 0.012466534319987442 Centerline is valid? [True, True] Translation: X:168.06, Y:-141.82, Z:-4.03 [[-6.26578618e-01 7.79341607e-01 5.08870864e-03 1.68056596e+02] [ 7.79314903e-01 6.26599277e-01 -6.45196026e-03 -1.41818128e+02] [-8.21686223e-03 -7.69538665e-05 -9.99966238e-01 -4.02747691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters 0.012370469619166729 Centerline is valid? [True, True] Translation: X:168.04, Y:-141.79, Z:-4.03 [[-6.85710153e-01 7.27856639e-01 5.12823395e-03 1.68042900e+02] [ 7.27835510e-01 6.85729326e-01 -5.54635982e-03 -1.41792663e+02] [-7.55353522e-03 -7.06844716e-05 -9.99971469e-01 -4.02767965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters 0.012233873143835368 Centerline is valid? [True, True] Translation: X:168.03, Y:-141.77, Z:-4.03 [[-7.39964632e-01 6.72626728e-01 5.06237623e-03 1.68026651e+02] [ 6.72610451e-01 7.39981946e-01 -4.67970566e-03 -1.41768759e+02] [-6.89376212e-03 -5.78095147e-05 -9.99976236e-01 -4.02755372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters 0.01210191405186286 Centerline is valid? [True, True] Translation: X:168.51, Y:-141.26, Z:-5.01 [[-6.81922875e-01 -7.31409501e-01 4.61897968e-03 1.68511005e+02] [ 7.31393185e-01 -6.81938516e-01 -4.88561566e-03 -1.41257241e+02] [ 6.72324586e-03 4.66771868e-05 9.99977398e-01 -5.01077397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters 0.012088592882117395 Centerline is valid? [True, True] Translation: X:168.47, Y:-141.21, Z:-5.01 [[-6.82981965e-01 -7.30415949e-01 5.30819170e-03 1.68473150e+02] [ 7.30394394e-01 -6.83002591e-01 -5.61165011e-03 -1.41214300e+02] [ 7.72434743e-03 4.44176417e-05 9.99970166e-01 -5.01168149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters 0.011953278271320616 Centerline is valid? [True, True] Translation: X:168.44, Y:-141.17, Z:-5.01 [[-6.83724756e-01 -7.29715294e-01 6.00389655e-03 1.68435670e+02] [ 7.29687726e-01 -6.83751115e-01 -6.34307947e-03 -1.41171243e+02] [ 8.73381307e-03 4.40491570e-05 9.99961859e-01 -5.01243533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters 0.011994776280863513 Centerline is valid? [True, True] Translation: X:168.40, Y:-141.13, Z:-5.01 [[-6.83964712e-01 -7.29490955e-01 5.93459553e-03 1.68397548e+02] [ 7.29464046e-01 -6.83990456e-01 -6.26587850e-03 -1.41129150e+02] [ 8.63010840e-03 4.34342853e-05 9.99962759e-01 -5.01246672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters 0.011941763835719295 Centerline is valid? [True, True] Translation: X:168.36, Y:-141.09, Z:-5.01 [[-6.83778302e-01 -7.29666575e-01 5.82442083e-03 1.68359202e+02] [ 7.29640694e-01 -6.83803106e-01 -6.14570747e-03 -1.41087134e+02] [ 8.46707437e-03 4.74330441e-05 9.99964153e-01 -5.01207918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters 0.012490082462944144 Centerline is valid? [True, True] Translation: X:168.32, Y:-141.05, Z:-5.01 [[-6.81174391e-01 -7.32099043e-01 5.69570385e-03 1.68317634e+02] [ 7.32074406e-01 -6.81198198e-01 -6.00657453e-03 -1.41047042e+02] [ 8.27731067e-03 7.81542627e-05 9.99965739e-01 -5.01220907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters 0.013451113042342923 Centerline is valid? [True, True] Translation: X:168.27, Y:-141.01, Z:-5.01 [[-6.77481801e-01 -7.35516025e-01 5.88105454e-03 1.68274357e+02] [ 7.35489916e-01 -6.77507314e-01 -6.19863245e-03 -1.41007705e+02] [ 8.54365097e-03 1.25995636e-04 9.99963494e-01 -5.01294121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters 0.013877484431993931 Centerline is valid? [True, True] Translation: X:168.23, Y:-140.97, Z:-5.01 [[-6.74544542e-01 -7.38210399e-01 5.92180445e-03 1.68233633e+02] [ 7.38184063e-01 -6.74570515e-01 -6.23777544e-03 -1.40967104e+02] [ 8.59946538e-03 1.63724289e-04 9.99963011e-01 -5.01241878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters 0.014309265809043162 Centerline is valid? [True, True] Translation: X:168.19, Y:-140.93, Z:-5.01 [[-6.73581377e-01 -7.39090652e-01 5.75653243e-03 1.68192382e+02] [ 7.39065826e-01 -6.73605952e-01 -6.06020267e-03 -1.40925743e+02] [ 8.35667365e-03 1.72416741e-04 9.99965068e-01 -5.01198159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters 0.014251994229915736 Centerline is valid? [True, True] Translation: X:168.15, Y:-140.89, Z:-5.01 [[-6.74317631e-01 -7.38421883e-01 5.37174565e-03 1.68151104e+02] [ 7.38400269e-01 -6.74339009e-01 -5.65189936e-03 -1.40885100e+02] [ 7.79586380e-03 1.55323047e-04 9.99969600e-01 -5.01213758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters 0.013963132161804021 Centerline is valid? [True, True] Translation: X:168.11, Y:-140.84, Z:-5.01 [[-6.76125941e-01 -7.36766463e-01 5.37510073e-03 1.68111756e+02] [ 7.36744794e-01 -6.76147292e-01 -5.65226715e-03 -1.40843874e+02] [ 7.79876068e-03 1.38433039e-04 9.99969580e-01 -5.01182320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters 0.013354616877359353 Centerline is valid? [True, True] Translation: X:168.07, Y:-140.80, Z:-5.01 [[-6.76990007e-01 -7.35973511e-01 5.24609832e-03 1.68072191e+02] [ 7.35952870e-01 -6.77010321e-01 -5.51345531e-03 -1.40800717e+02] [ 7.60941977e-03 1.28326969e-04 9.99971040e-01 -5.01141067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters 0.013695114566413884 Centerline is valid? [True, True] Translation: X:168.03, Y:-140.76, Z:-5.01 [[-6.77305035e-01 -7.35683159e-01 5.30833263e-03 1.68032633e+02] [ 7.35662046e-01 -6.77325824e-01 -5.57512685e-03 -1.40760613e+02] [ 7.69699771e-03 1.29077357e-04 9.99970369e-01 -5.01181617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters 0.013821958327981713 Centerline is valid? [True, True] Translation: X:167.99, Y:-140.72, Z:-5.01 [[-6.77065092e-01 -7.35893661e-01 6.58640527e-03 1.67991223e+02] [ 7.35861203e-01 -6.77097107e-01 -6.91356037e-03 -1.40719509e+02] [ 9.54728121e-03 1.65749719e-04 9.99954410e-01 -5.01400314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters 0.013682686359597062 Centerline is valid? [True, True] Translation: X:167.95, Y:-140.68, Z:-5.01 [[-6.77058306e-01 -7.35894381e-01 7.17701897e-03 1.67951130e+02] [ 7.35855886e-01 -6.77096319e-01 -7.52922013e-03 -1.40677082e+02] [ 1.04002439e-02 1.83530622e-04 9.99945899e-01 -5.01460561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters 0.013758759737632818 Centerline is valid? [True, True] Translation: X:167.91, Y:-140.63, Z:-5.01 [[-6.77302523e-01 -7.35668995e-01 7.24029311e-03 1.67912232e+02] [ 7.35629856e-01 -6.77341196e-01 -7.59076207e-03 -1.40634661e+02] [ 1.04884371e-02 1.84933475e-04 9.99944978e-01 -5.01421718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters 0.013188023527696076 Centerline is valid? [True, True] Translation: X:167.87, Y:-140.59, Z:-5.01 [[-6.79072074e-01 -7.34047512e-01 5.94715530e-03 1.67873813e+02] [ 7.34021073e-01 -6.79098102e-01 -6.23147901e-03 -1.40591250e+02] [ 8.61290354e-03 1.33713936e-04 9.99962899e-01 -5.01273349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters 0.012716696761057971 Centerline is valid? [True, True] Translation: X:167.84, Y:-140.55, Z:-5.01 [[-6.80962164e-01 -7.32295862e-01 5.77077337e-03 1.67835539e+02] [ 7.32270934e-01 -6.80986607e-01 -6.04320344e-03 -1.40547700e+02] [ 8.35523224e-03 1.10576714e-04 9.99965088e-01 -5.01264936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters 0.012352414932386003 Centerline is valid? [True, True] Translation: X:167.80, Y:-140.50, Z:-5.01 [[-6.83246437e-01 -7.30166272e-01 5.61437542e-03 1.67797815e+02] [ 7.30142633e-01 -6.83269499e-01 -5.87606228e-03 -1.40503728e+02] [ 8.12663397e-03 8.44962351e-05 9.99966975e-01 -5.01257197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters 0.012059054366430337 Centerline is valid? [True, True] Translation: X:167.76, Y:-140.46, Z:-5.01 [[-6.86015496e-01 -7.27563567e-01 5.83056529e-03 1.67761041e+02] [ 7.27538012e-01 -6.86040270e-01 -6.09824796e-03 -1.40460912e+02] [ 8.43686562e-03 5.84652810e-05 9.99964407e-01 -5.01258171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters 0.01188656544929468 Centerline is valid? [True, True] Translation: X:167.72, Y:-140.42, Z:-5.01 [[-6.86791891e-01 -7.26831769e-01 5.69900864e-03 1.67720360e+02] [ 7.26807357e-01 -6.86815534e-01 -5.95724803e-03 -1.40418898e+02] [ 8.24408478e-03 5.06917676e-05 9.99966016e-01 -5.01241018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters 0.01182694352575438 Centerline is valid? [True, True] Translation: X:167.68, Y:-140.38, Z:-5.01 [[-6.87394112e-01 -7.26260534e-01 5.91371783e-03 1.67680230e+02] [ 7.26234262e-01 -6.87419548e-01 -6.17755822e-03 -1.40379634e+02] [ 8.55172196e-03 4.83273579e-05 9.99963432e-01 -5.01291204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters 0.011988213081599891 Centerline is valid? [True, True] Translation: X:167.64, Y:-140.34, Z:-5.01 [[-6.87550860e-01 -7.26108363e-01 6.36083678e-03 1.67639721e+02] [ 7.26078001e-01 -6.87580281e-01 -6.64026956e-03 -1.40340735e+02] [ 9.19514120e-03 5.29406052e-05 9.99957722e-01 -5.01442510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters 0.011985361732618716 Centerline is valid? [True, True] Translation: X:167.60, Y:-140.30, Z:-5.01 [[-6.87536999e-01 -7.26121388e-01 6.37221238e-03 1.67599387e+02] [ 7.26090956e-01 -6.87566526e-01 -6.64804308e-03 -1.40300678e+02] [ 9.20860620e-03 5.60301886e-05 9.99957598e-01 -5.01428054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters 0.012075419288460202 Centerline is valid? [True, True] Translation: X:167.56, Y:-140.26, Z:-5.01 [[-6.87272399e-01 -7.26373519e-01 6.17739460e-03 1.67557011e+02] [ 7.26344966e-01 -6.87300158e-01 -6.44074354e-03 -1.40261311e+02] [ 8.92410983e-03 6.03742117e-05 9.99960178e-01 -5.01406978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters 0.01228331779247529 Centerline is valid? [True, True] Translation: X:167.51, Y:-140.22, Z:-5.01 [[-6.86184839e-01 -7.27401059e-01 6.16978725e-03 1.67514768e+02] [ 7.27372653e-01 -6.86212572e-01 -6.42883102e-03 -1.40222362e+02] [ 8.91012407e-03 7.63681411e-05 9.99960301e-01 -5.01435229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters 0.012450428884251451 Centerline is valid? [True, True] Translation: X:167.47, Y:-140.18, Z:-5.01 [[-6.85202874e-01 -7.28324158e-01 6.39858993e-03 1.67473404e+02] [ 7.28293682e-01 -6.85232743e-01 -6.66343481e-03 -1.40181393e+02] [ 9.23766388e-03 9.42479364e-05 9.99957327e-01 -5.01373084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters 0.012912115919730684 Centerline is valid? [True, True] Translation: X:167.43, Y:-140.14, Z:-5.01 [[-6.83856214e-01 -7.29594296e-01 5.73083672e-03 1.67432522e+02] [ 7.29569926e-01 -6.83880219e-01 -5.96405588e-03 -1.40143216e+02] [ 8.27054702e-03 1.02489441e-04 9.99965793e-01 -5.01339887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters 0.014145802298996207 Centerline is valid? [True, True] Translation: X:167.39, Y:-140.11, Z:-5.01 [[-6.82601172e-01 -7.30775292e-01 4.80751879e-03 1.67389125e+02] [ 7.30758192e-01 -6.82618094e-01 -5.00023077e-03 -1.40105264e+02] [ 6.93574442e-03 9.99703557e-05 9.99975942e-01 -5.01381947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters 0.013697112285730013 Centerline is valid? [True, True] Translation: X:167.35, Y:-140.06, Z:-5.01 [[-6.81162312e-01 -7.32116186e-01 4.87802587e-03 1.67349036e+02] [ 7.32098637e-01 -6.81179768e-01 -5.07051022e-03 -1.40063945e+02] [ 7.03501513e-03 1.17355625e-04 9.99975247e-01 -5.01244132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters 0.014335267072029107 Centerline is valid? [True, True] Translation: X:167.31, Y:-140.02, Z:-5.01 [[-6.79951604e-01 -7.33235123e-01 5.66303627e-03 1.67307177e+02] [ 7.33211536e-01 -6.79975169e-01 -5.88318825e-03 -1.40024111e+02] [ 8.16448431e-03 1.51920237e-04 9.99966659e-01 -5.01326944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters 0.01472404802666987 Centerline is valid? [True, True] Translation: X:167.27, Y:-139.98, Z:-5.01 [[-6.78412438e-01 -7.34655006e-01 6.21182819e-03 1.67265614e+02] [ 7.34626718e-01 -6.78440850e-01 -6.44963458e-03 -1.39983933e+02] [ 8.95261433e-03 1.87862638e-04 9.99959907e-01 -5.01438743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters 0.015766298459222852 Centerline is valid? [True, True] Translation: X:167.22, Y:-139.94, Z:-5.02 [[-6.78151806e-01 -7.34889891e-01 6.85390616e-03 1.67224012e+02] [ 7.34855507e-01 -6.78186407e-01 -7.11204988e-03 -1.39944381e+02] [ 9.87479956e-03 2.13581216e-04 9.99951220e-01 -5.01588343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters 0.014470459950822603 Centerline is valid? [True, True] Translation: X:167.19, Y:-139.90, Z:-5.02 [[-6.79984913e-01 -7.33192339e-01 7.03655183e-03 1.67186280e+02] [ 7.33156049e-01 -6.80021291e-01 -7.29744537e-03 -1.39899745e+02] [ 1.01354361e-02 1.96737786e-04 9.99948616e-01 -5.01514077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters 0.013587981902732653 Centerline is valid? [True, True] Translation: X:167.15, Y:-139.86, Z:-5.02 [[-6.83973091e-01 -7.29471562e-01 7.21466222e-03 1.67149607e+02] [ 7.29433244e-01 -6.84011125e-01 -7.47820790e-03 -1.39856339e+02] [ 1.03900492e-02 1.47721497e-04 9.99946011e-01 -5.01501382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters 0.012894286747853112 Centerline is valid? [True, True] Translation: X:167.11, Y:-139.81, Z:-5.01 [[-6.85765249e-01 -7.27788748e-01 7.03992391e-03 1.67110843e+02] [ 7.27752218e-01 -6.85801373e-01 -7.29292969e-03 -1.39813157e+02] [ 1.01357017e-02 1.22082487e-04 9.99948625e-01 -5.01445097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters 0.012283617894125909 Centerline is valid? [True, True] Translation: X:167.07, Y:-139.77, Z:-5.01 [[-6.91102138e-01 -7.22720242e-01 7.29972242e-03 1.67073728e+02] [ 7.22680722e-01 -6.91140687e-01 -7.55809640e-03 -1.39767532e+02] [ 1.05075244e-02 5.19520874e-05 9.99944793e-01 -5.01498430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters 0.012206786860923453 Centerline is valid? [True, True] Translation: X:167.04, Y:-139.72, Z:-5.02 [[-6.94849294e-01 -7.19117127e-01 7.41730438e-03 1.67037028e+02] [ 7.19076169e-01 -6.94888882e-01 -7.67500029e-03 -1.39724014e+02] [ 1.06734265e-02 6.38281866e-07 9.99943037e-01 -5.01502486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters 0.012791938577618714 Centerline is valid? [True, True] Translation: X:167.00, Y:-139.68, Z:-5.01 [[-7.00727230e-01 -7.13392209e-01 7.27360037e-03 1.67001615e+02] [ 7.13352555e-01 -7.00764974e-01 -7.52214500e-03 -1.39678066e+02] [ 1.04633240e-02 -8.23304171e-05 9.99945255e-01 -5.01434939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters 0.013528435926146862 Centerline is valid? [True, True] Translation: X:166.96, Y:-139.63, Z:-5.01 [[-7.05122046e-01 -7.09057054e-01 6.40270699e-03 1.66963258e+02] [ 7.09026183e-01 -7.05151103e-01 -6.61775228e-03 -1.39634067e+02] [ 9.20723983e-03 -1.26636132e-04 9.99957604e-01 -5.01298478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters 0.013854678487602494 Centerline is valid? [True, True] Translation: X:166.92, Y:-139.59, Z:-5.01 [[-7.06240807e-01 -7.07942421e-01 6.43822996e-03 1.66923879e+02] [ 7.07911194e-01 -7.06270139e-01 -6.65073946e-03 -1.39591924e+02] [ 9.25547017e-03 -1.39328547e-04 9.99957158e-01 -5.01322847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters 0.013591199950988196 Centerline is valid? [True, True] Translation: X:166.88, Y:-139.55, Z:-5.01 [[-7.05450299e-01 -7.08728742e-01 6.59134998e-03 1.66883349e+02] [ 7.08696087e-01 -7.05481079e-01 -6.80463423e-03 -1.39551747e+02] [ 9.47271256e-03 -1.29067313e-04 9.99955125e-01 -5.01342630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters 0.012937154605962896 Centerline is valid? [True, True] Translation: X:166.84, Y:-139.51, Z:-5.01 [[-7.02375609e-01 -7.11771472e-01 7.06228265e-03 1.66839765e+02] [ 7.11734178e-01 -7.02411107e-01 -7.28675915e-03 -1.39512865e+02] [ 1.01471331e-02 -9.15739541e-05 9.99948512e-01 -5.01364955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters 0.012349749431577255 Centerline is valid? [True, True] Translation: X:166.80, Y:-139.47, Z:-5.01 [[-6.98815286e-01 -7.15266229e-01 7.17065569e-03 1.66795567e+02] [ 7.15228007e-01 -6.98852073e-01 -7.39442269e-03 -1.39474570e+02] [ 1.03002084e-02 -3.86818273e-05 9.99946951e-01 -5.01385026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters 0.01219726959204317 Centerline is valid? [True, True] Translation: X:166.75, Y:-139.44, Z:-5.01 [[-6.96526173e-01 -7.17499657e-01 6.74770773e-03 1.66754073e+02] [ 7.17465959e-01 -6.96558857e-01 -6.95388238e-03 -1.39435274e+02] [ 9.68958381e-03 -2.31048849e-06 9.99953055e-01 -5.01331433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters 0.012359741775978554 Centerline is valid? [True, True] Translation: X:166.71, Y:-139.40, Z:-5.01 [[-6.92772757e-01 -7.21128422e-01 6.30133813e-03 1.66710323e+02] [ 7.21099217e-01 -6.92801412e-01 -6.49018613e-03 -1.39396502e+02] [ 9.04583364e-03 4.76658511e-05 9.99959085e-01 -5.01237679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters 0.012659534513660205 Centerline is valid? [True, True] Translation: X:166.67, Y:-139.36, Z:-5.01 [[-6.90276837e-01 -7.23520646e-01 5.98029712e-03 1.66667970e+02] [ 7.23494462e-01 -6.90302737e-01 -6.15586594e-03 -1.39358627e+02] [ 8.58211157e-03 7.74601782e-05 9.99963170e-01 -5.01241410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters 0.01366502440241608 Centerline is valid? [True, True] Translation: X:166.62, Y:-139.32, Z:-5.01 [[-6.87187690e-01 -7.26458551e-01 5.57245200e-03 1.66624904e+02] [ 7.26435940e-01 -6.87210275e-01 -5.73269117e-03 -1.39321147e+02] [ 7.99400879e-03 1.08594598e-04 9.99968042e-01 -5.01297220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters 0.014454917845908246 Centerline is valid? [True, True] Translation: X:166.58, Y:-139.28, Z:-5.01 [[-6.85499086e-01 -7.28047429e-01 6.15995416e-03 1.66582459e+02] [ 7.28019892e-01 -6.85526747e-01 -6.33365494e-03 -1.39281469e+02] [ 8.83401453e-03 1.42854493e-04 9.99960969e-01 -5.01464973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters 0.014882451228457398 Centerline is valid? [True, True] Translation: X:166.54, Y:-139.24, Z:-5.02 [[-6.85212112e-01 -7.28308535e-01 7.14423295e-03 1.66541162e+02] [ 7.28271550e-01 -6.85249333e-01 -7.34174917e-03 -1.39240205e+02] [ 1.02426394e-02 1.72286152e-04 9.99947528e-01 -5.01615593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters 0.013945707827578131 Centerline is valid? [True, True] Translation: X:166.50, Y:-139.20, Z:-5.02 [[-6.86044837e-01 -7.27510002e-01 8.46630240e-03 1.66503073e+02] [ 7.27458061e-01 -6.86097048e-01 -8.69542113e-03 -1.39196680e+02] [ 1.21347109e-02 1.93431153e-04 9.99926353e-01 -5.01609182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters 0.01356951740658427 Centerline is valid? [True, True] Translation: X:166.46, Y:-139.15, Z:-5.02 [[-6.88433150e-01 -7.25248112e-01 8.65878046e-03 1.66464336e+02] [ 7.25193664e-01 -6.88487582e-01 -8.88814080e-03 -1.39152954e+02] [ 1.24075702e-02 1.60401964e-04 9.99923010e-01 -5.01670362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters 0.01303023653032401 Centerline is valid? [True, True] Translation: X:166.43, Y:-139.11, Z:-5.02 [[-6.91118249e-01 -7.22684541e-01 9.08953602e-03 1.66426974e+02] [ 7.22624395e-01 -6.91178008e-01 -9.32443257e-03 -1.39109335e+02] [ 1.30211107e-02 1.24034950e-04 9.99915214e-01 -5.01691241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters 0.012500940724988426 Centerline is valid? [True, True] Translation: X:166.39, Y:-139.06, Z:-5.02 [[-6.96408576e-01 -7.17580604e-01 9.65257139e-03 1.66392314e+02] [ 7.17512362e-01 -6.96475467e-01 -9.89617101e-03 -1.39062539e+02] [ 1.38240795e-02 3.40609389e-05 9.99904442e-01 -5.01720596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters 0.012599296759749625 Centerline is valid? [True, True] Translation: X:166.36, Y:-139.02, Z:-5.02 [[-7.00206227e-01 -7.13880782e-01 9.24487095e-03 1.66356096e+02] [ 7.13817937e-01 -7.00267254e-01 -9.47232107e-03 -1.39018086e+02] [ 1.32359884e-02 -3.34234827e-05 9.99912400e-01 -5.01685068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters 0.012804531597879004 Centerline is valid? [True, True] Translation: X:166.32, Y:-138.97, Z:-5.01 [[-7.03633360e-01 -7.10522155e-01 7.63947832e-03 1.66317609e+02] [ 7.10479094e-01 -7.03674827e-01 -7.82276874e-03 -1.38974936e+02] [ 1.09339591e-02 -7.66714156e-05 9.99940220e-01 -5.01377795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters 0.01305894503920699 Centerline is valid? [True, True] Translation: X:166.28, Y:-138.93, Z:-5.01 [[-7.05588811e-01 -7.08580769e-01 7.59759141e-03 1.66277918e+02] [ 7.08538102e-01 -7.05629706e-01 -7.77662957e-03 -1.38933188e+02] [ 1.08714564e-02 -1.03919819e-04 9.99940899e-01 -5.01335196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters 0.013725086732585321 Centerline is valid? [True, True] Translation: X:166.24, Y:-138.89, Z:-5.01 [[-7.08209475e-01 -7.05954154e-01 8.25063574e-03 1.66237834e+02] [ 7.05903698e-01 -7.08257516e-01 -8.44156118e-03 -1.38891807e+02] [ 1.18029300e-02 -1.54239329e-04 9.99930331e-01 -5.01374355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters 0.014269184192181266 Centerline is valid? [True, True] Translation: X:166.20, Y:-138.85, Z:-5.01 [[-7.10861487e-01 -7.03274436e-01 9.00083205e-03 1.66197728e+02] [ 7.03214221e-01 -7.10918436e-01 -9.20526341e-03 -1.38850480e+02] [ 1.28726839e-02 -2.14154138e-04 9.99917121e-01 -5.01456623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters 0.01624453302799083 Centerline is valid? [True, True] Translation: X:166.16, Y:-138.81, Z:-5.01 [[-7.16935282e-01 -6.97073488e-01 9.61010820e-03 1.66159210e+02] [ 6.97004341e-01 -7.16999605e-01 -9.82421126e-03 -1.38807778e+02] [ 1.37386410e-02 -3.45036537e-04 9.99905561e-01 -5.01484633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters 0.018037107993760775 Centerline is valid? [True, True] Translation: X:166.12, Y:-138.76, Z:-5.01 [[-7.21829295e-01 -6.92003338e-01 9.68762413e-03 1.66120477e+02] [ 6.91932690e-01 -7.21894165e-01 -9.89778010e-03 -1.38764544e+02] [ 1.38427362e-02 -4.41323798e-04 9.99904087e-01 -5.01368498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters 0.02108607527924745 Centerline is valid? [True, True] Translation: X:166.08, Y:-138.72, Z:-5.01 [[-7.28630151e-01 -6.84850838e-01 8.79952628e-03 1.66081934e+02] [ 6.84792095e-01 -7.28683098e-01 -8.98488678e-03 -1.38722016e+02] [ 1.25653733e-02 -5.20813379e-04 9.99920917e-01 -5.01224600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters 0.023082584956859487 Centerline is valid? [True, True] Translation: X:166.04, Y:-138.68, Z:-5.01 [[-7.31451154e-01 -6.81848585e-01 7.85601467e-03 1.66041554e+02] [ 6.81801641e-01 -7.31493164e-01 -8.01700115e-03 -1.38680121e+02] [ 1.12130019e-02 -5.07801044e-04 9.99937003e-01 -5.01123554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters 0.02213413160512066 Centerline is valid? [True, True] Translation: X:166.00, Y:-138.64, Z:-5.01 [[-7.31354579e-01 -6.81964306e-01 6.72047233e-03 1.65996227e+02] [ 6.81929994e-01 -7.31385330e-01 -6.85437548e-03 -1.38642795e+02] [ 9.58969429e-03 -4.30087241e-04 9.99953925e-01 -5.00944918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters 0.018392838155378153 Centerline is valid? [True, True] Translation: X:165.95, Y:-138.61, Z:-5.01 [[-7.26227618e-01 -6.87418755e-01 6.99299018e-03 1.65946052e+02] [ 6.87381883e-01 -7.26261191e-01 -7.12948815e-03 -1.38610534e+02] [ 9.97968124e-03 -3.70776441e-04 9.99950133e-01 -5.00883343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters 0.01694974066897251 Centerline is valid? [True, True] Translation: X:165.90, Y:-138.58, Z:-5.01 [[-7.20474798e-01 -6.93438678e-01 7.67237800e-03 1.65900250e+02] [ 6.93394685e-01 -7.20515581e-01 -7.81722017e-03 -1.38576203e+02] [ 1.09488307e-02 -3.12123988e-04 9.99940011e-01 -5.01040870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters 0.015719173831265185 Centerline is valid? [True, True] Translation: X:165.86, Y:-138.54, Z:-5.01 [[-7.17319497e-01 -6.96694600e-01 8.32914096e-03 1.65855722e+02] [ 6.96643029e-01 -7.17367797e-01 -8.48143750e-03 -1.38538516e+02] [ 1.18840292e-02 -2.81462495e-04 9.99929343e-01 -5.01051591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters 0.013255969120299044 Centerline is valid? [True, True] Translation: X:165.81, Y:-138.51, Z:-5.01 [[-7.07335402e-01 -7.06821960e-01 8.90766748e-03 1.65805574e+02] [ 7.06763839e-01 -7.07391479e-01 -9.06485240e-03 -1.38508490e+02] [ 1.27084448e-02 -1.16273749e-04 9.99919238e-01 -5.01203726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters 0.012468996616995158 Centerline is valid? [True, True] Translation: X:165.76, Y:-138.47, Z:-5.01 [[-7.01561112e-01 -7.12561048e-01 8.29213843e-03 1.65757168e+02] [ 7.12511114e-01 -7.01610115e-01 -8.43558337e-03 -1.38473988e+02] [ 1.18287163e-02 -9.83645046e-06 9.99930038e-01 -5.01178915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters 0.012835444627696074 Centerline is valid? [True, True] Translation: X:165.71, Y:-138.44, Z:-5.01 [[-6.94891172e-01 -7.19075803e-01 7.49990328e-03 1.65707902e+02] [ 7.19035376e-01 -6.94931638e-01 -7.62538196e-03 -1.38440493e+02] [ 1.06951477e-02 9.38851686e-05 9.99942801e-01 -5.01081225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters 0.01360622126430729 Centerline is valid? [True, True] Translation: X:165.66, Y:-138.40, Z:-5.01 [[-6.90497706e-01 -7.23296532e-01 7.41924028e-03 1.65662241e+02] [ 7.23257258e-01 -6.90537545e-01 -7.53908112e-03 -1.38404289e+02] [ 1.05762552e-02 1.60301158e-04 9.99944057e-01 -5.01001008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters 0.014487430464639389 Centerline is valid? [True, True] Translation: X:165.62, Y:-138.37, Z:-5.01 [[-6.88327766e-01 -7.25360376e-01 7.56388810e-03 1.65618521e+02] [ 7.25319714e-01 -6.88369295e-01 -7.68289093e-03 -1.38366568e+02] [ 1.07796130e-02 1.97890006e-04 9.99941879e-01 -5.01011869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters 0.014919202137142425 Centerline is valid? [True, True] Translation: X:165.57, Y:-138.33, Z:-5.01 [[-6.87440521e-01 -7.26196729e-01 7.99002871e-03 1.65574565e+02] [ 7.26151465e-01 -6.87486916e-01 -8.11118563e-03 -1.38328331e+02] [ 1.13833567e-02 2.26013370e-04 9.99935182e-01 -5.01106339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters 0.014501733644182703 Centerline is valid? [True, True] Translation: X:165.53, Y:-138.29, Z:-5.01 [[-6.88387215e-01 -7.25290069e-01 8.79533744e-03 1.65534596e+02] [ 7.25235216e-01 -6.88443360e-01 -8.92303721e-03 -1.38287559e+02] [ 1.25268819e-02 2.36183716e-04 9.99921508e-01 -5.01091433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters 0.013421867478752533 Centerline is valid? [True, True] Translation: X:165.50, Y:-138.24, Z:-5.01 [[-6.92613700e-01 -7.21242102e-01 9.80267950e-03 1.65496396e+02] [ 7.21173636e-01 -6.92683041e-01 -9.93939921e-03 -1.38243302e+02] [ 1.39588630e-02 1.85269950e-04 9.99902553e-01 -5.01113307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters 0.012290828666522584 Centerline is valid? [True, True] Translation: X:165.46, Y:-138.20, Z:-5.01 [[-6.99963406e-01 -7.14110474e-01 9.87226482e-03 1.65460534e+02] [ 7.14040396e-01 -7.00033020e-01 -1.00042263e-02 -1.38197171e+02] [ 1.40550341e-02 4.66035695e-05 9.99901222e-01 -5.01101901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters 0.012633579558682828 Centerline is valid? [True, True] Translation: X:165.42, Y:-138.15, Z:-5.01 [[-7.05779506e-01 -7.08368683e-01 9.43913617e-03 1.65424868e+02] [ 7.08304182e-01 -7.05842620e-01 -9.55931492e-03 -1.38151276e+02] [ 1.34340639e-02 -6.09889379e-05 9.99909757e-01 -5.01043931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters 0.013677812374256573 Centerline is valid? [True, True] Translation: X:165.39, Y:-138.10, Z:-5.01 [[-7.12533455e-01 -7.01588754e-01 8.32443604e-03 1.65390020e+02] [ 7.01538178e-01 -7.12582061e-01 -8.42564196e-03 -1.38104000e+02] [ 1.18431794e-02 -1.63642078e-04 9.99929854e-01 -5.00753213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters 0.014434499336461685 Centerline is valid? [True, True] Translation: X:165.35, Y:-138.06, Z:-5.01 [[-7.14867010e-01 -6.99221221e-01 7.40553176e-03 1.65352318e+02] [ 6.99181114e-01 -7.14905345e-01 -7.49112828e-03 -1.38061217e+02] [ 1.05322101e-02 -1.77352527e-04 9.99944519e-01 -5.00694826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters 0.015357458713265965 Centerline is valid? [True, True] Translation: X:165.31, Y:-138.02, Z:-5.01 [[-7.14139609e-01 -6.99961363e-01 7.66214760e-03 1.65313701e+02] [ 6.99918526e-01 -7.14180692e-01 -7.74566473e-03 -1.38020507e+02] [ 1.08938239e-02 -1.68606926e-04 9.99940646e-01 -5.00902616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters 0.013411721414459295 Centerline is valid? [True, True] Translation: X:165.27, Y:-137.98, Z:-5.01 [[-7.10655102e-01 -7.03490273e-01 8.41203335e-03 1.65269860e+02] [ 7.03438942e-01 -7.10704876e-01 -8.49901924e-03 -1.37982717e+02] [ 1.19574505e-02 -1.22519543e-04 9.99928500e-01 -5.00784761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters 0.012844498769500839 Centerline is valid? [True, True] Translation: X:165.23, Y:-137.94, Z:-5.01 [[-7.07681688e-01 -7.06474264e-01 8.98566842e-03 1.65227303e+02] [ 7.06416007e-01 -7.07738729e-01 -9.07288592e-03 -1.37944447e+02] [ 1.27692660e-02 -7.30952144e-05 9.99918467e-01 -5.00797974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters 0.012658141415880834 Centerline is valid? [True, True] Translation: X:165.18, Y:-137.91, Z:-5.01 [[-7.03350367e-01 -7.10781724e-01 9.35955593e-03 1.65183292e+02] [ 7.10718975e-01 -7.03412639e-01 -9.44451103e-03 -1.37906961e+02] [ 1.32966158e-02 9.21369372e-06 9.99911596e-01 -5.00845589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters 0.01271101893571477 Centerline is valid? [True, True] Translation: X:165.14, Y:-137.87, Z:-5.01 [[-7.00098686e-01 -7.13994933e-01 8.54779204e-03 1.65140085e+02] [ 7.13942894e-01 -7.00150863e-01 -8.62050237e-03 -1.37868061e+02] [ 1.21397390e-02 6.74330047e-05 9.99926308e-01 -5.00724934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters 0.013164864964819315 Centerline is valid? [True, True] Translation: X:165.10, Y:-137.83, Z:-5.01 [[-6.98981145e-01 -7.15091216e-01 8.36136061e-03 1.65100157e+02] [ 7.15041553e-01 -6.99031148e-01 -8.42807948e-03 -1.37829150e+02] [ 1.18716971e-02 8.76516224e-05 9.99929525e-01 -5.00739408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters 0.013269676329215814 Centerline is valid? [True, True] Translation: X:165.06, Y:-137.79, Z:-5.01 [[-6.98207254e-01 -7.15848541e-01 8.21565700e-03 1.65059789e+02] [ 7.15800708e-01 -6.98255580e-01 -8.27596654e-03 -1.37788356e+02] [ 1.16609669e-02 1.02433223e-04 9.99932003e-01 -5.00690459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters 0.01340026874850639 Centerline is valid? [True, True] Translation: X:165.02, Y:-137.75, Z:-5.01 [[-6.98109028e-01 -7.15939654e-01 8.61380932e-03 1.65019815e+02] [ 7.15887145e-01 -6.98162159e-01 -8.67153773e-03 -1.37747846e+02] [ 1.22221334e-02 1.12836586e-04 9.99925301e-01 -5.00710787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters 0.013314651420754001 Centerline is valid? [True, True] Translation: X:164.98, Y:-137.71, Z:-5.01 [[-6.98581667e-01 -7.15480450e-01 8.44866641e-03 1.64980559e+02] [ 7.15429967e-01 -6.98632746e-01 -8.49990775e-03 -1.37705636e+02] [ 1.19840328e-02 1.06549410e-04 9.99928183e-01 -5.00725743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters 0.013282944479713359 Centerline is valid? [True, True] Translation: X:164.94, Y:-137.66, Z:-5.01 [[-6.99785866e-01 -7.14312563e-01 7.56991017e-03 1.64941706e+02] [ 7.14272013e-01 -6.99826804e-01 -7.61151779e-03 -1.37662640e+02] [ 1.07346288e-02 8.05424089e-05 9.99942379e-01 -5.00695610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters 0.013186713146581411 Centerline is valid? [True, True] Translation: X:164.90, Y:-137.62, Z:-5.01 [[-7.00262937e-01 -7.13845114e-01 7.54798423e-03 1.64901937e+02] [ 7.13804818e-01 -7.00303611e-01 -7.58517586e-03 -1.37620957e+02] [ 1.07005213e-02 7.61699820e-05 9.99942745e-01 -5.00723902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters 0.013310759171527874 Centerline is valid? [True, True] Translation: X:164.86, Y:-137.58, Z:-5.01 [[-7.00369194e-01 -7.13736297e-01 7.96807215e-03 1.64863124e+02] [ 7.13691436e-01 -7.00414514e-01 -8.00272350e-03 -1.37578330e+02] [ 1.12927876e-02 8.18838438e-05 9.99936231e-01 -5.00866008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters 0.013456495864986158 Centerline is valid? [True, True] Translation: X:164.82, Y:-137.54, Z:-5.01 [[-7.00406840e-01 -7.13693275e-01 8.49520316e-03 1.64824399e+02] [ 7.13642340e-01 -7.00458351e-01 -8.52701490e-03 -1.37536778e+02] [ 1.20362092e-02 9.01571084e-05 9.99927558e-01 -5.00956363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters 0.01377102051491191 Centerline is valid? [True, True] Translation: X:164.79, Y:-137.49, Z:-5.01 [[-7.00108928e-01 -7.13976593e-01 9.21484509e-03 1.64786476e+02] [ 7.13916763e-01 -7.00169560e-01 -9.24352563e-03 -1.37494180e+02] [ 1.30516150e-02 1.07157562e-04 9.99914818e-01 -5.01040543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters 0.014156779029464136 Centerline is valid? [True, True] Translation: X:164.75, Y:-137.45, Z:-5.01 [[-6.99390675e-01 -7.14674805e-01 9.62323189e-03 1.64747568e+02] [ 7.14609688e-01 -6.99456865e-01 -9.64819149e-03 -1.37454297e+02] [ 1.36263550e-02 1.28999583e-04 9.99907149e-01 -5.01216787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters 0.014186701668301702 Centerline is valid? [True, True] Translation: X:164.71, Y:-137.41, Z:-5.01 [[-6.97719492e-01 -7.16314742e-01 8.98331755e-03 1.64708947e+02] [ 7.16258199e-01 -6.97777304e-01 -9.00148866e-03 -1.37411261e+02] [ 1.27162541e-02 1.53860752e-04 9.99919133e-01 -5.01001241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters 0.014654144397753515 Centerline is valid? [True, True] Translation: X:164.67, Y:-137.37, Z:-5.01 [[-6.95872935e-01 -7.18113564e-01 8.58883833e-03 1.64670051e+02] [ 7.18062074e-01 -6.95925913e-01 -8.60126723e-03 -1.37367697e+02] [ 1.21538818e-02 1.81929989e-04 9.99926122e-01 -5.00896720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters 0.015626561577051296 Centerline is valid? [True, True] Translation: X:164.63, Y:-137.32, Z:-5.01 [[-6.93614861e-01 -7.20291973e-01 8.82599416e-03 1.64630996e+02] [ 7.20237839e-01 -6.93670974e-01 -8.83376369e-03 -1.37324937e+02] [ 1.24852250e-02 2.29585192e-04 9.99922030e-01 -5.00947208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters 0.015924372915895695 Centerline is valid? [True, True] Translation: X:164.59, Y:-137.28, Z:-5.01 [[-6.92361095e-01 -7.21502457e-01 8.38560774e-03 1.64591313e+02] [ 7.21453736e-01 -6.92411832e-01 -8.38819949e-03 -1.37281900e+02] [ 1.18584006e-02 2.42165055e-04 9.99929657e-01 -5.00873806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters 0.016523075462136487 Centerline is valid? [True, True] Translation: X:164.55, Y:-137.24, Z:-5.01 [[-6.91389342e-01 -7.22440348e-01 7.79237216e-03 1.64551720e+02] [ 7.22398384e-01 -6.91433210e-01 -7.79038843e-03 -1.37239807e+02] [ 1.10159958e-02 2.43005527e-04 9.99939293e-01 -5.00843714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters 0.016943249716501973 Centerline is valid? [True, True] Translation: X:164.09, Y:-137.70, Z:-4.03 [[-7.70233277e-01 6.37715156e-01 7.75106377e-03 1.64089535e+02] [ 6.37679770e-01 7.70272241e-01 -6.72206352e-03 -1.37704965e+02] [-1.02571910e-02 -2.34860451e-04 -9.99947366e-01 -4.03056681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters 0.016586344136294656 Centerline is valid? [True, True] Translation: X:164.10, Y:-137.69, Z:-4.03 [[-8.13465687e-01 5.81563620e-01 7.57180010e-03 1.64101280e+02] [ 5.81535920e-01 8.13500896e-01 -5.68028456e-03 -1.37687956e+02] [-9.46311302e-03 -2.17442845e-04 -9.99955200e-01 -4.03108662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters 0.016627905022376172 Centerline is valid? [True, True] Translation: X:164.12, Y:-137.67, Z:-4.03 [[-8.52041451e-01 5.23415699e-01 7.83399706e-03 1.64115186e+02] [ 5.23391356e-01 8.52077441e-01 -5.05209449e-03 -1.37670209e+02] [-9.31951773e-03 -2.04347578e-04 -9.99956552e-01 -4.03070866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters 0.015884748488401226 Centerline is valid? [True, True] Translation: X:164.13, Y:-137.65, Z:-4.03 [[-8.85877745e-01 4.63843321e-01 8.36622593e-03 1.64127637e+02] [ 4.63820631e-01 8.85917230e-01 -4.59167033e-03 -1.37654830e+02] [-9.54159932e-03 -1.87230364e-04 -9.99954460e-01 -4.03077002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters 0.015830173182486643 Centerline is valid? [True, True] Translation: X:164.14, Y:-137.63, Z:-4.03 [[-9.16218330e-01 4.00587653e-01 8.57349881e-03 1.64139331e+02] [ 4.00568283e-01 9.16258424e-01 -3.94340379e-03 -1.37634891e+02] [-9.43521938e-03 -1.78747140e-04 -9.99955471e-01 -4.03084606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters 0.015933417034098195 Centerline is valid? [True, True] Translation: X:164.15, Y:-137.61, Z:-4.03 [[-9.42989128e-01 3.32724834e-01 8.10485385e-03 1.64145092e+02] [ 3.32710879e-01 9.43023940e-01 -3.05275307e-03 -1.37607471e+02] [-8.65879797e-03 -1.82139914e-04 -9.99962495e-01 -4.03142509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters 0.015577383913295953 Centerline is valid? [True, True] Translation: X:164.40, Y:-136.96, Z:-5.01 [[-9.01274414e-01 -4.33148223e-01 9.32991244e-03 1.64395569e+02] [ 4.33128531e-01 -9.01322651e-01 -4.14167854e-03 -1.36955449e+02] [ 1.02032221e-02 3.08262374e-04 9.99947898e-01 -5.00899131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters 0.015409248930232404 Centerline is valid? [True, True] Translation: X:164.10, Y:-137.59, Z:-4.03 [[-9.42937980e-01 3.32821185e-01 9.90075182e-03 1.64100221e+02] [ 3.32800803e-01 9.42989939e-01 -3.68776154e-03 -1.37594052e+02] [-1.05636745e-02 -1.82352261e-04 -9.99944186e-01 -4.02899454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters 0.014194255027538127 Centerline is valid? [True, True] Translation: X:164.12, Y:-137.58, Z:-4.03 [[-9.62774013e-01 2.70195875e-01 7.77102384e-03 1.64119763e+02] [ 2.70186254e-01 9.62805370e-01 -2.28225190e-03 -1.37577877e+02] [-8.09863852e-03 -9.76690014e-05 -9.99967201e-01 -4.03145110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters 0.013744687146601561 Centerline is valid? [True, True] Translation: X:164.13, Y:-137.56, Z:-4.03 [[-9.78805446e-01 2.04700096e-01 6.14563472e-03 1.64127965e+02] [ 2.04695716e-01 9.78824738e-01 -1.34023172e-03 -1.37555324e+02] [-6.28984486e-03 -5.38410068e-05 -9.99980217e-01 -4.03330119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters 0.013609985018386046 Centerline is valid? [True, True] Translation: X:164.13, Y:-137.53, Z:-4.03 [[-9.90620935e-01 1.36476866e-01 6.65036489e-03 1.64133707e+02] [ 1.36473480e-01 9.90643257e-01 -9.62483268e-04 -1.37528894e+02] [-6.71949584e-03 -4.58576339e-05 -9.99977423e-01 -4.03258893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters 0.013484418549115283 Centerline is valid? [True, True] Translation: X:164.14, Y:-137.50, Z:-4.03 [[-9.97557133e-01 6.93800729e-02 8.13467596e-03 1.64136814e+02] [ 6.93775475e-02 9.97590299e-01 -5.92563869e-04 -1.37502209e+02] [-8.15618595e-03 -2.67524459e-05 -9.99966737e-01 -4.03068233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters 0.013311368865584197 Centerline is valid? [True, True] Translation: X:164.20, Y:-136.78, Z:-5.01 [[-9.90144100e-01 -1.39787068e-01 8.61609925e-03 1.64196906e+02] [ 1.39782315e-01 -9.90181585e-01 -1.15439097e-03 -1.36784220e+02] [ 8.69287174e-03 6.13648889e-05 9.99962214e-01 -5.00833703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters 0.013498807495562396 Centerline is valid? [True, True] Translation: X:164.08, Y:-137.50, Z:-4.03 [[-9.97322204e-01 7.25112182e-02 9.51545030e-03 1.64083436e+02] [ 7.25082904e-02 9.97367596e-01 -6.52772172e-04 -1.37502811e+02] [-9.53773510e-03 3.89248517e-05 -9.99954514e-01 -4.03106598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters 0.01355807050721923 Centerline is valid? [True, True] Translation: X:164.14, Y:-136.78, Z:-5.01 [[-9.91648015e-01 -1.28576856e-01 1.01097658e-02 1.64139245e+02] [ 1.28570162e-01 -9.91699547e-01 -1.31193328e-03 -1.36778303e+02] [ 1.01945344e-02 -1.16180429e-06 9.99948034e-01 -5.00872729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters 0.013489511647111565 Centerline is valid? [True, True] Translation: X:164.03, Y:-137.50, Z:-4.03 [[-9.97397851e-01 7.13164127e-02 1.05591486e-02 1.64029464e+02] [ 7.13132205e-02 9.97453740e-01 -6.79005411e-04 -1.37498688e+02] [-1.05806865e-02 7.57683556e-05 -9.99944020e-01 -4.03036121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters 0.013437660409224644 Centerline is valid? [True, True] Translation: X:164.08, Y:-136.78, Z:-5.01 [[-9.92168172e-01 -1.24515426e-01 9.91093136e-03 1.64076849e+02] [ 1.24508115e-01 -9.92217666e-01 -1.35367080e-03 -1.36777500e+02] [ 1.00023541e-02 -1.09077698e-04 9.99949969e-01 -5.00777710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters 0.013334334247145993 Centerline is valid? [True, True] Translation: X:163.97, Y:-137.49, Z:-4.03 [[-9.97832474e-01 6.51294082e-02 9.40815903e-03 1.63970932e+02] [ 6.51269797e-02 9.97876825e-01 -5.64598237e-04 -1.37491425e+02] [-9.42495581e-03 4.93505260e-05 -9.99955583e-01 -4.03168529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters 0.01290365857419863 Centerline is valid? [True, True] Translation: X:164.01, Y:-136.78, Z:-5.01 [[-9.92160193e-01 -1.24669544e-01 8.69810000e-03 1.64012627e+02] [ 1.24663963e-01 -9.92198315e-01 -1.18303698e-03 -1.36780058e+02] [ 8.77772885e-03 -8.94225853e-05 9.99961471e-01 -5.00582589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters 0.012758945625792445 Centerline is valid? [True, True] Translation: X:163.91, Y:-137.48, Z:-4.03 [[-9.98499890e-01 5.39542429e-02 9.32249899e-03 1.63910900e+02] [ 5.39517373e-02 9.98543409e-01 -5.20233871e-04 -1.37479770e+02] [-9.33698875e-03 -1.64884458e-05 -9.99956409e-01 -4.03344290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters 0.012787688719009857 Centerline is valid? [True, True] Translation: X:163.95, Y:-136.78, Z:-5.01 [[-9.91831432e-01 -1.27189392e-01 9.65756368e-03 1.63951462e+02] [ 1.27183791e-01 -9.91878449e-01 -1.19446166e-03 -1.36784876e+02] [ 9.73105213e-03 4.35809424e-05 9.99952651e-01 -5.00582586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters 0.012990070822390253 Centerline is valid? [True, True] Translation: X:163.85, Y:-137.47, Z:-4.03 [[-9.98977721e-01 4.41177459e-02 9.85581571e-03 1.63852485e+02] [ 4.41148632e-02 9.99026336e-01 -5.09799805e-04 -1.37469713e+02] [-9.86871067e-03 -7.44906859e-05 -9.99951300e-01 -4.03285296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters 0.013136509526267205 Centerline is valid? [True, True] Translation: X:163.85, Y:-137.44, Z:-4.03 [[-9.99564070e-01 -2.77818999e-02 9.99179773e-03 1.63850692e+02] [-2.77813490e-02 9.99614005e-01 1.93954240e-04 -1.37441101e+02] [-9.99332936e-03 -8.37159301e-05 -9.99950062e-01 -4.03252762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters 0.013082641053198273 Centerline is valid? [True, True] Translation: X:163.84, Y:-137.41, Z:-4.03 [[-9.95060863e-01 -9.87167202e-02 1.04349092e-02 1.63839882e+02] [-9.87122113e-02 9.95115572e-01 9.47519276e-04 -1.37414159e+02] [-1.04774766e-02 -8.72136131e-05 -9.99945106e-01 -4.03215194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters 0.013282536646546482 Centerline is valid? [True, True] Translation: X:163.84, Y:-137.39, Z:-4.03 [[-9.85290408e-01 -1.70532309e-01 1.10246448e-02 1.63836511e+02] [-1.70522849e-01 9.85352079e-01 1.79942126e-03 -1.37385801e+02] [-1.11700161e-02 -1.07001328e-04 -9.99937608e-01 -4.03153092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters 0.0131888191737975 Centerline is valid? [True, True] Translation: X:163.73, Y:-136.72, Z:-5.01 [[-9.96406694e-01 8.38773791e-02 1.17595006e-02 1.63727344e+02] [-8.38696814e-02 -9.96476071e-01 1.14709267e-03 -1.36716525e+02] [ 1.18142760e-02 1.56705250e-04 9.99930197e-01 -5.00693443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters 0.013163709908115016 Centerline is valid? [True, True] Translation: X:163.74, Y:-137.40, Z:-4.03 [[-9.84186848e-01 -1.76704279e-01 1.23225935e-02 1.63738873e+02] [-1.76691979e-01 9.84263980e-01 2.08846781e-03 -1.37402346e+02] [-1.24977261e-02 -1.21860865e-04 -9.99921893e-01 -4.03075269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters 0.01261571787952158 Centerline is valid? [True, True] Translation: X:163.73, Y:-137.38, Z:-4.03 [[-9.69920252e-01 -2.43130112e-01 1.19354189e-02 1.63727424e+02] [-2.43112687e-01 9.69993682e-01 2.91179225e-03 -1.37381474e+02] [-1.22852253e-02 -7.74454939e-05 -9.99924531e-01 -4.03165544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters 0.012457544473580199 Centerline is valid? [True, True] Translation: X:163.70, Y:-137.36, Z:-4.03 [[-9.50834493e-01 -3.09509571e-01 1.08439770e-02 1.63703496e+02] [-3.09489900e-01 9.50896327e-01 3.48965583e-03 -1.37363811e+02] [-1.13915798e-02 -3.80162209e-05 -9.99935113e-01 -4.03209147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters 0.012396220507965945 Centerline is valid? [True, True] Translation: X:163.66, Y:-137.36, Z:-4.03 [[-9.27606173e-01 -3.73429444e-01 9.86099047e-03 1.63662578e+02] [-3.73408196e-01 9.27658585e-01 3.98357965e-03 -1.37355718e+02] [-1.06352184e-02 1.30184112e-05 -9.99943444e-01 -4.03294700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters 0.012635265992068333 Centerline is valid? [True, True] Translation: X:163.60, Y:-137.36, Z:-4.03 [[-8.98956124e-01 -4.37929166e-01 9.79450342e-03 1.63604261e+02] [-4.37902612e-01 8.99009479e-01 4.82273331e-03 -1.37356985e+02] [-1.09173670e-02 4.63870163e-05 -9.99940403e-01 -4.03178586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters 0.012453689786083584 Centerline is valid? [True, True] Translation: X:163.54, Y:-137.36, Z:-4.03 [[-8.64376633e-01 -5.02754421e-01 9.54085537e-03 1.63535398e+02] [-5.02723118e-01 8.64429285e-01 5.61048106e-03 -1.37363761e+02] [-1.10680889e-02 5.31601742e-05 -9.99938745e-01 -4.03245798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters 0.01256786970359473 Centerline is valid? [True, True] Translation: X:163.46, Y:-137.38, Z:-4.03 [[-8.24273769e-01 -5.66110081e-01 9.59842543e-03 1.63463050e+02] [-5.66070972e-01 8.24329651e-01 6.65440215e-03 -1.37380683e+02] [-1.16793908e-02 5.16591235e-05 -9.99931792e-01 -4.03179919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters 0.012429188441462397 Centerline is valid? [True, True] Translation: X:163.38, Y:-137.41, Z:-4.03 [[-7.78310856e-01 -6.27819401e-01 8.66093750e-03 1.63381973e+02] [-6.27780154e-01 7.78359043e-01 7.01991671e-03 -1.37407472e+02] [-1.11485589e-02 2.65127081e-05 -9.99937853e-01 -4.03181223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters 0.012183979543386727 Centerline is valid? [True, True] Translation: X:163.29, Y:-137.44, Z:-4.03 [[-7.25927779e-01 -6.87733731e-01 7.15368665e-03 1.63294369e+02] [-6.87700622e-01 7.25963026e-01 6.74824100e-03 -1.37444912e+02] [-9.83430496e-03 -2.08591544e-05 -9.99951642e-01 -4.03281792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters 0.012526844456695508 Centerline is valid? [True, True] Translation: X:163.21, Y:-137.49, Z:-4.03 [[-6.67729965e-01 -7.44374542e-01 6.57533268e-03 1.63208948e+02] [-7.44339576e-01 6.67762334e-01 7.21523998e-03 -1.37489594e+02] [-9.76160046e-03 -7.64484028e-05 -9.99952352e-01 -4.03273489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters 0.013206428041816364 Centerline is valid? [True, True] Translation: X:163.12, Y:-137.55, Z:-4.03 [[-6.06430039e-01 -7.95115168e-01 5.87174214e-03 1.63124179e+02] [-7.95079665e-01 6.06458454e-01 7.51457641e-03 -1.37545038e+02] [-9.53592136e-03 -1.11437914e-04 -9.99954526e-01 -4.03168722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters 0.014159985174803673 Centerline is valid? [True, True] Translation: X:163.04, Y:-137.61, Z:-4.03 [[-5.40964213e-01 -8.41031865e-01 4.80847567e-03 1.63040187e+02] [-8.41000861e-01 5.40985566e-01 7.22285334e-03 -1.37613566e+02] [-8.67596575e-03 -1.36627000e-04 -9.99962354e-01 -4.03208313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters 0.014579323307282658 Centerline is valid? [True, True] Translation: X:162.96, Y:-137.69, Z:-4.03 [[-4.73634628e-01 -8.80713063e-01 3.83938182e-03 1.62964711e+02] [-8.80686466e-01 4.73650168e-01 6.84589094e-03 -1.37685079e+02] [-7.84778942e-03 -1.38840600e-04 -9.99969196e-01 -4.03268586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters 0.015185275962172095 Centerline is valid? [True, True] Translation: X:162.89, Y:-137.77, Z:-4.03 [[-4.03943557e-01 -9.14779299e-01 2.90464831e-03 1.62889286e+02] [-9.14757936e-01 4.03953979e-01 6.25319697e-03 -1.37771117e+02] [-6.89363938e-03 -1.31111466e-04 -9.99976230e-01 -4.03287019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters 0.014333275234813798 Centerline is valid? [True, True] Translation: X:162.83, Y:-137.86, Z:-4.03 [[-3.32913811e-01 -9.42954011e-01 2.47530177e-03 1.62826051e+02] [-9.42930847e-01 3.32922986e-01 6.61086976e-03 -1.37856610e+02] [-7.05783101e-03 -1.33188545e-04 -9.99975084e-01 -4.03307357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters 0.014833010500115137 Centerline is valid? [True, True] Translation: X:162.76, Y:-137.95, Z:-4.03 [[-2.61806771e-01 -9.65117665e-01 2.26006785e-03 1.62762739e+02] [-9.65086087e-01 2.61816490e-01 7.80836926e-03 -1.37953903e+02] [-8.12771813e-03 -1.36876094e-04 -9.99966960e-01 -4.03059024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters 0.013704957061605698 Centerline is valid? [True, True] Translation: X:162.71, Y:-138.05, Z:-4.03 [[-1.87873617e-01 -9.82191494e-01 1.83680379e-03 1.62711738e+02] [-9.82151745e-01 1.87882541e-01 8.83749761e-03 -1.38053106e+02] [-9.02521834e-03 -1.43687405e-04 -9.99959262e-01 -4.03121264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters 0.01403182363596915 Centerline is valid? [True, True] Translation: X:162.66, Y:-138.16, Z:-4.03 [[-1.11133181e-01 -9.93804744e-01 1.24378923e-03 1.62664775e+02] [-9.93757883e-01 1.11140021e-01 9.65224297e-03 -1.38161824e+02] [-9.73067962e-03 -1.63340883e-04 -9.99952643e-01 -4.03078714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters 0.014043595475547213 Centerline is valid? [True, True] Translation: X:162.63, Y:-138.28, Z:-4.03 [[-3.37151432e-02 -9.99431335e-01 5.44151237e-04 1.62627332e+02] [-9.99375435e-01 3.37190136e-02 1.05720578e-02 -1.38275669e+02] [-1.05843941e-02 -1.87372936e-04 -9.99943966e-01 -4.03043144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters 0.01434588121725285 Centerline is valid? [True, True] Translation: X:162.60, Y:-138.39, Z:-4.03 [[ 4.20815401e-02 -9.99114144e-01 -2.68388758e-04 1.62599072e+02] [-9.99058880e-01 -4.20820357e-02 1.05098464e-02 -1.38389956e+02] [-1.05118306e-02 -1.74134352e-04 -9.99944734e-01 -4.02958567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters 0.013595533803554202 Centerline is valid? [True, True] Translation: X:162.58, Y:-138.50, Z:-4.03 [[ 1.16465786e-01 -9.93194143e-01 -1.05574267e-03 1.62581950e+02] [-9.93141150e-01 -1.16470479e-01 1.02607818e-02 -1.38503870e+02] [-1.03139113e-02 -1.46528531e-04 -9.99946800e-01 -4.03069263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters 0.013587935651224244 Centerline is valid? [True, True] Translation: X:162.57, Y:-138.62, Z:-4.03 [[ 1.90983081e-01 -9.81591681e-01 -1.79868517e-03 1.62571716e+02] [-9.81541654e-01 -1.90991509e-01 9.91089983e-03 -1.38622882e+02] [-1.00719904e-02 -1.27329776e-04 -9.99949268e-01 -4.03063922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters 0.013149153663166718 Centerline is valid? [True, True] Translation: X:162.57, Y:-138.74, Z:-4.03 [[ 2.64560517e-01 -9.64365942e-01 -2.46238268e-03 1.62571861e+02] [-9.64320251e-01 -2.64571954e-01 9.38801252e-03 -1.38743478e+02] [-9.70495693e-03 -1.09171962e-04 -9.99952900e-01 -4.03145040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters 0.013021477659596358 Centerline is valid? [True, True] Translation: X:162.58, Y:-138.86, Z:-4.03 [[ 3.36707336e-01 -9.41603686e-01 -3.26621758e-03 1.62579520e+02] [-9.41556479e-01 -3.36723163e-01 9.42913656e-03 -1.38857354e+02] [-9.97832085e-03 -9.95311304e-05 -9.99950210e-01 -4.03255344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters 0.013046800705260053 Centerline is valid? [True, True] Translation: X:162.60, Y:-138.97, Z:-4.03 [[ 4.08030288e-01 -9.12959272e-01 -4.08066959e-03 1.62595162e+02] [-9.12911078e-01 -4.08050680e-01 9.38121726e-03 -1.38973902e+02] [-1.02297893e-02 -1.02532305e-04 -9.99947669e-01 -4.03215208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters 0.013325684941490841 Centerline is valid? [True, True] Translation: X:162.62, Y:-139.09, Z:-4.03 [[ 4.77743189e-01 -8.78487055e-01 -4.68396053e-03 1.62620520e+02] [-8.78442551e-01 -4.77766138e-01 8.84324505e-03 -1.39093297e+02] [-1.00065140e-02 -1.10209856e-04 -9.99949928e-01 -4.03203847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters 0.013382656912371504 Centerline is valid? [True, True] Translation: X:162.65, Y:-139.20, Z:-4.03 [[ 5.44149581e-01 -8.38970546e-01 -5.44578305e-03 1.62651527e+02] [-8.38926341e-01 -5.44176818e-01 8.61311860e-03 -1.39203670e+02] [-1.01896217e-02 -1.18214038e-04 -9.99948078e-01 -4.03173881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters 0.013576882951512463 Centerline is valid? [True, True] Translation: X:162.69, Y:-139.31, Z:-4.03 [[ 6.07736718e-01 -7.94108342e-01 -6.92984943e-03 1.62691862e+02] [-7.94053887e-01 -6.07776208e-01 9.30079399e-03 -1.39312549e+02] [-1.15976357e-02 -1.49760136e-04 -9.99932734e-01 -4.03102821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters 0.013847654769334037 Centerline is valid? [True, True] Translation: X:162.73, Y:-139.41, Z:-4.03 [[ 6.67051337e-01 -7.44965024e-01 -8.34430015e-03 1.62730719e+02] [-7.44903423e-01 -6.67103502e-01 9.58165870e-03 -1.39406253e+02] [-1.27045125e-02 -1.75760502e-04 -9.99919279e-01 -4.02957860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters 0.01411227820481817 Centerline is valid? [True, True] Translation: X:162.78, Y:-139.50, Z:-4.03 [[ 7.22174807e-01 -6.91649206e-01 -9.21537485e-03 1.62782756e+02] [-6.91589600e-01 -7.22233578e-01 9.08208447e-03 -1.39503234e+02] [-1.29372697e-02 -1.85595194e-04 -9.99916293e-01 -4.02867080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters 0.014227406409683617 Centerline is valid? [True, True] Translation: X:162.80, Y:-139.53, Z:-4.03 [[ 7.73893886e-01 -6.33247129e-01 -9.29123339e-03 1.62803627e+02] [-6.33198817e-01 -7.73949639e-01 7.82390341e-03 -1.39529670e+02] [-1.21454111e-02 -1.71673019e-04 -9.99926227e-01 -4.02936282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters 0.01371586486457277 Centerline is valid? [True, True] Translation: X:162.83, Y:-139.55, Z:-4.03 [[ 8.20181693e-01 -5.72034832e-01 -8.83975945e-03 1.62827389e+02] [-5.71999800e-01 -8.20229317e-01 6.33221323e-03 -1.39553547e+02] [-1.08728764e-02 -1.37224729e-04 -9.99940879e-01 -4.03056162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters 0.013677020935503208 Centerline is valid? [True, True] Translation: X:162.85, Y:-139.57, Z:-4.03 [[ 8.61331444e-01 -5.07960855e-01 -9.16040356e-03 1.62853181e+02] [-5.07930731e-01 -8.61380147e-01 5.53309344e-03 -1.39573772e+02] [-1.07011846e-02 -1.12976881e-04 -9.99942734e-01 -4.03042806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters 0.01300958792041169 Centerline is valid? [True, True] Translation: X:162.88, Y:-139.59, Z:-4.03 [[ 8.97724721e-01 -4.40463325e-01 -9.07656149e-03 1.62879998e+02] [-4.40439777e-01 -8.97770600e-01 4.55543337e-03 -1.39593152e+02] [-1.01551714e-02 -9.18464353e-05 -9.99948431e-01 -4.03191655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters 0.012676832117659388 Centerline is valid? [True, True] Translation: X:162.91, Y:-139.61, Z:-4.03 [[ 9.28566112e-01 -3.71041677e-01 -9.64618975e-03 1.62907147e+02] [-3.71020863e-01 -9.28616212e-01 3.93070240e-03 -1.39613190e+02] [-1.04160626e-02 -7.09793973e-05 -9.99945749e-01 -4.03180088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters 0.012621666199232426 Centerline is valid? [True, True] Translation: X:162.94, Y:-139.63, Z:-4.03 [[ 9.53858752e-01 -3.00033356e-01 -1.15527968e-02 1.62935105e+02] [-3.00010742e-01 -9.53928710e-01 3.68401951e-03 -1.39628935e+02] [-1.21258732e-02 -4.80711272e-05 -9.99926478e-01 -4.02992615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters 0.01259751311633646 Centerline is valid? [True, True] Translation: X:162.96, Y:-139.64, Z:-4.03 [[ 9.74230661e-01 -2.25227113e-01 -1.21394571e-02 1.62964496e+02] [-2.25209106e-01 -9.74306290e-01 2.84828809e-03 -1.39644410e+02] [-1.24690611e-02 -4.09733092e-05 -9.99922257e-01 -4.02926355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters 0.012724979508679209 Centerline is valid? [True, True] Translation: X:162.99, Y:-139.66, Z:-4.03 [[ 9.88910836e-01 -1.47976502e-01 -1.25822731e-02 1.62993753e+02] [-1.47963937e-01 -9.88990876e-01 1.92886560e-03 -1.39657915e+02] [-1.27291801e-02 -4.57534223e-05 -9.99918980e-01 -4.02862917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters 0.012497197225930115 Centerline is valid? [True, True] Translation: X:163.02, Y:-139.67, Z:-4.03 [[ 9.97299267e-01 -7.22138453e-02 -1.33915437e-02 1.63021973e+02] [-7.22070710e-02 -9.97389172e-01 9.89311106e-04 -1.39669070e+02] [-1.34280227e-02 -1.96750909e-05 -9.99909840e-01 -4.02956130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters 0.012621786036707126 Centerline is valid? [True, True] Translation: X:163.05, Y:-139.68, Z:-4.03 [[ 9.99915473e-01 3.06677765e-03 -1.26349738e-02 1.63049952e+02] [ 3.06628251e-03 -9.99995297e-01 -5.85599741e-05 -1.39676651e+02] [-1.26350939e-02 1.98126250e-05 -9.99920174e-01 -4.02953438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters 0.012790518339887414 Centerline is valid? [True, True] Translation: X:163.08, Y:-139.68, Z:-4.03 [[ 9.96989329e-01 7.68159375e-02 -1.05635610e-02 1.63079211e+02] [ 7.68109373e-02 -9.97045289e-01 -8.78840279e-04 -1.39683609e+02] [-1.05998576e-02 6.47973600e-05 -9.99943818e-01 -4.03094993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters 0.013368652873088999 Centerline is valid? [True, True] Translation: X:163.11, Y:-139.69, Z:-4.03 [[ 9.88508806e-01 1.50809152e-01 -1.03411652e-02 1.63106932e+02] [ 1.50799794e-01 -9.88562891e-01 -1.68332154e-03 -1.39685066e+02] [-1.04767525e-02 1.04532578e-04 -9.99945112e-01 -4.03079011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters 0.014468652534925897 Centerline is valid? [True, True] Translation: X:163.14, Y:-139.68, Z:-4.03 [[ 9.74718638e-01 2.23125866e-01 -1.17654013e-02 1.63135263e+02] [ 2.23107398e-01 -9.74789627e-01 -2.87620236e-03 -1.39683520e+02] [-1.21105463e-02 1.78539978e-04 -9.99926649e-01 -4.02994412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters 0.015024483739844743 Centerline is valid? [True, True] Translation: X:163.16, Y:-139.68, Z:-4.03 [[ 9.54733260e-01 2.97260268e-01 -1.09879763e-02 1.63164273e+02] [ 2.97238299e-01 -9.54796469e-01 -3.61885788e-03 -1.39682068e+02] [-1.15670236e-02 1.88996610e-04 -9.99933082e-01 -4.02931470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters 0.014284562396110255 Centerline is valid? [True, True] Translation: X:163.19, Y:-139.68, Z:-4.03 [[ 9.28396993e-01 3.71447035e-01 -1.03016074e-02 1.63194680e+02] [ 3.71422026e-01 -9.28454128e-01 -4.31393721e-03 -1.39682911e+02] [-1.11669691e-02 1.78802454e-04 -9.99937632e-01 -4.03020973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters 0.014293602429517315 Centerline is valid? [True, True] Translation: X:163.22, Y:-139.68, Z:-4.03 [[ 8.95230924e-01 4.45494331e-01 -9.81806364e-03 1.63223190e+02] [ 4.45465745e-01 -8.95284748e-01 -5.04875801e-03 -1.39678994e+02] [-1.10391557e-02 1.46193261e-04 -9.99939056e-01 -4.02877019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters 0.01323685713557359 Centerline is valid? [True, True] Translation: X:163.25, Y:-139.67, Z:-4.03 [[ 8.55076468e-01 5.18403314e-01 -1.01113227e-02 1.63253459e+02] [ 5.18365696e-01 -8.55136243e-01 -6.24588797e-03 -1.39674098e+02] [-1.18844475e-02 9.93489909e-05 -9.99929373e-01 -4.02748361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters 0.012590291041332588 Centerline is valid? [True, True] Translation: X:163.28, Y:-139.67, Z:-4.03 [[ 8.09374962e-01 5.87218547e-01 -9.30316665e-03 1.63284540e+02] [ 5.87179092e-01 -8.09428426e-01 -6.80719214e-03 -1.39668309e+02] [-1.15275570e-02 4.69459363e-05 -9.99933554e-01 -4.02802619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters 0.012447806436410951 Centerline is valid? [True, True] Translation: X:163.32, Y:-139.66, Z:-4.03 [[ 7.56534367e-01 6.53899023e-01 -8.47468075e-03 1.63316143e+02] [ 6.53858449e-01 -7.56581831e-01 -7.28431391e-03 -1.39660029e+02] [-1.11749952e-02 -3.04078056e-05 -9.99937557e-01 -4.02810736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters 0.012690167407603018 Centerline is valid? [True, True] Translation: X:163.35, Y:-139.65, Z:-4.03 [[ 6.99717128e-01 7.14379560e-01 -7.60165309e-03 1.63345687e+02] [ 7.14338636e-01 -6.99758414e-01 -7.64690003e-03 -1.39648413e+02] [-1.07821098e-02 -7.94875784e-05 -9.99941868e-01 -4.02821257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters 0.013511955506832143 Centerline is valid? [True, True] Translation: X:163.38, Y:-139.63, Z:-4.03 [[ 6.36527364e-01 7.71233498e-01 -5.63962350e-03 1.63375967e+02] [ 7.71204921e-01 -6.36552336e-01 -6.64027724e-03 -1.39634905e+02] [-8.71111976e-03 -1.22587227e-04 -9.99962050e-01 -4.02872279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters 0.014653256773081297 Centerline is valid? [True, True] Translation: X:163.40, Y:-139.62, Z:-4.03 [[ 5.69742540e-01 8.21810479e-01 -4.57976267e-03 1.63403755e+02] [ 8.21786049e-01 -5.69760926e-01 -6.33842256e-03 -1.39618400e+02] [-7.81835190e-03 -1.52316098e-04 -9.99969425e-01 -4.02879566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters 0.015434329790961456 Centerline is valid? [True, True] Translation: X:163.43, Y:-139.60, Z:-4.03 [[ 5.01634837e-01 8.65068208e-01 -4.41437598e-03 1.63427483e+02] [ 8.65037897e-01 -5.01654226e-01 -7.24394047e-03 -1.39597434e+02] [-8.48099297e-03 -1.84789616e-04 -9.99964019e-01 -4.02732553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters 0.015333089275837685 Centerline is valid? [True, True] Translation: X:163.45, Y:-139.57, Z:-4.03 [[ 4.32917673e-01 9.01424699e-01 -3.97493996e-03 1.63447271e+02] [ 9.01390566e-01 -4.32935881e-01 -7.84674297e-03 -1.39574368e+02] [-8.79414206e-03 -1.85979675e-04 -9.99961314e-01 -4.02622309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters 0.014362079313761652 Centerline is valid? [True, True] Translation: X:163.46, Y:-139.55, Z:-4.03 [[ 3.63901519e-01 9.31431058e-01 -3.44503794e-03 1.63461683e+02] [ 9.31393469e-01 -3.63917789e-01 -8.36949034e-03 -1.39548678e+02] [-9.04931383e-03 -1.63015595e-04 -9.99959041e-01 -4.02588814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters 0.013321843722735153 Centerline is valid? [True, True] Translation: X:163.47, Y:-139.52, Z:-4.03 [[ 2.94126373e-01 9.55762870e-01 -2.64825496e-03 1.63474638e+02] [ 9.55727632e-01 -2.94138272e-01 -8.20799095e-03 -1.39522351e+02] [-8.62384613e-03 -1.16823835e-04 -9.99962807e-01 -4.02590932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters 0.012275540012753473 Centerline is valid? [True, True] Translation: X:163.48, Y:-139.49, Z:-4.03 [[ 2.29116080e-01 9.73397343e-01 -1.85334657e-03 1.63479357e+02] [ 9.73366207e-01 -2.29123575e-01 -7.78552044e-03 -1.39494710e+02] [-8.00305030e-03 -2.01969952e-05 -9.99967975e-01 -4.02634013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters 0.012515420057654188 Centerline is valid? [True, True] Translation: X:163.49, Y:-139.47, Z:-4.03 [[ 1.61493969e-01 9.86873104e-01 -1.08353149e-03 1.63486022e+02] [ 9.86848834e-01 -1.61497597e-01 -6.92135667e-03 -1.39467808e+02] [-7.00548847e-03 4.84755759e-05 -9.99975460e-01 -4.02695819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters 0.01377059495513798 Centerline is valid? [True, True] Translation: X:163.49, Y:-139.44, Z:-4.03 [[ 9.25333173e-02 9.95709538e-01 -3.19236277e-04 1.63491931e+02] [ 9.95700924e-01 -9.25338448e-02 -4.14225553e-03 -1.39442721e+02] [-4.15402349e-03 6.54327885e-05 -9.99991370e-01 -4.02889795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters 0.01547304775275522 Centerline is valid? [True, True] Translation: X:163.50, Y:-139.42, Z:-4.03 [[ 2.13178323e-02 9.99772749e-01 5.89527790e-06 1.63498436e+02] [ 9.99764911e-01 -2.13176418e-02 -3.95996843e-03 -1.39417148e+02] [-3.95894285e-03 9.03118348e-05 -9.99992159e-01 -4.02848772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters 0.017088176716968672 Centerline is valid? [True, True] Translation: X:163.51, Y:-139.39, Z:-4.03 [[-4.79378029e-02 9.98850248e-01 3.86405382e-04 1.63506684e+02] [ 9.98838610e-01 4.79391105e-02 -4.82411292e-03 -1.39390517e+02] [-4.83709032e-03 1.54699241e-04 -9.99988289e-01 -4.02739563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters 0.019084744487597814 Centerline is valid? [True, True] Translation: X:163.51, Y:-139.36, Z:-4.03 [[-1.19686026e-01 9.92811488e-01 7.77248733e-04 1.63513500e+02] [ 9.92799576e-01 1.19688400e-01 -4.86703039e-03 -1.39364019e+02] [-4.92507134e-03 1.89136689e-04 -9.99987854e-01 -4.02752025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters 0.02203936056188748 Centerline is valid? [True, True] Translation: X:163.52, Y:-139.34, Z:-4.03 [[-1.88385390e-01 9.82094792e-01 8.73775679e-04 1.63519450e+02] [ 9.82088133e-01 1.88387334e-01 -3.62090134e-03 -1.39337162e+02] [-3.72067662e-03 1.75999813e-04 -9.99993063e-01 -4.02793425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters 0.02460230111032981 Centerline is valid? [True, True] Translation: X:163.52, Y:-139.31, Z:-4.03 [[-2.58046640e-01 9.66131986e-01 9.58208688e-04 1.63523058e+02] [ 9.66127531e-01 2.58048365e-01 -2.93864227e-03 -1.39309528e+02] [-3.08638047e-03 1.67445031e-04 -9.99995223e-01 -4.02893085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters 0.025892343377484094 Centerline is valid? [True, True] Translation: X:163.53, Y:-139.28, Z:-4.03 [[-3.31135721e-01 9.43582456e-01 1.13288281e-03 1.63525409e+02] [ 9.43578527e-01 3.31137618e-01 -2.72811798e-03 -1.39281602e+02] [-2.94934438e-03 1.65586583e-04 -9.99995637e-01 -4.02919791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters 0.025111384290087167 Centerline is valid? [True, True] Translation: X:163.53, Y:-139.25, Z:-4.03 [[-4.05232366e-01 9.14213186e-01 9.90433790e-04 1.63532175e+02] [ 9.14211134e-01 4.05233559e-01 -1.94037743e-03 -1.39249386e+02] [-2.17527564e-03 1.19161863e-04 -9.99997627e-01 -4.02927069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters 0.024330195108558668 Centerline is valid? [True, True] Translation: X:163.53, Y:-139.22, Z:-4.03 [[-4.79087023e-01 8.77766752e-01 1.07363694e-03 1.63532632e+02] [ 8.77765015e-01 4.79088215e-01 -1.74958385e-03 -1.39218046e+02] [-2.05009334e-03 1.04198023e-04 -9.99997893e-01 -4.02970629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters 0.01970110782265151 Centerline is valid? [True, True] Translation: X:163.54, Y:-139.18, Z:-4.03 [[-5.55224283e-01 8.31699631e-01 1.31128790e-03 1.63540004e+02] [ 8.31697682e-01 5.55225824e-01 -1.80283987e-03 -1.39178742e+02] [-2.22748216e-03 8.96146385e-05 -9.99997515e-01 -4.02996200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters 0.01758259010857061 Centerline is valid? [True, True] Translation: X:163.54, Y:-139.14, Z:-4.03 [[-6.25770171e-01 7.80005859e-01 1.59803592e-03 1.63538571e+02] [ 7.80003622e-01 6.25772206e-01 -1.86943496e-03 -1.39142140e+02] [-2.45817669e-03 7.66371689e-05 -9.99996976e-01 -4.02982856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters 0.015087438367585568 Centerline is valid? [True, True] Translation: X:163.53, Y:-139.10, Z:-4.03 [[-6.91891221e-01 7.21999920e-01 1.62911994e-03 1.63533908e+02] [ 7.21998086e-01 6.91893137e-01 -1.62824894e-03 -1.39104790e+02] [-2.30277251e-03 4.96503308e-05 -9.99997347e-01 -4.02932194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters 0.012369836964008436 Centerline is valid? [True, True] Translation: X:163.56, Y:-139.06, Z:-4.03 [[-7.50272374e-01 6.61124218e-01 2.47669786e-03 1.63555883e+02] [ 6.61120731e-01 7.50276461e-01 -2.14742180e-03 -1.39063589e+02] [-3.27792066e-03 2.62450445e-05 -9.99994627e-01 -4.02864730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters 0.01211378472537648 Centerline is valid? [True, True] Translation: X:163.57, Y:-139.02, Z:-4.03 [[-8.03047234e-01 5.95898932e-01 4.42750856e-03 1.63573280e+02] [ 5.95889684e-01 8.03059439e-01 -3.31998155e-03 -1.39021457e+02] [-5.53392600e-03 -2.77953227e-05 -9.99984687e-01 -4.02753148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters 0.013183969048112754 Centerline is valid? [True, True] Translation: X:163.59, Y:-138.99, Z:-4.03 [[-8.47436340e-01 5.30867890e-01 5.56179678e-03 1.63586127e+02] [ 5.30855792e-01 8.47454586e-01 -3.58500346e-03 -1.38985201e+02] [-6.61653341e-03 -8.55501743e-05 -9.99978107e-01 -4.02647675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters 0.015470779537277842 Centerline is valid? [True, True] Translation: X:163.60, Y:-138.95, Z:-4.03 [[-8.86573958e-01 4.62525840e-01 7.51428239e-03 1.63596239e+02] [ 4.62507490e-01 8.86605783e-01 -4.12395993e-03 -1.38947894e+02] [-8.56964425e-03 -1.80783593e-04 -9.99963264e-01 -4.02531465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters 0.016415420320595665 Centerline is valid? [True, True] Translation: X:163.61, Y:-138.92, Z:-4.02 [[-9.17551360e-01 3.97522657e-01 8.67410560e-03 1.63607003e+02] [ 3.97502700e-01 9.17592335e-01 -3.98889044e-03 -1.38919383e+02] [-9.54496713e-03 -2.12031455e-04 -9.99954423e-01 -4.02440542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters 0.014457581256183528 Centerline is valid? [True, True] Translation: X:163.82, Y:-138.45, Z:-5.01 [[-8.69445854e-01 -4.93952256e-01 8.66466117e-03 1.63818171e+02] [ 4.93930404e-01 -8.69488996e-01 -4.65213683e-03 -1.38448779e+02] [ 9.83176102e-03 2.34958515e-04 9.99951640e-01 -5.01373455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters 0.01289781583962747 Centerline is valid? [True, True] Translation: X:163.57, Y:-138.91, Z:-4.03 [[-9.15095652e-01 4.03138548e-01 8.90272329e-03 1.63566637e+02] [ 4.03118171e-01 9.15138949e-01 -4.05509739e-03 -1.38912030e+02] [-9.78199491e-03 -1.21952462e-04 -9.99952148e-01 -4.02649052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters 0.013056243208572495 Centerline is valid? [True, True] Translation: X:163.79, Y:-138.43, Z:-5.01 [[-8.75387338e-01 -4.83336647e-01 9.09367347e-03 1.63789401e+02] [ 4.83312449e-01 -8.75434555e-01 -4.83905987e-03 -1.38429945e+02] [ 1.02998110e-02 1.59033860e-04 9.99946943e-01 -5.01416018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters 0.012528274069124228 Centerline is valid? [True, True] Translation: X:163.53, Y:-138.90, Z:-4.03 [[-9.14477957e-01 4.04504409e-01 1.03077599e-02 1.63525109e+02] [ 4.04477682e-01 9.14536044e-01 -4.65066391e-03 -1.38898742e+02] [-1.13080320e-02 -8.36708015e-05 -9.99936059e-01 -4.02500885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters 0.012254914560711995 Centerline is valid? [True, True] Translation: X:163.53, Y:-138.88, Z:-4.03 [[-9.40320190e-01 3.40120114e-01 1.07818764e-02 1.63533467e+02] [ 3.40096940e-01 9.40381999e-01 -3.97089637e-03 -1.38878270e+02] [-1.14896642e-02 -6.70308613e-05 -9.99933989e-01 -4.02651045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters 0.012202554330453697 Centerline is valid? [True, True] Translation: X:163.54, Y:-138.85, Z:-4.03 [[-9.61870616e-01 2.73287875e-01 1.08929469e-02 1.63538017e+02] [ 2.73269665e-01 9.61932292e-01 -3.15534264e-03 -1.38854396e+02] [-1.13405943e-02 -5.83194102e-05 -9.99935692e-01 -4.02685383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters 0.012205445277813802 Centerline is valid? [True, True] Translation: X:163.54, Y:-138.83, Z:-4.03 [[-9.78536219e-01 2.05755589e-01 1.14676137e-02 1.63539228e+02] [ 2.05740924e-01 9.78603411e-01 -2.45693393e-03 -1.38831336e+02] [-1.17277738e-02 -4.48413952e-05 -9.99931226e-01 -4.02605752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters 0.012036334046083253 Centerline is valid? [True, True] Translation: X:163.66, Y:-138.27, Z:-5.01 [[-9.61238830e-01 -2.75483846e-01 1.13385732e-02 1.63659815e+02] [ 2.75465274e-01 -9.61305700e-01 -3.19912878e-03 -1.38274287e+02] [ 1.17811434e-02 4.82563863e-05 9.99930599e-01 -5.01173442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters 0.01227696087391474 Centerline is valid? [True, True] Translation: X:163.49, Y:-138.84, Z:-4.03 [[-9.77504935e-01 2.10605531e-01 1.13759215e-02 1.63492047e+02] [ 2.10591943e-01 9.77571126e-01 -2.39303920e-03 -1.38838064e+02] [-1.16247597e-02 5.64697879e-05 -9.99932429e-01 -4.02872647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters 0.012727996306984167 Centerline is valid? [True, True] Translation: X:163.62, Y:-138.25, Z:-5.01 [[-9.64715883e-01 -2.63080596e-01 1.05766573e-02 1.63622194e+02] [ 2.63063745e-01 -9.64773855e-01 -2.97895098e-03 -1.38253570e+02] [ 1.09877866e-02 -9.15062435e-05 9.99939628e-01 -5.00947685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters 0.01355165125853014 Centerline is valid? [True, True] Translation: X:163.45, Y:-138.84, Z:-4.03 [[-9.76717658e-01 2.14263852e-01 1.06591750e-02 1.63451031e+02] [ 2.14252601e-01 9.76775810e-01 -2.19987604e-03 -1.38842143e+02] [-1.08829782e-02 1.35098181e-04 -9.99940770e-01 -4.02991999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters 0.013627229165424581 Centerline is valid? [True, True] Translation: X:163.58, Y:-138.24, Z:-5.01 [[-9.67098820e-01 -2.54196660e-01 1.01946125e-02 1.63577784e+02] [ 2.54180899e-01 -9.67152540e-01 -2.83460694e-03 -1.38235936e+02] [ 1.05802930e-02 -1.50069261e-04 9.99944016e-01 -5.00859908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters 0.013413351587890735 Centerline is valid? [True, True] Translation: X:163.40, Y:-138.84, Z:-4.03 [[-9.77511309e-01 2.10586449e-01 1.11798019e-02 1.63399870e+02] [ 2.10574341e-01 9.77575229e-01 -2.26266360e-03 -1.38837163e+02] [-1.14055836e-02 1.42400147e-04 -9.99934944e-01 -4.03121515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters 0.013079274182228085 Centerline is valid? [True, True] Translation: X:163.40, Y:-138.81, Z:-4.03 [[-9.90377863e-01 1.37903595e-01 1.15882221e-02 1.63399272e+02] [ 1.37895485e-01 9.90445650e-01 -1.49978871e-03 -1.38808737e+02] [-1.16843304e-02 1.12605968e-04 -9.99931730e-01 -4.03098149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters 0.012280723801366161 Centerline is valid? [True, True] Translation: X:163.39, Y:-138.78, Z:-4.03 [[-9.98090300e-01 6.07082111e-02 1.14133948e-02 1.63390374e+02] [ 6.07046425e-02 9.98155555e-01 -6.59170146e-04 -1.38778890e+02] [-1.14323604e-02 3.49347207e-05 -9.99934648e-01 -4.03158121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters 0.012268740339992035 Centerline is valid? [True, True] Translation: X:163.43, Y:-138.16, Z:-5.01 [[-9.91664906e-01 -1.28301965e-01 1.18033622e-02 1.63428057e+02] [ 1.28292843e-01 -9.91735149e-01 -1.52996794e-03 -1.38161178e+02] [ 1.19021070e-02 -2.92863235e-06 9.99929167e-01 -5.00896310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters 0.012865712130857972 Centerline is valid? [True, True] Translation: X:163.34, Y:-138.77, Z:-4.03 [[-9.99012036e-01 4.27036546e-02 1.23024160e-02 1.63335097e+02] [ 4.26987442e-02 9.99087774e-01 -6.61645247e-04 -1.38772382e+02] [-1.23194481e-02 -1.35693851e-04 -9.99924104e-01 -4.03022248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters 0.0137722342797239 Centerline is valid? [True, True] Translation: X:163.32, Y:-138.74, Z:-4.03 [[-9.99368490e-01 -3.34421460e-02 1.20102014e-02 1.63323052e+02] [-3.34420608e-02 9.99440636e-01 2.07979919e-04 -1.38743832e+02] [-1.20104386e-02 -1.93797306e-04 -9.99927853e-01 -4.03044189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters 0.015380167979569561 Centerline is valid? [True, True] Translation: X:163.31, Y:-138.72, Z:-4.03 [[-9.93773389e-01 -1.10757353e-01 1.21350906e-02 1.63311979e+02] [-1.10752470e-01 9.93847440e-01 1.07573302e-03 -1.38717085e+02] [-1.21795740e-02 -2.74956411e-04 -9.99925788e-01 -4.03076332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters 0.016061407808879994 Centerline is valid? [True, True] Translation: X:163.26, Y:-138.11, Z:-5.01 [[-9.99924746e-01 -3.99513514e-03 1.15991914e-02 1.63257175e+02] [ 3.99744320e-03 -9.99991995e-01 1.75807000e-04 -1.38109111e+02] [ 1.15983962e-02 2.22160879e-04 9.99932712e-01 -5.00797879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters 0.01739305940456428 Centerline is valid? [True, True] Translation: X:163.24, Y:-138.72, Z:-4.03 [[-9.92663894e-01 -1.20347161e-01 1.16169476e-02 1.63244301e+02] [-1.20342708e-01 9.92731815e-01 1.08418457e-03 -1.38724744e+02] [-1.16629920e-02 -3.21784051e-04 -9.99931933e-01 -4.03011135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters 0.018505079058387514 Centerline is valid? [True, True] Translation: X:163.23, Y:-138.70, Z:-4.03 [[-9.81111433e-01 -1.93010284e-01 1.29378162e-02 1.63234779e+02] [-1.92998764e-01 9.81196655e-01 2.14499218e-03 -1.38700697e+02] [-1.31085476e-02 -3.92506185e-04 -9.99914002e-01 -4.02871932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters 0.01809462116525047 Centerline is valid? [True, True] Translation: X:163.13, Y:-138.09, Z:-5.01 [[-9.97717034e-01 6.58362374e-02 1.50435757e-02 1.63132761e+02] [-6.58198511e-02 -9.97830268e-01 1.58231822e-03 -1.38089867e+02] [ 1.51151090e-02 5.88539929e-04 9.99885587e-01 -5.01112686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters 0.019086819219431193 Centerline is valid? [True, True] Translation: X:163.15, Y:-138.72, Z:-4.03 [[-9.79782259e-01 -1.99373427e-01 1.66421463e-02 1.63151249e+02] [-1.99353663e-01 9.79923449e-01 2.85504750e-03 -1.38722942e+02] [-1.68772500e-02 -5.20347936e-04 -9.99857434e-01 -4.02656395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters 0.016735483090696616 Centerline is valid? [True, True] Translation: X:163.14, Y:-138.71, Z:-4.03 [[-9.64093766e-01 -2.65113338e-01 1.54314065e-02 1.63139136e+02] [-2.65086510e-01 9.64217160e-01 3.79604621e-03 -1.38709979e+02] [-1.58856095e-02 -4.30913209e-04 -9.99873723e-01 -4.02865777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters 0.01617841410892494 Centerline is valid? [True, True] Translation: X:163.12, Y:-138.69, Z:-4.03 [[-9.43246999e-01 -3.31779739e-01 1.43980664e-02 1.63119820e+02] [-3.31747252e-01 9.43356803e-01 4.65855269e-03 -1.38691642e+02] [-1.51281273e-02 -3.82353117e-04 -9.99885490e-01 -4.02928672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters 0.014789750968410268 Centerline is valid? [True, True] Translation: X:163.09, Y:-138.69, Z:-4.03 [[-9.19112370e-01 -3.93830182e-01 1.14122171e-02 1.63088832e+02] [-3.93803043e-01 9.19183187e-01 4.62954465e-03 -1.38686242e+02] [-1.23131725e-02 -2.39094084e-04 -9.99924161e-01 -4.03138961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters 0.013917063949493264 Centerline is valid? [True, True] Translation: X:163.04, Y:-138.69, Z:-4.03 [[-8.89453363e-01 -4.56909978e-01 1.02949685e-02 1.63035763e+02] [-4.56881721e-01 8.89512922e-01 5.08470347e-03 -1.38690124e+02] [-1.14807593e-02 -1.80976331e-04 -9.99934078e-01 -4.03210029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters 0.014027117007453153 Centerline is valid? [True, True] Translation: X:162.97, Y:-138.70, Z:-4.03 [[-8.53573869e-01 -5.20871406e-01 1.02288424e-02 1.62972239e+02] [-5.20836533e-01 8.53635136e-01 6.02996024e-03 -1.38697173e+02] [-1.18725332e-02 -1.80538331e-04 -9.99929503e-01 -4.03134183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters 0.014741309278155996 Centerline is valid? [True, True] Translation: X:162.90, Y:-138.71, Z:-4.03 [[-8.12079148e-01 -5.83450679e-01 1.06189638e-02 1.62896373e+02] [-5.83404106e-01 8.12148547e-01 7.37469528e-03 -1.38710367e+02] [-1.29269470e-02 -2.06310798e-04 -9.99916422e-01 -4.02876656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters 0.013883321869212786 Centerline is valid? [True, True] Translation: X:162.82, Y:-138.73, Z:-4.03 [[-7.65618271e-01 -6.43216457e-01 1.00624002e-02 1.62819482e+02] [-6.43164642e-01 7.65684362e-01 8.16711721e-03 -1.38733903e+02] [-1.29578467e-02 -2.18885871e-04 -9.99916020e-01 -4.03031903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters 0.014846127638974926 Centerline is valid? [True, True] Translation: X:162.73, Y:-138.77, Z:-4.03 [[-7.13178668e-01 -7.00925548e-01 8.91989433e-03 1.62733137e+02] [-7.00874960e-01 7.13234405e-01 8.42454834e-03 -1.38766673e+02] [-1.22669567e-02 -2.43522426e-04 -9.99924728e-01 -4.03031674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters 0.01538578684033922 Centerline is valid? [True, True] Translation: X:162.65, Y:-138.81, Z:-4.03 [[-6.56804815e-01 -7.54011331e-01 8.62247969e-03 1.62649901e+02] [-7.53951894e-01 6.56861350e-01 9.47140808e-03 -1.38808823e+02] [-1.28053227e-02 -2.80068465e-04 -9.99917969e-01 -4.02954418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters 0.016402473706523982 Centerline is valid? [True, True] Translation: X:162.57, Y:-138.86, Z:-4.03 [[-5.98190569e-01 -8.01314641e-01 7.93024350e-03 1.62566325e+02] [-8.01250315e-01 5.98243068e-01 1.01570180e-02 -1.38862545e+02] [-1.28831804e-02 -2.78277735e-04 -9.99916970e-01 -4.02806599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters 0.014241577714300275 Centerline is valid? [True, True] Translation: X:162.49, Y:-138.93, Z:-4.03 [[-5.38234263e-01 -8.42771111e-01 6.38218273e-03 1.62492520e+02] [-8.42716513e-01 5.38272058e-01 9.59529308e-03 -1.38926403e+02] [-1.15219864e-02 -2.13855279e-04 -9.99933597e-01 -4.03037449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters 0.013962715400627853 Centerline is valid? [True, True] Translation: X:162.42, Y:-139.00, Z:-4.03 [[-4.74627604e-01 -8.80173916e-01 4.74501630e-03 1.62415619e+02] [-8.80133225e-01 4.74651296e-01 8.46484131e-03 -1.39001365e+02] [-9.70276066e-03 -1.58599142e-04 -9.99952915e-01 -4.03193312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters 0.013395486885515642 Centerline is valid? [True, True] Translation: X:162.34, Y:-139.09, Z:-4.03 [[-4.09508239e-01 -9.12300482e-01 3.29137763e-03 1.62343332e+02] [-9.12272940e-01 4.09521453e-01 7.08963271e-03 -1.39086037e+02] [-7.81576509e-03 -9.93717427e-05 -9.99969452e-01 -4.03305203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters 0.013019239263783993 Centerline is valid? [True, True] Translation: X:162.28, Y:-139.17, Z:-4.03 [[-3.40722776e-01 -9.40159471e-01 2.85645916e-03 1.62281445e+02] [-9.40128478e-01 3.40734739e-01 7.63428484e-03 -1.39168460e+02] [-8.15074006e-03 -8.42638877e-05 -9.99966779e-01 -4.03219501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters 0.012857481387655202 Centerline is valid? [True, True] Translation: X:162.22, Y:-139.26, Z:-4.03 [[-2.69603506e-01 -9.62967193e-01 2.85212274e-03 1.62222388e+02] [-9.62916636e-01 2.69618578e-01 9.86787481e-03 -1.39264730e+02] [-1.02714250e-02 -8.59427924e-05 -9.99947244e-01 -4.02956278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters 0.012780297675762609 Centerline is valid? [True, True] Translation: X:162.17, Y:-139.37, Z:-4.03 [[-1.96605021e-01 -9.80479756e-01 2.43200477e-03 1.62169647e+02] [-9.80409716e-01 1.96620046e-01 1.17195060e-02 -1.39372659e+02] [-1.19689193e-02 -8.02473742e-05 -9.99928367e-01 -4.02843658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters 0.012606190538495616 Centerline is valid? [True, True] Translation: X:162.13, Y:-139.48, Z:-4.03 [[-1.24367679e-01 -9.92234907e-01 1.60330956e-03 1.62129235e+02] [-9.92156365e-01 1.24378007e-01 1.24843384e-02 -1.39475429e+02] [-1.25868128e-02 -3.80855889e-05 -9.99920782e-01 -4.02828937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters 0.012557488475777511 Centerline is valid? [True, True] Translation: X:162.09, Y:-139.59, Z:-4.03 [[-4.91006843e-02 -9.98793657e-01 5.94644928e-04 1.62094414e+02] [-9.98725283e-01 4.91042809e-02 1.16866934e-02 -1.39587402e+02] [-1.17017948e-02 -2.00622813e-05 -9.99931532e-01 -4.02896852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters 0.012550836077872647 Centerline is valid? [True, True] Translation: X:162.07, Y:-139.71, Z:-4.03 [[ 2.83738642e-02 -9.99597339e-01 -2.90856076e-04 1.62066290e+02] [-9.99535225e-01 -2.83753435e-02 1.11433200e-02 -1.39707403e+02] [-1.11470862e-02 -2.54581554e-05 -9.99937869e-01 -4.03032460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters 0.012566036199805317 Centerline is valid? [True, True] Translation: X:162.05, Y:-139.83, Z:-4.03 [[ 1.06752749e-01 -9.94284889e-01 -1.18740692e-03 1.62045099e+02] [-9.94218630e-01 -1.06759344e-01 1.14786387e-02 -1.39826488e+02] [-1.15398038e-02 -4.48341602e-05 -9.99933413e-01 -4.03028584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters 0.012510179437960777 Centerline is valid? [True, True] Translation: X:162.03, Y:-139.94, Z:-4.03 [[ 1.83141945e-01 -9.83084086e-01 -2.17000291e-03 1.62034911e+02] [-9.83011844e-01 -1.83154794e-01 1.19179183e-02 -1.39944281e+02] [-1.21137622e-02 -4.95321755e-05 -9.99926625e-01 -4.02999039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters 0.012666841681105257 Centerline is valid? [True, True] Translation: X:162.03, Y:-140.06, Z:-4.03 [[ 2.57877007e-01 -9.66172813e-01 -3.08938895e-03 1.62034215e+02] [-9.66101360e-01 -2.57895508e-01 1.17502862e-02 -1.40064630e+02] [-1.21495466e-02 -4.54657752e-05 -9.99926191e-01 -4.02913500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters 0.01248352477729539 Centerline is valid? [True, True] Translation: X:162.04, Y:-140.18, Z:-4.03 [[ 3.30737798e-01 -9.43715652e-01 -3.64387062e-03 1.62041356e+02] [-9.43657226e-01 -3.30757868e-01 1.05010714e-02 -1.40181478e+02] [-1.11152643e-02 -3.45363904e-05 -9.99938223e-01 -4.02962936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters 0.012368386106231574 Centerline is valid? [True, True] Translation: X:162.06, Y:-140.31, Z:-4.03 [[ 4.02339708e-01 -9.15478275e-01 -4.72089776e-03 1.62061632e+02] [-9.15414147e-01 -4.02367402e-01 1.08357522e-02 -1.40307356e+02] [-1.18194311e-02 -3.80767889e-05 -9.99930147e-01 -4.02987772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters 0.012449725270808525 Centerline is valid? [True, True] Translation: X:162.08, Y:-140.41, Z:-4.03 [[ 4.71447522e-01 -8.81874745e-01 -5.84526390e-03 1.62083333e+02] [-8.81805895e-01 -4.71483756e-01 1.10195747e-02 -1.40414099e+02] [-1.24738316e-02 -4.07630286e-05 -9.99922198e-01 -4.02980413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters 0.01253415691371206 Centerline is valid? [True, True] Translation: X:162.12, Y:-140.53, Z:-4.03 [[ 5.37927952e-01 -8.42963694e-01 -6.76233014e-03 1.62117541e+02] [-8.42896037e-01 -5.37970453e-01 1.06800044e-02 -1.40527051e+02] [-1.26407897e-02 -4.51315922e-05 -9.99920101e-01 -4.02920492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters 0.012562027581075764 Centerline is valid? [True, True] Translation: X:162.16, Y:-140.63, Z:-4.03 [[ 6.01884144e-01 -7.98542914e-01 -8.04312693e-03 1.62156181e+02] [-7.98470149e-01 -6.01937879e-01 1.07801210e-02 -1.40632592e+02] [-1.34498520e-02 -6.61871145e-05 -9.99909545e-01 -4.02910678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters 0.012737352732320623 Centerline is valid? [True, True] Translation: X:162.20, Y:-140.74, Z:-4.03 [[ 6.62545542e-01 -7.48968370e-01 -8.93220740e-03 1.62201903e+02] [-7.48898404e-01 -6.62605744e-01 1.02376041e-02 -1.40735909e+02] [-1.35861735e-02 -9.35630642e-05 -9.99907699e-01 -4.02912800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters 0.012744240207110069 Centerline is valid? [True, True] Translation: X:162.25, Y:-140.83, Z:-4.03 [[ 7.18009447e-01 -6.95965263e-01 -9.73583720e-03 1.62253605e+02] [-6.95899383e-01 -7.18075443e-01 9.57638324e-03 -1.40831573e+02] [-1.36558957e-02 -1.00770538e-04 -9.99906749e-01 -4.02925922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters 0.012738211588731249 Centerline is valid? [True, True] Translation: X:162.27, Y:-140.86, Z:-4.03 [[ 7.69666585e-01 -6.38361638e-01 -1.03811080e-02 1.62273879e+02] [-6.38302024e-01 -7.69736586e-01 8.72440624e-03 -1.40857906e+02] [-1.35600449e-02 -8.86017095e-05 -9.99908054e-01 -4.02952330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters 0.012510296300394365 Centerline is valid? [True, True] Translation: X:162.30, Y:-140.88, Z:-4.03 [[ 8.16136383e-01 -5.77762566e-01 -1.05746051e-02 1.62295566e+02] [-5.77713118e-01 -8.16204885e-01 7.55909612e-03 -1.40882673e+02] [-1.29984071e-02 -6.01652598e-05 -9.99915515e-01 -4.03086393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters 0.012507606764641925 Centerline is valid? [True, True] Translation: X:162.32, Y:-140.91, Z:-4.03 [[ 8.58017267e-01 -5.13511380e-01 -1.06033744e-02 1.62319462e+02] [-5.13471614e-01 -8.58082782e-01 6.39064063e-03 -1.40906219e+02] [-1.23802397e-02 -3.87482252e-05 -9.99923361e-01 -4.03083009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters 0.012657399140134876 Centerline is valid? [True, True] Translation: X:162.35, Y:-140.93, Z:-4.03 [[ 8.94472265e-01 -4.46966799e-01 -1.18342010e-02 1.62345002e+02] [-4.46927536e-01 -8.94550547e-01 5.92433495e-03 -1.40925996e+02] [-1.32342720e-02 -1.01229919e-05 -9.99912423e-01 -4.02990673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters 0.01254429963252776 Centerline is valid? [True, True] Translation: X:162.37, Y:-140.95, Z:-4.03 [[ 9.26331867e-01 -3.76512677e-01 -1.21439862e-02 1.62371605e+02] [-3.76480359e-01 -9.26411466e-01 4.93307622e-03 -1.40945486e+02] [-1.31076938e-02 2.30658930e-06 -9.99914091e-01 -4.03054951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters 0.012663992688515273 Centerline is valid? [True, True] Translation: X:162.40, Y:-140.96, Z:-4.03 [[ 9.52182485e-01 -3.05282551e-01 -1.22914036e-02 1.62399620e+02] [-3.05257576e-01 -9.52261814e-01 3.90500019e-03 -1.40961510e+02] [-1.28967627e-02 3.37712830e-05 -9.99916833e-01 -4.03032526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters 0.01267213477522047 Centerline is valid? [True, True] Translation: X:162.43, Y:-140.98, Z:-4.03 [[ 9.72579999e-01 -2.32247206e-01 -1.22221326e-02 1.62428191e+02] [-2.32229683e-01 -9.72656790e-01 2.85356501e-03 -1.40978644e+02] [-1.25506728e-02 6.30217327e-05 -9.99921235e-01 -4.03188205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters 0.013107834398216542 Centerline is valid? [True, True] Translation: X:162.45, Y:-140.99, Z:-4.03 [[ 9.87193310e-01 -1.59183640e-01 -1.04850623e-02 1.62454853e+02] [-1.59175670e-01 -9.87248986e-01 1.59570726e-03 -1.40990553e+02] [-1.06053776e-02 9.36952830e-05 -9.99943757e-01 -4.03289412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters 0.013211109893500973 Centerline is valid? [True, True] Translation: X:162.48, Y:-141.00, Z:-4.03 [[ 9.96515539e-01 -8.28090456e-02 -9.97211421e-03 1.62482480e+02] [-8.28059296e-02 -9.96565428e-01 7.25661017e-04 -1.41003267e+02] [-9.99795555e-03 1.02617708e-04 -9.99950014e-01 -4.03351600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters 0.013231722670017314 Centerline is valid? [True, True] Translation: X:162.51, Y:-141.02, Z:-4.03 [[ 9.99950046e-01 -4.26780071e-03 -9.03833633e-03 1.62510469e+02] [-4.26844228e-03 -9.99990889e-01 -5.16944941e-05 -1.41015546e+02] [-9.03803336e-03 9.02715287e-05 -9.99959152e-01 -4.03398395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters 0.012944889741942788 Centerline is valid? [True, True] Translation: X:162.54, Y:-141.03, Z:-4.03 [[ 9.97003424e-01 7.68754583e-02 -8.62181813e-03 1.62539693e+02] [ 7.68720468e-02 -9.97040701e-01 -7.26863189e-04 -1.41025724e+02] [-8.65218154e-03 6.19082812e-05 -9.99962567e-01 -4.03394010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters 0.0125317601858384 Centerline is valid? [True, True] Translation: X:162.57, Y:-141.03, Z:-4.03 [[ 9.87117474e-01 1.59745849e-01 -8.96419941e-03 1.62570181e+02] [ 1.59739093e-01 -9.87158176e-01 -1.46931074e-03 -1.41034490e+02] [-9.08379902e-03 1.84492250e-05 -9.99958741e-01 -4.03420543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters 0.01248450527164573 Centerline is valid? [True, True] Translation: X:162.60, Y:-141.04, Z:-4.03 [[ 9.70655981e-01 2.40316641e-01 -8.65323972e-03 1.62601836e+02] [ 2.40307241e-01 -9.70694551e-01 -2.12558713e-03 -1.41041631e+02] [-8.91046660e-03 -1.62222991e-05 -9.99960301e-01 -4.03474131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters 0.012538194883987623 Centerline is valid? [True, True] Translation: X:162.64, Y:-141.05, Z:-4.04 [[ 9.47357384e-01 3.20100910e-01 -7.02811293e-03 1.62635179e+02] [ 3.20092488e-01 -9.47383452e-01 -2.32255045e-03 -1.41046545e+02] [-7.40176840e-03 -4.93608280e-05 -9.99972605e-01 -4.03582856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters 0.012762878164630039 Centerline is valid? [True, True] Translation: X:162.67, Y:-141.05, Z:-4.04 [[ 9.18407197e-01 3.95600597e-01 -5.32814057e-03 1.62668166e+02] [ 3.95594274e-01 -9.18422651e-01 -2.23718288e-03 -1.41046440e+02] [-5.77851587e-03 -5.31370411e-05 -9.99983303e-01 -4.03698682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters 0.013189865384350756 Centerline is valid? [True, True] Translation: X:162.70, Y:-141.04, Z:-4.04 [[ 8.83593649e-01 4.68234477e-01 -4.32875208e-03 1.62699938e+02] [ 4.68229165e-01 -8.83604250e-01 -2.23101308e-03 -1.41043669e+02] [-4.86954098e-03 -5.55389901e-05 -9.99988142e-01 -4.03742662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters 0.0131852311688262 Centerline is valid? [True, True] Translation: X:162.73, Y:-141.04, Z:-4.04 [[ 8.43794277e-01 5.36648774e-01 -4.39450102e-03 1.62732608e+02] [ 5.36641883e-01 -8.43805718e-01 -2.72032919e-03 -1.41037795e+02] [-5.16796641e-03 -6.28751030e-05 -9.99986644e-01 -4.03716095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters 0.013581703212259827 Centerline is valid? [True, True] Translation: X:162.76, Y:-141.03, Z:-4.04 [[ 7.98151297e-01 6.02438466e-01 -4.73309469e-03 1.62764399e+02] [ 6.02428474e-01 -7.98165326e-01 -3.47064417e-03 -1.41029035e+02] [-5.86864161e-03 -8.12518704e-05 -9.99982776e-01 -4.03649884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters 0.013793503736704744 Centerline is valid? [True, True] Translation: X:162.79, Y:-141.02, Z:-4.04 [[ 7.47881832e-01 6.63809710e-01 -5.42533049e-03 1.62794337e+02] [ 6.63793265e-01 -7.47901502e-01 -4.67371913e-03 -1.41016080e+02] [-7.16007297e-03 -1.05908216e-04 -9.99974361e-01 -4.03552390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters 0.013524952540670996 Centerline is valid? [True, True] Translation: X:162.82, Y:-141.00, Z:-4.03 [[ 6.93395435e-01 7.20527478e-01 -6.55170104e-03 1.62824209e+02] [ 7.20497210e-01 -6.93426373e-01 -6.60578387e-03 -1.41001459e+02] [-9.30277107e-03 -1.40061940e-04 -9.99956719e-01 -4.03389285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters 0.013098127914636468 Centerline is valid? [True, True] Translation: X:162.85, Y:-140.98, Z:-4.03 [[ 6.37026991e-01 7.70813021e-01 -6.62560668e-03 1.62849210e+02] [ 7.70773360e-01 -6.37061434e-01 -7.82030019e-03 -1.40981993e+02] [-1.02489077e-02 -1.25098823e-04 -9.99947471e-01 -4.03345338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters 0.012600626836959802 Centerline is valid? [True, True] Translation: X:162.87, Y:-140.96, Z:-4.03 [[ 5.77451450e-01 8.16406859e-01 -5.44648795e-03 1.62872265e+02] [ 8.16371889e-01 -5.77477129e-01 -7.55674201e-03 -1.40960647e+02] [-9.31459823e-03 -8.27080264e-05 -9.99956615e-01 -4.03473803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters 0.012113864517292504 Centerline is valid? [True, True] Translation: X:162.89, Y:-140.94, Z:-4.04 [[ 5.15401878e-01 8.56937838e-01 -4.29479576e-03 1.62893739e+02] [ 8.56908712e-01 -5.15419771e-01 -7.06536515e-03 -1.40937808e+02] [-8.26820139e-03 -3.87454355e-05 -9.99965817e-01 -4.03583973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters 0.01195712144392818 Centerline is valid? [True, True] Translation: X:162.91, Y:-140.91, Z:-4.04 [[ 4.52388944e-01 8.91814829e-01 -3.24890509e-03 1.62911385e+02] [ 8.91791648e-01 -4.52400610e-01 -6.43007808e-03 -1.40913728e+02] [-7.20424563e-03 1.15498060e-05 -9.99974049e-01 -4.03661060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters 0.012292559284958784 Centerline is valid? [True, True] Translation: X:162.93, Y:-140.89, Z:-4.04 [[ 3.85871289e-01 9.22547826e-01 -2.97613750e-03 1.62927438e+02] [ 9.22519323e-01 -3.85882763e-01 -7.25206581e-03 -1.40888592e+02] [-7.83881771e-03 5.28196384e-05 -9.99969275e-01 -4.03604290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters 0.01248364320265872 Centerline is valid? [True, True] Translation: X:162.95, Y:-140.86, Z:-4.04 [[ 3.14759765e-01 9.49167490e-01 -2.71401426e-03 1.62947280e+02] [ 9.49129940e-01 -3.14771455e-01 -8.44319231e-03 -1.40864538e+02] [-8.86829787e-03 8.16250344e-05 -9.99960673e-01 -4.03596508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters 0.012599919396551484 Centerline is valid? [True, True] Translation: X:162.96, Y:-140.84, Z:-4.04 [[ 2.40175935e-01 9.70727212e-01 -2.04931106e-03 1.62963947e+02] [ 9.70688682e-01 -2.40184661e-01 -8.64935083e-03 -1.40839386e+02] [-8.88837330e-03 8.81228722e-05 -9.99960494e-01 -4.03577777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters 0.01264705423730186 Centerline is valid? [True, True] Translation: X:162.98, Y:-140.81, Z:-4.04 [[ 1.63415199e-01 9.86556515e-01 -1.30950346e-03 1.62977183e+02] [ 9.86520572e-01 -1.63420424e-01 -8.42177309e-03 -1.40812706e+02] [-8.52255472e-03 8.43936208e-05 -9.99963679e-01 -4.03630604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters 0.012460665023428854 Centerline is valid? [True, True] Translation: X:162.99, Y:-140.79, Z:-4.04 [[ 8.35772888e-02 9.96501090e-01 -6.43359504e-04 1.62989246e+02] [ 9.96465121e-01 -8.35797385e-02 -8.46697048e-03 -1.40785298e+02] [-8.49111713e-03 6.65611310e-05 -9.99963948e-01 -4.03537583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters 0.012024874213790029 Centerline is valid? [True, True] Translation: X:163.00, Y:-140.76, Z:-4.03 [[ 2.67922433e-03 9.99996411e-01 2.39758096e-05 1.63002470e+02] [ 9.99954047e-01 -2.67889014e-03 -9.20476434e-03 -1.40756976e+02] [-9.20466707e-03 4.86363365e-05 -9.99957635e-01 -4.03491496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters 0.011929312428384981 Centerline is valid? [True, True] Translation: X:163.01, Y:-140.73, Z:-4.03 [[-8.07196650e-02 9.96736559e-01 7.54059689e-04 1.63012330e+02] [ 9.96693253e-01 8.07231870e-02 -9.29115650e-03 -1.40727197e+02] [-9.32170545e-03 1.58716504e-06 -9.99956552e-01 -4.03434358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters 0.011959050782925683 Centerline is valid? [True, True] Translation: X:163.02, Y:-140.70, Z:-4.03 [[-1.61954092e-01 9.86797365e-01 1.35398843e-03 1.63017750e+02] [ 9.86761431e-01 1.61959749e-01 -8.42130434e-03 -1.40698312e+02] [-8.52941255e-03 -2.78011407e-05 -9.99963624e-01 -4.03447407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters 0.012200598431036859 Centerline is valid? [True, True] Translation: X:163.02, Y:-140.67, Z:-4.04 [[-2.42771170e-01 9.70082463e-01 1.47425051e-03 1.63022788e+02] [ 9.70063397e-01 2.42775642e-01 -6.08223438e-03 -1.40667697e+02] [-6.25818102e-03 -4.64746976e-05 -9.99980416e-01 -4.03584427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters 0.01235501458163279 Centerline is valid? [True, True] Translation: X:163.02, Y:-140.64, Z:-4.04 [[-3.19055251e-01 9.47734665e-01 1.65889314e-03 1.63024337e+02] [ 9.47721101e-01 3.19059560e-01 -5.07064591e-03 -1.40637287e+02] [-5.33491262e-03 -4.56481680e-05 -9.99985768e-01 -4.03615352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters 0.012410060625845683 Centerline is valid? [True, True] Translation: X:163.02, Y:-140.61, Z:-4.04 [[-3.92165780e-01 9.19892551e-01 1.92215279e-03 1.63020652e+02] [ 9.19880970e-01 3.92170489e-01 -4.61610335e-03 -1.40608733e+02] [-5.00013069e-03 -4.21260008e-05 -9.99987498e-01 -4.03569604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters 0.012429873926137808 Centerline is valid? [True, True] Translation: X:163.01, Y:-140.58, Z:-4.03 [[-4.62560657e-01 8.86583294e-01 2.77504670e-03 1.63012936e+02] [ 8.86566713e-01 4.62568979e-01 -5.42241559e-03 -1.40580117e+02] [-6.09107359e-03 -4.79320846e-05 -9.99981448e-01 -4.03425320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters 0.012491308338455335 Centerline is valid? [True, True] Translation: X:163.00, Y:-140.55, Z:-4.03 [[-5.30574232e-01 8.47630730e-01 3.62356734e-03 1.63002974e+02] [ 8.47610259e-01 5.30586603e-01 -5.89119708e-03 -1.40552353e+02] [-6.91617596e-03 -5.43445177e-05 -9.99976082e-01 -4.03366390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters 0.01251760949306923 Centerline is valid? [True, True] Translation: X:162.99, Y:-140.52, Z:-4.03 [[-5.96266620e-01 8.02770100e-01 5.12679585e-03 1.62993334e+02] [ 8.02739295e-01 5.96288655e-01 -7.03303249e-03 -1.40523696e+02] [-8.70295840e-03 -7.80820230e-05 -9.99962126e-01 -4.03185811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters 0.012779019528894214 Centerline is valid? [True, True] Translation: X:162.98, Y:-140.50, Z:-4.03 [[-6.58309751e-01 7.52721762e-01 6.18229062e-03 1.62980531e+02] [ 7.52687170e-01 6.58338772e-01 -7.21702016e-03 -1.40496196e+02] [-9.50244975e-03 -9.77039087e-05 -9.99954846e-01 -4.03083017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters 0.01295727253147062 Centerline is valid? [True, True] Translation: X:162.97, Y:-140.47, Z:-4.03 [[-7.15918724e-01 6.98145122e-01 7.33279823e-03 1.62965395e+02] [ 6.98106831e-01 7.15956267e-01 -7.31276722e-03 -1.40471162e+02] [-1.03553356e-02 -1.16270439e-04 -9.99946375e-01 -4.02983850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters 0.01302772369597255 Centerline is valid? [True, True] Translation: X:163.45, Y:-139.99, Z:-5.01 [[-6.50557810e-01 -7.59426385e-01 6.78978330e-03 1.63448701e+02] [ 7.59386824e-01 -6.50593231e-01 -7.75233645e-03 -1.39991384e+02] [ 1.03047159e-02 1.12728956e-04 9.99946899e-01 -5.00943554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters 0.012962503031803064 Centerline is valid? [True, True] Translation: X:163.41, Y:-139.95, Z:-5.01 [[-6.51366270e-01 -7.58738822e-01 6.11403903e-03 1.63413486e+02] [ 7.58706788e-01 -6.51394957e-01 -6.97274005e-03 -1.39946438e+02] [ 9.27314276e-03 9.69552364e-05 9.99956999e-01 -5.00834428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters 0.012622517710533259 Centerline is valid? [True, True] Translation: X:163.38, Y:-139.90, Z:-5.01 [[-6.52002183e-01 -7.58200593e-01 5.00151928e-03 1.63379195e+02] [ 7.58179165e-01 -6.52021361e-01 -5.70068493e-03 -1.39899276e+02] [ 7.58336011e-03 7.51886939e-05 9.99971243e-01 -5.00580689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters 0.012973288202449378 Centerline is valid? [True, True] Translation: X:163.34, Y:-139.85, Z:-5.01 [[-6.51155238e-01 -7.58933293e-01 4.13675928e-03 1.63342824e+02] [ 7.58918668e-01 -6.51168375e-01 -4.71202442e-03 -1.39854879e+02] [ 6.26983902e-03 7.12044581e-05 9.99980342e-01 -5.00536119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters 0.013382552872842526 Centerline is valid? [True, True] Translation: X:163.30, Y:-139.81, Z:-5.01 [[-6.49456479e-01 -7.60387381e-01 4.16086271e-03 1.63304700e+02] [ 7.60372632e-01 -6.49469802e-01 -4.73676893e-03 -1.39810857e+02] [ 6.30413400e-03 8.74808626e-05 9.99980125e-01 -5.00557575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters 0.014109716243841058 Centerline is valid? [True, True] Translation: X:163.27, Y:-139.77, Z:-5.01 [[-6.46819722e-01 -7.62627193e-01 4.90018394e-03 1.63267134e+02] [ 7.62606825e-01 -6.46838270e-01 -5.57522684e-03 -1.39766950e+02] [ 7.42144610e-03 1.30747042e-04 9.99972452e-01 -5.00686927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters 0.014158379015147287 Centerline is valid? [True, True] Translation: X:163.23, Y:-139.72, Z:-5.01 [[-6.46175936e-01 -7.63172303e-01 4.96951890e-03 1.63231365e+02] [ 7.63151395e-01 -6.46195030e-01 -5.65081990e-03 -1.39720869e+02] [ 7.52382765e-03 1.41071441e-04 9.99971686e-01 -5.00707865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters 0.014047691286524321 Centerline is valid? [True, True] Translation: X:163.20, Y:-139.68, Z:-5.01 [[-6.47743367e-01 -7.61839918e-01 5.33564048e-03 1.63196287e+02] [ 7.61815805e-01 -6.47765328e-01 -6.06300035e-03 -1.39677187e+02] [ 8.07527859e-03 1.37506981e-04 9.99967385e-01 -5.00749080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters 0.013142059110909878 Centerline is valid? [True, True] Translation: X:163.16, Y:-139.63, Z:-5.01 [[-6.51343853e-01 -7.58758977e-01 5.99996976e-03 1.63160419e+02] [ 7.58728386e-01 -6.51371478e-01 -6.81425233e-03 -1.39630636e+02] [ 9.07858430e-03 1.13926008e-04 9.99958782e-01 -5.00824310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters 0.012891321635849462 Centerline is valid? [True, True] Translation: X:163.12, Y:-139.59, Z:-5.01 [[-6.52326994e-01 -7.57914671e-01 5.90294054e-03 1.63120358e+02] [ 7.57885062e-01 -6.52353693e-01 -6.70020588e-03 -1.39587917e+02] [ 8.92898939e-03 1.03025295e-04 9.99960131e-01 -5.00872146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters 0.012996160151260826 Centerline is valid? [True, True] Translation: X:163.08, Y:-139.55, Z:-5.01 [[-6.52325681e-01 -7.57918754e-01 5.51080356e-03 1.63080204e+02] [ 7.57892981e-01 -6.52348950e-01 -6.25111446e-03 -1.39547398e+02] [ 8.33280380e-03 9.88368375e-05 9.99965277e-01 -5.00811837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters 0.013076505552613601 Centerline is valid? [True, True] Translation: X:163.04, Y:-139.50, Z:-5.01 [[-6.52629248e-01 -7.57663958e-01 4.51570223e-03 1.63041773e+02] [ 7.57646669e-01 -6.52644865e-01 -5.11909233e-03 -1.39504474e+02] [ 6.82570163e-03 8.04373779e-05 9.99976701e-01 -5.00662109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters 0.012637542867348925 Centerline is valid? [True, True] Translation: X:163.00, Y:-139.46, Z:-5.01 [[-6.54663396e-01 -7.55909149e-01 4.14684247e-03 1.63004466e+02] [ 7.55894552e-01 -6.54676527e-01 -4.69797107e-03 -1.39460998e+02] [ 6.26607974e-03 5.89859319e-05 9.99980366e-01 -5.00702454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters 0.012269693878217433 Centerline is valid? [True, True] Translation: X:162.97, Y:-139.42, Z:-5.01 [[-6.57324982e-01 -7.53595535e-01 4.19969827e-03 1.62967379e+02] [ 7.53580536e-01 -6.57338397e-01 -4.75483401e-03 -1.39417365e+02] [ 6.34384461e-03 3.93396963e-05 9.99979877e-01 -5.00798415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters 0.012070237739338482 Centerline is valid? [True, True] Translation: X:162.93, Y:-139.37, Z:-5.01 [[-6.62584454e-01 -7.48972684e-01 4.66467624e-03 1.62932367e+02] [ 7.48954087e-01 -6.62600874e-01 -5.27795201e-03 -1.39371877e+02] [ 7.04386044e-03 -3.46061843e-06 9.99975192e-01 -5.00865790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters 0.012367277666894827 Centerline is valid? [True, True] Translation: X:162.90, Y:-139.33, Z:-5.01 [[-6.66720116e-01 -7.45292059e-01 4.90231933e-03 1.62897107e+02] [ 7.45271444e-01 -6.66738138e-01 -5.54347937e-03 -1.39326143e+02] [ 7.40007441e-03 -4.23906010e-05 9.99972618e-01 -5.00787321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters 0.01315930660387193 Centerline is valid? [True, True] Translation: X:162.86, Y:-139.28, Z:-5.01 [[-6.72356818e-01 -7.40212804e-01 4.61661296e-03 1.62861867e+02] [ 7.40194422e-01 -6.72372662e-01 -5.21738709e-03 -1.39279608e+02] [ 6.96606107e-03 -9.07546257e-05 9.99975733e-01 -5.00735084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters 0.01379992713379449 Centerline is valid? [True, True] Translation: X:162.82, Y:-139.24, Z:-5.01 [[-6.75001081e-01 -7.37801997e-01 4.66413204e-03 1.62824722e+02] [ 7.37783192e-01 -6.75017185e-01 -5.26886957e-03 -1.39235486e+02] [ 7.03575178e-03 -1.15374429e-04 9.99975242e-01 -5.00794303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters 0.014199562193673892 Centerline is valid? [True, True] Translation: X:162.79, Y:-139.19, Z:-5.01 [[-6.76230134e-01 -7.36674614e-01 4.82896269e-03 1.62785806e+02] [ 7.36654453e-01 -6.76247363e-01 -5.45174956e-03 -1.39192945e+02] [ 7.28173879e-03 -1.29360472e-04 9.99973479e-01 -5.00821352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters 0.014249928052746472 Centerline is valid? [True, True] Translation: X:162.75, Y:-139.15, Z:-5.01 [[-6.75109926e-01 -7.37702128e-01 4.70718740e-03 1.62746746e+02] [ 7.37683021e-01 -6.75126327e-01 -5.31071203e-03 -1.39152415e+02] [ 7.09566970e-03 -1.12902182e-04 9.99974819e-01 -5.00831270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters 0.014070777085456912 Centerline is valid? [True, True] Translation: X:162.71, Y:-139.11, Z:-5.01 [[-6.73773232e-01 -7.38923194e-01 4.70574530e-03 1.62707635e+02] [ 7.38904153e-01 -6.73789658e-01 -5.30564478e-03 -1.39112170e+02] [ 7.09114651e-03 -9.77066928e-05 9.99974853e-01 -5.00835298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters 0.012959363773325535 Centerline is valid? [True, True] Translation: X:162.66, Y:-139.07, Z:-5.01 [[-6.69783618e-01 -7.42542481e-01 4.53526493e-03 1.62663517e+02] [ 7.42524895e-01 -6.69798971e-01 -5.11068997e-03 -1.39073598e+02] [ 6.83262020e-03 -5.55093017e-05 9.99976656e-01 -5.00859073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters 0.012240954364120982 Centerline is valid? [True, True] Translation: X:162.62, Y:-139.03, Z:-5.01 [[-6.65687856e-01 -7.46213249e-01 5.04629618e-03 1.62619560e+02] [ 7.46191607e-01 -6.65706982e-01 -5.68328735e-03 -1.39034879e+02] [ 7.60029892e-03 -1.77915141e-05 9.99971117e-01 -5.00805891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters 0.012344605243242608 Centerline is valid? [True, True] Translation: X:162.58, Y:-139.00, Z:-5.01 [[-6.60110662e-01 -7.51150059e-01 5.24438062e-03 1.62575254e+02] [ 7.51126868e-01 -6.60131492e-01 -5.90260487e-03 -1.38997854e+02] [ 7.89572280e-03 4.28227794e-05 9.99968827e-01 -5.00859333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters 0.01284444016836888 Centerline is valid? [True, True] Translation: X:162.53, Y:-138.96, Z:-5.01 [[-6.56540253e-01 -7.54275157e-01 4.88709869e-03 1.62532095e+02] [ 7.54255129e-01 -6.56558438e-01 -5.49714794e-03 -1.38959078e+02] [ 7.35502801e-03 7.70203494e-05 9.99972949e-01 -5.00923864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters 0.013006469341708649 Centerline is valid? [True, True] Translation: X:162.49, Y:-138.92, Z:-5.01 [[-6.55597369e-01 -7.55095159e-01 4.83649482e-03 1.62492404e+02] [ 7.55075588e-01 -6.55615203e-01 -5.43710306e-03 -1.38916450e+02] [ 7.27640972e-03 8.73687136e-05 9.99973523e-01 -5.00909954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters 0.013216692282025367 Centerline is valid? [True, True] Translation: X:162.45, Y:-138.87, Z:-5.01 [[-6.55630797e-01 -7.55070423e-01 4.11275847e-03 1.62453070e+02] [ 7.55056289e-01 -6.55643692e-01 -4.62053895e-03 -1.38874339e+02] [ 6.18533645e-03 7.59965162e-05 9.99980868e-01 -5.00806839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters 0.013330911770927737 Centerline is valid? [True, True] Translation: X:162.41, Y:-138.83, Z:-5.01 [[-6.55691548e-01 -7.55018095e-01 4.03354788e-03 1.62414157e+02] [ 7.55004517e-01 -6.55703950e-01 -4.52865251e-03 -1.38831797e+02] [ 6.06402787e-03 7.59476932e-05 9.99981611e-01 -5.00789886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters 0.013287426038793109 Centerline is valid? [True, True] Translation: X:162.37, Y:-138.79, Z:-5.01 [[-6.55405080e-01 -7.55266151e-01 4.14996897e-03 1.62374037e+02] [ 7.55251799e-01 -6.55418214e-01 -4.65667727e-03 -1.38790312e+02] [ 6.23699597e-03 8.22615920e-05 9.99980546e-01 -5.00851705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters 0.013463868541628664 Centerline is valid? [True, True] Translation: X:162.34, Y:-138.75, Z:-5.01 [[-6.55632711e-01 -7.55058690e-01 5.66765791e-03 1.62335326e+02] [ 7.55031948e-01 -6.55657198e-01 -6.35583870e-03 -1.38748361e+02] [ 8.51507196e-03 1.12167033e-04 9.99963740e-01 -5.01104666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters 0.013231692243996 Centerline is valid? [True, True] Translation: X:162.30, Y:-138.70, Z:-5.01 [[-6.56882666e-01 -7.53964157e-01 6.57364444e-03 1.62297546e+02] [ 7.53928168e-01 -6.56915547e-01 -7.36762407e-03 -1.38704138e+02] [ 9.87325371e-03 1.16391165e-04 9.99951252e-01 -5.01227094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters 0.012574078751847998 Centerline is valid? [True, True] Translation: X:162.26, Y:-138.66, Z:-5.01 [[-6.59945306e-01 -7.51286894e-01 6.34006677e-03 1.62261413e+02] [ 7.51253331e-01 -6.59975755e-01 -7.10178049e-03 -1.38658230e+02] [ 9.51976496e-03 7.62095798e-05 9.99954683e-01 -5.01210084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters 0.012152831960426335 Centerline is valid? [True, True] Translation: X:162.23, Y:-138.61, Z:-5.01 [[-6.64368929e-01 -7.47386581e-01 5.21773535e-03 1.62227716e+02] [ 7.47363753e-01 -6.64389418e-01 -5.84136105e-03 -1.38612217e+02] [ 7.83236302e-03 1.87274893e-05 9.99969326e-01 -5.01101247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters 0.01215042566256461 Centerline is valid? [True, True] Translation: X:162.19, Y:-138.57, Z:-5.01 [[-6.67364027e-01 -7.44712982e-01 5.27540246e-03 1.62192195e+02] [ 7.44689593e-01 -6.67384877e-01 -5.90214503e-03 -1.38566925e+02] [ 7.91612785e-03 -1.03419630e-05 9.99968667e-01 -5.01020440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters 0.01236351855838372 Centerline is valid? [True, True] Translation: X:162.16, Y:-138.52, Z:-5.01 [[-6.70723415e-01 -7.41688076e-01 5.37567738e-03 1.62156285e+02] [ 7.41663720e-01 -6.70744956e-01 -6.01085326e-03 -1.38521211e+02] [ 8.06388667e-03 -4.46751375e-05 9.99967485e-01 -5.01065047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters 0.012669646926565758 Centerline is valid? [True, True] Translation: X:162.12, Y:-138.48, Z:-5.01 [[-6.72596383e-01 -7.39988091e-01 5.63306006e-03 1.62120810e+02] [ 7.39961319e-01 -6.72619968e-01 -6.29483975e-03 -1.38476771e+02] [ 8.44701512e-03 -6.56398945e-05 9.99964321e-01 -5.01109897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters 0.012640196951618396 Centerline is valid? [True, True] Translation: X:162.08, Y:-138.43, Z:-5.01 [[-6.72498746e-01 -7.40073657e-01 6.03473378e-03 1.62082209e+02] [ 7.40042970e-01 -6.72525819e-01 -6.73986220e-03 -1.38433205e+02] [ 9.04650874e-03 -6.65865765e-05 9.99959077e-01 -5.01110344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters 0.01242866310088362 Centerline is valid? [True, True] Translation: X:162.04, Y:-138.39, Z:-5.01 [[-6.70108263e-01 -7.42237504e-01 6.19704480e-03 1.62042443e+02] [ 7.42205277e-01 -6.70136916e-01 -6.91671660e-03 -1.38392090e+02] [ 9.28671496e-03 -3.54695924e-05 9.99956877e-01 -5.01140731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters 0.012280754077750517 Centerline is valid? [True, True] Translation: X:162.00, Y:-138.35, Z:-5.01 [[-6.67561739e-01 -7.44528212e-01 6.25030028e-03 1.62002827e+02] [ 7.44495570e-01 -6.67590998e-01 -6.97174225e-03 -1.38350692e+02] [ 9.36330300e-03 -7.47502196e-07 9.99956163e-01 -5.01132694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters 0.012358683054673022 Centerline is valid? [True, True] Translation: X:161.96, Y:-138.31, Z:-5.01 [[-6.64465788e-01 -7.47295293e-01 5.91282873e-03 1.61962156e+02] [ 7.47266226e-01 -6.64492094e-01 -6.59117867e-03 -1.38309845e+02] [ 8.85458474e-03 3.88444791e-05 9.99960797e-01 -5.01111838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters 0.012434014300677391 Centerline is valid? [True, True] Translation: X:161.92, Y:-138.27, Z:-5.01 [[-6.62708557e-01 -7.48860137e-01 5.08567195e-03 1.61922702e+02] [ 7.48838704e-01 -6.62728069e-01 -5.66587216e-03 -1.38267151e+02] [ 7.61336335e-03 5.35260277e-05 9.99971017e-01 -5.00958945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters 0.012495739403849845 Centerline is valid? [True, True] Translation: X:161.88, Y:-138.22, Z:-5.01 [[-6.62108300e-01 -7.49393973e-01 4.61208556e-03 1.61883620e+02] [ 7.49376380e-01 -6.62124361e-01 -5.13529430e-03 -1.38223937e+02] [ 6.90213280e-03 5.60669998e-05 9.99976178e-01 -5.00888465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters 0.012652354294554193 Centerline is valid? [True, True] Translation: X:161.84, Y:-138.18, Z:-5.01 [[-6.61408419e-01 -7.50012675e-01 4.45989629e-03 1.61844209e+02] [ 7.49996257e-01 -6.61423453e-01 -4.96300193e-03 -1.38181093e+02] [ 6.67219435e-03 6.23342663e-05 9.99977739e-01 -5.00858815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters 0.01279601621571203 Centerline is valid? [True, True] Translation: X:161.80, Y:-138.14, Z:-5.01 [[-6.60734481e-01 -7.50602539e-01 5.07672786e-03 1.61804589e+02] [ 7.50581310e-01 -6.60753980e-01 -5.64581164e-03 -1.38139396e+02] [ 7.59222869e-03 8.01146211e-05 9.99971175e-01 -5.00999718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters 0.01336798386746051 Centerline is valid? [True, True] Translation: X:161.77, Y:-138.10, Z:-5.01 [[-6.61126227e-01 -7.50255726e-01 5.33458592e-03 1.61765527e+02] [ 7.50232298e-01 -6.61147743e-01 -5.92967460e-03 -1.38098416e+02] [ 7.97572177e-03 8.19152585e-05 9.99968190e-01 -5.01254255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters 0.012729190071383624 Centerline is valid? [True, True] Translation: X:161.73, Y:-138.05, Z:-5.01 [[-6.62746303e-01 -7.48817625e-01 6.28509792e-03 1.61730090e+02] [ 7.48785080e-01 -6.62776100e-01 -6.98175896e-03 -1.38053389e+02] [ 9.39367685e-03 7.90526112e-05 9.99955875e-01 -5.01188590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters 0.012445330937821871 Centerline is valid? [True, True] Translation: X:161.69, Y:-138.01, Z:-5.01 [[-6.64770691e-01 -7.47018337e-01 6.59793061e-03 1.61694051e+02] [ 7.46982429e-01 -6.64803431e-01 -7.32459929e-03 -1.38009091e+02] [ 9.85793688e-03 5.93593012e-05 9.99951408e-01 -5.01155970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters 0.012385536445607767 Centerline is valid? [True, True] Translation: X:161.66, Y:-137.97, Z:-5.01 [[-6.65652070e-01 -7.46233447e-01 6.55476211e-03 1.61656594e+02] [ 7.46198014e-01 -6.65684340e-01 -7.27207065e-03 -1.37965691e+02] [ 9.79006484e-03 5.04815914e-05 9.99952075e-01 -5.01174135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters 0.012404413978292244 Centerline is valid? [True, True] Translation: X:161.62, Y:-137.92, Z:-5.01 [[-6.65838527e-01 -7.46067512e-01 6.50562206e-03 1.61619406e+02] [ 7.46032642e-01 -6.65870306e-01 -7.21339970e-03 -1.37921369e+02] [ 9.71358372e-03 5.04469796e-05 9.99952821e-01 -5.01108228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters 0.012405190651470959 Centerline is valid? [True, True] Translation: X:161.58, Y:-137.88, Z:-5.01 [[-6.65650709e-01 -7.46236560e-01 6.33486401e-03 1.61581174e+02] [ 7.46203541e-01 -6.65680850e-01 -7.02004573e-03 -1.37877798e+02] [ 9.45561243e-03 5.41995356e-05 9.99955293e-01 -5.01112747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters 0.012970423154864621 Centerline is valid? [True, True] Translation: X:161.54, Y:-137.84, Z:-5.01 [[-6.64474115e-01 -7.47280593e-01 6.77241523e-03 1.61542728e+02] [ 7.47242947e-01 -6.64508623e-01 -7.50122488e-03 -1.37836186e+02] [ 1.01058481e-02 7.62697529e-05 9.99948932e-01 -5.01261887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters 0.01318229111921829 Centerline is valid? [True, True] Translation: X:161.50, Y:-137.79, Z:-5.01 [[-6.62373532e-01 -7.49142854e-01 6.80350616e-03 1.61504569e+02] [ 7.49105002e-01 -6.62408464e-01 -7.53145354e-03 -1.37792104e+02] [ 1.01488347e-02 1.07905014e-04 9.99948493e-01 -5.01147337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters 0.013421187526838399 Centerline is valid? [True, True] Translation: X:161.47, Y:-137.75, Z:-5.01 [[-6.60892640e-01 -7.50450474e-01 6.70856706e-03 1.61466249e+02] [ 7.50413781e-01 -6.60926675e-01 -7.42215318e-03 -1.37749021e+02] [ 1.00038293e-02 1.28954764e-04 9.99949952e-01 -5.01075685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters 0.013892016915156302 Centerline is valid? [True, True] Translation: X:161.43, Y:-137.71, Z:-5.01 [[-6.58795937e-01 -7.52300781e-01 5.60791265e-03 1.61426465e+02] [ 7.52275237e-01 -6.58819791e-01 -6.20088304e-03 -1.37706610e+02] [ 8.35953299e-03 1.33577263e-04 9.99965050e-01 -5.00970358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters 0.014222304428803997 Centerline is valid? [True, True] Translation: X:161.39, Y:-137.66, Z:-5.01 [[-6.57821960e-01 -7.53158516e-01 4.74542076e-03 1.61388077e+02] [ 7.53140271e-01 -6.57839064e-01 -5.24383665e-03 -1.37664424e+02] [ 7.07116338e-03 1.24456576e-04 9.99974991e-01 -5.00847199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters 0.014106995753606542 Centerline is valid? [True, True] Translation: X:161.35, Y:-137.62, Z:-5.01 [[-6.57613238e-01 -7.53340537e-01 4.78169369e-03 1.61349618e+02] [ 7.53322039e-01 -6.57630610e-01 -5.28085427e-03 -1.37620324e+02] [ 7.12286973e-03 1.29395563e-04 9.99974624e-01 -5.00797143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters 0.014818991929979554 Centerline is valid? [True, True] Translation: X:161.31, Y:-137.58, Z:-5.01 [[-6.57423007e-01 -7.53499828e-01 5.74442904e-03 1.61310521e+02] [ 7.53473170e-01 -6.57448084e-01 -6.34024533e-03 -1.37578940e+02] [ 8.55403764e-03 1.60050009e-04 9.99963401e-01 -5.00950309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters 0.014790494709818981 Centerline is valid? [True, True] Translation: X:161.27, Y:-137.54, Z:-5.01 [[-6.56846570e-01 -7.53997213e-01 6.38633695e-03 1.61271348e+02] [ 7.53964326e-01 -6.56877589e-01 -7.04474323e-03 -1.37536479e+02] [ 9.50675838e-03 1.87754799e-04 9.99954792e-01 -5.01048684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters 0.015507794953665482 Centerline is valid? [True, True] Translation: X:161.23, Y:-137.50, Z:-5.01 [[-6.55723098e-01 -7.54965534e-01 7.36628150e-03 1.61230160e+02] [ 7.54921889e-01 -6.55764430e-01 -8.12117477e-03 -1.37495055e+02] [ 1.09617524e-02 2.35725272e-04 9.99939890e-01 -5.01105529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters 0.01599178859481923 Centerline is valid? [True, True] Translation: X:161.19, Y:-137.45, Z:-5.01 [[-6.55154767e-01 -7.55459803e-01 7.26064387e-03 1.61188997e+02] [ 7.55417480e-01 -6.55194953e-01 -8.00026917e-03 -1.37453425e+02] [ 1.08010190e-02 2.43402811e-04 9.99941638e-01 -5.01094104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters 0.015539257500887112 Centerline is valid? [True, True] Translation: X:161.15, Y:-137.41, Z:-5.01 [[-6.54696864e-01 -7.55861222e-01 6.76969981e-03 1.61150406e+02] [ 7.55824499e-01 -6.54731821e-01 -7.45452054e-03 -1.37411441e+02] [ 1.00669209e-02 2.36253739e-04 9.99949299e-01 -5.00935812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters 0.01545004703862124 Centerline is valid? [True, True] Translation: X:161.11, Y:-137.37, Z:-5.01 [[-6.54291673e-01 -7.56221831e-01 5.56316700e-03 1.61110242e+02] [ 7.56197074e-01 -6.54315293e-01 -6.12237290e-03 -1.37369158e+02] [ 8.26993729e-03 2.01032996e-04 9.99965783e-01 -5.00702962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters 0.016115870422986626 Centerline is valid? [True, True] Translation: X:161.07, Y:-137.33, Z:-5.01 [[-6.53910301e-01 -7.56554004e-01 5.23038564e-03 1.61069934e+02] [ 7.56532160e-01 -6.53931189e-01 -5.75242203e-03 -1.37328994e+02] [ 7.77233023e-03 1.95386928e-04 9.99969776e-01 -5.00651451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters 0.01617327698855366 Centerline is valid? [True, True] Translation: X:161.03, Y:-137.29, Z:-5.01 [[-6.53672345e-01 -7.56757604e-01 5.51320107e-03 1.61029372e+02] [ 7.56733369e-01 -6.53695560e-01 -6.05998001e-03 -1.37287679e+02] [ 8.18989101e-03 2.10781881e-04 9.99966440e-01 -5.00669369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters 0.01682743800966913 Centerline is valid? [True, True] Translation: X:160.99, Y:-137.25, Z:-5.01 [[-6.53191915e-01 -7.57167794e-01 6.10361775e-03 1.60987025e+02] [ 7.57138143e-01 -6.53220387e-01 -6.70515409e-03 -1.37247545e+02] [ 9.06393428e-03 2.41529370e-04 9.99958893e-01 -5.00761404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters 0.016929101406006737 Centerline is valid? [True, True] Translation: X:160.95, Y:-137.21, Z:-5.01 [[-6.53112744e-01 -7.57233923e-01 6.36621321e-03 1.60947363e+02] [ 7.57201711e-01 -6.53143721e-01 -6.98917597e-03 -1.37206442e+02] [ 9.45049332e-03 2.55787635e-04 9.99955310e-01 -5.00750484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters 0.016262066200450242 Centerline is valid? [True, True] Translation: X:160.91, Y:-137.16, Z:-5.01 [[-6.53785988e-01 -7.56653307e-01 6.29715246e-03 1.60907828e+02] [ 7.56621801e-01 -6.53816267e-01 -6.90938122e-03 -1.37164470e+02] [ 9.34518687e-03 2.47306207e-04 9.99956302e-01 -5.00742913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters 0.016397728137640233 Centerline is valid? [True, True] Translation: X:160.87, Y:-137.12, Z:-5.01 [[-6.55031587e-01 -7.55573403e-01 6.51553233e-03 1.60867696e+02] [ 7.55539659e-01 -6.55063946e-01 -7.14494639e-03 -1.37123090e+02] [ 9.66662177e-03 2.42577499e-04 9.99953248e-01 -5.00777234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters 0.014806700312471744 Centerline is valid? [True, True] Translation: X:160.83, Y:-137.08, Z:-5.01 [[-6.57396617e-01 -7.53517107e-01 6.45425243e-03 1.60828893e+02] [ 7.53483933e-01 -6.57428265e-01 -7.07389574e-03 -1.37079388e+02] [ 9.57350943e-03 2.12820377e-04 9.99954150e-01 -5.00707754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters 0.014323001977540053 Centerline is valid? [True, True] Translation: X:160.79, Y:-137.04, Z:-5.01 [[-6.60038013e-01 -7.51201091e-01 6.83682421e-03 1.60789183e+02] [ 7.51163786e-01 -6.60073392e-01 -7.48892324e-03 -1.37036629e+02] [ 1.01384931e-02 1.92600745e-04 9.99948586e-01 -5.00776028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters 0.01338392412842335 Centerline is valid? [True, True] Translation: X:160.75, Y:-136.99, Z:-5.01 [[-6.63218444e-01 -7.48391523e-01 7.17102886e-03 1.60751066e+02] [ 7.48350364e-01 -6.63257192e-01 -7.85050585e-03 -1.36992860e+02] [ 1.06314885e-02 1.59841779e-04 9.99943471e-01 -5.00785237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters 0.012685587959292317 Centerline is valid? [True, True] Translation: X:160.71, Y:-136.95, Z:-5.01 [[-6.66348858e-01 -7.45604526e-01 7.28628697e-03 1.60712832e+02] [ 7.45561914e-01 -6.66388682e-01 -7.97224668e-03 -1.36948696e+02] [ 1.07996424e-02 1.20080587e-04 9.99941675e-01 -5.00792356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters 0.012040497525893243 Centerline is valid? [True, True] Translation: X:160.68, Y:-136.90, Z:-5.01 [[-6.72273033e-01 -7.40269554e-01 7.06800286e-03 1.60677045e+02] [ 7.40229204e-01 -6.72310186e-01 -7.72913901e-03 -1.36904369e+02] [ 1.04735366e-02 3.58504044e-05 9.99945150e-01 -5.00800320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters 0.011999072748321555 Centerline is valid? [True, True] Translation: X:160.64, Y:-136.86, Z:-5.01 [[-6.76561587e-01 -7.36360612e-01 6.12113699e-03 1.60640128e+02] [ 7.36330227e-01 -6.76589276e-01 -6.68943890e-03 -1.36860183e+02] [ 9.06733497e-03 -1.86392114e-05 9.99958891e-01 -5.00730564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters 0.012854423486527383 Centerline is valid? [True, True] Translation: X:160.60, Y:-136.82, Z:-5.01 [[-6.82940338e-01 -7.30453740e-01 5.46145034e-03 1.60604224e+02] [ 7.30429390e-01 -6.82962170e-01 -5.96495203e-03 -1.36815032e+02] [ 8.08708550e-03 -8.45025197e-05 9.99967295e-01 -5.00660924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters 0.01354693419007334 Centerline is valid? [True, True] Translation: X:160.57, Y:-136.77, Z:-5.01 [[-6.85891413e-01 -7.27684894e-01 5.25975943e-03 1.60565581e+02] [ 7.27662252e-01 -6.85911571e-01 -5.74144931e-03 -1.36771600e+02] [ 7.78569579e-03 -1.10682388e-04 9.99969685e-01 -5.00701928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters 0.014319840538400394 Centerline is valid? [True, True] Translation: X:160.53, Y:-136.73, Z:-5.01 [[-6.88157477e-01 -7.25533879e-01 6.31484690e-03 1.60525997e+02] [ 7.25501187e-01 -6.88186431e-01 -6.88933280e-03 -1.36729237e+02] [ 9.34423630e-03 -1.59516952e-04 9.99956329e-01 -5.00812150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters 0.013927861842036381 Centerline is valid? [True, True] Translation: X:160.48, Y:-136.69, Z:-5.01 [[-6.88036647e-01 -7.25642578e-01 6.95861852e-03 1.60483420e+02] [ 7.25602930e-01 -6.88071813e-01 -7.58734341e-03 -1.36689267e+02] [ 1.02937287e-02 -1.71176330e-04 9.99947004e-01 -5.00867227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters 0.013740181965704203 Centerline is valid? [True, True] Translation: X:160.44, Y:-136.65, Z:-5.01 [[-6.86923324e-01 -7.26697054e-01 6.90939407e-03 1.60442268e+02] [ 7.26658067e-01 -6.86958055e-01 -7.52889004e-03 -1.36649239e+02] [ 1.02176861e-02 -1.51003229e-04 9.99947787e-01 -5.00894095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters 0.013011130391513205 Centerline is valid? [True, True] Translation: X:160.40, Y:-136.61, Z:-5.01 [[-6.83961937e-01 -7.29485379e-01 6.86658721e-03 1.60397886e+02] [ 7.29447041e-01 -6.83996396e-01 -7.47960442e-03 -1.36610415e+02] [ 1.01529830e-02 -1.06953012e-04 9.99948451e-01 -5.00902747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters 0.01284817183017442 Centerline is valid? [True, True] Translation: X:160.36, Y:-136.57, Z:-5.01 [[-6.80514069e-01 -7.32708498e-01 6.23369998e-03 1.60355294e+02] [ 7.32677071e-01 -6.80542618e-01 -6.78641978e-03 -1.36571404e+02] [ 9.21476594e-03 -5.09650972e-05 9.99957542e-01 -5.00936068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters 0.012032319228575747 Centerline is valid? [True, True] Translation: X:160.31, Y:-136.53, Z:-5.01 [[-6.76350453e-01 -7.36562418e-01 5.08612710e-03 1.60309514e+02] [ 7.36541628e-01 -6.76369576e-01 -5.53414711e-03 -1.36533898e+02] [ 7.51634641e-03 3.12143104e-06 9.99971752e-01 -5.00605204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters 0.012307312066848725 Centerline is valid? [True, True] Translation: X:160.27, Y:-136.50, Z:-5.01 [[-6.73177255e-01 -7.39462088e-01 5.31081374e-03 1.60267126e+02] [ 7.39439540e-01 -6.73198202e-01 -5.77477625e-03 -1.36496017e+02] [ 7.84545836e-03 3.95776510e-05 9.99969223e-01 -5.00655629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters 0.012654275887229097 Centerline is valid? [True, True] Translation: X:160.22, Y:-136.46, Z:-5.01 [[-6.70158448e-01 -7.42194651e-01 5.89532370e-03 1.60224164e+02] [ 7.42167003e-01 -6.70184373e-01 -6.40672288e-03 -1.36456740e+02] [ 8.70598927e-03 8.17952606e-05 9.99962099e-01 -5.00725447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters 0.013622261177434059 Centerline is valid? [True, True] Translation: X:160.18, Y:-136.42, Z:-5.01 [[-6.66087461e-01 -7.45848400e-01 6.13658661e-03 1.60180278e+02] [ 7.45818631e-01 -6.66115714e-01 -6.66514999e-03 -1.36418466e+02] [ 9.05886823e-03 1.37207791e-04 9.99958958e-01 -5.00757377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters 0.014587420009101564 Centerline is valid? [True, True] Translation: X:160.14, Y:-136.38, Z:-5.01 [[-6.64018785e-01 -7.47699578e-01 4.93911102e-03 1.60138494e+02] [ 7.47680368e-01 -6.64037140e-01 -5.36136023e-03 -1.36379916e+02] [ 7.28843994e-03 1.32832441e-04 9.99973430e-01 -5.00694125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters 0.014137886575257877 Centerline is valid? [True, True] Translation: X:160.10, Y:-136.34, Z:-5.01 [[-6.63804898e-01 -7.47890929e-01 4.71334225e-03 1.60099382e+02] [ 7.47873460e-01 -6.63821618e-01 -5.11335817e-03 -1.36336546e+02] [ 6.95305268e-03 1.30711378e-04 9.99975819e-01 -5.00616207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters 0.015320996371391964 Centerline is valid? [True, True] Translation: X:160.06, Y:-136.30, Z:-5.01 [[-6.64068405e-01 -7.47649875e-01 5.72866328e-03 1.60060443e+02] [ 7.47624095e-01 -6.64093096e-01 -6.21068842e-03 -1.36296565e+02] [ 8.44778615e-03 1.58564749e-04 9.99964304e-01 -5.00860046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters 0.015756880255532117 Centerline is valid? [True, True] Translation: X:160.02, Y:-136.26, Z:-5.01 [[-6.64546967e-01 -7.47215051e-01 6.85542696e-03 1.60022575e+02] [ 7.47178156e-01 -6.64582300e-01 -7.42760160e-03 -1.36255421e+02] [ 1.01060111e-02 1.86235165e-04 9.99948916e-01 -5.01066794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters 0.013584570012136195 Centerline is valid? [True, True] Translation: X:159.99, Y:-136.21, Z:-5.01 [[-6.65251094e-01 -7.46580978e-01 7.60425940e-03 1.59987101e+02] [ 7.46535596e-01 -6.65294524e-01 -8.23411116e-03 -1.36209011e+02] [ 1.12065029e-02 1.99098870e-04 9.99937185e-01 -5.00956567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters 0.013737191691212847 Centerline is valid? [True, True] Translation: X:159.95, Y:-136.17, Z:-5.01 [[-6.65905205e-01 -7.45996781e-01 7.68505982e-03 1.59949675e+02] [ 7.45950431e-01 -6.65949521e-01 -8.31807730e-03 -1.36165343e+02] [ 1.13231208e-02 1.93622708e-04 9.99935873e-01 -5.00977504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters 0.013624539127749585 Centerline is valid? [True, True] Translation: X:159.91, Y:-136.12, Z:-5.01 [[-6.66231713e-01 -7.45704960e-01 7.70832018e-03 1.59910980e+02] [ 7.45658363e-01 -6.66276276e-01 -8.33845487e-03 -1.36121742e+02] [ 1.13538980e-02 1.92430339e-04 9.99935524e-01 -5.00963031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters 0.014268275303303954 Centerline is valid? [True, True] Translation: X:159.87, Y:-136.08, Z:-5.01 [[-6.66333652e-01 -7.45610572e-01 8.02120146e-03 1.59873743e+02] [ 7.45560178e-01 -6.66381898e-01 -8.67107928e-03 -1.36078906e+02] [ 1.18104318e-02 2.02456465e-04 9.99930234e-01 -5.01117694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters 0.01410557853733514 Centerline is valid? [True, True] Translation: X:159.84, Y:-136.03, Z:-5.01 [[-6.65888114e-01 -7.46013362e-01 7.55536701e-03 1.59837973e+02] [ 7.45968734e-01 -6.65930945e-01 -8.16232216e-03 -1.36033912e+02] [ 1.11205541e-02 2.00874250e-04 9.99938145e-01 -5.00970480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters 0.013990289482559306 Centerline is valid? [True, True] Translation: X:159.80, Y:-135.99, Z:-5.01 [[-6.65594485e-01 -7.46283207e-01 6.73476442e-03 1.59801192e+02] [ 7.46247802e-01 -6.65628531e-01 -7.27164030e-03 -1.35989409e+02] [ 9.90955439e-03 1.85839462e-04 9.99950882e-01 -5.00870163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters 0.014363218587192562 Centerline is valid? [True, True] Translation: X:159.76, Y:-135.94, Z:-5.01 [[-6.65362095e-01 -7.46498571e-01 5.75901800e-03 1.59764297e+02] [ 7.46472724e-01 -6.65386997e-01 -6.21416404e-03 -1.35944867e+02] [ 8.47084028e-03 1.64280651e-04 9.99964108e-01 -5.00825443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters 0.014661088893818808 Centerline is valid? [True, True] Translation: X:159.73, Y:-135.90, Z:-5.01 [[-6.65296267e-01 -7.46559252e-01 5.49177355e-03 1.59726645e+02] [ 7.46535781e-01 -6.65318914e-01 -5.92206931e-03 -1.35901051e+02] [ 8.07495645e-03 1.59874843e-04 9.99967384e-01 -5.00825476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters 0.014291223951977437 Centerline is valid? [True, True] Translation: X:159.69, Y:-135.86, Z:-5.01 [[-6.66132910e-01 -7.45808014e-01 6.11164778e-03 1.59690492e+02] [ 7.45778950e-01 -6.66160925e-01 -6.58634793e-03 -1.35856172e+02] [ 8.98349200e-03 1.70555155e-04 9.99959633e-01 -5.00927647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters 0.01362439958017136 Centerline is valid? [True, True] Translation: X:159.66, Y:-135.81, Z:-5.01 [[-6.67449087e-01 -7.44625369e-01 6.69155005e-03 1.59655302e+02] [ 7.44590509e-01 -6.67482607e-01 -7.20713232e-03 -1.35809696e+02] [ 9.83310683e-03 1.72070774e-04 9.99951639e-01 -5.00942011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters 0.013889721715136973 Centerline is valid? [True, True] Translation: X:159.62, Y:-135.77, Z:-5.01 [[-6.68957472e-01 -7.43273301e-01 6.37974701e-03 1.59618349e+02] [ 7.43241596e-01 -6.68987876e-01 -6.86666582e-03 -1.35767572e+02] [ 9.37178277e-03 1.48185939e-04 9.99956073e-01 -5.00982511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters 0.012947567674871876 Centerline is valid? [True, True] Translation: X:159.58, Y:-135.72, Z:-5.01 [[-6.70385166e-01 -7.41988882e-01 6.01910094e-03 1.59583514e+02] [ 7.41960642e-01 -6.70412175e-01 -6.47474043e-03 -1.35720640e+02] [ 8.83946396e-03 1.25366062e-04 9.99960923e-01 -5.00860674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters 0.01279152070133987 Centerline is valid? [True, True] Translation: X:159.55, Y:-135.68, Z:-5.01 [[-6.71207459e-01 -7.41244613e-01 6.08032052e-03 1.59546460e+02] [ 7.41215799e-01 -6.71234988e-01 -6.53685202e-03 -1.35675287e+02] [ 8.92673022e-03 1.19245794e-04 9.99960149e-01 -5.00913560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters 0.014133486111068103 Centerline is valid? [True, True] Translation: X:159.51, Y:-135.64, Z:-5.01 [[-6.70790823e-01 -7.41619846e-01 6.29893463e-03 1.59507274e+02] [ 7.41588980e-01 -6.70820384e-01 -6.76735236e-03 -1.35635306e+02] [ 9.24425656e-03 1.31742652e-04 9.99957262e-01 -5.01079208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters 0.01393169925252567 Centerline is valid? [True, True] Translation: X:159.47, Y:-135.59, Z:-5.01 [[-6.70001276e-01 -7.42337111e-01 5.82264660e-03 1.59469786e+02] [ 7.42310797e-01 -6.70026564e-01 -6.25184159e-03 -1.35591705e+02] [ 8.54230192e-03 1.33471590e-04 9.99963505e-01 -5.01026197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters 0.013694047826954906 Centerline is valid? [True, True] Translation: X:159.43, Y:-135.55, Z:-5.01 [[-6.69982283e-01 -7.42356489e-01 5.53023543e-03 1.59433566e+02] [ 7.42332783e-01 -6.70005094e-01 -5.93415342e-03 -1.35546538e+02] [ 8.11054321e-03 1.29497407e-04 9.99967101e-01 -5.00876950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters 0.013548295924652495 Centerline is valid? [True, True] Translation: X:159.40, Y:-135.50, Z:-5.01 [[-6.70299880e-01 -7.42073849e-01 4.94707223e-03 1.59396112e+02] [ 7.42054895e-01 -6.70318125e-01 -5.30502842e-03 -1.35503247e+02] [ 7.25283504e-03 1.15039256e-04 9.99973691e-01 -5.00801548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters 0.013364217155129721 Centerline is valid? [True, True] Translation: X:159.36, Y:-135.46, Z:-5.01 [[-6.70875433e-01 -7.41558571e-01 4.12788543e-03 1.59358648e+02] [ 7.41545382e-01 -6.70888126e-01 -4.42373308e-03 -1.35460130e+02] [ 6.04980650e-03 9.32405349e-05 9.99981695e-01 -5.00772470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters 0.013072042048623812 Centerline is valid? [True, True] Translation: X:159.32, Y:-135.42, Z:-5.01 [[-6.71658117e-01 -7.40850851e-01 3.92320012e-03 1.59320420e+02] [ 7.40838939e-01 -6.71669569e-01 -4.20194327e-03 -1.35416274e+02] [ 5.74810738e-03 8.41901148e-05 9.99983476e-01 -5.00758976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters 0.012865656437733467 Centerline is valid? [True, True] Translation: X:159.28, Y:-135.37, Z:-5.01 [[-6.72977463e-01 -7.39653202e-01 3.80471942e-03 1.59282149e+02] [ 7.39641993e-01 -6.72988214e-01 -4.07270130e-03 -1.35372742e+02] [ 5.57291788e-03 7.32940703e-05 9.99984469e-01 -5.00774553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters 0.01293703750286576 Centerline is valid? [True, True] Translation: X:159.24, Y:-135.33, Z:-5.01 [[-6.73411759e-01 -7.39254139e-01 4.46334040e-03 1.59243153e+02] [ 7.39238724e-01 -6.73426545e-01 -4.77465400e-03 -1.35330665e+02] [ 6.53541464e-03 8.41659200e-05 9.99978640e-01 -5.00893589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters 0.012960971810185372 Centerline is valid? [True, True] Translation: X:159.20, Y:-135.29, Z:-5.01 [[-6.73811383e-01 -7.38882363e-01 5.57441592e-03 1.59204253e+02] [ 7.38858337e-01 -6.73834433e-01 -5.95941797e-03 -1.35288795e+02] [ 8.15954223e-03 1.03180012e-04 9.99966705e-01 -5.01015133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters 0.012777293580402612 Centerline is valid? [True, True] Translation: X:159.16, Y:-135.25, Z:-5.01 [[-6.74371099e-01 -7.38366965e-01 6.15189764e-03 1.59164769e+02] [ 7.38337716e-01 -6.74399149e-01 -6.57304269e-03 -1.35246301e+02] [ 9.00215212e-03 1.09508030e-04 9.99959474e-01 -5.01026538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters 0.012839229485660656 Centerline is valid? [True, True] Translation: X:159.12, Y:-135.21, Z:-5.01 [[-6.74593869e-01 -7.38156934e-01 6.88855623e-03 1.59124853e+02] [ 7.38120297e-01 -6.74629028e-01 -7.35543763e-03 -1.35205353e+02] [ 1.00766873e-02 1.22650042e-04 9.99949221e-01 -5.01155625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters 0.012696926690602704 Centerline is valid? [True, True] Translation: X:159.09, Y:-135.16, Z:-5.01 [[-6.75181667e-01 -7.37616803e-01 7.15319809e-03 1.59085306e+02] [ 7.37577312e-01 -6.75219547e-01 -7.63364594e-03 -1.35163130e+02] [ 1.04606847e-02 1.21938831e-04 9.99945278e-01 -5.01167150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters 0.012500044167105982 Centerline is valid? [True, True] Translation: X:159.05, Y:-135.12, Z:-5.01 [[-6.76339639e-01 -7.36556533e-01 7.01194312e-03 1.59046209e+02] [ 7.36518572e-01 -6.76375978e-01 -7.47863007e-03 -1.35119775e+02] [ 1.02511437e-02 1.06332377e-04 9.99947450e-01 -5.01107131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters 0.012222265265304203 Centerline is valid? [True, True] Translation: X:159.01, Y:-135.08, Z:-5.01 [[-6.77841300e-01 -7.35184714e-01 5.88294761e-03 1.59007037e+02] [ 7.35157971e-01 -6.77866824e-01 -6.27110682e-03 -1.35076266e+02] [ 8.59827688e-03 7.40806288e-05 9.99963031e-01 -5.00912218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters 0.012221687138247452 Centerline is valid? [True, True] Translation: X:158.97, Y:-135.04, Z:-5.01 [[-6.77782139e-01 -7.35246064e-01 4.95957495e-03 1.58965160e+02] [ 7.35227081e-01 -6.77800281e-01 -5.28378217e-03 -1.35036302e+02] [ 7.24648134e-03 6.51606322e-05 9.99973742e-01 -5.00867189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters 0.012443910736485419 Centerline is valid? [True, True] Translation: X:158.92, Y:-135.00, Z:-5.01 [[-6.76651777e-01 -7.36287493e-01 4.80632619e-03 1.58922360e+02] [ 7.36269711e-01 -6.76668843e-01 -5.11760374e-03 -1.34996430e+02] [ 7.02031880e-03 7.59167314e-05 9.99975354e-01 -5.00872541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters 0.012898936757762281 Centerline is valid? [True, True] Translation: X:158.88, Y:-134.96, Z:-5.01 [[-6.75255805e-01 -7.37563649e-01 5.42776374e-03 1.58880689e+02] [ 7.37541033e-01 -6.75277612e-01 -5.77691526e-03 -1.34957146e+02] [ 7.92609004e-03 1.02302912e-04 9.99968583e-01 -5.00994221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters 0.013202664123308618 Centerline is valid? [True, True] Translation: X:158.84, Y:-134.92, Z:-5.01 [[-6.73338218e-01 -7.39311934e-01 5.78854475e-03 1.58837881e+02] [ 7.39286305e-01 -6.73363086e-01 -6.15737824e-03 -1.34917702e+02] [ 8.45001558e-03 1.33393760e-04 9.99964289e-01 -5.01053156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters 0.013852826247680059 Centerline is valid? [True, True] Translation: X:158.79, Y:-134.88, Z:-5.01 [[-6.72044801e-01 -7.40483726e-01 6.29580635e-03 1.58794950e+02] [ 7.40453494e-01 -6.72074270e-01 -6.69319000e-03 -1.34878054e+02] [ 9.18744773e-03 1.63628273e-04 9.99957781e-01 -5.01158490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters 0.014265696545835403 Centerline is valid? [True, True] Translation: X:158.75, Y:-134.84, Z:-5.01 [[-6.71686785e-01 -7.40806127e-01 6.56842791e-03 1.58754648e+02] [ 7.40773278e-01 -6.71718877e-01 -6.97864030e-03 -1.34837125e+02] [ 9.58195651e-03 1.78255400e-04 9.99954076e-01 -5.01157500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters 0.014590247004494766 Centerline is valid? [True, True] Translation: X:158.71, Y:-134.80, Z:-5.01 [[-6.71513642e-01 -7.40966383e-01 6.18449313e-03 1.58713838e+02] [ 7.40937305e-01 -6.71542098e-01 -6.56664587e-03 -1.34796686e+02] [ 9.01881134e-03 1.72729393e-04 9.99959315e-01 -5.01128013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters 0.01394860393776162 Centerline is valid? [True, True] Translation: X:158.67, Y:-134.75, Z:-5.01 [[-6.71874297e-01 -7.40639206e-01 6.20454840e-03 1.58674197e+02] [ 7.40609959e-01 -6.71902923e-01 -6.58417834e-03 -1.34753668e+02] [ 9.04535482e-03 1.71410144e-04 9.99959075e-01 -5.01071254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters 0.01436649297894508 Centerline is valid? [True, True] Translation: X:158.63, Y:-134.71, Z:-5.01 [[-6.72799688e-01 -7.39800520e-01 5.98081083e-03 1.58634177e+02] [ 7.39773348e-01 -6.72826252e-01 -6.34251631e-03 -1.34713906e+02] [ 8.71624340e-03 1.57201457e-04 9.99962001e-01 -5.01070317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters 0.013583709424984788 Centerline is valid? [True, True] Translation: X:158.60, Y:-134.67, Z:-5.01 [[-6.73925496e-01 -7.38777520e-01 5.67458683e-03 1.58595941e+02] [ 7.38753053e-01 -6.73949372e-01 -6.01414722e-03 -1.34670561e+02] [ 8.26750100e-03 1.39031194e-04 9.99965814e-01 -5.00948674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters 0.013158019607254956 Centerline is valid? [True, True] Translation: X:158.56, Y:-134.63, Z:-5.01 [[-6.75636880e-01 -7.37215978e-01 5.23528212e-03 1.58557089e+02] [ 7.37195130e-01 -6.75657153e-01 -5.54541481e-03 -1.34627839e+02] [ 7.62542422e-03 1.12737719e-04 9.99970920e-01 -5.00859848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters 0.012866431591998009 Centerline is valid? [True, True] Translation: X:158.52, Y:-134.59, Z:-5.01 [[-6.77107307e-01 -7.35865289e-01 5.28878617e-03 1.58517891e+02] [ 7.35843999e-01 -6.77127954e-01 -5.59853447e-03 -1.34586362e+02] [ 7.70095214e-03 1.00912968e-04 9.99970342e-01 -5.00893774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters 0.012904202723173977 Centerline is valid? [True, True] Translation: X:158.48, Y:-134.54, Z:-5.01 [[-6.77999234e-01 -7.35043245e-01 5.33543139e-03 1.58478711e+02] [ 7.35021579e-01 -6.78020221e-01 -5.64437879e-03 -1.34544668e+02] [ 7.76639286e-03 9.47727090e-05 9.99969837e-01 -5.00939974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters 0.012357676757355109 Centerline is valid? [True, True] Translation: X:158.44, Y:-134.50, Z:-5.01 [[-6.79537762e-01 -7.33619155e-01 5.60040105e-03 1.58440167e+02] [ 7.33595263e-01 -6.79560834e-01 -5.92132053e-03 -1.34501188e+02] [ 8.14980738e-03 8.46667799e-05 9.99966786e-01 -5.00909861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters 0.012186951980437559 Centerline is valid? [True, True] Translation: X:158.40, Y:-134.46, Z:-5.01 [[-6.80928213e-01 -7.32327508e-01 5.76115540e-03 1.58400926e+02] [ 7.32302210e-01 -6.80952580e-01 -6.08742185e-03 -1.34458881e+02] [ 8.38106010e-03 7.38095506e-05 9.99964876e-01 -5.00954295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters 0.012007288003771587 Centerline is valid? [True, True] Translation: X:158.36, Y:-134.42, Z:-5.01 [[-6.82299431e-01 -7.31050141e-01 5.76007540e-03 1.58361522e+02] [ 7.31024836e-01 -6.82323741e-01 -6.08280926e-03 -1.34416241e+02] [ 8.37707476e-03 6.04608836e-05 9.99964910e-01 -5.00910162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters 0.012064542535194487 Centerline is valid? [True, True] Translation: X:158.32, Y:-134.37, Z:-5.01 [[-6.82763782e-01 -7.30619817e-01 5.31982424e-03 1.58321451e+02] [ 7.30598248e-01 -6.82784505e-01 -5.61433596e-03 -1.34374982e+02] [ 7.73423867e-03 5.33890106e-05 9.99970089e-01 -5.00924545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters 0.012256016244024337 Centerline is valid? [True, True] Translation: X:158.28, Y:-134.34, Z:-5.01 [[-6.82098424e-01 -7.31238226e-01 5.69182523e-03 1.58280724e+02] [ 7.31213588e-01 -6.82122168e-01 -6.00297635e-03 -1.34335781e+02] [ 8.27212594e-03 6.73192378e-05 9.99965783e-01 -5.01007364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters 0.012309705272483281 Centerline is valid? [True, True] Translation: X:158.24, Y:-134.29, Z:-5.01 [[-6.80928722e-01 -7.32325939e-01 5.89874883e-03 1.58239360e+02] [ 7.32299549e-01 -6.80954266e-01 -6.21764058e-03 -1.34294926e+02] [ 8.57011765e-03 8.58810474e-05 9.99963272e-01 -5.00997389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters 0.012595308464367943 Centerline is valid? [True, True] Translation: X:158.20, Y:-134.25, Z:-5.01 [[-6.80122759e-01 -7.33071637e-01 6.24565433e-03 1.58198228e+02] [ 7.33042116e-01 -6.80151428e-01 -6.57957075e-03 -1.34254237e+02] [ 9.07128741e-03 1.03411855e-04 9.99958850e-01 -5.01000268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters 0.013123526349908567 Centerline is valid? [True, True] Translation: X:158.16, Y:-134.21, Z:-5.01 [[-6.78976302e-01 -7.34132957e-01 6.32328067e-03 1.58156382e+02] [ 7.34102778e-01 -6.79005734e-01 -6.65762975e-03 -1.34213553e+02] [ 9.18112925e-03 1.21565074e-04 9.99957845e-01 -5.00989901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters 0.013608741615132218 Centerline is valid? [True, True] Translation: X:158.12, Y:-134.17, Z:-5.01 [[-6.78048171e-01 -7.34997167e-01 5.46274850e-03 1.58115609e+02] [ 7.34974700e-01 -6.78070166e-01 -5.74802759e-03 -1.34173867e+02] [ 7.92891078e-03 1.17542345e-04 9.99968559e-01 -5.00833047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters 0.013510454939929124 Centerline is valid? [True, True] Translation: X:158.08, Y:-134.13, Z:-5.01 [[-6.77749720e-01 -7.35275269e-01 5.05925615e-03 1.58075553e+02] [ 7.35256031e-01 -6.77768593e-01 -5.32010593e-03 -1.34133009e+02] [ 7.34074724e-03 1.14148295e-04 9.99973050e-01 -5.00758221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters 0.013691826296963552 Centerline is valid? [True, True] Translation: X:158.04, Y:-134.09, Z:-5.01 [[-6.77032375e-01 -7.35939589e-01 4.48160706e-03 1.58035101e+02] [ 7.35924525e-01 -6.77047199e-01 -4.70998137e-03 -1.34091467e+02] [ 6.50052127e-03 1.09314673e-04 9.99978865e-01 -5.00663688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters 0.01424864769378897 Centerline is valid? [True, True] Translation: X:157.99, Y:-134.05, Z:-5.01 [[-6.76211149e-01 -7.36692371e-01 4.77840755e-03 1.57993659e+02] [ 7.36675284e-01 -6.76228020e-01 -5.01907412e-03 -1.34050251e+02] [ 6.92880669e-03 1.26180859e-04 9.99975988e-01 -5.00709796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters 0.014253983266823188 Centerline is valid? [True, True] Translation: X:157.95, Y:-134.01, Z:-5.01 [[-6.75522241e-01 -7.37320867e-01 5.25754477e-03 1.57952986e+02] [ 7.37300225e-01 -6.75542684e-01 -5.51918462e-03 -1.34008664e+02] [ 7.62110589e-03 1.48056979e-04 9.99970948e-01 -5.00776212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters 0.014870805277216308 Centerline is valid? [True, True] Translation: X:157.91, Y:-133.97, Z:-5.01 [[-6.74421629e-01 -7.38323980e-01 5.75908455e-03 1.57911506e+02] [ 7.38299277e-01 -6.74446195e-01 -6.04223399e-03 -1.33967834e+02] [ 8.34531891e-03 1.76914661e-04 9.99965162e-01 -5.00904447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters 0.015806892846063975 Centerline is valid? [True, True] Translation: X:157.87, Y:-133.93, Z:-5.01 [[-6.73763061e-01 -7.38920775e-01 6.27896540e-03 1.57871006e+02] [ 7.38891472e-01 -6.73792288e-01 -6.58374569e-03 -1.33927712e+02] [ 9.09558492e-03 2.03589337e-04 9.99958614e-01 -5.01028416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters 0.014734316231599433 Centerline is valid? [True, True] Translation: X:157.83, Y:-133.88, Z:-5.01 [[-6.74213919e-01 -7.38506609e-01 6.60143569e-03 1.57832964e+02] [ 7.38474238e-01 -6.74246204e-01 -6.91782026e-03 -1.33883453e+02] [ 9.55984894e-03 2.10899481e-04 9.99954281e-01 -5.00987985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters 0.014550735302320681 Centerline is valid? [True, True] Translation: X:157.79, Y:-133.84, Z:-5.01 [[-6.75709588e-01 -7.37139810e-01 6.43844303e-03 1.57794158e+02] [ 7.37108991e-01 -6.75740235e-01 -6.74313693e-03 -1.33840227e+02] [ 9.32134968e-03 1.89431972e-04 9.99956537e-01 -5.00956747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters 0.014571132932407952 Centerline is valid? [True, True] Translation: X:157.76, Y:-133.80, Z:-5.01 [[-6.77029673e-01 -7.35931453e-01 5.97642352e-03 1.57755722e+02] [ 7.35904883e-01 -6.77056031e-01 -6.25568373e-03 -1.33798259e+02] [ 8.65012801e-03 1.62795745e-04 9.99962574e-01 -5.00920243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters 0.013921616940781348 Centerline is valid? [True, True] Translation: X:157.72, Y:-133.75, Z:-5.01 [[-6.79389425e-01 -7.33758571e-01 5.32629646e-03 1.57718307e+02] [ 7.33737424e-01 -6.79410292e-01 -5.57204832e-03 -1.33753665e+02] [ 7.70727884e-03 1.22512341e-04 9.99970291e-01 -5.00862186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters 0.013271019159320026 Centerline is valid? [True, True] Translation: X:157.68, Y:-133.71, Z:-5.01 [[-6.81995255e-01 -7.31341530e-01 4.69453514e-03 1.57681262e+02] [ 7.31325063e-01 -6.82011407e-01 -4.90837471e-03 -1.33708882e+02] [ 6.79142479e-03 8.57429433e-05 9.99976934e-01 -5.00873543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters 0.013078225762448298 Centerline is valid? [True, True] Translation: X:157.64, Y:-133.67, Z:-5.01 [[-6.83900726e-01 -7.29560432e-01 4.62318752e-03 1.57643865e+02] [ 7.29544442e-01 -6.83916349e-01 -4.83060005e-03 -1.33666335e+02] [ 6.68608819e-03 6.91698811e-05 9.99977646e-01 -5.00951342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters 0.012728714574757334 Centerline is valid? [True, True] Translation: X:157.61, Y:-133.62, Z:-5.01 [[-6.86305197e-01 -7.27292918e-01 5.49438944e-03 1.57607110e+02] [ 7.27270288e-01 -6.86327187e-01 -5.73761582e-03 -1.33621471e+02] [ 7.94387620e-03 5.81506386e-05 9.99968445e-01 -5.00962672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters 0.01268387054684133 Centerline is valid? [True, True] Translation: X:157.57, Y:-133.58, Z:-5.01 [[-6.88246731e-01 -7.25450986e-01 6.10772017e-03 1.57569410e+02] [ 7.25422981e-01 -6.88273830e-01 -6.37446174e-03 -1.33577374e+02] [ 8.82814351e-03 4.34781168e-05 9.99961030e-01 -5.01035608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters 0.012680867988800287 Centerline is valid? [True, True] Translation: X:157.53, Y:-133.53, Z:-5.01 [[-6.89457299e-01 -7.24297313e-01 6.48346897e-03 1.57530557e+02] [ 7.24265741e-01 -6.89487782e-01 -6.76277019e-03 -1.33533560e+02] [ 9.36852892e-03 3.31131862e-05 9.99956114e-01 -5.01095205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters 0.012572727353869077 Centerline is valid? [True, True] Translation: X:157.49, Y:-133.49, Z:-5.01 [[-6.90531111e-01 -7.23273969e-01 6.44597984e-03 1.57491341e+02] [ 7.23242752e-01 -6.90561196e-01 -6.71981179e-03 -1.33490442e+02] [ 9.31160849e-03 2.17691001e-05 9.99956646e-01 -5.01089389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters 0.01259472403311987 Centerline is valid? [True, True] Translation: X:157.45, Y:-133.45, Z:-5.01 [[-6.91417521e-01 -7.22428360e-01 6.25102606e-03 1.57453291e+02] [ 7.22399008e-01 -6.91445778e-01 -6.51221316e-03 -1.33448839e+02] [ 9.02685305e-03 1.30767383e-05 9.99959257e-01 -5.01100490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters 0.012483469633580584 Centerline is valid? [True, True] Translation: X:157.41, Y:-133.41, Z:-5.01 [[-6.91898855e-01 -7.21972946e-01 5.57134312e-03 1.57414376e+02] [ 7.21949644e-01 -6.91921286e-01 -5.80049226e-03 -1.33406756e+02] [ 8.04272938e-03 8.87522955e-06 9.99967657e-01 -5.01046903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters 0.012558666766825011 Centerline is valid? [True, True] Translation: X:157.38, Y:-133.36, Z:-5.01 [[-6.91610424e-01 -7.22252278e-01 5.16413116e-03 1.57375322e+02] [ 7.22232292e-01 -6.91629703e-01 -5.37311186e-03 -1.33364926e+02] [ 7.45240879e-03 1.36021151e-05 9.99972230e-01 -5.01005933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters 0.012772603894785205 Centerline is valid? [True, True] Translation: X:157.34, Y:-133.32, Z:-5.01 [[-6.89943250e-01 -7.23843447e-01 5.38293004e-03 1.57335308e+02] [ 7.23821807e-01 -6.89964247e-01 -5.59721674e-03 -1.33324475e+02] [ 7.76553793e-03 3.45202430e-05 9.99969847e-01 -5.01102407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters 0.012951821610114503 Centerline is valid? [True, True] Translation: X:157.29, Y:-133.28, Z:-5.01 [[-6.88600705e-01 -7.25119951e-01 5.48872898e-03 1.57294564e+02] [ 7.25097520e-01 -6.88622578e-01 -5.70362327e-03 -1.33283703e+02] [ 7.91547372e-03 5.23447668e-05 9.99968671e-01 -5.01150560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters 0.013451318514419889 Centerline is valid? [True, True] Translation: X:157.25, Y:-133.24, Z:-5.01 [[-6.86255143e-01 -7.27341153e-01 5.35967633e-03 1.57252584e+02] [ 7.27319857e-01 -6.86276068e-01 -5.56644812e-03 -1.33243215e+02] [ 7.72692439e-03 7.81953645e-05 9.99970144e-01 -5.01195150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters 0.013667254149181697 Centerline is valid? [True, True] Translation: X:157.21, Y:-133.20, Z:-5.01 [[-6.84504944e-01 -7.28994395e-01 4.48934807e-03 1.57212153e+02] [ 7.28979507e-01 -6.84519660e-01 -4.65969107e-03 -1.33202166e+02] [ 6.46993569e-03 8.30611709e-05 9.99979066e-01 -5.01101833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters 0.014114017969876975 Centerline is valid? [True, True] Translation: X:157.17, Y:-133.16, Z:-5.01 [[-6.82733862e-01 -7.30654826e-01 4.24240880e-03 1.57170996e+02] [ 7.30641579e-01 -6.82747037e-01 -4.40084287e-03 -1.33160600e+02] [ 6.11198912e-03 9.50758120e-05 9.99981317e-01 -5.01079115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters 0.01465741942381039 Centerline is valid? [True, True] Translation: X:157.13, Y:-133.12, Z:-5.01 [[-6.81617563e-01 -7.31695085e-01 4.44973298e-03 1.57130159e+02] [ 7.31680550e-01 -6.81632078e-01 -4.61328314e-03 -1.33119303e+02] [ 6.40859734e-03 1.11288262e-04 9.99979459e-01 -5.01080453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters 0.016116555539438512 Centerline is valid? [True, True] Translation: X:157.09, Y:-133.08, Z:-5.01 [[-6.79756102e-01 -7.33422827e-01 4.75388260e-03 1.57088751e+02] [ 7.33406299e-01 -6.79772711e-01 -4.92567652e-03 -1.33080122e+02] [ 6.84416326e-03 1.38268771e-04 9.99976569e-01 -5.01175221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters 0.01588071977143988 Centerline is valid? [True, True] Translation: X:157.05, Y:-133.04, Z:-5.01 [[-6.77863221e-01 -7.35168690e-01 5.33394458e-03 1.57048145e+02] [ 7.35147962e-01 -6.77884183e-01 -5.52351666e-03 -1.33038112e+02] [ 7.67651318e-03 1.77049696e-04 9.99970520e-01 -5.01197842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters 0.0166666047594101 Centerline is valid? [True, True] Translation: X:157.01, Y:-133.00, Z:-5.01 [[-6.77735709e-01 -7.35276649e-01 6.52363196e-03 1.57007177e+02] [ 7.35245685e-01 -6.77767070e-01 -6.75142150e-03 -1.32998679e+02] [ 9.38566550e-03 2.20792813e-04 9.99955929e-01 -5.01438412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters 0.015816173270740683 Centerline is valid? [True, True] Translation: X:156.97, Y:-132.96, Z:-5.01 [[-6.78732543e-01 -7.34350617e-01 7.16286800e-03 1.56968956e+02] [ 7.34313279e-01 -6.78770299e-01 -7.40872609e-03 -1.32955294e+02] [ 1.03025446e-02 2.31245590e-04 9.99946901e-01 -5.01400054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters 0.0156525104465431 Centerline is valid? [True, True] Translation: X:156.93, Y:-132.91, Z:-5.01 [[-6.81039395e-01 -7.32214974e-01 6.82456329e-03 1.56930509e+02] [ 7.32181010e-01 -6.81073561e-01 -7.05497006e-03 -1.32913422e+02] [ 9.81378434e-03 1.92103097e-04 9.99951825e-01 -5.01361855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters 0.01422563243885248 Centerline is valid? [True, True] Translation: X:156.89, Y:-132.87, Z:-5.01 [[-6.84342415e-01 -7.29135720e-01 6.04666011e-03 1.56893556e+02] [ 7.29108969e-01 -6.84369114e-01 -6.24715360e-03 -1.32868976e+02] [ 8.69317026e-03 1.33481938e-04 9.99962205e-01 -5.01233369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters 0.013317838927328199 Centerline is valid? [True, True] Translation: X:156.86, Y:-132.82, Z:-5.01 [[-6.88992108e-01 -7.24747579e-01 5.55165679e-03 1.56857083e+02] [ 7.24724912e-01 -6.89014471e-01 -5.73242929e-03 -1.32823463e+02] [ 7.97973611e-03 7.38254420e-05 9.99968159e-01 -5.01139381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters 0.013130606805277969 Centerline is valid? [True, True] Translation: X:156.82, Y:-132.78, Z:-5.01 [[-6.92186259e-01 -7.21697538e-01 5.55398320e-03 1.56819682e+02] [ 7.21674776e-01 -6.92208539e-01 -5.73201151e-03 -1.32780948e+02] [ 7.98129320e-03 4.05499766e-05 9.99968148e-01 -5.01154449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters 0.012916573713792212 Centerline is valid? [True, True] Translation: X:156.78, Y:-132.74, Z:-5.01 [[-6.95400454e-01 -7.18602561e-01 5.34494787e-03 1.56781121e+02] [ 7.18581412e-01 -6.95420994e-01 -5.51314562e-03 -1.32737410e+02] [ 7.67874952e-03 6.93622506e-06 9.99970518e-01 -5.01070927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters 0.01296057510373583 Centerline is valid? [True, True] Translation: X:156.74, Y:-132.70, Z:-5.01 [[-6.96427918e-01 -7.17600179e-01 6.17563514e-03 1.56740060e+02] [ 7.17571938e-01 -6.96455299e-01 -6.36633003e-03 -1.32696418e+02] [ 8.86953339e-03 -2.22748820e-06 9.99960665e-01 -5.01064234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters 0.012913858541872318 Centerline is valid? [True, True] Translation: X:156.70, Y:-132.66, Z:-5.01 [[-6.96599265e-01 -7.17425965e-01 7.03201851e-03 1.56698300e+02] [ 7.17389381e-01 -6.96634757e-01 -7.24502999e-03 -1.32655755e+02] [ 1.00965211e-02 -2.18715878e-06 9.99949029e-01 -5.01155130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters 0.01295620794739874 Centerline is valid? [True, True] Translation: X:156.66, Y:-132.62, Z:-5.01 [[-6.95802068e-01 -7.18195443e-01 7.40184214e-03 1.56657559e+02] [ 7.18154994e-01 -6.95841437e-01 -7.62230651e-03 -1.32617338e+02] [ 1.06248143e-02 1.20532646e-05 9.99943555e-01 -5.01210432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters 0.013003669526133991 Centerline is valid? [True, True] Translation: X:156.61, Y:-132.58, Z:-5.01 [[-6.93936532e-01 -7.19996359e-01 7.57185563e-03 1.56613550e+02] [ 7.19954190e-01 -6.93977839e-01 -7.79251622e-03 -1.32580590e+02] [ 1.08652833e-02 4.38775055e-05 9.99940970e-01 -5.01272827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters 0.013127308588374242 Centerline is valid? [True, True] Translation: X:156.57, Y:-132.54, Z:-5.01 [[-6.92484599e-01 -7.21397539e-01 7.11835758e-03 1.56570734e+02] [ 7.21360390e-01 -6.92521181e-01 -7.32125511e-03 -1.32542265e+02] [ 1.02111488e-02 6.50447912e-05 9.99947863e-01 -5.01208333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters 0.013247865034486066 Centerline is valid? [True, True] Translation: X:156.53, Y:-132.50, Z:-5.01 [[-6.90705850e-01 -7.23111115e-01 5.97856718e-03 1.56527357e+02] [ 7.23085008e-01 -6.90731720e-01 -6.14505936e-03 -1.32504147e+02] [ 8.57314672e-03 7.85838483e-05 9.99963247e-01 -5.01067153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters 0.013508627747125166 Centerline is valid? [True, True] Translation: X:156.48, Y:-132.47, Z:-5.01 [[-6.89117751e-01 -7.24628447e-01 5.50807732e-03 1.56483743e+02] [ 7.24606361e-01 -6.89139757e-01 -5.65823773e-03 -1.32465199e+02] [ 7.89595509e-03 9.19958084e-05 9.99968822e-01 -5.00976923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters 0.013935254862825826 Centerline is valid? [True, True] Translation: X:156.44, Y:-132.43, Z:-5.01 [[-6.88313582e-01 -7.25393919e-01 5.29859962e-03 1.56441309e+02] [ 7.25373524e-01 -6.88333969e-01 -5.44037661e-03 -1.32427471e+02] [ 7.59362222e-03 9.87787715e-05 9.99971163e-01 -5.01053616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters 0.014021248591283335 Centerline is valid? [True, True] Translation: X:156.40, Y:-132.39, Z:-5.01 [[-6.87568616e-01 -7.26095387e-01 5.90646447e-03 1.56398133e+02] [ 7.26070099e-01 -6.87593974e-01 -6.06112509e-03 -1.32388493e+02] [ 8.46220436e-03 1.21067854e-04 9.99964188e-01 -5.01119632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters 0.013965126066277655 Centerline is valid? [True, True] Translation: X:156.36, Y:-132.35, Z:-5.01 [[-6.88295746e-01 -7.25396477e-01 6.99406386e-03 1.56356620e+02] [ 7.25361027e-01 -6.88331266e-01 -7.17273512e-03 -1.32349032e+02] [ 1.00173096e-02 1.36258275e-04 9.99949816e-01 -5.01270788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters 0.013872329949896114 Centerline is valid? [True, True] Translation: X:156.32, Y:-132.31, Z:-5.01 [[-6.89743864e-01 -7.24015127e-01 7.44963500e-03 1.56315620e+02] [ 7.23974878e-01 -6.89784082e-01 -7.63526252e-03 -1.32309729e+02] [ 1.06666852e-02 1.26973112e-04 9.99943101e-01 -5.01385031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters 0.013052221861883453 Centerline is valid? [True, True] Translation: X:156.28, Y:-132.27, Z:-5.01 [[-6.91740712e-01 -7.22106320e-01 7.56642057e-03 1.56275965e+02] [ 7.22064732e-01 -6.91782085e-01 -7.75054979e-03 -1.32267269e+02] [ 1.08310352e-02 1.02074610e-04 9.99941337e-01 -5.01295191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters 0.013021467341538697 Centerline is valid? [True, True] Translation: X:156.24, Y:-132.23, Z:-5.01 [[-6.93520298e-01 -7.20395608e-01 7.73078627e-03 1.56236511e+02] [ 7.20352145e-01 -6.93563380e-01 -7.91365374e-03 -1.32226754e+02] [ 1.10627517e-02 8.06089762e-05 9.99938803e-01 -5.01410139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters 0.012995277037636198 Centerline is valid? [True, True] Translation: X:156.20, Y:-132.19, Z:-5.02 [[-6.95126130e-01 -7.18837674e-01 8.48895025e-03 1.56197132e+02] [ 7.18785218e-01 -6.95177959e-01 -8.68423169e-03 -1.32185905e+02] [ 1.21438840e-02 6.50955864e-05 9.99926258e-01 -5.01575716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters 0.012894135431342725 Centerline is valid? [True, True] Translation: X:156.16, Y:-132.14, Z:-5.02 [[-6.95596718e-01 -7.18378606e-01 8.79680432e-03 1.56157733e+02] [ 7.18322310e-01 -6.95652337e-01 -8.99362428e-03 -1.32144786e+02] [ 1.25803448e-02 6.30052635e-05 9.99920862e-01 -5.01541485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters 0.012837468655422223 Centerline is valid? [True, True] Translation: X:156.12, Y:-132.10, Z:-5.02 [[-6.95630410e-01 -7.18339547e-01 9.30737629e-03 1.56118134e+02] [ 7.18276601e-01 -6.95692669e-01 -9.50968996e-03 -1.32103883e+02] [ 1.33062598e-02 7.00410802e-05 9.99911465e-01 -5.01553279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters 0.012938297709822875 Centerline is valid? [True, True] Translation: X:156.08, Y:-132.06, Z:-5.02 [[-6.95725767e-01 -7.18249407e-01 9.13490617e-03 1.56078888e+02] [ 7.18188844e-01 -6.95785731e-01 -9.32743315e-03 -1.32064248e+02] [ 1.30553607e-02 7.12521175e-05 9.99914773e-01 -5.01569127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters 0.012786956057679258 Centerline is valid? [True, True] Translation: X:156.04, Y:-132.02, Z:-5.01 [[-6.96091396e-01 -7.17899630e-01 8.76870939e-03 1.56039145e+02] [ 7.17843865e-01 -6.96146621e-01 -8.94806444e-03 -1.32023099e+02] [ 1.25281196e-02 6.58935784e-05 9.99921518e-01 -5.01440492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters 0.012525347719223255 Centerline is valid? [True, True] Translation: X:156.00, Y:-131.98, Z:-5.01 [[-6.96764842e-01 -7.17258015e-01 7.72628038e-03 1.55999648e+02] [ 7.17214736e-01 -6.96807676e-01 -7.87940610e-03 -1.31981882e+02] [ 1.10352987e-02 5.13089957e-05 9.99939108e-01 -5.01289929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters 0.012498148159447135 Centerline is valid? [True, True] Translation: X:155.96, Y:-131.94, Z:-5.01 [[-6.97462898e-01 -7.16587730e-01 6.89423757e-03 1.55959680e+02] [ 7.16553280e-01 -6.97496970e-01 -7.02656656e-03 -1.31941613e+02] [ 9.84386120e-03 3.93190716e-05 9.99951547e-01 -5.01268857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters 0.012270917954737266 Centerline is valid? [True, True] Translation: X:155.92, Y:-131.90, Z:-5.01 [[-6.97942629e-01 -7.16125708e-01 6.32902799e-03 1.55918903e+02] [ 7.16096690e-01 -6.97971324e-01 -6.44685140e-03 -1.31900417e+02] [ 9.03423607e-03 3.26635781e-05 9.99959190e-01 -5.01118484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters 0.01241423181538494 Centerline is valid? [True, True] Translation: X:155.88, Y:-131.86, Z:-5.01 [[-6.96813303e-01 -7.17225680e-01 6.20836470e-03 1.55876885e+02] [ 7.17197834e-01 -6.96840958e-01 -6.32033176e-03 -1.31860517e+02] [ 8.85934705e-03 4.85344631e-05 9.99960754e-01 -5.01159295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters 0.01289361319260211 Centerline is valid? [True, True] Translation: X:155.83, Y:-131.82, Z:-5.01 [[-6.93889929e-01 -7.20044937e-01 7.21498842e-03 1.55833674e+02] [ 7.20007524e-01 -6.93927431e-01 -7.34072505e-03 -1.31822762e+02] [ 1.02923303e-02 1.01190766e-04 9.99947027e-01 -5.01372085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters 0.01335080721482593 Centerline is valid? [True, True] Translation: X:155.79, Y:-131.78, Z:-5.02 [[-6.92405990e-01 -7.21464747e-01 7.90976374e-03 1.55792318e+02] [ 7.21419911e-01 -6.92451154e-01 -8.04433992e-03 -1.31784166e+02] [ 1.12808327e-02 1.36311902e-04 9.99936360e-01 -5.01546731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters 0.013277988910215059 Centerline is valid? [True, True] Translation: X:155.75, Y:-131.74, Z:-5.02 [[-6.92829444e-01 -7.21058355e-01 7.88732549e-03 1.55752276e+02] [ 7.21013803e-01 -6.92874326e-01 -8.01656816e-03 -1.31743622e+02] [ 1.12453388e-02 1.32756084e-04 9.99936760e-01 -5.01597793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters 0.012754441868475592 Centerline is valid? [True, True] Translation: X:155.71, Y:-131.70, Z:-5.01 [[-6.95914803e-01 -7.18093549e-01 6.65148786e-03 1.55714707e+02] [ 7.18061754e-01 -6.95946586e-01 -6.75779020e-03 -1.31700666e+02] [ 9.48180581e-03 7.33327993e-05 9.99955044e-01 -5.01431580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters 0.012047642115193958 Centerline is valid? [True, True] Translation: X:155.68, Y:-131.66, Z:-5.01 [[-7.00468134e-01 -7.13663101e-01 5.41950444e-03 1.55677506e+02] [ 7.13641883e-01 -7.00489099e-01 -5.50318325e-03 -1.31655073e+02] [ 7.72372261e-03 1.27808498e-05 9.99970172e-01 -5.01144135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters 0.012205381706655777 Centerline is valid? [True, True] Translation: X:155.64, Y:-131.61, Z:-5.01 [[-7.03813238e-01 -7.10366208e-01 5.17462046e-03 1.55639449e+02] [ 7.10346796e-01 -7.03832260e-01 -5.25151911e-03 -1.31611317e+02] [ 7.37256652e-03 -2.03136065e-05 9.99972822e-01 -5.01074337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters 0.013290557915996407 Centerline is valid? [True, True] Translation: X:155.60, Y:-131.57, Z:-5.01 [[-7.08060246e-01 -7.06131862e-01 5.33681721e-03 1.55602868e+02] [ 7.06111118e-01 -7.08080355e-01 -5.41290134e-03 -1.31566928e+02] [ 7.60111753e-03 -6.42742852e-05 9.99971109e-01 -5.01229567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters 0.013079794198582292 Centerline is valid? [True, True] Translation: X:155.56, Y:-131.53, Z:-5.01 [[-7.09802417e-01 -7.04377359e-01 5.75023599e-03 1.55561576e+02] [ 7.04353245e-01 -7.09825703e-01 -5.82897599e-03 -1.31526522e+02] [ 8.18746402e-03 -8.72238664e-05 9.99966478e-01 -5.01137444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters 0.014258859116451849 Centerline is valid? [True, True] Translation: X:155.52, Y:-131.49, Z:-5.01 [[-7.09861718e-01 -7.04309744e-01 6.64283562e-03 1.55522514e+02] [ 7.04277601e-01 -7.09892792e-01 -6.72942597e-03 -1.31485401e+02] [ 9.45530140e-03 -9.85615391e-05 9.99955293e-01 -5.01426165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters 0.01286935500914075 Centerline is valid? [True, True] Translation: X:155.48, Y:-131.45, Z:-5.01 [[-7.08881990e-01 -7.05288717e-01 7.35866744e-03 1.55478991e+02] [ 7.05249376e-01 -7.08920177e-01 -7.44990253e-03 -1.31447675e+02] [ 1.04710400e-02 -9.14061150e-05 9.99945173e-01 -5.01269624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters 0.01224949384848423 Centerline is valid? [True, True] Translation: X:155.43, Y:-131.41, Z:-5.01 [[-7.05491044e-01 -7.08675317e-01 7.85380379e-03 1.55434655e+02] [ 7.08630759e-01 -7.05534757e-01 -7.94693759e-03 -1.31409168e+02] [ 1.11729301e-02 -4.10463567e-05 9.99937580e-01 -5.01288801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters 0.012232958936282491 Centerline is valid? [True, True] Translation: X:155.39, Y:-131.37, Z:-5.01 [[-6.99925186e-01 -7.14176203e-01 7.55543663e-03 1.55390028e+02] [ 7.14135336e-01 -6.99965963e-01 -7.64019616e-03 -1.31372767e+02] [ 1.07449948e-02 4.80385620e-05 9.99942270e-01 -5.01277441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters 0.013331809643682305 Centerline is valid? [True, True] Translation: X:155.34, Y:-131.34, Z:-5.01 [[-6.93594124e-01 -7.20332374e-01 6.96147155e-03 1.55343996e+02] [ 7.20298027e-01 -6.93629045e-01 -7.03564191e-03 -1.31336614e+02] [ 9.89667951e-03 1.34454337e-04 9.99951018e-01 -5.01134824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters 0.014141701017401111 Centerline is valid? [True, True] Translation: X:155.30, Y:-131.30, Z:-5.01 [[-6.89996163e-01 -7.23791320e-01 5.60536443e-03 1.55300484e+02] [ 7.23769190e-01 -6.90018915e-01 -5.66183767e-03 -1.31297782e+02] [ 7.96579644e-03 1.50343804e-04 9.99968261e-01 -5.00973569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters 0.01626107685682639 Centerline is valid? [True, True] Translation: X:155.26, Y:-131.26, Z:-5.01 [[-6.84714715e-01 -7.28799199e-01 4.18178492e-03 1.55255225e+02] [ 7.28786990e-01 -6.84727466e-01 -4.22145928e-03 -1.31261257e+02] [ 5.93997913e-03 1.57135154e-04 9.99982346e-01 -5.00798845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters 0.01932292654882501 Centerline is valid? [True, True] Translation: X:155.21, Y:-131.23, Z:-5.01 [[-6.79805340e-01 -7.33380593e-01 4.19584178e-03 1.55208895e+02] [ 7.33368399e-01 -6.79818260e-01 -4.23381784e-03 -1.31226910e+02] [ 5.95740969e-03 1.98925788e-04 9.99982235e-01 -5.00878229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters 0.02155513342191924 Centerline is valid? [True, True] Translation: X:155.16, Y:-131.19, Z:-5.01 [[-6.76454212e-01 -7.36468486e-01 4.88550352e-03 1.55164508e+02] [ 7.36452054e-01 -6.76471802e-01 -4.92673849e-03 -1.31190391e+02] [ 6.93329301e-03 2.65226102e-04 9.99975929e-01 -5.01000682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters 0.022892612243614163 Centerline is valid? [True, True] Translation: X:155.12, Y:-131.15, Z:-5.01 [[-6.75862774e-01 -7.37006344e-01 5.58208494e-03 1.55122332e+02] [ 7.36984929e-01 -6.75885754e-01 -5.62693683e-03 -1.31151829e+02] [ 7.91993983e-03 3.10875337e-04 9.99968589e-01 -5.01097343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters 0.021320493664396416 Centerline is valid? [True, True] Translation: X:155.08, Y:-131.11, Z:-5.01 [[-6.76362599e-01 -7.36537833e-01 6.75686372e-03 1.55083635e+02] [ 7.36506473e-01 -6.76396246e-01 -6.80683339e-03 -1.31110022e+02] [ 9.58380757e-03 3.72586352e-04 9.99954005e-01 -5.01180758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters 0.01939183474636366 Centerline is valid? [True, True] Translation: X:155.05, Y:-131.07, Z:-5.01 [[-6.78709941e-01 -7.34367841e-01 7.52929602e-03 1.55045389e+02] [ 7.34328816e-01 -6.78751594e-01 -7.58053893e-03 -1.31066406e+02] [ 1.06774257e-02 3.83991900e-04 9.99942921e-01 -5.01227362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters 0.018566725999026035 Centerline is valid? [True, True] Translation: X:155.01, Y:-131.02, Z:-5.01 [[-6.81049374e-01 -7.32200751e-01 7.33556266e-03 1.55006544e+02] [ 7.32163627e-01 -6.81088791e-01 -7.38117731e-03 -1.31023645e+02] [ 1.04006731e-02 3.43885973e-04 9.99945852e-01 -5.01188988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters 0.017642365523772827 Centerline is valid? [True, True] Translation: X:154.97, Y:-130.98, Z:-5.01 [[-6.83972051e-01 -7.29483207e-01 6.04017846e-03 1.54968452e+02] [ 7.29457961e-01 -6.83998675e-01 -6.07420420e-03 -1.30979697e+02] [ 8.56250402e-03 2.51470355e-04 9.99963310e-01 -5.01007947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters 0.016742608124769874 Centerline is valid? [True, True] Translation: X:154.93, Y:-130.94, Z:-5.01 [[-6.85628922e-01 -7.27935410e-01 4.79782468e-03 1.54929948e+02] [ 7.27919462e-01 -6.85645684e-01 -4.82210399e-03 -1.30935766e+02] [ 6.79978803e-03 1.86256001e-04 9.99976864e-01 -5.00813830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters 0.017610516323386297 Centerline is valid? [True, True] Translation: X:154.89, Y:-130.90, Z:-5.01 [[-6.84830886e-01 -7.28689118e-01 4.33887857e-03 1.54888189e+02] [ 7.28676107e-01 -6.84844608e-01 -4.35823149e-03 -1.30895990e+02] [ 6.14725346e-03 1.76985614e-04 9.99981090e-01 -5.00800596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters 0.01765325909893402 Centerline is valid? [True, True] Translation: X:154.85, Y:-130.86, Z:-5.01 [[-6.84283820e-01 -7.29203717e-01 4.19439849e-03 1.54847254e+02] [ 7.29191582e-01 -6.84296652e-01 -4.21055686e-03 -1.30855518e+02] [ 5.94056656e-03 1.77304136e-04 9.99982339e-01 -5.00806229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters 0.019719533915096815 Centerline is valid? [True, True] Translation: X:154.80, Y:-130.82, Z:-5.01 [[-6.82232451e-01 -7.31111923e-01 5.85141978e-03 1.54804281e+02] [ 7.31088399e-01 -6.82257489e-01 -5.87126119e-03 -1.30818739e+02] [ 8.28472403e-03 2.72340211e-04 9.99965644e-01 -5.01112502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters 0.0190328257867568 Centerline is valid? [True, True] Translation: X:154.76, Y:-130.78, Z:-5.01 [[-6.81941327e-01 -7.31373598e-01 6.97760079e-03 1.54763992e+02] [ 7.31340199e-01 -6.81976943e-01 -6.99728993e-03 -1.30776594e+02] [ 9.87619597e-03 3.31258770e-04 9.99951174e-01 -5.01219774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters 0.018520230056088764 Centerline is valid? [True, True] Translation: X:154.72, Y:-130.73, Z:-5.01 [[-6.83429928e-01 -7.29984763e-01 6.76605606e-03 1.54724577e+02] [ 7.29953328e-01 -6.83463352e-01 -6.78131456e-03 -1.30733714e+02] [ 9.57460766e-03 3.04351818e-04 9.99954116e-01 -5.01185368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters 0.016825392236233794 Centerline is valid? [True, True] Translation: X:154.69, Y:-130.69, Z:-5.01 [[-6.85810634e-01 -7.27756704e-01 5.82696217e-03 1.54686378e+02] [ 7.27733338e-01 -6.85835347e-01 -5.83665370e-03 -1.30689633e+02] [ 8.24400048e-03 2.37635456e-04 9.99965989e-01 -5.01106009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters 0.015967888055042994 Centerline is valid? [True, True] Translation: X:154.65, Y:-130.65, Z:-5.01 [[-6.89441012e-01 -7.24327597e-01 4.54126421e-03 1.54649415e+02] [ 7.24313343e-01 -6.89455951e-01 -4.54661961e-03 -1.30647042e+02] [ 6.42424369e-03 1.54672237e-04 9.99979352e-01 -5.01016875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters 0.015488499147468044 Centerline is valid? [True, True] Translation: X:154.61, Y:-130.60, Z:-5.01 [[-6.90854973e-01 -7.22980309e-01 4.34496883e-03 1.54609345e+02] [ 7.22967244e-01 -6.90868623e-01 -4.34856672e-03 -1.30604396e+02] [ 6.14573074e-03 1.37041192e-04 9.99981105e-01 -5.01009860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters 0.01614776593731612 Centerline is valid? [True, True] Translation: X:154.57, Y:-130.57, Z:-5.01 [[-6.89943693e-01 -7.23845041e-01 5.10460374e-03 1.54566626e+02] [ 7.23827047e-01 -6.89962555e-01 -5.10674049e-03 -1.30565611e+02] [ 7.21847422e-03 1.71486864e-04 9.99973932e-01 -5.01196419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters 0.016110041085625845 Centerline is valid? [True, True] Translation: X:154.53, Y:-130.53, Z:-5.01 [[-6.89063499e-01 -7.24677262e-01 5.86181469e-03 1.54525074e+02] [ 7.24653591e-01 -6.89088400e-01 -5.86093958e-03 -1.30525448e+02] [ 8.28659815e-03 2.09225532e-04 9.99965644e-01 -5.01314187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters 0.0164525906569225 Centerline is valid? [True, True] Translation: X:154.07, Y:-130.98, Z:-4.03 [[-7.73008698e-01 6.34355836e-01 7.08710464e-03 1.54066831e+02] [ 6.34326093e-01 7.73041142e-01 -6.14822962e-03 -1.30976022e+02] [-9.37878881e-03 -2.57099573e-04 -9.99955985e-01 -4.02572176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters 0.016928282946685407 Centerline is valid? [True, True] Translation: X:154.09, Y:-130.96, Z:-4.03 [[-8.16203101e-01 5.77715132e-01 7.59770217e-03 1.54085979e+02] [ 5.77687056e-01 8.16238419e-01 -5.70159502e-03 -1.30955436e+02] [-9.49543412e-03 -2.64565327e-04 -9.99954882e-01 -4.02542735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters 0.0172318330915456 Centerline is valid? [True, True] Translation: X:154.47, Y:-130.45, Z:-5.01 [[-7.39641922e-01 -6.72966871e-01 6.73925693e-03 1.54470868e+02] [ 6.72941550e-01 -7.39672593e-01 -5.84174958e-03 -1.30449398e+02] [ 8.91614758e-03 2.14323109e-04 9.99960227e-01 -5.01445274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters 0.016228455118163627 Centerline is valid? [True, True] Translation: X:154.05, Y:-130.93, Z:-4.03 [[-8.16732324e-01 5.76975828e-01 6.87062925e-03 1.54052384e+02] [ 5.76953168e-01 8.16761194e-01 -5.11807173e-03 -1.30933971e+02] [-8.56466702e-03 -2.16063298e-04 -9.99963299e-01 -4.02551742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters 0.01555182354278714 Centerline is valid? [True, True] Translation: X:154.07, Y:-130.91, Z:-4.03 [[-8.54966331e-01 5.18632388e-01 7.28149912e-03 1.54065377e+02] [ 5.18611488e-01 8.54997312e-01 -4.66066488e-03 -1.30912670e+02] [-8.64283392e-03 -2.08442458e-04 -9.99962628e-01 -4.02607085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters 0.015293281033595568 Centerline is valid? [True, True] Translation: X:154.08, Y:-130.89, Z:-4.03 [[-8.89777008e-01 4.56326781e-01 7.92121637e-03 1.54076992e+02] [ 4.56306461e-01 8.89812238e-01 -4.31211551e-03 -1.30888913e+02] [-9.01612906e-03 -2.22319033e-04 -9.99959329e-01 -4.02599420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters 0.01663695980778138 Centerline is valid? [True, True] Translation: X:154.09, Y:-130.86, Z:-4.02 [[-9.20657845e-01 3.90244136e-01 9.93206379e-03 1.54089435e+02] [ 3.90217991e-01 9.20711371e-01 -4.52665158e-03 -1.30862392e+02] [-1.09110633e-02 -2.91827306e-04 -9.99940430e-01 -4.02398321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters 0.016387200929291548 Centerline is valid? [True, True] Translation: X:154.36, Y:-130.28, Z:-5.02 [[-8.66683219e-01 -4.98769647e-01 9.43601105e-03 1.54357526e+02] [ 4.98743525e-01 -8.66734540e-01 -5.11197586e-03 -1.30280134e+02] [ 1.07282151e-02 2.75685725e-04 9.99942413e-01 -5.01525570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters 0.015781803817877048 Centerline is valid? [True, True] Translation: X:154.05, Y:-130.85, Z:-4.02 [[-9.21531438e-01 3.88196075e-01 9.14420151e-03 1.54049531e+02] [ 3.88174210e-01 9.21576770e-01 -4.12797552e-03 -1.30848991e+02] [-1.00295476e-02 -2.54516018e-04 -9.99949670e-01 -4.02474654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters 0.015281470141729727 Centerline is valid? [True, True] Translation: X:154.06, Y:-130.83, Z:-4.03 [[-9.45828981e-01 3.24560797e-01 8.23582655e-03 1.54060398e+02] [ 3.24546646e-01 9.45864816e-01 -3.03736303e-03 -1.30827536e+02] [-8.77578753e-03 -1.99916094e-04 -9.99961472e-01 -4.02537994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters 0.0145102203365245 Centerline is valid? [True, True] Translation: X:154.07, Y:-130.81, Z:-4.03 [[-9.65387215e-01 2.60688128e-01 8.32020768e-03 1.54068968e+02] [ 2.60676997e-01 9.65423054e-01 -2.41448231e-03 -1.30806489e+02] [-8.66194718e-03 -1.62023600e-04 -9.99962472e-01 -4.02515113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters 0.01350173789821992 Centerline is valid? [True, True] Translation: X:154.08, Y:-130.79, Z:-4.03 [[-9.80638581e-01 1.95622494e-01 8.93377825e-03 1.54076449e+02] [ 1.95613140e-01 9.80679266e-01 -1.91768177e-03 -1.30785418e+02] [-9.13631279e-03 -1.32988316e-04 -9.99958254e-01 -4.02510232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters 0.013103054735427335 Centerline is valid? [True, True] Translation: X:154.22, Y:-130.13, Z:-5.01 [[-9.58115195e-01 -2.86235444e-01 9.19475199e-03 1.54219150e+02] [ 2.86223898e-01 -9.58159300e-01 -2.57611234e-03 -1.30127448e+02] [ 9.54741179e-03 1.63545376e-04 9.99954409e-01 -5.01490771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters 0.012549963047085609 Centerline is valid? [True, True] Translation: X:154.03, Y:-130.78, Z:-4.03 [[-9.79972475e-01 1.98900730e-01 9.61499768e-03 1.54030132e+02] [ 1.98890425e-01 9.80019640e-01 -2.02602494e-03 -1.30784351e+02] [-9.82586440e-03 -7.31176972e-05 -9.99951722e-01 -4.02553416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters 0.01241567667669388 Centerline is valid? [True, True] Translation: X:154.18, Y:-130.11, Z:-5.01 [[-9.61049550e-01 -2.76228750e-01 9.02447586e-03 1.54178963e+02] [ 2.76216989e-01 -9.61091919e-01 -2.54930722e-03 -1.30113555e+02] [ 9.37754276e-03 4.27029965e-05 9.99956029e-01 -5.01482442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters 0.012279200086075368 Centerline is valid? [True, True] Translation: X:153.98, Y:-130.78, Z:-4.03 [[-9.80044174e-01 1.98530909e-01 9.94460674e-03 1.53984537e+02] [ 1.98520265e-01 9.80094626e-01 -2.05627309e-03 -1.30779865e+02] [-1.01548894e-02 -4.10324969e-05 -9.99948437e-01 -4.02582220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters 0.012324902373436473 Centerline is valid? [True, True] Translation: X:153.99, Y:-130.75, Z:-4.03 [[-9.91818942e-01 1.27236224e-01 1.03018907e-02 1.53988694e+02] [ 1.27228781e-01 9.91872442e-01 -1.37727415e-03 -1.30753600e+02] [-1.03934007e-02 -5.53095880e-05 -9.99945986e-01 -4.02577467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters 0.012594942689466496 Centerline is valid? [True, True] Translation: X:153.97, Y:-130.72, Z:-4.03 [[-9.98470414e-01 5.43837024e-02 9.96223818e-03 1.53971078e+02] [ 5.43802447e-02 9.98520109e-01 -6.17838411e-04 -1.30723024e+02] [-9.98109549e-03 -7.51444237e-05 -9.99950185e-01 -4.02544467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters 0.013190632558424873 Centerline is valid? [True, True] Translation: X:153.98, Y:-130.69, Z:-4.03 [[-9.99729311e-01 -2.12646199e-02 9.44039387e-03 1.53984365e+02] [-2.12647540e-02 9.99773876e-01 8.61776161e-05 -1.30694707e+02] [-9.44009170e-03 -1.14593365e-04 -9.99955435e-01 -4.02665278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters 0.014569919705157837 Centerline is valid? [True, True] Translation: X:153.98, Y:-130.66, Z:-4.03 [[-9.95149143e-01 -9.79860679e-02 8.77004595e-03 1.53976654e+02] [-9.79836547e-02 9.95187774e-01 7.05444335e-04 -1.30664715e+02] [-8.79696623e-03 -1.57298829e-04 -9.99961294e-01 -4.02659054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters 0.015535873023652995 Centerline is valid? [True, True] Translation: X:153.96, Y:-130.64, Z:-4.03 [[-9.84952613e-01 -1.72594949e-01 8.90695316e-03 1.53960599e+02] [-1.72589716e-01 9.84992865e-01 1.35870888e-03 -1.30637383e+02] [-9.00779160e-03 -1.98984656e-04 -9.99959409e-01 -4.02646816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters 0.01715400865895205 Centerline is valid? [True, True] Translation: X:153.95, Y:-130.61, Z:-4.03 [[-9.68650036e-01 -2.48259159e-01 9.19231618e-03 1.53951070e+02] [-2.48250574e-01 9.68693615e-01 2.08158812e-03 -1.30608260e+02] [-9.42131130e-03 -2.65667356e-04 -9.99955583e-01 -4.02633203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters 0.01794814602345802 Centerline is valid? [True, True] Translation: X:153.93, Y:-130.58, Z:-4.03 [[-9.47541976e-01 -3.19491849e-01 9.44256766e-03 1.53933487e+02] [-3.19479186e-01 9.47588975e-01 2.86089653e-03 -1.30584175e+02] [-9.86170613e-03 -3.05884279e-04 -9.99951325e-01 -4.02663723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters 0.017958946436408926 Centerline is valid? [True, True] Translation: X:153.90, Y:-130.57, Z:-4.03 [[-9.21950768e-01 -3.87201680e-01 9.03546985e-03 1.53903413e+02] [-3.87186292e-01 9.21994993e-01 3.46530181e-03 -1.30566685e+02] [-9.67242864e-03 -3.03572410e-04 -9.99953175e-01 -4.02690643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters 0.018514010654543844 Centerline is valid? [True, True] Translation: X:153.86, Y:-130.56, Z:-4.03 [[-8.91241969e-01 -4.53438178e-01 9.03164929e-03 1.53857609e+02] [-4.53418515e-01 8.91287673e-01 4.23497300e-03 -1.30556757e+02] [-9.97009612e-03 -3.20731329e-04 -9.99950246e-01 -4.02635155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters 0.01810815990142365 Centerline is valid? [True, True] Translation: X:153.80, Y:-130.56, Z:-4.03 [[-8.55625417e-01 -5.17491599e-01 1.03726279e-02 1.53804269e+02] [-5.17458883e-01 8.55688204e-01 5.83111050e-03 -1.30556713e+02] [-1.18932861e-02 -3.78162120e-04 -9.99929201e-01 -4.02533728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters 0.01794639468012417 Centerline is valid? [True, True] Translation: X:153.74, Y:-130.57, Z:-4.02 [[-8.15874245e-01 -5.78138509e-01 1.02509093e-02 1.53735375e+02] [-5.78098574e-01 8.15938555e-01 6.80547614e-03 -1.30569653e+02] [-1.22986200e-02 -3.73623352e-04 -9.99924299e-01 -4.02482881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters 0.01676284907429158 Centerline is valid? [True, True] Translation: X:153.67, Y:-130.59, Z:-4.03 [[-7.72697908e-01 -6.34699722e-01 9.70598056e-03 1.53667062e+02] [-6.34654963e-01 7.72758794e-01 7.54480614e-03 -1.30591851e+02] [-1.22890682e-02 -3.30092824e-04 -9.99924432e-01 -4.02560398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters 0.016466730541750497 Centerline is valid? [True, True] Translation: X:153.59, Y:-130.63, Z:-4.03 [[-7.24499882e-01 -6.89221499e-01 8.58173087e-03 1.53588001e+02] [-6.89177771e-01 7.24550649e-01 7.76892216e-03 -1.30626305e+02] [-1.15724069e-02 -2.85754964e-04 -9.99932997e-01 -4.02637397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters 0.01627459747077382 Centerline is valid? [True, True] Translation: X:153.51, Y:-130.67, Z:-4.03 [[-6.70546261e-01 -7.41830159e-01 7.46506878e-03 1.53508955e+02] [-7.41788582e-01 6.70587760e-01 7.85847791e-03 -1.30666739e+02] [-1.08356397e-02 -2.68029805e-04 -9.99941257e-01 -4.02742667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters 0.01647694713367604 Centerline is valid? [True, True] Translation: X:153.43, Y:-130.72, Z:-4.03 [[-6.12768382e-01 -7.90230788e-01 7.08600232e-03 1.53428556e+02] [-7.90183072e-01 6.12809290e-01 8.68831811e-03 -1.30716117e+02] [-1.12081445e-02 -2.75312454e-04 -9.99937149e-01 -4.02693046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters 0.016528247563351393 Centerline is valid? [True, True] Translation: X:153.35, Y:-130.78, Z:-4.03 [[-5.51186398e-01 -8.34359373e-01 6.16367724e-03 1.53347132e+02] [-8.34312489e-01 5.51220796e-01 8.84903242e-03 -1.30777821e+02] [-1.07808202e-02 -2.64966589e-04 -9.99941850e-01 -4.02676595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters 0.01676386344537128 Centerline is valid? [True, True] Translation: X:153.27, Y:-130.85, Z:-4.03 [[-4.85785106e-01 -8.74063841e-01 5.02330506e-03 1.53271006e+02] [-8.74022271e-01 4.85811014e-01 8.52812476e-03 -1.30845375e+02] [-9.89450241e-03 -2.47644510e-04 -9.99951018e-01 -4.02749994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters 0.018548015138154163 Centerline is valid? [True, True] Translation: X:153.19, Y:-130.92, Z:-4.03 [[-4.16805646e-01 -9.08987644e-01 3.81021717e-03 1.53194812e+02] [-9.08954548e-01 4.16822998e-01 7.76000665e-03 -1.30921834e+02] [-8.64193631e-03 -2.28899649e-04 -9.99962632e-01 -4.02818372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters 0.016740277668333376 Centerline is valid? [True, True] Translation: X:153.13, Y:-131.00, Z:-4.03 [[-3.44968059e-01 -9.38607489e-01 3.60820159e-03 1.53130120e+02] [-9.38564063e-01 3.44986823e-01 9.03287592e-03 -1.31004915e+02] [-9.72310699e-03 -2.70474671e-04 -9.99952693e-01 -4.02844076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters 0.017325668870793412 Centerline is valid? [True, True] Translation: X:153.06, Y:-131.10, Z:-4.03 [[-2.71846658e-01 -9.62334764e-01 3.34606360e-03 1.53064959e+02] [-9.62275518e-01 2.71867066e-01 1.06829329e-02 -1.31102431e+02] [-1.11902422e-02 -3.15715483e-04 -9.99937337e-01 -4.02722188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters 0.01689432225099143 Centerline is valid? [True, True] Translation: X:153.01, Y:-131.21, Z:-4.03 [[-1.98028491e-01 -9.80192952e-01 2.54842548e-03 1.53009126e+02] [-9.80130941e-01 1.98044640e-01 1.10299197e-02 -1.31205615e+02] [-1.13161515e-02 -3.13552314e-04 -9.99935921e-01 -4.02786511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters 0.01642735033509574 Centerline is valid? [True, True] Translation: X:152.96, Y:-131.30, Z:-4.03 [[-1.26133937e-01 -9.92012320e-01 1.33703481e-03 1.52964731e+02] [-9.91973060e-01 1.26140844e-01 8.82809187e-03 -1.31301481e+02] [-8.92623059e-03 -2.12780529e-04 -9.99960138e-01 -4.03001689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters 0.013552309761616246 Centerline is valid? [True, True] Translation: X:152.93, Y:-131.41, Z:-4.03 [[-5.73105174e-02 -9.98356242e-01 5.64360000e-04 1.52933190e+02] [-9.98326784e-01 5.73131623e-02 7.67035337e-03 -1.31406641e+02] [-7.69009042e-03 -1.23823783e-04 -9.99970423e-01 -4.03224279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters 0.012450571878391539 Centerline is valid? [True, True] Translation: X:152.91, Y:-131.52, Z:-4.03 [[ 1.23600063e-02 -9.99923612e-01 -2.83209406e-05 1.52906785e+02] [-9.99890699e-01 -1.23598292e-02 8.11328107e-03 -1.31519052e+02] [-8.11301135e-03 -7.19623599e-05 -9.99967086e-01 -4.03152912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters 0.012043025656252176 Centerline is valid? [True, True] Translation: X:152.89, Y:-131.62, Z:-4.03 [[ 7.54944596e-02 -9.97145964e-01 -7.16918989e-04 1.52888803e+02] [-9.97103065e-01 -7.54978617e-02 9.24938411e-03 -1.31619659e+02] [-9.27711188e-03 1.65648665e-05 -9.99956967e-01 -4.03197029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters 0.013029377759486784 Centerline is valid? [True, True] Translation: X:152.88, Y:-131.73, Z:-4.03 [[ 1.44503048e-01 -9.89503338e-01 -1.41897778e-03 1.52879007e+02] [-9.89461322e-01 -1.44509989e-01 9.11897787e-03 -1.31734670e+02] [-9.22831551e-03 8.63035303e-05 -9.99957415e-01 -4.03247081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters 0.013651942041412637 Centerline is valid? [True, True] Translation: X:152.88, Y:-131.85, Z:-4.03 [[ 2.17262363e-01 -9.76110566e-01 -2.28677138e-03 1.52875874e+02] [-9.76062305e-01 -2.17274362e-01 9.70718115e-03 -1.31854484e+02] [-9.97213888e-03 1.23026232e-04 -9.99950269e-01 -4.03233139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters 0.013575079579386974 Centerline is valid? [True, True] Translation: X:152.88, Y:-131.97, Z:-4.03 [[ 2.90212999e-01 -9.56956880e-01 -3.15346032e-03 1.52879664e+02] [-9.56905651e-01 -2.90230095e-01 9.90287882e-03 -1.31973900e+02] [-1.03918571e-02 1.43619838e-04 -9.99945993e-01 -4.03316736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters 0.013195591743401848 Centerline is valid? [True, True] Translation: X:152.89, Y:-132.10, Z:-4.03 [[ 3.65107342e-01 -9.30956096e-01 -4.16838511e-03 1.52889112e+02] [-9.30899320e-01 -3.65131115e-01 1.02822772e-02 -1.32095595e+02] [-1.10943558e-02 1.26211955e-04 -9.99938448e-01 -4.03298494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters 0.012910779447311548 Centerline is valid? [True, True] Translation: X:152.91, Y:-132.22, Z:-4.03 [[ 4.37604501e-01 -8.99152020e-01 -5.28633498e-03 1.52908512e+02] [-8.99089322e-01 -4.37636417e-01 1.06187617e-02 -1.32215513e+02] [-1.18613737e-02 1.06069399e-04 -9.99929646e-01 -4.03216212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters 0.012503792412550238 Centerline is valid? [True, True] Translation: X:152.94, Y:-132.34, Z:-4.03 [[ 5.08583366e-01 -8.60988250e-01 -6.49559487e-03 1.52936860e+02] [-8.60919598e-01 -5.08624841e-01 1.08727579e-02 -1.32335470e+02] [-1.26651377e-02 6.24811177e-05 -9.99919792e-01 -4.03205469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters 0.012388227264278687 Centerline is valid? [True, True] Translation: X:152.97, Y:-132.44, Z:-4.03 [[ 5.75960026e-01 -8.17439137e-01 -7.95648450e-03 1.52965270e+02] [-8.17361509e-01 -5.76014980e-01 1.12652769e-02 -1.32439421e+02] [-1.37917325e-02 1.49749740e-05 -9.99904889e-01 -4.03217080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters 0.012333375929967883 Centerline is valid? [True, True] Translation: X:153.01, Y:-132.55, Z:-4.03 [[ 6.38402743e-01 -7.69654976e-01 -8.55307827e-03 1.53008861e+02] [-7.69585559e-01 -6.38460036e-01 1.03368270e-02 -1.32549100e+02] [-1.34165890e-02 -1.67331879e-05 -9.99909993e-01 -4.03250787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters 0.012273635434361203 Centerline is valid? [True, True] Translation: X:153.05, Y:-132.65, Z:-4.03 [[ 6.97569743e-01 -7.16470895e-01 -8.11851434e-03 1.53052379e+02] [-7.16421449e-01 -6.97616982e-01 8.41754374e-03 -1.32647918e+02] [-1.16945386e-02 -5.55460176e-05 -9.99931615e-01 -4.03425107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters 0.01258032780914256 Centerline is valid? [True, True] Translation: X:153.10, Y:-132.74, Z:-4.03 [[ 7.52576046e-01 -6.58457619e-01 -7.92839356e-03 1.53104186e+02] [-6.58419764e-01 -7.52617801e-01 7.06117217e-03 -1.32743804e+02] [-1.06165327e-02 -9.38580188e-05 -9.99943639e-01 -4.03497640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters 0.01349930225327889 Centerline is valid? [True, True] Translation: X:153.12, Y:-132.78, Z:-4.03 [[ 8.04407628e-01 -5.94000826e-01 -9.55961569e-03 1.53124035e+02] [-5.93956511e-01 -8.04464414e-01 7.25742997e-03 -1.32775981e+02] [-1.20012900e-02 -1.59936049e-04 -9.99927969e-01 -4.03351867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters 0.014363385183416726 Centerline is valid? [True, True] Translation: X:153.15, Y:-132.80, Z:-4.03 [[ 8.49933263e-01 -5.26760437e-01 -1.17000297e-02 1.53148263e+02] [-5.26706841e-01 -8.50013759e-01 7.51751477e-03 -1.32803237e+02] [-1.39051156e-02 -2.26900189e-04 -9.99903294e-01 -4.03127525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters 0.01465392854095173 Centerline is valid? [True, True] Translation: X:153.17, Y:-132.83, Z:-4.03 [[ 8.89940630e-01 -4.55867882e-01 -1.37894962e-02 1.53173452e+02] [-4.55807839e-01 -8.90047404e-01 7.40487090e-03 -1.32831021e+02] [-1.56489481e-02 -3.04534999e-04 -9.99877501e-01 -4.03073811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters 0.014693706340178914 Centerline is valid? [True, True] Translation: X:153.20, Y:-132.85, Z:-4.03 [[ 9.23033860e-01 -3.84452174e-01 -1.43184889e-02 1.53202180e+02] [-3.84400664e-01 -9.23144858e-01 6.30086419e-03 -1.32854207e+02] [-1.56404204e-02 -3.11874333e-04 -9.99877633e-01 -4.03091063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters 0.014793678274129028 Centerline is valid? [True, True] Translation: X:153.23, Y:-132.87, Z:-4.03 [[ 9.49755203e-01 -3.12611405e-01 -1.54649403e-02 1.53232735e+02] [-3.12564792e-01 -9.49881055e-01 5.40668952e-03 -1.32873366e+02] [-1.63800467e-02 -3.01235644e-04 -9.99865793e-01 -4.02999998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters 0.013428669559452384 Centerline is valid? [True, True] Translation: X:153.27, Y:-132.88, Z:-4.03 [[ 9.69920381e-01 -2.42983446e-01 -1.46116442e-02 1.53267063e+02] [-2.42952909e-01 -9.70030416e-01 3.85685428e-03 -1.32884886e+02] [-1.51108911e-02 -1.90900100e-04 -9.99885806e-01 -4.03075777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters 0.012422161515400357 Centerline is valid? [True, True] Translation: X:153.30, Y:-132.89, Z:-4.03 [[ 9.84508426e-01 -1.74880662e-01 -1.26456637e-02 1.53302172e+02] [-1.74865559e-01 -9.84589636e-01 2.29892866e-03 -1.32893168e+02] [-1.28528276e-02 -5.20235926e-05 -9.99917398e-01 -4.03276400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters 0.012547459928883387 Centerline is valid? [True, True] Translation: X:153.33, Y:-132.90, Z:-4.03 [[ 9.94635489e-01 -1.02730370e-01 -1.21125658e-02 1.53331958e+02] [-1.02722970e-01 -9.94709239e-01 1.23315764e-03 -1.32899479e+02] [-1.21751638e-02 1.76963762e-05 -9.99925880e-01 -4.03278384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters 0.012945693789719513 Centerline is valid? [True, True] Translation: X:153.36, Y:-132.90, Z:-4.03 [[ 9.99434915e-01 -3.15366193e-02 -1.16315042e-02 1.53362770e+02] [-3.15356254e-02 -9.99502592e-01 2.68893030e-04 -1.32904709e+02] [-1.16341986e-02 9.80656772e-05 -9.99932316e-01 -4.03404262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters 0.014259408788358878 Centerline is valid? [True, True] Translation: X:153.39, Y:-132.91, Z:-4.03 [[ 9.99119404e-01 3.99158207e-02 -1.29284444e-02 1.53393482e+02] [ 3.99099156e-02 -9.99203026e-01 -7.14532826e-04 -1.32908420e+02] [-1.29466619e-02 1.97930488e-04 -9.99916169e-01 -4.03284995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters 0.015967038235995157 Centerline is valid? [True, True] Translation: X:153.42, Y:-132.91, Z:-4.03 [[ 9.93604503e-01 1.12121571e-01 -1.33732807e-02 1.53423493e+02] [ 1.12107529e-01 -9.93694456e-01 -1.79743261e-03 -1.32908543e+02] [-1.34904858e-02 2.86691687e-04 -9.99908958e-01 -4.03233746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters 0.017256567239148462 Centerline is valid? [True, True] Translation: X:153.45, Y:-132.91, Z:-4.03 [[ 9.83145274e-01 1.82336679e-01 -1.33680594e-02 1.53454533e+02] [ 1.82314402e-01 -9.83236077e-01 -2.87688175e-03 -1.32909924e+02] [-1.36685194e-02 3.91202943e-04 -9.99906505e-01 -4.03318143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters 0.01965143391162552 Centerline is valid? [True, True] Translation: X:153.49, Y:-132.91, Z:-4.03 [[ 9.68634551e-01 2.48214912e-01 -1.16817799e-02 1.53486131e+02] [ 2.48190840e-01 -9.68704870e-01 -3.49015792e-03 -1.32910031e+02] [-1.21825063e-02 4.81376795e-04 -9.99925675e-01 -4.03438033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters 0.02219531006577927 Centerline is valid? [True, True] Translation: X:153.52, Y:-132.91, Z:-4.04 [[ 9.48594668e-01 3.16322516e-01 -1.04030206e-02 1.53517747e+02] [ 3.16297407e-01 -9.48651566e-01 -4.01959254e-03 -1.32908321e+02] [-1.11403294e-02 5.22515614e-04 -9.99937808e-01 -4.03598281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters 0.022389853982104642 Centerline is valid? [True, True] Translation: X:153.55, Y:-132.91, Z:-4.04 [[ 9.20742687e-01 3.90049761e-01 -9.69988525e-03 1.53551633e+02] [ 3.90022355e-01 -9.20793644e-01 -4.65059059e-03 -1.32909683e+02] [-1.07455544e-02 4.98825190e-04 -9.99942140e-01 -4.03634626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters 0.020920580843985282 Centerline is valid? [True, True] Translation: X:153.59, Y:-132.91, Z:-4.04 [[ 8.84887436e-01 4.65712002e-01 -9.30360280e-03 1.53586717e+02] [ 4.65680970e-01 -8.84936233e-01 -5.39421235e-03 -1.32909936e+02] [-1.07452447e-02 4.40759959e-04 -9.99942171e-01 -4.03659492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters 0.01695695493899851 Centerline is valid? [True, True] Translation: X:153.63, Y:-132.91, Z:-4.04 [[ 8.38129956e-01 5.45394149e-01 -9.13232167e-03 1.53626656e+02] [ 5.45357853e-01 -8.38179654e-01 -6.29918198e-03 -1.32913616e+02] [-1.10900632e-02 2.99149776e-04 -9.99938459e-01 -4.03604032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters 0.013190024791998383 Centerline is valid? [True, True] Translation: X:153.67, Y:-132.91, Z:-4.04 [[ 7.81755840e-01 6.23519402e-01 -9.02006553e-03 1.53668426e+02] [ 6.23476360e-01 -7.81807869e-01 -7.32691406e-03 -1.32914432e+02] [-1.16204313e-02 1.04060230e-04 -9.99932475e-01 -4.03577153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters 0.012430742643274756 Centerline is valid? [True, True] Translation: X:153.71, Y:-132.91, Z:-4.04 [[ 7.21648499e-01 6.92211688e-01 -8.15003507e-03 1.53709973e+02] [ 6.92168255e-01 -7.21694518e-01 -7.75430438e-03 -1.32909376e+02] [-1.12494558e-02 -4.53134336e-05 -9.99936722e-01 -4.03653098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters 0.015532524327526253 Centerline is valid? [True, True] Translation: X:153.75, Y:-132.90, Z:-4.04 [[ 6.52868931e-01 7.57436695e-01 -7.19805199e-03 1.53751597e+02] [ 7.57394354e-01 -6.52908573e-01 -8.01174209e-03 -1.32902748e+02] [-1.07680573e-02 -2.21146439e-04 -9.99941998e-01 -4.03576593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters 0.01801800962239058 Centerline is valid? [True, True] Translation: X:153.79, Y:-132.88, Z:-4.04 [[ 5.84054889e-01 8.11692909e-01 -5.87433222e-03 1.53786336e+02] [ 8.11656722e-01 -5.84084359e-01 -7.66994443e-03 -1.32884509e+02] [-9.65674508e-03 -2.88272691e-04 -9.99953331e-01 -4.03741331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters 0.01824017532634093 Centerline is valid? [True, True] Translation: X:153.82, Y:-132.86, Z:-4.04 [[ 5.17008771e-01 8.55963437e-01 -5.34090585e-03 1.53815142e+02] [ 8.55923857e-01 -5.17036263e-01 -8.23737460e-03 -1.32860996e+02] [-9.81233348e-03 -3.12613814e-04 -9.99951809e-01 -4.03804171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters 0.017648671636237373 Centerline is valid? [True, True] Translation: X:153.84, Y:-132.83, Z:-4.04 [[ 4.49483782e-01 8.93274552e-01 -4.99047117e-03 1.53840593e+02] [ 8.93227186e-01 -4.49511370e-01 -9.20441815e-03 -1.32834095e+02] [-1.04653460e-02 -3.20387842e-04 -9.99945185e-01 -4.03727553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters 0.01716756505922463 Centerline is valid? [True, True] Translation: X:153.86, Y:-132.81, Z:-4.04 [[ 3.81402819e-01 9.24393744e-01 -5.30055430e-03 1.53860760e+02] [ 9.24316946e-01 -3.81439487e-01 -1.19206638e-02 -1.32805666e+02] [-1.30412278e-02 -3.52817369e-04 -9.99914897e-01 -4.03501804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters 0.016427044309771318 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.77, Z:-4.03 [[ 3.10672204e-01 9.50503961e-01 -5.00021354e-03 1.53877664e+02] [ 9.50398929e-01 -3.10712230e-01 -1.41345755e-02 -1.32773735e+02] [-1.49885975e-02 -3.60977869e-04 -9.99887600e-01 -4.03349343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters 0.015391513355876518 Centerline is valid? [True, True] Translation: X:153.89, Y:-132.74, Z:-4.03 [[ 2.40454292e-01 9.70651721e-01 -4.11946110e-03 1.53885900e+02] [ 9.70529817e-01 -2.40489392e-01 -1.53859389e-02 -1.32739845e+02] [-1.59250747e-02 -2.98444779e-04 -9.99873143e-01 -4.03315410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters 0.014207464755498547 Centerline is valid? [True, True] Translation: X:153.89, Y:-132.71, Z:-4.03 [[ 1.69104742e-01 9.85594240e-01 -2.75337654e-03 1.53889688e+02] [ 9.85482236e-01 -1.69127037e-01 -1.48596413e-02 -1.32705659e+02] [-1.51112473e-02 -2.00567863e-04 -9.99885799e-01 -4.03419156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters 0.013739703673188428 Centerline is valid? [True, True] Translation: X:153.89, Y:-132.67, Z:-4.03 [[ 9.43701169e-02 9.95536095e-01 -1.47123016e-03 1.53892882e+02] [ 9.95437849e-01 -9.43814737e-02 -1.39866760e-02 -1.32672545e+02] [-1.40630977e-02 -1.44593939e-04 -9.99901099e-01 -4.03487494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters 0.013279788614433746 Centerline is valid? [True, True] Translation: X:153.89, Y:-132.64, Z:-4.03 [[ 2.03431033e-02 9.99792998e-01 -3.45573440e-04 1.53887651e+02] [ 9.99707363e-01 -2.03458839e-02 -1.30856479e-02 -1.32640427e+02] [-1.30899701e-02 -7.92696254e-05 -9.99914320e-01 -4.03493794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters 0.01316479512510992 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.61, Z:-4.03 [[-5.64074244e-02 9.98407600e-01 6.82567427e-04 1.53883343e+02] [ 9.98321630e-01 5.64115245e-02 -1.31020343e-02 -1.32608245e+02] [-1.31196753e-02 -5.76301838e-05 -9.99913932e-01 -4.03488947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters 0.012716685478585213 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.58, Z:-4.04 [[-1.33268756e-01 9.91078477e-01 1.70009479e-03 1.53883537e+02] [ 9.90993771e-01 1.33279593e-01 -1.29574525e-02 -1.32576604e+02] [-1.30684402e-02 -4.20402271e-05 -9.99914603e-01 -4.03738791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters 0.013173801618350087 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.55, Z:-4.03 [[-2.10067591e-01 9.77682491e-01 2.92485674e-03 1.53882088e+02] [ 9.77585106e-01 2.10087949e-01 -1.37990388e-02 -1.32546000e+02] [-1.41055557e-02 -3.94344536e-05 -9.99900511e-01 -4.03432258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters 0.012621184990083363 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.51, Z:-4.04 [[-2.86759154e-01 9.57994083e-01 4.06506826e-03 1.53882109e+02] [ 9.57895272e-01 2.86787961e-01 -1.37590894e-02 -1.32513982e+02] [-1.43469389e-02 -5.16351757e-05 -9.99897076e-01 -4.03825633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters 0.012976237144369485 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.48, Z:-4.04 [[-3.63085350e-01 9.31741795e-01 5.12407856e-03 1.53880553e+02] [ 9.31645676e-01 3.63121495e-01 -1.33833304e-02 -1.32482716e+02] [-1.43304713e-02 -8.54655552e-05 -9.99897310e-01 -4.03632778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters 0.012877680408324798 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.45, Z:-4.04 [[-4.36595533e-01 8.99636192e-01 6.25007943e-03 1.53875664e+02] [ 8.99540299e-01 4.36640252e-01 -1.31354800e-02 -1.32450538e+02] [-1.45461895e-02 -1.12693584e-04 -9.99894192e-01 -4.03776235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters 0.013304641008996459 Centerline is valid? [True, True] Translation: X:153.87, Y:-132.42, Z:-4.04 [[-5.06979218e-01 8.61927252e-01 7.31336296e-03 1.53867989e+02] [ 8.61833705e-01 5.07031946e-01 -1.26992575e-02 -1.32420285e+02] [-1.46539447e-02 -1.35356930e-04 -9.99892616e-01 -4.03712057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters 0.013135676241946727 Centerline is valid? [True, True] Translation: X:153.86, Y:-132.39, Z:-4.04 [[-5.73949662e-01 8.18852722e-01 7.87434098e-03 1.53857231e+02] [ 8.18772152e-01 5.74003657e-01 -1.14875612e-02 -1.32390092e+02] [-1.39265213e-02 -1.45990746e-04 -9.99903011e-01 -4.03882977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters 0.013374989958129947 Centerline is valid? [True, True] Translation: X:153.84, Y:-132.36, Z:-4.04 [[-6.37433877e-01 7.70459503e-01 8.37890178e-03 1.53844037e+02] [ 7.70389642e-01 6.37488924e-01 -1.03764752e-02 -1.32361430e+02] [-1.33361110e-02 -1.59297682e-04 -9.99911057e-01 -4.03999816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters 0.013702686831238167 Centerline is valid? [True, True] Translation: X:153.83, Y:-132.33, Z:-4.04 [[-6.97174783e-01 7.16848568e-01 8.68633433e-03 1.53828287e+02] [ 7.16789797e-01 6.97228872e-01 -9.18082446e-03 -1.32334701e+02] [-1.26376240e-02 -1.74363482e-04 -9.99920127e-01 -4.03973738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters 0.014186357057675607 Centerline is valid? [True, True] Translation: X:153.81, Y:-132.31, Z:-4.04 [[-7.52674403e-01 6.58321671e-01 9.68613892e-03 1.53811270e+02] [ 6.58263555e-01 7.52736696e-01 -8.74976470e-03 -1.32307360e+02] [-1.30512719e-02 -2.09691682e-04 -9.99914807e-01 -4.03946546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters 0.014742737776905742 Centerline is valid? [True, True] Translation: X:153.83, Y:-132.29, Z:-4.04 [[-7.99722977e-01 6.00273830e-01 1.06999933e-02 1.53830344e+02] [ 6.00215535e-01 7.99794509e-01 -8.36995316e-03 -1.32288425e+02] [-1.35820598e-02 -2.71341638e-04 -9.99907723e-01 -4.03882748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters 0.015910615919276474 Centerline is valid? [True, True] Translation: X:153.84, Y:-132.26, Z:-4.04 [[-8.42140246e-01 5.39127000e-01 1.19115617e-02 1.53843123e+02] [ 5.39067343e-01 8.42224414e-01 -8.02719489e-03 -1.32264150e+02] [-1.43598856e-02 -3.38889930e-04 -9.99896834e-01 -4.03843838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters 0.015316306976816074 Centerline is valid? [True, True] Translation: X:153.85, Y:-132.24, Z:-4.04 [[-8.78764329e-01 4.77075617e-01 1.31190533e-02 1.53854830e+02] [ 4.77016040e-01 8.78862171e-01 -7.54871105e-03 -1.32244397e+02] [-1.51311456e-02 -3.75539161e-04 -9.99885447e-01 -4.03890306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters 0.01568232883324266 Centerline is valid? [True, True] Translation: X:153.87, Y:-132.22, Z:-4.04 [[-9.09925955e-01 4.14535596e-01 1.39641380e-02 1.53868227e+02] [ 4.14480496e-01 9.10033023e-01 -6.76877721e-03 -1.32222756e+02] [-1.55137258e-02 -3.71223216e-04 -9.99879586e-01 -4.03765088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters 0.015077592179924337 Centerline is valid? [True, True] Translation: X:153.88, Y:-132.20, Z:-4.04 [[-9.35861723e-01 3.52036689e-01 1.52645372e-02 1.53876973e+02] [ 3.51983906e-01 9.35986140e-01 -6.10545589e-03 -1.32203376e+02] [-1.64367397e-02 -3.40991038e-04 -9.99864850e-01 -4.03656783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters 0.01438899902464381 Centerline is valid? [True, True] Translation: X:154.13, Y:-131.59, Z:-5.00 [[-8.93771603e-01 -4.48231395e-01 1.61535614e-02 1.54130770e+02] [ 4.48167274e-01 -8.93917453e-01 -7.59484417e-03 -1.31588316e+02] [ 1.78441980e-02 4.51441511e-04 9.99840678e-01 -5.00400592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters 0.013614258427767994 Centerline is valid? [True, True] Translation: X:153.84, Y:-132.21, Z:-4.04 [[-9.34209330e-01 3.56316987e-01 1.70626251e-02 1.53835119e+02] [ 3.56253061e-01 9.34365106e-01 -6.75313894e-03 -1.32205195e+02] [-1.83489797e-02 -2.30232968e-04 -9.99831617e-01 -4.03623833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters 0.013259291816851185 Centerline is valid? [True, True] Translation: X:153.84, Y:-132.18, Z:-4.04 [[-9.56331437e-01 2.91835259e-01 1.61976729e-02 1.53841379e+02] [ 2.91790467e-01 9.56468585e-01 -5.11557982e-03 -1.32184552e+02] [-1.69854718e-02 -1.65863255e-04 -9.99855723e-01 -4.03677897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters 0.012443200602923952 Centerline is valid? [True, True] Translation: X:154.07, Y:-131.51, Z:-5.00 [[-9.29216620e-01 -3.69315531e-01 1.27480376e-02 1.54066321e+02] [ 3.69280011e-01 -9.29304060e-01 -5.12221153e-03 -1.31511475e+02] [ 1.37385154e-02 -5.20486068e-05 9.99905621e-01 -5.00035608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters 0.012188916014030176 Centerline is valid? [True, True] Translation: X:153.80, Y:-132.19, Z:-4.04 [[-9.54984711e-01 2.96420982e-01 1.17814374e-02 1.53796184e+02] [ 2.96398221e-01 9.55057381e-01 -3.67339649e-03 -1.32189264e+02] [-1.23408206e-02 -1.60404058e-05 -9.99923849e-01 -4.04126160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters 0.012053336862894892 Centerline is valid? [True, True] Translation: X:154.03, Y:-131.49, Z:-5.00 [[-9.32374204e-01 -3.61311526e-01 1.15032771e-02 1.54027658e+02] [ 3.61284234e-01 -9.32445162e-01 -4.44085713e-03 -1.31487820e+02] [ 1.23307080e-02 1.54120394e-05 9.99923974e-01 -4.99799343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters 0.012011252646351165 Centerline is valid? [True, True] Translation: X:153.75, Y:-132.18, Z:-4.04 [[-9.56797432e-01 2.90471465e-01 1.28453055e-02 1.53753355e+02] [ 2.90444566e-01 9.56883653e-01 -3.95335425e-03 -1.32180857e+02] [-1.34397994e-02 -5.17100248e-05 -9.99909681e-01 -4.04125521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters 0.012612757640020384 Centerline is valid? [True, True] Translation: X:153.75, Y:-132.15, Z:-4.04 [[-9.76561605e-01 2.14729867e-01 1.47822545e-02 1.53753925e+02] [ 2.14702636e-01 9.76673464e-01 -3.42387259e-03 -1.32148917e+02] [-1.51726434e-02 -1.69833505e-04 -9.99884874e-01 -4.03973367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters 0.013308113904120903 Centerline is valid? [True, True] Translation: X:153.93, Y:-131.44, Z:-5.00 [[-9.51951251e-01 -3.05889793e-01 1.48408480e-02 1.53925536e+02] [ 3.05855853e-01 -9.52066907e-01 -4.56083367e-03 -1.31438969e+02] [ 1.55245927e-02 1.97468909e-04 9.99879467e-01 -5.00022972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters 0.013281696160441525 Centerline is valid? [True, True] Translation: X:153.71, Y:-132.13, Z:-4.04 [[-9.78513660e-01 2.05683375e-01 1.43305897e-02 1.53711278e+02] [ 2.05657662e-01 9.78618562e-01 -3.26130033e-03 -1.32134115e+02] [-1.46949763e-02 -2.44031352e-04 -9.99891993e-01 -4.04032719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters 0.012966489890277743 Centerline is valid? [True, True] Translation: X:153.88, Y:-131.43, Z:-5.00 [[-9.53369567e-01 -3.01551265e-01 1.23815617e-02 1.53876025e+02] [ 3.01527313e-01 -9.53449958e-01 -3.80219685e-03 -1.31429977e+02] [ 1.29517567e-02 1.08480262e-04 9.99916117e-01 -4.99786983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters 0.012758707583648592 Centerline is valid? [True, True] Translation: X:153.67, Y:-132.12, Z:-4.04 [[-9.78842129e-01 2.04275274e-01 1.18194643e-02 1.53665241e+02] [ 2.04258254e-01 9.78913471e-01 -2.64251716e-03 -1.32123506e+02] [-1.21100338e-02 -1.72383972e-04 -9.99926656e-01 -4.04247800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters 0.012444391097847205 Centerline is valid? [True, True] Translation: X:153.66, Y:-132.10, Z:-4.04 [[-9.90850416e-01 1.34432784e-01 1.19699363e-02 1.53664096e+02] [ 1.34420890e-01 9.90922700e-01 -1.79635480e-03 -1.32095859e+02] [-1.21027706e-02 -1.70909404e-04 -9.99926744e-01 -4.04291635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters 0.012517652741654003 Centerline is valid? [True, True] Translation: X:153.78, Y:-131.39, Z:-5.00 [[-9.73258827e-01 -2.29412359e-01 1.17143401e-02 1.53780859e+02] [ 2.29397751e-01 -9.73329309e-01 -2.59401441e-03 -1.31385576e+02] [ 1.19970095e-02 1.62595849e-04 9.99928020e-01 -4.99774341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters 0.013098747417637838 Centerline is valid? [True, True] Translation: X:153.62, Y:-132.09, Z:-4.04 [[-9.91741436e-01 1.27654997e-01 1.23744161e-02 1.53616472e+02] [ 1.27642372e-01 9.91818611e-01 -1.80796863e-03 -1.32085402e+02] [-1.25039724e-02 -2.13537587e-04 -9.99921800e-01 -4.04062572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters 0.013525199680946539 Centerline is valid? [True, True] Translation: X:153.62, Y:-132.06, Z:-4.04 [[-9.98417945e-01 5.45452539e-02 1.36536476e-02 1.53618636e+02] [ 5.45364946e-02 9.98511264e-01 -1.01332027e-03 -1.32056369e+02] [-1.36885927e-02 -2.67095063e-04 -9.99906271e-01 -4.03944693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters 0.014001232190604224 Centerline is valid? [True, True] Translation: X:153.68, Y:-131.35, Z:-5.00 [[-9.86600204e-01 -1.62579252e-01 1.37122321e-02 1.53677840e+02] [ 1.62567503e-01 -9.86695448e-01 -1.97456760e-03 -1.31352696e+02] [ 1.38508207e-02 2.81054541e-04 9.99904033e-01 -5.00110721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters 0.014140627317829328 Centerline is valid? [True, True] Translation: X:153.57, Y:-132.05, Z:-4.04 [[-9.98797004e-01 4.72386933e-02 1.31548754e-02 1.53567206e+02] [ 4.72306332e-02 9.98883585e-01 -9.22874615e-04 -1.32049673e+02] [-1.31837845e-02 -3.00451303e-04 -9.99913045e-01 -4.03908001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters 0.014160213472574 Centerline is valid? [True, True] Translation: X:153.56, Y:-132.02, Z:-4.04 [[-9.99695643e-01 -2.19345254e-02 1.12914983e-02 1.53562749e+02] [-2.19357984e-02 9.99759381e-01 1.11137879e-05 -1.32021585e+02] [-1.12890251e-02 -2.36577624e-04 -9.99936249e-01 -4.03942290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters 0.014470519637942502 Centerline is valid? [True, True] Translation: X:153.56, Y:-132.00, Z:-4.04 [[-9.95842555e-01 -9.04385569e-02 1.08845268e-02 1.53555855e+02] [-9.04353619e-02 9.95902017e-01 7.86370750e-04 -1.31995354e+02] [-1.09110404e-02 -2.01244663e-04 -9.99940453e-01 -4.03862292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters 0.012717680983940237 Centerline is valid? [True, True] Translation: X:153.52, Y:-131.29, Z:-5.00 [[-9.99866448e-01 -1.27637908e-02 1.02064654e-02 1.53518306e+02] [ 1.27645784e-02 -9.99918529e-01 1.20266731e-05 -1.31293296e+02] [ 1.02054803e-02 1.42306294e-04 9.99947913e-01 -4.99946878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters 0.012582095486943074 Centerline is valid? [True, True] Translation: X:153.49, Y:-132.00, Z:-4.04 [[-9.95482295e-01 -9.44711582e-02 9.49740963e-03 1.53491742e+02] [-9.44684488e-02 9.95527585e-01 7.34494512e-04 -1.32004580e+02] [-9.52432182e-03 -1.66029273e-04 -9.99954629e-01 -4.03983996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters 0.01263141713832526 Centerline is valid? [True, True] Translation: X:153.48, Y:-131.98, Z:-4.04 [[-9.86233434e-01 -1.65095234e-01 9.33687427e-03 1.53483183e+02] [-1.65089413e-01 9.86277616e-01 1.39602809e-03 -1.31978641e+02] [-9.43922769e-03 -1.64609518e-04 -9.99955436e-01 -4.03962581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters 0.012762673628751706 Centerline is valid? [True, True] Translation: X:153.38, Y:-131.28, Z:-5.00 [[-9.97916328e-01 6.38314553e-02 9.40997783e-03 1.53383459e+02] [-6.38270610e-02 -9.97960680e-01 7.66861364e-04 -1.31277280e+02] [ 9.43973775e-03 1.64652248e-04 9.99955431e-01 -5.00097228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters 0.012641983877677837 Centerline is valid? [True, True] Translation: X:153.39, Y:-131.99, Z:-4.04 [[-9.85504663e-01 -1.69408451e-01 9.01861482e-03 1.53390704e+02] [-1.69402676e-01 9.85545918e-01 1.40595503e-03 -1.31992494e+02] [-9.12643968e-03 -1.42202249e-04 -9.99958343e-01 -4.03780511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters 0.012573312832599786 Centerline is valid? [True, True] Translation: X:153.38, Y:-131.97, Z:-4.04 [[-9.71077334e-01 -2.38612004e-01 8.55122276e-03 1.53380321e+02] [-2.38603940e-01 9.71114975e-01 1.96613254e-03 -1.31967502e+02] [-8.77336330e-03 -1.31088698e-04 -9.99961505e-01 -4.03802794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters 0.012550136282577734 Centerline is valid? [True, True] Translation: X:153.36, Y:-131.94, Z:-4.04 [[-9.51246937e-01 -3.08335279e-01 7.65640756e-03 1.53360701e+02] [-3.08326364e-01 9.51277741e-01 2.34810868e-03 -1.31944531e+02] [-8.00737483e-03 -1.27041113e-04 -9.99967932e-01 -4.03889488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters 0.013360852512773629 Centerline is valid? [True, True] Translation: X:153.32, Y:-131.93, Z:-4.04 [[-9.25622220e-01 -3.78379768e-01 7.22889571e-03 1.53323339e+02] [-3.78369431e-01 9.25650436e-01 2.80055504e-03 -1.31926031e+02] [-7.75110384e-03 -1.42937184e-04 -9.99969950e-01 -4.03852168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters 0.013558690982284141 Centerline is valid? [True, True] Translation: X:153.27, Y:-131.92, Z:-4.04 [[-8.94567538e-01 -4.46862646e-01 7.91801308e-03 1.53272760e+02] [-4.46846904e-01 8.94602562e-01 3.75507587e-03 -1.31916802e+02] [-8.76147793e-03 -1.78970653e-04 -9.99961602e-01 -4.03766120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters 0.013822122282305995 Centerline is valid? [True, True] Translation: X:153.21, Y:-131.92, Z:-4.04 [[-8.58681602e-01 -5.12439179e-01 8.48491802e-03 1.53210120e+02] [-5.12416568e-01 8.58723497e-01 4.81834517e-03 -1.31918366e+02] [-9.75530731e-03 -2.10388224e-04 -9.99952394e-01 -4.03722485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters 0.013559833620140337 Centerline is valid? [True, True] Translation: X:153.14, Y:-131.93, Z:-4.04 [[-8.18098986e-01 -5.75011975e-01 8.67629411e-03 1.53140363e+02] [-5.74982588e-01 8.18144961e-01 5.81783140e-03 -1.31930910e+02] [-1.04437890e-02 -2.29156074e-04 -9.99945436e-01 -4.03767660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters 0.014093051157442402 Centerline is valid? [True, True] Translation: X:153.06, Y:-131.96, Z:-4.04 [[-7.73078288e-01 -6.34270931e-01 7.09560942e-03 1.53057879e+02] [-6.34246550e-01 7.73110824e-01 5.56474182e-03 -1.31955686e+02] [-9.01524642e-03 -1.98384721e-04 -9.99959342e-01 -4.03843395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters 0.013734349068959517 Centerline is valid? [True, True] Translation: X:152.98, Y:-131.99, Z:-4.04 [[-7.23674414e-01 -6.90120802e-01 5.34994355e-03 1.52981282e+02] [-6.90103521e-01 7.23694172e-01 4.88627891e-03 -1.31985766e+02] [-7.24384569e-03 -1.55939855e-04 -9.99973751e-01 -4.03983285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters 0.012955406081135448 Centerline is valid? [True, True] Translation: X:152.90, Y:-132.03, Z:-4.04 [[-6.70757022e-01 -7.41662242e-01 4.70485622e-03 1.52904295e+02] [-7.41645417e-01 6.70773509e-01 4.99753682e-03 -1.32025689e+02] [-6.86237728e-03 -1.37202132e-04 -9.99976444e-01 -4.04022982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters 0.012844143542683518 Centerline is valid? [True, True] Translation: X:152.82, Y:-132.08, Z:-4.04 [[-6.13826103e-01 -7.89427767e-01 4.61688053e-03 1.52823870e+02] [-7.89407095e-01 6.13843451e-01 5.71458290e-03 -1.32077007e+02] [-7.34529230e-03 -1.36838092e-04 -9.99973014e-01 -4.03931057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters 0.012685718766716194 Centerline is valid? [True, True] Translation: X:152.74, Y:-132.15, Z:-4.04 [[-5.53189496e-01 -8.33041381e-01 4.84148696e-03 1.52740399e+02] [-8.33011804e-01 5.53210661e-01 7.02127127e-03 -1.32145401e+02] [-8.52737171e-03 -1.48922272e-04 -9.99963630e-01 -4.03802873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters 0.013426738094535144 Centerline is valid? [True, True] Translation: X:152.67, Y:-132.21, Z:-4.04 [[-4.88140868e-01 -8.72751125e-01 4.89557502e-03 1.52665205e+02] [-8.72710665e-01 4.88165387e-01 8.40535019e-03 -1.32209161e+02] [-9.72562911e-03 -1.69425586e-04 -9.99952691e-01 -4.03540696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters 0.012853401037865848 Centerline is valid? [True, True] Translation: X:152.59, Y:-132.29, Z:-4.03 [[-4.19569114e-01 -9.07709189e-01 5.07812221e-03 1.52591884e+02] [-9.07648667e-01 4.19599790e-01 1.04839501e-02 -1.32288338e+02] [-1.16471569e-02 -2.10409210e-04 -9.99932147e-01 -4.03345391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters 0.012319326491806299 Centerline is valid? [True, True] Translation: X:152.52, Y:-132.38, Z:-4.03 [[-3.50392915e-01 -9.36593855e-01 4.09327040e-03 1.52524208e+02] [-9.36535997e-01 3.50416774e-01 1.04120630e-02 -1.32378067e+02] [-1.11862249e-02 -1.85181954e-04 -9.99937415e-01 -4.03309597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters 0.01160523508757441 Centerline is valid? [True, True] Translation: X:152.47, Y:-132.47, Z:-4.03 [[-2.80497181e-01 -9.59850261e-01 2.96794059e-03 1.52465939e+02] [-9.59801596e-01 2.80512849e-01 9.66636188e-03 -1.32472071e+02] [-1.01108054e-02 -1.37246851e-04 -9.99948875e-01 -4.03308861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters 0.010835653185779026 Centerline is valid? [True, True] Translation: X:152.42, Y:-132.57, Z:-4.03 [[-2.12619039e-01 -9.77133749e-01 1.66755333e-03 1.52417744e+02] [-9.77105592e-01 2.12625572e-01 7.41815264e-03 -1.32573137e+02] [-7.60309178e-03 -5.21351978e-05 -9.99971095e-01 -4.03356514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters 0.010695760965809212 Centerline is valid? [True, True] Translation: X:152.37, Y:-132.68, Z:-4.03 [[-1.42709589e-01 -9.89764248e-01 8.41205016e-04 1.52374453e+02] [-9.89747283e-01 1.42712068e-01 5.79504707e-03 -1.32682007e+02] [-5.85578051e-03 -5.57159453e-06 -9.99982855e-01 -4.03412942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters 0.010880518019513988 Centerline is valid? [True, True] Translation: X:152.34, Y:-132.80, Z:-4.03 [[-6.96693284e-02 -9.97570071e-01 3.71906718e-04 1.52335925e+02] [-9.97554737e-01 6.96703196e-02 5.53118433e-03 -1.32795257e+02] [-5.54365481e-03 1.43565896e-05 -9.99984634e-01 -4.03289535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters 0.01100567180869833 Centerline is valid? [True, True] Translation: X:152.31, Y:-132.91, Z:-4.03 [[ 5.11426948e-03 -9.99986920e-01 -6.21040581e-05 1.52306603e+02] [-9.99967328e-01 -5.11455804e-03 6.25977120e-03 -1.32905496e+02] [-6.26000695e-03 3.00878722e-05 -9.99980406e-01 -4.03219324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters 0.011158373614934191 Centerline is valid? [True, True] Translation: X:152.29, Y:-133.03, Z:-4.03 [[ 8.02679188e-02 -9.96773164e-01 -5.67153344e-04 1.52285157e+02] [-9.96751923e-01 -8.02699110e-02 6.50731567e-03 -1.33025198e+02] [-6.53184297e-03 4.29825008e-05 -9.99978666e-01 -4.03217701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters 0.011293241174421294 Centerline is valid? [True, True] Translation: X:152.27, Y:-133.15, Z:-4.03 [[ 1.56529865e-01 -9.87672632e-01 -1.08342862e-03 1.52270250e+02] [-9.87650899e-01 -1.56533608e-01 6.55226334e-03 -1.33146975e+02] [-6.64108417e-03 4.44243548e-05 -9.99977947e-01 -4.03120737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters 0.011306328668396587 Centerline is valid? [True, True] Translation: X:152.26, Y:-133.26, Z:-4.03 [[ 2.32619370e-01 -9.72566811e-01 -1.42368999e-03 1.52263247e+02] [-9.72549527e-01 -2.32623724e-01 5.79840638e-03 -1.33263762e+02] [-5.97052167e-03 3.57873871e-05 -9.99982176e-01 -4.03084070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters 0.011128643246056091 Centerline is valid? [True, True] Translation: X:152.27, Y:-133.39, Z:-4.03 [[ 3.07459634e-01 -9.51559707e-01 -1.64261270e-03 1.52267993e+02] [-9.51546596e-01 -3.07464020e-01 4.99521060e-03 -1.33389317e+02] [-5.25828543e-03 2.71969008e-05 -9.99986175e-01 -4.03128836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters 0.011108205559486384 Centerline is valid? [True, True] Translation: X:152.28, Y:-133.51, Z:-4.03 [[ 3.81374462e-01 -9.24418922e-01 -1.78213335e-03 1.52276981e+02] [-9.24409014e-01 -3.81378626e-01 4.27996787e-03 -1.33506111e+02] [-4.63615086e-03 1.51496902e-05 -9.99989253e-01 -4.03030268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters 0.011044293158101418 Centerline is valid? [True, True] Translation: X:152.29, Y:-133.62, Z:-4.03 [[ 4.54067402e-01 -8.90965275e-01 -1.91650584e-03 1.52294656e+02] [-8.90957335e-01 -4.54071447e-01 3.76145147e-03 -1.33623606e+02] [-4.22155322e-03 -4.27563615e-07 -9.99991089e-01 -4.02960528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters 0.011112002680015987 Centerline is valid? [True, True] Translation: X:152.32, Y:-133.74, Z:-4.03 [[ 5.22956947e-01 -8.52356506e-01 -2.10210269e-03 1.52324593e+02] [-8.52349541e-01 -5.22961172e-01 3.44573672e-03 -1.33741163e+02] [-4.03631419e-03 -1.02456947e-05 -9.99991854e-01 -4.02898315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters 0.011415380510793018 Centerline is valid? [True, True] Translation: X:152.36, Y:-133.85, Z:-4.03 [[ 5.88939943e-01 -8.08174611e-01 -1.88210218e-03 1.52357456e+02] [-8.08170387e-01 -5.88942950e-01 2.61289484e-03 -1.33848559e+02] [-3.22012609e-03 -1.77788893e-05 -9.99994815e-01 -4.02921868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters 0.011569782890658142 Centerline is valid? [True, True] Translation: X:152.40, Y:-133.95, Z:-4.03 [[ 6.50109407e-01 -7.59839732e-01 -1.15774470e-03 1.52399776e+02] [-7.59838492e-01 -6.50110438e-01 1.37300043e-03 -1.33953727e+02] [-1.79592219e-03 -1.29015080e-05 -9.99998387e-01 -4.02908169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters 0.011760092030937844 Centerline is valid? [True, True] Translation: X:152.45, Y:-134.05, Z:-4.03 [[ 7.06449491e-01 -7.07762461e-01 -1.18935935e-03 1.52448967e+02] [-7.07761427e-01 -7.06450492e-01 1.21039333e-03 -1.34050534e+02] [-1.69689447e-03 -1.32990799e-05 -9.99998560e-01 -4.02912871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters 0.01196277345520489 Centerline is valid? [True, True] Translation: X:152.50, Y:-134.14, Z:-4.03 [[ 7.58434023e-01 -6.51749013e-01 -1.02829786e-03 1.52502641e+02] [-6.51748394e-01 -7.58434720e-01 8.98518779e-04 -1.34139913e+02] [-1.36550553e-03 -1.12757310e-05 -9.99999068e-01 -4.02946262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters 0.012152013419216552 Centerline is valid? [True, True] Translation: X:152.52, Y:-134.17, Z:-4.03 [[ 8.07827222e-01 -5.89416633e-01 -1.79214430e-03 1.52524635e+02] [-5.89415124e-01 -8.07829210e-01 1.33405395e-03 -1.34167422e+02] [-2.23406011e-03 -2.13681424e-05 -9.99997504e-01 -4.03032629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters 0.012314487345682777 Centerline is valid? [True, True] Translation: X:152.55, Y:-134.20, Z:-4.03 [[ 8.52113283e-01 -5.23353620e-01 -1.98520176e-03 1.52547339e+02] [-5.23352130e-01 -8.52115595e-01 1.24918400e-03 -1.34195867e+02] [-2.34538635e-03 -2.54867140e-05 -9.99997249e-01 -4.03008139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters 0.012980350798725192 Centerline is valid? [True, True] Translation: X:152.57, Y:-134.22, Z:-4.03 [[ 8.91800807e-01 -4.52418060e-01 -3.03638398e-03 1.52571533e+02] [-4.52415255e-01 -8.91805975e-01 1.59392704e-03 -1.34222602e+02] [-3.42898675e-03 -4.77589875e-05 -9.99994120e-01 -4.02938674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters 0.013351228647416995 Centerline is valid? [True, True] Translation: X:152.60, Y:-134.25, Z:-4.03 [[ 9.25378069e-01 -3.79016775e-01 -4.65983513e-03 1.52598891e+02] [-3.79011515e-01 -9.25389798e-01 1.99847061e-03 -1.34246632e+02] [-5.06961777e-03 -8.32097051e-05 -9.99987146e-01 -4.02857086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters 0.01369169252402739 Centerline is valid? [True, True] Translation: X:152.63, Y:-134.27, Z:-4.03 [[ 9.52474617e-01 -3.04575359e-01 -5.09455461e-03 1.52629266e+02] [-3.04570475e-01 -9.52488237e-01 1.72736761e-03 -1.34267009e+02] [-5.37861695e-03 -9.36228861e-05 -9.99985531e-01 -4.02868320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters 0.013682190495352235 Centerline is valid? [True, True] Translation: X:152.66, Y:-134.28, Z:-4.03 [[ 9.73421452e-01 -2.28980453e-01 -4.31622388e-03 1.52661593e+02] [-2.28977844e-01 -9.73431018e-01 1.09576272e-03 -1.34283418e+02] [-4.45245444e-03 -7.83192944e-05 -9.99990085e-01 -4.03017078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters 0.013487115586422684 Centerline is valid? [True, True] Translation: X:152.70, Y:-134.30, Z:-4.03 [[ 9.88143016e-01 -1.53500690e-01 -3.30413464e-03 1.52695265e+02] [-1.53499648e-01 -9.88148539e-01 5.68238360e-04 -1.34296060e+02] [-3.35220080e-03 -5.43172646e-05 -9.99994380e-01 -4.03131629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters 0.013095471204471224 Centerline is valid? [True, True] Translation: X:152.73, Y:-134.31, Z:-4.03 [[ 9.97011529e-01 -7.71548849e-02 -3.89031314e-03 1.52725991e+02] [-7.71540723e-02 -9.97019117e-01 3.58749871e-04 -1.34305610e+02] [-3.90639588e-03 -5.75242562e-05 -9.99992368e-01 -4.03101657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters 0.012290676948090743 Centerline is valid? [True, True] Translation: X:152.76, Y:-134.31, Z:-4.03 [[ 9.99982983e-01 -3.20542490e-03 -4.87429736e-03 1.52756638e+02] [-3.20514087e-03 -9.99994861e-01 6.60805323e-05 -1.34310435e+02] [-4.87448413e-03 -5.04565982e-05 -9.99988118e-01 -4.03037102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters 0.011697889975773647 Centerline is valid? [True, True] Translation: X:152.79, Y:-134.31, Z:-4.03 [[ 9.97566896e-01 6.94768378e-02 -5.76686314e-03 1.52787338e+02] [ 6.94758359e-02 -9.97583565e-01 -3.74120018e-04 -1.34311996e+02] [-5.77892056e-03 -2.74478916e-05 -9.99983302e-01 -4.03089288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters 0.011634775998563374 Centerline is valid? [True, True] Translation: X:152.82, Y:-134.31, Z:-4.03 [[ 9.89817652e-01 1.42142921e-01 -7.51038980e-03 1.52817847e+02] [ 1.42138798e-01 -9.89846145e-01 -1.08263017e-03 -1.34311807e+02] [-7.58801860e-03 4.08867224e-06 -9.99971211e-01 -4.03069304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters 0.011846321498235121 Centerline is valid? [True, True] Translation: X:152.85, Y:-134.31, Z:-4.03 [[ 9.76294049e-01 2.16313263e-01 -7.64869837e-03 1.52848387e+02] [ 2.16306407e-01 -9.76324009e-01 -1.72252199e-03 -1.34312758e+02] [-7.84021221e-03 2.72255130e-05 -9.99969265e-01 -4.03063252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters 0.012102234452970656 Centerline is valid? [True, True] Translation: X:152.88, Y:-134.31, Z:-4.03 [[ 9.57408717e-01 2.88650088e-01 -7.04809846e-03 1.52878630e+02] [ 2.88641866e-01 -9.57434658e-01 -2.17915324e-03 -1.34309362e+02] [-7.37710651e-03 5.19640154e-05 -9.99972787e-01 -4.03130625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters 0.012511353345527484 Centerline is valid? [True, True] Translation: X:152.91, Y:-134.30, Z:-4.03 [[ 9.32436104e-01 3.61272504e-01 -6.71490986e-03 1.52908295e+02] [ 3.61262655e-01 -9.32460280e-01 -2.66824969e-03 -1.34304698e+02] [-7.22535197e-03 6.21261831e-05 -9.99973895e-01 -4.03151757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters 0.01227439714264245 Centerline is valid? [True, True] Translation: X:152.94, Y:-134.30, Z:-4.03 [[ 9.00820015e-01 4.34140293e-01 -6.74590414e-03 1.52938301e+02] [ 4.34127650e-01 -9.00845271e-01 -3.31366405e-03 -1.34300255e+02] [-7.51561093e-03 5.64313794e-05 -9.99971756e-01 -4.03214203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters 0.012066317513037368 Centerline is valid? [True, True] Translation: X:152.97, Y:-134.29, Z:-4.03 [[ 8.61499275e-01 5.07697996e-01 -7.85772688e-03 1.52967566e+02] [ 5.07676644e-01 -8.61535109e-01 -4.65620996e-03 -1.34294573e+02] [-9.13365606e-03 2.21370911e-05 -9.99958287e-01 -4.03124623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters 0.012086077575846843 Centerline is valid? [True, True] Translation: X:153.00, Y:-134.29, Z:-4.03 [[ 8.14986275e-01 5.79414407e-01 -8.73589835e-03 1.52999980e+02] [ 5.79381784e-01 -8.15033093e-01 -6.14868029e-03 -1.34289523e+02] [-1.06826802e-02 -5.03303235e-05 -9.99942937e-01 -4.03075314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters 0.012587102240915343 Centerline is valid? [True, True] Translation: X:153.03, Y:-134.28, Z:-4.03 [[ 7.62903275e-01 6.46469297e-01 -7.48611801e-03 1.53032166e+02] [ 6.46439577e-01 -7.62939995e-01 -6.19973455e-03 -1.34281798e+02] [-9.71939688e-03 -1.09525169e-04 -9.99952760e-01 -4.03179590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters 0.013790829960564422 Centerline is valid? [True, True] Translation: X:153.06, Y:-134.27, Z:-4.03 [[ 7.06128642e-01 7.08057682e-01 -6.05476075e-03 1.53060544e+02] [ 7.08033349e-01 -7.06154586e-01 -5.87171953e-03 -1.34270379e+02] [-8.43311319e-03 -1.40783197e-04 -9.99964431e-01 -4.03257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters 0.01473075035053106 Centerline is valid? [True, True] Translation: X:153.09, Y:-134.25, Z:-4.03 [[ 6.46313699e-01 7.63054152e-01 -5.19272305e-03 1.53086590e+02] [ 7.63031417e-01 -6.46334540e-01 -5.89233366e-03 -1.34253246e+02] [-7.85240592e-03 -1.53914865e-04 -9.99969158e-01 -4.03298261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters 0.016213466408244594 Centerline is valid? [True, True] Translation: X:153.11, Y:-134.23, Z:-4.03 [[ 5.81440310e-01 8.13572386e-01 -5.20952934e-03 1.53110890e+02] [ 8.13542819e-01 -5.81463612e-01 -6.93898097e-03 -1.34234486e+02] [-8.67451505e-03 -2.03571934e-04 -9.99962355e-01 -4.03138696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters 0.016129648121882178 Centerline is valid? [True, True] Translation: X:153.13, Y:-134.21, Z:-4.03 [[ 5.12709255e-01 8.58544244e-01 -5.56780584e-03 1.53133932e+02] [ 8.58499486e-01 -5.12739408e-01 -8.77112510e-03 -1.34214251e+02] [-1.03852324e-02 -2.82921439e-04 -9.99946032e-01 -4.03044215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters 0.016679828789036424 Centerline is valid? [True, True] Translation: X:153.16, Y:-134.19, Z:-4.03 [[ 4.41916068e-01 8.97039139e-01 -5.56533555e-03 1.53157247e+02] [ 8.96977696e-01 -4.41950972e-01 -1.05047932e-02 -1.34193132e+02] [-1.18828161e-02 -3.49744951e-04 -9.99929336e-01 -4.02904290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters 0.01727663068959871 Centerline is valid? [True, True] Translation: X:153.18, Y:-134.17, Z:-4.03 [[ 3.69081032e-01 9.29382137e-01 -5.29487250e-03 1.53177120e+02] [ 9.29301859e-01 -3.69118783e-01 -1.22220320e-02 -1.34169752e+02] [-1.33133751e-02 -4.09614658e-04 -9.99911289e-01 -4.02785173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters 0.016950372888789544 Centerline is valid? [True, True] Translation: X:153.19, Y:-134.14, Z:-4.03 [[ 2.98158689e-01 9.54506339e-01 -4.36417804e-03 1.53190335e+02] [ 9.54421582e-01 -2.98190396e-01 -1.27252672e-02 -1.34144711e+02] [-1.34477042e-02 -3.71116727e-04 -9.99909507e-01 -4.02788083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters 0.01469887325425694 Centerline is valid? [True, True] Translation: X:153.20, Y:-134.12, Z:-4.03 [[ 2.29432448e-01 9.73319265e-01 -3.21881078e-03 1.53198781e+02] [ 9.73239017e-01 -2.29454873e-01 -1.25010813e-02 -1.34116995e+02] [-1.29061150e-02 -2.64518573e-04 -9.99916678e-01 -4.02899034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters 0.013650627315101102 Centerline is valid? [True, True] Translation: X:153.21, Y:-134.09, Z:-4.03 [[ 1.57650271e-01 9.87492766e-01 -2.10445822e-03 1.53205967e+02] [ 9.87419888e-01 -1.57664207e-01 -1.19984441e-02 -1.34089702e+02] [-1.21801745e-02 -1.86425929e-04 -9.99925802e-01 -4.03035015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters 0.012743719359745167 Centerline is valid? [True, True] Translation: X:153.21, Y:-134.06, Z:-4.03 [[ 8.50629236e-02 9.96375069e-01 -1.01071375e-03 1.53212594e+02] [ 9.96318906e-01 -8.50688607e-02 -1.05794906e-02 -1.34062455e+02] [-1.06271209e-02 -1.07070814e-04 -9.99943525e-01 -4.03167754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters 0.0126531595397303 Centerline is valid? [True, True] Translation: X:153.22, Y:-134.04, Z:-4.03 [[ 8.57625005e-03 9.99963205e-01 -1.92580975e-04 1.53221499e+02] [ 9.99897708e-01 -8.57789252e-03 -1.14452407e-02 -1.34035687e+02] [-1.14464715e-02 -9.44040301e-05 -9.99934483e-01 -4.03015632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters 0.012490027412173024 Centerline is valid? [True, True] Translation: X:153.23, Y:-134.01, Z:-4.03 [[-6.94411362e-02 9.97585707e-01 8.27635310e-04 1.53231274e+02] [ 9.97495559e-01 6.94459876e-02 -1.34113527e-02 -1.34008266e+02] [-1.34364497e-02 -1.05737025e-04 -9.99909721e-01 -4.02998957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters 0.012557542396530346 Centerline is valid? [True, True] Translation: X:153.24, Y:-133.98, Z:-4.03 [[-1.46958081e-01 9.89140926e-01 1.88434526e-03 1.53237837e+02] [ 9.89050615e-01 1.46970127e-01 -1.33664999e-02 -1.33981341e+02] [-1.34982945e-02 -1.00602333e-04 -9.99908889e-01 -4.02944599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters 0.012382009254254863 Centerline is valid? [True, True] Translation: X:153.24, Y:-133.95, Z:-4.03 [[-2.23278685e-01 9.74751047e-01 2.65060790e-03 1.53242875e+02] [ 9.74677941e-01 2.23294403e-01 -1.19382146e-02 -1.33952693e+02] [-1.22286531e-02 -8.20598209e-05 -9.99925224e-01 -4.03093825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters 0.01221831289987266 Centerline is valid? [True, True] Translation: X:153.25, Y:-133.92, Z:-4.03 [[-2.97215547e-01 9.54805353e-01 3.10751414e-03 1.53246415e+02] [ 9.54751333e-01 2.97231787e-01 -1.01565933e-02 -1.33923909e+02] [-1.06212216e-02 -5.17941624e-05 -9.99943592e-01 -4.03173907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters 0.012157936870602785 Centerline is valid? [True, True] Translation: X:153.24, Y:-133.90, Z:-4.03 [[-3.68562748e-01 9.29593548e-01 4.16369712e-03 1.53244642e+02] [ 9.29533489e-01 3.68586265e-01 -1.05668514e-02 -1.33895604e+02] [-1.13575584e-02 -2.42518716e-05 -9.99935501e-01 -4.03075553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters 0.01212293437328281 Centerline is valid? [True, True] Translation: X:153.24, Y:-133.87, Z:-4.03 [[-4.37303856e-01 8.99300536e-01 4.88710623e-03 1.53238235e+02] [ 8.99244710e-01 4.37331163e-01 -1.00202294e-02 -1.33868486e+02] [-1.11484816e-02 1.28194564e-05 -9.99937854e-01 -4.03109249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters 0.012265829322776072 Centerline is valid? [True, True] Translation: X:153.23, Y:-133.84, Z:-4.03 [[-5.05284887e-01 8.62937885e-01 5.03882296e-03 1.53230792e+02] [ 8.62895456e-01 5.05310010e-01 -8.55718309e-03 -1.33843350e+02] [-9.93048515e-03 2.41621483e-05 -9.99950691e-01 -4.03164238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters 0.012108789542475022 Centerline is valid? [True, True] Translation: X:153.22, Y:-133.82, Z:-4.03 [[-5.71209032e-01 8.20790080e-01 4.88729507e-03 1.53224170e+02] [ 8.20760368e-01 5.71229939e-01 -6.98391165e-03 -1.33815748e+02] [-8.52409467e-03 2.20246874e-05 -9.99963669e-01 -4.03274224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters 0.011920658849519256 Centerline is valid? [True, True] Translation: X:153.22, Y:-133.79, Z:-4.03 [[-6.34882672e-01 7.72592076e-01 5.04755372e-03 1.53215062e+02] [ 7.72567773e-01 6.34902736e-01 -6.12793205e-03 -1.33788073e+02] [-7.93909741e-03 9.05946506e-06 -9.99968485e-01 -4.03339133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters 0.01213349912098516 Centerline is valid? [True, True] Translation: X:153.21, Y:-133.76, Z:-4.03 [[-6.98293069e-01 7.15797116e-01 4.61297463e-03 1.53207428e+02] [ 7.15781145e-01 6.98308304e-01 -4.78169780e-03 -1.33758733e+02] [-6.64400399e-03 -3.71461700e-05 -9.99977928e-01 -4.03300617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters 0.01253425677601684 Centerline is valid? [True, True] Translation: X:153.20, Y:-133.73, Z:-4.03 [[-7.55211539e-01 6.55463709e-01 4.78098216e-03 1.53195952e+02] [ 6.55450028e-01 7.55226669e-01 -4.23539161e-03 -1.33729530e+02] [-6.38687073e-03 -6.49217229e-05 -9.99979602e-01 -4.03330185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters 0.013822405437380125 Centerline is valid? [True, True] Translation: X:153.22, Y:-133.70, Z:-4.03 [[-8.03645386e-01 5.95079295e-01 5.89286733e-03 1.53215957e+02] [ 5.95062149e-01 8.03666982e-01 -4.51901859e-03 -1.33702096e+02] [-7.42507729e-03 -1.25066147e-04 -9.99972426e-01 -4.03154564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters 0.015277131006941938 Centerline is valid? [True, True] Translation: X:153.23, Y:-133.68, Z:-4.03 [[-8.46219769e-01 5.32789980e-01 6.85126800e-03 1.53234161e+02] [ 5.32770809e-01 8.46247485e-01 -4.52319916e-03 -1.33675850e+02] [-8.20778350e-03 -1.77464950e-04 -9.99966300e-01 -4.03009013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters 0.015902912406553404 Centerline is valid? [True, True] Translation: X:153.25, Y:-133.65, Z:-4.03 [[-8.82867434e-01 4.69557459e-01 7.80296906e-03 1.53252608e+02] [ 4.69536962e-01 8.82901890e-01 -4.39248883e-03 -1.33653408e+02] [-8.95178202e-03 -2.14202947e-04 -9.99959909e-01 -4.02889724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters 0.01600845674363671 Centerline is valid? [True, True] Translation: X:153.26, Y:-133.63, Z:-4.03 [[-9.13781121e-01 4.06123434e-01 8.23525468e-03 1.53262853e+02] [ 4.06104801e-01 9.13818204e-01 -3.89626717e-03 -1.33628106e+02] [-9.10789104e-03 -2.15958918e-04 -9.99958499e-01 -4.02823963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters 0.015387690783625181 Centerline is valid? [True, True] Translation: X:153.56, Y:-133.02, Z:-5.01 [[-8.62093643e-01 -5.06684396e-01 8.09155915e-03 1.53556888e+02] [ 5.06664542e-01 -8.62131585e-01 -4.49120501e-03 -1.33022683e+02] [ 9.25161222e-03 2.27866827e-04 9.99957177e-01 -5.01167821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters 0.014219109941239639 Centerline is valid? [True, True] Translation: X:153.22, Y:-133.62, Z:-4.03 [[-9.13091094e-01 4.07657773e-01 8.93278458e-03 1.53222891e+02] [ 4.07636306e-01 9.13134769e-01 -4.18749994e-03 -1.33617155e+02] [-9.86390309e-03 -1.82241592e-04 -9.99951334e-01 -4.02812272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters 0.01391296232950703 Centerline is valid? [True, True] Translation: X:153.24, Y:-133.60, Z:-4.03 [[-9.38283444e-01 3.45745552e-01 9.17558130e-03 1.53235690e+02] [ 3.45727535e-01 9.38328297e-01 -3.53246189e-03 -1.33596741e+02] [-9.83104056e-03 -1.42199406e-04 -9.99951664e-01 -4.02725328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters 0.012241331500777365 Centerline is valid? [True, True] Translation: X:153.50, Y:-132.95, Z:-5.01 [[-9.04303694e-01 -4.26821675e-01 7.62150421e-03 1.53498697e+02] [ 4.26806943e-01 -9.04335809e-01 -3.54644801e-03 -1.32949709e+02] [ 8.40610006e-03 4.58448836e-05 9.99964667e-01 -5.01005056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters 0.012089699411227811 Centerline is valid? [True, True] Translation: X:153.20, Y:-133.60, Z:-4.03 [[-9.33355269e-01 3.58896088e-01 6.44511603e-03 1.53200926e+02] [ 3.58887699e-01 9.33377522e-01 -2.45398059e-03 -1.33602869e+02] [-6.89645046e-03 2.26371521e-05 -9.99976219e-01 -4.03154814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters 0.013400213563033492 Centerline is valid? [True, True] Translation: X:153.21, Y:-133.59, Z:-4.03 [[-9.53388814e-01 3.01684315e-01 6.02849602e-03 1.53213877e+02] [ 3.01678850e-01 9.53407870e-01 -1.81796312e-03 -1.33586599e+02] [-6.29606651e-03 8.54440411e-05 -9.99980176e-01 -4.03203140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters 0.014582469717208842 Centerline is valid? [True, True] Translation: X:153.44, Y:-132.88, Z:-5.01 [[-9.42255940e-01 -3.34854160e-01 5.14158792e-03 1.53435692e+02] [ 3.34848477e-01 -9.42269960e-01 -1.95447002e-03 -1.32882111e+02] [ 5.49922626e-03 -1.19958103e-04 9.99984872e-01 -5.00731582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters 0.01690976014213124 Centerline is valid? [True, True] Translation: X:153.17, Y:-133.58, Z:-4.03 [[-9.49833322e-01 3.12687502e-01 6.57161517e-03 1.53174877e+02] [ 3.12681453e-01 9.49856035e-01 -1.95494579e-03 -1.33579653e+02] [-6.85337544e-03 1.97949530e-04 -9.99976496e-01 -4.03129879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters 0.019805587302136274 Centerline is valid? [True, True] Translation: X:153.19, Y:-133.56, Z:-4.03 [[-9.67695571e-01 2.52030988e-01 6.75745376e-03 1.53188999e+02] [ 2.52026659e-01 9.67719131e-01 -1.49861996e-03 -1.33558261e+02] [-6.91701596e-03 2.52850602e-04 -9.99976045e-01 -4.03041097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters 0.021682526676780625 Centerline is valid? [True, True] Translation: X:153.20, Y:-133.53, Z:-4.03 [[-9.81353859e-01 1.92099292e-01 6.51649665e-03 1.53201517e+02] [ 1.92097100e-01 9.81375448e-01 -9.66599203e-04 -1.33530610e+02] [-6.58081285e-03 3.03224250e-04 -9.99978300e-01 -4.03038974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters 0.024222663480287673 Centerline is valid? [True, True] Translation: X:153.32, Y:-132.79, Z:-5.01 [[-9.86435711e-01 -1.64035341e-01 6.08232866e-03 1.53316897e+02] [ 1.64030288e-01 -9.86454415e-01 -1.32396559e-03 -1.32791726e+02] [ 6.21711711e-03 -3.08320823e-04 9.99980626e-01 -5.00979303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters 0.02354387842382865 Centerline is valid? [True, True] Translation: X:153.15, Y:-133.52, Z:-4.03 [[-9.81640147e-01 1.90650218e-01 5.92586517e-03 1.53151167e+02] [ 1.90648526e-01 9.81657990e-01 -8.54242748e-04 -1.33518782e+02] [-5.98003446e-03 2.91198483e-04 -9.99982077e-01 -4.03030101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters 0.020582375478995562 Centerline is valid? [True, True] Translation: X:153.25, Y:-132.80, Z:-5.01 [[-9.85573447e-01 -1.69148882e-01 5.79962506e-03 1.53252344e+02] [ 1.69144201e-01 -9.85590468e-01 -1.29185267e-03 -1.32801112e+02] [ 5.93457061e-03 -2.92242745e-04 9.99982348e-01 -5.00998835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters 0.01677823480119198 Centerline is valid? [True, True] Translation: X:153.09, Y:-133.48, Z:-4.03 [[-9.86327721e-01 1.64700140e-01 5.61165283e-03 1.53091329e+02] [ 1.64698330e-01 9.86343673e-01 -7.86373223e-04 -1.33481300e+02] [-5.66453404e-03 1.48608140e-04 -9.99983945e-01 -4.02934004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters 0.013733037538892434 Centerline is valid? [True, True] Translation: X:153.18, Y:-132.82, Z:-5.01 [[-9.81729866e-01 -1.90181048e-01 6.13504264e-03 1.53178617e+02] [ 1.90176574e-01 -9.81749028e-01 -1.31006851e-03 -1.32818961e+02] [ 6.27222235e-03 -1.19391992e-04 9.99980322e-01 -5.01022469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters 0.012165452000911374 Centerline is valid? [True, True] Translation: X:153.03, Y:-133.44, Z:-4.03 [[-9.90860276e-01 1.34781826e-01 5.45649993e-03 1.53029000e+02] [ 1.34779775e-01 9.90875300e-01 -7.43578224e-04 -1.33442471e+02] [-5.50693183e-03 -1.35629101e-06 -9.99984837e-01 -4.03007214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters 0.012692098203532141 Centerline is valid? [True, True] Translation: X:153.02, Y:-133.40, Z:-4.03 [[-9.98458468e-01 5.53106153e-02 4.62864060e-03 1.53021806e+02] [ 5.53098248e-02 9.98469195e-01 -2.98729601e-04 -1.33403018e+02] [-4.63807797e-03 -4.22597987e-05 -9.99989243e-01 -4.03013486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters 0.014573436185519569 Centerline is valid? [True, True] Translation: X:153.05, Y:-132.82, Z:-5.01 [[-9.88473882e-01 -1.51307240e-01 5.05015272e-03 1.53049718e+02] [ 1.51305682e-01 -9.88486779e-01 -6.91362805e-04 -1.32818026e+02] [ 5.09661739e-03 8.07227272e-05 9.99987009e-01 -5.00946509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters 0.016525935298548386 Centerline is valid? [True, True] Translation: X:152.96, Y:-133.38, Z:-4.03 [[-9.99275752e-01 3.75968290e-02 5.86938749e-03 1.52963711e+02] [ 3.75953869e-02 9.99292980e-01 -3.55872280e-04 -1.33381870e+02] [-5.87861739e-03 -1.34952647e-04 -9.99982712e-01 -4.02897310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters 0.017624442634228243 Centerline is valid? [True, True] Translation: X:152.95, Y:-133.35, Z:-4.03 [[-9.99173497e-01 -3.98639146e-02 7.94927855e-03 1.52950717e+02] [-3.98645159e-02 9.99205091e-01 8.28638515e-05 -1.33348283e+02] [-7.94626288e-03 -2.34098777e-04 -9.99968401e-01 -4.02730410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters 0.018910815644432727 Centerline is valid? [True, True] Translation: X:152.94, Y:-133.32, Z:-4.03 [[-9.93472209e-01 -1.13582407e-01 1.05833502e-02 1.52943573e+02] [-1.13579633e-01 9.93528520e-01 8.64709698e-04 -1.33317454e+02] [-1.06130761e-02 -3.42987981e-04 -9.99943621e-01 -4.02540208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters 0.01887949444206182 Centerline is valid? [True, True] Translation: X:152.90, Y:-132.78, Z:-5.02 [[-9.99774517e-01 -1.69595472e-02 1.27784345e-02 1.52897036e+02] [ 1.69652122e-02 -9.99856024e-01 3.35052151e-04 -1.32779794e+02] [ 1.27709124e-02 5.51765456e-04 9.99918296e-01 -5.01610638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters 0.017083956776768806 Centerline is valid? [True, True] Translation: X:152.88, Y:-133.33, Z:-4.02 [[-9.93642648e-01 -1.11631149e-01 1.45867941e-02 1.52881330e+02] [-1.11624759e-01 9.93749637e-01 1.25403487e-03 -1.33327435e+02] [-1.46356107e-02 -3.82184848e-04 -9.99892821e-01 -4.02141092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters 0.01547456992833248 Centerline is valid? [True, True] Translation: X:152.88, Y:-133.31, Z:-4.02 [[-9.83957175e-01 -1.77739914e-01 1.53883060e-02 1.52878146e+02] [-1.77723541e-01 9.84077440e-01 2.43607872e-03 -1.33307378e+02] [-1.55762732e-02 -3.37867082e-04 -9.99878625e-01 -4.02183098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters 0.014121876386239813 Centerline is valid? [True, True] Translation: X:152.87, Y:-133.29, Z:-4.02 [[-9.70317009e-01 -2.41357888e-01 1.52076047e-02 1.52867213e+02] [-2.41332134e-01 9.70436145e-01 3.53401767e-03 -1.33291891e+02] [-1.56109723e-02 -2.40966225e-04 -9.99878112e-01 -4.02262426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters 0.013533457769527451 Centerline is valid? [True, True] Translation: X:152.85, Y:-133.28, Z:-4.02 [[-9.51973875e-01 -3.05862133e-01 1.39318473e-02 1.52850204e+02] [-3.05831821e-01 9.52075801e-01 4.30890202e-03 -1.33277411e+02] [-1.45821046e-02 -1.58840071e-04 -9.99893663e-01 -4.02366676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters 0.013034495288430778 Centerline is valid? [True, True] Translation: X:152.82, Y:-133.26, Z:-4.03 [[-9.27882312e-01 -3.72655071e-01 1.27519662e-02 1.52822311e+02] [-3.72621892e-01 9.27969924e-01 4.97449187e-03 -1.33264622e+02] [-1.36872107e-02 -1.35918754e-04 -9.99906317e-01 -4.02596688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters 0.013399307980961731 Centerline is valid? [True, True] Translation: X:152.78, Y:-133.26, Z:-4.03 [[-8.97659524e-01 -4.40546160e-01 1.12454251e-02 1.52777033e+02] [-4.40513652e-01 8.97729948e-01 5.35381060e-03 -1.33258833e+02] [-1.24539556e-02 -1.47864206e-04 -9.99922436e-01 -4.02672186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters 0.013641529476565911 Centerline is valid? [True, True] Translation: X:152.72, Y:-133.26, Z:-4.03 [[-8.62434506e-01 -5.06034537e-01 1.16520476e-02 1.52716643e+02] [-5.05991023e-01 8.62513199e-01 6.63829103e-03 -1.33264243e+02] [-1.34092494e-02 -1.70740245e-04 -9.99910077e-01 -4.02545991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters 0.013329433878403246 Centerline is valid? [True, True] Translation: X:152.65, Y:-133.28, Z:-4.03 [[-8.23430116e-01 -5.67313079e-01 1.08956052e-02 1.52652891e+02] [-5.67265806e-01 8.23502185e-01 7.32509823e-03 -1.33280047e+02] [-1.31281788e-02 -1.48997801e-04 -9.99913811e-01 -4.02662166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters 0.013119269846982834 Centerline is valid? [True, True] Translation: X:152.58, Y:-133.30, Z:-4.03 [[-7.79974724e-01 -6.25726813e-01 1.02657382e-02 1.52580357e+02] [-6.25674753e-01 7.80042268e-01 8.07241782e-03 -1.33303827e+02] [-1.30588380e-02 -1.26731339e-04 -9.99914722e-01 -4.02719752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters 0.012865654571334 Centerline is valid? [True, True] Translation: X:152.50, Y:-133.34, Z:-4.03 [[-7.32893906e-01 -6.80281422e-01 9.14928349e-03 1.52503623e+02] [-6.80229873e-01 7.32951008e-01 8.37498124e-03 -1.33341842e+02] [-1.24033207e-02 -8.56432369e-05 -9.99923072e-01 -4.02792757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters 0.012908808158393945 Centerline is valid? [True, True] Translation: X:152.43, Y:-133.39, Z:-4.03 [[-6.81740082e-01 -7.31554617e-01 7.63564698e-03 1.52426520e+02] [-7.31509471e-01 6.81782840e-01 8.12725771e-03 -1.33386291e+02] [-1.11513860e-02 -4.48707505e-05 -9.99937820e-01 -4.02613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters 0.012546684846222157 Centerline is valid? [True, True] Translation: X:152.35, Y:-133.44, Z:-4.03 [[-6.26249768e-01 -7.79591958e-01 6.89976074e-03 1.52348005e+02] [-7.79544987e-01 6.26287776e-01 8.55775148e-03 -1.33442135e+02] [-1.09927900e-02 -1.93840162e-05 -9.99939577e-01 -4.02818884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters 0.012487104069580682 Centerline is valid? [True, True] Translation: X:152.27, Y:-133.51, Z:-4.03 [[-5.67110587e-01 -8.23619482e-01 6.04399787e-03 1.52271947e+02] [-8.23572629e-01 5.67142793e-01 8.78499262e-03 -1.33507466e+02] [-1.06633009e-02 4.39110696e-06 -9.99943145e-01 -4.02834043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters 0.012491031905707614 Centerline is valid? [True, True] Translation: X:152.19, Y:-133.59, Z:-4.03 [[-5.01476967e-01 -8.65154893e-01 5.27847423e-03 1.52191796e+02] [-8.65107246e-01 5.01504746e-01 9.07979910e-03 -1.33588627e+02] [-1.05026125e-02 -1.31361915e-05 -9.99944846e-01 -4.02875437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters 0.012595420836581104 Centerline is valid? [True, True] Translation: X:152.12, Y:-133.66, Z:-4.03 [[-4.31053213e-01 -9.02315322e-01 4.49307221e-03 1.52120288e+02] [-9.02267442e-01 4.31076626e-01 9.29549469e-03 -1.33664239e+02] [-1.03243257e-02 -4.70999141e-05 -9.99946702e-01 -4.02836755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters 0.01366180429869696 Centerline is valid? [True, True] Translation: X:152.05, Y:-133.76, Z:-4.03 [[-3.53867149e-01 -9.35287788e-01 3.84641521e-03 1.52045637e+02] [-9.35236448e-01 3.53888030e-01 9.80048451e-03 -1.33758091e+02] [-1.05274738e-02 -1.29238181e-04 -9.99944576e-01 -4.02675981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters 0.014413028196081734 Centerline is valid? [True, True] Translation: X:151.98, Y:-133.86, Z:-4.03 [[-2.76249506e-01 -9.61080211e-01 3.32255770e-03 1.51982391e+02] [-9.61019126e-01 2.76269414e-01 1.08374373e-02 -1.33856608e+02] [-1.13335676e-02 -1.99204808e-04 -9.99935753e-01 -4.02694485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters 0.01636299153710305 Centerline is valid? [True, True] Translation: X:151.93, Y:-133.95, Z:-4.03 [[-1.94869299e-01 -9.80826628e-01 2.25428442e-03 1.51927255e+02] [-9.80775264e-01 1.94882171e-01 1.00409171e-02 -1.33951630e+02] [-1.02877187e-02 -2.54279919e-04 -9.99947048e-01 -4.02775821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters 0.017615334583211566 Centerline is valid? [True, True] Translation: X:151.88, Y:-134.06, Z:-4.03 [[-1.13710303e-01 -9.93513172e-01 1.24243561e-03 1.51878897e+02] [-9.93476376e-01 1.13716790e-01 8.55468284e-03 -1.34062749e+02] [-8.64047587e-03 -2.61574850e-04 -9.99962636e-01 -4.02929117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters 0.01884221481884404 Centerline is valid? [True, True] Translation: X:151.84, Y:-134.18, Z:-4.03 [[-3.48168476e-02 -9.99393563e-01 5.42221739e-04 1.51838765e+02] [-9.99361417e-01 3.48200790e-02 8.01994541e-03 -1.34179813e+02] [-8.03396202e-03 -2.62646268e-04 -9.99967693e-01 -4.02947602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters 0.019395630060676614 Centerline is valid? [True, True] Translation: X:151.81, Y:-134.29, Z:-4.03 [[ 4.13787503e-02 -9.99143528e-01 -9.64809452e-05 1.51810423e+02] [-9.99090107e-01 -4.13775361e-02 1.03371873e-02 -1.34294973e+02] [-1.03323260e-02 -3.31346735e-04 -9.99946565e-01 -4.02696513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters 0.01719669096646508 Centerline is valid? [True, True] Translation: X:151.79, Y:-134.40, Z:-4.03 [[ 1.14797773e-01 -9.93388310e-01 -1.06625595e-03 1.51794569e+02] [-9.93311803e-01 -1.14802170e-01 1.23338180e-02 -1.34401007e+02] [-1.23746791e-02 -3.56770221e-04 -9.99923367e-01 -4.02605210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters 0.015918481733668777 Centerline is valid? [True, True] Translation: X:151.79, Y:-134.51, Z:-4.02 [[ 1.83747565e-01 -9.82970677e-01 -2.34110192e-03 1.51786919e+02] [-9.82867646e-01 -1.83762209e-01 1.42351774e-02 -1.34506818e+02] [-1.44229680e-02 -3.14685847e-04 -9.99895934e-01 -4.02415674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters 0.014875121632287566 Centerline is valid? [True, True] Translation: X:151.79, Y:-134.63, Z:-4.03 [[ 2.55734592e-01 -9.66741135e-01 -3.37581455e-03 1.51787118e+02] [-9.66642769e-01 -2.55756736e-01 1.37930863e-02 -1.34626609e+02] [-1.41977312e-02 -2.64162575e-04 -9.99899172e-01 -4.02536127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters 0.01379820457526302 Centerline is valid? [True, True] Translation: X:151.80, Y:-134.74, Z:-4.03 [[ 3.24379603e-01 -9.45918431e-01 -4.02434940e-03 1.51795044e+02] [-9.45838920e-01 -3.24404520e-01 1.22655943e-02 -1.34737179e+02] [-1.29077689e-02 -1.72322333e-04 -9.99916676e-01 -4.02815140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters 0.012712451578601467 Centerline is valid? [True, True] Translation: X:151.81, Y:-134.85, Z:-4.03 [[ 3.88135602e-01 -9.21591385e-01 -4.48033393e-03 1.51814013e+02] [-9.21528384e-01 -3.88161456e-01 1.07759342e-02 -1.34847691e+02] [-1.16701011e-02 -5.37688247e-05 -9.99931901e-01 -4.02959135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters 0.012747531854956548 Centerline is valid? [True, True] Translation: X:151.84, Y:-134.95, Z:-4.03 [[ 4.48896184e-01 -8.93570276e-01 -4.93740001e-03 1.51840603e+02] [-8.93517663e-01 -4.48923333e-01 9.69673574e-03 -1.34954935e+02] [-1.08812289e-02 5.88264540e-05 -9.99940796e-01 -4.03171011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters 0.013580180660726322 Centerline is valid? [True, True] Translation: X:151.87, Y:-135.06, Z:-4.03 [[ 5.11197939e-01 -8.59444813e-01 -5.59292534e-03 1.51873379e+02] [-8.59395928e-01 -5.11228520e-01 9.16727379e-03 -1.35063246e+02] [-1.07380289e-02 1.20245790e-04 -9.99942339e-01 -4.03212092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters 0.014001326158142058 Centerline is valid? [True, True] Translation: X:151.91, Y:-135.17, Z:-4.03 [[ 5.72008349e-01 -8.20223690e-01 -6.28859212e-03 1.51911547e+02] [-8.20177285e-01 -5.72042892e-01 8.72645656e-03 -1.35169993e+02] [-1.07549908e-02 1.66154396e-04 -9.99942150e-01 -4.03272595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters 0.014767365873778903 Centerline is valid? [True, True] Translation: X:151.96, Y:-135.27, Z:-4.03 [[ 6.30811879e-01 -7.75898588e-01 -7.59963133e-03 1.51955668e+02] [-7.75846358e-01 -6.30857619e-01 9.00521440e-03 -1.35274992e+02] [-1.17814185e-02 2.15550070e-04 -9.99930574e-01 -4.03224937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters 0.014964810098103373 Centerline is valid? [True, True] Translation: X:152.01, Y:-135.37, Z:-4.03 [[ 6.88074557e-01 -7.25588512e-01 -8.64378476e-03 1.52005719e+02] [-7.25535356e-01 -6.88128811e-01 8.78562035e-03 -1.35374091e+02] [-1.23227825e-02 2.26209620e-04 -9.99924046e-01 -4.03162424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters 0.014807228978486225 Centerline is valid? [True, True] Translation: X:152.06, Y:-135.47, Z:-4.03 [[ 7.42444012e-01 -6.69840362e-01 -9.52779064e-03 1.52060802e+02] [-6.69788802e-01 -7.42505115e-01 8.31349668e-03 -1.35470573e+02] [-1.26431489e-02 2.09301645e-04 -9.99920050e-01 -4.03115441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters 0.013911257469753982 Centerline is valid? [True, True] Translation: X:152.08, Y:-135.50, Z:-4.03 [[ 7.94716423e-01 -6.06902527e-01 -9.75344029e-03 1.52076523e+02] [-6.06859250e-01 -7.94776257e-01 7.24929399e-03 -1.35502570e+02] [-1.21514176e-02 1.57832473e-04 -9.99926156e-01 -4.03148347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters 0.01270847945298954 Centerline is valid? [True, True] Translation: X:152.09, Y:-135.54, Z:-4.03 [[ 8.43786334e-01 -5.36599042e-01 -9.27851059e-03 1.52094809e+02] [-5.36567381e-01 -8.43837345e-01 5.82937672e-03 -1.35535071e+02] [-1.09575917e-02 5.97977136e-05 -9.99939962e-01 -4.03318487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters 0.012501939268257729 Centerline is valid? [True, True] Translation: X:152.12, Y:-135.56, Z:-4.03 [[ 8.86062478e-01 -4.63487202e-01 -8.53809121e-03 1.52116809e+02] [-4.63465600e-01 -8.86103613e-01 4.47480947e-03 -1.35564853e+02] [-9.63965040e-03 -7.84920011e-06 -9.99953538e-01 -4.03399801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters 0.0132104741548994 Centerline is valid? [True, True] Translation: X:152.14, Y:-135.60, Z:-4.03 [[ 9.23483864e-01 -3.83544293e-01 -8.44565016e-03 1.52139362e+02] [-3.83527263e-01 -9.23522477e-01 3.61562216e-03 -1.35597389e+02] [-9.18649900e-03 -9.98316325e-05 -9.99957798e-01 -4.03390855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters 0.015292252853775173 Centerline is valid? [True, True] Translation: X:152.17, Y:-135.62, Z:-4.03 [[ 9.52630315e-01 -3.04002366e-01 -8.83425982e-03 1.52165680e+02] [-3.03987715e-01 -9.52671263e-01 2.98898360e-03 -1.35624210e+02] [-9.32480355e-03 -1.61889930e-04 -9.99956510e-01 -4.03223516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters 0.01725057565363981 Centerline is valid? [True, True] Translation: X:152.20, Y:-135.65, Z:-4.03 [[ 9.75386373e-01 -2.20253579e-01 -1.04777762e-02 1.52196763e+02] [-2.20237776e-01 -9.75442608e-01 2.65325062e-03 -1.35648349e+02] [-1.08048572e-02 -2.80342375e-04 -9.99941587e-01 -4.03117452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters 0.018460498867881744 Centerline is valid? [True, True] Translation: X:152.23, Y:-135.67, Z:-4.03 [[ 9.90216608e-01 -1.38957759e-01 -1.27205007e-02 1.52230464e+02] [-1.38941203e-01 -9.90298232e-01 2.18041913e-03 -1.35666861e+02] [-1.29000755e-02 -3.91685555e-04 -9.99916714e-01 -4.02923384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters 0.019789280688350917 Centerline is valid? [True, True] Translation: X:152.27, Y:-135.68, Z:-4.03 [[ 9.98056876e-01 -6.08021114e-02 -1.36225843e-02 1.52265026e+02] [-6.07907235e-02 -9.98149752e-01 1.24887083e-03 -1.35679091e+02] [-1.36733131e-02 -4.18317366e-04 -9.99906428e-01 -4.02794728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters 0.01783923288920319 Centerline is valid? [True, True] Translation: X:152.30, Y:-135.68, Z:-4.03 [[ 9.99802696e-01 1.52464152e-02 -1.27324762e-02 1.52297987e+02] [ 1.52497681e-02 -9.99883702e-01 1.66280882e-04 -1.35683312e+02] [-1.27284603e-02 -3.60415383e-04 -9.99918925e-01 -4.02964543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters 0.014684594245849412 Centerline is valid? [True, True] Translation: X:152.33, Y:-135.68, Z:-4.03 [[ 9.96478877e-01 8.30585527e-02 -1.14509297e-02 1.52330756e+02] [ 8.30554257e-02 -9.96544648e-01 -7.49179888e-04 -1.35680871e+02] [-1.14735885e-02 -2.04519907e-04 -9.99934155e-01 -4.03100675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters 0.013363302748794034 Centerline is valid? [True, True] Translation: X:152.36, Y:-135.68, Z:-4.03 [[ 9.88027202e-01 1.53832661e-01 -1.17371365e-02 1.52362962e+02] [ 1.53823338e-01 -9.88096906e-01 -1.69842268e-03 -1.35678091e+02] [-1.18587011e-02 -1.27357701e-04 -9.99929675e-01 -4.03079239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters 0.012552142583697542 Centerline is valid? [True, True] Translation: X:152.39, Y:-135.67, Z:-4.03 [[ 9.75378780e-01 2.20195884e-01 -1.22477552e-02 1.52394040e+02] [ 2.20178519e-01 -9.75455674e-01 -2.76537219e-03 -1.35672222e+02] [-1.25560659e-02 5.92750196e-07 -9.99921170e-01 -4.03187805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters 0.012844914901018158 Centerline is valid? [True, True] Translation: X:152.43, Y:-135.67, Z:-4.03 [[ 9.56572673e-01 2.91246499e-01 -1.20082450e-02 1.52425649e+02] [ 2.91222740e-01 -9.56648040e-01 -3.72062928e-03 -1.35667563e+02] [-1.25712843e-02 6.19782972e-05 -9.99920976e-01 -4.03268398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters 0.013100522572751933 Centerline is valid? [True, True] Translation: X:152.46, Y:-135.66, Z:-4.03 [[ 9.31775204e-01 3.62781022e-01 -1.35977495e-02 1.52458033e+02] [ 3.62740653e-01 -9.31874411e-01 -5.41301097e-03 -1.35664701e+02] [-1.46351325e-02 1.11252864e-04 -9.99892895e-01 -4.03237011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters 0.013078518526332697 Centerline is valid? [True, True] Translation: X:152.49, Y:-135.66, Z:-4.03 [[ 9.00238975e-01 4.35200442e-01 -1.30523305e-02 1.52489802e+02] [ 4.35153073e-01 -9.00333586e-01 -6.42166978e-03 -1.35660831e+02] [-1.45461650e-02 1.01275711e-04 -9.99894194e-01 -4.03183288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters 0.01264923196587192 Centerline is valid? [True, True] Translation: X:152.52, Y:-135.65, Z:-4.03 [[ 8.62054288e-01 5.06675785e-01 -1.19185834e-02 1.52521429e+02] [ 5.06626416e-01 -8.62136674e-01 -7.07316716e-03 -1.35654964e+02] [-1.38592504e-02 5.91848766e-05 -9.99903954e-01 -4.03263263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters 0.012498367984410508 Centerline is valid? [True, True] Translation: X:152.55, Y:-135.65, Z:-4.03 [[ 8.16507821e-01 5.77218738e-01 -1.15545663e-02 1.52553275e+02] [ 5.77161287e-01 -8.16589572e-01 -8.14369038e-03 -1.35647405e+02] [-1.41360290e-02 -1.94614580e-05 -9.99900081e-01 -4.03278021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters 0.012641563023772184 Centerline is valid? [True, True] Translation: X:152.59, Y:-135.64, Z:-4.03 [[ 7.65038253e-01 6.43903671e-01 -1.02241860e-02 1.52586254e+02] [ 6.43847860e-01 -7.65106564e-01 -8.47818487e-03 -1.35637688e+02] [-1.32817262e-02 -9.66845371e-05 -9.99911789e-01 -4.03455826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters 0.012976961079351862 Centerline is valid? [True, True] Translation: X:152.62, Y:-135.62, Z:-4.03 [[ 7.09721512e-01 7.04420016e-01 -9.37103364e-03 1.52616513e+02] [ 7.04361271e-01 -7.09783362e-01 -9.09833339e-03 -1.35624009e+02] [-1.30604519e-02 -1.43310229e-04 -9.99914698e-01 -4.03498441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters 0.013538618254095192 Centerline is valid? [True, True] Translation: X:152.65, Y:-135.61, Z:-4.04 [[ 6.49096442e-01 7.60661359e-01 -8.25270466e-03 1.52646880e+02] [ 7.60603595e-01 -6.49148874e-01 -9.37603278e-03 -1.35608753e+02] [-1.24892198e-02 -1.91087319e-04 -9.99921988e-01 -4.03519034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters 0.014399948176673961 Centerline is valid? [True, True] Translation: X:152.67, Y:-135.59, Z:-4.03 [[ 5.85571282e-01 8.10588183e-01 -7.28494960e-03 1.52673900e+02] [ 8.10529978e-01 -5.85616556e-01 -9.71619753e-03 -1.35590017e+02] [-1.21420220e-02 -2.15143794e-04 -9.99926260e-01 -4.03490540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters 0.013981288364800615 Centerline is valid? [True, True] Translation: X:152.70, Y:-135.57, Z:-4.04 [[ 5.20287951e-01 8.53964592e-01 -6.70256974e-03 1.52697361e+02] [ 8.53899167e-01 -5.20331074e-01 -1.05728669e-02 -1.35567255e+02] [-1.25164093e-02 -2.22383464e-04 -9.99921642e-01 -4.03522652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters 0.013813366664550462 Centerline is valid? [True, True] Translation: X:152.72, Y:-135.54, Z:-4.03 [[ 4.53329008e-01 8.91321012e-01 -6.29785798e-03 1.52716977e+02] [ 8.91241552e-01 -4.53372701e-01 -1.19033768e-02 -1.35541499e+02] [-1.34650067e-02 -2.16766736e-04 -9.99909319e-01 -4.03447204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters 0.013464668100980681 Centerline is valid? [True, True] Translation: X:152.74, Y:-135.51, Z:-4.03 [[ 3.83251213e-01 9.23625048e-01 -5.93954892e-03 1.52736034e+02] [ 9.23523005e-01 -3.83297171e-01 -1.37309519e-02 -1.35514973e+02] [-1.49588634e-02 -2.22906094e-04 -9.99888085e-01 -4.03337166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters 0.012900517915758079 Centerline is valid? [True, True] Translation: X:152.75, Y:-135.49, Z:-4.03 [[ 3.11194213e-01 9.50331791e-01 -5.25827003e-03 1.52753634e+02] [ 9.50207702e-01 -3.11238559e-01 -1.53584780e-02 -1.35487467e+02] [-1.62322263e-02 -2.16979199e-04 -9.99868225e-01 -4.03285042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters 0.013299485950301372 Centerline is valid? [True, True] Translation: X:152.77, Y:-135.46, Z:-4.03 [[ 2.36126703e-01 9.71713953e-01 -4.02160004e-03 1.52769243e+02] [ 9.71587859e-01 -2.36160853e-01 -1.56551264e-02 -1.35460513e+02] [-1.61620493e-02 -2.10744385e-04 -9.99869363e-01 -4.03146997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters 0.013182854394562816 Centerline is valid? [True, True] Translation: X:152.78, Y:-135.43, Z:-4.03 [[ 1.59079620e-01 9.87261492e-01 -2.90201751e-03 1.52780825e+02] [ 9.87121888e-01 -1.59105931e-01 -1.66036320e-02 -1.35431208e+02] [-1.68538547e-02 -2.23345548e-04 -9.99857939e-01 -4.03157497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters 0.013445124642361164 Centerline is valid? [True, True] Translation: X:152.79, Y:-135.40, Z:-4.03 [[ 8.00654525e-02 9.96788415e-01 -1.54228769e-03 1.52789773e+02] [ 9.96655877e-01 -8.00799591e-02 -1.62561508e-02 -1.35401219e+02] [-1.63274491e-02 -2.35574019e-04 -9.99866671e-01 -4.03255188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters 0.013329474748205603 Centerline is valid? [True, True] Translation: X:152.80, Y:-135.37, Z:-4.03 [[ 1.28189083e-03 9.99999146e-01 -2.55742601e-04 1.52799846e+02] [ 9.99874196e-01 -1.28577381e-03 -1.58094474e-02 -1.35371735e+02] [-1.58097627e-02 -2.35444442e-04 -9.99874990e-01 -4.03324849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters 0.013810207846099353 Centerline is valid? [True, True] Translation: X:152.81, Y:-135.34, Z:-4.03 [[-7.83987183e-02 9.96921679e-01 8.98047971e-04 1.52806549e+02] [ 9.96817646e-01 7.84035124e-02 -1.44037976e-02 -1.35342669e+02] [-1.44298682e-02 -2.34049206e-04 -9.99895857e-01 -4.03335164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters 0.013718737214663088 Centerline is valid? [True, True] Translation: X:152.81, Y:-135.31, Z:-4.03 [[-1.58350677e-01 9.87381223e-01 1.83949358e-03 1.52813186e+02] [ 9.87295804e-01 1.58361178e-01 -1.29897491e-02 -1.35312124e+02] [-1.31171387e-02 -2.40811285e-04 -9.99913938e-01 -4.03469315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters 0.015391764052806779 Centerline is valid? [True, True] Translation: X:152.82, Y:-135.28, Z:-4.03 [[-2.39450157e-01 9.70904860e-01 2.71585375e-03 1.52817727e+02] [ 9.70828261e-01 2.39465389e-01 -1.21989717e-02 -1.35282164e+02] [-1.24943939e-02 -2.84418130e-04 -9.99921902e-01 -4.03339162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters 0.016188726665538212 Centerline is valid? [True, True] Translation: X:152.82, Y:-135.25, Z:-4.03 [[-3.18584663e-01 9.47886995e-01 3.74927027e-03 1.52816793e+02] [ 9.47808156e-01 3.18606540e-01 -1.22299323e-02 -1.35251835e+02] [-1.27871358e-02 -3.42679921e-04 -9.99918183e-01 -4.03337167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters 0.016707221978561473 Centerline is valid? [True, True] Translation: X:152.81, Y:-135.22, Z:-4.03 [[-3.94144978e-01 9.19035613e-01 4.82481728e-03 1.52814360e+02] [ 9.18954388e-01 3.94174320e-01 -1.22244961e-02 -1.35220786e+02] [-1.31365663e-02 -3.84436733e-04 -9.99913638e-01 -4.03316951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters 0.018526982282651736 Centerline is valid? [True, True] Translation: X:152.81, Y:-135.19, Z:-4.03 [[-4.67010027e-01 8.84232673e-01 5.84931726e-03 1.52809291e+02] [ 8.84151671e-01 4.67046467e-01 -1.19758707e-02 -1.35191408e+02] [-1.33213591e-02 -4.21168072e-04 -9.99911178e-01 -4.03227345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters 0.019582077006861445 Centerline is valid? [True, True] Translation: X:152.80, Y:-135.16, Z:-4.03 [[-5.35978149e-01 8.44205340e-01 6.69085540e-03 1.52799164e+02] [ 8.44129174e-01 5.36019734e-01 -1.13482077e-02 -1.35163050e+02] [-1.31666481e-02 -4.34445118e-04 -9.99913222e-01 -4.03192308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters 0.01856040836640693 Centerline is valid? [True, True] Translation: X:152.79, Y:-135.14, Z:-4.03 [[-6.00733066e-01 7.99416090e-01 7.32789272e-03 1.52785700e+02] [ 7.99347788e-01 6.00777608e-01 -1.04584748e-02 -1.35136813e+02] [-1.27631069e-02 -4.25216827e-04 -9.99918458e-01 -4.03173676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters 0.019239132590243523 Centerline is valid? [True, True] Translation: X:152.77, Y:-135.11, Z:-4.03 [[-6.60377854e-01 7.50890850e-01 8.00140618e-03 1.52772058e+02] [ 7.50828260e-01 6.60426205e-01 -9.70318133e-03 -1.35111787e+02] [-1.25703684e-02 -4.00084177e-04 -9.99920910e-01 -4.03072251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters 0.017263074826886538 Centerline is valid? [True, True] Translation: X:152.75, Y:-135.09, Z:-4.03 [[-7.14399373e-01 6.99691463e-01 8.08656925e-03 1.52752043e+02] [ 6.99641430e-01 7.14445065e-01 -8.37368480e-03 -1.35091298e+02] [-1.16364053e-02 -3.24456299e-04 -9.99932242e-01 -4.03187573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters 0.016484826971676404 Centerline is valid? [True, True] Translation: X:152.73, Y:-135.07, Z:-4.03 [[-7.66639022e-01 6.42025268e-01 8.25626260e-03 1.52733376e+02] [ 6.41983760e-01 7.66683419e-01 -7.30661385e-03 -1.35068464e+02] [-1.10209704e-02 -3.01148789e-04 -9.99939222e-01 -4.03326132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters 0.015704645740418136 Centerline is valid? [True, True] Translation: X:153.20, Y:-134.56, Z:-5.01 [[-6.84381404e-01 -7.29087805e-01 7.28471782e-03 1.53197912e+02] [ 7.29050306e-01 -6.84420128e-01 -7.39867307e-03 -1.34556452e+02] [ 1.03800898e-02 2.47411492e-04 9.99946095e-01 -5.00667458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters 0.01541656726878927 Centerline is valid? [True, True] Translation: X:153.16, Y:-134.51, Z:-5.01 [[-6.85381877e-01 -7.28147570e-01 7.26638614e-03 1.53158762e+02] [ 7.28110459e-01 -6.85420349e-01 -7.35561394e-03 -1.34513713e+02] [ 1.03365013e-02 2.49327263e-04 9.99946546e-01 -5.00676459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters 0.014489087210828897 Centerline is valid? [True, True] Translation: X:153.12, Y:-134.47, Z:-5.01 [[-6.88411073e-01 -7.25288109e-01 6.88138552e-03 1.53119959e+02] [ 7.25254721e-01 -6.88445437e-01 -6.96205799e-03 -1.34469863e+02] [ 9.78695634e-03 1.97999530e-04 9.99952087e-01 -5.00685459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters 0.013193812240578043 Centerline is valid? [True, True] Translation: X:153.08, Y:-134.42, Z:-5.01 [[-6.93243464e-01 -7.20673821e-01 6.53774729e-03 1.53082741e+02] [ 7.20643515e-01 -6.93274280e-01 -6.61045929e-03 -1.34424936e+02] [ 9.29643700e-03 1.28727489e-04 9.99956779e-01 -5.00681095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters 0.012883158885974869 Centerline is valid? [True, True] Translation: X:153.04, Y:-134.38, Z:-5.01 [[-6.95978537e-01 -7.18037021e-01 6.05906667e-03 1.53044081e+02] [ 7.18010920e-01 -6.96004906e-01 -6.12297057e-03 -1.34382197e+02] [ 8.61365967e-03 8.90199333e-05 9.99962898e-01 -5.00601499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters 0.012499536701908046 Centerline is valid? [True, True] Translation: X:153.00, Y:-134.34, Z:-5.01 [[-6.97767409e-01 -7.16302007e-01 5.66373989e-03 1.53004216e+02] [ 7.16279170e-01 -6.97790391e-01 -5.72015158e-03 -1.34339718e+02] [ 8.04945933e-03 6.54835639e-05 9.99967600e-01 -5.00553734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters 0.012615917223310067 Centerline is valid? [True, True] Translation: X:152.96, Y:-134.30, Z:-5.01 [[-6.98517327e-01 -7.15567866e-01 6.01441325e-03 1.52963119e+02] [ 7.15542108e-01 -6.98543216e-01 -6.07176702e-03 -1.34300705e+02] [ 8.54608894e-03 6.23314705e-05 9.99963480e-01 -5.00722821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters 0.012589272619225308 Centerline is valid? [True, True] Translation: X:152.92, Y:-134.26, Z:-5.01 [[-6.98807781e-01 -7.15283931e-01 6.04840661e-03 1.52922891e+02] [ 7.15257904e-01 -6.98833953e-01 -6.10220396e-03 -1.34260332e+02] [ 8.59164034e-03 6.19030256e-05 9.99963089e-01 -5.00697271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters 0.012672711254018238 Centerline is valid? [True, True] Translation: X:152.88, Y:-134.22, Z:-5.01 [[-6.98912559e-01 -7.15178417e-01 6.40837242e-03 1.52882073e+02] [ 7.15149233e-01 -6.98941934e-01 -6.46126608e-03 -1.34219831e+02] [ 9.10003826e-03 6.70826133e-05 9.99958592e-01 -5.00686607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters 0.012832345647822518 Centerline is valid? [True, True] Translation: X:152.84, Y:-134.18, Z:-5.01 [[-6.98251847e-01 -7.15821230e-01 6.65767979e-03 1.52839685e+02] [ 7.15789800e-01 -6.98283581e-01 -6.70840187e-03 -1.34180864e+02] [ 9.45096497e-03 8.13452924e-05 9.99955335e-01 -5.00613949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters 0.0129140091576896 Centerline is valid? [True, True] Translation: X:152.80, Y:-134.14, Z:-5.01 [[-6.97796400e-01 -7.16261551e-01 7.04091669e-03 1.52797479e+02] [ 7.16226465e-01 -6.97831915e-01 -7.09009688e-03 -1.34142279e+02] [ 9.99174016e-03 9.54467908e-05 9.99950077e-01 -5.00614239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters 0.013060184835208924 Centerline is valid? [True, True] Translation: X:152.76, Y:-134.10, Z:-5.01 [[-6.97795365e-01 -7.16257709e-01 7.51814398e-03 1.52755946e+02] [ 7.16217756e-01 -6.97835857e-01 -7.56594195e-03 -1.34102397e+02] [ 1.06655947e-02 1.05148986e-04 9.99943115e-01 -5.00671174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters 0.013021004443726248 Centerline is valid? [True, True] Translation: X:152.72, Y:-134.06, Z:-5.01 [[-6.98536817e-01 -7.15531815e-01 7.78060696e-03 1.52715241e+02] [ 7.15489031e-01 -6.98580140e-01 -7.82527255e-03 -1.34062653e+02] [ 1.10346090e-02 1.00697949e-04 9.99939112e-01 -5.00657244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters 0.012579755898408552 Centerline is valid? [True, True] Translation: X:152.67, Y:-134.02, Z:-5.00 [[-6.99929814e-01 -7.14164225e-01 8.22891032e-03 1.52674368e+02] [ 7.14116330e-01 -6.99978180e-01 -8.27139352e-03 -1.34021655e+02] [ 1.16671910e-02 8.70043027e-05 9.99931932e-01 -5.00489784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters 0.012436161892769674 Centerline is valid? [True, True] Translation: X:152.63, Y:-133.98, Z:-5.00 [[-7.01062334e-01 -7.13048215e-01 8.59340828e-03 1.52633142e+02] [ 7.12995958e-01 -7.01114996e-01 -8.63282432e-03 -1.33981070e+02] [ 1.21805874e-02 7.49174015e-05 9.99925811e-01 -5.00494877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters 0.01243262403402706 Centerline is valid? [True, True] Translation: X:152.59, Y:-133.94, Z:-5.00 [[-7.01519891e-01 -7.12595865e-01 8.77357467e-03 1.52592254e+02] [ 7.12541421e-01 -7.01574749e-01 -8.80880341e-03 -1.33940231e+02] [ 1.24324353e-02 7.19845552e-05 9.99922712e-01 -5.00483492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters 0.012346898607295887 Centerline is valid? [True, True] Translation: X:152.55, Y:-133.90, Z:-5.01 [[-7.02898135e-01 -7.11226358e-01 9.55400914e-03 1.52551796e+02] [ 7.11161745e-01 -7.02963060e-01 -9.58691506e-03 -1.33899213e+02] [ 1.35345822e-02 5.58210920e-05 9.99908402e-01 -5.00520807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters 0.012421233543049042 Centerline is valid? [True, True] Translation: X:152.51, Y:-133.86, Z:-5.01 [[-7.04165724e-01 -7.09961807e-01 1.02403828e-02 1.52511342e+02] [ 7.09887535e-01 -7.04240180e-01 -1.02691839e-02 -1.33858160e+02] [ 1.45024174e-02 3.83128085e-05 9.99894834e-01 -5.00592567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters 0.012441825683772462 Centerline is valid? [True, True] Translation: X:152.47, Y:-133.82, Z:-5.01 [[-7.05192047e-01 -7.08935358e-01 1.07161143e-02 1.52471729e+02] [ 7.08854009e-01 -7.05273463e-01 -1.07394682e-02 -1.33817466e+02] [ 1.51713798e-02 2.27729861e-05 9.99884908e-01 -5.00536417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters 0.012463072217930726 Centerline is valid? [True, True] Translation: X:152.43, Y:-133.78, Z:-5.00 [[-7.06204788e-01 -7.07922423e-01 1.09836700e-02 1.52431879e+02] [ 7.07836947e-01 -7.06290197e-01 -1.10006308e-02 -1.33775666e+02] [ 1.55452516e-02 5.94927455e-06 9.99879165e-01 -5.00451055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters 0.012448269265208317 Centerline is valid? [True, True] Translation: X:152.39, Y:-133.73, Z:-5.00 [[-7.07447028e-01 -7.06675182e-01 1.13529784e-02 1.52392405e+02] [ 7.06583815e-01 -7.07538117e-01 -1.13633033e-02 -1.33733902e+02] [ 1.60628294e-02 -1.71043825e-05 9.99870984e-01 -5.00323956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters 0.01251194254840975 Centerline is valid? [True, True] Translation: X:152.35, Y:-133.69, Z:-5.00 [[-7.08353861e-01 -7.05773481e-01 1.08903897e-02 1.52352524e+02] [ 7.05689408e-01 -7.08437571e-01 -1.08934611e-02 -1.33692954e+02] [ 1.54034772e-02 -3.11925492e-05 9.99881359e-01 -5.00252805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters 0.012475346031180303 Centerline is valid? [True, True] Translation: X:152.31, Y:-133.65, Z:-5.00 [[-7.09949322e-01 -7.04176099e-01 1.03914566e-02 1.52311885e+02] [ 7.04099478e-01 -7.10025365e-01 -1.03878278e-02 -1.33651935e+02] [ 1.46930578e-02 -5.82121888e-05 9.99892050e-01 -5.00027401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters 0.012477396715365626 Centerline is valid? [True, True] Translation: X:151.81, Y:-134.16, Z:-4.04 [[-7.51782163e-01 6.59318381e-01 1.10838706e-02 1.51805293e+02] [ 6.59248317e-01 7.51863862e-01 -9.61198232e-03 -1.34162136e+02] [-1.46709184e-02 8.09061879e-05 -9.99892373e-01 -4.04184279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters 0.012680925963338998 Centerline is valid? [True, True] Translation: X:151.82, Y:-134.14, Z:-4.04 [[-7.95723935e-01 6.05540022e-01 1.20291756e-02 1.51823201e+02] [ 6.05472780e-01 7.95814847e-01 -9.02449612e-03 -1.34143018e+02] [-1.50376902e-02 1.02330858e-04 -9.99886922e-01 -4.04246874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters 0.013158029094291911 Centerline is valid? [True, True] Translation: X:152.26, Y:-133.57, Z:-5.00 [[-7.63650619e-01 -6.45505331e-01 1.26727946e-02 1.52259409e+02] [ 6.45415948e-01 -7.63755764e-01 -1.07417890e-02 -1.33571596e+02] [ 1.66128020e-02 -2.37500807e-05 9.99861998e-01 -4.99770022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters 0.013472510648496347 Centerline is valid? [True, True] Translation: X:151.79, Y:-134.12, Z:-4.04 [[-7.95245867e-01 6.06116876e-01 1.43646662e-02 1.51793182e+02] [ 6.06022495e-01 7.95375568e-01 -1.06977621e-02 -1.34120397e+02] [-1.79093987e-02 1.97959730e-04 -9.99839594e-01 -4.04216444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters 0.014617225728022643 Centerline is valid? [True, True] Translation: X:152.23, Y:-133.55, Z:-5.00 [[-7.69228004e-01 -6.38810076e-01 1.44901792e-02 1.52228700e+02] [ 6.38693061e-01 -7.69364455e-01 -1.22273944e-02 -1.33548608e+02] [ 1.89592116e-02 -1.50877343e-04 9.99820247e-01 -4.99754665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters 0.01541282827002005 Centerline is valid? [True, True] Translation: X:151.76, Y:-134.10, Z:-4.04 [[-7.93955667e-01 6.07783492e-01 1.52848196e-02 1.51759177e+02] [ 6.07678519e-01 7.94102718e-01 -1.13000218e-02 -1.34099339e+02] [-1.90056835e-02 3.16540186e-04 -9.99819326e-01 -4.04292586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters 0.014867106124499508 Centerline is valid? [True, True] Translation: X:151.78, Y:-134.07, Z:-4.05 [[-8.34040503e-01 5.51499949e-01 1.49748092e-02 1.51776161e+02] [ 5.51418044e-01 8.34174862e-01 -9.51004849e-03 -1.34074714e+02] [-1.77364007e-02 3.25614387e-04 -9.99842645e-01 -4.04624824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters 0.014661331486741494 Centerline is valid? [True, True] Translation: X:152.17, Y:-133.48, Z:-4.99 [[-8.16195975e-01 -5.77624754e-01 1.31823573e-02 1.52167197e+02] [ 5.77541814e-01 -8.16302333e-01 -9.79565898e-03 -1.33477052e+02] [ 1.64190041e-02 -3.81814883e-04 9.99865126e-01 -4.99190516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters 0.013780473188203848 Centerline is valid? [True, True] Translation: X:152.15, Y:-133.51, Z:-4.99 [[-7.72454729e-01 -6.34954372e-01 1.21093595e-02 1.52147470e+02] [ 6.34872312e-01 -7.72549614e-01 -1.02098593e-02 -1.33507840e+02] [ 1.58378758e-02 -1.98757020e-04 9.99874553e-01 -4.99069904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters 0.013056703705374071 Centerline is valid? [True, True] Translation: X:151.69, Y:-134.03, Z:-4.05 [[-8.05183332e-01 5.92859144e-01 1.40654612e-02 1.51694856e+02] [ 5.92770578e-01 8.05306171e-01 -1.02475801e-02 -1.34032010e+02] [-1.74023743e-02 8.64109051e-05 -9.99848564e-01 -4.04721800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters 0.012918956000367052 Centerline is valid? [True, True] Translation: X:152.09, Y:-133.49, Z:-4.99 [[-7.66000702e-01 -6.42676574e-01 1.44826103e-02 1.52091321e+02] [ 6.42561842e-01 -7.66137599e-01 -1.21432556e-02 -1.33488161e+02] [ 1.88998582e-02 4.23042456e-06 9.99821382e-01 -4.99419569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters 0.013112991648519551 Centerline is valid? [True, True] Translation: X:151.66, Y:-133.99, Z:-4.04 [[-8.12028748e-01 5.83426950e-01 1.49099750e-02 1.51661578e+02] [ 5.83327329e-01 8.12165618e-01 -1.07812769e-02 -1.33994540e+02] [-1.83994565e-02 -5.73108702e-05 -9.99830714e-01 -4.04426528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters 0.012834850488970099 Centerline is valid? [True, True] Translation: X:151.67, Y:-133.97, Z:-4.05 [[-8.52435464e-01 5.22634922e-01 1.43707534e-02 1.51672418e+02] [ 5.22558900e-01 8.52556585e-01 -8.91438484e-03 -1.33965908e+02] [-1.69108493e-02 -8.93726835e-05 -9.99856997e-01 -4.04650986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters 0.012623720529450688 Centerline is valid? [True, True] Translation: X:152.02, Y:-133.42, Z:-4.99 [[-8.08654320e-01 -5.88145808e-01 1.27553643e-02 1.52023630e+02] [ 5.88072907e-01 -8.08754913e-01 -9.25999718e-03 -1.33418273e+02] [ 1.57621921e-02 1.29474524e-05 9.99875769e-01 -4.99205424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters 0.012889199850068088 Centerline is valid? [True, True] Translation: X:151.65, Y:-133.95, Z:-4.05 [[-8.55154820e-01 5.18223076e-01 1.24529812e-02 1.51647742e+02] [ 5.18166179e-01 8.55245479e-01 -7.67992073e-03 -1.33947483e+02] [-1.46302680e-02 -1.14807559e-04 -9.99892965e-01 -4.04647079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters 0.01323782848231765 Centerline is valid? [True, True] Translation: X:151.66, Y:-133.92, Z:-4.05 [[-8.90569399e-01 4.54665121e-01 1.28752830e-02 1.51663300e+02] [ 4.54615266e-01 8.90662454e-01 -6.73448465e-03 -1.33924801e+02] [-1.45294664e-02 -1.44225739e-04 -9.99894431e-01 -4.04635038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters 0.013463632546464448 Centerline is valid? [True, True] Translation: X:151.68, Y:-133.90, Z:-4.05 [[-9.20206347e-01 3.91189302e-01 1.38277995e-02 1.51675727e+02] [ 3.91142649e-01 9.20310223e-01 -6.04332197e-03 -1.33900571e+02] [-1.50899481e-02 -1.52461110e-04 -9.99886129e-01 -4.04511543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters 0.013110597045458042 Centerline is valid? [True, True] Translation: X:151.94, Y:-133.31, Z:-4.99 [[-8.83107871e-01 -4.68999804e-01 1.26361269e-02 1.51942358e+02] [ 4.68953320e-01 -8.83198265e-01 -6.60363155e-03 -1.33311742e+02] [ 1.42573073e-02 9.40346797e-05 9.99898355e-01 -4.99372397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters 0.012927834949949658 Centerline is valid? [True, True] Translation: X:151.93, Y:-133.34, Z:-4.99 [[-8.50812154e-01 -5.25324156e-01 1.23777690e-02 1.51933739e+02] [ 5.25270133e-01 -8.50902182e-01 -7.53420329e-03 -1.33337249e+02] [ 1.44901696e-02 9.14806273e-05 9.99895008e-01 -4.99412825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters 0.012736472304876581 Centerline is valid? [True, True] Translation: X:151.93, Y:-133.36, Z:-4.99 [[-8.17480777e-01 -5.75847697e-01 1.11628426e-02 1.51925291e+02] [ 5.75793904e-01 -8.17556989e-01 -7.87081476e-03 -1.33358955e+02] [ 1.36586505e-02 -6.74304141e-06 9.99906716e-01 -4.99329070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters 0.013644490839152881 Centerline is valid? [True, True] Translation: X:151.54, Y:-133.92, Z:-4.05 [[-8.52167987e-01 5.23146019e-01 1.13121244e-02 1.51539695e+02] [ 5.23101441e-01 8.52243060e-01 -6.82999432e-03 -1.33915590e+02] [-1.32137638e-02 9.70860490e-05 -9.99912690e-01 -4.04605016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters 0.014906904027453906 Centerline is valid? [True, True] Translation: X:151.91, Y:-133.33, Z:-4.99 [[-8.30444166e-01 -5.57000270e-01 1.06389427e-02 1.51909552e+02] [ 5.56952857e-01 -8.30512304e-01 -7.26825328e-03 -1.33331974e+02] [ 1.28841918e-02 -1.10489002e-04 9.99916989e-01 -4.99103972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters 0.017536290856792074 Centerline is valid? [True, True] Translation: X:151.51, Y:-133.92, Z:-4.05 [[-8.43296350e-01 5.37341692e-01 1.07317705e-02 1.51506630e+02] [ 5.37303355e-01 8.43364563e-01 -6.42792821e-03 -1.33917937e+02] [-1.25047887e-02 3.45567880e-04 -9.99921752e-01 -4.04925162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters 0.019867045359038753 Centerline is valid? [True, True] Translation: X:151.52, Y:-133.90, Z:-4.05 [[-8.74343054e-01 4.85215174e-01 9.51099691e-03 1.51519367e+02] [ 4.85191430e-01 8.74394689e-01 -4.81704965e-03 -1.33901434e+02] [-1.06536708e-02 4.02900282e-04 -9.99943167e-01 -4.05073055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters 0.0219112644641469 Centerline is valid? [True, True] Translation: X:151.53, Y:-133.88, Z:-4.05 [[-9.04257080e-01 4.26875988e-01 9.79916387e-03 1.51531578e+02] [ 4.26856365e-01 9.04310058e-01 -4.11859295e-03 -1.33880669e+02] [-1.06196109e-02 4.58568638e-04 -9.99943505e-01 -4.05003554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters 0.023210688604845375 Centerline is valid? [True, True] Translation: X:151.54, Y:-133.86, Z:-4.05 [[-9.31879111e-01 3.62613666e-01 1.06137424e-02 1.51543633e+02] [ 3.62596134e-01 9.31939421e-01 -3.59974764e-03 -1.33857936e+02] [-1.11966826e-02 4.93972334e-04 -9.99937193e-01 -4.04970738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters 0.020829699703968776 Centerline is valid? [True, True] Translation: X:151.56, Y:-133.83, Z:-4.05 [[-9.56045493e-01 2.93047809e-01 9.99989943e-03 1.51555762e+02] [ 2.93036424e-01 9.56097693e-01 -2.61820860e-03 -1.33826983e+02] [-1.03281411e-02 4.27208238e-04 -9.99946572e-01 -4.05096865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters 0.019722955660049616 Centerline is valid? [True, True] Translation: X:151.74, Y:-133.13, Z:-4.99 [[-9.58138092e-01 -2.86196328e-01 7.94097216e-03 1.51737887e+02] [ 2.86182289e-01 -9.58170877e-01 -2.87558647e-03 -1.33125802e+02] [ 8.43179055e-03 -4.82643345e-04 9.99964335e-01 -4.98905614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters 0.01770147398777024 Centerline is valid? [True, True] Translation: X:151.51, Y:-133.80, Z:-4.05 [[-9.60465340e-01 2.78304366e-01 7.28088858e-03 1.51508750e+02] [ 2.78298136e-01 9.60492910e-01 -1.87571118e-03 -1.33802688e+02] [-7.51526047e-03 2.24702139e-04 -9.99971735e-01 -4.05109736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters 0.014471942437338198 Centerline is valid? [True, True] Translation: X:151.68, Y:-133.13, Z:-4.99 [[-9.55299290e-01 -2.95590751e-01 5.41993817e-03 1.51678209e+02] [ 2.95584200e-01 -9.55314618e-01 -1.99061295e-03 -1.33128184e+02] [ 5.76615294e-03 -2.99583054e-04 9.99983331e-01 -4.98858640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters 0.013603772105413744 Centerline is valid? [True, True] Translation: X:151.46, Y:-133.77, Z:-4.05 [[-9.65687142e-01 2.59679769e-01 3.84192156e-03 1.51456491e+02] [ 2.59677951e-01 9.65694783e-01 -9.73592983e-04 -1.33770976e+02] [-3.96294601e-03 5.74760912e-05 -9.99992146e-01 -4.05023664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters 0.012718904075329095 Centerline is valid? [True, True] Translation: X:151.46, Y:-133.73, Z:-4.05 [[-9.82541128e-01 1.86039497e-01 1.49586091e-03 1.51459365e+02] [ 1.86039305e-01 9.82542267e-01 -2.67327266e-04 -1.33734806e+02] [-1.51948000e-03 1.56288906e-05 -9.99998846e-01 -4.05019016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters 0.012654739423238444 Centerline is valid? [True, True] Translation: X:151.46, Y:-133.70, Z:-4.05 [[-9.93462013e-01 1.14145209e-01 2.02479047e-03 1.51457957e+02] [ 1.14145007e-01 9.93464076e-01 -2.15503325e-04 -1.33701893e+02] [-2.03615526e-03 1.70253536e-05 -9.99997927e-01 -4.04842718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters 0.012658748609689706 Centerline is valid? [True, True] Translation: X:151.46, Y:-133.67, Z:-4.05 [[-9.99040337e-01 4.37570581e-02 1.92992245e-03 1.51458607e+02] [ 4.37570094e-02 9.99042201e-01 -6.74867411e-05 -1.33670154e+02] [-1.93102699e-03 1.70256581e-05 -9.99998135e-01 -4.04635930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters 0.012725721963802637 Centerline is valid? [True, True] Translation: X:151.48, Y:-133.04, Z:-4.99 [[-9.95639053e-01 -9.32677792e-02 1.99932659e-03 1.51483983e+02] [ 9.32675655e-02 -9.95641060e-01 -2.00046891e-04 -1.33038869e+02] [ 2.00926958e-03 -1.27021735e-05 9.99997981e-01 -4.99443189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters 0.01303970938135827 Centerline is valid? [True, True] Translation: X:151.40, Y:-133.67, Z:-4.04 [[-9.99083911e-01 4.27807040e-02 1.07239597e-03 1.51404749e+02] [ 4.27806935e-02 9.99084487e-01 -3.27358516e-05 -1.33666415e+02] [-1.07281464e-03 1.31719804e-05 -9.99999425e-01 -4.04498799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters 0.013077623036710721 Centerline is valid? [True, True] Translation: X:151.40, Y:-133.64, Z:-4.04 [[-9.99636034e-01 -2.69666623e-02 7.74026179e-04 1.51401803e+02] [-2.69666458e-02 9.99636333e-01 3.17310953e-05 -1.33638840e+02] [-7.74600373e-04 1.08466564e-05 -9.99999700e-01 -4.04410852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters 0.012952973789194425 Centerline is valid? [True, True] Translation: X:151.37, Y:-133.01, Z:-5.00 [[-9.99870881e-01 -1.59672670e-02 1.80784074e-03 1.51373797e+02] [ 1.59673214e-02 -9.99872514e-01 1.56147103e-05 -1.33013414e+02] [ 1.80736095e-03 4.44790683e-05 9.99998366e-01 -4.99678175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters 0.012553846925548902 Centerline is valid? [True, True] Translation: X:151.33, Y:-133.64, Z:-4.04 [[-9.99366271e-01 -3.55718271e-02 1.30411343e-03 1.51331534e+02] [-3.55717813e-02 9.99367122e-01 5.82862677e-05 -1.33637520e+02] [-1.30536144e-03 1.18596922e-05 -9.99999148e-01 -4.04281042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters 0.012163070500366087 Centerline is valid? [True, True] Translation: X:151.32, Y:-133.61, Z:-4.04 [[-9.94031921e-01 -1.09086966e-01 7.57549650e-04 1.51323245e+02] [-1.09086930e-01 9.94032210e-01 8.83778392e-05 -1.33608887e+02] [-7.62669624e-04 5.21162735e-06 -9.99999709e-01 -4.04330357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters 0.011972429258880294 Centerline is valid? [True, True] Translation: X:151.31, Y:-133.58, Z:-4.04 [[-9.82872712e-01 -1.84285733e-01 3.71103755e-05 1.51306356e+02] [-1.84285733e-01 9.82872712e-01 7.66500375e-06 -1.33580940e+02] [-3.78873267e-05 6.94810237e-07 -9.99999999e-01 -4.04353325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters 0.011905914123160968 Centerline is valid? [True, True] Translation: X:151.29, Y:-133.56, Z:-4.04 [[-9.66347319e-01 -2.57240857e-01 -3.57523791e-05 1.51285530e+02] [-2.57240857e-01 9.66347319e-01 -8.75756091e-06 -1.33556060e+02] [ 3.68020177e-05 7.34127113e-07 -9.99999999e-01 -4.04364854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters 0.012585186070256955 Centerline is valid? [True, True] Translation: X:151.26, Y:-133.53, Z:-4.04 [[-9.43223198e-01 -3.32159433e-01 -3.30459950e-04 1.51263101e+02] [-3.32159414e-01 9.43223256e-01 -1.12270735e-04 -1.33531252e+02] [ 3.48989293e-04 3.86902161e-06 -9.99999939e-01 -4.04310728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters 0.01349545071161008 Centerline is valid? [True, True] Translation: X:151.23, Y:-133.51, Z:-4.04 [[-9.14930293e-01 -4.03611888e-01 -5.54028895e-05 1.51227758e+02] [-4.03611888e-01 9.14930294e-01 -2.28048655e-05 -1.33513599e+02] [ 5.98940964e-05 1.49640247e-06 -9.99999998e-01 -4.04268976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters 0.015071499793598989 Centerline is valid? [True, True] Translation: X:151.18, Y:-133.50, Z:-4.04 [[-8.80396714e-01 -4.74237939e-01 5.21513246e-05 1.51182584e+02] [-4.74237938e-01 8.80396716e-01 2.74530683e-05 -1.33502256e+02] [-5.89331419e-05 -5.62545593e-07 -9.99999998e-01 -4.04175376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters 0.016028834100715428 Centerline is valid? [True, True] Translation: X:151.12, Y:-133.51, Z:-4.04 [[-8.41033765e-01 -5.40982597e-01 1.89974845e-04 1.51121932e+02] [-5.40982584e-01 8.41033787e-01 1.16378442e-04 -1.33506401e+02] [-2.22733975e-04 -4.89488325e-06 -9.99999975e-01 -4.04080671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters 0.01879741225580548 Centerline is valid? [True, True] Translation: X:151.06, Y:-133.52, Z:-4.04 [[-7.97474524e-01 -6.03352363e-01 5.56962684e-04 1.51057789e+02] [-6.03352232e-01 7.97474718e-01 3.98787570e-04 -1.33515635e+02] [-6.84773083e-04 -1.80217509e-05 -9.99999765e-01 -4.04052370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters 0.017441822387506575 Centerline is valid? [True, True] Translation: X:150.99, Y:-133.54, Z:-4.04 [[-7.49873855e-01 -6.61580830e-01 -8.73972602e-05 1.50989954e+02] [-6.61580826e-01 7.49873860e-01 -7.19510675e-05 -1.33541752e+02] [ 1.13138367e-04 3.86612725e-06 -9.99999994e-01 -4.04057512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters 0.017435689800026827 Centerline is valid? [True, True] Translation: X:150.92, Y:-133.58, Z:-4.04 [[-6.97908639e-01 -7.16186749e-01 2.70047251e-04 1.50916166e+02] [-7.16186701e-01 6.97908691e-01 2.62419036e-04 -1.33576575e+02] [-3.76409360e-04 -1.02597377e-05 -9.99999929e-01 -4.04051969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters 0.017444254496161597 Centerline is valid? [True, True] Translation: X:150.84, Y:-133.63, Z:-4.04 [[-6.41801891e-01 -7.66869623e-01 1.14623676e-03 1.50838774e+02] [-7.66868539e-01 6.41802913e-01 1.29061997e-03 -1.33625191e+02] [-1.72539534e-03 -5.06905732e-05 -9.99998510e-01 -4.03968133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters 0.0184806512183548 Centerline is valid? [True, True] Translation: X:150.76, Y:-133.68, Z:-4.04 [[-5.82298182e-01 -8.12973703e-01 1.60803322e-03 1.50764428e+02] [-8.12970966e-01 5.82300397e-01 2.11091856e-03 -1.33676283e+02] [-2.65247966e-03 -7.81002833e-05 -9.99996479e-01 -4.03850933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters 0.01779068269234645 Centerline is valid? [True, True] Translation: X:150.69, Y:-133.74, Z:-4.04 [[-5.19512765e-01 -8.54459809e-01 2.21830756e-03 1.50692442e+02] [-8.54452976e-01 5.19517488e-01 3.41943026e-03 -1.33743588e+02] [-4.07421530e-03 -1.19001824e-04 -9.99991693e-01 -4.03726615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters 0.01719997375261547 Centerline is valid? [True, True] Translation: X:150.63, Y:-133.82, Z:-4.04 [[-4.54171034e-01 -8.90912251e-01 2.00839246e-03 1.50625086e+02] [-8.90904657e-01 4.54175459e-01 3.68031888e-03 -1.33818512e+02] [-4.19100374e-03 -1.17791972e-04 -9.99991211e-01 -4.03713876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters 0.016872054290679717 Centerline is valid? [True, True] Translation: X:150.56, Y:-133.90, Z:-4.04 [[-3.85605680e-01 -9.22662359e-01 1.55945218e-03 1.50559948e+02] [-9.22655874e-01 3.85608819e-01 3.46067415e-03 -1.33901566e+02] [-3.79437228e-03 -1.04382109e-04 -9.99992796e-01 -4.03814935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters 0.017254218231740354 Centerline is valid? [True, True] Translation: X:150.50, Y:-133.99, Z:-4.04 [[-3.14709932e-01 -9.49187608e-01 7.36584895e-04 1.50501388e+02] [-9.49185423e-01 3.14710789e-01 2.03774095e-03 -1.33990317e+02] [-2.16600968e-03 -5.78583274e-05 -9.99997653e-01 -4.03953785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters 0.017188104377764118 Centerline is valid? [True, True] Translation: X:150.45, Y:-134.09, Z:-4.04 [[-2.41185120e-01 -9.70479122e-01 1.09894688e-04 1.50447192e+02] [-9.70479040e-01 2.41185145e-01 3.98591516e-04 -1.34090158e+02] [-4.13329711e-04 -1.05161483e-05 -9.99999915e-01 -4.04099351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters 0.01746406992636111 Centerline is valid? [True, True] Translation: X:150.40, Y:-134.19, Z:-4.04 [[-1.65309417e-01 -9.86241751e-01 7.37729146e-05 1.50398651e+02] [-9.86241678e-01 1.65309433e-01 3.79200888e-04 -1.34189316e+02] [-3.86179107e-04 -1.00724455e-05 -9.99999925e-01 -4.04110971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters 0.017746620672025655 Centerline is valid? [True, True] Translation: X:150.36, Y:-134.31, Z:-4.04 [[-8.90098190e-02 -9.96030731e-01 1.88453288e-04 1.50356162e+02] [-9.96029434e-01 8.90100074e-02 1.60767273e-03 -1.34306334e+02] [-1.61806567e-03 -4.46063635e-05 -9.99998690e-01 -4.03943652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters 0.017191588170791614 Centerline is valid? [True, True] Translation: X:150.32, Y:-134.43, Z:-4.04 [[-1.34134911e-02 -9.99910025e-01 1.45694998e-04 1.50323235e+02] [-9.99903446e-01 1.34139315e-02 3.62837914e-03 -1.34431614e+02] [-3.63000702e-03 -9.70116995e-05 -9.99993407e-01 -4.03773455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters 0.015594507343039176 Centerline is valid? [True, True] Translation: X:150.30, Y:-134.53, Z:-4.04 [[ 5.93926123e-02 -9.98234681e-01 -1.99971752e-04 1.50302692e+02] [-9.98220022e-01 -5.93928242e-02 5.41114688e-03 -1.34526196e+02] [-5.41347136e-03 -1.21766342e-04 -9.99985340e-01 -4.03633962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters 0.015011274322017043 Centerline is valid? [True, True] Translation: X:150.29, Y:-134.64, Z:-4.04 [[ 1.33693441e-01 -9.91022540e-01 -6.24535714e-04 1.50286567e+02] [-9.91007547e-01 -1.33694854e-01 5.45232698e-03 -1.34638653e+02] [-5.48687614e-03 -1.10020749e-04 -9.99984941e-01 -4.03608536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters 0.01379375425770538 Centerline is valid? [True, True] Translation: X:150.28, Y:-134.76, Z:-4.04 [[ 2.03555143e-01 -9.79062944e-01 -1.02737407e-03 1.50284535e+02] [-9.79048554e-01 -2.03557722e-01 5.30882203e-03 -1.34759447e+02] [-5.40680085e-03 -7.47889300e-05 -9.99985380e-01 -4.03647815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters 0.012671089281229548 Centerline is valid? [True, True] Translation: X:150.29, Y:-134.87, Z:-4.04 [[ 2.69775952e-01 -9.62922432e-01 -1.15161484e-03 1.50291108e+02] [-9.62913326e-01 -2.69778409e-01 4.18773519e-03 -1.34871647e+02] [-4.34314497e-03 -2.08449735e-05 -9.99990568e-01 -4.03748499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters 0.012559272168353576 Centerline is valid? [True, True] Translation: X:150.30, Y:-134.99, Z:-4.04 [[ 3.37313503e-01 -9.41391314e-01 -1.41235654e-03 1.50302758e+02] [-9.41383134e-01 -3.37316460e-01 3.92452056e-03 -1.34985459e+02] [-4.17092067e-03 5.77484428e-06 -9.99991302e-01 -4.03834297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters 0.0127590029832363 Centerline is valid? [True, True] Translation: X:150.32, Y:-135.10, Z:-4.04 [[ 4.05001476e-01 -9.14313287e-01 -2.24023049e-03 1.50322016e+02] [-9.14299706e-01 -4.05007671e-01 4.98344379e-03 -1.35101151e+02] [-5.46373941e-03 2.99399883e-05 -9.99985073e-01 -4.03743030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters 0.013125338455793835 Centerline is valid? [True, True] Translation: X:150.35, Y:-135.21, Z:-4.04 [[ 4.71481543e-01 -8.81871642e-01 -2.74977770e-03 1.50348393e+02] [-8.81857235e-01 -4.71489559e-01 5.04108040e-03 -1.35213610e+02] [-5.74207733e-03 4.81349941e-05 -9.99983513e-01 -4.03729682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters 0.013682234477090213 Centerline is valid? [True, True] Translation: X:150.38, Y:-135.33, Z:-4.04 [[ 5.34385334e-01 -8.45233487e-01 -3.55914761e-03 1.50382685e+02] [-8.45215743e-01 -5.34397180e-01 5.47742610e-03 -1.35325988e+02] [-6.53170241e-03 8.11914151e-05 -9.99978665e-01 -4.03677907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters 0.014619531217261653 Centerline is valid? [True, True] Translation: X:150.42, Y:-135.43, Z:-4.04 [[ 5.94613032e-01 -8.04000796e-01 -4.24988466e-03 1.50424567e+02] [-8.03981602e-01 -5.94628209e-01 5.55671291e-03 -1.35431318e+02] [-6.99470291e-03 1.12735166e-04 -9.99975530e-01 -4.03691762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters 0.0158652396174885 Centerline is valid? [True, True] Translation: X:150.47, Y:-135.53, Z:-4.04 [[ 6.50242882e-01 -7.59716837e-01 -3.81073125e-03 1.50469963e+02] [-7.59704888e-01 -6.50254036e-01 4.26286045e-03 -1.35530464e+02] [-5.71651024e-03 1.23136492e-04 -9.99983653e-01 -4.03790634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters 0.015975515479842328 Centerline is valid? [True, True] Translation: X:150.52, Y:-135.63, Z:-4.04 [[ 7.05522470e-01 -7.08676012e-01 -4.04415328e-03 1.50518926e+02] [-7.08665387e-01 -7.05534049e-01 3.88259067e-03 -1.35626338e+02] [-5.60478671e-03 1.26696489e-04 -9.99984285e-01 -4.03828490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters 0.015119862098424754 Centerline is valid? [True, True] Translation: X:150.53, Y:-135.66, Z:-4.04 [[ 7.60327873e-01 -6.49525471e-01 -4.26473144e-03 1.50533426e+02] [-6.49516068e-01 -7.60339825e-01 3.49690830e-03 -1.35657904e+02] [-5.51397617e-03 1.11214746e-04 -9.99984792e-01 -4.03818821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters 0.013674215108170764 Centerline is valid? [True, True] Translation: X:150.55, Y:-135.69, Z:-4.04 [[ 8.13214326e-01 -5.81947029e-01 -4.48503762e-03 1.50548201e+02] [-5.81938644e-01 -8.13226691e-01 3.12477536e-03 -1.35691708e+02] [-5.46580604e-03 6.89046220e-05 -9.99985060e-01 -4.03731596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters 0.012609868094231527 Centerline is valid? [True, True] Translation: X:150.57, Y:-135.72, Z:-4.04 [[ 8.60336939e-01 -5.09705250e-01 -4.57264124e-03 1.50566298e+02] [-5.09698202e-01 -8.60349090e-01 2.68063164e-03 -1.35724572e+02] [-5.30039976e-03 2.44206009e-05 -9.99985953e-01 -4.03697366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters 0.012389207257228982 Centerline is valid? [True, True] Translation: X:150.59, Y:-135.75, Z:-4.04 [[ 8.99516351e-01 -4.36859045e-01 -4.95073215e-03 1.50589656e+02] [-4.36852431e-01 -8.99529974e-01 2.40382064e-03 -1.35750645e+02] [-5.50346276e-03 4.63405810e-07 -9.99984856e-01 -4.03665615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters 0.012566312547935854 Centerline is valid? [True, True] Translation: X:150.61, Y:-135.78, Z:-4.04 [[ 9.32770586e-01 -3.60439595e-01 -4.72584206e-03 1.50614441e+02] [-3.60434831e-01 -9.32782557e-01 1.85335065e-03 -1.35778001e+02] [-5.07620400e-03 -2.53928923e-05 -9.99987116e-01 -4.03748278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters 0.012837496893012196 Centerline is valid? [True, True] Translation: X:150.64, Y:-135.80, Z:-4.04 [[ 9.59248979e-01 -2.82547304e-01 -2.90143681e-03 1.50642601e+02] [-2.82545926e-01 -9.59253366e-01 8.82848088e-04 -1.35803097e+02] [-3.03265937e-03 -2.70819776e-05 -9.99995401e-01 -4.03814528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters 0.01323586682229905 Centerline is valid? [True, True] Translation: X:150.67, Y:-135.82, Z:-4.04 [[ 9.78910749e-01 -2.04273690e-01 -2.45057345e-03 1.50672867e+02] [-2.04272977e-01 -9.78913816e-01 5.40514281e-04 -1.35822445e+02] [-2.50931305e-03 -2.85293053e-05 -9.99996851e-01 -4.03864615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters 0.01387187498661616 Centerline is valid? [True, True] Translation: X:150.71, Y:-135.84, Z:-4.04 [[ 9.92334714e-01 -1.23559411e-01 -2.21056099e-03 1.50705598e+02] [-1.23559030e-01 -9.92337176e-01 3.08848237e-04 -1.35839784e+02] [-2.23178296e-03 -3.33460559e-05 -9.99997509e-01 -4.03849549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters 0.014501850900030394 Centerline is valid? [True, True] Translation: X:150.74, Y:-135.85, Z:-4.04 [[ 9.99085330e-01 -4.26254461e-02 -3.40206354e-03 1.50736225e+02] [-4.26249913e-02 -9.99091121e-01 2.06111263e-04 -1.35854494e+02] [-3.40775706e-03 -6.09098100e-05 -9.99994192e-01 -4.03745362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters 0.014691527548203957 Centerline is valid? [True, True] Translation: X:150.77, Y:-135.86, Z:-4.04 [[ 9.99298817e-01 3.71931284e-02 -4.30643026e-03 1.50767763e+02] [ 3.71931434e-02 -9.99308093e-01 -7.66262938e-05 -1.35864883e+02] [-4.30630058e-03 -8.35971136e-05 -9.99990724e-01 -4.03631573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters 0.015079311742471065 Centerline is valid? [True, True] Translation: X:150.80, Y:-135.87, Z:-4.03 [[ 9.93272038e-01 1.15626411e-01 -6.41803502e-03 1.50798475e+02] [ 1.15624824e-01 -9.93292765e-01 -6.18934399e-04 -1.35870031e+02] [-6.44655291e-03 -1.27313940e-04 -9.99979213e-01 -4.03428545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters 0.014772942832148892 Centerline is valid? [True, True] Translation: X:150.83, Y:-135.87, Z:-4.03 [[ 9.81578273e-01 1.90942846e-01 -6.70249130e-03 1.50829124e+02] [ 1.90939229e-01 -9.81601149e-01 -1.18135015e-03 -1.35868306e+02] [-6.80474352e-03 -1.20180886e-04 -9.99976840e-01 -4.03366124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters 0.013762390975429944 Centerline is valid? [True, True] Translation: X:150.86, Y:-135.86, Z:-4.04 [[ 9.64656050e-01 2.63463419e-01 -5.07273112e-03 1.50859347e+02] [ 2.63460169e-01 -9.64669385e-01 -1.31068333e-03 -1.35861966e+02] [-5.23882552e-03 -7.21039944e-05 -9.99986275e-01 -4.03556293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters 0.013203634781501876 Centerline is valid? [True, True] Translation: X:150.89, Y:-135.86, Z:-4.04 [[ 9.42008429e-01 3.35572753e-01 -3.32376987e-03 1.50889466e+02] [ 3.35570808e-01 -9.42014292e-01 -1.14318692e-03 -1.35856184e+02] [-3.51466111e-03 -3.84684295e-05 -9.99993823e-01 -4.03730973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters 0.01288081811821348 Centerline is valid? [True, True] Translation: X:150.92, Y:-135.85, Z:-4.04 [[ 9.14188415e-01 4.05288067e-01 -1.06102289e-03 1.50918047e+02] [ 4.05287804e-01 -9.14189030e-01 -4.61139551e-04 -1.35846619e+02] [-1.15686984e-03 -8.45120225e-06 -9.99999331e-01 -4.03834678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters 0.012929093009511063 Centerline is valid? [True, True] Translation: X:150.95, Y:-135.84, Z:-4.04 [[ 8.79636825e-01 4.75645401e-01 -7.12574298e-04 1.50947918e+02] [ 4.75645251e-01 -8.79637114e-01 -3.78784828e-04 -1.35839851e+02] [-8.06974061e-04 -5.73949728e-06 -9.99999674e-01 -4.03794139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters 0.013482199525759036 Centerline is valid? [True, True] Translation: X:150.98, Y:-135.83, Z:-4.04 [[ 8.37770811e-01 5.46016461e-01 -2.46814434e-03 1.50976350e+02] [ 5.46014207e-01 -8.37774446e-01 -1.56948303e-03 -1.35831418e+02] [-2.92471183e-03 -3.27748013e-05 -9.99995723e-01 -4.03514875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters 0.014087963567748297 Centerline is valid? [True, True] Translation: X:151.00, Y:-135.82, Z:-4.03 [[ 7.89989032e-01 6.13104484e-01 -4.49676180e-03 1.51004881e+02] [ 6.13095169e-01 -7.90001826e-01 -3.38064018e-03 -1.35820762e+02] [-5.62513569e-03 -8.62742719e-05 -9.99984175e-01 -4.03261945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters 0.014458817048218798 Centerline is valid? [True, True] Translation: X:151.03, Y:-135.81, Z:-4.03 [[ 7.38493430e-01 6.74247227e-01 -4.25816201e-03 1.51031670e+02] [ 6.74236763e-01 -7.38505700e-01 -3.75752372e-03 -1.35806173e+02] [-5.67817686e-03 -9.61027886e-05 -9.99983874e-01 -4.03209056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters 0.014504850808758156 Centerline is valid? [True, True] Translation: X:151.06, Y:-135.79, Z:-4.03 [[ 6.83698160e-01 7.29760618e-01 -2.50337014e-03 1.51056035e+02] [ 7.29756042e-01 -6.83702741e-01 -2.58489604e-03 -1.35789817e+02] [-3.59791636e-03 -5.95608207e-05 -9.99993526e-01 -4.03317981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters 0.014344126079719927 Centerline is valid? [True, True] Translation: X:151.08, Y:-135.77, Z:-4.03 [[ 6.24724453e-01 7.80843577e-01 -1.63293787e-03 1.51077534e+02] [ 7.80841081e-01 -6.24726585e-01 -1.97485585e-03 -1.35770895e+02] [-2.56219321e-03 -4.13242325e-05 -9.99996717e-01 -4.03401695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters 0.014583322511133843 Centerline is valid? [True, True] Translation: X:151.10, Y:-135.75, Z:-4.03 [[ 5.61627095e-01 8.27388279e-01 -1.90822744e-03 1.51098010e+02] [ 8.27383826e-01 -5.61630334e-01 -2.71525077e-03 -1.35752449e+02] [-3.31828508e-03 -5.38781179e-05 -9.99994493e-01 -4.03279383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters 0.014260562777159954 Centerline is valid? [True, True] Translation: X:151.12, Y:-135.73, Z:-4.03 [[ 4.95318433e-01 8.68709802e-01 -1.71155800e-03 1.51117406e+02] [ 8.68704986e-01 -4.95321387e-01 -2.89335124e-03 -1.35732166e+02] [-3.36125386e-03 -5.37087617e-05 -9.99994350e-01 -4.03223266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters 0.013837554667059803 Centerline is valid? [True, True] Translation: X:151.14, Y:-135.71, Z:-4.03 [[ 4.27521867e-01 9.04003140e-01 -1.83739067e-03 1.51135445e+02] [ 9.03995374e-01 -4.27525812e-01 -3.74759371e-03 -1.35710968e+02] [-4.17336842e-03 -5.88144092e-05 -9.99991290e-01 -4.03156530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters 0.013328420669377023 Centerline is valid? [True, True] Translation: X:151.15, Y:-135.69, Z:-4.03 [[ 3.59170684e-01 9.33270444e-01 -1.64253635e-03 1.51151970e+02] [ 9.33261249e-01 -3.59174437e-01 -4.14314996e-03 -1.35688910e+02] [-4.45663647e-03 -4.48175187e-05 -9.99990068e-01 -4.03083185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters 0.012897512654964418 Centerline is valid? [True, True] Translation: X:151.17, Y:-135.67, Z:-4.03 [[ 2.86767358e-01 9.57999555e-01 -1.15499222e-03 1.51167138e+02] [ 9.57992227e-01 -2.86769682e-01 -3.74718310e-03 -1.35665598e+02] [-3.92101650e-03 -3.19037697e-05 -9.99992312e-01 -4.03051714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters 0.012691749332980772 Centerline is valid? [True, True] Translation: X:151.18, Y:-135.64, Z:-4.03 [[ 2.11867268e-01 9.77298040e-01 -8.95502851e-04 1.51181618e+02] [ 9.77289883e-01 -2.11869158e-01 -3.99299767e-03 -1.35641887e+02] [-4.09207823e-03 -2.91803708e-05 -9.99991627e-01 -4.03055257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters 0.012431030234456183 Centerline is valid? [True, True] Translation: X:151.19, Y:-135.62, Z:-4.03 [[ 1.37953819e-01 9.90438477e-01 -6.06310388e-04 1.51193717e+02] [ 9.90429424e-01 -1.37955151e-01 -4.23467594e-03 -1.35616768e+02] [-4.27782963e-03 -1.63179291e-05 -9.99990850e-01 -4.02983508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters 0.01234848247848366 Centerline is valid? [True, True] Translation: X:151.20, Y:-135.59, Z:-4.03 [[ 6.46666067e-02 9.97906900e-01 -2.20492681e-04 1.51203175e+02] [ 9.97900932e-01 -6.46669825e-02 -3.45127431e-03 -1.35591056e+02] [-3.45830905e-03 3.15234671e-06 -9.99994020e-01 -4.03037678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters 0.01273444392577397 Centerline is valid? [True, True] Translation: X:151.21, Y:-135.56, Z:-4.03 [[-8.43781162e-03 9.99964400e-01 4.18656395e-05 1.51209881e+02] [ 9.99960334e-01 8.43789670e-03 -2.85171412e-03 -1.35564914e+02] [-2.85196586e-03 1.78017522e-05 -9.99995933e-01 -4.03159770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters 0.012907033635030192 Centerline is valid? [True, True] Translation: X:151.21, Y:-135.54, Z:-4.03 [[-8.39681776e-02 9.96468381e-01 3.31784231e-04 1.51214385e+02] [ 9.96462040e-01 8.39688270e-02 -3.55524506e-03 -1.35539915e+02] [-3.57054882e-03 3.20829435e-05 -9.99993625e-01 -4.03035160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters 0.013646038279733767 Centerline is valid? [True, True] Translation: X:151.22, Y:-135.51, Z:-4.03 [[-1.58036006e-01 9.87432843e-01 1.00062396e-03 1.51216149e+02] [ 9.87415923e-01 1.58039156e-01 -5.78096162e-03 -1.35514222e+02] [-5.86644914e-03 7.44319476e-05 -9.99982790e-01 -4.02775795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters 0.013837961609443627 Centerline is valid? [True, True] Translation: X:151.22, Y:-135.49, Z:-4.03 [[-2.33073957e-01 9.72457675e-01 1.61258245e-03 1.51221705e+02] [ 9.72437138e-01 2.33079516e-01 -6.32068656e-03 -1.35486980e+02] [-6.52246010e-03 9.49476338e-05 -9.99978724e-01 -4.02707251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters 0.013879247114039393 Centerline is valid? [True, True] Translation: X:151.22, Y:-135.46, Z:-4.03 [[-3.09340920e-01 9.50949125e-01 1.98924446e-03 1.51224310e+02] [ 9.50931189e-01 3.09347304e-01 -5.84120955e-03 -1.35460695e+02] [-6.17006052e-03 8.47094608e-05 -9.99980961e-01 -4.02708134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters 0.012947473170809748 Centerline is valid? [True, True] Translation: X:151.23, Y:-135.43, Z:-4.03 [[-3.89132056e-01 9.21180076e-01 1.87362012e-03 1.51229598e+02] [ 9.21169805e-01 3.89136565e-01 -4.35019497e-03 -1.35430533e+02] [-4.73640703e-03 3.31219693e-05 -9.99988783e-01 -4.02813299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters 0.013178370329923753 Centerline is valid? [True, True] Translation: X:151.24, Y:-135.40, Z:-4.03 [[-4.70952567e-01 8.82157054e-01 1.61635616e-03 1.51235600e+02] [ 8.82151726e-01 4.70955340e-01 -3.06606440e-03 -1.35398267e+02] [-3.46598190e-03 -1.80995203e-05 -9.99993993e-01 -4.02758634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters 0.013178370329923753 Centerline is valid? [True, True] Translation: X:151.22, Y:-135.37, Z:-4.03 [[-5.38585722e-01 8.42568687e-01 1.85149998e-03 1.51224409e+02] [ 8.42563592e-01 5.38588904e-01 -2.93009656e-03 -1.35373960e+02] [-3.46600495e-03 -1.81016917e-05 -9.99993993e-01 -4.02758592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters 0.014114868719006541 Centerline is valid? [True, True] Translation: X:151.22, Y:-135.34, Z:-4.03 [[-6.09679971e-01 7.92646609e-01 1.29844602e-03 1.51219507e+02] [ 7.92644708e-01 6.09681353e-01 -1.73639121e-03 -1.35343672e+02] [-2.16798293e-03 -2.94365732e-05 -9.99997650e-01 -4.02886748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters 0.01525799171549293 Centerline is valid? [True, True] Translation: X:151.21, Y:-135.32, Z:-4.03 [[-6.72766256e-01 7.39853830e-01 1.36942348e-03 1.51209477e+02] [ 7.39852187e-01 6.72767649e-01 -1.55969843e-03 -1.35315915e+02] [-2.07525267e-03 -3.61415201e-05 -9.99997846e-01 -4.02889677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters 0.0158447518176104 Centerline is valid? [True, True] Translation: X:151.20, Y:-135.29, Z:-4.03 [[-7.32014004e-01 6.81286191e-01 2.15047424e-03 1.51199086e+02] [ 6.81282978e-01 7.32017160e-01 -2.09334349e-03 -1.35285866e+02] [-3.00035006e-03 -6.72752541e-05 -9.99995497e-01 -4.02819139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters 0.016676679318007873 Centerline is valid? [True, True] Translation: X:151.22, Y:-135.26, Z:-4.03 [[-7.80046610e-01 6.25703195e-01 4.77475768e-03 1.51219171e+02] [ 6.25690221e-01 7.80061207e-01 -4.03245966e-03 -1.35264198e+02] [-6.24772613e-03 -1.57987301e-04 -9.99980470e-01 -4.02535204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters 0.01635610001212621 Centerline is valid? [True, True] Translation: X:151.24, Y:-135.24, Z:-4.02 [[-8.21754374e-01 5.69808629e-01 6.15427790e-03 1.51236338e+02] [ 5.69790951e-01 8.21777398e-01 -4.49222876e-03 -1.35244357e+02] [-7.61715720e-03 -1.84856774e-04 -9.99970972e-01 -4.02366346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters 0.01433262439200983 Centerline is valid? [True, True] Translation: X:151.25, Y:-135.23, Z:-4.02 [[-8.55149362e-01 5.18342005e-01 6.41361914e-03 1.51252901e+02] [ 5.18326443e-01 8.55173405e-01 -4.01809032e-03 -1.35234567e+02] [-7.56750151e-03 -1.11718977e-04 -9.99971360e-01 -4.02457233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters 0.012764503278547069 Centerline is valid? [True, True] Translation: X:151.27, Y:-135.23, Z:-4.03 [[-8.84777794e-01 4.65986124e-01 5.01874204e-03 1.51268950e+02] [ 4.65978480e-01 8.84792027e-01 -2.66915264e-03 -1.35226030e+02] [-5.68433104e-03 -2.29811990e-05 -9.99983844e-01 -4.02645507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters 0.013036162783029428 Centerline is valid? [True, True] Translation: X:151.62, Y:-134.59, Z:-5.01 [[-8.52149236e-01 -5.23276283e-01 4.85919425e-03 1.51620316e+02] [ 5.23267930e-01 -8.52163090e-01 -2.95662106e-03 -1.34589503e+02] [ 5.68795566e-03 2.31781362e-05 9.99983823e-01 -5.01255492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters 0.013217753787087566 Centerline is valid? [True, True] Translation: X:151.23, Y:-135.22, Z:-4.03 [[-8.80873637e-01 4.73317674e-01 5.65823695e-03 1.51231637e+02] [ 4.73308272e-01 8.80891808e-01 -2.98367546e-03 -1.35221262e+02] [-6.39652091e-03 4.98493038e-05 -9.99979541e-01 -4.02665171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters 0.01336987430266209 Centerline is valid? [True, True] Translation: X:151.24, Y:-135.19, Z:-4.03 [[-9.12007604e-01 4.10099765e-01 7.76615233e-03 1.51239852e+02] [ 4.10085542e-01 9.12040667e-01 -3.41616997e-03 -1.35194920e+02] [-8.48401725e-03 6.92137991e-05 -9.99964008e-01 -4.02507072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters 0.012880830163328885 Centerline is valid? [True, True] Translation: X:151.55, Y:-134.52, Z:-5.02 [[-8.88177873e-01 -4.59401258e-01 9.51584732e-03 1.51546575e+02] [ 4.59375555e-01 -8.88228845e-01 -4.85980429e-03 -1.34523691e+02] [ 1.06848503e-02 5.49770111e-05 9.99942914e-01 -5.01502032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters 0.012951626425897958 Centerline is valid? [True, True] Translation: X:151.20, Y:-135.17, Z:-4.02 [[-9.15623434e-01 4.01907410e-01 1.02059649e-02 1.51202546e+02] [ 4.01882826e-01 9.15680312e-01 -4.44531739e-03 -1.35174773e+02] [-1.11320071e-02 3.13652545e-05 -9.99938037e-01 -4.02452113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters 0.012534859255494196 Centerline is valid? [True, True] Translation: X:151.21, Y:-135.15, Z:-4.03 [[-9.42857357e-01 3.33088873e-01 8.47394766e-03 1.51214985e+02] [ 3.33075393e-01 9.42895436e-01 -2.99660788e-03 -1.35145656e+02] [-8.98818332e-03 -2.91033199e-06 -9.99959606e-01 -4.02555256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters 0.012574786841223677 Centerline is valid? [True, True] Translation: X:151.46, Y:-134.47, Z:-5.01 [[-9.16573284e-01 -3.99826583e-01 5.66732569e-03 1.51458926e+02] [ 3.99817747e-01 -9.16590788e-01 -2.66392470e-03 -1.34470742e+02] [ 6.25972643e-03 -1.75784823e-04 9.99980392e-01 -5.01334739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters 0.012781509453364061 Centerline is valid? [True, True] Translation: X:151.17, Y:-135.12, Z:-4.03 [[-9.46032992e-01 3.24028657e-01 5.19679839e-03 1.51167410e+02] [ 3.24023573e-01 9.46047265e-01 -1.81551764e-03 -1.35120197e+02] [-5.50469665e-03 -3.36544021e-05 -9.99984849e-01 -4.02627903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters 0.012969770443693608 Centerline is valid? [True, True] Translation: X:151.40, Y:-134.46, Z:-5.01 [[-9.15895015e-01 -4.01380948e-01 5.44577704e-03 1.51404577e+02] [ 4.01374261e-01 -9.15911203e-01 -2.31774448e-03 -1.34458699e+02] [ 5.91814667e-03 6.29841177e-05 9.99982486e-01 -5.01354240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters 0.012993291881443282 Centerline is valid? [True, True] Translation: X:151.12, Y:-135.10, Z:-4.03 [[-9.48577721e-01 3.16509498e-01 4.69516847e-03 1.51123628e+02] [ 3.16505352e-01 9.48589340e-01 -1.62069980e-03 -1.35100681e+02] [-4.96675363e-03 -5.13137691e-05 -9.99987664e-01 -4.02605034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters 0.013447012642812792 Centerline is valid? [True, True] Translation: X:151.36, Y:-134.45, Z:-5.01 [[-9.16077501e-01 -4.00966173e-01 5.30465940e-03 1.51358002e+02] [ 4.00960137e-01 -9.16092853e-01 -2.20279318e-03 -1.34449428e+02] [ 5.74280612e-03 1.09027689e-04 9.99983504e-01 -5.01421779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters 0.012982053469833854 Centerline is valid? [True, True] Translation: X:151.09, Y:-135.08, Z:-4.02 [[-9.49779684e-01 3.12877381e-01 5.12801070e-03 1.51086794e+02] [ 3.12872496e-01 9.49793525e-01 -1.74931220e-03 -1.35084250e+02] [-5.41787158e-03 -5.70476825e-05 -9.99985322e-01 -4.02482921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters 0.012350867661051644 Centerline is valid? [True, True] Translation: X:151.10, Y:-135.06, Z:-4.02 [[-9.67754320e-01 2.51851540e-01 4.73064156e-03 1.51095084e+02] [ 2.51848451e-01 9.67765882e-01 -1.24749905e-03 -1.35062689e+02] [-4.89233806e-03 -1.58678481e-05 -9.99988032e-01 -4.02441908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters 0.01236011133688949 Centerline is valid? [True, True] Translation: X:151.29, Y:-134.39, Z:-5.02 [[-9.48661489e-01 -3.16264100e-01 4.28937083e-03 1.51287425e+02] [ 3.16260839e-01 -9.48671186e-01 -1.43623037e-03 -1.34390032e+02] [ 4.52343062e-03 -5.93642061e-06 9.99989769e-01 -5.01534979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters 0.01340070216591965 Centerline is valid? [True, True] Translation: X:151.06, Y:-135.07, Z:-4.02 [[-9.64734522e-01 2.63180849e-01 4.81066463e-03 1.51060575e+02] [ 2.63177891e-01 9.64746514e-01 -1.24925042e-03 -1.35066474e+02] [-4.96985072e-03 6.08655632e-05 -9.99987648e-01 -4.02406283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters 0.014214799341213825 Centerline is valid? [True, True] Translation: X:151.07, Y:-135.04, Z:-4.02 [[-9.80104497e-01 1.98357333e-01 7.03870168e-03 1.51066640e+02] [ 1.98353083e-01 9.80129764e-01 -1.30389235e-03 -1.35041520e+02] [-7.15747762e-03 1.18197416e-04 -9.99974378e-01 -4.02140016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters 0.014757064776553344 Centerline is valid? [True, True] Translation: X:151.07, Y:-135.01, Z:-4.02 [[-9.91696849e-01 1.28303646e-01 8.69110319e-03 1.51071388e+02] [ 1.28299992e-01 9.91734921e-01 -9.78936120e-04 -1.35014887e+02] [-8.74487161e-03 1.44260604e-04 -9.99961753e-01 -4.01949619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters 0.013961081987075675 Centerline is valid? [True, True] Translation: X:151.15, Y:-134.30, Z:-5.02 [[-9.86129239e-01 -1.65792256e-01 7.87736641e-03 1.51150386e+02] [ 1.65785497e-01 -9.86160684e-01 -1.50791245e-03 -1.34300414e+02] [ 8.01834926e-03 -1.81043448e-04 9.99967836e-01 -5.01902329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters 0.013672717259174724 Centerline is valid? [True, True] Translation: X:151.01, Y:-135.00, Z:-4.02 [[-9.92840988e-01 1.19249662e-01 6.80369840e-03 1.51011694e+02] [ 1.19247402e-01 9.92864297e-01 -7.38326335e-04 -1.35004206e+02] [-6.84319439e-03 7.82827116e-05 -9.99976582e-01 -4.02108448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters 0.012802993207076854 Centerline is valid? [True, True] Translation: X:151.01, Y:-134.97, Z:-4.02 [[-9.98981829e-01 4.47693046e-02 5.56913023e-03 1.51014732e+02] [ 4.47688495e-02 9.98997351e-01 -2.06418775e-04 -1.34973618e+02] [-5.57278758e-03 4.31149474e-05 -9.99984471e-01 -4.02173567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters 0.012377525946319542 Centerline is valid? [True, True] Translation: X:151.01, Y:-134.94, Z:-4.02 [[-9.99544060e-01 -2.97259499e-02 5.29533715e-03 1.51010158e+02] [-2.97254120e-02 9.99558086e-01 1.80274109e-04 -1.34943450e+02] [-5.29835589e-03 2.27858361e-05 -9.99985963e-01 -4.02211141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters 0.012441085546277004 Centerline is valid? [True, True] Translation: X:150.98, Y:-134.25, Z:-5.02 [[-9.99288960e-01 -3.72932472e-02 5.54865482e-03 1.50984952e+02] [ 3.72926430e-02 -9.99304365e-01 -2.12343316e-04 -1.34249870e+02] [ 5.55271395e-03 -5.26832833e-06 9.99984584e-01 -5.01791223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters 0.013636383206437898 Centerline is valid? [True, True] Translation: X:150.93, Y:-134.93, Z:-4.02 [[-9.98644860e-01 -5.17008637e-02 5.95513426e-03 1.50934880e+02] [-5.17004176e-02 9.98662613e-01 2.28917387e-04 -1.34932659e+02] [-5.95900517e-03 -7.92757562e-05 -9.99982242e-01 -4.02134287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters 0.015240858021335025 Centerline is valid? [True, True] Translation: X:150.92, Y:-134.90, Z:-4.02 [[-9.91502133e-01 -1.29877286e-01 7.44379220e-03 1.50921022e+02] [-1.29874801e-01 9.91530063e-01 8.18268859e-04 -1.34901829e+02] [-7.48701829e-03 -1.55445714e-04 -9.99971960e-01 -4.02045457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters 0.016426816775617196 Centerline is valid? [True, True] Translation: X:150.85, Y:-134.24, Z:-5.02 [[-9.99811152e-01 1.81270124e-02 7.00518418e-03 1.50850168e+02] [-1.81257793e-02 -9.99835686e-01 2.39482604e-04 -1.34244500e+02] [ 7.00837423e-03 1.12462956e-04 9.99975435e-01 -5.01901017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters 0.016150139566032982 Centerline is valid? [True, True] Translation: X:150.85, Y:-134.91, Z:-4.02 [[-9.90388017e-01 -1.38174955e-01 6.26557563e-03 1.50848558e+02] [-1.38173158e-01 9.90407825e-01 7.20914497e-04 -1.34907821e+02] [-6.30508746e-03 -1.51749291e-04 -9.99980111e-01 -4.02134778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters 0.017982381361448002 Centerline is valid? [True, True] Translation: X:150.78, Y:-134.26, Z:-5.02 [[-9.99709092e-01 2.31901847e-02 6.62927093e-03 1.50777097e+02] [-2.31884711e-02 -9.99731055e-01 3.35251394e-04 -1.34256681e+02] [ 6.63526256e-03 1.81431210e-04 9.99977970e-01 -5.01960146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters 0.015447108270067421 Centerline is valid? [True, True] Translation: X:150.77, Y:-134.92, Z:-4.02 [[-9.90179694e-01 -1.39574316e-01 7.94881101e-03 1.50774023e+02] [-1.39571128e-01 9.90211586e-01 9.57094850e-04 -1.34918396e+02] [-8.00459061e-03 -1.61728635e-04 -9.99967950e-01 -4.01949100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters 0.014536685705220076 Centerline is valid? [True, True] Translation: X:150.77, Y:-134.90, Z:-4.02 [[-9.78598500e-01 -2.05580452e-01 9.03625252e-03 1.50765991e+02] [-2.05573072e-01 9.78640208e-01 1.74805455e-03 -1.34896397e+02] [-9.20260589e-03 -1.46966634e-04 -9.99957644e-01 -4.01892594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters 0.013158525778013614 Centerline is valid? [True, True] Translation: X:150.76, Y:-134.88, Z:-4.02 [[-9.64069333e-01 -2.65513033e-01 8.55285421e-03 1.50755841e+02] [-2.65503072e-01 9.64107269e-01 2.30052211e-03 -1.34878845e+02] [-8.85668752e-03 -5.29462483e-05 -9.99960777e-01 -4.01939463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters 0.01323422776092171 Centerline is valid? [True, True] Translation: X:150.73, Y:-134.87, Z:-4.02 [[-9.46612023e-01 -3.22275263e-01 8.02076678e-03 1.50729198e+02] [-3.22263168e-01 9.46646001e-01 2.79268218e-03 -1.34868730e+02] [-8.49283918e-03 5.87888173e-05 -9.99963934e-01 -4.02054260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters 0.01598631605233566 Centerline is valid? [True, True] Translation: X:150.68, Y:-134.87, Z:-4.02 [[-9.26173576e-01 -3.76989063e-01 9.04173704e-03 1.50682156e+02] [-3.76968789e-01 9.26217684e-01 3.91582133e-03 -1.34869802e+02] [-9.85083855e-03 2.18277585e-04 -9.99951456e-01 -4.02006572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters 0.018759908932234507 Centerline is valid? [True, True] Translation: X:150.62, Y:-134.88, Z:-4.02 [[-9.00358868e-01 -4.35044041e-01 9.51794719e-03 1.50620027e+02] [-4.35015567e-01 9.00409106e-01 4.98983950e-03 -1.34876935e+02] [-1.07408463e-02 3.52191049e-04 -9.99942253e-01 -4.02010199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters 0.021758320699266292 Centerline is valid? [True, True] Translation: X:150.55, Y:-134.89, Z:-4.02 [[-8.71395010e-01 -4.90505740e-01 8.65188337e-03 1.50547025e+02] [-4.90476279e-01 8.71437840e-01 5.39536809e-03 -1.34892726e+02] [-1.01860376e-02 4.57953265e-04 -9.99948016e-01 -4.02191307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters 0.023532675693145832 Centerline is valid? [True, True] Translation: X:150.47, Y:-134.92, Z:-4.02 [[-8.36162986e-01 -5.48426038e-01 7.76801075e-03 1.50467570e+02] [-5.48396678e-01 8.36198916e-01 5.69708792e-03 -1.34915183e+02] [-9.62003352e-03 5.03742756e-04 -9.99953600e-01 -4.02356206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters 0.02688330041205987 Centerline is valid? [True, True] Translation: X:150.38, Y:-134.95, Z:-4.02 [[-7.93355699e-01 -6.08708098e-01 7.82220428e-03 1.50379962e+02] [-6.08671479e-01 7.93394067e-01 6.69967897e-03 -1.34950021e+02] [-1.02842393e-02 5.54075848e-04 -9.99946962e-01 -4.02254614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters 0.024197295808732523 Centerline is valid? [True, True] Translation: X:150.28, Y:-134.99, Z:-4.02 [[-7.40945387e-01 -6.71530099e-01 6.87463292e-03 1.50281213e+02] [-6.71495298e-01 7.40977135e-01 6.85204944e-03 -1.34987000e+02] [-9.69530324e-03 4.60710746e-04 -9.99952893e-01 -4.02298168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters 0.022117811164879406 Centerline is valid? [True, True] Translation: X:150.19, Y:-135.04, Z:-4.02 [[-6.83167879e-01 -7.30237021e-01 5.96174025e-03 1.50185890e+02] [-7.30204349e-01 6.83193790e-01 6.91763246e-03 -1.35035894e+02] [-9.12453524e-03 3.72615636e-04 -9.99958301e-01 -4.02354783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters 0.020330889355935362 Centerline is valid? [True, True] Translation: X:150.09, Y:-135.10, Z:-4.02 [[-6.20224351e-01 -7.84405331e-01 5.48000625e-03 1.50091520e+02] [-7.84370207e-01 6.20248483e-01 7.42947716e-03 -1.35097399e+02] [-9.22668705e-03 3.09589014e-04 -9.99957385e-01 -4.02434979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters 0.015851242098141177 Centerline is valid? [True, True] Translation: X:150.00, Y:-135.16, Z:-4.03 [[-5.49584858e-01 -8.35424378e-01 4.75309425e-03 1.49995688e+02] [-8.35389950e-01 5.49605375e-01 7.58698460e-03 -1.35159812e+02] [-8.95067804e-03 1.99004683e-04 -9.99959922e-01 -4.02523969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters 0.014843833172669562 Centerline is valid? [True, True] Translation: X:149.91, Y:-135.23, Z:-4.02 [[-4.74411501e-01 -8.80293391e-01 4.15623476e-03 1.49907161e+02] [-8.80257853e-01 4.74429697e-01 7.91037300e-03 -1.35232764e+02] [-8.93529027e-03 9.42136448e-05 -9.99960075e-01 -4.02336492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters 0.013596033563632292 Centerline is valid? [True, True] Translation: X:149.83, Y:-135.32, Z:-4.03 [[-3.99746095e-01 -9.16620349e-01 3.19290188e-03 1.49826098e+02] [-9.16590551e-01 3.99758845e-01 7.39108376e-03 -1.35316287e+02] [-8.05120854e-03 2.79731821e-05 -9.99967588e-01 -4.02571048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters 0.013636809116796845 Centerline is valid? [True, True] Translation: X:149.75, Y:-135.41, Z:-4.03 [[-3.22493576e-01 -9.46568430e-01 2.47002807e-03 1.49754803e+02] [-9.46541266e-01 3.22503034e-01 7.17107834e-03 -1.35405309e+02] [-7.58450791e-03 -2.53567961e-05 -9.99971237e-01 -4.02671128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters 0.014753374635701871 Centerline is valid? [True, True] Translation: X:149.69, Y:-135.50, Z:-4.02 [[-2.40348961e-01 -9.70682937e-01 2.64822162e-03 1.49685330e+02] [-9.70630105e-01 2.40363511e-01 1.01282815e-02 -1.35501923e+02] [-1.04678859e-02 -1.36121689e-04 -9.99945201e-01 -4.02296367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters 0.016155918986710798 Centerline is valid? [True, True] Translation: X:149.63, Y:-135.60, Z:-4.02 [[-1.59835670e-01 -9.87141412e-01 2.09565469e-03 1.49628708e+02] [-9.87073964e-01 1.59849251e-01 1.15415140e-02 -1.35601800e+02] [-1.17280953e-02 -2.23820545e-04 -9.99931199e-01 -4.02139139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters 0.017697168618605548 Centerline is valid? [True, True] Translation: X:149.58, Y:-135.71, Z:-4.02 [[-7.82346375e-02 -9.96934046e-01 1.36027911e-03 1.49579455e+02] [-9.96848106e-01 7.82457597e-02 1.30940728e-02 -1.35705671e+02] [-1.31603630e-02 -3.31581619e-04 -9.99913344e-01 -4.02025271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters 0.017679080776206318 Centerline is valid? [True, True] Translation: X:149.54, Y:-135.81, Z:-4.02 [[-2.08522523e-03 -9.99997758e-01 3.67443637e-04 1.49543487e+02] [-9.99907356e-01 2.08997897e-03 1.34503308e-02 -1.35811661e+02] [-1.34510686e-02 -3.39362626e-04 -9.99909473e-01 -4.01963601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters 0.01599937412625119 Centerline is valid? [True, True] Translation: X:149.52, Y:-135.92, Z:-4.02 [[ 6.75208702e-02 -9.97717690e-01 -5.85943755e-04 1.49523830e+02] [-9.97646140e-01 -6.75230465e-02 1.19506487e-02 -1.35917539e+02] [-1.19629383e-02 -2.22353674e-04 -9.99928417e-01 -4.02136023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters 0.014509698384374187 Centerline is valid? [True, True] Translation: X:149.51, Y:-136.03, Z:-4.02 [[ 1.36516074e-01 -9.90636866e-01 -1.40049927e-03 1.49513312e+02] [-9.90574604e-01 -1.36523197e-01 1.11072462e-02 -1.36026367e+02] [-1.11944482e-02 -1.29018640e-04 -9.99937332e-01 -4.02260500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters 0.013590108601734418 Centerline is valid? [True, True] Translation: X:149.52, Y:-136.13, Z:-4.03 [[ 1.99692024e-01 -9.79857086e-01 -1.78527254e-03 1.49515270e+02] [-9.79818288e-01 -1.99700004e-01 8.71956228e-03 -1.36133248e+02] [-8.90044382e-03 8.01564918e-06 -9.99960390e-01 -4.02550025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters 0.014983048510367398 Centerline is valid? [True, True] Translation: X:149.53, Y:-136.24, Z:-4.03 [[ 2.61907849e-01 -9.65089894e-01 -2.40321174e-03 1.49526049e+02] [-9.65053327e-01 -2.61918847e-01 8.40201412e-03 -1.36240997e+02] [-8.73814537e-03 1.18674042e-04 -9.99961815e-01 -4.02555156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters 0.016153141007488495 Centerline is valid? [True, True] Translation: X:149.54, Y:-136.35, Z:-4.03 [[ 3.27230240e-01 -9.44940063e-01 -2.94069070e-03 1.49540686e+02] [-9.44906818e-01 -3.27243402e-01 7.92848277e-03 -1.36352298e+02] [-8.45426263e-03 1.84239372e-04 -9.99964245e-01 -4.02609421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters 0.019234290691854988 Centerline is valid? [True, True] Translation: X:149.57, Y:-136.46, Z:-4.02 [[ 3.89089188e-01 -9.21190460e-01 -4.21196357e-03 1.49567896e+02] [-9.21145159e-01 -3.89111851e-01 9.14126822e-03 -1.36462293e+02] [-1.00597740e-02 3.23061223e-04 -9.99949347e-01 -4.02495686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters 0.022306772490765528 Centerline is valid? [True, True] Translation: X:149.60, Y:-136.56, Z:-4.02 [[ 4.50834039e-01 -8.92591598e-01 -5.37658513e-03 1.49597182e+02] [-8.92539543e-01 -4.50865875e-01 9.65019858e-03 -1.36562444e+02] [-1.10378049e-02 4.48176836e-04 -9.99938981e-01 -4.02465993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters 0.024066974773415593 Centerline is valid? [True, True] Translation: X:149.64, Y:-136.67, Z:-4.03 [[ 5.13340866e-01 -8.58170005e-01 -5.03960678e-03 1.49635570e+02] [-8.58136343e-01 -5.13365433e-01 7.61243348e-03 -1.36668884e+02] [-9.11992200e-03 4.16896537e-04 -9.99958326e-01 -4.02688616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters 0.02051017749253464 Centerline is valid? [True, True] Translation: X:149.67, Y:-136.78, Z:-4.03 [[ 5.81241531e-01 -8.13713787e-01 -5.30628097e-03 1.49672497e+02] [-8.13685261e-01 -5.81265645e-01 6.82248527e-03 -1.36778867e+02] [-8.63590915e-03 3.52130833e-04 -9.99962648e-01 -4.02733203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters 0.01630203239144972 Centerline is valid? [True, True] Translation: X:149.72, Y:-136.89, Z:-4.03 [[ 6.55461840e-01 -7.55208290e-01 -5.49673856e-03 1.49715222e+02] [-7.55184024e-01 -6.55484863e-01 6.05677873e-03 -1.36892664e+02] [-8.17715843e-03 1.81061814e-04 -9.99966550e-01 -4.02642206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters 0.014962772337624592 Centerline is valid? [True, True] Translation: X:149.77, Y:-136.99, Z:-4.03 [[ 7.14644471e-01 -6.99461978e-01 -6.01849504e-03 1.49766443e+02] [-6.99438783e-01 -7.14669800e-01 5.69790827e-03 -1.36990654e+02] [-8.28670683e-03 1.37590205e-04 -9.99965655e-01 -4.02639690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters 0.014962772337624592 Centerline is valid? [True, True] Translation: X:149.79, Y:-137.02, Z:-4.03 [[ 7.67161177e-01 -6.41421998e-01 -6.44576889e-03 1.49787799e+02] [-6.41400856e-01 -7.67188244e-01 5.20972443e-03 -1.37019170e+02] [-8.28674996e-03 1.37623358e-04 -9.99965655e-01 -4.02639604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters 0.012934454255802117 Centerline is valid? [True, True] Translation: X:149.81, Y:-137.05, Z:-4.03 [[ 8.23223015e-01 -5.67678632e-01 -6.69616230e-03 1.49805141e+02] [-5.67660032e-01 -8.23250248e-01 4.59548893e-03 -1.37053945e+02] [-8.12137814e-03 1.80314492e-05 -9.99967021e-01 -4.02604116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters 0.0129534001157676 Centerline is valid? [True, True] Translation: X:149.83, Y:-137.08, Z:-4.03 [[ 8.68679080e-01 -4.95329524e-01 -6.73190486e-03 1.49829147e+02] [-4.95314305e-01 -8.68705163e-01 3.88311807e-03 -1.37084576e+02] [-7.77146353e-03 -3.87746567e-05 -9.99969801e-01 -4.02573925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters 0.013552200161336667 Centerline is valid? [True, True] Translation: X:149.86, Y:-137.11, Z:-4.03 [[ 9.07573383e-01 -4.19840341e-01 -6.68155017e-03 1.49855323e+02] [-4.19828261e-01 -9.07597973e-01 3.18592503e-03 -1.37114279e+02] [-7.40174124e-03 -8.63571686e-05 -9.99972603e-01 -4.02535354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters 0.01383597541073116 Centerline is valid? [True, True] Translation: X:149.89, Y:-137.14, Z:-4.02 [[ 9.37749051e-01 -3.47241808e-01 -7.06004781e-03 1.49886870e+02] [-3.47231235e-01 -9.37775623e-01 2.71131863e-03 -1.37135783e+02] [-7.56222392e-03 -9.10673481e-05 -9.99971402e-01 -4.02461207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters 0.013738374452219444 Centerline is valid? [True, True] Translation: X:149.92, Y:-137.15, Z:-4.02 [[ 9.62338224e-01 -2.71750965e-01 -7.52031165e-03 1.49920311e+02] [-2.71741826e-01 -9.62367602e-01 2.23117205e-03 -1.37154541e+02] [-7.84362745e-03 -1.03558937e-04 -9.99969233e-01 -4.02486760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters 0.014174054357580198 Centerline is valid? [True, True] Translation: X:149.96, Y:-137.17, Z:-4.02 [[ 9.81092445e-01 -1.93349536e-01 -8.57738540e-03 1.49955329e+02] [-1.93340925e-01 -9.81129929e-01 1.82998729e-03 -1.37171347e+02] [-8.76935672e-03 -1.37027083e-04 -9.99961539e-01 -4.02374048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters 0.014353365357757322 Centerline is valid? [True, True] Translation: X:149.99, Y:-137.19, Z:-4.02 [[ 9.93307396e-01 -1.15114813e-01 -9.43378883e-03 1.49990870e+02] [-1.15108115e-01 -9.93352181e-01 1.25177547e-03 -1.37185234e+02] [-9.51517261e-03 -1.57492184e-04 -9.99954717e-01 -4.02277262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters 0.014686159663494952 Centerline is valid? [True, True] Translation: X:150.02, Y:-137.20, Z:-4.02 [[ 9.99326071e-01 -3.50236709e-02 -1.09884562e-02 1.50024108e+02] [-3.50193030e-02 -9.99386462e-01 5.89720572e-04 -1.37195545e+02] [-1.10023685e-02 -2.04515066e-04 -9.99939451e-01 -4.02165490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters 0.015371082345645253 Centerline is valid? [True, True] Translation: X:150.06, Y:-137.20, Z:-4.02 [[ 9.98892914e-01 4.53656665e-02 -1.24460133e-02 1.50057054e+02] [ 4.53653491e-02 -9.98970415e-01 -3.07971630e-04 -1.37199960e+02] [-1.24471704e-02 -2.56987057e-04 -9.99922498e-01 -4.02013138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters 0.014881006175920121 Centerline is valid? [True, True] Translation: X:150.09, Y:-137.20, Z:-4.02 [[ 9.92324079e-01 1.23057746e-01 -1.22357531e-02 1.50090233e+02] [ 1.23051480e-01 -9.92399481e-01 -1.26657771e-03 -1.37199106e+02] [-1.22986172e-02 -2.48771962e-04 -9.99924338e-01 -4.02153036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters 0.015231898279252093 Centerline is valid? [True, True] Translation: X:150.12, Y:-137.20, Z:-4.02 [[ 9.80141525e-01 1.98023434e-01 -1.04552207e-02 1.50122234e+02] [ 1.98014225e-01 -9.80197268e-01 -1.91903474e-03 -1.37197948e+02] [-1.06281927e-02 -1.89356803e-04 -9.99943501e-01 -4.02209761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters 0.013268330988206007 Centerline is valid? [True, True] Translation: X:150.15, Y:-137.19, Z:-4.02 [[ 9.63434814e-01 2.67822607e-01 -8.02567991e-03 1.50153496e+02] [ 2.67814119e-01 -9.63468237e-01 -2.13422116e-03 -1.37187938e+02] [-8.30408034e-03 -9.32074287e-05 -9.99965516e-01 -4.02437691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters 0.012453207077264989 Centerline is valid? [True, True] Translation: X:150.18, Y:-137.17, Z:-4.02 [[ 9.42495751e-01 3.34139471e-01 -7.25074613e-03 1.50181242e+02] [ 3.34129733e-01 -9.42523641e-01 -2.55108766e-03 -1.37174602e+02] [-7.68641872e-03 -1.83005847e-05 -9.99970459e-01 -4.02472929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters 0.012572021411680633 Centerline is valid? [True, True] Translation: X:150.21, Y:-137.16, Z:-4.02 [[ 9.16330817e-01 4.00357756e-01 -7.17641210e-03 1.50209469e+02] [ 4.00345161e-01 -9.16358918e-01 -3.17591085e-03 -1.37164099e+02] [-7.84766976e-03 3.71431239e-05 -9.99969206e-01 -4.02497669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters 0.012979463113055159 Centerline is valid? [True, True] Translation: X:150.24, Y:-137.16, Z:-4.02 [[ 8.83993797e-01 4.67433833e-01 -7.78329053e-03 1.50238546e+02] [ 4.67414956e-01 -8.84028057e-01 -4.20157203e-03 -1.37155099e+02] [-8.84460412e-03 7.61372123e-05 -9.99960883e-01 -4.02419597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters 0.015085119358985622 Centerline is valid? [True, True] Translation: X:150.26, Y:-137.14, Z:-4.02 [[ 8.51395399e-01 5.24463453e-01 -7.99760614e-03 1.50263274e+02] [ 5.24438072e-01 -8.51432937e-01 -5.16356985e-03 -1.37138100e+02] [-9.51752896e-03 2.01990463e-04 -9.99954687e-01 -4.02417879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters 0.018847842719935306 Centerline is valid? [True, True] Translation: X:150.28, Y:-137.12, Z:-4.02 [[ 8.14527084e-01 5.80072398e-01 -7.85129377e-03 1.50283432e+02] [ 5.80041567e-01 -8.14564858e-01 -5.98946112e-03 -1.37119628e+02] [-9.86970907e-03 3.24501558e-04 -9.99951241e-01 -4.02448266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters 0.021155497207091485 Centerline is valid? [True, True] Translation: X:150.31, Y:-137.10, Z:-4.02 [[ 7.70400533e-01 6.37519096e-01 -7.24016224e-03 1.50305272e+02] [ 6.37486273e-01 -7.70434462e-01 -6.48007672e-03 -1.37103424e+02] [-9.70924315e-03 3.76750520e-04 -9.99952793e-01 -4.02481793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters 0.020395280482494494 Centerline is valid? [True, True] Translation: X:150.33, Y:-137.09, Z:-4.03 [[ 7.20579027e-01 6.93343712e-01 -6.35317953e-03 1.50332340e+02] [ 6.93311899e-01 -7.20606929e-01 -6.65320186e-03 -1.37092055e+02] [-9.19110086e-03 3.89422762e-04 -9.99957685e-01 -4.02546654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters 0.01994500253025357 Centerline is valid? [True, True] Translation: X:150.36, Y:-137.08, Z:-4.03 [[ 6.61904070e-01 7.49566075e-01 -5.80531075e-03 1.50359331e+02] [ 7.49532331e-01 -6.61929429e-01 -7.12151179e-03 -1.37079526e+02] [-9.18074966e-03 3.62489543e-04 -9.99957790e-01 -4.02623239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters 0.018771320667548715 Centerline is valid? [True, True] Translation: X:150.39, Y:-137.07, Z:-4.03 [[ 5.97564192e-01 8.01803752e-01 -5.27065248e-03 1.50386857e+02] [ 8.01767672e-01 -5.97587348e-01 -7.61328127e-03 -1.37066115e+02] [-9.25403272e-03 3.23585493e-04 -9.99957128e-01 -4.02677132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters 0.016491709497784897 Centerline is valid? [True, True] Translation: X:150.42, Y:-137.05, Z:-4.03 [[ 5.23862554e-01 8.51789988e-01 -4.67339314e-03 1.50415067e+02] [ 8.51752178e-01 -5.23883351e-01 -8.02881749e-03 -1.37052966e+02] [-9.28717922e-03 2.25424048e-04 -9.99956848e-01 -4.02697029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters 0.013976110979526779 Centerline is valid? [True, True] Translation: X:150.44, Y:-137.04, Z:-4.03 [[ 4.48416502e-01 8.93817409e-01 -3.61674064e-03 1.50444907e+02] [ 8.93785855e-01 -4.48431066e-01 -7.51158161e-03 -1.37036867e+02] [-8.33584128e-03 1.35725522e-04 -9.99965247e-01 -4.02819728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters 0.012544114605152349 Centerline is valid? [True, True] Translation: X:150.47, Y:-137.02, Z:-4.03 [[ 3.67270908e-01 9.30108932e-01 -3.07482007e-03 1.50473922e+02] [ 9.30075214e-01 -3.67283776e-01 -7.91990778e-03 -1.37018215e+02] [-8.49570849e-03 4.89377901e-05 -9.99963910e-01 -4.02735925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters 0.01225710346733311 Centerline is valid? [True, True] Translation: X:150.50, Y:-137.00, Z:-4.03 [[ 2.87920779e-01 9.57650662e-01 -2.61427024e-03 1.50497308e+02] [ 9.57611157e-01 -2.87932647e-01 -8.69847448e-03 -1.36995085e+02] [-9.08283359e-03 1.01719839e-06 -9.99958750e-01 -4.02745048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters 0.012458639995902637 Centerline is valid? [True, True] Translation: X:150.52, Y:-136.97, Z:-4.03 [[ 2.05752783e-01 9.78601973e-01 -1.99240718e-03 1.50518302e+02] [ 9.78558863e-01 -2.05762421e-01 -9.18574735e-03 -1.36969452e+02] [-9.39915301e-03 -5.96946230e-05 -9.99955825e-01 -4.02701910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters 0.012882671435246752 Centerline is valid? [True, True] Translation: X:150.54, Y:-136.94, Z:-4.03 [[ 1.24897057e-01 9.92168756e-01 -1.37301079e-03 1.50535219e+02] [ 9.92117419e-01 -1.24904562e-01 -1.00934024e-02 -1.36942417e+02] [-1.01858538e-02 -1.01551671e-04 -9.99948118e-01 -4.02620194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters 0.013159460235196114 Centerline is valid? [True, True] Translation: X:150.55, Y:-136.91, Z:-4.02 [[ 4.60617181e-02 9.98938358e-01 -6.89447286e-04 1.50546576e+02] [ 9.98864819e-01 -4.60666933e-02 -1.21215736e-02 -1.36912942e+02] [-1.21404654e-02 -1.30324131e-04 -9.99926293e-01 -4.02436619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters 0.013327806265199122 Centerline is valid? [True, True] Translation: X:150.55, Y:-136.88, Z:-4.02 [[-3.15039283e-02 9.99503595e-01 2.56872129e-04 1.50552984e+02] [ 9.99432785e-01 3.15047541e-02 -1.18978148e-02 -1.36883699e+02] [-1.19000014e-02 -1.18101477e-04 -9.99929186e-01 -4.02349040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters 0.012913156527061828 Centerline is valid? [True, True] Translation: X:150.55, Y:-136.85, Z:-4.03 [[-1.08145564e-01 9.94134491e-01 1.07241195e-03 1.50554143e+02] [ 9.94077029e-01 1.08150843e-01 -1.06890138e-02 -1.36854241e+02] [-1.07422996e-02 -8.99093387e-05 -9.99942296e-01 -4.02588792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters 0.012796075921498451 Centerline is valid? [True, True] Translation: X:150.56, Y:-136.82, Z:-4.03 [[-1.85168263e-01 9.82704958e-01 1.91848866e-03 1.50555471e+02] [ 9.82647348e-01 1.85178182e-01 -1.06410096e-02 -1.36823932e+02] [-1.08122351e-02 -8.51794698e-05 -9.99941543e-01 -4.02640035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters 0.01273583442849338 Centerline is valid? [True, True] Translation: X:150.55, Y:-136.80, Z:-4.03 [[-2.59667868e-01 9.65692764e-01 3.17543942e-03 1.50550920e+02] [ 9.65617050e-01 2.59687273e-01 -1.20927127e-02 -1.36796144e+02] [-1.25024664e-02 -7.38304870e-05 -9.99921838e-01 -4.02505339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters 0.012790378072181563 Centerline is valid? [True, True] Translation: X:150.55, Y:-136.77, Z:-4.02 [[-3.34112528e-01 9.42522294e-01 4.53255853e-03 1.50546075e+02] [ 9.42432473e-01 3.34143262e-01 -1.30120551e-02 -1.36767412e+02] [-1.37786759e-02 -7.58602678e-05 -9.99905067e-01 -4.02382727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters 0.012649322713094904 Centerline is valid? [True, True] Translation: X:150.54, Y:-136.74, Z:-4.02 [[-4.06337857e-01 9.13705829e-01 5.58604594e-03 1.50538552e+02] [ 9.13617192e-01 4.06376246e-01 -1.27268955e-02 -1.36739308e+02] [-1.38986750e-02 -6.79118319e-05 -9.99903407e-01 -4.02377823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters 0.012962593133127039 Centerline is valid? [True, True] Translation: X:150.53, Y:-136.71, Z:-4.02 [[-4.77968001e-01 8.78351725e-01 6.69609932e-03 1.50529002e+02] [ 8.78262858e-01 4.78014895e-01 -1.24945173e-02 -1.36713790e+02] [-1.41754161e-02 -9.10441599e-05 -9.99899520e-01 -4.02403364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters 0.013642130006372656 Centerline is valid? [True, True] Translation: X:150.52, Y:-136.69, Z:-4.02 [[-5.48939672e-01 8.35825872e-01 7.76844261e-03 1.50517156e+02] [ 8.35738161e-01 5.48994616e-01 -1.21094488e-02 -1.36688877e+02] [-1.43862237e-02 -1.54972901e-04 -9.99896501e-01 -4.02383040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters 0.014836969550515753 Centerline is valid? [True, True] Translation: X:150.50, Y:-136.66, Z:-4.02 [[-6.16041247e-01 7.87668765e-01 8.43195667e-03 1.50504072e+02] [ 7.87590304e-01 6.16098915e-01 -1.11193969e-02 -1.36664876e+02] [-1.39533209e-02 -2.09079794e-04 -9.99902626e-01 -4.02386188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters 0.015425356523284759 Centerline is valid? [True, True] Translation: X:150.49, Y:-136.64, Z:-4.03 [[-6.80077748e-01 7.33090613e-01 8.50942070e-03 1.50490456e+02] [ 7.33028293e-01 6.80130931e-01 -9.56238940e-03 -1.36638371e+02] [-1.27976181e-02 -2.65522122e-04 -9.99918072e-01 -4.02693903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters 0.015818159832068808 Centerline is valid? [True, True] Translation: X:150.48, Y:-136.61, Z:-4.03 [[-7.38203366e-01 6.74530264e-01 8.04447598e-03 1.50476062e+02] [ 6.74486072e-01 7.38247144e-01 -7.72612258e-03 -1.36611354e+02] [-1.11503149e-02 -2.77562683e-04 -9.99937795e-01 -4.02939935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters 0.016895253790085843 Centerline is valid? [True, True] Translation: X:150.50, Y:-136.60, Z:-4.03 [[-7.85466941e-01 6.18852570e-01 7.94872855e-03 1.50501182e+02] [ 6.18817231e-01 7.85507109e-01 -6.61943914e-03 -1.36596662e+02] [-1.03402397e-02 -2.80540417e-04 -9.99946499e-01 -4.03028708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters 0.017120068566683536 Centerline is valid? [True, True] Translation: X:150.93, Y:-136.06, Z:-5.01 [[-7.03444420e-01 -7.10698989e-01 8.53780130e-03 1.50926219e+02] [ 7.10653461e-01 -7.03496116e-01 -8.05437720e-03 -1.36063788e+02] [ 1.17305478e-02 4.01611345e-04 9.99931114e-01 -5.01010055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters 0.0170755875386173 Centerline is valid? [True, True] Translation: X:150.47, Y:-136.57, Z:-4.03 [[-7.88292858e-01 6.15206803e-01 1.07219692e-02 1.50467550e+02] [ 6.15143056e-01 7.88365674e-01 -8.86484594e-03 -1.36568490e+02] [-1.39065460e-02 -3.92549869e-04 -9.99903222e-01 -4.02665097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters 0.01674368979137075 Centerline is valid? [True, True] Translation: X:150.47, Y:-136.54, Z:-4.03 [[-8.28624617e-01 5.59668689e-01 1.23370402e-02 1.50472414e+02] [ 5.59599496e-01 8.28716358e-01 -8.80923629e-03 -1.36540505e+02] [-1.51541607e-02 -3.95748594e-04 -9.99885091e-01 -4.02565062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters 0.01569655066892375 Centerline is valid? [True, True] Translation: X:150.89, Y:-136.00, Z:-5.01 [[-7.57534517e-01 -6.52714632e-01 1.02500793e-02 1.50889187e+02] [ 6.52659193e-01 -7.57603821e-01 -8.51045112e-03 -1.35996845e+02] [ 1.33203952e-02 2.42848023e-04 9.99911250e-01 -5.01096633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters 0.01564670562206642 Centerline is valid? [True, True] Translation: X:150.45, Y:-136.53, Z:-4.03 [[-8.27471836e-01 5.61439527e-01 8.71877330e-03 1.50454442e+02] [ 5.61405565e-01 8.27517740e-01 -6.17915869e-03 -1.36534534e+02] [-1.06841635e-02 -2.18311933e-04 -9.99942899e-01 -4.02985819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters 0.014215514439496773 Centerline is valid? [True, True] Translation: X:150.47, Y:-136.52, Z:-4.03 [[-8.63977131e-01 5.03453345e-01 8.84570397e-03 1.50469274e+02] [ 5.03424718e-01 8.64022392e-01 -5.37208702e-03 -1.36515679e+02] [-1.03474815e-02 -1.88214309e-04 -9.99946446e-01 -4.03152413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters 0.014085243725331492 Centerline is valid? [True, True] Translation: X:150.84, Y:-135.93, Z:-5.01 [[-8.07383484e-01 -5.89964783e-01 8.57115918e-03 1.50836673e+02] [ 5.89934124e-01 -8.07428954e-01 -6.01773601e-03 -1.35925019e+02] [ 1.04708544e-02 1.97798623e-04 9.99945160e-01 -5.00807058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters 0.0140390206308965 Centerline is valid? [True, True] Translation: X:150.43, Y:-136.49, Z:-4.03 [[-8.64877908e-01 5.01872113e-01 1.05160566e-02 1.50434667e+02] [ 5.01832161e-01 8.64941814e-01 -6.33564282e-03 -1.36493602e+02] [-1.22754595e-02 -2.02262115e-04 -9.99924633e-01 -4.02958922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters 0.013869932468028654 Centerline is valid? [True, True] Translation: X:150.45, Y:-136.47, Z:-4.03 [[-8.97863242e-01 4.40108880e-01 1.20736298e-02 1.50448501e+02] [ 4.40065906e-01 8.97944391e-01 -6.15375961e-03 -1.36469567e+02] [-1.35497724e-02 -2.12041711e-04 -9.99908175e-01 -4.02872895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters 0.01342375567487321 Centerline is valid? [True, True] Translation: X:150.77, Y:-135.86, Z:-5.01 [[-8.50933865e-01 -5.25120821e-01 1.26364723e-02 1.50765216e+02] [ 5.25068049e-01 -8.51027635e-01 -7.45034891e-03 -1.35855048e+02] [ 1.46663205e-02 2.95253658e-04 9.99892400e-01 -5.01063400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters 0.013379861075912452 Centerline is valid? [True, True] Translation: X:150.41, Y:-136.45, Z:-4.03 [[-8.97961654e-01 4.39876617e-01 1.31692887e-02 1.50408646e+02] [ 4.39826341e-01 8.98058199e-01 -6.65292629e-03 -1.36450411e+02] [-1.47532544e-02 -1.81872653e-04 -9.99891148e-01 -4.02827712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters 0.013425044346514344 Centerline is valid? [True, True] Translation: X:150.43, Y:-136.43, Z:-4.03 [[-9.26411421e-01 3.76301540e-01 1.26107293e-02 1.50428389e+02] [ 3.76264453e-01 9.26497236e-01 -5.28514444e-03 -1.36428982e+02] [-1.36726139e-02 -1.51248987e-04 -9.99906514e-01 -4.02766932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters 0.012814866502448917 Centerline is valid? [True, True] Translation: X:150.43, Y:-136.40, Z:-4.03 [[-9.50220157e-01 3.11344893e-01 1.20835059e-02 1.50434563e+02] [ 3.11318128e-01 9.50296976e-01 -4.08413648e-03 -1.36404330e+02] [-1.27544942e-02 -1.19014360e-04 -9.99918651e-01 -4.03035730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters 0.012667066934411905 Centerline is valid? [True, True] Translation: X:150.67, Y:-135.75, Z:-5.01 [[-9.20738001e-01 -3.90036489e-01 1.06334603e-02 1.50665104e+02] [ 3.90010914e-01 -9.20799400e-01 -4.46664077e-03 -1.35750352e+02] [ 1.15334368e-02 3.45596809e-05 9.99933487e-01 -5.00791675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters 0.01254496835637873 Centerline is valid? [True, True] Translation: X:150.39, Y:-136.39, Z:-4.03 [[-9.50336703e-01 3.11039607e-01 1.07011458e-02 1.50390006e+02] [ 3.11019095e-01 9.50396948e-01 -3.57272337e-03 -1.36392276e+02] [-1.12815948e-02 -6.70294678e-05 -9.99936359e-01 -4.03256619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters 0.012517642531912647 Centerline is valid? [True, True] Translation: X:150.40, Y:-136.37, Z:-4.03 [[-9.69707477e-01 2.44023177e-01 1.09589567e-02 1.50404423e+02] [ 2.44006968e-01 9.69769399e-01 -2.81308041e-03 -1.36367362e+02] [-1.13141177e-02 -5.38033139e-05 -9.99935992e-01 -4.03203970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters 0.012469136074419254 Centerline is valid? [True, True] Translation: X:150.41, Y:-136.34, Z:-4.03 [[-9.84275984e-01 1.76286842e-01 1.11237163e-02 1.50408810e+02] [ 1.76275179e-01 9.84338838e-01 -2.02803165e-03 -1.36340758e+02] [-1.13070213e-02 -3.53077527e-05 -9.99936073e-01 -4.03161154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters 0.012639806526451178 Centerline is valid? [True, True] Translation: X:150.41, Y:-136.32, Z:-4.03 [[-9.93717059e-01 1.11295161e-01 1.18234455e-02 1.50411492e+02] [ 1.11287595e-01 9.93787395e-01 -1.29790166e-03 -1.36316911e+02] [-1.18944413e-02 2.60557955e-05 -9.99929258e-01 -4.03046840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters 0.01323443541993997 Centerline is valid? [True, True] Translation: X:150.42, Y:-136.29, Z:-4.03 [[-9.98814811e-01 4.68687971e-02 1.31258711e-02 1.50417542e+02] [ 4.68662323e-02 9.98901048e-01 -5.03101765e-04 -1.36294964e+02] [-1.31350262e-02 1.12654629e-04 -9.99913726e-01 -4.03096725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters 0.013738186367820758 Centerline is valid? [True, True] Translation: X:150.42, Y:-136.27, Z:-4.03 [[-9.99687488e-01 -2.12247492e-02 1.32074629e-02 1.50418978e+02] [-2.12208763e-02 9.99774718e-01 4.33328926e-04 -1.36270143e+02] [-1.32136848e-02 1.52919570e-04 -9.99912684e-01 -4.03127495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters 0.01419101571458644 Centerline is valid? [True, True] Translation: X:150.41, Y:-136.24, Z:-4.03 [[-9.95772204e-01 -9.08945748e-02 1.32625220e-02 1.50411693e+02] [-9.08842004e-02 9.95860506e-01 1.38410380e-03 -1.36243201e+02] [-1.33334294e-02 1.72898382e-04 -9.99911091e-01 -4.03146677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters 0.013720541535208441 Centerline is valid? [True, True] Translation: X:150.34, Y:-135.54, Z:-5.01 [[-9.98812913e-01 4.67384574e-02 1.37215902e-02 1.50340948e+02] [-4.67361190e-02 -9.98907150e-01 4.91203800e-04 -1.35535322e+02] [ 1.37295527e-02 -1.50673176e-04 9.99905734e-01 -5.00846909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters 0.013127578312772068 Centerline is valid? [True, True] Translation: X:150.32, Y:-136.25, Z:-4.03 [[-9.94504405e-01 -1.03825057e-01 1.34664582e-02 1.50320705e+02] [-1.03814517e-01 9.94595572e-01 1.48124518e-03 -1.36245945e+02] [-1.35474700e-02 7.50910017e-05 -9.99908226e-01 -4.03149413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters 0.012706139350517736 Centerline is valid? [True, True] Translation: X:150.31, Y:-136.22, Z:-4.03 [[-9.83861904e-01 -1.78448199e-01 1.31146284e-02 1.50305859e+02] [-1.78432099e-01 9.83949308e-01 2.39709740e-03 -1.36216860e+02] [-1.33318873e-02 1.83421260e-05 -9.99911126e-01 -4.03253220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters 0.012887664892223578 Centerline is valid? [True, True] Translation: X:150.29, Y:-136.19, Z:-4.03 [[-9.66670562e-01 -2.55736513e-01 1.21185935e-02 1.50287085e+02] [-2.55717472e-01 9.66746518e-01 3.12176662e-03 -1.36185319e+02] [-1.25139577e-02 -8.12161871e-05 -9.99921694e-01 -4.03382606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters 0.01402729971739905 Centerline is valid? [True, True] Translation: X:150.26, Y:-136.16, Z:-4.03 [[-9.43304808e-01 -3.31757714e-01 1.06234719e-02 1.50261760e+02] [-3.31738596e-01 9.43364613e-01 3.56525005e-03 -1.36156755e+02] [-1.12046067e-02 -1.61098148e-04 -9.99937214e-01 -4.03440722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters 0.014729016709187193 Centerline is valid? [True, True] Translation: X:150.03, Y:-135.54, Z:-5.00 [[-9.71999165e-01 2.34722060e-01 1.10985490e-02 1.50026400e+02] [-2.34704604e-01 -9.72062509e-01 2.86841104e-03 -1.35540246e+02] [ 1.14617627e-02 1.83212593e-04 9.99934295e-01 -5.00477103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters 0.01631703277139662 Centerline is valid? [True, True] Translation: X:150.12, Y:-136.19, Z:-4.03 [[-9.37937599e-01 -3.46628511e-01 1.10334150e-02 1.50124127e+02] [-3.46607979e-01 9.38002452e-01 3.78280302e-03 -1.36192456e+02] [-1.16605977e-02 -2.76236517e-04 -9.99931975e-01 -4.03373626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters 0.017126377717504554 Centerline is valid? [True, True] Translation: X:150.09, Y:-136.17, Z:-4.03 [[-9.09964448e-01 -4.14537549e-01 1.11051541e-02 1.50089847e+02] [-4.14510728e-01 9.10032158e-01 4.72530979e-03 -1.36174916e+02] [-1.20648657e-02 -3.03341608e-04 -9.99927171e-01 -4.03303631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters 0.015924456551399114 Centerline is valid? [True, True] Translation: X:150.03, Y:-136.18, Z:-4.03 [[-8.77864951e-01 -4.78764701e-01 1.17256060e-02 1.50034276e+02] [-4.78726769e-01 8.77943200e-01 6.03483245e-03 -1.36175267e+02] [-1.31836808e-02 -3.15593574e-04 -9.99913042e-01 -4.03336876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters 0.015597265201368001 Centerline is valid? [True, True] Translation: X:149.98, Y:-136.18, Z:-4.03 [[-8.40652994e-01 -5.41451612e-01 1.15193940e-02 1.49975629e+02] [-5.41405808e-01 8.40731857e-01 7.04951577e-03 -1.36178533e+02] [-1.35016932e-02 -3.10470254e-04 -9.99908800e-01 -4.03298873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters 0.015195560831289746 Centerline is valid? [True, True] Translation: X:149.91, Y:-136.19, Z:-4.03 [[-7.99687955e-01 -6.00319466e-01 1.07570286e-02 1.49906682e+02] [-6.00269698e-01 7.99760255e-01 7.73462451e-03 -1.36194754e+02] [-1.32462896e-02 -2.71832223e-04 -9.99912227e-01 -4.03319967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters 0.014200465478452178 Centerline is valid? [True, True] Translation: X:149.83, Y:-136.22, Z:-4.04 [[-7.55567954e-01 -6.55013561e-01 8.61985498e-03 1.49834439e+02] [-6.54973661e-01 7.55617100e-01 7.23200323e-03 -1.36223819e+02] [-1.12503700e-02 -1.81508089e-04 -9.99936696e-01 -4.03575473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters 0.01405334480812193 Centerline is valid? [True, True] Translation: X:149.76, Y:-136.26, Z:-4.04 [[-7.05810717e-01 -7.08364976e-01 7.09168228e-03 1.49756575e+02] [-7.08331184e-01 7.05846330e-01 6.92042458e-03 -1.36261304e+02] [-9.90782430e-03 -1.38749866e-04 -9.99950907e-01 -4.03669834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters 0.013658765147705811 Centerline is valid? [True, True] Translation: X:149.68, Y:-136.31, Z:-4.04 [[-6.51315440e-01 -7.58777947e-01 6.65015573e-03 1.49676327e+02] [-7.58740403e-01 6.51349377e-01 7.54916231e-03 -1.36310398e+02] [-1.00597127e-02 -1.28855868e-04 -9.99949392e-01 -4.03653079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters 0.013853732198758888 Centerline is valid? [True, True] Translation: X:149.60, Y:-136.37, Z:-4.03 [[-5.92298323e-01 -8.05689193e-01 6.90073153e-03 1.49595586e+02] [-8.05637305e-01 5.92338504e-01 9.14491397e-03 -1.36366915e+02] [-1.14555274e-02 -1.42969542e-04 -9.99934373e-01 -4.03478072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters 0.014171339887124053 Centerline is valid? [True, True] Translation: X:149.52, Y:-136.43, Z:-4.03 [[-5.30474452e-01 -8.47677322e-01 6.32561625e-03 1.49515004e+02] [-8.47620008e-01 5.30512149e-01 9.85812875e-03 -1.36433823e+02] [-1.17123284e-02 -1.32233445e-04 -9.99931400e-01 -4.03352347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters 0.01355692003849803 Centerline is valid? [True, True] Translation: X:149.44, Y:-136.51, Z:-4.04 [[-4.65903367e-01 -8.84820557e-01 5.16081927e-03 1.49442007e+02] [-8.84768769e-01 4.65931937e-01 9.57370574e-03 -1.36507487e+02] [-1.08756022e-02 -1.05709970e-04 -9.99940853e-01 -4.03572269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters 0.013168560485524965 Centerline is valid? [True, True] Translation: X:149.37, Y:-136.59, Z:-4.04 [[-4.00647122e-01 -9.16223650e-01 4.01331088e-03 1.49372755e+02] [-9.16179112e-01 4.00667218e-01 9.03415084e-03 -1.36588768e+02] [-9.88530476e-03 -5.74050697e-05 -9.99951138e-01 -4.03662742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters 0.012883831577912438 Centerline is valid? [True, True] Translation: X:149.31, Y:-136.68, Z:-4.04 [[-3.31562231e-01 -9.43428509e-01 3.02248037e-03 1.49307760e+02] [-9.43390206e-01 3.31576005e-01 8.50129866e-03 -1.36679897e+02] [-9.02254949e-03 -3.26688340e-05 -9.99959295e-01 -4.03842585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters 0.012780909024110332 Centerline is valid? [True, True] Translation: X:149.25, Y:-136.78, Z:-4.04 [[-2.61396167e-01 -9.65228807e-01 2.32251012e-03 1.49246946e+02] [-9.65190887e-01 2.61406484e-01 8.55576335e-03 -1.36776899e+02] [-8.86538846e-03 -5.22185894e-06 -9.99960702e-01 -4.03817113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters 0.013009117073750739 Centerline is valid? [True, True] Translation: X:149.19, Y:-136.88, Z:-4.04 [[-1.89472402e-01 -9.81884101e-01 1.95469369e-03 1.49193197e+02] [-9.81830581e-01 1.89482483e-01 1.02517654e-02 -1.36880102e+02] [-1.04364257e-02 2.32485743e-05 -9.99945539e-01 -4.03649564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters 0.01303541602671815 Centerline is valid? [True, True] Translation: X:149.15, Y:-136.99, Z:-4.04 [[-1.15438893e-01 -9.93313605e-01 1.39437350e-03 1.49147488e+02] [-9.93235834e-01 1.15447303e-01 1.24297204e-02 -1.36988640e+02] [-1.25075871e-02 4.99314313e-05 -9.99921776e-01 -4.03562269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters 0.01317636208337256 Centerline is valid? [True, True] Translation: X:149.11, Y:-137.10, Z:-4.03 [[-3.95736074e-02 -9.99216552e-01 4.60167061e-04 1.49110107e+02] [-9.99130102e-01 3.95762367e-02 1.31438160e-02 -1.37100077e+02] [-1.31517302e-02 6.03814518e-05 -9.99913510e-01 -4.03487484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters 0.013030996923514981 Centerline is valid? [True, True] Translation: X:149.08, Y:-137.22, Z:-4.04 [[ 3.66393931e-02 -9.99328424e-01 -5.06616454e-04 1.49079565e+02] [-9.99254918e-01 -3.66428427e-02 1.21207082e-02 -1.37215781e+02] [-1.21311321e-02 6.21435887e-05 -9.99926413e-01 -4.03627425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters 0.013053962954639228 Centerline is valid? [True, True] Translation: X:149.06, Y:-137.33, Z:-4.04 [[ 1.13311457e-01 -9.93558658e-01 -1.30618639e-03 1.49058885e+02] [-9.93498020e-01 -1.13318972e-01 1.09769911e-02 -1.37333065e+02] [-1.10543002e-02 5.38747432e-05 -9.99938898e-01 -4.03705820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters 0.013083541912092964 Centerline is valid? [True, True] Translation: X:149.05, Y:-137.45, Z:-4.04 [[ 1.89730574e-01 -9.81834210e-01 -1.97335919e-03 1.49045410e+02] [-9.81783458e-01 -1.89740831e-01 9.98288923e-03 -1.37449654e+02] [-1.01759690e-02 4.33521089e-05 -9.99948223e-01 -4.03732025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters 0.012770346882121211 Centerline is valid? [True, True] Translation: X:149.04, Y:-137.57, Z:-4.04 [[ 2.66534635e-01 -9.63821404e-01 -2.75486871e-03 1.49039900e+02] [-9.63770699e-01 -2.66548871e-01 9.88630036e-03 -1.37569664e+02] [-1.02629350e-02 2.00202912e-05 -9.99947335e-01 -4.03779317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters 0.012726921758771697 Centerline is valid? [True, True] Translation: X:149.04, Y:-137.69, Z:-4.04 [[ 3.42174516e-01 -9.39629860e-01 -3.51102696e-03 1.49044912e+02] [-9.39580099e-01 -3.42192528e-01 9.67007431e-03 -1.37689864e+02] [-1.02877378e-02 -9.96192831e-06 -9.99947080e-01 -4.03727472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters 0.012998407562613274 Centerline is valid? [True, True] Translation: X:149.06, Y:-137.81, Z:-4.04 [[ 4.17275259e-01 -9.08767444e-01 -4.80536590e-03 1.49056396e+02] [-9.08705309e-01 -4.17302922e-01 1.06269251e-02 -1.37809533e+02] [-1.16626968e-02 -6.76914280e-05 -9.99931986e-01 -4.03591979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters 0.013470007861256364 Centerline is valid? [True, True] Translation: X:149.08, Y:-137.92, Z:-4.03 [[ 4.89110259e-01 -8.72199272e-01 -6.29156997e-03 1.49075047e+02] [-8.72123581e-01 -4.89150705e-01 1.14911959e-02 -1.37920326e+02] [-1.31001385e-02 -1.33435248e-04 -9.99914181e-01 -4.03453348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters 0.013496518985314364 Centerline is valid? [True, True] Translation: X:149.11, Y:-138.03, Z:-4.03 [[ 5.55067668e-01 -8.31773373e-01 -7.27601654e-03 1.49105568e+02] [-8.31698290e-01 -5.55115333e-01 1.11768068e-02 -1.38027944e+02] [-1.33355986e-02 -1.52433558e-04 -9.99911065e-01 -4.03479305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters 0.013521004648765836 Centerline is valid? [True, True] Translation: X:149.14, Y:-138.13, Z:-4.03 [[ 6.16233060e-01 -7.87518441e-01 -8.45698158e-03 1.49144813e+02] [-7.87440888e-01 -6.16291069e-01 1.10528671e-02 -1.38131088e+02] [-1.39162989e-02 -1.51769011e-04 -9.99903152e-01 -4.03477257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters 0.013588617895542967 Centerline is valid? [True, True] Translation: X:149.19, Y:-138.23, Z:-4.03 [[ 6.72845447e-01 -7.39726276e-01 -9.16744854e-03 1.49189470e+02] [-7.39655062e-01 -6.72907885e-01 1.02648810e-02 -1.38226509e+02] [-1.37620506e-02 -1.25928723e-04 -9.99905291e-01 -4.03444572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters 0.013199004292347882 Centerline is valid? [True, True] Translation: X:149.24, Y:-138.32, Z:-4.04 [[ 7.26323607e-01 -6.87287255e-01 -9.49984029e-03 1.49242086e+02] [-6.87226494e-01 -7.26385722e-01 9.13940971e-03 -1.38318360e+02] [-1.31819482e-02 -1.09627101e-04 -9.99913108e-01 -4.03591251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters 0.01312342809063718 Centerline is valid? [True, True] Translation: X:149.27, Y:-138.35, Z:-4.04 [[ 7.77675722e-01 -6.28602888e-01 -8.88146078e-03 1.49265266e+02] [-6.28560543e-01 -7.77726431e-01 7.29679949e-03 -1.38348970e+02] [-1.14941360e-02 -9.20080085e-05 -9.99933936e-01 -4.03699635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters 0.013055901452494332 Centerline is valid? [True, True] Translation: X:149.29, Y:-138.38, Z:-4.04 [[ 8.24558838e-01 -5.65710615e-01 -8.61527675e-03 1.49290750e+02] [-5.65678645e-01 -8.24603840e-01 6.01486461e-03 -1.38376271e+02] [-1.05068630e-02 -8.61316938e-05 -9.99944798e-01 -4.03793357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters 0.013251753299283372 Centerline is valid? [True, True] Translation: X:149.32, Y:-138.40, Z:-4.04 [[ 8.66781848e-01 -4.98602664e-01 -9.19848021e-03 1.49319141e+02] [-4.98573378e-01 -8.66830649e-01 5.40491475e-03 -1.38400997e+02] [-1.06684295e-02 -9.87646440e-05 -9.99943086e-01 -4.03752341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters 0.013357472396479735 Centerline is valid? [True, True] Translation: X:149.35, Y:-138.42, Z:-4.04 [[ 9.03445779e-01 -4.28586129e-01 -9.98266204e-03 1.49348247e+02] [-4.28558600e-01 -9.03500923e-01 4.85891356e-03 -1.38423887e+02] [-1.11018073e-02 -1.11609278e-04 -9.99938367e-01 -4.03711587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters 0.014091050251111525 Centerline is valid? [True, True] Translation: X:149.38, Y:-138.44, Z:-4.04 [[ 9.34936501e-01 -3.54644730e-01 -1.09934002e-02 1.49378460e+02] [-3.54618401e-01 -9.35001120e-01 4.32379011e-03 -1.38443152e+02] [-1.18122509e-02 -1.44007185e-04 -9.99930223e-01 -4.03573100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters 0.013842951113829507 Centerline is valid? [True, True] Translation: X:149.41, Y:-138.46, Z:-4.04 [[ 9.60356263e-01 -2.78556990e-01 -1.10386722e-02 1.49411059e+02] [-2.78536629e-01 -9.60419688e-01 3.37188478e-03 -1.38461572e+02] [-1.15410202e-02 -1.63536106e-04 -9.99933387e-01 -4.03659227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters 0.01557463305026908 Centerline is valid? [True, True] Translation: X:149.44, Y:-138.48, Z:-4.03 [[ 9.79850246e-01 -1.99429696e-01 -1.10132923e-02 1.49443288e+02] [-1.99414842e-01 -9.79912117e-01 2.44188528e-03 -1.38478638e+02] [-1.12790430e-02 -1.96467956e-04 -9.99936370e-01 -4.03479487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters 0.015294705038582294 Centerline is valid? [True, True] Translation: X:149.48, Y:-138.49, Z:-4.04 [[ 9.92712158e-01 -1.19938921e-01 -1.17143416e-02 1.49479036e+02] [-1.19927797e-01 -9.92781245e-01 1.65009747e-03 -1.38487976e+02] [-1.18276896e-02 -2.33196641e-04 -9.99930023e-01 -4.03548050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters 0.01593264378368913 Centerline is valid? [True, True] Translation: X:149.51, Y:-138.50, Z:-4.04 [[ 9.99092390e-01 -4.10708253e-02 -1.12953049e-02 1.49510780e+02] [-4.10655749e-02 -9.99156211e-01 6.96474716e-04 -1.38495305e+02] [-1.13143788e-02 -2.31994400e-04 -9.99935964e-01 -4.03556085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters 0.015278779719783041 Centerline is valid? [True, True] Translation: X:149.54, Y:-138.50, Z:-4.04 [[ 9.99252536e-01 3.76401792e-02 -8.80825790e-03 1.49543743e+02] [ 3.76403372e-02 -9.99291341e-01 -1.47905945e-04 -1.38499215e+02] [-8.80758305e-03 -1.83750406e-04 -9.99961196e-01 -4.03824414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters 0.014504824393730409 Centerline is valid? [True, True] Translation: X:149.58, Y:-138.50, Z:-4.04 [[ 9.93473924e-01 1.13835736e-01 -7.14059089e-03 1.49577097e+02] [ 1.13833777e-01 -9.93499576e-01 -6.81502117e-04 -1.38501941e+02] [-7.17175331e-03 -1.35785848e-04 -9.99974273e-01 -4.03941716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters 0.014151847038208046 Centerline is valid? [True, True] Translation: X:149.61, Y:-138.50, Z:-4.04 [[ 9.81948142e-01 1.89000726e-01 -7.52143250e-03 1.49609618e+02] [ 1.88996173e-01 -9.81976939e-01 -1.31803901e-03 -1.38502041e+02] [-7.63498359e-03 -1.27276001e-04 -9.99970845e-01 -4.03872293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters 0.013277149819505535 Centerline is valid? [True, True] Translation: X:149.64, Y:-138.50, Z:-4.04 [[ 9.65357121e-01 2.60795407e-01 -8.44891620e-03 1.49641160e+02] [ 2.60786367e-01 -9.65394088e-01 -2.17393770e-03 -1.38497592e+02] [-8.72348672e-03 -1.04735919e-04 -9.99961944e-01 -4.03749673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters 0.01295979201782919 Centerline is valid? [True, True] Translation: X:149.67, Y:-138.49, Z:-4.04 [[ 9.42839303e-01 3.33113506e-01 -9.45725404e-03 1.49671083e+02] [ 3.33097747e-01 -9.42886729e-01 -3.24164043e-03 -1.38492526e+02] [-9.99695354e-03 -9.38440007e-05 -9.99950025e-01 -4.03649052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters 0.012641930002701599 Centerline is valid? [True, True] Translation: X:149.70, Y:-138.48, Z:-4.04 [[ 9.14853548e-01 4.03680047e-01 -9.24153995e-03 1.49700623e+02] [ 4.03660222e-01 -9.14900221e-01 -4.00130067e-03 -1.38483340e+02] [-1.00703322e-02 -6.98379540e-05 -9.99949291e-01 -4.03649476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters 0.012353068828399637 Centerline is valid? [True, True] Translation: X:149.73, Y:-138.47, Z:-4.04 [[ 8.81844434e-01 4.71460314e-01 -8.69288387e-03 1.49728428e+02] [ 4.71437846e-01 -8.81887278e-01 -4.60286271e-03 -1.38470972e+02] [-9.83621079e-03 -3.91455914e-05 -9.99951623e-01 -4.03726236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters 0.012335393042515208 Centerline is valid? [True, True] Translation: X:149.76, Y:-138.46, Z:-4.04 [[ 8.42935115e-01 5.37957749e-01 -7.86465554e-03 1.49756089e+02] [ 5.37934609e-01 -8.42971802e-01 -4.98969568e-03 -1.38459794e+02] [-9.31392831e-03 -2.46807051e-05 -9.99956624e-01 -4.03758999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters 0.0121972636815869 Centerline is valid? [True, True] Translation: X:149.78, Y:-138.44, Z:-4.04 [[ 7.98719521e-01 6.01658425e-01 -7.36659115e-03 1.49781152e+02] [ 6.01633030e-01 -7.98753491e-01 -5.52798039e-03 -1.38444693e+02] [-9.21004637e-03 -1.66786999e-05 -9.99957587e-01 -4.03822039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters 0.012356528131111435 Centerline is valid? [True, True] Translation: X:149.81, Y:-138.43, Z:-4.04 [[ 7.48205503e-01 6.63433332e-01 -6.68876539e-03 1.49805028e+02] [ 6.63407170e-01 -7.48235400e-01 -5.89179264e-03 -1.38429318e+02] [-8.91358267e-03 -2.91032443e-05 -9.99960273e-01 -4.03818999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters 0.012618649591288588 Centerline is valid? [True, True] Translation: X:149.83, Y:-138.41, Z:-4.04 [[ 6.92214065e-01 7.21664270e-01 -6.35369002e-03 1.49830424e+02] [ 7.21634562e-01 -6.92243222e-01 -6.54835646e-03 -1.38413564e+02] [-9.12401373e-03 -5.21778671e-05 -9.99958374e-01 -4.03860094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters 0.013049556104670748 Centerline is valid? [True, True] Translation: X:149.85, Y:-138.40, Z:-4.04 [[ 6.30177256e-01 7.76431181e-01 -5.58994324e-03 1.49853089e+02] [ 7.76401878e-01 -6.30202042e-01 -6.74614828e-03 -1.38396356e+02] [-8.76071352e-03 -8.87732188e-05 -9.99961620e-01 -4.03825846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters 0.013116069838165495 Centerline is valid? [True, True] Translation: X:149.88, Y:-138.38, Z:-4.04 [[ 5.65932072e-01 8.24436173e-01 -5.08793862e-03 1.49875868e+02] [ 8.24404516e-01 -5.65954933e-01 -7.22553457e-03 -1.38377488e+02] [-8.83653602e-03 -1.05357824e-04 -9.99960952e-01 -4.03846270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters 0.013257564207590994 Centerline is valid? [True, True] Translation: X:149.89, Y:-138.36, Z:-4.04 [[ 4.99362904e-01 8.66381012e-01 -4.54226278e-03 1.49894465e+02] [ 8.66347136e-01 -4.99383550e-01 -7.66230947e-03 -1.38356522e+02] [-8.90681074e-03 -1.08903241e-04 -9.99960328e-01 -4.03796674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters 0.013184365004467898 Centerline is valid? [True, True] Translation: X:149.91, Y:-138.33, Z:-4.04 [[ 4.30559296e-01 9.02555639e-01 -3.46579187e-03 1.49912554e+02] [ 9.02528079e-01 -4.30573235e-01 -7.05384799e-03 -1.38334773e+02] [-7.85876750e-03 -9.08746488e-05 -9.99969115e-01 -4.03920575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters 0.013480195614792755 Centerline is valid? [True, True] Translation: X:149.93, Y:-138.31, Z:-4.04 [[ 3.57383828e-01 9.33952892e-01 -2.96549455e-03 1.49931034e+02] [ 9.33923091e-01 -3.57396117e-01 -7.46163339e-03 -1.38314343e+02] [-8.02867032e-03 -1.02876734e-04 -9.99967764e-01 -4.03845075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters 0.01389878295501585 Centerline is valid? [True, True] Translation: X:149.95, Y:-138.29, Z:-4.04 [[ 2.83132952e-01 9.59077234e-01 -2.56720799e-03 1.49946126e+02] [ 9.59041304e-01 -2.83144569e-01 -8.30245152e-03 -1.38291457e+02] [-8.68958324e-03 -1.11360887e-04 -9.99962239e-01 -4.03679921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters 0.013693620945713048 Centerline is valid? [True, True] Translation: X:149.96, Y:-138.27, Z:-4.04 [[ 2.06385168e-01 9.78468867e-01 -1.95949433e-03 1.49959851e+02] [ 9.78430176e-01 -2.06394435e-01 -8.70217972e-03 -1.38267015e+02] [-8.91924065e-03 -1.21227560e-04 -9.99960215e-01 -4.03719161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters 0.013758133547665707 Centerline is valid? [True, True] Translation: X:149.97, Y:-138.24, Z:-4.04 [[ 1.28015509e-01 9.91771380e-01 -1.24851711e-03 1.49973752e+02] [ 9.91733500e-01 -1.28021533e-01 -8.66902145e-03 -1.38241793e+02] [-8.75752444e-03 -1.28427045e-04 -9.99961644e-01 -4.03712003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters 0.014135071171329446 Centerline is valid? [True, True] Translation: X:149.99, Y:-138.22, Z:-4.04 [[ 4.84674671e-02 9.98824595e-01 -5.76498622e-04 1.49987148e+02] [ 9.98784883e-01 -4.84706815e-02 -8.90790788e-03 -1.38215372e+02] [-8.92538076e-03 -1.44054377e-04 -9.99960158e-01 -4.03689049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters 0.014458734937170967 Centerline is valid? [True, True] Translation: X:150.00, Y:-138.19, Z:-4.04 [[-3.08860157e-02 9.99522905e-01 1.29816624e-04 1.49996532e+02] [ 9.99478653e-01 3.08858700e-02 -9.40665228e-03 -1.38187917e+02] [-9.40617391e-03 -1.60785065e-04 -9.99955748e-01 -4.03695475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters 0.014386114319654057 Centerline is valid? [True, True] Translation: X:150.00, Y:-138.16, Z:-4.04 [[-1.09404018e-01 9.93997035e-01 8.10122371e-04 1.50003810e+02] [ 9.93958450e-01 1.09406910e-01 -8.75941100e-03 -1.38159634e+02] [-8.79546154e-03 -1.53086784e-04 -9.99961308e-01 -4.03787857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters 0.014291146427371362 Centerline is valid? [True, True] Translation: X:150.01, Y:-138.13, Z:-4.04 [[-1.86856731e-01 9.82386340e-01 1.28134899e-03 1.50008389e+02] [ 9.82358205e-01 1.86861079e-01 -7.43596465e-03 -1.38131008e+02] [-7.54442435e-03 -1.30716355e-04 -9.99971532e-01 -4.03855968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters 0.0142733579188031 Centerline is valid? [True, True] Translation: X:150.01, Y:-138.10, Z:-4.04 [[-2.63262022e-01 9.64722853e-01 1.71032886e-03 1.50010722e+02] [ 9.64699428e-01 2.63267550e-01 -6.72392003e-03 -1.38101726e+02] [-6.93699340e-03 -1.20199513e-04 -9.99975932e-01 -4.03862384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters 0.014645593326846682 Centerline is valid? [True, True] Translation: X:150.01, Y:-138.07, Z:-4.04 [[-3.38471800e-01 9.40973628e-01 2.33920159e-03 1.50010992e+02] [ 9.40948439e-01 3.38479858e-01 -6.88634170e-03 -1.38073186e+02] [-7.27163856e-03 -1.29764392e-04 -9.99973553e-01 -4.03835058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters 0.015459707427492374 Centerline is valid? [True, True] Translation: X:150.01, Y:-138.05, Z:-4.04 [[-4.13016893e-01 9.10717789e-01 3.18675194e-03 1.50008921e+02] [ 9.10687615e-01 4.13029156e-01 -7.41510679e-03 -1.38045481e+02] [-8.06929112e-03 -1.60428845e-04 -9.99967430e-01 -4.03734298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters 0.015389907332945554 Centerline is valid? [True, True] Translation: X:150.00, Y:-138.02, Z:-4.04 [[-4.84184046e-01 8.74957345e-01 3.93120887e-03 1.50004959e+02] [ 8.74925461e-01 4.84199972e-01 -7.47160728e-03 -1.38017105e+02] [-8.44082890e-03 -1.78118313e-04 -9.99964360e-01 -4.03686103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters 0.01570237352669412 Centerline is valid? [True, True] Translation: X:150.00, Y:-137.99, Z:-4.04 [[-5.51223055e-01 8.34343340e-01 4.93306333e-03 1.49997249e+02] [ 8.34306708e-01 5.51245094e-01 -7.82072378e-03 -1.37988949e+02] [-9.24449576e-03 -1.95275427e-04 -9.99957250e-01 -4.03648656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters 0.015090181447651193 Centerline is valid? [True, True] Translation: X:149.99, Y:-137.96, Z:-4.04 [[-6.13867030e-01 7.89391785e-01 5.28015786e-03 1.49986551e+02] [ 7.89360102e-01 6.13889713e-01 -7.07451996e-03 -1.37962780e+02] [-8.82600253e-03 -1.74868604e-04 -9.99961035e-01 -4.03702326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters 0.01455581636996993 Centerline is valid? [True, True] Translation: X:149.97, Y:-137.94, Z:-4.04 [[-6.71786997e-01 7.40724928e-01 5.36769815e-03 1.49972296e+02] [ 7.40699618e-01 6.71808426e-01 -6.12490706e-03 -1.37938165e+02] [-8.14293619e-03 -1.38780956e-04 -9.99966836e-01 -4.03768721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters 0.013797262146304154 Centerline is valid? [True, True] Translation: X:149.96, Y:-137.92, Z:-4.04 [[-7.24839234e-01 6.88897572e-01 5.31219914e-03 1.49955880e+02] [ 6.88878107e-01 7.24858694e-01 -5.17961203e-03 -1.37916019e+02] [-7.41881588e-03 -9.49283353e-05 -9.99972476e-01 -4.03800759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters 0.013177524344996737 Centerline is valid? [True, True] Translation: X:149.98, Y:-137.91, Z:-4.04 [[-7.69471129e-01 6.38658789e-01 5.39751932e-03 1.49980910e+02] [ 6.38642479e-01 7.69490057e-01 -4.56478120e-03 -1.37906456e+02] [-7.06867508e-03 -6.53822268e-05 -9.99975015e-01 -4.03841255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters 0.012926804663472154 Centerline is valid? [True, True] Translation: X:150.00, Y:-137.89, Z:-4.04 [[-8.10071960e-01 5.86304124e-01 5.55820970e-03 1.50002510e+02] [ 5.86290050e-01 8.10091028e-01 -4.06256887e-03 -1.37892394e+02] [-6.88455669e-03 -3.22500905e-05 -9.99976301e-01 -4.03869525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters 0.012692157976037012 Centerline is valid? [True, True] Translation: X:150.01, Y:-137.87, Z:-4.04 [[-8.47765451e-01 5.30330741e-01 6.56087461e-03 1.50014945e+02] [ 5.30314762e-01 8.47790838e-01 -4.11671721e-03 -1.37870119e+02] [-7.74547107e-03 -1.06819603e-05 -9.99970003e-01 -4.03805494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters 0.012891306725747445 Centerline is valid? [True, True] Translation: X:150.04, Y:-137.85, Z:-4.04 [[-8.80272618e-01 4.74411551e-01 7.33478223e-03 1.50037762e+02] [ 4.74395457e-01 8.80303175e-01 -3.90783238e-03 -1.37854385e+02] [-8.31075290e-03 3.96295269e-05 -9.99965464e-01 -4.03806401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters 0.013444851005174166 Centerline is valid? [True, True] Translation: X:150.05, Y:-137.83, Z:-4.04 [[-9.09096108e-01 4.16519531e-01 7.46636135e-03 1.50054245e+02] [ 4.16506289e-01 9.09126764e-01 -3.32249895e-03 -1.37834427e+02] [-8.17175464e-03 8.93155929e-05 -9.99966607e-01 -4.03841024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters 0.014270841113238718 Centerline is valid? [True, True] Translation: X:150.07, Y:-137.81, Z:-4.04 [[-9.34779826e-01 3.55143423e-01 7.73468794e-03 1.50070218e+02] [ 3.55132377e-01 9.34811817e-01 -2.80393066e-03 -1.37811224e+02] [-8.22627522e-03 1.25780295e-04 -9.99966156e-01 -4.03823712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters 0.014249386177560318 Centerline is valid? [True, True] Translation: X:150.33, Y:-137.12, Z:-5.00 [[-9.21285474e-01 -3.88813766e-01 7.54524322e-03 1.50325833e+02] [ 3.88799612e-01 -9.21316362e-01 -3.31996277e-03 -1.37117479e+02] [ 8.24240326e-03 -1.25045840e-04 9.99966023e-01 -5.00102797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters 0.014376864635229405 Centerline is valid? [True, True] Translation: X:150.03, Y:-137.79, Z:-4.04 [[-9.35955081e-01 3.52030060e-01 7.93245284e-03 1.50027282e+02] [ 3.52018611e-01 9.35988686e-01 -2.84225944e-03 -1.37793437e+02] [-8.42524687e-03 1.32143866e-04 -9.99964498e-01 -4.03804878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters 0.013664520181284664 Centerline is valid? [True, True] Translation: X:150.04, Y:-137.76, Z:-4.04 [[-9.59685792e-01 2.80947889e-01 8.45363020e-03 1.50035338e+02] [ 2.80937922e-01 9.59723019e-01 -2.36863395e-03 -1.37761478e+02] [-8.77860620e-03 1.01800953e-04 -9.99961462e-01 -4.03798326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters 0.013087522568864378 Centerline is valid? [True, True] Translation: X:150.23, Y:-137.07, Z:-5.00 [[-9.44819387e-01 -3.27474710e-01 8.75441464e-03 1.50230301e+02] [ 3.27459931e-01 -9.44859941e-01 -3.11203903e-03 -1.37070214e+02] [ 9.29080978e-03 -7.35947948e-05 9.99956837e-01 -5.00152542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters 0.012777357996201449 Centerline is valid? [True, True] Translation: X:149.99, Y:-137.74, Z:-4.04 [[-9.64214269e-01 2.64963859e-01 9.21935062e-03 1.49989610e+02] [ 2.64951626e-01 9.64258344e-01 -2.54608272e-03 -1.37735393e+02] [-9.56445566e-03 -1.22873506e-05 -9.99954260e-01 -4.03674932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters 0.01346306024460045 Centerline is valid? [True, True] Translation: X:149.99, Y:-137.70, Z:-4.04 [[-9.82225754e-01 1.87522202e-01 8.24572947e-03 1.49990477e+02] [ 1.87514882e-01 9.82260361e-01 -1.65890261e-03 -1.37699606e+02] [-8.41053428e-03 -8.32198716e-05 -9.99964627e-01 -4.03679813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters 0.01437606252916703 Centerline is valid? [True, True] Translation: X:149.99, Y:-137.67, Z:-4.04 [[-9.93640564e-01 1.12346421e-01 7.53065267e-03 1.49991557e+02] [ 1.12342325e-01 9.93669094e-01 -9.66051746e-04 -1.37667687e+02] [-7.59150927e-03 -1.13897171e-04 -9.99971178e-01 -4.03690946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters 0.015945247730326705 Centerline is valid? [True, True] Translation: X:149.99, Y:-137.63, Z:-4.04 [[-9.99333698e-01 3.58336371e-02 6.93621464e-03 1.49988726e+02] [ 3.58317734e-02 9.99357759e-01 -3.92806017e-04 -1.37634573e+02] [-6.94583558e-03 -1.44007418e-04 -9.99975867e-01 -4.03744491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters 0.016476249418212286 Centerline is valid? [True, True] Translation: X:149.98, Y:-137.60, Z:-4.04 [[-9.99201559e-01 -3.91490698e-02 7.97463023e-03 1.49981761e+02] [-3.91493934e-02 9.99233362e-01 1.15583771e-04 -1.37604622e+02] [-7.97304157e-03 -1.96710451e-04 -9.99968196e-01 -4.03605664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters 0.01720726687129851 Centerline is valid? [True, True] Translation: X:149.97, Y:-136.95, Z:-5.00 [[-9.96805145e-01 -7.94383825e-02 8.30944434e-03 1.49974431e+02] [ 7.94375292e-02 -9.96839752e-01 -4.33205938e-04 -1.36953674e+02] [ 8.31759762e-03 2.28259820e-04 9.99965382e-01 -5.00420565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters 0.018610896200123725 Centerline is valid? [True, True] Translation: X:149.92, Y:-137.60, Z:-4.03 [[-9.98962665e-01 -4.46189871e-02 9.09616267e-03 1.49921456e+02] [-4.46192885e-02 9.99004049e-01 1.69891948e-04 -1.37600714e+02] [-9.09468375e-03 -2.36148594e-04 -9.99958615e-01 -4.03337395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters 0.01593461143446825 Centerline is valid? [True, True] Translation: X:149.92, Y:-137.58, Z:-4.03 [[-9.93815840e-01 -1.10630178e-01 9.54149172e-03 1.49918531e+02] [-1.10627024e-01 9.93861622e-01 8.59351312e-04 -1.37580328e+02] [-9.57799262e-03 -2.01509885e-04 -9.99954110e-01 -4.03390447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters 0.014535567713018779 Centerline is valid? [True, True] Translation: X:149.91, Y:-137.56, Z:-4.03 [[-9.84549214e-01 -1.74848844e-01 9.52504463e-03 1.49914502e+02] [-1.74842055e-01 9.84595278e-01 1.54733837e-03 -1.37558645e+02] [-9.64886429e-03 -1.41947595e-04 -9.99953439e-01 -4.03418107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters 0.012994977102555361 Centerline is valid? [True, True] Translation: X:149.91, Y:-137.54, Z:-4.04 [[-9.72946609e-01 -2.30876589e-01 8.42002413e-03 1.49911684e+02] [-2.30867967e-01 9.72983042e-01 1.99530050e-03 -1.37544319e+02] [-8.65320887e-03 -2.59299203e-06 -9.99962560e-01 -4.03673788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters 0.01470557573663104 Centerline is valid? [True, True] Translation: X:149.89, Y:-137.53, Z:-4.04 [[-9.58407364e-01 -2.85317167e-01 7.03130930e-03 1.49891667e+02] [-2.85308613e-01 9.58433149e-01 2.21221924e-03 -1.37534021e+02] [-7.37022404e-03 1.14114108e-04 -9.99972833e-01 -4.03849895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters 0.016360956861277403 Centerline is valid? [True, True] Translation: X:149.84, Y:-137.53, Z:-4.04 [[-9.37963844e-01 -3.46663493e-01 6.94617222e-03 1.49843879e+02] [-3.46652563e-01 9.37989547e-01 2.75872879e-03 -1.37526140e+02] [-7.47178749e-03 1.79679456e-04 -9.99972070e-01 -4.03920668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters 0.01961054416670746 Centerline is valid? [True, True] Translation: X:149.79, Y:-137.53, Z:-4.04 [[-9.13328530e-01 -4.07153638e-01 7.54393783e-03 1.49785933e+02] [-4.07137259e-01 9.13359645e-01 3.66224708e-03 -1.37527089e+02] [-8.38142560e-03 2.73416577e-04 -9.99964838e-01 -4.03839553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters 0.02066767344329974 Centerline is valid? [True, True] Translation: X:149.71, Y:-137.53, Z:-4.04 [[-8.82762510e-01 -4.69746962e-01 8.25491621e-03 1.49713051e+02] [-4.69722621e-01 8.82801034e-01 4.79521802e-03 -1.37534566e+02] [-9.53998766e-03 3.55517823e-04 -9.99954430e-01 -4.03821564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters 0.021409684013918424 Centerline is valid? [True, True] Translation: X:149.63, Y:-137.55, Z:-4.04 [[-8.45662941e-01 -5.33657425e-01 7.99640469e-03 1.49634278e+02] [-5.33629395e-01 8.45700666e-01 5.48196682e-03 -1.37551049e+02] [-9.68805707e-03 3.68779591e-04 -9.99953002e-01 -4.03824023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters 0.020422010747356143 Centerline is valid? [True, True] Translation: X:149.55, Y:-137.57, Z:-4.04 [[-8.02246972e-01 -5.96941849e-01 7.76047689e-03 1.49547421e+02] [-5.96909519e-01 8.02284425e-01 6.22312127e-03 -1.37573558e+02] [-9.94095126e-03 3.60177661e-04 -9.99950523e-01 -4.03815566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters 0.01811715261819483 Centerline is valid? [True, True] Translation: X:149.45, Y:-137.61, Z:-4.04 [[-7.52802332e-01 -6.58212089e-01 6.74493777e-03 1.49454429e+02] [-6.58182037e-01 7.52832488e-01 6.29692612e-03 -1.37608244e+02] [-9.22252118e-03 3.00943788e-04 -9.99957426e-01 -4.03929887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters 0.016524734233219037 Centerline is valid? [True, True] Translation: X:149.36, Y:-137.65, Z:-4.04 [[-6.94794522e-01 -7.19186147e-01 5.64433995e-03 1.49361567e+02] [-7.19160077e-01 6.94817420e-01 6.12679493e-03 -1.37649679e+02] [-8.32809176e-03 1.97679600e-04 -9.99965301e-01 -4.03989694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters 0.013647568321024725 Centerline is valid? [True, True] Translation: X:149.27, Y:-137.70, Z:-4.04 [[-6.30172533e-01 -7.76440269e-01 4.80486736e-03 1.49265472e+02] [-7.76416491e-01 6.30190843e-01 6.07732772e-03 -1.37699140e+02] [-7.74666538e-03 9.91867543e-05 -9.99969989e-01 -4.04125305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters 0.012347282878474163 Centerline is valid? [True, True] Translation: X:149.17, Y:-137.76, Z:-4.04 [[-5.60390676e-01 -8.28217284e-01 4.29203492e-03 1.49171725e+02] [-8.28192847e-01 5.60407112e-01 6.36216109e-03 -1.37758115e+02] [-7.67453867e-03 1.06631313e-05 -9.99970550e-01 -4.04097300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters 0.012574531513937094 Centerline is valid? [True, True] Translation: X:149.09, Y:-137.82, Z:-4.04 [[-4.90989976e-01 -8.71157631e-01 3.63664284e-03 1.49088931e+02] [-8.71134233e-01 4.91003443e-01 6.38493409e-03 -1.37824464e+02] [-7.34788821e-03 -3.30654356e-05 -9.99973003e-01 -4.04102856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters 0.01280165565944515 Centerline is valid? [True, True] Translation: X:149.01, Y:-137.90, Z:-4.04 [[-4.18570935e-01 -9.08177688e-01 3.41454831e-03 1.49008045e+02] [-9.08149029e-01 4.18584855e-01 7.21532849e-03 -1.37902308e+02] [-7.98207855e-03 -8.07919360e-05 -9.99968139e-01 -4.04007973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters 0.013152523397276532 Centerline is valid? [True, True] Translation: X:148.94, Y:-137.98, Z:-4.04 [[-3.46922838e-01 -9.37887802e-01 3.31883382e-03 1.48939151e+02] [-9.37847855e-01 3.46938695e-01 8.65692719e-03 -1.37984606e+02] [-9.27065829e-03 -1.09275431e-04 -9.99957021e-01 -4.03833690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters 0.013320873748614867 Centerline is valid? [True, True] Translation: X:148.88, Y:-138.08, Z:-4.04 [[-2.74131022e-01 -9.61686889e-01 3.24206597e-03 1.48876917e+02] [-9.61625539e-01 2.74150158e-01 1.08634283e-02 -1.38075056e+02] [-1.13360294e-02 -1.39650741e-04 -9.99935735e-01 -4.03697503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters 0.013365221100110644 Centerline is valid? [True, True] Translation: X:148.82, Y:-138.17, Z:-4.04 [[-1.99612341e-01 -9.79870842e-01 2.83651309e-03 1.48823003e+02] [-9.79783803e-01 1.99632420e-01 1.30612390e-02 -1.38172519e+02] [-1.33645872e-02 -1.71985087e-04 -9.99910675e-01 -4.03623845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters 0.01328843521191047 Centerline is valid? [True, True] Translation: X:148.78, Y:-138.28, Z:-4.04 [[-1.23690761e-01 -9.92318997e-01 1.89821936e-03 1.48777613e+02] [-9.92224348e-01 1.23705183e-01 1.37066269e-02 -1.38275781e+02] [-1.38361658e-02 -1.88076361e-04 -9.99904258e-01 -4.03659407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters 0.014120233652736153 Centerline is valid? [True, True] Translation: X:148.74, Y:-138.38, Z:-4.04 [[-4.59257575e-02 -9.98944491e-01 8.53947068e-04 1.48738006e+02] [-9.98847866e-01 4.59331937e-02 1.38953856e-02 -1.38384882e+02] [-1.39199434e-02 -2.14807099e-04 -9.99903090e-01 -4.03538945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters 0.014114695440200505 Centerline is valid? [True, True] Translation: X:148.71, Y:-138.49, Z:-4.04 [[ 3.14860957e-02 -9.99504168e-01 -2.08540665e-04 1.48710701e+02] [-9.99407888e-01 -3.14859576e-02 1.38747343e-02 -1.38494375e+02] [-1.38744209e-02 -2.28444027e-04 -9.99903720e-01 -4.03672798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters 0.014448250527280656 Centerline is valid? [True, True] Translation: X:148.69, Y:-138.60, Z:-4.04 [[ 1.07776948e-01 -9.94174339e-01 -1.23028476e-03 1.48689946e+02] [-9.94083482e-01 -1.07783733e-01 1.34423836e-02 -1.38604968e+02] [-1.34966775e-02 -2.25773310e-04 -9.99908890e-01 -4.03675065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters 0.01449305513103275 Centerline is valid? [True, True] Translation: X:148.68, Y:-138.72, Z:-4.04 [[ 1.84732930e-01 -9.82786304e-01 -2.19676150e-03 1.48679307e+02] [-9.82700355e-01 -1.84745831e-01 1.29996532e-02 -1.38715229e+02] [-1.31817237e-02 -2.42705722e-04 -9.99913088e-01 -4.03849788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters 0.015354904380800335 Centerline is valid? [True, True] Translation: X:148.68, Y:-138.83, Z:-4.04 [[ 2.61757572e-01 -9.65128349e-01 -3.20053690e-03 1.48675399e+02] [-9.65042642e-01 -2.61776989e-01 1.28649573e-02 -1.38831266e+02] [-1.32541619e-02 -2.78845404e-04 -9.99912121e-01 -4.03882420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters 0.016122009136771687 Centerline is valid? [True, True] Translation: X:148.68, Y:-138.95, Z:-4.04 [[ 3.38407891e-01 -9.40989699e-01 -4.29945876e-03 1.48681752e+02] [-9.40900473e-01 -3.38435030e-01 1.29626175e-02 -1.38945387e+02] [-1.36527770e-02 -3.41289270e-04 -9.99906738e-01 -4.03905010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters 0.01669210006956366 Centerline is valid? [True, True] Translation: X:148.70, Y:-139.06, Z:-4.04 [[ 4.09797922e-01 -9.12160015e-01 -5.45622831e-03 1.48699553e+02] [-9.12067076e-01 -4.09834084e-01 1.30258671e-02 -1.39059104e+02] [-1.41178235e-02 -3.61527065e-04 -9.99900273e-01 -4.03901521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters 0.015884619109892237 Centerline is valid? [True, True] Translation: X:148.72, Y:-139.16, Z:-4.04 [[ 4.75827251e-01 -8.79516767e-01 -6.21964190e-03 1.48724723e+02] [-8.79432886e-01 -4.75867797e-01 1.21507237e-02 -1.39163209e+02] [-1.36464926e-02 -3.11887858e-04 -9.99906834e-01 -4.03992194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters 0.014151958317479068 Centerline is valid? [True, True] Translation: X:148.76, Y:-139.26, Z:-4.04 [[ 5.35171419e-01 -8.44718188e-01 -6.53722785e-03 1.48763385e+02] [-8.44650773e-01 -5.35211310e-01 1.06735844e-02 -1.39263103e+02] [-1.25149691e-02 -1.90522734e-04 -9.99921667e-01 -4.04158114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters 0.013141125517955621 Centerline is valid? [True, True] Translation: X:148.81, Y:-139.36, Z:-4.04 [[ 5.92758944e-01 -8.05349490e-01 -7.00238804e-03 1.48806283e+02] [-8.05291249e-01 -5.92800295e-01 9.68580034e-03 -1.39361005e+02] [-1.19514721e-02 -1.02382973e-04 -9.99928573e-01 -4.04165609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters 0.012763325272307197 Centerline is valid? [True, True] Translation: X:148.86, Y:-139.45, Z:-4.04 [[ 6.43478042e-01 -7.65422459e-01 -8.02929515e-03 1.48856810e+02] [-7.65363654e-01 -6.43528133e-01 9.48786642e-03 -1.39447784e+02] [-1.24293034e-02 4.00969757e-05 -9.99922752e-01 -4.04133934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters 0.014712784178762294 Centerline is valid? [True, True] Translation: X:148.91, Y:-139.53, Z:-4.04 [[ 6.90604600e-01 -7.23174037e-01 -9.19775761e-03 1.48914826e+02] [-7.23113957e-01 -6.90665815e-01 9.32401233e-03 -1.39530796e+02] [-1.30954604e-02 2.11821095e-04 -9.99914228e-01 -4.04163365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters 0.016111706800390296 Centerline is valid? [True, True] Translation: X:148.97, Y:-139.61, Z:-4.04 [[ 7.38042056e-01 -6.74683062e-01 -9.83306516e-03 1.48972030e+02] [-6.74628874e-01 -7.38107488e-01 8.55678319e-03 -1.39612046e+02] [-1.30309757e-02 3.18403816e-04 -9.99915043e-01 -4.04223508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters 0.018941195138731836 Centerline is valid? [True, True] Translation: X:149.00, Y:-139.63, Z:-4.04 [[ 7.82350486e-01 -6.22748739e-01 -1.05699905e-02 1.48997326e+02] [-6.22699626e-01 -7.82421755e-01 7.83414135e-03 -1.39630851e+02] [-1.31488922e-02 4.52884836e-04 -9.99913447e-01 -4.04209740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters 0.020074987315854005 Centerline is valid? [True, True] Translation: X:149.02, Y:-139.65, Z:-4.04 [[ 8.26265113e-01 -5.63168069e-01 -1.12999748e-02 1.49021198e+02] [-5.63123825e-01 -8.26342218e-01 7.07790544e-03 -1.39651113e+02] [-1.33236966e-02 5.15058705e-04 -9.99911103e-01 -4.04168277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters 0.020044868851508798 Centerline is valid? [True, True] Translation: X:149.05, Y:-139.67, Z:-4.04 [[ 8.68395058e-01 -4.95735172e-01 -1.16902577e-02 1.49045014e+02] [-4.95697807e-01 -8.68473602e-01 6.10632471e-03 -1.39672815e+02] [-1.31798001e-02 4.92132882e-04 -9.99913022e-01 -4.04149657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters 0.018283037095248974 Centerline is valid? [True, True] Translation: X:149.07, Y:-139.70, Z:-4.04 [[ 9.07268139e-01 -4.20404729e-01 -1.11529287e-02 1.49068570e+02] [-4.20377990e-01 -9.07336610e-01 4.75618975e-03 -1.39695325e+02] [-1.21189852e-02 3.73306338e-04 -9.99926493e-01 -4.04137524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters 0.0158944115262334 Centerline is valid? [True, True] Translation: X:149.09, Y:-139.72, Z:-4.04 [[ 9.39715584e-01 -3.41772303e-01 -1.12389497e-02 1.49093013e+02] [-3.41751460e-01 -9.39782748e-01 3.78511570e-03 -1.39719738e+02] [-1.18558188e-02 2.83995268e-04 -9.99929677e-01 -4.04202201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters 0.013484179894877902 Centerline is valid? [True, True] Translation: X:149.12, Y:-139.74, Z:-4.04 [[ 9.66883758e-01 -2.54981504e-01 -1.09649945e-02 1.49118200e+02] [-2.54966600e-01 -9.66945922e-01 2.75977450e-03 -1.39744840e+02] [-1.13062481e-02 1.27326212e-04 -9.99936074e-01 -4.04184650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters 0.012643636893611341 Centerline is valid? [True, True] Translation: X:149.15, Y:-139.77, Z:-4.04 [[ 9.86447855e-01 -1.63798965e-01 -9.51464405e-03 1.49145490e+02] [-1.63790995e-01 -9.86493739e-01 1.61624315e-03 -1.39769870e+02] [-9.65087574e-03 -3.59265766e-05 -9.99953429e-01 -4.04198631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters 0.013828218828879803 Centerline is valid? [True, True] Translation: X:149.17, Y:-139.79, Z:-4.04 [[ 9.97070838e-01 -7.60459914e-02 -8.17009926e-03 1.49172483e+02] [-7.60425133e-02 -9.97104305e-01 7.35971237e-04 -1.39789220e+02] [-8.20240880e-03 -1.12540577e-04 -9.99966353e-01 -4.04138407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters 0.01701351848800713 Centerline is valid? [True, True] Translation: X:149.20, Y:-139.81, Z:-4.04 [[ 9.99885998e-01 1.35484666e-02 -6.66561441e-03 1.49201755e+02] [ 1.35492758e-02 -9.99908201e-01 7.62463808e-05 -1.39805349e+02] [-6.66396949e-03 -1.66551937e-04 -9.99977782e-01 -4.04097611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters 0.01815905896837165 Centerline is valid? [True, True] Translation: X:149.23, Y:-139.81, Z:-4.04 [[ 9.95300807e-01 9.66067581e-02 -6.59070200e-03 1.49231381e+02] [ 9.66059472e-02 -9.95322609e-01 -4.42035046e-04 -1.39811618e+02] [-6.60257828e-03 -1.96743170e-04 -9.99978183e-01 -4.04110668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters 0.01739717234357434 Centerline is valid? [True, True] Translation: X:149.26, Y:-139.82, Z:-4.04 [[ 9.84853294e-01 1.73197321e-01 -8.16556889e-03 1.49262320e+02] [ 1.73193359e-01 -9.84887116e-01 -1.19516867e-03 -1.39816147e+02] [-8.24916361e-03 -2.37156504e-04 -9.99965947e-01 -4.03856634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters 0.016786695327278684 Centerline is valid? [True, True] Translation: X:149.29, Y:-139.82, Z:-4.04 [[ 9.68678744e-01 2.48150312e-01 -9.10571390e-03 1.49293137e+02] [ 2.48141794e-01 -9.68721507e-01 -2.07156624e-03 -1.39818359e+02] [-9.33496071e-03 -2.52826003e-04 -9.99956396e-01 -4.03699412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters 0.015933363544816 Centerline is valid? [True, True] Translation: X:149.32, Y:-139.81, Z:-4.04 [[ 9.47644960e-01 3.19171316e-01 -9.93483741e-03 1.49322717e+02] [ 3.19156389e-01 -9.47697006e-01 -3.09586573e-03 -1.39813116e+02] [-1.04033272e-02 -2.36985277e-04 -9.99945856e-01 -4.03613712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters 0.014384603541968178 Centerline is valid? [True, True] Translation: X:149.35, Y:-139.80, Z:-4.04 [[ 9.22385275e-01 3.86135281e-01 -1.02444516e-02 1.49349650e+02] [ 3.86113585e-01 -9.22442147e-01 -4.09705120e-03 -1.39802987e+02] [-1.10319299e-02 -1.76462213e-04 -9.99939131e-01 -4.03601230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters 0.013961021001625908 Centerline is valid? [True, True] Translation: X:149.38, Y:-139.80, Z:-4.04 [[ 8.90328115e-01 4.55244037e-01 -8.28946413e-03 1.49378557e+02] [ 4.55225639e-01 -8.90366695e-01 -4.09470797e-03 -1.39796899e+02] [-9.24475416e-03 -1.27942981e-04 -9.99957258e-01 -4.03734698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters 0.013749541216174041 Centerline is valid? [True, True] Translation: X:149.41, Y:-139.79, Z:-4.04 [[ 8.52787445e-01 5.22226436e-01 -5.75531241e-03 1.49407192e+02] [ 5.22215191e-01 -8.52806861e-01 -3.42810678e-03 -1.39789266e+02] [-6.69841790e-03 -8.20651519e-05 -9.99977562e-01 -4.03920417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters 0.013618122601245891 Centerline is valid? [True, True] Translation: X:149.43, Y:-139.78, Z:-4.04 [[ 8.09979133e-01 5.86443988e-01 -4.15365716e-03 1.49434936e+02] [ 5.86436633e-01 -8.09989781e-01 -2.93767998e-03 -1.39778662e+02] [-5.08720462e-03 -5.63972391e-05 -9.99987059e-01 -4.04105860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters 0.01324365709732809 Centerline is valid? [True, True] Translation: X:149.46, Y:-139.77, Z:-4.04 [[ 7.62610320e-01 6.46845302e-01 -4.08094583e-03 1.49461791e+02] [ 6.46836393e-01 -7.62621238e-01 -3.39528950e-03 -1.39767209e+02] [-5.30844302e-03 -5.04214669e-05 -9.99985909e-01 -4.04103300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters 0.012920051906655707 Centerline is valid? [True, True] Translation: X:149.49, Y:-139.75, Z:-4.04 [[ 7.11717425e-01 7.02453595e-01 -4.15370247e-03 1.49486280e+02] [ 7.02441944e-01 -7.11729545e-01 -4.04595797e-03 -1.39753366e+02] [-5.79841049e-03 -3.81560441e-05 -9.99983188e-01 -4.03968991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters 0.01264877713295957 Centerline is valid? [True, True] Translation: X:149.51, Y:-139.74, Z:-4.04 [[ 6.57077488e-01 7.53806612e-01 -4.97654412e-03 1.49509971e+02] [ 7.53785272e-01 -6.57096333e-01 -5.67207232e-03 -1.39736757e+02] [-7.54571452e-03 -2.42546303e-05 -9.99971530e-01 -4.03850368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters 0.012595122617693924 Centerline is valid? [True, True] Translation: X:149.53, Y:-139.72, Z:-4.04 [[ 5.97082166e-01 8.02164278e-01 -5.03573682e-03 1.49533595e+02] [ 8.02135973e-01 -5.97103401e-01 -6.73868907e-03 -1.39720657e+02] [-8.41239124e-03 -1.57945912e-05 -9.99964615e-01 -4.03805978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters 0.012883580858099245 Centerline is valid? [True, True] Translation: X:149.56, Y:-139.70, Z:-4.04 [[ 5.35374223e-01 8.44603989e-01 -4.30613244e-03 1.49555093e+02] [ 8.44576478e-01 -5.35391540e-01 -6.81692223e-03 -1.39702588e+02] [-8.06306659e-03 1.27462726e-05 -9.99967493e-01 -4.03722176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters 0.012645842154962466 Centerline is valid? [True, True] Translation: X:149.57, Y:-139.68, Z:-4.04 [[ 4.68523002e-01 8.83444741e-01 -3.40378630e-03 1.49574640e+02] [ 8.83421125e-01 -4.68535365e-01 -6.45961493e-03 -1.39682180e+02] [-7.30150710e-03 1.95014543e-05 -9.99973344e-01 -4.03783804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters 0.012383195297997267 Centerline is valid? [True, True] Translation: X:149.59, Y:-139.66, Z:-4.04 [[ 3.98212561e-01 9.17291062e-01 -1.96583397e-03 1.49594876e+02] [ 9.17279694e-01 -3.98217413e-01 -4.56662575e-03 -1.39661124e+02] [-4.97175430e-03 1.52681509e-05 -9.99987641e-01 -4.03997668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters 0.012254669432544912 Centerline is valid? [True, True] Translation: X:149.61, Y:-139.64, Z:-4.04 [[ 3.22780935e-01 9.46473244e-01 -9.30637433e-04 1.49614891e+02] [ 9.46469293e-01 -3.22782276e-01 -2.73498809e-03 -1.39639866e+02] [-2.88898632e-03 1.98225958e-06 -9.99995827e-01 -4.04092824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters 0.012598519675845743 Centerline is valid? [True, True] Translation: X:149.64, Y:-139.62, Z:-4.04 [[ 2.41381887e-01 9.70430109e-01 -4.34434339e-04 1.49636354e+02] [ 9.70428610e-01 -2.41382277e-01 -1.70569933e-03 -1.39617558e+02] [-1.76012674e-03 -9.86258834e-06 -9.99998451e-01 -4.04088974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters 0.013683344262570727 Centerline is valid? [True, True] Translation: X:149.66, Y:-139.59, Z:-4.04 [[ 1.55376333e-01 9.87855335e-01 -1.81746331e-04 1.49659108e+02] [ 9.87854772e-01 -1.55376438e-01 -1.05411421e-03 -1.39594258e+02] [-1.06955144e-03 -1.57545805e-05 -9.99999428e-01 -4.04031439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters 0.014944121019617907 Centerline is valid? [True, True] Translation: X:149.68, Y:-139.57, Z:-4.04 [[ 7.24317071e-02 9.97373357e-01 -1.85558181e-04 1.49676747e+02] [ 9.97371358e-01 -7.24319335e-02 -1.99748116e-03 -1.39567950e+02] [-2.00567482e-03 -4.03894449e-05 -9.99997988e-01 -4.03813474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters 0.015988450735724195 Centerline is valid? [True, True] Translation: X:149.69, Y:-139.54, Z:-4.04 [[-9.55808348e-03 9.99954319e-01 -5.75496977e-05 1.49688798e+02] [ 9.99946310e-01 9.55777652e-03 -4.00334184e-03 -1.39540396e+02] [-4.00260891e-03 -9.58108833e-05 -9.99991985e-01 -4.03591768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters 0.015521402500706953 Centerline is valid? [True, True] Translation: X:149.70, Y:-139.51, Z:-4.04 [[-8.75531400e-02 9.96159805e-01 3.01598327e-04 1.49695049e+02] [ 9.96148708e-01 8.75535887e-02 -4.70335991e-03 -1.39511319e+02] [-4.71170411e-03 -1.11357145e-04 -9.99988894e-01 -4.03563674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters 0.014655141816744901 Centerline is valid? [True, True] Translation: X:149.70, Y:-139.48, Z:-4.04 [[-1.61735446e-01 9.86833968e-01 6.04914111e-04 1.49697543e+02] [ 9.86824961e-01 1.61736555e-01 -4.21703480e-03 -1.39482414e+02] [-4.25934991e-03 -8.50996606e-05 -9.99990925e-01 -4.03549542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters 0.01357046622606887 Centerline is valid? [True, True] Translation: X:149.70, Y:-139.45, Z:-4.03 [[-2.34009021e-01 9.72233922e-01 9.89447408e-04 1.49695540e+02] [ 9.72223942e-01 2.34011103e-01 -4.40570664e-03 -1.39454644e+02] [-4.51491912e-03 -6.90106378e-05 -9.99989805e-01 -4.03483728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters 0.01304912975943649 Centerline is valid? [True, True] Translation: X:149.69, Y:-139.43, Z:-4.03 [[-3.06363082e-01 9.51913838e-01 1.30636794e-03 1.49691823e+02] [ 9.51904428e-01 3.06365862e-01 -4.23299274e-03 -1.39427576e+02] [-4.42967091e-03 -5.32952722e-05 -9.99990188e-01 -4.03470383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters 0.012493923557417482 Centerline is valid? [True, True] Translation: X:149.69, Y:-139.40, Z:-4.03 [[-3.76917941e-01 9.26244311e-01 2.08396314e-03 1.49685242e+02] [ 9.26229420e-01 3.76923699e-01 -5.25226053e-03 -1.39401243e+02] [-5.65037153e-03 -4.94432527e-05 -9.99984035e-01 -4.03374433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters 0.012319138634104016 Centerline is valid? [True, True] Translation: X:149.68, Y:-139.37, Z:-4.03 [[-4.48016544e-01 8.94019464e-01 3.22092807e-03 1.49678625e+02] [ 8.93995360e-01 4.48028118e-01 -6.56518747e-03 -1.39374977e+02] [-7.31247172e-03 -6.18178484e-05 -9.99973262e-01 -4.03262200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters 0.01253263508511491 Centerline is valid? [True, True] Translation: X:149.67, Y:-139.35, Z:-4.03 [[-5.17796883e-01 8.55494599e-01 3.92158611e-03 1.49672011e+02] [ 8.55468950e-01 5.17811728e-01 -6.62499797e-03 -1.39348515e+02] [-7.69829326e-03 -7.56081506e-05 -9.99970365e-01 -4.03228791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters 0.012855594281574515 Centerline is valid? [True, True] Translation: X:149.66, Y:-139.32, Z:-4.03 [[-5.85490023e-01 8.10669159e-01 4.11688689e-03 1.49664971e+02] [ 8.10648024e-01 5.85504490e-01 -5.85438575e-03 -1.39321194e+02] [-7.15642573e-03 -9.03382242e-05 -9.99974388e-01 -4.03277739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters 0.013818799783616947 Centerline is valid? [True, True] Translation: X:149.66, Y:-139.29, Z:-4.03 [[-6.51207822e-01 7.58888510e-01 4.07452807e-03 1.49657918e+02] [ 7.58872543e-01 6.51220559e-01 -4.92410474e-03 -1.39292475e+02] [-6.39026296e-03 -1.14568040e-04 -9.99979576e-01 -4.03357003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters 0.014792035978984343 Centerline is valid? [True, True] Translation: X:149.65, Y:-139.26, Z:-4.04 [[-7.11464970e-01 7.02710401e-01 3.96092580e-03 1.49648057e+02] [ 7.02698523e-01 7.11475985e-01 -4.08765083e-03 -1.39264528e+02] [-5.69053834e-03 -1.24883671e-04 -9.99983801e-01 -4.03515849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters 0.014691219448756107 Centerline is valid? [True, True] Translation: X:149.64, Y:-139.24, Z:-4.03 [[-7.65049205e-01 6.43953905e-01 4.80444975e-03 1.49635322e+02] [ 6.43939979e-01 7.65064276e-01 -4.23759398e-03 -1.39237214e+02] [-6.40452806e-03 -1.48190635e-04 -9.99979480e-01 -4.03479308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters 0.01496360608257428 Centerline is valid? [True, True] Translation: X:149.66, Y:-139.22, Z:-4.03 [[-8.08639893e-01 5.88276176e-01 5.71532147e-03 1.49658292e+02] [ 5.88259986e-01 8.08660072e-01 -4.36765358e-03 -1.39218151e+02] [-7.19113881e-03 -1.69763988e-04 -9.99974129e-01 -4.03393032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters 0.015139317506294454 Centerline is valid? [True, True] Translation: X:149.68, Y:-139.20, Z:-4.03 [[-8.47865429e-01 5.30166299e-01 6.92164517e-03 1.49677755e+02] [ 5.30146790e-01 8.47893660e-01 -4.55216920e-03 -1.39197737e+02] [-8.28222576e-03 -1.90138932e-04 -9.99965684e-01 -4.03356827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters 0.014768646975725807 Centerline is valid? [True, True] Translation: X:150.07, Y:-138.61, Z:-5.01 [[-7.83414670e-01 -6.21456633e-01 7.28758668e-03 1.50072338e+02] [ 6.21432754e-01 -7.83448523e-01 -5.45381119e-03 -1.38607209e+02] [ 9.09875616e-03 2.56149369e-04 9.99958573e-01 -5.00624038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters 0.013871485965048126 Centerline is valid? [True, True] Translation: X:149.64, Y:-139.18, Z:-4.03 [[-8.46686471e-01 5.32033541e-01 7.89503016e-03 1.49643841e+02] [ 5.32008618e-01 8.46723264e-01 -5.15224029e-03 -1.39179423e+02] [-9.42607035e-03 -1.62108063e-04 -9.99955561e-01 -4.03344234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters 0.01280929362522717 Centerline is valid? [True, True] Translation: X:149.66, Y:-139.16, Z:-4.04 [[-8.80322923e-01 4.74314544e-01 7.56732363e-03 1.49658524e+02] [ 4.74295898e-01 8.80355440e-01 -4.20724603e-03 -1.39161677e+02] [-8.65749250e-03 -1.14584563e-04 -9.99962517e-01 -4.03508523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters 0.011923079946203301 Centerline is valid? [True, True] Translation: X:149.68, Y:-139.15, Z:-4.04 [[-9.08987466e-01 4.16780795e-01 5.96291697e-03 1.49678081e+02] [ 4.16771504e-01 9.09007023e-01 -2.78321022e-03 -1.39147731e+02] [-6.58032197e-03 -4.47293334e-05 -9.99978349e-01 -4.03709187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters 0.011708028340423558 Centerline is valid? [True, True] Translation: X:149.69, Y:-139.13, Z:-4.04 [[-9.34800654e-01 3.55139258e-01 4.88314368e-03 1.49690220e+02] [ 3.55134333e-01 9.34813408e-01 -1.87035946e-03 -1.39126479e+02] [-5.22906626e-03 -1.42412697e-05 -9.99986328e-01 -4.03757646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters 0.011652035074632435 Centerline is valid? [True, True] Translation: X:149.70, Y:-139.10, Z:-4.04 [[-9.57311544e-01 2.89015352e-01 4.97335540e-03 1.49699604e+02] [ 2.89011403e-01 9.57324462e-01 -1.51089256e-03 -1.39102238e+02] [-5.19778593e-03 -9.03847236e-06 -9.99986491e-01 -4.03694165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters 0.0117477984656384 Centerline is valid? [True, True] Translation: X:149.92, Y:-138.40, Z:-5.00 [[-9.34034812e-01 -3.57132923e-01 5.91987017e-03 1.49923545e+02] [ 3.57126297e-01 -9.34053569e-01 -2.17694821e-03 -1.38395172e+02] [ 6.30693573e-03 8.07959027e-05 9.99980108e-01 -5.00321795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters 0.012076444278433598 Centerline is valid? [True, True] Translation: X:149.66, Y:-139.09, Z:-4.04 [[-9.60004114e-01 2.79916903e-01 6.21524310e-03 1.49655498e+02] [ 2.79910703e-01 9.60024231e-01 -1.86371812e-03 -1.39085657e+02] [-6.48847018e-03 -4.94640017e-05 -9.99978948e-01 -4.03565565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters 0.012852983682881727 Centerline is valid? [True, True] Translation: X:149.66, Y:-139.05, Z:-4.04 [[-9.78559377e-01 2.05865966e-01 6.38361536e-03 1.49662094e+02] [ 2.05861016e-01 9.78580194e-01 -1.43013109e-03 -1.39054897e+02] [-6.54129488e-03 -8.53306476e-05 -9.99978602e-01 -4.03519655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters 0.013698767611923858 Centerline is valid? [True, True] Translation: X:149.67, Y:-139.03, Z:-4.03 [[-9.91081572e-01 1.33087195e-01 6.71685343e-03 1.49666835e+02] [ 1.33083395e-01 9.91104327e-01 -1.01155191e-03 -1.39025417e+02] [-6.79172710e-03 -1.08628800e-04 -9.99976930e-01 -4.03450561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters 0.014288436821564554 Centerline is valid? [True, True] Translation: X:149.67, Y:-139.00, Z:-4.03 [[-9.98135895e-01 6.07370767e-02 5.97843865e-03 1.49666380e+02] [ 6.07353493e-02 9.98153794e-01 -4.70250029e-04 -1.38996649e+02] [-5.99596284e-03 -1.06270874e-04 -9.99982018e-01 -4.03486550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters 0.014982550626061906 Centerline is valid? [True, True] Translation: X:149.65, Y:-138.97, Z:-4.04 [[-9.99921427e-01 -1.15572326e-02 4.85484489e-03 1.49654014e+02] [-1.15575445e-02 9.99933209e-01 -3.62011795e-05 -1.38967390e+02] [-4.85410224e-03 -9.23084211e-05 -9.99988215e-01 -4.03565636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters 0.01415481321431869 Centerline is valid? [True, True] Translation: X:149.66, Y:-138.94, Z:-4.04 [[-9.96546936e-01 -8.29843119e-02 2.79452508e-03 1.49663176e+02] [-8.29841388e-02 9.96550852e-01 1.78058677e-04 -1.38940271e+02] [-2.79966243e-03 -5.44574281e-05 -9.99996080e-01 -4.03762090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters 0.013897354950337745 Centerline is valid? [True, True] Translation: X:149.62, Y:-138.23, Z:-5.00 [[-9.99768500e-01 -2.15155402e-02 1.64869565e-04 1.49619576e+02] [ 2.15155125e-02 -9.99768501e-01 -1.67937590e-04 -1.38230274e+02] [ 1.68444667e-04 -1.64351459e-04 9.99999972e-01 -5.00047711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters 0.013561782949559589 Centerline is valid? [True, True] Translation: X:149.59, Y:-138.94, Z:-4.04 [[-9.96381294e-01 -8.49956557e-02 2.35577378e-04 1.49592841e+02] [-8.49956541e-02 9.96381322e-01 1.69763600e-05 -1.38944045e+02] [-2.36167816e-04 -3.10812578e-06 -9.99999972e-01 -4.03807991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters 0.012994679959576302 Centerline is valid? [True, True] Translation: X:149.55, Y:-138.24, Z:-5.00 [[-9.99922063e-01 -1.22939855e-02 2.17373905e-03 1.49550895e+02] [ 1.22942969e-02 -9.99924414e-01 1.29957508e-04 -1.38235367e+02] [ 2.17197705e-03 1.56671972e-04 9.99997629e-01 -5.00405601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters 0.012386704819476646 Centerline is valid? [True, True] Translation: X:149.52, Y:-138.95, Z:-4.03 [[-9.96376053e-01 -8.49995288e-02 3.13698836e-03 1.49521706e+02] [-8.49992216e-02 9.96380991e-01 2.31356900e-04 -1.38950145e+02] [-3.14530080e-03 -3.61230946e-05 -9.99995053e-01 -4.03414934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters 0.01194184615138253 Centerline is valid? [True, True] Translation: X:149.47, Y:-138.24, Z:-5.01 [[-9.99987182e-01 -2.29098370e-03 4.51513251e-03 1.49471044e+02] [ 2.29158210e-03 -9.99997366e-01 1.27362827e-04 -1.38237968e+02] [ 4.51482883e-03 1.37707991e-04 9.99989799e-01 -5.00576926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters 0.011746351185482538 Centerline is valid? [True, True] Translation: X:149.44, Y:-138.96, Z:-4.03 [[-9.96417901e-01 -8.43760841e-02 5.66072218e-03 1.49443027e+02] [-8.43748956e-02 9.96433980e-01 4.48867165e-04 -1.38959385e+02] [-5.67840958e-03 -3.03635647e-05 -9.99983877e-01 -4.03248259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters 0.011532257676482107 Centerline is valid? [True, True] Translation: X:149.44, Y:-138.94, Z:-4.03 [[-9.88479271e-01 -1.51296364e-01 4.25935431e-03 1.49438973e+02] [-1.51294988e-01 9.88488447e-01 6.45188885e-04 -1.38935635e+02] [-4.30793726e-03 -6.66312192e-06 -9.99990721e-01 -4.03306328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters 0.011744939726787407 Centerline is valid? [True, True] Translation: X:149.43, Y:-138.91, Z:-4.03 [[-9.75793800e-01 -2.18665065e-01 3.47117503e-03 1.49429794e+02] [-2.18663665e-01 9.75799974e-01 7.82415714e-04 -1.38911948e+02] [-3.55825949e-03 4.45654902e-06 -9.99993669e-01 -4.03371119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters 0.011758597081141043 Centerline is valid? [True, True] Translation: X:149.41, Y:-138.89, Z:-4.03 [[-9.58391144e-01 -2.85448958e-01 2.30375516e-03 1.49407072e+02] [-2.85448109e-01 9.58393913e-01 6.96125215e-04 -1.38892587e+02] [-2.40661314e-03 9.55768647e-06 -9.99997104e-01 -4.03490483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters 0.01185108938090953 Centerline is valid? [True, True] Translation: X:149.37, Y:-138.88, Z:-4.04 [[-9.35451898e-01 -3.53452411e-01 1.06727180e-03 1.49372509e+02] [-3.53452175e-01 9.35452507e-01 4.08826544e-04 -1.38876035e+02] [-1.14288281e-03 5.20802719e-06 -9.99999347e-01 -4.03583033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters 0.011834008501378166 Centerline is valid? [True, True] Translation: X:149.31, Y:-138.87, Z:-4.03 [[-9.06988314e-01 -4.21152497e-01 1.66502611e-03 1.49312579e+02] [-4.21151769e-01 9.06989843e-01 7.82599093e-04 -1.38870791e+02] [-1.83975533e-03 8.57954120e-06 -9.99998308e-01 -4.03436873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters 0.011896218900354066 Centerline is valid? [True, True] Translation: X:149.25, Y:-138.87, Z:-4.03 [[-8.73396474e-01 -4.87007117e-01 1.63338811e-03 1.49246512e+02] [-4.87006247e-01 8.73398001e-01 9.20738970e-04 -1.38873663e+02] [-1.87500434e-03 8.69995572e-06 -9.99998242e-01 -4.03317656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters 0.011826016417437276 Centerline is valid? [True, True] Translation: X:149.17, Y:-138.89, Z:-4.03 [[-8.34424774e-01 -5.51118899e-01 1.80444308e-03 1.49173709e+02] [-5.51117588e-01 8.34426725e-01 1.20218474e-03 -1.38885427e+02] [-2.16822226e-03 8.67241047e-06 -9.99997649e-01 -4.03251714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters 0.011781474451085384 Centerline is valid? [True, True] Translation: X:149.09, Y:-138.91, Z:-4.03 [[-7.89794671e-01 -6.13367593e-01 2.13873205e-03 1.49093524e+02] [-6.13365324e-01 7.89797567e-01 1.66840123e-03 -1.38907315e+02] [-2.71250861e-03 5.87032389e-06 -9.99996321e-01 -4.03148719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters 0.011825459374959673 Centerline is valid? [True, True] Translation: X:149.01, Y:-138.94, Z:-4.03 [[-7.39975475e-01 -6.72630438e-01 2.14230777e-03 1.49006887e+02] [-6.72627621e-01 7.39978576e-01 1.94669157e-03 -1.38942360e+02] [-2.89466586e-03 -4.71355271e-07 -9.99995811e-01 -4.03097325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters 0.011878267838135125 Centerline is valid? [True, True] Translation: X:148.92, Y:-138.99, Z:-4.03 [[-6.84080600e-01 -7.29404945e-01 1.46935353e-03 1.48915404e+02] [-7.29403293e-01 6.84082178e-01 1.55221898e-03 -1.38990199e+02] [-2.13735477e-03 -9.90841309e-06 -9.99997716e-01 -4.03111479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters 0.012841768683491081 Centerline is valid? [True, True] Translation: X:148.83, Y:-139.03, Z:-4.03 [[-6.21205671e-01 -7.83647157e-01 8.04692558e-04 1.48833804e+02] [-7.83646532e-01 6.21206192e-01 9.90385500e-04 -1.39032832e+02] [-1.27599278e-03 -1.53614431e-05 -9.99999186e-01 -4.02980768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters 0.013142545066197957 Centerline is valid? [True, True] Translation: X:148.75, Y:-139.10, Z:-4.03 [[-5.58679402e-01 -8.29383582e-01 4.47053072e-04 1.48751622e+02] [-8.29383331e-01 5.58679581e-01 6.44279138e-04 -1.39095715e+02] [-7.84113962e-04 -1.08328824e-05 -9.99999693e-01 -4.02950993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters 0.014155392146568501 Centerline is valid? [True, True] Translation: X:148.67, Y:-139.17, Z:-4.03 [[-4.90620767e-01 -8.71373177e-01 2.22124573e-04 1.48671515e+02] [-8.71373095e-01 4.90620817e-01 3.78325774e-04 -1.39167525e+02] [-4.38641872e-04 -7.93889568e-06 -9.99999904e-01 -4.03023130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters 0.01511933267783809 Centerline is valid? [True, True] Translation: X:148.59, Y:-139.25, Z:-4.03 [[-4.20278942e-01 -9.07394936e-01 2.03032299e-04 1.48593135e+02] [-9.07394841e-01 4.20278991e-01 4.15342771e-04 -1.39249951e+02] [-4.62210137e-04 -9.67064006e-06 -9.99999893e-01 -4.02984728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters 0.015071662164036433 Centerline is valid? [True, True] Translation: X:148.52, Y:-139.34, Z:-4.03 [[-3.48289829e-01 -9.37386767e-01 4.94546384e-04 1.48522637e+02] [-9.37385939e-01 3.48290179e-01 1.24615158e-03 -1.39341262e+02] [-1.34037165e-03 -2.95589046e-05 -9.99999101e-01 -4.02857874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters 0.016568570883887742 Centerline is valid? [True, True] Translation: X:148.46, Y:-139.43, Z:-4.03 [[-2.75893694e-01 -9.61188012e-01 5.25122020e-04 1.48461858e+02] [-9.61186525e-01 2.75894191e-01 1.69074227e-03 -1.39426861e+02] [-1.76999931e-03 -3.82750800e-05 -9.99998433e-01 -4.02850852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters 0.014350726539297162 Centerline is valid? [True, True] Translation: X:148.41, Y:-139.52, Z:-4.03 [[-2.03477590e-01 -9.79079533e-01 3.71733991e-04 1.48414133e+02] [-9.79078179e-01 2.03477927e-01 1.62857625e-03 -1.39524597e+02] [-1.67014533e-03 -3.25778685e-05 -9.99998605e-01 -4.02873135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters 0.014006367682364008 Centerline is valid? [True, True] Translation: X:148.37, Y:-139.63, Z:-4.03 [[-1.30416371e-01 -9.91459270e-01 2.94631166e-04 1.48369232e+02] [-9.91457292e-01 1.30416699e-01 1.98059006e-03 -1.39628477e+02] [-2.00209920e-03 -3.38128498e-05 -9.99997995e-01 -4.02806421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters 0.01357130405765727 Centerline is valid? [True, True] Translation: X:148.33, Y:-139.74, Z:-4.03 [[-5.59067353e-02 -9.98435981e-01 1.70677087e-04 1.48332413e+02] [-9.98433077e-01 5.59069843e-02 2.40816162e-03 -1.39740928e+02] [-2.41393726e-03 -3.57771948e-05 -9.99997086e-01 -4.02793795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters 0.012978479773646454 Centerline is valid? [True, True] Translation: X:147.61, Y:-139.81, Z:-5.01 [[-1.49529703e-01 9.88757166e-01 3.66943873e-04 1.47614443e+02] [-9.88752687e-01 -1.49530131e-01 2.97734636e-03 -1.39805901e+02] [ 2.99874171e-03 8.23849782e-05 9.99995500e-01 -5.01206343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters 0.012506750344168462 Centerline is valid? [True, True] Translation: X:148.32, Y:-140.02, Z:-4.03 [[-5.18145949e-02 -9.98656702e-01 1.99962052e-04 1.48315527e+02] [-9.98651333e-01 5.18149721e-02 3.27462105e-03 -1.40019454e+02] [-3.28058329e-03 -3.00192065e-05 -9.99994618e-01 -4.02621455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters 0.012398077089134438 Centerline is valid? [True, True] Translation: X:148.29, Y:-140.14, Z:-4.02 [[ 2.34195481e-02 -9.99725722e-01 -7.35951780e-05 1.48287887e+02] [-9.99715240e-01 -2.34196396e-02 4.57815534e-03 -1.40136516e+02] [-4.57862323e-03 -3.36441082e-05 -9.99989518e-01 -4.02451697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters 0.012345641518998722 Centerline is valid? [True, True] Translation: X:148.27, Y:-140.26, Z:-4.02 [[ 9.96333726e-02 -9.95024126e-01 -4.24102957e-04 1.48269257e+02] [-9.95013757e-01 -9.96342705e-02 4.54268237e-03 -1.40258594e+02] [-4.56233374e-03 -3.06144884e-05 -9.99989592e-01 -4.02466950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters 0.012266330369520826 Centerline is valid? [True, True] Translation: X:148.26, Y:-140.37, Z:-4.03 [[ 1.75742708e-01 -9.84435945e-01 -6.08700252e-04 1.48257769e+02] [-9.84429571e-01 -1.75743761e-01 3.54266063e-03 -1.40373245e+02] [-3.59449774e-03 -2.33742465e-05 -9.99993540e-01 -4.02519416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters 0.01221881614278566 Centerline is valid? [True, True] Translation: X:148.26, Y:-140.49, Z:-4.03 [[ 2.51636591e-01 -9.67821598e-01 -6.17354597e-04 1.48255013e+02] [-9.67818504e-01 -2.51637348e-01 2.44714419e-03 -1.40494889e+02] [-2.52374848e-03 -1.83038202e-05 -9.99996815e-01 -4.02617060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters 0.012411385988562075 Centerline is valid? [True, True] Translation: X:148.26, Y:-140.62, Z:-4.03 [[ 3.26771407e-01 -9.45103406e-01 1.76568930e-05 1.48260706e+02] [-9.45103404e-01 -3.26771407e-01 -5.07179813e-05 -1.40621254e+02] [ 5.37035042e-05 -1.14403607e-07 -9.99999999e-01 -4.02751832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters 0.012614404150536128 Centerline is valid? [True, True] Translation: X:148.27, Y:-140.74, Z:-4.03 [[ 4.00347041e-01 -9.16363581e-01 1.84165331e-04 1.48272066e+02] [-9.16363479e-01 -4.00347083e-01 -4.32695140e-04 -1.40740589e+02] [ 4.70236121e-04 4.46583542e-06 -9.99999889e-01 -4.02685001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters 0.01321430509628658 Centerline is valid? [True, True] Translation: X:148.29, Y:-140.86, Z:-4.03 [[ 4.70924764e-01 -8.82173374e-01 -6.65235535e-05 1.48293556e+02] [-8.82173365e-01 -4.70924769e-01 1.29654491e-04 -1.40857192e+02] [-1.45705330e-04 -2.37220383e-06 -9.99999989e-01 -4.02511917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters 0.01338015470075511 Centerline is valid? [True, True] Translation: X:147.72, Y:-141.27, Z:-5.02 [[ 3.85532244e-01 9.22694121e-01 -6.68869732e-04 1.47718192e+02] [-9.22693195e-01 3.85532808e-01 1.31251328e-03 -1.41271568e+02] [ 1.46891952e-03 1.11145360e-04 9.99998915e-01 -5.01621486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters 0.013559770311231845 Centerline is valid? [True, True] Translation: X:148.41, Y:-141.10, Z:-4.02 [[ 4.82151670e-01 -8.76087572e-01 -5.77363701e-04 1.48409520e+02] [-8.76086891e-01 -4.82152016e-01 1.09202880e-03 -1.41099386e+02] [-1.23508993e-03 -2.07027408e-05 -9.99999237e-01 -4.02219410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters 0.014056452638097442 Centerline is valid? [True, True] Translation: X:148.44, Y:-141.21, Z:-4.02 [[ 5.47628510e-01 -8.36721522e-01 -3.31283884e-04 1.48442235e+02] [-8.36721357e-01 -5.47628610e-01 5.25829032e-04 -1.41214222e+02] [-6.21393002e-04 -1.07666688e-05 -9.99999807e-01 -4.02200368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters 0.013421029037864903 Centerline is valid? [True, True] Translation: X:148.48, Y:-141.31, Z:-4.02 [[ 6.07506179e-01 -7.94314807e-01 4.79064656e-04 1.48480058e+02] [-7.94314548e-01 -6.07506368e-01 -6.41134508e-04 -1.41313241e+02] [ 8.00297462e-04 8.96514998e-06 -9.99999680e-01 -4.02291853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters 0.012543640997888638 Centerline is valid? [True, True] Translation: X:148.53, Y:-141.42, Z:-4.02 [[ 6.64047508e-01 -7.47689767e-01 9.58504139e-04 1.48531572e+02] [-7.47688961e-01 -6.64048200e-01 -1.09813528e-03 -1.41415325e+02] [ 1.45755746e-03 1.25510348e-05 -9.99998938e-01 -4.02289113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters 0.011990371531776305 Centerline is valid? [True, True] Translation: X:148.58, Y:-141.50, Z:-4.02 [[ 7.15994365e-01 -6.98104631e-01 1.41171717e-03 1.48580452e+02] [-6.98103251e-01 -7.15995757e-01 -1.38840182e-03 -1.41502877e+02] [ 1.98003324e-03 8.56352780e-06 -9.99998040e-01 -4.02253223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters 0.011758892745486735 Centerline is valid? [True, True] Translation: X:148.60, Y:-141.53, Z:-4.02 [[ 7.67181916e-01 -6.41429529e-01 -2.56851603e-04 1.48600072e+02] [-6.41429493e-01 -7.67181959e-01 2.17408717e-04 -1.41529856e+02] [-3.36504287e-04 -2.03984291e-06 -9.99999943e-01 -4.02080743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters 0.011801600870696016 Centerline is valid? [True, True] Translation: X:148.62, Y:-141.56, Z:-4.02 [[ 8.15031431e-01 -5.79414314e-01 -1.67895831e-03 1.48621222e+02] [-5.79413066e-01 -8.15033160e-01 1.20258066e-03 -1.41556912e+02] [-2.06519914e-03 -7.33065109e-06 -9.99997868e-01 -4.01908368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters 0.01192448357908794 Centerline is valid? [True, True] Translation: X:148.64, Y:-141.58, Z:-4.02 [[ 8.58578664e-01 -5.12665929e-01 -4.04015307e-03 1.48643725e+02] [-5.12660130e-01 -8.58588169e-01 2.43867800e-03 -1.41583456e+02] [-4.71905475e-03 -2.25714966e-05 -9.99988865e-01 -4.01689587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters 0.011873305864959903 Centerline is valid? [True, True] Translation: X:148.67, Y:-141.61, Z:-4.02 [[ 8.96152643e-01 -4.43730960e-01 -3.64359191e-03 1.48668297e+02] [-4.43727198e-01 -8.96160050e-01 1.82710945e-03 -1.41608019e+02] [-4.07598654e-03 -2.06081371e-05 -9.99991693e-01 -4.01710190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters 0.01191863762751671 Centerline is valid? [True, True] Translation: X:148.70, Y:-141.63, Z:-4.02 [[ 9.28140053e-01 -3.72217697e-01 -3.16681177e-03 1.48695340e+02] [-3.72215464e-01 -9.28145455e-01 1.28926221e-03 -1.41628826e+02] [-3.41914816e-03 -1.78795795e-05 -9.99994155e-01 -4.01774506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters 0.01197134353715527 Centerline is valid? [True, True] Translation: X:148.72, Y:-141.65, Z:-4.02 [[ 9.54582764e-01 -2.97939167e-01 -1.99975790e-03 1.48724265e+02] [-2.97938485e-01 -9.54584859e-01 6.37376247e-04 -1.41648369e+02] [-2.09883796e-03 -1.26235396e-05 -9.99997797e-01 -4.01858511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters 0.012213654816223916 Centerline is valid? [True, True] Translation: X:148.75, Y:-141.66, Z:-4.02 [[ 9.75273536e-01 -2.20998962e-01 -9.94600120e-04 1.48754587e+02] [-2.20998839e-01 -9.75274043e-01 2.33722657e-04 -1.41664717e+02] [-1.02166015e-03 -8.13805030e-06 -9.99999478e-01 -4.01902620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters 0.012403798422546018 Centerline is valid? [True, True] Translation: X:148.79, Y:-141.68, Z:-4.02 [[ 9.89792298e-01 -1.42515076e-01 -8.12699514e-04 1.48785363e+02] [-1.42515021e-01 -9.89792631e-01 1.25112455e-04 -1.41680640e+02] [-8.22234402e-04 -8.01345619e-06 -9.99999662e-01 -4.01815972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters 0.013276094597983762 Centerline is valid? [True, True] Translation: X:148.81, Y:-141.69, Z:-4.02 [[ 9.98096372e-01 -6.16291090e-02 -2.34185892e-03 1.48812968e+02] [-6.16288738e-02 -9.98099119e-01 1.72544216e-04 -1.41694297e+02] [-2.34804107e-03 -2.78896283e-05 -9.99997243e-01 -4.01587190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters 0.01313790649831324 Centerline is valid? [True, True] Translation: X:148.84, Y:-141.70, Z:-4.02 [[ 9.99835068e-01 1.80374530e-02 -2.11847115e-03 1.48842542e+02] [ 1.80374718e-02 -9.99837312e-01 -1.02282611e-05 -1.41703327e+02] [-2.11831100e-03 -2.79852895e-05 -9.99997756e-01 -4.01583746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters 0.01327285178193436 Centerline is valid? [True, True] Translation: X:148.87, Y:-141.71, Z:-4.01 [[ 9.95325102e-01 9.65642457e-02 -1.81327595e-03 1.48873163e+02] [ 9.65641307e-02 -9.95326753e-01 -1.51033714e-04 -1.41712029e+02] [-1.81938652e-03 -2.47697691e-05 -9.99998345e-01 -4.01477349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters 0.01321667131722531 Centerline is valid? [True, True] Translation: X:148.90, Y:-141.72, Z:-4.01 [[ 9.84792560e-01 1.73723723e-01 -1.91876185e-03 1.48903852e+02] [ 1.73723443e-01 -9.84794429e-01 -3.12615915e-04 -1.41716281e+02] [-1.94389478e-03 -2.54720886e-05 -9.99998110e-01 -4.01392298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters 0.013001470634185682 Centerline is valid? [True, True] Translation: X:148.94, Y:-141.72, Z:-4.01 [[ 9.68455935e-01 2.49184808e-01 -1.82408017e-04 1.48935493e+02] [ 2.49184804e-01 -9.68455952e-01 -4.36860043e-05 -1.41717711e+02] [-1.87540019e-04 -3.14533603e-06 -9.99999982e-01 -4.01445657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters 0.013043440104812832 Centerline is valid? [True, True] Translation: X:148.97, Y:-141.72, Z:-4.01 [[ 9.46153348e-01 3.23717794e-01 7.95179807e-04 1.48966633e+02] [ 3.23717686e-01 -9.46153682e-01 2.63512822e-04 -1.41717046e+02] [ 8.37666091e-04 8.09022881e-06 -9.99999649e-01 -4.01461131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters 0.013008065059519064 Centerline is valid? [True, True] Translation: X:149.00, Y:-141.72, Z:-4.01 [[ 9.17893165e-01 3.96827395e-01 -3.96547466e-04 1.48999077e+02] [ 3.96827361e-01 -9.17893250e-01 -1.65258431e-04 -1.41715415e+02] [-4.29567316e-04 -5.67129992e-06 -9.99999908e-01 -4.01170777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters 0.013002400982056125 Centerline is valid? [True, True] Translation: X:149.03, Y:-141.71, Z:-4.01 [[ 8.83785594e-01 4.67884194e-01 -2.72123322e-03 1.49030029e+02] [ 4.67882101e-01 -8.83789782e-01 -1.40019229e-03 -1.41709718e+02] [-3.06012596e-03 -3.57465449e-05 -9.99995317e-01 -4.00892845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters 0.013145810499326598 Centerline is valid? [True, True] Translation: X:149.06, Y:-141.70, Z:-4.01 [[ 8.43979927e-01 5.36362938e-01 -3.56104152e-03 1.49060687e+02] [ 5.36358423e-01 -8.43987438e-01 -2.20151866e-03 -1.41701889e+02] [-4.18628732e-03 -5.19570552e-05 -9.99991236e-01 -4.00781224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters 0.013104700898459725 Centerline is valid? [True, True] Translation: X:149.09, Y:-141.69, Z:-4.01 [[ 7.98971468e-01 6.01359718e-01 -3.32918868e-03 1.49090842e+02] [ 6.01354779e-01 -7.98978402e-01 -2.43784458e-03 -1.41692379e+02] [-4.12597138e-03 -5.42552570e-05 -9.99991487e-01 -4.00827162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters 0.013594224259998896 Centerline is valid? [True, True] Translation: X:149.12, Y:-141.68, Z:-4.01 [[ 7.49812310e-01 6.61645572e-01 -2.57609612e-03 1.49119857e+02] [ 6.61641863e-01 -7.49816734e-01 -2.21598487e-03 -1.41681078e+02] [-3.39779656e-03 -4.28802967e-05 -9.99994227e-01 -4.00816575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters 0.013236690436866682 Centerline is valid? [True, True] Translation: X:149.14, Y:-141.66, Z:-4.01 [[ 6.96901097e-01 7.17166288e-01 -1.17294986e-03 1.49142913e+02] [ 7.17165317e-01 -6.96902084e-01 -1.18023342e-03 -1.41662149e+02] [-1.66385482e-03 -1.86929953e-05 -9.99998616e-01 -4.01012739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters 0.01287062004532096 Centerline is valid? [True, True] Translation: X:149.17, Y:-141.65, Z:-4.01 [[ 6.39013285e-01 7.69195364e-01 -7.16931280e-04 1.49169290e+02] [ 7.69194901e-01 -6.39013687e-01 -8.43923983e-04 -1.41645350e+02] [-1.10727132e-03 -1.21812486e-05 -9.99999387e-01 -4.01060719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters 0.012885675521446354 Centerline is valid? [True, True] Translation: X:149.19, Y:-141.63, Z:-4.01 [[ 5.76511920e-01 8.17088215e-01 -9.24422259e-04 1.49194820e+02] [ 8.17087213e-01 -5.76512661e-01 -1.27979742e-03 -1.41626801e+02] [-1.57864853e-03 -1.75151369e-05 -9.99998754e-01 -4.01021718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters 0.013208086199593452 Centerline is valid? [True, True] Translation: X:149.22, Y:-141.61, Z:-4.01 [[ 5.08936969e-01 8.60803230e-01 -9.79895070e-04 1.49221679e+02] [ 8.60801727e-01 -5.08937912e-01 -1.60886040e-03 -1.41608747e+02] [-1.88361798e-03 -2.46868344e-05 -9.99998226e-01 -4.00987182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters 0.01379111153721111 Centerline is valid? [True, True] Translation: X:149.25, Y:-141.59, Z:-4.01 [[ 4.38278114e-01 8.98838700e-01 -1.13385676e-03 1.49246176e+02] [ 8.98835909e-01 -4.38279580e-01 -2.24022485e-03 -1.41589545e+02] [-2.51054706e-03 -3.73096477e-05 -9.99996848e-01 -4.00918884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters 0.013705268111760446 Centerline is valid? [True, True] Translation: X:149.27, Y:-141.57, Z:-4.01 [[ 3.65769202e-01 9.30704728e-01 -1.26485594e-03 1.49267606e+02] [ 9.30699645e-01 -3.65771385e-01 -3.07660166e-03 -1.41565770e+02] [-3.32605583e-03 -5.18748431e-05 -9.99994467e-01 -4.00812728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters 0.014124365879633952 Centerline is valid? [True, True] Translation: X:149.29, Y:-141.54, Z:-4.01 [[ 2.90755567e-01 9.56796210e-01 -1.48778993e-03 1.49285699e+02] [ 9.56785063e-01 -2.90759362e-01 -4.61919157e-03 -1.41541473e+02] [-4.85221384e-03 -8.04395168e-05 -9.99988225e-01 -4.00624202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters 0.014094848869079883 Centerline is valid? [True, True] Translation: X:149.30, Y:-141.51, Z:-4.01 [[ 2.15192813e-01 9.76570990e-01 -1.07431467e-03 1.49301512e+02] [ 9.76560524e-01 -2.15195481e-01 -4.52200007e-03 -1.41514406e+02] [-4.64724175e-03 -7.60313786e-05 -9.99989199e-01 -4.00563827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters 0.013682648468278663 Centerline is valid? [True, True] Translation: X:149.31, Y:-141.49, Z:-4.01 [[ 1.39696514e-01 9.90194215e-01 -5.48729424e-04 1.49313943e+02] [ 9.90187982e-01 -1.39697582e-01 -3.51375524e-03 -1.41485789e+02] [-3.55595629e-03 -5.24859212e-05 -9.99993676e-01 -4.00616256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters 0.013118317718730984 Centerline is valid? [True, True] Translation: X:149.32, Y:-141.46, Z:-4.01 [[ 6.40178055e-02 9.97948745e-01 -1.54284155e-04 1.49324144e+02] [ 9.97946725e-01 -6.40179864e-02 -2.00782000e-03 -1.41457237e+02] [-2.01357841e-03 -2.54311369e-05 -9.99997972e-01 -4.00774477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters 0.013745736357802943 Centerline is valid? [True, True] Translation: X:149.33, Y:-141.43, Z:-4.01 [[-1.35389612e-02 9.99908344e-01 2.22225266e-06 1.49334410e+02] [ 9.99907281e-01 1.35389500e-02 -1.45842646e-03 -1.41428718e+02] [-1.45832288e-03 -1.75235327e-05 -9.99998937e-01 -4.00795013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters 0.013360080701102069 Centerline is valid? [True, True] Translation: X:149.34, Y:-141.40, Z:-4.01 [[-9.21119762e-02 9.95748640e-01 1.75256486e-04 1.49340825e+02] [ 9.95746248e-01 9.21121391e-02 -2.18247552e-03 -1.41399206e+02] [-2.18934028e-03 -2.65211451e-05 -9.99997603e-01 -4.00647222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters 0.013473042442546107 Centerline is valid? [True, True] Translation: X:149.35, Y:-141.37, Z:-4.00 [[-1.70237303e-01 9.85402892e-01 6.32753407e-04 1.49345513e+02] [ 9.85394968e-01 1.70238472e-01 -3.95222684e-03 -1.41368371e+02] [-4.00225474e-03 -4.93044152e-05 -9.99991990e-01 -4.00423116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters 0.013771194577048708 Centerline is valid? [True, True] Translation: X:149.35, Y:-141.34, Z:-4.00 [[-2.47692769e-01 9.68837310e-01 1.59962123e-03 1.49346480e+02] [ 9.68814727e-01 2.47697918e-01 -6.61564323e-03 -1.41338263e+02] [-6.80570484e-03 -8.89103818e-05 -9.99976837e-01 -4.00230111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters 0.01382444037843347 Centerline is valid? [True, True] Translation: X:149.34, Y:-141.31, Z:-4.00 [[-3.22905228e-01 9.46429127e-01 2.03033281e-03 1.49344623e+02] [ 9.46408708e-01 3.22911599e-01 -6.21751365e-03 -1.41307748e+02] [-6.54005402e-03 -8.61430103e-05 -9.99978610e-01 -4.00324031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters 0.013782523834882961 Centerline is valid? [True, True] Translation: X:149.34, Y:-141.28, Z:-4.00 [[-3.95720702e-01 9.18367774e-01 2.39957583e-03 1.49340513e+02] [ 9.18349645e-01 3.95727969e-01 -5.77100871e-03 -1.41277390e+02] [-6.24948769e-03 -8.00580032e-05 -9.99980469e-01 -4.00396031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters 0.013629383763534859 Centerline is valid? [True, True] Translation: X:149.33, Y:-141.25, Z:-4.00 [[-4.65831344e-01 8.84869435e-01 2.69117189e-03 1.49334531e+02] [ 8.84853768e-01 4.65839112e-01 -5.26609310e-03 -1.41247144e+02] [-5.91345795e-03 -7.18176430e-05 -9.99982513e-01 -4.00472447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters 0.01335756956324543 Centerline is valid? [True, True] Translation: X:149.33, Y:-141.22, Z:-4.01 [[-5.33307794e-01 8.45916487e-01 2.84513754e-03 1.49327355e+02] [ 8.45903810e-01 5.33315379e-01 -4.63150758e-03 -1.41217044e+02] [-5.43522423e-03 -6.33064068e-05 -9.99985227e-01 -4.00598959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters 0.01332972647026987 Centerline is valid? [True, True] Translation: X:149.32, Y:-141.19, Z:-4.01 [[-5.97794784e-01 8.01643372e-01 3.04965900e-03 1.49318492e+02] [ 8.01632430e-01 5.97802560e-01 -4.18884316e-03 -1.41186667e+02] [-5.18105231e-03 -5.93630420e-05 -9.99986577e-01 -4.00681181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters 0.013401006988593344 Centerline is valid? [True, True] Translation: X:149.31, Y:-141.16, Z:-4.01 [[-6.58896336e-01 7.52224156e-01 3.79968167e-03 1.49307094e+02] [ 7.52211048e-01 6.58907288e-01 -4.44122560e-03 -1.41156824e+02] [-5.84443513e-03 -6.81447406e-05 -9.99982919e-01 -4.00710466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters 0.01358619961237214 Centerline is valid? [True, True] Translation: X:149.29, Y:-141.13, Z:-4.01 [[-7.16002976e-01 6.98078076e-01 5.17092928e-03 1.49293492e+02] [ 6.98058987e-01 7.16021642e-01 -5.16317699e-03 -1.41130035e+02] [-7.30679793e-03 -8.72364316e-05 -9.99973301e-01 -4.00608646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters 0.013384726364278642 Centerline is valid? [True, True] Translation: X:149.32, Y:-141.11, Z:-4.01 [[-7.63771487e-01 6.45451587e-01 6.73536945e-03 1.49315778e+02] [ 6.45425230e-01 7.63801177e-01 -5.83398792e-03 -1.41112726e+02] [-8.91003987e-03 -1.08656255e-04 -9.99960299e-01 -4.00637321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters 0.013323369026710465 Centerline is valid? [True, True] Translation: X:149.33, Y:-141.09, Z:-4.01 [[-8.07051383e-01 5.90432415e-01 7.59138531e-03 1.49334986e+02] [ 5.90405030e-01 8.07087078e-01 -5.68760592e-03 -1.41093238e+02] [-9.48505588e-03 -1.08198153e-04 -9.99955010e-01 -4.00642741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters 0.013051817230530977 Centerline is valid? [True, True] Translation: X:149.72, Y:-140.58, Z:-5.03 [[-7.53018302e-01 -6.57959215e-01 7.28753733e-03 1.49721407e+02] [ 6.57929868e-01 -7.53053556e-01 -6.21534603e-03 -1.40581715e+02] [ 9.57735010e-03 1.14419151e-04 9.99954130e-01 -5.03263492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters 0.01270578150545673 Centerline is valid? [True, True] Translation: X:149.30, Y:-141.07, Z:-4.01 [[-8.04288088e-01 5.94204433e-01 6.46243096e-03 1.49302461e+02] [ 5.94184995e-01 8.04314050e-01 -4.80629189e-03 -1.41073284e+02] [-8.05374397e-03 -2.57638096e-05 -9.99967568e-01 -4.00836245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters 0.012709536551997906 Centerline is valid? [True, True] Translation: X:149.32, Y:-141.05, Z:-4.01 [[-8.42288575e-01 5.38990349e-01 6.27373087e-03 1.49319294e+02] [ 5.38975434e-01 8.42311940e-01 -4.00975199e-03 -1.41053725e+02] [-7.44565604e-03 4.01852564e-06 -9.99972281e-01 -4.00903811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters 0.012882222206761655 Centerline is valid? [True, True] Translation: X:149.33, Y:-141.03, Z:-4.01 [[-8.77468417e-01 4.79588826e-01 6.61318618e-03 1.49333062e+02] [ 4.79575357e-01 8.77493337e-01 -3.59440093e-03 -1.41029473e+02] [-7.52686134e-03 1.75478324e-05 -9.99971673e-01 -4.00859739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters 0.012958209628225014 Centerline is valid? [True, True] Translation: X:149.35, Y:-141.00, Z:-4.01 [[-9.08991106e-01 4.16743031e-01 7.77266290e-03 1.49345199e+02] [ 4.16728026e-01 9.09024337e-01 -3.53653551e-03 -1.41003700e+02] [-8.53936627e-03 2.44071417e-05 -9.99963539e-01 -4.00765686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters 0.013281290472859456 Centerline is valid? [True, True] Translation: X:149.35, Y:-140.98, Z:-4.01 [[-9.36030822e-01 3.51791246e-01 9.44562822e-03 1.49351594e+02] [ 3.51773706e-01 9.36078479e-01 -3.51304559e-03 -1.40975845e+02] [-1.00777080e-02 3.44046926e-05 -9.99949218e-01 -4.00504143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters 0.013372067202805475 Centerline is valid? [True, True] Translation: X:149.58, Y:-140.38, Z:-5.03 [[-9.13037591e-01 -4.07749013e-01 1.01538136e-02 1.49580124e+02] [ 4.07724117e-01 -9.13094049e-01 -4.50587297e-03 -1.40376500e+02] [ 1.11086520e-02 2.59232855e-05 9.99938297e-01 -5.03451395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters 0.013133613285005223 Centerline is valid? [True, True] Translation: X:149.31, Y:-140.96, Z:-4.01 [[-9.37438106e-01 3.47978057e-01 1.10031049e-02 1.49314153e+02] [ 3.47954534e-01 9.37502678e-01 -4.04626448e-03 -1.40959210e+02] [-1.17234515e-02 3.54577082e-05 -9.99931277e-01 -4.00626176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters 0.013216807951730487 Centerline is valid? [True, True] Translation: X:149.32, Y:-140.93, Z:-4.01 [[-9.59816454e-01 2.80385496e-01 1.16768760e-02 1.49319906e+02] [ 2.80365172e-01 9.59887479e-01 -3.37605383e-03 -1.40930973e+02] [-1.21550836e-02 3.33973358e-05 -9.99926124e-01 -4.00581482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters 0.013008560406256033 Centerline is valid? [True, True] Translation: X:149.32, Y:-140.90, Z:-4.01 [[-9.77401717e-01 2.11096585e-01 1.11407205e-02 1.49323368e+02] [ 2.11083170e-01 9.77465207e-01 -2.37990075e-03 -1.40902407e+02] [-1.13920556e-02 2.54995239e-05 -9.99935108e-01 -4.00758616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters 0.013097115847980434 Centerline is valid? [True, True] Translation: X:149.45, Y:-140.29, Z:-5.03 [[-9.62175215e-01 -2.72225509e-01 1.05890322e-02 1.49454296e+02] [ 2.72208472e-01 -9.62233480e-01 -3.04592096e-03 -1.40286375e+02] [ 1.10182987e-02 -4.82853648e-05 9.99939296e-01 -5.03158203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters 0.01293418595541298 Centerline is valid? [True, True] Translation: X:149.28, Y:-140.89, Z:-4.01 [[-9.78586343e-01 2.05571938e-01 1.04377913e-02 1.49275376e+02] [ 2.05560293e-01 9.78642007e-01 -2.18813246e-03 -1.40891008e+02] [-1.06646796e-02 4.31888943e-06 -9.99943131e-01 -4.00831387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters 0.012908869251235093 Centerline is valid? [True, True] Translation: X:149.27, Y:-140.86, Z:-4.01 [[-9.91022518e-01 1.33294928e-01 1.03359440e-02 1.49271405e+02] [ 1.33287466e-01 9.91076416e-01 -1.41048393e-03 -1.40860883e+02] [-1.04317207e-02 -2.01695484e-05 -9.99945588e-01 -4.00896463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters 0.012976518515150722 Centerline is valid? [True, True] Translation: X:149.27, Y:-140.83, Z:-4.01 [[-9.98032994e-01 6.17324233e-02 1.09202035e-02 1.49274485e+02] [ 6.17283957e-02 9.98092735e-01 -7.05813381e-04 -1.40832518e+02] [-1.09429474e-02 -3.03383980e-05 -9.99940124e-01 -4.00915998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters 0.012893834839345615 Centerline is valid? [True, True] Translation: X:149.31, Y:-140.22, Z:-5.03 [[-9.90929994e-01 -1.33907889e-01 1.12438996e-02 1.49311865e+02] [ 1.33899919e-01 -9.90993781e-01 -1.46205114e-03 -1.40215312e+02] [ 1.13384147e-02 5.67669206e-05 9.99935717e-01 -5.03109339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters 0.012830921031818859 Centerline is valid? [True, True] Translation: X:149.22, Y:-140.83, Z:-4.01 [[-9.98081552e-01 6.09032015e-02 1.11362328e-02 1.49221508e+02] [ 6.08994660e-02 9.98143677e-01 -6.74554765e-04 -1.40830158e+02] [-1.11566429e-02 4.92996133e-06 -9.99937763e-01 -4.00871528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters 0.013033634422132897 Centerline is valid? [True, True] Translation: X:149.22, Y:-140.81, Z:-4.01 [[-9.99906864e-01 -6.94140651e-03 1.17507152e-02 1.49220424e+02] [-6.94041791e-03 9.99975907e-01 1.24908505e-04 -1.40805160e+02] [-1.17512992e-02 4.33419973e-05 -9.99930950e-01 -4.00852544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters 0.013094317855819293 Centerline is valid? [True, True] Translation: X:149.21, Y:-140.18, Z:-5.03 [[-9.98611279e-01 -5.12771758e-02 1.20898624e-02 1.49210910e+02] [ 5.12731507e-02 -9.98684460e-01 -6.42857628e-04 -1.40180354e+02] [ 1.21069216e-02 -2.20795426e-05 9.99926708e-01 -5.03148309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters 0.013093389516751548 Centerline is valid? [True, True] Translation: X:149.16, Y:-140.81, Z:-4.01 [[-9.99870966e-01 -1.00804102e-02 1.25074828e-02 1.49155928e+02] [-1.00788329e-02 9.99949189e-01 1.89142523e-04 -1.40806130e+02] [-1.25087539e-02 6.30572888e-05 -9.99921761e-01 -4.00765702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters 0.012974363362540643 Centerline is valid? [True, True] Translation: X:149.14, Y:-140.18, Z:-5.03 [[-9.98731388e-01 -4.88502780e-02 1.22174120e-02 1.49136494e+02] [ 4.88456450e-02 -9.98806109e-01 -6.77499268e-04 -1.40182558e+02] [ 1.22359218e-02 -7.98724139e-05 9.99925135e-01 -5.03140206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters 0.012988739681959878 Centerline is valid? [True, True] Translation: X:149.09, Y:-140.80, Z:-4.01 [[-9.99726357e-01 -1.99712997e-02 1.21802235e-02 1.49086134e+02] [-1.99698684e-02 9.99800554e-01 2.39134134e-04 -1.40804661e+02] [-1.21825700e-02 -4.16876323e-06 -9.99925790e-01 -4.00771459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters 0.012982876457844152 Centerline is valid? [True, True] Translation: X:149.08, Y:-140.78, Z:-4.01 [[-9.95371002e-01 -9.52655573e-02 1.26902574e-02 1.49075071e+02] [-9.52585665e-02 9.95451892e-01 1.15557058e-03 -1.40775879e+02] [-1.27426268e-02 -5.86342832e-05 -9.99918808e-01 -4.00743126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters 0.013336196320363675 Centerline is valid? [True, True] Translation: X:149.02, Y:-140.17, Z:-5.03 [[-9.99819513e-01 1.51823881e-02 1.14209162e-02 1.49017345e+02] [-1.51818459e-02 -9.99884740e-01 1.34178563e-04 -1.40166171e+02] [ 1.14216369e-02 -3.92362436e-05 9.99934770e-01 -5.03114977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters 0.01349278247070345 Centerline is valid? [True, True] Translation: X:149.00, Y:-140.78, Z:-4.01 [[-9.94299013e-01 -1.06099229e-01 1.06031175e-02 1.49004114e+02] [-1.06094436e-01 9.94355540e-01 1.01508487e-03 -1.40779595e+02] [-1.06509683e-02 -1.15633881e-04 -9.99943270e-01 -4.00896782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters 0.014096842785030265 Centerline is valid? [True, True] Translation: X:148.99, Y:-140.75, Z:-4.01 [[-9.83640742e-01 -1.79856221e-01 1.01306468e-02 1.48991497e+02] [-1.79848207e-01 9.83692899e-01 1.70400931e-03 -1.40753507e+02] [-1.02719220e-02 -1.45845682e-04 -9.99947232e-01 -4.00971487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters 0.01504795418422014 Centerline is valid? [True, True] Translation: X:148.98, Y:-140.73, Z:-4.01 [[-9.67724996e-01 -2.51851217e-01 8.90484258e-03 1.48975516e+02] [-2.51842006e-01 9.67765954e-01 2.15942585e-03 -1.40729532e+02] [-9.16165750e-03 -1.52883046e-04 -9.99958020e-01 -4.01049163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters 0.014907075913582238 Centerline is valid? [True, True] Translation: X:148.83, Y:-140.14, Z:-5.03 [[-9.88451657e-01 1.51296704e-01 8.52224347e-03 1.48833176e+02] [-1.51290137e-01 -9.88488389e-01 1.41376509e-03 -1.40137634e+02] [ 8.63803672e-03 1.08107061e-04 9.99962686e-01 -5.02823537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters 0.015271678832235252 Centerline is valid? [True, True] Translation: X:148.88, Y:-140.75, Z:-4.01 [[-9.65054907e-01 -2.61904835e-01 8.65360757e-03 1.48880839e+02] [-2.61896048e-01 9.65093686e-01 2.15352769e-03 -1.40753210e+02] [-8.91556134e-03 -1.88073163e-04 -9.99960238e-01 -4.01061694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters 0.01701148046525481 Centerline is valid? [True, True] Translation: X:148.73, Y:-140.16, Z:-5.03 [[-9.88328215e-01 1.52021375e-01 9.84081705e-03 1.48730369e+02] [-1.52010946e-01 -9.88377165e-01 1.80353107e-03 -1.40161301e+02] [ 1.00006141e-02 2.86568731e-04 9.99949952e-01 -5.02976935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters 0.017157061611464765 Centerline is valid? [True, True] Translation: X:148.78, Y:-140.78, Z:-4.01 [[-9.62127159e-01 -2.72271080e-01 1.34085672e-02 1.48783812e+02] [-2.72249772e-01 9.62220522e-01 3.42475981e-03 -1.40780399e+02] [-1.38344615e-02 -3.55424929e-04 -9.99904236e-01 -4.00663067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters 0.016614839580761476 Centerline is valid? [True, True] Translation: X:148.63, Y:-140.18, Z:-5.03 [[-9.87460907e-01 1.57202717e-01 1.44312928e-02 1.48626920e+02] [-1.57179508e-01 -9.87566260e-01 2.73573262e-03 -1.40177413e+02] [ 1.46819225e-02 4.33125505e-04 9.99892121e-01 -5.03343717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters 0.01594266214264083 Centerline is valid? [True, True] Translation: X:148.69, Y:-140.82, Z:-4.01 [[-9.62182174e-01 -2.72055199e-01 1.38358850e-02 1.48686574e+02] [-2.72031177e-01 9.62281608e-01 3.62575591e-03 -1.40817287e+02] [-1.43004234e-02 -2.75154377e-04 -9.99897706e-01 -4.00577536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters 0.013673938021435125 Centerline is valid? [True, True] Translation: X:148.67, Y:-140.81, Z:-4.01 [[-9.42903552e-01 -3.32831215e-01 1.25009472e-02 1.48668482e+02] [-3.32804016e-01 9.42986406e-01 4.25743344e-03 -1.40807282e+02] [-1.32052300e-02 -1.46016307e-04 -9.99912797e-01 -4.00783690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters 0.013215432835314848 Centerline is valid? [True, True] Translation: X:148.63, Y:-140.80, Z:-4.01 [[-9.17417351e-01 -3.97805761e-01 9.79695404e-03 1.48629153e+02] [-3.97784122e-01 9.17469655e-01 4.15013861e-03 -1.40795490e+02] [-1.06393571e-02 -8.96635929e-05 -9.99943396e-01 -4.01022672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters 0.01306134297298156 Centerline is valid? [True, True] Translation: X:148.57, Y:-140.79, Z:-4.01 [[-8.86388533e-01 -4.62877480e-01 7.73346134e-03 1.48570502e+02] [-4.62860464e-01 8.86422266e-01 3.96939170e-03 -1.40792891e+02] [-8.69245436e-03 -6.10902198e-05 -9.99962218e-01 -4.01156851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters 0.012971728273680094 Centerline is valid? [True, True] Translation: X:148.50, Y:-140.80, Z:-4.01 [[-8.49671632e-01 -5.27249640e-01 8.12000970e-03 1.48501594e+02] [-5.27226354e-01 8.49710428e-01 4.95577247e-03 -1.40799995e+02] [-9.51258617e-03 -7.03038278e-05 -9.99954752e-01 -4.01088737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters 0.013171215143305758 Centerline is valid? [True, True] Translation: X:148.43, Y:-140.82, Z:-4.01 [[-8.07990877e-01 -5.89130660e-01 8.70679098e-03 1.48428894e+02] [-5.89097553e-01 8.08037783e-01 6.24615776e-03 -1.40816017e+02] [-1.07152191e-02 -8.23107680e-05 -9.99942587e-01 -4.00989175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters 0.013241495037570154 Centerline is valid? [True, True] Translation: X:148.35, Y:-140.84, Z:-4.01 [[-7.61386584e-01 -6.48237641e-01 8.85605011e-03 1.48351560e+02] [-6.48195232e-01 7.61438081e-01 7.41547574e-03 -1.40838080e+02] [-1.15503243e-02 -9.44057081e-05 -9.99933288e-01 -4.00863956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters 0.013341218186122147 Centerline is valid? [True, True] Translation: X:148.26, Y:-140.88, Z:-4.01 [[-7.10963853e-01 -7.03179565e-01 8.30047774e-03 1.48264976e+02] [-7.03133125e-01 7.11012300e-01 8.08198725e-03 -1.40875947e+02] [-1.15848300e-02 -9.03400546e-05 -9.99932890e-01 -4.00806555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters 0.013279777988763711 Centerline is valid? [True, True] Translation: X:148.19, Y:-140.92, Z:-4.01 [[-6.56404006e-01 -7.54376468e-01 7.06585684e-03 1.48187251e+02] [-7.54334020e-01 6.56442030e-01 8.00295261e-03 -1.40919775e+02] [-1.06755645e-02 -7.68460405e-05 -9.99943012e-01 -4.00930268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters 0.013325677854352819 Centerline is valid? [True, True] Translation: X:148.11, Y:-140.97, Z:-4.01 [[-5.95998804e-01 -8.02972945e-01 4.45831458e-03 1.48107066e+02] [-8.02951328e-01 5.96015474e-01 5.89225870e-03 -1.40974317e+02] [-7.38854880e-03 -6.80304794e-05 -9.99972702e-01 -4.01237216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters 0.014252143924155379 Centerline is valid? [True, True] Translation: X:148.02, Y:-141.04, Z:-4.01 [[-5.28935398e-01 -8.48650725e-01 4.39221450e-03 1.48021318e+02] [-8.48623311e-01 5.28953621e-01 6.82223382e-03 -1.41041433e+02] [-8.11297144e-03 -1.18814653e-04 -9.99967082e-01 -4.01128763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters 0.014919013274534654 Centerline is valid? [True, True] Translation: X:147.95, Y:-141.11, Z:-4.01 [[-4.58954319e-01 -8.88449449e-01 4.30237239e-03 1.47946115e+02] [-8.88413905e-01 4.58974451e-01 7.94895402e-03 -1.41112697e+02] [-9.03692282e-03 -1.74080677e-04 -9.99959151e-01 -4.01128761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters 0.016815069539420833 Centerline is valid? [True, True] Translation: X:147.87, Y:-141.19, Z:-4.01 [[-3.84447367e-01 -9.23137244e-01 4.22512572e-03 1.47872076e+02] [-9.23088850e-01 3.84470492e-01 9.45598617e-03 -1.41191936e+02] [-1.03536092e-02 -2.64837462e-04 -9.99946365e-01 -4.01011164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters 0.01724917536164761 Centerline is valid? [True, True] Translation: X:147.80, Y:-141.28, Z:-4.01 [[-3.10967946e-01 -9.50413408e-01 3.64547360e-03 1.47804812e+02] [-9.50359001e-01 3.10989168e-01 1.01737976e-02 -1.41283574e+02] [-1.08030165e-02 -3.00783692e-04 -9.99941601e-01 -4.00982520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters 0.01846115301943619 Centerline is valid? [True, True] Translation: X:147.74, Y:-141.38, Z:-4.01 [[-2.34027621e-01 -9.72224887e-01 3.13734591e-03 1.47742641e+02] [-9.72157684e-01 2.34048351e-01 1.14370824e-02 -1.41379309e+02] [-1.18537068e-02 -3.73401745e-04 -9.99929673e-01 -4.00848024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters 0.019807754853744648 Centerline is valid? [True, True] Translation: X:147.69, Y:-141.48, Z:-4.01 [[-1.56743858e-01 -9.87636148e-01 2.49060133e-03 1.47689565e+02] [-9.87552569e-01 1.56763014e-01 1.28562002e-02 -1.41479982e+02] [-1.30876822e-02 -4.44469332e-04 -9.99914254e-01 -4.00712979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters 0.01968011064443726 Centerline is valid? [True, True] Translation: X:147.65, Y:-141.58, Z:-4.01 [[-8.18178712e-02 -9.96646218e-01 1.46713485e-03 1.47647599e+02] [-9.96565088e-01 8.18299409e-02 1.27234817e-02 -1.41582478e+02] [-1.28008655e-02 -4.21087183e-04 -9.99917977e-01 -4.00771694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters 0.01815642179808025 Centerline is valid? [True, True] Translation: X:147.01, Y:-141.61, Z:-5.03 [[-2.08656550e-01 9.77986587e-01 2.16329328e-03 1.47011147e+02] [-9.77915768e-01 -2.08667484e-01 1.17742097e-02 -1.41608292e+02] [ 1.19664282e-02 3.41247369e-04 9.99928342e-01 -5.03083676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters 0.015178483983009573 Centerline is valid? [True, True] Translation: X:147.63, Y:-141.84, Z:-4.01 [[-8.54325855e-02 -9.96343299e-01 1.14174947e-03 1.47629309e+02] [-9.96284875e-01 8.54399427e-02 1.07918318e-02 -1.41843082e+02] [-1.08499203e-02 -2.15533632e-04 -9.99941115e-01 -4.01067371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters 0.013590443984676577 Centerline is valid? [True, True] Translation: X:147.60, Y:-141.95, Z:-4.01 [[-1.75725950e-02 -9.99845535e-01 3.31026653e-04 1.47604088e+02] [-9.99778629e-01 1.75752488e-02 1.15673807e-02 -1.41954995e+02] [-1.15714118e-02 -1.27684477e-04 -9.99933041e-01 -4.01112391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters 0.013342956323575891 Centerline is valid? [True, True] Translation: X:147.58, Y:-142.07, Z:-4.01 [[ 5.47578899e-02 -9.98499506e-01 -5.57463738e-04 1.47577464e+02] [-9.98432600e-01 -5.47606742e-02 1.15590526e-02 -1.42066407e+02] [-1.15722354e-02 -7.63593617e-05 -9.99933037e-01 -4.00897169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters 0.012943448903659512 Centerline is valid? [True, True] Translation: X:147.56, Y:-142.18, Z:-4.01 [[ 1.26637461e-01 -9.91947820e-01 -1.57341303e-03 1.47564117e+02] [-9.91868811e-01 -1.26647233e-01 1.25195768e-02 -1.42184746e+02] [-1.26180353e-02 -2.48281045e-05 -9.99920389e-01 -4.01154063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters 0.013388789027594418 Centerline is valid? [True, True] Translation: X:147.56, Y:-142.29, Z:-4.01 [[ 1.96135728e-01 -9.80571432e-01 -3.23162163e-03 1.47557573e+02] [-9.80444108e-01 -1.96162337e-01 1.58015451e-02 -1.42292356e+02] [-1.61284662e-02 6.91768274e-05 -9.99869925e-01 -4.00998524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters 0.015462071001977905 Centerline is valid? [True, True] Translation: X:147.56, Y:-142.40, Z:-4.01 [[ 2.58185558e-01 -9.66085999e-01 -4.24978228e-03 1.47559351e+02] [-9.65971771e-01 -2.58220391e-01 1.48582127e-02 -1.42403597e+02] [-1.54516917e-02 2.68993768e-04 -9.99880579e-01 -4.01067638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters 0.017061445790523766 Centerline is valid? [True, True] Translation: X:147.57, Y:-142.52, Z:-4.01 [[ 3.26002497e-01 -9.45358121e-01 -4.51622597e-03 1.47568067e+02] [-9.45279836e-01 -3.26033638e-01 1.21696020e-02 -1.42517578e+02] [-1.29770736e-02 3.01776717e-04 -9.99915749e-01 -4.01450285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters 0.016159981053179583 Centerline is valid? [True, True] Translation: X:147.58, Y:-142.64, Z:-4.02 [[ 3.97757132e-01 -9.17474882e-01 -5.39483782e-03 1.47584254e+02] [-9.17400321e-01 -3.97793606e-01 1.17003582e-02 -1.42635942e+02] [-1.28808167e-02 2.95325043e-04 -9.99916995e-01 -4.01609082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters 0.01643725633879958 Centerline is valid? [True, True] Translation: X:147.61, Y:-142.75, Z:-4.02 [[ 4.67580191e-01 -8.83930564e-01 -5.96018943e-03 1.47609310e+02] [-8.83865957e-01 -4.67618099e-01 1.06903506e-02 -1.42749996e+02] [-1.22366200e-02 2.69412378e-04 -9.99925094e-01 -4.01622603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters 0.015464588841786966 Centerline is valid? [True, True] Translation: X:147.64, Y:-142.87, Z:-4.02 [[ 5.36887507e-01 -8.43625947e-01 -6.86052564e-03 1.47639570e+02] [-8.43562386e-01 -5.36931290e-01 1.03580822e-02 -1.42866462e+02] [-1.24219778e-02 2.26156462e-04 -9.99922819e-01 -4.01693010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters 0.013971406433862165 Centerline is valid? [True, True] Translation: X:147.67, Y:-142.98, Z:-4.02 [[ 6.06289281e-01 -7.95196244e-01 -8.73163956e-03 1.47671372e+02] [-7.95117035e-01 -6.06352138e-01 1.12243469e-02 -1.42979147e+02] [-1.42200068e-02 1.37474153e-04 -9.99898881e-01 -4.01573445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters 0.013185291291612812 Centerline is valid? [True, True] Translation: X:147.71, Y:-143.08, Z:-4.02 [[ 6.70659712e-01 -7.41708795e-01 -9.14411755e-03 1.47710934e+02] [-7.41640375e-01 -6.70722046e-01 1.00742703e-02 -1.43084717e+02] [-1.36053361e-02 2.52395773e-05 -9.99907443e-01 -4.01741413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters 0.013165796085708443 Centerline is valid? [True, True] Translation: X:147.76, Y:-143.18, Z:-4.02 [[ 7.28188060e-01 -6.85311845e-01 -9.47762347e-03 1.47760285e+02] [-6.85253101e-01 -7.28249733e-01 8.97292618e-03 -1.43184426e+02] [-1.30513294e-02 -3.94068306e-05 -9.99914827e-01 -4.01745514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters 0.013917017821764136 Centerline is valid? [True, True] Translation: X:147.77, Y:-143.23, Z:-4.02 [[ 7.85126197e-01 -6.19258713e-01 -9.77245179e-03 1.47774595e+02] [-6.19208344e-01 -7.85186999e-01 7.89956057e-03 -1.43225468e+02] [-1.25650738e-02 -1.50968260e-04 -9.99921045e-01 -4.01718891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters 0.01528526554403515 Centerline is valid? [True, True] Translation: X:147.79, Y:-143.26, Z:-4.02 [[ 8.34076343e-01 -5.51560136e-01 -9.90305560e-03 1.47794733e+02] [-5.51518286e-01 -8.34135105e-01 6.79763096e-03 -1.43260117e+02] [-1.20097886e-02 -2.08026923e-04 -9.99927858e-01 -4.01660423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters 0.016012760732680625 Centerline is valid? [True, True] Translation: X:147.82, Y:-143.29, Z:-4.02 [[ 8.76722157e-01 -4.80884455e-01 -1.04115808e-02 1.47819544e+02] [-4.80847005e-01 -8.76783938e-01 6.00702161e-03 -1.43292604e+02] [-1.20173901e-02 -2.60111482e-04 -9.99927755e-01 -4.01626045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters 0.017193242721484196 Centerline is valid? [True, True] Translation: X:147.85, Y:-143.32, Z:-4.01 [[ 9.12851166e-01 -4.08038482e-01 -1.43995229e-02 1.47849304e+02] [-4.07980870e-01 -9.12964644e-01 6.86788630e-03 -1.43321142e+02] [-1.59486172e-02 -3.94628124e-04 -9.99872735e-01 -4.01222383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters 0.01756838811133699 Centerline is valid? [True, True] Translation: X:147.88, Y:-143.34, Z:-4.01 [[ 9.41769374e-01 -3.35894539e-01 -1.56622016e-02 1.47881823e+02] [-3.35840878e-01 -9.41899513e-01 6.01758544e-03 -1.43343117e+02] [-1.67734942e-02 -4.07170125e-04 -9.99859232e-01 -4.01028795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters 0.01756838811133699 Centerline is valid? [True, True] Translation: X:147.92, Y:-143.36, Z:-4.01 [[ 9.65147314e-01 -2.61212449e-01 -1.60847613e-02 1.47917525e+02] [-2.61169130e-01 -9.65281249e-01 4.77441096e-03 -1.43360024e+02] [-1.67734540e-02 -4.07166807e-04 -9.99859233e-01 -4.01028875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters 0.01685497065741918 Centerline is valid? [True, True] Translation: X:147.96, Y:-143.37, Z:-4.01 [[ 9.82191969e-01 -1.87182191e-01 -1.61791093e-02 1.47955412e+02] [-1.87150681e-01 -9.82325147e-01 3.45370117e-03 -1.43371637e+02] [-1.65396173e-02 -3.64266227e-04 -9.99863145e-01 -4.01089420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters 0.015112169997302182 Centerline is valid? [True, True] Translation: X:147.99, Y:-143.38, Z:-4.01 [[ 9.93224055e-01 -1.15413092e-01 -1.36306455e-02 1.47993737e+02] [-1.15399108e-01 -9.93317556e-01 1.81060498e-03 -1.43376991e+02] [-1.37485270e-02 -2.25372080e-04 -9.99905459e-01 -4.01450562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters 0.013522134596401269 Centerline is valid? [True, True] Translation: X:148.03, Y:-143.38, Z:-4.02 [[ 9.98901946e-01 -4.52069015e-02 -1.22978669e-02 1.48028174e+02] [-4.52021847e-02 -9.98977640e-01 6.61370423e-04 -1.43381249e+02] [-1.23151926e-02 -1.04753749e-04 -9.99924160e-01 -4.01647040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters 0.01326738974290836 Centerline is valid? [True, True] Translation: X:148.06, Y:-143.38, Z:-4.02 [[ 9.99594517e-01 2.54872879e-02 -1.26964243e-02 1.48062407e+02] [ 2.54853668e-02 -9.99675146e-01 -3.13104135e-04 -1.43383083e+02] [-1.27002800e-02 -1.05958534e-05 -9.99919348e-01 -4.01597901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters 0.013204124982722519 Centerline is valid? [True, True] Translation: X:148.10, Y:-143.39, Z:-4.02 [[ 9.94851416e-01 1.00557628e-01 -1.26025564e-02 1.48096511e+02] [ 1.00549192e-01 -9.94931235e-01 -1.30280077e-03 -1.43386150e+02] [-1.26696836e-02 2.89163157e-05 -9.99919736e-01 -4.01648540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters 0.013286725444598236 Centerline is valid? [True, True] Translation: X:148.13, Y:-143.39, Z:-4.02 [[ 9.84145746e-01 1.76937268e-01 -1.22618868e-02 1.48130853e+02] [ 1.76922977e-01 -9.84222130e-01 -2.24924722e-03 -1.43386910e+02] [-1.24663960e-02 4.41775739e-05 -9.99922291e-01 -4.01622671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters 0.013354754531142111 Centerline is valid? [True, True] Translation: X:148.16, Y:-143.39, Z:-4.02 [[ 9.67233762e-01 2.53617309e-01 -1.17094235e-02 1.48164949e+02] [ 2.53598213e-01 -9.67304636e-01 -3.11253676e-03 -1.43385699e+02] [-1.21159728e-02 4.10617650e-05 -9.99926598e-01 -4.01619077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters 0.013154633472897791 Centerline is valid? [True, True] Translation: X:148.20, Y:-143.39, Z:-4.02 [[ 9.43790054e-01 3.30354701e-01 -1.12296912e-02 1.48199974e+02] [ 3.30331093e-01 -9.43856860e-01 -3.94935747e-03 -1.43385793e+02] [-1.19039098e-02 1.78481358e-05 -9.99929146e-01 -4.01700962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters 0.013159120103417412 Centerline is valid? [True, True] Translation: X:148.23, Y:-143.38, Z:-4.02 [[ 9.14004521e-01 4.05565290e-01 -1.06080212e-02 1.48233342e+02] [ 4.05538134e-01 -9.14066078e-01 -4.69329452e-03 -1.43382278e+02] [-1.15998697e-02 -1.22647202e-05 -9.99932719e-01 -4.01648821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters 0.013221183727150431 Centerline is valid? [True, True] Translation: X:148.27, Y:-143.37, Z:-4.02 [[ 8.78430723e-01 4.77778949e-01 -9.31341949e-03 1.48266237e+02] [ 4.77752515e-01 -8.78480093e-01 -5.02597005e-03 -1.43374545e+02] [-1.05829563e-02 -3.45430699e-05 -9.99943998e-01 -4.01660757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters 0.013240621982368505 Centerline is valid? [True, True] Translation: X:148.30, Y:-143.37, Z:-4.02 [[ 8.37384284e-01 5.46557557e-01 -7.89921614e-03 1.48299452e+02] [ 5.46533771e-01 -8.37421540e-01 -5.09917789e-03 -1.43365071e+02] [-9.40196795e-03 -4.72169591e-05 -9.99955799e-01 -4.01799721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters 0.013302731977224968 Centerline is valid? [True, True] Translation: X:148.33, Y:-143.35, Z:-4.02 [[ 7.91616052e-01 6.10983648e-01 -6.55800865e-03 1.48328459e+02] [ 6.10963173e-01 -7.91643215e-01 -5.00218536e-03 -1.43349599e+02] [-8.24785651e-03 -4.68915476e-05 -9.99965985e-01 -4.01791137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters 0.01331334379740778 Centerline is valid? [True, True] Translation: X:148.36, Y:-143.33, Z:-4.02 [[ 7.42211242e-01 6.70142567e-01 -5.60464276e-03 1.48357717e+02] [ 6.70123801e-01 -7.42232402e-01 -5.01536209e-03 -1.43331943e+02] [-7.52095509e-03 -3.33463821e-05 -9.99971717e-01 -4.01784227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters 0.013234911886204903 Centerline is valid? [True, True] Translation: X:148.38, Y:-143.31, Z:-4.02 [[ 6.89278022e-01 7.24483042e-01 -4.48669763e-03 1.48384715e+02] [ 7.24467813e-01 -6.89292624e-01 -4.69752984e-03 -1.43311969e+02] [-6.49592829e-03 -1.25639398e-05 -9.99978901e-01 -4.01814531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters 0.013154176211105076 Centerline is valid? [True, True] Translation: X:148.41, Y:-143.29, Z:-4.02 [[ 6.30895477e-01 7.75859141e-01 -3.67303252e-03 1.48411211e+02] [ 7.75846066e-01 -6.30906169e-01 -4.50431370e-03 -1.43292627e+02] [-5.81205183e-03 -7.95669092e-06 -9.99983110e-01 -4.01819192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters 0.013112383296244288 Centerline is valid? [True, True] Translation: X:148.44, Y:-143.27, Z:-4.02 [[ 5.66730753e-01 8.23895500e-01 -3.52978944e-03 1.48436395e+02] [ 8.23879734e-01 -5.66741745e-01 -5.09691307e-03 -1.43271826e+02] [-6.19980276e-03 -1.95446040e-05 -9.99980781e-01 -4.01707114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters 0.013240560697629328 Centerline is valid? [True, True] Translation: X:148.46, Y:-143.25, Z:-4.02 [[ 4.97617100e-01 8.67387997e-01 -3.90957822e-03 1.48461808e+02] [ 8.67362013e-01 -4.97632455e-01 -6.71402520e-03 -1.43249792e+02] [-7.76919788e-03 -5.00058835e-05 -9.99969818e-01 -4.01561022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters 0.013862771464086926 Centerline is valid? [True, True] Translation: X:148.48, Y:-143.23, Z:-4.01 [[ 4.24000925e-01 9.05652485e-01 -4.09782574e-03 1.48484708e+02] [ 9.05612535e-01 -4.24020714e-01 -8.50708834e-03 -1.43226517e+02] [-9.44202869e-03 -1.04029028e-04 -9.99955418e-01 -4.01356736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters 0.015272618086691652 Centerline is valid? [True, True] Translation: X:148.51, Y:-143.20, Z:-4.01 [[ 3.44979335e-01 9.38600951e-01 -4.18492159e-03 1.48505514e+02] [ 9.38539124e-01 -3.45004654e-01 -1.07750796e-02 -1.43201059e+02] [-1.15573174e-02 -2.10532832e-04 -9.99933190e-01 -4.01105308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters 0.017018023135853245 Centerline is valid? [True, True] Translation: X:148.52, Y:-143.17, Z:-4.01 [[ 2.64547967e-01 9.64366630e-01 -3.37278283e-03 1.48521435e+02] [ 9.64301433e-01 -2.64569313e-01 -1.12171452e-02 -1.43172479e+02] [-1.17097753e-02 -2.84906366e-04 -9.99931398e-01 -4.01037960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters 0.017178880446563786 Centerline is valid? [True, True] Translation: X:148.53, Y:-143.14, Z:-4.01 [[ 1.84355249e-01 9.82856990e-01 -2.29790114e-03 1.48534094e+02] [ 9.82799967e-01 -1.84369316e-01 -1.05914803e-02 -1.43143089e+02] [-1.08335729e-02 -3.05782176e-04 -9.99941268e-01 -4.01247830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters 0.018034812668398757 Centerline is valid? [True, True] Translation: X:148.55, Y:-143.11, Z:-4.01 [[ 1.04919360e-01 9.94479894e-01 -1.29139332e-03 1.48545540e+02] [ 9.94434674e-01 -1.04926910e-01 -9.48802337e-03 -1.43112727e+02] [-9.57115039e-03 -2.88728958e-04 -9.99954154e-01 -4.01343209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters 0.022186346109456887 Centerline is valid? [True, True] Translation: X:148.56, Y:-143.08, Z:-4.01 [[ 2.41634210e-02 9.99707904e-01 -4.84858903e-04 1.48556518e+02] [ 9.99671659e-01 -2.41666758e-02 -8.51738367e-03 -1.43083671e+02] [-8.52661320e-03 -2.78890577e-04 -9.99963609e-01 -4.01363553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters 0.02015314008293126 Centerline is valid? [True, True] Translation: X:148.56, Y:-143.05, Z:-4.01 [[-5.53764255e-02 9.98465530e-01 1.90796510e-04 1.48555469e+02] [ 9.98426271e-01 5.53759410e-02 -8.85925833e-03 -1.43052686e+02] [-8.85622960e-03 -3.00097811e-04 -9.99960738e-01 -4.01398477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters 0.020742267785413698 Centerline is valid? [True, True] Translation: X:148.56, Y:-143.02, Z:-4.01 [[-1.34189160e-01 9.90955234e-01 9.96769026e-04 1.48556416e+02] [ 9.90905481e-01 1.34192417e-01 -9.93596548e-03 -1.43022349e+02] [-9.97985584e-03 -3.45594975e-04 -9.99950140e-01 -4.01278222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters 0.021141340717798048 Centerline is valid? [True, True] Translation: X:148.55, Y:-142.99, Z:-4.01 [[-2.12535224e-01 9.77151055e-01 2.14358005e-03 1.48554959e+02] [ 9.77078869e-01 2.12545595e-01 -1.18849965e-02 -1.42992268e+02] [-1.20690454e-02 -4.31533621e-04 -9.99927073e-01 -4.01065422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters 0.021145146729921124 Centerline is valid? [True, True] Translation: X:148.55, Y:-142.96, Z:-4.01 [[-2.88916145e-01 9.57348272e-01 3.42743279e-03 1.48551196e+02] [ 9.57259445e-01 2.88936059e-01 -1.30502045e-02 -1.42962098e+02] [-1.34838996e-02 -4.89472359e-04 -9.99908968e-01 -4.00979432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters 0.018609843547913507 Centerline is valid? [True, True] Translation: X:148.54, Y:-142.93, Z:-4.01 [[-3.60705536e-01 9.32667991e-01 4.68356539e-03 1.48542976e+02] [ 9.32571226e-01 3.60735620e-01 -1.34432433e-02 -1.42933592e+02] [-1.42276116e-02 -4.81293956e-04 -9.99898667e-01 -4.01046353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters 0.017173214914045217 Centerline is valid? [True, True] Translation: X:148.53, Y:-142.91, Z:-4.01 [[-4.28093634e-01 9.03717572e-01 5.51271986e-03 1.48534585e+02] [ 9.03630416e-01 4.28128946e-01 -1.25569505e-02 -1.42905869e+02] [-1.37080918e-02 -3.94089236e-04 -9.99905962e-01 -4.01123810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters 0.018184680030569122 Centerline is valid? [True, True] Translation: X:148.53, Y:-142.88, Z:-4.01 [[-4.94603102e-01 8.69096115e-01 6.30198280e-03 1.48529064e+02] [ 8.69016683e-01 4.94643133e-01 -1.17548172e-02 -1.42877711e+02] [-1.33332985e-02 -3.37440858e-04 -9.99911051e-01 -4.00991020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters 0.015478578526729948 Centerline is valid? [True, True] Translation: X:148.52, Y:-142.85, Z:-4.01 [[-5.57968418e-01 8.29838549e-01 6.26317682e-03 1.48516588e+02] [ 8.29781189e-01 5.58003513e-01 -9.75997913e-03 -1.42851665e+02] [-1.15940816e-02 -2.48693806e-04 -9.99932756e-01 -4.01318478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters 0.014898400087402652 Centerline is valid? [True, True] Translation: X:148.51, Y:-142.82, Z:-4.01 [[-6.19501599e-01 7.84967265e-01 6.64537105e-03 1.48506595e+02] [ 7.84918402e-01 6.19537205e-01 -8.76093711e-03 -1.42823939e+02] [-1.09941034e-02 -2.11340525e-04 -9.99939541e-01 -4.01416845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters 0.014474572269890929 Centerline is valid? [True, True] Translation: X:148.49, Y:-142.80, Z:-4.01 [[-6.77841915e-01 7.35171103e-01 7.33400183e-03 1.48494593e+02] [ 7.35124955e-01 6.77881562e-01 -8.23946882e-03 -1.42796910e+02] [-1.10290040e-02 -1.93649560e-04 -9.99939160e-01 -4.01420214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters 0.014129754669171308 Centerline is valid? [True, True] Translation: X:148.48, Y:-142.77, Z:-4.01 [[-7.32086641e-01 6.81163886e-01 8.05667943e-03 1.48480074e+02] [ 6.81119985e-01 7.32130951e-01 -7.73545796e-03 -1.42771364e+02] [-1.11676590e-02 -1.75460072e-04 -9.99937624e-01 -4.01428278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters 0.013984939145013515 Centerline is valid? [True, True] Translation: X:148.50, Y:-142.75, Z:-4.01 [[-7.76768902e-01 6.29726070e-01 8.66892297e-03 1.48501215e+02] [ 6.29684726e-01 7.76817260e-01 -7.21738938e-03 -1.42753868e+02] [-1.12791472e-02 -1.47555239e-04 -9.99936378e-01 -4.01359574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters 0.013369990913120484 Centerline is valid? [True, True] Translation: X:148.52, Y:-142.73, Z:-4.01 [[-8.17154705e-01 5.76348718e-01 8.96344865e-03 1.48519626e+02] [ 5.76312676e-01 8.17203858e-01 -6.44629107e-03 -1.42734650e+02] [-1.10402764e-02 -1.01868005e-04 -9.99939049e-01 -4.01412265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters 0.012934214951327837 Centerline is valid? [True, True] Translation: X:148.54, Y:-142.72, Z:-4.02 [[-8.54260057e-01 5.19772073e-01 8.76047383e-03 1.48537568e+02] [ 5.19743995e-01 8.54304974e-01 -5.40297205e-03 -1.42715843e+02] [-1.02924303e-02 -6.23395509e-05 -9.99947030e-01 -4.01507186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters 0.012602036048631367 Centerline is valid? [True, True] Translation: X:148.55, Y:-142.69, Z:-4.02 [[-8.87871052e-01 4.60006300e-01 8.89939554e-03 1.48552128e+02] [ 4.59982763e-01 8.87915651e-01 -4.65351593e-03 -1.42694464e+02] [-1.00425592e-02 -3.81535320e-05 -9.99949572e-01 -4.01606859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters 0.012542670929371964 Centerline is valid? [True, True] Translation: X:148.57, Y:-142.67, Z:-4.02 [[-9.17544149e-01 3.97530234e-01 9.08009754e-03 1.48566256e+02] [ 3.97510542e-01 9.17589076e-01 -3.95683363e-03 -1.42670909e+02] [-9.90475932e-03 -2.11350534e-05 -9.99950947e-01 -4.01601561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters 0.012666568737431378 Centerline is valid? [True, True] Translation: X:148.57, Y:-142.64, Z:-4.02 [[-9.42964952e-01 3.32761523e-01 9.32029682e-03 1.48571964e+02] [ 3.32745184e-01 9.43011012e-01 -3.29745410e-03 -1.42642602e+02] [-9.88640839e-03 -8.09975963e-06 -9.99951128e-01 -4.01503414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters 0.0126335864397922 Centerline is valid? [True, True] Translation: X:148.59, Y:-142.62, Z:-4.02 [[-9.63861780e-01 2.66220355e-01 9.85860233e-03 1.48587408e+02] [ 2.66206469e-01 9.63912197e-01 -2.71899230e-03 -1.42619205e+02] [-1.02266781e-02 3.69096263e-06 -9.99947706e-01 -4.01571405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters 0.012639861573391966 Centerline is valid? [True, True] Translation: X:148.77, Y:-141.95, Z:-5.02 [[-9.44814637e-01 -3.27456113e-01 9.88918769e-03 1.48773515e+02] [ 3.27438292e-01 -9.44866389e-01 -3.41627447e-03 -1.41954759e+02] [ 1.04626410e-02 1.03526065e-05 9.99945265e-01 -5.02382735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters 0.012781027371837072 Centerline is valid? [True, True] Translation: X:148.55, Y:-142.61, Z:-4.02 [[-9.63702451e-01 2.66770014e-01 1.05520726e-02 1.48545906e+02] [ 2.66754611e-01 9.63760218e-01 -2.86714239e-03 -1.42606654e+02] [-1.09345354e-02 5.17418812e-05 -9.99940215e-01 -4.01601393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters 0.01282420007279211 Centerline is valid? [True, True] Translation: X:148.73, Y:-141.95, Z:-5.02 [[-9.46813864e-01 -3.21617983e-01 1.02654988e-02 1.48727248e+02] [ 3.21598439e-01 -9.46869511e-01 -3.54594134e-03 -1.41946905e+02] [ 1.08605263e-02 -5.59780325e-05 9.99941021e-01 -5.02375746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters 0.012655230186517383 Centerline is valid? [True, True] Translation: X:148.50, Y:-142.59, Z:-4.02 [[-9.65044043e-01 2.61898919e-01 9.94745272e-03 1.48499752e+02] [ 2.61885379e-01 9.65095309e-01 -2.66331161e-03 -1.42587738e+02] [-1.02977584e-02 3.48794270e-05 -9.99946976e-01 -4.01598081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters 0.012508400736626369 Centerline is valid? [True, True] Translation: X:148.67, Y:-141.94, Z:-5.02 [[-9.46691246e-01 -3.22024326e-01 8.71877842e-03 1.48672566e+02] [ 3.22009701e-01 -9.46731389e-01 -3.07075554e-03 -1.41941354e+02] [ 9.24319919e-03 -9.95261599e-05 9.99957276e-01 -5.02334753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters 0.012646836869855346 Centerline is valid? [True, True] Translation: X:148.45, Y:-142.56, Z:-4.02 [[-9.68089952e-01 2.50432435e-01 9.24335408e-03 1.48452848e+02] [ 2.50420579e-01 9.68134078e-01 -2.43717891e-03 -1.42564197e+02] [-9.55915473e-03 -4.46823378e-05 -9.99954309e-01 -4.01668293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters 0.013485215148650727 Centerline is valid? [True, True] Translation: X:148.62, Y:-141.94, Z:-5.03 [[-9.44212857e-01 -3.29141938e-01 1.12988828e-02 1.48616016e+02] [ 3.29121083e-01 -9.44280434e-01 -3.71138228e-03 -1.41943381e+02] [ 1.18908855e-02 2.14365657e-04 9.99929278e-01 -5.02555804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters 0.014253046182548176 Centerline is valid? [True, True] Translation: X:148.40, Y:-142.54, Z:-4.01 [[-9.71074992e-01 2.38422203e-01 1.29696984e-02 1.48402866e+02] [ 2.38398473e-01 9.71161583e-01 -3.36855334e-03 -1.42538415e+02] [-1.33988107e-02 -1.79161621e-04 -9.99910216e-01 -4.01224516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters 0.014903515860012836 Centerline is valid? [True, True] Translation: X:148.57, Y:-141.94, Z:-5.03 [[-9.43940451e-01 -3.29854328e-01 1.31357243e-02 1.48565339e+02] [ 3.29825531e-01 -9.44031820e-01 -4.36375525e-03 -1.41939589e+02] [ 1.38399453e-02 2.13372155e-04 9.99904201e-01 -5.02759315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters 0.013875582894604936 Centerline is valid? [True, True] Translation: X:148.36, Y:-142.53, Z:-4.01 [[-9.72102393e-01 2.34210715e-01 1.27388380e-02 1.48362960e+02] [ 2.34188124e-01 9.72185840e-01 -3.25813329e-03 -1.42526789e+02] [-1.31476076e-02 -1.83954603e-04 -9.99913550e-01 -4.01434207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters 0.013218005099448944 Centerline is valid? [True, True] Translation: X:148.52, Y:-141.93, Z:-5.02 [[-9.46449591e-01 -3.22661481e-01 1.10788195e-02 1.48519864e+02] [ 3.22640315e-01 -9.46514428e-01 -3.69649931e-03 -1.41925190e+02] [ 1.16789805e-02 7.59235622e-05 9.99931796e-01 -5.02341050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters 0.013081731451905082 Centerline is valid? [True, True] Translation: X:148.32, Y:-142.52, Z:-4.02 [[-9.71593541e-01 2.36401600e-01 1.09669430e-02 1.48320964e+02] [ 2.36385495e-01 9.71655430e-01 -2.76084255e-03 -1.42519847e+02] [-1.13087573e-02 -8.99905442e-05 -9.99936050e-01 -4.01541542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters 0.01279442027132663 Centerline is valid? [True, True] Translation: X:148.32, Y:-142.49, Z:-4.02 [[-9.85674209e-01 1.68252219e-01 1.17279103e-02 1.48320078e+02] [ 1.68239361e-01 9.85743975e-01 -2.08154355e-03 -1.42492702e+02] [-1.19109413e-02 -7.86276436e-05 -9.99929059e-01 -4.01608408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters 0.012829421184827383 Centerline is valid? [True, True] Translation: X:148.32, Y:-142.47, Z:-4.02 [[-9.95162719e-01 9.73810272e-02 1.29652483e-02 1.48324680e+02] [ 9.73715488e-02 9.95247169e-01 -1.36181888e-03 -1.42465342e+02] [-1.30362420e-02 -9.27850781e-05 -9.99915020e-01 -4.01547676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters 0.01319207675030043 Centerline is valid? [True, True] Translation: X:148.32, Y:-142.44, Z:-4.01 [[-9.99544431e-01 2.54270148e-02 1.62603296e-02 1.48320451e+02] [ 2.54214902e-02 9.99676672e-01 -5.46400218e-04 -1.42436735e+02] [-1.62689655e-02 -1.32789486e-04 -9.99867643e-01 -4.01319638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters 0.01315456576363848 Centerline is valid? [True, True] Translation: X:148.34, Y:-141.81, Z:-5.03 [[-9.94023493e-01 -1.07830387e-01 1.70265149e-02 1.48342346e+02] [ 1.07817894e-01 -9.94169287e-01 -1.65269618e-03 -1.41814383e+02] [ 1.71054490e-02 1.92944143e-04 9.99853673e-01 -5.02654579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters 0.012858380454893367 Centerline is valid? [True, True] Translation: X:148.26, Y:-142.44, Z:-4.01 [[-9.99462590e-01 2.80877200e-02 1.69000312e-02 1.48264458e+02] [ 2.80833520e-02 9.99605462e-01 -4.95775058e-04 -1.42439698e+02] [-1.69072887e-02 -2.08990996e-05 -9.99857061e-01 -4.01437588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters 0.013074562399997512 Centerline is valid? [True, True] Translation: X:148.26, Y:-142.42, Z:-4.02 [[-9.99214852e-01 -3.65564404e-02 1.52743761e-02 1.48264959e+02] [-3.65509519e-02 9.99331587e-01 6.38428080e-04 -1.42417190e+02] [-1.52875052e-02 7.96338327e-05 -9.99883136e-01 -4.01639086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters 0.014801059290068553 Centerline is valid? [True, True] Translation: X:148.26, Y:-142.40, Z:-4.02 [[-9.95259875e-01 -9.63640304e-02 1.31055145e-02 1.48263815e+02] [-9.63527973e-02 9.95346134e-01 1.48732088e-03 -1.42397967e+02] [-1.31878474e-02 2.17517809e-04 -9.99913013e-01 -4.01858625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters 0.016253389020286082 Centerline is valid? [True, True] Translation: X:148.26, Y:-142.37, Z:-4.02 [[-9.87144667e-01 -1.59403080e-01 1.16646692e-02 1.48255809e+02] [-1.59388502e-01 9.87213541e-01 2.17493629e-03 -1.42374768e+02] [-1.18622109e-02 2.87762611e-04 -9.99929600e-01 -4.02098184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters 0.01697513097158925 Centerline is valid? [True, True] Translation: X:148.24, Y:-142.35, Z:-4.02 [[-9.73427431e-01 -2.28679456e-01 1.20309386e-02 1.48237229e+02] [-2.28657991e-01 9.73501725e-01 3.14893098e-03 -1.42350635e+02] [-1.24322353e-02 3.14285554e-04 -9.99922667e-01 -4.02105572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters 0.016098898555005726 Centerline is valid? [True, True] Translation: X:148.20, Y:-142.33, Z:-4.02 [[-9.53566959e-01 -3.00916974e-01 1.26107333e-02 1.48204898e+02] [-3.00886518e-01 9.53650296e-01 4.29152080e-03 -1.42325238e+02] [-1.33176210e-02 2.97852797e-04 -9.99911272e-01 -4.02094566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters 0.015321469812267636 Centerline is valid? [True, True] Translation: X:148.16, Y:-142.30, Z:-4.02 [[-9.27954872e-01 -3.72441586e-01 1.36755311e-02 1.48160789e+02] [-3.72396754e-01 9.28055596e-01 5.78519229e-03 -1.42304812e+02] [-1.48462994e-02 2.75673963e-04 -9.99889750e-01 -4.02004052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters 0.01495999064487342 Centerline is valid? [True, True] Translation: X:148.10, Y:-142.30, Z:-4.02 [[-8.97413064e-01 -4.40972241e-01 1.39023834e-02 1.48095890e+02] [-4.40914705e-01 8.97520703e-01 7.12818988e-03 -1.42300163e+02] [-1.56210108e-02 2.67165439e-04 -9.99877949e-01 -4.01999245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters 0.014378975395845268 Centerline is valid? [True, True] Translation: X:148.03, Y:-142.30, Z:-4.02 [[-8.61990603e-01 -5.06780107e-01 1.20881578e-02 1.48026018e+02] [-5.06726581e-01 8.62075328e-01 7.36886916e-03 -1.42300172e+02] [-1.41552989e-02 2.26505075e-04 -9.99899783e-01 -4.02224577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters 0.014080348884572692 Centerline is valid? [True, True] Translation: X:147.95, Y:-142.31, Z:-4.02 [[-8.21319255e-01 -5.70380049e-01 1.00638135e-02 1.47949213e+02] [-5.70334546e-01 8.21380890e-01 7.20688238e-03 -1.42308497e+02] [-1.23768860e-02 1.79410747e-04 -9.99923387e-01 -4.02336810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters 0.01391852220220253 Centerline is valid? [True, True] Translation: X:147.87, Y:-142.33, Z:-4.02 [[-7.76088723e-01 -6.30554539e-01 9.34166841e-03 1.47869453e+02] [-6.30506308e-01 7.76144926e-01 7.80059656e-03 -1.42329218e+02] [-1.21691901e-02 1.63974165e-04 -9.99925939e-01 -4.02404842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters 0.01366308613370176 Centerline is valid? [True, True] Translation: X:147.78, Y:-142.36, Z:-4.02 [[-7.25057815e-01 -6.88629653e-01 8.96474599e-03 1.47784428e+02] [-6.88574729e-01 7.25113221e-01 8.69818132e-03 -1.42357668e+02] [-1.24902814e-02 1.33786794e-04 -9.99921984e-01 -4.02306295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters 0.013346282061979062 Centerline is valid? [True, True] Translation: X:147.70, Y:-142.40, Z:-4.02 [[-6.70498529e-01 -7.41859382e-01 8.73955215e-03 1.47704463e+02] [-7.41793943e-01 6.70555472e-01 9.85416131e-03 -1.42396744e+02] [-1.31707565e-02 1.24253803e-04 -9.99913254e-01 -4.02304941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters 0.012507141179782976 Centerline is valid? [True, True] Translation: X:147.62, Y:-142.44, Z:-4.02 [[-6.08103066e-01 -7.93809857e-01 8.75052072e-03 1.47616256e+02] [-7.93726674e-01 6.08166021e-01 1.14916601e-02 -1.42440312e+02] [-1.44439624e-02 4.25920329e-05 -9.99895680e-01 -4.02245009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters 0.012441145136273072 Centerline is valid? [True, True] Translation: X:147.53, Y:-142.49, Z:-4.02 [[-5.41210870e-01 -8.40844652e-01 8.43005917e-03 1.47533125e+02] [-8.40744371e-01 5.41276517e-01 1.29859522e-02 -1.42493071e+02] [-1.54821615e-02 -5.93862926e-05 -9.99880142e-01 -4.02290512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters 0.012865072495323131 Centerline is valid? [True, True] Translation: X:147.46, Y:-142.56, Z:-4.02 [[-4.73668092e-01 -8.80672699e-01 7.35770920e-03 1.47455623e+02] [-8.80570044e-01 4.73725221e-01 1.34466157e-02 -1.42557561e+02] [-1.53275998e-02 -1.09745513e-04 -9.99882519e-01 -4.02223896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters 0.012951619585848194 Centerline is valid? [True, True] Translation: X:147.38, Y:-142.63, Z:-4.02 [[-4.03534055e-01 -9.14944262e-01 6.10432913e-03 1.47383974e+02] [-9.14845101e-01 4.03580196e-01 1.34709683e-02 -1.42629874e+02] [-1.47887715e-02 -1.48521114e-04 -9.99890629e-01 -4.02324751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters 0.013489381395272877 Centerline is valid? [True, True] Translation: X:147.32, Y:-142.71, Z:-4.02 [[-3.29795228e-01 -9.44038867e-01 5.07189963e-03 1.47315008e+02] [-9.43936710e-01 3.29834161e-01 1.38893478e-02 -1.42708933e+02] [-1.47849700e-02 -2.06911606e-04 -9.99890675e-01 -4.02383510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters 0.014218198968434348 Centerline is valid? [True, True] Translation: X:147.25, Y:-142.79, Z:-4.02 [[-2.54423902e-01 -9.67084416e-01 4.02630602e-03 1.47253864e+02] [-9.66978982e-01 2.54455626e-01 1.42822391e-02 -1.42793920e+02] [-1.48366471e-02 -2.59610290e-04 -9.99889897e-01 -4.02457497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters 0.014441626000130424 Centerline is valid? [True, True] Translation: X:147.20, Y:-142.88, Z:-4.02 [[-1.79002283e-01 -9.83844183e-01 2.96760194e-03 1.47201690e+02] [-9.83734474e-01 1.79026648e-01 1.46950447e-02 -1.42883887e+02] [-1.49889141e-02 -2.88885781e-04 -9.99887618e-01 -4.02487439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters 0.015033540528002227 Centerline is valid? [True, True] Translation: X:147.16, Y:-142.98, Z:-4.02 [[-1.03024916e-01 -9.94676838e-01 1.96355899e-03 1.47155760e+02] [-9.94551692e-01 1.03043107e-01 1.57813029e-02 -1.42979010e+02] [-1.58996277e-02 -3.26993511e-04 -9.99873540e-01 -4.02418208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters 0.01532431203983613 Centerline is valid? [True, True] Translation: X:147.12, Y:-143.08, Z:-4.02 [[-2.78488897e-02 -9.99611851e-01 7.66574033e-04 1.47120003e+02] [-9.99485441e-01 2.78575612e-02 1.58999846e-02 -1.43075256e+02] [-1.59151679e-02 -3.23382669e-04 -9.99873293e-01 -4.02413349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters 0.01511687886254603 Centerline is valid? [True, True] Translation: X:147.09, Y:-143.18, Z:-4.02 [[ 4.65779364e-02 -9.98914565e-01 -4.32380365e-04 1.47092821e+02] [-9.98791144e-01 -4.65789794e-02 1.57051065e-02 -1.43178196e+02] [-1.57081995e-02 -2.99653774e-04 -9.99876574e-01 -4.02465327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters 0.013998593284934661 Centerline is valid? [True, True] Translation: X:147.08, Y:-143.28, Z:-4.03 [[ 1.19012838e-01 -9.92891435e-01 -1.59429966e-03 1.47076277e+02] [-9.92772333e-01 -1.19023259e-01 1.53804610e-02 -1.43281335e+02] [-1.54608867e-02 -2.47695725e-04 -9.99880443e-01 -4.02601680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters 0.013508921911565707 Centerline is valid? [True, True] Translation: X:147.07, Y:-143.39, Z:-4.03 [[ 1.91167716e-01 -9.81553840e-01 -2.63900239e-03 1.47067617e+02] [-9.81445525e-01 -1.91185828e-01 1.45828763e-02 -1.43387999e+02] [-1.48184181e-02 -1.97738069e-04 -9.99890182e-01 -4.02666268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters 0.012778704209941025 Centerline is valid? [True, True] Translation: X:147.07, Y:-143.49, Z:-4.03 [[ 2.59891819e-01 -9.65632561e-01 -3.16208865e-03 1.47068241e+02] [-9.65556308e-01 -2.59911035e-01 1.21354776e-02 -1.43488596e+02] [-1.25402741e-02 -1.00736719e-04 -9.99921363e-01 -4.02898058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters 0.01212666335401104 Centerline is valid? [True, True] Translation: X:147.08, Y:-143.59, Z:-4.03 [[ 3.26302559e-01 -9.45257972e-01 -3.74245254e-03 1.47077392e+02] [-9.45195160e-01 -3.26324020e-01 1.08969418e-02 -1.43592440e+02] [-1.15216733e-02 -1.83519713e-05 -9.99933623e-01 -4.03078059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters 0.012591033160685985 Centerline is valid? [True, True] Translation: X:147.10, Y:-143.69, Z:-4.03 [[ 3.89064073e-01 -9.21199274e-01 -4.58751383e-03 1.47095967e+02] [-9.21137734e-01 -3.89091109e-01 1.06481604e-02 -1.43694165e+02] [-1.15940385e-02 8.29154246e-05 -9.99932783e-01 -4.03087963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters 0.013508385149120948 Centerline is valid? [True, True] Translation: X:147.12, Y:-143.80, Z:-4.03 [[ 4.52754524e-01 -8.91618464e-01 -5.46406804e-03 1.47122034e+02] [-8.91557511e-01 -4.52787469e-01 1.04265282e-02 -1.43799771e+02] [-1.17705466e-02 1.50873079e-04 -9.99930713e-01 -4.03062283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters 0.014969598466365487 Centerline is valid? [True, True] Translation: X:147.15, Y:-143.89, Z:-4.03 [[ 5.13354943e-01 -8.58154941e-01 -6.06633817e-03 1.47149448e+02] [-8.58100072e-01 -5.13390736e-01 9.70661255e-03 -1.43893714e+02] [-1.14441793e-02 2.22587687e-04 -9.99934489e-01 -4.03080874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters 0.015231461364566514 Centerline is valid? [True, True] Translation: X:147.18, Y:-143.99, Z:-4.03 [[ 5.74905902e-01 -8.18193937e-01 -6.47192419e-03 1.47184234e+02] [-8.18146658e-01 -5.74942281e-01 8.79888736e-03 -1.43992362e+02] [-1.09201791e-02 2.36450869e-04 -9.99940345e-01 -4.03143856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters 0.01632105323569461 Centerline is valid? [True, True] Translation: X:147.23, Y:-144.09, Z:-4.03 [[ 6.35230933e-01 -7.72296869e-01 -6.26171512e-03 1.47227317e+02] [-7.72262498e-01 -6.35261761e-01 7.28902354e-03 -1.44090004e+02] [-9.60711823e-03 2.05474538e-04 -9.99953830e-01 -4.03044835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters 0.014279767445025888 Centerline is valid? [True, True] Translation: X:147.27, Y:-144.18, Z:-4.03 [[ 6.93368101e-01 -7.20559793e-01 -5.85322742e-03 1.47267031e+02] [-7.20535998e-01 -6.93392789e-01 5.85798804e-03 -1.44182689e+02] [-8.27961634e-03 1.55719012e-04 -9.99965711e-01 -4.03239348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters 0.013995646707422047 Centerline is valid? [True, True] Translation: X:147.32, Y:-144.27, Z:-4.03 [[ 7.47711582e-01 -6.63995461e-01 -6.11703359e-03 1.47315337e+02] [-6.63974596e-01 -7.47736593e-01 5.26527799e-03 -1.44269844e+02] [-8.07005054e-03 1.24645572e-04 -9.99967429e-01 -4.03199388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters 0.013331630650817088 Centerline is valid? [True, True] Translation: X:147.34, Y:-144.30, Z:-4.03 [[ 7.99323114e-01 -6.00871511e-01 -5.99898416e-03 1.47339587e+02] [-6.00855433e-01 -7.99345620e-01 4.39649815e-03 -1.44304786e+02] [-7.43699219e-03 9.02996362e-05 -9.99972341e-01 -4.03190672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters 0.012491161466678873 Centerline is valid? [True, True] Translation: X:147.37, Y:-144.34, Z:-4.03 [[ 8.46948257e-01 -5.31648600e-01 -5.33066357e-03 1.47366169e+02] [-5.31638363e-01 -8.46965031e-01 3.29946732e-03 -1.44338968e+02] [-6.26904282e-03 3.95071550e-05 -9.99980349e-01 -4.03125748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters 0.012141732109595182 Centerline is valid? [True, True] Translation: X:147.40, Y:-144.37, Z:-4.03 [[ 8.87827795e-01 -4.60147505e-01 -5.10675861e-03 1.47396222e+02] [-4.60139974e-01 -8.87842482e-01 2.63262780e-03 -1.44370378e+02] [-5.74539436e-03 1.25036396e-05 -9.99983495e-01 -4.03096603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters 0.012230739519737258 Centerline is valid? [True, True] Translation: X:147.43, Y:-144.40, Z:-4.03 [[ 9.23545903e-01 -3.83438398e-01 -6.16115537e-03 1.47428080e+02] [-3.83429662e-01 -9.23566454e-01 2.58847967e-03 -1.44401036e+02] [-6.68275891e-03 -2.82100724e-05 -9.99977670e-01 -4.02936336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters 0.012869612022543003 Centerline is valid? [True, True] Translation: X:147.46, Y:-144.43, Z:-4.03 [[ 9.53077864e-01 -3.02639429e-01 -7.20844163e-03 1.47462501e+02] [-3.02630047e-01 -9.53105119e-01 2.38474237e-03 -1.44430288e+02] [-7.59211969e-03 -9.13541376e-05 -9.99971175e-01 -4.02855867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters 0.016188148762310884 Centerline is valid? [True, True] Translation: X:147.50, Y:-144.46, Z:-4.03 [[ 9.75472102e-01 -2.20014709e-01 -6.90699163e-03 1.47498767e+02] [-2.20008188e-01 -9.75496545e-01 1.69944770e-03 -1.44456776e+02] [-7.11164996e-03 -1.38169104e-04 -9.99974702e-01 -4.02779142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters 0.015545103820157778 Centerline is valid? [True, True] Translation: X:147.54, Y:-144.47, Z:-4.03 [[ 9.90212645e-01 -1.39405731e-01 -6.70528196e-03 1.47540211e+02] [-1.39401458e-01 -9.90235334e-01 1.10269611e-03 -1.44470566e+02] [-6.79352929e-03 -1.57177544e-04 -9.99976911e-01 -4.02917226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters 0.016804082462188914 Centerline is valid? [True, True] Translation: X:147.58, Y:-144.48, Z:-4.03 [[ 9.98276154e-01 -5.82303144e-02 -7.34513766e-03 1.47582429e+02] [-5.82272978e-02 -9.98303157e-01 6.24057500e-04 -1.44481520e+02] [-7.36901318e-03 -1.95294203e-04 -9.99972829e-01 -4.02813320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters 0.016422873093888856 Centerline is valid? [True, True] Translation: X:147.62, Y:-144.48, Z:-4.03 [[ 9.99765808e-01 1.98558416e-02 -8.60663953e-03 1.47621125e+02] [ 1.98570456e-02 -9.99802828e-01 5.44570698e-05 -1.44484954e+02] [-8.60386125e-03 -2.25346750e-04 -9.99962961e-01 -4.02748297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters 0.016188524903949637 Centerline is valid? [True, True] Translation: X:147.66, Y:-144.48, Z:-4.03 [[ 9.95335965e-01 9.60475888e-02 -9.00983794e-03 1.47658670e+02] [ 9.60456346e-02 -9.95376719e-01 -6.50335361e-04 -1.44484359e+02] [-9.03064607e-03 -2.18053428e-04 -9.99959199e-01 -4.02715359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters 0.01584656794566864 Centerline is valid? [True, True] Translation: X:147.70, Y:-144.48, Z:-4.03 [[ 9.85038080e-01 1.72087762e-01 -9.26190715e-03 1.47697083e+02] [ 1.72082166e-01 -9.85081600e-01 -1.40373597e-03 -1.44481573e+02] [-9.36530009e-03 -2.11075654e-04 -9.99956122e-01 -4.02708136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters 0.013473017853597342 Centerline is valid? [True, True] Translation: X:147.73, Y:-144.47, Z:-4.03 [[ 9.70328903e-01 2.41658666e-01 -7.93154544e-03 1.47732575e+02] [ 2.41651642e-01 -9.70361311e-01 -1.84668398e-03 -1.44468164e+02] [-8.14273201e-03 -1.24780142e-04 -9.99966840e-01 -4.02881017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters 0.011947928084013995 Centerline is valid? [True, True] Translation: X:147.77, Y:-144.45, Z:-4.03 [[ 9.51816623e-01 3.06603446e-01 -6.28034365e-03 1.47765897e+02] [ 3.06596978e-01 -9.51837342e-01 -1.99166217e-03 -1.44451116e+02] [-6.58851609e-03 -2.98372292e-05 -9.99978295e-01 -4.03023160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters 0.012493762552068651 Centerline is valid? [True, True] Translation: X:147.80, Y:-144.43, Z:-4.03 [[ 9.29676963e-01 3.68337349e-01 -5.32373900e-03 1.47795104e+02] [ 3.68331019e-01 -9.29692205e-01 -2.15986584e-03 -1.44429883e+02] [-5.74499790e-03 4.70792994e-05 -9.99983496e-01 -4.03077289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters 0.013231661229300506 Centerline is valid? [True, True] Translation: X:147.83, Y:-144.42, Z:-4.03 [[ 9.00840216e-01 4.34118777e-01 -5.27194819e-03 1.47828073e+02] [ 4.34110777e-01 -9.00855638e-01 -2.63697680e-03 -1.44417848e+02] [-5.89402539e-03 8.68852229e-05 -9.99982626e-01 -4.03134163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters 0.014378567222558631 Centerline is valid? [True, True] Translation: X:147.86, Y:-144.40, Z:-4.03 [[ 8.66051204e-01 4.99919107e-01 -6.01651312e-03 1.47858600e+02] [ 4.99905984e-01 -8.66072092e-01 -3.62471281e-03 -1.44402118e+02] [-7.02279730e-03 1.31495986e-04 -9.99975331e-01 -4.03038774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters 0.014565668598204101 Centerline is valid? [True, True] Translation: X:147.89, Y:-144.39, Z:-4.03 [[ 8.23700990e-01 5.66983468e-01 -6.81370796e-03 1.47889571e+02] [ 5.66962568e-01 -8.23729157e-01 -4.87055616e-03 -1.44388519e+02] [-8.37417474e-03 1.48764573e-04 -9.99964925e-01 -4.02957832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters 0.013388373938707895 Centerline is valid? [True, True] Translation: X:147.92, Y:-144.38, Z:-4.03 [[ 7.73827078e-01 6.33361893e-01 -6.66068865e-03 1.47922213e+02] [ 6.33337162e-01 -7.73855735e-01 -5.59820266e-03 -1.44375852e+02] [-8.70010035e-03 1.13579159e-04 -9.99962147e-01 -4.02954354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters 0.012626477540925636 Centerline is valid? [True, True] Translation: X:147.95, Y:-144.36, Z:-4.03 [[ 7.18478046e-01 6.95524665e-01 -5.89389000e-03 1.47954799e+02] [ 6.95500490e-01 -7.18502217e-01 -5.79927040e-03 -1.44361138e+02] [-8.26830863e-03 6.74450832e-05 -9.99965815e-01 -4.02945592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters 0.012307396640164739 Centerline is valid? [True, True] Translation: X:147.98, Y:-144.34, Z:-4.03 [[ 6.58350849e-01 7.52695834e-01 -4.81056430e-03 1.47984271e+02] [ 7.52675453e-01 -6.58368423e-01 -5.53915835e-03 -1.44342792e+02] [-7.33642505e-03 2.59159387e-05 -9.99973088e-01 -4.03064200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters 0.012234991849964492 Centerline is valid? [True, True] Translation: X:148.01, Y:-144.32, Z:-4.03 [[ 5.94022675e-01 8.04439152e-01 -3.83571183e-03 1.48011177e+02] [ 8.04422429e-01 -5.94035059e-01 -5.18697048e-03 -1.44322012e+02] [-6.45114944e-03 -4.35455242e-06 -9.99979191e-01 -4.03122587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters 0.012696938290467032 Centerline is valid? [True, True] Translation: X:148.04, Y:-144.30, Z:-4.03 [[ 5.22021335e-01 8.52929081e-01 -2.38916453e-03 1.48042153e+02] [ 8.52920509e-01 -5.22026801e-01 -3.82429302e-03 -1.44302275e+02] [-4.50905865e-03 -4.14048824e-05 -9.99989833e-01 -4.03234756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters 0.014487460642392118 Centerline is valid? [True, True] Translation: X:148.07, Y:-144.28, Z:-4.03 [[ 4.44909493e-01 8.95572002e-01 -2.51642600e-03 1.48071611e+02] [ 8.95558960e-01 -4.44916598e-01 -4.83426417e-03 -1.44279326e+02] [-5.44903133e-03 -1.02797829e-04 -9.99985149e-01 -4.03056943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters 0.01703928831389533 Centerline is valid? [True, True] Translation: X:148.10, Y:-144.25, Z:-4.03 [[ 3.66443343e-01 9.30435606e-01 -2.97664481e-03 1.48095172e+02] [ 9.30409214e-01 -3.66455378e-01 -7.01081266e-03 -1.44253225e+02] [-7.61391722e-03 -2.00432129e-04 -9.99970994e-01 -4.02810174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters 0.018807791355382505 Centerline is valid? [True, True] Translation: X:148.11, Y:-144.22, Z:-4.03 [[ 2.89598607e-01 9.57144296e-01 -2.72835698e-03 1.48112385e+02] [ 9.57109650e-01 -2.89611350e-01 -8.14761277e-03 -1.44224199e+02] [-8.58860423e-03 -2.51799489e-04 -9.99963086e-01 -4.02689976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters 0.019645174710836516 Centerline is valid? [True, True] Translation: X:148.12, Y:-144.19, Z:-4.03 [[ 2.12725913e-01 9.77109636e-01 -2.10835563e-03 1.48121957e+02] [ 9.77073213e-01 -2.12736197e-01 -8.44082511e-03 -1.44191332e+02] [-8.69613511e-03 -2.64435575e-04 -9.99962153e-01 -4.02706891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters 0.01821140613520329 Centerline is valid? [True, True] Translation: X:148.13, Y:-144.16, Z:-4.03 [[ 1.36528147e-01 9.90635078e-01 -1.48540338e-03 1.48128308e+02] [ 9.90595617e-01 -1.36535973e-01 -8.84596916e-03 -1.44158185e+02] [-8.96593834e-03 -2.63710295e-04 -9.99959770e-01 -4.02759011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters 0.01718120149668208 Centerline is valid? [True, True] Translation: X:148.13, Y:-144.12, Z:-4.03 [[ 6.19316011e-02 9.98079974e-01 -9.18047047e-04 1.48129055e+02] [ 9.98025761e-01 -6.19378089e-02 -1.04061657e-02 -1.44124784e+02] [-1.04430474e-02 -2.71764098e-04 -9.99945433e-01 -4.02674576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters 0.016009783732364384 Centerline is valid? [True, True] Translation: X:148.13, Y:-144.09, Z:-4.03 [[-1.40526975e-02 9.99901251e-01 -9.56556811e-05 1.48131275e+02] [ 9.99851242e-01 1.40510377e-02 -1.00030865e-02 -1.44092034e+02] [-1.00007546e-02 -2.36211799e-04 -9.99949963e-01 -4.02736398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters 0.015477845480997085 Centerline is valid? [True, True] Translation: X:148.13, Y:-144.06, Z:-4.03 [[-9.00412883e-02 9.95937794e-01 6.90509531e-04 1.48127828e+02] [ 9.95887501e-01 9.00436823e-02 -1.00110215e-02 -1.44060660e+02] [-1.00325307e-02 -2.13735463e-04 -9.99949650e-01 -4.02801568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters 0.014045886567372864 Centerline is valid? [True, True] Translation: X:148.12, Y:-144.03, Z:-4.03 [[-1.64335945e-01 9.86403248e-01 1.52654950e-03 1.48123377e+02] [ 9.86349562e-01 1.64342930e-01 -1.02928287e-02 -1.44029617e+02] [-1.04037573e-02 -1.85770303e-04 -9.99945862e-01 -4.02852068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters 0.013474851747023444 Centerline is valid? [True, True] Translation: X:148.12, Y:-144.00, Z:-4.03 [[-2.36547219e-01 9.71617417e-01 2.23814436e-03 1.48115597e+02] [ 9.71568517e-01 2.36557770e-01 -9.74874858e-03 -1.44000694e+02] [-1.00015043e-02 -1.31528762e-04 -9.99949975e-01 -4.02870383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters 0.01288407396178823 Centerline is valid? [True, True] Translation: X:148.11, Y:-143.97, Z:-4.03 [[-3.09081215e-01 9.51031506e-01 2.80645458e-03 1.48109281e+02] [ 9.50989461e-01 3.09093942e-01 -8.94321821e-03 -1.43971230e+02] [-9.37274040e-03 -9.52720269e-05 -9.99956070e-01 -4.02922283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters 0.012474152646779924 Centerline is valid? [True, True] Translation: X:148.10, Y:-143.94, Z:-4.03 [[-3.79179962e-01 9.25315969e-01 3.59359304e-03 1.48098295e+02] [ 9.25272862e-01 3.79196985e-01 -8.93178515e-03 -1.43944520e+02] [-9.62740308e-03 -6.16998393e-05 -9.99953654e-01 -4.02912625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters 0.012485406720290958 Centerline is valid? [True, True] Translation: X:148.09, Y:-143.92, Z:-4.03 [[-4.49124182e-01 8.93457276e-01 4.64375589e-03 1.48088887e+02] [ 8.93408351e-01 4.49148186e-01 -9.35011080e-03 -1.43917573e+02] [-1.04396591e-02 -5.05905784e-05 -9.99945504e-01 -4.02863594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters 0.012597455757754249 Centerline is valid? [True, True] Translation: X:148.08, Y:-143.89, Z:-4.03 [[-5.17503070e-01 8.55661970e-01 5.75893947e-03 1.48076254e+02] [ 8.55607884e-01 5.17535111e-01 -9.62076595e-03 -1.43893286e+02] [-1.12125769e-02 -5.13819046e-05 -9.99937136e-01 -4.02882778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters 0.012688987916598235 Centerline is valid? [True, True] Translation: X:148.06, Y:-143.87, Z:-4.03 [[-5.84686475e-01 8.11235984e-01 6.15666933e-03 1.48064930e+02] [ 8.11189714e-01 5.84718884e-01 -8.66454804e-03 -1.43867655e+02] [-1.06289140e-02 -7.18172142e-05 -9.99943509e-01 -4.03029997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters 0.012820675835989868 Centerline is valid? [True, True] Translation: X:148.05, Y:-143.84, Z:-4.03 [[-6.48034530e-01 7.61580272e-01 6.83642352e-03 1.48054265e+02] [ 7.61536351e-01 6.48070583e-01 -8.17958101e-03 -1.43841400e+02] [-1.06598925e-02 -9.44659197e-05 -9.99943177e-01 -4.03073953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters 0.013430617002610612 Centerline is valid? [True, True] Translation: X:148.04, Y:-143.81, Z:-4.03 [[-7.08570027e-01 7.05595344e-01 7.98293448e-03 1.48043137e+02] [ 7.05548203e-01 7.08614979e-01 -8.15751499e-03 -1.43813959e+02] [-1.14127316e-02 -1.47825539e-04 -9.99934862e-01 -4.03113741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters 0.014803870331593654 Centerline is valid? [True, True] Translation: X:148.03, Y:-143.79, Z:-4.03 [[-7.63601146e-01 6.45637011e-01 8.13264065e-03 1.48032253e+02] [ 6.45597969e-01 7.63644433e-01 -7.10231424e-03 -1.43786255e+02] [-1.07959627e-02 -1.72919008e-04 -9.99941707e-01 -4.03093680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters 0.013876596156647387 Centerline is valid? [True, True] Translation: X:148.05, Y:-143.77, Z:-4.03 [[-8.07043441e-01 5.90428391e-01 8.67173704e-03 1.48051613e+02] [ 5.90392060e-01 8.07090011e-01 -6.55205409e-03 -1.43768235e+02] [-1.08673911e-02 -1.68067591e-04 -9.99940934e-01 -4.03274802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters 0.013265440126509955 Centerline is valid? [True, True] Translation: X:148.07, Y:-143.75, Z:-4.03 [[-8.44829388e-01 5.34968670e-01 8.47507455e-03 1.48068358e+02] [ 5.34940332e-01 8.44871889e-01 -5.50757435e-03 -1.43749060e+02] [-1.01067320e-02 -1.19301478e-04 -9.99948919e-01 -4.03362987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters 0.012804583179181341 Centerline is valid? [True, True] Translation: X:148.09, Y:-143.73, Z:-4.03 [[-8.79160957e-01 4.76457102e-01 8.04002963e-03 1.48089837e+02] [ 4.76436334e-01 8.79197716e-01 -4.44929210e-03 -1.43732455e+02] [-9.18867250e-03 -8.10816566e-05 -9.99957780e-01 -4.03414654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters 0.01248954311424841 Centerline is valid? [True, True] Translation: X:148.11, Y:-143.71, Z:-4.03 [[-9.09322648e-01 4.16013590e-01 8.06321952e-03 1.48105408e+02] [ 4.15996754e-01 9.09358395e-01 -3.74304146e-03 -1.43712553e+02] [-8.88951248e-03 -4.93592330e-05 -9.99960486e-01 -4.03474154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters 0.012584217344385716 Centerline is valid? [True, True] Translation: X:148.12, Y:-143.69, Z:-4.03 [[-9.34801322e-01 3.55022624e-01 1.02676444e-02 1.48115301e+02] [ 3.55001114e-01 9.34857709e-01 -3.90800813e-03 -1.43686698e+02] [-1.09862178e-02 -8.18597400e-06 -9.99939650e-01 -4.03204377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters 0.012594166727898095 Centerline is valid? [True, True] Translation: X:148.37, Y:-143.02, Z:-5.01 [[-9.08178235e-01 -4.18448641e-01 1.06314668e-02 1.48374673e+02] [ 4.18420635e-01 -9.08240459e-01 -4.84153788e-03 -1.43024196e+02] [ 1.16818632e-02 5.14457591e-05 9.99931763e-01 -5.00846397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters 0.012607017180397865 Centerline is valid? [True, True] Translation: X:148.08, Y:-143.67, Z:-4.03 [[-9.36880691e-01 3.49473543e-01 1.10821691e-02 1.48076264e+02] [ 3.49448655e-01 9.36946232e-01 -4.17087199e-03 -1.43668969e+02] [-1.18410060e-02 -3.49603264e-05 -9.99929892e-01 -4.03213410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters 0.013021267459446003 Centerline is valid? [True, True] Translation: X:148.08, Y:-143.63, Z:-4.03 [[-9.60748894e-01 2.77121971e-01 1.28443124e-02 1.48078459e+02] [ 2.77095667e-01 9.60834742e-01 -3.81974098e-03 -1.43634746e+02] [-1.33997957e-02 -1.10708618e-04 -9.99910213e-01 -4.03156180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters 0.013593815070137702 Centerline is valid? [True, True] Translation: X:148.28, Y:-142.98, Z:-5.01 [[-9.32897401e-01 -3.59883171e-01 1.36580793e-02 1.48281874e+02] [ 3.59847687e-01 -9.32997355e-01 -5.05743080e-03 -1.42976829e+02] [ 1.45630361e-02 1.96764183e-04 9.99893934e-01 -5.00927396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters 0.014301145014180106 Centerline is valid? [True, True] Translation: X:148.04, Y:-143.61, Z:-4.03 [[-9.63698936e-01 2.66668014e-01 1.31351382e-02 1.48035061e+02] [ 2.66640249e-01 9.63788424e-01 -3.85386604e-03 -1.43614233e+02] [-1.36871970e-02 -2.11610075e-04 -9.99906304e-01 -4.03133149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters 0.014802306090918467 Centerline is valid? [True, True] Translation: X:148.05, Y:-143.59, Z:-4.03 [[-9.80438472e-01 1.96434591e-01 1.24037653e-02 1.48050635e+02] [ 1.96415969e-01 9.80516905e-01 -2.71405032e-03 -1.43588257e+02] [-1.26952349e-02 -2.24661772e-04 -9.99919387e-01 -4.03377488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters 0.014633145639274031 Centerline is valid? [True, True] Translation: X:148.20, Y:-142.93, Z:-5.00 [[-9.55014477e-01 -2.96367268e-01 1.06672602e-02 1.48196026e+02] [ 2.96349935e-01 -9.55074046e-01 -3.20676236e-03 -1.42930182e+02] [ 1.11384028e-02 9.87374048e-05 9.99937961e-01 -5.00439392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters 0.014312122454292149 Centerline is valid? [True, True] Translation: X:148.00, Y:-143.58, Z:-4.04 [[-9.80893036e-01 1.94260635e-01 1.05668170e-02 1.48002814e+02] [ 1.94247453e-01 9.80949935e-01 -2.26963153e-03 -1.43580820e+02] [-1.08064185e-02 -1.73688470e-04 -9.99941594e-01 -4.03580563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters 0.013892016747054101 Centerline is valid? [True, True] Translation: X:148.01, Y:-143.56, Z:-4.04 [[-9.91929319e-01 1.26276706e-01 1.14201146e-02 1.48006940e+02] [ 1.26266462e-01 9.91995044e-01 -1.61649148e-03 -1.43556046e+02] [-1.15328223e-02 -1.61467832e-04 -9.99933482e-01 -4.03580910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters 0.01354002817546905 Centerline is valid? [True, True] Translation: X:148.11, Y:-142.88, Z:-5.01 [[-9.76239466e-01 -2.16364942e-01 1.19464621e-02 1.48108547e+02] [ 2.16351370e-01 -9.76312536e-01 -2.43247923e-03 -1.42881173e+02] [ 1.21897840e-02 2.09951222e-04 9.99925680e-01 -5.00577738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters 0.013165563254342129 Centerline is valid? [True, True] Translation: X:147.96, Y:-143.56, Z:-4.03 [[-9.91363618e-01 1.30442662e-01 1.35236211e-02 1.47961737e+02] [ 1.30429421e-01 9.91455852e-01 -1.86027454e-03 -1.43555949e+02] [-1.36507325e-02 -8.03304242e-05 -9.99906821e-01 -4.03292477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters 0.013142510452059365 Centerline is valid? [True, True] Translation: X:147.96, Y:-143.53, Z:-4.03 [[-9.97939018e-01 6.23627213e-02 1.51197375e-02 1.47964219e+02] [ 6.23548051e-02 9.98053550e-01 -9.94886347e-04 -1.43531561e+02] [-1.51523515e-02 -5.00476198e-05 -9.99885195e-01 -4.03212881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters 0.013196294492237009 Centerline is valid? [True, True] Translation: X:148.02, Y:-142.83, Z:-5.01 [[-9.90888407e-01 -1.33752304e-01 1.58267588e-02 1.48016561e+02] [ 1.33736902e-01 -9.91014788e-01 -2.03230502e-03 -1.42834263e+02] [ 1.59563775e-02 1.02834218e-04 9.99872684e-01 -5.00822698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters 0.01320089000282158 Centerline is valid? [True, True] Translation: X:147.91, Y:-143.53, Z:-4.03 [[-9.97923755e-01 6.25514067e-02 1.53460305e-02 1.47909455e+02] [ 6.25442706e-02 9.98041743e-01 -9.44973433e-04 -1.43534107e+02] [-1.53750885e-02 1.67948474e-05 -9.99881796e-01 -4.03255537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters 0.013102614015522223 Centerline is valid? [True, True] Translation: X:147.91, Y:-143.51, Z:-4.03 [[-9.99892508e-01 -7.57695078e-03 1.25523479e-02 1.47905194e+02] [-7.57604651e-03 9.99971294e-01 1.19589428e-04 -1.43508885e+02] [-1.25528937e-02 2.44794017e-05 -9.99921209e-01 -4.03446493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters 0.013126584474587824 Centerline is valid? [True, True] Translation: X:147.90, Y:-143.48, Z:-4.03 [[-9.96789663e-01 -7.92171400e-02 1.16194946e-02 1.47904644e+02] [-7.92115748e-02 9.96857384e-01 9.39109557e-04 -1.43482368e+02] [-1.16573725e-02 1.56962359e-05 -9.99932050e-01 -4.03487073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters 0.013153597470885467 Centerline is valid? [True, True] Translation: X:147.85, Y:-142.77, Z:-5.00 [[-9.99871435e-01 1.13736077e-02 1.13028860e-02 1.47845299e+02] [-1.13733297e-02 -9.99935318e-01 8.88750806e-05 -1.42772457e+02] [ 1.13031657e-02 -3.96877947e-05 9.99936116e-01 -5.00431268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters 0.013793975590703646 Centerline is valid? [True, True] Translation: X:147.82, Y:-143.48, Z:-4.03 [[-9.95369303e-01 -9.53525837e-02 1.21587215e-02 1.47819880e+02] [-9.53469058e-02 9.95443555e-01 1.04713074e-03 -1.43484235e+02] [-1.22031676e-02 -1.17014681e-04 -9.99925532e-01 -4.03497307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters 0.014969247962777935 Centerline is valid? [True, True] Translation: X:147.75, Y:-142.79, Z:-5.01 [[-9.99908655e-01 2.29375911e-03 1.33199196e-02 1.47752923e+02] [-2.29077814e-03 -9.99997348e-01 2.39050622e-04 -1.42787922e+02] [ 1.33204326e-02 2.08515806e-04 9.99911257e-01 -5.00629981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters 0.015637871935766188 Centerline is valid? [True, True] Translation: X:147.73, Y:-143.49, Z:-4.03 [[-9.93779031e-01 -1.10499707e-01 1.38943217e-02 1.47732651e+02] [-1.10492762e-01 9.93876119e-01 1.26887246e-03 -1.43486342e+02] [-1.39494446e-02 -2.74243130e-04 -9.99902664e-01 -4.03322062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters 0.016486421891788075 Centerline is valid? [True, True] Translation: X:147.72, Y:-143.46, Z:-4.03 [[-9.82637700e-01 -1.85039068e-01 1.35534019e-02 1.47720479e+02] [-1.85026046e-01 9.82731111e-01 2.21940970e-03 -1.43459764e+02] [-1.37300272e-02 -3.26856722e-04 -9.99905685e-01 -4.03354922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters 0.01678799386043536 Centerline is valid? [True, True] Translation: X:147.71, Y:-143.43, Z:-4.03 [[-9.66497585e-01 -2.56394199e-01 1.20180066e-02 1.47711515e+02] [-2.56378446e-01 9.66572250e-01 2.85971292e-03 -1.43432760e+02] [-1.23494855e-02 -3.17252223e-04 -9.99923692e-01 -4.03393071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters 0.016785983084822854 Centerline is valid? [True, True] Translation: X:147.69, Y:-143.41, Z:-4.03 [[-9.45469015e-01 -3.25494084e-01 1.19140175e-02 1.47688131e+02] [-3.25472631e-01 9.45544019e-01 3.75159705e-03 -1.43410945e+02] [-1.24863506e-02 -3.30667857e-04 -9.99921988e-01 -4.03314397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters 0.017505181055967982 Centerline is valid? [True, True] Translation: X:147.66, Y:-143.39, Z:-4.03 [[-9.19796025e-01 -3.92211884e-01 1.20462053e-02 1.47657991e+02] [-3.92182961e-01 9.19874844e-01 4.77463916e-03 -1.43391526e+02] [-1.29536714e-02 -3.32622354e-04 -9.99916042e-01 -4.03129475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters 0.017247163136350645 Centerline is valid? [True, True] Translation: X:147.60, Y:-143.39, Z:-4.03 [[-8.89242320e-01 -4.57307087e-01 1.08777128e-02 1.47604794e+02] [-4.57276979e-01 8.89308798e-01 5.25609437e-03 -1.43386594e+02] [-1.20772949e-02 -3.00186104e-04 -9.99927022e-01 -4.03199043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters 0.016571793814606637 Centerline is valid? [True, True] Translation: X:147.55, Y:-143.39, Z:-4.03 [[-8.53334987e-01 -5.21264516e-01 1.01342785e-02 1.47547130e+02] [-5.21231703e-01 8.53395115e-01 5.85571092e-03 -1.43387555e+02] [-1.17009181e-02 -2.85424248e-04 -9.99931501e-01 -4.03258059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters 0.015874563011463744 Centerline is valid? [True, True] Translation: X:147.48, Y:-143.40, Z:-4.03 [[-8.14041132e-01 -5.80714488e-01 1.03787624e-02 1.47478850e+02] [-5.80671452e-01 8.14107248e-01 7.07482757e-03 -1.43401319e+02] [-1.25578805e-02 -2.67450364e-04 -9.99921111e-01 -4.03138328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters 0.014963087954119925 Centerline is valid? [True, True] Translation: X:147.40, Y:-143.43, Z:-4.03 [[-7.71725913e-01 -6.35888813e-01 9.19416644e-03 1.47403995e+02] [-6.35846596e-01 7.71780656e-01 7.32975681e-03 -1.43428929e+02] [-1.17567902e-02 -1.89516168e-04 -9.99930869e-01 -4.03190674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters 0.014101658691806329 Centerline is valid? [True, True] Translation: X:147.33, Y:-143.46, Z:-4.03 [[-7.24463100e-01 -6.89276160e-01 7.18275704e-03 1.47328001e+02] [-6.89243924e-01 7.24498696e-01 6.66721171e-03 -1.43462108e+02] [-9.79944820e-03 -1.20522786e-04 -9.99951977e-01 -4.03306200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters 0.013994782105556077 Centerline is valid? [True, True] Translation: X:147.25, Y:-143.50, Z:-4.03 [[-6.71347755e-01 -7.41115148e-01 6.36628259e-03 1.47247674e+02] [-7.41083300e-01 6.71377931e-01 6.87137089e-03 -1.43504684e+02] [-9.36665868e-03 -1.04866291e-04 -9.99956126e-01 -4.03265043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters 0.013446137694563298 Centerline is valid? [True, True] Translation: X:147.17, Y:-143.56, Z:-4.03 [[-6.15586497e-01 -7.88047710e-01 5.83705115e-03 1.47166830e+02] [-7.88013476e-01 6.15614165e-01 7.34579166e-03 -1.43560229e+02] [-9.38220567e-03 -7.77048134e-05 -9.99955983e-01 -4.03222486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters 0.01348971703949822 Centerline is valid? [True, True] Translation: X:147.09, Y:-143.62, Z:-4.03 [[-5.54558846e-01 -8.32127898e-01 5.25817490e-03 1.47086847e+02] [-8.32091705e-01 5.54583769e-01 7.76133010e-03 -1.43624803e+02] [-9.37451775e-03 -7.11694611e-05 -9.99956056e-01 -4.03258016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters 0.013399417837284273 Centerline is valid? [True, True] Translation: X:147.01, Y:-143.70, Z:-4.03 [[-4.89352220e-01 -8.72074189e-01 4.58403729e-03 1.47006965e+02] [-8.72037320e-01 4.89373684e-01 8.01936228e-03 -1.43699442e+02] [-9.23678607e-03 -7.31588581e-05 -9.99957337e-01 -4.03299633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters 0.013420605422567499 Centerline is valid? [True, True] Translation: X:146.93, Y:-143.78, Z:-4.03 [[-4.20661195e-01 -9.07208635e-01 4.08079179e-03 1.46931996e+02] [-9.07167840e-01 4.20680980e-01 8.60371848e-03 -1.43779227e+02] [-9.52207918e-03 -8.27125762e-05 -9.99954661e-01 -4.03259378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters 0.013453923490737003 Centerline is valid? [True, True] Translation: X:146.86, Y:-143.87, Z:-4.03 [[-3.50648355e-01 -9.36501948e-01 3.13579952e-03 1.46864082e+02] [-9.36466293e-01 3.50662369e-01 8.17219538e-03 -1.43867414e+02] [-8.75288378e-03 -7.10036859e-05 -9.99961690e-01 -4.03254497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters 0.01288268095895049 Centerline is valid? [True, True] Translation: X:146.80, Y:-143.96, Z:-4.03 [[-2.81215002e-01 -9.59642644e-01 2.02924040e-03 1.46804846e+02] [-9.59618513e-01 2.81222321e-01 6.80553762e-03 -1.43964165e+02] [-7.10155182e-03 -3.34773813e-05 -9.99974783e-01 -4.03461093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters 0.012728374916988291 Centerline is valid? [True, True] Translation: X:146.75, Y:-144.07, Z:-4.03 [[-2.09795528e-01 -9.77744451e-01 1.27449398e-03 1.46751329e+02] [-9.77726705e-01 2.09799399e-01 5.89097829e-03 -1.44066190e+02] [-6.02725941e-03 -1.02058985e-05 -9.99981836e-01 -4.03480275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters 0.012694214638935988 Centerline is valid? [True, True] Translation: X:146.71, Y:-144.18, Z:-4.03 [[-1.39452116e-01 -9.90228630e-01 6.07120680e-04 1.46705486e+02] [-9.90218738e-01 1.39453436e-01 4.42599073e-03 -1.44176984e+02] [-4.46740780e-03 1.60314981e-05 -9.99990021e-01 -4.03495330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters 0.013147970176321803 Centerline is valid? [True, True] Translation: X:146.67, Y:-144.28, Z:-4.04 [[-6.76024050e-02 -9.97712307e-01 2.59070111e-04 1.46669573e+02] [-9.97702789e-01 6.76028918e-02 4.35826309e-03 -1.44280396e+02] [-4.36580661e-03 3.61540944e-05 -9.99990469e-01 -4.03512794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters 0.01372010702678577 Centerline is valid? [True, True] Translation: X:146.64, Y:-144.40, Z:-4.03 [[ 7.03174574e-03 -9.99975272e-01 -9.94543450e-05 1.46639584e+02] [-9.99959466e-01 -7.03219381e-03 5.62274505e-03 -1.44396852e+02] [-5.62330539e-03 5.99126001e-05 -9.99984187e-01 -4.03348556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters 0.013437511081992702 Centerline is valid? [True, True] Translation: X:146.61, Y:-144.52, Z:-4.03 [[ 8.53001427e-02 -9.96355066e-01 -6.84045657e-04 1.46614978e+02] [-9.96329033e-01 -8.53028590e-02 7.20284642e-03 -1.44517252e+02] [-7.23494357e-03 6.71307205e-05 -9.99973825e-01 -4.03126988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters 0.013099659554924703 Centerline is valid? [True, True] Translation: X:146.60, Y:-144.64, Z:-4.03 [[ 1.65150467e-01 -9.86267307e-01 -1.45663514e-03 1.46598886e+02] [-9.86231493e-01 -1.65156883e-01 8.40507139e-03 -1.44639809e+02] [-8.53022045e-03 4.84779886e-05 -9.99963616e-01 -4.03019168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters 0.013004768620242642 Centerline is valid? [True, True] Translation: X:146.60, Y:-144.76, Z:-4.03 [[ 2.41520884e-01 -9.70393180e-01 -2.17679461e-03 1.46595262e+02] [-9.70355223e-01 -2.41530690e-01 8.58296727e-03 -1.44759324e+02] [-8.85461561e-03 3.92981790e-05 -9.99960796e-01 -4.02982135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters 0.012951950529337754 Centerline is valid? [True, True] Translation: X:146.60, Y:-144.88, Z:-4.03 [[ 3.19150437e-01 -9.47699012e-01 -3.09526866e-03 1.46599070e+02] [-9.47654556e-01 -3.19165446e-01 9.17939901e-03 -1.44881416e+02] [-9.68721018e-03 3.63624026e-06 -9.99953078e-01 -4.02925771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters 0.013024831023320669 Centerline is valid? [True, True] Translation: X:146.61, Y:-145.00, Z:-4.03 [[ 3.95419727e-01 -9.18494264e-01 -3.39515497e-03 1.46611774e+02] [-9.18459530e-01 -3.95434301e-01 7.98785675e-03 -1.45002334e+02] [-8.67936133e-03 -4.02437005e-05 -9.99962333e-01 -4.02997936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters 0.013620857393107965 Centerline is valid? [True, True] Translation: X:146.63, Y:-145.12, Z:-4.03 [[ 4.69521062e-01 -8.82914002e-01 -3.58293778e-03 1.46631763e+02] [-8.82886978e-01 -4.69534726e-01 6.90834223e-03 -1.45119052e+02] [-7.78178579e-03 -8.02830699e-05 -9.99969718e-01 -4.03079047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters 0.014199705020847192 Centerline is valid? [True, True] Translation: X:146.66, Y:-145.23, Z:-4.03 [[ 5.39028698e-01 -8.42279314e-01 -3.69060539e-03 1.46662243e+02] [-8.42258278e-01 -5.39041322e-01 5.95363594e-03 -1.45233108e+02] [-7.00401321e-03 -1.00737686e-04 -9.99975467e-01 -4.03117227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters 0.015500068047331703 Centerline is valid? [True, True] Translation: X:146.70, Y:-145.34, Z:-4.03 [[ 6.06101525e-01 -7.95379336e-01 -3.55712818e-03 1.46698676e+02] [-7.95364461e-01 -6.06111952e-01 4.86580489e-03 -1.45342524e+02] [-6.02617856e-03 -1.19958427e-04 -9.99981835e-01 -4.03217650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters 0.016005773004927126 Centerline is valid? [True, True] Translation: X:146.74, Y:-145.44, Z:-4.03 [[ 6.67021266e-01 -7.45026073e-01 -4.33372659e-03 1.46742272e+02] [-7.45008856e-01 -6.67035327e-01 5.06724745e-03 -1.45444007e+02] [-6.66598020e-03 -1.51297121e-04 -9.99977771e-01 -4.03171994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters 0.017196378524376398 Centerline is valid? [True, True] Translation: X:146.80, Y:-145.54, Z:-4.03 [[ 7.23800725e-01 -6.89980502e-01 -6.27831137e-03 1.46795023e+02] [-6.89951778e-01 -7.23827918e-01 6.29994699e-03 -1.45543325e+02] [-8.89125764e-03 -2.28174108e-04 -9.99960446e-01 -4.02955486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters 0.018346852906532957 Centerline is valid? [True, True] Translation: X:146.85, Y:-145.63, Z:-4.03 [[ 7.75059670e-01 -6.31835979e-01 -8.11193266e-03 1.46851883e+02] [-6.31797387e-01 -7.75102065e-01 6.98934675e-03 -1.45632800e+02] [-1.07036965e-02 -2.92062928e-04 -9.99942671e-01 -4.02817395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters 0.01736414324369392 Centerline is valid? [True, True] Translation: X:146.88, Y:-145.66, Z:-4.03 [[ 8.22050394e-01 -5.69324784e-01 -1.01212833e-02 1.46876657e+02] [-5.69276455e-01 -8.22112628e-01 7.42591049e-03 -1.45657896e+02] [-1.25485897e-02 -3.42664356e-04 -9.99921205e-01 -4.02734689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters 0.017355876192861067 Centerline is valid? [True, True] Translation: X:146.90, Y:-145.68, Z:-4.03 [[ 8.63710585e-01 -5.03867223e-01 -1.10384436e-02 1.46903455e+02] [-5.03820922e-01 -8.63781050e-01 6.83926882e-03 -1.45680822e+02] [-1.29808817e-02 -3.45750061e-04 -9.99915685e-01 -4.02750153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters 0.016811992799470096 Centerline is valid? [True, True] Translation: X:146.93, Y:-145.70, Z:-4.03 [[ 8.99276816e-01 -4.37238179e-01 -1.11347479e-02 1.46933647e+02] [-4.37200508e-01 -8.99345698e-01 5.74726414e-03 -1.45697554e+02] [-1.25269109e-02 -3.00263971e-04 -9.99921490e-01 -4.02910328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters 0.01622286463147643 Centerline is valid? [True, True] Translation: X:146.96, Y:-145.71, Z:-4.03 [[ 9.29652911e-01 -3.68263423e-01 -1.12923126e-02 1.46964536e+02] [-3.68232869e-01 -9.29721455e-01 4.75073321e-03 -1.45712322e+02] [-1.22482265e-02 -2.58332303e-04 -9.99924954e-01 -4.03016932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters 0.015517414700055724 Centerline is valid? [True, True] Translation: X:147.00, Y:-145.72, Z:-4.03 [[ 9.54537784e-01 -2.97919359e-01 -1.00833983e-02 1.46997092e+02] [-2.97900674e-01 -9.54591023e-01 3.34171946e-03 -1.45723118e+02] [-1.06210844e-02 -1.85946339e-04 -9.99943577e-01 -4.03241583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters 0.014142496185305237 Centerline is valid? [True, True] Translation: X:147.03, Y:-145.73, Z:-4.03 [[ 9.74218732e-01 -2.25344164e-01 -1.08568088e-02 1.47029026e+02] [-2.25328319e-01 -9.74279211e-01 2.67721401e-03 -1.45734681e+02] [-1.11808577e-02 -1.61845561e-04 -9.99937479e-01 -4.03416022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters 0.013933984601672224 Centerline is valid? [True, True] Translation: X:147.06, Y:-145.74, Z:-4.03 [[ 9.88272738e-01 -1.52149382e-01 -1.29445723e-02 1.47059589e+02] [-1.52134456e-01 -9.88357499e-01 2.13581850e-03 -1.45744739e+02] [-1.31188286e-02 -1.41455725e-04 -9.99913935e-01 -4.03240390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters 0.013463071318207157 Centerline is valid? [True, True] Translation: X:147.09, Y:-145.75, Z:-4.03 [[ 9.96944917e-01 -7.69299352e-02 -1.35136140e-02 1.47088076e+02] [-7.69213639e-02 -9.97036495e-01 1.15366819e-03 -1.45752411e+02] [-1.35623180e-02 -1.10658019e-04 -9.99908021e-01 -4.03264953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters 0.013029536550218102 Centerline is valid? [True, True] Translation: X:147.12, Y:-145.76, Z:-4.03 [[ 9.99888323e-01 -4.53187567e-03 -1.42409356e-02 1.47116596e+02] [-4.53095881e-03 -9.99989731e-01 9.66456068e-05 -1.45755697e+02] [-1.42412273e-02 -3.21097210e-05 -9.99898588e-01 -4.03338939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters 0.013099012136997481 Centerline is valid? [True, True] Translation: X:147.15, Y:-145.76, Z:-4.03 [[ 9.97347289e-01 7.14628487e-02 -1.38364066e-02 1.47145770e+02] [ 7.14559632e-02 -9.97443262e-01 -9.91998773e-04 -1.45759797e+02] [-1.38719216e-02 6.73523294e-07 -9.99903780e-01 -4.03381770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters 0.013556482396802533 Centerline is valid? [True, True] Translation: X:147.17, Y:-145.76, Z:-4.03 [[ 9.89632753e-01 1.42991646e-01 -1.34314155e-02 1.47174466e+02] [ 1.42977275e-01 -9.89723892e-01 -2.02913747e-03 -1.45756993e+02] [-1.35835425e-02 8.77137042e-05 -9.99907736e-01 -4.03391127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters 0.01410699034821129 Centerline is valid? [True, True] Translation: X:147.20, Y:-145.75, Z:-4.03 [[ 9.76285161e-01 2.16119536e-01 -1.26345122e-02 1.47202298e+02] [ 2.16099642e-01 -9.76366902e-01 -2.93545916e-03 -1.45752979e+02] [-1.29703296e-02 1.35531644e-04 -9.99915873e-01 -4.03401053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters 0.013870377965398696 Centerline is valid? [True, True] Translation: X:147.23, Y:-145.75, Z:-4.03 [[ 9.56109130e-01 2.92792269e-01 -1.13145804e-02 1.47231031e+02] [ 2.92770376e-01 -9.56176069e-01 -3.58219942e-03 -1.45751479e+02] [-1.18675713e-02 1.12399622e-04 -9.99929572e-01 -4.03439889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters 0.013263240292001524 Centerline is valid? [True, True] Translation: X:147.26, Y:-145.75, Z:-4.04 [[ 9.29738300e-01 3.68063518e-01 -1.07675669e-02 1.47261969e+02] [ 3.68037669e-01 -9.29800644e-01 -4.36304234e-03 -1.45752803e+02] [-1.16175674e-02 9.36173356e-05 -9.99932509e-01 -4.03534518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters 0.012678635397818385 Centerline is valid? [True, True] Translation: X:147.29, Y:-145.75, Z:-4.03 [[ 8.95393230e-01 4.45159688e-01 -1.01890249e-02 1.47294282e+02] [ 4.45130583e-01 -8.95451200e-01 -5.09049598e-03 -1.45754850e+02] [-1.13898581e-02 2.25490610e-05 -9.99935133e-01 -4.03483973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters 0.01250389489601886 Centerline is valid? [True, True] Translation: X:147.33, Y:-145.75, Z:-4.03 [[ 8.55755877e-01 5.17279750e-01 -1.01754362e-02 1.47325920e+02] [ 5.17243503e-01 -8.55816371e-01 -6.12359370e-03 -1.45752700e+02] [-1.18759159e-02 -2.28769524e-05 -9.99929479e-01 -4.03379557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters 0.012744698595229935 Centerline is valid? [True, True] Translation: X:147.36, Y:-145.75, Z:-4.03 [[ 8.09490470e-01 5.87044740e-01 -1.01809856e-02 1.47360293e+02] [ 5.86999726e-01 -8.09554486e-01 -7.27020144e-03 -1.45750525e+02] [-1.25099961e-02 -9.10769855e-05 -9.99921743e-01 -4.03275396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters 0.012942058507257301 Centerline is valid? [True, True] Translation: X:147.39, Y:-145.74, Z:-4.03 [[ 7.59512856e-01 6.50426960e-01 -9.21906091e-03 1.47392262e+02] [ 6.50380904e-01 -7.59568796e-01 -7.74100811e-03 -1.45741928e+02] [-1.20374714e-02 -1.16505986e-04 -9.99927540e-01 -4.03225198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters 0.013206793515499641 Centerline is valid? [True, True] Translation: X:147.42, Y:-145.73, Z:-4.03 [[ 7.05032116e-01 7.09129970e-01 -8.02505723e-03 1.47421835e+02] [ 7.09086095e-01 -7.05077776e-01 -7.88926620e-03 -1.45730786e+02] [-1.12528046e-02 -1.28270454e-04 -9.99936677e-01 -4.03223410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters 0.012983320199292063 Centerline is valid? [True, True] Translation: X:147.45, Y:-145.71, Z:-4.03 [[ 6.47936760e-01 7.61661517e-01 -7.04908887e-03 1.47448236e+02] [ 7.61618346e-01 -6.47975093e-01 -8.11006323e-03 -1.45713616e+02] [-1.07447571e-02 -1.13907320e-04 -9.99942267e-01 -4.03183019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters 0.01235734010401485 Centerline is valid? [True, True] Translation: X:147.47, Y:-145.70, Z:-4.03 [[ 5.88711906e-01 8.08321366e-01 -5.90432202e-03 1.47473780e+02] [ 8.08281999e-01 -5.88741508e-01 -7.97788657e-03 -1.45695676e+02] [-9.92481562e-03 -7.56803963e-05 -9.99950745e-01 -4.03207033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters 0.012339800279564673 Centerline is valid? [True, True] Translation: X:147.50, Y:-145.68, Z:-4.03 [[ 5.25408415e-01 8.50833818e-01 -5.27367337e-03 1.47496735e+02] [ 8.50792009e-01 -5.25434878e-01 -8.43484765e-03 -1.45676419e+02] [-9.94762556e-03 -5.50592201e-05 -9.99950520e-01 -4.03081150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters 0.012333654779684237 Centerline is valid? [True, True] Translation: X:147.52, Y:-145.65, Z:-4.03 [[ 4.58831889e-01 8.88509654e-01 -4.88801166e-03 1.47517630e+02] [ 8.88460135e-01 -4.58857923e-01 -9.38062777e-03 -1.45654898e+02] [-1.05776812e-02 -3.86723407e-05 -9.99944054e-01 -4.02896231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters 0.012384245115832027 Centerline is valid? [True, True] Translation: X:147.54, Y:-145.63, Z:-4.03 [[ 3.88497230e-01 9.21440029e-01 -4.26324982e-03 1.47538263e+02] [ 9.21385466e-01 -3.88520620e-01 -1.00274782e-02 -1.45631287e+02] [-1.08960803e-02 -3.24489147e-05 -9.99940635e-01 -4.02921236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters 0.012355184593919493 Centerline is valid? [True, True] Translation: X:147.56, Y:-145.61, Z:-4.03 [[ 3.16227060e-01 9.48677232e-01 -3.45789406e-03 1.47558941e+02] [ 9.48621203e-01 -3.16245964e-01 -1.03103828e-02 -1.45606519e+02] [-1.08747704e-02 -1.98095928e-05 -9.99940868e-01 -4.02925420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters 0.012353950293243144 Centerline is valid? [True, True] Translation: X:147.58, Y:-145.58, Z:-4.03 [[ 2.43969707e-01 9.69779905e-01 -2.39124286e-03 1.47575700e+02] [ 9.69732813e-01 -2.43981425e-01 -9.55701691e-03 -1.45579942e+02] [-9.85162179e-03 1.27559515e-05 -9.99951472e-01 -4.02961962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters 0.012590978002429285 Centerline is valid? [True, True] Translation: X:147.59, Y:-145.55, Z:-4.03 [[ 1.71949900e-01 9.85104928e-01 -1.22955549e-03 1.47586943e+02] [ 9.85077864e-01 -1.71954290e-01 -7.30237571e-03 -1.45551653e+02] [-7.40503364e-03 4.44348763e-05 -9.99972581e-01 -4.03129069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters 0.013054894134320132 Centerline is valid? [True, True] Translation: X:147.60, Y:-145.52, Z:-4.03 [[ 9.79154074e-02 9.95194553e-01 -6.11848254e-04 1.47596082e+02] [ 9.95170620e-01 -9.79172961e-02 -6.90220752e-03 -1.45523786e+02] [-6.92894985e-03 6.69390544e-05 -9.99975992e-01 -4.03093272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters 0.014349185691401551 Centerline is valid? [True, True] Translation: X:147.60, Y:-145.50, Z:-4.03 [[ 2.55479037e-02 9.99673596e-01 -7.61055427e-05 1.47599958e+02] [ 9.99644337e-01 -2.55477383e-02 -7.64929976e-03 -1.45495070e+02] [-7.64874732e-03 1.19345099e-04 -9.99970741e-01 -4.02934903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters 0.015159075904866122 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.47, Z:-4.03 [[-4.70396140e-02 9.98892892e-01 5.15522832e-04 1.47606229e+02] [ 9.98864604e-01 4.70421625e-02 -7.51922150e-03 -1.45466165e+02] [-7.53514822e-03 1.61236232e-04 -9.99971597e-01 -4.02900584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters 0.016319296151191317 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.44, Z:-4.03 [[-1.20921995e-01 9.92661463e-01 1.04448658e-03 1.47609696e+02] [ 9.92636363e-01 1.20926368e-01 -7.06146736e-03 -1.45437501e+02] [-7.13595249e-03 1.82908639e-04 -9.99974522e-01 -4.02948105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters 0.01804999140398744 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.41, Z:-4.03 [[-1.91671052e-01 9.81458278e-01 1.36256393e-03 1.47610114e+02] [ 9.81440283e-01 1.91675793e-01 -5.94650580e-03 -1.45408636e+02] [-6.09741786e-03 1.97502108e-04 -9.99981391e-01 -4.03063784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters 0.01992960292878985 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.38, Z:-4.03 [[-2.64516864e-01 9.64379780e-01 1.57147029e-03 1.47608732e+02] [ 9.64366758e-01 2.64521464e-01 -5.01504915e-03 -1.45380936e+02] [-5.25209962e-03 1.88908632e-04 -9.99986190e-01 -4.03054325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters 0.01903701228412666 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.35, Z:-4.03 [[-3.37364114e-01 9.41372503e-01 1.80724281e-03 1.47613120e+02] [ 9.41361775e-01 3.37368905e-01 -4.49792311e-03 -1.45349191e+02] [-4.84392866e-03 1.83831454e-04 -9.99988251e-01 -4.03047213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters 0.019811298416219383 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.32, Z:-4.03 [[-4.12895429e-01 9.10775111e-01 2.46211247e-03 1.47613340e+02] [ 9.10761609e-01 4.12902725e-01 -4.96301945e-03 -1.45319081e+02] [-5.53680754e-03 1.93189463e-04 -9.99984653e-01 -4.02947297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters 0.018754760120590033 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.29, Z:-4.03 [[-4.86973916e-01 8.73410974e-01 3.11050977e-03 1.47609685e+02] [ 8.73395501e-01 4.86983816e-01 -5.20211549e-03 -1.45288190e+02] [-6.05835267e-03 1.83410692e-04 -9.99981631e-01 -4.02897671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters 0.015093971587965745 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.25, Z:-4.03 [[-5.61328757e-01 8.27582009e-01 4.24793071e-03 1.47612948e+02] [ 8.27560391e-01 5.61344808e-01 -5.98376986e-03 -1.45250020e+02] [-7.33661413e-03 1.56557098e-04 -9.99973074e-01 -4.02866364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters 0.013609024968672641 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.21, Z:-4.03 [[-6.32459800e-01 7.74574888e-01 5.32394447e-03 1.47610217e+02] [ 7.74548658e-01 6.32482201e-01 -6.37510770e-03 -1.45214669e+02] [-8.30529845e-03 9.16547011e-05 -9.99965506e-01 -4.02814045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters 0.012994627483475149 Centerline is valid? [True, True] Translation: X:147.60, Y:-145.18, Z:-4.03 [[-6.96386206e-01 7.17643839e-01 5.79429585e-03 1.47599994e+02] [ 7.17619371e-01 6.96410310e-01 -5.92607739e-03 -1.45181543e+02] [-8.28802029e-03 3.12603976e-05 -9.99965653e-01 -4.02849664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters 0.01325108363291298 Centerline is valid? [True, True] Translation: X:147.59, Y:-145.15, Z:-4.03 [[-7.57203305e-01 6.53156249e-01 5.48354109e-03 1.47589819e+02] [ 6.53138668e-01 7.57223158e-01 -4.79252511e-03 -1.45145225e+02] [-7.28253203e-03 -4.74031259e-05 -9.99973481e-01 -4.02968328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters 0.014830442946210942 Centerline is valid? [True, True] Translation: X:147.61, Y:-145.12, Z:-4.03 [[-8.06686379e-01 5.90951303e-01 5.80034875e-03 1.47609678e+02] [ 5.90935037e-01 8.06707224e-01 -4.38597602e-03 -1.45115985e+02] [-7.27108149e-03 -1.10477810e-04 -9.99973559e-01 -4.02976072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters 0.015079457138814574 Centerline is valid? [True, True] Translation: X:147.62, Y:-145.09, Z:-4.03 [[-8.47550941e-01 5.30675051e-01 6.43378972e-03 1.47622274e+02] [ 5.30658576e-01 8.47575350e-01 -4.18362592e-03 -1.45089781e+02] [-7.67326746e-03 -1.31690391e-04 -9.99970551e-01 -4.02947357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters 0.01628111810445919 Centerline is valid? [True, True] Translation: X:147.63, Y:-145.06, Z:-4.03 [[-8.85429983e-01 4.64694586e-01 8.52573067e-03 1.47634623e+02] [ 4.64670660e-01 8.85471001e-01 -4.72052553e-03 -1.45061696e+02] [-9.74288993e-03 -2.18037939e-04 -9.99952513e-01 -4.02825728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters 0.016847494296313884 Centerline is valid? [True, True] Translation: X:147.64, Y:-145.03, Z:-4.03 [[-9.16870479e-01 3.99058840e-01 1.00282977e-02 1.47641185e+02] [ 3.99031757e-01 9.16925281e-01 -4.65691364e-03 -1.45033530e+02] [-1.10535822e-02 -2.68177395e-04 -9.99938871e-01 -4.02732779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters 0.017283078527211056 Centerline is valid? [True, True] Translation: X:147.65, Y:-145.01, Z:-4.03 [[-9.42640246e-01 3.33604585e-01 1.17195685e-02 1.47646639e+02] [ 3.33574866e-01 9.42713049e-01 -4.46273751e-03 -1.45007297e+02] [-1.25369799e-02 -2.97402487e-04 -9.99921365e-01 -4.02538182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters 0.016209536139444956 Centerline is valid? [True, True] Translation: X:147.65, Y:-144.99, Z:-4.03 [[-9.62844614e-01 2.69788767e-01 1.20112708e-02 1.47651904e+02] [ 2.69764561e-01 9.62919498e-01 -3.62244734e-03 -1.44987413e+02] [-1.25431824e-02 -2.47638731e-04 -9.99921301e-01 -4.02575792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters 0.014718061387552616 Centerline is valid? [True, True] Translation: X:147.83, Y:-144.42, Z:-5.01 [[-9.30837301e-01 -3.65288582e-01 1.03039309e-02 1.47831180e+02] [ 3.65267760e-01 -9.30894320e-01 -3.90239136e-03 -1.44419549e+02] [ 1.10173697e-02 1.31202304e-04 9.99939298e-01 -5.01295609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters 0.014114916336025683 Centerline is valid? [True, True] Translation: X:147.61, Y:-144.99, Z:-4.03 [[-9.61517860e-01 2.74557318e-01 1.00838360e-02 1.47612524e+02] [ 2.74540947e-01 9.61570728e-01 -3.00045085e-03 -1.44993177e+02] [-1.05201173e-02 -1.16561195e-04 -9.99944655e-01 -4.02778214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters 0.01391119762233937 Centerline is valid? [True, True] Translation: X:147.62, Y:-144.97, Z:-4.03 [[-9.78217021e-01 2.07309339e-01 1.06910172e-02 1.47615660e+02] [ 2.07295800e-01 9.78275435e-01 -2.37147402e-03 -1.44972689e+02] [-1.09503882e-02 -1.03613291e-04 -9.99940037e-01 -4.02697178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters 0.014182852031291953 Centerline is valid? [True, True] Translation: X:147.61, Y:-144.95, Z:-4.03 [[-9.90716214e-01 1.35408868e-01 1.20756823e-02 1.47613755e+02] [ 1.35397084e-01 9.90789796e-01 -1.79188236e-03 -1.44949913e+02] [-1.22070996e-02 -1.40234736e-04 -9.99925481e-01 -4.02592017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters 0.014954284845356934 Centerline is valid? [True, True] Translation: X:147.61, Y:-144.93, Z:-4.03 [[-9.98032638e-01 6.14392580e-02 1.24928186e-02 1.47611236e+02] [ 6.14321161e-02 9.98110807e-01 -9.54984880e-04 -1.44925737e+02] [-1.25278908e-02 -1.85645796e-04 -9.99921506e-01 -4.02517301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters 0.01565663243250955 Centerline is valid? [True, True] Translation: X:147.60, Y:-144.90, Z:-4.03 [[-9.99838611e-01 -1.36491173e-02 1.16813127e-02 1.47604674e+02] [-1.36507645e-02 9.99906822e-01 -6.12913413e-05 -1.44901933e+02] [-1.16793877e-02 -2.20740299e-04 -9.99931769e-01 -4.02657165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters 0.01729259067467398 Centerline is valid? [True, True] Translation: X:147.61, Y:-144.25, Z:-5.01 [[-9.95486690e-01 -9.42681464e-02 1.09438168e-02 1.47605264e+02] [ 9.42642163e-02 -9.95546830e-01 -8.75536057e-04 -1.44248699e+02] [ 1.09776173e-02 1.60025822e-04 9.99939731e-01 -5.01435341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters 0.019736741521559634 Centerline is valid? [True, True] Translation: X:147.54, Y:-144.90, Z:-4.02 [[-9.99598433e-01 -2.57806544e-02 1.17614139e-02 1.47543406e+02] [-2.57825738e-02 9.99667574e-01 -1.15792628e-05 -1.44901682e+02] [-1.17572055e-02 -3.14814134e-04 -9.99930832e-01 -4.02419736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters 0.018874629963554337 Centerline is valid? [True, True] Translation: X:147.54, Y:-144.88, Z:-4.03 [[-9.94916038e-01 -9.99427501e-02 1.23905151e-02 1.47535676e+02] [-9.99396492e-02 9.94993120e-01 8.70740181e-04 -1.44882009e+02] [-1.24155014e-02 -3.71990360e-04 -9.99922856e-01 -4.02545681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters 0.018351108965797294 Centerline is valid? [True, True] Translation: X:147.49, Y:-144.21, Z:-5.01 [[-9.99534730e-01 -2.80589035e-02 1.19591735e-02 1.47490684e+02] [ 2.80608138e-02 -9.99606218e-01 -8.07236316e-06 -1.44212871e+02] [ 1.19546907e-02 3.27515533e-04 9.99928487e-01 -5.01339432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters 0.01889436128791818 Centerline is valid? [True, True] Translation: X:147.47, Y:-144.89, Z:-4.03 [[-9.94303063e-01 -1.06100881e-01 1.01991503e-02 1.47465084e+02] [-1.06098623e-01 9.94355318e-01 7.63752067e-04 -1.44894371e+02] [-1.02226141e-02 -3.22714773e-04 -9.99947696e-01 -4.02788553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters 0.018725552493429817 Centerline is valid? [True, True] Translation: X:147.46, Y:-144.87, Z:-4.03 [[-9.84549220e-01 -1.74854430e-01 9.42139784e-03 1.47458551e+02] [-1.74849177e-01 9.84594255e-01 1.38474081e-03 -1.44872140e+02] [-9.51838226e-03 -2.83978181e-04 -9.99954659e-01 -4.02744789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters 0.017796224183999065 Centerline is valid? [True, True] Translation: X:147.46, Y:-144.85, Z:-4.03 [[-9.70392786e-01 -2.41352181e-01 9.32555598e-03 1.47455744e+02] [-2.41343534e-01 9.70437562e-01 2.05861307e-03 -1.44848336e+02] [-9.54672055e-03 -2.52999363e-04 -9.99954397e-01 -4.02659883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters 0.016615156877533996 Centerline is valid? [True, True] Translation: X:147.44, Y:-144.83, Z:-4.03 [[-9.51862877e-01 -3.06384864e-01 9.24010180e-03 1.47441042e+02] [-3.06372632e-01 9.51907699e-01 2.74627823e-03 -1.44826726e+02] [-9.63714213e-03 -2.16834015e-04 -9.99953538e-01 -4.02614173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters 0.01654550216611967 Centerline is valid? [True, True] Translation: X:147.41, Y:-144.81, Z:-4.03 [[-9.27816874e-01 -3.72931699e-01 8.82021960e-03 1.47413713e+02] [-3.72916893e-01 9.27858776e-01 3.32918598e-03 -1.44806792e+02] [-9.42547714e-03 -2.00333963e-04 -9.99955559e-01 -4.02532929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters 0.016257580259985038 Centerline is valid? [True, True] Translation: X:147.37, Y:-144.80, Z:-4.03 [[-8.98164381e-01 -4.39573323e-01 8.71997863e-03 1.47365930e+02] [-4.39554809e-01 8.98206687e-01 4.03958244e-03 -1.44798623e+02] [-9.60803579e-03 -2.04699472e-04 -9.99953821e-01 -4.02543335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters 0.016647240556451694 Centerline is valid? [True, True] Translation: X:147.30, Y:-144.80, Z:-4.02 [[-8.63381117e-01 -5.04479865e-01 8.55058582e-03 1.47304122e+02] [-5.04457501e-01 8.63423432e-01 4.75465591e-03 -1.44798554e+02] [-9.78140432e-03 -2.08327025e-04 -9.99952139e-01 -4.02457053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters 0.01648992690219163 Centerline is valid? [True, True] Translation: X:147.23, Y:-144.81, Z:-4.02 [[-8.24012775e-01 -5.66502046e-01 8.85317784e-03 1.47231323e+02] [-5.66472196e-01 8.24060304e-01 5.81954670e-03 -1.44810257e+02] [-1.05923375e-02 -2.19698271e-04 -9.99943876e-01 -4.02374995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters 0.015515172264236389 Centerline is valid? [True, True] Translation: X:147.16, Y:-144.83, Z:-4.03 [[-7.81642130e-01 -6.23674666e-01 8.09267650e-03 1.47161151e+02] [-6.23643553e-01 7.81684003e-01 6.23211092e-03 -1.44830987e+02] [-1.02127255e-02 -1.75665072e-04 -9.99947833e-01 -4.02565803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters 0.015156437936318103 Centerline is valid? [True, True] Translation: X:147.08, Y:-144.86, Z:-4.03 [[-7.35162309e-01 -6.77853332e-01 7.15820554e-03 1.47081622e+02] [-6.77822913e-01 7.35197146e-01 6.42310182e-03 -1.44864951e+02] [-9.61661325e-03 -1.29973367e-04 -9.99953751e-01 -4.02588828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters 0.014020429624515945 Centerline is valid? [True, True] Translation: X:147.01, Y:-144.91, Z:-4.03 [[-6.86173123e-01 -7.27405339e-01 6.92233228e-03 1.47005711e+02] [-7.27369441e-01 6.86208035e-01 7.22694764e-03 -1.44908242e+02] [-1.00070803e-02 -7.61557302e-05 -9.99949925e-01 -4.02759742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters 0.013645913901668047 Centerline is valid? [True, True] Translation: X:146.93, Y:-144.96, Z:-4.03 [[-6.34070962e-01 -7.73249766e-01 6.23008703e-03 1.46927216e+02] [-7.73212626e-01 6.34101568e-01 7.57870063e-03 -1.44961950e+02] [-9.81073644e-03 -1.17479519e-05 -9.99951874e-01 -4.02881710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters 0.013823480121172755 Centerline is valid? [True, True] Translation: X:146.84, Y:-145.03, Z:-4.03 [[-5.77393987e-01 -8.16448018e-01 5.36810784e-03 1.46843653e+02] [-8.16412197e-01 5.77418940e-01 7.64805161e-03 -1.45033277e+02] [-9.34388372e-03 3.33502985e-05 -9.99956344e-01 -4.03007861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters 0.014865304924165657 Centerline is valid? [True, True] Translation: X:146.78, Y:-145.10, Z:-4.03 [[-5.20460259e-01 -8.53874687e-01 4.37473063e-03 1.46776247e+02] [-8.53842852e-01 5.20478634e-01 7.37390535e-03 -1.45098493e+02] [-8.57334494e-03 1.02492206e-04 -9.99963243e-01 -4.03140516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters 0.01551717526387933 Centerline is valid? [True, True] Translation: X:146.70, Y:-145.18, Z:-4.03 [[-4.60407319e-01 -8.87700701e-01 3.54480381e-03 1.46703222e+02] [-8.87671721e-01 4.60420938e-01 7.17468454e-03 -1.45182417e+02] [-8.00107439e-03 1.56655177e-04 -9.99967979e-01 -4.03325653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters 0.016263625294231254 Centerline is valid? [True, True] Translation: X:146.63, Y:-145.27, Z:-4.03 [[-3.94760838e-01 -9.18775669e-01 3.89243600e-03 1.46634504e+02] [-9.18724667e-01 3.94779950e-01 9.68383207e-03 -1.45270659e+02] [-1.04339250e-02 2.46720689e-04 -9.99945535e-01 -4.03234503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters 0.01637710466186081 Centerline is valid? [True, True] Translation: X:146.57, Y:-145.37, Z:-4.03 [[-3.23415157e-01 -9.46250603e-01 3.52591522e-03 1.46569214e+02] [-9.46184516e-01 3.23434254e-01 1.11868586e-02 -1.45367006e+02] [-1.17259734e-02 2.81833240e-04 -9.99931209e-01 -4.03135418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters 0.01632512438952743 Centerline is valid? [True, True] Translation: X:146.51, Y:-145.47, Z:-4.03 [[-2.49524612e-01 -9.68364963e-01 2.60123668e-03 1.46510883e+02] [-9.68300399e-01 2.49538022e-01 1.11854298e-02 -1.45471626e+02] [-1.14806857e-02 2.72261509e-04 -9.99934058e-01 -4.03145047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters 0.015677523552030826 Centerline is valid? [True, True] Translation: X:146.46, Y:-145.58, Z:-4.03 [[-1.71799156e-01 -9.85130817e-01 1.52408626e-03 1.46456033e+02] [-9.85080331e-01 1.71805785e-01 9.97561506e-03 -1.45584940e+02] [-1.00891327e-02 2.12454855e-04 -9.99949081e-01 -4.03240738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters 0.014727874998284901 Centerline is valid? [True, True] Translation: X:146.41, Y:-145.70, Z:-4.03 [[-9.04374766e-02 -9.95901883e-01 7.09195545e-04 1.46409683e+02] [-9.95856849e-01 9.04401322e-02 9.47203558e-03 -1.45697670e+02] [-9.49735780e-03 1.50369755e-04 -9.99954888e-01 -4.03302967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters 0.013352900480081881 Centerline is valid? [True, True] Translation: X:146.37, Y:-145.82, Z:-4.03 [[-7.17537579e-03 -9.99974257e-01 -1.97454792e-05 1.46369476e+02] [-9.99930588e-01 7.17487791e-03 9.34562815e-03 -1.45818208e+02] [-9.34524589e-03 8.68025027e-05 -9.99956329e-01 -4.03389188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters 0.01274785497521099 Centerline is valid? [True, True] Translation: X:146.34, Y:-145.94, Z:-4.03 [[ 7.86762847e-02 -9.96899960e-01 -7.15861425e-04 1.46337876e+02] [-9.96858928e-01 -7.86795414e-02 9.04477002e-03 -1.45937731e+02] [-9.07305451e-03 2.00395205e-06 -9.99958839e-01 -4.03331517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters 0.01331483251866641 Centerline is valid? [True, True] Translation: X:146.32, Y:-146.07, Z:-4.03 [[ 1.64279405e-01 -9.86412543e-01 -1.60390736e-03 1.46316355e+02] [-9.86359666e-01 -1.64287206e-01 1.02138687e-02 -1.46067217e+02] [-1.03385896e-02 -9.58987377e-05 -9.99946551e-01 -4.03213024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters 0.014030174476718935 Centerline is valid? [True, True] Translation: X:146.31, Y:-146.18, Z:-4.03 [[ 2.44343125e-01 -9.69685421e-01 -2.57312184e-03 1.46306124e+02] [-9.69624551e-01 -2.44356620e-01 1.08661300e-02 -1.46182381e+02] [-1.11654872e-02 -1.60102056e-04 -9.99937651e-01 -4.03108096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters 0.014941875396047879 Centerline is valid? [True, True] Translation: X:146.31, Y:-146.30, Z:-4.03 [[ 3.20965814e-01 -9.47083902e-01 -3.60943759e-03 1.46308247e+02] [-9.47016437e-01 -3.20986039e-01 1.13062525e-02 -1.46302597e+02] [-1.18665488e-02 -2.10723818e-04 -9.99929568e-01 -4.03083099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters 0.014807775881151983 Centerline is valid? [True, True] Translation: X:146.32, Y:-146.42, Z:-4.03 [[ 3.92598147e-01 -9.19700615e-01 -4.18028483e-03 1.46321590e+02] [-9.19642992e-01 -3.92620352e-01 1.02969732e-02 -1.46417751e+02] [-1.11113975e-02 -1.98202969e-04 -9.99938247e-01 -4.03162693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters 0.014728948153058335 Centerline is valid? [True, True] Translation: X:146.34, Y:-146.53, Z:-4.03 [[ 4.61552315e-01 -8.87097883e-01 -5.17760483e-03 1.46343799e+02] [-8.87037038e-01 -4.61581310e-01 1.03917465e-02 -1.46531490e+02] [-1.16083819e-02 -2.03607397e-04 -9.99932600e-01 -4.03127286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters 0.015175398176572987 Centerline is valid? [True, True] Translation: X:146.37, Y:-146.64, Z:-4.03 [[ 5.27022404e-01 -8.49821638e-01 -7.11123602e-03 1.46373292e+02] [-8.49738415e-01 -5.27070330e-01 1.18950968e-02 -1.46639603e+02] [-1.38568321e-02 -2.26292068e-04 -9.99903964e-01 -4.02850218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters 0.014740961118208702 Centerline is valid? [True, True] Translation: X:146.41, Y:-146.74, Z:-4.03 [[ 5.88525760e-01 -8.08437552e-01 -8.13356973e-03 1.46414008e+02] [-8.08355660e-01 -5.88581928e-01 1.15083604e-02 -1.46742234e+02] [-1.40910629e-02 -1.98149442e-04 -9.99900696e-01 -4.02874903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters 0.01387803431035134 Centerline is valid? [True, True] Translation: X:146.46, Y:-146.84, Z:-4.03 [[ 6.47257739e-01 -7.62222580e-01 -8.61148136e-03 1.46463756e+02] [-7.62151661e-01 -6.47315001e-01 1.03988509e-02 -1.46843809e+02] [-1.35005801e-02 -1.67481930e-04 -9.99908849e-01 -4.03083574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters 0.013568580357119771 Centerline is valid? [True, True] Translation: X:146.52, Y:-146.93, Z:-4.03 [[ 7.01992445e-01 -7.12126914e-01 -9.04792755e-03 1.46515031e+02] [-7.12065266e-01 -7.02050739e-01 9.37112643e-03 -1.46934143e+02] [-1.30255356e-02 -1.35745025e-04 -9.99915155e-01 -4.03129408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters 0.013502250260516937 Centerline is valid? [True, True] Translation: X:146.57, Y:-147.02, Z:-4.03 [[ 7.53416704e-01 -6.57469063e-01 -9.88443029e-03 1.46568689e+02] [-6.57410313e-01 -7.53481530e-01 8.79004558e-03 -1.47018086e+02] [-1.32269187e-02 -1.24440755e-04 -9.99912513e-01 -4.03124613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters 0.013371013486569947 Centerline is valid? [True, True] Translation: X:146.59, Y:-147.04, Z:-4.03 [[ 8.01270748e-01 -5.98208062e-01 -1.05972809e-02 1.46593457e+02] [-5.98154133e-01 -8.01340817e-01 8.03298859e-03 -1.47040841e+02] [-1.32974323e-02 -9.77913970e-05 -9.99911581e-01 -4.03130825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters 0.013036222021542768 Centerline is valid? [True, True] Translation: X:146.62, Y:-147.06, Z:-4.03 [[ 8.44672094e-01 -5.35166647e-01 -1.12122005e-02 1.46618895e+02] [-5.35118320e-01 -8.44746503e-01 7.19228100e-03 -1.47062335e+02] [-1.33205360e-02 -7.52651734e-05 -9.99911275e-01 -4.03269215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters 0.012998397123848678 Centerline is valid? [True, True] Translation: X:146.64, Y:-147.08, Z:-4.03 [[ 8.83801992e-01 -4.67727125e-01 -1.11971072e-02 1.46643841e+02] [-4.67688608e-01 -8.83872916e-01 6.00282690e-03 -1.47083501e+02] [-1.27045047e-02 -6.85509099e-05 -9.99919292e-01 -4.03388930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters 0.013281179289298567 Centerline is valid? [True, True] Translation: X:146.67, Y:-147.10, Z:-4.03 [[ 9.18221121e-01 -3.95927711e-01 -1.05461572e-02 1.46669222e+02] [-3.95900623e-01 -9.18281679e-01 4.63199526e-03 -1.47102869e+02] [-1.15182782e-02 -7.79656882e-05 -9.99933659e-01 -4.03366786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters 0.013618152693768898 Centerline is valid? [True, True] Translation: X:146.70, Y:-147.12, Z:-4.03 [[ 9.47715141e-01 -3.18944422e-01 -1.05103320e-02 1.46695624e+02] [-3.18923377e-01 -9.47773412e-01 3.66590872e-03 -1.47123801e+02] [-1.11306343e-02 -1.22246637e-04 -9.99938045e-01 -4.03423749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters 0.014626945309928325 Centerline is valid? [True, True] Translation: X:146.72, Y:-147.14, Z:-4.03 [[ 9.70719032e-01 -2.39908243e-01 -1.21899601e-02 1.46724638e+02] [-2.39886862e-01 -9.70795549e-01 3.20855530e-03 -1.47141545e+02] [-1.26037179e-02 -1.90394420e-04 -9.99920552e-01 -4.03239722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters 0.014511778047434703 Centerline is valid? [True, True] Translation: X:146.75, Y:-147.16, Z:-4.03 [[ 9.86830622e-01 -1.61259423e-01 -1.26776152e-02 1.46754105e+02] [-1.61243241e-01 -9.86912027e-01 2.29511376e-03 -1.47157702e+02] [-1.28817996e-02 -2.20708780e-04 -9.99917002e-01 -4.03335913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters 0.014569748914102598 Centerline is valid? [True, True] Translation: X:146.78, Y:-147.17, Z:-4.03 [[ 9.96456833e-01 -8.32014937e-02 -1.23000241e-02 1.46782135e+02] [-8.31924830e-02 -9.96532722e-01 1.24331661e-03 -1.47171172e+02] [-1.23608223e-02 -2.15641786e-04 -9.99923579e-01 -4.03376263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters 0.01440613239168169 Centerline is valid? [True, True] Translation: X:146.81, Y:-147.18, Z:-4.04 [[ 9.99929203e-01 -5.26034348e-03 -1.06732195e-02 1.46811238e+02] [-5.25809286e-03 -9.99986148e-01 2.38916184e-04 -1.47182427e+02] [-1.06743284e-02 -1.82778491e-04 -9.99943011e-01 -4.03518686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters 0.014123808696908614 Centerline is valid? [True, True] Translation: X:146.84, Y:-147.19, Z:-4.04 [[ 9.97427855e-01 7.09430839e-02 -1.02349334e-02 1.46839736e+02] [ 7.09409303e-02 -9.97480353e-01 -5.73776261e-04 -1.47187481e+02] [-1.02498505e-02 -1.53775273e-04 -9.99947457e-01 -4.03516344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters 0.013668360126229125 Centerline is valid? [True, True] Translation: X:146.87, Y:-147.19, Z:-4.03 [[ 9.89104444e-01 1.46858831e-01 -1.02412683e-02 1.46869849e+02] [ 1.46852370e-01 -9.89157452e-01 -1.38409452e-03 -1.47188793e+02] [-1.03334933e-02 -1.34940472e-04 -9.99946599e-01 -4.03447004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters 0.013108618250018076 Centerline is valid? [True, True] Translation: X:146.90, Y:-147.19, Z:-4.03 [[ 9.75111406e-01 2.21422315e-01 -1.13975423e-02 1.46899696e+02] [ 2.21408669e-01 -9.75178006e-01 -2.46130617e-03 -1.47189925e+02] [-1.16596207e-02 -1.23466952e-04 -9.99932017e-01 -4.03335730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters 0.013553697731321864 Centerline is valid? [True, True] Translation: X:146.93, Y:-147.19, Z:-4.03 [[ 9.54686749e-01 2.97375785e-01 -1.18681850e-02 1.46928924e+02] [ 2.97354567e-01 -9.54760506e-01 -3.55489991e-03 -1.47191050e+02] [-1.23884155e-02 -1.35243172e-04 -9.99923252e-01 -4.03156130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters 0.013463025076022407 Centerline is valid? [True, True] Translation: X:146.96, Y:-147.19, Z:-4.03 [[ 9.27735809e-01 3.73036198e-01 -1.22582331e-02 1.46959320e+02] [ 3.73006054e-01 -9.27816774e-01 -4.74526643e-03 -1.47190331e+02] [-1.31435504e-02 -1.70041553e-04 -9.99913605e-01 -4.03256653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters 0.014296060834292492 Centerline is valid? [True, True] Translation: X:146.99, Y:-147.19, Z:-4.03 [[ 8.93920931e-01 4.48045685e-01 -1.26662586e-02 1.46990917e+02] [ 4.48004462e-01 -8.94010631e-01 -6.08225590e-03 -1.47188301e+02] [-1.40488984e-02 -2.37484536e-04 -9.99901281e-01 -4.03138357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters 0.014654882528116808 Centerline is valid? [True, True] Translation: X:147.02, Y:-147.18, Z:-4.03 [[ 8.55174385e-01 5.18209205e-01 -1.16615078e-02 1.47020818e+02] [ 5.18165038e-01 -8.55253854e-01 -6.77035168e-03 -1.47180799e+02] [-1.34820080e-02 -2.52754288e-04 -9.99909082e-01 -4.03196224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters 0.014882547663620417 Centerline is valid? [True, True] Translation: X:147.05, Y:-147.17, Z:-4.03 [[ 8.12012528e-01 5.83543099e-01 -1.06351497e-02 1.47048167e+02] [ 5.83496935e-01 -8.12082135e-01 -7.34396706e-03 -1.47169249e+02] [-1.29221364e-02 -2.42184000e-04 -9.99916476e-01 -4.03222095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters 0.014680150631498773 Centerline is valid? [True, True] Translation: X:147.07, Y:-147.16, Z:-4.03 [[ 7.64193311e-01 6.44921294e-01 -9.22537297e-03 1.47074265e+02] [ 6.44877702e-01 -7.64248963e-01 -7.50148840e-03 -1.47155593e+02] [-1.18883513e-02 -2.16650065e-04 -9.99929308e-01 -4.03305588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters 0.01465453710095383 Centerline is valid? [True, True] Translation: X:147.10, Y:-147.14, Z:-4.03 [[ 7.11066045e-01 7.03078407e-01 -8.11383680e-03 1.47099913e+02] [ 7.03035958e-01 -7.11112305e-01 -7.72862114e-03 -1.47140648e+02] [-1.12036758e-02 -2.08758959e-04 -9.99937215e-01 -4.03334327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters 0.014224184101803188 Centerline is valid? [True, True] Translation: X:147.13, Y:-147.13, Z:-4.03 [[ 6.53589222e-01 7.56813014e-01 -7.42897994e-03 1.47126360e+02] [ 7.56767753e-01 -6.53631408e-01 -8.27954938e-03 -1.47125478e+02] [-1.11218853e-02 -2.10588219e-04 -9.99938128e-01 -4.03358765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters 0.015627634620210447 Centerline is valid? [True, True] Translation: X:147.15, Y:-147.11, Z:-4.03 [[ 5.91782376e-01 8.06068579e-01 -6.86042284e-03 1.47152940e+02] [ 8.06018697e-01 -5.91822099e-01 -8.97009971e-03 -1.47111058e+02] [-1.12906654e-02 -2.21282164e-04 -9.99936234e-01 -4.03145001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters 0.014897244056144095 Centerline is valid? [True, True] Translation: X:147.18, Y:-147.09, Z:-4.03 [[ 5.25277342e-01 8.50914391e-01 -5.33033424e-03 1.47176971e+02] [ 8.50874572e-01 -5.25304344e-01 -8.23459341e-03 -1.47091806e+02] [-9.80698177e-03 -2.10000527e-04 -9.99951888e-01 -4.03312458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters 0.015269485622619088 Centerline is valid? [True, True] Translation: X:147.20, Y:-147.07, Z:-4.03 [[ 4.56323327e-01 8.89803253e-01 -4.38090005e-03 1.47199492e+02] [ 8.89766470e-01 -4.56344310e-01 -8.09324054e-03 -1.47071843e+02] [-9.20059057e-03 -2.04843516e-04 -9.99957653e-01 -4.03322723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters 0.015979347191681544 Centerline is valid? [True, True] Translation: X:147.22, Y:-147.05, Z:-4.03 [[ 3.84141365e-01 9.23267174e-01 -3.62446165e-03 1.47218552e+02] [ 9.23231085e-01 -3.84158407e-01 -8.16587964e-03 -1.47049122e+02] [-8.93165604e-03 -2.09363504e-04 -9.99960090e-01 -4.03255069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters 0.016031003491541955 Centerline is valid? [True, True] Translation: X:147.23, Y:-147.02, Z:-4.03 [[ 3.11230206e-01 9.50330375e-01 -2.81747363e-03 1.47234054e+02] [ 9.50296877e-01 -3.11242898e-01 -7.98146750e-03 -1.47024006e+02] [-8.46194966e-03 -1.93362621e-04 -9.99964178e-01 -4.03197699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters 0.01604469585979104 Centerline is valid? [True, True] Translation: X:147.25, Y:-147.00, Z:-4.03 [[ 2.37247758e-01 9.71446809e-01 -2.14458600e-03 1.47247027e+02] [ 9.71413630e-01 -2.37257384e-01 -8.03072464e-03 -1.46998669e+02] [-8.31024068e-03 -1.78008653e-04 -9.99965454e-01 -4.03129198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters 0.014978976208822124 Centerline is valid? [True, True] Translation: X:147.26, Y:-146.97, Z:-4.03 [[ 1.61795395e-01 9.86823257e-01 -1.45221496e-03 1.47258204e+02] [ 9.86791923e-01 -1.61801832e-01 -7.86555727e-03 -1.46972270e+02] [-7.99688589e-03 -1.60423055e-04 -9.99968012e-01 -4.03173727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters 0.014574100945327902 Centerline is valid? [True, True] Translation: X:147.27, Y:-146.95, Z:-4.03 [[ 8.53899973e-02 9.96347220e-01 -8.75004102e-04 1.47269393e+02] [ 9.96312054e-01 -8.53943363e-02 -8.37248108e-03 -1.46945710e+02] [-8.41661864e-03 -1.56850997e-04 -9.99964567e-01 -4.03160339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters 0.01435158099954006 Centerline is valid? [True, True] Translation: X:147.28, Y:-146.92, Z:-4.03 [[ 9.30183197e-03 9.99956718e-01 -1.96036197e-04 1.47276910e+02] [ 9.99927631e-01 -9.30305683e-03 -7.62803569e-03 -1.46919325e+02] [-7.62952927e-03 -1.25067304e-04 -9.99970887e-01 -4.03154761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters 0.013602838369696953 Centerline is valid? [True, True] Translation: X:147.28, Y:-146.89, Z:-4.03 [[-6.48554166e-02 9.97894600e-01 3.76254448e-04 1.47278658e+02] [ 9.97869122e-01 6.48564495e-02 -7.13133449e-03 -1.46892513e+02] [-7.14072271e-03 -8.70529735e-05 -9.99974501e-01 -4.03141448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters 0.012560047272180545 Centerline is valid? [True, True] Translation: X:147.28, Y:-146.86, Z:-4.03 [[-1.37144943e-01 9.90550513e-01 9.72307564e-04 1.47277582e+02] [ 9.90523078e-01 1.37148381e-01 -7.37250694e-03 -1.46864992e+02] [-7.43619094e-03 -4.80089620e-05 -9.99972350e-01 -4.03179366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters 0.012310445353497098 Centerline is valid? [True, True] Translation: X:147.28, Y:-146.84, Z:-4.03 [[-2.09874828e-01 9.77727141e-01 1.48125857e-03 1.47275278e+02] [ 9.77702331e-01 2.09880055e-01 -6.96525228e-03 -1.46838457e+02] [-7.12100283e-03 -1.36011726e-05 -9.99974645e-01 -4.03190562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters 0.012271421627163827 Centerline is valid? [True, True] Translation: X:147.28, Y:-146.81, Z:-4.03 [[-2.83789848e-01 9.58884400e-01 2.00753189e-03 1.47275352e+02] [ 9.58860447e-01 2.83796948e-01 -6.77758726e-03 -1.46811422e+02] [-7.06865412e-03 1.53247000e-06 -9.99975017e-01 -4.03259167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters 0.01230775277733706 Centerline is valid? [True, True] Translation: X:147.28, Y:-146.78, Z:-4.03 [[-3.59308109e-01 9.33214739e-01 2.81687265e-03 1.47275724e+02] [ 9.33185866e-01 3.59319150e-01 -7.34082807e-03 -1.46783630e+02] [-7.86272524e-03 -8.95331015e-06 -9.99969088e-01 -4.03227952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters 0.01228560594738791 Centerline is valid? [True, True] Translation: X:147.27, Y:-146.75, Z:-4.03 [[-4.31982596e-01 9.01874545e-01 3.65272295e-03 1.47274430e+02] [ 9.01841992e-01 4.31998039e-01 -7.66264574e-03 -1.46754486e+02] [-8.48871428e-03 -1.59506600e-05 -9.99963970e-01 -4.03172902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters 0.012366723772317208 Centerline is valid? [True, True] Translation: X:147.27, Y:-146.73, Z:-4.03 [[-5.01365220e-01 8.65226662e-01 3.96726944e-03 1.47271337e+02] [ 8.65199326e-01 5.01380916e-01 -6.87770402e-03 -1.46725582e+02] [-7.93988608e-03 -1.57627413e-05 -9.99968479e-01 -4.03204193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters 0.012407254196059848 Centerline is valid? [True, True] Translation: X:147.27, Y:-146.70, Z:-4.03 [[-5.68950696e-01 8.22359789e-01 4.41392451e-03 1.47265822e+02] [ 8.22334659e-01 5.68967817e-01 -6.42895621e-03 -1.46696745e+02] [-7.79829607e-03 -2.80359970e-05 -9.99969592e-01 -4.03246443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters 0.012613611255262051 Centerline is valid? [True, True] Translation: X:147.26, Y:-146.67, Z:-4.03 [[-6.34529104e-01 7.72884172e-01 4.78256623e-03 1.47259684e+02] [ 7.72861552e-01 6.34547125e-01 -5.91334576e-03 -1.46665868e+02] [-7.60509499e-03 -5.59284323e-05 -9.99971079e-01 -4.03283932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters 0.013181118379892495 Centerline is valid? [True, True] Translation: X:147.25, Y:-146.64, Z:-4.03 [[-6.95699694e-01 7.18313332e-01 5.28138706e-03 1.47250802e+02] [ 7.18291715e-01 6.95719735e-01 -5.57328438e-03 -1.46637161e+02] [-7.67772968e-03 -8.37556658e-05 -9.99970522e-01 -4.03242104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters 0.014035852815331347 Centerline is valid? [True, True] Translation: X:147.24, Y:-146.61, Z:-4.03 [[-7.52863907e-01 6.58148821e-01 6.00561084e-03 1.47237805e+02] [ 6.58126544e-01 7.52887850e-01 -5.41647580e-03 -1.46609088e+02] [-8.08639859e-03 -1.25417227e-04 -9.99967297e-01 -4.03139547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters 0.015058148756486376 Centerline is valid? [True, True] Translation: X:147.26, Y:-146.59, Z:-4.03 [[-7.99417712e-01 6.00712449e-01 8.71067486e-03 1.47259510e+02] [ 6.00673963e-01 7.99465141e-01 -6.80285418e-03 -1.46587784e+02] [-1.10504401e-02 -2.06046535e-04 -9.99938921e-01 -4.02879118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters 0.01604972050316399 Centerline is valid? [True, True] Translation: X:147.27, Y:-146.56, Z:-4.03 [[-8.40725824e-01 5.41362169e-01 1.03485185e-02 1.47273676e+02] [ 5.41317449e-01 8.40789474e-01 -6.96278776e-03 -1.46562246e+02] [-1.24703153e-02 -2.51961853e-04 -9.99922211e-01 -4.02684233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters 0.014628590337858786 Centerline is valid? [True, True] Translation: X:147.29, Y:-146.54, Z:-4.03 [[-8.76790359e-01 4.80745930e-01 1.10461421e-02 1.47287110e+02] [ 4.80704113e-01 8.76859901e-01 -6.34576679e-03 -1.46543102e+02] [-1.27366207e-02 -2.53981177e-04 -9.99918854e-01 -4.02797615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters 0.01391185633123519 Centerline is valid? [True, True] Translation: X:147.30, Y:-146.53, Z:-4.03 [[-9.06992056e-01 4.20997063e-01 1.12642076e-02 1.47304821e+02] [ 4.20961768e-01 9.07061977e-01 -5.45520408e-03 -1.46526268e+02] [-1.25139593e-02 -2.06026004e-04 -9.99921676e-01 -4.02846351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters 0.013017392858313118 Centerline is valid? [True, True] Translation: X:147.31, Y:-146.51, Z:-4.03 [[-9.32328988e-01 3.61474880e-01 9.92818154e-03 1.47314309e+02] [ 3.61453130e-01 9.32381842e-01 -3.96688931e-03 -1.46507727e+02] [-1.06907870e-02 -1.09873606e-04 -9.99942846e-01 -4.02928934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters 0.012367048914218085 Centerline is valid? [True, True] Translation: X:147.33, Y:-146.49, Z:-4.03 [[-9.53332031e-01 3.01791910e-01 8.92651463e-03 1.47330118e+02] [ 3.01778435e-01 9.53373821e-01 -2.85194896e-03 -1.46493618e+02] [-9.37100049e-03 -2.50246823e-05 -9.99956091e-01 -4.03050014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters 0.012654239923367018 Centerline is valid? [True, True] Translation: X:147.55, Y:-145.81, Z:-5.01 [[-9.31272273e-01 -3.64199211e-01 9.53355067e-03 1.47553989e+02] [ 3.64180936e-01 -9.31321067e-01 -3.64919676e-03 -1.45805553e+02] [ 1.02078312e-02 7.35416415e-05 9.99947896e-01 -5.01059898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters 0.012722751763948905 Centerline is valid? [True, True] Translation: X:147.29, Y:-146.49, Z:-4.03 [[-9.52177687e-01 3.05362418e-01 1.05568065e-02 1.47291150e+02] [ 3.05344262e-01 9.52236206e-01 -3.33024811e-03 -1.46490006e+02] [-1.10695060e-02 5.24723569e-05 -9.99938730e-01 -4.02913014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters 0.01284955871438317 Centerline is valid? [True, True] Translation: X:147.30, Y:-146.46, Z:-4.03 [[-9.71543529e-01 2.36560651e-01 1.19260009e-02 1.47298213e+02] [ 2.36543478e-01 9.71616723e-01 -2.85077771e-03 -1.46462376e+02] [-1.22618837e-02 5.13631008e-05 -9.99924819e-01 -4.02840752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters 0.012989152471772233 Centerline is valid? [True, True] Translation: X:147.47, Y:-145.75, Z:-5.01 [[-9.56070938e-01 -2.92847404e-01 1.29907541e-02 1.47471773e+02] [ 2.92820727e-01 -9.56159190e-01 -3.95279913e-03 -1.45754720e+02] [ 1.35787959e-02 2.48056902e-05 9.99907804e-01 -5.01222449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters 0.013248937687192534 Centerline is valid? [True, True] Translation: X:147.25, Y:-146.45, Z:-4.03 [[-9.71539077e-01 2.36474728e-01 1.38392560e-02 1.47252828e+02] [ 2.36452396e-01 9.71637633e-01 -3.25179725e-03 -1.46454485e+02] [-1.42157099e-02 1.13077144e-04 -9.99898945e-01 -4.02871556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters 0.01347121050328017 Centerline is valid? [True, True] Translation: X:147.26, Y:-146.43, Z:-4.03 [[-9.85360923e-01 1.70060971e-01 1.19631985e-02 1.47262096e+02] [ 1.70050089e-01 9.85433533e-01 -1.92849863e-03 -1.46428554e+02] [-1.21168993e-02 1.34075788e-04 -9.99926579e-01 -4.03078635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters 0.013321006797802985 Centerline is valid? [True, True] Translation: X:147.26, Y:-146.40, Z:-4.03 [[-9.94916289e-01 1.00256717e-01 9.49566961e-03 1.47262574e+02] [ 1.00253209e-01 9.94961597e-01 -8.45937501e-04 -1.46399484e+02] [-9.53263752e-03 1.10334349e-04 -9.99954557e-01 -4.03345925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters 0.013326062988431038 Centerline is valid? [True, True] Translation: X:147.33, Y:-145.68, Z:-5.01 [[-9.89322166e-01 -1.45490735e-01 8.60804024e-03 1.47333471e+02] [ 1.45483872e-01 -9.89359602e-01 -1.42157086e-03 -1.45676015e+02] [ 8.72327265e-03 -1.54060543e-04 9.99961940e-01 -5.00626978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters 0.012457641785910464 Centerline is valid? [True, True] Translation: X:147.21, Y:-146.39, Z:-4.03 [[-9.95973242e-01 8.92538405e-02 8.42931106e-03 1.47209711e+02] [ 8.92509737e-02 9.96008911e-01 -7.16408776e-04 -1.46385836e+02] [-8.45961116e-03 3.88002483e-05 -9.99964216e-01 -4.03381239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters 0.012254771067905082 Centerline is valid? [True, True] Translation: X:147.20, Y:-146.35, Z:-4.03 [[-9.99891183e-01 1.15083172e-02 9.22938207e-03 1.47204421e+02] [ 1.15076345e-02 9.99933777e-01 -1.27070961e-04 -1.46351024e+02] [-9.23023325e-03 -2.08487779e-05 -9.99957400e-01 -4.03329684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters 0.01250986795743927 Centerline is valid? [True, True] Translation: X:147.20, Y:-146.32, Z:-4.03 [[-9.97825014e-01 -6.54774958e-02 7.61172681e-03 1.47196173e+02] [-6.54760726e-02 9.97854044e-01 4.36291479e-04 -1.46317478e+02] [-7.62395966e-03 -6.30434259e-05 -9.99970935e-01 -4.03464771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters 0.012959043587390988 Centerline is valid? [True, True] Translation: X:147.18, Y:-146.29, Z:-4.04 [[-9.90291365e-01 -1.38856298e-01 6.47616028e-03 1.47175269e+02] [-1.38853801e-01 9.90312538e-01 8.35808184e-04 -1.46288572e+02] [-6.52947995e-03 -7.15458426e-05 -9.99978680e-01 -4.03535986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters 0.012923280040513291 Centerline is valid? [True, True] Translation: X:147.10, Y:-145.62, Z:-5.00 [[-9.98715159e-01 5.03912681e-02 5.36197203e-03 1.47104510e+02] [-5.03906402e-02 -9.98729553e-01 2.52219178e-04 -1.45618973e+02] [ 5.36786957e-03 -1.82980865e-05 9.99985593e-01 -5.00427132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters 0.012724161220345148 Centerline is valid? [True, True] Translation: X:147.10, Y:-146.30, Z:-4.04 [[-9.89727697e-01 -1.42842669e-01 5.92087736e-03 1.47103675e+02] [-1.42840450e-01 9.89745406e-01 7.98178606e-04 -1.46297387e+02] [-5.97417513e-03 -5.57613127e-05 -9.99982153e-01 -4.03508565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters 0.012336339431166424 Centerline is valid? [True, True] Translation: X:147.02, Y:-145.63, Z:-5.01 [[-9.98160084e-01 6.01529760e-02 7.62015287e-03 1.47017483e+02] [-6.01498628e-02 -9.98189154e-01 6.37269952e-04 -1.45628064e+02] [ 7.64468764e-03 1.77746279e-04 9.99970763e-01 -5.00617894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters 0.012309825357473853 Centerline is valid? [True, True] Translation: X:147.02, Y:-146.31, Z:-4.03 [[-9.89420840e-01 -1.44748113e-01 9.71521272e-03 1.47016337e+02] [-1.44741655e-01 9.89468535e-01 1.36830940e-03 -1.46312134e+02] [-9.81095750e-03 -5.23621324e-05 -9.99951870e-01 -4.03194341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters 0.012494861942304475 Centerline is valid? [True, True] Translation: X:147.00, Y:-146.29, Z:-4.03 [[-9.76661229e-01 -2.14529521e-01 1.04846772e-02 1.47004627e+02] [-2.14517747e-01 9.76717504e-01 2.24822171e-03 -1.46289178e+02] [-1.07228777e-02 -5.33983562e-05 -9.99942507e-01 -4.03113949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters 0.012559659557349414 Centerline is valid? [True, True] Translation: X:146.86, Y:-145.62, Z:-5.01 [[-9.90173257e-01 1.39408177e-01 1.10580469e-02 1.46860886e+02] [-1.39398518e-01 -9.90234999e-01 1.64330709e-03 -1.45616034e+02] [ 1.11791555e-02 8.56833880e-05 9.99937508e-01 -5.00962335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters 0.012327396676785691 Centerline is valid? [True, True] Translation: X:146.90, Y:-146.32, Z:-4.03 [[-9.75819052e-01 -2.18357232e-01 9.86392417e-03 1.46902638e+02] [-2.18346349e-01 9.75868904e-01 2.18023819e-03 -1.46319609e+02] [-1.01019676e-02 -2.62338682e-05 -9.99948974e-01 -4.03139216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters 0.012312793966243622 Centerline is valid? [True, True] Translation: X:146.75, Y:-145.63, Z:-5.01 [[-9.88681669e-01 1.49787938e-01 8.49304689e-03 1.46746744e+02] [-1.49783064e-01 -9.88718144e-01 1.21072226e-03 -1.45626842e+02] [ 8.57858115e-03 -7.50956750e-05 9.99963201e-01 -5.00758186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters 0.01219931703071404 Centerline is valid? [True, True] Translation: X:146.80, Y:-146.35, Z:-4.03 [[-9.75346603e-01 -2.20545740e-01 7.65380439e-03 1.46795385e+02] [-2.20538844e-01 9.75376633e-01 1.74409423e-03 -1.46353577e+02] [-7.84999451e-03 1.31352170e-05 -9.99969188e-01 -4.03318749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters 0.01229114651879526 Centerline is valid? [True, True] Translation: X:146.77, Y:-146.34, Z:-4.03 [[-9.57032507e-01 -2.89858407e-01 8.41926703e-03 1.46772264e+02] [-2.89847046e-01 9.57069540e-01 2.56643218e-03 -1.46335338e+02] [-8.80172597e-03 1.58593449e-05 -9.99961264e-01 -4.03264470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters 0.01222885045563709 Centerline is valid? [True, True] Translation: X:146.74, Y:-146.32, Z:-4.03 [[-9.33300239e-01 -3.58988410e-01 8.83095084e-03 1.46735212e+02] [-3.58972239e-01 9.33342017e-01 3.40746454e-03 -1.46320660e+02] [-9.46553775e-03 1.01212757e-05 -9.99955201e-01 -4.03205748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters 0.012263311701865539 Centerline is valid? [True, True] Translation: X:146.68, Y:-146.32, Z:-4.03 [[-9.03341790e-01 -4.28839141e-01 8.40250314e-03 1.46675862e+02] [-4.28820736e-01 9.03380867e-01 3.97308483e-03 -1.46317092e+02] [-9.29447486e-03 -1.41140168e-05 -9.99956805e-01 -4.03190970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters 0.0123393745577862 Centerline is valid? [True, True] Translation: X:146.61, Y:-146.32, Z:-4.03 [[-8.67867531e-01 -4.96736369e-01 7.67653720e-03 1.46605856e+02] [-4.96717330e-01 8.67901480e-01 4.34920256e-03 -1.46321623e+02] [-8.82288508e-03 -3.85373764e-05 -9.99961077e-01 -4.03245503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters 0.012882999601278105 Centerline is valid? [True, True] Translation: X:146.53, Y:-146.33, Z:-4.03 [[-8.26810122e-01 -5.62418675e-01 8.38185764e-03 1.46534611e+02] [-5.62390683e-01 8.26852604e-01 5.61171080e-03 -1.46331393e+02] [-1.00866918e-02 -7.40593555e-05 -9.99949125e-01 -4.03052621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters 0.012975592046100303 Centerline is valid? [True, True] Translation: X:146.45, Y:-146.36, Z:-4.03 [[-7.79678027e-01 -6.26132356e-01 7.77477595e-03 1.46453207e+02] [-6.26102725e-01 7.79716782e-01 6.09245197e-03 -1.46355393e+02] [-9.87680459e-03 -1.17657479e-04 -9.99951216e-01 -4.03152178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters 0.013193489700147096 Centerline is valid? [True, True] Translation: X:146.37, Y:-146.39, Z:-4.03 [[-7.29222308e-01 -6.84241802e-01 6.92687891e-03 1.46371684e+02] [-6.84212601e-01 7.29255195e-01 6.32268947e-03 -1.46388884e+02] [-9.37771087e-03 -1.28811627e-04 -9.99956020e-01 -4.03190824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters 0.013244732984483318 Centerline is valid? [True, True] Translation: X:146.29, Y:-146.43, Z:-4.03 [[-6.75305449e-01 -7.37515227e-01 5.81729201e-03 1.46287697e+02] [-7.37489377e-01 6.75330494e-01 6.17598099e-03 -1.46434823e+02] [-8.48347471e-03 -1.19517439e-04 -9.99964008e-01 -4.03284392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters 0.013256663842988497 Centerline is valid? [True, True] Translation: X:146.21, Y:-146.48, Z:-4.03 [[-6.18215522e-01 -7.85994241e-01 4.75628581e-03 1.46206922e+02] [-7.85972217e-01 6.18233810e-01 5.88471547e-03 -1.46484972e+02] [-7.56584916e-03 -1.00286058e-04 -9.99971374e-01 -4.03337825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters 0.013216889971403108 Centerline is valid? [True, True] Translation: X:146.12, Y:-146.55, Z:-4.03 [[-5.57059267e-01 -8.30461013e-01 4.41356096e-03 1.46122435e+02] [-8.30436356e-01 5.57076742e-01 6.40019287e-03 -1.46551001e+02] [-7.77380281e-03 -9.98947330e-05 -9.99969779e-01 -4.03281003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters 0.0134903411224933 Centerline is valid? [True, True] Translation: X:146.04, Y:-146.62, Z:-4.03 [[-4.91800124e-01 -8.70698966e-01 3.99348628e-03 1.46045000e+02] [-8.70671974e-01 4.91816327e-01 6.85677381e-03 -1.46617797e+02] [-7.93424762e-03 -1.04854368e-04 -9.99968518e-01 -4.03191992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters 0.013380427519627513 Centerline is valid? [True, True] Translation: X:145.97, Y:-146.70, Z:-4.03 [[-4.23535353e-01 -9.05872353e-01 3.61725184e-03 1.45969342e+02] [-9.05841563e-01 4.23550785e-01 7.46962758e-03 -1.46699795e+02] [-8.29861897e-03 -1.13005699e-04 -9.99965560e-01 -4.03102321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters 0.01316581169181691 Centerline is valid? [True, True] Translation: X:145.90, Y:-146.79, Z:-4.03 [[-3.53553690e-01 -9.35405926e-01 3.94244732e-03 1.45901159e+02] [-9.35352129e-01 3.53575642e-01 1.00329968e-02 -1.46789836e+02] [-1.07788780e-02 -1.40373448e-04 -9.99941896e-01 -4.02959118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters 0.013766876194403676 Centerline is valid? [True, True] Translation: X:145.84, Y:-146.89, Z:-4.03 [[-2.81586316e-01 -9.59530172e-01 3.31588169e-03 1.45836262e+02] [-9.59469353e-01 2.81605804e-01 1.08042029e-02 -1.46889595e+02] [-1.13007302e-02 -1.39171166e-04 -9.99936135e-01 -4.02721975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters 0.012924607173975994 Centerline is valid? [True, True] Translation: X:145.79, Y:-146.99, Z:-4.03 [[-2.09347920e-01 -9.77837622e-01 2.65194341e-03 1.45785749e+02] [-9.77766351e-01 2.09364681e-01 1.18064580e-02 -1.46988315e+02] [-1.21000221e-02 -1.21323605e-04 -9.99926785e-01 -4.02843381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters 0.01266235697345 Centerline is valid? [True, True] Translation: X:145.74, Y:-147.09, Z:-4.03 [[-1.35596712e-01 -9.90762837e-01 1.59129669e-03 1.45740676e+02] [-9.90702089e-01 1.35606020e-01 1.09716678e-02 -1.47094977e+02] [-1.10861101e-02 -8.87788775e-05 -9.99938543e-01 -4.02969480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters 0.012350253829391963 Centerline is valid? [True, True] Translation: X:145.71, Y:-147.21, Z:-4.03 [[-6.17545324e-02 -9.98091171e-01 6.26221579e-04 1.45705577e+02] [-9.98047589e-01 6.17576880e-02 9.32731050e-03 -1.47206457e+02] [-9.34818025e-03 -4.89952387e-05 -9.99956304e-01 -4.03252999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters 0.012244177845853492 Centerline is valid? [True, True] Translation: X:145.68, Y:-147.33, Z:-4.03 [[ 1.35625874e-02 -9.99908020e-01 -8.40803472e-05 1.45676670e+02] [-9.99872719e-01 -1.35628151e-02 8.40218710e-03 -1.47325847e+02] [-8.40255464e-03 -2.98857517e-05 -9.99964698e-01 -4.03287977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters 0.012233819040257943 Centerline is valid? [True, True] Translation: X:144.94, Y:-147.44, Z:-5.01 [[-5.98894580e-02 9.98204898e-01 4.83860051e-04 1.44941472e+02] [-9.98177677e-01 -5.98913982e-02 7.37193718e-03 -1.47439118e+02] [ 7.38768286e-03 -4.14769796e-05 9.99972710e-01 -5.00771246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters 0.012176441042306056 Centerline is valid? [True, True] Translation: X:145.68, Y:-147.61, Z:-4.03 [[ 2.26595268e-02 -9.99743228e-01 -1.54262187e-04 1.45675327e+02] [-9.99712932e-01 -2.26600411e-02 7.78305137e-03 -1.47609966e+02] [-7.78454849e-03 -2.21423584e-05 -9.99969700e-01 -4.03231402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters 0.01227109982240698 Centerline is valid? [True, True] Translation: X:145.65, Y:-147.73, Z:-4.03 [[ 9.95339293e-02 -9.95033884e-01 -7.52987645e-04 1.45654118e+02] [-9.95003608e-01 -9.95367748e-02 7.76208446e-03 -1.47726855e+02] [-7.79848701e-03 -2.33653426e-05 -9.99969591e-01 -4.03149356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters 0.012281137670902371 Centerline is valid? [True, True] Translation: X:145.64, Y:-147.85, Z:-4.03 [[ 1.75453413e-01 -9.84486621e-01 -1.48064509e-03 1.45641493e+02] [-9.84450483e-01 -1.75459659e-01 8.43529861e-03 -1.47845121e+02] [-8.56423211e-03 -2.23801559e-05 -9.99963326e-01 -4.02956627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters 0.012205069894259133 Centerline is valid? [True, True] Translation: X:145.64, Y:-147.97, Z:-4.03 [[ 2.49522977e-01 -9.68366640e-01 -2.08202090e-03 1.45639762e+02] [-9.68332526e-01 -2.49531663e-01 8.12820659e-03 -1.47968331e+02] [-8.39061424e-03 -1.20857470e-05 -9.99964798e-01 -4.02898771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters 0.012057711275409113 Centerline is valid? [True, True] Translation: X:145.65, Y:-148.08, Z:-4.03 [[ 3.21616343e-01 -9.46866525e-01 -2.59056439e-03 1.45646505e+02] [-9.46835874e-01 -3.21626777e-01 7.61866955e-03 -1.48084517e+02] [-8.04705803e-03 2.55065439e-06 -9.99967622e-01 -4.02961801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters 0.012236275223142211 Centerline is valid? [True, True] Translation: X:145.66, Y:-148.21, Z:-4.03 [[ 3.90397219e-01 -9.20641535e-01 -3.02897963e-03 1.45664205e+02] [-9.20614386e-01 -3.90408968e-01 7.07038793e-03 -1.48205641e+02] [-7.69183362e-03 2.82624372e-05 -9.99970417e-01 -4.02944273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters 0.012378093415264971 Centerline is valid? [True, True] Translation: X:145.69, Y:-148.32, Z:-4.03 [[ 4.58288711e-01 -8.88797156e-01 -3.32744268e-03 1.45687567e+02] [-8.88774363e-01 -4.58300789e-01 6.36545317e-03 -1.48317930e+02] [-7.18256629e-03 4.01304185e-05 -9.99974204e-01 -4.02991331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters 0.012617053040277392 Centerline is valid? [True, True] Translation: X:145.72, Y:-148.43, Z:-4.03 [[ 5.22475936e-01 -8.52647795e-01 -3.26103640e-03 1.45718461e+02] [-8.52631819e-01 -5.22486110e-01 5.21976316e-03 -1.48427220e+02] [-6.15446577e-03 5.32627526e-05 -9.99981060e-01 -4.03041962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters 0.013047375857522995 Centerline is valid? [True, True] Translation: X:145.76, Y:-148.54, Z:-4.03 [[ 5.84969601e-01 -8.11048491e-01 -3.30335436e-03 1.45760262e+02] [-8.11036102e-01 -5.84978925e-01 4.48313018e-03 -1.48537808e+02] [-5.56842865e-03 5.66447747e-05 -9.99984495e-01 -4.03053061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters 0.013071361722311168 Centerline is valid? [True, True] Translation: X:145.81, Y:-148.64, Z:-4.03 [[ 6.44799615e-01 -7.64343827e-01 -3.46000766e-03 1.45806366e+02] [-7.64333293e-01 -6.44808895e-01 4.01308906e-03 -1.48643355e+02] [-5.29842356e-03 5.69607695e-05 -9.99985962e-01 -4.03010795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters 0.013046179723496512 Centerline is valid? [True, True] Translation: X:145.85, Y:-148.74, Z:-4.03 [[ 7.01731110e-01 -7.12431725e-01 -3.80614155e-03 1.45853781e+02] [-7.12421657e-01 -7.01741430e-01 3.78782141e-03 -1.48737794e+02] [-5.36949136e-03 5.35455459e-05 -9.99985583e-01 -4.02952853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters 0.012913415729792373 Centerline is valid? [True, True] Translation: X:145.87, Y:-148.76, Z:-4.03 [[ 7.56043044e-01 -6.54506997e-01 -4.41649082e-03 1.45874022e+02] [-6.54496223e-01 -7.56055942e-01 3.75582455e-03 -1.48764188e+02] [-5.79732757e-03 5.10115340e-05 -9.99983194e-01 -4.02898318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters 0.01246736084722639 Centerline is valid? [True, True] Translation: X:145.89, Y:-148.80, Z:-4.03 [[ 8.06769504e-01 -5.90840352e-01 -5.53585506e-03 1.45891256e+02] [-5.90826768e-01 -8.06788496e-01 4.00678257e-03 -1.48795698e+02] [-6.83363300e-03 3.81813671e-05 -9.99976650e-01 -4.02871143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters 0.012219629576019667 Centerline is valid? [True, True] Translation: X:145.91, Y:-148.82, Z:-4.03 [[ 8.52363154e-01 -5.22906221e-01 -6.79243668e-03 1.45911364e+02] [-5.22889771e-01 -8.52390218e-01 4.14767573e-03 -1.48824382e+02] [-7.95865203e-03 1.63696928e-05 -9.99968329e-01 -4.02773766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters 0.01222121299700362 Centerline is valid? [True, True] Translation: X:145.94, Y:-148.85, Z:-4.03 [[ 8.91459361e-01 -4.53042339e-01 -7.26957400e-03 1.45935189e+02] [-4.53027292e-01 -8.91489001e-01 3.69238452e-03 -1.48848326e+02] [-8.15355178e-03 1.70467052e-06 -9.99966759e-01 -4.02721863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters 0.012177338886076286 Centerline is valid? [True, True] Translation: X:145.96, Y:-148.87, Z:-4.03 [[ 9.24123852e-01 -3.82031885e-01 -6.83701573e-03 1.45961276e+02] [-3.82021447e-01 -9.24149143e-01 2.82410291e-03 -1.48871115e+02] [-7.39731959e-03 2.06578242e-06 -9.99972640e-01 -4.02845819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters 0.012117043860689044 Centerline is valid? [True, True] Translation: X:145.99, Y:-148.89, Z:-4.03 [[ 9.50918530e-01 -3.09383185e-01 -5.99958448e-03 1.45989166e+02] [-3.09377073e-01 -9.50937456e-01 1.94461335e-03 -1.48891319e+02] [-6.30686027e-03 6.96501822e-06 -9.99980112e-01 -4.02885983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters 0.012114989245049758 Centerline is valid? [True, True] Translation: X:146.02, Y:-148.91, Z:-4.03 [[ 9.71856830e-01 -2.35495420e-01 -6.01734888e-03 1.46018856e+02] [-2.35491006e-01 -9.71875459e-01 1.44180954e-03 -1.48910196e+02] [-6.18765324e-03 1.57990950e-05 -9.99980856e-01 -4.02938299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters 0.012205537516420303 Centerline is valid? [True, True] Translation: X:146.05, Y:-148.92, Z:-4.03 [[ 9.87181113e-01 -1.59467276e-01 -6.60596257e-03 1.46049516e+02] [-1.59463857e-01 -9.87203215e-01 1.04451161e-03 -1.48924591e+02] [-6.68799291e-03 2.22901416e-05 -9.99977635e-01 -4.02898670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters 0.012370488064292659 Centerline is valid? [True, True] Translation: X:146.08, Y:-148.94, Z:-4.03 [[ 9.96652761e-01 -8.13114016e-02 -8.46937293e-03 1.46077104e+02] [-8.13086791e-02 -9.96688746e-01 6.65849424e-04 -1.48935796e+02] [-8.49546983e-03 2.50128589e-05 -9.99963913e-01 -4.02716754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters 0.01244419665717557 Centerline is valid? [True, True] Translation: X:146.11, Y:-148.95, Z:-4.03 [[ 9.99944952e-01 -2.71675537e-03 -1.01346882e-02 1.46107052e+02] [-2.71688469e-03 -9.99996309e-01 1.00716762e-06 -1.48946931e+02] [-1.01346535e-02 2.65276670e-05 -9.99948643e-01 -4.02601494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters 0.012632086255306235 Centerline is valid? [True, True] Translation: X:146.14, Y:-148.95, Z:-4.02 [[ 9.97080318e-01 7.53562015e-02 -1.23402899e-02 1.46137034e+02] [ 7.53499898e-02 -9.97156679e-01 -9.68202626e-04 -1.48951753e+02] [-1.23781625e-02 3.55350665e-05 -9.99923387e-01 -4.02353414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters 0.01278045211063249 Centerline is valid? [True, True] Translation: X:146.17, Y:-148.95, Z:-4.02 [[ 9.88221974e-01 1.52535077e-01 -1.22629369e-02 1.46166212e+02] [ 1.52522787e-01 -9.88298057e-01 -1.93674199e-03 -1.48951518e+02] [-1.24148578e-02 4.35536884e-05 -9.99922932e-01 -4.02404667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters 0.012606737997542625 Centerline is valid? [True, True] Translation: X:146.20, Y:-148.95, Z:-4.03 [[ 9.73305028e-01 2.29246522e-01 -1.11065202e-02 1.46196193e+02] [ 2.29231100e-01 -9.73368394e-01 -2.65946343e-03 -1.48952632e+02] [-1.14204085e-02 4.25092851e-05 -9.99934784e-01 -4.02621927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters 0.012504692000673456 Centerline is valid? [True, True] Translation: X:146.23, Y:-148.95, Z:-4.03 [[ 9.52158178e-01 3.05500693e-01 -8.00812192e-03 1.46226156e+02] [ 3.05489674e-01 -9.52191854e-01 -2.59491233e-03 -1.48950583e+02] [-8.41801597e-03 2.43684469e-05 -9.99964568e-01 -4.02860827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters 0.01244347815239366 Centerline is valid? [True, True] Translation: X:146.26, Y:-148.95, Z:-4.03 [[ 9.23573604e-01 3.83349479e-01 -7.41448646e-03 1.46255092e+02] [ 3.83337245e-01 -9.23603366e-01 -3.06264271e-03 -1.48948295e+02] [-8.02210714e-03 -1.36728437e-05 -9.99967822e-01 -4.02854222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters 0.012545837131461613 Centerline is valid? [True, True] Translation: X:146.29, Y:-148.94, Z:-4.03 [[ 8.89604741e-01 4.56672080e-01 -7.34954249e-03 1.46285465e+02] [ 4.56656818e-01 -8.89635099e-01 -3.73374285e-03 -1.48943555e+02] [-8.24350708e-03 -3.46633455e-05 -9.99966021e-01 -4.02855583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters 0.013265395167055606 Centerline is valid? [True, True] Translation: X:146.32, Y:-148.94, Z:-4.03 [[ 8.47077262e-01 5.31407350e-01 -8.14505306e-03 1.46317831e+02] [ 5.31384066e-01 -8.47116412e-01 -4.97580110e-03 -1.48940932e+02] [-9.54398540e-03 -1.13263438e-04 -9.99954449e-01 -4.02706317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters 0.015165582163815288 Centerline is valid? [True, True] Translation: X:146.35, Y:-148.94, Z:-4.02 [[ 7.99266155e-01 6.00915515e-01 -8.61144720e-03 1.46349286e+02] [ 6.00883179e-01 -7.99312522e-01 -6.23676009e-03 -1.48935168e+02] [-1.06310035e-02 -1.89642508e-04 -9.99943471e-01 -4.02446936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters 0.01511702567021259 Centerline is valid? [True, True] Translation: X:146.38, Y:-148.92, Z:-4.02 [[ 7.48087571e-01 6.63541060e-01 -8.84577217e-03 1.46378093e+02] [ 6.63498380e-01 -7.48139831e-01 -7.52952878e-03 -1.48922854e+02] [-1.16140260e-02 -2.36408604e-04 -9.99932527e-01 -4.02451534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters 0.01691127922092628 Centerline is valid? [True, True] Translation: X:146.41, Y:-148.91, Z:-4.02 [[ 6.92725234e-01 7.21152053e-01 -8.45376831e-03 1.46405560e+02] [ 7.21102912e-01 -6.92776767e-01 -8.42271724e-03 -1.48909836e+02] [-1.19306341e-02 -2.61408177e-04 -9.99928793e-01 -4.02218669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters 0.015016412515294033 Centerline is valid? [True, True] Translation: X:146.43, Y:-148.89, Z:-4.02 [[ 6.35392824e-01 7.72151444e-01 -7.62283167e-03 1.46427857e+02] [ 7.72100307e-01 -6.35438503e-01 -8.88958247e-03 -1.48889890e+02] [-1.17079447e-02 -2.37213763e-04 -9.99931432e-01 -4.02397795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters 0.013607262165183572 Centerline is valid? [True, True] Translation: X:146.45, Y:-148.87, Z:-4.03 [[ 5.77449261e-01 8.16408558e-01 -5.42390594e-03 1.46448397e+02] [ 8.16374741e-01 -5.77474717e-01 -7.43189470e-03 -1.48868676e+02] [-9.19963098e-03 -1.36397707e-04 -9.99957673e-01 -4.02608660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters 0.012646958800020678 Centerline is valid? [True, True] Translation: X:146.47, Y:-148.85, Z:-4.03 [[ 5.18019920e-01 8.55359401e-01 -3.95713381e-03 1.46465126e+02] [ 8.55335278e-01 -5.18035030e-01 -6.42410469e-03 -1.48845861e+02] [-7.54485226e-03 -5.68619529e-05 -9.99971536e-01 -4.02767942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters 0.012350909095683368 Centerline is valid? [True, True] Translation: X:146.48, Y:-148.82, Z:-4.03 [[ 4.55252848e-01 8.90355384e-01 -3.48356358e-03 1.46478279e+02] [ 8.90329449e-01 -4.55266176e-01 -6.79573588e-03 -1.48822303e+02] [-7.63656870e-03 -7.74112198e-06 -9.99970841e-01 -4.02791663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters 0.012421201552510539 Centerline is valid? [True, True] Translation: X:146.50, Y:-148.80, Z:-4.03 [[ 3.87092661e-01 9.22033868e-01 -3.58012868e-03 1.46495118e+02] [ 9.21993941e-01 -3.87109216e-01 -8.58065950e-03 -1.48799415e+02] [-9.29755948e-03 2.06533766e-05 -9.99956777e-01 -4.02706173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters 0.012542162290794056 Centerline is valid? [True, True] Translation: X:146.51, Y:-148.78, Z:-4.03 [[ 3.14829064e-01 9.49142866e-01 -3.23736631e-03 1.46513620e+02] [ 9.49091508e-01 -3.14845707e-01 -9.87373570e-03 -1.48776789e+02] [-1.03908567e-02 3.59820959e-05 -9.99946013e-01 -4.02593735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters 0.012598679726354492 Centerline is valid? [True, True] Translation: X:146.53, Y:-148.75, Z:-4.03 [[ 2.40458605e-01 9.70655963e-01 -2.58085049e-03 1.46531218e+02] [ 9.70597894e-01 -2.40472450e-01 -1.06174124e-02 -1.48752959e+02] [-1.09264781e-02 4.80801184e-05 -9.99940303e-01 -4.02659099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters 0.012845986907273416 Centerline is valid? [True, True] Translation: X:146.55, Y:-148.73, Z:-4.03 [[ 1.65561857e-01 9.86197856e-01 -1.74929161e-03 1.46545088e+02] [ 9.86138301e-01 -1.65571084e-01 -1.08382403e-02 -1.48728812e+02] [-1.09782815e-02 6.93557442e-05 -9.99939735e-01 -4.02557004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters 0.012980116908467934 Centerline is valid? [True, True] Translation: X:146.56, Y:-148.70, Z:-4.03 [[ 8.87582171e-02 9.96052832e-01 -8.57100121e-04 1.46557252e+02] [ 9.95997737e-01 -8.87623226e-02 -1.04765596e-02 -1.48702760e+02] [-1.05112851e-02 7.62109710e-05 -9.99944752e-01 -4.02516029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters 0.01301323295560978 Centerline is valid? [True, True] Translation: X:146.57, Y:-148.68, Z:-4.03 [[ 1.06263843e-02 9.99943538e-01 -3.35313164e-05 1.46568560e+02] [ 9.99888696e-01 -1.06261526e-02 -1.04728143e-02 -1.48676107e+02] [-1.04725793e-02 7.77605646e-05 -9.99945158e-01 -4.02589869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters 0.013024332883312065 Centerline is valid? [True, True] Translation: X:146.58, Y:-148.65, Z:-4.03 [[-6.76315848e-02 9.97710072e-01 7.62339986e-04 1.46575778e+02] [ 9.97658778e-01 6.76358381e-02 -1.01171108e-02 -1.48647984e+02] [-1.01455049e-02 7.63189401e-05 -9.99948530e-01 -4.02590841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters 0.013115478000232227 Centerline is valid? [True, True] Translation: X:146.58, Y:-148.62, Z:-4.03 [[-1.45461924e-01 9.89362787e-01 1.45060579e-03 1.46580549e+02] [ 9.89318436e-01 1.45469139e-01 -9.36815033e-03 -1.48621029e+02] [-9.47951769e-03 7.24018844e-05 -9.99955066e-01 -4.02585351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters 0.012822511016254218 Centerline is valid? [True, True] Translation: X:146.59, Y:-148.59, Z:-4.03 [[-2.22327599e-01 9.74970307e-01 1.82719632e-03 1.46586276e+02] [ 9.74939650e-01 2.22335098e-01 -7.73199032e-03 -1.48591256e+02] [-7.94471085e-03 6.23713030e-05 -9.99968438e-01 -4.02713916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters 0.012838827480237172 Centerline is valid? [True, True] Translation: X:146.59, Y:-148.56, Z:-4.03 [[-2.97706182e-01 9.54654950e-01 2.22632458e-03 1.46588784e+02] [ 9.54629732e-01 2.97714501e-01 -6.93915451e-03 -1.48561733e+02] [-7.28730731e-03 5.94864405e-05 -9.99973446e-01 -4.02779301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters 0.012894166914842417 Centerline is valid? [True, True] Translation: X:146.59, Y:-148.53, Z:-4.03 [[-3.71141465e-01 9.28571874e-01 2.87897558e-03 1.46589131e+02] [ 9.28545295e-01 3.71152625e-01 -7.02599992e-03 -1.48531861e+02] [-7.59268525e-03 6.56193325e-05 -9.99971173e-01 -4.02811969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters 0.01303457582029695 Centerline is valid? [True, True] Translation: X:146.59, Y:-148.50, Z:-4.03 [[-4.42605670e-01 8.96708703e-01 3.70453744e-03 1.46586648e+02] [ 8.96678645e-01 4.42621167e-01 -7.34233285e-03 -1.48501415e+02] [-8.22364044e-03 7.20214582e-05 -9.99966183e-01 -4.02789680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters 0.01330855186117326 Centerline is valid? [True, True] Translation: X:146.58, Y:-148.47, Z:-4.03 [[-5.12141589e-01 8.58886624e-01 4.97592248e-03 1.46581653e+02] [ 8.58847531e-01 5.12165756e-01 -8.19498017e-03 -1.48472428e+02] [-9.58705595e-03 7.65685663e-05 -9.99954040e-01 -4.02599772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters 0.012963161953000351 Centerline is valid? [True, True] Translation: X:146.58, Y:-148.44, Z:-4.03 [[-5.79401048e-01 8.15023853e-01 5.52681976e-03 1.46575590e+02] [ 8.14987715e-01 5.79427404e-01 -7.67511857e-03 -1.48441986e+02] [-9.45779554e-03 5.73184687e-05 -9.99955272e-01 -4.02652143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters 0.012799240055449902 Centerline is valid? [True, True] Translation: X:146.57, Y:-148.41, Z:-4.03 [[-6.42521734e-01 7.66243651e-01 6.04050040e-03 1.46565677e+02] [ 7.66210431e-01 6.42550126e-01 -7.13515305e-03 -1.48413047e+02] [-9.34859003e-03 4.38035010e-05 -9.99956300e-01 -4.02655608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters 0.012727251792667885 Centerline is valid? [True, True] Translation: X:146.55, Y:-148.39, Z:-4.03 [[-7.02396583e-01 7.11753598e-01 6.77163698e-03 1.46551995e+02] [ 7.11720798e-01 7.02429224e-01 -6.83310013e-03 -1.48385376e+02] [-9.62007932e-03 1.99686901e-05 -9.99953726e-01 -4.02648927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters 0.01258089567837963 Centerline is valid? [True, True] Translation: X:146.54, Y:-148.36, Z:-4.03 [[-7.57909279e-01 6.52328405e-01 6.41694676e-03 1.46537341e+02] [ 6.52304939e-01 7.57936444e-01 -5.53295093e-03 -1.48357813e+02] [-8.47293886e-03 -7.66878642e-06 -9.99964104e-01 -4.02776114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters 0.012645375136815976 Centerline is valid? [True, True] Translation: X:146.56, Y:-148.34, Z:-4.03 [[-8.03163574e-01 5.95726729e-01 6.15937543e-03 1.46555776e+02] [ 5.95709023e-01 8.03187191e-01 -4.59297368e-03 -1.48336135e+02] [-7.68328864e-03 -1.97136347e-05 -9.99970483e-01 -4.02824801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters 0.012712138700914966 Centerline is valid? [True, True] Translation: X:146.95, Y:-147.81, Z:-5.01 [[-7.56812873e-01 -6.53614092e-01 4.78481646e-03 1.46951040e+02] [ 6.53600496e-01 -7.56827995e-01 -4.21624367e-03 -1.47810385e+02] [ 6.37707933e-03 -6.35490714e-05 9.99979664e-01 -5.01196070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters 0.012729473567781218 Centerline is valid? [True, True] Translation: X:146.51, Y:-148.30, Z:-4.03 [[-8.07266848e-01 5.90165129e-01 5.03556355e-03 1.46513331e+02] [ 5.90153362e-01 8.07282552e-01 -3.72688341e-03 -1.48303563e+02] [-6.26459922e-03 -3.68346618e-05 -9.99980377e-01 -4.02876647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters 0.013238947561893921 Centerline is valid? [True, True] Translation: X:146.53, Y:-148.28, Z:-4.03 [[-8.48880625e-01 5.28558853e-01 5.21759663e-03 1.46534470e+02] [ 5.28548446e-01 8.48896658e-01 -3.31718963e-03 -1.48281912e+02] [-6.18253029e-03 -5.81454090e-05 -9.99980886e-01 -4.02858460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters 0.01346242425440877 Centerline is valid? [True, True] Translation: X:146.54, Y:-148.25, Z:-4.03 [[-8.85428113e-01 4.64747935e-01 5.13951812e-03 1.46538755e+02] [ 4.64739641e-01 8.85443026e-01 -2.77742498e-03 -1.48251328e+02] [-5.84155300e-03 -7.06723500e-05 -9.99982936e-01 -4.02918737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters 0.013663655142039315 Centerline is valid? [True, True] Translation: X:146.56, Y:-148.23, Z:-4.03 [[-9.16226075e-01 4.00626231e-01 5.32937247e-03 1.46559277e+02] [ 4.00618993e-01 9.16241572e-01 -2.40921078e-03 -1.48231310e+02] [-5.84818564e-03 -7.23339067e-05 -9.99982897e-01 -4.02917293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters 0.013793691565048552 Centerline is valid? [True, True] Translation: X:146.57, Y:-148.21, Z:-4.03 [[-9.42263060e-01 3.34819973e-01 5.99264768e-03 1.46568433e+02] [ 3.34812673e-01 9.42282113e-01 -2.21237644e-03 -1.48206066e+02] [-6.38751253e-03 -7.82262057e-05 -9.99979597e-01 -4.02880167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters 0.013562928624502764 Centerline is valid? [True, True] Translation: X:146.57, Y:-148.18, Z:-4.03 [[-9.63414080e-01 2.67901843e-01 7.86842645e-03 1.46574316e+02] [ 2.67892107e-01 9.63446207e-01 -2.28596081e-03 -1.48180080e+02] [-8.19321873e-03 -9.44374947e-05 -9.99966431e-01 -4.02793101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters 0.013483664765354949 Centerline is valid? [True, True] Translation: X:146.58, Y:-148.16, Z:-4.03 [[-9.79750046e-01 1.99976020e-01 9.97186337e-03 1.46579846e+02] [ 1.99964556e-01 9.79800786e-01 -2.14391449e-03 -1.48155211e+02] [-1.01991711e-02 -1.06481089e-04 -9.99947981e-01 -4.02683504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters 0.01338381974409918 Centerline is valid? [True, True] Translation: X:146.58, Y:-148.13, Z:-4.03 [[-9.91200797e-01 1.31924884e-01 1.08076037e-02 1.46582986e+02] [ 1.31916024e-01 9.91259712e-01 -1.53170420e-03 -1.48130983e+02] [-1.09152120e-02 -9.25303178e-05 -9.99940423e-01 -4.02672060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters 0.013214640178557446 Centerline is valid? [True, True] Translation: X:146.67, Y:-147.48, Z:-5.01 [[-9.76958392e-01 -2.13192157e-01 1.00699882e-02 1.46674331e+02] [ 2.13181350e-01 -9.77010288e-01 -2.14708902e-03 -1.47478132e+02] [ 1.02962246e-02 4.91170465e-05 9.99946991e-01 -5.01215568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters 0.012999283810082488 Centerline is valid? [True, True] Translation: X:146.53, Y:-148.13, Z:-4.03 [[-9.91141407e-01 1.32484202e-01 9.30842876e-03 1.46532913e+02] [ 1.32478002e-01 9.91185116e-01 -1.28219860e-03 -1.48131481e+02] [-9.39624710e-03 -3.76780744e-05 -9.99955854e-01 -4.02889064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters 0.012963547235489113 Centerline is valid? [True, True] Translation: X:146.63, Y:-147.47, Z:-5.01 [[-9.78628425e-01 -2.05441283e-01 8.96016092e-03 1.46631413e+02] [ 2.05432872e-01 -9.78669443e-01 -1.85903854e-03 -1.47466802e+02] [ 9.15095896e-03 2.14036375e-05 9.99958129e-01 -5.01121315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters 0.012947261655816595 Centerline is valid? [True, True] Translation: X:146.49, Y:-148.13, Z:-4.03 [[-9.91286623e-01 1.31378243e-01 9.51782794e-03 1.46486242e+02] [ 1.31372074e-01 9.91332314e-01 -1.27316927e-03 -1.48131915e+02] [-9.60259714e-03 -1.16988755e-05 -9.99953894e-01 -4.02990111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters 0.013031473804675816 Centerline is valid? [True, True] Translation: X:146.49, Y:-148.11, Z:-4.03 [[-9.98079613e-01 6.09736667e-02 1.09223357e-02 1.46485371e+02] [ 6.09699015e-02 9.98139375e-01 -6.77680487e-04 -1.48108463e+02] [-1.09433340e-02 -1.04453471e-05 -9.99940120e-01 -4.02889836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters 0.013070232062138424 Centerline is valid? [True, True] Translation: X:146.53, Y:-147.42, Z:-5.01 [[-9.91401211e-01 -1.30291802e-01 1.21525772e-02 1.46531039e+02] [ 1.30283200e-01 -9.91475687e-01 -1.50024405e-03 -1.47418898e+02] [ 1.22444544e-02 9.59328752e-05 9.99925029e-01 -5.01205915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters 0.013049198481090185 Centerline is valid? [True, True] Translation: X:146.42, Y:-148.11, Z:-4.03 [[-9.98404270e-01 5.49395854e-02 1.30596765e-02 1.46423557e+02] [ 5.49343862e-02 9.98489680e-01 -7.56775890e-04 -1.48109630e+02] [-1.30815292e-02 -3.81429681e-05 -9.99914432e-01 -4.02755976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters 0.013140635562709675 Centerline is valid? [True, True] Translation: X:146.47, Y:-147.41, Z:-5.01 [[-9.91549208e-01 -1.29045672e-01 1.33184996e-02 1.46468184e+02] [ 1.29034865e-01 -9.91638649e-01 -1.67113148e-03 -1.47411633e+02] [ 1.34227912e-02 6.15417045e-05 9.99909908e-01 -5.01330439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters 0.01307835214484613 Centerline is valid? [True, True] Translation: X:146.37, Y:-148.11, Z:-4.03 [[-9.98770291e-01 4.78897196e-02 1.28249740e-02 1.46370886e+02] [ 4.78848436e-02 9.98852627e-01 -6.87178403e-04 -1.48111759e+02] [-1.28431677e-02 -7.22115020e-05 -9.99917521e-01 -4.02712614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters 0.013186715844360805 Centerline is valid? [True, True] Translation: X:146.36, Y:-148.09, Z:-4.03 [[-9.99631372e-01 -2.45846307e-02 1.15202462e-02 1.46355763e+02] [-2.45839398e-02 9.99697749e-01 2.01600629e-04 -1.48086289e+02] [-1.15217204e-02 -8.16867253e-05 -9.99933619e-01 -4.02800352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters 0.013657660678922155 Centerline is valid? [True, True] Translation: X:146.36, Y:-147.38, Z:-5.01 [[-9.98046971e-01 -6.16725222e-02 9.93703525e-03 1.46357137e+02] [ 6.16690758e-02 -9.98096438e-01 -6.53146643e-04 -1.47377359e+02] [ 9.95840069e-03 -3.90632473e-05 9.99950413e-01 -5.01064207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters 0.014822798975392886 Centerline is valid? [True, True] Translation: X:146.30, Y:-148.08, Z:-4.03 [[-9.99215385e-01 -3.83816503e-02 9.77049080e-03 1.46297629e+02] [-3.83813736e-02 9.99263140e-01 2.15890790e-04 -1.48082364e+02] [-9.77157756e-03 -1.59283459e-04 -9.99952244e-01 -4.02838471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters 0.014551095072600195 Centerline is valid? [True, True] Translation: X:146.29, Y:-148.06, Z:-4.03 [[-9.93889903e-01 -1.09928282e-01 9.93144469e-03 1.46291086e+02] [-1.09924492e-01 9.93939507e-01 9.28306272e-04 -1.48056165e+02] [-9.97330236e-03 -1.69074783e-04 -9.99950251e-01 -4.02816326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters 0.014568479816812715 Centerline is valid? [True, True] Translation: X:146.28, Y:-148.03, Z:-4.03 [[-9.83726758e-01 -1.79376351e-01 1.02854046e-02 1.46278318e+02] [-1.79368312e-01 9.83780513e-01 1.70639281e-03 -1.48029921e+02] [-1.04246671e-02 -1.66251388e-04 -9.99945648e-01 -4.02719474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters 0.013800417795303202 Centerline is valid? [True, True] Translation: X:146.27, Y:-148.00, Z:-4.03 [[-9.68821019e-01 -2.47537564e-01 1.05350806e-02 1.46272018e+02] [-2.47524671e-01 9.68878285e-01 2.53117357e-03 -1.48004142e+02] [-1.08337713e-02 -1.55438202e-04 -9.99941301e-01 -4.02751313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters 0.013586244951812713 Centerline is valid? [True, True] Translation: X:146.25, Y:-147.98, Z:-4.03 [[-9.49023832e-01 -3.15040602e-01 1.01580596e-02 1.46250063e+02] [-3.15024099e-01 9.49078185e-01 3.22752287e-03 -1.47982063e+02] [-1.06575935e-02 -1.37037455e-04 -9.99943197e-01 -4.02771677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters 0.013046081090238606 Centerline is valid? [True, True] Translation: X:146.21, Y:-147.97, Z:-4.03 [[-9.25123643e-01 -3.79557836e-01 9.06060763e-03 1.46213227e+02] [-3.79540587e-01 9.25168007e-01 3.61961110e-03 -1.47967746e+02] [-9.75643606e-03 -9.02805366e-05 -9.99952401e-01 -4.02765676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters 0.012888883970549785 Centerline is valid? [True, True] Translation: X:146.15, Y:-147.97, Z:-4.03 [[-8.96272685e-01 -4.43405760e-01 9.30630992e-03 1.46151054e+02] [-4.43382615e-01 8.96320996e-01 4.53086265e-03 -1.47967210e+02] [-1.03504516e-02 -6.53675968e-05 -9.99946431e-01 -4.02660480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters 0.012689571340715577 Centerline is valid? [True, True] Translation: X:146.09, Y:-147.97, Z:-4.03 [[-8.62590720e-01 -5.05812407e-01 9.54247461e-03 1.46094162e+02] [-5.05781886e-01 8.62643500e-01 5.55661599e-03 -1.47968981e+02] [-1.10423590e-02 -3.33254193e-05 -9.99939031e-01 -4.02552264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters 0.012695868449000104 Centerline is valid? [True, True] Translation: X:146.02, Y:-147.99, Z:-4.03 [[-8.22988371e-01 -5.67982090e-01 9.29980728e-03 1.46016330e+02] [-5.67946217e-01 8.23040913e-01 6.38357651e-03 -1.47985700e+02] [-1.12798790e-02 -2.81811311e-05 -9.99936380e-01 -4.02500334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters 0.012766996214899342 Centerline is valid? [True, True] Translation: X:145.94, Y:-148.01, Z:-4.02 [[-7.77302541e-01 -6.29072864e-01 8.25175624e-03 1.45939321e+02] [-6.29037994e-01 7.77346339e-01 6.62363025e-03 -1.48007477e+02] [-1.05812186e-02 -4.21035661e-05 -9.99944017e-01 -4.02476566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters 0.01306708569338828 Centerline is valid? [True, True] Translation: X:145.85, Y:-148.04, Z:-4.03 [[-7.24568492e-01 -6.89169166e-01 6.80897394e-03 1.45853528e+02] [-6.89139817e-01 7.24600479e-01 6.36064094e-03 -1.48041083e+02] [-9.31734339e-03 -8.36150498e-05 -9.99956589e-01 -4.02574451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters 0.013240424451167928 Centerline is valid? [True, True] Translation: X:145.77, Y:-148.08, Z:-4.03 [[-6.68517946e-01 -7.43674960e-01 5.59545833e-03 1.45771234e+02] [-7.43650119e-01 6.68541356e-01 6.07917458e-03 -1.48082963e+02] [-8.26172521e-03 -9.70259500e-05 -9.99965867e-01 -4.02656042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters 0.013921243272312069 Centerline is valid? [True, True] Translation: X:145.69, Y:-148.14, Z:-4.03 [[-6.07314390e-01 -7.94450537e-01 4.19234460e-03 1.45686027e+02] [-7.94432807e-01 6.07328850e-01 5.30877237e-03 -1.48135283e+02] [-6.76368888e-03 -1.06442233e-04 -9.99977120e-01 -4.02663944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters 0.014900805045238151 Centerline is valid? [True, True] Translation: X:145.60, Y:-148.20, Z:-4.03 [[-5.42617175e-01 -8.39970796e-01 3.95763713e-03 1.45601953e+02] [-8.39950247e-01 5.42631590e-01 5.87700833e-03 -1.48196300e+02] [-7.08405429e-03 -1.35252628e-04 -9.99974899e-01 -4.02522252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters 0.014913090756167039 Centerline is valid? [True, True] Translation: X:145.52, Y:-148.27, Z:-4.02 [[-4.76198943e-01 -8.79328130e-01 4.07511499e-03 1.45523222e+02] [-8.79298898e-01 4.76216349e-01 7.17187060e-03 -1.48269129e+02] [-8.24706394e-03 -1.68006924e-04 -9.99965978e-01 -4.02403649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters 0.015245148442327562 Centerline is valid? [True, True] Translation: X:145.45, Y:-148.35, Z:-4.02 [[-4.07482892e-01 -9.13203885e-01 4.04446034e-03 1.45448970e+02] [-9.13163600e-01 4.07502915e-01 8.57987294e-03 -1.48349210e+02] [-9.48330268e-03 -1.97102527e-04 -9.99955013e-01 -4.02247102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters 0.014973420404169263 Centerline is valid? [True, True] Translation: X:145.38, Y:-148.44, Z:-4.02 [[-3.37091775e-01 -9.41465458e-01 3.45364808e-03 1.45382816e+02] [-9.41421879e-01 3.37109409e-01 9.06045488e-03 -1.48436914e+02] [-9.69436256e-03 -1.97135053e-04 -9.99952989e-01 -4.02225617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters 0.014234513934084966 Centerline is valid? [True, True] Translation: X:145.33, Y:-148.53, Z:-4.02 [[-2.67900382e-01 -9.63442677e-01 2.75579900e-03 1.45325027e+02] [-9.63397659e-01 2.67914508e-01 9.31487644e-03 -1.48529455e+02] [-9.71266802e-03 -1.59471353e-04 -9.99952818e-01 -4.02147750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters 0.01315452795836367 Centerline is valid? [True, True] Translation: X:145.28, Y:-148.62, Z:-4.02 [[-1.99354597e-01 -9.79925581e-01 1.89763117e-03 1.45277688e+02] [-9.79885660e-01 1.99363605e-01 8.84567032e-03 -1.48622130e+02] [-9.04641722e-03 -9.60365294e-05 -9.99959076e-01 -4.02161645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters 0.012286391966426228 Centerline is valid? [True, True] Translation: X:145.24, Y:-148.73, Z:-4.02 [[-1.35847348e-01 -9.90729242e-01 1.03262414e-03 1.45242823e+02] [-9.90699820e-01 1.35851272e-01 7.63531920e-03 -1.48725029e+02] [-7.70481731e-03 1.42173154e-05 -9.99970317e-01 -4.02306193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters 0.012999658310442856 Centerline is valid? [True, True] Translation: X:145.21, Y:-148.84, Z:-4.02 [[-6.81933058e-02 -9.97672038e-01 4.21634572e-04 1.45211607e+02] [-9.97645098e-01 6.81945631e-02 7.33210684e-03 -1.48835871e+02] [-7.34379116e-03 7.93589395e-05 -9.99973031e-01 -4.02351142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters 0.014595467016389653 Centerline is valid? [True, True] Translation: X:145.19, Y:-148.95, Z:-4.02 [[ 4.27451237e-04 -9.99999903e-01 -1.06526856e-04 1.45186902e+02] [-9.99985180e-01 -4.28023111e-04 5.42743060e-03 -1.48948686e+02] [-5.42747567e-03 1.04205315e-04 -9.99985266e-01 -4.02438485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters 0.015255461317399525 Centerline is valid? [True, True] Translation: X:145.17, Y:-149.07, Z:-4.02 [[ 7.51322871e-02 -9.97173371e-01 -6.38069257e-04 1.45168144e+02] [-9.97151634e-01 -7.51348633e-02 6.58571365e-03 -1.49072437e+02] [-6.61503953e-03 1.41452074e-04 -9.99978110e-01 -4.02398407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters 0.015300049573877265 Centerline is valid? [True, True] Translation: X:145.16, Y:-149.19, Z:-4.02 [[ 1.52447787e-01 -9.88310750e-01 -1.23803439e-03 1.45155141e+02] [-9.88285472e-01 -1.52452745e-01 7.07009825e-03 -1.49188423e+02] [-7.17619584e-03 1.45710565e-04 -9.99974240e-01 -4.02345134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters 0.014334652447942265 Centerline is valid? [True, True] Translation: X:145.15, Y:-149.31, Z:-4.02 [[ 2.31529871e-01 -9.72825790e-01 -1.97509732e-03 1.45147512e+02] [-9.72795120e-01 -2.31538257e-01 7.72589983e-03 -1.49309096e+02] [-7.97326519e-03 1.32588447e-04 -9.99968204e-01 -4.02217249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters 0.013504811476475852 Centerline is valid? [True, True] Translation: X:145.15, Y:-149.43, Z:-4.02 [[ 3.09605678e-01 -9.50861868e-01 -2.45604540e-03 1.45150422e+02] [-9.50834328e-01 -3.09615405e-01 7.23755062e-03 -1.49432877e+02] [-7.64234039e-03 9.45055174e-05 -9.99970792e-01 -4.02193516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters 0.012341219081971716 Centerline is valid? [True, True] Translation: X:145.16, Y:-149.56, Z:-4.02 [[ 3.90359389e-01 -9.20658908e-01 -2.59278790e-03 1.45161609e+02] [-9.20638918e-01 -3.90367999e-01 6.06702416e-03 -1.49560349e+02] [-6.59780127e-03 1.87016072e-05 -9.99978234e-01 -4.02333212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters 0.01275356258849838 Centerline is valid? [True, True] Translation: X:145.18, Y:-149.68, Z:-4.02 [[ 4.69983682e-01 -8.82671947e-01 -2.36056534e-03 1.45178162e+02] [-8.82660329e-01 -4.69989608e-01 4.52911159e-03 -1.49683563e+02] [-5.10716093e-03 -4.50311610e-05 -9.99986957e-01 -4.02421162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters 0.013991854141921976 Centerline is valid? [True, True] Translation: X:145.20, Y:-149.80, Z:-4.02 [[ 5.41621059e-01 -8.40619974e-01 -2.16511072e-03 1.45204769e+02] [-8.40612786e-01 -5.41625383e-01 3.47687331e-03 -1.49798408e+02] [-4.09540808e-03 -6.31280548e-05 -9.99991612e-01 -4.02435098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters 0.015412336608120643 Centerline is valid? [True, True] Translation: X:145.24, Y:-149.91, Z:-4.02 [[ 6.09017107e-01 -7.93155428e-01 -1.62181264e-03 1.45240773e+02] [-7.93152355e-01 -6.09019263e-01 2.20874326e-03 -1.49910744e+02] [-2.73959185e-03 -5.88179193e-05 -9.99996246e-01 -4.02487789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters 0.01585120193200201 Centerline is valid? [True, True] Translation: X:145.28, Y:-150.01, Z:-4.02 [[ 6.69101184e-01 -7.43169401e-01 -1.68741080e-03 1.45281212e+02] [-7.43166806e-01 -6.69103309e-01 1.96489377e-03 -1.50010264e+02] [-2.58930108e-03 -6.06850537e-05 -9.99996646e-01 -4.02488527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters 0.01617291763105321 Centerline is valid? [True, True] Translation: X:145.33, Y:-150.11, Z:-4.02 [[ 7.23826241e-01 -6.89977823e-01 -2.48531860e-03 1.45331157e+02] [-6.89973355e-01 -7.23830503e-01 2.48439936e-03 -1.50106871e+02] [-3.51312988e-03 -8.34698369e-05 -9.99993826e-01 -4.02372755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters 0.015571084895465362 Centerline is valid? [True, True] Translation: X:145.35, Y:-150.14, Z:-4.02 [[ 7.74532258e-01 -6.32519620e-01 -4.32560426e-03 1.45352338e+02] [-6.32508838e-01 -7.74544327e-01 3.69526457e-03 -1.50136891e+02] [-5.68769958e-03 -1.26118692e-04 -9.99983817e-01 -4.02133728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters 0.014372951542399285 Centerline is valid? [True, True] Translation: X:145.38, Y:-150.16, Z:-4.02 [[ 8.19517780e-01 -5.73015879e-01 -6.58862496e-03 1.45376485e+02] [-5.72995868e-01 -8.19544251e-01 4.79131061e-03 -1.50163531e+02] [-8.14516677e-03 -1.51309357e-04 -9.99966816e-01 -4.01958144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters 0.013769507369046582 Centerline is valid? [True, True] Translation: X:145.40, Y:-150.19, Z:-4.02 [[ 8.60175113e-01 -5.09939342e-01 -7.78728904e-03 1.45402544e+02] [-5.09916955e-01 -8.60210351e-01 4.78028672e-03 -1.50188868e+02] [-9.13636290e-03 -1.41012956e-04 -9.99958253e-01 -4.01852691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters 0.013369158905547653 Centerline is valid? [True, True] Translation: X:145.43, Y:-150.21, Z:-4.02 [[ 8.94853514e-01 -4.46271633e-01 -8.87795789e-03 1.45431524e+02] [-4.46248599e-01 -8.94897547e-01 4.53512279e-03 -1.50207568e+02] [-9.96875939e-03 -9.64942971e-05 -9.99950306e-01 -4.01655869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters 0.01257441289132062 Centerline is valid? [True, True] Translation: X:145.46, Y:-150.22, Z:-4.02 [[ 9.25338638e-01 -3.79027544e-01 -9.30192882e-03 1.45461780e+02] [-3.79007813e-01 -9.25385389e-01 3.86770682e-03 -1.50223898e+02] [-1.00738364e-02 -5.34348636e-05 -9.99949256e-01 -4.01761708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters 0.012623118247070658 Centerline is valid? [True, True] Translation: X:145.49, Y:-150.24, Z:-4.02 [[ 9.50160274e-01 -3.11615279e-01 -9.55887456e-03 1.45493596e+02] [-3.11599631e-01 -9.50208355e-01 3.12279058e-03 -1.50236699e+02] [-1.00560317e-02 1.13902393e-05 -9.99949437e-01 -4.01779089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters 0.012928658823028403 Centerline is valid? [True, True] Translation: X:145.53, Y:-150.25, Z:-4.02 [[ 9.70468173e-01 -2.41059312e-01 -9.05173631e-03 1.45525680e+02] [-2.41049361e-01 -9.70510384e-01 2.19099552e-03 -1.50247896e+02] [-9.31296395e-03 5.56238315e-05 -9.99956632e-01 -4.01829481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters 0.013186604740307065 Centerline is valid? [True, True] Translation: X:145.56, Y:-150.26, Z:-4.02 [[ 9.86007554e-01 -1.66489210e-01 -8.39318586e-03 1.45556361e+02] [-1.66483775e-01 -9.86043274e-01 1.34701249e-03 -1.50257953e+02] [-8.50030750e-03 6.91647773e-05 -9.99963869e-01 -4.01907688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters 0.013174881853356931 Centerline is valid? [True, True] Translation: X:145.58, Y:-150.27, Z:-4.02 [[ 9.95978040e-01 -8.92737558e-02 -7.61189811e-03 1.45584143e+02] [-8.92716575e-02 -9.96007125e-01 6.15661201e-04 -1.50267490e+02] [-7.63646714e-03 6.63417248e-05 -9.99970840e-01 -4.01982163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters 0.012863394510991898 Centerline is valid? [True, True] Translation: X:145.61, Y:-150.28, Z:-4.02 [[ 9.99940328e-01 -7.89781402e-03 -7.54750559e-03 1.45612120e+02] [-7.89790721e-03 -9.99968811e-01 1.74587862e-05 -1.50276456e+02] [-7.54740808e-03 4.21517544e-05 -9.99971517e-01 -4.01909404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters 0.012773286908614397 Centerline is valid? [True, True] Translation: X:145.64, Y:-150.28, Z:-4.02 [[ 9.97322618e-01 7.27178850e-02 -7.72688793e-03 1.45641268e+02] [ 7.27155061e-02 -9.97352550e-01 -5.88739117e-04 -1.50280950e+02] [-7.74924324e-03 2.52982716e-05 -9.99969974e-01 -4.01834161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters 0.012466110353994178 Centerline is valid? [True, True] Translation: X:145.67, Y:-150.29, Z:-4.02 [[ 9.87940965e-01 1.54652769e-01 -7.42765782e-03 1.45671529e+02] [ 1.54648444e-01 -9.87968887e-01 -1.15653038e-03 -1.50288001e+02] [-7.51715546e-03 -6.09198972e-06 -9.99971746e-01 -4.01861833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters 0.012477061164679714 Centerline is valid? [True, True] Translation: X:145.70, Y:-150.29, Z:-4.02 [[ 9.72200803e-01 2.34037018e-01 -7.23002213e-03 1.45703186e+02] [ 2.34030741e-01 -9.72227686e-01 -1.71422401e-03 -1.50293342e+02] [-7.43041957e-03 -2.54774779e-05 -9.99972394e-01 -4.01906946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters 0.012770735591637005 Centerline is valid? [True, True] Translation: X:145.74, Y:-150.30, Z:-4.02 [[ 9.49441062e-01 3.13870332e-01 -6.86177560e-03 1.45735391e+02] [ 3.13862581e-01 -9.49465856e-01 -2.20670003e-03 -1.50297760e+02] [-7.20763932e-03 -5.85229799e-05 -9.99974023e-01 -4.01968356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters 0.013225985115934515 Centerline is valid? [True, True] Translation: X:145.77, Y:-150.30, Z:-4.02 [[ 9.20359083e-01 3.91027756e-01 -6.03760819e-03 1.45767899e+02] [ 3.91019910e-01 -9.20378883e-01 -2.47835974e-03 -1.50299331e+02] [-6.52599453e-03 -7.98441101e-05 -9.99978702e-01 -4.02021214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters 0.013460661581022226 Centerline is valid? [True, True] Translation: X:145.80, Y:-150.30, Z:-4.02 [[ 8.86157785e-01 4.63352709e-01 -5.35223881e-03 1.45800432e+02] [ 4.63344825e-01 -8.86173944e-01 -2.70435476e-03 -1.50297219e+02] [-5.99608468e-03 -8.34471261e-05 -9.99982020e-01 -4.02018986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters 0.013590219546550824 Centerline is valid? [True, True] Translation: X:145.83, Y:-150.29, Z:-4.02 [[ 8.47011205e-01 5.31553974e-01 -4.73195706e-03 1.45832365e+02] [ 5.31546196e-01 -8.47024419e-01 -2.87661944e-03 -1.50290661e+02] [-5.53716167e-03 -7.87248765e-05 -9.99984667e-01 -4.02036274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters 0.0139352634072353 Centerline is valid? [True, True] Translation: X:145.86, Y:-150.28, Z:-4.02 [[ 8.02822304e-01 5.96207978e-01 -3.52068261e-03 1.45862571e+02] [ 5.96202580e-01 -8.02830021e-01 -2.53790761e-03 -1.50281879e+02] [-4.33963046e-03 -6.15512202e-05 -9.99990582e-01 -4.02075084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters 0.013510967726870604 Centerline is valid? [True, True] Translation: X:145.89, Y:-150.27, Z:-4.02 [[ 7.53994191e-01 6.56873671e-01 -3.12082382e-03 1.45891890e+02] [ 6.56868351e-01 -7.54000648e-01 -2.64445664e-03 -1.50269035e+02] [-4.09017713e-03 -5.60654486e-05 -9.99991634e-01 -4.02074218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters 0.013652863756079946 Centerline is valid? [True, True] Translation: X:145.92, Y:-150.26, Z:-4.02 [[ 7.00510786e-01 7.13634489e-01 -3.23351907e-03 1.45919103e+02] [ 7.13627283e-01 -7.00518246e-01 -3.20742828e-03 -1.50255481e+02] [-4.55407054e-03 -6.06893225e-05 -9.99989628e-01 -4.01947216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters 0.013414982137793246 Centerline is valid? [True, True] Translation: X:145.94, Y:-150.24, Z:-4.02 [[ 6.43100601e-01 7.65769950e-01 -4.24285438e-03 1.45943963e+02] [ 7.65754115e-01 -6.43114591e-01 -4.92514594e-03 -1.50237462e+02] [-6.50017033e-03 -8.16188914e-05 -9.99978870e-01 -4.01756275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters 0.012970913998744872 Centerline is valid? [True, True] Translation: X:145.97, Y:-150.22, Z:-4.02 [[ 5.83062709e-01 8.12415961e-01 -4.26415062e-03 1.45966315e+02] [ 8.12395151e-01 -5.83078297e-01 -5.81530899e-03 -1.50216983e+02] [-7.21078353e-03 -7.34854683e-05 -9.99973999e-01 -4.01631540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters 0.012672482790497383 Centerline is valid? [True, True] Translation: X:145.98, Y:-150.20, Z:-4.02 [[ 5.20012691e-01 8.54149398e-01 -3.95060295e-03 1.45984814e+02] [ 8.54125561e-01 -5.20027694e-01 -6.38141839e-03 -1.50195496e+02] [-7.50510762e-03 -5.58924139e-05 -9.99971835e-01 -4.01580578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters 0.012238626177585681 Centerline is valid? [True, True] Translation: X:146.00, Y:-150.17, Z:-4.02 [[ 4.56377169e-01 8.89780717e-01 -3.18670694e-03 1.45999659e+02] [ 8.89759237e-01 -4.56388295e-01 -6.18263474e-03 -1.50170286e+02] [-6.95556492e-03 -1.37885981e-05 -9.99975810e-01 -4.01622818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters 0.012150725781935084 Centerline is valid? [True, True] Translation: X:146.01, Y:-150.15, Z:-4.02 [[ 3.90007108e-01 9.20809951e-01 -1.86794347e-03 1.46014334e+02] [ 9.20799202e-01 -3.90011581e-01 -4.44937784e-03 -1.50145972e+02] [-4.82555098e-03 1.52881252e-05 -9.99988357e-01 -4.01757389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters 0.012132559306532186 Centerline is valid? [True, True] Translation: X:146.03, Y:-150.12, Z:-4.02 [[ 3.18506917e-01 9.47920051e-01 -9.59117298e-04 1.46032889e+02] [ 9.47915604e-01 -3.18508361e-01 -2.90373240e-03 -1.50122465e+02] [-3.05799305e-03 1.56966036e-05 -9.99995324e-01 -4.01871128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters 0.012562296805442328 Centerline is valid? [True, True] Translation: X:146.05, Y:-150.10, Z:-4.02 [[ 2.46434529e-01 9.69159204e-01 -6.78400579e-04 1.46045985e+02] [ 9.69155260e-01 -2.46435462e-01 -2.76513585e-03 -1.50098087e+02] [-2.84703882e-03 2.39494605e-05 -9.99995947e-01 -4.01829932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters 0.012788271345271293 Centerline is valid? [True, True] Translation: X:146.06, Y:-150.07, Z:-4.02 [[ 1.71702690e-01 9.85148726e-01 -4.17309216e-04 1.46057640e+02] [ 9.85145424e-01 -1.71703195e-01 -2.55080548e-03 -1.50071819e+02] [-2.58457609e-03 2.68698966e-05 -9.99996660e-01 -4.01795815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters 0.0128807114241361 Centerline is valid? [True, True] Translation: X:146.07, Y:-150.05, Z:-4.02 [[ 9.48155755e-02 9.95494826e-01 -2.42064458e-04 1.46070818e+02] [ 9.95490653e-01 -9.48158789e-02 -2.88268201e-03 -1.50045296e+02] [-2.89264658e-03 3.23502489e-05 -9.99995816e-01 -4.01730485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters 0.012719295100072673 Centerline is valid? [True, True] Translation: X:146.08, Y:-150.02, Z:-4.02 [[ 1.53573004e-02 9.99882070e-01 -1.18374249e-05 1.46083392e+02] [ 9.99879607e-01 -1.53572888e-02 -2.21951950e-03 -1.50017941e+02] [-2.21943954e-03 2.22498279e-05 -9.99997537e-01 -4.01730638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters 0.012510849903311166 Centerline is valid? [True, True] Translation: X:146.09, Y:-149.99, Z:-4.02 [[-6.40061400e-02 9.97949494e-01 1.45560810e-04 1.46093117e+02] [ 9.97947516e-01 6.40063030e-02 -1.98694400e-03 -1.49990014e+02] [-1.99218657e-03 1.80854326e-05 -9.99998015e-01 -4.01731003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters 0.012585877150425327 Centerline is valid? [True, True] Translation: X:146.10, Y:-149.96, Z:-4.02 [[-1.42916291e-01 9.89734731e-01 3.10737819e-04 1.46100885e+02] [ 9.89732640e-01 1.42916628e-01 -2.03451992e-03 -1.49960876e+02] [-2.05804463e-03 1.67813203e-05 -9.99997882e-01 -4.01672619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters 0.012538684438675493 Centerline is valid? [True, True] Translation: X:146.11, Y:-149.93, Z:-4.02 [[-2.21212347e-01 9.75225541e-01 4.92290947e-04 1.46106165e+02] [ 9.75223274e-01 2.21212894e-01 -2.10253635e-03 -1.49931434e+02] [-2.15934826e-03 1.49865878e-05 -9.99997669e-01 -4.01598376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters 0.012323821341671627 Centerline is valid? [True, True] Translation: X:146.11, Y:-149.90, Z:-4.02 [[-2.98850441e-01 9.54299805e-01 5.43767971e-04 1.46107360e+02] [ 9.54298279e-01 2.98850936e-01 -1.70656062e-03 -1.49903349e+02] [-1.79107604e-03 8.91044376e-06 -9.99998396e-01 -4.01576479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters 0.012159011504788375 Centerline is valid? [True, True] Translation: X:146.11, Y:-149.87, Z:-4.02 [[-3.77376801e-01 9.26059661e-01 5.05177100e-04 1.46111350e+02] [ 9.26058831e-01 3.77377139e-01 -1.23980852e-03 -1.49870942e+02] [-1.33877895e-03 -5.12594807e-08 -9.99999104e-01 -4.01581558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters 0.012398343883580616 Centerline is valid? [True, True] Translation: X:146.11, Y:-149.84, Z:-4.02 [[-4.52470545e-01 8.91779268e-01 3.77530161e-04 1.46110960e+02] [ 8.91778952e-01 4.52470702e-01 -7.51587789e-04 -1.49839026e+02] [-8.41071746e-04 -3.39788527e-06 -9.99999646e-01 -4.01549977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters 0.012881609916317158 Centerline is valid? [True, True] Translation: X:146.11, Y:-149.81, Z:-4.01 [[-5.25235926e-01 8.50956603e-01 2.86963855e-04 1.46108982e+02] [ 8.50956471e-01 5.25236004e-01 -4.74324126e-04 -1.49806015e+02] [-5.54352996e-04 -4.93832233e-06 -9.99999846e-01 -4.01388794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters 0.013473376703554127 Centerline is valid? [True, True] Translation: X:146.10, Y:-149.78, Z:-4.01 [[-5.92702921e-01 8.05420792e-01 7.72028474e-04 1.46101532e+02] [ 8.05420072e-01 5.92703424e-01 -1.07658008e-03 -1.49777238e+02] [-1.32468390e-03 -1.62849269e-05 -9.99999123e-01 -4.01280967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters 0.013807266331157714 Centerline is valid? [True, True] Translation: X:146.09, Y:-149.75, Z:-4.01 [[-6.54658981e-01 7.55923922e-01 8.01504014e-04 1.46089613e+02] [ 7.55923324e-01 6.54659472e-01 -9.50554210e-04 -1.49750113e+02] [-1.24325886e-03 -1.64132717e-05 -9.99999227e-01 -4.01233448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters 0.014353565707344227 Centerline is valid? [True, True] Translation: X:146.07, Y:-149.73, Z:-4.01 [[-7.13036598e-01 7.01124118e-01 1.94436609e-03 1.46072987e+02] [ 7.01121352e-01 7.13039248e-01 -1.97010415e-03 -1.49725042e+02] [-2.76769687e-03 -4.15197754e-05 -9.99996169e-01 -4.01096583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters 0.014398722572475814 Centerline is valid? [True, True] Translation: X:146.05, Y:-149.70, Z:-4.01 [[-7.65808743e-01 6.43058921e-01 3.49190451e-03 1.46053119e+02] [ 6.43051818e-01 7.65816701e-01 -3.02327469e-03 -1.49703379e+02] [-4.61830255e-03 -6.97746450e-05 -9.99989333e-01 -4.00894478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters 0.013504609613888776 Centerline is valid? [True, True] Translation: X:146.07, Y:-149.69, Z:-4.01 [[-8.08433376e-01 5.88571880e-01 4.31503295e-03 1.46065890e+02] [ 5.88563013e-01 8.08444888e-01 -3.23155949e-03 -1.49685174e+02] [-5.39047138e-03 -7.28317496e-05 -9.99985469e-01 -4.00914643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters 0.012928434099936227 Centerline is valid? [True, True] Translation: X:146.08, Y:-149.67, Z:-4.01 [[-8.45650946e-01 5.33719197e-01 4.27753842e-03 1.46079756e+02] [ 5.33712093e-01 8.45661763e-01 -2.75404129e-03 -1.49669960e+02] [-5.08723539e-03 -4.59836397e-05 -9.99987059e-01 -4.01011798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters 0.012223137799028722 Centerline is valid? [True, True] Translation: X:146.10, Y:-149.66, Z:-4.01 [[-8.78037949e-01 4.78567466e-01 4.74775856e-03 1.46097723e+02] [ 4.78560397e-01 8.78050785e-01 -2.60100074e-03 -1.49659299e+02] [-5.41352746e-03 -1.16881309e-05 -9.99985347e-01 -4.01108361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters 0.012239153403384115 Centerline is valid? [True, True] Translation: X:146.11, Y:-149.64, Z:-4.01 [[-9.08568447e-01 4.17708544e-01 4.79057635e-03 1.46107577e+02] [ 4.17702757e-01 9.08581076e-01 -2.19871751e-03 -1.49635543e+02] [-5.27105010e-03 3.35160157e-06 -9.99986108e-01 -4.01115253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters 0.012355745872783508 Centerline is valid? [True, True] Translation: X:146.12, Y:-149.61, Z:-4.01 [[-9.35631021e-01 3.52932858e-01 5.74371878e-03 1.46122159e+02] [ 3.52926260e-01 9.35648651e-01 -2.15803779e-03 -1.49611822e+02] [-6.13574517e-03 7.98208607e-06 -9.99981176e-01 -4.01111588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters 0.012491989171052853 Centerline is valid? [True, True] Translation: X:146.37, Y:-148.96, Z:-5.03 [[-9.10976956e-01 -4.12397381e-01 7.02754483e-03 1.46373707e+02] [ 4.12385820e-01 -9.11004058e-01 -3.08911773e-03 -1.48955250e+02] [ 7.67606592e-03 8.39447680e-05 9.99970535e-01 -5.02977040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters 0.012821597557182969 Centerline is valid? [True, True] Translation: X:146.08, Y:-149.60, Z:-4.01 [[-9.35685979e-01 3.52742261e-01 8.04025640e-03 1.46081155e+02] [ 3.52729613e-01 9.35720522e-01 -2.98734769e-03 -1.49599281e+02] [-8.57719669e-03 4.08171778e-05 -9.99963214e-01 -4.00950737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters 0.012819385966552356 Centerline is valid? [True, True] Translation: X:146.33, Y:-148.94, Z:-5.03 [[-9.14261862e-01 -4.05046002e-01 7.93624703e-03 1.46333127e+02] [ 4.05030416e-01 -9.14296306e-01 -3.55334046e-03 -1.48940255e+02] [ 8.69534769e-03 -3.42622301e-05 9.99962194e-01 -5.02944924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters 0.013307933664654893 Centerline is valid? [True, True] Translation: X:146.04, Y:-149.58, Z:-4.01 [[-9.35055582e-01 3.54426471e-01 7.27567729e-03 1.46035638e+02] [ 3.54416400e-01 9.35083884e-01 -2.67302434e-03 -1.49582542e+02] [-7.75075916e-03 7.91930216e-05 -9.99969959e-01 -4.01193158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters 0.013724300369214452 Centerline is valid? [True, True] Translation: X:146.29, Y:-148.93, Z:-5.03 [[-9.18310880e-01 -3.95792191e-01 7.32595358e-03 1.46293553e+02] [ 3.95779018e-01 -9.18340099e-01 -3.22988854e-03 -1.48927314e+02] [ 8.00608160e-03 -6.65830780e-05 9.99967949e-01 -5.02718306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters 0.013701277198256838 Centerline is valid? [True, True] Translation: X:146.00, Y:-149.57, Z:-4.01 [[-9.35964609e-01 3.51995028e-01 8.35164750e-03 1.46000253e+02] [ 3.51981974e-01 9.36001864e-01 -3.03321815e-03 -1.49568431e+02] [-8.88483534e-03 1.00644525e-04 -9.99960524e-01 -4.01217241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters 0.01296764523729222 Centerline is valid? [True, True] Translation: X:146.24, Y:-148.92, Z:-5.03 [[-9.17239135e-01 -3.98260239e-01 7.81991612e-03 1.46240175e+02] [ 3.98244668e-01 -9.17272461e-01 -3.52360839e-03 -1.48917040e+02] [ 8.57630683e-03 -1.17751612e-04 9.99963216e-01 -5.02782612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters 0.012706956844194789 Centerline is valid? [True, True] Translation: X:145.96, Y:-149.54, Z:-4.01 [[-9.40620957e-01 3.39359250e-01 8.21670582e-03 1.45957169e+02] [ 3.39346429e-01 9.40656845e-01 -2.94985274e-03 -1.49543054e+02] [-8.73016038e-03 1.36164745e-05 -9.99961891e-01 -4.01265052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters 0.012800980834748024 Centerline is valid? [True, True] Translation: X:145.96, Y:-149.51, Z:-4.01 [[-9.64014764e-01 2.65708307e-01 8.63885745e-03 1.45959323e+02] [ 2.65697237e-01 9.64053470e-01 -2.42582837e-03 -1.49511335e+02] [-8.97288325e-03 -4.32138037e-05 -9.99959742e-01 -4.01336729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters 0.013363736429371135 Centerline is valid? [True, True] Translation: X:145.96, Y:-149.48, Z:-4.01 [[-9.81550237e-01 1.91012435e-01 8.56638412e-03 1.45963545e+02] [ 1.91004333e-01 9.81587613e-01 -1.76168554e-03 -1.49480234e+02] [-8.74516038e-03 -9.29663678e-05 -9.99961756e-01 -4.01329250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters 0.01388854195864742 Centerline is valid? [True, True] Translation: X:145.96, Y:-149.45, Z:-4.01 [[-9.93079147e-01 1.17169643e-01 8.06742718e-03 1.45956847e+02] [ 1.17164812e-01 9.93111908e-01 -1.07050261e-03 -1.49449045e+02] [-8.13728840e-03 -1.17875234e-04 -9.99966885e-01 -4.01329039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters 0.014838197683651943 Centerline is valid? [True, True] Translation: X:145.96, Y:-149.42, Z:-4.01 [[-9.99074525e-01 4.22602013e-02 8.01052949e-03 1.45956685e+02] [ 4.22576409e-02 9.99106627e-01 -4.88688820e-04 -1.49419846e+02] [-8.02402519e-03 -1.49730472e-04 -9.99967796e-01 -4.01253037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters 0.014959804638055865 Centerline is valid? [True, True] Translation: X:145.96, Y:-149.39, Z:-4.01 [[-9.99521268e-01 -2.98229609e-02 8.23563793e-03 1.45959361e+02] [-2.98232839e-02 9.99555183e-01 8.36147778e-05 -1.49394711e+02] [-8.23446823e-03 -1.62039020e-04 -9.99966083e-01 -4.01221226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters 0.01497730338144286 Centerline is valid? [True, True] Translation: X:145.95, Y:-148.74, Z:-5.03 [[-9.97077295e-01 -7.58386748e-02 9.23927637e-03 1.45954270e+02] [ 7.58377104e-02 -9.97120070e-01 -4.55189157e-04 -1.48735430e+02] [ 9.24718884e-03 2.46826793e-04 9.99957213e-01 -5.02912958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters 0.014166542927012601 Centerline is valid? [True, True] Translation: X:145.90, Y:-149.40, Z:-4.01 [[-9.99535456e-01 -2.85191726e-02 1.07484131e-02 1.45896152e+02] [-2.85191197e-02 9.99593235e-01 1.58224288e-04 -1.49402324e+02] [-1.07485535e-02 -1.48384495e-04 -9.99942222e-01 -4.00944688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters 0.01310071868429884 Centerline is valid? [True, True] Translation: X:145.89, Y:-149.38, Z:-4.01 [[-9.95721221e-01 -9.17590607e-02 1.09327798e-02 1.45894430e+02] [-9.17542558e-02 9.95781236e-01 9.41325279e-04 -1.49384092e+02] [-1.09730321e-02 -6.58315157e-05 -9.99939792e-01 -4.00940440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters 0.01284528292670994 Centerline is valid? [True, True] Translation: X:145.84, Y:-148.69, Z:-5.03 [[-9.99774283e-01 1.82914254e-02 1.08076842e-02 1.45844339e+02] [-1.82897619e-02 -9.99832696e-01 2.52747714e-04 -1.48692153e+02] [ 1.08104992e-02 5.50206934e-05 9.99941563e-01 -5.03086872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters 0.013137668205464262 Centerline is valid? [True, True] Translation: X:145.82, Y:-149.40, Z:-4.01 [[-9.96385760e-01 -8.43267454e-02 1.02185006e-02 1.45815425e+02] [-8.43215532e-02 9.96438154e-01 9.38656074e-04 -1.49403012e+02] [-1.02612577e-02 7.36237016e-05 -9.99947349e-01 -4.00977748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters 0.013293596623638526 Centerline is valid? [True, True] Translation: X:145.75, Y:-148.69, Z:-5.03 [[-9.99462806e-01 3.11224982e-02 1.02708337e-02 1.45754638e+02] [-3.11216043e-02 -9.99515575e-01 2.46882245e-04 -1.48694678e+02] [ 1.02735418e-02 -7.28952003e-05 9.99947223e-01 -5.03047564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters 0.013196999016240942 Centerline is valid? [True, True] Translation: X:145.73, Y:-149.41, Z:-4.01 [[-9.95741318e-01 -9.14049913e-02 1.20148282e-02 1.45728299e+02] [-9.13974909e-02 9.95813799e-01 1.17302328e-03 -1.49408990e+02] [-1.20717519e-02 6.99025945e-05 -9.99927131e-01 -4.00892550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters 0.013001148700915984 Centerline is valid? [True, True] Translation: X:145.66, Y:-148.71, Z:-5.03 [[-9.99385602e-01 3.27149376e-02 1.25758278e-02 1.45659732e+02] [-3.27128214e-02 -9.99464723e-01 3.73994015e-04 -1.48706089e+02] [ 1.25813315e-02 -3.76265763e-05 9.99920851e-01 -5.03154793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters 0.012839694405135927 Centerline is valid? [True, True] Translation: X:145.64, Y:-149.41, Z:-4.01 [[-9.94589009e-01 -1.03161729e-01 1.22621792e-02 1.45640220e+02] [-1.03153978e-01 9.94664596e-01 1.26456135e-03 -1.49409868e+02] [-1.23272098e-02 -7.17373564e-06 -9.99924017e-01 -4.00820795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters 0.013033206846536919 Centerline is valid? [True, True] Translation: X:145.57, Y:-148.72, Z:-5.03 [[-9.99511194e-01 2.89893730e-02 1.17042549e-02 1.45568638e+02] [-2.89878265e-02 -9.99579719e-01 3.01784654e-04 -1.48724354e+02] [ 1.17080844e-02 -3.76437719e-05 9.99931457e-01 -5.03113462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters 0.013366950559058604 Centerline is valid? [True, True] Translation: X:145.56, Y:-149.41, Z:-4.01 [[-9.93001156e-01 -1.17588595e-01 1.10284134e-02 1.45555850e+02] [-1.17582561e-01 9.93062390e-01 1.19621835e-03 -1.49410266e+02] [-1.10925642e-02 -1.08902879e-04 -9.99938470e-01 -4.00959801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters 0.013942029707759276 Centerline is valid? [True, True] Translation: X:145.54, Y:-149.38, Z:-4.01 [[-9.81336104e-01 -1.92057784e-01 9.65702793e-03 1.45541176e+02] [-1.92049856e-01 9.81383609e-01 1.75036133e-03 -1.49381559e+02] [-9.81341945e-03 -1.36938056e-04 -9.99951838e-01 -4.01074377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters 0.014059236815018278 Centerline is valid? [True, True] Translation: X:145.53, Y:-149.36, Z:-4.01 [[-9.64732700e-01 -2.63087096e-01 8.71769137e-03 1.45526817e+02] [-2.63077661e-01 9.64772077e-01 2.23242119e-03 -1.49355472e+02] [-8.99790641e-03 -1.39740133e-04 -9.99959508e-01 -4.01119913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters 0.014539724374147401 Centerline is valid? [True, True] Translation: X:145.50, Y:-149.33, Z:-4.01 [[-9.42650812e-01 -3.33673694e-01 8.44472146e-03 1.45502749e+02] [-3.33661807e-01 9.42688624e-01 2.82086696e-03 -1.49333088e+02] [-8.90199195e-03 -1.58588492e-04 -9.99960364e-01 -4.01196470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters 0.01480701534202652 Centerline is valid? [True, True] Translation: X:145.47, Y:-149.32, Z:-4.01 [[-9.15191195e-01 -4.02901261e-01 9.78013876e-03 1.45467319e+02] [-4.02880736e-01 9.15243426e-01 4.07238031e-03 -1.49315269e+02] [-1.05919749e-02 -2.13222904e-04 -9.99943881e-01 -4.01094730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters 0.015083834441153923 Centerline is valid? [True, True] Translation: X:145.41, Y:-149.31, Z:-4.01 [[-8.82954883e-01 -4.69330898e-01 1.09171012e-02 1.45410088e+02] [-4.69298642e-01 8.83022333e-01 5.50852035e-03 -1.49311234e+02] [-1.22253630e-02 -2.59605818e-04 -9.99925234e-01 -4.00955470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters 0.015173705628516986 Centerline is valid? [True, True] Translation: X:145.35, Y:-149.32, Z:-4.01 [[-8.46341304e-01 -5.32483190e-01 1.29633869e-02 1.45350320e+02] [-5.32426276e-01 8.46440522e-01 7.79127107e-03 -1.49315648e+02] [-1.51214569e-02 -3.07973305e-04 -9.99885617e-01 -4.00783787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters 0.014152482788918444 Centerline is valid? [True, True] Translation: X:145.28, Y:-149.33, Z:-4.01 [[-8.07077684e-01 -5.90283704e-01 1.38116314e-02 1.45283211e+02] [-5.90202907e-01 8.07195811e-01 9.76988555e-03 -1.49334904e+02] [-1.69156952e-02 -2.66608396e-04 -9.99856884e-01 -4.00871639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters 0.013621893998270952 Centerline is valid? [True, True] Translation: X:145.21, Y:-149.37, Z:-4.01 [[-7.63298347e-01 -6.45904260e-01 1.35395605e-02 1.45206674e+02] [-6.45807427e-01 7.63418394e-01 1.11858380e-02 -1.49365259e+02] [-1.75613300e-02 -2.05817037e-04 -9.99845767e-01 -4.00893190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters 0.013377303023260949 Centerline is valid? [True, True] Translation: X:145.13, Y:-149.40, Z:-4.01 [[-7.14886828e-01 -6.99112451e-01 1.33642769e-02 1.45127814e+02] [-6.98994378e-01 7.15011718e-01 1.28491977e-02 -1.49401279e+02] [-1.85386487e-02 -1.55832168e-04 -9.99828132e-01 -4.00974189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters 0.013240548155898153 Centerline is valid? [True, True] Translation: X:145.05, Y:-149.45, Z:-4.01 [[-6.63704663e-01 -7.47855933e-01 1.44091360e-02 1.45049030e+02] [-7.47682161e-01 6.63861053e-01 1.61210614e-02 -1.49449693e+02] [-2.16218956e-02 -7.38303045e-05 -9.99766217e-01 -4.00985587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters 0.013132735107795881 Centerline is valid? [True, True] Translation: X:144.97, Y:-149.51, Z:-4.01 [[-6.06231042e-01 -7.95178986e-01 1.32024533e-02 1.44965250e+02] [-7.94992090e-01 6.06374784e-01 1.72394530e-02 -1.49509108e+02] [-2.17140855e-02 -4.47544049e-05 -9.99764221e-01 -4.01054550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters 0.01311895353777747 Centerline is valid? [True, True] Translation: X:144.89, Y:-149.58, Z:-4.01 [[-5.46238817e-01 -8.37546379e-01 1.17990468e-02 1.44886211e+02] [-8.37350575e-01 5.46366235e-01 1.81094552e-02 -1.49575136e+02] [-2.16141094e-02 1.21487773e-05 -9.99766388e-01 -4.01249761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters 0.013357811058604414 Centerline is valid? [True, True] Translation: X:144.81, Y:-149.65, Z:-4.01 [[-4.85531003e-01 -8.74158042e-01 1.03616126e-02 1.44808978e+02] [-8.73953415e-01 4.85641536e-01 1.89136772e-02 -1.49654146e+02] [-2.15655724e-02 1.27609986e-04 -9.99767428e-01 -4.01441936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters 0.013659835481870448 Centerline is valid? [True, True] Translation: X:144.74, Y:-149.73, Z:-4.02 [[-4.21775914e-01 -9.06658010e-01 8.73679016e-03 1.44739371e+02] [-9.06452157e-01 4.21866330e-01 1.93206214e-02 -1.49733576e+02] [-2.12029538e-02 2.29490459e-04 -9.99775166e-01 -4.01688853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters 0.01382977336684624 Centerline is valid? [True, True] Translation: X:144.67, Y:-149.82, Z:-4.02 [[-3.51386494e-01 -9.36202100e-01 7.29107340e-03 1.44669642e+02] [-9.35986546e-01 3.51462050e-01 2.00901031e-02 -1.49823985e+02] [-2.13709323e-02 2.35044268e-04 -9.99771588e-01 -4.01607264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters 0.013088292316101138 Centerline is valid? [True, True] Translation: X:144.60, Y:-149.93, Z:-4.02 [[-2.75297172e-01 -9.61342494e-01 5.66357146e-03 1.44603336e+02] [-9.61127276e-01 2.75355378e-01 2.03414739e-02 -1.49925261e+02] [-2.11146181e-02 1.56537226e-04 -9.99777049e-01 -4.01741710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters 0.012604438387528765 Centerline is valid? [True, True] Translation: X:144.55, Y:-150.03, Z:-4.02 [[-1.96551947e-01 -9.80486140e-01 3.77638107e-03 1.44546245e+02] [-9.80299625e-01 1.96588213e-01 1.91238232e-02 -1.50029458e+02] [-1.94930356e-02 5.68397455e-05 -9.99809991e-01 -4.01791923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters 0.012197292825278665 Centerline is valid? [True, True] Translation: X:144.49, Y:-150.14, Z:-4.02 [[-1.12941552e-01 -9.93599430e-01 2.09258404e-03 1.44493509e+02] [-9.93443478e-01 1.12960900e-01 1.76037123e-02 -1.50140434e+02] [-1.77274187e-02 -9.06733867e-05 -9.99842853e-01 -4.01870194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters 0.01281467131705502 Centerline is valid? [True, True] Translation: X:144.45, Y:-150.25, Z:-4.02 [[-2.97897292e-02 -9.99555971e-01 6.57659532e-04 1.44449510e+02] [-9.99436458e-01 2.97963379e-02 1.54578165e-02 -1.50246907e+02] [-1.54705486e-02 -1.96804746e-04 -9.99880305e-01 -4.01838494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters 0.01345625490018506 Centerline is valid? [True, True] Translation: X:144.42, Y:-150.36, Z:-4.02 [[ 5.05126105e-02 -9.98723326e-01 -4.40995969e-04 1.44418457e+02] [-9.98639932e-01 -5.05140922e-02 1.29078315e-02 -1.50359271e+02] [-1.29136289e-02 -2.11612080e-04 -9.99916593e-01 -4.01944254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters 0.014795494774153576 Centerline is valid? [True, True] Translation: X:144.40, Y:-150.48, Z:-4.02 [[ 1.28850780e-01 -9.91663322e-01 -1.15391123e-03 1.44395292e+02] [-9.91609036e-01 -1.28855802e-01 1.03779989e-02 -1.50476774e+02] [-1.04401691e-02 -1.92984457e-04 -9.99945481e-01 -4.01975977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters 0.013541378680164461 Centerline is valid? [True, True] Translation: X:144.39, Y:-150.59, Z:-4.02 [[ 2.04192607e-01 -9.78929082e-01 -1.79801790e-03 1.44386932e+02] [-9.78883156e-01 -2.04200446e-01 9.48392519e-03 -1.50589342e+02] [-9.65124623e-03 -1.76497968e-04 -9.99953410e-01 -4.02095966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters 0.013471828691188686 Centerline is valid? [True, True] Translation: X:144.39, Y:-150.70, Z:-4.02 [[ 2.77635172e-01 -9.60682242e-01 -2.88792855e-03 1.44385967e+02] [-9.60622860e-01 -2.77650126e-01 1.06830716e-02 -1.50703987e+02] [-1.10648709e-02 -1.91786247e-04 -9.99938764e-01 -4.01865604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters 0.01287223641430109 Centerline is valid? [True, True] Translation: X:144.40, Y:-150.82, Z:-4.02 [[ 3.47445134e-01 -9.37689786e-01 -4.44348288e-03 1.44397339e+02] [-9.37606026e-01 -3.47473495e-01 1.25343484e-02 -1.50821072e+02] [-1.32973230e-02 -1.88762036e-04 -9.99911569e-01 -4.01615068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters 0.012230682431296658 Centerline is valid? [True, True] Translation: X:144.42, Y:-150.93, Z:-4.02 [[ 4.14390914e-01 -9.10078966e-01 -6.03699375e-03 1.44415940e+02] [-9.09977096e-01 -4.14434859e-01 1.36173458e-02 -1.50930640e+02] [-1.48948006e-02 -1.49378312e-04 -9.99889055e-01 -4.01500187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters 0.011659719817925263 Centerline is valid? [True, True] Translation: X:144.45, Y:-151.03, Z:-4.01 [[ 4.73019497e-01 -8.81017516e-01 -7.79045228e-03 1.44446274e+02] [-8.80898574e-01 -4.73083646e-01 1.44764099e-02 -1.51032482e+02] [-1.64395063e-02 1.49741704e-05 -9.99864862e-01 -4.01481890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters 0.01384860514977822 Centerline is valid? [True, True] Translation: X:144.48, Y:-151.13, Z:-4.02 [[ 5.25532056e-01 -8.50733642e-01 -8.26612851e-03 1.44484058e+02] [-8.50636051e-01 -5.25596998e-01 1.28881541e-02 -1.51125949e+02] [-1.53090386e-02 2.58328759e-04 -9.99882776e-01 -4.01545410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters 0.017858794568857195 Centerline is valid? [True, True] Translation: X:144.53, Y:-151.22, Z:-4.02 [[ 5.79206438e-01 -8.15134873e-01 -8.66256817e-03 1.44529112e+02] [-8.15054278e-01 -5.79271063e-01 1.14699526e-02 -1.51220339e+02] [-1.43675334e-02 4.16992873e-04 -9.99896695e-01 -4.01642492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters 0.02448167214186459 Centerline is valid? [True, True] Translation: X:144.58, Y:-151.31, Z:-4.02 [[ 6.26752058e-01 -7.79178640e-01 -7.90597797e-03 1.44581953e+02] [-7.79127381e-01 -6.26801680e-01 8.95424551e-03 -1.51307369e+02] [-1.19324371e-02 5.47672110e-04 -9.99928656e-01 -4.01870786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters 0.024096025671928777 Centerline is valid? [True, True] Translation: X:144.63, Y:-151.40, Z:-4.02 [[ 6.78199309e-01 -7.34837036e-01 -7.76062742e-03 1.44629117e+02] [-7.34798534e-01 -6.78243457e-01 7.54501443e-03 -1.51396741e+02] [-1.08079508e-02 5.85474075e-04 -9.99941421e-01 -4.02108166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters 0.02696486734853769 Centerline is valid? [True, True] Translation: X:144.65, Y:-151.42, Z:-4.02 [[ 7.29610090e-01 -6.83810291e-01 -8.52066482e-03 1.44647328e+02] [-6.83773997e-01 -7.29659541e-01 7.07644180e-03 -1.51423333e+02] [-1.10561281e-02 6.63165692e-04 -9.99938659e-01 -4.02067745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters 0.026308030630944054 Centerline is valid? [True, True] Translation: X:144.66, Y:-151.45, Z:-4.02 [[ 7.82460909e-01 -6.22634989e-01 -8.97752715e-03 1.44662727e+02] [-6.22603042e-01 -7.82512156e-01 6.33862649e-03 -1.51454504e+02] [-1.09716748e-02 6.29708264e-04 -9.99939611e-01 -4.02010500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters 0.02290643275381665 Centerline is valid? [True, True] Translation: X:144.68, Y:-151.49, Z:-4.02 [[ 8.32135964e-01 -5.54509525e-01 -8.30208656e-03 1.44678105e+02] [-5.54487762e-01 -8.32177230e-01 4.93752354e-03 -1.51489273e+02] [-9.64671123e-03 4.94714492e-04 -9.99953347e-01 -4.02103626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters 0.019327108724818225 Centerline is valid? [True, True] Translation: X:144.70, Y:-151.53, Z:-4.02 [[ 8.79177018e-01 -4.76469138e-01 -4.99305217e-03 1.44695554e+02] [-4.76462820e-01 -8.79191171e-01 2.46306947e-03 -1.51526294e+02] [-5.56342397e-03 2.13529646e-04 -9.99984501e-01 -4.02258074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters 0.015737764491991463 Centerline is valid? [True, True] Translation: X:144.72, Y:-151.56, Z:-4.02 [[ 9.19572784e-01 -3.92895771e-01 -4.33684726e-03 1.44717681e+02] [-3.92891968e-01 -9.19583004e-01 1.73220316e-03 -1.51561638e+02] [-4.66866632e-03 1.11025571e-04 -9.99989096e-01 -4.02073482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters 0.012835590237172501 Centerline is valid? [True, True] Translation: X:144.74, Y:-151.60, Z:-4.02 [[ 9.51784034e-01 -3.06756312e-01 -2.77804143e-03 1.44743077e+02] [-3.06755094e-01 -9.51788088e-01 8.64805224e-04 -1.51596916e+02] [-2.90939120e-03 2.90705551e-05 -9.99995767e-01 -4.02049753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters 0.01215404566209185 Centerline is valid? [True, True] Translation: X:144.77, Y:-151.62, Z:-4.02 [[ 9.74995602e-01 -2.22216254e-01 -1.87416356e-03 1.44773115e+02] [-2.22215846e-01 -9.74997403e-01 4.26067789e-04 -1.51623110e+02] [-1.92198379e-03 1.05461930e-06 -9.99998153e-01 -4.02038849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters 0.013318197797059322 Centerline is valid? [True, True] Translation: X:144.81, Y:-151.65, Z:-4.02 [[ 9.91173550e-01 -1.32570704e-01 -5.35826949e-05 1.44805253e+02] [-1.32570703e-01 -9.91173551e-01 7.98187273e-06 -1.51651927e+02] [-5.41679130e-05 -8.07925589e-07 -9.99999999e-01 -4.02070724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters 0.015663984633857906 Centerline is valid? [True, True] Translation: X:144.84, Y:-151.67, Z:-4.02 [[ 9.98945261e-01 -4.59076649e-02 9.22462934e-04 1.44841047e+02] [-4.59076275e-02 -9.98945687e-01 -6.17129616e-05 -1.51672224e+02] [ 9.24323467e-04 1.92997857e-05 -9.99999573e-01 -4.02051366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters 0.016704875916521773 Centerline is valid? [True, True] Translation: X:144.88, Y:-151.68, Z:-4.02 [[ 9.99394488e-01 3.47815582e-02 9.48992800e-04 1.44876028e+02] [ 3.47815635e-02 -9.99394938e-01 1.09388307e-05 -1.51682747e+02] [ 9.48799070e-04 2.20752462e-05 -9.99999550e-01 -4.02036034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters 0.016693279262030174 Centerline is valid? [True, True] Translation: X:144.91, Y:-151.69, Z:-4.02 [[ 9.93690043e-01 1.12161010e-01 -7.35080825e-05 1.44911765e+02] [ 1.12161010e-01 -9.93690046e-01 -6.47139963e-06 -1.51686916e+02] [-7.37700891e-05 -1.81417544e-06 -9.99999997e-01 -4.01803705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters 0.016009667276496182 Centerline is valid? [True, True] Translation: X:144.95, Y:-151.68, Z:-4.02 [[ 9.82265011e-01 1.87496070e-01 -8.20135363e-04 1.44946731e+02] [ 1.87496019e-01 -9.82265353e-01 -1.39035217e-04 -1.51684863e+02] [-8.31659109e-04 -1.72026865e-05 -9.99999654e-01 -4.01660183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters 0.01518107387022629 Centerline is valid? [True, True] Translation: X:144.98, Y:-151.68, Z:-4.01 [[ 9.65202289e-01 2.61494310e-01 -2.29512679e-03 1.44981179e+02] [ 2.61493677e-01 -9.65205017e-01 -5.77192063e-04 -1.51679019e+02] [-2.36620033e-03 -4.30540435e-05 -9.99997200e-01 -4.01487970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters 0.014250075188719917 Centerline is valid? [True, True] Translation: X:145.01, Y:-151.67, Z:-4.01 [[ 9.43266283e-01 3.31986561e-01 -5.80023879e-03 1.45013219e+02] [ 3.31980827e-01 -9.43284112e-01 -1.95297630e-03 -1.51666370e+02] [-6.11963498e-03 -8.33913731e-05 -9.99981271e-01 -4.01101988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters 0.01352841037891357 Centerline is valid? [True, True] Translation: X:145.04, Y:-151.65, Z:-4.01 [[ 9.16241077e-01 4.00578293e-01 -6.27061402e-03 1.45042083e+02] [ 4.00569369e-01 -9.16262532e-01 -2.67445822e-03 -1.51649888e+02] [-6.81685859e-03 -6.13674295e-05 -9.99976763e-01 -4.01005748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters 0.01285595921720774 Centerline is valid? [True, True] Translation: X:145.07, Y:-151.64, Z:-4.01 [[ 8.83515072e-01 4.68376191e-01 -4.98613460e-03 1.45073131e+02] [ 4.68368945e-01 -8.83529141e-01 -2.60540001e-03 -1.51637678e+02] [-5.62570256e-03 -3.34404259e-05 -9.99984175e-01 -4.01212649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters 0.012766061091961475 Centerline is valid? [True, True] Translation: X:145.10, Y:-151.62, Z:-4.01 [[ 8.46043226e-01 5.33103923e-01 -3.32667357e-03 1.45102224e+02] [ 5.33099846e-01 -8.46049766e-01 -2.08498927e-03 -1.51623033e+02] [-3.92604736e-03 -9.45812183e-06 -9.99992293e-01 -4.01379040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters 0.012791573730259315 Centerline is valid? [True, True] Translation: X:145.13, Y:-151.61, Z:-4.01 [[ 8.02344076e-01 5.96852882e-01 -3.25902650e-03 1.45129693e+02] [ 5.96847986e-01 -8.02350695e-01 -2.41751446e-03 -1.51607581e+02] [-4.05778265e-03 -5.46499735e-06 -9.99991767e-01 -4.01278667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters 0.012833409065216215 Centerline is valid? [True, True] Translation: X:145.16, Y:-151.59, Z:-4.01 [[ 7.51072661e-01 6.60209827e-01 -3.58352896e-03 1.45157219e+02] [ 6.60202448e-01 -7.51081210e-01 -3.12150390e-03 -1.51590291e+02] [-4.75236882e-03 -2.13783505e-05 -9.99988707e-01 -4.01371932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters 0.013048544898116136 Centerline is valid? [True, True] Translation: X:145.18, Y:-151.57, Z:-4.01 [[ 6.94578866e-01 7.19409591e-01 -3.16856151e-03 1.45184244e+02] [ 7.19402341e-01 -6.94586092e-01 -3.22985715e-03 -1.51573583e+02] [-4.52442897e-03 -3.60800527e-05 -9.99989764e-01 -4.01425200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters 0.01320866253232517 Centerline is valid? [True, True] Translation: X:145.21, Y:-151.56, Z:-4.01 [[ 6.34782739e-01 7.72685364e-01 -2.86390676e-03 1.45211700e+02] [ 7.72677807e-01 -6.34789198e-01 -3.41777386e-03 -1.51555365e+02] [-4.45884092e-03 -4.33333395e-05 -9.99990058e-01 -4.01444587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters 0.014239713354104011 Centerline is valid? [True, True] Translation: X:145.24, Y:-151.53, Z:-4.01 [[ 5.67674679e-01 8.23248230e-01 -2.79479173e-03 1.45236382e+02] [ 8.23238889e-01 -5.67681554e-01 -3.92242292e-03 -1.51534785e+02] [-4.81567944e-03 -7.41210649e-05 -9.99988402e-01 -4.01434949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters 0.015031851791306903 Centerline is valid? [True, True] Translation: X:145.26, Y:-151.51, Z:-4.01 [[ 4.98325067e-01 8.66986229e-01 -2.64703643e-03 1.45257977e+02] [ 8.66975022e-01 -4.98332088e-01 -4.40921553e-03 -1.51511842e+02] [-5.14183233e-03 -9.76918486e-05 -9.99986776e-01 -4.01371410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters 0.015274266259421389 Centerline is valid? [True, True] Translation: X:145.28, Y:-151.49, Z:-4.01 [[ 4.27096153e-01 9.04202648e-01 -2.53921560e-03 1.45276833e+02] [ 9.04188293e-01 -4.27103684e-01 -5.09651422e-03 -1.51486998e+02] [-5.69278999e-03 -1.19227400e-04 -9.99983789e-01 -4.01427251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters 0.015656101454739998 Centerline is valid? [True, True] Translation: X:145.29, Y:-151.46, Z:-4.01 [[ 3.54545001e-01 9.35037079e-01 -1.87150518e-03 1.45294310e+02] [ 9.35025605e-01 -3.54549924e-01 -4.63347060e-03 -1.51461130e+02] [-4.99600884e-03 -1.07131424e-04 -9.99987514e-01 -4.01463758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters 0.01583597759667203 Centerline is valid? [True, True] Translation: X:145.31, Y:-151.43, Z:-4.01 [[ 2.81010644e-01 9.59703273e-01 -1.62639573e-03 1.45306295e+02] [ 9.59689425e-01 -2.81015328e-01 -5.15676633e-03 -1.51434536e+02] [-5.40600765e-03 -1.11728561e-04 -9.99985381e-01 -4.01468370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters 0.014969259654718445 Centerline is valid? [True, True] Translation: X:145.31, Y:-151.41, Z:-4.01 [[ 2.07646365e-01 9.78203051e-01 -1.33383827e-03 1.45314429e+02] [ 9.78186022e-01 -2.07650622e-01 -5.77278646e-03 -1.51405964e+02] [-5.92392967e-03 -1.06043828e-04 -9.99982448e-01 -4.01379863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters 0.01406231591642878 Centerline is valid? [True, True] Translation: X:145.32, Y:-151.38, Z:-4.01 [[ 1.34547929e-01 9.90906604e-01 -9.77882507e-04 1.45318690e+02] [ 9.90885102e-01 -1.34551453e-01 -6.52853960e-03 -1.51377696e+02] [-6.60074851e-03 -9.05677226e-05 -9.99978211e-01 -4.01287769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters 0.013571320756503634 Centerline is valid? [True, True] Translation: X:145.32, Y:-151.35, Z:-4.01 [[ 5.89564736e-02 9.98260451e-01 -4.53299537e-04 1.45323293e+02] [ 9.98239696e-01 -5.89581710e-02 -6.43767982e-03 -1.51349834e+02] [-6.45320688e-03 -7.29586917e-05 -9.99979175e-01 -4.01329315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters 0.013102761753104696 Centerline is valid? [True, True] Translation: X:145.33, Y:-151.32, Z:-4.01 [[-1.79126276e-02 9.99839555e-01 5.13068016e-05 1.45332550e+02] [ 9.99819542e-01 1.79125937e-02 -6.32640578e-03 -1.51321605e+02] [-6.32630978e-03 -6.20250078e-05 -9.99979987e-01 -4.01375154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters 0.013067873773398865 Centerline is valid? [True, True] Translation: X:145.34, Y:-151.29, Z:-4.01 [[-9.55581951e-02 9.95423612e-01 6.81881377e-04 1.45340129e+02] [ 9.95392562e-01 9.55606004e-02 -7.86251332e-03 -1.51294076e+02] [-7.89169240e-03 -7.25879305e-05 -9.99968858e-01 -4.01209268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters 0.013102120356019162 Centerline is valid? [True, True] Translation: X:145.34, Y:-151.27, Z:-4.01 [[-1.73008244e-01 9.84919240e-01 1.49629824e-03 1.45342873e+02] [ 9.84878233e-01 1.73014696e-01 -8.98785743e-03 -1.51266485e+02] [-9.11119529e-03 -8.13018630e-05 -9.99958489e-01 -4.01098731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters 0.013038667573521253 Centerline is valid? [True, True] Translation: X:145.34, Y:-151.24, Z:-4.01 [[-2.48528093e-01 9.68621454e-01 2.50310887e-03 1.45344226e+02] [ 9.68569009e-01 2.48540685e-01 -1.00798316e-02 -1.51237601e+02] [-1.03856655e-02 -8.06876524e-05 -9.99946064e-01 -4.01022218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters 0.012852137947473778 Centerline is valid? [True, True] Translation: X:145.34, Y:-151.21, Z:-4.01 [[-3.21861103e-01 9.46780335e-01 3.52519779e-03 1.45344541e+02] [ 9.46721295e-01 3.21880401e-01 -1.05734064e-02 -1.51207574e+02] [-1.11453854e-02 -6.57884453e-05 -9.99937886e-01 -4.01015307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters 0.01283613327910283 Centerline is valid? [True, True] Translation: X:145.34, Y:-151.18, Z:-4.01 [[-3.93785162e-01 9.19191304e-01 4.53789870e-03 1.45341496e+02] [ 9.19128719e-01 3.93811305e-01 -1.07263322e-02 -1.51178263e+02] [-1.16466270e-02 -5.29574355e-05 -9.99932174e-01 -4.01065191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters 0.012682458191472552 Centerline is valid? [True, True] Translation: X:145.34, Y:-151.15, Z:-4.01 [[-4.63597528e-01 8.86029281e-01 5.42635436e-03 1.45337060e+02] [ 8.85967566e-01 4.63629283e-01 -1.04575320e-02 -1.51148579e+02] [-1.17814964e-02 -4.05120337e-05 -9.99930595e-01 -4.01186652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters 0.012814409193409072 Centerline is valid? [True, True] Translation: X:145.33, Y:-151.12, Z:-4.01 [[-5.31657974e-01 8.46935541e-01 6.32360495e-03 1.45330771e+02] [ 8.46874684e-01 5.31695578e-01 -1.01529155e-02 -1.51121144e+02] [-1.19610977e-02 -4.25775234e-05 -9.99928463e-01 -4.01167149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters 0.012723560120240708 Centerline is valid? [True, True] Translation: X:145.32, Y:-151.09, Z:-4.01 [[-5.97026078e-01 8.02188950e-01 7.26292419e-03 1.45322484e+02] [ 8.02128509e-01 5.97070251e-01 -9.84730241e-03 -1.51091149e+02] [-1.22358732e-02 -5.32977855e-05 -9.99925138e-01 -4.01270275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters 0.012978558002139871 Centerline is valid? [True, True] Translation: X:145.31, Y:-151.06, Z:-4.01 [[-6.60272289e-01 7.50975562e-01 8.72984275e-03 1.45312527e+02] [ 7.50907961e-01 6.60329990e-01 -1.00766401e-02 -1.51061536e+02] [-1.33318874e-02 -9.80178155e-05 -9.99911122e-01 -4.01182243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters 0.013774773449703133 Centerline is valid? [True, True] Translation: X:145.30, Y:-151.03, Z:-4.01 [[-7.20268587e-01 6.93623184e-01 1.00020816e-02 1.45299187e+02] [ 6.93553043e-01 7.20338011e-01 -9.86541255e-03 -1.51033675e+02] [-1.40477584e-02 -1.68772623e-04 -9.99901311e-01 -4.01181749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters 0.014377346723009768 Centerline is valid? [True, True] Translation: X:145.32, Y:-151.01, Z:-4.01 [[-7.69967750e-01 6.37998786e-01 1.03543260e-02 1.45316519e+02] [ 6.37937310e-01 7.70037338e-01 -8.85925982e-03 -1.51008978e+02] [-1.36254146e-02 -2.15933481e-04 -9.99907146e-01 -4.01242113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters 0.01443933388693514 Centerline is valid? [True, True] Translation: X:145.33, Y:-150.99, Z:-4.01 [[-8.14184707e-01 5.80518460e-01 1.00787151e-02 1.45334096e+02] [ 5.80470613e-01 8.14247056e-01 -7.45649890e-03 -1.50988273e+02] [-1.25351994e-02 -2.20569432e-04 -9.99921407e-01 -4.01382983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters 0.015089676910547028 Centerline is valid? [True, True] Translation: X:145.73, Y:-150.46, Z:-5.03 [[-7.49308558e-01 -6.62149870e-01 9.70744347e-03 1.45729964e+02] [ 6.62098375e-01 -7.49371399e-01 -8.26120673e-03 -1.50463546e+02] [ 1.27446375e-02 2.37089644e-04 9.99918756e-01 -5.02694997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters 0.01525882907942229 Centerline is valid? [True, True] Translation: X:145.30, Y:-150.97, Z:-4.01 [[-8.17408160e-01 5.75955235e-01 1.09301059e-02 1.45302886e+02] [ 5.75899352e-01 8.17481190e-01 -8.02747765e-03 -1.50966241e+02] [-1.35586238e-02 -2.67084809e-04 -9.99908042e-01 -4.01234115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters 0.01513190174297282 Centerline is valid? [True, True] Translation: X:145.31, Y:-150.94, Z:-4.01 [[-8.56099110e-01 5.16651038e-01 1.28848308e-02 1.45310363e+02] [ 5.16587219e-01 8.56196014e-01 -8.12587377e-03 -1.50941685e+02] [-1.52301819e-02 -3.00414395e-04 -9.99883969e-01 -4.01176738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters 0.015666105860174025 Centerline is valid? [True, True] Translation: X:145.67, Y:-150.39, Z:-5.03 [[-7.96884429e-01 -6.04002909e-01 1.24776852e-02 1.45672555e+02] [ 6.03935023e-01 -7.96982049e-01 -9.06101541e-03 -1.50385814e+02] [ 1.54173708e-02 3.15129013e-04 9.99881096e-01 -5.02970468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters 0.015032569499525788 Centerline is valid? [True, True] Translation: X:145.66, Y:-150.41, Z:-5.03 [[-7.55561767e-01 -6.54974141e-01 1.16314554e-02 1.45658328e+02] [ 6.54901704e-01 -7.55651249e-01 -9.74413223e-03 -1.50407382e+02] [ 1.51714784e-02 2.55166200e-04 9.99884874e-01 -5.02892264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters 0.014731001744320673 Centerline is valid? [True, True] Translation: X:145.23, Y:-150.93, Z:-4.01 [[-8.19040310e-01 5.73606841e-01 1.21722335e-02 1.45229313e+02] [ 5.73539247e-01 8.19130721e-01 -8.80877608e-03 -1.50929264e+02] [-1.50234246e-02 -2.33489035e-04 -9.99887115e-01 -4.01167149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters 0.014052113948708263 Centerline is valid? [True, True] Translation: X:145.25, Y:-150.91, Z:-4.01 [[-8.56585981e-01 5.15846722e-01 1.27521184e-02 1.45247281e+02] [ 5.15786007e-01 8.56680873e-01 -7.91686341e-03 -1.50911090e+02] [-1.50083839e-02 -2.04110001e-04 -9.99887347e-01 -4.01215999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters 0.013669320476441508 Centerline is valid? [True, True] Translation: X:145.61, Y:-150.34, Z:-5.03 [[-8.05322226e-01 -5.92704308e-01 1.25585077e-02 1.45607415e+02] [ 5.92636749e-01 -8.05420107e-01 -8.95181948e-03 -1.50335277e+02] [ 1.54206566e-02 2.33533973e-04 9.99881067e-01 -5.02812970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters 0.01367398468971614 Centerline is valid? [True, True] Translation: X:145.60, Y:-150.36, Z:-5.03 [[-7.64947213e-01 -6.43985731e-01 1.17532718e-02 1.45596295e+02] [ 6.43912594e-01 -7.65037488e-01 -9.70637813e-03 -1.50362815e+02] [ 1.52424626e-02 1.43212839e-04 9.99883817e-01 -5.02857168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters 0.013329066529184232 Centerline is valid? [True, True] Translation: X:145.16, Y:-150.89, Z:-4.01 [[-8.19190790e-01 5.73386459e-01 1.24265253e-02 1.45157696e+02] [ 5.73318005e-01 8.19285024e-01 -8.86085422e-03 -1.50887764e+02] [-1.52615599e-02 -1.34379450e-04 -9.99883527e-01 -4.01358259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters 0.01358676653339856 Centerline is valid? [True, True] Translation: X:145.18, Y:-150.87, Z:-4.01 [[-8.57560531e-01 5.14213199e-01 1.32182339e-02 1.45177534e+02] [ 5.14149755e-01 8.57662386e-01 -8.07843588e-03 -1.50865239e+02] [-1.54908204e-02 -1.31596027e-04 -9.99880001e-01 -4.01174644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters 0.013276638080259216 Centerline is valid? [True, True] Translation: X:145.19, Y:-150.84, Z:-4.01 [[-8.90954577e-01 4.53905054e-01 1.30438993e-02 1.45191617e+02] [ 4.53854813e-01 8.91050051e-01 -6.75396495e-03 -1.50841826e+02] [-1.46884260e-02 -9.74394960e-05 -9.99892115e-01 -4.01176006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters 0.012746710976346562 Centerline is valid? [True, True] Translation: X:145.21, Y:-150.82, Z:-4.01 [[-9.19817451e-01 3.92137775e-01 1.27993432e-02 1.45207952e+02] [ 3.92098986e-01 9.19906497e-01 -5.51567519e-03 -1.50821975e+02] [-1.39371036e-02 -5.48047913e-05 -9.99902872e-01 -4.01368248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters 0.012574147720310723 Centerline is valid? [True, True] Translation: X:145.22, Y:-150.80, Z:-4.02 [[-9.44602011e-01 3.27998222e-01 1.20086657e-02 1.45219027e+02] [ 3.27971403e-01 9.44678340e-01 -4.19440306e-03 -1.50798119e+02] [-1.27200832e-02 -2.35426126e-05 -9.99919096e-01 -4.01516039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters 0.012605437951091803 Centerline is valid? [True, True] Translation: X:145.44, Y:-150.16, Z:-5.03 [[-9.19560818e-01 -3.92788925e-01 1.11696958e-02 1.45443572e+02] [ 3.92759796e-01 -9.19628654e-01 -4.78349759e-03 -1.50155215e+02] [ 1.21508772e-02 -1.17094980e-05 9.99926175e-01 -5.02512943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters 0.012874315648179384 Centerline is valid? [True, True] Translation: X:145.18, Y:-150.79, Z:-4.01 [[-9.44161341e-01 3.29294911e-01 1.11455452e-02 1.45176513e+02] [ 3.29272443e-01 9.44227123e-01 -3.84676302e-03 -1.50787496e+02] [-1.17906456e-02 3.79559892e-05 -9.99930487e-01 -4.01431912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters 0.013334814520957961 Centerline is valid? [True, True] Translation: X:145.41, Y:-150.14, Z:-5.02 [[-9.24002779e-01 -3.82230169e-01 1.09069530e-02 1.45409306e+02] [ 3.82203077e-01 -9.24067149e-01 -4.55098427e-03 -1.50138471e+02] [ 1.18182805e-02 -3.64510937e-05 9.99930161e-01 -5.02488978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters 0.013826374293369473 Centerline is valid? [True, True] Translation: X:145.13, Y:-150.78, Z:-4.02 [[-9.43308248e-01 3.31734742e-01 1.10277129e-02 1.45132451e+02] [ 3.31713438e-01 9.43372699e-01 -3.76111543e-03 -1.50778146e+02] [-1.16509359e-02 1.10149343e-04 -9.99932120e-01 -4.01567398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters 0.013852407501252138 Centerline is valid? [True, True] Translation: X:145.14, Y:-150.75, Z:-4.02 [[-9.64633561e-01 2.63363631e-01 1.10314002e-02 1.45143171e+02] [ 2.63347588e-01 9.64696630e-01 -2.90860694e-03 -1.50751611e+02] [-1.14079759e-02 9.93527668e-05 -9.99934922e-01 -4.01545389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters 0.013037361889095152 Centerline is valid? [True, True] Translation: X:145.32, Y:-150.09, Z:-5.02 [[-9.49059134e-01 -3.14927663e-01 1.03599233e-02 1.45319758e+02] [ 3.14907457e-01 -9.49115668e-01 -3.56960398e-03 -1.50085567e+02] [ 1.09569326e-02 -1.25348148e-04 9.99939963e-01 -5.02452500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters 0.012683638940375396 Centerline is valid? [True, True] Translation: X:145.09, Y:-150.73, Z:-4.01 [[-9.68189317e-01 2.49971791e-01 1.11153013e-02 1.45092579e+02] [ 2.49955139e-01 9.68253119e-01 -2.88532013e-03 -1.50727784e+02] [-1.14836738e-02 -1.52094401e-05 -9.99934060e-01 -4.01483213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters 0.013299013689556424 Centerline is valid? [True, True] Translation: X:145.26, Y:-150.08, Z:-5.03 [[-9.46795030e-01 -3.21618308e-01 1.18673744e-02 1.45261130e+02] [ 3.21594173e-01 -9.46869398e-01 -3.94096763e-03 -1.50083079e+02] [ 1.25043410e-02 8.51898938e-05 9.99921814e-01 -5.02674336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters 0.014998369796130838 Centerline is valid? [True, True] Translation: X:145.04, Y:-150.70, Z:-4.01 [[-9.71775976e-01 2.35512097e-01 1.36200302e-02 1.45042764e+02] [ 2.35486426e-01 9.71871402e-01 -3.48163254e-03 -1.50701778e+02] [-1.40568844e-02 -1.76034613e-04 -9.99901182e-01 -4.01156183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters 0.014366900324146607 Centerline is valid? [True, True] Translation: X:145.04, Y:-150.67, Z:-4.02 [[-9.86779238e-01 1.61495482e-01 1.36361286e-02 1.45043709e+02] [ 1.61476749e-01 9.86873423e-01 -2.47109316e-03 -1.50674207e+02] [-1.38562033e-02 -2.36505725e-04 -9.99903970e-01 -4.01575944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters 0.014675749621620854 Centerline is valid? [True, True] Translation: X:145.05, Y:-150.65, Z:-4.02 [[-9.96002185e-01 8.85226004e-02 1.19748781e-02 1.45045831e+02] [ 8.85133419e-02 9.96074140e-01 -1.30199003e-03 -1.50645777e+02] [-1.20431220e-02 -2.36848433e-04 -9.99927451e-01 -4.01774317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters 0.014976366052795708 Centerline is valid? [True, True] Translation: X:145.04, Y:-150.62, Z:-4.02 [[-9.99803267e-01 1.66647644e-02 1.07569790e-02 1.45043592e+02] [ 1.66614116e-02 9.99861109e-01 -4.01232517e-04 -1.50617106e+02] [-1.07621714e-02 -2.21927127e-04 -9.99942062e-01 -4.01819610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters 0.014602053202092355 Centerline is valid? [True, True] Translation: X:145.04, Y:-150.59, Z:-4.02 [[-9.98526966e-01 -5.33008886e-02 1.01446521e-02 1.45037874e+02] [-5.33001509e-02 9.98578478e-01 3.43258466e-04 -1.50591245e+02] [-1.01485272e-02 -1.97958651e-04 -9.99948483e-01 -4.01924729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters 0.014618580006725062 Centerline is valid? [True, True] Translation: X:145.02, Y:-149.95, Z:-5.02 [[-9.98684739e-01 -5.02254489e-02 1.03051784e-02 1.45021232e+02] [ 5.02249542e-02 -9.98737883e-01 -3.06958867e-04 -1.49951068e+02] [ 1.03075892e-02 2.11021975e-04 9.99946853e-01 -5.02172112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters 0.013761676510406216 Centerline is valid? [True, True] Translation: X:144.97, Y:-150.60, Z:-4.02 [[-9.98583114e-01 -5.18872485e-02 1.18101043e-02 1.44974417e+02] [-5.18855079e-02 9.98652937e-01 4.53944074e-04 -1.50596287e+02] [-1.18177492e-02 -1.59472370e-04 -9.99930155e-01 -4.01655843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters 0.013063642351781707 Centerline is valid? [True, True] Translation: X:144.97, Y:-150.57, Z:-4.02 [[-9.92817308e-01 -1.18824397e-01 1.39483372e-02 1.44972836e+02] [-1.18814559e-01 9.92915276e-01 1.53479660e-03 -1.50573003e+02] [-1.40318883e-02 -1.33492905e-04 -9.99901539e-01 -4.01501989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters 0.012533650122498399 Centerline is valid? [True, True] Translation: X:144.91, Y:-149.92, Z:-5.02 [[-9.99177643e-01 3.78877068e-02 1.44416110e-02 1.44908330e+02] [-3.78813822e-02 -9.99281990e-01 7.11335838e-04 -1.49918558e+02] [ 1.44581927e-02 1.63682678e-04 9.99895462e-01 -5.02399624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters 0.012785015038983745 Centerline is valid? [True, True] Translation: X:144.89, Y:-150.59, Z:-4.01 [[-9.93433757e-01 -1.13314216e-01 1.57879437e-02 1.44890561e+02] [-1.13299515e-01 9.93559202e-01 1.82539568e-03 -1.50593663e+02] [-1.58931000e-02 2.46433160e-05 -9.99873696e-01 -4.01490360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters 0.01296822649194191 Centerline is valid? [True, True] Translation: X:144.89, Y:-150.57, Z:-4.02 [[-9.83666693e-01 -1.79329506e-01 1.55166222e-02 1.44887913e+02] [-1.79305635e-01 9.83789062e-01 2.92752181e-03 -1.50571002e+02] [-1.57900742e-02 9.74878975e-05 -9.99875324e-01 -4.01628299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters 0.013068700528387697 Centerline is valid? [True, True] Translation: X:144.76, Y:-149.90, Z:-5.02 [[-9.91746285e-01 1.27316989e-01 1.51555488e-02 1.44763361e+02] [-1.27304098e-01 -9.91862071e-01 1.81625177e-03 -1.49895472e+02] [ 1.52634538e-02 -1.28102525e-04 9.99883499e-01 -5.02235038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters 0.013929571880670488 Centerline is valid? [True, True] Translation: X:144.79, Y:-150.59, Z:-4.02 [[-9.83260414e-01 -1.81709452e-01 1.34400167e-02 1.44788083e+02] [-1.81690582e-01 9.83352255e-01 2.62220790e-03 -1.50594206e+02] [-1.36927506e-02 1.36388781e-04 -9.99906241e-01 -4.01667860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters 0.01353099273298117 Centerline is valid? [True, True] Translation: X:144.65, Y:-149.91, Z:-5.02 [[-9.90640802e-01 1.35855137e-01 1.31978312e-02 1.44654559e+02] [-1.35845209e-01 -9.90728700e-01 1.64999158e-03 -1.49912267e+02] [ 1.32996300e-02 -1.58313159e-04 9.99911544e-01 -5.02178219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters 0.013601440239576944 Centerline is valid? [True, True] Translation: X:144.69, Y:-150.61, Z:-4.02 [[-9.82243367e-01 -1.87225970e-01 1.20168607e-02 1.44686806e+02] [-1.87210324e-01 9.82316863e-01 2.42401191e-03 -1.50614792e+02] [-1.22582029e-02 1.31289238e-04 -9.99924857e-01 -4.01877614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters 0.013113960676876141 Centerline is valid? [True, True] Translation: X:144.67, Y:-150.59, Z:-4.02 [[-9.65476921e-01 -2.60203920e-01 1.21751922e-02 1.44666500e+02] [-2.60182007e-01 9.65553681e-01 3.37822475e-03 -1.50589570e+02] [-1.26348290e-02 9.38320857e-05 -9.99920173e-01 -4.01834056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters 0.012561388639425559 Centerline is valid? [True, True] Translation: X:144.46, Y:-149.93, Z:-5.02 [[-9.78548933e-01 2.05661878e-01 1.20489724e-02 1.44461102e+02] [-2.05647742e-01 -9.78623104e-01 2.41405044e-03 -1.49928886e+02] [ 1.22878809e-02 -1.15577487e-04 9.99924495e-01 -5.02118530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters 0.012337267019644552 Centerline is valid? [True, True] Translation: X:144.53, Y:-150.62, Z:-4.02 [[-9.61180182e-01 -2.75724721e-01 1.04180680e-02 1.44534974e+02] [-2.75708789e-01 9.61236640e-01 2.96417398e-03 -1.50619031e+02] [-1.08315247e-02 -2.32476254e-05 -9.99941337e-01 -4.01963891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters 0.012558265465038488 Centerline is valid? [True, True] Translation: X:144.50, Y:-150.60, Z:-4.02 [[-9.36974523e-01 -3.49310040e-01 7.82561011e-03 1.44502103e+02] [-3.49298427e-01 9.37007200e-01 2.84903215e-03 -1.50596404e+02] [-8.32784854e-03 -6.40027649e-05 -9.99965321e-01 -4.02072887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters 0.0128933194657396 Centerline is valid? [True, True] Translation: X:144.46, Y:-150.58, Z:-4.02 [[-9.07742908e-01 -4.19463786e-01 7.27639164e-03 1.44458807e+02] [-4.19451105e-01 9.07772066e-01 3.26286969e-03 -1.50582103e+02] [-7.97396075e-03 -9.02436922e-05 -9.99968203e-01 -4.02018262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters 0.013077619173123292 Centerline is valid? [True, True] Translation: X:144.39, Y:-150.58, Z:-4.02 [[-8.73854343e-01 -4.86135107e-01 7.15860786e-03 1.44394885e+02] [-4.86119746e-01 8.73883658e-01 3.86579805e-03 -1.50583595e+02] [-8.13509057e-03 -1.01796224e-04 -9.99966904e-01 -4.02020752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters 0.013184369312453717 Centerline is valid? [True, True] Translation: X:144.33, Y:-150.59, Z:-4.02 [[-8.35521795e-01 -5.49416090e-01 6.72976869e-03 1.44325999e+02] [-5.49399248e-01 8.35548891e-01 4.30313871e-03 -1.50591334e+02] [-7.98726441e-03 -1.01963679e-04 -9.99968096e-01 -4.01878030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters 0.013024176629609769 Centerline is valid? [True, True] Translation: X:144.26, Y:-150.61, Z:-4.02 [[-7.92927453e-01 -6.09275319e-01 7.04556318e-03 1.44255756e+02] [-6.09252420e-01 7.92958747e-01 5.28332177e-03 -1.50610412e+02] [-8.80583851e-03 -1.03235542e-04 -9.99961223e-01 -4.01698728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters 0.013210563876881562 Centerline is valid? [True, True] Translation: X:144.18, Y:-150.64, Z:-4.02 [[-7.44868270e-01 -6.67172206e-01 7.24621764e-03 1.44177410e+02] [-6.67142159e-01 7.44903506e-01 6.33287431e-03 -1.50640953e+02] [-9.62285065e-03 -1.17100151e-04 -9.99953693e-01 -4.01597054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters 0.013366527075364027 Centerline is valid? [True, True] Translation: X:144.10, Y:-150.68, Z:-4.02 [[-6.92279728e-01 -7.21596059e-01 6.92145330e-03 1.44097958e+02] [-7.21561789e-01 6.92314316e-01 7.03359831e-03 -1.50678975e+02] [-9.86723802e-03 -1.25038703e-04 -9.99951310e-01 -4.01543744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters 0.013562352116981891 Centerline is valid? [True, True] Translation: X:144.02, Y:-150.73, Z:-4.01 [[-6.34965620e-01 -7.72508892e-01 6.97667143e-03 1.44016153e+02] [-7.72464837e-01 6.35003929e-01 8.25144754e-03 -1.50730066e+02] [-1.08045304e-02 -1.49847860e-04 -9.99941618e-01 -4.01499067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters 0.014236638870445772 Centerline is valid? [True, True] Translation: X:143.94, Y:-150.79, Z:-4.01 [[-5.73420683e-01 -8.19234143e-01 6.64375153e-03 1.43935166e+02] [-8.19182649e-01 5.73459143e-01 9.18685178e-03 -1.50790569e+02] [-1.13361027e-02 -1.74515148e-04 -9.99935729e-01 -4.01492505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters 0.014806651713868803 Centerline is valid? [True, True] Translation: X:143.86, Y:-150.86, Z:-4.02 [[-5.07701235e-01 -8.61517311e-01 5.23246466e-03 1.43856771e+02] [-8.61475090e-01 5.07728167e-01 8.53099524e-03 -1.50860066e+02] [-1.00062698e-02 -1.76441139e-04 -9.99949921e-01 -4.01649713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters 0.014684660916076515 Centerline is valid? [True, True] Translation: X:143.78, Y:-150.94, Z:-4.02 [[-4.38490753e-01 -8.98726206e-01 4.13122956e-03 1.43782731e+02] [-8.98690141e-01 4.38510176e-01 8.05338200e-03 -1.50938645e+02] [-9.04937165e-03 -1.81361742e-04 -9.99959037e-01 -4.01788344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters 0.015145545080972869 Centerline is valid? [True, True] Translation: X:143.71, Y:-151.02, Z:-4.02 [[-3.67861446e-01 -9.29873685e-01 3.58973393e-03 1.43713049e+02] [-9.29834426e-01 3.67878910e-01 8.54681972e-03 -1.51024207e+02] [-9.26805015e-03 -1.93812721e-04 -9.99957032e-01 -4.01767484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters 0.014812605857246905 Centerline is valid? [True, True] Translation: X:143.65, Y:-151.12, Z:-4.02 [[-2.95861322e-01 -9.55226671e-01 2.84335500e-03 1.43652149e+02] [-9.55188448e-01 2.95874925e-01 8.54732457e-03 -1.51116626e+02] [-9.00590985e-03 -1.87117110e-04 -9.99959429e-01 -4.01883855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters 0.014734122677681316 Centerline is valid? [True, True] Translation: X:143.60, Y:-151.22, Z:-4.02 [[-2.23494246e-01 -9.74702999e-01 2.09442484e-03 1.43595123e+02] [-9.74666883e-01 2.23503998e-01 8.39221834e-03 -1.51215838e+02] [-8.64803271e-03 -1.65754021e-04 -9.99962591e-01 -4.01870980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters 0.01402052104696089 Centerline is valid? [True, True] Translation: X:143.55, Y:-151.32, Z:-4.02 [[-1.50183259e-01 -9.88656475e-01 1.83408478e-03 1.43547807e+02] [-9.88597175e-01 1.50194342e-01 1.08298188e-02 -1.51320394e+02] [-1.09824397e-02 -1.86713539e-04 -9.99939674e-01 -4.01774414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters 0.014021926608793398 Centerline is valid? [True, True] Translation: X:143.51, Y:-151.43, Z:-4.02 [[-7.52216704e-02 -9.97166067e-01 1.23904595e-03 1.43506725e+02] [-9.97073489e-01 7.52315723e-02 1.35892636e-02 -1.51430650e+02] [-1.36439680e-02 -2.13212763e-04 -9.99906894e-01 -4.01556116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters 0.013695595058752463 Centerline is valid? [True, True] Translation: X:143.48, Y:-151.54, Z:-4.02 [[-8.08751495e-04 -9.99999654e-01 1.94354031e-04 1.43475261e+02] [-9.99903327e-01 8.11371388e-04 1.38808314e-02 -1.51540988e+02] [-1.38809843e-02 -1.83109099e-04 -9.99903638e-01 -4.01584243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters 0.013308627964574823 Centerline is valid? [True, True] Translation: X:143.45, Y:-151.65, Z:-4.02 [[ 7.45181811e-02 -9.97219327e-01 -8.09520681e-04 1.43451158e+02] [-9.97135784e-01 -7.45224174e-02 1.29088091e-02 -1.51654228e+02] [-1.29332413e-02 -1.54738933e-04 -9.99916350e-01 -4.01794795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters 0.013651190942632067 Centerline is valid? [True, True] Translation: X:143.43, Y:-151.78, Z:-4.02 [[ 1.51169562e-01 -9.88506306e-01 -1.74565629e-03 1.43434864e+02] [-9.88428080e-01 -1.51179562e-01 1.24366896e-02 -1.51778069e+02] [-1.25576537e-02 -1.54593238e-04 -9.99921138e-01 -4.01774528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters 0.013427746222227246 Centerline is valid? [True, True] Translation: X:143.43, Y:-151.89, Z:-4.02 [[ 2.27172301e-01 -9.73849955e-01 -3.00178070e-03 1.43428061e+02] [-9.73754199e-01 -2.27192062e-01 1.36574815e-02 -1.51891514e+02] [-1.39823185e-02 -1.79604954e-04 -9.99902227e-01 -4.01744843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters 0.013598253680750131 Centerline is valid? [True, True] Translation: X:143.43, Y:-152.01, Z:-4.02 [[ 3.01809706e-01 -9.53359215e-01 -4.13619584e-03 1.43430858e+02] [-9.53260832e-01 -3.01837986e-01 1.36973284e-02 -1.52009782e+02] [-1.43069353e-02 -1.91113160e-04 -9.99897632e-01 -4.01726272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters 0.0132664792125917 Centerline is valid? [True, True] Translation: X:143.44, Y:-152.13, Z:-4.02 [[ 3.73059743e-01 -9.27793928e-01 -4.98552989e-03 1.43443189e+02] [-9.27704953e-01 -3.73093017e-01 1.28499588e-02 -1.52125688e+02] [-1.37821801e-02 -1.68701568e-04 -9.99905007e-01 -4.01953243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters 0.013112257687112515 Centerline is valid? [True, True] Translation: X:143.46, Y:-152.24, Z:-4.02 [[ 4.40474090e-01 -8.97746454e-01 -5.82077052e-03 1.43463573e+02] [-8.97664290e-01 -4.40512531e-01 1.21462917e-02 -1.52238670e+02] [-1.34684127e-02 -1.25028958e-04 -9.99909289e-01 -4.01965482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters 0.012720326465327027 Centerline is valid? [True, True] Translation: X:143.49, Y:-152.35, Z:-4.02 [[ 5.04560621e-01 -8.63348878e-01 -6.87706479e-03 1.43493795e+02] [-8.63266716e-01 -5.04607480e-01 1.19108040e-02 -1.52347009e+02] [-1.37533976e-02 -7.29815532e-05 -9.99905415e-01 -4.01991507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters 0.012619534205529168 Centerline is valid? [True, True] Translation: X:143.54, Y:-152.45, Z:-4.02 [[ 5.62640815e-01 -8.26666569e-01 -7.59586261e-03 1.43535989e+02] [-8.26592078e-01 -5.62692086e-01 1.10974255e-02 -1.52453946e+02] [-1.34480024e-02 3.48153232e-05 -9.99909571e-01 -4.02069952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters 0.013109029912264546 Centerline is valid? [True, True] Translation: X:143.58, Y:-152.55, Z:-4.02 [[ 6.19854691e-01 -7.84678372e-01 -7.74690299e-03 1.43575578e+02] [-7.84619107e-01 -6.19903091e-01 9.64440110e-03 -1.52547882e+02] [-1.23700821e-02 1.00240853e-04 -9.99923483e-01 -4.02182922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters 0.01377995848594984 Centerline is valid? [True, True] Translation: X:143.63, Y:-152.65, Z:-4.02 [[ 6.75170451e-01 -7.37610806e-01 -8.66956604e-03 1.43627808e+02] [-7.37552827e-01 -6.75226093e-01 9.24938379e-03 -1.52648242e+02] [-1.26763626e-02 1.49352325e-04 -9.99919641e-01 -4.02120107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters 0.014589376284797763 Centerline is valid? [True, True] Translation: X:143.68, Y:-152.74, Z:-4.02 [[ 7.27091747e-01 -6.86455824e-01 -1.07700476e-02 1.43681570e+02] [-6.86384958e-01 -7.27171475e-01 9.86590338e-03 -1.52738004e+02] [-1.46041782e-02 2.18981726e-04 -9.99893329e-01 -4.01990585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters 0.01500948923540315 Centerline is valid? [True, True] Translation: X:143.70, Y:-152.76, Z:-4.02 [[ 7.78881317e-01 -6.27028913e-01 -1.33654668e-02 1.43701245e+02] [-6.26941951e-01 -7.78995945e-01 1.04454238e-02 -1.52764012e+02] [-1.69612272e-02 2.43626414e-04 -9.99856118e-01 -4.01792880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters 0.013939300611197135 Centerline is valid? [True, True] Translation: X:143.72, Y:-152.80, Z:-4.02 [[ 8.27560094e-01 -5.61172007e-01 -1.51746281e-02 1.43718923e+02] [-5.61081987e-01 -8.27699185e-01 1.00530370e-02 -1.52795204e+02] [-1.82015103e-02 1.94718226e-04 -9.99834320e-01 -4.01736789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters 0.013465237864392996 Centerline is valid? [True, True] Translation: X:143.74, Y:-152.82, Z:-4.02 [[ 8.70789192e-01 -4.91406442e-01 -1.56809208e-02 1.43741182e+02] [-4.91329327e-01 -8.70930361e-01 8.70625565e-03 -1.52822185e+02] [-1.79353001e-02 1.23182923e-04 -9.99839142e-01 -4.01796326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters 0.013086221204466411 Centerline is valid? [True, True] Translation: X:143.77, Y:-152.85, Z:-4.02 [[ 9.07677010e-01 -4.19392214e-01 -1.52517790e-02 1.43766798e+02] [-4.19334310e-01 -9.07805137e-01 6.96925981e-03 -1.52846044e+02] [-1.67684966e-02 6.97573273e-05 -9.99859397e-01 -4.01936661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters 0.012851001638290204 Centerline is valid? [True, True] Translation: X:143.79, Y:-152.87, Z:-4.02 [[ 9.39526361e-01 -3.42178378e-01 -1.42889307e-02 1.43792530e+02] [-3.42138528e-01 -9.39635013e-01 5.22214016e-03 -1.52868485e+02] [-1.52132830e-02 -1.75446471e-05 -9.99884271e-01 -4.02054756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters 0.012841107983329565 Centerline is valid? [True, True] Translation: X:143.82, Y:-152.89, Z:-4.02 [[ 9.65093949e-01 -2.61578805e-01 -1.30460144e-02 1.43819829e+02] [-2.61553489e-01 -9.65182117e-01 3.64058377e-03 -1.52893430e+02] [-1.35440793e-02 -1.01274780e-04 -9.99908270e-01 -4.02244148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters 0.013495741452453755 Centerline is valid? [True, True] Translation: X:143.85, Y:-152.91, Z:-4.02 [[ 9.83439890e-01 -1.80870527e-01 -1.14819584e-02 1.43849463e+02] [-1.80856525e-01 -9.83506905e-01 2.25491168e-03 -1.52913076e+02] [-1.17004325e-02 -1.40982988e-04 -9.99931538e-01 -4.02347713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters 0.013570557458270906 Centerline is valid? [True, True] Translation: X:143.88, Y:-152.93, Z:-4.02 [[ 9.94927029e-01 -9.99642085e-02 -1.12855791e-02 1.43878511e+02] [-9.99557791e-02 -9.94991018e-01 1.30993443e-03 -1.52931543e+02] [-1.13599964e-02 -1.75230313e-04 -9.99935458e-01 -4.02445040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters 0.01452841082630327 Centerline is valid? [True, True] Translation: X:143.91, Y:-152.95, Z:-4.02 [[ 9.99765263e-01 -1.74877465e-02 -1.27904976e-02 1.43907982e+02] [-1.74830901e-02 -9.99847046e-01 4.75781045e-04 -1.52948121e+02] [-1.27968615e-02 -2.52051941e-04 -9.99918085e-01 -4.02231917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters 0.015136112764292676 Centerline is valid? [True, True] Translation: X:143.94, Y:-152.96, Z:-4.02 [[ 9.97886277e-01 6.34739576e-02 -1.39296547e-02 1.43939243e+02] [ 6.34721168e-02 -9.97983447e-01 -5.74652799e-04 -1.52958984e+02] [-1.39380403e-02 -3.10706530e-04 -9.99902813e-01 -4.02124540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters 0.015684955978287375 Centerline is valid? [True, True] Translation: X:143.97, Y:-152.96, Z:-4.02 [[ 9.89813559e-01 1.41638352e-01 -1.44116254e-02 1.43970186e+02] [ 1.41628138e-01 -9.89918416e-01 -1.73208734e-03 -1.52963801e+02] [-1.45116634e-02 -3.26648129e-04 -9.99894647e-01 -4.02003232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters 0.013870192113005834 Centerline is valid? [True, True] Translation: X:144.00, Y:-152.96, Z:-4.02 [[ 9.77314234e-01 2.11356818e-01 -1.36082157e-02 1.44000730e+02] [ 2.11339292e-01 -9.77408948e-01 -2.72972297e-03 -1.52956725e+02] [-1.38777373e-02 -2.08153549e-04 -9.99903678e-01 -4.02101462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters 0.013012173512236682 Centerline is valid? [True, True] Translation: X:144.03, Y:-152.95, Z:-4.02 [[ 9.59422364e-01 2.81685451e-01 -1.27292443e-02 1.44030400e+02] [ 2.81662348e-01 -9.59506796e-01 -3.60974055e-03 -1.52949285e+02] [-1.32306078e-02 -1.22083007e-04 -9.99912464e-01 -4.02166397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters 0.012429891386864038 Centerline is valid? [True, True] Translation: X:144.06, Y:-152.94, Z:-4.02 [[ 9.36379496e-01 3.50781192e-01 -1.20827989e-02 1.44059573e+02] [ 3.50752652e-01 -9.36457448e-01 -4.47485004e-03 -1.52941756e+02] [-1.28847202e-02 -4.79159263e-05 -9.99916987e-01 -4.02255541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters 0.012510618880117876 Centerline is valid? [True, True] Translation: X:144.09, Y:-152.93, Z:-4.02 [[ 9.08052208e-01 4.18696002e-01 -1.16123103e-02 1.44088047e+02] [ 4.18661585e-01 -9.08126455e-01 -5.36843286e-03 -1.52932031e+02] [-1.27931876e-02 1.31890677e-05 -9.99918164e-01 -4.02221457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters 0.012628118549507187 Centerline is valid? [True, True] Translation: X:144.12, Y:-152.92, Z:-4.02 [[ 8.74963109e-01 4.84079003e-01 -1.03477970e-02 1.44116492e+02] [ 4.84044175e-01 -8.75024293e-01 -5.80719694e-03 -1.52922490e+02] [-1.18657159e-02 7.22922207e-05 -9.99929597e-01 -4.02467540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters 0.013038874242972601 Centerline is valid? [True, True] Translation: X:144.14, Y:-152.91, Z:-4.02 [[ 8.35865803e-01 5.48833588e-01 -1.04905798e-02 1.44144785e+02] [ 5.48788698e-01 -8.35931624e-01 -7.02026464e-03 -1.52912597e+02] [-1.26223644e-02 1.10887519e-04 -9.99920329e-01 -4.02387131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters 0.0133708638406433 Centerline is valid? [True, True] Translation: X:144.17, Y:-152.90, Z:-4.02 [[ 7.91306589e-01 6.11327381e-01 -1.06167945e-02 1.44171335e+02] [ 6.11269983e-01 -7.91377795e-01 -8.37818518e-03 -1.52900636e+02] [-1.35237094e-02 1.39985325e-04 -9.99908541e-01 -4.02274001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters 0.013664212247539888 Centerline is valid? [True, True] Translation: X:144.20, Y:-152.89, Z:-4.02 [[ 7.41338347e-01 6.71056757e-01 -1.00142025e-02 1.44195355e+02] [ 6.70992839e-01 -7.41405967e-01 -9.26292764e-03 -1.52886214e+02] [-1.36405397e-02 1.47505267e-04 -9.99906953e-01 -4.02231829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters 0.0133916813013587 Centerline is valid? [True, True] Translation: X:144.22, Y:-152.87, Z:-4.02 [[ 6.85232595e-01 7.28272097e-01 -8.72027511e-03 1.44218700e+02] [ 7.28210960e-01 -6.85288070e-01 -9.43712334e-03 -1.52870243e+02] [-1.28486941e-02 1.16424611e-04 -9.99917445e-01 -4.02265102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters 0.012748884796813135 Centerline is valid? [True, True] Translation: X:144.25, Y:-152.86, Z:-4.02 [[ 6.24082650e-01 7.81320146e-01 -7.72505482e-03 1.44245430e+02] [ 7.81258688e-01 -6.24130454e-01 -9.79993466e-03 -1.52856282e+02] [-1.24783283e-02 8.07029991e-05 -9.99922139e-01 -4.02396116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters 0.01241247424289593 Centerline is valid? [True, True] Translation: X:144.27, Y:-152.84, Z:-4.02 [[ 5.55734825e-01 8.31336840e-01 -6.15324035e-03 1.44270617e+02] [ 8.31285855e-01 -5.55768889e-01 -9.20703134e-03 -1.52840790e+02] [-1.10739239e-02 1.56629589e-06 -9.99938682e-01 -4.02462121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters 0.012643198160188012 Centerline is valid? [True, True] Translation: X:144.30, Y:-152.82, Z:-4.03 [[ 4.81968160e-01 8.76173340e-01 -5.19339663e-03 1.44298500e+02] [ 8.76124326e-01 -4.81996132e-01 -9.26787267e-03 -1.52824580e+02] [-1.06234600e-02 -8.32415836e-05 -9.99943566e-01 -4.02501350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters 0.013511245745385606 Centerline is valid? [True, True] Translation: X:144.33, Y:-152.81, Z:-4.03 [[ 4.05967884e-01 9.13877390e-01 -4.26540665e-03 1.44325202e+02] [ 9.13830665e-01 -4.05990265e-01 -9.24237035e-03 -1.52806042e+02] [-1.01781069e-02 -1.45753867e-04 -9.99948191e-01 -4.02506611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters 0.014447606660371119 Centerline is valid? [True, True] Translation: X:144.35, Y:-152.78, Z:-4.02 [[ 3.30923735e-01 9.43650909e-01 -3.52770298e-03 1.44346546e+02] [ 9.43602648e-01 -3.30942493e-01 -9.54514739e-03 -1.52784023e+02] [-1.01747538e-02 -1.70034049e-04 -9.99948221e-01 -4.02485345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters 0.014209659463201468 Centerline is valid? [True, True] Translation: X:144.36, Y:-152.76, Z:-4.03 [[ 2.55268041e-01 9.66866252e-01 -2.80670645e-03 1.44364266e+02] [ 9.66815335e-01 -2.55283407e-01 -9.92419291e-03 -1.52759180e+02] [-1.03118728e-02 -1.80237558e-04 -9.99946815e-01 -4.02541584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters 0.014251992160085217 Centerline is valid? [True, True] Translation: X:144.38, Y:-152.73, Z:-4.02 [[ 1.78855893e-01 9.83872825e-01 -2.19837492e-03 1.44379253e+02] [ 9.83811341e-01 -1.78869297e-01 -1.10009160e-02 -1.52732726e+02] [-1.12167241e-02 -1.95207515e-04 -9.99937072e-01 -4.02434403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters 0.014272390956751398 Centerline is valid? [True, True] Translation: X:144.39, Y:-152.71, Z:-4.02 [[ 1.03045874e-01 9.94675266e-01 -1.63196557e-03 1.44389454e+02] [ 9.94581350e-01 -1.03058573e-01 -1.36700090e-02 -1.52706142e+02] [-1.37654079e-02 -2.14484487e-04 -9.99905229e-01 -4.02137914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters 0.013803401185090939 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.68, Z:-4.02 [[ 2.72473016e-02 9.99628530e-01 -6.21807696e-04 1.44395180e+02] [ 9.99510140e-01 -2.72536451e-02 -1.53857016e-02 -1.52677765e+02] [-1.53969328e-02 -2.02284246e-04 -9.99881440e-01 -4.02025705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters 0.013301374655443518 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.65, Z:-4.02 [[-4.86326294e-02 9.98816558e-01 5.91612505e-04 1.44398564e+02] [ 9.98695488e-01 4.86359462e-02 -1.55520956e-02 -1.52648758e+02] [-1.55624642e-02 -1.65498562e-04 -9.99878884e-01 -4.02043228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters 0.012852996791060464 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.62, Z:-4.02 [[-1.24187399e-01 9.92257462e-01 1.61845464e-03 1.44400379e+02] [ 9.92161026e-01 1.24197894e-01 -1.38340906e-02 -1.52620210e+02] [-1.39279883e-02 -1.12252116e-04 -9.99902995e-01 -4.02294839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters 0.012746030452345392 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.59, Z:-4.02 [[-2.00597735e-01 9.79670899e-01 2.34040569e-03 1.44400827e+02] [ 9.79599150e-01 2.00611369e-01 -1.18568271e-02 -1.52591350e+02] [-1.20853004e-02 -8.57932408e-05 -9.99926966e-01 -4.02469958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters 0.012785410399343911 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.56, Z:-4.03 [[-2.77732563e-01 9.60653495e-01 3.07999402e-03 1.44400834e+02] [ 9.60590649e-01 2.77749625e-01 -1.09886656e-02 -1.52563105e+02] [-1.14117672e-02 -9.32967986e-05 -9.99934879e-01 -4.02506840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters 0.013197618315498325 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.53, Z:-4.03 [[-3.54659523e-01 9.34987372e-01 3.90353986e-03 1.44398275e+02] [ 9.34926875e-01 3.54680983e-01 -1.06366893e-02 -1.52534305e+02] [-1.13296815e-02 -1.22878823e-04 -9.99935810e-01 -4.02544965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters 0.014156255244776787 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.50, Z:-4.02 [[-4.31123414e-01 9.02278973e-01 5.02563814e-03 1.44396133e+02] [ 9.02212498e-01 4.31152664e-01 -1.09539569e-02 -1.52504936e+02] [-1.20503423e-02 -1.88313768e-04 -9.99927374e-01 -4.02417297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters 0.015379901674683663 Centerline is valid? [True, True] Translation: X:144.39, Y:-152.47, Z:-4.02 [[-5.05724477e-01 8.62667312e-01 6.91824506e-03 1.44393498e+02] [ 8.62578112e-01 5.05771701e-01 -1.24091323e-02 -1.52474724e+02] [-1.42040054e-02 -3.08075161e-04 -9.99899071e-01 -4.02287809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters 0.01644043896243416 Centerline is valid? [True, True] Translation: X:144.39, Y:-152.45, Z:-4.02 [[-5.74186952e-01 8.18686129e-01 7.89721963e-03 1.44386019e+02] [ 8.18600133e-01 5.74241150e-01 -1.18711389e-02 -1.52445544e+02] [-1.42536452e-02 -3.51588020e-04 -9.99898350e-01 -4.02221094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters 0.016505741821106583 Centerline is valid? [True, True] Translation: X:144.37, Y:-152.42, Z:-4.02 [[-6.36563721e-01 7.71181739e-01 8.08421465e-03 1.44373151e+02] [ 7.71113018e-01 6.36614971e-01 -1.03000617e-02 -1.52419924e+02] [-1.30897516e-02 -3.22802476e-04 -9.99914273e-01 -4.02365646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters 0.015579181549556839 Centerline is valid? [True, True] Translation: X:144.36, Y:-152.40, Z:-4.03 [[-6.93501355e-01 7.20416538e-01 7.47544047e-03 1.44357662e+02] [ 7.20370774e-01 6.93541599e-01 -8.12392906e-03 -1.52395281e+02] [-1.10371418e-02 -2.48866979e-04 -9.99939058e-01 -4.02618052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters 0.01500900151968141 Centerline is valid? [True, True] Translation: X:144.34, Y:-152.37, Z:-4.03 [[-7.46032316e-01 6.65872052e-01 7.08471997e-03 1.44341113e+02] [ 6.65839559e-01 7.46065931e-01 -6.58095047e-03 -1.52370968e+02] [-9.66773919e-03 -1.92314897e-04 -9.99953248e-01 -4.02710684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters 0.015001955601923767 Centerline is valid? [True, True] Translation: X:144.36, Y:-152.35, Z:-4.03 [[-7.90253673e-01 6.12733937e-01 7.50028515e-03 1.44359549e+02] [ 6.12704219e-01 7.90289246e-01 -6.03725789e-03 -1.52351534e+02] [-9.62662749e-03 -1.75508872e-04 -9.99953648e-01 -4.02660595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters 0.015208715851456544 Centerline is valid? [True, True] Translation: X:144.38, Y:-152.33, Z:-4.03 [[-8.31656168e-01 5.55216712e-01 9.07857157e-03 1.44376702e+02] [ 5.55180965e-01 8.31705694e-01 -6.30357082e-03 -1.52329559e+02] [-1.10505475e-02 -2.02153429e-04 -9.99938920e-01 -4.02533199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters 0.015593291207963976 Centerline is valid? [True, True] Translation: X:144.39, Y:-152.31, Z:-4.02 [[-8.69770854e-01 4.93344798e-01 1.04676953e-02 1.44394744e+02] [ 4.93305667e-01 8.69833806e-01 -6.21838250e-03 -1.52305888e+02] [-1.21729619e-02 -2.44794437e-04 -9.99925877e-01 -4.02460853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters 0.01585220346598599 Centerline is valid? [True, True] Translation: X:144.40, Y:-152.28, Z:-4.03 [[-9.03142037e-01 4.29205791e-01 1.08097055e-02 1.44397910e+02] [ 4.29171568e-01 9.03206688e-01 -5.42624892e-03 -1.52275378e+02] [-1.20923758e-02 -2.61455229e-04 -9.99926850e-01 -4.02500577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters 0.01685119094975061 Centerline is valid? [True, True] Translation: X:144.42, Y:-152.25, Z:-4.02 [[-9.32042581e-01 3.62166453e-01 1.14929391e-02 1.44419791e+02] [ 3.62134994e-01 9.32113391e-01 -4.78260860e-03 -1.52252433e+02] [-1.24448228e-02 -2.95599441e-04 -9.99922517e-01 -4.02487331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters 0.017876876739646472 Centerline is valid? [True, True] Translation: X:144.43, Y:-152.22, Z:-4.02 [[-9.55943118e-01 2.93306227e-01 1.20088372e-02 1.44428317e+02] [ 2.93278781e-01 9.56018489e-01 -4.02563361e-03 -1.52224326e+02] [-1.26614138e-02 -3.26339596e-04 -9.99919788e-01 -4.02465592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters 0.016718444371352708 Centerline is valid? [True, True] Translation: X:144.64, Y:-151.59, Z:-5.01 [[-9.14153762e-01 -4.05191908e-01 1.19338826e-02 1.44643820e+02] [ 4.05162315e-01 -9.14231588e-01 -4.90928194e-03 -1.51586542e+02] [ 1.28995338e-02 3.47320965e-04 9.99916737e-01 -5.01426363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters 0.01719159513287663 Centerline is valid? [True, True] Translation: X:144.38, Y:-152.21, Z:-4.03 [[-9.56992557e-01 2.89842720e-01 1.25077298e-02 1.44383166e+02] [ 2.89813323e-01 9.57074231e-01 -4.14186988e-03 -1.52210834e+02] [-1.31713167e-02 -3.38831914e-04 -9.99913197e-01 -4.02575628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters 0.01576277604072533 Centerline is valid? [True, True] Translation: X:144.39, Y:-152.19, Z:-4.03 [[-9.74513928e-01 2.23965867e-01 1.27237555e-02 1.44391344e+02] [ 2.23942724e-01 9.74596942e-01 -3.23369129e-03 -1.52187942e+02] [-1.31247697e-02 -3.01884737e-04 -9.99913821e-01 -4.02698698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters 0.014421865082974142 Centerline is valid? [True, True] Translation: X:144.55, Y:-151.52, Z:-5.01 [[-9.45090269e-01 -3.26589957e-01 1.19742521e-02 1.44548154e+02] [ 3.26567207e-01 -9.45166087e-01 -3.86347413e-03 -1.51524006e+02] [ 1.25794288e-02 2.59066252e-04 9.99920842e-01 -5.01203324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters 0.01289132787841743 Centerline is valid? [True, True] Translation: X:144.35, Y:-152.19, Z:-4.03 [[-9.71630496e-01 2.36224868e-01 1.14887218e-02 1.44354096e+02] [ 2.36207407e-01 9.71698413e-01 -2.87321792e-03 -1.52189209e+02] [-1.18422983e-02 -7.79849623e-05 -9.99929875e-01 -4.02857734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters 0.012728933575565012 Centerline is valid? [True, True] Translation: X:144.53, Y:-151.51, Z:-5.01 [[-9.51639189e-01 -3.07009763e-01 1.13074839e-02 1.44533271e+02] [ 3.06989076e-01 -9.51706362e-01 -3.56484375e-03 -1.51512133e+02] [ 1.18558462e-02 7.88290020e-05 9.99929714e-01 -5.01125795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters 0.013483791105360396 Centerline is valid? [True, True] Translation: X:144.32, Y:-152.19, Z:-4.03 [[-9.68753890e-01 2.47751036e-01 1.16329276e-02 1.44315324e+02] [ 2.47734524e-01 9.68823726e-01 -2.86239976e-03 -1.52190496e+02] [-1.19794187e-02 1.08916877e-04 -9.99928238e-01 -4.02874030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters 0.014307479432889689 Centerline is valid? [True, True] Translation: X:144.49, Y:-151.49, Z:-5.01 [[-9.56861948e-01 -2.90308075e-01 1.16804721e-02 1.44487364e+02] [ 2.90285215e-01 -9.56933233e-01 -3.64437082e-03 -1.51493887e+02] [ 1.22354222e-02 -9.64914082e-05 9.99925140e-01 -5.01130298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters 0.014028524369365056 Centerline is valid? [True, True] Translation: X:144.27, Y:-152.18, Z:-4.03 [[-9.68566473e-01 2.48404662e-01 1.31951462e-02 1.44272166e+02] [ 2.48384205e-01 9.68656332e-01 -3.19322611e-03 -1.52179714e+02] [-1.35747741e-02 1.84614140e-04 -9.99907842e-01 -4.02787523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters 0.013617072234837227 Centerline is valid? [True, True] Translation: X:144.44, Y:-151.49, Z:-5.01 [[-9.57405278e-01 -2.88427565e-01 1.35894850e-02 1.44441242e+02] [ 2.88396271e-01 -9.57501706e-01 -4.25133919e-03 -1.51490134e+02] [ 1.42381585e-02 -1.51097776e-04 9.99898621e-01 -5.01299540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters 0.013330282990927535 Centerline is valid? [True, True] Translation: X:144.22, Y:-152.16, Z:-4.03 [[-9.70563606e-01 2.40465711e-01 1.35103303e-02 1.44223065e+02] [ 2.40444244e-01 9.70657625e-01 -3.21558150e-03 -1.52162303e+02] [-1.38871423e-02 1.27554792e-04 -9.99903561e-01 -4.02736947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters 0.012922173355241002 Centerline is valid? [True, True] Translation: X:144.39, Y:-151.49, Z:-5.01 [[-9.56877622e-01 -2.90282957e-01 1.10009727e-02 1.44388834e+02] [ 2.90260668e-01 -9.56940823e-01 -3.60638185e-03 -1.51486140e+02] [ 1.15741510e-02 -2.57716415e-04 9.99932984e-01 -5.01117272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters 0.012832762654943897 Centerline is valid? [True, True] Translation: X:144.18, Y:-152.14, Z:-4.03 [[-9.72844614e-01 2.31270824e-01 9.33611119e-03 1.44175570e+02] [ 2.31260509e-01 9.72889410e-01 -2.18453418e-03 -1.52144064e+02] [-9.58822273e-03 3.38615154e-05 -9.99954031e-01 -4.02916992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters 0.012450020468238007 Centerline is valid? [True, True] Translation: X:144.18, Y:-152.11, Z:-4.03 [[-9.87626498e-01 1.56621566e-01 7.97402330e-03 1.44178079e+02] [ 1.56616353e-01 9.87658689e-01 -1.27790199e-03 -1.52109392e+02] [-8.07576040e-03 -1.32274214e-05 -9.99967390e-01 -4.03103200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters 0.012601354146098602 Centerline is valid? [True, True] Translation: X:144.17, Y:-152.08, Z:-4.03 [[-9.96478097e-01 8.34204359e-02 8.51073780e-03 1.44172407e+02] [ 8.34170724e-02 9.96514440e-01 -7.50043868e-04 -1.52077181e+02] [-8.54364211e-03 -3.74614553e-05 -9.99963502e-01 -4.02995918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters 0.012766258340621 Centerline is valid? [True, True] Translation: X:144.17, Y:-152.05, Z:-4.03 [[-9.99911916e-01 1.03213592e-02 8.34446765e-03 1.44170693e+02] [ 1.03205479e-02 9.99946732e-01 -1.40290101e-04 -1.52046124e+02] [-8.34547114e-03 -5.41582656e-05 -9.99965175e-01 -4.02957164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters 0.012968756800108002 Centerline is valid? [True, True] Translation: X:144.19, Y:-151.40, Z:-5.01 [[-9.95682739e-01 -9.24731692e-02 8.03722103e-03 1.44186590e+02] [ 9.24704310e-02 -9.95715176e-01 -7.12428581e-04 -1.51396797e+02] [ 8.06866348e-03 3.38524515e-05 9.99967447e-01 -5.01007990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters 0.013300509659178993 Centerline is valid? [True, True] Translation: X:144.11, Y:-152.04, Z:-4.03 [[-9.99953953e-01 3.55789380e-03 8.91253000e-03 1.44114074e+02] [ 3.55703008e-03 9.99993667e-01 -1.12760530e-04 -1.52037301e+02] [-8.91287475e-03 -8.10532005e-05 -9.99960276e-01 -4.02896573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters 0.013057522809792386 Centerline is valid? [True, True] Translation: X:144.13, Y:-151.40, Z:-5.01 [[-9.96046889e-01 -8.83657109e-02 9.06073561e-03 1.44125969e+02] [ 8.83629122e-02 -9.96088095e-01 -7.09526919e-04 -1.51402226e+02] [ 9.08798872e-03 9.39109050e-05 9.99958699e-01 -5.01083040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters 0.01287213079836077 Centerline is valid? [True, True] Translation: X:144.06, Y:-152.03, Z:-4.03 [[-9.99959383e-01 1.41463369e-03 8.90120158e-03 1.44060286e+02] [ 1.41401515e-03 9.99998997e-01 -7.57826526e-05 -1.52033778e+02] [-8.90129986e-03 -6.31931406e-05 -9.99960381e-01 -4.02995173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters 0.012618752866100447 Centerline is valid? [True, True] Translation: X:144.07, Y:-151.40, Z:-5.01 [[-9.96763312e-01 -7.99357645e-02 8.55410668e-03 1.44068455e+02] [ 7.99331727e-02 -9.96800016e-01 -6.44989022e-04 -1.51403425e+02] [ 8.57829137e-03 4.08554925e-05 9.99963205e-01 -5.00958193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters 0.012674098556285653 Centerline is valid? [True, True] Translation: X:144.00, Y:-152.03, Z:-4.03 [[-9.99934546e-01 2.25094955e-03 1.12177074e-02 1.44004009e+02] [ 2.25056650e-03 9.99997466e-01 -4.67709774e-05 -1.52033599e+02] [-1.12177842e-02 -2.15217197e-05 -9.99937079e-01 -4.02862619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters 0.012561438863445665 Centerline is valid? [True, True] Translation: X:144.00, Y:-152.01, Z:-4.03 [[-9.97640649e-01 -6.75404812e-02 1.23052500e-02 1.43995274e+02] [-6.75354387e-02 9.97716535e-01 8.25333779e-04 -1.52005555e+02] [-1.23328948e-02 -7.65393031e-06 -9.99923947e-01 -4.02808201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters 0.01240249969281649 Centerline is valid? [True, True] Translation: X:143.96, Y:-151.38, Z:-5.01 [[-9.99936045e-01 -9.74068125e-04 1.12674998e-02 1.43956949e+02] [ 9.73295335e-04 -9.99999524e-01 -7.40689969e-05 -1.51379802e+02] [ 1.12675665e-02 -6.30976549e-05 9.99936517e-01 -5.01034862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters 0.012429261537038369 Centerline is valid? [True, True] Translation: X:143.93, Y:-152.01, Z:-4.03 [[-9.97271753e-01 -7.31692974e-02 9.76245747e-03 1.43929248e+02] [-7.31659512e-02 9.97319534e-01 6.99954763e-04 -1.52008095e+02] [-9.78750473e-03 -1.62343737e-05 -9.99952101e-01 -4.03100334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters 0.01232787433126981 Centerline is valid? [True, True] Translation: X:143.88, Y:-151.39, Z:-5.01 [[-9.99954692e-01 1.21187918e-03 9.44171792e-03 1.43878727e+02] [-1.21189546e-03 -9.99999266e-01 3.99697507e-06 -1.51388013e+02] [ 9.44171583e-03 -7.44558110e-06 9.99955426e-01 -5.00780452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters 0.012328697944132378 Centerline is valid? [True, True] Translation: X:143.86, Y:-152.01, Z:-4.03 [[-9.96664706e-01 -8.10369834e-02 9.61621717e-03 1.43861210e+02] [-8.10336767e-02 9.96711094e-01 7.33642393e-04 -1.52010544e+02] [-9.64404251e-03 -4.80419536e-05 -9.99953494e-01 -4.03257912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters 0.012560096621418645 Centerline is valid? [True, True] Translation: X:143.81, Y:-151.40, Z:-5.01 [[-9.99947250e-01 8.48240718e-04 1.02360851e-02 1.43811378e+02] [-8.47258771e-04 -9.99999636e-01 1.00265929e-04 -1.51396973e+02] [ 1.02361664e-02 9.15880275e-05 9.99947605e-01 -5.00805350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters 0.013035615177270508 Centerline is valid? [True, True] Translation: X:143.79, Y:-152.01, Z:-4.03 [[-9.95721198e-01 -9.18316021e-02 1.03079310e-02 1.43793069e+02] [-9.18278933e-02 9.95774544e-01 8.33524369e-04 -1.52011006e+02] [-1.03409191e-02 -1.16597701e-04 -9.99946525e-01 -4.03185881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters 0.013077437709351653 Centerline is valid? [True, True] Translation: X:143.74, Y:-151.41, Z:-5.01 [[-9.99942901e-01 1.13451460e-03 1.06257901e-02 1.43739356e+02] [-1.13297597e-03 -9.99999347e-01 1.50819256e-04 -1.51405642e+02] [ 1.06259543e-02 1.38771880e-04 9.99943533e-01 -5.00843214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters 0.013200133910091526 Centerline is valid? [True, True] Translation: X:143.72, Y:-152.02, Z:-4.03 [[-9.95160666e-01 -9.75607673e-02 1.17109012e-02 1.43724156e+02] [-9.75557457e-02 9.95229559e-01 1.00065299e-03 -1.52017803e+02] [-1.17526595e-02 -1.46655205e-04 -9.99930924e-01 -4.03140875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters 0.01327874466937865 Centerline is valid? [True, True] Translation: X:143.71, Y:-151.99, Z:-4.03 [[-9.85631649e-01 -1.68553002e-01 1.09607636e-02 1.43711577e+02] [-1.68544198e-01 9.85692581e-01 1.72872548e-03 -1.51994221e+02] [-1.10953252e-02 -1.43486553e-04 -9.99938435e-01 -4.03199019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters 0.013035367500644808 Centerline is valid? [True, True] Translation: X:143.70, Y:-151.97, Z:-4.03 [[-9.71040488e-01 -2.38677664e-01 1.06463371e-02 1.43700586e+02] [-2.38664956e-01 9.71098837e-01 2.46720699e-03 -1.51970950e+02] [-1.09275128e-02 -1.45149711e-04 -9.99940282e-01 -4.03265488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters 0.01359080717908009 Centerline is valid? [True, True] Translation: X:143.68, Y:-151.95, Z:-4.03 [[-9.50958547e-01 -3.09142040e-01 1.04422615e-02 1.43679617e+02] [-3.09125304e-01 9.51015863e-01 3.22092933e-03 -1.51949659e+02] [-1.09264810e-02 -1.64997002e-04 -9.99940291e-01 -4.03201596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters 0.014069643098099154 Centerline is valid? [True, True] Translation: X:143.65, Y:-151.93, Z:-4.03 [[-9.25421103e-01 -3.78774379e-01 1.12139694e-02 1.43647600e+02] [-3.78749287e-01 9.25489020e-01 4.36473185e-03 -1.51933803e+02] [-1.20316541e-02 -2.08067945e-04 -9.99927595e-01 -4.03123585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters 0.01422214349332216 Centerline is valid? [True, True] Translation: X:143.60, Y:-151.93, Z:-4.03 [[-8.95166042e-01 -4.45601277e-01 1.08286236e-02 1.43602710e+02] [-4.45571614e-01 8.95231509e-01 5.14604927e-03 -1.51927654e+02] [-1.19872112e-02 -2.18358744e-04 -9.99928127e-01 -4.03139479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters 0.014017092619927906 Centerline is valid? [True, True] Translation: X:143.54, Y:-151.93, Z:-4.03 [[-8.60248744e-01 -5.09777568e-01 9.94637217e-03 1.43541321e+02] [-5.09746192e-01 8.60306219e-01 5.65945041e-03 -1.51933132e+02] [-1.14419867e-02 -2.01590239e-04 -9.99934518e-01 -4.03215421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters 0.013610105520256483 Centerline is valid? [True, True] Translation: X:143.48, Y:-151.95, Z:-4.03 [[-8.20784987e-01 -5.71169432e-01 8.80256313e-03 1.43477581e+02] [-5.71138887e-01 8.20832169e-01 5.90957903e-03 -1.51945654e+02] [-1.06007979e-02 -1.76992353e-04 -9.99943794e-01 -4.03325350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters 0.013697540571267203 Centerline is valid? [True, True] Translation: X:143.41, Y:-151.97, Z:-4.03 [[-7.75972865e-01 -6.30713804e-01 8.13695962e-03 1.43406519e+02] [-6.30681463e-01 7.76015507e-01 6.38942721e-03 -1.51967870e+02] [-1.03443068e-02 -1.73807457e-04 -9.99946481e-01 -4.03360657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters 0.013908382481812786 Centerline is valid? [True, True] Translation: X:143.33, Y:-152.00, Z:-4.03 [[-7.27018383e-01 -6.86571904e-01 7.95555605e-03 1.43329041e+02] [-6.86533413e-01 7.27061889e-01 7.27209193e-03 -1.52000901e+02] [-1.07769956e-02 -1.74810526e-04 -9.99941911e-01 -4.03279756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters 0.013177898789992069 Centerline is valid? [True, True] Translation: X:143.25, Y:-152.05, Z:-4.03 [[-6.75195061e-01 -7.37600880e-01 7.52135763e-03 1.43253820e+02] [-7.37557577e-01 6.75236936e-01 7.99381134e-03 -1.52046805e+02] [-1.09749408e-02 -1.50052374e-04 -9.99939762e-01 -4.03316119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters 0.012519808072522677 Centerline is valid? [True, True] Translation: X:143.18, Y:-152.10, Z:-4.03 [[-6.20785237e-01 -7.83958017e-01 5.95961945e-03 1.43178152e+02] [-7.83923287e-01 6.20813836e-01 7.37981711e-03 -1.52103542e+02] [-9.48528100e-03 -9.06029505e-05 -9.99955010e-01 -4.03435854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters 0.012278246187915528 Centerline is valid? [True, True] Translation: X:143.10, Y:-152.17, Z:-4.03 [[-5.62226425e-01 -8.26968353e-01 4.97900134e-03 1.43101342e+02] [-8.26936794e-01 5.62248468e-01 7.22487641e-03 -1.52169078e+02] [-8.77418002e-03 -5.53029757e-05 -9.99961505e-01 -4.03454025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters 0.012125547577811804 Centerline is valid? [True, True] Translation: X:143.03, Y:-152.25, Z:-4.03 [[-5.02427815e-01 -8.64607648e-01 4.46164790e-03 1.43027609e+02] [-8.64573692e-01 5.02447625e-01 7.66263765e-03 -1.52249218e+02] [-8.86691950e-03 -7.50110504e-06 -9.99960688e-01 -4.03342984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters 0.01225138617321086 Centerline is valid? [True, True] Translation: X:142.96, Y:-152.33, Z:-4.03 [[-4.39198303e-01 -8.98381321e-01 3.98170353e-03 1.42963330e+02] [-8.98343648e-01 4.39216349e-01 8.22725359e-03 -1.52325819e+02] [-9.14004024e-03 3.64577325e-05 -9.99958228e-01 -4.03329517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters 0.012382111293750876 Centerline is valid? [True, True] Translation: X:142.90, Y:-152.42, Z:-4.03 [[-3.71527591e-01 -9.28415494e-01 3.45254553e-03 1.42899065e+02] [-9.28373844e-01 3.71543628e-01 8.79427155e-03 -1.52416364e+02] [-9.44750925e-03 6.20615644e-05 -9.99955369e-01 -4.03302264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters 0.012524636461672433 Centerline is valid? [True, True] Translation: X:142.84, Y:-152.52, Z:-4.03 [[-2.99277570e-01 -9.54161821e-01 2.85590266e-03 1.42836077e+02] [-9.54116316e-01 2.99291190e-01 9.31872125e-03 -1.52517612e+02] [-9.74631454e-03 6.40209286e-05 -9.99952502e-01 -4.03281433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters 0.012294353556066404 Centerline is valid? [True, True] Translation: X:142.78, Y:-152.62, Z:-4.03 [[-2.22819557e-01 -9.74857480e-01 2.08298908e-03 1.42780992e+02] [-9.74813203e-01 2.22829290e-01 9.29123031e-03 -1.52619959e+02] [-9.52177635e-03 3.97425661e-05 -9.99954666e-01 -4.03365715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters 0.012195126975690635 Centerline is valid? [True, True] Translation: X:142.73, Y:-152.73, Z:-4.03 [[-1.44384227e-01 -9.89520845e-01 1.30119902e-03 1.42732075e+02] [-9.89480081e-01 1.44390090e-01 8.98171838e-03 -1.52726162e+02] [-9.07547781e-03 9.30795891e-06 -9.99958817e-01 -4.03357089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters 0.012109844236963568 Centerline is valid? [True, True] Translation: X:142.69, Y:-152.84, Z:-4.03 [[-6.43555815e-02 -9.97926850e-01 6.00362987e-04 1.42690364e+02] [-9.97886665e-01 6.43583778e-02 8.95563722e-03 -1.52841835e+02] [-8.97570923e-03 -2.27489770e-05 -9.99959717e-01 -4.03302688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters 0.012238514685598145 Centerline is valid? [True, True] Translation: X:142.66, Y:-152.96, Z:-4.03 [[ 1.41575664e-02 -9.99899773e-01 -8.52857058e-05 1.42659565e+02] [-9.99863803e-01 -1.41577805e-02 8.48129260e-03 -1.52958708e+02] [-8.48165000e-03 -3.48003726e-05 -9.99964030e-01 -4.03358817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters 0.012307004750577343 Centerline is valid? [True, True] Translation: X:142.64, Y:-153.08, Z:-4.03 [[ 9.09569204e-02 -9.95854570e-01 -7.16505812e-04 1.42638182e+02] [-9.95820725e-01 -9.09597364e-02 8.21033130e-03 -1.53080758e+02] [-8.24146913e-03 -3.32751131e-05 -9.99966038e-01 -4.03404196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters 0.01219568328212475 Centerline is valid? [True, True] Translation: X:142.63, Y:-153.20, Z:-4.03 [[ 1.66187511e-01 -9.86093367e-01 -1.25796579e-03 1.42625440e+02] [-9.86064099e-01 -1.66192271e-01 7.59749645e-03 -1.53196869e+02] [-7.70090505e-03 -2.21741211e-05 -9.99970347e-01 -4.03484578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters 0.012140578192463712 Centerline is valid? [True, True] Translation: X:142.62, Y:-153.31, Z:-4.04 [[ 2.37376149e-01 -9.71416382e-01 -1.66652328e-03 1.42622744e+02] [-9.71392739e-01 -2.37381999e-01 6.77745519e-03 -1.53313928e+02] [-6.97933362e-03 1.00423997e-05 -9.99975644e-01 -4.03527235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters 0.012799397720786688 Centerline is valid? [True, True] Translation: X:142.63, Y:-153.43, Z:-4.04 [[ 3.04963366e-01 -9.52362144e-01 -1.92154976e-03 1.42630152e+02] [-9.52344266e-01 -3.04969416e-01 5.83557620e-03 -1.53431313e+02] [-6.14359577e-03 5.03399392e-05 -9.99981127e-01 -4.03541539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters 0.013904549856011594 Centerline is valid? [True, True] Translation: X:142.65, Y:-153.55, Z:-4.03 [[ 3.71443006e-01 -9.28452737e-01 -2.36823897e-03 1.42647997e+02] [-9.28435370e-01 -3.71450545e-01 5.67946646e-03 -1.53548253e+02] [-6.15279983e-03 8.91587320e-05 -9.99981067e-01 -4.03495896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters 0.01588363091525788 Centerline is valid? [True, True] Translation: X:142.67, Y:-153.66, Z:-4.03 [[ 4.33307491e-01 -9.01240337e-01 -3.23629030e-03 1.42674157e+02] [-9.01218053e-01 -4.33319543e-01 6.33998937e-03 -1.53661721e+02] [-7.11620199e-03 1.69438359e-04 -9.99974665e-01 -4.03419199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters 0.0189260979273931 Centerline is valid? [True, True] Translation: X:142.70, Y:-153.77, Z:-4.03 [[ 4.96847283e-01 -8.67825434e-01 -4.66839943e-03 1.42704117e+02] [-8.67791890e-01 -4.96869148e-01 7.63446365e-03 -1.53765160e+02] [-8.94496537e-03 2.58036646e-04 -9.99959960e-01 -4.03167935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters 0.019887627533151972 Centerline is valid? [True, True] Translation: X:142.74, Y:-153.87, Z:-4.03 [[ 5.61188215e-01 -8.27666889e-01 -5.94206324e-03 1.42743328e+02] [-8.27626050e-01 -5.61219591e-01 8.22749727e-03 -1.53874576e+02] [-1.01444294e-02 3.00631821e-04 -9.99948499e-01 -4.03013852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters 0.017284931013424865 Centerline is valid? [True, True] Translation: X:142.78, Y:-153.98, Z:-4.03 [[ 6.23335716e-01 -7.81921101e-01 -7.20951684e-03 1.42783000e+02] [-7.81874679e-01 -6.23377324e-01 8.52632997e-03 -1.53981111e+02] [-1.11611666e-02 3.22172671e-04 -9.99937660e-01 -4.03084253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters 0.01649055861602226 Centerline is valid? [True, True] Translation: X:142.83, Y:-154.08, Z:-4.03 [[ 6.82561279e-01 -7.30794922e-01 -6.99153398e-03 1.42832794e+02] [-7.30760539e-01 -6.82597033e-01 7.09394088e-03 -1.54083176e+02] [-9.95661633e-03 2.67087785e-04 -9.99950396e-01 -4.03171461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters 0.016207715078352825 Centerline is valid? [True, True] Translation: X:142.89, Y:-154.17, Z:-4.03 [[ 7.37797763e-01 -6.74995408e-01 -5.97155119e-03 1.42886078e+02] [-6.74975387e-01 -7.37821904e-01 5.20241594e-03 -1.54174563e+02] [-7.91754814e-03 1.92319230e-04 -9.99968637e-01 -4.03274581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters 0.014348930091432123 Centerline is valid? [True, True] Translation: X:142.90, Y:-154.21, Z:-4.03 [[ 7.92466887e-01 -6.09891018e-01 -5.40169434e-03 1.42901495e+02] [-6.09877855e-01 -7.92485288e-01 4.00873865e-03 -1.54207832e+02] [-6.72565699e-03 1.17581111e-04 -9.99977376e-01 -4.03386178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters 0.013553965016225723 Centerline is valid? [True, True] Translation: X:142.92, Y:-154.24, Z:-4.03 [[ 8.40821849e-01 -5.41281150e-01 -5.77365995e-03 1.42921985e+02] [-5.41269044e-01 -8.40841667e-01 3.62114402e-03 -1.54237082e+02] [-6.81479087e-03 8.03663914e-05 -9.99976776e-01 -4.03332880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters 0.012242393229399141 Centerline is valid? [True, True] Translation: X:142.94, Y:-154.27, Z:-4.03 [[ 8.85704481e-01 -4.64207881e-01 -6.21411132e-03 1.42942208e+02] [-4.64196501e-01 -8.85726280e-01 3.25034563e-03 -1.54270185e+02] [-7.01283776e-03 5.72304316e-06 -9.99975410e-01 -4.03347843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters 0.0131426571397523 Centerline is valid? [True, True] Translation: X:142.96, Y:-154.30, Z:-4.03 [[ 9.24043166e-01 -3.82228293e-01 -6.76457121e-03 1.42964977e+02] [-3.82217381e-01 -9.24067922e-01 2.88939278e-03 -1.54301130e+02] [-7.35533093e-03 -8.43869556e-05 -9.99972946e-01 -4.03226484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters 0.01465785756653787 Centerline is valid? [True, True] Translation: X:142.99, Y:-154.32, Z:-4.03 [[ 9.53217568e-01 -3.02194705e-01 -7.39114466e-03 1.42994047e+02] [-3.02184449e-01 -9.53246211e-01 2.49383450e-03 -1.54324971e+02] [-7.79920423e-03 -1.43677882e-04 -9.99969575e-01 -4.03178109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters 0.016253806963382345 Centerline is valid? [True, True] Translation: X:143.03, Y:-154.35, Z:-4.03 [[ 9.75508311e-01 -2.19819434e-01 -7.93423223e-03 1.43025126e+02] [-2.19810414e-01 -9.75540554e-01 2.00237904e-03 -1.54348098e+02] [-8.18032713e-03 -2.09310521e-04 -9.99966519e-01 -4.03067851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters 0.01751717375108766 Centerline is valid? [True, True] Translation: X:143.06, Y:-154.36, Z:-4.03 [[ 9.90111790e-01 -1.40034709e-01 -8.30200120e-03 1.43058880e+02] [-1.40027750e-01 -9.90146566e-01 1.41646850e-03 -1.54364660e+02] [-8.41855273e-03 -2.39951617e-04 -9.99964535e-01 -4.03017872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters 0.01794588495375512 Centerline is valid? [True, True] Translation: X:143.09, Y:-154.38, Z:-4.03 [[ 9.98122637e-01 -6.08276945e-02 -7.15500356e-03 1.43092385e+02] [-6.08245930e-02 -9.98148258e-01 6.50489734e-04 -1.54375784e+02] [-7.18132213e-03 -2.14068349e-04 -9.99974191e-01 -4.03126940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters 0.01785875943898805 Centerline is valid? [True, True] Translation: X:143.12, Y:-154.38, Z:-4.03 [[ 9.99854253e-01 1.51072601e-02 -7.95262611e-03 1.43123427e+02] [ 1.51085148e-02 -9.99885855e-01 9.77104859e-05 -1.54380762e+02] [-7.95024222e-03 -2.17848614e-04 -9.99968373e-01 -4.02973833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters 0.01672502470145855 Centerline is valid? [True, True] Translation: X:143.16, Y:-154.38, Z:-4.03 [[ 9.95877827e-01 9.03396177e-02 -8.13058545e-03 1.43155262e+02] [ 9.03382319e-02 -9.95910997e-01 -5.38291707e-04 -1.54380096e+02] [-8.14596853e-03 -1.98429939e-04 -9.99966801e-01 -4.02918072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters 0.013758349606368096 Centerline is valid? [True, True] Translation: X:143.19, Y:-154.37, Z:-4.03 [[ 9.87127757e-01 1.59752189e-01 -7.61772432e-03 1.43186906e+02] [ 1.59748390e-01 -9.87157142e-01 -1.10852407e-03 -1.54373673e+02] [-7.69698012e-03 -1.22664313e-04 -9.99970370e-01 -4.02979419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters 0.012263637588694355 Centerline is valid? [True, True] Translation: X:143.22, Y:-154.36, Z:-4.03 [[ 9.74390175e-01 2.24753591e-01 -7.04340796e-03 1.43215757e+02] [ 2.24747924e-01 -9.74415631e-01 -1.59634124e-03 -1.54362663e+02] [-7.22199025e-03 -2.75320896e-05 -9.99973921e-01 -4.02923949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters 0.012335414046734937 Centerline is valid? [True, True] Translation: X:143.25, Y:-154.35, Z:-4.03 [[ 9.56537098e-01 2.91544359e-01 -6.21829110e-03 1.43245289e+02] [ 2.91537960e-01 -9.56557309e-01 -1.93190766e-03 -1.54354766e+02] [-6.51138858e-03 3.50734407e-05 -9.99978800e-01 -4.03056348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters 0.01490104393082554 Centerline is valid? [True, True] Translation: X:143.27, Y:-154.34, Z:-4.03 [[ 9.36197551e-01 3.51421941e-01 -6.06341006e-03 1.43270815e+02] [ 3.51413642e-01 -9.36217177e-01 -2.41870225e-03 -1.54340652e+02] [-6.52665368e-03 1.33618108e-04 -9.99978692e-01 -4.03047936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters 0.017845751226091645 Centerline is valid? [True, True] Translation: X:143.30, Y:-154.33, Z:-4.03 [[ 9.10092983e-01 4.14355731e-01 -6.33170110e-03 1.43296625e+02] [ 4.14344035e-01 -9.10114982e-01 -3.12074881e-03 -1.54329230e+02] [-7.05567619e-03 2.16669008e-04 -9.99975085e-01 -4.02973244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters 0.02215447066939797 Centerline is valid? [True, True] Translation: X:143.32, Y:-154.31, Z:-4.03 [[ 8.80556753e-01 4.73890985e-01 -6.86575608e-03 1.43319867e+02] [ 4.73873533e-01 -8.80583454e-01 -4.08121336e-03 -1.54313647e+02] [-7.97992142e-03 3.40239892e-04 -9.99968102e-01 -4.02866554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters 0.022010059702689065 Centerline is valid? [True, True] Translation: X:143.35, Y:-154.31, Z:-4.03 [[ 8.43131455e-01 5.37666245e-01 -6.66023063e-03 1.43347448e+02] [ 5.37645823e-01 -8.43157673e-01 -4.70179910e-03 -1.54306780e+02] [-8.14362324e-03 3.83389538e-04 -9.99966767e-01 -4.02922520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters 0.023104263886252776 Centerline is valid? [True, True] Translation: X:143.37, Y:-154.30, Z:-4.03 [[ 7.99485209e-01 6.00653827e-01 -6.19523503e-03 1.43373538e+02] [ 6.00631915e-01 -7.99509115e-01 -5.14561283e-03 -1.54296767e+02] [-8.04387891e-03 3.92785466e-04 -9.99967570e-01 -4.02897955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters 0.022555219314205763 Centerline is valid? [True, True] Translation: X:143.40, Y:-154.29, Z:-4.03 [[ 7.47672025e-01 6.64038808e-01 -6.24534954e-03 1.43401102e+02] [ 6.64011141e-01 -7.47698005e-01 -6.07439093e-03 -1.54287208e+02] [-8.70326670e-03 3.94670492e-04 -9.99962048e-01 -4.02818540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters 0.018908402093245274 Centerline is valid? [True, True] Translation: X:143.43, Y:-154.28, Z:-4.03 [[ 6.88864712e-01 7.24865472e-01 -5.95447205e-03 1.43433800e+02] [ 7.24833877e-01 -6.88890356e-01 -6.77699441e-03 -1.54280972e+02] [-9.01438762e-03 3.52429245e-04 -9.99959308e-01 -4.02858087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters 0.016496847000453962 Centerline is valid? [True, True] Translation: X:143.46, Y:-154.27, Z:-4.03 [[ 6.20286858e-01 7.84357160e-01 -5.29717277e-03 1.43464516e+02] [ 7.84325257e-01 -6.20309431e-01 -7.07822137e-03 -1.54271843e+02] [-8.83773984e-03 2.35821301e-04 -9.99960919e-01 -4.02788432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters 0.013208465546886046 Centerline is valid? [True, True] Translation: X:143.50, Y:-154.26, Z:-4.03 [[ 5.44858593e-01 8.38512663e-01 -5.06241398e-03 1.43496468e+02] [ 8.38474487e-01 -5.44882098e-01 -8.00215102e-03 -1.54260044e+02] [-9.46832371e-03 1.15335779e-04 -9.99955168e-01 -4.02696039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters 0.011981946786872347 Centerline is valid? [True, True] Translation: X:143.53, Y:-154.25, Z:-4.03 [[ 4.66266253e-01 8.84635080e-01 -4.06887584e-03 1.43528144e+02] [ 8.84601492e-01 -4.66284007e-01 -7.70876299e-03 -1.54245004e+02] [-8.71669390e-03 -4.99760329e-06 -9.99962009e-01 -4.02721377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters 0.01293529316088606 Centerline is valid? [True, True] Translation: X:143.56, Y:-154.23, Z:-4.03 [[ 3.84606318e-01 9.23076747e-01 -2.70156550e-03 1.43557944e+02] [ 9.23055510e-01 -3.84615797e-01 -6.26212774e-03 -1.54226019e+02] [-6.81948928e-03 -8.52410258e-05 -9.99976743e-01 -4.02826280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters 0.013149552557098862 Centerline is valid? [True, True] Translation: X:143.58, Y:-154.20, Z:-4.03 [[ 3.09158247e-01 9.51008291e-01 -2.09980046e-03 1.43579149e+02] [ 9.50988389e-01 -3.09165364e-01 -6.15319645e-03 -1.54202279e+02] [-6.50092641e-03 -9.45744249e-05 -9.99978864e-01 -4.02891624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters 0.014424807143941773 Centerline is valid? [True, True] Translation: X:143.60, Y:-154.18, Z:-4.03 [[ 2.30706592e-01 9.73022221e-01 -1.49214762e-03 1.43598545e+02] [ 9.73004748e-01 -2.30711393e-01 -5.83209615e-03 -1.54177922e+02] [-6.01901460e-03 -1.06363693e-04 -9.99981880e-01 -4.02903549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters 0.015013241138510217 Centerline is valid? [True, True] Translation: X:143.61, Y:-154.15, Z:-4.03 [[ 1.50331852e-01 9.88634745e-01 -1.29461396e-03 1.43614685e+02] [ 9.88606681e-01 -1.50337341e-01 -7.45080469e-03 -1.54150139e+02] [-7.56075321e-03 -1.59770738e-04 -9.99971404e-01 -4.02750636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters 0.015398960161519811 Centerline is valid? [True, True] Translation: X:143.63, Y:-154.12, Z:-4.03 [[ 7.03513423e-02 9.97521907e-01 -8.56281316e-04 1.43628137e+02] [ 9.97480262e-01 -7.03562318e-02 -9.11746955e-03 -1.54121350e+02] [-9.15512034e-03 -2.12697490e-04 -9.99958068e-01 -4.02630163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters 0.01705350635393838 Centerline is valid? [True, True] Translation: X:143.64, Y:-154.09, Z:-4.02 [[-9.79188273e-03 9.99952043e-01 -1.74096883e-04 1.43638570e+02] [ 9.99886743e-01 9.78925306e-03 -1.14311746e-02 -1.54092808e+02] [-1.14289221e-02 -2.86009886e-04 -9.99934647e-01 -4.02361927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters 0.015680638723599462 Centerline is valid? [True, True] Translation: X:143.64, Y:-154.06, Z:-4.02 [[-8.63963124e-02 9.96260509e-01 8.21401067e-04 1.43639002e+02] [ 9.96175988e-01 8.63996850e-02 -1.29805838e-02 -1.54062976e+02] [-1.30030118e-02 -3.03214555e-04 -9.99915411e-01 -4.02415332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters 0.01480267780524818 Centerline is valid? [True, True] Translation: X:143.64, Y:-154.03, Z:-4.03 [[-1.60345077e-01 9.87059587e-01 1.68185817e-03 1.43637246e+02] [ 9.86989125e-01 1.60353730e-01 -1.17960985e-02 -1.54033766e+02] [-1.19131444e-02 -2.31470599e-04 -9.99929009e-01 -4.02547745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters 0.013084094768664425 Centerline is valid? [True, True] Translation: X:143.63, Y:-154.01, Z:-4.03 [[-2.28500961e-01 9.73541386e-01 2.11673640e-03 1.43628761e+02] [ 9.73495404e-01 2.28510743e-01 -9.46246253e-03 -1.54005528e+02] [-9.69579590e-03 -1.01548628e-04 -9.99952990e-01 -4.02789041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters 0.012296890649208771 Centerline is valid? [True, True] Translation: X:143.62, Y:-153.98, Z:-4.03 [[-2.97755512e-01 9.54638778e-01 2.54141741e-03 1.43620437e+02] [ 9.54603049e-01 2.97766356e-01 -8.25926743e-03 -1.53978597e+02] [-8.64136557e-03 -3.31975886e-05 -9.99962662e-01 -4.02910889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters 0.01271510081184578 Centerline is valid? [True, True] Translation: X:143.60, Y:-153.96, Z:-4.03 [[-3.62257944e-01 9.32074773e-01 2.40825055e-03 1.43604842e+02] [ 9.32054923e-01 3.62265947e-01 -6.08314104e-03 -1.53956045e+02] [-6.54236947e-03 4.09556095e-05 -9.99978598e-01 -4.03109807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters 0.013784920470061074 Centerline is valid? [True, True] Translation: X:143.59, Y:-153.93, Z:-4.03 [[-4.28773601e-01 9.03408392e-01 2.54487635e-03 1.43591880e+02] [ 9.03393447e-01 4.28781147e-01 -5.19686003e-03 -1.53933197e+02] [-5.78608197e-03 7.07482330e-05 -9.99983258e-01 -4.03222409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters 0.01473753404268946 Centerline is valid? [True, True] Translation: X:143.58, Y:-153.91, Z:-4.03 [[-4.93602051e-01 8.69682467e-01 3.06945938e-03 1.43580148e+02] [ 8.69666968e-01 4.93611583e-01 -5.19325735e-03 -1.53910105e+02] [-6.03160557e-03 1.06004946e-04 -9.99981804e-01 -4.03255660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters 0.014952958902301082 Centerline is valid? [True, True] Translation: X:143.57, Y:-153.89, Z:-4.03 [[-5.60008103e-01 8.28476748e-01 4.14759791e-03 1.43570540e+02] [ 8.28455705e-01 5.60023448e-01 -5.90615204e-03 -1.53885935e+02] [-7.21586171e-03 1.28608151e-04 -9.99973957e-01 -4.03116507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters 0.013777798971354071 Centerline is valid? [True, True] Translation: X:143.56, Y:-153.86, Z:-4.03 [[-6.26499502e-01 7.79406619e-01 4.86793448e-03 1.43563561e+02] [ 7.79384370e-01 6.26518405e-01 -5.89003959e-03 -1.53857606e+02] [-7.64058639e-03 1.03885174e-04 -9.99970805e-01 -4.03191013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters 0.013158860197251978 Centerline is valid? [True, True] Translation: X:143.56, Y:-153.83, Z:-4.03 [[-6.88575164e-01 7.25146521e-01 5.17364635e-03 1.43555080e+02] [ 7.25126825e-01 6.88594596e-01 -5.34509257e-03 -1.53828649e+02] [-7.43852020e-03 7.10517595e-05 -9.99972331e-01 -4.03236714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters 0.012586093131860035 Centerline is valid? [True, True] Translation: X:143.54, Y:-153.80, Z:-4.03 [[-7.47712466e-01 6.64000443e-01 5.42960021e-03 1.43544963e+02] [ 6.63983137e-01 7.47732179e-01 -4.79396187e-03 -1.53801997e+02] [-7.24307960e-03 2.06579239e-05 -9.99973768e-01 -4.03249491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters 0.01265231850013179 Centerline is valid? [True, True] Translation: X:143.56, Y:-153.77, Z:-4.03 [[-7.96778450e-01 6.04241273e-01 6.04864848e-03 1.43559837e+02] [ 6.04223594e-01 7.96801408e-01 -4.62227068e-03 -1.53773474e+02] [-7.61253834e-03 -2.81895421e-05 -9.99971024e-01 -4.03182792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters 0.013065993859574333 Centerline is valid? [True, True] Translation: X:143.58, Y:-153.75, Z:-4.03 [[-8.39898081e-01 5.42702770e-01 6.70196329e-03 1.43576000e+02] [ 5.42684877e-01 8.39924817e-01 -4.40741423e-03 -1.53748380e+02] [-8.02106120e-03 -6.47246354e-05 -9.99967829e-01 -4.03182555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters 0.013947081696482223 Centerline is valid? [True, True] Translation: X:143.97, Y:-153.16, Z:-5.01 [[-7.88016085e-01 -6.15622873e-01 6.25520271e-03 1.43973847e+02] [ 6.15604035e-01 -7.88040910e-01 -4.81629612e-03 -1.53156078e+02] [ 7.89437769e-03 5.54092137e-05 9.99968837e-01 -5.00808508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters 0.015277763256046585 Centerline is valid? [True, True] Translation: X:143.95, Y:-153.18, Z:-5.01 [[-7.42586895e-01 -6.69727006e-01 5.51739196e-03 1.43953117e+02] [ 6.69709787e-01 -7.42607380e-01 -4.80410196e-03 -1.53181932e+02] [ 7.31469281e-03 1.27588238e-04 9.99973239e-01 -5.00867562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters 0.016334645007753067 Centerline is valid? [True, True] Translation: X:143.49, Y:-153.71, Z:-4.03 [[-8.10406227e-01 5.85832953e-01 6.44191368e-03 1.43494940e+02] [ 5.85812881e-01 8.10431815e-01 -4.85201640e-03 -1.53713552e+02] [-8.06320289e-03 -1.58348292e-04 -9.99967479e-01 -4.03035727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters 0.015292782886466292 Centerline is valid? [True, True] Translation: X:143.50, Y:-153.69, Z:-4.03 [[-8.49782004e-01 5.27073363e-01 8.01343702e-03 1.43498264e+02] [ 5.27047843e-01 8.49819766e-01 -5.19006508e-03 -1.53687865e+02] [-9.54552224e-03 -1.86959215e-04 -9.99954423e-01 -4.03021612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters 0.014760097700535484 Centerline is valid? [True, True] Translation: X:143.90, Y:-153.11, Z:-5.01 [[-7.89162379e-01 -6.14129708e-01 8.21225488e-03 1.43900079e+02] [ 6.14099596e-01 -7.89205071e-01 -6.08616385e-03 -1.53106550e+02] [ 1.02188472e-02 2.40170859e-04 9.99947757e-01 -5.01001553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters 0.014879582539191341 Centerline is valid? [True, True] Translation: X:143.47, Y:-153.68, Z:-4.03 [[-8.51473949e-01 5.24324964e-01 8.68597777e-03 1.43473465e+02] [ 5.24295290e-01 8.51518228e-01 -5.58183587e-03 -1.53675457e+02] [-1.03229643e-02 -1.98770602e-04 -9.99946697e-01 -4.02994773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters 0.017010546401711662 Centerline is valid? [True, True] Translation: X:143.49, Y:-153.65, Z:-4.03 [[-8.86187313e-01 4.63207098e-01 1.05465937e-02 1.43489864e+02] [ 4.63171267e-01 8.86250040e-01 -5.76569654e-03 -1.53650467e+02] [-1.20176307e-02 -2.24607942e-04 -9.99927761e-01 -4.02567775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters 0.014626881648178798 Centerline is valid? [True, True] Translation: X:143.50, Y:-153.63, Z:-4.03 [[-9.16174166e-01 4.00598759e-01 1.20636911e-02 1.43503184e+02] [ 4.00560725e-01 9.16253558e-01 -5.52483635e-03 -1.53634393e+02] [-1.32666425e-02 -2.29471488e-04 -9.99911968e-01 -4.02719695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters 0.014269693347658912 Centerline is valid? [True, True] Translation: X:143.51, Y:-153.61, Z:-4.03 [[-9.41171282e-01 3.37722885e-01 1.18267073e-02 1.43510600e+02] [ 3.37693835e-01 9.41245569e-01 -4.43307150e-03 -1.53612655e+02] [-1.26289855e-02 -1.78473442e-04 -9.99920235e-01 -4.02754229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters 0.013381846834724483 Centerline is valid? [True, True] Translation: X:143.52, Y:-153.59, Z:-4.03 [[-9.61604905e-01 2.74273554e-01 9.48810533e-03 1.43524511e+02] [ 2.74259202e-01 9.61651708e-01 -2.80752994e-03 -1.53594760e+02] [-9.89428391e-03 -9.75343736e-05 -9.99951046e-01 -4.02998691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters 0.013030667178618172 Centerline is valid? [True, True] Translation: X:143.53, Y:-153.57, Z:-4.03 [[-9.77997204e-01 2.08434768e-01 8.74165225e-03 1.43534547e+02] [ 2.08425888e-01 9.78036269e-01 -1.92489153e-03 -1.53572925e+02] [-8.95086728e-03 -6.05518982e-05 -9.99959938e-01 -4.03111154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters 0.012969158449895147 Centerline is valid? [True, True] Translation: X:143.54, Y:-153.55, Z:-4.03 [[-9.90219968e-01 1.39294913e-01 7.83209432e-03 1.43540786e+02] [ 1.39290172e-01 9.90250940e-01 -1.15022169e-03 -1.53545822e+02] [-7.91595880e-03 -4.80387176e-05 -9.99968667e-01 -4.03098206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters 0.01300446335995596 Centerline is valid? [True, True] Translation: X:143.65, Y:-152.81, Z:-5.01 [[-9.76519731e-01 -2.15173475e-01 1.04685568e-02 1.43653072e+02] [ 2.15163660e-01 -9.76575815e-01 -2.06833780e-03 -1.52812811e+02] [ 1.06683908e-02 2.32680322e-04 9.99943064e-01 -5.01205760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters 0.012960898254137338 Centerline is valid? [True, True] Translation: X:143.48, Y:-153.54, Z:-4.03 [[-9.90090159e-01 1.40006100e-01 1.09438827e-02 1.43483179e+02] [ 1.39997365e-01 9.90150641e-01 -1.56396084e-03 -1.53541812e+02] [-1.10550566e-02 -1.63474878e-05 -9.99938891e-01 -4.02808842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters 0.013055766752011241 Centerline is valid? [True, True] Translation: X:143.50, Y:-153.52, Z:-4.03 [[-9.97288404e-01 7.29153871e-02 9.95923882e-03 1.43497876e+02] [ 7.29119622e-02 9.97338130e-01 -7.07029260e-04 -1.53515808e+02] [-9.98428193e-03 2.10355619e-05 -9.99950156e-01 -4.02855745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters 0.013224439115648043 Centerline is valid? [True, True] Translation: X:143.55, Y:-152.77, Z:-5.01 [[-9.91007273e-01 -1.33512631e-01 8.88603301e-03 1.43554253e+02] [ 1.33506527e-01 -9.91047108e-01 -1.27923510e-03 -1.52771493e+02] [ 8.97727136e-03 -8.13878868e-05 9.99959700e-01 -5.01119532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters 0.013225752390463303 Centerline is valid? [True, True] Translation: X:143.44, Y:-153.51, Z:-4.03 [[-9.97384985e-01 7.16800759e-02 9.22816451e-03 1.43438942e+02] [ 7.16774522e-02 9.97427674e-01 -6.15161828e-04 -1.53511534e+02] [-9.24852151e-03 4.78981496e-05 -9.99957230e-01 -4.03013708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters 0.012985671581086992 Centerline is valid? [True, True] Translation: X:143.44, Y:-153.48, Z:-4.03 [[-9.99958046e-01 -1.11333266e-03 9.09216749e-03 1.43439323e+02] [-1.11300601e-03 9.99999380e-01 4.09861008e-05 -1.53480691e+02] [-9.09220748e-03 3.08647441e-05 -9.99958665e-01 -4.03038397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters 0.012908242946879183 Centerline is valid? [True, True] Translation: X:143.44, Y:-153.45, Z:-4.03 [[-9.97057826e-01 -7.62529701e-02 7.82152208e-03 1.43435698e+02] [-7.62506677e-02 9.97088504e-01 5.92588373e-04 -1.53447628e+02] [-7.84393637e-03 -5.55140574e-06 -9.99969236e-01 -4.03109375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters 0.013028480571662896 Centerline is valid? [True, True] Translation: X:143.38, Y:-152.73, Z:-5.01 [[-9.99970498e-01 2.94513613e-03 7.09434324e-03 1.43380993e+02] [-2.94540025e-03 -9.99995662e-01 -2.67828793e-05 -1.52729163e+02] [ 7.09423359e-03 -4.76777695e-05 9.99974835e-01 -5.00854709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters 0.013286545370933323 Centerline is valid? [True, True] Translation: X:143.35, Y:-153.44, Z:-4.03 [[-9.96012446e-01 -8.89060412e-02 7.41104713e-03 1.43352876e+02] [-8.89040465e-02 9.96040015e-01 5.98812866e-04 -1.53444932e+02] [-7.43493757e-03 -6.24470108e-05 -9.99972359e-01 -4.03094629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters 0.013708353355358827 Centerline is valid? [True, True] Translation: X:143.30, Y:-152.74, Z:-5.01 [[-9.99969708e-01 1.52136333e-03 7.63334245e-03 1.43298513e+02] [-1.52072483e-03 -9.99998840e-01 8.94506898e-05 -1.52743520e+02] [ 7.63346968e-03 7.78397668e-05 9.99970862e-01 -5.01009444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters 0.014001486536282496 Centerline is valid? [True, True] Translation: X:143.28, Y:-153.44, Z:-4.03 [[-9.95147441e-01 -9.81028861e-02 7.57597713e-03 1.43275751e+02] [-9.81007799e-02 9.95176273e-01 6.50022669e-04 -1.53443919e+02] [-7.60320179e-03 -9.63408699e-05 -9.99971091e-01 -4.02982910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters 0.014076547888289036 Centerline is valid? [True, True] Translation: X:143.27, Y:-153.42, Z:-4.03 [[-9.85598993e-01 -1.68934429e-01 7.46879015e-03 1.43272907e+02] [-1.68930329e-01 9.85627287e-01 1.18104284e-03 -1.53415980e+02] [-7.56096217e-03 -9.76705435e-05 -9.99971411e-01 -4.03005726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters 0.014349196582859245 Centerline is valid? [True, True] Translation: X:143.16, Y:-152.73, Z:-5.01 [[-9.97087096e-01 7.58157017e-02 8.32484109e-03 1.43164675e+02] [-7.58117034e-02 -9.97121835e-01 7.95258406e-04 -1.52734208e+02] [ 8.36117390e-03 1.61821511e-04 9.99965032e-01 -5.01092978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters 0.014941755077216956 Centerline is valid? [True, True] Translation: X:143.18, Y:-153.43, Z:-4.03 [[-9.83856128e-01 -1.78651546e-01 1.05235034e-02 1.43175892e+02] [-1.78643269e-01 9.83912391e-01 1.72904900e-03 -1.53426331e+02] [-1.06631026e-02 -1.78817588e-04 -9.99943132e-01 -4.02712719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters 0.016051731664960107 Centerline is valid? [True, True] Translation: X:143.16, Y:-153.40, Z:-4.03 [[-9.67720848e-01 -2.51756887e-01 1.16116502e-02 1.43161667e+02] [-2.51741766e-01 9.67790479e-01 2.76992128e-03 -1.53397822e+02] [-1.19349913e-02 -2.42626753e-04 -9.99928746e-01 -4.02603139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters 0.01619458842630685 Centerline is valid? [True, True] Translation: X:143.14, Y:-153.38, Z:-4.03 [[-9.46881920e-01 -3.21378416e-01 1.14255624e-02 1.43140199e+02] [-3.21358284e-01 9.46950816e-01 3.60636032e-03 -1.53376770e+02] [-1.19784520e-02 -2.56901741e-04 -9.99928223e-01 -4.02709463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters 0.015236196006266547 Centerline is valid? [True, True] Translation: X:143.11, Y:-153.36, Z:-4.03 [[-9.21370412e-01 -3.88549999e-01 1.02694533e-02 1.43110333e+02] [-3.88528687e-01 9.21427612e-01 4.07629420e-03 -1.53361930e+02] [-1.10464019e-02 -2.34200337e-04 -9.99938959e-01 -4.02852813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters 0.015175898296095433 Centerline is valid? [True, True] Translation: X:143.06, Y:-153.35, Z:-4.03 [[-8.90858030e-01 -4.54190679e-01 9.09927588e-03 1.43061003e+02] [-4.54169355e-01 8.90904475e-01 4.40606669e-03 -1.53354824e+02] [-1.01077800e-02 -2.07432369e-04 -9.99948894e-01 -4.02899941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters 0.015056081675348054 Centerline is valid? [True, True] Translation: X:142.99, Y:-153.36, Z:-4.03 [[-8.55398857e-01 -5.17900923e-01 8.45164145e-03 1.42993561e+02] [-5.17877863e-01 8.55440586e-01 4.89109822e-03 -1.53361281e+02] [-9.76298140e-03 -1.93078184e-04 -9.99952322e-01 -4.02915887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters 0.014946789073580147 Centerline is valid? [True, True] Translation: X:142.93, Y:-153.37, Z:-4.03 [[-8.15103083e-01 -5.79258183e-01 8.18050133e-03 1.42927822e+02] [-5.79231295e-01 8.15144111e-01 5.58430472e-03 -1.53373722e+02] [-9.90304170e-03 -1.86618387e-04 -9.99950946e-01 -4.02921379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters 0.015169046451637537 Centerline is valid? [True, True] Translation: X:142.85, Y:-153.40, Z:-4.03 [[-7.69138072e-01 -6.39043354e-01 7.08641452e-03 1.42850628e+02] [-6.39018351e-01 7.69170696e-01 5.65569629e-03 -1.53397334e+02] [-9.06489751e-03 -1.78337583e-04 -9.99958897e-01 -4.02975305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters 0.016133658395428525 Centerline is valid? [True, True] Translation: X:142.77, Y:-153.43, Z:-4.03 [[-7.17629507e-01 -6.96389226e-01 7.06655208e-03 1.42766324e+02] [-6.96358330e-01 7.17664268e-01 6.56320098e-03 -1.53431499e+02] [-9.64195438e-03 -2.10905714e-04 -9.99953493e-01 -4.02910473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters 0.0164520377238022 Centerline is valid? [True, True] Translation: X:142.68, Y:-153.48, Z:-4.03 [[-6.61114100e-01 -7.50242586e-01 8.01307681e-03 1.42683370e+02] [-7.50192720e-01 6.61162596e-01 8.65472199e-03 -1.53475670e+02] [-1.17910877e-02 -2.89593153e-04 -9.99930441e-01 -4.02768987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters 0.016660328486744418 Centerline is valid? [True, True] Translation: X:142.60, Y:-153.53, Z:-4.03 [[-6.01565702e-01 -7.98787019e-01 7.61599307e-03 1.42604686e+02] [-7.98729528e-01 6.01613828e-01 9.58866735e-03 -1.53527351e+02] [-1.22411898e-02 -3.14905143e-04 -9.99925024e-01 -4.02698348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters 0.016893723558404048 Centerline is valid? [True, True] Translation: X:142.53, Y:-153.59, Z:-4.03 [[-5.39138952e-01 -8.42190967e-01 6.60047175e-03 1.42525957e+02] [-8.42134631e-01 5.39179268e-01 9.74574917e-03 -1.53590272e+02] [-1.17666194e-02 -3.04172857e-04 -9.99930725e-01 -4.02711478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters 0.016118686472442117 Centerline is valid? [True, True] Translation: X:142.45, Y:-153.66, Z:-4.03 [[-4.73779309e-01 -8.80627091e-01 5.39379284e-03 1.42451112e+02] [-8.80576555e-01 4.73809930e-01 9.43826819e-03 -1.53662988e+02] [-1.08672273e-02 -2.77991335e-04 -9.99940911e-01 -4.02888333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters 0.016328266328467553 Centerline is valid? [True, True] Translation: X:142.38, Y:-153.74, Z:-4.03 [[-4.05725512e-01 -9.13985770e-01 4.10146869e-03 1.42379221e+02] [-9.13944895e-01 4.05746171e-01 8.64716957e-03 -1.53742695e+02] [-9.56754515e-03 -2.40139069e-04 -9.99954201e-01 -4.02979680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters 0.01599365439135543 Centerline is valid? [True, True] Translation: X:142.31, Y:-153.83, Z:-4.03 [[-3.34161475e-01 -9.42510840e-01 3.06998478e-03 1.42312440e+02] [-9.42476917e-01 3.34175504e-01 7.99963274e-03 -1.53832269e+02] [-8.56565429e-03 -2.20220714e-04 -9.99963290e-01 -4.03146347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters 0.017046328039238234 Centerline is valid? [True, True] Translation: X:142.25, Y:-153.93, Z:-4.03 [[-2.60393156e-01 -9.65499985e-01 2.27682180e-03 1.42246836e+02] [-9.65469851e-01 2.60403025e-01 7.63099218e-03 -1.53932114e+02] [-7.96061412e-03 -2.11144667e-04 -9.99968292e-01 -4.03079644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters 0.017467783006739387 Centerline is valid? [True, True] Translation: X:142.19, Y:-154.03, Z:-4.03 [[-1.85084424e-01 -9.82721146e-01 1.70461976e-03 1.42190654e+02] [-9.82689653e-01 1.85092144e-01 7.87044433e-03 -1.54028834e+02] [-8.04996380e-03 -2.18415546e-04 -9.99967575e-01 -4.02979908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters 0.016773480256971177 Centerline is valid? [True, True] Translation: X:142.15, Y:-154.13, Z:-4.03 [[-1.10992706e-01 -9.93820518e-01 1.18167662e-03 1.42145039e+02] [-9.93783335e-01 1.10998778e-01 8.59967467e-03 -1.54134510e+02] [-8.67769780e-03 -2.19829370e-04 -9.99962324e-01 -4.02930843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters 0.014868822280432414 Centerline is valid? [True, True] Translation: X:141.46, Y:-154.14, Z:-5.01 [[-2.23235681e-01 9.74762912e-01 1.75965162e-03 1.41455584e+02] [-9.74723445e-01 -2.23242483e-01 8.77497413e-03 -1.54142435e+02] [ 8.94634833e-03 2.43713638e-04 9.99959951e-01 -5.01032475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters 0.014221052067914401 Centerline is valid? [True, True] Translation: X:142.11, Y:-154.40, Z:-4.03 [[-1.09613479e-01 -9.93973658e-01 1.11953716e-03 1.42110128e+02] [-9.93934986e-01 1.09619092e-01 8.76915063e-03 -1.54401182e+02] [-8.83902738e-03 -1.51530041e-04 -9.99960924e-01 -4.02930162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters 0.013190582240086006 Centerline is valid? [True, True] Translation: X:142.08, Y:-154.51, Z:-4.03 [[-3.95038224e-02 -9.99219316e-01 4.53753550e-04 1.42076740e+02] [-9.99178294e-01 3.95063124e-02 9.05471095e-03 -1.54511614e+02] [-9.06556821e-03 -9.56850050e-05 -9.99958902e-01 -4.02937252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters 0.01278834955871835 Centerline is valid? [True, True] Translation: X:142.05, Y:-154.62, Z:-4.03 [[ 3.19432405e-02 -9.99489650e-01 -2.63972111e-04 1.42051770e+02] [-9.99441611e-01 -3.19442933e-02 9.79939642e-03 -1.54623155e+02] [-9.80282770e-03 -4.91997638e-05 -9.99951950e-01 -4.02895727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters 0.012684077415152303 Centerline is valid? [True, True] Translation: X:142.03, Y:-154.73, Z:-4.03 [[ 1.03251247e-01 -9.94654766e-01 -1.03754701e-03 1.42029637e+02] [-9.94601811e-01 -1.03256456e-01 1.02636442e-02 -1.54729624e+02] [-1.03159161e-02 -2.77879335e-05 -9.99946789e-01 -4.02868420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters 0.012747732628439385 Centerline is valid? [True, True] Translation: X:142.02, Y:-154.85, Z:-4.03 [[ 1.79708675e-01 -9.83717972e-01 -1.93459752e-03 1.42017761e+02] [-9.83658963e-01 -1.79719085e-01 1.07747286e-02 -1.54850312e+02] [-1.09469782e-02 -3.33280124e-05 -9.99940080e-01 -4.02807923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters 0.012888584620097301 Centerline is valid? [True, True] Translation: X:142.01, Y:-154.97, Z:-4.03 [[ 2.55692620e-01 -9.66753750e-01 -2.91039875e-03 1.42013345e+02] [-9.66688913e-01 -2.55709178e-01 1.11964768e-02 -1.54967355e+02] [-1.15684516e-02 -4.94062881e-05 -9.99933082e-01 -4.02664835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters 0.012766111476690276 Centerline is valid? [True, True] Translation: X:142.02, Y:-155.09, Z:-4.03 [[ 3.29886143e-01 -9.44014191e-01 -3.51266157e-03 1.42020269e+02] [-9.43958895e-01 -3.29904840e-01 1.02176711e-02 -1.55086407e+02] [-1.08044706e-02 -5.48599936e-05 -9.99941629e-01 -4.02740044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters 0.01266857359253684 Centerline is valid? [True, True] Translation: X:142.03, Y:-155.20, Z:-4.03 [[ 4.01737506e-01 -9.15748295e-01 -3.46931145e-03 1.42034659e+02] [-9.15713099e-01 -4.01752483e-01 8.02887945e-03 -1.55202862e+02] [-8.74623716e-03 -4.86080689e-05 -9.99961750e-01 -4.02856870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters 0.012662785589942362 Centerline is valid? [True, True] Translation: X:142.06, Y:-155.32, Z:-4.03 [[ 4.71221695e-01 -8.82008689e-01 -3.28436007e-03 1.42058090e+02] [-8.81986619e-01 -4.71233139e-01 6.23959994e-03 -1.55318568e+02] [-7.05108067e-03 -4.34732339e-05 -9.99975140e-01 -4.02932069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters 0.012712977609093894 Centerline is valid? [True, True] Translation: X:142.09, Y:-155.43, Z:-4.03 [[ 5.37778961e-01 -8.43077924e-01 -3.66112821e-03 1.42090341e+02] [-8.43057803e-01 -5.37791421e-01 5.82486860e-03 -1.55432336e+02] [-6.87974147e-03 -4.59490804e-05 -9.99976333e-01 -4.02870659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters 0.012720863518179448 Centerline is valid? [True, True] Translation: X:142.13, Y:-155.53, Z:-4.03 [[ 6.01284317e-01 -7.99021390e-01 -4.68931523e-03 1.42125404e+02] [-7.98996322e-01 -6.01302599e-01 6.32949836e-03 -1.55534977e+02] [-7.87710201e-03 -5.90824718e-05 -9.99968973e-01 -4.02780124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters 0.012713062835626296 Centerline is valid? [True, True] Translation: X:142.17, Y:-155.64, Z:-4.03 [[ 6.60236207e-01 -7.51032343e-01 -6.21050885e-03 1.42169870e+02] [-7.50998144e-01 -6.60265412e-01 7.16752718e-03 -1.55638157e+02] [-9.48362892e-03 -6.81803425e-05 -9.99955027e-01 -4.02542161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters 0.012631422299616536 Centerline is valid? [True, True] Translation: X:142.22, Y:-155.74, Z:-4.03 [[ 7.14707452e-01 -6.99387620e-01 -7.08627088e-03 1.42223525e+02] [-6.99352397e-01 -7.14742578e-01 7.01939477e-03 -1.55735553e+02] [-9.97413733e-03 -6.10132287e-05 -9.99950255e-01 -4.02558046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters 0.012447239813094804 Centerline is valid? [True, True] Translation: X:142.24, Y:-155.77, Z:-4.03 [[ 7.66087218e-01 -6.42697281e-01 -7.11186775e-03 1.42242212e+02] [-6.42669092e-01 -7.66120227e-01 6.01961617e-03 -1.55765496e+02] [-9.31733668e-03 -4.09734242e-05 -9.99956592e-01 -4.02594769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters 0.012421709300375195 Centerline is valid? [True, True] Translation: X:142.26, Y:-155.80, Z:-4.03 [[ 8.13862060e-01 -5.81012188e-01 -7.30645286e-03 1.42262791e+02] [-5.80988361e-01 -8.13894855e-01 5.26203064e-03 -1.55795261e+02] [-9.00398833e-03 -3.76030235e-05 -9.99959463e-01 -4.02639567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters 0.012563743295895316 Centerline is valid? [True, True] Translation: X:142.29, Y:-155.82, Z:-4.03 [[ 8.57810423e-01 -5.13892717e-01 -8.69212852e-03 1.42285277e+02] [-5.13865594e-01 -8.57854458e-01 5.28017173e-03 -1.55824530e+02] [-1.01700230e-02 -6.28005656e-05 -9.99948282e-01 -4.02554266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters 0.01319892594477612 Centerline is valid? [True, True] Translation: X:142.31, Y:-155.85, Z:-4.02 [[ 8.96577274e-01 -4.42787064e-01 -9.42384610e-03 1.42309033e+02] [-4.42761496e-01 -8.96626794e-01 4.75923483e-03 -1.55850474e+02] [-1.05570005e-02 -9.45055937e-05 -9.99944269e-01 -4.02416063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters 0.013551936450084104 Centerline is valid? [True, True] Translation: X:142.34, Y:-155.88, Z:-4.03 [[ 9.30030344e-01 -3.67348956e-01 -9.91478127e-03 1.42336430e+02] [-3.67326447e-01 -9.30083181e-01 4.06906868e-03 -1.55875707e+02] [-1.07163394e-02 -1.42395971e-04 -9.99942568e-01 -4.02590167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters 0.013990550221284401 Centerline is valid? [True, True] Translation: X:142.37, Y:-155.90, Z:-4.03 [[ 9.56644016e-01 -2.91079816e-01 -1.02355534e-02 1.42365718e+02] [-2.91061249e-01 -9.56698757e-01 3.29207325e-03 -1.55898999e+02] [-1.07505973e-02 -1.70169218e-04 -9.99942196e-01 -4.02554950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters 0.015052450958822895 Centerline is valid? [True, True] Translation: X:142.40, Y:-155.92, Z:-4.03 [[ 9.77302728e-01 -2.11514660e-01 -1.18712602e-02 1.42395683e+02] [-2.11496053e-01 -9.77374795e-01 2.81593967e-03 -1.55918933e+02] [-1.21982830e-02 -2.41300857e-04 -9.99925569e-01 -4.02524010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters 0.01481870042502692 Centerline is valid? [True, True] Translation: X:142.43, Y:-155.94, Z:-4.03 [[ 9.91124787e-01 -1.32424855e-01 -1.16324729e-02 1.42429105e+02] [-1.32412690e-01 -9.91193014e-01 1.81318853e-03 -1.55937822e+02] [-1.17701371e-02 -2.56809070e-04 -9.99930697e-01 -4.02631119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters 0.015200454703334925 Centerline is valid? [True, True] Translation: X:142.46, Y:-155.95, Z:-4.03 [[ 9.98413997e-01 -5.55451950e-02 -9.17726910e-03 1.42459412e+02] [-5.55410905e-02 -9.98456156e-01 7.01697631e-04 -1.55950823e+02] [-9.20207676e-03 -1.90869203e-04 -9.99957642e-01 -4.02855217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters 0.014849569218066835 Centerline is valid? [True, True] Translation: X:142.49, Y:-155.96, Z:-4.03 [[ 9.99752965e-01 2.10433851e-02 -7.15438736e-03 1.42491248e+02] [ 2.10438199e-02 -9.99778554e-01 -1.45028722e-05 -1.55957988e+02] [-7.15310824e-03 -1.36056350e-04 -9.99974407e-01 -4.03008983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters 0.014055763885388555 Centerline is valid? [True, True] Translation: X:142.52, Y:-155.96, Z:-4.03 [[ 9.95288152e-01 9.66932402e-02 -7.20503863e-03 1.42523941e+02] [ 9.66915710e-02 -9.95314223e-01 -5.80471564e-04 -1.55962909e+02] [-7.22740510e-03 -1.18930034e-04 -9.99973875e-01 -4.03062456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters 0.01366880430751043 Centerline is valid? [True, True] Translation: X:142.56, Y:-155.97, Z:-4.03 [[ 9.85105209e-01 1.71659755e-01 -1.00327019e-02 1.42556229e+02] [ 1.71652291e-01 -9.85156287e-01 -1.60679363e-03 -1.55965372e+02] [-1.01596011e-02 -1.39275484e-04 -9.99948380e-01 -4.02887420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters 0.013630718985986424 Centerline is valid? [True, True] Translation: X:142.59, Y:-155.97, Z:-4.03 [[ 9.68982808e-01 2.46921926e-01 -1.00935783e-02 1.42588613e+02] [ 2.46909909e-01 -9.69035369e-01 -2.43938632e-03 -1.55965957e+02] [-1.03833723e-02 -1.28481083e-04 -9.99946083e-01 -4.02818689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters 0.012898238676246938 Centerline is valid? [True, True] Translation: X:142.62, Y:-155.96, Z:-4.03 [[ 9.48086304e-01 3.17869304e-01 -9.56376239e-03 1.42620186e+02] [ 3.17853985e-01 -9.48134536e-01 -3.12174201e-03 -1.55961482e+02] [-1.00600394e-02 -8.01991413e-05 -9.99949393e-01 -4.02959096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters 0.012643131705571745 Centerline is valid? [True, True] Translation: X:142.65, Y:-155.95, Z:-4.03 [[ 9.22805020e-01 3.85171066e-01 -8.61073327e-03 1.42650996e+02] [ 3.85154442e-01 -9.22845193e-01 -3.57854169e-03 -1.55952923e+02] [-9.32472452e-03 -1.41659282e-05 -9.99956524e-01 -4.03043058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters 0.012547248593895511 Centerline is valid? [True, True] Translation: X:142.68, Y:-155.95, Z:-4.03 [[ 8.91735692e-01 4.52481718e-01 -8.23106059e-03 1.42682329e+02] [ 4.52462182e-01 -8.91773679e-01 -4.20461450e-03 -1.55945511e+02] [-9.24275437e-03 2.51611805e-05 -9.99957285e-01 -4.03134972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters 0.013089000355637996 Centerline is valid? [True, True] Translation: X:142.71, Y:-155.94, Z:-4.03 [[ 8.55970524e-01 5.16972134e-01 -7.36717084e-03 1.42711127e+02] [ 5.16952348e-01 -8.56002225e-01 -4.52349814e-03 -1.55936183e+02] [-8.64483711e-03 6.35048103e-05 -9.99962631e-01 -4.03120715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters 0.013055893900819276 Centerline is valid? [True, True] Translation: X:142.74, Y:-155.93, Z:-4.03 [[ 8.13577544e-01 5.81416985e-01 -6.77272200e-03 1.42743179e+02] [ 5.81396105e-01 -8.13605730e-01 -4.92805716e-03 -1.55927297e+02] [-8.37558156e-03 7.17224524e-05 -9.99964922e-01 -4.03232999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters 0.013064393122373053 Centerline is valid? [True, True] Translation: X:142.77, Y:-155.92, Z:-4.03 [[ 7.64955560e-01 6.44049975e-01 -6.52838487e-03 1.42774059e+02] [ 6.44025791e-01 -7.64983415e-01 -5.58172188e-03 -1.55917863e+02] [-8.58901399e-03 6.53209641e-05 -9.99963112e-01 -4.03164717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters 0.012774441320334591 Centerline is valid? [True, True] Translation: X:142.81, Y:-155.91, Z:-4.03 [[ 7.08942952e-01 7.05229438e-01 -7.16461132e-03 1.42805178e+02] [ 7.05192988e-01 -7.08979153e-01 -7.17011749e-03 -1.55905744e+02] [-1.01361380e-02 3.07705963e-05 -9.99948628e-01 -4.02995597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters 0.012745452529184504 Centerline is valid? [True, True] Translation: X:142.83, Y:-155.89, Z:-4.03 [[ 6.48053643e-01 7.61561292e-01 -7.13264320e-03 1.42834820e+02] [ 7.61515462e-01 -6.48092893e-01 -8.35486532e-03 -1.55890253e+02] [-1.09853574e-02 -1.72171746e-05 -9.99939659e-01 -4.02912627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters 0.013221233589301721 Centerline is valid? [True, True] Translation: X:142.87, Y:-155.88, Z:-4.03 [[ 5.79315167e-01 8.15081082e-01 -6.06355171e-03 1.42869088e+02] [ 8.15038354e-01 -5.79346890e-01 -8.34642530e-03 -1.55876521e+02] [-1.03159132e-02 -1.06816435e-04 -9.99946784e-01 -4.03029242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters 0.014175830904146777 Centerline is valid? [True, True] Translation: X:142.90, Y:-155.86, Z:-4.03 [[ 5.08841445e-01 8.60847597e-01 -4.66889445e-03 1.42899451e+02] [ 8.60813911e-01 -5.08862844e-01 -7.61686898e-03 -1.55857395e+02] [-8.93279026e-03 -1.43270677e-04 -9.99960092e-01 -4.03092260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters 0.01595758114458024 Centerline is valid? [True, True] Translation: X:142.93, Y:-155.84, Z:-4.03 [[ 4.33863338e-01 9.00972149e-01 -3.43383721e-03 1.42927463e+02] [ 9.00946992e-01 -4.33876893e-01 -6.73501313e-03 -1.55836785e+02] [-7.55792187e-03 -1.71630026e-04 -9.99971424e-01 -4.03242686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters 0.016616261812416305 Centerline is valid? [True, True] Translation: X:142.95, Y:-155.81, Z:-4.03 [[ 3.58363187e-01 9.33578418e-01 -2.67641975e-03 1.42953196e+02] [ 9.33556123e-01 -3.58373133e-01 -6.45467171e-03 -1.55811495e+02] [-6.98509914e-03 -1.85471323e-04 -9.99975587e-01 -4.03284700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters 0.01749142118405289 Centerline is valid? [True, True] Translation: X:142.98, Y:-155.78, Z:-4.03 [[ 2.82166768e-01 9.59362688e-01 -2.26890360e-03 1.42975097e+02] [ 9.59337386e-01 -2.82175812e-01 -6.97066960e-03 -1.55783345e+02] [-7.32763004e-03 -2.09752737e-04 -9.99973131e-01 -4.03224748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters 0.018663938854846414 Centerline is valid? [True, True] Translation: X:142.99, Y:-155.75, Z:-4.03 [[ 2.04130983e-01 9.78941031e-01 -2.23612638e-03 1.42993839e+02] [ 9.78896999e-01 -2.04143021e-01 -9.28934309e-03 -1.55754135e+02] [-9.55020869e-03 -2.92694665e-04 -9.99954353e-01 -4.03005114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters 0.019249342813731574 Centerline is valid? [True, True] Translation: X:143.01, Y:-155.72, Z:-4.03 [[ 1.25683710e-01 9.92068479e-01 -1.93331309e-03 1.43005735e+02] [ 9.91994173e-01 -1.25697971e-01 -1.21483071e-02 -1.55721816e+02] [-1.22949661e-02 -3.90991007e-04 -9.99924338e-01 -4.02773883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters 0.018170437261085047 Centerline is valid? [True, True] Translation: X:143.01, Y:-155.69, Z:-4.03 [[ 4.83005701e-02 9.98832325e-01 -1.02093708e-03 1.43014307e+02] [ 9.98749945e-01 -4.83097049e-02 -1.28343535e-02 -1.55689122e+02] [-1.28686884e-02 -3.99754259e-04 -9.99917115e-01 -4.02794312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters 0.01706290794236273 Centerline is valid? [True, True] Translation: X:143.02, Y:-155.66, Z:-4.03 [[-2.63512013e-02 9.99652747e-01 -1.23602634e-05 1.43017825e+02] [ 9.99573510e-01 2.63489570e-02 -1.25908966e-02 -1.55656155e+02] [-1.25861987e-02 -3.44140243e-04 -9.99920732e-01 -4.02836519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters 0.015296830718258833 Centerline is valid? [True, True] Translation: X:143.02, Y:-155.62, Z:-4.03 [[-9.91707996e-02 9.95069987e-01 9.34952687e-04 1.43015657e+02] [ 9.94997077e-01 9.91748538e-02 -1.20484257e-02 -1.55623684e+02] [-1.20817506e-02 -2.64576818e-04 -9.99926978e-01 -4.02915891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters 0.01511390997891164 Centerline is valid? [True, True] Translation: X:143.01, Y:-155.59, Z:-4.03 [[-1.73937772e-01 9.84754817e-01 1.89801670e-03 1.43013987e+02] [ 9.84680736e-01 1.73947973e-01 -1.20810289e-02 -1.55592442e+02] [-1.22270076e-02 -2.32406782e-04 -9.99925220e-01 -4.02850812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters 0.01485901367747143 Centerline is valid? [True, True] Translation: X:143.01, Y:-155.56, Z:-4.03 [[-2.49294135e-01 9.68423184e-01 2.99518009e-03 1.43006214e+02] [ 9.68341861e-01 2.49312023e-01 -1.25520765e-02 -1.55562156e+02] [-1.29024563e-02 -2.28800788e-04 -9.99916734e-01 -4.02816203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters 0.014678097986360734 Centerline is valid? [True, True] Translation: X:143.00, Y:-155.53, Z:-4.03 [[-3.25414936e-01 9.45562105e-01 4.17431236e-03 1.43001117e+02] [ 9.45473978e-01 3.25441608e-01 -1.29118596e-02 -1.55531616e+02] [-1.35674600e-02 -2.55008240e-04 -9.99907925e-01 -4.02922115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters 0.01551191832715844 Centerline is valid? [True, True] Translation: X:143.00, Y:-155.50, Z:-4.03 [[-4.02105304e-01 9.15579394e-01 5.06925145e-03 1.42996187e+02] [ 9.15496888e-01 4.02137142e-01 -1.22950251e-02 -1.55501087e+02] [-1.32956059e-02 -3.03010877e-04 -9.99911564e-01 -4.03006983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters 0.016608651964112615 Centerline is valid? [True, True] Translation: X:142.99, Y:-155.47, Z:-4.03 [[-4.75958696e-01 8.79451732e-01 5.28880397e-03 1.42989090e+02] [ 8.79389979e-01 4.75987977e-01 -1.04264227e-02 -1.55471093e+02] [-1.16869426e-02 -3.11625365e-04 -9.99931657e-01 -4.03124154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters 0.020355051717980292 Centerline is valid? [True, True] Translation: X:142.98, Y:-155.44, Z:-4.03 [[-5.45321962e-01 8.38205270e-01 5.99034441e-03 1.42981956e+02] [ 8.38147830e-01 5.45354761e-01 -9.81838501e-03 -1.55441068e+02] [-1.14966849e-02 -3.33386803e-04 -9.99933855e-01 -4.02943603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters 0.018820560829036836 Centerline is valid? [True, True] Translation: X:142.96, Y:-155.42, Z:-4.03 [[-6.10693525e-01 7.91836053e-01 7.00600231e-03 1.42964947e+02] [ 7.91776901e-01 6.10733600e-01 -9.68547363e-03 -1.55415433e+02] [-1.19481082e-02 -3.67665239e-04 -9.99928551e-01 -4.03064946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters 0.019114995418834674 Centerline is valid? [True, True] Translation: X:142.95, Y:-155.39, Z:-4.03 [[-6.73188333e-01 7.39430300e-01 7.76529011e-03 1.42949292e+02] [ 7.39374014e-01 6.73232996e-01 -9.13239195e-03 -1.55388731e+02] [-1.19806168e-02 -4.06365992e-04 -9.99928147e-01 -4.03084690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters 0.021170863645768704 Centerline is valid? [True, True] Translation: X:142.93, Y:-155.36, Z:-4.03 [[-7.30771088e-01 6.82571823e-01 8.32612559e-03 1.42933408e+02] [ 6.82520703e-01 7.30818392e-01 -8.36467569e-03 -1.55363286e+02] [-1.17943776e-02 -4.29910057e-04 -9.99930352e-01 -4.03072463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters 0.02068793938566815 Centerline is valid? [True, True] Translation: X:142.91, Y:-155.34, Z:-4.03 [[-7.82330882e-01 6.22808051e-01 8.27788577e-03 1.42912729e+02] [ 6.22767648e-01 7.82374571e-01 -7.10541932e-03 -1.55341669e+02] [-1.09017197e-02 -4.03589510e-04 -9.99940493e-01 -4.03210218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters 0.018924240193193893 Centerline is valid? [True, True] Translation: X:142.93, Y:-155.33, Z:-4.03 [[-8.24382586e-01 5.65989576e-01 7.01089228e-03 1.42926483e+02] [ 5.65965739e-01 8.24412334e-01 -5.20440559e-03 -1.55325215e+02] [-8.72550538e-03 -3.22496501e-04 -9.99961880e-01 -4.03404065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters 0.019303912092524626 Centerline is valid? [True, True] Translation: X:142.94, Y:-155.30, Z:-4.03 [[-8.61963688e-01 5.06920936e-01 7.05447647e-03 1.42938712e+02] [ 5.06901059e-01 8.61992502e-01 -4.49923212e-03 -1.55302107e+02] [-8.36166078e-03 -3.02253115e-04 -9.99964995e-01 -4.03419337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters 0.019431711448965928 Centerline is valid? [True, True] Translation: X:142.96, Y:-155.28, Z:-4.03 [[-8.94655540e-01 4.46693460e-01 7.51118753e-03 1.42958231e+02] [ 4.46674984e-01 8.94687023e-01 -4.07298943e-03 -1.55283708e+02] [-8.53953975e-03 -2.88862982e-04 -9.99963496e-01 -4.03266152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters 0.019317484030011815 Centerline is valid? [True, True] Translation: X:143.28, Y:-154.70, Z:-5.01 [[-8.26901132e-01 -5.62297368e-01 7.49583918e-03 1.43278988e+02] [ 5.62277708e-01 -8.26935045e-01 -4.71280607e-03 -1.54702592e+02] [ 8.84857056e-03 3.17718597e-04 9.99960800e-01 -5.00800748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters 0.018013750663814554 Centerline is valid? [True, True] Translation: X:142.91, Y:-155.26, Z:-4.03 [[-8.95658745e-01 4.44663293e-01 8.36470046e-03 1.42912211e+02] [ 4.44640662e-01 8.95697751e-01 -4.49682481e-03 -1.55263920e+02] [-9.49181632e-03 -3.08334521e-04 -9.99954904e-01 -4.03253923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters 0.01909641824234428 Centerline is valid? [True, True] Translation: X:142.92, Y:-155.24, Z:-4.03 [[-9.25510314e-01 3.78598813e-01 9.67459916e-03 1.42922991e+02] [ 3.78574012e-01 9.25560807e-01 -4.34856670e-03 -1.55237447e+02] [-1.06007920e-02 -3.62091515e-04 -9.99943745e-01 -4.02990004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters 0.020298197561197998 Centerline is valid? [True, True] Translation: X:142.94, Y:-155.21, Z:-4.03 [[-9.50196542e-01 3.11445224e-01 1.13315392e-02 1.42939415e+02] [ 3.11417774e-01 9.50264014e-01 -4.15629678e-03 -1.55213933e+02] [-1.20624127e-02 -4.20456101e-04 -9.99927158e-01 -4.02762112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters 0.018680104994893407 Centerline is valid? [True, True] Translation: X:143.18, Y:-154.59, Z:-5.01 [[-8.99461819e-01 -4.36845716e-01 1.15869388e-02 1.43178716e+02] [ 4.36816231e-01 -8.99536322e-01 -5.09768437e-03 -1.54589554e+02] [ 1.26497739e-02 4.76190488e-04 9.99919875e-01 -5.01201708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters 0.017915792167975737 Centerline is valid? [True, True] Translation: X:142.88, Y:-155.20, Z:-4.03 [[-9.50415201e-01 3.10798935e-01 1.07222727e-02 1.42878834e+02] [ 3.10774809e-01 9.50475612e-01 -3.88961150e-03 -1.55200804e+02] [-1.14001458e-02 -3.64533644e-04 -9.99934950e-01 -4.03047148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters 0.01756008730628582 Centerline is valid? [True, True] Translation: X:143.14, Y:-154.57, Z:-5.01 [[-9.02358540e-01 -4.30902924e-01 8.46968264e-03 1.43140299e+02] [ 4.30885715e-01 -9.02398272e-01 -3.85483506e-03 -1.54571589e+02] [ 9.30408668e-03 1.71021929e-04 9.99956701e-01 -5.00800415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters 0.017319158328772184 Centerline is valid? [True, True] Translation: X:142.86, Y:-155.20, Z:-4.03 [[-9.50752891e-01 3.09829636e-01 8.63349095e-03 1.42858908e+02] [ 3.09814285e-01 9.50792051e-01 -3.09585113e-03 -1.55198026e+02] [-9.16784099e-03 -2.68610580e-04 -9.99957938e-01 -4.03229154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters 0.01693670093768757 Centerline is valid? [True, True] Translation: X:142.86, Y:-155.17, Z:-4.03 [[-9.70169818e-01 2.42202505e-01 1.04149510e-02 1.42860334e+02] [ 2.42185095e-01 9.70225669e-01 -2.92062335e-03 -1.55171684e+02] [-1.08122351e-02 -3.11154715e-04 -9.99941498e-01 -4.03145227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters 0.017538779071440948 Centerline is valid? [True, True] Translation: X:142.88, Y:-155.15, Z:-4.03 [[-9.85002027e-01 1.72068666e-01 1.27820664e-02 1.42876320e+02] [ 1.72049093e-01 9.85084883e-01 -2.62367112e-03 -1.55146816e+02] [-1.30428720e-02 -3.85178440e-04 -9.99914864e-01 -4.02984962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters 0.018094007889779207 Centerline is valid? [True, True] Translation: X:142.88, Y:-155.12, Z:-4.03 [[-9.94771776e-01 1.01250534e-01 1.33207535e-02 1.42877805e+02] [ 1.01236013e-01 9.94860878e-01 -1.76167877e-03 -1.55117679e+02] [-1.34306674e-02 -4.03928353e-04 -9.99909723e-01 -4.02945136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters 0.01872734836044666 Centerline is valid? [True, True] Translation: X:142.97, Y:-154.45, Z:-5.01 [[-9.73524832e-01 -2.28256831e-01 1.21745496e-02 1.42967471e+02] [ 2.28242944e-01 -9.73600906e-01 -2.53675111e-03 -1.54445615e+02] [ 1.24321833e-02 3.09164849e-04 9.99922670e-01 -5.00923800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters 0.020040970750293863 Centerline is valid? [True, True] Translation: X:142.83, Y:-155.11, Z:-4.03 [[-9.95392225e-01 9.52270659e-02 1.12304998e-02 1.42829528e+02] [ 9.52168678e-02 9.95455510e-01 -1.44050002e-03 -1.55107532e+02] [-1.13166375e-02 -3.64529505e-04 -9.99935898e-01 -4.03129372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters 0.020112696775889408 Centerline is valid? [True, True] Translation: X:142.83, Y:-155.08, Z:-4.03 [[-9.99635497e-01 2.43623956e-02 1.16338913e-02 1.42832503e+02] [ 2.43563799e-02 9.99703123e-01 -6.58505669e-04 -1.55080239e+02] [-1.16464802e-02 -3.74906165e-04 -9.99932107e-01 -4.03120360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters 0.02137175496230095 Centerline is valid? [True, True] Translation: X:142.87, Y:-154.42, Z:-5.01 [[-9.87772510e-01 -1.55468601e-01 1.16182116e-02 1.42872122e+02] [ 1.55462363e-01 -9.87840761e-01 -1.44364104e-03 -1.54416444e+02] [ 1.17013839e-02 3.80205694e-04 9.99931464e-01 -5.01033835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters 0.0179581201554686 Centerline is valid? [True, True] Translation: X:142.78, Y:-155.08, Z:-4.03 [[-9.99728806e-01 1.96891208e-02 1.24359207e-02 1.42777418e+02] [ 1.96825023e-02 9.99806067e-01 -6.54381808e-04 -1.55077224e+02] [-1.24463931e-02 -4.09434306e-04 -9.99922457e-01 -4.03189492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters 0.019126293426717674 Centerline is valid? [True, True] Translation: X:142.77, Y:-155.05, Z:-4.03 [[-9.98598533e-01 -5.14928799e-02 1.22250961e-02 1.42767441e+02] [-5.14939721e-02 9.98673280e-01 2.25620432e-04 -1.55047570e+02] [-1.22204947e-02 -4.04214527e-04 -9.99925245e-01 -4.03116363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters 0.018816423305214935 Centerline is valid? [True, True] Translation: X:142.77, Y:-155.02, Z:-4.03 [[-9.92513130e-01 -1.21607741e-01 1.13685344e-02 1.42768899e+02] [-1.21604011e-01 9.92578169e-01 1.02135982e-03 -1.55019550e+02] [-1.14083643e-02 -3.68746350e-04 -9.99934855e-01 -4.03170839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters 0.017618467166993473 Centerline is valid? [True, True] Translation: X:142.71, Y:-154.36, Z:-5.01 [[-9.99929410e-01 -5.41516899e-03 1.05759322e-02 1.42712942e+02] [ 5.41794059e-03 -9.99985296e-01 2.33434220e-04 -1.54361665e+02] [ 1.05745126e-02 2.90717514e-04 9.99944046e-01 -5.00848547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters 0.015072151677336013 Centerline is valid? [True, True] Translation: X:142.70, Y:-155.03, Z:-4.03 [[-9.93043147e-01 -1.17427732e-01 8.71989549e-03 1.42701351e+02] [-1.17424983e-01 9.93081410e-01 8.28327513e-04 -1.55030840e+02] [-8.75683473e-03 -2.01368620e-04 -9.99961638e-01 -4.03366978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters 0.013397093218218307 Centerline is valid? [True, True] Translation: X:142.65, Y:-154.36, Z:-5.00 [[-9.99914708e-01 1.04910284e-02 7.77913242e-03 1.42647579e+02] [-1.04897748e-02 -9.99944960e-01 2.01933220e-04 -1.54360420e+02] [ 7.78082275e-03 1.20314650e-04 9.99969722e-01 -5.00494110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters 0.012986667598890759 Centerline is valid? [True, True] Translation: X:142.63, Y:-155.04, Z:-4.03 [[-9.93570515e-01 -1.12890740e-01 8.56227062e-03 1.42632414e+02] [-1.12887534e-01 9.93607401e-01 8.58387878e-04 -1.55041375e+02] [-8.60443951e-03 -1.13704728e-04 -9.99962975e-01 -4.03469549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters 0.012825796151381992 Centerline is valid? [True, True] Translation: X:142.63, Y:-155.01, Z:-4.03 [[-9.83797757e-01 -1.78980627e-01 1.03878856e-02 1.42626788e+02] [-1.78971646e-01 9.83852594e-01 1.79541960e-03 -1.55014588e+02] [-1.05414936e-02 -9.28072168e-05 -9.99944433e-01 -4.03246585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters 0.012639606702307326 Centerline is valid? [True, True] Translation: X:142.61, Y:-154.99, Z:-4.03 [[-9.69471508e-01 -2.44951360e-01 1.11277540e-02 1.42614064e+02] [-2.44935885e-01 9.69535367e-01 2.75385602e-03 -1.54989684e+02] [-1.14633118e-02 -5.58013342e-05 -9.99934293e-01 -4.03102216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters 0.012457984083104287 Centerline is valid? [True, True] Translation: X:142.59, Y:-154.97, Z:-4.03 [[-9.50550887e-01 -3.10407444e-01 1.00115251e-02 1.42588153e+02] [-3.10390352e-01 9.50603608e-01 3.25742904e-03 -1.54969533e+02] [-1.05281221e-02 -1.11287339e-05 -9.99944578e-01 -4.03289292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters 0.012282162392142568 Centerline is valid? [True, True] Translation: X:142.55, Y:-154.96, Z:-4.03 [[-9.26154536e-01 -3.77031905e-01 9.20430217e-03 1.42548903e+02] [-3.77013226e-01 9.26200271e-01 3.75296144e-03 -1.54955129e+02] [-9.94001337e-03 5.67860314e-06 -9.99950597e-01 -4.03443928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters 0.012292802884002791 Centerline is valid? [True, True] Translation: X:142.49, Y:-154.95, Z:-4.03 [[-8.96605867e-01 -4.42742051e-01 8.79743835e-03 1.42487172e+02] [-4.42720545e-01 8.96649026e-01 4.36386981e-03 -1.54950232e+02] [-9.82028320e-03 1.78645790e-05 -9.99951780e-01 -4.03386591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters 0.012276797433800592 Centerline is valid? [True, True] Translation: X:142.42, Y:-154.95, Z:-4.03 [[-8.61117025e-01 -5.08330942e-01 8.78198367e-03 1.42420552e+02] [-5.08304388e-01 8.61161805e-01 5.19574626e-03 -1.54952149e+02] [-1.02038675e-02 1.02247272e-05 -9.99947939e-01 -4.03354106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters 0.012212167344148478 Centerline is valid? [True, True] Translation: X:142.34, Y:-154.96, Z:-4.03 [[-8.19541301e-01 -5.72959048e-01 8.36573891e-03 1.42344103e+02] [-5.72929420e-01 8.19583997e-01 5.82677167e-03 -1.54961943e+02] [-1.01949273e-02 -1.76979034e-05 -9.99948030e-01 -4.03319605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters 0.012133998078416587 Centerline is valid? [True, True] Translation: X:142.27, Y:-154.98, Z:-4.03 [[-7.73767013e-01 -6.33426666e-01 7.43423062e-03 1.42266059e+02] [-6.33397796e-01 7.73802725e-01 6.04763366e-03 -1.54981860e+02] [-9.58336035e-03 -2.93658602e-05 -9.99954078e-01 -4.03332970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters 0.012049342122315345 Centerline is valid? [True, True] Translation: X:142.18, Y:-155.01, Z:-4.03 [[-7.23755747e-01 -6.90030797e-01 5.92602477e-03 1.42183915e+02] [-6.90008018e-01 7.23780007e-01 5.60685759e-03 -1.55012544e+02] [-8.15804266e-03 -3.10092038e-05 -9.99966722e-01 -4.03391693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters 0.012016034455945164 Centerline is valid? [True, True] Translation: X:142.10, Y:-155.06, Z:-4.03 [[-6.70084866e-01 -7.42268720e-01 4.83931610e-03 1.42099254e+02] [-7.42249646e-01 6.70102340e-01 5.32141238e-03 -1.55056539e+02] [-7.19275500e-03 -2.61827539e-05 -9.99974132e-01 -4.03419569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters 0.01195405044877048 Centerline is valid? [True, True] Translation: X:142.02, Y:-155.11, Z:-4.03 [[-6.12248341e-01 -7.90657109e-01 3.64763197e-03 1.42019070e+02] [-7.90643286e-01 6.12259206e-01 4.67531726e-03 -1.55105436e+02] [-5.92986908e-03 -2.15204942e-05 -9.99982418e-01 -4.03457653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters 0.011846242063985709 Centerline is valid? [True, True] Translation: X:141.94, Y:-155.16, Z:-4.03 [[-5.51251597e-01 -8.34332454e-01 3.32159573e-03 1.41939051e+02] [-8.34317508e-01 5.51261604e-01 4.99397734e-03 -1.55164123e+02] [-5.99770556e-03 -1.83274892e-05 -9.99982013e-01 -4.03483402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters 0.011889173491937879 Centerline is valid? [True, True] Translation: X:141.86, Y:-155.23, Z:-4.03 [[-4.87373380e-01 -8.73188560e-01 2.98784024e-03 1.41861843e+02] [-8.73172312e-01 4.87382538e-01 5.32681202e-03 -1.55234725e+02] [-6.10753247e-03 -1.27529905e-05 -9.99981349e-01 -4.03386250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters 0.011827523772922536 Centerline is valid? [True, True] Translation: X:141.79, Y:-155.31, Z:-4.03 [[-4.20771440e-01 -9.07160379e-01 3.38266990e-03 1.41789146e+02] [-9.07131204e-01 4.20785037e-01 7.27538210e-03 -1.55312654e+02] [-8.02331526e-03 -7.25242092e-06 -9.99967813e-01 -4.03208010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters 0.011988826759775318 Centerline is valid? [True, True] Translation: X:141.72, Y:-155.40, Z:-4.03 [[-3.50508158e-01 -9.36553486e-01 3.40579047e-03 1.41720199e+02] [-9.36509536e-01 3.50524704e-01 9.07314105e-03 -1.55398427e+02] [-9.69129558e-03 -9.34529612e-06 -9.99953038e-01 -4.03005524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters 0.01204744607438596 Centerline is valid? [True, True] Translation: X:141.66, Y:-155.49, Z:-4.03 [[-2.77298302e-01 -9.60779875e-01 2.77191181e-03 1.41658209e+02] [-9.60732569e-01 2.77312156e-01 9.53406039e-03 -1.55492085e+02] [-9.92881819e-03 -1.92871922e-05 -9.99950708e-01 -4.03000295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters 0.011964265796282427 Centerline is valid? [True, True] Translation: X:141.60, Y:-155.59, Z:-4.03 [[-2.01244223e-01 -9.79539654e-01 1.68184730e-03 1.41601975e+02] [-9.79506826e-01 2.01251248e-01 8.01949101e-03 -1.55591826e+02] [-8.19388331e-03 -3.35046718e-05 -9.99966429e-01 -4.03173391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters 0.012130898265166924 Centerline is valid? [True, True] Translation: X:141.55, Y:-155.69, Z:-4.03 [[-1.22975138e-01 -9.92409506e-01 6.98786801e-04 1.41552584e+02] [-9.92395225e-01 1.22977117e-01 5.32407868e-03 -1.55694155e+02] [-5.36960108e-03 -3.87433737e-05 -9.99985583e-01 -4.03332623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters 0.012638491637304622 Centerline is valid? [True, True] Translation: X:141.51, Y:-155.81, Z:-4.03 [[-4.35493011e-02 -9.99051250e-01 2.41210273e-04 1.41511540e+02] [-9.99041392e-01 4.35499430e-02 4.43843806e-03 -1.55805259e+02] [-4.44473178e-03 -4.76881713e-05 -9.99990121e-01 -4.03444174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters 0.01408759564360485 Centerline is valid? [True, True] Translation: X:141.48, Y:-155.92, Z:-4.04 [[ 4.00595593e-02 -9.99197290e-01 -8.48926739e-05 1.41476661e+02] [-9.99189801e-01 -4.00595878e-02 3.86933943e-03 -1.55917185e+02] [-3.86963424e-03 -7.01801385e-05 -9.99992511e-01 -4.03510448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters 0.016910086201719028 Centerline is valid? [True, True] Translation: X:141.45, Y:-156.03, Z:-4.03 [[ 1.25210369e-01 -9.92130132e-01 -4.06406394e-04 1.41447629e+02] [-9.92121545e-01 -1.25210977e-01 4.12929884e-03 -1.56033707e+02] [-4.14768835e-03 -1.13826491e-04 -9.99991392e-01 -4.03398049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters 0.019931873388494305 Centerline is valid? [True, True] Translation: X:141.43, Y:-156.15, Z:-4.03 [[ 2.07968371e-01 -9.78135128e-01 -9.10231540e-04 1.41429272e+02] [-9.78121468e-01 -2.07970280e-01 5.17262887e-03 -1.56149612e+02] [-5.24883111e-03 -1.85426189e-04 -9.99986208e-01 -4.03247997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters 0.020786691757121167 Centerline is valid? [True, True] Translation: X:141.42, Y:-156.26, Z:-4.03 [[ 2.84367688e-01 -9.58714070e-01 -1.53295533e-03 1.41424326e+02] [-9.58695358e-01 -2.84371723e-01 5.99440224e-03 -1.56261846e+02] [-6.18284692e-03 -2.34977146e-04 -9.99980858e-01 -4.03189203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters 0.022754638055984776 Centerline is valid? [True, True] Translation: X:141.43, Y:-156.37, Z:-4.03 [[ 3.57609189e-01 -9.33868853e-01 -2.15252339e-03 1.41425890e+02] [-9.33847239e-01 -3.57615570e-01 6.35904948e-03 -1.56369785e+02] [-6.70829412e-03 -2.63926504e-04 -9.99977464e-01 -4.03092481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters 0.02126270265042845 Centerline is valid? [True, True] Translation: X:141.44, Y:-156.48, Z:-4.03 [[ 4.26435926e-01 -9.04513847e-01 -2.66479136e-03 1.41443400e+02] [-9.04492232e-01 -4.26444173e-01 6.25854243e-03 -1.56479052e+02] [-6.79732304e-03 -2.58584251e-04 -9.99976865e-01 -4.03177521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters 0.02115692143242101 Centerline is valid? [True, True] Translation: X:141.47, Y:-156.58, Z:-4.03 [[ 4.92376268e-01 -8.70377897e-01 -2.81552018e-03 1.41465144e+02] [-8.70361010e-01 -4.92384268e-01 5.42638866e-03 -1.56582783e+02] [-6.10932659e-03 -2.21306011e-04 -9.99981313e-01 -4.03220565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters 0.01922011898570094 Centerline is valid? [True, True] Translation: X:141.50, Y:-156.69, Z:-4.03 [[ 5.54958443e-01 -8.31872184e-01 -3.12991650e-03 1.41500868e+02] [-8.31856868e-01 -5.54967233e-01 5.05185112e-03 -1.56685263e+02] [-5.93949552e-03 -1.99924894e-04 -9.99982341e-01 -4.03304379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters 0.0184428132074621 Centerline is valid? [True, True] Translation: X:141.54, Y:-156.78, Z:-4.03 [[ 6.15041074e-01 -7.88486836e-01 -3.60384395e-03 1.41541131e+02] [-7.88471414e-01 -6.15051601e-01 4.93534285e-03 -1.56784344e+02] [-6.10800286e-03 -1.93910632e-04 -9.99981327e-01 -4.03310006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters 0.0183198348277005 Centerline is valid? [True, True] Translation: X:141.58, Y:-156.88, Z:-4.03 [[ 6.72821271e-01 -7.39793787e-01 -4.08527791e-03 1.41584345e+02] [-7.39778338e-01 -6.72833645e-01 4.78513589e-03 -1.56876848e+02] [-6.28872623e-03 -1.97341118e-04 -9.99980206e-01 -4.03289447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters 0.01810961292975512 Centerline is valid? [True, True] Translation: X:141.64, Y:-156.96, Z:-4.03 [[ 7.26294857e-01 -6.87369493e-01 -4.35444651e-03 1.41636477e+02] [-6.87355566e-01 -7.26307886e-01 4.37965368e-03 -1.56964515e+02] [-6.17310916e-03 -1.87866900e-04 -9.99980929e-01 -4.03305980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters 0.018093710731788785 Centerline is valid? [True, True] Translation: X:141.69, Y:-157.05, Z:-4.03 [[ 7.75788290e-01 -6.30973195e-01 -5.03553605e-03 1.41694152e+02] [-6.30958223e-01 -7.75804607e-01 4.35115190e-03 -1.57050821e+02] [-6.65205228e-03 -1.98359816e-04 -9.99977855e-01 -4.03262760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters 0.01779423727675673 Centerline is valid? [True, True] Translation: X:141.72, Y:-157.07, Z:-4.03 [[ 8.21892436e-01 -5.69617797e-01 -5.32814763e-03 1.41723888e+02] [-5.69604334e-01 -8.21909685e-01 3.92087772e-03 -1.57074076e+02] [-6.61265787e-03 -1.87603756e-04 -9.99978119e-01 -4.03231898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters 0.015812616802410442 Centerline is valid? [True, True] Translation: X:141.75, Y:-157.09, Z:-4.03 [[ 8.62376478e-01 -5.06247741e-01 -4.47613962e-03 1.41754656e+02] [-5.06240112e-01 -8.62388084e-01 2.78236876e-03 -1.57093918e+02] [-5.26873737e-03 -1.33447946e-04 -9.99986111e-01 -4.03444525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters 0.014848873352986427 Centerline is valid? [True, True] Translation: X:141.79, Y:-157.11, Z:-4.04 [[ 8.97554614e-01 -4.40893237e-01 -2.97794499e-03 1.41785497e+02] [-4.40890544e-01 -8.97559552e-01 1.54254855e-03 -1.57112972e+02] [-3.35298219e-03 -7.15737806e-05 -9.99994376e-01 -4.03562461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters 0.013767893925728011 Centerline is valid? [True, True] Translation: X:141.82, Y:-157.13, Z:-4.04 [[ 9.28259401e-01 -3.71917212e-01 -3.47456432e-03 1.41815520e+02] [-3.71914322e-01 -9.28265901e-01 1.46779521e-03 -1.57132413e+02] [-3.77121788e-03 -7.02544643e-05 -9.99992887e-01 -4.03519216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters 0.013501602952625149 Centerline is valid? [True, True] Translation: X:141.85, Y:-157.15, Z:-4.03 [[ 9.53737093e-01 -3.00606262e-01 -4.62950589e-03 1.41847653e+02] [-3.00602320e-01 -9.53748326e-01 1.54139168e-03 -1.57148788e+02] [-4.87873548e-03 -7.84422038e-05 -9.99988096e-01 -4.03310295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters 0.013367095379695043 Centerline is valid? [True, True] Translation: X:141.88, Y:-157.16, Z:-4.03 [[ 9.73979647e-01 -2.26548520e-01 -6.27814347e-03 1.41880785e+02] [-2.26543187e-01 -9.73999877e-01 1.55724589e-03 -1.57162001e+02] [-6.46770272e-03 -9.44551711e-05 -9.99979080e-01 -4.03132533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters 0.013283463295141 Centerline is valid? [True, True] Translation: X:141.91, Y:-157.17, Z:-4.03 [[ 9.88553892e-01 -1.50734261e-01 -6.35499248e-03 1.41914896e+02] [-1.50730576e-01 -9.88574314e-01 1.05762293e-03 -1.57171123e+02] [-6.44180234e-03 -8.76255918e-05 -9.99979248e-01 -4.03066213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters 0.013536729463577582 Centerline is valid? [True, True] Translation: X:141.94, Y:-157.18, Z:-4.03 [[ 9.97277975e-01 -7.35067711e-02 -5.77879890e-03 1.41944317e+02] [-7.35050986e-02 -9.97294715e-01 5.01559507e-04 -1.57177490e+02] [-5.80003363e-03 -7.54230666e-05 -9.99983177e-01 -4.03049720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters 0.013803954834242304 Centerline is valid? [True, True] Translation: X:141.97, Y:-157.18, Z:-4.03 [[ 9.99980362e-01 5.10239676e-03 -3.63881898e-03 1.41974854e+02] [ 5.10253958e-03 -9.99986982e-01 2.99639895e-05 -1.57178709e+02] [-3.63861872e-03 -4.85306189e-05 -9.99993379e-01 -4.03159572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters 0.01387014248529667 Centerline is valid? [True, True] Translation: X:142.01, Y:-157.18, Z:-4.03 [[ 9.96291461e-01 8.60228064e-02 -1.84435689e-03 1.42005628e+02] [ 8.60227140e-02 -9.96293168e-01 -1.29537803e-04 -1.57182782e+02] [-1.84866337e-03 -2.95991784e-05 -9.99998291e-01 -4.03195050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters 0.014126713562386059 Centerline is valid? [True, True] Translation: X:142.04, Y:-157.19, Z:-4.03 [[ 9.86243590e-01 1.65289350e-01 -1.73579538e-03 1.42036193e+02] [ 1.65289149e-01 -9.86245117e-01 -2.59613157e-04 -1.57188108e+02] [-1.75483100e-03 -3.08663285e-05 -9.99998460e-01 -4.03172972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters 0.015898028489572398 Centerline is valid? [True, True] Translation: X:142.07, Y:-157.19, Z:-4.03 [[ 9.68914893e-01 2.47377736e-01 -2.86124822e-03 1.42066542e+02] [ 2.47376864e-01 -9.68919115e-01 -6.60445169e-04 -1.57192176e+02] [-2.93569752e-03 -6.78914512e-05 -9.99995689e-01 -4.02892871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters 0.018200615274378336 Centerline is valid? [True, True] Translation: X:142.10, Y:-157.19, Z:-4.03 [[ 9.44896118e-01 3.27342629e-01 -4.25792514e-03 1.42096630e+02] [ 3.27339904e-01 -9.44905703e-01 -1.34146964e-03 -1.57192730e+02] [-4.46245795e-03 -1.26239353e-04 -9.99990035e-01 -4.02637301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters 0.016665967575831955 Centerline is valid? [True, True] Translation: X:142.13, Y:-157.19, Z:-4.02 [[ 9.17024552e-01 3.98784288e-01 -6.08797523e-03 1.42126548e+02] [ 3.98776757e-01 -9.17044743e-01 -2.45693459e-03 -1.57185393e+02] [-6.56273259e-03 -1.74673683e-04 -9.99978450e-01 -4.02412653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters 0.01579891608505012 Centerline is valid? [True, True] Translation: X:142.16, Y:-157.18, Z:-4.02 [[ 8.84469508e-01 4.66564203e-01 -5.61544481e-03 1.42155777e+02] [ 4.66555849e-01 -8.84487322e-01 -2.79582439e-03 -1.57176185e+02] [-6.27122133e-03 -1.47097196e-04 -9.99980325e-01 -4.02415012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters 0.015425229139528339 Centerline is valid? [True, True] Translation: X:142.18, Y:-157.16, Z:-4.02 [[ 8.48385765e-01 5.29354958e-01 -4.99225771e-03 1.42180984e+02] [ 5.29346496e-01 -8.48400447e-01 -2.99470129e-03 -1.57163164e+02] [-5.82069365e-03 -1.01972180e-04 -9.99983054e-01 -4.02341282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters 0.01346165462540025 Centerline is valid? [True, True] Translation: X:142.21, Y:-157.15, Z:-4.02 [[ 8.06879676e-01 5.90690241e-01 -5.49800708e-03 1.42206217e+02] [ 5.90677280e-01 -8.06898402e-01 -3.91407293e-03 -1.57148936e+02] [-6.74833781e-03 -8.93619724e-05 -9.99977226e-01 -4.02407232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters 0.013376023109679617 Centerline is valid? [True, True] Translation: X:142.23, Y:-157.14, Z:-4.02 [[ 7.59493656e-01 6.50481362e-01 -6.58675113e-03 1.42231984e+02] [ 6.50457988e-01 -7.59522211e-01 -5.51518780e-03 -1.57137414e+02] [-8.59031065e-03 -9.56547471e-05 -9.99963098e-01 -4.02286498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters 0.0131279206214083 Centerline is valid? [True, True] Translation: X:142.26, Y:-157.12, Z:-4.02 [[ 7.07601469e-01 7.06581338e-01 -6.55543708e-03 1.42257814e+02] [ 7.06552115e-01 -7.07631829e-01 -6.42679561e-03 -1.57123263e+02] [-9.17988977e-03 -8.41479207e-05 -9.99957860e-01 -4.02288274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters 0.012892150716756574 Centerline is valid? [True, True] Translation: X:142.28, Y:-157.11, Z:-4.02 [[ 6.51938190e-01 7.58250673e-01 -5.70203697e-03 1.42281646e+02] [ 7.58222453e-01 -6.51963123e-01 -6.54209680e-03 -1.57106230e+02] [-8.67806713e-03 -5.83697051e-05 -9.99962343e-01 -4.02365621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters 0.012672527151389959 Centerline is valid? [True, True] Translation: X:142.31, Y:-157.09, Z:-4.02 [[ 5.91956126e-01 8.05955654e-01 -4.84037000e-03 1.42305487e+02] [ 8.05929273e-01 -5.91975914e-01 -6.52109959e-03 -1.57089060e+02] [-8.12109954e-03 -4.07910204e-05 -9.99967023e-01 -4.02453255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters 0.012673104149374089 Centerline is valid? [True, True] Translation: X:142.33, Y:-157.07, Z:-4.03 [[ 5.28349039e-01 8.49020114e-01 -3.48418079e-03 1.42327585e+02] [ 8.49001935e-01 -5.28360527e-01 -5.55600582e-03 -1.57070138e+02] [-6.55806429e-03 -2.25658933e-05 -9.99978495e-01 -4.02526723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters 0.012726634704135197 Centerline is valid? [True, True] Translation: X:142.35, Y:-157.05, Z:-4.02 [[ 4.60287508e-01 8.87763778e-01 -3.29929875e-03 1.42348173e+02] [ 8.87741347e-01 -4.60299331e-01 -6.31082942e-03 -1.57049361e+02] [-7.12119078e-03 -2.41279684e-05 -9.99974644e-01 -4.02487502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters 0.012877819758410682 Centerline is valid? [True, True] Translation: X:142.37, Y:-157.03, Z:-4.02 [[ 3.88173722e-01 9.21579781e-01 -3.44517340e-03 1.42368462e+02] [ 9.21544416e-01 -3.88189008e-01 -8.07362597e-03 -1.57028382e+02] [-8.77786890e-03 -4.09108631e-05 -9.99961473e-01 -4.02389813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters 0.013046803434222683 Centerline is valid? [True, True] Translation: X:142.39, Y:-157.01, Z:-4.02 [[ 3.14061915e-01 9.49398302e-01 -2.82470683e-03 1.42386852e+02] [ 9.49361278e-01 -3.14074613e-01 -8.38461675e-03 -1.57005885e+02] [-8.84750961e-03 -4.83784948e-05 -9.99960859e-01 -4.02296108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters 0.01311790282005299 Centerline is valid? [True, True] Translation: X:142.40, Y:-156.98, Z:-4.02 [[ 2.37573093e-01 9.71367133e-01 -2.21790945e-03 1.42401691e+02] [ 9.71327146e-01 -2.37583438e-01 -8.81390352e-03 -1.56981700e+02] [-9.08847475e-03 -6.03693383e-05 -9.99958697e-01 -4.02263833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters 0.013075324416428138 Centerline is valid? [True, True] Translation: X:142.41, Y:-156.96, Z:-4.02 [[ 1.59727353e-01 9.87160404e-01 -1.22850001e-03 1.42414662e+02] [ 9.87133875e-01 -1.59732067e-01 -7.23737691e-03 -1.56955830e+02] [-7.34068276e-03 -5.66869161e-05 -9.99973055e-01 -4.02460305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters 0.013117661990283197 Centerline is valid? [True, True] Translation: X:142.43, Y:-156.93, Z:-4.03 [[ 8.12129748e-02 9.96696680e-01 -4.25611575e-04 1.42426225e+02] [ 9.96685457e-01 -8.12140802e-02 -4.72997726e-03 -1.56929078e+02] [-4.74891828e-03 -4.00653434e-05 -9.99988723e-01 -4.02659024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters 0.013146939611951416 Centerline is valid? [True, True] Translation: X:142.44, Y:-156.90, Z:-4.03 [[ 2.43917094e-03 9.99997024e-01 -4.11629804e-05 1.42435517e+02] [ 9.99990414e-01 -2.43930449e-03 -3.63616785e-03 -1.56902270e+02] [-3.63625744e-03 -3.22933509e-05 -9.99993388e-01 -4.02674639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters 0.01329078921689066 Centerline is valid? [True, True] Translation: X:142.44, Y:-156.87, Z:-4.03 [[-7.64515858e-02 9.97073254e-01 2.84884936e-04 1.42444161e+02] [ 9.97064251e-01 7.64521062e-02 -4.23734776e-03 -1.56874355e+02] [-4.24672618e-03 -3.99033707e-05 -9.99990982e-01 -4.02598213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters 0.013727673095537745 Centerline is valid? [True, True] Translation: X:142.45, Y:-156.85, Z:-4.02 [[-1.56317964e-01 9.87706346e-01 9.31860712e-04 1.42451905e+02] [ 9.87685896e-01 1.56320724e-01 -6.35619917e-03 -1.56847193e+02] [-6.42372740e-03 -7.32024296e-05 -9.99979365e-01 -4.02305332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters 0.013988559674277064 Centerline is valid? [True, True] Translation: X:142.45, Y:-156.82, Z:-4.02 [[-2.34342433e-01 9.72152038e-01 2.00962430e-03 1.42453502e+02] [ 9.72112017e-01 2.34351022e-01 -8.82186985e-03 -1.56819287e+02] [-9.04715626e-03 -1.13758513e-04 -9.99959067e-01 -4.02129610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters 0.014104535140629492 Centerline is valid? [True, True] Translation: X:142.45, Y:-156.79, Z:-4.02 [[-3.10416472e-01 9.50596834e-01 2.69697642e-03 1.42451316e+02] [ 9.50557534e-01 3.10428164e-01 -8.64461720e-03 -1.56791593e+02] [-9.05476318e-03 -1.19800317e-04 -9.99958998e-01 -4.02158692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters 0.013764533340543311 Centerline is valid? [True, True] Translation: X:142.45, Y:-156.76, Z:-4.02 [[-3.83692015e-01 9.23456241e-01 3.00158638e-03 1.42449491e+02] [ 9.23425819e-01 3.83703741e-01 -7.49637141e-03 -1.56763375e+02] [-8.07429088e-03 -1.04555488e-04 -9.99967397e-01 -4.02308916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters 0.013798354177106804 Centerline is valid? [True, True] Translation: X:142.44, Y:-156.74, Z:-4.02 [[-4.54145166e-01 8.90922784e-01 2.95993708e-03 1.42444428e+02] [ 8.90902685e-01 4.54154804e-01 -5.98495367e-03 -1.56737435e+02] [-6.67640123e-03 -8.10218815e-05 -9.99977709e-01 -4.02432078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters 0.013943785947728264 Centerline is valid? [True, True] Translation: X:142.44, Y:-156.71, Z:-4.02 [[-5.22937791e-01 8.52364988e-01 3.16123230e-03 1.42436828e+02] [ 8.52348503e-01 5.22947341e-01 -5.30167889e-03 -1.56710271e+02] [-6.17212349e-03 -7.79766325e-05 -9.99980949e-01 -4.02467782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters 0.014311560406310502 Centerline is valid? [True, True] Translation: X:142.43, Y:-156.68, Z:-4.02 [[-5.89250551e-01 8.07938958e-01 4.29286789e-03 1.42427591e+02] [ 8.07916213e-01 5.89266179e-01 -6.06323702e-03 -1.56684062e+02] [-7.42836726e-03 -1.04488186e-04 -9.99972404e-01 -4.02405979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters 0.015123580915516603 Centerline is valid? [True, True] Translation: X:142.42, Y:-156.66, Z:-4.02 [[-6.52494958e-01 7.57771565e-01 5.70831329e-03 1.42417495e+02] [ 7.57740595e-01 6.52519910e-01 -6.85258685e-03 -1.56658142e+02] [-8.91748355e-03 -1.45857661e-04 -9.99960228e-01 -4.02183696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters 0.0154692428886208 Centerline is valid? [True, True] Translation: X:142.40, Y:-156.63, Z:-4.02 [[-7.10809089e-01 7.03356789e-01 6.29818152e-03 1.42402606e+02] [ 7.03327171e-01 7.10836973e-01 -6.45666217e-03 -1.56634038e+02] [-9.01831746e-03 -1.59771965e-04 -9.99959321e-01 -4.02186268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters 0.015005860032503175 Centerline is valid? [True, True] Translation: X:142.39, Y:-156.61, Z:-4.02 [[-7.63830257e-01 6.45390687e-01 5.84804549e-03 1.42386568e+02] [ 6.45370368e-01 7.63852631e-01 -5.12307086e-03 -1.56609384e+02] [-7.77342715e-03 -1.39001262e-04 -9.99969777e-01 -4.02309087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters 0.01450384881390004 Centerline is valid? [True, True] Translation: X:142.41, Y:-156.59, Z:-4.02 [[-8.06364929e-01 5.91386552e-01 6.12762127e-03 1.42407963e+02] [ 5.91368320e-01 8.06388202e-01 -4.64519489e-03 -1.56593392e+02] [-7.68834728e-03 -1.22041153e-04 -9.99970437e-01 -4.02311683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters 0.013598368669559782 Centerline is valid? [True, True] Translation: X:142.43, Y:-156.58, Z:-4.02 [[-8.43086442e-01 5.37735836e-01 6.73964107e-03 1.42427159e+02] [ 5.37717882e-01 8.43113376e-01 -4.39490096e-03 -1.56578465e+02] [-8.04557727e-03 -8.12558947e-05 -9.99967631e-01 -4.02211787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters 0.01334251871306928 Centerline is valid? [True, True] Translation: X:142.81, Y:-155.99, Z:-5.02 [[-7.93883091e-01 -6.08035879e-01 6.48133903e-03 1.42814633e+02] [ 6.08016486e-01 -7.93909543e-01 -4.85700647e-03 -1.55985351e+02] [ 8.09883110e-03 8.48656708e-05 9.99967200e-01 -5.01839289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters 0.013170767677853851 Centerline is valid? [True, True] Translation: X:142.39, Y:-156.56, Z:-4.02 [[-8.43004186e-01 5.37861743e-01 6.97769540e-03 1.42391256e+02] [ 5.37842799e-01 8.43033062e-01 -4.51443631e-03 -1.56559572e+02] [-8.31057050e-03 -5.27854809e-05 -9.99965465e-01 -4.02188716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters 0.013146081970798308 Centerline is valid? [True, True] Translation: X:142.79, Y:-155.97, Z:-5.02 [[-7.98452789e-01 -6.02024788e-01 6.26888753e-03 1.42786829e+02] [ 6.02006452e-01 -7.98477397e-01 -4.69863553e-03 -1.55965117e+02] [ 7.83426006e-03 2.22720988e-05 9.99969312e-01 -5.01804129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters 0.013157551092943354 Centerline is valid? [True, True] Translation: X:142.36, Y:-156.54, Z:-4.02 [[-8.44332479e-01 5.35788041e-01 5.81720857e-03 1.42356458e+02] [ 5.35775030e-01 8.44352518e-01 -3.73404851e-03 -1.56539888e+02] [-6.91243324e-03 -3.60633409e-05 -9.99976108e-01 -4.02312532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters 0.013467580853566544 Centerline is valid? [True, True] Translation: X:142.37, Y:-156.52, Z:-4.02 [[-8.81473689e-01 4.72183120e-01 6.87290547e-03 1.42372534e+02] [ 4.72168209e-01 8.81500481e-01 -3.75297674e-03 -1.56515278e+02] [-7.83056174e-03 -6.29827824e-05 -9.99969339e-01 -4.02238920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters 0.014063889702142993 Centerline is valid? [True, True] Translation: X:142.38, Y:-156.49, Z:-4.02 [[-9.13894801e-01 4.05877098e-01 7.75076993e-03 1.42384961e+02] [ 4.05861630e-01 9.13927663e-01 -3.54472131e-03 -1.56488735e+02] [-8.52236424e-03 -9.37622609e-05 -9.99963680e-01 -4.02141320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters 0.014712149127555776 Centerline is valid? [True, True] Translation: X:142.39, Y:-156.46, Z:-4.02 [[-9.42036242e-01 3.35399183e-01 8.66638715e-03 1.42389351e+02] [ 3.35383541e-01 9.42076093e-01 -3.24262546e-03 -1.56458350e+02] [-9.25197008e-03 -1.48107098e-04 -9.99957189e-01 -4.02218012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters 0.016545801972103286 Centerline is valid? [True, True] Translation: X:142.64, Y:-155.81, Z:-5.02 [[-9.02217869e-01 -4.31210857e-01 7.75332015e-03 1.42635913e+02] [ 4.31195797e-01 -9.02251178e-01 -3.60495263e-03 -1.55807667e+02] [ 8.54993695e-03 9.07463868e-05 9.99963445e-01 -5.01833633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters 0.016829756324695026 Centerline is valid? [True, True] Translation: X:142.35, Y:-156.44, Z:-4.02 [[-9.45477045e-01 3.25581667e-01 8.35083882e-03 1.42350090e+02] [ 3.25567074e-01 9.45513901e-01 -3.08911464e-03 -1.56437930e+02] [-8.90159329e-03 -2.01928819e-04 -9.99960360e-01 -4.02205927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters 0.016090292999983494 Centerline is valid? [True, True] Translation: X:142.36, Y:-156.41, Z:-4.02 [[-9.66085578e-01 2.58034669e-01 9.83691635e-03 1.42360712e+02] [ 2.58018822e-01 9.66135630e-01 -2.86921881e-03 -1.56414360e+02] [-1.02441533e-02 -2.33801341e-04 -9.99947500e-01 -4.02188472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters 0.01550601368150859 Centerline is valid? [True, True] Translation: X:142.55, Y:-155.75, Z:-5.02 [[-9.31041789e-01 -3.64782089e-01 9.75776988e-03 1.42554612e+02] [ 3.64764808e-01 -9.31092889e-01 -3.55918653e-03 -1.55750590e+02] [ 1.03837176e-02 2.45539653e-04 9.99946058e-01 -5.01852202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters 0.015621035509740115 Centerline is valid? [True, True] Translation: X:142.32, Y:-156.40, Z:-4.02 [[-9.66365665e-01 2.56978017e-01 9.98501463e-03 1.42321325e+02] [ 2.56962054e-01 9.66417226e-01 -2.87190432e-03 -1.56404659e+02] [-1.03877064e-02 -2.09539858e-04 -9.99946024e-01 -4.02177793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters 0.014907127740518254 Centerline is valid? [True, True] Translation: X:142.33, Y:-156.38, Z:-4.02 [[-9.81772348e-01 1.89805047e-01 9.85397461e-03 1.42327498e+02] [ 1.89793616e-01 9.81821782e-01 -2.09106367e-03 -1.56381289e+02] [-1.00717413e-02 -1.82727022e-04 -9.99949262e-01 -4.02307420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters 0.014203504502390062 Centerline is valid? [True, True] Translation: X:142.32, Y:-156.36, Z:-4.02 [[-9.92299788e-01 1.23452238e-01 1.00336895e-02 1.42319151e+02] [ 1.23444443e-01 9.92350505e-01 -1.39487022e-03 -1.56355215e+02] [-1.01291367e-02 -1.45526207e-04 -9.99948688e-01 -4.02280563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters 0.014152683998041714 Centerline is valid? [True, True] Translation: X:142.44, Y:-155.66, Z:-5.02 [[-9.76327919e-01 -2.16048037e-01 1.03460522e-02 1.42435511e+02] [ 2.16037837e-01 -9.76382719e-01 -2.10691114e-03 -1.55661408e+02] [ 1.05569005e-02 1.78102561e-04 9.99944259e-01 -5.01860825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters 0.013738574611532746 Centerline is valid? [True, True] Translation: X:142.28, Y:-156.35, Z:-4.02 [[-9.92526199e-01 1.21490877e-01 1.14765539e-02 1.42281255e+02] [ 1.21481075e-01 9.92592538e-01 -1.54996675e-03 -1.56353744e+02] [-1.15798485e-02 -1.44198512e-04 -9.99932941e-01 -4.02296141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters 0.013995701320352511 Centerline is valid? [True, True] Translation: X:142.38, Y:-155.65, Z:-5.02 [[-9.76867621e-01 -2.13497011e-01 1.21933411e-02 1.42383364e+02] [ 2.13483062e-01 -9.76943695e-01 -2.44953876e-03 -1.55654269e+02] [ 1.24351769e-02 2.10196695e-04 9.99922658e-01 -5.01811728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters 0.014075888406092914 Centerline is valid? [True, True] Translation: X:142.23, Y:-156.35, Z:-4.02 [[-9.93081822e-01 1.16745426e-01 1.26095161e-02 1.42233977e+02] [ 1.16733854e-01 9.93161858e-01 -1.65237520e-03 -1.56347873e+02] [-1.27161977e-02 -1.68986353e-04 -9.99919132e-01 -4.02307401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters 0.013717489459337125 Centerline is valid? [True, True] Translation: X:142.24, Y:-156.32, Z:-4.02 [[-9.98830708e-01 4.67355449e-02 1.23695118e-02 1.42238565e+02] [ 4.67300346e-02 9.98907285e-01 -7.34281734e-04 -1.56321388e+02] [-1.23903125e-02 -1.55395430e-04 -9.99923225e-01 -4.02375947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters 0.013193182752062976 Centerline is valid? [True, True] Translation: X:142.24, Y:-156.30, Z:-4.02 [[-9.99699755e-01 -2.12373253e-02 1.22219210e-02 1.42237716e+02] [-2.12371585e-02 9.99774456e-01 1.43448251e-04 -1.56295137e+02] [-1.22222109e-02 -1.16153692e-04 -9.99925299e-01 -4.02432885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters 0.012657890408625883 Centerline is valid? [True, True] Translation: X:142.24, Y:-156.27, Z:-4.03 [[-9.96277336e-01 -8.53890922e-02 1.18394432e-02 1.42240509e+02] [-8.53834318e-02 9.96347681e-01 9.83666435e-04 -1.56271327e+02] [-1.18801961e-02 -3.08877117e-05 -9.99929428e-01 -4.02531164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters 0.01321133814904427 Centerline is valid? [True, True] Translation: X:142.18, Y:-155.55, Z:-5.01 [[-9.99692203e-01 2.15533887e-02 1.22861676e-02 1.42184606e+02] [-2.15510785e-02 -9.99767697e-01 3.20417139e-04 -1.55553282e+02] [ 1.22902195e-02 5.55383548e-05 9.99924471e-01 -5.01432723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters 0.013671895196626857 Centerline is valid? [True, True] Translation: X:142.15, Y:-156.28, Z:-4.03 [[-9.96866855e-01 -7.80550484e-02 1.28016779e-02 1.42152266e+02] [-7.80468424e-02 9.96949041e-01 1.14010598e-03 -1.56284431e+02] [-1.28516116e-02 1.37403320e-04 -9.99917405e-01 -4.02672221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters 0.014201604482913681 Centerline is valid? [True, True] Translation: X:142.14, Y:-156.26, Z:-4.03 [[-9.89271220e-01 -1.45437747e-01 1.37954575e-02 1.42142789e+02] [-1.45420817e-01 9.89367385e-01 2.22786157e-03 -1.56257856e+02] [-1.39727908e-02 1.97812638e-04 -9.99902356e-01 -4.02692670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters 0.014327912664507591 Centerline is valid? [True, True] Translation: X:142.13, Y:-156.23, Z:-4.03 [[-9.76216390e-01 -2.16374176e-01 1.35564072e-02 1.42128049e+02] [-2.16350638e-01 9.76310494e-01 3.19700336e-03 -1.56229458e+02] [-1.39270116e-02 1.88029731e-04 -9.99902997e-01 -4.02638256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters 0.013533865020517259 Centerline is valid? [True, True] Translation: X:142.10, Y:-156.20, Z:-4.03 [[-9.57567750e-01 -2.87904314e-01 1.32329145e-02 1.42097704e+02] [-2.87874511e-01 9.57659167e-01 4.14551346e-03 -1.56204919e+02] [-1.38661331e-02 1.60191194e-04 -9.99903848e-01 -4.02743576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters 0.013069395410192456 Centerline is valid? [True, True] Translation: X:142.05, Y:-156.18, Z:-4.03 [[-9.32783035e-01 -3.60231024e-01 1.22237074e-02 1.42054983e+02] [-3.60198750e-01 9.32863120e-01 4.82293034e-03 -1.56184168e+02] [-1.31404150e-02 9.57834598e-05 -9.99913656e-01 -4.02748823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters 0.012540777827072783 Centerline is valid? [True, True] Translation: X:142.00, Y:-156.17, Z:-4.03 [[-9.01213233e-01 -4.33236475e-01 1.09939101e-02 1.41995937e+02] [-4.33204060e-01 9.01280287e-01 5.29965848e-03 -1.56171261e+02] [-1.22045998e-02 1.35158644e-05 -9.99925521e-01 -4.02845071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters 0.012752012992545587 Centerline is valid? [True, True] Translation: X:141.92, Y:-156.17, Z:-4.03 [[-8.63201628e-01 -5.04742428e-01 1.08641822e-02 1.41921824e+02] [-5.04703600e-01 8.63269990e-01 6.26109766e-03 -1.56168969e+02] [-1.25389641e-02 -7.86021450e-05 -9.99921381e-01 -4.02800221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters 0.014102292754214667 Centerline is valid? [True, True] Translation: X:141.85, Y:-156.17, Z:-4.03 [[-8.19037311e-01 -5.73657031e-01 9.77204812e-03 1.41846851e+02] [-5.73618656e-01 8.19095588e-01 6.63746467e-03 -1.56171744e+02] [-1.18118698e-02 -1.69097894e-04 -9.99930223e-01 -4.02837048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters 0.015208160831307774 Centerline is valid? [True, True] Translation: X:141.77, Y:-156.19, Z:-4.03 [[-7.70965702e-01 -6.36818407e-01 8.61414727e-03 1.41769530e+02] [-6.36781729e-01 7.71013795e-01 6.83798012e-03 -1.56187756e+02] [-1.09961780e-02 -2.13483452e-04 -9.99939517e-01 -4.02931446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters 0.016256882990673543 Centerline is valid? [True, True] Translation: X:141.69, Y:-156.22, Z:-4.03 [[-7.17735683e-01 -6.96266110e-01 8.30619861e-03 1.41687707e+02] [-6.96223938e-01 7.17783690e-01 7.66830582e-03 -1.56215688e+02] [-1.13012353e-02 -2.79157586e-04 -9.99936100e-01 -4.03019613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters 0.017170537350999625 Centerline is valid? [True, True] Translation: X:141.61, Y:-156.25, Z:-4.03 [[-6.62680185e-01 -7.48858857e-01 8.08603079e-03 1.41608360e+02] [-7.48808679e-01 6.62729445e-01 8.67435565e-03 -1.56253256e+02] [-1.18547188e-02 -3.06566429e-04 -9.99929683e-01 -4.02949376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters 0.01757147342342239 Centerline is valid? [True, True] Translation: X:141.53, Y:-156.30, Z:-4.03 [[-6.03646398e-01 -7.97215268e-01 7.67090974e-03 1.41530361e+02] [-7.97157787e-01 6.03695044e-01 9.57895167e-03 -1.56298820e+02] [-1.22673767e-02 -3.32625770e-04 -9.99924698e-01 -4.02905585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters 0.016815158980429176 Centerline is valid? [True, True] Translation: X:141.45, Y:-156.36, Z:-4.03 [[-5.41728191e-01 -8.40520918e-01 7.42656651e-03 1.41451736e+02] [-8.40450829e-01 5.41778975e-01 1.08603062e-02 -1.56358612e+02] [-1.31518721e-02 -3.58329970e-04 -9.99913446e-01 -4.02923486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters 0.016932524169202007 Centerline is valid? [True, True] Translation: X:141.38, Y:-156.43, Z:-4.03 [[-4.77199452e-01 -8.78764159e-01 7.36447434e-03 1.41376864e+02] [-8.78671858e-01 4.77256116e-01 1.27422637e-02 -1.56426870e+02] [-1.47121851e-02 -3.90355079e-04 -9.99891694e-01 -4.02845485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters 0.01584006956893148 Centerline is valid? [True, True] Translation: X:141.31, Y:-156.50, Z:-4.03 [[-4.12319818e-01 -9.11014230e-01 6.74098935e-03 1.41308161e+02] [-9.10906377e-01 4.12374762e-01 1.40223834e-02 -1.56504275e+02] [-1.55544047e-02 -3.58703620e-04 -9.99878959e-01 -4.02922088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters 0.014743801525762375 Centerline is valid? [True, True] Translation: X:141.25, Y:-156.59, Z:-4.03 [[-3.47205467e-01 -9.37775638e-01 5.02156015e-03 1.41246377e+02] [-9.37687328e-01 3.47241695e-01 1.28716731e-02 -1.56586804e+02] [-1.38144365e-02 -2.39538048e-04 -9.99904547e-01 -4.03123598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters 0.013984200922498776 Centerline is valid? [True, True] Translation: X:141.19, Y:-156.68, Z:-4.03 [[-2.78887793e-01 -9.60316613e-01 3.68802669e-03 1.41190034e+02] [-9.60240304e-01 2.78912128e-01 1.21071860e-02 -1.56676689e+02] [-1.26553672e-02 -1.64845489e-04 -9.99919904e-01 -4.03216971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters 0.013114959918861453 Centerline is valid? [True, True] Translation: X:141.14, Y:-156.78, Z:-4.03 [[-2.11408885e-01 -9.77394036e-01 2.67983472e-03 1.41140533e+02] [-9.77320045e-01 2.11425856e-01 1.20265546e-02 -1.56776382e+02] [-1.23212690e-02 -7.65356978e-05 -9.99924087e-01 -4.03269639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters 0.012978809738435508 Centerline is valid? [True, True] Translation: X:141.10, Y:-156.87, Z:-4.03 [[-1.42037563e-01 -9.89859563e-01 1.83750376e-03 1.41099443e+02] [-9.89777240e-01 1.42049448e-01 1.27659287e-02 -1.56870290e+02] [-1.28974930e-02 -5.47800908e-06 -9.99916824e-01 -4.03293879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters 0.013200211430191618 Centerline is valid? [True, True] Translation: X:141.06, Y:-156.98, Z:-4.03 [[-6.87514756e-02 -9.97633424e-01 8.86245250e-04 1.41062009e+02] [-9.97544220e-01 6.87571794e-02 1.33408843e-02 -1.56981666e+02] [-1.33702478e-02 3.31366531e-05 -9.99910614e-01 -4.03283379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters 0.013474847272078698 Centerline is valid? [True, True] Translation: X:141.03, Y:-157.09, Z:-4.03 [[ 6.41065148e-03 -9.99979440e-01 -1.49836892e-04 1.41030472e+02] [-9.99875379e-01 -6.41214596e-03 1.44260245e-02 -1.57093133e+02] [-1.44266887e-02 5.73380041e-05 -9.99895928e-01 -4.03180221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters 0.013315817200554912 Centerline is valid? [True, True] Translation: X:141.01, Y:-157.21, Z:-4.03 [[ 8.38000217e-02 -9.96481943e-01 -1.13746142e-03 1.41006074e+02] [-9.96396677e-01 -8.38077310e-02 1.30355903e-02 -1.57210847e+02] [-1.30850584e-02 4.09800361e-05 -9.99914386e-01 -4.03183026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters 0.013014407219837317 Centerline is valid? [True, True] Translation: X:140.39, Y:-157.37, Z:-5.01 [[ 2.03690588e-02 9.99792518e-01 -1.49717103e-04 1.40386743e+02] [-9.99717936e-01 2.03693681e-02 1.22121574e-02 -1.57372314e+02] [ 1.22126733e-02 -9.90752794e-05 9.99925418e-01 -5.00801101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters 0.012918809952937649 Centerline is valid? [True, True] Translation: X:141.02, Y:-157.48, Z:-4.03 [[ 9.84320300e-02 -9.95143160e-01 -1.10763015e-03 1.41017777e+02] [-9.95076881e-01 -9.84382576e-02 1.14852465e-02 -1.57482706e+02] [-1.15384977e-02 -2.83389683e-05 -9.99933429e-01 -4.03245282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters 0.01302429042516078 Centerline is valid? [True, True] Translation: X:141.00, Y:-157.60, Z:-4.03 [[ 1.77528559e-01 -9.84114017e-01 -1.79199821e-03 1.41002187e+02] [-9.84060385e-01 -1.77537593e-01 1.02743180e-02 -1.57600184e+02] [-1.04292474e-02 -6.05504196e-05 -9.99945612e-01 -4.03359886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters 0.013907566159065573 Centerline is valid? [True, True] Translation: X:140.99, Y:-157.72, Z:-4.03 [[ 2.58528513e-01 -9.66001554e-01 -2.00157050e-03 1.40991956e+02] [-9.65969506e-01 -2.58536241e-01 7.86931653e-03 -1.57723091e+02] [-8.11925051e-03 -1.00986636e-04 -9.99967033e-01 -4.03374895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters 0.015163503291500284 Centerline is valid? [True, True] Translation: X:140.99, Y:-157.84, Z:-4.03 [[ 3.37214858e-01 -9.41424285e-01 -2.54074820e-03 1.40991081e+02] [-9.41394176e-01 -3.37224397e-01 7.53071693e-03 -1.57838635e+02] [-7.94640208e-03 -1.47624082e-04 -9.99968416e-01 -4.03308271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters 0.01570987435595674 Centerline is valid? [True, True] Translation: X:141.00, Y:-157.95, Z:-4.03 [[ 4.09662943e-01 -9.12231069e-01 -3.27889215e-03 1.41002830e+02] [-9.12198419e-01 -4.09676028e-01 7.71981021e-03 -1.57953454e+02] [-8.38553423e-03 -1.71519925e-04 -9.99964826e-01 -4.03174740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters 0.015590598653903323 Centerline is valid? [True, True] Translation: X:141.02, Y:-158.06, Z:-4.03 [[ 4.78642461e-01 -8.78000445e-01 -4.07587029e-03 1.41022883e+02] [-8.77965184e-01 -4.78659777e-01 7.87104685e-03 -1.58063270e+02] [-8.86173781e-03 -1.88945024e-04 -9.99960716e-01 -4.03096582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters 0.015905333651767696 Centerline is valid? [True, True] Translation: X:141.05, Y:-158.17, Z:-4.03 [[ 5.43043081e-01 -8.39692714e-01 -4.51200814e-03 1.41050002e+02] [-8.39661046e-01 -5.43061798e-01 7.29457134e-03 -1.58168243e+02] [-8.57549766e-03 -1.72709022e-04 -9.99963215e-01 -4.03025452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters 0.015069209033137243 Centerline is valid? [True, True] Translation: X:141.09, Y:-158.27, Z:-4.03 [[ 6.04860593e-01 -7.96318913e-01 -4.45553177e-03 1.41087971e+02] [-7.96295474e-01 -6.04876985e-01 6.11152096e-03 -1.58270892e+02] [-7.56176835e-03 -1.48698410e-04 -9.99971398e-01 -4.03095075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters 0.015953731492293573 Centerline is valid? [True, True] Translation: X:141.13, Y:-158.37, Z:-4.03 [[ 6.64151809e-01 -7.47579619e-01 -5.20460823e-03 1.41128261e+02] [-7.47554690e-01 -6.64172181e-01 6.10733957e-03 -1.58371252e+02] [-8.02247859e-03 -1.65471328e-04 -9.99967806e-01 -4.02920711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters 0.016132569243229953 Centerline is valid? [True, True] Translation: X:141.17, Y:-158.46, Z:-4.03 [[ 7.19249161e-01 -6.94718830e-01 -6.81116079e-03 1.41173718e+02] [-6.94684937e-01 -7.19281381e-01 6.86539907e-03 -1.58461831e+02] [-9.66866315e-03 -2.06321721e-04 -9.99953236e-01 -4.02665042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters 0.01558371381318589 Centerline is valid? [True, True] Translation: X:141.23, Y:-158.55, Z:-4.03 [[ 7.69598038e-01 -6.38478828e-01 -7.97786353e-03 1.41227990e+02] [-6.38441472e-01 -7.69639355e-01 6.91024349e-03 -1.58545564e+02] [-1.05521219e-02 -2.24710900e-04 -9.99944300e-01 -4.02599910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters 0.015350786719051405 Centerline is valid? [True, True] Translation: X:141.25, Y:-158.57, Z:-4.03 [[ 8.16394566e-01 -5.77433319e-01 -8.40679661e-03 1.41254510e+02] [-5.77400061e-01 -8.16437823e-01 6.20093023e-03 -1.58573922e+02] [-1.04442504e-02 -2.08320878e-04 -9.99945436e-01 -4.02600871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters 0.014531195054076676 Centerline is valid? [True, True] Translation: X:141.28, Y:-158.60, Z:-4.03 [[ 8.57533138e-01 -5.14377136e-01 -7.28558310e-03 1.41283846e+02] [-5.14357120e-01 -8.57564074e-01 4.54003527e-03 -1.58597690e+02] [-8.58314466e-03 -1.45839152e-04 -9.99963154e-01 -4.02722809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters 0.01394590800332497 Centerline is valid? [True, True] Translation: X:141.31, Y:-158.62, Z:-4.03 [[ 8.93617683e-01 -4.48797031e-01 -5.35359993e-03 1.41314450e+02] [-4.48788424e-01 -8.93633716e-01 2.78067124e-03 -1.58617306e+02] [-6.03211439e-03 -8.22233161e-05 -9.99981803e-01 -4.02807961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters 0.013392976398582692 Centerline is valid? [True, True] Translation: X:141.35, Y:-158.64, Z:-4.03 [[ 9.24907994e-01 -3.80156307e-01 -5.13662410e-03 1.41347438e+02] [-3.80150080e-01 -9.24922256e-01 2.17667697e-03 -1.58636243e+02] [-5.57845542e-03 -6.05378718e-05 -9.99984439e-01 -4.02845490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters 0.013334925382924832 Centerline is valid? [True, True] Translation: X:141.38, Y:-158.65, Z:-4.03 [[ 9.51597471e-01 -3.07295184e-01 -5.65001675e-03 1.41380078e+02] [-3.07289388e-01 -9.51614242e-01 1.88835463e-03 -1.58654336e+02] [-5.95691869e-03 -6.07633050e-05 -9.99982256e-01 -4.02784914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters 0.01335599669531816 Centerline is valid? [True, True] Translation: X:141.41, Y:-158.67, Z:-4.03 [[ 9.72938485e-01 -2.30993127e-01 -5.73400749e-03 1.41414040e+02] [-2.30988715e-01 -9.72955380e-01 1.42925858e-03 -1.58670902e+02] [-5.90908235e-03 -6.60896592e-05 -9.99982539e-01 -4.02726359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters 0.014103658001275018 Centerline is valid? [True, True] Translation: X:141.45, Y:-158.68, Z:-4.03 [[ 9.88384789e-01 -1.51879057e-01 -5.31617921e-03 1.41448479e+02] [-1.51876460e-01 -9.88399083e-01 8.91143459e-04 -1.58684775e+02] [-5.38985268e-03 -7.33901595e-05 -9.99985472e-01 -4.02655909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters 0.014067553450251907 Centerline is valid? [True, True] Translation: X:141.48, Y:-158.69, Z:-4.03 [[ 9.97285242e-01 -7.34327545e-02 -5.45677816e-03 1.41483887e+02] [-7.34312264e-02 -9.97300168e-01 4.80132434e-04 -1.58694173e+02] [-5.47730322e-03 -7.81310785e-05 -9.99984996e-01 -4.02647401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters 0.014130851077377458 Centerline is valid? [True, True] Translation: X:141.52, Y:-158.70, Z:-4.03 [[ 9.99967782e-01 5.17599930e-03 -6.13551739e-03 1.41516508e+02] [ 5.17645028e-03 -9.99986600e-01 5.76260622e-05 -1.58699022e+02] [-6.13513690e-03 -8.93844063e-05 -9.99981176e-01 -4.02530030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters 0.013993517247990304 Centerline is valid? [True, True] Translation: X:141.55, Y:-158.70, Z:-4.03 [[ 9.96639230e-01 8.17077598e-02 -5.83849719e-03 1.41548341e+02] [ 8.17068005e-02 -9.96656328e-01 -4.03031059e-04 -1.58697561e+02] [-5.85190594e-03 -7.53683615e-05 -9.99982875e-01 -4.02548077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters 0.013085127976993275 Centerline is valid? [True, True] Translation: X:141.58, Y:-158.70, Z:-4.03 [[ 9.87584617e-01 1.57015338e-01 -4.77577340e-03 1.41580795e+02] [ 1.57013747e-01 -9.87596163e-01 -7.08492655e-04 -1.58696832e+02] [-4.82777969e-03 -5.01656309e-05 -9.99988345e-01 -4.02721919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters 0.012977390815999187 Centerline is valid? [True, True] Translation: X:141.61, Y:-158.70, Z:-4.03 [[ 9.72531185e-01 2.32740567e-01 -3.86287285e-03 1.41613939e+02] [ 2.32738881e-01 -9.72538856e-01 -8.86706804e-04 -1.58697253e+02] [-3.96316659e-03 -3.66906850e-05 -9.99992146e-01 -4.02709620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters 0.012875915009545864 Centerline is valid? [True, True] Translation: X:141.65, Y:-158.69, Z:-4.03 [[ 9.51902492e-01 3.06377235e-01 -3.82568433e-03 1.41646470e+02] [ 3.06374886e-01 -9.51910179e-01 -1.20013761e-03 -1.58693742e+02] [-4.00940270e-03 -2.96796153e-05 -9.99991962e-01 -4.02652262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters 0.012637258936108139 Centerline is valid? [True, True] Translation: X:141.68, Y:-158.69, Z:-4.03 [[ 9.26011895e-01 3.77463849e-01 -4.79726541e-03 1.41677226e+02] [ 3.77458919e-01 -9.26024321e-01 -1.92923948e-03 -1.58687007e+02] [-5.17060261e-03 -2.42719102e-05 -9.99986632e-01 -4.02507539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters 0.012429215819316157 Centerline is valid? [True, True] Translation: X:141.71, Y:-158.67, Z:-4.03 [[ 8.94218241e-01 4.47605254e-01 -4.82430287e-03 1.41706587e+02] [ 4.47598847e-01 -8.94231255e-01 -2.39484343e-03 -1.58674557e+02] [-5.38598691e-03 -1.78397279e-05 -9.99985495e-01 -4.02501743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters 0.012444193558220623 Centerline is valid? [True, True] Translation: X:141.74, Y:-158.66, Z:-4.03 [[ 8.56392803e-01 5.16305248e-01 -4.50083770e-03 1.41735550e+02] [ 5.16298228e-01 -8.56404630e-01 -2.69252082e-03 -1.58661793e+02] [-5.24470088e-03 -1.79190780e-05 -9.99986246e-01 -4.02535213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters 0.012718693823587434 Centerline is valid? [True, True] Translation: X:141.76, Y:-158.65, Z:-4.02 [[ 8.11985970e-01 5.83657028e-01 -4.82265839e-03 1.41762214e+02] [ 5.83646980e-01 -8.12000291e-01 -3.42498905e-03 -1.58647726e+02] [-5.91501895e-03 -3.36869455e-05 -9.99982506e-01 -4.02432866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters 0.012882819652916166 Centerline is valid? [True, True] Translation: X:141.79, Y:-158.63, Z:-4.02 [[ 7.62232073e-01 6.47283004e-01 -5.19421148e-03 1.41789473e+02] [ 6.47268467e-01 -7.62249769e-01 -4.33848889e-03 -1.58631001e+02] [-6.76751662e-03 -5.51139225e-05 -9.99977099e-01 -4.02416999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters 0.01371991849225988 Centerline is valid? [True, True] Translation: X:141.82, Y:-158.61, Z:-4.02 [[ 7.06131053e-01 7.08050683e-01 -6.57017125e-03 1.41815012e+02] [ 7.08021533e-01 -7.06161609e-01 -6.42583793e-03 -1.58613246e+02] [-9.18942163e-03 -1.14339015e-04 -9.99957770e-01 -4.02237949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters 0.013781568887549257 Centerline is valid? [True, True] Translation: X:141.84, Y:-158.60, Z:-4.02 [[ 6.45823445e-01 7.63459796e-01 -6.42014957e-03 1.41841416e+02] [ 7.63424452e-01 -6.45855336e-01 -7.34779785e-03 -1.58595030e+02] [-9.75623611e-03 -1.55919055e-04 -9.99952395e-01 -4.02311540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters 0.013803315916644953 Centerline is valid? [True, True] Translation: X:141.87, Y:-158.57, Z:-4.02 [[ 5.83005494e-01 8.12455018e-01 -4.63015753e-03 1.41865904e+02] [ 8.12431204e-01 -5.83023864e-01 -6.22198469e-03 -1.58574676e+02] [-7.75457502e-03 -1.34233196e-04 -9.99969924e-01 -4.02478238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters 0.01470821862221283 Centerline is valid? [True, True] Translation: X:141.89, Y:-158.55, Z:-4.02 [[ 5.17095517e-01 8.55920085e-01 -3.61041053e-03 1.41888505e+02] [ 8.55900839e-01 -5.17108106e-01 -5.74108292e-03 -1.58554436e+02] [-6.78088073e-03 -1.21465165e-04 -9.99977002e-01 -4.02490208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters 0.014610873469295352 Centerline is valid? [True, True] Translation: X:141.91, Y:-158.53, Z:-4.03 [[ 4.48435494e-01 8.93809457e-01 -3.20362383e-03 1.41905413e+02] [ 8.93788590e-01 -4.48446920e-01 -6.10871069e-03 -1.58530299e+02] [-6.89667863e-03 -1.23999729e-04 -9.99976210e-01 -4.02528472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters 0.014302773036632674 Centerline is valid? [True, True] Translation: X:141.92, Y:-158.50, Z:-4.02 [[ 3.77064297e-01 9.26182499e-01 -2.91439912e-03 1.41919954e+02] [ 9.26157503e-01 -3.77075536e-01 -6.80586504e-03 -1.58504804e+02] [-7.40242171e-03 -1.32943897e-04 -9.99972593e-01 -4.02465506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters 0.014520252991660277 Centerline is valid? [True, True] Translation: X:141.93, Y:-158.48, Z:-4.02 [[ 3.02348650e-01 9.53193451e-01 -2.74551101e-03 1.41933220e+02] [ 9.53158903e-01 -3.02361072e-01 -8.11716666e-03 -1.58479520e+02] [-8.56736575e-03 -1.62693881e-04 -9.99963286e-01 -4.02464460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters 0.015161509344477976 Centerline is valid? [True, True] Translation: X:141.95, Y:-158.45, Z:-4.02 [[ 2.25623126e-01 9.74212038e-01 -2.26080043e-03 1.41947048e+02] [ 9.74171047e-01 -2.25634376e-01 -8.93870892e-03 -1.58454589e+02] [-9.21831213e-03 -1.85626874e-04 -9.99957493e-01 -4.02330293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters 0.015707610316787184 Centerline is valid? [True, True] Translation: X:141.96, Y:-158.43, Z:-4.02 [[ 1.46480122e-01 9.89211800e-01 -1.89445625e-03 1.41957227e+02] [ 9.89149731e-01 -1.46492159e-01 -1.10840833e-02 -1.58427574e+02] [-1.12420290e-02 -2.50303001e-04 -9.99936775e-01 -4.02172330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters 0.016369571728464732 Centerline is valid? [True, True] Translation: X:141.96, Y:-158.40, Z:-4.02 [[ 6.82602648e-02 9.97666964e-01 -1.07939681e-03 1.41964209e+02] [ 9.97596634e-01 -6.82682725e-02 -1.18489991e-02 -1.58401719e+02] [-1.18950436e-02 -2.67986808e-04 -9.99929216e-01 -4.02142262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters 0.01477379826206751 Centerline is valid? [True, True] Translation: X:141.97, Y:-158.37, Z:-4.02 [[-7.28846098e-03 9.99973431e-01 -1.28406985e-04 1.41970796e+02] [ 9.99919881e-01 7.28674156e-03 -1.03505734e-02 -1.58374380e+02] [-1.03493628e-02 -2.03836448e-04 -9.99946423e-01 -4.02410863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters 0.014160486694026147 Centerline is valid? [True, True] Translation: X:141.98, Y:-158.35, Z:-4.03 [[-8.23527263e-02 9.96603060e-01 6.07938956e-04 1.41977010e+02] [ 9.96560635e-01 8.23548308e-02 -9.19689276e-03 -1.58346813e+02] [-9.21571817e-03 -1.51541160e-04 -9.99957523e-01 -4.02508483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters 0.013803268674047443 Centerline is valid? [True, True] Translation: X:141.98, Y:-158.32, Z:-4.03 [[-1.58358058e-01 9.87381008e-01 1.21293498e-03 1.41978582e+02] [ 9.87345806e-01 1.58362656e-01 -8.33833553e-03 -1.58319356e+02] [-8.42519775e-03 -1.22856362e-04 -9.99964500e-01 -4.02651282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters 0.013492813542059074 Centerline is valid? [True, True] Translation: X:141.98, Y:-158.29, Z:-4.03 [[-2.34028797e-01 9.72227616e-01 1.99621583e-03 1.41978365e+02] [ 9.72187729e-01 2.34037280e-01 -8.80746127e-03 -1.58291820e+02] [-9.03004600e-03 -1.20503033e-04 -9.99959221e-01 -4.02586724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters 0.013433421805512729 Centerline is valid? [True, True] Translation: X:141.98, Y:-158.27, Z:-4.02 [[-3.08296094e-01 9.51285021e-01 3.21349746e-03 1.41976639e+02] [ 9.51228841e-01 3.08312814e-01 -1.03392493e-02 -1.58265641e+02] [-1.08263355e-02 -1.30778717e-04 -9.99941385e-01 -4.02380280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters 0.013169793065406492 Centerline is valid? [True, True] Translation: X:141.97, Y:-158.24, Z:-4.02 [[-3.80749347e-01 9.24668531e-01 4.24757114e-03 1.41971954e+02] [ 9.24607292e-01 3.80773019e-01 -1.06425882e-02 -1.58238799e+02] [-1.14582269e-02 -1.24823263e-04 -9.99934345e-01 -4.02439764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters 0.01309158373345401 Centerline is valid? [True, True] Translation: X:141.97, Y:-158.21, Z:-4.03 [[-4.51704284e-01 8.92155208e-01 4.72498318e-03 1.41966459e+02] [ 8.92103757e-01 4.51728981e-01 -9.58195808e-03 -1.58211266e+02] [-1.06830056e-02 -1.13036261e-04 -9.99942929e-01 -4.02558788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters 0.013356829665611298 Centerline is valid? [True, True] Translation: X:141.96, Y:-158.18, Z:-4.02 [[-5.21053218e-01 8.53503402e-01 5.95705489e-03 1.41960511e+02] [ 8.53444630e-01 5.21087252e-01 -1.00169461e-02 -1.58183169e+02] [-1.16536429e-02 -1.35345493e-04 -9.99932085e-01 -4.02421909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters 0.013789968256705856 Centerline is valid? [True, True] Translation: X:141.95, Y:-158.16, Z:-4.02 [[-5.88433474e-01 8.08517566e-01 6.73741753e-03 1.41952097e+02] [ 8.08461307e-01 5.88472020e-01 -9.53926491e-03 -1.58156395e+02] [-1.16774449e-02 -1.66281405e-04 -9.99931803e-01 -4.02408693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters 0.014446822370748447 Centerline is valid? [True, True] Translation: X:141.94, Y:-158.13, Z:-4.03 [[-6.51939398e-01 7.58239263e-01 6.94560694e-03 1.41941461e+02] [ 7.58193223e-01 6.51976370e-01 -8.35768275e-03 -1.58130177e+02] [-1.08654948e-02 -1.82590553e-04 -9.99940952e-01 -4.02535265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters 0.014263496761493478 Centerline is valid? [True, True] Translation: X:141.93, Y:-158.10, Z:-4.03 [[-7.10452924e-01 7.03713126e-01 6.66933043e-03 1.41929669e+02] [ 7.03679780e-01 7.10484205e-01 -6.85288817e-03 -1.58102252e+02] [-9.56092129e-03 -1.75581469e-04 -9.99954278e-01 -4.02683061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters 0.015330344010946316 Centerline is valid? [True, True] Translation: X:141.92, Y:-158.08, Z:-4.03 [[-7.63728435e-01 6.45501767e-01 6.80773700e-03 1.41916686e+02] [ 6.45474116e-01 7.63758757e-01 -5.97720920e-03 -1.58076301e+02] [-9.05776786e-03 -1.70746609e-04 -9.99958963e-01 -4.02614395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters 0.016026080334538655 Centerline is valid? [True, True] Translation: X:141.94, Y:-158.06, Z:-4.03 [[-8.08315203e-01 5.88706022e-01 7.19386499e-03 1.41937502e+02] [ 5.88680674e-01 8.08347194e-01 -5.46609145e-03 -1.58055414e+02] [-9.03306153e-03 -1.83435532e-04 -9.99959184e-01 -4.02663613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters 0.015983390155280438 Centerline is valid? [True, True] Translation: X:141.95, Y:-158.03, Z:-4.03 [[-8.48440233e-01 5.29223664e-01 8.45490001e-03 1.41952697e+02] [ 5.29194848e-01 8.48482332e-01 -5.52676282e-03 -1.58031537e+02] [-1.00987269e-02 -2.14838401e-04 -9.99948984e-01 -4.02603566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters 0.015285123163429426 Centerline is valid? [True, True] Translation: X:141.97, Y:-158.01, Z:-4.02 [[-8.83625795e-01 4.68095771e-01 9.58143302e-03 1.41970756e+02] [ 4.68065416e-01 8.83677710e-01 -5.33578213e-03 -1.58010201e+02] [-1.09645558e-02 -2.30097291e-04 -9.99939861e-01 -4.02490412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters 0.014308490431482144 Centerline is valid? [True, True] Translation: X:141.98, Y:-157.99, Z:-4.03 [[-9.13359598e-01 4.07032214e-01 9.95097316e-03 1.41979224e+02] [ 4.07005682e-01 9.13413782e-01 -4.65165835e-03 -1.57987354e+02] [-1.09827308e-02 -1.98534184e-04 -9.99939668e-01 -4.02584857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters 0.014198783412118826 Centerline is valid? [True, True] Translation: X:142.00, Y:-157.97, Z:-4.03 [[-9.38846580e-01 3.44187086e-01 1.01168128e-02 1.41995354e+02] [ 3.44165233e-01 9.38901072e-01 -3.88185496e-03 -1.57965164e+02] [-1.08347708e-02 -1.62611009e-04 -9.99941289e-01 -4.02532812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters 0.01403129636550602 Centerline is valid? [True, True] Translation: X:142.25, Y:-157.32, Z:-5.02 [[-9.01631613e-01 -4.32376856e-01 1.05208816e-02 1.42249515e+02] [ 4.32350221e-01 -9.01692967e-01 -4.80408246e-03 -1.57323998e+02] [ 1.15637790e-02 2.17192880e-04 9.99933114e-01 -5.01615300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters 0.014091874325229469 Centerline is valid? [True, True] Translation: X:141.95, Y:-157.95, Z:-4.02 [[-9.39488094e-01 3.42384926e-01 1.16053699e-02 1.41953709e+02] [ 3.42356635e-01 9.39559756e-01 -4.40441927e-03 -1.57949518e+02] [-1.24119452e-02 -1.64724088e-04 -9.99922955e-01 -4.02325279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters 0.013926234240344672 Centerline is valid? [True, True] Translation: X:142.21, Y:-157.31, Z:-5.02 [[-9.03932762e-01 -4.27530683e-01 1.10939919e-02 1.42206030e+02] [ 4.27500508e-01 -9.04000826e-01 -5.08154294e-03 -1.57307706e+02] [ 1.22014933e-02 1.49314020e-04 9.99925548e-01 -5.01714347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters 0.01280611976721755 Centerline is valid? [True, True] Translation: X:141.91, Y:-157.94, Z:-4.03 [[-9.39518659e-01 3.42350486e-01 1.00416370e-02 1.41911811e+02] [ 3.42329759e-01 9.39572315e-01 -3.76857882e-03 -1.57940618e+02] [-1.07250189e-02 -1.03098960e-04 -9.99942480e-01 -4.02720091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters 0.012583279070870075 Centerline is valid? [True, True] Translation: X:142.16, Y:-157.28, Z:-5.01 [[-9.07293206e-01 -4.20406181e-01 8.81376032e-03 1.42160275e+02] [ 4.20386693e-01 -9.07336014e-01 -4.04801679e-03 -1.57284759e+02] [ 9.69885344e-03 3.24494221e-05 9.99952965e-01 -5.01319062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters 0.012505861908109803 Centerline is valid? [True, True] Translation: X:141.87, Y:-157.93, Z:-4.03 [[-9.39648355e-01 3.42023484e-01 8.99474196e-03 1.41868186e+02] [ 3.42007201e-01 9.39691403e-01 -3.33790866e-03 -1.57928812e+02] [-9.59392484e-03 -6.01938555e-05 -9.99953975e-01 -4.02723511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters 0.012402873924800637 Centerline is valid? [True, True] Translation: X:141.88, Y:-157.91, Z:-4.03 [[-9.60976001e-01 2.76474846e-01 9.31586950e-03 1.41883176e+02] [ 2.76461401e-01 9.61021154e-01 -2.72691460e-03 -1.57906632e+02] [-9.70667095e-03 -4.50211532e-05 -9.99952888e-01 -4.02687954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters 0.01246675366698604 Centerline is valid? [True, True] Translation: X:142.09, Y:-157.23, Z:-5.01 [[-9.37308037e-01 -3.48368001e-01 9.66331732e-03 1.42092774e+02] [ 3.48350397e-01 -9.37357845e-01 -3.50312035e-03 -1.57228365e+02] [ 1.02783613e-02 8.27175672e-05 9.99947173e-01 -5.01452675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters 0.01249836886999979 Centerline is valid? [True, True] Translation: X:141.84, Y:-157.90, Z:-4.03 [[-9.62160811e-01 2.72276263e-01 1.05929730e-02 1.41841313e+02] [ 2.72259103e-01 9.62219119e-01 -3.05744782e-03 -1.57895123e+02] [-1.10252317e-02 -5.77231340e-05 -9.99939219e-01 -4.02590309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters 0.012602933599072578 Centerline is valid? [True, True] Translation: X:141.84, Y:-157.86, Z:-4.03 [[-9.79332452e-01 2.01974225e-01 1.06939481e-02 1.41836453e+02] [ 2.01961368e-01 9.79390835e-01 -2.28008214e-03 -1.57864316e+02] [-1.09340726e-02 -7.31940397e-05 -9.99940219e-01 -4.02538351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters 0.012981576466154145 Centerline is valid? [True, True] Translation: X:141.85, Y:-157.84, Z:-4.02 [[-9.91349961e-01 1.30835273e-01 1.03627738e-02 1.41851701e+02] [ 1.30827252e-01 9.91404118e-01 -1.45103940e-03 -1.57837113e+02] [-1.04635438e-02 -8.27546282e-05 -9.99945252e-01 -4.02474360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters 0.01271984383237376 Centerline is valid? [True, True] Translation: X:141.95, Y:-157.15, Z:-5.01 [[-9.77064869e-01 -2.12685569e-01 1.04446518e-02 1.41952764e+02] [ 2.12674482e-01 -9.77120688e-01 -2.17381210e-03 -1.57145074e+02] [ 1.06680238e-02 9.73554670e-05 9.99943090e-01 -5.01488610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters 0.012711255932418153 Centerline is valid? [True, True] Translation: X:141.80, Y:-157.83, Z:-4.03 [[-9.91885880e-01 1.26724039e-01 1.01695020e-02 1.41799799e+02] [ 1.26716510e-01 9.91938008e-01 -1.38389253e-03 -1.57830200e+02] [-1.02628880e-02 -8.40196540e-05 -9.99947332e-01 -4.02621331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters 0.012926621419417849 Centerline is valid? [True, True] Translation: X:141.90, Y:-157.14, Z:-5.01 [[-9.77683856e-01 -2.09884093e-01 9.10740487e-03 1.41901783e+02] [ 2.09875131e-01 -9.77726274e-01 -1.93965242e-03 -1.57139679e+02] [ 9.31165122e-03 1.50509324e-05 9.99956646e-01 -5.01348042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters 0.013097647676966636 Centerline is valid? [True, True] Translation: X:141.75, Y:-157.82, Z:-4.03 [[-9.92793993e-01 1.19578080e-01 7.82117946e-03 1.41747958e+02] [ 1.19573648e-01 9.92824796e-01 -1.03357355e-03 -1.57820726e+02] [-7.88865364e-03 -9.09186537e-05 -9.99968880e-01 -4.02823403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters 0.013530964293132677 Centerline is valid? [True, True] Translation: X:141.75, Y:-157.79, Z:-4.03 [[-9.98914465e-01 4.60672448e-02 6.90663158e-03 1.41749845e+02] [ 4.60654592e-02 9.98938336e-01 -4.17479933e-04 -1.57791401e+02] [-6.91853121e-03 -9.88695883e-05 -9.99976062e-01 -4.02871146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters 0.014007653723070702 Centerline is valid? [True, True] Translation: X:141.80, Y:-157.11, Z:-5.01 [[-9.89525572e-01 -1.44140569e-01 7.91452590e-03 1.41795329e+02] [ 1.44137446e-01 -9.89557205e-01 -9.66523044e-04 -1.57106368e+02] [ 7.97119131e-03 1.84380284e-04 9.99968213e-01 -5.01241203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters 0.014555182703674736 Centerline is valid? [True, True] Translation: X:141.70, Y:-157.79, Z:-4.03 [[-9.99251441e-01 3.76284471e-02 8.98091544e-03 1.41697400e+02] [ 3.76254141e-02 9.99291785e-01 -5.06506305e-04 -1.57785923e+02] [-8.99361406e-03 -1.68216494e-04 -9.99959543e-01 -4.02741495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters 0.015072224544068872 Centerline is valid? [True, True] Translation: X:141.69, Y:-157.76, Z:-4.03 [[-9.99351165e-01 -3.49212821e-02 8.81773398e-03 1.41693950e+02] [-3.49214961e-02 9.99390050e-01 1.29747978e-04 -1.57757597e+02] [-8.81688657e-03 -1.78264669e-04 -9.99961115e-01 -4.02749501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters 0.015931375100140158 Centerline is valid? [True, True] Translation: X:141.69, Y:-157.73, Z:-4.03 [[-9.94318884e-01 -1.06006179e-01 9.62531330e-03 1.41689429e+02] [-1.06003121e-01 9.94365452e-01 8.28753638e-04 -1.57729404e+02] [-9.65893201e-03 -1.96267858e-04 -9.99953332e-01 -4.02692910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters 0.014424573489625777 Centerline is valid? [True, True] Translation: X:141.68, Y:-157.71, Z:-4.03 [[-9.84442835e-01 -1.75481145e-01 8.86973604e-03 1.41682712e+02] [-1.75475605e-01 9.84482777e-01 1.40503390e-03 -1.57707592e+02] [-8.97865932e-03 -1.73246745e-04 -9.99959676e-01 -4.02960981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters 0.013858388468444938 Centerline is valid? [True, True] Translation: X:141.67, Y:-157.69, Z:-4.03 [[-9.70029085e-01 -2.42863105e-01 7.81578011e-03 1.41672209e+02] [-2.42856346e-01 9.70060562e-01 1.81689200e-03 -1.57685385e+02] [-8.02303608e-03 -1.35673714e-04 -9.99967806e-01 -4.03111274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters 0.013741683193367785 Centerline is valid? [True, True] Translation: X:141.52, Y:-157.01, Z:-5.01 [[-9.89387693e-01 1.45115500e-01 7.31333757e-03 1.41515500e+02] [-1.45110901e-01 -9.89414718e-01 1.15833254e-03 -1.57010875e+02] [ 7.40401584e-03 8.47949522e-05 9.99972586e-01 -5.00896411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters 0.013804031221821776 Centerline is valid? [True, True] Translation: X:141.57, Y:-157.71, Z:-4.03 [[-9.69090301e-01 -2.46611291e-01 6.84536134e-03 1.41568747e+02] [-2.46605885e-01 9.69114472e-01 1.63615200e-03 -1.57711438e+02] [-7.03743230e-03 -1.02527351e-04 -9.99975232e-01 -4.03106936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters 0.013943851106933086 Centerline is valid? [True, True] Translation: X:141.55, Y:-157.69, Z:-4.03 [[-9.48409530e-01 -3.16932988e-01 8.53484274e-03 1.41548621e+02] [-3.16921519e-01 9.48447922e-01 2.70010311e-03 -1.57689835e+02] [-8.95060561e-03 -1.44071809e-04 -9.99959932e-01 -4.03006671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters 0.014774649735013079 Centerline is valid? [True, True] Translation: X:141.51, Y:-157.67, Z:-4.03 [[-9.22194116e-01 -3.86571694e-01 1.09698603e-02 1.41512823e+02] [-3.86547147e-01 9.22259333e-01 4.36178783e-03 -1.57672766e+02] [-1.18031997e-02 -2.17953111e-04 -9.99930316e-01 -4.02692498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters 0.014825712587418827 Centerline is valid? [True, True] Translation: X:141.46, Y:-157.67, Z:-4.03 [[-8.91020627e-01 -4.53831999e-01 1.08976646e-02 1.41457655e+02] [-4.53801259e-01 8.91087236e-01 5.28731967e-03 -1.57667552e+02] [-1.21103247e-02 -2.34263020e-04 -9.99926640e-01 -4.02671290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters 0.015513322895627174 Centerline is valid? [True, True] Translation: X:141.39, Y:-157.67, Z:-4.03 [[-8.54156236e-01 -5.19909910e-01 1.05266608e-02 1.41391293e+02] [-5.19874167e-01 8.54221059e-01 6.10184791e-03 -1.57672724e+02] [-1.21645065e-02 -2.60607577e-04 -9.99925976e-01 -4.02670376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters 0.01587503240808956 Centerline is valid? [True, True] Translation: X:141.32, Y:-157.68, Z:-4.03 [[-8.12725373e-01 -5.82578081e-01 8.95807129e-03 1.41322914e+02] [-5.82545944e-01 8.12774705e-01 6.12389688e-03 -1.57684716e+02] [-1.08485418e-02 -2.41441718e-04 -9.99941124e-01 -4.02754340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters 0.015539354286499458 Centerline is valid? [True, True] Translation: X:141.25, Y:-157.71, Z:-4.03 [[-7.66979222e-01 -6.41612733e-01 8.71633991e-03 1.41248716e+02] [-6.41574936e-01 7.67028709e-01 6.96865030e-03 -1.57708905e+02] [-1.11568577e-02 -2.47375235e-04 -9.99937730e-01 -4.02770549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters 0.014714977875372917 Centerline is valid? [True, True] Translation: X:141.17, Y:-157.74, Z:-4.03 [[-7.18235674e-01 -6.95749874e-01 8.34442979e-03 1.41171027e+02] [-6.95706552e-01 7.18284109e-01 7.76739033e-03 -1.57744546e+02] [-1.13978322e-02 -2.26457651e-04 -9.99935017e-01 -4.02760753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters 0.01380527058517359 Centerline is valid? [True, True] Translation: X:141.09, Y:-157.79, Z:-4.03 [[-6.67163593e-01 -7.44878344e-01 6.99945966e-03 1.41091667e+02] [-7.44839800e-01 6.67200291e-01 7.57919414e-03 -1.57790772e+02] [-1.03156191e-02 -1.56913738e-04 -9.99946780e-01 -4.02855348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters 0.013339119350505675 Centerline is valid? [True, True] Translation: X:141.01, Y:-157.85, Z:-4.03 [[-6.10506533e-01 -7.91988369e-01 6.01634091e-03 1.41011352e+02] [-7.91951943e-01 6.10536164e-01 7.59688822e-03 -1.57845079e+02] [-9.68984082e-03 -1.26702984e-04 -9.99953044e-01 -4.02936894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters 0.013104867937955147 Centerline is valid? [True, True] Translation: X:140.93, Y:-157.91, Z:-4.03 [[-5.50141950e-01 -8.35053248e-01 5.46880753e-03 1.40931501e+02] [-8.35013948e-01 5.50169120e-01 8.10224225e-03 -1.57909877e+02] [-9.77457273e-03 -1.09147212e-04 -9.99952222e-01 -4.02925568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters 0.012877373815893637 Centerline is valid? [True, True] Translation: X:140.85, Y:-157.98, Z:-4.03 [[-4.86972904e-01 -8.73398850e-01 5.64257970e-03 1.40854161e+02] [-8.73342608e-01 4.87005583e-01 9.91213952e-03 -1.57983453e+02] [-1.14052191e-02 -1.00961901e-04 -9.99934953e-01 -4.02803605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters 0.012751255443231113 Centerline is valid? [True, True] Translation: X:140.78, Y:-158.07, Z:-4.03 [[-4.20247071e-01 -9.07392910e-01 5.52325528e-03 1.40780733e+02] [-9.07317510e-01 4.20283354e-01 1.16977743e-02 -1.58065482e+02] [-1.29358097e-02 -9.53908447e-05 -9.99916324e-01 -4.02713642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters 0.012602997423291127 Centerline is valid? [True, True] Translation: X:140.71, Y:-158.16, Z:-4.03 [[-3.50481246e-01 -9.36557904e-01 4.71049778e-03 1.40712180e+02] [-9.36476558e-01 3.50512889e-01 1.23438575e-02 -1.58155954e+02] [-1.32118275e-02 -8.49801903e-05 -9.99912716e-01 -4.02751143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters 0.012632432576749699 Centerline is valid? [True, True] Translation: X:140.65, Y:-158.25, Z:-4.03 [[-2.78760867e-01 -9.60353202e-01 3.75588167e-03 1.40649488e+02] [-9.60269437e-01 2.78786159e-01 1.26841113e-02 -1.58251994e+02] [-1.32283148e-02 -7.08245044e-05 -9.99912500e-01 -4.02774322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters 0.012637668430630956 Centerline is valid? [True, True] Translation: X:140.60, Y:-158.35, Z:-4.03 [[-2.05046680e-01 -9.78748497e-01 2.69058497e-03 1.40595175e+02] [-9.78667952e-01 2.05064323e-01 1.25564331e-02 -1.58353666e+02] [-1.28413330e-02 -5.85343593e-05 -9.99917545e-01 -4.02756329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters 0.01242013207880066 Centerline is valid? [True, True] Translation: X:140.55, Y:-158.46, Z:-4.03 [[-1.29521098e-01 -9.91575422e-01 1.57095537e-03 1.40547612e+02] [-9.91507231e-01 1.29530614e-01 1.16288882e-02 -1.58462301e+02] [-1.17344065e-02 -5.14272418e-05 -9.99931148e-01 -4.02952610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters 0.012443729863134379 Centerline is valid? [True, True] Translation: X:140.51, Y:-158.58, Z:-4.03 [[-5.19401319e-02 -9.98650032e-01 5.80205668e-04 1.40506962e+02] [-9.98598984e-01 5.19433434e-02 1.00974269e-02 -1.58575481e+02] [-1.01139335e-02 -5.49311058e-05 -9.99948851e-01 -4.03062741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters 0.012442436073242325 Centerline is valid? [True, True] Translation: X:140.48, Y:-158.69, Z:-4.03 [[ 2.59238857e-02 -9.99663903e-01 -1.81802945e-04 1.40475677e+02] [-9.99620433e-01 -2.59244538e-02 9.32265323e-03 -1.58690765e+02] [-9.32423305e-03 -5.99454575e-05 -9.99956527e-01 -4.03141241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters 0.012675012130537773 Centerline is valid? [True, True] Translation: X:140.45, Y:-158.81, Z:-4.03 [[ 1.04643871e-01 -9.94509454e-01 -7.78537553e-04 1.40452189e+02] [-9.94476855e-01 -1.04646745e-01 8.05250291e-03 -1.58813630e+02] [-8.08976169e-03 -6.84074984e-05 -9.99967275e-01 -4.03226671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters 0.012793404430073391 Centerline is valid? [True, True] Translation: X:140.44, Y:-158.93, Z:-4.03 [[ 1.82661242e-01 -9.83174875e-01 -1.42651935e-03 1.40437769e+02] [-9.83141085e-01 -1.82666792e-01 8.15164869e-03 -1.58929113e+02] [-8.27507390e-03 -8.65204893e-05 -9.99965757e-01 -4.03210475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters 0.013726638096640383 Centerline is valid? [True, True] Translation: X:140.43, Y:-159.05, Z:-4.03 [[ 2.60950158e-01 -9.65349580e-01 -2.28114536e-03 1.40430903e+02] [-9.65308263e-01 -2.60960097e-01 8.93221109e-03 -1.59051754e+02] [-9.21799414e-03 -1.28853429e-04 -9.99957505e-01 -4.03004789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters 0.014470459417032582 Centerline is valid? [True, True] Translation: X:140.43, Y:-159.17, Z:-4.03 [[ 3.37222858e-01 -9.41418872e-01 -3.35423048e-03 1.40433471e+02] [-9.41366892e-01 -3.37239492e-01 9.89447434e-03 -1.59169899e+02] [-1.04460239e-02 -1.79081395e-04 -9.99945423e-01 -4.02849100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters 0.015324813974571864 Centerline is valid? [True, True] Translation: X:140.45, Y:-159.29, Z:-4.03 [[ 4.10334964e-01 -9.11923147e-01 -4.62500368e-03 1.40447482e+02] [-9.11858840e-01 -4.10360965e-01 1.08320984e-02 -1.59289622e+02] [-1.17759623e-02 -2.27438225e-04 -9.99930635e-01 -4.02752215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters 0.014821523806632425 Centerline is valid? [True, True] Translation: X:140.47, Y:-159.41, Z:-4.03 [[ 4.79652182e-01 -8.77442313e-01 -5.36393936e-03 1.40472034e+02] [-8.77381902e-01 -4.79682117e-01 1.02987759e-02 -1.59405269e+02] [-1.16095675e-02 -2.33607019e-04 -9.99932579e-01 -4.02821799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters 0.014666271259865625 Centerline is valid? [True, True] Translation: X:140.50, Y:-159.51, Z:-4.03 [[ 5.45879576e-01 -8.37839433e-01 -6.36976991e-03 1.40501315e+02] [-8.37776968e-01 -5.45916681e-01 1.02337529e-02 -1.59512069e+02] [-1.20516053e-02 -2.49950143e-04 -9.99927346e-01 -4.02782986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters 0.014870799457264527 Centerline is valid? [True, True] Translation: X:140.54, Y:-159.62, Z:-4.03 [[ 6.07322685e-01 -7.94425447e-01 -6.88218246e-03 1.40540973e+02] [-7.94370144e-01 -6.07361636e-01 9.37646671e-03 -1.59618027e+02] [-1.16288774e-02 -2.27540672e-04 -9.99932356e-01 -4.02803101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters 0.014266378527377442 Centerline is valid? [True, True] Translation: X:140.59, Y:-159.72, Z:-4.03 [[ 6.64871437e-01 -7.46923808e-01 -7.12727388e-03 1.40587161e+02] [-7.46877709e-01 -6.64909609e-01 8.30060083e-03 -1.59716355e+02] [-1.09389093e-02 -1.95630414e-04 -9.99940149e-01 -4.02887838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters 0.01326253711997887 Centerline is valid? [True, True] Translation: X:140.64, Y:-159.81, Z:-4.03 [[ 7.16870598e-01 -6.97172616e-01 -6.84753562e-03 1.40640024e+02] [-6.97139046e-01 -7.16903289e-01 6.84284848e-03 -1.59807744e+02] [-9.67966738e-03 -1.31752430e-04 -9.99953142e-01 -4.02996585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters 0.012773432634460508 Centerline is valid? [True, True] Translation: X:140.66, Y:-159.83, Z:-4.03 [[ 7.66667645e-01 -6.42003792e-01 -7.20088608e-03 1.40662119e+02] [-6.41974346e-01 -7.66701456e-01 6.14951538e-03 -1.59832503e+02] [-9.46894203e-03 -9.18503428e-05 -9.99955164e-01 -4.02998246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters 0.012367675089364876 Centerline is valid? [True, True] Translation: X:140.69, Y:-159.86, Z:-4.03 [[ 8.12873163e-01 -5.82397268e-01 -7.11636241e-03 1.40686497e+02] [-5.82374296e-01 -8.12904311e-01 5.17312796e-03 -1.59855959e+02] [-8.79773728e-03 -6.07103369e-05 -9.99961297e-01 -4.02993156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters 0.01219039044598879 Centerline is valid? [True, True] Translation: X:140.71, Y:-159.88, Z:-4.03 [[ 8.55237632e-01 -5.18186319e-01 -7.17858438e-03 1.40712005e+02] [-5.18167601e-01 -8.55267757e-01 4.40455819e-03 -1.59877876e+02] [-8.42199355e-03 -4.72340649e-05 -9.99964533e-01 -4.03032751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters 0.012363700328686925 Centerline is valid? [True, True] Translation: X:140.74, Y:-159.90, Z:-4.03 [[ 8.92554004e-01 -4.50855663e-01 -8.74759321e-03 1.40738995e+02] [-4.50833541e-01 -8.92596868e-01 4.46645595e-03 -1.59896419e+02] [-9.82180126e-03 -4.28447206e-05 -9.99951764e-01 -4.02854275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters 0.012278477679097902 Centerline is valid? [True, True] Translation: X:140.77, Y:-159.91, Z:-4.03 [[ 9.24788603e-01 -3.80349397e-01 -1.00187274e-02 1.40769507e+02] [-3.80326611e-01 -9.24842870e-01 4.16348550e-03 -1.59912104e+02] [-1.08493278e-02 -3.99552944e-05 -9.99941144e-01 -4.02743957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters 0.012142408339214589 Centerline is valid? [True, True] Translation: X:140.80, Y:-159.93, Z:-4.03 [[ 9.51312553e-01 -3.08059385e-01 -1.01902971e-02 1.40798962e+02] [-3.08041416e-01 -9.51367129e-01 3.32738441e-03 -1.59929534e+02] [-1.07197457e-02 -2.63490106e-05 -9.99942542e-01 -4.02861585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters 0.012301775391769482 Centerline is valid? [True, True] Translation: X:140.83, Y:-159.94, Z:-4.03 [[ 9.72382973e-01 -2.33165324e-01 -1.02608534e-02 1.40828381e+02] [-2.33152112e-01 -9.72437109e-01 2.48222585e-03 -1.59944396e+02] [-1.05568037e-02 -2.13344967e-05 -9.99944275e-01 -4.02721652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters 0.012055704523475414 Centerline is valid? [True, True] Translation: X:140.86, Y:-159.96, Z:-4.03 [[ 9.87602363e-01 -1.56710226e-01 -9.13663420e-03 1.40859505e+02] [-1.56703370e-01 -9.87644625e-01 1.46601776e-03 -1.59957676e+02] [-9.25348763e-03 -1.61012365e-05 -9.99957186e-01 -4.02968143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters 0.012023606175059726 Centerline is valid? [True, True] Translation: X:140.89, Y:-159.97, Z:-4.03 [[ 9.96903978e-01 -7.82561160e-02 -7.64448776e-03 1.40888607e+02] [-7.82536741e-02 -9.96933288e-01 6.18479526e-04 -1.59969827e+02] [-7.66944413e-03 -1.83554462e-05 -9.99970589e-01 -4.03044824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters 0.012017295578615935 Centerline is valid? [True, True] Translation: X:140.92, Y:-159.98, Z:-4.03 [[ 9.99980535e-01 1.97586393e-03 -5.91826623e-03 1.40918254e+02] [ 1.97598198e-03 -9.99998048e-01 1.41006341e-05 -1.59980018e+02] [-5.91822682e-03 -2.57947471e-05 -9.99982487e-01 -4.03115559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters 0.012227017842830252 Centerline is valid? [True, True] Translation: X:140.95, Y:-159.99, Z:-4.03 [[ 9.96502963e-01 8.33893230e-02 -5.29761789e-03 1.40948428e+02] [ 8.33883588e-02 -9.96517044e-01 -4.03024943e-04 -1.59989828e+02] [-5.31277450e-03 -4.01441112e-05 -9.99985886e-01 -4.03175487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters 0.012584932868480303 Centerline is valid? [True, True] Translation: X:140.98, Y:-160.00, Z:-4.03 [[ 9.86431610e-01 1.64082540e-01 -5.44041824e-03 1.40978800e+02] [ 1.64080369e-01 -9.86446611e-01 -8.45985005e-04 -1.59997088e+02] [-5.50549350e-03 -5.81594811e-05 -9.99984843e-01 -4.03103785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters 0.013430357477768265 Centerline is valid? [True, True] Translation: X:141.01, Y:-160.00, Z:-4.03 [[ 9.69301463e-01 2.45801382e-01 -6.02939050e-03 1.41010950e+02] [ 2.45797251e-01 -9.69320211e-01 -1.42838678e-03 -1.60003241e+02] [-6.19550952e-03 -9.74702166e-05 -9.99980803e-01 -4.02921594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters 0.01522063574766977 Centerline is valid? [True, True] Translation: X:141.04, Y:-160.01, Z:-4.03 [[ 9.46100071e-01 3.23772808e-01 -8.11318769e-03 1.41041947e+02] [ 3.23762345e-01 -9.46134844e-01 -2.60776998e-03 -1.60005874e+02] [-8.52049458e-03 -1.59533312e-04 -9.99963687e-01 -4.02585723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters 0.014042054121093332 Centerline is valid? [True, True] Translation: X:141.07, Y:-160.00, Z:-4.03 [[ 9.18557626e-01 3.95192206e-01 -8.66067646e-03 1.41071359e+02] [ 3.95176260e-01 -9.18598441e-01 -3.55368434e-03 -1.59997299e+02] [-9.36007224e-03 -1.58229879e-04 -9.99956181e-01 -4.02547291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters 0.013265807032950584 Centerline is valid? [True, True] Translation: X:141.10, Y:-159.99, Z:-4.03 [[ 8.86531041e-01 4.62599437e-01 -8.02961378e-03 1.41099483e+02] [ 4.62581669e-01 -8.86567396e-01 -4.05617077e-03 -1.59987086e+02] [-8.99517610e-03 -1.18430850e-04 -9.99959536e-01 -4.02565004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters 0.012133620068454597 Centerline is valid? [True, True] Translation: X:141.13, Y:-159.97, Z:-4.03 [[ 8.51870824e-01 5.23720944e-01 -5.69852030e-03 1.41125333e+02] [ 5.23709494e-01 -8.51889883e-01 -3.46323141e-03 -1.59972827e+02] [-6.66827861e-03 -3.41433893e-05 -9.99977766e-01 -4.02755634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters 0.012142026791761877 Centerline is valid? [True, True] Translation: X:141.15, Y:-159.96, Z:-4.03 [[ 8.12886930e-01 5.82402602e-01 -4.69562050e-03 1.41150650e+02] [ 5.82392771e-01 -8.12900492e-01 -3.38388452e-03 -1.59958646e+02] [-5.78785536e-03 1.60200670e-05 -9.99983250e-01 -4.02866476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters 0.012435378460579051 Centerline is valid? [True, True] Translation: X:141.18, Y:-159.95, Z:-4.03 [[ 7.66942566e-01 6.41702293e-01 -4.15544067e-03 1.41176242e+02] [ 6.41692639e-01 -7.66953823e-01 -3.51999326e-03 -1.59947354e+02] [-5.44581885e-03 3.31169726e-05 -9.99985171e-01 -4.02825796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters 0.01240705035779028 Centerline is valid? [True, True] Translation: X:141.20, Y:-159.94, Z:-4.03 [[ 7.14655950e-01 6.99460144e-01 -4.73076494e-03 1.41203844e+02] [ 6.99444413e-01 -7.14671606e-01 -4.69134949e-03 -1.59935784e+02] [-6.66235537e-03 4.37937201e-05 -9.99977805e-01 -4.02738627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters 0.012422505734555512 Centerline is valid? [True, True] Translation: X:141.23, Y:-159.92, Z:-4.03 [[ 6.57827061e-01 7.53154789e-01 -4.62838195e-03 1.41229367e+02] [ 7.53135631e-01 -6.57843341e-01 -5.37214843e-03 -1.59921384e+02] [-7.09080956e-03 4.81452556e-05 -9.99974859e-01 -4.02747826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters 0.01249013805173581 Centerline is valid? [True, True] Translation: X:141.26, Y:-159.91, Z:-4.03 [[ 5.96751475e-01 8.02417582e-01 -3.70166130e-03 1.41255360e+02] [ 8.02401708e-01 -5.96762954e-01 -5.04744382e-03 -1.59906013e+02] [-6.25917199e-03 4.18501959e-05 -9.99980410e-01 -4.02734096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters 0.012422084391569476 Centerline is valid? [True, True] Translation: X:141.28, Y:-159.89, Z:-4.03 [[ 5.31643962e-01 8.46962614e-01 -3.00484802e-03 1.41280755e+02] [ 8.46948710e-01 -5.31652452e-01 -4.85313373e-03 -1.59888704e+02] [-5.70795764e-03 3.51870880e-05 -9.99983709e-01 -4.02730726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters 0.012246142346365113 Centerline is valid? [True, True] Translation: X:141.30, Y:-159.87, Z:-4.03 [[ 4.61263231e-01 8.87258456e-01 -2.94349759e-03 1.41304612e+02] [ 8.87240084e-01 -4.61272623e-01 -5.70972551e-03 -1.59869444e+02] [-6.42375709e-03 2.20973901e-05 -9.99979367e-01 -4.02656012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters 0.012145239644745615 Centerline is valid? [True, True] Translation: X:141.33, Y:-159.85, Z:-4.03 [[ 3.87890197e-01 9.21702292e-01 -2.46571153e-03 1.41326869e+02] [ 9.21683592e-01 -3.87898034e-01 -5.87118584e-03 -1.59848197e+02] [-6.36793011e-03 4.76957188e-06 -9.99979725e-01 -4.02606725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters 0.012161676468454247 Centerline is valid? [True, True] Translation: X:141.34, Y:-159.82, Z:-4.03 [[ 3.13382831e-01 9.49624424e-01 -2.15724118e-03 1.41344669e+02] [ 9.49601991e-01 -3.13390256e-01 -6.52732543e-03 -1.59824034e+02] [-6.87456602e-03 -2.96879820e-06 -9.99976370e-01 -4.02502159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters 0.012146922330827457 Centerline is valid? [True, True] Translation: X:141.36, Y:-159.80, Z:-4.03 [[ 2.37483192e-01 9.71390576e-01 -1.44308272e-03 1.41361079e+02] [ 9.71372808e-01 -2.37487576e-01 -5.87532647e-03 -1.59799449e+02] [-6.04995099e-03 -6.48003079e-06 -9.99981699e-01 -4.02501069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters 0.01211163687923862 Centerline is valid? [True, True] Translation: X:141.37, Y:-159.77, Z:-4.03 [[ 1.62403670e-01 9.86724040e-01 -8.46940531e-04 1.41374825e+02] [ 9.86710506e-01 -1.62405879e-01 -5.16803865e-03 -1.59773239e+02] [-5.23697610e-03 3.62332583e-06 -9.99986287e-01 -4.02597888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters 0.01237570805220104 Centerline is valid? [True, True] Translation: X:141.39, Y:-159.75, Z:-4.03 [[ 8.89157447e-02 9.96039096e-01 -3.29783494e-04 1.41385753e+02] [ 9.96031400e-01 -8.89163541e-02 -3.91556208e-03 -1.59746346e+02] [-3.92937606e-03 1.96804030e-05 -9.99992280e-01 -4.02659655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters 0.013123437623129718 Centerline is valid? [True, True] Translation: X:141.39, Y:-159.72, Z:-4.03 [[ 1.57289321e-02 9.99876292e-01 -2.46213306e-05 1.41391764e+02] [ 9.99866678e-01 -1.57288888e-02 -4.38505095e-03 -1.59719863e+02] [-4.38489575e-03 4.43541205e-05 -9.99990385e-01 -4.02565352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters 0.013944895612575036 Centerline is valid? [True, True] Translation: X:141.40, Y:-159.69, Z:-4.02 [[-5.76036089e-02 9.98339428e-01 4.58977481e-04 1.41396986e+02] [ 9.98319627e-01 5.76053574e-02 -6.28850520e-03 -1.59691755e+02] [-6.30450224e-03 9.59656336e-05 -9.99980122e-01 -4.02423990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters 0.015025886753713979 Centerline is valid? [True, True] Translation: X:141.40, Y:-159.67, Z:-4.02 [[-1.33076717e-01 9.91104982e-01 1.22524951e-03 1.41398923e+02] [ 9.91072410e-01 1.33082278e-01 -8.03648065e-03 -1.59665225e+02] [-8.12805501e-03 1.44842522e-04 -9.99966956e-01 -4.02290688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters 0.01515423228626656 Centerline is valid? [True, True] Translation: X:141.40, Y:-159.64, Z:-4.02 [[-2.08993751e-01 9.77914327e-01 2.27629994e-03 1.41401019e+02] [ 9.77865889e-01 2.09006059e-01 -9.73502388e-03 -1.59637514e+02] [-9.99577980e-03 1.91356905e-04 -9.99950023e-01 -4.02278814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters 0.014693355573735054 Centerline is valid? [True, True] Translation: X:141.40, Y:-159.61, Z:-4.02 [[-2.87973993e-01 9.57633222e-01 3.09714922e-03 1.41403129e+02] [ 9.57583779e-01 2.87990601e-01 -9.73245199e-03 -1.59608873e+02] [-1.02120692e-02 1.63086792e-04 -9.99947842e-01 -4.02280211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters 0.013350460043330273 Centerline is valid? [True, True] Translation: X:141.41, Y:-159.58, Z:-4.02 [[-3.68020088e-01 9.29811314e-01 3.48364729e-03 1.41405957e+02] [ 9.29771916e-01 3.68036565e-01 -8.55981857e-03 -1.59578459e+02] [-9.24112573e-03 8.88122332e-05 -9.99957296e-01 -4.02403495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters 0.012877713667924841 Centerline is valid? [True, True] Translation: X:141.40, Y:-159.55, Z:-4.02 [[-4.44910771e-01 8.95566150e-01 3.95945514e-03 1.41404216e+02] [ 8.95531358e-01 4.44928388e-01 -7.89404997e-03 -1.59548956e+02] [-8.83131793e-03 3.36683812e-05 -9.99961003e-01 -4.02447124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters 0.013197299394755554 Centerline is valid? [True, True] Translation: X:141.40, Y:-159.52, Z:-4.02 [[-5.23051532e-01 8.52290984e-01 4.14422404e-03 1.41402830e+02] [ 8.52263361e-01 5.23067946e-01 -6.86198373e-03 -1.59518359e+02] [-8.01611762e-03 -5.72007899e-05 -9.99967869e-01 -4.02456897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters 0.013795272372055066 Centerline is valid? [True, True] Translation: X:141.39, Y:-159.49, Z:-4.02 [[-5.91411256e-01 8.06356087e-01 4.75258250e-03 1.41393492e+02] [ 8.06328814e-01 5.91430345e-01 -6.63261096e-03 -1.59490692e+02] [-8.15906773e-03 -9.04565663e-05 -9.99966710e-01 -4.02456251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters 0.017331045484368115 Centerline is valid? [True, True] Translation: X:141.38, Y:-159.46, Z:-4.02 [[-6.61420892e-01 7.49993848e-01 5.62429326e-03 1.41384220e+02] [ 7.49964164e-01 6.61444774e-01 -6.67551521e-03 -1.59460695e+02] [-8.72675473e-03 -1.97306826e-04 -9.99961902e-01 -4.02401158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters 0.020536007251582746 Centerline is valid? [True, True] Translation: X:141.37, Y:-159.44, Z:-4.02 [[-7.22996771e-01 6.90822394e-01 6.33149371e-03 1.41368530e+02] [ 6.90792629e-01 7.23024445e-01 -6.41839116e-03 -1.59435051e+02] [-9.01179308e-03 -2.66726897e-04 -9.99959357e-01 -4.02360833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters 0.019404577759605343 Centerline is valid? [True, True] Translation: X:141.35, Y:-159.41, Z:-4.02 [[-7.75868086e-01 6.30859614e-01 6.69771991e-03 1.41349035e+02] [ 6.30833001e-01 7.75896946e-01 -5.80125917e-03 -1.59412411e+02] [-8.85652055e-03 -2.75869105e-04 -9.99960742e-01 -4.02411646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters 0.017801511677697793 Centerline is valid? [True, True] Translation: X:141.36, Y:-159.39, Z:-4.02 [[-8.17383160e-01 5.76043660e-01 7.64673546e-03 1.41360969e+02] [ 5.76015234e-01 8.17418880e-01 -5.72935208e-03 -1.59393311e+02] [-9.55094287e-03 -2.78439791e-04 -9.99954350e-01 -4.02387327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters 0.0160558401206711 Centerline is valid? [True, True] Translation: X:141.38, Y:-159.38, Z:-4.02 [[-8.53397593e-01 5.21197037e-01 8.13612361e-03 1.41378363e+02] [ 5.21170745e-01 8.53436345e-01 -5.24027710e-03 -1.59382845e+02] [-9.67488049e-03 -2.31730265e-04 -9.99953170e-01 -4.02462465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters 0.01472822661041793 Centerline is valid? [True, True] Translation: X:141.40, Y:-159.37, Z:-4.02 [[-8.85231175e-01 4.65063411e-01 9.04384196e-03 1.41395982e+02] [ 4.65037030e-01 8.85277352e-01 -4.95687409e-03 -1.59369404e+02] [-1.03115692e-02 -1.82258068e-04 -9.99946818e-01 -4.02410768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters 0.014153063827679054 Centerline is valid? [True, True] Translation: X:141.73, Y:-158.77, Z:-5.02 [[-8.35271229e-01 -5.49770421e-01 8.62893890e-03 1.41734957e+02] [ 5.49743241e-01 -8.35315781e-01 -5.46956135e-03 -1.58767129e+02] [ 1.02148919e-02 1.75133607e-04 9.99947811e-01 -5.01733342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters 0.013042022089649418 Centerline is valid? [True, True] Translation: X:141.36, Y:-159.36, Z:-4.03 [[-8.82028269e-01 4.71120648e-01 8.45391007e-03 1.41355071e+02] [ 4.71098251e-01 8.82068779e-01 -4.59427411e-03 -1.59361963e+02] [-9.62138752e-03 -6.96573918e-05 -9.99953711e-01 -4.02509092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters 0.01283584754888594 Centerline is valid? [True, True] Translation: X:141.71, Y:-158.74, Z:-5.01 [[-8.42708244e-01 -5.38328887e-01 6.69513364e-03 1.41706872e+02] [ 5.38311563e-01 -8.42734838e-01 -4.31897547e-03 -1.58739835e+02] [ 7.96725162e-03 -3.55683776e-05 9.99968260e-01 -5.01356622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters 0.012777520114783843 Centerline is valid? [True, True] Translation: X:141.32, Y:-159.35, Z:-4.03 [[-8.81414158e-01 4.72275695e-01 8.04676437e-03 1.41321321e+02] [ 4.72255795e-01 8.81450888e-01 -4.33559686e-03 -1.59349366e+02] [-9.14042462e-03 -2.13253492e-05 -9.99958225e-01 -4.02663175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters 0.012901410480289501 Centerline is valid? [True, True] Translation: X:141.66, Y:-158.72, Z:-5.01 [[-8.45007527e-01 -5.34685949e-01 8.55659567e-03 1.41662815e+02] [ 5.34659493e-01 -8.45050844e-01 -5.31950620e-03 -1.58715458e+02] [ 1.00750236e-02 7.98423212e-05 9.99949243e-01 -5.01393763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters 0.01297726930593326 Centerline is valid? [True, True] Translation: X:141.28, Y:-159.32, Z:-4.03 [[-8.84079197e-01 4.67269684e-01 7.93829779e-03 1.41278622e+02] [ 4.67250446e-01 8.84114835e-01 -4.24025403e-03 -1.59324396e+02] [-8.99970899e-03 -3.95471950e-05 -9.99959501e-01 -4.02721710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters 0.01296357800596099 Centerline is valid? [True, True] Translation: X:141.62, Y:-158.70, Z:-5.01 [[-8.44954326e-01 -5.34799335e-01 6.46988733e-03 1.41622254e+02] [ 5.34783222e-01 -8.44979094e-01 -4.15166582e-03 -1.58702129e+02] [ 7.68722765e-03 -4.79808082e-05 9.99970452e-01 -5.01260047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters 0.013075282943727423 Centerline is valid? [True, True] Translation: X:141.25, Y:-159.30, Z:-4.03 [[-8.88210010e-01 4.59404522e-01 5.51940526e-03 1.41246611e+02] [ 4.59395230e-01 8.88227157e-01 -2.92243880e-03 -1.59298698e+02] [-6.24506724e-03 -6.01509441e-05 -9.99980498e-01 -4.02954544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters 0.013326797257683157 Centerline is valid? [True, True] Translation: X:141.26, Y:-159.27, Z:-4.03 [[-9.19303831e-01 3.93524153e-01 4.38258606e-03 1.41256491e+02] [ 3.93519390e-01 9.19314276e-01 -1.93693808e-03 -1.59268983e+02] [-4.79120584e-03 -5.60019995e-05 -9.99988521e-01 -4.03112769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters 0.0132633598583973 Centerline is valid? [True, True] Translation: X:141.27, Y:-159.24, Z:-4.03 [[-9.44968409e-01 3.27135401e-01 4.13935764e-03 1.41268936e+02] [ 3.27132019e-01 9.44977474e-01 -1.48861842e-03 -1.59241110e+02] [-4.39857951e-03 -5.25809623e-05 -9.99990325e-01 -4.03029452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters 0.012973736176953656 Centerline is valid? [True, True] Translation: X:141.28, Y:-159.22, Z:-4.03 [[-9.65333785e-01 2.60973100e-01 4.87088102e-03 1.41281980e+02] [ 2.60969505e-01 9.65346072e-01 -1.37065306e-03 -1.59215020e+02] [-5.05978944e-03 -5.19862936e-05 -9.99987198e-01 -4.02859936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters 0.01250618054670154 Centerline is valid? [True, True] Translation: X:141.29, Y:-159.19, Z:-4.03 [[-9.80740799e-01 1.95236273e-01 5.50297209e-03 1.41288459e+02] [ 1.95232979e-01 9.80756237e-01 -1.13476707e-03 -1.59189093e+02] [-5.61862190e-03 -3.85507259e-05 -9.99984215e-01 -4.02744008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters 0.012203647149120082 Centerline is valid? [True, True] Translation: X:141.29, Y:-159.16, Z:-4.03 [[-9.91722844e-01 1.28247711e-01 6.19078931e-03 1.41293228e+02] [ 1.28245066e-01 9.91742166e-01 -8.24098560e-04 -1.59162112e+02] [-6.24535555e-03 -2.33391849e-05 -9.99980497e-01 -4.02678960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters 0.012119489647370618 Centerline is valid? [True, True] Translation: X:141.29, Y:-159.13, Z:-4.03 [[-9.98221089e-01 5.92882354e-02 6.28982443e-03 1.41292021e+02] [ 5.92869798e-02 9.98240905e-01 -3.86055309e-04 -1.59133850e+02] [-6.30164857e-03 -1.24638575e-05 -9.99980144e-01 -4.02623209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters 0.01200889937712471 Centerline is valid? [True, True] Translation: X:141.34, Y:-158.46, Z:-5.01 [[-9.91714560e-01 -1.28329103e-01 5.81997231e-03 1.41337492e+02] [ 1.28326803e-01 -9.91731638e-01 -7.68526811e-04 -1.58459719e+02] [ 5.87047503e-03 -1.53007902e-05 9.99982769e-01 -5.01440686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters 0.012056238306285381 Centerline is valid? [True, True] Translation: X:141.24, Y:-159.13, Z:-4.03 [[-9.98346350e-01 5.71038460e-02 6.61175541e-03 1.41236240e+02] [ 5.71025913e-02 9.98368244e-01 -3.78541017e-04 -1.59129298e+02] [-6.62258278e-03 -3.66675852e-07 -9.99978071e-01 -4.02557775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters 0.012074490920761715 Centerline is valid? [True, True] Translation: X:141.24, Y:-159.10, Z:-4.02 [[-9.99848144e-01 -1.55432798e-02 7.88013075e-03 1.41236290e+02] [-1.55429003e-02 9.99879196e-01 1.09402279e-04 -1.59099712e+02] [-7.88087927e-03 -1.30944211e-05 -9.99968945e-01 -4.02399286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters 0.012291525345433558 Centerline is valid? [True, True] Translation: X:141.23, Y:-158.44, Z:-5.02 [[-9.98232775e-01 -5.87759371e-02 8.75873591e-03 1.41230266e+02] [ 5.87743399e-02 -9.98271197e-01 -4.39871404e-04 -1.58436330e+02] [ 8.76944764e-03 7.56948694e-05 9.99961545e-01 -5.01802874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters 0.012427987548386752 Centerline is valid? [True, True] Translation: X:141.17, Y:-159.10, Z:-4.02 [[-9.99635464e-01 -2.53423538e-02 9.31151897e-03 1.41167177e+02] [-2.53418895e-02 9.99678829e-01 1.67869425e-04 -1.59095906e+02] [-9.31278258e-03 -6.81632541e-05 -9.99956633e-01 -4.02327252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters 0.013347690521516452 Centerline is valid? [True, True] Translation: X:141.16, Y:-158.44, Z:-5.02 [[-9.98175673e-01 -5.96776769e-02 9.15974281e-03 1.41160707e+02] [ 5.96756935e-02 -9.98217698e-01 -4.89936335e-04 -1.58440354e+02] [ 9.17265564e-03 5.75714739e-05 9.99957929e-01 -5.01801813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters 0.013676441398237663 Centerline is valid? [True, True] Translation: X:141.11, Y:-159.10, Z:-4.02 [[-9.99390230e-01 -3.39318117e-02 8.23411241e-03 1.41108365e+02] [-3.39314352e-02 9.99424146e-01 1.85459912e-04 -1.59095801e+02] [-8.23566376e-03 -9.40484273e-05 -9.99966082e-01 -4.02328119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters 0.013319524061700564 Centerline is valid? [True, True] Translation: X:141.10, Y:-159.07, Z:-4.03 [[-9.94236242e-01 -1.06995473e-01 6.80180999e-03 1.41099990e+02] [-1.06993607e-01 9.94259503e-01 6.38698526e-04 -1.59072260e+02] [-6.83110208e-03 -9.27329606e-05 -9.99976664e-01 -4.02613895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters 0.013870217364106957 Centerline is valid? [True, True] Translation: X:141.09, Y:-159.05, Z:-4.03 [[-9.83668920e-01 -1.79883438e-01 6.11588418e-03 1.41091747e+02] [-1.79880589e-01 9.83687928e-01 1.01733943e-03 -1.59046961e+02] [-6.19912395e-03 -9.94036680e-05 -9.99980780e-01 -4.02671206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters 0.014636212839177164 Centerline is valid? [True, True] Translation: X:140.99, Y:-158.39, Z:-5.01 [[-9.96843680e-01 7.91649368e-02 5.96571997e-03 1.40985133e+02] [-7.91630281e-02 -9.96861528e-01 5.55775475e-04 -1.58394003e+02] [ 5.99099466e-03 8.17568124e-05 9.99982051e-01 -5.01425487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters 0.015673428225653274 Centerline is valid? [True, True] Translation: X:141.00, Y:-159.06, Z:-4.02 [[-9.81866178e-01 -1.89400810e-01 8.13275340e-03 1.41001184e+02] [-1.89395706e-01 9.81899845e-01 1.40024949e-03 -1.59062185e+02] [-8.25075769e-03 -1.65450961e-04 -9.99965948e-01 -4.02407713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters 0.015006778310640116 Centerline is valid? [True, True] Translation: X:140.89, Y:-158.41, Z:-5.02 [[-9.96534914e-01 8.26872888e-02 8.99871070e-03 1.40887552e+02] [-8.26817872e-02 -9.96575515e-01 9.82321723e-04 -1.58407099e+02] [ 9.04912027e-03 2.34888411e-04 9.99959028e-01 -5.01679549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters 0.01547574732708832 Centerline is valid? [True, True] Translation: X:140.91, Y:-159.08, Z:-4.02 [[-9.80828826e-01 -1.94625359e-01 9.78689351e-03 1.40906994e+02] [-1.94617613e-01 9.80877634e-01 1.74690373e-03 -1.59082318e+02] [-9.93973672e-03 -1.91288310e-04 -9.99950581e-01 -4.02301827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters 0.01345895873377134 Centerline is valid? [True, True] Translation: X:140.90, Y:-159.07, Z:-4.03 [[-9.65548369e-01 -2.60080113e-01 8.64184038e-03 1.40895614e+02] [-2.60070943e-01 9.65587032e-01 2.18813395e-03 -1.59065211e+02] [-8.91353913e-03 -1.34742409e-04 -9.99960265e-01 -4.02563227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters 0.012415445352420009 Centerline is valid? [True, True] Translation: X:140.88, Y:-159.05, Z:-4.03 [[-9.46622602e-01 -3.22244294e-01 8.01647208e-03 1.40877140e+02] [-3.22233350e-01 9.46656543e-01 2.65660168e-03 -1.59049744e+02] [-8.44492048e-03 -6.83754644e-05 -9.99964339e-01 -4.02658297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters 0.012097822030369803 Centerline is valid? [True, True] Translation: X:140.84, Y:-159.04, Z:-4.03 [[-9.22529365e-01 -3.85847212e-01 7.84221781e-03 1.40835222e+02] [-3.85833524e-01 9.22562696e-01 3.25023061e-03 -1.59041438e+02] [-8.48903003e-03 -2.73573470e-05 -9.99963967e-01 -4.02696616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters 0.012016444787036633 Centerline is valid? [True, True] Translation: X:140.77, Y:-159.04, Z:-4.03 [[-8.92964366e-01 -4.50063925e-01 7.55677797e-03 1.40774651e+02] [-4.50047830e-01 8.92996340e-01 3.80613853e-03 -1.59038942e+02] [-8.46118071e-03 -2.16544567e-06 -9.99964204e-01 -4.02681417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters 0.01226311261512962 Centerline is valid? [True, True] Translation: X:140.70, Y:-159.05, Z:-4.03 [[-8.58189140e-01 -5.13266587e-01 8.29524777e-03 1.40702884e+02] [-5.13242440e-01 8.58229230e-01 4.97867651e-03 -1.59047027e+02] [-9.67461240e-03 1.51729064e-05 -9.99953200e-01 -4.02545540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters 0.01220795984707348 Centerline is valid? [True, True] Translation: X:140.63, Y:-159.06, Z:-4.03 [[-8.18266378e-01 -5.74777372e-01 8.43250125e-03 1.40629471e+02] [-5.74746480e-01 8.18309826e-01 5.95920286e-03 -1.59062213e+02] [-1.03256136e-02 2.96649308e-05 -9.99946689e-01 -4.02573949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters 0.01220543166841911 Centerline is valid? [True, True] Translation: X:140.55, Y:-159.09, Z:-4.02 [[-7.72846781e-01 -6.34544816e-01 7.79291627e-03 1.40548840e+02] [-6.34512207e-01 7.72886069e-01 6.43300985e-03 -1.59086889e+02] [-1.01050695e-02 2.70304521e-05 -9.99948942e-01 -4.02465079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters 0.012085601473157969 Centerline is valid? [True, True] Translation: X:140.46, Y:-159.12, Z:-4.02 [[-7.21057278e-01 -6.92840156e-01 6.99432994e-03 1.40462989e+02] [-6.92807579e-01 7.21091200e-01 6.71857427e-03 -1.59120917e+02] [-9.69844781e-03 -1.24792084e-06 -9.99952969e-01 -4.02472764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters 0.012160655256170069 Centerline is valid? [True, True] Translation: X:140.37, Y:-159.17, Z:-4.03 [[-6.62841215e-01 -7.48739373e-01 5.55664571e-03 1.40374880e+02] [-7.48713643e-01 6.62864503e-01 6.20730450e-03 -1.59165364e+02] [-8.33095648e-03 -4.58791929e-05 -9.99965296e-01 -4.02562519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters 0.012686232371588913 Centerline is valid? [True, True] Translation: X:140.29, Y:-159.22, Z:-4.03 [[-6.00957930e-01 -7.99267593e-01 4.56966374e-03 1.40288842e+02] [-7.99245414e-01 6.00975299e-01 5.95466756e-03 -1.59220779e+02] [-7.50562784e-03 -7.37780996e-05 -9.99971830e-01 -4.02588921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters 0.014703326136151407 Centerline is valid? [True, True] Translation: X:140.20, Y:-159.28, Z:-4.03 [[-5.30904108e-01 -8.47424720e-01 3.48879107e-03 1.40201434e+02] [-8.47407913e-01 5.30915557e-01 5.33854848e-03 -1.59283272e+02] [-6.37627141e-03 -1.22171838e-04 -9.99979664e-01 -4.02532872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters 0.015212221142485206 Centerline is valid? [True, True] Translation: X:140.13, Y:-159.35, Z:-4.03 [[-4.63300171e-01 -8.86196029e-01 3.09041996e-03 1.40125438e+02] [-8.86178226e-01 4.63310458e-01 5.61878455e-03 -1.59354335e+02] [-6.41116844e-03 -1.35479035e-04 -9.99979439e-01 -4.02505655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters 0.017114638334688268 Centerline is valid? [True, True] Translation: X:140.05, Y:-159.44, Z:-4.02 [[-3.90900472e-01 -9.20428847e-01 2.74947986e-03 1.40048552e+02] [-9.20409008e-01 3.90910105e-01 6.04545272e-03 -1.59437476e+02] [-6.63920854e-03 -1.67475706e-04 -9.99977946e-01 -4.02355824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters 0.017399873301592764 Centerline is valid? [True, True] Translation: X:139.98, Y:-159.52, Z:-4.02 [[-3.18194717e-01 -9.48023290e-01 1.99079953e-03 1.39983388e+02] [-9.48007668e-01 3.18200907e-01 5.44466655e-03 -1.59522672e+02] [-5.79514491e-03 -1.54829094e-04 -9.99983196e-01 -4.02271176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters 0.016725968948990574 Centerline is valid? [True, True] Translation: X:139.93, Y:-159.62, Z:-4.02 [[-2.45443176e-01 -9.69409633e-01 1.61615323e-03 1.39925659e+02] [-9.69392606e-01 2.45448447e-01 5.74758669e-03 -1.59619482e+02] [-5.96844820e-03 -1.55981059e-04 -9.99982177e-01 -4.02247667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters 0.015707863243107367 Centerline is valid? [True, True] Translation: X:139.88, Y:-159.72, Z:-4.02 [[-1.72684006e-01 -9.84976380e-01 1.32824739e-03 1.39877808e+02] [-9.84954042e-01 1.72689038e-01 6.63560866e-03 -1.59722520e+02] [-6.76529157e-03 -1.62399149e-04 -9.99977102e-01 -4.02190074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters 0.015913375242596964 Centerline is valid? [True, True] Translation: X:139.84, Y:-159.83, Z:-4.02 [[-1.00799579e-01 -9.94906246e-01 1.00310027e-03 1.39836344e+02] [-9.94871998e-01 1.00804433e-01 8.25674269e-03 -1.59829409e+02] [-8.31580183e-03 -1.65680185e-04 -9.99965409e-01 -4.01888148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters 0.013641655204034837 Centerline is valid? [True, True] Translation: X:139.81, Y:-159.93, Z:-4.02 [[-2.93224398e-02 -9.99569917e-01 4.19968653e-04 1.39808626e+02] [-9.99524907e-01 2.93251053e-02 9.48677091e-03 -1.59931869e+02] [-9.49500643e-03 -1.41593861e-04 -9.99954911e-01 -4.01834422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters 0.01384136572787835 Centerline is valid? [True, True] Translation: X:139.78, Y:-160.05, Z:-4.02 [[ 4.47139653e-02 -9.98999787e-01 -2.95258983e-04 1.39781811e+02] [-9.98958807e-01 -4.47148056e-02 9.04924139e-03 -1.60045828e+02] [-9.05339267e-03 -1.09675904e-04 -9.99959011e-01 -4.01747564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters 0.012978186927899748 Centerline is valid? [True, True] Translation: X:139.76, Y:-160.16, Z:-4.02 [[ 1.19258742e-01 -9.92862814e-01 -8.86510935e-04 1.39763830e+02] [-9.92830087e-01 -1.19262009e-01 8.06179451e-03 -1.60161707e+02] [-8.10998305e-03 -8.12847403e-05 -9.99967110e-01 -4.01919573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters 0.012343979505855536 Centerline is valid? [True, True] Translation: X:139.76, Y:-160.28, Z:-4.02 [[ 1.90058299e-01 -9.81771519e-01 -1.59007245e-03 1.39757362e+02] [-9.81735342e-01 -1.90064946e-01 8.42817412e-03 -1.60275265e+02] [-8.57675834e-03 -4.08141151e-05 -9.99963218e-01 -4.02016785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters 0.012216843669069421 Centerline is valid? [True, True] Translation: X:139.76, Y:-160.40, Z:-4.02 [[ 2.60723736e-01 -9.65411416e-01 -1.98254469e-03 1.39760782e+02] [-9.65383421e-01 -2.60731274e-01 7.35209715e-03 -1.60395731e+02] [-7.61470993e-03 -2.95045938e-06 -9.99971008e-01 -4.02041839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters 0.012329864419754958 Centerline is valid? [True, True] Translation: X:139.77, Y:-160.51, Z:-4.02 [[ 3.29208143e-01 -9.44255091e-01 -2.07895791e-03 1.39768182e+02] [-9.44236835e-01 -3.29214706e-01 5.87171520e-03 -1.60508657e+02] [-6.22882048e-03 3.00121779e-05 -9.99980600e-01 -4.02114879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters 0.01257694731883735 Centerline is valid? [True, True] Translation: X:139.78, Y:-160.62, Z:-4.02 [[ 3.98267182e-01 -9.17266711e-01 -2.24340972e-03 1.39784056e+02] [-9.17252741e-01 -3.98273499e-01 5.06253327e-03 -1.60624553e+02] [-5.53718388e-03 4.15328532e-05 -9.99984669e-01 -4.02116799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters 0.01236279392296673 Centerline is valid? [True, True] Translation: X:139.81, Y:-160.74, Z:-4.02 [[ 4.68690503e-01 -8.83359547e-01 -2.26342302e-03 1.39810403e+02] [-8.83349538e-01 -4.68695968e-01 4.20521456e-03 -1.60742002e+02] [-4.77557367e-03 2.84495467e-05 -9.99988597e-01 -4.02202255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters 0.012043254373602503 Centerline is valid? [True, True] Translation: X:139.84, Y:-160.86, Z:-4.02 [[ 5.40743776e-01 -8.41182887e-01 -2.74223161e-03 1.39839801e+02] [-8.41172023e-01 -5.40750729e-01 4.27502318e-03 -1.60857617e+02] [-5.07894008e-03 -5.00366368e-06 -9.99987102e-01 -4.02020914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters 0.012770885971554045 Centerline is valid? [True, True] Translation: X:139.87, Y:-160.97, Z:-4.02 [[ 6.10184876e-01 -7.92253141e-01 -3.06240285e-03 1.39874925e+02] [-7.92242759e-01 -6.10192559e-01 4.05617027e-03 -1.60970845e+02] [-5.08216907e-03 -4.88472659e-05 -9.99987085e-01 -4.01875496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters 0.013378475285349408 Centerline is valid? [True, True] Translation: X:139.92, Y:-161.07, Z:-4.02 [[ 6.71790073e-01 -7.40735089e-01 -3.10261522e-03 1.39921159e+02] [-7.40726744e-01 -6.71797234e-01 3.51669643e-03 -1.61074276e+02] [-4.68926876e-03 -6.42916778e-05 -9.99989003e-01 -4.01924286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters 0.013936410153373392 Centerline is valid? [True, True] Translation: X:139.97, Y:-161.17, Z:-4.02 [[ 7.28016457e-01 -6.85557678e-01 -1.64595932e-03 1.39970325e+02] [-6.85555807e-01 -7.28018316e-01 1.60199114e-03 -1.61168960e+02] [-2.29654586e-03 -3.78789410e-05 -9.99997362e-01 -4.02129953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters 0.014482466058614862 Centerline is valid? [True, True] Translation: X:139.99, Y:-161.20, Z:-4.02 [[ 7.80241625e-01 -6.25478177e-01 -2.38157477e-04 1.39989380e+02] [-6.25478146e-01 -7.80241661e-01 1.98111194e-04 -1.61199733e+02] [-3.09734614e-04 -5.61230323e-06 -9.99999952e-01 -4.02189547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters 0.015290062734959475 Centerline is valid? [True, True] Translation: X:140.01, Y:-161.23, Z:-4.02 [[ 8.27795158e-01 -5.61030366e-01 -3.23266355e-04 1.40011867e+02] [-5.61030320e-01 -8.27795221e-01 2.28638352e-04 -1.61226968e+02] [-3.95871403e-04 -7.90349434e-06 -9.99999922e-01 -4.02137759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters 0.015476417205544928 Centerline is valid? [True, True] Translation: X:140.04, Y:-161.25, Z:-4.02 [[ 8.69507673e-01 -4.93915693e-01 -1.92205989e-03 1.40037858e+02] [-4.93914369e-01 -8.69509796e-01 1.14481133e-03 -1.61252183e+02] [-2.23669019e-03 -4.60892342e-05 -9.99997498e-01 -4.01940794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters 0.014717485495016818 Centerline is valid? [True, True] Translation: X:140.07, Y:-161.27, Z:-4.02 [[ 9.04787334e-01 -4.25831619e-01 -5.22623077e-03 1.40066581e+02] [-4.25823802e-01 -9.04802421e-01 2.58243178e-03 -1.61273939e+02] [-5.82838735e-03 -1.11098110e-04 -9.99983009e-01 -4.01623594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters 0.014373828386124382 Centerline is valid? [True, True] Translation: X:140.10, Y:-161.29, Z:-4.01 [[ 9.34497139e-01 -3.55901287e-01 -7.02643970e-03 1.40095667e+02] [-3.55890201e-01 -9.34523546e-01 2.81199970e-03 -1.61292004e+02] [-7.56716765e-03 -1.27164642e-04 -9.99971361e-01 -4.01494201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters 0.013428968720840205 Centerline is valid? [True, True] Translation: X:140.13, Y:-161.30, Z:-4.01 [[ 9.58008794e-01 -2.86636273e-01 -7.66802073e-03 1.40129125e+02] [-2.86626305e-01 -9.58039476e-01 2.39229054e-03 -1.61303145e+02] [-8.03198381e-03 -9.39789278e-05 -9.99967739e-01 -4.01448574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters 0.01226223547181885 Centerline is valid? [True, True] Translation: X:140.16, Y:-161.31, Z:-4.01 [[ 9.75308810e-01 -2.20709859e-01 -7.73848128e-03 1.40162964e+02] [-2.20702807e-01 -9.75339509e-01 1.76431167e-03 -1.61306231e+02] [-7.93704751e-03 -1.28441781e-05 -9.99968501e-01 -4.01482191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters 0.012878227967044418 Centerline is valid? [True, True] Translation: X:140.20, Y:-161.31, Z:-4.01 [[ 9.88335756e-01 -1.52080727e-01 -7.99281945e-03 1.40196004e+02] [-1.52076206e-01 -9.88368074e-01 1.17386527e-03 -1.61307134e+02] [-8.07836984e-03 5.53446417e-05 -9.99967368e-01 -4.01474884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters 0.014814082310070776 Centerline is valid? [True, True] Translation: X:140.23, Y:-161.31, Z:-4.02 [[ 9.96272062e-01 -8.58337079e-02 -8.63445502e-03 1.40225561e+02] [-8.58318763e-02 -9.96309464e-01 5.83151973e-04 -1.61308681e+02] [-8.65264335e-03 1.60133457e-04 -9.99962552e-01 -4.01504481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters 0.01663689396986857 Centerline is valid? [True, True] Translation: X:140.25, Y:-161.31, Z:-4.02 [[ 9.99872535e-01 -1.34540713e-02 -8.59658494e-03 1.40254154e+02] [-1.34553771e-02 -9.99909468e-01 -9.40843866e-05 -1.61311092e+02] [-8.59454085e-03 2.09742687e-04 -9.99963044e-01 -4.01511449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters 0.014711224637717457 Centerline is valid? [True, True] Translation: X:140.28, Y:-161.33, Z:-4.02 [[ 9.97580003e-01 6.89718886e-02 -8.77589392e-03 1.40283417e+02] [ 6.89676397e-02 -9.97618588e-01 -7.86237316e-04 -1.61326571e+02] [-8.80922317e-03 1.79081935e-04 -9.99961182e-01 -4.01517438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters 0.015434698691653922 Centerline is valid? [True, True] Translation: X:140.31, Y:-161.33, Z:-4.01 [[ 9.88724648e-01 1.49457033e-01 -9.28252238e-03 1.40312353e+02] [ 1.49448858e-01 -9.88768207e-01 -1.57209572e-03 -1.61331486e+02] [-9.41322377e-03 1.67107413e-04 -9.99955681e-01 -4.01394410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters 0.013236183129452447 Centerline is valid? [True, True] Translation: X:140.34, Y:-161.34, Z:-4.01 [[ 9.71818666e-01 2.35555756e-01 -9.05354404e-03 1.40342031e+02] [ 2.35544788e-01 -9.71860834e-01 -2.27445591e-03 -1.61335903e+02] [-9.33454604e-03 7.78435988e-05 -9.99956429e-01 -4.01330854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters 0.012240287468542482 Centerline is valid? [True, True] Translation: X:140.37, Y:-161.34, Z:-4.01 [[ 9.47471748e-01 3.19724628e-01 -8.57026789e-03 1.40372817e+02] [ 3.19711631e-01 -9.47510508e-01 -2.88285490e-03 -1.61337401e+02] [-9.04213859e-03 -8.59075083e-06 -9.99959119e-01 -4.01332909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters 0.012532313756847706 Centerline is valid? [True, True] Translation: X:140.41, Y:-161.34, Z:-4.02 [[ 9.16712915e-01 3.99456577e-01 -8.47794554e-03 1.40406078e+02] [ 3.99440247e-01 -9.16752114e-01 -3.61263052e-03 -1.61339366e+02] [-9.21526351e-03 -7.46876045e-05 -9.99957536e-01 -4.01529060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters 0.012886249637064863 Centerline is valid? [True, True] Translation: X:140.44, Y:-161.34, Z:-4.02 [[ 8.80759991e-01 4.73493825e-01 -8.08927725e-03 1.40439022e+02] [ 4.73475003e-01 -8.80797131e-01 -4.22335679e-03 -1.61337360e+02] [-9.12474555e-03 -1.10306874e-04 -9.99958363e-01 -4.01578113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters 0.013683490372166086 Centerline is valid? [True, True] Translation: X:140.47, Y:-161.33, Z:-4.02 [[ 8.38386931e-01 5.45021829e-01 -7.65250173e-03 1.40474265e+02] [ 5.45000778e-01 -8.38421841e-01 -4.79260669e-03 -1.61334522e+02] [-9.02809985e-03 -1.52560580e-04 -9.99959234e-01 -4.01538162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters 0.014424814141540059 Centerline is valid? [True, True] Translation: X:140.51, Y:-161.33, Z:-4.02 [[ 7.91388351e-01 6.11276694e-01 -6.72913197e-03 1.40507663e+02] [ 6.11256362e-01 -7.91416942e-01 -4.98832912e-03 -1.61327388e+02] [-8.37479838e-03 -1.65519170e-04 -9.99964917e-01 -4.01505477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters 0.014521358638630247 Centerline is valid? [True, True] Translation: X:140.54, Y:-161.31, Z:-4.02 [[ 7.40952045e-01 6.71532367e-01 -5.86071865e-03 1.40538243e+02] [ 6.71513004e-01 -7.40975206e-01 -5.10191601e-03 -1.61314806e+02] [-7.76874895e-03 -1.55273687e-04 -9.99969811e-01 -4.01538928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters 0.014669831080342994 Centerline is valid? [True, True] Translation: X:140.57, Y:-161.30, Z:-4.01 [[ 6.86260342e-01 7.27330792e-01 -6.05496173e-03 1.40566776e+02] [ 7.27304657e-01 -6.86287032e-01 -6.16810350e-03 -1.61299042e+02] [-8.64169331e-03 -1.70877056e-04 -9.99962645e-01 -4.01391771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters 0.015227005150394744 Centerline is valid? [True, True] Translation: X:140.59, Y:-161.28, Z:-4.01 [[ 6.25139915e-01 7.80473290e-01 -7.84413102e-03 1.40594637e+02] [ 7.80417262e-01 -6.25189067e-01 -9.35557975e-03 -1.61281001e+02] [-1.22058451e-02 -2.73148916e-04 -9.99925469e-01 -4.01106586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters 0.016133422570153797 Centerline is valid? [True, True] Translation: X:140.62, Y:-161.26, Z:-4.01 [[ 5.59759525e-01 8.28604086e-01 -9.19467791e-03 1.40620693e+02] [ 8.28503811e-01 -5.59834895e-01 -1.28967615e-02 -1.61260800e+02] [-1.58338108e-02 -3.98740571e-04 -9.99874558e-01 -4.00776221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters 0.017226954373035123 Centerline is valid? [True, True] Translation: X:140.64, Y:-161.24, Z:-4.01 [[ 4.93069355e-01 8.69948457e-01 -8.50254157e-03 1.40642040e+02] [ 8.69833406e-01 -4.93142482e-01 -1.41540978e-02 -1.61237903e+02] [-1.65063000e-02 -4.16842814e-04 -9.99863675e-01 -4.00634451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters 0.01482207718190303 Centerline is valid? [True, True] Translation: X:140.65, Y:-161.21, Z:-4.01 [[ 4.27823977e-01 9.03834719e-01 -7.03180177e-03 1.40654176e+02] [ 9.03724743e-01 -4.27881641e-01 -1.41028774e-02 -1.61209217e+02] [-1.57554491e-02 -3.21264151e-04 -9.99875824e-01 -4.00960960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters 0.013444636619689386 Centerline is valid? [True, True] Translation: X:140.67, Y:-161.18, Z:-4.01 [[ 3.61942443e-01 9.32186310e-01 -5.13332504e-03 1.40666146e+02] [ 9.32099830e-01 -3.61978795e-01 -1.26988126e-02 -1.61181847e+02] [-1.36958141e-02 -1.88532124e-04 -9.99906190e-01 -4.01182302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters 0.012155175122416218 Centerline is valid? [True, True] Translation: X:140.67, Y:-161.15, Z:-4.01 [[ 3.00159238e-01 9.53883929e-01 -3.14349914e-03 1.40670366e+02] [ 9.53831943e-01 -3.00175698e-01 -9.95862632e-03 -1.61152643e+02] [-1.04429757e-02 -9.19620901e-06 -9.99945471e-01 -4.01444726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters 0.012973268488102874 Centerline is valid? [True, True] Translation: X:140.68, Y:-161.12, Z:-4.02 [[ 2.35420743e-01 9.71891411e-01 -2.03939072e-03 1.40675694e+02] [ 9.71851446e-01 -2.35429558e-01 -8.81421972e-03 -1.61124946e+02] [-9.04659729e-03 9.30653355e-05 -9.99959074e-01 -4.01674161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters 0.014090544969801026 Centerline is valid? [True, True] Translation: X:140.68, Y:-161.10, Z:-4.02 [[ 1.63445953e-01 9.86551099e-01 -1.53248198e-03 1.40684223e+02] [ 9.86498249e-01 -1.63453062e-01 -1.02127791e-02 -1.61098745e+02] [-1.03259173e-02 1.57446622e-04 -9.99946674e-01 -4.01633924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters 0.01441035622529697 Centerline is valid? [True, True] Translation: X:140.69, Y:-161.07, Z:-4.02 [[ 8.74199427e-02 9.96171207e-01 -8.24264756e-04 1.40694921e+02] [ 9.96102940e-01 -8.74236030e-02 -1.16638815e-02 -1.61072336e+02] [-1.16912831e-02 1.98603307e-04 -9.99931635e-01 -4.01573493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters 0.015173137860655229 Centerline is valid? [True, True] Translation: X:140.70, Y:-161.05, Z:-4.01 [[ 1.05287612e-02 9.99944566e-01 9.66226405e-05 1.40702295e+02] [ 9.99869701e-01 -1.05267904e-02 -1.22379701e-02 -1.61046654e+02] [-1.22362746e-02 2.25460715e-04 -9.99925109e-01 -4.01470349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters 0.015104262345005746 Centerline is valid? [True, True] Translation: X:140.71, Y:-161.02, Z:-4.01 [[-6.62493453e-02 9.97802606e-01 9.91946274e-04 1.40712398e+02] [ 9.97736781e-01 6.62563709e-02 -1.14633965e-02 -1.61019303e+02] [-1.15039296e-02 2.30258771e-04 -9.99933801e-01 -4.01496132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters 0.014794143340526433 Centerline is valid? [True, True] Translation: X:140.72, Y:-160.99, Z:-4.02 [[-1.44228176e-01 9.89543089e-01 1.64588579e-03 1.40721352e+02] [ 9.89493576e-01 1.44237427e-01 -9.90084582e-03 -1.60990768e+02] [-1.00347119e-02 2.00612486e-04 -9.99949631e-01 -4.01668695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters 0.014469317784982576 Centerline is valid? [True, True] Translation: X:140.73, Y:-160.96, Z:-4.02 [[-2.23161611e-01 9.74779540e-01 1.93502356e-03 1.40728245e+02] [ 9.74748338e-01 2.23169953e-01 -7.80057220e-03 -1.60960901e+02] [-8.03567730e-03 1.45372738e-04 -9.99967703e-01 -4.01801761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters 0.014034415313425566 Centerline is valid? [True, True] Translation: X:140.73, Y:-160.93, Z:-4.02 [[-3.00347838e-01 9.53826823e-01 2.35965255e-03 1.40731178e+02] [ 9.53800527e-01 3.00357082e-01 -7.08360571e-03 -1.60931229e+02] [-7.46527149e-03 1.23092188e-04 -9.99972127e-01 -4.01849055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters 0.013110829224372943 Centerline is valid? [True, True] Translation: X:140.74, Y:-160.90, Z:-4.02 [[-3.77798209e-01 9.25884240e-01 2.62440202e-03 1.40735474e+02] [ 9.25863432e-01 3.77807314e-01 -6.20795830e-03 -1.60898818e+02] [-6.73936903e-03 8.44823353e-05 -9.99977287e-01 -4.01855858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters 0.012294055602054236 Centerline is valid? [True, True] Translation: X:140.74, Y:-160.86, Z:-4.02 [[-4.56459537e-01 8.89738443e-01 3.19298970e-03 1.40739188e+02] [ 8.89717136e-01 4.56470703e-01 -6.15757769e-03 -1.60864744e+02] [-6.93613984e-03 3.01725877e-05 -9.99975944e-01 -4.01796934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters 0.012260755112309256 Centerline is valid? [True, True] Translation: X:140.74, Y:-160.83, Z:-4.02 [[-5.32485197e-01 8.46429813e-01 4.01075792e-03 1.40742375e+02] [ 8.46405288e-01 5.32500301e-01 -6.44350475e-03 -1.60828253e+02] [-7.58970432e-03 -3.63441822e-05 -9.99971197e-01 -4.01772232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters 0.012702846374404957 Centerline is valid? [True, True] Translation: X:140.74, Y:-160.79, Z:-4.02 [[-6.01407108e-01 7.98928409e-01 4.78401032e-03 1.40738436e+02] [ 7.98902048e-01 6.01426130e-01 -6.49061919e-03 -1.60793778e+02] [-8.06276887e-03 -8.15488764e-05 -9.99967492e-01 -4.01720281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters 0.013486289302749935 Centerline is valid? [True, True] Translation: X:140.73, Y:-160.76, Z:-4.02 [[-6.65900442e-01 7.46020224e-01 5.51607814e-03 1.40731125e+02] [ 7.45993029e-01 6.65923276e-01 -6.37116361e-03 -1.60758903e+02] [-8.42630173e-03 -1.27604819e-04 -9.99964490e-01 -4.01728641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters 0.014129354486188498 Centerline is valid? [True, True] Translation: X:140.72, Y:-160.73, Z:-4.02 [[-7.24086105e-01 6.89685747e-01 5.73445749e-03 1.40718002e+02] [ 6.89662542e-01 7.24108797e-01 -5.65933862e-03 -1.60727405e+02] [-8.05553630e-03 -1.43007929e-04 -9.99967543e-01 -4.01752906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters 0.016194501537978672 Centerline is valid? [True, True] Translation: X:141.14, Y:-160.30, Z:-5.03 [[-6.47827749e-01 -7.61763790e-01 5.92752217e-03 1.41144319e+02] [ 7.61734830e-01 -6.47854832e-01 -6.64565585e-03 -1.60301684e+02] [ 8.90259387e-03 2.09959826e-04 9.99960349e-01 -5.02506960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters 0.015883711498034976 Centerline is valid? [True, True] Translation: X:141.11, Y:-160.26, Z:-5.03 [[-6.45707339e-01 -7.63546088e-01 7.70740851e-03 1.41105187e+02] [ 7.63496569e-01 -6.45753282e-01 -8.69991737e-03 -1.60259137e+02] [ 1.16198722e-02 2.66979458e-04 9.99932451e-01 -5.02658705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters 0.01582084905670151 Centerline is valid? [True, True] Translation: X:141.07, Y:-160.22, Z:-5.03 [[-6.45455722e-01 -7.63748552e-01 8.66371430e-03 1.41066390e+02] [ 7.63686074e-01 -6.45513791e-01 -9.77378579e-03 -1.60216180e+02] [ 1.30572618e-02 3.07811991e-04 9.99914703e-01 -5.02741024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters 0.01482810878329954 Centerline is valid? [True, True] Translation: X:141.03, Y:-160.17, Z:-5.03 [[-6.48377269e-01 -7.61272416e-01 8.43950182e-03 1.41029731e+02] [ 7.61212989e-01 -6.48432143e-01 -9.51532095e-03 -1.60171227e+02] [ 1.27161956e-02 2.54740597e-04 9.99919114e-01 -5.02606126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters 0.013891303030008526 Centerline is valid? [True, True] Translation: X:140.99, Y:-160.13, Z:-5.03 [[-6.52464908e-01 -7.57778604e-01 7.81865166e-03 1.40993869e+02] [ 7.57727407e-01 -6.52511729e-01 -8.81020008e-03 -1.60125519e+02] [ 1.17779430e-02 1.76060270e-04 9.99930622e-01 -5.02515889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters 0.012608759954993337 Centerline is valid? [True, True] Translation: X:140.96, Y:-160.08, Z:-5.03 [[-6.60924150e-01 -7.50409971e-01 8.00895683e-03 1.40961941e+02] [ 7.50355767e-01 -6.60972672e-01 -9.01944749e-03 -1.60076407e+02] [ 1.20619849e-02 4.83962823e-05 9.99927251e-01 -5.02521689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters 0.01287933068093791 Centerline is valid? [True, True] Translation: X:140.93, Y:-160.03, Z:-5.03 [[-6.67266649e-01 -7.44770535e-01 8.48943978e-03 1.40928416e+02] [ 7.44709240e-01 -6.67320649e-01 -9.55512205e-03 -1.60028877e+02] [ 1.27815518e-02 -5.36500210e-05 9.99918311e-01 -5.02604881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters 0.014351940220451729 Centerline is valid? [True, True] Translation: X:140.90, Y:-159.98, Z:-5.03 [[-6.75507336e-01 -7.37295655e-01 9.21716369e-03 1.40897204e+02] [ 7.37222780e-01 -6.75570184e-01 -1.03682323e-02 -1.59979023e+02] [ 1.38712936e-02 -2.08713936e-04 9.99903767e-01 -5.02530612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters 0.016270423191699853 Centerline is valid? [True, True] Translation: X:140.86, Y:-159.93, Z:-5.02 [[-6.81507484e-01 -7.31751290e-01 9.35940433e-03 1.40863965e+02] [ 7.31675706e-01 -6.81571673e-01 -1.05221923e-02 -1.59931117e+02] [ 1.40787327e-02 -3.22904053e-04 9.99900838e-01 -5.02434753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters 0.017469413241700968 Centerline is valid? [True, True] Translation: X:140.83, Y:-159.89, Z:-5.02 [[-6.84786613e-01 -7.28688113e-01 8.99606308e-03 1.40828364e+02] [ 7.28618095e-01 -6.84845603e-01 -1.01080363e-02 -1.59885093e+02] [ 1.35265202e-02 -3.67153622e-04 9.99908445e-01 -5.02322695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters 0.01739424211745737 Centerline is valid? [True, True] Translation: X:140.79, Y:-159.84, Z:-5.02 [[-6.85116442e-01 -7.28380496e-01 8.79281339e-03 1.40790924e+02] [ 7.28313664e-01 -6.85172768e-01 -9.87343679e-03 -1.59842242e+02] [ 1.32162151e-02 -3.60527746e-04 9.99912597e-01 -5.02248604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters 0.016362290482606318 Centerline is valid? [True, True] Translation: X:140.75, Y:-159.80, Z:-5.02 [[-6.82493643e-01 -7.30842569e-01 8.45968378e-03 1.40750260e+02] [ 7.30780962e-01 -6.82546006e-01 -9.49391208e-03 -1.59800994e+02] [ 1.27126785e-02 -2.97358790e-04 9.99919146e-01 -5.02190920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters 0.01529025098003712 Centerline is valid? [True, True] Translation: X:140.71, Y:-159.76, Z:-5.02 [[-6.79383233e-01 -7.33738141e-01 8.17088403e-03 1.40709192e+02] [ 7.33680942e-01 -6.79432327e-01 -9.16454981e-03 -1.59760165e+02] [ 1.22759425e-02 -2.31419581e-04 9.99924621e-01 -5.02158340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters 0.013474454248206348 Centerline is valid? [True, True] Translation: X:140.67, Y:-159.72, Z:-5.02 [[-6.72837768e-01 -7.39751500e-01 7.55361407e-03 1.40665609e+02] [ 7.39703051e-01 -6.72880158e-01 -8.46695159e-03 -1.59722194e+02] [ 1.13461172e-02 -1.09453430e-04 9.99935625e-01 -5.02047958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters 0.012726728796940907 Centerline is valid? [True, True] Translation: X:140.62, Y:-159.68, Z:-5.02 [[-6.66543111e-01 -7.45422603e-01 8.08852755e-03 1.40622190e+02] [ 7.45367525e-01 -6.66592187e-01 -9.06140189e-03 -1.59683675e+02] [ 1.21463231e-02 -1.08892475e-05 9.99926231e-01 -5.02012783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters 0.012934153295663539 Centerline is valid? [True, True] Translation: X:140.58, Y:-159.65, Z:-5.02 [[-6.61292081e-01 -7.50086063e-01 7.98010499e-03 1.40578342e+02] [ 7.50032857e-01 -6.61340224e-01 -8.93429831e-03 -1.59646327e+02] [ 1.19790571e-02 7.71602249e-05 9.99928246e-01 -5.02127354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters 0.013478997558912067 Centerline is valid? [True, True] Translation: X:140.54, Y:-159.61, Z:-5.02 [[-6.57679347e-01 -7.53255022e-01 8.04672332e-03 1.40536608e+02] [ 7.53201218e-01 -6.57728556e-01 -9.00400416e-03 -1.59605746e+02] [ 1.20748711e-02 1.39054232e-04 9.99927086e-01 -5.02072046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters 0.014101266300436278 Centerline is valid? [True, True] Translation: X:140.50, Y:-159.56, Z:-5.02 [[-6.55865247e-01 -7.54829172e-01 8.58485806e-03 1.40497080e+02] [ 7.54768141e-01 -6.55921404e-01 -9.60029983e-03 -1.59564402e+02] [ 1.28775785e-02 1.83074339e-04 9.99917064e-01 -5.02155329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters 0.014504118324253771 Centerline is valid? [True, True] Translation: X:140.46, Y:-159.52, Z:-5.02 [[-6.54772714e-01 -7.55770854e-01 9.11640180e-03 1.40457441e+02] [ 7.55702201e-01 -6.54836139e-01 -1.01889403e-02 -1.59521792e+02] [ 1.36702534e-02 2.17844832e-04 9.99906534e-01 -5.02231785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters 0.014537426412036036 Centerline is valid? [True, True] Translation: X:140.42, Y:-159.48, Z:-5.02 [[-6.54879743e-01 -7.55679864e-01 8.97028514e-03 1.40419816e+02] [ 7.55613471e-01 -6.54941140e-01 -1.00192621e-02 -1.59478738e+02] [ 1.34463634e-02 2.16656490e-04 9.99909570e-01 -5.02198122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters 0.014906486200153677 Centerline is valid? [True, True] Translation: X:140.38, Y:-159.44, Z:-5.02 [[-6.54655435e-01 -7.55868477e-01 9.43962317e-03 1.40380632e+02] [ 7.55795057e-01 -6.54723445e-01 -1.05376219e-02 -1.59435339e+02] [ 1.41453988e-02 2.35909097e-04 9.99899921e-01 -5.02308265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters 0.01461722279989937 Centerline is valid? [True, True] Translation: X:140.34, Y:-159.39, Z:-5.02 [[-6.53451600e-01 -7.56901237e-01 1.00759316e-02 1.40343706e+02] [ 7.56817800e-01 -6.53529219e-01 -1.12417751e-02 -1.59389771e+02] [ 1.50938292e-02 2.79688455e-04 9.99886043e-01 -5.02229926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters 0.016697773721911054 Centerline is valid? [True, True] Translation: X:140.30, Y:-159.35, Z:-5.03 [[-6.51996070e-01 -7.58140921e-01 1.11116385e-02 1.40304565e+02] [ 7.58039755e-01 -6.52090657e-01 -1.23897445e-02 -1.59348651e+02] [ 1.66389679e-02 3.44999041e-04 9.99861503e-01 -5.02608058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters 0.015417641211737096 Centerline is valid? [True, True] Translation: X:140.27, Y:-159.30, Z:-5.02 [[-6.50871800e-01 -7.59110863e-01 1.07980167e-02 1.40270609e+02] [ 7.59015563e-01 -6.50961263e-01 -1.20336996e-02 -1.59301274e+02] [ 1.61640026e-02 3.63467019e-04 9.99869288e-01 -5.02271704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters 0.015526287326016509 Centerline is valid? [True, True] Translation: X:140.23, Y:-159.26, Z:-5.02 [[-6.50759696e-01 -7.59209757e-01 1.06001456e-02 1.40232509e+02] [ 7.59118040e-01 -6.50845921e-01 -1.18062964e-02 -1.59257587e+02] [ 1.58625169e-02 3.63699885e-04 9.99874116e-01 -5.02231042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters 0.01611435807434843 Centerline is valid? [True, True] Translation: X:140.20, Y:-159.21, Z:-5.02 [[-6.50740732e-01 -7.59241203e-01 9.44960840e-03 1.40195841e+02] [ 7.59168408e-01 -6.50809256e-01 -1.05185811e-02 -1.59214208e+02] [ 1.41360328e-02 3.28974989e-04 9.99900027e-01 -5.02248167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters 0.015795269983840645 Centerline is valid? [True, True] Translation: X:140.16, Y:-159.17, Z:-5.02 [[-6.52853016e-01 -7.57432970e-01 8.84509046e-03 1.40161505e+02] [ 7.57369094e-01 -6.52912874e-01 -9.84041070e-03 -1.59168180e+02] [ 1.32285249e-02 2.74656347e-04 9.99912462e-01 -5.02289975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters 0.01479820615204945 Centerline is valid? [True, True] Translation: X:140.13, Y:-159.12, Z:-5.02 [[-6.54902780e-01 -7.55657132e-01 9.20040092e-03 1.40128094e+02] [ 7.55587926e-01 -6.54967354e-01 -1.02298812e-02 -1.59120087e+02] [ 1.37562450e-02 2.52134194e-04 9.99905347e-01 -5.02200548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters 0.014915735321437345 Centerline is valid? [True, True] Translation: X:140.09, Y:-159.08, Z:-5.02 [[-6.54868660e-01 -7.55666455e-01 1.07352934e-02 1.40090666e+02] [ 7.55572341e-01 -6.54956578e-01 -1.19297207e-02 -1.59075457e+02] [ 1.60460408e-02 2.98890555e-04 9.99871209e-01 -5.02342247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters 0.015350181555031414 Centerline is valid? [True, True] Translation: X:140.05, Y:-159.03, Z:-5.02 [[-6.53793477e-01 -7.56586441e-01 1.14475733e-02 1.40053362e+02] [ 7.56479687e-01 -6.53893597e-01 -1.27140246e-02 -1.59031007e+02] [ 1.71047536e-02 3.47510320e-04 9.99853643e-01 -5.02398744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters 0.014830747651189179 Centerline is valid? [True, True] Translation: X:140.02, Y:-158.99, Z:-5.02 [[-6.54947854e-01 -7.55600088e-01 1.05743477e-02 1.40017548e+02] [ 7.55508977e-01 -6.55033142e-01 -1.17374748e-02 -1.58985467e+02] [ 1.57953852e-02 3.01580739e-04 9.99875200e-01 -5.02247022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters 0.013896817276800076 Centerline is valid? [True, True] Translation: X:139.98, Y:-158.94, Z:-5.02 [[-6.58642824e-01 -7.52390285e-01 9.92420407e-03 1.39982575e+02] [ 7.52309757e-01 -6.58717552e-01 -1.10097907e-02 -1.58938356e+02] [ 1.48209069e-02 2.14555939e-04 9.99890141e-01 -5.02202695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters 0.013432105975931547 Centerline is valid? [True, True] Translation: X:139.95, Y:-158.89, Z:-5.02 [[-6.61950512e-01 -7.49483811e-01 9.77425056e-03 1.39947211e+02] [ 7.49405468e-01 -6.62022653e-01 -1.08374749e-02 -1.58893127e+02] [ 1.45932873e-02 1.51004769e-04 9.99893501e-01 -5.02282913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters 0.012968219029398207 Centerline is valid? [True, True] Translation: X:139.91, Y:-158.85, Z:-5.02 [[-6.65388590e-01 -7.46438135e-01 9.38807607e-03 1.39912932e+02] [ 7.46365637e-01 -6.65454810e-01 -1.04034797e-02 -1.58845966e+02] [ 1.40128943e-02 8.45807140e-05 9.99901811e-01 -5.02159484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters 0.012888812003800347 Centerline is valid? [True, True] Translation: X:139.88, Y:-158.80, Z:-5.02 [[-6.66113699e-01 -7.45803448e-01 8.35203009e-03 1.39875904e+02] [ 7.45746090e-01 -6.66166055e-01 -9.24965473e-03 -1.58802942e+02] [ 1.24622633e-02 6.71720585e-05 9.99922341e-01 -5.02094814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters 0.012882214428491743 Centerline is valid? [True, True] Translation: X:139.84, Y:-158.76, Z:-5.02 [[-6.65281792e-01 -7.46548825e-01 8.06156880e-03 1.39838058e+02] [ 7.46495510e-01 -6.65330629e-01 -8.92235835e-03 -1.58760539e+02] [ 1.20245848e-02 8.20423597e-05 9.99927699e-01 -5.02002113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters 0.013119357585845582 Centerline is valid? [True, True] Translation: X:139.80, Y:-158.72, Z:-5.02 [[-6.63730962e-01 -7.47933825e-01 7.49688307e-03 1.39798150e+02] [ 7.47887863e-01 -6.63773292e-01 -8.29223949e-03 -1.58719536e+02] [ 1.11782772e-02 1.03011766e-04 9.99937516e-01 -5.01978063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters 0.013119566859113778 Centerline is valid? [True, True] Translation: X:139.76, Y:-158.68, Z:-5.02 [[-6.62682369e-01 -7.48867291e-01 7.06102070e-03 1.39758537e+02] [ 7.48826624e-01 -6.62719976e-01 -7.80513395e-03 -1.58677933e+02] [ 1.05244890e-02 1.15155631e-04 9.99944609e-01 -5.01892081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters 0.01399998169993592 Centerline is valid? [True, True] Translation: X:139.72, Y:-158.64, Z:-5.02 [[-6.61307903e-01 -7.50083312e-01 6.84712613e-03 1.39717305e+02] [ 7.50045182e-01 -6.61343336e-01 -7.56419299e-03 -1.58638277e+02] [ 1.02020762e-02 1.33393361e-04 9.99947949e-01 -5.02017549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters 0.013903508857667467 Centerline is valid? [True, True] Translation: X:139.68, Y:-158.60, Z:-5.02 [[-6.59321233e-01 -7.51823646e-01 7.53112278e-03 1.39677788e+02] [ 7.51777684e-01 -6.59364219e-01 -8.31506554e-03 -1.58595782e+02] [ 1.12172158e-02 1.79430781e-04 9.99937069e-01 -5.01971807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters 0.014226638958715258 Centerline is valid? [True, True] Translation: X:139.64, Y:-158.55, Z:-5.02 [[-6.57666860e-01 -7.53235916e-01 1.04859838e-02 1.39636810e+02] [ 7.53147094e-01 -6.57750387e-01 -1.15707859e-02 -1.58554338e+02] [ 1.56126914e-02 2.87765812e-04 9.99878073e-01 -5.02420529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters 0.014312125040430624 Centerline is valid? [True, True] Translation: X:139.60, Y:-158.51, Z:-5.02 [[-6.58196292e-01 -7.52761220e-01 1.13219684e-02 1.39599111e+02] [ 7.52657721e-01 -6.58293593e-01 -1.24860334e-02 -1.58509770e+02] [ 1.68521810e-02 3.03306087e-04 9.99857946e-01 -5.02393922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters 0.014312125040430624 Centerline is valid? [True, True] Translation: X:139.56, Y:-158.47, Z:-5.02 [[-6.58412938e-01 -7.52571681e-01 1.13255624e-02 1.39560362e+02] [ 7.52468210e-01 -6.58510268e-01 -1.24827735e-02 -1.58467146e+02] [ 1.68521810e-02 3.03306087e-04 9.99857946e-01 -5.02393940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters 0.014321230874157176 Centerline is valid? [True, True] Translation: X:139.52, Y:-158.42, Z:-5.02 [[-6.59001812e-01 -7.52059353e-01 1.11059292e-02 1.39521195e+02] [ 7.51959900e-01 -6.59095324e-01 -1.22336475e-02 -1.58423773e+02] [ 1.65202950e-02 2.89217559e-04 9.99863489e-01 -5.02394555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters 0.014040897251176288 Centerline is valid? [True, True] Translation: X:139.48, Y:-158.38, Z:-5.02 [[-6.60754289e-01 -7.50526884e-01 1.06379285e-02 1.39483149e+02] [ 7.50435544e-01 -6.60839872e-01 -1.17114662e-02 -1.58379984e+02] [ 1.58197375e-02 2.44678139e-04 9.99874830e-01 -5.02343992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters 0.013500823598276371 Centerline is valid? [True, True] Translation: X:139.45, Y:-158.34, Z:-5.02 [[-6.63988630e-01 -7.47673391e-01 1.01783451e-02 1.39446365e+02] [ 7.47589531e-01 -6.64066616e-01 -1.11992127e-02 -1.58335325e+02] [ 1.51324525e-02 1.73074347e-04 9.99885483e-01 -5.02278521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters 0.012913502277983003 Centerline is valid? [True, True] Translation: X:139.41, Y:-158.29, Z:-5.02 [[-6.69433349e-01 -7.42800464e-01 1.03180032e-02 1.39411506e+02] [ 7.42713798e-01 -6.69512857e-01 -1.13467432e-02 -1.58289642e+02] [ 1.53364019e-02 6.74351049e-05 9.99882388e-01 -5.02331265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters 0.012568164961929884 Centerline is valid? [True, True] Translation: X:139.37, Y:-158.25, Z:-5.02 [[-6.72444259e-01 -7.40088522e-01 9.36478076e-03 1.39373333e+02] [ 7.40016947e-01 -6.72509465e-01 -1.02926204e-02 -1.58245740e+02] [ 1.39153539e-02 8.88294718e-06 9.99903177e-01 -5.02042679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters 0.012687863160998956 Centerline is valid? [True, True] Translation: X:139.34, Y:-158.20, Z:-5.02 [[-6.74502360e-01 -7.38214281e-01 9.28667892e-03 1.39335642e+02] [ 7.38143798e-01 -6.74566286e-01 -1.02009487e-02 -1.58201972e+02] [ 1.37949665e-02 -2.56594920e-05 9.99904845e-01 -5.01940092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters 0.01291263401069797 Centerline is valid? [True, True] Translation: X:139.30, Y:-158.16, Z:-5.02 [[-6.77307128e-01 -7.35643974e-01 9.11033870e-03 1.39296667e+02] [ 7.35575985e-01 -6.77368392e-01 -1.00015395e-02 -1.58158641e+02] [ 1.35286277e-02 -7.27676204e-05 9.99908481e-01 -5.01884462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters 0.012878270416129399 Centerline is valid? [True, True] Translation: X:139.25, Y:-158.12, Z:-5.02 [[-6.77827990e-01 -7.35159293e-01 9.48843050e-03 1.39254391e+02] [ 7.35085581e-01 -6.77894393e-01 -1.04106153e-02 -1.58118302e+02] [ 1.40856144e-02 -8.17979726e-05 9.99900790e-01 -5.01941605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters 0.013025293651293785 Centerline is valid? [True, True] Translation: X:139.21, Y:-158.08, Z:-5.02 [[-6.77254715e-01 -7.35679894e-01 1.00570708e-02 1.39213989e+02] [ 7.35597221e-01 -6.77329379e-01 -1.10290525e-02 -1.58078634e+02] [ 1.49258017e-02 -7.15244378e-05 9.99888602e-01 -5.02079792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters 0.012760912585116475 Centerline is valid? [True, True] Translation: X:139.17, Y:-158.04, Z:-5.02 [[-6.77009881e-01 -7.35902371e-01 1.02626291e-02 1.39173181e+02] [ 7.35816418e-01 -6.77087658e-01 -1.12473218e-02 -1.58038139e+02] [ 1.52256303e-02 -6.31369735e-05 9.99884081e-01 -5.01955826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters 0.012588943491716579 Centerline is valid? [True, True] Translation: X:139.13, Y:-158.00, Z:-5.02 [[-6.76541346e-01 -7.36346789e-01 9.23109159e-03 1.39131592e+02] [ 7.36277377e-01 -6.76604319e-01 -1.01104030e-02 -1.57998739e+02] [ 1.36905592e-02 -4.34617400e-05 9.99906279e-01 -5.01871433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters 0.012498274496222884 Centerline is valid? [True, True] Translation: X:139.09, Y:-157.96, Z:-5.02 [[-6.76047272e-01 -7.36809543e-01 8.47245884e-03 1.39091367e+02] [ 7.36751182e-01 -6.76100359e-01 -9.27359142e-03 -1.57957720e+02] [ 1.25611031e-02 -2.72921109e-05 9.99921106e-01 -5.01744227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters 0.01221136406222002 Centerline is valid? [True, True] Translation: X:139.05, Y:-157.92, Z:-5.02 [[-6.74072281e-01 -7.38626305e-01 7.59874983e-03 1.39048585e+02] [ 7.38579525e-01 -6.74115110e-01 -8.31282579e-03 -1.57917510e+02] [ 1.12625039e-02 8.83559664e-06 9.99936576e-01 -5.01588684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters 0.012223579190153357 Centerline is valid? [True, True] Translation: X:139.01, Y:-157.88, Z:-5.02 [[-6.71968471e-01 -7.40548367e-01 6.81843657e-03 1.39007032e+02] [ 7.40510848e-01 -6.72003062e-01 -7.45444141e-03 -1.57878172e+02] [ 1.01023847e-02 3.99766496e-05 9.99948969e-01 -5.01570718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters 0.012449969174380064 Centerline is valid? [True, True] Translation: X:138.97, Y:-157.84, Z:-5.01 [[-6.69468844e-01 -7.42813031e-01 6.34571918e-03 1.38965112e+02] [ 7.42780678e-01 -6.69498914e-01 -6.93320760e-03 -1.57838382e+02] [ 9.39852905e-03 7.19111114e-05 9.99955830e-01 -5.01487896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters 0.013098958477273197 Centerline is valid? [True, True] Translation: X:138.92, Y:-157.80, Z:-5.02 [[-6.65841717e-01 -7.46065523e-01 6.40657295e-03 1.38921491e+02] [ 7.46032733e-01 -6.65872526e-01 -6.99571100e-03 -1.57800024e+02] [ 9.48521970e-03 1.21476913e-04 9.99955007e-01 -5.01552528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters 0.013914218692378794 Centerline is valid? [True, True] Translation: X:138.88, Y:-157.76, Z:-5.02 [[-6.63786897e-01 -7.47888053e-01 7.10047253e-03 1.38879155e+02] [ 7.47847925e-01 -6.63824851e-01 -7.74906156e-03 -1.57759933e+02] [ 1.05089007e-02 1.66348123e-04 9.99944766e-01 -5.01706300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters 0.01449231064269376 Centerline is valid? [True, True] Translation: X:138.84, Y:-157.72, Z:-5.02 [[-6.62214254e-01 -7.49259510e-01 9.08123313e-03 1.38836818e+02] [ 7.49194074e-01 -6.62276473e-01 -9.90518852e-03 -1.57720211e+02] [ 1.34358438e-02 2.44249019e-04 9.99909705e-01 -5.01996588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters 0.014309076255679478 Centerline is valid? [True, True] Translation: X:138.80, Y:-157.68, Z:-5.02 [[-6.64612413e-01 -7.47126325e-01 9.62261986e-03 1.38798607e+02] [ 7.47052712e-01 -6.64682035e-01 -1.04898972e-02 -1.57678047e+02] [ 1.42332609e-02 2.16888406e-04 9.99898679e-01 -5.02028649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters 0.012542158856030822 Centerline is valid? [True, True] Translation: X:138.77, Y:-157.63, Z:-5.02 [[-6.71819451e-01 -7.40663606e-01 8.72053307e-03 1.38765058e+02] [ 7.40602670e-01 -6.71876043e-01 -9.50101402e-03 -1.57630354e+02] [ 1.28961726e-02 7.54840455e-05 9.99916838e-01 -5.01836671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters 0.012748623672613821 Centerline is valid? [True, True] Translation: X:138.73, Y:-157.58, Z:-5.02 [[-6.80946389e-01 -7.32297519e-01 7.23599761e-03 1.38733394e+02] [ 7.32255138e-01 -6.80984831e-01 -7.87868891e-03 -1.57581776e+02] [ 1.06971489e-02 -6.63683390e-05 9.99942782e-01 -5.01564934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters 0.014312372958831704 Centerline is valid? [True, True] Translation: X:138.70, Y:-157.53, Z:-5.01 [[-6.89161028e-01 -7.24578238e-01 6.59196411e-03 1.38699165e+02] [ 7.24542751e-01 -6.89192534e-01 -7.17312242e-03 -1.57534846e+02] [ 9.74062085e-03 -1.67276612e-04 9.99952545e-01 -5.01434754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters 0.015323051041884228 Centerline is valid? [True, True] Translation: X:138.66, Y:-157.49, Z:-5.01 [[-6.93686282e-01 -7.20247315e-01 6.56867479e-03 1.38662482e+02] [ 7.20211912e-01 -6.93717344e-01 -7.14476639e-03 -1.57490720e+02] [ 9.70280245e-03 -2.25388595e-04 9.99952901e-01 -5.01343561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters 0.01714763667123123 Centerline is valid? [True, True] Translation: X:138.63, Y:-157.45, Z:-5.01 [[-6.97831207e-01 -7.16215013e-01 8.22568078e-03 1.38625884e+02] [ 7.16159259e-01 -6.97879598e-01 -8.94328602e-03 -1.57446199e+02] [ 1.21458505e-02 -3.50006620e-04 9.99926175e-01 -5.01347194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters 0.01804493517804284 Centerline is valid? [True, True] Translation: X:138.59, Y:-157.40, Z:-5.01 [[-6.98867334e-01 -7.15196491e-01 8.85605231e-03 1.38585807e+02] [ 7.15131852e-01 -6.98923334e-01 -9.62328564e-03 -1.57404006e+02] [ 1.30722417e-02 -3.92154888e-04 9.99914478e-01 -5.01457496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters 0.018060198641183134 Centerline is valid? [True, True] Translation: X:138.54, Y:-157.36, Z:-5.01 [[-6.98027857e-01 -7.16015482e-01 8.88482650e-03 1.38543557e+02] [ 7.15950559e-01 -6.98084300e-01 -9.64924262e-03 -1.57364270e+02] [ 1.31113650e-02 -3.74343648e-04 9.99913972e-01 -5.01431385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters 0.015914020860414196 Centerline is valid? [True, True] Translation: X:138.50, Y:-157.33, Z:-5.01 [[-6.94738024e-01 -7.19224848e-01 7.39567223e-03 1.38498959e+02] [ 7.19180097e-01 -6.94777340e-01 -8.02720462e-03 -1.57326776e+02] [ 1.09117105e-02 -2.57984005e-04 9.99940432e-01 -5.01119991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters 0.013027665851447373 Centerline is valid? [True, True] Translation: X:138.45, Y:-157.29, Z:-5.01 [[-6.85472026e-01 -7.28062727e-01 7.26405748e-03 1.38448386e+02] [ 7.28020093e-01 -6.85510505e-01 -7.87978516e-03 -1.57294527e+02] [ 1.07165656e-02 -1.12992493e-04 9.99942570e-01 -5.01025594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters 0.01236330382172427 Centerline is valid? [True, True] Translation: X:138.40, Y:-157.26, Z:-5.01 [[-6.79465024e-01 -7.33667104e-01 7.73706319e-03 1.38402963e+02] [ 7.33619150e-01 -6.79509073e-01 -8.38823817e-03 -1.57258369e+02] [ 1.14115790e-02 -2.34567264e-05 9.99934886e-01 -5.01145400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters 0.013478539793519649 Centerline is valid? [True, True] Translation: X:138.35, Y:-157.23, Z:-5.01 [[-6.70576818e-01 -7.41801844e-01 7.53360511e-03 1.38353133e+02] [ 7.41756923e-01 -6.70619125e-01 -8.16426566e-03 -1.57227415e+02] [ 1.11084470e-02 1.13336463e-04 9.99938293e-01 -5.01212773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters 0.01445411404470221 Centerline is valid? [True, True] Translation: X:138.31, Y:-157.19, Z:-5.01 [[-6.64296038e-01 -7.47434361e-01 7.25603582e-03 1.38306902e+02] [ 7.47393070e-01 -6.64335635e-01 -7.85896317e-03 -1.57191085e+02] [ 1.06945023e-02 2.02432793e-04 9.99942792e-01 -5.00961734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters 0.01583399584552704 Centerline is valid? [True, True] Translation: X:138.26, Y:-157.15, Z:-5.01 [[-6.61941746e-01 -7.49514775e-01 7.79280264e-03 1.38263037e+02] [ 7.49467337e-01 -6.61987566e-01 -8.43650541e-03 -1.57154717e+02] [ 1.14820239e-02 2.55975921e-04 9.99934047e-01 -5.01089011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters 0.015302584137388673 Centerline is valid? [True, True] Translation: X:138.22, Y:-157.11, Z:-5.01 [[-6.63951175e-01 -7.47737670e-01 7.56402434e-03 1.38222050e+02] [ 7.47692911e-01 -6.63994223e-01 -8.18433476e-03 -1.57113673e+02] [ 1.11422039e-02 2.21568699e-04 9.99937899e-01 -5.01061202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters 0.014978398803344905 Centerline is valid? [True, True] Translation: X:138.18, Y:-157.07, Z:-5.01 [[-6.65686454e-01 -7.46189016e-01 7.96852717e-03 1.38182466e+02] [ 7.46139289e-01 -6.65734113e-01 -8.61702512e-03 -1.57071713e+02] [ 1.17348499e-02 2.09394300e-04 9.99931122e-01 -5.01131212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters 0.014674140242128677 Centerline is valid? [True, True] Translation: X:138.14, Y:-157.03, Z:-5.01 [[-6.67063132e-01 -7.44949620e-01 8.76594371e-03 1.38142813e+02] [ 7.44889405e-01 -6.67120693e-01 -9.47391763e-03 -1.57029757e+02] [ 1.29055338e-02 2.09957430e-04 9.99916698e-01 -5.01248632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters 0.014037142251044438 Centerline is valid? [True, True] Translation: X:138.10, Y:-156.99, Z:-5.01 [[-6.68355222e-01 -7.43766965e-01 1.05829212e-02 1.38104629e+02] [ 7.43679161e-01 -6.68438964e-01 -1.14305227e-02 -1.56986954e+02] [ 1.55756820e-02 2.30648459e-04 9.99878665e-01 -5.01380676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters 0.014859434819170752 Centerline is valid? [True, True] Translation: X:138.07, Y:-156.95, Z:-5.02 [[-6.68657977e-01 -7.43481994e-01 1.14470405e-02 1.38065430e+02] [ 7.43379344e-01 -6.68755907e-01 -1.23566922e-02 -1.56946039e+02] [ 1.68422541e-02 2.47092695e-04 9.99858129e-01 -5.01610121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters 0.013675806100272506 Centerline is valid? [True, True] Translation: X:138.03, Y:-156.90, Z:-5.01 [[-6.69338792e-01 -7.42869497e-01 1.14233043e-02 1.38029358e+02] [ 7.42767315e-01 -6.69436221e-01 -1.23232319e-02 -1.56901806e+02] [ 1.68017267e-02 2.36439863e-04 9.99858813e-01 -5.01312435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters 0.01327254902597525 Centerline is valid? [True, True] Translation: X:137.99, Y:-156.86, Z:-5.01 [[-6.70855836e-01 -7.41512958e-01 1.05347464e-02 1.37991826e+02] [ 7.41425988e-01 -6.70938520e-01 -1.13581712e-02 -1.56857494e+02] [ 1.54903983e-02 1.91039314e-04 9.99879998e-01 -5.01145062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters 0.012382662073885534 Centerline is valid? [True, True] Translation: X:137.96, Y:-156.81, Z:-5.01 [[-6.76778846e-01 -7.36127899e-01 9.27954041e-03 1.37958638e+02] [ 7.36059988e-01 -6.76842457e-01 -9.99906354e-03 -1.56809265e+02] [ 1.36413766e-02 6.31437293e-05 9.99906950e-01 -5.00966468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters 0.012324005714964063 Centerline is valid? [True, True] Translation: X:137.92, Y:-156.77, Z:-5.01 [[-6.80638338e-01 -7.32561367e-01 9.23566901e-03 1.37923732e+02] [ 7.32493856e-01 -6.80700995e-01 -9.94518524e-03 -1.56765042e+02] [ 1.35721876e-02 -4.00354808e-06 9.99907894e-01 -5.00993981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters 0.012742758746473314 Centerline is valid? [True, True] Translation: X:137.89, Y:-156.72, Z:-5.01 [[-6.86015955e-01 -7.27520660e-01 9.78763480e-03 1.37889650e+02] [ 7.27444407e-01 -6.86085766e-01 -1.05336300e-02 -1.56717609e+02] [ 1.43785904e-02 -1.06278083e-04 9.99896617e-01 -5.00965552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters 0.014303351570732961 Centerline is valid? [True, True] Translation: X:137.86, Y:-156.67, Z:-5.01 [[-6.91714708e-01 -7.22096777e-01 1.03444353e-02 1.37856220e+02] [ 7.22011083e-01 -6.91792016e-01 -1.11266721e-02 -1.56668962e+02] [ 1.51907318e-02 -2.27685789e-04 9.99884588e-01 -5.00961053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters 0.016449918552020635 Centerline is valid? [True, True] Translation: X:137.82, Y:-156.62, Z:-5.01 [[-6.96397766e-01 -7.17579584e-01 1.04734082e-02 1.37823272e+02] [ 7.17491317e-01 -6.96476442e-01 -1.12595058e-02 -1.56622257e+02] [ 1.53740736e-02 -3.26515287e-04 9.99881759e-01 -5.01113638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters 0.01766840851830244 Centerline is valid? [True, True] Translation: X:137.79, Y:-156.58, Z:-5.01 [[-6.98636206e-01 -7.15400915e-01 1.04394193e-02 1.37787322e+02] [ 7.15313068e-01 -6.98714100e-01 -1.12169597e-02 -1.56575930e+02] [ 1.53187927e-02 -3.69121106e-04 9.99882592e-01 -5.01105177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters 0.018010433788058104 Centerline is valid? [True, True] Translation: X:137.75, Y:-156.53, Z:-5.01 [[-6.99121181e-01 -7.14927678e-01 1.03918249e-02 1.37750868e+02] [ 7.14840680e-01 -6.99198310e-01 -1.11591457e-02 -1.56531740e+02] [ 1.52439286e-02 -3.73095940e-04 9.99883735e-01 -5.01118558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters 0.017040751986414457 Centerline is valid? [True, True] Translation: X:137.71, Y:-156.49, Z:-5.01 [[-6.96099608e-01 -7.17870085e-01 1.03863965e-02 1.37712754e+02] [ 7.17783603e-01 -6.96177024e-01 -1.11467544e-02 -1.56489501e+02] [ 1.52326922e-02 -3.04066235e-04 9.99883930e-01 -5.01199027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters 0.014632185939530192 Centerline is valid? [True, True] Translation: X:137.67, Y:-156.45, Z:-5.01 [[-6.91306245e-01 -7.22487441e-01 1.03717600e-02 1.37670622e+02] [ 7.22401819e-01 -6.91384017e-01 -1.11244400e-02 -1.56450366e+02] [ 1.52081373e-02 -1.97816551e-04 9.99884330e-01 -5.01184671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters 0.012273727114240279 Centerline is valid? [True, True] Translation: X:137.62, Y:-156.41, Z:-5.01 [[-6.80178540e-01 -7.32983842e-01 9.58332912e-03 1.37624116e+02] [ 7.32911845e-01 -6.80246048e-01 -1.02733494e-02 -1.56413879e+02] [ 1.40492209e-02 3.60235989e-05 9.99901304e-01 -5.00934982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters 0.014235376387831143 Centerline is valid? [True, True] Translation: X:137.58, Y:-156.38, Z:-5.01 [[-6.68872274e-01 -7.43318446e-01 9.35780019e-03 1.37579106e+02] [ 7.43250851e-01 -6.68937685e-01 -1.00273166e-02 -1.56377016e+02] [ 1.37132746e-02 2.48198916e-04 9.99905938e-01 -5.00890260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters 0.018373813144623434 Centerline is valid? [True, True] Translation: X:137.54, Y:-156.34, Z:-5.01 [[-6.62011804e-01 -7.49453136e-01 7.76969055e-03 1.37535482e+02] [ 7.49407014e-01 -6.62057322e-01 -8.32046401e-03 -1.56340369e+02] [ 1.13797784e-02 3.14415204e-04 9.99935199e-01 -5.00827251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters 0.019495553398831193 Centerline is valid? [True, True] Translation: X:137.50, Y:-156.30, Z:-5.01 [[-6.60482396e-01 -7.50808929e-01 6.99686420e-03 1.37495770e+02] [ 7.50771643e-01 -6.60519385e-01 -7.48882275e-03 -1.56297896e+02] [ 1.02442394e-02 3.06811639e-04 9.99947479e-01 -5.00731769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters 0.02005999537810422 Centerline is valid? [True, True] Translation: X:137.46, Y:-156.25, Z:-5.01 [[-6.61265627e-01 -7.50119586e-01 6.95538688e-03 1.37459458e+02] [ 7.50082750e-01 -6.61302139e-01 -7.43974830e-03 -1.56254936e+02] [ 1.01803131e-02 2.97465889e-04 9.99948135e-01 -5.00794136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters 0.01935363379874384 Centerline is valid? [True, True] Translation: X:137.42, Y:-156.21, Z:-5.01 [[-6.63316569e-01 -7.48295108e-01 8.09696667e-03 1.37423882e+02] [ 7.48245112e-01 -6.63365910e-01 -8.65575328e-03 -1.56209401e+02] [ 1.18483095e-02 3.17011170e-04 9.99929756e-01 -5.00985935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters 0.018013015509673738 Centerline is valid? [True, True] Translation: X:137.39, Y:-156.16, Z:-5.01 [[-6.66757609e-01 -7.45207653e-01 9.99221751e-03 1.37390142e+02] [ 7.45131228e-01 -6.66832398e-01 -1.06774005e-02 -1.56161781e+02] [ 1.46200149e-02 3.26275265e-04 9.99893069e-01 -5.01251862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters 0.01392991013506701 Centerline is valid? [True, True] Translation: X:137.36, Y:-156.11, Z:-5.01 [[-6.71505075e-01 -7.40922103e-01 1.07410816e-02 1.37361020e+02] [ 7.40833307e-01 -6.71590927e-01 -1.14733803e-02 -1.56108909e+02] [ 1.57144940e-02 2.52917913e-04 9.99876488e-01 -5.00997066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters 0.012832242884327471 Centerline is valid? [True, True] Translation: X:137.33, Y:-156.06, Z:-5.01 [[-6.77112129e-01 -7.35807666e-01 1.03074659e-02 1.37329531e+02] [ 7.35725389e-01 -6.77190565e-01 -1.10041585e-02 -1.56058514e+02] [ 1.50770628e-02 1.32415187e-04 9.99886326e-01 -5.00986052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters 0.012537316499736044 Centerline is valid? [True, True] Translation: X:137.30, Y:-156.01, Z:-5.01 [[-6.81018043e-01 -7.32193753e-01 1.03311482e-02 1.37295671e+02] [ 7.32110774e-01 -6.81096399e-01 -1.10231951e-02 -1.56011245e+02] [ 1.51076224e-02 5.65501349e-05 9.99885872e-01 -5.00985418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters 0.012558288976940116 Centerline is valid? [True, True] Translation: X:137.26, Y:-155.96, Z:-5.01 [[-6.85359506e-01 -7.28142087e-01 9.56288871e-03 1.37263898e+02] [ 7.28070684e-01 -6.85426218e-01 -1.01969818e-02 -1.55962344e+02] [ 1.39795062e-02 -2.61394736e-05 9.99902282e-01 -5.00883487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters 0.012615310494081548 Centerline is valid? [True, True] Translation: X:137.23, Y:-155.92, Z:-5.01 [[-6.86509763e-01 -7.27059762e-01 9.40470102e-03 1.37228688e+02] [ 7.26990679e-01 -6.86574177e-01 -1.00225621e-02 -1.55916340e+02] [ 1.37440265e-02 -4.34567430e-05 9.99905546e-01 -5.00757557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters 0.012538225409737563 Centerline is valid? [True, True] Translation: X:137.19, Y:-155.88, Z:-5.01 [[-6.81354295e-01 -7.31895776e-01 9.21399673e-03 1.37185814e+02] [ 7.31829981e-01 -6.81416591e-01 -9.81369397e-03 -1.55876662e+02] [ 1.34611714e-02 5.64765223e-05 9.99909393e-01 -5.00754273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters 0.013447010356526085 Centerline is valid? [True, True] Translation: X:137.14, Y:-155.84, Z:-5.01 [[-6.75522702e-01 -7.37285301e-01 8.91430268e-03 1.37142985e+02] [ 7.37224233e-01 -6.75581497e-01 -9.49053530e-03 -1.55837982e+02] [ 1.30195701e-02 1.60767913e-04 9.99915229e-01 -5.00750563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters 0.01437198936009519 Centerline is valid? [True, True] Translation: X:137.10, Y:-155.80, Z:-5.01 [[-6.70299849e-01 -7.42043081e-01 8.37726956e-03 1.37099848e+02] [ 7.41989582e-01 -6.70352153e-01 -8.91359687e-03 -1.55799030e+02] [ 1.22299936e-02 2.41064093e-04 9.99925182e-01 -5.00618082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters 0.015306015563539157 Centerline is valid? [True, True] Translation: X:137.06, Y:-155.76, Z:-5.01 [[-6.69554544e-01 -7.42709800e-01 8.88059014e-03 1.37057206e+02] [ 7.42649812e-01 -6.69613380e-01 -9.44341123e-03 -1.55761090e+02] [ 1.29602761e-02 2.72289698e-04 9.99915975e-01 -5.00814280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters 0.014401780837343616 Centerline is valid? [True, True] Translation: X:137.02, Y:-155.72, Z:-5.01 [[-6.69801152e-01 -7.42483643e-01 9.18999806e-03 1.37017100e+02] [ 7.42419458e-01 -6.69864136e-01 -9.76668395e-03 -1.55718737e+02] [ 1.34076532e-02 2.81097214e-04 9.99910074e-01 -5.00775507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters 0.014207660140090181 Centerline is valid? [True, True] Translation: X:136.98, Y:-155.68, Z:-5.01 [[-6.72023539e-01 -7.40482140e-01 8.40022192e-03 1.36977773e+02] [ 7.40428419e-01 -6.72076000e-01 -8.92219059e-03 -1.55676611e+02] [ 1.22523103e-02 2.23840947e-04 9.99924913e-01 -5.00722918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters 0.013038867079214856 Centerline is valid? [True, True] Translation: X:136.94, Y:-155.63, Z:-5.01 [[-6.76536020e-01 -7.36370093e-01 7.62231808e-03 1.36940978e+02] [ 7.36325652e-01 -6.76578944e-01 -8.09119597e-03 -1.55631651e+02] [ 1.11152146e-02 1.38522805e-04 9.99938215e-01 -5.00648266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters 0.012447528022074623 Centerline is valid? [True, True] Translation: X:136.90, Y:-155.59, Z:-5.01 [[-6.80986942e-01 -7.32254316e-01 7.77185009e-03 1.36902999e+02] [ 7.32207897e-01 -6.81031285e-01 -8.24526439e-03 -1.55587424e+02] [ 1.13305035e-02 7.56926270e-05 9.99935805e-01 -5.00786805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters 0.012424648130182544 Centerline is valid? [True, True] Translation: X:136.87, Y:-155.54, Z:-5.01 [[-6.88823153e-01 -7.24879110e-01 8.54044247e-03 1.36868815e+02] [ 7.24822547e-01 -6.88876094e-01 -9.05548051e-03 -1.55540150e+02] [ 1.24474353e-02 -4.73193696e-05 9.99922527e-01 -5.00846014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters 0.012928006856477077 Centerline is valid? [True, True] Translation: X:136.83, Y:-155.50, Z:-5.01 [[-6.92727154e-01 -7.21149946e-01 8.47618668e-03 1.36831143e+02] [ 7.21094013e-01 -6.92779001e-01 -8.98226573e-03 -1.55495557e+02] [ 1.23496846e-02 -1.10131915e-04 9.99923734e-01 -5.00795266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters 0.013288745934515771 Centerline is valid? [True, True] Translation: X:136.79, Y:-155.45, Z:-5.01 [[-6.94621607e-01 -7.19324154e-01 8.57818519e-03 1.36791281e+02] [ 7.19266791e-01 -6.94674558e-01 -9.08522592e-03 -1.55453120e+02] [ 1.24942695e-02 -1.40790495e-04 9.99921934e-01 -5.00840785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters 0.013345754362417259 Centerline is valid? [True, True] Translation: X:136.75, Y:-155.41, Z:-5.01 [[-6.94220896e-01 -7.19699472e-01 9.48772477e-03 1.36750830e+02] [ 7.19629422e-01 -6.94285712e-01 -1.00422141e-02 -1.55412964e+02] [ 1.38145679e-02 -1.43868961e-04 9.99904564e-01 -5.01005395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters 0.01324528879059961 Centerline is valid? [True, True] Translation: X:136.71, Y:-155.37, Z:-5.01 [[-6.92285623e-01 -7.21561834e-01 9.44121783e-03 1.36709443e+02] [ 7.21492708e-01 -6.92349990e-01 -9.98817877e-03 -1.55374414e+02] [ 1.37437157e-02 -1.02902735e-04 9.99905545e-01 -5.01132988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters 0.012442093968435743 Centerline is valid? [True, True] Translation: X:136.66, Y:-155.34, Z:-5.01 [[-6.88973892e-01 -7.24729435e-01 9.06761536e-03 1.36664909e+02] [ 7.24666017e-01 -6.89033558e-01 -9.58748286e-03 -1.55336464e+02] [ 1.31962223e-02 -3.45326747e-05 9.99912926e-01 -5.00999894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters 0.012407893688158969 Centerline is valid? [True, True] Translation: X:136.62, Y:-155.30, Z:-5.01 [[-6.86083270e-01 -7.27470517e-01 8.74037401e-03 1.36622808e+02] [ 7.27411889e-01 -6.86138941e-01 -9.23564991e-03 -1.55297835e+02] [ 1.27157740e-02 2.14270824e-05 9.99919151e-01 -5.00964159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters 0.012630738253828688 Centerline is valid? [True, True] Translation: X:136.58, Y:-155.26, Z:-5.01 [[-6.82524417e-01 -7.30820483e-01 7.86396422e-03 1.36579915e+02] [ 7.30773305e-01 -6.82569715e-01 -8.30430933e-03 -1.55259310e+02] [ 1.14366632e-02 7.88812343e-05 9.99934596e-01 -5.00824562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters 0.012779077367516888 Centerline is valid? [True, True] Translation: X:136.54, Y:-155.22, Z:-5.01 [[-6.80872323e-01 -7.32374718e-01 6.33657280e-03 1.36538167e+02] [ 7.32344190e-01 -6.80901802e-01 -6.68756542e-03 -1.55219414e+02] [ 9.21238768e-03 8.71740749e-05 9.99957561e-01 -5.00688466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters 0.013419651913418493 Centerline is valid? [True, True] Translation: X:136.50, Y:-155.18, Z:-5.01 [[-6.80721344e-01 -7.32517946e-01 5.99259841e-03 1.36497264e+02] [ 7.32490684e-01 -6.80747715e-01 -6.32030719e-03 -1.55180268e+02] [ 8.70918611e-03 8.71545008e-05 9.99962071e-01 -5.00854816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters 0.012811613749665206 Centerline is valid? [True, True] Translation: X:136.46, Y:-155.14, Z:-5.01 [[-6.81266642e-01 -7.32018621e-01 4.94980135e-03 1.36458889e+02] [ 7.32000032e-01 -6.81284620e-01 -5.21717343e-03 -1.55137586e+02] [ 7.19129163e-03 6.89685236e-05 9.99974140e-01 -5.00616466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters 0.012699656192170913 Centerline is valid? [True, True] Translation: X:136.42, Y:-155.09, Z:-5.01 [[-6.82628786e-01 -7.30750943e-01 4.58269053e-03 1.36420256e+02] [ 7.30735001e-01 -6.82644166e-01 -4.82716779e-03 -1.55094735e+02] [ 6.65580437e-03 5.35686825e-05 9.99977849e-01 -5.00553301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters 0.012544569530724494 Centerline is valid? [True, True] Translation: X:136.38, Y:-155.05, Z:-5.01 [[-6.83847399e-01 -7.29603343e-01 5.63008416e-03 1.36381796e+02] [ 7.29579273e-01 -6.83870572e-01 -5.92664800e-03 -1.55052117e+02] [ 8.17435106e-03 5.46698910e-05 9.99966588e-01 -5.00685525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters 0.012713742623280705 Centerline is valid? [True, True] Translation: X:136.34, Y:-155.01, Z:-5.01 [[-6.84108688e-01 -7.29343891e-01 7.26584538e-03 1.36341370e+02] [ 7.29303833e-01 -6.84147268e-01 -7.64428513e-03 -1.55009936e+02] [ 1.05462209e-02 6.94870112e-05 9.99944385e-01 -5.00973914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters 0.01279012230238152 Centerline is valid? [True, True] Translation: X:136.30, Y:-154.97, Z:-5.01 [[-6.83789464e-01 -7.29639537e-01 7.62337945e-03 1.36301555e+02] [ 7.29595514e-01 -6.83831953e-01 -8.01534886e-03 -1.54968268e+02] [ 1.10614259e-02 8.11723530e-05 9.99938817e-01 -5.01053232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters 0.012813334213386183 Centerline is valid? [True, True] Translation: X:136.26, Y:-154.93, Z:-5.01 [[-6.83783295e-01 -7.29646983e-01 7.46224798e-03 1.36262506e+02] [ 7.29604856e-01 -6.83824007e-01 -7.84098053e-03 -1.54925938e+02] [ 1.08240121e-02 8.29608598e-05 9.99941415e-01 -5.01032516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters 0.012899639894207319 Centerline is valid? [True, True] Translation: X:136.22, Y:-154.88, Z:-5.01 [[-6.83828951e-01 -7.29609845e-01 6.88767969e-03 1.36224787e+02] [ 7.29573989e-01 -6.83863632e-01 -7.23375023e-03 -1.54883673e+02] [ 9.98804903e-03 7.84241201e-05 9.99950115e-01 -5.00990978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters 0.012953789125681002 Centerline is valid? [True, True] Translation: X:136.19, Y:-154.84, Z:-5.01 [[-6.83891334e-01 -7.29553213e-01 6.68979840e-03 1.36186170e+02] [ 7.29519426e-01 -6.83924048e-01 -7.02159839e-03 -1.54841089e+02] [ 9.69794367e-03 7.83276020e-05 9.99952971e-01 -5.00949087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters 0.012872123291506799 Centerline is valid? [True, True] Translation: X:136.15, Y:-154.80, Z:-5.01 [[-6.83893125e-01 -7.29562477e-01 5.36515852e-03 1.36148014e+02] [ 7.29540775e-01 -6.83914167e-01 -5.62765475e-03 -1.54798364e+02] [ 7.77503366e-03 6.53875102e-05 9.99969772e-01 -5.00758928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters 0.012975082844961017 Centerline is valid? [True, True] Translation: X:136.11, Y:-154.76, Z:-5.01 [[-6.83730516e-01 -7.29712287e-01 5.70610671e-03 1.36109300e+02] [ 7.29687772e-01 -6.83754322e-01 -5.98187848e-03 -1.54755349e+02] [ 8.26662535e-03 7.36834247e-05 9.99965828e-01 -5.00838545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters 0.013067685984883275 Centerline is valid? [True, True] Translation: X:136.07, Y:-154.71, Z:-5.01 [[-6.83920723e-01 -7.29529886e-01 6.21209369e-03 1.36071349e+02] [ 7.29500860e-01 -6.83948930e-01 -6.50818204e-03 -1.54712417e+02] [ 8.99666813e-03 8.06471217e-05 9.99959526e-01 -5.00903755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters 0.01302761892124507 Centerline is valid? [True, True] Translation: X:136.03, Y:-154.67, Z:-5.01 [[-6.83678860e-01 -7.29751461e-01 6.78389933e-03 1.36032091e+02] [ 7.29716897e-01 -6.83712510e-01 -7.10313655e-03 -1.54669680e+02] [ 9.82176111e-03 9.40616605e-05 9.99951761e-01 -5.00884626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters 0.013207894435422906 Centerline is valid? [True, True] Translation: X:135.99, Y:-154.63, Z:-5.01 [[-6.83241565e-01 -7.30160680e-01 6.80771061e-03 1.35991818e+02] [ 7.30125933e-01 -6.83275472e-01 -7.12401041e-03 -1.54627396e+02] [ 9.85321397e-03 1.03066037e-04 9.99951451e-01 -5.00889311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters 0.013372612388374047 Centerline is valid? [True, True] Translation: X:135.95, Y:-154.59, Z:-5.01 [[-6.82108458e-01 -7.31228419e-01 5.74888734e-03 1.35951261e+02] [ 7.31203707e-01 -6.82132676e-01 -6.01253213e-03 -1.54586179e+02] [ 8.31803827e-03 1.02408716e-04 9.99965399e-01 -5.00754252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters 0.013714738370421536 Centerline is valid? [True, True] Translation: X:135.91, Y:-154.54, Z:-5.01 [[-6.80876265e-01 -7.32377532e-01 5.53736550e-03 1.35910024e+02] [ 7.32354669e-01 -6.80898772e-01 -5.78799217e-03 -1.54544957e+02] [ 8.00938079e-03 1.14408985e-04 9.99967918e-01 -5.00725187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters 0.014402601807231201 Centerline is valid? [True, True] Translation: X:135.87, Y:-154.50, Z:-5.01 [[-6.78616640e-01 -7.34464363e-01 6.44639824e-03 1.35868381e+02] [ 7.34433509e-01 -6.78647238e-01 -6.73407669e-03 -1.54504906e+02] [ 9.32076970e-03 1.64594383e-04 9.99956547e-01 -5.00884590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters 0.01520487132635131 Centerline is valid? [True, True] Translation: X:135.83, Y:-154.46, Z:-5.01 [[-6.76496173e-01 -7.36413999e-01 6.88113929e-03 1.35826020e+02] [ 7.36378984e-01 -6.76531137e-01 -7.18412144e-03 -1.54464675e+02] [ 9.94579259e-03 2.07095700e-04 9.99950518e-01 -5.00990468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters 0.015442162187936941 Centerline is valid? [True, True] Translation: X:135.78, Y:-154.42, Z:-5.01 [[-6.74667001e-01 -7.38094984e-01 6.34292897e-03 1.35784338e+02] [ 7.38065340e-01 -6.74696782e-01 -6.61856519e-03 -1.54424285e+02] [ 9.16468353e-03 2.16168500e-04 9.99957980e-01 -5.00924562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters 0.015962049385259164 Centerline is valid? [True, True] Translation: X:135.74, Y:-154.38, Z:-5.01 [[-6.74008356e-01 -7.38702036e-01 5.66031246e-03 1.35742633e+02] [ 7.38678479e-01 -6.74032092e-01 -5.90285963e-03 -1.54383527e+02] [ 8.17568668e-03 2.02574287e-04 9.99966558e-01 -5.00852664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters 0.017945047984015108 Centerline is valid? [True, True] Translation: X:135.70, Y:-154.35, Z:-5.01 [[-6.74714498e-01 -7.38061635e-01 5.03687992e-03 1.35701589e+02] [ 7.38042989e-01 -6.74733275e-01 -5.24914346e-03 -1.54345477e+02] [ 7.27274189e-03 1.75760723e-04 9.99973538e-01 -5.00916369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters 0.015681880167352277 Centerline is valid? [True, True] Translation: X:135.66, Y:-154.30, Z:-5.01 [[-6.75838430e-01 -7.37033917e-01 4.83963743e-03 1.35664213e+02] [ 7.37016697e-01 -6.75855739e-01 -5.04069798e-03 -1.54300649e+02] [ 6.98606211e-03 1.60196181e-04 9.99975584e-01 -5.00768972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters 0.01620009754102955 Centerline is valid? [True, True] Translation: X:135.62, Y:-154.26, Z:-5.01 [[-6.75362261e-01 -7.37469202e-01 4.99920313e-03 1.35622062e+02] [ 7.37450861e-01 -6.75380742e-01 -5.20394274e-03 -1.54260768e+02] [ 7.21411302e-03 1.72120121e-04 9.99973963e-01 -5.00838503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters 0.016841907588404263 Centerline is valid? [True, True] Translation: X:135.58, Y:-154.22, Z:-5.01 [[-6.74693041e-01 -7.38069361e-01 6.55121214e-03 1.35579260e+02] [ 7.38037929e-01 -6.74724805e-01 -6.81568356e-03 -1.54221373e+02] [ 9.45071254e-03 2.36548771e-04 9.99955313e-01 -5.01099953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters 0.017146468929143184 Centerline is valid? [True, True] Translation: X:135.54, Y:-154.18, Z:-5.01 [[-6.74490695e-01 -7.38253202e-01 6.67170462e-03 1.35538417e+02] [ 7.38220654e-01 -6.74523646e-01 -6.93667764e-03 -1.54180637e+02] [ 9.62124700e-03 2.46465618e-04 9.99953684e-01 -5.01105399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters 0.016749695015891564 Centerline is valid? [True, True] Translation: X:135.50, Y:-154.14, Z:-5.01 [[-6.73926187e-01 -7.38767095e-01 6.83185837e-03 1.35498418e+02] [ 7.38733032e-01 -6.73960763e-01 -7.09910980e-03 -1.54138556e+02] [ 9.84899320e-03 2.62643449e-04 9.99951463e-01 -5.01039651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters 0.018585044409440282 Centerline is valid? [True, True] Translation: X:135.46, Y:-154.10, Z:-5.01 [[-6.73600566e-01 -7.39064831e-01 6.74191316e-03 1.35455470e+02] [ 7.39031715e-01 -6.73634252e-01 -7.00142702e-03 -1.54100399e+02] [ 9.71609210e-03 2.66322441e-04 9.99952762e-01 -5.01113125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters 0.01699228679222231 Centerline is valid? [True, True] Translation: X:135.42, Y:-154.06, Z:-5.01 [[-6.74703727e-01 -7.38066672e-01 5.69805888e-03 1.35416977e+02] [ 7.38043009e-01 -6.74727753e-01 -5.91403101e-03 -1.54056819e+02] [ 8.20958766e-03 2.15193754e-04 9.99966278e-01 -5.00947408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters 0.016761833880560056 Centerline is valid? [True, True] Translation: X:135.38, Y:-154.01, Z:-5.01 [[-6.76034769e-01 -7.36851772e-01 5.14356990e-03 1.35377419e+02] [ 7.36832478e-01 -6.76054312e-01 -5.33550845e-03 -1.54014571e+02] [ 7.40881147e-03 1.82960128e-04 9.99972538e-01 -5.00875461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters 0.016087901640929755 Centerline is valid? [True, True] Translation: X:135.34, Y:-153.97, Z:-5.01 [[-6.77544738e-01 -7.35460139e-01 5.61364485e-03 1.35337394e+02] [ 7.35437135e-01 -6.77567967e-01 -5.81980298e-03 -1.53972492e+02] [ 8.08385904e-03 1.85306000e-04 9.99967308e-01 -5.00978421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters 0.0158778008950894 Centerline is valid? [True, True] Translation: X:135.30, Y:-153.93, Z:-5.01 [[-6.78846175e-01 -7.34257580e-01 5.80314051e-03 1.35296914e+02] [ 7.34232982e-01 -6.78870955e-01 -6.01285022e-03 -1.53930673e+02] [ 8.35456439e-03 1.79056796e-04 9.99965084e-01 -5.01031055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters 0.015417043788493704 Centerline is valid? [True, True] Translation: X:135.26, Y:-153.89, Z:-5.01 [[-6.80645244e-01 -7.32596414e-01 4.95444698e-03 1.35257518e+02] [ 7.32578461e-01 -6.80663261e-01 -5.13054439e-03 -1.53888305e+02] [ 7.13092846e-03 1.37440508e-04 9.99974565e-01 -5.00893900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters 0.015584721950287563 Centerline is valid? [True, True] Translation: X:135.22, Y:-153.85, Z:-5.01 [[-6.81646987e-01 -7.31665314e-01 4.82218624e-03 1.35218301e+02] [ 7.31648307e-01 -6.81664031e-01 -4.99023709e-03 -1.53848509e+02] [ 6.93829430e-03 1.26564320e-04 9.99975922e-01 -5.00922668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters 0.014404374870551646 Centerline is valid? [True, True] Translation: X:135.18, Y:-153.80, Z:-5.01 [[-6.85703339e-01 -7.27860040e-01 5.54009211e-03 1.35180066e+02] [ 7.27837492e-01 -6.85725711e-01 -5.73009437e-03 -1.53804234e+02] [ 7.96969032e-03 1.03141903e-04 9.99968236e-01 -5.00983689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters 0.013905599431775316 Centerline is valid? [True, True] Translation: X:135.14, Y:-153.76, Z:-5.01 [[-6.87490604e-01 -7.26171529e-01 5.61959750e-03 1.35141834e+02] [ 7.26148300e-01 -6.87513566e-01 -5.80895715e-03 -1.53760948e+02] [ 8.08184881e-03 8.70577161e-05 9.99967338e-01 -5.00920244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters 0.013739089753501172 Centerline is valid? [True, True] Translation: X:135.10, Y:-153.72, Z:-5.01 [[-6.89945318e-01 -7.23843217e-01 5.14345055e-03 1.35103429e+02] [ 7.23823716e-01 -6.89964487e-01 -5.31370311e-03 -1.53718698e+02] [ 7.39508618e-03 5.67869083e-05 9.99972654e-01 -5.00816766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters 0.013554695183506993 Centerline is valid? [True, True] Translation: X:135.06, Y:-153.68, Z:-5.01 [[-6.91564137e-01 -7.22298389e-01 4.90729674e-03 1.35063693e+02] [ 7.22280619e-01 -6.91581546e-01 -5.06685167e-03 -1.53676366e+02] [ 7.05357467e-03 4.03924260e-05 9.99975122e-01 -5.00818354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters 0.013414766899149583 Centerline is valid? [True, True] Translation: X:135.02, Y:-153.63, Z:-5.01 [[-6.92984763e-01 -7.20939408e-01 4.29986389e-03 1.35024301e+02] [ 7.20925748e-01 -6.92998102e-01 -4.43808450e-03 -1.53633042e+02] [ 6.17938753e-03 2.43576598e-05 9.99980907e-01 -5.00756037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters 0.013460539029609 Centerline is valid? [True, True] Translation: X:134.98, Y:-153.59, Z:-5.01 [[-6.93927929e-01 -7.20026452e-01 5.09286722e-03 1.34983666e+02] [ 7.20007286e-01 -6.93946617e-01 -5.25355852e-03 -1.53591293e+02] [ 7.31687909e-03 2.13105238e-05 9.99973231e-01 -5.00859562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters 0.013511405030124506 Centerline is valid? [True, True] Translation: X:134.94, Y:-153.55, Z:-5.01 [[-6.94369357e-01 -7.19592134e-01 6.19334957e-03 1.34942307e+02] [ 7.19563806e-01 -6.94396976e-01 -6.38507649e-03 -1.53550928e+02] [ 8.89529403e-03 2.29087317e-05 9.99960436e-01 -5.01080931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters 0.013519380778806133 Centerline is valid? [True, True] Translation: X:134.90, Y:-153.51, Z:-5.01 [[-6.94533907e-01 -7.19433637e-01 6.15584885e-03 1.34902753e+02] [ 7.19405678e-01 -6.94561187e-01 -6.34258448e-03 -1.53510136e+02] [ 8.83868230e-03 2.34126412e-05 9.99960938e-01 -5.01130641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters 0.013531367771616593 Centerline is valid? [True, True] Translation: X:134.86, Y:-153.47, Z:-5.01 [[-6.94888975e-01 -7.19089582e-01 6.28366101e-03 1.34862513e+02] [ 7.19060474e-01 -6.94917385e-01 -6.47016100e-03 -1.53469695e+02] [ 9.01925065e-03 2.22887177e-05 9.99959326e-01 -5.01133923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters 0.01342018116202031 Centerline is valid? [True, True] Translation: X:134.82, Y:-153.43, Z:-5.01 [[-6.96101500e-01 -7.17914949e-01 6.38972858e-03 1.34822287e+02] [ 7.17884834e-01 -6.96130826e-01 -6.57559248e-03 -1.53428360e+02] [ 9.16880317e-03 9.80945995e-06 9.99957966e-01 -5.01208122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters 0.013388044994149457 Centerline is valid? [True, True] Translation: X:134.78, Y:-153.39, Z:-5.01 [[-6.98017939e-01 -7.16058333e-01 5.60547682e-03 1.34783855e+02] [ 7.16035125e-01 -6.98040446e-01 -5.76508561e-03 -1.53386067e+02] [ 8.04098713e-03 -1.04148829e-05 9.99967671e-01 -5.01102875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters 0.013378579368900237 Centerline is valid? [True, True] Translation: X:134.75, Y:-153.34, Z:-5.01 [[-6.99845491e-01 -7.14275149e-01 5.22494260e-03 1.34745714e+02] [ 7.14254961e-01 -6.99864995e-01 -5.37034619e-03 -1.53343459e+02] [ 7.49265926e-03 -2.64713974e-05 9.99971929e-01 -5.01021961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters 0.013448835229830371 Centerline is valid? [True, True] Translation: X:134.71, Y:-153.30, Z:-5.01 [[-7.00403279e-01 -7.13725813e-01 5.54176701e-03 1.34706054e+02] [ 7.13703113e-01 -7.00425201e-01 -5.69242794e-03 -1.53302621e+02] [ 7.94442603e-03 -3.18188232e-05 9.99968442e-01 -5.01116544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters 0.013266703452757135 Centerline is valid? [True, True] Translation: X:134.66, Y:-153.26, Z:-5.01 [[-6.99645761e-01 -7.14470992e-01 5.19722954e-03 1.34664928e+02] [ 7.14451072e-01 -6.99665064e-01 -5.33515623e-03 -1.53262508e+02] [ 7.44813430e-03 -1.95532277e-05 9.99972262e-01 -5.01121964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters 0.013229659423170935 Centerline is valid? [True, True] Translation: X:134.62, Y:-153.22, Z:-5.01 [[-6.98530794e-01 -7.15560571e-01 5.27243145e-03 1.34623410e+02] [ 7.15540125e-01 -6.98550692e-01 -5.40928904e-03 -1.53222145e+02] [ 7.55373459e-03 -5.91870803e-06 9.99971470e-01 -5.01127171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters 0.01336303748760985 Centerline is valid? [True, True] Translation: X:134.58, Y:-153.18, Z:-5.01 [[-6.96133257e-01 -7.17885297e-01 6.26018156e-03 1.34580913e+02] [ 7.17856602e-01 -6.96161404e-01 -6.41863711e-03 -1.53183462e+02] [ 8.96594199e-03 2.56859043e-05 9.99959805e-01 -5.01266137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters 0.013483272371511765 Centerline is valid? [True, True] Translation: X:134.54, Y:-153.14, Z:-5.01 [[-6.93895561e-01 -7.20049467e-01 6.14132656e-03 1.34539582e+02] [ 7.20021972e-01 -6.93922735e-01 -6.29265516e-03 -1.53144877e+02] [ 8.79262912e-03 5.54445779e-05 9.99961343e-01 -5.01279875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters 0.013745420815396597 Centerline is valid? [True, True] Translation: X:134.50, Y:-153.11, Z:-5.01 [[-6.91851122e-01 -7.22019889e-01 5.41347578e-03 1.34498251e+02] [ 7.21998613e-01 -6.91872297e-01 -5.54335850e-03 -1.53105565e+02] [ 7.74784901e-03 7.33432012e-05 9.99969982e-01 -5.01165074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters 0.013950362406875815 Centerline is valid? [True, True] Translation: X:134.46, Y:-153.07, Z:-5.01 [[-6.91036370e-01 -7.22801715e-01 5.13963131e-03 1.34457218e+02] [ 7.22782583e-01 -6.91055479e-01 -5.25964113e-03 -1.53065231e+02] [ 7.35344800e-03 8.02326801e-05 9.99972960e-01 -5.01133507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters 0.014669173880739194 Centerline is valid? [True, True] Translation: X:134.42, Y:-153.03, Z:-5.01 [[-6.89340397e-01 -7.24419666e-01 5.09551788e-03 1.34415685e+02] [ 7.24400927e-01 -6.89359223e-01 -5.21145509e-03 -1.53025373e+02] [ 7.28792281e-03 9.87313534e-05 9.99973438e-01 -5.01198681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters 0.014761714573601899 Centerline is valid? [True, True] Translation: X:134.37, Y:-152.98, Z:-5.01 [[-6.88319557e-01 -7.25383404e-01 5.92484541e-03 1.34374768e+02] [ 7.25358134e-01 -6.88345044e-01 -6.05624040e-03 -1.52983690e+02] [ 8.47143426e-03 1.29006104e-04 9.99964109e-01 -5.01324049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters 0.014896082245193683 Centerline is valid? [True, True] Translation: X:134.34, Y:-152.94, Z:-5.01 [[-6.88786945e-01 -7.24939692e-01 5.91495137e-03 1.34335802e+02] [ 7.24914521e-01 -6.88812331e-01 -6.04233687e-03 -1.52941827e+02] [ 8.45462127e-03 1.25951381e-04 9.99964251e-01 -5.01321348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters 0.014451529994691091 Centerline is valid? [True, True] Translation: X:134.30, Y:-152.90, Z:-5.01 [[-6.90307490e-01 -7.23501293e-01 4.63131308e-03 1.34298624e+02] [ 7.23485847e-01 -6.90323020e-01 -4.72840739e-03 -1.52897423e+02] [ 6.61811090e-03 8.66344275e-05 9.99978096e-01 -5.01174359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters 0.013922325907623085 Centerline is valid? [True, True] Translation: X:134.26, Y:-152.85, Z:-5.01 [[-6.92010363e-01 -7.21876868e-01 3.92998438e-03 1.34260822e+02] [ 7.21865733e-01 -6.92021520e-01 -4.01006218e-03 -1.52852735e+02] [ 5.61440489e-03 6.19164687e-05 9.99984237e-01 -5.01109631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters 0.013996191962829642 Centerline is valid? [True, True] Translation: X:134.22, Y:-152.81, Z:-5.01 [[-6.92820353e-01 -7.21100991e-01 3.64962461e-03 1.34222187e+02] [ 7.21091390e-01 -6.92829963e-01 -3.72148286e-03 -1.52811182e+02] [ 5.21213427e-03 5.33938129e-05 9.99986415e-01 -5.01154911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters 0.013906946212950636 Centerline is valid? [True, True] Translation: X:134.18, Y:-152.77, Z:-5.01 [[-6.93068864e-01 -7.20857240e-01 4.51540289e-03 1.34184487e+02] [ 7.20842556e-01 -6.93083570e-01 -4.60165023e-03 -1.52767101e+02] [ 6.44668444e-03 6.56340650e-05 9.99979218e-01 -5.01227895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters 0.014203763588708514 Centerline is valid? [True, True] Translation: X:134.15, Y:-152.73, Z:-5.01 [[-6.91857664e-01 -7.22016434e-01 5.02414754e-03 1.34145249e+02] [ 7.21998299e-01 -6.91875901e-01 -5.11797906e-03 -1.52725287e+02] [ 7.17135159e-03 8.65129395e-05 9.99974282e-01 -5.01341314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters 0.014503403564654235 Centerline is valid? [True, True] Translation: X:134.10, Y:-152.68, Z:-5.01 [[-6.90115313e-01 -7.23680686e-01 5.20764732e-03 1.34104497e+02] [ 7.23661273e-01 -6.90134952e-01 -5.30185086e-03 -1.52683638e+02] [ 7.43082651e-03 1.09684222e-04 9.99972385e-01 -5.01355568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters 0.015020857052040282 Centerline is valid? [True, True] Translation: X:134.06, Y:-152.64, Z:-5.01 [[-6.88025603e-01 -7.25660537e-01 6.12814914e-03 1.34063635e+02] [ 7.25633766e-01 -6.88052876e-01 -6.23518286e-03 -1.52642946e+02] [ 8.74111678e-03 1.56826489e-04 9.99961783e-01 -5.01399368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters 0.017561162417469404 Centerline is valid? [True, True] Translation: X:134.02, Y:-152.61, Z:-5.02 [[-6.85309527e-01 -7.28223340e-01 6.45137361e-03 1.34020333e+02] [ 7.28193819e-01 -6.85339862e-01 -6.56009137e-03 -1.52605489e+02] [ 9.19859515e-03 2.02157274e-04 9.99957672e-01 -5.01629842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters 0.017115935525779006 Centerline is valid? [True, True] Translation: X:133.98, Y:-152.56, Z:-5.02 [[-6.84617896e-01 -7.28877668e-01 5.97334572e-03 1.33979974e+02] [ 7.28852414e-01 -6.84643926e-01 -6.07067249e-03 -1.52563206e+02] [ 8.51439248e-03 1.97596417e-04 9.99963732e-01 -5.01527619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters 0.0158122287615178 Centerline is valid? [True, True] Translation: X:133.94, Y:-152.52, Z:-5.01 [[-6.85985309e-01 -7.27599351e-01 4.83129008e-03 1.33940666e+02] [ 7.27582816e-01 -6.86002305e-01 -4.90737501e-03 -1.52519642e+02] [ 6.88487900e-03 1.48776484e-04 9.99976288e-01 -5.01370516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters 0.014680532455424016 Centerline is valid? [True, True] Translation: X:133.90, Y:-152.48, Z:-5.01 [[-6.90094935e-01 -7.23714124e-01 2.61692632e-03 1.33902218e+02] [ 7.23709251e-01 -6.90099894e-01 -2.65657516e-03 -1.52476268e+02] [ 3.72854154e-03 6.06047281e-05 9.99993047e-01 -5.01119210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters 0.013770041431730894 Centerline is valid? [True, True] Translation: X:133.86, Y:-152.43, Z:-5.01 [[-6.93913094e-01 -7.20055972e-01 2.00402245e-03 1.33863625e+02] [ 7.20053102e-01 -6.93915987e-01 -2.03322457e-03 -1.52432338e+02] [ 2.85465871e-03 3.21214278e-05 9.99995925e-01 -5.01030095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters 0.01352269429677557 Centerline is valid? [True, True] Translation: X:133.82, Y:-152.39, Z:-5.01 [[-6.95570608e-01 -7.18451065e-01 3.09779308e-03 1.33822921e+02] [ 7.18444200e-01 -6.95577505e-01 -3.14114120e-03 -1.52391015e+02] [ 4.41151142e-03 4.07059765e-05 9.99990268e-01 -5.01211544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters 0.013636713762383464 Centerline is valid? [True, True] Translation: X:133.78, Y:-152.35, Z:-5.01 [[-6.96516543e-01 -7.17529466e-01 4.02121304e-03 1.33781432e+02] [ 7.17517897e-01 -6.96528149e-01 -4.07489303e-03 -1.52351530e+02] [ 5.72474390e-03 4.70619134e-05 9.99983612e-01 -5.01397037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters 0.013413050260518148 Centerline is valid? [True, True] Translation: X:133.74, Y:-152.31, Z:-5.01 [[-6.97385385e-01 -7.16683884e-01 4.22308433e-03 1.33740571e+02] [ 7.16671125e-01 -6.97398171e-01 -4.27674606e-03 -1.52311719e+02] [ 6.01024626e-03 4.40223970e-05 9.99981937e-01 -5.01448121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters 0.01328688739837053 Centerline is valid? [True, True] Translation: X:133.70, Y:-152.27, Z:-5.01 [[-6.98777098e-01 -7.15325726e-01 4.43536859e-03 1.33699871e+02] [ 7.15311641e-01 -6.98791173e-01 -4.48904202e-03 -1.52270751e+02] [ 6.31052367e-03 3.58310348e-05 9.99980088e-01 -5.01451979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters 0.013219009451468285 Centerline is valid? [True, True] Translation: X:133.66, Y:-152.23, Z:-5.02 [[-7.00664107e-01 -7.13475236e-01 4.78502837e-03 1.33659297e+02] [ 7.13458820e-01 -7.00680446e-01 -4.83990198e-03 -1.52230296e+02] [ 6.80592602e-03 2.27751021e-05 9.99976839e-01 -5.01556545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters 0.013076877893491615 Centerline is valid? [True, True] Translation: X:133.62, Y:-152.19, Z:-5.02 [[-7.02687031e-01 -7.11484519e-01 4.55159904e-03 1.33618877e+02] [ 7.11469641e-01 -7.02701772e-01 -4.60111796e-03 -1.52188701e+02] [ 6.47204091e-03 5.17861868e-06 9.99979056e-01 -5.01533890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters 0.01312846444490832 Centerline is valid? [True, True] Translation: X:133.58, Y:-152.15, Z:-5.02 [[-7.04556037e-01 -7.09633588e-01 4.57831192e-03 1.33578237e+02] [ 7.09618509e-01 -7.04570912e-01 -4.62617307e-03 -1.52148022e+02] [ 6.50863321e-03 -1.05432877e-05 9.99978819e-01 -5.01616042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters 0.013271973158702799 Centerline is valid? [True, True] Translation: X:133.54, Y:-152.11, Z:-5.02 [[-7.07227255e-01 -7.06976178e-01 3.78071693e-03 1.33538645e+02] [ 7.06965870e-01 -7.07237360e-01 -3.81782797e-03 -1.52106287e+02] [ 5.37297768e-03 -2.72341602e-05 9.99985565e-01 -5.01524491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters 0.013459003429824607 Centerline is valid? [True, True] Translation: X:133.50, Y:-152.07, Z:-5.01 [[-7.08925406e-01 -7.05274989e-01 3.45823922e-03 1.33499632e+02] [ 7.05266355e-01 -7.08933840e-01 -3.48986520e-03 -1.52065006e+02] [ 4.91297745e-03 -3.50743292e-05 9.99987931e-01 -5.01426427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters 0.013622489527894886 Centerline is valid? [True, True] Translation: X:133.46, Y:-152.03, Z:-5.01 [[-7.10389784e-01 -7.03799367e-01 3.57851056e-03 1.33460229e+02] [ 7.03790116e-01 -7.10398796e-01 -3.60887518e-03 -1.52025085e+02] [ 5.08209366e-03 -4.51876966e-05 9.99987085e-01 -5.01426575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters 0.013525744028136555 Centerline is valid? [True, True] Translation: X:133.42, Y:-151.99, Z:-5.02 [[-7.10093488e-01 -7.04091888e-01 4.67452661e-03 1.33417416e+02] [ 7.04076126e-01 -7.10108872e-01 -4.71150715e-03 -1.51986399e+02] [ 6.63675678e-03 -5.43879664e-05 9.99977975e-01 -5.01554712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters 0.013368999868131068 Centerline is valid? [True, True] Translation: X:133.38, Y:-151.95, Z:-5.02 [[-7.09185237e-01 -7.05006419e-01 4.71683178e-03 1.33375503e+02] [ 7.04990412e-01 -7.09200922e-01 -4.75098161e-03 -1.51949029e+02] [ 6.69465398e-03 -4.40048437e-05 9.99977590e-01 -5.01636566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters 0.013149159267373535 Centerline is valid? [True, True] Translation: X:133.33, Y:-151.91, Z:-5.02 [[-7.08009828e-01 -7.06186471e-01 4.76990017e-03 1.33332734e+02] [ 7.06170149e-01 -7.08025894e-01 -4.80139835e-03 -1.51910605e+02] [ 6.76789539e-03 -3.10760964e-05 9.99977097e-01 -5.01606552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters 0.013005442981078278 Centerline is valid? [True, True] Translation: X:133.29, Y:-151.87, Z:-5.02 [[-7.05513384e-01 -7.08677812e-01 5.15987902e-03 1.33288920e+02] [ 7.08658802e-01 -7.05532252e-01 -5.19065361e-03 -1.51872938e+02] [ 7.31896211e-03 -5.48191264e-06 9.99973216e-01 -5.01598498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters 0.01302834424015208 Centerline is valid? [True, True] Translation: X:133.25, Y:-151.84, Z:-5.02 [[-7.03530246e-01 -7.10644170e-01 5.48233680e-03 1.33246986e+02] [ 7.10622799e-01 -7.03551606e-01 -5.51139118e-03 -1.51835795e+02] [ 7.77374488e-03 1.84431267e-05 9.99969784e-01 -5.01678284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters 0.013343948906059817 Centerline is valid? [True, True] Translation: X:133.20, Y:-151.80, Z:-5.02 [[-6.99773491e-01 -7.14341139e-01 5.81355610e-03 1.33202588e+02] [ 7.14317263e-01 -6.99797637e-01 -5.84086223e-03 -1.51798728e+02] [ 8.24068100e-03 6.54429252e-05 9.99966043e-01 -5.01708316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters 0.013844998364331458 Centerline is valid? [True, True] Translation: X:133.16, Y:-151.76, Z:-5.02 [[-6.97512058e-01 -7.16547928e-01 5.99966018e-03 1.33159591e+02] [ 7.16522610e-01 -6.97537854e-01 -6.02425361e-03 -1.51760231e+02] [ 8.50165653e-03 9.69026414e-05 9.99963856e-01 -5.01715706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters 0.014681179973433362 Centerline is valid? [True, True] Translation: X:133.12, Y:-151.72, Z:-5.02 [[-6.95121444e-01 -7.18860996e-01 6.71164265e-03 1.33115557e+02] [ 7.18829446e-01 -6.95153830e-01 -6.73642940e-03 -1.51723073e+02] [ 9.50818045e-03 1.41889840e-04 9.99954786e-01 -5.01810468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters 0.0150927815212341 Centerline is valid? [True, True] Translation: X:133.07, Y:-151.68, Z:-5.02 [[-6.95255548e-01 -7.18735979e-01 6.18993155e-03 1.33074665e+02] [ 7.18709173e-01 -6.95283090e-01 -6.20882154e-03 -1.51684179e+02] [ 8.76625817e-03 1.32042964e-04 9.99961567e-01 -5.01819127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters 0.013752500430885255 Centerline is valid? [True, True] Translation: X:133.04, Y:-151.64, Z:-5.02 [[-6.97569186e-01 -7.16496021e-01 5.53921491e-03 1.33036090e+02] [ 7.16474509e-01 -6.97591172e-01 -5.55297297e-03 -1.51640089e+02] [ 7.84279046e-03 9.51234466e-05 9.99969240e-01 -5.01628805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters 0.01325962179333882 Centerline is valid? [True, True] Translation: X:133.00, Y:-151.60, Z:-5.02 [[-7.01597513e-01 -7.12552157e-01 5.50944173e-03 1.32997345e+02] [ 7.12530771e-01 -7.01619142e-01 -5.52085926e-03 -1.51597663e+02] [ 7.79942996e-03 5.22256364e-05 9.99969583e-01 -5.01657020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters 0.01287260305826807 Centerline is valid? [True, True] Translation: X:132.96, Y:-151.55, Z:-5.02 [[-7.04542967e-01 -7.09635338e-01 6.07417807e-03 1.32958432e+02] [ 7.09609263e-01 -7.04569150e-01 -6.08331909e-03 -1.51553784e+02] [ 8.59661668e-03 2.43333432e-05 9.99963048e-01 -5.01699247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters 0.013002291825695704 Centerline is valid? [True, True] Translation: X:132.92, Y:-151.51, Z:-5.02 [[-7.09203153e-01 -7.04960129e-01 7.88063683e-03 1.32920776e+02] [ 7.04915998e-01 -7.09246936e-01 -7.88799608e-03 -1.51508655e+02] [ 1.11500403e-02 -3.90047174e-05 9.99937836e-01 -5.01780562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters 0.013457132232599709 Centerline is valid? [True, True] Translation: X:132.88, Y:-151.47, Z:-5.02 [[-7.12025391e-01 -7.02099446e-01 8.72984252e-03 1.32882964e+02] [ 7.02045140e-01 -7.12078900e-01 -8.73279403e-03 -1.51465920e+02] [ 1.23476265e-02 -8.92275698e-05 9.99923761e-01 -5.01856662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters 0.013800920314856099 Centerline is valid? [True, True] Translation: X:132.84, Y:-151.42, Z:-5.02 [[-7.15224246e-01 -6.98843968e-01 8.44907528e-03 1.32844873e+02] [ 6.98792928e-01 -7.15274136e-01 -8.44714716e-03 -1.51422406e+02] [ 1.19466429e-02 -1.37450406e-04 9.99928627e-01 -5.01725082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters 0.01401243832173785 Centerline is valid? [True, True] Translation: X:132.34, Y:-151.93, Z:-4.02 [[-7.46966984e-01 6.64810367e-01 8.21588124e-03 1.32339731e+02] [ 6.64772187e-01 7.47012153e-01 -7.12625195e-03 -1.51926702e+02] [-1.08749693e-02 1.38614417e-04 -9.99940856e-01 -4.02459063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters 0.013837384556246736 Centerline is valid? [True, True] Translation: X:132.36, Y:-151.91, Z:-4.03 [[-7.93003584e-01 6.09164487e-01 7.99644578e-03 1.32358528e+02] [ 6.09134950e-01 7.93043892e-01 -5.99979439e-03 -1.51906056e+02] [-9.99639416e-03 1.13056149e-04 -9.99950028e-01 -4.02544998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters 0.012892766974638866 Centerline is valid? [True, True] Translation: X:132.37, Y:-151.88, Z:-4.03 [[-8.37010915e-01 5.47129333e-01 7.88800886e-03 1.32374617e+02] [ 5.47105678e-01 8.37048081e-01 -5.08802528e-03 -1.51879288e+02] [-9.38645056e-03 5.68417382e-05 -9.99955945e-01 -4.02661136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters 0.01260816560590034 Centerline is valid? [True, True] Translation: X:132.76, Y:-151.29, Z:-5.01 [[-8.03902186e-01 -5.94714987e-01 7.44040080e-03 1.32756062e+02] [ 5.94688805e-01 -8.03936615e-01 -5.58078154e-03 -1.51289462e+02] [ 9.30058505e-03 -6.16794161e-05 9.99956747e-01 -5.01417518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters 0.012688009538037566 Centerline is valid? [True, True] Translation: X:132.34, Y:-151.84, Z:-4.03 [[-8.45895965e-01 5.33293067e-01 7.64999224e-03 1.32337622e+02] [ 5.33270593e-01 8.45930554e-01 -4.89624013e-03 -1.51844849e+02] [-9.08249308e-03 -6.21938681e-05 -9.99958751e-01 -4.02740784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters 0.013506313840217225 Centerline is valid? [True, True] Translation: X:132.35, Y:-151.82, Z:-4.03 [[-8.84659891e-01 4.66163299e-01 8.28591289e-03 1.32354084e+02] [ 4.66141488e-01 8.84698685e-01 -4.51114536e-03 -1.51815920e+02] [-9.43346664e-03 -1.28421600e-04 -9.99955496e-01 -4.02660044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters 0.015346447328187613 Centerline is valid? [True, True] Translation: X:132.67, Y:-151.23, Z:-5.02 [[-8.32341218e-01 -5.54192245e-01 8.89115757e-03 1.32670622e+02] [ 5.54163415e-01 -8.32388676e-01 -5.65706844e-03 -1.51230767e+02] [ 1.05360023e-02 2.18543007e-04 9.99944471e-01 -5.01569768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters 0.015562878494519216 Centerline is valid? [True, True] Translation: X:132.31, Y:-151.79, Z:-4.03 [[-8.90918459e-01 4.54059717e-01 9.69911576e-03 1.32314837e+02] [ 4.54029609e-01 8.90971215e-01 -5.23533321e-03 -1.51786386e+02] [-1.10187869e-02 -2.60569255e-04 -9.99939257e-01 -4.02530522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters 0.01496417616921088 Centerline is valid? [True, True] Translation: X:132.33, Y:-151.76, Z:-4.03 [[-9.20379578e-01 3.90918125e-01 9.18972069e-03 1.32325952e+02] [ 3.90896172e-01 9.20425428e-01 -4.14905836e-03 -1.51763162e+02] [-1.00803947e-02 -2.26481943e-04 -9.99949166e-01 -4.02622257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters 0.014790290461499456 Centerline is valid? [True, True] Translation: X:132.60, Y:-151.16, Z:-5.01 [[-8.71910835e-01 -4.89598529e-01 8.04834500e-03 1.32599754e+02] [ 4.89579259e-01 -8.71947968e-01 -4.34634011e-03 -1.51162689e+02] [ 9.14569979e-03 1.50681745e-04 9.99958166e-01 -5.01397301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters 0.014550983298561224 Centerline is valid? [True, True] Translation: X:132.28, Y:-151.75, Z:-4.03 [[-9.20498412e-01 3.90634205e-01 9.35897911e-03 1.32283262e+02] [ 3.90611842e-01 9.20545968e-01 -4.18441694e-03 -1.51747689e+02] [-1.02499469e-02 -1.96021074e-04 -9.99947449e-01 -4.02536772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters 0.014129440656736958 Centerline is valid? [True, True] Translation: X:132.30, Y:-151.73, Z:-4.02 [[-9.45685132e-01 3.24907632e-01 1.07080139e-02 1.32295917e+02] [ 3.24884255e-01 9.45745730e-01 -3.90322785e-03 -1.51725874e+02] [-1.13952469e-02 -2.12359434e-04 -9.99935050e-01 -4.02437046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters 0.01378618129267615 Centerline is valid? [True, True] Translation: X:132.30, Y:-151.70, Z:-4.02 [[-9.66006221e-01 2.58271557e-01 1.13041616e-02 1.32302657e+02] [ 2.58251391e-01 9.66072338e-01 -3.23388955e-03 -1.51701700e+02] [-1.17558595e-02 -2.04641966e-04 -9.99930877e-01 -4.02420170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters 0.013265841042101222 Centerline is valid? [True, True] Translation: X:132.31, Y:-151.68, Z:-4.02 [[-9.81049388e-01 1.93471416e-01 1.05314025e-02 1.32311006e+02] [ 1.93458740e-01 9.81105903e-01 -2.21897997e-03 -1.51681326e+02] [-1.07617304e-02 -1.39537064e-04 -9.99942081e-01 -4.02455444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters 0.01270223249039113 Centerline is valid? [True, True] Translation: X:132.32, Y:-151.66, Z:-4.03 [[-9.91733202e-01 1.27947828e-01 9.72676777e-03 1.32316595e+02] [ 1.27940857e-01 9.91780896e-01 -1.33812312e-03 -1.51660000e+02] [-9.81803240e-03 -8.26101259e-05 -9.99951799e-01 -4.02524349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters 0.012252690377233755 Centerline is valid? [True, True] Translation: X:132.32, Y:-151.64, Z:-4.03 [[-9.97820763e-01 6.54010944e-02 8.74199095e-03 1.32323094e+02] [ 6.53985677e-02 9.97859057e-01 -5.74887166e-04 -1.51641177e+02] [-8.76087309e-03 -1.92066398e-06 -9.99961623e-01 -4.02530572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters 0.012802737343548377 Centerline is valid? [True, True] Translation: X:132.37, Y:-150.93, Z:-5.01 [[-9.92149573e-01 -1.24843629e-01 7.30021515e-03 1.32373725e+02] [ 1.24839680e-01 -9.92176427e-01 -9.95933803e-04 -1.50927865e+02] [ 7.36743737e-03 -7.67587740e-05 9.99972857e-01 -5.01405991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters 0.013417026571199904 Centerline is valid? [True, True] Translation: X:132.27, Y:-151.65, Z:-4.03 [[-9.97274399e-01 7.34780629e-02 6.68929749e-03 1.32265135e+02] [ 7.34769646e-02 9.97296830e-01 -4.10140365e-04 -1.51650850e+02] [-6.70135150e-03 8.24867883e-05 -9.99977542e-01 -4.02755380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters 0.014089942493428405 Centerline is valid? [True, True] Translation: X:132.32, Y:-150.92, Z:-5.01 [[-9.93617133e-01 -1.12651311e-01 5.88858069e-03 1.32319905e+02] [ 1.12648619e-01 -9.93634575e-01 -7.88051925e-04 -1.50917586e+02] [ 5.93987245e-03 -1.19681415e-04 9.99982352e-01 -5.01313278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters 0.013779159854375646 Centerline is valid? [True, True] Translation: X:132.21, Y:-151.65, Z:-4.03 [[-9.97355975e-01 7.24406220e-02 5.78057845e-03 1.32205592e+02] [ 7.24399271e-02 9.97372723e-01 -3.29786493e-04 -1.51650404e+02] [-5.78928121e-03 8.98301517e-05 -9.99983238e-01 -4.02734124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters 0.013209521739467036 Centerline is valid? [True, True] Translation: X:132.26, Y:-150.92, Z:-5.01 [[-9.93733763e-01 -1.11646386e-01 5.31909401e-03 1.32256929e+02] [ 1.11644183e-01 -9.93747992e-01 -7.10159129e-04 -1.50916800e+02] [ 5.36512570e-03 -1.11863196e-04 9.99985601e-01 -5.01417496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters 0.01263210868828571 Centerline is valid? [True, True] Translation: X:132.15, Y:-151.64, Z:-4.03 [[-9.98155551e-01 6.05560730e-02 4.29620086e-03 1.32150024e+02] [ 6.05556575e-02 9.98164797e-01 -2.26850396e-04 -1.51641939e+02] [-4.30205363e-03 3.37272858e-05 -9.99990746e-01 -4.02656020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters 0.012084467953917032 Centerline is valid? [True, True] Translation: X:132.14, Y:-151.61, Z:-4.03 [[-9.99879636e-01 -1.52300571e-02 2.95952916e-03 1.32142245e+02] [-1.52299632e-02 9.99884016e-01 5.42702857e-05 -1.51611006e+02] [-2.96001244e-03 9.19023337e-06 -9.99995619e-01 -4.02716120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters 0.012201121815561837 Centerline is valid? [True, True] Translation: X:132.13, Y:-150.90, Z:-5.01 [[-9.98497900e-01 -5.47002593e-02 3.13465302e-03 1.32130509e+02] [ 5.47000005e-02 -9.98502820e-01 -1.68291961e-04 -1.50899662e+02] [ 3.13916549e-03 3.42635176e-06 9.99995073e-01 -5.01473682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters 0.012791858930809643 Centerline is valid? [True, True] Translation: X:132.07, Y:-151.60, Z:-4.03 [[-9.99427784e-01 -3.37254166e-02 2.58864140e-03 1.32073678e+02] [-3.37253762e-02 9.99431136e-01 5.92663306e-05 -1.51600773e+02] [-2.58916760e-03 -2.80704877e-05 -9.99996648e-01 -4.02558725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters 0.013855245551811224 Centerline is valid? [True, True] Translation: X:132.07, Y:-151.57, Z:-4.03 [[-9.93858477e-01 -1.10647645e-01 1.55740454e-03 1.32065693e+02] [-1.10647551e-01 9.93859697e-01 1.47074224e-04 -1.51569181e+02] [-1.56411502e-03 -2.61520335e-05 -9.99998776e-01 -4.02508595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters 0.014513331848043907 Centerline is valid? [True, True] Translation: X:132.05, Y:-151.54, Z:-4.02 [[-9.83123726e-01 -1.82938989e-01 1.03203869e-03 1.32051585e+02] [-1.82938909e-01 9.83124268e-01 1.72361620e-04 -1.51540811e+02] [-1.04615394e-03 -1.93472342e-05 -9.99999453e-01 -4.02491495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters 0.014890736322834865 Centerline is valid? [True, True] Translation: X:131.95, Y:-150.87, Z:-5.02 [[-9.96940310e-01 7.81648081e-02 5.29371927e-04 1.31947282e+02] [-7.81648104e-02 -9.96940451e-01 1.63319510e-05 -1.50870575e+02] [ 5.29028871e-04 -2.50962759e-05 9.99999860e-01 -5.01629840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters 0.015264029865483716 Centerline is valid? [True, True] Translation: X:131.97, Y:-151.55, Z:-4.02 [[-9.81942146e-01 -1.89180564e-01 5.78962476e-04 1.31967249e+02] [-1.89180538e-01 9.81942317e-01 1.00636002e-04 -1.51552659e+02] [-5.87546131e-04 -1.07097009e-05 -9.99999827e-01 -4.02391032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters 0.015675544517399647 Centerline is valid? [True, True] Translation: X:131.85, Y:-150.89, Z:-5.02 [[-9.96547087e-01 8.29994275e-02 2.23565225e-03 1.31847968e+02] [-8.29988679e-02 -9.96549583e-01 3.42086646e-04 -1.50889337e+02] [ 2.25633131e-03 1.55348845e-04 9.99997442e-01 -5.01961452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters 0.015691977182819436 Centerline is valid? [True, True] Translation: X:131.87, Y:-151.57, Z:-4.02 [[-9.80666174e-01 -1.95644057e-01 4.15427423e-03 1.31869374e+02] [-1.95642665e-01 9.80674970e-01 7.42944475e-04 -1.51567739e+02] [-4.21934542e-03 -8.41727642e-05 -9.99991095e-01 -4.01890215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters 0.014343680587053128 Centerline is valid? [True, True] Translation: X:131.75, Y:-150.90, Z:-5.02 [[-9.95879806e-01 9.05808146e-02 4.30437987e-03 1.31746148e+02] [-9.05795615e-02 -9.95889104e-01 4.85569237e-04 -1.50901617e+02] [ 4.33066827e-03 9.36797562e-05 9.99990618e-01 -5.02173351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters 0.01350260778038273 Centerline is valid? [True, True] Translation: X:131.77, Y:-151.59, Z:-4.02 [[-9.80401851e-01 -1.96963428e-01 4.19737122e-03 1.31772010e+02] [-1.96961903e-01 9.80410834e-01 7.77706162e-04 -1.51592150e+02] [-4.26832789e-03 -6.42576613e-05 -9.99990889e-01 -4.01956609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters 0.012470836490521555 Centerline is valid? [True, True] Translation: X:131.76, Y:-151.57, Z:-4.02 [[-9.64869191e-01 -2.62699098e-01 4.07790741e-03 1.31761386e+02] [-2.62696957e-01 9.64877807e-01 1.06157005e-03 -1.51571669e+02] [-4.21355585e-03 -4.69776303e-05 -9.99991122e-01 -4.02001413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters 0.01177073175658375 Centerline is valid? [True, True] Translation: X:131.74, Y:-151.56, Z:-4.02 [[-9.46111350e-01 -3.23825692e-01 3.19900523e-03 1.31741910e+02] [-3.23823878e-01 9.46116759e-01 1.08393983e-03 -1.51556802e+02] [-3.37764003e-03 -1.03865012e-05 -9.99994296e-01 -4.02046972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters 0.011699491699953832 Centerline is valid? [True, True] Translation: X:131.70, Y:-151.55, Z:-4.02 [[-9.22273557e-01 -3.86522345e-01 3.45867510e-03 1.31696310e+02] [-3.86519584e-01 9.22280043e-01 1.46095374e-03 -1.51550471e+02] [-3.75455828e-03 1.05533463e-05 -9.99992952e-01 -4.02033347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters 0.012241706496552256 Centerline is valid? [True, True] Translation: X:131.64, Y:-151.55, Z:-4.02 [[-8.93553160e-01 -4.48940772e-01 3.86438138e-03 1.31638660e+02] [-4.48936408e-01 8.93561516e-01 1.97980428e-03 -1.51552702e+02] [-4.34187734e-03 3.41988718e-05 -9.99990573e-01 -4.02041008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters 0.01270096086277355 Centerline is valid? [True, True] Translation: X:131.57, Y:-151.56, Z:-4.02 [[-8.59842692e-01 -5.10541233e-01 4.26557552e-03 1.31570263e+02] [-5.10534604e-01 8.59853270e-01 2.60228457e-03 -1.51563504e+02] [-4.99634263e-03 5.98314591e-05 -9.99987516e-01 -4.02001482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters 0.012799223556578336 Centerline is valid? [True, True] Translation: X:131.49, Y:-151.58, Z:-4.02 [[-8.18988398e-01 -5.73786474e-01 5.20453156e-03 1.31493753e+02] [-5.73774324e-01 8.19004931e-01 3.73460083e-03 -1.51581625e+02] [-6.40540045e-03 7.23681656e-05 -9.99979483e-01 -4.01917571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters 0.01252843889154262 Centerline is valid? [True, True] Translation: X:131.41, Y:-151.61, Z:-4.02 [[-7.72932195e-01 -6.34468863e-01 5.00834302e-03 1.31409198e+02] [-6.34454984e-01 7.72948418e-01 4.19716294e-03 -1.51611225e+02] [-6.53416002e-03 6.65541748e-05 -9.99978650e-01 -4.01942521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters 0.012176850677987648 Centerline is valid? [True, True] Translation: X:131.32, Y:-151.65, Z:-4.02 [[-7.20492040e-01 -6.93451300e-01 4.06384945e-03 1.31323295e+02] [-6.93439977e-01 7.20503500e-01 3.96293466e-03 -1.51648674e+02] [-5.67611994e-03 3.72272114e-05 -9.99983890e-01 -4.01993938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters 0.011793775248188566 Centerline is valid? [True, True] Translation: X:131.23, Y:-151.70, Z:-4.02 [[-6.61420030e-01 -7.50009776e-01 2.97985081e-03 1.31233110e+02] [-7.50002155e-01 6.61426743e-01 3.38096843e-03 -1.51695061e+02] [-4.50671239e-03 1.34570959e-06 -9.99989845e-01 -4.02080022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters 0.011867461357617426 Centerline is valid? [True, True] Translation: X:131.14, Y:-151.75, Z:-4.02 [[-5.98944955e-01 -8.00786463e-01 2.44583318e-03 1.31144275e+02] [-8.00779910e-01 5.98949948e-01 3.23965509e-03 -1.51753103e+02] [-4.05920360e-03 -1.81990069e-05 -9.99991761e-01 -4.02092736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters 0.01205626690714976 Centerline is valid? [True, True] Translation: X:131.06, Y:-151.82, Z:-4.02 [[-5.33868506e-01 -8.45565467e-01 1.85980347e-03 1.31061789e+02] [-8.45560504e-01 5.33871745e-01 2.89716590e-03 -1.51817630e+02] [-3.44263996e-03 -2.58707267e-05 -9.99994074e-01 -4.02128266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters 0.012187388503712468 Centerline is valid? [True, True] Translation: X:130.98, Y:-151.89, Z:-4.02 [[-4.67626509e-01 -8.83924484e-01 1.71900139e-03 1.30982977e+02] [-8.83918734e-01 4.67629668e-01 3.18819836e-03 -1.51892988e+02] [-3.62198264e-03 -2.85714628e-05 -9.99993440e-01 -4.02101618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters 0.012052723659322405 Centerline is valid? [True, True] Translation: X:130.91, Y:-151.98, Z:-4.02 [[-4.00387169e-01 -9.16344988e-01 1.40625531e-03 1.30909446e+02] [-9.16339523e-01 4.00389638e-01 3.16483818e-03 -1.51977766e+02] [-3.46313366e-03 -2.14467226e-05 -9.99994003e-01 -4.02016021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters 0.0118208368913463 Centerline is valid? [True, True] Translation: X:130.85, Y:-152.07, Z:-4.02 [[-3.32436497e-01 -9.43125115e-01 9.96756973e-04 1.30846041e+02] [-9.43120948e-01 3.32437992e-01 2.80354153e-03 -1.52066202e+02] [-2.97545032e-03 -8.06285337e-06 -9.99995573e-01 -4.02013313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters 0.011727565187961071 Centerline is valid? [True, True] Translation: X:130.79, Y:-152.16, Z:-4.02 [[-2.61493765e-01 -9.65204657e-01 9.91010452e-04 1.30787985e+02] [-9.65197746e-01 2.61495643e-01 3.65236829e-03 -1.52163926e+02] [-3.78442780e-03 -1.44952056e-06 -9.99992839e-01 -4.01975013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters 0.011883757813548907 Centerline is valid? [True, True] Translation: X:130.74, Y:-152.27, Z:-4.02 [[-1.89489846e-01 -9.81882275e-01 8.91961366e-04 1.30735312e+02] [-9.81871104e-01 1.89491945e-01 4.68385925e-03 -1.52269464e+02] [-4.76801787e-03 1.17526778e-05 -9.99988633e-01 -4.01794926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters 0.011998208385021468 Centerline is valid? [True, True] Translation: X:130.69, Y:-152.38, Z:-4.02 [[-1.14365508e-01 -9.93438447e-01 7.64020449e-04 1.30690445e+02] [-9.93414946e-01 1.14368057e-01 6.83320038e-03 -1.52378030e+02] [-6.87574350e-03 2.24930960e-05 -9.99976362e-01 -4.01614637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters 0.012012171286225701 Centerline is valid? [True, True] Translation: X:130.65, Y:-152.48, Z:-4.01 [[-3.79641766e-02 -9.99279059e-01 2.90509291e-04 1.30654648e+02] [-9.99244558e-01 3.79652799e-02 8.30362914e-03 -1.52483721e+02] [-8.30867197e-03 2.49506152e-05 -9.99965482e-01 -4.01468039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters 0.012012050836505497 Centerline is valid? [True, True] Translation: X:130.63, Y:-152.60, Z:-4.01 [[ 3.96774561e-02 -9.99212463e-01 -3.91905200e-04 1.30627555e+02] [-9.99168756e-01 -3.96793861e-02 9.34579820e-03 -1.52599264e+02] [-9.35398860e-03 2.07619336e-05 -9.99956250e-01 -4.01427404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters 0.011983439167952723 Centerline is valid? [True, True] Translation: X:130.61, Y:-152.72, Z:-4.02 [[ 1.18398837e-01 -9.92965631e-01 -9.85838836e-04 1.30609047e+02] [-9.92931259e-01 -1.18402941e-01 8.26183053e-03 -1.52719239e+02] [-8.32043998e-03 6.79072209e-07 -9.99965385e-01 -4.01505320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters 0.012115555647415201 Centerline is valid? [True, True] Translation: X:130.60, Y:-152.84, Z:-4.02 [[ 1.99687289e-01 -9.79858821e-01 -1.29541283e-03 1.30598661e+02] [-9.79837008e-01 -1.99691488e-01 6.53809690e-03 -1.52841592e+02] [-6.66509483e-03 -3.62814140e-05 -9.99977787e-01 -4.01714723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters 0.012897980205138873 Centerline is valid? [True, True] Translation: X:130.60, Y:-152.97, Z:-4.02 [[ 2.80073871e-01 -9.59976705e-01 -1.83098358e-03 1.30597240e+02] [-9.59954329e-01 -2.80079845e-01 6.55488379e-03 -1.52966872e+02] [-6.80535734e-03 -7.81910668e-05 -9.99976840e-01 -4.01692361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters 0.013590323454074904 Centerline is valid? [True, True] Translation: X:130.61, Y:-153.08, Z:-4.02 [[ 3.57145758e-01 -9.34045060e-01 -2.59501933e-03 1.30605000e+02] [-9.34017871e-01 -3.57155165e-01 7.12774206e-03 -1.53082627e+02] [-7.58445682e-03 -1.21848409e-04 -9.99971230e-01 -4.01651841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters 0.014171293847304109 Centerline is valid? [True, True] Translation: X:130.62, Y:-153.20, Z:-4.02 [[ 4.29904558e-01 -9.02868253e-01 -3.31510815e-03 1.30624183e+02] [-9.02838693e-01 -4.29917314e-01 7.30740996e-03 -1.53203891e+02] [-8.02285086e-03 -1.48480939e-04 -9.99967805e-01 -4.01574307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters 0.014961746096277902 Centerline is valid? [True, True] Translation: X:130.65, Y:-153.31, Z:-4.01 [[ 4.99670159e-01 -8.66203179e-01 -4.66737035e-03 1.30647870e+02] [-8.66161577e-01 -4.99691917e-01 8.49180985e-03 -1.53313593e+02] [-9.68787993e-03 -2.00407119e-04 -9.99953051e-01 -4.01411388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters 0.014715034800904183 Centerline is valid? [True, True] Translation: X:130.68, Y:-153.42, Z:-4.01 [[ 5.63689582e-01 -8.25970196e-01 -5.22403460e-03 1.30682156e+02] [-8.25931588e-01 -5.63713757e-01 7.98821822e-03 -1.53420059e+02] [-9.54289034e-03 -1.88180198e-04 -9.99954448e-01 -4.01346625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters 0.014354537105451905 Centerline is valid? [True, True] Translation: X:130.73, Y:-153.53, Z:-4.01 [[ 6.23537362e-01 -7.81776657e-01 -5.13979283e-03 1.30730412e+02] [-7.81748107e-01 -6.23558527e-01 6.68288143e-03 -1.53530613e+02] [-8.42948234e-03 -1.49002948e-04 -9.99964460e-01 -4.01421033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters 0.013594890366067182 Centerline is valid? [True, True] Translation: X:130.77, Y:-153.62, Z:-4.02 [[ 6.78632401e-01 -7.34464753e-01 -4.42622306e-03 1.30772653e+02] [-7.34448241e-01 -6.78646829e-01 4.92574793e-03 -1.53618956e+02] [-6.62163048e-03 -9.19404061e-05 -9.99978073e-01 -4.01510276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters 0.013206254715129461 Centerline is valid? [True, True] Translation: X:130.83, Y:-153.71, Z:-4.02 [[ 7.31175337e-01 -6.82174232e-01 -4.57641967e-03 1.30825857e+02] [-6.82160225e-01 -7.31189655e-01 4.37229626e-03 -1.53710622e+02] [-6.32889856e-03 -7.50637182e-05 -9.99979970e-01 -4.01501141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters 0.013349871705303796 Centerline is valid? [True, True] Translation: X:130.85, Y:-153.73, Z:-4.01 [[ 7.82065966e-01 -6.23178682e-01 -4.59948324e-03 1.30849445e+02] [-6.23167388e-01 -7.82079488e-01 3.75244781e-03 -1.53733802e+02] [-5.93560698e-03 -6.84137623e-05 -9.99982382e-01 -4.01445325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters 0.013914732673839601 Centerline is valid? [True, True] Translation: X:130.87, Y:-153.76, Z:-4.01 [[ 8.29337760e-01 -5.58714851e-01 -6.04939637e-03 1.30874995e+02] [-5.58699128e-01 -8.29359817e-01 4.19269108e-03 -1.53755904e+02] [-7.35964504e-03 -9.73645562e-05 -9.99972913e-01 -4.01283451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters 0.01525049451124155 Centerline is valid? [True, True] Translation: X:130.90, Y:-153.78, Z:-4.01 [[ 8.72075164e-01 -4.89288609e-01 -9.03134625e-03 1.30902163e+02] [-4.89260310e-01 -8.72121911e-01 5.26521595e-03 -1.53777675e+02] [-1.04526451e-02 -1.72984796e-04 -9.99945355e-01 -4.00902992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters 0.013889112240585394 Centerline is valid? [True, True] Translation: X:130.93, Y:-153.80, Z:-4.01 [[ 9.08357543e-01 -4.18078709e-01 -9.83703768e-03 1.30928645e+02] [-4.18051810e-01 -9.08410784e-01 4.74673145e-03 -1.53800535e+02] [-1.09205785e-02 -1.99337914e-04 -9.99940349e-01 -4.01161745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters 0.013866202977343083 Centerline is valid? [True, True] Translation: X:130.96, Y:-153.82, Z:-4.01 [[ 9.38149626e-01 -3.46104130e-01 -9.33860505e-03 1.30956827e+02] [-3.46085073e-01 -9.38196088e-01 3.63637612e-03 -1.53822565e+02] [-1.00200075e-02 -1.79513084e-04 -9.99949782e-01 -4.01228523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters 0.013593972994452764 Centerline is valid? [True, True] Translation: X:130.99, Y:-153.84, Z:-4.01 [[ 9.61762651e-01 -2.73784427e-01 -7.39537491e-03 1.30987455e+02] [-2.73775359e-01 -9.61791075e-01 2.23161595e-03 -1.53839803e+02] [-7.72378728e-03 -1.21613446e-04 -9.99970164e-01 -4.01423986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters 0.012870447556069869 Centerline is valid? [True, True] Translation: X:131.02, Y:-153.85, Z:-4.02 [[ 9.79912829e-01 -1.99300006e-01 -7.09614175e-03 1.31018750e+02] [-1.99294020e-01 -9.79938517e-01 1.54815907e-03 -1.53854780e+02] [-7.26233073e-03 -1.02842320e-04 -9.99973624e-01 -4.01571179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters 0.013065560327844242 Centerline is valid? [True, True] Translation: X:131.05, Y:-153.87, Z:-4.02 [[ 9.92612845e-01 -1.21085460e-01 -7.61913190e-03 1.31049553e+02] [-1.21080997e-01 -9.92642080e-01 1.04595350e-03 -1.53868249e+02] [-7.68972069e-03 -1.15694795e-04 -9.99970427e-01 -4.01619019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters 0.013815663215256667 Centerline is valid? [True, True] Translation: X:131.08, Y:-153.88, Z:-4.02 [[ 9.99126528e-01 -4.10145438e-02 -7.99927876e-03 1.31077732e+02] [-4.10121349e-02 -9.99158540e-01 4.65012824e-04 -1.53880608e+02] [-8.01161998e-03 -1.36539148e-04 -9.99967897e-01 -4.01587947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters 0.014234121479344618 Centerline is valid? [True, True] Translation: X:131.11, Y:-153.89, Z:-4.02 [[ 9.99135958e-01 4.05891304e-02 -8.93644949e-03 1.31108043e+02] [ 4.05891284e-02 -9.99175905e-01 -1.81667696e-04 -1.53893444e+02] [-8.93645875e-03 -1.81211968e-04 -9.99960053e-01 -4.01529556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters 0.01640559688727079 Centerline is valid? [True, True] Translation: X:131.14, Y:-153.90, Z:-4.01 [[ 9.92736380e-01 1.19958659e-01 -9.18693166e-03 1.31138544e+02] [ 1.19955376e-01 -9.92778868e-01 -9.09499777e-04 -1.53904852e+02] [-9.22969399e-03 -1.99128329e-04 -9.99957386e-01 -4.01348612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters 0.014986388150441003 Centerline is valid? [True, True] Translation: X:131.17, Y:-153.91, Z:-4.02 [[ 9.80222095e-01 1.97699161e-01 -8.92674537e-03 1.31170089e+02] [ 1.97692808e-01 -9.80262721e-01 -1.59728938e-03 -1.53906718e+02] [-9.06633848e-03 -1.99055019e-04 -9.99958880e-01 -4.01519984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters 0.013943991298291134 Centerline is valid? [True, True] Translation: X:131.20, Y:-153.91, Z:-4.02 [[ 9.62128626e-01 2.72490283e-01 -7.58636242e-03 1.31201967e+02] [ 2.72483129e-01 -9.62158521e-01 -1.98111008e-03 -1.53907729e+02] [-7.83911649e-03 -1.61073053e-04 -9.99969261e-01 -4.01630651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters 0.014099935639312588 Centerline is valid? [True, True] Translation: X:131.23, Y:-153.91, Z:-4.02 [[ 9.38344345e-01 3.45650393e-01 -5.97455348e-03 1.31232799e+02] [ 3.45644206e-01 -9.38363358e-01 -2.07169614e-03 -1.53907210e+02] [-6.32238465e-03 -1.21105433e-04 -9.99980006e-01 -4.01659585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters 0.013735947320152158 Centerline is valid? [True, True] Translation: X:131.26, Y:-153.90, Z:-4.02 [[ 9.09055619e-01 4.16628556e-01 -6.20709220e-03 1.31264061e+02] [ 4.16619736e-01 -9.09076802e-01 -2.71368223e-03 -1.53901071e+02] [-6.77332104e-03 -1.19109030e-04 -9.99977054e-01 -4.01625626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters 0.01291218621146608 Centerline is valid? [True, True] Translation: X:131.30, Y:-153.89, Z:-4.01 [[ 8.74879537e-01 4.84279569e-01 -7.68725630e-03 1.31295301e+02] [ 4.84262185e-01 -8.74913300e-01 -4.10538286e-03 -1.53894181e+02] [-8.71383582e-03 -1.30932076e-04 -9.99962025e-01 -4.01487611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters 0.012614797364411907 Centerline is valid? [True, True] Translation: X:131.33, Y:-153.89, Z:-4.01 [[ 8.36029571e-01 5.48606685e-01 -9.23377492e-03 1.31325134e+02] [ 5.48574933e-01 -8.36080552e-01 -5.90374959e-03 -1.53885902e+02] [-1.09590161e-02 -1.29708218e-04 -9.99939940e-01 -4.01183245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters 0.012542416030462702 Centerline is valid? [True, True] Translation: X:131.35, Y:-153.87, Z:-4.01 [[ 7.91856562e-01 6.10637327e-01 -9.23255497e-03 1.31353525e+02] [ 6.10597464e-01 -7.91910375e-01 -6.97818124e-03 -1.53873216e+02] [-1.15724940e-02 -1.11656046e-04 -9.99933030e-01 -4.01119887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters 0.01231704181292375 Centerline is valid? [True, True] Translation: X:131.38, Y:-153.86, Z:-4.01 [[ 7.43545975e-01 6.68621114e-01 -9.22977165e-03 1.31379631e+02] [ 6.68571006e-01 -7.43603254e-01 -8.18605117e-03 -1.53857533e+02] [-1.23366549e-02 -8.40523153e-05 -9.99923897e-01 -4.01111925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters 0.012412555179576113 Centerline is valid? [True, True] Translation: X:131.40, Y:-153.84, Z:-4.01 [[ 6.92878323e-01 7.20994210e-01 -9.32625729e-03 1.31401204e+02] [ 7.20929254e-01 -6.92941086e-01 -9.67790705e-03 -1.53839131e+02] [-1.34402618e-02 -1.79597024e-05 -9.99909676e-01 -4.01098472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters 0.01245033845205416 Centerline is valid? [True, True] Translation: X:131.43, Y:-153.82, Z:-4.01 [[ 6.36673679e-01 7.71088452e-01 -8.32022544e-03 1.31426553e+02] [ 7.71022148e-01 -6.36728042e-01 -1.01117609e-02 -1.53822775e+02] [-1.30947829e-02 2.28139087e-05 -9.99914259e-01 -4.01203883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters 0.012925349112713301 Centerline is valid? [True, True] Translation: X:131.45, Y:-153.80, Z:-4.01 [[ 5.77460940e-01 8.16392628e-01 -6.47612156e-03 1.31449055e+02] [ 8.16340074e-01 -5.77497250e-01 -9.26333631e-03 -1.53803288e+02] [-1.13024619e-02 6.24973408e-05 -9.99936123e-01 -4.01305189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters 0.013512572997205033 Centerline is valid? [True, True] Translation: X:131.47, Y:-153.78, Z:-4.01 [[ 5.14475200e-01 8.57491014e-01 -4.94262889e-03 1.31470884e+02] [ 8.57449853e-01 -5.14498935e-01 -8.40211876e-03 -1.53783245e+02] [-9.74771864e-03 8.46253096e-05 -9.99952486e-01 -4.01282483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters 0.013552573959443197 Centerline is valid? [True, True] Translation: X:131.49, Y:-153.76, Z:-4.01 [[ 4.45923127e-01 8.95063056e-01 -3.83294410e-03 1.31492056e+02] [ 8.95028479e-01 -4.45939593e-01 -7.86773300e-03 -1.53761364e+02] [-8.75137867e-03 7.78099701e-05 -9.99961703e-01 -4.01353924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters 0.013264329484907389 Centerline is valid? [True, True] Translation: X:131.51, Y:-153.74, Z:-4.01 [[ 3.71126577e-01 9.28577479e-01 -2.98801942e-03 1.31512961e+02] [ 9.28546436e-01 -3.71138603e-01 -7.59299522e-03 -1.53739446e+02] [-8.15965372e-03 4.34475488e-05 -9.99966709e-01 -4.01378420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters 0.013141103444937102 Centerline is valid? [True, True] Translation: X:131.53, Y:-153.72, Z:-4.01 [[ 2.93868523e-01 9.55842609e-01 -2.48958727e-03 1.31531791e+02] [ 9.55807874e-01 -2.93879068e-01 -8.14870981e-03 -1.53716635e+02] [-8.52052163e-03 1.50822066e-05 -9.99963700e-01 -4.01257883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters 0.013185684516348396 Centerline is valid? [True, True] Translation: X:131.55, Y:-153.69, Z:-4.01 [[ 2.12930685e-01 9.77065890e-01 -1.66442954e-03 1.31548376e+02] [ 9.77037024e-01 -2.12937189e-01 -7.51042592e-03 -1.53691984e+02] [-7.69259993e-03 -2.70091437e-05 -9.99970411e-01 -4.01148601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters 0.013303936239483423 Centerline is valid? [True, True] Translation: X:131.57, Y:-153.66, Z:-4.01 [[ 1.32909544e-01 9.91127657e-01 -1.01058797e-03 1.31565613e+02] [ 9.91101589e-01 -1.32913378e-01 -7.18851922e-03 -1.53664896e+02] [-7.25906087e-03 -4.61725246e-05 -9.99973652e-01 -4.01251153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters 0.01374942478378315 Centerline is valid? [True, True] Translation: X:131.58, Y:-153.64, Z:-4.01 [[ 5.07133770e-02 9.98713160e-01 -4.20371944e-04 1.31582028e+02] [ 9.98689632e-01 -5.07150679e-02 -6.85568299e-03 -1.53636076e+02] [-6.86818002e-03 -7.21462661e-05 -9.99976411e-01 -4.01247545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters 0.0141544087761246 Centerline is valid? [True, True] Translation: X:131.59, Y:-153.61, Z:-4.01 [[-2.96656806e-02 9.99559872e-01 9.84312241e-05 1.31593354e+02] [ 9.99543503e-01 2.96657582e-02 -5.72090187e-03 -1.53607103e+02] [-5.72130398e-03 -7.13281573e-05 -9.99983631e-01 -4.01226941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters 0.01403219000190122 Centerline is valid? [True, True] Translation: X:131.60, Y:-153.58, Z:-4.01 [[-1.07651497e-01 9.94188539e-01 5.51799523e-04 1.31598163e+02] [ 9.94171895e-01 1.07652888e-01 -5.75315182e-03 -1.53576121e+02] [-5.77912041e-03 -7.07518273e-05 -9.99983298e-01 -4.01086526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters 0.013840358177366896 Centerline is valid? [True, True] Translation: X:131.60, Y:-153.55, Z:-4.01 [[-1.83664186e-01 9.82988543e-01 9.95297715e-04 1.31599004e+02] [ 9.82972248e-01 1.83666873e-01 -5.66038065e-03 -1.53545843e+02] [-5.74689255e-03 -6.12591739e-05 -9.99983485e-01 -4.00983175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters 0.013405743599292577 Centerline is valid? [True, True] Translation: X:131.59, Y:-153.52, Z:-4.01 [[-2.56578345e-01 9.66522259e-01 1.50826195e-03 1.31593234e+02] [ 9.66504582e-01 2.56582775e-01 -5.84568455e-03 -1.53516432e+02] [-6.03697827e-03 -4.21339769e-05 -9.99981776e-01 -4.00934284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters 0.013113781813213963 Centerline is valid? [True, True] Translation: X:131.59, Y:-153.49, Z:-4.01 [[-3.27988388e-01 9.44679368e-01 2.12356648e-03 1.31586738e+02] [ 9.44659141e-01 3.27995262e-01 -6.18184979e-03 -1.53487660e+02] [-6.53638570e-03 -2.15284599e-05 -9.99978637e-01 -4.00820773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters 0.013159590803957769 Centerline is valid? [True, True] Translation: X:131.58, Y:-153.46, Z:-4.01 [[-3.98595343e-01 9.17122458e-01 2.85480152e-03 1.31577470e+02] [ 9.17098849e-01 3.98605566e-01 -6.58052473e-03 -1.53459910e+02] [-7.17308679e-03 -4.83132216e-06 -9.99974273e-01 -4.00805630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters 0.013803865972346847 Centerline is valid? [True, True] Translation: X:131.57, Y:-153.43, Z:-4.01 [[-4.68705214e-01 8.83347215e-01 3.62235192e-03 1.31568903e+02] [ 8.83320820e-01 4.68719211e-01 -6.82865566e-03 -1.53432166e+02] [-7.72993989e-03 -9.27640787e-07 -9.99970124e-01 -4.00785761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters 0.014424113061528621 Centerline is valid? [True, True] Translation: X:131.56, Y:-153.41, Z:-4.01 [[-5.36685922e-01 8.43773235e-01 3.86636410e-03 1.31559862e+02] [ 8.43751301e-01 5.36699849e-01 -6.08397245e-03 -1.53406378e+02] [-7.20857014e-03 -2.93262196e-06 -9.99974018e-01 -4.00665938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters 0.015026128488884488 Centerline is valid? [True, True] Translation: X:131.55, Y:-153.38, Z:-4.01 [[-6.01923502e-01 7.98543620e-01 4.02304975e-03 1.31548580e+02] [ 7.98525680e-01 6.01936946e-01 -5.35263958e-03 -1.53379250e+02] [-6.69593847e-03 -9.37102580e-06 -9.99977582e-01 -4.00760002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters 0.015360183258863321 Centerline is valid? [True, True] Translation: X:131.54, Y:-153.35, Z:-4.01 [[-6.63230744e-01 7.48402988e-01 4.23636224e-03 1.31536179e+02] [ 7.48387586e-01 6.63244274e-01 -4.80157600e-03 -1.53351714e+02] [-6.40325682e-03 -1.41119138e-05 -9.99979499e-01 -4.00829826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters 0.01615541777446313 Centerline is valid? [True, True] Translation: X:131.52, Y:-153.32, Z:-4.01 [[-7.22852485e-01 6.90988768e-01 4.33677981e-03 1.31523173e+02] [ 6.90976001e-01 7.22865493e-01 -4.20058555e-03 -1.53324761e+02] [-6.03746591e-03 -3.97929387e-05 -9.99981774e-01 -4.00918836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters 0.0165689865176841 Centerline is valid? [True, True] Translation: X:131.54, Y:-153.31, Z:-4.01 [[-7.71826931e-01 6.35812765e-01 5.03156806e-03 1.31544687e+02] [ 6.35798703e-01 7.71843329e-01 -4.22910172e-03 -1.53305800e+02] [-6.57249910e-03 -6.50701543e-05 -9.99978399e-01 -4.00934161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters 0.017087289109364107 Centerline is valid? [True, True] Translation: X:131.98, Y:-152.79, Z:-5.03 [[-7.10584199e-01 -7.03598526e-01 4.38299166e-03 1.31983392e+02] [ 7.03585429e-01 -7.10597715e-01 -4.29312135e-03 -1.52787258e+02] [ 6.13517771e-03 3.31848693e-05 9.99981179e-01 -5.03135060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters 0.017970481191574933 Centerline is valid? [True, True] Translation: X:131.52, Y:-153.27, Z:-4.01 [[-7.77526774e-01 6.28836459e-01 4.10162408e-03 1.31515969e+02] [ 6.28827147e-01 7.77537588e-01 -3.42317003e-03 -1.53273263e+02] [-5.34178102e-03 -8.23937868e-05 -9.99985729e-01 -4.00897774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters 0.01728500734488884 Centerline is valid? [True, True] Translation: X:131.53, Y:-153.25, Z:-4.01 [[-8.19628470e-01 5.72878300e-01 4.43005001e-03 1.31531633e+02] [ 5.72869401e-01 8.19640438e-01 -3.19409748e-03 -1.53252845e+02] [-5.46087726e-03 -8.01331379e-05 -9.99985086e-01 -4.00953606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters 0.01684457221464903 Centerline is valid? [True, True] Translation: X:131.55, Y:-153.23, Z:-4.01 [[-8.56818137e-01 5.15592658e-01 5.18571938e-03 1.31546308e+02] [ 5.15582691e-01 8.56833826e-01 -3.20677201e-03 -1.53232269e+02] [-6.09668788e-03 -7.39532698e-05 -9.99981412e-01 -4.00992986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters 0.016447302327975227 Centerline is valid? [True, True] Translation: X:131.56, Y:-153.21, Z:-4.01 [[-8.89941839e-01 4.56034841e-01 5.97886541e-03 1.31563628e+02] [ 4.56024067e-01 8.89961921e-01 -3.13527504e-03 -1.53212474e+02] [-6.75075719e-03 -6.37059160e-05 -9.99977211e-01 -4.00971767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters 0.01623535316495364 Centerline is valid? [True, True] Translation: X:131.58, Y:-153.19, Z:-4.01 [[-9.19395775e-01 3.93272639e-01 6.93115498e-03 1.31577659e+02] [ 3.93260965e-01 9.19421899e-01 -3.03071879e-03 -1.53189029e+02] [-7.56455445e-03 -6.06773498e-05 -9.99971387e-01 -4.00886765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters 0.016089949588204155 Centerline is valid? [True, True] Translation: X:131.85, Y:-152.57, Z:-5.03 [[-8.83772542e-01 -4.67842610e-01 8.32982230e-03 1.31852290e+02] [ 4.67823753e-01 -8.83811778e-01 -4.20434439e-03 -1.52572102e+02] [ 9.32896651e-03 1.81204600e-04 9.99956468e-01 -5.03330145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters 0.015969812799357507 Centerline is valid? [True, True] Translation: X:131.84, Y:-152.60, Z:-5.03 [[-8.49838776e-01 -5.26971414e-01 8.67086094e-03 1.31837611e+02] [ 5.26944966e-01 -8.49883005e-01 -5.28018261e-03 -1.52598733e+02] [ 1.01517226e-02 8.17626049e-05 9.99948467e-01 -5.03402111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters 0.015886885202615653 Centerline is valid? [True, True] Translation: X:131.49, Y:-153.18, Z:-4.01 [[-8.93249500e-01 4.49473579e-01 8.87872007e-03 1.31487355e+02] [ 4.49450281e-01 8.93293620e-01 -4.57749553e-03 -1.53175714e+02] [-9.98876729e-03 -9.83023704e-05 -9.99950106e-01 -4.00747963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters 0.01622552150542583 Centerline is valid? [True, True] Translation: X:131.79, Y:-152.58, Z:-5.03 [[-8.48583252e-01 -5.28995708e-01 8.36689733e-03 1.31792294e+02] [ 5.28970979e-01 -8.48624495e-01 -5.11571459e-03 -1.52580753e+02] [ 9.80654509e-03 8.47361434e-05 9.99951911e-01 -5.03318203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters 0.016803773176742913 Centerline is valid? [True, True] Translation: X:131.45, Y:-153.15, Z:-4.01 [[-8.98031471e-01 4.39835458e-01 9.17862493e-03 1.31446293e+02] [ 4.39810486e-01 8.98078359e-01 -4.69012885e-03 -1.53148525e+02] [-1.03060094e-02 -1.75027819e-04 -9.99946876e-01 -4.00747167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters 0.017291100633484838 Centerline is valid? [True, True] Translation: X:131.75, Y:-152.56, Z:-5.03 [[-8.46895519e-01 -5.31684722e-01 8.90711508e-03 1.31748848e+02] [ 5.31657576e-01 -8.46942338e-01 -5.37573905e-03 -1.52564850e+02] [ 1.04020112e-02 1.82845903e-04 9.99945881e-01 -5.03209648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters 0.017753647098132933 Centerline is valid? [True, True] Translation: X:131.41, Y:-153.13, Z:-4.01 [[-9.01897866e-01 4.31843562e-01 9.55915613e-03 1.31408769e+02] [ 4.31816483e-01 9.01948491e-01 -4.84190462e-03 -1.53125221e+02] [-1.07128118e-02 -2.39102258e-04 -9.99942588e-01 -4.00854648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters 0.017305212570546305 Centerline is valid? [True, True] Translation: X:131.42, Y:-153.10, Z:-4.01 [[-9.30153627e-01 3.66983098e-01 1.17318562e-02 1.31418752e+02] [ 3.66950065e-01 9.30227567e-01 -4.93198672e-03 -1.53099855e+02] [-1.27232518e-02 -2.82499937e-04 -9.99919016e-01 -4.00750167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters 0.017123727049067654 Centerline is valid? [True, True] Translation: X:131.43, Y:-153.08, Z:-4.01 [[-9.52699432e-01 3.03677758e-01 1.19837761e-02 1.31427205e+02] [ 3.03650642e-01 9.52774771e-01 -4.06483154e-03 -1.53076494e+02] [-1.26522384e-02 -2.33681399e-04 -9.99919930e-01 -4.00697727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters 0.01509809918996761 Centerline is valid? [True, True] Translation: X:131.44, Y:-153.06, Z:-4.01 [[-9.70475594e-01 2.40934916e-01 1.12910347e-02 1.31436505e+02] [ 2.40916824e-01 9.70541263e-01 -2.95637393e-03 -1.53058262e+02] [-1.16707088e-02 -1.48888517e-04 -9.99931884e-01 -4.00971908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters 0.01461938654325445 Centerline is valid? [True, True] Translation: X:131.61, Y:-152.41, Z:-5.03 [[-9.45412105e-01 -3.25683154e-01 1.12443482e-02 1.31612010e+02] [ 3.25662138e-01 -9.45478957e-01 -3.70332431e-03 -1.52412035e+02] [ 1.18374050e-02 1.60690843e-04 9.99929923e-01 -5.03119524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters 0.014071132673699473 Centerline is valid? [True, True] Translation: X:131.40, Y:-153.06, Z:-4.01 [[-9.68780256e-01 2.47653831e-01 1.15063281e-02 1.31396095e+02] [ 2.47636067e-01 9.68848584e-01 -2.96627527e-03 -1.53056754e+02] [-1.18824991e-02 -2.42870776e-05 -9.99929400e-01 -4.00981733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters 0.014208988913216014 Centerline is valid? [True, True] Translation: X:131.57, Y:-152.40, Z:-5.03 [[-9.49569851e-01 -3.13335034e-01 1.17581707e-02 1.31569868e+02] [ 3.13311718e-01 -9.49642645e-01 -3.82283842e-03 -1.52395589e+02] [ 1.23638895e-02 5.39205549e-05 9.99923563e-01 -5.03300068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters 0.014047487876486827 Centerline is valid? [True, True] Translation: X:131.35, Y:-153.05, Z:-4.01 [[-9.68920239e-01 2.46999306e-01 1.35983221e-02 1.31353268e+02] [ 2.46975203e-01 9.69015657e-01 -3.45054109e-03 -1.53046840e+02] [-1.40292683e-02 1.51492844e-05 -9.99901585e-01 -4.00845002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters 0.014223522481100379 Centerline is valid? [True, True] Translation: X:131.52, Y:-152.39, Z:-5.04 [[-9.50310561e-01 -3.10916725e-01 1.55121974e-02 1.31523302e+02] [ 3.10877481e-01 -9.50437149e-01 -4.94138799e-03 -1.52389621e+02] [ 1.62797289e-02 1.26539668e-04 9.99867468e-01 -5.03500483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters 0.013945375052847795 Centerline is valid? [True, True] Translation: X:131.31, Y:-153.03, Z:-4.01 [[-9.70448348e-01 2.40815228e-01 1.54281894e-02 1.31307589e+02] [ 2.40784379e-01 9.70570979e-01 -3.85457157e-03 -1.53028475e+02] [-1.59023925e-02 -2.57956051e-05 -9.99873549e-01 -4.00721492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters 0.013841332987902086 Centerline is valid? [True, True] Translation: X:131.47, Y:-152.38, Z:-5.03 [[-9.51288246e-01 -3.07991773e-01 1.38470364e-02 1.31467438e+02] [ 3.07958254e-01 -9.51389019e-01 -4.54418195e-03 -1.52380315e+02] [ 1.45734890e-02 -5.85177330e-05 9.99893799e-01 -5.03209207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters 0.013789896288740623 Centerline is valid? [True, True] Translation: X:131.26, Y:-153.02, Z:-4.01 [[-9.71049788e-01 2.38603830e-01 1.14246516e-02 1.31262914e+02] [ 2.38587297e-01 9.71116992e-01 -2.80873362e-03 -1.53016480e+02] [-1.17648479e-02 -1.64343913e-06 -9.99930792e-01 -4.01022028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters 0.013490530935279467 Centerline is valid? [True, True] Translation: X:131.43, Y:-152.37, Z:-5.03 [[-9.52458160e-01 -3.04526446e-01 9.33263110e-03 1.31425442e+02] [ 3.04510579e-01 -9.52503874e-01 -3.11096380e-03 -1.52374040e+02] [ 9.83673802e-03 -1.21177957e-04 9.99951611e-01 -5.02932939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters 0.013499392104456522 Centerline is valid? [True, True] Translation: X:131.22, Y:-153.00, Z:-4.01 [[-9.72729167e-01 2.31753735e-01 9.39007344e-03 1.31217969e+02] [ 2.31742613e-01 9.72774488e-01 -2.27070890e-03 -1.53001978e+02] [-9.66066915e-03 -3.27046260e-05 -9.99953334e-01 -4.01078057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters 0.013510568139982295 Centerline is valid? [True, True] Translation: X:131.37, Y:-152.37, Z:-5.03 [[-9.52033304e-01 -3.05845485e-01 9.54607524e-03 1.31370598e+02] [ 3.05830707e-01 -9.52081161e-01 -3.00711969e-03 -1.52365459e+02] [ 1.00083524e-02 5.66048421e-05 9.99949914e-01 -5.03004904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters 0.013841381611492431 Centerline is valid? [True, True] Translation: X:131.17, Y:-152.99, Z:-4.01 [[-9.74965449e-01 2.22127216e-01 1.00932360e-02 1.31169084e+02] [ 2.22114265e-01 9.75017687e-01 -2.40063315e-03 -1.52986016e+02] [-1.03743296e-02 -9.86826861e-05 -9.99946180e-01 -4.00950630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters 0.014688521006383954 Centerline is valid? [True, True] Translation: X:131.31, Y:-152.36, Z:-5.03 [[-9.50883855e-01 -3.09394219e-01 9.75253972e-03 1.31314622e+02] [ 3.09378890e-01 -9.50933862e-01 -3.08108128e-03 -1.52359523e+02] [ 1.02272890e-02 8.74794703e-05 9.99947696e-01 -5.03182991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters 0.015589823636684368 Centerline is valid? [True, True] Translation: X:131.12, Y:-152.97, Z:-4.01 [[-9.77341712e-01 2.11472236e-01 9.09239732e-03 1.31117405e+02] [ 2.11461601e-01 9.77383993e-01 -2.12657715e-03 -1.52967536e+02] [-9.33647563e-03 -1.55699662e-04 -9.99956402e-01 -4.00855639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters 0.01625151579471401 Centerline is valid? [True, True] Translation: X:131.26, Y:-152.35, Z:-5.03 [[-9.50699561e-01 -3.09998975e-01 8.42496247e-03 1.31261399e+02] [ 3.09987867e-01 -9.50736884e-01 -2.62677713e-03 -1.52351384e+02] [ 8.82422079e-03 1.14360276e-04 9.99961059e-01 -5.03253595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters 0.015611426294003385 Centerline is valid? [True, True] Translation: X:131.07, Y:-152.96, Z:-4.01 [[-9.78643639e-01 2.05413373e-01 7.87241382e-03 1.31069530e+02] [ 2.05405459e-01 9.78675290e-01 -1.80965378e-03 -1.52957997e+02] [-8.07626396e-03 -1.53969383e-04 -9.99967375e-01 -4.00895355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters 0.015649884715746108 Centerline is valid? [True, True] Translation: X:131.21, Y:-152.34, Z:-5.03 [[-9.51321540e-01 -3.08088446e-01 8.29676064e-03 1.31214580e+02] [ 3.08078573e-01 -9.51357698e-01 -2.47471937e-03 -1.52339218e+02] [ 8.65561955e-03 2.01800330e-04 9.99962519e-01 -5.03284691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters 0.015513017194615692 Centerline is valid? [True, True] Translation: X:131.03, Y:-152.95, Z:-4.01 [[-9.79271707e-01 2.02344099e-01 9.15369885e-03 1.31026256e+02] [ 2.02333607e-01 9.79314472e-01 -2.06772349e-03 -1.52951386e+02] [-9.38274141e-03 -1.72762204e-04 -9.99955966e-01 -4.00687821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters 0.014846453334317937 Centerline is valid? [True, True] Translation: X:131.03, Y:-152.93, Z:-4.01 [[-9.90675992e-01 1.35891028e-01 9.73176992e-03 1.31031283e+02] [ 1.35883020e-01 9.90723779e-01 -1.48252803e-03 -1.52928762e+02] [-9.84295814e-03 -1.46322646e-04 -9.99951546e-01 -4.00588618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters 0.013312250079109189 Centerline is valid? [True, True] Translation: X:131.03, Y:-152.91, Z:-4.01 [[-9.97400334e-01 7.13508271e-02 1.00812996e-02 1.31029674e+02] [ 7.13462849e-02 9.97451278e-01 -8.09943790e-04 -1.52909595e+02] [-1.01133953e-02 -8.85749349e-05 -9.99948854e-01 -4.00691122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters 0.013111789584007782 Centerline is valid? [True, True] Translation: X:131.04, Y:-152.89, Z:-4.01 [[-9.99934866e-01 4.50532806e-03 1.04864708e-02 1.31037566e+02] [ 4.50457556e-03 9.99989850e-01 -9.53769759e-05 -1.52886949e+02] [-1.04867941e-02 -4.81336633e-05 -9.99945011e-01 -4.00628372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters 0.012818014351313476 Centerline is valid? [True, True] Translation: X:131.05, Y:-152.21, Z:-5.03 [[-9.96962081e-01 -7.71700194e-02 1.05545335e-02 1.31047580e+02] [ 7.71662725e-02 -9.97017946e-01 -7.62385219e-04 -1.52214270e+02] [ 1.05818926e-02 5.43848537e-05 9.99944009e-01 -5.03354072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters 0.012819408295832802 Centerline is valid? [True, True] Translation: X:130.97, Y:-152.89, Z:-4.01 [[-9.99928077e-01 5.59586359e-03 1.06078434e-02 1.30974752e+02] [ 5.59564878e-03 9.99984343e-01 -4.99296357e-05 -1.52888938e+02] [-1.06079567e-02 9.43172112e-06 -9.99943734e-01 -4.00695152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters 0.01269508596882133 Centerline is valid? [True, True] Translation: X:130.98, Y:-152.22, Z:-5.03 [[-9.97345161e-01 -7.21430505e-02 9.90001589e-03 1.30979943e+02] [ 7.21389636e-02 -9.97394294e-01 -7.69760369e-04 -1.52215388e+02] [ 9.92975222e-03 -5.35398934e-05 9.99950697e-01 -5.03197559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters 0.012693163143493683 Centerline is valid? [True, True] Translation: X:130.91, Y:-152.89, Z:-4.01 [[-9.99961320e-01 -1.04672088e-03 8.73290609e-03 1.30913315e+02] [-1.04677939e-03 9.99999452e-01 -2.12918114e-06 -1.52885090e+02] [-8.73289908e-03 -1.12705249e-05 -9.99961868e-01 -4.00918643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters 0.012657978984627985 Centerline is valid? [True, True] Translation: X:130.91, Y:-152.22, Z:-5.03 [[-9.97467659e-01 -7.07391455e-02 7.36499676e-03 1.30914507e+02] [ 7.07366240e-02 -9.97494846e-01 -6.02621771e-04 -1.52221157e+02] [ 7.38917526e-03 -8.01207206e-05 9.99972697e-01 -5.03062632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters 0.012693655978881335 Centerline is valid? [True, True] Translation: X:130.85, Y:-152.88, Z:-4.01 [[-9.99943798e-01 -7.47328315e-03 7.52003252e-03 1.30850832e+02] [-7.47325440e-03 9.99972074e-01 3.19232476e-05 -1.52881227e+02] [-7.52006109e-03 -2.42776627e-05 -9.99971724e-01 -4.01001139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters 0.012698902887543235 Centerline is valid? [True, True] Translation: X:130.85, Y:-152.22, Z:-5.03 [[-9.97836878e-01 -6.53875432e-02 6.78480753e-03 1.30849037e+02] [ 6.53858683e-02 -9.97859944e-01 -4.68632623e-04 -1.52222643e+02] [ 6.80093040e-03 -2.39883822e-05 9.99976873e-01 -5.03154666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters 0.012695766625179801 Centerline is valid? [True, True] Translation: X:130.79, Y:-152.88, Z:-4.01 [[-9.99923323e-01 -1.00883882e-02 7.18135485e-03 1.30787144e+02] [-1.00881975e-02 9.99949111e-01 6.27825846e-05 -1.52881585e+02] [-7.18162277e-03 -9.66915526e-06 -9.99974212e-01 -4.00816751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters 0.012673563484714259 Centerline is valid? [True, True] Translation: X:130.79, Y:-152.22, Z:-5.03 [[-9.98135891e-01 -6.05652212e-02 7.52314193e-03 1.30785740e+02] [ 6.05637524e-02 -9.98164241e-01 -4.23100720e-04 -1.52224682e+02] [ 7.53495645e-03 3.33176915e-05 9.99971611e-01 -5.03262318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters 0.012625271235847118 Centerline is valid? [True, True] Translation: X:130.73, Y:-152.88, Z:-4.01 [[-9.99859461e-01 -1.50256978e-02 7.43557240e-03 1.30726399e+02] [-1.50253855e-02 9.99887108e-01 9.78698057e-05 -1.52880715e+02] [-7.43620354e-03 -1.38662906e-05 -9.99972351e-01 -4.00800472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters 0.012587493726210326 Centerline is valid? [True, True] Translation: X:130.72, Y:-152.85, Z:-4.01 [[-9.96236189e-01 -8.64660099e-02 6.08979938e-03 1.30719481e+02] [-8.64644799e-02 9.96254801e-01 5.14563641e-04 -1.52852629e+02] [-6.11148414e-03 -1.39244156e-05 -9.99981325e-01 -4.00863428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters 0.012564731453041461 Centerline is valid? [True, True] Translation: X:130.67, Y:-152.20, Z:-5.03 [[-9.99898111e-01 1.31422439e-02 5.57218201e-03 1.30665254e+02] [-1.31421706e-02 -9.99913637e-01 4.97723807e-05 -1.52204079e+02] [ 5.57235490e-03 -2.34632573e-05 9.99984474e-01 -5.03150326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters 0.013109098621258653 Centerline is valid? [True, True] Translation: X:130.65, Y:-152.85, Z:-4.01 [[-9.95408458e-01 -9.55529670e-02 5.62423509e-03 1.30650103e+02] [-9.55516562e-02 9.95424346e-01 5.01913251e-04 -1.52853669e+02] [-5.64645984e-03 -3.77962820e-05 -9.99984058e-01 -4.00811364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters 0.013986803371000688 Centerline is valid? [True, True] Translation: X:130.64, Y:-152.82, Z:-4.01 [[-9.85622881e-01 -1.68817311e-01 6.94634270e-03 1.30635597e+02] [-1.68813597e-01 9.85647356e-01 1.12185656e-03 -1.52824889e+02] [-7.03603312e-03 -6.69096044e-05 -9.99975245e-01 -4.00595547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters 0.014765234398836322 Centerline is valid? [True, True] Translation: X:130.62, Y:-152.80, Z:-4.00 [[-9.70445663e-01 -2.41172190e-01 8.43740614e-03 1.30623306e+02] [-2.41164017e-01 9.70482336e-01 1.98823666e-03 -1.52797807e+02] [-8.66786101e-03 -1.05323112e-04 -9.99962428e-01 -4.00371357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters 0.014554134659516544 Centerline is valid? [True, True] Translation: X:130.48, Y:-152.18, Z:-5.04 [[-9.88228685e-01 1.52662981e-01 9.90354298e-03 1.30476681e+02] [-1.52653156e-01 -9.88278285e-01 1.74496322e-03 -1.52180523e+02] [ 1.00538478e-02 2.12615615e-04 9.99949436e-01 -5.03868492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters 0.013241525891493631 Centerline is valid? [True, True] Translation: X:130.53, Y:-152.83, Z:-4.00 [[-9.70538187e-01 -2.40800335e-01 8.41577945e-03 1.30528366e+02] [-2.40791712e-01 9.70574673e-01 2.03846298e-03 -1.52830149e+02] [-8.65900496e-03 -4.80437781e-05 -9.99962509e-01 -4.00276112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters 0.012475462883128926 Centerline is valid? [True, True] Translation: X:130.51, Y:-152.81, Z:-4.01 [[-9.51731645e-01 -3.06851270e-01 7.01241073e-03 1.30506909e+02] [-3.06843080e-01 9.51757478e-01 2.24199552e-03 -1.52813997e+02] [-7.36207353e-03 -1.79316206e-05 -9.99972899e-01 -4.00676795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters 0.012501673598369123 Centerline is valid? [True, True] Translation: X:130.47, Y:-152.80, Z:-4.01 [[-9.27579239e-01 -3.73591351e-01 5.12420208e-03 1.30473319e+02] [-3.73585690e-01 9.27593393e-01 2.05657894e-03 -1.52800006e+02] [-5.52149610e-03 -6.68863965e-06 -9.99984756e-01 -4.00836245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters 0.012816861732524613 Centerline is valid? [True, True] Translation: X:130.42, Y:-152.79, Z:-4.01 [[-8.95852033e-01 -4.44325235e-01 4.92148722e-03 1.30418660e+02] [-4.44318728e-01 8.95865551e-01 2.40492203e-03 -1.52789958e+02] [-5.47755840e-03 -3.22546492e-05 -9.99984998e-01 -4.00725490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters 0.01338250278225542 Centerline is valid? [True, True] Translation: X:130.35, Y:-152.79, Z:-4.00 [[-8.58364415e-01 -5.12988480e-01 7.30416916e-03 1.30352265e+02] [-5.12970788e-01 8.58395487e-01 4.26139549e-03 -1.52790586e+02] [-8.45591263e-03 -8.89951598e-05 -9.99964244e-01 -4.00466627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters 0.014357380195378749 Centerline is valid? [True, True] Translation: X:130.28, Y:-152.80, Z:-4.00 [[-8.14362960e-01 -5.80288770e-01 8.82682638e-03 1.30278133e+02] [-5.80257122e-01 8.14410774e-01 6.06323213e-03 -1.52799858e+02] [-1.07070880e-02 -1.84157215e-04 -9.99942661e-01 -4.00226774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters 0.01591536622136893 Centerline is valid? [True, True] Translation: X:130.20, Y:-152.82, Z:-4.00 [[-7.67964870e-01 -6.40437783e-01 8.33093546e-03 1.30203674e+02] [-6.40402902e-01 7.68010030e-01 6.68710745e-03 -1.52816366e+02] [-1.06809183e-02 -1.99691638e-04 -9.99942937e-01 -4.00030136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters 0.01511178633626669 Centerline is valid? [True, True] Translation: X:130.12, Y:-152.85, Z:-4.00 [[-7.16814301e-01 -6.97220426e-01 7.80614628e-03 1.30123196e+02] [-6.97182374e-01 7.16856771e-01 7.28752188e-03 -1.52851137e+02] [-1.06768979e-02 -2.18507697e-04 -9.99942976e-01 -4.00140967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters 0.014966475047606573 Centerline is valid? [True, True] Translation: X:130.05, Y:-152.89, Z:-4.00 [[-6.63907325e-01 -7.47786511e-01 6.51138177e-03 1.30045508e+02] [-7.47753154e-01 6.63939231e-01 7.06531558e-03 -1.52892985e+02] [-9.60650950e-03 -1.78191486e-04 -9.99953841e-01 -4.00174620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters 0.01388733128225389 Centerline is valid? [True, True] Translation: X:129.97, Y:-152.94, Z:-4.00 [[-6.09503642e-01 -7.92765785e-01 5.26507096e-03 1.29972125e+02] [-7.92737833e-01 6.09526371e-01 6.65821834e-03 -1.52944836e+02] [-8.48760729e-03 -1.15612608e-04 -9.99963973e-01 -4.00267450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters 0.013107634864094645 Centerline is valid? [True, True] Translation: X:129.90, Y:-153.01, Z:-4.00 [[-5.51884408e-01 -8.33905622e-01 5.00146234e-03 1.29898367e+02] [-8.33872636e-01 5.51907065e-01 7.41741871e-03 -1.53007861e+02] [-8.94576956e-03 -7.70248611e-05 -9.99959983e-01 -4.00192003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters 0.013024033240612246 Centerline is valid? [True, True] Translation: X:129.82, Y:-153.08, Z:-4.00 [[-4.87214942e-01 -8.73268639e-01 4.84616018e-03 1.29818268e+02] [-8.73227106e-01 4.87239036e-01 8.51720272e-03 -1.53083802e+02] [-9.79904444e-03 -8.20900022e-05 -9.99951985e-01 -4.00142064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters 0.013213733658826575 Centerline is valid? [True, True] Translation: X:129.74, Y:-153.16, Z:-4.00 [[-4.17531960e-01 -9.08648331e-01 5.02729724e-03 1.29744780e+02] [-9.08585965e-01 4.17562206e-01 1.06464774e-02 -1.53159449e+02] [-1.17731133e-02 -1.22487134e-04 -9.99930687e-01 -3.99995343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters 0.013516226189076747 Centerline is valid? [True, True] Translation: X:129.67, Y:-153.25, Z:-4.00 [[-3.45419998e-01 -9.38436782e-01 4.62935637e-03 1.29674429e+02] [-9.38358555e-01 3.45450982e-01 1.21177899e-02 -1.53248636e+02] [-1.29709955e-02 -1.58269182e-04 -9.99915861e-01 -3.99847054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters 0.01357103432632864 Centerline is valid? [True, True] Translation: X:129.61, Y:-153.34, Z:-4.00 [[-2.72560083e-01 -9.62132009e-01 3.60534177e-03 1.29613707e+02] [-9.62055323e-01 2.72583882e-01 1.21483858e-02 -1.53340059e+02] [-1.26711089e-02 -1.57373187e-04 -9.99919706e-01 -3.99800501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters 0.012994496464490302 Centerline is valid? [True, True] Translation: X:129.56, Y:-153.44, Z:-4.00 [[-2.01301886e-01 -9.79526561e-01 2.29494896e-03 1.29562283e+02] [-9.79468539e-01 2.01314942e-01 1.06618285e-02 -1.53441624e+02] [-1.09055517e-02 -1.01584133e-04 -9.99940528e-01 -3.99869514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters 0.012326359846852215 Centerline is valid? [True, True] Translation: X:129.52, Y:-153.54, Z:-4.00 [[-1.33082517e-01 -9.91104222e-01 1.21061840e-03 1.29523694e+02] [-9.91064369e-01 1.33088022e-01 8.88795389e-03 -1.53544953e+02] [-8.97000743e-03 -1.69694864e-05 -9.99959769e-01 -4.00077467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters 0.01237798362598931 Centerline is valid? [True, True] Translation: X:129.49, Y:-153.65, Z:-4.00 [[-6.26138054e-02 -9.98037744e-01 4.15353449e-04 1.29490614e+02] [-9.98012595e-01 6.26151763e-02 7.08525100e-03 -1.53652016e+02] [-7.09735535e-03 2.91065546e-05 -9.99974813e-01 -4.00157443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters 0.01246242570110402 Centerline is valid? [True, True] Translation: X:129.46, Y:-153.77, Z:-4.00 [[ 1.35575958e-02 -9.99908081e-01 -1.45199581e-04 1.29458965e+02] [-9.99876127e-01 -1.35583234e-02 7.99396963e-03 -1.53769792e+02] [-7.99520349e-03 3.68025850e-05 -9.99968037e-01 -3.99981928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters 0.012472584033105824 Centerline is valid? [True, True] Translation: X:129.44, Y:-153.88, Z:-4.00 [[ 9.03810755e-02 -9.95906840e-01 -9.09674702e-04 1.29438204e+02] [-9.95861007e-01 -9.03856433e-02 9.55454893e-03 -1.53883597e+02] [-9.59766217e-03 4.23591570e-05 -9.99953941e-01 -3.99876027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters 0.012560274979089937 Centerline is valid? [True, True] Translation: X:129.43, Y:-154.00, Z:-4.00 [[ 1.67043670e-01 -9.85947804e-01 -1.82736356e-03 1.29425681e+02] [-9.85891483e-01 -1.67053660e-01 1.05384261e-02 -1.54001654e+02] [-1.06956058e-02 4.12048048e-05 -9.99942800e-01 -3.99757761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters 0.012550081307265174 Centerline is valid? [True, True] Translation: X:129.42, Y:-154.12, Z:-4.00 [[ 2.42717152e-01 -9.70094608e-01 -2.19914831e-03 1.29420436e+02] [-9.70055865e-01 -2.42727113e-01 8.66996853e-03 -1.54121807e+02] [-8.94448264e-03 2.89466431e-05 -9.99959997e-01 -3.99889933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters 0.012246656896420868 Centerline is valid? [True, True] Translation: X:129.42, Y:-154.24, Z:-4.00 [[ 3.18076200e-01 -9.48063567e-01 -1.73311129e-03 1.29424008e+02] [-9.48049627e-01 -3.18080922e-01 5.14124712e-03 -1.54239579e+02] [-5.42549872e-03 7.76715778e-06 -9.99985282e-01 -4.00196076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters 0.012183033013220063 Centerline is valid? [True, True] Translation: X:129.44, Y:-154.36, Z:-4.00 [[ 3.91789844e-01 -9.20053358e-01 -1.59265098e-03 1.29438880e+02] [-9.20045722e-01 -3.91793081e-01 3.74850356e-03 -1.54357513e+02] [-4.07281293e-03 -3.31390414e-06 -9.99991706e-01 -4.00329816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters 0.012326340282987451 Centerline is valid? [True, True] Translation: X:129.46, Y:-154.47, Z:-4.00 [[ 4.62506882e-01 -8.86613355e-01 -2.03541601e-03 1.29461285e+02] [-8.86604664e-01 -4.62511361e-01 3.92570979e-03 -1.54472413e+02] [-4.42198975e-03 -1.10584626e-05 -9.99990223e-01 -4.00315417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters 0.012368682020858668 Centerline is valid? [True, True] Translation: X:129.49, Y:-154.58, Z:-4.00 [[ 5.29534015e-01 -8.48285705e-01 -2.25582551e-03 1.29491302e+02] [-8.48277894e-01 -5.29538820e-01 3.64031986e-03 -1.54582747e+02] [-4.28257848e-03 -1.41062756e-05 -9.99990830e-01 -4.00304727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters 0.012286923698262522 Centerline is valid? [True, True] Translation: X:129.53, Y:-154.69, Z:-4.00 [[ 5.92184832e-01 -8.05794836e-01 -3.43612998e-03 1.29530919e+02] [-8.05781116e-01 -5.92194801e-01 4.70216640e-03 -1.54688059e+02] [-5.82383971e-03 -1.57829755e-05 -9.99983041e-01 -4.00248691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters 0.012366685913279796 Centerline is valid? [True, True] Translation: X:129.58, Y:-154.79, Z:-4.00 [[ 6.52874059e-01 -7.57454419e-01 -4.27388866e-03 1.29575372e+02] [-7.57437916e-01 -6.52888047e-01 5.00006594e-03 -1.54787977e+02] [-6.57769286e-03 -2.72080193e-05 -9.99978366e-01 -4.00324181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters 0.012543346191535784 Centerline is valid? [True, True] Translation: X:129.63, Y:-154.89, Z:-4.00 [[ 7.10055294e-01 -7.04133126e-01 -4.24506083e-03 1.29626025e+02] [-7.04120219e-01 -7.10067983e-01 4.26341626e-03 -1.54885985e+02] [-6.01629440e-03 -3.82281264e-05 -9.99981901e-01 -4.00364661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters 0.012743158620816479 Centerline is valid? [True, True] Translation: X:129.68, Y:-154.98, Z:-4.00 [[ 7.62542526e-01 -6.46922173e-01 -4.53848893e-03 1.29678551e+02] [-6.46910331e-01 -7.62556031e-01 3.91449732e-03 -1.54975415e+02] [-5.99322722e-03 -4.89752969e-05 -9.99982039e-01 -4.00410399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters 0.012521330538079719 Centerline is valid? [True, True] Translation: X:129.70, Y:-155.00, Z:-4.01 [[ 8.10209871e-01 -5.86117767e-01 -5.09198346e-03 1.29701458e+02] [-5.86105839e-01 -8.10225870e-01 3.73956384e-03 -1.55003162e+02] [-6.31748154e-03 -4.53902949e-05 -9.99980044e-01 -4.00510453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters 0.01230689261945812 Centerline is valid? [True, True] Translation: X:129.73, Y:-155.03, Z:-4.00 [[ 8.51394787e-01 -5.24481692e-01 -6.77292815e-03 1.29727671e+02] [-5.24464864e-01 -8.51421726e-01 4.20144158e-03 -1.55027891e+02] [-7.97019736e-03 -2.49226182e-05 -9.99968237e-01 -4.00432850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters 0.0123212168449023 Centerline is valid? [True, True] Translation: X:129.75, Y:-155.05, Z:-4.00 [[ 8.87983839e-01 -4.59803641e-01 -8.08166294e-03 1.29754095e+02] [-4.59784671e-01 -8.88020615e-01 4.17660711e-03 -1.55052290e+02] [-9.09710245e-03 7.06511737e-06 -9.99958621e-01 -4.00394708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters 0.012799011293144891 Centerline is valid? [True, True] Translation: X:129.78, Y:-155.07, Z:-4.00 [[ 9.18736129e-01 -3.94757268e-01 -9.51975326e-03 1.29782841e+02] [-3.94736898e-01 -9.18785445e-01 4.01085319e-03 -1.55071541e+02] [-1.03299242e-02 7.28821429e-05 -9.99946642e-01 -4.00328107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters 0.013633604514336923 Centerline is valid? [True, True] Translation: X:129.81, Y:-155.09, Z:-4.00 [[ 9.44846453e-01 -3.27352156e-01 -1.02833540e-02 1.29813611e+02] [-3.27334388e-01 -9.44902401e-01 3.41349839e-03 -1.55086352e+02] [-1.08341819e-02 1.40863541e-04 -9.99941299e-01 -4.00346955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters 0.013849878091528187 Centerline is valid? [True, True] Translation: X:129.84, Y:-155.10, Z:-4.00 [[ 9.66841602e-01 -2.55141568e-01 -1.09588449e-02 1.29843965e+02] [-2.55127258e-01 -9.66903692e-01 2.70804892e-03 -1.55104491e+02] [-1.12870835e-02 1.77645696e-04 -9.99936283e-01 -4.00423615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters 0.014127382639613597 Centerline is valid? [True, True] Translation: X:129.87, Y:-155.12, Z:-4.00 [[ 9.83670193e-01 -1.79662696e-01 -1.06895564e-02 1.29874477e+02] [-1.79654089e-01 -9.83728257e-01 1.76785243e-03 -1.55120652e+02] [-1.08332358e-02 1.81438781e-04 -9.99941302e-01 -4.00497614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters 0.01350212436204771 Centerline is valid? [True, True] Translation: X:129.90, Y:-155.14, Z:-4.01 [[ 9.95017560e-01 -9.92524041e-02 -9.43476117e-03 1.29903721e+02] [-9.92491927e-02 -9.95062281e-01 8.09137788e-04 -1.55136780e+02] [-9.46848384e-03 1.31286121e-04 -9.99955164e-01 -4.00633416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters 0.013201336843241866 Centerline is valid? [True, True] Translation: X:129.93, Y:-155.15, Z:-4.01 [[ 9.99771474e-01 -1.93519561e-02 -9.08300210e-03 1.29933798e+02] [-1.93521634e-02 -9.99812727e-01 6.50842505e-05 -1.55147898e+02] [-9.08256061e-03 1.10706363e-04 -9.99958747e-01 -4.00685376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters 0.012416592230438917 Centerline is valid? [True, True] Translation: X:129.97, Y:-155.16, Z:-4.01 [[ 9.97908543e-01 6.39805668e-02 -9.22095278e-03 1.29965403e+02] [ 6.39772213e-02 -9.97951142e-01 -6.57636747e-04 -1.55164347e+02] [-9.24413634e-03 6.63303912e-05 -9.99957270e-01 -4.00639270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters 0.012275098907621717 Centerline is valid? [True, True] Translation: X:130.00, Y:-155.17, Z:-4.00 [[ 9.89417318e-01 1.44687979e-01 -1.08976657e-02 1.29997232e+02] [ 1.44678668e-01 -9.89477330e-01 -1.64214876e-03 -1.55173405e+02] [-1.10205923e-02 4.81106657e-05 -9.99939270e-01 -4.00441750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters 0.012308012947028341 Centerline is valid? [True, True] Translation: X:130.03, Y:-155.18, Z:-4.00 [[ 9.75191513e-01 2.21048806e-01 -1.17872376e-02 1.30030511e+02] [ 2.21031899e-01 -9.75262745e-01 -2.73455719e-03 -1.55176641e+02] [-1.21001243e-02 6.13614386e-05 -9.99926789e-01 -4.00388422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters 0.013107318112320333 Centerline is valid? [True, True] Translation: X:130.06, Y:-155.18, Z:-4.00 [[ 9.56348008e-01 2.91949999e-01 -1.27939978e-02 1.30063216e+02] [ 2.91921981e-01 -9.56433573e-01 -4.04685964e-03 -1.55175011e+02] [-1.34180897e-02 1.35356960e-04 -9.99909964e-01 -4.00331009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters 0.014245455049816174 Centerline is valid? [True, True] Translation: X:130.10, Y:-155.17, Z:-4.00 [[ 9.32859173e-01 3.60072030e-01 -1.10406793e-02 1.30095142e+02] [ 3.60044331e-01 -9.32924485e-01 -4.47043640e-03 -1.55168963e+02] [-1.19097992e-02 1.95153619e-04 -9.99929057e-01 -4.00487468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters 0.014573377263236272 Centerline is valid? [True, True] Translation: X:130.13, Y:-155.16, Z:-4.01 [[ 9.03271064e-01 4.28979981e-01 -8.80685940e-03 1.30127628e+02] [ 4.28957483e-01 -9.03313976e-01 -4.39762191e-03 -1.55164400e+02] [-9.84185094e-03 1.94476382e-04 -9.99951549e-01 -4.00707050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters 0.014726400040709069 Centerline is valid? [True, True] Translation: X:130.16, Y:-155.16, Z:-4.01 [[ 8.66735826e-01 4.98696277e-01 -8.42797242e-03 1.30160098e+02] [ 4.98670549e-01 -8.66776780e-01 -5.06919522e-03 -1.55158202e+02] [-9.83315958e-03 1.90871476e-04 -9.99951635e-01 -4.00704145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters 0.013452101195207459 Centerline is valid? [True, True] Translation: X:130.20, Y:-155.16, Z:-4.01 [[ 8.22232763e-01 5.69083203e-01 -8.80859339e-03 1.30196754e+02] [ 5.69048498e-01 -8.22279930e-01 -6.28684343e-03 -1.55155421e+02] [-1.08208666e-02 1.56731812e-04 -9.99941440e-01 -4.00664020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters 0.012758467975891991 Centerline is valid? [True, True] Translation: X:130.23, Y:-155.15, Z:-4.01 [[ 7.71559413e-01 6.36097266e-01 -8.73729094e-03 1.30231767e+02] [ 6.36055003e-01 -7.71608876e-01 -7.33311963e-03 -1.55146665e+02] [-1.14063486e-02 1.00539854e-04 -9.99934941e-01 -4.00602408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters 0.012215992260607024 Centerline is valid? [True, True] Translation: X:130.27, Y:-155.14, Z:-4.01 [[ 7.11907835e-01 7.02215767e-01 -8.95825948e-03 1.30268591e+02] [ 7.02160597e-01 -7.11964196e-01 -8.80225079e-03 -1.55137707e+02] [-1.25590393e-02 -2.37455190e-05 -9.99921132e-01 -4.00540895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters 0.013144252943770005 Centerline is valid? [True, True] Translation: X:130.30, Y:-155.12, Z:-4.00 [[ 6.47323025e-01 7.62168882e-01 -8.45564085e-03 1.30303111e+02] [ 7.62106886e-01 -6.47378231e-01 -9.72217876e-03 -1.55123848e+02] [-1.28839399e-02 -1.50711958e-04 -9.99916987e-01 -4.00436834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters 0.014373743957955149 Centerline is valid? [True, True] Translation: X:130.33, Y:-155.10, Z:-4.00 [[ 5.81160416e-01 8.13757128e-01 -7.20466276e-03 1.30333042e+02] [ 8.13699007e-01 -5.81205035e-01 -9.72798428e-03 -1.55104773e+02] [-1.21036028e-02 -2.08907540e-04 -9.99926727e-01 -4.00443339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters 0.014561298113505254 Centerline is valid? [True, True] Translation: X:130.36, Y:-155.08, Z:-4.01 [[ 5.15404929e-01 8.56923724e-01 -6.28410091e-03 1.30355276e+02] [ 8.56864885e-01 -5.15443196e-01 -1.00439620e-02 -1.55078975e+02] [-1.18460064e-02 -2.07917870e-04 -9.99929812e-01 -4.00523857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters 0.013780168118370307 Centerline is valid? [True, True] Translation: X:130.37, Y:-155.05, Z:-4.01 [[ 4.48516681e-01 8.93761463e-01 -4.82020791e-03 1.30374090e+02] [ 8.93713684e-01 -4.48542553e-01 -9.24286275e-03 -1.55050812e+02] [-1.04229829e-02 -1.62307639e-04 -9.99945666e-01 -4.00722200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters 0.013415342652201458 Centerline is valid? [True, True] Translation: X:130.40, Y:-155.02, Z:-4.01 [[ 3.78084639e-01 9.25762316e-01 -4.01737893e-03 1.30395128e+02] [ 9.25714192e-01 -3.78105952e-01 -9.44051541e-03 -1.55023832e+02] [-1.02586683e-02 -1.49630838e-04 -9.99947367e-01 -4.00787900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters 0.01372944660891815 Centerline is valid? [True, True] Translation: X:130.41, Y:-155.00, Z:-4.01 [[ 3.04258888e-01 9.52582488e-01 -3.62395232e-03 1.30412253e+02] [ 9.52521367e-01 -3.04280422e-01 -1.07921495e-02 -1.54996179e+02] [-1.13831103e-02 -1.68284618e-04 -9.99935196e-01 -4.00678289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters 0.013990370223966044 Centerline is valid? [True, True] Translation: X:130.42, Y:-154.97, Z:-4.00 [[ 2.30147641e-01 9.73150684e-01 -3.13220628e-03 1.30423428e+02] [ 9.73070438e-01 -2.30168890e-01 -1.24981735e-02 -1.54966690e+02] [-1.28835425e-02 -1.71432190e-04 -9.99916989e-01 -4.00441201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters 0.012882165403708526 Centerline is valid? [True, True] Translation: X:130.43, Y:-154.93, Z:-4.00 [[ 1.58432669e-01 9.87367124e-01 -2.29182190e-03 1.30426641e+02] [ 9.87273706e-01 -1.58449206e-01 -1.35823135e-02 -1.54934863e+02] [-1.37738672e-02 -1.10773323e-04 -9.99905130e-01 -4.00487637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters 0.012467753655383825 Centerline is valid? [True, True] Translation: X:130.43, Y:-154.90, Z:-4.01 [[ 8.58030589e-02 9.96311458e-01 -1.14636675e-03 1.30431800e+02] [ 9.96228128e-01 -8.58107088e-02 -1.28856461e-02 -1.54904809e+02] [-1.29364874e-02 -3.64149489e-05 -9.99916320e-01 -4.00583681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters 0.012890268433544889 Centerline is valid? [True, True] Translation: X:130.43, Y:-154.87, Z:-4.01 [[ 1.75373268e-02 9.99846201e-01 -1.28398068e-04 1.30430313e+02] [ 9.99768951e-01 -1.75375680e-02 -1.24289365e-02 -1.54874951e+02] [-1.24292767e-02 8.96019194e-05 -9.99922750e-01 -4.00652637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters 0.014475171028521442 Centerline is valid? [True, True] Translation: X:130.43, Y:-154.85, Z:-4.01 [[-5.11650945e-02 9.98689834e-01 8.65465725e-04 1.30426545e+02] [ 9.98609196e-01 5.11719627e-02 -1.26927089e-02 -1.54845737e+02] [-1.27203670e-02 2.14838380e-04 -9.99919070e-01 -4.00706923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters 0.014816887098898992 Centerline is valid? [True, True] Translation: X:130.43, Y:-154.82, Z:-4.01 [[-1.27049064e-01 9.91894781e-01 1.81051324e-03 1.30429859e+02] [ 9.91818927e-01 1.27061743e-01 -1.22690184e-02 -1.54817098e+02] [-1.23996223e-02 2.36933989e-04 -9.99923094e-01 -4.00811977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters 0.014051134018868703 Centerline is valid? [True, True] Translation: X:130.44, Y:-154.79, Z:-4.01 [[-2.07327500e-01 9.78267234e-01 2.91997768e-03 1.30437537e+02] [ 9.78184025e-01 2.07347955e-01 -1.27608443e-02 -1.54786339e+02] [-1.30889673e-02 2.10601553e-04 -9.99914314e-01 -4.00782426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters 0.013719247921239752 Centerline is valid? [True, True] Translation: X:130.44, Y:-154.76, Z:-4.01 [[-2.86981112e-01 9.57926494e-01 4.32125416e-03 1.30440862e+02] [ 9.57827017e-01 2.87013590e-01 -1.38059490e-02 -1.54755894e+02] [-1.44653430e-02 1.76967382e-04 -9.99895356e-01 -4.00650356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters 0.013213776513249238 Centerline is valid? [True, True] Translation: X:130.44, Y:-154.73, Z:-4.01 [[-3.64168191e-01 9.31319022e-01 5.13885317e-03 1.30441163e+02] [ 9.31231055e-01 3.64204426e-01 -1.28007458e-02 -1.54725475e+02] [-1.37931711e-02 1.23835217e-04 -9.99904862e-01 -4.00679709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters 0.012538919959892428 Centerline is valid? [True, True] Translation: X:130.44, Y:-154.69, Z:-4.01 [[-4.41095832e-01 8.97444586e-01 5.26144367e-03 1.30442794e+02] [ 8.97381803e-01 4.41127209e-01 -1.06153022e-02 -1.54694056e+02] [-1.18476115e-02 3.91582406e-05 -9.99929814e-01 -4.00705744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters 0.012417265290153186 Centerline is valid? [True, True] Translation: X:130.44, Y:-154.66, Z:-4.01 [[-5.13838673e-01 8.57868697e-01 5.57825936e-03 1.30437840e+02] [ 8.57817890e-01 5.13868951e-01 -9.33646448e-03 -1.54663355e+02] [-1.08759549e-02 -1.23058452e-05 -9.99940855e-01 -4.00820709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters 0.012964314600490292 Centerline is valid? [True, True] Translation: X:130.43, Y:-154.63, Z:-4.01 [[-5.84904344e-01 8.11080782e-01 5.90527829e-03 1.30431265e+02] [ 8.11038062e-01 5.84934149e-01 -8.32485982e-03 -1.54633709e+02] [-1.02063327e-02 -7.98412125e-05 -9.99947911e-01 -4.00725665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters 0.013631232344632463 Centerline is valid? [True, True] Translation: X:130.42, Y:-154.60, Z:-4.01 [[-6.51679532e-01 7.58468573e-01 6.26194270e-03 1.30422902e+02] [ 7.58431462e-01 6.51709601e-01 -7.50421788e-03 -1.54601905e+02] [-9.77268160e-03 -1.41090835e-04 -9.99952236e-01 -4.00699045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters 0.015283880887442041 Centerline is valid? [True, True] Translation: X:130.41, Y:-154.57, Z:-4.01 [[-7.11572024e-01 7.02579828e-01 6.84402159e-03 1.30412061e+02] [ 7.02544927e-01 7.11604915e-01 -7.00504873e-03 -1.54572000e+02] [-9.79184533e-03 -1.76364056e-04 -9.99952043e-01 -4.00529095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters 0.016441866746923037 Centerline is valid? [True, True] Translation: X:130.39, Y:-154.55, Z:-4.01 [[-7.66352140e-01 6.42380913e-01 7.15263354e-03 1.30392016e+02] [ 6.42350479e-01 7.66385492e-01 -6.25619183e-03 -1.54548385e+02] [-9.50053280e-03 -1.99948414e-04 -9.99954849e-01 -4.00583663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters 0.01583502746292086 Centerline is valid? [True, True] Translation: X:130.40, Y:-154.53, Z:-4.01 [[-8.12305391e-01 5.83195124e-01 6.58779238e-03 1.30403069e+02] [ 5.83173853e-01 8.12332077e-01 -4.98528414e-03 -1.54525160e+02] [-8.25886847e-03 -2.07744916e-04 -9.99965873e-01 -4.00808125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters 0.01991273967630791 Centerline is valid? [True, True] Translation: X:130.42, Y:-154.50, Z:-4.01 [[-8.52941903e-01 5.21963583e-01 6.64282512e-03 1.30421190e+02] [ 5.21945721e-01 8.52967742e-01 -4.32379648e-03 -1.54496417e+02] [-7.92297985e-03 -2.20753057e-04 -9.99968588e-01 -4.00576779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters 0.01814676412554028 Centerline is valid? [True, True] Translation: X:130.43, Y:-154.47, Z:-4.00 [[-8.89059526e-01 4.57715167e-01 8.36575236e-03 1.30426853e+02] [ 4.57691764e-01 8.89098835e-01 -4.63789159e-03 -1.54472197e+02] [-9.56081401e-03 -2.94425744e-04 -9.99954251e-01 -4.00464059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters 0.01842477281748004 Centerline is valid? [True, True] Translation: X:130.44, Y:-154.45, Z:-4.00 [[-9.19400087e-01 3.93211890e-01 9.37493103e-03 1.30438859e+02] [ 3.93187846e-01 9.19447826e-01 -4.36028698e-03 -1.54449723e+02] [-1.03342766e-02 -3.22739291e-04 -9.99946548e-01 -4.00355677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters 0.01820239560911715 Centerline is valid? [True, True] Translation: X:130.71, Y:-153.88, Z:-5.04 [[-8.62279801e-01 -5.06337824e-01 9.77515067e-03 1.30713598e+02] [ 5.06310389e-01 -8.62335117e-01 -5.28542319e-03 -1.53884290e+02] [ 1.11056654e-02 3.91746680e-04 9.99938254e-01 -5.03833580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters 0.015459947619079076 Centerline is valid? [True, True] Translation: X:130.71, Y:-153.90, Z:-5.04 [[-8.29467621e-01 -5.58457394e-01 1.04309265e-02 1.30707861e+02] [ 5.58417423e-01 -8.29533159e-01 -6.68735215e-03 -1.53904673e+02] [ 1.23874007e-02 2.77869028e-04 9.99923235e-01 -5.03885240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters 0.014347851585690468 Centerline is valid? [True, True] Translation: X:130.36, Y:-154.46, Z:-4.00 [[-8.85478881e-01 4.64529773e-01 1.18000537e-02 1.30355923e+02] [ 4.64485261e-01 8.85557476e-01 -6.43423033e-03 -1.54459901e+02] [-1.34385174e-02 -2.16424035e-04 -9.99909676e-01 -4.00055371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters 0.014105295859764012 Centerline is valid? [True, True] Translation: X:130.36, Y:-154.43, Z:-4.00 [[-9.15612192e-01 4.01908166e-01 1.11418498e-02 1.30364289e+02] [ 4.01876006e-01 9.15679963e-01 -5.08742219e-03 -1.54432959e+02] [-1.22470451e-02 -1.80463697e-04 -9.99924986e-01 -4.00046103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters 0.013146082767531861 Centerline is valid? [True, True] Translation: X:130.65, Y:-153.84, Z:-5.04 [[-8.75241231e-01 -4.83578060e-01 1.02492925e-02 1.30652689e+02] [ 4.83546737e-01 -8.75301229e-01 -5.50557157e-03 -1.53837476e+02] [ 1.16335919e-02 1.37308711e-04 9.99932318e-01 -5.03849132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters 0.012660972817331313 Centerline is valid? [True, True] Translation: X:130.65, Y:-153.86, Z:-5.04 [[-8.43114100e-01 -5.37669728e-01 8.35929246e-03 1.30645006e+02] [ 5.37643840e-01 -8.43155538e-01 -5.27632282e-03 -1.53862719e+02] [ 9.88510279e-03 4.57799341e-05 9.99951140e-01 -5.03608821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters 0.012535319459887277 Centerline is valid? [True, True] Translation: X:130.29, Y:-154.44, Z:-4.01 [[-8.81661568e-01 4.71820614e-01 7.62805018e-03 1.30285039e+02] [ 4.71802890e-01 8.81694566e-01 -4.08958273e-03 -1.54435505e+02] [-8.65515983e-03 -6.69180234e-06 -9.99962543e-01 -4.00523184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters 0.01255952650834302 Centerline is valid? [True, True] Translation: X:130.30, Y:-154.41, Z:-4.00 [[-9.12213867e-01 4.09632768e-01 8.17656130e-03 1.30298823e+02] [ 4.09616380e-01 9.12250511e-01 -3.66405339e-03 -1.54410465e+02] [-8.95998856e-03 6.85313157e-06 -9.99959859e-01 -4.00423958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters 0.012699134471631337 Centerline is valid? [True, True] Translation: X:130.31, Y:-154.38, Z:-4.00 [[-9.39093570e-01 3.43523366e-01 9.74493584e-03 1.30308845e+02] [ 3.43504909e-01 9.39144130e-01 -3.56098158e-03 -1.54383645e+02] [-1.03751797e-02 3.33839116e-06 -9.99946176e-01 -4.00340188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters 0.012733511308734988 Centerline is valid? [True, True] Translation: X:130.32, Y:-154.36, Z:-4.00 [[-9.61525676e-01 2.74534067e-01 9.97099553e-03 1.30317356e+02] [ 2.74519161e-01 9.61577374e-01 -2.86081478e-03 -1.54356199e+02] [-1.03732748e-02 -1.35175371e-05 -9.99946196e-01 -4.00390977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters 0.01277549056783717 Centerline is valid? [True, True] Translation: X:130.32, Y:-154.32, Z:-4.00 [[-9.79113312e-01 2.03085460e-01 9.66534247e-03 1.30316408e+02] [ 2.03075168e-01 9.79161016e-01 -2.04492268e-03 -1.54324720e+02] [-9.87922061e-03 -3.94199663e-05 -9.99951199e-01 -4.00408414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters 0.012806729233470414 Centerline is valid? [True, True] Translation: X:130.32, Y:-154.30, Z:-4.00 [[-9.91074037e-01 1.32887273e-01 1.06408026e-02 1.30323723e+02] [ 1.32879123e-01 9.91131157e-01 -1.47240114e-03 -1.54299193e+02] [-1.07420944e-02 -4.53180230e-05 -9.99942301e-01 -4.00369244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters 0.012677922221166864 Centerline is valid? [True, True] Translation: X:130.41, Y:-153.64, Z:-5.04 [[-9.78733637e-01 -2.04936174e-01 9.03508775e-03 1.30414405e+02] [ 2.04926949e-01 -9.78775338e-01 -1.94518990e-03 -1.53642414e+02] [ 9.24196084e-03 -5.22898252e-05 9.99957291e-01 -5.03617377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters 0.012615093829959075 Centerline is valid? [True, True] Translation: X:130.28, Y:-154.30, Z:-4.01 [[-9.90970787e-01 1.33858392e-01 7.67006262e-03 1.30277125e+02] [ 1.33854428e-01 9.91000470e-01 -1.03015661e-03 -1.54296361e+02] [-7.73893077e-03 5.81674151e-06 -9.99970054e-01 -4.00547260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters 0.012619026686299259 Centerline is valid? [True, True] Translation: X:130.28, Y:-154.27, Z:-4.01 [[-9.97851606e-01 6.51125703e-02 7.24749892e-03 1.30275201e+02] [ 6.51109933e-02 9.97877925e-01 -4.53577854e-04 -1.54269376e+02] [-7.26165280e-03 1.92884637e-05 -9.99973634e-01 -4.00597520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters 0.01279515075622299 Centerline is valid? [True, True] Translation: X:130.28, Y:-154.24, Z:-4.00 [[-9.99945892e-01 -4.62291626e-03 9.31888532e-03 1.30275031e+02] [-4.62236961e-03 9.99989314e-01 8.01969985e-05 -1.54243333e+02] [-9.31915648e-03 3.71173268e-05 -9.99956575e-01 -4.00414079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters 0.012792328821380438 Centerline is valid? [True, True] Translation: X:130.27, Y:-154.21, Z:-4.00 [[-9.96986896e-01 -7.67755674e-02 1.10744045e-02 1.30265720e+02] [-7.67704765e-02 9.97048400e-01 8.84707463e-04 -1.54214081e+02] [-1.11096412e-02 3.18544344e-05 -9.99938286e-01 -4.00179204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters 0.012679695063192095 Centerline is valid? [True, True] Translation: X:130.21, Y:-153.56, Z:-5.04 [[-9.99844340e-01 1.17677058e-02 1.31459615e-02 1.30214133e+02] [-1.17653274e-02 -9.99930753e-01 2.58246573e-04 -1.53556200e+02] [ 1.31480902e-02 1.03539833e-04 9.99913555e-01 -5.04035575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters 0.012793642485694794 Centerline is valid? [True, True] Translation: X:130.19, Y:-154.21, Z:-4.00 [[-9.95940565e-01 -8.86864850e-02 1.53980239e-02 1.30190329e+02] [-8.86769199e-02 9.96059588e-01 1.30419277e-03 -1.54212326e+02] [-1.54530136e-02 -6.65508520e-05 -9.99880593e-01 -3.99924764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters 0.01293317094478067 Centerline is valid? [True, True] Translation: X:130.18, Y:-154.19, Z:-4.00 [[-9.86793352e-01 -1.61172493e-01 1.61959559e-02 1.30176812e+02] [-1.61152465e-01 9.86926247e-01 2.54275113e-03 -1.54185381e+02] [-1.63940356e-02 -1.00848312e-04 -9.99865604e-01 -3.99842662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters 0.01302571600198111 Centerline is valid? [True, True] Translation: X:130.17, Y:-154.16, Z:-4.00 [[-9.72435804e-01 -2.32654192e-01 1.55123824e-02 1.30166968e+02] [-2.32626608e-01 9.72559516e-01 3.58465479e-03 -1.54159453e+02] [-1.59207001e-02 -1.22746241e-04 -9.99873250e-01 -3.99887057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters 0.012937118527551326 Centerline is valid? [True, True] Translation: X:130.14, Y:-154.14, Z:-4.00 [[-9.53298473e-01 -3.01662867e-01 1.48840579e-02 1.30143561e+02] [-3.01628092e-01 9.53414653e-01 4.58195280e-03 -1.54138199e+02] [-1.55728839e-02 -1.21481388e-04 -9.99878728e-01 -4.00040190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters 0.01326021259524241 Centerline is valid? [True, True] Translation: X:129.93, Y:-153.53, Z:-5.04 [[-9.75151093e-01 2.21057675e-01 1.46236126e-02 1.29929686e+02] [-2.21031599e-01 -9.75260734e-01 3.39616592e-03 -1.53527009e+02] [ 1.50125837e-02 7.94944315e-05 9.99887302e-01 -5.04061205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters 0.013151921665617244 Centerline is valid? [True, True] Translation: X:130.01, Y:-154.18, Z:-4.00 [[-9.51094130e-01 -3.08601419e-01 1.36058544e-02 1.30012079e+02] [-3.08571691e-01 9.51191437e-01 4.28515687e-03 -1.54180102e+02] [-1.42641777e-02 -1.22793949e-04 -9.99898254e-01 -4.00208815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters 0.013683325983686542 Centerline is valid? [True, True] Translation: X:129.98, Y:-154.16, Z:-4.00 [[-9.26163389e-01 -3.76898728e-01 1.29894932e-02 1.29980636e+02] [-3.76863625e-01 9.26254464e-01 5.14545198e-03 -1.54161755e+02] [-1.39708904e-02 -1.29738262e-04 -9.99902394e-01 -4.00061247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters 0.013164778252683215 Centerline is valid? [True, True] Translation: X:129.93, Y:-154.16, Z:-4.00 [[-8.96386067e-01 -4.43091786e-01 1.27156802e-02 1.29925904e+02] [-4.43049160e-01 8.96476243e-01 6.14723321e-03 -1.54158203e+02] [-1.41230938e-02 -1.23377229e-04 -9.99900257e-01 -4.00266119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters 0.012793554975858967 Centerline is valid? [True, True] Translation: X:129.87, Y:-154.16, Z:-4.00 [[-8.63484373e-01 -5.04210876e-01 1.28891773e-02 1.29865600e+02] [-5.04155805e-01 8.63580563e-01 7.45222423e-03 -1.54164778e+02] [-1.48883355e-02 -6.32743913e-05 -9.99889161e-01 -4.00377628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters 0.013107388485553604 Centerline is valid? [True, True] Translation: X:129.79, Y:-154.18, Z:-4.00 [[-8.24985695e-01 -5.65015676e-01 1.24855156e-02 1.29792985e+02] [-5.64951519e-01 8.25080169e-01 8.51450659e-03 -1.54180505e+02] [-1.51123810e-02 -2.93648746e-05 -9.99885801e-01 -4.00156704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters 0.013653990923935728 Centerline is valid? [True, True] Translation: X:129.72, Y:-154.21, Z:-4.00 [[-7.85586009e-01 -6.18626155e-01 1.25021410e-02 1.29721020e+02] [-6.18545733e-01 7.85685478e-01 9.97528667e-03 -1.54209489e+02] [-1.59937239e-02 1.03299672e-04 -9.99872087e-01 -4.00264079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters 0.015089284976381638 Centerline is valid? [True, True] Translation: X:129.64, Y:-154.25, Z:-4.00 [[-7.42615276e-01 -6.69617035e-01 1.16438253e-02 1.29644513e+02] [-6.69529642e-01 7.42706516e-01 1.08207711e-02 -1.54248293e+02] [-1.58937176e-02 2.39783730e-04 -9.99873658e-01 -4.00330834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters 0.016501101749043703 Centerline is valid? [True, True] Translation: X:129.56, Y:-154.30, Z:-4.01 [[-6.94684671e-01 -7.19239655e-01 1.03694927e-02 1.29564181e+02] [-7.19152353e-01 6.94761981e-01 1.12108342e-02 -1.54296848e+02] [-1.52676058e-02 3.30749547e-04 -9.99883389e-01 -4.00544051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters 0.018057141196676424 Centerline is valid? [True, True] Translation: X:129.48, Y:-154.35, Z:-4.01 [[-6.45146059e-01 -7.64020065e-01 7.73962499e-03 1.29484837e+02] [-7.63957826e-01 6.45192369e-01 9.75948022e-03 -1.54353690e+02] [-1.24499857e-02 3.83543123e-04 -9.99922422e-01 -4.00987676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters 0.019476188038851285 Centerline is valid? [True, True] Translation: X:129.40, Y:-154.42, Z:-4.01 [[-5.88554479e-01 -8.08435424e-01 5.98255279e-03 1.29403034e+02] [-8.08387052e-01 5.88584766e-01 8.85144039e-03 -1.54418853e+02] [-1.06770574e-02 3.73336674e-04 -9.99942929e-01 -4.01262641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters 0.01946851305049493 Centerline is valid? [True, True] Translation: X:129.32, Y:-154.49, Z:-4.01 [[-5.22769668e-01 -8.52454607e-01 5.74602701e-03 1.29316414e+02] [-8.52395091e-01 5.22801114e-01 1.00798785e-02 -1.54493326e+02] [-1.15966682e-02 3.71569532e-04 -9.99932687e-01 -4.01214111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters 0.017777144546080547 Centerline is valid? [True, True] Translation: X:129.23, Y:-154.58, Z:-4.01 [[-4.51817589e-01 -8.92094449e-01 5.32547428e-03 1.29232749e+02] [-8.92023477e-01 4.51848848e-01 1.12577138e-02 -1.54575819e+02] [-1.24492534e-02 3.35985009e-04 -9.99922449e-01 -4.01263451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters 0.01552425609202244 Centerline is valid? [True, True] Translation: X:129.15, Y:-154.66, Z:-4.01 [[-3.74870214e-01 -9.27065918e-01 4.59417936e-03 1.29149682e+02] [-9.26988263e-01 3.74898288e-01 1.20014029e-02 -1.54663061e+02] [-1.28484416e-02 2.40218130e-04 -9.99917427e-01 -4.01328681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters 0.014464994780527431 Centerline is valid? [True, True] Translation: X:129.08, Y:-154.76, Z:-4.01 [[-2.98025699e-01 -9.54550834e-01 3.65898971e-03 1.29076377e+02] [-9.54471699e-01 2.98048111e-01 1.22922670e-02 -1.54757360e+02] [-1.28241487e-02 1.71009347e-04 -9.99917753e-01 -4.01381069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters 0.013961875676744607 Centerline is valid? [True, True] Translation: X:129.01, Y:-154.85, Z:-4.02 [[-2.22517801e-01 -9.74925298e-01 2.54773851e-03 1.29013792e+02] [-9.74854186e-01 2.22532344e-01 1.17758789e-02 -1.54854535e+02] [-1.20475565e-02 1.36669127e-04 -9.99927416e-01 -4.01513986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters 0.01383125584772686 Centerline is valid? [True, True] Translation: X:128.96, Y:-154.96, Z:-4.01 [[-1.46803354e-01 -9.89164449e-01 1.57115201e-03 1.28960283e+02] [-9.89098583e-01 1.46811711e-01 1.14155591e-02 -1.54961080e+02] [-1.15225288e-02 1.21818141e-04 -9.99933606e-01 -4.01453906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters 0.013449013935502309 Centerline is valid? [True, True] Translation: X:128.91, Y:-155.06, Z:-4.02 [[-6.92023192e-02 -9.97602471e-01 5.90036075e-04 1.28912914e+02] [-9.97554911e-01 6.92047817e-02 9.74160080e-03 -1.55064175e+02] [-9.75907835e-03 8.55479845e-05 -9.99952375e-01 -4.01515413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters 0.013159303083611183 Centerline is valid? [True, True] Translation: X:128.88, Y:-155.18, Z:-4.02 [[ 1.02878987e-02 -9.99947068e-01 -1.45837158e-04 1.28876308e+02] [-9.99904388e-01 -1.02888070e-02 9.23875888e-03 -1.55176574e+02] [-9.23977034e-03 5.07757992e-05 -9.99957311e-01 -4.01537874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters 0.012884805401326234 Centerline is valid? [True, True] Translation: X:128.84, Y:-155.29, Z:-4.02 [[ 9.41446264e-02 -9.95558166e-01 -8.53411909e-04 1.28842164e+02] [-9.95515046e-01 -9.41484916e-02 9.26577633e-03 -1.55290447e+02] [-9.30496673e-03 -2.27386545e-05 -9.99956708e-01 -4.01548519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters 0.01363165877987646 Centerline is valid? [True, True] Translation: X:128.82, Y:-155.41, Z:-4.01 [[ 1.77170884e-01 -9.84178160e-01 -1.95631429e-03 1.28815864e+02] [-9.84110408e-01 -1.77181644e-01 1.15486113e-02 -1.55408034e+02] [-1.17125140e-02 -1.20848419e-04 -9.99931399e-01 -4.01304983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters 0.014273925969601527 Centerline is valid? [True, True] Translation: X:128.80, Y:-155.52, Z:-4.01 [[ 2.54806234e-01 -9.66986884e-01 -3.18589749e-03 1.28803334e+02] [-9.66901970e-01 -2.54826083e-01 1.28159244e-02 -1.55519734e+02] [-1.32046805e-02 -1.85126866e-04 -9.99912797e-01 -4.01107125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters 0.01489604719880208 Centerline is valid? [True, True] Translation: X:128.80, Y:-155.63, Z:-4.01 [[ 3.29114018e-01 -9.44276886e-01 -5.01252395e-03 1.28799518e+02] [-9.44155343e-01 -3.29152089e-01 1.51522340e-02 -1.55631224e+02] [-1.59577871e-02 -2.54211351e-04 -9.99872634e-01 -4.00847287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters 0.01443179099874098 Centerline is valid? [True, True] Translation: X:128.81, Y:-155.74, Z:-4.01 [[ 3.97596770e-01 -9.17535667e-01 -6.71624524e-03 1.28808218e+02] [-9.17394393e-01 -3.97653419e-01 1.61023462e-02 -1.55738120e+02] [-1.74452148e-02 -2.40795099e-04 -9.99847792e-01 -4.00780295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters 0.013992203965934251 Centerline is valid? [True, True] Translation: X:128.83, Y:-155.84, Z:-4.01 [[ 4.64019235e-01 -8.85793357e-01 -7.50186175e-03 1.28826378e+02] [-8.85670755e-01 -4.64079832e-01 1.47385270e-02 -1.55840027e+02] [-1.65367521e-02 -1.94780473e-04 -9.99863240e-01 -4.00933887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters 0.013556045208204795 Centerline is valid? [True, True] Translation: X:128.85, Y:-155.94, Z:-4.01 [[ 5.27189715e-01 -8.49717632e-01 -7.13796328e-03 1.28851071e+02] [-8.49636582e-01 -5.27238021e-01 1.17365724e-02 -1.55937510e+02] [-1.37361781e-02 -1.22725509e-04 -9.99905647e-01 -4.01252193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters 0.0132750880612297 Centerline is valid? [True, True] Translation: X:128.88, Y:-156.04, Z:-4.01 [[ 5.89044914e-01 -8.08069892e-01 -7.00998082e-03 1.28884898e+02] [-8.08010714e-01 -5.89086616e-01 9.77987004e-03 -1.56037640e+02] [-1.20323044e-02 -9.66430979e-05 -9.99927605e-01 -4.01396046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters 0.013304610491845862 Centerline is valid? [True, True] Translation: X:128.92, Y:-156.13, Z:-4.01 [[ 6.47772757e-01 -7.61804184e-01 -6.69631332e-03 1.28919710e+02] [-7.61762238e-01 -6.47807363e-01 7.99454113e-03 -1.56126577e+02] [-1.04281960e-02 -7.76473279e-05 -9.99945622e-01 -4.01481949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters 0.01320237062513407 Centerline is valid? [True, True] Translation: X:128.96, Y:-156.22, Z:-4.01 [[ 7.02546334e-01 -7.11597351e-01 -7.60644881e-03 1.28964167e+02] [-7.11554540e-01 -7.02587507e-01 7.80587664e-03 -1.56215453e+02] [-1.08988370e-02 -7.15868337e-05 -9.99940603e-01 -4.01426278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters 0.013276936031178015 Centerline is valid? [True, True] Translation: X:129.01, Y:-156.30, Z:-4.01 [[ 7.53549135e-01 -6.57321552e-01 -9.59577965e-03 1.29012923e+02] [-6.57266965e-01 -7.53610225e-01 8.47143285e-03 -1.56297735e+02] [-1.27999330e-02 -7.66519297e-05 -9.99918075e-01 -4.01311522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters 0.013271492827404453 Centerline is valid? [True, True] Translation: X:129.04, Y:-156.33, Z:-4.01 [[ 8.02701195e-01 -5.96295496e-01 -1.01228741e-02 1.29041698e+02] [-5.96246862e-01 -8.02765019e-01 7.61610672e-03 -1.56327886e+02] [-1.26677394e-02 -7.77260548e-05 -9.99919758e-01 -4.01320541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters 0.013282896470160788 Centerline is valid? [True, True] Translation: X:129.07, Y:-156.36, Z:-4.01 [[ 8.47219263e-01 -5.31138129e-01 -1.05739849e-02 1.29072674e+02] [-5.31095506e-01 -8.47285242e-01 6.72920835e-03 -1.56356746e+02] [-1.25333205e-02 -8.53190806e-05 -9.99921451e-01 -4.01316126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters 0.013457095857341995 Centerline is valid? [True, True] Translation: X:129.11, Y:-156.38, Z:-4.01 [[ 8.86343516e-01 -4.62897384e-01 -1.10083201e-02 1.29106016e+02] [-4.62860423e-01 -8.86411870e-01 5.85021789e-03 -1.56381769e+02] [-1.24659562e-02 -8.99869846e-05 -9.99922293e-01 -4.01194769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters 0.013492986130773682 Centerline is valid? [True, True] Translation: X:129.14, Y:-156.40, Z:-4.01 [[ 9.20046343e-01 -3.91645825e-01 -1.13258097e-02 1.29141039e+02] [-3.91614859e-01 -9.20116046e-01 4.92584860e-03 -1.56403479e+02] [-1.23502473e-02 -9.66536332e-05 -9.99923728e-01 -4.01183640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters 0.013825675402966706 Centerline is valid? [True, True] Translation: X:129.18, Y:-156.42, Z:-4.01 [[ 9.48840262e-01 -3.15569157e-01 -1.08749756e-02 1.29176565e+02] [-3.15546909e-01 -9.48902572e-01 3.74930886e-03 -1.56424629e+02] [-1.15024586e-02 -1.25930261e-04 -9.99933837e-01 -4.01273725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters 0.015050552806082489 Centerline is valid? [True, True] Translation: X:129.21, Y:-156.44, Z:-4.01 [[ 9.71922901e-01 -2.35126825e-01 -9.01389825e-03 1.29213987e+02] [-2.35115252e-01 -9.71964687e-01 2.33785526e-03 -1.56443475e+02] [-9.31088328e-03 -1.52910107e-04 -9.99956641e-01 -4.01391523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters 0.01573500742927173 Centerline is valid? [True, True] Translation: X:129.25, Y:-156.46, Z:-4.01 [[ 9.87864083e-01 -1.55116894e-01 -7.95625097e-03 1.29252601e+02] [-1.55110557e-01 -9.87896110e-01 1.41113410e-03 -1.56458416e+02] [-8.07884012e-03 -1.59910168e-04 -9.99967353e-01 -4.01448055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters 0.016959122251887174 Centerline is valid? [True, True] Translation: X:129.29, Y:-156.47, Z:-4.01 [[ 9.97126443e-01 -7.52759121e-02 -8.50841192e-03 1.29291998e+02] [-7.52715635e-02 -9.97162726e-01 8.30622486e-04 -1.56468730e+02] [-8.54679709e-03 -1.87794178e-04 -9.99963458e-01 -4.01342239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters 0.016358695970263674 Centerline is valid? [True, True] Translation: X:129.33, Y:-156.47, Z:-4.01 [[ 9.99948686e-01 4.05391915e-03 -9.28390170e-03 1.29329464e+02] [ 4.05573096e-03 -9.99991760e-01 1.76337178e-04 -1.56474842e+02] [-9.28311034e-03 -2.13981137e-04 -9.99956888e-01 -4.01273784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters 0.016863028578313972 Centerline is valid? [True, True] Translation: X:129.37, Y:-156.48, Z:-4.01 [[ 9.96489394e-01 8.32113050e-02 -9.20685008e-03 1.29366805e+02] [ 8.32097972e-02 -9.96531901e-01 -5.47367161e-04 -1.56477765e+02] [-9.22046695e-03 -2.20654558e-04 -9.99957466e-01 -4.01209311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters 0.016840944397030037 Centerline is valid? [True, True] Translation: X:129.40, Y:-156.47, Z:-4.01 [[ 9.86857608e-01 1.61365722e-01 -8.55362807e-03 1.29404399e+02] [ 1.61361505e-01 -9.86894655e-01 -1.18535424e-03 -1.56474883e+02] [-8.63280537e-03 -2.10450447e-04 -9.99962715e-01 -4.01284606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters 0.0170257313681954 Centerline is valid? [True, True] Translation: X:129.44, Y:-156.47, Z:-4.01 [[ 9.71118970e-01 2.38453790e-01 -8.23020853e-03 1.29440935e+02] [ 2.38447037e-01 -9.71153822e-01 -1.80667301e-03 -1.56470966e+02] [-8.42360650e-03 -2.07974401e-04 -9.99964499e-01 -4.01237632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters 0.01790929530272469 Centerline is valid? [True, True] Translation: X:129.48, Y:-156.46, Z:-4.01 [[ 9.49168510e-01 3.14670735e-01 -7.84022752e-03 1.29475266e+02] [ 3.14661821e-01 -9.49200866e-01 -2.37773021e-03 -1.56462498e+02] [-8.19015286e-03 -2.10153635e-04 -9.99966438e-01 -4.01144131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters 0.019341471731375643 Centerline is valid? [True, True] Translation: X:129.51, Y:-156.45, Z:-4.01 [[ 9.20619393e-01 3.90364178e-01 -8.70294265e-03 1.29507893e+02] [ 3.90349424e-01 -9.20660491e-01 -3.40405823e-03 -1.56450244e+02] [-9.34127784e-03 -2.63346632e-04 -9.99956335e-01 -4.00948959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters 0.020581066025973867 Centerline is valid? [True, True] Translation: X:129.54, Y:-156.43, Z:-4.01 [[ 8.86360408e-01 4.62912220e-01 -8.80358659e-03 1.29540503e+02] [ 4.62892655e-01 -8.86404078e-01 -4.26616532e-03 -1.56434490e+02] [-9.77839512e-03 -2.93755533e-04 -9.99952147e-01 -4.00857530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters 0.02215401062956373 Centerline is valid? [True, True] Translation: X:129.57, Y:-156.41, Z:-4.01 [[ 8.46370670e-01 5.32498469e-01 -1.01029505e-02 1.29568600e+02] [ 5.32465760e-01 -8.46430884e-01 -5.91383815e-03 -1.56413041e+02] [-1.17005591e-02 -3.74176066e-04 -9.99931476e-01 -4.00694036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters 0.018918536148018906 Centerline is valid? [True, True] Translation: X:129.60, Y:-156.39, Z:-4.01 [[ 8.01852718e-01 5.97422918e-01 -1.08662408e-02 1.29596296e+02] [ 5.97375215e-01 -8.01926227e-01 -7.56162644e-03 -1.56390334e+02] [-1.32314124e-02 -4.27912208e-04 -9.99912370e-01 -4.00786471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters 0.018419704251828463 Centerline is valid? [True, True] Translation: X:129.62, Y:-156.37, Z:-4.01 [[ 7.53062777e-01 6.57880215e-01 -9.49083544e-03 1.29624352e+02] [ 6.57834384e-01 -7.53122481e-01 -7.77503298e-03 -1.56370451e+02] [-1.22628019e-02 -3.88309964e-04 -9.99924734e-01 -4.00877480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters 0.018700988734784946 Centerline is valid? [True, True] Translation: X:129.65, Y:-156.35, Z:-4.01 [[ 7.00246091e-01 7.13857379e-01 -7.94068355e-03 1.29650356e+02] [ 7.13816804e-01 -7.00291034e-01 -7.61833664e-03 -1.56350393e+02] [-1.09991953e-02 -3.33482900e-04 -9.99939451e-01 -4.00953466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters 0.01719486870385835 Centerline is valid? [True, True] Translation: X:129.67, Y:-156.33, Z:-4.01 [[ 6.43865365e-01 7.65113364e-01 -6.23956557e-03 1.29671801e+02] [ 7.65081348e-01 -6.43895544e-01 -7.00429879e-03 -1.56325065e+02] [-9.37671107e-03 -2.63949842e-04 -9.99956003e-01 -4.01215085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters 0.018072625020907555 Centerline is valid? [True, True] Translation: X:129.69, Y:-156.30, Z:-4.01 [[ 5.81492228e-01 8.13533836e-01 -5.43018103e-03 1.29693986e+02] [ 8.13502435e-01 -5.81517524e-01 -7.15241779e-03 -1.56302036e+02] [-8.97647931e-03 -2.58390141e-04 -9.99959677e-01 -4.01196132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters 0.01935521902309775 Centerline is valid? [True, True] Translation: X:129.72, Y:-156.28, Z:-4.01 [[ 5.13807105e-01 8.57889937e-01 -5.20708181e-03 1.29715355e+02] [ 8.57851689e-01 -5.13833401e-01 -8.10648050e-03 -1.56278317e+02] [-9.63004061e-03 -3.01736648e-04 -9.99953585e-01 -4.01096105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters 0.02079152483094489 Centerline is valid? [True, True] Translation: X:129.73, Y:-156.25, Z:-4.01 [[ 4.40337384e-01 8.97817141e-01 -5.23168841e-03 1.29734906e+02] [ 8.97764315e-01 -4.40368276e-01 -9.74765898e-03 -1.56252575e+02] [-1.10554849e-02 -4.04564502e-04 -9.99938804e-01 -4.00927724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters 0.022320733933698024 Centerline is valid? [True, True] Translation: X:129.75, Y:-156.22, Z:-4.01 [[ 3.65475736e-01 9.30806880e-01 -5.10272607e-03 1.29750698e+02] [ 9.30734638e-01 -3.65511004e-01 -1.16077562e-02 -1.56224943e+02] [-1.26696819e-02 -5.06930658e-04 -9.99919608e-01 -4.00840525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters 0.020921626430581805 Centerline is valid? [True, True] Translation: X:129.76, Y:-156.20, Z:-4.01 [[ 2.92804097e-01 9.56162535e-01 -4.35518948e-03 1.29763445e+02] [ 9.56081224e-01 -2.92836041e-01 -1.24798150e-02 -1.56196881e+02] [-1.32080880e-02 -5.09773924e-04 -9.99912640e-01 -4.00887567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters 0.01868767982448743 Centerline is valid? [True, True] Translation: X:129.77, Y:-156.17, Z:-4.01 [[ 2.23998654e-01 9.74583455e-01 -3.41940324e-03 1.29771160e+02] [ 9.74496983e-01 -2.24024352e-01 -1.29892181e-02 -1.56167422e+02] [-1.34251067e-02 -4.22630771e-04 -9.99909790e-01 -4.00907414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters 0.01679401884386407 Centerline is valid? [True, True] Translation: X:129.78, Y:-156.14, Z:-4.01 [[ 1.52485491e-01 9.88303124e-01 -2.26076291e-03 1.29777864e+02] [ 9.88224201e-01 -1.52501894e-01 -1.24940681e-02 -1.56138443e+02] [-1.26926972e-02 -3.28976505e-04 -9.99919390e-01 -4.01021836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters 0.01564752069833 Centerline is valid? [True, True] Translation: X:129.79, Y:-156.11, Z:-4.01 [[ 7.63223590e-02 9.97082717e-01 -9.76368993e-04 1.29788320e+02] [ 9.97035806e-01 -7.63282420e-02 -9.67478688e-03 -1.56110829e+02] [-9.72108732e-03 -2.35072288e-04 -9.99952722e-01 -4.01322391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters 0.01711285631107553 Centerline is valid? [True, True] Translation: X:129.80, Y:-156.08, Z:-4.01 [[-1.71154091e-03 9.99998516e-01 -1.96000036e-04 1.29802604e+02] [ 9.99959380e-01 1.70973941e-03 -8.84956619e-03 -1.56083803e+02] [-8.84921795e-03 -2.11138469e-04 -9.99960823e-01 -4.01203050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters 0.01603244949758521 Centerline is valid? [True, True] Translation: X:129.81, Y:-156.05, Z:-4.01 [[-7.98207833e-02 9.96809056e-01 5.90013470e-04 1.29809461e+02] [ 9.96754059e-01 7.98225788e-02 -1.04739002e-02 -1.56054801e+02] [-1.04875750e-02 -2.47936598e-04 -9.99944973e-01 -4.00990781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters 0.01640049290215882 Centerline is valid? [True, True] Translation: X:129.81, Y:-156.03, Z:-4.01 [[-1.58640850e-01 9.87334672e-01 1.82371969e-03 1.29814067e+02] [ 9.87242986e-01 1.58650979e-01 -1.34593247e-02 -1.56025641e+02] [-1.35781928e-02 -3.34744233e-04 -9.99907756e-01 -4.00762335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters 0.016430095157946804 Centerline is valid? [True, True] Translation: X:129.82, Y:-155.99, Z:-4.01 [[-2.37257333e-01 9.71442411e-01 2.93264504e-03 1.29818854e+02] [ 9.71347943e-01 2.37275173e-01 -1.35523301e-02 -1.55994767e+02] [-1.38611520e-02 -3.66770954e-04 -9.99903862e-01 -4.00756300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters 0.017399091879512024 Centerline is valid? [True, True] Translation: X:129.82, Y:-155.96, Z:-4.01 [[-3.15102704e-01 9.49050149e-01 3.75513891e-03 1.29824905e+02] [ 9.48967707e-01 3.15124849e-01 -1.25148416e-02 -1.55962965e+02] [-1.30605498e-02 -3.79954848e-04 -9.99914635e-01 -4.00778589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters 0.01718023024237279 Centerline is valid? [True, True] Translation: X:129.82, Y:-155.93, Z:-4.01 [[-3.86696608e-01 9.22197282e-01 4.23172970e-03 1.29823208e+02] [ 9.22132773e-01 3.86719631e-01 -1.09121528e-02 -1.55932256e+02] [-1.16996506e-02 -3.17475822e-04 -9.99931506e-01 -4.00822463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters 0.015234463164331165 Centerline is valid? [True, True] Translation: X:129.81, Y:-155.90, Z:-4.01 [[-4.52250136e-01 8.91877784e-01 4.88194711e-03 1.29811975e+02] [ 8.91820067e-01 4.52276424e-01 -1.01491164e-02 -1.55904735e+02] [-1.12597610e-02 -2.36120874e-04 -9.99936579e-01 -4.00996550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters 0.01452210645124946 Centerline is valid? [True, True] Translation: X:129.80, Y:-155.88, Z:-4.01 [[-5.17666095e-01 8.55564282e-01 5.61905978e-03 1.29801791e+02] [ 8.55509743e-01 5.17696554e-01 -9.66223226e-03 -1.55877626e+02] [-1.11756287e-02 -1.94649657e-04 -9.99937532e-01 -4.00960936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters 0.013979828089013059 Centerline is valid? [True, True] Translation: X:129.79, Y:-155.85, Z:-4.01 [[-5.79907695e-01 8.14656470e-01 6.47309888e-03 1.29790591e+02] [ 8.14602733e-01 5.79943800e-01 -9.35823061e-03 -1.55852344e+02] [-1.13777767e-02 -1.53905899e-04 -9.99935259e-01 -4.00905347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters 0.013666233354370103 Centerline is valid? [True, True] Translation: X:129.78, Y:-155.83, Z:-4.01 [[-6.40350416e-01 7.68047949e-01 7.32756676e-03 1.29776221e+02] [ 7.67995275e-01 6.40392325e-01 -8.99598739e-03 -1.55826939e+02] [-1.16018672e-02 -1.33047619e-04 -9.99932687e-01 -4.00878178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters 0.013336373200917713 Centerline is valid? [True, True] Translation: X:129.76, Y:-155.80, Z:-4.01 [[-6.97634808e-01 7.16400848e-01 8.68910654e-03 1.29760584e+02] [ 7.16342970e-01 6.97688906e-01 -9.10714835e-03 -1.55802015e+02] [-1.25866620e-02 -1.29083299e-04 -9.99920777e-01 -4.00926692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters 0.013182721716964293 Centerline is valid? [True, True] Translation: X:129.75, Y:-155.78, Z:-4.01 [[-7.50899433e-01 6.60350629e-01 9.33211932e-03 1.29745173e+02] [ 6.60297725e-01 7.50957411e-01 -8.35950427e-03 -1.55776140e+02] [-1.25282281e-02 -1.15169861e-04 -9.99921512e-01 -4.00918515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters 0.012982649961997246 Centerline is valid? [True, True] Translation: X:129.76, Y:-155.76, Z:-4.01 [[-7.94642266e-01 6.07008924e-01 9.15622153e-03 1.29764891e+02] [ 6.06967386e-01 7.94695010e-01 -7.10164912e-03 -1.55756056e+02] [-1.15871680e-02 -8.57426970e-05 -9.99932863e-01 -4.00901590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters 0.012681523030131602 Centerline is valid? [True, True] Translation: X:130.19, Y:-155.22, Z:-5.03 [[-7.43963348e-01 -6.68172883e-01 7.97089644e-03 1.30191223e+02] [ 6.68134943e-01 -7.44006046e-01 -7.12043901e-03 -1.55218400e+02] [ 1.06880794e-02 2.82888024e-05 9.99942881e-01 -5.03040296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters 0.012694302424097519 Centerline is valid? [True, True] Translation: X:130.18, Y:-155.25, Z:-5.03 [[-7.00720067e-01 -7.13392186e-01 7.93579251e-03 1.30179613e+02] [ 7.13346438e-01 -7.00765003e-01 -8.07898522e-03 -1.55245821e+02] [ 1.13246106e-02 -1.37744474e-07 9.99935875e-01 -5.03051171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters 0.012638349500376149 Centerline is valid? [True, True] Translation: X:130.14, Y:-155.21, Z:-5.03 [[-7.02249209e-01 -7.11886231e-01 8.00264705e-03 1.30138032e+02] [ 7.11839662e-01 -7.02294805e-01 -8.14261045e-03 -1.55205355e+02] [ 1.14168297e-02 -2.15401728e-05 9.99934826e-01 -5.03016326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters 0.012607710373818623 Centerline is valid? [True, True] Translation: X:130.09, Y:-155.17, Z:-5.03 [[-7.02037027e-01 -7.12097752e-01 7.79771636e-03 1.30094579e+02] [ 7.12053601e-01 -7.02080332e-01 -7.92950063e-03 -1.55166635e+02] [ 1.11212029e-02 -1.44110369e-05 9.99938157e-01 -5.03062467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters 0.012499213422498047 Centerline is valid? [True, True] Translation: X:130.05, Y:-155.13, Z:-5.03 [[-7.01116880e-01 -7.12998553e-01 8.25737839e-03 1.30050676e+02] [ 7.12949163e-01 -7.01165504e-01 -8.39212780e-03 -1.55128477e+02] [ 1.17733639e-02 3.22855719e-06 9.99930692e-01 -5.03123035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters 0.01248923292237081 Centerline is valid? [True, True] Translation: X:130.01, Y:-155.09, Z:-5.03 [[-7.00541792e-01 -7.13564366e-01 8.19106813e-03 1.30008315e+02] [ 7.13515866e-01 -7.00589677e-01 -8.31946179e-03 -1.55089467e+02] [ 1.16750493e-02 1.63263935e-05 9.99931844e-01 -5.03134480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters 0.012458161327109129 Centerline is valid? [True, True] Translation: X:129.97, Y:-155.05, Z:-5.03 [[-6.99960264e-01 -7.14144777e-01 7.27084920e-03 1.29965420e+02] [ 7.14106638e-01 -6.99998026e-01 -7.38064366e-03 -1.55049855e+02] [ 1.03604282e-02 2.60043908e-05 9.99946329e-01 -5.03021425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters 0.012333345227832153 Centerline is valid? [True, True] Translation: X:129.92, Y:-155.01, Z:-5.03 [[-6.99621367e-01 -7.14485053e-01 6.40720486e-03 1.29923895e+02] [ 7.14455488e-01 -6.99650705e-01 -6.49983994e-03 -1.55011027e+02] [ 9.12684388e-03 3.02357620e-05 9.99958349e-01 -5.02861098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters 0.012421088740669797 Centerline is valid? [True, True] Translation: X:129.88, Y:-154.97, Z:-5.03 [[-7.00087729e-01 -7.14030773e-01 6.10139947e-03 1.29883873e+02] [ 7.14003981e-01 -7.00114315e-01 -6.18554332e-03 -1.54971975e+02] [ 8.68834539e-03 2.60005365e-05 9.99962255e-01 -5.02875379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters 0.01233272072732214 Centerline is valid? [True, True] Translation: X:129.84, Y:-154.93, Z:-5.03 [[-7.01725917e-01 -7.12415267e-01 6.72486851e-03 1.29842799e+02] [ 7.12382686e-01 -7.01758140e-01 -6.81332386e-03 -1.54931548e+02] [ 9.57314715e-03 9.59396276e-06 9.99954176e-01 -5.02840180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters 0.012371184676086121 Centerline is valid? [True, True] Translation: X:129.80, Y:-154.89, Z:-5.03 [[-7.02939206e-01 -7.11208704e-01 7.65844265e-03 1.29802194e+02] [ 7.11166430e-01 -7.02980924e-01 -7.75437086e-03 -1.54891153e+02] [ 1.08987151e-02 -4.42398150e-06 9.99940607e-01 -5.02966269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters 0.012439650081195984 Centerline is valid? [True, True] Translation: X:129.76, Y:-154.85, Z:-5.03 [[-7.03098419e-01 -7.11046201e-01 8.11873068e-03 1.29761160e+02] [ 7.10998739e-01 -7.03145291e-01 -8.21540054e-03 -1.54851802e+02] [ 1.15501766e-02 -3.82785715e-06 9.99933295e-01 -5.03014460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters 0.012533587752361354 Centerline is valid? [True, True] Translation: X:129.72, Y:-154.81, Z:-5.03 [[-7.02896552e-01 -7.11242459e-01 8.40251536e-03 1.29719207e+02] [ 7.11191696e-01 -7.02946773e-01 -8.49740427e-03 -1.54812366e+02] [ 1.19502358e-02 3.00299179e-06 9.99928593e-01 -5.03077409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters 0.012653714266361245 Centerline is valid? [True, True] Translation: X:129.68, Y:-154.77, Z:-5.03 [[-7.02147448e-01 -7.11978252e-01 8.71381889e-03 1.29677141e+02] [ 7.11923766e-01 -7.02201515e-01 -8.80812174e-03 -1.54774328e+02] [ 1.23900479e-02 1.89745702e-05 9.99923240e-01 -5.03145918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters 0.012881182013968782 Centerline is valid? [True, True] Translation: X:129.63, Y:-154.74, Z:-5.03 [[-6.99990682e-01 -7.14092805e-01 9.19299236e-03 1.29633487e+02] [ 7.14032408e-01 -7.00051042e-01 -9.28754689e-03 -1.54735200e+02] [ 1.30677343e-02 6.28981844e-05 9.99914612e-01 -5.03145682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters 0.013775896985505258 Centerline is valid? [True, True] Translation: X:129.59, Y:-154.70, Z:-5.03 [[-6.97018262e-01 -7.16990503e-01 9.49526165e-03 1.29590099e+02] [ 7.16926417e-01 -6.97082924e-01 -9.58695446e-03 -1.54699502e+02] [ 1.34927401e-02 1.25121578e-04 9.99908961e-01 -5.03265263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters 0.014411838690249607 Centerline is valid? [True, True] Translation: X:129.55, Y:-154.66, Z:-5.03 [[-6.95437666e-01 -7.18525589e-01 9.35038225e-03 1.29548561e+02] [ 7.18463655e-01 -6.95500505e-01 -9.43519116e-03 -1.54660529e+02] [ 1.32826219e-02 1.56322492e-04 9.99911770e-01 -5.03201652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters 0.013698891906301577 Centerline is valid? [True, True] Translation: X:129.51, Y:-154.62, Z:-5.03 [[-6.94507558e-01 -7.19432132e-01 8.75547421e-03 1.29509165e+02] [ 7.19377964e-01 -6.94562725e-01 -8.82984468e-03 -1.54618202e+02] [ 1.24337000e-02 1.66101340e-04 9.99922685e-01 -5.02709077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters 0.013998693481779456 Centerline is valid? [True, True] Translation: X:129.47, Y:-154.58, Z:-5.03 [[-6.95010568e-01 -7.18955828e-01 7.92636611e-03 1.29468120e+02] [ 7.18911462e-01 -6.95055750e-01 -7.98835651e-03 -1.54579123e+02] [ 1.12525418e-02 1.46363251e-04 9.99936678e-01 -5.02612761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters 0.013444007111361022 Centerline is valid? [True, True] Translation: X:129.43, Y:-154.54, Z:-5.02 [[-6.96893880e-01 -7.17140499e-01 6.95874493e-03 1.29428535e+02] [ 7.17106252e-01 -6.96928614e-01 -7.00926504e-03 -1.54537198e+02] [ 9.87637629e-03 1.05445582e-04 9.99951222e-01 -5.02476754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters 0.013112669981548341 Centerline is valid? [True, True] Translation: X:129.39, Y:-154.50, Z:-5.02 [[-6.98346228e-01 -7.15725724e-01 7.01670532e-03 1.29388685e+02] [ 7.15690876e-01 -6.98381472e-01 -7.06323693e-03 -1.54496716e+02] [ 9.95567736e-03 8.92071063e-05 9.99950437e-01 -5.02463254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters 0.01306481858063563 Centerline is valid? [True, True] Translation: X:129.35, Y:-154.46, Z:-5.03 [[-6.98898509e-01 -7.15182478e-01 7.40929254e-03 1.29347739e+02] [ 7.15143639e-01 -6.98937777e-01 -7.45382677e-03 -1.54456504e+02] [ 1.05094808e-02 8.92400122e-05 9.99944770e-01 -5.02522193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters 0.013113767151478562 Centerline is valid? [True, True] Translation: X:129.31, Y:-154.42, Z:-5.03 [[-6.99383570e-01 -7.14690453e-01 8.95425953e-03 1.29307127e+02] [ 7.14633755e-01 -6.99440881e-01 -9.00279702e-03 -1.54415622e+02] [ 1.26971883e-02 1.02607795e-04 9.99919382e-01 -5.02626875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters 0.012919882380871158 Centerline is valid? [True, True] Translation: X:129.27, Y:-154.37, Z:-5.03 [[-6.99832324e-01 -7.14238761e-01 9.88482062e-03 1.29266250e+02] [ 7.14169700e-01 -6.99902122e-01 -9.93275780e-03 -1.54374442e+02] [ 1.40127676e-02 1.08174394e-04 9.99901811e-01 -5.02677950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters 0.01286380778742492 Centerline is valid? [True, True] Translation: X:129.23, Y:-154.33, Z:-5.03 [[-7.01955969e-01 -7.12161913e-01 9.12288354e-03 1.29225574e+02] [ 7.12102979e-01 -7.02015246e-01 -9.16199347e-03 -1.54333014e+02] [ 1.29292261e-02 6.51165357e-05 9.99916412e-01 -5.02627250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters 0.012441265429266464 Centerline is valid? [True, True] Translation: X:129.19, Y:-154.29, Z:-5.02 [[-7.04637178e-01 -7.09522385e-01 8.02696813e-03 1.29186297e+02] [ 7.09476641e-01 -7.04682896e-01 -8.05680909e-03 -1.54289699e+02] [ 1.13729536e-02 1.78191657e-05 9.99935326e-01 -5.02414862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters 0.012511717041262775 Centerline is valid? [True, True] Translation: X:129.15, Y:-154.25, Z:-5.02 [[-7.08515895e-01 -7.05663196e-01 6.68436188e-03 1.29147489e+02] [ 7.05631338e-01 -7.08547425e-01 -6.70541782e-03 -1.54246363e+02] [ 9.46795396e-03 -3.41998904e-05 9.99955177e-01 -5.02226591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters 0.01276426807814783 Centerline is valid? [True, True] Translation: X:129.11, Y:-154.20, Z:-5.02 [[-7.10404682e-01 -7.03764325e-01 6.40018315e-03 1.29107963e+02] [ 7.03735077e-01 -7.10433510e-01 -6.41630113e-03 -1.54204754e+02] [ 9.06246841e-03 -5.41369826e-05 9.99958934e-01 -5.02149342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters 0.012634292868460297 Centerline is valid? [True, True] Translation: X:129.06, Y:-154.17, Z:-5.02 [[-7.08945147e-01 -7.05232874e-01 6.58572543e-03 1.29064426e+02] [ 7.05202004e-01 -7.08975734e-01 -6.59857015e-03 -1.54166229e+02] [ 9.32264812e-03 -3.37575102e-05 9.99956543e-01 -5.02148284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters 0.012533248511137888 Centerline is valid? [True, True] Translation: X:129.02, Y:-154.13, Z:-5.02 [[-7.06251016e-01 -7.07925212e-01 7.16918188e-03 1.29020323e+02] [ 7.07888810e-01 -7.06287402e-01 -7.17905048e-03 -1.54127814e+02] [ 1.01457337e-02 4.77194292e-06 9.99948531e-01 -5.02153000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters 0.012583117127535435 Centerline is valid? [True, True] Translation: X:128.98, Y:-154.09, Z:-5.02 [[-7.04759007e-01 -7.09407787e-01 7.43865727e-03 1.28977441e+02] [ 7.09368724e-01 -7.04798262e-01 -7.44464799e-03 -1.54088670e+02] [ 1.05240440e-02 3.00680929e-05 9.99944620e-01 -5.02189685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters 0.013156812905885253 Centerline is valid? [True, True] Translation: X:128.93, Y:-154.05, Z:-5.02 [[-7.00282931e-01 -7.13816869e-01 8.32432556e-03 1.28930983e+02] [ 7.13768315e-01 -7.00332396e-01 -8.32632584e-03 -1.54053038e+02] [ 1.17732667e-02 1.10855967e-04 9.99930687e-01 -5.02308600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters 0.01428168812467921 Centerline is valid? [True, True] Translation: X:128.89, Y:-154.02, Z:-5.02 [[-6.96387281e-01 -7.17601688e-01 9.62147750e-03 1.28886120e+02] [ 7.17537254e-01 -6.96453714e-01 -9.61841514e-03 -1.54016115e+02] [ 1.36031047e-02 2.05626578e-04 9.99907452e-01 -5.02412667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters 0.01524828589604393 Centerline is valid? [True, True] Translation: X:128.46, Y:-154.43, Z:-4.02 [[-7.67316482e-01 6.41177815e-01 1.07901038e-02 1.28463089e+02] [ 6.41109589e-01 7.67392300e-01 -9.35703323e-03 -1.54426560e+02] [-1.42797647e-02 -2.62166814e-04 -9.99898005e-01 -4.01693094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters 0.015105639022778979 Centerline is valid? [True, True] Translation: X:128.48, Y:-154.40, Z:-4.02 [[-8.11005824e-01 5.84934776e-01 1.09936930e-02 1.28478909e+02] [ 5.84876706e-01 8.11080293e-01 -8.24604559e-03 -1.54403917e+02] [-1.37401666e-02 -2.57636046e-04 -9.99905566e-01 -4.01858733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters 0.014542845308107628 Centerline is valid? [True, True] Translation: X:128.83, Y:-153.94, Z:-5.02 [[-7.46311153e-01 -6.65521411e-01 1.00456295e-02 1.28833067e+02] [ 6.65465079e-01 -7.46378726e-01 -8.66172207e-03 -1.53940093e+02] [ 1.32624057e-02 2.20675864e-04 9.99912026e-01 -5.02021366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters 0.013950415400316041 Centerline is valid? [True, True] Translation: X:128.44, Y:-154.39, Z:-4.02 [[-8.10029356e-01 5.86283368e-01 1.11469559e-02 1.28443469e+02] [ 5.86224642e-01 8.10106028e-01 -8.30020330e-03 -1.54385353e+02] [-1.38964873e-02 -1.88788093e-04 -9.99903421e-01 -4.02001978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters 0.013252595762238325 Centerline is valid? [True, True] Translation: X:128.46, Y:-154.37, Z:-4.02 [[-8.48074370e-01 5.29738322e-01 1.21314547e-02 1.28457480e+02] [ 5.29681480e-01 8.48161120e-01 -7.76175206e-03 -1.54366612e+02] [-1.44011258e-02 -1.56736095e-04 -9.99896286e-01 -4.02085239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters 0.0134113437239445 Centerline is valid? [True, True] Translation: X:128.47, Y:-154.34, Z:-4.02 [[-8.83692864e-01 4.67897606e-01 1.25996974e-02 1.28469767e+02] [ 4.67847401e-01 8.83782668e-01 -6.85609925e-03 -1.54343395e+02] [-1.43433466e-02 -1.63950311e-04 -9.99897116e-01 -4.02070890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters 0.01431870202067249 Centerline is valid? [True, True] Translation: X:128.76, Y:-153.82, Z:-5.02 [[-8.35680011e-01 -5.49029266e-01 1.43451848e-02 1.28755834e+02] [ 5.48955759e-01 -8.35803048e-01 -8.99110441e-03 -1.53817613e+02] [ 1.69261286e-02 3.61185558e-04 9.99856678e-01 -5.02235001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters 0.016245255937596976 Centerline is valid? [True, True] Translation: X:128.73, Y:-153.84, Z:-5.03 [[-7.92877066e-01 -6.09182900e-01 1.55612564e-02 1.28731578e+02] [ 6.09075992e-01 -7.93029643e-01 -1.14201950e-02 -1.53841762e+02] [ 1.92975251e-02 4.23176946e-04 9.99813696e-01 -5.02554358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters 0.016232730110531727 Centerline is valid? [True, True] Translation: X:128.38, Y:-154.32, Z:-4.02 [[-8.59005767e-01 5.11705223e-01 1.63357506e-02 1.28378058e+02] [ 5.11601955e-01 8.59160947e-01 -1.02911144e-02 -1.54315710e+02] [-1.93010559e-02 -4.82724669e-04 -9.99813601e-01 -4.01600554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters 0.01598138409303732 Centerline is valid? [True, True] Translation: X:128.40, Y:-154.30, Z:-4.02 [[-8.91085716e-01 4.53561336e-01 1.57595056e-02 1.28395572e+02] [ 4.53483209e-01 8.91224991e-01 -8.42588312e-03 -1.54297702e+02] [-1.78669201e-02 -3.61512911e-04 -9.99840309e-01 -4.01814594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters 0.014484051600366097 Centerline is valid? [True, True] Translation: X:128.69, Y:-153.77, Z:-5.02 [[-8.36872462e-01 -5.47237544e-01 1.32496633e-02 1.28689600e+02] [ 5.47172612e-01 -8.36977319e-01 -8.43206119e-03 -1.53766814e+02] [ 1.57040081e-02 1.93293050e-04 9.99876666e-01 -5.02061782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters 0.012827010888722581 Centerline is valid? [True, True] Translation: X:128.69, Y:-153.79, Z:-5.02 [[-8.03028800e-01 -5.95829250e-01 1.15000286e-02 1.28688605e+02] [ 5.95770362e-01 -8.03111131e-01 -8.37773526e-03 -1.53789335e+02] [ 1.42275007e-02 1.23813536e-04 9.99898776e-01 -5.01898087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters 0.012512909313991183 Centerline is valid? [True, True] Translation: X:128.68, Y:-153.81, Z:-5.02 [[-7.63909937e-01 -6.45238127e-01 1.04578886e-02 1.28678824e+02] [ 6.45178746e-01 -7.63981515e-01 -8.75387907e-03 -1.53812099e+02] [ 1.36379701e-02 6.00322480e-05 9.99906997e-01 -5.01813435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters 0.012614443502359041 Centerline is valid? [True, True] Translation: X:128.26, Y:-154.31, Z:-4.02 [[-8.09883893e-01 5.86491980e-01 1.07348699e-02 1.28256190e+02] [ 5.86440594e-01 8.09955034e-01 -7.76354269e-03 -1.54313546e+02] [-1.32480175e-02 7.79531798e-06 -9.99912241e-01 -4.02200288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters 0.012615996056465267 Centerline is valid? [True, True] Translation: X:128.27, Y:-154.30, Z:-4.02 [[-8.48348729e-01 5.29298930e-01 1.21275411e-02 1.28274541e+02] [ 5.29245448e-01 8.48435408e-01 -7.52424048e-03 -1.54298618e+02] [-1.42720077e-02 3.52660986e-05 -9.99898149e-01 -4.02178451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters 0.01264773916070671 Centerline is valid? [True, True] Translation: X:128.28, Y:-154.28, Z:-4.02 [[-8.83916528e-01 4.67476218e-01 1.25521999e-02 1.28284612e+02] [ 4.67429538e-01 8.84005648e-01 -6.60618677e-03 -1.54275512e+02] [-1.41844508e-02 2.79513217e-05 -9.99899395e-01 -4.02130630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters 0.012564173528675131 Centerline is valid? [True, True] Translation: X:128.29, Y:-154.25, Z:-4.02 [[-9.15358364e-01 4.02439930e-01 1.26952155e-02 1.28291291e+02] [ 4.02401360e-01 9.15446395e-01 -5.57159909e-03 -1.54249054e+02] [-1.38640232e-02 8.56215164e-06 -9.99903890e-01 -4.02141782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters 0.012691912715387142 Centerline is valid? [True, True] Translation: X:128.30, Y:-154.23, Z:-4.02 [[-9.42564542e-01 3.33777963e-01 1.28201370e-02 1.28303989e+02] [ 3.33746625e-01 9.42651723e-01 -4.57384340e-03 -1.54225266e+02] [-1.36115724e-02 -3.24651422e-05 -9.99907358e-01 -4.02027270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters 0.01273469506320906 Centerline is valid? [True, True] Translation: X:128.30, Y:-154.19, Z:-4.02 [[-9.65068305e-01 2.61698061e-01 1.25416378e-02 1.28298105e+02] [ 2.61674734e-01 9.65149790e-01 -3.49525240e-03 -1.54194534e+02] [-1.30192599e-02 -9.13275581e-05 -9.99915242e-01 -4.02133713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters 0.013349359478364006 Centerline is valid? [True, True] Translation: X:128.49, Y:-153.55, Z:-5.02 [[-9.38548976e-01 -3.44938270e-01 1.19754021e-02 1.28486770e+02] [ 3.44911142e-01 -9.38625370e-01 -4.32658932e-03 -1.53550703e+02] [ 1.27328225e-02 6.97336443e-05 9.99918932e-01 -5.01821034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters 0.01497126601935161 Centerline is valid? [True, True] Translation: X:128.26, Y:-154.18, Z:-4.02 [[-9.69424174e-01 2.45125223e-01 1.14191105e-02 1.28257066e+02] [ 2.45105273e-01 9.69491396e-01 -3.13667277e-03 -1.54177167e+02] [-1.18396070e-02 -2.41882229e-04 -9.99929880e-01 -4.02209352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters 0.016360820250489766 Centerline is valid? [True, True] Translation: X:128.26, Y:-154.15, Z:-4.02 [[-9.85095899e-01 1.71645933e-01 1.11239706e-02 1.28261740e+02] [ 1.71631783e-01 9.85158665e-01 -2.22153072e-03 -1.54148650e+02] [-1.13401927e-02 -2.79193893e-04 -9.99935659e-01 -4.02229294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters 0.016840800996686767 Centerline is valid? [True, True] Translation: X:128.26, Y:-154.12, Z:-4.02 [[-9.95165403e-01 9.76907408e-02 1.01162959e-02 1.28262514e+02] [ 9.76827459e-02 9.95216778e-01 -1.28259479e-03 -1.54121472e+02] [-1.01932051e-02 -2.88206400e-04 -9.99948006e-01 -4.02300181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters 0.01830619023455842 Centerline is valid? [True, True] Translation: X:128.26, Y:-154.09, Z:-4.02 [[-9.99646932e-01 2.46475270e-02 9.92523332e-03 1.28258951e+02] [ 2.46433058e-02 9.99696158e-01 -5.47389932e-04 -1.54092893e+02] [-9.93570942e-03 -3.02606107e-04 -9.99950594e-01 -4.02208893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters 0.01818336073418291 Centerline is valid? [True, True] Translation: X:128.30, Y:-153.44, Z:-5.02 [[-9.88039477e-01 -1.53762596e-01 1.16213769e-02 1.28297232e+02] [ 1.53757553e-01 -9.88107708e-01 -1.33157826e-03 -1.53438823e+02] [ 1.16879190e-02 4.71222583e-04 9.99931583e-01 -5.01983016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters 0.019263564785224993 Centerline is valid? [True, True] Translation: X:128.20, Y:-154.09, Z:-4.02 [[-9.99732812e-01 1.88119684e-02 1.34318367e-02 1.28203463e+02] [ 1.88044256e-02 9.99822945e-01 -6.87646567e-04 -1.54091720e+02] [-1.34423945e-02 -4.34884862e-04 -9.99909552e-01 -4.01812503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters 0.018519468279168328 Centerline is valid? [True, True] Translation: X:128.24, Y:-153.43, Z:-5.02 [[-9.88441826e-01 -1.50756230e-01 1.59786004e-02 1.28241391e+02] [ 1.50747772e-01 -9.88570728e-01 -1.73935309e-03 -1.53434928e+02] [ 1.60581949e-02 6.89489063e-04 9.99870821e-01 -5.02416049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters 0.018372301403210042 Centerline is valid? [True, True] Translation: X:128.14, Y:-154.09, Z:-4.02 [[-9.99741679e-01 1.59443578e-02 1.61973000e-02 1.28141659e+02] [ 1.59340402e-02 9.99872752e-01 -7.65856990e-04 -1.54093421e+02] [-1.62074500e-02 -5.07570724e-04 -9.99868522e-01 -4.01632407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters 0.01823972394005233 Centerline is valid? [True, True] Translation: X:128.19, Y:-153.43, Z:-5.02 [[-9.89382886e-01 -1.44492065e-01 1.56060344e-02 1.28188804e+02] [ 1.44481404e-01 -9.89505852e-01 -1.81441898e-03 -1.53429452e+02] [ 1.57044315e-02 4.59626669e-04 9.99876572e-01 -5.02360222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters 0.01681107284886875 Centerline is valid? [True, True] Translation: X:128.10, Y:-154.10, Z:-4.02 [[-9.99761608e-01 1.75122210e-02 1.30403189e-02 1.28103656e+02] [ 1.75063643e-02 9.99846593e-01 -5.63140385e-04 -1.54098660e+02] [-1.30481802e-02 -3.34717564e-04 -9.99914813e-01 -4.01933459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters 0.015260300929396462 Centerline is valid? [True, True] Translation: X:128.13, Y:-153.42, Z:-5.02 [[-9.91206493e-01 -1.31825347e-01 1.14789184e-02 1.28134296e+02] [ 1.31818910e-01 -9.91272937e-01 -1.31888379e-03 -1.53418548e+02] [ 1.15526034e-02 2.05852332e-04 9.99933245e-01 -5.01974992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters 0.015293112815919722 Centerline is valid? [True, True] Translation: X:128.05, Y:-154.10, Z:-4.02 [[-9.99774901e-01 1.77374440e-02 1.16417248e-02 1.28049153e+02] [ 1.77333614e-02 9.99842649e-01 -4.53831902e-04 -1.54102270e+02] [-1.16479428e-02 -2.47282832e-04 -9.99932130e-01 -4.02090759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters 0.015387871705404994 Centerline is valid? [True, True] Translation: X:128.05, Y:-154.07, Z:-4.02 [[-9.98419143e-01 -5.49807089e-02 1.16763432e-02 1.28049080e+02] [-5.49800809e-02 9.98487381e-01 3.75013479e-04 -1.54074549e+02] [-1.16792999e-02 -2.67545660e-04 -9.99931759e-01 -4.02150701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters 0.0184241574124674 Centerline is valid? [True, True] Translation: X:128.02, Y:-153.40, Z:-5.02 [[-9.98000436e-01 -6.22523643e-02 1.09440787e-02 1.28024997e+02] [ 6.22508246e-02 -9.98060421e-01 -4.81610220e-04 -1.53398484e+02] [ 1.09528331e-02 2.00630712e-04 9.99939996e-01 -5.02040520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters 0.018775010559767467 Centerline is valid? [True, True] Translation: X:127.98, Y:-154.07, Z:-4.02 [[-9.97729313e-01 -6.64045931e-02 1.12537813e-02 1.27977310e+02] [-6.64041732e-02 9.97792722e-01 4.11379172e-04 -1.54065888e+02] [-1.12562585e-02 -3.36852984e-04 -9.99936590e-01 -4.02010714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters 0.01846632605843866 Centerline is valid? [True, True] Translation: X:127.97, Y:-154.04, Z:-4.02 [[-9.90286502e-01 -1.38511585e-01 1.21320082e-02 1.27968173e+02] [-1.38505899e-01 9.90360740e-01 1.31167009e-03 -1.54040852e+02] [-1.21967461e-02 -3.81425521e-04 -9.99925544e-01 -4.02009481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters 0.018208242859633336 Centerline is valid? [True, True] Translation: X:127.97, Y:-154.01, Z:-4.02 [[-9.78132541e-01 -2.07696501e-01 1.09039747e-02 1.27965281e+02] [-2.07687400e-01 9.78193259e-01 1.97289765e-03 -1.54014650e+02] [-1.10759585e-02 -3.34862767e-04 -9.99938604e-01 -4.02114947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters 0.018589267096873082 Centerline is valid? [True, True] Translation: X:127.85, Y:-153.36, Z:-5.02 [[-9.96456351e-01 8.37091837e-02 8.21664501e-03 1.27845389e+02] [-8.37057753e-02 -9.96490225e-01 7.58447702e-04 -1.53360996e+02] [ 8.25129548e-03 6.79793883e-05 9.99965955e-01 -5.01718772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters 0.016626146260383643 Centerline is valid? [True, True] Translation: X:127.87, Y:-154.03, Z:-4.03 [[-9.77804047e-01 -2.09389597e-01 7.43250080e-03 1.27870197e+02] [-2.09385062e-01 9.77832275e-01 1.39192281e-03 -1.54034881e+02] [-7.55919332e-03 -1.95226882e-04 -9.99971410e-01 -4.02533238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters 0.01619326009197864 Centerline is valid? [True, True] Translation: X:127.85, Y:-154.01, Z:-4.03 [[-9.61179573e-01 -2.75814294e-01 7.76553328e-03 1.27852651e+02] [-2.75806837e-01 9.61210924e-01 2.03653128e-03 -1.54013609e+02] [-8.02601987e-03 -1.84314902e-04 -9.99967774e-01 -4.02517808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters 0.015214381322607773 Centerline is valid? [True, True] Translation: X:127.83, Y:-153.99, Z:-4.02 [[-9.39534897e-01 -3.42356949e-01 8.11770642e-03 1.27829856e+02] [-3.42345823e-01 9.39569948e-01 2.76596700e-03 -1.53993602e+02] [-8.57410102e-03 -1.80340367e-04 -9.99963226e-01 -4.02470135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters 0.014895915969597521 Centerline is valid? [True, True] Translation: X:127.79, Y:-153.98, Z:-4.02 [[-9.13187522e-01 -4.07445864e-01 8.74169727e-03 1.27794962e+02] [-4.07429044e-01 9.13229345e-01 3.70641825e-03 -1.53979140e+02] [-9.49333926e-03 -1.76966461e-04 -9.99954922e-01 -4.02406820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters 0.014019552139814782 Centerline is valid? [True, True] Translation: X:127.74, Y:-153.98, Z:-4.02 [[-8.82110695e-01 -4.70956288e-01 8.99426451e-03 1.27737611e+02] [-4.70933633e-01 8.82156533e-01 4.62208975e-03 -1.53979405e+02] [-1.01111514e-02 -1.58506858e-04 -9.99948869e-01 -4.02418652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters 0.013168331097834714 Centerline is valid? [True, True] Translation: X:127.67, Y:-153.99, Z:-4.02 [[-8.47656374e-01 -5.30472636e-01 8.80076882e-03 1.27674580e+02] [-5.30445359e-01 8.47702053e-01 5.38049621e-03 -1.53988624e+02] [-1.03146358e-02 -1.07515070e-04 -9.99946797e-01 -4.02397393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters 0.012507028517959916 Centerline is valid? [True, True] Translation: X:127.60, Y:-154.01, Z:-4.02 [[-8.09497439e-01 -5.87071630e-01 7.79726379e-03 1.27601357e+02] [-5.87044865e-01 8.09534990e-01 5.60595437e-03 -1.54008908e+02] [-9.60325463e-03 -3.93379624e-05 -9.99953887e-01 -4.02359569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters 0.0125981442919804 Centerline is valid? [True, True] Translation: X:127.53, Y:-154.04, Z:-4.02 [[-7.68086361e-01 -6.40308163e-01 6.98550142e-03 1.27527059e+02] [-6.40281301e-01 7.68118126e-01 5.86523672e-03 -1.54039264e+02] [-9.12124921e-03 3.23223992e-05 -9.99958400e-01 -4.02429339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters 0.013240474698346716 Centerline is valid? [True, True] Translation: X:127.45, Y:-154.08, Z:-4.02 [[-7.21368998e-01 -6.92517103e-01 6.84330843e-03 1.27446365e+02] [-6.92484819e-01 7.21401452e-01 6.68731018e-03 -1.54080594e+02] [-9.56784931e-03 8.51310472e-05 -9.99954224e-01 -4.02372353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters 0.014488468017259035 Centerline is valid? [True, True] Translation: X:127.36, Y:-154.13, Z:-4.02 [[-6.71468788e-01 -7.41000091e-01 6.96647101e-03 1.27364346e+02] [-7.40957738e-01 6.71504907e-01 7.92410023e-03 -1.54132366e+02] [-1.05497785e-02 1.58925378e-04 -9.99944337e-01 -4.02245382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters 0.015223130246631241 Centerline is valid? [True, True] Translation: X:127.28, Y:-154.19, Z:-4.02 [[-6.15043893e-01 -7.88469395e-01 6.08468482e-03 1.27282460e+02] [-7.88427975e-01 6.15073966e-01 8.08364826e-03 -1.54190440e+02] [-1.01162405e-02 1.74462768e-04 -9.99948814e-01 -4.02254324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters 0.015445188830965814 Centerline is valid? [True, True] Translation: X:127.20, Y:-154.26, Z:-4.02 [[-5.53349797e-01 -8.32933778e-01 5.03229621e-03 1.27197337e+02] [-8.32896641e-01 5.53372655e-01 7.86705127e-03 -1.54263123e+02] [-9.33746785e-03 1.61848613e-04 -9.99956392e-01 -4.02301443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters 0.01420506246368977 Centerline is valid? [True, True] Translation: X:127.12, Y:-154.34, Z:-4.02 [[-4.85239046e-01 -8.74371237e-01 4.24353908e-03 1.27115493e+02] [-8.74335520e-01 4.85257585e-01 7.90410035e-03 -1.54335811e+02] [-8.97032753e-03 1.25101171e-04 -9.99959758e-01 -4.02397992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters 0.013228888316186436 Centerline is valid? [True, True] Translation: X:127.03, Y:-154.42, Z:-4.02 [[-4.10765720e-01 -9.11734389e-01 3.45351398e-03 1.27034724e+02] [-9.11700959e-01 4.10780233e-01 7.80781725e-03 -1.54421436e+02] [-8.53729077e-03 5.86116636e-05 -9.99963555e-01 -4.02357769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters 0.012741459500003018 Centerline is valid? [True, True] Translation: X:126.96, Y:-154.51, Z:-4.02 [[-3.34303361e-01 -9.42461375e-01 2.79632567e-03 1.26963098e+02] [-9.42428221e-01 3.34315056e-01 7.90518565e-03 -1.54511171e+02] [-8.38518591e-03 7.39390041e-06 -9.99964844e-01 -4.02416535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters 0.013002975537236984 Centerline is valid? [True, True] Translation: X:126.89, Y:-154.61, Z:-4.02 [[-2.52162236e-01 -9.67682988e-01 1.96001765e-03 1.26891864e+02] [-9.67655734e-01 2.52169845e-01 7.26287316e-03 -1.54610085e+02] [-7.52241614e-03 -6.51999796e-05 -9.99971704e-01 -4.02404916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters 0.014714721516786282 Centerline is valid? [True, True] Translation: X:126.83, Y:-154.72, Z:-4.02 [[-1.68789835e-01 -9.85651409e-01 1.13674347e-03 1.26828709e+02] [-9.85633131e-01 1.68793629e-01 6.00343828e-03 -1.54716556e+02] [-6.10917245e-03 -1.07092668e-04 -9.99981333e-01 -4.02420968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters 0.016331926459298776 Centerline is valid? [True, True] Translation: X:126.78, Y:-154.82, Z:-4.02 [[-8.69204720e-02 -9.96215054e-01 6.30674957e-04 1.26777771e+02] [-9.96198891e-01 8.69226553e-02 5.67647214e-03 -1.54820319e+02] [-5.70980694e-03 -1.34876055e-04 -9.99983690e-01 -4.02410160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters 0.0166101943143174 Centerline is valid? [True, True] Translation: X:126.74, Y:-154.93, Z:-4.02 [[-8.36212337e-03 -9.99965018e-01 1.93238791e-04 1.26739873e+02] [-9.99949051e-01 8.36308224e-03 5.65290170e-03 -1.54932415e+02] [-5.65432002e-03 -1.45958684e-04 -9.99984004e-01 -4.02430140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters 0.016470275599799557 Centerline is valid? [True, True] Translation: X:126.71, Y:-155.04, Z:-4.02 [[ 6.80041545e-02 -9.97685005e-01 -2.58259120e-04 1.26710915e+02] [-9.97666438e-01 -6.80044650e-02 6.08868079e-03 -1.55042339e+02] [-6.09214830e-03 -1.56399133e-04 -9.99981431e-01 -4.02391685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters 0.01608544617297468 Centerline is valid? [True, True] Translation: X:126.69, Y:-155.16, Z:-4.02 [[ 1.42182013e-01 -9.89840176e-01 -8.37745819e-04 1.26692334e+02] [-9.89815362e-01 -1.42184382e-01 7.01070119e-03 -1.55156193e+02] [-7.05858807e-03 -1.67581928e-04 -9.99975074e-01 -4.02231081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters 0.01532717578213175 Centerline is valid? [True, True] Translation: X:126.68, Y:-155.27, Z:-4.02 [[ 2.15138892e-01 -9.76581924e-01 -1.73265162e-03 1.26684349e+02] [-9.76542755e-01 -2.15145785e-01 8.74862742e-03 -1.55270879e+02] [-8.91652409e-03 -1.90161625e-04 -9.99960229e-01 -4.02107351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters 0.01509144726967016 Centerline is valid? [True, True] Translation: X:126.68, Y:-155.39, Z:-4.02 [[ 2.88049812e-01 -9.57612074e-01 -2.53399691e-03 1.26684747e+02] [-9.57569020e-01 -2.88060895e-01 9.08253881e-03 -1.55385592e+02] [-9.42749425e-03 -1.89746658e-04 -9.99955542e-01 -4.02079189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters 0.014428752942158956 Centerline is valid? [True, True] Translation: X:126.70, Y:-155.50, Z:-4.02 [[ 3.56039715e-01 -9.34465188e-01 -3.24545969e-03 1.26696104e+02] [-9.34422539e-01 -3.56054477e-01 8.92908980e-03 -1.55500516e+02] [-9.49948404e-03 -1.46479904e-04 -9.99954868e-01 -4.02147800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters 0.013434799843402736 Centerline is valid? [True, True] Translation: X:126.72, Y:-155.61, Z:-4.02 [[ 4.22360116e-01 -9.06421181e-01 -3.54625606e-03 1.26715116e+02] [-9.06387352e-01 -4.22374993e-01 7.83162068e-03 -1.55607012e+02] [-8.59659674e-03 -9.34825799e-05 -9.99963044e-01 -4.02295348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters 0.012536772438683556 Centerline is valid? [True, True] Translation: X:126.75, Y:-155.71, Z:-4.02 [[ 4.82632828e-01 -8.75814045e-01 -3.91299319e-03 1.26746641e+02] [-8.75784991e-01 -4.82648690e-01 7.13379727e-03 -1.55713879e+02] [-8.13648088e-03 -1.60640459e-05 -9.99966898e-01 -4.02342894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters 0.01306125833552823 Centerline is valid? [True, True] Translation: X:126.78, Y:-155.81, Z:-4.02 [[ 5.39803933e-01 -8.41782942e-01 -3.63215288e-03 1.26780720e+02] [-8.41764547e-01 -5.39816149e-01 5.56521718e-03 -1.55807831e+02] [-6.64539967e-03 5.32914080e-05 -9.99977918e-01 -4.02454662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters 0.014276135059436234 Centerline is valid? [True, True] Translation: X:126.82, Y:-155.90, Z:-4.03 [[ 5.94807070e-01 -8.03860966e-01 -3.47792510e-03 1.26823464e+02] [-8.03848205e-01 -5.94817230e-01 4.53069254e-03 -1.55904269e+02] [-5.71077666e-03 1.00835888e-04 -9.99983688e-01 -4.02559339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters 0.01591892239813662 Centerline is valid? [True, True] Translation: X:126.87, Y:-156.00, Z:-4.03 [[ 6.50524333e-01 -7.59474665e-01 -4.04059442e-03 1.26874618e+02] [-7.59461306e-01 -6.50536867e-01 4.50658462e-03 -1.56000603e+02] [-6.05119248e-03 1.37032163e-04 -9.99981682e-01 -4.02539291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters 0.01729857717115584 Centerline is valid? [True, True] Translation: X:126.93, Y:-156.09, Z:-4.03 [[ 7.03467912e-01 -7.10715496e-01 -4.04724624e-03 1.26929128e+02] [-7.10704942e-01 -7.03479539e-01 3.87611635e-03 -1.56090171e+02] [-5.60197087e-03 1.49674431e-04 -9.99984298e-01 -4.02548102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters 0.01680186159724129 Centerline is valid? [True, True] Translation: X:126.95, Y:-156.12, Z:-4.03 [[ 7.56461759e-01 -6.54025738e-01 -3.99273348e-03 1.26947273e+02] [-6.54017602e-01 -7.56472282e-01 3.26535075e-03 -1.56120076e+02] [-5.15601564e-03 1.41205001e-04 -9.99986698e-01 -4.02597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters 0.01577530063047272 Centerline is valid? [True, True] Translation: X:126.97, Y:-156.15, Z:-4.02 [[ 8.08263960e-01 -5.88794978e-01 -5.46310981e-03 1.26966506e+02] [-5.88782758e-01 -8.08282409e-01 3.79632800e-03 -1.56150629e+02] [-6.65099442e-03 1.48149760e-04 -9.99977871e-01 -4.02394024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters 0.013675332649925955 Centerline is valid? [True, True] Translation: X:126.99, Y:-156.18, Z:-4.03 [[ 8.56498972e-01 -5.16132697e-01 -4.06827589e-03 1.26985917e+02] [-5.16127222e-01 -8.56508631e-01 2.37805858e-03 -1.56183085e+02] [-4.71190720e-03 6.29432031e-05 -9.99988897e-01 -4.02540611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters 0.012579835071185371 Centerline is valid? [True, True] Translation: X:127.01, Y:-156.21, Z:-4.03 [[ 8.98236720e-01 -4.39499956e-01 -3.25323844e-03 1.27008611e+02] [-4.39497137e-01 -8.98242611e-01 1.57412861e-03 -1.56214916e+02] [-3.61402685e-03 1.58488583e-05 -9.99993469e-01 -4.02666641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters 0.012466114978309063 Centerline is valid? [True, True] Translation: X:127.04, Y:-156.24, Z:-4.03 [[ 9.31952199e-01 -3.62571681e-01 -2.62216601e-03 1.27035031e+02] [-3.62570234e-01 -9.31955888e-01 1.02410756e-03 -1.56241917e+02] [-2.81505545e-03 -3.69994475e-06 -9.99996038e-01 -4.02718765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters 0.013252630011571655 Centerline is valid? [True, True] Translation: X:127.06, Y:-156.27, Z:-4.03 [[ 9.59851502e-01 -2.80508232e-01 -4.74504699e-04 1.27062072e+02] [-2.80508196e-01 -9.59851620e-01 1.43301207e-04 -1.56268769e+02] [-4.95651272e-04 -4.44542179e-06 -9.99999877e-01 -4.02779900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters 0.013964252474908526 Centerline is valid? [True, True] Translation: X:127.09, Y:-156.29, Z:-4.03 [[ 9.79923398e-01 -1.99374341e-01 8.30577567e-05 1.27093127e+02] [-1.99374340e-01 -9.79923401e-01 -1.87520714e-05 -1.56290629e+02] [ 8.51289207e-05 1.81600803e-06 -9.99999996e-01 -4.02679583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters 0.01592027339304802 Centerline is valid? [True, True] Translation: X:127.13, Y:-156.31, Z:-4.02 [[ 9.93151993e-01 -1.16825574e-01 -9.50661226e-04 1.27125936e+02] [-1.16825502e-01 -9.93152448e-01 1.31330325e-04 -1.56308977e+02] [-9.59494265e-04 -1.93695000e-05 -9.99999540e-01 -4.02467853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters 0.017946917073005025 Centerline is valid? [True, True] Translation: X:127.16, Y:-156.32, Z:-4.02 [[ 9.99322276e-01 -3.67813686e-02 -1.45581830e-03 1.27158606e+02] [-3.67812822e-02 -9.99323336e-01 8.61067202e-05 -1.56317605e+02] [-1.45800032e-03 -3.25014999e-05 -9.99998937e-01 -4.02397487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters 0.016709314995841627 Centerline is valid? [True, True] Translation: X:127.19, Y:-156.32, Z:-4.02 [[ 9.99037285e-01 4.38363437e-02 -1.69666256e-03 1.27191074e+02] [ 4.38363513e-02 -9.99038725e-01 -3.26918688e-05 -1.56321737e+02] [-1.69646469e-03 -4.17151002e-05 -9.99998560e-01 -4.02317515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters 0.018120864318987136 Centerline is valid? [True, True] Translation: X:127.22, Y:-156.33, Z:-4.02 [[ 9.92239389e-01 1.24303123e-01 -3.11913145e-03 1.27223340e+02] [ 1.24302778e-01 -9.92244288e-01 -3.05007195e-04 -1.56325118e+02] [-3.13285371e-03 -8.50765504e-05 -9.99995089e-01 -4.02090016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters 0.018197185964550024 Centerline is valid? [True, True] Translation: X:127.26, Y:-156.32, Z:-4.02 [[ 9.79235384e-01 2.02677346e-01 -4.46736560e-03 1.27256024e+02] [ 2.02675833e-01 -9.79245565e-01 -7.93522354e-04 -1.56322679e+02] [-4.53547696e-03 -1.28381877e-04 -9.99989706e-01 -4.01892795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters 0.017951591299355207 Centerline is valid? [True, True] Translation: X:127.29, Y:-156.31, Z:-4.02 [[ 9.60847563e-01 2.77020188e-01 -5.63703322e-03 1.27286972e+02] [ 2.77016360e-01 -9.60864086e-01 -1.46436708e-03 -1.56314228e+02] [-5.82208201e-03 -1.54516885e-04 -9.99983040e-01 -4.01750828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters 0.016120752380309578 Centerline is valid? [True, True] Translation: X:127.32, Y:-156.30, Z:-4.02 [[ 9.37162196e-01 3.48845709e-01 -5.80426297e-03 1.27317203e+02] [ 3.48839981e-01 -9.37180159e-01 -2.00433001e-03 -1.56304420e+02] [-6.13884201e-03 -1.46376665e-04 -9.99981146e-01 -4.01774890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters 0.013683694223931243 Centerline is valid? [True, True] Translation: X:127.34, Y:-156.28, Z:-4.02 [[ 9.11197108e-01 4.11947867e-01 -4.33417893e-03 1.27342495e+02] [ 4.11943543e-01 -9.11207414e-01 -1.88840052e-03 -1.56283439e+02] [-4.72725854e-03 -6.47319306e-05 -9.99988824e-01 -4.02035383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters 0.012786755654666372 Centerline is valid? [True, True] Translation: X:127.37, Y:-156.27, Z:-4.02 [[ 8.79302784e-01 4.76246687e-01 -3.96322187e-03 1.27367563e+02] [ 4.76242013e-01 -8.79311715e-01 -2.11013158e-03 -1.56267443e+02] [-4.48985059e-03 -3.20081886e-05 -9.99989920e-01 -4.01995203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters 0.012786755654666372 Centerline is valid? [True, True] Translation: X:127.40, Y:-156.26, Z:-4.02 [[ 8.39291275e-01 5.43668856e-01 -3.78574938e-03 1.27395871e+02] [ 5.43663497e-01 -8.39299812e-01 -2.41413727e-03 -1.56259130e+02] [-4.48986999e-03 -3.20093962e-05 -9.99989920e-01 -4.01995166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters 0.012522444808315604 Centerline is valid? [True, True] Translation: X:127.42, Y:-156.24, Z:-4.02 [[ 7.95902551e-01 6.05412813e-01 -3.80198309e-03 1.27421151e+02] [ 6.05406027e-01 -7.95911632e-01 -2.86646003e-03 -1.56243812e+02] [-4.76143419e-03 -2.03206279e-05 -9.99988664e-01 -4.02051519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters 0.012740338458500988 Centerline is valid? [True, True] Translation: X:127.45, Y:-156.23, Z:-4.02 [[ 7.44674232e-01 6.67420511e-01 -3.18578101e-03 1.27448914e+02] [ 6.67414558e-01 -7.44681046e-01 -2.81912419e-03 -1.56232405e+02] [-4.25393204e-03 -2.69074866e-05 -9.99990952e-01 -4.02052975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters 0.012847842422845918 Centerline is valid? [True, True] Translation: X:127.48, Y:-156.22, Z:-4.02 [[ 6.88743727e-01 7.24995443e-01 -3.69936171e-03 1.27475664e+02] [ 7.24985326e-01 -6.88753661e-01 -3.83040365e-03 -1.56219579e+02] [-5.32497411e-03 -4.38164629e-05 -9.99985821e-01 -4.01970374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters 0.012945735677023147 Centerline is valid? [True, True] Translation: X:127.50, Y:-156.20, Z:-4.02 [[ 6.30029032e-01 7.76564658e-01 -3.27880833e-03 1.27500681e+02] [ 7.76554483e-01 -6.30037562e-01 -3.97569041e-03 -1.56202973e+02] [-5.15315307e-03 -4.13729279e-05 -9.99986722e-01 -4.01869462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters 0.012928069176122728 Centerline is valid? [True, True] Translation: X:127.52, Y:-156.19, Z:-4.02 [[ 5.67815316e-01 8.23151360e-01 -2.75797032e-03 1.27524834e+02] [ 8.23141950e-01 -5.67822013e-01 -3.93595087e-03 -1.56185206e+02] [-4.80591956e-03 -3.53078801e-05 -9.99988451e-01 -4.01873790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters 0.012717556831317015 Centerline is valid? [True, True] Translation: X:127.55, Y:-156.17, Z:-4.02 [[ 5.03663762e-01 8.63898294e-01 -1.59803148e-03 1.27545065e+02] [ 8.63894042e-01 -5.03666296e-01 -2.71030988e-03 -1.56165059e+02] [-3.14630668e-03 -1.54450060e-05 -9.99995050e-01 -4.02010071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters 0.012616823414126555 Centerline is valid? [True, True] Translation: X:127.56, Y:-156.14, Z:-4.02 [[ 4.36821007e-01 8.99547831e-01 -1.05270745e-03 1.27563966e+02] [ 8.99545248e-01 -4.36822276e-01 -2.15555767e-03 -1.56143090e+02] [-2.39887329e-03 -5.36511607e-06 -9.99997123e-01 -4.02075436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters 0.012565030645455607 Centerline is valid? [True, True] Translation: X:127.58, Y:-156.12, Z:-4.02 [[ 3.66217476e-01 9.30529041e-01 -6.81924597e-04 1.27583836e+02] [ 9.30527436e-01 -3.66218111e-01 -1.72800287e-03 -1.56120767e+02] [-1.85768999e-03 -1.72469639e-06 -9.99998275e-01 -4.02127879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters 0.012566404611979994 Centerline is valid? [True, True] Translation: X:127.60, Y:-156.10, Z:-4.02 [[ 2.95640004e-01 9.55299367e-01 -3.28132642e-04 1.27600924e+02] [ 9.55298766e-01 -2.95640187e-01 -1.07117307e-03 -1.56097120e+02] [-1.12030015e-03 3.21690422e-06 -9.99999373e-01 -4.02104504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters 0.012732461898419532 Centerline is valid? [True, True] Translation: X:127.61, Y:-156.07, Z:-4.02 [[ 2.22639061e-01 9.74900893e-01 -3.13664584e-04 1.27614188e+02] [ 9.74899873e-01 -2.22639282e-01 -1.40963382e-03 -1.56073338e+02] [-1.44408733e-03 8.04798660e-06 -9.99998957e-01 -4.01958787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters 0.012835246597673511 Centerline is valid? [True, True] Translation: X:127.63, Y:-156.05, Z:-4.02 [[ 1.46582639e-01 9.89198411e-01 -1.85834784e-04 1.27627809e+02] [ 9.89197538e-01 -1.46582757e-01 -1.31371720e-03 -1.56048249e+02] [-1.32676714e-03 8.74082409e-06 -9.99999120e-01 -4.01853692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters 0.012958764500787758 Centerline is valid? [True, True] Translation: X:127.64, Y:-156.02, Z:-4.02 [[ 6.82530073e-02 9.97668036e-01 -1.34158699e-04 1.27640281e+02] [ 9.97665715e-01 -6.82531379e-02 -2.15172457e-03 -1.56022246e+02] [-2.15586358e-03 1.30161388e-05 -9.99997676e-01 -4.01743798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters 0.012674005549804268 Centerline is valid? [True, True] Translation: X:127.65, Y:-155.99, Z:-4.02 [[-1.35252817e-02 9.99908528e-01 4.21607912e-05 1.27653374e+02] [ 9.99905107e-01 1.35253457e-02 -2.61562557e-03 -1.55994595e+02] [-2.61595655e-03 6.77971780e-06 -9.99996578e-01 -4.01661642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters 0.01276484912323069 Centerline is valid? [True, True] Translation: X:127.66, Y:-155.97, Z:-4.02 [[-9.55713072e-02 9.95422539e-01 3.06781613e-04 1.27662991e+02] [ 9.95417280e-01 9.55717995e-02 -3.23560211e-03 -1.55965722e+02] [-3.25011094e-03 -3.85500425e-06 -9.99994718e-01 -4.01557403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters 0.013051863774299437 Centerline is valid? [True, True] Translation: X:127.67, Y:-155.94, Z:-4.01 [[-1.79062731e-01 9.83837413e-01 6.95423595e-04 1.27672948e+02] [ 9.83829359e-01 1.79064079e-01 -3.98094080e-03 -1.55936016e+02] [-4.04112388e-03 -2.86599810e-05 -9.99991834e-01 -4.01461117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters 0.013544856977633676 Centerline is valid? [True, True] Translation: X:127.68, Y:-155.91, Z:-4.01 [[-2.59517464e-01 9.65737854e-01 1.04117719e-03 1.27678913e+02] [ 9.65729345e-01 2.59519548e-01 -4.05428540e-03 -1.55905866e+02] [-4.18558271e-03 -4.66625043e-05 -9.99991239e-01 -4.01401770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters 0.013777117889852095 Centerline is valid? [True, True] Translation: X:127.68, Y:-155.88, Z:-4.01 [[-3.35287096e-01 9.42115120e-01 1.29004568e-03 1.27677864e+02] [ 9.42107584e-01 3.35289574e-01 -3.76857624e-03 -1.55875853e+02] [-3.98297153e-03 -4.81931685e-05 -9.99992067e-01 -4.01429084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters 0.0135520170503031 Centerline is valid? [True, True] Translation: X:127.67, Y:-155.85, Z:-4.01 [[-4.07809494e-01 9.13065916e-01 1.43146766e-03 1.27673850e+02] [ 9.13059920e-01 4.07812004e-01 -3.30937867e-03 -1.55847141e+02] [-3.60545057e-03 -4.25802931e-05 -9.99993500e-01 -4.01466290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters 0.013699391464126295 Centerline is valid? [True, True] Translation: X:127.67, Y:-155.82, Z:-4.01 [[-4.76822774e-01 8.78997573e-01 1.81932922e-03 1.27668063e+02] [ 8.78990849e-01 4.76826243e-01 -3.43835223e-03 -1.55819089e+02] [-3.88980718e-03 -4.03109099e-05 -9.99992434e-01 -4.01404486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters 0.013178568522991322 Centerline is valid? [True, True] Translation: X:127.66, Y:-155.79, Z:-4.01 [[-5.42102671e-01 8.40310862e-01 1.53265698e-03 1.27658241e+02] [ 8.40307386e-01 5.42104837e-01 -2.41709983e-03 -1.55791494e+02] [-2.86197600e-03 -2.24132923e-05 -9.99995904e-01 -4.01464776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters 0.013051304195509969 Centerline is valid? [True, True] Translation: X:127.65, Y:-155.76, Z:-4.02 [[-6.05175638e-01 7.96090855e-01 1.34054664e-03 1.27646765e+02] [ 7.96088850e-01 6.05177123e-01 -1.78710242e-03 -1.55764683e+02] [-2.23396405e-03 -1.43166137e-05 -9.99997505e-01 -4.01525895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters 0.013015173968424802 Centerline is valid? [True, True] Translation: X:127.63, Y:-155.74, Z:-4.02 [[-6.64786727e-01 7.47032111e-01 1.27769269e-03 1.27632800e+02] [ 7.47030702e-01 6.64787955e-01 -1.45080522e-03 -1.55739864e+02] [-1.93319280e-03 -1.00003860e-05 -9.99998131e-01 -4.01529482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters 0.013002701862222353 Centerline is valid? [True, True] Translation: X:127.62, Y:-155.71, Z:-4.01 [[-7.21950351e-01 6.91940305e-01 2.51103866e-03 1.27621449e+02] [ 6.91936014e-01 7.21954717e-01 -2.43708029e-03 -1.55711899e+02] [-3.49917028e-03 -2.19728875e-05 -9.99993878e-01 -4.01376984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters 0.01358348789079325 Centerline is valid? [True, True] Translation: X:128.11, Y:-155.22, Z:-5.03 [[-6.62757215e-01 -7.48827882e-01 3.11076304e-03 1.28113506e+02] [ 7.48820296e-01 -6.62764509e-01 -3.37201670e-03 -1.55217576e+02] [ 4.58676347e-03 9.45741032e-05 9.99989476e-01 -5.02878046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters 0.013766667230778419 Centerline is valid? [True, True] Translation: X:128.07, Y:-155.18, Z:-5.03 [[-6.60038550e-01 -7.51220422e-01 4.12199220e-03 1.28071439e+02] [ 7.51206486e-01 -6.60051416e-01 -4.57641657e-03 -1.55177759e+02] [ 6.15862438e-03 7.58559144e-05 9.99981033e-01 -5.02924747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters 0.014386464174831724 Centerline is valid? [True, True] Translation: X:128.03, Y:-155.14, Z:-5.03 [[-6.58312934e-01 -7.52733644e-01 4.01775755e-03 1.28029799e+02] [ 7.52720448e-01 -6.58325188e-01 -4.45802064e-03 -1.55138525e+02] [ 6.00069311e-03 8.94756134e-05 9.99981992e-01 -5.02958061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters 0.014800652936893276 Centerline is valid? [True, True] Translation: X:127.99, Y:-155.10, Z:-5.03 [[-6.56032877e-01 -7.54724927e-01 3.33888620e-03 1.27988938e+02] [ 7.54715850e-01 -6.56041367e-01 -3.70262116e-03 -1.55097006e+02] [ 4.98490796e-03 9.08691312e-05 9.99987571e-01 -5.02836059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters 0.015255757165564493 Centerline is valid? [True, True] Translation: X:127.95, Y:-155.06, Z:-5.03 [[-6.55563581e-01 -7.55132695e-01 3.31728259e-03 1.27949796e+02] [ 7.55123751e-01 -6.55571967e-01 -3.67644455e-03 -1.55055972e+02] [ 4.95092095e-03 9.48157134e-05 9.99987740e-01 -5.02874853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters 0.015365547875021606 Centerline is valid? [True, True] Translation: X:127.91, Y:-155.01, Z:-5.03 [[-6.56104255e-01 -7.54659864e-01 3.96186123e-03 1.27910788e+02] [ 7.54647114e-01 -6.56116208e-01 -4.38805641e-03 -1.55013798e+02] [ 5.91093141e-03 1.10784659e-04 9.99982524e-01 -5.03004209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters 0.015466427877288446 Centerline is valid? [True, True] Translation: X:127.87, Y:-154.97, Z:-5.03 [[-6.56748610e-01 -7.54100483e-01 3.70465329e-03 1.27872109e+02] [ 7.54089340e-01 -6.56759051e-01 -4.10063536e-03 -1.54971920e+02] [ 5.52535568e-03 1.00552979e-04 9.99984730e-01 -5.02999145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters 0.015002458466991123 Centerline is valid? [True, True] Translation: X:127.83, Y:-154.93, Z:-5.03 [[-6.56894618e-01 -7.53975833e-01 3.14700688e-03 1.27834220e+02] [ 7.53967802e-01 -6.56902150e-01 -3.48116339e-03 -1.54928834e+02] [ 4.69198866e-03 8.59843721e-05 9.99988989e-01 -5.02884022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters 0.01468531369574446 Centerline is valid? [True, True] Translation: X:127.80, Y:-154.89, Z:-5.03 [[-6.56880053e-01 -7.53987423e-01 3.40030030e-03 1.27795879e+02] [ 7.53978058e-01 -6.56888847e-01 -3.75917485e-03 -1.54885232e+02] [ 5.06798990e-03 9.44248367e-05 9.99987153e-01 -5.02918136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters 0.01492864051917892 Centerline is valid? [True, True] Translation: X:127.76, Y:-154.84, Z:-5.03 [[-6.57466985e-01 -7.53472150e-01 4.10890851e-03 1.27758294e+02] [ 7.53458483e-01 -6.57479815e-01 -4.53949871e-03 -1.54842803e+02] [ 6.12191026e-03 1.11321446e-04 9.99981255e-01 -5.03087247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters 0.015042957420803903 Centerline is valid? [True, True] Translation: X:127.72, Y:-154.80, Z:-5.03 [[-6.57778900e-01 -7.53196277e-01 4.72100277e-03 1.27720499e+02] [ 7.53178251e-01 -6.57795829e-01 -5.21245895e-03 -1.54800284e+02] [ 7.03146060e-03 1.27111093e-04 9.99975271e-01 -5.03179657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters 0.014778074589970127 Centerline is valid? [True, True] Translation: X:127.68, Y:-154.76, Z:-5.03 [[-6.58734668e-01 -7.52361324e-01 4.59084645e-03 1.27682909e+02] [ 7.52344280e-01 -6.58750655e-01 -5.06555288e-03 -1.54757645e+02] [ 6.83534918e-03 1.17041770e-04 9.99976632e-01 -5.03168990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters 0.014639318880563178 Centerline is valid? [True, True] Translation: X:127.64, Y:-154.72, Z:-5.03 [[-6.59568262e-01 -7.51633327e-01 4.12916465e-03 1.27643833e+02] [ 7.51619542e-01 -6.59581179e-01 -4.55328420e-03 -1.54715255e+02] [ 6.14591944e-03 1.00359100e-04 9.99981109e-01 -5.03173109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters 0.014430593248414043 Centerline is valid? [True, True] Translation: X:127.61, Y:-154.67, Z:-5.03 [[-6.60981032e-01 -7.50390286e-01 4.30052011e-03 1.27605474e+02] [ 7.50375321e-01 -6.60995015e-01 -4.73997053e-03 -1.54674148e+02] [ 6.39945020e-03 9.39735474e-05 9.99979519e-01 -5.03221602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters 0.014110912836880107 Centerline is valid? [True, True] Translation: X:127.57, Y:-154.63, Z:-5.03 [[-6.61888258e-01 -7.49590409e-01 4.26071171e-03 1.27566895e+02] [ 7.49575722e-01 -6.61901965e-01 -4.69314318e-03 -1.54632150e+02] [ 6.33810857e-03 8.73896920e-05 9.99979910e-01 -5.03242087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters 0.01365397478262536 Centerline is valid? [True, True] Translation: X:127.53, Y:-154.59, Z:-5.03 [[-6.62227675e-01 -7.49291016e-01 4.18086649e-03 1.27528656e+02] [ 7.49276885e-01 -6.62240867e-01 -4.60253184e-03 -1.54588885e+02] [ 6.21737641e-03 8.47026561e-05 9.99980668e-01 -5.03195971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters 0.014133156225196421 Centerline is valid? [True, True] Translation: X:127.49, Y:-154.55, Z:-5.03 [[-6.63382694e-01 -7.48267881e-01 4.31038901e-03 1.27489464e+02] [ 7.48252860e-01 -6.63396693e-01 -4.74191226e-03 -1.54548515e+02] [ 6.40771845e-03 7.95583779e-05 9.99979467e-01 -5.03343425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters 0.013531897667031206 Centerline is valid? [True, True] Translation: X:127.45, Y:-154.51, Z:-5.03 [[-6.64941013e-01 -7.46877079e-01 5.29892345e-03 1.27452423e+02] [ 7.46854362e-01 -6.64962121e-01 -5.82574212e-03 -1.54505301e+02] [ 7.87469663e-03 8.37492219e-05 9.99968991e-01 -5.03434739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters 0.013059049759129708 Centerline is valid? [True, True] Translation: X:127.42, Y:-154.46, Z:-5.04 [[-6.68092195e-01 -7.44048757e-01 6.65321501e-03 1.27415666e+02] [ 7.44012849e-01 -6.68125319e-01 -7.31012700e-03 -1.54460739e+02] [ 9.88427231e-03 6.62386560e-05 9.99951147e-01 -5.03557475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters 0.01278948244552903 Centerline is valid? [True, True] Translation: X:127.38, Y:-154.42, Z:-5.04 [[-6.71199791e-01 -7.41245056e-01 6.82693879e-03 1.27379789e+02] [ 7.41207149e-01 -6.71234509e-01 -7.49641744e-03 -1.54416647e+02] [ 1.01391593e-02 2.85820169e-05 9.99948597e-01 -5.03546134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters 0.012566273243461198 Centerline is valid? [True, True] Translation: X:127.34, Y:-154.37, Z:-5.03 [[-6.72866963e-01 -7.39740941e-01 5.77853315e-03 1.27341803e+02] [ 7.39713761e-01 -6.72891775e-01 -6.34121033e-03 -1.54373650e+02] [ 8.57918032e-03 7.66955566e-06 9.99963198e-01 -5.03358478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters 0.012500422555050067 Centerline is valid? [True, True] Translation: X:127.30, Y:-154.33, Z:-5.03 [[-6.74337134e-01 -7.38408426e-01 4.73559729e-03 1.27304205e+02] [ 7.38390163e-01 -6.74353762e-01 -5.19332551e-03 -1.54332370e+02] [ 7.02826316e-03 -5.33378663e-06 9.99975302e-01 -5.03282743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters 0.01247039368080055 Centerline is valid? [True, True] Translation: X:127.27, Y:-154.29, Z:-5.03 [[-6.74721134e-01 -7.38061707e-01 4.03834386e-03 1.27265625e+02] [ 7.38048436e-01 -6.74733219e-01 -4.42598382e-03 -1.54290666e+02] [ 5.99145392e-03 -5.81145339e-06 9.99982051e-01 -5.03213650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters 0.012430518408605448 Centerline is valid? [True, True] Translation: X:127.23, Y:-154.25, Z:-5.03 [[-6.73718581e-01 -7.38979006e-01 3.64728023e-03 1.27226008e+02] [ 7.38968208e-01 -6.73728454e-01 -3.99485459e-03 -1.54250847e+02] [ 5.40939014e-03 3.81636642e-06 9.99985369e-01 -5.03156108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters 0.012627404547182294 Centerline is valid? [True, True] Translation: X:127.18, Y:-154.21, Z:-5.03 [[-6.71394162e-01 -7.41088558e-01 4.19848519e-03 1.27182873e+02] [ 7.41074308e-01 -6.71407289e-01 -4.59587007e-03 -1.54212173e+02] [ 6.22484028e-03 2.57491668e-05 9.99980625e-01 -5.03346871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters 0.01273060051338253 Centerline is valid? [True, True] Translation: X:127.14, Y:-154.17, Z:-5.03 [[-6.70225664e-01 -7.42141150e-01 4.90645461e-03 1.27142567e+02] [ 7.42121740e-01 -6.70243621e-01 -5.36764114e-03 -1.54171854e+02] [ 7.27206727e-03 4.36557791e-05 9.99973557e-01 -5.03437214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters 0.012741489144773292 Centerline is valid? [True, True] Translation: X:127.10, Y:-154.13, Z:-5.04 [[-6.70058424e-01 -7.42289476e-01 5.29554886e-03 1.27102646e+02] [ 7.42266897e-01 -6.70079347e-01 -5.78979159e-03 -1.54130235e+02] [ 7.84613928e-03 5.12119971e-05 9.99969217e-01 -5.03515411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters 0.012588772563976612 Centerline is valid? [True, True] Translation: X:127.06, Y:-154.09, Z:-5.03 [[-6.70151484e-01 -7.42206310e-01 5.17510393e-03 1.27064443e+02] [ 7.42184772e-01 -6.70171464e-01 -5.65451593e-03 -1.54088049e+02] [ 7.66502438e-03 5.15010907e-05 9.99970622e-01 -5.03448488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters 0.012608015395233738 Centerline is valid? [True, True] Translation: X:127.03, Y:-154.05, Z:-5.03 [[-6.70593594e-01 -7.41810078e-01 4.69472409e-03 1.27025961e+02] [ 7.41792366e-01 -6.70610025e-01 -5.12640916e-03 -1.54045772e+02] [ 6.95115103e-03 4.47733485e-05 9.99975840e-01 -5.03486299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters 0.012504698516213785 Centerline is valid? [True, True] Translation: X:126.99, Y:-154.00, Z:-5.04 [[-6.71974242e-01 -7.40557442e-01 5.02926497e-03 1.26987850e+02] [ 7.40537104e-01 -6.71993061e-01 -5.48858386e-03 -1.54001718e+02] [ 7.44424278e-03 3.61703374e-05 9.99972291e-01 -5.03560259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters 0.012467743923615496 Centerline is valid? [True, True] Translation: X:126.95, Y:-153.96, Z:-5.04 [[-6.72662805e-01 -7.39930598e-01 5.24031081e-03 1.26950016e+02] [ 7.39908526e-01 -6.72683216e-01 -5.71526136e-03 -1.53958193e+02] [ 7.75396589e-03 3.29069075e-05 9.99969937e-01 -5.03592242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters 0.012513550055033245 Centerline is valid? [True, True] Translation: X:126.91, Y:-153.91, Z:-5.04 [[-6.71506302e-01 -7.40983304e-01 4.79888611e-03 1.26910704e+02] [ 7.40964842e-01 -6.71523448e-01 -5.23079982e-03 -1.53914984e+02] [ 7.09849988e-03 4.32908419e-05 9.99974804e-01 -5.03523640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters 0.013042182042576808 Centerline is valid? [True, True] Translation: X:126.87, Y:-153.87, Z:-5.04 [[-6.68797667e-01 -7.43424743e-01 5.41580635e-03 1.26870303e+02] [ 7.43401336e-01 -6.68819590e-01 -5.89987584e-03 -1.53873756e+02] [ 8.00831107e-03 8.02944834e-05 9.99967930e-01 -5.03565761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters 0.013590444711457782 Centerline is valid? [True, True] Translation: X:126.83, Y:-153.83, Z:-5.04 [[-6.67003752e-01 -7.45019251e-01 7.23252290e-03 1.26831208e+02] [ 7.44977648e-01 -6.67042950e-01 -7.87449900e-03 -1.53831219e+02] [ 1.06910568e-02 1.35747514e-04 9.99942840e-01 -5.03740456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters 0.013781466987271736 Centerline is valid? [True, True] Translation: X:126.79, Y:-153.79, Z:-5.04 [[-6.67280905e-01 -7.44759660e-01 8.32127260e-03 1.26793242e+02] [ 7.44704637e-01 -6.67332769e-01 -9.05418153e-03 -1.53788447e+02] [ 1.22962470e-02 1.55207852e-04 9.99924386e-01 -5.03847912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters 0.013316276409286704 Centerline is valid? [True, True] Translation: X:126.76, Y:-153.74, Z:-5.04 [[-6.68714433e-01 -7.43476981e-01 7.93635809e-03 1.26755755e+02] [ 7.43426899e-01 -6.68761514e-01 -8.63039508e-03 -1.53743905e+02] [ 1.17240309e-02 1.28832327e-04 9.99931263e-01 -5.03697704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters 0.01284316792201661 Centerline is valid? [True, True] Translation: X:126.72, Y:-153.70, Z:-5.03 [[-6.72726910e-01 -7.39857992e-01 6.97532787e-03 1.26718885e+02] [ 7.39819154e-01 -6.72763069e-01 -7.58102772e-03 -1.53699058e+02] [ 1.03016269e-02 6.05198040e-05 9.99946935e-01 -5.03468342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters 0.01256560338839588 Centerline is valid? [True, True] Translation: X:126.68, Y:-153.65, Z:-5.03 [[-6.77919401e-01 -7.35109772e-01 6.23771736e-03 1.26682638e+02] [ 7.35078550e-01 -6.77948098e-01 -6.77505601e-03 -1.53654208e+02] [ 9.20925850e-03 -7.72968031e-06 9.99957594e-01 -5.03200744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters 0.012959157306373219 Centerline is valid? [True, True] Translation: X:126.65, Y:-153.61, Z:-5.03 [[-6.81475933e-01 -7.31808132e-01 6.88550216e-03 1.26645399e+02] [ 7.31769965e-01 -6.81510715e-01 -7.47422510e-03 -1.53611146e+02] [ 1.01622422e-02 -5.49008566e-05 9.99948362e-01 -5.03174245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters 0.013085403138412614 Centerline is valid? [True, True] Translation: X:126.61, Y:-153.57, Z:-5.03 [[-6.83677801e-01 -7.29748787e-01 7.16751039e-03 1.26605394e+02] [ 7.29707362e-01 -6.83715365e-01 -7.77592133e-03 -1.53568763e+02] [ 1.05750061e-02 -8.60396913e-05 9.99944079e-01 -5.03122113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters 0.013143491829728909 Centerline is valid? [True, True] Translation: X:126.57, Y:-153.53, Z:-5.03 [[-6.84554574e-01 -7.28927260e-01 7.07713871e-03 1.26565308e+02] [ 7.28886880e-01 -6.84591149e-01 -7.67300319e-03 -1.53528236e+02] [ 1.04380077e-02 -9.41558711e-05 9.99945518e-01 -5.03111627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters 0.013044091109637964 Centerline is valid? [True, True] Translation: X:126.52, Y:-153.49, Z:-5.03 [[-6.84758199e-01 -7.28746320e-01 5.91685993e-03 1.26522487e+02] [ 7.28718121e-01 -6.84783758e-01 -6.41140447e-03 -1.53488963e+02] [ 8.72405699e-03 -7.85387342e-05 9.99961942e-01 -5.03041233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters 0.012975185318606856 Centerline is valid? [True, True] Translation: X:126.48, Y:-153.45, Z:-5.03 [[-6.84024291e-01 -7.29439247e-01 5.39943843e-03 1.26481213e+02] [ 7.29415815e-01 -6.84045599e-01 -5.84705662e-03 -1.53449263e+02] [ 7.95853468e-03 -6.10929790e-05 9.99968329e-01 -5.03056319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters 0.012489209518813835 Centerline is valid? [True, True] Translation: X:126.44, Y:-153.41, Z:-5.03 [[-6.79636817e-01 -7.33527130e-01 5.63436871e-03 1.26436216e+02] [ 7.33501782e-01 -6.79660172e-01 -6.09800749e-03 -1.53411268e+02] [ 8.30250994e-03 -1.16109094e-05 9.99965534e-01 -5.03104455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters 0.012899538415297394 Centerline is valid? [True, True] Translation: X:126.39, Y:-153.37, Z:-5.03 [[-6.74432445e-01 -7.38311133e-01 6.12768530e-03 1.26391946e+02] [ 7.38281384e-01 -6.74460279e-01 -6.62798264e-03 -1.53374437e+02] [ 9.02639371e-03 5.38294406e-05 9.99959260e-01 -5.03260104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters 0.014623970213495006 Centerline is valid? [True, True] Translation: X:126.34, Y:-153.34, Z:-5.03 [[-6.65974666e-01 -7.45951023e-01 5.90048968e-03 1.26344272e+02] [ 7.45923767e-01 -6.66000787e-01 -6.37856480e-03 -1.53339383e+02] [ 8.68782771e-03 1.53352923e-04 9.99962248e-01 -5.03274574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters 0.016688934057200237 Centerline is valid? [True, True] Translation: X:126.30, Y:-153.30, Z:-5.03 [[-6.61312690e-01 -7.50095340e-01 4.74415755e-03 1.26300849e+02] [ 7.50077841e-01 -6.61329685e-01 -5.12641677e-03 -1.53301808e+02] [ 6.98275355e-03 1.68322989e-04 9.99975606e-01 -5.03108396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters 0.017288756689207044 Centerline is valid? [True, True] Translation: X:126.26, Y:-153.26, Z:-5.03 [[-6.61040450e-01 -7.50336959e-01 4.46883075e-03 1.26260798e+02] [ 7.50321458e-01 -6.61055535e-01 -4.82589950e-03 -1.53260420e+02] [ 6.57519606e-03 1.62944824e-04 9.99978370e-01 -5.03078348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters 0.017457281208089287 Centerline is valid? [True, True] Translation: X:126.22, Y:-153.22, Z:-5.03 [[-6.60954824e-01 -7.50415592e-01 3.89351185e-03 1.26222224e+02] [ 7.50403842e-01 -6.60966276e-01 -4.20198564e-03 -1.53218359e+02] [ 5.72671557e-03 1.44383568e-04 9.99983592e-01 -5.02942870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters 0.01777228347825548 Centerline is valid? [True, True] Translation: X:126.18, Y:-153.18, Z:-5.03 [[-6.61322974e-01 -7.50091120e-01 3.90345072e-03 1.26183274e+02] [ 7.50079319e-01 -6.61334478e-01 -4.20997971e-03 -1.53177671e+02] [ 5.73935494e-03 1.43741352e-04 9.99983520e-01 -5.02987311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters 0.01631888591213695 Centerline is valid? [True, True] Translation: X:126.15, Y:-153.13, Z:-5.03 [[-6.62674703e-01 -7.48890174e-01 5.07393816e-03 1.26146304e+02] [ 7.48870225e-01 -6.62694104e-01 -5.46907809e-03 -1.53133238e+02] [ 7.45820775e-03 1.75501507e-04 9.99972172e-01 -5.03035064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters 0.015592537172917127 Centerline is valid? [True, True] Translation: X:126.11, Y:-153.09, Z:-5.03 [[-6.64759951e-01 -7.47029666e-01 6.39418999e-03 1.26109106e+02] [ 7.46997934e-01 -6.64790674e-01 -6.88823492e-03 -1.53088009e+02] [ 9.39651370e-03 1.97423999e-04 9.99955832e-01 -5.03167501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters 0.015052968624422113 Centerline is valid? [True, True] Translation: X:126.07, Y:-153.04, Z:-5.03 [[-6.67054538e-01 -7.44971375e-01 7.47620895e-03 1.26071908e+02] [ 7.44927915e-01 -6.67096403e-01 -8.04931329e-03 -1.53043735e+02] [ 1.09838601e-02 1.99905792e-04 9.99939656e-01 -5.03228994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters 0.014065495424790833 Centerline is valid? [True, True] Translation: X:126.04, Y:-153.00, Z:-5.03 [[-6.71816647e-01 -7.40665964e-01 8.73631305e-03 1.26036594e+02] [ 7.40606316e-01 -6.71873430e-01 -9.40102431e-03 -1.52998326e+02] [ 1.28327153e-02 1.54403994e-04 9.99917645e-01 -5.03412376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters 0.013192796971464893 Centerline is valid? [True, True] Translation: X:126.00, Y:-152.95, Z:-5.04 [[-6.79047842e-01 -7.34030812e-01 9.63309419e-03 1.26003740e+02] [ 7.33957693e-01 -6.79116166e-01 -1.03603926e-02 -1.52950385e+02] [ 1.41468373e-02 3.50813885e-05 9.99899928e-01 -5.03500193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters 0.013670717124522952 Centerline is valid? [True, True] Translation: X:125.97, Y:-152.90, Z:-5.03 [[-6.85078482e-01 -7.28401702e-01 9.92140438e-03 1.25970109e+02] [ 7.28323630e-01 -6.85150315e-01 -1.06647054e-02 -1.52902722e+02] [ 1.45658429e-02 -8.01669052e-05 9.99893909e-01 -5.03490827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters 0.015335417803428864 Centerline is valid? [True, True] Translation: X:125.94, Y:-152.85, Z:-5.03 [[-6.93733095e-01 -7.20167052e-01 9.68558231e-03 1.25938695e+02] [ 7.20091897e-01 -6.93800661e-01 -1.04068873e-02 -1.52853410e+02] [ 1.42145608e-02 -2.45092816e-04 9.99898938e-01 -5.03309239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters 0.017486099630795792 Centerline is valid? [True, True] Translation: X:125.91, Y:-152.81, Z:-5.03 [[-7.00600125e-01 -7.13499853e-01 8.79917961e-03 1.25905573e+02] [ 7.13437368e-01 -7.00655296e-01 -9.44872766e-03 -1.52805676e+02] [ 1.29068576e-02 -3.42116236e-04 9.99916645e-01 -5.03124256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters 0.017716159519429973 Centerline is valid? [True, True] Translation: X:125.87, Y:-152.76, Z:-5.03 [[-7.02782646e-01 -7.11357864e-01 8.15736108e-03 1.25867585e+02] [ 7.11304077e-01 -7.02829899e-01 -8.75456600e-03 -1.52761906e+02] [ 1.19608666e-02 -3.50192860e-04 9.99928405e-01 -5.03002512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters 0.01811400201319852 Centerline is valid? [True, True] Translation: X:125.83, Y:-152.72, Z:-5.03 [[-7.02466292e-01 -7.11673949e-01 7.82937523e-03 1.25830128e+02] [ 7.11624468e-01 -7.02509845e-01 -8.39846562e-03 -1.52720368e+02] [ 1.14771824e-02 -3.28064023e-04 9.99934081e-01 -5.03018784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters 0.016072242799468086 Centerline is valid? [True, True] Translation: X:125.79, Y:-152.68, Z:-5.03 [[-6.98218218e-01 -7.15844467e-01 7.61700396e-03 1.25786332e+02] [ 7.15797935e-01 -6.98259720e-01 -8.16574754e-03 -1.52682484e+02] [ 1.11640523e-02 -2.49237993e-04 9.99937649e-01 -5.02985678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters 0.015071709659070745 Centerline is valid? [True, True] Translation: X:125.74, Y:-152.64, Z:-5.03 [[-6.93737898e-01 -7.20188517e-01 7.49862154e-03 1.25744474e+02] [ 7.20143725e-01 -6.93778401e-01 -8.03399090e-03 -1.52643465e+02] [ 1.09883697e-02 -1.73398706e-04 9.99939611e-01 -5.03064107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters 0.013321049531500158 Centerline is valid? [True, True] Translation: X:125.70, Y:-152.61, Z:-5.03 [[-6.86228197e-01 -7.27350419e-01 7.22694523e-03 1.25699123e+02] [ 7.27309248e-01 -6.86266249e-01 -7.73909550e-03 -1.52608523e+02] [ 1.05886429e-02 -5.45614533e-05 9.99943937e-01 -5.03098326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters 0.013032469594495177 Centerline is valid? [True, True] Translation: X:125.65, Y:-152.57, Z:-5.03 [[-6.79628207e-01 -7.33527752e-01 6.52201299e-03 1.25653535e+02] [ 7.33494543e-01 -6.79659499e-01 -6.98004177e-03 -1.52572060e+02] [ 9.55280243e-03 4.00276636e-05 9.99954370e-01 -5.02932237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters 0.0134723795407205 Centerline is valid? [True, True] Translation: X:125.61, Y:-152.53, Z:-5.03 [[-6.75915214e-01 -7.36955593e-01 5.92264791e-03 1.25609347e+02] [ 7.36928368e-01 -6.75941157e-01 -6.33503884e-03 -1.52533422e+02] [ 8.67200378e-03 8.26181260e-05 9.99962394e-01 -5.02935440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters 0.014552630956988458 Centerline is valid? [True, True] Translation: X:125.56, Y:-152.50, Z:-5.03 [[-6.71325375e-01 -7.41143923e-01 5.28443038e-03 1.25564611e+02] [ 7.41122404e-01 -6.71346162e-01 -5.64921180e-03 -1.52495221e+02] [ 7.73456105e-03 1.23950513e-04 9.99970080e-01 -5.02908580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters 0.01644602348730134 Centerline is valid? [True, True] Translation: X:125.52, Y:-152.46, Z:-5.03 [[-6.68983987e-01 -7.43259729e-01 5.03992425e-03 1.25521461e+02] [ 7.43240237e-01 -6.69002956e-01 -5.38466527e-03 -1.52457284e+02] [ 7.37392907e-03 1.43619649e-04 9.99972802e-01 -5.03010666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters 0.017992134577186885 Centerline is valid? [True, True] Translation: X:125.48, Y:-152.42, Z:-5.03 [[-6.66938810e-01 -7.45093713e-01 5.28982894e-03 1.25479311e+02] [ 7.45072324e-01 -6.66959765e-01 -5.64835480e-03 -1.52418342e+02] [ 7.73665671e-03 1.74198111e-04 9.99970057e-01 -5.03143493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters 0.01698277541873682 Centerline is valid? [True, True] Translation: X:125.44, Y:-152.38, Z:-5.03 [[-6.66411717e-01 -7.45558301e-01 6.18408673e-03 1.25440607e+02] [ 7.45529121e-01 -6.66440376e-01 -6.59959745e-03 -1.52375355e+02] [ 9.04170975e-03 2.12367677e-04 9.99959100e-01 -5.03316400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters 0.01693622830713222 Centerline is valid? [True, True] Translation: X:125.40, Y:-152.33, Z:-5.04 [[-6.66917472e-01 -7.45095271e-01 7.35674066e-03 1.25402607e+02] [ 7.45053999e-01 -6.66958001e-01 -7.84621706e-03 -1.52333095e+02] [ 1.07528163e-02 2.48389799e-04 9.99942156e-01 -5.03522685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters 0.015486430297688793 Centerline is valid? [True, True] Translation: X:125.37, Y:-152.29, Z:-5.04 [[-6.68717491e-01 -7.43456242e-01 9.47278968e-03 1.25367107e+02] [ 7.43387726e-01 -6.68784519e-01 -1.00973155e-02 -1.52286850e+02] [ 1.38421673e-02 2.89704082e-04 9.99904151e-01 -5.03703970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters 0.015195412113329494 Centerline is valid? [True, True] Translation: X:125.33, Y:-152.24, Z:-5.04 [[-6.72312057e-01 -7.40187716e-01 1.08923701e-02 1.25331798e+02] [ 7.40096795e-01 -6.72400236e-01 -1.16041565e-02 -1.52241525e+02] [ 1.59132863e-02 2.59793874e-04 9.99873342e-01 -5.04047727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters 0.013841743055598337 Centerline is valid? [True, True] Translation: X:125.30, Y:-152.19, Z:-5.04 [[-6.75375000e-01 -7.37387847e-01 1.13036203e-02 1.25297646e+02] [ 7.37289650e-01 -6.75469556e-01 -1.20354340e-02 -1.52193753e+02] [ 1.65100341e-02 2.05610989e-04 9.99863679e-01 -5.03836027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters 0.013216464906871048 Centerline is valid? [True, True] Translation: X:125.26, Y:-152.15, Z:-5.04 [[-6.80470249e-01 -7.32702460e-01 1.03607431e-02 1.25264634e+02] [ 7.32619510e-01 -6.80549115e-01 -1.10252654e-02 -1.52146076e+02] [ 1.51292336e-02 8.81174602e-05 9.99885543e-01 -5.03771946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters 0.012846688194505339 Centerline is valid? [True, True] Translation: X:125.23, Y:-152.10, Z:-5.04 [[-6.83355870e-01 -7.30022925e-01 9.55428877e-03 1.25228023e+02] [ 7.29952213e-01 -6.83422657e-01 -1.01606461e-02 -1.52101849e+02] [ 1.39471220e-02 3.08370713e-05 9.99902734e-01 -5.03566196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters 0.012897570404653516 Centerline is valid? [True, True] Translation: X:125.19, Y:-152.06, Z:-5.04 [[-6.84631918e-01 -7.28834933e-01 8.87568239e-03 1.25187437e+02] [ 7.28773890e-01 -6.84689449e-01 -9.43276303e-03 -1.52062530e+02] [ 1.29520133e-02 1.03949377e-05 9.99916119e-01 -5.03620324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters 0.012945058583308787 Centerline is valid? [True, True] Translation: X:125.15, Y:-152.02, Z:-5.03 [[-6.86050100e-01 -7.27491246e-01 9.57846893e-03 1.25148773e+02] [ 7.27420117e-01 -6.86116963e-01 -1.01728574e-02 -1.52020939e+02] [ 1.39726147e-02 -1.15188321e-05 9.99902378e-01 -5.03446920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters 0.012963234819981705 Centerline is valid? [True, True] Translation: X:125.11, Y:-151.98, Z:-5.03 [[-6.87282087e-01 -7.26325641e-01 9.71579188e-03 1.25108937e+02] [ 7.26252425e-01 -6.87350756e-01 -1.03127599e-02 -1.51978395e+02] [ 1.41685788e-02 -3.16577100e-05 9.99899620e-01 -5.03364771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters 0.013229710385852453 Centerline is valid? [True, True] Translation: X:125.07, Y:-151.94, Z:-5.04 [[-6.89498937e-01 -7.24214275e-01 1.02420066e-02 1.25069064e+02] [ 7.24132777e-01 -6.89574998e-01 -1.08647741e-02 -1.51937818e+02] [ 1.49310562e-02 -7.46775172e-05 9.99888523e-01 -5.03513767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters 0.01335093012343121 Centerline is valid? [True, True] Translation: X:125.03, Y:-151.90, Z:-5.04 [[-6.90633996e-01 -7.23137068e-01 9.87242330e-03 1.25029738e+02] [ 7.23061331e-01 -6.90704548e-01 -1.04660678e-02 -1.51896474e+02] [ 1.43873292e-02 -8.98546636e-05 9.99896493e-01 -5.03520067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters 0.01364341086655128 Centerline is valid? [True, True] Translation: X:124.99, Y:-151.85, Z:-5.03 [[-6.93645462e-01 -7.20257714e-01 9.20866721e-03 1.24991229e+02] [ 7.20191647e-01 -6.93706572e-01 -9.75623472e-03 -1.51853777e+02] [ 1.34151163e-02 -1.35362729e-04 9.99910004e-01 -5.03395491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters 0.01423899839120371 Centerline is valid? [True, True] Translation: X:124.95, Y:-151.81, Z:-5.03 [[-6.96127822e-01 -7.17873425e-01 7.98752449e-03 1.24952853e+02] [ 7.17823623e-01 -6.96173629e-01 -8.45719909e-03 -1.51810706e+02] [ 1.16319024e-02 -1.53657808e-04 9.99932335e-01 -5.03167387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters 0.014481569158734844 Centerline is valid? [True, True] Translation: X:124.91, Y:-151.77, Z:-5.03 [[-6.96475566e-01 -7.17542693e-01 7.36679273e-03 1.24912620e+02] [ 7.17500364e-01 -6.96514511e-01 -7.79516500e-03 -1.51769909e+02] [ 1.07244417e-02 -1.43465489e-04 9.99942481e-01 -5.03150488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters 0.013916379309361883 Centerline is valid? [True, True] Translation: X:124.87, Y:-151.73, Z:-5.03 [[-6.94606930e-01 -7.19366260e-01 5.77897020e-03 1.24870284e+02] [ 7.19340302e-01 -6.94630964e-01 -6.11171197e-03 -1.51729588e+02] [ 8.41081102e-03 -8.81913137e-05 9.99964625e-01 -5.03041438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters 0.013019883676723472 Centerline is valid? [True, True] Translation: X:124.83, Y:-151.69, Z:-5.03 [[-6.90377401e-01 -7.23428437e-01 5.50827267e-03 1.24825951e+02] [ 7.23405007e-01 -6.90399374e-01 -5.82231720e-03 -1.51691806e+02] [ 8.01493784e-03 -3.48841863e-05 9.99967879e-01 -5.03104738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters 0.01278224482568588 Centerline is valid? [True, True] Translation: X:124.78, Y:-151.65, Z:-5.03 [[-6.86859671e-01 -7.26764840e-01 6.05472312e-03 1.24783106e+02] [ 7.26736695e-01 -6.86886357e-01 -6.39602803e-03 -1.51653008e+02] [ 8.80731500e-03 7.01576431e-06 9.99961215e-01 -5.03137890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters 0.01334159100680981 Centerline is valid? [True, True] Translation: X:124.74, Y:-151.62, Z:-5.03 [[-6.82272761e-01 -7.31068575e-01 6.52837337e-03 1.24739405e+02] [ 7.31036086e-01 -6.82303990e-01 -6.89247173e-03 -1.51616129e+02] [ 9.49320468e-03 6.99308009e-05 9.99954936e-01 -5.03283200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters 0.013617742372700095 Centerline is valid? [True, True] Translation: X:124.70, Y:-151.58, Z:-5.03 [[-6.80583320e-01 -7.32634567e-01 7.27568095e-03 1.24698090e+02] [ 7.32594348e-01 -6.80622201e-01 -7.67726169e-03 -1.51575068e+02] [ 1.05766173e-02 1.05106495e-04 9.99944061e-01 -5.03312070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters 0.013469970621424156 Centerline is valid? [True, True] Translation: X:124.66, Y:-151.53, Z:-5.03 [[-6.81302930e-01 -7.31956823e-01 8.09487831e-03 1.24659967e+02] [ 7.31907052e-01 -6.81351009e-01 -8.53635784e-03 -1.51532029e+02] [ 1.17636989e-02 1.08852907e-04 9.99930799e-01 -5.03394645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters 0.013196778162904902 Centerline is valid? [True, True] Translation: X:124.62, Y:-151.49, Z:-5.03 [[-6.84555360e-01 -7.28915916e-01 8.09607132e-03 1.24624377e+02] [ 7.28865979e-01 -6.84603231e-01 -8.53237785e-03 -1.51487425e+02] [ 1.17619826e-02 6.00659593e-05 9.99930824e-01 -5.03452725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters 0.012917940282785345 Centerline is valid? [True, True] Translation: X:124.59, Y:-151.44, Z:-5.03 [[-6.87288955e-01 -7.26334110e-01 8.52373064e-03 1.24587589e+02] [ 7.26278621e-01 -6.87341808e-01 -8.97794883e-03 -1.51442117e+02] [ 1.23797069e-02 2.01582696e-05 9.99923368e-01 -5.03361726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters 0.013215623018949513 Centerline is valid? [True, True] Translation: X:124.55, Y:-151.40, Z:-5.04 [[-6.89904464e-01 -7.23833280e-01 9.85972660e-03 1.24552001e+02] [ 7.23758865e-01 -6.89974914e-01 -1.03789337e-02 -1.51397161e+02] [ 1.43155816e-02 -2.44081275e-05 9.99897527e-01 -5.03566833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters 0.013411098215020505 Centerline is valid? [True, True] Translation: X:124.51, Y:-151.35, Z:-5.04 [[-6.91303901e-01 -7.22487293e-01 1.05369724e-02 1.24514841e+02] [ 7.22402252e-01 -6.91384198e-01 -1.10850044e-02 -1.51353717e+02] [ 1.52938711e-02 -5.11742227e-05 9.99883041e-01 -5.03571651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters 0.013241511910966937 Centerline is valid? [True, True] Translation: X:124.47, Y:-151.31, Z:-5.03 [[-6.91422965e-01 -7.22374951e-01 1.04265593e-02 1.24474990e+02] [ 7.22291775e-01 -6.91501574e-01 -1.09619292e-02 -1.51312066e+02] [ 1.51286052e-02 -4.83115496e-05 9.99885555e-01 -5.03472036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters 0.013301625134029289 Centerline is valid? [True, True] Translation: X:124.44, Y:-151.27, Z:-5.03 [[-6.90904712e-01 -7.22880990e-01 9.68261340e-03 1.24436483e+02] [ 7.22809379e-01 -6.90972556e-01 -1.01748592e-02 -1.51270919e+02] [ 1.40456324e-02 -3.11744009e-05 9.99901355e-01 -5.03413466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters 0.013079202975472553 Centerline is valid? [True, True] Translation: X:124.40, Y:-151.23, Z:-5.03 [[-6.91067045e-01 -7.22734259e-01 9.02940581e-03 1.24396791e+02] [ 7.22672050e-01 -6.91126031e-01 -9.48253615e-03 -1.51229747e+02] [ 1.30938111e-02 -2.77690343e-05 9.99914272e-01 -5.03268852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters 0.013476687962243336 Centerline is valid? [True, True] Translation: X:124.36, Y:-151.19, Z:-5.03 [[-6.92930755e-01 -7.20947108e-01 9.06844288e-03 1.24359490e+02] [ 7.20884287e-01 -6.92990089e-01 -9.51737077e-03 -1.51187840e+02] [ 1.31458620e-02 -5.75809276e-05 9.99913588e-01 -5.03337456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters 0.013255343381425744 Centerline is valid? [True, True] Translation: X:124.32, Y:-151.15, Z:-5.03 [[-6.94285507e-01 -7.19640377e-01 9.23921854e-03 1.24320165e+02] [ 7.19575125e-01 -6.94346975e-01 -9.69111686e-03 -1.51145482e+02] [ 1.33893424e-02 -8.00901476e-05 9.99910356e-01 -5.03126553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters 0.013287071605666466 Centerline is valid? [True, True] Translation: X:124.28, Y:-151.10, Z:-5.03 [[-6.95223282e-01 -7.18744490e-01 8.42298016e-03 1.24280982e+02] [ 7.18690261e-01 -6.95274299e-01 -8.82935462e-03 -1.51103800e+02] [ 1.22023316e-02 -8.48590813e-05 9.99925545e-01 -5.02979342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters 0.01343746651193958 Centerline is valid? [True, True] Translation: X:124.24, Y:-151.06, Z:-5.03 [[-6.95247916e-01 -7.18724885e-01 8.05450199e-03 1.24241671e+02] [ 7.18675361e-01 -6.95294566e-01 -8.43753875e-03 -1.51062910e+02] [ 1.16645205e-02 -7.76091010e-05 9.99931964e-01 -5.02944108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters 0.013148556111038687 Centerline is valid? [True, True] Translation: X:124.20, Y:-151.02, Z:-5.03 [[-6.94211184e-01 -7.19720906e-01 8.52342081e-03 1.24199588e+02] [ 7.19665585e-01 -6.94263504e-01 -8.92368768e-03 -1.51022599e+02] [ 1.23400646e-02 -6.09111625e-05 9.99923857e-01 -5.02915742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters 0.013074783712472067 Centerline is valid? [True, True] Translation: X:124.16, Y:-150.98, Z:-5.03 [[-6.91220647e-01 -7.22586494e-01 9.09810863e-03 1.24158125e+02] [ 7.22523791e-01 -6.91280521e-01 -9.51904564e-03 -1.50984743e+02] [ 1.31676791e-02 -6.16094869e-06 9.99913302e-01 -5.03042473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters 0.013238361793131023 Centerline is valid? [True, True] Translation: X:124.11, Y:-150.95, Z:-5.03 [[-6.85890208e-01 -7.27644601e-01 9.37852367e-03 1.24112742e+02] [ 7.27578517e-01 -6.85954317e-01 -9.80696577e-03 -1.50947522e+02] [ 1.35692245e-02 9.71105429e-05 9.99907929e-01 -5.03055443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters 0.014284000788120782 Centerline is valid? [True, True] Translation: X:124.07, Y:-150.91, Z:-5.03 [[-6.81564115e-01 -7.31703186e-01 8.98917100e-03 1.24069455e+02] [ 7.31642897e-01 -6.81623369e-01 -9.39433030e-03 -1.50910403e+02] [ 1.30010904e-02 1.74024699e-04 9.99915467e-01 -5.03097057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters 0.015777288979055303 Centerline is valid? [True, True] Translation: X:124.03, Y:-150.87, Z:-5.03 [[-6.75503599e-01 -7.37298175e-01 9.28916974e-03 1.24025722e+02] [ 7.37234398e-01 -6.75567402e-01 -9.70192538e-03 -1.50873060e+02] [ 1.34286721e-02 2.94609945e-04 9.99909788e-01 -5.03061989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters 0.01808435278984082 Centerline is valid? [True, True] Translation: X:123.98, Y:-150.84, Z:-5.03 [[-6.72446190e-01 -7.40085019e-01 9.50193177e-03 1.23982306e+02] [ 7.40018626e-01 -6.72513222e-01 -9.91961866e-03 -1.50836352e+02] [ 1.37315359e-02 3.61196723e-04 9.99905653e-01 -5.03275895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters 0.017608620449732056 Centerline is valid? [True, True] Translation: X:123.94, Y:-150.79, Z:-5.03 [[-6.72098229e-01 -7.40409578e-01 8.81059647e-03 1.23943054e+02] [ 7.40352597e-01 -6.72155888e-01 -9.19212908e-03 -1.50794023e+02] [ 1.27280347e-02 3.44934293e-04 9.99918936e-01 -5.03109504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters 0.017199200838485453 Centerline is valid? [True, True] Translation: X:123.90, Y:-150.75, Z:-5.03 [[-6.73050466e-01 -7.39550975e-01 8.21135006e-03 1.23904160e+02] [ 7.39501474e-01 -6.73100483e-01 -8.56214651e-03 -1.50751241e+02] [ 1.18592075e-02 3.09548778e-04 9.99929629e-01 -5.03073683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters 0.01571816475667272 Centerline is valid? [True, True] Translation: X:123.87, Y:-150.71, Z:-5.03 [[-6.74710219e-01 -7.38037475e-01 8.17348918e-03 1.23867533e+02] [ 7.37988374e-01 -6.74759664e-01 -8.51793523e-03 -1.50705552e+02] [ 1.18016962e-02 2.84802047e-04 9.99930317e-01 -5.03041411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters 0.016539357868319494 Centerline is valid? [True, True] Translation: X:123.83, Y:-150.66, Z:-5.03 [[-6.75562330e-01 -7.37252540e-01 8.61573808e-03 1.23828143e+02] [ 7.37197964e-01 -6.75617206e-01 -8.97505826e-03 -1.50664898e+02] [ 1.24378254e-02 2.88293301e-04 9.99922606e-01 -5.03216820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters 0.016313113031013158 Centerline is valid? [True, True] Translation: X:123.79, Y:-150.62, Z:-5.03 [[-6.76492804e-01 -7.36388367e-01 9.46885978e-03 1.23789360e+02] [ 7.36322447e-01 -6.76559000e-01 -9.85763341e-03 -1.50622624e+02] [ 1.36652889e-02 3.03515940e-04 9.99906580e-01 -5.03391676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters 0.015179678611315577 Centerline is valid? [True, True] Translation: X:123.75, Y:-150.58, Z:-5.03 [[-6.77600435e-01 -7.35356244e-01 1.04328823e-02 1.23752165e+02] [ 7.35276188e-01 -6.77680673e-01 -1.08550352e-02 -1.50578469e+02] [ 1.50524806e-02 3.15673371e-04 9.99886655e-01 -5.03474557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters 0.014809706198024625 Centerline is valid? [True, True] Translation: X:123.71, Y:-150.53, Z:-5.03 [[-6.78508499e-01 -7.34513111e-01 1.08030826e-02 1.23713708e+02] [ 7.34427267e-01 -6.78594424e-01 -1.12337266e-02 -1.50534961e+02] [ 1.55822311e-02 3.11899422e-04 9.99878541e-01 -5.03479623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters 0.014345654202913864 Centerline is valid? [True, True] Translation: X:123.67, Y:-150.49, Z:-5.04 [[-6.80324803e-01 -7.32831715e-01 1.07628873e-02 1.23673330e+02] [ 7.32746398e-01 -6.80409877e-01 -1.11854718e-02 -1.50492650e+02] [ 1.55202433e-02 2.76712978e-04 9.99879516e-01 -5.03519944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters 0.014151199304168482 Centerline is valid? [True, True] Translation: X:123.63, Y:-150.45, Z:-5.04 [[-6.83089649e-01 -7.30260090e-01 1.04275258e-02 1.23633122e+02] [ 7.30179796e-01 -6.83169200e-01 -1.08310106e-02 -1.50452184e+02] [ 1.50332192e-02 2.15417412e-04 9.99886972e-01 -5.03617869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters 0.012889870701649063 Centerline is valid? [True, True] Translation: X:123.60, Y:-150.41, Z:-5.03 [[-6.88284172e-01 -7.25372518e-01 9.98039710e-03 1.23596626e+02] [ 7.25298532e-01 -6.88356520e-01 -1.03605890e-02 -1.50407250e+02] [ 1.43853579e-02 1.07737952e-04 9.99896520e-01 -5.03404785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters 0.012772113676422716 Centerline is valid? [True, True] Translation: X:123.56, Y:-150.36, Z:-5.03 [[-6.92808432e-01 -7.21057417e-01 9.62690646e-03 1.23558229e+02] [ 7.20988238e-01 -6.92875314e-01 -9.98800783e-03 -1.50363674e+02] [ 1.38721730e-02 2.11102751e-05 9.99903777e-01 -5.03404093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters 0.013271687996407785 Centerline is valid? [True, True] Translation: X:123.52, Y:-150.32, Z:-5.03 [[-6.99660693e-01 -7.14416245e-01 9.18385488e-03 1.23520852e+02] [ 7.14352780e-01 -6.99720957e-01 -9.52304844e-03 -1.50319426e+02] [ 1.32295562e-02 -1.02390404e-04 9.99912480e-01 -5.03423296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters 0.014269758133892533 Centerline is valid? [True, True] Translation: X:123.48, Y:-150.28, Z:-5.03 [[-7.05014117e-01 -7.09136781e-01 8.95106365e-03 1.23483971e+02] [ 7.09076134e-01 -7.05070911e-01 -9.27614620e-03 -1.50275015e+02] [ 1.28891911e-02 -1.92828414e-04 9.99916912e-01 -5.03335509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters 0.015332202443432422 Centerline is valid? [True, True] Translation: X:123.45, Y:-150.23, Z:-5.03 [[-7.06521006e-01 -7.07633185e-01 9.12929709e-03 1.23446038e+02] [ 7.07570046e-01 -7.06579951e-01 -9.45532886e-03 -1.50232533e+02] [ 1.31414828e-02 -2.20771290e-04 9.99913623e-01 -5.03382082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters 0.014314401824452332 Centerline is valid? [True, True] Translation: X:123.40, Y:-150.19, Z:-5.03 [[-7.05651085e-01 -7.08508683e-01 8.48479767e-03 1.23403500e+02] [ 7.08454268e-01 -7.05702069e-01 -8.78288205e-03 -1.50192393e+02] [ 1.22104875e-02 -1.86559121e-04 9.99925432e-01 -5.03283428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters 0.013524799848949243 Centerline is valid? [True, True] Translation: X:123.36, Y:-150.15, Z:-5.03 [[-7.02056734e-01 -7.12081029e-01 7.54647342e-03 1.23361224e+02] [ 7.12038237e-01 -7.02097284e-01 -7.80721097e-03 -1.50153302e+02] [ 1.08577253e-02 -1.07727404e-04 9.99941047e-01 -5.03333141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters 0.012525473313478275 Centerline is valid? [True, True] Translation: X:123.32, Y:-150.11, Z:-5.03 [[-6.96390312e-01 -7.17634688e-01 6.40215566e-03 1.23317285e+02] [ 7.17604157e-01 -6.96419740e-01 -6.61968300e-03 -1.50114649e+02] [ 9.20910172e-03 -1.56695966e-05 9.99957595e-01 -5.03130718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters 0.012849588085330318 Centerline is valid? [True, True] Translation: X:123.27, Y:-150.08, Z:-5.03 [[-6.89153831e-01 -7.24598369e-01 4.91937120e-03 1.23271943e+02] [ 7.24580541e-01 -6.89171386e-01 -5.08330031e-03 -1.50078984e+02] [ 7.07364099e-03 6.13047577e-05 9.99974980e-01 -5.02929887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters 0.013661767810389391 Centerline is valid? [True, True] Translation: X:123.23, Y:-150.04, Z:-5.03 [[-6.84778483e-01 -7.28737851e-01 4.42418581e-03 1.23228478e+02] [ 7.28723534e-01 -6.84792769e-01 -4.56899541e-03 -1.50040466e+02] [ 6.35925035e-03 9.52585673e-05 9.99979775e-01 -5.02853176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters 0.015005898597768031 Centerline is valid? [True, True] Translation: X:123.19, Y:-150.00, Z:-5.03 [[-6.81129939e-01 -7.32149791e-01 4.32317169e-03 1.23185339e+02] [ 7.32136204e-01 -6.81143647e-01 -4.46214959e-03 -1.50001791e+02] [ 6.21166282e-03 1.25846826e-04 9.99980700e-01 -5.02810905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters 0.01569322113048143 Centerline is valid? [True, True] Translation: X:123.14, Y:-149.96, Z:-5.03 [[-6.79882656e-01 -7.33301716e-01 5.30729003e-03 1.23143606e+02] [ 7.33281298e-01 -6.79903349e-01 -5.47483981e-03 -1.49961096e+02] [ 7.62315370e-03 1.69487898e-04 9.99970929e-01 -5.02936433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters 0.015889794397836617 Centerline is valid? [True, True] Translation: X:123.10, Y:-149.92, Z:-5.03 [[-6.80197944e-01 -7.33006666e-01 5.65551673e-03 1.23103809e+02] [ 7.32983500e-01 -6.80221431e-01 -5.83041182e-03 -1.49920411e+02] [ 8.12073441e-03 1.79566312e-04 9.99967010e-01 -5.03050433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters 0.015577027001040666 Centerline is valid? [True, True] Translation: X:123.07, Y:-149.88, Z:-5.03 [[-6.81765874e-01 -7.31537022e-01 6.99131211e-03 1.23065738e+02] [ 7.31501587e-01 -6.81801689e-01 -7.20307506e-03 -1.49877113e+02] [ 1.00360045e-02 2.03345144e-04 9.99949617e-01 -5.03175043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters 0.01480921119362799 Centerline is valid? [True, True] Translation: X:123.03, Y:-149.83, Z:-5.03 [[-6.84676310e-01 -7.28796400e-01 8.61155358e-03 1.23028756e+02] [ 7.28742474e-01 -6.84730433e-01 -8.86789336e-03 -1.49831349e+02] [ 1.23594816e-02 2.03968368e-04 9.99923598e-01 -5.03401787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters 0.01345438910080143 Centerline is valid? [True, True] Translation: X:122.99, Y:-149.78, Z:-5.03 [[-6.88468960e-01 -7.25201401e-01 9.66536597e-03 1.22993937e+02] [ 7.25133190e-01 -6.88536784e-01 -9.94758928e-03 -1.49783781e+02] [ 1.38689657e-02 1.60071209e-04 9.99903809e-01 -5.03355789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters 0.01264684126912692 Centerline is valid? [True, True] Translation: X:122.96, Y:-149.74, Z:-5.03 [[-6.94017018e-01 -7.19902334e-01 9.00041295e-03 1.22960190e+02] [ 7.19842802e-01 -6.94075375e-01 -9.25817002e-03 -1.49736209e+02] [ 1.29119432e-02 5.35549287e-05 9.99916636e-01 -5.03307109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters 0.012724507127167738 Centerline is valid? [True, True] Translation: X:122.92, Y:-149.69, Z:-5.03 [[-6.96625698e-01 -7.17394613e-01 7.58987865e-03 1.22921062e+02] [ 7.17352175e-01 -6.96667044e-01 -7.80301573e-03 -1.49693616e+02] [ 1.08854598e-02 8.83467371e-06 9.99940752e-01 -5.03163473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters 0.01294873585330096 Centerline is valid? [True, True] Translation: X:122.88, Y:-149.65, Z:-5.03 [[-6.99396116e-01 -7.14691055e-01 7.85930114e-03 1.22883913e+02] [ 7.14645437e-01 -6.99440273e-01 -8.07488588e-03 -1.49651302e+02] [ 1.12681604e-02 -3.09301193e-05 9.99936512e-01 -5.03210591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters 0.013435401656092152 Centerline is valid? [True, True] Translation: X:122.85, Y:-149.61, Z:-5.03 [[-7.03913180e-01 -7.10230636e-01 8.87008818e-03 1.22845899e+02] [ 7.10172237e-01 -7.03969056e-01 -9.10834606e-03 -1.49607371e+02] [ 1.27132940e-02 -1.12194479e-04 9.99919177e-01 -5.03071273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters 0.01435824736615083 Centerline is valid? [True, True] Translation: X:122.81, Y:-149.57, Z:-5.03 [[-7.08242402e-01 -7.05897581e-01 1.00650565e-02 1.22805568e+02] [ 7.05822008e-01 -7.08313885e-01 -1.03311859e-02 -1.49566364e+02] [ 1.44219784e-02 -2.12845531e-04 9.99895975e-01 -5.03151032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters 0.015125795278418364 Centerline is valid? [True, True] Translation: X:122.76, Y:-149.53, Z:-5.03 [[-7.10848373e-01 -7.03268291e-01 1.04067562e-02 1.22764933e+02] [ 7.03187311e-01 -7.10924495e-01 -1.06755946e-02 -1.49525502e+02] [ 1.49062250e-02 -2.70830129e-04 9.99888859e-01 -5.03155144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters 0.015780022557365846 Centerline is valid? [True, True] Translation: X:122.72, Y:-149.48, Z:-5.03 [[-7.13431911e-01 -7.00639764e-01 1.09008554e-02 1.22723991e+02] [ 7.00550702e-01 -7.13515107e-01 -1.11761747e-02 -1.49484151e+02] [ 1.56083974e-02 -3.36837748e-04 9.99878125e-01 -5.03037624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters 0.015508973125560018 Centerline is valid? [True, True] Translation: X:122.68, Y:-149.44, Z:-5.03 [[-7.14228106e-01 -6.99829196e-01 1.08309860e-02 1.22681049e+02] [ 6.99741276e-01 -7.14310140e-01 -1.10981993e-02 -1.49444912e+02] [ 1.55035270e-02 -3.47757895e-04 9.99879753e-01 -5.02890076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters 0.01562339611498756 Centerline is valid? [True, True] Translation: X:122.64, Y:-149.41, Z:-5.03 [[-7.12439373e-01 -7.01659312e-01 1.02151694e-02 1.22638044e+02] [ 7.01581380e-01 -7.12512546e-01 -1.04612863e-02 -1.49406668e+02] [ 1.46186953e-02 -2.86259598e-04 9.99893100e-01 -5.02940861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters 0.014299352539503159 Centerline is valid? [True, True] Translation: X:122.59, Y:-149.37, Z:-5.03 [[-7.10158026e-01 -7.03981357e-01 9.26426970e-03 1.22594778e+02] [ 7.03917529e-01 -7.10218420e-01 -9.48204044e-03 -1.49368140e+02] [ 1.32548347e-02 -2.12465288e-04 9.99912128e-01 -5.02711135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters 0.013117560843563969 Centerline is valid? [True, True] Translation: X:122.55, Y:-149.33, Z:-5.03 [[-7.05417002e-01 -7.08737663e-01 8.81918523e-03 1.22550091e+02] [ 7.08680256e-01 -7.05472120e-01 -9.02130631e-03 -1.49330599e+02] [ 1.26154289e-02 -1.13800412e-04 9.99920416e-01 -5.02542835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters 0.01253354395278579 Centerline is valid? [True, True] Translation: X:122.50, Y:-149.29, Z:-5.03 [[-7.00158913e-01 -7.13933892e-01 8.71174711e-03 1.22503145e+02] [ 7.13878335e-01 -7.00213109e-01 -8.90641683e-03 -1.49294838e+02] [ 1.24586724e-02 -1.67796035e-05 9.99922388e-01 -5.02596485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters 0.012467800888839486 Centerline is valid? [True, True] Translation: X:122.46, Y:-149.26, Z:-5.03 [[-6.98858295e-01 -7.15209810e-01 8.48601430e-03 1.22461078e+02] [ 7.15157255e-01 -6.98909814e-01 -8.67021338e-03 -1.49255388e+02] [ 1.21319803e-02 9.58415047e-06 9.99926405e-01 -5.02623965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters 0.012395236037466395 Centerline is valid? [True, True] Translation: X:122.42, Y:-149.22, Z:-5.02 [[-6.96677331e-01 -7.17342878e-01 7.73898519e-03 1.22418055e+02] [ 7.17299350e-01 -6.96720312e-01 -7.90247863e-03 -1.49216738e+02] [ 1.10606949e-02 4.56913186e-05 9.99938828e-01 -5.02443879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters 0.012413886232296074 Centerline is valid? [True, True] Translation: X:122.38, Y:-149.18, Z:-5.02 [[-6.97463111e-01 -7.16579848e-01 7.65049752e-03 1.22376804e+02] [ 7.16537317e-01 -6.97505068e-01 -7.80720925e-03 -1.49176316e+02] [ 1.09307496e-02 3.66265154e-05 9.99940257e-01 -5.02450460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters 0.012373944625055979 Centerline is valid? [True, True] Translation: X:122.34, Y:-149.13, Z:-5.02 [[-7.00758014e-01 -7.13355242e-01 7.90601015e-03 1.22337807e+02] [ 7.13309668e-01 -7.00802611e-01 -8.06337386e-03 -1.49132660e+02] [ 1.12926026e-02 -1.10403733e-05 9.99936237e-01 -5.02436068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters 0.012818106563367009 Centerline is valid? [True, True] Translation: X:122.30, Y:-149.09, Z:-5.03 [[-7.04343655e-01 -7.09806288e-01 8.66309037e-03 1.22300005e+02] [ 7.09751360e-01 -7.04396925e-01 -8.83056178e-03 -1.49088750e+02] [ 1.23702425e-02 -7.11099827e-05 9.99923483e-01 -5.02538975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters 0.014204557491528895 Centerline is valid? [True, True] Translation: X:122.26, Y:-149.04, Z:-5.03 [[-7.09610033e-01 -7.04513834e-01 1.06704542e-02 1.22262975e+02] [ 7.04429990e-01 -7.09690227e-01 -1.08706824e-02 -1.49043636e+02] [ 1.52312632e-02 -1.97357344e-04 9.99883978e-01 -5.02802276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters 0.015330686890596518 Centerline is valid? [True, True] Translation: X:122.23, Y:-149.00, Z:-5.03 [[-7.13492442e-01 -7.00572395e-01 1.12630056e-02 1.22225328e+02] [ 7.00478594e-01 -7.13581274e-01 -1.14675747e-02 -1.49000025e+02] [ 1.60709361e-02 -2.92533583e-04 9.99870811e-01 -5.02834066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters 0.015758843473513758 Centerline is valid? [True, True] Translation: X:122.19, Y:-148.96, Z:-5.03 [[-7.15457461e-01 -6.98559260e-01 1.16439811e-02 1.22186644e+02] [ 6.98458848e-01 -7.15552124e-01 -1.18488396e-02 -1.48956182e+02] [ 1.66089920e-02 -3.44499021e-04 9.99862002e-01 -5.02726959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters 0.015058138200344254 Centerline is valid? [True, True] Translation: X:122.15, Y:-148.91, Z:-5.03 [[-7.14266216e-01 -6.99785319e-01 1.11480677e-02 1.22145678e+02] [ 6.99693524e-01 -7.14353146e-01 -1.13382094e-02 -1.48914365e+02] [ 1.58979698e-02 -2.98269163e-04 9.99873575e-01 -5.02629181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters 0.01500956833931045 Centerline is valid? [True, True] Translation: X:122.11, Y:-148.87, Z:-5.03 [[-7.12079955e-01 -7.02024477e-01 1.01868083e-02 1.22105503e+02] [ 7.01948138e-01 -7.12152782e-01 -1.03550839e-02 -1.48873812e+02] [ 1.45240862e-02 -2.23036519e-04 9.99894495e-01 -5.02661186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters 0.013336128313969752 Centerline is valid? [True, True] Translation: X:122.06, Y:-148.84, Z:-5.03 [[-7.07022915e-01 -7.07135068e-01 8.86526277e-03 1.22061057e+02] [ 7.07077713e-01 -7.07078486e-01 -9.00685083e-03 -1.48835730e+02] [ 1.26374967e-02 -9.96202068e-05 9.99920139e-01 -5.02529700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters 0.01230907497760586 Centerline is valid? [True, True] Translation: X:122.02, Y:-148.80, Z:-5.02 [[-7.00700525e-01 -7.13409528e-01 8.10062151e-03 1.22016181e+02] [ 7.13362109e-01 -7.00747348e-01 -8.22534076e-03 -1.48798160e+02] [ 1.15445255e-02 1.51758591e-05 9.99933360e-01 -5.02328854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters 0.01303212314081605 Centerline is valid? [True, True] Translation: X:121.97, Y:-148.76, Z:-5.02 [[-6.95262026e-01 -7.18709290e-01 8.22629954e-03 1.21973083e+02] [ 7.18660814e-01 -6.95310682e-01 -8.34800018e-03 -1.48760073e+02] [ 1.17196192e-02 1.07871607e-04 9.99931317e-01 -5.02351110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters 0.013700558143953923 Centerline is valid? [True, True] Translation: X:121.93, Y:-148.72, Z:-5.02 [[-6.91876527e-01 -7.21965731e-01 8.50616666e-03 1.21931360e+02] [ 7.21914204e-01 -6.91928793e-01 -8.62715736e-03 -1.48720099e+02] [ 1.21141736e-02 1.71794859e-04 9.99926606e-01 -5.02317733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters 0.013964618691972889 Centerline is valid? [True, True] Translation: X:121.89, Y:-148.68, Z:-5.02 [[-6.91161955e-01 -7.22656875e-01 7.88623848e-03 1.21891025e+02] [ 7.22612687e-01 -6.91206923e-01 -7.99338115e-03 -1.48678831e+02] [ 1.12274945e-02 1.73975041e-04 9.99936955e-01 -5.02244051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters 0.013526423273466665 Centerline is valid? [True, True] Translation: X:121.85, Y:-148.64, Z:-5.02 [[-6.91652911e-01 -7.22181693e-01 8.35782756e-03 1.21851899e+02] [ 7.22132085e-01 -6.91703383e-01 -8.46651402e-03 -1.48636012e+02] [ 1.18954990e-02 1.79566373e-04 9.99929230e-01 -5.02282466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters 0.013427663734138708 Centerline is valid? [True, True] Translation: X:121.82, Y:-148.59, Z:-5.02 [[-6.93727937e-01 -7.20167833e-01 9.99209990e-03 1.21816411e+02] [ 7.20096814e-01 -6.93799871e-01 -1.01152521e-02 -1.48592600e+02] [ 1.42171968e-02 1.78046362e-04 9.99898915e-01 -5.02480898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters 0.013212631276646177 Centerline is valid? [True, True] Translation: X:121.78, Y:-148.55, Z:-5.02 [[-6.94432137e-01 -7.19485006e-01 1.02631741e-02 1.21778408e+02] [ 7.19410103e-01 -6.94507952e-01 -1.03830732e-02 -1.48550080e+02] [ 1.45983215e-02 1.73091390e-04 9.99893424e-01 -5.02436324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters 0.013434986640743026 Centerline is valid? [True, True] Translation: X:121.74, Y:-148.51, Z:-5.02 [[-6.94780593e-01 -7.19150478e-01 1.01251533e-02 1.21740423e+02] [ 7.19077611e-01 -6.94854346e-01 -1.02384573e-02 -1.48509220e+02] [ 1.43984983e-02 1.67289620e-04 9.99896322e-01 -5.02450886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters 0.013696993562256786 Centerline is valid? [True, True] Translation: X:121.70, Y:-148.46, Z:-5.02 [[-6.93736626e-01 -7.20155662e-01 1.02623314e-02 1.21703180e+02] [ 7.20081001e-01 -6.93812499e-01 -1.03714686e-02 -1.48464237e+02] [ 1.45892056e-02 1.94642239e-04 9.99893553e-01 -5.02485965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters 0.013907873363549539 Centerline is valid? [True, True] Translation: X:121.66, Y:-148.42, Z:-5.02 [[-6.92970687e-01 -7.20892250e-01 1.02951734e-02 1.21664407e+02] [ 7.20817275e-01 -6.93047125e-01 -1.03989305e-02 -1.48421374e+02] [ 1.46315487e-02 2.14784786e-04 9.99892930e-01 -5.02444548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters 0.014867358372654824 Centerline is valid? [True, True] Translation: X:121.63, Y:-148.38, Z:-5.03 [[-6.91391019e-01 -7.22397576e-01 1.09636306e-02 1.21626015e+02] [ 7.22312837e-01 -6.91477889e-01 -1.10677396e-02 -1.48378664e+02] [ 1.55764164e-02 2.67035378e-04 9.99878645e-01 -5.02546040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters 0.0159625783050543 Centerline is valid? [True, True] Translation: X:121.58, Y:-148.34, Z:-5.02 [[-6.88758401e-01 -7.24914960e-01 1.04959671e-02 1.21583515e+02] [ 7.24837673e-01 -6.88838299e-01 -1.05899076e-02 -1.48339245e+02] [ 1.49068066e-02 3.13984551e-04 9.99888838e-01 -5.02413474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters 0.016775260841540903 Centerline is valid? [True, True] Translation: X:121.54, Y:-148.30, Z:-5.02 [[-6.86565007e-01 -7.27000110e-01 9.96648760e-03 1.21536952e+02] [ 7.26930721e-01 -6.86637256e-01 -1.00501896e-02 -1.48303509e+02] [ 1.41498507e-02 3.44837506e-04 9.99899826e-01 -5.02346784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters 0.01729046282547264 Centerline is valid? [True, True] Translation: X:121.49, Y:-148.27, Z:-5.02 [[-6.86570448e-01 -7.26993819e-01 1.00502521e-02 1.21492345e+02] [ 7.26923345e-01 -6.86643913e-01 -1.01285075e-02 -1.48266688e+02] [ 1.42643068e-02 3.51828947e-04 9.99898198e-01 -5.02431962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters 0.01604079994698367 Centerline is valid? [True, True] Translation: X:121.45, Y:-148.22, Z:-5.02 [[-6.86915273e-01 -7.26673071e-01 9.67756266e-03 1.21453433e+02] [ 7.26607781e-01 -6.86983358e-01 -9.74672834e-03 -1.48224290e+02] [ 1.37310095e-02 3.36615764e-04 9.99905669e-01 -5.02230527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters 0.015668576217107003 Centerline is valid? [True, True] Translation: X:121.41, Y:-148.18, Z:-5.02 [[-6.87967899e-01 -7.25688209e-01 8.76314230e-03 1.21412870e+02] [ 7.25634657e-01 -6.88023647e-01 -8.82077122e-03 -1.48182156e+02] [ 1.24303788e-02 2.90432307e-04 9.99922698e-01 -5.02198621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters 0.01481498198794917 Centerline is valid? [True, True] Translation: X:121.37, Y:-148.14, Z:-5.02 [[-6.90707998e-01 -7.23069472e-01 9.64369741e-03 1.21373262e+02] [ 7.23004435e-01 -6.90775264e-01 -9.70165590e-03 -1.48139728e+02] [ 1.36765988e-02 2.71424675e-04 9.99906434e-01 -5.02458689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters 0.014185819705108358 Centerline is valid? [True, True] Translation: X:121.33, Y:-148.10, Z:-5.03 [[-6.93634166e-01 -7.20244680e-01 1.09199679e-02 1.21334574e+02] [ 7.20161031e-01 -6.93720073e-01 -1.09794915e-02 -1.48095894e+02] [ 1.54833213e-02 2.48384875e-04 9.99880095e-01 -5.02619640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters 0.013409536472496939 Centerline is valid? [True, True] Translation: X:121.30, Y:-148.05, Z:-5.03 [[-6.97888795e-01 -7.16114403e-01 1.14626401e-02 1.21298438e+02] [ 7.16021776e-01 -6.97982903e-01 -1.15188277e-02 -1.48050634e+02] [ 1.62495253e-02 1.68639161e-04 9.99867954e-01 -5.02652100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters 0.012817242089727615 Centerline is valid? [True, True] Translation: X:121.26, Y:-148.01, Z:-5.02 [[-6.98861184e-01 -7.15184861e-01 1.01813106e-02 1.21258286e+02] [ 7.15111771e-01 -6.98935330e-01 -1.02254040e-02 -1.48008186e+02] [ 1.44291319e-02 1.34637095e-04 9.99895886e-01 -5.02302415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters 0.012539385700220914 Centerline is valid? [True, True] Translation: X:121.22, Y:-147.97, Z:-5.02 [[-7.00006983e-01 -7.14072134e-01 9.55047483e-03 1.21218242e+02] [ 7.14007791e-01 -7.00072122e-01 -9.58634140e-03 -1.47965901e+02] [ 1.35313604e-02 1.08607515e-04 9.99908441e-01 -5.02174564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters 0.01232027787758051 Centerline is valid? [True, True] Translation: X:121.18, Y:-147.92, Z:-5.02 [[-7.02365136e-01 -7.11772428e-01 7.95148571e-03 1.21178400e+02] [ 7.11727728e-01 -7.02410142e-01 -7.97711999e-03 -1.47923012e+02] [ 1.12630983e-02 5.64418890e-05 9.99936568e-01 -5.01972604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters 0.012319742643665057 Centerline is valid? [True, True] Translation: X:121.14, Y:-147.88, Z:-5.02 [[-7.03879140e-01 -7.10282242e-01 7.30021114e-03 1.21137377e+02] [ 7.10244531e-01 -7.03916995e-01 -7.31910072e-03 -1.47882580e+02] [ 1.03373700e-02 3.31727127e-05 9.99946567e-01 -5.01924519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters 0.012250977671742127 Centerline is valid? [True, True] Translation: X:121.09, Y:-147.84, Z:-5.02 [[-7.04295170e-01 -7.09866273e-01 7.62810921e-03 1.21094724e+02] [ 7.09825127e-01 -7.04336478e-01 -7.64301583e-03 -1.47843789e+02] [ 1.07982747e-02 3.16844474e-05 9.99941696e-01 -5.01954490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters 0.012280366265138022 Centerline is valid? [True, True] Translation: X:121.05, Y:-147.80, Z:-5.02 [[-7.04188717e-01 -7.09964850e-01 8.25606761e-03 1.21051496e+02] [ 7.09916712e-01 -7.04237113e-01 -8.26747348e-03 -1.47804747e+02] [ 1.16838448e-02 3.92588257e-05 9.99931741e-01 -5.02013227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters 0.012473555648626875 Centerline is valid? [True, True] Translation: X:121.01, Y:-147.77, Z:-5.02 [[-7.04742254e-01 -7.09411178e-01 8.61026508e-03 1.21011072e+02] [ 7.09358850e-01 -7.04794849e-01 -8.61640002e-03 -1.47765894e+02] [ 1.21810410e-02 3.54265706e-05 9.99925808e-01 -5.02222857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters 0.012362530359478586 Centerline is valid? [True, True] Translation: X:120.97, Y:-147.72, Z:-5.02 [[-7.05065484e-01 -7.09085107e-01 8.99857695e-03 1.20970568e+02] [ 7.09027992e-01 -7.05122904e-01 -8.99984186e-03 -1.47724914e+02] [ 1.27267565e-02 3.47650880e-05 9.99919011e-01 -5.02140301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters 0.012366483379630436 Centerline is valid? [True, True] Translation: X:120.93, Y:-147.69, Z:-5.02 [[-7.04786378e-01 -7.09368945e-01 8.47712907e-03 1.20930718e+02] [ 7.09318346e-01 -7.04837356e-01 -8.47266123e-03 -1.47685444e+02] [ 1.19852400e-02 4.15669539e-05 9.99928174e-01 -5.02144880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters 0.012443946657369235 Centerline is valid? [True, True] Translation: X:120.45, Y:-148.17, Z:-4.02 [[-7.59297655e-01 6.50697591e-01 7.72762086e-03 1.20447681e+02] [ 6.50663102e-01 7.59336975e-01 -6.69971800e-03 -1.48166444e+02] [-1.02273586e-02 -5.90024122e-05 -9.99947698e-01 -4.01996581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters 0.012655129026917844 Centerline is valid? [True, True] Translation: X:120.46, Y:-148.14, Z:-4.02 [[-8.05133366e-01 5.93053166e-01 6.94300694e-03 1.20463136e+02] [ 5.93030317e-01 8.05163298e-01 -5.20646160e-03 -1.48143582e+02] [-8.67796290e-03 -7.44823452e-05 -9.99962343e-01 -4.02045422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters 0.013999607156853002 Centerline is valid? [True, True] Translation: X:120.87, Y:-147.60, Z:-5.02 [[-7.48569326e-01 -6.63026502e-01 6.31045535e-03 1.20867407e+02] [ 6.63003538e-01 -7.48595922e-01 -5.51848427e-03 -1.47604400e+02] [ 8.38288247e-03 5.28861708e-05 9.99964862e-01 -5.02020460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters 0.014345005353975301 Centerline is valid? [True, True] Translation: X:120.42, Y:-148.11, Z:-4.02 [[-8.13148421e-01 5.82014550e-01 6.97922075e-03 1.20423022e+02] [ 5.81991386e-01 8.13178355e-01 -5.19512889e-03 -1.48107898e+02] [-8.69899185e-03 -1.62564490e-04 -9.99962150e-01 -4.02016940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters 0.0164165300946571 Centerline is valid? [True, True] Translation: X:120.44, Y:-148.08, Z:-4.02 [[-8.54703517e-01 5.19036449e-01 9.11386753e-03 1.20444739e+02] [ 5.19003764e-01 8.54752070e-01 -5.83028129e-03 -1.48083068e+02] [-1.08162256e-02 -2.53030375e-04 -9.99941471e-01 -4.01574652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters 0.015431059710954945 Centerline is valid? [True, True] Translation: X:120.45, Y:-148.06, Z:-4.02 [[-8.89168058e-01 4.57462058e-01 1.04225928e-02 1.20453579e+02] [ 4.57427002e-01 8.89229099e-01 -5.66989182e-03 -1.48062796e+02] [-1.18618332e-02 -2.73911333e-04 -9.99929609e-01 -4.01554686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters 0.014504494079540861 Centerline is valid? [True, True] Translation: X:120.47, Y:-148.05, Z:-4.02 [[-9.17365723e-01 3.97911990e-01 1.03042485e-02 1.20469432e+02] [ 3.97884365e-01 9.17423569e-01 -4.69322156e-03 -1.48047623e+02] [-1.13208496e-02 -2.05501220e-04 -9.99935896e-01 -4.01592561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters 0.012996601170332104 Centerline is valid? [True, True] Translation: X:120.48, Y:-148.03, Z:-4.02 [[-9.40696060e-01 3.39128906e-01 9.08340428e-03 1.20481821e+02] [ 3.39112050e-01 9.40739908e-01 -3.38272948e-03 -1.48031964e+02] [-9.69230225e-03 -1.01828450e-04 -9.99953023e-01 -4.01696070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters 0.012467905270059499 Centerline is valid? [True, True] Translation: X:120.73, Y:-147.38, Z:-5.02 [[-9.08845595e-01 -4.17052699e-01 8.16892374e-03 1.20732718e+02] [ 4.17036372e-01 -9.08882304e-01 -3.69075424e-03 -1.47383961e+02] [ 8.96382925e-03 5.24125821e-05 9.99959823e-01 -5.02265185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters 0.012301745603205239 Centerline is valid? [True, True] Translation: X:120.44, Y:-148.02, Z:-4.02 [[-9.39551445e-01 3.42295717e-01 8.75920844e-03 1.20441650e+02] [ 3.42280526e-01 9.39592274e-01 -3.22491298e-03 -1.48022789e+02] [-9.33395848e-03 -3.18651733e-05 -9.99956437e-01 -4.01859956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters 0.012389829733358115 Centerline is valid? [True, True] Translation: X:120.45, Y:-148.00, Z:-4.02 [[-9.61066340e-01 2.76113859e-01 1.06126099e-02 1.20451763e+02] [ 2.76096757e-01 9.61124933e-01 -3.07321993e-03 -1.47997856e+02] [-1.10486026e-02 -2.34610530e-05 -9.99938962e-01 -4.01757955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters 0.012457265012396874 Centerline is valid? [True, True] Translation: X:120.46, Y:-147.97, Z:-4.02 [[-9.77781740e-01 2.09266462e-01 1.22644239e-02 1.20456742e+02] [ 2.09249981e-01 9.77858654e-01 -2.62630699e-03 -1.47969693e+02] [-1.25424710e-02 -1.62454836e-06 -9.99921340e-01 -4.01578094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters 0.012777957784073991 Centerline is valid? [True, True] Translation: X:120.46, Y:-147.94, Z:-4.02 [[-9.89881314e-01 1.41350308e-01 1.24529154e-02 1.20462824e+02] [ 1.41339419e-01 9.89959641e-01 -1.75464195e-03 -1.47941403e+02] [-1.25759029e-02 2.32005498e-05 -9.99920920e-01 -4.01662577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters 0.012481527913170082 Centerline is valid? [True, True] Translation: X:120.46, Y:-147.91, Z:-4.02 [[-9.97422068e-01 7.06755446e-02 1.24171596e-02 1.20462705e+02] [ 7.06703396e-02 9.97499357e-01 -8.58005653e-04 -1.47912456e+02] [-1.24467488e-02 2.17311160e-05 -9.99922536e-01 -4.01760465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters 0.012485467152471029 Centerline is valid? [True, True] Translation: X:120.46, Y:-147.88, Z:-4.02 [[-9.99914271e-01 -2.19554482e-03 1.29085529e-02 1.20462341e+02] [-2.19538450e-03 9.99997590e-01 2.65900505e-05 -1.47882130e+02] [-1.29085801e-02 -1.75146595e-06 -9.99916681e-01 -4.01752462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters 0.012616801721882353 Centerline is valid? [True, True] Translation: X:120.46, Y:-147.20, Z:-5.02 [[-9.97589555e-01 -6.80053092e-02 1.37969860e-02 1.20460395e+02] [ 6.79996893e-02 -9.97684957e-01 -8.76576549e-04 -1.47199766e+02] [ 1.38246573e-02 6.37271521e-05 9.99904433e-01 -5.02423427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters 0.012525306810021414 Centerline is valid? [True, True] Translation: X:120.40, Y:-147.88, Z:-4.02 [[-9.99877744e-01 -1.04502636e-02 1.16313768e-02 1.20395401e+02] [-1.04500753e-02 9.99945394e-01 7.69682289e-05 -1.47879018e+02] [-1.16315460e-02 -4.45899436e-05 -9.99932350e-01 -4.01904508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters 0.012410857265278585 Centerline is valid? [True, True] Translation: X:120.39, Y:-147.85, Z:-4.02 [[-9.96585357e-01 -8.21740844e-02 8.06512352e-03 1.20386239e+02] [-8.21716905e-02 9.96617990e-01 6.28298375e-04 -1.47852441e+02] [-8.08947704e-03 -3.65718731e-05 -9.99967279e-01 -4.02252175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters 0.012522274390766978 Centerline is valid? [True, True] Translation: X:120.34, Y:-147.18, Z:-5.02 [[-9.99968565e-01 4.46210280e-03 6.55436565e-03 1.20339580e+02] [-4.46248884e-03 -9.99990042e-01 -4.42742204e-05 -1.47176013e+02] [ 6.55410283e-03 -7.35216121e-05 9.99978519e-01 -5.01635069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters 0.012846768761423003 Centerline is valid? [True, True] Translation: X:120.32, Y:-147.86, Z:-4.02 [[-9.95845705e-01 -9.08472568e-02 6.17319187e-03 1.20317455e+02] [-9.08458353e-02 9.95864837e-01 5.10871978e-04 -1.47855233e+02] [-6.19407603e-03 -5.20591063e-05 -9.99980815e-01 -4.02309178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters 0.013356473075616139 Centerline is valid? [True, True] Translation: X:120.31, Y:-147.83, Z:-4.02 [[-9.86184491e-01 -1.65456754e-01 8.01328126e-03 1.20307019e+02] [-1.65452127e-01 9.86217041e-01 1.24154899e-03 -1.47827082e+02] [-8.10825720e-03 -1.01418069e-04 -9.99967122e-01 -4.02118844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters 0.014079702340095195 Centerline is valid? [True, True] Translation: X:120.20, Y:-147.17, Z:-5.02 [[-9.97480521e-01 7.03381092e-02 9.22830023e-03 1.20204969e+02] [-7.03332744e-02 -9.97523189e-01 8.47813700e-04 -1.47169024e+02] [ 9.26507709e-03 1.96621079e-04 9.99957059e-01 -5.02048662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters 0.015097586944501638 Centerline is valid? [True, True] Translation: X:120.22, Y:-147.83, Z:-4.02 [[-9.83972244e-01 -1.77966135e-01 1.12551012e-02 1.20215814e+02] [-1.77957105e-01 9.84036587e-01 1.80683817e-03 -1.47834800e+02] [-1.13969874e-02 -2.25046612e-04 -9.99935027e-01 -4.01820202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters 0.014667790948946451 Centerline is valid? [True, True] Translation: X:120.21, Y:-147.81, Z:-4.02 [[-9.69157139e-01 -2.46142054e-01 1.21872914e-02 1.20207341e+02] [-2.46125542e-01 9.69233737e-01 2.86005520e-03 -1.47811350e+02] [-1.25163139e-02 -2.27760793e-04 -9.99921642e-01 -4.01722200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters 0.014144795627349773 Centerline is valid? [True, True] Translation: X:120.19, Y:-147.79, Z:-4.02 [[-9.49665969e-01 -3.13036066e-01 1.19569548e-02 1.20187645e+02] [-3.13013937e-01 9.49741218e-01 3.72757586e-03 -1.47791311e+02] [-1.25228785e-02 -2.02741563e-04 -9.99921565e-01 -4.01754600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters 0.012874228010846896 Centerline is valid? [True, True] Translation: X:120.16, Y:-147.78, Z:-4.02 [[-9.28183235e-01 -3.72005533e-01 9.36835405e-03 1.20155018e+02] [-3.71987292e-01 9.28230510e-01 3.68445935e-03 -1.47782610e+02] [-1.00666313e-02 -6.50552563e-05 -9.99949328e-01 -4.01916258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters 0.012473688253319614 Centerline is valid? [True, True] Translation: X:120.10, Y:-147.78, Z:-4.02 [[-9.01763956e-01 -4.32162840e-01 7.55301878e-03 1.20102548e+02] [-4.32147590e-01 9.01795587e-01 3.63048141e-03 -1.47783398e+02] [-8.38023816e-03 9.81841421e-06 -9.99964885e-01 -4.02253147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters 0.0135269799601171 Centerline is valid? [True, True] Translation: X:120.04, Y:-147.79, Z:-4.02 [[-8.72491680e-01 -4.88577862e-01 7.06696463e-03 1.20041920e+02] [-4.88560940e-01 8.72520294e-01 4.06749024e-03 -1.47793501e+02] [-8.15335574e-03 9.62085129e-05 -9.99966756e-01 -4.02345457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters 0.014533768072172056 Centerline is valid? [True, True] Translation: X:119.97, Y:-147.81, Z:-4.02 [[-8.36864220e-01 -5.47355400e-01 7.76809622e-03 1.19969083e+02] [-5.47329966e-01 8.36900256e-01 5.27919586e-03 -1.47811097e+02] [-9.39071808e-03 1.66258283e-04 -9.99955892e-01 -4.02349778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters 0.015183968417027145 Centerline is valid? [True, True] Translation: X:119.89, Y:-147.84, Z:-4.02 [[-7.94095940e-01 -6.07731769e-01 8.58689204e-03 1.19887301e+02] [-6.07693432e-01 7.94142339e-01 6.82924513e-03 -1.47836335e+02] [-1.09695638e-02 2.04877943e-04 -9.99939812e-01 -4.02176666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters 0.014850630587138904 Centerline is valid? [True, True] Translation: X:119.80, Y:-147.87, Z:-4.02 [[-7.45272119e-01 -6.66707700e-01 8.38520220e-03 1.19798184e+02] [-6.66662502e-01 7.45319263e-01 7.76564645e-03 -1.47872901e+02] [-1.14270690e-02 1.97419908e-04 -9.99934689e-01 -4.02114175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters 0.014941741134114766 Centerline is valid? [True, True] Translation: X:119.71, Y:-147.92, Z:-4.02 [[-6.90993011e-01 -7.22823363e-01 7.41921179e-03 1.19713516e+02] [-7.22779185e-01 6.91032821e-01 7.99306221e-03 -1.47916447e+02] [-1.09044910e-02 1.60698268e-04 -9.99940531e-01 -4.02085872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters 0.013840697637586531 Centerline is valid? [True, True] Translation: X:119.63, Y:-147.97, Z:-4.02 [[-6.32091095e-01 -7.74867937e-01 6.36614504e-03 1.19625590e+02] [-7.74826704e-01 6.32123142e-01 7.99451565e-03 -1.47970283e+02] [-1.02188815e-02 1.20602970e-04 -9.99947779e-01 -4.02220078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters 0.013160401308624265 Centerline is valid? [True, True] Translation: X:119.54, Y:-148.03, Z:-4.02 [[-5.66014110e-01 -8.24375066e-01 5.81195579e-03 1.19535742e+02] [-8.24330658e-01 5.66043946e-01 8.55671606e-03 -1.48033149e+02] [-1.03437658e-02 5.22486809e-05 -9.99946501e-01 -4.02221202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters 0.012957068459804068 Centerline is valid? [True, True] Translation: X:119.45, Y:-148.10, Z:-4.02 [[-4.94407967e-01 -8.69212706e-01 5.48039562e-03 1.19446558e+02] [-8.69160206e-01 4.94438339e-01 9.55327049e-03 -1.48104647e+02] [-1.10135418e-02 -4.01287466e-05 -9.99939348e-01 -4.02183542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters 0.013281297402819778 Centerline is valid? [True, True] Translation: X:119.37, Y:-148.18, Z:-4.02 [[-4.22438720e-01 -9.06378901e-01 4.77647225e-03 1.19369592e+02] [-9.06323493e-01 4.22465712e-01 1.00224187e-02 -1.48180870e+02] [-1.11020046e-02 -9.51712952e-05 -9.99938366e-01 -4.02168843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters 0.01372309102857458 Centerline is valid? [True, True] Translation: X:119.30, Y:-148.27, Z:-4.02 [[-3.48259970e-01 -9.37390057e-01 3.85667672e-03 1.19296359e+02] [-9.37336883e-01 3.48281297e-01 9.98532260e-03 -1.48268215e+02] [-1.07033505e-02 -1.37517182e-04 -9.99942708e-01 -4.02221849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters 0.013738811692634415 Centerline is valid? [True, True] Translation: X:119.23, Y:-148.37, Z:-4.02 [[-2.75331986e-01 -9.61344268e-01 3.08163937e-03 1.19232092e+02] [-9.61289724e-01 2.75349194e-01 1.02415075e-02 -1.48365089e+02] [-1.06941415e-02 -1.42533656e-04 -9.99942806e-01 -4.02206907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters 0.013587556615934101 Centerline is valid? [True, True] Translation: X:119.18, Y:-148.46, Z:-4.02 [[-2.02479806e-01 -9.79284014e-01 2.17907156e-03 1.19178845e+02] [-9.79233578e-01 2.02491495e-01 9.93955668e-03 -1.48461426e+02] [-1.01748924e-02 -1.21260530e-04 -9.99948227e-01 -4.02230779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters 0.013366448397706211 Centerline is valid? [True, True] Translation: X:119.13, Y:-148.56, Z:-4.02 [[-1.27819296e-01 -9.91796250e-01 1.55758242e-03 1.19133176e+02] [-9.91734004e-01 1.27828726e-01 1.11122813e-02 -1.48562702e+02] [-1.12202227e-02 -1.24343474e-04 -9.99937044e-01 -4.02156994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters 0.013864420578876338 Centerline is valid? [True, True] Translation: X:119.09, Y:-148.67, Z:-4.02 [[-5.09205789e-02 -9.98702383e-01 8.03388314e-04 1.19093547e+02] [-9.98620518e-01 5.09266920e-02 1.27879892e-02 -1.48673802e+02] [-1.28123092e-02 -1.51108241e-04 -9.99917908e-01 -4.01867225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters 0.013857051900757861 Centerline is valid? [True, True] Translation: X:119.07, Y:-148.79, Z:-4.02 [[ 2.58225355e-02 -9.99666520e-01 -2.14113011e-04 1.19065236e+02] [-9.99547247e-01 -2.58227622e-02 1.54429621e-02 -1.48790419e+02] [-1.54433412e-02 -1.84760367e-04 -9.99880727e-01 -4.01630437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters 0.013300559823968796 Centerline is valid? [True, True] Translation: X:119.05, Y:-148.90, Z:-4.02 [[ 1.00419292e-01 -9.94944131e-01 -1.46342661e-03 1.19048998e+02] [-9.94813773e-01 -1.00429825e-01 1.61061247e-02 -1.48899617e+02] [-1.61716659e-02 -1.61528692e-04 -9.99869217e-01 -4.01681570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters 0.012799154541631212 Centerline is valid? [True, True] Translation: X:119.04, Y:-149.01, Z:-4.02 [[ 1.70564875e-01 -9.85343615e-01 -2.36315833e-03 1.19044166e+02] [-9.85244293e-01 -1.70581235e-01 1.39902112e-02 -1.49014843e+02] [-1.41882757e-02 -5.79503634e-05 -9.99899340e-01 -4.01801112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters 0.012935583583857454 Centerline is valid? [True, True] Translation: X:119.05, Y:-149.13, Z:-4.02 [[ 2.37803081e-01 -9.71308328e-01 -3.13469458e-03 1.19050223e+02] [-9.71226866e-01 -2.37823735e-01 1.25796167e-02 -1.49126433e+02] [-1.29641912e-02 5.30279865e-05 -9.99915960e-01 -4.01950864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters 0.01375749792065034 Centerline is valid? [True, True] Translation: X:119.06, Y:-149.24, Z:-4.02 [[ 3.07043726e-01 -9.51687853e-01 -3.79224211e-03 1.19061669e+02] [-9.51619545e-01 -3.07067125e-01 1.14027049e-02 -1.49240489e+02] [-1.20162886e-02 1.07642728e-04 -9.99927796e-01 -4.01907013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters 0.013833795925361063 Centerline is valid? [True, True] Translation: X:119.08, Y:-149.36, Z:-4.02 [[ 3.75402418e-01 -9.26851381e-01 -4.42061455e-03 1.19083591e+02] [-9.26791727e-01 -3.75428416e-01 1.05165913e-02 -1.49360798e+02] [-1.14069415e-02 1.49035182e-04 -9.99934928e-01 -4.02155077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters 0.013587352339988949 Centerline is valid? [True, True] Translation: X:119.11, Y:-149.47, Z:-4.02 [[ 4.46739483e-01 -8.94648596e-01 -5.26541234e-03 1.19106771e+02] [-8.94589924e-01 -4.46770492e-01 1.02467235e-02 -1.49468644e+02] [-1.15196476e-02 1.32768884e-04 -9.99933638e-01 -4.02228815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters 0.013268547044481466 Centerline is valid? [True, True] Translation: X:119.14, Y:-149.58, Z:-4.02 [[ 5.17348413e-01 -8.55752790e-01 -6.14665546e-03 1.19140582e+02] [-8.55694417e-01 -5.17384919e-01 9.99553257e-03 -1.49583951e+02] [-1.17338917e-02 8.84858447e-05 -9.99931152e-01 -4.02202055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters 0.012799191501310488 Centerline is valid? [True, True] Translation: X:119.18, Y:-149.70, Z:-4.02 [[ 5.88216071e-01 -8.08665050e-01 -7.91778242e-03 1.19178703e+02] [-8.08591469e-01 -5.88269358e-01 1.09087016e-02 -1.49695811e+02] [-1.34792745e-02 -1.44223008e-05 -9.99909150e-01 -4.02094529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters 0.013563582637558887 Centerline is valid? [True, True] Translation: X:119.23, Y:-149.81, Z:-4.02 [[ 6.54893582e-01 -7.55669741e-01 -8.81127974e-03 1.19227538e+02] [-7.55598552e-01 -6.54952841e-01 1.03732427e-02 -1.49805188e+02] [-1.36097183e-02 -1.35579873e-04 -9.99907374e-01 -4.02050311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters 0.014669085635346768 Centerline is valid? [True, True] Translation: X:119.28, Y:-149.90, Z:-4.02 [[ 7.14608372e-01 -6.99465569e-01 -9.09902648e-03 1.19277765e+02] [-6.99405231e-01 -7.14666270e-01 9.18943496e-03 -1.49900904e+02] [-1.29304607e-02 -2.02940441e-04 -9.99916378e-01 -4.02230409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters 0.014546454598035045 Centerline is valid? [True, True] Translation: X:119.33, Y:-149.99, Z:-4.02 [[ 7.66324325e-01 -6.42397626e-01 -8.50406588e-03 1.19333335e+02] [-6.42355352e-01 -7.66371486e-01 7.37207898e-03 -1.49988838e+02] [-1.12530796e-02 -1.86771219e-04 -9.99936665e-01 -4.02404362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters 0.014163358281242119 Centerline is valid? [True, True] Translation: X:119.35, Y:-150.01, Z:-4.02 [[ 8.11991860e-01 -5.83608755e-01 -8.36900713e-03 1.19354611e+02] [-5.83576068e-01 -8.12034977e-01 6.17818849e-03 -1.50013780e+02] [-1.04015714e-02 -1.32686496e-04 -9.99945893e-01 -4.02377296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters 0.013372505127373265 Centerline is valid? [True, True] Translation: X:119.38, Y:-150.04, Z:-4.02 [[ 8.53002641e-01 -5.21843955e-01 -8.08585743e-03 1.19378161e+02] [-5.21819594e-01 -8.53040960e-01 5.04291707e-03 -1.50038595e+02] [-9.52918338e-03 -8.22627365e-05 -9.99954593e-01 -4.02442051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters 0.013247048378287662 Centerline is valid? [True, True] Translation: X:119.40, Y:-150.06, Z:-4.03 [[ 8.90689652e-01 -4.54545229e-01 -7.78324492e-03 1.19403457e+02] [-4.54527225e-01 -8.90723656e-01 4.04613338e-03 -1.50061735e+02] [-8.77187099e-03 -6.61524196e-05 -9.99961524e-01 -4.02503483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters 0.01307955812706847 Centerline is valid? [True, True] Translation: X:119.43, Y:-150.08, Z:-4.03 [[ 9.23519066e-01 -3.83467923e-01 -8.05526873e-03 1.19429261e+02] [-3.83452706e-01 -9.23554193e-01 3.41684370e-03 -1.50084105e+02] [-8.74972717e-03 -6.67057125e-05 -9.99961718e-01 -4.02518277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters 0.013081710587442027 Centerline is valid? [True, True] Translation: X:119.46, Y:-150.10, Z:-4.02 [[ 9.50293280e-01 -3.11211359e-01 -9.49587076e-03 1.19456795e+02] [-3.11195139e-01 -9.50340721e-01 3.17798488e-03 -1.50103869e+02] [-1.00133377e-02 -6.49488499e-05 -9.99949863e-01 -4.02298750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters 0.013159930155442822 Centerline is valid? [True, True] Translation: X:119.49, Y:-150.12, Z:-4.02 [[ 9.70791105e-01 -2.39510017e-01 -1.41273635e-02 1.19486190e+02] [-2.39484040e-01 -9.70893892e-01 3.52762313e-03 -1.50116425e+02] [-1.45610720e-02 -4.13070701e-05 -9.99893981e-01 -4.01830084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters 0.013151792681146128 Centerline is valid? [True, True] Translation: X:119.52, Y:-150.13, Z:-4.02 [[ 9.86345192e-01 -1.64041758e-01 -1.46103774e-02 1.19516987e+02] [-1.64023410e-01 -9.86453395e-01 2.45352325e-03 -1.50129936e+02] [-1.48149366e-02 -2.35769383e-05 -9.99890253e-01 -4.01860093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters 0.012941080272155297 Centerline is valid? [True, True] Translation: X:119.54, Y:-150.14, Z:-4.02 [[ 9.96136710e-01 -8.67047316e-02 -1.39263777e-02 1.19544274e+02] [-8.66960196e-02 -9.96234053e-01 1.22921028e-03 -1.50143752e+02] [-1.39805100e-02 -1.70999744e-05 -9.99902268e-01 -4.02078813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters 0.012870916475452661 Centerline is valid? [True, True] Translation: X:119.57, Y:-150.15, Z:-4.02 [[ 9.99884872e-01 -1.02695163e-02 -1.11704498e-02 1.19573286e+02] [-1.02689475e-02 -9.99947267e-01 1.08273723e-04 -1.50152793e+02] [-1.11709727e-02 6.44750488e-06 -9.99937603e-01 -4.02295831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters 0.012848191551055625 Centerline is valid? [True, True] Translation: X:119.60, Y:-150.16, Z:-4.02 [[ 9.97742948e-01 6.65013511e-02 -9.30489419e-03 1.19602605e+02] [ 6.64982693e-02 -9.97786335e-01 -6.40547519e-04 -1.50159744e+02] [-9.32689355e-03 2.03424099e-05 -9.99956503e-01 -4.02412991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters 0.012839540047000258 Centerline is valid? [True, True] Translation: X:119.63, Y:-150.17, Z:-4.02 [[ 9.89660138e-01 1.43164682e-01 -8.75696355e-03 1.19632752e+02] [ 1.43158805e-01 -9.89698880e-01 -1.29753612e-03 -1.50165398e+02] [-8.85251836e-03 3.04833384e-05 -9.99960815e-01 -4.02423656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters 0.012936629966421311 Centerline is valid? [True, True] Translation: X:119.66, Y:-150.17, Z:-4.02 [[ 9.75383871e-01 2.20358548e-01 -8.27129740e-03 1.19663361e+02] [ 2.20350382e-01 -9.75418941e-01 -1.89731171e-03 -1.50172148e+02] [-8.48606900e-03 2.80236998e-05 -9.99963992e-01 -4.02417006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters 0.012967382193980052 Centerline is valid? [True, True] Translation: X:119.69, Y:-150.17, Z:-4.02 [[ 9.55159310e-01 2.95986095e-01 -7.93253734e-03 1.19693039e+02] [ 2.95975649e-01 -9.55192248e-01 -2.48687123e-03 -1.50173688e+02] [-8.31317748e-03 2.75203197e-05 -9.99965445e-01 -4.02314107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters 0.013006980376635443 Centerline is valid? [True, True] Translation: X:119.72, Y:-150.17, Z:-4.02 [[ 9.28894813e-01 3.70249485e-01 -8.35134260e-03 1.19723546e+02] [ 3.70234272e-01 -9.28932354e-01 -3.35643341e-03 -1.50171910e+02] [-9.00055008e-03 2.58203466e-05 -9.99959494e-01 -4.02356242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters 0.012957069661609234 Centerline is valid? [True, True] Translation: X:119.75, Y:-150.17, Z:-4.02 [[ 8.97118066e-01 4.41723232e-01 -7.73053589e-03 1.19753809e+02] [ 4.41706588e-01 -8.97151373e-01 -3.83463534e-03 -1.50167915e+02] [-8.62930840e-03 2.54920053e-05 -9.99962767e-01 -4.02342195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters 0.013050691037514746 Centerline is valid? [True, True] Translation: X:119.78, Y:-150.16, Z:-4.02 [[ 8.60137621e-01 5.09999681e-01 -7.97492561e-03 1.19783434e+02] [ 5.09977398e-01 -8.60174590e-01 -4.76745006e-03 -1.50159390e+02] [-9.29122637e-03 3.36313360e-05 -9.99956835e-01 -4.02304859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters 0.013117624612046916 Centerline is valid? [True, True] Translation: X:119.81, Y:-150.15, Z:-4.02 [[ 8.17930757e-01 5.75268604e-01 -7.43705202e-03 1.19811304e+02] [ 5.75244397e-01 -8.17964567e-01 -5.27746743e-03 -1.50148038e+02] [-9.11920635e-03 3.84804282e-05 -9.99958419e-01 -4.02298907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters 0.013008767895535902 Centerline is valid? [True, True] Translation: X:119.84, Y:-150.14, Z:-4.02 [[ 7.69968337e-01 6.38046788e-01 -6.71240472e-03 1.19839613e+02] [ 6.38022190e-01 -7.69997594e-01 -5.60273801e-03 -1.50136610e+02] [-8.74334448e-03 3.12677081e-05 -9.99961776e-01 -4.02296218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters 0.013052092505944283 Centerline is valid? [True, True] Translation: X:119.87, Y:-150.12, Z:-4.02 [[ 7.15762148e-01 6.98312506e-01 -6.64771946e-03 1.19867771e+02] [ 6.98282284e-01 -7.15793018e-01 -6.49677332e-03 -1.50123877e+02] [-9.29516923e-03 8.15970127e-06 -9.99956799e-01 -4.02209601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters 0.013196943848621004 Centerline is valid? [True, True] Translation: X:119.89, Y:-150.11, Z:-4.02 [[ 6.59427074e-01 7.51742194e-01 -6.29355143e-03 1.19891530e+02] [ 7.51707735e-01 -6.59457105e-01 -7.19769425e-03 -1.50106930e+02] [-9.56113768e-03 1.54431651e-05 -9.99954291e-01 -4.02206471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters 0.013263533470824219 Centerline is valid? [True, True] Translation: X:119.91, Y:-150.09, Z:-4.02 [[ 6.00541023e-01 7.99576882e-01 -5.22396738e-03 1.19913683e+02] [ 7.99546106e-01 -6.00563742e-01 -7.01544129e-03 -1.50087639e+02] [-8.74671007e-03 3.62575113e-05 -9.99961746e-01 -4.02322374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters 0.013419258499392097 Centerline is valid? [True, True] Translation: X:119.93, Y:-150.07, Z:-4.02 [[ 5.37941450e-01 8.42967190e-01 -5.03117340e-03 1.19934737e+02] [ 8.42929277e-01 -5.37964973e-01 -7.99512786e-03 -1.50068334e+02] [-9.44622553e-03 5.99873186e-05 -9.99955382e-01 -4.02282008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters 0.013495555370393824 Centerline is valid? [True, True] Translation: X:119.96, Y:-150.05, Z:-4.02 [[ 4.69455213e-01 8.82944550e-01 -4.55239822e-03 1.19957173e+02] [ 8.82901936e-01 -4.69477283e-01 -8.67483152e-03 -1.50049432e+02] [-9.79664275e-03 5.31236816e-05 -9.99952010e-01 -4.02205870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters 0.013376829257597235 Centerline is valid? [True, True] Translation: X:119.98, Y:-150.03, Z:-4.02 [[ 3.95774614e-01 9.18337647e-01 -4.29205575e-03 1.19977156e+02] [ 9.18283028e-01 -3.95797886e-01 -1.00156791e-02 -1.50028962e+02] [-1.08965618e-02 2.26295828e-05 -9.99940631e-01 -4.02120244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters 0.013303501143783147 Centerline is valid? [True, True] Translation: X:119.99, Y:-150.01, Z:-4.02 [[ 3.21345133e-01 9.46955826e-01 -3.45961714e-03 1.19994056e+02] [ 9.46900690e-01 -3.21363756e-01 -1.02185823e-02 -1.50005669e+02] [-1.07883416e-02 7.77781490e-06 -9.99941804e-01 -4.02247897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters 0.013384164685419517 Centerline is valid? [True, True] Translation: X:120.01, Y:-149.98, Z:-4.02 [[ 2.45044318e-01 9.69508330e-01 -2.62321425e-03 1.20008805e+02] [ 9.69452989e-01 -2.45058358e-01 -1.03587132e-02 -1.49981727e+02] [-1.06856993e-02 -4.73909154e-06 -9.99942906e-01 -4.02119392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters 0.013291233872873152 Centerline is valid? [True, True] Translation: X:120.02, Y:-149.96, Z:-4.02 [[ 1.67003352e-01 9.85954685e-01 -1.79983209e-03 1.20020450e+02] [ 9.85898691e-01 -1.67013049e-01 -1.05077363e-02 -1.49955787e+02] [-1.06607473e-02 -1.96249277e-05 -9.99943172e-01 -4.02122692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters 0.013685217616072899 Centerline is valid? [True, True] Translation: X:120.03, Y:-149.93, Z:-4.02 [[ 8.36334069e-02 9.96496029e-01 -1.05758660e-03 1.20034914e+02] [ 9.96429004e-01 -8.36400480e-02 -1.15577994e-02 -1.49929112e+02] [-1.16057578e-02 -8.71918243e-05 -9.99932647e-01 -4.02178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters 0.013887863658563081 Centerline is valid? [True, True] Translation: X:120.05, Y:-149.90, Z:-4.02 [[ 1.94662309e-03 9.99998094e-01 -1.53127068e-04 1.20047494e+02] [ 9.99926726e-01 -1.94831368e-03 -1.19476591e-02 -1.49900850e+02] [-1.19479347e-02 -1.29858258e-04 -9.99928613e-01 -4.02180802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters 0.01457626308955155 Centerline is valid? [True, True] Translation: X:120.06, Y:-149.87, Z:-4.02 [[-7.99752232e-02 9.96796525e-01 8.06643896e-04 1.20057690e+02] [ 9.96720869e-01 7.99790924e-02 -1.22822648e-02 -1.49871574e+02] [-1.23074335e-02 -1.78278064e-04 -9.99924245e-01 -4.02098974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters 0.014674421668165112 Centerline is valid? [True, True] Translation: X:120.06, Y:-149.84, Z:-4.02 [[-1.58780335e-01 9.87312314e-01 1.78906629e-03 1.20061664e+02] [ 9.87235212e-01 1.58790296e-01 -1.23401405e-02 -1.49841942e+02] [-1.24676591e-02 -1.93142409e-04 -9.99922257e-01 -4.02145984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters 0.014923816221673583 Centerline is valid? [True, True] Translation: X:120.06, Y:-149.81, Z:-4.02 [[-2.35385731e-01 9.71897854e-01 2.84956125e-03 1.20063167e+02] [ 9.71816158e-01 2.35402896e-01 -1.26028184e-02 -1.49813884e+02] [-1.29194472e-02 -1.97273967e-04 -9.99916521e-01 -4.02105340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters 0.01499252533514011 Centerline is valid? [True, True] Translation: X:120.06, Y:-149.79, Z:-4.02 [[-3.10051868e-01 9.50711485e-01 3.93841069e-03 1.20059723e+02] [ 9.50626715e-01 3.10076821e-01 -1.26970252e-02 -1.49786217e+02] [-1.32924176e-02 -1.92777971e-04 -9.99911633e-01 -4.01949544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters 0.014345329327307095 Centerline is valid? [True, True] Translation: X:120.05, Y:-149.76, Z:-4.02 [[-3.81961482e-01 9.24162604e-01 5.37660998e-03 1.20053300e+02] [ 9.24064111e-01 3.81999276e-01 -1.34933833e-02 -1.49758273e+02] [-1.45239414e-02 -1.85620376e-04 -9.99894505e-01 -4.01982790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters 0.014109199904189629 Centerline is valid? [True, True] Translation: X:120.05, Y:-149.73, Z:-4.02 [[-4.52590627e-01 8.91695943e-01 6.33003110e-03 1.20048076e+02] [ 8.91603311e-01 4.52634858e-01 -1.28538214e-02 -1.49729997e+02] [-1.43268931e-02 -1.73642403e-04 -9.99897350e-01 -4.02037048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters 0.013754182807791874 Centerline is valid? [True, True] Translation: X:120.04, Y:-149.70, Z:-4.02 [[-5.18335712e-01 8.55148383e-01 7.02367248e-03 1.20037705e+02] [ 8.55066655e-01 5.18383283e-01 -1.18231619e-02 -1.49703688e+02] [-1.37515122e-02 -1.22658932e-04 -9.99905436e-01 -4.02093974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters 0.01346860872958987 Centerline is valid? [True, True] Translation: X:120.03, Y:-149.68, Z:-4.02 [[-5.81470574e-01 8.13531292e-01 7.66864020e-03 1.20025805e+02] [ 8.13458693e-01 5.81521134e-01 -1.08685477e-02 -1.49678587e+02] [-1.33013800e-02 -8.16186666e-05 -9.99911529e-01 -4.02105670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters 0.013227218482743093 Centerline is valid? [True, True] Translation: X:120.01, Y:-149.65, Z:-4.02 [[-6.39479053e-01 7.68757190e-01 8.88389229e-03 1.20012742e+02] [ 7.68682705e-01 6.39540759e-01 -1.07012704e-02 -1.49653606e+02] [-1.39082898e-02 -1.43439284e-05 -9.99903275e-01 -4.02196152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters 0.013277990469609254 Centerline is valid? [True, True] Translation: X:120.00, Y:-149.63, Z:-4.02 [[-6.93803401e-01 7.20092168e-01 1.02034377e-02 1.19999476e+02] [ 7.20015685e-01 6.93878422e-01 -1.04951898e-02 -1.49628979e+02] [-1.46374493e-02 6.50368154e-05 -9.99892865e-01 -4.02164153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters 0.013852192665307126 Centerline is valid? [True, True] Translation: X:119.98, Y:-149.61, Z:-4.02 [[-7.43840792e-01 6.68277156e-01 1.03208052e-02 1.19984068e+02] [ 6.68215588e-01 7.43912374e-01 -9.07234899e-03 -1.49605113e+02] [-1.37406183e-02 1.48139665e-04 -9.99905582e-01 -4.02305395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters 0.014568420339290114 Centerline is valid? [True, True] Translation: X:120.01, Y:-149.59, Z:-4.02 [[-7.85369503e-01 6.18933246e-01 1.07880213e-02 1.20006168e+02] [ 6.18878880e-01 7.85443559e-01 -8.20656069e-03 -1.49589286e+02] [-1.35526951e-02 2.31296057e-04 -9.99908131e-01 -4.02421781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters 0.015245719548289887 Centerline is valid? [True, True] Translation: X:120.02, Y:-149.57, Z:-4.02 [[-8.25502408e-01 5.64270399e-01 1.20287662e-02 1.20023167e+02] [ 5.64215551e-01 8.25589992e-01 -7.87256945e-03 -1.49567155e+02] [-1.43730869e-02 2.87991910e-04 -9.99896660e-01 -4.02337937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters 0.016128386774702408 Centerline is valid? [True, True] Translation: X:120.05, Y:-149.55, Z:-4.02 [[-8.60555881e-01 5.09180458e-01 1.33730366e-02 1.20047561e+02] [ 5.09123474e-01 8.60659747e-01 -7.62164188e-03 -1.49545246e+02] [-1.53904254e-02 2.49678114e-04 -9.99881529e-01 -4.02295895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters 0.016045948290622027 Centerline is valid? [True, True] Translation: X:120.06, Y:-149.52, Z:-4.02 [[-8.95179683e-01 4.45497306e-01 1.36192720e-02 1.20064120e+02] [ 4.45450967e-01 8.95283226e-01 -6.43281310e-03 -1.49516896e+02] [-1.50589067e-02 3.08194294e-04 -9.99886561e-01 -4.02337172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters 0.014451431543211756 Centerline is valid? [True, True] Translation: X:120.36, Y:-148.88, Z:-5.02 [[-8.80312816e-01 -4.74237289e-01 1.21794777e-02 1.20361685e+02] [ 4.74186277e-01 -8.80396994e-01 -6.96475614e-03 -1.48881913e+02] [ 1.40257226e-02 -3.55822892e-04 9.99901571e-01 -5.01597816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters 0.013194432592215756 Centerline is valid? [True, True] Translation: X:120.02, Y:-149.48, Z:-4.03 [[-9.03398059e-01 4.28634379e-01 1.20214759e-02 1.20024241e+02] [ 4.28597484e-01 9.03478038e-01 -5.62427317e-03 -1.49477489e+02] [-1.32718963e-02 7.14168701e-05 -9.99911922e-01 -4.02516129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters 0.012796968315513876 Centerline is valid? [True, True] Translation: X:120.03, Y:-149.44, Z:-4.03 [[-9.34334880e-01 3.56182894e-01 1.23319849e-02 1.20033463e+02] [ 3.56151391e-01 9.34416259e-01 -4.73722458e-03 -1.49442190e+02] [-1.32105256e-02 -3.41005808e-05 -9.99912737e-01 -4.02538854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters 0.014363285375137836 Centerline is valid? [True, True] Translation: X:120.04, Y:-149.40, Z:-4.03 [[-9.60360109e-01 2.78517651e-01 1.16781867e-02 1.20035791e+02] [ 2.78494958e-01 9.60431096e-01 -3.55916830e-03 -1.49400305e+02] [-1.22073848e-02 -1.65767150e-04 -9.99925473e-01 -4.02557256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters 0.016331127245621656 Centerline is valid? [True, True] Translation: X:120.04, Y:-149.36, Z:-4.03 [[-9.79179584e-01 2.02683502e-01 1.12579134e-02 1.20038105e+02] [ 2.02667288e-01 9.79244270e-01 -2.57483834e-03 -1.49362534e+02] [-1.15461244e-02 -2.39618371e-04 -9.99933313e-01 -4.02662581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters 0.01739143743691845 Centerline is valid? [True, True] Translation: X:120.17, Y:-148.77, Z:-5.01 [[-9.50550180e-01 -3.10391672e-01 1.05529960e-02 1.20169689e+02] [ 3.10374825e-01 -9.50608738e-01 -3.23974244e-03 -1.48774760e+02] [ 1.10373592e-02 1.95846519e-04 9.99939067e-01 -5.01311802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters 0.016504108062139727 Centerline is valid? [True, True] Translation: X:119.99, Y:-149.35, Z:-4.03 [[-9.80824393e-01 1.94593078e-01 1.08187030e-02 1.19991457e+02] [ 1.94578085e-01 9.80884018e-01 -2.43170626e-03 -1.49345140e+02] [-1.10850861e-02 -2.79994305e-04 -9.99938519e-01 -4.02838116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters 0.017078252734086963 Centerline is valid? [True, True] Translation: X:120.12, Y:-148.77, Z:-5.01 [[-9.50469681e-01 -3.10561874e-01 1.25979204e-02 1.20119193e+02] [ 3.10541001e-01 -9.50553054e-01 -3.63010704e-03 -1.48772529e+02] [ 1.31023645e-02 4.61864120e-04 9.99914054e-01 -5.01458452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters 0.017917544054478284 Centerline is valid? [True, True] Translation: X:119.95, Y:-149.33, Z:-4.03 [[-9.81947142e-01 1.88730642e-01 1.26709964e-02 1.19947018e+02] [ 1.88710228e-01 9.82028827e-01 -2.79868071e-03 -1.49326270e+02] [-1.29714805e-02 -3.57009916e-04 -9.99915803e-01 -4.02550987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters 0.0169804030997599 Centerline is valid? [True, True] Translation: X:119.95, Y:-149.30, Z:-4.03 [[-9.92562679e-01 1.21179481e-01 1.16130068e-02 1.19947972e+02] [ 1.21167738e-01 9.92630570e-01 -1.71211428e-03 -1.49299707e+02] [-1.17348987e-02 -2.92258979e-04 -9.99931101e-01 -4.02763203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters 0.014726009282776968 Centerline is valid? [True, True] Translation: X:119.95, Y:-149.28, Z:-4.03 [[-9.98282015e-01 5.78753061e-02 9.13605322e-03 1.19953146e+02] [ 5.78714191e-02 9.98323807e-01 -6.89469323e-04 -1.49277797e+02] [-9.16064268e-03 -1.59568460e-04 -9.99958028e-01 -4.02980411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters 0.013282020235831233 Centerline is valid? [True, True] Translation: X:120.00, Y:-148.69, Z:-5.01 [[-9.88248018e-01 -1.52633874e-01 8.29194792e-03 1.20001972e+02] [ 1.52629356e-01 -9.88282799e-01 -1.17866299e-03 -1.48692037e+02] [ 8.37469340e-03 1.00783306e-04 9.99964927e-01 -5.00967167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters 0.012699276816372907 Centerline is valid? [True, True] Translation: X:119.91, Y:-149.29, Z:-4.03 [[-9.97321187e-01 7.27123408e-02 7.96028882e-03 1.19911520e+02] [ 7.27101232e-02 9.97352954e-01 -5.68012328e-04 -1.49288377e+02] [-7.98051907e-03 1.23028520e-05 -9.99968155e-01 -4.03055579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters 0.013066968060907432 Centerline is valid? [True, True] Translation: X:119.96, Y:-148.68, Z:-5.01 [[-9.91471893e-01 -1.30045744e-01 8.46113321e-03 1.19957766e+02] [ 1.30041168e-01 -9.91507995e-01 -1.09099509e-03 -1.48678988e+02] [ 8.53116050e-03 1.86046815e-05 9.99963609e-01 -5.00852061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters 0.014276946343137331 Centerline is valid? [True, True] Translation: X:119.86, Y:-149.29, Z:-4.03 [[-9.96500239e-01 8.31058220e-02 8.98311575e-03 1.19863243e+02] [ 8.31037440e-02 9.96540718e-01 -6.04990296e-04 -1.49292636e+02] [-9.00231883e-03 1.43657577e-04 -9.99959468e-01 -4.03195099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters 0.015077207003549935 Centerline is valid? [True, True] Translation: X:119.91, Y:-148.67, Z:-5.01 [[-9.93252245e-01 -1.15554062e-01 9.86084133e-03 1.19909330e+02] [ 1.15547360e-01 -9.93301187e-01 -1.24862600e-03 -1.48672274e+02] [ 9.93906920e-03 -1.00806394e-04 9.99950601e-01 -5.00886192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters 0.014353467069876825 Centerline is valid? [True, True] Translation: X:119.81, Y:-149.29, Z:-4.03 [[-9.96676755e-01 8.07475323e-02 1.07369442e-02 1.19812095e+02] [ 8.07448900e-02 9.96734569e-01 -6.80072592e-04 -1.49285596e+02] [-1.07567977e-02 1.89140837e-04 -9.99942126e-01 -4.03095956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters 0.013762751574114027 Centerline is valid? [True, True] Translation: X:119.80, Y:-149.25, Z:-4.03 [[-9.99941844e-01 4.43659678e-03 9.82983295e-03 1.19802051e+02] [ 4.43757168e-03 9.99990151e-01 7.73690187e-05 -1.49253777e+02] [-9.82939288e-03 1.20985108e-04 -9.99951683e-01 -4.03074841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters 0.012989546319889595 Centerline is valid? [True, True] Translation: X:119.79, Y:-149.22, Z:-4.03 [[-9.97427567e-01 -7.11545295e-02 8.67651807e-03 1.19792136e+02] [-7.11512517e-02 9.97465302e-01 6.86263446e-04 -1.49222566e+02] [-8.70335647e-03 6.71529577e-05 -9.99962123e-01 -4.03179052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters 0.012529668227967597 Centerline is valid? [True, True] Translation: X:119.78, Y:-149.19, Z:-4.03 [[-9.88565327e-01 -1.50576274e-01 8.08574692e-03 1.19775759e+02] [-1.50571309e-01 9.88598395e-01 1.22280095e-03 -1.49189048e+02] [-8.17768124e-03 -8.66287296e-06 -9.99966562e-01 -4.03285842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters 0.013150086561013258 Centerline is valid? [True, True] Translation: X:119.68, Y:-148.63, Z:-5.01 [[-9.97335577e-01 7.26863688e-02 6.19992218e-03 1.19678990e+02] [-7.26858407e-02 -9.97354838e-01 3.10756799e-04 -1.48625146e+02] [ 6.20611017e-03 -1.40717745e-04 9.99980732e-01 -5.00694358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters 0.01385920333470976 Centerline is valid? [True, True] Translation: X:119.70, Y:-149.19, Z:-4.03 [[-9.85622150e-01 -1.68899208e-01 4.69415737e-03 1.19696841e+02] [-1.68897631e-01 9.85633326e-01 7.33261176e-04 -1.49186692e+02] [-4.75056518e-03 -7.01136012e-05 -9.99988714e-01 -4.03373041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters 0.014548964573500552 Centerline is valid? [True, True] Translation: X:119.68, Y:-149.16, Z:-4.03 [[-9.70551394e-01 -2.40852788e-01 4.46387366e-03 1.19679328e+02] [-2.40850610e-01 9.70561656e-01 1.02730713e-03 -1.49159857e+02] [-4.57989440e-03 -7.80723268e-05 -9.99989509e-01 -4.03345544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters 0.016005762940147564 Centerline is valid? [True, True] Translation: X:119.65, Y:-149.13, Z:-4.03 [[-9.49544854e-01 -3.13582311e-01 5.54108115e-03 1.19654418e+02] [-3.13577735e-01 9.49561014e-01 1.69871310e-03 -1.49133706e+02] [-5.79428101e-03 -1.24555389e-04 -9.99983205e-01 -4.03127933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters 0.01659516194538253 Centerline is valid? [True, True] Translation: X:119.63, Y:-149.11, Z:-4.03 [[-9.24169338e-01 -3.81930349e-01 6.34374676e-03 1.19629003e+02] [-3.81922497e-01 9.24191098e-01 2.45393569e-03 -1.49112888e+02] [-6.80006680e-03 -1.54967474e-04 -9.99976867e-01 -4.03029548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters 0.016295818498896966 Centerline is valid? [True, True] Translation: X:119.59, Y:-149.10, Z:-4.03 [[-8.94250876e-01 -4.47522871e-01 6.21697812e-03 1.19592836e+02] [-4.47513275e-01 8.94272473e-01 2.93489758e-03 -1.49099948e+02] [-6.87310618e-03 -1.57645504e-04 -9.99976368e-01 -4.02990504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters 0.016054310665909996 Centerline is valid? [True, True] Translation: X:119.54, Y:-149.10, Z:-4.03 [[-8.60166272e-01 -5.09977334e-01 6.09126863e-03 1.19543779e+02] [-5.09965776e-01 8.60187826e-01 3.43676322e-03 -1.49097443e+02] [-6.99230646e-03 -1.50150727e-04 -9.99975542e-01 -4.02891135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters 0.015176568338151557 Centerline is valid? [True, True] Translation: X:119.48, Y:-149.11, Z:-4.03 [[-8.22548108e-01 -5.68652856e-01 6.96700991e-03 1.19482514e+02] [-5.68633965e-01 8.22577600e-01 4.63754717e-03 -1.49110853e+02] [-8.36806073e-03 -1.47072822e-04 -9.99964976e-01 -4.02763470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters 0.014178084112884376 Centerline is valid? [True, True] Translation: X:119.42, Y:-149.13, Z:-4.03 [[-7.80533499e-01 -6.25073761e-01 7.08880314e-03 1.19419204e+02] [-6.25049418e-01 7.80565678e-01 5.51784605e-03 -1.49130363e+02] [-8.98233722e-03 -1.23988598e-04 -9.99959650e-01 -4.02761786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters 0.013188660266165487 Centerline is valid? [True, True] Translation: X:119.35, Y:-149.16, Z:-4.03 [[-7.36315621e-01 -6.76607669e-01 6.43183096e-03 1.19351124e+02] [-6.76582594e-01 7.36343710e-01 5.82536302e-03 -1.49163980e+02] [-8.67752356e-03 -6.23590845e-05 -9.99962348e-01 -4.02907728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters 0.012928753278189306 Centerline is valid? [True, True] Translation: X:119.28, Y:-149.20, Z:-4.03 [[-6.86484805e-01 -7.27126346e-01 5.08817617e-03 1.19277155e+02] [-7.27106635e-01 6.86503661e-01 5.35393102e-03 -1.49204536e+02] [-7.38603587e-03 -2.42543595e-05 -9.99972723e-01 -4.03015410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters 0.012906827271003465 Centerline is valid? [True, True] Translation: X:119.20, Y:-149.26, Z:-4.03 [[-6.33707904e-01 -7.73560557e-01 4.28444099e-03 1.19203793e+02] [-7.73542757e-01 6.33722387e-01 5.24777343e-03 -1.49255749e+02] [-6.77461671e-03 1.13572036e-05 -9.99977052e-01 -4.03043868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters 0.01324388502993609 Centerline is valid? [True, True] Translation: X:119.13, Y:-149.32, Z:-4.03 [[-5.77245367e-01 -8.16558796e-01 4.41804970e-03 1.19129045e+02] [-8.16534242e-01 5.77262272e-01 6.33257352e-03 -1.49319728e+02] [-7.72129202e-03 4.79598646e-05 -9.99970189e-01 -4.02930831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters 0.013461431750582743 Centerline is valid? [True, True] Translation: X:119.05, Y:-149.39, Z:-4.03 [[-5.15552293e-01 -8.56848162e-01 4.13055292e-03 1.19053773e+02] [-8.56819610e-01 5.15568835e-01 6.99516628e-03 -1.49391855e+02] [-8.12337972e-03 6.72352685e-05 -9.99967003e-01 -4.02938216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters 0.0136973940255001 Centerline is valid? [True, True] Translation: X:118.99, Y:-149.47, Z:-4.03 [[-4.49229995e-01 -8.93406470e-01 4.15833171e-03 1.18985249e+02] [-8.93366518e-01 4.49249233e-01 8.44936676e-03 -1.49467440e+02] [-9.41684626e-03 8.07946627e-05 -9.99955657e-01 -4.02893515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters 0.013586281954077128 Centerline is valid? [True, True] Translation: X:118.92, Y:-149.56, Z:-4.03 [[-3.78592354e-01 -9.25556792e-01 3.52900340e-03 1.18918138e+02] [-9.25514920e-01 3.78608796e-01 8.80412953e-03 -1.49557901e+02] [-9.48483361e-03 6.70308217e-05 -9.99955016e-01 -4.02941781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters 0.013396873011108581 Centerline is valid? [True, True] Translation: X:118.86, Y:-149.65, Z:-4.03 [[-3.05840048e-01 -9.52078463e-01 2.90962460e-03 1.18857322e+02] [-9.52033574e-01 3.05853883e-01 9.24535556e-03 -1.49650242e+02] [-9.69222389e-03 5.75396794e-05 -9.99953028e-01 -4.02900107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters 0.01334702434949591 Centerline is valid? [True, True] Translation: X:118.80, Y:-149.75, Z:-4.03 [[-2.29830705e-01 -9.73228157e-01 2.19105337e-03 1.18803305e+02] [-9.73182541e-01 2.29841146e-01 9.42284442e-03 -1.49752807e+02] [-9.67417173e-03 3.33640906e-05 -9.99953204e-01 -4.02879790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters 0.013186830868944144 Centerline is valid? [True, True] Translation: X:118.76, Y:-149.86, Z:-4.03 [[-1.51355160e-01 -9.88478366e-01 1.46136698e-03 1.18757892e+02] [-9.88432324e-01 1.51362214e-01 9.54049324e-03 -1.49858268e+02] [-9.65176691e-03 -4.59481504e-07 -9.99953421e-01 -4.02931757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters 0.013248215407656468 Centerline is valid? [True, True] Translation: X:118.72, Y:-149.97, Z:-4.03 [[-7.23257292e-02 -9.97380836e-01 6.76362213e-04 1.18718043e+02] [-9.97340624e-01 7.23288867e-02 8.95616165e-03 -1.49968535e+02] [-8.98162451e-03 -2.68025891e-05 -9.99959664e-01 -4.03015260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters 0.013843057538965614 Centerline is valid? [True, True] Translation: X:118.69, Y:-150.09, Z:-4.03 [[ 9.57775913e-03 -9.99954132e-01 -8.94013478e-06 1.18685124e+02] [-9.99923294e-01 -9.57753397e-03 7.85350439e-03 -1.50085285e+02] [-7.85322979e-03 -6.62795244e-05 -9.99969161e-01 -4.03095739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters 0.014008376893582105 Centerline is valid? [True, True] Translation: X:118.66, Y:-150.20, Z:-4.03 [[ 8.97984769e-02 -9.95959738e-01 -6.58275604e-04 1.18663799e+02] [-9.95923905e-01 -8.98008304e-02 8.44903177e-03 -1.50204629e+02] [-8.47400917e-03 -1.03117775e-04 -9.99964090e-01 -4.03152345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters 0.014512712179003564 Centerline is valid? [True, True] Translation: X:118.65, Y:-150.32, Z:-4.03 [[ 1.69608484e-01 -9.85510441e-01 -1.46058218e-03 1.18651857e+02] [-9.85465791e-01 -1.69614705e-01 9.38222380e-03 -1.50322424e+02] [-9.49401573e-03 -1.51950987e-04 -9.99954919e-01 -4.03075072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters 0.01483404807800698 Centerline is valid? [True, True] Translation: X:118.65, Y:-150.44, Z:-4.03 [[ 2.45602289e-01 -9.69367245e-01 -2.58053546e-03 1.18650218e+02] [-9.69305099e-01 -2.45615768e-01 1.09781439e-02 -1.50437996e+02] [-1.12756733e-02 -1.94931104e-04 -9.99936409e-01 -4.02936824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters 0.015121809220513956 Centerline is valid? [True, True] Translation: X:118.66, Y:-150.55, Z:-4.03 [[ 3.19274458e-01 -9.47656254e-01 -3.38299213e-03 1.18656318e+02] [-9.47596429e-01 -3.19292321e-01 1.06499234e-02 -1.50550132e+02] [-1.11726300e-02 -1.94537277e-04 -9.99937565e-01 -4.02914777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters 0.015049392335703978 Centerline is valid? [True, True] Translation: X:118.67, Y:-150.67, Z:-4.03 [[ 3.90487568e-01 -9.20596022e-01 -4.73534275e-03 1.18674535e+02] [-9.20521593e-01 -3.90516221e-01 1.17080479e-02 -1.50665294e+02] [-1.26276104e-02 -2.12861879e-04 -9.99920246e-01 -4.02835832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters 0.01519135361291062 Centerline is valid? [True, True] Translation: X:118.70, Y:-150.78, Z:-4.03 [[ 4.59677166e-01 -8.88066398e-01 -5.91398865e-03 1.18698210e+02] [-8.87986588e-01 -4.59715154e-01 1.19078304e-02 -1.50777694e+02] [-1.32936942e-02 -2.22215116e-04 -9.99911610e-01 -4.02668663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters 0.01460154517429166 Centerline is valid? [True, True] Translation: X:118.73, Y:-150.88, Z:-4.03 [[ 5.24531876e-01 -8.51366192e-01 -6.47448331e-03 1.18733145e+02] [-8.51296949e-01 -5.24571800e-01 1.08595885e-02 -1.50882598e+02] [-1.26418179e-02 -1.84492439e-04 -9.99920072e-01 -4.02700243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters 0.013914931577841507 Centerline is valid? [True, True] Translation: X:118.78, Y:-150.99, Z:-4.03 [[ 5.84375040e-01 -8.11459629e-01 -6.25171774e-03 1.18780162e+02] [-8.11411228e-01 -5.84408470e-01 8.86340469e-03 -1.50987419e+02] [-1.08458519e-02 -1.06838508e-04 -9.99941176e-01 -4.02800726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters 0.013496783608467695 Centerline is valid? [True, True] Translation: X:118.83, Y:-151.08, Z:-4.03 [[ 6.42296980e-01 -7.66428872e-01 -6.43219499e-03 1.18827265e+02] [-7.66389389e-01 -6.42329183e-01 7.77983874e-03 -1.51083198e+02] [-1.00942796e-02 -6.74009455e-05 -9.99949049e-01 -4.02902459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters 0.013304989512725685 Centerline is valid? [True, True] Translation: X:118.88, Y:-151.17, Z:-4.03 [[ 6.96492672e-01 -7.17533391e-01 -6.61741797e-03 1.18881678e+02] [-7.17500589e-01 -6.96524107e-01 6.86102485e-03 -1.51174767e+02] [-9.53220556e-03 -3.06522440e-05 -9.99954567e-01 -4.02910776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters 0.013113911842891223 Centerline is valid? [True, True] Translation: X:118.94, Y:-151.27, Z:-4.03 [[ 7.49497211e-01 -6.61979743e-01 -6.06232617e-03 1.18935618e+02] [-6.61957756e-01 -7.49521727e-01 5.39530866e-03 -1.51265603e+02] [-8.11543022e-03 -3.07649576e-05 -9.99967069e-01 -4.03023974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters 0.013152152558545073 Centerline is valid? [True, True] Translation: X:118.96, Y:-151.29, Z:-4.03 [[ 7.98961273e-01 -6.01340121e-01 -7.13743308e-03 1.18956512e+02] [-6.01315744e-01 -7.98993152e-01 5.41464560e-03 -1.51290475e+02] [-8.95880380e-03 -3.42412568e-05 -9.99959869e-01 -4.02970711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters 0.01318619246064933 Centerline is valid? [True, True] Translation: X:118.98, Y:-151.31, Z:-4.03 [[ 8.43201553e-01 -5.37524316e-01 -8.87419781e-03 1.18980209e+02] [-5.37494114e-01 -8.43248249e-01 5.69807184e-03 -1.51313262e+02] [-1.05460039e-02 -3.47939322e-05 -9.99944389e-01 -4.02845048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters 0.013098522220395582 Centerline is valid? [True, True] Translation: X:119.00, Y:-151.34, Z:-4.03 [[ 8.82537167e-01 -4.70151770e-01 -9.24461244e-03 1.19002917e+02] [-4.70125596e-01 -8.82585584e-01 4.96102947e-03 -1.51337509e+02] [-1.04915984e-02 -3.21639670e-05 -9.99944961e-01 -4.02915162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters 0.01300903692544605 Centerline is valid? [True, True] Translation: X:119.03, Y:-151.36, Z:-4.03 [[ 9.16472015e-01 -4.00001805e-01 -8.80917014e-03 1.19025519e+02] [-3.99983054e-01 -9.16514351e-01 3.87317464e-03 -1.51363510e+02] [-9.62300770e-03 -2.61373938e-05 -9.99953698e-01 -4.02888258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters 0.012997828254477255 Centerline is valid? [True, True] Translation: X:119.05, Y:-151.39, Z:-4.03 [[ 9.44938586e-01 -3.27115266e-01 -9.30973258e-03 1.19050964e+02] [-3.27099106e-01 -9.44984445e-01 3.25160039e-03 -1.51385302e+02] [-9.86120061e-03 -2.73574762e-05 -9.99951377e-01 -4.02842302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters 0.012967795347056386 Centerline is valid? [True, True] Translation: X:119.08, Y:-151.41, Z:-4.03 [[ 9.67803465e-01 -2.51514545e-01 -9.84314836e-03 1.19078984e+02] [-2.51501157e-01 -9.67853518e-01 2.59533295e-03 -1.51405577e+02] [-1.01794898e-02 -3.62090260e-05 -9.99948187e-01 -4.02811431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters 0.013165645093405823 Centerline is valid? [True, True] Translation: X:119.11, Y:-151.42, Z:-4.03 [[ 9.85136316e-01 -1.71468321e-01 -1.02495652e-02 1.19108720e+02] [-1.71458249e-01 -9.85189631e-01 1.86001571e-03 -1.51422852e+02] [-1.04166991e-02 -7.49965264e-05 -9.99945742e-01 -4.02768867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters 0.014016249241445256 Centerline is valid? [True, True] Translation: X:119.14, Y:-151.44, Z:-4.03 [[ 9.96156608e-01 -8.70675999e-02 -9.55224310e-03 1.19135844e+02] [-8.70623079e-02 -9.96202397e-01 9.69228984e-04 -1.51439574e+02] [-9.60035591e-03 -1.33863527e-04 -9.99953907e-01 -4.02784234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters 0.015419870431115304 Centerline is valid? [True, True] Translation: X:119.16, Y:-151.45, Z:-4.03 [[ 9.99945366e-01 -4.13089982e-03 -9.60212224e-03 1.19163434e+02] [-4.12899069e-03 -9.99991452e-01 2.18638659e-04 -1.51452145e+02] [-9.60294333e-03 -1.78979641e-04 -9.99953875e-01 -4.02732427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters 0.01664470657420943 Centerline is valid? [True, True] Translation: X:119.19, Y:-151.46, Z:-4.03 [[ 9.96791316e-01 7.96199710e-02 -8.22995506e-03 1.19193823e+02] [ 7.96189022e-02 -9.96825271e-01 -4.57938911e-04 -1.51459443e+02] [-8.24028826e-03 -1.98790457e-04 -9.99966029e-01 -4.02924553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters 0.017134190959604542 Centerline is valid? [True, True] Translation: X:119.22, Y:-151.46, Z:-4.03 [[ 9.87149958e-01 1.59660950e-01 -6.58345344e-03 1.19224544e+02] [ 1.59658577e-01 -9.87171895e-01 -8.87715318e-04 -1.51463692e+02] [-6.64073368e-03 -1.74796671e-04 -9.99977935e-01 -4.03087172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters 0.018288866557791585 Centerline is valid? [True, True] Translation: X:119.25, Y:-151.46, Z:-4.03 [[ 9.71583217e-01 2.36644108e-01 -5.06153227e-03 1.19254712e+02] [ 2.36641629e-01 -9.71596391e-01 -1.09164770e-03 -1.51464956e+02] [-5.17609849e-03 -1.37142661e-04 -9.99986595e-01 -4.03162243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters 0.01575261701802058 Centerline is valid? [True, True] Translation: X:119.29, Y:-151.46, Z:-4.03 [[ 9.50941980e-01 3.09331884e-01 -4.81014507e-03 1.19285159e+02] [ 3.09328557e-01 -9.50954138e-01 -1.43950880e-03 -1.51460567e+02] [-5.01951333e-03 -1.19025889e-04 -9.99987395e-01 -4.03149750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters 0.014794377712629881 Centerline is valid? [True, True] Translation: X:119.31, Y:-151.45, Z:-4.03 [[ 9.26589737e-01 3.76030352e-01 -5.71262317e-03 1.19312558e+02] [ 3.76023874e-01 -9.26607341e-01 -2.20957691e-03 -1.51453185e+02] [-6.12422655e-03 -1.00711405e-04 -9.99981242e-01 -4.02993718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters 0.013328639416859954 Centerline is valid? [True, True] Translation: X:119.34, Y:-151.44, Z:-4.03 [[ 8.97791673e-01 4.40379130e-01 -6.02782874e-03 1.19336599e+02] [ 4.40369635e-01 -8.97811906e-01 -2.89232732e-03 -1.51438336e+02] [-6.68557699e-03 -5.77653629e-05 -9.99977650e-01 -4.02932598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters 0.01252180188285258 Centerline is valid? [True, True] Translation: X:119.36, Y:-151.43, Z:-4.03 [[ 8.63545485e-01 5.04237645e-01 -5.79601697e-03 1.19364206e+02] [ 5.04226432e-01 -8.63564935e-01 -3.36277227e-03 -1.51429998e+02] [-6.70087339e-03 -1.85981471e-05 -9.99977549e-01 -4.02925934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters 0.012564254981614389 Centerline is valid? [True, True] Translation: X:119.39, Y:-151.42, Z:-4.03 [[ 8.24923281e-01 5.65217362e-01 -5.56018187e-03 1.19391696e+02] [ 5.65204334e-01 -8.24942018e-01 -3.83759771e-03 -1.51420039e+02] [-6.75590451e-03 2.30848040e-05 -9.99977178e-01 -4.02882171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters 0.014149051358093294 Centerline is valid? [True, True] Translation: X:119.41, Y:-151.40, Z:-4.03 [[ 7.86169761e-01 6.17996356e-01 -4.19649520e-03 1.19414980e+02] [ 6.17986948e-01 -7.86180956e-01 -3.41119485e-03 -1.51404065e+02] [-5.40731060e-03 8.83989792e-05 -9.99985377e-01 -4.03033242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters 0.017403205529305507 Centerline is valid? [True, True] Translation: X:119.44, Y:-151.39, Z:-4.03 [[ 7.44873086e-01 6.67199315e-01 -3.02654627e-03 1.19437905e+02] [ 6.67193102e-01 -7.44879223e-01 -2.88212744e-03 -1.51389261e+02] [-4.17736490e-03 1.27528366e-04 -9.99991267e-01 -4.03118409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters 0.019755360442872297 Centerline is valid? [True, True] Translation: X:119.46, Y:-151.38, Z:-4.03 [[ 6.96964261e-01 7.17101051e-01 -2.62700794e-03 1.19462655e+02] [ 7.17095094e-01 -6.96969194e-01 -2.92705791e-03 -1.51376271e+02] [-3.92993991e-03 1.56240249e-04 -9.99992266e-01 -4.03111911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters 0.02195083147760099 Centerline is valid? [True, True] Translation: X:119.49, Y:-151.36, Z:-4.03 [[ 6.45048203e-01 7.64138799e-01 -2.17070032e-03 1.19486469e+02] [ 7.64133549e-01 -6.45051833e-01 -2.83779613e-03 -1.51362344e+02] [-3.56868435e-03 1.71810358e-04 -9.99993618e-01 -4.03150274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters 0.023884173434813707 Centerline is valid? [True, True] Translation: X:119.51, Y:-151.35, Z:-4.03 [[ 5.88082855e-01 8.08798162e-01 -2.02206642e-03 1.19512783e+02] [ 8.08792158e-01 -5.88086297e-01 -3.12291475e-03 -1.51348713e+02] [-3.71495727e-03 2.01101163e-04 -9.99993079e-01 -4.03123230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters 0.02228038904888035 Centerline is valid? [True, True] Translation: X:119.55, Y:-151.34, Z:-4.03 [[ 5.18214031e-01 8.55249180e-01 -1.74882234e-03 1.19546294e+02] [ 8.55243099e-01 -5.18216951e-01 -3.23008337e-03 -1.51336916e+02] [-3.66879553e-03 1.78206283e-04 -9.99993254e-01 -4.02954452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters 0.019934887973770975 Centerline is valid? [True, True] Translation: X:119.58, Y:-151.32, Z:-4.03 [[ 4.37041262e-01 8.99440589e-01 -1.24974905e-03 1.19578511e+02] [ 8.99436188e-01 -4.37043036e-01 -2.81570655e-03 -1.51322782e+02] [-3.07875488e-03 1.06510418e-04 -9.99995255e-01 -4.02838944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters 0.015501140569549161 Centerline is valid? [True, True] Translation: X:119.61, Y:-151.30, Z:-4.03 [[ 3.54838585e-01 9.34926835e-01 -1.17961628e-03 1.19611379e+02] [ 9.34920867e-01 -3.54840536e-01 -3.34154514e-03 -1.51304681e+02] [-3.54267590e-03 8.28612766e-05 -9.99993721e-01 -4.02804703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters 0.012706187343199345 Centerline is valid? [True, True] Translation: X:119.65, Y:-151.28, Z:-4.03 [[ 2.64959581e-01 9.64259148e-01 -8.46488923e-04 1.19649040e+02] [ 9.64253938e-01 -2.64960932e-01 -3.16982054e-03 -1.51284286e+02] [-3.28081495e-03 2.36440439e-05 -9.99994618e-01 -4.02685412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters 0.012644974622851735 Centerline is valid? [True, True] Translation: X:119.68, Y:-151.26, Z:-4.03 [[ 1.74889491e-01 9.84587940e-01 -5.04681556e-04 1.19681844e+02] [ 9.84584143e-01 -1.74890218e-01 -2.73424820e-03 -1.51259853e+02] [-2.78037167e-03 -1.87101822e-05 -9.99996135e-01 -4.02609642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters 0.014345671363382115 Centerline is valid? [True, True] Translation: X:119.70, Y:-151.23, Z:-4.03 [[ 8.95603615e-02 9.95981363e-01 -2.55655718e-04 1.19704408e+02] [ 9.95978356e-01 -8.95607194e-02 -2.44773883e-03 -1.51231132e+02] [-2.46079897e-03 -3.54071866e-05 -9.99996972e-01 -4.02561822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters 0.015914815736845018 Centerline is valid? [True, True] Translation: X:119.72, Y:-151.20, Z:-4.02 [[ 2.74961861e-03 9.99996217e-01 -8.03991105e-05 1.19724064e+02] [ 9.99991362e-01 -2.74985585e-03 -3.11676392e-03 -1.51199509e+02] [-3.11697321e-03 -7.18285040e-05 -9.99995140e-01 -4.02374577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters 0.018243498449373615 Centerline is valid? [True, True] Translation: X:119.74, Y:-151.17, Z:-4.02 [[-8.10870864e-02 9.96707000e-01 2.03248178e-04 1.19737709e+02] [ 9.96699506e-01 8.10872652e-02 -3.86666171e-03 -1.51166982e+02] [-3.87040963e-03 -1.10958974e-04 -9.99992504e-01 -4.02196232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters 0.01829646561270044 Centerline is valid? [True, True] Translation: X:119.74, Y:-151.13, Z:-4.02 [[-1.60807606e-01 9.86985527e-01 6.95287199e-04 1.19742160e+02] [ 9.86971388e-01 1.60809026e-01 -5.28558133e-03 -1.51132451e+02] [-5.32860073e-03 -1.63733108e-04 -9.99985790e-01 -4.02097961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters 0.01897472246737579 Centerline is valid? [True, True] Translation: X:119.74, Y:-151.10, Z:-4.02 [[-2.37645322e-01 9.71350384e-01 1.76977946e-03 1.19742728e+02] [ 9.71314627e-01 2.37651766e-01 -8.33868397e-03 -1.51098925e+02] [-8.52037509e-03 -2.62636562e-04 -9.99963667e-01 -4.01743685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters 0.018059927509764227 Centerline is valid? [True, True] Translation: X:119.73, Y:-151.07, Z:-4.02 [[-3.10272573e-01 9.50643083e-01 2.94261480e-03 1.19734983e+02] [ 9.50591031e-01 3.10286390e-01 -9.95227650e-03 -1.51066108e+02] [-1.03741161e-02 -2.90695200e-04 -9.99946145e-01 -4.01508351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters 0.017498392849664247 Centerline is valid? [True, True] Translation: X:119.73, Y:-151.03, Z:-4.02 [[-3.82432400e-01 9.23975907e-01 3.73943115e-03 1.19726653e+02] [ 9.23924397e-01 3.82450581e-01 -9.76026402e-03 -1.51033636e+02] [-1.04483964e-02 -2.77689519e-04 -9.99945376e-01 -4.01501829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters 0.016054142029060435 Centerline is valid? [True, True] Translation: X:119.71, Y:-151.01, Z:-4.01 [[-4.48608549e-01 8.93714419e-01 4.99074183e-03 1.19708472e+02] [ 8.93652949e-01 4.48636243e-01 -1.04846497e-02 -1.51006377e+02] [-1.16093103e-02 -2.43512343e-04 -9.99932580e-01 -4.01480290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters 0.013276397959750339 Centerline is valid? [True, True] Translation: X:119.69, Y:-150.98, Z:-4.02 [[-5.09252679e-01 8.60602805e-01 4.95183416e-03 1.19686316e+02] [ 8.60559902e-01 5.09276740e-01 -8.59405546e-03 -1.50982335e+02] [-9.91792220e-03 -1.15195848e-04 -9.99950810e-01 -4.01812370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters 0.012418095212093926 Centerline is valid? [True, True] Translation: X:119.67, Y:-150.96, Z:-4.02 [[-5.68210174e-01 8.22871715e-01 4.39757130e-03 1.19666379e+02] [ 8.22846735e-01 5.68227190e-01 -6.41185066e-03 -1.50959426e+02] [-7.77495013e-03 -2.47515954e-05 -9.99969774e-01 -4.01975356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters 0.012755489140753124 Centerline is valid? [True, True] Translation: X:119.64, Y:-150.94, Z:-4.02 [[-6.20619799e-01 7.84104890e-01 3.25368484e-03 1.19643825e+02] [ 7.84094553e-01 6.20628326e-01 -4.02654745e-03 -1.50938564e+02] [-5.17656453e-03 5.22414915e-05 -9.99986600e-01 -4.02380316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters 0.014128079805829388 Centerline is valid? [True, True] Translation: X:119.63, Y:-150.92, Z:-4.02 [[-6.74567522e-01 7.38208847e-01 2.52129235e-03 1.19625160e+02] [ 7.38204048e-01 6.74572230e-01 -2.66255966e-03 -1.50917218e+02] [-3.66631890e-03 6.51519502e-05 -9.99993277e-01 -4.02492922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters 0.01594526190180026 Centerline is valid? [True, True] Translation: X:119.60, Y:-150.90, Z:-4.02 [[-7.25789628e-01 6.87909781e-01 3.09015265e-03 1.19603862e+02] [ 6.87904134e-01 7.25796199e-01 -2.78913124e-03 -1.50898965e+02] [-4.16149170e-03 1.01406258e-04 -9.99991336e-01 -4.02442376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters 0.016052678215551883 Centerline is valid? [True, True] Translation: X:119.62, Y:-150.88, Z:-4.02 [[-7.72158166e-01 6.35414460e-01 4.49789946e-03 1.19622404e+02] [ 6.35404738e-01 7.72171253e-01 -3.51787139e-03 -1.50884674e+02] [-5.70845501e-03 1.41633508e-04 -9.99983697e-01 -4.02287247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters 0.015105075222839706 Centerline is valid? [True, True] Translation: X:120.06, Y:-150.32, Z:-5.02 [[-7.57328924e-01 -6.53009084e-01 5.66007316e-03 1.20064202e+02] [ 6.52990151e-01 -7.57350072e-01 -4.97305112e-03 -1.50317199e+02] [ 7.53410437e-03 -7.02634302e-05 9.99971616e-01 -5.01839172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters 0.014317053527168042 Centerline is valid? [True, True] Translation: X:119.58, Y:-150.86, Z:-4.02 [[-7.80700935e-01 6.24877069e-01 5.89067004e-03 1.19583401e+02] [ 6.24860333e-01 7.80723150e-01 -4.57457121e-03 -1.50855179e+02] [-7.45752712e-03 1.09474025e-04 -9.99972186e-01 -4.02143499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters 0.012589287210057984 Centerline is valid? [True, True] Translation: X:120.02, Y:-150.29, Z:-5.02 [[-7.50057874e-01 -6.61358895e-01 4.19503695e-03 1.20019530e+02] [ 6.61347036e-01 -7.50069578e-01 -3.96553511e-03 -1.50290493e+02] [ 5.76921152e-03 -2.00005579e-04 9.99983338e-01 -5.01712713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters 0.012341094369646095 Centerline is valid? [True, True] Translation: X:119.55, Y:-150.82, Z:-4.02 [[-7.93343159e-01 6.08762892e-01 3.79134333e-03 1.19546554e+02] [ 6.08755882e-01 7.93352218e-01 -2.92140737e-03 -1.50816753e+02] [-4.78631504e-03 -9.67599811e-06 -9.99988546e-01 -4.02346518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters 0.013876923581437724 Centerline is valid? [True, True] Translation: X:119.56, Y:-150.78, Z:-4.02 [[-8.41126612e-01 5.40828112e-01 3.31289251e-03 1.19557517e+02] [ 5.40823651e-01 8.41133135e-01 -2.19740490e-03 -1.50783970e+02] [-3.97500201e-03 -5.66051178e-05 -9.99992098e-01 -4.02426873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters 0.015852897486261033 Centerline is valid? [True, True] Translation: X:119.56, Y:-150.75, Z:-4.02 [[-8.81992215e-01 4.71247634e-01 3.92433413e-03 1.19560307e+02] [ 4.71242416e-01 8.82000939e-01 -2.22038371e-03 -1.50749370e+02] [-4.50761696e-03 -1.09048447e-04 -9.99989835e-01 -4.02410409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters 0.01638645058082856 Centerline is valid? [True, True] Translation: X:119.58, Y:-150.73, Z:-4.02 [[-9.13240745e-01 4.07374164e-01 6.13455168e-03 1.19583741e+02] [ 4.07363737e-01 9.13261333e-01 -2.91953078e-03 -1.50725146e+02] [-6.79179026e-03 -1.67240570e-04 -9.99976922e-01 -4.02039334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters 0.016224370229553656 Centerline is valid? [True, True] Translation: X:119.59, Y:-150.70, Z:-4.02 [[-9.38732901e-01 3.44546031e-01 8.28094137e-03 1.19592294e+02] [ 3.44530817e-01 9.38769405e-01 -3.24347757e-03 -1.50696025e+02] [-8.89142173e-03 -1.91719607e-04 -9.99960452e-01 -4.01729898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters 0.01617743302564653 Centerline is valid? [True, True] Translation: X:119.84, Y:-150.08, Z:-5.02 [[-8.94495741e-01 -4.46995183e-01 8.52505296e-03 1.19840797e+02] [ 4.46977376e-01 -8.94536333e-01 -3.99671389e-03 -1.50080185e+02] [ 9.41248147e-03 2.35462252e-04 9.99955674e-01 -5.02122938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters 0.016712446553246673 Centerline is valid? [True, True] Translation: X:119.56, Y:-150.68, Z:-4.02 [[-9.40549994e-01 3.39513701e-01 9.80585880e-03 1.19558431e+02] [ 3.39492520e-01 9.40601077e-01 -3.80037677e-03 -1.50683823e+02] [-1.05136813e-02 -2.45428636e-04 -9.99944700e-01 -4.01729851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters 0.016807358221928255 Centerline is valid? [True, True] Translation: X:119.57, Y:-150.66, Z:-4.01 [[-9.61679114e-01 2.73945260e-01 1.12816639e-02 1.19567549e+02] [ 2.73923334e-01 9.61745253e-01 -3.47510084e-03 -1.50658830e+02] [-1.18020741e-02 -2.51620911e-04 -9.99930322e-01 -4.01401731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters 0.015385500410340999 Centerline is valid? [True, True] Translation: X:119.77, Y:-150.02, Z:-5.03 [[-9.27017873e-01 -3.74847220e-01 1.12883067e-02 1.19769510e+02] [ 3.74822997e-01 -9.27086559e-01 -4.27002533e-03 -1.50022299e+02] [ 1.20658445e-02 2.72727153e-04 9.99927168e-01 -5.02533623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters 0.013818318506681982 Centerline is valid? [True, True] Translation: X:119.53, Y:-150.66, Z:-4.02 [[-9.60679542e-01 2.77423146e-01 1.14549554e-02 1.19525555e+02] [ 2.77401340e-01 9.60747818e-01 -3.48229206e-03 -1.50660096e+02] [-1.19713918e-02 -1.67746752e-04 -9.99928326e-01 -4.01773512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters 0.013849475373109368 Centerline is valid? [True, True] Translation: X:119.53, Y:-150.63, Z:-4.02 [[-9.77784937e-01 2.09264322e-01 1.20441030e-02 1.19533577e+02] [ 2.09246366e-01 9.77859098e-01 -2.74629634e-03 -1.50633155e+02] [-1.23521376e-02 -1.65102411e-04 -9.99923696e-01 -4.01700594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters 0.014108088919955318 Centerline is valid? [True, True] Translation: X:119.53, Y:-150.60, Z:-4.02 [[-9.90240385e-01 1.38706742e-01 1.35801323e-02 1.19533142e+02] [ 1.38691024e-01 9.90333481e-01 -2.09700426e-03 -1.50604308e+02] [-1.37397283e-02 -1.93095857e-04 -9.99905587e-01 -4.01567703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters 0.01380317253305609 Centerline is valid? [True, True] Translation: X:119.54, Y:-150.58, Z:-4.02 [[-9.97518539e-01 6.87901771e-02 1.49892052e-02 1.19536428e+02] [ 6.87793874e-02 9.97631130e-01 -1.23476006e-03 -1.50578496e+02] [-1.50386371e-02 -2.00747701e-04 -9.99886893e-01 -4.01620124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters 0.013207521314287684 Centerline is valid? [True, True] Translation: X:119.59, Y:-149.89, Z:-5.02 [[-9.87340050e-01 -1.57990727e-01 1.40909983e-02 1.19593098e+02] [ 1.57976703e-01 -9.87440585e-01 -2.10984894e-03 -1.49894512e+02] [ 1.42473601e-02 1.42911097e-04 9.99898491e-01 -5.02296826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters 0.012725766058923102 Centerline is valid? [True, True] Translation: X:119.49, Y:-150.58, Z:-4.02 [[-9.97169683e-01 7.40700632e-02 1.28937607e-02 1.19485853e+02] [ 7.40632267e-02 9.97253039e-01 -1.00756537e-03 -1.50579694e+02] [-1.29329724e-02 -4.97601230e-05 -9.99916364e-01 -4.01776501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters 0.012577306114754758 Centerline is valid? [True, True] Translation: X:119.49, Y:-150.56, Z:-4.02 [[-9.99889328e-01 1.12022258e-02 9.78985572e-03 1.19492765e+02] [ 1.12021077e-02 9.99937252e-01 -6.68959976e-05 -1.50558711e+02] [-9.78999081e-03 4.27784244e-05 -9.99952076e-01 -4.02264594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters 0.013180897269170835 Centerline is valid? [True, True] Translation: X:119.49, Y:-150.53, Z:-4.02 [[-9.98413520e-01 -5.54794653e-02 9.61624899e-03 1.19490511e+02] [-5.54760714e-02 9.98459825e-01 6.19519774e-04 -1.50534884e+02] [-9.63580890e-03 8.50652024e-05 -9.99953571e-01 -4.02307771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters 0.013801066563954845 Centerline is valid? [True, True] Translation: X:119.49, Y:-150.51, Z:-4.02 [[-9.92229387e-01 -1.24019021e-01 1.00062694e-02 1.19485086e+02] [-1.24011563e-01 9.92279834e-01 1.36479121e-03 -1.50510108e+02] [-1.00982794e-02 1.13292837e-04 -9.99949005e-01 -4.02255640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters 0.013108304688580947 Centerline is valid? [True, True] Translation: X:119.46, Y:-150.48, Z:-4.02 [[-9.80238966e-01 -1.97531584e-01 1.06227343e-02 1.19464414e+02] [-1.97519025e-01 9.80296519e-01 2.22913852e-03 -1.50481481e+02] [-1.08537547e-02 8.68963203e-05 -9.99941093e-01 -4.02293243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters 0.012641573289138274 Centerline is valid? [True, True] Translation: X:119.45, Y:-150.45, Z:-4.02 [[-9.62116370e-01 -2.72372953e-01 1.20442596e-02 1.19445772e+02] [-2.72351173e-01 9.62191755e-01 3.44463409e-03 -1.50451532e+02] [-1.25271124e-02 3.38706280e-05 -9.99921532e-01 -4.02166321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters 0.012439765814954552 Centerline is valid? [True, True] Translation: X:119.41, Y:-150.43, Z:-4.02 [[-9.38471289e-01 -3.45161552e-01 1.16251061e-02 1.19412426e+02] [-3.45135369e-01 9.38543288e-01 4.25138824e-03 -1.50429877e+02] [-1.23780810e-02 -2.24294737e-05 -9.99923388e-01 -4.02134152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters 0.012830366109712015 Centerline is valid? [True, True] Translation: X:119.36, Y:-150.41, Z:-4.02 [[-9.08519027e-01 -4.17732353e-01 9.63635620e-03 1.19364328e+02] [-4.17709859e-01 9.08570126e-01 4.33590796e-03 -1.50414204e+02] [-1.05665544e-02 -8.59461060e-05 -9.99944169e-01 -4.02256728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters 0.013108325750619043 Centerline is valid? [True, True] Translation: X:119.31, Y:-150.41, Z:-4.02 [[-8.74241716e-01 -4.85410069e-01 8.85930039e-03 1.19305163e+02] [-4.85386351e-01 8.74286597e-01 4.79963571e-03 -1.50410773e+02] [-1.00753591e-02 -1.04141727e-04 -9.99949237e-01 -4.02309746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters 0.01378204276421726 Centerline is valid? [True, True] Translation: X:119.24, Y:-150.42, Z:-4.02 [[-8.33110285e-01 -5.53045136e-01 8.26631301e-03 1.19235835e+02] [-5.53019736e-01 8.33151279e-01 5.30256048e-03 -1.50415545e+02] [-9.81964454e-03 -1.53816572e-04 -9.99951774e-01 -4.02323999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters 0.014125713723077995 Centerline is valid? [True, True] Translation: X:119.16, Y:-150.43, Z:-4.02 [[-7.88429070e-01 -6.15066623e-01 8.52355400e-03 1.19161188e+02] [-6.15033267e-01 7.88475119e-01 6.40844521e-03 -1.50433766e+02] [-1.06622310e-02 -1.89664764e-04 -9.99943139e-01 -4.02256892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters 0.01425991515045814 Centerline is valid? [True, True] Translation: X:119.08, Y:-150.46, Z:-4.02 [[-7.40469256e-01 -6.72036286e-01 8.51536545e-03 1.19081267e+02] [-6.71994913e-01 7.40518190e-01 7.45967389e-03 -1.50463995e+02] [-1.13189546e-02 -1.98623095e-04 -9.99935919e-01 -4.02184897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters 0.013762549520271894 Centerline is valid? [True, True] Translation: X:119.00, Y:-150.50, Z:-4.02 [[-6.90051315e-01 -7.23705198e-01 8.94252335e-03 1.19002930e+02] [-7.23647880e-01 6.90109232e-01 9.11007564e-03 -1.50503024e+02] [-1.27643270e-02 -1.84818389e-04 -9.99918516e-01 -4.01994488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters 0.012767997458453575 Centerline is valid? [True, True] Translation: X:118.93, Y:-150.56, Z:-4.02 [[-6.37951189e-01 -7.70021695e-01 9.21246580e-03 1.18926058e+02] [-7.69944185e-01 6.38017691e-01 1.09260447e-02 -1.50556189e+02] [-1.42910076e-02 -1.22801242e-04 -9.99897871e-01 -4.01985614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters 0.012491954305786385 Centerline is valid? [True, True] Translation: X:118.85, Y:-150.62, Z:-4.02 [[-5.82269516e-01 -8.12951956e-01 8.44557942e-03 1.18847650e+02] [-8.12867551e-01 5.82330761e-01 1.17145236e-02 -1.50621246e+02] [-1.44414656e-02 -4.41274418e-05 -9.99895716e-01 -4.01979044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters 0.012720757834566648 Centerline is valid? [True, True] Translation: X:118.78, Y:-150.69, Z:-4.02 [[-5.26255430e-01 -8.50297912e-01 6.97737119e-03 1.18779990e+02] [-8.50221202e-01 5.26301677e-01 1.14216364e-02 -1.50689942e+02] [-1.33839957e-02 7.83892560e-05 -9.99910427e-01 -4.02042930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters 0.013154487175125533 Centerline is valid? [True, True] Translation: X:118.71, Y:-150.77, Z:-4.02 [[-4.63500112e-01 -8.86076994e-01 5.93346937e-03 1.18708302e+02] [-8.86000762e-01 4.63538071e-01 1.16235529e-02 -1.50771005e+02] [-1.30497518e-02 1.30459697e-04 -9.99914840e-01 -4.02069542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters 0.013561045157506536 Centerline is valid? [True, True] Translation: X:118.64, Y:-150.86, Z:-4.02 [[-3.95668101e-01 -9.18379672e-01 5.05290947e-03 1.18638998e+02] [-9.18299889e-01 3.95700335e-01 1.21061282e-02 -1.50858358e+02] [-1.31174600e-02 1.49922562e-04 -9.99913951e-01 -4.01958473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters 0.01334908698660332 Centerline is valid? [True, True] Translation: X:118.57, Y:-150.96, Z:-4.02 [[-3.22003693e-01 -9.46727768e-01 4.48940772e-03 1.18572330e+02] [-9.46630068e-01 3.22034961e-01 1.36013888e-02 -1.50955508e+02] [-1.43225587e-02 1.29889100e-04 -9.99897419e-01 -4.01882032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters 0.012894529835207212 Centerline is valid? [True, True] Translation: X:118.51, Y:-151.06, Z:-4.02 [[-2.45624080e-01 -9.69358704e-01 3.53755269e-03 1.18512528e+02] [-9.69252846e-01 2.45649537e-01 1.43257274e-02 -1.51055785e+02] [-1.47557668e-02 8.99606091e-05 -9.99891124e-01 -4.01917272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters 0.012506976677034374 Centerline is valid? [True, True] Translation: X:118.46, Y:-151.16, Z:-4.02 [[-1.65325736e-01 -9.86236182e-01 2.36534320e-03 1.18456550e+02] [-9.86134335e-01 1.65342656e-01 1.41732349e-02 -1.51163664e+02] [-1.43692492e-02 1.06543477e-05 -9.99896757e-01 -4.01845775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters 0.012621667986690557 Centerline is valid? [True, True] Translation: X:118.41, Y:-151.28, Z:-4.02 [[-8.52579779e-02 -9.96358224e-01 1.16887264e-03 1.18409353e+02] [-9.96271316e-01 8.52659794e-02 1.31597247e-02 -1.51277325e+02] [-1.32114650e-02 -4.25427719e-05 -9.99912724e-01 -4.01870126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters 0.012548311007565932 Centerline is valid? [True, True] Translation: X:118.37, Y:-151.39, Z:-4.02 [[-7.57080331e-03 -9.99971330e-01 1.51574068e-04 1.18374900e+02] [-9.99888366e-01 7.57212766e-03 1.28809703e-02 -1.51392198e+02] [-1.28817487e-02 -5.40378546e-05 -9.99917025e-01 -4.01973333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters 0.012714229428846532 Centerline is valid? [True, True] Translation: X:118.35, Y:-151.51, Z:-4.02 [[ 6.96913299e-02 -9.97568334e-01 -7.33563837e-04 1.18348966e+02] [-9.97504874e-01 -6.96951708e-02 1.12520802e-02 -1.51507726e+02] [-1.12758447e-02 -5.24389279e-05 -9.99936424e-01 -4.01896903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters 0.012483232033315472 Centerline is valid? [True, True] Translation: X:118.33, Y:-151.62, Z:-4.02 [[ 1.46829973e-01 -9.89160844e-01 -1.33576509e-03 1.18332093e+02] [-9.89116678e-01 -1.46836040e-01 9.34742262e-03 -1.51624176e+02] [-9.44224290e-03 -5.12542753e-05 -9.99955420e-01 -4.02146449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters 0.012533262249197373 Centerline is valid? [True, True] Translation: X:118.32, Y:-151.75, Z:-4.02 [[ 2.23200219e-01 -9.74771200e-01 -1.66410930e-03 1.18324693e+02] [-9.74742463e-01 -2.23206417e-01 7.48510500e-03 -1.51745416e+02] [-7.66770467e-03 -4.85990780e-05 -9.99970602e-01 -4.02216472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters 0.012518031096598853 Centerline is valid? [True, True] Translation: X:118.33, Y:-151.86, Z:-4.02 [[ 2.98371337e-01 -9.54447647e-01 -2.05797090e-03 1.18325279e+02] [-9.54423716e-01 -2.98378430e-01 6.75887371e-03 -1.51863428e+02] [-7.06504523e-03 -5.24779498e-05 -9.99975041e-01 -4.02287470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters 0.012714605882983745 Centerline is valid? [True, True] Translation: X:118.34, Y:-151.98, Z:-4.02 [[ 3.71151675e-01 -9.28566958e-01 -3.13678945e-03 1.18335619e+02] [-9.28532211e-01 -3.71164924e-01 8.03325351e-03 -1.51980106e+02] [-8.62367999e-03 -6.89454539e-05 -9.99962813e-01 -4.02070010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters 0.012889617714217916 Centerline is valid? [True, True] Translation: X:118.36, Y:-152.10, Z:-4.02 [[ 4.41354606e-01 -8.97322303e-01 -4.33543159e-03 1.18356460e+02] [-8.97277171e-01 -4.41375892e-01 9.00002232e-03 -1.52096482e+02] [-9.98947574e-03 -8.21175143e-05 -9.99950101e-01 -4.01885430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters 0.012670451916214076 Centerline is valid? [True, True] Translation: X:118.39, Y:-152.21, Z:-4.02 [[ 5.07605593e-01 -8.61566674e-01 -6.27927131e-03 1.18386747e+02] [-8.61498617e-01 -5.07644422e-01 1.08293037e-02 -1.52205825e+02] [-1.25178042e-02 -8.74315764e-05 -9.99921645e-01 -4.01752738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters 0.012641074395711866 Centerline is valid? [True, True] Translation: X:118.43, Y:-152.31, Z:-4.02 [[ 5.70795831e-01 -8.21059775e-01 -7.27764179e-03 1.18425051e+02] [-8.20991429e-01 -5.70842220e-01 1.05940167e-02 -1.52313663e+02] [-1.28527062e-02 -7.21390552e-05 -9.99917398e-01 -4.01665286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters 0.01229697291729921 Centerline is valid? [True, True] Translation: X:118.47, Y:-152.41, Z:-4.02 [[ 6.29712423e-01 -7.76798714e-01 -6.78398859e-03 1.18469077e+02] [-7.76753105e-01 -6.29748963e-01 8.41762436e-03 -1.52411712e+02] [-1.08110096e-02 -3.11984263e-05 -9.99941559e-01 -4.01934060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters 0.012360742675439606 Centerline is valid? [True, True] Translation: X:118.52, Y:-152.50, Z:-4.02 [[ 6.84921824e-01 -7.28584722e-01 -6.81160130e-03 1.18518113e+02] [-7.28548705e-01 -6.84955694e-01 7.24444750e-03 -1.52504445e+02] [-9.94383887e-03 7.03100139e-07 -9.99950559e-01 -4.02055080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters 0.012831612129524645 Centerline is valid? [True, True] Translation: X:118.57, Y:-152.59, Z:-4.02 [[ 7.33777439e-01 -6.79352281e-01 -7.15181167e-03 1.18573589e+02] [-6.79320892e-01 -7.33812288e-01 6.53090710e-03 -1.52588877e+02] [-9.68487393e-03 6.61427941e-05 -9.99953098e-01 -4.02004872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters 0.013743483091532784 Centerline is valid? [True, True] Translation: X:118.60, Y:-152.61, Z:-4.02 [[ 7.81085871e-01 -6.24382765e-01 -7.14319731e-03 1.18597923e+02] [-6.24357981e-01 -7.81118525e-01 5.56430391e-03 -1.52612002e+02] [-9.05393920e-03 1.13713086e-04 -9.99959006e-01 -4.02069977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters 0.014100059910562348 Centerline is valid? [True, True] Translation: X:118.62, Y:-152.64, Z:-4.02 [[ 8.26368811e-01 -5.63077707e-01 -7.62122899e-03 1.18621428e+02] [-5.63055238e-01 -8.26403944e-01 5.03201931e-03 -1.52635675e+02] [-9.13163159e-03 1.32869089e-04 -9.99958297e-01 -4.02122775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters 0.013715675582244244 Centerline is valid? [True, True] Translation: X:118.64, Y:-152.66, Z:-4.02 [[ 8.68400403e-01 -4.95786776e-01 -8.73002119e-03 1.18643795e+02] [-4.95763268e-01 -8.68444273e-01 4.82976614e-03 -1.52661250e+02] [-9.97607109e-03 1.33852972e-04 -9.99950229e-01 -4.02036638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters 0.013430482349953756 Centerline is valid? [True, True] Translation: X:118.67, Y:-152.68, Z:-4.02 [[ 9.05888500e-01 -4.23401287e-01 -9.86787173e-03 1.18668158e+02] [-4.23377483e-01 -9.05942238e-01 4.49101900e-03 -1.52682344e+02] [-1.08412250e-02 1.09472220e-04 -9.99941226e-01 -4.01963636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters 0.01282415573805695 Centerline is valid? [True, True] Translation: X:118.69, Y:-152.71, Z:-4.02 [[ 9.37444041e-01 -3.47996321e-01 -9.86053286e-03 1.18693360e+02] [-3.47977849e-01 -9.37495896e-01 3.58625070e-03 -1.52706226e+02] [-1.04922111e-02 6.93376614e-05 -9.99944953e-01 -4.02013003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters 0.012755839294693712 Centerline is valid? [True, True] Translation: X:118.72, Y:-152.73, Z:-4.02 [[ 9.62008990e-01 -2.72848247e-01 -9.61960341e-03 1.18721771e+02] [-2.72835203e-01 -9.62057083e-01 2.66857877e-03 -1.52725347e+02] [-9.98272464e-03 5.73696737e-05 -9.99950170e-01 -4.01996910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters 0.012549877862851142 Centerline is valid? [True, True] Translation: X:118.75, Y:-152.74, Z:-4.02 [[ 9.80744858e-01 -1.95102919e-01 -8.62411054e-03 1.18751134e+02] [-1.95095694e-01 -9.80782774e-01 1.67938281e-03 -1.52743380e+02] [-8.78603155e-03 3.54807773e-05 -9.99961402e-01 -4.02111504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters 0.012460882092679 Centerline is valid? [True, True] Translation: X:118.78, Y:-152.76, Z:-4.02 [[ 9.93193399e-01 -1.16255466e-01 -7.17909235e-03 1.18778607e+02] [-1.16252565e-01 -9.93219345e-01 8.21495290e-04 -1.52756812e+02] [-7.22591672e-03 1.86841991e-05 -9.99973893e-01 -4.02232528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters 0.012575256340781594 Centerline is valid? [True, True] Translation: X:118.81, Y:-152.77, Z:-4.02 [[ 9.99321305e-01 -3.59725744e-02 -7.93112623e-03 1.18806119e+02] [-3.59714636e-02 -9.99352778e-01 2.82703178e-04 -1.52769007e+02] [-7.93616259e-03 2.78290924e-06 -9.99968508e-01 -4.02015098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters 0.012416421723106833 Centerline is valid? [True, True] Translation: X:118.84, Y:-152.78, Z:-4.02 [[ 9.98952341e-01 4.50484339e-02 -8.05348239e-03 1.18836002e+02] [ 4.50471212e-02 -9.98984804e-01 -3.44414487e-04 -1.52780040e+02] [-8.06082186e-03 -1.87325390e-05 -9.99967511e-01 -4.02004505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters 0.012365062901552832 Centerline is valid? [True, True] Translation: X:118.87, Y:-152.79, Z:-4.02 [[ 9.92180989e-01 1.24545494e-01 -8.08120116e-03 1.18866995e+02] [ 1.24541613e-01 -9.92213898e-01 -9.83729247e-04 -1.52787569e+02] [-8.14079915e-03 -3.04083674e-05 -9.99966863e-01 -4.01998892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters 0.012512122778848387 Centerline is valid? [True, True] Translation: X:118.90, Y:-152.79, Z:-4.02 [[ 9.79352404e-01 2.01918454e-01 -9.88977214e-03 1.18896595e+02] [ 2.01908561e-01 -9.79402336e-01 -1.99907888e-03 -1.52791196e+02] [-1.00897169e-02 -3.90269532e-05 -9.99949097e-01 -4.01753879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters 0.012359042212343819 Centerline is valid? [True, True] Translation: X:118.93, Y:-152.79, Z:-4.02 [[ 9.60621419e-01 2.77636663e-01 -1.11522473e-02 1.18927740e+02] [ 2.77618449e-01 -9.60686151e-01 -3.18046875e-03 -1.52792414e+02] [-1.15968242e-02 -4.08431802e-05 -9.99932754e-01 -4.01741211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters 0.012412502845806986 Centerline is valid? [True, True] Translation: X:118.96, Y:-152.79, Z:-4.02 [[ 9.35636382e-01 3.52808445e-01 -1.05242996e-02 1.18959483e+02] [ 3.52786714e-01 -9.35695569e-01 -3.91608702e-03 -1.52792584e+02] [-1.12291691e-02 -4.87995761e-05 -9.99936950e-01 -4.01829809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters 0.012449942172767656 Centerline is valid? [True, True] Translation: X:118.99, Y:-152.79, Z:-4.02 [[ 9.04539815e-01 4.26274318e-01 -9.89592512e-03 1.18990911e+02] [ 4.26249570e-01 -9.04593943e-01 -4.59364449e-03 -1.52790626e+02] [-1.09099466e-02 -6.29994965e-05 -9.99940483e-01 -4.01856527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters 0.012539363495669713 Centerline is valid? [True, True] Translation: X:119.02, Y:-152.78, Z:-4.02 [[ 8.68109715e-01 4.96272240e-01 -9.96923381e-03 1.19022120e+02] [ 4.96240480e-01 -8.68166953e-01 -5.61499145e-03 -1.52784465e+02] [-1.14415237e-02 -7.27087380e-05 -9.99934541e-01 -4.01817060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters 0.012521161353357882 Centerline is valid? [True, True] Translation: X:119.05, Y:-152.78, Z:-4.02 [[ 8.26408624e-01 5.62977143e-01 -1.02723815e-02 1.19051798e+02] [ 5.62934891e-01 -8.26472462e-01 -6.89777631e-03 -1.52775044e+02] [-1.23731308e-02 -8.23001236e-05 -9.99923447e-01 -4.01870960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters 0.012517890266918796 Centerline is valid? [True, True] Translation: X:119.08, Y:-152.76, Z:-4.02 [[ 7.79724816e-01 6.26071381e-01 -7.98980341e-03 1.19081397e+02] [ 6.26039415e-01 -7.79765747e-01 -6.32689652e-03 -1.52764528e+02] [-1.01912639e-02 -6.86936267e-05 -9.99948065e-01 -4.02080505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters 0.012493730227047459 Centerline is valid? [True, True] Translation: X:119.11, Y:-152.75, Z:-4.02 [[ 7.28140258e-01 6.85397452e-01 -6.48834476e-03 1.19110622e+02] [ 6.85370997e-01 -7.28169163e-01 -6.02225232e-03 -1.52752473e+02] [-8.85224896e-03 -6.18789589e-05 -9.99960816e-01 -4.02195156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters 0.0125771887946514 Centerline is valid? [True, True] Translation: X:119.14, Y:-152.74, Z:-4.02 [[ 6.72058559e-01 7.40480312e-01 -5.11878096e-03 1.19137313e+02] [ 7.40459448e-01 -6.72078050e-01 -5.55880027e-03 -1.52736355e+02] [-7.55640248e-03 -5.44104266e-05 -9.99971449e-01 -4.02311181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters 0.012721437023349769 Centerline is valid? [True, True] Translation: X:119.16, Y:-152.72, Z:-4.02 [[ 6.11707100e-01 7.91067357e-01 -5.18278642e-03 1.19161905e+02] [ 7.91039846e-01 -6.11729052e-01 -6.59770806e-03 -1.52717325e+02] [-8.38969250e-03 -6.39257072e-05 -9.99964804e-01 -4.02293777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters 0.012771090525162596 Centerline is valid? [True, True] Translation: X:119.19, Y:-152.70, Z:-4.02 [[ 5.47815018e-01 8.36582728e-01 -5.29579558e-03 1.19186424e+02] [ 8.36544928e-01 -5.47840610e-01 -7.95295648e-03 -1.52698383e+02] [-9.55455791e-03 -7.34219367e-05 -9.99954352e-01 -4.02179952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters 0.01267827033021519 Centerline is valid? [True, True] Translation: X:119.21, Y:-152.68, Z:-4.02 [[ 4.80874832e-01 8.76773982e-01 -5.17492760e-03 1.19209114e+02] [ 8.76724966e-01 -4.80902670e-01 -9.27126205e-03 -1.52677525e+02] [-1.06174378e-02 -7.86716489e-05 -9.99943630e-01 -4.02142594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters 0.012658714165583333 Centerline is valid? [True, True] Translation: X:119.23, Y:-152.66, Z:-4.02 [[ 4.11056841e-01 9.11597693e-01 -4.68194247e-03 1.19229734e+02] [ 9.11540746e-01 -4.11083496e-01 -1.01896232e-02 -1.52655220e+02] [-1.12135062e-02 -7.92670277e-05 -9.99937124e-01 -4.02142621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters 0.012612732378417608 Centerline is valid? [True, True] Translation: X:119.25, Y:-152.63, Z:-4.02 [[ 3.39454500e-01 9.40613824e-01 -4.03443916e-03 1.19248159e+02] [ 9.40549806e-01 -3.39478466e-01 -1.09742494e-02 -1.52630948e+02] [-1.16921359e-02 -6.93326238e-05 -9.99931642e-01 -4.02181420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters 0.012579278021462748 Centerline is valid? [True, True] Translation: X:119.26, Y:-152.61, Z:-4.02 [[ 2.65987334e-01 9.63971953e-01 -2.96850932e-03 1.19264429e+02] [ 9.63914033e-01 -2.66003893e-01 -1.05671804e-02 -1.52605276e+02] [-1.09761006e-02 -5.06516368e-05 -9.99939760e-01 -4.02227981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters 0.012635151070379784 Centerline is valid? [True, True] Translation: X:119.28, Y:-152.58, Z:-4.02 [[ 1.90042501e-01 9.81773800e-01 -2.01322379e-03 1.19276685e+02] [ 9.81721126e-01 -1.90053160e-01 -1.01698797e-02 -1.52579870e+02] [-1.03671409e-02 -4.37149597e-05 -9.99946259e-01 -4.02236633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters 0.012577722467327794 Centerline is valid? [True, True] Translation: X:119.29, Y:-152.55, Z:-4.03 [[ 1.11337874e-01 9.93782060e-01 -1.04699552e-03 1.19287750e+02] [ 9.93742146e-01 -1.11342786e-01 -8.90677897e-03 -1.52552771e+02] [-8.96797254e-03 -4.87817392e-05 -9.99959786e-01 -4.02512261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters 0.012695397510351399 Centerline is valid? [True, True] Translation: X:119.30, Y:-152.52, Z:-4.03 [[ 3.06762692e-02 9.99529312e-01 -3.48906134e-04 1.19301224e+02] [ 9.99488502e-01 -3.06781697e-02 -9.03236848e-03 -1.52524140e+02] [-9.03882085e-03 -7.16483017e-05 -9.99959147e-01 -4.02585775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters 0.012975661279851121 Centerline is valid? [True, True] Translation: X:119.31, Y:-152.50, Z:-4.02 [[-4.89411698e-02 9.98801577e-01 4.14477364e-04 1.19311098e+02] [ 9.98747308e-01 4.89428314e-02 -1.04121925e-02 -1.52495520e+02] [-1.04200000e-02 -9.56267279e-05 -9.99945706e-01 -4.02372458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters 0.012785748477853109 Centerline is valid? [True, True] Translation: X:119.32, Y:-152.47, Z:-4.02 [[-1.25455032e-01 9.92098338e-01 1.38689596e-03 1.19315580e+02] [ 9.92029595e-01 1.25462666e-01 -1.16791189e-02 -1.52465479e+02] [-1.17608381e-02 -8.93624005e-05 -9.99930835e-01 -4.02274112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters 0.012635013592823846 Centerline is valid? [True, True] Translation: X:119.32, Y:-152.44, Z:-4.02 [[-1.99534995e-01 9.79888324e-01 2.15838592e-03 1.19316297e+02] [ 9.79828419e-01 1.99546663e-01 -1.08351154e-02 -1.52437414e+02] [-1.10479018e-02 -4.71368340e-05 -9.99938969e-01 -4.02245280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters 0.012512539476228789 Centerline is valid? [True, True] Translation: X:119.31, Y:-152.41, Z:-4.02 [[-2.69698722e-01 9.62941359e-01 2.55686405e-03 1.19309054e+02] [ 9.62898726e-01 2.69710842e-01 -9.06121661e-03 -1.52410198e+02] [-9.41503420e-03 1.82025869e-05 -9.99955677e-01 -4.02355802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters 0.012800848049792014 Centerline is valid? [True, True] Translation: X:119.30, Y:-152.38, Z:-4.02 [[-3.40883255e-01 9.40099744e-01 3.32847354e-03 1.19304871e+02] [ 9.40056456e-01 3.40899500e-01 -9.02169830e-03 -1.52381914e+02] [-9.61597123e-03 5.36071523e-05 -9.99953764e-01 -4.02303101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters 0.013283525559924085 Centerline is valid? [True, True] Translation: X:119.30, Y:-152.36, Z:-4.02 [[-4.11548486e-01 9.11374512e-01 4.93383173e-03 1.19297393e+02] [ 9.11311629e-01 4.11578050e-01 -1.07062977e-02 -1.52356645e+02] [-1.17881037e-02 9.00976248e-05 -9.99930514e-01 -4.02159317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters 0.01330489591854862 Centerline is valid? [True, True] Translation: X:119.29, Y:-152.33, Z:-4.02 [[-4.82364816e-01 8.75948773e-01 6.15883971e-03 1.19289792e+02] [ 8.75879643e-01 4.82404125e-01 -1.10050493e-02 -1.52330558e+02] [-1.26109091e-02 8.59537373e-05 -9.99920476e-01 -4.02077809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters 0.012998924249234513 Centerline is valid? [True, True] Translation: X:119.28, Y:-152.30, Z:-4.02 [[-5.50395600e-01 8.34877263e-01 6.68135426e-03 1.19282540e+02] [ 8.34817265e-01 5.50436147e-01 -1.00091294e-02 -1.52302891e+02] [-1.20340535e-02 6.87291120e-05 -9.99927586e-01 -4.02161434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters 0.012909580921327643 Centerline is valid? [True, True] Translation: X:119.27, Y:-152.28, Z:-4.02 [[-6.14604630e-01 7.88805556e-01 6.85157572e-03 1.19272714e+02] [ 7.88757555e-01 6.14642817e-01 -8.70218783e-03 -1.52276279e+02] [-1.10756059e-02 5.58271807e-05 -9.99938662e-01 -4.02193467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters 0.012780935176945517 Centerline is valid? [True, True] Translation: X:119.26, Y:-152.25, Z:-4.02 [[-6.75782707e-01 7.37064316e-01 7.34345200e-03 1.19261442e+02] [ 7.37021373e-01 6.75822604e-01 -7.95631808e-03 -1.52248838e+02] [-1.08271890e-02 3.55389085e-05 -9.99941384e-01 -4.02184527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters 0.012863708371702288 Centerline is valid? [True, True] Translation: X:119.25, Y:-152.22, Z:-4.02 [[-7.32157208e-01 6.81089266e-01 7.95204483e-03 1.19247992e+02] [ 6.81049455e-01 7.32200390e-01 -7.36402305e-03 -1.52224795e+02] [-1.08380474e-02 2.41132451e-05 -9.99941266e-01 -4.02086526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters 0.012864776080490595 Centerline is valid? [True, True] Translation: X:119.74, Y:-151.71, Z:-5.02 [[-6.87581852e-01 -7.26066303e-01 7.67592453e-03 1.19737720e+02] [ 7.26020977e-01 -6.87624696e-01 -8.11283425e-03 -1.51711232e+02] [ 1.11686109e-02 -5.35537591e-06 9.99937629e-01 -5.01936021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters 0.012893174507280683 Centerline is valid? [True, True] Translation: X:119.70, Y:-151.67, Z:-5.02 [[-6.87293017e-01 -7.26340865e-01 7.56686664e-03 1.19698095e+02] [ 7.26296642e-01 -6.87334670e-01 -8.01499441e-03 -1.51669838e+02] [ 1.10225878e-02 -1.28598639e-05 9.99939249e-01 -5.01942396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters 0.012903142393505512 Centerline is valid? [True, True] Translation: X:119.66, Y:-151.63, Z:-5.02 [[-6.86427372e-01 -7.27166766e-01 6.77921405e-03 1.19658334e+02] [ 7.27131346e-01 -6.86460847e-01 -7.17718687e-03 -1.51630098e+02] [ 9.87267678e-03 2.76151178e-06 9.99951264e-01 -5.01953794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters 0.012978485971036404 Centerline is valid? [True, True] Translation: X:119.62, Y:-151.59, Z:-5.02 [[-6.85861087e-01 -7.27703945e-01 6.44499774e-03 1.19617881e+02] [ 7.27671994e-01 -6.85891368e-01 -6.81909493e-03 -1.51589049e+02] [ 9.38285060e-03 1.28924982e-05 9.99955980e-01 -5.01899256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters 0.013026921118396255 Centerline is valid? [True, True] Translation: X:119.58, Y:-151.55, Z:-5.02 [[-6.85101909e-01 -7.28422531e-01 5.99920114e-03 1.19577786e+02] [ 7.28394912e-01 -6.85128174e-01 -6.34330608e-03 -1.51549185e+02] [ 8.73082880e-03 2.39764852e-05 9.99961885e-01 -5.01961130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters 0.013459007544053105 Centerline is valid? [True, True] Translation: X:119.54, Y:-151.51, Z:-5.02 [[-6.82886804e-01 -7.30503959e-01 5.43855818e-03 1.19536163e+02] [ 7.30481355e-01 -6.82908459e-01 -5.74693917e-03 -1.51509957e+02] [ 7.91219920e-03 4.82564278e-05 9.99968697e-01 -5.01965285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters 0.014102813605523302 Centerline is valid? [True, True] Translation: X:119.49, Y:-151.47, Z:-5.02 [[-6.79687272e-01 -7.33486637e-01 4.75042729e-03 1.19493568e+02] [ 7.33469482e-01 -6.79703868e-01 -5.01705363e-03 -1.51470664e+02] [ 6.90882560e-03 7.42659487e-05 9.99976131e-01 -5.01961055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters 0.014355807058084976 Centerline is valid? [True, True] Translation: X:119.45, Y:-151.43, Z:-5.02 [[-6.78452336e-01 -7.34628073e-01 4.90115716e-03 1.19452786e+02] [ 7.34609863e-01 -6.78470033e-01 -5.17333420e-03 -1.51428879e+02] [ 7.12576479e-03 9.05777153e-05 9.99974607e-01 -5.01946737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters 0.014994461121345344 Centerline is valid? [True, True] Translation: X:119.41, Y:-151.39, Z:-5.02 [[-6.77130645e-01 -7.35841243e-01 5.63510039e-03 1.19411595e+02] [ 7.35817240e-01 -6.77154082e-01 -5.94471939e-03 -1.51387480e+02] [ 8.19020093e-03 1.21052337e-04 9.99966452e-01 -5.02060539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters 0.014521436096854141 Centerline is valid? [True, True] Translation: X:119.37, Y:-151.34, Z:-5.02 [[-6.77906127e-01 -7.35126005e-01 5.74808960e-03 1.19372202e+02] [ 7.35101032e-01 -6.77930486e-01 -6.06043333e-03 -1.51344447e+02] [ 8.35198731e-03 1.17021715e-04 9.99965115e-01 -5.02059848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters 0.014407045112151627 Centerline is valid? [True, True] Translation: X:119.33, Y:-151.30, Z:-5.02 [[-6.79643678e-01 -7.33523641e-01 5.24779815e-03 1.19333933e+02] [ 7.33502802e-01 -6.79663932e-01 -5.52978697e-03 -1.51302500e+02] [ 7.62296859e-03 9.09898972e-05 9.99970941e-01 -5.02042924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters 0.013826311631443126 Centerline is valid? [True, True] Translation: X:119.30, Y:-151.26, Z:-5.02 [[-6.82670994e-01 -7.30708000e-01 5.11203117e-03 1.19296482e+02] [ 7.30688169e-01 -6.82690131e-01 -5.38370223e-03 -1.51258194e+02] [ 7.42384751e-03 6.00033440e-05 9.99972441e-01 -5.02024622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters 0.013617562172207135 Centerline is valid? [True, True] Translation: X:119.26, Y:-151.21, Z:-5.02 [[-6.85377212e-01 -7.28170173e-01 5.12605700e-03 1.19259686e+02] [ 7.28150187e-01 -6.85396380e-01 -5.39506829e-03 -1.51214783e+02] [ 7.44190872e-03 3.48825044e-05 9.99972308e-01 -5.01982397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters 0.013582387751799756 Centerline is valid? [True, True] Translation: X:119.22, Y:-151.17, Z:-5.02 [[-6.86942291e-01 -7.26694994e-01 4.96743430e-03 1.19220767e+02] [ 7.26676211e-01 -6.86960250e-01 -5.22485889e-03 -1.51173052e+02] [ 7.20930871e-03 2.05397995e-05 9.99974012e-01 -5.02045928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters 0.013565936683241334 Centerline is valid? [True, True] Translation: X:119.18, Y:-151.13, Z:-5.02 [[-6.89483209e-01 -7.24281324e-01 5.42838655e-03 1.19182742e+02] [ 7.24258845e-01 -6.89504578e-01 -5.70638458e-03 -1.51129604e+02] [ 7.87592516e-03 -2.89938405e-06 9.99968984e-01 -5.02001939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters 0.013737633477651534 Centerline is valid? [True, True] Translation: X:119.15, Y:-151.09, Z:-5.02 [[-6.93047143e-01 -7.20870435e-01 5.61006018e-03 1.19146051e+02] [ 7.20846343e-01 -6.93069848e-01 -5.89378945e-03 -1.51086034e+02] [ 8.13682213e-03 -4.06825806e-05 9.99966895e-01 -5.02079924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters 0.014042932842165928 Centerline is valid? [True, True] Translation: X:119.11, Y:-151.04, Z:-5.02 [[-6.95807279e-01 -7.18209393e-01 5.24377202e-03 1.19108018e+02] [ 7.18188292e-01 -6.95827035e-01 -5.50584725e-03 -1.51042657e+02] [ 7.60310955e-03 -6.49929317e-05 9.99971094e-01 -5.02057473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters 0.015136866808684648 Centerline is valid? [True, True] Translation: X:119.07, Y:-151.00, Z:-5.02 [[-7.00195227e-01 -7.13935509e-01 4.76793679e-03 1.19072373e+02] [ 7.13917980e-01 -7.00211453e-01 -5.00394088e-03 -1.50998341e+02] [ 6.91105502e-03 -9.98197165e-05 9.99976113e-01 -5.01982687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters 0.01586372798080176 Centerline is valid? [True, True] Translation: X:119.03, Y:-150.95, Z:-5.02 [[-7.04492873e-01 -7.09704612e-01 3.02579426e-03 1.19033515e+02] [ 7.09697521e-01 -7.04499365e-01 -3.17376854e-03 -1.50954975e+02] [ 4.38410830e-03 -8.84986350e-05 9.99990386e-01 -5.01798682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters 0.01691699381372239 Centerline is valid? [True, True] Translation: X:119.00, Y:-150.91, Z:-5.02 [[-7.06456439e-01 -7.07753952e-01 1.90907554e-03 1.18995156e+02] [ 7.07751124e-01 -7.06459015e-01 -2.00161988e-03 -1.50913150e+02] [ 2.76533801e-03 -6.29068950e-05 9.99996175e-01 -5.01690749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters 0.016415956355757103 Centerline is valid? [True, True] Translation: X:118.95, Y:-150.87, Z:-5.02 [[-7.05949311e-01 -7.08258701e-01 2.27656995e-03 1.18953171e+02] [ 7.08254688e-01 -7.05952978e-01 -2.38542790e-03 -1.50873955e+02] [ 3.29665140e-03 -7.15998388e-05 9.99994564e-01 -5.01742623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters 0.015367644074245014 Centerline is valid? [True, True] Translation: X:118.91, Y:-150.84, Z:-5.02 [[-7.02690637e-01 -7.11486312e-01 3.61899771e-03 1.18907393e+02] [ 7.11476223e-01 -7.02699950e-01 -3.79000895e-03 -1.50837036e+02] [ 5.23960900e-03 -8.83729868e-05 9.99986269e-01 -5.01863707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters 0.014567399937909231 Centerline is valid? [True, True] Translation: X:118.86, Y:-150.80, Z:-5.02 [[-6.99356848e-01 -7.14759850e-01 4.28428096e-03 1.18862651e+02] [ 7.14745788e-01 -6.99369967e-01 -4.48418705e-03 -1.50799182e+02] [ 6.20141430e-03 -7.38751522e-05 9.99980768e-01 -5.01989382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters 0.013849548086065751 Centerline is valid? [True, True] Translation: X:118.82, Y:-150.76, Z:-5.02 [[-6.93598846e-01 -7.20342368e-01 5.24535506e-03 1.18817078e+02] [ 7.20321470e-01 -6.93618679e-01 -5.48710836e-03 -1.50764273e+02] [ 7.59087287e-03 -2.75101591e-05 9.99971189e-01 -5.02023031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters 0.013714955678508814 Centerline is valid? [True, True] Translation: X:118.77, Y:-150.73, Z:-5.02 [[-6.90915027e-01 -7.22913706e-01 5.67454424e-03 1.18773446e+02] [ 7.22889364e-01 -6.90938329e-01 -5.93239604e-03 -1.50727159e+02] [ 8.20937052e-03 3.28610731e-06 9.99966303e-01 -5.02079464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters 0.013707637746448918 Centerline is valid? [True, True] Translation: X:118.73, Y:-150.69, Z:-5.02 [[-6.89190244e-01 -7.24559391e-01 5.52229697e-03 1.18729235e+02] [ 7.24536419e-01 -6.89212368e-01 -5.76969296e-03 -1.50689648e+02] [ 7.98652059e-03 2.46891737e-05 9.99968107e-01 -5.02011898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters 0.013581255646562809 Centerline is valid? [True, True] Translation: X:118.69, Y:-150.65, Z:-5.02 [[-6.90224916e-01 -7.23580881e-01 4.50275876e-03 1.18687593e+02] [ 7.23565606e-01 -6.90239603e-01 -4.70160564e-03 -1.50650034e+02] [ 6.50997437e-03 1.28760106e-05 9.99978810e-01 -5.01833448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters 0.013508518434395244 Centerline is valid? [True, True] Translation: X:118.65, Y:-150.61, Z:-5.02 [[-6.91976057e-01 -7.21913154e-01 3.24563966e-03 1.18646176e+02] [ 7.21905210e-01 -6.91983669e-01 -3.38685391e-03 -1.50611053e+02] [ 4.69094403e-03 -5.77637344e-07 9.99988998e-01 -5.01684736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters 0.013553537329606888 Centerline is valid? [True, True] Translation: X:118.61, Y:-150.57, Z:-5.02 [[-6.92669201e-01 -7.21247451e-01 3.39001293e-03 1.18606627e+02] [ 7.21238787e-01 -6.92677496e-01 -3.53521231e-03 -1.50571172e+02] [ 4.89794853e-03 -3.72386730e-06 9.99988005e-01 -5.01764063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters 0.013620649392687522 Centerline is valid? [True, True] Translation: X:118.56, Y:-150.53, Z:-5.02 [[-6.92786135e-01 -7.21132185e-01 3.96782286e-03 1.18564708e+02] [ 7.21120328e-01 -6.92797497e-01 -4.13537446e-03 -1.50531615e+02] [ 5.73104937e-03 -3.65236514e-06 9.99983577e-01 -5.01877709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters 0.013660420056128593 Centerline is valid? [True, True] Translation: X:118.52, Y:-150.50, Z:-5.02 [[-6.91556060e-01 -7.22299894e-01 5.75142302e-03 1.18521234e+02] [ 7.22275043e-01 -6.91579976e-01 -5.99162488e-03 -1.50495303e+02] [ 8.30531901e-03 1.05648165e-05 9.99965510e-01 -5.02189672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters 0.01373558716309928 Centerline is valid? [True, True] Translation: X:118.48, Y:-150.46, Z:-5.02 [[-6.89665956e-01 -7.24084904e-01 7.86904727e-03 1.18477271e+02] [ 7.24038551e-01 -6.89710845e-01 -8.19311621e-03 -1.50457523e+02] [ 1.13598790e-02 4.69802530e-05 9.99935473e-01 -5.02242693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters 0.013994813424399994 Centerline is valid? [True, True] Translation: X:118.44, Y:-150.42, Z:-5.03 [[-6.88671990e-01 -7.25008019e-01 9.70890389e-03 1.18435983e+02] [ 7.24937605e-01 -6.88740421e-01 -1.01045568e-02 -1.50418728e+02] [ 1.40127993e-02 7.96242756e-05 9.99901813e-01 -5.02510861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters 0.014176125043215975 Centerline is valid? [True, True] Translation: X:118.39, Y:-150.38, Z:-5.03 [[-6.88438938e-01 -7.25218841e-01 1.04624364e-02 1.18394432e+02] [ 7.25137187e-01 -6.88518427e-01 -1.08828494e-02 -1.50378268e+02] [ 1.50960277e-02 9.45244198e-05 9.99886044e-01 -5.02626926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters 0.01383392057735824 Centerline is valid? [True, True] Translation: X:118.35, Y:-150.34, Z:-5.02 [[-6.89208572e-01 -7.24510203e-01 8.74703204e-03 1.18354343e+02] [ 7.24453135e-01 -6.89264072e-01 -9.09361949e-03 -1.50336706e+02] [ 1.26174350e-02 6.94142824e-05 9.99920395e-01 -5.02428664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters 0.013689433158967462 Centerline is valid? [True, True] Translation: X:118.31, Y:-150.29, Z:-5.02 [[-6.90037150e-01 -7.23733959e-01 7.60840688e-03 1.18314864e+02] [ 7.23690788e-01 -6.90079092e-01 -7.90506462e-03 -1.50294738e+02] [ 1.09715662e-02 5.13457093e-05 9.99939809e-01 -5.02273960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters 0.013388679021598541 Centerline is valid? [True, True] Translation: X:118.28, Y:-150.25, Z:-5.02 [[-6.91250350e-01 -7.22585074e-01 6.61543019e-03 1.18277568e+02] [ 7.22552424e-01 -6.91282004e-01 -6.86913555e-03 -1.50251525e+02] [ 9.53666266e-03 3.17027673e-05 9.99954525e-01 -5.02052866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters 0.013571928873122537 Centerline is valid? [True, True] Translation: X:118.24, Y:-150.21, Z:-5.02 [[-6.91054410e-01 -7.22766036e-01 7.28413576e-03 1.18238453e+02] [ 7.22726510e-01 -6.91092798e-01 -7.55887500e-03 -1.50209221e+02] [ 1.04973119e-02 4.08441107e-05 9.99944901e-01 -5.02106092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters 0.013522816009346126 Centerline is valid? [True, True] Translation: X:118.20, Y:-150.17, Z:-5.02 [[-6.89711095e-01 -7.24035878e-01 8.40552005e-03 1.18197764e+02] [ 7.23983398e-01 -6.89762309e-01 -8.71760350e-03 -1.50167155e+02] [ 1.21096686e-02 7.28291132e-05 9.99926673e-01 -5.02124332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters 0.013935265357367584 Centerline is valid? [True, True] Translation: X:118.16, Y:-150.13, Z:-5.02 [[-6.88284918e-01 -7.25385949e-01 8.89365406e-03 1.18157862e+02] [ 7.25327379e-01 -6.88342367e-01 -9.21838942e-03 -1.50126386e+02] [ 1.28087690e-02 1.05932381e-04 9.99917959e-01 -5.02232241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters 0.014138359112696536 Centerline is valid? [True, True] Translation: X:118.12, Y:-150.08, Z:-5.02 [[-6.85617060e-01 -7.27895731e-01 9.85153945e-03 1.18117907e+02] [ 7.27824206e-01 -6.85687812e-01 -1.02054005e-02 -1.50083781e+02] [ 1.41835480e-02 1.73192221e-04 9.99899393e-01 -5.02189486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters 0.014794264630951012 Centerline is valid? [True, True] Translation: X:118.08, Y:-150.04, Z:-5.02 [[-6.84314676e-01 -7.29113430e-01 1.03455550e-02 1.18078285e+02] [ 7.29034786e-01 -6.84392841e-01 -1.07107420e-02 -1.50043010e+02] [ 1.48897696e-02 2.12751527e-04 9.99889119e-01 -5.02359602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters 0.014986413255102238 Centerline is valid? [True, True] Translation: X:118.04, Y:-150.00, Z:-5.02 [[-6.83351355e-01 -7.30021990e-01 9.94084645e-03 1.18040444e+02] [ 7.29949566e-01 -6.83423619e-01 -1.02853339e-02 -1.49999855e+02] [ 1.43023292e-02 2.27819720e-04 9.99897691e-01 -5.02233301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters 0.014831269192272149 Centerline is valid? [True, True] Translation: X:118.00, Y:-149.96, Z:-5.02 [[-6.83214369e-01 -7.30165846e-01 8.71567365e-03 1.18002738e+02] [ 7.30110254e-01 -6.83269928e-01 -9.01234437e-03 -1.49955997e+02] [ 1.25356638e-02 2.06039536e-04 9.99921404e-01 -5.01997388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters 0.015163742337590378 Centerline is valid? [True, True] Translation: X:117.96, Y:-149.91, Z:-5.02 [[-6.83458584e-01 -7.29947498e-01 7.81115181e-03 1.17964563e+02] [ 7.29902891e-01 -6.83503194e-01 -8.07175616e-03 -1.49914292e+02] [ 1.12309054e-02 1.84671249e-04 9.99936914e-01 -5.01946697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters 0.015396692032616675 Centerline is valid? [True, True] Translation: X:117.93, Y:-149.87, Z:-5.02 [[-6.83785142e-01 -7.29640444e-01 7.91846301e-03 1.17925847e+02] [ 7.29594642e-01 -6.83830965e-01 -8.17743672e-03 -1.49873713e+02] [ 1.13814788e-02 1.85658458e-04 9.99935212e-01 -5.01998037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters 0.014986602243216183 Centerline is valid? [True, True] Translation: X:117.89, Y:-149.83, Z:-5.02 [[-6.84914457e-01 -7.28577349e-01 8.19960711e-03 1.17888219e+02] [ 7.28528221e-01 -6.84963514e-01 -8.46266954e-03 -1.49829942e+02] [ 1.17821410e-02 1.77440472e-04 9.99930572e-01 -5.01999102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters 0.014250809160878302 Centerline is valid? [True, True] Translation: X:117.85, Y:-149.79, Z:-5.02 [[-6.85634260e-01 -7.27894886e-01 8.64273199e-03 1.17851078e+02] [ 7.27840319e-01 -6.85688707e-01 -8.91440019e-03 -1.49786043e+02] [ 1.24149700e-02 1.78510636e-04 9.99922915e-01 -5.01883424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters 0.01450358582291373 Centerline is valid? [True, True] Translation: X:117.81, Y:-149.74, Z:-5.02 [[-6.85618486e-01 -7.27887504e-01 1.03475742e-02 1.17811514e+02] [ 7.27809373e-01 -6.85696532e-01 -1.06669202e-02 -1.49742979e+02] [ 1.48596136e-02 2.17623842e-04 9.99889566e-01 -5.02149131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters 0.014773223338850422 Centerline is valid? [True, True] Translation: X:117.77, Y:-149.70, Z:-5.02 [[-6.85449084e-01 -7.28032872e-01 1.13000524e-02 1.17771925e+02] [ 7.27939816e-01 -6.85542178e-01 -1.16424317e-02 -1.49700682e+02] [ 1.62227355e-02 2.45463948e-04 9.99868373e-01 -5.02264767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters 0.015000874223076438 Centerline is valid? [True, True] Translation: X:117.73, Y:-149.66, Z:-5.02 [[-6.85994123e-01 -7.27518928e-01 1.13257258e-02 1.17734971e+02] [ 7.27425501e-01 -6.86087569e-01 -1.16614290e-02 -1.49658796e+02] [ 1.62543500e-02 2.38950001e-04 9.99867861e-01 -5.02279497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters 0.014759194490540528 Centerline is valid? [True, True] Translation: X:117.70, Y:-149.62, Z:-5.02 [[-6.87261995e-01 -7.26341381e-01 9.95733523e-03 1.17698117e+02] [ 7.26269134e-01 -6.87334098e-01 -1.02461074e-02 -1.49616408e+02] [ 1.42861878e-02 1.89945054e-04 9.99897929e-01 -5.02130899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters 0.014026083523953415 Centerline is valid? [True, True] Translation: X:117.66, Y:-149.57, Z:-5.02 [[-6.89853019e-01 -7.23895516e-01 8.83707334e-03 1.17662372e+02] [ 7.23838477e-01 -6.89909607e-01 -9.08806566e-03 -1.49571253e+02] [ 1.26755918e-02 1.27184176e-04 9.99919653e-01 -5.02022404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters 0.013096007193482665 Centerline is valid? [True, True] Translation: X:117.63, Y:-149.53, Z:-5.02 [[-6.92114878e-01 -7.21731468e-01 8.98242031e-03 1.17626139e+02] [ 7.21672429e-01 -6.92173157e-01 -9.23175905e-03 -1.49526186e+02] [ 1.28802412e-02 9.29272980e-05 9.99917042e-01 -5.01798578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters 0.012886326280621295 Centerline is valid? [True, True] Translation: X:117.59, Y:-149.48, Z:-5.02 [[-6.94993516e-01 -7.18954193e-01 9.42767030e-03 1.17589858e+02] [ 7.18888983e-01 -6.95057455e-01 -9.68320374e-03 -1.49481081e+02] [ 1.35145525e-02 4.76844992e-05 9.99908673e-01 -5.01732989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters 0.012759502452631839 Centerline is valid? [True, True] Translation: X:117.55, Y:-149.44, Z:-5.02 [[-6.96212197e-01 -7.17768063e-01 9.87849311e-03 1.17551772e+02] [ 7.17696439e-01 -6.96282275e-01 -1.01397871e-02 -1.49438091e+02] [ 1.41562350e-02 3.03158900e-05 9.99899795e-01 -5.01755547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters 0.012883792433639109 Centerline is valid? [True, True] Translation: X:117.51, Y:-149.39, Z:-5.02 [[-6.97214807e-01 -7.16787737e-01 1.03369816e-02 1.17514355e+02] [ 7.16709291e-01 -6.97291431e-01 -1.06043823e-02 -1.49393482e+02] [ 1.48089799e-02 1.50783775e-05 9.99890341e-01 -5.01771758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters 0.01289585702427992 Centerline is valid? [True, True] Translation: X:117.48, Y:-149.35, Z:-5.02 [[-6.96678903e-01 -7.17315290e-01 9.86313556e-03 1.17476321e+02] [ 7.17244014e-01 -6.96748717e-01 -1.01119008e-02 -1.49351014e+02] [ 1.41255481e-02 2.95269647e-05 9.99900229e-01 -5.01693248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters 0.012938754448202205 Centerline is valid? [True, True] Translation: X:117.44, Y:-149.31, Z:-5.02 [[-6.94747810e-01 -7.19191221e-01 9.45877067e-03 1.17436331e+02] [ 7.19125926e-01 -6.94812193e-01 -9.69118974e-03 -1.49309571e+02] [ 1.35418878e-02 6.91143659e-05 9.99908302e-01 -5.01634241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters 0.013148863102249669 Centerline is valid? [True, True] Translation: X:117.40, Y:-149.27, Z:-5.02 [[-6.92918826e-01 -7.20953069e-01 9.49594943e-03 1.17395041e+02] [ 7.20887498e-01 -6.92983883e-01 -9.72384542e-03 -1.49268640e+02] [ 1.35909761e-02 1.07675671e-04 9.99907633e-01 -5.01694649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters 0.013102843222808028 Centerline is valid? [True, True] Translation: X:117.35, Y:-149.23, Z:-5.02 [[-6.92141566e-01 -7.21696919e-01 9.67523324e-03 1.17354254e+02] [ 7.21629001e-01 -6.92209174e-01 -9.90171498e-03 -1.49226777e+02] [ 1.38433224e-02 1.28540393e-04 9.99904168e-01 -5.01622713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters 0.013871809391254559 Centerline is valid? [True, True] Translation: X:117.31, Y:-149.19, Z:-5.02 [[-6.90243976e-01 -7.23513153e-01 9.59013849e-03 1.17313317e+02] [ 7.23446656e-01 -6.90310575e-01 -9.81053657e-03 -1.49186818e+02] [ 1.37182263e-02 1.66289848e-04 9.99905887e-01 -5.01765641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters 0.01340378237218852 Centerline is valid? [True, True] Translation: X:117.27, Y:-149.14, Z:-5.02 [[-6.90518173e-01 -7.23256600e-01 9.19475576e-03 1.17274514e+02] [ 7.23195521e-01 -6.90579370e-01 -9.40062218e-03 -1.49143445e+02] [ 1.31487707e-02 1.58305730e-04 9.99913539e-01 -5.01539753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters 0.013118097881872352 Centerline is valid? [True, True] Translation: X:117.23, Y:-149.10, Z:-5.01 [[-6.92410586e-01 -7.21457711e-01 8.14567441e-03 1.17234653e+02] [ 7.21409703e-01 -6.92458489e-01 -8.32357911e-03 -1.49100452e+02] [ 1.16456517e-02 1.13034261e-04 9.99932181e-01 -5.01469286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters 0.012822528071975297 Centerline is valid? [True, True] Translation: X:117.20, Y:-149.06, Z:-5.01 [[-6.95170732e-01 -7.18807201e-01 7.33897880e-03 1.17195138e+02] [ 7.18768128e-01 -6.95209467e-01 -7.49502297e-03 -1.49057596e+02] [ 1.04896040e-02 6.47034466e-05 9.99944981e-01 -5.01452875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters 0.012690196810444 Centerline is valid? [True, True] Translation: X:117.16, Y:-149.02, Z:-5.01 [[-6.97289736e-01 -7.16754550e-01 7.06676838e-03 1.17156876e+02] [ 7.16718261e-01 -6.97325544e-01 -7.21249926e-03 -1.49015558e+02] [ 1.00974298e-02 3.56802371e-05 9.99949019e-01 -5.01441407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters 0.01255869947931777 Centerline is valid? [True, True] Translation: X:117.12, Y:-148.97, Z:-5.01 [[-6.98954323e-01 -7.15140572e-01 6.06773498e-03 1.17117282e+02] [ 7.15113791e-01 -6.98980660e-01 -6.18896103e-03 -1.48974570e+02] [ 8.66720653e-03 1.33199013e-05 9.99962439e-01 -5.01366370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters 0.012686542530095466 Centerline is valid? [True, True] Translation: X:117.08, Y:-148.93, Z:-5.01 [[-6.99578244e-01 -7.14526045e-01 6.54302505e-03 1.17077534e+02] [ 7.14494919e-01 -6.99608841e-01 -6.66937752e-03 -1.48934682e+02] [ 9.34300212e-03 9.20673981e-06 9.99956353e-01 -5.01457127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters 0.012746426230426244 Centerline is valid? [True, True] Translation: X:117.04, Y:-148.90, Z:-5.02 [[-6.99206924e-01 -7.14888977e-01 6.58995066e-03 1.17036067e+02] [ 7.14857456e-01 -6.99237978e-01 -6.71320406e-03 -1.48895014e+02] [ 9.40713936e-03 1.69566045e-05 9.99955752e-01 -5.01551434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters 0.012757443827461532 Centerline is valid? [True, True] Translation: X:116.99, Y:-148.86, Z:-5.02 [[-6.97442818e-01 -7.16601642e-01 7.45665240e-03 1.16992068e+02] [ 7.16561426e-01 -6.97482676e-01 -7.59203439e-03 -1.48856911e+02] [ 1.06413502e-02 4.81396188e-05 9.99943378e-01 -5.01661313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters 0.01302895345967828 Centerline is valid? [True, True] Translation: X:116.95, Y:-148.82, Z:-5.02 [[-6.96128349e-01 -7.17884528e-01 6.86489037e-03 1.16948885e+02] [ 7.17850545e-01 -6.96162194e-01 -6.98536540e-03 -1.48818534e+02] [ 9.79376288e-03 6.52544086e-05 9.99952038e-01 -5.01627564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters 0.013196155108404689 Centerline is valid? [True, True] Translation: X:116.91, Y:-148.78, Z:-5.02 [[-6.95519160e-01 -7.18478225e-01 6.49135116e-03 1.16907221e+02] [ 7.18447901e-01 -6.95549448e-01 -6.60138521e-03 -1.48779426e+02] [ 9.25800724e-03 7.23077200e-05 9.99957141e-01 -5.01543075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters 0.012987376508441154 Centerline is valid? [True, True] Translation: X:116.87, Y:-148.74, Z:-5.01 [[-6.94604360e-01 -7.19371558e-01 5.41712829e-03 1.16865272e+02] [ 7.19350492e-01 -6.94625479e-01 -5.50579573e-03 -1.48738546e+02] [ 7.72358819e-03 7.24641828e-05 9.99970170e-01 -5.01253869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters 0.013054571389681316 Centerline is valid? [True, True] Translation: X:116.82, Y:-148.70, Z:-5.01 [[-6.93847577e-01 -7.20101238e-01 5.45417209e-03 1.16822637e+02] [ 7.20079930e-01 -6.93869008e-01 -5.54025747e-03 -1.48698686e+02] [ 7.77402723e-03 8.33456349e-05 9.99969778e-01 -5.01251694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters 0.013336945935850782 Centerline is valid? [True, True] Translation: X:116.78, Y:-148.66, Z:-5.01 [[-6.93369837e-01 -7.20558518e-01 5.80436458e-03 1.16780501e+02] [ 7.20534430e-01 -6.93394125e-01 -5.89261968e-03 -1.48658359e+02] [ 8.27068961e-03 9.64797800e-05 9.99965793e-01 -5.01294664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters 0.013424405080957673 Centerline is valid? [True, True] Translation: X:116.74, Y:-148.62, Z:-5.01 [[-6.92723881e-01 -7.21179522e-01 5.80711965e-03 1.16739305e+02] [ 7.21155460e-01 -6.92748213e-01 -5.89200723e-03 -1.48617317e+02] [ 8.27206672e-03 1.06301930e-04 9.99965780e-01 -5.01264971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters 0.013373789572949253 Centerline is valid? [True, True] Translation: X:116.70, Y:-148.58, Z:-5.01 [[-6.92807789e-01 -7.21094946e-01 6.28068608e-03 1.16698060e+02] [ 7.21066829e-01 -6.92836247e-01 -6.36886417e-03 -1.48576777e+02] [ 8.94404274e-03 1.16395702e-04 9.99959995e-01 -5.01356549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters 0.015331574776948655 Centerline is valid? [True, True] Translation: X:116.66, Y:-148.54, Z:-5.02 [[-6.92977590e-01 -7.20923434e-01 7.17374878e-03 1.16655614e+02] [ 7.20886793e-01 -6.93014707e-01 -7.26962173e-03 -1.48539889e+02] [ 1.02123541e-02 1.33775805e-04 9.99947844e-01 -5.01819646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters 0.013497818730355543 Centerline is valid? [True, True] Translation: X:116.62, Y:-148.50, Z:-5.02 [[-6.93445073e-01 -7.20469959e-01 7.54775957e-03 1.16618869e+02] [ 7.20429422e-01 -6.93486135e-01 -7.64387577e-03 -1.48495983e+02] [ 1.07414495e-02 1.37020072e-04 9.99942300e-01 -5.01576069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters 0.013039253466115635 Centerline is valid? [True, True] Translation: X:116.58, Y:-148.45, Z:-5.01 [[-6.95194434e-01 -7.18792196e-01 6.51753458e-03 1.16580347e+02] [ 7.18761930e-01 -6.95224978e-01 -6.59680902e-03 -1.48452249e+02] [ 9.27288767e-03 9.84908184e-05 9.99957001e-01 -5.01412330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters 0.012599340285290158 Centerline is valid? [True, True] Translation: X:116.54, Y:-148.41, Z:-5.01 [[-6.96532969e-01 -7.17507942e-01 4.91693079e-03 1.16540840e+02] [ 7.17490705e-01 -6.96550321e-01 -4.97387646e-03 -1.48409103e+02] [ 6.99368558e-03 6.33832039e-05 9.99975542e-01 -5.01198191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters 0.012801023250999978 Centerline is valid? [True, True] Translation: X:116.50, Y:-148.37, Z:-5.01 [[-6.96000011e-01 -7.18025782e-01 4.79178589e-03 1.16500867e+02] [ 7.18009445e-01 -6.96016503e-01 -4.84402791e-03 -1.48369884e+02] [ 6.81329898e-03 6.91040489e-05 9.99976787e-01 -5.01239205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters 0.013000142439286606 Centerline is valid? [True, True] Translation: X:116.46, Y:-148.33, Z:-5.01 [[-6.94511215e-01 -7.19459549e-01 5.66825594e-03 1.16459017e+02] [ 7.19436764e-01 -6.94534338e-01 -5.72676078e-03 -1.48329285e+02] [ 8.05697112e-03 1.00652121e-04 9.99967537e-01 -5.01340718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters 0.013305291943159877 Centerline is valid? [True, True] Translation: X:116.42, Y:-148.29, Z:-5.01 [[-6.93568288e-01 -7.20366413e-01 5.93808870e-03 1.16417150e+02] [ 7.20341469e-01 -6.93593697e-01 -5.99594092e-03 -1.48288373e+02] [ 8.43789535e-03 1.18857053e-04 9.99964393e-01 -5.01359952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters 0.013876068236654231 Centerline is valid? [True, True] Translation: X:116.38, Y:-148.25, Z:-5.01 [[-6.92471540e-01 -7.21419236e-01 6.11978861e-03 1.16375321e+02] [ 7.21392814e-01 -6.92498568e-01 -6.17591545e-03 -1.48248280e+02] [ 8.69336906e-03 1.38125837e-04 9.99962202e-01 -5.01417630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters 0.013723298153646497 Centerline is valid? [True, True] Translation: X:116.33, Y:-148.21, Z:-5.01 [[-6.92911391e-01 -7.20993811e-01 6.45978041e-03 1.16334875e+02] [ 7.20964387e-01 -6.92941487e-01 -6.51530947e-03 -1.48206049e+02] [ 9.17374764e-03 1.42739476e-04 9.99957910e-01 -5.01460431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters 0.013597853740517458 Centerline is valid? [True, True] Translation: X:116.30, Y:-148.16, Z:-5.01 [[-6.94666186e-01 -7.19306553e-01 6.08044767e-03 1.16296278e+02] [ 7.19280448e-01 -6.94692787e-01 -6.12927889e-03 -1.48163324e+02] [ 8.63287361e-03 1.15744334e-04 9.99962729e-01 -5.01447476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters 0.013215547645881405 Centerline is valid? [True, True] Translation: X:116.26, Y:-148.12, Z:-5.01 [[-6.96498102e-01 -7.17537038e-01 5.56713993e-03 1.16256479e+02] [ 7.17515123e-01 -6.96520345e-01 -5.60871574e-03 -1.48120737e+02] [ 7.90208751e-03 8.80472236e-05 9.99968774e-01 -5.01459702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters 0.012649610213802101 Centerline is valid? [True, True] Translation: X:116.22, Y:-148.08, Z:-5.01 [[-7.00151117e-01 -7.13983584e-01 3.98193691e-03 1.16218016e+02] [ 7.13972326e-01 -7.00162439e-01 -4.00953853e-03 -1.48076503e+02] [ 5.65074735e-03 3.57098765e-05 9.99984034e-01 -5.01324958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters 0.01242426723407217 Centerline is valid? [True, True] Translation: X:116.18, Y:-148.03, Z:-5.01 [[-7.03555948e-01 -7.10630950e-01 3.56109342e-03 1.16180721e+02] [ 7.10621915e-01 -7.03564960e-01 -3.58349927e-03 -1.48033376e+02] [ 5.05200603e-03 9.39879738e-06 9.99987239e-01 -5.01252495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters 0.012514095464727317 Centerline is valid? [True, True] Translation: X:116.14, Y:-147.99, Z:-5.01 [[-7.04707935e-01 -7.09483391e-01 4.47709263e-03 1.16140170e+02] [ 7.09469105e-01 -7.04722156e-01 -4.50240125e-03 -1.47992624e+02] [ 6.34948528e-03 3.48101132e-06 9.99979842e-01 -5.01421633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters 0.012515247746010018 Centerline is valid? [True, True] Translation: X:116.10, Y:-147.95, Z:-5.02 [[-7.04932050e-01 -7.09255378e-01 5.25476714e-03 1.16099195e+02] [ 7.09235716e-01 -7.04951635e-01 -5.28112630e-03 -1.47952401e+02] [ 7.45002392e-03 4.03334499e-06 9.99972248e-01 -5.01574784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters 0.012511552290533596 Centerline is valid? [True, True] Translation: X:116.06, Y:-147.91, Z:-5.02 [[-7.04963219e-01 -7.09222698e-01 5.47954494e-03 1.16057864e+02] [ 7.09201341e-01 -7.04984514e-01 -5.50388192e-03 -1.47911495e+02] [ 7.76647231e-03 6.06630653e-06 9.99969841e-01 -5.01599270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters 0.012589331490727546 Centerline is valid? [True, True] Translation: X:116.02, Y:-147.87, Z:-5.02 [[-7.04094615e-01 -7.10080687e-01 6.01590688e-03 1.16016582e+02] [ 7.10055009e-01 -7.04120314e-01 -6.03880164e-03 -1.47871479e+02] [ 8.52395866e-03 1.97370987e-05 9.99963670e-01 -5.01620470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters 0.01267416821861847 Centerline is valid? [True, True] Translation: X:115.97, Y:-147.83, Z:-5.02 [[-7.02753483e-01 -7.11409083e-01 5.88726605e-03 1.15974690e+02] [ 7.11384565e-01 -7.02778141e-01 -5.90627777e-03 -1.47831637e+02] [ 8.33922154e-03 3.74529279e-05 9.99965227e-01 -5.01529170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters 0.01318337094065562 Centerline is valid? [True, True] Translation: X:115.93, Y:-147.79, Z:-5.02 [[-7.00263518e-01 -7.13858388e-01 6.09983236e-03 1.15931569e+02] [ 7.13832193e-01 -7.00290081e-01 -6.11585191e-03 -1.47794602e+02] [ 8.63750428e-03 7.15487351e-05 9.99962694e-01 -5.01671748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters 0.01326792653713933 Centerline is valid? [True, True] Translation: X:115.89, Y:-147.75, Z:-5.02 [[-6.98706855e-01 -7.15379927e-01 6.34744345e-03 1.15890288e+02] [ 7.15351658e-01 -6.98735680e-01 -6.36043552e-03 -1.47754214e+02] [ 8.98531311e-03 9.65742915e-05 9.99959627e-01 -5.01639007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters 0.013976821334204727 Centerline is valid? [True, True] Translation: X:115.85, Y:-147.72, Z:-5.02 [[-6.96655947e-01 -7.17381553e-01 5.84790081e-03 1.15848259e+02] [ 7.17357649e-01 -6.96680482e-01 -5.85746848e-03 -1.47716184e+02] [ 8.27615820e-03 1.14396124e-04 9.99965746e-01 -5.01654832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters 0.01431145947467437 Centerline is valid? [True, True] Translation: X:115.81, Y:-147.68, Z:-5.02 [[-6.94596093e-01 -7.19382848e-01 4.95838028e-03 1.15806221e+02] [ 7.19365734e-01 -6.94613781e-01 -4.96346844e-03 -1.47676741e+02] [ 7.01479333e-03 1.19283085e-04 9.99975389e-01 -5.01529707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters 0.015312827910094473 Centerline is valid? [True, True] Translation: X:115.76, Y:-147.64, Z:-5.02 [[-6.92771384e-01 -7.21141944e-01 4.70178817e-03 1.15763605e+02] [ 7.21126615e-01 -6.92787326e-01 -4.70378393e-03 -1.47638744e+02] [ 6.64943514e-03 1.31937690e-04 9.99977884e-01 -5.01543842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters 0.014851996038652655 Centerline is valid? [True, True] Translation: X:115.72, Y:-147.60, Z:-5.02 [[-6.92111954e-01 -7.21772826e-01 5.00300611e-03 1.15722934e+02] [ 7.21755506e-01 -6.92130020e-01 -5.00250893e-03 -1.47597489e+02] [ 7.07340573e-03 1.48650977e-04 9.99974972e-01 -5.01524402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters 0.017046109477197206 Centerline is valid? [True, True] Translation: X:115.23, Y:-148.09, Z:-4.02 [[-7.70650312e-01 6.37225711e-01 6.44123301e-03 1.15225339e+02] [ 6.37201261e-01 7.70677204e-01 -5.58566763e-03 -1.48086574e+02] [-8.52344247e-03 -2.00234703e-04 -9.99963655e-01 -4.02187964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters 0.016239168380788725 Centerline is valid? [True, True] Translation: X:115.24, Y:-148.07, Z:-4.02 [[-8.14645748e-01 5.79905170e-01 7.89305379e-03 1.15242785e+02] [ 5.79874989e-01 8.14683947e-01 -5.92146812e-03 -1.48067306e+02] [-9.86423419e-03 -2.46914344e-04 -9.99951317e-01 -4.02134772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters 0.016560996068102782 Centerline is valid? [True, True] Translation: X:115.26, Y:-148.05, Z:-4.02 [[-8.53365716e-01 5.21222924e-01 9.67562727e-03 1.15263829e+02] [ 5.21185639e-01 8.53420520e-01 -6.24072451e-03 -1.48050105e+02] [-1.15101875e-02 -2.82822366e-04 -9.99933716e-01 -4.01973142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters 0.016520186602789682 Centerline is valid? [True, True] Translation: X:115.28, Y:-148.03, Z:-4.02 [[-8.87557220e-01 4.60577266e-01 1.05244120e-02 1.15277489e+02] [ 4.60541110e-01 8.87619571e-01 -5.77781955e-03 -1.48029222e+02] [-1.20028064e-02 -2.81221090e-04 -9.99927924e-01 -4.01904561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters 0.01588391044999092 Centerline is valid? [True, True] Translation: X:115.29, Y:-148.01, Z:-4.02 [[-9.17379558e-01 3.97897673e-01 9.60150733e-03 1.15291165e+02] [ 3.97873223e-01 9.17429773e-01 -4.41710384e-03 -1.48008377e+02] [-1.05662640e-02 -2.31978104e-04 -9.99944149e-01 -4.02003878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters 0.014811761960173048 Centerline is valid? [True, True] Translation: X:115.30, Y:-147.99, Z:-4.02 [[-9.42330123e-01 3.34591453e-01 7.90569050e-03 1.15302458e+02] [ 3.34578234e-01 9.42363271e-01 -2.97851354e-03 -1.47987540e+02] [-8.44661752e-03 -1.61671059e-04 -9.99964314e-01 -4.02210988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters 0.014587761384189518 Centerline is valid? [True, True] Translation: X:115.31, Y:-147.96, Z:-4.02 [[-9.62708100e-01 2.70437304e-01 7.53510023e-03 1.15312233e+02] [ 2.70428029e-01 9.62737581e-01 -2.24314437e-03 -1.47963225e+02] [-7.86095409e-03 -1.21790953e-04 -9.99969095e-01 -4.02137617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters 0.01385350235200205 Centerline is valid? [True, True] Translation: X:115.52, Y:-147.28, Z:-5.02 [[-9.32823746e-01 -3.60233747e-01 8.45622295e-03 1.15518824e+02] [ 3.60220925e-01 -9.32862051e-01 -3.04613066e-03 -1.47282845e+02] [ 8.98580854e-03 2.04605445e-04 9.99959606e-01 -5.01918858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters 0.01327322903472601 Centerline is valid? [True, True] Translation: X:115.27, Y:-147.96, Z:-4.02 [[-9.62190140e-01 2.72202253e-01 9.80143439e-03 1.15271091e+02] [ 2.72187050e-01 9.62240055e-01 -2.87874310e-03 -1.47958454e+02] [-1.02149331e-02 -1.02074717e-04 -9.99947821e-01 -4.02147304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters 0.013091317875049746 Centerline is valid? [True, True] Translation: X:115.28, Y:-147.93, Z:-4.02 [[-9.78888360e-01 2.04112071e-01 1.07629767e-02 1.15278436e+02] [ 2.04098598e-01 9.78947523e-01 -2.34733034e-03 -1.47931785e+02] [-1.10155078e-02 -1.01065889e-04 -9.99939322e-01 -4.02047237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters 0.01306820884958256 Centerline is valid? [True, True] Translation: X:115.44, Y:-147.23, Z:-5.02 [[-9.58380919e-01 -2.85258485e-01 1.15590060e-02 1.15439050e+02] [ 2.85239882e-01 -9.58450608e-01 -3.26225366e-03 -1.47232732e+02] [ 1.20093218e-02 1.70607830e-04 9.99927871e-01 -5.01996407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters 0.014020369959623608 Centerline is valid? [True, True] Translation: X:115.24, Y:-147.92, Z:-4.02 [[-9.78603036e-01 2.05492402e-01 1.04388986e-02 1.15235632e+02] [ 2.05480248e-01 9.78658710e-01 -2.23532452e-03 -1.47922946e+02] [-1.06754613e-02 -4.25078854e-05 -9.99943015e-01 -4.02075833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters 0.012779493239277502 Centerline is valid? [True, True] Translation: X:115.24, Y:-147.90, Z:-4.02 [[-9.90622482e-01 1.36340191e-01 8.85724879e-03 1.15241055e+02] [ 1.36334485e-01 9.90662077e-01 -1.24758578e-03 -1.47896962e+02] [-8.94463657e-03 -2.83380619e-05 -9.99959996e-01 -4.02460364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters 0.01280910655239275 Centerline is valid? [True, True] Translation: X:115.24, Y:-147.87, Z:-4.02 [[-9.97833440e-01 6.51936692e-02 8.84369831e-03 1.15244197e+02] [ 6.51908184e-02 9.97872629e-01 -6.10551418e-04 -1.47868001e+02] [-8.86468857e-03 -3.27006920e-05 -9.99960707e-01 -4.02407248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters 0.013238895753506121 Centerline is valid? [True, True] Translation: X:115.24, Y:-147.84, Z:-4.02 [[-9.99898508e-01 -1.04664015e-02 9.66581871e-03 1.15239822e+02] [-1.04666944e-02 9.99945222e-01 2.02853969e-05 -1.47836006e+02] [-9.66550155e-03 -8.08858324e-05 -9.99953285e-01 -4.02306900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters 0.014245676151689151 Centerline is valid? [True, True] Translation: X:115.24, Y:-147.14, Z:-5.02 [[-9.96685961e-01 -8.06058623e-02 1.09448396e-02 1.15235179e+02] [ 8.06030401e-02 -9.96746036e-01 -6.99439029e-04 -1.47136778e+02] [ 1.09656043e-02 1.85066281e-04 9.99939859e-01 -5.01779360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters 0.015884546943248267 Centerline is valid? [True, True] Translation: X:115.17, Y:-147.82, Z:-4.02 [[-9.99578290e-01 -2.72079658e-02 1.01473816e-02 1.15170161e+02] [-2.72087096e-02 9.99629772e-01 6.47732970e-05 -1.47823660e+02] [-1.01453871e-02 -2.11351177e-04 -9.99948512e-01 -4.02167873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters 0.016548112255171873 Centerline is valid? [True, True] Translation: X:115.17, Y:-147.79, Z:-4.02 [[-9.94801549e-01 -1.01437880e-01 8.95743809e-03 1.15165805e+02] [-1.01435728e-01 9.94841852e-01 6.95404807e-04 -1.47794531e+02] [-8.98177469e-03 -2.16814475e-04 -9.99959640e-01 -4.02289922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters 0.016692406522220503 Centerline is valid? [True, True] Translation: X:115.11, Y:-147.12, Z:-5.02 [[-9.99843639e-01 -1.51970686e-02 9.04138203e-03 1.15110318e+02] [ 1.51984547e-02 -9.99884493e-01 8.46136988e-05 -1.47122379e+02] [ 9.03905181e-03 2.22015504e-04 9.99959122e-01 -5.01653094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters 0.01623350509285921 Centerline is valid? [True, True] Translation: X:115.09, Y:-147.80, Z:-4.02 [[-9.94298023e-01 -1.06239133e-01 9.20258352e-03 1.15085987e+02] [-1.06236677e-01 9.94340583e-01 7.56737515e-04 -1.47800006e+02] [-9.23089741e-03 -2.25229278e-04 -9.99957369e-01 -4.02266350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters 0.015727739058749517 Centerline is valid? [True, True] Translation: X:115.05, Y:-147.13, Z:-5.02 [[-9.99927486e-01 -7.41534143e-03 9.48869888e-03 1.15049309e+02] [ 7.41735954e-03 -9.99972475e-01 1.77512121e-04 -1.47127302e+02] [ 9.48712140e-03 2.47880340e-04 9.99954966e-01 -5.01800105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters 0.014921537991742473 Centerline is valid? [True, True] Translation: X:115.03, Y:-147.81, Z:-4.02 [[-9.94402029e-01 -1.05084101e-01 1.10424890e-02 1.15028100e+02] [-1.05079875e-01 9.94463318e-01 9.63793337e-04 -1.47808816e+02] [-1.10826297e-02 -2.01945317e-04 -9.99938565e-01 -4.02081167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters 0.01414423515519365 Centerline is valid? [True, True] Translation: X:115.02, Y:-147.79, Z:-4.02 [[-9.85004276e-01 -1.72138935e-01 1.16087524e-02 1.15020391e+02] [-1.72129048e-01 9.85072666e-01 1.85305449e-03 -1.47786051e+02] [-1.17544475e-02 -1.72936898e-04 -9.99930899e-01 -4.02062088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters 0.01328232079290824 Centerline is valid? [True, True] Translation: X:115.01, Y:-147.76, Z:-4.02 [[-9.71421925e-01 -2.37083183e-01 1.14458878e-02 1.15013805e+02] [-2.37068102e-01 9.71489347e-01 2.67649995e-03 -1.47764087e+02] [-1.17541112e-02 -1.13444165e-04 -9.99930912e-01 -4.02039714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters 0.012624966280617694 Centerline is valid? [True, True] Translation: X:115.00, Y:-147.75, Z:-4.02 [[-9.54779406e-01 -2.97095314e-01 1.14306371e-02 1.14995245e+02] [-2.97074019e-01 9.54847828e-01 3.55710108e-03 -1.47749528e+02] [-1.19713171e-02 5.01547095e-07 -9.99928341e-01 -4.02123640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters 0.013118310448768582 Centerline is valid? [True, True] Translation: X:114.95, Y:-147.74, Z:-4.02 [[-9.33082165e-01 -3.59480030e-01 1.14796244e-02 1.14952316e+02] [-3.59451709e-01 9.33152775e-01 4.51310813e-03 -1.47741924e+02] [-1.23346156e-02 8.47300847e-05 -9.99923922e-01 -4.02087474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters 0.0142255772274194 Centerline is valid? [True, True] Translation: X:114.90, Y:-147.74, Z:-4.02 [[-9.07269561e-01 -4.20396267e-01 1.13543910e-02 1.14897951e+02] [-4.20360830e-01 9.07340590e-01 5.46138594e-03 -1.47743293e+02] [-1.25982461e-02 1.82008016e-04 -9.99920622e-01 -4.02192255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters 0.014265639024620604 Centerline is valid? [True, True] Translation: X:114.83, Y:-147.75, Z:-4.02 [[-8.74378272e-01 -4.85133498e-01 1.03983672e-02 1.14826171e+02] [-4.85096584e-01 8.74440079e-01 5.98762921e-03 -1.47750410e+02] [-1.19975486e-02 1.91240467e-04 -9.99928009e-01 -4.02237653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters 0.013988769088527355 Centerline is valid? [True, True] Translation: X:114.75, Y:-147.77, Z:-4.02 [[-8.34354959e-01 -5.51134596e-01 1.01222788e-02 1.14748737e+02] [-5.51091672e-01 8.34416342e-01 6.88021973e-03 -1.47765061e+02] [-1.22381219e-02 1.62241906e-04 -9.99925098e-01 -4.02184921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters 0.013426389522813813 Centerline is valid? [True, True] Translation: X:114.67, Y:-147.79, Z:-4.02 [[-7.87707201e-01 -6.15962444e-01 1.03746351e-02 1.14666785e+02] [-6.15907221e-01 7.87775511e-01 8.24858933e-03 -1.47785902e+02] [-1.32537047e-02 1.07660551e-04 -9.99912160e-01 -4.02036019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters 0.01313236752091813 Centerline is valid? [True, True] Translation: X:114.58, Y:-147.82, Z:-4.02 [[-7.36858634e-01 -6.75974114e-01 9.91723578e-03 1.14579361e+02] [-6.75911752e-01 7.36925365e-01 9.18202469e-03 -1.47819585e+02] [-1.35150736e-02 6.26779532e-05 -9.99908665e-01 -4.01941246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters 0.012618251117135718 Centerline is valid? [True, True] Translation: X:114.49, Y:-147.86, Z:-4.02 [[-6.80198780e-01 -7.32979297e-01 8.42439097e-03 1.14491049e+02] [-7.32923164e-01 6.80250946e-01 9.07114247e-03 -1.47862495e+02] [-1.23796596e-02 -4.25124987e-06 -9.99923369e-01 -4.02097234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters 0.01265876181732753 Centerline is valid? [True, True] Translation: X:114.40, Y:-147.92, Z:-4.02 [[-6.20307392e-01 -7.84333159e-01 6.34318574e-03 1.14404733e+02] [-7.84292760e-01 6.20339822e-01 7.96062247e-03 -1.47916314e+02] [-1.01787109e-02 -3.68816907e-05 -9.99948195e-01 -4.02263512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters 0.012569246579488767 Centerline is valid? [True, True] Translation: X:114.32, Y:-147.98, Z:-4.02 [[-5.59398082e-01 -8.28882727e-01 5.21639147e-03 1.14323468e+02] [-8.28847186e-01 5.59422402e-01 7.67589378e-03 -1.47978237e+02] [-9.28058201e-03 -2.97111317e-05 -9.99956934e-01 -4.02261323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters 0.012523180696188843 Centerline is valid? [True, True] Translation: X:114.25, Y:-148.05, Z:-4.02 [[-4.97112437e-01 -8.67675832e-01 4.22798671e-03 1.14246728e+02] [-8.67644508e-01 4.97130416e-01 7.37277768e-03 -1.48051666e+02] [-8.49904179e-03 -3.28996993e-06 -9.99963883e-01 -4.02230134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters 0.012554179654005645 Centerline is valid? [True, True] Translation: X:114.17, Y:-148.13, Z:-4.02 [[-4.32296385e-01 -9.01723609e-01 3.79065333e-03 1.14174177e+02] [-9.01688461e-01 4.32313004e-01 7.96151735e-03 -1.48132796e+02] [-8.81783688e-03 2.37468046e-05 -9.99961122e-01 -4.02209857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters 0.012668901309938828 Centerline is valid? [True, True] Translation: X:114.11, Y:-148.22, Z:-4.02 [[-3.64246993e-01 -9.31295334e-01 3.62329765e-03 1.14106189e+02] [-9.31247881e-01 3.64265010e-01 9.40142385e-03 -1.48223204e+02] [-1.00753427e-02 5.02521053e-05 -9.99949241e-01 -4.02088038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters 0.012748111689952043 Centerline is valid? [True, True] Translation: X:114.04, Y:-148.32, Z:-4.02 [[-2.91946201e-01 -9.56429782e-01 3.08018532e-03 1.14043605e+02] [-9.56374582e-01 2.91962444e-01 1.02756967e-02 -1.48320913e+02] [-1.07272808e-02 5.41396702e-05 -9.99942460e-01 -4.01998274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters 0.012809387471345173 Centerline is valid? [True, True] Translation: X:113.99, Y:-148.43, Z:-4.02 [[-2.17236810e-01 -9.76115886e-01 2.43819379e-03 1.13987187e+02] [-9.76051747e-01 2.17250487e-01 1.11898365e-02 -1.48426535e+02] [-1.14522759e-02 5.10410702e-05 -9.99934419e-01 -4.01874780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters 0.012738695132236945 Centerline is valid? [True, True] Translation: X:113.94, Y:-148.53, Z:-4.02 [[-1.41782613e-01 -9.89896454e-01 1.64369833e-03 1.13940880e+02] [-9.89825381e-01 1.41792130e-01 1.18620251e-02 -1.48532228e+02] [-1.19752401e-02 5.48545821e-05 -9.99928293e-01 -4.01948203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters 0.012571683074785766 Centerline is valid? [True, True] Translation: X:113.90, Y:-148.65, Z:-4.02 [[-6.35904250e-02 -9.97975864e-01 6.57995546e-04 1.13901528e+02] [-9.97917482e-01 6.35938222e-02 1.07946733e-02 -1.48649042e+02] [-1.08146678e-02 2.98126038e-05 -9.99941519e-01 -4.02015662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters 0.012581306462476011 Centerline is valid? [True, True] Translation: X:113.87, Y:-148.76, Z:-4.02 [[ 1.55676688e-02 -9.99878803e-01 -1.65311710e-04 1.13870377e+02] [-9.99825589e-01 -1.55685458e-02 1.03156306e-02 -1.48761660e+02] [-1.03169540e-02 4.69255714e-06 -9.99946779e-01 -4.02009314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters 0.012546550295468892 Centerline is valid? [True, True] Translation: X:113.85, Y:-148.88, Z:-4.02 [[ 9.63452930e-02 -9.95347603e-01 -8.56488481e-04 1.13846064e+02] [-9.95305105e-01 -9.63490940e-02 9.19783181e-03 -1.48880806e+02] [-9.23756174e-03 -3.37004432e-05 -9.99957332e-01 -4.02086199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters 0.012527669589713028 Centerline is valid? [True, True] Translation: X:113.83, Y:-149.00, Z:-4.02 [[ 1.74321210e-01 -9.84687956e-01 -1.32113334e-03 1.13833385e+02] [-9.84657778e-01 -1.74326211e-01 7.70922587e-03 -1.49000491e+02] [-7.82149003e-03 -4.30173606e-05 -9.99969411e-01 -4.02177250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters 0.012410941031780375 Centerline is valid? [True, True] Translation: X:113.83, Y:-149.12, Z:-4.02 [[ 2.48878416e-01 -9.68533010e-01 -1.82810401e-03 1.13833439e+02] [-9.68505770e-01 -2.48885127e-01 7.26415360e-03 -1.49123035e+02] [-7.49056046e-03 -3.73617576e-05 -9.99971945e-01 -4.02181606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters 0.012481153981260255 Centerline is valid? [True, True] Translation: X:113.84, Y:-149.24, Z:-4.02 [[ 3.22593895e-01 -9.46534520e-01 -2.36257478e-03 1.13838716e+02] [-9.46508273e-01 -3.22602544e-01 7.04897437e-03 -1.49235589e+02] [-7.43427021e-03 -3.77595212e-05 -9.99972365e-01 -4.02080437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters 0.012540408766151081 Centerline is valid? [True, True] Translation: X:113.85, Y:-149.35, Z:-4.02 [[ 3.95023919e-01 -9.18666675e-01 -2.76485375e-03 1.13853976e+02] [-9.18643423e-01 -3.95033592e-01 6.53617553e-03 -1.49353259e+02] [-7.09677675e-03 -4.20309607e-05 -9.99974817e-01 -4.02119687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters 0.012807629776277354 Centerline is valid? [True, True] Translation: X:113.88, Y:-149.47, Z:-4.02 [[ 4.66454980e-01 -8.84539805e-01 -3.01419394e-03 1.13877983e+02] [-8.84520568e-01 -4.66464715e-01 5.83391270e-03 -1.49469566e+02] [-6.56634312e-03 -5.51410952e-05 -9.99978440e-01 -4.02173391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters 0.013223585843715753 Centerline is valid? [True, True] Translation: X:113.91, Y:-149.58, Z:-4.02 [[ 5.35027283e-01 -8.44824776e-01 -4.11144711e-03 1.13910227e+02] [-8.44798580e-01 -5.35043074e-01 6.65346455e-03 -1.49581054e+02] [-7.82081300e-03 -8.64403799e-05 -9.99969413e-01 -4.02082124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters 0.013250937380634459 Centerline is valid? [True, True] Translation: X:113.95, Y:-149.69, Z:-4.02 [[ 5.99147847e-01 -8.00625677e-01 -4.51474411e-03 1.13952881e+02] [-8.00601739e-01 -5.99164849e-01 6.19194016e-03 -1.49691172e+02] [-7.66250226e-03 -9.53756303e-05 -9.99970638e-01 -4.02118542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters 0.0132492825902491 Centerline is valid? [True, True] Translation: X:114.00, Y:-149.79, Z:-4.02 [[ 6.58129043e-01 -7.52894199e-01 -4.06053392e-03 1.13998366e+02] [-7.52879169e-01 -6.58141565e-01 4.75791824e-03 -1.49787617e+02] [-6.25461520e-03 -7.42327775e-05 -9.99980437e-01 -4.02246733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters 0.012970657347547612 Centerline is valid? [True, True] Translation: X:114.05, Y:-149.88, Z:-4.02 [[ 7.12107195e-01 -7.02061809e-01 -3.54398974e-03 1.14052931e+02] [-7.02052773e-01 -7.12116012e-01 3.56217080e-03 -1.49881872e+02] [-5.02459591e-03 -4.85796257e-05 -9.99987376e-01 -4.02389151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters 0.012416409431305274 Centerline is valid? [True, True] Translation: X:114.11, Y:-149.97, Z:-4.02 [[ 7.60273276e-01 -6.49593480e-01 -3.58565409e-03 1.14113868e+02] [-6.49586117e-01 -7.60281731e-01 3.09283988e-03 -1.49966626e+02] [-4.73519592e-03 -2.22123875e-05 -9.99988789e-01 -4.02400922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters 0.012404014459536575 Centerline is valid? [True, True] Translation: X:114.14, Y:-149.99, Z:-4.02 [[ 8.05461502e-01 -5.92633332e-01 -4.18361136e-03 1.14139744e+02] [-5.92625365e-01 -8.05472367e-01 3.07285190e-03 -1.49985709e+02] [-5.19085781e-03 4.25030092e-06 -9.99986527e-01 -4.02287950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters 0.012358235826138033 Centerline is valid? [True, True] Translation: X:114.16, Y:-150.01, Z:-4.02 [[ 8.48648360e-01 -5.28936400e-01 -4.71652280e-03 1.14164352e+02] [-5.28928306e-01 -8.48661467e-01 2.92611478e-03 -1.50007101e+02] [-5.55045977e-03 1.14599032e-05 -9.99984596e-01 -4.02250384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters 0.012458726900417386 Centerline is valid? [True, True] Translation: X:114.19, Y:-150.02, Z:-4.02 [[ 8.87190459e-01 -4.61380072e-01 -4.63895049e-03 1.14189421e+02] [-4.61373842e-01 -8.87202586e-01 2.39767525e-03 -1.50024687e+02] [-5.22192845e-03 1.30958048e-05 -9.99986366e-01 -4.02254148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters 0.012410594755680206 Centerline is valid? [True, True] Translation: X:114.21, Y:-150.05, Z:-4.02 [[ 9.21850672e-01 -3.87507794e-01 -5.38955826e-03 1.14214600e+02] [-3.87501138e-01 -9.21866427e-01 2.27115278e-03 -1.50045587e+02] [-5.84854222e-03 -5.20375442e-06 -9.99982897e-01 -4.02274024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters 0.01251983398399143 Centerline is valid? [True, True] Translation: X:114.24, Y:-150.06, Z:-4.02 [[ 9.50203018e-01 -3.11560973e-01 -6.63215730e-03 1.14241667e+02] [-3.11553195e-01 -9.50226162e-01 2.20166231e-03 -1.50064784e+02] [-6.98800144e-03 -2.57563795e-05 -9.99975583e-01 -4.02225173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters 0.01326553883805531 Centerline is valid? [True, True] Translation: X:114.27, Y:-150.08, Z:-4.02 [[ 9.72439928e-01 -2.33012118e-01 -8.12029940e-03 1.14269498e+02] [-2.33003485e-01 -9.72473830e-01 2.00670273e-03 -1.50082789e+02] [-8.36436471e-03 -5.93397968e-05 -9.99965016e-01 -4.01918105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters 0.013197622311431763 Centerline is valid? [True, True] Translation: X:114.30, Y:-150.10, Z:-4.02 [[ 9.87983913e-01 -1.54294286e-01 -9.00338953e-03 1.14299111e+02] [-1.54287111e-01 -9.88024932e-01 1.49020813e-03 -1.50098451e+02] [-9.12550393e-03 -8.31946912e-05 -9.99958358e-01 -4.02030403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters 0.013450603587694537 Centerline is valid? [True, True] Translation: X:114.33, Y:-150.11, Z:-4.02 [[ 9.97111621e-01 -7.53949689e-02 -9.16588808e-03 1.14327152e+02] [-7.53909175e-02 -9.97153744e-01 7.87223146e-04 -1.50110529e+02] [-9.19915229e-03 -9.39246355e-05 -9.99957683e-01 -4.02151387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters 0.013741957400393924 Centerline is valid? [True, True] Translation: X:114.35, Y:-150.12, Z:-4.02 [[ 9.99955080e-01 3.64025572e-03 -8.75143032e-03 1.14354386e+02] [ 3.64095441e-03 -9.99993370e-01 6.39062970e-05 -1.50119311e+02] [-8.75113966e-03 -9.57669852e-05 -9.99961704e-01 -4.02200558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters 0.013730369821939894 Centerline is valid? [True, True] Translation: X:114.38, Y:-150.13, Z:-4.02 [[ 9.96534520e-01 8.28016573e-02 -7.92691185e-03 1.14384135e+02] [ 8.27997863e-02 -9.96566042e-01 -5.64488984e-04 -1.50127470e+02] [-7.94643179e-03 -9.38138478e-05 -9.99968422e-01 -4.02332377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters 0.013878364575084463 Centerline is valid? [True, True] Translation: X:114.41, Y:-150.13, Z:-4.02 [[ 9.87008300e-01 1.60504786e-01 -7.26840548e-03 1.14413757e+02] [ 1.60501074e-01 -9.87035058e-01 -1.09487384e-03 -1.50131905e+02] [-7.34990352e-03 -8.59373237e-05 -9.99972985e-01 -4.02325389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters 0.013483837861440726 Centerline is valid? [True, True] Translation: X:114.44, Y:-150.13, Z:-4.02 [[ 9.71699835e-01 2.36091084e-01 -7.77379245e-03 1.14443453e+02] [ 2.36084214e-01 -9.71730926e-01 -1.80290188e-03 -1.50133708e+02] [-7.97968360e-03 -8.33902269e-05 -9.99968158e-01 -4.02374825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters 0.01347365004753842 Centerline is valid? [True, True] Translation: X:114.47, Y:-150.13, Z:-4.02 [[ 9.50492830e-01 3.10619355e-01 -8.88795045e-03 1.14473903e+02] [ 3.10606654e-01 -9.50534380e-01 -2.81034894e-03 -1.50133955e+02] [-9.32125125e-03 -8.94400343e-05 -9.99956552e-01 -4.02251142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters 0.013478618977165424 Centerline is valid? [True, True] Translation: X:114.50, Y:-150.13, Z:-4.02 [[ 9.23250603e-01 3.84055544e-01 -1.04720340e-02 1.14504281e+02] [ 3.84032168e-01 -9.23309985e-01 -4.23862842e-03 -1.50131764e+02] [-1.12968022e-02 -1.08281663e-04 -9.99936183e-01 -4.02119498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters 0.013338853568199645 Centerline is valid? [True, True] Translation: X:114.53, Y:-150.13, Z:-4.02 [[ 8.90656952e-01 4.54507782e-01 -1.23640467e-02 1.14533770e+02] [ 4.54465901e-01 -8.90742758e-01 -6.17126262e-03 -1.50126669e+02] [-1.38180719e-02 -1.22559667e-04 -9.99904518e-01 -4.02037822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters 0.013431899587517079 Centerline is valid? [True, True] Translation: X:114.56, Y:-150.12, Z:-4.02 [[ 8.53035098e-01 5.21721080e-01 -1.17573686e-02 1.14560542e+02] [ 5.21673193e-01 -8.53116114e-01 -7.06933563e-03 -1.50118367e+02] [-1.37186220e-02 -1.03112608e-04 -9.99905890e-01 -4.02067194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters 0.013176208538795345 Centerline is valid? [True, True] Translation: X:114.59, Y:-150.11, Z:-4.02 [[ 8.11285523e-01 5.84565603e-01 -9.94257671e-03 1.14586675e+02] [ 5.84522562e-01 -8.11346444e-01 -7.09381686e-03 -1.50106642e+02] [-1.22136756e-02 -5.65494825e-05 -9.99925409e-01 -4.02341408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters 0.013069533465831795 Centerline is valid? [True, True] Translation: X:114.61, Y:-150.10, Z:-4.02 [[ 7.63796531e-01 6.45403488e-01 -8.31849825e-03 1.14614310e+02] [ 6.45365751e-01 -7.63841827e-01 -6.97927339e-03 -1.50095830e+02] [-1.08584643e-02 -3.77290642e-05 -9.99941044e-01 -4.02464478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters 0.01329962024747667 Centerline is valid? [True, True] Translation: X:114.64, Y:-150.09, Z:-4.02 [[ 7.09466943e-01 7.04701813e-01 -7.21194644e-03 1.14640767e+02] [ 7.04666209e-01 -7.09503595e-01 -7.08394121e-03 -1.50085108e+02] [-1.01089681e-02 -5.61928468e-05 -9.99948902e-01 -4.02434127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters 0.013355669584254463 Centerline is valid? [True, True] Translation: X:114.67, Y:-150.07, Z:-4.02 [[ 6.51025402e-01 7.59024882e-01 -6.86690334e-03 1.14667898e+02] [ 7.58983847e-01 -6.51061613e-01 -7.89282986e-03 -1.50071588e+02] [-1.04616314e-02 -7.34359810e-05 -9.99945273e-01 -4.02426369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters 0.01400561284088785 Centerline is valid? [True, True] Translation: X:114.69, Y:-150.06, Z:-4.02 [[ 5.86524021e-01 8.09902304e-01 -6.91601787e-03 1.14694010e+02] [ 8.09848503e-01 -5.86564781e-01 -9.33595489e-03 -1.50057659e+02] [-1.16179039e-02 -1.25164919e-04 -9.99932502e-01 -4.02209286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters 0.014698182211672288 Centerline is valid? [True, True] Translation: X:114.72, Y:-150.04, Z:-4.02 [[ 5.18583643e-01 8.55001052e-01 -6.64876146e-03 1.14716040e+02] [ 8.54935066e-01 -5.18626234e-01 -1.06236476e-02 -1.50037976e+02] [-1.25314520e-02 -1.75009454e-04 -9.99921463e-01 -4.02049854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters 0.015147988660596223 Centerline is valid? [True, True] Translation: X:114.74, Y:-150.02, Z:-4.02 [[ 4.50373924e-01 8.92823419e-01 -5.44702821e-03 1.14735817e+02] [ 8.92762375e-01 -4.50406834e-01 -1.04415260e-02 -1.50016058e+02] [-1.17758177e-02 -1.60310790e-04 -9.99930650e-01 -4.02106755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters 0.01400635990232208 Centerline is valid? [True, True] Translation: X:114.76, Y:-149.99, Z:-4.02 [[ 3.80394070e-01 9.24815893e-01 -3.98947055e-03 1.14755151e+02] [ 9.24768413e-01 -3.80414970e-01 -9.37190372e-03 -1.49993901e+02] [-1.01849398e-02 -1.24319743e-04 -9.99948124e-01 -4.02372274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters 0.013654841319405022 Centerline is valid? [True, True] Translation: X:114.77, Y:-149.97, Z:-4.02 [[ 3.10758454e-01 9.50484087e-01 -3.03050702e-03 1.14769765e+02] [ 9.50441270e-01 -3.10773221e-01 -9.02205084e-03 -1.49970964e+02] [-9.51711618e-03 -7.66403735e-05 -9.99954708e-01 -4.02434788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters 0.01330644396955414 Centerline is valid? [True, True] Translation: X:114.78, Y:-149.95, Z:-4.03 [[ 2.40480446e-01 9.70651286e-01 -2.28835638e-03 1.14781425e+02] [ 9.70608379e-01 -2.40491332e-01 -9.12655724e-03 -1.49945321e+02] [-9.40903440e-03 -2.63393220e-05 -9.99955734e-01 -4.02509695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters 0.013351770828824756 Centerline is valid? [True, True] Translation: X:114.79, Y:-149.92, Z:-4.02 [[ 1.66826225e-01 9.85985026e-01 -1.59369748e-03 1.14791568e+02] [ 9.85939847e-01 -1.66833837e-01 -9.43874277e-03 -1.49919730e+02] [-9.57234170e-03 3.33997202e-06 -9.99954184e-01 -4.02495281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters 0.013464953809646404 Centerline is valid? [True, True] Translation: X:114.80, Y:-149.89, Z:-4.03 [[ 9.18436622e-02 9.95773021e-01 -9.12258410e-04 1.14800334e+02] [ 9.95720422e-01 -9.18481872e-02 -1.02348141e-02 -1.49893520e+02] [-1.02753411e-02 3.16484820e-05 -9.99947207e-01 -4.02512894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters 0.013614077861146706 Centerline is valid? [True, True] Translation: X:114.81, Y:-149.87, Z:-4.02 [[ 1.37595298e-02 9.99905326e-01 -1.22249798e-04 1.14808761e+02] [ 9.99836924e-01 -1.37600184e-02 -1.16956055e-02 -1.49868326e+02] [-1.16961804e-02 3.86961700e-05 -9.99931597e-01 -4.02351364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters 0.013530541525315019 Centerline is valid? [True, True] Translation: X:114.82, Y:-149.84, Z:-4.02 [[-6.56117997e-02 9.97844868e-01 8.43867329e-04 1.14817801e+02] [ 9.97767837e-01 6.56172200e-02 -1.23985317e-02 -1.49841025e+02] [-1.24271835e-02 2.84937006e-05 -9.99922779e-01 -4.02394489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters 0.013418650955177332 Centerline is valid? [True, True] Translation: X:114.82, Y:-149.81, Z:-4.02 [[-1.46060785e-01 9.89273822e-01 1.88452703e-03 1.14824771e+02] [ 9.89191221e-01 1.46072942e-01 -1.27837729e-02 -1.49813295e+02] [-1.29219303e-02 -3.05031680e-06 -9.99916508e-01 -4.02425963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters 0.013364250856571457 Centerline is valid? [True, True] Translation: X:114.83, Y:-149.78, Z:-4.02 [[-2.26596288e-01 9.73984548e-01 2.86760163e-03 1.14831967e+02] [ 9.73903799e-01 2.26614427e-01 -1.25415875e-02 -1.49784016e+02] [-1.28651523e-02 -4.91090447e-05 -9.99917239e-01 -4.02455680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters 0.01392365582548461 Centerline is valid? [True, True] Translation: X:114.84, Y:-149.76, Z:-4.02 [[-3.07129827e-01 9.51660096e-01 3.78561483e-03 1.14837202e+02] [ 9.51583169e-01 3.07153136e-01 -1.21005958e-02 -1.49755834e+02] [-1.26784176e-02 -1.14126538e-04 -9.99919619e-01 -4.02357918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters 0.014600783433426467 Centerline is valid? [True, True] Translation: X:114.84, Y:-149.73, Z:-4.02 [[-3.86209849e-01 9.22397933e-01 4.89956045e-03 1.14838922e+02] [ 9.22317156e-01 3.86240876e-01 -1.22085969e-02 -1.49725730e+02] [-1.31535951e-02 -1.96131702e-04 -9.99913469e-01 -4.02410169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters 0.014864229191559023 Centerline is valid? [True, True] Translation: X:114.84, Y:-149.70, Z:-4.02 [[-4.58928272e-01 8.88453789e-01 5.89120029e-03 1.14835659e+02] [ 8.88374278e-01 4.58966029e-01 -1.18881122e-02 -1.49696819e+02] [-1.32658991e-02 -2.22199997e-04 -9.99911979e-01 -4.02406907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters 0.015633773479890055 Centerline is valid? [True, True] Translation: X:114.83, Y:-149.67, Z:-4.02 [[-5.30359948e-01 8.47744829e-01 6.85792773e-03 1.14830768e+02] [ 8.47667152e-01 5.30404213e-01 -1.14791308e-02 -1.49666999e+02] [-1.33688476e-02 -2.74831155e-04 -9.99910595e-01 -4.02396495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters 0.017235051915465864 Centerline is valid? [True, True] Translation: X:114.82, Y:-149.64, Z:-4.02 [[-5.99217986e-01 8.00554346e-01 7.10945191e-03 1.14824022e+02] [ 8.00491667e-01 5.99260078e-01 -1.00224812e-02 -1.49637875e+02] [-1.22839516e-02 -3.14594000e-04 -9.99924500e-01 -4.02481404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters 0.01899035509756608 Centerline is valid? [True, True] Translation: X:114.81, Y:-149.61, Z:-4.03 [[-6.62253970e-01 7.49246024e-01 7.07636108e-03 1.14813442e+02] [ 7.49198092e-01 6.62291701e-01 -8.48066534e-03 -1.49610530e+02] [-1.10407200e-02 -3.14758069e-04 -9.99939000e-01 -4.02517248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters 0.017601516488943186 Centerline is valid? [True, True] Translation: X:114.80, Y:-149.58, Z:-4.03 [[-7.19525990e-01 6.94428024e-01 7.21594550e-03 1.14799029e+02] [ 6.94388819e-01 7.19562108e-01 -7.38510688e-03 -1.49584457e+02] [-1.03207461e-02 -3.03104460e-04 -9.99946694e-01 -4.02649944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters 0.01894066042773307 Centerline is valid? [True, True] Translation: X:114.78, Y:-149.56, Z:-4.02 [[-7.71957237e-01 6.35619499e-01 8.35926445e-03 1.14784932e+02] [ 6.35577541e-01 7.72002425e-01 -7.31066702e-03 -1.49557793e+02] [-1.11001749e-02 -3.30561573e-04 -9.99938337e-01 -4.02435675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters 0.017783984644632725 Centerline is valid? [True, True] Translation: X:114.80, Y:-149.54, Z:-4.02 [[-8.14007520e-01 5.80769362e-01 9.93507106e-03 1.14802989e+02] [ 5.80720807e-01 8.14068072e-01 -7.51788555e-03 -1.49540894e+02] [-1.24539817e-02 -3.50112880e-04 -9.99922385e-01 -4.02283316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters 0.01664762847373011 Centerline is valid? [True, True] Translation: X:114.82, Y:-149.53, Z:-4.02 [[-8.51008153e-01 5.25035452e-01 1.10859302e-02 1.14820904e+02] [ 5.24985978e-01 8.51080297e-01 -7.21466399e-03 -1.49525911e+02] [-1.32229711e-02 -3.19779979e-04 -9.99912522e-01 -4.02225798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters 0.014820000505344915 Centerline is valid? [True, True] Translation: X:114.83, Y:-149.51, Z:-4.03 [[-8.83549650e-01 4.68227159e-01 1.01658056e-02 1.14831985e+02] [ 4.68193309e-01 8.83608103e-01 -5.63437480e-03 -1.49510009e+02] [-1.16207555e-02 -2.18687729e-04 -9.99932453e-01 -4.02531738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters 0.014062183649412547 Centerline is valid? [True, True] Translation: X:115.18, Y:-148.90, Z:-5.01 [[-8.32062654e-01 -5.54621848e-01 8.14520174e-03 1.15182433e+02] [ 5.54596191e-01 -8.32102517e-01 -5.33534484e-03 -1.48901790e+02] [ 9.73674169e-03 7.79566630e-05 9.99952594e-01 -5.01331044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters 0.013139255429025536 Centerline is valid? [True, True] Translation: X:114.80, Y:-149.50, Z:-4.03 [[-8.79538115e-01 4.75761925e-01 7.95584980e-03 1.14798443e+02] [ 4.75741839e-01 8.79574094e-01 -4.37212391e-03 -1.49503976e+02] [-9.07784947e-03 -6.05190130e-05 -9.99958794e-01 -4.02691642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters 0.012807382877101254 Centerline is valid? [True, True] Translation: X:115.16, Y:-148.88, Z:-5.01 [[-8.41770197e-01 -5.39787909e-01 7.20763144e-03 1.15156660e+02] [ 5.39768409e-01 -8.41801053e-01 -4.58825243e-03 -1.48876822e+02] [ 8.54407492e-03 2.81975989e-05 9.99963498e-01 -5.01139376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters 0.013046750775353803 Centerline is valid? [True, True] Translation: X:114.76, Y:-149.49, Z:-4.03 [[-8.76327934e-01 4.81655773e-01 7.55436970e-03 1.14763312e+02] [ 4.81638182e-01 8.76360494e-01 -4.11651124e-03 -1.49492064e+02] [-8.60309257e-03 3.10590994e-05 -9.99962992e-01 -4.02819063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters 0.013286469825192361 Centerline is valid? [True, True] Translation: X:114.78, Y:-149.47, Z:-4.03 [[-9.06832423e-01 4.21428284e-01 7.29095183e-03 1.14780847e+02] [ 4.21415157e-01 9.06861731e-01 -3.32669946e-03 -1.49471233e+02] [-8.01385044e-03 5.57586764e-05 -9.99967887e-01 -4.02899989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters 0.014012823808196163 Centerline is valid? [True, True] Translation: X:114.79, Y:-149.45, Z:-4.03 [[-9.32611098e-01 3.60806082e-01 7.45053807e-03 1.14794025e+02] [ 3.60795381e-01 9.32640854e-01 -2.78045464e-03 -1.49448021e+02] [-7.95188114e-03 9.50368602e-05 -9.99968379e-01 -4.02813458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters 0.01461473604836185 Centerline is valid? [True, True] Translation: X:114.81, Y:-149.42, Z:-4.03 [[-9.54400548e-01 2.98438840e-01 7.33841653e-03 1.14807738e+02] [ 2.98431050e-01 9.54428752e-01 -2.16009522e-03 -1.49422354e+02] [-7.64865204e-03 1.28415284e-04 -9.99970740e-01 -4.02775600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters 0.015523230941402517 Centerline is valid? [True, True] Translation: X:115.02, Y:-148.73, Z:-5.01 [[-9.45063017e-01 -3.26807797e-01 7.24962011e-03 1.15021559e+02] [ 3.26797159e-01 -9.45090815e-01 -2.63986837e-03 -1.48727175e+02] [ 7.71427895e-03 -1.25686710e-04 9.99970237e-01 -5.01188546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters 0.016755176484972586 Centerline is valid? [True, True] Translation: X:114.77, Y:-149.41, Z:-4.03 [[-9.53827825e-01 3.00280807e-01 6.62700711e-03 1.14766562e+02] [ 3.00274683e-01 9.53850834e-01 -1.92389850e-03 -1.49411255e+02] [-6.89888605e-03 1.54854540e-04 -9.99976190e-01 -4.02824106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters 0.015779693909628058 Centerline is valid? [True, True] Translation: X:114.77, Y:-149.38, Z:-4.03 [[-9.73008372e-01 2.30701900e-01 5.59836955e-03 1.14774391e+02] [ 2.30698797e-01 9.73024470e-01 -1.20264616e-03 -1.49378165e+02] [-5.72480332e-03 1.21352340e-04 -9.99983606e-01 -4.02969715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters 0.016041567005151223 Centerline is valid? [True, True] Translation: X:114.93, Y:-148.68, Z:-5.01 [[-9.66048688e-01 -2.58312860e-01 4.93955836e-03 1.14926198e+02] [ 2.58308701e-01 -9.66061305e-01 -1.47312817e-03 -1.48683617e+02] [ 5.15244414e-03 -1.47182627e-04 9.99986715e-01 -5.01105132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters 0.013059782486534855 Centerline is valid? [True, True] Translation: X:114.72, Y:-149.35, Z:-4.03 [[-9.76549875e-01 2.15224988e-01 5.34289731e-03 1.14722415e+02] [ 2.15222048e-01 9.76564489e-01 -1.12605853e-03 -1.49348987e+02] [-5.46003972e-03 5.02569869e-05 -9.99985093e-01 -4.02898281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters 0.012512921096244913 Centerline is valid? [True, True] Translation: X:114.72, Y:-149.31, Z:-4.03 [[-9.91049142e-01 1.33361249e-01 6.03121130e-03 1.14719371e+02] [ 1.33358669e-01 9.91067494e-01 -8.29764895e-04 -1.49307967e+02] [-6.08799595e-03 -1.80234770e-05 -9.99981468e-01 -4.02824719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters 0.01323202776105894 Centerline is valid? [True, True] Translation: X:114.72, Y:-149.27, Z:-4.03 [[-9.98498247e-01 5.43874833e-02 6.57661237e-03 1.14715690e+02] [ 5.43858110e-02 9.98519903e-01 -4.32982123e-04 -1.49270869e+02] [-6.59042715e-03 -7.46574943e-05 -9.99978280e-01 -4.02739918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters 0.014995336810217044 Centerline is valid? [True, True] Translation: X:114.71, Y:-149.23, Z:-4.03 [[-9.99643010e-01 -2.59309199e-02 6.43740299e-03 1.14707507e+02] [-2.59312369e-02 9.99663728e-01 3.42184728e-05 -1.49233031e+02] [-6.43612559e-03 -1.32723565e-04 -9.99979279e-01 -4.02732258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters 0.016679248166072313 Centerline is valid? [True, True] Translation: X:114.70, Y:-149.20, Z:-4.03 [[-9.94866173e-01 -1.00936669e-01 7.28610137e-03 1.14697869e+02] [-1.00935288e-01 9.94892837e-01 5.57878895e-04 -1.49199139e+02] [-7.30520050e-03 -1.80409900e-04 -9.99973300e-01 -4.02630060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters 0.0166027314631903 Centerline is valid? [True, True] Translation: X:114.68, Y:-149.17, Z:-4.02 [[-9.85062587e-01 -1.72003076e-01 8.16342295e-03 1.14678146e+02] [-1.71998921e-01 9.85096390e-01 1.21357104e-03 -1.49171871e+02] [-8.25049643e-03 -2.08656505e-04 -9.99965942e-01 -4.02499090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters 0.01609403542687138 Centerline is valid? [True, True] Translation: X:114.67, Y:-149.15, Z:-4.02 [[-9.70569594e-01 -2.40609742e-01 1.00804334e-02 1.14667706e+02] [-2.40599426e-01 9.70621909e-01 2.24190975e-03 -1.49146798e+02] [-1.03237149e-02 -2.49417060e-04 -9.99946678e-01 -4.02345734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters 0.01630978849920527 Centerline is valid? [True, True] Translation: X:114.65, Y:-149.12, Z:-4.02 [[-9.51224246e-01 -3.08271928e-01 1.18681199e-02 1.14654020e+02] [-3.08251667e-01 9.51298238e-01 3.54583626e-03 -1.49122001e+02] [-1.23832033e-02 -2.85482314e-04 -9.99923285e-01 -4.02151974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters 0.014933685586732191 Centerline is valid? [True, True] Translation: X:114.63, Y:-149.11, Z:-4.02 [[-9.28564261e-01 -3.70962471e-01 1.24602742e-02 1.14626434e+02] [-3.70932485e-01 9.28647828e-01 4.72258468e-03 -1.49108048e+02] [-1.33231082e-02 -2.36697101e-04 -9.99911216e-01 -4.02077740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters 0.014083725337925996 Centerline is valid? [True, True] Translation: X:114.58, Y:-149.10, Z:-4.02 [[-9.00826247e-01 -4.34024755e-01 1.16010580e-02 1.14584772e+02] [-4.33991358e-01 9.00900926e-01 5.38726742e-03 -1.49100195e+02] [-1.27896113e-02 -1.81767014e-04 -9.99918193e-01 -4.02119344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters 0.013179533708138848 Centerline is valid? [True, True] Translation: X:114.53, Y:-149.10, Z:-4.02 [[-8.68363143e-01 -4.95809412e-01 1.08847764e-02 1.14527953e+02] [-4.95772316e-01 8.68431350e-01 6.06632777e-03 -1.49104201e+02] [-1.24604235e-02 -1.28595372e-04 -9.99922358e-01 -4.02201591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters 0.012542528512652513 Centerline is valid? [True, True] Translation: X:114.46, Y:-149.12, Z:-4.02 [[-8.31536991e-01 -5.55381786e-01 9.86428499e-03 1.14463563e+02] [-5.55343784e-01 8.31595494e-01 6.49738544e-03 -1.49117160e+02] [-1.18116245e-02 -7.52530079e-05 -9.99930238e-01 -4.02182555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters 0.012470380084562319 Centerline is valid? [True, True] Translation: X:114.39, Y:-149.14, Z:-4.02 [[-7.89950157e-01 -6.13101192e-01 9.25628440e-03 1.14391893e+02] [-6.13059639e-01 7.90004384e-01 7.13804498e-03 -1.49140455e+02] [-1.16888491e-02 -3.59546238e-05 -9.99931682e-01 -4.02185913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters 0.012345113635740783 Centerline is valid? [True, True] Translation: X:114.32, Y:-149.18, Z:-4.02 [[-7.44172033e-01 -6.67930185e-01 8.78942919e-03 1.14316060e+02] [-6.67883529e-01 7.44223937e-01 7.89457201e-03 -1.49176420e+02] [-1.18143265e-02 4.60471727e-06 -9.99930208e-01 -4.02274584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters 0.012580560683263764 Centerline is valid? [True, True] Translation: X:114.24, Y:-149.22, Z:-4.02 [[-6.92920124e-01 -7.20973140e-01 7.70929890e-03 1.14236057e+02] [-7.20928189e-01 6.92963008e-01 8.05082806e-03 -1.49222191e+02] [-1.11466897e-02 2.07298810e-05 -9.99937874e-01 -4.02165509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters 0.01232807163829644 Centerline is valid? [True, True] Translation: X:114.16, Y:-149.27, Z:-4.02 [[-6.35262775e-01 -7.72265635e-01 6.85535707e-03 1.14155126e+02] [-7.72220633e-01 6.35299763e-01 8.33695160e-03 -1.49273257e+02] [-1.07935479e-02 2.30682918e-06 -9.99941748e-01 -4.02411984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters 0.012324931635626403 Centerline is valid? [True, True] Translation: X:114.07, Y:-149.34, Z:-4.02 [[-5.72997981e-01 -8.19535113e-01 5.95921792e-03 1.14071750e+02] [-8.19491229e-01 5.73028968e-01 8.48106400e-03 -1.49337923e+02] [-1.03653342e-02 -2.38942658e-05 -9.99946278e-01 -4.02354793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters 0.012464363967807503 Centerline is valid? [True, True] Translation: X:113.99, Y:-149.41, Z:-4.02 [[-5.07328137e-01 -8.61734423e-01 5.65213285e-03 1.13994430e+02] [-8.61682058e-01 5.07359618e-01 9.49994297e-03 -1.49406715e+02] [-1.10540918e-02 -5.07530977e-05 -9.99938900e-01 -4.02263109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters 0.012591598425545273 Centerline is valid? [True, True] Translation: X:113.92, Y:-149.49, Z:-4.02 [[-4.38138887e-01 -8.98893203e-01 5.03235836e-03 1.13921922e+02] [-8.98835990e-01 4.38167779e-01 1.01420286e-02 -1.49485402e+02] [-1.13216178e-02 -7.96477035e-05 -9.99935905e-01 -4.02199764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters 0.012552816426489342 Centerline is valid? [True, True] Translation: X:113.86, Y:-149.57, Z:-4.02 [[-3.67812887e-01 -9.29892404e-01 3.71454181e-03 1.13856657e+02] [-9.29847027e-01 3.67831635e-01 9.18668198e-03 -1.49571917e+02] [-9.90895178e-03 -7.49756411e-05 -9.99950902e-01 -4.02410014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters 0.012345332210719975 Centerline is valid? [True, True] Translation: X:113.80, Y:-149.67, Z:-4.03 [[-2.98181686e-01 -9.54506053e-01 2.42412695e-03 1.13799369e+02] [-9.54475582e-01 2.98191537e-01 7.62701600e-03 -1.49667608e+02] [-8.00288708e-03 -3.95334950e-05 -9.99967976e-01 -4.02672651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters 0.012109513761515336 Centerline is valid? [True, True] Translation: X:113.75, Y:-149.77, Z:-4.03 [[-2.27976148e-01 -9.73665634e-01 1.45258976e-03 1.13748362e+02] [-9.73646062e-01 2.27980776e-01 6.17349048e-03 -1.49768034e+02] [-6.34207806e-03 -6.89972139e-06 -9.99979889e-01 -4.02793944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters 0.012524756160441465 Centerline is valid? [True, True] Translation: X:113.71, Y:-149.87, Z:-4.03 [[-1.60269167e-01 -9.87073096e-01 7.05036457e-04 1.13710004e+02] [-9.87062683e-01 1.60270715e-01 4.53412497e-03 -1.49872837e+02] [-4.58850947e-03 3.07652544e-05 -9.99989472e-01 -4.02914045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters 0.013805669098288962 Centerline is valid? [True, True] Translation: X:113.68, Y:-149.98, Z:-4.03 [[-9.11286984e-02 -9.95839092e-01 2.51035451e-04 1.13676610e+02] [-9.95833820e-01 9.11290328e-02 3.24088151e-03 -1.49984383e+02] [-3.25027312e-03 4.53477217e-05 -9.99994717e-01 -4.02959141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters 0.014200229164053947 Centerline is valid? [True, True] Translation: X:113.65, Y:-150.10, Z:-4.03 [[-1.79320802e-02 -9.99839207e-01 1.39084693e-06 1.13647293e+02] [-9.99830280e-01 1.79319259e-02 4.22582921e-03 -1.50098721e+02] [-4.22517467e-03 7.43872973e-05 -9.99991071e-01 -4.02943170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters 0.01570325484923917 Centerline is valid? [True, True] Translation: X:113.63, Y:-150.22, Z:-4.03 [[ 5.46850676e-02 -9.98503529e-01 -4.95359160e-04 1.13628007e+02] [-9.98482770e-01 -5.46871257e-02 6.44018996e-03 -1.50215778e+02] [-6.45764217e-03 1.42425362e-04 -9.99979139e-01 -4.02779184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters 0.016450127074482568 Centerline is valid? [True, True] Translation: X:113.61, Y:-150.34, Z:-4.03 [[ 1.28108612e-01 -9.91759487e-01 -1.14182273e-03 1.13614367e+02] [-9.91732170e-01 -1.28113561e-01 7.36334078e-03 -1.50335354e+02] [-7.44894605e-03 1.89074969e-04 -9.99972238e-01 -4.02703727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters 0.017672851921281284 Centerline is valid? [True, True] Translation: X:113.61, Y:-150.45, Z:-4.03 [[ 2.02671976e-01 -9.79245100e-01 -1.76185708e-03 1.13608734e+02] [-9.79216409e-01 -2.02679530e-01 7.49882025e-03 -1.50452955e+02] [-7.70027535e-03 2.05438644e-04 -9.99970331e-01 -4.02633730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters 0.017087020025944654 Centerline is valid? [True, True] Translation: X:113.61, Y:-150.58, Z:-4.03 [[ 2.78106196e-01 -9.60547523e-01 -2.32376564e-03 1.13612910e+02] [-9.60519718e-01 -2.78115833e-01 7.31127235e-03 -1.50577533e+02] [-7.66910056e-03 1.98712581e-04 -9.99970572e-01 -4.02698359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters 0.01688741745290401 Centerline is valid? [True, True] Translation: X:113.63, Y:-150.70, Z:-4.03 [[ 3.52901321e-01 -9.35656241e-01 -2.83836590e-03 1.13625226e+02] [-9.35629986e-01 -3.52912689e-01 7.01161839e-03 -1.50698275e+02] [-7.56215985e-03 1.81250857e-04 -9.99971390e-01 -4.02851699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters 0.0146835942362483 Centerline is valid? [True, True] Translation: X:113.64, Y:-150.82, Z:-4.03 [[ 4.27197346e-01 -9.04151157e-01 -3.62110764e-03 1.13640401e+02] [-9.04121835e-01 -4.27212662e-01 7.28343012e-03 -1.50819761e+02] [-8.13230481e-03 1.62460472e-04 -9.99966919e-01 -4.02901036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters 0.014471975975224476 Centerline is valid? [True, True] Translation: X:113.67, Y:-150.94, Z:-4.03 [[ 5.01391501e-01 -8.65209501e-01 -4.36828357e-03 1.13667291e+02] [-8.65178535e-01 -5.01410517e-01 7.32089761e-03 -1.50937092e+02] [-8.52441349e-03 1.08709340e-04 -9.99963661e-01 -4.02712791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters 0.0132461733021161 Centerline is valid? [True, True] Translation: X:113.70, Y:-151.05, Z:-4.03 [[ 5.70621479e-01 -8.21197995e-01 -4.99805708e-03 1.13701268e+02] [-8.21167448e-01 -5.70643364e-01 7.08338723e-03 -1.51051073e+02] [-8.66897149e-03 6.23088843e-05 -9.99962422e-01 -4.02673617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters 0.012407410833916931 Centerline is valid? [True, True] Translation: X:113.74, Y:-151.16, Z:-4.03 [[ 6.40423061e-01 -7.68010171e-01 -4.32212669e-03 1.13740131e+02] [-7.67992363e-01 -6.40437645e-01 5.23014655e-03 -1.51164838e+02] [-6.78485838e-03 -3.01461769e-05 -9.99976982e-01 -4.02967181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters 0.01283793696851454 Centerline is valid? [True, True] Translation: X:113.79, Y:-151.26, Z:-4.03 [[ 7.00632136e-01 -7.13509313e-01 -4.36693500e-03 1.13786722e+02] [-7.13494915e-01 -7.00645743e-01 4.53318330e-03 -1.51264549e+02] [-6.29414292e-03 -6.03079834e-05 -9.99980190e-01 -4.03022407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters 0.01370889214455058 Centerline is valid? [True, True] Translation: X:113.84, Y:-151.36, Z:-4.03 [[ 7.57075974e-01 -6.53306868e-01 -5.10938017e-03 1.13843038e+02] [-6.53290992e-01 -7.57093207e-01 4.55591476e-03 -1.51362808e+02] [-6.84468742e-03 -1.11261570e-04 -9.99976569e-01 -4.03014586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters 0.014892149861279989 Centerline is valid? [True, True] Translation: X:113.86, Y:-151.39, Z:-4.03 [[ 8.08236947e-01 -5.88817490e-01 -6.85577745e-03 1.13861694e+02] [-5.88794451e-01 -8.08266004e-01 5.21163687e-03 -1.51394892e+02] [-8.60999478e-03 -1.75593750e-04 -9.99962918e-01 -4.02781963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters 0.01588609876604288 Centerline is valid? [True, True] Translation: X:113.88, Y:-151.42, Z:-4.03 [[ 8.54013532e-01 -5.20154122e-01 -1.00287956e-02 1.13884327e+02] [-5.20114184e-01 -8.54072364e-01 6.45237597e-03 -1.51424794e+02] [-1.19215471e-02 -2.94297557e-04 -9.99928893e-01 -4.02547000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters 0.015503184871950534 Centerline is valid? [True, True] Translation: X:113.91, Y:-151.45, Z:-4.02 [[ 8.91389103e-01 -4.53074866e-01 -1.21915253e-02 1.13911953e+02] [-4.53027525e-01 -8.91472413e-01 6.55739899e-03 -1.51447987e+02] [-1.38394012e-02 -3.22097469e-04 -9.99904179e-01 -4.02430008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters 0.014339320876025512 Centerline is valid? [True, True] Translation: X:113.94, Y:-151.47, Z:-4.03 [[ 9.22319450e-01 -3.86233185e-01 -1.22784078e-02 1.13942423e+02] [-3.86195328e-01 -9.22401140e-01 5.41344715e-03 -1.51465544e+02] [-1.34164702e-02 -2.51063891e-04 -9.99909964e-01 -4.02517739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters 0.012521930956106958 Centerline is valid? [True, True] Translation: X:113.98, Y:-151.47, Z:-4.03 [[ 9.45936306e-01 -3.24189504e-01 -1.02795986e-02 1.13976245e+02] [-3.24169506e-01 -9.45992156e-01 3.60159429e-03 -1.51474772e+02] [-1.08920187e-02 -7.45464146e-05 -9.99940677e-01 -4.02751304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters 0.012955798231182446 Centerline is valid? [True, True] Translation: X:114.01, Y:-151.48, Z:-4.03 [[ 9.64422565e-01 -2.64239861e-01 -8.14935578e-03 1.14010211e+02] [-2.64231065e-01 -9.64456993e-01 2.15729933e-03 -1.51477226e+02] [-8.42974764e-03 7.27648063e-05 -9.99964466e-01 -4.02978939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters 0.01570152277176722 Centerline is valid? [True, True] Translation: X:114.04, Y:-151.48, Z:-4.03 [[ 9.79553413e-01 -2.01022118e-01 -8.07581079e-03 1.14040461e+02] [-2.01016804e-01 -9.79586686e-01 1.47278064e-03 -1.51477509e+02] [-8.20701821e-03 1.80706374e-04 -9.99966306e-01 -4.03036717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters 0.01676381981292811 Centerline is valid? [True, True] Translation: X:114.07, Y:-151.48, Z:-4.03 [[ 9.91945262e-01 -1.26371611e-01 -8.64942058e-03 1.14067829e+02] [-1.26368692e-01 -9.91982948e-01 8.85414289e-04 -1.51484604e+02] [-8.69196896e-03 2.14733453e-04 -9.99962201e-01 -4.03012031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters 0.017561325359608405 Centerline is valid? [True, True] Translation: X:114.09, Y:-151.49, Z:-4.03 [[ 9.98696218e-01 -5.00604625e-02 -9.99071510e-03 1.14094989e+02] [-5.00606041e-02 -9.98746154e-01 2.36053186e-04 -1.51487955e+02] [-9.99000521e-03 2.64395810e-04 -9.99950064e-01 -4.02922511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters 0.016425018648564684 Centerline is valid? [True, True] Translation: X:114.12, Y:-151.50, Z:-4.03 [[ 9.99432096e-01 3.19415724e-02 -1.07341328e-02 1.14122693e+02] [ 3.19370929e-02 -9.99489708e-01 -5.88508396e-04 -1.51496622e+02] [-1.07474531e-02 2.45357183e-04 -9.99942214e-01 -4.02909027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters 0.013998528696522851 Centerline is valid? [True, True] Translation: X:114.15, Y:-151.51, Z:-4.03 [[ 9.92825014e-01 1.19158883e-01 -9.98261879e-03 1.14152235e+02] [ 1.19151462e-01 -9.92875189e-01 -1.33702455e-03 -1.51509735e+02] [-1.00708129e-02 1.37987796e-04 -9.99949279e-01 -4.02973204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters 0.012522774108112901 Centerline is valid? [True, True] Translation: X:114.18, Y:-151.52, Z:-4.03 [[ 9.78239667e-01 2.07286761e-01 -8.90799929e-03 1.14181540e+02] [ 2.07277939e-01 -9.78280225e-01 -1.91250189e-03 -1.51518515e+02] [-9.11095586e-03 2.44534766e-05 -9.99958494e-01 -4.03065900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters 0.012584324863185274 Centerline is valid? [True, True] Translation: X:114.21, Y:-151.52, Z:-4.03 [[ 9.56312354e-01 2.92205779e-01 -9.08096913e-03 1.14213640e+02] [ 2.92193238e-01 -9.56355467e-01 -2.70794174e-03 -1.51524550e+02] [-9.47591070e-03 -6.37596287e-05 -9.99955101e-01 -4.03093202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters 0.013720317296095524 Centerline is valid? [True, True] Translation: X:114.25, Y:-151.53, Z:-4.03 [[ 9.27443936e-01 3.73855822e-01 -8.92019269e-03 1.14245773e+02] [ 3.73840010e-01 -9.27486822e-01 -3.44136800e-03 -1.51527871e+02] [-9.55993663e-03 -1.43049039e-04 -9.99954293e-01 -4.02983130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters 0.01432880092401844 Centerline is valid? [True, True] Translation: X:114.28, Y:-151.53, Z:-4.03 [[ 8.93342387e-01 4.49290801e-01 -8.78378865e-03 1.14277603e+02] [ 4.49271154e-01 -8.93385550e-01 -4.20589415e-03 -1.51527130e+02] [-9.73697940e-03 -1.88999349e-04 -9.99952577e-01 -4.02996283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters 0.015285098597660748 Centerline is valid? [True, True] Translation: X:114.31, Y:-151.52, Z:-4.03 [[ 8.53633699e-01 5.20816349e-01 -7.73557819e-03 1.14308870e+02] [ 5.20797123e-01 -8.53668723e-01 -4.47965552e-03 -1.51522727e+02] [-8.93669899e-03 -2.04681958e-04 -9.99960046e-01 -4.03023788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters 0.015483099968200513 Centerline is valid? [True, True] Translation: X:114.34, Y:-151.51, Z:-4.03 [[ 8.10143972e-01 5.86196031e-01 -6.39994910e-03 1.14338027e+02] [ 5.86179477e-01 -8.10169230e-01 -4.40902664e-03 -1.51512905e+02] [-7.76959576e-03 -1.79572461e-04 -9.99969800e-01 -4.03083897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters 0.015308739590608017 Centerline is valid? [True, True] Translation: X:114.37, Y:-151.50, Z:-4.03 [[ 7.62810453e-01 6.46592592e-01 -6.18329210e-03 1.14365705e+02] [ 6.46573152e-01 -7.62835494e-01 -5.01682404e-03 -1.51499747e+02] [-7.96067595e-03 -1.71064844e-04 -9.99968299e-01 -4.03058352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters 0.015090129831729134 Centerline is valid? [True, True] Translation: X:114.39, Y:-151.49, Z:-4.03 [[ 7.11109728e-01 7.03048939e-01 -6.71886654e-03 1.14390355e+02] [ 7.03019957e-01 -7.11141446e-01 -6.38626514e-03 -1.51485030e+02] [-9.26792140e-03 -1.82162001e-04 -9.99957035e-01 -4.02832144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters 0.014131916953729487 Centerline is valid? [True, True] Translation: X:114.41, Y:-151.47, Z:-4.03 [[ 6.56290505e-01 7.54463522e-01 -8.21987453e-03 1.14413397e+02] [ 7.54408175e-01 -6.56341948e-01 -9.14069612e-03 -1.51467318e+02] [-1.22913702e-02 -2.02188468e-04 -9.99924438e-01 -4.02630719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters 0.014526043442608164 Centerline is valid? [True, True] Translation: X:114.44, Y:-151.45, Z:-4.02 [[ 5.95066360e-01 8.03633631e-01 -8.30753439e-03 1.14436080e+02] [ 8.03560590e-01 -5.95124303e-01 -1.08370535e-02 -1.51450531e+02] [-1.36530363e-02 -2.26841241e-04 -9.99906767e-01 -4.02456710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters 0.01412824641501296 Centerline is valid? [True, True] Translation: X:114.46, Y:-151.43, Z:-4.02 [[ 5.30020223e-01 8.47950997e-01 -7.59406089e-03 1.14459365e+02] [ 8.47870283e-01 -5.30074571e-01 -1.17018321e-02 -1.51431574e+02] [-1.39479987e-02 -2.36570922e-04 -9.99902694e-01 -4.02454444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters 0.013922126475951247 Centerline is valid? [True, True] Translation: X:114.48, Y:-151.41, Z:-4.03 [[ 4.62851567e-01 8.86414355e-01 -6.16588728e-03 1.14479862e+02] [ 8.86341580e-01 -4.62892588e-01 -1.13602176e-02 -1.51410471e+02] [-1.29240035e-02 -2.06987736e-04 -9.99916460e-01 -4.02619409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters 0.013867867233288384 Centerline is valid? [True, True] Translation: X:114.50, Y:-151.39, Z:-4.03 [[ 3.92857261e-01 9.19587787e-01 -4.63403919e-03 1.14500054e+02] [ 9.19528898e-01 -3.92884554e-01 -1.04083583e-02 -1.51389132e+02] [-1.13920416e-02 -1.72133815e-04 -9.99935094e-01 -4.02766619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters 0.013640704106820927 Centerline is valid? [True, True] Translation: X:114.52, Y:-151.37, Z:-4.03 [[ 3.20778146e-01 9.47149263e-01 -3.10703075e-03 1.14519387e+02] [ 9.47108664e-01 -3.20793167e-01 -8.77059204e-03 -1.51366717e+02] [-9.30377403e-03 -1.29281483e-04 -9.99956711e-01 -4.02878931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters 0.013474064224329165 Centerline is valid? [True, True] Translation: X:114.54, Y:-151.34, Z:-4.03 [[ 2.46528992e-01 9.69132463e-01 -2.39294579e-03 1.14536780e+02] [ 9.69091402e-01 -2.46540576e-01 -8.92188090e-03 -1.51343178e+02] [-9.23644264e-03 -1.19480890e-04 -9.99957336e-01 -4.02860710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters 0.013714123337029555 Centerline is valid? [True, True] Translation: X:114.55, Y:-151.32, Z:-4.03 [[ 1.70328035e-01 9.85385688e-01 -1.84559742e-03 1.14550685e+02] [ 9.85335574e-01 -1.70337987e-01 -9.93864352e-03 -1.51318969e+02] [-1.01077724e-02 -1.25703179e-04 -9.99948907e-01 -4.02757655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters 0.01348593863032709 Centerline is valid? [True, True] Translation: X:114.56, Y:-151.29, Z:-4.03 [[ 9.33260260e-02 9.95634841e-01 -1.23152222e-03 1.14563108e+02] [ 9.95566533e-01 -9.33340498e-02 -1.16633629e-02 -1.51292234e+02] [-1.17273934e-02 -1.37566999e-04 -9.99931222e-01 -4.02675367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters 0.013459293216455816 Centerline is valid? [True, True] Translation: X:114.57, Y:-151.27, Z:-4.03 [[ 1.69701136e-02 9.99855946e-01 -3.21525924e-04 1.14573146e+02] [ 9.99783755e-01 -1.69727522e-02 -1.20153449e-02 -1.51266261e+02] [-1.20190712e-02 -1.17554628e-04 -9.99927762e-01 -4.02565277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters 0.012897364834090418 Centerline is valid? [True, True] Translation: X:114.58, Y:-151.24, Z:-4.03 [[-5.80240324e-02 9.98315030e-01 5.59115008e-04 1.14577874e+02] [ 9.98256477e-01 5.80266848e-02 -1.08124689e-02 -1.51238180e+02] [-1.08266938e-02 -6.92428679e-05 -9.99941387e-01 -4.02744891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters 0.012678650102702176 Centerline is valid? [True, True] Translation: X:114.58, Y:-151.21, Z:-4.03 [[-1.33494390e-01 9.91048813e-01 1.22370735e-03 1.14582002e+02] [ 9.91004670e-01 1.33499994e-01 -9.35387388e-03 -1.51209806e+02] [-9.43351054e-03 -3.59899883e-05 -9.99955503e-01 -4.02846714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters 0.01256780405558875 Centerline is valid? [True, True] Translation: X:114.58, Y:-151.18, Z:-4.03 [[-2.07923890e-01 9.78143747e-01 1.57017800e-03 1.14583507e+02] [ 9.78115597e-01 2.07929819e-01 -7.42094589e-03 -1.51183406e+02] [-7.58523865e-03 -7.17634915e-06 -9.99971232e-01 -4.02830249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters 0.012526816687956783 Centerline is valid? [True, True] Translation: X:114.59, Y:-151.15, Z:-4.03 [[-2.83903338e-01 9.58850847e-01 1.98719629e-03 1.14585568e+02] [ 9.58827197e-01 2.83910292e-01 -6.73443409e-03 -1.51154614e+02] [-7.02150330e-03 -6.55047015e-06 -9.99975349e-01 -4.02793707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters 0.01258088544293415 Centerline is valid? [True, True] Translation: X:114.59, Y:-151.13, Z:-4.03 [[-3.60027561e-01 9.32937461e-01 2.80155156e-03 1.14586044e+02] [ 9.32908718e-01 3.60038460e-01 -7.32334324e-03 -1.51125434e+02] [-7.84088756e-03 -2.30135267e-05 -9.99969260e-01 -4.02693370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters 0.012746432915974583 Centerline is valid? [True, True] Translation: X:114.58, Y:-151.10, Z:-4.03 [[-4.35131047e-01 9.00359627e-01 3.67610825e-03 1.14584624e+02] [ 9.00326426e-01 4.35146572e-01 -7.73220653e-03 -1.51095730e+02] [-8.56141249e-03 -5.48257245e-05 -9.99963349e-01 -4.02549655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters 0.013063339462853252 Centerline is valid? [True, True] Translation: X:114.58, Y:-151.07, Z:-4.02 [[-5.06997922e-01 8.61935892e-01 4.43008790e-03 1.14580554e+02] [ 8.61901525e-01 5.07017270e-01 -7.69739896e-03 -1.51067024e+02] [-8.88079551e-03 -8.42657672e-05 -9.99960561e-01 -4.02437794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters 0.013053067779874947 Centerline is valid? [True, True] Translation: X:114.57, Y:-151.04, Z:-4.03 [[-5.73859450e-01 8.18943200e-01 4.16734613e-03 1.14573123e+02] [ 8.18920614e-01 5.73874577e-01 -6.08260902e-03 -1.51038421e+02] [-7.37284529e-03 -7.78370111e-05 -9.99972817e-01 -4.02515106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters 0.013285766139808601 Centerline is valid? [True, True] Translation: X:114.56, Y:-151.01, Z:-4.03 [[-6.37380978e-01 7.70540550e-01 3.57075379e-03 1.14564069e+02] [ 7.70527854e-01 6.37390976e-01 -4.42375222e-03 -1.51010200e+02] [-5.68464671e-03 -6.82502583e-05 -9.99983840e-01 -4.02555762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters 0.013359343270148363 Centerline is valid? [True, True] Translation: X:114.55, Y:-150.98, Z:-4.03 [[-6.96539048e-01 7.17507542e-01 4.03511952e-03 1.14552077e+02] [ 7.17494859e-01 6.96550732e-01 -4.26676650e-03 -1.50982995e+02] [-5.87210259e-03 -7.67919633e-05 -9.99982756e-01 -4.02558023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters 0.013871150407432342 Centerline is valid? [True, True] Translation: X:114.54, Y:-150.96, Z:-4.02 [[-7.52064907e-01 6.59072153e-01 4.71947877e-03 1.14538962e+02] [ 6.59058358e-01 7.52079708e-01 -4.26542886e-03 -1.50956352e+02] [-6.36064960e-03 -9.74674317e-05 -9.99979766e-01 -4.02411894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters 0.014478690228354045 Centerline is valid? [True, True] Translation: X:114.56, Y:-150.94, Z:-4.02 [[-7.98475254e-01 6.01997781e-01 5.99506035e-03 1.14559822e+02] [ 6.01979507e-01 7.98497747e-01 -4.69267085e-03 -1.50935931e+02] [-7.61201962e-03 -1.38078072e-04 -9.99971019e-01 -4.02195070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters 0.014485625127625962 Centerline is valid? [True, True] Translation: X:114.58, Y:-150.92, Z:-4.02 [[-8.39136230e-01 5.43880929e-01 6.62750332e-03 1.14576907e+02] [ 5.43862580e-01 8.39162388e-01 -4.46995719e-03 -1.50915549e+02] [-7.99267598e-03 -1.46451965e-04 -9.99968047e-01 -4.02066784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters 0.013869802101365599 Centerline is valid? [True, True] Translation: X:114.59, Y:-150.90, Z:-4.02 [[-8.74378817e-01 4.85211108e-01 5.64496455e-03 1.14591751e+02] [ 4.85200228e-01 8.74397032e-01 -3.25091870e-03 -1.50895902e+02] [-6.51332211e-03 -1.03596354e-04 -9.99978783e-01 -4.02116082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters 0.013294747236305197 Centerline is valid? [True, True] Translation: X:114.61, Y:-150.88, Z:-4.02 [[-9.05648138e-01 4.24009626e-01 4.15779311e-03 1.14606243e+02] [ 4.24004833e-01 9.05657680e-01 -2.01698998e-03 -1.50875134e+02] [-4.62076042e-03 -6.37588428e-05 -9.99989322e-01 -4.02244768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters 0.012752083539761407 Centerline is valid? [True, True] Translation: X:114.62, Y:-150.85, Z:-4.02 [[-9.31951649e-01 3.62569609e-01 3.06650435e-03 1.14619237e+02] [ 3.62567533e-01 9.31956693e-01 -1.22751574e-03 -1.50854134e+02] [-3.30290916e-03 -3.21703960e-05 -9.99994545e-01 -4.02307348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters 0.012579334981713113 Centerline is valid? [True, True] Translation: X:114.88, Y:-150.20, Z:-5.02 [[-8.98016387e-01 -4.39952099e-01 2.95269641e-03 1.14883289e+02] [ 4.39949831e-01 -8.98021241e-01 -1.41299880e-03 -1.50195251e+02] [ 3.27323588e-03 3.01422040e-05 9.99994643e-01 -5.01701422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters 0.012247460518049055 Centerline is valid? [True, True] Translation: X:114.58, Y:-150.84, Z:-4.02 [[-9.31520363e-01 3.63672368e-01 3.49615714e-03 1.14580453e+02] [ 3.63669732e-01 9.31526923e-01 -1.38461962e-03 -1.50843961e+02] [-3.76031240e-03 -1.83548408e-05 -9.99992930e-01 -4.02230806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters 0.012318914872265116 Centerline is valid? [True, True] Translation: X:114.59, Y:-150.82, Z:-4.02 [[-9.54642932e-01 2.97699360e-01 5.65355584e-03 1.14590950e+02] [ 2.97693995e-01 9.54659673e-01 -1.78745734e-03 -1.50818666e+02] [-5.92934667e-03 -2.33538908e-05 -9.99982421e-01 -4.01992111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters 0.01237534585838698 Centerline is valid? [True, True] Translation: X:114.59, Y:-150.79, Z:-4.02 [[-9.73875241e-01 2.26953134e-01 7.69996380e-03 1.14594519e+02] [ 2.26945632e-01 9.73905680e-01 -1.84603664e-03 -1.50788505e+02] [-7.91800227e-03 -5.03362288e-05 -9.99968651e-01 -4.01835019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters 0.01298227466700405 Centerline is valid? [True, True] Translation: X:114.77, Y:-150.11, Z:-5.02 [[-9.51728559e-01 -3.06863892e-01 6.87756351e-03 1.14765592e+02] [ 3.06855886e-01 -9.51753409e-01 -2.21674317e-03 -1.50105467e+02] [ 7.22598295e-03 6.83061879e-07 9.99973892e-01 -5.02152268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters 0.012758376592818137 Centerline is valid? [True, True] Translation: X:114.55, Y:-150.77, Z:-4.02 [[-9.75474740e-01 2.20019014e-01 6.37698091e-03 1.14551335e+02] [ 2.20013887e-01 9.75495582e-01 -1.50329535e-03 -1.50772898e+02] [-6.55147027e-03 -6.34022798e-05 -9.99978537e-01 -4.01978076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters 0.012610220772385862 Centerline is valid? [True, True] Translation: X:114.56, Y:-150.75, Z:-4.02 [[-9.88354513e-01 1.52067859e-01 5.54277321e-03 1.14558278e+02] [ 1.52065216e-01 9.88370054e-01 -8.97640302e-04 -1.50747728e+02] [-5.61481330e-03 -4.43238371e-05 -9.99984236e-01 -4.02068442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters 0.012244118178255691 Centerline is valid? [True, True] Translation: X:114.56, Y:-150.72, Z:-4.02 [[-9.96425538e-01 8.43310561e-02 4.94174708e-03 1.14561272e+02] [ 8.43298929e-02 9.96437792e-01 -4.43643770e-04 -1.50722679e+02] [-4.96155649e-03 -2.53209800e-05 -9.99987691e-01 -4.02201705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters 0.012177525796060221 Centerline is valid? [True, True] Translation: X:114.56, Y:-150.69, Z:-4.02 [[-9.99875338e-01 1.48911719e-02 5.24997892e-03 1.14558499e+02] [ 1.48908667e-02 9.99889120e-01 -9.72202933e-05 -1.50694190e+02] [-5.25084453e-03 -1.90314372e-05 -9.99986214e-01 -4.02213434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters 0.012237991434769554 Centerline is valid? [True, True] Translation: X:114.56, Y:-150.67, Z:-4.02 [[-9.98415752e-01 -5.59540918e-02 5.92668260e-03 1.14557327e+02] [-5.59532262e-02 9.98433342e-01 3.11894140e-04 -1.50665151e+02] [-5.93484927e-03 -2.02169895e-05 -9.99982388e-01 -4.02108211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters 0.012249306628537323 Centerline is valid? [True, True] Translation: X:114.55, Y:-150.64, Z:-4.02 [[-9.92088416e-01 -1.25330921e-01 7.26189568e-03 1.14549982e+02] [-1.25327668e-01 9.92114993e-01 9.03028325e-04 -1.50637716e+02] [-7.31781295e-03 -1.42325131e-05 -9.99973224e-01 -4.02032341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters 0.01234317662363406 Centerline is valid? [True, True] Translation: X:114.47, Y:-149.95, Z:-5.02 [[-9.98382047e-01 5.61857152e-02 8.74373436e-03 1.14472007e+02] [-5.61825901e-02 -9.98420329e-01 6.02818166e-04 -1.49948545e+02] [ 8.76379191e-03 1.10597191e-04 9.99961591e-01 -5.02032686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters 0.012348057069217986 Centerline is valid? [True, True] Translation: X:114.46, Y:-150.65, Z:-4.02 [[-9.91701012e-01 -1.28217102e-01 9.45929208e-03 1.14464274e+02] [-1.28211190e-01 9.91746124e-01 1.23121272e-03 -1.50645329e+02] [-9.53907879e-03 8.20780159e-06 -9.99954502e-01 -4.01950092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters 0.012243691662348732 Centerline is valid? [True, True] Translation: X:114.45, Y:-150.62, Z:-4.02 [[-9.80363843e-01 -1.97018640e-01 8.38986934e-03 1.14454071e+02] [-1.97011246e-01 9.80399743e-01 1.70705164e-03 -1.50618742e+02] [-8.56174673e-03 2.06330951e-05 -9.99963347e-01 -4.02047133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters 0.01225225536854023 Centerline is valid? [True, True] Translation: X:114.43, Y:-150.59, Z:-4.02 [[-9.63835115e-01 -2.66378149e-01 8.03449027e-03 1.14434424e+02] [-2.66368704e-01 9.63868602e-01 2.24335841e-03 -1.50594732e+02] [-8.34177456e-03 2.20908594e-05 -9.99965207e-01 -4.02030499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters 0.012238692404524142 Centerline is valid? [True, True] Translation: X:114.41, Y:-150.57, Z:-4.02 [[-9.42292839e-01 -3.34694511e-01 7.98687937e-03 1.14406903e+02] [-3.34682258e-01 9.42326686e-01 2.86397512e-03 -1.50573614e+02] [-8.48480632e-03 2.56364176e-05 -9.99964003e-01 -4.02096899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters 0.012086576851127134 Centerline is valid? [True, True] Translation: X:114.36, Y:-150.56, Z:-4.02 [[-9.15498170e-01 -4.02264861e-01 6.78836113e-03 1.14358182e+02] [-4.02253616e-01 9.15523337e-01 3.00779152e-03 -1.50560071e+02] [-7.42483187e-03 2.29848166e-05 -9.99972435e-01 -4.02208962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters 0.012091603940169001 Centerline is valid? [True, True] Translation: X:114.29, Y:-150.56, Z:-4.02 [[-8.83087664e-01 -4.69168424e-01 6.09651866e-03 1.14294277e+02] [-4.69157115e-01 8.83108708e-01 3.25767621e-03 -1.50557212e+02] [-6.91228753e-03 1.65885737e-05 -9.99976110e-01 -4.02311345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters 0.011975571518686294 Centerline is valid? [True, True] Translation: X:114.22, Y:-150.56, Z:-4.02 [[-8.45406858e-01 -5.34087874e-01 6.11447791e-03 1.14222840e+02] [-5.34073828e-01 8.45428970e-01 3.87348674e-03 -1.50561502e+02] [-7.23813906e-03 9.08963420e-06 -9.99973804e-01 -4.02343659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters 0.011901545868131939 Centerline is valid? [True, True] Translation: X:114.15, Y:-150.58, Z:-4.02 [[-8.02610169e-01 -5.96474171e-01 5.95661821e-03 1.14146478e+02] [-5.96457752e-01 8.02632272e-01 4.42567285e-03 -1.50575651e+02] [-7.42077355e-03 -7.81069486e-07 -9.99972466e-01 -4.02329762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters 0.011876604935682695 Centerline is valid? [True, True] Translation: X:114.06, Y:-150.60, Z:-4.02 [[-7.54082955e-01 -6.56752608e-01 5.90838002e-03 1.14063445e+02] [-6.56732685e-01 7.54106101e-01 5.11554106e-03 -1.50599764e+02] [-7.81519035e-03 -2.26839613e-05 -9.99969461e-01 -4.02293193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters 0.01199555216981595 Centerline is valid? [True, True] Translation: X:113.98, Y:-150.63, Z:-4.02 [[-7.00784340e-01 -7.13347005e-01 6.11226607e-03 1.13977504e+02] [-7.13320499e-01 7.00810993e-01 6.14960229e-03 -1.50634120e+02] [-8.67034363e-03 -5.04596993e-05 -9.99962411e-01 -4.02264614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters 0.012423095198921331 Centerline is valid? [True, True] Translation: X:113.89, Y:-150.68, Z:-4.02 [[-6.42952215e-01 -7.65884247e-01 5.81113686e-03 1.13893210e+02] [-7.65854075e-01 6.42978470e-01 6.79876022e-03 -1.50675810e+02] [-8.94349924e-03 -7.92049013e-05 -9.99960003e-01 -4.02221853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters 0.012557810704171227 Centerline is valid? [True, True] Translation: X:113.81, Y:-150.73, Z:-4.02 [[-5.82194259e-01 -8.13033222e-01 5.17928425e-03 1.13812870e+02] [-8.13002439e-01 5.82217289e-01 7.07555118e-03 -1.50727889e+02] [-8.76812700e-03 -9.14254545e-05 -9.99961555e-01 -4.02225073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters 0.01269551385962711 Centerline is valid? [True, True] Translation: X:113.73, Y:-150.79, Z:-4.02 [[-5.18014567e-01 -8.55364537e-01 3.52390741e-03 1.13731026e+02] [-8.55345772e-01 5.18026547e-01 5.66625277e-03 -1.50791731e+02] [-6.67218926e-03 -7.89578366e-05 -9.99977738e-01 -4.02392916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters 0.013034350834045838 Centerline is valid? [True, True] Translation: X:113.66, Y:-150.86, Z:-4.02 [[-4.51009009e-01 -8.92514982e-01 2.80733318e-03 1.13656024e+02] [-8.92498748e-01 4.51017739e-01 5.38359434e-03 -1.50862369e+02] [-6.07109567e-03 -7.74918020e-05 -9.99981568e-01 -4.02409608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters 0.012977708864601143 Centerline is valid? [True, True] Translation: X:113.59, Y:-150.94, Z:-4.02 [[-3.81570150e-01 -9.24335833e-01 2.73660593e-03 1.13586708e+02] [-9.24313766e-01 3.81579952e-01 6.38769627e-03 -1.50941491e+02] [-6.94861051e-03 -9.21283113e-05 -9.99975854e-01 -4.02376526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters 0.013162350997783397 Centerline is valid? [True, True] Translation: X:113.52, Y:-151.03, Z:-4.02 [[-3.09847670e-01 -9.50782873e-01 2.52011961e-03 1.13520067e+02] [-9.50754199e-01 3.09857899e-01 7.38486260e-03 -1.51034485e+02] [-7.80227985e-03 -1.07831829e-04 -9.99969556e-01 -4.02314154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters 0.013705071673324106 Centerline is valid? [True, True] Translation: X:113.46, Y:-151.13, Z:-4.02 [[-2.35151129e-01 -9.71956379e-01 2.17795674e-03 1.13462596e+02] [-9.71919813e-01 2.35161177e-01 8.43199342e-03 -1.51126202e+02] [-8.70770066e-03 -1.34006527e-04 -9.99962078e-01 -4.02267513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters 0.014757995998929836 Centerline is valid? [True, True] Translation: X:113.41, Y:-151.22, Z:-4.02 [[-1.57667351e-01 -9.87490699e-01 1.76829251e-03 1.13410902e+02] [-9.87440972e-01 1.57677160e-01 9.91160810e-03 -1.51223710e+02] [-1.00664401e-02 -1.83347486e-04 -9.99949315e-01 -4.02103013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters 0.014897058498355828 Centerline is valid? [True, True] Translation: X:113.37, Y:-151.32, Z:-4.02 [[-8.03405816e-02 -9.96766966e-01 1.00336270e-03 1.13370843e+02] [-9.96717352e-01 8.03465956e-02 9.94706727e-03 -1.51323903e+02] [-9.99552484e-03 -2.00915848e-04 -9.99950023e-01 -4.02168726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters 0.015070606527555392 Centerline is valid? [True, True] Translation: X:113.34, Y:-151.43, Z:-4.02 [[-4.67936862e-03 -9.99989028e-01 2.17289889e-04 1.13339753e+02] [-9.99948663e-01 4.68113245e-03 8.98656736e-03 -1.51433667e+02] [-8.98748592e-03 -1.75227273e-04 -9.99959596e-01 -4.02279867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters 0.014489974965066663 Centerline is valid? [True, True] Translation: X:113.32, Y:-151.54, Z:-4.02 [[ 6.89655537e-02 -9.97618965e-01 -3.90950820e-04 1.13318284e+02] [-9.97591002e-01 -6.89665481e-02 7.47053898e-03 -1.51540342e+02] [-7.47971390e-03 -1.25200838e-04 -9.99972019e-01 -4.02452175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters 0.013156875527398686 Centerline is valid? [True, True] Translation: X:113.31, Y:-151.65, Z:-4.03 [[ 1.39826449e-01 -9.90175683e-01 -8.24953886e-04 1.13308413e+02] [-9.90155206e-01 -1.39828864e-01 6.36839238e-03 -1.51650995e+02] [-6.42117964e-03 -7.36373106e-05 -9.99979381e-01 -4.02597475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters 0.012369117856310823 Centerline is valid? [True, True] Translation: X:113.31, Y:-151.76, Z:-4.03 [[ 2.11213071e-01 -9.77438824e-01 -1.54405421e-03 1.13305893e+02] [-9.77410725e-01 -2.11218707e-01 7.41164048e-03 -1.51764874e+02] [-7.57055829e-03 -5.62602016e-05 -9.99971341e-01 -4.02579431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters 0.012133537292428604 Centerline is valid? [True, True] Translation: X:113.31, Y:-151.88, Z:-4.02 [[ 2.80789930e-01 -9.59765349e-01 -2.73676404e-03 1.13311985e+02] [-9.59718866e-01 -2.80803265e-01 9.44591074e-03 -1.51876394e+02] [-9.83435010e-03 -2.57925316e-05 -9.99951641e-01 -4.02315258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters 0.012035480323589698 Centerline is valid? [True, True] Translation: X:113.33, Y:-151.99, Z:-4.03 [[ 3.49379870e-01 -9.36976662e-01 -2.90533742e-03 1.13328803e+02] [-9.36944604e-01 -3.49391950e-01 7.75079233e-03 -1.51992601e+02] [-8.27741303e-03 1.41694010e-05 -9.99965742e-01 -4.02511520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters 0.01195052613715283 Centerline is valid? [True, True] Translation: X:113.35, Y:-152.10, Z:-4.03 [[ 4.19330890e-01 -9.07828187e-01 -3.09640448e-03 1.13349023e+02] [-9.07803753e-01 -4.19342322e-01 6.66052663e-03 -1.52101320e+02] [-7.34506726e-03 1.79630496e-05 -9.99973025e-01 -4.02592358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters 0.012034194282231344 Centerline is valid? [True, True] Translation: X:113.38, Y:-152.21, Z:-4.02 [[ 4.88488881e-01 -8.72560951e-01 -3.99986415e-03 1.13378491e+02] [-8.72531882e-01 -4.88505257e-01 7.12246053e-03 -1.52214138e+02] [-8.16873560e-03 1.07662120e-05 -9.99966635e-01 -4.02496437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters 0.012002694870509265 Centerline is valid? [True, True] Translation: X:113.42, Y:-152.33, Z:-4.02 [[ 5.57462529e-01 -8.30185952e-01 -5.17815268e-03 1.13417402e+02] [-8.30149626e-01 -5.57486577e-01 7.76622817e-03 -1.52329349e+02] [-9.33416414e-03 -3.07396874e-05 -9.99956435e-01 -4.02365265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters 0.012443406283568059 Centerline is valid? [True, True] Translation: X:113.45, Y:-152.43, Z:-4.02 [[ 6.22893077e-01 -7.82284767e-01 -5.89551983e-03 1.13454751e+02] [-7.82248547e-01 -6.22920972e-01 7.52819353e-03 -1.52429435e+02] [-9.56163406e-03 -7.74978087e-05 -9.99954284e-01 -4.02297261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters 0.013629187466520531 Centerline is valid? [True, True] Translation: X:113.51, Y:-152.53, Z:-4.02 [[ 6.85647557e-01 -7.27906529e-01 -6.28600434e-03 1.13506072e+02] [-7.27874050e-01 -6.85676357e-01 6.87763766e-03 -1.52533604e+02] [-9.31644191e-03 -1.40216021e-04 -9.99956591e-01 -4.02289661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters 0.014940511945195757 Centerline is valid? [True, True] Translation: X:113.56, Y:-152.62, Z:-4.02 [[ 7.41385408e-01 -6.71063092e-01 -4.69078757e-03 1.13560213e+02] [-6.71048624e-01 -7.41400237e-01 4.40820073e-03 -1.52624079e+02] [-6.43593183e-03 -1.20429146e-04 -9.99979282e-01 -4.02449629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters 0.014437440744917074 Centerline is valid? [True, True] Translation: X:113.58, Y:-152.65, Z:-4.02 [[ 7.91757707e-01 -6.10818597e-01 -4.51388903e-03 1.13584174e+02] [-6.10807874e-01 -7.91770566e-01 3.62105678e-03 -1.52650635e+02] [-5.78577329e-03 -1.09880649e-04 -9.99983256e-01 -4.02499643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters 0.014602400260141129 Centerline is valid? [True, True] Translation: X:113.61, Y:-152.68, Z:-4.02 [[ 8.37425261e-01 -5.46531242e-01 -4.74691726e-03 1.13609255e+02] [-5.46521695e-01 -8.37438708e-01 3.23228867e-03 -1.52675596e+02] [-5.74179900e-03 -1.12506915e-04 -9.99983509e-01 -4.02358856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters 0.015073798111860943 Centerline is valid? [True, True] Translation: X:113.64, Y:-152.70, Z:-4.02 [[ 8.78145021e-01 -4.78367018e-01 -5.13016161e-03 1.13635082e+02] [-4.78358034e-01 -8.78159998e-01 2.93422731e-03 -1.52699276e+02] [-5.90874028e-03 -1.22623082e-04 -9.99982536e-01 -4.02256436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters 0.014996867717475732 Centerline is valid? [True, True] Translation: X:113.66, Y:-152.72, Z:-4.02 [[ 9.13998981e-01 -4.05658341e-01 -6.86827701e-03 1.13662379e+02] [-4.05645409e-01 -9.14024769e-01 3.24410337e-03 -1.52722226e+02] [-7.59377290e-03 -1.79022142e-04 -9.99971151e-01 -4.02191134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters 0.016225020639389184 Centerline is valid? [True, True] Translation: X:113.69, Y:-152.74, Z:-4.02 [[ 9.43978250e-01 -3.29867658e-01 -9.61208105e-03 1.13690661e+02] [-3.29847570e-01 -9.44027146e-01 3.65085777e-03 -1.52744965e+02] [-1.02783653e-02 -2.75808749e-04 -9.99947138e-01 -4.01914339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters 0.017712242662971767 Centerline is valid? [True, True] Translation: X:113.72, Y:-152.76, Z:-4.02 [[ 9.67336379e-01 -2.53257268e-01 -1.10039509e-02 1.13720448e+02] [-2.53237000e-01 -9.67398908e-01 3.22087539e-03 -1.52762523e+02] [-1.14609202e-02 -3.29062430e-04 -9.99934267e-01 -4.01744547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters 0.01617978802428737 Centerline is valid? [True, True] Translation: X:113.75, Y:-152.77, Z:-4.02 [[ 9.83700987e-01 -1.79472524e-01 -1.10445427e-02 1.13753078e+02] [-1.79457852e-01 -9.83762943e-01 2.31354216e-03 -1.52771757e+02] [-1.12804291e-02 -2.93803798e-04 -9.99936331e-01 -4.01890551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters 0.01494025910193237 Centerline is valid? [True, True] Translation: X:113.78, Y:-152.78, Z:-4.02 [[ 9.94335983e-01 -1.05865935e-01 -9.39980566e-03 1.13782375e+02] [-1.05859217e-01 -9.94380390e-01 1.21069465e-03 -1.52779888e+02] [-9.47515374e-03 -2.08781181e-04 -9.99955088e-01 -4.02056336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters 0.013438018428344418 Centerline is valid? [True, True] Translation: X:113.81, Y:-152.78, Z:-4.02 [[ 9.99292920e-01 -3.66234129e-02 -8.50801663e-03 1.13810878e+02] [-3.66211365e-02 -9.99329132e-01 4.23246918e-04 -1.52781843e+02] [-8.51780961e-03 -1.11374411e-04 -9.99963717e-01 -4.02155963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters 0.013364305056857175 Centerline is valid? [True, True] Translation: X:113.84, Y:-152.79, Z:-4.02 [[ 9.99155763e-01 4.00114292e-02 -9.31915641e-03 1.13839290e+02] [ 4.00106776e-02 -9.99199217e-01 -2.67151851e-04 -1.52791858e+02] [-9.32238291e-03 -1.05939451e-04 -9.99956540e-01 -4.02052645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters 0.01350764492189055 Centerline is valid? [True, True] Translation: X:113.87, Y:-152.80, Z:-4.02 [[ 9.92878140e-01 1.18666800e-01 -1.05446555e-02 1.13868889e+02] [ 1.18661460e-01 -9.92934124e-01 -1.13287567e-03 -1.52799116e+02] [-1.06045830e-02 -1.26436730e-04 -9.99943762e-01 -4.01941219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters 0.01380512589530972 Centerline is valid? [True, True] Translation: X:113.90, Y:-152.80, Z:-4.02 [[ 9.80180866e-01 1.97826497e-01 -1.04951386e-02 1.13899532e+02] [ 1.97816757e-01 -9.80237041e-01 -1.96851043e-03 -1.52803677e+02] [-1.06771471e-02 -1.46618011e-04 -9.99942987e-01 -4.01930268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters 0.014412936625176167 Centerline is valid? [True, True] Translation: X:113.93, Y:-152.80, Z:-4.02 [[ 9.61060354e-01 2.76155838e-01 -1.00473326e-02 1.13930229e+02] [ 2.76142557e-01 -9.61112858e-01 -2.71350822e-03 -1.52804937e+02] [-1.04059717e-02 -1.66650947e-04 -9.99945843e-01 -4.01886131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters 0.014474853126762338 Centerline is valid? [True, True] Translation: X:113.96, Y:-152.81, Z:-4.02 [[ 9.35320437e-01 3.53672866e-01 -9.54900436e-03 1.13961704e+02] [ 3.53656571e-01 -9.35369160e-01 -3.40073256e-03 -1.52807710e+02] [-1.01345910e-02 -1.96293469e-04 -9.99948625e-01 -4.01956802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters 0.01476153763871861 Centerline is valid? [True, True] Translation: X:113.99, Y:-152.81, Z:-4.02 [[ 9.04471197e-01 4.26438122e-01 -9.07648697e-03 1.13992901e+02] [ 4.26418853e-01 -9.04516715e-01 -4.05871888e-03 -1.52806212e+02] [-9.94062664e-03 -1.99390844e-04 -9.99950571e-01 -4.01964431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters 0.01517126658378544 Centerline is valid? [True, True] Translation: X:114.02, Y:-152.80, Z:-4.02 [[ 8.67699319e-01 4.97020728e-01 -8.26367645e-03 1.14023541e+02] [ 4.97000379e-01 -8.67738645e-01 -4.50192390e-03 -1.52801658e+02] [-9.40826090e-03 -2.00734026e-04 -9.99955721e-01 -4.02040756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters 0.015626877235331564 Centerline is valid? [True, True] Translation: X:114.05, Y:-152.79, Z:-4.02 [[ 8.25466928e-01 5.64404316e-01 -7.21934159e-03 1.14054457e+02] [ 5.64384775e-01 -8.25498474e-01 -4.70064119e-03 -1.52794078e+02] [-8.61261764e-03 -1.94262636e-04 -9.99962892e-01 -4.02078576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters 0.015683718537333673 Centerline is valid? [True, True] Translation: X:114.09, Y:-152.79, Z:-4.02 [[ 7.78180342e-01 6.28010041e-01 -6.22451929e-03 1.14085629e+02] [ 6.27991826e-01 -7.78205214e-01 -4.78664276e-03 -1.52785116e+02] [-7.85001308e-03 -1.84075941e-04 -9.99969171e-01 -4.02096486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters 0.015876035938411952 Centerline is valid? [True, True] Translation: X:114.11, Y:-152.77, Z:-4.02 [[ 7.26722475e-01 6.86902645e-01 -6.26108202e-03 1.14113682e+02] [ 6.86879458e-01 -7.26749419e-01 -5.64736998e-03 -1.52772556e+02] [-8.42943110e-03 -1.96537930e-04 -9.99964452e-01 -4.01989392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters 0.016143602874942535 Centerline is valid? [True, True] Translation: X:114.14, Y:-152.76, Z:-4.02 [[ 6.70881910e-01 7.41537846e-01 -6.25179412e-03 1.14139127e+02] [ 7.41508526e-01 -6.70911006e-01 -6.59757023e-03 -1.52755180e+02] [-9.08674550e-03 -2.09568121e-04 -9.99958693e-01 -4.01963757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters 0.016069021750837246 Centerline is valid? [True, True] Translation: X:114.16, Y:-152.74, Z:-4.02 [[ 6.10246896e-01 7.92193228e-01 -5.34941086e-03 1.14163884e+02] [ 7.92165646e-01 -6.10270308e-01 -6.61356168e-03 -1.52737359e+02] [-8.50380539e-03 -2.01714027e-04 -9.99963822e-01 -4.02015045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters 0.016222227333520495 Centerline is valid? [True, True] Translation: X:114.19, Y:-152.72, Z:-4.02 [[ 5.46033691e-01 8.37750120e-01 -4.68452028e-03 1.14188683e+02] [ 8.37722364e-01 -5.46053749e-01 -6.82230633e-03 -1.52718771e+02] [-8.27338781e-03 -1.99118301e-04 -9.99965755e-01 -4.01981811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters 0.015902078769124924 Centerline is valid? [True, True] Translation: X:114.21, Y:-152.70, Z:-4.02 [[ 4.79235882e-01 8.77675002e-01 -4.42262348e-03 1.14210302e+02] [ 8.77641553e-01 -4.79256244e-01 -7.66530453e-03 -1.52696847e+02] [-8.84721609e-03 -2.07989169e-04 -9.99960841e-01 -4.01913317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters 0.015331350052846394 Centerline is valid? [True, True] Translation: X:114.23, Y:-152.67, Z:-4.02 [[ 4.10011426e-01 9.12072220e-01 -3.85965777e-03 1.14229021e+02] [ 9.12036316e-01 -4.10029543e-01 -8.09524362e-03 -1.52673267e+02] [-8.96602053e-03 -2.01005676e-04 -9.99959784e-01 -4.01973115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters 0.015129750631809992 Centerline is valid? [True, True] Translation: X:114.25, Y:-152.65, Z:-4.02 [[ 3.38870606e-01 9.40827179e-01 -3.30619150e-03 1.14247213e+02] [ 9.40787769e-01 -3.38886680e-01 -8.61348215e-03 -1.52648947e+02] [-9.22422238e-03 -1.91568611e-04 -9.99957438e-01 -4.01909736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters 0.01498006266445009 Centerline is valid? [True, True] Translation: X:114.26, Y:-152.62, Z:-4.02 [[ 2.64952756e-01 9.64257406e-01 -2.77358396e-03 1.14263967e+02] [ 9.64211995e-01 -2.64967202e-01 -9.36002538e-03 -1.52624105e+02] [-9.76038257e-03 -1.94358405e-04 -9.99952348e-01 -4.01857338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters 0.014754729907757377 Centerline is valid? [True, True] Translation: X:114.28, Y:-152.60, Z:-4.02 [[ 1.90598279e-01 9.81665937e-01 -2.06974016e-03 1.14276411e+02] [ 9.81617771e-01 -1.90609433e-01 -9.72601119e-03 -1.52598396e+02] [-9.94220589e-03 -1.77932728e-04 -9.99950559e-01 -4.01831990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters 0.01367409807072863 Centerline is valid? [True, True] Translation: X:114.29, Y:-152.57, Z:-4.02 [[ 1.17697281e-01 9.93048675e-01 -1.29621145e-03 1.14285040e+02] [ 9.93000126e-01 -1.17704345e-01 -9.82024806e-03 -1.52570595e+02] [-9.90455404e-03 -1.31321639e-04 -9.99950940e-01 -4.01921535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters 0.013113341560297241 Centerline is valid? [True, True] Translation: X:114.29, Y:-152.54, Z:-4.02 [[ 4.36918925e-02 9.99044939e-01 -4.77986879e-04 1.14292861e+02] [ 9.99004029e-01 -4.36944292e-02 -9.04145942e-03 -1.52543448e+02] [-9.05370964e-03 -8.24723442e-05 -9.99959011e-01 -4.02022196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters 0.01253250303563753 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.52, Z:-4.02 [[-2.69874300e-02 9.99635752e-01 2.03640701e-04 1.14295533e+02] [ 9.99604065e-01 2.69881959e-02 -7.95937083e-03 -1.52515938e+02] [-7.96196754e-03 -1.12428906e-05 -9.99968303e-01 -4.02111277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters 0.012822748152257833 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.49, Z:-4.02 [[-9.85770697e-02 9.95129051e-01 8.56364769e-04 1.14298102e+02] [ 9.95095226e-01 9.85807799e-02 -8.20496681e-03 -1.52488105e+02] [-8.24942194e-03 4.33429078e-05 -9.99965972e-01 -4.02071976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters 0.013303572994690347 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.46, Z:-4.02 [[-1.73000216e-01 9.84920550e-01 1.56083498e-03 1.14300106e+02] [ 9.84884196e-01 1.73007241e-01 -8.46254000e-03 -1.52460382e+02] [-8.60496531e-03 7.32204578e-05 -9.99962974e-01 -4.01972103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters 0.013678738052174828 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.43, Z:-4.02 [[-2.47955118e-01 9.68768886e-01 2.25941727e-03 1.14299938e+02] [ 9.68731912e-01 2.47965396e-01 -8.46435072e-03 -1.52433187e+02] [-8.76025692e-03 8.99905326e-05 -9.99961624e-01 -4.01977259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters 0.01360004350119731 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.40, Z:-4.02 [[-3.23602050e-01 9.46188369e-01 3.04676117e-03 1.14299123e+02] [ 9.46148982e-01 3.23616380e-01 -8.63375649e-03 -1.52404847e+02] [-9.15514180e-03 8.87886847e-05 -9.99958087e-01 -4.01922335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters 0.013132660189081914 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.37, Z:-4.02 [[-3.98830138e-01 9.17016754e-01 3.84624657e-03 1.14300441e+02] [ 9.16975802e-01 3.98848678e-01 -8.66669256e-03 -1.52374882e+02] [-9.48157264e-03 7.03768434e-05 -9.99955046e-01 -4.01860721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters 0.012915615748481738 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.35, Z:-4.02 [[-4.73455557e-01 8.80805438e-01 4.64918558e-03 1.14300053e+02] [ 8.80763551e-01 4.73478383e-01 -8.58999415e-03 -1.52345101e+02] [-9.76740243e-03 2.78527309e-05 -9.99952297e-01 -4.01673727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters 0.012602901298676965 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.31, Z:-4.02 [[-5.43873859e-01 8.39154010e-01 4.66617662e-03 1.14297477e+02] [ 8.39123047e-01 5.43893875e-01 -7.20864558e-03 -1.52313519e+02] [-8.58706873e-03 -5.09754454e-06 -9.99963131e-01 -4.01902000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters 0.01275997487717317 Centerline is valid? [True, True] Translation: X:114.29, Y:-152.28, Z:-4.02 [[-6.11831380e-01 7.90977802e-01 4.05948297e-03 1.14292922e+02] [ 7.90959990e-01 6.11844846e-01 -5.30830846e-03 -1.52281335e+02] [-6.68252789e-03 -3.69010771e-05 -9.99977671e-01 -4.01970051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters 0.013312445749187456 Centerline is valid? [True, True] Translation: X:114.28, Y:-152.25, Z:-4.02 [[-6.74278038e-01 7.38465618e-01 4.20218246e-03 1.14284011e+02] [ 7.38450769e-01 6.74291130e-01 -4.68345523e-03 -1.52252627e+02] [-6.29206502e-03 -5.48461309e-05 -9.99980203e-01 -4.01875183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters 0.014395921982069761 Centerline is valid? [True, True] Translation: X:114.27, Y:-152.23, Z:-4.02 [[-7.33114868e-01 6.80087753e-01 4.82068149e-03 1.14268006e+02] [ 6.80072256e-01 7.33130712e-01 -4.59187582e-03 -1.52228214e+02] [-6.65706816e-03 -8.79606933e-05 -9.99977838e-01 -4.01789216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters 0.015495910885812618 Centerline is valid? [True, True] Translation: X:114.29, Y:-152.20, Z:-4.02 [[-7.81117929e-01 6.24352154e-01 6.25850816e-03 1.14286909e+02] [ 6.24330775e-01 7.81142990e-01 -5.16832742e-03 -1.52202034e+02] [-8.11564613e-03 -1.29693959e-04 -9.99967059e-01 -4.01616787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters 0.014236299174770763 Centerline is valid? [True, True] Translation: X:114.30, Y:-152.18, Z:-4.02 [[-8.23815204e-01 5.66811013e-01 7.33387240e-03 1.14301075e+02] [ 5.66786906e-01 8.23847834e-01 -5.22970250e-03 -1.52180664e+02] [-9.00624786e-03 -1.51565584e-04 -9.99959432e-01 -4.01659919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters 0.01444155929141997 Centerline is valid? [True, True] Translation: X:114.32, Y:-152.16, Z:-4.02 [[-8.61977538e-01 5.06875500e-01 8.48243092e-03 1.14316980e+02] [ 5.06849014e-01 8.62019257e-01 -5.18441686e-03 -1.52156344e+02] [-9.93987269e-03 -1.69539128e-04 -9.99950584e-01 -4.01582527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters 0.014142125357837865 Centerline is valid? [True, True] Translation: X:114.33, Y:-152.13, Z:-4.02 [[-8.95683570e-01 4.44579237e-01 1.00122630e-02 1.14329412e+02] [ 4.44549053e-01 8.95739507e-01 -5.18402665e-03 -1.52133120e+02] [-1.12730901e-02 -1.92305464e-04 -9.99936438e-01 -4.01539837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters 0.014614836977900269 Centerline is valid? [True, True] Translation: X:114.63, Y:-151.56, Z:-5.02 [[-8.46160387e-01 -5.32828522e-01 1.03133590e-02 1.14629073e+02] [ 5.32792540e-01 -8.46223199e-01 -6.19732740e-03 -1.51561656e+02] [ 1.20295164e-02 2.50947769e-04 9.99927611e-01 -5.02472762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters 0.014260511982030688 Centerline is valid? [True, True] Translation: X:114.29, Y:-152.12, Z:-4.02 [[-8.97048847e-01 4.41819347e-01 9.95145354e-03 1.14289578e+02] [ 4.41789861e-01 8.97104024e-01 -5.10767387e-03 -1.52115372e+02] [-1.11841581e-02 -1.85381683e-04 -9.99937438e-01 -4.01646503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters 0.014230784594842096 Centerline is valid? [True, True] Translation: X:114.59, Y:-151.54, Z:-5.02 [[-8.48650085e-01 -5.28887199e-01 8.44769891e-03 1.14590431e+02] [ 5.28862018e-01 -8.48692125e-01 -5.16174568e-03 -1.51539802e+02] [ 9.89947676e-03 8.71511790e-05 9.99950995e-01 -5.02191824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters 0.013722254779291362 Centerline is valid? [True, True] Translation: X:114.25, Y:-152.10, Z:-4.02 [[-8.97856481e-01 4.40217182e-01 7.91028624e-03 1.14251074e+02] [ 4.40198812e-01 8.97891316e-01 -4.02376489e-03 -1.52100313e+02] [-8.87390777e-03 -1.30664778e-04 -9.99960618e-01 -4.01901014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters 0.013778586455663369 Centerline is valid? [True, True] Translation: X:114.55, Y:-151.52, Z:-5.02 [[-8.52032858e-01 -5.23436100e-01 7.39309259e-03 1.14553816e+02] [ 5.23417523e-01 -8.52064925e-01 -4.41129226e-03 -1.51517875e+02] [ 8.60842451e-03 1.11108256e-04 9.99962941e-01 -5.02102612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters 0.012861269224910864 Centerline is valid? [True, True] Translation: X:114.21, Y:-152.09, Z:-4.02 [[-8.97141035e-01 4.41658393e-01 8.70793407e-03 1.14211331e+02] [ 4.41636580e-01 8.97183290e-01 -4.39042977e-03 -1.52089027e+02] [-9.75168309e-03 -9.30924871e-05 -9.99952447e-01 -4.01896953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters 0.012694137728620164 Centerline is valid? [True, True] Translation: X:114.23, Y:-152.07, Z:-4.02 [[-9.25085418e-01 3.79629858e-01 9.90654704e-03 1.14225219e+02] [ 3.79607253e-01 9.25138458e-01 -4.14335590e-03 -1.52068202e+02] [-1.07378693e-02 -7.23610183e-05 -9.99942345e-01 -4.01821679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters 0.012660974520824734 Centerline is valid? [True, True] Translation: X:114.49, Y:-151.45, Z:-5.02 [[-8.91929906e-01 -4.52081118e-01 9.14907041e-03 1.14489341e+02] [ 4.52057784e-01 -8.91976828e-01 -4.59340396e-03 -1.51447818e+02] [ 1.02373500e-02 3.89141329e-05 9.99947596e-01 -5.02086124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters 0.012712167212680068 Centerline is valid? [True, True] Translation: X:114.18, Y:-152.05, Z:-4.02 [[-9.25636714e-01 3.78274382e-01 1.02550550e-02 1.14183620e+02] [ 3.78250565e-01 9.25693518e-01 -4.24510603e-03 -1.52054871e+02] [-1.10988528e-02 -5.04456524e-05 -9.99938405e-01 -4.01881011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters 0.012513365859018874 Centerline is valid? [True, True] Translation: X:114.19, Y:-152.03, Z:-4.02 [[-9.49481047e-01 3.13636314e-01 1.08629282e-02 1.14193660e+02] [ 3.13615437e-01 9.49543186e-01 -3.61885798e-03 -1.52032731e+02] [-1.14498247e-02 -2.92550886e-05 -9.99934448e-01 -4.01891531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters 0.012584867235053024 Centerline is valid? [True, True] Translation: X:114.20, Y:-152.01, Z:-4.02 [[-9.68769114e-01 2.47715977e-01 1.10994562e-02 1.14199372e+02] [ 2.47699674e-01 9.68832697e-01 -2.84196317e-03 -1.52010374e+02] [-1.14575158e-02 -3.87445500e-06 -9.99934361e-01 -4.02087281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters 0.012470639928859993 Centerline is valid? [True, True] Translation: X:114.20, Y:-151.99, Z:-4.02 [[-9.83801041e-01 1.78896628e-01 1.14676740e-02 1.14204560e+02] [ 1.78884494e-01 9.83867876e-01 -2.08355593e-03 -1.51985181e+02] [-1.16554171e-02 1.58455552e-06 -9.99932073e-01 -4.02163077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters 0.012503936674975838 Centerline is valid? [True, True] Translation: X:114.21, Y:-151.96, Z:-4.02 [[-9.94130660e-01 1.07566384e-01 1.15630241e-02 1.14207267e+02] [ 1.07558976e-01 9.94197904e-01 -1.26245165e-03 -1.51958412e+02] [-1.16317316e-02 -1.13348638e-05 -9.99932349e-01 -4.02171646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters 0.012513408867041978 Centerline is valid? [True, True] Translation: X:114.29, Y:-151.27, Z:-5.02 [[-9.83650221e-01 -1.79757760e-01 1.09265690e-02 1.14285160e+02] [ 1.79746397e-01 -9.83710906e-01 -2.02126619e-03 -1.51268472e+02] [ 1.11119234e-02 -2.42075320e-05 9.99938260e-01 -5.01657523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters 0.012789890784689223 Centerline is valid? [True, True] Translation: X:114.15, Y:-151.95, Z:-4.02 [[-9.95216991e-01 9.70255236e-02 1.13661267e-02 1.14153039e+02] [ 9.70181982e-02 9.95281890e-01 -1.19540880e-03 -1.51950168e+02] [-1.14284853e-02 -8.69700147e-05 -9.99934689e-01 -4.02273358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters 0.01352409426959573 Centerline is valid? [True, True] Translation: X:114.15, Y:-151.92, Z:-4.02 [[-9.99665774e-01 2.31791076e-02 1.14485732e-02 1.14149452e+02] [ 2.31761985e-02 9.99731321e-01 -3.86726465e-04 -1.51920514e+02] [-1.14544611e-02 -1.21262806e-04 -9.99934388e-01 -4.02228148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters 0.01373902144823096 Centerline is valid? [True, True] Translation: X:114.15, Y:-151.89, Z:-4.03 [[-9.98616002e-01 -5.14764026e-02 1.07824553e-02 1.14147577e+02] [-5.14750597e-02 9.98674199e-01 4.02217542e-04 -1.51893453e+02] [-1.07888646e-02 -1.53366656e-04 -9.99941787e-01 -4.02517516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters 0.014095363277875018 Centerline is valid? [True, True] Translation: X:114.12, Y:-151.21, Z:-5.02 [[-9.98855647e-01 -4.63779402e-02 1.16825991e-02 1.14120008e+02] [ 4.63774171e-02 -9.98923939e-01 -3.15832588e-04 -1.51210298e+02] [ 1.16846756e-02 2.26337609e-04 9.99931706e-01 -5.01511268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters 0.01470766231378465 Centerline is valid? [True, True] Translation: X:114.07, Y:-151.89, Z:-4.02 [[-9.98034699e-01 -6.13926251e-02 1.25572576e-02 1.14074920e+02] [-6.13908714e-02 9.98113663e-01 5.25432625e-04 -1.51893606e+02] [-1.25658280e-02 -2.46500993e-04 -9.99921017e-01 -4.02451331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters 0.015213784308787984 Centerline is valid? [True, True] Translation: X:114.05, Y:-151.22, Z:-5.01 [[-9.98799673e-01 -4.72482465e-02 1.29157732e-02 1.14047165e+02] [ 4.72478813e-02 -9.98883140e-01 -3.33578698e-04 -1.51216215e+02] [ 1.29171091e-02 2.77064623e-04 9.99916532e-01 -5.01473834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters 0.01683800338206268 Centerline is valid? [True, True] Translation: X:114.01, Y:-151.89, Z:-4.03 [[-9.97470921e-01 -6.99872466e-02 1.23913933e-02 1.14008783e+02] [-6.99854936e-02 9.97547843e-01 5.75566878e-04 -1.51891025e+02] [-1.24012900e-02 -2.93106552e-04 -9.99923058e-01 -4.02520699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters 0.017427140668949733 Centerline is valid? [True, True] Translation: X:114.01, Y:-151.86, Z:-4.03 [[-9.90453954e-01 -1.37312696e-01 1.20908336e-02 1.14005454e+02] [-1.37305817e-01 9.90527713e-01 1.40118385e-03 -1.51860512e+02] [-1.21687061e-02 -2.72333699e-04 -9.99925922e-01 -4.02519607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters 0.017268310278001107 Centerline is valid? [True, True] Translation: X:114.00, Y:-151.84, Z:-4.02 [[-9.78426436e-01 -2.06215189e-01 1.25301917e-02 1.13998766e+02] [-2.06202052e-01 9.78506624e-01 2.34550249e-03 -1.51835294e+02] [-1.27445538e-02 -2.88849589e-04 -9.99918743e-01 -4.02494412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters 0.014921181641092459 Centerline is valid? [True, True] Translation: X:113.99, Y:-151.82, Z:-4.03 [[-9.61988906e-01 -2.72807559e-01 1.23846509e-02 1.13988059e+02] [-2.72788334e-01 9.62068590e-01 3.24856870e-03 -1.51816053e+02] [-1.28011178e-02 -2.53301241e-04 -9.99918030e-01 -4.02717957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters 0.013481682830490636 Centerline is valid? [True, True] Translation: X:113.96, Y:-151.80, Z:-4.03 [[-9.42322069e-01 -3.34491876e-01 1.20126056e-02 1.13964299e+02] [-3.34466851e-01 9.42398620e-01 4.09465052e-03 -1.51800143e+02] [-1.26902903e-02 -1.59338833e-04 -9.99919462e-01 -4.02858963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters 0.012668825204012461 Centerline is valid? [True, True] Translation: X:113.92, Y:-151.79, Z:-4.03 [[-9.18053551e-01 -3.96295468e-01 1.12951589e-02 1.13920532e+02] [-3.96266456e-01 9.18123029e-01 4.79571105e-03 -1.51791305e+02] [-1.22708641e-02 -7.31730432e-05 -9.99924708e-01 -4.02878681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters 0.012598219588744252 Centerline is valid? [True, True] Translation: X:113.86, Y:-151.79, Z:-4.03 [[-8.89764408e-01 -4.56297626e-01 1.05723408e-02 1.13862945e+02] [-4.56265211e-01 8.89827217e-01 5.43891831e-03 -1.51792808e+02] [-1.18893221e-02 1.55646374e-05 -9.99929319e-01 -4.02922921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters 0.013718023303355803 Centerline is valid? [True, True] Translation: X:113.80, Y:-151.81, Z:-4.03 [[-8.58618420e-01 -5.12517520e-01 1.00100308e-02 1.13797297e+02] [-5.12480875e-01 8.58676758e-01 6.13013188e-03 -1.51805655e+02] [-1.17371807e-02 1.33494822e-04 -9.99931108e-01 -4.02935299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters 0.014870923748973424 Centerline is valid? [True, True] Translation: X:113.72, Y:-151.83, Z:-4.03 [[-8.20798231e-01 -5.71133782e-01 9.82174966e-03 1.13720105e+02] [-5.71089990e-01 8.20856969e-01 7.07526786e-03 -1.51827104e+02] [-1.21031761e-02 1.98264428e-04 -9.99926734e-01 -4.02903508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters 0.015366058453918533 Centerline is valid? [True, True] Translation: X:113.64, Y:-151.85, Z:-4.03 [[-7.78224422e-01 -6.27920501e-01 9.08812420e-03 1.13638638e+02] [-6.27874001e-01 7.78277448e-01 7.64549920e-03 -1.51854702e+02] [-1.18738478e-02 2.43717289e-04 -9.99929474e-01 -4.02943331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters 0.0158116289978127 Centerline is valid? [True, True] Translation: X:113.55, Y:-151.90, Z:-4.03 [[-7.28962805e-01 -6.84502966e-01 8.30164561e-03 1.13549602e+02] [-6.84454766e-01 7.29010035e-01 8.12671705e-03 -1.51896617e+02] [-1.16147449e-02 2.41973565e-04 -9.99932517e-01 -4.02900067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters 0.01528683769658757 Centerline is valid? [True, True] Translation: X:113.46, Y:-151.94, Z:-4.03 [[-6.73682210e-01 -7.38982949e-01 7.51539148e-03 1.13464296e+02] [-7.38933361e-01 6.73724094e-01 8.56349624e-03 -1.51943451e+02] [-1.13915780e-02 2.15701594e-04 -9.99935091e-01 -4.02912000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters 0.014538983736508157 Centerline is valid? [True, True] Translation: X:113.37, Y:-152.01, Z:-4.03 [[-6.13166442e-01 -7.89920066e-01 7.29415380e-03 1.13373262e+02] [-7.89860462e-01 6.13209796e-01 9.70546430e-03 -1.52005808e+02] [-1.21393876e-02 1.89701317e-04 -9.99926297e-01 -4.02874142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters 0.013920316839121923 Centerline is valid? [True, True] Translation: X:113.29, Y:-152.07, Z:-4.03 [[-5.47776163e-01 -8.36598527e-01 6.64677593e-03 1.13290441e+02] [-8.36533832e-01 5.47816470e-01 1.04049714e-02 -1.52069885e+02] [-1.23459971e-02 1.39342379e-04 -9.99923776e-01 -4.02809299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters 0.01328480196853944 Centerline is valid? [True, True] Translation: X:113.21, Y:-152.14, Z:-4.03 [[-4.78648682e-01 -8.77990329e-01 5.33120295e-03 1.13209622e+02] [-8.77934070e-01 4.78678365e-01 9.93939463e-03 -1.52144247e+02] [-1.12786239e-02 7.70334325e-05 -9.99936391e-01 -4.02883873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters 0.01274831864814047 Centerline is valid? [True, True] Translation: X:113.13, Y:-152.23, Z:-4.03 [[-4.05621167e-01 -9.14033090e-01 3.87030210e-03 1.13132969e+02] [-9.13991123e-01 4.05639631e-01 8.75885375e-03 -1.52228859e+02] [-9.57583008e-03 1.53547245e-05 -9.99954151e-01 -4.03040787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters 0.012787999841151265 Centerline is valid? [True, True] Translation: X:113.06, Y:-152.32, Z:-4.03 [[-3.29782269e-01 -9.44053355e-01 2.63031022e-03 1.13060477e+02] [-9.44024028e-01 3.29792757e-01 7.44124881e-03 -1.52323878e+02] [-7.89239317e-03 -2.90841289e-05 -9.99968854e-01 -4.03171885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters 0.013164182827176352 Centerline is valid? [True, True] Translation: X:113.00, Y:-152.42, Z:-4.03 [[-2.51736254e-01 -9.67793965e-01 1.92332559e-03 1.12996335e+02] [-9.67767671e-01 2.51743593e-01 7.13426213e-03 -1.52422303e+02] [-7.38868073e-03 -6.53799087e-05 -9.99972701e-01 -4.03188291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters 0.014528695368441515 Centerline is valid? [True, True] Translation: X:112.94, Y:-152.52, Z:-4.03 [[-1.70653215e-01 -9.85330036e-01 1.48357146e-03 1.12936721e+02] [-9.85298830e-01 1.70659619e-01 7.84289424e-03 -1.52523222e+02] [-7.98102500e-03 -1.23346102e-04 -9.99968144e-01 -4.02970263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters 0.01460006467223633 Centerline is valid? [True, True] Translation: X:112.89, Y:-152.63, Z:-4.03 [[-9.13607350e-02 -9.95817412e-01 9.47878827e-04 1.12891601e+02] [-9.95780729e-01 9.13655070e-02 8.54896363e-03 -1.52631658e+02] [-8.59981027e-03 -1.62839868e-04 -9.99963008e-01 -4.03036373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters 0.015548620690688091 Centerline is valid? [True, True] Translation: X:112.85, Y:-152.74, Z:-4.03 [[-1.18897327e-02 -9.99929266e-01 3.11641361e-04 1.12852483e+02] [-9.99887004e-01 1.18920961e-02 9.19553511e-03 -1.52740610e+02] [-9.19859074e-03 -2.02273692e-04 -9.99957672e-01 -4.03023918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters 0.016466856854601378 Centerline is valid? [True, True] Translation: X:112.82, Y:-152.86, Z:-4.03 [[ 6.59842187e-02 -9.97820579e-01 -4.18240337e-04 1.12822936e+02] [-9.97772413e-01 -6.59851441e-02 9.80673402e-03 -1.52856459e+02] [-9.81295867e-03 -2.29781012e-04 -9.99951825e-01 -4.02924672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters 0.016077611941870497 Centerline is valid? [True, True] Translation: X:112.80, Y:-152.97, Z:-4.03 [[ 1.41951635e-01 -9.89872753e-01 -1.29091610e-03 1.12804952e+02] [-9.89814113e-01 -1.41957281e-01 1.07773893e-02 -1.52968198e+02] [-1.08514990e-02 -2.52101064e-04 -9.99941089e-01 -4.02825422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters 0.015280069737886266 Centerline is valid? [True, True] Translation: X:112.80, Y:-153.08, Z:-4.03 [[ 2.14058094e-01 -9.76817925e-01 -2.42351797e-03 1.12798839e+02] [-9.76741585e-01 -2.14071670e-01 1.22145855e-02 -1.53082785e+02] [-1.24502326e-02 -2.47480094e-04 -9.99922462e-01 -4.02674485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters 0.013773646770505304 Centerline is valid? [True, True] Translation: X:112.80, Y:-153.19, Z:-4.03 [[ 2.82325988e-01 -9.59314433e-01 -2.80272757e-03 1.12804721e+02] [-9.59262038e-01 -2.82339864e-01 1.00272102e-02 -1.53193643e+02] [-1.04105692e-02 -1.42391877e-04 -9.99945798e-01 -4.02958371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters 0.01363464406292137 Centerline is valid? [True, True] Translation: X:112.81, Y:-153.30, Z:-4.03 [[ 3.52887954e-01 -9.35659796e-01 -3.29221642e-03 1.12813666e+02] [-9.35616114e-01 -3.52903294e-01 9.04173818e-03 -1.53304341e+02] [-9.62182491e-03 -1.10469756e-04 -9.99953703e-01 -4.02998446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters 0.012901703433933945 Centerline is valid? [True, True] Translation: X:112.83, Y:-153.41, Z:-4.03 [[ 4.19553102e-01 -9.07723271e-01 -3.69562850e-03 1.12834482e+02] [-9.07686713e-01 -4.19569373e-01 8.14695389e-03 -1.53414338e+02] [-8.94575217e-03 -6.36068966e-05 -9.99959984e-01 -4.03178822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters 0.012787993548889917 Centerline is valid? [True, True] Translation: X:112.86, Y:-153.53, Z:-4.03 [[ 4.86187287e-01 -8.73843776e-01 -4.35616711e-03 1.12861505e+02] [-8.73807803e-01 -4.86206800e-01 7.92918672e-03 -1.53525689e+02] [-9.04686853e-03 -4.86169722e-05 -9.99959075e-01 -4.03166982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters 0.012846019897064275 Centerline is valid? [True, True] Translation: X:112.90, Y:-153.63, Z:-4.03 [[ 5.50753363e-01 -8.34647647e-01 -5.83418959e-03 1.12895724e+02] [-8.34599899e-01 -5.50784261e-01 8.92780353e-03 -1.53633314e+02] [-1.06649500e-02 -4.78037778e-05 -9.99943127e-01 -4.03070566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters 0.012776383890483505 Centerline is valid? [True, True] Translation: X:112.94, Y:-153.74, Z:-4.03 [[ 6.12425104e-01 -7.90499220e-01 -6.81723135e-03 1.12936302e+02] [-7.90449420e-01 -6.12463045e-01 8.87321153e-03 -1.53736918e+02] [-1.11895691e-02 -4.55009321e-05 -9.99937394e-01 -4.03009979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters 0.012829048421353746 Centerline is valid? [True, True] Translation: X:112.99, Y:-153.84, Z:-4.03 [[ 6.70430262e-01 -7.41930828e-01 -7.86826790e-03 1.12985404e+02] [-7.41879002e-01 -6.70476431e-01 8.76937468e-03 -1.53836544e+02] [-1.17817576e-02 -4.19514350e-05 -9.99930592e-01 -4.03001554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters 0.012870434231393883 Centerline is valid? [True, True] Translation: X:113.04, Y:-153.93, Z:-4.03 [[ 7.24697414e-01 -6.89014137e-01 -8.55438027e-03 1.13041756e+02] [-6.88965496e-01 -7.24747899e-01 8.18704650e-03 -1.53931979e+02] [-1.18407599e-02 -3.94585766e-05 -9.99929895e-01 -4.03041073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters 0.012926724980724726 Centerline is valid? [True, True] Translation: X:113.06, Y:-153.96, Z:-4.03 [[ 7.76633131e-01 -6.29892797e-01 -8.72035337e-03 1.13062267e+02] [-6.29852468e-01 -7.76682086e-01 7.12781088e-03 -1.53960675e+02] [-1.12626990e-02 -4.31579895e-05 -9.99936573e-01 -4.03059991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters 0.013018984108673417 Centerline is valid? [True, True] Translation: X:113.08, Y:-153.99, Z:-4.03 [[ 8.24297640e-01 -5.66100463e-01 -7.97915754e-03 1.13083589e+02] [-5.66073342e-01 -8.24336256e-01 5.54143185e-03 -1.53989371e+02] [-9.71451599e-03 -5.10008204e-05 -9.99952812e-01 -4.03134849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters 0.013090855768730912 Centerline is valid? [True, True] Translation: X:113.11, Y:-154.01, Z:-4.03 [[ 8.66224016e-01 -4.99602646e-01 -7.29044515e-03 1.13107838e+02] [-4.99584490e-01 -8.66254694e-01 4.25942559e-03 -1.54014433e+02] [-8.44340262e-03 -4.74234115e-05 -9.99964353e-01 -4.03066529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters 0.013193084915677784 Centerline is valid? [True, True] Translation: X:113.14, Y:-154.03, Z:-4.03 [[ 9.02714588e-01 -4.30172695e-01 -7.60428005e-03 1.13137197e+02] [-4.30156975e-01 -9.02746615e-01 3.67792130e-03 -1.54030862e+02] [-8.44687939e-03 -4.90791142e-05 -9.99964323e-01 -4.03070071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters 0.013026705150844234 Centerline is valid? [True, True] Translation: X:113.17, Y:-154.05, Z:-4.03 [[ 9.33227168e-01 -3.59214487e-01 -7.21145155e-03 1.13166789e+02] [-3.59203456e-01 -9.33255030e-01 2.81534018e-03 -1.54050598e+02] [-7.74143441e-03 -3.69736263e-05 -9.99970034e-01 -4.03185218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters 0.012936583690886324 Centerline is valid? [True, True] Translation: X:113.20, Y:-154.07, Z:-4.03 [[ 9.58201143e-01 -2.85994943e-01 -7.58044543e-03 1.13197514e+02] [-2.85985735e-01 -9.58231127e-01 2.29506662e-03 -1.54069767e+02] [-7.92019621e-03 -3.12362004e-05 -9.99968634e-01 -4.03184364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters 0.012900815287207252 Centerline is valid? [True, True] Translation: X:113.23, Y:-154.08, Z:-4.03 [[ 9.77070804e-01 -2.12744474e-01 -8.51069975e-03 1.13229043e+02] [-2.12736301e-01 -9.77107870e-01 1.86479949e-03 -1.54083952e+02] [-8.71259749e-03 -1.15063524e-05 -9.99962045e-01 -4.03110176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters 0.01289346304166097 Centerline is valid? [True, True] Translation: X:113.26, Y:-154.09, Z:-4.03 [[ 9.90147179e-01 -1.39764893e-01 -8.62203794e-03 1.13260452e+02] [-1.39759818e-01 -9.90184717e-01 1.19122151e-03 -1.54094727e+02] [-8.70390114e-03 2.55298412e-05 -9.99962120e-01 -4.03121885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters 0.013152854500845152 Centerline is valid? [True, True] Translation: X:113.29, Y:-154.10, Z:-4.03 [[ 9.97843152e-01 -6.49530705e-02 -9.49434683e-03 1.13289331e+02] [-6.49506823e-02 -9.97888318e-01 5.59989412e-04 -1.54101604e+02] [-9.51067082e-03 5.78827044e-05 -9.99954771e-01 -4.03018206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters 0.013525414360637382 Centerline is valid? [True, True] Translation: X:113.32, Y:-154.11, Z:-4.03 [[ 9.99889214e-01 1.03335805e-02 -1.07134181e-02 1.13320014e+02] [ 1.03319440e-02 -9.99946602e-01 -2.08081217e-04 -1.54107213e+02] [-1.07149962e-02 9.73677281e-05 -9.99942588e-01 -4.02955188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters 0.014345819554688105 Centerline is valid? [True, True] Translation: X:113.35, Y:-154.11, Z:-4.03 [[ 9.96137041e-01 8.70710597e-02 -1.13853692e-02 1.13349563e+02] [ 8.70639758e-02 -9.96202096e-01 -1.11730882e-03 -1.54107148e+02] [-1.14394139e-02 1.21737198e-04 -9.99934560e-01 -4.02827464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters 0.013459623609380474 Centerline is valid? [True, True] Translation: X:113.38, Y:-154.11, Z:-4.03 [[ 9.86113498e-01 1.65685882e-01 -1.13295486e-02 1.13380438e+02] [ 1.65673639e-01 -9.86178572e-01 -2.01727338e-03 -1.54112754e+02] [-1.15071918e-02 1.12252957e-04 -9.99933784e-01 -4.03048273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters 0.013365085919224157 Centerline is valid? [True, True] Translation: X:113.41, Y:-154.11, Z:-4.03 [[ 9.69636640e-01 2.44281277e-01 -1.14648626e-02 1.13410832e+02] [ 2.44263076e-01 -9.69704413e-01 -2.98345071e-03 -1.54114139e+02] [-1.18463290e-02 9.24205157e-05 -9.99929826e-01 -4.02965935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters 0.01307882765504535 Centerline is valid? [True, True] Translation: X:113.44, Y:-154.11, Z:-4.03 [[ 9.46814715e-01 3.21584441e-01 -1.11956609e-02 1.13442775e+02] [ 3.21561144e-01 -9.46880902e-01 -3.87135988e-03 -1.54113766e+02] [-1.18459266e-02 6.53709641e-05 -9.99929832e-01 -4.02928698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters 0.012965259730539904 Centerline is valid? [True, True] Translation: X:113.47, Y:-154.11, Z:-4.03 [[ 9.18304714e-01 3.95719170e-01 -1.10810980e-02 1.13473858e+02] [ 3.95689659e-01 -9.18371567e-01 -4.83304563e-03 -1.54109130e+02] [-1.20890942e-02 5.35326868e-05 -9.99926923e-01 -4.02889711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters 0.012730273994296474 Centerline is valid? [True, True] Translation: X:113.50, Y:-154.10, Z:-4.03 [[ 8.82964704e-01 4.69338656e-01 -9.72405142e-03 1.13504511e+02] [ 4.69310050e-01 -8.83018248e-01 -5.18178138e-03 -1.54102744e+02] [-1.10185252e-02 1.17350040e-05 -9.99939294e-01 -4.02941518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters 0.0126588368408287 Centerline is valid? [True, True] Translation: X:113.54, Y:-154.09, Z:-4.03 [[ 8.42458656e-01 5.38701323e-01 -8.01855712e-03 1.13535987e+02] [ 5.38677024e-01 -8.42496816e-01 -5.11654853e-03 -1.54094876e+02] [-9.51190030e-03 -8.93188409e-06 -9.99954761e-01 -4.03028012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters 0.01265672938191826 Centerline is valid? [True, True] Translation: X:113.57, Y:-154.08, Z:-4.03 [[ 7.96850025e-01 6.04148335e-01 -5.90135507e-03 1.13565772e+02] [ 6.04131934e-01 -7.96871877e-01 -4.45171492e-03 -1.54084771e+02] [-7.39212005e-03 -1.78479019e-05 -9.99972678e-01 -4.03094084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters 0.012663142328099947 Centerline is valid? [True, True] Translation: X:113.59, Y:-154.07, Z:-4.03 [[ 7.47357664e-01 6.64404376e-01 -4.83189632e-03 1.13592855e+02] [ 6.64390604e-01 -7.47373284e-01 -4.27790251e-03 -1.54069950e+02] [-6.45348737e-03 -1.31432860e-05 -9.99979176e-01 -4.03095009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters 0.012709297072035664 Centerline is valid? [True, True] Translation: X:113.62, Y:-154.05, Z:-4.03 [[ 6.93930125e-01 7.20028702e-01 -4.43290238e-03 1.13616831e+02] [ 7.20014058e-01 -6.93944284e-01 -4.59212585e-03 -1.54053084e+02] [-6.38264968e-03 -5.13756459e-06 -9.99979631e-01 -4.02952683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters 0.012821919794893152 Centerline is valid? [True, True] Translation: X:113.64, Y:-154.04, Z:-4.03 [[ 6.36352282e-01 7.71386155e-01 -4.37874993e-03 1.13641498e+02] [ 7.71367866e-01 -6.36367346e-01 -5.31184213e-03 -1.54035506e+02] [-6.88397495e-03 2.57586728e-06 -9.99976305e-01 -4.02949209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters 0.012986155030822358 Centerline is valid? [True, True] Translation: X:113.66, Y:-154.02, Z:-4.03 [[ 5.74865867e-01 8.18238351e-01 -3.90345194e-03 1.13664262e+02] [ 8.18219370e-01 -5.74879119e-01 -5.57325780e-03 -1.54016144e+02] [-6.80426628e-03 9.99568421e-06 -9.99976851e-01 -4.02892665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters 0.0131000650141441 Centerline is valid? [True, True] Translation: X:113.68, Y:-153.99, Z:-4.03 [[ 5.09030429e-01 8.60740061e-01 -3.81695742e-03 1.13682908e+02] [ 8.60715702e-01 -5.09044740e-01 -6.47561832e-03 -1.53994881e+02] [-7.51682621e-03 1.09715879e-05 -9.99971748e-01 -4.02707120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters 0.013107709577389525 Centerline is valid? [True, True] Translation: X:113.70, Y:-153.97, Z:-4.03 [[ 4.39669067e-01 8.98152295e-01 -3.68325862e-03 1.13703426e+02] [ 8.98120616e-01 -4.39684495e-01 -7.54348137e-03 -1.53972957e+02] [-8.39466681e-03 8.62491633e-06 -9.99964764e-01 -4.02795739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters 0.013164443166981529 Centerline is valid? [True, True] Translation: X:113.72, Y:-153.95, Z:-4.03 [[ 3.67432178e-01 9.30044264e-01 -3.35575468e-03 1.13721066e+02] [ 9.30005380e-01 -3.67447502e-01 -8.50446416e-03 -1.53950312e+02] [-9.14259179e-03 3.94388097e-06 -9.99958206e-01 -4.02617357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters 0.013093626574595682 Centerline is valid? [True, True] Translation: X:113.74, Y:-153.92, Z:-4.03 [[ 2.92388029e-01 9.56295669e-01 -2.79902738e-03 1.13735676e+02] [ 9.56252060e-01 -2.92401426e-01 -9.13261244e-03 -1.53924808e+02] [-9.55191732e-03 -6.30914313e-06 -9.99954379e-01 -4.02746953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters 0.01302712419982665 Centerline is valid? [True, True] Translation: X:113.75, Y:-153.90, Z:-4.03 [[ 2.15377860e-01 9.76528790e-01 -1.97490465e-03 1.13750368e+02] [ 9.76488457e-01 -2.15386914e-01 -8.87527373e-03 -1.53899530e+02] [-9.09232893e-03 -1.69341318e-05 -9.99958664e-01 -4.02857886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters 0.01300798766566891 Centerline is valid? [True, True] Translation: X:113.76, Y:-153.87, Z:-4.03 [[ 1.37288837e-01 9.90530271e-01 -1.24772075e-03 1.13764226e+02] [ 9.90490991e-01 -1.37294505e-01 -8.82128083e-03 -1.53873392e+02] [-8.90905090e-03 -2.47927791e-05 -9.99960313e-01 -4.02893272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters 0.01319379553021719 Centerline is valid? [True, True] Translation: X:113.78, Y:-153.85, Z:-4.03 [[ 5.47984167e-02 9.98497298e-01 -5.29301990e-04 1.13777094e+02] [ 9.98461043e-01 -5.48009376e-02 -8.50893689e-03 -1.53846363e+02] [-8.52515673e-03 -6.22111481e-05 -9.99963658e-01 -4.02875683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters 0.01336777511464408 Centerline is valid? [True, True] Translation: X:113.79, Y:-153.82, Z:-4.03 [[-2.63562383e-02 9.99652604e-01 1.44551820e-04 1.13787073e+02] [ 9.99613179e-01 2.63564827e-02 -8.87854881e-03 -1.53817830e+02] [-8.87927431e-03 -8.95092442e-05 -9.99960575e-01 -4.02851609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters 0.01362627807080542 Centerline is valid? [True, True] Translation: X:113.79, Y:-153.79, Z:-4.03 [[-1.06276108e-01 9.94336314e-01 8.26479418e-04 1.13792713e+02] [ 9.94298272e-01 1.06279272e-01 -8.69842435e-03 -1.53788993e+02] [-8.73699684e-03 -1.02667632e-04 -9.99961827e-01 -4.02881876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters 0.0136363557939429 Centerline is valid? [True, True] Translation: X:113.80, Y:-153.76, Z:-4.03 [[-1.84091867e-01 9.82908071e-01 1.38138479e-03 1.13795345e+02] [ 9.82876350e-01 1.84097025e-01 -7.89719499e-03 -1.53760373e+02] [-8.01652553e-03 -9.60789336e-05 -9.99967863e-01 -4.02883235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters 0.013615321489877678 Centerline is valid? [True, True] Translation: X:113.80, Y:-153.73, Z:-4.03 [[-2.60803940e-01 9.65389679e-01 2.01810208e-03 1.13795785e+02] [ 9.65357765e-01 2.60811729e-01 -7.85037863e-03 -1.53731992e+02] [-8.10501920e-03 -9.92191674e-05 -9.99967149e-01 -4.02803387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters 0.014027088719952143 Centerline is valid? [True, True] Translation: X:113.79, Y:-153.70, Z:-4.03 [[-3.36557336e-01 9.41658657e-01 2.85205484e-03 1.13794097e+02] [ 9.41621867e-01 3.36569400e-01 -8.32459815e-03 -1.53704890e+02] [-8.79884429e-03 -1.16147372e-04 -9.99961283e-01 -4.02663389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters 0.014192171670539244 Centerline is valid? [True, True] Translation: X:113.79, Y:-153.68, Z:-4.03 [[-4.10330787e-01 9.11928928e-01 3.77837844e-03 1.13790360e+02] [ 9.11887155e-01 4.10348160e-01 -8.72954771e-03 -1.53676676e+02] [-9.51117772e-03 -1.36547412e-04 -9.99954758e-01 -4.02526098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters 0.014434723782645003 Centerline is valid? [True, True] Translation: X:113.78, Y:-153.65, Z:-4.02 [[-4.81584880e-01 8.76386767e-01 4.71565817e-03 1.13784230e+02] [ 8.76341517e-01 4.81607942e-01 -8.90707499e-03 -1.53648366e+02] [-1.00771411e-02 -1.56985607e-04 -9.99949212e-01 -4.02412394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters 0.014283480707962929 Centerline is valid? [True, True] Translation: X:113.78, Y:-153.62, Z:-4.02 [[-5.48925034e-01 8.35853156e-01 5.55050638e-03 1.13775363e+02] [ 8.35807374e-01 5.48953072e-01 -8.74977459e-03 -1.53620713e+02] [-1.03604942e-02 -1.63816157e-04 -9.99946315e-01 -4.02370477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters 0.014080123673961203 Centerline is valid? [True, True] Translation: X:113.77, Y:-153.59, Z:-4.03 [[-6.12180898e-01 7.90697987e-01 5.58938465e-03 1.13765617e+02] [ 7.90662915e-01 6.12206398e-01 -7.44851170e-03 -1.53593895e+02] [-9.31138026e-03 -1.40517419e-04 -9.99956638e-01 -4.02503928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters 0.0139305997273338 Centerline is valid? [True, True] Translation: X:113.75, Y:-153.57, Z:-4.03 [[-6.70727221e-01 7.41690012e-01 4.57401928e-03 1.13753279e+02] [ 7.41671843e-01 6.70742811e-01 -5.19221717e-03 -1.53569357e+02] [-6.91900616e-03 -9.01400826e-05 -9.99976059e-01 -4.02622803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters 0.013320528706370247 Centerline is valid? [True, True] Translation: X:113.74, Y:-153.55, Z:-4.03 [[-7.24991362e-01 6.88745583e-01 4.12875085e-03 1.13737710e+02] [ 6.88733943e-01 7.25003116e-01 -4.00476189e-03 -1.53545906e+02] [-5.75161929e-03 -5.98069221e-05 -9.99983458e-01 -4.02670634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters 0.012888520855338436 Centerline is valid? [True, True] Translation: X:113.76, Y:-153.53, Z:-4.03 [[-7.69944031e-01 6.38099335e-01 3.92772061e-03 1.13755964e+02] [ 6.38090780e-01 7.69954049e-01 -3.30442989e-03 -1.53528505e+02] [-5.13271890e-03 -3.79837634e-05 -9.99986827e-01 -4.02720040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters 0.012582266393753969 Centerline is valid? [True, True] Translation: X:113.78, Y:-153.51, Z:-4.03 [[-8.11151300e-01 5.84829921e-01 2.74424237e-03 1.13776892e+02] [ 5.84826519e-01 8.11155942e-01 -1.99494106e-03 -1.53510613e+02] [-3.39270973e-03 -1.32933273e-05 -9.99994245e-01 -4.02786808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters 0.01253751071552214 Centerline is valid? [True, True] Translation: X:114.21, Y:-152.94, Z:-5.01 [[-7.66517119e-01 -6.42218603e-01 2.60227849e-03 1.14205723e+02] [ 6.42214958e-01 -7.66521537e-01 -2.16361010e-03 -1.52937992e+02] [ 3.38421316e-03 1.27779946e-05 9.99994274e-01 -5.01181186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters 0.012507159787575257 Centerline is valid? [True, True] Translation: X:113.75, Y:-153.49, Z:-4.03 [[-8.10032615e-01 5.86374651e-01 3.45405191e-03 1.13745769e+02] [ 5.86369354e-01 8.10039980e-01 -2.49248827e-03 -1.53492649e+02] [-4.25945208e-03 6.35339342e-06 -9.99990929e-01 -4.02711274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters 0.012648292697987468 Centerline is valid? [True, True] Translation: X:113.76, Y:-153.47, Z:-4.03 [[-8.48116150e-01 5.29796490e-01 3.83070082e-03 1.13763224e+02] [ 5.29791185e-01 8.48124801e-01 -2.37105473e-03 -1.53472863e+02] [-4.50508884e-03 1.85417200e-05 -9.99989852e-01 -4.02688302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters 0.012747494558424817 Centerline is valid? [True, True] Translation: X:113.78, Y:-153.45, Z:-4.03 [[-8.82642135e-01 4.70030034e-01 3.82480467e-03 1.13777809e+02] [ 4.70025746e-01 8.82650421e-01 -2.00786362e-03 -1.53449936e+02] [-4.31972166e-03 2.55316368e-05 -9.99990670e-01 -4.02638097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters 0.012759758527206403 Centerline is valid? [True, True] Translation: X:113.79, Y:-153.43, Z:-4.03 [[-9.13377971e-01 4.07093627e-01 3.93204977e-03 1.13792146e+02] [ 4.07089990e-01 9.13386434e-01 -1.72103753e-03 -1.53425478e+02] [-4.29210433e-03 2.87403303e-05 -9.99990789e-01 -4.02653206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters 0.012903004374369028 Centerline is valid? [True, True] Translation: X:113.80, Y:-153.40, Z:-4.03 [[-9.39796556e-01 3.41710258e-01 4.06612405e-03 1.13802621e+02] [ 3.41707199e-01 9.39805352e-01 -1.44605171e-03 -1.53400172e+02] [-4.31549585e-03 3.04294475e-05 -9.99990688e-01 -4.02639448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters 0.0128344617229663 Centerline is valid? [True, True] Translation: X:113.81, Y:-153.37, Z:-4.03 [[-9.61797779e-01 2.73737185e-01 3.60357983e-03 1.13812007e+02] [ 2.73735358e-01 9.61804530e-01 -1.00031634e-03 -1.53373024e+02] [-3.73976318e-03 2.43251782e-05 -9.99993007e-01 -4.02648782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters 0.01274534925903939 Centerline is valid? [True, True] Translation: X:113.82, Y:-153.35, Z:-4.03 [[-9.79060652e-01 2.03541951e-01 3.30371189e-03 1.13820237e+02] [ 2.03540852e-01 9.79066226e-01 -6.69133263e-04 -1.53345153e+02] [-3.37074942e-03 1.73182835e-05 -9.99994319e-01 -4.02710226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters 0.012563847418392279 Centerline is valid? [True, True] Translation: X:113.96, Y:-152.65, Z:-5.01 [[-9.64957061e-01 -2.62394785e-01 2.61687587e-03 1.13960377e+02] [ 2.62393661e-01 -9.64960607e-01 -7.70175296e-04 -1.52651376e+02] [ 2.72727211e-03 -5.65344508e-05 9.99996279e-01 -5.01266971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters 0.012587893627426324 Centerline is valid? [True, True] Translation: X:113.77, Y:-153.33, Z:-4.03 [[-9.80931130e-01 1.94342202e-01 2.28635924e-03 1.13770693e+02] [ 1.94341672e-01 9.80933794e-01 -4.53797932e-04 -1.53327447e+02] [-2.33095914e-03 -8.09639947e-07 -9.99997283e-01 -4.02655775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters 0.01256482206223802 Centerline is valid? [True, True] Translation: X:113.77, Y:-153.30, Z:-4.03 [[-9.92489609e-01 1.22299071e-01 2.70438507e-03 1.13773990e+02] [ 1.22298599e-01 9.92493293e-01 -3.39708017e-04 -1.53297466e+02] [-2.72563002e-03 -6.41417121e-06 -9.99996286e-01 -4.02625405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters 0.012620911760005656 Centerline is valid? [True, True] Translation: X:113.86, Y:-152.62, Z:-5.01 [[-9.80619822e-01 -1.95892620e-01 3.29323203e-03 1.13861996e+02] [ 1.95891683e-01 -9.80625351e-01 -6.07953874e-04 -1.52617356e+02] [ 3.34852050e-03 4.89451451e-05 9.99994393e-01 -5.01435966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters 0.012792387818139218 Centerline is valid? [True, True] Translation: X:113.72, Y:-153.28, Z:-4.03 [[-9.93433944e-01 1.14368801e-01 2.96256842e-03 1.13723394e+02] [ 1.14368235e-01 9.93438361e-01 -3.60556994e-04 -1.53284188e+02] [-2.98436558e-03 -1.93658360e-05 -9.99995547e-01 -4.02522338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters 0.012958395853917193 Centerline is valid? [True, True] Translation: X:113.80, Y:-152.62, Z:-5.01 [[-9.80566444e-01 -1.96153727e-01 3.62839211e-03 1.13803094e+02] [ 1.96152649e-01 -9.80573154e-01 -6.54262719e-04 -1.52616680e+02] [ 3.68623997e-03 7.01706554e-05 9.99993203e-01 -5.01452282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters 0.013070416151097988 Centerline is valid? [True, True] Translation: X:113.67, Y:-153.27, Z:-4.02 [[-9.94129679e-01 1.08022737e-01 6.10496741e-03 1.13671968e+02] [ 1.08020356e-01 9.94148422e-01 -7.19366818e-04 -1.53274175e+02] [-6.14695169e-03 -5.56831510e-05 -9.99981106e-01 -4.02327620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters 0.013162055764219544 Centerline is valid? [True, True] Translation: X:113.67, Y:-153.25, Z:-4.02 [[-9.99239579e-01 3.81796673e-02 7.91053483e-03 1.13672636e+02] [ 3.81779424e-02 9.99270889e-01 -3.68989572e-04 -1.53246850e+02] [-7.91885507e-03 -6.67010413e-05 -9.99968643e-01 -4.02190150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters 0.013099733130843134 Centerline is valid? [True, True] Translation: X:113.67, Y:-153.22, Z:-4.02 [[-9.99472047e-01 -3.13975757e-02 8.35577580e-03 1.13669074e+02] [-3.13969653e-02 9.99506973e-01 2.04243990e-04 -1.53221187e+02] [-8.35806894e-03 -5.82098440e-05 -9.99965069e-01 -4.02196566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters 0.012843945630905336 Centerline is valid? [True, True] Translation: X:113.67, Y:-153.20, Z:-4.02 [[-9.95290633e-01 -9.66978559e-02 6.78829123e-03 1.13671019e+02] [-9.66956646e-02 9.95313782e-01 6.51043611e-04 -1.53198821e+02] [-6.81943434e-03 -8.42072489e-06 -9.99976747e-01 -4.02394188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters 0.012967389942289829 Centerline is valid? [True, True] Translation: X:113.61, Y:-152.52, Z:-5.01 [[-9.99466131e-01 3.23086931e-02 4.85821207e-03 1.13612540e+02] [-3.23088629e-02 -9.99477932e-01 4.35440098e-05 -1.52519160e+02] [ 4.85708260e-03 -1.13442545e-04 9.99988198e-01 -5.01407422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters 0.013713203689692722 Centerline is valid? [True, True] Translation: X:113.59, Y:-153.22, Z:-4.03 [[-9.95949105e-01 -8.98592516e-02 3.27049517e-03 1.13592193e+02] [-8.98586425e-02 9.95954474e-01 3.33025801e-04 -1.53217174e+02] [-3.28718975e-03 3.77944922e-05 -9.99994597e-01 -4.02743155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters 0.014417119318677547 Centerline is valid? [True, True] Translation: X:113.53, Y:-152.52, Z:-5.01 [[-9.98796837e-01 4.89159551e-02 3.47974334e-03 1.13526527e+02] [-4.89157551e-02 -9.98802898e-01 1.42616999e-04 -1.52518411e+02] [ 3.48255397e-03 -2.77688657e-05 9.99993936e-01 -5.01272029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters 0.014975594029126285 Centerline is valid? [True, True] Translation: X:113.50, Y:-153.23, Z:-4.03 [[-9.95979623e-01 -8.94748214e-02 4.34141876e-03 1.13504698e+02] [-8.94736336e-02 9.95989082e-01 4.67439983e-04 -1.53230060e+02] [-4.36582980e-03 7.71181856e-05 -9.99990467e-01 -4.02606752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters 0.014938030119528179 Centerline is valid? [True, True] Translation: X:113.49, Y:-153.20, Z:-4.02 [[-9.87233967e-01 -1.59171777e-01 5.78279820e-03 1.13493179e+02] [-1.59168394e-01 9.87250897e-01 1.04356838e-03 -1.53203621e+02] [-5.87517934e-03 1.09807451e-04 -9.99982735e-01 -4.02495185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters 0.015293974742376436 Centerline is valid? [True, True] Translation: X:113.48, Y:-153.18, Z:-4.02 [[-9.73149612e-01 -2.30096147e-01 5.96620765e-03 1.13478666e+02] [-2.30091125e-01 9.73167894e-01 1.52425026e-03 -1.53179002e+02] [-6.15684585e-03 1.10552117e-04 -9.99981040e-01 -4.02399542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters 0.014670779784434103 Centerline is valid? [True, True] Translation: X:113.45, Y:-153.16, Z:-4.02 [[-9.53579199e-01 -3.01048686e-01 7.50998772e-03 1.13448595e+02] [-3.01038280e-01 9.53608763e-01 2.50638498e-03 -1.53156421e+02] [-7.91613400e-03 1.29242791e-04 -9.99968659e-01 -4.02314882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters 0.014553174349281517 Centerline is valid? [True, True] Translation: X:113.40, Y:-153.14, Z:-4.02 [[-9.28564406e-01 -3.71093030e-01 7.62279152e-03 1.13400545e+02] [-3.71079457e-01 9.28595686e-01 3.17617528e-03 -1.53144209e+02] [-8.25714783e-03 1.20621973e-04 -9.99965902e-01 -4.02256032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters 0.013781747775704786 Centerline is valid? [True, True] Translation: X:113.34, Y:-153.14, Z:-4.02 [[-8.97273816e-01 -4.41422330e-01 6.78424444e-03 1.13335653e+02] [-4.41408987e-01 8.97299459e-01 3.43314668e-03 -1.53140860e+02] [-7.60296648e-03 8.58461535e-05 -9.99971093e-01 -4.02331695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters 0.013793273322993245 Centerline is valid? [True, True] Translation: X:113.27, Y:-153.15, Z:-4.02 [[-8.61037311e-01 -5.08507153e-01 5.93499234e-03 1.13266974e+02] [-5.08494576e-01 8.61057763e-01 3.57702698e-03 -1.53146238e+02] [-6.92931503e-03 6.20422833e-05 -9.99975990e-01 -4.02330160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters 0.01318578507427902 Centerline is valid? [True, True] Translation: X:113.19, Y:-153.16, Z:-4.02 [[-8.19052316e-01 -5.73692030e-01 5.54604713e-03 1.13188320e+02] [-5.73678560e-01 8.19071092e-01 3.93146329e-03 -1.53163233e+02] [-6.79805603e-03 3.84257853e-05 -9.99976892e-01 -4.02425166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters 0.012891397958586008 Centerline is valid? [True, True] Translation: X:113.11, Y:-153.19, Z:-4.03 [[-7.71153187e-01 -6.36630666e-01 4.91505966e-03 1.13108823e+02] [-6.36617664e-01 7.71168850e-01 4.06878376e-03 -1.53186844e+02] [-6.38065342e-03 8.64176332e-06 -9.99979643e-01 -4.02536019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters 0.012922167101684605 Centerline is valid? [True, True] Translation: X:113.03, Y:-153.22, Z:-4.03 [[-7.19107319e-01 -6.94885732e-01 4.29912733e-03 1.13025437e+02] [-6.94873398e-01 7.19120170e-01 4.14032585e-03 -1.53222406e+02] [-5.96864254e-03 -1.00105917e-05 -9.99982188e-01 -4.02514201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters 0.013025238904419471 Centerline is valid? [True, True] Translation: X:112.94, Y:-153.27, Z:-4.03 [[-6.62032011e-01 -7.49467369e-01 3.50426070e-03 1.12941872e+02] [-7.49457094e-01 6.62041285e-01 3.92449718e-03 -1.53266449e+02] [-5.26124783e-03 -2.81502821e-05 -9.99986159e-01 -4.02594253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters 0.013147778458799053 Centerline is valid? [True, True] Translation: X:112.86, Y:-153.32, Z:-4.03 [[-6.02499552e-01 -7.98113230e-01 3.09222267e-03 1.12858833e+02] [-7.98103005e-01 6.02507486e-01 4.04022977e-03 -1.53323304e+02] [-5.08764814e-03 -3.36755781e-05 -9.99987057e-01 -4.02594481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters 0.013276665918584883 Centerline is valid? [True, True] Translation: X:112.78, Y:-153.39, Z:-4.03 [[-5.39149244e-01 -8.42204111e-01 3.21370714e-03 1.12778670e+02] [-8.42189666e-01 5.39158820e-01 4.93287772e-03 -1.53388186e+02] [-5.88718845e-03 -4.69936510e-05 -9.99982669e-01 -4.02504991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters 0.013437654796352458 Centerline is valid? [True, True] Translation: X:112.70, Y:-153.46, Z:-4.02 [[-4.72373946e-01 -8.81392128e-01 3.28191804e-03 1.12700274e+02] [-8.81371792e-01 4.72385343e-01 5.98761552e-03 -1.53464696e+02] [-6.82776717e-03 -6.41964075e-05 -9.99976689e-01 -4.02406026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters 0.013778235755633217 Centerline is valid? [True, True] Translation: X:112.63, Y:-153.54, Z:-4.02 [[-4.02968323e-01 -9.15208786e-01 3.06737091e-03 1.12628990e+02] [-9.15183705e-01 4.02979990e-01 6.77597199e-03 -1.53544211e+02] [-7.43751820e-03 -7.67058081e-05 -9.99972338e-01 -4.02307382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters 0.014459978511315363 Centerline is valid? [True, True] Translation: X:112.56, Y:-153.64, Z:-4.02 [[-3.28706185e-01 -9.44425805e-01 3.48460786e-03 1.12557382e+02] [-9.44377206e-01 3.28724624e-01 9.58197712e-03 -1.53640860e+02] [-1.01949429e-02 -1.41129093e-04 -9.99948020e-01 -4.02021110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters 0.015070513485897578 Centerline is valid? [True, True] Translation: X:112.50, Y:-153.74, Z:-4.02 [[-2.53238379e-01 -9.67398330e-01 3.28554854e-03 1.12497085e+02] [-9.67326805e-01 2.53259613e-01 1.17652103e-02 -1.53735091e+02] [-1.22137416e-02 -1.98796383e-04 -9.99925390e-01 -4.01847663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters 0.014924848706102403 Centerline is valid? [True, True] Translation: X:112.45, Y:-153.83, Z:-4.02 [[-1.78670011e-01 -9.83906754e-01 2.12736200e-03 1.12446293e+02] [-9.83848291e-01 1.78682589e-01 1.07272426e-02 -1.53834481e+02] [-1.09347290e-02 -1.76364913e-04 -9.99940199e-01 -4.01947696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters 0.01472701693323158 Centerline is valid? [True, True] Translation: X:112.40, Y:-153.94, Z:-4.02 [[-1.04324061e-01 -9.94542759e-01 1.09106046e-03 1.12403452e+02] [-9.94500960e-01 1.04329680e-01 9.11917335e-03 -1.53940765e+02] [-9.18323781e-03 -1.33711482e-04 -9.99957824e-01 -4.02099851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters 0.013684564541383226 Centerline is valid? [True, True] Translation: X:112.37, Y:-154.05, Z:-4.02 [[-3.27150463e-02 -9.99464669e-01 3.18743076e-04 1.12372304e+02] [-9.99436318e-01 3.27165192e-02 7.52839280e-03 -1.54048932e+02] [-7.53479078e-03 -7.22716863e-05 -9.99971611e-01 -4.02326842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters 0.013235789563637216 Centerline is valid? [True, True] Translation: X:112.35, Y:-154.16, Z:-4.02 [[ 4.00856629e-02 -9.99196221e-01 -2.25391005e-04 1.12348345e+02] [-9.99174959e-01 -4.00862803e-02 6.51857597e-03 -1.54161129e+02] [-6.52237156e-03 -3.60963909e-05 -9.99978729e-01 -4.02359914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters 0.012987039614349436 Centerline is valid? [True, True] Translation: X:112.33, Y:-154.28, Z:-4.02 [[ 1.12704993e-01 -9.93628228e-01 -7.27917102e-04 1.12333774e+02] [-9.93606912e-01 -1.12707343e-01 6.50841978e-03 -1.54278084e+02] [-6.54899121e-03 -1.02679441e-05 -9.99978555e-01 -4.02363810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters 0.01320751519435007 Centerline is valid? [True, True] Translation: X:112.33, Y:-154.40, Z:-4.02 [[ 1.84393589e-01 -9.82851151e-01 -1.61829165e-03 1.12329363e+02] [-9.82814480e-01 -1.84400689e-01 8.49027205e-03 -1.54396147e+02] [-8.64308775e-03 2.49287321e-05 -9.99962648e-01 -4.02209124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters 0.013267606763768465 Centerline is valid? [True, True] Translation: X:112.33, Y:-154.51, Z:-4.02 [[ 2.58612716e-01 -9.65978393e-01 -2.28190749e-03 1.12330122e+02] [-9.65941883e-01 -2.58622782e-01 8.39855400e-03 -1.54512650e+02] [-8.70297496e-03 3.22171521e-05 -9.99962128e-01 -4.02150900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters 0.012972832371037912 Centerline is valid? [True, True] Translation: X:112.34, Y:-154.63, Z:-4.02 [[ 3.33274217e-01 -9.42824911e-01 -3.07950667e-03 1.12339034e+02] [-9.42785272e-01 -3.33288444e-01 8.64545293e-03 -1.54634638e+02] [-9.17751237e-03 2.20069730e-05 -9.99957886e-01 -4.02212816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters 0.013021482190257694 Centerline is valid? [True, True] Translation: X:112.36, Y:-154.75, Z:-4.02 [[ 4.07341046e-01 -9.13265106e-01 -4.48544196e-03 1.12355636e+02] [-9.13209573e-01 -4.07365741e-01 1.00712318e-02 -1.54751519e+02] [-1.10249200e-02 -6.27757549e-06 -9.99939224e-01 -4.02065038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters 0.013122719631859191 Centerline is valid? [True, True] Translation: X:112.38, Y:-154.87, Z:-4.02 [[ 4.78130622e-01 -8.78268653e-01 -5.93991122e-03 1.12383752e+02] [-8.78199941e-01 -4.78167515e-01 1.09859507e-02 -1.54872499e+02] [-1.24888887e-02 -3.62897620e-05 -9.99922010e-01 -4.01903107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters 0.013110873483961876 Centerline is valid? [True, True] Translation: X:112.41, Y:-154.98, Z:-4.02 [[ 5.46923497e-01 -8.37161185e-01 -5.98664602e-03 1.12412460e+02] [-8.37109607e-01 -5.46956256e-01 9.29303774e-03 -1.54978942e+02] [-1.10542040e-02 -7.11017985e-05 -9.99938898e-01 -4.02034106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters 0.013371751020757291 Centerline is valid? [True, True] Translation: X:112.45, Y:-155.09, Z:-4.02 [[ 6.11182972e-01 -7.91467335e-01 -5.90194401e-03 1.12451551e+02] [-7.91429072e-01 -6.11211461e-01 7.78292573e-03 -1.55085518e+02] [-9.76726731e-03 -8.58216007e-05 -9.99952295e-01 -4.02128464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters 0.01520287350298774 Centerline is valid? [True, True] Translation: X:112.49, Y:-155.19, Z:-4.02 [[ 6.72178162e-01 -7.40368445e-01 -5.57534545e-03 1.12494554e+02] [-7.40341709e-01 -6.72201276e-01 6.29275133e-03 -1.55192067e+02] [-8.40670884e-03 -1.02189240e-04 -9.99964658e-01 -4.01965699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters 0.01382928974677044 Centerline is valid? [True, True] Translation: X:112.55, Y:-155.28, Z:-4.02 [[ 7.27313968e-01 -6.86279663e-01 -5.88359858e-03 1.12546880e+02] [-6.86255993e-01 -7.27337757e-01 5.70081623e-03 -1.55281938e+02] [-8.19171763e-03 -1.08628481e-04 -9.99966441e-01 -4.02303005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters 0.013733305648768283 Centerline is valid? [True, True] Translation: X:112.57, Y:-155.31, Z:-4.02 [[ 7.78877510e-01 -6.27144867e-01 -6.25627290e-03 1.12565317e+02] [-6.27123498e-01 -7.78902628e-01 5.17830343e-03 -1.55311590e+02] [-8.12057382e-03 -1.09808337e-04 -9.99967022e-01 -4.02278101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters 0.013737580881033983 Centerline is valid? [True, True] Translation: X:112.59, Y:-155.34, Z:-4.02 [[ 8.24780775e-01 -5.65397079e-01 -7.92573432e-03 1.12586769e+02] [-5.65369587e-01 -8.24818846e-01 5.57685325e-03 -1.55337752e+02] [-9.69043158e-03 -1.18712205e-04 -9.99953040e-01 -4.02102206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters 0.013299335800200263 Centerline is valid? [True, True] Translation: X:112.61, Y:-155.36, Z:-4.02 [[ 8.65643521e-01 -5.00573777e-01 -9.33745013e-03 1.12612047e+02] [-5.00543216e-01 -8.65693872e-01 5.53252127e-03 -1.55361453e+02] [-1.08528084e-02 -1.15393881e-04 -9.99941100e-01 -4.02072553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters 0.012966803364009528 Centerline is valid? [True, True] Translation: X:112.64, Y:-155.38, Z:-4.02 [[ 9.00941509e-01 -4.33835885e-01 -9.53009537e-03 1.12639824e+02] [-4.33810630e-01 -9.00991908e-01 4.68185761e-03 -1.55381975e+02] [-1.06176967e-02 -8.38231809e-05 -9.99943627e-01 -4.02112201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters 0.012616404078066948 Centerline is valid? [True, True] Translation: X:112.67, Y:-155.40, Z:-4.02 [[ 9.31521217e-01 -3.63550742e-01 -9.95392143e-03 1.12667982e+02] [-3.63529207e-01 -9.31574395e-01 3.95752902e-03 -1.55402223e+02] [-1.07115809e-02 -6.79810856e-05 -9.99942627e-01 -4.02287199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters 0.01258321212787977 Centerline is valid? [True, True] Translation: X:112.70, Y:-155.42, Z:-4.02 [[ 9.56680347e-01 -2.90967327e-01 -1.00363363e-02 1.12698263e+02] [-2.90950741e-01 -9.56732989e-01 3.10706800e-03 -1.55419911e+02] [-1.05061493e-02 -5.23914102e-05 -9.99944808e-01 -4.02265272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters 0.012613023935620943 Centerline is valid? [True, True] Translation: X:112.73, Y:-155.43, Z:-4.02 [[ 9.76339955e-01 -2.15959468e-01 -1.10363076e-02 1.12728116e+02] [-2.15945110e-01 -9.76402328e-01 2.49070361e-03 -1.55433360e+02] [-1.13137675e-02 -4.85367903e-05 -9.99935996e-01 -4.02135081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters 0.012601191210246648 Centerline is valid? [True, True] Translation: X:112.76, Y:-155.44, Z:-4.02 [[ 9.90355512e-01 -1.38069988e-01 -1.15168958e-02 1.12759828e+02] [-1.38059949e-01 -9.90422473e-01 1.66606540e-03 -1.55444142e+02] [-1.16366261e-02 -5.99750102e-05 -9.99932290e-01 -4.02159624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters 0.012496400832926476 Centerline is valid? [True, True] Translation: X:112.79, Y:-155.46, Z:-4.02 [[ 9.98210806e-01 -5.85979462e-02 -1.18940428e-02 1.12788688e+02] [-5.85928365e-02 -9.98281661e-01 7.77916276e-04 -1.55456913e+02] [-1.19191891e-02 -7.96187294e-05 -9.99928961e-01 -4.02254736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters 0.012765879289829129 Centerline is valid? [True, True] Translation: X:112.82, Y:-155.47, Z:-4.02 [[ 9.99686294e-01 2.21119126e-02 -1.17633517e-02 1.12818682e+02] [ 2.21116364e-02 -9.99755496e-01 -1.53550626e-04 -1.55467696e+02] [-1.17638708e-02 -1.06604500e-04 -9.99930798e-01 -4.02279152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters 0.013308712207275445 Centerline is valid? [True, True] Translation: X:112.85, Y:-155.48, Z:-4.02 [[ 9.94531178e-01 1.03839141e-01 -1.11878949e-02 1.12849652e+02] [ 1.03834174e-01 -9.94594094e-01 -1.02547772e-03 -1.55475777e+02] [-1.12338989e-02 -1.41816260e-04 -9.99936888e-01 -4.02309743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters 0.01443814197586423 Centerline is valid? [True, True] Translation: X:112.88, Y:-155.48, Z:-4.02 [[ 9.82391512e-01 1.86479609e-01 -1.15010147e-02 1.12881783e+02] [ 1.86469301e-01 -9.82458809e-01 -1.97167205e-03 -1.55483320e+02] [-1.16669498e-02 -2.07632287e-04 -9.99931917e-01 -4.02315925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters 0.01486593212896086 Centerline is valid? [True, True] Translation: X:112.91, Y:-155.49, Z:-4.02 [[ 9.64127429e-01 2.65187607e-01 -1.15686952e-02 1.12914164e+02] [ 2.65171517e-01 -9.64196803e-01 -2.93115524e-03 -1.55486068e+02] [-1.19318049e-02 -2.41681283e-04 -9.99928784e-01 -4.02354447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters 0.015250905104901766 Centerline is valid? [True, True] Translation: X:112.94, Y:-155.48, Z:-4.02 [[ 9.40315923e-01 3.40105178e-01 -1.15944832e-02 1.12944534e+02] [ 3.40082610e-01 -9.40387369e-01 -3.92607707e-03 -1.55484266e+02] [-1.22385847e-02 -2.51329306e-04 -9.99925074e-01 -4.02310841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters 0.015734900336899307 Centerline is valid? [True, True] Translation: X:112.97, Y:-155.48, Z:-4.02 [[ 9.10887582e-01 4.12496918e-01 -1.14064250e-02 1.12974190e+02] [ 4.12468037e-01 -9.10958961e-01 -4.88770934e-03 -1.55478506e+02] [-1.24069501e-02 -2.52631998e-04 -9.99922999e-01 -4.02257477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters 0.01566200549849404 Centerline is valid? [True, True] Translation: X:113.00, Y:-155.47, Z:-4.02 [[ 8.76123399e-01 4.81948918e-01 -1.15338687e-02 1.13002686e+02] [ 4.81910984e-01 -8.76199278e-01 -6.05214717e-03 -1.55466504e+02] [-1.30227932e-02 -2.55870272e-04 -9.99915167e-01 -4.02300617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters 0.01567741475056482 Centerline is valid? [True, True] Translation: X:113.03, Y:-155.45, Z:-4.02 [[ 8.35579038e-01 5.49248688e-01 -1.15563684e-02 1.13031569e+02] [ 5.49200621e-01 -8.35658905e-01 -7.27132848e-03 -1.55454135e+02] [-1.36509498e-02 -2.70995072e-04 -9.99906785e-01 -4.02284173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters 0.014551017982898217 Centerline is valid? [True, True] Translation: X:113.06, Y:-155.44, Z:-4.02 [[ 7.90819884e-01 6.11921508e-01 -1.24891752e-02 1.13059426e+02] [ 6.11850930e-01 -7.90918444e-01 -9.29807661e-03 -1.55439736e+02] [-1.55676121e-02 -2.88409623e-04 -9.99878776e-01 -4.02408643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters 0.014506771717840835 Centerline is valid? [True, True] Translation: X:113.09, Y:-155.43, Z:-4.02 [[ 7.41535506e-01 6.70812401e-01 -1.16539721e-02 1.13086810e+02] [ 6.70735094e-01 -7.41627031e-01 -1.01872802e-02 -1.55425496e+02] [-1.54766546e-02 -2.62498085e-04 -9.99880195e-01 -4.02426975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters 0.013848428514486151 Centerline is valid? [True, True] Translation: X:113.11, Y:-155.41, Z:-4.03 [[ 6.88072196e-01 7.25569691e-01 -1.02604694e-02 1.13113199e+02] [ 7.25493810e-01 -6.88148657e-01 -1.04955502e-02 -1.55409036e+02] [-1.46759814e-02 -2.22210751e-04 -9.99892277e-01 -4.02575859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters 0.013411575202664179 Centerline is valid? [True, True] Translation: X:113.14, Y:-155.39, Z:-4.03 [[ 6.31346486e-01 7.75447128e-01 -9.13056404e-03 1.13137465e+02] [ 7.75370046e-01 -6.31412481e-01 -1.09348113e-02 -1.55390557e+02] [-1.42445201e-02 -1.75911155e-04 -9.99898526e-01 -4.02674745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters 0.013172488944433843 Centerline is valid? [True, True] Translation: X:113.16, Y:-155.37, Z:-4.03 [[ 5.69046243e-01 8.22262882e-01 -8.37420208e-03 1.13162541e+02] [ 8.22178287e-01 -5.69107831e-01 -1.17957799e-02 -1.55372364e+02] [-1.44650560e-02 -1.72742864e-04 -9.99895361e-01 -4.02738974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters 0.013810060639509614 Centerline is valid? [True, True] Translation: X:113.19, Y:-155.35, Z:-4.03 [[ 5.01778750e-01 8.64962815e-01 -7.57722608e-03 1.13187521e+02] [ 8.64870032e-01 -5.01835919e-01 -1.26703574e-02 -1.55354197e+02] [-1.47619123e-02 -1.95599645e-04 -9.99891018e-01 -4.02622348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters 0.013786322157900207 Centerline is valid? [True, True] Translation: X:113.21, Y:-155.33, Z:-4.03 [[ 4.31116468e-01 9.02270836e-01 -6.77716664e-03 1.13210197e+02] [ 9.02167496e-01 -4.31169674e-01 -1.36572715e-02 -1.55332743e+02] [-1.52446665e-02 -2.26264795e-04 -9.99883768e-01 -4.02684778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters 0.014240769175545594 Centerline is valid? [True, True] Translation: X:113.23, Y:-155.31, Z:-4.03 [[ 3.57931356e-01 9.33732042e-01 -5.44227360e-03 1.13230484e+02] [ 9.33633951e-01 -3.57972650e-01 -1.35361687e-02 -1.55310214e+02] [-1.45873396e-02 -2.36072172e-04 -9.99893571e-01 -4.02642820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters 0.014915328957264743 Centerline is valid? [True, True] Translation: X:113.25, Y:-155.29, Z:-4.03 [[ 2.82666629e-01 9.59208971e-01 -4.21025640e-03 1.13246775e+02] [ 9.59115033e-01 -2.82697878e-01 -1.34262280e-02 -1.55286109e+02] [-1.40687889e-02 -2.42973599e-04 -9.99901000e-01 -4.02670226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters 0.01475817749566421 Centerline is valid? [True, True] Translation: X:113.26, Y:-155.26, Z:-4.03 [[ 2.05686788e-01 9.78613174e-01 -3.03326359e-03 1.13261762e+02] [ 9.78523841e-01 -2.05709003e-01 -1.32249070e-02 -1.55259370e+02] [-1.35660378e-02 -2.47932103e-04 -9.99907946e-01 -4.02781107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters 0.014503908852642267 Centerline is valid? [True, True] Translation: X:113.28, Y:-155.23, Z:-4.03 [[ 1.28438099e-01 9.91715407e-01 -2.05069663e-03 1.13275647e+02] [ 9.91618809e-01 -1.28454215e-01 -1.38438800e-02 -1.55231892e+02] [-1.39926097e-02 -2.55427724e-04 -9.99902066e-01 -4.02780902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters 0.014797878896132089 Centerline is valid? [True, True] Translation: X:113.29, Y:-155.20, Z:-4.03 [[ 5.21738645e-02 9.98637605e-01 -9.06674948e-04 1.13287370e+02] [ 9.98550500e-01 -5.21812903e-02 -1.31913614e-02 -1.55204082e+02] [-1.32207010e-02 -2.17116421e-04 -9.99912579e-01 -4.02688152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters 0.013811091259190512 Centerline is valid? [True, True] Translation: X:113.29, Y:-155.17, Z:-4.03 [[-2.37749875e-02 9.99717328e-01 1.19670199e-04 1.13293821e+02] [ 9.99641955e-01 2.37746646e-02 -1.22771298e-02 -1.55174903e+02] [-1.22765045e-02 -1.72261256e-04 -9.99924626e-01 -4.02836750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters 0.013114998567873126 Centerline is valid? [True, True] Translation: X:113.30, Y:-155.15, Z:-4.03 [[-9.81312457e-02 9.95173015e-01 9.64072916e-04 1.13297345e+02] [ 9.95113303e-01 9.81359191e-02 -1.09020946e-02 -1.55145316e+02] [-1.09440806e-02 -1.10474345e-04 -9.99940106e-01 -4.02866276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters 0.012657388051305273 Centerline is valid? [True, True] Translation: X:113.30, Y:-155.12, Z:-4.03 [[-1.68781733e-01 9.85652329e-01 1.48755233e-03 1.13297450e+02] [ 9.85612636e-01 1.68788286e-01 -8.84570725e-03 -1.55116158e+02] [-8.96987336e-03 -2.68434282e-05 -9.99959770e-01 -4.02934105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters 0.012806775346284596 Centerline is valid? [True, True] Translation: X:113.30, Y:-155.09, Z:-4.03 [[-2.37805371e-01 9.71310613e-01 2.07361061e-03 1.13297543e+02] [ 9.71275218e-01 2.37814407e-01 -8.29205336e-03 -1.55086425e+02] [-8.54729391e-03 4.21517710e-05 -9.99963470e-01 -4.02881991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters 0.013707018345832668 Centerline is valid? [True, True] Translation: X:113.29, Y:-155.06, Z:-4.03 [[-3.07745182e-01 9.51465459e-01 2.52662108e-03 1.13294909e+02] [ 9.51435616e-01 3.07755543e-01 -7.53623735e-03 -1.55058378e+02] [-7.94805116e-03 8.46765450e-05 -9.99968410e-01 -4.02782085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters 0.014409274535709381 Centerline is valid? [True, True] Translation: X:113.29, Y:-155.03, Z:-4.03 [[-3.76037975e-01 9.26600027e-01 2.79837465e-03 1.13292997e+02] [ 9.26576648e-01 3.76048369e-01 -6.58335031e-03 -1.55028248e+02] [-7.15245680e-03 1.17318881e-04 -9.99974414e-01 -4.02849823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters 0.01566076560367296 Centerline is valid? [True, True] Translation: X:113.29, Y:-155.00, Z:-4.03 [[-4.43293681e-01 8.96370571e-01 3.24222103e-03 1.13287709e+02] [ 8.96348985e-01 4.43305513e-01 -6.22250285e-03 -1.54999842e+02] [-7.01496289e-03 1.47765333e-04 -9.99975384e-01 -4.02857313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters 0.016473457334092965 Centerline is valid? [True, True] Translation: X:113.28, Y:-154.97, Z:-4.03 [[-5.08912484e-01 8.60808898e-01 4.01564876e-03 1.13282004e+02] [ 8.60784954e-01 5.08928292e-01 -6.42308936e-03 -1.54970076e+02] [-7.57272974e-03 1.87819668e-04 -9.99971309e-01 -4.02838564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters 0.017781347408411835 Centerline is valid? [True, True] Translation: X:113.28, Y:-154.94, Z:-4.03 [[-5.72539301e-01 8.19865359e-01 4.42061963e-03 1.13275038e+02] [ 8.19843629e-01 5.72556330e-01 -5.97274221e-03 -1.54941753e+02] [-7.42789819e-03 2.04587194e-04 -9.99972392e-01 -4.02816356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters 0.016371246637460136 Centerline is valid? [True, True] Translation: X:113.27, Y:-154.91, Z:-4.03 [[-6.36348563e-01 7.71389896e-01 4.25846469e-03 1.13271319e+02] [ 7.71374355e-01 6.36362790e-01 -4.89936154e-03 -1.54906226e+02] [-6.48924646e-03 1.67168781e-04 -9.99978931e-01 -4.02908092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters 0.016181018738434385 Centerline is valid? [True, True] Translation: X:113.26, Y:-154.88, Z:-4.03 [[-6.95843968e-01 7.18178473e-01 4.56658338e-03 1.13259825e+02] [ 7.18164460e-01 6.95858935e-01 -4.48910619e-03 -1.54875667e+02] [-6.40167728e-03 1.55840424e-04 -9.99979497e-01 -4.02946816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters 0.014753365378155425 Centerline is valid? [True, True] Translation: X:113.28, Y:-154.85, Z:-4.03 [[-7.49317201e-01 6.62192468e-01 4.98678202e-03 1.13283546e+02] [ 6.62178825e-01 7.49333785e-01 -4.25228680e-03 -1.54845199e+02] [-6.55259654e-03 1.15829815e-04 -9.99978525e-01 -4.02877696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters 0.013350507471281 Centerline is valid? [True, True] Translation: X:113.30, Y:-154.81, Z:-4.03 [[-7.99999958e-01 5.99974175e-01 5.57274560e-03 1.13303459e+02] [ 5.99960114e-01 8.00019366e-01 -4.10806490e-03 -1.54808020e+02] [-6.92303725e-03 5.69733358e-05 -9.99976034e-01 -4.02690827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters 0.012784326280970204 Centerline is valid? [True, True] Translation: X:113.66, Y:-154.33, Z:-5.01 [[-7.64138955e-01 -6.45028023e-01 5.52334753e-03 1.13657110e+02] [ 6.45010820e-01 -7.64158915e-01 -4.71111838e-03 -1.54326097e+02] [ 7.25951863e-03 -3.73301549e-05 9.99973649e-01 -5.01321813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters 0.012964925039066995 Centerline is valid? [True, True] Translation: X:113.62, Y:-154.35, Z:-5.01 [[-7.14295187e-01 -6.99823809e-01 5.38720246e-03 1.13623180e+02] [ 6.99804324e-01 -7.14315501e-01 -5.22240770e-03 -1.54347240e+02] [ 7.50292747e-03 3.96468868e-05 9.99971852e-01 -5.01365370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters 0.01389050522861779 Centerline is valid? [True, True] Translation: X:113.23, Y:-154.75, Z:-4.03 [[-7.74221682e-01 6.32891454e-01 5.40319594e-03 1.13227732e+02] [ 6.32875162e-01 7.74240530e-01 -4.54219707e-03 -1.54745866e+02] [-7.05809100e-03 -9.71189523e-05 -9.99975087e-01 -4.02580743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters 0.01491835409188158 Centerline is valid? [True, True] Translation: X:113.25, Y:-154.72, Z:-4.03 [[-8.19383607e-01 5.73222806e-01 5.11071786e-03 1.13245708e+02] [ 5.73210797e-01 8.19399538e-01 -3.71221405e-03 -1.54717586e+02] [-6.31564561e-03 -1.12208686e-04 -9.99980050e-01 -4.02590450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters 0.015209501377834604 Centerline is valid? [True, True] Translation: X:113.26, Y:-154.69, Z:-4.03 [[-8.58552238e-01 5.12696897e-01 5.47240171e-03 1.13258335e+02] [ 5.12685567e-01 8.58569669e-01 -3.41062271e-03 -1.54690927e+02] [-6.44705380e-03 -1.22576383e-04 -9.99979210e-01 -4.02595586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters 0.015801760468677897 Centerline is valid? [True, True] Translation: X:113.27, Y:-154.66, Z:-4.03 [[-8.93682662e-01 4.48659683e-01 5.98244438e-03 1.13265770e+02] [ 4.48648551e-01 8.93702674e-01 -3.16370001e-03 -1.54659790e+02] [-6.76595118e-03 -1.43328838e-04 -9.99977100e-01 -4.02575311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters 0.01643681744687124 Centerline is valid? [True, True] Translation: X:113.27, Y:-154.63, Z:-4.02 [[-9.23762744e-01 3.82909332e-01 6.54498398e-03 1.13271443e+02] [ 3.82898477e-01 9.23785915e-01 -2.88777715e-03 -1.54629144e+02] [-7.15192084e-03 -1.61556548e-04 -9.99974412e-01 -4.02490035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters 0.017144783885315994 Centerline is valid? [True, True] Translation: X:113.28, Y:-154.60, Z:-4.02 [[-9.49190364e-01 3.14613733e-01 7.47340601e-03 1.13278003e+02] [ 3.14602359e-01 9.49219764e-01 -2.68228204e-03 -1.54599654e+02] [-7.93778746e-03 -1.94845100e-04 -9.99968476e-01 -4.02423137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters 0.01795856923026603 Centerline is valid? [True, True] Translation: X:113.28, Y:-154.57, Z:-4.02 [[-9.69971426e-01 2.43050467e-01 9.05005734e-03 1.13276195e+02] [ 2.43037331e-01 9.70013608e-01 -2.54069948e-03 -1.54569166e+02] [-9.39619697e-03 -2.64904113e-04 -9.99955820e-01 -4.02378138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters 0.017451910436883062 Centerline is valid? [True, True] Translation: X:113.27, Y:-154.54, Z:-4.02 [[-9.84991691e-01 1.72326209e-01 9.74920117e-03 1.13271899e+02] [ 1.72314803e-01 9.85039893e-01 -2.00433867e-03 -1.54542541e+02] [-9.94875216e-03 -2.94325251e-04 -9.99950467e-01 -4.02395064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters 0.018712997564552046 Centerline is valid? [True, True] Translation: X:113.27, Y:-154.51, Z:-4.02 [[-9.94781358e-01 1.01605602e-01 9.29251593e-03 1.13269721e+02] [ 1.01598529e-01 9.94824720e-01 -1.23126783e-03 -1.54514573e+02] [-9.36952826e-03 -2.80736330e-04 -9.99956066e-01 -4.02392963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters 0.017546877357621133 Centerline is valid? [True, True] Translation: X:113.34, Y:-154.00, Z:-5.01 [[-9.74123850e-01 -2.25895317e-01 7.35051347e-03 1.13337738e+02] [ 2.25889733e-01 -9.74151576e-01 -1.59217137e-03 -1.54004985e+02] [ 7.52017834e-03 1.09433421e-04 9.99971717e-01 -5.01335670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters 0.017871524318117237 Centerline is valid? [True, True] Translation: X:113.23, Y:-154.52, Z:-4.03 [[-9.94930380e-01 1.00360289e-01 6.43056073e-03 1.13226269e+02] [ 1.00357041e-01 9.94951145e-01 -8.26638591e-04 -1.54517726e+02] [-6.48105545e-03 -1.77095803e-04 -9.99978982e-01 -4.02648292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters 0.017253732087085197 Centerline is valid? [True, True] Translation: X:113.22, Y:-154.49, Z:-4.03 [[-9.99530326e-01 3.00406133e-02 6.05714549e-03 1.13220446e+02] [ 3.00390770e-02 9.99548666e-01 -3.44470451e-04 -1.54494117e+02] [-6.06475980e-03 -1.62357602e-04 -9.99981596e-01 -4.02648230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters 0.018048482339987116 Centerline is valid? [True, True] Translation: X:113.25, Y:-153.96, Z:-5.01 [[-9.88474502e-01 -1.51234156e-01 6.81090448e-03 1.13250287e+02] [ 1.51232200e-01 -9.88497939e-01 -8.04354501e-04 -1.53960790e+02] [ 6.85421091e-03 2.34944152e-04 9.99976482e-01 -5.01417727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters 0.018632754753679037 Centerline is valid? [True, True] Translation: X:113.17, Y:-154.50, Z:-4.03 [[-9.99699342e-01 2.32701108e-02 7.72832316e-03 1.13169910e+02] [ 2.32676369e-02 9.99729188e-01 -4.09870898e-04 -1.54496704e+02] [-7.73576798e-03 -2.29927850e-04 -9.99970052e-01 -4.02502830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters 0.01882786426637443 Centerline is valid? [True, True] Translation: X:113.19, Y:-153.95, Z:-5.02 [[-9.87987535e-01 -1.54306745e-01 8.37008443e-03 1.13191456e+02] [ 1.54303756e-01 -9.88022945e-01 -1.00564337e-03 -1.53953229e+02] [ 8.42501302e-03 2.97972346e-04 9.99964465e-01 -5.01550191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters 0.02249412299293913 Centerline is valid? [True, True] Translation: X:113.11, Y:-154.49, Z:-4.02 [[-9.99897922e-01 1.12052848e-02 8.86494813e-03 1.13112305e+02] [ 1.12018634e-02 9.99937162e-01 -4.35516709e-04 -1.54493993e+02] [-8.86927116e-03 -3.36168314e-04 -9.99960611e-01 -4.02244101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters 0.02367031887575574 Centerline is valid? [True, True] Translation: X:113.14, Y:-153.95, Z:-5.02 [[-9.87643819e-01 -1.56431442e-01 9.42823914e-03 1.13139200e+02] [ 1.56428174e-01 -9.87688738e-01 -1.08769066e-03 -1.53953260e+02] [ 9.48231464e-03 4.00591274e-04 9.99954962e-01 -5.01786252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters 0.022693428646046215 Centerline is valid? [True, True] Translation: X:113.06, Y:-154.50, Z:-4.02 [[-9.99948953e-01 2.76542006e-03 9.71823110e-03 1.13063552e+02] [ 2.76127169e-03 9.99996091e-01 -4.40256336e-04 -1.54499531e+02] [-9.71941061e-03 -4.13399186e-04 -9.99952680e-01 -4.02189742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters 0.027362399098886454 Centerline is valid? [True, True] Translation: X:113.08, Y:-153.95, Z:-5.02 [[-9.87900567e-01 -1.54794521e-01 9.54597947e-03 1.13078238e+02] [ 1.54791200e-01 -9.87946606e-01 -1.09023066e-03 -1.53947700e+02] [ 9.59967975e-03 4.00594124e-04 9.99953842e-01 -5.01918339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters 0.023637825075559823 Centerline is valid? [True, True] Translation: X:113.01, Y:-154.50, Z:-4.02 [[-9.99962384e-01 -1.00912606e-03 8.61471346e-03 1.13008882e+02] [-1.01223152e-03 9.99999424e-01 -3.56130748e-04 -1.54504309e+02] [-8.61434912e-03 -3.64837436e-04 -9.99962829e-01 -4.02274032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters 0.024330576870598666 Centerline is valid? [True, True] Translation: X:113.01, Y:-154.48, Z:-4.02 [[-9.97440995e-01 -7.10045872e-02 8.35522180e-03 1.13005613e+02] [-7.10049917e-02 9.97475929e-01 2.48585300e-04 -1.54482665e+02] [-8.35178333e-03 -3.45313285e-04 -9.99965064e-01 -4.02351566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters 0.02216471183280024 Centerline is valid? [True, True] Translation: X:112.99, Y:-153.90, Z:-5.02 [[-9.97082528e-01 -7.59609252e-02 7.50798630e-03 1.12993105e+02] [ 7.59607182e-02 -9.97110762e-01 -3.13137960e-04 -1.53897393e+02] [ 7.51008018e-03 2.58087642e-04 9.99971766e-01 -5.01592635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters 0.020077963476298342 Centerline is valid? [True, True] Translation: X:112.96, Y:-154.50, Z:-4.02 [[-9.97633480e-01 -6.84020572e-02 6.97130703e-03 1.12956607e+02] [-6.84020661e-02 9.97657808e-01 2.37442979e-04 -1.54500632e+02] [-6.97122047e-03 -2.39970739e-04 -9.99975672e-01 -4.02425727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters 0.01845591292442546 Centerline is valid? [True, True] Translation: X:112.94, Y:-153.88, Z:-5.02 [[-9.97996202e-01 -6.28450519e-02 7.35395766e-03 1.12937618e+02] [ 6.28453809e-02 -9.98023258e-01 -1.86570701e-04 -1.53884988e+02] [ 7.35114582e-03 2.75965419e-04 9.99972942e-01 -5.01581683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters 0.01652418207476298 Centerline is valid? [True, True] Translation: X:112.90, Y:-154.52, Z:-4.02 [[-9.98147723e-01 -6.01231339e-02 9.29150586e-03 1.12896179e+02] [-6.01223995e-02 9.98190948e-01 3.58600951e-04 -1.54521276e+02] [-9.29625726e-03 -2.00690904e-04 -9.99956769e-01 -4.02225318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters 0.015211219091971966 Centerline is valid? [True, True] Translation: X:112.87, Y:-153.87, Z:-5.02 [[-9.98896078e-01 -4.59529697e-02 9.74425783e-03 1.12874708e+02] [ 4.59531023e-02 -9.98943576e-01 -2.10403062e-04 -1.53869712e+02] [ 9.74363241e-03 2.37608084e-04 9.99952502e-01 -5.01841906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters 0.014504631926797875 Centerline is valid? [True, True] Translation: X:112.84, Y:-154.54, Z:-4.02 [[-9.98324998e-01 -5.70478124e-02 9.63039947e-03 1.12835308e+02] [-5.70464554e-02 9.98371438e-01 4.15768721e-04 -1.54537325e+02] [-9.63843447e-03 -1.34307846e-04 -9.99953540e-01 -4.02141539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters 0.014077778621515253 Centerline is valid? [True, True] Translation: X:112.83, Y:-154.52, Z:-4.02 [[-9.92095929e-01 -1.25064216e-01 1.02279048e-02 1.12833931e+02] [-1.25058754e-01 9.92148643e-01 1.17437232e-03 -1.54518168e+02] [-1.02944738e-02 -1.13999030e-04 -9.99947004e-01 -4.02096282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters 0.013521450924014121 Centerline is valid? [True, True] Translation: X:112.76, Y:-153.83, Z:-5.02 [[-9.99226111e-01 3.78968224e-02 1.05361102e-02 1.12757565e+02] [-3.78933108e-02 -9.99281649e-01 5.32795496e-04 -1.53830432e+02] [ 1.05487329e-02 1.33135071e-04 9.99944352e-01 -5.01850556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters 0.013316951912080401 Centerline is valid? [True, True] Translation: X:112.74, Y:-154.54, Z:-4.02 [[-9.91939554e-01 -1.26293072e-01 1.02947556e-02 1.12743863e+02] [-1.26286993e-01 9.91992971e-01 1.24112331e-03 -1.54537969e+02] [-1.03690705e-02 -6.89744269e-05 -9.99946237e-01 -4.02091294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters 0.013240413126753304 Centerline is valid? [True, True] Translation: X:112.74, Y:-154.51, Z:-4.02 [[-9.80558809e-01 -1.96017531e-01 9.03050844e-03 1.12742092e+02] [-1.96009734e-01 9.80600390e-01 1.74921477e-03 -1.54512942e+02] [-9.19819686e-03 -5.48596075e-05 -9.99957694e-01 -4.02211395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters 0.013533391432909998 Centerline is valid? [True, True] Translation: X:112.73, Y:-154.49, Z:-4.02 [[-9.63708931e-01 -2.66787110e-01 9.47281294e-03 1.12725274e+02] [-2.66774949e-01 9.63755484e-01 2.54824770e-03 -1.54488274e+02] [-9.80931506e-03 -7.13401238e-05 -9.99951885e-01 -4.02168175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters 0.0131324180817188 Centerline is valid? [True, True] Translation: X:112.69, Y:-154.47, Z:-4.02 [[-9.41056603e-01 -3.38111832e-01 9.63637697e-03 1.12694150e+02] [-3.38095234e-01 9.41105934e-01 3.35173892e-03 -1.54469289e+02] [-1.02021141e-02 -1.03837084e-04 -9.99947952e-01 -4.02365264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters 0.013263914692539298 Centerline is valid? [True, True] Translation: X:112.65, Y:-154.46, Z:-4.02 [[-9.13507238e-01 -4.06725934e-01 8.86235416e-03 1.12649987e+02] [-4.06707956e-01 9.13550219e-01 3.82568029e-03 -1.54456709e+02] [-9.65220897e-03 -1.09603310e-04 -9.99953410e-01 -4.02388488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters 0.013294856611522202 Centerline is valid? [True, True] Translation: X:112.59, Y:-154.45, Z:-4.02 [[-8.81269303e-01 -4.72539686e-01 8.40599829e-03 1.12591081e+02] [-4.72519352e-01 8.81309386e-01 4.38504518e-03 -1.54454325e+02] [-9.48039306e-03 -1.07591152e-04 -9.99955054e-01 -4.02356676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters 0.013308571624430143 Centerline is valid? [True, True] Translation: X:112.53, Y:-154.46, Z:-4.02 [[-8.44017622e-01 -5.36262948e-01 7.50358321e-03 1.12525225e+02] [-5.36242787e-01 8.44050970e-01 4.65117613e-03 -1.54460125e+02] [-8.82766012e-03 -9.80677553e-05 -9.99961031e-01 -4.02397996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters 0.013377885165898176 Centerline is valid? [True, True] Translation: X:112.45, Y:-154.48, Z:-4.02 [[-8.01691706e-01 -5.97691959e-01 7.39800481e-03 1.12449181e+02] [-5.97667691e-01 8.01725833e-01 5.38696733e-03 -1.54477463e+02] [-9.15091863e-03 -1.02861426e-04 -9.99958124e-01 -4.02355056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters 0.013269485644910824 Centerline is valid? [True, True] Translation: X:112.37, Y:-154.51, Z:-4.02 [[-7.54172874e-01 -6.56640461e-01 6.82506406e-03 1.12365340e+02] [-6.56614884e-01 7.54203747e-01 5.79668200e-03 -1.54506862e+02] [-8.95382484e-03 -1.09738322e-04 -9.99959908e-01 -4.02376907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters 0.01416516337630115 Centerline is valid? [True, True] Translation: X:112.28, Y:-154.54, Z:-4.02 [[-7.01879878e-01 -7.12266060e-01 6.45726713e-03 1.12284168e+02] [-7.12237492e-01 7.01909571e-01 6.38044212e-03 -1.54539551e+02] [-9.07698996e-03 -1.20803803e-04 -9.99958796e-01 -4.02265369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters 0.013748201421884645 Centerline is valid? [True, True] Translation: X:112.20, Y:-154.59, Z:-4.02 [[-6.45193057e-01 -7.63994737e-01 6.16135340e-03 1.12200134e+02] [-7.63961920e-01 6.45222461e-01 7.08246560e-03 -1.54587549e+02] [-9.38641004e-03 -1.37481748e-04 -9.99955937e-01 -4.02343712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters 0.013573236787679395 Centerline is valid? [True, True] Translation: X:112.12, Y:-154.64, Z:-4.02 [[-5.85285403e-01 -8.10804015e-01 6.15199826e-03 1.12118857e+02] [-8.10761957e-01 5.85317714e-01 8.25971436e-03 -1.54644070e+02] [-1.02978831e-02 -1.53515901e-04 -9.99946964e-01 -4.02324667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters 0.013871873325610505 Centerline is valid? [True, True] Translation: X:112.04, Y:-154.71, Z:-4.02 [[-5.22452575e-01 -8.52647549e-01 5.95521901e-03 1.12039732e+02] [-8.52595663e-01 5.22486489e-01 9.40763041e-03 -1.54709381e+02] [-1.11329145e-02 -1.62353176e-04 -9.99938014e-01 -4.02236858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters 0.013522806744296394 Centerline is valid? [True, True] Translation: X:111.96, Y:-154.79, Z:-4.02 [[-4.56656501e-01 -8.89626786e-01 5.38710404e-03 1.11964535e+02] [-8.89568952e-01 4.56688248e-01 1.01451292e-02 -1.54787083e+02] [-1.14856058e-02 -1.59361307e-04 -9.99934026e-01 -4.02301954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters 0.013800972472585486 Centerline is valid? [True, True] Translation: X:111.90, Y:-154.87, Z:-4.02 [[-3.87555434e-01 -9.21835475e-01 4.48810914e-03 1.11895370e+02] [-9.21778207e-01 3.87581390e-01 1.02763769e-02 -1.54866925e+02] [-1.12126364e-02 -1.54375473e-04 -9.99937125e-01 -4.02284383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters 0.01378133943974886 Centerline is valid? [True, True] Translation: X:111.83, Y:-154.96, Z:-4.02 [[-3.15698314e-01 -9.48853389e-01 3.43797660e-03 1.11829634e+02] [-9.48802116e-01 3.15716999e-01 9.86516085e-03 -1.54962224e+02] [-1.04460190e-02 -1.47544821e-04 -9.99945428e-01 -4.02374029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters 0.013786045538903087 Centerline is valid? [True, True] Translation: X:111.77, Y:-155.07, Z:-4.02 [[-2.41989388e-01 -9.70275470e-01 2.57829855e-03 1.11770085e+02] [-9.70226590e-01 2.42003080e-01 9.74029997e-03 -1.55065316e+02] [-1.00747303e-02 -1.44484584e-04 -9.99949238e-01 -4.02332460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters 0.014146466108576599 Centerline is valid? [True, True] Translation: X:111.72, Y:-155.16, Z:-4.02 [[-1.65895076e-01 -9.86141181e-01 2.09652921e-03 1.11721500e+02] [-9.86075415e-01 1.65908228e-01 1.13901445e-02 -1.55160731e+02] [-1.15801220e-02 -1.77767024e-04 -9.99932932e-01 -4.02266422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters 0.014233537419415304 Centerline is valid? [True, True] Translation: X:111.68, Y:-155.27, Z:-4.02 [[-8.96483662e-02 -9.95972699e-01 1.24665399e-03 1.11678316e+02] [-9.95902801e-01 8.96568458e-02 1.18009254e-02 -1.55271800e+02] [-1.18651705e-02 -1.83612522e-04 -9.99929590e-01 -4.02248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters 0.01477719561492646 Centerline is valid? [True, True] Translation: X:111.64, Y:-155.39, Z:-4.02 [[-1.25219991e-02 -9.99921550e-01 3.06348682e-04 1.11642332e+02] [-9.99863641e-01 1.25245713e-02 1.07626313e-02 -1.55386484e+02] [-1.07656239e-02 -1.71537248e-04 -9.99942034e-01 -4.02251778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters 0.01427426601355991 Centerline is valid? [True, True] Translation: X:111.62, Y:-155.50, Z:-4.03 [[ 6.50118495e-02 -9.97884382e-01 -4.68238541e-04 1.11619098e+02] [-9.97837682e-01 -6.50133376e-02 9.65543359e-03 -1.55496101e+02] [-9.66544813e-03 -1.60491536e-04 -9.99953276e-01 -4.02500746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters 0.014512048817414441 Centerline is valid? [True, True] Translation: X:111.60, Y:-155.62, Z:-4.03 [[ 1.41805685e-01 -9.89893682e-01 -1.28267416e-03 1.11604204e+02] [-9.89841348e-01 -1.41811379e-01 1.01803352e-02 -1.55619588e+02] [-1.02593473e-02 -1.73985482e-04 -9.99947356e-01 -4.02519634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters 0.014686566650735968 Centerline is valid? [True, True] Translation: X:111.60, Y:-155.75, Z:-4.02 [[ 2.17924166e-01 -9.75963219e-01 -2.20284401e-03 1.11599425e+02] [-9.75904100e-01 -2.17935215e-01 1.07438139e-02 -1.55745793e+02] [-1.09656445e-02 -1.91572187e-04 -9.99939857e-01 -4.02425183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters 0.014535264063275367 Centerline is valid? [True, True] Translation: X:111.60, Y:-155.85, Z:-4.02 [[ 2.92511750e-01 -9.56257250e-01 -2.99118258e-03 1.11599933e+02] [-9.56200290e-01 -2.92526980e-01 1.04389414e-02 -1.55854600e+02] [-1.08573151e-02 -1.93343379e-04 -9.99941039e-01 -4.02487083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters 0.01474008671108749 Centerline is valid? [True, True] Translation: X:111.61, Y:-155.97, Z:-4.03 [[ 3.64968520e-01 -9.31013185e-01 -3.52544873e-03 1.11609282e+02] [-9.30964925e-01 -3.64985504e-01 9.48103283e-03 -1.55969044e+02] [-1.01137042e-02 -1.78209412e-04 -9.99948839e-01 -4.02511346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters 0.014579543584869287 Centerline is valid? [True, True] Translation: X:111.63, Y:-156.08, Z:-4.03 [[ 4.35402728e-01 -9.00226370e-01 -4.11658165e-03 1.11628653e+02] [-9.00182306e-01 -4.35422154e-01 8.90859743e-03 -1.56083459e+02] [-9.81220518e-03 -1.73153663e-04 -9.99951844e-01 -4.02543395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters 0.015133474904557766 Centerline is valid? [True, True] Translation: X:111.66, Y:-156.20, Z:-4.02 [[ 5.02093131e-01 -8.64799675e-01 -4.90003575e-03 1.11655604e+02] [-8.64755244e-01 -5.02117014e-01 8.76767605e-03 -1.56197717e+02] [-1.00426747e-02 -1.64858308e-04 -9.99949558e-01 -4.02345500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters 0.014294641016887802 Centerline is valid? [True, True] Translation: X:111.69, Y:-156.30, Z:-4.02 [[ 5.65554427e-01 -8.24692808e-01 -5.47375792e-03 1.11692603e+02] [-8.24651649e-01 -5.65580897e-01 8.24059953e-03 -1.56304431e+02] [-9.89181608e-03 -1.46564054e-04 -9.99951064e-01 -4.02453651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters 0.013678993376202143 Centerline is valid? [True, True] Translation: X:111.74, Y:-156.41, Z:-4.02 [[ 6.24890263e-01 -7.80691186e-01 -5.78191717e-03 1.11738604e+02] [-7.80656068e-01 -6.24917002e-01 7.40572064e-03 -1.56410874e+02] [-9.39479918e-03 -1.14073997e-04 -9.99955861e-01 -4.02460555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters 0.01359956254480879 Centerline is valid? [True, True] Translation: X:111.78, Y:-156.50, Z:-4.03 [[ 6.81707814e-01 -7.31599299e-01 -6.07635911e-03 1.11784142e+02] [-7.31568961e-01 -6.81734887e-01 6.66328039e-03 -1.56504756e+02] [-9.01731725e-03 -9.71345842e-05 -9.99959339e-01 -4.02514174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters 0.013553826764452563 Centerline is valid? [True, True] Translation: X:111.84, Y:-156.60, Z:-4.03 [[ 7.35166933e-01 -6.77855474e-01 -6.44494548e-03 1.11842218e+02] [-6.77828330e-01 -7.35195177e-01 6.06678179e-03 -1.56601154e+02] [-8.85069408e-03 -9.15307306e-05 -9.99960828e-01 -4.02573506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters 0.01355772868221078 Centerline is valid? [True, True] Translation: X:111.86, Y:-156.63, Z:-4.03 [[ 7.85766909e-01 -6.18486078e-01 -6.73312297e-03 1.11861354e+02] [-6.18462416e-01 -7.85795752e-01 5.41082926e-03 -1.56629394e+02] [-8.63738200e-03 -8.74670895e-05 -9.99962693e-01 -4.02642003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters 0.01339496628028951 Centerline is valid? [True, True] Translation: X:111.88, Y:-156.66, Z:-4.03 [[ 8.31668140e-01 -5.55218495e-01 -7.77996142e-03 1.11881477e+02] [-5.55193137e-01 -8.31704523e-01 5.30724867e-03 -1.56657289e+02] [-9.41731173e-03 -9.44884379e-05 -9.99955652e-01 -4.02560699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters 0.01335550993494534 Centerline is valid? [True, True] Translation: X:111.91, Y:-156.68, Z:-4.03 [[ 8.72179316e-01 -4.89114029e-01 -8.40877802e-03 1.11905026e+02] [-4.89090297e-01 -8.72219845e-01 4.81908931e-03 -1.56682423e+02] [-9.69138725e-03 -9.04582763e-05 -9.99953033e-01 -4.02545819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters 0.013042325644918371 Centerline is valid? [True, True] Translation: X:111.93, Y:-156.70, Z:-4.03 [[ 9.06502303e-01 -4.22122439e-01 -8.13761803e-03 1.11930013e+02] [-4.22104866e-01 -9.06538826e-01 3.85211590e-03 -1.56703800e+02] [-9.00313126e-03 -5.70237599e-05 -9.99959469e-01 -4.02555792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters 0.012764001974708901 Centerline is valid? [True, True] Translation: X:111.96, Y:-156.72, Z:-4.03 [[ 9.35024719e-01 -3.54512846e-01 -7.02967748e-03 1.11956712e+02] [-3.54502736e-01 -9.35051144e-01 2.67736620e-03 -1.56721516e+02] [-7.52226868e-03 -1.13636786e-05 -9.99971707e-01 -4.02556187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters 0.012805878244363836 Centerline is valid? [True, True] Translation: X:111.98, Y:-156.74, Z:-4.03 [[ 9.58723911e-01 -2.84249716e-01 -7.11063726e-03 1.11984973e+02] [-2.84242043e-01 -9.58750280e-01 2.08857494e-03 -1.56739059e+02] [-7.41100229e-03 1.87753288e-05 -9.99972538e-01 -4.02532925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters 0.012888292236640553 Centerline is valid? [True, True] Translation: X:112.01, Y:-156.75, Z:-4.03 [[ 9.77574863e-01 -2.10461534e-01 -7.30271910e-03 1.12014664e+02] [-2.10455923e-01 -9.77602139e-01 1.53711889e-03 -1.56754168e+02] [-7.46265821e-03 3.42517022e-05 -9.99972153e-01 -4.02500254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters 0.013255049552311549 Centerline is valid? [True, True] Translation: X:112.04, Y:-156.77, Z:-4.03 [[ 9.90460533e-01 -1.37605521e-01 -7.25631849e-03 1.12041300e+02] [-1.37602314e-01 -9.90487111e-01 9.41773023e-04 -1.56766199e+02] [-7.31688310e-03 6.56972037e-05 -9.99973229e-01 -4.02503114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters 0.01383300565436837 Centerline is valid? [True, True] Translation: X:112.07, Y:-156.78, Z:-4.03 [[ 9.97872456e-01 -6.48923264e-02 -6.28864349e-03 1.12069012e+02] [-6.48916042e-02 -9.97892268e-01 3.19030812e-04 -1.56777340e+02] [-6.29609137e-03 8.97281052e-05 -9.99980175e-01 -4.02521766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters 0.013748947616612441 Centerline is valid? [True, True] Translation: X:112.10, Y:-156.79, Z:-4.03 [[ 9.99907696e-01 1.22321963e-02 -5.91375254e-03 1.12097617e+02] [ 1.22314416e-02 -9.99925180e-01 -1.63760636e-04 -1.56790813e+02] [-5.91531323e-03 9.14118009e-05 -9.99982500e-01 -4.02549626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters 0.01370065642681121 Centerline is valid? [True, True] Translation: X:112.13, Y:-156.80, Z:-4.03 [[ 9.95797602e-01 9.13874334e-02 -5.95584703e-03 1.12127625e+02] [ 9.13852765e-02 -9.95815409e-01 -6.33858235e-04 -1.56801958e+02] [-5.98885092e-03 8.69177839e-05 -9.99982063e-01 -4.02542015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters 0.013449869160528875 Centerline is valid? [True, True] Translation: X:112.16, Y:-156.81, Z:-4.03 [[ 9.85144205e-01 1.71620663e-01 -6.10270906e-03 1.12157808e+02] [ 1.71616904e-01 -9.85163105e-01 -1.13830992e-03 -1.56810634e+02] [-6.20752130e-03 7.40713873e-05 -9.99980730e-01 -4.02500009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters 0.012861700327542162 Centerline is valid? [True, True] Translation: X:112.19, Y:-156.82, Z:-4.02 [[ 9.67409273e-01 2.53129852e-01 -6.67653002e-03 1.12189742e+02] [ 2.53123485e-01 -9.67432311e-01 -1.79595353e-03 -1.56818689e+02] [-6.91370032e-03 4.74355510e-05 -9.99976099e-01 -4.02414149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters 0.01259837222205007 Centerline is valid? [True, True] Translation: X:112.22, Y:-156.82, Z:-4.02 [[ 9.43641862e-01 3.30892314e-01 -7.09313680e-03 1.12221739e+02] [ 3.30882731e-01 -9.43668520e-01 -2.51845019e-03 -1.56820971e+02] [-7.52690572e-03 2.95185537e-05 -9.99971672e-01 -4.02366051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters 0.012438833073174912 Centerline is valid? [True, True] Translation: X:112.25, Y:-156.82, Z:-4.02 [[ 9.13900556e-01 4.05879071e-01 -6.92488911e-03 1.12253991e+02] [ 4.05867323e-01 -9.13926791e-01 -3.08821642e-03 -1.56821056e+02] [-7.58228410e-03 1.17364961e-05 -9.99971254e-01 -4.02438280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters 0.01238876445281521 Centerline is valid? [True, True] Translation: X:112.29, Y:-156.82, Z:-4.03 [[ 8.78008793e-01 4.78608000e-01 -5.91119027e-03 1.12286284e+02] [ 4.78597215e-01 -8.78028691e-01 -3.21299678e-03 -1.56817665e+02] [-6.72796062e-03 -8.03977400e-06 -9.99977367e-01 -4.02614361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters 0.012486819749033179 Centerline is valid? [True, True] Translation: X:112.32, Y:-156.81, Z:-4.03 [[ 8.36630394e-01 5.47741578e-01 -5.36167088e-03 1.12319134e+02] [ 5.47730497e-01 -8.36647574e-01 -3.48415328e-03 -1.56812320e+02] [-6.39424455e-03 -2.18021229e-05 -9.99979556e-01 -4.02610658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters 0.012825861978704825 Centerline is valid? [True, True] Translation: X:112.35, Y:-156.81, Z:-4.03 [[ 7.88497627e-01 6.15018175e-01 -4.91286055e-03 1.12350837e+02] [ 6.15006619e-01 -7.88512931e-01 -3.77053341e-03 -1.56805335e+02] [-6.19280064e-03 -4.83851069e-05 -9.99980823e-01 -4.02546648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters 0.013071566622615273 Centerline is valid? [True, True] Translation: X:112.38, Y:-156.79, Z:-4.03 [[ 7.35959273e-01 6.77007876e-01 -4.92786701e-03 1.12382864e+02] [ 6.76993343e-01 -7.35975768e-01 -4.43650440e-03 -1.56794320e+02] [-6.63033913e-03 -7.10466088e-05 -9.99978017e-01 -4.02526494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters 0.0138117782052667 Centerline is valid? [True, True] Translation: X:112.41, Y:-156.78, Z:-4.02 [[ 6.77699989e-01 7.35318154e-01 -5.47158485e-03 1.12414447e+02] [ 7.35295577e-01 -6.77722066e-01 -5.76332061e-03 -1.56781078e+02] [-7.94608806e-03 -1.17429821e-04 -9.99968423e-01 -4.02415309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters 0.014326467411443477 Centerline is valid? [True, True] Translation: X:112.44, Y:-156.76, Z:-4.02 [[ 6.16139532e-01 7.87617584e-01 -5.53338974e-03 1.12442336e+02] [ 7.87587998e-01 -6.16164360e-01 -6.82841122e-03 -1.56764083e+02] [-8.78765430e-03 -1.50777262e-04 -9.99961377e-01 -4.02352183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters 0.015649013609150976 Centerline is valid? [True, True] Translation: X:112.47, Y:-156.75, Z:-4.02 [[ 5.50182728e-01 8.35023605e-01 -5.87751430e-03 1.12467789e+02] [ 8.34979925e-01 -5.50214082e-01 -8.54332532e-03 -1.56745060e+02] [-1.03677694e-02 -2.07216424e-04 -9.99946232e-01 -4.02210599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters 0.015269595090317835 Centerline is valid? [True, True] Translation: X:112.49, Y:-156.72, Z:-4.02 [[ 4.80698761e-01 8.76865375e-01 -5.98458320e-03 1.12492341e+02] [ 8.76804324e-01 -4.80735936e-01 -1.03507140e-02 -1.56723560e+02] [-1.19531869e-02 -2.71733016e-04 -9.99928521e-01 -4.02159287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters 0.01566340357703218 Centerline is valid? [True, True] Translation: X:112.51, Y:-156.70, Z:-4.02 [[ 4.10592470e-01 9.11803714e-01 -5.27354754e-03 1.12513581e+02] [ 9.11736993e-01 -4.10626241e-01 -1.10338595e-02 -1.56700337e+02] [-1.22261711e-02 -2.77668753e-04 -9.99925219e-01 -4.02080572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters 0.015165470912696074 Centerline is valid? [True, True] Translation: X:112.53, Y:-156.67, Z:-4.02 [[ 3.39941257e-01 9.40437599e-01 -4.13092422e-03 1.12529127e+02] [ 9.40376402e-01 -3.39966273e-01 -1.07310528e-02 -1.56673586e+02] [-1.14962604e-02 -2.36696079e-04 -9.99933888e-01 -4.02133058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters 0.013472281837994864 Centerline is valid? [True, True] Translation: X:112.54, Y:-156.64, Z:-4.02 [[ 2.71228539e-01 9.62511295e-01 -2.66222443e-03 1.12538363e+02] [ 9.62469678e-01 -2.71241571e-01 -8.95145078e-03 -1.56644936e+02] [-9.33797842e-03 -1.34421375e-04 -9.99956391e-01 -4.02393963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters 0.012687113938184546 Centerline is valid? [True, True] Translation: X:112.55, Y:-156.62, Z:-4.02 [[ 2.00027018e-01 9.79788966e-01 -1.66568074e-03 1.12548374e+02] [ 9.79758008e-01 -2.00033940e-01 -7.78897879e-03 -1.56616493e+02] [-7.96474815e-03 -7.39578472e-05 -9.99968278e-01 -4.02468893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters 0.012173817995540457 Centerline is valid? [True, True] Translation: X:112.56, Y:-156.59, Z:-4.02 [[ 1.27346125e-01 9.91857857e-01 -9.77485322e-04 1.12558332e+02] [ 9.91830656e-01 -1.27349872e-01 -7.34581484e-03 -1.56588000e+02] [-7.41048680e-03 -3.40388551e-05 -9.99972541e-01 -4.02489633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters 0.01214649376709464 Centerline is valid? [True, True] Translation: X:112.56, Y:-156.56, Z:-4.02 [[ 5.47388012e-02 9.98500593e-01 -4.78834811e-04 1.12563081e+02] [ 9.98461117e-01 -5.47408949e-02 -8.87872086e-03 -1.56559759e+02] [-8.89161989e-03 7.91259565e-06 -9.99960469e-01 -4.02295787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters 0.012484511336122276 Centerline is valid? [True, True] Translation: X:112.57, Y:-156.53, Z:-4.02 [[-2.04435812e-02 9.99790973e-01 2.66285239e-04 1.12565760e+02] [ 9.99732020e-01 2.04452675e-02 -1.08571960e-02 -1.56532509e+02] [-1.08603709e-02 4.42539109e-05 -9.99941024e-01 -4.02092576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters 0.012657948030943611 Centerline is valid? [True, True] Translation: X:112.57, Y:-156.50, Z:-4.02 [[-9.79213295e-02 9.95193431e-01 1.20351832e-03 1.12567022e+02] [ 9.95125188e-01 9.79287090e-02 -1.16545749e-02 -1.56504247e+02] [-1.17164153e-02 5.64199227e-05 -9.99931359e-01 -4.02038560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters 0.012619557650146194 Centerline is valid? [True, True] Translation: X:112.57, Y:-156.48, Z:-4.02 [[-1.75937642e-01 9.84399189e-01 2.04516662e-03 1.12565451e+02] [ 9.84335966e-01 1.75949521e-01 -1.11567371e-02 -1.56476772e+02] [-1.13425291e-02 5.02410339e-05 -9.99935670e-01 -4.02073270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters 0.01221368176907108 Centerline is valid? [True, True] Translation: X:112.56, Y:-156.45, Z:-4.02 [[-2.55563062e-01 9.66789210e-01 2.47900434e-03 1.12562314e+02] [ 9.66744179e-01 2.55575085e-01 -9.33100838e-03 -1.56448623e+02] [-9.65468996e-03 1.19019432e-05 -9.99953392e-01 -4.02199969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters 0.012162422790556971 Centerline is valid? [True, True] Translation: X:112.56, Y:-156.42, Z:-4.02 [[-3.33999959e-01 9.42568578e-01 2.91591414e-03 1.12557016e+02] [ 9.42532093e-01 3.34012686e-01 -8.29333771e-03 -1.56422083e+02] [-8.79099185e-03 -2.16317973e-05 -9.99961358e-01 -4.02251479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters 0.013033933651145472 Centerline is valid? [True, True] Translation: X:112.55, Y:-156.40, Z:-4.02 [[-4.12985592e-01 9.10731502e-01 3.32153641e-03 1.12550042e+02] [ 9.10700555e-01 4.12998942e-01 -7.50817465e-03 -1.56395504e+02] [-8.20972220e-03 -7.58429008e-05 -9.99966297e-01 -4.02271487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters 0.014599659444226736 Centerline is valid? [True, True] Translation: X:112.54, Y:-156.37, Z:-4.02 [[-4.87310610e-01 8.73220481e-01 3.78966618e-03 1.12538311e+02] [ 8.73192263e-01 4.87325332e-01 -7.02083208e-03 -1.56370658e+02] [-7.97753469e-03 -1.12218774e-04 -9.99968173e-01 -4.02245152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters 0.01533152878739502 Centerline is valid? [True, True] Translation: X:112.53, Y:-156.34, Z:-4.02 [[-5.59999886e-01 8.28483408e-01 3.92048855e-03 1.12529123e+02] [ 8.28461175e-01 5.60013589e-01 -6.07137352e-03 -1.56343127e+02] [-7.22555909e-03 -1.51995930e-04 -9.99973884e-01 -4.02456670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters 0.015221175964489455 Centerline is valid? [True, True] Translation: X:112.52, Y:-156.31, Z:-4.03 [[-6.24604157e-01 7.80930579e-01 4.13245451e-03 1.12518355e+02] [ 7.80911814e-01 6.24617808e-01 -5.41597185e-03 -1.56314503e+02] [-6.81070271e-03 -1.55755984e-04 -9.99976795e-01 -4.02529264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters 0.01619469496937499 Centerline is valid? [True, True] Translation: X:112.51, Y:-156.29, Z:-4.03 [[-6.86147106e-01 7.27450678e-01 4.20241650e-03 1.12506438e+02] [ 7.27435550e-01 6.86159955e-01 -4.69423646e-03 -1.56285900e+02] [-6.29835542e-03 -1.63949598e-04 -9.99980152e-01 -4.02567671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters 0.019513811766808976 Centerline is valid? [True, True] Translation: X:112.49, Y:-156.26, Z:-4.02 [[-7.42819470e-01 6.69476079e-01 4.58417101e-03 1.12494300e+02] [ 6.69461799e-01 7.42833593e-01 -4.37640685e-03 -1.56257996e+02] [-6.33517592e-03 -1.81952842e-04 -9.99979916e-01 -4.02410185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters 0.01852933247532495 Centerline is valid? [True, True] Translation: X:112.51, Y:-156.24, Z:-4.02 [[-7.88565724e-01 6.14928374e-01 5.21472709e-03 1.12511198e+02] [ 6.14913258e-01 7.88582942e-01 -4.31612037e-03 -1.56240724e+02] [-6.76634971e-03 -1.96939764e-04 -9.99977089e-01 -4.02352440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters 0.01715807971485111 Centerline is valid? [True, True] Translation: X:112.52, Y:-156.22, Z:-4.02 [[-8.30609141e-01 5.56819345e-01 6.37739770e-03 1.12521465e+02] [ 5.56800737e-01 8.30633590e-01 -4.55828052e-03 -1.56220162e+02] [-7.83541953e-03 -2.35209732e-04 -9.99969275e-01 -4.02296997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters 0.019136523948652864 Centerline is valid? [True, True] Translation: X:112.54, Y:-156.20, Z:-4.02 [[-8.68125198e-01 4.96281688e-01 7.94526486e-03 1.12542387e+02] [ 4.96257872e-01 8.68161509e-01 -4.87024457e-03 -1.56198845e+02] [-9.31478632e-03 -2.85081798e-04 -9.99956576e-01 -4.02043421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters 0.017583193668965335 Centerline is valid? [True, True] Translation: X:112.89, Y:-155.63, Z:-5.02 [[-7.97709329e-01 -6.02986505e-01 8.19151385e-03 1.12894244e+02] [ 6.02959127e-01 -7.97751311e-01 -5.75646569e-03 -1.55628295e+02] [ 1.00058620e-02 3.47161659e-04 9.99949880e-01 -5.01963695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters 0.017739673219605116 Centerline is valid? [True, True] Translation: X:112.89, Y:-155.66, Z:-5.02 [[-7.56530228e-01 -6.53900097e-01 8.75653183e-03 1.12885033e+02] [ 6.53861112e-01 -7.56580836e-01 -7.14735740e-03 -1.55656039e+02] [ 1.12986819e-02 3.18363715e-04 9.99936117e-01 -5.02062791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters 0.017228444070408404 Centerline is valid? [True, True] Translation: X:112.46, Y:-156.19, Z:-4.02 [[-8.32697425e-01 5.53657182e-01 8.87263207e-03 1.12457935e+02] [ 5.53621971e-01 8.32744642e-01 -6.25088535e-03 -1.56185315e+02] [-1.08494844e-02 -2.93012075e-04 -9.99941100e-01 -4.01956197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters 0.01584849809257316 Centerline is valid? [True, True] Translation: X:112.86, Y:-155.63, Z:-5.02 [[-7.61057517e-01 -6.48639211e-01 7.65703045e-03 1.12858120e+02] [ 6.48609154e-01 -7.61096006e-01 -6.24786486e-03 -1.55631660e+02] [ 9.88034542e-03 2.11435521e-04 9.99951166e-01 -5.01857625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters 0.014670012364761889 Centerline is valid? [True, True] Translation: X:112.42, Y:-156.17, Z:-4.02 [[-8.31181514e-01 5.55958813e-01 6.86209231e-03 1.12417433e+02] [ 5.55938140e-01 8.31209822e-01 -4.79752152e-03 -1.56167692e+02] [-8.37106290e-03 -1.72712370e-04 -9.99964947e-01 -4.02308451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters 0.014210343674135404 Centerline is valid? [True, True] Translation: X:112.44, Y:-156.15, Z:-4.02 [[-8.67136864e-01 4.98016361e-01 7.30502430e-03 1.12439619e+02] [ 4.97997194e-01 8.67167620e-01 -4.37195758e-03 -1.56152058e+02] [-8.51198694e-03 -1.53203978e-04 -9.99963761e-01 -4.02336886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters 0.013897474191167025 Centerline is valid? [True, True] Translation: X:112.45, Y:-156.13, Z:-4.02 [[-8.99113488e-01 4.37641780e-01 8.03799228e-03 1.12447265e+02] [ 4.37622902e-01 8.99149406e-01 -4.06724028e-03 -1.56126717e+02] [-9.00735025e-03 -1.39301084e-04 -9.99959423e-01 -4.02249188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters 0.013113083096633896 Centerline is valid? [True, True] Translation: X:112.46, Y:-156.11, Z:-4.02 [[-9.26873439e-01 3.75270435e-01 8.81637989e-03 1.12464483e+02] [ 3.75252193e-01 9.26915361e-01 -3.70219291e-03 -1.56107856e+02] [-9.56136148e-03 -1.23098385e-04 -9.99954282e-01 -4.02275609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters 0.013036206126965263 Centerline is valid? [True, True] Translation: X:112.75, Y:-155.46, Z:-5.02 [[-8.88382912e-01 -4.59046701e-01 7.20609006e-03 1.12747056e+02] [ 4.59031750e-01 -8.88412138e-01 -3.70484985e-03 -1.55461106e+02] [ 8.10267697e-03 1.64988338e-05 9.99967173e-01 -5.01539363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters 0.013025914959512568 Centerline is valid? [True, True] Translation: X:112.43, Y:-156.09, Z:-4.03 [[-9.28112046e-01 3.72234049e-01 7.06002808e-03 1.12426373e+02] [ 3.72222493e-01 9.28138893e-01 -2.93457460e-03 -1.56091597e+02] [-7.64503523e-03 -9.57127866e-05 -9.99970772e-01 -4.02515656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters 0.01395569933221095 Centerline is valid? [True, True] Translation: X:112.44, Y:-156.06, Z:-4.02 [[-9.52385615e-01 3.04782719e-01 8.31476430e-03 1.12440073e+02] [ 3.04770030e-01 9.52421903e-01 -2.78364225e-03 -1.56063785e+02] [-8.76756969e-03 -1.17009874e-04 -9.99961557e-01 -4.02264517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters 0.013425170010734143 Centerline is valid? [True, True] Translation: X:112.45, Y:-156.04, Z:-4.02 [[-9.71660070e-01 2.36187639e-01 9.59723089e-03 1.12445663e+02] [ 2.36174732e-01 9.71707456e-01 -2.47292290e-03 -1.56038231e+02] [-9.90977464e-03 -1.36217010e-04 -9.99950888e-01 -4.02307507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters 0.01365652682427578 Centerline is valid? [True, True] Translation: X:112.62, Y:-155.37, Z:-5.02 [[-9.44885949e-01 -3.27233067e-01 1.04433188e-02 1.12621612e+02] [ 3.27215616e-01 -9.44943635e-01 -3.38644329e-03 -1.55366021e+02] [ 1.09765038e-02 2.17414307e-04 9.99939733e-01 -5.01791226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters 0.013128284545327029 Centerline is valid? [True, True] Translation: X:112.40, Y:-156.03, Z:-4.02 [[-9.72402782e-01 2.33076941e-01 1.03907992e-02 1.12401173e+02] [ 2.33062077e-01 9.72458287e-01 -2.63599647e-03 -1.56025519e+02] [-1.07190088e-02 -1.41549042e-04 -9.99942540e-01 -4.02310344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters 0.013039308819078029 Centerline is valid? [True, True] Translation: X:112.41, Y:-156.00, Z:-4.02 [[-9.86168030e-01 1.65518165e-01 8.73804379e-03 1.12407914e+02] [ 1.65510773e-01 9.86206736e-01 -1.56752358e-03 -1.55997606e+02] [-8.87697127e-03 -9.96012606e-05 -9.99960594e-01 -4.02366942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters 0.01252361246843724 Centerline is valid? [True, True] Translation: X:112.54, Y:-155.32, Z:-5.02 [[-9.68153576e-01 -2.50239655e-01 7.66610436e-03 1.12538286e+02] [ 2.50232061e-01 -9.68183926e-01 -1.94972175e-03 -1.55320127e+02] [ 7.91009672e-03 3.06750081e-05 9.99968714e-01 -5.01506417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters 0.012462764580027777 Centerline is valid? [True, True] Translation: X:112.36, Y:-155.99, Z:-4.02 [[-9.85600859e-01 1.68948669e-01 6.87703489e-03 1.12362888e+02] [ 1.68944367e-01 9.85624851e-01 -1.20605453e-03 -1.55991777e+02] [-6.98193780e-03 -2.68520736e-05 -9.99975626e-01 -4.02405575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters 0.0122956411027318 Centerline is valid? [True, True] Translation: X:112.37, Y:-155.97, Z:-4.03 [[-9.94428081e-01 1.05251208e-01 5.91398120e-03 1.12371705e+02] [ 1.05249448e-01 9.94445666e-01 -6.08920392e-04 -1.55968226e+02] [-5.94522258e-03 1.69157169e-05 -9.99982327e-01 -4.02607343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters 0.012562480230374923 Centerline is valid? [True, True] Translation: X:112.37, Y:-155.94, Z:-4.03 [[-9.99264940e-01 3.79361011e-02 5.51653185e-03 1.12374980e+02] [ 3.79357179e-02 9.99280166e-01 -1.74134300e-04 -1.55941434e+02] [-5.51916684e-03 3.52672948e-05 -9.99984769e-01 -4.02650455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters 0.012729189045927772 Centerline is valid? [True, True] Translation: X:112.37, Y:-155.91, Z:-4.03 [[-9.99504402e-01 -3.09238802e-02 5.88760790e-03 1.12371368e+02] [-3.09230442e-02 9.99521741e-01 2.32980494e-04 -1.55913650e+02] [-5.89199676e-03 5.08022699e-05 -9.99982641e-01 -4.02568549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters 0.012886351266906574 Centerline is valid? [True, True] Translation: X:112.35, Y:-155.22, Z:-5.02 [[-9.99803127e-01 -1.84333062e-02 7.34311568e-03 1.12348468e+02] [ 1.84330349e-02 -9.99830092e-01 -1.04620134e-04 -1.55220270e+02] [ 7.34379652e-03 3.07563708e-05 9.99973034e-01 -5.01526688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters 0.012860330146451852 Centerline is valid? [True, True] Translation: X:112.30, Y:-155.91, Z:-4.02 [[-9.99346396e-01 -3.53683319e-02 7.47411449e-03 1.12303751e+02] [-3.53668532e-02 9.99374343e-01 3.29962434e-04 -1.55912209e+02] [-7.48110848e-03 6.54108597e-05 -9.99972014e-01 -4.02362465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters 0.012756786914930462 Centerline is valid? [True, True] Translation: X:112.27, Y:-155.23, Z:-5.02 [[-9.99853396e-01 -1.52630435e-02 7.76049593e-03 1.12267893e+02] [ 1.52622010e-02 -9.99883512e-01 -1.67768557e-04 -1.55228931e+02] [ 7.76215259e-03 -4.93017121e-05 9.99969873e-01 -5.01652132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters 0.012712030871946127 Centerline is valid? [True, True] Translation: X:112.23, Y:-155.91, Z:-4.02 [[-9.99089864e-01 -4.18794141e-02 8.09680717e-03 1.12229278e+02] [-4.18775718e-02 9.99122671e-01 3.97011098e-04 -1.55909009e+02] [-8.10633020e-03 5.75751394e-05 -9.99967142e-01 -4.02194935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters 0.012599951590945752 Centerline is valid? [True, True] Translation: X:112.20, Y:-155.24, Z:-5.02 [[-9.99879622e-01 -1.25831971e-02 9.07770150e-03 1.12197547e+02] [ 1.25826835e-02 -9.99920828e-01 -1.13684721e-04 -1.55237067e+02] [ 9.07841332e-03 5.50809653e-07 9.99958790e-01 -5.01863073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters 0.012428792968578775 Centerline is valid? [True, True] Translation: X:112.16, Y:-155.91, Z:-4.02 [[-9.98713709e-01 -4.98118554e-02 9.47139067e-03 1.12155356e+02] [-4.98092829e-02 9.98758618e-01 5.07446819e-04 -1.55908369e+02] [-9.48490993e-03 3.50309171e-05 -9.99955017e-01 -4.02129390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters 0.012255490375944124 Centerline is valid? [True, True] Translation: X:112.12, Y:-155.25, Z:-5.02 [[-9.99862088e-01 -1.45789241e-02 7.95364058e-03 1.12123049e+02] [ 1.45773778e-02 -9.99893713e-01 -2.52364627e-04 -1.55249216e+02] [ 7.95647441e-03 -1.36386600e-04 9.99968338e-01 -5.01788335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters 0.012244686960293525 Centerline is valid? [True, True] Translation: X:112.09, Y:-155.91, Z:-4.02 [[-9.98139535e-01 -6.04725756e-02 7.78046996e-03 1.12088196e+02] [-6.04708783e-02 9.98169859e-01 4.53421566e-04 -1.55905200e+02] [-7.79365017e-03 -1.79138614e-05 -9.99969629e-01 -4.02205345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters 0.012463914587279806 Centerline is valid? [True, True] Translation: X:112.05, Y:-155.26, Z:-5.02 [[-9.99864978e-01 -1.46607885e-02 7.42210560e-03 1.12046930e+02] [ 1.46603227e-02 -9.99892525e-01 -1.17168248e-04 -1.55257839e+02] [ 7.42302569e-03 -8.34196473e-06 9.99972449e-01 -5.01764222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters 0.012951781267267967 Centerline is valid? [True, True] Translation: X:112.02, Y:-155.90, Z:-4.02 [[-9.97316002e-01 -7.28060919e-02 7.75022369e-03 1.12015367e+02] [-7.28045003e-02 9.97346112e-01 4.87663490e-04 -1.55901779e+02] [-7.76516034e-03 -7.78965613e-05 -9.99969848e-01 -4.02149034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters 0.013288984527472864 Centerline is valid? [True, True] Translation: X:111.97, Y:-155.27, Z:-5.02 [[-9.99817876e-01 -1.72658719e-02 8.13052243e-03 1.11974064e+02] [ 1.72661663e-02 -9.99850928e-01 -3.39919210e-05 -1.55269805e+02] [ 8.12989729e-03 1.06397222e-04 9.99966946e-01 -5.01878602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters 0.013283660621309262 Centerline is valid? [True, True] Translation: X:111.95, Y:-155.90, Z:-4.02 [[-9.96642807e-01 -8.14126423e-02 8.66588381e-03 1.11945259e+02] [-8.14106317e-02 9.96680474e-01 5.85101383e-04 -1.55903136e+02] [-8.68475183e-03 -1.22357990e-04 -9.99962279e-01 -4.02074065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters 0.013416886371481244 Centerline is valid? [True, True] Translation: X:111.90, Y:-155.28, Z:-5.02 [[-9.99840361e-01 -1.47781616e-02 1.00428168e-02 1.11900306e+02] [ 1.47797386e-02 -9.99890770e-01 8.28229837e-05 -1.55275156e+02] [ 1.00404959e-02 2.31239969e-04 9.99949566e-01 -5.01965517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters 0.01353344922966217 Centerline is valid? [True, True] Translation: X:111.88, Y:-155.91, Z:-4.02 [[-9.96136060e-01 -8.71767991e-02 1.06374678e-02 1.11879340e+02] [-8.71735774e-02 9.96192842e-01 7.67038863e-04 -1.55907412e+02] [-1.06638373e-02 -1.63231055e-04 -9.99943126e-01 -4.01966577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters 0.013744551099567777 Centerline is valid? [True, True] Translation: X:111.83, Y:-155.28, Z:-5.02 [[-9.99883392e-01 -1.04536481e-02 1.11320864e-02 1.11831805e+02] [ 1.04552365e-02 -9.99945339e-01 8.45010040e-05 -1.55280224e+02] [ 1.11305946e-02 2.00879747e-04 9.99938033e-01 -5.02055637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters 0.013203138957509209 Centerline is valid? [True, True] Translation: X:111.81, Y:-155.92, Z:-4.02 [[-9.95927905e-01 -8.94448269e-02 1.12797121e-02 1.11807435e+02] [-8.94407630e-02 9.95991768e-01 8.65227431e-04 -1.55917424e+02] [-1.13118905e-02 -1.47161917e-04 -9.99936008e-01 -4.01948902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters 0.013058549944058103 Centerline is valid? [True, True] Translation: X:111.77, Y:-155.28, Z:-5.02 [[-9.99941891e-01 -2.43785537e-03 1.05010159e-02 1.11766961e+02] [ 2.43860530e-03 -9.99997025e-01 5.86115243e-05 -1.55278187e+02] [ 1.05008418e-02 8.42159516e-05 9.99944861e-01 -5.01936332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters 0.012850579024918896 Centerline is valid? [True, True] Translation: X:111.75, Y:-155.93, Z:-4.02 [[-9.95731880e-01 -9.17418948e-02 1.00721313e-02 1.11747604e+02] [-9.17382954e-02 9.95782814e-01 8.19762918e-04 -1.55927242e+02] [-1.01048619e-02 -1.07736088e-04 -9.99948939e-01 -4.02092428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters 0.012807047573425424 Centerline is valid? [True, True] Translation: X:111.70, Y:-155.28, Z:-5.02 [[-9.99945253e-01 3.17240635e-03 9.97126401e-03 1.11697788e+02] [-3.17127599e-03 -9.99994963e-01 1.29170247e-04 -1.55280363e+02] [ 9.97162357e-03 9.75415454e-05 9.99950277e-01 -5.01891560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters 0.012716667977345525 Centerline is valid? [True, True] Translation: X:111.68, Y:-155.94, Z:-4.02 [[-9.95215373e-01 -9.71634894e-02 1.02770584e-02 1.11678466e+02] [-9.71595233e-02 9.95268427e-01 8.85670062e-04 -1.55938009e+02] [-1.03144865e-02 -1.17081631e-04 -9.99946797e-01 -4.02141899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters 0.01291551875687615 Centerline is valid? [True, True] Translation: X:111.67, Y:-155.91, Z:-4.02 [[-9.85642674e-01 -1.68469499e-01 1.12493244e-02 1.11667946e+02] [-1.68460121e-01 9.85706857e-01 1.78294037e-03 -1.55913785e+02] [-1.13889073e-02 -1.37720438e-04 -9.99935135e-01 -4.02090610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters 0.012953138756722453 Centerline is valid? [True, True] Translation: X:111.57, Y:-155.26, Z:-5.02 [[-9.97024833e-01 7.61471520e-02 1.19621940e-02 1.11565906e+02] [-7.61394126e-02 -9.97096573e-01 1.10173868e-03 -1.55259722e+02] [ 1.20113569e-02 1.87666391e-04 9.99927844e-01 -5.01847218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters 0.013639665053711959 Centerline is valid? [True, True] Translation: X:111.58, Y:-155.93, Z:-4.02 [[-9.83975095e-01 -1.77982507e-01 1.07349800e-02 1.11578662e+02] [-1.77973843e-01 9.84033636e-01 1.76476609e-03 -1.55930350e+02] [-1.08776789e-02 -1.74059768e-04 -9.99940821e-01 -4.02188619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters 0.014093513599875512 Centerline is valid? [True, True] Translation: X:111.47, Y:-155.27, Z:-5.02 [[-9.96957114e-01 7.72990960e-02 1.00679316e-02 1.11473931e+02] [-7.72940544e-02 -9.97007943e-01 8.89479540e-04 -1.55271611e+02] [ 1.01065637e-02 1.08581703e-04 9.99948922e-01 -5.01667938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters 0.01446042991050661 Centerline is valid? [True, True] Translation: X:111.49, Y:-155.95, Z:-4.02 [[-9.82322088e-01 -1.86950691e-01 9.63089540e-03 1.11487936e+02] [-1.86943590e-01 9.82369281e-01 1.64037711e-03 -1.55947119e+02] [-9.76776542e-03 -1.89055493e-04 -9.99952276e-01 -4.02370269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters 0.015080543920920494 Centerline is valid? [True, True] Translation: X:111.38, Y:-155.28, Z:-5.02 [[-9.96760747e-01 7.98605382e-02 9.50308954e-03 1.11378471e+02] [-7.98552855e-02 -9.96806032e-01 9.31499905e-04 -1.55283516e+02] [ 9.54712706e-03 1.69610612e-04 9.99954411e-01 -5.01555179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters 0.015404214341182516 Centerline is valid? [True, True] Translation: X:111.40, Y:-155.97, Z:-4.02 [[-9.80368240e-01 -1.96945067e-01 9.52648833e-03 1.11397084e+02] [-1.96938016e-01 9.80414499e-01 1.68191339e-03 -1.55965295e+02] [-9.67115182e-03 -2.27233245e-04 -9.99953208e-01 -4.02479936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters 0.01641875861199722 Centerline is valid? [True, True] Translation: X:111.38, Y:-155.94, Z:-4.02 [[-9.63331696e-01 -2.68125393e-01 1.00407716e-02 1.11382956e+02] [-2.68113661e-01 9.63383986e-01 2.52190504e-03 -1.55940682e+02] [-1.03493054e-02 -2.62636979e-04 -9.99946410e-01 -4.02458929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters 0.01730364009496717 Centerline is valid? [True, True] Translation: X:111.36, Y:-155.92, Z:-4.02 [[-9.41261016e-01 -3.37542795e-01 9.62090719e-03 1.11362490e+02] [-3.37528066e-01 9.41310145e-01 3.16460320e-03 -1.55918940e+02] [-1.01244466e-02 -2.68608573e-04 -9.99948710e-01 -4.02475909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters 0.015943576371248814 Centerline is valid? [True, True] Translation: X:111.32, Y:-155.91, Z:-4.03 [[-9.14564674e-01 -4.04352487e-01 8.39779321e-03 1.11321851e+02] [-4.04337846e-01 9.14603197e-01 3.44940223e-03 -1.55910622e+02] [-9.07542289e-03 -2.40844191e-04 -9.99958789e-01 -4.02634197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters 0.015451205699510391 Centerline is valid? [True, True] Translation: X:111.27, Y:-155.91, Z:-4.03 [[-8.82805422e-01 -4.69681397e-01 7.34654458e-03 1.11269445e+02] [-4.69667101e-01 8.82835965e-01 3.67056126e-03 -1.55908270e+02] [-8.20978812e-03 -2.10038910e-04 -9.99966277e-01 -4.02764467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters 0.015187838482745405 Centerline is valid? [True, True] Translation: X:111.21, Y:-155.91, Z:-4.03 [[-8.46909241e-01 -5.31705172e-01 5.86063242e-03 1.11209719e+02] [-5.31693736e-01 8.46929504e-01 3.49086069e-03 -1.55912380e+02] [-6.81965120e-03 -1.59619368e-04 -9.99976733e-01 -4.02837449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters 0.014279846348421636 Centerline is valid? [True, True] Translation: X:111.14, Y:-155.93, Z:-4.03 [[-8.07288409e-01 -5.90133689e-01 5.25876773e-03 1.11142225e+02] [-5.90122175e-01 8.07305527e-01 3.68845691e-03 -1.55928093e+02] [-6.42211493e-03 -1.25666938e-04 -9.99979370e-01 -4.02940735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters 0.014347211874993951 Centerline is valid? [True, True] Translation: X:111.06, Y:-155.95, Z:-4.03 [[-7.61886779e-01 -6.47687938e-01 5.37323790e-03 1.11064650e+02] [-6.47672991e-01 7.61905716e-01 4.40199878e-03 -1.55953148e+02] [-6.94502218e-03 -1.26276391e-04 -9.99975875e-01 -4.02882793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters 0.013773834696513684 Centerline is valid? [True, True] Translation: X:110.99, Y:-155.99, Z:-4.03 [[-7.11399580e-01 -7.02766712e-01 5.43938751e-03 1.10986279e+02] [-7.02747585e-01 7.11420362e-01 5.18652480e-03 -1.55986253e+02] [-7.51460801e-03 -1.32824877e-04 -9.99971756e-01 -4.02852574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters 0.013642493269220879 Centerline is valid? [True, True] Translation: X:110.90, Y:-156.03, Z:-4.03 [[-6.57010117e-01 -7.53858515e-01 5.91987751e-03 1.10904112e+02] [-7.53829927e-01 6.57036770e-01 6.56686980e-03 -1.56030703e+02] [-8.84006791e-03 -1.48080933e-04 -9.99960915e-01 -4.02727745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters 0.013154304918957346 Centerline is valid? [True, True] Translation: X:110.82, Y:-156.09, Z:-4.03 [[-5.99913378e-01 -8.00039448e-01 6.38915010e-03 1.10822151e+02] [-7.99996730e-01 5.99947380e-01 8.26878087e-03 -1.56086792e+02] [-1.04485047e-02 -1.50746927e-04 -9.99945402e-01 -4.02616885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters 0.012554594318000437 Centerline is valid? [True, True] Translation: X:110.74, Y:-156.16, Z:-4.03 [[-5.39833260e-01 -8.41749565e-01 6.14180528e-03 1.10738781e+02] [-8.41697797e-01 5.39868182e-01 9.33616311e-03 -1.56159618e+02] [-1.11744765e-02 -1.29572606e-04 -9.99937555e-01 -4.02670133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters 0.012511932952241477 Centerline is valid? [True, True] Translation: X:110.67, Y:-156.23, Z:-4.03 [[-4.75603097e-01 -8.79643785e-01 5.33904261e-03 1.10667567e+02] [-8.79590908e-01 4.75633051e-01 9.64550421e-03 -1.56226828e+02] [-1.10240330e-02 -1.08741660e-04 -9.99939228e-01 -4.02645132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters 0.012079549782221753 Centerline is valid? [True, True] Translation: X:110.60, Y:-156.32, Z:-4.03 [[-4.11688165e-01 -9.11313804e-01 4.47279728e-03 1.10595249e+02] [-9.11261384e-01 4.11712459e-01 9.77452314e-03 -1.56315845e+02] [-1.07491642e-02 -5.18319353e-05 -9.99942225e-01 -4.02677678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters 0.012006589972577565 Centerline is valid? [True, True] Translation: X:110.53, Y:-156.40, Z:-4.03 [[-3.42765440e-01 -9.39413679e-01 3.71386923e-03 1.10531530e+02] [-9.39359419e-01 3.42785558e-01 1.00967271e-02 -1.56401889e+02] [-1.07580643e-02 -2.78489256e-05 -9.99942130e-01 -4.02706142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters 0.011934243173240678 Centerline is valid? [True, True] Translation: X:110.47, Y:-156.50, Z:-4.03 [[-2.71015278e-01 -9.62571027e-01 2.78147601e-03 1.10471660e+02] [-9.62520856e-01 2.71029550e-01 9.82779217e-03 -1.56498898e+02] [-1.02138102e-02 -1.37468457e-05 -9.99947838e-01 -4.02748855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters 0.011857488898928967 Centerline is valid? [True, True] Translation: X:110.42, Y:-156.60, Z:-4.03 [[-1.96192361e-01 -9.80563809e-01 1.78187319e-03 1.10417647e+02] [-9.80523997e-01 1.96200452e-01 8.83601035e-03 -1.56602289e+02] [-9.01387628e-03 -1.36116913e-05 -9.99959374e-01 -4.02870144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters 0.011909308075524075 Centerline is valid? [True, True] Translation: X:110.37, Y:-156.71, Z:-4.03 [[-1.19001738e-01 -9.92893475e-01 1.06430771e-03 1.10370865e+02] [-9.92855621e-01 1.19006495e-01 8.67005828e-03 -1.56710438e+02] [-8.73510383e-03 -2.49518806e-05 -9.99961848e-01 -4.02866822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters 0.01219779615232172 Centerline is valid? [True, True] Translation: X:110.33, Y:-156.82, Z:-4.03 [[-3.92689207e-02 -9.99228588e-01 4.24269881e-04 1.10330467e+02] [-9.99184741e-01 3.92711722e-02 9.36101890e-03 -1.56823920e+02] [-9.37045927e-03 -5.63268820e-05 -9.99956095e-01 -4.02774197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters 0.012297221654371781 Centerline is valid? [True, True] Translation: X:110.30, Y:-156.94, Z:-4.03 [[ 3.93408782e-02 -9.99225798e-01 -3.15969045e-04 1.10301002e+02] [-9.99175916e-01 -3.93420715e-02 9.98447749e-03 -1.56944470e+02] [-9.98917836e-03 -7.70894528e-05 -9.99950104e-01 -4.02801100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters 0.012460224449826978 Centerline is valid? [True, True] Translation: X:110.28, Y:-157.06, Z:-4.03 [[ 1.17398050e-01 -9.93084350e-01 -1.08228472e-03 1.10281343e+02] [-9.93034705e-01 -1.17403003e-01 9.93027971e-03 -1.57060310e+02] [-9.98866885e-03 -9.10491888e-05 -9.99950108e-01 -4.02838425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters 0.012818094612095515 Centerline is valid? [True, True] Translation: X:110.27, Y:-157.18, Z:-4.03 [[ 1.94629849e-01 -9.80875065e-01 -1.82459211e-03 1.10271112e+02] [-9.80826831e-01 -1.94638374e-01 9.72783024e-03 -1.57184497e+02] [-9.89692175e-03 -1.03717231e-04 -9.99951019e-01 -4.02767308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters 0.0134751389181361 Centerline is valid? [True, True] Translation: X:110.27, Y:-157.30, Z:-4.03 [[ 2.72482034e-01 -9.62157464e-01 -2.56051473e-03 1.10266942e+02] [-9.62110178e-01 -2.72494031e-01 9.53987767e-03 -1.57299696e+02] [-9.87658948e-03 -1.35947992e-04 -9.99951216e-01 -4.02705442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters 0.013776115250153471 Centerline is valid? [True, True] Translation: X:110.27, Y:-157.42, Z:-4.03 [[ 3.48160645e-01 -9.37427874e-01 -3.62580949e-03 1.10274463e+02] [-9.37371502e-01 -3.48179477e-01 1.02820186e-02 -1.57420064e+02] [-1.09010833e-02 -1.81063737e-04 -9.99940565e-01 -4.02640576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters 0.014706583939893726 Centerline is valid? [True, True] Translation: X:110.29, Y:-157.54, Z:-4.03 [[ 4.21692241e-01 -9.06726557e-01 -4.75450829e-03 1.10288928e+02] [-9.06662630e-01 -4.21718980e-01 1.07692860e-02 -1.57536422e+02] [-1.17698640e-02 -2.30589348e-04 -9.99930706e-01 -4.02554289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters 0.015531395869717494 Centerline is valid? [True, True] Translation: X:110.32, Y:-157.66, Z:-4.03 [[ 4.92106488e-01 -8.70517536e-01 -5.51570845e-03 1.10319409e+02] [-8.70456852e-01 -4.92137330e-01 1.02819096e-02 -1.57662299e+02] [-1.16650687e-02 -2.58608215e-04 -9.99931927e-01 -4.02678091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters 0.015785729999723944 Centerline is valid? [True, True] Translation: X:110.35, Y:-157.76, Z:-4.03 [[ 5.57436033e-01 -8.30197809e-01 -6.05534613e-03 1.10348011e+02] [-8.30143864e-01 -5.57468864e-01 9.46736439e-03 -1.57764797e+02] [-1.12354521e-02 -2.50641608e-04 -9.99936849e-01 -4.02697736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters 0.014602645297493565 Centerline is valid? [True, True] Translation: X:110.39, Y:-157.87, Z:-4.03 [[ 6.17696924e-01 -7.86391445e-01 -6.24541704e-03 1.10389093e+02] [-7.86347761e-01 -6.17728460e-01 8.29141923e-03 -1.57865482e+02] [-1.03782730e-02 -2.10514442e-04 -9.99946122e-01 -4.02790164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters 0.01359611196143322 Centerline is valid? [True, True] Translation: X:110.44, Y:-157.96, Z:-4.03 [[ 6.72222516e-01 -7.40322339e-01 -6.30262059e-03 1.10436000e+02] [-7.40287759e-01 -6.72252046e-01 7.15685051e-03 -1.57957749e+02] [-9.53532589e-03 -1.45243181e-04 -9.99954527e-01 -4.02909267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters 0.012926645410263043 Centerline is valid? [True, True] Translation: X:110.49, Y:-158.05, Z:-4.03 [[ 7.24362991e-01 -6.89390658e-01 -6.22724203e-03 1.10492059e+02] [-6.89363953e-01 -7.24389751e-01 6.06871691e-03 -1.58050892e+02] [-8.69466705e-03 -1.03117748e-04 -9.99962195e-01 -4.02964486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters 0.012643824583209362 Centerline is valid? [True, True] Translation: X:110.51, Y:-158.08, Z:-4.03 [[ 7.74317495e-01 -6.32769203e-01 -5.96262271e-03 1.10512434e+02] [-6.32749735e-01 -7.74340449e-01 4.96400816e-03 -1.58078331e+02] [-7.75817143e-03 -7.08704156e-05 -9.99969902e-01 -4.02986089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters 0.012699365250611522 Centerline is valid? [True, True] Translation: X:110.53, Y:-158.10, Z:-4.03 [[ 8.20341787e-01 -5.71830848e-01 -6.98810193e-03 1.10534566e+02] [-5.71809449e-01 -8.20371548e-01 4.94745315e-03 -1.58103766e+02] [-8.56194633e-03 -6.27398445e-05 -9.99963344e-01 -4.02852389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters 0.012764569062534068 Centerline is valid? [True, True] Translation: X:110.56, Y:-158.13, Z:-4.03 [[ 8.62464843e-01 -5.06040848e-01 -8.77803057e-03 1.10558339e+02] [-5.06013766e-01 -8.62509510e-01 5.23589081e-03 -1.58127860e+02] [-1.02207095e-02 -7.39674390e-05 -9.99947765e-01 -4.02675004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters 0.012771745140454645 Centerline is valid? [True, True] Translation: X:110.58, Y:-158.15, Z:-4.03 [[ 8.99057019e-01 -4.37710514e-01 -1.02948108e-02 1.10583987e+02] [-4.37680859e-01 -8.99115955e-01 5.09558624e-03 -1.58148772e+02] [-1.14866204e-02 -7.53809167e-05 -9.99934024e-01 -4.02534487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters 0.012701730183860836 Centerline is valid? [True, True] Translation: X:110.61, Y:-158.17, Z:-4.02 [[ 9.29844181e-01 -3.67804648e-01 -1.04661258e-02 1.10611274e+02] [-3.67780705e-01 -9.29903080e-01 4.19700471e-03 -1.58165418e+02] [-1.12761605e-02 -5.33212648e-05 -9.99936421e-01 -4.02484036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters 0.012556512757355634 Centerline is valid? [True, True] Translation: X:110.64, Y:-158.18, Z:-4.03 [[ 9.54790508e-01 -2.97124434e-01 -9.59980798e-03 1.10641467e+02] [-2.97109265e-01 -9.54838767e-01 3.00237484e-03 -1.58177983e+02] [-1.00583477e-02 -1.44471007e-05 -9.99949414e-01 -4.02651633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters 0.012562769201176497 Centerline is valid? [True, True] Translation: X:110.67, Y:-158.19, Z:-4.03 [[ 9.73931563e-01 -2.26757537e-01 -6.19113347e-03 1.10671281e+02] [-2.26753117e-01 -9.73951241e-01 1.41596784e-03 -1.58190148e+02] [-6.35094350e-03 2.48030450e-05 -9.99979832e-01 -4.02983960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters 0.012719509651353279 Centerline is valid? [True, True] Translation: X:110.70, Y:-158.20, Z:-4.03 [[ 9.88422905e-01 -1.51650546e-01 -4.71933122e-03 1.10698059e+02] [-1.51648951e-01 -9.88434171e-01 6.96182622e-04 -1.58202142e+02] [-4.77032472e-03 2.75587760e-05 -9.99988622e-01 -4.03112522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters 0.01281331558763994 Centerline is valid? [True, True] Translation: X:110.73, Y:-158.21, Z:-4.03 [[ 9.97288216e-01 -7.34632252e-02 -4.40102903e-03 1.10725026e+02] [-7.34626163e-02 -9.97297926e-01 3.00072873e-04 -1.58213499e+02] [-4.41118145e-03 2.40519670e-05 -9.99990270e-01 -4.03103452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters 0.012773446849547208 Centerline is valid? [True, True] Translation: X:110.75, Y:-158.23, Z:-4.03 [[ 9.99961078e-01 6.33929536e-03 -6.13640648e-03 1.10753651e+02] [ 6.33902724e-03 -9.99979906e-01 -6.31430421e-05 -1.58225198e+02] [-6.13668346e-03 2.42417366e-05 -9.99981170e-01 -4.02872532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters 0.012798216623516928 Centerline is valid? [True, True] Translation: X:110.78, Y:-158.23, Z:-4.03 [[ 9.96245485e-01 8.62500001e-02 -7.47473095e-03 1.10782555e+02] [ 8.62474399e-02 -9.96273525e-01 -6.64776400e-04 -1.58233412e+02] [-7.50421352e-03 1.76040779e-05 -9.99971843e-01 -4.02722309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters 0.012782526181274349 Centerline is valid? [True, True] Translation: X:110.81, Y:-158.24, Z:-4.03 [[ 9.86178867e-01 1.65517821e-01 -7.42246535e-03 1.10812594e+02] [ 1.65513085e-01 -9.86206799e-01 -1.25212062e-03 -1.58240838e+02] [-7.52733407e-03 6.29976153e-06 -9.99971669e-01 -4.02642993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters 0.012787918746992435 Centerline is valid? [True, True] Translation: X:110.84, Y:-158.25, Z:-4.03 [[ 9.69653200e-01 2.44387920e-01 -6.87136719e-03 1.10842992e+02] [ 2.44381855e-01 -9.69677547e-01 -1.72184486e-03 -1.58245496e+02] [-7.08380856e-03 -9.64507521e-06 -9.99974910e-01 -4.02658134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters 0.012705509583960736 Centerline is valid? [True, True] Translation: X:110.87, Y:-158.25, Z:-4.03 [[ 9.47455587e-01 3.19825400e-01 -6.29473959e-03 1.10874070e+02] [ 3.19818418e-01 -9.47476498e-01 -2.11335163e-03 -1.58246728e+02] [-6.64002135e-03 -1.08668494e-05 -9.99977955e-01 -4.02731996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters 0.012720398996365394 Centerline is valid? [True, True] Translation: X:110.90, Y:-158.24, Z:-4.03 [[ 9.19497607e-01 3.93049054e-01 -6.04908479e-03 1.10903425e+02] [ 3.93040628e-01 -9.19517505e-01 -2.57364019e-03 -1.58243771e+02] [-6.57380620e-03 -1.10800918e-05 -9.99978392e-01 -4.02735632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters 0.012700651959099373 Centerline is valid? [True, True] Translation: X:110.93, Y:-158.24, Z:-4.03 [[ 8.86279179e-01 4.63124124e-01 -5.02611789e-03 1.10934326e+02] [ 4.63116710e-01 -8.86293431e-01 -2.62059193e-03 -1.58239679e+02] [-5.66827461e-03 -5.10311313e-06 -9.99983935e-01 -4.02738229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters 0.012535161095289698 Centerline is valid? [True, True] Translation: X:110.97, Y:-158.23, Z:-4.03 [[ 8.47703389e-01 5.30453518e-01 -4.24605490e-03 1.10965008e+02] [ 5.30446869e-01 -8.47714023e-01 -2.65599710e-03 -1.58233061e+02] [-5.00832329e-03 -8.08788646e-07 -9.99987458e-01 -4.02670271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters 0.012550931339410907 Centerline is valid? [True, True] Translation: X:110.99, Y:-158.22, Z:-4.03 [[ 8.03340270e-01 5.95503211e-01 -4.50967027e-03 1.10994927e+02] [ 5.95493849e-01 -8.03352927e-01 -3.33910269e-03 -1.58223474e+02] [-5.61130319e-03 -3.04525809e-06 -9.99984257e-01 -4.02640741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters 0.01244607891225771 Centerline is valid? [True, True] Translation: X:111.02, Y:-158.21, Z:-4.03 [[ 7.53406807e-01 6.57537384e-01 -4.77195825e-03 1.11023768e+02] [ 6.57524293e-01 -7.53421920e-01 -4.14909239e-03 -1.58212689e+02] [-6.32348129e-03 -1.17240233e-05 -9.99980007e-01 -4.02568187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters 0.01261877394097703 Centerline is valid? [True, True] Translation: X:111.05, Y:-158.20, Z:-4.02 [[ 6.97021142e-01 7.17033852e-01 -4.89720864e-03 1.11052023e+02] [ 7.17016540e-01 -6.97038344e-01 -4.98274514e-03 -1.58200057e+02] [-6.98633914e-03 -3.83008852e-05 -9.99975595e-01 -4.02429994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters 0.012937701106347876 Centerline is valid? [True, True] Translation: X:111.08, Y:-158.18, Z:-4.02 [[ 6.36134407e-01 7.71563223e-01 -4.81763143e-03 1.11079135e+02] [ 7.71541885e-01 -6.36152646e-01 -5.73853504e-03 -1.58184196e+02] [-7.49239157e-03 -6.65248434e-05 -9.99971930e-01 -4.02343058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters 0.013538845479687617 Centerline is valid? [True, True] Translation: X:111.10, Y:-158.16, Z:-4.02 [[ 5.71088158e-01 8.20879057e-01 -3.98625955e-03 1.11103213e+02] [ 8.20860069e-01 -5.71102064e-01 -5.58388297e-03 -1.58164997e+02] [-6.86025364e-03 -8.32718460e-05 -9.99976465e-01 -4.02327452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters 0.014241308676385836 Centerline is valid? [True, True] Translation: X:111.13, Y:-158.14, Z:-4.02 [[ 5.02214425e-01 8.64737505e-01 -3.11746012e-03 1.11125758e+02] [ 8.64721983e-01 -5.02224092e-01 -5.18212071e-03 -1.58143644e+02] [-6.04683771e-03 -9.32005239e-05 -9.99981713e-01 -4.02376648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters 0.014838554181160302 Centerline is valid? [True, True] Translation: X:111.14, Y:-158.12, Z:-4.02 [[ 4.31702731e-01 9.02012129e-01 -2.62119503e-03 1.11143591e+02] [ 9.01996867e-01 -4.31710677e-01 -5.24814519e-03 -1.58119497e+02] [-5.86548850e-03 -9.86710927e-05 -9.99982793e-01 -4.02409348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters 0.014632651182439093 Centerline is valid? [True, True] Translation: X:111.16, Y:-158.09, Z:-4.02 [[ 3.58441548e-01 9.33549215e-01 -2.34935084e-03 1.11161073e+02] [ 9.33531198e-01 -3.58449229e-01 -5.80101620e-03 -1.58094315e+02] [-6.25765712e-03 -1.13867073e-04 -9.99980414e-01 -4.02463925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters 0.014840428147597466 Centerline is valid? [True, True] Translation: X:111.18, Y:-158.07, Z:-4.02 [[ 2.83214614e-01 9.59053983e-01 -2.22245171e-03 1.11178124e+02] [ 9.59028269e-01 -2.83223299e-01 -7.02438603e-03 -1.58068879e+02] [-7.36621551e-03 -1.41985237e-04 -9.99972859e-01 -4.02262246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters 0.014833344743028111 Centerline is valid? [True, True] Translation: X:111.19, Y:-158.04, Z:-4.02 [[ 2.07267454e-01 9.78282192e-01 -2.03857837e-03 1.11192838e+02] [ 9.78242764e-01 -2.07277407e-01 -8.78475742e-03 -1.58042317e+02] [-9.01652299e-03 -1.73430235e-04 -9.99959335e-01 -4.02120610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters 0.014202051032934709 Centerline is valid? [True, True] Translation: X:111.21, Y:-158.01, Z:-4.02 [[ 1.31071095e-01 9.91372083e-01 -1.32698630e-03 1.11205585e+02] [ 9.91333032e-01 -1.31077713e-01 -8.80070611e-03 -1.58014870e+02] [-8.89871268e-03 -1.61967161e-04 -9.99960393e-01 -4.02174508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters 0.013815556159776603 Centerline is valid? [True, True] Translation: X:111.21, Y:-157.99, Z:-4.02 [[ 5.60478314e-02 9.98427957e-01 -5.05345323e-04 1.11213058e+02] [ 9.98402838e-01 -5.60500064e-02 -7.08313581e-03 -1.57987597e+02] [-7.10032542e-03 -1.07543804e-04 -9.99974787e-01 -4.02352993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters 0.013344814472138644 Centerline is valid? [True, True] Translation: X:111.22, Y:-157.96, Z:-4.03 [[-1.98807823e-02 9.99802357e-01 4.24186426e-05 1.11219052e+02] [ 9.99784981e-01 1.98806869e-02 -5.89496511e-03 -1.57958517e+02] [-5.89464332e-03 -7.47869962e-05 -9.99982624e-01 -4.02510760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters 0.013162647336917183 Centerline is valid? [True, True] Translation: X:111.22, Y:-157.93, Z:-4.02 [[-9.64532776e-02 9.95337391e-01 4.93452350e-04 1.11223130e+02] [ 9.95320787e-01 9.64545189e-02 -5.74955708e-03 -1.57930307e+02] [-5.77034486e-03 -6.34202444e-05 -9.99983349e-01 -4.02474751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters 0.01306337355081906 Centerline is valid? [True, True] Translation: X:111.22, Y:-157.90, Z:-4.02 [[-1.73071409e-01 9.84908716e-01 1.05252815e-03 1.11224000e+02] [ 9.84888186e-01 1.73074598e-01 -6.35965224e-03 -1.57902895e+02] [-6.44584281e-03 -6.40514324e-05 -9.99979223e-01 -4.02298726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters 0.013179926131892778 Centerline is valid? [True, True] Translation: X:111.22, Y:-157.87, Z:-4.02 [[-2.49864597e-01 9.68279104e-01 1.80526780e-03 1.11223074e+02] [ 9.68251584e-01 2.49871107e-01 -7.30068539e-03 -1.57874237e+02] [-7.52018538e-03 -7.62294120e-05 -9.99971720e-01 -4.02195434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters 0.01307981136483167 Centerline is valid? [True, True] Translation: X:111.22, Y:-157.85, Z:-4.02 [[-3.25213462e-01 9.45636867e-01 2.66847947e-03 1.11221074e+02] [ 9.45602778e-01 3.25224397e-01 -8.02979630e-03 -1.57845161e+02] [-8.46112604e-03 -8.80762538e-05 -9.99964200e-01 -4.02176671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters 0.01349050281564132 Centerline is valid? [True, True] Translation: X:111.22, Y:-157.82, Z:-4.02 [[-3.99330218e-01 9.16800068e-01 3.60731475e-03 1.11216919e+02] [ 9.16760208e-01 3.99346496e-01 -8.54966456e-03 -1.57817358e+02] [-9.27890156e-03 -1.07096792e-04 -9.99956944e-01 -4.02046815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters 0.013199231769506312 Centerline is valid? [True, True] Translation: X:111.21, Y:-157.79, Z:-4.02 [[-4.70196289e-01 8.82550554e-01 4.46870888e-03 1.11210093e+02] [ 8.82508340e-01 4.70217510e-01 -8.63263913e-03 -1.57789136e+02] [-9.72000561e-03 -1.15362023e-04 -9.99952753e-01 -4.02072208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters 0.01332822321871561 Centerline is valid? [True, True] Translation: X:111.20, Y:-157.76, Z:-4.02 [[-5.37856983e-01 8.43021487e-01 4.96376840e-03 1.11201183e+02] [ 8.42983663e-01 5.37879875e-01 -7.98650645e-03 -1.57761416e+02] [-9.40270767e-03 -1.11222592e-04 -9.99955787e-01 -4.02054376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters 0.013000844947468684 Centerline is valid? [True, True] Translation: X:111.19, Y:-157.73, Z:-4.02 [[-6.02149629e-01 7.98367564e-01 5.00567204e-03 1.11192343e+02] [ 7.98338603e-01 6.02170426e-01 -6.80094746e-03 -1.57732809e+02] [-8.44392352e-03 -9.89667603e-05 -9.99964345e-01 -4.02179522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters 0.012973901536453964 Centerline is valid? [True, True] Translation: X:111.18, Y:-157.70, Z:-4.02 [[-6.62604058e-01 7.48950312e-01 5.41225742e-03 1.11181847e+02] [ 7.48924157e-01 6.62626155e-01 -6.25981927e-03 -1.57704944e+02] [-8.27459692e-03 -9.44113259e-05 -9.99965761e-01 -4.02156445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters 0.012912007476714978 Centerline is valid? [True, True] Translation: X:111.17, Y:-157.68, Z:-4.02 [[-7.17985707e-01 6.96026000e-01 6.65826399e-03 1.11167612e+02] [ 6.95994902e-01 7.18016573e-01 -6.58005166e-03 -1.57679566e+02] [-9.36063093e-03 -9.02652501e-05 -9.99956184e-01 -4.02024594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters 0.012690672679975108 Centerline is valid? [True, True] Translation: X:111.19, Y:-157.66, Z:-4.02 [[-7.64022451e-01 6.45147733e-01 7.35513123e-03 1.11185793e+02] [ 6.45116924e-01 7.64057850e-01 -6.30527823e-03 -1.57661469e+02] [-9.68758170e-03 -7.24544885e-05 -9.99953072e-01 -4.02004578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters 0.012589786008811065 Centerline is valid? [True, True] Translation: X:111.20, Y:-157.64, Z:-4.02 [[-8.07277802e-01 5.90122147e-01 7.64215708e-03 1.11203491e+02] [ 5.90094954e-01 8.07313971e-01 -5.66550453e-03 -1.57641154e+02] [-9.51295988e-03 -6.40377167e-05 -9.99954749e-01 -4.02002664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters 0.012423712297110751 Centerline is valid? [True, True] Translation: X:111.22, Y:-157.62, Z:-4.02 [[-8.46535290e-01 5.32281781e-01 7.35583367e-03 1.11223886e+02] [ 5.32261164e-01 8.46567247e-01 -4.68509721e-03 -1.57622652e+02] [-8.72099974e-03 -5.08755355e-05 -9.99961970e-01 -4.02125005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters 0.012394735651567788 Centerline is valid? [True, True] Translation: X:111.24, Y:-157.60, Z:-4.02 [[-8.81790131e-01 4.71587746e-01 7.15286476e-03 1.11235164e+02] [ 4.71571839e-01 8.81819140e-01 -3.87356541e-03 -1.57597319e+02] [-8.13425903e-03 -4.25821600e-05 -9.99966916e-01 -4.02110043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters 0.01244623114324639 Centerline is valid? [True, True] Translation: X:111.25, Y:-157.58, Z:-4.02 [[-9.12798317e-01 4.08333470e-01 7.93786323e-03 1.11251588e+02] [ 4.08317628e-01 9.12832830e-01 -3.59711948e-03 -1.57575145e+02] [-8.71476644e-03 -4.22751186e-05 -9.99962025e-01 -4.02027828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters 0.012321221817180488 Centerline is valid? [True, True] Translation: X:111.26, Y:-157.55, Z:-4.02 [[-9.39547392e-01 3.42321207e-01 8.17857841e-03 1.11259838e+02] [ 3.42307818e-01 9.39582987e-01 -3.02795971e-03 -1.57549805e+02] [-8.72098796e-03 -4.53203229e-05 -9.99961971e-01 -4.02113540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters 0.012392112124722531 Centerline is valid? [True, True] Translation: X:111.27, Y:-157.52, Z:-4.02 [[-9.61544053e-01 2.74504958e-01 8.94777044e-03 1.11271664e+02] [ 2.74492571e-01 9.61585683e-01 -2.60825389e-03 -1.57524735e+02] [-9.32002657e-03 -5.18545018e-05 -9.99956566e-01 -4.02132167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters 0.012456314986427929 Centerline is valid? [True, True] Translation: X:111.28, Y:-157.50, Z:-4.02 [[-9.78679244e-01 2.05199310e-01 8.95441565e-03 1.11277590e+02] [ 2.05190202e-01 9.78720205e-01 -1.93411654e-03 -1.57496926e+02] [-9.16074691e-03 -5.55213597e-05 -9.99958038e-01 -4.02126084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters 0.012587424273923327 Centerline is valid? [True, True] Translation: X:111.43, Y:-156.82, Z:-5.02 [[-9.59101021e-01 -2.82934555e-01 8.55973824e-03 1.11426471e+02] [ 2.82923643e-01 -9.59139216e-01 -2.48508192e-03 -1.56824560e+02] [ 8.91309617e-03 3.83077223e-05 9.99960277e-01 -5.01845579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters 0.012634005458525896 Centerline is valid? [True, True] Translation: X:111.23, Y:-157.48, Z:-4.02 [[-9.79555183e-01 2.00958705e-01 9.34033407e-03 1.11228849e+02] [ 2.00948962e-01 9.79599712e-01 -1.97982490e-03 -1.57484958e+02] [-9.54765161e-03 -6.24173014e-05 -9.99954418e-01 -4.02170439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters 0.01252918792066248 Centerline is valid? [True, True] Translation: X:111.24, Y:-157.46, Z:-4.02 [[-9.91179457e-01 1.32143906e-01 1.00633711e-02 1.11235576e+02] [ 1.32136541e-01 9.91230541e-01 -1.39624510e-03 -1.57458358e+02] [-1.01596261e-02 -5.41904128e-05 -9.99948388e-01 -4.02131977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters 0.012326481359723447 Centerline is valid? [True, True] Translation: X:111.24, Y:-157.43, Z:-4.02 [[-9.97825804e-01 6.51677196e-02 9.84035740e-03 1.11236346e+02] [ 6.51643884e-02 9.97874325e-01 -6.59111643e-04 -1.57432607e+02] [-9.86239279e-03 -1.64377339e-05 -9.99951365e-01 -4.02207781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters 0.012341950100261989 Centerline is valid? [True, True] Translation: X:111.29, Y:-156.74, Z:-5.02 [[-9.91105714e-01 -1.32853473e-01 7.70832214e-03 1.11288674e+02] [ 1.32848554e-01 -9.91135683e-01 -1.14889974e-03 -1.56744974e+02] [ 7.79262845e-03 -1.14641642e-04 9.99969631e-01 -5.01504283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters 0.012465357283540281 Centerline is valid? [True, True] Translation: X:111.18, Y:-157.43, Z:-4.03 [[-9.97815976e-01 6.57302273e-02 6.54333557e-03 1.11178857e+02] [ 6.57289436e-02 9.97837430e-01 -4.11274603e-04 -1.57431476e+02] [-6.55621833e-03 1.97101656e-05 -9.99978508e-01 -4.02508518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters 0.012439311560774262 Centerline is valid? [True, True] Translation: X:111.19, Y:-157.40, Z:-4.03 [[-9.99965700e-01 -4.46956032e-03 6.97288301e-03 1.11187381e+02] [-4.46926330e-03 9.99990011e-01 5.81779035e-05 -1.57402697e+02] [-6.97307339e-03 2.70122578e-05 -9.99975688e-01 -4.02517724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters 0.01261567600573299 Centerline is valid? [True, True] Translation: X:111.18, Y:-156.72, Z:-5.02 [[-9.98394208e-01 -5.61144525e-02 7.75720641e-03 1.11179480e+02] [ 5.61129319e-02 -9.98424343e-01 -4.13701980e-04 -1.56715625e+02] [ 7.76819837e-03 2.22419349e-05 9.99969827e-01 -5.01541154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters 0.01253653459933966 Centerline is valid? [True, True] Translation: X:111.12, Y:-157.40, Z:-4.02 [[-9.99904000e-01 -1.08644686e-02 8.59961868e-03 1.11119494e+02] [-1.08639145e-02 9.99940980e-01 1.11150696e-04 -1.57400148e+02] [-8.60031873e-03 1.77145041e-05 -9.99963016e-01 -4.02486764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters 0.012557589110199345 Centerline is valid? [True, True] Translation: X:111.11, Y:-156.72, Z:-5.01 [[-9.98446480e-01 -5.49955154e-02 8.95101193e-03 1.11111314e+02] [ 5.49933607e-02 -9.98486601e-01 -4.86858640e-04 -1.56721741e+02] [ 8.96424052e-03 6.14393208e-06 9.99959820e-01 -5.01462155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters 0.012544569488551118 Centerline is valid? [True, True] Translation: X:111.05, Y:-157.40, Z:-4.02 [[-9.99775603e-01 -1.92587163e-02 8.82296420e-03 1.11050918e+02] [-1.92581030e-02 9.99814534e-01 1.54470095e-04 -1.57395603e+02] [-8.82430273e-03 -1.54781211e-05 -9.99961065e-01 -4.02493236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters 0.012651577756062973 Centerline is valid? [True, True] Translation: X:111.04, Y:-157.37, Z:-4.03 [[-9.95731418e-01 -9.18619700e-02 8.96225470e-03 1.11044595e+02] [-9.18585226e-02 9.95771750e-01 7.96417777e-04 -1.57367205e+02] [-8.99752055e-03 -3.02412737e-05 -9.99959521e-01 -4.02570446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters 0.012743806000165414 Centerline is valid? [True, True] Translation: X:110.98, Y:-156.71, Z:-5.01 [[-9.99845723e-01 1.53837755e-02 8.47763550e-03 1.10978410e+02] [-1.53832802e-02 -9.99881663e-01 1.23636566e-04 -1.56705399e+02] [ 8.47853428e-03 -6.79635061e-06 9.99964057e-01 -5.01310078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters 0.013021950914011869 Centerline is valid? [True, True] Translation: X:110.96, Y:-157.37, Z:-4.03 [[-9.94835021e-01 -1.01209482e-01 7.74092180e-03 1.10964365e+02] [-1.01206876e-01 9.94865135e-01 7.28594858e-04 -1.57368545e+02] [-7.77491392e-03 -5.86028332e-05 -9.99969773e-01 -4.02708387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters 0.013277862951135281 Centerline is valid? [True, True] Translation: X:110.95, Y:-157.34, Z:-4.03 [[-9.84536311e-01 -1.75010082e-01 7.72807447e-03 1.10949313e+02] [-1.75005368e-01 9.84566638e-01 1.28735000e-03 -1.57339220e+02] [-7.83410352e-03 -8.50116968e-05 -9.99969309e-01 -4.02777136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters 0.01365808851223614 Centerline is valid? [True, True] Translation: X:110.94, Y:-157.31, Z:-4.03 [[-9.69064200e-01 -2.46669784e-01 8.28210065e-03 1.10937374e+02] [-2.46661753e-01 9.69099585e-01 1.99359607e-03 -1.57312264e+02] [-8.51794021e-03 -1.10954883e-04 -9.99963716e-01 -4.02805411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters 0.01368421876749221 Centerline is valid? [True, True] Translation: X:110.92, Y:-157.29, Z:-4.03 [[-9.48569831e-01 -3.16465268e-01 8.06285041e-03 1.10916501e+02] [-3.16454915e-01 9.48604090e-01 2.56273878e-03 -1.57288360e+02] [-8.45947069e-03 -1.20591946e-04 -9.99964211e-01 -4.02855697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters 0.013742009538225797 Centerline is valid? [True, True] Translation: X:110.88, Y:-157.27, Z:-4.03 [[-9.23549030e-01 -3.83409179e-01 7.38858041e-03 1.10884491e+02] [-3.83397852e-01 9.23578578e-01 2.94915244e-03 -1.57269230e+02] [-7.95466670e-03 -1.09078988e-04 -9.99968355e-01 -4.02811499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters 0.013437281785641814 Centerline is valid? [True, True] Translation: X:110.83, Y:-157.26, Z:-4.03 [[-8.94071908e-01 -4.47868018e-01 7.04708834e-03 1.10834324e+02] [-4.47854912e-01 8.94099676e-01 3.42744871e-03 -1.57261208e+02] [-7.83584406e-03 -9.16875229e-05 -9.99969295e-01 -4.02745882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters 0.012880550444859354 Centerline is valid? [True, True] Translation: X:110.78, Y:-157.26, Z:-4.03 [[-8.61000798e-01 -5.08565979e-01 6.18634236e-03 1.10776682e+02] [-5.08553278e-01 8.61023021e-01 3.59453404e-03 -1.57263152e+02] [-7.15464091e-03 -5.11880095e-05 -9.99974404e-01 -4.02788136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters 0.012719209437517202 Centerline is valid? [True, True] Translation: X:110.71, Y:-157.28, Z:-4.03 [[-8.22328363e-01 -5.68974333e-01 6.65374186e-03 1.10706447e+02] [-5.68956095e-01 8.22355280e-01 4.55574395e-03 -1.57276263e+02] [-8.06384113e-03 -3.93695240e-05 -9.99967486e-01 -4.02754083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters 0.012767750023953615 Centerline is valid? [True, True] Translation: X:110.63, Y:-157.30, Z:-4.03 [[-7.78485586e-01 -6.27624085e-01 6.94271085e-03 1.10630306e+02] [-6.27599501e-01 7.78516543e-01 5.55510201e-03 -1.57298308e+02] [-8.89153107e-03 -3.26750207e-05 -9.99960469e-01 -4.02643335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters 0.012861652977148065 Centerline is valid? [True, True] Translation: X:110.55, Y:-157.33, Z:-4.03 [[-7.29159616e-01 -6.84307830e-01 7.00339738e-03 1.10550348e+02] [-6.84276774e-01 7.29193247e-01 6.51959288e-03 -1.57328072e+02] [-9.56823854e-03 -3.84383181e-05 -9.99954223e-01 -4.02577421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters 0.012860623702958002 Centerline is valid? [True, True] Translation: X:110.47, Y:-157.37, Z:-4.03 [[-6.74816112e-01 -7.37957159e-01 6.51511136e-03 1.10468845e+02] [-7.37923498e-01 6.74847560e-01 7.04858646e-03 -1.57368541e+02] [-9.59826184e-03 -5.11540482e-05 -9.99953934e-01 -4.02568439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters 0.012912455300378435 Centerline is valid? [True, True] Translation: X:110.38, Y:-157.42, Z:-4.03 [[-6.16141143e-01 -7.87613474e-01 5.92518403e-03 1.10383708e+02] [-7.87578087e-01 6.16169629e-01 7.46631661e-03 -1.57422810e+02] [-9.53149001e-03 -6.62402462e-05 -9.99954572e-01 -4.02583869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters 0.013254121989387647 Centerline is valid? [True, True] Translation: X:110.30, Y:-157.48, Z:-4.03 [[-5.53533504e-01 -8.32812884e-01 4.83319882e-03 1.10304835e+02] [-8.32782297e-01 5.53554599e-01 7.13798027e-03 -1.57479258e+02] [-8.62004137e-03 -7.38911850e-05 -9.99962844e-01 -4.02632680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters 0.012996282550393647 Centerline is valid? [True, True] Translation: X:110.23, Y:-157.55, Z:-4.03 [[-4.89024300e-01 -8.72262139e-01 3.74105560e-03 1.10228869e+02] [-8.72237599e-01 4.89038605e-01 6.54313772e-03 -1.57549567e+02] [-7.53685192e-03 -6.33360073e-05 -9.99971596e-01 -4.02776278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters 0.013091364446625658 Centerline is valid? [True, True] Translation: X:110.16, Y:-157.62, Z:-4.03 [[-4.23093842e-01 -9.06082644e-01 2.41727418e-03 1.10158336e+02] [-9.06068351e-01 4.23100746e-01 5.08937025e-03 -1.57624665e+02] [-5.63414056e-03 -3.69344234e-05 -9.99984127e-01 -4.02899370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters 0.012949383737034038 Centerline is valid? [True, True] Translation: X:110.09, Y:-157.71, Z:-4.03 [[-3.53899722e-01 -9.35281839e-01 1.69383136e-03 1.10092337e+02] [-9.35271482e-01 3.53903774e-01 4.40148036e-03 -1.57708518e+02] [-4.71607795e-03 -2.65094957e-05 -9.99988879e-01 -4.03026993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters 0.012872127288250792 Centerline is valid? [True, True] Translation: X:110.03, Y:-157.80, Z:-4.03 [[-2.81952478e-01 -9.59427390e-01 1.37249397e-03 1.10030986e+02] [-9.59416457e-01 2.81955817e-01 4.58038445e-03 -1.57802078e+02] [-4.78152896e-03 -2.53425570e-05 -9.99988568e-01 -4.03031361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters 0.012980764083846026 Centerline is valid? [True, True] Translation: X:109.97, Y:-157.90, Z:-4.03 [[-2.09000648e-01 -9.77914642e-01 1.29707554e-03 1.09974790e+02] [-9.77896582e-01 2.09004671e-01 5.94332658e-03 -1.57900875e+02] [-6.08316093e-03 -2.62466263e-05 -9.99981497e-01 -4.02834239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters 0.012944512407904167 Centerline is valid? [True, True] Translation: X:109.93, Y:-158.00, Z:-4.03 [[-1.35131700e-01 -9.90827188e-01 9.52760438e-04 1.09929157e+02] [-9.90803595e-01 1.35135057e-01 6.83760670e-03 -1.58003264e+02] [-6.90363795e-03 -2.00210502e-05 -9.99976169e-01 -4.02828566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters 0.012899800779186451 Centerline is valid? [True, True] Translation: X:109.89, Y:-158.11, Z:-4.03 [[-6.07635144e-02 -9.98152072e-01 4.86637889e-04 1.09891452e+02] [-9.98121341e-01 6.07654623e-02 7.83241494e-03 -1.58110683e+02] [-7.84751198e-03 -9.79860428e-06 -9.99969208e-01 -4.02851764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters 0.01285582398260978 Centerline is valid? [True, True] Translation: X:109.86, Y:-158.23, Z:-4.03 [[ 1.36471093e-02 -9.99906867e-01 -1.21766667e-04 1.09861593e+02] [-9.99871010e-01 -1.36476512e-02 8.46793354e-03 -1.58228379e+02] [-8.46880672e-03 6.18814497e-06 -9.99964139e-01 -4.02836446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters 0.012904597080905399 Centerline is valid? [True, True] Translation: X:109.84, Y:-158.34, Z:-4.03 [[ 9.14029254e-02 -9.95813677e-01 -7.91477071e-04 1.09838066e+02] [-9.95775836e-01 -9.14063520e-02 8.68116330e-03 -1.58338846e+02] [-8.71716718e-03 -5.34997992e-06 -9.99962005e-01 -4.02770933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters 0.012983346214276542 Centerline is valid? [True, True] Translation: X:109.82, Y:-158.45, Z:-4.03 [[ 1.69822465e-01 -9.85473545e-01 -1.49098063e-03 1.09822088e+02] [-9.85433834e-01 -1.69829007e-01 8.84689384e-03 -1.58446241e+02] [-8.97159159e-03 -3.31385648e-05 -9.99959754e-01 -4.02748454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters 0.01335280670516455 Centerline is valid? [True, True] Translation: X:109.82, Y:-158.57, Z:-4.03 [[ 2.48632525e-01 -9.68594953e-01 -2.38427466e-03 1.09815189e+02] [-9.68547357e-01 -2.48643944e-01 9.60241220e-03 -1.58565386e+02] [-9.89368345e-03 -7.81890626e-05 -9.99951053e-01 -4.02655366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters 0.014643336487695516 Centerline is valid? [True, True] Translation: X:109.82, Y:-158.69, Z:-4.03 [[ 3.28133444e-01 -9.44626412e-01 -3.06328449e-03 1.09815609e+02] [-9.44581097e-01 -3.28147711e-01 9.25374025e-03 -1.58685499e+02] [-9.74653725e-03 -1.42941043e-04 -9.99952491e-01 -4.02620831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters 0.014836276727027706 Centerline is valid? [True, True] Translation: X:109.83, Y:-158.80, Z:-4.03 [[ 4.02486211e-01 -9.15420083e-01 -3.30484664e-03 1.09828766e+02] [-9.15385956e-01 -4.02499749e-01 7.90597193e-03 -1.58800357e+02] [-8.56748542e-03 -1.56834486e-04 -9.99963286e-01 -4.02805924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters 0.015366043863220318 Centerline is valid? [True, True] Translation: X:109.85, Y:-158.91, Z:-4.03 [[ 4.72868364e-01 -8.81128245e-01 -2.91983612e-03 1.09849317e+02] [-8.81109705e-01 -4.72877361e-01 5.71743294e-03 -1.58912850e+02] [-6.41851606e-03 -1.30897216e-04 -9.99979393e-01 -4.02917360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters 0.016009014418165005 Centerline is valid? [True, True] Translation: X:109.87, Y:-159.02, Z:-4.03 [[ 5.39222868e-01 -8.42159372e-01 -2.50834974e-03 1.09874712e+02] [-8.42149365e-01 -5.39228692e-01 4.10662833e-03 -1.59016278e+02] [-4.81100968e-03 -1.01982763e-04 -9.99988422e-01 -4.02947004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters 0.01575522434287494 Centerline is valid? [True, True] Translation: X:109.91, Y:-159.12, Z:-4.03 [[ 6.01387783e-01 -7.98953036e-01 -2.60404780e-03 1.09912288e+02] [-7.98944868e-01 -6.01393414e-01 3.61367941e-03 -1.59120027e+02] [-4.45321733e-03 -9.27320286e-05 -9.99990080e-01 -4.02894796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters 0.01530883874617174 Centerline is valid? [True, True] Translation: X:109.96, Y:-159.22, Z:-4.03 [[ 6.59425961e-01 -7.51759673e-01 -3.84640283e-03 1.09958034e+02] [-7.51745830e-01 -6.59437169e-01 4.56378268e-03 -1.59217458e+02] [-5.96732877e-03 -1.17959501e-04 -9.99982188e-01 -4.02778697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters 0.015383650125325768 Centerline is valid? [True, True] Translation: X:110.00, Y:-159.31, Z:-4.03 [[ 7.14216338e-01 -6.99910913e-01 -4.44251322e-03 1.10004404e+02] [-6.99896294e-01 -7.14230144e-01 4.52532748e-03 -1.59306846e+02] [-6.34030295e-03 -1.22764281e-04 -9.99979893e-01 -4.02656127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters 0.01577340160299137 Centerline is valid? [True, True] Translation: X:110.06, Y:-159.39, Z:-4.02 [[ 7.64846410e-01 -6.44186995e-01 -5.75188833e-03 1.10057904e+02] [-6.44167335e-01 -7.64868024e-01 5.03490994e-03 -1.59391851e+02] [-7.64285896e-03 -1.45754212e-04 -9.99970782e-01 -4.02435577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters 0.015470251224005962 Centerline is valid? [True, True] Translation: X:110.08, Y:-159.42, Z:-4.02 [[ 8.13033168e-01 -5.82176041e-01 -6.93726385e-03 1.10084285e+02] [-5.82153078e-01 -8.13062746e-01 5.17347439e-03 -1.59418818e+02] [-8.65230363e-03 -1.67656766e-04 -9.99962554e-01 -4.02337170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters 0.015528380791401081 Centerline is valid? [True, True] Translation: X:110.11, Y:-159.44, Z:-4.02 [[ 8.56373953e-01 -5.16295899e-01 -7.88652533e-03 1.10112332e+02] [-5.16271993e-01 -8.56410246e-01 4.97189559e-03 -1.59443714e+02] [-9.32107041e-03 -1.86209733e-04 -9.99956541e-01 -4.02265234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters 0.015769358774003078 Centerline is valid? [True, True] Translation: X:110.14, Y:-159.46, Z:-4.02 [[ 8.94650636e-01 -4.46681320e-01 -8.71995846e-03 1.10142375e+02] [-4.46657820e-01 -8.94693106e-01 4.58662677e-03 -1.59464671e+02] [-9.85044723e-03 -2.08590917e-04 -9.99951461e-01 -4.02221302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters 0.01581767769317451 Centerline is valid? [True, True] Translation: X:110.17, Y:-159.48, Z:-4.02 [[ 9.27028808e-01 -3.74889818e-01 -8.67263843e-03 1.10173890e+02] [-3.74871337e-01 -9.27069352e-01 3.72798397e-03 -1.59484080e+02] [-9.43772052e-03 -2.04824968e-04 -9.99955443e-01 -4.02316271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters 0.017032230802157097 Centerline is valid? [True, True] Translation: X:110.21, Y:-159.50, Z:-4.02 [[ 9.53890502e-01 -3.00062555e-01 -7.44137280e-03 1.10205884e+02] [-3.00051944e-01 -9.53919510e-01 2.52991736e-03 -1.59499332e+02] [-7.85760416e-03 -1.80465770e-04 -9.99969112e-01 -4.02443887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters 0.01638003101077676 Centerline is valid? [True, True] Translation: X:110.24, Y:-159.51, Z:-4.03 [[ 9.74736398e-01 -2.23261219e-01 -6.58650475e-03 1.10239539e+02] [-2.23254975e-01 -9.74758637e-01 1.67783673e-03 -1.59512877e+02] [-6.79484827e-03 -1.64978577e-04 -9.99976901e-01 -4.02654256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters 0.017763398965620326 Centerline is valid? [True, True] Translation: X:110.27, Y:-159.53, Z:-4.03 [[ 9.89548932e-01 -1.44089434e-01 -5.58087961e-03 1.10271639e+02] [-1.44086284e-01 -9.89564658e-01 9.64653238e-04 -1.59526266e+02] [-5.66163756e-03 -1.50443378e-04 -9.99983962e-01 -4.02699821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters 0.018075242438017537 Centerline is valid? [True, True] Translation: X:110.30, Y:-159.54, Z:-4.03 [[ 9.98061102e-01 -6.19521187e-02 -5.99770817e-03 1.10303802e+02] [-6.19498840e-02 -9.98079105e-01 5.57835103e-04 -1.59535863e+02] [-6.02074628e-03 -1.85196192e-04 -9.99981858e-01 -4.02670190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters 0.0192136154692237 Centerline is valid? [True, True] Translation: X:110.33, Y:-159.55, Z:-4.03 [[ 9.99752647e-01 2.07602507e-02 -7.97851879e-03 1.10334941e+02] [ 2.07618265e-02 -9.99784444e-01 1.14725508e-04 -1.59545275e+02] [-7.97441724e-03 -2.80345754e-04 -9.99968165e-01 -4.02551840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters 0.021789668748608472 Centerline is valid? [True, True] Translation: X:110.37, Y:-159.55, Z:-4.02 [[ 9.94756544e-01 1.01850210e-01 -9.27103382e-03 1.10365781e+02] [ 1.01849090e-01 -9.94799683e-01 -5.94104054e-04 -1.59554717e+02] [-9.28333113e-03 -3.53257465e-04 -9.99956847e-01 -4.02358439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters 0.0227966673555789 Centerline is valid? [True, True] Translation: X:110.40, Y:-159.56, Z:-4.02 [[ 9.83393111e-01 1.81245816e-01 -9.37777199e-03 1.10397110e+02] [ 1.81241222e-01 -9.83437752e-01 -1.34459829e-03 -1.59555862e+02] [-9.46615782e-03 -3.77370156e-04 -9.99955124e-01 -4.02262939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters 0.022492770992962752 Centerline is valid? [True, True] Translation: X:110.43, Y:-159.55, Z:-4.02 [[ 9.66730681e-01 2.55615605e-01 -9.61526805e-03 1.10427702e+02] [ 2.55606763e-01 -9.66778426e-01 -2.15819328e-03 -1.59549366e+02] [-9.84750159e-03 -3.71335890e-04 -9.99951443e-01 -4.02263807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters 0.020527290665847648 Centerline is valid? [True, True] Translation: X:110.46, Y:-159.54, Z:-4.02 [[ 9.44969540e-01 3.27021930e-01 -9.44599361e-03 1.10457742e+02] [ 3.27009124e-01 -9.45016690e-01 -2.91345653e-03 -1.59541057e+02] [-9.87938580e-03 -3.35798422e-04 -9.99951141e-01 -4.02309577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters 0.0182231686569817 Centerline is valid? [True, True] Translation: X:110.49, Y:-159.53, Z:-4.02 [[ 9.18750724e-01 3.94714371e-01 -9.88294251e-03 1.10486265e+02] [ 3.94695026e-01 -9.18803829e-01 -3.91930906e-03 -1.59529861e+02] [-1.06274930e-02 -2.99880215e-04 -9.99943482e-01 -4.02273198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters 0.017692982050144006 Centerline is valid? [True, True] Translation: X:110.51, Y:-159.52, Z:-4.02 [[ 8.86183924e-01 4.63227650e-01 -9.90948125e-03 1.10514512e+02] [ 4.63202248e-01 -8.86239281e-01 -4.85940733e-03 -1.59519737e+02] [-1.10331834e-02 -2.83765332e-04 -9.99939092e-01 -4.02249667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters 0.016574619183754222 Centerline is valid? [True, True] Translation: X:110.54, Y:-159.51, Z:-4.02 [[ 8.48826192e-01 5.28588381e-01 -9.40312139e-03 1.10541664e+02] [ 5.28559161e-01 -8.48878238e-01 -5.56341171e-03 -1.59507429e+02] [-1.09228599e-02 -2.47736369e-04 -9.99940313e-01 -4.02246417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters 0.01619183445010203 Centerline is valid? [True, True] Translation: X:110.57, Y:-159.50, Z:-4.02 [[ 8.05584227e-01 5.92408927e-01 -9.25833419e-03 1.10569251e+02] [ 5.92373232e-01 -8.05637390e-01 -6.50765793e-03 -1.59496040e+02] [-1.13140548e-02 -2.41922765e-04 -9.99935965e-01 -4.02205247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters 0.015892030074308363 Centerline is valid? [True, True] Translation: X:110.60, Y:-159.48, Z:-4.02 [[ 7.57788677e-01 6.52440640e-01 -8.80528952e-03 1.10595011e+02] [ 6.52400029e-01 -7.57839799e-01 -7.28294901e-03 -1.59481925e+02] [-1.14246908e-02 -2.25634850e-04 -9.99934711e-01 -4.02157646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters 0.015486189172878377 Centerline is valid? [True, True] Translation: X:110.62, Y:-159.47, Z:-4.02 [[ 7.04306129e-01 7.09853606e-01 -7.79325905e-03 1.10622561e+02] [ 7.09813509e-01 -7.04349211e-01 -7.54791910e-03 -1.59468377e+02] [-1.08470935e-02 -2.15714871e-04 -9.99941145e-01 -4.02241281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters 0.016742103779856448 Centerline is valid? [True, True] Translation: X:110.65, Y:-159.45, Z:-4.02 [[ 6.45638786e-01 7.63610475e-01 -7.04270465e-03 1.10649745e+02] [ 7.63568794e-01 -6.45677157e-01 -7.98154950e-03 -1.59454913e+02] [-1.06421083e-02 -2.24391560e-04 -9.99943346e-01 -4.02107202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters 0.016142393774533886 Centerline is valid? [True, True] Translation: X:110.67, Y:-159.44, Z:-4.02 [[ 5.82621315e-01 8.12720455e-01 -6.15346851e-03 1.10674905e+02] [ 8.12679269e-01 -5.82653763e-01 -8.18519710e-03 -1.59437152e+02] [-1.02376187e-02 -2.31926000e-04 -9.99947567e-01 -4.02130642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters 0.01585474183014916 Centerline is valid? [True, True] Translation: X:110.70, Y:-159.42, Z:-4.02 [[ 5.16284593e-01 8.56400935e-01 -5.25908363e-03 1.10699612e+02] [ 8.56360998e-01 -5.16311326e-01 -8.27378351e-03 -1.59419040e+02] [-9.80100038e-03 -2.32047154e-04 -9.99951942e-01 -4.02211746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters 0.016620592894648043 Centerline is valid? [True, True] Translation: X:110.72, Y:-159.40, Z:-4.02 [[ 4.46701500e-01 8.94671672e-01 -4.51321319e-03 1.10723705e+02] [ 8.94631265e-01 -4.46724236e-01 -8.50633739e-03 -1.59400670e+02] [-9.62654081e-03 -2.37867951e-04 -9.99953636e-01 -4.02131324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters 0.01814663431279889 Centerline is valid? [True, True] Translation: X:110.75, Y:-159.38, Z:-4.02 [[ 3.73246873e-01 9.27723753e-01 -3.92546693e-03 1.10747297e+02] [ 9.27679681e-01 -3.73267421e-01 -9.04667645e-03 -1.59380796e+02] [-9.85806555e-03 -2.64932214e-04 -9.99951373e-01 -4.01999050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters 0.01833479345726882 Centerline is valid? [True, True] Translation: X:110.77, Y:-159.36, Z:-4.02 [[ 2.97870797e-01 9.54601533e-01 -2.98355227e-03 1.10765385e+02] [ 9.54562084e-01 -2.97885624e-01 -8.68233383e-03 -1.59355881e+02] [-9.17692651e-03 -2.61772176e-04 -9.99957857e-01 -4.02009306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters 0.01877405980757783 Centerline is valid? [True, True] Translation: X:110.78, Y:-159.33, Z:-4.02 [[ 2.19379325e-01 9.75637005e-01 -2.26877514e-03 1.10783161e+02] [ 9.75597446e-01 -2.19390871e-01 -8.79026024e-03 -1.59330505e+02] [-9.07385172e-03 -2.85009880e-04 -9.99958791e-01 -4.02099603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters 0.01969555297591948 Centerline is valid? [True, True] Translation: X:110.80, Y:-159.30, Z:-4.02 [[ 1.40847171e-01 9.90030172e-01 -1.52739544e-03 1.10798437e+02] [ 9.89992155e-01 -1.40855155e-01 -8.68090980e-03 -1.59302960e+02] [-8.80950415e-03 -2.89427916e-04 -9.99961154e-01 -4.02042296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters 0.021001349197105595 Centerline is valid? [True, True] Translation: X:110.81, Y:-159.28, Z:-4.02 [[ 6.20871887e-02 9.98070360e-01 -8.58571407e-04 1.10810179e+02] [ 9.98030385e-01 -6.20923906e-02 -8.93787020e-03 -1.59275628e+02] [-8.97393408e-03 -3.01953119e-04 -9.99959688e-01 -4.01951260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters 0.021496605841667717 Centerline is valid? [True, True] Translation: X:110.82, Y:-159.25, Z:-4.02 [[-1.55863496e-02 9.99878512e-01 -1.66843834e-04 1.10815146e+02] [ 9.99832463e-01 1.55840297e-02 -9.60128204e-03 -1.59247389e+02] [-9.59751549e-03 -3.16464820e-04 -9.99953893e-01 -4.01893817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters 0.018934283763921665 Centerline is valid? [True, True] Translation: X:110.82, Y:-159.22, Z:-4.02 [[-9.06714829e-02 9.95880630e-01 6.72388218e-04 1.10816990e+02] [ 9.95819941e-01 9.06733837e-02 -1.09992033e-02 -1.59217379e+02] [-1.10148612e-02 -3.27736475e-04 -9.99939281e-01 -4.01896616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters 0.017717136321113942 Centerline is valid? [True, True] Translation: X:110.82, Y:-159.19, Z:-4.02 [[-1.64505717e-01 9.86374784e-01 1.62958928e-03 1.10819773e+02] [ 9.86306545e-01 1.64513511e-01 -1.16061781e-02 -1.59186815e+02] [-1.17161308e-02 -3.02008073e-04 -9.99931318e-01 -4.01906595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters 0.015883181997419414 Centerline is valid? [True, True] Translation: X:110.82, Y:-159.16, Z:-4.02 [[-2.33204524e-01 9.72424372e-01 2.54784107e-03 1.10818848e+02] [ 9.72356322e-01 2.33218350e-01 -1.15058032e-02 -1.59157020e+02] [-1.17827268e-02 -2.05795981e-04 -9.99930560e-01 -4.02013093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters 0.015182101507618409 Centerline is valid? [True, True] Translation: X:110.82, Y:-159.13, Z:-4.02 [[-3.02627491e-01 9.53103502e-01 3.21200577e-03 1.10817235e+02] [ 9.53045461e-01 3.02644511e-01 -1.05190125e-02 -1.59128619e+02] [-1.09978035e-02 -1.22154828e-04 -9.99939515e-01 -4.02062894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters 0.01444942359689899 Centerline is valid? [True, True] Translation: X:110.81, Y:-159.10, Z:-4.02 [[-3.68206452e-01 9.29737750e-01 3.42418020e-03 1.10809755e+02] [ 9.29697007e-01 3.68222373e-01 -8.70396230e-03 -1.59101456e+02] [-9.35326208e-03 -2.14049953e-05 -9.99956257e-01 -4.02228540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters 0.01437312817350791 Centerline is valid? [True, True] Translation: X:110.80, Y:-159.07, Z:-4.02 [[-4.36143796e-01 8.99869022e-01 3.78580024e-03 1.10802599e+02] [ 8.99835451e-01 4.36160226e-01 -7.77295459e-03 -1.59074167e+02] [-8.64585653e-03 1.64713477e-05 -9.99962624e-01 -4.02276325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters 0.01442457833768838 Centerline is valid? [True, True] Translation: X:110.79, Y:-159.05, Z:-4.02 [[-5.03209546e-01 8.64153141e-01 4.41598630e-03 1.10793521e+02] [ 8.64120521e-01 5.03228921e-01 -7.50855070e-03 -1.59047546e+02] [-8.71078970e-03 3.75699911e-05 -9.99962060e-01 -4.02221568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters 0.014345793776126234 Centerline is valid? [True, True] Translation: X:110.79, Y:-159.02, Z:-4.02 [[-5.69471118e-01 8.21992582e-01 5.55350236e-03 1.10785925e+02] [ 8.21954189e-01 5.69498194e-01 -7.94466315e-03 -1.59019298e+02] [-9.69316374e-03 4.04683239e-05 -9.99953019e-01 -4.02124494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters 0.014217992028672258 Centerline is valid? [True, True] Translation: X:110.78, Y:-158.99, Z:-4.02 [[-6.33373945e-01 7.73819961e-01 6.33351544e-03 1.10776166e+02] [ 7.73781671e-01 6.33405610e-01 -7.69797251e-03 -1.58991292e+02] [-9.96852900e-03 2.50629415e-05 -9.99950313e-01 -4.02063759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters 0.013886776102718712 Centerline is valid? [True, True] Translation: X:110.77, Y:-158.96, Z:-4.02 [[-6.95460156e-01 7.18538648e-01 6.11421187e-03 1.10766023e+02] [ 7.18510630e-01 6.95487032e-01 -6.34536340e-03 -1.58961024e+02] [-8.81174390e-03 -1.98211987e-05 -9.99961176e-01 -4.02169422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters 0.014059257582752123 Centerline is valid? [True, True] Translation: X:110.75, Y:-158.93, Z:-4.02 [[-7.52762973e-01 6.58269375e-01 5.41632941e-03 1.10753263e+02] [ 6.58251849e-01 7.52782457e-01 -4.80370303e-03 -1.58933263e+02] [-7.23944835e-03 -5.07409290e-05 -9.99973794e-01 -4.02268655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters 0.014553943718864436 Centerline is valid? [True, True] Translation: X:110.77, Y:-158.91, Z:-4.03 [[-8.00841110e-01 5.98866658e-01 3.49911167e-03 1.10773659e+02] [ 5.98860631e-01 8.00848752e-01 -2.68727450e-03 -1.58906932e+02] [-4.41157831e-03 -5.65996689e-05 -9.99990267e-01 -4.02527786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters 0.015245296322571123 Centerline is valid? [True, True] Translation: X:110.78, Y:-158.88, Z:-4.03 [[-8.43169064e-01 5.37639958e-01 3.03399467e-03 1.10783644e+02] [ 5.37636221e-01 8.43174521e-01 -2.00557926e-03 -1.58875379e+02] [-3.63646655e-03 -5.98569577e-05 -9.99993386e-01 -4.02593892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters 0.016038000853122923 Centerline is valid? [True, True] Translation: X:110.81, Y:-158.85, Z:-4.03 [[-8.80835446e-01 4.73412718e-01 3.05220503e-03 1.10805199e+02] [ 4.73409598e-01 8.80840731e-01 -1.72035829e-03 -1.58850975e+02] [-3.50294600e-03 -7.04094012e-05 -9.99993862e-01 -4.02585880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters 0.01612980204397842 Centerline is valid? [True, True] Translation: X:110.82, Y:-158.82, Z:-4.03 [[-9.12591569e-01 4.08856147e-01 3.64416199e-03 1.10817917e+02] [ 4.08852511e-01 9.12598841e-01 -1.72637951e-03 -1.58824384e+02] [-4.03149888e-03 -8.55546030e-05 -9.99991870e-01 -4.02567965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters 0.0154793682381989 Centerline is valid? [True, True] Translation: X:110.83, Y:-158.80, Z:-4.02 [[-9.38863842e-01 3.44251955e-01 5.02772359e-03 1.10827013e+02] [ 3.44246398e-01 9.38877298e-01 -1.95891346e-03 -1.58797195e+02] [-5.39477532e-03 -1.08377278e-04 -9.99985442e-01 -4.02473153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters 0.014728475701039167 Centerline is valid? [True, True] Translation: X:111.06, Y:-158.21, Z:-5.01 [[-8.97716409e-01 -4.40538376e-01 5.58471707e-03 1.11058359e+02] [ 4.40531001e-01 -8.97733764e-01 -2.55457385e-03 -1.58210687e+02] [ 6.13897689e-03 1.66958137e-04 9.99981142e-01 -5.01458030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters 0.013734891007356153 Centerline is valid? [True, True] Translation: X:110.79, Y:-158.79, Z:-4.03 [[-9.36488796e-01 3.50665804e-01 4.71473864e-03 1.10789770e+02] [ 3.50661100e-01 9.36500663e-01 -1.81690445e-03 -1.58786271e+02] [-5.05248212e-03 -4.82352222e-05 -9.99987235e-01 -4.02643464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters 0.01327108651428375 Centerline is valid? [True, True] Translation: X:111.03, Y:-158.20, Z:-5.01 [[-9.05547058e-01 -4.24220317e-01 4.65272254e-03 1.11027199e+02] [ 4.24215013e-01 -9.05559010e-01 -2.12200590e-03 -1.58195437e+02] [ 5.11351283e-03 5.21785540e-05 9.99986925e-01 -5.01221260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters 0.013246275208510032 Centerline is valid? [True, True] Translation: X:110.75, Y:-158.78, Z:-4.03 [[-9.34187129e-01 3.56748685e-01 4.97837023e-03 1.10752540e+02] [ 3.56743639e-01 9.34200394e-01 -1.89746880e-03 -1.58777363e+02] [-5.32771493e-03 3.41098173e-06 -9.99985808e-01 -4.02714906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters 0.014069699850939333 Centerline is valid? [True, True] Translation: X:110.76, Y:-158.76, Z:-4.03 [[-9.54352030e-01 2.98606618e-01 6.80374673e-03 1.10763782e+02] [ 2.98599560e-01 9.54376280e-01 -2.05427691e-03 -1.58755569e+02] [-7.10675517e-03 7.10924428e-05 -9.99974744e-01 -4.02627008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters 0.014814420228106846 Centerline is valid? [True, True] Translation: X:110.77, Y:-158.73, Z:-4.03 [[-9.72112125e-01 2.34394279e-01 7.57228203e-03 1.10773099e+02] [ 2.34388057e-01 9.72141610e-01 -1.71149717e-03 -1.58730462e+02] [-7.76249559e-03 1.11085321e-04 -9.99969865e-01 -4.02605494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters 0.015219359660955601 Centerline is valid? [True, True] Translation: X:110.92, Y:-158.10, Z:-5.01 [[-9.63015300e-01 -2.69338101e-01 7.64977005e-03 1.10915977e+02] [ 2.69328765e-01 -9.63045678e-01 -2.24478905e-03 -1.58100165e+02] [ 7.97168520e-03 -1.01463085e-04 9.99968221e-01 -5.01245016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters 0.014744940298201592 Centerline is valid? [True, True] Translation: X:110.73, Y:-158.71, Z:-4.03 [[-9.72410085e-01 2.33147489e-01 7.80229503e-03 1.10728253e+02] [ 2.33141090e-01 9.72441376e-01 -1.73264005e-03 -1.58714197e+02] [-7.99123520e-03 1.34198910e-04 -9.99968061e-01 -4.02823823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters 0.014270335675670816 Centerline is valid? [True, True] Translation: X:110.73, Y:-158.68, Z:-4.03 [[-9.87029869e-01 1.60332047e-01 8.10385146e-03 1.10728141e+02] [ 1.60327563e-01 9.87063130e-01 -1.20426917e-03 -1.58679591e+02] [-8.19209593e-03 1.10621109e-04 -9.99966438e-01 -4.02852768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters 0.013329286537729537 Centerline is valid? [True, True] Translation: X:110.72, Y:-158.64, Z:-4.03 [[-9.96600635e-01 8.18264518e-02 9.57107788e-03 1.10723142e+02] [ 8.18231812e-02 9.96646592e-01 -7.33455848e-04 -1.58641445e+02] [-9.59899824e-03 5.21734761e-05 -9.99953927e-01 -4.02780584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters 0.013025283170397112 Centerline is valid? [True, True] Translation: X:110.76, Y:-158.05, Z:-5.01 [[-9.89336031e-01 -1.45309501e-01 9.96831740e-03 1.10763414e+02] [ 1.45301917e-01 -9.89386248e-01 -1.48474655e-03 -1.58048586e+02] [ 1.00782639e-02 -2.04976329e-05 9.99949213e-01 -5.01246112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters 0.0135001903479197 Centerline is valid? [True, True] Translation: X:110.66, Y:-158.62, Z:-4.03 [[-9.97992914e-01 6.24423202e-02 1.05403779e-02 1.10660242e+02] [ 6.24377026e-02 9.98048569e-01 -7.66908197e-04 -1.58621069e+02] [-1.05676966e-02 -1.07251967e-04 -9.99944155e-01 -4.02731635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters 0.015754901799051813 Centerline is valid? [True, True] Translation: X:110.65, Y:-158.58, Z:-4.03 [[-9.99750798e-01 -1.89235966e-02 1.18423014e-02 1.10649253e+02] [-1.89251399e-02 9.99820903e-01 -1.82562071e-05 -1.58583581e+02] [-1.18398350e-02 -2.42368868e-04 -9.99929877e-01 -4.02610695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters 0.017096570680275747 Centerline is valid? [True, True] Translation: X:110.64, Y:-158.55, Z:-4.03 [[-9.95503091e-01 -9.39943928e-02 1.17749432e-02 1.10638836e+02] [-9.39912628e-02 9.95572684e-01 8.20151437e-04 -1.58552507e+02] [-1.17999014e-02 -2.90278487e-04 -9.99930337e-01 -4.02609894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters 0.01807206450475525 Centerline is valid? [True, True] Translation: X:110.60, Y:-158.02, Z:-5.01 [[-9.99643291e-01 -2.46106212e-02 1.03734597e-02 1.10598417e+02] [ 2.46109426e-02 -9.99697100e-01 -9.66899904e-05 -1.58016423e+02] [ 1.03726972e-02 1.58645120e-04 9.99946190e-01 -5.01164689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters 0.018278882745672693 Centerline is valid? [True, True] Translation: X:110.58, Y:-158.55, Z:-4.03 [[-9.94944490e-01 -1.00078016e-01 8.35784344e-03 1.10580287e+02] [-1.00076355e-01 9.94979568e-01 6.17793679e-04 -1.58552947e+02] [-8.37771102e-03 -2.21752086e-04 -9.99964882e-01 -4.02905024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters 0.01753267201514556 Centerline is valid? [True, True] Translation: X:110.57, Y:-158.53, Z:-4.03 [[-9.85409636e-01 -1.70007390e-01 8.08312048e-03 1.10567436e+02] [-1.70003427e-01 9.85442765e-01 1.17997022e-03 -1.58528993e+02] [-8.16605625e-03 -2.11404159e-04 -9.99966635e-01 -4.02918430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters 0.01760100532815908 Centerline is valid? [True, True] Translation: X:110.55, Y:-158.50, Z:-4.03 [[-9.70902126e-01 -2.39313112e-01 8.84852290e-03 1.10552475e+02] [-2.39305332e-01 9.70942419e-01 1.94340453e-03 -1.58504899e+02] [-9.05648841e-03 -2.30643125e-04 -9.99958963e-01 -4.02773621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters 0.016601049043279473 Centerline is valid? [True, True] Translation: X:110.54, Y:-158.48, Z:-4.03 [[-9.51526863e-01 -3.07382742e-01 1.06056063e-02 1.10536139e+02] [-3.07366864e-01 9.51585926e-01 3.13633319e-03 -1.58484981e+02] [-1.10562004e-02 -2.75506660e-04 -9.99938840e-01 -4.02634262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters 0.016377387677102364 Centerline is valid? [True, True] Translation: X:110.38, Y:-157.96, Z:-5.01 [[-9.80754920e-01 1.94902832e-01 1.15184171e-02 1.10376099e+02] [-1.94885260e-01 -9.80822496e-01 2.63963659e-03 -1.57964504e+02] [ 1.18119953e-02 3.44066854e-04 9.99930177e-01 -5.01411433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters 0.015618303895630228 Centerline is valid? [True, True] Translation: X:110.44, Y:-158.52, Z:-4.03 [[-9.50910019e-01 -3.09271766e-01 1.10050246e-02 1.10440798e+02] [-3.09253968e-01 9.50973668e-01 3.32658470e-03 -1.58519472e+02] [-1.14943073e-02 -2.40064813e-04 -9.99933910e-01 -4.02547641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters 0.014677062502902299 Centerline is valid? [True, True] Translation: X:110.41, Y:-158.51, Z:-4.03 [[-9.27428556e-01 -3.73862388e-01 1.01581627e-02 1.10412923e+02] [-3.73842239e-01 9.27484166e-01 3.88621594e-03 -1.58505860e+02] [-1.08744450e-02 -1.93362644e-04 -9.99940853e-01 -4.02653613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters 0.013624147896189908 Centerline is valid? [True, True] Translation: X:110.38, Y:-158.50, Z:-4.03 [[-9.00166691e-01 -4.35459715e-01 8.64667184e-03 1.10376550e+02] [-4.35440889e-01 9.00208211e-01 4.05091973e-03 -1.58500150e+02] [-9.54781734e-03 -1.18611465e-04 -9.99954412e-01 -4.02814759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters 0.013086058424751294 Centerline is valid? [True, True] Translation: X:110.32, Y:-158.50, Z:-4.03 [[-8.67337781e-01 -4.97665023e-01 7.39584538e-03 1.10318831e+02] [-4.97647736e-01 8.67369309e-01 4.14883963e-03 -1.58504653e+02] [-8.47966166e-03 -8.20803525e-05 -9.99964044e-01 -4.02941733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters 0.013026025379776651 Centerline is valid? [True, True] Translation: X:110.25, Y:-158.52, Z:-4.03 [[-8.28969794e-01 -5.59261794e-01 5.94366746e-03 1.10254507e+02] [-5.59247948e-01 8.28991099e-01 3.93575644e-03 -1.58516085e+02] [-7.12836562e-03 -6.13606262e-05 -9.99974591e-01 -4.03026231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters 0.013164905059622707 Centerline is valid? [True, True] Translation: X:110.19, Y:-158.53, Z:-4.03 [[-7.83941821e-01 -6.20809757e-01 5.51972405e-03 1.10185984e+02] [-6.20795037e-01 7.83961249e-01 4.27568325e-03 -1.58533673e+02] [-6.98163564e-03 -7.47303861e-05 -9.99975625e-01 -4.03048643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters 0.0144743008218175 Centerline is valid? [True, True] Translation: X:110.11, Y:-158.56, Z:-4.03 [[-7.31765026e-01 -6.81527569e-01 6.33398551e-03 1.10105814e+02] [-6.81503683e-01 7.31792425e-01 5.70769270e-03 -1.58562827e+02] [-8.52511255e-03 -1.39944552e-04 -9.99963651e-01 -4.02834931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters 0.016717837261098257 Centerline is valid? [True, True] Translation: X:110.03, Y:-158.60, Z:-4.03 [[-6.73574859e-01 -7.39078138e-01 7.77271320e-03 1.10027520e+02] [-7.39033416e-01 6.73619652e-01 8.13478540e-03 -1.58597037e+02] [-1.12480944e-02 -2.64907854e-04 -9.99936703e-01 -4.02583743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters 0.0181604505700031 Centerline is valid? [True, True] Translation: X:109.95, Y:-158.65, Z:-4.02 [[-6.13536898e-01 -7.89630121e-01 7.53312472e-03 1.09946885e+02] [-7.89576925e-01 6.13583058e-01 9.17116992e-03 -1.58645452e+02] [-1.18640297e-02 -3.21130309e-04 -9.99929568e-01 -4.02486929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters 0.0192973974853966 Centerline is valid? [True, True] Translation: X:109.87, Y:-158.70, Z:-4.03 [[-5.51041941e-01 -8.34452230e-01 6.50044104e-03 1.09871226e+02] [-8.34400975e-01 5.51080186e-01 9.25428984e-03 -1.58700578e+02] [-1.13045270e-02 -3.24472505e-04 -9.99936049e-01 -4.02502093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters 0.0194975728313535 Centerline is valid? [True, True] Translation: X:109.80, Y:-158.77, Z:-4.03 [[-4.86883461e-01 -8.73453308e-01 4.88000907e-03 1.09798040e+02] [-8.73414855e-01 4.86907842e-01 8.20030510e-03 -1.58768407e+02] [-9.53869830e-03 -2.69679489e-04 -9.99954469e-01 -4.02621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters 0.018063678310529588 Centerline is valid? [True, True] Translation: X:109.74, Y:-158.84, Z:-4.03 [[-4.23335097e-01 -9.05965562e-01 3.71431032e-03 1.09735752e+02] [-9.05934702e-01 4.23351345e-01 7.48029001e-03 -1.58841662e+02] [-8.34934342e-03 -1.98253316e-04 -9.99965124e-01 -4.02765368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters 0.016756808708101097 Centerline is valid? [True, True] Translation: X:109.67, Y:-158.93, Z:-4.03 [[-3.57385757e-01 -9.33953149e-01 2.63361737e-03 1.09674361e+02] [-9.33930513e-01 3.57395435e-01 6.50384025e-03 -1.58926249e+02] [-7.01552491e-03 -1.35235749e-04 -9.99975382e-01 -4.02802249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters 0.014493361056199673 Centerline is valid? [True, True] Translation: X:109.62, Y:-159.02, Z:-4.03 [[-2.91624253e-01 -9.56530343e-01 2.23569532e-03 1.09623816e+02] [-9.56504605e-01 2.91632808e-01 7.01760231e-03 -1.59016850e+02] [-7.36455165e-03 -9.19498349e-05 -9.99972877e-01 -4.02764217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters 0.01413764833758471 Centerline is valid? [True, True] Translation: X:109.57, Y:-159.12, Z:-4.03 [[-2.19386461e-01 -9.75636315e-01 1.83359912e-03 1.09569221e+02] [-9.75605466e-01 2.19394107e-01 7.75896339e-03 -1.59123553e+02] [-7.97220729e-03 -8.66578033e-05 -9.99968218e-01 -4.02683785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters 0.013439593151626563 Centerline is valid? [True, True] Translation: X:109.53, Y:-159.22, Z:-4.02 [[-1.48362685e-01 -9.88931633e-01 1.65499938e-03 1.09530568e+02] [-9.88875180e-01 1.48371899e-01 1.05668219e-02 -1.59220682e+02] [-1.06954198e-02 -6.88657409e-05 -9.99942800e-01 -4.02374211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters 0.013444082481563042 Centerline is valid? [True, True] Translation: X:109.50, Y:-159.33, Z:-4.02 [[-7.50898226e-02 -9.97176307e-01 9.65574894e-04 1.09495732e+02] [-9.97100977e-01 7.50960185e-02 1.22568106e-02 -1.59331886e+02] [-1.22947119e-02 -4.24139388e-05 -9.99924416e-01 -4.02163067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters 0.013497860024181964 Centerline is valid? [True, True] Translation: X:109.47, Y:-159.45, Z:-4.02 [[-3.59492246e-03 -9.99993538e-01 2.19644803e-05 1.09474850e+02] [-9.99912909e-01 3.59491152e-03 1.26984782e-02 -1.59447364e+02] [-1.26984751e-02 2.36874771e-05 -9.99919371e-01 -4.02109510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters 0.014002279963038352 Centerline is valid? [True, True] Translation: X:109.46, Y:-159.56, Z:-4.02 [[ 7.00564726e-02 -9.97542620e-01 -9.01284677e-04 1.09459795e+02] [-9.97471055e-01 -7.00622426e-02 1.19489342e-02 -1.59562368e+02] [-1.19827172e-02 6.19051953e-05 -9.99928203e-01 -4.02152542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters 0.014431916486897354 Centerline is valid? [True, True] Translation: X:109.45, Y:-159.68, Z:-4.02 [[ 1.44493419e-01 -9.89504522e-01 -1.56628892e-03 1.09453004e+02] [-9.89451952e-01 -1.44501888e-01 1.02000040e-02 -1.59675764e+02] [-1.03192818e-02 7.59341666e-05 -9.99946752e-01 -4.02297297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters 0.013782444966492271 Centerline is valid? [True, True] Translation: X:109.45, Y:-159.80, Z:-4.02 [[ 2.22158676e-01 -9.75008414e-01 -2.02854276e-03 1.09450292e+02] [-9.74969676e-01 -2.22167932e-01 8.69146349e-03 -1.59798501e+02] [-8.92492718e-03 4.68836538e-05 -9.99960171e-01 -4.02427242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters 0.01328686812930518 Centerline is valid? [True, True] Translation: X:109.45, Y:-159.92, Z:-4.02 [[ 3.00268125e-01 -9.53851684e-01 -2.45323700e-03 1.09454825e+02] [-9.53820117e-01 -3.00278146e-01 7.76007754e-03 -1.59921809e+02] [-8.13861649e-03 9.84286948e-06 -9.99966881e-01 -4.02443692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters 0.014299562532753133 Centerline is valid? [True, True] Translation: X:109.46, Y:-160.04, Z:-4.02 [[ 3.81129123e-01 -9.24516349e-01 -3.18008603e-03 1.09463944e+02] [-9.24482672e-01 -3.81142384e-01 7.89125305e-03 -1.60044358e+02] [-8.50765802e-03 -6.76519221e-05 -9.99963807e-01 -4.02307850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters 0.017131161676453982 Centerline is valid? [True, True] Translation: X:109.49, Y:-160.17, Z:-4.02 [[ 4.56863341e-01 -8.89527696e-01 -4.04542412e-03 1.09486743e+02] [-8.89490196e-01 -4.56881231e-01 8.16897409e-03 -1.60174169e+02] [-9.11480706e-03 -1.33739704e-04 -9.99958450e-01 -4.02168494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters 0.02301436433497279 Centerline is valid? [True, True] Translation: X:109.51, Y:-160.30, Z:-4.02 [[ 5.31374957e-01 -8.47123903e-01 -4.66351996e-03 1.09512490e+02] [-8.47087623e-01 -5.31395377e-01 7.84301698e-03 -1.60295132e+02] [-9.12218010e-03 -2.17172780e-04 -9.99958369e-01 -4.02121342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters 0.016914541629043562 Centerline is valid? [True, True] Translation: X:109.55, Y:-160.39, Z:-4.02 [[ 5.95169573e-01 -8.03581732e-01 -5.43871856e-03 1.09552096e+02] [-8.03544592e-01 -5.95194378e-01 7.72923136e-03 -1.60387395e+02] [-9.44816383e-03 -2.29950440e-04 -9.99955339e-01 -4.02406241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters 0.016216145349134688 Centerline is valid? [True, True] Translation: X:109.60, Y:-160.49, Z:-4.02 [[ 6.53130207e-01 -7.57224175e-01 -5.69927527e-03 1.09597105e+02] [-7.57192683e-01 -6.53155043e-01 6.90873621e-03 -1.60487987e+02] [-8.95397246e-03 -1.96854773e-04 -9.99959893e-01 -4.02457464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters 0.015209775901410646 Centerline is valid? [True, True] Translation: X:109.65, Y:-160.58, Z:-4.03 [[ 7.06568460e-01 -7.07627304e-01 -4.96094302e-03 1.09648009e+02] [-7.07608534e-01 -7.06585863e-01 5.15563277e-03 -1.60582434e+02] [-7.15359872e-03 -1.32401883e-04 -9.99974404e-01 -4.02686173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters 0.01548942063709907 Centerline is valid? [True, True] Translation: X:109.70, Y:-160.67, Z:-4.03 [[ 7.58251117e-01 -6.51944263e-01 -4.89104680e-03 1.09701918e+02] [-6.51929674e-01 -7.58266882e-01 4.36298465e-03 -1.60673478e+02] [-6.55314161e-03 -1.19619436e-04 -9.99978521e-01 -4.02739236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters 0.01576171020491945 Centerline is valid? [True, True] Translation: X:109.72, Y:-160.70, Z:-4.03 [[ 8.08447201e-01 -5.88534943e-01 -6.30424629e-03 1.09720861e+02] [-5.88515439e-01 -8.08471764e-01 4.79421614e-03 -1.60703089e+02] [-7.91836884e-03 -1.65724344e-04 -9.99968636e-01 -4.02605707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters 0.01689841640297724 Centerline is valid? [True, True] Translation: X:109.74, Y:-160.73, Z:-4.02 [[ 8.53239470e-01 -5.21462117e-01 -7.72452063e-03 1.09741458e+02] [-5.21438451e-01 -8.53274408e-01 4.97263587e-03 -1.60729775e+02] [-9.18417699e-03 -2.14987117e-04 -9.99957802e-01 -4.02434728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters 0.016919775258047907 Centerline is valid? [True, True] Translation: X:109.77, Y:-160.75, Z:-4.02 [[ 8.92312466e-01 -4.51322867e-01 -9.28079209e-03 1.09765504e+02] [-4.51295306e-01 -8.92360688e-01 4.99491865e-03 -1.60754649e+02] [-1.05361350e-02 -2.68650270e-04 -9.99944457e-01 -4.02435050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters 0.017493701851657426 Centerline is valid? [True, True] Translation: X:109.79, Y:-160.78, Z:-4.02 [[ 9.25237846e-01 -3.79258042e-01 -9.91291765e-03 1.09791643e+02] [-3.79232928e-01 -9.25290903e-01 4.37393814e-03 -1.60777340e+02] [-1.08311837e-02 -2.87628310e-04 -9.99941300e-01 -4.02404923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters 0.017063043766310335 Centerline is valid? [True, True] Translation: X:109.82, Y:-160.79, Z:-4.02 [[ 9.51416270e-01 -3.07767286e-01 -9.29402948e-03 1.09821510e+02] [-3.07750126e-01 -9.51461633e-01 3.25884295e-03 -1.60793436e+02] [-9.84587772e-03 -2.40277455e-04 -9.99951499e-01 -4.02497033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters 0.015964137661994962 Centerline is valid? [True, True] Translation: X:109.85, Y:-160.81, Z:-4.03 [[ 9.71879292e-01 -2.35315373e-01 -8.79295730e-03 1.09852770e+02] [-2.35303920e-01 -9.71919049e-01 2.32982480e-03 -1.60807007e+02] [-9.09428628e-03 -1.95291152e-04 -9.99958627e-01 -4.02565604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters 0.0151874224711483 Centerline is valid? [True, True] Translation: X:109.88, Y:-160.82, Z:-4.03 [[ 9.86751349e-01 -1.61994733e-01 -8.91527078e-03 1.09884248e+02] [-1.61986618e-01 -9.86791609e-01 1.62978690e-03 -1.60818305e+02] [-9.06153129e-03 -1.64039861e-04 -9.99958930e-01 -4.02587421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters 0.014317613775498417 Centerline is valid? [True, True] Translation: X:109.91, Y:-160.83, Z:-4.03 [[ 9.96022604e-01 -8.87203469e-02 -8.22630325e-03 1.09912217e+02] [-8.87163888e-02 -9.96056568e-01 8.45535720e-04 -1.60825922e+02] [-8.26887961e-03 -1.12364773e-04 -9.99965806e-01 -4.02691974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters 0.014050085681035593 Centerline is valid? [True, True] Translation: X:109.94, Y:-160.84, Z:-4.03 [[ 9.99898075e-01 -1.17035021e-02 -8.17731091e-03 1.09940800e+02] [-1.17022832e-02 -9.99931507e-01 1.96895138e-04 -1.60835143e+02] [-8.17905518e-03 -1.01181862e-04 -9.99966546e-01 -4.02730193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters 0.01396984711690281 Centerline is valid? [True, True] Translation: X:109.97, Y:-160.85, Z:-4.03 [[ 9.97733065e-01 6.67468006e-02 -8.57877409e-03 1.09970166e+02] [ 6.67452573e-02 -9.97769940e-01 -4.66391686e-04 -1.60846033e+02] [-8.59077306e-03 -1.07258077e-04 -9.99963093e-01 -4.02699018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters 0.01401175701242917 Centerline is valid? [True, True] Translation: X:110.00, Y:-160.85, Z:-4.03 [[ 9.89380263e-01 1.45078271e-01 -8.88769460e-03 1.09999748e+02] [ 1.45073465e-01 -9.89420175e-01 -1.18653968e-03 -1.60853129e+02] [-8.96580547e-03 -1.15429710e-04 -9.99959800e-01 -4.02676318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters 0.01422130375744534 Centerline is valid? [True, True] Translation: X:110.03, Y:-160.86, Z:-4.03 [[ 9.74831395e-01 2.22746710e-01 -9.36237772e-03 1.10028768e+02] [ 2.22737711e-01 -9.74876344e-01 -2.00643924e-03 -1.60856833e+02] [-9.57408831e-03 -1.29414612e-04 -9.99954159e-01 -4.02631357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters 0.013990311539829915 Centerline is valid? [True, True] Translation: X:110.06, Y:-160.86, Z:-4.03 [[ 9.54403093e-01 2.98376757e-01 -9.27614384e-03 1.10059492e+02] [ 2.98363995e-01 -9.54448162e-01 -2.76280324e-03 -1.60858318e+02] [-9.67795471e-03 -1.30839372e-04 -9.99953159e-01 -4.02672070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters 0.013992512118419087 Centerline is valid? [True, True] Translation: X:110.09, Y:-160.86, Z:-4.03 [[ 9.28334847e-01 3.71631116e-01 -9.20467484e-03 1.10090048e+02] [ 3.71614203e-01 -9.28380470e-01 -3.54776155e-03 -1.60857328e+02] [-9.86389894e-03 -1.27077232e-04 -9.99951343e-01 -4.02631987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters 0.014494071301010832 Centerline is valid? [True, True] Translation: X:110.12, Y:-160.85, Z:-4.03 [[ 8.96641230e-01 4.42682827e-01 -8.14979959e-03 1.10119490e+02] [ 4.42665669e-01 -8.96678260e-01 -3.89910002e-03 -1.60852947e+02] [-9.03381274e-03 -1.11542657e-04 -9.99959188e-01 -4.02642440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters 0.014101004687379225 Centerline is valid? [True, True] Translation: X:110.15, Y:-160.84, Z:-4.03 [[ 8.59218109e-01 5.11562110e-01 -6.96044177e-03 1.10148556e+02] [ 5.11546262e-01 -8.59246296e-01 -4.02800568e-03 -1.60844410e+02] [-8.04130890e-03 -9.96525424e-05 -9.99967663e-01 -4.02846775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters 0.014247437515062857 Centerline is valid? [True, True] Translation: X:110.18, Y:-160.84, Z:-4.03 [[ 8.15886853e-01 5.78178057e-01 -6.22713968e-03 1.10177541e+02] [ 5.78162168e-01 -8.15910610e-01 -4.28751441e-03 -1.60835673e+02] [-7.55973609e-03 -1.02169941e-04 -9.99971420e-01 -4.02860037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters 0.014194940962836815 Centerline is valid? [True, True] Translation: X:110.21, Y:-160.83, Z:-4.03 [[ 7.67753897e-01 6.40716114e-01 -6.06762990e-03 1.10206726e+02] [ 6.40697232e-01 -7.67777865e-01 -4.92006274e-03 -1.60825082e+02] [-7.81095541e-03 -1.10116340e-04 -9.99969488e-01 -4.02850349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters 0.014483817457793527 Centerline is valid? [True, True] Translation: X:110.24, Y:-160.81, Z:-4.03 [[ 7.14397756e-01 6.99712689e-01 -6.16432858e-03 1.10235045e+02] [ 6.99688200e-01 -7.14424339e-01 -5.85554493e-03 -1.60813042e+02] [-8.50114546e-03 -1.29919814e-04 -9.99963856e-01 -4.02762994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters 0.014432993317351562 Centerline is valid? [True, True] Translation: X:110.26, Y:-160.80, Z:-4.03 [[ 6.57082203e-01 7.53797162e-01 -5.72872268e-03 1.10261575e+02] [ 7.53770285e-01 -6.57107161e-01 -6.36677224e-03 -1.60798322e+02] [-8.56363954e-03 -1.34648201e-04 -9.99963322e-01 -4.02814215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters 0.014625104857316393 Centerline is valid? [True, True] Translation: X:110.29, Y:-160.78, Z:-4.03 [[ 5.95714473e-01 8.03183944e-01 -4.45182286e-03 1.10287874e+02] [ 8.03162981e-01 -5.95731095e-01 -5.80412073e-03 -1.60781731e+02] [-7.31386588e-03 -1.17940601e-04 -9.99973246e-01 -4.02912510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters 0.014443332998549609 Centerline is valid? [True, True] Translation: X:110.31, Y:-160.76, Z:-4.03 [[ 5.31383000e-01 8.47124485e-01 -3.49493311e-03 1.10311964e+02] [ 8.47107393e-01 -5.31394483e-01 -5.38211165e-03 -1.60763096e+02] [-6.41650673e-03 -1.00621043e-04 -9.99979409e-01 -4.02921390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters 0.01412818231374998 Centerline is valid? [True, True] Translation: X:110.33, Y:-160.74, Z:-4.03 [[ 4.64614659e-01 8.85507495e-01 -3.11370773e-03 1.10333603e+02] [ 8.85488945e-01 -4.64625083e-01 -5.73245185e-03 -1.60742262e+02] [-6.52283579e-03 -9.37726093e-05 -9.99978722e-01 -4.02894551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters 0.01370896374336902 Centerline is valid? [True, True] Translation: X:110.35, Y:-160.72, Z:-4.03 [[ 3.96610204e-01 9.17981758e-01 -3.13658555e-03 1.10352202e+02] [ 9.17954772e-01 -3.96622597e-01 -7.03936851e-03 -1.60718753e+02] [-7.70605259e-03 -8.73582902e-05 -9.99970304e-01 -4.02716531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters 0.013479367320874517 Centerline is valid? [True, True] Translation: X:110.37, Y:-160.69, Z:-4.03 [[ 3.25741963e-01 9.45454602e-01 -2.78739748e-03 1.10368363e+02] [ 9.45421926e-01 -3.25753881e-01 -7.86076621e-03 -1.60694652e+02] [-8.34000313e-03 -7.46852727e-05 -9.99965219e-01 -4.02621017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters 0.01309171621493638 Centerline is valid? [True, True] Translation: X:110.38, Y:-160.67, Z:-4.03 [[ 2.53512974e-01 9.67328993e-01 -2.40656539e-03 1.10384578e+02] [ 9.67287498e-01 -2.53524390e-01 -8.95988689e-03 -1.60669303e+02] [-9.27728139e-03 -5.63930405e-05 -9.99956964e-01 -4.02587157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters 0.012956278545995244 Centerline is valid? [True, True] Translation: X:110.40, Y:-160.64, Z:-4.03 [[ 1.79296909e-01 9.83793554e-01 -1.69167093e-03 1.10398454e+02] [ 9.83751549e-01 -1.79304886e-01 -9.09111542e-03 -1.60643071e+02] [-9.24710561e-03 -3.41749987e-05 -9.99957244e-01 -4.02585401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters 0.012888662906235956 Centerline is valid? [True, True] Translation: X:110.41, Y:-160.62, Z:-4.03 [[ 1.05342555e-01 9.94435662e-01 -8.13115106e-04 1.10407656e+02] [ 9.94406039e-01 -1.05345693e-01 -7.67554297e-03 -1.60616457e+02] [-7.71849183e-03 -5.26306158e-09 -9.99970212e-01 -4.02662314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters 0.01299290653146459 Centerline is valid? [True, True] Translation: X:110.42, Y:-160.59, Z:-4.03 [[ 2.84230241e-02 9.99595962e-01 -2.13038611e-04 1.10416298e+02] [ 9.99565196e-01 -2.84238208e-02 -7.84252249e-03 -1.60589535e+02] [-7.84540918e-03 9.96222502e-06 -9.99969224e-01 -4.02687885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters 0.01293536545969128 Centerline is valid? [True, True] Translation: X:110.42, Y:-160.56, Z:-4.03 [[-4.93995472e-02 9.98779034e-01 3.54695881e-04 1.10424064e+02] [ 9.98755122e-01 4.94008189e-02 -6.91130914e-03 -1.60561362e+02] [-6.92039293e-03 1.28387857e-05 -9.99976054e-01 -4.02665302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters 0.012866459909058055 Centerline is valid? [True, True] Translation: X:110.43, Y:-160.53, Z:-4.03 [[-1.29171485e-01 9.91621955e-01 7.91669685e-04 1.10431330e+02] [ 9.91603390e-01 1.29173911e-01 -6.06776105e-03 -1.60532465e+02] [-6.11918815e-03 1.24063810e-06 -9.99981278e-01 -4.02696658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters 0.012853382275328874 Centerline is valid? [True, True] Translation: X:110.44, Y:-160.50, Z:-4.03 [[-2.09218187e-01 9.77868215e-01 1.22668007e-03 1.10435573e+02] [ 9.77850964e-01 2.09221783e-01 -5.80841815e-03 -1.60504805e+02] [-5.93651567e-03 -1.57164303e-05 -9.99982379e-01 -4.02669580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters 0.01333124919799367 Centerline is valid? [True, True] Translation: X:110.44, Y:-160.48, Z:-4.03 [[-2.91086306e-01 9.56695002e-01 1.85358938e-03 1.10441130e+02] [ 9.56674327e-01 2.91092202e-01 -6.28990511e-03 -1.60475046e+02] [-6.55708620e-03 -5.76238755e-05 -9.99978500e-01 -4.02601024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters 0.013889737019177052 Centerline is valid? [True, True] Translation: X:110.44, Y:-160.45, Z:-4.03 [[-3.69031203e-01 9.29414499e-01 2.15890556e-03 1.10442530e+02] [ 9.29397332e-01 3.69037510e-01 -5.64944868e-03 -1.60445155e+02] [-6.04739664e-03 -7.83417780e-05 -9.99981711e-01 -4.02535721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters 0.01448295225168359 Centerline is valid? [True, True] Translation: X:110.44, Y:-160.41, Z:-4.03 [[-4.44524037e-01 8.95764840e-01 1.93174519e-03 1.10442360e+02] [ 8.95755611e-01 4.44528228e-01 -4.06691400e-03 -1.60413613e+02] [-4.50171383e-03 -7.74694356e-05 -9.99989864e-01 -4.02576747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters 0.014637985354484118 Centerline is valid? [True, True] Translation: X:110.44, Y:-160.38, Z:-4.03 [[-5.14193773e-01 8.57672709e-01 1.51266883e-03 1.10436422e+02] [ 8.57668678e-01 5.14195995e-01 -2.63031894e-03 -1.60384078e+02] [-3.03376103e-03 -5.51249480e-05 -9.99995397e-01 -4.02705868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters 0.014950208618611415 Centerline is valid? [True, True] Translation: X:110.43, Y:-160.36, Z:-4.03 [[-5.79609164e-01 8.14894561e-01 -2.67679740e-04 1.10427477e+02] [ 8.14894467e-01 5.79609226e-01 3.91912942e-04 -1.60355983e+02] [ 4.74517371e-04 9.02559387e-06 -9.99999887e-01 -4.02878409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters 0.015034983351381452 Centerline is valid? [True, True] Translation: X:110.42, Y:-160.33, Z:-4.03 [[-6.40798393e-01 7.67708890e-01 -6.92675706e-04 1.10415128e+02] [ 7.67708409e-01 6.40798767e-01 8.59740813e-04 -1.60330719e+02] [ 1.10389640e-03 1.91475670e-05 -9.99999391e-01 -4.02881427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters 0.014067458306959256 Centerline is valid? [True, True] Translation: X:110.40, Y:-160.31, Z:-4.03 [[-6.97460823e-01 7.16622656e-01 -6.08009907e-04 1.10400848e+02] [ 7.16622366e-01 6.97461088e-01 6.44209896e-04 -1.60305687e+02] [ 8.85718657e-04 1.35976662e-05 -9.99999608e-01 -4.02795588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters 0.013199867290549505 Centerline is valid? [True, True] Translation: X:110.38, Y:-160.28, Z:-4.03 [[-7.48439622e-01 6.63202453e-01 7.98802643e-04 1.10384962e+02] [ 6.63202060e-01 7.48440049e-01 -7.22061947e-04 -1.60281651e+02] [-1.07672914e-03 -1.06522131e-05 -9.99999420e-01 -4.02638767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters 0.012803537128966955 Centerline is valid? [True, True] Translation: X:110.40, Y:-160.27, Z:-4.03 [[-7.90865350e-01 6.11988471e-01 1.45226638e-03 1.10404359e+02] [ 6.11987414e-01 7.90866684e-01 -1.13732028e-03 -1.60267230e+02] [-1.84457600e-03 -1.06984589e-05 -9.99998299e-01 -4.02623575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters 0.012551383270331581 Centerline is valid? [True, True] Translation: X:110.85, Y:-159.71, Z:-5.01 [[-7.45768228e-01 -6.66202358e-01 2.04176670e-03 1.10854562e+02] [ 6.66200072e-01 -7.45771020e-01 -1.74625096e-03 -1.59709200e+02] [ 2.68604694e-03 5.79266400e-05 9.99996391e-01 -5.01375143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters 0.013146473427046243 Centerline is valid? [True, True] Translation: X:110.37, Y:-160.26, Z:-4.03 [[-7.83624110e-01 6.21230758e-01 2.36617423e-03 1.10369835e+02] [ 6.21228033e-01 7.83627682e-01 -1.84020511e-03 -1.60257744e+02] [-2.99739164e-03 2.79046756e-05 -9.99995507e-01 -4.02549080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters 0.013799957095022079 Centerline is valid? [True, True] Translation: X:110.39, Y:-160.24, Z:-4.03 [[-8.23544054e-01 5.67248787e-01 2.00114837e-03 1.10389532e+02] [ 5.67247204e-01 8.23546485e-01 -1.34028280e-03 -1.60239767e+02] [-2.40831250e-03 3.13638891e-05 -9.99997100e-01 -4.02543287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters 0.014176098929204744 Centerline is valid? [True, True] Translation: X:110.41, Y:-160.22, Z:-4.03 [[-8.59908221e-01 5.10443501e-01 2.29864830e-03 1.10406539e+02] [ 5.10441811e-01 8.59911292e-01 -1.31411563e-03 -1.60219409e+02] [-2.64741541e-03 4.33073654e-05 -9.99996495e-01 -4.02505468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters 0.014346606480413224 Centerline is valid? [True, True] Translation: X:110.42, Y:-160.19, Z:-4.02 [[-8.93647317e-01 4.48764204e-01 2.27202127e-03 1.10419021e+02] [ 4.48762874e-01 8.93650204e-01 -1.09332922e-03 -1.60194098e+02] [-2.52103929e-03 4.25480747e-05 -9.99996821e-01 -4.02461632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters 0.0144566605509018 Centerline is valid? [True, True] Translation: X:110.44, Y:-160.17, Z:-4.02 [[-9.23332688e-01 3.83986346e-01 3.35153065e-03 1.10436495e+02] [ 3.83984049e-01 9.23338769e-01 -1.32955753e-03 -1.60170451e+02] [-3.60513013e-03 5.93103835e-05 -9.99993500e-01 -4.02326164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters 0.014199859132656931 Centerline is valid? [True, True] Translation: X:110.45, Y:-160.14, Z:-4.02 [[-9.49003450e-01 3.15227370e-01 4.91491920e-03 1.10447601e+02] [ 3.15223533e-01 9.49016175e-01 -1.55704154e-03 -1.60140056e+02] [-5.15515993e-03 7.16604004e-05 -9.99986710e-01 -4.02115862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters 0.013853201213895806 Centerline is valid? [True, True] Translation: X:110.45, Y:-160.11, Z:-4.02 [[-9.69629757e-01 2.44508320e-01 5.81515825e-03 1.10453742e+02] [ 2.44504334e-01 9.69647192e-01 -1.39772125e-03 -1.60109276e+02] [-5.98040634e-03 6.65592736e-05 -9.99982115e-01 -4.02016380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters 0.013438516097865559 Centerline is valid? [True, True] Translation: X:110.62, Y:-159.42, Z:-5.02 [[-9.56579655e-01 -2.91401991e-01 6.34379328e-03 1.10620687e+02] [ 2.91395373e-01 -9.56600689e-01 -1.96416179e-03 -1.59417488e+02] [ 6.64083768e-03 -3.03251957e-05 9.99977949e-01 -5.02020852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters 0.012978985233171645 Centerline is valid? [True, True] Translation: X:110.40, Y:-160.09, Z:-4.02 [[-9.72400626e-01 2.33197723e-01 7.47287872e-03 1.10402598e+02] [ 2.33191038e-01 9.72429340e-01 -1.76590497e-03 -1.60086697e+02] [-7.67865154e-03 2.54412488e-05 -9.99970518e-01 -4.01831360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters 0.012935826335162874 Centerline is valid? [True, True] Translation: X:110.56, Y:-159.42, Z:-5.02 [[-9.55162845e-01 -2.95951701e-01 8.74816575e-03 1.10563160e+02] [ 2.95939935e-01 -9.55202903e-01 -2.63991919e-03 -1.59416829e+02] [ 9.13756190e-03 6.73788726e-05 9.99958249e-01 -5.02230116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters 0.013276687916796138 Centerline is valid? [True, True] Translation: X:110.35, Y:-160.06, Z:-4.02 [[-9.75715437e-01 2.18805619e-01 1.01729127e-02 1.10354394e+02] [ 2.18792856e-01 9.75768464e-01 -2.36467373e-03 -1.60060337e+02] [-1.04438113e-02 -8.14880427e-05 -9.99945459e-01 -4.01513342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters 0.01381089417438922 Centerline is valid? [True, True] Translation: X:110.51, Y:-159.42, Z:-5.03 [[-9.52913914e-01 -3.03065427e-01 1.03159535e-02 1.10506165e+02] [ 3.03048889e-01 -9.52969745e-01 -3.16793342e-03 -1.59418941e+02] [ 1.07908827e-02 1.07470422e-04 9.99941771e-01 -5.02558418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters 0.014728218713228748 Centerline is valid? [True, True] Translation: X:110.31, Y:-160.04, Z:-4.01 [[-9.78488950e-01 2.06029732e-01 1.05415601e-02 1.10306897e+02] [ 2.06015737e-01 9.78545715e-01 -2.40847558e-03 -1.60038015e+02] [-1.08116161e-02 -1.84939459e-04 -9.99941536e-01 -4.01347665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters 0.016319546259049335 Centerline is valid? [True, True] Translation: X:110.30, Y:-160.00, Z:-4.01 [[-9.91533964e-01 1.29428134e-01 1.04286352e-02 1.10304729e+02] [ 1.29418304e-01 9.91588773e-01 -1.61489635e-03 -1.60001996e+02] [-1.05499306e-02 -2.51568304e-04 -9.99944316e-01 -4.01373003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters 0.018064050529653323 Centerline is valid? [True, True] Translation: X:110.40, Y:-159.39, Z:-5.03 [[-9.69043160e-01 -2.46671587e-01 1.04155192e-02 1.10398572e+02] [ 2.46660254e-01 -9.69099096e-01 -2.37920810e-03 -1.59390384e+02] [ 1.06805533e-02 2.63539271e-04 9.99942927e-01 -5.02700125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters 0.018818572670051863 Centerline is valid? [True, True] Translation: X:110.26, Y:-159.98, Z:-4.01 [[-9.93008156e-01 1.17459092e-01 1.17543315e-02 1.10255504e+02] [ 1.17446308e-01 9.93077649e-01 -1.77437728e-03 -1.59984253e+02] [-1.18813806e-02 -3.81468266e-04 -9.99929341e-01 -4.01194244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters 0.019923839699377006 Centerline is valid? [True, True] Translation: X:110.34, Y:-159.39, Z:-5.03 [[-9.68362583e-01 -2.49261175e-01 1.19488230e-02 1.10342213e+02] [ 2.49247476e-01 -9.68436211e-01 -2.64611829e-03 -1.59390456e+02] [ 1.22312474e-02 4.15812023e-04 9.99925109e-01 -5.02770927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters 0.02015421375229504 Centerline is valid? [True, True] Translation: X:110.21, Y:-159.97, Z:-4.01 [[-9.93689584e-01 1.11485431e-01 1.23292133e-02 1.10205223e+02] [ 1.11471516e-01 9.93765977e-01 -1.81234260e-03 -1.59972078e+02] [-1.24544025e-02 -4.26549867e-04 -9.99922350e-01 -4.01186098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters 0.018819127820601213 Centerline is valid? [True, True] Translation: X:110.20, Y:-159.95, Z:-4.01 [[-9.99038509e-01 4.20448940e-02 1.24211367e-02 1.10204625e+02] [ 4.20365485e-02 9.99115639e-01 -9.32314380e-04 -1.59947576e+02] [-1.24493509e-02 -4.09276255e-04 -9.99922420e-01 -4.01303554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters 0.018529887690756194 Centerline is valid? [True, True] Translation: X:110.20, Y:-159.92, Z:-4.01 [[-9.99614853e-01 -2.47391159e-02 1.25746244e-02 1.10204372e+02] [-2.47416785e-02 9.99693877e-01 -4.82435811e-05 -1.59923600e+02] [-1.25695815e-02 -3.59342316e-04 -9.99920935e-01 -4.01321755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters 0.017441235337113222 Centerline is valid? [True, True] Translation: X:110.21, Y:-159.32, Z:-5.03 [[-9.95338504e-01 -9.56777001e-02 1.21260291e-02 1.10210276e+02] [ 9.56745341e-02 -9.95412314e-01 -8.42256388e-04 -1.59317103e+02] [ 1.21509838e-02 3.21821973e-04 9.99926122e-01 -5.02623482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters 0.015157570560343463 Centerline is valid? [True, True] Translation: X:110.15, Y:-159.93, Z:-4.01 [[-9.99713351e-01 -2.08560870e-02 1.17575559e-02 1.10153532e+02] [-2.08574645e-02 9.99782459e-01 5.47061238e-06 -1.59934085e+02] [-1.17551122e-02 -2.39763760e-04 -9.99930878e-01 -4.01484298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters 0.014351937046171008 Centerline is valid? [True, True] Translation: X:110.15, Y:-159.91, Z:-4.02 [[-9.96082762e-01 -8.78430625e-02 1.01354377e-02 1.10150760e+02] [-8.78402166e-02 9.96134313e-01 7.26468897e-04 -1.59912922e+02] [-1.01600725e-02 -1.66675899e-04 -9.99948371e-01 -4.01680027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters 0.01394045923569427 Centerline is valid? [True, True] Translation: X:110.10, Y:-159.28, Z:-5.02 [[-9.99912223e-01 -1.01327467e-02 8.53666435e-03 1.10101718e+02] [ 1.01326945e-02 -9.99948662e-01 -4.93711213e-05 -1.59275474e+02] [ 8.53672636e-03 3.71326243e-05 9.99963561e-01 -5.02078094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters 0.014244397805449161 Centerline is valid? [True, True] Translation: X:110.08, Y:-159.92, Z:-4.02 [[-9.95693873e-01 -9.22808590e-02 8.82913076e-03 1.10083183e+02] [-9.22785061e-02 9.95733008e-01 6.74368440e-04 -1.59921886e+02] [-8.85368822e-03 -1.43274473e-04 -9.99960795e-01 -4.01803626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters 0.015085181147905996 Centerline is valid? [True, True] Translation: X:110.07, Y:-159.89, Z:-4.02 [[-9.86087687e-01 -1.65959513e-01 9.40815952e-03 1.10072784e+02] [-1.65953742e-01 9.86132550e-01 1.39622932e-03 -1.59893995e+02] [-9.50940987e-03 -1.84514738e-04 -9.99954768e-01 -4.01667212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters 0.01597090353544088 Centerline is valid? [True, True] Translation: X:109.98, Y:-159.26, Z:-5.02 [[-9.98345754e-01 5.66381321e-02 9.89332750e-03 1.09981013e+02] [-5.66331516e-02 -9.98394748e-01 7.83079323e-04 -1.59263213e+02] [ 9.92179837e-03 2.21493601e-04 9.99950753e-01 -5.02309028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters 0.0170698350552024 Centerline is valid? [True, True] Translation: X:109.99, Y:-159.90, Z:-4.02 [[-9.84377173e-01 -1.75827784e-01 9.28287046e-03 1.09993635e+02] [-1.75822141e-01 9.84420915e-01 1.42696690e-03 -1.59903562e+02] [-9.38915227e-03 -2.27460513e-04 -9.99955895e-01 -4.01609571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters 0.016313831522930065 Centerline is valid? [True, True] Translation: X:109.98, Y:-159.88, Z:-4.02 [[-9.69420527e-01 -2.45269864e-01 8.15695710e-03 1.09984260e+02] [-2.45262923e-01 9.69454823e-01 1.85606922e-03 -1.59880653e+02] [-8.36303924e-03 -2.01287540e-04 -9.99965009e-01 -4.01745393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters 0.01586011061207943 Centerline is valid? [True, True] Translation: X:109.97, Y:-159.86, Z:-4.02 [[-9.49731121e-01 -3.13009958e-01 5.96350440e-03 1.09968041e+02] [-3.13004737e-01 9.49749833e-01 1.81367911e-03 -1.59860890e+02] [-6.23153693e-03 -1.44097629e-04 -9.99980573e-01 -4.01885138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters 0.016002640194165335 Centerline is valid? [True, True] Translation: X:109.94, Y:-159.84, Z:-4.02 [[-9.25169408e-01 -3.79512454e-01 5.64487429e-03 1.09937021e+02] [-3.79506269e-01 9.25186619e-01 2.17090695e-03 -1.59844719e+02] [-6.04644838e-03 -1.33808483e-04 -9.99981711e-01 -4.01836619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters 0.015300747252303896 Centerline is valid? [True, True] Translation: X:109.89, Y:-159.84, Z:-4.02 [[-8.95782344e-01 -4.44456070e-01 5.72661381e-03 1.09894053e+02] [-4.44447915e-01 8.95800639e-01 2.69562532e-03 -1.59836720e+02] [-6.32799135e-03 -1.30487997e-04 -9.99979970e-01 -4.01716329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters 0.01469850162646459 Centerline is valid? [True, True] Translation: X:109.83, Y:-159.84, Z:-4.02 [[-8.61993533e-01 -5.06884510e-01 5.93655079e-03 1.09834752e+02] [-5.06873464e-01 8.62013967e-01 3.34858583e-03 -1.59841909e+02] [-6.81473599e-03 -1.22620729e-04 -9.99976772e-01 -4.01614158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters 0.014137765675284226 Centerline is valid? [True, True] Translation: X:109.77, Y:-159.86, Z:-4.02 [[-8.23234624e-01 -5.67672787e-01 5.68869791e-03 1.09768303e+02] [-5.67660148e-01 8.23254271e-01 3.78972395e-03 -1.59855343e+02] [-6.83456801e-03 -1.09415125e-04 -9.99976638e-01 -4.01622297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters 0.013939588102229953 Centerline is valid? [True, True] Translation: X:109.70, Y:-159.88, Z:-4.02 [[-7.79738895e-01 -6.26082309e-01 5.31018389e-03 1.09695193e+02] [-6.26068630e-01 7.79756970e-01 4.13974268e-03 -1.59878692e+02] [-6.73247256e-03 -9.66211746e-05 -9.99977332e-01 -4.01676689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters 0.014194759532906871 Centerline is valid? [True, True] Translation: X:109.62, Y:-159.91, Z:-4.02 [[-7.31023004e-01 -6.82334788e-01 4.96031197e-03 1.09618637e+02] [-6.82319939e-01 7.31039827e-01 4.50252420e-03 -1.59908592e+02] [-6.69841450e-03 -9.30709878e-05 -9.99977561e-01 -4.01592071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters 0.014049274104436309 Centerline is valid? [True, True] Translation: X:109.54, Y:-159.95, Z:-4.01 [[-6.77425641e-01 -7.35569147e-01 5.70364057e-03 1.09537235e+02] [-7.35544527e-01 6.77449641e-01 6.01940413e-03 -1.59952967e+02] [-8.29161722e-03 -1.17582908e-04 -9.99965617e-01 -4.01445390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters 0.014504280704780924 Centerline is valid? [True, True] Translation: X:109.45, Y:-160.01, Z:-4.01 [[-6.20019608e-01 -7.84565673e-01 5.69121959e-03 1.09451882e+02] [-7.84534501e-01 6.20045715e-01 6.99485487e-03 -1.60008358e+02] [-9.01673933e-03 -1.28010944e-04 -9.99959340e-01 -4.01312111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters 0.013969439451231894 Centerline is valid? [True, True] Translation: X:109.38, Y:-160.07, Z:-4.01 [[-5.59347127e-01 -8.28918055e-01 5.06456461e-03 1.09377390e+02] [-8.28885996e-01 5.59370042e-01 7.29120874e-03 -1.60067128e+02] [-8.87678028e-03 -1.19630020e-04 -9.99960594e-01 -4.01410923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters 0.013806139527610202 Centerline is valid? [True, True] Translation: X:109.30, Y:-160.14, Z:-4.01 [[-4.95962109e-01 -8.68332323e-01 4.53462095e-03 1.09302131e+02] [-8.68298001e-01 4.95982827e-01 7.72123487e-03 -1.60137969e+02] [-8.95369194e-03 -1.07962371e-04 -9.99959909e-01 -4.01456250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters 0.013211545567780807 Centerline is valid? [True, True] Translation: X:109.23, Y:-160.22, Z:-4.02 [[-4.30454064e-01 -9.02603872e-01 3.94338066e-03 1.09230141e+02] [-9.02567842e-01 4.30472117e-01 8.06522041e-03 -1.60219782e+02] [-8.97721459e-03 -8.74616777e-05 -9.99959700e-01 -4.01556387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters 0.0129443129642031 Centerline is valid? [True, True] Translation: X:109.16, Y:-160.31, Z:-4.02 [[-3.63277659e-01 -9.31675615e-01 3.14508582e-03 1.09163683e+02] [-9.31641995e-01 3.63291269e-01 7.91506236e-03 -1.60307824e+02] [-8.51685281e-03 -5.47286991e-05 -9.99963730e-01 -4.01559336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters 0.012688291393258357 Centerline is valid? [True, True] Translation: X:109.11, Y:-160.40, Z:-4.02 [[-2.98714245e-01 -9.54338799e-01 2.69362318e-03 1.09108366e+02] [-9.54299485e-01 2.98726389e-01 8.66237571e-03 -1.60398380e+02] [-9.07149757e-03 1.70518089e-05 -9.99958853e-01 -4.01508064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters 0.013349688559760847 Centerline is valid? [True, True] Translation: X:109.06, Y:-160.50, Z:-4.02 [[-2.31630042e-01 -9.72801761e-01 2.06359336e-03 1.09057944e+02] [-9.72759859e-01 2.31639219e-01 9.02934458e-03 -1.60501572e+02] [-9.26177146e-03 8.40866825e-05 -9.99957105e-01 -4.01586065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters 0.014970858379779708 Centerline is valid? [True, True] Translation: X:109.01, Y:-160.61, Z:-4.02 [[-1.63290049e-01 -9.86577040e-01 1.45030057e-03 1.09014837e+02] [-9.86528932e-01 1.63296411e-01 9.74412868e-03 -1.60609534e+02] [-9.85016251e-03 1.60355785e-04 -9.99951473e-01 -4.01527341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters 0.01599681793705854 Centerline is valid? [True, True] Translation: X:108.98, Y:-160.72, Z:-4.02 [[-9.38879261e-02 -9.95582498e-01 7.39706448e-04 1.08976213e+02] [-9.95527853e-01 9.38905251e-02 1.04337321e-02 -1.60722294e+02] [-1.04570925e-02 2.43203095e-04 -9.99945294e-01 -4.01641620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters 0.016631825028683468 Centerline is valid? [True, True] Translation: X:108.95, Y:-160.83, Z:-4.02 [[-1.94803390e-02 -9.99810238e-01 -6.14998363e-05 1.08945537e+02] [-9.99758188e-01 1.94786971e-02 1.02051503e-02 -1.60830087e+02] [-1.02020158e-02 2.60284751e-04 -9.99947924e-01 -4.01690446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters 0.016888963407109474 Centerline is valid? [True, True] Translation: X:108.92, Y:-160.95, Z:-4.02 [[ 5.77599846e-02 -9.98330131e-01 -8.56752460e-04 1.08922357e+02] [-9.98277063e-01 -5.77657508e-02 1.02967847e-02 -1.60950923e+02] [-1.03290814e-02 2.60534202e-04 -9.99946620e-01 -4.01736518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters 0.01582948479390677 Centerline is valid? [True, True] Translation: X:108.90, Y:-161.08, Z:-4.02 [[ 1.38240944e-01 -9.90397305e-01 -1.61851016e-03 1.08904183e+02] [-9.90346518e-01 -1.38250250e-01 1.00320876e-02 -1.61079115e+02] [-1.01595119e-02 2.16040648e-04 -9.99948368e-01 -4.01700464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters 0.015103218465032922 Centerline is valid? [True, True] Translation: X:108.90, Y:-161.20, Z:-4.02 [[ 2.19117869e-01 -9.75695322e-01 -2.44897253e-03 1.08895029e+02] [-9.75642600e-01 -2.19131491e-01 1.01442901e-02 -1.61199174e+02] [-1.04343834e-02 1.66526694e-04 -9.99945547e-01 -4.01628901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters 0.013123395263992544 Centerline is valid? [True, True] Translation: X:108.89, Y:-161.32, Z:-4.02 [[ 2.99335606e-01 -9.54142444e-01 -3.22355739e-03 1.08893546e+02] [-9.54090690e-01 -2.99352946e-01 9.93825390e-03 -1.61323750e+02] [-1.04474913e-02 1.00692845e-04 -9.99945418e-01 -4.01717754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters 0.012282098356736257 Centerline is valid? [True, True] Translation: X:108.90, Y:-161.45, Z:-4.02 [[ 3.81596050e-01 -9.24319946e-01 -4.13422694e-03 1.08900648e+02] [-9.24265310e-01 -3.81618444e-01 1.00499056e-02 -1.61451584e+02] [-1.08670255e-02 -1.38817527e-05 -9.99940952e-01 -4.01744303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters 0.01263876727305672 Centerline is valid? [True, True] Translation: X:108.92, Y:-161.57, Z:-4.02 [[ 4.57655211e-01 -8.89115367e-01 -5.05689655e-03 1.08917423e+02] [-8.89058753e-01 -4.57683138e-01 1.00339029e-02 -1.61570895e+02] [-1.12357535e-02 -9.61897929e-05 -9.99936872e-01 -4.01798695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters 0.013712326573471765 Centerline is valid? [True, True] Translation: X:108.94, Y:-161.69, Z:-4.02 [[ 5.29511196e-01 -8.48283891e-01 -5.68619408e-03 1.08942161e+02] [-8.48231636e-01 -5.29541701e-01 9.41688684e-03 -1.61686987e+02] [-1.09992703e-02 -1.63137304e-04 -9.99939493e-01 -4.01796793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters 0.01625293869321012 Centerline is valid? [True, True] Translation: X:108.97, Y:-161.80, Z:-4.02 [[ 5.97295514e-01 -8.01999584e-01 -5.89373607e-03 1.08974111e+02] [-8.01957025e-01 -5.97324554e-01 8.26478509e-03 -1.61801696e+02] [-1.01488275e-02 -2.09996009e-04 -9.99948477e-01 -4.01779576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters 0.015722360489886275 Centerline is valid? [True, True] Translation: X:109.02, Y:-161.90, Z:-4.02 [[ 6.57643903e-01 -7.53305223e-01 -5.97815229e-03 1.09015400e+02] [-7.53271220e-01 -6.57671041e-01 7.16033801e-03 -1.61898771e+02] [-9.32557767e-03 -2.05782561e-04 -9.99956495e-01 -4.01937685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters 0.015354723911611154 Centerline is valid? [True, True] Translation: X:109.06, Y:-161.99, Z:-4.02 [[ 7.12893384e-01 -7.01243869e-01 -6.32928973e-03 1.09064397e+02] [-7.01213726e-01 -7.12921452e-01 6.50495532e-03 -1.61993551e+02] [-9.07384646e-03 -1.99154780e-04 -9.99958812e-01 -4.02008869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters 0.015446366220981856 Centerline is valid? [True, True] Translation: X:109.12, Y:-162.08, Z:-4.02 [[ 7.64033293e-01 -6.45139498e-01 -6.93945189e-03 1.09118477e+02] [-6.45110439e-01 -7.64064779e-01 6.12653416e-03 -1.62083696e+02] [-9.25465995e-03 -2.04163209e-04 -9.99957154e-01 -4.01999728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters 0.016109374183328758 Centerline is valid? [True, True] Translation: X:109.14, Y:-162.11, Z:-4.02 [[ 8.12258611e-01 -5.83224021e-01 -9.25687264e-03 1.09141399e+02] [-5.83182489e-01 -8.12311316e-01 6.96490309e-03 -1.62111758e+02] [-1.15815612e-02 -2.58856484e-04 -9.99932898e-01 -4.01788019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters 0.016180366830006482 Centerline is valid? [True, True] Translation: X:109.17, Y:-162.14, Z:-4.02 [[ 8.55326221e-01 -5.17971175e-01 -1.10868005e-02 1.09168794e+02] [-5.17923188e-01 -8.55398022e-01 7.05662343e-03 -1.62135785e+02] [-1.31387547e-02 -2.93603995e-04 -9.99913640e-01 -4.01666302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters 0.01474387193878906 Centerline is valid? [True, True] Translation: X:109.20, Y:-162.16, Z:-4.02 [[ 8.91692969e-01 -4.52474796e-01 -1.22559603e-02 1.09199132e+02] [-4.52427972e-01 -8.91777152e-01 6.51467171e-03 -1.62155377e+02] [-1.38773101e-02 -2.64147686e-04 -9.99903671e-01 -4.01778813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters 0.013183334196322853 Centerline is valid? [True, True] Translation: X:109.23, Y:-162.17, Z:-4.02 [[ 9.21166920e-01 -3.89018987e-01 -1.07579621e-02 1.09232481e+02] [-3.88990862e-01 -9.21229728e-01 4.67944309e-03 -1.62168766e+02] [-1.17309467e-02 -1.25799215e-04 -9.99931182e-01 -4.02084794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters 0.012618010836176967 Centerline is valid? [True, True] Translation: X:109.26, Y:-162.19, Z:-4.02 [[ 9.47663933e-01 -3.19089236e-01 -1.07298210e-02 1.09262906e+02] [-3.19067799e-01 -9.47724671e-01 3.69961486e-03 -1.62186172e+02] [-1.13494234e-02 -8.24512021e-05 -9.99935590e-01 -4.02249294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters 0.012529726547538289 Centerline is valid? [True, True] Translation: X:109.30, Y:-162.20, Z:-4.02 [[ 9.67753798e-01 -2.51676699e-01 -1.05558810e-02 1.09296205e+02] [-2.51661810e-01 -9.67811365e-01 2.73761710e-03 -1.62197143e+02] [-1.09050961e-02 7.17278161e-06 -9.99940538e-01 -4.02400587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters 0.014114823279724896 Centerline is valid? [True, True] Translation: X:109.33, Y:-162.20, Z:-4.03 [[ 9.82236541e-01 -1.87247696e-01 -1.22343044e-02 1.09328881e+02] [-1.87235206e-01 -9.82312717e-01 2.16865370e-03 -1.62201840e+02] [-1.24239882e-02 1.60561609e-04 -9.99922806e-01 -4.02546056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters 0.01584468368750629 Centerline is valid? [True, True] Translation: X:109.36, Y:-162.21, Z:-4.03 [[ 9.93023082e-01 -1.17038908e-01 -1.43892932e-02 1.09358360e+02] [-1.17030880e-01 -9.93127287e-01 1.40163830e-03 -1.62208045e+02] [-1.44544460e-02 2.92132464e-04 -9.99895486e-01 -4.02558861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters 0.018809241255286425 Centerline is valid? [True, True] Translation: X:109.39, Y:-162.21, Z:-4.02 [[ 9.98749032e-01 -4.65273605e-02 -1.83187256e-02 1.09387574e+02] [-4.65288835e-02 -9.98916886e-01 3.43292157e-04 -1.62211774e+02] [-1.83148568e-02 5.09487138e-04 -9.99832139e-01 -4.02491763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters 0.019112981385107652 Centerline is valid? [True, True] Translation: X:109.42, Y:-162.22, Z:-4.03 [[ 9.99387160e-01 2.95090040e-02 -1.88287818e-02 1.09416840e+02] [ 2.94930666e-02 -9.99564353e-01 -1.12362306e-03 -1.62216546e+02] [-1.88537361e-02 5.67615945e-04 -9.99822091e-01 -4.02600045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters 0.01796590164695991 Centerline is valid? [True, True] Translation: X:109.45, Y:-162.23, Z:-4.03 [[ 9.93886203e-01 1.08873817e-01 -1.83495680e-02 1.09447140e+02] [ 1.08845320e-01 -9.94055434e-01 -2.54757958e-03 -1.62226784e+02] [-1.85178525e-02 5.34739592e-04 -9.99828387e-01 -4.02902573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters 0.01873636302719111 Centerline is valid? [True, True] Translation: X:109.48, Y:-162.23, Z:-4.03 [[ 9.81799625e-01 1.89159047e-01 -1.69809391e-02 1.09476458e+02] [ 1.89122768e-01 -9.81946358e-01 -3.73210109e-03 -1.62230503e+02] [-1.73803320e-02 4.52693237e-04 -9.99848848e-01 -4.02894383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters 0.01629615270693871 Centerline is valid? [True, True] Translation: X:109.51, Y:-162.24, Z:-4.03 [[ 9.63403014e-01 2.67521089e-01 -1.69440024e-02 1.09508569e+02] [ 2.67471976e-01 -9.63551913e-01 -5.14331579e-03 -1.62239352e+02] [-1.77023714e-02 4.23040119e-04 -9.99843211e-01 -4.03186108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters 0.01601798002553521 Centerline is valid? [True, True] Translation: X:109.54, Y:-162.24, Z:-4.03 [[ 9.37359081e-01 3.48034672e-01 -1.51598364e-02 1.09540815e+02] [ 3.47984205e-01 -9.37481619e-01 -5.93360504e-03 -1.62243723e+02] [-1.62771683e-02 2.86534932e-04 -9.99867477e-01 -4.03199593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters 0.014635763234138064 Centerline is valid? [True, True] Translation: X:109.57, Y:-162.25, Z:-4.03 [[ 9.06107009e-01 4.22800507e-01 -1.44851288e-02 1.09574045e+02] [ 4.22742250e-01 -9.06222751e-01 -7.02256435e-03 -1.62245019e+02] [-1.60958970e-02 2.39718841e-04 -9.99870424e-01 -4.03371014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters 0.013531325688765104 Centerline is valid? [True, True] Translation: X:109.61, Y:-162.25, Z:-4.03 [[ 8.65925119e-01 4.99984161e-01 -1.37668950e-02 1.09610296e+02] [ 4.99919156e-01 -8.66034543e-01 -8.06280201e-03 -1.62247885e+02] [-1.59538799e-02 9.94482616e-05 -9.99872724e-01 -4.03374008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters 0.013288887494102992 Centerline is valid? [True, True] Translation: X:109.64, Y:-162.24, Z:-4.03 [[ 8.20907796e-01 5.70910904e-01 -1.30816776e-02 1.09643712e+02] [ 5.70838244e-01 -8.21012021e-01 -9.10821387e-03 -1.62244989e+02] [-1.59401932e-02 9.48188118e-06 -9.99872947e-01 -4.03198445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters 0.013289229422303076 Centerline is valid? [True, True] Translation: X:109.68, Y:-162.24, Z:-4.03 [[ 7.70549661e-01 6.37257672e-01 -1.24851639e-02 1.09677739e+02] [ 6.37175513e-01 -7.70650799e-01 -1.02328267e-02 -1.62237887e+02] [-1.61426489e-02 -7.03395737e-05 -9.99869697e-01 -4.03113511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters 0.013706894972827247 Centerline is valid? [True, True] Translation: X:109.71, Y:-162.23, Z:-4.03 [[ 7.14353326e-01 6.99696310e-01 -1.11534448e-02 1.09711736e+02] [ 6.99614405e-01 -7.14440375e-01 -1.07067189e-02 -1.62228438e+02] [-1.54599229e-02 -1.54730415e-04 -9.99880476e-01 -4.02961740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters 0.014340493829488425 Centerline is valid? [True, True] Translation: X:109.74, Y:-162.21, Z:-4.03 [[ 6.55067520e-01 7.55504296e-01 -9.99016299e-03 1.09741459e+02] [ 7.55420989e-01 -6.55143664e-01 -1.12208715e-02 -1.62212621e+02] [-1.50224086e-02 -1.96350333e-04 -9.99887138e-01 -4.02911035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters 0.014434989024091899 Centerline is valid? [True, True] Translation: X:109.77, Y:-162.20, Z:-4.03 [[ 5.91525749e-01 8.06243329e-01 -8.30554790e-03 1.09772603e+02] [ 8.06169037e-01 -5.91584014e-01 -1.09470865e-02 -1.62195974e+02] [-1.37394448e-02 -2.20192034e-04 -9.99905585e-01 -4.02964819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters 0.015539362012762849 Centerline is valid? [True, True] Translation: X:109.80, Y:-162.18, Z:-4.03 [[ 5.25542753e-01 8.50738947e-01 -6.93250580e-03 1.09800089e+02] [ 8.50670426e-01 -5.25588428e-01 -1.07996193e-02 -1.62176113e+02] [-1.28313015e-02 -2.21616030e-04 -9.99917651e-01 -4.02795339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters 0.01527708729927718 Centerline is valid? [True, True] Translation: X:109.82, Y:-162.15, Z:-4.03 [[ 4.55697724e-01 8.90114940e-01 -5.91426968e-03 1.09824064e+02] [ 8.90046651e-01 -4.55736039e-01 -1.10282373e-02 -1.62152507e+02] [-1.25117446e-02 -2.38433286e-04 -9.99921697e-01 -4.02797426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters 0.01587616939451306 Centerline is valid? [True, True] Translation: X:109.85, Y:-162.13, Z:-4.03 [[ 3.83520024e-01 9.23519270e-01 -4.95478519e-03 1.09845343e+02] [ 9.23450405e-01 -3.83551947e-01 -1.12806382e-02 -1.62127593e+02] [-1.23183042e-02 -2.49147766e-04 -9.99924096e-01 -4.02637281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters 0.015555651944013149 Centerline is valid? [True, True] Translation: X:109.86, Y:-162.10, Z:-4.03 [[ 3.10011737e-01 9.50724877e-01 -3.86422216e-03 1.09863710e+02] [ 9.50660312e-01 -3.10035728e-01 -1.10823786e-02 -1.62099343e+02] [-1.17343400e-02 -2.37895199e-04 -9.99931122e-01 -4.02644752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters 0.014629673405076366 Centerline is valid? [True, True] Translation: X:109.88, Y:-162.07, Z:-4.03 [[ 2.38491141e-01 9.71140922e-01 -2.69923577e-03 1.09875962e+02] [ 9.71086673e-01 -2.38506353e-01 -1.02661486e-02 -1.62069496e+02] [-1.06136619e-02 -1.72806400e-04 -9.99943659e-01 -4.02667447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters 0.013589990230613481 Centerline is valid? [True, True] Translation: X:109.89, Y:-162.04, Z:-4.03 [[ 1.67338764e-01 9.85898054e-01 -1.66295413e-03 1.09885757e+02] [ 9.85855078e-01 -1.67346998e-01 -9.20584268e-03 -1.62039007e+02] [-9.35431277e-03 -9.89374354e-05 -9.99956243e-01 -4.02720874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters 0.012958854110431723 Centerline is valid? [True, True] Translation: X:109.89, Y:-162.01, Z:-4.03 [[ 9.66604560e-02 9.95317126e-01 -7.58686068e-04 1.09892654e+02] [ 9.95288562e-01 -9.66634299e-02 -7.54051968e-03 -1.62008112e+02] [-7.57854558e-03 -2.62414949e-05 -9.99971282e-01 -4.02795031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters 0.013423809060638477 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.98, Z:-4.03 [[ 3.04588996e-02 9.99536014e-01 -1.12638518e-04 1.09893006e+02] [ 9.99522750e-01 -3.04590757e-02 -5.14949886e-03 -1.61977074e+02] [-5.15054043e-03 4.42633068e-05 -9.99986735e-01 -4.02871367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters 0.016956403003926233 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.95, Z:-4.03 [[-4.06366784e-02 9.99173951e-01 2.74572365e-04 1.09888567e+02] [ 9.99162177e-01 4.06375327e-02 -4.85132640e-03 -1.61948067e+02] [-4.85847691e-03 7.72005315e-05 -9.99988195e-01 -4.02647013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters 0.0162745053384142 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.92, Z:-4.03 [[-1.12899054e-01 9.93606172e-01 7.60574756e-04 1.09891475e+02] [ 9.93590393e-01 1.12901549e-01 -5.60104191e-03 -1.61918857e+02] [-5.65109988e-03 1.23347436e-04 -9.99984025e-01 -4.02643657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters 0.01718468658883266 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.89, Z:-4.03 [[-1.85378240e-01 9.82666329e-01 1.33915172e-03 1.09890787e+02] [ 9.82646909e-01 1.85382999e-01 -6.18028933e-03 -1.61889618e+02] [-6.32141819e-03 1.70222137e-04 -9.99980005e-01 -4.02568921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters 0.01732442058697138 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.86, Z:-4.03 [[-2.61281244e-01 9.65261122e-01 1.75460434e-03 1.09891356e+02] [ 9.65243459e-01 2.61287082e-01 -5.84173797e-03 -1.61860135e+02] [-6.09725800e-03 1.67283794e-04 -9.99981398e-01 -4.02521353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters 0.01663886514648674 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.83, Z:-4.03 [[-3.37701700e-01 9.41250948e-01 2.05317767e-03 1.09891974e+02] [ 9.41236088e-01 3.37707910e-01 -5.29088306e-03 -1.61829408e+02] [-5.67342303e-03 1.45784715e-04 -9.99983895e-01 -4.02534647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters 0.015900305932516224 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.80, Z:-4.02 [[-4.15016595e-01 9.09811895e-01 1.88181553e-03 1.09889900e+02] [ 9.09803502e-01 4.15020851e-01 -3.90919793e-03 -1.61799626e+02] [-4.33762746e-03 8.97003427e-05 -9.99990589e-01 -4.02457863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters 0.014959985284378564 Centerline is valid? [True, True] Translation: X:109.88, Y:-161.77, Z:-4.02 [[-4.88962928e-01 8.72302379e-01 1.95338680e-03 1.09883576e+02] [ 8.72295923e-01 4.88966825e-01 -3.35653263e-03 -1.61770156e+02] [-3.88305274e-03 6.27113171e-05 -9.99992459e-01 -4.02433830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters 0.013374758335171516 Centerline is valid? [True, True] Translation: X:109.88, Y:-161.74, Z:-4.02 [[-5.60730486e-01 8.27995689e-01 2.11190241e-03 1.09881309e+02] [ 8.27990068e-01 5.60734462e-01 -3.05117147e-03 -1.61736239e+02] [-3.71057329e-03 3.77493574e-05 -9.99993115e-01 -4.02405546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters 0.012628532010894688 Centerline is valid? [True, True] Translation: X:109.87, Y:-161.70, Z:-4.02 [[-6.31989621e-01 7.74974212e-01 2.02252971e-03 1.09874891e+02] [ 7.74970239e-01 6.31992857e-01 -2.48137467e-03 -1.61702627e+02] [-3.20122570e-03 -8.02703000e-07 -9.99994876e-01 -4.02414011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters 0.013077226224378681 Centerline is valid? [True, True] Translation: X:109.86, Y:-161.67, Z:-4.02 [[-6.96255964e-01 7.17791833e-01 1.58641922e-03 1.09863870e+02] [ 7.17789911e-01 6.96257771e-01 -1.66140185e-03 -1.61670630e+02] [-2.29709739e-03 -1.80452333e-05 -9.99997362e-01 -4.02475168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters 0.014666309534424533 Centerline is valid? [True, True] Translation: X:109.85, Y:-161.64, Z:-4.02 [[-7.55154020e-01 6.55545200e-01 1.70202088e-03 1.09850400e+02] [ 6.55543431e-01 7.55155937e-01 -1.52338494e-03 -1.61641493e+02] [-2.28393886e-03 -3.46416607e-05 -9.99997391e-01 -4.02386547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters 0.016107875210167225 Centerline is valid? [True, True] Translation: X:109.86, Y:-161.61, Z:-4.02 [[-8.03937503e-01 5.94710161e-01 2.07748599e-03 1.09861322e+02] [ 5.94707984e-01 8.03940185e-01 -1.60999013e-03 -1.61613884e+02] [-2.62765196e-03 -5.88339443e-05 -9.99996546e-01 -4.02271647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters 0.01725702232026355 Centerline is valid? [True, True] Translation: X:109.88, Y:-161.59, Z:-4.02 [[-8.44962056e-01 5.34822581e-01 1.98251420e-03 1.09878234e+02] [ 5.34820948e-01 8.44964380e-01 -1.32319126e-03 -1.61593712e+02] [-2.38282645e-03 -5.77562903e-05 -9.99997159e-01 -4.02280719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters 0.016283076724345875 Centerline is valid? [True, True] Translation: X:109.89, Y:-161.57, Z:-4.02 [[-8.80636740e-01 4.73786181e-01 2.36391449e-03 1.09888450e+02] [ 4.73784273e-01 8.80639910e-01 -1.34624137e-03 -1.61574277e+02] [-2.71958799e-03 -6.55641018e-05 -9.99996300e-01 -4.02301791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters 0.01638136739060219 Centerline is valid? [True, True] Translation: X:109.90, Y:-161.56, Z:-4.02 [[-9.11250378e-01 4.11838968e-01 3.37846766e-03 1.09899562e+02] [ 4.11835794e-01 9.11256637e-01 -1.61904108e-03 -1.61556038e+02] [-3.74543528e-03 -8.39778906e-05 -9.99992982e-01 -4.02167624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters 0.016299674803764156 Centerline is valid? [True, True] Translation: X:109.91, Y:-161.53, Z:-4.02 [[-9.37970799e-01 3.46688090e-01 4.26010262e-03 1.09907888e+02] [ 3.46684024e-01 9.37980468e-01 -1.68193536e-03 -1.61532886e+02] [-4.57900001e-03 -1.00696732e-04 -9.99989511e-01 -4.02089225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters 0.01629589324346571 Centerline is valid? [True, True] Translation: X:109.92, Y:-161.51, Z:-4.02 [[-9.60109597e-01 2.79543303e-01 6.71590353e-03 1.09915871e+02] [ 2.79535341e-01 9.60133073e-01 -2.11543380e-03 -1.61514293e+02] [-7.03951645e-03 -1.53715911e-04 -9.99975211e-01 -4.01865192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters 0.01656981174164579 Centerline is valid? [True, True] Translation: X:109.92, Y:-161.49, Z:-4.02 [[-9.77455866e-01 2.10986377e-01 8.04855750e-03 1.09917212e+02] [ 2.10977712e-01 9.77488985e-01 -1.92054049e-03 -1.61490448e+02] [-8.27258419e-03 -1.79177322e-04 -9.99965766e-01 -4.01708460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters 0.015752401356763205 Centerline is valid? [True, True] Translation: X:110.07, Y:-160.84, Z:-5.02 [[-9.48217584e-01 -3.17497752e-01 8.86515495e-03 1.10074402e+02] [ 3.17486449e-01 -9.48258988e-01 -2.69183895e-03 -1.60838196e+02] [ 9.26111568e-03 2.62117544e-04 9.99957081e-01 -5.02166195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters 0.016710734161263324 Centerline is valid? [True, True] Translation: X:109.87, Y:-161.49, Z:-4.02 [[-9.78019456e-01 2.08361993e-01 7.95127057e-03 1.09871820e+02] [ 2.08353703e-01 9.78051763e-01 -1.86632646e-03 -1.61492023e+02] [-8.16562570e-03 -1.68626930e-04 -9.99966647e-01 -4.01866629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters 0.015793821439038055 Centerline is valid? [True, True] Translation: X:110.03, Y:-160.82, Z:-5.02 [[-9.49792628e-01 -3.12803799e-01 6.90994541e-03 1.10030927e+02] [ 3.12796229e-01 -9.49817759e-01 -2.17824800e-03 -1.60821469e+02] [ 7.24455312e-03 9.25209706e-05 9.99973754e-01 -5.01895335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters 0.01581732292128397 Centerline is valid? [True, True] Translation: X:109.83, Y:-161.48, Z:-4.02 [[-9.78454683e-01 2.06346164e-01 6.90610557e-03 1.09828472e+02] [ 2.06340056e-01 9.78479046e-01 -1.59337551e-03 -1.61483396e+02] [-7.08626651e-03 -1.34039517e-04 -9.99974883e-01 -4.02023080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters 0.014939925612371483 Centerline is valid? [True, True] Translation: X:109.83, Y:-161.46, Z:-4.02 [[-9.90202927e-01 1.39367141e-01 8.65814729e-03 1.09834538e+02] [ 1.39360576e-01 9.90240769e-01 -1.36001247e-03 -1.61455263e+02] [-8.76319148e-03 -1.40083941e-04 -9.99961593e-01 -4.01851649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters 0.014710964386826645 Centerline is valid? [True, True] Translation: X:109.94, Y:-160.78, Z:-5.02 [[-9.71796530e-01 -2.35671838e-01 8.38380783e-03 1.09941923e+02] [ 2.35664194e-01 -9.71832686e-01 -1.90235649e-03 -1.60777878e+02] [ 8.59599033e-03 1.27059884e-04 9.99963046e-01 -5.01990062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters 0.014551072898489212 Centerline is valid? [True, True] Translation: X:109.78, Y:-161.45, Z:-4.02 [[-9.90445793e-01 1.37687721e-01 7.69568840e-03 1.09782652e+02] [ 1.37682718e-01 9.90475684e-01 -1.17865133e-03 -1.61452299e+02] [-7.78467804e-03 -1.07826950e-04 -9.99969693e-01 -4.02097543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters 0.013982850524206702 Centerline is valid? [True, True] Translation: X:109.90, Y:-160.77, Z:-5.02 [[-9.72949917e-01 -2.30857240e-01 8.56705973e-03 1.09897252e+02] [ 2.30849944e-01 -9.72987616e-01 -1.84451375e-03 -1.60767092e+02] [ 8.76146238e-03 1.83085758e-04 9.99961601e-01 -5.01869766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters 0.014042481550487526 Centerline is valid? [True, True] Translation: X:109.74, Y:-161.45, Z:-4.02 [[-9.90780103e-01 1.35178558e-01 9.03028032e-03 1.09739476e+02] [ 1.35171887e-01 9.90821247e-01 -1.34784224e-03 -1.61448075e+02] [-9.12959298e-03 -1.14775235e-04 -9.99958318e-01 -4.01909061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters 0.01337561803040688 Centerline is valid? [True, True] Translation: X:109.74, Y:-161.42, Z:-4.02 [[-9.97697573e-01 6.71978934e-02 9.16492595e-03 1.09743669e+02] [ 6.71942201e-02 9.97739663e-01 -7.08490763e-04 -1.61424617e+02] [-9.19181922e-03 -9.10294640e-05 -9.99957750e-01 -4.01987059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters 0.013326724151227001 Centerline is valid? [True, True] Translation: X:109.74, Y:-161.40, Z:-4.02 [[-9.99964250e-01 -2.41414618e-03 8.10369130e-03 1.09742673e+02] [-2.41462732e-03 9.99997084e-01 -4.95888549e-05 -1.61398905e+02] [-8.10354795e-03 -6.91544765e-05 -9.99967163e-01 -4.02065844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters 0.013048849548404618 Centerline is valid? [True, True] Translation: X:109.74, Y:-161.37, Z:-4.02 [[-9.97285740e-01 -7.33162977e-02 6.77301068e-03 1.09741670e+02] [-7.33149936e-02 9.97308737e-01 4.40958629e-04 -1.61373345e+02] [-6.78711218e-03 -5.68014826e-05 -9.99976966e-01 -4.02275548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters 0.013173290242623547 Centerline is valid? [True, True] Translation: X:109.70, Y:-160.67, Z:-5.02 [[-9.99902215e-01 -1.23442200e-02 6.57124721e-03 1.09697015e+02] [ 1.23442196e-02 -9.99923806e-01 -4.06194516e-05 -1.60670288e+02] [ 6.57124793e-03 4.05014393e-05 9.99978408e-01 -5.01836540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters 0.013613381500235697 Centerline is valid? [True, True] Translation: X:109.67, Y:-161.37, Z:-4.02 [[-9.96688736e-01 -8.08755575e-02 8.40876643e-03 1.09665377e+02] [-8.08734697e-02 9.96724202e-01 5.88573207e-04 -1.61374443e+02] [-8.42882220e-03 -9.34218315e-05 -9.99964473e-01 -4.01924655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters 0.01376643719967589 Centerline is valid? [True, True] Translation: X:109.66, Y:-161.35, Z:-4.02 [[-9.88333438e-01 -1.52010300e-01 9.48070337e-03 1.09657915e+02] [-1.52004376e-01 9.88378903e-01 1.34658339e-03 -1.61347355e+02] [-9.57522175e-03 -1.10235011e-04 -9.99954151e-01 -4.01840368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters 0.013813241439977055 Centerline is valid? [True, True] Translation: X:109.57, Y:-160.66, Z:-5.02 [[-9.98070524e-01 6.15234279e-02 8.37243373e-03 1.09565815e+02] [-6.15211211e-02 -9.98105640e-01 5.33040326e-04 -1.60657195e+02] [ 8.38936779e-03 1.69303285e-05 9.99964809e-01 -5.01950586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters 0.01396702700590727 Centerline is valid? [True, True] Translation: X:109.57, Y:-161.36, Z:-4.02 [[-9.87278699e-01 -1.58832122e-01 7.28884917e-03 1.09568776e+02] [-1.58828489e-01 9.87305600e-01 1.07829818e-03 -1.61356369e+02] [-7.36759000e-03 -9.30960768e-05 -9.99972855e-01 -4.02092741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters 0.014177252948312685 Centerline is valid? [True, True] Translation: X:109.56, Y:-161.33, Z:-4.02 [[-9.73368217e-01 -2.29134690e-01 7.18393161e-03 1.09559586e+02] [-2.29129175e-01 9.73394722e-01 1.59266594e-03 -1.61329798e+02] [-7.35773613e-03 -9.57979102e-05 -9.99972927e-01 -4.02068095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters 0.013501917276843451 Centerline is valid? [True, True] Translation: X:109.54, Y:-161.31, Z:-4.02 [[-9.54554518e-01 -2.97918474e-01 8.38189572e-03 1.09542378e+02] [-2.97908014e-01 9.54591311e-01 2.49888796e-03 -1.61308651e+02] [-8.74574971e-03 -1.11709116e-04 -9.99961749e-01 -4.02032004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters 0.014600394512354925 Centerline is valid? [True, True] Translation: X:109.51, Y:-161.29, Z:-4.02 [[-9.30644858e-01 -3.65811554e-01 9.05839913e-03 1.09507746e+02] [-3.65795517e-01 9.30688934e-01 3.42760053e-03 -1.61288497e+02] [-9.68440771e-03 -1.23642980e-04 -9.99953097e-01 -4.01689411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters 0.01346373494011789 Centerline is valid? [True, True] Translation: X:109.46, Y:-161.28, Z:-4.02 [[-9.01271565e-01 -4.33158085e-01 9.14542904e-03 1.09458018e+02] [-4.33137249e-01 9.01317955e-01 4.25061364e-03 -1.61282850e+02] [-1.00841271e-02 -1.30268767e-04 -9.99949145e-01 -4.01871677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters 0.013476115960725683 Centerline is valid? [True, True] Translation: X:109.40, Y:-161.28, Z:-4.02 [[-8.66850091e-01 -4.98490853e-01 8.81977722e-03 1.09396208e+02] [-4.98466601e-01 8.66894948e-01 4.91893316e-03 -1.61284211e+02] [-1.00978635e-02 -1.32386717e-04 -9.99949007e-01 -4.01837849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters 0.013337544729327447 Centerline is valid? [True, True] Translation: X:109.32, Y:-161.30, Z:-4.02 [[-8.28057033e-01 -5.60579402e-01 8.50199276e-03 1.09324684e+02] [-5.60551390e-01 8.28100669e-01 5.60540021e-03 -1.61296908e+02] [-1.01827778e-02 -1.24212801e-04 -9.99948147e-01 -4.01845749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters 0.01296510578323781 Centerline is valid? [True, True] Translation: X:109.25, Y:-161.32, Z:-4.02 [[-7.85061391e-01 -6.19366981e-01 7.94703286e-03 1.09251619e+02] [-6.19336581e-01 7.85101606e-01 6.13739364e-03 -1.61318339e+02] [-1.00405272e-02 -1.03657378e-04 -9.99949587e-01 -4.01883914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters 0.012653716706248062 Centerline is valid? [True, True] Translation: X:109.17, Y:-161.35, Z:-4.02 [[-7.39121358e-01 -6.73531210e-01 7.43826525e-03 1.09172730e+02] [-6.73497953e-01 7.39158782e-01 6.69348079e-03 -1.61352828e+02] [-1.00063273e-02 -6.23618076e-05 -9.99949934e-01 -4.01811513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters 0.012387202846822877 Centerline is valid? [True, True] Translation: X:109.09, Y:-161.40, Z:-4.02 [[-6.87444986e-01 -7.26208059e-01 6.42231875e-03 1.09090355e+02] [-7.26176948e-01 6.87474984e-01 6.72206007e-03 -1.61395652e+02] [-9.29679767e-03 -4.26933387e-05 -9.99956783e-01 -4.01922255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters 0.01237625276735544 Centerline is valid? [True, True] Translation: X:109.01, Y:-161.45, Z:-4.02 [[-6.31745221e-01 -7.75155534e-01 5.64562694e-03 1.09007088e+02] [-7.75124969e-01 6.31770446e-01 6.88372191e-03 -1.61449865e+02] [-8.90269539e-03 -2.73079899e-05 -9.99960370e-01 -4.01971053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters 0.01235931974028481 Centerline is valid? [True, True] Translation: X:108.93, Y:-161.51, Z:-4.02 [[-5.73971671e-01 -8.18859842e-01 5.00789288e-03 1.08928108e+02] [-8.18828616e-01 5.73993518e-01 7.15111660e-03 -1.61513246e+02] [-8.73026026e-03 3.93235344e-06 -9.99961891e-01 -4.02021920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters 0.012295344589280732 Centerline is valid? [True, True] Translation: X:108.85, Y:-161.58, Z:-4.02 [[-5.09764849e-01 -8.60302580e-01 4.38961484e-03 1.08845815e+02] [-8.60270668e-01 5.09783749e-01 7.40995262e-03 -1.61584669e+02] [-8.61255567e-03 1.07648748e-06 -9.99962911e-01 -4.01948666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters 0.012289436851911757 Centerline is valid? [True, True] Translation: X:108.77, Y:-161.66, Z:-4.02 [[-4.42254771e-01 -8.96880522e-01 4.00584905e-03 1.08770320e+02] [-8.96843800e-01 4.42272913e-01 8.11593161e-03 -1.61663638e+02] [-9.05069951e-03 -3.31140897e-06 -9.99959042e-01 -4.01851293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters 0.012415728754574161 Centerline is valid? [True, True] Translation: X:108.70, Y:-161.75, Z:-4.02 [[-3.71101152e-01 -9.28584686e-01 3.79681111e-03 1.08698681e+02] [-9.28536599e-01 3.71120574e-01 9.45012775e-03 -1.61751151e+02] [-1.01843186e-02 -1.85247845e-05 -9.99948138e-01 -4.01719105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters 0.012541384558536189 Centerline is valid? [True, True] Translation: X:108.63, Y:-161.85, Z:-4.02 [[-2.96044084e-01 -9.55167884e-01 3.49486712e-03 1.08631728e+02] [-9.55103617e-01 2.96064707e-01 1.10801904e-02 -1.61849173e+02] [-1.16181489e-02 -5.77353932e-05 -9.99932505e-01 -4.01590907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters 0.012721983746987351 Centerline is valid? [True, True] Translation: X:108.57, Y:-161.95, Z:-4.01 [[-2.19712672e-01 -9.75561513e-01 2.46489538e-03 1.08572034e+02] [-9.75504163e-01 2.19726484e-01 1.05783189e-02 -1.61948892e+02] [-1.08614036e-02 -8.03249914e-05 -9.99941010e-01 -4.01499062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters 0.012884883533181925 Centerline is valid? [True, True] Translation: X:108.52, Y:-162.06, Z:-4.02 [[-1.41813876e-01 -9.89892228e-01 1.48388129e-03 1.08519488e+02] [-9.89845018e-01 1.41821606e-01 9.66814123e-03 -1.62058101e+02] [-9.78086429e-03 -9.77359130e-05 -9.99952162e-01 -4.01586222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters 0.013099777260014614 Centerline is valid? [True, True] Translation: X:108.48, Y:-162.16, Z:-4.02 [[-6.39518374e-02 -9.97952819e-01 5.77908744e-04 1.08477025e+02] [-9.97923628e-01 6.39543873e-02 7.63339909e-03 -1.62163728e+02] [-7.65473194e-03 -8.85388936e-05 -9.99970698e-01 -4.01715230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters 0.013058641681128363 Centerline is valid? [True, True] Translation: X:108.45, Y:-162.28, Z:-4.02 [[ 1.14657688e-02 -9.99934266e-01 -8.34029286e-06 1.08445528e+02] [-9.99908067e-01 -1.14655288e-02 7.23873969e-03 -1.62277543e+02] [-7.23835948e-03 -7.46581896e-05 -9.99973800e-01 -4.01755382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters 0.012453670258157605 Centerline is valid? [True, True] Translation: X:108.42, Y:-162.39, Z:-4.02 [[ 8.57403332e-02 -9.96317399e-01 -4.86231739e-04 1.08423695e+02] [-9.96297971e-01 -8.57416979e-02 6.22209465e-03 -1.62393956e+02] [-6.24087149e-03 -4.90527736e-05 -9.99980524e-01 -4.01841594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters 0.012269282526307377 Centerline is valid? [True, True] Translation: X:108.41, Y:-162.51, Z:-4.02 [[ 1.58803529e-01 -9.87309774e-01 -9.21862593e-04 1.08408771e+02] [-9.87292015e-01 -1.58806202e-01 5.92181145e-03 -1.62509171e+02] [-5.99305982e-03 -3.02569791e-05 -9.99982041e-01 -4.01714391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters 0.012117524184433116 Centerline is valid? [True, True] Translation: X:108.40, Y:-162.62, Z:-4.02 [[ 2.32204194e-01 -9.72666014e-01 -1.42726758e-03 1.08403928e+02] [-9.72647129e-01 -2.32208580e-01 6.06111622e-03 -1.62619342e+02] [-6.22686553e-03 -1.91888956e-05 -9.99980613e-01 -4.01693094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters 0.012223926171165278 Centerline is valid? [True, True] Translation: X:108.41, Y:-162.74, Z:-4.02 [[ 3.04066446e-01 -9.52647895e-01 -2.36301058e-03 1.08409938e+02] [-9.52618943e-01 -3.04075628e-01 7.42713023e-03 -1.62737697e+02] [-7.79397390e-03 -7.29245062e-06 -9.99969627e-01 -4.01588063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters 0.012429646471919433 Centerline is valid? [True, True] Translation: X:108.43, Y:-162.86, Z:-4.01 [[ 3.74347000e-01 -9.27281818e-01 -3.57127008e-03 1.08425580e+02] [-9.27239889e-01 -3.74364035e-01 8.81808855e-03 -1.62855686e+02] [-9.51380825e-03 1.03990736e-05 -9.99954743e-01 -4.01432466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters 0.012426081684102168 Centerline is valid? [True, True] Translation: X:108.45, Y:-162.97, Z:-4.01 [[ 4.43352394e-01 -8.96337152e-01 -4.28534292e-03 1.08446940e+02] [-8.96295720e-01 -4.43373104e-01 8.61815853e-03 -1.62965340e+02] [-9.62478147e-03 2.00533062e-05 -9.99953681e-01 -4.01416058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters 0.012334286582271866 Centerline is valid? [True, True] Translation: X:108.48, Y:-163.08, Z:-4.02 [[ 5.09337404e-01 -8.60553415e-01 -4.81959716e-03 1.08478849e+02] [-8.60515513e-01 -5.09360205e-01 8.07670261e-03 -1.63076217e+02] [-9.40534502e-03 3.35713878e-05 -9.99955768e-01 -4.01588344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters 0.012489366532400308 Centerline is valid? [True, True] Translation: X:108.52, Y:-163.18, Z:-4.02 [[ 5.70804679e-01 -8.21071257e-01 -4.89997580e-03 1.08521480e+02] [-8.21041904e-01 -5.70825707e-01 6.94294365e-03 -1.63184233e+02] [-8.49768362e-03 6.00207363e-05 -9.99963892e-01 -4.01726064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters 0.012921442820185087 Centerline is valid? [True, True] Translation: X:108.57, Y:-163.28, Z:-4.02 [[ 6.29858228e-01 -7.76695236e-01 -4.80871916e-03 1.08567670e+02] [-7.76673474e-01 -6.29876579e-01 5.81458797e-03 -1.63283910e+02] [-7.54506235e-03 7.24385378e-05 -9.99971533e-01 -4.01751004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters 0.012948734956486688 Centerline is valid? [True, True] Translation: X:108.61, Y:-163.37, Z:-4.02 [[ 6.85577690e-01 -7.27984470e-01 -4.67354437e-03 1.08613766e+02] [-7.27968345e-01 -6.85593615e-01 4.84606381e-03 -1.63372623e+02] [-6.73201138e-03 7.98391250e-05 -9.99977337e-01 -4.01819166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters 0.013396814983394055 Centerline is valid? [True, True] Translation: X:108.67, Y:-163.46, Z:-4.02 [[ 7.38198666e-01 -6.74562774e-01 -5.27195031e-03 1.08671657e+02] [-6.74546451e-01 -7.38217485e-01 4.69366918e-03 -1.63460901e+02] [-7.05802040e-03 9.13150455e-05 -9.99975088e-01 -4.01842717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters 0.013324639861588768 Centerline is valid? [True, True] Translation: X:108.69, Y:-163.49, Z:-4.02 [[ 7.89408745e-01 -6.13837023e-01 -6.15975583e-03 1.08692163e+02] [-6.13819227e-01 -7.89432772e-01 4.67500622e-03 -1.63487345e+02] [-7.73240502e-03 9.04857693e-05 -9.99970100e-01 -4.01760973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters 0.012412494500837675 Centerline is valid? [True, True] Translation: X:108.71, Y:-163.52, Z:-4.02 [[ 8.37621970e-01 -5.46199490e-01 -7.45338023e-03 1.08710310e+02] [-5.46178514e-01 -8.37655128e-01 4.78723880e-03 -1.63518080e+02] [-8.85814956e-03 6.09797421e-05 -9.99960764e-01 -4.01689666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters 0.012112327951201629 Centerline is valid? [True, True] Translation: X:108.73, Y:-163.55, Z:-4.02 [[ 8.79710753e-01 -4.75441908e-01 -7.99894828e-03 1.08732571e+02] [-4.75422516e-01 -8.79747118e-01 4.29420961e-03 -1.63546206e+02] [-9.07869891e-03 2.52177488e-05 -9.99958788e-01 -4.01673263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters 0.011993392490282981 Centerline is valid? [True, True] Translation: X:108.76, Y:-163.57, Z:-4.02 [[ 9.15731124e-01 -4.01695242e-01 -8.80004950e-03 1.08756991e+02] [-4.01676587e-01 -9.15773407e-01 3.87134260e-03 -1.63571810e+02] [-9.61395122e-03 -1.03350668e-05 -9.99953785e-01 -4.01647039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters 0.01208237699464362 Centerline is valid? [True, True] Translation: X:108.78, Y:-163.59, Z:-4.02 [[ 9.45367494e-01 -3.25870193e-01 -9.42970677e-03 1.08783772e+02] [-3.25853531e-01 -9.45414521e-01 3.29553051e-03 -1.63594314e+02] [-9.98889687e-03 -4.27841706e-05 -9.99950109e-01 -4.01708019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters 0.01230712151807638 Centerline is valid? [True, True] Translation: X:108.81, Y:-163.61, Z:-4.02 [[ 9.68607097e-01 -2.48451006e-01 -8.50819365e-03 1.08812681e+02] [-2.48440875e-01 -9.68644462e-01 2.24442227e-03 -1.63613885e+02] [-8.79904363e-03 -6.01802677e-05 -9.99961286e-01 -4.01808442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters 0.01226087317495525 Centerline is valid? [True, True] Translation: X:108.84, Y:-163.63, Z:-4.02 [[ 9.85116508e-01 -1.71707327e-01 -7.87778033e-03 1.08844160e+02] [-1.71701377e-01 -9.85148005e-01 1.43051371e-03 -1.63629713e+02] [-8.00640926e-03 -5.65969422e-05 -9.99967947e-01 -4.01821536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters 0.012227079310872134 Centerline is valid? [True, True] Translation: X:108.87, Y:-163.64, Z:-4.02 [[ 9.95436422e-01 -9.50977107e-02 -7.92186486e-03 1.08872582e+02] [-9.50943169e-02 -9.95467942e-01 8.04835546e-04 -1.63639666e+02] [-7.96250053e-03 -4.78382879e-05 -9.99968298e-01 -4.01798303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters 0.012073089155755641 Centerline is valid? [True, True] Translation: X:108.90, Y:-163.65, Z:-4.02 [[ 9.99741372e-01 -2.09317896e-02 -8.89093254e-03 1.08902286e+02] [-2.09308088e-02 -9.99780906e-01 2.03363750e-04 -1.63646501e+02] [-8.89324135e-03 -1.72167460e-05 -9.99960454e-01 -4.01821098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters 0.012041286278880549 Centerline is valid? [True, True] Translation: X:108.93, Y:-163.65, Z:-4.02 [[ 9.98463153e-01 5.46984059e-02 -8.91162352e-03 1.08931765e+02] [ 5.46961642e-02 -9.98502922e-01 -4.95259358e-04 -1.63652909e+02] [-8.92537201e-03 7.06659689e-06 -9.99960168e-01 -4.01833172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters 0.012208276336988665 Centerline is valid? [True, True] Translation: X:108.96, Y:-163.66, Z:-4.02 [[ 9.91407019e-01 1.30461766e-01 -9.58386322e-03 1.08962595e+02] [ 1.30455385e-01 -9.91453341e-01 -1.29072326e-03 -1.63658922e+02] [-9.67034324e-03 2.93655405e-05 -9.99953241e-01 -4.01746830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters 0.012478809393646807 Centerline is valid? [True, True] Translation: X:108.99, Y:-163.66, Z:-4.02 [[ 9.78404281e-01 2.06374259e-01 -1.16072878e-02 1.08992721e+02] [ 2.06359110e-01 -9.78473128e-01 -2.50105854e-03 -1.63661125e+02] [-1.18735733e-02 5.17768082e-05 -9.99929505e-01 -4.01570931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters 0.012478827645875608 Centerline is valid? [True, True] Translation: X:109.02, Y:-163.66, Z:-4.02 [[ 9.59173726e-01 2.82552117e-01 -1.22500925e-02 1.09023745e+02] [ 2.82528373e-01 -9.59251947e-01 -3.66335488e-03 -1.63661552e+02] [-1.27860137e-02 5.27950618e-05 -9.99918254e-01 -4.01509587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters 0.012358645022119655 Centerline is valid? [True, True] Translation: X:109.06, Y:-163.66, Z:-4.01 [[ 9.33504913e-01 3.58351657e-01 -1.23559097e-02 1.09055220e+02] [ 3.58319809e-01 -9.33586680e-01 -4.77755569e-03 -1.63660686e+02] [-1.32473577e-02 3.25045181e-05 -9.99912249e-01 -4.01478053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters 0.012383864051232226 Centerline is valid? [True, True] Translation: X:109.09, Y:-163.66, Z:-4.01 [[ 9.01608327e-01 4.32347552e-01 -1.33423803e-02 1.09086338e+02] [ 4.32300155e-01 -9.01707045e-01 -6.40164143e-03 -1.63657758e+02] [-1.47986523e-02 3.86012944e-06 -9.99890494e-01 -4.01425505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters 0.012404058506607914 Centerline is valid? [True, True] Translation: X:109.12, Y:-163.65, Z:-4.01 [[ 8.64249534e-01 5.02901108e-01 -1.27756767e-02 1.09116917e+02] [ 5.02846480e-01 -8.64343956e-01 -7.41233379e-03 -1.63651262e+02] [-1.47702498e-02 -1.80980296e-05 -9.99890914e-01 -4.01398509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters 0.012583663924326915 Centerline is valid? [True, True] Translation: X:109.15, Y:-163.64, Z:-4.01 [[ 8.19071817e-01 5.73566591e-01 -1.19467418e-02 1.09148201e+02] [ 5.73507334e-01 -8.19158932e-01 -8.24510054e-03 -1.63643590e+02] [-1.45153945e-02 -9.82145704e-05 -9.99894641e-01 -4.01445289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters 0.01291294318775647 Centerline is valid? [True, True] Translation: X:109.18, Y:-163.63, Z:-4.02 [[ 7.69670384e-01 6.38361809e-01 -1.00847495e-02 1.09177377e+02] [ 6.38309204e-01 -7.69736439e-01 -8.19605081e-03 -1.63632255e+02] [-1.29946450e-02 -1.28930841e-04 -9.99915558e-01 -4.01604561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters 0.012958353924436672 Centerline is valid? [True, True] Translation: X:109.21, Y:-163.62, Z:-4.02 [[ 7.15607596e-01 6.98453461e-01 -8.27837304e-03 1.09207096e+02] [ 6.98409007e-01 -7.15655464e-01 -7.88135321e-03 -1.63619970e+02] [-1.14292213e-02 -1.41734072e-04 -9.99934674e-01 -4.01838261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters 0.013581902570130804 Centerline is valid? [True, True] Translation: X:109.23, Y:-163.61, Z:-4.02 [[ 6.56654205e-01 7.54163346e-01 -6.55001700e-03 1.09233986e+02] [ 7.54128066e-01 -6.56686855e-01 -7.29615468e-03 -1.63605656e+02] [-9.80380249e-03 -1.48501006e-04 -9.99951931e-01 -4.01900223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters 0.013758766648578192 Centerline is valid? [True, True] Translation: X:109.26, Y:-163.59, Z:-4.02 [[ 5.94704714e-01 8.03922372e-01 -5.92645943e-03 1.09259451e+02] [ 8.03885089e-01 -5.94734221e-01 -7.74401671e-03 -1.63587034e+02] [-9.75025652e-03 -1.58789127e-04 -9.99952453e-01 -4.01971526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters 0.01442591065195498 Centerline is valid? [True, True] Translation: X:109.28, Y:-163.57, Z:-4.02 [[ 5.29073691e-01 8.48558819e-01 -5.38156424e-03 1.09282342e+02] [ 8.48518167e-01 -5.29101032e-01 -8.30767622e-03 -1.63567835e+02] [-9.89694311e-03 -1.70982107e-04 -9.99951010e-01 -4.01896370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters 0.013981977826640147 Centerline is valid? [True, True] Translation: X:109.30, Y:-163.55, Z:-4.02 [[ 4.60388439e-01 8.87701479e-01 -5.34506070e-03 1.09304558e+02] [ 8.87646656e-01 -4.60419422e-01 -9.86761397e-03 -1.63545512e+02] [-1.12204653e-02 -2.01589870e-04 -9.99937028e-01 -4.01829322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters 0.01457176760030375 Centerline is valid? [True, True] Translation: X:109.32, Y:-163.52, Z:-4.02 [[ 3.89132310e-01 9.21167490e-01 -5.14798905e-03 1.09324471e+02] [ 9.21094614e-01 -3.89166292e-01 -1.15892063e-02 -1.63523106e+02] [-1.26790239e-02 -2.32050371e-04 -9.99919591e-01 -4.01636864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters 0.014042800419354186 Centerline is valid? [True, True] Translation: X:109.34, Y:-163.50, Z:-4.02 [[ 3.17432000e-01 9.48269776e-01 -4.62134669e-03 1.09338785e+02] [ 9.48179569e-01 -3.17465555e-01 -1.30815296e-02 -1.63497104e+02] [-1.38719376e-02 -2.29370404e-04 -9.99903754e-01 -4.01637890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters 0.013467407148841468 Centerline is valid? [True, True] Translation: X:109.35, Y:-163.47, Z:-4.02 [[ 2.45585282e-01 9.69369303e-01 -3.32023425e-03 1.09350250e+02] [ 9.69289719e-01 -2.45607668e-01 -1.24223383e-02 -1.63470507e+02] [-1.28573084e-02 -1.67525470e-04 -9.99917327e-01 -4.01702168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters 0.013028754853889137 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.44, Z:-4.02 [[ 1.73786434e-01 9.84780631e-01 -2.32027435e-03 1.09356646e+02] [ 9.84700617e-01 -1.73801892e-01 -1.25538075e-02 -1.63443297e+02] [-1.27660145e-02 -1.03094150e-04 -9.99918506e-01 -4.01651010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters 0.012608078777018973 Centerline is valid? [True, True] Translation: X:109.35, Y:-163.41, Z:-4.02 [[ 1.05987038e-01 9.94366707e-01 -1.26512248e-03 1.09353105e+02] [ 9.94293363e-01 -1.05994587e-01 -1.20770480e-02 -1.63414144e+02] [-1.21431106e-02 2.21076683e-05 -9.99926270e-01 -4.01796651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters 0.013297638373908637 Centerline is valid? [True, True] Translation: X:109.35, Y:-163.39, Z:-4.02 [[ 3.42608409e-02 9.99412879e-01 -3.02993453e-04 1.09351218e+02] [ 9.99344725e-01 -3.42620431e-02 -1.16718695e-02 -1.63386501e+02] [-1.16753979e-02 9.70931563e-05 -9.99931836e-01 -4.01842674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters 0.013434419565538706 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.36, Z:-4.02 [[-3.96886814e-02 9.99211942e-01 5.51490035e-04 1.09359266e+02] [ 9.99156761e-01 3.96922858e-02 -1.05019007e-02 -1.63359108e+02] [-1.05155145e-02 1.34218408e-04 -9.99944702e-01 -4.02052902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters 0.015813103070959737 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.33, Z:-4.02 [[-1.14405204e-01 9.93433151e-01 1.42282838e-03 1.09360898e+02] [ 9.93374368e-01 1.14413915e-01 -1.08084120e-02 -1.63332990e+02] [-1.09002261e-02 1.76862662e-04 -9.99940575e-01 -4.01824625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters 0.016656743084340578 Centerline is valid? [True, True] Translation: X:109.35, Y:-163.31, Z:-4.02 [[-1.90412701e-01 9.81701055e-01 2.45816063e-03 1.09353539e+02] [ 9.81632869e-01 1.90428452e-01 -1.15721484e-02 -1.63308542e+02] [-1.18284940e-02 2.09527250e-04 -9.99930019e-01 -4.01712177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters 0.014921172457061756 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.28, Z:-4.02 [[-2.66823585e-01 9.63739313e-01 3.42208500e-03 1.09358658e+02] [ 9.63669981e-01 2.66845444e-01 -1.15618657e-02 -1.63280175e+02] [-1.20557923e-02 2.12782140e-04 -9.99927304e-01 -4.01831278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters 0.016763938161481994 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.25, Z:-4.02 [[-3.42987098e-01 9.39330003e-01 4.35839439e-03 1.09356500e+02] [ 9.39261251e-01 3.43014733e-01 -1.13664037e-02 -1.63254079e+02] [-1.21717975e-02 1.95141143e-04 -9.99925902e-01 -4.01506913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters 0.013562225715212891 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.22, Z:-4.02 [[-4.17787422e-01 9.08531524e-01 4.91332957e-03 1.09362138e+02] [ 9.08472999e-01 4.17816283e-01 -1.03133095e-02 -1.63221979e+02] [-1.14228359e-02 1.54856249e-04 -9.99934745e-01 -4.01911473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters 0.01280487144875277 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.19, Z:-4.02 [[-4.92671173e-01 8.70201615e-01 4.92591659e-03 1.09362565e+02] [ 8.70159675e-01 4.92695792e-01 -8.54383605e-03 -1.63191461e+02] [-9.86183831e-03 7.70322472e-05 -9.99951368e-01 -4.01966475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters 0.012148064560314895 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.16, Z:-4.02 [[-5.63988948e-01 8.25762863e-01 5.67106055e-03 1.09361927e+02] [ 8.25721507e-01 5.64017459e-01 -8.26429909e-03 -1.63157253e+02] [-1.00229284e-02 2.17433195e-05 -9.99949769e-01 -4.02037176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters 0.012226504383382977 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.12, Z:-4.02 [[-6.31846553e-01 7.75065326e-01 6.60859745e-03 1.09358414e+02] [ 7.75022216e-01 6.31881111e-01 -8.17475212e-03 -1.63124340e+02] [-1.05118148e-02 -4.33791144e-05 -9.99944748e-01 -4.01867457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters 0.012997201765238924 Centerline is valid? [True, True] Translation: X:109.35, Y:-163.09, Z:-4.02 [[-6.96171337e-01 7.17840581e-01 7.09710970e-03 1.09351272e+02] [ 7.17801484e-01 6.96207502e-01 -7.49292377e-03 -1.63090442e+02] [-1.03197858e-02 -1.22042887e-04 -9.99946742e-01 -4.01821072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters 0.013642908808338563 Centerline is valid? [True, True] Translation: X:109.34, Y:-163.06, Z:-4.02 [[-7.52422163e-01 6.58647587e-01 6.65163064e-03 1.09337456e+02] [ 6.58620251e-01 7.52451552e-01 -6.00229616e-03 -1.63060962e+02] [-8.95842768e-03 -1.35362016e-04 -9.99959863e-01 -4.01946934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters 0.013857982117145893 Centerline is valid? [True, True] Translation: X:109.36, Y:-163.04, Z:-4.02 [[-7.98008738e-01 6.02613318e-01 6.26438037e-03 1.09355415e+02] [ 6.02593446e-01 7.98033315e-01 -4.89572357e-03 -1.63037007e+02] [-7.94941246e-03 -1.31955632e-04 -9.99968394e-01 -4.02050495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters 0.013861719733250786 Centerline is valid? [True, True] Translation: X:109.37, Y:-163.01, Z:-4.02 [[-8.38933815e-01 5.44201224e-01 5.92302418e-03 1.09371500e+02] [ 5.44186628e-01 8.38954715e-01 -3.98759701e-03 -1.63012998e+02] [-7.13920424e-03 -1.22099418e-04 -9.99974508e-01 -4.02023232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters 0.014331876216838456 Centerline is valid? [True, True] Translation: X:109.38, Y:-162.99, Z:-4.02 [[-8.75541320e-01 4.83104418e-01 6.12520473e-03 1.09381866e+02] [ 4.83091603e-01 8.75562737e-01 -3.52089330e-03 -1.62985240e+02] [-7.06396013e-03 -1.23652592e-04 -9.99975042e-01 -4.01982553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters 0.014319715768352932 Centerline is valid? [True, True] Translation: X:109.39, Y:-162.96, Z:-4.02 [[-9.07661799e-01 4.19641483e-01 7.14737339e-03 1.09394946e+02] [ 4.19627243e-01 9.07689928e-01 -3.45990342e-03 -1.62961545e+02] [-7.93951784e-03 -1.41189576e-04 -9.99968472e-01 -4.01987253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters 0.014101489886748494 Centerline is valid? [True, True] Translation: X:109.41, Y:-162.94, Z:-4.02 [[-9.34910405e-01 3.54755651e-01 9.53742046e-03 1.09405725e+02] [ 3.54735240e-01 9.34959034e-01 -3.80968426e-03 -1.62936090e+02] [-1.02686044e-02 -1.78454326e-04 -9.99947261e-01 -4.01753719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters 0.014521296884433718 Centerline is valid? [True, True] Translation: X:109.41, Y:-162.91, Z:-4.02 [[-9.57476937e-01 2.88314308e-01 1.06195361e-02 1.09414473e+02] [ 2.88294422e-01 9.57535809e-01 -3.39126107e-03 -1.62910610e+02] [-1.11463352e-02 -1.85501231e-04 -9.99937861e-01 -4.01573288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters 0.014548193177593677 Centerline is valid? [True, True] Translation: X:109.42, Y:-162.88, Z:-4.01 [[-9.75281510e-01 2.20680520e-01 1.12287143e-02 1.09418769e+02] [ 2.20663757e-01 9.75346131e-01 -2.72597603e-03 -1.62884241e+02] [-1.15534529e-02 -1.80823734e-04 -9.99933240e-01 -4.01493836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters 0.013277837600689898 Centerline is valid? [True, True] Translation: X:109.56, Y:-162.27, Z:-5.02 [[-9.49816659e-01 -3.12594061e-01 1.15441109e-02 1.09563812e+02] [ 3.12573786e-01 -9.49886785e-01 -3.56704586e-03 -1.62274042e+02] [ 1.20806357e-02 2.20346864e-04 9.99927002e-01 -5.02346023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters 0.012553892081056879 Centerline is valid? [True, True] Translation: X:109.38, Y:-162.89, Z:-4.02 [[-9.74123494e-01 2.25724593e-01 1.14816131e-02 1.09376125e+02] [ 2.25707953e-01 9.74191153e-01 -2.74190822e-03 -1.62885016e+02] [-1.18042021e-02 -7.94658119e-05 -9.99930325e-01 -4.01677337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters 0.01250530102415289 Centerline is valid? [True, True] Translation: X:109.39, Y:-162.87, Z:-4.02 [[-9.85771503e-01 1.67770545e-01 1.03725160e-02 1.09385673e+02] [ 1.67761834e-01 9.85826071e-01 -1.71052533e-03 -1.62869416e+02] [-1.05124725e-02 5.39251827e-05 -9.99944741e-01 -4.01793412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters 0.013802444560761221 Centerline is valid? [True, True] Translation: X:109.39, Y:-162.85, Z:-4.02 [[-9.94304524e-01 1.06200344e-01 8.94428562e-03 1.09391302e+02] [ 1.06197182e-01 9.94344745e-01 -8.29037451e-04 -1.62851577e+02] [-8.98174747e-03 1.25542241e-04 -9.99959655e-01 -4.01922637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters 0.01507743151959901 Centerline is valid? [True, True] Translation: X:109.40, Y:-162.83, Z:-4.02 [[-9.99038557e-01 4.31658121e-02 7.65988268e-03 1.09395443e+02] [ 4.31658287e-02 9.99067908e-01 -1.63231405e-04 -1.62830746e+02] [-7.65978898e-03 1.67570716e-04 -9.99970649e-01 -4.02017639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters 0.017175291782340837 Centerline is valid? [True, True] Translation: X:109.39, Y:-162.81, Z:-4.02 [[-9.99775318e-01 -1.97359600e-02 7.73346268e-03 1.09394709e+02] [-1.97335625e-02 9.99805200e-01 3.86204997e-04 -1.62810805e+02] [-7.73957833e-03 2.33509454e-04 -9.99970022e-01 -4.02014351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters 0.018087171286189144 Centerline is valid? [True, True] Translation: X:109.39, Y:-162.79, Z:-4.02 [[-9.95991372e-01 -8.90182898e-02 8.77106662e-03 1.09388554e+02] [-8.90123338e-02 9.96029951e-01 1.06787874e-03 -1.62786392e+02] [-8.83130580e-03 2.82864898e-04 -9.99960963e-01 -4.01902336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters 0.017665427750608816 Centerline is valid? [True, True] Translation: X:109.38, Y:-162.76, Z:-4.02 [[-9.86586064e-01 -1.62890307e-01 1.07091930e-02 1.09375363e+02] [-1.62877234e-01 9.86644135e-01 2.08765959e-03 -1.62760499e+02] [-1.09062220e-02 3.15372120e-04 -9.99940476e-01 -4.01676304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters 0.01630026977553823 Centerline is valid? [True, True] Translation: X:109.35, Y:-162.73, Z:-4.02 [[-9.71198200e-01 -2.38008560e-01 1.12242000e-02 1.09351051e+02] [-2.37989367e-01 9.71263017e-01 3.03516990e-03 -1.62734908e+02] [-1.16240468e-02 2.76511284e-04 -9.99932400e-01 -4.01550167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters 0.014561325855242321 Centerline is valid? [True, True] Translation: X:109.32, Y:-162.71, Z:-4.02 [[-9.49695198e-01 -3.12961277e-01 1.15875181e-02 1.09317344e+02] [-3.12935175e-01 9.49765862e-01 4.04773353e-03 -1.62712575e+02] [-1.22722129e-02 2.17971100e-04 -9.99924670e-01 -4.01516657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters 0.012989494448500725 Centerline is valid? [True, True] Translation: X:109.06, Y:-162.07, Z:-5.02 [[-9.61692591e-01 2.73893216e-01 1.13959014e-02 1.09058226e+02] [-2.73877015e-01 -9.61760077e-01 2.98917880e-03 -1.62068274e+02] [ 1.17788388e-02 -2.46404366e-04 9.99930597e-01 -5.02371489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters 0.012310451289246677 Centerline is valid? [True, True] Translation: X:109.17, Y:-162.75, Z:-4.02 [[-9.42011119e-01 -3.35453766e-01 9.26407812e-03 1.09166522e+02] [-3.35437446e-01 9.42056671e-01 3.30895763e-03 -1.62754464e+02] [-9.83728889e-03 9.55617738e-06 -9.99951613e-01 -4.01802851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters 0.012205832421003352 Centerline is valid? [True, True] Translation: X:109.12, Y:-162.74, Z:-4.02 [[-9.14312337e-01 -4.04929219e-01 8.07951919e-03 1.09121830e+02] [-4.04913529e-01 9.14348034e-01 3.56465611e-03 -1.62741129e+02] [-8.83092590e-03 -1.22975715e-05 -9.99961007e-01 -4.01836295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters 0.012344703191446812 Centerline is valid? [True, True] Translation: X:109.06, Y:-162.74, Z:-4.02 [[-8.79372809e-01 -4.76088348e-01 6.58395769e-03 1.09057558e+02] [-4.76075460e-01 8.79397454e-01 3.50344944e-03 -1.62737592e+02] [-7.45786709e-03 -5.36225156e-05 -9.99972188e-01 -4.01906744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters 0.012734365501540562 Centerline is valid? [True, True] Translation: X:108.99, Y:-162.74, Z:-4.02 [[-8.40315428e-01 -5.42061372e-01 6.28098410e-03 1.08990051e+02] [-5.42046889e-01 8.40338898e-01 3.96315713e-03 -1.62742730e+02] [-7.42642965e-03 -7.42858134e-05 -9.99972421e-01 -4.01817721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters 0.013624157900340637 Centerline is valid? [True, True] Translation: X:108.91, Y:-162.76, Z:-4.02 [[-7.95508755e-01 -6.05907047e-01 6.51692246e-03 1.08912937e+02] [-6.05887867e-01 7.95535441e-01 4.82243487e-03 -1.62759365e+02] [-8.10639006e-03 -1.12235086e-04 -9.99967136e-01 -4.01654544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters 0.013589702479436168 Centerline is valid? [True, True] Translation: X:108.84, Y:-162.79, Z:-4.02 [[-7.46974383e-01 -6.64812447e-01 7.32679215e-03 1.08835962e+02] [-6.64782415e-01 7.47010300e-01 6.32082632e-03 -1.62786258e+02] [-9.67535322e-03 -1.49227234e-04 -9.99953182e-01 -4.01560168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters 0.01399535411645483 Centerline is valid? [True, True] Translation: X:108.75, Y:-162.83, Z:-4.01 [[-6.94877600e-01 -7.19078984e-01 8.39860706e-03 1.08749847e+02] [-7.19029700e-01 6.94928328e-01 8.42078253e-03 -1.62830192e+02] [-1.18916377e-02 -1.87434761e-04 -9.99929274e-01 -4.01305320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters 0.01382664896882786 Centerline is valid? [True, True] Translation: X:108.67, Y:-162.87, Z:-4.01 [[-6.38972304e-01 -7.69184099e-01 8.37959612e-03 1.08674388e+02] [-7.69121972e-01 6.39027217e-01 9.77798042e-03 -1.62874694e+02] [-1.28758570e-02 -1.97072819e-04 -9.99917083e-01 -4.01255261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters 0.013464139039032156 Centerline is valid? [True, True] Translation: X:108.60, Y:-162.93, Z:-4.01 [[-5.79686685e-01 -8.14800262e-01 7.99252346e-03 1.08597637e+02] [-8.14727405e-01 5.79741749e-01 1.08977489e-02 -1.62932399e+02] [-1.35130882e-02 -1.94447937e-04 -9.99908675e-01 -4.01250184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters 0.013133225469232278 Centerline is valid? [True, True] Translation: X:108.52, Y:-163.01, Z:-4.01 [[-5.19418332e-01 -8.54492517e-01 6.86548954e-03 1.08522127e+02] [-8.54421371e-01 5.19463684e-01 1.10272822e-02 -1.63005989e+02] [-1.29891026e-02 -1.38248453e-04 -9.99915629e-01 -4.01259297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters 0.012457668250901607 Centerline is valid? [True, True] Translation: X:108.45, Y:-163.08, Z:-4.01 [[-4.55805583e-01 -8.90064079e-01 5.21591436e-03 1.08454742e+02] [-8.90007855e-01 4.55835419e-01 1.00044440e-02 -1.63080283e+02] [-1.12821947e-02 -8.21233381e-05 -9.99936351e-01 -4.01484063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters 0.012195494523450498 Centerline is valid? [True, True] Translation: X:108.39, Y:-163.17, Z:-4.02 [[-3.90041498e-01 -9.20790046e-01 3.64971288e-03 1.08388480e+02] [-9.20750508e-01 3.90058572e-01 8.53304334e-03 -1.63167838e+02] [-9.28074317e-03 -3.22339835e-05 -9.99956933e-01 -4.01699034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters 0.01214849004995454 Centerline is valid? [True, True] Translation: X:108.33, Y:-163.26, Z:-4.02 [[-3.23729205e-01 -9.46147007e-01 2.28969994e-03 1.08328586e+02] [-9.46123013e-01 3.23737302e-01 6.73825480e-03 -1.63264588e+02] [-7.11664090e-03 1.50320646e-05 -9.99974676e-01 -4.01825713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters 0.012471935444454166 Centerline is valid? [True, True] Translation: X:108.28, Y:-163.36, Z:-4.02 [[-2.53837185e-01 -9.67245700e-01 1.56151584e-03 1.08276113e+02] [-9.67226485e-01 2.53841986e-01 6.09703127e-03 -1.63358112e+02] [-6.29370557e-03 3.73137816e-05 -9.99980194e-01 -4.01815294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters 0.013081988482448256 Centerline is valid? [True, True] Translation: X:108.23, Y:-163.47, Z:-4.02 [[-1.82936014e-01 -9.83124181e-01 1.12202124e-03 1.08229185e+02] [-9.83103423e-01 1.82939443e-01 6.38904196e-03 -1.63465093e+02] [-6.48648359e-03 6.57229476e-05 -9.99978960e-01 -4.01807150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters 0.01441640810806959 Centerline is valid? [True, True] Translation: X:108.19, Y:-163.57, Z:-4.02 [[-1.14188124e-01 -9.93458940e-01 6.37802547e-04 1.08190697e+02] [-9.93437360e-01 1.14189849e-01 6.54907730e-03 -1.63569689e+02] [-6.57906997e-03 1.14209976e-04 -9.99978351e-01 -4.01785755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters 0.015831235368511574 Centerline is valid? [True, True] Translation: X:108.16, Y:-163.69, Z:-4.02 [[-4.20941051e-02 -9.99113641e-01 1.34507585e-04 1.08158737e+02] [-9.99091074e-01 4.20940586e-02 6.71685857e-03 -1.63685339e+02] [-6.71656700e-03 1.48354823e-04 -9.99977433e-01 -4.01742867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters 0.0159221265654317 Centerline is valid? [True, True] Translation: X:108.13, Y:-163.80, Z:-4.02 [[ 3.07788545e-02 -9.99526149e-01 -3.73437331e-04 1.08132974e+02] [-9.99504436e-01 -3.07806481e-02 6.59041890e-03 -1.63797856e+02] [-6.59879066e-03 1.70406725e-04 -9.99978213e-01 -4.01814227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters 0.01626261319912278 Centerline is valid? [True, True] Translation: X:108.11, Y:-163.92, Z:-4.02 [[ 1.05392243e-01 -9.94430342e-01 -8.77101611e-04 1.08114884e+02] [-9.94408960e-01 -1.05395731e-01 6.52387752e-03 -1.63915366e+02] [-6.57998452e-03 1.84631618e-04 -9.99978335e-01 -4.01940718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters 0.017242107483162628 Centerline is valid? [True, True] Translation: X:108.11, Y:-164.04, Z:-4.02 [[ 1.81703182e-01 -9.83352580e-01 -1.28750890e-03 1.08108230e+02] [-9.83334160e-01 -1.81707662e-01 6.02122434e-03 -1.64037982e+02] [-6.15493672e-03 1.71975858e-04 -9.99981043e-01 -4.01905023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters 0.015412162186988182 Centerline is valid? [True, True] Translation: X:108.10, Y:-164.17, Z:-4.02 [[ 2.60798035e-01 -9.65391679e-01 -1.81406037e-03 1.08102825e+02] [-9.65372208e-01 -2.60804300e-01 6.13323717e-03 -1.64166334e+02] [-6.39409088e-03 1.51707265e-04 -9.99979546e-01 -4.02005096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters 0.01420341950684266 Centerline is valid? [True, True] Translation: X:108.11, Y:-164.29, Z:-4.02 [[ 3.38678995e-01 -9.40899659e-01 -2.09046213e-03 1.08106542e+02] [-9.40883705e-01 -3.38685429e-01 5.48031300e-03 -1.64285408e+02] [-5.86443370e-03 1.10814850e-04 -9.99982798e-01 -4.02076187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters 0.013652495772432336 Centerline is valid? [True, True] Translation: X:108.12, Y:-164.41, Z:-4.02 [[ 4.15129729e-01 -9.09759516e-01 -2.22063572e-03 1.08123463e+02] [-9.09747362e-01 -4.15135662e-01 4.70306155e-03 -1.64411194e+02] [-5.20052008e-03 6.78368186e-05 -9.99986475e-01 -4.02098658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters 0.012145245409610098 Centerline is valid? [True, True] Translation: X:108.14, Y:-164.53, Z:-4.02 [[ 4.90584808e-01 -8.71388750e-01 -2.86234372e-03 1.08139649e+02] [-8.71374254e-01 -4.90593158e-01 5.02629645e-03 -1.64529938e+02] [-5.78410442e-03 2.83479369e-05 -9.99983272e-01 -4.02112199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters 0.012063942091819227 Centerline is valid? [True, True] Translation: X:108.17, Y:-164.64, Z:-4.02 [[ 5.58697285e-01 -8.29364041e-01 -3.55418409e-03 1.08170208e+02] [-8.29347348e-01 -5.58708590e-01 5.26190076e-03 -1.64644163e+02] [-6.34978445e-03 7.84348563e-06 -9.99979840e-01 -4.02035378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters 0.011893719947659365 Centerline is valid? [True, True] Translation: X:108.21, Y:-164.75, Z:-4.02 [[ 6.21955106e-01 -7.83040529e-01 -4.40176011e-03 1.08207622e+02] [-7.83020840e-01 -6.21970682e-01 5.55293569e-03 -1.64750636e+02] [-7.08593944e-03 -7.00680964e-06 -9.99974894e-01 -4.02080261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters 0.011917102676526676 Centerline is valid? [True, True] Translation: X:108.25, Y:-164.85, Z:-4.02 [[ 6.80028666e-01 -7.33168838e-01 -4.94653950e-03 1.08248816e+02] [-7.33149318e-01 -6.80046656e-01 5.35010514e-03 -1.64850198e+02] [-7.28640802e-03 -1.16727990e-05 -9.99973454e-01 -4.02128355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters 0.0120494564564683 Centerline is valid? [True, True] Translation: X:108.30, Y:-164.94, Z:-4.02 [[ 7.33456765e-01 -6.79713128e-01 -5.58907193e-03 1.08297753e+02] [-6.79693285e-01 -7.33478060e-01 5.19368634e-03 -1.64942425e+02] [-7.62967843e-03 -1.04897226e-05 -9.99970894e-01 -4.02110873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters 0.011939793796940762 Centerline is valid? [True, True] Translation: X:108.32, Y:-164.98, Z:-4.02 [[ 7.84266101e-01 -6.20378874e-01 -7.53227782e-03 1.08317899e+02] [-6.20350110e-01 -7.84302271e-01 5.97398654e-03 -1.64975517e+02] [-9.61371765e-03 -1.25457601e-05 -9.99953787e-01 -4.02065882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters 0.011998414345599449 Centerline is valid? [True, True] Translation: X:108.34, Y:-165.01, Z:-4.02 [[ 8.30524521e-01 -5.56915625e-01 -8.60268031e-03 1.08340422e+02] [-5.56885540e-01 -8.30569074e-01 5.78873419e-03 -1.65006311e+02] [-1.03689567e-02 -1.69774172e-05 -9.99946241e-01 -4.02031048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters 0.012128399821885558 Centerline is valid? [True, True] Translation: X:108.37, Y:-165.03, Z:-4.02 [[ 8.72166104e-01 -4.89108245e-01 -9.97056246e-03 1.08365208e+02] [-4.89075838e-01 -8.72223093e-01 5.63045560e-03 -1.65034244e+02] [-1.14504571e-02 -3.43313321e-05 -9.99934441e-01 -4.01918275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters 0.012315273201240463 Centerline is valid? [True, True] Translation: X:108.39, Y:-165.06, Z:-4.02 [[ 9.08492784e-01 -4.17732979e-01 -1.18330267e-02 1.08393221e+02] [-4.17696641e-01 -9.08569840e-01 5.51012788e-03 -1.65060911e+02] [-1.30528933e-02 -6.32959161e-05 -9.99914805e-01 -4.01821766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters 0.012400011526774935 Centerline is valid? [True, True] Translation: X:108.42, Y:-165.08, Z:-4.02 [[ 9.38721082e-01 -3.44408523e-01 -1.36198055e-02 1.08423782e+02] [-3.44370938e-01 -9.38819877e-01 5.08870236e-03 -1.65083834e+02] [-1.45391366e-02 -8.66069790e-05 -9.99894297e-01 -4.01800418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters 0.012464507708784385 Centerline is valid? [True, True] Translation: X:108.46, Y:-165.10, Z:-4.02 [[ 9.62869797e-01 -2.69558424e-01 -1.48327355e-02 1.08456351e+02] [-2.69524869e-01 -9.62984032e-01 4.25427587e-03 -1.65103413e+02] [-1.54304633e-02 -9.85226698e-05 -9.99880939e-01 -4.01768895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters 0.012507979081831818 Centerline is valid? [True, True] Translation: X:108.49, Y:-165.12, Z:-4.02 [[ 9.81088302e-01 -1.93001835e-01 -1.46981417e-02 1.08491236e+02] [-1.92978611e-01 -9.81198390e-01 2.99576914e-03 -1.65119360e+02] [-1.49999819e-02 -1.02687091e-04 -9.99887489e-01 -4.01874731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters 0.01250177432081294 Centerline is valid? [True, True] Translation: X:108.53, Y:-165.13, Z:-4.02 [[ 9.93167236e-01 -1.15864131e-01 -1.39407473e-02 1.08526297e+02] [-1.15851402e-01 -9.93265068e-01 1.71986704e-03 -1.65132427e+02] [-1.40461282e-02 -9.30604683e-05 -9.99901344e-01 -4.01991593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters 0.01250787471915773 Centerline is valid? [True, True] Translation: X:108.56, Y:-165.14, Z:-4.02 [[ 9.99167050e-01 -3.87756746e-02 -1.27143089e-02 1.08558711e+02] [-3.87716284e-02 -9.99247938e-01 5.64665857e-04 -1.65139337e+02] [-1.27266423e-02 -7.12410577e-05 -9.99919011e-01 -4.02056275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters 0.012290096552898101 Centerline is valid? [True, True] Translation: X:108.59, Y:-165.15, Z:-4.02 [[ 9.99176161e-01 3.87362473e-02 -1.21038027e-02 1.08592432e+02] [ 3.87341000e-02 -9.99249468e-01 -4.11863440e-04 -1.65145044e+02] [-1.21106724e-02 -5.73057730e-05 -9.99926662e-01 -4.02258186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters 0.012231215413880822 Centerline is valid? [True, True] Translation: X:108.63, Y:-165.15, Z:-4.02 [[ 9.93191362e-01 1.15858707e-01 -1.21522990e-02 1.08625918e+02] [ 1.15850601e-01 -9.93265704e-01 -1.37129014e-03 -1.65148132e+02] [-1.22293377e-02 -4.58976102e-05 -9.99925218e-01 -4.02240799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters 0.012327010664181338 Centerline is valid? [True, True] Translation: X:108.66, Y:-165.15, Z:-4.02 [[ 9.81086523e-01 1.93169633e-01 -1.24389592e-02 1.08659343e+02] [ 1.93154709e-01 -9.81165374e-01 -2.40161086e-03 -1.65148871e+02] [-1.26685943e-02 -4.64554984e-05 -9.99919749e-01 -4.02200204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters 0.012374898272359497 Centerline is valid? [True, True] Translation: X:108.69, Y:-165.15, Z:-4.02 [[ 9.62760678e-01 2.70059196e-01 -1.26454695e-02 1.08692363e+02] [ 2.70036678e-01 -9.62843719e-01 -3.48783192e-03 -1.65147274e+02] [-1.31175320e-02 -5.67931494e-05 -9.99913960e-01 -4.02151722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters 0.012405379501076636 Centerline is valid? [True, True] Translation: X:108.73, Y:-165.15, Z:-4.02 [[ 9.38220563e-01 3.45794878e-01 -1.29644925e-02 1.08726668e+02] [ 3.45763004e-01 -9.38310128e-01 -4.69564858e-03 -1.65146347e+02] [-1.37884459e-02 -7.70878314e-05 -9.99904932e-01 -4.02108739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters 0.012703940836389335 Centerline is valid? [True, True] Translation: X:108.76, Y:-165.14, Z:-4.02 [[ 9.07691738e-01 4.19422057e-01 -1.34479444e-02 1.08759750e+02] [ 4.19377708e-01 -9.07791346e-01 -6.10002120e-03 -1.65141921e+02] [-1.47664110e-02 -1.02829264e-04 -9.99890965e-01 -4.01965743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters 0.01290831132507467 Centerline is valid? [True, True] Translation: X:108.79, Y:-165.13, Z:-4.02 [[ 8.71420972e-01 4.90363373e-01 -1.30097284e-02 1.08792381e+02] [ 4.90310845e-01 -8.71518071e-01 -7.17829720e-03 -1.65132833e+02] [-1.48581874e-02 -1.23492218e-04 -9.99889603e-01 -4.01929513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters 0.012904380313516154 Centerline is valid? [True, True] Translation: X:108.82, Y:-165.12, Z:-4.02 [[ 8.29196388e-01 5.58828527e-01 -1.20011404e-02 1.08824602e+02] [ 5.58772604e-01 -8.29283218e-01 -7.90710244e-03 -1.65121541e+02] [-1.43710587e-02 -1.49367688e-04 -9.99896720e-01 -4.02101626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters 0.013216914210232527 Centerline is valid? [True, True] Translation: X:108.86, Y:-165.11, Z:-4.02 [[ 7.81667795e-01 6.23607746e-01 -1.04325040e-02 1.08856327e+02] [ 6.23555006e-01 -7.81737393e-01 -8.11188759e-03 -1.65108943e+02] [-1.32141144e-02 -1.64438781e-04 -9.99912676e-01 -4.02180225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters 0.013472950706985261 Centerline is valid? [True, True] Translation: X:108.89, Y:-165.09, Z:-4.02 [[ 7.28610440e-01 6.84870805e-01 -8.87739353e-03 1.08887092e+02] [ 6.84822994e-01 -7.28664496e-01 -8.09436454e-03 -1.65094872e+02] [-1.20122354e-02 -1.81804711e-04 -9.99927834e-01 -4.02272292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters 0.014439339202824582 Centerline is valid? [True, True] Translation: X:108.92, Y:-165.08, Z:-4.02 [[ 6.69556641e-01 7.42720874e-01 -7.72066515e-03 1.08915588e+02] [ 7.42675247e-01 -6.69601117e-01 -8.23541934e-03 -1.65077815e+02] [-1.12863839e-02 -2.19867186e-04 -9.99936283e-01 -4.02280114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters 0.015260469906781137 Centerline is valid? [True, True] Translation: X:108.94, Y:-165.06, Z:-4.02 [[ 6.07691743e-01 7.94142584e-01 -6.94994697e-03 1.08942231e+02] [ 7.94095113e-01 -6.07731436e-01 -8.68635332e-03 -1.65058014e+02] [-1.11219043e-02 -2.40293737e-04 -9.99938121e-01 -4.02236344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters 0.015844524204134954 Centerline is valid? [True, True] Translation: X:108.97, Y:-165.04, Z:-4.02 [[ 5.40746011e-01 8.41161937e-01 -6.35199131e-03 1.08966643e+02] [ 8.41109945e-01 -5.40783243e-01 -9.35654897e-03 -1.65036511e+02] [-1.13054233e-02 -2.83206530e-04 -9.99936052e-01 -4.02230934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters 0.017075400952397058 Centerline is valid? [True, True] Translation: X:108.99, Y:-165.01, Z:-4.02 [[ 4.71670130e-01 8.81756250e-01 -5.76232874e-03 1.08989644e+02] [ 8.81698327e-01 -4.71705225e-01 -1.01114576e-02 -1.65014449e+02] [-1.16339615e-02 -3.11363103e-04 -9.99932275e-01 -4.02068695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters 0.01670510592657633 Centerline is valid? [True, True] Translation: X:109.01, Y:-164.99, Z:-4.02 [[ 4.01029643e-01 9.16050067e-01 -5.24397806e-03 1.09009434e+02] [ 9.15982259e-01 -4.01063791e-01 -1.11506321e-02 -1.64989525e+02] [-1.23177070e-02 -3.31656850e-04 -9.99924079e-01 -4.02046297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters 0.016362991642438544 Centerline is valid? [True, True] Translation: X:109.02, Y:-164.96, Z:-4.02 [[ 3.29227389e-01 9.44240497e-01 -4.38288313e-03 1.09024667e+02] [ 9.44169269e-01 -3.29256407e-01 -1.16021818e-02 -1.64961859e+02] [-1.23983423e-02 -3.18427528e-04 -9.99923087e-01 -4.02004224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters 0.01582058976162065 Centerline is valid? [True, True] Translation: X:109.04, Y:-164.93, Z:-4.02 [[ 2.55749215e-01 9.66737760e-01 -3.23150024e-03 1.09038035e+02] [ 9.66673833e-01 -2.55769477e-01 -1.11209778e-02 -1.64934088e+02] [-1.15775883e-02 -2.79625382e-04 -9.99932938e-01 -4.02059123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters 0.015148037089010875 Centerline is valid? [True, True] Translation: X:109.05, Y:-164.91, Z:-4.02 [[ 1.82245021e-01 9.83251020e-01 -2.04531982e-03 1.09047581e+02] [ 9.83201539e-01 -1.82256373e-01 -9.86650268e-03 -1.64905002e+02] [-1.00740214e-02 -2.12840610e-04 -9.99949233e-01 -4.02093567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters 0.014771457326687684 Centerline is valid? [True, True] Translation: X:109.06, Y:-164.88, Z:-4.02 [[ 1.06224113e-01 9.94341412e-01 -1.26239775e-03 1.09056168e+02] [ 9.94291508e-01 -1.06231431e-01 -9.96390885e-03 -1.64876773e+02] [-1.00416335e-02 -1.96783992e-04 -9.99949562e-01 -4.02069846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters 0.014458275377856425 Centerline is valid? [True, True] Translation: X:109.06, Y:-164.85, Z:-4.02 [[ 3.04948993e-02 9.99534785e-01 -5.24888708e-04 1.09061119e+02] [ 9.99474095e-01 -3.04988327e-02 -1.10161530e-02 -1.64848666e+02] [-1.10270366e-02 -1.88676191e-04 -9.99939183e-01 -4.01920690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters 0.014522370322748675 Centerline is valid? [True, True] Translation: X:109.07, Y:-164.82, Z:-4.02 [[-4.87134917e-02 9.98812735e-01 3.40881156e-04 1.09071612e+02] [ 9.98751366e-01 4.87142780e-02 -1.10737446e-02 -1.64820150e+02] [-1.10772029e-02 -1.98985246e-04 -9.99938626e-01 -4.01845564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters 0.014841558404078027 Centerline is valid? [True, True] Translation: X:109.08, Y:-164.79, Z:-4.02 [[-1.27040739e-01 9.91896686e-01 1.27082231e-03 1.09080048e+02] [ 9.91828944e-01 1.27046917e-01 -1.15942966e-02 -1.64789936e+02] [-1.16617984e-02 -2.12509661e-04 -9.99931976e-01 -4.01664890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters 0.014656284505784435 Centerline is valid? [True, True] Translation: X:109.08, Y:-164.76, Z:-4.02 [[-2.03914998e-01 9.78986155e-01 2.18658807e-03 1.09084343e+02] [ 9.78918402e-01 2.03926614e-01 -1.15194975e-02 -1.64759995e+02] [-1.17233321e-02 -2.08507020e-04 -9.99931258e-01 -4.01616811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters 0.015185248998938397 Centerline is valid? [True, True] Translation: X:109.08, Y:-164.73, Z:-4.02 [[-2.79469211e-01 9.60150425e-01 2.84971424e-03 1.09081804e+02] [ 9.60093488e-01 2.79483678e-01 -1.04578939e-02 -1.64731980e+02] [-1.08375999e-02 -1.86667288e-04 -9.99941254e-01 -4.01648793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters 0.014933174447777756 Centerline is valid? [True, True] Translation: X:109.07, Y:-164.70, Z:-4.02 [[-3.53558263e-01 9.35407495e-01 3.06171537e-03 1.09073794e+02] [ 9.35368590e-01 3.53571486e-01 -8.53263795e-03 -1.64703791e+02] [-9.06402874e-03 -1.52952256e-04 -9.99958909e-01 -4.01714730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters 0.014271446350194707 Centerline is valid? [True, True] Translation: X:109.07, Y:-164.67, Z:-4.02 [[-4.24994294e-01 9.05188905e-01 3.59105338e-03 1.09067234e+02] [ 9.05153757e-01 4.25009442e-01 -7.97810588e-03 -1.64674529e+02] [-8.74792452e-03 -1.40194013e-04 -9.99961726e-01 -4.01682968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters 0.014726926705223698 Centerline is valid? [True, True] Translation: X:109.06, Y:-164.65, Z:-4.02 [[-4.93352644e-01 8.69818533e-01 4.34615480e-03 1.09059162e+02] [ 8.69782393e-01 4.93371769e-01 -7.93005274e-03 -1.64646952e+02] [-9.04197692e-03 -1.32103557e-04 -9.99959112e-01 -4.01511509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters 0.013273876158998232 Centerline is valid? [True, True] Translation: X:109.05, Y:-164.62, Z:-4.02 [[-5.57977384e-01 8.29843247e-01 4.62861284e-03 1.09046177e+02] [ 8.29813145e-01 5.57996572e-01 -7.06894234e-03 -1.64620232e+02] [-8.44886416e-03 -1.03426177e-04 -9.99964302e-01 -4.01729504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters 0.013214672088223441 Centerline is valid? [True, True] Translation: X:109.04, Y:-164.59, Z:-4.02 [[-6.20768514e-01 7.83981920e-01 4.33617643e-03 1.09036090e+02] [ 7.83961861e-01 6.20783652e-01 -5.60869362e-03 -1.64592497e+02] [-7.08894183e-03 -8.23034591e-05 -9.99974870e-01 -4.01818972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters 0.013507215037518594 Centerline is valid? [True, True] Translation: X:109.03, Y:-164.56, Z:-4.02 [[-6.81138115e-01 7.32144185e-01 3.96988949e-03 1.09025668e+02] [ 7.32131102e-01 6.81149680e-01 -4.37759877e-03 -1.64563958e+02] [-5.90912244e-03 -7.52698108e-05 -9.99982538e-01 -4.01838230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters 0.014017016856284807 Centerline is valid? [True, True] Translation: X:109.01, Y:-164.54, Z:-4.02 [[-7.38189490e-01 6.74579634e-01 4.31214937e-03 1.09013116e+02] [ 6.74567398e-01 7.38202079e-01 -4.06412914e-03 -1.64535504e+02] [-5.92481638e-03 -9.12620332e-05 -9.99982444e-01 -4.01690217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters 0.014239022139340961 Centerline is valid? [True, True] Translation: X:109.04, Y:-164.52, Z:-4.02 [[-7.83958478e-01 6.20791564e-01 5.19031555e-03 1.09040740e+02] [ 6.20777088e-01 7.83975652e-01 -4.24071802e-03 -1.64523070e+02] [-6.70168299e-03 -1.02517874e-04 -9.99977538e-01 -4.01590774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters 0.013673671435254815 Centerline is valid? [True, True] Translation: X:109.47, Y:-164.00, Z:-5.02 [[-7.20090272e-01 -6.93865343e-01 4.57009900e-03 1.09470924e+02] [ 6.93851996e-01 -7.20104770e-01 -4.30438664e-03 -1.64003181e+02] [ 6.27761480e-03 7.14253665e-05 9.99980293e-01 -5.02304819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters 0.013587597069228331 Centerline is valid? [True, True] Translation: X:109.01, Y:-164.50, Z:-4.02 [[-7.84848269e-01 6.19674947e-01 4.01943662e-03 1.09007715e+02] [ 6.19666374e-01 7.84858558e-01 -3.26025132e-03 -1.64498913e+02] [-5.17498529e-03 -6.80928845e-05 -9.99986607e-01 -4.01666542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters 0.013388238490032808 Centerline is valid? [True, True] Translation: X:109.03, Y:-164.48, Z:-4.02 [[-8.26064754e-01 5.63562808e-01 3.73934764e-03 1.09026059e+02] [ 5.63556734e-01 8.26073216e-01 -2.61714209e-03 -1.64479755e+02] [-4.56389888e-03 -5.45942922e-05 -9.99989584e-01 -4.01589146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters 0.013035331088409916 Centerline is valid? [True, True] Translation: X:109.04, Y:-164.46, Z:-4.01 [[-8.63264040e-01 5.04729738e-01 4.80505762e-03 1.09041902e+02] [ 5.04721529e-01 8.63277411e-01 -2.87932461e-03 -1.64459728e+02] [-5.60137846e-03 -6.04013629e-05 -9.99984310e-01 -4.01487527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters 0.01305657537122654 Centerline is valid? [True, True] Translation: X:109.06, Y:-164.44, Z:-4.01 [[-8.96381324e-01 4.43246013e-01 5.78735668e-03 1.09055492e+02] [ 4.43236314e-01 8.96400004e-01 -2.93298523e-03 -1.64436718e+02] [-6.48782056e-03 -6.39065428e-05 -9.99978952e-01 -4.01267396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters 0.013238678749314493 Centerline is valid? [True, True] Translation: X:109.07, Y:-164.41, Z:-4.01 [[-9.25637311e-01 3.78367287e-01 5.81071929e-03 1.09066060e+02] [ 3.78359397e-01 9.25655547e-01 -2.44438982e-03 -1.64411452e+02] [-6.30360169e-03 -6.40781739e-05 -9.99980130e-01 -4.01238330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters 0.013273577122492249 Centerline is valid? [True, True] Translation: X:109.07, Y:-164.39, Z:-4.01 [[-9.50331252e-01 3.11186317e-01 5.79538738e-03 1.09074743e+02] [ 3.11180104e-01 9.50348921e-01 -1.96751504e-03 -1.64385159e+02] [-6.11990390e-03 -6.63817826e-05 -9.99981271e-01 -4.01266498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters 0.013119367845871662 Centerline is valid? [True, True] Translation: X:109.07, Y:-164.36, Z:-4.01 [[-9.69823624e-01 2.43729833e-01 6.15680068e-03 1.09069871e+02] [ 2.43724498e-01 9.69843165e-01 -1.61398322e-03 -1.64355899e+02] [-6.36450691e-03 -6.47159052e-05 -9.99979744e-01 -4.01262053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters 0.012840727931431708 Centerline is valid? [True, True] Translation: X:109.09, Y:-164.34, Z:-4.01 [[-9.84138936e-01 1.77290731e-01 6.20904978e-03 1.09091118e+02] [ 1.77286912e-01 9.84158521e-01 -1.16446323e-03 -1.64335522e+02] [-6.31713779e-03 -4.52103434e-05 -9.99980046e-01 -4.01313385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters 0.012633104842976693 Centerline is valid? [True, True] Translation: X:109.09, Y:-164.31, Z:-4.01 [[-9.93959220e-01 1.09521819e-01 7.07391543e-03 1.09087697e+02] [ 1.09518808e-01 9.93984391e-01 -8.12813285e-04 -1.64308808e+02] [-7.12038232e-03 -3.31764746e-05 -9.99974649e-01 -4.01283506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters 0.012472592278793937 Centerline is valid? [True, True] Translation: X:109.18, Y:-163.63, Z:-5.03 [[-9.83111734e-01 -1.82846273e-01 7.65236779e-03 1.09177622e+02] [ 1.82841335e-01 -9.83141513e-01 -1.34583741e-03 -1.63627496e+02] [ 7.76944180e-03 7.60605980e-05 9.99969815e-01 -5.02672516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters 0.0125285496442261 Centerline is valid? [True, True] Translation: X:109.04, Y:-164.31, Z:-4.01 [[-9.94001732e-01 1.09044683e-01 8.35553407e-03 1.09041505e+02] [ 1.09040742e-01 9.94036849e-01 -9.27180032e-04 -1.64305954e+02] [-8.40681281e-03 -1.05249245e-05 -9.99964662e-01 -4.01249403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters 0.012528684879337112 Centerline is valid? [True, True] Translation: X:109.12, Y:-163.62, Z:-5.03 [[-9.83909368e-01 -1.78427794e-01 9.26706336e-03 1.09122943e+02] [ 1.78420604e-01 -9.83953005e-01 -1.60352233e-03 -1.63622368e+02] [ 9.40446779e-03 7.57143980e-05 9.99955774e-01 -5.02705411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters 0.012670104796281027 Centerline is valid? [True, True] Translation: X:109.00, Y:-164.30, Z:-4.01 [[-9.94557837e-01 1.03606112e-01 1.09764391e-02 1.08995527e+02] [ 1.03599464e-01 9.94618406e-01 -1.17400442e-03 -1.64299439e+02] [-1.10390024e-02 -3.04620845e-05 -9.99939068e-01 -4.01209154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters 0.012659893205586055 Centerline is valid? [True, True] Translation: X:108.99, Y:-164.27, Z:-4.01 [[-9.99432191e-01 3.18345352e-02 1.10389542e-02 1.08991790e+02] [ 3.18321460e-02 9.99493152e-01 -3.92118847e-04 -1.64271145e+02] [-1.10458420e-02 -4.05025975e-05 -9.99938992e-01 -4.01179473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters 0.012971881930989628 Centerline is valid? [True, True] Translation: X:108.99, Y:-164.24, Z:-4.01 [[-9.99006405e-01 -4.28644225e-02 1.22002033e-02 1.08986276e+02] [-4.28623096e-02 9.99080894e-01 4.34732123e-04 -1.64240546e+02] [-1.22076246e-02 -8.86287161e-05 -9.99925480e-01 -4.01082872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters 0.013233820221396271 Centerline is valid? [True, True] Translation: X:108.96, Y:-163.57, Z:-5.03 [[-9.99030134e-01 -4.21174294e-02 1.28418496e-02 1.08964621e+02] [ 4.21157134e-02 -9.99112658e-01 -4.04145950e-04 -1.63567804e+02] [ 1.28474760e-02 1.37089673e-04 9.99917458e-01 -5.02921275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters 0.013708149883723248 Centerline is valid? [True, True] Translation: X:108.91, Y:-164.24, Z:-4.01 [[-9.98500803e-01 -5.31755590e-02 1.29810143e-02 1.08914017e+02] [-5.31732768e-02 9.98585165e-01 5.21126703e-04 -1.64237923e+02] [-1.29903595e-02 -1.69897637e-04 -9.99915607e-01 -4.00915753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters 0.01421019315272314 Centerline is valid? [True, True] Translation: X:108.91, Y:-164.21, Z:-4.01 [[-9.91872527e-01 -1.26679988e-01 1.18773281e-02 1.08907423e+02] [-1.26673175e-01 9.91943620e-01 1.32717926e-03 -1.64210408e+02] [-1.19497669e-02 -1.88146216e-04 -9.99928581e-01 -4.01033096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters 0.014542073645338903 Centerline is valid? [True, True] Translation: X:108.84, Y:-163.55, Z:-5.03 [[-9.99599410e-01 2.59697253e-02 1.12513352e-02 1.08836256e+02] [-2.59666157e-02 -9.99662721e-01 4.22399162e-04 -1.63551769e+02] [ 1.12585099e-02 1.30070857e-04 9.99936613e-01 -5.02777452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters 0.015394829112400442 Centerline is valid? [True, True] Translation: X:108.83, Y:-164.22, Z:-4.01 [[-9.90411731e-01 -1.37697433e-01 1.11364562e-02 1.08831746e+02] [-1.37691503e-01 9.90474309e-01 1.30109840e-03 -1.64216178e+02] [-1.12095316e-02 -2.44772269e-04 -9.99937141e-01 -4.01118460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters 0.016183337522435403 Centerline is valid? [True, True] Translation: X:108.82, Y:-164.19, Z:-4.01 [[-9.77674166e-01 -2.09814600e-01 1.14480550e-02 1.08817119e+02] [-2.09803538e-01 9.77741150e-01 2.17234753e-03 -1.64189370e+02] [-1.16490247e-02 -2.77994373e-04 -9.99932109e-01 -4.01008306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters 0.016635126852274806 Centerline is valid? [True, True] Translation: X:108.81, Y:-164.16, Z:-4.01 [[-9.59533125e-01 -2.81374388e-01 1.11640498e-02 1.08805145e+02] [-2.81359012e-01 9.59598021e-01 2.95718925e-03 -1.64164826e+02] [-1.15450774e-02 -3.03584994e-04 -9.99933307e-01 -4.01029368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters 0.01700060724001127 Centerline is valid? [True, True] Translation: X:108.63, Y:-163.53, Z:-5.03 [[-9.86463834e-01 1.63602588e-01 1.11039398e-02 1.08633192e+02] [-1.63589015e-01 -9.86526287e-01 2.12603505e-03 -1.63533155e+02] [ 1.13021534e-02 2.80774118e-04 9.99936089e-01 -5.02830443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters 0.017161064972538182 Centerline is valid? [True, True] Translation: X:108.70, Y:-164.19, Z:-4.01 [[-9.57646200e-01 -2.87766773e-01 1.01999937e-02 1.08701014e+02] [-2.87753581e-01 9.57700478e-01 2.76978300e-03 -1.64193848e+02] [-1.05655903e-02 -2.82612541e-04 -9.99944143e-01 -4.01164607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters 0.017702374580396613 Centerline is valid? [True, True] Translation: X:108.68, Y:-164.17, Z:-4.01 [[-9.35116993e-01 -3.54214279e-01 9.40501365e-03 1.08677557e+02] [-3.54199039e-01 9.35164254e-01 3.29525633e-03 -1.64174355e+02] [-9.96245942e-03 -2.49796600e-04 -9.99950342e-01 -4.01152767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters 0.015541502701844356 Centerline is valid? [True, True] Translation: X:108.64, Y:-164.17, Z:-4.01 [[-9.07528183e-01 -4.19884367e-01 9.47186479e-03 1.08640596e+02] [-4.19864319e-01 9.07577577e-01 4.11048585e-03 -1.64165254e+02] [-1.03223808e-02 -2.46516309e-04 -9.99946692e-01 -4.01229368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters 0.01502337749750321 Centerline is valid? [True, True] Translation: X:108.58, Y:-164.17, Z:-4.01 [[-8.75225285e-01 -4.83607893e-01 1.02032364e-02 1.08580311e+02] [-4.83578338e-01 8.75284721e-01 5.35239138e-03 -1.64167357e+02] [-1.15191956e-02 -2.49515805e-04 -9.99933621e-01 -4.01152860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters 0.015055127501809932 Centerline is valid? [True, True] Translation: X:108.51, Y:-164.18, Z:-4.01 [[-8.38173099e-01 -5.45320036e-01 9.58721727e-03 1.08513980e+02] [-5.45287392e-01 8.38227898e-01 5.97091505e-03 -1.64175317e+02] [-1.12923326e-02 -2.23128335e-04 -9.99936215e-01 -4.01084887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters 0.01439726900034496 Centerline is valid? [True, True] Translation: X:108.44, Y:-164.19, Z:-4.01 [[-7.96773225e-01 -6.04223982e-01 8.11216927e-03 1.08444267e+02] [-6.04194871e-01 7.96814502e-01 5.93364540e-03 -1.64193737e+02] [-1.00491450e-02 -1.73561283e-04 -9.99949491e-01 -4.01254855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters 0.014668758807346794 Centerline is valid? [True, True] Translation: X:108.37, Y:-164.22, Z:-4.01 [[-7.49573579e-01 -6.61884657e-01 6.93904046e-03 1.08365841e+02] [-6.61858202e-01 7.49605681e-01 5.91979482e-03 -1.64221586e+02] [-9.11976551e-03 -1.55339050e-04 -9.99958402e-01 -4.01352915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters 0.014792864814870466 Centerline is valid? [True, True] Translation: X:108.28, Y:-164.26, Z:-4.01 [[-6.97686680e-01 -7.16374731e-01 6.36719770e-03 1.08281936e+02] [-7.16346904e-01 6.97715716e-01 6.31609596e-03 -1.64262341e+02] [-8.96718545e-03 -1.54466339e-04 -9.99959782e-01 -4.01400888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters 0.01435839593151971 Centerline is valid? [True, True] Translation: X:108.20, Y:-164.31, Z:-4.01 [[-6.41201630e-01 -7.67347977e-01 6.12794582e-03 1.08202868e+02] [-7.67315386e-01 6.41230890e-01 7.07416939e-03 -1.64306918e+02] [-9.35777772e-03 -1.66098166e-04 -9.99956201e-01 -4.01342422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters 0.014444952228417221 Centerline is valid? [True, True] Translation: X:108.12, Y:-164.36, Z:-4.01 [[-5.81150392e-01 -8.13777908e-01 5.45335917e-03 1.08120970e+02] [-8.13744696e-01 5.81175954e-01 7.35385767e-03 -1.64364541e+02] [-9.15376813e-03 -1.63944842e-04 -9.99958090e-01 -4.01356855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters 0.014371042487562343 Centerline is valid? [True, True] Translation: X:108.04, Y:-164.43, Z:-4.02 [[-5.17923229e-01 -8.55418291e-01 3.88293070e-03 1.08044695e+02] [-8.55396090e-01 5.17937768e-01 6.16430949e-03 -1.64430042e+02] [-7.28417955e-03 -1.28804664e-04 -9.99973462e-01 -4.01667165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters 0.014069762708209033 Centerline is valid? [True, True] Translation: X:107.97, Y:-164.51, Z:-4.02 [[-4.52385201e-01 -8.91819610e-01 2.32676725e-03 1.07969661e+02] [-8.91808732e-01 4.52391177e-01 4.40546567e-03 -1.64506335e+02] [-4.98148965e-03 -8.20638797e-05 -9.99987589e-01 -4.01849320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters 0.014130219340399784 Centerline is valid? [True, True] Translation: X:107.90, Y:-164.59, Z:-4.02 [[-3.85308037e-01 -9.22786968e-01 1.38871859e-03 1.07898936e+02] [-9.22781422e-01 3.85310537e-01 3.19954287e-03 -1.64589849e+02] [-3.48758437e-03 -4.86741300e-05 -9.99993917e-01 -4.01929150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters 0.013645625793374964 Centerline is valid? [True, True] Translation: X:107.83, Y:-164.68, Z:-4.02 [[-3.16002938e-01 -9.48757577e-01 1.09719633e-03 1.07834578e+02] [-9.48752274e-01 3.16004840e-01 3.17223042e-03 -1.64682676e+02] [-3.35639699e-03 -3.85333855e-05 -9.99994367e-01 -4.01888380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters 0.012994941783978515 Centerline is valid? [True, True] Translation: X:107.78, Y:-164.78, Z:-4.02 [[-2.46657792e-01 -9.69101998e-01 1.11847539e-03 1.07779700e+02] [-9.69092607e-01 2.46660326e-01 4.26651226e-03 -1.64779755e+02] [-4.41056906e-03 -3.15377321e-05 -9.99990273e-01 -4.01811534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters 0.012802746042866357 Centerline is valid? [True, True] Translation: X:107.73, Y:-164.88, Z:-4.02 [[-1.73979004e-01 -9.84748908e-01 9.46349859e-04 1.07729756e+02] [-9.84735116e-01 1.73981576e-01 5.21186288e-03 -1.64881125e+02] [-5.29702372e-03 -2.51492264e-05 -9.99985970e-01 -4.01702069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters 0.012740524670075177 Centerline is valid? [True, True] Translation: X:107.69, Y:-164.99, Z:-4.02 [[-9.93536295e-02 -9.95051919e-01 7.31368958e-04 1.07686999e+02] [-9.95026670e-01 9.93563186e-02 7.08859207e-03 -1.64990222e+02] [-7.12618327e-03 -2.34542687e-05 -9.99974608e-01 -4.01557509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters 0.012838308037199682 Centerline is valid? [True, True] Translation: X:107.65, Y:-165.10, Z:-4.01 [[-2.42628640e-02 -9.99705583e-01 2.45849443e-04 1.07652308e+02] [-9.99660793e-01 2.42641041e-02 9.46316846e-03 -1.65104836e+02] [-9.46634766e-03 -1.61624798e-05 -9.99955193e-01 -4.01373055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters 0.012826753637864792 Centerline is valid? [True, True] Translation: X:107.63, Y:-165.22, Z:-4.01 [[ 5.12529267e-02 -9.98685575e-01 -5.09072813e-04 1.07626838e+02] [-9.98635602e-01 -5.12554547e-02 9.99059376e-03 -1.65224039e+02] [-1.00035546e-02 -3.66893451e-06 -9.99949963e-01 -4.01364858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters 0.013011247150424824 Centerline is valid? [True, True] Translation: X:107.61, Y:-165.34, Z:-4.01 [[ 1.26219888e-01 -9.92001525e-01 -1.23075544e-03 1.07609379e+02] [-9.91955325e-01 -1.26225888e-01 9.57389704e-03 -1.65336384e+02] [-9.65267366e-03 1.24381999e-05 -9.99953412e-01 -4.01435055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters 0.012876306665313073 Centerline is valid? [True, True] Translation: X:107.60, Y:-165.46, Z:-4.02 [[ 2.00875371e-01 -9.79615296e-01 -1.71945191e-03 1.07603558e+02] [-9.79580297e-01 -2.00882728e-01 8.28075944e-03 -1.65461350e+02] [-8.45736681e-03 2.09405943e-05 -9.99964236e-01 -4.01568136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters 0.012816585084371923 Centerline is valid? [True, True] Translation: X:107.60, Y:-165.57, Z:-4.02 [[ 2.74591482e-01 -9.61558598e-01 -2.14031819e-03 1.07603659e+02] [-9.61530137e-01 -2.74599822e-01 7.39819372e-03 -1.65573550e+02] [-7.70152778e-03 2.64994654e-05 -9.99970343e-01 -4.01688201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters 0.013081087347885349 Centerline is valid? [True, True] Translation: X:107.62, Y:-165.69, Z:-4.02 [[ 3.44495953e-01 -9.38785150e-01 -2.23191353e-03 1.07617188e+02] [-9.38766248e-01 -3.44503180e-01 5.95733617e-03 -1.65693699e+02] [-6.36156004e-03 4.29668885e-05 -9.99979764e-01 -4.01815606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters 0.013201854715511042 Centerline is valid? [True, True] Translation: X:107.63, Y:-165.81, Z:-4.02 [[ 4.13663368e-01 -9.10424606e-01 -3.10719691e-03 1.07634832e+02] [-9.10400086e-01 -4.13675033e-01 6.68211945e-03 -1.65805738e+02] [-7.36893575e-03 6.46442923e-05 -9.99972847e-01 -4.01802772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters 0.013447014629979553 Centerline is valid? [True, True] Translation: X:107.66, Y:-165.92, Z:-4.02 [[ 4.81276204e-01 -8.76558100e-01 -4.37177416e-03 1.07660961e+02] [-8.76523578e-01 -4.81296051e-01 7.77997768e-03 -1.65918721e+02] [-8.92372010e-03 8.76450097e-05 -9.99960179e-01 -4.01685430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters 0.0138247460915849 Centerline is valid? [True, True] Translation: X:107.70, Y:-166.03, Z:-4.02 [[ 5.45698694e-01 -8.37965001e-01 -5.25279436e-03 1.07695143e+02] [-8.37928043e-01 -5.45723965e-01 7.87079261e-03 -1.66028611e+02] [-9.46202451e-03 1.06382444e-04 -9.99955228e-01 -4.01619429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters 0.013761828644077902 Centerline is valid? [True, True] Translation: X:107.73, Y:-166.13, Z:-4.02 [[ 6.06868508e-01 -7.94786272e-01 -5.03947290e-03 1.07734454e+02] [-7.94760280e-01 -6.06889423e-01 6.42849278e-03 -1.66133330e+02] [-8.16768062e-03 1.03923075e-04 -9.99966639e-01 -4.01720836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters 0.014539268556479865 Centerline is valid? [True, True] Translation: X:107.78, Y:-166.23, Z:-4.02 [[ 6.64992721e-01 -7.46831536e-01 -5.22858453e-03 1.07781506e+02] [-7.46809686e-01 -6.65013268e-01 5.71371641e-03 -1.66230494e+02] [-7.74426168e-03 1.05177753e-04 -9.99970007e-01 -4.01687286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters 0.013727879259431265 Centerline is valid? [True, True] Translation: X:107.83, Y:-166.33, Z:-4.02 [[ 7.20621517e-01 -6.93306708e-01 -5.51704423e-03 1.07832274e+02] [-6.93287383e-01 -7.20642629e-01 5.17734560e-03 -1.66328405e+02] [-7.56530570e-03 9.39905215e-05 -9.99971378e-01 -4.01794892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters 0.013537592531450383 Centerline is valid? [True, True] Translation: X:107.85, Y:-166.36, Z:-4.02 [[ 7.74323652e-01 -6.32755230e-01 -6.61068045e-03 1.07850140e+02] [-6.32733077e-01 -7.74351866e-01 5.29548449e-03 -1.66359692e+02] [-8.46973824e-03 8.23772941e-05 -9.99964128e-01 -4.01744630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters 0.013050683050078641 Centerline is valid? [True, True] Translation: X:107.87, Y:-166.39, Z:-4.02 [[ 8.23486793e-01 -5.67292464e-01 -6.98296079e-03 1.07869445e+02] [-5.67272595e-01 -8.23516398e-01 4.74820822e-03 -1.66392650e+02] [-8.44420546e-03 5.11555308e-05 -9.99964346e-01 -4.01727659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters 0.012768135076758634 Centerline is valid? [True, True] Translation: X:107.89, Y:-166.42, Z:-4.02 [[ 8.67799928e-01 -4.96851987e-01 -7.83506895e-03 1.07890277e+02] [-4.96831837e-01 -8.67835297e-01 4.47465546e-03 -1.66423706e+02] [-9.02279085e-03 9.60601721e-06 -9.99959294e-01 -4.01610999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters 0.012788331463005658 Centerline is valid? [True, True] Translation: X:107.92, Y:-166.45, Z:-4.02 [[ 9.05178030e-01 -4.24947257e-01 -8.51842258e-03 1.07917008e+02] [-4.24928271e-01 -9.05218111e-01 4.01697864e-03 -1.66450405e+02] [-9.41803445e-03 -1.63622320e-05 -9.99955649e-01 -4.01584245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters 0.012938859888855165 Centerline is valid? [True, True] Translation: X:107.94, Y:-166.48, Z:-4.02 [[ 9.36909285e-01 -3.49478679e-01 -8.10215039e-03 1.07943937e+02] [-3.49465179e-01 -9.36944316e-01 3.07207099e-03 -1.66478285e+02] [-8.66488706e-03 -4.68323944e-05 -9.99962458e-01 -4.01647253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters 0.013072397307951525 Centerline is valid? [True, True] Translation: X:107.97, Y:-166.50, Z:-4.02 [[ 9.61992291e-01 -2.72969830e-01 -7.63569276e-03 1.07974046e+02] [-2.72960728e-01 -9.62022592e-01 2.22996619e-03 -1.66501522e+02] [-7.95442243e-03 -6.09660224e-05 -9.99968361e-01 -4.01640756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters 0.013553505589770217 Centerline is valid? [True, True] Translation: X:108.01, Y:-166.52, Z:-4.02 [[ 9.80806405e-01 -1.94842460e-01 -7.43040080e-03 1.08006088e+02] [-1.94836294e-01 -9.80834548e-01 1.55195050e-03 -1.66520606e+02] [-7.59037966e-03 -7.44512351e-05 -9.99971190e-01 -4.01574147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters 0.01364606723097659 Centerline is valid? [True, True] Translation: X:108.04, Y:-166.54, Z:-4.02 [[ 9.93339121e-01 -1.15054355e-01 -6.31556640e-03 1.08040647e+02] [-1.15051525e-01 -9.93359195e-01 8.10705438e-04 -1.66537028e+02] [-6.36690114e-03 -7.86898804e-05 -9.99979728e-01 -4.01693832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters 0.013895984381920823 Centerline is valid? [True, True] Translation: X:108.07, Y:-166.55, Z:-4.02 [[ 9.99337004e-01 -3.57198244e-02 -7.04609846e-03 1.08072842e+02] [-3.57182597e-02 -9.99361839e-01 3.47832359e-04 -1.66549620e+02] [-7.05402642e-03 -9.59273731e-05 -9.99975116e-01 -4.01559392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters 0.014355378708136036 Centerline is valid? [True, True] Translation: X:108.11, Y:-166.56, Z:-4.01 [[ 9.98992513e-01 4.41419654e-02 -8.08990431e-03 1.08106457e+02] [ 4.41415074e-02 -9.99025261e-01 -2.35239259e-04 -1.66557620e+02] [-8.09240269e-03 -1.22098313e-04 -9.99967249e-01 -4.01362134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters 0.01411544904195855 Centerline is valid? [True, True] Translation: X:108.14, Y:-166.56, Z:-4.01 [[ 9.92530766e-01 1.21668156e-01 -8.91837761e-03 1.08139601e+02] [ 1.21664425e-01 -9.92570825e-01 -9.61698140e-04 -1.66561111e+02] [-8.96912946e-03 -1.30534295e-04 -9.99959768e-01 -4.01313659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters 0.013586109482828524 Centerline is valid? [True, True] Translation: X:108.17, Y:-166.56, Z:-4.01 [[ 9.80395542e-01 1.96812186e-01 -9.46280230e-03 1.08173338e+02] [ 1.96804186e-01 -9.80441201e-01 -1.77847724e-03 -1.66562199e+02] [-9.62774725e-03 -1.18707947e-04 -9.99953645e-01 -4.01266444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters 0.012955100938920876 Centerline is valid? [True, True] Translation: X:108.21, Y:-166.56, Z:-4.01 [[ 9.63609047e-01 2.67120825e-01 -1.02014600e-02 1.08206351e+02] [ 2.67106586e-01 -9.63663043e-01 -2.75882849e-03 -1.66558628e+02] [-1.05677105e-02 -6.64450651e-05 -9.99944158e-01 -4.01145396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters 0.012856326307574937 Centerline is valid? [True, True] Translation: X:108.24, Y:-166.55, Z:-4.01 [[ 9.41463322e-01 3.36974853e-01 -9.73454221e-03 1.08238797e+02] [ 3.36956980e-01 -9.41513648e-01 -3.47057220e-03 -1.66551985e+02] [-1.03346999e-02 -1.27055145e-05 -9.99946596e-01 -4.01183826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters 0.013153699048252313 Centerline is valid? [True, True] Translation: X:108.27, Y:-166.54, Z:-4.01 [[ 9.15534541e-01 4.02156448e-01 -8.16677317e-03 1.08269885e+02] [ 4.02139840e-01 -9.15570963e-01 -3.65535160e-03 -1.66542164e+02] [-8.94728359e-03 6.24157964e-05 -9.99959970e-01 -4.01277512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters 0.013989374571310772 Centerline is valid? [True, True] Translation: X:108.30, Y:-166.53, Z:-4.01 [[ 8.83711756e-01 4.67975689e-01 -7.23096939e-03 1.08298501e+02] [ 4.67959087e-01 -8.83741334e-01 -3.94312063e-03 -1.66530760e+02] [-8.23559113e-03 1.00784218e-04 -9.99966082e-01 -4.01282684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters 0.014882665915090838 Centerline is valid? [True, True] Translation: X:108.33, Y:-166.52, Z:-4.01 [[ 8.47763755e-01 5.30337946e-01 -6.18693707e-03 1.08327232e+02] [ 5.30322635e-01 -8.47786320e-01 -4.03225013e-03 -1.66517078e+02] [-7.38365586e-03 1.37322739e-04 -9.99972731e-01 -4.01398760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters 0.01534165124421914 Centerline is valid? [True, True] Translation: X:108.36, Y:-166.51, Z:-4.01 [[ 8.04823445e-01 5.93487535e-01 -5.63630039e-03 1.08356436e+02] [ 5.93471699e-01 -8.04843168e-01 -4.33790881e-03 -1.66505069e+02] [-7.11083267e-03 1.46265943e-04 -9.99974707e-01 -4.01427672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters 0.015174976675174427 Centerline is valid? [True, True] Translation: X:108.39, Y:-166.49, Z:-4.01 [[ 7.55264417e-01 6.55397715e-01 -5.43091816e-03 1.08385691e+02] [ 6.55379395e-01 -7.55283930e-01 -4.90251883e-03 -1.66492074e+02] [-7.31498485e-03 1.43386176e-04 -9.99973235e-01 -4.01390445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters 0.01487832384060122 Centerline is valid? [True, True] Translation: X:108.41, Y:-166.48, Z:-4.01 [[ 6.99740818e-01 7.14377475e-01 -5.25465427e-03 1.08413931e+02] [ 7.14355930e-01 -6.99760535e-01 -5.54964420e-03 -1.66476898e+02] [-7.64154050e-03 1.29619132e-04 -9.99970795e-01 -4.01373432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters 0.01404197070938284 Centerline is valid? [True, True] Translation: X:108.44, Y:-166.46, Z:-4.01 [[ 6.38826491e-01 7.69333163e-01 -5.21520146e-03 1.08443131e+02] [ 7.69306107e-01 -6.38847769e-01 -6.45310594e-03 -1.66461058e+02] [-8.29630822e-03 1.10328692e-04 -9.99965579e-01 -4.01327053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters 0.01320713823269351 Centerline is valid? [True, True] Translation: X:108.47, Y:-166.44, Z:-4.01 [[ 5.72220918e-01 8.20087050e-01 -4.52247518e-03 1.08472041e+02] [ 8.20060563e-01 -5.72238785e-01 -6.59134571e-03 -1.66444017e+02] [-7.99341296e-03 6.30023446e-05 -9.99968050e-01 -4.01362125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters 0.01311701127315546 Centerline is valid? [True, True] Translation: X:108.50, Y:-166.42, Z:-4.01 [[ 5.03758660e-01 8.63835988e-01 -3.82079535e-03 1.08495888e+02] [ 8.63810563e-01 -5.03773148e-01 -6.62778973e-03 -1.66423758e+02] [-7.65013739e-03 3.83630950e-05 -9.99970737e-01 -4.01329330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters 0.012850627271982237 Centerline is valid? [True, True] Translation: X:108.52, Y:-166.40, Z:-4.01 [[ 4.32329877e-01 9.01710794e-01 -2.91932733e-03 1.08516897e+02] [ 9.01689969e-01 -4.32339733e-01 -6.12826895e-03 -1.66399922e+02] [-6.78806746e-03 1.71055871e-05 -9.99976961e-01 -4.01389444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters 0.012741133784020656 Centerline is valid? [True, True] Translation: X:108.54, Y:-166.37, Z:-4.01 [[ 3.58402828e-01 9.33563927e-01 -2.40974834e-03 1.08536566e+02] [ 9.33542774e-01 -3.58410929e-01 -6.28443867e-03 -1.66374785e+02] [-6.73060538e-03 2.75744541e-06 -9.99977349e-01 -4.01441577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters 0.012716684282221998 Centerline is valid? [True, True] Translation: X:108.55, Y:-166.35, Z:-4.01 [[ 2.82197690e-01 9.59354643e-01 -1.77001988e-03 1.08553089e+02] [ 9.59336002e-01 -2.82203241e-01 -5.98052983e-03 -1.66347766e+02] [-6.23695440e-03 -1.03520916e-05 -9.99980550e-01 -4.01443863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters 0.01299133107925622 Centerline is valid? [True, True] Translation: X:108.57, Y:-166.32, Z:-4.01 [[ 2.02458124e-01 9.79290062e-01 -1.29700195e-03 1.08571443e+02] [ 9.79271041e-01 -2.02462275e-01 -6.10367079e-03 -1.66320579e+02] [-6.23985812e-03 -3.43787090e-05 -9.99980531e-01 -4.01451399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters 0.013165927937039848 Centerline is valid? [True, True] Translation: X:108.59, Y:-166.29, Z:-4.01 [[ 1.23058397e-01 9.92399010e-01 -9.14552869e-04 1.08585303e+02] [ 9.92374749e-01 -1.23061784e-01 -6.93932751e-03 -1.66291454e+02] [-6.99912826e-03 -5.36366523e-05 -9.99975504e-01 -4.01372995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters 0.013766295711780377 Centerline is valid? [True, True] Translation: X:108.60, Y:-166.26, Z:-4.01 [[ 4.25849780e-02 9.99092753e-01 -4.35686380e-04 1.08595129e+02] [ 9.99058546e-01 -4.25871255e-02 -8.26793760e-03 -1.66262361e+02] [-8.27899117e-03 -8.31862604e-05 -9.99965725e-01 -4.01128795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters 0.01414956390909045 Centerline is valid? [True, True] Translation: X:108.60, Y:-166.23, Z:-4.01 [[-4.04102457e-02 9.99183139e-01 2.59140343e-04 1.08603287e+02] [ 9.99132647e-01 4.04108091e-02 -1.00459221e-02 -1.66232037e+02] [-1.00481881e-02 -1.47042605e-04 -9.99949505e-01 -4.01049251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters 0.014837294148614809 Centerline is valid? [True, True] Translation: X:108.61, Y:-166.20, Z:-4.01 [[-1.21621311e-01 9.92575850e-01 1.19924382e-03 1.08609259e+02] [ 9.92509616e-01 1.21627052e-01 -1.14683429e-02 -1.66200291e+02] [-1.15290607e-02 -2.04533878e-04 -9.99933517e-01 -4.00946318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters 0.01616036704580117 Centerline is valid? [True, True] Translation: X:108.61, Y:-166.17, Z:-4.01 [[-2.02322272e-01 9.79316763e-01 2.09173536e-03 1.08611398e+02] [ 9.79251286e-01 2.02332938e-01 -1.13270153e-02 -1.66169548e+02] [-1.15159629e-02 -2.43372924e-04 -9.99933660e-01 -4.00910163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters 0.015328166819979899 Centerline is valid? [True, True] Translation: X:108.61, Y:-166.14, Z:-4.01 [[-2.78677411e-01 9.60380944e-01 2.70975448e-03 1.08608345e+02] [ 9.60327388e-01 2.78690494e-01 -1.01447495e-02 -1.66139199e+02] [-1.04980069e-02 -2.24861076e-04 -9.99944869e-01 -4.01108805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters 0.015980542095845846 Centerline is valid? [True, True] Translation: X:108.60, Y:-166.11, Z:-4.01 [[-3.52105322e-01 9.35954327e-01 3.36750188e-03 1.08604696e+02] [ 9.35905748e-01 3.52121364e-01 -9.53815863e-03 -1.66109212e+02] [-1.01130502e-02 -2.06772045e-04 -9.99948840e-01 -4.01041178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters 0.01484758047697323 Centerline is valid? [True, True] Translation: X:108.60, Y:-166.08, Z:-4.01 [[-4.23387315e-01 9.05939914e-01 4.00679852e-03 1.08596657e+02] [ 9.05894980e-01 4.23406231e-01 -9.02494660e-03 -1.66080110e+02] [-9.87256280e-03 -1.91309247e-04 -9.99951247e-01 -4.01151371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters 0.015207096999293441 Centerline is valid? [True, True] Translation: X:108.59, Y:-166.05, Z:-4.01 [[-4.93689729e-01 8.69622899e-01 5.14435582e-03 1.08589347e+02] [ 8.69571012e-01 4.93716483e-01 -9.50208072e-03 -1.66050522e+02] [-1.08030802e-02 -2.17696958e-04 -9.99941621e-01 -4.00984463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters 0.015389161575671917 Centerline is valid? [True, True] Translation: X:108.58, Y:-166.02, Z:-4.01 [[-5.61354455e-01 8.27553148e-01 6.07980104e-03 1.08579607e+02] [ 8.27499918e-01 5.61387327e-01 -9.38906388e-03 -1.66021370e+02] [-1.11830726e-02 -2.39557976e-04 -9.99937439e-01 -4.00929951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters 0.017017181549457062 Centerline is valid? [True, True] Translation: X:108.57, Y:-165.99, Z:-4.01 [[-6.26332711e-01 7.79519561e-01 7.52261021e-03 1.08568509e+02] [ 7.79457603e-01 6.26377815e-01 -9.83247158e-03 -1.65994443e+02] [-1.23766001e-02 -2.94842847e-04 -9.99923364e-01 -4.00764850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters 0.01722105147132961 Centerline is valid? [True, True] Translation: X:108.55, Y:-165.97, Z:-4.01 [[-6.84942320e-01 7.28547961e-01 8.47863039e-03 1.08552451e+02] [ 7.28486773e-01 6.84994732e-01 -9.44661207e-03 -1.65971020e+02] [-1.26901271e-02 -2.93814295e-04 -9.99919434e-01 -4.00665581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters 0.015062598306546602 Centerline is valid? [True, True] Translation: X:108.53, Y:-165.95, Z:-4.01 [[-7.37284794e-01 6.75520138e-01 9.14748707e-03 1.08534575e+02] [ 6.75464017e-01 7.37341498e-01 -8.71073774e-03 -1.65947705e+02] [-1.26291006e-02 -2.43496113e-04 -9.99920220e-01 -4.00755644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters 0.015060822559463664 Centerline is valid? [True, True] Translation: X:108.55, Y:-165.93, Z:-4.01 [[-7.81857192e-01 6.23395457e-01 8.79978187e-03 1.08554546e+02] [ 6.23353151e-01 7.81906687e-01 -7.26514032e-03 -1.65928982e+02] [-1.14096638e-02 -1.94930458e-04 -9.99934889e-01 -4.00754431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters 0.014462887850022086 Centerline is valid? [True, True] Translation: X:108.57, Y:-165.91, Z:-4.01 [[-8.23739150e-01 5.66892187e-01 9.33067555e-03 1.08566336e+02] [ 5.66853184e-01 8.23791971e-01 -6.65250345e-03 -1.65905578e+02] [-1.14577878e-02 -1.90804397e-04 -9.99934339e-01 -4.00940251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters 0.015304652661252053 Centerline is valid? [True, True] Translation: X:108.58, Y:-165.88, Z:-4.01 [[-8.63556122e-01 5.04165479e-01 9.38049340e-03 1.08584568e+02] [ 5.04132938e-01 8.63607041e-01 -5.73237629e-03 -1.65880403e+02] [-1.09911264e-02 -2.21212937e-04 -9.99939571e-01 -4.00908761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters 0.017633048571643734 Centerline is valid? [True, True] Translation: X:108.60, Y:-165.85, Z:-4.01 [[-8.99313839e-01 4.37188755e-01 1.00304975e-02 1.08596206e+02] [ 4.37158007e-01 8.99369730e-01 -5.19288273e-03 -1.65849168e+02] [-1.12913958e-02 -2.85118995e-04 -9.99936210e-01 -4.00842873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters 0.017310380651061698 Centerline is valid? [True, True] Translation: X:108.90, Y:-165.27, Z:-5.03 [[-8.40538312e-01 -5.41663450e-01 9.80066957e-03 1.08902995e+02] [ 5.41630765e-01 -8.40595394e-01 -5.95796428e-03 -1.65272672e+02] [ 1.14656092e-02 3.00446913e-04 9.99934223e-01 -5.03001996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters 0.017645618800073374 Centerline is valid? [True, True] Translation: X:108.89, Y:-165.30, Z:-5.03 [[-8.01593711e-01 -5.97803041e-01 8.89080227e-03 1.08887640e+02] [ 5.97770481e-01 -8.01642957e-01 -6.24678082e-03 -1.65298600e+02] [ 1.08615936e-02 3.07278928e-04 9.99940964e-01 -5.02910241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters 0.018255945046489495 Centerline is valid? [True, True] Translation: X:108.51, Y:-165.83, Z:-4.01 [[-8.71471036e-01 4.90376411e-01 8.31924976e-03 1.08511911e+02] [ 4.90350955e-01 8.71510698e-01 -5.00448135e-03 -1.65830874e+02] [-9.70439476e-03 -2.81908482e-04 -9.99952872e-01 -4.01066204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters 0.018645082652332952 Centerline is valid? [True, True] Translation: X:108.53, Y:-165.81, Z:-4.01 [[-9.04007555e-01 4.27450380e-01 7.51754705e-03 1.08525568e+02] [ 4.27433329e-01 9.04038778e-01 -3.82571778e-03 -1.65806854e+02] [-8.43145857e-03 -2.45227617e-04 -9.99964425e-01 -4.01150781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters 0.018301936452728745 Centerline is valid? [True, True] Translation: X:108.54, Y:-165.78, Z:-4.01 [[-9.32206409e-01 3.61838612e-01 8.00183142e-03 1.08536481e+02] [ 3.61822900e-01 9.32240716e-01 -3.38179255e-03 -1.65782961e+02] [-8.68329618e-03 -2.57282843e-04 -9.99962266e-01 -4.01192777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters 0.01860088185313362 Centerline is valid? [True, True] Translation: X:108.55, Y:-165.76, Z:-4.01 [[-9.55346610e-01 2.95326482e-01 9.75314572e-03 1.08546131e+02] [ 2.95307866e-01 9.55396346e-01 -3.32954088e-03 -1.65757020e+02] [-1.03014214e-02 -3.00684946e-04 -9.99946894e-01 -4.01043779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters 0.017470282070173537 Centerline is valid? [True, True] Translation: X:108.76, Y:-165.15, Z:-5.03 [[-9.11572483e-01 -4.11003258e-01 1.05797430e-02 1.08759170e+02] [ 4.10980641e-01 -9.11633787e-01 -4.33026412e-03 -1.65147563e+02] [ 1.14246038e-02 4.00719930e-04 9.99934657e-01 -5.02938281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters 0.016270678166004922 Centerline is valid? [True, True] Translation: X:108.50, Y:-165.75, Z:-4.01 [[-9.54115318e-01 2.99249609e-01 1.06597725e-02 1.08504121e+02] [ 2.99228110e-01 9.54174834e-01 -3.59506734e-03 -1.65749751e+02] [-1.12471092e-02 -2.40405238e-04 -9.99936720e-01 -4.00934232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters 0.014766088071676944 Centerline is valid? [True, True] Translation: X:108.51, Y:-165.73, Z:-4.01 [[-9.71621497e-01 2.36310544e-01 1.04400340e-02 1.08507086e+02] [ 2.36295023e-01 9.71677569e-01 -2.71365191e-03 -1.65728610e+02] [-1.07856115e-02 -1.69714440e-04 -9.99941819e-01 -4.01025190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters 0.013612929081307823 Centerline is valid? [True, True] Translation: X:108.51, Y:-165.71, Z:-4.01 [[-9.84348023e-01 1.75954285e-01 9.95285811e-03 1.08511701e+02] [ 1.75944621e-01 9.84398337e-01 -1.84527567e-03 -1.65710414e+02] [-1.01222611e-02 -6.52416053e-05 -9.99948767e-01 -4.01038588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters 0.013413209801077106 Centerline is valid? [True, True] Translation: X:108.65, Y:-165.04, Z:-5.03 [[-9.68273745e-01 -2.49728855e-01 9.02515264e-03 1.08651369e+02] [ 2.49718131e-01 -9.68315805e-01 -2.31438199e-03 -1.65038458e+02] [ 9.31716591e-03 1.27889358e-05 9.99956594e-01 -5.02856491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters 0.013471175016627158 Centerline is valid? [True, True] Translation: X:108.48, Y:-165.71, Z:-4.01 [[-9.83822264e-01 1.78907960e-01 9.25712367e-03 1.08476573e+02] [ 1.78900072e-01 9.83865815e-01 -1.68001862e-03 -1.65710711e+02] [-9.40833623e-03 3.26036654e-06 -9.99955741e-01 -4.01174478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters 0.013351293892567942 Centerline is valid? [True, True] Translation: X:108.60, Y:-165.03, Z:-5.03 [[-9.69164133e-01 -2.46200673e-01 1.03010436e-02 1.08599112e+02] [ 2.46187585e-01 -9.69218873e-01 -2.53966704e-03 -1.65030241e+02] [ 1.06092336e-02 7.46348459e-05 9.99943718e-01 -5.02864268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters 0.013510743441666034 Centerline is valid? [True, True] Translation: X:108.43, Y:-165.70, Z:-4.01 [[-9.85375640e-01 1.69991147e-01 1.17413003e-02 1.08425898e+02] [ 1.69978374e-01 9.85445588e-01 -2.08464544e-03 -1.65697947e+02] [-1.19247839e-02 -5.83917042e-05 -9.99928896e-01 -4.00886125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters 0.013925639978587541 Centerline is valid? [True, True] Translation: X:108.55, Y:-165.03, Z:-5.03 [[-9.68115216e-01 -2.50222470e-01 1.19014564e-02 1.08547199e+02] [ 2.50204626e-01 -9.68188364e-01 -2.98947110e-03 -1.65027274e+02] [ 1.22708844e-02 8.36469774e-05 9.99924706e-01 -5.03004185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters 0.014259309747567494 Centerline is valid? [True, True] Translation: X:108.38, Y:-165.68, Z:-4.01 [[-9.87089694e-01 1.59779965e-01 1.11489379e-02 1.08375002e+02] [ 1.59768294e-01 9.87152646e-01 -1.93553923e-03 -1.65682369e+02] [-1.13149639e-02 -1.29304043e-04 -9.99935975e-01 -4.00872017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters 0.014120781577441281 Centerline is valid? [True, True] Translation: X:108.49, Y:-165.02, Z:-5.03 [[-9.68555894e-01 -2.48656284e-01 8.33866076e-03 1.08490686e+02] [ 2.48646423e-01 -9.68591786e-01 -2.21563462e-03 -1.65023418e+02] [ 8.62768978e-03 -7.25877955e-05 9.99962778e-01 -5.02814514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters 0.014127651209231405 Centerline is valid? [True, True] Translation: X:108.33, Y:-165.67, Z:-4.01 [[-9.87710595e-01 1.56158213e-01 6.51094035e-03 1.08329262e+02] [ 1.56154328e-01 9.87732052e-01 -1.10394833e-03 -1.65672841e+02] [-6.60345508e-03 -7.36699491e-05 -9.99978194e-01 -4.01262194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters 0.013701475079001737 Centerline is valid? [True, True] Translation: X:108.45, Y:-165.02, Z:-5.03 [[-9.70072270e-01 -2.42754659e-01 5.47420907e-03 1.08445003e+02] [ 2.42750814e-01 -9.70087716e-01 -1.36625162e-03 -1.65016820e+02] [ 5.64212692e-03 3.50590092e-06 9.99984083e-01 -5.02538615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters 0.013725167980610704 Centerline is valid? [True, True] Translation: X:108.28, Y:-165.66, Z:-4.01 [[-9.87998734e-01 1.54329423e-01 6.39772659e-03 1.08281197e+02] [ 1.54325799e-01 9.88019446e-01 -1.05929785e-03 -1.65663848e+02] [-6.48455910e-03 -5.92506708e-05 -9.99978973e-01 -4.01262327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters 0.013616808109848175 Centerline is valid? [True, True] Translation: X:108.40, Y:-165.01, Z:-5.03 [[-9.71197672e-01 -2.38145704e-01 7.85529384e-03 1.08395744e+02] [ 2.38139344e-01 -9.71229424e-01 -1.74891559e-03 -1.65014493e+02] [ 8.04578925e-03 1.72111772e-04 9.99967617e-01 -5.02851634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters 0.013474410874652893 Centerline is valid? [True, True] Translation: X:108.24, Y:-165.65, Z:-4.01 [[-9.88412706e-01 1.51524417e-01 8.98181032e-03 1.08236367e+02] [ 1.51517476e-01 9.88453512e-01 -1.45225838e-03 -1.65652888e+02] [-9.09815456e-03 -7.45294017e-05 -9.99958608e-01 -4.01029850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters 0.013383113836195944 Centerline is valid? [True, True] Translation: X:108.35, Y:-165.01, Z:-5.03 [[-9.72538014e-01 -2.32555346e-01 9.37135051e-03 1.08345457e+02] [ 2.32545643e-01 -9.72583158e-01 -2.12717468e-03 -1.65008832e+02] [ 9.60910352e-03 1.10508495e-04 9.99953825e-01 -5.02994818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters 0.013278444689213811 Centerline is valid? [True, True] Translation: X:108.19, Y:-165.65, Z:-4.01 [[-9.88410205e-01 1.51436109e-01 1.06005573e-02 1.08192687e+02] [ 1.51426883e-01 9.88467047e-01 -1.67228552e-03 -1.65645507e+02] [-1.07315459e-02 -4.76947286e-05 -9.99942414e-01 -4.00756857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters 0.013191294785567471 Centerline is valid? [True, True] Translation: X:108.19, Y:-165.62, Z:-4.01 [[-9.96528575e-01 8.24339228e-02 1.16381644e-02 1.08187009e+02] [ 8.24279000e-02 9.96596532e-01 -9.97048823e-04 -1.65617962e+02] [-1.16807449e-02 -3.42781918e-05 -9.99931777e-01 -4.00658326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters 0.013020819602920638 Centerline is valid? [True, True] Translation: X:108.25, Y:-164.97, Z:-5.03 [[-9.88160728e-01 -1.53018485e-01 1.11229122e-02 1.08248056e+02] [ 1.53008867e-01 -9.88223327e-01 -1.71565274e-03 -1.64965899e+02] [ 1.12544479e-02 6.56352890e-06 9.99936667e-01 -5.03016009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters 0.012916036372398975 Centerline is valid? [True, True] Translation: X:108.14, Y:-165.62, Z:-4.01 [[-9.96743393e-01 8.00752698e-02 9.51631675e-03 1.08140236e+02] [ 8.00715097e-02 9.96788820e-01 -7.76084120e-04 -1.65617391e+02] [-9.54790329e-03 -1.15708704e-05 -9.99954418e-01 -4.01103686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters 0.01324467408945025 Centerline is valid? [True, True] Translation: X:108.19, Y:-164.97, Z:-5.03 [[-9.87887003e-01 -1.54844328e-01 1.01243621e-02 1.08192233e+02] [ 1.54836823e-01 -9.87938880e-01 -1.52570105e-03 -1.64965455e+02] [ 1.02384971e-02 6.04038180e-05 9.99947583e-01 -5.02946010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters 0.01324467408945025 Centerline is valid? [True, True] Translation: X:108.09, Y:-165.61, Z:-4.01 [[-9.97442014e-01 7.07492915e-02 1.01964069e-02 1.08085266e+02] [ 7.07449031e-02 9.97494127e-01 -7.90883980e-04 -1.65610021e+02] [-1.02268105e-02 -6.75170904e-05 -9.99947703e-01 -4.00968447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters 0.013365101115446382 Centerline is valid? [True, True] Translation: X:108.08, Y:-165.58, Z:-4.01 [[-9.99942239e-01 -2.69058654e-03 1.04057920e-02 1.08081005e+02] [-2.69141646e-03 9.99996376e-01 -6.57527095e-05 -1.65583506e+02] [-1.04055774e-02 -9.37552314e-05 -9.99945856e-01 -4.01060178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters 0.01377778526620931 Centerline is valid? [True, True] Translation: X:108.08, Y:-164.93, Z:-5.03 [[-9.96305517e-01 -8.52583720e-02 1.03115163e-02 1.08081523e+02] [ 8.52547289e-02 -9.96358872e-01 -7.93163436e-04 -1.64932155e+02] [ 1.03415945e-02 8.88724157e-05 9.99946520e-01 -5.02875411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters 0.014192381292023291 Centerline is valid? [True, True] Translation: X:108.02, Y:-165.58, Z:-4.01 [[-9.99884035e-01 -1.24320318e-02 8.79548362e-03 1.08017643e+02] [-1.24326688e-02 9.99922711e-01 -1.77434813e-05 -1.65583141e+02] [-8.79458325e-03 -1.27092758e-04 -9.99961319e-01 -4.01162658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters 0.014077359383266852 Centerline is valid? [True, True] Translation: X:108.02, Y:-164.93, Z:-5.03 [[-9.96399349e-01 -8.43535739e-02 8.53296413e-03 1.08023632e+02] [ 8.43514075e-02 -9.96435880e-01 -6.14096205e-04 -1.64930264e+02] [ 8.55435283e-03 1.07882476e-04 9.99963405e-01 -5.02752979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters 0.013845480131769386 Centerline is valid? [True, True] Translation: X:107.96, Y:-165.59, Z:-4.01 [[-9.99845179e-01 -1.54696665e-02 8.38492230e-03 1.07955708e+02] [-1.54700562e-02 9.99880331e-01 1.83876187e-05 -1.65589935e+02] [-8.38420334e-03 -1.11330447e-04 -9.99964846e-01 -4.01140256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters 0.01373480407239902 Centerline is valid? [True, True] Translation: X:107.97, Y:-164.92, Z:-5.03 [[-9.97064065e-01 -7.61921332e-02 7.61642029e-03 1.07965357e+02] [ 7.61903255e-02 -9.97093153e-01 -5.27637558e-04 -1.64923098e+02] [ 7.63448235e-03 5.42090923e-05 9.99970856e-01 -5.02812011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters 0.012978766776781381 Centerline is valid? [True, True] Translation: X:107.90, Y:-165.60, Z:-4.01 [[-9.99874666e-01 -1.41256979e-02 7.14965817e-03 1.07900588e+02] [-1.41257148e-02 9.99900226e-01 4.81399683e-05 -1.65600302e+02] [-7.14962483e-03 -5.28600976e-05 -9.99974440e-01 -4.01229653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters 0.012797009117740813 Centerline is valid? [True, True] Translation: X:107.90, Y:-164.91, Z:-5.03 [[-9.97724757e-01 -6.71048832e-02 6.49957935e-03 1.07896578e+02] [ 6.71035084e-02 -9.97745927e-01 -4.29613177e-04 -1.64914143e+02] [ 6.51375796e-03 7.50887512e-06 9.99978785e-01 -5.02621059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters 0.012790400257372 Centerline is valid? [True, True] Translation: X:107.84, Y:-165.60, Z:-4.01 [[-9.99825818e-01 -1.75865587e-02 6.24877367e-03 1.07836945e+02] [-1.75864592e-02 9.99845344e-01 7.08771104e-05 -1.65604426e+02] [-6.24905374e-03 -3.90290384e-05 -9.99980474e-01 -4.01285516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters 0.012891567821139175 Centerline is valid? [True, True] Translation: X:107.83, Y:-164.92, Z:-5.03 [[-9.97899504e-01 -6.42162713e-02 8.53521495e-03 1.07825292e+02] [ 6.42156876e-02 -9.97935984e-01 -3.42705498e-04 -1.64916629e+02] [ 8.53960540e-03 2.06109050e-04 9.99963516e-01 -5.02893499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters 0.013046583423764534 Centerline is valid? [True, True] Translation: X:107.77, Y:-165.60, Z:-4.01 [[-9.99626495e-01 -2.53317998e-02 1.02552396e-02 1.07770194e+02] [-2.53314688e-02 9.99679094e-01 1.62193391e-04 -1.65601090e+02] [-1.02560573e-02 -9.76474711e-05 -9.99947401e-01 -4.00824930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters 0.0133795838208003 Centerline is valid? [True, True] Translation: X:107.76, Y:-164.92, Z:-5.03 [[-9.97995166e-01 -6.23920313e-02 1.06246818e-02 1.07759191e+02] [ 6.23898457e-02 -9.98051711e-01 -5.37356218e-04 -1.64920740e+02] [ 1.06375086e-02 1.26593351e-04 9.99943412e-01 -5.03124432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters 0.01366584811744994 Centerline is valid? [True, True] Translation: X:107.70, Y:-165.60, Z:-4.01 [[-9.99475399e-01 -3.08255431e-02 9.93541796e-03 1.07701240e+02] [-3.08250599e-02 9.99524775e-01 2.01796042e-04 -1.65599699e+02] [-9.93691687e-03 -1.04569674e-04 -9.99950622e-01 -4.00704765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters 0.013384402881221112 Centerline is valid? [True, True] Translation: X:107.70, Y:-165.57, Z:-4.01 [[-9.94885361e-01 -1.00590338e-01 9.20339877e-03 1.07696374e+02] [-1.00586836e-01 9.94927925e-01 8.43857397e-04 -1.65573598e+02] [-9.24160235e-03 -8.61993892e-05 -9.99957292e-01 -4.00802670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters 0.01275818271365063 Centerline is valid? [True, True] Translation: X:107.64, Y:-164.90, Z:-5.03 [[-9.99818445e-01 1.72622239e-02 8.06800861e-03 1.07642050e+02] [-1.72616556e-02 -9.99850997e-01 1.40070174e-04 -1.64895925e+02] [ 8.06922437e-03 7.77557850e-07 9.99967443e-01 -5.02865997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters 0.0127534155614098 Centerline is valid? [True, True] Translation: X:107.62, Y:-165.58, Z:-4.01 [[-9.94731037e-01 -1.02196096e-01 8.13156401e-03 1.07623389e+02] [-1.02193064e-01 9.94764272e-01 7.88503563e-04 -1.65583743e+02] [-8.16957134e-03 -4.66404785e-05 -9.99966627e-01 -4.01035504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters 0.012672715694634488 Centerline is valid? [True, True] Translation: X:107.62, Y:-165.56, Z:-4.01 [[-9.85405975e-01 -1.69996641e-01 8.72965284e-03 1.07615142e+02] [-1.69990204e-01 9.85444642e-01 1.47961181e-03 -1.65558963e+02] [-8.85411865e-03 -2.59371459e-05 -9.99960801e-01 -4.01067956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters 0.012592251111007311 Centerline is valid? [True, True] Translation: X:107.60, Y:-165.53, Z:-4.01 [[-9.71113606e-01 -2.38447569e-01 9.00671695e-03 1.07600465e+02] [-2.38437446e-01 9.71155372e-01 2.19721544e-03 -1.65534691e+02] [-9.27084223e-03 -1.37927753e-05 -9.99957025e-01 -4.01044930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters 0.012548289151353819 Centerline is valid? [True, True] Translation: X:107.57, Y:-165.52, Z:-4.01 [[-9.51734163e-01 -3.06819871e-01 7.97804173e-03 1.07570605e+02] [-3.06809167e-01 9.51767601e-01 2.56280540e-03 -1.65516174e+02] [-8.37956126e-03 -8.62688510e-06 -9.99964891e-01 -4.01156024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters 0.01263874782876872 Centerline is valid? [True, True] Translation: X:107.53, Y:-165.50, Z:-4.01 [[-9.26457615e-01 -3.76309627e-01 8.20689692e-03 1.07534500e+02] [-3.76295029e-01 9.26493964e-01 3.31458217e-03 -1.65499349e+02] [-8.85094964e-03 -1.73946256e-05 -9.99960830e-01 -4.01106271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters 0.012638470655484624 Centerline is valid? [True, True] Translation: X:107.47, Y:-165.50, Z:-4.01 [[-8.95630930e-01 -4.44708917e-01 8.90038718e-03 1.07474622e+02] [-4.44687367e-01 8.95675152e-01 4.37808435e-03 -1.65495240e+02] [-9.91882879e-03 -3.67419878e-05 -9.99950807e-01 -4.01032727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters 0.012885799596608204 Centerline is valid? [True, True] Translation: X:107.41, Y:-165.50, Z:-4.01 [[-8.59226286e-01 -5.11505637e-01 9.60067951e-03 1.07408987e+02] [-5.11474574e-01 8.59279919e-01 5.63749225e-03 -1.65497470e+02] [-1.11332802e-02 -6.66219345e-05 -9.99938021e-01 -4.00903168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters 0.01298063283060731 Centerline is valid? [True, True] Translation: X:107.33, Y:-165.51, Z:-4.01 [[-8.18220899e-01 -5.74823074e-01 9.64336834e-03 1.07332454e+02] [-5.74784396e-01 8.18277719e-01 6.66873612e-03 -1.65512204e+02] [-1.17242968e-02 -8.63583879e-05 -9.99931264e-01 -4.00836656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters 0.013035012633181544 Centerline is valid? [True, True] Translation: X:107.26, Y:-165.53, Z:-4.01 [[-7.72792088e-01 -6.34591022e-01 9.30719543e-03 1.07255901e+02] [-6.34546434e-01 7.72848126e-01 7.52309409e-03 -1.65534245e+02] [-1.19671365e-02 -9.20600852e-05 -9.99928387e-01 -4.00773124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters 0.012635613484907514 Centerline is valid? [True, True] Translation: X:107.18, Y:-165.57, Z:-4.01 [[-7.24543092e-01 -6.89181488e-01 8.13532934e-03 1.07177341e+02] [-6.89138992e-01 7.24588761e-01 7.65357712e-03 -1.65568964e+02] [-1.11694719e-02 -6.10262318e-05 -9.99937618e-01 -4.00957899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters 0.012511596154419368 Centerline is valid? [True, True] Translation: X:107.09, Y:-165.62, Z:-4.01 [[-6.72920192e-01 -7.39677913e-01 7.41627381e-03 1.07094944e+02] [-7.39633409e-01 6.72961058e-01 8.11385687e-03 -1.65617169e+02] [-1.09925042e-02 -2.53457615e-05 -9.99939580e-01 -4.00999738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters 0.012769761967354156 Centerline is valid? [True, True] Translation: X:107.02, Y:-165.67, Z:-4.01 [[-6.19333339e-01 -7.85098190e-01 6.85906684e-03 1.07017072e+02] [-7.85049401e-01 6.19371319e-01 8.75258881e-03 -1.65673278e+02] [-1.11199509e-02 3.60637414e-05 -9.99938171e-01 -4.01049289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters 0.013046791746968656 Centerline is valid? [True, True] Translation: X:106.94, Y:-165.74, Z:-4.01 [[-5.60569280e-01 -8.28086935e-01 5.84045650e-03 1.06938646e+02] [-8.28040735e-01 5.60599700e-01 8.74739128e-03 -1.65738058e+02] [-1.05177586e-02 6.73829302e-05 -9.99944685e-01 -4.01086688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters 0.013185435275938727 Centerline is valid? [True, True] Translation: X:106.86, Y:-165.81, Z:-4.01 [[-4.98128153e-01 -8.67089095e-01 4.98451696e-03 1.06861585e+02] [-8.67043839e-01 4.98153082e-01 8.85931941e-03 -1.65813563e+02] [-1.01648717e-02 9.12816842e-05 -9.99948332e-01 -4.01132992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters 0.012889930307938162 Centerline is valid? [True, True] Translation: X:106.79, Y:-165.90, Z:-4.01 [[-4.29084240e-01 -9.03254888e-01 4.16206036e-03 1.06787257e+02] [-9.03210747e-01 4.29104419e-01 8.92999557e-03 -1.65896302e+02] [-9.85202064e-03 7.25027157e-05 -9.99951465e-01 -4.01270136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters 0.012698809023459344 Centerline is valid? [True, True] Translation: X:106.71, Y:-165.99, Z:-4.01 [[-3.55576516e-01 -9.34640052e-01 3.64887668e-03 1.06713760e+02] [-9.34589710e-01 3.55595235e-01 9.70066915e-03 -1.65992536e+02] [-1.03641571e-02 3.91275412e-05 -9.99946290e-01 -4.01171838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters 0.012526301020788343 Centerline is valid? [True, True] Translation: X:106.65, Y:-166.08, Z:-4.01 [[-2.76600458e-01 -9.60981132e-01 2.72946165e-03 1.06649241e+02] [-9.60935392e-01 2.76613923e-01 9.37600077e-03 -1.66082658e+02] [-9.76516694e-03 -2.94301989e-05 -9.99952319e-01 -4.01240333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters 0.012714890073578343 Centerline is valid? [True, True] Translation: X:106.59, Y:-166.19, Z:-4.01 [[-1.98311299e-01 -9.80137152e-01 1.94738660e-03 1.06591123e+02] [-9.80093169e-01 1.98320849e-01 9.28553134e-03 -1.66188261e+02] [-9.48730161e-03 -6.71945252e-05 -9.99954992e-01 -4.01209136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters 0.013140299200658161 Centerline is valid? [True, True] Translation: X:106.54, Y:-166.29, Z:-4.01 [[-1.19978911e-01 -9.92775708e-01 1.20617059e-03 1.06543146e+02] [-9.92732898e-01 1.19984939e-01 9.22000042e-03 -1.66294512e+02] [-9.29811475e-03 -9.11996123e-05 -9.99956768e-01 -4.01156680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters 0.013170498125390784 Centerline is valid? [True, True] Translation: X:106.51, Y:-166.41, Z:-4.01 [[-4.18354955e-02 -9.99124409e-01 4.55475123e-04 1.06505034e+02] [-9.99087998e-01 4.18378597e-02 8.53023489e-03 -1.66408974e+02] [-8.54182200e-03 -9.81931252e-05 -9.99963513e-01 -4.01264076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters 0.01313125202157885 Centerline is valid? [True, True] Translation: X:106.48, Y:-166.52, Z:-4.01 [[ 3.55840708e-02 -9.99366667e-01 -1.96260234e-04 1.06476946e+02] [-9.99331578e-01 -3.55844662e-02 8.37518266e-03 -1.66521739e+02] [-8.37686219e-03 -1.01894043e-04 -9.99964908e-01 -4.01373218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters 0.013261168479133867 Centerline is valid? [True, True] Translation: X:106.46, Y:-166.64, Z:-4.01 [[ 1.12532492e-01 -9.93647643e-01 -8.94663229e-04 1.06456217e+02] [-9.93607779e-01 -1.12535992e-01 8.90127784e-03 -1.66637776e+02] [-8.94541556e-03 -1.12738635e-04 -9.99959983e-01 -4.01343149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters 0.013465934933484002 Centerline is valid? [True, True] Translation: X:106.44, Y:-166.76, Z:-4.01 [[ 1.88953888e-01 -9.81984182e-01 -1.86927959e-03 1.06444596e+02] [-9.81928539e-01 -1.88963082e-01 1.04546036e-02 -1.66757443e+02] [-1.06194802e-02 -1.39939010e-04 -9.99943602e-01 -4.01179550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters 0.013308693585915512 Centerline is valid? [True, True] Translation: X:106.44, Y:-166.88, Z:-4.01 [[ 2.62933052e-01 -9.64810050e-01 -2.78875776e-03 1.06444347e+02] [-9.64750122e-01 -2.62947805e-01 1.07542189e-02 -1.66875377e+02] [-1.11090762e-02 -1.37185214e-04 -9.99938283e-01 -4.01148052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters 0.012878867588507419 Centerline is valid? [True, True] Translation: X:106.46, Y:-166.99, Z:-4.01 [[ 3.33796533e-01 -9.42637466e-01 -3.80550405e-03 1.06455121e+02] [-9.42572215e-01 -3.33818205e-01 1.10917031e-02 -1.66991356e+02] [-1.17258015e-02 -1.15409662e-04 -9.99931244e-01 -4.01191726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters 0.012633037176517242 Centerline is valid? [True, True] Translation: X:106.47, Y:-167.11, Z:-4.01 [[ 4.03454024e-01 -9.14988522e-01 -4.56674236e-03 1.06472707e+02] [-9.14927297e-01 -4.03479858e-01 1.05851648e-02 -1.67105094e+02] [-1.15278928e-02 -9.23900761e-05 -9.99933547e-01 -4.01251102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters 0.012560375185582395 Centerline is valid? [True, True] Translation: X:106.50, Y:-167.22, Z:-4.01 [[ 4.71104022e-01 -8.82062881e-01 -5.10639534e-03 1.06498445e+02] [-8.82009379e-01 -4.71131690e-01 9.71524508e-03 -1.67217016e+02] [-1.09752417e-02 -7.30024469e-05 -9.99939768e-01 -4.01283968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters 0.012321282711325198 Centerline is valid? [True, True] Translation: X:106.53, Y:-167.32, Z:-4.01 [[ 5.35089346e-01 -8.44777272e-01 -5.54559277e-03 1.06531452e+02] [-8.44731081e-01 -5.35118080e-01 8.83412147e-03 -1.67321589e+02] [-1.04304120e-02 -4.25097017e-05 -9.99945601e-01 -4.01281051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters 0.012430972068419682 Centerline is valid? [True, True] Translation: X:106.57, Y:-167.43, Z:-4.01 [[ 5.96968013e-01 -8.02239574e-01 -6.39198310e-03 1.06573674e+02] [-8.02193078e-01 -5.97002232e-01 8.63712850e-03 -1.67426364e+02] [-1.07450745e-02 -2.84848367e-05 -9.99942270e-01 -4.01079999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters 0.012410634441523518 Centerline is valid? [True, True] Translation: X:106.62, Y:-167.53, Z:-4.01 [[ 6.56662937e-01 -7.54145096e-01 -7.67860531e-03 1.06622569e+02] [-7.54092917e-01 -6.56707829e-01 8.87127502e-03 -1.67528527e+02] [-1.17328288e-02 -3.50556356e-05 -9.99931167e-01 -4.01029558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters 0.012626576716308813 Centerline is valid? [True, True] Translation: X:106.68, Y:-167.63, Z:-4.01 [[ 7.12999765e-01 -7.01113759e-01 -8.41616486e-03 1.06679505e+02] [-7.01064102e-01 -7.13049434e-01 8.34444538e-03 -1.67629334e+02] [-1.18515471e-02 -4.93165396e-05 -9.99929767e-01 -4.00950523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters 0.012676928376432082 Centerline is valid? [True, True] Translation: X:106.70, Y:-167.66, Z:-4.01 [[ 7.67996383e-01 -6.40396165e-01 -8.62015869e-03 1.06698062e+02] [-6.40354529e-01 -7.68044754e-01 7.30298488e-03 -1.67658456e+02] [-1.12974712e-02 -8.87083178e-05 -9.99936178e-01 -4.01075273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters 0.013232983823517916 Centerline is valid? [True, True] Translation: X:106.72, Y:-167.68, Z:-4.01 [[ 8.16601734e-01 -5.77135113e-01 -8.75609658e-03 1.06718870e+02] [-5.77100598e-01 -8.16648670e-01 6.31257793e-03 -1.67684825e+02] [-1.07938650e-02 -1.01713507e-04 -9.99941739e-01 -4.00983665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters 0.013679466495140525 Centerline is valid? [True, True] Translation: X:106.74, Y:-167.71, Z:-4.01 [[ 8.61316099e-01 -5.07986744e-01 -9.16765820e-03 1.06742175e+02] [-5.07956170e-01 -8.61364874e-01 5.57517734e-03 -1.67709959e+02] [-1.07288149e-02 -1.45221451e-04 -9.99942434e-01 -4.00986667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters 0.013804365756432381 Centerline is valid? [True, True] Translation: X:106.77, Y:-167.73, Z:-4.01 [[ 8.99330641e-01 -4.37148626e-01 -1.02702354e-02 1.06767872e+02] [-4.37117817e-01 -8.99389263e-01 5.19302307e-03 -1.67733157e+02] [-1.15070624e-02 -1.80941877e-04 -9.99933775e-01 -4.00989763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters 0.014285244791052172 Centerline is valid? [True, True] Translation: X:106.79, Y:-167.75, Z:-4.01 [[ 9.31381646e-01 -3.63884616e-01 -1.07803439e-02 1.06794880e+02] [-3.63857703e-01 -9.31444011e-01 4.43024621e-03 -1.67754698e+02] [-1.16533852e-02 -2.03738840e-04 -9.99932076e-01 -4.00981434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters 0.01465914642116685 Centerline is valid? [True, True] Translation: X:106.82, Y:-167.78, Z:-4.01 [[ 9.57660661e-01 -2.87756462e-01 -9.07062448e-03 1.06822754e+02] [-2.87741684e-01 -9.57703599e-01 2.92235077e-03 -1.67775796e+02] [-9.52789502e-03 -1.88623607e-04 -9.99954591e-01 -4.01093176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters 0.014901420998442634 Centerline is valid? [True, True] Translation: X:106.85, Y:-167.79, Z:-4.01 [[ 9.77239256e-01 -2.11993570e-01 -7.88440847e-03 1.06852845e+02] [-2.11985341e-01 -9.77271048e-01 1.87477840e-03 -1.67790393e+02] [-8.10264509e-03 -1.60728035e-04 -9.99967160e-01 -4.01286854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters 0.013724121236653807 Centerline is valid? [True, True] Translation: X:106.89, Y:-167.80, Z:-4.01 [[ 9.90510149e-01 -1.37175757e-01 -8.51214239e-03 1.06885120e+02] [-1.37169376e-01 -9.90546712e-01 1.33177423e-03 -1.67803281e+02] [-8.61436180e-03 -1.51530632e-04 -9.99962884e-01 -4.01242830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters 0.014070335931065627 Centerline is valid? [True, True] Translation: X:106.91, Y:-167.82, Z:-4.01 [[ 9.98043643e-01 -6.18654464e-02 -9.03070987e-03 1.06912424e+02] [-6.18616889e-02 -9.98084490e-01 6.95091715e-04 -1.67815226e+02] [-9.05641361e-03 -1.35076903e-04 -9.99958981e-01 -4.01032924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters 0.012921599448233343 Centerline is valid? [True, True] Translation: X:106.94, Y:-167.82, Z:-4.01 [[ 9.99871890e-01 1.33841473e-02 -8.77883538e-03 1.06941760e+02] [ 1.33845447e-02 -9.99910423e-01 -1.34889299e-05 -1.67821736e+02] [-8.77822953e-03 -1.04013513e-04 -9.99961465e-01 -4.01164026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters 0.012358371636925488 Centerline is valid? [True, True] Translation: X:106.97, Y:-167.83, Z:-4.01 [[ 9.96155008e-01 8.71569674e-02 -8.88046140e-03 1.06971806e+02] [ 8.71540930e-02 -9.96194589e-01 -7.10895810e-04 -1.67826681e+02] [-8.90862712e-03 -6.58061371e-05 -9.99960315e-01 -4.01198188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters 0.01229941987261929 Centerline is valid? [True, True] Translation: X:107.00, Y:-167.83, Z:-4.01 [[ 9.86728117e-01 1.62106940e-01 -9.43201947e-03 1.07001506e+02] [ 1.62099963e-01 -9.86773195e-01 -1.50468569e-03 -1.67828621e+02] [-9.55118398e-03 -4.42143276e-05 -9.99954386e-01 -4.01218010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters 0.012149682411261537 Centerline is valid? [True, True] Translation: X:107.03, Y:-167.83, Z:-4.01 [[ 9.71834789e-01 2.35407230e-01 -1.09808257e-02 1.07032204e+02] [ 2.35392340e-01 -9.71896824e-01 -2.64767347e-03 -1.67830710e+02] [-1.12955111e-02 -1.17010686e-05 -9.99936204e-01 -4.00958987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters 0.012302400583698017 Centerline is valid? [True, True] Translation: X:107.06, Y:-167.83, Z:-4.01 [[ 9.51404039e-01 3.07781359e-01 -1.00493344e-02 1.07060997e+02] [ 3.07763944e-01 -9.51457111e-01 -3.27413757e-03 -1.67829126e+02] [-1.05692292e-02 2.22049041e-05 -9.99944144e-01 -4.00898955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters 0.01240495679638844 Centerline is valid? [True, True] Translation: X:107.09, Y:-167.82, Z:-4.01 [[ 9.25577573e-01 3.78475184e-01 -7.91780870e-03 1.07090279e+02] [ 3.78460925e-01 -9.25611437e-01 -3.28556845e-03 -1.67823085e+02] [-8.57232042e-03 4.44672663e-05 -9.99963256e-01 -4.01056392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters 0.012929327933259795 Centerline is valid? [True, True] Translation: X:107.12, Y:-167.81, Z:-4.01 [[ 8.95086168e-01 4.45848188e-01 -6.33596494e-03 1.07117740e+02] [ 4.45836479e-01 -8.95108590e-01 -3.23192471e-03 -1.67813614e+02] [-7.11232442e-03 6.80468049e-05 -9.99974705e-01 -4.01223450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters 0.014673195073846613 Centerline is valid? [True, True] Translation: X:107.14, Y:-167.80, Z:-4.01 [[ 8.60917474e-01 5.08726566e-01 -4.28755774e-03 1.07141794e+02] [ 5.08719780e-01 -8.60928147e-01 -2.62909429e-03 -1.67799630e+02] [-5.02876925e-03 8.22677901e-05 -9.99987352e-01 -4.01359933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters 0.015870341035874903 Centerline is valid? [True, True] Translation: X:107.17, Y:-167.78, Z:-4.01 [[ 8.20283021e-01 5.71949050e-01 -3.16997415e-03 1.07166159e+02] [ 5.71944415e-01 -8.20289143e-01 -2.30391722e-03 -1.67784953e+02] [-3.91801864e-03 7.68151644e-05 -9.99992322e-01 -4.01444131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters 0.01489879618112776 Centerline is valid? [True, True] Translation: X:107.20, Y:-167.78, Z:-4.02 [[ 7.73670845e-01 6.33580189e-01 -3.09325465e-03 1.07196257e+02] [ 6.33574687e-01 -7.73677024e-01 -2.64193864e-03 -1.67777286e+02] [-4.06706003e-03 8.41830576e-05 -9.99991726e-01 -4.01518668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters 0.014126541382315646 Centerline is valid? [True, True] Translation: X:107.23, Y:-167.77, Z:-4.01 [[ 7.19594491e-01 6.94387153e-01 -3.20164134e-03 1.07229413e+02] [ 6.94379782e-01 -7.19601609e-01 -3.20051914e-03 -1.67769554e+02] [-4.52630564e-03 7.99209220e-05 -9.99989753e-01 -4.01459403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters 0.013206733020047438 Centerline is valid? [True, True] Translation: X:107.26, Y:-167.76, Z:-4.02 [[ 6.58241170e-01 7.52803174e-01 -2.43805458e-03 1.07261832e+02] [ 7.52797770e-01 -6.58245683e-01 -2.85264698e-03 -1.67759000e+02] [-3.75232061e-03 4.23676353e-05 -9.99992959e-01 -4.01566111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters 0.01244336670764307 Centerline is valid? [True, True] Translation: X:107.30, Y:-167.75, Z:-4.02 [[ 5.89481983e-01 8.07779375e-01 -1.86380431e-03 1.07298363e+02] [ 8.07775309e-01 -5.89484929e-01 -2.56287066e-03 -1.67748649e+02] [-3.16891861e-03 5.23098188e-06 -9.99994979e-01 -4.01688624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters 0.013132100872958363 Centerline is valid? [True, True] Translation: X:107.33, Y:-167.74, Z:-4.02 [[ 5.14566242e-01 8.57447997e-01 -2.12466810e-03 1.07334280e+02] [ 8.57441009e-01 -5.14570627e-01 -3.46202538e-03 -1.67735883e+02] [-4.06179853e-03 -4.03361723e-05 -9.99991750e-01 -4.01561272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters 0.014259673715335356 Centerline is valid? [True, True] Translation: X:107.36, Y:-167.72, Z:-4.01 [[ 4.39909507e-01 8.98039939e-01 -1.97339942e-03 1.07364628e+02] [ 8.98031623e-01 -4.39913927e-01 -3.86544756e-03 -1.67716044e+02] [-4.33945218e-03 -7.17279545e-05 -9.99990582e-01 -4.01488180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters 0.0162731445024902 Centerline is valid? [True, True] Translation: X:107.39, Y:-167.69, Z:-4.01 [[ 3.63136826e-01 9.31733697e-01 -1.99073237e-03 1.07393271e+02] [ 9.31721375e-01 -3.63142265e-01 -4.79323071e-03 -1.67694646e+02] [-5.18893363e-03 -1.14209311e-04 -9.99986531e-01 -4.01381415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters 0.01606607901768004 Centerline is valid? [True, True] Translation: X:107.41, Y:-167.67, Z:-4.01 [[ 2.88581891e-01 9.57453791e-01 -1.65223393e-03 1.07411850e+02] [ 9.57440395e-01 -2.88586596e-01 -5.06619496e-03 -1.67665969e+02] [-5.32746013e-03 -1.19903384e-04 -9.99985802e-01 -4.01405784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters 0.014452343351394998 Centerline is valid? [True, True] Translation: X:107.43, Y:-167.64, Z:-4.01 [[ 2.16040884e-01 9.76383568e-01 -1.21008676e-03 1.07430892e+02] [ 9.76370705e-01 -2.16044250e-01 -5.01284258e-03 -1.67636737e+02] [-5.15588941e-03 -9.85143192e-05 -9.99986704e-01 -4.01492911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters 0.014011350456481119 Centerline is valid? [True, True] Translation: X:107.45, Y:-167.61, Z:-4.01 [[ 1.41409479e-01 9.89950834e-01 -8.40126594e-04 1.07446413e+02] [ 9.89936879e-01 -1.41411947e-01 -5.25704170e-03 -1.67605922e+02] [-5.32301675e-03 -8.82767728e-05 -9.99985829e-01 -4.01403748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters 0.013828744948997981 Centerline is valid? [True, True] Translation: X:107.46, Y:-167.57, Z:-4.01 [[ 6.43837244e-02 9.97925121e-01 -4.34272017e-04 1.07459139e+02] [ 9.97910435e-01 -6.43851332e-02 -5.41461437e-03 -1.67573308e+02] [-5.43134036e-03 -8.47515380e-05 -9.99985247e-01 -4.01299061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters 0.013238767929685891 Centerline is valid? [True, True] Translation: X:107.47, Y:-167.54, Z:-4.01 [[-1.11141180e-02 9.99938236e-01 -1.35730561e-05 1.07470085e+02] [ 9.99904361e-01 1.11136298e-02 -8.23138919e-03 -1.67540055e+02] [-8.23072994e-03 -1.05056389e-04 -9.99966122e-01 -4.01054084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters 0.013026430503897218 Centerline is valid? [True, True] Translation: X:107.48, Y:-167.51, Z:-4.01 [[-8.57824649e-02 9.96313551e-01 8.23107522e-04 1.07475094e+02] [ 9.96256078e-01 8.57863578e-02 -1.07018096e-02 -1.67506669e+02] [-1.07329693e-02 -9.80017328e-05 -9.99942395e-01 -4.00863299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters 0.012853412137924018 Centerline is valid? [True, True] Translation: X:107.48, Y:-167.47, Z:-4.01 [[-1.59858291e-01 9.87138258e-01 1.84052819e-03 1.07477244e+02] [ 9.87068106e-01 1.59868873e-01 -1.17685018e-02 -1.67472991e+02] [-1.19113815e-02 -6.45659040e-05 -9.99929055e-01 -4.00792434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters 0.012853412137924018 Centerline is valid? [True, True] Translation: X:107.48, Y:-167.44, Z:-4.01 [[-2.36671812e-01 9.71585742e-01 2.75655540e-03 1.07479278e+02] [ 9.71516635e-01 2.36687856e-01 -1.15882273e-02 -1.67439330e+02] [-1.19113996e-02 -6.45673191e-05 -9.99929055e-01 -4.00792401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters 0.012961344848902443 Centerline is valid? [True, True] Translation: X:107.48, Y:-167.41, Z:-4.01 [[-3.10380761e-01 9.50604506e-01 3.85442596e-03 1.07476211e+02] [ 9.50529355e-01 3.10404690e-01 -1.19529763e-02 -1.67407461e+02] [-1.25589851e-02 -4.62288682e-05 -9.99921132e-01 -4.00731433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters 0.012839308942491141 Centerline is valid? [True, True] Translation: X:107.47, Y:-167.37, Z:-4.01 [[-3.83798994e-01 9.23406519e-01 4.32824063e-03 1.07472738e+02] [ 9.23346614e-01 3.83823397e-01 -1.05180934e-02 -1.67374055e+02] [-1.13737560e-02 -4.03673205e-05 -9.99935316e-01 -4.00902605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters 0.012930601946858753 Centerline is valid? [True, True] Translation: X:107.47, Y:-167.34, Z:-4.01 [[-4.55683689e-01 8.90127620e-01 5.01961654e-03 1.07465525e+02] [ 8.90072441e-01 4.55711333e-01 -9.91112062e-03 -1.67342334e+02] [-1.11096584e-02 -4.85136603e-05 -9.99938285e-01 -4.00937631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters 0.013068885443882074 Centerline is valid? [True, True] Translation: X:107.46, Y:-167.31, Z:-4.01 [[-5.25654729e-01 8.50679039e-01 5.68144765e-03 1.07458513e+02] [ 8.50627926e-01 5.25685427e-01 -9.32539086e-03 -1.67307818e+02] [-1.09195688e-02 -6.91377763e-05 -9.99940377e-01 -4.01033648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters 0.013585035901497861 Centerline is valid? [True, True] Translation: X:107.45, Y:-167.27, Z:-4.01 [[-5.93056507e-01 8.05136462e-01 6.26547639e-03 1.07449706e+02] [ 8.05089751e-01 5.93089594e-01 -8.67329490e-03 -1.67274960e+02] [-1.06991748e-02 -9.94831535e-05 -9.99942757e-01 -4.00940633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters 0.013668501217124209 Centerline is valid? [True, True] Translation: X:107.44, Y:-167.24, Z:-4.01 [[-6.56583110e-01 7.54225439e-01 6.52741155e-03 1.07437236e+02] [ 7.54186278e-01 6.56615544e-01 -7.68677482e-03 -1.67242372e+02] [-1.00835610e-02 -1.24122297e-04 -9.99949152e-01 -4.01107611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters 0.014360944151059148 Centerline is valid? [True, True] Translation: X:107.42, Y:-167.21, Z:-4.01 [[-7.14712117e-01 6.99386744e-01 6.69121053e-03 1.07422308e+02] [ 6.99354365e-01 7.14743427e-01 -6.73102950e-03 -1.67212367e+02] [-9.49009155e-03 -1.31221054e-04 -9.99954960e-01 -4.01069228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters 0.014340335093463127 Centerline is valid? [True, True] Translation: X:107.40, Y:-167.19, Z:-4.01 [[-7.67856770e-01 6.40585930e-01 6.75628640e-03 1.07402108e+02] [ 6.40559627e-01 7.67886482e-01 -5.80648647e-03 -1.67185327e+02] [-8.90761453e-03 -1.30745652e-04 -9.99960318e-01 -4.01127208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters 0.01473537501233195 Centerline is valid? [True, True] Translation: X:107.42, Y:-167.17, Z:-4.01 [[-8.11173388e-01 5.84747622e-01 8.24339417e-03 1.07420055e+02] [ 5.84715503e-01 8.11215258e-01 -6.13069265e-03 -1.67165912e+02] [-1.02720751e-02 -1.53014358e-04 -9.99947229e-01 -4.00926730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters 0.014325820779051375 Centerline is valid? [True, True] Translation: X:107.43, Y:-167.15, Z:-4.01 [[-8.50234362e-01 5.26312744e-01 9.81968582e-03 1.07432431e+02] [ 5.26275363e-01 8.50291049e-01 -6.27489735e-03 -1.67145792e+02] [-1.16521494e-02 -1.67274619e-04 -9.99932097e-01 -4.00914550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters 0.014371056414737033 Centerline is valid? [True, True] Translation: X:107.44, Y:-167.12, Z:-4.01 [[-8.85014376e-01 4.65459111e-01 9.86762904e-03 1.07437543e+02] [ 4.65428247e-01 8.85069372e-01 -5.36227907e-03 -1.67120477e+02] [-1.12294579e-02 -1.53020782e-04 -9.99936936e-01 -4.00958785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters 0.014396094845928725 Centerline is valid? [True, True] Translation: X:107.72, Y:-166.61, Z:-5.03 [[-8.37104582e-01 -5.46992333e-01 7.43681027e-03 1.07721233e+02] [ 5.46970529e-01 -8.37137616e-01 -4.88396249e-03 -1.66605721e+02] [ 8.89712365e-03 -2.06713376e-05 9.99960420e-01 -5.02719112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters 0.014649024456568665 Centerline is valid? [True, True] Translation: X:107.40, Y:-167.11, Z:-4.01 [[-8.86963090e-01 4.61792347e-01 6.65618310e-03 1.07398196e+02] [ 4.61778444e-01 8.86988059e-01 -3.58489913e-03 -1.67105498e+02] [-7.55943391e-03 -1.05991336e-04 -9.99971422e-01 -4.01210708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters 0.014090381905445575 Centerline is valid? [True, True] Translation: X:107.69, Y:-166.58, Z:-5.03 [[-8.38874609e-01 -5.44297671e-01 5.42541702e-03 1.07689039e+02] [ 5.44286465e-01 -8.38892153e-01 -3.49272984e-03 -1.66582941e+02] [ 6.45242448e-03 2.30186721e-05 9.99979183e-01 -5.02562206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters 0.0141073301377184 Centerline is valid? [True, True] Translation: X:107.67, Y:-166.60, Z:-5.03 [[-8.00648125e-01 -5.99115406e-01 4.82810140e-03 1.07674601e+02] [ 5.99105125e-01 -8.00662678e-01 -3.51078056e-03 -1.66604938e+02] [ 5.96904332e-03 8.16404194e-05 9.99982182e-01 -5.02522815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters 0.014109969974050476 Centerline is valid? [True, True] Translation: X:107.66, Y:-166.63, Z:-5.03 [[-7.58702271e-01 -6.51422288e-01 4.45735731e-03 1.07662791e+02] [ 6.51411646e-01 -7.58715360e-01 -3.72423428e-03 -1.66629025e+02] [ 5.80791467e-03 7.79894620e-05 9.99983131e-01 -5.02567553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters 0.01420413020412106 Centerline is valid? [True, True] Translation: X:107.26, Y:-167.10, Z:-4.01 [[-8.18674938e-01 5.74238032e-01 4.69346028e-03 1.07263430e+02] [ 5.74228050e-01 8.18688388e-01 -3.38660020e-03 -1.67101299e+02] [-5.78719606e-03 -7.74081613e-05 -9.99983251e-01 -4.01316842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters 0.014143583575890876 Centerline is valid? [True, True] Translation: X:107.27, Y:-167.08, Z:-4.01 [[-8.57430352e-01 5.14571521e-01 5.41679989e-03 1.07273265e+02] [ 5.14560606e-01 8.57447457e-01 -3.35269957e-03 -1.67078693e+02] [-6.36982501e-03 -8.74345323e-05 -9.99979709e-01 -4.01230033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters 0.014455039334639092 Centerline is valid? [True, True] Translation: X:107.28, Y:-167.06, Z:-4.01 [[-8.91826266e-01 4.52329049e-01 6.65900059e-03 1.07282757e+02] [ 4.52315553e-01 8.91851120e-01 -3.49573416e-03 -1.67055401e+02] [-7.52005924e-03 -1.05618017e-04 -9.99971718e-01 -4.00937987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters 0.014511345355041292 Centerline is valid? [True, True] Translation: X:107.29, Y:-167.03, Z:-4.01 [[-9.21646570e-01 3.87946831e-01 8.05338319e-03 1.07293522e+02] [ 3.87930839e-01 9.21681746e-01 -3.52466577e-03 -1.67032685e+02] [-8.79003920e-03 -1.24340423e-04 -9.99961359e-01 -4.00787974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters 0.01407506005712602 Centerline is valid? [True, True] Translation: X:107.55, Y:-166.45, Z:-5.03 [[-8.80423979e-01 -4.74130258e-01 7.35636757e-03 1.07550111e+02] [ 4.74114542e-01 -8.80454707e-01 -3.86134545e-03 -1.66451557e+02] [ 8.30772917e-03 8.81397105e-05 9.99965486e-01 -5.03032580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters 0.013906887126218227 Centerline is valid? [True, True] Translation: X:107.25, Y:-167.02, Z:-4.01 [[-9.22906662e-01 3.84964374e-01 6.76197660e-03 1.07251112e+02] [ 3.84953236e-01 9.22931428e-01 -2.93003814e-03 -1.67023781e+02] [-7.36880102e-03 -1.01106946e-04 -9.99972845e-01 -4.01035456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters 0.014128381748535632 Centerline is valid? [True, True] Translation: X:107.26, Y:-167.00, Z:-4.01 [[-9.48240241e-01 3.17478918e-01 6.89792111e-03 1.07257941e+02] [ 3.17469674e-01 9.48265324e-01 -2.42523911e-03 -1.66999380e+02] [-7.31102168e-03 -1.09828553e-04 -9.99973268e-01 -4.01007401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters 0.014695861962904923 Centerline is valid? [True, True] Translation: X:107.26, Y:-166.97, Z:-4.01 [[-9.68836220e-01 2.47549750e-01 8.68911531e-03 1.07263270e+02] [ 2.47538367e-01 9.68875172e-01 -2.37886808e-03 -1.66973112e+02] [-9.00755628e-03 -1.53844142e-04 -9.99959419e-01 -4.00732963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters 0.015597796785689188 Centerline is valid? [True, True] Translation: X:107.44, Y:-166.35, Z:-5.03 [[-9.37453072e-01 -3.47944125e-01 1.07992246e-02 1.07439107e+02] [ 3.47925334e-01 -9.37515207e-01 -3.63310103e-03 -1.66345631e+02] [ 1.13885534e-02 3.51462085e-04 9.99935087e-01 -5.03365030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters 0.015741201832919334 Centerline is valid? [True, True] Translation: X:107.22, Y:-166.97, Z:-4.01 [[-9.70856778e-01 2.39402179e-01 1.11226850e-02 1.07219020e+02] [ 2.39383492e-01 9.70920457e-01 -3.00173511e-03 -1.66966122e+02] [-1.15178643e-02 -2.51667701e-04 -9.99933636e-01 -4.00518077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters 0.0156120335539866 Centerline is valid? [True, True] Translation: X:107.22, Y:-166.94, Z:-4.01 [[-9.85368671e-01 1.70094857e-01 1.07853084e-02 1.07220232e+02] [ 1.70082012e-01 9.85427665e-01 -2.10396956e-03 -1.66943868e+02] [-1.09860157e-02 -2.38798734e-04 -9.99939623e-01 -4.00603133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters 0.015504492274479848 Centerline is valid? [True, True] Translation: X:107.35, Y:-166.28, Z:-5.03 [[-9.60928913e-01 -2.76653954e-01 8.84382622e-03 1.07351613e+02] [ 2.76643085e-01 -9.60969605e-01 -2.45389892e-03 -1.66283048e+02] [ 9.17752903e-03 8.85609483e-05 9.99957882e-01 -5.03141658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters 0.015008587303676534 Centerline is valid? [True, True] Translation: X:107.17, Y:-166.95, Z:-4.01 [[-9.85510404e-01 1.69403241e-01 8.47268983e-03 1.07173095e+02] [ 1.69395588e-01 9.85546811e-01 -1.61813758e-03 -1.66945548e+02] [-8.62435019e-03 -1.59455145e-04 -9.99962797e-01 -4.00800560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters 0.014587544916327494 Centerline is valid? [True, True] Translation: X:107.16, Y:-166.92, Z:-4.01 [[-9.94849343e-01 1.00989127e-01 8.71667451e-03 1.07163645e+02] [ 1.00983967e-01 9.94887519e-01 -1.03116941e-03 -1.66919781e+02] [-8.77624758e-03 -1.45613835e-04 -9.99961477e-01 -4.00760639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters 0.014408288651061965 Centerline is valid? [True, True] Translation: X:107.18, Y:-166.89, Z:-4.01 [[-9.99463596e-01 3.14211435e-02 9.23214962e-03 1.07181188e+02] [ 3.14185002e-02 9.99506224e-01 -4.31247493e-04 -1.66894022e+02] [-9.24114130e-03 -1.40955876e-04 -9.99957290e-01 -4.00664128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters 0.014894301959322944 Centerline is valid? [True, True] Translation: X:107.18, Y:-166.86, Z:-4.01 [[-9.99181604e-01 -3.92511940e-02 9.77067112e-03 1.07178227e+02] [-3.92507376e-02 9.99229364e-01 2.38540582e-04 -1.66864488e+02] [-9.77250450e-03 -1.45160687e-04 -9.99952237e-01 -4.00506243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters 0.014516739993088225 Centerline is valid? [True, True] Translation: X:107.17, Y:-166.83, Z:-4.00 [[-9.93778213e-01 -1.10757114e-01 1.17356622e-02 1.07174062e+02] [-1.10751555e-01 9.93847488e-01 1.12451913e-03 -1.66834364e+02] [-1.17880069e-02 -1.82220231e-04 -9.99930503e-01 -4.00388554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters 0.015038248506228364 Centerline is valid? [True, True] Translation: X:107.16, Y:-166.81, Z:-4.00 [[-9.82988751e-01 -1.83218334e-01 1.28123652e-02 1.07161433e+02] [-1.83205784e-01 9.83072220e-01 2.15649035e-03 -1.66805939e+02] [-1.29905889e-02 -2.27493650e-04 -9.99915593e-01 -4.00350708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters 0.01586417968656103 Centerline is valid? [True, True] Translation: X:107.15, Y:-166.78, Z:-4.00 [[-9.66735988e-01 -2.55455363e-01 1.28096725e-02 1.07146126e+02] [-2.55436599e-01 9.66820814e-01 3.10776795e-03 -1.66778386e+02] [-1.31785540e-02 -2.67668054e-04 -9.99913123e-01 -4.00396564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters 0.016014766945379087 Centerline is valid? [True, True] Translation: X:107.12, Y:-166.75, Z:-4.00 [[-9.46190126e-01 -3.23409045e-01 1.14383147e-02 1.07124499e+02] [-3.23388419e-01 9.46259232e-01 3.66010502e-03 -1.66754653e+02] [-1.20073219e-02 -2.35863264e-04 -9.99927882e-01 -4.00413754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters 0.015089496131184467 Centerline is valid? [True, True] Translation: X:107.09, Y:-166.74, Z:-4.00 [[-9.21729827e-01 -3.87685071e-01 1.06963738e-02 1.07092461e+02] [-3.87661292e-01 9.21791870e-01 4.29784054e-03 -1.66740169e+02] [-1.15260391e-02 -1.85122284e-04 -9.99933556e-01 -4.00440698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters 0.013341292843734535 Centerline is valid? [True, True] Translation: X:107.04, Y:-166.74, Z:-4.01 [[-8.94106242e-01 -4.47753571e-01 9.52721763e-03 1.07037190e+02] [-4.47729252e-01 8.94156995e-01 4.66748124e-03 -1.66743898e+02] [-1.06087097e-02 -9.23899122e-05 -9.99943722e-01 -4.00620014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters 0.012830715537596205 Centerline is valid? [True, True] Translation: X:106.97, Y:-166.75, Z:-4.01 [[-8.61493635e-01 -5.07690501e-01 8.89224349e-03 1.06974151e+02] [-5.07663828e-01 8.61539526e-01 5.20411659e-03 -1.66754051e+02] [-1.03030998e-02 -3.09570516e-05 -9.99946921e-01 -4.00770360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters 0.01273534523732437 Centerline is valid? [True, True] Translation: X:106.90, Y:-166.77, Z:-4.01 [[-8.22553815e-01 -5.68615142e-01 9.05768607e-03 1.06903677e+02] [-5.68580791e-01 8.22603683e-01 6.25014102e-03 -1.66768692e+02] [-1.10048108e-02 -8.94897499e-06 -9.99939445e-01 -4.00812823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters 0.012784640780349497 Centerline is valid? [True, True] Translation: X:106.82, Y:-166.79, Z:-4.01 [[-7.77835679e-01 -6.28400800e-01 9.17011086e-03 1.06824975e+02] [-6.28357255e-01 7.77889732e-01 7.39769163e-03 -1.66793599e+02] [-1.17820504e-02 -7.91718788e-06 -9.99930589e-01 -4.00698246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters 0.012738319944189187 Centerline is valid? [True, True] Translation: X:106.74, Y:-166.83, Z:-4.01 [[-7.27893381e-01 -6.85629160e-01 9.15861719e-03 1.06741575e+02] [-6.85575227e-01 7.27950997e-01 8.59966199e-03 -1.66828881e+02] [-1.25632035e-02 -1.92840113e-05 -9.99921080e-01 -4.00752963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters 0.012729534666963603 Centerline is valid? [True, True] Translation: X:106.66, Y:-166.87, Z:-4.01 [[-6.73591047e-01 -7.39064296e-01 7.68555596e-03 1.06657148e+02] [-7.39016632e-01 6.73634890e-01 8.39361134e-03 -1.66873499e+02] [-1.13806771e-02 -2.58922322e-05 -9.99935238e-01 -4.00870358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters 0.012699673604700782 Centerline is valid? [True, True] Translation: X:106.57, Y:-166.93, Z:-4.01 [[-6.15317904e-01 -7.88248234e-01 6.97123597e-03 1.06574459e+02] [-7.88198236e-01 6.15357392e-01 8.87805064e-03 -1.66926992e+02] [-1.12879093e-02 -3.18923778e-05 -9.99936289e-01 -4.00830612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters 0.01282201894989681 Centerline is valid? [True, True] Translation: X:106.49, Y:-166.99, Z:-4.01 [[-5.51752904e-01 -8.33981813e-01 6.56258899e-03 1.06488502e+02] [-8.33924180e-01 5.51791927e-01 9.80468267e-03 -1.66993970e+02] [-1.17981107e-02 -6.29395005e-05 -9.99930398e-01 -4.00733725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters 0.01300166921558108 Centerline is valid? [True, True] Translation: X:106.41, Y:-167.07, Z:-4.01 [[-4.85258076e-01 -8.74350009e-01 6.05490023e-03 1.06409173e+02] [-8.74284186e-01 4.85295842e-01 1.07287954e-02 -1.67066183e+02] [-1.23191403e-02 -8.74689025e-05 -9.99924113e-01 -4.00611238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters 0.013229980608574908 Centerline is valid? [True, True] Translation: X:106.33, Y:-167.15, Z:-4.01 [[-4.15262894e-01 -9.09684021e-01 5.63116239e-03 1.06334902e+02] [-9.09604353e-01 4.15301055e-01 1.20397100e-02 -1.67145786e+02] [-1.32909595e-02 -1.22484991e-04 -9.99911664e-01 -4.00565887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters 0.013166903122244491 Centerline is valid? [True, True] Translation: X:106.27, Y:-167.23, Z:-4.01 [[-3.42985318e-01 -9.39328388e-01 4.82189868e-03 1.06265548e+02] [-9.39241615e-01 3.43019179e-01 1.27684168e-02 -1.67233984e+02] [-1.36477401e-02 -1.49548408e-04 -9.99906854e-01 -4.00549199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters 0.013085110421249393 Centerline is valid? [True, True] Translation: X:106.21, Y:-167.33, Z:-4.01 [[-2.71064479e-01 -9.62553736e-01 3.78863323e-03 1.06205285e+02] [-9.62466581e-01 2.71090921e-01 1.29535072e-02 -1.67329215e+02] [-1.34955108e-02 -1.35197185e-04 -9.99908922e-01 -4.00515076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters 0.012756669288071834 Centerline is valid? [True, True] Translation: X:106.15, Y:-167.44, Z:-4.01 [[-1.98519298e-01 -9.80093496e-01 2.61301626e-03 1.06152706e+02] [-9.80015234e-01 1.98536468e-01 1.23859459e-02 -1.67437360e+02] [-1.26581640e-02 -1.01946458e-04 -9.99919877e-01 -4.00683564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters 0.01233032667643217 Centerline is valid? [True, True] Translation: X:106.11, Y:-167.54, Z:-4.01 [[-1.25310577e-01 -9.92116405e-01 1.51611134e-03 1.06109939e+02] [-9.92049899e-01 1.25319732e-01 1.14875444e-02 -1.67535332e+02] [-1.15869799e-02 -6.45472800e-05 -9.99932867e-01 -4.00846859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters 0.01225212281584226 Centerline is valid? [True, True] Translation: X:106.07, Y:-167.64, Z:-4.01 [[-5.02229664e-02 -9.98737824e-01 6.41867283e-04 1.06072928e+02] [-9.98668503e-01 5.02270429e-02 1.17671622e-02 -1.67644238e+02] [-1.17845491e-02 -5.00308463e-05 -9.99930559e-01 -4.00833736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters 0.01233474532120948 Centerline is valid? [True, True] Translation: X:106.04, Y:-167.76, Z:-4.01 [[ 2.62560535e-02 -9.99655212e-01 -2.77020031e-04 1.06044085e+02] [-9.99578046e-01 -2.62574687e-02 1.24207771e-02 -1.67759691e+02] [-1.24237684e-02 -4.92174471e-05 -9.99922821e-01 -4.00777682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters 0.012408025602221975 Centerline is valid? [True, True] Translation: X:106.02, Y:-167.88, Z:-4.01 [[ 1.03650145e-01 -9.94612731e-01 -1.47055930e-03 1.06024052e+02] [-9.94502702e-01 -1.03660552e-01 1.47941124e-02 -1.67880694e+02] [-1.48668515e-02 -7.09366964e-05 -9.99889480e-01 -4.00673270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters 0.012618469978512379 Centerline is valid? [True, True] Translation: X:106.01, Y:-168.00, Z:-4.01 [[ 1.80384383e-01 -9.83592303e-01 -2.76708661e-03 1.06013025e+02] [-9.83469000e-01 -1.80405584e-01 1.55740499e-02 -1.68004565e+02] [-1.58177135e-02 -8.79714812e-05 -9.99874888e-01 -4.00516186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters 0.012677818515719495 Centerline is valid? [True, True] Translation: X:106.01, Y:-168.12, Z:-4.00 [[ 2.55680705e-01 -9.66753547e-01 -3.86741650e-03 1.06009527e+02] [-9.66637486e-01 -2.55709936e-01 1.49799938e-02 -1.68117153e+02] [-1.54708990e-02 -9.17056192e-05 -9.99880314e-01 -4.00495407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters 0.01259738336731122 Centerline is valid? [True, True] Translation: X:106.02, Y:-168.24, Z:-4.01 [[ 3.29231119e-01 -9.44239818e-01 -4.24697841e-03 1.06019034e+02] [-9.44158140e-01 -3.29258500e-01 1.24195942e-02 -1.68237543e+02] [-1.31254291e-02 -7.90976524e-05 -9.99913855e-01 -4.00743697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters 0.012550321896927017 Centerline is valid? [True, True] Translation: X:106.04, Y:-168.35, Z:-4.01 [[ 3.99243012e-01 -9.16832114e-01 -4.88804050e-03 1.06036840e+02] [-9.16761695e-01 -3.99272930e-01 1.13632398e-02 -1.68353692e+02] [-1.23698455e-02 -5.55258043e-05 -9.99923489e-01 -4.00816568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters 0.01236078215977904 Centerline is valid? [True, True] Translation: X:106.06, Y:-168.46, Z:-4.01 [[ 4.65922528e-01 -8.84807720e-01 -5.61221707e-03 1.06060945e+02] [-8.84742987e-01 -4.65956327e-01 1.07027074e-02 -1.68459201e+02] [-1.20848862e-02 -2.12627976e-05 -9.99926975e-01 -4.00949030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters 0.012451068966003398 Centerline is valid? [True, True] Translation: X:106.09, Y:-168.57, Z:-4.01 [[ 5.31625188e-01 -8.46955847e-01 -6.36022363e-03 1.06094340e+02] [-8.46894966e-01 -5.31663233e-01 1.01550074e-02 -1.68568210e+02] [-1.19823400e-02 -1.22163679e-05 -9.99928209e-01 -4.00973240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters 0.012585365065592826 Centerline is valid? [True, True] Translation: X:106.13, Y:-168.67, Z:-4.01 [[ 5.94803605e-01 -8.03838141e-01 -7.27427580e-03 1.06133564e+02] [-8.03777769e-01 -5.94848085e-01 9.85161492e-03 -1.68673741e+02] [-1.22461928e-02 -1.28749010e-05 -9.99925013e-01 -4.01002221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters 0.012752512468359746 Centerline is valid? [True, True] Translation: X:106.18, Y:-168.78, Z:-4.01 [[ 6.54780998e-01 -7.55772177e-01 -8.38218622e-03 1.06180386e+02] [-7.55709866e-01 -6.54834648e-01 9.70482210e-03 -1.68776393e+02] [-1.28235805e-02 -2.00322803e-05 -9.99917774e-01 -4.00919153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters 0.012919303962893836 Centerline is valid? [True, True] Translation: X:106.23, Y:-168.87, Z:-4.01 [[ 7.11442589e-01 -7.02683281e-01 -9.25467296e-03 1.06230611e+02] [-7.02623119e-01 -7.11502779e-01 9.19499845e-03 -1.68871612e+02] [-1.30458972e-02 -3.91663210e-05 -9.99914898e-01 -4.00947910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters 0.013177304792237008 Centerline is valid? [True, True] Translation: X:106.25, Y:-168.90, Z:-4.01 [[ 7.64361756e-01 -6.44710060e-01 -1.00021836e-02 1.06250846e+02] [-6.44654131e-01 -7.64427195e-01 8.49202609e-03 -1.68897951e+02] [-1.31208358e-02 -4.30310244e-05 -9.99913917e-01 -4.00845746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters 0.012926450605656092 Centerline is valid? [True, True] Translation: X:106.27, Y:-168.93, Z:-4.01 [[ 8.13027882e-01 -5.82136571e-01 -1.01329062e-02 1.06270964e+02] [-5.82090536e-01 -8.13091022e-01 7.32112201e-03 -1.68926503e+02] [-1.25008680e-02 -5.40074904e-05 -9.99921860e-01 -4.01115049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters 0.012870351247957688 Centerline is valid? [True, True] Translation: X:106.29, Y:-168.95, Z:-4.01 [[ 8.56142757e-01 -5.16645716e-01 -9.83784772e-03 1.06294012e+02] [-5.16610912e-01 -8.56199277e-01 5.99706810e-03 -1.68952238e+02] [-1.15215176e-02 -5.20069371e-05 -9.99933624e-01 -4.01142783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters 0.01285244144750298 Centerline is valid? [True, True] Translation: X:106.32, Y:-168.98, Z:-4.01 [[ 8.93984053e-01 -4.47998436e-01 -9.48230518e-03 1.06318539e+02] [-4.47972650e-01 -8.94034339e-01 4.80688606e-03 -1.68977298e+02] [-1.06309839e-02 -4.94661010e-05 -9.99943488e-01 -4.01244682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters 0.012772658656752483 Centerline is valid? [True, True] Translation: X:106.34, Y:-169.00, Z:-4.01 [[ 9.26595676e-01 -3.75965137e-01 -8.40642853e-03 1.06344287e+02] [-3.75949179e-01 -9.26633807e-01 3.46431745e-03 -1.68999663e+02] [-9.09214346e-03 -4.96316653e-05 -9.99958664e-01 -4.01213161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters 0.01290989460799959 Centerline is valid? [True, True] Translation: X:106.37, Y:-169.02, Z:-4.01 [[ 9.53772299e-01 -3.00417399e-01 -8.23340572e-03 1.06372528e+02] [-3.00405616e-01 -9.53807833e-01 2.66147949e-03 -1.69021803e+02] [-8.65264162e-03 -6.50840924e-05 -9.99962563e-01 -4.01154528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters 0.013442262477923128 Centerline is valid? [True, True] Translation: X:106.40, Y:-169.04, Z:-4.01 [[ 9.74797996e-01 -2.22928336e-01 -8.47495135e-03 1.06401237e+02] [-2.22919161e-01 -9.74834832e-01 2.02425153e-03 -1.69041856e+02] [-8.71294080e-03 -8.40072898e-05 -9.99962038e-01 -4.00981950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters 0.013908923769425178 Centerline is valid? [True, True] Translation: X:106.43, Y:-169.06, Z:-4.01 [[ 9.89868126e-01 -1.41848264e-01 -6.33741093e-03 1.06432970e+02] [-1.41844782e-01 -9.89888409e-01 9.97706151e-04 -1.69057789e+02] [-6.41485251e-03 -8.86688432e-05 -9.99979421e-01 -4.01147720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters 0.014299321575772947 Centerline is valid? [True, True] Translation: X:106.46, Y:-169.07, Z:-4.01 [[ 9.98136533e-01 -6.08132340e-02 -5.02114695e-03 1.06461809e+02] [-6.08120358e-02 -9.98149159e-01 3.91116268e-04 -1.69072707e+02] [-5.03563865e-03 -8.50412680e-05 -9.99987318e-01 -4.01252475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters 0.01548678813146287 Centerline is valid? [True, True] Translation: X:106.49, Y:-169.09, Z:-4.01 [[ 9.99756004e-01 2.16065233e-02 -4.59244918e-03 1.06492049e+02] [ 2.16067364e-02 -9.99766547e-01 -3.20813448e-06 -1.69086633e+02] [-4.59144637e-03 -9.60204871e-05 -9.99989455e-01 -4.01204342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters 0.01661502504657293 Centerline is valid? [True, True] Translation: X:106.52, Y:-169.10, Z:-4.01 [[ 9.94809186e-01 1.01619041e-01 -5.31537118e-03 1.06523152e+02] [ 1.01618242e-01 -9.94823379e-01 -4.20932840e-04 -1.69095198e+02] [-5.33063031e-03 -1.21390819e-04 -9.99985785e-01 -4.01022180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters 0.015620449701283227 Centerline is valid? [True, True] Translation: X:106.56, Y:-169.10, Z:-4.01 [[ 9.83649185e-01 1.79995539e-01 -5.99063523e-03 1.06555711e+02] [ 1.79993087e-01 -9.83667416e-01 -9.50498574e-04 -1.69100341e+02] [-6.06387818e-03 -1.43315779e-04 -9.99981604e-01 -4.00947647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters 0.015872527524934232 Centerline is valid? [True, True] Translation: X:106.59, Y:-169.10, Z:-4.01 [[ 9.66753430e-01 2.55615954e-01 -6.94905981e-03 1.06587822e+02] [ 2.55610562e-01 -9.66778391e-01 -1.66840506e-03 -1.69103324e+02] [-7.14467181e-03 -1.63316764e-04 -9.99974463e-01 -4.00852400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters 0.014919223093770168 Centerline is valid? [True, True] Translation: X:106.62, Y:-169.10, Z:-4.01 [[ 9.44426418e-01 3.28650028e-01 -6.92099820e-03 1.06620045e+02] [ 3.28642378e-01 -9.44451765e-01 -2.24739962e-03 -1.69102729e+02] [-7.27515691e-03 -1.52029731e-04 -9.99973524e-01 -4.00849269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters 0.014324214034261649 Centerline is valid? [True, True] Translation: X:106.65, Y:-169.10, Z:-4.01 [[ 9.17176835e-01 3.98431351e-01 -6.25389638e-03 1.06652466e+02] [ 3.98422962e-01 -9.17198149e-01 -2.58815614e-03 -1.69098728e+02] [-6.76726474e-03 -1.17899059e-04 -9.99977095e-01 -4.00840483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters 0.01392026431038981 Centerline is valid? [True, True] Translation: X:106.68, Y:-169.09, Z:-4.01 [[ 8.84542872e-01 4.66421672e-01 -5.89335027e-03 1.06681628e+02] [ 4.66412040e-01 -8.84562499e-01 -2.99912073e-03 -1.69090995e+02] [-6.61189155e-03 -9.58786589e-05 -9.99978137e-01 -4.00882813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters 0.013235942111320327 Centerline is valid? [True, True] Translation: X:106.71, Y:-169.08, Z:-4.01 [[ 8.46967526e-01 5.31614969e-01 -5.61560240e-03 1.06711675e+02] [ 5.31603869e-01 -8.46986139e-01 -3.43621587e-03 -1.69080806e+02] [-6.58308118e-03 -7.49127041e-05 -9.99978329e-01 -4.00885464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters 0.012903988966113146 Centerline is valid? [True, True] Translation: X:106.74, Y:-169.07, Z:-4.01 [[ 8.04609570e-01 5.93778638e-01 -5.51085171e-03 1.06741530e+02] [ 5.93765188e-01 -8.04628440e-01 -3.99691334e-03 -1.69068569e+02] [-6.80746977e-03 -5.61971782e-05 -9.99976827e-01 -4.00844886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters 0.01280060631777746 Centerline is valid? [True, True] Translation: X:106.77, Y:-169.06, Z:-4.01 [[ 7.56183227e-01 6.54330673e-01 -6.18861821e-03 1.06772042e+02] [ 6.54309417e-01 -7.56208548e-01 -5.27442829e-03 -1.69056509e+02] [-8.13110620e-03 -6.08369661e-05 -9.99966940e-01 -4.00818911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters 0.013091193709681174 Centerline is valid? [True, True] Translation: X:106.80, Y:-169.04, Z:-4.01 [[ 7.02673026e-01 7.11479341e-01 -6.91129768e-03 1.06800266e+02] [ 7.11445940e-01 -7.02707010e-01 -6.89435948e-03 -1.69043556e+02] [-9.76181167e-03 -7.25342413e-05 -9.99952350e-01 -4.00534032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters 0.013314032887648798 Centerline is valid? [True, True] Translation: X:106.82, Y:-169.02, Z:-4.00 [[ 6.44241336e-01 7.64788557e-01 -7.18086237e-03 1.06824350e+02] [ 7.64742609e-01 -6.44281348e-01 -8.38374180e-03 -1.69023305e+02] [-1.10382855e-02 -9.03584006e-05 -9.99939072e-01 -4.00375880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters 0.013021287170864973 Centerline is valid? [True, True] Translation: X:106.85, Y:-169.00, Z:-4.01 [[ 5.82949028e-01 8.12481285e-01 -6.67769442e-03 1.06848086e+02] [ 8.12429643e-01 -5.82987267e-01 -9.16086092e-03 -1.69002699e+02] [-1.13360389e-02 -8.48419254e-05 -9.99935742e-01 -4.00524971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters 0.012846537864025398 Centerline is valid? [True, True] Translation: X:106.87, Y:-168.98, Z:-4.01 [[ 5.19087780e-01 8.54701722e-01 -5.73095008e-03 1.06870206e+02] [ 8.54650953e-01 -5.19119411e-01 -9.31587557e-03 -1.68980623e+02] [-1.09373423e-02 -6.22047847e-05 -9.99940184e-01 -4.00609962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters 0.012607201928544151 Centerline is valid? [True, True] Translation: X:106.89, Y:-168.96, Z:-4.01 [[ 4.52610960e-01 8.91696486e-01 -4.54926070e-03 1.06889417e+02] [ 8.91652189e-01 -4.52633821e-01 -8.88811761e-03 -1.68956858e+02] [-9.98465249e-03 -3.34988245e-05 -9.99950152e-01 -4.00709982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters 0.012523637625606314 Centerline is valid? [True, True] Translation: X:106.91, Y:-168.93, Z:-4.01 [[ 3.83993857e-01 9.23329451e-01 -3.38277548e-03 1.06909434e+02] [ 9.23293735e-01 -3.84008757e-01 -8.12112491e-03 -1.68933188e+02] [-8.79748921e-03 -4.83333479e-06 -9.99961301e-01 -4.00837211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters 0.012553512695102118 Centerline is valid? [True, True] Translation: X:106.93, Y:-168.91, Z:-4.01 [[ 3.14405482e-01 9.49286307e-01 -2.16790580e-03 1.06925845e+02] [ 9.49263187e-01 -3.14412955e-01 -6.62534581e-03 -1.68906921e+02] [-6.97096772e-03 2.51318697e-05 -9.99975702e-01 -4.00938844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters 0.012566677573353828 Centerline is valid? [True, True] Translation: X:106.94, Y:-168.88, Z:-4.01 [[ 2.40774642e-01 9.70579879e-01 -1.50687742e-03 1.06942399e+02] [ 9.70559967e-01 -2.40779355e-01 -6.21714542e-03 -1.68880822e+02] [-6.39706122e-03 3.44160637e-05 -9.99979538e-01 -4.00981223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters 0.012610294701303072 Centerline is valid? [True, True] Translation: X:106.96, Y:-168.85, Z:-4.01 [[ 1.63456483e-01 9.86549836e-01 -1.18276610e-03 1.06957600e+02] [ 9.86522427e-01 -1.63460758e-01 -7.35401462e-03 -1.68853139e+02] [-7.44843776e-03 3.52360827e-05 -9.99972259e-01 -4.00872037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters 0.01250077877555937 Centerline is valid? [True, True] Translation: X:106.97, Y:-168.82, Z:-4.01 [[ 8.35486633e-02 9.96503467e-01 -6.78460586e-04 1.06973326e+02] [ 9.96468461e-01 -8.35514152e-02 -8.35268361e-03 -1.68824492e+02] [-8.38016452e-03 2.17909746e-05 -9.99964886e-01 -4.00793824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters 0.012506574379685633 Centerline is valid? [True, True] Translation: X:106.99, Y:-168.80, Z:-4.01 [[ 1.97305619e-03 9.99998053e-01 -2.53974784e-05 1.06986315e+02] [ 9.99951440e-01 -1.97320944e-03 -9.65526580e-03 -1.68795319e+02] [-9.65529711e-03 -6.34586322e-06 -9.99953387e-01 -4.00654616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters 0.012928537189461606 Centerline is valid? [True, True] Translation: X:107.00, Y:-168.77, Z:-4.00 [[-8.14131110e-02 9.96680085e-01 8.45341154e-04 1.06997147e+02] [ 9.96617852e-01 8.14174742e-02 -1.11378792e-02 -1.68766042e+02] [-1.11697279e-02 -6.42873065e-05 -9.99937615e-01 -4.00445158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters 0.012843193610868745 Centerline is valid? [True, True] Translation: X:107.00, Y:-168.73, Z:-4.01 [[-1.60743775e-01 9.86994546e-01 1.79011341e-03 1.07003249e+02] [ 9.86927349e-01 1.60753720e-01 -1.15173562e-02 -1.68734429e+02] [-1.16553352e-02 -8.46314429e-05 -9.99932071e-01 -4.00558136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters 0.013052173631593597 Centerline is valid? [True, True] Translation: X:107.01, Y:-168.70, Z:-4.01 [[-2.38561939e-01 9.71123541e-01 2.69634006e-03 1.07006580e+02] [ 9.71056857e-01 2.38577156e-01 -1.13807182e-02 -1.68704093e+02] [-1.16953685e-02 -9.67066797e-05 -9.99931602e-01 -4.00560265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters 0.012820796006046449 Centerline is valid? [True, True] Translation: X:107.00, Y:-168.67, Z:-4.01 [[-3.12521828e-01 9.49904222e-01 3.47500377e-03 1.07004982e+02] [ 9.49842728e-01 3.12541138e-01 -1.08087616e-02 -1.68672551e+02] [-1.13533699e-02 -7.72668688e-05 -9.99935546e-01 -4.00679618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters 0.012615037473247551 Centerline is valid? [True, True] Translation: X:107.00, Y:-168.64, Z:-4.01 [[-3.83641156e-01 9.23474214e-01 3.85220047e-03 1.07000489e+02] [ 9.23426521e-01 3.83660493e-01 -9.38549146e-03 -1.68642305e+02] [-1.01451965e-02 -4.34367116e-05 -9.99948535e-01 -4.00794134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters 0.012627754549187603 Centerline is valid? [True, True] Translation: X:106.99, Y:-168.61, Z:-4.01 [[-4.52234965e-01 8.91889634e-01 4.05195084e-03 1.06992084e+02] [ 8.91853589e-01 4.52253116e-01 -8.01841818e-03 -1.68613728e+02] [-8.98405145e-03 -1.24621639e-05 -9.99959643e-01 -4.00825278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters 0.012577606233152473 Centerline is valid? [True, True] Translation: X:106.98, Y:-168.58, Z:-4.01 [[-5.19705591e-01 8.54332929e-01 4.62004332e-03 1.06982415e+02] [ 8.54299137e-01 5.19726126e-01 -7.59854326e-03 -1.68584287e+02] [-8.89284293e-03 -2.10639262e-06 -9.99960458e-01 -4.00904136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters 0.012765692228207056 Centerline is valid? [True, True] Translation: X:106.97, Y:-168.56, Z:-4.01 [[-5.84492396e-01 8.11371031e-01 6.75941284e-03 1.06972009e+02] [ 8.11316865e-01 5.84531479e-01 -9.37517740e-03 -1.68555386e+02] [-1.15578369e-02 4.30573825e-06 -9.99933206e-01 -4.00772500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters 0.012930217263715262 Centerline is valid? [True, True] Translation: X:106.96, Y:-168.53, Z:-4.01 [[-6.46220856e-01 7.63101207e-01 8.66913667e-03 1.06959348e+02] [ 7.63032650e-01 6.46279002e-01 -1.02287521e-02 -1.68526945e+02] [-1.34082541e-02 4.80138426e-06 -9.99910105e-01 -4.00581728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters 0.01291416430919478 Centerline is valid? [True, True] Translation: X:106.94, Y:-168.50, Z:-4.01 [[-7.04015598e-01 7.10110122e-01 1.02787481e-02 1.06944230e+02] [ 7.10034536e-01 7.04090630e-01 -1.03606083e-02 -1.68498866e+02] [-1.45943430e-02 4.23628139e-06 -9.99893497e-01 -4.00571156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters 0.01308947772537942 Centerline is valid? [True, True] Translation: X:106.93, Y:-168.48, Z:-4.01 [[-7.57718857e-01 6.52490427e-01 1.08800781e-02 1.06926085e+02] [ 6.52423156e-01 7.57796967e-01 -9.36924267e-03 -1.68476139e+02] [-1.43582313e-02 -8.36953406e-07 -9.99896915e-01 -4.00522036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters 0.01293317877356437 Centerline is valid? [True, True] Translation: X:106.94, Y:-168.46, Z:-4.01 [[-8.02387015e-01 5.96699692e-01 1.11604530e-02 1.06942946e+02] [ 5.96641807e-01 8.02464627e-01 -8.31123278e-03 -1.68457831e+02] [-1.39151788e-02 -1.00323889e-05 -9.99903179e-01 -4.00674809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters 0.013004951618445105 Centerline is valid? [True, True] Translation: X:106.96, Y:-168.44, Z:-4.01 [[-8.43235505e-01 5.37414592e-01 1.18084419e-02 1.06956099e+02] [ 5.37361461e-01 8.43318182e-01 -7.55672423e-03 -1.68435978e+02] [-1.40193677e-02 -2.66965614e-05 -9.99901724e-01 -4.00578574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters 0.013020615090953461 Centerline is valid? [True, True] Translation: X:106.97, Y:-168.41, Z:-4.01 [[-8.80636052e-01 4.73642593e-01 1.19514812e-02 1.06967832e+02] [ 4.73597923e-01 8.80717145e-01 -6.50525057e-03 -1.68414769e+02] [-1.36070381e-02 -6.85615279e-05 -9.99907418e-01 -4.00683113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters 0.013168195454742869 Centerline is valid? [True, True] Translation: X:106.98, Y:-168.39, Z:-4.01 [[-9.12906286e-01 4.07999701e-01 1.17625023e-02 1.06977918e+02] [ 4.07964503e-01 9.12982056e-01 -5.35994380e-03 -1.68390715e+02] [-1.29258090e-02 -9.44429719e-05 -9.99916454e-01 -4.00749033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters 0.013576859402653298 Centerline is valid? [True, True] Translation: X:107.26, Y:-167.78, Z:-5.03 [[-8.74390376e-01 -4.85116611e-01 1.01658101e-02 1.07259481e+02] [ 4.85083833e-01 -8.74449469e-01 -5.63922946e-03 -1.67778864e+02] [ 1.16251711e-02 3.82140083e-07 9.99932425e-01 -5.03008405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters 0.014303803545036103 Centerline is valid? [True, True] Translation: X:106.93, Y:-168.37, Z:-4.01 [[-9.17280219e-01 3.98121814e-01 9.79904275e-03 1.06932219e+02] [ 3.98097294e-01 9.17332545e-01 -4.42125887e-03 -1.68369302e+02] [-1.07491804e-02 -1.54560906e-04 -9.99942214e-01 -4.00932196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters 0.015038008705472547 Centerline is valid? [True, True] Translation: X:106.94, Y:-168.34, Z:-4.01 [[-9.44026148e-01 3.29729806e-01 9.63779202e-03 1.06937134e+02] [ 3.29710733e-01 9.44075328e-01 -3.55070434e-03 -1.68341187e+02] [-1.02695747e-02 -1.74274269e-04 -9.99947251e-01 -4.00988104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters 0.0152906608014754 Centerline is valid? [True, True] Translation: X:106.95, Y:-168.32, Z:-4.01 [[-9.65360673e-01 2.60668581e-01 1.14307253e-02 1.06951275e+02] [ 2.60647617e-01 9.65428321e-01 -3.31314412e-03 -1.68317366e+02] [-1.18991785e-02 -2.18987714e-04 -9.99929178e-01 -4.00829012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters 0.014989589628699375 Centerline is valid? [True, True] Translation: X:106.96, Y:-168.29, Z:-4.01 [[-9.81484146e-01 1.91132825e-01 1.25345424e-02 1.06955932e+02] [ 1.91114096e-01 9.81564152e-01 -2.68649421e-03 -1.68291208e+02] [-1.28169347e-02 -2.41223743e-04 -9.99917831e-01 -4.00810334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters 0.0149314155875516 Centerline is valid? [True, True] Translation: X:107.10, Y:-167.64, Z:-5.03 [[-9.55936024e-01 -2.93312467e-01 1.24142949e-02 1.07099105e+02] [ 2.93291106e-01 -9.56016598e-01 -3.54859315e-03 -1.67638211e+02] [ 1.29091186e-02 2.48774255e-04 9.99916643e-01 -5.03050535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters 0.015475094458637092 Centerline is valid? [True, True] Translation: X:106.91, Y:-168.28, Z:-4.01 [[-9.82251706e-01 1.87163897e-01 1.22988517e-02 1.06907016e+02] [ 1.87146175e-01 9.82328671e-01 -2.58660847e-03 -1.68277728e+02] [-1.25656344e-02 -2.39017528e-04 -9.99921021e-01 -4.00793164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters 0.014440385173222926 Centerline is valid? [True, True] Translation: X:106.91, Y:-168.25, Z:-4.01 [[-9.92940965e-01 1.17986295e-01 1.21438753e-02 1.06913462e+02] [ 1.17974749e-01 9.93015199e-01 -1.66526867e-03 -1.68253095e+02] [-1.22555316e-02 -2.20842845e-04 -9.99924874e-01 -4.00920574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters 0.014236834290853793 Centerline is valid? [True, True] Translation: X:107.00, Y:-167.59, Z:-5.03 [[-9.75896784e-01 -2.17911177e-01 1.18400566e-02 1.07003257e+02] [ 2.17897713e-01 -9.75968584e-01 -2.43118760e-03 -1.67594242e+02] [ 1.20853063e-02 2.07333106e-04 9.99926949e-01 -5.02985148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters 0.013297964718902556 Centerline is valid? [True, True] Translation: X:106.87, Y:-168.25, Z:-4.01 [[-9.92344628e-01 1.22986441e-01 1.12461051e-02 1.06869441e+02] [ 1.22977376e-01 9.92408346e-01 -1.49675814e-03 -1.68251942e+02] [-1.13448095e-02 -1.02283411e-04 -9.99935640e-01 -4.00976070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters 0.012951743746385356 Centerline is valid? [True, True] Translation: X:106.87, Y:-168.23, Z:-4.01 [[-9.98201138e-01 5.89506200e-02 1.09230750e-02 1.06874115e+02] [ 5.89468123e-02 9.98260900e-01 -6.70503058e-04 -1.68228237e+02] [-1.09436053e-02 -2.54164635e-05 -9.99940117e-01 -4.00988794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters 0.01359842349246153 Centerline is valid? [True, True] Translation: X:106.88, Y:-168.21, Z:-4.01 [[-9.99946328e-01 -1.20885169e-03 1.02898205e-02 1.06877396e+02] [-1.20788025e-03 9.99999266e-01 1.00621559e-04 -1.68207235e+02] [-1.02899346e-02 8.81872873e-05 -9.99947053e-01 -4.01235667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters 0.01480350212018006 Centerline is valid? [True, True] Translation: X:106.87, Y:-168.18, Z:-4.01 [[-9.97744337e-01 -6.63283249e-02 1.03340171e-02 1.06873995e+02] [-6.63231969e-02 9.97797841e-01 8.38511682e-04 -1.68183393e+02] [-1.03668770e-02 1.51235231e-04 -9.99946251e-01 -4.01288554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters 0.015047244100362853 Centerline is valid? [True, True] Translation: X:106.87, Y:-168.16, Z:-4.01 [[-9.90998359e-01 -1.33438931e-01 1.07844372e-02 1.06869146e+02] [-1.33428825e-01 9.91057017e-01 1.65448645e-03 -1.68156601e+02] [-1.09087651e-02 2.00638570e-04 -9.99940478e-01 -4.01368351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters 0.015888562898348967 Centerline is valid? [True, True] Translation: X:106.86, Y:-168.13, Z:-4.01 [[-9.79245943e-01 -2.02275301e-01 1.27313130e-02 1.06856293e+02] [-2.02254741e-01 9.79328665e-01 2.89567004e-03 -1.68130337e+02] [-1.30538623e-02 2.60604711e-04 -9.99914761e-01 -4.01215836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters 0.01570690130315013 Centerline is valid? [True, True] Translation: X:106.83, Y:-168.11, Z:-4.01 [[-9.61804565e-01 -2.73431608e-01 1.29280835e-02 1.06827719e+02] [-2.73403400e-01 9.61891414e-01 3.93543384e-03 -1.68107754e+02] [-1.35114845e-02 2.50536243e-04 -9.99908684e-01 -4.01203813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters 0.014845054162208068 Centerline is valid? [True, True] Translation: X:106.79, Y:-168.09, Z:-4.01 [[-9.37841397e-01 -3.46780697e-01 1.40236482e-02 1.06786289e+02] [-3.46738688e-01 9.37946218e-01 5.40140200e-03 -1.68088341e+02] [-1.50265298e-02 2.03117018e-04 -9.99887075e-01 -4.01255919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters 0.0140883402623485 Centerline is valid? [True, True] Translation: X:106.73, Y:-168.08, Z:-4.01 [[-9.07597741e-01 -4.19600534e-01 1.42032873e-02 1.06726848e+02] [-4.19546992e-01 9.07708861e-01 6.70410709e-03 -1.68079295e+02] [-1.57054967e-02 1.25685979e-04 -9.99876653e-01 -4.01302069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters 0.013659650488203359 Centerline is valid? [True, True] Translation: X:106.66, Y:-168.08, Z:-4.01 [[-8.72727320e-01 -4.88015917e-01 1.36927014e-02 1.06660255e+02] [-4.87954496e-01 8.72834726e-01 7.74279337e-03 -1.68079939e+02] [-1.57300717e-02 7.59320803e-05 -9.99876272e-01 -4.01354357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters 0.013552512173355473 Centerline is valid? [True, True] Translation: X:106.58, Y:-168.09, Z:-4.01 [[-8.30778376e-01 -5.56466546e-01 1.23399137e-02 1.06583426e+02] [-5.56405570e-01 8.30870015e-01 8.23770063e-03 -1.68087242e+02] [-1.48368691e-02 -2.22931801e-05 -9.99889927e-01 -4.01365134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters 0.014021154286816696 Centerline is valid? [True, True] Translation: X:106.50, Y:-168.10, Z:-4.02 [[-7.81644425e-01 -6.23639812e-01 1.02653671e-02 1.06503837e+02] [-6.23588323e-01 7.81711818e-01 8.01481249e-03 -1.68101406e+02] [-1.30229149e-02 -1.36629556e-04 -9.99915189e-01 -4.01551950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters 0.014694493713722969 Centerline is valid? [True, True] Translation: X:106.42, Y:-168.13, Z:-4.02 [[-7.30091999e-01 -6.83295313e-01 8.55499451e-03 1.06422714e+02] [-6.83251120e-01 7.30142100e-01 7.77303472e-03 -1.68129096e+02] [-1.15576399e-02 -1.70179128e-04 -9.99933194e-01 -4.01639141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters 0.015988196227679805 Centerline is valid? [True, True] Translation: X:106.34, Y:-168.17, Z:-4.02 [[-6.74791003e-01 -7.37967239e-01 7.83936128e-03 1.06336961e+02] [-7.37920866e-01 6.74836509e-01 8.27535394e-03 -1.68168402e+02] [-1.13972273e-02 -2.00693882e-04 -9.99935029e-01 -4.01582286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters 0.016313745385367177 Centerline is valid? [True, True] Translation: X:106.26, Y:-168.21, Z:-4.02 [[-6.14524365e-01 -7.88855510e-01 8.17246339e-03 1.06255982e+02] [-7.88791631e-01 6.14578643e-01 1.00425953e-02 -1.68214826e+02] [-1.29447781e-02 -2.74951201e-04 -9.99916175e-01 -4.01625845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters 0.01676049479759453 Centerline is valid? [True, True] Translation: X:106.17, Y:-168.28, Z:-4.01 [[-5.52114564e-01 -8.33723846e-01 8.60565788e-03 1.06173421e+02] [-8.33632072e-01 5.52181521e-01 1.23748509e-02 -1.68275995e+02] [-1.50690935e-02 -3.41617017e-04 -9.99886396e-01 -4.01496957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters 0.01668092703718265 Centerline is valid? [True, True] Translation: X:106.10, Y:-168.34, Z:-4.01 [[-4.87924883e-01 -8.72843343e-01 8.59107740e-03 1.06099991e+02] [-8.72721321e-01 4.88000367e-01 1.45992425e-02 -1.68339295e+02] [-1.69353006e-02 -3.74282731e-04 -9.99856518e-01 -4.01345169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters 0.01632672939013989 Centerline is valid? [True, True] Translation: X:106.03, Y:-168.42, Z:-4.01 [[-4.23254803e-01 -9.05971535e-01 8.42312228e-03 1.06029280e+02] [-9.05808822e-01 4.23338454e-01 1.71735456e-02 -1.68416968e+02] [-1.91245750e-02 -3.60952836e-04 -9.99817044e-01 -4.01133197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters 0.01585647180037139 Centerline is valid? [True, True] Translation: X:105.97, Y:-168.50, Z:-4.01 [[-3.55994497e-01 -9.34457866e-01 7.51100132e-03 1.05965096e+02] [-9.34268607e-01 3.56073580e-01 1.88089131e-02 -1.68502962e+02] [-2.02506059e-02 -3.21423178e-04 -9.99794884e-01 -4.01075666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters 0.014052951138819799 Centerline is valid? [True, True] Translation: X:105.91, Y:-168.59, Z:-4.01 [[-2.88660257e-01 -9.57412186e-01 6.09616272e-03 1.05911977e+02] [-9.57214410e-01 2.88724539e-01 1.94605570e-02 -1.68594614e+02] [-2.03918862e-02 -2.17845418e-04 -9.99792040e-01 -4.01381586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters 0.014197546334737719 Centerline is valid? [True, True] Translation: X:105.86, Y:-168.70, Z:-4.01 [[-2.18085711e-01 -9.75918525e-01 4.65344185e-03 1.05860654e+02] [-9.75710819e-01 2.18135301e-01 2.01342341e-02 -1.68695247e+02] [-2.06644520e-02 -1.49424799e-04 -9.99786456e-01 -4.01261894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters 0.013569905445640065 Centerline is valid? [True, True] Translation: X:105.82, Y:-168.80, Z:-4.02 [[-1.45363765e-01 -9.89373789e-01 2.98026997e-03 1.05818133e+02] [-9.89178824e-01 1.45394283e-01 1.96406899e-02 -1.68797113e+02] [-1.98652980e-02 -9.29753172e-05 -9.99802661e-01 -4.01543985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters 0.013069176076399411 Centerline is valid? [True, True] Translation: X:105.16, Y:-168.80, Z:-5.02 [[-2.19237316e-01 9.75663083e-01 4.06787943e-03 1.05158103e+02] [-9.75495118e-01 -2.19275052e-01 1.81032408e-02 -1.68802487e+02] [ 1.85546482e-02 7.09400171e-07 9.99827848e-01 -5.02106199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters 0.013068084689367218 Centerline is valid? [True, True] Translation: X:105.78, Y:-169.07, Z:-4.02 [[-1.38474986e-01 -9.90362777e-01 2.49975329e-03 1.05779414e+02] [-9.90206663e-01 1.38497541e-01 1.75839374e-02 -1.69066584e+02] [-1.77606868e-02 -4.03368772e-05 -9.99842266e-01 -4.01763020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters 0.012979746860359031 Centerline is valid? [True, True] Translation: X:105.74, Y:-169.18, Z:-4.02 [[-6.18463900e-02 -9.98084970e-01 1.19040612e-03 1.05742493e+02] [-9.97914826e-01 6.18578265e-02 1.84285175e-02 -1.69177913e+02] [-1.84668623e-02 -4.81866351e-05 -9.99829472e-01 -4.01813742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters 0.013016475713179957 Centerline is valid? [True, True] Translation: X:105.71, Y:-169.29, Z:-4.02 [[ 1.57813446e-02 -9.99875440e-01 -2.32834041e-04 1.05713444e+02] [-9.99694889e-01 -1.57829195e-02 1.90007422e-02 -1.69294250e+02] [-1.90020502e-02 -6.70942591e-05 -9.99819443e-01 -4.01785435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters 0.012920436143428003 Centerline is valid? [True, True] Translation: X:105.69, Y:-169.41, Z:-4.02 [[ 9.52610536e-02 -9.95451007e-01 -1.62005756e-03 1.05692741e+02] [-9.95285396e-01 -9.52747561e-02 1.81576575e-02 -1.69410368e+02] [-1.82294090e-02 -1.17297953e-04 -9.99833824e-01 -4.01904123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters 0.01349534700766146 Centerline is valid? [True, True] Translation: X:105.68, Y:-169.53, Z:-4.02 [[ 1.73388110e-01 -9.84849501e-01 -2.83254062e-03 1.05679933e+02] [-9.84703974e-01 -1.73411183e-01 1.69305879e-02 -1.69531382e+02] [-1.71652753e-02 -1.46348627e-04 -9.99852655e-01 -4.01804002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters 0.013046213421624974 Centerline is valid? [True, True] Translation: X:105.68, Y:-169.65, Z:-4.02 [[ 2.50184133e-01 -9.68191228e-01 -3.69404374e-03 1.05678296e+02] [-9.68076096e-01 -2.50211352e-01 1.49315751e-02 -1.69647814e+02] [-1.53809117e-02 -1.59527718e-04 -9.99881694e-01 -4.02001733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters 0.013122422656068193 Centerline is valid? [True, True] Translation: X:105.69, Y:-169.77, Z:-4.02 [[ 3.23697286e-01 -9.46149690e-01 -4.56423656e-03 1.05687387e+02] [-9.46048950e-01 -3.23729427e-01 1.38073339e-02 -1.69770921e+02] [-1.45413823e-02 -1.51405285e-04 -9.99894257e-01 -4.01996566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters 0.012823827682288713 Centerline is valid? [True, True] Translation: X:105.70, Y:-169.88, Z:-4.02 [[ 3.94865307e-01 -9.18724173e-01 -5.22328555e-03 1.05701940e+02] [-9.18639227e-01 -3.94899829e-01 1.24938220e-02 -1.69879782e+02] [-1.35410509e-02 -1.35061878e-04 -9.99908307e-01 -4.02143998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters 0.01246536401189333 Centerline is valid? [True, True] Translation: X:105.73, Y:-169.99, Z:-4.02 [[ 4.63593559e-01 -8.86032209e-01 -5.28545388e-03 1.05725642e+02] [-8.85971915e-01 -4.63623675e-01 1.03370374e-02 -1.69993180e+02] [-1.16094096e-02 -1.09420266e-04 -9.99932603e-01 -4.02253388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters 0.0124099169681498 Centerline is valid? [True, True] Translation: X:105.76, Y:-170.10, Z:-4.02 [[ 5.29546661e-01 -8.48262406e-01 -5.58793428e-03 1.05757067e+02] [-8.48213283e-01 -5.29576135e-01 9.12926677e-03 -1.70104349e+02] [-1.07032504e-02 -9.46126532e-05 -9.99942714e-01 -4.02173872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters 0.012235251232688728 Centerline is valid? [True, True] Translation: X:105.79, Y:-170.21, Z:-4.02 [[ 5.92233776e-01 -8.05742582e-01 -6.16811702e-03 1.05794382e+02] [-8.05697379e-01 -5.92265890e-01 8.53521311e-03 -1.70206999e+02] [-1.05303500e-02 -8.52057800e-05 -9.99944551e-01 -4.02092690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters 0.011871132594788588 Centerline is valid? [True, True] Translation: X:105.84, Y:-170.31, Z:-4.02 [[ 6.50109192e-01 -7.59815781e-01 -6.16580955e-03 1.05841995e+02] [-7.59780825e-01 -6.50138428e-01 7.28850087e-03 -1.70307930e+02] [-9.54654771e-03 -5.36575439e-05 -9.99954429e-01 -4.02052840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters 0.011930145078421299 Centerline is valid? [True, True] Translation: X:105.89, Y:-170.40, Z:-4.02 [[ 7.04651311e-01 -7.09521931e-01 -6.72018095e-03 1.05893415e+02] [-7.09489199e-01 -7.04683354e-01 6.81519286e-03 -1.70402841e+02] [-9.57112844e-03 -3.44387738e-05 -9.99954195e-01 -4.02040800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters 0.011901852162452275 Centerline is valid? [True, True] Translation: X:105.95, Y:-170.49, Z:-4.02 [[ 7.55416568e-01 -6.55210086e-01 -6.74924965e-03 1.05945385e+02] [-6.55183735e-01 -7.55446718e-01 5.87625069e-03 -1.70487635e+02] [-8.94887722e-03 -1.70185386e-05 -9.99959958e-01 -4.01999582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters 0.011745800831315096 Centerline is valid? [True, True] Translation: X:105.97, Y:-170.52, Z:-4.02 [[ 8.03330444e-01 -5.95499598e-01 -6.35822411e-03 1.05965975e+02] [-5.95480932e-01 -8.03355605e-01 4.71501276e-03 -1.70515527e+02] [-7.91570318e-03 -1.51207379e-06 -9.99968670e-01 -4.02064699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters 0.011668105140739828 Centerline is valid? [True, True] Translation: X:105.99, Y:-170.54, Z:-4.02 [[ 8.47244171e-01 -5.31162413e-01 -6.61866148e-03 1.05987776e+02] [-5.31146216e-01 -8.47270023e-01 4.14798398e-03 -1.70540771e+02] [-7.81104664e-03 1.12174826e-06 -9.99969493e-01 -4.01966119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters 0.01166223181690728 Centerline is valid? [True, True] Translation: X:106.01, Y:-170.57, Z:-4.02 [[ 8.87075943e-01 -4.61556089e-01 -7.88970957e-03 1.06011886e+02] [-4.61537670e-01 -8.87111028e-01 4.12343399e-03 -1.70567107e+02] [-8.90224443e-03 -1.64009200e-05 -9.99960374e-01 -4.01729525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters 0.011822727526082915 Centerline is valid? [True, True] Translation: X:106.04, Y:-170.59, Z:-4.02 [[ 9.21503572e-01 -3.88275505e-01 -8.56148671e-03 1.06037685e+02] [-3.88258315e-01 -9.21543342e-01 3.65385449e-03 -1.70589821e+02] [-9.30848327e-03 -4.29715625e-05 -9.99956674e-01 -4.01570841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters 0.011960852395365639 Centerline is valid? [True, True] Translation: X:106.07, Y:-170.61, Z:-4.02 [[ 9.49718870e-01 -3.12984337e-01 -8.65285590e-03 1.06066123e+02] [-3.12970754e-01 -9.49758285e-01 2.91662411e-03 -1.70609338e+02] [-9.13097925e-03 -6.18821218e-05 -9.99958310e-01 -4.01615666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters 0.012568164906271868 Centerline is valid? [True, True] Translation: X:106.10, Y:-170.63, Z:-4.02 [[ 9.72608236e-01 -2.32302082e-01 -8.30433948e-03 1.06095413e+02] [-2.32292684e-01 -9.72643682e-01 2.09223862e-03 -1.70630981e+02] [-8.56319472e-03 -1.05891204e-04 -9.99963330e-01 -4.01622956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters 0.013185712078335892 Centerline is valid? [True, True] Translation: X:106.13, Y:-170.65, Z:-4.02 [[ 9.88316249e-01 -1.52195498e-01 -8.21721251e-03 1.06126890e+02] [-1.52189129e-01 -9.88350400e-01 1.39854693e-03 -1.70648827e+02] [-8.33433781e-03 -1.31636237e-04 -9.99965260e-01 -4.01631591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters 0.014180363727688734 Centerline is valid? [True, True] Translation: X:106.16, Y:-170.66, Z:-4.02 [[ 9.97461726e-01 -7.07794263e-02 -7.77039362e-03 1.06155968e+02] [-7.07760967e-02 -9.97491980e-01 7.02986298e-04 -1.70663325e+02] [-7.80066228e-03 -1.51243795e-04 -9.99969563e-01 -4.01635788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters 0.015578924460948284 Centerline is valid? [True, True] Translation: X:106.19, Y:-170.68, Z:-4.02 [[ 9.99891316e-01 1.24268352e-02 -7.93278408e-03 1.06186584e+02] [ 1.24279717e-02 -9.99922765e-01 9.39869224e-05 -1.70676621e+02] [-7.93100343e-03 -1.92565124e-04 -9.99968531e-01 -4.01558536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters 0.016522759319777786 Centerline is valid? [True, True] Translation: X:106.22, Y:-170.69, Z:-4.01 [[ 9.95645369e-01 9.28562163e-02 -8.24758796e-03 1.06218215e+02] [ 9.28548476e-02 -9.95679504e-01 -5.49549676e-04 -1.70685094e+02] [-8.26298340e-03 -2.18671934e-04 -9.99965837e-01 -4.01407858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters 0.015646413964727268 Centerline is valid? [True, True] Translation: X:106.25, Y:-170.69, Z:-4.01 [[ 9.85327019e-01 1.70448293e-01 -8.83427002e-03 1.06250506e+02] [ 1.70443584e-01 -9.85366594e-01 -1.28883820e-03 -1.70689142e+02] [-8.92467483e-03 -2.35817538e-04 -9.99960147e-01 -4.01348633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters 0.01592175265237211 Centerline is valid? [True, True] Translation: X:106.28, Y:-170.69, Z:-4.01 [[ 9.69342148e-01 2.45575178e-01 -8.28444021e-03 1.06281634e+02] [ 2.45568067e-01 -9.69377526e-01 -1.88071277e-03 -1.70690138e+02] [-8.49260653e-03 -2.11339811e-04 -9.99963915e-01 -4.01325864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters 0.014900748097273372 Centerline is valid? [True, True] Translation: X:106.31, Y:-170.68, Z:-4.01 [[ 9.48293994e-01 3.17327248e-01 -6.47448620e-03 1.06311904e+02] [ 3.17320885e-01 -9.48316085e-01 -2.01463375e-03 -1.70683870e+02] [-6.77915759e-03 -1.44024604e-04 -9.99977011e-01 -4.01495854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters 0.014038862231312763 Centerline is valid? [True, True] Translation: X:106.34, Y:-170.68, Z:-4.01 [[ 9.21573797e-01 3.88140213e-01 -6.99361806e-03 1.06342664e+02] [ 3.88130185e-01 -9.21600323e-01 -2.79363378e-03 -1.70678086e+02] [-7.52964227e-03 -1.39894577e-04 -9.99971642e-01 -4.01421314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters 0.013600362107972061 Centerline is valid? [True, True] Translation: X:106.37, Y:-170.67, Z:-4.01 [[ 8.89624994e-01 4.56630663e-01 -7.47054795e-03 1.06370880e+02] [ 4.56615801e-01 -8.89656350e-01 -3.68641534e-03 -1.70669523e+02] [-8.32955070e-03 -1.31643009e-04 -9.99965300e-01 -4.01279463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters 0.012753445641693778 Centerline is valid? [True, True] Translation: X:106.40, Y:-170.66, Z:-4.01 [[ 8.52818136e-01 5.22150972e-01 -7.71945650e-03 1.06398934e+02] [ 5.22130781e-01 -8.52853064e-01 -4.59324038e-03 -1.70658063e+02] [-8.98192706e-03 -1.13367151e-04 -9.99959655e-01 -4.01274006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters 0.012133113559456557 Centerline is valid? [True, True] Translation: X:106.43, Y:-170.64, Z:-4.01 [[ 8.11758344e-01 5.83949094e-01 -7.20044720e-03 1.06426265e+02] [ 5.83926937e-01 -8.11790275e-01 -5.08750484e-03 -1.70644023e+02] [-8.81609685e-03 -7.47105749e-05 -9.99961135e-01 -4.01289780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters 0.012034481581300428 Centerline is valid? [True, True] Translation: X:106.46, Y:-170.63, Z:-4.01 [[ 7.63550568e-01 6.45714031e-01 -6.62719180e-03 1.06455824e+02] [ 6.45690534e-01 -7.63579324e-01 -5.50903264e-03 -1.70632793e+02] [-8.61764632e-03 -7.26900110e-05 -9.99962865e-01 -4.01362983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters 0.0120767210203293 Centerline is valid? [True, True] Translation: X:106.48, Y:-170.62, Z:-4.01 [[ 7.10402968e-01 7.03770324e-01 -5.91214794e-03 1.06484037e+02] [ 7.03746799e-01 -7.10427565e-01 -5.75483325e-03 -1.70618836e+02] [-8.25023373e-03 -7.24045631e-05 -9.99965964e-01 -4.01414598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters 0.012430524456729368 Centerline is valid? [True, True] Translation: X:106.51, Y:-170.60, Z:-4.01 [[ 6.52560768e-01 7.57712488e-01 -6.01911904e-03 1.06509596e+02] [ 7.57681483e-01 -6.52588521e-01 -6.85509284e-03 -1.70602815e+02] [-9.12219745e-03 -8.72103990e-05 -9.99958388e-01 -4.01386612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters 0.01247388018371927 Centerline is valid? [True, True] Translation: X:106.53, Y:-170.58, Z:-4.01 [[ 5.91169566e-01 8.06527951e-01 -5.58649510e-03 1.06533259e+02] [ 8.06493362e-01 -5.91195955e-01 -7.46992381e-03 -1.70583991e+02] [-9.32741565e-03 -8.94795969e-05 -9.99956495e-01 -4.01244014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters 0.012666223827261815 Centerline is valid? [True, True] Translation: X:106.56, Y:-170.56, Z:-4.01 [[ 5.24946128e-01 8.51120034e-01 -5.12358902e-03 1.06557598e+02] [ 8.51081454e-01 -5.24971120e-01 -8.10445882e-03 -1.70564691e+02] [-9.58760352e-03 -1.06187312e-04 -9.99954032e-01 -4.01241630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters 0.012842337247058829 Centerline is valid? [True, True] Translation: X:106.58, Y:-170.54, Z:-4.01 [[ 4.55130780e-01 8.90414123e-01 -4.32001465e-03 1.06581488e+02] [ 8.90376463e-01 -4.55151266e-01 -8.19019787e-03 -1.70543636e+02] [-9.25892800e-03 -1.18828225e-04 -9.99957128e-01 -4.01342166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters 0.013923646393935027 Centerline is valid? [True, True] Translation: X:106.60, Y:-170.52, Z:-4.01 [[ 3.82613722e-01 9.23902540e-01 -3.29176865e-03 1.06603840e+02] [ 9.23870983e-01 -3.82627863e-01 -7.63704071e-03 -1.70522102e+02] [-8.31540372e-03 -1.19132971e-04 -9.99965419e-01 -4.01337964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters 0.01332710382564881 Centerline is valid? [True, True] Translation: X:106.62, Y:-170.50, Z:-4.02 [[ 3.08468335e-01 9.51231243e-01 -2.53144031e-03 1.06621255e+02] [ 9.51202259e-01 -3.08478699e-01 -7.42659933e-03 -1.70496967e+02] [-7.84530872e-03 -1.17041014e-04 -9.99969218e-01 -4.01517499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters 0.012956270132342039 Centerline is valid? [True, True] Translation: X:106.64, Y:-170.47, Z:-4.02 [[ 2.34843900e-01 9.72031772e-01 -1.60551009e-03 1.06638187e+02] [ 9.72011453e-01 -2.34849373e-01 -6.28549412e-03 -1.70470632e+02] [-6.48675302e-03 -8.44642451e-05 -9.99978957e-01 -4.01511563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters 0.012577527121623489 Centerline is valid? [True, True] Translation: X:106.65, Y:-170.44, Z:-4.01 [[ 1.61502925e-01 9.86871753e-01 -9.74261256e-04 1.06650482e+02] [ 9.86855751e-01 -1.61505854e-01 -5.62010750e-03 -1.70443451e+02] [-5.70367424e-03 -5.37915241e-05 -9.99983733e-01 -4.01416253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters 0.011659471953752951 Centerline is valid? [True, True] Translation: X:106.66, Y:-170.41, Z:-4.02 [[ 9.21963416e-02 9.95740786e-01 -3.47999682e-04 1.06657939e+02] [ 9.95733803e-01 -9.21969983e-02 -3.72918875e-03 -1.70414974e+02] [-3.74538986e-03 -2.69748717e-06 -9.99992986e-01 -4.01609805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters 0.011905258714214013 Centerline is valid? [True, True] Translation: X:106.66, Y:-170.39, Z:-4.02 [[ 2.12655653e-02 9.99773861e-01 -4.64934801e-05 1.06664131e+02] [ 9.99768740e-01 -2.12656052e-02 -3.20015852e-03 -1.70386416e+02] [-3.20042355e-03 2.15704517e-05 -9.99994878e-01 -4.01623597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters 0.013659644970569637 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.36, Z:-4.01 [[-4.58379347e-02 9.98948860e-01 2.43844329e-04 1.06668072e+02] [ 9.98941568e-01 4.58385320e-02 -3.81749836e-03 -1.70357546e+02] [-3.82466310e-03 6.85999963e-05 -9.99992684e-01 -4.01491788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters 0.01576644721309962 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.33, Z:-4.01 [[-1.16511326e-01 9.93189069e-01 7.64508894e-04 1.06669937e+02] [ 9.93174703e-01 1.16513754e-01 -5.34372392e-03 -1.70329144e+02] [-5.39640398e-03 1.36686535e-04 -9.99985430e-01 -4.01272254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters 0.017381841189189954 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.30, Z:-4.01 [[-1.87689070e-01 9.82227195e-01 1.59677128e-03 1.06671729e+02] [ 9.82201377e-01 1.87695720e-01 -7.12536485e-03 -1.70299999e+02] [-7.29843427e-03 2.30997843e-04 -9.99973339e-01 -4.01095894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters 0.01910742457630389 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.27, Z:-4.01 [[-2.59803725e-01 9.65658609e-01 2.33984291e-03 1.06670804e+02] [ 9.65628790e-01 2.59814103e-01 -7.59416718e-03 -1.70271339e+02] [-7.94129711e-03 2.86426762e-04 -9.99968426e-01 -4.00975092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters 0.018474275739183404 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.24, Z:-4.01 [[-3.34566126e-01 9.42366629e-01 3.26260548e-03 1.06673333e+02] [ 9.42330715e-01 3.34581881e-01 -8.23341161e-03 -1.70240729e+02] [-8.85050101e-03 3.19832726e-04 -9.99960782e-01 -4.01060586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters 0.017677723739340463 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.21, Z:-4.01 [[-4.10689381e-01 9.11765638e-01 4.20175521e-03 1.06674691e+02] [ 9.11725382e-01 4.10710757e-01 -8.57326914e-03 -1.70209482e+02] [-9.54251827e-03 3.09896277e-04 -9.99954421e-01 -4.01054799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters 0.016116289547610834 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.18, Z:-4.01 [[-4.85129178e-01 8.74428286e-01 4.98525805e-03 1.06674838e+02] [ 8.74387701e-01 4.85154717e-01 -8.42903116e-03 -1.70176606e+02] [-9.78920473e-03 2.69879366e-04 -9.99952048e-01 -4.01086202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters 0.015354957906806502 Centerline is valid? [True, True] Translation: X:106.67, Y:-170.15, Z:-4.01 [[-5.56387568e-01 8.30904622e-01 5.51204806e-03 1.06670940e+02] [ 8.30867618e-01 5.56414830e-01 -7.84466519e-03 -1.70146545e+02] [-9.58515385e-03 2.15108047e-04 -9.99954038e-01 -4.01063558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters 0.01438095269774657 Centerline is valid? [True, True] Translation: X:106.66, Y:-170.12, Z:-4.01 [[-6.23267851e-01 7.81986723e-01 5.82677240e-03 1.06663178e+02] [ 7.81954991e-01 6.23295065e-01 -7.04652513e-03 -1.70116379e+02] [-9.14208758e-03 1.64401195e-04 -9.99958197e-01 -4.01124480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters 0.01309312751079463 Centerline is valid? [True, True] Translation: X:106.66, Y:-170.08, Z:-4.01 [[-6.85286909e-01 7.28256486e-01 4.93385551e-03 1.06655392e+02] [ 7.28238673e-01 6.85304662e-01 -5.09456125e-03 -1.70083899e+02] [-7.09134146e-03 1.01788261e-04 -9.99974851e-01 -4.01323532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters 0.012747738615293292 Centerline is valid? [True, True] Translation: X:106.64, Y:-170.05, Z:-4.01 [[-7.42852264e-01 6.69439227e-01 4.65136124e-03 1.06643450e+02] [ 6.69426649e-01 7.42866823e-01 -4.10426165e-03 -1.70052241e+02] [-6.20289570e-03 6.48851092e-05 -9.99980760e-01 -4.01418286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters 0.012265896922260502 Centerline is valid? [True, True] Translation: X:106.66, Y:-170.02, Z:-4.01 [[-7.89655808e-01 6.13534824e-01 4.32722747e-03 1.06658141e+02] [ 6.13525927e-01 7.89667663e-01 -3.30443097e-03 -1.70024847e+02] [-5.44445508e-03 4.55031351e-05 -9.99985178e-01 -4.01482415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters 0.011965076617614548 Centerline is valid? [True, True] Translation: X:106.68, Y:-170.00, Z:-4.02 [[-8.32758407e-01 5.53624186e-01 3.70076627e-03 1.06678268e+02] [ 5.53618847e-01 8.32766630e-01 -2.43144468e-03 -1.70000100e+02] [-4.42798123e-03 2.40079608e-05 -9.99990196e-01 -4.01530026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters 0.011897250317156384 Centerline is valid? [True, True] Translation: X:106.69, Y:-169.97, Z:-4.01 [[-8.70698162e-01 4.91803341e-01 3.76613253e-03 1.06693089e+02] [ 4.91798820e-01 8.70706307e-01 -2.10873870e-03 -1.69973902e+02] [-4.31628009e-03 1.61046254e-05 -9.99990685e-01 -4.01484117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters 0.011948700782531378 Centerline is valid? [True, True] Translation: X:106.70, Y:-169.95, Z:-4.01 [[-9.03809195e-01 4.27908100e-01 4.85774187e-03 1.06702581e+02] [ 4.27902001e-01 9.03822249e-01 -2.28459840e-03 -1.69945765e+02] [-5.36813334e-03 1.37964275e-05 -9.99985591e-01 -4.01314075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters 0.011883344379297365 Centerline is valid? [True, True] Translation: X:106.97, Y:-169.39, Z:-5.03 [[-8.74484544e-01 -4.85012798e-01 6.27441991e-03 1.06969925e+02] [ 4.85001067e-01 -8.74507048e-01 -3.37447528e-03 -1.69386469e+02] [ 7.12368813e-03 9.21738759e-05 9.99974622e-01 -5.02717012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters 0.012015286178430357 Centerline is valid? [True, True] Translation: X:106.66, Y:-169.93, Z:-4.01 [[-9.06256141e-01 4.22668045e-01 7.17845942e-03 1.06663627e+02] [ 4.22654808e-01 9.06284571e-01 -3.34515566e-03 -1.69925928e+02] [-7.91961742e-03 2.44252406e-06 -9.99968639e-01 -4.01065518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters 0.012058333368076367 Centerline is valid? [True, True] Translation: X:106.67, Y:-169.90, Z:-4.01 [[-9.34176832e-01 3.56720445e-01 8.01066451e-03 1.06671660e+02] [ 3.56707296e-01 9.34211178e-01 -3.06280794e-03 -1.69899669e+02] [-8.57621853e-03 -3.74173922e-06 -9.99963224e-01 -4.01060491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters 0.012177176336248128 Centerline is valid? [True, True] Translation: X:106.68, Y:-169.87, Z:-4.01 [[-9.56922024e-01 2.90194226e-01 9.35689475e-03 1.06676025e+02] [ 2.90180369e-01 9.56967769e-01 -2.83590824e-03 -1.69874320e+02] [-9.77721089e-03 1.44411703e-06 -9.99952202e-01 -4.00902599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters 0.012333672412918488 Centerline is valid? [True, True] Translation: X:106.86, Y:-169.28, Z:-5.03 [[-9.35697963e-01 -3.52663418e-01 9.89121358e-03 1.06858918e+02] [ 3.52644233e-01 -9.35750240e-01 -3.67870582e-03 -1.69280218e+02] [ 1.05530504e-02 4.59218912e-05 9.99944314e-01 -5.03029007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters 0.012521602818984534 Centerline is valid? [True, True] Translation: X:106.63, Y:-169.87, Z:-4.01 [[-9.56957155e-01 2.90041169e-01 1.04462287e-02 1.06632524e+02] [ 2.90024341e-01 9.57014169e-01 -3.12449943e-03 -1.69866353e+02] [-1.09034223e-02 3.96485104e-05 -9.99940555e-01 -4.00750682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters 0.012728442020709444 Centerline is valid? [True, True] Translation: X:106.64, Y:-169.85, Z:-4.01 [[-9.74479137e-01 2.24246701e-01 1.01896309e-02 1.06642930e+02] [ 2.24235128e-01 9.74532407e-01 -2.27913778e-03 -1.69845383e+02] [-1.04412146e-02 6.39009615e-05 -9.99945487e-01 -4.00889130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters 0.012913843906048 Centerline is valid? [True, True] Translation: X:106.78, Y:-169.22, Z:-5.03 [[-9.60575439e-01 -2.77853859e-01 9.59475769e-03 1.06784775e+02] [ 2.77839080e-01 -9.60623353e-01 -2.86711284e-03 -1.69221871e+02] [ 1.00135867e-02 -8.82795304e-05 9.99949859e-01 -5.03003684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters 0.012560687655576446 Centerline is valid? [True, True] Translation: X:106.59, Y:-169.84, Z:-4.01 [[-9.76235112e-01 2.16493041e-01 9.78618215e-03 1.06592334e+02] [ 2.16482364e-01 9.76284161e-01 -2.15015903e-03 -1.69837255e+02] [-1.00195891e-02 1.94751021e-05 -9.99949803e-01 -4.00895697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters 0.012669318092490015 Centerline is valid? [True, True] Translation: X:106.59, Y:-169.81, Z:-4.01 [[-9.90194856e-01 1.39275896e-01 1.07875774e-02 1.06589168e+02] [ 1.39266961e-01 9.90253615e-01 -1.57872869e-03 -1.69808539e+02] [-1.09023163e-02 -6.08959077e-05 -9.99940566e-01 -4.00927495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters 0.013050419726190948 Centerline is valid? [True, True] Translation: X:106.68, Y:-169.17, Z:-5.03 [[-9.75652175e-01 -2.19062913e-01 1.06898480e-02 1.06678737e+02] [ 2.19050480e-01 -9.75710734e-01 -2.33475419e-03 -1.69174735e+02] [ 1.09416574e-02 6.37083247e-05 9.99940136e-01 -5.02955884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters 0.013962677643802655 Centerline is valid? [True, True] Translation: X:106.53, Y:-169.80, Z:-4.01 [[-9.91881235e-01 1.26650091e-01 1.14616691e-02 1.06534760e+02] [ 1.26639687e-01 9.91947441e-01 -1.63197770e-03 -1.69801154e+02] [-1.15760635e-02 -1.67225863e-04 -9.99932981e-01 -4.00810207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters 0.014259204666988662 Centerline is valid? [True, True] Translation: X:106.53, Y:-169.78, Z:-4.01 [[-9.98526132e-01 5.31364081e-02 1.10492443e-02 1.06530809e+02] [ 5.31310360e-02 9.98587245e-01 -7.79375515e-04 -1.69775648e+02] [-1.10750477e-02 -1.91169021e-04 -9.99938652e-01 -4.00748162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters 0.014671753696635606 Centerline is valid? [True, True] Translation: X:106.53, Y:-169.75, Z:-4.01 [[-9.99759384e-01 -1.95670968e-02 9.91474834e-03 1.06528848e+02] [-1.95679959e-02 9.99808528e-01 6.33427983e-06 -1.69751319e+02] [-9.91297389e-03 -1.87678999e-04 -9.99950848e-01 -4.00776339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters 0.015337163542298807 Centerline is valid? [True, True] Translation: X:106.52, Y:-169.10, Z:-5.03 [[-9.96114387e-01 -8.76978368e-02 8.07574696e-03 1.06524585e+02] [ 8.76952218e-02 -9.96147122e-01 -6.78035572e-04 -1.69098773e+02] [ 8.10409435e-03 3.28034329e-05 9.99967161e-01 -5.02968888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters 0.015923683271981588 Centerline is valid? [True, True] Translation: X:106.47, Y:-169.76, Z:-4.01 [[-9.99615939e-01 -2.65859383e-02 7.82065375e-03 1.06468027e+02] [-2.65864348e-02 9.99646518e-01 4.04905442e-05 -1.69755431e+02] [-7.81896576e-03 -1.67448307e-04 -9.99969417e-01 -4.00787312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters 0.015332317428508284 Centerline is valid? [True, True] Translation: X:106.46, Y:-169.73, Z:-4.01 [[-9.95154298e-01 -9.80423632e-02 7.45772726e-03 1.06464823e+02] [-9.80408437e-02 9.95182229e-01 5.69940918e-04 -1.69732819e+02] [-7.47767599e-03 -1.63982718e-04 -9.99972028e-01 -4.00739165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters 0.015549140013620951 Centerline is valid? [True, True] Translation: X:106.45, Y:-169.71, Z:-4.01 [[-9.85605573e-01 -1.68856602e-01 8.31283592e-03 1.06451053e+02] [-1.68852196e-01 9.85640611e-01 1.23411020e-03 -1.69708371e+02] [-8.40185632e-03 -1.87294709e-04 -9.99964686e-01 -4.00635506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters 0.01634756630169652 Centerline is valid? [True, True] Translation: X:106.36, Y:-169.05, Z:-5.03 [[-9.98376625e-01 5.61648424e-02 9.46710561e-03 1.06357008e+02] [-5.61595980e-02 -9.98421468e-01 8.19109847e-04 -1.69050424e+02] [ 9.49816666e-03 2.86111280e-04 9.99954851e-01 -5.03359793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters 0.016530163792774343 Centerline is valid? [True, True] Translation: X:106.36, Y:-169.71, Z:-4.00 [[-9.84185335e-01 -1.76806024e-01 1.09021638e-02 1.06363947e+02] [-1.76798339e-01 9.84245676e-01 1.67231186e-03 -1.69713868e+02] [-1.10260824e-02 -2.81619644e-04 -9.99939171e-01 -4.00299476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters 0.0169640368361147 Centerline is valid? [True, True] Translation: X:106.28, Y:-169.07, Z:-5.04 [[-9.98200666e-01 5.89991803e-02 1.07016963e-02 1.06275772e+02] [-5.89930523e-02 -9.98257999e-01 8.87666515e-04 -1.69069292e+02] [ 1.07354255e-02 2.54743578e-04 9.99942341e-01 -5.03593555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters 0.01565938533572498 Centerline is valid? [True, True] Translation: X:106.29, Y:-169.73, Z:-4.00 [[-9.83670041e-01 -1.79774830e-01 8.61747943e-03 1.06292214e+02] [-1.79769677e-01 9.83707768e-01 1.37524841e-03 -1.69726425e+02] [-8.72431650e-03 -1.96370833e-04 -9.99961923e-01 -4.00439341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters 0.014398598790757194 Centerline is valid? [True, True] Translation: X:106.19, Y:-169.08, Z:-5.03 [[-9.97462748e-01 7.07345863e-02 8.04269992e-03 1.06188509e+02] [-7.07311544e-02 -9.97495162e-01 7.10712593e-04 -1.69075235e+02] [ 8.07282623e-03 1.40039886e-04 9.99967404e-01 -5.03378534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters 0.01474239340103856 Centerline is valid? [True, True] Translation: X:106.20, Y:-169.74, Z:-4.00 [[-9.83591466e-01 -1.80291097e-01 6.55343036e-03 1.06204437e+02] [-1.80287858e-01 9.83613292e-01 1.08662530e-03 -1.69743990e+02] [-6.64195007e-03 -1.12708550e-04 -9.99977936e-01 -4.00407831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters 0.014029957077486246 Centerline is valid? [True, True] Translation: X:106.19, Y:-169.72, Z:-4.00 [[-9.68549124e-01 -2.48751572e-01 5.93717706e-03 1.06189533e+02] [-2.48747506e-01 9.68567316e-01 1.42558400e-03 -1.69721863e+02] [-6.10517192e-03 -9.61098470e-05 -9.99981359e-01 -4.00448247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters 0.014260870306744946 Centerline is valid? [True, True] Translation: X:106.03, Y:-169.07, Z:-5.03 [[-9.88287086e-01 1.52496230e-01 5.79102255e-03 1.06034923e+02] [-1.52493155e-01 -9.88304049e-01 9.71511679e-04 -1.69072755e+02] [ 5.87144291e-03 7.70411494e-05 9.99982760e-01 -5.03466939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters 0.014471596442538771 Centerline is valid? [True, True] Translation: X:106.09, Y:-169.74, Z:-4.00 [[-9.66994912e-01 -2.54725444e-01 5.98229330e-03 1.06086542e+02] [-2.54721190e-01 9.67013412e-01 1.47536125e-03 -1.69743531e+02] [-6.16076991e-03 -9.71500386e-05 -9.99981018e-01 -4.00306646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters 0.014603563213060824 Centerline is valid? [True, True] Translation: X:106.07, Y:-169.72, Z:-4.00 [[-9.45495784e-01 -3.25572223e-01 6.36010736e-03 1.06065954e+02] [-3.25565723e-01 9.45517167e-01 2.06091513e-03 -1.69720846e+02] [-6.68456741e-03 -1.22046384e-04 -9.99977651e-01 -4.00292176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters 0.015889239501468092 Centerline is valid? [True, True] Translation: X:106.03, Y:-169.70, Z:-4.00 [[-9.18173954e-01 -3.96132295e-01 5.98294451e-03 1.06032992e+02] [-3.96124885e-01 9.18193436e-01 2.42709590e-03 -1.69700040e+02] [-6.45495144e-03 -1.41496962e-04 -9.99979157e-01 -4.00199190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters 0.015616083213070116 Centerline is valid? [True, True] Translation: X:105.99, Y:-169.69, Z:-4.00 [[-8.86743865e-01 -4.62226246e-01 5.67590093e-03 1.05993321e+02] [-4.62217810e-01 8.86762018e-01 2.79634776e-03 -1.69687422e+02] [-6.32571869e-03 -1.43858281e-04 -9.99979982e-01 -4.00176199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters 0.015418272010381252 Centerline is valid? [True, True] Translation: X:105.93, Y:-169.69, Z:-4.00 [[-8.50811674e-01 -5.25454200e-01 4.16882951e-03 1.05930700e+02] [-5.25448494e-01 8.50821881e-01 2.45087564e-03 -1.69690649e+02] [-4.83475426e-03 -1.05271581e-04 -9.99988307e-01 -4.00248148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters 0.014573992914140318 Centerline is valid? [True, True] Translation: X:105.87, Y:-169.70, Z:-4.01 [[-8.12096377e-01 -5.83521925e-01 1.27949631e-03 1.05865657e+02] [-5.83521251e-01 8.12097385e-01 8.87092078e-04 -1.69703904e+02] [-1.55671329e-03 -2.62090278e-05 -9.99998788e-01 -4.00513131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters 0.013688552854897187 Centerline is valid? [True, True] Translation: X:105.79, Y:-169.73, Z:-4.01 [[-7.68283232e-01 -6.40109961e-01 3.38070639e-04 1.05793059e+02] [-6.40109901e-01 7.68283306e-01 2.75343987e-04 -1.69728646e+02] [-4.35984457e-04 -4.86019544e-06 -9.99999905e-01 -4.00621664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters 0.01321082889926317 Centerline is valid? [True, True] Translation: X:105.71, Y:-169.76, Z:-4.01 [[-7.19585134e-01 -6.94404212e-01 1.61457380e-04 1.05713566e+02] [-6.94404195e-01 7.19585152e-01 1.54073800e-04 -1.69764890e+02] [-2.23171830e-04 -1.24746611e-06 -9.99999975e-01 -4.00634214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters 0.01355668594913711 Centerline is valid? [True, True] Translation: X:105.63, Y:-169.81, Z:-4.01 [[-6.65407396e-01 -7.46480155e-01 6.12980043e-04 1.05628929e+02] [-7.46479852e-01 6.65407678e-01 6.72515256e-04 -1.69810599e+02] [-9.09900920e-04 -1.00806268e-05 -9.99999586e-01 -4.00579289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters 0.013286353231680228 Centerline is valid? [True, True] Translation: X:105.55, Y:-169.86, Z:-4.01 [[-6.06723102e-01 -7.94912296e-01 1.23234949e-03 1.05554777e+02] [-7.94910739e-01 6.06724353e-01 1.57345403e-03 -1.69856207e+02] [-1.99845440e-03 -2.49569337e-05 -9.99998003e-01 -4.00507706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters 0.01328802073088279 Centerline is valid? [True, True] Translation: X:105.47, Y:-169.92, Z:-4.00 [[-5.44535864e-01 -8.38736260e-01 1.47582183e-03 1.05474002e+02] [-8.38733351e-01 5.44537863e-01 2.20961870e-03 -1.69919220e+02] [-2.65692819e-03 -3.46043554e-05 -9.99996470e-01 -4.00475129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters 0.013495785298305743 Centerline is valid? [True, True] Translation: X:105.40, Y:-169.99, Z:-4.01 [[-4.79177791e-01 -8.77716884e-01 1.31001442e-03 1.05395842e+02] [-8.77713803e-01 4.79179580e-01 2.32585330e-03 -1.69992561e+02] [-2.66917287e-03 -3.53204965e-05 -9.99996437e-01 -4.00560222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters 0.013130435967176737 Centerline is valid? [True, True] Translation: X:105.32, Y:-170.07, Z:-4.01 [[-4.11495694e-01 -9.11411218e-01 9.40896987e-04 1.05323846e+02] [-9.11408988e-01 4.11496769e-01 2.01622094e-03 -1.70074795e+02] [-2.22478245e-03 -2.78757371e-05 -9.99997525e-01 -4.00616963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters 0.013130592147610682 Centerline is valid? [True, True] Translation: X:105.26, Y:-170.16, Z:-4.01 [[-3.41086527e-01 -9.40031576e-01 7.85233118e-04 1.05259294e+02] [-9.40029266e-01 3.41087430e-01 2.08434489e-03 -1.70157485e+02] [-2.22718316e-03 -2.72001521e-05 -9.99997520e-01 -4.00609607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters 0.012818157846281646 Centerline is valid? [True, True] Translation: X:105.20, Y:-170.25, Z:-4.01 [[-2.69384946e-01 -9.63032414e-01 5.66620927e-04 1.05200014e+02] [-9.63030454e-01 2.69385541e-01 1.94273072e-03 -1.70251318e+02] [-2.02355214e-03 -2.23307962e-05 -9.99997952e-01 -4.00571106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters 0.012631328190176497 Centerline is valid? [True, True] Translation: X:105.15, Y:-170.36, Z:-4.01 [[-1.95581385e-01 -9.80687355e-01 4.83204524e-04 1.05145945e+02] [-9.80684665e-01 1.95581980e-01 2.29722914e-03 -1.70356581e+02] [-2.34736967e-03 -2.45760089e-05 -9.99997245e-01 -4.00514388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters 0.012615236058295166 Centerline is valid? [True, True] Translation: X:105.10, Y:-170.46, Z:-4.00 [[-1.20297241e-01 -9.92737812e-01 4.58216124e-04 1.05100682e+02] [-9.92731708e-01 1.20298108e-01 3.48167480e-03 -1.70459878e+02] [-3.51151276e-03 -3.60498018e-05 -9.99993834e-01 -4.00443380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters 0.012297534432961376 Centerline is valid? [True, True] Translation: X:105.06, Y:-170.57, Z:-4.00 [[-4.59674900e-02 -9.98942894e-01 2.90201529e-04 1.05064516e+02] [-9.98928592e-01 4.59683848e-02 5.34567474e-03 -1.70570535e+02] [-5.35336389e-03 -4.41633547e-05 -9.99985670e-01 -4.00338858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters 0.012004035233360747 Centerline is valid? [True, True] Translation: X:105.04, Y:-170.69, Z:-4.00 [[ 2.78744882e-02 -9.99611420e-01 -1.50299961e-04 1.05037687e+02] [-9.99589100e-01 -2.78748702e-02 6.68000611e-03 -1.70687870e+02] [-6.68159998e-03 -3.59635485e-05 -9.99977677e-01 -4.00299523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters 0.011813625174459308 Centerline is valid? [True, True] Translation: X:105.02, Y:-170.80, Z:-4.00 [[ 9.72568538e-02 -9.95259123e-01 -6.18712528e-04 1.05023409e+02] [-9.95239799e-01 -9.72588210e-02 6.20195183e-03 -1.70801021e+02] [-6.23272439e-03 1.25850099e-05 -9.99980576e-01 -4.00365617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters 0.012219606622474495 Centerline is valid? [True, True] Translation: X:105.02, Y:-170.92, Z:-4.00 [[ 1.67667452e-01 -9.85843088e-01 -1.01535041e-03 1.05016099e+02] [-9.85826585e-01 -1.67670521e-01 5.70448291e-03 -1.70918858e+02] [-5.79396938e-03 4.45033101e-05 -9.99983214e-01 -4.00405067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters 0.012977420126315286 Centerline is valid? [True, True] Translation: X:105.01, Y:-171.03, Z:-4.00 [[ 2.38623988e-01 -9.71111186e-01 -1.28721104e-03 1.05014217e+02] [-9.71098435e-01 -2.38627452e-01 4.97676902e-03 -1.71027414e+02] [-5.14015996e-03 6.24321528e-05 -9.99986787e-01 -4.00441926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters 0.01354042903028293 Centerline is valid? [True, True] Translation: X:105.02, Y:-171.14, Z:-4.00 [[ 3.09463231e-01 -9.50909722e-01 -1.79158601e-03 1.05022202e+02] [-9.50895332e-01 -3.09468405e-01 5.23207614e-03 -1.71144461e+02] [-5.52967133e-03 8.44755841e-05 -9.99984708e-01 -4.00392030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters 0.013802599140649375 Centerline is valid? [True, True] Translation: X:105.04, Y:-171.26, Z:-4.00 [[ 3.81413574e-01 -9.24400830e-01 -2.60606926e-03 1.05037302e+02] [-9.24381025e-01 -3.81422464e-01 6.05178985e-03 -1.71261003e+02] [-6.58829292e-03 1.00766181e-04 -9.99978292e-01 -4.00308242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters 0.01395191504639432 Centerline is valid? [True, True] Translation: X:105.06, Y:-171.38, Z:-4.00 [[ 4.51636307e-01 -8.92196478e-01 -3.17670836e-03 1.05060738e+02] [-8.92175950e-01 -4.51647468e-01 6.05294902e-03 -1.71378921e+02] [-6.83517208e-03 1.00451251e-04 -9.99976635e-01 -4.00203780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters 0.012973393170038958 Centerline is valid? [True, True] Translation: X:105.09, Y:-171.49, Z:-4.00 [[ 5.20258644e-01 -8.53999407e-01 -3.99452270e-03 1.05089867e+02] [-8.53975631e-01 -5.20273970e-01 6.37327215e-03 -1.71494195e+02] [-7.52101681e-03 9.54751170e-05 -9.99971712e-01 -4.00192794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters 0.012969660219222775 Centerline is valid? [True, True] Translation: X:105.13, Y:-171.60, Z:-4.00 [[ 5.86411131e-01 -8.09992039e-01 -5.90612231e-03 1.05125233e+02] [-8.09952580e-01 -5.86440865e-01 7.99562732e-03 -1.71603261e+02] [-9.93998595e-03 9.49541488e-05 -9.99950593e-01 -3.99923057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters 0.012679791946225193 Centerline is valid? [True, True] Translation: X:105.17, Y:-171.71, Z:-4.00 [[ 6.47885438e-01 -7.61701309e-01 -7.45487040e-03 1.05167862e+02] [-7.61652410e-01 -6.47928321e-01 8.63114937e-03 -1.71705471e+02] [-1.14045794e-02 8.60240173e-05 -9.99934962e-01 -3.99913111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters 0.012623257270836536 Centerline is valid? [True, True] Translation: X:105.22, Y:-171.80, Z:-4.00 [[ 7.04991204e-01 -7.09168905e-01 -8.17725852e-03 1.05218919e+02] [-7.09122323e-01 -7.05038623e-01 8.12839043e-03 -1.71802583e+02] [-1.15296848e-02 6.82328059e-05 -9.99933529e-01 -3.99984003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters 0.0124924288795355 Centerline is valid? [True, True] Translation: X:105.24, Y:-171.83, Z:-4.00 [[ 7.58708279e-01 -6.51372059e-01 -8.72860075e-03 1.05238363e+02] [-6.51329870e-01 -7.58758484e-01 7.41376536e-03 -1.71832802e+02] [-1.14520195e-02 6.03132323e-05 -9.99934422e-01 -4.00101607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters 0.012130481272564312 Centerline is valid? [True, True] Translation: X:105.26, Y:-171.86, Z:-4.00 [[ 8.08940666e-01 -5.87843529e-01 -7.41515084e-03 1.05258370e+02] [-5.87819100e-01 -8.08974650e-01 5.35921935e-03 -1.71864873e+02] [-9.14905148e-03 2.34768221e-05 -9.99958146e-01 -4.00369160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters 0.011947966672758962 Centerline is valid? [True, True] Translation: X:105.28, Y:-171.89, Z:-4.00 [[ 8.53572372e-01 -5.20934121e-01 -6.46897992e-03 1.05280283e+02] [-5.20919187e-01 -8.53596885e-01 3.94441131e-03 -1.71894461e+02] [-7.57667954e-03 2.97524197e-06 -9.99971297e-01 -4.00467784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters 0.011964854891801074 Centerline is valid? [True, True] Translation: X:105.31, Y:-171.92, Z:-4.01 [[ 8.92515833e-01 -4.50966188e-01 -6.70708207e-03 1.05305209e+02] [-4.50953361e-01 -8.92541034e-01 3.40133654e-03 -1.71922544e+02] [-7.52023374e-03 -1.11655165e-05 -9.99971723e-01 -4.00517686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters 0.012163766841301946 Centerline is valid? [True, True] Translation: X:105.33, Y:-171.95, Z:-4.00 [[ 9.26053630e-01 -3.77327413e-01 -6.97834672e-03 1.05330798e+02] [-3.77316444e-01 -9.26079922e-01 2.87727134e-03 -1.71948670e+02] [-7.54818014e-03 -3.14626030e-05 -9.99971512e-01 -4.00401411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters 0.012233216581179499 Centerline is valid? [True, True] Translation: X:105.36, Y:-171.97, Z:-4.00 [[ 9.53312083e-01 -3.01884287e-01 -7.87083079e-03 1.05361201e+02] [-3.01873556e-01 -9.53344573e-01 2.54586297e-03 -1.71970152e+02] [-8.27216985e-03 -5.10062541e-05 -9.99965784e-01 -4.00441304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters 0.012417459055898748 Centerline is valid? [True, True] Translation: X:105.39, Y:-171.99, Z:-4.00 [[ 9.74186471e-01 -2.25574274e-01 -8.77310322e-03 1.05393540e+02] [-2.25564541e-01 -9.74225971e-01 2.09641654e-03 -1.71987991e+02] [-9.01988264e-03 -6.33996305e-05 -9.99959318e-01 -4.00435807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters 0.012529973339868378 Centerline is valid? [True, True] Translation: X:105.43, Y:-172.00, Z:-4.00 [[ 9.88868578e-01 -1.48445183e-01 -1.01470991e-02 1.05427567e+02] [-1.48436586e-01 -9.88920635e-01 1.59935836e-03 -1.72001331e+02] [-1.02720927e-02 -7.53544801e-05 -9.99947238e-01 -4.00326226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters 0.01255018714378598 Centerline is valid? [True, True] Translation: X:105.46, Y:-172.01, Z:-4.00 [[ 9.97332415e-01 -7.22535708e-02 -1.03670455e-02 1.05458410e+02] [-7.22490578e-02 -9.97386293e-01 8.09672990e-04 -1.72008524e+02] [-1.03984509e-02 -5.85038467e-05 -9.99945933e-01 -4.00191985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters 0.012384769694710931 Centerline is valid? [True, True] Translation: X:105.49, Y:-172.01, Z:-4.00 [[ 9.99945390e-01 4.01576003e-03 -9.64838359e-03 1.05490801e+02] [ 4.01590338e-03 -9.99991936e-01 -4.51673766e-06 -1.72009429e+02] [-9.64832393e-03 -3.42304853e-05 -9.99953453e-01 -4.00230116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters 0.012217604929333112 Centerline is valid? [True, True] Translation: X:105.52, Y:-172.01, Z:-4.00 [[ 9.96827863e-01 7.90293024e-02 -9.41180148e-03 1.05523118e+02] [ 7.90258024e-02 -9.96872293e-01 -7.43771566e-04 -1.72012469e+02] [-9.44114388e-03 -2.36294348e-06 -9.99955431e-01 -4.00344116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters 0.012243406029372628 Centerline is valid? [True, True] Translation: X:105.56, Y:-172.01, Z:-4.00 [[ 9.87697966e-01 1.56110185e-01 -9.07408673e-03 1.05555432e+02] [ 1.56103559e-01 -9.87739647e-01 -1.43829661e-03 -1.72014423e+02] [-9.18736797e-03 4.10540380e-06 -9.99957795e-01 -4.00365122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters 0.012240819763331542 Centerline is valid? [True, True] Translation: X:105.59, Y:-172.02, Z:-4.00 [[ 9.72195631e-01 2.34010351e-01 -8.64928480e-03 1.05588093e+02] [ 2.34001139e-01 -9.72234105e-01 -2.07630677e-03 -1.72015990e+02] [-8.89500694e-03 -5.36612788e-06 -9.99960439e-01 -4.00360369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters 0.012282700651605662 Centerline is valid? [True, True] Translation: X:105.62, Y:-172.02, Z:-4.00 [[ 9.49585607e-01 3.13390147e-01 -8.59010812e-03 1.05621265e+02] [ 3.13377735e-01 -9.49624459e-01 -2.78947678e-03 -1.72016738e+02] [-9.03157132e-03 -4.31016219e-05 -9.99959214e-01 -4.00261879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters 0.01257140929270135 Centerline is valid? [True, True] Translation: X:105.65, Y:-172.01, Z:-4.00 [[ 9.20648196e-01 3.90297815e-01 -8.63217008e-03 1.05654814e+02] [ 3.90281477e-01 -9.20688660e-01 -3.57201285e-03 -1.72014679e+02] [-9.34168992e-03 -8.04088994e-05 -9.99956362e-01 -4.00213746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters 0.013398056952055622 Centerline is valid? [True, True] Translation: X:105.69, Y:-172.01, Z:-4.00 [[ 8.85446538e-01 4.64669834e-01 -8.14706459e-03 1.05686224e+02] [ 4.64651352e-01 -8.85484010e-01 -4.14595335e-03 -1.72009755e+02] [-9.14059488e-03 -1.14524539e-04 -9.99958217e-01 -4.00104351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters 0.014363699133102347 Centerline is valid? [True, True] Translation: X:105.72, Y:-172.00, Z:-4.00 [[ 8.43674919e-01 5.36808404e-01 -7.02623427e-03 1.05716545e+02] [ 5.36791208e-01 -8.43704164e-01 -4.29920874e-03 -1.71999360e+02] [-8.23591449e-03 -1.44486187e-04 -9.99966074e-01 -4.00208248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters 0.014746948868037417 Centerline is valid? [True, True] Translation: X:105.75, Y:-171.99, Z:-4.00 [[ 7.97701812e-01 6.03023684e-01 -5.85281992e-03 1.05746388e+02] [ 6.03008760e-01 -7.97723271e-01 -4.24487347e-03 -1.71986481e+02] [-7.22868989e-03 -1.43158423e-04 -9.99973863e-01 -4.00294084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters 0.015303335128256048 Centerline is valid? [True, True] Translation: X:105.78, Y:-171.97, Z:-4.00 [[ 7.46071393e-01 6.65848817e-01 -4.77800222e-03 1.05775351e+02] [ 6.65836378e-01 -7.46086679e-01 -4.07253982e-03 -1.71971561e+02] [-6.27649962e-03 -1.42962232e-04 -9.99980292e-01 -4.00326265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters 0.016317739392952658 Centerline is valid? [True, True] Translation: X:105.80, Y:-171.96, Z:-4.00 [[ 6.90125011e-01 7.23680466e-01 -3.74879204e-03 1.05803355e+02] [ 7.23670811e-01 -6.90135180e-01 -3.74047268e-03 -1.71955583e+02] [-5.29408028e-03 -1.31497626e-04 -9.99985978e-01 -4.00277250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters 0.016798782408653505 Centerline is valid? [True, True] Translation: X:105.83, Y:-171.94, Z:-4.00 [[ 6.31440647e-01 7.75417563e-01 -3.21123988e-03 1.05825990e+02] [ 7.75408504e-01 -6.31448801e-01 -3.75026370e-03 -1.71936097e+02] [-4.93575391e-03 -1.21953770e-04 -9.99987812e-01 -4.00270671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters 0.015351529058600849 Centerline is valid? [True, True] Translation: X:105.85, Y:-171.91, Z:-4.00 [[ 5.70573949e-01 8.21241916e-01 -2.66139900e-03 1.05848808e+02] [ 8.21233802e-01 -5.70580147e-01 -3.65224316e-03 -1.71914601e+02] [-4.51791660e-03 -1.01756015e-04 -9.99989789e-01 -4.00256141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters 0.015298862289264286 Centerline is valid? [True, True] Translation: X:105.87, Y:-171.89, Z:-4.00 [[ 5.05365707e-01 8.62901248e-01 -2.63422181e-03 1.05871114e+02] [ 8.62890622e-01 -5.05372561e-01 -4.28355879e-03 -1.71892427e+02] [-5.02755165e-03 -1.08281576e-04 -9.99987356e-01 -4.00201575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters 0.015308417109636074 Centerline is valid? [True, True] Translation: X:105.89, Y:-171.87, Z:-4.00 [[ 4.35122513e-01 9.00367625e-01 -2.55697841e-03 1.05894504e+02] [ 9.00353770e-01 -4.35130007e-01 -4.99648492e-03 -1.71870856e+02] [-5.61129129e-03 -1.28102073e-04 -9.99984248e-01 -4.00137885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters 0.01554638242564488 Centerline is valid? [True, True] Translation: X:105.92, Y:-171.85, Z:-4.00 [[ 3.61382713e-01 9.32414542e-01 -2.37837033e-03 1.05917572e+02] [ 9.32397069e-01 -3.61390506e-01 -5.71025771e-03 -1.71848352e+02] [-6.18384779e-03 -1.53997098e-04 -9.99980868e-01 -4.00033987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters 0.017808935198527744 Centerline is valid? [True, True] Translation: X:105.94, Y:-171.83, Z:-4.00 [[ 2.85551578e-01 9.58360364e-01 -2.38951285e-03 1.05940631e+02] [ 9.58332578e-01 -2.85561501e-01 -7.30057051e-03 -1.71825675e+02] [-7.67893029e-03 -2.05258583e-04 -9.99970496e-01 -3.99733105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters 0.017515490050947935 Centerline is valid? [True, True] Translation: X:105.95, Y:-171.80, Z:-4.00 [[ 2.10608449e-01 9.77568228e-01 -2.10729161e-03 1.05951204e+02] [ 9.77529637e-01 -2.10618865e-01 -8.68924204e-03 -1.71796850e+02] [-8.93816232e-03 -2.29912215e-04 -9.99960027e-01 -3.99639293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters 0.01555471144403894 Centerline is valid? [True, True] Translation: X:105.96, Y:-171.77, Z:-4.00 [[ 1.36018615e-01 9.90705192e-01 -1.46946424e-03 1.05960317e+02] [ 9.90663098e-01 -1.36026386e-01 -9.13507718e-03 -1.71767362e+02] [-9.25005430e-03 -2.13203444e-04 -9.99957195e-01 -3.99713357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters 0.01433592377602387 Centerline is valid? [True, True] Translation: X:105.97, Y:-171.74, Z:-4.00 [[ 6.29204794e-02 9.98018369e-01 -5.89762553e-04 1.05967065e+02] [ 9.97991937e-01 -6.29231059e-02 -7.26476649e-03 -1.71738589e+02] [-7.28748010e-03 -1.31475682e-04 -9.99973437e-01 -3.99855808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters 0.013684886966987954 Centerline is valid? [True, True] Translation: X:105.97, Y:-171.71, Z:-4.00 [[-1.22993163e-02 9.99924361e-01 -1.42517143e-05 1.05972409e+02] [ 9.99908875e-01 1.22990465e-02 -5.56545754e-03 -1.71709539e+02] [-5.56486129e-03 -8.27017384e-05 -9.99984513e-01 -3.99966408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters 0.013000263525382402 Centerline is valid? [True, True] Translation: X:105.98, Y:-171.68, Z:-4.00 [[-8.73189838e-02 9.96180336e-01 3.65605177e-04 1.05976399e+02] [ 9.96168727e-01 8.73197314e-02 -4.80965726e-03 -1.71680365e+02] [-4.82321053e-03 -5.57699408e-05 -9.99988367e-01 -4.00048464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters 0.012686758286391665 Centerline is valid? [True, True] Translation: X:105.98, Y:-171.65, Z:-4.00 [[-1.61866589e-01 9.86812331e-01 7.93704760e-04 1.05977825e+02] [ 9.86799126e-01 1.61868529e-01 -5.10538687e-03 -1.71651077e+02] [-5.16653455e-03 -4.31643949e-05 -9.99986653e-01 -3.99940688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters 0.012616725407856572 Centerline is valid? [True, True] Translation: X:105.98, Y:-171.62, Z:-4.00 [[-2.38208658e-01 9.71213078e-01 1.33892506e-03 1.05979949e+02] [ 9.71196635e-01 2.38212417e-01 -5.65163882e-03 -1.71621673e+02] [-5.80789411e-03 -4.59097894e-05 -9.99983133e-01 -3.99915962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters 0.012803029515103044 Centerline is valid? [True, True] Translation: X:105.98, Y:-171.59, Z:-4.00 [[-3.14323672e-01 9.49313813e-01 1.97844432e-03 1.05981829e+02] [ 9.49293862e-01 3.14329893e-01 -6.15476237e-03 -1.71591605e+02] [-6.46468512e-03 -5.64624532e-05 -9.99979102e-01 -3.99846919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters 0.01297285438504698 Centerline is valid? [True, True] Translation: X:105.98, Y:-171.56, Z:-4.00 [[-3.88872920e-01 9.21287738e-01 2.59939410e-03 1.05980342e+02] [ 9.21265969e-01 3.88881602e-01 -6.33367154e-03 -1.71562709e+02] [-6.84599046e-03 -6.82600242e-05 -9.99976564e-01 -3.99832047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters 0.013182652587031825 Centerline is valid? [True, True] Translation: X:105.97, Y:-171.54, Z:-4.00 [[-4.60256025e-01 8.87779752e-01 3.39182545e-03 1.05974460e+02] [ 8.87754371e-01 4.60268516e-01 -6.71345615e-03 -1.71535364e+02] [-7.52122090e-03 -7.88007708e-05 -9.99971712e-01 -3.99781420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters 0.012712278707747916 Centerline is valid? [True, True] Translation: X:105.97, Y:-171.51, Z:-4.00 [[-5.26685413e-01 8.50048113e-01 4.54765826e-03 1.05967213e+02] [ 8.50015192e-01 5.26705040e-01 -7.48158452e-03 -1.71506569e+02] [-8.75498133e-03 -7.48628207e-05 -9.99961672e-01 -3.99765661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters 0.012562534172627277 Centerline is valid? [True, True] Translation: X:105.96, Y:-171.48, Z:-4.00 [[-5.88972762e-01 8.08136547e-01 5.13883622e-03 1.05956890e+02] [ 8.08105106e-01 5.88995178e-01 -7.12868809e-03 -1.71479882e+02] [-8.78770313e-03 -4.58833203e-05 -9.99961386e-01 -3.99721028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters 0.012213872202360245 Centerline is valid? [True, True] Translation: X:105.94, Y:-171.46, Z:-4.00 [[-6.47244492e-01 7.62263317e-01 5.40398020e-03 1.05941964e+02] [ 7.62236639e-01 6.47267051e-01 -6.37737127e-03 -1.71455249e+02] [-8.35905451e-03 -8.60672210e-06 -9.99965063e-01 -3.99738897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters 0.012371079109703786 Centerline is valid? [True, True] Translation: X:105.93, Y:-171.43, Z:-4.00 [[-7.00886423e-01 7.13250255e-01 5.68296163e-03 1.05928512e+02] [ 7.13227250e-01 7.00909461e-01 -5.72857224e-03 -1.71428042e+02] [-8.06914718e-03 3.81645883e-05 -9.99967443e-01 -3.99882723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters 0.012396577999278924 Centerline is valid? [True, True] Translation: X:105.92, Y:-171.40, Z:-4.00 [[-7.52838928e-01 6.58178579e-01 5.87428010e-03 1.05915222e+02] [ 6.58159139e-01 7.52861843e-01 -5.05891422e-03 -1.71399940e+02] [-7.75219032e-03 5.76635761e-05 -9.99969950e-01 -3.99930754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters 0.012685965103414507 Centerline is valid? [True, True] Translation: X:105.94, Y:-171.38, Z:-4.00 [[-7.97068318e-01 6.03828909e-01 8.52905382e-03 1.05938089e+02] [ 6.03795493e-01 7.97113945e-01 -6.35300162e-03 -1.71382453e+02] [-1.06347538e-02 8.60279413e-05 -9.99943446e-01 -3.99695366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters 0.012663313047361369 Centerline is valid? [True, True] Translation: X:105.95, Y:-171.36, Z:-4.00 [[-8.38177751e-01 5.45301468e-01 1.02159922e-02 1.05952410e+02] [ 5.45262260e-01 8.38240002e-01 -6.53963434e-03 -1.71357421e+02] [-1.21295255e-02 8.90189859e-05 -9.99926431e-01 -3.99565958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters 0.012716864914636137 Centerline is valid? [True, True] Translation: X:106.32, Y:-170.79, Z:-5.04 [[-8.07545437e-01 -5.89710451e-01 1.05807054e-02 1.06321242e+02] [ 5.89659267e-01 -8.07614749e-01 -7.76956840e-03 -1.70794636e+02] [ 1.31269294e-02 -3.52685102e-05 9.99913838e-01 -5.04448298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters 0.012525047111300421 Centerline is valid? [True, True] Translation: X:105.92, Y:-171.33, Z:-3.99 [[-8.41445656e-01 5.40235908e-01 1.06944922e-02 1.05920580e+02] [ 5.40193214e-01 8.41513613e-01 -6.79198718e-03 -1.71331840e+02] [-1.26688361e-02 6.20040110e-05 -9.99919745e-01 -3.99307100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters 0.012259561620550028 Centerline is valid? [True, True] Translation: X:105.93, Y:-171.31, Z:-3.99 [[-8.78044659e-01 4.78452601e-01 1.09856500e-02 1.05932931e+02] [ 4.78415851e-01 8.78113379e-01 -5.93021560e-03 -1.71306274e+02] [-1.24839733e-02 4.87149396e-05 -9.99922071e-01 -3.99461916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters 0.012052238738439674 Centerline is valid? [True, True] Translation: X:105.94, Y:-171.28, Z:-4.00 [[-9.10376834e-01 4.13660193e-01 9.96319805e-03 1.05944406e+02] [ 4.13635734e-01 9.10431351e-01 -4.49841040e-03 -1.71281010e+02] [-1.09316212e-02 2.58861174e-05 -9.99940248e-01 -3.99617939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters 0.01218359034242864 Centerline is valid? [True, True] Translation: X:106.21, Y:-170.68, Z:-5.04 [[-8.80415123e-01 -4.74122831e-01 8.76085565e-03 1.06211689e+02] [ 4.74098396e-01 -8.80458707e-01 -4.81430407e-03 -1.70679892e+02] [ 9.99614311e-03 -8.50785041e-05 9.99950034e-01 -5.04204713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters 0.01238158904292672 Centerline is valid? [True, True] Translation: X:105.90, Y:-171.25, Z:-4.00 [[-9.15687791e-01 4.01795229e-01 8.74430136e-03 1.05899450e+02] [ 4.01776214e-01 9.15729539e-01 -3.90953065e-03 -1.71253276e+02] [-9.57824582e-03 -6.66571844e-05 -9.99954125e-01 -3.99686514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters 0.013221943862025104 Centerline is valid? [True, True] Translation: X:106.16, Y:-170.67, Z:-5.04 [[-8.77500409e-01 -4.79500517e-01 8.50219568e-03 1.06164571e+02] [ 4.79478803e-01 -8.77541594e-01 -4.56381914e-03 -1.70668541e+02] [ 9.64938399e-03 7.18694451e-05 9.99953441e-01 -5.04217217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters 0.014069173812558523 Centerline is valid? [True, True] Translation: X:105.86, Y:-171.23, Z:-3.99 [[-9.21517860e-01 3.88193034e-01 1.05357347e-02 1.05856189e+02] [ 3.88165064e-01 9.21578062e-01 -4.66452926e-03 -1.71226239e+02] [-1.15202397e-02 -2.08842889e-04 -9.99933618e-01 -3.99495510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters 0.014996982054659692 Centerline is valid? [True, True] Translation: X:105.86, Y:-171.20, Z:-3.99 [[-9.47829355e-01 3.18562637e-01 1.17200742e-02 1.05861083e+02] [ 3.18534744e-01 9.47901774e-01 -4.22420265e-03 -1.71197124e+02] [-1.24551523e-02 -2.70572439e-04 -9.99922395e-01 -3.99422649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters 0.015437726343651875 Centerline is valid? [True, True] Translation: X:105.87, Y:-171.17, Z:-3.99 [[-9.67973095e-01 2.50794300e-01 1.14152019e-02 1.05871199e+02] [ 2.50773748e-01 9.68040368e-01 -3.22075870e-03 -1.71172332e+02] [-1.18581242e-02 -2.54974807e-04 -9.99929658e-01 -3.99476166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters 0.01495572805758375 Centerline is valid? [True, True] Translation: X:106.05, Y:-170.57, Z:-5.04 [[-9.35214271e-01 -3.53939860e-01 1.00420707e-02 1.06047528e+02] [ 3.53921271e-01 -9.35268170e-01 -3.63087336e-03 -1.70567998e+02] [ 1.06771399e-02 1.58457854e-04 9.99942985e-01 -5.04237339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters 0.012695225313721656 Centerline is valid? [True, True] Translation: X:105.83, Y:-171.17, Z:-4.00 [[-9.66608179e-01 2.56129775e-01 8.13433461e-03 1.05829732e+02] [ 2.56119815e-01 9.66642399e-01 -2.26117036e-03 -1.71173437e+02] [-8.44214578e-03 -1.02301488e-04 -9.99964359e-01 -3.99847054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters 0.01215724029168395 Centerline is valid? [True, True] Translation: X:106.01, Y:-170.54, Z:-5.04 [[-9.40714140e-01 -3.39111204e-01 7.77811894e-03 1.06009095e+02] [ 3.39100384e-01 -9.40746291e-01 -2.71027514e-03 -1.70543953e+02] [ 8.23632121e-03 8.79689768e-05 9.99966077e-01 -5.03931817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters 0.012002561380963391 Centerline is valid? [True, True] Translation: X:105.79, Y:-171.17, Z:-4.00 [[-9.65209265e-01 2.61368992e-01 7.57137304e-03 1.05790075e+02] [ 2.61360765e-01 9.65238960e-01 -2.07383972e-03 -1.71173424e+02] [-7.85022163e-03 -2.28294577e-05 -9.99969186e-01 -3.99915763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters 0.011856129865702749 Centerline is valid? [True, True] Translation: X:105.79, Y:-171.15, Z:-4.00 [[-9.81013010e-01 1.93789156e-01 7.69661704e-03 1.05793812e+02] [ 1.93783104e-01 9.81043201e-01 -1.53160203e-03 -1.71149494e+02] [-7.84752168e-03 -1.10471740e-05 -9.99969208e-01 -3.99930730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters 0.011951257759662375 Centerline is valid? [True, True] Translation: X:105.79, Y:-171.12, Z:-4.00 [[-9.92468094e-01 1.22250988e-01 7.85989429e-03 1.05793174e+02] [ 1.22246970e-01 9.92499217e-01 -9.91395292e-04 -1.71120822e+02] [-7.92213798e-03 -2.30799326e-05 -9.99968619e-01 -3.99910867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters 0.012014854354217713 Centerline is valid? [True, True] Translation: X:105.80, Y:-171.09, Z:-4.00 [[-9.98729196e-01 4.96968481e-02 8.37953595e-03 1.05795929e+02] [ 4.96947654e-02 9.98764347e-01 -4.56709006e-04 -1.71092742e+02] [-8.39187875e-03 -3.97095459e-05 -9.99964787e-01 -3.99917237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters 0.012171753006305255 Centerline is valid? [True, True] Translation: X:105.83, Y:-170.42, Z:-5.04 [[-9.91655531e-01 -1.28566472e-01 9.48525386e-03 1.05833809e+02] [ 1.28561768e-01 -9.91700886e-01 -1.10653153e-03 -1.70424884e+02] [ 9.54879751e-03 1.22142898e-04 9.99954402e-01 -5.03966474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters 0.01248966602129967 Centerline is valid? [True, True] Translation: X:105.74, Y:-171.09, Z:-4.00 [[-9.98991652e-01 4.38412544e-02 9.67594454e-03 1.05739423e+02] [ 4.38385770e-02 9.99038508e-01 -4.88734247e-04 -1.71089512e+02] [-9.68806791e-03 -6.40617938e-05 -9.99953068e-01 -3.99762935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters 0.012466129291596 Centerline is valid? [True, True] Translation: X:105.78, Y:-170.42, Z:-5.04 [[-9.92306560e-01 -1.23473062e-01 9.06058247e-03 1.05777828e+02] [ 1.23468142e-01 -9.92347924e-01 -1.10252850e-03 -1.70421530e+02] [ 9.12738278e-03 2.46470227e-05 9.99958344e-01 -5.03969704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters 0.012365307976414136 Centerline is valid? [True, True] Translation: X:105.68, Y:-171.09, Z:-4.00 [[-9.99077486e-01 4.20640708e-02 8.64813735e-03 1.05682004e+02] [ 4.20621775e-02 9.99114915e-01 -4.00773828e-04 -1.71089443e+02] [-8.65734119e-03 -3.66446208e-05 -9.99962524e-01 -3.99952200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters 0.012091895974512294 Centerline is valid? [True, True] Translation: X:105.68, Y:-171.06, Z:-4.00 [[-9.99607929e-01 -2.68213084e-02 8.03778314e-03 1.05681532e+02] [-2.68205741e-02 9.99640244e-01 1.99146675e-04 -1.71064917e+02] [-8.04023288e-03 -1.65093627e-05 -9.99967677e-01 -4.00202361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters 0.011986515428905666 Centerline is valid? [True, True] Translation: X:105.67, Y:-170.39, Z:-5.04 [[-9.99093061e-01 -4.19768406e-02 7.14146149e-03 1.05670595e+02] [ 4.19754752e-02 -9.99118583e-01 -3.41032513e-04 -1.70385929e+02] [ 7.14948235e-03 -4.09569776e-05 9.99974441e-01 -5.03555577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters 0.01221783887562079 Centerline is valid? [True, True] Translation: X:105.62, Y:-171.07, Z:-4.00 [[-9.99643823e-01 -2.58364455e-02 6.68621540e-03 1.05621143e+02] [-2.58357034e-02 9.99666183e-01 1.97343748e-04 -1.71070559e+02] [-6.68908209e-03 2.45303810e-05 -9.99977628e-01 -4.00215955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters 0.01228481565740974 Centerline is valid? [True, True] Translation: X:105.60, Y:-170.39, Z:-5.03 [[-9.99431020e-01 -3.32013624e-02 5.94179690e-03 1.05604622e+02] [ 3.32003633e-02 -9.99448680e-01 -2.66737580e-04 -1.70386045e+02] [ 5.94737713e-03 -6.93159958e-05 9.99982312e-01 -5.03364709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters 0.01215394450325955 Centerline is valid? [True, True] Translation: X:105.55, Y:-171.07, Z:-4.00 [[-9.99546914e-01 -2.94679584e-02 6.13241432e-03 1.05552215e+02] [-2.94672286e-02 9.99565725e-01 2.09350392e-04 -1.71070830e+02] [-6.13592030e-03 2.85502832e-05 -9.99981175e-01 -4.00486792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters 0.012158670523301092 Centerline is valid? [True, True] Translation: X:105.55, Y:-171.04, Z:-4.00 [[-9.94768798e-01 -1.01879540e-01 7.45645023e-03 1.05547618e+02] [-1.01876499e-01 9.94796742e-01 7.87508413e-04 -1.71041118e+02] [-7.49788339e-03 2.37517518e-05 -9.99971890e-01 -4.00430512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters 0.012188156285020086 Centerline is valid? [True, True] Translation: X:105.53, Y:-171.01, Z:-4.00 [[-9.84493086e-01 -1.75176427e-01 9.30505455e-03 1.05534891e+02] [-1.75168572e-01 9.84537059e-01 1.65889187e-03 -1.71010781e+02] [-9.45176979e-03 3.21446488e-06 -9.99955331e-01 -4.00266666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters 0.012102770678457142 Centerline is valid? [True, True] Translation: X:105.52, Y:-170.98, Z:-4.00 [[-9.68926659e-01 -2.47177099e-01 9.19841141e-03 1.05518996e+02] [-2.47166147e-01 9.68970320e-01 2.32691755e-03 -1.70982471e+02] [-9.48814837e-03 -1.89234636e-05 -9.99954986e-01 -4.00243858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters 0.01229912633405536 Centerline is valid? [True, True] Translation: X:105.35, Y:-170.35, Z:-5.04 [[-9.84625786e-01 1.74406149e-01 9.72402380e-03 1.05351927e+02] [-1.74397171e-01 -9.84673800e-01 1.77023909e-03 -1.70350397e+02] [ 9.88373205e-03 4.71808185e-05 9.99951154e-01 -5.03646992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters 0.01261478979258944 Centerline is valid? [True, True] Translation: X:105.40, Y:-171.00, Z:-4.00 [[-9.65970704e-01 -2.58420519e-01 1.09286486e-02 1.05400687e+02] [-2.58404971e-01 9.66032519e-01 2.83591831e-03 -1.71002853e+02] [-1.12902894e-02 -8.46031169e-05 -9.99936259e-01 -4.00083743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters 0.012983464783937826 Centerline is valid? [True, True] Translation: X:105.38, Y:-170.98, Z:-4.00 [[-9.44464167e-01 -3.28430202e-01 1.10017739e-02 1.05376414e+02] [-3.28409180e-01 9.44528238e-01 3.71733227e-03 -1.70979774e+02] [-1.16123703e-02 -1.02196428e-04 -9.99932569e-01 -3.99996711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters 0.012865039038574043 Centerline is valid? [True, True] Translation: X:105.34, Y:-170.96, Z:-4.00 [[-9.17766522e-01 -3.96988298e-01 1.02422197e-02 1.05341165e+02] [-3.96964948e-01 9.17823664e-01 4.30710912e-03 -1.70963600e+02] [-1.11104235e-02 -1.12881652e-04 -9.99938271e-01 -4.00146858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters 0.013061352159341445 Centerline is valid? [True, True] Translation: X:105.29, Y:-170.96, Z:-4.00 [[-8.85765801e-01 -4.64055628e-01 8.44509096e-03 1.05287757e+02] [-4.64035720e-01 8.85806052e-01 4.29982065e-03 -1.70955059e+02] [-9.47606865e-03 -1.10189781e-04 -9.99955095e-01 -4.00210227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters 0.0132429088390385 Centerline is valid? [True, True] Translation: X:105.22, Y:-170.96, Z:-4.00 [[-8.49106145e-01 -5.28179588e-01 6.71392062e-03 1.05218113e+02] [-5.28163945e-01 8.49132683e-01 4.06614484e-03 -1.70961813e+02] [-7.84866414e-03 -9.34622330e-05 -9.99969194e-01 -4.00317353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters 0.013063211832319161 Centerline is valid? [True, True] Translation: X:105.15, Y:-170.97, Z:-4.00 [[-8.07659424e-01 -5.89616582e-01 6.20807188e-03 1.05150705e+02] [-5.89600022e-01 8.07683278e-01 4.41995096e-03 -1.70974744e+02] [-7.62023222e-03 -9.04642652e-05 -9.99970962e-01 -4.00445981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters 0.013246784726046701 Centerline is valid? [True, True] Translation: X:105.08, Y:-171.00, Z:-4.00 [[-7.61833442e-01 -6.47739517e-01 6.58223780e-03 1.05077058e+02] [-6.47716442e-01 7.61861870e-01 5.46824627e-03 -1.70996818e+02] [-8.55675520e-03 -9.75307732e-05 -9.99963386e-01 -4.00323217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters 0.013156958069122579 Centerline is valid? [True, True] Translation: X:105.00, Y:-171.03, Z:-4.00 [[-7.11514771e-01 -7.02641747e-01 6.42704337e-03 1.04995587e+02] [-7.02614336e-01 7.11543790e-01 6.20715443e-03 -1.71032948e+02] [-8.93452863e-03 -9.92507489e-05 -9.99960081e-01 -4.00269007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters 0.012913524859294109 Centerline is valid? [True, True] Translation: X:104.92, Y:-171.08, Z:-4.00 [[-6.58043669e-01 -7.52953612e-01 6.27594004e-03 1.04918915e+02] [-7.52920635e-01 6.58073590e-01 7.04755581e-03 -1.71076131e+02] [-9.43651300e-03 -8.76852712e-05 -9.99955471e-01 -4.00222224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters 0.012755523668535641 Centerline is valid? [True, True] Translation: X:104.84, Y:-171.13, Z:-4.00 [[-6.00875169e-01 -7.99320930e-01 5.92308135e-03 1.04841561e+02] [-7.99283271e-01 6.00904357e-01 7.75929546e-03 -1.71131090e+02] [-9.76137265e-03 -7.18518726e-05 -9.99952354e-01 -4.00233003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters 0.012420298699923539 Centerline is valid? [True, True] Translation: X:104.76, Y:-171.20, Z:-4.00 [[-5.41280266e-01 -8.40825678e-01 5.27762821e-03 1.04764717e+02] [-8.40786456e-01 5.41305993e-01 8.12136686e-03 -1.71197744e+02] [-9.68546557e-03 -4.14227072e-05 -9.99953094e-01 -4.00274757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters 0.01238130095587269 Centerline is valid? [True, True] Translation: X:104.70, Y:-171.27, Z:-4.00 [[-4.80795813e-01 -8.76820788e-01 4.54879766e-03 1.04695126e+02] [-8.76781290e-01 4.80817331e-01 8.32247553e-03 -1.71270481e+02] [-9.48446031e-03 1.31107113e-05 -9.99955021e-01 -4.00228711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters 0.01263328621654666 Centerline is valid? [True, True] Translation: X:104.63, Y:-171.35, Z:-4.00 [[-4.15817693e-01 -9.09439278e-01 3.98067343e-03 1.04627590e+02] [-9.09396518e-01 4.15836744e-01 8.81903484e-03 -1.71353740e+02] [-9.67568695e-03 4.71001709e-05 -9.99953188e-01 -4.00310845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters 0.01284946481617564 Centerline is valid? [True, True] Translation: X:104.56, Y:-171.44, Z:-4.00 [[-3.48334004e-01 -9.37364755e-01 3.27672101e-03 1.04564017e+02] [-9.37321122e-01 3.48349407e-01 9.04462091e-03 -1.71444821e+02] [-9.61955269e-03 7.92092053e-05 -9.99953728e-01 -4.00429040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters 0.012900745911311498 Centerline is valid? [True, True] Translation: X:104.50, Y:-171.54, Z:-4.00 [[-2.76336079e-01 -9.61057197e-01 2.72695137e-03 1.04504360e+02] [-9.61007149e-01 2.76349519e-01 9.80833212e-03 -1.71541032e+02] [-1.01799599e-02 8.97762769e-05 -9.99948179e-01 -4.00452819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters 0.012691741794161153 Centerline is valid? [True, True] Translation: X:104.45, Y:-171.65, Z:-4.00 [[-1.99667141e-01 -9.79861606e-01 2.06560025e-03 1.04449596e+02] [-9.79805590e-01 1.99677814e-01 1.04774053e-02 -1.71650724e+02] [-1.06788618e-02 6.81068992e-05 -9.99942977e-01 -4.00438851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters 0.012554962112058546 Centerline is valid? [True, True] Translation: X:104.40, Y:-171.76, Z:-4.00 [[-1.20886241e-01 -9.92665480e-01 1.32737552e-03 1.04402866e+02] [-9.92602396e-01 1.20893523e-01 1.11910177e-02 -1.71759481e+02] [-1.12694081e-02 3.52839446e-05 -9.99936498e-01 -4.00317569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters 0.012476119833866015 Centerline is valid? [True, True] Translation: X:104.36, Y:-171.87, Z:-4.00 [[-3.96775646e-02 -9.99212430e-01 4.58933751e-04 1.04363414e+02] [-9.99151032e-01 3.96802141e-02 1.10768538e-02 -1.71872271e+02] [-1.10863406e-02 -1.90415491e-05 -9.99938545e-01 -4.00303250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters 0.01299675362871781 Centerline is valid? [True, True] Translation: X:104.33, Y:-171.99, Z:-4.01 [[ 4.56970688e-02 -9.98955297e-01 -3.04723011e-04 1.04330317e+02] [-9.98917858e-01 -4.56979945e-02 8.64904310e-03 -1.71988273e+02] [-8.65393265e-03 -9.08426605e-05 -9.99962550e-01 -4.00503784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters 0.01384446787051149 Centerline is valid? [True, True] Translation: X:104.31, Y:-172.11, Z:-4.00 [[ 1.26864243e-01 -9.91919706e-01 -8.72796342e-04 1.04308256e+02] [-9.91889280e-01 -1.26867188e-01 7.76994589e-03 -1.72106858e+02] [-7.81789166e-03 -1.20010968e-04 -9.99969433e-01 -4.00475049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters 0.01507321716635666 Centerline is valid? [True, True] Translation: X:104.30, Y:-172.22, Z:-4.00 [[ 2.05870576e-01 -9.78578015e-01 -1.54063996e-03 1.04296421e+02] [-9.78544682e-01 -2.05876282e-01 8.07850917e-03 -1.72223254e+02] [-8.22263270e-03 -1.55542294e-04 -9.99966182e-01 -4.00396272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters 0.015153133142842126 Centerline is valid? [True, True] Translation: X:104.30, Y:-172.35, Z:-4.00 [[ 2.82549932e-01 -9.59249610e-01 -2.39201221e-03 1.04297953e+02] [-9.59209129e-01 -2.82559989e-01 8.81469765e-03 -1.72349639e+02] [-9.13138222e-03 -1.96152270e-04 -9.99958289e-01 -4.00311861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters 0.01613407694324976 Centerline is valid? [True, True] Translation: X:104.30, Y:-172.46, Z:-4.00 [[ 3.55639744e-01 -9.34617532e-01 -3.23127896e-03 1.04302003e+02] [-9.34573360e-01 -3.55654359e-01 9.08909923e-03 -1.72458734e+02] [-9.64404995e-03 -2.12577687e-04 -9.99953473e-01 -4.00158739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters 0.01633696627881084 Centerline is valid? [True, True] Translation: X:104.32, Y:-172.58, Z:-4.00 [[ 4.27063806e-01 -9.04211429e-01 -4.26577468e-03 1.04321701e+02] [-9.04160484e-01 -4.27085041e-01 9.60137888e-03 -1.72580089e+02] [-1.05035251e-02 -2.43456508e-04 -9.99944807e-01 -4.00034497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters 0.016185217025770218 Centerline is valid? [True, True] Translation: X:104.35, Y:-172.68, Z:-4.00 [[ 4.93776246e-01 -8.69575652e-01 -4.81703253e-03 1.04345282e+02] [-8.69529801e-01 -4.93799692e-01 8.93252074e-03 -1.72684664e+02] [-1.01461517e-02 -2.22113225e-04 -9.99948502e-01 -4.00050763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters 0.014863782838084313 Centerline is valid? [True, True] Translation: X:104.38, Y:-172.79, Z:-4.00 [[ 5.56743187e-01 -8.30671137e-01 -4.74189352e-03 1.04380991e+02] [-8.30638362e-01 -5.56763354e-01 7.38105302e-03 -1.72787666e+02] [-8.77134025e-03 -1.70552316e-04 -9.99961517e-01 -4.00244388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters 0.013567543484443109 Centerline is valid? [True, True] Translation: X:104.42, Y:-172.88, Z:-4.00 [[ 6.14162129e-01 -7.89164537e-01 -4.92058389e-03 1.04423332e+02] [-7.89137719e-01 -6.14181830e-01 6.50687666e-03 -1.72883477e+02] [-8.15712953e-03 -1.13258877e-04 -9.99966724e-01 -4.00313863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters 0.012958063811420086 Centerline is valid? [True, True] Translation: X:104.47, Y:-172.98, Z:-4.00 [[ 6.69823800e-01 -7.42499612e-01 -5.51391885e-03 1.04473829e+02] [-7.42473397e-01 -6.69846489e-01 6.23990321e-03 -1.72980957e+02] [-8.32660490e-03 -8.56976213e-05 -9.99965330e-01 -4.00308833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters 0.012722621003765738 Centerline is valid? [True, True] Translation: X:104.53, Y:-173.07, Z:-4.00 [[ 7.22239631e-01 -6.91612619e-01 -6.47317673e-03 1.04525648e+02] [-6.91584031e-01 -7.22268635e-01 6.28861336e-03 -1.73069286e+02] [-9.02465687e-03 -6.51401310e-05 -9.99959275e-01 -4.00231362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters 0.012639224004448389 Centerline is valid? [True, True] Translation: X:104.55, Y:-173.10, Z:-4.00 [[ 7.72541975e-01 -6.34902235e-01 -8.83454131e-03 1.04547067e+02] [-6.34859903e-01 -7.72592486e-01 7.33171413e-03 -1.73095720e+02] [-1.14804219e-02 -5.53608772e-05 -9.99934096e-01 -4.00111992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters 0.01268035254415851 Centerline is valid? [True, True] Translation: X:104.57, Y:-173.12, Z:-4.00 [[ 8.19377939e-01 -5.73155183e-01 -1.06268045e-02 1.04569000e+02] [-5.73106132e-01 -8.19446846e-01 7.49856115e-03 -1.73121345e+02] [-1.30059406e-02 -5.38687474e-05 -9.99915418e-01 -3.99906189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters 0.012669716153648761 Centerline is valid? [True, True] Translation: X:104.59, Y:-173.14, Z:-4.00 [[ 8.61466441e-01 -5.07661474e-01 -1.24659338e-02 1.04593827e+02] [-5.07607407e-01 -8.61556629e-01 7.40911896e-03 -1.73144559e+02] [-1.45014322e-02 -5.49069919e-05 -9.99894847e-01 -3.99911473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters 0.012656258943172473 Centerline is valid? [True, True] Translation: X:104.62, Y:-173.17, Z:-4.00 [[ 8.98707017e-01 -4.38366231e-01 -1.26785308e-02 1.04620251e+02] [-4.38321680e-01 -8.98796442e-01 6.24984641e-03 -1.73166912e+02] [-1.41351400e-02 -5.95059173e-05 -9.99900092e-01 -4.00009765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters 0.012546223877425404 Centerline is valid? [True, True] Translation: X:104.65, Y:-173.19, Z:-4.00 [[ 9.30491735e-01 -3.66135387e-01 -1.14021582e-02 1.04647952e+02] [-3.66107118e-01 -9.30561591e-01 4.55012715e-03 -1.73187207e+02] [-1.22763730e-02 -5.94444431e-05 -9.99924641e-01 -4.00176064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters 0.012545668089834424 Centerline is valid? [True, True] Translation: X:104.68, Y:-173.21, Z:-4.00 [[ 9.56804358e-01 -2.90570763e-01 -9.69807805e-03 1.04677104e+02] [-2.90555131e-01 -9.56853503e-01 3.01478161e-03 -1.73207598e+02] [-1.01556474e-02 -6.67298501e-05 -9.99948428e-01 -4.00368998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters 0.012651542985522235 Centerline is valid? [True, True] Translation: X:104.71, Y:-173.23, Z:-4.00 [[ 9.76926513e-01 -2.13345157e-01 -9.92128627e-03 1.04706885e+02] [-2.13333296e-01 -9.76976887e-01 2.25110107e-03 -1.73225979e+02] [-1.01731289e-02 -8.26196187e-05 -9.99948249e-01 -4.00299307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters 0.013822519612432213 Centerline is valid? [True, True] Translation: X:104.74, Y:-173.24, Z:-4.00 [[ 9.91106249e-01 -1.32578698e-01 -1.14582929e-02 1.04737282e+02] [-1.32568227e-01 -9.91172472e-01 1.67192418e-03 -1.73243153e+02] [-1.15788060e-02 -1.38048929e-04 -9.99932954e-01 -4.00005600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters 0.013963911221164315 Centerline is valid? [True, True] Translation: X:104.77, Y:-173.26, Z:-4.00 [[ 9.98606682e-01 -5.12144359e-02 -1.27191563e-02 1.04766834e+02] [-5.12078018e-02 -9.98687661e-01 8.46928192e-04 -1.73255287e+02] [-1.27458394e-02 -1.94428117e-04 -9.99918750e-01 -4.00056982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters 0.014309722346460586 Centerline is valid? [True, True] Translation: X:104.80, Y:-173.27, Z:-4.00 [[ 9.99457270e-01 3.02111852e-02 -1.31320292e-02 1.04797736e+02] [ 3.02117468e-02 -9.99543509e-01 -1.55658748e-04 -1.73267507e+02] [-1.31307371e-02 -2.41167273e-04 -9.99913759e-01 -4.00048268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters 0.015577009282218779 Centerline is valid? [True, True] Translation: X:104.83, Y:-173.28, Z:-4.00 [[ 9.93871862e-01 1.09746405e-01 -1.32078830e-02 1.04828651e+02] [ 1.09740223e-01 -9.93959586e-01 -1.19409775e-03 -1.73277551e+02] [-1.32591499e-02 -2.62655872e-04 -9.99912059e-01 -3.99921930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters 0.01460017415791515 Centerline is valid? [True, True] Translation: X:104.86, Y:-173.28, Z:-4.00 [[ 9.82456936e-01 1.86105256e-01 -1.19666967e-02 1.04860635e+02] [ 1.86094255e-01 -9.82529787e-01 -2.03616864e-03 -1.73278756e+02] [-1.21365777e-02 -2.26485503e-04 -9.99926323e-01 -4.00092875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters 0.014075767512677782 Centerline is valid? [True, True] Translation: X:104.89, Y:-173.28, Z:-4.00 [[ 9.65488777e-01 2.60206569e-01 -1.11338396e-02 1.04892143e+02] [ 2.60191500e-01 -9.65552954e-01 -2.80655160e-03 -1.73277706e+02] [-1.14805949e-02 -1.87236363e-04 -9.99934078e-01 -4.00180608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters 0.013365743883376618 Centerline is valid? [True, True] Translation: X:104.92, Y:-173.27, Z:-4.00 [[ 9.43377571e-01 3.31574974e-01 -9.83849974e-03 1.04923532e+02] [ 3.31558393e-01 -9.43428863e-01 -3.31849412e-03 -1.73274234e+02] [-1.03822542e-02 -1.31444239e-04 -9.99946094e-01 -4.00158814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters 0.012935302611606218 Centerline is valid? [True, True] Translation: X:104.95, Y:-173.27, Z:-4.00 [[ 9.15495376e-01 4.02212493e-01 -9.66061083e-03 1.04954767e+02] [ 4.02191341e-01 -9.15546339e-01 -4.12633522e-03 -1.73269266e+02] [-1.05044005e-02 -1.07773217e-04 -9.99944822e-01 -4.00108942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters 0.01281095188960615 Centerline is valid? [True, True] Translation: X:104.98, Y:-173.26, Z:-4.00 [[ 8.82066780e-01 4.71031324e-01 -9.36415686e-03 1.04984880e+02] [ 4.71005857e-01 -8.82116480e-01 -4.89880835e-03 -1.73261880e+02] [-1.05677693e-02 -8.94966256e-05 -9.99944156e-01 -4.00052354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters 0.012697633451474087 Centerline is valid? [True, True] Translation: X:105.01, Y:-173.25, Z:-4.00 [[ 8.43958308e-01 5.36321848e-01 -9.65660624e-03 1.05011784e+02] [ 5.36287627e-01 -8.44013549e-01 -6.05888394e-03 -1.73251074e+02] [-1.13998183e-02 -6.52730110e-05 -9.99935018e-01 -3.99926589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters 0.012571584265048502 Centerline is valid? [True, True] Translation: X:105.04, Y:-173.24, Z:-4.00 [[ 8.00590011e-01 5.99127241e-01 -1.01085880e-02 1.05039810e+02] [ 5.99080220e-01 -8.00653825e-01 -7.50618853e-03 -1.73237920e+02] [-1.25906416e-02 -4.64755464e-05 -9.99920734e-01 -3.99876291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters 0.012532227311670554 Centerline is valid? [True, True] Translation: X:105.07, Y:-173.22, Z:-4.00 [[ 7.54073036e-01 6.56711542e-01 -1.01885516e-02 1.05067120e+02] [ 6.56651453e-01 -7.54141863e-01 -8.88361131e-03 -1.73223563e+02] [-1.35175834e-02 8.56450316e-06 -9.99908633e-01 -3.99864197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters 0.012700259481614112 Centerline is valid? [True, True] Translation: X:105.09, Y:-173.21, Z:-4.00 [[ 7.02996547e-01 7.11133956e-01 -9.18429886e-03 1.05093812e+02] [ 7.11072216e-01 -7.03056537e-01 -9.37072855e-03 -1.73209226e+02] [-1.31209246e-02 5.68900758e-05 -9.99913915e-01 -3.99938130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters 0.01308409661282055 Centerline is valid? [True, True] Translation: X:105.12, Y:-173.19, Z:-4.00 [[ 6.48321070e-01 7.61327707e-01 -7.74037283e-03 1.05117739e+02] [ 7.61271566e-01 -6.48367267e-01 -9.24605965e-03 -1.73192036e+02] [-1.20578858e-02 1.01889539e-04 -9.99927296e-01 -4.00109809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters 0.013288148564017695 Centerline is valid? [True, True] Translation: X:105.14, Y:-173.17, Z:-4.00 [[ 5.87419799e-01 8.09256609e-01 -6.45922692e-03 1.05142484e+02] [ 8.09205726e-01 -5.87455301e-01 -9.07537526e-03 -1.73174888e+02] [-1.11388145e-02 1.04211699e-04 -9.99937956e-01 -4.00197889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters 0.013146901966255342 Centerline is valid? [True, True] Translation: X:105.17, Y:-173.16, Z:-4.00 [[ 5.21568245e-01 8.53191930e-01 -5.48602101e-03 1.05168310e+02] [ 8.53142876e-01 -5.21597088e-01 -9.14935307e-03 -1.73156779e+02] [-1.06676468e-02 9.16522841e-05 -9.99943095e-01 -4.00230843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters 0.012768342425704205 Centerline is valid? [True, True] Translation: X:105.19, Y:-173.14, Z:-4.00 [[ 4.50820071e-01 8.92603268e-01 -4.54631973e-03 1.05193796e+02] [ 8.92556517e-01 -4.50842990e-01 -9.13573387e-03 -1.73137082e+02] [-1.02042623e-02 6.07248840e-05 -9.99947933e-01 -4.00267377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters 0.012724280834427566 Centerline is valid? [True, True] Translation: X:105.22, Y:-173.12, Z:-4.00 [[ 3.76669553e-01 9.26338261e-01 -4.18021120e-03 1.05215226e+02] [ 9.26280285e-01 -3.76692747e-01 -1.03638066e-02 -1.73115310e+02] [-1.11750458e-02 3.16831803e-05 -9.99937557e-01 -4.00119677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters 0.01256575262696613 Centerline is valid? [True, True] Translation: X:105.23, Y:-173.09, Z:-4.00 [[ 3.01162105e-01 9.53566449e-01 -3.52344844e-03 1.05234114e+02] [ 9.53500748e-01 -3.01182715e-01 -1.11935726e-02 -1.73091326e+02] [-1.17350170e-02 1.14691485e-05 -9.99931142e-01 -4.00183996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters 0.012617324452269669 Centerline is valid? [True, True] Translation: X:105.26, Y:-173.07, Z:-4.00 [[ 2.19089000e-01 9.75701521e-01 -2.55964906e-03 1.05259101e+02] [ 9.75638327e-01 -2.19103943e-01 -1.11048439e-02 -1.73066808e+02] [-1.13958423e-02 -6.43425714e-05 -9.99935063e-01 -4.00318386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters 0.013153425940193043 Centerline is valid? [True, True] Translation: X:105.28, Y:-173.04, Z:-4.00 [[ 1.37664346e-01 9.90477616e-01 -1.61845677e-03 1.05278106e+02] [ 9.90418231e-01 -1.37673815e-01 -1.08465981e-02 -1.73040472e+02] [-1.09661318e-02 -1.09759262e-04 -9.99939864e-01 -4.00316158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters 0.014760018118165769 Centerline is valid? [True, True] Translation: X:105.29, Y:-173.01, Z:-4.00 [[ 5.48686746e-02 9.98493266e-01 -7.91457757e-04 1.05294460e+02] [ 9.98428966e-01 -5.48741241e-02 -1.13326873e-02 -1.73012862e+02] [-1.13590425e-02 -1.68404817e-04 -9.99935470e-01 -4.00229802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters 0.014352515701470113 Centerline is valid? [True, True] Translation: X:105.30, Y:-172.98, Z:-4.01 [[-2.56709011e-02 9.99670444e-01 9.17373775e-05 1.05303891e+02] [ 9.99614487e-01 2.56704349e-02 -1.05785721e-02 -1.72981964e+02] [-1.05774408e-02 -1.79859466e-04 -9.99944041e-01 -4.00518431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters 0.014673885027302993 Centerline is valid? [True, True] Translation: X:105.31, Y:-172.95, Z:-4.01 [[-1.05731437e-01 9.94394417e-01 7.79207496e-04 1.05313663e+02] [ 9.94354388e-01 1.05734174e-01 -8.92393187e-03 -1.72950870e+02] [-8.95629689e-03 -1.68731751e-04 -9.99959877e-01 -4.00711863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters 0.015598902789490466 Centerline is valid? [True, True] Translation: X:105.32, Y:-172.92, Z:-4.01 [[-1.84529941e-01 9.82825613e-01 1.58602434e-03 1.05321292e+02] [ 9.82779749e-01 1.84536655e-01 -9.49673353e-03 -1.72919821e+02] [-9.62631258e-03 -1.93719072e-04 -9.99953647e-01 -4.00729889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters 0.015846965106573192 Centerline is valid? [True, True] Translation: X:105.32, Y:-172.89, Z:-4.01 [[-2.61237878e-01 9.65271433e-01 2.41505748e-03 1.05321338e+02] [ 9.65222670e-01 2.61248961e-01 -9.70452956e-03 -1.72887889e+02] [-9.99843641e-03 -2.04122477e-04 -9.99949994e-01 -4.00734952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters 0.016024279876733 Centerline is valid? [True, True] Translation: X:105.32, Y:-172.86, Z:-4.01 [[-3.36252660e-01 9.41765083e-01 3.56047649e-03 1.05318939e+02] [ 9.41704750e-01 3.36271430e-01 -1.06625218e-02 -1.72856223e+02] [-1.12388773e-02 -2.32383708e-04 -9.99936815e-01 -4.00608792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters 0.015812592942372663 Centerline is valid? [True, True] Translation: X:105.31, Y:-172.83, Z:-4.00 [[-4.08445603e-01 9.12766955e-01 5.35486937e-03 1.05313610e+02] [ 9.12679452e-01 4.08480610e-01 -1.26415518e-02 -1.72825195e+02] [-1.37261511e-02 -2.76107021e-04 -9.99905754e-01 -4.00498816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters 0.015429233341162788 Centerline is valid? [True, True] Translation: X:105.30, Y:-172.79, Z:-4.01 [[-4.77422368e-01 8.78646495e-01 6.94409048e-03 1.05303614e+02] [ 8.78544828e-01 4.77472783e-01 -1.33689152e-02 -1.72794880e+02] [-1.50621647e-02 -2.81924358e-04 -9.99886519e-01 -4.00506681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters 0.015318154923125857 Centerline is valid? [True, True] Translation: X:105.29, Y:-172.77, Z:-4.00 [[-5.42036957e-01 8.40305501e-01 9.08855638e-03 1.05289939e+02] [ 8.40179088e-01 5.42113082e-01 -1.45775625e-02 -1.72767649e+02] [-1.71766313e-02 -2.65562603e-04 -9.99852436e-01 -4.00403915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters 0.014682057871231306 Centerline is valid? [True, True] Translation: X:105.27, Y:-172.74, Z:-4.00 [[-6.03833024e-01 7.97044525e-01 1.02813167e-02 1.05271815e+02] [ 7.96922881e-01 6.03920507e-01 -1.39263123e-02 -1.72743310e+02] [-1.73089890e-02 -2.15750735e-04 -9.99850165e-01 -4.00462674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters 0.013736893859520446 Centerline is valid? [True, True] Translation: X:105.25, Y:-172.72, Z:-4.01 [[-6.60323700e-01 7.50914563e-01 9.99652279e-03 1.05249269e+02] [ 7.50826095e-01 6.60399355e-01 -1.15268286e-02 -1.72724363e+02] [-1.52573606e-02 -1.05787930e-04 -9.99883594e-01 -4.00738819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters 0.01293426806181972 Centerline is valid? [True, True] Translation: X:105.23, Y:-172.70, Z:-4.01 [[-7.14938837e-01 6.99115080e-01 1.00281847e-02 1.05230792e+02] [ 6.99045265e-01 7.15009162e-01 -9.88004319e-03 -1.72698977e+02] [-1.40775312e-02 -5.34715261e-05 -9.99900905e-01 -4.01135117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters 0.0129523892997165 Centerline is valid? [True, True] Translation: X:105.25, Y:-172.68, Z:-4.01 [[-7.61281459e-01 6.48343140e-01 1.00852835e-02 1.05249074e+02] [ 6.48285847e-01 7.61348259e-01 -8.61905066e-03 -1.72680866e+02] [-1.32665154e-02 -2.33769170e-05 -9.99911996e-01 -4.01265643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters 0.012914265196088173 Centerline is valid? [True, True] Translation: X:105.27, Y:-172.66, Z:-4.01 [[-8.05547254e-01 5.92451061e-01 9.76535463e-03 1.05267244e+02] [ 5.92407127e-01 8.05606442e-01 -7.21498485e-03 -1.72657150e+02] [-1.21415580e-02 -2.69455439e-05 -9.99926288e-01 -4.01387856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters 0.012959417674372028 Centerline is valid? [True, True] Translation: X:105.64, Y:-172.15, Z:-5.02 [[-7.59249091e-01 -6.50729713e-01 9.57385429e-03 1.05641334e+02] [ 6.50678881e-01 -7.59309448e-01 -8.13364443e-03 -1.72148651e+02] [ 1.25623221e-02 5.40426571e-05 9.99921090e-01 -5.02354496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters 0.01324426618853822 Centerline is valid? [True, True] Translation: X:105.23, Y:-172.62, Z:-4.01 [[-8.10786436e-01 5.85247015e-01 1.05492999e-02 1.05233695e+02] [ 5.85195888e-01 8.10855056e-01 -7.73629906e-03 -1.72623363e+02] [-1.30815991e-02 -9.90794320e-05 -9.99914427e-01 -4.01360808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters 0.013959143591809454 Centerline is valid? [True, True] Translation: X:105.25, Y:-172.59, Z:-4.01 [[-8.52700621e-01 5.22240884e-01 1.28883356e-02 1.05250622e+02] [ 5.22177863e-01 8.52797997e-01 -8.11517690e-03 -1.72592752e+02] [-1.52292239e-02 -1.89812841e-04 -9.99884011e-01 -4.01207847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters 0.01474467959389918 Centerline is valid? [True, True] Translation: X:105.26, Y:-172.56, Z:-4.01 [[-8.88458139e-01 4.58732920e-01 1.43611699e-02 1.05260970e+02] [ 4.58668634e-01 8.88574168e-01 -7.68328858e-03 -1.72561522e+02] [-1.62855420e-02 -2.39262106e-04 -9.99867353e-01 -4.01010628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters 0.014890891422672638 Centerline is valid? [True, True] Translation: X:105.54, Y:-172.04, Z:-5.03 [[-8.39241747e-01 -5.43597014e-01 1.32505648e-02 1.05541530e+02] [ 5.43532855e-01 -8.39346323e-01 -8.35374731e-03 -1.72043436e+02] [ 1.56628849e-02 1.91303826e-04 9.99877311e-01 -5.02668955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters 0.014755632794986815 Centerline is valid? [True, True] Translation: X:105.23, Y:-172.54, Z:-4.01 [[-8.90624578e-01 4.54566318e-01 1.25429036e-02 1.05227681e+02] [ 4.54517693e-01 8.90712868e-01 -6.65238953e-03 -1.72539596e+02] [-1.41960779e-02 -2.23809990e-04 -9.99899206e-01 -4.01252272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters 0.014467181316005473 Centerline is valid? [True, True] Translation: X:105.24, Y:-172.51, Z:-4.01 [[-9.20131222e-01 3.91457197e-01 1.09451825e-02 1.05236355e+02] [ 3.91427258e-01 9.20196301e-01 -4.84448703e-03 -1.72512534e+02] [-1.19681258e-02 -1.73321005e-04 -9.99928364e-01 -4.01484701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters 0.013867642183589312 Centerline is valid? [True, True] Translation: X:105.24, Y:-172.49, Z:-4.02 [[-9.44959558e-01 3.27013297e-01 1.06647557e-02 1.05243321e+02] [ 3.26990754e-01 9.45019726e-01 -3.84234597e-03 -1.72485633e+02] [-1.13349027e-02 -1.43585046e-04 -9.99935748e-01 -4.01546143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters 0.013591182086731282 Centerline is valid? [True, True] Translation: X:105.25, Y:-172.46, Z:-4.01 [[-9.65127274e-01 2.61536367e-01 1.13169864e-02 1.05250664e+02] [ 2.61516914e-01 9.65193615e-01 -3.19220680e-03 -1.72460405e+02] [-1.17579612e-02 -1.21302493e-04 -9.99930866e-01 -4.01497180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters 0.013410774367666375 Centerline is valid? [True, True] Translation: X:105.41, Y:-171.90, Z:-5.02 [[-9.39307028e-01 -3.42871013e-01 1.19069256e-02 1.05410898e+02] [ 3.42845906e-01 -9.39382476e-01 -4.15323387e-03 -1.71900878e+02] [ 1.26091808e-02 1.81078942e-04 9.99920485e-01 -5.02398942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters 0.013178382544392134 Centerline is valid? [True, True] Translation: X:105.21, Y:-172.45, Z:-4.01 [[-9.65324494e-01 2.60728135e-01 1.30177544e-02 1.05206957e+02] [ 2.60703009e-01 9.65412259e-01 -3.62100701e-03 -1.72451340e+02] [-1.35115981e-02 -1.01679020e-04 -9.99908709e-01 -4.01417231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters 0.013535356085097998 Centerline is valid? [True, True] Translation: X:105.36, Y:-171.89, Z:-5.03 [[-9.39773048e-01 -3.41470991e-01 1.49726897e-02 1.05362375e+02] [ 3.41432217e-01 -9.39892276e-01 -5.15279716e-03 -1.71888929e+02] [ 1.58322461e-02 2.69698745e-04 9.99874626e-01 -5.02601516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters 0.014089354768892212 Centerline is valid? [True, True] Translation: X:105.16, Y:-172.44, Z:-4.01 [[-9.67229689e-01 2.53433397e-01 1.54351073e-02 1.05158843e+02] [ 2.53398112e-01 9.67352821e-01 -4.23287282e-03 -1.72437330e+02] [-1.60039459e-02 -1.82933206e-04 -9.99871912e-01 -4.01072698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters 0.01399801324513579 Centerline is valid? [True, True] Translation: X:105.16, Y:-172.41, Z:-4.01 [[-9.82979356e-01 1.83073491e-01 1.53519815e-02 1.05157649e+02] [ 1.83048033e-01 9.83099211e-01 -3.05934271e-03 -1.72410824e+02] [-1.56526055e-02 -1.97120699e-04 -9.99877471e-01 -4.01177765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters 0.014198968266638695 Centerline is valid? [True, True] Translation: X:105.16, Y:-172.39, Z:-4.01 [[-9.93555086e-01 1.12428840e-01 1.44238362e-02 1.05161437e+02] [ 1.12414234e-01 9.93659761e-01 -1.82198017e-03 -1.72386360e+02] [-1.45372288e-02 -1.88793167e-04 -9.99894311e-01 -4.01139244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters 0.014290947166446426 Centerline is valid? [True, True] Translation: X:105.24, Y:-171.80, Z:-5.03 [[-9.78708554e-01 -2.04796441e-01 1.37107061e-02 1.05235678e+02] [ 2.04778431e-01 -9.78804575e-01 -2.71991159e-03 -1.71801045e+02] [ 1.39771300e-02 1.45656136e-04 9.99902305e-01 -5.02630471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters 0.014228389446541517 Centerline is valid? [True, True] Translation: X:105.11, Y:-172.39, Z:-4.01 [[-9.93994904e-01 1.08727206e-01 1.23500869e-02 1.05109898e+02] [ 1.08716812e-01 9.94071612e-01 -1.51191525e-03 -1.72386362e+02] [-1.24412572e-02 -1.60173975e-04 -9.99922592e-01 -4.01357020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters 0.014384312443111178 Centerline is valid? [True, True] Translation: X:105.11, Y:-172.36, Z:-4.01 [[-9.99240676e-01 3.72474630e-02 1.14323220e-02 1.05108316e+02] [ 3.72432529e-02 9.99306061e-01 -5.81008932e-04 -1.72361377e+02] [-1.14460298e-02 -1.54790900e-04 -9.99934480e-01 -4.01448686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters 0.014918076196540975 Centerline is valid? [True, True] Translation: X:105.14, Y:-171.76, Z:-5.02 [[-9.90989142e-01 -1.33501124e-01 1.08614623e-02 1.05139107e+02] [ 1.33494372e-01 -9.91048655e-01 -1.34748084e-03 -1.71757273e+02] [ 1.09441278e-02 1.14605203e-04 9.99940105e-01 -5.02299688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters 0.016406848947014635 Centerline is valid? [True, True] Translation: X:105.05, Y:-172.36, Z:-4.01 [[-9.99546783e-01 2.78439621e-02 1.14430497e-02 1.05050630e+02] [ 2.78396550e-02 9.99612258e-01 -5.35541679e-04 -1.72358562e+02] [-1.14535243e-02 -2.16728407e-04 -9.99934383e-01 -4.01338668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters 0.015930014287048152 Centerline is valid? [True, True] Translation: X:105.08, Y:-171.75, Z:-5.03 [[-9.90762692e-01 -1.34953575e-01 1.32974401e-02 1.05079588e+02] [ 1.34946567e-01 -9.90851850e-01 -1.42697384e-03 -1.71751420e+02] [ 1.33683684e-02 3.80651454e-04 9.99910567e-01 -5.02525735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters 0.015491643787239542 Centerline is valid? [True, True] Translation: X:105.00, Y:-172.37, Z:-4.01 [[-9.99634224e-01 2.33310109e-02 1.36778218e-02 1.04999649e+02] [ 2.33251782e-02 9.99727759e-01 -5.85826250e-04 -1.72365288e+02] [-1.36877661e-02 -2.66574337e-04 -9.99906283e-01 -4.01283019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters 0.01501677162665628 Centerline is valid? [True, True] Translation: X:105.00, Y:-172.34, Z:-4.01 [[-9.98939161e-01 -4.40078022e-02 1.35597093e-02 1.04998177e+02] [-4.40066533e-02 9.99031165e-01 3.83236677e-04 -1.72343812e+02] [-1.35634375e-02 -2.13887299e-04 -9.99907990e-01 -4.01278223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters 0.013259004521353089 Centerline is valid? [True, True] Translation: X:105.00, Y:-172.33, Z:-4.02 [[-9.94302006e-01 -1.05835417e-01 1.27430560e-02 1.04996876e+02] [-1.05827816e-01 9.94383657e-01 1.27118804e-03 -1.72330123e+02] [-1.28060234e-02 -8.46249723e-05 -9.99917996e-01 -4.01506176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters 0.013196180288663002 Centerline is valid? [True, True] Translation: X:104.99, Y:-172.31, Z:-4.02 [[-9.85523168e-01 -1.69143933e-01 1.15937978e-02 1.04990976e+02] [-1.69132123e-01 9.85591361e-01 1.99873205e-03 -1.72312411e+02] [-1.17648203e-02 8.91310748e-06 -9.99930792e-01 -4.01571325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters 0.014043269135539093 Centerline is valid? [True, True] Translation: X:104.98, Y:-172.30, Z:-4.02 [[-9.73174020e-01 -2.29840409e-01 1.02816644e-02 1.04982066e+02] [-2.29826379e-01 9.73228326e-01 2.54196692e-03 -1.72298740e+02] [-1.05906538e-02 1.10778467e-04 -9.99943911e-01 -4.01656721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters 0.014948845584365164 Centerline is valid? [True, True] Translation: X:104.96, Y:-172.28, Z:-4.02 [[-9.55456315e-01 -2.94962902e-01 1.00058455e-02 1.04956866e+02] [-2.94944998e-01 9.55508693e-01 3.25371726e-03 -1.72284362e+02] [-1.05203983e-02 1.57610618e-04 -9.99944647e-01 -4.01649291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters 0.01430195599829172 Centerline is valid? [True, True] Translation: X:104.91, Y:-172.27, Z:-4.02 [[-9.30588945e-01 -3.65969929e-01 8.38011050e-03 1.04913067e+02] [-3.65954017e-01 9.30626670e-01 3.41447290e-03 -1.72269135e+02] [-9.04834873e-03 1.10735634e-04 -9.99959057e-01 -4.01688020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters 0.013749952877709732 Centerline is valid? [True, True] Translation: X:104.85, Y:-172.27, Z:-4.02 [[-8.98809130e-01 -4.38235368e-01 9.58701052e-03 1.04846668e+02] [-4.38209580e-01 8.98860255e-01 4.75462731e-03 -1.72266055e+02] [-1.07010286e-02 7.23825766e-05 -9.99942740e-01 -4.01621916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters 0.013237383893533416 Centerline is valid? [True, True] Translation: X:104.78, Y:-172.27, Z:-4.02 [[-8.60990481e-01 -5.08509469e-01 1.06541823e-02 1.04777108e+02] [-5.08470393e-01 8.61056398e-01 6.30397221e-03 -1.72268539e+02] [-1.23794814e-02 1.03238006e-05 -9.99923371e-01 -4.01639451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters 0.013594969868167012 Centerline is valid? [True, True] Translation: X:104.70, Y:-172.28, Z:-4.01 [[-8.16551704e-01 -5.77168311e-01 1.09570136e-02 1.04699929e+02] [-5.77117860e-01 8.16625209e-01 7.63172974e-03 -1.72278224e+02] [-1.33525661e-02 -9.17863413e-05 -9.99910846e-01 -4.01470246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters 0.013904740242521708 Centerline is valid? [True, True] Translation: X:104.63, Y:-172.30, Z:-4.01 [[-7.69521357e-01 -6.38550987e-01 9.46142721e-03 1.04625283e+02] [-6.38504659e-01 7.69579510e-01 7.69274996e-03 -1.72295779e+02] [-1.21935336e-02 -1.21429974e-04 -9.99925649e-01 -4.01475865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters 0.013806288256552567 Centerline is valid? [True, True] Translation: X:104.54, Y:-172.33, Z:-4.02 [[-7.18489315e-01 -6.95489989e-01 8.17188067e-03 1.04544641e+02] [-6.95447030e-01 7.18535774e-01 7.73103786e-03 -1.72330158e+02] [-1.12486480e-02 -1.28442046e-04 -9.99936724e-01 -4.01678681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters 0.013931951812629602 Centerline is valid? [True, True] Translation: X:104.46, Y:-172.38, Z:-4.02 [[-6.64336451e-01 -7.47399832e-01 7.11130934e-03 1.04458139e+02] [-7.47358912e-01 6.64374501e-01 7.82170320e-03 -1.72380395e+02] [-1.05705122e-02 -1.18457868e-04 -9.99944124e-01 -4.01717757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters 0.013815635823563271 Centerline is valid? [True, True] Translation: X:104.38, Y:-172.43, Z:-4.02 [[-6.06218083e-01 -7.95274371e-01 6.18965882e-03 1.04382770e+02] [-7.95234735e-01 6.06249671e-01 7.94054272e-03 -1.72429323e+02] [-1.00673887e-02 -1.08531110e-04 -9.99949317e-01 -4.01811545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters 0.013670423803647162 Centerline is valid? [True, True] Translation: X:104.30, Y:-172.50, Z:-4.02 [[-5.45143603e-01 -8.38328418e-01 4.89038794e-03 1.04302604e+02] [-8.38296084e-01 5.45165531e-01 7.36336295e-03 -1.72495358e+02] [-8.83898735e-03 -8.55028504e-05 -9.99960932e-01 -4.01958552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters 0.013603329443954986 Centerline is valid? [True, True] Translation: X:104.23, Y:-172.57, Z:-4.02 [[-4.79591402e-01 -8.77481757e-01 4.22525367e-03 1.04225054e+02] [-8.77449274e-01 4.79610006e-01 7.55072129e-03 -1.72571141e+02] [-8.65209413e-03 -8.61847642e-05 -9.99962566e-01 -4.02013909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters 0.013702315466155955 Centerline is valid? [True, True] Translation: X:104.15, Y:-172.65, Z:-4.02 [[-4.10333811e-01 -9.11926692e-01 3.98393413e-03 1.04154259e+02] [-9.11886162e-01 4.10353137e-01 8.59832656e-03 -1.72646862e+02] [-9.47586336e-03 -1.04710297e-04 -9.99955098e-01 -4.01859957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters 0.014426819046076842 Centerline is valid? [True, True] Translation: X:104.08, Y:-172.74, Z:-4.02 [[-3.38379832e-01 -9.41002334e-01 3.70082729e-03 1.04084407e+02] [-9.40950228e-01 3.38400044e-01 9.90346573e-03 -1.72740114e+02] [-1.05715445e-02 -1.31161212e-04 -9.99944111e-01 -4.01585533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters 0.015034344890586318 Centerline is valid? [True, True] Translation: X:104.02, Y:-172.84, Z:-4.01 [[-2.63544180e-01 -9.64641690e-01 3.29774729e-03 1.04024426e+02] [-9.64574102e-01 2.63564756e-01 1.14201908e-02 -1.72835389e+02] [-1.18855621e-02 -1.71196800e-04 -9.99929350e-01 -4.01436637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters 0.01470004676667366 Centerline is valid? [True, True] Translation: X:103.97, Y:-172.94, Z:-4.02 [[-1.88024405e-01 -9.82161171e-01 2.50152984e-03 1.03973262e+02] [-9.82087131e-01 1.88040950e-01 1.20610040e-02 -1.72938669e+02] [-1.23162399e-02 -1.88957161e-04 -9.99924134e-01 -4.01529229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters 0.014234673336124576 Centerline is valid? [True, True] Translation: X:103.93, Y:-173.05, Z:-4.02 [[-1.11129033e-01 -9.93804695e-01 1.60178658e-03 1.03929509e+02] [-9.93726480e-01 1.11140385e-01 1.24699017e-02 -1.73047046e+02] [-1.25706700e-02 -2.05969627e-04 -9.99920965e-01 -4.01586491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters 0.014685092013473759 Centerline is valid? [True, True] Translation: X:103.89, Y:-173.16, Z:-4.02 [[-3.48771438e-02 -9.99391418e-01 6.15698036e-04 1.03892663e+02] [-9.99318562e-01 3.48820365e-02 1.20687703e-02 -1.73159960e+02] [-1.20829022e-02 -1.94354241e-04 -9.99926980e-01 -4.01501077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters 0.014215728306111236 Centerline is valid? [True, True] Translation: X:103.87, Y:-173.27, Z:-4.02 [[ 4.00008564e-02 -9.99199603e-01 -2.90251060e-04 1.03867796e+02] [-9.99134769e-01 -4.00015676e-02 1.13836590e-02 -1.73267163e+02] [-1.13861581e-02 -1.65356183e-04 -9.99935162e-01 -4.01661187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters 0.014040641120262319 Centerline is valid? [True, True] Translation: X:103.85, Y:-173.38, Z:-4.02 [[ 1.15233916e-01 -9.93337736e-01 -1.13412622e-03 1.03849027e+02] [-9.93276433e-01 -1.15239405e-01 1.10366276e-02 -1.73382752e+02] [-1.10937948e-02 -1.45292972e-04 -9.99938451e-01 -4.01665169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters 0.013938845563726992 Centerline is valid? [True, True] Translation: X:103.84, Y:-173.51, Z:-4.02 [[ 1.90514455e-01 -9.81682644e-01 -1.85160035e-03 1.03840703e+02] [-9.81629489e-01 -1.90523409e-01 1.02164797e-02 -1.73511779e+02] [-1.03821140e-02 -1.28801563e-04 -9.99946096e-01 -4.01737020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters 0.014062884103712045 Centerline is valid? [True, True] Translation: X:103.84, Y:-173.62, Z:-4.02 [[ 2.64744994e-01 -9.64315493e-01 -2.39130001e-03 1.03836782e+02] [-9.64272298e-01 -2.64755771e-01 9.12778180e-03 -1.73619922e+02] [-9.43517188e-03 -1.10670190e-04 -9.99955482e-01 -4.01753126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters 0.013933875862670236 Centerline is valid? [True, True] Translation: X:103.84, Y:-173.73, Z:-4.02 [[ 3.38013964e-01 -9.41135983e-01 -3.10207489e-03 1.03843479e+02] [-9.41093282e-01 -3.38028179e-01 8.96570421e-03 -1.73733469e+02] [-9.48653556e-03 -1.11191379e-04 -9.99954996e-01 -4.01769829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters 0.013894755115188995 Centerline is valid? [True, True] Translation: X:103.86, Y:-173.85, Z:-4.02 [[ 4.08905222e-01 -9.12567588e-01 -4.11308334e-03 1.03860997e+02] [-9.12518507e-01 -4.08925891e-01 9.46518131e-03 -1.73851570e+02] [-1.03195639e-02 -1.17097394e-04 -9.99946745e-01 -4.01789572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters 0.013861744198670941 Centerline is valid? [True, True] Translation: X:103.89, Y:-173.97, Z:-4.02 [[ 4.76760325e-01 -8.79020235e-01 -4.79793392e-03 1.03886562e+02] [-8.78973472e-01 -4.76784455e-01 9.06753561e-03 -1.73967392e+02] [-1.02581276e-02 -1.05784591e-04 -9.99947379e-01 -4.01810400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters 0.013872428350801302 Centerline is valid? [True, True] Translation: X:103.92, Y:-174.07, Z:-4.02 [[ 5.41271403e-01 -8.40831733e-01 -5.22155682e-03 1.03917208e+02] [-8.40791102e-01 -5.41296582e-01 8.26644661e-03 -1.74071406e+02] [-9.77710149e-03 -8.41526433e-05 -9.99952200e-01 -4.01877705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters 0.013325885417348863 Centerline is valid? [True, True] Translation: X:103.96, Y:-174.17, Z:-4.02 [[ 6.00874539e-01 -7.99327248e-01 -5.07334883e-03 1.03958420e+02] [-7.99298195e-01 -6.00895955e-01 6.81516550e-03 -1.74173939e+02] [-8.49610227e-03 -3.99408685e-05 -9.99963907e-01 -4.02052705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters 0.013165073415656724 Centerline is valid? [True, True] Translation: X:104.01, Y:-174.28, Z:-4.02 [[ 6.56265019e-01 -7.54517222e-01 -4.47062939e-03 1.04008233e+02] [-7.54499747e-01 -6.56280247e-01 5.13509130e-03 -1.74275660e+02] [-6.80850058e-03 3.10795831e-06 -9.99976822e-01 -4.02117202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters 0.013364006125997396 Centerline is valid? [True, True] Translation: X:104.06, Y:-174.36, Z:-4.02 [[ 7.08562422e-01 -7.05636847e-01 -3.99178669e-03 1.04055745e+02] [-7.05625881e-01 -7.08573665e-01 3.93409453e-03 -1.74363991e+02] [-5.60451699e-03 2.91564484e-05 -9.99984294e-01 -4.02184301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters 0.013480835417437477 Centerline is valid? [True, True] Translation: X:104.07, Y:-174.39, Z:-4.02 [[ 7.60587006e-01 -6.49219869e-01 -4.57915614e-03 1.04074579e+02] [-6.49208417e-01 -7.60600789e-01 3.85627646e-03 -1.74392734e+02] [-5.98648107e-03 3.97929429e-05 -9.99982080e-01 -4.02182614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters 0.013924443406540919 Centerline is valid? [True, True] Translation: X:104.10, Y:-174.42, Z:-4.02 [[ 8.07694600e-01 -5.89572829e-01 -5.77170730e-03 1.04095903e+02] [-5.89558330e-01 -8.07715219e-01 4.13524868e-03 -1.74418235e+02] [-7.09992609e-03 6.27400836e-05 -9.99974793e-01 -4.02073109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters 0.014013869228038671 Centerline is valid? [True, True] Translation: X:104.12, Y:-174.44, Z:-4.02 [[ 8.51162158e-01 -5.24867899e-01 -6.05555611e-03 1.04118845e+02] [-5.24855155e-01 -8.51183696e-01 3.65806964e-03 -1.74442882e+02] [-7.07439396e-03 6.46793959e-05 -9.99974974e-01 -4.02083037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters 0.013494331720161496 Centerline is valid? [True, True] Translation: X:104.14, Y:-174.47, Z:-4.02 [[ 8.90681281e-01 -4.54589877e-01 -5.90763524e-03 1.04140144e+02] [-4.54580209e-01 -8.90700871e-01 2.96512521e-03 -1.74472953e+02] [-6.60985176e-03 4.45125376e-05 -9.99978154e-01 -4.02076826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters 0.013231211669401473 Centerline is valid? [True, True] Translation: X:104.17, Y:-174.50, Z:-4.02 [[ 9.24793661e-01 -3.80411793e-01 -6.59938973e-03 1.04166009e+02] [-3.80402291e-01 -9.24817208e-01 2.68881584e-03 -1.74498317e+02] [-7.12608643e-03 2.38231283e-05 -9.99974609e-01 -4.02084532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters 0.013131780116508635 Centerline is valid? [True, True] Translation: X:104.19, Y:-174.52, Z:-4.02 [[ 9.53641317e-01 -3.00840588e-01 -7.94856347e-03 1.04193388e+02] [-3.00829914e-01 -9.53674441e-01 2.53432062e-03 -1.74523115e+02] [-8.34276833e-03 -2.56671936e-05 -9.99965198e-01 -4.02015445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters 0.013341902332312838 Centerline is valid? [True, True] Translation: X:104.22, Y:-174.55, Z:-4.02 [[ 9.75266001e-01 -2.20855891e-01 -8.88277361e-03 1.04222391e+02] [-2.20846073e-01 -9.75306450e-01 2.08364608e-03 -1.74547198e+02] [-9.12361191e-03 -7.03835094e-05 -9.99958377e-01 -4.01960065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters 0.01383162501982718 Centerline is valid? [True, True] Translation: X:104.25, Y:-174.57, Z:-4.02 [[ 9.90109156e-01 -1.40011993e-01 -8.97219935e-03 1.04254496e+02] [-1.40005275e-01 -9.90149802e-01 1.37560377e-03 -1.74567954e+02] [-9.07642243e-03 -1.05842653e-04 -9.99958803e-01 -4.01896356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters 0.014234304395482488 Centerline is valid? [True, True] Translation: X:104.28, Y:-174.59, Z:-4.02 [[ 9.98255726e-01 -5.83820817e-02 -8.77718476e-03 1.04284269e+02] [-5.83786348e-02 -9.98294302e-01 6.48627094e-04 -1.74585269e+02] [-8.80008174e-03 -1.35095647e-04 -9.99961269e-01 -4.01981135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters 0.014538719974060258 Centerline is valid? [True, True] Translation: X:104.31, Y:-174.60, Z:-4.02 [[ 9.99762174e-01 2.00573638e-02 -8.56135270e-03 1.04314618e+02] [ 2.00577598e-02 -9.99798822e-01 -3.96149288e-05 -1.74596155e+02] [-8.56042492e-03 -1.32116049e-04 -9.99963350e-01 -4.01932475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters 0.014347962718842606 Centerline is valid? [True, True] Translation: X:104.35, Y:-174.60, Z:-4.02 [[ 9.95196174e-01 9.75325896e-02 -8.48345481e-03 1.04347831e+02] [ 9.75301193e-02 -9.95232324e-01 -7.05399302e-04 -1.74603466e+02] [-8.51180787e-03 -1.25381673e-04 -9.99963766e-01 -4.01942419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters 0.014707036690602445 Centerline is valid? [True, True] Translation: X:104.38, Y:-174.61, Z:-4.02 [[ 9.84521482e-01 1.75113736e-01 -7.25470532e-03 1.04379645e+02] [ 1.75109790e-01 -9.84548205e-01 -1.18059553e-03 -1.74609085e+02] [-7.34934559e-03 -1.08048262e-04 -9.99972987e-01 -4.01979378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters 0.014079998827753052 Centerline is valid? [True, True] Translation: X:104.41, Y:-174.61, Z:-4.02 [[ 9.67743623e-01 2.51839795e-01 -6.99989172e-03 1.04412804e+02] [ 2.51834008e-01 -9.67768932e-01 -1.71062059e-03 -1.74611215e+02] [-7.20508007e-03 -1.07368626e-04 -9.99974037e-01 -4.02081597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters 0.014575993642139035 Centerline is valid? [True, True] Translation: X:104.45, Y:-174.61, Z:-4.02 [[ 9.44640968e-01 3.28014831e-01 -7.72735791e-03 1.04445909e+02] [ 3.28004995e-01 -9.44672564e-01 -2.54360903e-03 -1.74611861e+02] [-8.13416449e-03 -1.31814695e-04 -9.99966909e-01 -4.01943804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters 0.014738767370867028 Centerline is valid? [True, True] Translation: X:104.48, Y:-174.61, Z:-4.02 [[ 9.15712499e-01 4.01755011e-01 -7.97056454e-03 1.04479205e+02] [ 4.01741191e-01 -9.15747175e-01 -3.33557183e-03 -1.74608489e+02] [-8.63910466e-03 -1.47679274e-04 -9.99962671e-01 -4.01873297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters 0.01551438537884399 Centerline is valid? [True, True] Translation: X:104.51, Y:-174.60, Z:-4.02 [[ 8.80686749e-01 4.73630397e-01 -8.06831301e-03 1.04511048e+02] [ 4.73612279e-01 -8.80723690e-01 -4.14618023e-03 -1.74601714e+02] [-9.06971140e-03 -1.69766129e-04 -9.99958855e-01 -4.01747083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters 0.015206130747760914 Centerline is valid? [True, True] Translation: X:104.54, Y:-174.59, Z:-4.02 [[ 8.40728041e-01 5.41413356e-01 -6.92376625e-03 1.04541852e+02] [ 5.41396502e-01 -8.40756537e-01 -4.27473306e-03 -1.74590313e+02] [-8.13559930e-03 -1.54614878e-04 -9.99966894e-01 -4.01861025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters 0.015591568155458996 Centerline is valid? [True, True] Translation: X:104.57, Y:-174.58, Z:-4.02 [[ 7.95958446e-01 6.05331506e-01 -4.89082067e-03 1.04570921e+02] [ 6.05320945e-01 -7.95973464e-01 -3.57747413e-03 -1.74577521e+02] [-6.05852128e-03 -1.12995445e-04 -9.99981641e-01 -4.01954475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters 0.015089881181274708 Centerline is valid? [True, True] Translation: X:104.60, Y:-174.56, Z:-4.02 [[ 7.46512972e-01 6.65356731e-01 -4.33634020e-03 1.04599312e+02] [ 6.65346302e-01 -7.46525559e-01 -3.72674388e-03 -1.74560874e+02] [-5.71680292e-03 -1.03105261e-04 -9.99983654e-01 -4.02036138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters 0.014822623491853988 Centerline is valid? [True, True] Translation: X:104.63, Y:-174.54, Z:-4.02 [[ 6.92964316e-01 7.20963571e-01 -3.46217761e-03 1.04625707e+02] [ 7.20955165e-01 -6.92972960e-01 -3.48251538e-03 -1.74542681e+02] [-4.90996219e-03 -8.28159397e-05 -9.99987943e-01 -4.02056174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters 0.015197085144495595 Centerline is valid? [True, True] Translation: X:104.65, Y:-174.52, Z:-4.02 [[ 6.34644729e-01 7.72798545e-01 -2.91163575e-03 1.04650593e+02] [ 7.72790944e-01 -6.34651403e-01 -3.42832559e-03 -1.74524052e+02] [-4.49727874e-03 -7.43169770e-05 -9.99989885e-01 -4.02048112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters 0.014944218265762022 Centerline is valid? [True, True] Translation: X:104.67, Y:-174.50, Z:-4.02 [[ 5.71919123e-01 8.20304943e-01 -2.88400238e-03 1.04673938e+02] [ 8.20295239e-01 -5.71926388e-01 -3.99096887e-03 -1.74502778e+02] [-4.92324855e-03 -8.32220068e-05 -9.99987877e-01 -4.02013378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters 0.015390835687104308 Centerline is valid? [True, True] Translation: X:104.70, Y:-174.48, Z:-4.02 [[ 5.04628938e-01 8.63331681e-01 -2.83621436e-03 1.04696150e+02] [ 8.63319147e-01 -5.04636898e-01 -4.65323114e-03 -1.74480570e+02] [-5.44854028e-03 -1.00403080e-04 -9.99985152e-01 -4.01947840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters 0.015735399100052522 Centerline is valid? [True, True] Translation: X:104.71, Y:-174.46, Z:-4.02 [[ 4.35186295e-01 9.00337178e-01 -2.41968626e-03 1.04714603e+02] [ 9.00324520e-01 -4.35193010e-01 -4.77519104e-03 -1.74455367e+02] [-5.35231257e-03 -1.00405172e-04 -9.99985671e-01 -4.01937177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters 0.014922767823083447 Centerline is valid? [True, True] Translation: X:104.73, Y:-174.43, Z:-4.02 [[ 3.64699722e-01 9.31123007e-01 -2.01460304e-03 1.04730809e+02] [ 9.31110158e-01 -3.64705275e-01 -4.89240074e-03 -1.74428594e+02] [-5.29016324e-03 -9.15601694e-05 -9.99986003e-01 -4.02056509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters 0.014678375097555723 Centerline is valid? [True, True] Translation: X:104.75, Y:-174.40, Z:-4.02 [[ 2.91787973e-01 9.56481971e-01 -1.42068789e-03 1.04747821e+02] [ 9.56471845e-01 -2.91791423e-01 -4.40182818e-03 -1.74402946e+02] [-4.62481384e-03 -7.44474468e-05 -9.99989303e-01 -4.02064762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters 0.014603214892532525 Centerline is valid? [True, True] Translation: X:104.76, Y:-174.38, Z:-4.02 [[ 2.19237665e-01 9.75671077e-01 -8.92282676e-04 1.04759955e+02] [ 9.75663882e-01 -2.19239475e-01 -3.74727017e-03 -1.74376091e+02] [-3.85172671e-03 -4.90252190e-05 -9.99992581e-01 -4.02085390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters 0.013370963785453235 Centerline is valid? [True, True] Translation: X:104.76, Y:-174.35, Z:-4.02 [[ 1.48438498e-01 9.88921501e-01 -5.26992633e-04 1.04762697e+02] [ 9.88915774e-01 -1.48439432e-01 -3.36560641e-03 -1.74346579e+02] [-3.40654703e-03 -2.15657671e-05 -9.99994198e-01 -4.02137686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters 0.013001242307022026 Centerline is valid? [True, True] Translation: X:104.77, Y:-174.32, Z:-4.02 [[ 7.43413511e-02 9.97232811e-01 -2.89944056e-04 1.04765907e+02] [ 9.97225716e-01 -7.43419159e-02 -3.76165799e-03 -1.74318124e+02] [-3.77280377e-03 -9.49293202e-06 -9.99992883e-01 -4.02160962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters 0.012862205449420438 Centerline is valid? [True, True] Translation: X:104.77, Y:-174.29, Z:-4.02 [[-6.89642436e-04 9.99999762e-01 5.50259786e-06 1.04767707e+02] [ 9.99993219e-01 6.89657829e-04 -3.61764405e-03 -1.74289927e+02] [-3.61764699e-03 3.00767967e-06 -9.99993456e-01 -4.02108539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters 0.012842417994174644 Centerline is valid? [True, True] Translation: X:104.77, Y:-174.26, Z:-4.02 [[-7.56723441e-02 9.97132689e-01 3.11649181e-04 1.04773872e+02] [ 9.97125092e-01 7.56729841e-02 -3.89224491e-03 -1.74261470e+02] [-3.90466806e-03 1.62179224e-05 -9.99992377e-01 -4.02042386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters 0.012871724505795155 Centerline is valid? [True, True] Translation: X:104.78, Y:-174.23, Z:-4.02 [[-1.52655363e-01 9.88279250e-01 6.81481664e-04 1.04778784e+02] [ 9.88270029e-01 1.52656882e-01 -4.26914767e-03 -1.74232629e+02] [-4.32314292e-03 2.17796180e-05 -9.99990655e-01 -4.01972230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters 0.012849769002436884 Centerline is valid? [True, True] Translation: X:104.78, Y:-174.20, Z:-4.02 [[-2.31517322e-01 9.72830068e-01 1.17861015e-03 1.04780426e+02] [ 9.72817798e-01 2.31520322e-01 -4.88598425e-03 -1.74204948e+02] [-5.02610459e-03 1.53829423e-05 -9.99987369e-01 -4.01766562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters 0.01282032551648267 Centerline is valid? [True, True] Translation: X:104.78, Y:-174.18, Z:-4.02 [[-3.10676918e-01 9.50513823e-01 1.82326033e-03 1.04781416e+02] [ 9.50497364e-01 3.10682268e-01 -5.59372779e-03 -1.74175640e+02] [-5.88337024e-03 -4.83797551e-06 -9.99982693e-01 -4.01678001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters 0.013028993305048983 Centerline is valid? [True, True] Translation: X:104.78, Y:-174.15, Z:-4.02 [[-3.88837696e-01 9.21303086e-01 2.42267476e-03 1.04781583e+02] [ 9.21284601e-01 3.88845241e-01 -5.83632809e-03 -1.74146378e+02] [-6.31907263e-03 -3.74114196e-05 -9.99980034e-01 -4.01589349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters 0.01453237003619608 Centerline is valid? [True, True] Translation: X:104.78, Y:-174.12, Z:-4.01 [[-4.66970914e-01 8.84266501e-01 3.30463047e-03 1.04780883e+02] [ 8.84242794e-01 4.66982595e-01 -6.47592476e-03 -1.74116749e+02] [-7.26964824e-03 -1.01972824e-04 -9.99973571e-01 -4.01423025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters 0.01486607262083077 Centerline is valid? [True, True] Translation: X:104.77, Y:-174.09, Z:-4.01 [[-5.37484912e-01 8.43264038e-01 3.96623703e-03 1.04774126e+02] [ 8.43239265e-01 5.37499530e-01 -6.46510053e-03 -1.74087781e+02] [-7.58363732e-03 -1.30407192e-04 -9.99971235e-01 -4.01480695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters 0.014213255459753465 Centerline is valid? [True, True] Translation: X:104.76, Y:-174.06, Z:-4.01 [[-5.99597177e-01 8.00290252e-01 4.32868301e-03 1.04764665e+02] [ 8.00268113e-01 5.99612792e-01 -5.95365976e-03 -1.74059045e+02] [-7.36018958e-03 -1.05690597e-04 -9.99972908e-01 -4.01422029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters 0.013705872585113629 Centerline is valid? [True, True] Translation: X:104.75, Y:-174.03, Z:-4.02 [[-6.58297732e-01 7.52750561e-01 3.26934869e-03 1.04751651e+02] [ 7.52740841e-01 6.58305848e-01 -3.82583674e-03 -1.74032157e+02] [-5.03213211e-03 -5.75673673e-05 -9.99987337e-01 -4.01544058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters 0.013359964905758422 Centerline is valid? [True, True] Translation: X:104.73, Y:-174.01, Z:-4.02 [[-7.13287976e-01 7.00868935e-01 1.73160700e-03 1.04733947e+02] [ 7.00866799e-01 7.13290078e-01 -1.73055330e-03 -1.74009090e+02] [-2.44802914e-03 -2.07570022e-05 -9.99997003e-01 -4.01793895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters 0.013344232254466864 Centerline is valid? [True, True] Translation: X:104.72, Y:-173.99, Z:-4.02 [[-7.65321650e-01 6.43642936e-01 2.55810507e-03 1.04716605e+02] [ 6.43639229e-01 7.65325924e-01 -2.18447058e-03 -1.73987889e+02] [-3.36380319e-03 -2.53258525e-05 -9.99994342e-01 -4.01636467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters 0.013259590987562474 Centerline is valid? [True, True] Translation: X:104.73, Y:-173.97, Z:-4.01 [[-8.07868519e-01 5.89354641e-01 3.09249553e-03 1.04734192e+02] [ 5.89350217e-01 8.07874438e-01 -2.28358149e-03 -1.73967358e+02] [-3.84418744e-03 -2.22706886e-05 -9.99992611e-01 -4.01387540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters 0.012940995133046859 Centerline is valid? [True, True] Translation: X:104.75, Y:-173.95, Z:-4.01 [[-8.45506761e-01 5.33954458e-01 3.30948856e-03 1.04752909e+02] [ 5.33950329e-01 8.45513238e-01 -2.09993538e-03 -1.73949947e+02] [-3.91948625e-03 -8.40705630e-06 -9.99992319e-01 -4.01306161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters 0.012883089272877913 Centerline is valid? [True, True] Translation: X:104.77, Y:-173.93, Z:-4.01 [[-8.79778543e-01 4.75365547e-01 4.16083884e-03 1.04769315e+02] [ 4.75360251e-01 8.79788382e-01 -2.24380068e-03 -1.73931465e+02] [-4.72728321e-03 3.84970091e-06 -9.99988826e-01 -4.01301494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters 0.013360212043605036 Centerline is valid? [True, True] Translation: X:104.78, Y:-173.91, Z:-4.01 [[-9.09673552e-01 4.15281015e-01 5.97562524e-03 1.04782667e+02] [ 4.15272269e-01 9.09693178e-01 -2.69538786e-03 -1.73909252e+02] [-6.55532892e-03 2.95884008e-05 -9.99978513e-01 -4.01011147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters 0.013317633328059297 Centerline is valid? [True, True] Translation: X:105.08, Y:-173.27, Z:-5.03 [[-8.84731124e-01 -4.66067725e-01 5.63155213e-03 1.05078547e+02] [ 4.66058004e-01 -8.84749046e-01 -3.01049980e-03 -1.73272131e+02] [ 6.38560716e-03 -3.88529278e-05 9.99979611e-01 -5.02706243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters 0.013878212858088853 Centerline is valid? [True, True] Translation: X:104.75, Y:-173.89, Z:-4.01 [[-9.08233220e-01 4.18434369e-01 5.00960861e-03 1.04747842e+02] [ 4.18428391e-01 9.08247034e-01 -2.23756730e-03 -1.73893292e+02] [-5.48623723e-03 6.39295181e-05 -9.99984949e-01 -4.01164597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters 0.014480898283038359 Centerline is valid? [True, True] Translation: X:105.04, Y:-173.25, Z:-5.03 [[-8.90062824e-01 -4.55821007e-01 3.92146604e-03 1.05040642e+02] [ 4.55816027e-01 -8.90071456e-01 -2.13377639e-03 -1.73254521e+02] [ 4.46300510e-03 -1.11727974e-04 9.99990035e-01 -5.02574727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters 0.01495293649906161 Centerline is valid? [True, True] Translation: X:104.71, Y:-173.88, Z:-4.01 [[-9.07959435e-01 4.19042697e-01 3.58920990e-03 1.04709995e+02] [ 4.19039698e-01 9.07966527e-01 -1.58685285e-03 -1.73877244e+02] [-3.92384154e-03 6.32234123e-05 -9.99992300e-01 -4.01251116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters 0.01425090010236496 Centerline is valid? [True, True] Translation: X:104.72, Y:-173.84, Z:-4.01 [[-9.36066331e-01 3.51815903e-01 2.32273849e-03 1.04718535e+02] [ 3.51814913e-01 9.36069212e-01 -8.35445582e-04 -1.73844544e+02] [-2.46816703e-03 3.51415609e-05 -9.99996954e-01 -4.01366593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters 0.013780687303728181 Centerline is valid? [True, True] Translation: X:104.96, Y:-173.20, Z:-5.02 [[-9.19880393e-01 -3.92193692e-01 2.04209463e-03 1.04956384e+02] [ 3.92192612e-01 -9.19882659e-01 -9.21655324e-04 -1.73201847e+02] [ 2.23995484e-03 -4.69182352e-05 9.99997490e-01 -5.02385880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters 0.01307013672668694 Centerline is valid? [True, True] Translation: X:104.68, Y:-173.82, Z:-4.01 [[-9.41606413e-01 3.36708913e-01 2.11433346e-03 1.04676398e+02] [ 3.36708075e-01 9.41608787e-01 -7.51556497e-04 -1.73817658e+02] [-2.24393073e-03 4.24273011e-06 -9.99997482e-01 -4.01305948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters 0.01322148760223159 Centerline is valid? [True, True] Translation: X:104.68, Y:-173.78, Z:-4.01 [[-9.64677976e-01 2.63427346e-01 1.56069782e-03 1.04680470e+02] [ 2.63426991e-01 9.64679239e-01 -4.32625014e-04 -1.73783935e+02] [-1.61953805e-03 -6.21389157e-06 -9.99998689e-01 -4.01287286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters 0.013530131274879344 Centerline is valid? [True, True] Translation: X:104.84, Y:-173.16, Z:-5.02 [[-9.40138550e-01 -3.40791681e-01 7.32379732e-04 1.04843084e+02] [ 3.40791534e-01 -9.40138834e-01 -3.21013768e-04 -1.73155220e+02] [ 7.97937450e-04 -5.22086064e-05 9.99999680e-01 -5.02428706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters 0.014479402647551173 Centerline is valid? [True, True] Translation: X:104.63, Y:-173.76, Z:-4.01 [[-9.68106276e-01 2.50539883e-01 -6.98859079e-05 1.04633386e+02] [ 2.50539882e-01 9.68106279e-01 2.05763819e-05 -1.73762534e+02] [ 7.28121898e-05 2.41091735e-06 -9.99999997e-01 -4.01411292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters 0.014758531535387743 Centerline is valid? [True, True] Translation: X:104.64, Y:-173.73, Z:-4.01 [[-9.83758641e-01 1.79495935e-01 -3.82646111e-04 1.04637480e+02] [ 1.79495919e-01 9.83758715e-01 7.75244953e-05 -1.73732870e+02] [ 3.90346778e-04 7.58197676e-06 -9.99999924e-01 -4.01368314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters 0.015062484290200356 Centerline is valid? [True, True] Translation: X:104.64, Y:-173.70, Z:-4.01 [[-9.94117983e-01 1.08301909e-01 -3.63939173e-04 1.04637799e+02] [ 1.08301899e-01 9.94118050e-01 4.72730458e-05 -1.73703792e+02] [ 3.66918261e-04 7.57968122e-06 -9.99999933e-01 -4.01344130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters 0.01591735309650031 Centerline is valid? [True, True] Translation: X:104.63, Y:-173.67, Z:-4.01 [[-9.99416272e-01 3.41609647e-02 3.78514980e-04 1.04633558e+02] [ 3.41609599e-02 9.99416344e-01 -1.92518664e-05 -1.73671440e+02] [-3.78951721e-04 -6.31019352e-06 -9.99999928e-01 -4.01147161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters 0.01692625951619326 Centerline is valid? [True, True] Translation: X:104.63, Y:-173.64, Z:-4.01 [[-9.99239269e-01 -3.89337494e-02 2.24659452e-03 1.04627715e+02] [-3.89337604e-02 9.99241793e-01 3.88369638e-05 -1.73640722e+02] [-2.24640321e-03 -4.86609535e-05 -9.99997476e-01 -4.00907623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters 0.016589585190282006 Centerline is valid? [True, True] Translation: X:104.62, Y:-173.61, Z:-4.01 [[-9.93960184e-01 -1.09682489e-01 3.59236593e-03 1.04619663e+02] [-1.09682057e-01 9.93966672e-01 3.17471489e-04 -1.73614145e+02] [-3.60551307e-03 -7.84640663e-05 -9.99993497e-01 -4.00731742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters 0.016344931620602146 Centerline is valid? [True, True] Translation: X:104.61, Y:-173.59, Z:-4.01 [[-9.83944839e-01 -1.78393296e-01 5.32777583e-03 1.04610148e+02] [-1.78391278e-01 9.83959257e-01 8.55473483e-04 -1.73589342e+02] [-5.39492508e-03 -1.08690019e-04 -9.99985441e-01 -4.00542603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters 0.015148364919314723 Centerline is valid? [True, True] Translation: X:104.60, Y:-173.57, Z:-4.00 [[-9.69715619e-01 -2.44139506e-01 6.89348936e-03 1.04599568e+02] [-2.44134174e-01 9.69740114e-01 1.61754160e-03 -1.73569189e+02] [-7.07979896e-03 -1.14380972e-04 -9.99974931e-01 -4.00432308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters 0.014613472973061663 Centerline is valid? [True, True] Translation: X:104.58, Y:-173.55, Z:-4.00 [[-9.50753627e-01 -3.09880481e-01 6.45196126e-03 1.04582162e+02] [-3.09873970e-01 9.50775515e-01 2.01069773e-03 -1.73547946e+02] [-6.75744276e-03 -8.76166888e-05 -9.99977164e-01 -4.00400427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters 0.013504775763988118 Centerline is valid? [True, True] Translation: X:104.55, Y:-173.54, Z:-4.01 [[-9.27838380e-01 -3.72933010e-01 6.07537647e-03 1.04554844e+02] [-3.72925387e-01 9.27858269e-01 2.38508881e-03 -1.73535526e+02] [-6.52656665e-03 -5.26851836e-05 -9.99978700e-01 -4.00524808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters 0.013209278186129422 Centerline is valid? [True, True] Translation: X:104.50, Y:-173.53, Z:-4.01 [[-8.99570356e-01 -4.36735880e-01 5.91145650e-03 1.04504922e+02] [-4.36726683e-01 8.99589779e-01 2.83447279e-03 -1.73531602e+02] [-6.55580181e-03 -3.18830858e-05 -9.99978510e-01 -4.00523408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters 0.013045510458670258 Centerline is valid? [True, True] Translation: X:104.44, Y:-173.54, Z:-4.00 [[-8.66552608e-01 -4.99046764e-01 6.23742304e-03 1.04444191e+02] [-4.99033942e-01 8.66575056e-01 3.57740410e-03 -1.73538368e+02] [-7.19048716e-03 -1.26769551e-05 -9.99974148e-01 -4.00452479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters 0.012938145186685962 Centerline is valid? [True, True] Translation: X:104.37, Y:-173.55, Z:-4.01 [[-8.27468175e-01 -5.61479578e-01 6.09125393e-03 1.04374022e+02] [-5.61464452e-01 8.27490595e-01 4.12125105e-03 -1.73551448e+02] [-7.35445364e-03 -9.81846787e-06 -9.99972956e-01 -4.00555702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters 0.01304741877969497 Centerline is valid? [True, True] Translation: X:104.30, Y:-173.57, Z:-4.01 [[-7.82609676e-01 -6.22484569e-01 5.92074658e-03 1.04296504e+02] [-6.22466944e-01 7.82632072e-01 4.68432877e-03 -1.73573655e+02] [-7.54968854e-03 -1.94680091e-05 -9.99971501e-01 -4.00513259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters 0.013064146244902378 Centerline is valid? [True, True] Translation: X:104.21, Y:-173.61, Z:-4.01 [[-7.32424114e-01 -6.80827502e-01 5.36932226e-03 1.04213650e+02] [-6.80809559e-01 7.32443794e-01 4.94299900e-03 -1.73608380e+02] [-7.29805643e-03 -3.51142547e-05 -9.99973368e-01 -4.00602642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters 0.013354172216865592 Centerline is valid? [True, True] Translation: X:104.13, Y:-173.65, Z:-4.01 [[-6.76278526e-01 -7.36625471e-01 5.50179807e-03 1.04133639e+02] [-7.36601948e-01 6.76300902e-01 5.88725337e-03 -1.73649853e+02] [-8.05757178e-03 -7.12121403e-05 -9.99967535e-01 -4.00625023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters 0.014030748701723935 Centerline is valid? [True, True] Translation: X:104.05, Y:-173.70, Z:-4.01 [[-6.16178971e-01 -7.87590234e-01 5.00993942e-03 1.04053294e+02] [-7.87565482e-01 6.16199330e-01 6.24483811e-03 -1.73699691e+02] [-8.00549482e-03 -9.77174305e-05 -9.99967951e-01 -4.00545540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters 0.014113752231307784 Centerline is valid? [True, True] Translation: X:103.97, Y:-173.76, Z:-4.01 [[-5.53602040e-01 -8.32769421e-01 4.45783826e-03 1.03974240e+02] [-8.32743979e-01 5.53619977e-01 6.51045115e-03 -1.73762973e+02] [-7.88965296e-03 -1.08038931e-04 -9.99968870e-01 -4.00590214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters 0.01403082985614024 Centerline is valid? [True, True] Translation: X:103.90, Y:-173.84, Z:-4.01 [[-4.88268675e-01 -8.72685015e-01 3.81659383e-03 1.03896012e+02] [-8.72660087e-01 4.88283579e-01 6.59694458e-03 -1.73840330e+02] [-7.62063477e-03 -1.09507709e-04 -9.99970957e-01 -4.00653255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters 0.014303395594975605 Centerline is valid? [True, True] Translation: X:103.83, Y:-173.91, Z:-4.01 [[-4.20817101e-01 -9.07139473e-01 3.30828465e-03 1.03827417e+02] [-9.07113398e-01 4.20830092e-01 6.87868689e-03 -1.73914405e+02] [-7.63215413e-03 -1.06320251e-04 -9.99970869e-01 -4.00669517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters 0.013931389174645785 Centerline is valid? [True, True] Translation: X:103.76, Y:-174.00, Z:-4.01 [[-3.50841553e-01 -9.36431721e-01 2.41616583e-03 1.03761474e+02] [-9.36411244e-01 3.50849861e-01 6.19340902e-03 -1.74001826e+02] [-6.64741611e-03 -8.96196116e-05 -9.99977902e-01 -4.00733896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters 0.014511388706979848 Centerline is valid? [True, True] Translation: X:103.70, Y:-174.09, Z:-4.01 [[-2.78679103e-01 -9.60381391e-01 2.35413315e-03 1.03700370e+02] [-9.60350330e-01 2.78689025e-01 7.72474172e-03 -1.74092396e+02] [-8.07476927e-03 -1.08068459e-04 -9.99967393e-01 -4.00547956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters 0.014077645728335302 Centerline is valid? [True, True] Translation: X:103.65, Y:-174.19, Z:-4.01 [[-2.04718006e-01 -9.78818967e-01 1.99218079e-03 1.03648774e+02] [-9.78778130e-01 2.04727664e-01 8.94181214e-03 -1.74190965e+02] [-9.16026984e-03 -1.19353040e-04 -9.99958037e-01 -4.00546520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters 0.013620270308280712 Centerline is valid? [True, True] Translation: X:103.60, Y:-174.30, Z:-4.01 [[-1.29785192e-01 -9.91541140e-01 1.40438736e-03 1.03603324e+02] [-9.91492849e-01 1.29792733e-01 9.78655310e-03 -1.74298374e+02] [-9.88604929e-03 -1.22290346e-04 -9.99951124e-01 -4.00593445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters 0.013568462690002375 Centerline is valid? [True, True] Translation: X:103.57, Y:-174.41, Z:-4.01 [[-5.49869811e-02 -9.98486834e-01 6.88380114e-04 1.03565626e+02] [-9.98432421e-01 5.49911715e-02 1.04245321e-02 -1.74408227e+02] [-1.04466129e-02 -1.14087475e-04 -9.99945426e-01 -4.00555281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters 0.013342546957729826 Centerline is valid? [True, True] Translation: X:103.54, Y:-174.52, Z:-4.01 [[ 1.96568585e-02 -9.99806778e-01 -1.24209870e-04 1.03537876e+02] [-9.99741555e-01 -1.96569950e-02 1.14203794e-02 -1.74523703e+02] [-1.14206143e-02 -1.00311012e-04 -9.99934778e-01 -4.00523902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters 0.013184894590129953 Centerline is valid? [True, True] Translation: X:103.52, Y:-174.64, Z:-4.00 [[ 9.46314850e-02 -9.95511713e-01 -1.14539535e-03 1.03518690e+02] [-9.95426501e-01 -9.46383714e-02 1.30253302e-02 -1.74635931e+02] [-1.30752671e-02 -9.24494573e-05 -9.99914511e-01 -4.00452972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters 0.013127628156265246 Centerline is valid? [True, True] Translation: X:103.51, Y:-174.75, Z:-4.00 [[ 1.69407467e-01 -9.85543336e-01 -2.33320564e-03 1.03507735e+02] [-9.85443229e-01 -1.69423514e-01 1.40468734e-02 -1.74753451e+02] [-1.42391024e-02 -8.04035472e-05 -9.99898616e-01 -4.00400038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters 0.012941684683646728 Centerline is valid? [True, True] Translation: X:103.50, Y:-174.87, Z:-4.00 [[ 2.43381414e-01 -9.69923958e-01 -3.60603961e-03 1.03504716e+02] [-9.69813425e-01 -2.43408118e-01 1.46427090e-02 -1.74870303e+02] [-1.50800535e-02 -6.65775838e-05 -9.99886287e-01 -4.00445127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters 0.012894006522552019 Centerline is valid? [True, True] Translation: X:103.51, Y:-174.99, Z:-4.01 [[ 3.16849209e-01 -9.48466046e-01 -4.32872939e-03 1.03511292e+02] [-9.48375023e-01 -3.16878772e-01 1.31399929e-02 -1.74990731e+02] [-1.38345196e-02 -5.81375315e-05 -9.99904297e-01 -4.00576801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters 0.012696284691753287 Centerline is valid? [True, True] Translation: X:103.53, Y:-175.11, Z:-4.01 [[ 3.88255917e-01 -9.21540707e-01 -4.47981508e-03 1.03526034e+02] [-9.21478067e-01 -3.88281758e-01 1.07447182e-02 -1.75107659e+02] [-1.16411257e-02 -4.36490737e-05 -9.99932239e-01 -4.00840266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters 0.012627021815479025 Centerline is valid? [True, True] Translation: X:103.55, Y:-175.22, Z:-4.01 [[ 4.57859346e-01 -8.89008998e-01 -5.27460227e-03 1.03548242e+02] [-8.88948877e-01 -4.57889725e-01 1.03389840e-02 -1.75222162e+02] [-1.16066359e-02 -4.49486720e-05 -9.99932640e-01 -4.00959643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters 0.012653605573633306 Centerline is valid? [True, True] Translation: X:103.58, Y:-175.33, Z:-4.01 [[ 5.24929466e-01 -8.51123195e-01 -6.19375577e-03 1.03577044e+02] [-8.51062800e-01 -5.24966003e-01 1.01393500e-02 -1.75333752e+02] [-1.18813472e-02 -5.11684529e-05 -9.99929413e-01 -4.00824399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters 0.012795467297338074 Centerline is valid? [True, True] Translation: X:103.62, Y:-175.45, Z:-4.01 [[ 5.88935776e-01 -8.08146446e-01 -7.34662519e-03 1.03615674e+02] [-8.08082237e-01 -5.88981594e-01 1.01873152e-02 -1.75446626e+02] [-1.25598696e-02 -6.29970619e-05 -9.99921120e-01 -4.00662110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters 0.012796113771189907 Centerline is valid? [True, True] Translation: X:103.66, Y:-175.54, Z:-4.01 [[ 6.48872009e-01 -7.60853493e-01 -8.19019223e-03 1.03655501e+02] [-7.60791634e-01 -6.48923693e-01 9.70209409e-03 -1.75542254e+02] [-1.26966820e-02 -6.43875487e-05 -9.99919392e-01 -4.00684140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters 0.012728385358983399 Centerline is valid? [True, True] Translation: X:103.71, Y:-175.64, Z:-4.01 [[ 7.04585654e-01 -7.09559158e-01 -9.21177804e-03 1.03706693e+02] [-7.09497366e-01 -7.04645867e-01 9.36430771e-03 -1.75639137e+02] [-1.31355716e-02 -6.22246219e-05 -9.99913723e-01 -4.00702158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters 0.01281823441142276 Centerline is valid? [True, True] Translation: X:103.76, Y:-175.72, Z:-4.01 [[ 7.54592891e-01 -6.56115135e-01 -1.01241884e-02 1.03757845e+02] [-6.56055619e-01 -7.54660804e-01 8.83719837e-03 -1.75724658e+02] [-1.34385477e-02 -2.64564100e-05 -9.99909698e-01 -4.00616165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters 0.01286415472890124 Centerline is valid? [True, True] Translation: X:103.78, Y:-175.75, Z:-4.01 [[ 8.01321539e-01 -5.98138287e-01 -1.06949142e-02 1.03781255e+02] [-5.98085423e-01 -8.01392906e-01 7.95219472e-03 -1.75750588e+02] [-1.33273405e-02 2.42073513e-05 -9.99911187e-01 -4.00622663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters 0.013506281107946154 Centerline is valid? [True, True] Translation: X:103.81, Y:-175.77, Z:-4.01 [[ 8.41303508e-01 -5.40464284e-01 -1.03327290e-02 1.03806815e+02] [-5.40425281e-01 -8.41366949e-01 6.49400857e-03 -1.75772328e+02] [-1.22033964e-02 1.20635812e-04 -9.99925529e-01 -4.00744584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters 0.014564083118719791 Centerline is valid? [True, True] Translation: X:103.83, Y:-175.79, Z:-4.01 [[ 8.78757573e-01 -4.77180157e-01 -9.17741031e-03 1.03833557e+02] [-4.77155931e-01 -8.78805482e-01 4.81072880e-03 -1.75791984e+02] [-1.03607428e-02 1.51591396e-04 -9.99946315e-01 -4.00827296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters 0.014809589971752897 Centerline is valid? [True, True] Translation: X:103.86, Y:-175.82, Z:-4.01 [[ 9.11720929e-01 -4.10747308e-01 -7.18310736e-03 1.03859279e+02] [-4.10735822e-01 -9.11749213e-01 3.07524383e-03 -1.75815063e+02] [-7.81234061e-03 1.46595345e-04 -9.99969473e-01 -4.01049778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters 0.014591155174704867 Centerline is valid? [True, True] Translation: X:103.89, Y:-175.84, Z:-4.01 [[ 9.41233661e-01 -3.37685144e-01 -6.92378954e-03 1.03885894e+02] [-3.37677044e-01 -9.41259117e-01 2.34264199e-03 -1.75838961e+02] [-7.30815543e-03 1.33031293e-04 -9.99973286e-01 -4.01046345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters 0.01414825508087606 Centerline is valid? [True, True] Translation: X:103.91, Y:-175.86, Z:-4.01 [[ 9.65583609e-01 -2.59953680e-01 -8.50755361e-03 1.03914362e+02] [-2.59944786e-01 -9.65621079e-01 2.15436649e-03 -1.75860712e+02] [-8.77510859e-03 1.31273226e-04 -9.99961489e-01 -4.00896939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters 0.01336395540338427 Centerline is valid? [True, True] Translation: X:103.94, Y:-175.88, Z:-4.01 [[ 9.84356849e-01 -1.75774391e-01 -1.20398549e-02 1.03944546e+02] [-1.75762286e-01 -9.84430473e-01 2.06452001e-03 -1.75884732e+02] [-1.22152898e-02 8.39280088e-05 -9.99925387e-01 -4.00570764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters 0.013149438864177729 Centerline is valid? [True, True] Translation: X:103.97, Y:-175.90, Z:-4.00 [[ 9.95602688e-01 -9.27803236e-02 -1.29266644e-02 1.03972598e+02] [-9.27727471e-02 -9.95686603e-01 1.18582355e-03 -1.75901576e+02] [-1.29809276e-02 1.86330476e-05 -9.99915744e-01 -4.00398450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters 0.012918955657753896 Centerline is valid? [True, True] Translation: X:104.00, Y:-175.92, Z:-4.00 [[ 9.99868436e-01 -9.56389456e-03 -1.31012604e-02 1.04003539e+02] [-9.56246088e-03 -9.99954264e-01 1.72070814e-04 -1.75915571e+02] [-1.31023068e-02 -4.67678861e-05 -9.99914160e-01 -4.00432973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters 0.01341209749605766 Centerline is valid? [True, True] Translation: X:104.04, Y:-175.93, Z:-4.01 [[ 9.97145587e-01 7.44989722e-02 -1.22711741e-02 1.04035557e+02] [ 7.44947426e-02 -9.97221084e-01 -8.02044605e-04 -1.75925123e+02] [-1.22968250e-02 -1.14382716e-04 -9.99924385e-01 -4.00544356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters 0.01386823668771958 Centerline is valid? [True, True] Translation: X:104.07, Y:-175.93, Z:-4.01 [[ 9.87906403e-01 1.54750106e-01 -9.66146252e-03 1.04068191e+02] [ 1.54743838e-01 -9.87953639e-01 -1.39748890e-03 -1.75928207e+02] [-9.76133861e-03 -1.14463553e-04 -9.99952351e-01 -4.00694183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters 0.014046586069230657 Centerline is valid? [True, True] Translation: X:104.10, Y:-175.93, Z:-4.01 [[ 9.72014695e-01 2.34832148e-01 -6.42612576e-03 1.04101626e+02] [ 2.34827685e-01 -9.72035932e-01 -1.45112021e-03 -1.75932912e+02] [-6.58719482e-03 -9.85220718e-05 -9.99978299e-01 -4.01006141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters 0.014221042902552996 Centerline is valid? [True, True] Translation: X:104.14, Y:-175.93, Z:-4.01 [[ 9.50236036e-01 3.11492003e-01 -4.92016028e-03 1.04135616e+02] [ 3.11488283e-01 -9.50248770e-01 -1.52459469e-03 -1.75934207e+02] [-5.15027531e-03 -8.38474636e-05 -9.99986734e-01 -4.01127651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters 0.014975996345643951 Centerline is valid? [True, True] Translation: X:104.17, Y:-175.93, Z:-4.01 [[ 9.22074594e-01 3.86989619e-01 -4.18067140e-03 1.04169238e+02] [ 3.86986049e-01 -9.22084068e-01 -1.66436233e-03 -1.75934606e+02] [-4.49902143e-03 -8.31952904e-05 -9.99989876e-01 -4.01110855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters 0.015935746126539967 Centerline is valid? [True, True] Translation: X:104.20, Y:-175.93, Z:-4.01 [[ 8.88058117e-01 4.59702250e-01 -5.15974506e-03 1.04202547e+02] [ 4.59695259e-01 -8.88073098e-01 -2.53801040e-03 -1.75931278e+02] [-5.74895987e-03 -1.18009603e-04 -9.99983468e-01 -4.00906212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters 0.015674184946386446 Centerline is valid? [True, True] Translation: X:104.24, Y:-175.93, Z:-4.01 [[ 8.48430957e-01 5.29264384e-01 -6.64248759e-03 1.04236670e+02] [ 5.29249740e-01 -8.48456942e-01 -3.94086529e-03 -1.75925140e+02] [-7.72162435e-03 -1.71982724e-04 -9.99970173e-01 -4.00671904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters 0.016646050609333416 Centerline is valid? [True, True] Translation: X:104.27, Y:-175.92, Z:-4.00 [[ 8.04490374e-01 5.93898364e-01 -8.94267735e-03 1.04269782e+02] [ 5.93864998e-01 -8.04540039e-01 -6.29993868e-03 -1.75915861e+02] [-1.09362653e-02 -2.42503049e-04 -9.99940168e-01 -4.00327417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters 0.015413099380989127 Centerline is valid? [True, True] Translation: X:104.30, Y:-175.90, Z:-4.00 [[ 7.57546068e-01 6.52727192e-01 -8.43612842e-03 1.04298808e+02] [ 6.52689776e-01 -7.57593010e-01 -6.99196833e-03 -1.75897855e+02] [-1.09549998e-02 -2.09436649e-04 -9.99939970e-01 -4.00383660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters 0.014377844092543356 Centerline is valid? [True, True] Translation: X:104.32, Y:-175.88, Z:-4.00 [[ 7.07647234e-01 7.06528623e-01 -7.25926206e-03 1.04323914e+02] [ 7.06493510e-01 -7.07684452e-01 -7.04531911e-03 -1.75876892e+02] [-1.01149865e-02 -1.43020953e-04 -9.99948832e-01 -4.00447409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters 0.012812884399588402 Centerline is valid? [True, True] Translation: X:104.35, Y:-175.85, Z:-4.01 [[ 6.57591560e-01 7.53351333e-01 -5.92525655e-03 1.04346125e+02] [ 7.53321280e-01 -6.57618254e-01 -6.72922110e-03 -1.75853191e+02] [-8.96602455e-03 -3.85428424e-05 -9.99959804e-01 -4.00680255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters 0.012844260185736188 Centerline is valid? [True, True] Translation: X:104.37, Y:-175.83, Z:-4.01 [[ 6.02250241e-01 7.98292037e-01 -4.94694898e-03 1.04366902e+02] [ 7.98264794e-01 -6.02270557e-01 -6.59507127e-03 -1.75830554e+02] [-8.24419460e-03 2.29080519e-05 -9.99966016e-01 -4.00682597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters 0.013612393501720256 Centerline is valid? [True, True] Translation: X:104.38, Y:-175.81, Z:-4.01 [[ 5.43503343e-01 8.39393600e-01 -4.74345348e-03 1.04384731e+02] [ 8.39360285e-01 -5.43524035e-01 -7.47896438e-03 -1.75806274e+02] [-8.85597581e-03 8.33756735e-05 -9.99960782e-01 -4.00588556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters 0.01595360112164505 Centerline is valid? [True, True] Translation: X:104.40, Y:-175.78, Z:-4.00 [[ 4.83497385e-01 8.75331997e-01 -4.91669536e-03 1.04397659e+02] [ 8.75282742e-01 -4.83522347e-01 -9.28773258e-03 -1.75779389e+02] [-1.05071816e-02 1.87095815e-04 -9.99944781e-01 -4.00471763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters 0.015898968107417245 Centerline is valid? [True, True] Translation: X:104.42, Y:-175.76, Z:-4.01 [[ 4.17418172e-01 9.08703808e-01 -4.41135586e-03 1.04419656e+02] [ 9.08646672e-01 -4.17441409e-01 -1.01929050e-02 -1.75755739e+02] [-1.11038142e-02 2.46339950e-04 -9.99938320e-01 -4.00582662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters 0.016928332332051044 Centerline is valid? [True, True] Translation: X:104.44, Y:-175.73, Z:-4.01 [[ 3.48222788e-01 9.37404561e-01 -3.68490379e-03 1.04436976e+02] [ 9.37342903e-01 -3.48242163e-01 -1.07553828e-02 -1.75729650e+02] [-1.13653838e-02 2.91250973e-04 -9.99935370e-01 -4.00583448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters 0.01871287304045251 Centerline is valid? [True, True] Translation: X:104.45, Y:-175.70, Z:-4.00 [[ 2.76458757e-01 9.61021315e-01 -2.93045727e-03 1.04450373e+02] [ 9.60953814e-01 -2.76474086e-01 -1.13950804e-02 -1.75704078e+02] [-1.17611106e-02 3.34235668e-04 -9.99930780e-01 -4.00488004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters 0.018362832752545164 Centerline is valid? [True, True] Translation: X:104.47, Y:-175.68, Z:-4.00 [[ 2.00453207e-01 9.79701116e-01 -2.05798318e-03 1.04465323e+02] [ 9.79630680e-01 -2.00463483e-01 -1.17525421e-02 -1.75677190e+02] [-1.19265291e-02 3.39771301e-04 -9.99928819e-01 -4.00496381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters 0.017542569583706098 Centerline is valid? [True, True] Translation: X:104.48, Y:-175.65, Z:-4.00 [[ 1.21158860e-01 9.92632482e-01 -1.13436669e-03 1.04479726e+02] [ 9.92561071e-01 -1.21163755e-01 -1.19107203e-02 -1.75648841e+02] [-1.19604120e-02 3.17161071e-04 -9.99928421e-01 -4.00478501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters 0.01607836764667188 Centerline is valid? [True, True] Translation: X:104.49, Y:-175.62, Z:-4.01 [[ 3.79256280e-02 9.99280548e-01 -1.82506620e-04 1.04494527e+02] [ 9.99219511e-01 -3.79253291e-02 -1.10470731e-02 -1.75619516e+02] [-1.10460468e-02 2.36603008e-04 -9.99938963e-01 -4.00577059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters 0.015487824048569781 Centerline is valid? [True, True] Translation: X:104.50, Y:-175.59, Z:-4.01 [[-4.25431142e-02 9.99094411e-01 6.64088068e-04 1.04503537e+02] [ 9.99036882e-01 4.25477924e-02 -1.07234999e-02 -1.75589121e+02] [-1.07420443e-02 2.07237392e-04 -9.99942281e-01 -4.00608172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters 0.014145203153163342 Centerline is valid? [True, True] Translation: X:104.51, Y:-175.56, Z:-4.01 [[-1.25884588e-01 9.92043697e-01 1.54095120e-03 1.04513840e+02] [ 9.91983679e-01 1.25893924e-01 -1.09133305e-02 -1.75556795e+02] [-1.10204972e-02 1.54778324e-04 -9.99939261e-01 -4.00665732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters 0.01311770118646747 Centerline is valid? [True, True] Translation: X:104.52, Y:-175.52, Z:-4.01 [[-2.09117455e-01 9.77887647e-01 2.37496606e-03 1.04523336e+02] [ 9.77829246e-01 2.09130923e-01 -1.06875421e-02 -1.75523684e+02] [-1.09478942e-02 8.73596684e-05 -9.99940066e-01 -4.00652250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters 0.012553737445644234 Centerline is valid? [True, True] Translation: X:104.53, Y:-175.49, Z:-4.01 [[-2.91311347e-01 9.56623684e-01 2.97095220e-03 1.04529542e+02] [ 9.56574471e-01 2.91326496e-01 -9.70332426e-03 -1.75489060e+02] [-1.01479469e-02 1.52485696e-05 -9.99948508e-01 -4.00704778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters 0.0126798952077195 Centerline is valid? [True, True] Translation: X:104.54, Y:-175.45, Z:-4.01 [[-3.73001718e-01 9.27826298e-01 2.84249835e-03 1.04538433e+02] [ 9.27798292e-01 3.73012545e-01 -7.20906597e-03 -1.75451298e+02] [-7.74904853e-03 -5.17288792e-05 -9.99969974e-01 -4.00880521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters 0.01313366988115793 Centerline is valid? [True, True] Translation: X:104.54, Y:-175.42, Z:-4.01 [[-4.47565924e-01 8.94244522e-01 3.38806753e-03 1.04536840e+02] [ 8.94217568e-01 4.47578741e-01 -6.94341229e-03 -1.75415868e+02] [-7.72553540e-03 -7.79652247e-05 -9.99970155e-01 -4.00871435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters 0.013722166630456186 Centerline is valid? [True, True] Translation: X:104.53, Y:-175.38, Z:-4.01 [[-5.18499787e-01 8.55068116e-01 4.06041814e-03 1.04530168e+02] [ 8.55040340e-01 5.18515676e-01 -6.89280657e-03 -1.75380958e+02] [-7.99920959e-03 -1.02097432e-04 -9.99968001e-01 -4.00809961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters 0.01439444809203882 Centerline is valid? [True, True] Translation: X:104.52, Y:-175.35, Z:-4.01 [[-5.86284804e-01 8.10086355e-01 5.49776542e-03 1.04521817e+02] [ 8.10048295e-01 5.86310561e-01 -7.85397518e-03 -1.75345088e+02] [-9.58579606e-03 -1.51210790e-04 -9.99954044e-01 -4.00607248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters 0.015065345278710259 Centerline is valid? [True, True] Translation: X:104.51, Y:-175.31, Z:-4.00 [[-6.49084716e-01 7.60685056e-01 6.87582772e-03 1.04507487e+02] [ 7.60639291e-01 6.49121106e-01 -8.34618367e-03 -1.75312922e+02] [-1.08120621e-02 -1.87355538e-04 -9.99941530e-01 -4.00462652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters 0.01574344928893361 Centerline is valid? [True, True] Translation: X:104.49, Y:-175.28, Z:-4.00 [[-7.07607922e-01 7.06560651e-01 7.94201215e-03 1.04489073e+02] [ 7.06512728e-01 7.07652458e-01 -8.23194053e-03 -1.75284473e+02] [-1.14365497e-02 -2.13853662e-04 -9.99934578e-01 -4.00324795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters 0.015602707763084329 Centerline is valid? [True, True] Translation: X:104.47, Y:-175.26, Z:-4.00 [[-7.61002808e-01 6.48670508e-01 1.00646958e-02 1.04466564e+02] [ 6.48609286e-01 7.61069318e-01 -8.91554823e-03 -1.75257249e+02] [-1.34431843e-02 -2.56702108e-04 -9.99909603e-01 -4.00215874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters 0.015314464794211953 Centerline is valid? [True, True] Translation: X:104.48, Y:-175.23, Z:-4.00 [[-8.04840600e-01 5.93386102e-01 1.11598540e-02 1.04476935e+02] [ 5.93324482e-01 8.04917924e-01 -8.55540323e-03 -1.75234048e+02] [-1.40594239e-02 -2.64321256e-04 -9.99901127e-01 -4.00244880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters 0.014925040978602751 Centerline is valid? [True, True] Translation: X:104.49, Y:-175.21, Z:-4.00 [[-8.44388340e-01 5.35615927e-01 1.11315229e-02 1.04488506e+02] [ 5.35565637e-01 8.44461676e-01 -7.34346694e-03 -1.75212787e+02] [-1.33334223e-02 -2.39076710e-04 -9.99911077e-01 -4.00378349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters 0.014263876236703988 Centerline is valid? [True, True] Translation: X:104.79, Y:-174.76, Z:-5.03 [[-7.85719706e-01 -6.18506693e-01 9.69606553e-03 1.04787641e+02] [ 6.18462001e-01 -7.85779516e-01 -7.43682054e-03 -1.74760931e+02] [ 1.22186930e-02 1.53391638e-04 9.99925337e-01 -5.03138351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters 0.014420746587644239 Centerline is valid? [True, True] Translation: X:104.77, Y:-174.78, Z:-5.03 [[-7.42911418e-01 -6.69331054e-01 8.86371664e-03 1.04773411e+02] [ 6.69286325e-01 -7.42964270e-01 -7.74002777e-03 -1.74784243e+02] [ 1.17660657e-02 1.82209332e-04 9.99930761e-01 -5.03134272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters 0.014092635120861964 Centerline is valid? [True, True] Translation: X:104.40, Y:-175.20, Z:-4.01 [[-8.06640261e-01 5.90970968e-01 9.20892706e-03 1.04403009e+02] [ 5.90930058e-01 8.06692808e-01 -6.95558634e-03 -1.75201394e+02] [-1.15393248e-02 -1.68824172e-04 -9.99933406e-01 -4.00685058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters 0.014145963874632671 Centerline is valid? [True, True] Translation: X:104.41, Y:-175.18, Z:-4.01 [[-8.46043255e-01 5.33017276e-01 1.01682829e-02 1.04414419e+02] [ 5.32976383e-01 8.46104341e-01 -6.60451768e-03 -1.75180326e+02] [-1.21237503e-02 -1.68252998e-04 -9.99926491e-01 -4.00547719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters 0.014072011153620017 Centerline is valid? [True, True] Translation: X:104.42, Y:-175.16, Z:-4.01 [[-8.81034502e-01 4.72937283e-01 1.04178600e-02 1.04423383e+02] [ 4.72902207e-01 8.81096081e-01 -5.76182556e-03 -1.75159473e+02] [-1.19041177e-02 -1.49738140e-04 -9.99929132e-01 -4.00530900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters 0.013476691152118518 Centerline is valid? [True, True] Translation: X:104.43, Y:-175.14, Z:-4.01 [[-9.11141880e-01 4.11978078e-01 9.72303086e-03 1.04429723e+02] [ 4.11953409e-01 9.11193752e-01 -4.50950154e-03 -1.75142555e+02] [-1.07173807e-02 -1.03360002e-04 -9.99942562e-01 -4.00734766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters 0.013168156648167197 Centerline is valid? [True, True] Translation: X:104.68, Y:-174.60, Z:-5.03 [[-8.72531519e-01 -4.88469369e-01 9.29649323e-03 1.04683372e+02] [ 4.88442805e-01 -8.72581037e-01 -5.09506038e-03 -1.74602761e+02] [ 1.06007246e-02 9.52044561e-05 9.99943806e-01 -5.02993060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters 0.013143639552499631 Centerline is valid? [True, True] Translation: X:104.39, Y:-175.13, Z:-4.01 [[-9.11924077e-01 4.10238789e-01 9.93047420e-03 1.04388041e+02] [ 4.10213425e-01 9.11978140e-01 -4.56262211e-03 -1.75133776e+02] [-1.09281400e-02 -8.71511190e-05 -9.99940282e-01 -4.00659183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters 0.013186936568769788 Centerline is valid? [True, True] Translation: X:104.39, Y:-175.11, Z:-4.01 [[-9.38476526e-01 3.45176292e-01 1.07302036e-02 1.04392997e+02] [ 3.45152696e-01 9.38537863e-01 -4.03685298e-03 -1.75111466e+02] [-1.14641283e-02 -8.49330552e-05 -9.99934281e-01 -4.00516347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters 0.012807687461076902 Centerline is valid? [True, True] Translation: X:104.40, Y:-175.09, Z:-4.01 [[-9.59961556e-01 2.79892684e-01 1.15713985e-02 1.04398001e+02] [ 2.79871556e-01 9.60031292e-01 -3.43958002e-03 -1.75094419e+02] [-1.20716179e-02 -6.33592924e-05 -9.99927133e-01 -4.00622929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters 0.012806103515981153 Centerline is valid? [True, True] Translation: X:104.59, Y:-174.48, Z:-5.03 [[-9.35572687e-01 -3.52941422e-01 1.16661600e-02 1.04585351e+02] [ 3.52915152e-01 -9.35645416e-01 -4.30702248e-03 -1.74479872e+02] [ 1.24355158e-02 8.76320339e-05 9.99922672e-01 -5.03184428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters 0.01278071825522562 Centerline is valid? [True, True] Translation: X:104.35, Y:-175.09, Z:-4.01 [[-9.60839506e-01 2.76883488e-01 1.10895635e-02 1.04353485e+02] [ 2.76864404e-01 9.60903497e-01 -3.25127969e-03 -1.75091126e+02] [-1.15562260e-02 -5.36525956e-05 -9.99933223e-01 -4.00678597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters 0.012730279490319919 Centerline is valid? [True, True] Translation: X:104.54, Y:-174.46, Z:-5.03 [[-9.36368027e-01 -3.50875728e-01 1.00569179e-02 1.04539882e+02] [ 3.50855471e-01 -9.36422033e-01 -3.77029545e-03 -1.74461957e+02] [ 1.07404247e-02 -1.85943119e-06 9.99942320e-01 -5.02942322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters 0.012812093109957966 Centerline is valid? [True, True] Translation: X:104.30, Y:-175.08, Z:-4.01 [[-9.62356347e-01 2.71614817e-01 9.78024114e-03 1.04301347e+02] [ 2.71600109e-01 9.62406041e-01 -2.82727625e-03 -1.75081814e+02] [-1.01804933e-02 -6.45326784e-05 -9.99948175e-01 -4.00912433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters 0.012831898443699008 Centerline is valid? [True, True] Translation: X:104.31, Y:-175.06, Z:-4.01 [[-9.79233526e-01 2.02498239e-01 9.80632853e-03 1.04311242e+02] [ 2.02487414e-01 9.79282625e-01 -2.09482995e-03 -1.75058526e+02] [-1.00273665e-02 -6.56696111e-05 -9.99949723e-01 -4.00983959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters 0.012920920710326904 Centerline is valid? [True, True] Translation: X:104.31, Y:-175.03, Z:-4.01 [[-9.91207695e-01 1.31993914e-01 9.21476573e-03 1.04312971e+02] [ 1.31987594e-01 9.91250525e-01 -1.29328473e-03 -1.75033397e+02] [-9.30484708e-03 -6.56790150e-05 -9.99956707e-01 -4.00999947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters 0.012868981610142617 Centerline is valid? [True, True] Translation: X:104.41, Y:-174.37, Z:-5.03 [[-9.76909116e-01 -2.13448557e-01 9.39639556e-03 1.04410129e+02] [ 2.13439537e-01 -9.76954301e-01 -1.96414517e-03 -1.74368055e+02] [ 9.59909301e-03 8.67709966e-05 9.99953924e-01 -5.02708037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters 0.013233569712692425 Centerline is valid? [True, True] Translation: X:104.26, Y:-175.03, Z:-4.01 [[-9.92026749e-01 1.25627831e-01 1.00288278e-02 1.04263442e+02] [ 1.25620423e-01 9.92077436e-01 -1.36773542e-03 -1.75026560e+02] [-1.01211994e-02 -9.70045297e-05 -9.99948775e-01 -4.00923567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters 0.01342993149192174 Centerline is valid? [True, True] Translation: X:104.26, Y:-175.00, Z:-4.01 [[-9.98576043e-01 5.23514406e-02 1.02573439e-02 1.04261081e+02] [ 5.23473919e-02 9.98628715e-01 -6.62977533e-04 -1.74997760e+02] [-1.02779860e-02 -1.25088279e-04 -9.99947172e-01 -4.00988718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters 0.013828578533020306 Centerline is valid? [True, True] Translation: X:104.26, Y:-174.97, Z:-4.01 [[-9.99729053e-01 -2.07108659e-02 1.06245175e-02 1.04258345e+02] [-2.07112966e-02 9.99785496e-01 6.95037491e-05 -1.74968968e+02] [-1.06236780e-02 -1.50562615e-04 -9.99943556e-01 -4.01013257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters 0.014029262874759179 Centerline is valid? [True, True] Translation: X:104.26, Y:-174.31, Z:-5.03 [[-9.97028744e-01 -7.63187909e-02 1.04463109e-02 1.04255542e+02] [ 7.63160506e-02 -9.97083459e-01 -6.61276256e-04 -1.74307124e+02] [ 1.04663116e-02 1.37909753e-04 9.99945217e-01 -5.02775112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters 0.014241891738223473 Centerline is valid? [True, True] Translation: X:104.20, Y:-174.97, Z:-4.01 [[-9.99569618e-01 -2.73960836e-02 1.04896481e-02 1.04196140e+02] [-2.73964013e-02 9.99624642e-01 1.13431823e-04 -1.74965176e+02] [-1.04888183e-02 -1.73995605e-04 -9.99944976e-01 -4.00993439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters 0.01499610102211623 Centerline is valid? [True, True] Translation: X:104.19, Y:-174.94, Z:-4.01 [[-9.95001287e-01 -9.92377292e-02 1.11495308e-02 1.04188553e+02] [-9.92337028e-02 9.95063734e-01 9.15136661e-04 -1.74936064e+02] [-1.11853099e-02 -1.95847074e-04 -9.99937423e-01 -4.00893098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters 0.014436041906452127 Centerline is valid? [True, True] Translation: X:104.18, Y:-174.91, Z:-4.01 [[-9.85277993e-01 -1.70608486e-01 1.09554387e-02 1.04181789e+02] [-1.70600235e-01 9.85338877e-01 1.69020885e-03 -1.74910481e+02] [-1.10831837e-02 -2.03674832e-04 -9.99938559e-01 -4.00991812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters 0.015041641014544114 Centerline is valid? [True, True] Translation: X:104.09, Y:-174.27, Z:-5.03 [[-9.97743288e-01 6.63553214e-02 1.02617056e-02 1.04085438e+02] [-6.63504099e-02 -9.97796048e-01 8.18700006e-04 -1.74269610e+02] [ 1.02934144e-02 1.35984062e-04 9.99947012e-01 -5.02777959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters 0.014748880169716296 Centerline is valid? [True, True] Translation: X:104.10, Y:-174.92, Z:-4.01 [[-9.84260133e-01 -1.76436976e-01 1.00987759e-02 1.04096639e+02] [-1.76429700e-01 9.84311920e-01 1.61391727e-03 -1.74920562e+02] [-1.02251002e-02 -1.93209576e-04 -9.99947704e-01 -4.00979035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters 0.01460659583847374 Centerline is valid? [True, True] Translation: X:104.09, Y:-174.90, Z:-4.01 [[-9.69371633e-01 -2.45365446e-01 1.06974603e-02 1.04089047e+02] [-2.45352759e-01 9.69430636e-01 2.50299777e-03 -1.74895238e+02] [-1.09845949e-02 -1.98316354e-04 -9.99939648e-01 -4.00902287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters 0.014748366727913695 Centerline is valid? [True, True] Translation: X:103.93, Y:-174.27, Z:-5.03 [[-9.89401083e-01 1.44725348e-01 1.18351424e-02 1.03933003e+02] [-1.44711559e-01 -9.89471825e-01 2.01779502e-03 -1.74266922e+02] [ 1.20025661e-02 2.83726663e-04 9.99927926e-01 -5.02998851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters 0.013963229100269148 Centerline is valid? [True, True] Translation: X:103.99, Y:-174.92, Z:-4.01 [[-9.68304819e-01 -2.49482420e-01 1.20125178e-02 1.03987080e+02] [-2.49465760e-01 9.68379307e-01 2.88995705e-03 -1.74921012e+02] [-1.23536671e-02 -1.98352537e-04 -9.99923671e-01 -4.00847678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters 0.013831812499358173 Centerline is valid? [True, True] Translation: X:103.97, Y:-174.90, Z:-4.01 [[-9.48284696e-01 -3.17199632e-01 1.18544961e-02 1.03965578e+02] [-3.17177316e-01 9.48358771e-01 3.76716832e-03 -1.74899498e+02] [-1.24372598e-02 -1.87629197e-04 -9.99922637e-01 -4.00806526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters 0.01377885574017473 Centerline is valid? [True, True] Translation: X:103.94, Y:-174.88, Z:-4.01 [[-9.23553796e-01 -3.83323276e-01 1.05665262e-02 1.03935345e+02] [-3.83300089e-01 9.23614228e-01 4.21893854e-03 -1.74882573e+02] [-1.13766113e-02 -1.53733740e-04 -9.99935273e-01 -4.00803127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters 0.013548689868296588 Centerline is valid? [True, True] Translation: X:103.88, Y:-174.88, Z:-4.01 [[-8.93619206e-01 -4.48711732e-01 1.01240309e-02 1.03882531e+02] [-4.48684741e-01 8.93676542e-01 4.92367247e-03 -1.74877680e+02] [-1.12569185e-02 -1.42609898e-04 -9.99936629e-01 -4.00851267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters 0.013930220634566228 Centerline is valid? [True, True] Translation: X:103.82, Y:-174.88, Z:-4.01 [[-8.58339363e-01 -5.12992565e-01 9.60032063e-03 1.03822845e+02] [-5.12962250e-01 8.58393040e-01 5.57851052e-03 -1.74878444e+02] [-1.11025828e-02 -1.36346904e-04 -9.99938355e-01 -4.00700302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters 0.013495710856792227 Centerline is valid? [True, True] Translation: X:103.75, Y:-174.89, Z:-4.01 [[-8.18387387e-01 -5.74596835e-01 8.97565469e-03 1.03751455e+02] [-5.74563964e-01 8.18436596e-01 6.14738619e-03 -1.74893843e+02] [-1.08782729e-02 -1.26144423e-04 -9.99940822e-01 -4.00787204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters 0.013234774216289305 Centerline is valid? [True, True] Translation: X:103.68, Y:-174.92, Z:-4.01 [[-7.73734390e-01 -6.33449271e-01 8.78149139e-03 1.03679576e+02] [-6.33410257e-01 7.73784212e-01 7.03136524e-03 -1.74916694e+02] [-1.12489926e-02 -1.21877616e-04 -9.99936721e-01 -4.00837624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters 0.013232955650597867 Centerline is valid? [True, True] Translation: X:103.60, Y:-174.96, Z:-4.01 [[-7.24569688e-01 -6.89147514e-01 8.62961020e-03 1.03596341e+02] [-6.89100631e-01 7.24621066e-01 8.03936691e-03 -1.74955095e+02] [-1.17935071e-02 -1.21588263e-04 -9.99930447e-01 -4.00821725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters 0.013396826438449541 Centerline is valid? [True, True] Translation: X:103.52, Y:-175.00, Z:-4.01 [[-6.70507610e-01 -7.41856580e-01 8.26800837e-03 1.03518255e+02] [-7.41802528e-01 6.70558572e-01 8.95604666e-03 -1.74996533e+02] [-1.21882860e-02 -1.28132070e-04 -9.99925712e-01 -4.00765703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters 0.013814565907173407 Centerline is valid? [True, True] Translation: X:103.43, Y:-175.05, Z:-4.01 [[-6.13003332e-01 -7.90039284e-01 8.05259752e-03 1.03434632e+02] [-7.89973883e-01 6.13056207e-01 1.01661828e-02 -1.75052645e+02] [-1.29683787e-02 -1.29437773e-04 -9.99915899e-01 -4.00566931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters 0.013065884691211373 Centerline is valid? [True, True] Translation: X:103.36, Y:-175.11, Z:-4.01 [[-5.52556691e-01 -8.33444166e-01 7.20595835e-03 1.03359974e+02] [-8.33375865e-01 5.52603665e-01 1.06704180e-02 -1.75114350e+02] [-1.28752366e-02 -1.09260920e-04 -9.99917105e-01 -4.00793768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters 0.013193871858793652 Centerline is valid? [True, True] Translation: X:103.28, Y:-175.18, Z:-4.01 [[-4.88634978e-01 -8.72469628e-01 5.71023180e-03 1.03283729e+02] [-8.72412073e-01 4.88668335e-01 1.00216320e-02 -1.75184495e+02] [-1.15339790e-02 -8.47552486e-05 -9.99933478e-01 -4.00754538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters 0.012908485429190127 Centerline is valid? [True, True] Translation: X:103.21, Y:-175.27, Z:-4.01 [[-4.21957323e-01 -9.06604497e-01 4.50608510e-03 1.03210926e+02] [-9.06554415e-01 4.21981377e-01 9.52940692e-03 -1.75268479e+02] [-1.05408872e-02 -6.40083179e-05 -9.99944441e-01 -4.00919019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters 0.012752482567795187 Centerline is valid? [True, True] Translation: X:103.15, Y:-175.36, Z:-4.01 [[-3.54123679e-01 -9.35193278e-01 3.15479431e-03 1.03145745e+02] [-9.35156891e-01 3.54137730e-01 8.24970968e-03 -1.75356824e+02] [-8.83230474e-03 -2.88100957e-05 -9.99960994e-01 -4.01086327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters 0.012799339363057907 Centerline is valid? [True, True] Translation: X:103.09, Y:-175.45, Z:-4.01 [[-2.84277665e-01 -9.58739095e-01 2.35732176e-03 1.03086574e+02] [-9.58706239e-01 2.84287439e-01 7.93717798e-03 -1.75449823e+02] [-8.27983980e-03 -3.61665218e-06 -9.99965722e-01 -4.01104544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters 0.012845799557286146 Centerline is valid? [True, True] Translation: X:103.03, Y:-175.55, Z:-4.01 [[-2.13344495e-01 -9.76975451e-01 1.75930145e-03 1.03033077e+02] [-9.76941278e-01 2.13351748e-01 8.17139219e-03 -1.75552682e+02] [-8.35859961e-03 2.45873390e-05 -9.99965066e-01 -4.01045710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters 0.01319085074719638 Centerline is valid? [True, True] Translation: X:102.99, Y:-175.66, Z:-4.01 [[-1.41229562e-01 -9.89976135e-01 1.20994208e-03 1.02988908e+02] [-9.89936235e-01 1.41234733e-01 8.88823016e-03 -1.75658606e+02] [-8.97002159e-03 5.75153435e-05 -9.99959767e-01 -4.01038114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters 0.01397188656501983 Centerline is valid? [True, True] Translation: X:102.95, Y:-175.77, Z:-4.01 [[-7.01988344e-02 -9.97532886e-01 5.15245835e-04 1.02953998e+02] [-9.97493989e-01 7.02006475e-02 8.80969105e-03 -1.75766287e+02] [-8.82412713e-03 1.04475420e-04 -9.99961061e-01 -4.01087639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters 0.014288978129279182 Centerline is valid? [True, True] Translation: X:102.92, Y:-175.88, Z:-4.01 [[ 3.56590838e-03 -9.99993630e-01 -1.57024104e-04 1.02924684e+02] [-9.99957266e-01 -3.56711796e-03 8.52888177e-03 -1.75882528e+02] [-8.52938757e-03 1.26604183e-04 -9.99963616e-01 -4.01156848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters 0.014680321603730282 Centerline is valid? [True, True] Translation: X:102.90, Y:-176.00, Z:-4.01 [[ 7.83501648e-02 -9.96925586e-01 -7.91718567e-04 1.02903444e+02] [-9.96891193e-01 -7.83540391e-02 8.28211406e-03 -1.75999563e+02] [-8.31868576e-03 1.40352266e-04 -9.99965389e-01 -4.01118436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters 0.015255617064643021 Centerline is valid? [True, True] Translation: X:102.89, Y:-176.12, Z:-4.01 [[ 1.53152445e-01 -9.88201587e-01 -1.39695259e-03 1.02891927e+02] [-9.88168946e-01 -1.53158742e-01 8.03334286e-03 -1.76120596e+02] [-8.15251767e-03 1.50099065e-04 -9.99966756e-01 -4.01133822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters 0.015101858700736541 Centerline is valid? [True, True] Translation: X:102.89, Y:-176.24, Z:-4.01 [[ 2.29313100e-01 -9.73350642e-01 -2.00763243e-03 1.02888111e+02] [-9.73318632e-01 -2.29321844e-01 7.89507206e-03 -1.76242482e+02] [-8.14506742e-03 1.43622595e-04 -9.99966818e-01 -4.01162188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters 0.014445548375053293 Centerline is valid? [True, True] Translation: X:102.89, Y:-176.36, Z:-4.01 [[ 3.04364879e-01 -9.52552091e-01 -2.55636185e-03 1.02892331e+02] [-9.52522039e-01 -3.04375586e-01 7.56756929e-03 -1.76361947e+02] [-7.98659808e-03 1.31688687e-04 -9.99968098e-01 -4.01188895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters 0.013262975361307513 Centerline is valid? [True, True] Translation: X:102.90, Y:-176.48, Z:-4.01 [[ 3.82581685e-01 -9.23915300e-01 -3.43103293e-03 1.02901227e+02] [-9.23880137e-01 -3.82597060e-01 8.06111278e-03 -1.76483396e+02] [-8.76048855e-03 8.58290595e-05 -9.99961623e-01 -4.01124074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters 0.012826475251656868 Centerline is valid? [True, True] Translation: X:102.92, Y:-176.60, Z:-4.01 [[ 4.57997670e-01 -8.88944118e-01 -4.06069638e-03 1.02921575e+02] [-8.88909717e-01 -4.58015670e-01 7.82058014e-03 -1.76604686e+02] [-8.81192129e-03 2.77849914e-05 -9.99961174e-01 -4.01005941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters 0.012868158482770696 Centerline is valid? [True, True] Translation: X:102.95, Y:-176.72, Z:-4.01 [[ 5.30412339e-01 -8.47725587e-01 -4.90711891e-03 1.02947718e+02] [-8.47688691e-01 -5.30435037e-01 7.90922502e-03 -1.76720283e+02] [-9.30776022e-03 -3.54413404e-05 -9.99956681e-01 -4.00982655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters 0.013756008326740737 Centerline is valid? [True, True] Translation: X:102.98, Y:-176.83, Z:-4.01 [[ 5.99877510e-01 -8.00074909e-01 -5.20706441e-03 1.02979512e+02] [-8.00043248e-01 -5.99900100e-01 7.11847590e-03 -1.76830097e+02] [-8.81903242e-03 -1.04336882e-04 -9.99961106e-01 -4.01083977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters 0.014424053462984959 Centerline is valid? [True, True] Translation: X:103.02, Y:-176.93, Z:-4.01 [[ 6.61173749e-01 -7.50214857e-01 -5.19048497e-03 1.03022839e+02] [-7.50190333e-01 -6.61194112e-01 6.06716551e-03 -1.76933680e+02] [-7.98359581e-03 -1.17598917e-04 -9.99968124e-01 -4.01163164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters 0.014783825252705706 Centerline is valid? [True, True] Translation: X:103.07, Y:-177.03, Z:-4.01 [[ 7.17202776e-01 -6.96844190e-01 -5.32468820e-03 1.03071941e+02] [-6.96823712e-01 -7.17222532e-01 5.34361977e-03 -1.77028952e+02] [-7.54265674e-03 -1.22089938e-04 -9.99971546e-01 -4.01259707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters 0.014679073519342339 Centerline is valid? [True, True] Translation: X:103.12, Y:-177.11, Z:-4.01 [[ 7.67992139e-01 -6.40426819e-01 -6.44704942e-03 1.03124238e+02] [-6.40402716e-01 -7.68019186e-01 5.55794533e-03 -1.77114322e+02] [-8.51091489e-03 -1.39750365e-04 -9.99963772e-01 -4.01234754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters 0.014506378013419148 Centerline is valid? [True, True] Translation: X:103.15, Y:-177.14, Z:-4.01 [[ 8.15213231e-01 -5.79102982e-01 -8.19291346e-03 1.03149657e+02] [-5.79071772e-01 -8.15254384e-01 6.01428854e-03 -1.77141226e+02] [-1.01622011e-02 -1.58642678e-04 -9.99948351e-01 -4.01116751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters 0.013748073398957611 Centerline is valid? [True, True] Translation: X:103.18, Y:-177.17, Z:-4.01 [[ 8.57227671e-01 -5.14840684e-01 -9.98950953e-03 1.03175904e+02] [-5.14803457e-01 -8.57285858e-01 6.19348396e-03 -1.77167685e+02] [-1.17525228e-02 -1.66591796e-04 -9.99930923e-01 -4.01137460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters 0.013725133635980416 Centerline is valid? [True, True] Translation: X:103.20, Y:-177.19, Z:-4.01 [[ 8.93950594e-01 -4.48007368e-01 -1.19051825e-02 1.03203336e+02] [-4.47965199e-01 -8.94029850e-01 6.14891151e-03 -1.77190016e+02] [-1.33983462e-02 -1.63715636e-04 -9.99910225e-01 -4.01028539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters 0.013322922746246985 Centerline is valid? [True, True] Translation: X:103.23, Y:-177.21, Z:-4.01 [[ 9.25566760e-01 -3.78366465e-01 -1.28448745e-02 1.03233256e+02] [-3.78327842e-01 -9.25655874e-01 5.40806045e-03 -1.77209355e+02] [-1.39361622e-02 -1.45947360e-04 -9.99902876e-01 -4.01094497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters 0.013050999438143251 Centerline is valid? [True, True] Translation: X:103.26, Y:-177.23, Z:-4.01 [[ 9.51741504e-01 -3.06658880e-01 -1.21836575e-02 1.03264854e+02] [-3.06632277e-01 -9.51819478e-01 4.04071143e-03 -1.77225453e+02] [-1.28357625e-02 -1.09810141e-04 -9.99917612e-01 -4.01232190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters 0.013125423896223775 Centerline is valid? [True, True] Translation: X:103.30, Y:-177.24, Z:-4.01 [[ 9.72586653e-01 -2.32242327e-01 -1.17772483e-02 1.03296229e+02] [-2.32224148e-01 -9.72657953e-01 2.90721898e-03 -1.77240021e+02] [-1.21304135e-02 -9.25609258e-05 -9.99926420e-01 -4.01248012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters 0.01297601239379617 Centerline is valid? [True, True] Translation: X:103.33, Y:-177.25, Z:-4.01 [[ 9.87644352e-01 -1.56247243e-01 -1.20595488e-02 1.03329361e+02] [-1.56234555e-01 -9.87717972e-01 1.99292099e-03 -1.77250229e+02] [-1.22228215e-02 -8.41789079e-05 -9.99925295e-01 -4.01313013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters 0.01296705974030596 Centerline is valid? [True, True] Translation: X:103.36, Y:-177.26, Z:-4.01 [[ 9.96799336e-01 -7.89537236e-02 -1.25456378e-02 1.03359739e+02] [-7.89464546e-02 -9.96878279e-01 1.07436733e-03 -1.77256095e+02] [-1.25912991e-02 -8.04950152e-05 -9.99920723e-01 -4.01308050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters 0.01304503571632671 Centerline is valid? [True, True] Translation: X:103.39, Y:-177.26, Z:-4.01 [[ 9.99908253e-01 -8.95742475e-04 -1.35160435e-02 1.03390260e+02] [-8.94533331e-04 -9.99999595e-01 9.55051674e-05 -1.77256158e+02] [-1.35161236e-02 -8.34058537e-05 -9.99908650e-01 -4.01327298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters 0.012962220375834183 Centerline is valid? [True, True] Translation: X:103.42, Y:-177.26, Z:-4.01 [[ 9.96856619e-01 7.80732320e-02 -1.34704197e-02 1.03421204e+02] [ 7.80673676e-02 -9.96947622e-01 -9.61433248e-04 -1.77260604e+02] [-1.35043651e-02 -9.31891111e-05 -9.99908808e-01 -4.01410539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters 0.013042792930156241 Centerline is valid? [True, True] Translation: X:103.45, Y:-177.26, Z:-4.01 [[ 9.87384263e-01 1.57813128e-01 -1.29357586e-02 1.03451285e+02] [ 1.57801120e-01 -9.87468989e-01 -1.95021542e-03 -1.77263937e+02] [-1.30814301e-02 -1.15665179e-04 -9.99914428e-01 -4.01481260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters 0.013302984750671407 Centerline is valid? [True, True] Translation: X:103.48, Y:-177.27, Z:-4.02 [[ 9.71630181e-01 2.36222515e-01 -1.15634786e-02 1.03481928e+02] [ 2.36207314e-01 -9.71698980e-01 -2.68274652e-03 -1.77265136e+02] [-1.18699455e-02 -1.24740734e-04 -9.99929542e-01 -4.01503193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters 0.013464399154115377 Centerline is valid? [True, True] Translation: X:103.51, Y:-177.26, Z:-4.02 [[ 9.49617596e-01 3.13221266e-01 -1.09023006e-02 1.03512902e+02] [ 3.13202316e-01 -9.49680167e-01 -3.44831212e-03 -1.77264802e+02] [-1.14337833e-02 -1.40047913e-04 -9.99934622e-01 -4.01550374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters 0.014014741483408703 Centerline is valid? [True, True] Translation: X:103.54, Y:-177.26, Z:-4.01 [[ 9.21282352e-01 3.88745317e-01 -1.07659991e-02 1.03543626e+02] [ 3.88720915e-01 -9.21345239e-01 -4.35893195e-03 -1.77262202e+02] [-1.16137164e-02 -1.69161952e-04 -9.99932544e-01 -4.01468904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters 0.014211537939798723 Centerline is valid? [True, True] Translation: X:103.57, Y:-177.26, Z:-4.01 [[ 8.87405306e-01 4.60860106e-01 -1.09446116e-02 1.03574579e+02] [ 4.60827745e-01 -8.87472774e-01 -5.46489133e-03 -1.77257194e+02] [-1.22315953e-02 -1.94007137e-04 -9.99925173e-01 -4.01407559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters 0.014636137388723026 Centerline is valid? [True, True] Translation: X:103.61, Y:-177.25, Z:-4.01 [[ 8.48072213e-01 5.29768010e-01 -1.09259994e-02 1.03605217e+02] [ 5.29727306e-01 -8.48142564e-01 -6.57056577e-03 -1.77250149e+02] [-1.27476807e-02 -2.15485985e-04 -9.99918722e-01 -4.01286629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters 0.014600341498504015 Centerline is valid? [True, True] Translation: X:103.64, Y:-177.24, Z:-4.01 [[ 8.03441034e-01 5.95293898e-01 -1.03768781e-02 1.03636261e+02] [ 5.95247888e-01 -8.03508010e-01 -7.40465712e-03 -1.77241458e+02] [-1.27458519e-02 -2.27609388e-04 -9.99918743e-01 -4.01301895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters 0.014912665643254037 Centerline is valid? [True, True] Translation: X:103.66, Y:-177.23, Z:-4.01 [[ 7.54710688e-01 6.55993250e-01 -9.19959922e-03 1.03664028e+02] [ 6.55947858e-01 -7.54766727e-01 -7.71975621e-03 -1.77229446e+02] [-1.20076594e-02 -2.08274883e-04 -9.99927884e-01 -4.01296735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters 0.013756644421481029 Centerline is valid? [True, True] Translation: X:103.69, Y:-177.21, Z:-4.01 [[ 7.03375069e-01 7.10779289e-01 -7.50435563e-03 1.03689684e+02] [ 7.10741069e-01 -7.03415084e-01 -7.37235671e-03 -1.77212661e+02] [-1.05187954e-02 -1.48121838e-04 -9.99944665e-01 -4.01459517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters 0.013176917095134579 Centerline is valid? [True, True] Translation: X:103.71, Y:-177.19, Z:-4.02 [[ 6.48102264e-01 7.61528212e-01 -6.18371590e-03 1.03713760e+02] [ 7.61495034e-01 -6.48131755e-01 -7.10926602e-03 -1.77194913e+02] [-9.42176928e-03 -1.01337549e-04 -9.99955609e-01 -4.01522984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters 0.012729754495400022 Centerline is valid? [True, True] Translation: X:103.74, Y:-177.18, Z:-4.02 [[ 5.89366259e-01 8.07849326e-01 -5.18464159e-03 1.03736616e+02] [ 8.07818997e-01 -5.89389059e-01 -7.00037878e-03 -1.77175228e+02] [-8.71102231e-03 -6.24649137e-05 -9.99962056e-01 -4.01534822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters 0.012723708611524389 Centerline is valid? [True, True] Translation: X:103.76, Y:-177.15, Z:-4.01 [[ 5.27176545e-01 8.49741358e-01 -4.95124135e-03 1.03757031e+02] [ 8.49704507e-01 -5.27199794e-01 -7.91374357e-03 -1.77154506e+02] [-9.33492863e-03 -3.51520953e-05 -9.99956428e-01 -4.01289788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters 0.012466268778824537 Centerline is valid? [True, True] Translation: X:103.78, Y:-177.13, Z:-4.01 [[ 4.59946860e-01 8.87932454e-01 -4.98431511e-03 1.03776398e+02] [ 8.87881016e-01 -4.59973865e-01 -9.55741748e-03 -1.77131780e+02] [-1.07789958e-02 -2.95746021e-05 -9.99941905e-01 -4.01280633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters 0.012570602368639461 Centerline is valid? [True, True] Translation: X:103.79, Y:-177.11, Z:-4.01 [[ 3.88974064e-01 9.21237039e-01 -4.63638334e-03 1.03792832e+02] [ 9.21172619e-01 -3.89001694e-01 -1.08944260e-02 -1.77109126e+02] [-1.18399097e-02 -3.32602400e-05 -9.99929905e-01 -4.01164901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters 0.012580981887882056 Centerline is valid? [True, True] Translation: X:103.81, Y:-177.09, Z:-4.01 [[ 3.15371137e-01 9.48960843e-01 -3.78990828e-03 1.03810633e+02] [ 9.48893722e-01 -3.15393907e-01 -1.12866410e-02 -1.77085287e+02] [-1.19058943e-02 -3.67393652e-05 -9.99929122e-01 -4.01153739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters 0.012538499313931235 Centerline is valid? [True, True] Translation: X:103.83, Y:-177.06, Z:-4.01 [[ 2.37796714e-01 9.71310633e-01 -2.89427118e-03 1.03829775e+02] [ 9.71241984e-01 -2.37814318e-01 -1.15481007e-02 -1.77061023e+02] [-1.19050921e-02 -6.49372922e-05 -9.99929130e-01 -4.01057655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters 0.012673740488272824 Centerline is valid? [True, True] Translation: X:103.85, Y:-177.03, Z:-4.01 [[ 1.59174543e-01 9.87248367e-01 -2.03134317e-03 1.03846005e+02] [ 9.87174985e-01 -1.59187479e-01 -1.20372965e-02 -1.77034638e+02] [-1.22071658e-02 -8.92599917e-05 -9.99925486e-01 -4.01083163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters 0.013188345497690978 Centerline is valid? [True, True] Translation: X:103.86, Y:-177.01, Z:-4.01 [[ 7.98412691e-02 9.96807008e-01 -1.07753905e-03 1.03858740e+02] [ 9.96733433e-01 -7.98484683e-02 -1.21113826e-02 -1.77007488e+02] [-1.21587509e-02 -1.07031041e-04 -9.99926074e-01 -4.01008101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters 0.013109545288748912 Centerline is valid? [True, True] Translation: X:103.87, Y:-176.98, Z:-4.01 [[-1.19778973e-03 9.99999277e-01 -1.11090544e-04 1.03869359e+02] [ 9.99940988e-01 1.19652040e-03 -1.07976084e-02 -1.76979059e+02] [-1.07974677e-02 -1.24017253e-04 -9.99941698e-01 -4.01309810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters 0.013474813528520077 Centerline is valid? [True, True] Translation: X:103.88, Y:-176.95, Z:-4.01 [[-8.16366083e-02 9.96661923e-01 6.88917950e-04 1.03879139e+02] [ 9.96610770e-01 8.16393988e-02 -1.00985747e-02 -1.76949633e+02] [-1.01211077e-02 -1.37830339e-04 -9.99948771e-01 -4.01302677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters 0.01453699626136224 Centerline is valid? [True, True] Translation: X:103.89, Y:-176.92, Z:-4.01 [[-1.61979965e-01 9.86793248e-01 1.25597318e-03 1.03885343e+02] [ 9.86756580e-01 1.61984774e-01 -8.50789617e-03 -1.76921091e+02] [-8.59898303e-03 -1.38768923e-04 -9.99963019e-01 -4.01255249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters 0.014367308854666767 Centerline is valid? [True, True] Translation: X:103.88, Y:-176.89, Z:-4.01 [[-2.39083592e-01 9.70997095e-01 1.91758095e-03 1.03884355e+02] [ 9.70960962e-01 2.39091241e-01 -8.37788724e-03 -1.76891867e+02] [-8.59338099e-03 -1.41119136e-04 -9.99963066e-01 -4.01296346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters 0.013907522250640028 Centerline is valid? [True, True] Translation: X:103.88, Y:-176.86, Z:-4.01 [[-3.13528880e-01 9.49574559e-01 2.79255454e-03 1.03881764e+02] [ 9.49532666e-01 3.13541282e-01 -8.92083952e-03 -1.76862152e+02] [-9.34658338e-03 -1.45319070e-04 -9.99956309e-01 -4.01218196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters 0.01380939686091348 Centerline is valid? [True, True] Translation: X:103.88, Y:-176.83, Z:-4.01 [[-3.86310536e-01 9.22362132e-01 3.50251012e-03 1.03877556e+02] [ 9.22320889e-01 3.86326388e-01 -8.72347149e-03 -1.76833407e+02] [-9.39931185e-03 -1.39530701e-04 -9.99955816e-01 -4.01163956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters 0.013641717891931386 Centerline is valid? [True, True] Translation: X:103.87, Y:-176.80, Z:-4.01 [[-4.56894881e-01 8.89512582e-01 3.79940044e-03 1.03871542e+02] [ 8.89479567e-01 4.56910661e-01 -7.66467692e-03 -1.76804900e+02] [-8.55381312e-03 -1.22462589e-04 -9.99963408e-01 -4.01239311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters 0.013383460385743244 Centerline is valid? [True, True] Translation: X:103.86, Y:-176.78, Z:-4.01 [[-5.24223540e-01 8.51572728e-01 3.68364035e-03 1.03863822e+02] [ 8.51550427e-01 5.24236474e-01 -6.16358273e-03 -1.76775993e+02] [-7.17983758e-03 -9.42896427e-05 -9.99974220e-01 -4.01284157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters 0.013797428798919913 Centerline is valid? [True, True] Translation: X:103.85, Y:-176.75, Z:-4.01 [[-5.88755805e-01 8.08302466e-01 3.70482201e-03 1.03854654e+02] [ 8.08285607e-01 5.88767456e-01 -5.22108265e-03 -1.76748396e+02] [-6.40149261e-03 -7.93884064e-05 -9.99979507e-01 -4.01199852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters 0.013517313274196715 Centerline is valid? [True, True] Translation: X:103.84, Y:-176.72, Z:-4.01 [[-6.51265827e-01 7.58842370e-01 3.32856455e-03 1.03844902e+02] [ 7.58831897e-01 6.51274329e-01 -3.98759259e-03 -1.76719550e+02] [-5.19376286e-03 -7.11618345e-05 -9.99986510e-01 -4.01292465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters 0.013756502189602194 Centerline is valid? [True, True] Translation: X:103.83, Y:-176.69, Z:-4.01 [[-7.09278388e-01 7.04914275e-01 4.47587291e-03 1.03831213e+02] [ 7.04899403e-01 7.09292504e-01 -4.57999032e-03 -1.76692105e+02] [-6.40320366e-03 -9.34480115e-05 -9.99979495e-01 -4.01205799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters 0.013834337771888468 Centerline is valid? [True, True] Translation: X:103.82, Y:-176.67, Z:-4.01 [[-7.62741111e-01 6.46681853e-01 5.34595191e-03 1.03815498e+02] [ 6.46664962e-01 7.62759837e-01 -4.67516561e-03 -1.76665645e+02] [-7.10102217e-03 -1.08901217e-04 -9.99974782e-01 -4.01099739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters 0.014240661031785881 Centerline is valid? [True, True] Translation: X:103.83, Y:-176.65, Z:-4.01 [[-8.06571486e-01 5.91112632e-01 5.31922574e-03 1.03834717e+02] [ 5.91098938e-01 8.06589019e-01 -4.02486136e-03 -1.76646717e+02] [-6.66957547e-03 -1.02149722e-04 -9.99977753e-01 -4.01098120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters 0.014196352171260819 Centerline is valid? [True, True] Translation: X:103.85, Y:-176.62, Z:-4.01 [[-8.46800761e-01 5.31881972e-01 5.48077447e-03 1.03853087e+02] [ 5.31870003e-01 8.46818491e-01 -3.56988873e-03 -1.76624026e+02] [-6.53998062e-03 -1.07924961e-04 -9.99978608e-01 -4.01083602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters 0.014082274295313887 Centerline is valid? [True, True] Translation: X:103.87, Y:-176.60, Z:-4.01 [[-8.82470646e-01 4.70322616e-01 6.49582800e-03 1.03869563e+02] [ 4.70308825e-01 8.82494545e-01 -3.60380445e-03 -1.76602631e+02] [-7.42748351e-03 -1.25206404e-04 -9.99972408e-01 -4.01045707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters 0.013778297769837449 Centerline is valid? [True, True] Translation: X:104.20, Y:-176.02, Z:-5.03 [[-8.31109225e-01 -5.56083309e-01 5.36753815e-03 1.04200595e+02] [ 5.56072093e-01 -8.31126556e-01 -3.53220043e-03 -1.76019460e+02] [ 6.42530120e-03 4.90938176e-05 9.99979356e-01 -5.02612892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters 0.013883400650706876 Centerline is valid? [True, True] Translation: X:103.82, Y:-176.58, Z:-4.01 [[-8.83255852e-01 4.68866886e-01 4.78989951e-03 1.03823682e+02] [ 4.68859493e-01 8.83268836e-01 -2.63423720e-03 -1.76576936e+02] [-5.46587556e-03 -8.09155652e-05 -9.99985059e-01 -4.01214583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters 0.013883400650706876 Centerline is valid? [True, True] Translation: X:103.84, Y:-176.55, Z:-4.01 [[-9.14244711e-01 4.05132030e-01 4.96448216e-03 1.03835889e+02] [ 4.05125575e-01 9.14258187e-01 -2.28840203e-03 -1.76553159e+02] [-5.46592342e-03 -8.09207640e-05 -9.99985059e-01 -4.01214534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters 0.01414186923133828 Centerline is valid? [True, True] Translation: X:104.13, Y:-175.95, Z:-5.03 [[-8.70467132e-01 -4.92204944e-01 4.61149916e-03 1.04129537e+02] [ 4.92198433e-01 -8.70479345e-01 -2.53253436e-03 -1.75954245e+02] [ 5.26074070e-03 6.52847395e-05 9.99986160e-01 -5.02531630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters 0.014079179600762784 Centerline is valid? [True, True] Translation: X:103.81, Y:-176.54, Z:-4.01 [[-9.15916556e-01 4.01335263e-01 5.18346015e-03 1.03806308e+02] [ 4.01328295e-01 9.15931220e-01 -2.36667402e-03 -1.76539068e+02] [-5.69752271e-03 -8.74066951e-05 -9.99983765e-01 -4.01163661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters 0.013948502908055901 Centerline is valid? [True, True] Translation: X:103.82, Y:-176.51, Z:-4.01 [[-9.41925464e-01 3.35761649e-01 6.36676070e-03 1.03816227e+02] [ 3.35753243e-01 9.41946976e-01 -2.37801493e-03 -1.76514233e+02] [-6.79559720e-03 -1.02252266e-04 -9.99976905e-01 -4.01084983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters 0.013704408278869297 Centerline is valid? [True, True] Translation: X:104.06, Y:-175.89, Z:-5.03 [[-9.05200438e-01 -4.24935961e-01 6.44949637e-03 1.04055617e+02] [ 4.24926138e-01 -9.05223405e-01 -2.89198600e-03 -1.75892380e+02] [ 7.06714392e-03 1.22732591e-04 9.99975020e-01 -5.02716243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters 0.013263829601031306 Centerline is valid? [True, True] Translation: X:103.77, Y:-176.50, Z:-4.01 [[-9.42019220e-01 3.35495434e-01 6.52710914e-03 1.03774038e+02] [ 3.35486781e-01 9.42041829e-01 -2.41097615e-03 -1.76503559e+02] [-6.95768132e-03 -8.14270457e-05 -9.99975792e-01 -4.01028167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters 0.013553512258420016 Centerline is valid? [True, True] Translation: X:103.78, Y:-176.48, Z:-4.01 [[-9.62916490e-01 2.69710937e-01 6.91686475e-03 1.03781545e+02] [ 2.69703452e-01 9.62941330e-01 -2.01062946e-03 -1.76479407e+02] [-7.20282370e-03 -7.05659660e-05 -9.99974057e-01 -4.00892388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters 0.013201915022560537 Centerline is valid? [True, True] Translation: X:103.79, Y:-176.46, Z:-4.01 [[-9.79410815e-01 2.01752335e-01 7.10284928e-03 1.03788031e+02] [ 2.01746538e-01 9.79436568e-01 -1.53082606e-03 -1.76455476e+02] [-7.26563806e-03 -6.63323496e-05 -9.99973603e-01 -4.00930109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters 0.013175030707874567 Centerline is valid? [True, True] Translation: X:103.80, Y:-176.43, Z:-4.01 [[-9.91296583e-01 1.31470811e-01 6.81981077e-03 1.03796371e+02] [ 1.31467248e-01 9.91320040e-01 -9.70001112e-04 -1.76429284e+02] [-6.88814192e-03 -6.49770317e-05 -9.99976274e-01 -4.00961072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters 0.013402098922424869 Centerline is valid? [True, True] Translation: X:103.79, Y:-176.40, Z:-4.01 [[-9.98180770e-01 5.98894778e-02 6.95709866e-03 1.03794255e+02] [ 5.98875155e-02 9.98205012e-01 -4.90229073e-04 -1.76401012e+02] [-6.97397031e-03 -7.26938804e-05 -9.99975679e-01 -4.00961074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters 0.013392168477325586 Centerline is valid? [True, True] Translation: X:103.85, Y:-175.72, Z:-5.03 [[-9.88932590e-01 -1.48213351e-01 6.71823182e-03 1.03848047e+02] [ 1.48210333e-01 -9.88955408e-01 -9.47735022e-04 -1.75724799e+02] [ 6.78449868e-03 5.84653231e-05 9.99976983e-01 -5.02723616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters 0.013372040882091872 Centerline is valid? [True, True] Translation: X:103.74, Y:-176.40, Z:-4.01 [[-9.98389890e-01 5.62623561e-02 7.22315434e-03 1.03743721e+02] [ 5.62603561e-02 9.98416017e-01 -4.79945692e-04 -1.76398163e+02] [-7.23871586e-03 -7.27956911e-05 -9.99973798e-01 -4.01006330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters 0.013143560244679687 Centerline is valid? [True, True] Translation: X:103.79, Y:-175.72, Z:-5.03 [[-9.89749026e-01 -1.42585273e-01 8.14283075e-03 1.03788923e+02] [ 1.42581641e-01 -9.89782511e-01 -1.02779571e-03 -1.75720492e+02] [ 8.20618000e-03 1.43758370e-04 9.99966318e-01 -5.02689157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters 0.013096361538867481 Centerline is valid? [True, True] Translation: X:103.69, Y:-176.40, Z:-4.01 [[-9.98414618e-01 5.53190461e-02 1.03948854e-02 1.03690915e+02] [ 5.53153006e-02 9.98468727e-01 -6.47704406e-04 -1.76396680e+02] [-1.04147984e-02 -7.16813368e-05 -9.99945762e-01 -4.00856407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters 0.012978483977482146 Centerline is valid? [True, True] Translation: X:103.69, Y:-176.37, Z:-4.01 [[-9.99837885e-01 -1.36471312e-02 1.17456535e-02 1.03688256e+02] [-1.36468567e-02 9.99906872e-01 1.03524726e-04 -1.76370721e+02] [-1.17459725e-02 -5.67833073e-05 -9.99931012e-01 -4.00743584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters 0.01292819173816249 Centerline is valid? [True, True] Translation: X:103.69, Y:-176.35, Z:-4.01 [[-9.96523312e-01 -8.24006412e-02 1.23054445e-02 1.03685248e+02] [-8.23947494e-02 9.96599284e-01 9.85871295e-04 -1.76345594e+02] [-1.23448336e-02 -3.14602842e-05 -9.99923799e-01 -4.00726804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters 0.012973135065550891 Centerline is valid? [True, True] Translation: X:103.63, Y:-175.66, Z:-5.03 [[-9.99853290e-01 1.25540742e-02 1.16530669e-02 1.03632095e+02] [-1.25533853e-02 -9.99921194e-01 1.32270022e-04 -1.75658861e+02] [ 1.16538091e-02 -1.40348218e-05 9.99932092e-01 -5.02955317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters 0.012853974029654729 Centerline is valid? [True, True] Translation: X:103.61, Y:-176.35, Z:-4.01 [[-9.96354425e-01 -8.45909783e-02 1.10556449e-02 1.03605506e+02] [-8.45856988e-02 9.96415760e-01 9.45092505e-04 -1.76354334e+02] [-1.10959651e-02 6.49765102e-06 -9.99938438e-01 -4.00915808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters 0.012794371995836606 Centerline is valid? [True, True] Translation: X:103.59, Y:-176.33, Z:-4.01 [[-9.87373689e-01 -1.58079591e-01 1.02000486e-02 1.03594822e+02] [-1.58071396e-01 9.87426373e-01 1.60976835e-03 -1.76327106e+02] [-1.03262685e-02 -2.28930007e-05 -9.99946682e-01 -4.00963867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters 0.01292480002482952 Centerline is valid? [True, True] Translation: X:103.58, Y:-176.30, Z:-4.01 [[-9.72886085e-01 -2.31088462e-01 9.52832489e-03 1.03578490e+02] [-2.31077909e-01 9.72932742e-01 2.20906750e-03 -1.76300643e+02] [-9.78090928e-03 -5.26143596e-05 -9.99952164e-01 -4.01012086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters 0.013207776326378219 Centerline is valid? [True, True] Translation: X:103.43, Y:-175.64, Z:-5.03 [[-9.88737601e-01 1.49368568e-01 9.32674528e-03 1.03426059e+02] [-1.49361674e-01 -9.88781589e-01 1.43529935e-03 -1.75639151e+02] [ 9.43650263e-03 2.60761433e-05 9.99955475e-01 -5.02811564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters 0.013675960824294411 Centerline is valid? [True, True] Translation: X:103.47, Y:-176.31, Z:-4.01 [[-9.69416465e-01 -2.45234259e-01 9.58518154e-03 1.03474537e+02] [-2.45223646e-01 9.69463842e-01 2.28550593e-03 -1.76313328e+02] [-9.85297127e-03 -1.34906085e-04 -9.99951449e-01 -4.00779173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters 0.014704907432288144 Centerline is valid? [True, True] Translation: X:103.45, Y:-176.29, Z:-4.01 [[-9.48067380e-01 -3.17910131e-01 1.00693378e-02 1.03449229e+02] [-3.17894324e-01 9.48120832e-01 3.17583941e-03 -1.76288730e+02] [-1.05565805e-02 -1.90075598e-04 -9.99944260e-01 -4.00729197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters 0.014433727481145277 Centerline is valid? [True, True] Translation: X:103.42, Y:-176.27, Z:-4.01 [[-9.22469364e-01 -3.85947679e-01 9.72936471e-03 1.03421303e+02] [-3.85928430e-01 9.22520651e-01 3.85955532e-03 -1.76269512e+02] [-1.04651263e-02 -1.94516902e-04 -9.99945220e-01 -4.00761362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters 0.01400734844549997 Centerline is valid? [True, True] Translation: X:103.37, Y:-176.26, Z:-4.01 [[-8.92679075e-01 -4.50582081e-01 9.99291543e-03 1.03369695e+02] [-4.50556191e-01 8.92734985e-01 4.83374828e-03 -1.76263283e+02] [-1.10990256e-02 -1.87383971e-04 -9.99938386e-01 -4.00655515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters 0.014446296334559232 Centerline is valid? [True, True] Translation: X:103.31, Y:-176.26, Z:-4.01 [[-8.57919866e-01 -5.13709884e-01 8.69825002e-03 1.03310834e+02] [-5.13685290e-01 8.57963945e-01 5.02903025e-03 -1.76264459e+02] [-1.00462475e-02 -1.53658129e-04 -9.99949523e-01 -4.00606600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters 0.013238236948828459 Centerline is valid? [True, True] Translation: X:103.24, Y:-176.28, Z:-4.01 [[-8.19873630e-01 -5.72504835e-01 6.74125523e-03 1.03242035e+02] [-5.72486398e-01 8.19901339e-01 4.59553432e-03 -1.76282779e+02] [-8.15812981e-03 -9.15195196e-05 -9.99966718e-01 -4.00859842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters 0.013106927767193615 Centerline is valid? [True, True] Translation: X:103.17, Y:-176.30, Z:-4.01 [[-7.76761695e-01 -6.29770003e-01 5.56885714e-03 1.03169964e+02] [-6.29754358e-01 7.76781655e-01 4.43945573e-03 -1.76304271e+02] [-7.12162212e-03 -5.86128981e-05 -9.99974639e-01 -4.00776815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters 0.012503483290880983 Centerline is valid? [True, True] Translation: X:103.09, Y:-176.34, Z:-4.01 [[-7.28873292e-01 -6.84634372e-01 4.41609390e-03 1.03092202e+02] [-6.84622104e-01 7.28886669e-01 4.09865658e-03 -1.76340643e+02] [-6.02491314e-03 -3.59541813e-05 -9.99981849e-01 -4.00916701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters 0.012383209533992478 Centerline is valid? [True, True] Translation: X:103.01, Y:-176.39, Z:-4.01 [[-6.76210371e-01 -7.36701567e-01 3.21485538e-03 1.03005697e+02] [-7.36693398e-01 6.76218013e-01 3.46944346e-03 -1.76393037e+02] [-4.72988755e-03 -2.22890856e-05 -9.99988814e-01 -4.00995175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters 0.012511782147320868 Centerline is valid? [True, True] Translation: X:102.93, Y:-176.44, Z:-4.01 [[-6.17717441e-01 -7.86395267e-01 2.76531085e-03 1.02929139e+02] [-7.86387572e-01 6.17723630e-01 3.47912802e-03 -1.76440134e+02] [-4.44416766e-03 -2.54880241e-05 -9.99990124e-01 -4.00990955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters 0.013189217178779853 Centerline is valid? [True, True] Translation: X:102.85, Y:-176.50, Z:-4.01 [[-5.53407421e-01 -8.32908165e-01 2.05313651e-03 1.02845452e+02] [-8.32902658e-01 5.53411229e-01 3.02882715e-03 -1.76498626e+02] [-3.65896366e-03 -3.38874352e-05 -9.99993305e-01 -4.00933439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters 0.013143005792436427 Centerline is valid? [True, True] Translation: X:102.77, Y:-176.57, Z:-4.01 [[-4.86153517e-01 -8.73871604e-01 1.78264030e-03 1.02766865e+02] [-8.73866052e-01 4.86156783e-01 3.11540212e-03 -1.76571010e+02] [-3.58910412e-03 -4.32251403e-05 -9.99993558e-01 -4.01022421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters 0.013819776374248954 Centerline is valid? [True, True] Translation: X:102.69, Y:-176.66, Z:-4.01 [[-4.16165299e-01 -9.09286943e-01 1.92364415e-03 1.02688051e+02] [-9.09277939e-01 4.16169739e-01 4.04686781e-03 -1.76655898e+02] [-4.48032654e-03 -6.49612450e-05 -9.99989961e-01 -4.00934326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters 0.014031699151946186 Centerline is valid? [True, True] Translation: X:102.62, Y:-176.74, Z:-4.01 [[-3.45163098e-01 -9.38540724e-01 1.93521825e-03 1.02620807e+02] [-9.38527257e-01 3.45168513e-01 5.02837556e-03 -1.76743509e+02] [-5.38731165e-03 -8.06453963e-05 -9.99985485e-01 -4.00854000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters 0.01489298440865207 Centerline is valid? [True, True] Translation: X:102.56, Y:-176.83, Z:-4.01 [[-2.72305639e-01 -9.62208904e-01 1.91450026e-03 1.02562375e+02] [-9.62187668e-01 2.72312350e-01 6.39348632e-03 -1.76831476e+02] [-6.67321153e-03 -1.01126168e-04 -9.99977729e-01 -4.00757678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters 0.015005235046247711 Centerline is valid? [True, True] Translation: X:102.51, Y:-176.94, Z:-4.01 [[-1.98169405e-01 -9.80166828e-01 1.36951692e-03 1.02509370e+02] [-9.80146643e-01 1.98174115e-01 6.29122617e-03 -1.76936999e+02] [-6.43785400e-03 -9.55988655e-05 -9.99979272e-01 -4.00852271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters 0.015167254444714763 Centerline is valid? [True, True] Translation: X:102.46, Y:-177.05, Z:-4.01 [[-1.23748332e-01 -9.92313407e-01 6.73099306e-04 1.02463764e+02] [-9.92301507e-01 1.23750145e-01 4.86016736e-03 -1.77046275e+02] [-4.90610536e-03 -6.64798508e-05 -9.99987963e-01 -4.01020774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters 0.014867739092842426 Centerline is valid? [True, True] Translation: X:102.43, Y:-177.15, Z:-4.01 [[-4.74516706e-02 -9.98873514e-01 2.06437917e-04 1.02427123e+02] [-9.98867731e-01 4.74520984e-02 3.39924172e-03 -1.77146975e+02] [-3.40520843e-03 -4.49044757e-05 -9.99994201e-01 -4.01127913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters 0.0157518160582018 Centerline is valid? [True, True] Translation: X:102.39, Y:-177.27, Z:-4.01 [[ 3.11435057e-02 -9.99514922e-01 -5.55951261e-05 1.02392619e+02] [-9.99508911e-01 -3.11435112e-02 3.46681821e-03 -1.77268048e+02] [-3.46686796e-03 -5.24010487e-05 -9.99993989e-01 -4.01100059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters 0.015693187626833232 Centerline is valid? [True, True] Translation: X:102.37, Y:-177.38, Z:-4.01 [[ 1.10483157e-01 -9.93877910e-01 -4.15338733e-04 1.02369405e+02] [-9.93867870e-01 -1.10483908e-01 4.46797428e-03 -1.77379358e+02] [-4.48650919e-03 -8.08440841e-05 -9.99989932e-01 -4.01038198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters 0.016334339234305117 Centerline is valid? [True, True] Translation: X:102.35, Y:-177.50, Z:-4.01 [[ 1.88830380e-01 -9.82009178e-01 -1.03045832e-03 1.02354442e+02] [-9.81990680e-01 -1.88833149e-01 6.02876480e-03 -1.77500293e+02] [-6.11488705e-03 -1.26513480e-04 -9.99981296e-01 -4.00910178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters 0.016073452116892227 Centerline is valid? [True, True] Translation: X:102.35, Y:-177.62, Z:-4.01 [[ 2.64521938e-01 -9.64377159e-01 -2.19969140e-03 1.02350951e+02] [-9.64337345e-01 -2.64531010e-01 8.76528115e-03 -1.77622402e+02] [-9.03492353e-03 -1.97364596e-04 -9.99959165e-01 -4.00767805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters 0.016773340797614264 Centerline is valid? [True, True] Translation: X:102.35, Y:-177.73, Z:-4.01 [[ 3.36908592e-01 -9.41532484e-01 -3.03017344e-03 1.02353872e+02] [-9.41488850e-01 -3.36922158e-01 9.06669124e-03 -1.77734436e+02] [-9.55751690e-03 -2.01771674e-04 -9.99954306e-01 -4.00678893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters 0.015604986443431614 Centerline is valid? [True, True] Translation: X:102.37, Y:-177.85, Z:-4.01 [[ 4.03302803e-01 -9.15058371e-01 -3.87660135e-03 1.02370120e+02] [-9.15012232e-01 -4.03321402e-01 9.19034510e-03 -1.77846004e+02] [-9.97321850e-03 -1.59354286e-04 -9.99950254e-01 -4.00687876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters 0.014499744621975777 Centerline is valid? [True, True] Translation: X:102.40, Y:-177.95, Z:-4.01 [[ 4.67564807e-01 -8.83947731e-01 -4.42269791e-03 1.02395678e+02] [-8.83906060e-01 -4.67585712e-01 8.58365310e-03 -1.77954602e+02] [-9.65549103e-03 -1.04164624e-04 -9.99953379e-01 -4.00721746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters 0.01321133013318895 Centerline is valid? [True, True] Translation: X:102.43, Y:-178.06, Z:-4.01 [[ 5.26082569e-01 -8.50420748e-01 -4.65645123e-03 1.02431325e+02] [-8.50387190e-01 -5.26103176e-01 7.55488880e-03 -1.78055496e+02] [-8.87460797e-03 -1.47088312e-05 -9.99960620e-01 -4.00952987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters 0.013219910657500146 Centerline is valid? [True, True] Translation: X:102.47, Y:-178.15, Z:-4.01 [[ 5.85348883e-01 -8.10765476e-01 -5.10184912e-03 1.02469421e+02] [-8.10735121e-01 -5.85371115e-01 7.01579913e-03 -1.78154320e+02] [-8.67464282e-03 2.95580819e-05 -9.99962374e-01 -4.01085952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters 0.013496488737939379 Centerline is valid? [True, True] Translation: X:102.52, Y:-178.26, Z:-4.01 [[ 6.42489288e-01 -7.66272174e-01 -5.87116036e-03 1.02517154e+02] [-7.66241118e-01 -6.42516110e-01 6.89914007e-03 -1.78255094e+02] [-9.05893417e-03 6.61008844e-05 -9.99958965e-01 -4.01029594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters 0.01363849803845491 Centerline is valid? [True, True] Translation: X:102.57, Y:-178.35, Z:-4.01 [[ 6.97233974e-01 -7.16804394e-01 -7.49975499e-03 1.02565102e+02] [-7.16764498e-01 -6.97274301e-01 7.56334745e-03 -1.78347703e+02] [-1.06508271e-02 1.02135324e-04 -9.99943273e-01 -4.00838513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters 0.013627775298477942 Centerline is valid? [True, True] Translation: X:102.62, Y:-178.44, Z:-4.01 [[ 7.49903189e-01 -6.61482244e-01 -9.29776872e-03 1.02619202e+02] [-6.61433249e-01 -7.49960818e-01 8.05164312e-03 -1.78437832e+02] [-1.22989812e-02 1.11900521e-04 -9.99924358e-01 -4.00705064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters 0.013430087599309746 Centerline is valid? [True, True] Translation: X:102.64, Y:-178.47, Z:-4.01 [[ 8.00902264e-01 -5.98692433e-01 -1.10875792e-02 1.02637844e+02] [-5.98636603e-01 -8.00979003e-01 8.17644445e-03 -1.78469032e+02] [-1.37760936e-02 8.88978794e-05 -9.99905101e-01 -4.00581171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters 0.013269237073502499 Centerline is valid? [True, True] Translation: X:102.66, Y:-178.50, Z:-4.01 [[ 8.46567429e-01 -5.32145089e-01 -1.20496033e-02 1.02659656e+02] [-5.32092149e-01 -8.46653176e-01 7.50626643e-03 -1.78495763e+02] [-1.41962577e-02 5.69386386e-05 -9.99899227e-01 -4.00536813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters 0.012744043606811584 Centerline is valid? [True, True] Translation: X:102.68, Y:-178.52, Z:-4.01 [[ 8.87022235e-01 -4.61592330e-01 -1.11389563e-02 1.02683779e+02] [-4.61556100e-01 -8.87092172e-01 5.78321738e-03 -1.78522578e+02] [-1.25507697e-02 1.14108070e-05 -9.99921236e-01 -4.00762832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters 0.012775377619395643 Centerline is valid? [True, True] Translation: X:102.71, Y:-178.54, Z:-4.01 [[ 9.21207886e-01 -3.88952874e-01 -9.57559704e-03 1.02710277e+02] [-3.88931735e-01 -9.21257652e-01 4.05510410e-03 -1.78544486e+02] [-1.03988364e-02 -1.13403020e-05 -9.99945931e-01 -4.00869886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters 0.012673623322625747 Centerline is valid? [True, True] Translation: X:102.74, Y:-178.57, Z:-4.01 [[ 9.50430668e-01 -3.10859283e-01 -6.93192930e-03 1.02738069e+02] [-3.10850669e-01 -9.50455945e-01 2.31460776e-03 -1.78567589e+02] [-7.30801073e-03 -4.50793396e-05 -9.99973295e-01 -4.01184617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters 0.013208368471093376 Centerline is valid? [True, True] Translation: X:102.77, Y:-178.59, Z:-4.01 [[ 9.72807572e-01 -2.31525516e-01 -6.43144353e-03 1.02768186e+02] [-2.31519990e-01 -9.72828829e-01 1.60100852e-03 -1.78588051e+02] [-6.62736800e-03 -6.84654729e-05 -9.99978036e-01 -4.01189678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters 0.014929712066679498 Centerline is valid? [True, True] Translation: X:102.80, Y:-178.61, Z:-4.01 [[ 9.89021919e-01 -1.47579893e-01 -7.47115529e-03 1.02799767e+02] [-1.47574663e-01 -9.89050129e-01 1.24964790e-03 -1.78608300e+02] [-7.57377001e-03 -1.33375940e-04 -9.99971310e-01 -4.01043578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters 0.015873492878434693 Centerline is valid? [True, True] Translation: X:102.83, Y:-178.62, Z:-4.01 [[ 9.97770725e-01 -6.61280128e-02 -8.98141012e-03 1.02832966e+02] [-6.61236062e-02 -9.97811129e-01 7.87025172e-04 -1.78620997e+02] [-9.01379538e-03 -1.91387451e-04 -9.99959357e-01 -4.00891368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters 0.01632506117084014 Centerline is valid? [True, True] Translation: X:102.87, Y:-178.63, Z:-4.01 [[ 9.99833309e-01 1.42910489e-02 -1.13630923e-02 1.02865208e+02] [ 1.42931461e-02 -9.99897842e-01 1.03367436e-04 -1.78630839e+02] [-1.13604542e-02 -2.65764544e-04 -9.99935433e-01 -4.00704572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters 0.016492002542709727 Centerline is valid? [True, True] Translation: X:102.90, Y:-178.64, Z:-4.01 [[ 9.95631647e-01 9.25432389e-02 -1.23843452e-02 1.02897454e+02] [ 9.25397022e-02 -9.95708624e-01 -8.59555194e-04 -1.78635386e+02] [-1.24107454e-02 -2.90243265e-04 -9.99922942e-01 -4.00571769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters 0.01473122330125006 Centerline is valid? [True, True] Translation: X:102.93, Y:-178.63, Z:-4.01 [[ 9.86099965e-01 1.65799872e-01 -1.08287056e-02 1.02930223e+02] [ 1.65792174e-01 -9.86159399e-01 -1.61105322e-03 -1.78633342e+02] [-1.09459423e-02 -2.06655120e-04 -9.99940070e-01 -4.00720836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters 0.01413389713898134 Centerline is valid? [True, True] Translation: X:102.96, Y:-178.63, Z:-4.01 [[ 9.71429751e-01 2.37165314e-01 -8.76660554e-03 1.02960534e+02] [ 2.37156775e-01 -9.71469299e-01 -2.01618979e-03 -1.78628774e+02] [-8.99465843e-03 -1.20473152e-04 -9.99959540e-01 -4.00758267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters 0.012754610726502531 Centerline is valid? [True, True] Translation: X:102.99, Y:-178.62, Z:-4.01 [[ 9.51729118e-01 3.06866866e-01 -6.66426880e-03 1.02990365e+02] [ 3.06859723e-01 -9.51752449e-01 -2.09449096e-03 -1.78619802e+02] [-6.98546403e-03 -5.16076402e-05 -9.99975600e-01 -4.00948930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters 0.012362952016801654 Centerline is valid? [True, True] Translation: X:103.02, Y:-178.61, Z:-4.01 [[ 9.27913620e-01 3.72764265e-01 -4.80795143e-03 1.03018068e+02] [ 3.72759235e-01 -9.27926076e-01 -1.93663752e-03 -1.78606857e+02] [-5.18333276e-03 4.82403452e-06 -9.99986567e-01 -4.01039913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters 0.01269660405457544 Centerline is valid? [True, True] Translation: X:103.05, Y:-178.60, Z:-4.01 [[ 8.97745692e-01 4.40482950e-01 -5.23863613e-03 1.03047307e+02] [ 4.40475258e-01 -8.97760976e-01 -2.60346866e-03 -1.78597411e+02] [-5.84982664e-03 2.97631775e-05 -9.99982889e-01 -4.00901151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters 0.01262857043503545 Centerline is valid? [True, True] Translation: X:103.08, Y:-178.59, Z:-4.01 [[ 8.60545542e-01 5.09336608e-01 -6.13105542e-03 1.03077743e+02] [ 5.09323377e-01 -8.60567382e-01 -3.67132250e-03 -1.78589794e+02] [-7.14612526e-03 3.66503655e-05 -9.99974466e-01 -4.00781444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters 0.01251837472226563 Centerline is valid? [True, True] Translation: X:103.11, Y:-178.58, Z:-4.01 [[ 8.16215905e-01 5.77696090e-01 -7.66973996e-03 1.03109804e+02] [ 5.77670379e-01 -8.16251939e-01 -5.45023385e-03 -1.78583317e+02] [-9.40901890e-03 1.79859576e-05 -9.99955734e-01 -4.00587558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters 0.012491377616595922 Centerline is valid? [True, True] Translation: X:103.14, Y:-178.57, Z:-4.01 [[ 7.67631190e-01 6.40845800e-01 -7.68224523e-03 1.03140173e+02] [ 6.40813642e-01 -7.67669630e-01 -6.41995923e-03 -1.78572791e+02] [-1.00116303e-02 5.27339760e-06 -9.99949882e-01 -4.00501485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters 0.012447901133090088 Centerline is valid? [True, True] Translation: X:103.17, Y:-178.56, Z:-4.00 [[ 7.14382838e-01 6.99720603e-01 -6.94543529e-03 1.03169076e+02] [ 6.99687598e-01 -7.14416600e-01 -6.79614535e-03 -1.78559108e+02] [-9.71733719e-03 -4.58533805e-06 -9.99952786e-01 -4.00491758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters 0.012391508136206932 Centerline is valid? [True, True] Translation: X:103.19, Y:-178.54, Z:-4.01 [[ 6.57494726e-01 7.53439330e-01 -5.46455900e-03 1.03194396e+02] [ 7.53413343e-01 -6.57517435e-01 -6.25765043e-03 -1.78543048e+02] [-8.30780276e-03 -2.69950985e-06 -9.99965490e-01 -4.00507393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters 0.012245956508300553 Centerline is valid? [True, True] Translation: X:103.22, Y:-178.52, Z:-4.01 [[ 5.96851866e-01 8.02339778e-01 -4.32786061e-03 1.03218790e+02] [ 8.02318673e-01 -5.96867557e-01 -5.81949408e-03 -1.78523893e+02] [-7.25237118e-03 1.05251970e-06 -9.99973701e-01 -4.00680700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters 0.012102406238827194 Centerline is valid? [True, True] Translation: X:103.24, Y:-178.50, Z:-4.01 [[ 5.31792730e-01 8.46869345e-01 -2.96729033e-03 1.03239084e+02] [ 8.46856177e-01 -5.31801009e-01 -4.72258823e-03 -1.78502900e+02] [-5.57742319e-03 -1.43005466e-06 -9.99984446e-01 -4.00877362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters 0.011999242354750361 Centerline is valid? [True, True] Translation: X:103.26, Y:-178.48, Z:-4.01 [[ 4.63292504e-01 8.86202507e-01 -2.27430022e-03 1.03261892e+02] [ 8.86191875e-01 -4.63298087e-01 -4.34092949e-03 -1.78481338e+02] [-4.90062153e-03 -4.34628316e-06 -9.99987992e-01 -4.01007835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters 0.012037819208878326 Centerline is valid? [True, True] Translation: X:103.28, Y:-178.46, Z:-4.01 [[ 3.92121760e-01 9.19911139e-01 -2.00543835e-03 1.03281023e+02] [ 9.19899192e-01 -3.92126888e-01 -4.68832880e-03 -1.78458585e+02] [-5.09923219e-03 -6.40538013e-06 -9.99986999e-01 -4.00944468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters 0.012070791498248447 Centerline is valid? [True, True] Translation: X:103.30, Y:-178.43, Z:-4.01 [[ 3.16927234e-01 9.48447319e-01 -2.19356670e-03 1.03299926e+02] [ 9.48425110e-01 -3.16934824e-01 -6.49067260e-03 -1.78433350e+02] [-6.85127870e-03 -2.33628263e-05 -9.99976530e-01 -4.00938292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters 0.012149685546913105 Centerline is valid? [True, True] Translation: X:103.32, Y:-178.41, Z:-4.01 [[ 2.39824500e-01 9.70814468e-01 -1.86485118e-03 1.03315087e+02] [ 9.70786416e-01 -2.39831746e-01 -7.38018105e-03 -1.78406104e+02] [-7.61203706e-03 -4.04239722e-05 -9.99971027e-01 -4.00915690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters 0.012258452266310409 Centerline is valid? [True, True] Translation: X:103.33, Y:-178.38, Z:-4.01 [[ 1.62377094e-01 9.86727798e-01 -1.38977522e-03 1.03326077e+02] [ 9.86694227e-01 -1.62383034e-01 -8.13962512e-03 -1.78378701e+02] [-8.25727029e-03 -4.95945118e-05 -9.99965907e-01 -4.00896918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters 0.012179764424467264 Centerline is valid? [True, True] Translation: X:103.33, Y:-178.35, Z:-4.01 [[ 8.53158888e-02 9.96353680e-01 -7.37683818e-04 1.03331091e+02] [ 9.96320675e-01 -8.53190671e-02 -8.10985591e-03 -1.78349437e+02] [-8.14322327e-03 -4.30700747e-05 -9.99966843e-01 -4.00895012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters 0.012087439086563066 Centerline is valid? [True, True] Translation: X:103.33, Y:-178.32, Z:-4.01 [[ 8.62581177e-03 9.99962791e-01 -1.09091188e-04 1.03331321e+02] [ 9.99923475e-01 -8.62644001e-03 -8.86724989e-03 -1.78319504e+02] [-8.86786101e-03 -3.25956111e-05 -9.99960679e-01 -4.00846971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters 0.012105121908032609 Centerline is valid? [True, True] Translation: X:103.33, Y:-178.29, Z:-4.01 [[-6.64109187e-02 9.97792165e-01 6.21559377e-04 1.03327133e+02] [ 9.97748048e-01 6.64138272e-02 -9.38275077e-03 -1.78289936e+02] [-9.40331534e-03 -2.95744403e-06 -9.99955788e-01 -4.00728769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters 0.01247188959510055 Centerline is valid? [True, True] Translation: X:103.32, Y:-178.26, Z:-4.01 [[-1.41132245e-01 9.89989694e-01 1.44745240e-03 1.03318621e+02] [ 9.89939762e-01 1.41139664e-01 -9.94298655e-03 -1.78262458e+02] [-1.00477472e-02 2.96146735e-05 -9.99949520e-01 -4.00558912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters 0.012383529003938356 Centerline is valid? [True, True] Translation: X:103.32, Y:-178.23, Z:-4.01 [[-2.16388021e-01 9.76304692e-01 2.31809322e-03 1.03317870e+02] [ 9.76251164e-01 2.16400431e-01 -1.02234567e-02 -1.78232502e+02] [-1.04828451e-02 5.08076466e-05 -9.99945052e-01 -4.00675299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters 0.012685493738553351 Centerline is valid? [True, True] Translation: X:103.31, Y:-178.21, Z:-4.01 [[-2.90044768e-01 9.57008172e-01 3.06463054e-03 1.03312176e+02] [ 9.56957400e-01 2.90060949e-01 -9.85801574e-03 -1.78205068e+02] [-1.03231313e-02 7.34549854e-05 -9.99946712e-01 -4.00618354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters 0.013078927871212224 Centerline is valid? [True, True] Translation: X:103.30, Y:-178.18, Z:-4.01 [[-3.62853624e-01 9.31837646e-01 3.98102198e-03 1.03303479e+02] [ 9.31784288e-01 3.62875451e-01 -9.97234903e-03 -1.78177491e+02] [-1.07372254e-02 9.09507479e-05 -9.99942350e-01 -4.00577904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters 0.013410518053741386 Centerline is valid? [True, True] Translation: X:103.29, Y:-178.15, Z:-4.01 [[-4.33239793e-01 9.01265717e-01 4.83619494e-03 1.03292317e+02] [ 9.01212382e-01 4.33266771e-01 -9.80551265e-03 -1.78151393e+02] [-1.09327350e-02 1.10300492e-04 -9.99940230e-01 -4.00551197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters 0.012992777236568342 Centerline is valid? [True, True] Translation: X:103.29, Y:-178.12, Z:-4.01 [[-5.01732230e-01 8.65007650e-01 5.15120792e-03 1.03286307e+02] [ 8.64964306e-01 5.01758660e-01 -8.66006951e-03 -1.78121910e+02] [-1.00756896e-02 1.10574997e-04 -9.99949233e-01 -4.00785349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters 0.012570104919225914 Centerline is valid? [True, True] Translation: X:103.28, Y:-178.09, Z:-4.01 [[-5.68206512e-01 8.22866499e-01 5.66442602e-03 1.03279755e+02] [ 8.22827441e-01 5.68234735e-01 -8.01795739e-03 -1.78091086e+02] [-9.81643215e-03 1.04989564e-04 -9.99951812e-01 -4.00907893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters 0.0123652540326028 Centerline is valid? [True, True] Translation: X:103.27, Y:-178.06, Z:-4.01 [[-6.32318690e-01 7.74680829e-01 6.53354017e-03 1.03271649e+02] [ 7.74640956e-01 6.32352437e-01 -7.86033502e-03 -1.78059541e+02] [-1.02207509e-02 9.09110621e-05 -9.99947763e-01 -4.00868209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters 0.012045870632123225 Centerline is valid? [True, True] Translation: X:103.26, Y:-178.03, Z:-4.01 [[-6.92428777e-01 7.21453723e-01 6.84941855e-03 1.03260070e+02] [ 7.21419406e-01 6.92462650e-01 -7.03695220e-03 -1.78029265e+02] [-9.81980188e-03 6.87152517e-05 -9.99951782e-01 -4.00869421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters 0.011598640859941133 Centerline is valid? [True, True] Translation: X:103.25, Y:-178.00, Z:-4.01 [[-7.49424591e-01 6.62058537e-01 6.42467817e-03 1.03246879e+02] [ 6.62034511e-01 7.49452128e-01 -5.64039318e-03 -1.77998855e+02] [-8.54925919e-03 2.63093130e-05 -9.99963454e-01 -4.00940753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters 0.011478181782590031 Centerline is valid? [True, True] Translation: X:103.26, Y:-177.97, Z:-4.01 [[-7.96649804e-01 6.04398114e-01 7.21184776e-03 1.03264406e+02] [ 6.04373278e-01 7.96682446e-01 -5.47906021e-03 -1.77972831e+02] [-9.05708617e-03 -6.24417042e-06 -9.99958984e-01 -4.00901553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters 0.011923916188241172 Centerline is valid? [True, True] Translation: X:103.28, Y:-177.94, Z:-4.01 [[-8.41470439e-01 5.40221079e-01 9.41729411e-03 1.03277388e+02] [ 5.40186015e-01 8.41523129e-01 -6.15569441e-03 -1.77939938e+02] [-1.12503067e-02 -9.27443059e-05 -9.99936709e-01 -4.00668842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters 0.013048057004163675 Centerline is valid? [True, True] Translation: X:103.29, Y:-177.91, Z:-4.00 [[-8.80138242e-01 4.74590608e-01 1.09740413e-02 1.03290941e+02] [ 4.74551287e-01 8.80206638e-01 -6.11148165e-03 -1.77910180e+02] [-1.25598758e-02 -1.71203300e-04 -9.99921107e-01 -4.00437178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters 0.014474606137330011 Centerline is valid? [True, True] Translation: X:103.30, Y:-177.88, Z:-4.00 [[-9.13443657e-01 4.06800039e-01 1.15937287e-02 1.03298617e+02] [ 4.06764012e-01 9.13517200e-01 -5.41895933e-03 -1.77879604e+02] [-1.27955035e-02 -2.34002424e-04 -9.99918107e-01 -4.00398822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters 0.014611931306645011 Centerline is valid? [True, True] Translation: X:103.55, Y:-177.34, Z:-5.03 [[-8.66330095e-01 -4.99339110e-01 1.15160850e-02 1.03550266e+02] [ 4.99298987e-01 -8.66406593e-01 -6.33537712e-03 -1.77339477e+02] [ 1.31411135e-02 2.61441712e-04 9.99913618e-01 -5.03277640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters 0.014162427835248704 Centerline is valid? [True, True] Translation: X:103.54, Y:-177.37, Z:-5.03 [[-8.31787505e-01 -5.54979797e-01 1.12681851e-02 1.03543862e+02] [ 5.54932431e-01 -8.31863797e-01 -7.25396309e-03 -1.77366878e+02] [ 1.33993982e-02 2.19325512e-04 9.99910200e-01 -5.03301986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters 0.013436629116815278 Centerline is valid? [True, True] Translation: X:103.53, Y:-177.39, Z:-5.03 [[-7.94862177e-01 -6.06686097e-01 1.12294204e-02 1.03531391e+02] [ 6.06628668e-01 -7.94941475e-01 -8.34926775e-03 -1.77387305e+02] [ 1.39921167e-02 1.75571200e-04 9.99902090e-01 -5.03320658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters 0.012669273490282155 Centerline is valid? [True, True] Translation: X:103.16, Y:-177.89, Z:-4.00 [[-8.47827145e-01 5.30127001e-01 1.24295790e-02 1.03164442e+02] [ 5.30067564e-01 8.47918240e-01 -7.93949612e-03 -1.77886215e+02] [-1.47482081e-02 -1.42803653e-04 -9.99891229e-01 -4.00377812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters 0.011761029124801103 Centerline is valid? [True, True] Translation: X:103.50, Y:-177.36, Z:-5.03 [[-8.00010227e-01 -5.99858540e-01 1.23842147e-02 1.03504444e+02] [ 5.99790203e-01 -8.00106055e-01 -9.05610897e-03 -1.77359313e+02] [ 1.53410694e-02 1.82950842e-04 9.99882302e-01 -5.03148378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters 0.011884743906289085 Centerline is valid? [True, True] Translation: X:103.12, Y:-177.87, Z:-4.01 [[-8.48922608e-01 5.28354604e-01 1.31079374e-02 1.03124619e+02] [ 5.28289317e-01 8.49023790e-01 -8.30668238e-03 -1.77870954e+02] [-1.55178246e-02 -1.26947151e-04 -9.99879583e-01 -4.00549435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters 0.012420740429161421 Centerline is valid? [True, True] Translation: X:103.14, Y:-177.84, Z:-4.01 [[-8.85645774e-01 4.64172939e-01 1.32305093e-02 1.03136053e+02] [ 4.64118273e-01 8.85744576e-01 -7.12564722e-03 -1.77844847e+02] [-1.50263845e-02 -1.70278195e-04 -9.99887083e-01 -4.00577147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters 0.013079640428375191 Centerline is valid? [True, True] Translation: X:103.43, Y:-177.28, Z:-5.03 [[-8.38038261e-01 -5.45474705e-01 1.22155402e-02 1.03432600e+02] [ 5.45419012e-01 -8.38127275e-01 -7.79561544e-03 -1.77284743e+02] [ 1.44904885e-02 1.29563873e-04 9.99894999e-01 -5.03004603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters 0.012905500382301918 Centerline is valid? [True, True] Translation: X:103.09, Y:-177.82, Z:-4.01 [[-8.89675502e-01 4.56403367e-01 1.31706764e-02 1.03091163e+02] [ 4.56349266e-01 8.89772952e-01 -7.03147346e-03 -1.77822861e+02] [-1.49280998e-02 -2.45301184e-04 -9.99888540e-01 -4.00720525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters 0.013626993445056152 Centerline is valid? [True, True] Translation: X:103.10, Y:-177.80, Z:-4.00 [[-9.19196169e-01 3.93555268e-01 1.38799741e-02 1.03103817e+02] [ 3.93506654e-01 9.19300930e-01 -6.18984600e-03 -1.77799756e+02] [-1.51959196e-02 -2.27820561e-04 -9.99884509e-01 -4.00470176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters 0.011533830227255744 Centerline is valid? [True, True] Translation: X:103.38, Y:-177.21, Z:-5.03 [[-8.79592219e-01 -4.75555064e-01 1.28416908e-02 1.03377082e+02] [ 4.75507353e-01 -8.79685938e-01 -6.73855646e-03 -1.77214567e+02] [ 1.45012095e-02 1.79136583e-04 9.99894836e-01 -5.02959525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters 0.011422086911948903 Centerline is valid? [True, True] Translation: X:103.07, Y:-177.80, Z:-4.01 [[-9.16897455e-01 3.98929338e-01 1.24273806e-02 1.03066482e+02] [ 3.98891585e-01 9.16981667e-01 -5.48864252e-03 -1.77796418e+02] [-1.35852607e-02 -7.53448163e-05 -9.99907713e-01 -4.00748083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters 0.011306246760974276 Centerline is valid? [True, True] Translation: X:103.34, Y:-177.19, Z:-5.03 [[-8.87310985e-01 -4.61085175e-01 8.92625849e-03 1.03344794e+02] [ 4.61060453e-01 -8.87355874e-01 -4.77616171e-03 -1.77188071e+02] [ 1.01229853e-02 -1.22395970e-04 9.99948754e-01 -5.02610202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters 0.012015374128946942 Centerline is valid? [True, True] Translation: X:103.03, Y:-177.80, Z:-4.01 [[-9.12321572e-01 4.09408769e-01 7.33550849e-03 1.03028167e+02] [ 4.09396216e-01 9.12351058e-01 -3.20702382e-03 -1.77796688e+02] [-8.00554261e-03 7.72924043e-05 -9.99967952e-01 -4.01260587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters 0.012412135709752803 Centerline is valid? [True, True] Translation: X:103.04, Y:-177.77, Z:-4.01 [[-9.37861837e-01 3.46944042e-01 6.70872593e-03 1.03039779e+02] [ 3.46935874e-01 9.37885826e-01 -2.38236693e-03 -1.77774507e+02] [-7.11856697e-03 9.31666719e-05 -9.99974658e-01 -4.01345194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters 0.012476196269261145 Centerline is valid? [True, True] Translation: X:103.27, Y:-177.12, Z:-5.02 [[-9.22114237e-01 -3.86856234e-01 6.89838954e-03 1.03270246e+02] [ 3.86844811e-01 -9.22140038e-01 -2.97374448e-03 -1.77120461e+02] [ 7.51169278e-03 -7.35259253e-05 9.99971784e-01 -5.02469606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters 0.012051877018385053 Centerline is valid? [True, True] Translation: X:102.99, Y:-177.76, Z:-4.01 [[-9.40876465e-01 3.38671330e-01 7.29444593e-03 1.02994710e+02] [ 3.38661657e-01 9.40904738e-01 -2.56038508e-03 -1.77756116e+02] [-7.73050776e-03 6.13430878e-05 -9.99970117e-01 -4.01134690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters 0.011307554142463651 Centerline is valid? [True, True] Translation: X:102.99, Y:-177.72, Z:-4.01 [[-9.64392640e-01 2.64370698e-01 7.41414564e-03 1.02994236e+02] [ 2.64362941e-01 9.64421140e-01 -2.02511610e-03 -1.77720977e+02] [-7.68574014e-03 7.01828514e-06 -9.99970464e-01 -4.01249598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters 0.011381613165691012 Centerline is valid? [True, True] Translation: X:103.00, Y:-177.69, Z:-4.01 [[-9.81524701e-01 1.91237594e-01 6.11914451e-03 1.03001753e+02] [ 1.91233749e-01 9.81543775e-01 -1.21277086e-03 -1.77691126e+02] [-6.23813558e-03 -2.01776130e-05 -9.99980543e-01 -4.01282304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters 0.011622483371498337 Centerline is valid? [True, True] Translation: X:103.13, Y:-177.04, Z:-5.02 [[-9.63916145e-01 -2.66159853e-01 4.95970077e-03 1.03134180e+02] [ 2.66156040e-01 -9.63928903e-01 -1.42577974e-03 -1.77039253e+02] [ 5.16028425e-03 -5.42777898e-05 9.99986684e-01 -5.02360454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters 0.011685575703994297 Centerline is valid? [True, True] Translation: X:102.95, Y:-177.68, Z:-4.01 [[-9.82912112e-01 1.84049586e-01 3.08722957e-03 1.02954770e+02] [ 1.84048613e-01 9.82916960e-01 -5.98570547e-04 -1.77677836e+02] [-3.14465697e-03 -2.01419181e-05 -9.99995055e-01 -4.01264941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters 0.011567827291993661 Centerline is valid? [True, True] Translation: X:102.96, Y:-177.65, Z:-4.01 [[-9.93396260e-01 1.14719568e-01 1.81448832e-03 1.02958919e+02] [ 1.14719359e-01 9.93397917e-01 -2.19082643e-04 -1.77650838e+02] [-1.82764198e-03 -9.47894083e-06 -9.99998330e-01 -4.01332358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters 0.011657689448696077 Centerline is valid? [True, True] Translation: X:102.96, Y:-177.62, Z:-4.01 [[-9.99011589e-01 4.44387091e-02 1.02286057e-03 1.02957451e+02] [ 4.44386817e-02 9.99012113e-01 -4.95698816e-05 -1.77623112e+02] [-1.02405292e-03 -4.06631092e-06 -9.99999476e-01 -4.01400749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters 0.011791878630719687 Centerline is valid? [True, True] Translation: X:102.95, Y:-177.59, Z:-4.01 [[-9.99604633e-01 -2.79721527e-02 2.85230585e-03 1.02952507e+02] [-2.79720905e-02 9.99608703e-01 6.16861301e-05 -1.77592695e+02] [-2.85291524e-03 -1.81232160e-05 -9.99995930e-01 -4.01137923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters 0.012073357160680857 Centerline is valid? [True, True] Translation: X:102.94, Y:-177.56, Z:-4.01 [[-9.94879812e-01 -1.00942299e-01 4.98114299e-03 1.02943815e+02] [-1.00941251e-01 9.94892281e-01 4.61956812e-04 -1.77563185e+02] [-5.00233169e-03 -4.32112999e-05 -9.99987487e-01 -4.00842282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters 0.012899832045436297 Centerline is valid? [True, True] Translation: X:102.93, Y:-177.53, Z:-4.00 [[-9.84706884e-01 -1.74093931e-01 6.60732893e-03 1.02931313e+02] [-1.74090534e-01 9.84729048e-01 1.09028077e-03 -1.77533378e+02] [-6.69623999e-03 -7.66664439e-05 -9.99977577e-01 -4.00490004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters 0.01316504157421847 Centerline is valid? [True, True] Translation: X:102.83, Y:-176.91, Z:-5.03 [[-9.96462250e-01 8.37682647e-02 6.77215109e-03 1.02826361e+02] [-8.37657498e-02 -9.96485259e-01 6.54654432e-04 -1.76907422e+02] [ 6.80318800e-03 8.50641148e-05 9.99976855e-01 -5.03267906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters 0.012693001560223804 Centerline is valid? [True, True] Translation: X:102.84, Y:-177.55, Z:-4.01 [[-9.83591704e-01 -1.80298398e-01 6.31250274e-03 1.02844993e+02] [-1.80295183e-01 9.83611957e-01 1.07950613e-03 -1.77547860e+02] [-6.40368640e-03 -7.63205594e-05 -9.99979493e-01 -4.00554857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters 0.012803166395462223 Centerline is valid? [True, True] Translation: X:102.83, Y:-177.52, Z:-4.01 [[-9.68520387e-01 -2.48895114e-01 4.41385340e-03 1.02833143e+02] [-2.48892758e-01 9.68530444e-01 1.08391002e-03 -1.77524893e+02] [-4.54473130e-03 -4.87871964e-05 -9.99989672e-01 -4.00711589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters 0.013083197699132186 Centerline is valid? [True, True] Translation: X:102.81, Y:-177.50, Z:-4.01 [[-9.48384859e-01 -3.17103177e-01 3.42550036e-03 1.02812481e+02] [-3.17101248e-01 9.48391045e-01 1.10662469e-03 -1.77502615e+02] [-3.59962808e-03 -3.67243400e-05 -9.99993521e-01 -4.00752521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters 0.012820184219815269 Centerline is valid? [True, True] Translation: X:102.78, Y:-177.49, Z:-4.01 [[-9.23210342e-01 -3.84275980e-01 3.82574042e-03 1.02782735e+02] [-3.84272866e-01 9.23218268e-01 1.54771147e-03 -1.77486184e+02] [-4.12674179e-03 -4.12649965e-05 -9.99991484e-01 -4.00693584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters 0.012859763688820764 Centerline is valid? [True, True] Translation: X:102.73, Y:-177.48, Z:-4.01 [[-8.92893738e-01 -4.50244689e-01 4.52682170e-03 1.02730850e+02] [-4.50239186e-01 8.92905212e-01 2.22656203e-03 -1.77480587e+02] [-5.04452042e-03 -5.00692267e-05 -9.99987275e-01 -4.00592010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters 0.012871119113020989 Centerline is valid? [True, True] Translation: X:102.67, Y:-177.48, Z:-4.01 [[-8.57777861e-01 -5.14002392e-01 4.32241832e-03 1.02671191e+02] [-5.13996132e-01 8.57788750e-01 2.53718203e-03 -1.77482819e+02] [-5.01183944e-03 -4.53677182e-05 -9.99987440e-01 -4.00526187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters 0.012766513702093004 Centerline is valid? [True, True] Translation: X:102.60, Y:-177.50, Z:-4.00 [[-8.18958085e-01 -5.73845791e-01 2.94323939e-03 1.02602248e+02] [-5.73842184e-01 8.18963374e-01 2.03477540e-03 -1.77498479e+02] [-3.57805256e-03 -2.25591516e-05 -9.99993599e-01 -4.00498571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters 0.012736011353868688 Centerline is valid? [True, True] Translation: X:102.53, Y:-177.52, Z:-4.01 [[-7.75351449e-01 -6.31523797e-01 2.79716793e-03 1.02527683e+02] [-6.31519755e-01 7.75356495e-01 2.25951714e-03 -1.77524136e+02] [-3.59574117e-03 -1.45469136e-05 -9.99993535e-01 -4.00512046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters 0.012649285043505936 Centerline is valid? [True, True] Translation: X:102.45, Y:-177.56, Z:-4.01 [[-7.27684897e-01 -6.85908613e-01 2.01624166e-03 1.02451758e+02] [-6.85905992e-01 7.27687691e-01 1.89589676e-03 -1.77559313e+02] [-2.76760616e-03 -3.33679801e-06 -9.99996170e-01 -4.00577088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters 0.012716812750116935 Centerline is valid? [True, True] Translation: X:102.37, Y:-177.60, Z:-4.01 [[-6.76462844e-01 -7.36475370e-01 1.43160083e-03 1.02374930e+02] [-7.36473706e-01 6.76464359e-01 1.56596751e-03 -1.77603958e+02] [-2.12172344e-03 4.98247003e-06 -9.99997749e-01 -4.00586682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters 0.012994096464564297 Centerline is valid? [True, True] Translation: X:102.30, Y:-177.66, Z:-4.01 [[-6.20695081e-01 -7.84050754e-01 1.42511243e-03 1.02295076e+02] [-7.84048648e-01 6.20696717e-01 1.81729723e-03 -1.77659963e+02] [-2.30941587e-03 1.06299790e-05 -9.99997333e-01 -4.00601473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters 0.013166701473113744 Centerline is valid? [True, True] Translation: X:102.22, Y:-177.73, Z:-4.01 [[-5.61007683e-01 -8.27809615e-01 1.27304974e-03 1.02215571e+02] [-8.27807423e-01 5.61009128e-01 1.90507826e-03 -1.77725742e+02] [-2.29123463e-03 1.49235193e-05 -9.99997375e-01 -4.00595481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters 0.013442326288290726 Centerline is valid? [True, True] Translation: X:102.14, Y:-177.80, Z:-4.01 [[-4.97625777e-01 -8.67389738e-01 1.90496732e-03 1.02140494e+02] [-8.67383153e-01 4.97629422e-01 3.37997270e-03 -1.77799012e+02] [-3.87972142e-03 2.96249758e-05 -9.99992473e-01 -4.00562318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters 0.013497559709231452 Centerline is valid? [True, True] Translation: X:102.07, Y:-177.88, Z:-4.01 [[-4.29736586e-01 -9.02952814e-01 1.63792928e-03 1.02067559e+02] [-9.02946004e-01 4.29739707e-01 3.50680425e-03 -1.77880402e+02] [-3.87036202e-03 2.80403883e-05 -9.99992510e-01 -4.00625907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters 0.013185506861517517 Centerline is valid? [True, True] Translation: X:102.00, Y:-177.97, Z:-4.01 [[-3.57012042e-01 -9.34099560e-01 6.44047647e-04 1.01997825e+02] [-9.34097993e-01 3.57012623e-01 1.71050694e-03 -1.77971448e+02] [-1.82771692e-03 9.06796121e-06 -9.99998330e-01 -4.00791716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters 0.012918309261368225 Centerline is valid? [True, True] Translation: X:101.93, Y:-178.07, Z:-4.01 [[-2.80849884e-01 -9.59751618e-01 4.18076593e-04 1.01932322e+02] [-9.59750545e-01 2.80850195e-01 1.43528459e-03 -1.78069879e+02] [-1.49493360e-03 1.85027299e-06 -9.99998883e-01 -4.00811389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters 0.012940916475398183 Centerline is valid? [True, True] Translation: X:101.88, Y:-178.17, Z:-4.01 [[-2.04343043e-01 -9.78899301e-01 2.83164535e-04 1.01877062e+02] [-9.78898370e-01 2.04343239e-01 1.34957560e-03 -1.78171175e+02] [-1.37896137e-03 -1.41291648e-06 -9.99999049e-01 -4.00798986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters 0.013388900358337334 Centerline is valid? [True, True] Translation: X:101.83, Y:-178.28, Z:-4.01 [[-1.23004231e-01 -9.92406126e-01 2.02974788e-04 1.01826763e+02] [-9.92404918e-01 1.23004398e-01 1.54819363e-03 -1.78284405e+02] [-1.56140364e-03 -1.09988100e-05 -9.99998781e-01 -4.00765032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters 0.014881486842193944 Centerline is valid? [True, True] Translation: X:101.78, Y:-178.40, Z:-4.01 [[-3.78196832e-02 -9.99284572e-01 1.28438612e-04 1.01782535e+02] [-9.99281755e-01 3.78198816e-02 2.37305133e-03 -1.78395421e+02] [-2.37621112e-03 -3.85983118e-05 -9.99997176e-01 -4.00657387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters 0.01644964920263857 Centerline is valid? [True, True] Translation: X:101.75, Y:-178.51, Z:-4.01 [[ 4.43746238e-02 -9.99014959e-01 -7.13623950e-05 1.01749412e+02] [-9.99009869e-01 -4.43746255e-02 3.18985701e-03 -1.78512680e+02] [-3.18988155e-03 -7.02569679e-05 -9.99994910e-01 -4.00536837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters 0.017157838441686696 Centerline is valid? [True, True] Translation: X:101.73, Y:-178.63, Z:-4.00 [[ 1.25086510e-01 -9.92145751e-01 -4.17117206e-04 1.01727276e+02] [-9.92136848e-01 -1.25087155e-01 4.20469790e-03 -1.78629972e+02] [-4.22384916e-03 -1.12113637e-04 -9.99991073e-01 -4.00484232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters 0.017758696696219826 Centerline is valid? [True, True] Translation: X:101.11, Y:-178.80, Z:-5.03 [[ 1.58214077e-03 9.99998726e-01 -2.13121010e-04 1.01106288e+02] [-9.99985328e-01 1.58322364e-03 5.18047551e-03 -1.78798292e+02] [ 5.18080633e-03 2.04921642e-04 9.99986559e-01 -5.03389708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters 0.018033502891669544 Centerline is valid? [True, True] Translation: X:101.75, Y:-178.90, Z:-4.00 [[ 1.35183533e-01 -9.90820460e-01 -4.76909343e-04 1.01746511e+02] [-9.90810723e-01 -1.35184320e-01 4.39445416e-03 -1.78897186e+02] [-4.41858576e-03 -1.21530950e-04 -9.99990231e-01 -4.00225214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters 0.017502179463775996 Centerline is valid? [True, True] Translation: X:101.74, Y:-179.03, Z:-4.00 [[ 2.07923972e-01 -9.78144894e-01 -4.33154858e-04 1.01740255e+02] [-9.78142157e-01 -2.07924415e-01 2.31490972e-03 -1.79025911e+02] [-2.35438060e-03 -5.76381976e-05 -9.99997227e-01 -4.00364658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters 0.0152272052092812 Centerline is valid? [True, True] Translation: X:101.74, Y:-179.12, Z:-4.01 [[ 2.78790427e-01 -9.60351962e-01 -8.01491985e-05 1.01740891e+02] [-9.60351917e-01 -2.78790438e-01 2.94629550e-04 -1.79122004e+02] [-3.05292897e-04 -5.16846154e-06 -9.99999953e-01 -4.00517407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters 0.014456685888898684 Centerline is valid? [True, True] Translation: X:101.75, Y:-179.23, Z:-4.01 [[ 3.47892357e-01 -9.37534432e-01 3.11217218e-04 1.01751433e+02] [-9.37534010e-01 -3.47892496e-01 -8.89799226e-04 -1.79234882e+02] [ 9.42487546e-04 1.77776244e-05 -9.99999556e-01 -4.00603747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters 0.014338051195978942 Centerline is valid? [True, True] Translation: X:101.77, Y:-179.35, Z:-4.00 [[ 4.14426539e-01 -9.10082768e-01 -4.90748229e-06 1.01768544e+02] [-9.10082768e-01 -4.14426539e-01 7.84505090e-06 -1.79347322e+02] [-9.17343721e-06 1.21501776e-06 -1.00000000e+00 -4.00422555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters 0.01368255396660468 Centerline is valid? [True, True] Translation: X:101.79, Y:-179.46, Z:-4.00 [[ 4.80862190e-01 -8.76795485e-01 -1.10965550e-03 1.01794893e+02] [-8.76793037e-01 -4.80863470e-01 2.07205951e-03 -1.79458504e+02] [-2.35036522e-03 -2.34368594e-05 -9.99997238e-01 -4.00112233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters 0.013661415533922385 Centerline is valid? [True, True] Translation: X:101.83, Y:-179.57, Z:-4.00 [[ 5.45357506e-01 -8.38198549e-01 -2.89535363e-03 1.01827290e+02] [-8.38186266e-01 -5.45365190e-01 4.53795408e-03 -1.79566883e+02] [-5.38273161e-03 -4.79616726e-05 -9.99985512e-01 -3.99808035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters 0.01311986297346717 Centerline is valid? [True, True] Translation: X:101.87, Y:-179.67, Z:-4.00 [[ 6.06021424e-01 -7.95429460e-01 -5.47791312e-03 1.01867129e+02] [-7.95396021e-01 -6.06046178e-01 7.29381213e-03 -1.79669794e+02] [-9.12158136e-03 -6.30961088e-05 -9.99958396e-01 -3.99581503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters 0.013056241094648036 Centerline is valid? [True, True] Translation: X:101.91, Y:-179.77, Z:-4.00 [[ 6.63970273e-01 -7.47736323e-01 -5.81957768e-03 1.01913952e+02] [-7.47706932e-01 -6.63995775e-01 6.62982399e-03 -1.79772106e+02] [-8.82153520e-03 -5.06674677e-05 -9.99961088e-01 -3.99637825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters 0.013075706890291122 Centerline is valid? [True, True] Translation: X:101.97, Y:-179.87, Z:-4.00 [[ 7.18411266e-01 -6.95599698e-01 -5.12952089e-03 1.01969202e+02] [-6.95581608e-01 -7.18429578e-01 5.01681370e-03 -1.79870507e+02] [-7.17489362e-03 -3.61350934e-05 -9.99974260e-01 -3.99762444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters 0.013069876441368885 Centerline is valid? [True, True] Translation: X:101.99, Y:-179.90, Z:-4.00 [[ 7.70029817e-01 -6.37992288e-01 -4.46334275e-03 1.01989602e+02] [-6.37981391e-01 -7.70042752e-01 3.72907186e-03 -1.79898432e+02] [-5.81608382e-03 -2.39669106e-05 -9.99983086e-01 -3.99868927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters 0.013202912646484785 Centerline is valid? [True, True] Translation: X:102.01, Y:-179.93, Z:-4.00 [[ 8.17505839e-01 -5.75911868e-01 -3.11832368e-03 1.02010993e+02] [-5.75907608e-01 -8.17511786e-01 2.21509010e-03 -1.79927353e+02] [-3.82496304e-03 -1.49827587e-05 -9.99992685e-01 -3.99922049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters 0.01323414170375506 Centerline is valid? [True, True] Translation: X:102.04, Y:-179.95, Z:-4.00 [[ 8.60679433e-01 -5.09137503e-01 -3.14918746e-03 1.02035388e+02] [-5.09134014e-01 -8.60685194e-01 1.88500260e-03 -1.79954580e+02] [-3.67018454e-03 -1.90245171e-05 -9.99993265e-01 -3.99921652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters 0.013558502194267729 Centerline is valid? [True, True] Translation: X:102.06, Y:-179.98, Z:-4.00 [[ 8.99098955e-01 -4.37731099e-01 -3.54331348e-03 1.02061398e+02] [-4.37727559e-01 -8.99105936e-01 1.76071321e-03 -1.79980926e+02] [-3.95653311e-03 -3.20494522e-05 -9.99992172e-01 -3.99845432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters 0.01402002880399242 Centerline is valid? [True, True] Translation: X:102.09, Y:-180.01, Z:-4.00 [[ 9.32087365e-01 -3.62212592e-01 -3.89638758e-03 1.02089419e+02] [-3.62209195e-01 -9.32095508e-01 1.56958124e-03 -1.80005625e+02] [-4.20032745e-03 -5.16794346e-05 -9.99991177e-01 -3.99859916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters 0.015683365548313264 Centerline is valid? [True, True] Translation: X:102.12, Y:-180.03, Z:-4.00 [[ 9.59237169e-01 -2.82556326e-01 -5.09673876e-03 1.02117929e+02] [-2.82551795e-01 -9.59250704e-01 1.60320283e-03 -1.80028870e+02] [-5.34204535e-03 -9.77590626e-05 -9.99985726e-01 -3.99759483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters 0.015787062859013858 Centerline is valid? [True, True] Translation: X:102.15, Y:-180.05, Z:-4.00 [[ 9.78705148e-01 -2.05215901e-01 -4.76103127e-03 1.02150704e+02] [-2.05212991e-01 -9.78716723e-01 1.09715729e-03 -1.80046291e+02] [-4.88485505e-03 -9.67680234e-05 -9.99988064e-01 -3.99745596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters 0.01587228328612317 Centerline is valid? [True, True] Translation: X:102.18, Y:-180.06, Z:-4.00 [[ 9.91643030e-01 -1.28940438e-01 -4.29709427e-03 1.02184756e+02] [-1.28938868e-01 -9.91652337e-01 6.41587648e-04 -1.80059372e+02] [-4.34395016e-03 -8.21634468e-05 -9.99990562e-01 -3.99695518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters 0.01401599431372479 Centerline is valid? [True, True] Translation: X:102.22, Y:-180.06, Z:-4.00 [[ 9.98365704e-01 -5.70806036e-02 -2.77954611e-03 1.02217070e+02] [-5.70802847e-02 -9.98369573e-01 1.94023387e-04 -1.80064430e+02] [-2.78608923e-03 -3.50490122e-05 -9.99996118e-01 -3.99801737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters 0.013233399448193479 Centerline is valid? [True, True] Translation: X:102.25, Y:-180.07, Z:-4.00 [[ 9.99881631e-01 1.52990148e-02 -1.63225089e-03 1.02248940e+02] [ 1.52990112e-02 -9.99882963e-01 -1.46919297e-05 -1.80066874e+02] [-1.63228462e-03 -1.02816339e-05 -9.99998668e-01 -3.99835253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters 0.012860016398973991 Centerline is valid? [True, True] Translation: X:102.28, Y:-180.07, Z:-4.00 [[ 9.96155602e-01 8.75950366e-02 -1.06110520e-03 1.02280493e+02] [ 8.75949869e-02 -9.96156167e-01 -9.33815360e-05 -1.80065800e+02] [-1.06520625e-03 7.50442881e-08 -9.99999433e-01 -3.99792050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters 0.013046418757063806 Centerline is valid? [True, True] Translation: X:102.31, Y:-180.07, Z:-3.99 [[ 9.87199092e-01 1.59456756e-01 -3.39068185e-03 1.02312360e+02] [ 1.59455753e-01 -9.87204914e-01 -5.65672699e-04 -1.80066055e+02] [-3.43749812e-03 1.77678461e-05 -9.99994092e-01 -3.99471898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters 0.013398829546028319 Centerline is valid? [True, True] Translation: X:102.34, Y:-180.06, Z:-3.99 [[ 9.72188456e-01 2.34137638e-01 -5.40118706e-03 1.02342909e+02] [ 2.34133795e-01 -9.72203459e-01 -1.34213700e-03 -1.80064084e+02] [-5.56529753e-03 4.02096737e-05 -9.99984513e-01 -3.99249787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters 0.013981323736618267 Centerline is valid? [True, True] Translation: X:102.37, Y:-180.06, Z:-3.99 [[ 9.51610373e-01 3.07183794e-01 -8.70710570e-03 1.02373891e+02] [ 3.07170088e-01 -9.51650203e-01 -2.90321696e-03 -1.80057605e+02] [-9.17794011e-03 8.81689531e-05 -9.99957878e-01 -3.98915198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters 0.013904253068529705 Centerline is valid? [True, True] Translation: X:102.41, Y:-180.06, Z:-3.99 [[ 9.25012029e-01 3.79811171e-01 -9.80926904e-03 1.02406180e+02] [ 3.79788518e-01 -9.25064031e-01 -4.14966602e-03 -1.80055073e+02] [-1.06502915e-02 1.13043234e-04 -9.99943278e-01 -3.98831393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters 0.013996532465958023 Centerline is valid? [True, True] Translation: X:102.44, Y:-180.05, Z:-3.99 [[ 8.92578034e-01 4.50785504e-01 -9.84291922e-03 1.02437942e+02] [ 4.50756595e-01 -8.92632295e-01 -5.10663450e-03 -1.80048942e+02] [-1.10881044e-02 1.21309031e-04 -9.99938518e-01 -3.98805482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters 0.014130127389798576 Centerline is valid? [True, True] Translation: X:102.47, Y:-180.04, Z:-3.99 [[ 8.54702321e-01 5.19049214e-01 -8.47685906e-03 1.02468100e+02] [ 5.19022384e-01 -8.54744349e-01 -5.27856578e-03 -1.80038418e+02] [-9.98538279e-03 1.11922816e-04 -9.99950139e-01 -3.98876426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters 0.013915837330898656 Centerline is valid? [True, True] Translation: X:102.50, Y:-180.03, Z:-3.99 [[ 8.10971754e-01 5.85048808e-01 -6.53502079e-03 1.02497795e+02] [ 5.85028973e-01 -8.10998079e-01 -4.81825906e-03 -1.80026633e+02] [-8.11880603e-03 8.42954941e-05 -9.99967038e-01 -3.99035212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters 0.013563972327707428 Centerline is valid? [True, True] Translation: X:102.53, Y:-180.01, Z:-3.99 [[ 7.60912562e-01 6.48840601e-01 -4.23646259e-03 1.02526149e+02] [ 6.48830228e-01 -7.60924354e-01 -3.66920055e-03 -1.80013398e+02] [-5.60435385e-03 4.31958055e-05 -9.99984295e-01 -3.99148069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters 0.013300337947294773 Centerline is valid? [True, True] Translation: X:102.55, Y:-180.00, Z:-3.99 [[ 7.05560227e-01 7.08641239e-01 -3.51580940e-03 1.02552798e+02] [ 7.08632278e-01 -7.05568986e-01 -3.56378813e-03 -1.79996927e+02] [-5.00609331e-03 2.30511323e-05 -9.99987469e-01 -3.99176911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters 0.013058725857103515 Centerline is valid? [True, True] Translation: X:102.58, Y:-179.98, Z:-3.99 [[ 6.43780593e-01 7.65204748e-01 -2.87091466e-03 1.02583096e+02] [ 7.65197162e-01 -6.43786994e-01 -3.40718729e-03 -1.79981930e+02] [-4.45545342e-03 -3.33469769e-06 -9.99990074e-01 -3.99171744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters 0.013257406883465212 Centerline is valid? [True, True] Translation: X:102.61, Y:-179.97, Z:-3.99 [[ 5.78742366e-01 8.15506396e-01 -2.56770153e-03 1.02613556e+02] [ 8.15498524e-01 -5.78748061e-01 -3.58312128e-03 -1.79965452e+02] [-4.40811060e-03 -2.02527223e-05 -9.99990284e-01 -3.99169391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters 0.01373772907022347 Centerline is valid? [True, True] Translation: X:102.64, Y:-179.95, Z:-3.99 [[ 5.09421869e-01 8.60513545e-01 -2.40791949e-03 1.02640743e+02] [ 8.60504314e-01 -5.09427558e-01 -3.98593687e-03 -1.79945925e+02] [-4.65661321e-03 -4.15017046e-05 -9.99989157e-01 -3.99139448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters 0.01464987701874417 Centerline is valid? [True, True] Translation: X:102.67, Y:-179.92, Z:-3.99 [[ 4.35989773e-01 8.99949106e-01 -2.12713275e-03 1.02665899e+02] [ 8.99939122e-01 -4.35994957e-01 -4.23956156e-03 -1.79924313e+02] [-4.74280878e-03 -6.58844978e-05 -9.99988751e-01 -3.99029933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters 0.01506045309913409 Centerline is valid? [True, True] Translation: X:102.69, Y:-179.90, Z:-3.99 [[ 3.62312010e-01 9.32055361e-01 -1.67649269e-03 1.02686717e+02] [ 9.32046266e-01 -3.62315882e-01 -4.11823512e-03 -1.79898358e+02] [-4.44584305e-03 -7.04827065e-05 -9.99990115e-01 -3.99001005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters 0.014887709218456262 Centerline is valid? [True, True] Translation: X:102.70, Y:-179.87, Z:-3.99 [[ 2.87618534e-01 9.57744033e-01 -1.39516892e-03 1.02704874e+02] [ 9.57734013e-01 -2.87621908e-01 -4.38156383e-03 -1.79870235e+02] [-4.59769776e-03 -7.59817669e-05 -9.99989428e-01 -3.99025510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters 0.014829410476832774 Centerline is valid? [True, True] Translation: X:102.72, Y:-179.84, Z:-3.99 [[ 2.12212704e-01 9.77222447e-01 -1.43435609e-03 1.02719799e+02] [ 9.77203238e-01 -2.12217528e-01 -6.12806217e-03 -1.79841077e+02] [-6.29287541e-03 -1.01204774e-04 -9.99980195e-01 -3.98935933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters 0.014549576367523288 Centerline is valid? [True, True] Translation: X:102.73, Y:-179.81, Z:-3.99 [[ 1.36431895e-01 9.90648802e-01 -1.13548403e-03 1.02730938e+02] [ 9.90620922e-01 -1.36436575e-01 -7.43304157e-03 -1.79810549e+02] [-7.51845528e-03 -1.10730291e-04 -9.99971730e-01 -3.98888046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters 0.014153192085133598 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.78, Z:-3.99 [[ 6.06579992e-02 9.98158394e-01 -6.54213551e-04 1.02739829e+02] [ 9.98118570e-01 -6.06614235e-02 -8.91691643e-03 -1.79780115e+02] [-8.94018051e-03 -1.12100384e-04 -9.99960030e-01 -3.98879940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters 0.013535707768566878 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.75, Z:-3.99 [[-1.21792940e-02 9.99925829e-01 4.42714706e-05 1.02744692e+02] [ 9.99889505e-01 1.21792290e-02 -8.52317367e-03 -1.79748577e+02] [-8.52308069e-03 -5.95396595e-05 -9.99963676e-01 -3.98916407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters 0.0132976564296646 Centerline is valid? [True, True] Translation: X:102.75, Y:-179.72, Z:-3.99 [[-8.57710355e-02 9.96314661e-01 6.52221812e-04 1.02747140e+02] [ 9.96284253e-01 8.57735134e-02 -7.78409450e-03 -1.79718542e+02] [-7.81135083e-03 -1.78515248e-05 -9.99969491e-01 -3.98901671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters 0.013220017598634188 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.69, Z:-3.99 [[-1.58254122e-01 9.87397740e-01 1.15619332e-03 1.02744856e+02] [ 9.87372406e-01 1.58258343e-01 -7.07311202e-03 -1.79688433e+02] [-7.16695206e-03 2.22442479e-05 -9.99974317e-01 -3.99007261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters 0.014127659102853012 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.66, Z:-3.99 [[-2.27900310e-01 9.73682836e-01 1.78441446e-03 1.02737446e+02] [ 9.73655638e-01 2.27907283e-01 -7.27796374e-03 -1.79660364e+02] [-7.49310942e-03 7.87550024e-05 -9.99971923e-01 -3.99011192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters 0.013888004460645548 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.63, Z:-3.99 [[-3.03167364e-01 9.52934384e-01 2.36831992e-03 1.02740792e+02] [ 9.52907380e-01 3.03176604e-01 -7.17438959e-03 -1.79628534e+02] [-7.55474172e-03 8.17487493e-05 -9.99971459e-01 -3.99061505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters 0.014085777551313712 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.60, Z:-3.99 [[-3.78265689e-01 9.25690554e-01 3.47360769e-03 1.02739377e+02] [ 9.25653530e-01 3.78281629e-01 -8.27964252e-03 -1.79598415e+02] [-8.97838885e-03 8.34525378e-05 -9.99959690e-01 -3.98949753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters 0.013622169570879025 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.57, Z:-3.99 [[-4.51498476e-01 8.92259487e-01 4.70472994e-03 1.02736932e+02] [ 8.92212735e-01 4.51522982e-01 -9.13411566e-03 -1.79566552e+02] [-1.02742950e-02 7.35806621e-05 -9.99947215e-01 -3.98985036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters 0.01342120428139251 Centerline is valid? [True, True] Translation: X:102.73, Y:-179.53, Z:-3.99 [[-5.23616895e-01 8.51934913e-01 5.67898869e-03 1.02732866e+02] [ 8.51885461e-01 5.23647690e-01 -9.17922860e-03 -1.79534633e+02] [-1.07938946e-02 3.14487238e-05 -9.99941744e-01 -3.98928909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters 0.01332586941079486 Centerline is valid? [True, True] Translation: X:102.73, Y:-179.50, Z:-3.99 [[-5.91331464e-01 8.06407988e-01 5.76695684e-03 1.02726916e+02] [ 8.06369595e-01 5.91359584e-01 -7.86887024e-03 -1.79501076e+02] [-9.75586501e-03 -2.81190645e-06 -9.99952410e-01 -3.98920726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters 0.01340224076958158 Centerline is valid? [True, True] Translation: X:102.72, Y:-179.47, Z:-3.99 [[-6.54614546e-01 7.55946375e-01 4.98743213e-03 1.02715507e+02] [ 7.55924184e-01 6.54633545e-01 -5.79221313e-03 -1.79470836e+02] [-7.64354289e-03 -2.15464065e-05 -9.99970788e-01 -3.99062914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters 0.013600830244489569 Centerline is valid? [True, True] Translation: X:102.70, Y:-179.44, Z:-3.99 [[-7.13931406e-01 7.00208040e-01 3.26317599e-03 1.02701521e+02] [ 7.00200558e-01 7.13938863e-01 -3.23697366e-03 -1.79441181e+02] [-4.59626313e-03 -2.60995110e-05 -9.99989437e-01 -3.99433994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters 0.013772249930685314 Centerline is valid? [True, True] Translation: X:102.72, Y:-179.42, Z:-4.00 [[-7.62568185e-01 6.46904411e-01 2.10839610e-03 1.02719474e+02] [ 6.46901868e-01 7.62571100e-01 -1.81389916e-03 -1.79418137e+02] [-2.78122130e-03 -1.92964161e-05 -9.99996132e-01 -3.99593949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters 0.013665650590377363 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.39, Z:-4.00 [[-8.06528784e-01 5.91194334e-01 7.61603326e-04 1.02737741e+02] [ 5.91194064e-01 8.06529143e-01 -5.65738782e-04 -1.79391727e+02] [-9.48716841e-04 -6.02924675e-06 -9.99999550e-01 -3.99699029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters 0.013553841549429317 Centerline is valid? [True, True] Translation: X:102.75, Y:-179.37, Z:-4.00 [[-8.45242868e-01 5.34381815e-01 7.54877930e-04 1.02752850e+02] [ 5.34381598e-01 8.45243205e-01 -4.81748449e-04 -1.79367810e+02] [-8.95493052e-04 -3.80156644e-06 -9.99999599e-01 -3.99709483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters 0.013330795022598775 Centerline is valid? [True, True] Translation: X:102.77, Y:-179.35, Z:-4.00 [[-8.79094632e-01 4.76641727e-01 2.30051243e-03 1.02769812e+02] [ 4.76640084e-01 8.79097642e-01 -1.25138923e-03 -1.79347432e+02] [-2.61883938e-03 -3.57311263e-06 -9.99996571e-01 -3.99647657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters 0.013485151679840771 Centerline is valid? [True, True] Translation: X:103.06, Y:-178.82, Z:-5.04 [[-8.46897434e-01 -5.31739462e-01 4.22854615e-03 1.03063934e+02] [ 5.31733601e-01 -8.46907981e-01 -2.49999395e-03 -1.78819752e+02] [ 4.91053492e-03 1.31221606e-04 9.99987935e-01 -5.04180420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters 0.013899819165199447 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.33, Z:-3.99 [[-8.75687333e-01 4.82853162e-01 4.95169462e-03 1.02737262e+02] [ 4.82845769e-01 8.75701331e-01 -2.67238030e-03 -1.79330633e+02] [-5.62657285e-03 5.07352167e-05 -9.99984170e-01 -3.99415876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters 0.014412810811526724 Centerline is valid? [True, True] Translation: X:102.75, Y:-179.30, Z:-3.99 [[-9.06587357e-01 4.21977991e-01 5.82576486e-03 1.02746338e+02] [ 4.21969803e-01 9.06606072e-01 -2.62986094e-03 -1.79304800e+02] [-6.39141723e-03 7.40981692e-05 -9.99979572e-01 -3.99334701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters 0.014540791488479112 Centerline is valid? [True, True] Translation: X:102.75, Y:-179.28, Z:-3.99 [[-9.34008795e-01 3.57178265e-01 7.15940484e-03 1.02754954e+02] [ 3.57168527e-01 9.34036230e-01 -2.63909069e-03 -1.79276784e+02] [-7.62976933e-03 9.21801715e-05 -9.99970889e-01 -3.99275279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters 0.0142946730768957 Centerline is valid? [True, True] Translation: X:102.76, Y:-179.25, Z:-3.99 [[-9.57250042e-01 2.89164513e-01 7.49937630e-03 1.02761243e+02] [ 2.89156351e-01 9.57279414e-01 -2.17436716e-03 -1.79248447e+02] [-7.80774837e-03 8.70792350e-05 -9.99969515e-01 -3.99241072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters 0.013695911023847195 Centerline is valid? [True, True] Translation: X:102.76, Y:-179.21, Z:-3.99 [[-9.76188936e-01 2.16761040e-01 8.35543021e-03 1.02760608e+02] [ 2.16753642e-01 9.76224691e-01 -1.79191140e-03 -1.79214936e+02] [-8.54519385e-03 6.18258482e-05 -9.99963487e-01 -3.99250824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters 0.013401916759623005 Centerline is valid? [True, True] Translation: X:102.75, Y:-179.18, Z:-3.99 [[-9.90573146e-01 1.36596253e-01 1.03104475e-02 1.02751295e+02] [ 1.36588497e-01 9.90626803e-01 -1.45607438e-03 -1.79176755e+02] [-1.04126999e-02 -3.40596572e-05 -9.99945786e-01 -3.99123348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters 0.014120589544500123 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.14, Z:-3.99 [[-9.98219306e-01 5.85373858e-02 1.14713392e-02 1.02744282e+02] [ 5.85321013e-02 9.98285209e-01 -7.96143881e-04 -1.79142633e+02] [-1.14982724e-02 -1.23284604e-04 -9.99933885e-01 -3.99048031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters 0.01495199344515046 Centerline is valid? [True, True] Translation: X:102.74, Y:-179.11, Z:-3.99 [[-9.99762247e-01 -1.83007191e-02 1.18546518e-02 1.02738443e+02] [-1.83017614e-02 9.99832509e-01 2.05648543e-05 -1.79111617e+02] [-1.18530426e-02 -1.96401044e-04 -9.99929731e-01 -3.99077722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters 0.015899455234095396 Centerline is valid? [True, True] Translation: X:102.73, Y:-178.57, Z:-5.05 [[-9.96221366e-01 -8.61328421e-02 1.11410352e-02 1.02730039e+02] [ 8.61290064e-02 -9.96283652e-01 -8.24517507e-04 -1.78565523e+02] [ 1.11706493e-02 1.38164337e-04 9.99937597e-01 -5.04582005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters 0.01604434590259411 Centerline is valid? [True, True] Translation: X:102.68, Y:-179.11, Z:-3.99 [[-9.99599831e-01 -2.62495817e-02 1.05422012e-02 1.02680679e+02] [-2.62503974e-02 9.99655397e-01 6.10178239e-05 -1.79111524e+02] [-1.05401700e-02 -2.15743564e-04 -9.99944428e-01 -3.99109845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters 0.01567527557366714 Centerline is valid? [True, True] Translation: X:102.67, Y:-178.56, Z:-5.05 [[-9.96637884e-01 -8.12578359e-02 1.04925187e-02 1.02674672e+02] [ 8.12555830e-02 -9.96693092e-01 -6.41546801e-04 -1.78561899e+02] [ 1.05099516e-02 2.13185880e-04 9.99944746e-01 -5.04550299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters 0.015834082666665614 Centerline is valid? [True, True] Translation: X:102.63, Y:-179.12, Z:-3.99 [[-9.99529065e-01 -2.86023171e-02 1.11155938e-02 1.02629268e+02] [-2.86028621e-02 9.99590848e-01 1.09973756e-04 -1.79119196e+02] [-1.11141914e-02 -2.08015832e-04 -9.99938214e-01 -3.99040838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters 0.015695582729762302 Centerline is valid? [True, True] Translation: X:102.62, Y:-178.56, Z:-5.05 [[-9.97061252e-01 -7.59275527e-02 1.01914655e-02 1.02620212e+02] [ 7.59249458e-02 -9.97113328e-01 -6.43012277e-04 -1.78556066e+02] [ 1.02108684e-02 1.32663838e-04 9.99947859e-01 -5.04557236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters 0.015210685405681119 Centerline is valid? [True, True] Translation: X:102.57, Y:-179.13, Z:-3.99 [[-9.99469482e-01 -3.13521840e-02 8.82012166e-03 1.02573823e+02] [-3.13523047e-02 9.99508388e-01 1.24621373e-04 -1.79130676e+02] [-8.81969274e-03 -1.51975883e-04 -9.99961094e-01 -3.99219380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters 0.014188429587200298 Centerline is valid? [True, True] Translation: X:102.57, Y:-178.54, Z:-5.04 [[-9.97614478e-01 -6.84945419e-02 8.59365388e-03 1.02565629e+02] [ 6.84931632e-02 -9.97651482e-01 -4.54974791e-04 -1.78543340e+02] [ 8.60463482e-03 1.34717099e-04 9.99962970e-01 -5.04404013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters 0.01396423828055605 Centerline is valid? [True, True] Translation: X:102.52, Y:-179.14, Z:-3.99 [[-9.99514836e-01 -2.99293841e-02 8.62121446e-03 1.02518699e+02] [-2.99291270e-02 9.99552011e-01 1.58853989e-04 -1.79144061e+02] [-8.62210665e-03 -9.92485041e-05 -9.99962824e-01 -3.99176853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters 0.012705593866723878 Centerline is valid? [True, True] Translation: X:102.51, Y:-178.53, Z:-5.04 [[-9.98581010e-01 -5.25017686e-02 8.91802798e-03 1.02513983e+02] [ 5.25007482e-02 -9.98620824e-01 -3.48648945e-04 -1.78527320e+02] [ 8.92403314e-03 1.20048926e-04 9.99960173e-01 -5.04480441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters 0.012840459585900032 Centerline is valid? [True, True] Translation: X:102.46, Y:-179.17, Z:-3.99 [[-9.99753384e-01 -2.00676778e-02 9.51103854e-03 1.02459310e+02] [-2.00665030e-02 9.99798624e-01 2.18937898e-04 -1.79166296e+02] [-9.51351681e-03 2.80306204e-05 -9.99954745e-01 -3.99179805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters 0.013294147138526042 Centerline is valid? [True, True] Translation: X:102.46, Y:-179.14, Z:-3.99 [[-9.96231057e-01 -8.62322037e-02 9.36423109e-03 1.02455614e+02] [-8.62276930e-02 9.96275063e-01 8.85119171e-04 -1.79143072e+02] [-9.40567570e-03 7.43271633e-05 -9.99955763e-01 -3.99222720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters 0.013471102848900126 Centerline is valid? [True, True] Translation: X:102.40, Y:-178.49, Z:-5.05 [[-9.99332234e-01 3.47360435e-02 1.13355189e-02 1.02396100e+02] [-3.47333727e-02 -9.99396521e-01 4.32451190e-04 -1.78492691e+02] [ 1.13436998e-02 3.84416106e-05 9.99935658e-01 -5.04664815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters 0.013468478544392258 Centerline is valid? [True, True] Translation: X:102.38, Y:-179.15, Z:-3.99 [[-9.95677849e-01 -9.19523244e-02 1.30533988e-02 1.02375461e+02] [-9.19431708e-02 9.95763406e-01 1.30090364e-03 -1.79150446e+02] [-1.31177180e-02 9.51100650e-05 -9.99913955e-01 -3.98952379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters 0.013200386000282671 Centerline is valid? [True, True] Translation: X:102.31, Y:-178.50, Z:-5.05 [[-9.99224549e-01 3.71487351e-02 1.30488529e-02 1.02311925e+02] [-3.71468610e-02 -9.99309743e-01 3.86043564e-04 -1.78501446e+02] [ 1.30541869e-02 -9.89797203e-05 9.99914786e-01 -5.04677092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters 0.013141532469376162 Centerline is valid? [True, True] Translation: X:102.30, Y:-179.15, Z:-3.99 [[-9.94847218e-01 -1.00491916e-01 1.34308491e-02 1.02295986e+02] [-1.00482082e-01 9.94937874e-01 1.40669202e-03 -1.79154185e+02] [-1.35042217e-02 4.98839584e-05 -9.99908813e-01 -3.99007546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters 0.012867685958020295 Centerline is valid? [True, True] Translation: X:102.28, Y:-179.13, Z:-3.99 [[-9.84882231e-01 -1.72792686e-01 1.22343336e-02 1.02284923e+02] [-1.72779049e-01 9.84958216e-01 2.17098746e-03 -1.79126066e+02] [-1.24254381e-02 2.43304554e-05 -9.99922801e-01 -3.99137701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters 0.01279709559808514 Centerline is valid? [True, True] Translation: X:102.27, Y:-179.10, Z:-3.99 [[-9.68655243e-01 -2.48211741e-01 9.89702087e-03 1.02268890e+02] [-2.48199204e-01 9.68705802e-01 2.49506249e-03 -1.79097370e+02] [-1.02066053e-02 -3.95773323e-05 -9.99947911e-01 -3.99409013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters 0.013345919348839325 Centerline is valid? [True, True] Translation: X:102.24, Y:-179.07, Z:-4.00 [[-9.46533143e-01 -3.22501454e-01 8.23534904e-03 1.02242247e+02] [-3.22490037e-01 9.46568965e-01 2.71493499e-03 -1.79071571e+02] [-8.67089629e-03 -8.60420667e-05 -9.99962403e-01 -3.99513349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters 0.014442050369934534 Centerline is valid? [True, True] Translation: X:102.20, Y:-179.05, Z:-4.00 [[-9.18674018e-01 -3.94949352e-01 7.28409787e-03 1.02204605e+02] [-3.94937990e-01 9.18702887e-01 2.99821405e-03 -1.79050520e+02] [-7.87606444e-03 -1.22385617e-04 -9.99968976e-01 -3.99503860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters 0.01594435439880394 Centerline is valid? [True, True] Translation: X:102.16, Y:-179.04, Z:-3.99 [[-8.85169436e-01 -4.65210866e-01 7.34300747e-03 1.02157596e+02] [-4.65196465e-01 8.85199876e-01 3.66457428e-03 -1.79037880e+02] [-8.20482908e-03 -1.72171972e-04 -9.99966325e-01 -3.99392906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters 0.01590940145049993 Centerline is valid? [True, True] Translation: X:102.09, Y:-179.04, Z:-3.99 [[-8.48225346e-01 -5.29589073e-01 7.01259516e-03 1.02093831e+02] [-5.29572693e-01 8.48254314e-01 4.16900946e-03 -1.79043130e+02] [-8.15632595e-03 -1.77419415e-04 -9.99966721e-01 -3.99423852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters 0.015740033363251405 Centerline is valid? [True, True] Translation: X:102.03, Y:-179.05, Z:-3.99 [[-8.07200106e-01 -5.90243645e-01 6.35838715e-03 1.02029660e+02] [-5.90226918e-01 8.07225132e-01 4.44655305e-03 -1.79054304e+02] [-7.75719959e-03 -1.63633160e-04 -9.99969899e-01 -3.99403593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters 0.015656035565026722 Centerline is valid? [True, True] Translation: X:101.96, Y:-179.08, Z:-3.99 [[-7.61583681e-01 -6.48035595e-01 6.33748675e-03 1.01958916e+02] [-6.48014973e-01 7.61610031e-01 5.17254440e-03 -1.79075869e+02] [-8.17868637e-03 -1.67460907e-04 -9.99966540e-01 -3.99329876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters 0.01575361908629953 Centerline is valid? [True, True] Translation: X:101.88, Y:-179.11, Z:-3.99 [[-7.11095548e-01 -7.03068406e-01 6.15936588e-03 1.01882312e+02] [-7.03044139e-01 7.11122202e-01 5.84411640e-03 -1.79107615e+02] [-8.48887543e-03 -1.74580926e-04 -9.99963954e-01 -3.99223402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters 0.016138906186514018 Centerline is valid? [True, True] Translation: X:101.80, Y:-179.15, Z:-3.99 [[-6.56037199e-01 -7.54701386e-01 6.40400530e-03 1.01803788e+02] [-7.54668383e-01 6.56068424e-01 7.06077767e-03 -1.79148850e+02] [-9.53024437e-03 -2.00767519e-04 -9.99954566e-01 -3.98967618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters 0.015455184280833655 Centerline is valid? [True, True] Translation: X:101.73, Y:-179.20, Z:-3.99 [[-5.97726928e-01 -8.01669305e-01 6.98897917e-03 1.01727091e+02] [-8.01619025e-01 5.97767740e-01 8.98152599e-03 -1.79200892e+02] [-1.13780000e-02 -2.33998737e-04 -9.99935241e-01 -3.98809240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters 0.015472667940718028 Centerline is valid? [True, True] Translation: X:101.65, Y:-179.27, Z:-3.99 [[-5.35865683e-01 -8.44276609e-01 6.70655169e-03 1.01647882e+02] [-8.44216125e-01 5.35907593e-01 1.01086971e-02 -1.79265303e+02] [-1.21286285e-02 -2.44875211e-04 -9.99926416e-01 -3.98701398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters 0.015282288403690449 Centerline is valid? [True, True] Translation: X:101.57, Y:-179.33, Z:-3.98 [[-4.72331643e-01 -8.81388556e-01 7.55198919e-03 1.01574753e+02] [-8.81285140e-01 4.72391931e-01 1.35042993e-02 -1.79334564e+02] [-1.54700336e-02 -2.76947993e-04 -9.99880294e-01 -3.98373622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters 0.015072256772810757 Centerline is valid? [True, True] Translation: X:101.50, Y:-179.41, Z:-3.98 [[-4.05822429e-01 -9.13926088e-01 6.87467106e-03 1.01503513e+02] [-9.13805695e-01 4.05880570e-01 1.48362589e-02 -1.79412675e+02] [-1.63495395e-02 -2.61226940e-04 -9.99866303e-01 -3.98265845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters 0.013667796630318658 Centerline is valid? [True, True] Translation: X:101.44, Y:-179.50, Z:-3.98 [[-3.39958935e-01 -9.40421074e-01 6.01046444e-03 1.01440873e+02] [-9.40283627e-01 3.40012013e-01 1.60789532e-02 -1.79501857e+02] [-1.71646165e-02 -1.85357500e-04 -9.99852660e-01 -3.98390751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters 0.013467998599325232 Centerline is valid? [True, True] Translation: X:101.39, Y:-179.59, Z:-3.98 [[-2.72796237e-01 -9.62059754e-01 4.82105559e-03 1.01387215e+02] [-9.61915084e-01 2.72838821e-01 1.66837812e-02 -1.79590470e+02] [-1.73661655e-02 -8.61733790e-05 -9.99849193e-01 -3.98248743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters 0.01323594806768932 Centerline is valid? [True, True] Translation: X:101.34, Y:-179.69, Z:-3.98 [[-2.05468072e-01 -9.78657300e-01 3.57220150e-03 1.01340984e+02] [-9.78506240e-01 2.05499119e-01 1.71944698e-02 -1.79688718e+02] [-1.75615777e-02 3.74931017e-05 -9.99845783e-01 -3.98453426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters 0.013750724832754545 Centerline is valid? [True, True] Translation: X:101.30, Y:-179.79, Z:-3.99 [[-1.39200541e-01 -9.90262010e-01 2.08848896e-03 1.01300446e+02] [-9.90129446e-01 1.39216081e-01 1.62037796e-02 -1.79792773e+02] [-1.63367386e-02 1.87700469e-04 -9.99866529e-01 -3.98779294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters 0.01678396712572637 Centerline is valid? [True, True] Translation: X:101.26, Y:-179.90, Z:-3.99 [[-6.75363801e-02 -9.97716489e-01 8.03111183e-04 1.01264794e+02] [-9.97594925e-01 6.75406895e-02 1.55763019e-02 -1.79902265e+02] [-1.55949759e-02 2.50787407e-04 -9.99878360e-01 -3.98737693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters 0.014498313864541578 Centerline is valid? [True, True] Translation: X:101.24, Y:-180.02, Z:-3.99 [[ 8.44959944e-03 -9.99964248e-01 -3.28676201e-04 1.01235465e+02] [-9.99878799e-01 -8.45317469e-03 1.30740307e-02 -1.80017332e+02] [-1.30763416e-02 2.18166043e-04 -9.99914477e-01 -3.99067911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters 0.013851707954300614 Centerline is valid? [True, True] Translation: X:101.21, Y:-180.14, Z:-3.99 [[ 8.93953638e-02 -9.95995465e-01 -1.22589737e-03 1.01212704e+02] [-9.95923136e-01 -8.94036467e-02 1.20039594e-02 -1.80137675e+02] [-1.20654888e-02 1.47801239e-04 -9.99927199e-01 -3.99191704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters 0.012874938812756299 Centerline is valid? [True, True] Translation: X:100.59, Y:-180.31, Z:-5.04 [[ 4.07539399e-02 9.99169159e-01 -3.27485867e-04 1.00589370e+02] [-9.99098321e-01 4.07549504e-02 1.18986989e-02 -1.80310334e+02] [ 1.19021596e-02 -1.57728279e-04 9.99929154e-01 -5.04491207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters 0.012540020179237747 Centerline is valid? [True, True] Translation: X:101.23, Y:-180.41, Z:-3.99 [[ 1.09975782e-01 -9.93933385e-01 -1.32433873e-03 1.01227993e+02] [-9.93862284e-01 -1.09983755e-01 1.18883968e-02 -1.80413565e+02] [-1.19619302e-02 8.77458834e-06 -9.99928454e-01 -3.99163399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters 0.012833957528015754 Centerline is valid? [True, True] Translation: X:101.21, Y:-180.54, Z:-3.99 [[ 1.92305727e-01 -9.81333089e-01 -1.96868082e-03 1.01213621e+02] [-9.81278159e-01 -1.92315793e-01 1.03831717e-02 -1.80541067e+02] [-1.05679583e-02 -6.49198848e-05 -9.99944156e-01 -3.99107801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters 0.012889505216030626 Centerline is valid? [True, True] Translation: X:101.21, Y:-180.65, Z:-3.99 [[ 2.69051308e-01 -9.63122428e-01 -2.56576635e-03 1.01210227e+02] [-9.63075621e-01 -2.69063529e-01 9.49555273e-03 -1.80650790e+02] [-9.83573395e-03 -8.37638621e-05 -9.99951625e-01 -3.99284035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters 0.013168941083971987 Centerline is valid? [True, True] Translation: X:101.22, Y:-180.77, Z:-3.99 [[ 3.43465725e-01 -9.39160887e-01 -2.85014527e-03 1.01216378e+02] [-9.39126406e-01 -3.43477540e-01 8.04814906e-03 -1.80768054e+02] [-8.53746770e-03 -8.76166643e-05 -9.99963551e-01 -3.99252727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters 0.013088453280802938 Centerline is valid? [True, True] Translation: X:101.23, Y:-180.88, Z:-3.99 [[ 4.14301710e-01 -9.10132893e-01 -3.49424439e-03 1.01232173e+02] [-9.10098673e-01 -4.14316435e-01 7.89288924e-03 -1.80880059e+02] [-8.63130100e-03 -8.99303333e-05 -9.99962746e-01 -3.99162603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters 0.01350187008732373 Centerline is valid? [True, True] Translation: X:101.26, Y:-180.99, Z:-3.99 [[ 4.82800664e-01 -8.75720267e-01 -4.18722723e-03 1.01255387e+02] [-8.75685608e-01 -4.82818812e-01 7.79174364e-03 -1.80990278e+02] [-8.84505990e-03 -9.51643743e-05 -9.99960877e-01 -3.99028804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters 0.01326700245203632 Centerline is valid? [True, True] Translation: X:101.29, Y:-181.10, Z:-3.99 [[ 5.47633613e-01 -8.36703397e-01 -4.98509146e-03 1.01287946e+02] [-8.36667155e-01 -5.47656294e-01 7.78814250e-03 -1.81096512e+02] [-9.24648200e-03 -9.41863210e-05 -9.99957246e-01 -3.98962204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters 0.013029568026949927 Centerline is valid? [True, True] Translation: X:101.33, Y:-181.20, Z:-3.99 [[ 6.08752299e-01 -7.93337026e-01 -6.08281120e-03 1.01329234e+02] [-7.93295918e-01 -6.08782682e-01 8.07666789e-03 -1.81199593e+02] [-1.01106298e-02 -9.12208575e-05 -9.99948882e-01 -3.98903120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters 0.012707653009223102 Centerline is valid? [True, True] Translation: X:101.38, Y:-181.29, Z:-3.99 [[ 6.65001625e-01 -7.46803222e-01 -7.60170548e-03 1.01375557e+02] [-7.46753249e-01 -6.65045068e-01 8.63963571e-03 -1.81293424e+02] [-1.15075845e-02 -6.87735238e-05 -9.99933783e-01 -3.98809579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters 0.012739934035562173 Centerline is valid? [True, True] Translation: X:101.43, Y:-181.38, Z:-3.99 [[ 7.14754825e-01 -6.99302624e-01 -1.00688097e-02 1.01428699e+02] [-6.99233574e-01 -7.14825741e-01 9.82696466e-03 -1.81377588e+02] [-1.40694665e-02 1.65793495e-05 -9.99901020e-01 -3.98586724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters 0.01327209595751946 Centerline is valid? [True, True] Translation: X:101.45, Y:-181.40, Z:-3.99 [[ 7.62980589e-01 -6.46328273e-01 -1.09719838e-02 1.01453572e+02] [-6.46263537e-01 -7.63059468e-01 9.14818738e-03 -1.81403273e+02] [-1.42850083e-02 1.10903674e-04 -9.99897958e-01 -3.98598855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters 0.014313547223300173 Centerline is valid? [True, True] Translation: X:101.48, Y:-181.43, Z:-3.99 [[ 8.06996505e-01 -5.90462987e-01 -1.04929794e-02 1.01479789e+02] [-5.90416151e-01 -8.07064697e-01 7.43936121e-03 -1.81426538e+02] [-1.28611807e-02 1.91686015e-04 -9.99917273e-01 -3.98754715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters 0.015437777404169154 Centerline is valid? [True, True] Translation: X:101.51, Y:-181.45, Z:-3.99 [[ 8.46936572e-01 -5.31624846e-01 -8.57119539e-03 1.01505831e+02] [-5.31600232e-01 -8.46979914e-01 5.12040264e-03 -1.81449995e+02] [-9.98176360e-03 2.19793196e-04 -9.99950157e-01 -3.99042409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters 0.0156553945994644 Centerline is valid? [True, True] Translation: X:101.53, Y:-181.47, Z:-3.99 [[ 8.85170629e-01 -4.65182986e-01 -8.81737053e-03 1.01531081e+02] [-4.65162503e-01 -8.85214514e-01 4.37159572e-03 -1.81474731e+02] [-9.83885632e-03 2.31902008e-04 -9.99951570e-01 -3.99126965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters 0.015627447321828945 Centerline is valid? [True, True] Translation: X:101.56, Y:-181.50, Z:-3.99 [[ 9.19363775e-01 -3.93280997e-01 -1.00153693e-02 1.01558024e+02] [-3.93260482e-01 -9.19418295e-01 4.02409353e-03 -1.81498496e+02] [-1.07909133e-02 2.39043151e-04 -9.99941748e-01 -3.99059340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters 0.014317732380326352 Centerline is valid? [True, True] Translation: X:101.59, Y:-181.53, Z:-3.99 [[ 9.49366760e-01 -3.13960629e-01 -1.14664017e-02 1.01585204e+02] [-3.13940104e-01 -9.49435984e-01 3.59480656e-03 -1.81525238e+02] [-1.20152421e-02 1.86973472e-04 -9.99927797e-01 -3.98884807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters 0.013257824406846428 Centerline is valid? [True, True] Translation: X:101.61, Y:-181.55, Z:-3.99 [[ 9.72673759e-01 -2.31890685e-01 -1.15094760e-02 1.01614391e+02] [-2.31875670e-01 -9.72741847e-01 2.64075099e-03 -1.81550925e+02] [-1.18081145e-02 1.00178274e-04 -9.99930277e-01 -3.98875512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters 0.012526403337290621 Centerline is valid? [True, True] Translation: X:101.65, Y:-181.57, Z:-3.99 [[ 9.89034291e-01 -1.47288107e-01 -1.08344182e-02 1.01646272e+02] [-1.47279334e-01 -9.89093632e-01 1.60756188e-03 -1.81573318e+02] [-1.09530288e-02 5.75206710e-06 -9.99940014e-01 -3.98894390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters 0.013100028993308756 Centerline is valid? [True, True] Translation: X:101.68, Y:-181.60, Z:-3.99 [[ 9.98228835e-01 -5.86828009e-02 -9.77351836e-03 1.01677736e+02] [-5.86790064e-02 -9.98276675e-01 6.74794160e-04 -1.81595048e+02] [-9.79627422e-03 -1.00098642e-04 -9.99952010e-01 -3.99027003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters 0.01413820704124385 Centerline is valid? [True, True] Translation: X:101.71, Y:-181.61, Z:-3.99 [[ 9.99669253e-01 2.42643848e-02 -8.52194997e-03 1.01710205e+02] [ 2.42645788e-02 -9.99705569e-01 -8.06419795e-05 -1.81607520e+02] [-8.52139757e-03 -1.26166219e-04 -9.99963684e-01 -3.99054713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters 0.014983274386820289 Centerline is valid? [True, True] Translation: X:101.74, Y:-181.61, Z:-3.99 [[ 9.94439224e-01 1.05081026e-01 -6.97190666e-03 1.01744938e+02] [ 1.05079301e-01 -9.94463656e-01 -6.14264975e-04 -1.81612574e+02] [-6.99785538e-03 -1.21753894e-04 -9.99975507e-01 -3.99113979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters 0.015433903934194604 Centerline is valid? [True, True] Translation: X:101.78, Y:-181.61, Z:-3.99 [[ 9.82906807e-01 1.83999831e-01 -6.18637944e-03 1.01779688e+02] [ 1.83996940e-01 -9.82926268e-01 -1.03812647e-03 -1.81613255e+02] [-6.27176995e-03 -1.17893314e-04 -9.99980325e-01 -3.99123215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters 0.014486976936158727 Centerline is valid? [True, True] Translation: X:101.82, Y:-181.61, Z:-3.99 [[ 9.65399797e-01 2.60717260e-01 -5.45369726e-03 1.01815107e+02] [ 2.60713727e-01 -9.65415195e-01 -1.36148689e-03 -1.81614126e+02] [-5.62004533e-03 -1.07474576e-04 -9.99984202e-01 -3.99168962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters 0.014615384537222463 Centerline is valid? [True, True] Translation: X:101.85, Y:-181.61, Z:-3.99 [[ 9.42115689e-01 3.35257208e-01 -4.54242170e-03 1.01850220e+02] [ 3.35253771e-01 -9.42126635e-01 -1.52065617e-03 -1.81611834e+02] [-4.78934741e-03 -9.02299657e-05 -9.99988527e-01 -3.99212419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters 0.014603599465446458 Centerline is valid? [True, True] Translation: X:101.88, Y:-181.60, Z:-3.99 [[ 9.13398412e-01 4.07042241e-01 -4.46706594e-03 1.01883627e+02] [ 4.07037834e-01 -9.13409331e-01 -1.89601865e-03 -1.81604392e+02] [-4.85201939e-03 -8.64444221e-05 -9.99988225e-01 -3.99206167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters 0.013970917980573256 Centerline is valid? [True, True] Translation: X:101.92, Y:-181.59, Z:-3.99 [[ 8.79532063e-01 4.75826744e-01 -3.50141407e-03 1.01916581e+02] [ 4.75823260e-01 -8.79539030e-01 -1.82184192e-03 -1.81593886e+02] [-3.94651145e-03 -6.36858805e-05 -9.99992211e-01 -3.99236696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters 0.01361175761963431 Centerline is valid? [True, True] Translation: X:101.95, Y:-181.58, Z:-3.99 [[ 8.40852282e-01 5.41256943e-01 -2.89169042e-03 1.01948562e+02] [ 5.41253935e-01 -8.40857253e-01 -1.80530195e-03 -1.81580610e+02] [-3.40863108e-03 -4.71465555e-05 -9.99994190e-01 -3.99255973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters 0.012883904110831365 Centerline is valid? [True, True] Translation: X:101.98, Y:-181.56, Z:-3.99 [[ 7.98109657e-01 6.02507438e-01 -2.40081279e-03 1.01977983e+02] [ 6.02504826e-01 -7.98113267e-01 -1.77437564e-03 -1.81563970e+02] [-2.98519506e-03 -3.03549625e-05 -9.99995544e-01 -3.99223733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters 0.012658939162826177 Centerline is valid? [True, True] Translation: X:102.01, Y:-181.55, Z:-3.99 [[ 7.49889178e-01 6.61557012e-01 -2.92258107e-03 1.02007145e+02] [ 6.61552150e-01 -7.49894872e-01 -2.53650382e-03 -1.81547912e+02] [-3.86967045e-03 -3.13430236e-05 -9.99992512e-01 -3.99177684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters 0.012580346247882249 Centerline is valid? [True, True] Translation: X:102.03, Y:-181.53, Z:-3.99 [[ 6.96866955e-01 7.17190565e-01 -3.76036670e-03 1.02033171e+02] [ 7.17180398e-01 -6.96877099e-01 -3.81909872e-03 -1.81529608e+02] [-5.35953501e-03 -3.54575904e-05 -9.99985637e-01 -3.99026611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters 0.012620132428527326 Centerline is valid? [True, True] Translation: X:102.06, Y:-181.51, Z:-3.99 [[ 6.39083394e-01 7.69120290e-01 -5.13771086e-03 1.02055953e+02] [ 7.69096035e-01 -6.39104043e-01 -6.10827154e-03 -1.81507451e+02] [-7.98152736e-03 -4.76981501e-05 -9.99968146e-01 -3.98881066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters 0.01274217816808907 Centerline is valid? [True, True] Translation: X:102.08, Y:-181.48, Z:-3.99 [[ 5.76667056e-01 8.16961171e-01 -5.43608323e-03 1.02078298e+02] [ 8.16925824e-01 -5.76692675e-01 -7.59983926e-03 -1.81484977e+02] [-9.34372297e-03 -5.82998372e-05 -9.99956345e-01 -3.98869277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters 0.012819966444979613 Centerline is valid? [True, True] Translation: X:102.10, Y:-181.46, Z:-3.99 [[ 5.10595386e-01 8.59806306e-01 -5.04655079e-03 1.02101331e+02] [ 8.59765563e-01 -5.10620321e-01 -8.37043527e-03 -1.81462571e+02] [-9.77382441e-03 -6.49449549e-05 -9.99952233e-01 -3.98906810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters 0.012799993273559128 Centerline is valid? [True, True] Translation: X:102.12, Y:-181.44, Z:-3.99 [[ 4.41615899e-01 8.97197970e-01 -3.34673688e-03 1.02121003e+02] [ 8.97173063e-01 -4.41628577e-01 -6.68548342e-03 -1.81438393e+02] [-7.47621679e-03 -5.01864076e-05 -9.99972052e-01 -3.99144337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters 0.012882101688925758 Centerline is valid? [True, True] Translation: X:102.14, Y:-181.41, Z:-3.99 [[ 3.69684401e-01 9.29154927e-01 -2.13669694e-03 1.02140471e+02] [ 9.29140028e-01 -3.69690574e-01 -5.26189253e-03 -1.81413605e+02] [-5.67903009e-03 -4.00510649e-05 -9.99983873e-01 -3.99339806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters 0.01306007262220936 Centerline is valid? [True, True] Translation: X:102.16, Y:-181.39, Z:-3.99 [[ 2.94995260e-01 9.55497489e-01 -1.53130549e-03 1.02156181e+02] [ 9.55485307e-01 -2.94999232e-01 -4.82519074e-03 -1.81388169e+02] [-5.06219158e-03 -3.97314995e-05 -9.99987186e-01 -3.99408948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters 0.013403044493923563 Centerline is valid? [True, True] Translation: X:102.17, Y:-181.36, Z:-3.99 [[ 2.16753272e-01 9.76225506e-01 -1.33475378e-03 1.02170945e+02] [ 9.76208693e-01 -2.16757373e-01 -5.72961841e-03 -1.81360438e+02] [-5.88271735e-03 -6.10847039e-05 -9.99982695e-01 -3.99350306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters 0.013941175274986646 Centerline is valid? [True, True] Translation: X:102.18, Y:-181.33, Z:-3.99 [[ 1.37072272e-01 9.90560602e-01 -9.41405270e-04 1.02184434e+02] [ 9.90541154e-01 -1.37075481e-01 -6.20759055e-03 -1.81331997e+02] [-6.27803822e-03 -8.16121201e-05 -9.99980290e-01 -3.99339232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters 0.014258023601768385 Centerline is valid? [True, True] Translation: X:102.20, Y:-181.30, Z:-3.99 [[ 5.68354103e-02 9.98383427e-01 -5.19495378e-04 1.02197457e+02] [ 9.98357512e-01 -5.68376784e-02 -7.19426858e-03 -1.81302950e+02] [-7.21216542e-03 -1.09752906e-04 -9.99973986e-01 -3.99258841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters 0.014248362216488493 Centerline is valid? [True, True] Translation: X:102.21, Y:-181.27, Z:-3.99 [[-2.20622283e-02 9.99756598e-01 5.77692615e-05 1.02210806e+02] [ 9.99714671e-01 2.20618322e-02 -9.15704649e-03 -1.81273109e+02] [-9.15609214e-03 -1.44272072e-04 -9.99958072e-01 -3.99074749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters 0.014346456157352094 Centerline is valid? [True, True] Translation: X:102.22, Y:-181.24, Z:-3.99 [[-9.87729597e-02 9.95109681e-01 7.91037326e-04 1.02219120e+02] [ 9.95066103e-01 9.87760379e-02 -9.31374698e-03 -1.81243599e+02] [-9.34633531e-03 -1.32811925e-04 -9.99956313e-01 -3.98921697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters 0.01357546029820911 Centerline is valid? [True, True] Translation: X:102.22, Y:-181.21, Z:-3.99 [[-1.74347460e-01 9.84683247e-01 1.36628995e-03 1.02221588e+02] [ 9.84648288e-01 1.74352784e-01 -8.29795799e-03 -1.81212747e+02] [-8.40907667e-03 -1.01412839e-04 -9.99964638e-01 -3.99103930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters 0.013212943358854867 Centerline is valid? [True, True] Translation: X:102.22, Y:-181.18, Z:-3.99 [[-2.46936074e-01 9.69030907e-01 1.29484384e-03 1.02219741e+02] [ 9.69016664e-01 2.46939465e-01 -5.25404460e-03 -1.81183271e+02] [-5.41107965e-03 -4.26878845e-05 -9.99985359e-01 -3.99354389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters 0.012725855465491194 Centerline is valid? [True, True] Translation: X:102.22, Y:-181.15, Z:-3.99 [[-3.19209983e-01 9.47683172e-01 1.26216358e-03 1.02215658e+02] [ 9.47675524e-01 3.19212477e-01 -3.80733023e-03 -1.81153780e+02] [-4.01104115e-03 -1.92162855e-05 -9.99991956e-01 -3.99433208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters 0.012641480104610837 Centerline is valid? [True, True] Translation: X:102.21, Y:-181.12, Z:-3.99 [[-3.90281994e-01 9.20694232e-01 1.44785595e-03 1.02210652e+02] [ 9.20687811e-01 3.90284680e-01 -3.43862172e-03 -1.81124181e+02] [-3.73099518e-03 -9.00881440e-06 -9.99993040e-01 -3.99331148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters 0.012685033457379723 Centerline is valid? [True, True] Translation: X:102.21, Y:-181.09, Z:-3.99 [[-4.60892725e-01 8.87453125e-01 2.20154583e-03 1.02205574e+02] [ 8.87442896e-01 4.60897983e-01 -4.26102987e-03 -1.81093572e+02] [-4.79615230e-03 -1.01314611e-05 -9.99988498e-01 -3.99180032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters 0.012812105665367628 Centerline is valid? [True, True] Translation: X:102.20, Y:-181.06, Z:-3.99 [[-5.30496120e-01 8.47678550e-01 3.86550942e-03 1.02199647e+02] [ 8.47655652e-01 5.30510202e-01 -6.23073589e-03 -1.81062045e+02] [-7.33235335e-03 -2.87603049e-05 -9.99973118e-01 -3.98942737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters 0.013281666395445877 Centerline is valid? [True, True] Translation: X:102.19, Y:-181.03, Z:-3.99 [[-5.97511428e-01 8.01838624e-01 5.90879555e-03 1.02191524e+02] [ 8.01798297e-01 5.97540639e-01 -8.04211793e-03 -1.81031577e+02] [-9.97922625e-03 -6.75951583e-05 -9.99950204e-01 -3.98594877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters 0.013376085940430257 Centerline is valid? [True, True] Translation: X:102.18, Y:-181.00, Z:-3.98 [[-6.60435227e-01 7.50843302e-01 7.72310759e-03 1.02181319e+02] [ 7.50789985e-01 6.60480373e-01 -8.94845095e-03 -1.81000827e+02] [-1.18198454e-02 -1.11440410e-04 -9.99930137e-01 -3.98470260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters 0.013627753573773193 Centerline is valid? [True, True] Translation: X:102.17, Y:-180.97, Z:-3.98 [[-7.17943143e-01 6.96046821e-01 8.74452407e-03 1.02166708e+02] [ 6.95992991e-01 7.17996383e-01 -8.65734902e-03 -1.80971916e+02] [-1.23044569e-02 -1.29356902e-04 -9.99924289e-01 -3.98484841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters 0.013387341161014686 Centerline is valid? [True, True] Translation: X:102.18, Y:-180.95, Z:-3.99 [[-7.63918613e-01 6.45253153e-01 8.75910166e-03 1.02183894e+02] [ 6.45209313e-01 7.63968821e-01 -7.52212053e-03 -1.80953033e+02] [-1.15453526e-02 -9.48339069e-05 -9.99933346e-01 -3.98568495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters 0.01299047912630139 Centerline is valid? [True, True] Translation: X:102.20, Y:-180.94, Z:-3.99 [[-8.05005959e-01 5.93211922e-01 8.06357621e-03 1.02200922e+02] [ 5.93181703e-01 8.05046343e-01 -5.98773995e-03 -1.80936768e+02] [-1.00435513e-02 -3.70004736e-05 -9.99949562e-01 -3.98708420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters 0.012822330518606024 Centerline is valid? [True, True] Translation: X:102.22, Y:-180.92, Z:-3.99 [[-8.41824356e-01 5.39719489e-01 5.88440289e-03 1.02216083e+02] [ 5.39706430e-01 8.41844922e-01 -3.75450453e-03 -1.80920232e+02] [-6.98013396e-03 1.52167204e-05 -9.99975639e-01 -3.98887601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters 0.012860104725899088 Centerline is valid? [True, True] Translation: X:102.57, Y:-180.38, Z:-5.05 [[-8.07027192e-01 -5.90489766e-01 5.38036902e-03 1.02567359e+02] [ 5.90476382e-01 -8.07045126e-01 -3.97578326e-03 -1.80376212e+02] [ 6.68985992e-03 -3.15843627e-05 9.99977622e-01 -5.04710043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters 0.013015485105360955 Centerline is valid? [True, True] Translation: X:102.18, Y:-180.90, Z:-3.99 [[-8.42113850e-01 5.39275264e-01 5.14322156e-03 1.02180033e+02] [ 5.39265438e-01 8.42129556e-01 -3.25548782e-03 -1.80903550e+02] [-6.08686294e-03 3.20702449e-05 -9.99981474e-01 -3.98968531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters 0.012881003980728884 Centerline is valid? [True, True] Translation: X:102.19, Y:-180.88, Z:-3.99 [[-8.79164624e-01 4.76487263e-01 5.42703536e-03 1.02191715e+02] [ 4.76478322e-01 8.79181374e-01 -2.91912215e-03 -1.80876885e+02] [-6.16227293e-03 1.94757769e-05 -9.99981013e-01 -3.98986551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters 0.012856405133312074 Centerline is valid? [True, True] Translation: X:102.20, Y:-180.85, Z:-3.99 [[-9.12496157e-01 4.09030316e-01 6.70555807e-03 1.02201553e+02] [ 4.09019200e-01 9.12520795e-01 -3.01552418e-03 -1.80846956e+02] [-7.35240199e-03 -8.95222896e-06 -9.99972971e-01 -3.98806315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters 0.013264812501558991 Centerline is valid? [True, True] Translation: X:102.21, Y:-180.82, Z:-3.99 [[-9.41423350e-01 3.37108104e-01 8.95558729e-03 1.02209614e+02] [ 3.37092087e-01 9.41465943e-01 -3.28699238e-03 -1.80815600e+02] [-9.53945219e-03 -7.55937712e-05 -9.99954496e-01 -3.98567401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters 0.01346274908046616 Centerline is valid? [True, True] Translation: X:102.43, Y:-180.22, Z:-5.05 [[-9.09510088e-01 -4.15578952e-01 9.24851517e-03 1.02427579e+02] [ 4.15558767e-01 -9.09557102e-01 -4.09755388e-03 -1.80223547e+02] [ 1.01149098e-02 1.16534971e-04 9.99948836e-01 -5.05224695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters 0.013466428277875841 Centerline is valid? [True, True] Translation: X:102.16, Y:-180.80, Z:-3.98 [[-9.42971664e-01 3.32756080e-01 8.82228461e-03 1.02163467e+02] [ 3.32740697e-01 9.43012929e-01 -3.20060840e-03 -1.80796541e+02] [-9.38455035e-03 -8.25499007e-05 -9.99955961e-01 -3.98469159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters 0.013137925929927269 Centerline is valid? [True, True] Translation: X:102.17, Y:-180.77, Z:-3.99 [[-9.63610898e-01 2.67223491e-01 6.75595229e-03 1.02174977e+02] [ 2.67216587e-01 9.63634580e-01 -1.92137688e-03 -1.80773290e+02] [-7.02370629e-03 -4.61571817e-05 -9.99975332e-01 -3.98722407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters 0.013207249889306666 Centerline is valid? [True, True] Translation: X:102.18, Y:-180.75, Z:-3.99 [[-9.79918261e-01 1.99335996e-01 5.03607085e-03 1.02175587e+02] [ 1.99333217e-01 9.79931202e-01 -1.05292830e-03 -1.80745901e+02] [-5.14488947e-03 -2.79274695e-05 -9.99986765e-01 -3.98799378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters 0.013153191332476269 Centerline is valid? [True, True] Translation: X:102.18, Y:-180.72, Z:-3.99 [[-9.91571746e-01 1.29490155e-01 4.21584141e-03 1.02180245e+02] [ 1.29488889e-01 9.91580707e-01 -5.72984372e-04 -1.80718695e+02] [-4.25454285e-03 -2.22504937e-05 -9.99990949e-01 -3.98836031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters 0.013473425613914779 Centerline is valid? [True, True] Translation: X:102.18, Y:-180.69, Z:-3.99 [[-9.98360762e-01 5.69556606e-02 5.64289691e-03 1.02177713e+02] [ 5.69545230e-02 9.98376708e-01 -3.62222140e-04 -1.80688085e+02] [-5.65436744e-03 -4.02398700e-05 -9.99984013e-01 -3.98605846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters 0.013704640655377014 Centerline is valid? [True, True] Translation: X:102.22, Y:-180.07, Z:-5.05 [[-9.90162649e-01 -1.39731832e-01 7.27631197e-03 1.02218546e+02] [ 1.39729261e-01 -9.90189370e-01 -8.62993766e-04 -1.80068406e+02] [ 7.32551447e-03 1.62209504e-04 9.99973155e-01 -5.05279205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters 0.014022011730034634 Centerline is valid? [True, True] Translation: X:102.12, Y:-180.68, Z:-3.98 [[-9.98680464e-01 5.05455645e-02 9.08169194e-03 1.02123316e+02] [ 5.05426721e-02 9.98721752e-01 -5.47868181e-04 -1.80680469e+02] [-9.09777560e-03 -8.81322710e-05 -9.99958611e-01 -3.98149614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters 0.014104848191390634 Centerline is valid? [True, True] Translation: X:102.12, Y:-180.65, Z:-3.98 [[-9.99736554e-01 -2.02502651e-02 1.08050678e-02 1.02121748e+02] [-2.02501865e-02 9.99794937e-01 1.16687036e-04 -1.80653133e+02] [-1.08052151e-02 -1.02148344e-04 -9.99941617e-01 -3.97982281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters 0.013265793270747481 Centerline is valid? [True, True] Translation: X:102.11, Y:-180.63, Z:-3.98 [[-9.96134208e-01 -8.71136210e-02 1.13074055e-02 1.02113174e+02] [-8.71086894e-02 9.96198381e-01 9.28847673e-04 -1.80631785e+02] [-1.13453344e-02 -5.97163355e-05 -9.99935638e-01 -3.98023435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters 0.012893159844762062 Centerline is valid? [True, True] Translation: X:102.11, Y:-180.61, Z:-3.98 [[-9.88293623e-01 -1.52224311e-01 1.01721958e-02 1.02107129e+02] [-1.52216209e-01 9.88345971e-01 1.57048345e-03 -1.80610522e+02] [-1.02927145e-02 3.72569026e-06 -9.99947029e-01 -3.98223015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters 0.013581495072019934 Centerline is valid? [True, True] Translation: X:102.10, Y:-180.59, Z:-3.98 [[-9.76964211e-01 -2.13227985e-01 8.64620063e-03 1.02100471e+02] [-2.13218845e-01 9.77002466e-01 1.97617345e-03 -1.80591742e+02] [-8.86873483e-03 8.71178191e-05 -9.99960668e-01 -3.98238900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters 0.013908195301458794 Centerline is valid? [True, True] Translation: X:101.95, Y:-179.96, Z:-5.05 [[-9.85666494e-01 1.68600503e-01 5.95262915e-03 1.01952959e+02] [-1.68598917e-01 -9.85684438e-01 7.70924707e-04 -1.79959910e+02] [ 5.99739221e-03 -2.43732172e-04 9.99981986e-01 -5.05252536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters 0.01402451672519441 Centerline is valid? [True, True] Translation: X:102.00, Y:-180.61, Z:-3.98 [[-9.76374023e-01 -2.16023100e-01 5.27144486e-03 1.01998500e+02] [-2.16019552e-01 9.76388250e-01 1.24015327e-03 -1.80614144e+02] [-5.41487858e-03 7.21182761e-05 -9.99985337e-01 -3.98488423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters 0.014538623658297205 Centerline is valid? [True, True] Translation: X:101.97, Y:-180.59, Z:-3.98 [[-9.58360211e-01 -2.85453161e-01 7.88663756e-03 1.01972419e+02] [-2.85442545e-01 9.58392655e-01 2.46431017e-03 -1.80592408e+02] [-8.26194063e-03 1.10514922e-04 -9.99965864e-01 -3.98158573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters 0.013802579650198257 Centerline is valid? [True, True] Translation: X:101.75, Y:-179.99, Z:-5.06 [[-9.69813169e-01 2.43627130e-01 1.04037561e-02 1.01752008e+02] [-2.43612811e-01 -9.69868971e-01 2.64151981e-03 -1.79987635e+02] [ 1.07338261e-02 2.72924398e-05 9.99942391e-01 -5.05632866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters 0.01367962627724074 Centerline is valid? [True, True] Translation: X:101.83, Y:-180.62, Z:-3.98 [[-9.54865596e-01 -2.96729985e-01 1.35281359e-02 1.01833940e+02] [-2.96698496e-01 9.54961414e-01 4.32429286e-03 -1.80623243e+02] [-1.42019952e-02 1.15340894e-04 -9.99899140e-01 -3.97632565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters 0.013363804084881404 Centerline is valid? [True, True] Translation: X:101.79, Y:-180.60, Z:-3.98 [[-9.30098909e-01 -3.67021253e-01 1.45402982e-02 1.01790668e+02] [-3.66974940e-01 9.30212552e-01 5.83106889e-03 -1.80602573e+02] [-1.56656941e-02 8.75457708e-05 -9.99877282e-01 -3.97565566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters 0.013290929737569674 Centerline is valid? [True, True] Translation: X:101.74, Y:-180.59, Z:-3.98 [[-9.01046887e-01 -4.33535662e-01 1.27018576e-02 1.01738584e+02] [-4.33491263e-01 9.01136406e-01 6.20506949e-03 -1.80594001e+02] [-1.41362252e-02 8.49142769e-05 -9.99900075e-01 -3.97774674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters 0.013293131688866519 Centerline is valid? [True, True] Translation: X:101.67, Y:-180.60, Z:-3.98 [[-8.67290988e-01 -4.97697060e-01 1.01969369e-02 1.01673644e+02] [-4.97661530e-01 8.67350926e-01 5.94749069e-03 -1.80597701e+02] [-1.18043713e-02 8.35818594e-05 -9.99930323e-01 -3.98049787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters 0.0130496603894435 Centerline is valid? [True, True] Translation: X:101.61, Y:-180.61, Z:-3.98 [[-8.27869974e-01 -5.60878061e-01 6.86352743e-03 1.01605499e+02] [-5.60858240e-01 8.27898423e-01 4.71556366e-03 -1.80607829e+02] [-8.32715973e-03 5.44076470e-05 -9.99965327e-01 -3.98351531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters 0.012842546486973068 Centerline is valid? [True, True] Translation: X:101.53, Y:-180.63, Z:-3.98 [[-7.82347773e-01 -6.22816206e-01 5.65115348e-03 1.01528422e+02] [-6.22799700e-01 7.82368182e-01 4.53449278e-03 -1.80627504e+02] [-7.24543826e-03 2.80136409e-05 -9.99973751e-01 -3.98448874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters 0.012652110867578673 Centerline is valid? [True, True] Translation: X:101.45, Y:-180.66, Z:-3.98 [[-7.30970466e-01 -6.82391235e-01 4.93766891e-03 1.01446410e+02] [-6.82375688e-01 7.30987143e-01 4.60622225e-03 -1.80656607e+02] [-6.75261817e-03 -2.33279562e-06 -9.99977201e-01 -3.98402666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters 0.013220746734065196 Centerline is valid? [True, True] Translation: X:101.36, Y:-180.69, Z:-3.98 [[-6.72713585e-01 -7.39884485e-01 5.23274436e-03 1.01361535e+02] [-7.39862768e-01 6.72733934e-01 5.66906539e-03 -1.80693558e+02] [-7.71469823e-03 -5.78554240e-05 -9.99970240e-01 -3.98237458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters 0.013687123789257 Centerline is valid? [True, True] Translation: X:101.28, Y:-180.74, Z:-3.98 [[-6.12279293e-01 -7.90620880e-01 5.71761319e-03 1.01279538e+02] [-7.90587997e-01 6.12305980e-01 7.21151307e-03 -1.80744018e+02] [-9.20250156e-03 -1.04816241e-04 -9.99957651e-01 -3.98146455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters 0.013773693151177208 Centerline is valid? [True, True] Translation: X:101.20, Y:-180.80, Z:-3.98 [[-5.49308287e-01 -8.35600066e-01 5.73890596e-03 1.01202712e+02] [-8.35557059e-01 5.49338247e-01 8.47889116e-03 -1.80801674e+02] [-1.02375626e-02 -1.37658202e-04 -9.99947585e-01 -3.98171857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters 0.013984701258396003 Centerline is valid? [True, True] Translation: X:101.13, Y:-180.87, Z:-3.98 [[-4.84420668e-01 -8.74818780e-01 5.35895904e-03 1.01128922e+02] [-8.74768611e-01 4.84450286e-01 9.37000230e-03 -1.80867988e+02] [-1.07932032e-02 -1.48826382e-04 -9.99941741e-01 -3.98127827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters 0.013626230232360174 Centerline is valid? [True, True] Translation: X:101.06, Y:-180.94, Z:-3.98 [[-4.18382867e-01 -9.08258854e-01 4.65084330e-03 1.01060531e+02] [-9.08206175e-01 4.18408696e-01 9.78300369e-03 -1.80941658e+02] [-1.08314530e-02 -1.30883463e-04 -9.99941330e-01 -3.98090250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters 0.013011730514651083 Centerline is valid? [True, True] Translation: X:101.00, Y:-181.03, Z:-3.98 [[-3.51334523e-01 -9.36242183e-01 3.82465574e-03 1.00997801e+02] [-9.36189581e-01 3.51355327e-01 9.92487780e-03 -1.81027845e+02] [-1.06359024e-02 -9.36506458e-05 -9.99943433e-01 -3.98133827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters 0.01244486882686952 Centerline is valid? [True, True] Translation: X:100.95, Y:-181.12, Z:-3.98 [[-2.86507370e-01 -9.58073064e-01 3.08706056e-03 1.00946570e+02] [-9.58017869e-01 2.86524001e-01 1.02839064e-02 -1.81115701e+02] [-1.07372506e-02 -1.10442070e-05 -9.99942354e-01 -3.98189147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters 0.01257808383239798 Centerline is valid? [True, True] Translation: X:100.90, Y:-181.21, Z:-3.98 [[-2.18080748e-01 -9.75928035e-01 2.29290256e-03 1.00898688e+02] [-9.75871702e-01 2.18092795e-01 1.04858739e-02 -1.81214092e+02] [-1.07335238e-02 4.91884864e-05 -9.99942393e-01 -3.98238521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters 0.013162759858656064 Centerline is valid? [True, True] Translation: X:100.86, Y:-181.32, Z:-3.98 [[-1.47741582e-01 -9.89024749e-01 1.57164150e-03 1.00857837e+02] [-9.88960854e-01 1.47749902e-01 1.12426034e-02 -1.81319037e+02] [-1.13514229e-02 1.06708089e-04 -9.99935565e-01 -3.98224056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters 0.013827302366650076 Centerline is valid? [True, True] Translation: X:100.82, Y:-181.43, Z:-3.98 [[-7.55197530e-02 -9.97143944e-01 8.49310653e-04 1.00823577e+02] [-9.97051509e-01 7.55243174e-02 1.35781108e-02 -1.81425706e+02] [-1.36034746e-02 1.78609104e-04 -9.99907453e-01 -3.98131481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters 0.014478025444510207 Centerline is valid? [True, True] Translation: X:100.80, Y:-181.54, Z:-3.98 [[ 1.92735346e-04 -9.99999961e-01 -2.01815381e-04 1.00795177e+02] [-9.99896957e-01 -1.95612354e-04 1.43540125e-02 -1.81538813e+02] [-1.43540514e-02 1.99028059e-04 -9.99896956e-01 -3.97940430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters 0.014152599517609098 Centerline is valid? [True, True] Translation: X:100.77, Y:-181.65, Z:-3.98 [[ 7.67334416e-02 -9.97050696e-01 -1.37438058e-03 1.00774363e+02] [-9.96936030e-01 -7.67454623e-02 1.51223570e-02 -1.81654768e+02] [-1.51832340e-02 2.09779023e-04 -9.99884706e-01 -3.97954304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters 0.014301786856197412 Centerline is valid? [True, True] Translation: X:100.76, Y:-181.77, Z:-3.98 [[ 1.53194240e-01 -9.88193188e-01 -2.39765220e-03 1.00762787e+02] [-9.88091090e-01 -1.53212880e-01 1.42060520e-02 -1.81772852e+02] [-1.44056750e-02 1.92813436e-04 -9.99896214e-01 -3.98033217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters 0.013651797115889345 Centerline is valid? [True, True] Translation: X:100.76, Y:-181.89, Z:-3.98 [[ 2.29314670e-01 -9.73347015e-01 -3.22021586e-03 1.00758877e+02] [-9.73260915e-01 -2.29337220e-01 1.29472649e-02 -1.81892006e+02] [-1.33406970e-02 1.65112470e-04 -9.99910995e-01 -3.98262185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters 0.013355788538396023 Centerline is valid? [True, True] Translation: X:100.76, Y:-182.01, Z:-3.98 [[ 3.04879284e-01 -9.52383607e-01 -3.75323777e-03 1.00763950e+02] [-9.52316406e-01 -3.04902360e-01 1.13142843e-02 -1.82011182e+02] [-1.19199099e-02 1.24779011e-04 -9.99928948e-01 -3.98376771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters 0.012883689152009867 Centerline is valid? [True, True] Translation: X:100.78, Y:-182.13, Z:-3.98 [[ 3.80582853e-01 -9.24736464e-01 -4.37772678e-03 1.00775623e+02] [-9.24677418e-01 -3.80608023e-01 1.04501339e-02 -1.82126269e+02] [-1.13298178e-02 7.08433345e-05 -9.99935813e-01 -3.98474267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters 0.012792412046691948 Centerline is valid? [True, True] Translation: X:100.80, Y:-182.24, Z:-3.98 [[ 4.52483451e-01 -8.91759324e-01 -4.90249828e-03 1.00796101e+02] [-8.91707885e-01 -4.52510007e-01 9.57817574e-03 -1.82239787e+02] [-1.07598571e-02 3.76303498e-05 -9.99942110e-01 -3.98496610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters 0.012632111682451255 Centerline is valid? [True, True] Translation: X:100.83, Y:-182.35, Z:-3.99 [[ 5.21534399e-01 -8.53214960e-01 -5.10900626e-03 1.00826632e+02] [-8.53174147e-01 -5.21559423e-01 8.34530723e-03 -1.82354693e+02] [-9.78499133e-03 6.50726191e-06 -9.99952126e-01 -3.98596264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters 0.012731091491537831 Centerline is valid? [True, True] Translation: X:100.86, Y:-182.46, Z:-3.99 [[ 5.88057000e-01 -8.08803804e-01 -5.03693896e-03 1.00857855e+02] [-8.08773734e-01 -5.88078571e-01 6.97438461e-03 -1.82459019e+02] [-8.60302467e-03 -2.75917592e-05 -9.99962993e-01 -3.98651607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters 0.012811583238484667 Centerline is valid? [True, True] Translation: X:100.90, Y:-182.56, Z:-3.99 [[ 6.49461857e-01 -7.60372111e-01 -5.79217694e-03 1.00900920e+02] [-7.60341194e-01 -6.49487683e-01 6.85694470e-03 -1.82560692e+02] [-8.97577710e-03 -4.92933036e-05 -9.99959716e-01 -3.98668129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters 0.013021779691610814 Centerline is valid? [True, True] Translation: X:100.95, Y:-182.66, Z:-3.99 [[ 7.06539435e-01 -7.07639858e-01 -6.91792640e-03 1.00949786e+02] [-7.07604923e-01 -7.06573299e-01 7.03188199e-03 -1.82656115e+02] [-9.86406205e-03 -7.31431525e-05 -9.99951346e-01 -3.98577963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters 0.013171115350796589 Centerline is valid? [True, True] Translation: X:101.00, Y:-182.74, Z:-3.99 [[ 7.58926657e-01 -6.51132034e-01 -7.57653156e-03 1.01000812e+02] [-6.51098412e-01 -7.58964469e-01 6.61751506e-03 -1.82741590e+02] [-1.00591943e-02 -8.91409094e-05 -9.99949401e-01 -3.98632775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters 0.01342799922205742 Centerline is valid? [True, True] Translation: X:101.02, Y:-182.77, Z:-3.99 [[ 8.08176019e-01 -5.88900066e-01 -6.94512412e-03 1.01023755e+02] [-5.88877400e-01 -8.08205856e-01 5.16746654e-03 -1.82771551e+02] [-8.65621137e-03 -8.63959034e-05 -9.99962531e-01 -3.98694245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters 0.01367295951311287 Centerline is valid? [True, True] Translation: X:101.05, Y:-182.80, Z:-3.99 [[ 8.52422226e-01 -5.22819691e-01 -5.99325799e-03 1.01050164e+02] [-5.22806110e-01 -8.52443291e-01 3.76930201e-03 -1.82798575e+02] [-7.07957788e-03 -7.97249136e-05 -9.99974936e-01 -3.98804827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters 0.013805615302821825 Centerline is valid? [True, True] Translation: X:101.08, Y:-182.82, Z:-3.99 [[ 8.91230166e-01 -4.53516854e-01 -5.59065218e-03 1.01078807e+02] [-4.53507376e-01 -8.91247697e-01 2.93307607e-03 -1.82823754e+02] [-6.31285531e-03 -7.86438751e-05 -9.99980071e-01 -3.98869161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters 0.014260711739594074 Centerline is valid? [True, True] Translation: X:101.11, Y:-182.85, Z:-3.99 [[ 9.24584851e-01 -3.80927164e-01 -6.11144624e-03 1.01109130e+02] [-3.80918169e-01 -9.24605044e-01 2.61949721e-03 -1.82845659e+02] [-6.64851166e-03 -9.39865245e-05 -9.99977894e-01 -3.98767343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters 0.014764101618155067 Centerline is valid? [True, True] Translation: X:101.14, Y:-182.86, Z:-3.99 [[ 9.52027718e-01 -3.05946016e-01 -6.34498162e-03 1.01141720e+02] [-3.05938479e-01 -9.52048856e-01 2.15003836e-03 -1.82864162e+02] [-6.69852816e-03 -1.05722084e-04 -9.99977559e-01 -3.98702107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters 0.01435936464025935 Centerline is valid? [True, True] Translation: X:101.17, Y:-182.88, Z:-3.99 [[ 9.73484342e-01 -2.28655572e-01 -6.69819392e-03 1.01174668e+02] [-2.28649289e-01 -9.73507378e-01 1.69950001e-03 -1.82883420e+02] [-6.90934134e-03 -1.22899371e-04 -9.99976123e-01 -3.98721079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters 0.014997574363583267 Centerline is valid? [True, True] Translation: X:101.21, Y:-182.90, Z:-3.99 [[ 9.88651720e-01 -1.50040937e-01 -7.44943173e-03 1.01208999e+02] [-1.50035545e-01 -9.88679774e-01 1.28060618e-03 -1.82901180e+02] [-7.55724583e-03 -1.48393953e-04 -9.99971433e-01 -3.98542523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters 0.015206232957250295 Centerline is valid? [True, True] Translation: X:101.24, Y:-182.91, Z:-3.98 [[ 9.97385315e-01 -7.18010060e-02 -8.19441529e-03 1.01243930e+02] [-7.17972233e-02 -9.97418963e-01 7.55238575e-04 -1.82913459e+02] [-8.22749209e-03 -1.64927600e-04 -9.99966140e-01 -3.98437368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters 0.014935671562256045 Centerline is valid? [True, True] Translation: X:101.28, Y:-182.92, Z:-3.98 [[ 9.99950944e-01 5.23186325e-03 -8.41049170e-03 1.01277283e+02] [ 5.23300495e-03 -9.99986301e-01 1.13745921e-04 -1.82920558e+02] [-8.40978138e-03 -1.57752486e-04 -9.99964625e-01 -3.98441529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters 0.013720913377354326 Centerline is valid? [True, True] Translation: X:101.31, Y:-182.92, Z:-3.99 [[ 9.96941319e-01 7.78489650e-02 -6.89535045e-03 1.01310175e+02] [ 7.78477294e-02 -9.96965160e-01 -4.47818313e-04 -1.82922138e+02] [-6.90928635e-03 -9.03387959e-05 -9.99976127e-01 -3.98570986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters 0.012983243187780847 Centerline is valid? [True, True] Translation: X:101.34, Y:-182.92, Z:-3.99 [[ 9.88595474e-01 1.50477713e-01 -5.95365178e-03 1.01343768e+02] [ 1.50475271e-01 -9.88613401e-01 -8.58527623e-04 -1.82922302e+02] [-6.01504920e-03 -4.71408423e-05 -9.99981908e-01 -3.98672346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters 0.01265044107748102 Centerline is valid? [True, True] Translation: X:101.38, Y:-182.92, Z:-3.99 [[ 9.74866555e-01 2.22708634e-01 -6.00537810e-03 1.01376273e+02] [ 2.22704525e-01 -9.74885052e-01 -1.35289098e-03 -1.82920464e+02] [-6.15585384e-03 -1.85367134e-05 -9.99981052e-01 -3.98719092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters 0.01267293311381884 Centerline is valid? [True, True] Translation: X:101.41, Y:-182.92, Z:-3.99 [[ 9.55469579e-01 2.95011434e-01 -6.79244532e-03 1.01408906e+02] [ 2.95003954e-01 -9.55493723e-01 -2.10072014e-03 -1.82916122e+02] [-7.10987533e-03 3.37595818e-06 -9.99974725e-01 -3.98605719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters 0.012639000272282498 Centerline is valid? [True, True] Translation: X:101.44, Y:-182.91, Z:-3.99 [[ 9.29525088e-01 3.68690283e-01 -7.11243807e-03 1.01441274e+02] [ 3.68679446e-01 -9.29552298e-01 -2.82680708e-03 -1.82911196e+02] [-7.65359946e-03 5.37837525e-06 -9.99970711e-01 -3.98539186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters 0.012890412809691797 Centerline is valid? [True, True] Translation: X:101.47, Y:-182.90, Z:-3.98 [[ 8.97454705e-01 4.41019759e-01 -8.75353610e-03 1.01473253e+02] [ 4.40998792e-01 -8.97497394e-01 -4.30032868e-03 -1.82903751e+02] [-9.75280576e-03 -9.48646527e-07 -9.99952440e-01 -3.98361839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters 0.012789892267903526 Centerline is valid? [True, True] Translation: X:101.51, Y:-182.90, Z:-3.98 [[ 8.59028557e-01 5.11826402e-01 -1.01819876e-02 1.01506508e+02] [ 5.11790833e-01 -8.59088897e-01 -6.03403449e-03 -1.82896886e+02] [-1.18356107e-02 -2.76399914e-05 -9.99929956e-01 -3.98308209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters 0.012840289267754537 Centerline is valid? [True, True] Translation: X:101.54, Y:-182.89, Z:-3.98 [[ 8.14106232e-01 5.80629501e-01 -1.00212549e-02 1.01540631e+02] [ 5.80586649e-01 -8.14167905e-01 -7.05450508e-03 -1.82889191e+02] [-1.22550379e-02 -7.50902554e-05 -9.99924901e-01 -3.98355405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters 0.013159087239538033 Centerline is valid? [True, True] Translation: X:101.57, Y:-182.88, Z:-3.98 [[ 7.64829029e-01 6.44178346e-01 -8.41518973e-03 1.01571769e+02] [ 6.44140645e-01 -7.64875317e-01 -6.96983724e-03 -1.82876844e+02] [-1.09263891e-02 -8.98318872e-05 -9.99940301e-01 -3.98392334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters 0.013118873498372376 Centerline is valid? [True, True] Translation: X:101.60, Y:-182.86, Z:-3.99 [[ 7.11055772e-01 7.03098112e-01 -7.26183634e-03 1.01601469e+02] [ 7.03062838e-01 -7.11092846e-01 -7.04346119e-03 -1.82860827e+02] [-1.01160841e-02 -9.72335213e-05 -9.99948826e-01 -3.98552002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters 0.013221145849544303 Centerline is valid? [True, True] Translation: X:101.63, Y:-182.84, Z:-3.99 [[ 6.53128269e-01 7.57224642e-01 -5.85716762e-03 1.01629860e+02] [ 7.57195473e-01 -6.53154525e-01 -6.64699868e-03 -1.82841999e+02] [-8.85890673e-03 -9.36780672e-05 -9.99960755e-01 -3.98642351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters 0.013046898574832903 Centerline is valid? [True, True] Translation: X:101.66, Y:-182.82, Z:-3.99 [[ 5.91863654e-01 8.06023066e-01 -4.92269134e-03 1.01657166e+02] [ 8.05996391e-01 -5.91884119e-01 -6.55798840e-03 -1.82821559e+02] [-8.19955274e-03 -8.62364782e-05 -9.99966379e-01 -3.98755052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters 0.013384705774438984 Centerline is valid? [True, True] Translation: X:101.68, Y:-182.80, Z:-3.99 [[ 5.26586050e-01 8.50112738e-01 -3.93254051e-03 1.01682205e+02] [ 8.50090160e-01 -5.26600728e-01 -6.19618987e-03 -1.82800702e+02] [-7.33833863e-03 -8.01868496e-05 -9.99973071e-01 -3.98748666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters 0.0134236859129513 Centerline is valid? [True, True] Translation: X:101.71, Y:-182.78, Z:-3.99 [[ 4.56663956e-01 8.89629016e-01 -4.27147292e-03 1.01706027e+02] [ 8.89592474e-01 -4.56683917e-01 -8.06412605e-03 -1.82776551e+02] [-9.12479350e-03 -1.17274461e-04 -9.99958361e-01 -3.98651576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters 0.013823143958307929 Centerline is valid? [True, True] Translation: X:101.73, Y:-182.75, Z:-3.98 [[ 3.83922603e-01 9.23355065e-01 -4.34264924e-03 1.01727882e+02] [ 9.23300628e-01 -3.83947129e-01 -1.00275687e-02 -1.82750908e+02] [-1.09263541e-02 -1.59760489e-04 -9.99940293e-01 -3.98440321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters 0.014118725542723481 Centerline is valid? [True, True] Translation: X:101.75, Y:-182.72, Z:-3.98 [[ 3.09501692e-01 9.50890968e-01 -3.88201826e-03 1.01746057e+02] [ 9.50823557e-01 -3.09525981e-01 -1.13239313e-02 -1.82723523e+02] [-1.19694095e-02 -1.86338498e-04 -9.99928347e-01 -3.98296536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters 0.01349893888889972 Centerline is valid? [True, True] Translation: X:101.76, Y:-182.69, Z:-3.98 [[ 2.35961197e-01 9.71757967e-01 -2.96093944e-03 1.01760921e+02] [ 9.71689866e-01 -2.35979718e-01 -1.15055519e-02 -1.82694412e+02] [-1.18793334e-02 -1.62251057e-04 -9.99929425e-01 -3.98335820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters 0.013365115956311934 Centerline is valid? [True, True] Translation: X:101.77, Y:-182.67, Z:-3.98 [[ 1.61791521e-01 9.86823174e-01 -1.87829438e-03 1.01771823e+02] [ 9.86764962e-01 -1.61802380e-01 -1.07191150e-02 -1.82665258e+02] [-1.08817835e-02 -1.19173168e-04 -9.99940785e-01 -3.98284738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters 0.012901645482533182 Centerline is valid? [True, True] Translation: X:101.78, Y:-182.63, Z:-3.98 [[ 8.60442382e-02 9.96290855e-01 -9.60347944e-04 1.01777632e+02] [ 9.96239968e-01 -8.60495499e-02 -1.00698408e-02 -1.82634236e+02] [-1.01151278e-02 -9.02852227e-05 -9.99948837e-01 -3.98373348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters 0.012833901718712576 Centerline is valid? [True, True] Translation: X:101.78, Y:-182.60, Z:-3.98 [[ 8.80973237e-03 9.99961181e-01 -1.61242477e-04 1.01780619e+02] [ 9.99914376e-01 -8.81088013e-03 -9.67514270e-03 -1.82602956e+02] [-9.67618780e-03 -7.59932530e-05 -9.99953182e-01 -3.98317297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters 0.012708360932829378 Centerline is valid? [True, True] Translation: X:101.79, Y:-182.57, Z:-3.98 [[-7.08294826e-02 9.97488238e-01 6.31879812e-04 1.01787764e+02] [ 9.97435906e-01 7.08322394e-02 -1.02179504e-02 -1.82571611e+02] [-1.02370428e-02 -9.34725244e-05 -9.99947596e-01 -3.98334314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters 0.013277803659356019 Centerline is valid? [True, True] Translation: X:101.79, Y:-182.54, Z:-3.98 [[-1.50477251e-01 9.88612102e-01 1.64601006e-03 1.01793139e+02] [ 9.88543284e-01 1.50486198e-01 -1.16653709e-02 -1.82541007e+02] [-1.17802286e-02 -1.28220752e-04 -9.99930603e-01 -3.98154908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters 0.013819890503412358 Centerline is valid? [True, True] Translation: X:101.79, Y:-182.51, Z:-3.98 [[-2.30004732e-01 9.73184624e-01 3.08412327e-03 1.01793528e+02] [ 9.73085614e-01 2.30025329e-01 -1.38829114e-02 -1.82509597e+02] [-1.42200623e-02 -1.92019329e-04 -9.99898871e-01 -3.98062981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters 0.013830865613142104 Centerline is valid? [True, True] Translation: X:101.79, Y:-182.48, Z:-3.98 [[-3.05688249e-01 9.52121326e-01 4.43575106e-03 1.01791117e+02] [ 9.52011072e-01 3.05720361e-01 -1.44906697e-02 -1.82477827e+02] [-1.51529750e-02 -2.06743319e-04 -9.99885166e-01 -3.98007342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters 0.013554590075027842 Centerline is valid? [True, True] Translation: X:101.78, Y:-182.45, Z:-3.98 [[-3.77788901e-01 9.25873757e-01 5.77341789e-03 1.01784166e+02] [ 9.25757927e-01 3.77832966e-01 -1.46461628e-02 -1.82446957e+02] [-1.57418854e-02 -1.88370362e-04 -9.99876071e-01 -3.98034797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters 0.013220181919943993 Centerline is valid? [True, True] Translation: X:101.77, Y:-182.42, Z:-3.98 [[-4.45102822e-01 8.95456721e-01 6.38263410e-03 1.01772819e+02] [ 8.95361157e-01 4.45148569e-01 -1.30824394e-02 -1.82419171e+02] [-1.45559787e-02 -1.08268031e-04 -9.99894050e-01 -3.98006947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters 0.012683896708868532 Centerline is valid? [True, True] Translation: X:101.76, Y:-182.39, Z:-3.98 [[-5.11155114e-01 8.59458975e-01 7.12172089e-03 1.01759396e+02] [ 8.59373924e-01 5.11204720e-01 -1.20910208e-02 -1.82391800e+02] [-1.40323937e-02 -6.01659057e-05 -9.99901539e-01 -3.98199360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters 0.012626827451443714 Centerline is valid? [True, True] Translation: X:101.75, Y:-182.36, Z:-3.98 [[-5.74852642e-01 8.18218141e-01 7.96955395e-03 1.01745980e+02] [ 8.18138915e-01 5.74907882e-01 -1.13860951e-02 -1.82363896e+02] [-1.38980689e-02 -2.51246084e-05 -9.99903417e-01 -3.98317290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters 0.012571957206111728 Centerline is valid? [True, True] Translation: X:101.73, Y:-182.33, Z:-3.98 [[-6.37208936e-01 7.70645220e-01 8.40935354e-03 1.01734446e+02] [ 7.70577618e-01 6.37264423e-01 -1.02073375e-02 -1.82334931e+02] [-1.32252177e-02 -2.41470437e-05 -9.99912543e-01 -3.98440860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters 0.01275044251750424 Centerline is valid? [True, True] Translation: X:101.72, Y:-182.31, Z:-3.98 [[-6.98149827e-01 7.15894458e-01 9.05233412e-03 1.01723373e+02] [ 7.15832993e-01 6.98208508e-01 -9.38114091e-03 -1.82305392e+02] [-1.30363235e-02 -6.94824785e-05 -9.99915021e-01 -3.98364519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters 0.013057896256535641 Centerline is valid? [True, True] Translation: X:101.71, Y:-182.27, Z:-3.98 [[-7.54625572e-01 6.56071357e-01 1.05176263e-02 1.01709387e+02] [ 6.56005232e-01 7.54698852e-01 -9.31548087e-03 -1.82274543e+02] [-1.40492607e-02 -1.30082188e-04 -9.99901296e-01 -3.98377780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters 0.013956544377331322 Centerline is valid? [True, True] Translation: X:101.72, Y:-182.24, Z:-3.98 [[-8.01334975e-01 5.98085300e-01 1.24992652e-02 1.01720887e+02] [ 5.98008582e-01 8.01432426e-01 -9.58136568e-03 -1.82242543e+02] [-1.57477904e-02 -2.03215584e-04 -9.99875975e-01 -3.98255076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters 0.014191740039504954 Centerline is valid? [True, True] Translation: X:101.74, Y:-182.22, Z:-3.98 [[-8.41655774e-01 5.39841085e-01 1.36806939e-02 1.01743021e+02] [ 5.39765621e-01 8.41766925e-01 -9.02873354e-03 -1.82223058e+02] [-1.63900370e-02 -2.14717447e-04 -9.99865651e-01 -3.98236737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters 0.013137599060411866 Centerline is valid? [True, True] Translation: X:101.75, Y:-182.20, Z:-3.99 [[-8.76342102e-01 4.81537166e-01 1.21028572e-02 1.01752970e+02] [ 4.81489037e-01 8.76425661e-01 -6.80945891e-03 -1.82198852e+02] [-1.38862622e-02 -1.40022453e-04 -9.99903571e-01 -3.98618786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters 0.013169507158235519 Centerline is valid? [True, True] Translation: X:102.06, Y:-181.67, Z:-5.05 [[-8.32284598e-01 -5.54248707e-01 1.05223215e-02 1.02057742e+02] [ 5.54205214e-01 -8.32351108e-01 -6.94360167e-03 -1.81669200e+02] [ 1.26067482e-02 5.24726949e-05 9.99920531e-01 -5.05090641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters 0.01246544291026385 Centerline is valid? [True, True] Translation: X:101.72, Y:-182.18, Z:-3.99 [[-8.75924696e-01 4.82336577e-01 1.03611931e-02 1.01719420e+02] [ 4.82301940e-01 8.75985972e-01 -5.78069115e-03 -1.82184039e+02] [-1.18644986e-02 -6.62265978e-05 -9.99929612e-01 -3.98888591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters 0.012484018061731673 Centerline is valid? [True, True] Translation: X:101.73, Y:-182.16, Z:-3.99 [[-9.07502815e-01 4.19913993e-01 1.05298839e-02 1.01730700e+02] [ 4.19885032e-01 9.07563902e-01 -4.93203043e-03 -1.82160278e+02] [-1.16275711e-02 -5.44908517e-05 -9.99932396e-01 -3.98932568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters 0.012350409477402296 Centerline is valid? [True, True] Translation: X:101.74, Y:-182.13, Z:-3.99 [[-9.34719235e-01 3.55211346e-01 1.11736996e-02 1.01737223e+02] [ 3.55185351e-01 9.34786017e-01 -4.29762279e-03 -1.82133603e+02] [-1.19715826e-02 -4.83362555e-05 -9.99928337e-01 -3.98903435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters 0.012733726110940478 Centerline is valid? [True, True] Translation: X:101.75, Y:-182.11, Z:-3.99 [[-9.57903857e-01 2.86787400e-01 1.31600776e-02 1.01745237e+02] [ 2.86759285e-01 9.57994249e-01 -4.01633804e-03 -1.82106005e+02] [-1.37591138e-02 -7.34912503e-05 -9.99905336e-01 -3.98679303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters 0.013001142846087017 Centerline is valid? [True, True] Translation: X:101.75, Y:-182.08, Z:-3.98 [[-9.76211576e-01 2.16312318e-01 1.48303912e-02 1.01747252e+02] [ 2.16285641e-01 9.76324213e-01 -3.39890556e-03 -1.82076173e+02] [-1.52144952e-02 -1.10450279e-04 -9.99884247e-01 -3.98474872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters 0.013973407364735962 Centerline is valid? [True, True] Translation: X:101.74, Y:-182.05, Z:-3.98 [[-9.89538858e-01 1.43309321e-01 1.65917955e-02 1.01744710e+02] [ 1.43286181e-01 9.89677931e-01 -2.58129745e-03 -1.82045218e+02] [-1.67904578e-02 -1.76919115e-04 -9.99859015e-01 -3.98338798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters 0.014748403563670572 Centerline is valid? [True, True] Translation: X:101.74, Y:-182.02, Z:-3.98 [[-9.97364265e-01 7.04310895e-02 1.74351488e-02 1.01743255e+02] [ 7.04163929e-02 9.97516622e-01 -1.45616746e-03 -1.82015390e+02] [-1.74944102e-02 -2.24609105e-04 -9.99846936e-01 -3.98326204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters 0.014033722238090627 Centerline is valid? [True, True] Translation: X:101.80, Y:-181.42, Z:-5.05 [[-9.86329062e-01 -1.63877781e-01 1.72931922e-02 1.01797329e+02] [ 1.63856584e-01 -9.86480625e-01 -2.64527581e-03 -1.81419297e+02] [ 1.74929010e-02 2.24490995e-04 9.99846962e-01 -5.04977414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters 0.013588302667002318 Centerline is valid? [True, True] Translation: X:101.69, Y:-182.01, Z:-3.99 [[-9.97587829e-01 6.73191145e-02 1.69310389e-02 1.01693943e+02] [ 6.73059323e-02 9.97731474e-01 -1.34784818e-03 -1.82013192e+02] [-1.69833663e-02 -2.05037584e-04 -9.99855751e-01 -3.98839936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters 0.012809496045706234 Centerline is valid? [True, True] Translation: X:101.75, Y:-181.41, Z:-5.05 [[-9.88214307e-01 -1.52412783e-01 1.42417084e-02 1.01747481e+02] [ 1.52397293e-01 -9.88316924e-01 -2.17304388e-03 -1.81409809e+02] [ 1.44065211e-02 2.29647566e-05 9.99896221e-01 -5.04507447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters 0.012551821789756428 Centerline is valid? [True, True] Translation: X:101.65, Y:-182.02, Z:-3.99 [[-9.97232536e-01 7.32006382e-02 1.29975205e-02 1.01646171e+02] [ 7.31940525e-02 9.97317234e-01 -9.82299009e-04 -1.82018915e+02] [-1.30345561e-02 -2.82393321e-05 -9.99915046e-01 -3.99331635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters 0.012682077878027607 Centerline is valid? [True, True] Translation: X:101.70, Y:-181.40, Z:-5.04 [[-9.89899913e-01 -1.41165141e-01 1.30600534e-02 1.01698854e+02] [ 1.41153362e-01 -9.89986061e-01 -1.82401450e-03 -1.81400880e+02] [ 1.31867581e-02 3.78786506e-05 9.99913050e-01 -5.04327031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters 0.012913757630866851 Centerline is valid? [True, True] Translation: X:101.60, Y:-182.02, Z:-3.99 [[-9.97052343e-01 7.54901235e-02 1.37064746e-02 1.01599684e+02] [ 7.54837715e-02 9.97146548e-01 -9.80906807e-04 -1.82020276e+02] [-1.37414126e-02 5.66009678e-05 -9.99905581e-01 -3.99273563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters 0.01303499539739465 Centerline is valid? [True, True] Translation: X:101.59, Y:-181.99, Z:-3.99 [[-9.99877348e-01 4.13276975e-03 1.51066158e-02 1.01594690e+02] [ 4.13316649e-03 9.99991458e-01 -4.95772185e-06 -1.81992482e+02] [-1.51065073e-02 5.74810445e-05 -9.99885889e-01 -3.99140262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters 0.013092979918827007 Centerline is valid? [True, True] Translation: X:101.59, Y:-181.37, Z:-5.05 [[-9.97729161e-01 -6.54409433e-02 1.59375152e-02 1.01593792e+02] [ 6.54325464e-02 -9.97856444e-01 -1.04830467e-03 -1.81368505e+02] [ 1.59719543e-02 -3.09193078e-06 9.99872440e-01 -5.04612882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters 0.012842900579242164 Centerline is valid? [True, True] Translation: X:101.53, Y:-181.99, Z:-3.99 [[-9.99883089e-01 -4.06210257e-03 1.47413832e-02 1.01532869e+02] [-4.06168538e-03 9.99991750e-01 5.82399814e-05 -1.81989357e+02] [-1.47414982e-02 -1.64168828e-06 -9.99891338e-01 -3.99195377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters 0.012593150457652033 Centerline is valid? [True, True] Translation: X:101.52, Y:-181.38, Z:-5.04 [[-9.97568150e-01 -6.85445319e-02 1.26266795e-02 1.01524018e+02] [ 6.85372205e-02 -9.97648047e-01 -1.01136118e-03 -1.81377273e+02] [ 1.26663054e-02 -1.43504185e-04 9.99919769e-01 -5.04089457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters 0.012992901185559283 Centerline is valid? [True, True] Translation: X:101.47, Y:-181.98, Z:-4.00 [[-9.99779133e-01 -1.72049523e-02 1.20695968e-02 1.01469742e+02] [-1.72050031e-02 9.99851978e-01 9.96306588e-05 -1.81979550e+02] [-1.20695244e-02 -1.08048797e-04 -9.99927155e-01 -3.99620584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters 0.013778015717767527 Centerline is valid? [True, True] Translation: X:101.46, Y:-181.39, Z:-5.04 [[-9.97149370e-01 -7.43594145e-02 1.27988803e-02 1.01462508e+02] [ 7.43554559e-02 -9.97231492e-01 -7.85527971e-04 -1.81387050e+02] [ 1.28218579e-02 1.68377859e-04 9.99917783e-01 -5.03979575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters 0.014636859065665553 Centerline is valid? [True, True] Translation: X:101.40, Y:-181.97, Z:-4.00 [[-9.99439189e-01 -3.07943328e-02 1.31536114e-02 1.01404044e+02] [-3.07948847e-02 9.99525712e-01 1.60632368e-04 -1.81971841e+02] [-1.31523193e-02 -2.44521662e-04 -9.99913475e-01 -3.99675651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters 0.015802412801589387 Centerline is valid? [True, True] Translation: X:101.40, Y:-181.40, Z:-5.04 [[-9.97007097e-01 -7.62097130e-02 1.29972605e-02 1.01399565e+02] [ 7.62062807e-02 -9.97091784e-01 -7.59855250e-04 -1.81395958e+02] [ 1.30173700e-02 2.32891806e-04 9.99915243e-01 -5.04063721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters 0.016042390284308372 Centerline is valid? [True, True] Translation: X:101.35, Y:-181.97, Z:-4.00 [[-9.99131199e-01 -3.93856557e-02 1.36241604e-02 1.01351315e+02] [-3.93862747e-02 9.99224035e-01 2.22984393e-04 -1.81967094e+02] [-1.36223709e-02 -3.13814261e-04 -9.99907162e-01 -3.99630082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters 0.016744374576264185 Centerline is valid? [True, True] Translation: X:101.34, Y:-181.94, Z:-4.00 [[-9.93674394e-01 -1.11349837e-01 1.45743911e-02 1.01343909e+02] [-1.11343048e-01 9.93781208e-01 1.27892563e-03 -1.81938284e+02] [-1.46261642e-02 -3.51921478e-04 -9.99892970e-01 -3.99583670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters 0.016710390993271672 Centerline is valid? [True, True] Translation: X:101.29, Y:-181.38, Z:-5.04 [[-9.99881702e-01 -4.28451919e-03 1.47724368e-02 1.01291733e+02] [ 4.28944294e-03 -9.99990755e-01 3.01638490e-04 -1.81378981e+02] [ 1.47710078e-02 3.64968331e-04 9.99890836e-01 -5.04111462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters 0.015946514418060675 Centerline is valid? [True, True] Translation: X:101.28, Y:-181.94, Z:-4.00 [[-9.93321665e-01 -1.14396485e-01 1.50171090e-02 1.01275773e+02] [-1.14388623e-01 9.93435115e-01 1.38424321e-03 -1.81942340e+02] [-1.50768760e-02 -3.42787657e-04 -9.99886279e-01 -3.99520691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters 0.015324125885195168 Centerline is valid? [True, True] Translation: X:101.27, Y:-181.92, Z:-4.00 [[-9.83115279e-01 -1.82432439e-01 1.42391813e-02 1.01268422e+02] [-1.82417621e-01 9.83218348e-01 2.34355577e-03 -1.81918411e+02] [-1.44277649e-02 -2.93492096e-04 -9.99895871e-01 -3.99616916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters 0.014843677413164906 Centerline is valid? [True, True] Translation: X:101.25, Y:-181.89, Z:-4.00 [[-9.68185156e-01 -2.49855631e-01 1.37719958e-02 1.01254541e+02] [-2.49834102e-01 9.68283067e-01 3.28986149e-03 -1.81894950e+02] [-1.41571808e-02 -2.55519155e-04 -9.99899750e-01 -3.99620449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters 0.014294732587832423 Centerline is valid? [True, True] Translation: X:101.24, Y:-181.87, Z:-3.99 [[-9.48838823e-01 -3.15388969e-01 1.53194666e-02 1.01235454e+02] [-3.15351909e-01 9.48962455e-01 4.84061857e-03 -1.81874367e+02] [-1.60642763e-02 -2.38056213e-04 -9.99870933e-01 -3.99475330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters 0.01401608887110863 Centerline is valid? [True, True] Translation: X:101.05, Y:-181.34, Z:-5.04 [[-9.74658928e-01 2.23127169e-01 1.59449245e-02 1.01046268e+02] [-2.23092837e-01 -9.74789308e-01 3.92305439e-03 -1.81337115e+02] [ 1.64182820e-02 2.66441538e-04 9.99865176e-01 -5.04290678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters 0.013712778437444282 Centerline is valid? [True, True] Translation: X:101.12, Y:-181.91, Z:-3.99 [[-9.48117513e-01 -3.17506074e-01 1.62196027e-02 1.01122470e+02] [-3.17462989e-01 9.48256220e-01 5.23374224e-03 -1.81911766e+02] [-1.70420841e-02 -1.86920897e-04 -9.99854756e-01 -3.99319236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters 0.013717845985758408 Centerline is valid? [True, True] Translation: X:101.09, Y:-181.90, Z:-3.99 [[-9.23105561e-01 -3.84206302e-01 1.61753076e-02 1.01089666e+02] [-3.84150702e-01 9.23247251e-01 6.53855619e-03 -1.81896080e+02] [-1.74459628e-02 -1.77978179e-04 -9.99847792e-01 -3.99234371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters 0.013973323609903396 Centerline is valid? [True, True] Translation: X:101.04, Y:-181.89, Z:-3.99 [[-8.92779691e-01 -4.50191772e-01 1.64861213e-02 1.01041212e+02] [-4.50118859e-01 8.92931875e-01 8.10425068e-03 -1.81889421e+02] [-1.83694502e-02 -1.85403692e-04 -9.99831250e-01 -3.99140779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters 0.013555940511058446 Centerline is valid? [True, True] Translation: X:100.98, Y:-181.90, Z:-3.99 [[-8.57302355e-01 -5.14565808e-01 1.59593838e-02 1.00977923e+02] [-5.14480664e-01 8.57450870e-01 9.36224393e-03 -1.81895385e+02] [-1.85018782e-02 -1.84520634e-04 -9.99828809e-01 -3.99274573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters 0.014184602557844773 Centerline is valid? [True, True] Translation: X:100.91, Y:-181.91, Z:-3.99 [[-8.17026719e-01 -5.76416120e-01 1.45532415e-02 1.00909882e+02] [-5.76328530e-01 8.17156304e-01 1.00498494e-02 -1.81907109e+02] [-1.76851682e-02 -1.76452812e-04 -9.99843590e-01 -3.99044868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters 0.013113530359438593 Centerline is valid? [True, True] Translation: X:100.84, Y:-181.93, Z:-4.00 [[-7.72335583e-01 -6.35103975e-01 1.18612224e-02 1.00840278e+02] [-6.35031958e-01 7.72426644e-01 9.56513228e-03 -1.81931589e+02] [-1.52367778e-02 -1.44763279e-04 -9.99883903e-01 -3.99546129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters 0.013775049579253759 Centerline is valid? [True, True] Translation: X:100.76, Y:-181.97, Z:-3.99 [[-7.23383516e-01 -6.90370457e-01 1.02430685e-02 1.00763933e+02] [-6.90303633e-01 7.23456023e-01 9.60606587e-03 -1.81965531e+02] [-1.40421537e-02 -1.21957700e-04 -9.99901397e-01 -3.99410390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters 0.012806891029285002 Centerline is valid? [True, True] Translation: X:100.69, Y:-182.01, Z:-4.00 [[-6.69641998e-01 -7.42633096e-01 8.69936785e-03 1.00688653e+02] [-7.42572579e-01 6.69698493e-01 9.48123370e-03 -1.82010417e+02] [-1.28670315e-02 -1.10879739e-04 -9.99917210e-01 -3.99907275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters 0.012909076273804507 Centerline is valid? [True, True] Translation: X:100.61, Y:-182.06, Z:-4.00 [[-6.11743477e-01 -7.91020603e-01 7.50492615e-03 1.00611715e+02] [-7.90963219e-01 6.11789501e-01 9.52849772e-03 -1.82061854e+02] [-1.21286730e-02 -1.07124220e-04 -9.99926439e-01 -3.99952235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters 0.012801737976561015 Centerline is valid? [True, True] Translation: X:100.53, Y:-182.12, Z:-4.00 [[-5.49059313e-01 -8.35758123e-01 6.49850759e-03 1.00533996e+02] [-8.35702170e-01 5.49097756e-01 9.67152564e-03 -1.82124806e+02] [-1.16513721e-02 -1.20575662e-04 -9.99932113e-01 -4.00071217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters 0.013054674376429416 Centerline is valid? [True, True] Translation: X:100.46, Y:-182.20, Z:-4.00 [[-4.83431663e-01 -8.75364115e-01 5.61183633e-03 1.00457825e+02] [-8.75308197e-01 4.83464217e-01 9.89501279e-03 -1.82196041e+02] [-1.13748612e-02 -1.28523851e-04 -9.99935296e-01 -4.00005149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters 0.013338854908765222 Centerline is valid? [True, True] Translation: X:100.39, Y:-182.27, Z:-4.00 [[-4.15534333e-01 -9.09565427e-01 4.68531830e-03 1.00389148e+02] [-9.09510974e-01 4.15560727e-01 9.95338990e-03 -1.82274694e+02] [-1.10002936e-02 -1.25373180e-04 -9.99939487e-01 -4.00066478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters 0.013063992465138516 Centerline is valid? [True, True] Translation: X:100.32, Y:-182.36, Z:-4.00 [[-3.44643576e-01 -9.38725857e-01 3.81712404e-03 1.00324591e+02] [-9.38672337e-01 3.44664690e-01 1.00246979e-02 -1.82361697e+02] [-1.07260710e-02 -1.28080997e-04 -9.99942466e-01 -4.00248274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters 0.013395256237865768 Centerline is valid? [True, True] Translation: X:100.26, Y:-182.46, Z:-4.00 [[-2.70333438e-01 -9.62761509e-01 3.17943873e-03 1.00263528e+02] [-9.62701568e-01 2.70352089e-01 1.07442414e-02 -1.82457774e+02] [-1.12037100e-02 -1.56322937e-04 -9.99937224e-01 -4.00289214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters 0.014806699571976637 Centerline is valid? [True, True] Translation: X:100.21, Y:-182.56, Z:-4.00 [[-1.92170861e-01 -9.81358681e-01 2.34498421e-03 1.00208760e+02] [-9.81297826e-01 1.92185063e-01 1.09305820e-02 -1.82557269e+02] [-1.11774925e-02 -2.00588550e-04 -9.99937510e-01 -4.00296736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters 0.015427033803199423 Centerline is valid? [True, True] Translation: X:100.16, Y:-182.66, Z:-4.00 [[-1.14409015e-01 -9.93432551e-01 1.53088436e-03 1.00164149e+02] [-9.93368492e-01 1.14419026e-01 1.12838491e-02 -1.82659649e+02] [-1.13849053e-02 -2.29758228e-04 -9.99935164e-01 -4.00326847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters 0.01554001287312604 Centerline is valid? [True, True] Translation: X:100.13, Y:-182.77, Z:-4.00 [[-3.60567290e-02 -9.99349524e-01 6.64279481e-04 1.00127361e+02] [-9.99284901e-01 3.60619535e-02 1.13675675e-02 -1.82770849e+02] [-1.13841284e-02 -2.53927157e-04 -9.99935167e-01 -4.00367522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters 0.01671871006533791 Centerline is valid? [True, True] Translation: X:100.10, Y:-182.88, Z:-4.00 [[ 4.44103015e-02 -9.99013345e-01 -2.50107019e-04 1.00098238e+02] [-9.98918848e-01 -4.44095419e-02 1.37450659e-02 -1.82881243e+02] [-1.37426114e-02 -3.60585904e-04 -9.99905501e-01 -4.00276796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters 0.018152268371234147 Centerline is valid? [True, True] Translation: X:100.08, Y:-183.00, Z:-4.00 [[ 1.23016969e-01 -9.92403657e-01 -1.34436869e-03 1.00077277e+02] [-9.92302985e-01 -1.23023647e-01 1.41410339e-02 -1.82996832e+02] [-1.41990029e-02 -4.05566069e-04 -9.99899107e-01 -4.00266630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters 0.018721711211350803 Centerline is valid? [True, True] Translation: X:100.07, Y:-183.12, Z:-4.00 [[ 1.99469002e-01 -9.79900993e-01 -2.48203090e-03 1.00069390e+02] [-9.79796114e-01 -1.99483983e-01 1.43427776e-02 -1.83117156e+02] [-1.45496274e-02 -4.29055305e-04 -9.99894057e-01 -4.00413965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters 0.018187782894401927 Centerline is valid? [True, True] Translation: X:100.07, Y:-183.23, Z:-4.01 [[ 2.73053369e-01 -9.61992958e-01 -3.37728885e-03 1.00068422e+02] [-9.61900570e-01 -2.73073972e-01 1.33378901e-02 -1.83227087e+02] [-1.37532060e-02 -3.93339761e-04 -9.99905343e-01 -4.00579515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters 0.017139624290451967 Centerline is valid? [True, True] Translation: X:100.08, Y:-183.34, Z:-4.01 [[ 3.44252345e-01 -9.38867015e-01 -4.36479642e-03 1.00078230e+02] [-9.38777523e-01 -3.44279820e-01 1.29679510e-02 -1.83342600e+02] [-1.36778927e-02 -3.66674756e-04 -9.99906386e-01 -4.00699514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters 0.01639309994566219 Centerline is valid? [True, True] Translation: X:100.09, Y:-183.46, Z:-4.01 [[ 4.12627542e-01 -9.10881811e-01 -5.73055838e-03 1.00094923e+02] [-9.10781771e-01 -4.12667182e-01 1.35041667e-02 -1.83455310e+02] [-1.46655132e-02 -3.52902980e-04 -9.99892393e-01 -4.00549514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters 0.016293620882963208 Centerline is valid? [True, True] Translation: X:100.12, Y:-183.57, Z:-4.00 [[ 4.79981374e-01 -8.77245279e-01 -7.65507080e-03 1.00118591e+02] [-8.77120838e-01 -4.80042264e-01 1.47803913e-02 -1.83566311e+02] [-1.66407860e-02 -3.79890395e-04 -9.99861460e-01 -4.00394134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters 0.015699646711634607 Centerline is valid? [True, True] Translation: X:100.15, Y:-183.68, Z:-4.00 [[ 5.45527872e-01 -8.38035158e-01 -9.81909127e-03 1.00150217e+02] [-8.37885180e-01 -5.45616068e-01 1.58597845e-02 -1.83675799e+02] [-1.86485110e-02 -4.24683418e-04 -9.99826011e-01 -4.00323862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters 0.0165620453338524 Centerline is valid? [True, True] Translation: X:100.18, Y:-183.78, Z:-4.00 [[ 6.10176979e-01 -7.92166013e-01 -1.25324143e-02 1.00183470e+02] [-7.91980202e-01 -6.10305421e-01 1.71654426e-02 -1.83782739e+02] [-2.12464806e-02 -5.48533867e-04 -9.99774118e-01 -4.00088670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters 0.01829116578874823 Centerline is valid? [True, True] Translation: X:100.23, Y:-183.89, Z:-4.00 [[ 6.71397040e-01 -7.40955116e-01 -1.45441161e-02 1.00225043e+02] [-7.40759607e-01 -6.71554226e-01 1.70331018e-02 -1.83887331e+02] [-2.23879266e-02 -6.62280434e-04 -9.99749140e-01 -4.00023507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters 0.01819809306255059 Centerline is valid? [True, True] Translation: X:100.28, Y:-183.98, Z:-4.00 [[ 7.25851248e-01 -6.87664614e-01 -1.60419414e-02 1.00276464e+02] [-6.87475748e-01 -7.26028179e-01 1.61300878e-02 -1.83981305e+02] [-2.27389921e-02 -6.79598725e-04 -9.99741205e-01 -4.00124396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters 0.01774802699577176 Centerline is valid? [True, True] Translation: X:100.33, Y:-184.06, Z:-4.00 [[ 7.74375433e-01 -6.32533895e-01 -1.56064257e-02 1.00327738e+02] [-6.32390548e-01 -7.74532472e-01 1.34775667e-02 -1.84063013e+02] [-2.06127012e-02 -5.67340411e-04 -9.99787375e-01 -4.00304713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters 0.01791534181808122 Centerline is valid? [True, True] Translation: X:100.35, Y:-184.09, Z:-4.00 [[ 8.19931918e-01 -5.72264903e-01 -1.49843546e-02 1.00353901e+02] [-5.72158989e-01 -8.20068697e-01 1.10192785e-02 -1.84087056e+02] [-1.85941465e-02 -4.61625026e-04 -9.99827007e-01 -4.00339681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters 0.014980053964471447 Centerline is valid? [True, True] Translation: X:100.38, Y:-184.11, Z:-4.01 [[ 8.60418200e-01 -5.09384476e-01 -1.44214263e-02 1.00382282e+02] [-5.09305832e-01 -8.60538973e-01 8.95795206e-03 -1.84108540e+02] [-1.69732411e-02 -3.62668462e-04 -9.99855878e-01 -4.00708390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters 0.01369106208739655 Centerline is valid? [True, True] Translation: X:100.41, Y:-184.13, Z:-4.01 [[ 8.95464522e-01 -4.44888575e-01 -1.47460829e-02 1.00411173e+02] [-4.44823197e-01 -8.95585887e-01 7.63170150e-03 -1.84129596e+02] [-1.66016405e-02 -2.74518209e-04 -9.99862146e-01 -4.00797662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters 0.013395361827673442 Centerline is valid? [True, True] Translation: X:100.44, Y:-184.15, Z:-4.01 [[ 9.26598315e-01 -3.75742811e-01 -1.52611788e-02 1.00440475e+02] [-3.75687686e-01 -9.26723953e-01 6.44031470e-03 -1.84149881e+02] [-1.65628019e-02 -2.34147793e-04 -9.99862800e-01 -4.00741714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters 0.013001131242700966 Centerline is valid? [True, True] Translation: X:100.47, Y:-184.17, Z:-4.01 [[ 9.52409601e-01 -3.04422391e-01 -1.55871858e-02 1.00471978e+02] [-3.04378305e-01 -9.52537123e-01 5.18428212e-03 -1.84166365e+02] [-1.64255847e-02 -1.93158861e-04 -9.99865072e-01 -4.00686282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters 0.012865945636386393 Centerline is valid? [True, True] Translation: X:100.50, Y:-184.18, Z:-4.01 [[ 9.72938173e-01 -2.30477189e-01 -1.64795647e-02 1.00503800e+02] [-2.30441101e-01 -9.73077713e-01 4.08214544e-03 -1.84181532e+02] [-1.69767385e-02 -1.74106090e-04 -9.99855870e-01 -4.00603099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters 0.012926632248875372 Centerline is valid? [True, True] Translation: X:100.54, Y:-184.19, Z:-4.00 [[ 9.87903796e-01 -1.54178461e-01 -1.65859254e-02 1.00535864e+02] [-1.54153936e-01 -9.88043003e-01 2.75478307e-03 -1.84193791e+02] [-1.68123357e-02 -1.64674966e-04 -9.99858649e-01 -4.00392245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters 0.013080228962660506 Centerline is valid? [True, True] Translation: X:100.57, Y:-184.20, Z:-4.00 [[ 9.96957415e-01 -7.62807273e-02 -1.60362912e-02 1.00566448e+02] [-7.62683024e-02 -9.97086368e-01 1.38584231e-03 -1.84200120e+02] [-1.60952804e-02 -1.58565058e-04 -9.99870450e-01 -4.00384158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters 0.012300396712127284 Centerline is valid? [True, True] Translation: X:100.60, Y:-184.21, Z:-4.01 [[ 9.99917959e-01 1.80060055e-03 -1.26820268e-02 1.00597424e+02] [ 1.80200276e-03 -9.99998372e-01 9.91405620e-05 -1.84207603e+02] [-1.26818276e-02 -1.21985476e-04 -9.99919575e-01 -4.00752426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters 0.0120089134138947 Centerline is valid? [True, True] Translation: X:100.63, Y:-184.21, Z:-4.01 [[ 9.96750993e-01 7.98089943e-02 -1.08619663e-02 1.00629172e+02] [ 7.98053651e-02 -9.96810170e-01 -7.67840138e-04 -1.84213199e+02] [-1.08885990e-02 -1.01497765e-04 -9.99940712e-01 -4.00885044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters 0.011941177127512971 Centerline is valid? [True, True] Translation: X:100.66, Y:-184.22, Z:-4.01 [[ 9.87417958e-01 1.57868261e-01 -9.13172175e-03 1.00660881e+02] [ 1.57862338e-01 -9.87460179e-01 -1.37035600e-03 -1.84218192e+02] [-9.23354731e-03 -8.84408223e-05 -9.99957366e-01 -4.00973766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters 0.011994251159718257 Centerline is valid? [True, True] Translation: X:100.69, Y:-184.22, Z:-4.01 [[ 9.71963814e-01 2.35015460e-01 -7.35373769e-03 1.00691740e+02] [ 2.35009315e-01 -9.71991630e-01 -1.70114206e-03 -1.84220969e+02] [-7.54756617e-03 -7.47483276e-05 -9.99971514e-01 -4.00877324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters 0.0120707248613888 Centerline is valid? [True, True] Translation: X:100.72, Y:-184.22, Z:-4.01 [[ 9.50078346e-01 3.11911486e-01 -7.89689541e-03 1.00723937e+02] [ 3.11901543e-01 -9.50111160e-01 -2.49231130e-03 -1.84220193e+02] [-8.28030898e-03 -9.51628656e-05 -9.99965713e-01 -4.00777224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters 0.01205379806619992 Centerline is valid? [True, True] Translation: X:100.76, Y:-184.22, Z:-4.01 [[ 9.21985922e-01 3.87125222e-01 -8.71906653e-03 1.00757217e+02] [ 3.87109209e-01 -9.22027140e-01 -3.52337445e-03 -1.84220320e+02] [-9.40320309e-03 -1.26729306e-04 -9.99955781e-01 -4.00725739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters 0.01310974449113803 Centerline is valid? [True, True] Translation: X:100.79, Y:-184.22, Z:-4.01 [[ 8.87884503e-01 4.59973876e-01 -9.22726865e-03 1.00789757e+02] [ 4.59950909e-01 -8.87932434e-01 -4.59931287e-03 -1.84218540e+02] [-1.03087549e-02 -1.60431979e-04 -9.99946851e-01 -4.00560577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters 0.01362788029998203 Centerline is valid? [True, True] Translation: X:100.82, Y:-184.21, Z:-4.01 [[ 8.47876880e-01 5.30117507e-01 -8.95690090e-03 1.00822200e+02] [ 5.30090257e-01 -8.47924167e-01 -5.37821916e-03 -1.84210709e+02] [-1.04458609e-02 -1.87898228e-04 -9.99945423e-01 -4.00555493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters 0.01359709691697877 Centerline is valid? [True, True] Translation: X:100.85, Y:-184.20, Z:-4.01 [[ 8.03362351e-01 5.95427959e-01 -8.63009197e-03 1.00853684e+02] [ 5.95396235e-01 -8.03408679e-01 -6.14956601e-03 -1.84199988e+02] [-1.05951143e-02 -1.97994457e-04 -9.99943851e-01 -4.00629813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters 0.014103823723930627 Centerline is valid? [True, True] Translation: X:100.88, Y:-184.19, Z:-4.01 [[ 7.54351439e-01 6.56420414e-01 -8.13310687e-03 1.00882986e+02] [ 6.56385055e-01 -7.54395256e-01 -6.81605826e-03 -1.84188288e+02] [-1.06097770e-02 -1.96746443e-04 -9.99943695e-01 -4.00565029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters 0.013904618148229792 Centerline is valid? [True, True] Translation: X:100.91, Y:-184.17, Z:-4.00 [[ 7.00955213e-01 7.13163050e-01 -7.76232682e-03 1.00910587e+02] [ 7.13122411e-01 -7.00998163e-01 -7.61587802e-03 -1.84171922e+02] [-1.08727396e-02 -1.97099822e-04 -9.99940871e-01 -4.00471159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters 0.013987178152921052 Centerline is valid? [True, True] Translation: X:100.94, Y:-184.15, Z:-4.00 [[ 6.42946559e-01 7.65881955e-01 -6.67484502e-03 1.00935488e+02] [ 7.65843634e-01 -6.42981179e-01 -7.66360455e-03 -1.84153663e+02] [-1.01612162e-02 -1.84599395e-04 -9.99948357e-01 -4.00461475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters 0.01410357871689815 Centerline is valid? [True, True] Translation: X:100.96, Y:-184.13, Z:-4.00 [[ 5.80960077e-01 8.13910785e-01 -5.88416362e-03 1.00958859e+02] [ 8.13872146e-01 -5.80989846e-01 -7.93272420e-03 -1.84132145e+02] [-9.87516910e-03 -1.80360815e-04 -9.99951223e-01 -4.00394244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters 0.014386843412598297 Centerline is valid? [True, True] Translation: X:100.98, Y:-184.11, Z:-4.00 [[ 5.15585054e-01 8.56823330e-01 -5.08274022e-03 1.00979287e+02] [ 8.56784964e-01 -5.15610077e-01 -8.11013245e-03 -1.84108337e+02] [-9.56966277e-03 -1.73352319e-04 -9.99954195e-01 -4.00297665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters 0.014604993269156891 Centerline is valid? [True, True] Translation: X:101.00, Y:-184.08, Z:-4.00 [[ 4.47040688e-01 8.94504173e-01 -4.11187233e-03 1.00995711e+02] [ 8.94469556e-01 -4.47059570e-01 -7.87108060e-03 -1.84083021e+02] [-8.87896631e-03 -1.59251327e-04 -9.99960569e-01 -4.00289241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters 0.013465467584365103 Centerline is valid? [True, True] Translation: X:101.01, Y:-184.06, Z:-4.00 [[ 3.75976732e-01 9.26622297e-01 -3.55198406e-03 1.01012942e+02] [ 9.26584863e-01 -3.75993476e-01 -8.33049390e-03 -1.84057082e+02] [-9.05474423e-03 -1.59142789e-04 -9.99958992e-01 -4.00356088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters 0.013919559190150881 Centerline is valid? [True, True] Translation: X:101.03, Y:-184.03, Z:-4.00 [[ 3.02315356e-01 9.53203409e-01 -2.94731765e-03 1.01028888e+02] [ 9.53163191e-01 -3.02329679e-01 -8.75770246e-03 -1.84031667e+02] [-9.23893344e-03 -1.61686764e-04 -9.99957307e-01 -4.00179664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters 0.013487632309659365 Centerline is valid? [True, True] Translation: X:101.04, Y:-184.00, Z:-4.00 [[ 2.27359607e-01 9.73808292e-01 -2.24024924e-03 1.01040976e+02] [ 9.73767516e-01 -2.27370591e-01 -8.91284162e-03 -1.84002733e+02] [-9.18876587e-03 -1.55061768e-04 -9.99957770e-01 -4.00223395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters 0.012986829420492677 Centerline is valid? [True, True] Translation: X:101.05, Y:-183.97, Z:-4.00 [[ 1.52843291e-01 9.88249189e-01 -1.57123048e-03 1.01049420e+02] [ 9.88205695e-01 -1.52851307e-01 -9.27262759e-03 -1.83974226e+02] [-9.40383133e-03 -1.35439990e-04 -9.99955774e-01 -4.00176059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters 0.012459818774114461 Centerline is valid? [True, True] Translation: X:101.06, Y:-183.94, Z:-4.00 [[ 7.64182645e-02 9.97075511e-01 -8.21327244e-04 1.01056792e+02] [ 9.97033480e-01 -7.64225851e-02 -9.15581761e-03 -1.83944388e+02] [-9.19180947e-03 -1.19219068e-04 -9.99957747e-01 -4.00207607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters 0.011985416156747997 Centerline is valid? [True, True] Translation: X:101.07, Y:-183.91, Z:-4.00 [[-1.54347555e-03 9.99998804e-01 -9.49209846e-05 1.01065582e+02] [ 9.99961731e-01 1.54260093e-03 -8.61142628e-03 -1.83914031e+02] [-8.61126956e-03 -1.08208878e-04 -9.99962917e-01 -4.00276019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters 0.011902333152633936 Centerline is valid? [True, True] Translation: X:101.07, Y:-183.88, Z:-4.00 [[-7.99889993e-02 9.96795637e-01 4.67740020e-04 1.01072971e+02] [ 9.96771581e-01 7.99903187e-02 -6.92562610e-03 -1.83883784e+02] [-6.94084855e-03 -8.77439417e-05 -9.99975908e-01 -4.00405002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters 0.011657821086976949 Centerline is valid? [True, True] Translation: X:101.08, Y:-183.85, Z:-4.01 [[-1.56885579e-01 9.87616645e-01 5.27331491e-04 1.01077588e+02] [ 9.87610134e-01 1.56886460e-01 -3.58634510e-03 -1.83852698e+02] [-3.62466529e-03 -4.18479030e-05 -9.99993430e-01 -4.00641896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters 0.011506818032621864 Centerline is valid? [True, True] Translation: X:101.08, Y:-183.82, Z:-4.01 [[-2.32885576e-01 9.72503976e-01 5.70338229e-04 1.01078541e+02] [ 9.72500770e-01 2.32886273e-01 -2.49710269e-03 -1.83821648e+02] [-2.56126624e-03 -2.68848327e-05 -9.99996720e-01 -4.00729472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters 0.011207650784425977 Centerline is valid? [True, True] Translation: X:101.08, Y:-183.79, Z:-4.01 [[-3.06389356e-01 9.51905826e-01 9.27519980e-04 1.01076549e+02] [ 9.51901201e-01 3.06390759e-01 -2.96772940e-03 -1.83791152e+02] [-3.10918246e-03 -2.63733169e-05 -9.99995166e-01 -4.00626907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters 0.01086012763715012 Centerline is valid? [True, True] Translation: X:101.07, Y:-183.76, Z:-4.00 [[-3.77902778e-01 9.25843970e-01 1.56000322e-03 1.01072678e+02] [ 9.25835792e-01 3.77905997e-01 -3.89144322e-03 -1.83760477e+02] [-4.19240381e-03 -2.62803864e-05 -9.99991212e-01 -4.00441432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters 0.01063784102321505 Centerline is valid? [True, True] Translation: X:101.07, Y:-183.73, Z:-4.00 [[-4.44858050e-01 8.95597037e-01 2.69514169e-03 1.01066571e+02] [ 8.95580481e-01 4.44866214e-01 -5.44548592e-03 -1.83730030e+02] [-6.07593853e-03 -8.75195340e-06 -9.99981541e-01 -4.00292833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters 0.010635014370577274 Centerline is valid? [True, True] Translation: X:101.06, Y:-183.70, Z:-4.00 [[-5.10646523e-01 8.59785256e-01 3.07297300e-03 1.01058310e+02] [ 8.59769831e-01 5.10655769e-01 -5.15011835e-03 -1.83701423e+02] [-5.99722721e-03 1.21594500e-05 -9.99982016e-01 -4.00223884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters 0.010853761582601007 Centerline is valid? [True, True] Translation: X:101.05, Y:-183.67, Z:-4.00 [[-5.73752661e-01 8.19021695e-01 3.36865080e-03 1.01046965e+02] [ 8.19007893e-01 5.73762549e-01 -4.75474563e-03 -1.83674166e+02] [-5.82704550e-03 3.09036343e-05 -9.99983022e-01 -4.00251767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters 0.01130794260872434 Centerline is valid? [True, True] Translation: X:101.03, Y:-183.65, Z:-4.00 [[-6.33734322e-01 7.73540869e-01 3.91577226e-03 1.01033700e+02] [ 7.73526604e-01 6.33746417e-01 -4.69805582e-03 -1.83647785e+02] [-6.11574483e-03 5.16347969e-05 -9.99981297e-01 -4.00235448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters 0.01138598676940481 Centerline is valid? [True, True] Translation: X:101.02, Y:-183.62, Z:-4.00 [[-6.92013931e-01 7.21871347e-01 4.29856134e-03 1.01018503e+02] [ 7.21857913e-01 6.92027279e-01 -4.40440925e-03 -1.83621231e+02] [-6.15413855e-03 5.50379551e-05 -9.99981062e-01 -4.00200937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters 0.011139078072205785 Centerline is valid? [True, True] Translation: X:101.01, Y:-183.59, Z:-4.00 [[-7.46724760e-01 6.65118091e-01 4.47864834e-03 1.01005421e+02] [ 6.65106532e-01 7.46738189e-01 -3.92154458e-03 -1.83591515e+02] [-5.95266799e-03 5.04638378e-05 -9.99982282e-01 -4.00149078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters 0.01089196636623436 Centerline is valid? [True, True] Translation: X:101.44, Y:-183.10, Z:-5.03 [[-7.11350004e-01 -7.02830778e-01 3.17323159e-03 1.01436931e+02] [ 7.02823014e-01 -7.11357072e-01 -3.30582634e-03 -1.83102017e+02] [ 4.58073723e-03 -1.21379397e-04 9.99989501e-01 -5.03492718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters 0.010628067788580591 Centerline is valid? [True, True] Translation: X:101.39, Y:-183.06, Z:-5.03 [[-7.10183157e-01 -7.04011882e-01 2.67475560e-03 1.01394199e+02] [ 7.04006781e-01 -7.10188194e-01 -2.68001262e-03 -1.83064391e+02] [ 3.78634057e-03 -2.02537454e-05 9.99992832e-01 -5.03434106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters 0.010488864321053773 Centerline is valid? [True, True] Translation: X:101.35, Y:-183.03, Z:-5.03 [[-7.07194457e-01 -7.07011030e-01 3.37679199e-03 1.01351268e+02] [ 7.07002942e-01 -7.07202519e-01 -3.38178752e-03 -1.83027962e+02] [ 4.77903688e-03 -4.17951720e-06 9.99988580e-01 -5.03488347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters 0.010668007726014913 Centerline is valid? [True, True] Translation: X:101.31, Y:-182.99, Z:-5.04 [[-7.04898074e-01 -7.09296485e-01 4.14749503e-03 1.01308453e+02] [ 7.09284338e-01 -7.04910275e-01 -4.15107426e-03 -1.82989771e+02] [ 5.86795425e-03 1.56690211e-05 9.99982783e-01 -5.03588442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters 0.011071884068405525 Centerline is valid? [True, True] Translation: X:101.26, Y:-182.95, Z:-5.04 [[-7.00905435e-01 -7.13235447e-01 5.17379088e-03 1.01263936e+02] [ 7.13216673e-01 -7.00924528e-01 -5.17529359e-03 -1.82951889e+02] [ 7.31763976e-03 6.26425109e-05 9.99973224e-01 -5.03717495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters 0.012212725021878767 Centerline is valid? [True, True] Translation: X:101.22, Y:-182.91, Z:-5.04 [[-6.98105901e-01 -7.15978864e-01 4.73475111e-03 1.01221635e+02] [ 7.15963223e-01 -6.98121951e-01 -4.73329253e-03 -1.82913832e+02] [ 6.69437109e-03 8.55682192e-05 9.99977589e-01 -5.03690799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters 0.012374017993696943 Centerline is valid? [True, True] Translation: X:101.20, Y:-182.94, Z:-5.04 [[-6.47425930e-01 -7.62115600e-01 4.41333342e-03 1.01202110e+02] [ 7.62098886e-01 -6.47440965e-01 -5.04818115e-03 -1.82935552e+02] [ 6.70467046e-03 9.50731092e-05 9.99977519e-01 -5.03628365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters 0.012224657982877416 Centerline is valid? [True, True] Translation: X:101.17, Y:-182.89, Z:-5.04 [[-6.47379768e-01 -7.62156846e-01 4.04695475e-03 1.01165453e+02] [ 7.62142801e-01 -6.47392411e-01 -4.62784275e-03 -1.82891080e+02] [ 6.14710982e-03 8.83856611e-05 9.99981103e-01 -5.03546071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters 0.012992390242950052 Centerline is valid? [True, True] Translation: X:101.13, Y:-182.85, Z:-5.04 [[-6.46769160e-01 -7.62674918e-01 4.07724118e-03 1.01128842e+02] [ 7.62660686e-01 -6.46782004e-01 -4.66018301e-03 -1.82848332e+02] [ 6.19129091e-03 9.54889069e-05 9.99980829e-01 -5.03665155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters 0.01314370814445448 Centerline is valid? [True, True] Translation: X:101.09, Y:-182.80, Z:-5.04 [[-6.46413936e-01 -7.62976508e-01 3.98407059e-03 1.01091591e+02] [ 7.62962942e-01 -6.46426206e-01 -4.55084619e-03 -1.82804455e+02] [ 6.04759637e-03 9.79678212e-05 9.99981708e-01 -5.03742037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters 0.013165190808549549 Centerline is valid? [True, True] Translation: X:101.05, Y:-182.76, Z:-5.04 [[-6.46420281e-01 -7.62971217e-01 3.96755776e-03 1.01054915e+02] [ 7.62957781e-01 -6.46432449e-01 -4.52915299e-03 -1.82760876e+02] [ 6.02037145e-03 9.93427118e-05 9.99981873e-01 -5.03847341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters 0.013552941264761784 Centerline is valid? [True, True] Translation: X:101.02, Y:-182.72, Z:-5.04 [[-6.46734113e-01 -7.62697936e-01 5.18136029e-03 1.01020322e+02] [ 7.62675041e-01 -6.46754855e-01 -5.91092238e-03 -1.82716058e+02] [ 7.85931822e-03 1.28899032e-04 9.99969107e-01 -5.04152953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters 0.012925597271956586 Centerline is valid? [True, True] Translation: X:100.99, Y:-182.67, Z:-5.04 [[-6.46709902e-01 -7.62706742e-01 6.68792865e-03 1.00985634e+02] [ 7.62668643e-01 -6.46744460e-01 -7.62524401e-03 -1.82668644e+02] [ 1.01412058e-02 1.69352664e-04 9.99948562e-01 -5.04250010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters 0.01359836738641464 Centerline is valid? [True, True] Translation: X:100.95, Y:-182.63, Z:-5.04 [[-6.45565817e-01 -7.63671367e-01 7.12874035e-03 1.00945700e+02] [ 7.63628188e-01 -6.45605145e-01 -8.12323547e-03 -1.82625902e+02] [ 1.08058338e-02 1.99623934e-04 9.99941595e-01 -5.04409266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters 0.013743223796065792 Centerline is valid? [True, True] Translation: X:100.91, Y:-182.58, Z:-5.05 [[-6.45795968e-01 -7.63473029e-01 7.51676783e-03 1.00906594e+02] [ 7.63425070e-01 -6.45839678e-01 -8.55995294e-03 -1.82583740e+02] [ 1.13899201e-02 2.10505914e-04 9.99935111e-01 -5.04502538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters 0.012964796277204498 Centerline is valid? [True, True] Translation: X:100.87, Y:-182.54, Z:-5.04 [[-6.48477329e-01 -7.61210099e-01 6.02820327e-03 1.00868750e+02] [ 7.61179192e-01 -6.48505332e-01 -6.86092023e-03 -1.82539949e+02] [ 9.13192373e-03 1.39391677e-04 9.99958293e-01 -5.04378849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters 0.011733333765721209 Centerline is valid? [True, True] Translation: X:100.83, Y:-182.49, Z:-5.04 [[-6.52723728e-01 -7.57584211e-01 4.23065522e-03 1.00833038e+02] [ 7.57568928e-01 -6.52737435e-01 -4.81242909e-03 -1.82493502e+02] [ 6.40732733e-03 6.38262865e-05 9.99979471e-01 -5.04090011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters 0.011203355425848934 Centerline is valid? [True, True] Translation: X:100.80, Y:-182.45, Z:-5.04 [[-6.60093496e-01 -7.51178913e-01 2.61107469e-03 1.00798541e+02] [ 7.51173048e-01 -6.60098660e-01 -2.96845111e-03 -1.82446469e+02] [ 3.95340479e-03 1.91366421e-06 9.99992185e-01 -5.03948812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters 0.01192915994004939 Centerline is valid? [True, True] Translation: X:100.76, Y:-182.40, Z:-5.04 [[-6.67942622e-01 -7.44209427e-01 2.23238938e-03 1.00762551e+02] [ 7.44205105e-01 -6.67946351e-01 -2.53646870e-03 -1.82400575e+02] [ 3.37878025e-03 -3.28599799e-05 9.99994291e-01 -5.04133425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters 0.01288085622186626 Centerline is valid? [True, True] Translation: X:100.73, Y:-182.36, Z:-5.04 [[-6.72489172e-01 -7.40102331e-01 2.61810846e-03 1.00725466e+02] [ 7.40096362e-01 -6.72494265e-01 -2.97301822e-03 -1.82355693e+02] [ 3.96100064e-03 -6.16700131e-05 9.99992153e-01 -5.04245955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters 0.01400118585999444 Centerline is valid? [True, True] Translation: X:100.69, Y:-182.31, Z:-5.04 [[-6.75818555e-01 -7.37061529e-01 3.09574233e-03 1.00688788e+02] [ 7.37053162e-01 -6.75825639e-01 -3.51326865e-03 -1.82311311e+02] [ 4.68167721e-03 -9.26054709e-05 9.99989037e-01 -5.04336711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters 0.014730528169342538 Centerline is valid? [True, True] Translation: X:100.65, Y:-182.27, Z:-5.04 [[-6.77137021e-01 -7.35847959e-01 3.63816374e-03 1.00650652e+02] [ 7.35836398e-01 -6.77146785e-01 -4.12652083e-03 -1.82267969e+02] [ 5.50006280e-03 -1.17126721e-04 9.99984868e-01 -5.04395712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters 0.014641517771780464 Centerline is valid? [True, True] Translation: X:100.61, Y:-182.23, Z:-5.04 [[-6.76586506e-01 -7.36355601e-01 3.33588714e-03 1.00610254e+02] [ 7.36345899e-01 -6.76594722e-01 -3.78129289e-03 -1.82226708e+02] [ 5.04141983e-03 -1.02004926e-04 9.99987287e-01 -5.04382595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters 0.014087222209968126 Centerline is valid? [True, True] Translation: X:100.57, Y:-182.19, Z:-5.04 [[-6.75576611e-01 -7.37286220e-01 2.29624892e-03 1.00568585e+02] [ 7.37281634e-01 -6.75580510e-01 -2.60137805e-03 -1.82185772e+02] [ 3.46926121e-03 -6.44480106e-05 9.99993980e-01 -5.04154613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters 0.013977853364242001 Centerline is valid? [True, True] Translation: X:100.53, Y:-182.14, Z:-5.04 [[-6.75148822e-01 -7.37679723e-01 1.64139345e-03 1.00529129e+02] [ 7.37677384e-01 -6.75150816e-01 -1.85845344e-03 -1.82143616e+02] [ 2.47913155e-03 -4.39138209e-05 9.99996926e-01 -5.03918462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters 0.013977593830003665 Centerline is valid? [True, True] Translation: X:100.49, Y:-182.10, Z:-5.04 [[-6.73534284e-01 -7.39155841e-01 4.60209673e-04 1.00489419e+02] [ 7.39155657e-01 -6.73534441e-01 -5.20857707e-04 -1.82102316e+02] [ 6.94962082e-04 -1.06489395e-05 9.99999759e-01 -5.03679982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters 0.013099952437576952 Centerline is valid? [True, True] Translation: X:100.45, Y:-182.07, Z:-5.03 [[-6.68803590e-01 -7.43438845e-01 -6.64939875e-04 1.00445520e+02] [ 7.43438464e-01 -6.68803921e-01 7.52164567e-04 -1.82065322e+02] [-1.00390275e-03 8.70848353e-06 9.99999496e-01 -5.03470324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters 0.01241343570159762 Centerline is valid? [True, True] Translation: X:100.40, Y:-182.03, Z:-5.04 [[-6.65122095e-01 -7.46734618e-01 1.01663838e-04 1.00401118e+02] [ 7.46734609e-01 -6.65122102e-01 -1.14943860e-04 -1.82027522e+02] [ 1.53451426e-04 -5.35794015e-07 9.99999988e-01 -5.03560212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters 0.012354407932462737 Centerline is valid? [True, True] Translation: X:100.36, Y:-181.99, Z:-5.04 [[-6.60369053e-01 -7.50938868e-01 1.87900482e-03 1.00355181e+02] [ 7.50935867e-01 -6.60371726e-01 -2.12295986e-03 -1.81991256e+02] [ 2.83505473e-03 9.07512060e-06 9.99995981e-01 -5.03822345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters 0.012865637389723648 Centerline is valid? [True, True] Translation: X:100.31, Y:-181.96, Z:-5.04 [[-6.57037923e-01 -7.53852370e-01 2.78761498e-03 1.00309825e+02] [ 7.53845800e-01 -6.57043836e-01 -3.14767199e-03 -1.81955230e+02] [ 4.20446523e-03 3.32919809e-05 9.99991161e-01 -5.03941860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters 0.012930351724444646 Centerline is valid? [True, True] Translation: X:100.27, Y:-181.91, Z:-5.04 [[-6.56301603e-01 -7.54494457e-01 2.51420943e-03 1.00269525e+02] [ 7.54489123e-01 -6.56306418e-01 -2.83717962e-03 -1.81914267e+02] [ 3.79072808e-03 3.48981334e-05 9.99992815e-01 -5.03889963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters 0.013406566456343067 Centerline is valid? [True, True] Translation: X:100.23, Y:-181.87, Z:-5.04 [[-6.54801165e-01 -7.55800192e-01 1.22665435e-03 1.00227994e+02] [ 7.55798926e-01 -6.54802314e-01 -1.38337488e-03 -1.81874619e+02] [ 1.84877111e-03 2.12685603e-05 9.99998291e-01 -5.03674445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters 0.013350435713673807 Centerline is valid? [True, True] Translation: X:100.19, Y:-181.83, Z:-5.04 [[-6.53678737e-01 -7.56772155e-01 1.18845796e-04 1.00186700e+02] [ 7.56772144e-01 -6.53678747e-01 -1.33962355e-04 -1.81833028e+02] [ 1.79065952e-04 2.37084449e-06 9.99999984e-01 -5.03524395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters 0.013821040464081861 Centerline is valid? [True, True] Translation: X:100.15, Y:-181.79, Z:-5.04 [[-6.53553692e-01 -7.56880157e-01 5.59479332e-06 1.00146496e+02] [ 7.56880157e-01 -6.53553692e-01 -6.30956384e-06 -1.81792976e+02] [ 8.43208219e-06 1.10949327e-07 1.00000000e+00 -5.03522307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters 0.013565261302256508 Centerline is valid? [True, True] Translation: X:100.11, Y:-181.75, Z:-5.04 [[-6.54228728e-01 -7.56296332e-01 7.94061782e-04 1.00106029e+02] [ 7.56295803e-01 -6.54229210e-01 -8.94127625e-04 -1.81750851e+02] [ 1.19572386e-03 1.55816152e-05 9.99999285e-01 -5.03619560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters 0.01359968414963235 Centerline is valid? [True, True] Translation: X:100.07, Y:-181.71, Z:-5.04 [[-6.54340513e-01 -7.56198499e-01 1.52427499e-03 1.00066504e+02] [ 7.56196554e-01 -6.54342288e-01 -1.71526177e-03 -1.81709764e+02] [ 2.29447596e-03 3.02862290e-05 9.99997367e-01 -5.03681334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters 0.013798604284882693 Centerline is valid? [True, True] Translation: X:100.03, Y:-181.67, Z:-5.04 [[-6.53808693e-01 -7.56647762e-01 4.28452419e-03 1.00025629e+02] [ 7.56632424e-01 -6.53822726e-01 -4.81861885e-03 -1.81668134e+02] [ 6.44731646e-03 9.13550288e-05 9.99979212e-01 -5.04008019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters 0.01388060523226281 Centerline is valid? [True, True] Translation: X:99.99, Y:-181.63, Z:-5.04 [[-6.54732082e-01 -7.55842677e-01 5.26764162e-03 9.99872045e+01] [ 7.55819496e-01 -6.54753264e-01 -5.92055131e-03 -1.81625435e+02] [ 7.92401089e-03 1.05011350e-04 9.99968599e-01 -5.04139087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters 0.013088630769886459 Centerline is valid? [True, True] Translation: X:99.95, Y:-181.58, Z:-5.04 [[-6.58177503e-01 -7.52833635e-01 6.62521997e-03 9.99508934e+01] [ 7.52796855e-01 -6.58210840e-01 -7.44214152e-03 -1.81580533e+02] [ 9.96348605e-03 8.91946364e-05 9.99950359e-01 -5.04190814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters 0.012838642378728915 Centerline is valid? [True, True] Translation: X:99.92, Y:-181.54, Z:-5.04 [[-6.62303881e-01 -7.49202045e-01 7.06154215e-03 9.99157570e+01] [ 7.49160106e-01 -6.62341524e-01 -7.92721589e-03 -1.81535542e+02] [ 1.06162389e-02 3.99998205e-05 9.99943645e-01 -5.04196599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters 0.01302651546600509 Centerline is valid? [True, True] Translation: X:99.88, Y:-181.49, Z:-5.04 [[-6.70270377e-01 -7.42082981e-01 7.10433787e-03 9.98834653e+01] [ 7.42040177e-01 -6.70308022e-01 -7.97068730e-03 -1.81486572e+02] [ 1.06770061e-02 -7.08114522e-05 9.99942997e-01 -5.04014772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters 0.013917116944598264 Centerline is valid? [True, True] Translation: X:99.85, Y:-181.44, Z:-5.04 [[-6.75664482e-01 -7.37181214e-01 6.43170174e-03 9.98493939e+01] [ 7.37145947e-01 -6.75695080e-01 -7.21193633e-03 -1.81439328e+02] [ 9.66237320e-03 -1.31746355e-04 9.99953310e-01 -5.03856854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters 0.01496171251922495 Centerline is valid? [True, True] Translation: X:99.81, Y:-181.39, Z:-5.04 [[-6.80202111e-01 -7.32996969e-01 6.36646273e-03 9.98137341e+01] [ 7.32962266e-01 -6.80231879e-01 -7.13496467e-03 -1.81392265e+02] [ 9.56057837e-03 -1.86841084e-04 9.99954279e-01 -5.03698516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters 0.016375238411917334 Centerline is valid? [True, True] Translation: X:99.78, Y:-181.35, Z:-5.04 [[-6.84020248e-01 -7.29439545e-01 5.85228811e-03 9.97784404e+01] [ 7.29410126e-01 -6.84045250e-01 -6.55477763e-03 -1.81346512e+02] [ 8.78454389e-03 -2.14882419e-04 9.99961392e-01 -5.03617515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters 0.016343437330399422 Centerline is valid? [True, True] Translation: X:99.74, Y:-181.30, Z:-5.04 [[-6.84187897e-01 -7.29282215e-01 5.86277212e-03 9.97400247e+01] [ 7.29252717e-01 -6.84212982e-01 -6.56281659e-03 -1.81303429e+02] [ 8.79753022e-03 -2.14757181e-04 9.99961278e-01 -5.03556813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters 0.01563525126255865 Centerline is valid? [True, True] Translation: X:99.70, Y:-181.26, Z:-5.04 [[-6.81674964e-01 -7.31623478e-01 6.80661569e-03 9.96986077e+01] [ 7.31583877e-01 -6.81708912e-01 -7.61508273e-03 -1.81262845e+02] [ 1.02115039e-02 -2.11400948e-04 9.99947839e-01 -5.03645983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters 0.014771102793901016 Centerline is valid? [True, True] Translation: X:99.66, Y:-181.22, Z:-5.04 [[-6.78479689e-01 -7.34582036e-01 7.38534135e-03 9.96572334e+01] [ 7.34535640e-01 -6.78519860e-01 -8.25791612e-03 -1.81222049e+02] [ 1.10772176e-02 -1.78031924e-04 9.99938630e-01 -5.03668462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters 0.013320487230547236 Centerline is valid? [True, True] Translation: X:99.61, Y:-181.18, Z:-5.04 [[-6.72949365e-01 -7.39660248e-01 6.47071522e-03 9.96130867e+01] [ 7.39624890e-01 -6.72980469e-01 -7.23260932e-03 -1.81183518e+02] [ 9.70433857e-03 -8.12778115e-05 9.99952909e-01 -5.03544132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters 0.012857840548638177 Centerline is valid? [True, True] Translation: X:99.57, Y:-181.14, Z:-5.04 [[-6.69551515e-01 -7.42739354e-01 6.24673114e-03 9.95704544e+01] [ 7.42706573e-01 -6.69580654e-01 -6.97816197e-03 -1.81144284e+02] [ 9.36564583e-03 -3.27506451e-05 9.99956141e-01 -5.03517241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters 0.012615122654635545 Centerline is valid? [True, True] Translation: X:99.53, Y:-181.10, Z:-5.04 [[-6.66881299e-01 -7.45137827e-01 6.24111834e-03 9.95294305e+01] [ 7.45105250e-01 -6.66910503e-01 -6.96760935e-03 -1.81104645e+02] [ 9.35409665e-03 3.72166545e-06 9.99956250e-01 -5.03528678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters 0.012586813578182142 Centerline is valid? [True, True] Translation: X:99.49, Y:-181.06, Z:-5.03 [[-6.64751897e-01 -7.47045250e-01 5.32071833e-03 9.94898140e+01] [ 7.47021663e-01 -6.64773190e-01 -5.93640931e-03 -1.81063346e+02] [ 7.97183727e-03 2.84524991e-05 9.99968224e-01 -5.03325280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters 0.012765553513626323 Centerline is valid? [True, True] Translation: X:99.45, Y:-181.02, Z:-5.03 [[-6.62363366e-01 -7.49166550e-01 4.92468047e-03 9.94486993e+01] [ 7.49146428e-01 -6.62381671e-01 -5.49110343e-03 -1.81023143e+02] [ 7.37576909e-03 5.22010289e-05 9.99972797e-01 -5.03331063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters 0.01314255744411065 Centerline is valid? [True, True] Translation: X:99.41, Y:-180.98, Z:-5.03 [[-6.59642245e-01 -7.51563554e-01 4.93291677e-03 9.94086327e+01] [ 7.51543454e-01 -6.59660684e-01 -5.49714752e-03 -1.80980925e+02] [ 7.38550698e-03 8.11505804e-05 9.99972724e-01 -5.03310806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters 0.013797121881402386 Centerline is valid? [True, True] Translation: X:99.37, Y:-180.94, Z:-5.03 [[-6.56730705e-01 -7.54108965e-01 4.94460963e-03 9.93698043e+01] [ 7.54088859e-01 -6.56749310e-01 -5.50784743e-03 -1.80938319e+02] [ 7.40088609e-03 1.11502509e-04 9.99972607e-01 -5.03264264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters 0.015586494799969276 Centerline is valid? [True, True] Translation: X:99.33, Y:-180.90, Z:-5.03 [[-6.52370646e-01 -7.57882251e-01 5.19934194e-03 9.93304889e+01] [ 7.57860163e-01 -6.52391345e-01 -5.78852822e-03 -1.80897679e+02] [ 7.77902847e-03 1.64108234e-04 9.99969730e-01 -5.03342469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters 0.016863401557037062 Centerline is valid? [True, True] Translation: X:99.29, Y:-180.86, Z:-5.04 [[-6.49772444e-01 -7.60107326e-01 5.71174174e-03 9.92908925e+01] [ 7.60080786e-01 -6.49797513e-01 -6.35544773e-03 -1.80855231e+02] [ 8.54229796e-03 2.11790344e-04 9.99963492e-01 -5.03500927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters 0.018584091999459127 Centerline is valid? [True, True] Translation: X:99.25, Y:-180.81, Z:-5.04 [[-6.47364271e-01 -7.62157728e-01 5.92448839e-03 9.92538726e+01] [ 7.62129292e-01 -6.47391331e-01 -6.58832211e-03 -1.80811995e+02] [ 8.85680304e-03 2.50181804e-04 9.99960747e-01 -5.03611551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters 0.01788009607585595 Centerline is valid? [True, True] Translation: X:99.22, Y:-180.77, Z:-5.04 [[-6.47196896e-01 -7.62298144e-01 6.14152143e-03 9.92195345e+01] [ 7.62267633e-01 -6.47225981e-01 -6.82535375e-03 -1.80765772e+02] [ 9.17790673e-03 2.64135252e-04 9.99957847e-01 -5.03596223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters 0.017375653915213268 Centerline is valid? [True, True] Translation: X:99.18, Y:-180.72, Z:-5.04 [[-6.47917388e-01 -7.61681069e-01 6.70871075e-03 9.91849078e+01] [ 7.61644677e-01 -6.47952058e-01 -7.45094509e-03 -1.80719915e+02] [ 1.00221668e-02 2.82056955e-04 9.99949737e-01 -5.03655318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters 0.017034959779401573 Centerline is valid? [True, True] Translation: X:99.15, Y:-180.67, Z:-5.04 [[-6.49341339e-01 -7.60464764e-01 7.01201321e-03 9.91510735e+01] [ 7.60424982e-01 -6.49379138e-01 -7.78342198e-03 -1.80672064e+02] [ 1.04724733e-02 2.78012370e-04 9.99945124e-01 -5.03714245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters 0.01604978614711345 Centerline is valid? [True, True] Translation: X:99.12, Y:-180.62, Z:-5.04 [[-6.51078571e-01 -7.58975477e-01 7.27462099e-03 9.91164754e+01] [ 7.58932616e-01 -6.51119155e-01 -8.07030156e-03 -1.80624571e+02] [ 1.08618061e-02 2.66546737e-04 9.99940973e-01 -5.03725921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters 0.014954428489556424 Centerline is valid? [True, True] Translation: X:99.09, Y:-180.58, Z:-5.04 [[-6.54229839e-01 -7.56258549e-01 7.50503161e-03 9.90851829e+01] [ 7.56212804e-01 -6.54272844e-01 -8.32109621e-03 -1.80575128e+02] [ 1.12032385e-02 2.31491570e-04 9.99937215e-01 -5.03748922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters 0.01451690939535367 Centerline is valid? [True, True] Translation: X:99.05, Y:-180.53, Z:-5.04 [[-6.55649093e-01 -7.55029710e-01 7.37590703e-03 9.90490566e+01] [ 7.54985500e-01 -6.55690546e-01 -8.17326850e-03 -1.80529597e+02] [ 1.10073731e-02 2.09906783e-04 9.99939395e-01 -5.03735421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters 0.01380801001119272 Centerline is valid? [True, True] Translation: X:99.02, Y:-180.48, Z:-5.04 [[-6.58366160e-01 -7.52661670e-01 7.37628874e-03 9.90150681e+01] [ 7.52617357e-01 -6.58407458e-01 -8.16906389e-03 -1.80481689e+02] [ 1.10051448e-02 1.73287717e-04 9.99939427e-01 -5.03758240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters 0.013310638940137938 Centerline is valid? [True, True] Translation: X:98.98, Y:-180.43, Z:-5.04 [[-6.62072080e-01 -7.49401180e-01 7.64412733e-03 9.89838340e+01] [ 7.49353424e-01 -6.62116195e-01 -8.46111745e-03 -1.80433097e+02] [ 1.14020719e-02 1.26283361e-04 9.99934986e-01 -5.03901010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters 0.0128409082365531 Centerline is valid? [True, True] Translation: X:98.95, Y:-180.39, Z:-5.04 [[-6.63990542e-01 -7.47695252e-01 8.26869161e-03 9.89519013e+01] [ 7.47639311e-01 -6.64042016e-01 -9.14668783e-03 -1.80385040e+02] [ 1.23296937e-02 1.08684690e-04 9.99923981e-01 -5.03924886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters 0.01307176221764646 Centerline is valid? [True, True] Translation: X:98.91, Y:-180.34, Z:-5.04 [[-6.62958658e-01 -7.48609141e-01 8.37687508e-03 9.89141404e+01] [ 7.48551872e-01 -6.63011566e-01 -9.26052667e-03 -1.80341698e+02] [ 1.24864800e-02 1.31179187e-04 9.99922032e-01 -5.03920583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters 0.013923201701463113 Centerline is valid? [True, True] Translation: X:98.87, Y:-180.30, Z:-5.04 [[-6.59951091e-01 -7.51264956e-01 8.09464979e-03 9.88727779e+01] [ 7.51211740e-01 -6.60000707e-01 -8.94358528e-03 -1.80300954e+02] [ 1.20614768e-02 1.78467094e-04 9.99927242e-01 -5.03901376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters 0.014879082607348415 Centerline is valid? [True, True] Translation: X:98.83, Y:-180.26, Z:-5.04 [[-6.58519555e-01 -7.52530788e-01 7.02919932e-03 9.88317281e+01] [ 7.52490778e-01 -6.58557045e-01 -7.76190772e-03 -1.80261116e+02] [ 1.04702033e-02 1.78039649e-04 9.99945170e-01 -5.03850956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters 0.01427737739903758 Centerline is valid? [True, True] Translation: X:98.79, Y:-180.22, Z:-5.04 [[-6.59622872e-01 -7.51573708e-01 5.88464971e-03 9.87946885e+01] [ 7.51545660e-01 -6.59649106e-01 -6.49451530e-03 -1.80216770e+02] [ 8.76291087e-03 1.38652117e-04 9.99961595e-01 -5.03631109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters 0.013317198862909977 Centerline is valid? [True, True] Translation: X:98.76, Y:-180.17, Z:-5.03 [[-6.61830596e-01 -7.49643213e-01 3.91350359e-03 9.87581969e+01] [ 7.49630788e-01 -6.61842162e-01 -4.31667858e-03 -1.80171539e+02] [ 5.82609048e-03 7.67728249e-05 9.99983025e-01 -5.03362845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters 0.01337779169859556 Centerline is valid? [True, True] Translation: X:98.72, Y:-180.13, Z:-5.03 [[-6.62418169e-01 -7.49126856e-01 3.33501349e-03 9.87197394e+01] [ 7.49117838e-01 -6.62426561e-01 -3.67630593e-03 -1.80129014e+02] [ 4.96322103e-03 6.30662523e-05 9.99987681e-01 -5.03367312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters 0.013241434013789508 Centerline is valid? [True, True] Translation: X:98.68, Y:-180.09, Z:-5.03 [[-6.62269822e-01 -7.49260328e-01 2.76456450e-03 9.86809679e+01] [ 7.49254141e-01 -6.62275590e-01 -3.04553490e-03 -1.80086895e+02] [ 4.11280207e-03 5.43955428e-05 9.99991541e-01 -5.03371722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters 0.013792722926275855 Centerline is valid? [True, True] Translation: X:98.64, Y:-180.05, Z:-5.03 [[-6.61802681e-01 -7.49673835e-01 2.52045777e-03 9.86414042e+01] [ 7.49668702e-01 -6.61807478e-01 -2.77477774e-03 -1.80046781e+02] [ 3.74823607e-03 5.31529557e-05 9.99992974e-01 -5.03496842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters 0.014054182834421126 Centerline is valid? [True, True] Translation: X:98.60, Y:-180.01, Z:-5.04 [[-6.61554192e-01 -7.49892882e-01 2.59154003e-03 9.86022382e+01] [ 7.49887464e-01 -6.61559266e-01 -2.85126672e-03 -1.80005125e+02] [ 3.85260194e-03 5.70959303e-05 9.99992577e-01 -5.03565579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters 0.014596143535400499 Centerline is valid? [True, True] Translation: X:98.56, Y:-179.96, Z:-5.04 [[-6.60738223e-01 -7.50609795e-01 3.15232718e-03 9.85621784e+01] [ 7.50601792e-01 -6.60745738e-01 -3.46687261e-03 -1.79964575e+02] [ 4.68515528e-03 7.54471876e-05 9.99989022e-01 -5.03724535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters 0.015015586760374056 Centerline is valid? [True, True] Translation: X:98.52, Y:-179.92, Z:-5.04 [[-6.60452494e-01 -7.50860223e-01 3.38053988e-03 9.85228793e+01] [ 7.50851035e-01 -6.60461140e-01 -3.71563096e-03 -1.79922658e+02] [ 5.02263472e-03 8.42841341e-05 9.99987383e-01 -5.03844377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters 0.01495262135510087 Centerline is valid? [True, True] Translation: X:98.48, Y:-179.88, Z:-5.04 [[-6.61231119e-01 -7.50171289e-01 4.05514978e-03 9.84844534e+01] [ 7.50158070e-01 -6.61243546e-01 -4.45447347e-03 -1.79880572e+02] [ 6.02305973e-03 9.65668563e-05 9.99981857e-01 -5.04016117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters 0.013935468122336267 Centerline is valid? [True, True] Translation: X:98.45, Y:-179.84, Z:-5.04 [[-6.62620254e-01 -7.48942592e-01 4.40374065e-03 9.84475250e+01] [ 7.48926995e-01 -6.62634881e-01 -4.83441098e-03 -1.79837090e+02] [ 6.53876845e-03 9.47016125e-05 9.99978618e-01 -5.04025323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters 0.014040184608901022 Centerline is valid? [True, True] Translation: X:98.41, Y:-179.80, Z:-5.04 [[-6.64616279e-01 -7.47173065e-01 4.19668112e-03 9.84086263e+01] [ 7.47158880e-01 -6.64629525e-01 -4.60460112e-03 -1.79795408e+02] [ 6.22967211e-03 7.52947034e-05 9.99980593e-01 -5.04147826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters 0.012707563342965406 Centerline is valid? [True, True] Translation: X:98.37, Y:-179.75, Z:-5.04 [[-6.67402294e-01 -7.44689582e-01 3.40653839e-03 9.83724505e+01] [ 7.44680210e-01 -6.67410986e-01 -3.73632829e-03 -1.79749201e+02] [ 5.05596590e-03 4.31476480e-05 9.99987218e-01 -5.03968149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters 0.01253010382455665 Centerline is valid? [True, True] Translation: X:98.33, Y:-179.71, Z:-5.04 [[-6.68596638e-01 -7.43614489e-01 4.00347911e-03 9.83340369e+01] [ 7.43601540e-01 -6.68608623e-01 -4.38854825e-03 -1.79705477e+02] [ 5.94014872e-03 4.28246306e-05 9.99982356e-01 -5.04045616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters 0.012601620636260991 Centerline is valid? [True, True] Translation: X:98.30, Y:-179.66, Z:-5.04 [[-6.70238754e-01 -7.42121168e-01 6.01541496e-03 9.82959736e+01] [ 7.42091903e-01 -6.70265746e-01 -6.59073888e-03 -1.79663593e+02] [ 8.92305343e-03 4.66221208e-05 9.99960188e-01 -5.04387658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters 0.012551286334263346 Centerline is valid? [True, True] Translation: X:98.26, Y:-179.62, Z:-5.05 [[-6.71584832e-01 -7.40890334e-01 7.43814263e-03 9.82572825e+01] [ 7.40845564e-01 -6.71626020e-01 -8.14489666e-03 -1.79620089e+02] [ 1.10301253e-02 4.05259112e-05 9.99939166e-01 -5.04542677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters 0.012525720383014369 Centerline is valid? [True, True] Translation: X:98.22, Y:-179.58, Z:-5.05 [[-6.74034986e-01 -7.38658187e-01 7.80518170e-03 9.82190942e+01] [ 7.38608802e-01 -6.74080175e-01 -8.54139589e-03 -1.79577435e+02] [ 1.15704903e-02 7.77624401e-06 9.99933060e-01 -5.04575897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters 0.01259680763228489 Centerline is valid? [True, True] Translation: X:98.18, Y:-179.54, Z:-5.05 [[-6.75216016e-01 -7.37584486e-01 7.24274582e-03 9.81808573e+01] [ 7.37541956e-01 -6.75254860e-01 -7.92069838e-03 -1.79536609e+02] [ 1.07328836e-02 -6.35348627e-06 9.99942401e-01 -5.04576216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters 0.012336187571551227 Centerline is valid? [True, True] Translation: X:98.14, Y:-179.50, Z:-5.04 [[-6.74532540e-01 -7.38216155e-01 6.53922666e-03 9.81400679e+01] [ 7.38181555e-01 -6.74564236e-01 -7.14724134e-03 -1.79495606e+02] [ 9.68733746e-03 6.08965480e-06 9.99953077e-01 -5.04276465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters 0.012571871210993074 Centerline is valid? [True, True] Translation: X:98.10, Y:-179.46, Z:-5.04 [[-6.73374541e-01 -7.39276442e-01 6.08856663e-03 9.80998500e+01] [ 7.39246530e-01 -6.73402066e-01 -6.65023924e-03 -1.79455582e+02] [ 9.01641855e-03 2.28499555e-05 9.99959351e-01 -5.04301416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters 0.012508948040338943 Centerline is valid? [True, True] Translation: X:98.06, Y:-179.42, Z:-5.04 [[-6.71618314e-01 -7.40879911e-01 5.07922964e-03 9.80584207e+01] [ 7.40859166e-01 -6.71637519e-01 -5.54432260e-03 -1.79416122e+02] [ 7.51907842e-03 3.93252393e-05 9.99971731e-01 -5.04207546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters 0.012776268169963738 Centerline is valid? [True, True] Translation: X:98.02, Y:-179.38, Z:-5.04 [[-6.70046378e-01 -7.42305542e-01 4.50931563e-03 9.80174919e+01] [ 7.42289244e-01 -6.70061549e-01 -4.91914714e-03 -1.79375809e+02] [ 6.67302920e-03 5.11597674e-05 9.99977734e-01 -5.04164731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters 0.01295271314633223 Centerline is valid? [True, True] Translation: X:97.98, Y:-179.33, Z:-5.04 [[-6.67806100e-01 -7.44324362e-01 4.03189719e-03 9.79762125e+01] [ 7.44311384e-01 -6.67818269e-01 -4.39592330e-03 -1.79334629e+02] [ 5.96456740e-03 6.53625793e-05 9.99982210e-01 -5.04071863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters 0.01482448785550691 Centerline is valid? [True, True] Translation: X:97.93, Y:-179.30, Z:-5.04 [[-6.63033646e-01 -7.48570972e-01 5.28049410e-03 9.79324760e+01] [ 7.48548868e-01 -6.63054659e-01 -5.75423512e-03 -1.79298248e+02] [ 7.80870959e-03 1.37456388e-04 9.99969502e-01 -5.04336333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters 0.016347630843116478 Centerline is valid? [True, True] Translation: X:97.89, Y:-179.26, Z:-5.05 [[-6.60824569e-01 -7.50513438e-01 6.36149600e-03 9.78897547e+01] [ 7.50481473e-01 -6.60855160e-01 -6.92946860e-03 -1.79259644e+02] [ 9.40468676e-03 1.95021783e-04 9.99955756e-01 -5.04573165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters 0.016863422802895826 Centerline is valid? [True, True] Translation: X:97.85, Y:-179.22, Z:-5.05 [[-6.60199255e-01 -7.51059461e-01 6.82854061e-03 9.78491156e+01] [ 7.51022699e-01 -6.60234532e-01 -7.43425244e-03 -1.79218437e+02] [ 1.00920039e-02 2.20301076e-04 9.99949050e-01 -5.04661304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters 0.015143275003972115 Centerline is valid? [True, True] Translation: X:97.81, Y:-179.17, Z:-5.05 [[-6.60556521e-01 -7.50744899e-01 6.86873456e-03 9.78108309e+01] [ 7.50707729e-01 -6.60592196e-01 -7.47373582e-03 -1.79174153e+02] [ 1.01483015e-02 2.19587189e-04 9.99948481e-01 -5.04548763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters 0.01637222513233479 Centerline is valid? [True, True] Translation: X:97.77, Y:-179.13, Z:-5.05 [[-6.62592392e-01 -7.48949691e-01 6.75894076e-03 9.77701312e+01] [ 7.48913647e-01 -6.62626836e-01 -7.35014149e-03 -1.79133434e+02] [ 9.98354173e-03 1.91715143e-04 9.99950145e-01 -5.04716195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters 0.013956387964553093 Centerline is valid? [True, True] Translation: X:97.74, Y:-179.09, Z:-5.05 [[-6.65431063e-01 -7.46426506e-01 6.99792587e-03 9.77355118e+01] [ 7.46387773e-01 -6.65467839e-01 -7.60575802e-03 -1.79086650e+02] [ 1.03340340e-02 1.62058668e-04 9.99946589e-01 -5.04584638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters 0.012928357810793023 Centerline is valid? [True, True] Translation: X:97.70, Y:-179.04, Z:-5.05 [[-6.69853694e-01 -7.42447699e-01 8.21237791e-03 9.77011795e+01] [ 7.42394115e-01 -6.69904023e-01 -8.92061817e-03 -1.79039072e+02] [ 1.21245974e-02 1.21311997e-04 9.99926487e-01 -5.04695267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters 0.012709431613329505 Centerline is valid? [True, True] Translation: X:97.67, Y:-178.99, Z:-5.05 [[-6.72575547e-01 -7.39969817e-01 9.31688202e-03 9.76658216e+01] [ 7.39900700e-01 -6.72640069e-01 -1.01139825e-02 -1.78994361e+02] [ 1.37509499e-02 9.11502340e-05 9.99905447e-01 -5.04828452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters 0.012628387191782987 Centerline is valid? [True, True] Translation: X:97.63, Y:-178.95, Z:-5.05 [[-6.74896523e-01 -7.37851213e-01 9.50113578e-03 9.76309817e+01] [ 7.37779215e-01 -6.74963395e-01 -1.03075368e-02 -1.78948194e+02] [ 1.40183474e-02 5.32197244e-05 9.99901737e-01 -5.04852346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters 0.012427009255486786 Centerline is valid? [True, True] Translation: X:97.59, Y:-178.90, Z:-5.05 [[-6.75154089e-01 -7.37619367e-01 9.19915686e-03 9.75927560e+01] [ 7.37551929e-01 -6.75216755e-01 -9.97422944e-03 -1.78904716e+02] [ 1.35686097e-02 5.07140983e-05 9.99907941e-01 -5.04776276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters 0.012435468510237321 Centerline is valid? [True, True] Translation: X:97.55, Y:-178.86, Z:-5.05 [[-6.74787131e-01 -7.37958208e-01 8.94488511e-03 9.75542123e+01] [ 7.37894558e-01 -6.74846412e-01 -9.69236208e-03 -1.78862066e+02] [ 1.31889818e-02 6.01008417e-05 9.99913020e-01 -5.04768873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters 0.01262595541606897 Centerline is valid? [True, True] Translation: X:97.52, Y:-178.82, Z:-5.05 [[-6.72881541e-01 -7.39704556e-01 8.22197721e-03 9.75154617e+01] [ 7.39650978e-01 -6.72931766e-01 -8.90338554e-03 -1.78819800e+02] [ 1.21187045e-02 9.04696982e-05 9.99926562e-01 -5.04604515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters 0.013271593930826657 Centerline is valid? [True, True] Translation: X:97.47, Y:-178.78, Z:-5.04 [[-6.69434783e-01 -7.42834785e-01 7.31800533e-03 9.74736696e+01] [ 7.42792574e-01 -6.69474767e-01 -7.92008257e-03 -1.78779733e+02] [ 1.07825327e-02 1.33781263e-04 9.99941858e-01 -5.04394067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters 0.013636206893312708 Centerline is valid? [True, True] Translation: X:97.43, Y:-178.74, Z:-5.04 [[-6.68502390e-01 -7.43675675e-01 7.14456989e-03 9.74339447e+01] [ 7.43635529e-01 -6.68540552e-01 -7.72860465e-03 -1.78739175e+02] [ 1.05240100e-02 1.46365322e-04 9.99944610e-01 -5.04345255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters 0.013567613535005064 Centerline is valid? [True, True] Translation: X:97.39, Y:-178.70, Z:-5.04 [[-6.68061760e-01 -7.44070852e-01 7.21464565e-03 9.73940705e+01] [ 7.44029985e-01 -6.68100698e-01 -7.79996506e-03 -1.78697553e+02] [ 1.06238364e-02 1.57054306e-04 9.99943553e-01 -5.04254113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters 0.01290729332679184 Centerline is valid? [True, True] Translation: X:97.36, Y:-178.65, Z:-5.04 [[-6.72181191e-01 -7.40360972e-01 6.17074278e-03 9.73566972e+01] [ 7.40330950e-01 -6.72209509e-01 -6.66781745e-03 -1.78654873e+02] [ 9.08462378e-03 8.64103924e-05 9.99958730e-01 -5.04326848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters 0.012375235275572707 Centerline is valid? [True, True] Translation: X:97.32, Y:-178.61, Z:-5.04 [[-6.75498349e-01 -7.37337772e-01 5.91528893e-03 9.73202149e+01] [ 7.37310098e-01 -6.75524247e-01 -6.38834964e-03 -1.78610020e+02] [ 8.70629259e-03 4.60826305e-05 9.99962099e-01 -5.04317150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters 0.012097623750883633 Centerline is valid? [True, True] Translation: X:97.28, Y:-178.57, Z:-5.04 [[-6.78114910e-01 -7.34934121e-01 5.65743691e-03 9.72837490e+01] [ 7.34908755e-01 -6.78138509e-01 -6.10604104e-03 -1.78565618e+02] [ 8.32406374e-03 1.71024431e-05 9.99965354e-01 -5.04164732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters 0.012051121302060618 Centerline is valid? [True, True] Translation: X:97.25, Y:-178.52, Z:-5.04 [[-6.79997705e-01 -7.33197534e-01 4.94947823e-03 9.72453725e+01] [ 7.33178096e-01 -6.80015717e-01 -5.33888965e-03 -1.78522274e+02] [ 7.28018371e-03 -1.58368155e-06 9.99973499e-01 -5.04041630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters 0.012061168201544854 Centerline is valid? [True, True] Translation: X:97.21, Y:-178.48, Z:-5.04 [[-6.80527837e-01 -7.32710390e-01 4.16510592e-03 9.72050846e+01] [ 7.32696631e-01 -6.80540583e-01 -4.49025035e-03 -1.78480271e+02] [ 6.12457670e-03 -3.98127842e-06 9.99981245e-01 -5.04006284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters 0.012023686315852192 Centerline is valid? [True, True] Translation: X:97.16, Y:-178.44, Z:-5.04 [[-6.79176466e-01 -7.33968572e-01 3.07629306e-03 9.71648765e+01] [ 7.33961088e-01 -6.79183433e-01 -3.31434989e-03 -1.78439636e+02] [ 4.52199594e-03 6.85095297e-06 9.99989776e-01 -5.03860696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters 0.012285411190316675 Centerline is valid? [True, True] Translation: X:97.12, Y:-178.40, Z:-5.04 [[-6.77226594e-01 -7.35769776e-01 2.64123254e-03 9.71237079e+01] [ 7.35764281e-01 -6.77231745e-01 -2.84384402e-03 -1.78399529e+02] [ 3.88114100e-03 1.73977581e-05 9.99992468e-01 -5.03852605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters 0.012681545488623302 Centerline is valid? [True, True] Translation: X:97.08, Y:-178.36, Z:-5.04 [[-6.73976239e-01 -7.38744418e-01 3.56566437e-03 9.70798987e+01] [ 7.38734455e-01 -6.73985669e-01 -3.83701142e-03 -1.78361257e+02] [ 5.23777745e-03 4.80245960e-05 9.99986282e-01 -5.04025617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters 0.013005645547469455 Centerline is valid? [True, True] Translation: X:97.04, Y:-178.32, Z:-5.04 [[-6.73092458e-01 -7.39546642e-01 4.16034070e-03 9.70381630e+01] [ 7.39533109e-01 -6.73105312e-01 -4.47443202e-03 -1.78320406e+02] [ 6.10939859e-03 6.50032442e-05 9.99981335e-01 -5.04140373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters 0.012970209332525812 Centerline is valid? [True, True] Translation: X:97.00, Y:-178.28, Z:-5.04 [[-6.73776656e-01 -7.38919927e-01 4.72863328e-03 9.69990705e+01] [ 7.38902451e-01 -6.73793245e-01 -5.08247083e-03 -1.78278416e+02] [ 6.94166014e-03 6.95485209e-05 9.99975904e-01 -5.04179083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters 0.012303932385347405 Centerline is valid? [True, True] Translation: X:96.96, Y:-178.23, Z:-5.04 [[-6.77502892e-01 -7.35504236e-01 4.83209561e-03 9.69619501e+01] [ 7.35485920e-01 -6.77520123e-01 -5.19076593e-03 -1.78233215e+02] [ 7.09167234e-03 3.71793560e-05 9.99974853e-01 -5.04087119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters 0.012156256609985983 Centerline is valid? [True, True] Translation: X:96.93, Y:-178.19, Z:-5.04 [[-6.81775717e-01 -7.31551705e-01 3.73827635e-03 9.69252244e+01] [ 7.31540696e-01 -6.81785966e-01 -4.01324126e-03 -1.78189334e+02] [ 5.48459784e-03 -1.42915490e-06 9.99984960e-01 -5.03931093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters 0.012531256643906006 Centerline is valid? [True, True] Translation: X:96.89, Y:-178.14, Z:-5.04 [[-6.86045792e-01 -7.27551849e-01 3.07874383e-03 9.68893641e+01] [ 7.27544351e-01 -6.86052699e-01 -3.30312706e-03 -1.78144567e+02] [ 4.51537671e-03 -2.61737316e-05 9.99989805e-01 -5.03744072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters 0.013447141541365799 Centerline is valid? [True, True] Translation: X:96.85, Y:-178.10, Z:-5.04 [[-6.90661043e-01 -7.23157423e-01 5.53763675e-03 9.68517000e+01] [ 7.23133050e-01 -6.90683236e-01 -5.93790518e-03 -1.78099802e+02] [ 8.11879308e-03 -9.66316347e-05 9.99967037e-01 -5.03964099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters 0.013512393123328251 Centerline is valid? [True, True] Translation: X:96.81, Y:-178.06, Z:-5.04 [[-6.91604151e-01 -7.22245530e-01 6.71515248e-03 9.68111048e+01] [ 7.22209688e-01 -6.91636739e-01 -7.19643017e-03 -1.78058553e+02] [ 9.84203568e-03 -1.27332803e-04 9.99951558e-01 -5.04050660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters 0.013550437671219806 Centerline is valid? [True, True] Translation: X:96.77, Y:-178.02, Z:-5.04 [[-6.91233104e-01 -7.22596718e-01 7.12592745e-03 9.67690155e+01] [ 7.22556421e-01 -6.91269822e-01 -7.63231049e-03 -1.78018220e+02] [ 1.04410211e-02 -1.26821041e-04 9.99945483e-01 -5.04142520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters 0.013193543026069173 Centerline is valid? [True, True] Translation: X:96.73, Y:-177.98, Z:-5.04 [[-6.88980110e-01 -7.24756032e-01 5.92474029e-03 9.67259610e+01] [ 7.24728285e-01 -6.89005579e-01 -6.34229527e-03 -1.77979974e+02] [ 8.67879587e-03 -7.58884208e-05 9.99962336e-01 -5.04015202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters 0.012512663627749757 Centerline is valid? [True, True] Translation: X:96.68, Y:-177.94, Z:-5.04 [[-6.85728682e-01 -7.27841603e-01 4.77229036e-03 9.66804949e+01] [ 7.27823694e-01 -6.85745288e-01 -5.10592547e-03 -1.77942377e+02] [ 6.98888060e-03 -2.78935470e-05 9.99975577e-01 -5.03787390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters 0.012375355087596485 Centerline is valid? [True, True] Translation: X:96.64, Y:-177.90, Z:-5.04 [[-6.83579346e-01 -7.29863799e-01 4.25578559e-03 9.66379451e+01] [ 7.29849614e-01 -6.83592594e-01 -4.55044533e-03 -1.77903891e+02] [ 6.23042883e-03 -4.50697087e-06 9.99980591e-01 -5.03717550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters 0.01242719516500535 Centerline is valid? [True, True] Translation: X:96.60, Y:-177.86, Z:-5.04 [[-6.82395540e-01 -7.30972230e-01 3.99079271e-03 9.65971353e+01] [ 7.30959790e-01 -6.82407210e-01 -4.26442833e-03 -1.77864248e+02] [ 5.84052440e-03 7.08212925e-06 9.99982944e-01 -5.03705729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters 0.012958906901760325 Centerline is valid? [True, True] Translation: X:96.55, Y:-177.83, Z:-5.04 [[-6.78200659e-01 -7.34862432e-01 4.59047048e-03 9.65508107e+01] [ 7.34846081e-01 -6.78216192e-01 -4.90235672e-03 -1.77829127e+02] [ 6.71588919e-03 4.85076834e-05 9.99977447e-01 -5.03864452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters 0.013407968482190872 Centerline is valid? [True, True] Translation: X:96.51, Y:-177.79, Z:-5.04 [[-6.76104171e-01 -7.36789090e-01 4.99871516e-03 9.65067197e+01] [ 7.36769775e-01 -6.76122645e-01 -5.33547276e-03 -1.77790629e+02] [ 7.31086264e-03 7.55668586e-05 9.99973273e-01 -5.03913675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters 0.013841616644169387 Centerline is valid? [True, True] Translation: X:96.46, Y:-177.75, Z:-5.04 [[-6.75146093e-01 -7.37667900e-01 4.88077174e-03 9.64643317e+01] [ 7.37649531e-01 -6.75163730e-01 -5.20647512e-03 -1.77751638e+02] [ 7.13596962e-03 8.51676460e-05 9.99974535e-01 -5.03941018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters 0.013551707787648734 Centerline is valid? [True, True] Translation: X:96.42, Y:-177.71, Z:-5.04 [[-6.75312096e-01 -7.37507893e-01 5.97339019e-03 9.64231402e+01] [ 7.37480407e-01 -6.75338505e-01 -6.36803794e-03 -1.77711795e+02] [ 8.73053864e-03 1.04845188e-04 9.99961883e-01 -5.04047797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters 0.013211052664302897 Centerline is valid? [True, True] Translation: X:96.38, Y:-177.67, Z:-5.04 [[-6.76150519e-01 -7.36733666e-01 6.63176406e-03 9.63829116e+01] [ 7.36699790e-01 -6.76183032e-01 -7.06583888e-03 -1.77669452e+02] [ 9.68992771e-03 1.08048564e-04 9.99953046e-01 -5.04111481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters 0.013259443076245053 Centerline is valid? [True, True] Translation: X:96.34, Y:-177.63, Z:-5.04 [[-6.78164340e-01 -7.34881137e-01 6.54536410e-03 9.63430272e+01] [ 7.34848090e-01 -6.78195921e-01 -6.96973980e-03 -1.77628250e+02] [ 9.56096954e-03 8.32193122e-05 9.99954290e-01 -5.04160590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters 0.012793383712475074 Centerline is valid? [True, True] Translation: X:96.30, Y:-177.59, Z:-5.04 [[-6.80172373e-01 -7.33029383e-01 5.78498384e-03 9.63042910e+01] [ 7.33003531e-01 -6.80196972e-01 -6.15657217e-03 -1.77585034e+02] [ 8.44787679e-03 5.28832811e-05 9.99964315e-01 -5.03941126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters 0.012690345815178389 Centerline is valid? [True, True] Translation: X:96.27, Y:-177.54, Z:-5.04 [[-6.82540544e-01 -7.30832720e-01 4.68409495e-03 9.62651848e+01] [ 7.30815742e-01 -6.82556616e-01 -4.98167120e-03 -1.77544235e+02] [ 6.83792832e-03 2.30177540e-05 9.99976621e-01 -5.03940376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters 0.012605012042539806 Centerline is valid? [True, True] Translation: X:96.23, Y:-177.50, Z:-5.04 [[-6.83391098e-01 -7.30038845e-01 4.45997855e-03 9.62259227e+01] [ 7.30023455e-01 -6.83405651e-01 -4.74036456e-03 -1.77503250e+02] [ 6.50862481e-03 1.63660064e-05 9.99978819e-01 -5.03873154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters 0.01265478897545006 Centerline is valid? [True, True] Translation: X:96.18, Y:-177.46, Z:-5.04 [[-6.83246781e-01 -7.30169987e-01 5.06236120e-03 9.61849654e+01] [ 7.30150185e-01 -6.83265534e-01 -5.37753724e-03 -1.77462263e+02] [ 7.38545322e-03 2.20989580e-05 9.99972727e-01 -5.03909547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters 0.012886811848118069 Centerline is valid? [True, True] Translation: X:96.14, Y:-177.42, Z:-5.04 [[-6.81054836e-01 -7.32205932e-01 6.22761554e-03 9.61427569e+01] [ 7.32176073e-01 -6.81083306e-01 -6.61267420e-03 -1.77424302e+02] [ 9.08336425e-03 5.61173454e-05 9.99958744e-01 -5.04172422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters 0.013294720166861517 Centerline is valid? [True, True] Translation: X:96.10, Y:-177.38, Z:-5.04 [[-6.79155027e-01 -7.33962028e-01 6.94188812e-03 9.61004128e+01] [ 7.33925060e-01 -6.79190498e-01 -7.36704446e-03 -1.77384740e+02] [ 1.01219953e-02 9.14603766e-05 9.99948767e-01 -5.04304654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters 0.013942061092616339 Centerline is valid? [True, True] Translation: X:96.06, Y:-177.34, Z:-5.04 [[-6.76382130e-01 -7.36509992e-01 7.76178724e-03 9.60580709e+01] [ 7.36463995e-01 -6.76426647e-01 -8.23258503e-03 -1.77344640e+02] [ 1.13136609e-02 1.47903432e-04 9.99935988e-01 -5.04440744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters 0.014044309916216389 Centerline is valid? [True, True] Translation: X:96.02, Y:-177.30, Z:-5.04 [[-6.75392843e-01 -7.37411034e-01 8.33507705e-03 9.60179258e+01] [ 7.37358120e-01 -6.75444250e-01 -8.83564424e-03 -1.77302560e+02] [ 1.21453814e-02 1.78405861e-04 9.99926226e-01 -5.04439231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters 0.014443786624066729 Centerline is valid? [True, True] Translation: X:95.98, Y:-177.26, Z:-5.04 [[-6.74996463e-01 -7.37774602e-01 8.27117874e-03 9.59793121e+01] [ 7.37722589e-01 -6.75047111e-01 -8.76239368e-03 -1.77260828e+02] [ 1.20481068e-02 1.87250652e-04 9.99927401e-01 -5.04400420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters 0.014261337814325929 Centerline is valid? [True, True] Translation: X:95.94, Y:-177.22, Z:-5.04 [[-6.75808132e-01 -7.37045351e-01 6.89349956e-03 9.59405881e+01] [ 7.37009228e-01 -6.75843273e-01 -7.29858567e-03 -1.77217932e+02] [ 1.00383139e-02 1.48129241e-04 9.99949604e-01 -5.04259848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters 0.013830902710298963 Centerline is valid? [True, True] Translation: X:95.90, Y:-177.17, Z:-5.04 [[-6.77484896e-01 -7.35517765e-01 5.27575342e-03 9.59025244e+01] [ 7.35496584e-01 -6.77505430e-01 -5.58268307e-03 -1.77173773e+02] [ 7.68051416e-03 9.81151629e-05 9.99970500e-01 -5.04025703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters 0.013474315591294654 Centerline is valid? [True, True] Translation: X:95.87, Y:-177.13, Z:-5.04 [[-6.79853518e-01 -7.33337975e-01 3.82207041e-03 9.58663621e+01] [ 7.33326837e-01 -6.79864259e-01 -4.04225979e-03 -1.77129350e+02] [ 5.56283167e-03 5.46822626e-05 9.99984526e-01 -5.03877337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters 0.01298279026522207 Centerline is valid? [True, True] Translation: X:95.83, Y:-177.08, Z:-5.04 [[-6.81190771e-01 -7.32096885e-01 3.64476925e-03 9.58295011e+01] [ 7.32086750e-01 -6.81200520e-01 -3.85244214e-03 -1.77084779e+02] [ 5.30317960e-03 4.40392444e-05 9.99985937e-01 -5.03839270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters 0.013162688404530639 Centerline is valid? [True, True] Translation: X:95.79, Y:-177.04, Z:-5.04 [[-6.81204676e-01 -7.32080340e-01 4.30871391e-03 9.57909473e+01] [ 7.32066193e-01 -6.81218300e-01 -4.55161566e-03 -1.77041921e+02] [ 6.26732311e-03 5.36819171e-05 9.99980359e-01 -5.03949641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters 0.013260120828733341 Centerline is valid? [True, True] Translation: X:95.75, Y:-177.00, Z:-5.04 [[-6.79345624e-01 -7.33795482e-01 5.80629442e-03 9.57519342e+01] [ 7.33769881e-01 -6.79370430e-01 -6.13030635e-03 -1.76998876e+02] [ 8.44301584e-03 9.58871701e-05 9.99964353e-01 -5.04030847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters 0.01360808192675446 Centerline is valid? [True, True] Translation: X:95.71, Y:-176.96, Z:-5.04 [[-6.78323656e-01 -7.34738466e-01 6.03365630e-03 9.57128784e+01] [ 7.34710891e-01 -6.78350480e-01 -6.36650783e-03 -1.76956514e+02] [ 8.77065185e-03 1.14440133e-04 9.99961531e-01 -5.04124518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters 0.013596543725473226 Centerline is valid? [True, True] Translation: X:95.67, Y:-176.91, Z:-5.04 [[-6.78333679e-01 -7.34726437e-01 6.36259746e-03 9.56747234e+01] [ 7.34695809e-01 -6.78363507e-01 -6.70975101e-03 -1.76912582e+02] [ 9.24598538e-03 1.23123606e-04 9.99957247e-01 -5.04169189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters 0.01378306092121578 Centerline is valid? [True, True] Translation: X:95.64, Y:-176.87, Z:-5.04 [[-6.78919979e-01 -7.34182504e-01 6.61159214e-03 9.56362054e+01] [ 7.34149439e-01 -6.78952160e-01 -6.96888818e-03 -1.76871116e+02] [ 9.60539054e-03 1.22579245e-04 9.99953860e-01 -5.04285116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters 0.013299156911226443 Centerline is valid? [True, True] Translation: X:95.60, Y:-176.82, Z:-5.04 [[-6.81024307e-01 -7.32228203e-01 6.91033551e-03 9.56016671e+01] [ 7.32192023e-01 -6.81059358e-01 -7.27965567e-03 -1.76824369e+02] [ 1.00367179e-02 1.02070075e-04 9.99949626e-01 -5.04264705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters 0.012838754991780854 Centerline is valid? [True, True] Translation: X:95.57, Y:-176.78, Z:-5.04 [[-6.84127265e-01 -7.29338509e-01 5.93508544e-03 9.55673083e+01] [ 7.29311741e-01 -6.84153007e-01 -6.24879755e-03 -1.76776959e+02] [ 8.61799524e-03 5.35547215e-05 9.99962863e-01 -5.04083325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters 0.012882759698637098 Centerline is valid? [True, True] Translation: X:95.53, Y:-176.73, Z:-5.04 [[-6.85947042e-01 -7.27631004e-01 5.45694407e-03 9.55317729e+01] [ 7.27608350e-01 -6.85968746e-01 -5.74175912e-03 -1.76731813e+02] [ 7.92117504e-03 3.19753877e-05 9.99968627e-01 -5.03928353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters 0.012718521584221234 Centerline is valid? [True, True] Translation: X:95.50, Y:-176.69, Z:-5.04 [[-6.87558597e-01 -7.26111345e-01 5.04874620e-03 9.54959326e+01] [ 7.26091938e-01 -6.87577133e-01 -5.30877560e-03 -1.76688547e+02] [ 7.32616463e-03 1.57596124e-05 9.99973163e-01 -5.03902123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters 0.012754641259175992 Centerline is valid? [True, True] Translation: X:95.46, Y:-176.64, Z:-5.04 [[-6.89642469e-01 -7.24129653e-01 5.43231552e-03 9.54613162e+01] [ 7.24107153e-01 -6.89663864e-01 -5.70841880e-03 -1.76644158e+02] [ 7.88010704e-03 -3.18951587e-06 9.99968952e-01 -5.03975055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters 0.01268297261374467 Centerline is valid? [True, True] Translation: X:95.42, Y:-176.60, Z:-5.04 [[-6.91056783e-01 -7.22768464e-01 6.80223904e-03 9.54240598e+01] [ 7.22733158e-01 -6.91090260e-01 -7.14390982e-03 -1.76600050e+02] [ 9.86435387e-03 -2.06436413e-05 9.99951346e-01 -5.04019272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters 0.012793895524126494 Centerline is valid? [True, True] Translation: X:95.39, Y:-176.56, Z:-5.04 [[-6.92234458e-01 -7.21625020e-01 8.29371881e-03 9.53863160e+01] [ 7.21572510e-01 -6.92284139e-01 -8.70537882e-03 -1.76555285e+02] [ 1.20236291e-02 -4.16436954e-05 9.99927713e-01 -5.04144375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters 0.012953639896514477 Centerline is valid? [True, True] Translation: X:95.35, Y:-176.51, Z:-5.04 [[-6.92732974e-01 -7.21137225e-01 9.06250633e-03 9.53470038e+01] [ 7.21074558e-01 -6.92792249e-01 -9.50693057e-03 -1.76512202e+02] [ 1.31342357e-02 -5.10215457e-05 9.99913741e-01 -5.04204413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters 0.013188111318493142 Centerline is valid? [True, True] Translation: X:95.31, Y:-176.47, Z:-5.04 [[-6.93691119e-01 -7.20189070e-01 1.09697486e-02 9.53091899e+01] [ 7.20097232e-01 -6.93777844e-01 -1.15012755e-02 -1.76467696e+02] [ 1.58936615e-02 -7.90470603e-05 9.99873685e-01 -5.04440807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters 0.014063453913063417 Centerline is valid? [True, True] Translation: X:95.27, Y:-176.42, Z:-5.05 [[-6.94471334e-01 -7.19419133e-01 1.20696518e-02 9.52724448e+01] [ 7.19307967e-01 -6.94576202e-01 -1.26470731e-02 -1.76423710e+02] [ 1.74818393e-02 -1.01233004e-04 9.99847176e-01 -5.04749320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters 0.013095251461289373 Centerline is valid? [True, True] Translation: X:95.23, Y:-176.38, Z:-5.04 [[-6.93812922e-01 -7.20070776e-01 1.10321111e-02 9.52342166e+01] [ 7.19978087e-01 -6.93900622e-01 -1.15534189e-02 -1.76379966e+02] [ 1.59744681e-02 -7.30330268e-05 9.99872397e-01 -5.04320324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters 0.012612069679022878 Centerline is valid? [True, True] Translation: X:95.19, Y:-176.34, Z:-5.04 [[-6.90703251e-01 -7.23079479e-01 9.22422451e-03 9.51915025e+01] [ 7.23015021e-01 -6.90764842e-01 -9.65468314e-03 -1.76340925e+02] [ 1.33528732e-02 7.31843672e-07 9.99910846e-01 -5.04117346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters 0.01323133958439744 Centerline is valid? [True, True] Translation: X:95.15, Y:-176.30, Z:-5.04 [[-6.83424107e-01 -7.29970127e-01 8.66619787e-03 9.51463152e+01] [ 7.29913827e-01 -6.83479039e-01 -9.06688445e-03 -1.76304503e+02] [ 1.25417194e-02 1.29050244e-04 9.99921341e-01 -5.04087703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters 0.014778045811773813 Centerline is valid? [True, True] Translation: X:95.10, Y:-176.27, Z:-5.04 [[-6.78799954e-01 -7.34274228e-01 8.48414357e-03 9.51035948e+01] [ 7.34220654e-01 -6.78852941e-01 -8.87215901e-03 -1.76266833e+02] [ 1.22740835e-02 2.06812318e-04 9.99924649e-01 -5.04119534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters 0.015901601119715843 Centerline is valid? [True, True] Translation: X:95.06, Y:-176.23, Z:-5.04 [[-6.74590333e-01 -7.38132379e-01 9.40606885e-03 9.50618558e+01] [ 7.38066978e-01 -6.74655835e-01 -9.83059696e-03 -1.76226712e+02] [ 1.36021412e-02 3.10683138e-04 9.99907438e-01 -5.04144357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters 0.01665811256391248 Centerline is valid? [True, True] Translation: X:95.02, Y:-176.19, Z:-5.04 [[-6.73203359e-01 -7.39397503e-01 9.41114814e-03 9.50192829e+01] [ 7.39332230e-01 -6.73269053e-01 -9.83038730e-03 -1.76186718e+02] [ 1.36047986e-02 3.40115392e-04 9.99907393e-01 -5.04277801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters 0.017343902674395565 Centerline is valid? [True, True] Translation: X:94.98, Y:-176.15, Z:-5.04 [[-6.72411140e-01 -7.40118062e-01 9.40815933e-03 9.49765472e+01] [ 7.40052975e-01 -6.72476859e-01 -9.82181063e-03 -1.76146928e+02] [ 1.35960689e-02 3.58241415e-04 9.99907505e-01 -5.04403167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters 0.017073234512996784 Centerline is valid? [True, True] Translation: X:94.94, Y:-176.10, Z:-5.05 [[-6.73340140e-01 -7.39269262e-01 9.69608766e-03 9.49374359e+01] [ 7.39200130e-01 -6.73409855e-01 -1.01160801e-02 -1.76104491e+02] [ 1.40079480e-02 3.55786481e-04 9.99901821e-01 -5.04517827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters 0.01641103509541042 Centerline is valid? [True, True] Translation: X:94.90, Y:-176.06, Z:-5.05 [[-6.75669658e-01 -7.37138649e-01 9.85517582e-03 9.49001946e+01] [ 7.37067085e-01 -6.75741451e-01 -1.02763828e-02 -1.76059681e+02] [ 1.42346698e-02 3.20485643e-04 9.99898631e-01 -5.04594172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters 0.014424637272463988 Centerline is valid? [True, True] Translation: X:94.87, Y:-176.01, Z:-5.05 [[-6.80336888e-01 -7.32842019e-01 9.18117651e-03 9.48650812e+01] [ 7.32779588e-01 -6.80398801e-01 -9.56803213e-03 -1.76013133e+02] [ 1.32587175e-02 2.18293537e-04 9.99912076e-01 -5.04511297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters 0.013559508807967198 Centerline is valid? [True, True] Translation: X:94.83, Y:-175.97, Z:-5.04 [[-6.83560287e-01 -7.29841384e-01 8.76859583e-03 9.48274834e+01] [ 7.29784256e-01 -6.83616508e-01 -9.13284945e-03 -1.75968588e+02] [ 1.26598883e-02 1.56329994e-04 9.99919848e-01 -5.04478235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters 0.012967493371324376 Centerline is valid? [True, True] Translation: X:94.79, Y:-175.92, Z:-5.04 [[-6.88815426e-01 -7.24892669e-01 7.99544925e-03 9.47920300e+01] [ 7.24844887e-01 -6.88861826e-01 -8.32312357e-03 -1.75923181e+02] [ 1.15411310e-02 6.23646021e-05 9.99933397e-01 -5.04397323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters 0.012624281573583803 Centerline is valid? [True, True] Translation: X:94.75, Y:-175.88, Z:-5.04 [[-6.91856007e-01 -7.21989253e-01 8.17209305e-03 9.47541057e+01] [ 7.21939191e-01 -6.91904269e-01 -8.50219908e-03 -1.75879497e+02] [ 1.17928024e-02 1.74567353e-05 9.99930462e-01 -5.04334331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters 0.01261518290842267 Centerline is valid? [True, True] Translation: X:94.71, Y:-175.84, Z:-5.04 [[-6.92901818e-01 -7.20977981e-01 8.82162955e-03 9.47135334e+01] [ 7.20919628e-01 -6.92957972e-01 -9.17276317e-03 -1.75838562e+02] [ 1.27263788e-02 3.86161875e-06 9.99919016e-01 -5.04403447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters 0.012756551349928421 Centerline is valid? [True, True] Translation: X:94.67, Y:-175.80, Z:-5.05 [[-6.93900370e-01 -7.19987867e-01 1.09429220e-02 9.46718654e+01] [ 7.19898053e-01 -6.93986650e-01 -1.13720132e-02 -1.75797613e+02] [ 1.57819533e-02 -1.32559609e-05 9.99875457e-01 -5.04663256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters 0.013042575567479031 Centerline is valid? [True, True] Translation: X:94.63, Y:-175.76, Z:-5.05 [[-6.95887790e-01 -7.18048527e-01 1.21035772e-02 9.46319819e+01] [ 7.17938485e-01 -6.95993038e-01 -1.25706936e-02 -1.75756636e+02] [ 1.74503735e-02 -5.81682647e-05 9.99847729e-01 -5.04811818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters 0.013112541379661068 Centerline is valid? [True, True] Translation: X:94.59, Y:-175.72, Z:-5.05 [[-6.96947593e-01 -7.17026489e-01 1.17075764e-02 9.45915976e+01] [ 7.16923516e-01 -6.97045916e-01 -1.21517052e-02 -1.75716392e+02] [ 1.68738128e-02 -7.56648071e-05 9.99857624e-01 -5.04669034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters 0.013051077478496233 Centerline is valid? [True, True] Translation: X:94.55, Y:-175.68, Z:-5.05 [[-6.97811099e-01 -7.16197029e-01 1.10220729e-02 9.45498408e+01] [ 7.16105762e-01 -6.97898136e-01 -1.14336758e-02 -1.75676294e+02] [ 1.58810488e-02 -8.55759246e-05 9.99873885e-01 -5.04504964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters 0.012972919884196112 Centerline is valid? [True, True] Translation: X:94.51, Y:-175.64, Z:-5.04 [[-6.97120944e-01 -7.16891899e-01 9.40189092e-03 9.45077733e+01] [ 7.16825629e-01 -6.97184339e-01 -9.74753609e-03 -1.75638032e+02] [ 1.35427808e-02 -5.56951808e-05 9.99908291e-01 -5.04350117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters 0.012856009610708508 Centerline is valid? [True, True] Translation: X:94.47, Y:-175.60, Z:-5.04 [[-6.95873498e-01 -7.18104420e-01 9.27997648e-03 9.44659022e+01] [ 7.18040047e-01 -6.95935372e-01 -9.61505897e-03 -1.75599131e+02] [ 1.33628802e-02 -2.74699673e-05 9.99910712e-01 -5.04317089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters 0.01277328998714863 Centerline is valid? [True, True] Translation: X:94.42, Y:-175.56, Z:-5.04 [[-6.93063583e-01 -7.20817519e-01 9.21818855e-03 9.44233877e+01] [ 7.20754320e-01 -6.93124883e-01 -9.54500108e-03 -1.75560378e+02] [ 1.32695599e-02 2.87565719e-05 9.99911955e-01 -5.04321088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters 0.013286239270049158 Centerline is valid? [True, True] Translation: X:94.38, Y:-175.52, Z:-5.04 [[-6.87666057e-01 -7.25985026e-01 7.81900286e-03 9.43777374e+01] [ 7.25939939e-01 -6.87710498e-01 -8.09166395e-03 -1.75523976e+02] [ 1.12516372e-02 1.11763821e-04 9.99936692e-01 -5.04182057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters 0.014382955449308336 Centerline is valid? [True, True] Translation: X:94.33, Y:-175.49, Z:-5.04 [[-6.83870578e-01 -7.29574257e-01 6.51437635e-03 9.43346881e+01] [ 7.29543160e-01 -6.83901589e-01 -6.73757562e-03 -1.75486249e+02] [ 9.37075406e-03 1.44888970e-04 9.99956083e-01 -5.04070819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters 0.014951170869228226 Centerline is valid? [True, True] Translation: X:94.29, Y:-175.45, Z:-5.04 [[-6.81489177e-01 -7.31799541e-01 6.47555278e-03 9.42930877e+01] [ 7.31768952e-01 -6.81519919e-01 -6.69340027e-03 -1.75446330e+02] [ 9.31144546e-03 1.77128627e-04 9.99956632e-01 -5.04045964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters 0.01606718225902144 Centerline is valid? [True, True] Translation: X:94.25, Y:-175.41, Z:-5.04 [[-6.79422740e-01 -7.33712814e-01 7.08850676e-03 9.42503401e+01] [ 7.33676305e-01 -6.79459679e-01 -7.32288968e-03 -1.75406474e+02] [ 1.01892525e-02 2.25331678e-04 9.99948063e-01 -5.04203049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters 0.015485634380690541 Centerline is valid? [True, True] Translation: X:94.21, Y:-175.36, Z:-5.04 [[-6.79975467e-01 -7.33192323e-01 7.89821464e-03 9.42109101e+01] [ 7.33147013e-01 -6.80021292e-01 -8.15469451e-03 -1.75363772e+02] [ 1.13499135e-02 2.45560269e-04 9.99935558e-01 -5.04273573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters 0.014422267559346693 Centerline is valid? [True, True] Translation: X:94.17, Y:-175.32, Z:-5.04 [[-6.83939403e-01 -7.29491701e-01 8.29167054e-03 9.41745329e+01] [ 7.29441551e-01 -6.83989634e-01 -8.55594836e-03 -1.75318470e+02] [ 1.19129100e-02 1.96538808e-04 9.99929020e-01 -5.04316941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters 0.013674811691312202 Centerline is valid? [True, True] Translation: X:94.14, Y:-175.27, Z:-5.04 [[-6.87647769e-01 -7.25996553e-01 8.33971276e-03 9.41381587e+01] [ 7.25945620e-01 -6.87698324e-01 -8.60067018e-03 -1.75273315e+02] [ 1.19792634e-02 1.39946290e-04 9.99928236e-01 -5.04246093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters 0.013352695002173792 Centerline is valid? [True, True] Translation: X:94.10, Y:-175.23, Z:-5.04 [[-6.89668538e-01 -7.24077162e-01 8.34087295e-03 9.41001368e+01] [ 7.24026139e-01 -6.89718965e-01 -8.59642235e-03 -1.75230097e+02] [ 1.19773314e-02 1.10328003e-04 9.99928263e-01 -5.04229456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters 0.012899830430682017 Centerline is valid? [True, True] Translation: X:94.06, Y:-175.18, Z:-5.04 [[-6.95131257e-01 -7.18831683e-01 8.57597206e-03 9.40647109e+01] [ 7.18777403e-01 -6.95184156e-01 -8.83365081e-03 -1.75183419e+02] [ 1.23117880e-02 2.36681381e-05 9.99924207e-01 -5.04175124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters 0.013153594326632788 Centerline is valid? [True, True] Translation: X:94.03, Y:-175.14, Z:-5.04 [[-6.98071700e-01 -7.15966909e-01 9.34278198e-03 9.40277425e+01] [ 7.15902308e-01 -6.98134217e-01 -9.61773147e-03 -1.75139131e+02] [ 1.34084933e-02 -2.53469718e-05 9.99910102e-01 -5.04316448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters 0.013524399461707576 Centerline is valid? [True, True] Translation: X:93.99, Y:-175.09, Z:-5.04 [[-7.01449635e-01 -7.12643070e-01 1.04050206e-02 9.39911619e+01] [ 7.12562667e-01 -7.01526796e-01 -1.07051587e-02 -1.75093304e+02] [ 1.49283579e-02 -9.49003914e-05 9.99888561e-01 -5.04325465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters 0.01382082945296771 Centerline is valid? [True, True] Translation: X:93.95, Y:-175.05, Z:-5.04 [[-7.02755678e-01 -7.11342056e-01 1.12666351e-02 9.39524209e+01] [ 7.11247722e-01 -7.02845974e-01 -1.15850830e-02 -1.75050225e+02] [ 1.61596659e-02 -1.28114354e-04 9.99869416e-01 -5.04371224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters 0.013856223283147645 Centerline is valid? [True, True] Translation: X:93.91, Y:-175.01, Z:-5.04 [[-7.02423920e-01 -7.11665308e-01 1.15380471e-02 9.39125615e+01] [ 7.11566541e-01 -7.02518666e-01 -1.18567489e-02 -1.75009358e+02] [ 1.65437303e-02 -1.18375788e-04 9.99863136e-01 -5.04384155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters 0.01316308944281625 Centerline is valid? [True, True] Translation: X:93.87, Y:-174.97, Z:-5.04 [[-6.99474440e-01 -7.14575387e-01 1.08408779e-02 9.38703850e+01] [ 7.14488643e-01 -6.99558443e-01 -1.11339382e-02 -1.74969954e+02] [ 1.55398659e-02 -4.22210672e-05 9.99879248e-01 -5.03987352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters 0.01321661840506403 Centerline is valid? [True, True] Translation: X:93.83, Y:-174.93, Z:-5.04 [[-6.96817590e-01 -7.17174529e-01 1.02928311e-02 9.38289968e+01] [ 7.17096693e-01 -6.96893604e-01 -1.05658488e-02 -1.74932251e+02] [ 1.47505658e-02 1.84858178e-05 9.99891204e-01 -5.04022759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters 0.013052768815887489 Centerline is valid? [True, True] Translation: X:93.78, Y:-174.90, Z:-5.04 [[-6.92584123e-01 -7.21291162e-01 8.14201903e-03 9.37845046e+01] [ 7.21242802e-01 -6.92631975e-01 -8.35268676e-03 -1.74895766e+02] [ 1.16641419e-02 8.74343861e-05 9.99931968e-01 -5.03640219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters 0.01333238765118701 Centerline is valid? [True, True] Translation: X:93.74, Y:-174.86, Z:-5.03 [[-6.90351505e-01 -7.23441187e-01 6.90287457e-03 9.37422265e+01] [ 7.23406579e-01 -6.90386007e-01 -7.07699965e-03 -1.74857440e+02] [ 9.88544103e-03 1.07967514e-04 9.99951132e-01 -5.03476800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters 0.014182865087840007 Centerline is valid? [True, True] Translation: X:93.70, Y:-174.82, Z:-5.03 [[-6.88197780e-01 -7.25502885e-01 5.42032994e-03 9.36986808e+01] [ 7.25481636e-01 -6.88219116e-01 -5.55378827e-03 -1.74819851e+02] [ 7.75966409e-03 1.10245079e-04 9.99969887e-01 -5.03383083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters 0.013978760051613328 Centerline is valid? [True, True] Translation: X:93.66, Y:-174.78, Z:-5.03 [[-6.87629862e-01 -7.26043093e-01 5.15751696e-03 9.36568638e+01] [ 7.26023892e-01 -6.87649194e-01 -5.28150718e-03 -1.74779240e+02] [ 7.38116419e-03 1.12758484e-04 9.99972753e-01 -5.03313425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters 0.01419476193040065 Centerline is valid? [True, True] Translation: X:93.61, Y:-174.74, Z:-5.03 [[-6.87083128e-01 -7.26557777e-01 5.52922281e-03 9.36138817e+01] [ 7.26535750e-01 -6.87105363e-01 -5.65895006e-03 -1.74740069e+02] [ 7.91071283e-03 1.29008935e-04 9.99968702e-01 -5.03380802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters 0.014419543260217603 Centerline is valid? [True, True] Translation: X:93.57, Y:-174.70, Z:-5.04 [[-6.86801600e-01 -7.26808904e-01 7.23739494e-03 9.35697144e+01] [ 7.26771222e-01 -6.86839709e-01 -7.40302418e-03 -1.74701814e+02] [ 1.03515141e-02 1.75521513e-04 9.99946406e-01 -5.03656445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters 0.014392885930420303 Centerline is valid? [True, True] Translation: X:93.53, Y:-174.66, Z:-5.04 [[-6.88104282e-01 -7.25567885e-01 7.98377895e-03 9.35290920e+01] [ 7.25522008e-01 -6.88150574e-01 -8.16111346e-03 -1.74663031e+02] [ 1.14154839e-02 1.76710211e-04 9.99934826e-01 -5.03820503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters 0.013598365570575316 Centerline is valid? [True, True] Translation: X:93.49, Y:-174.62, Z:-5.04 [[-6.91995683e-01 -7.21846500e-01 8.92219927e-03 9.34898274e+01] [ 7.21788939e-01 -6.92053187e-01 -9.11671025e-03 -1.74621638e+02] [ 1.27555018e-02 1.31220614e-04 9.99918637e-01 -5.03974114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters 0.012780852957144881 Centerline is valid? [True, True] Translation: X:93.45, Y:-174.58, Z:-5.04 [[-6.97246434e-01 -7.16762732e-01 9.92961082e-03 9.34535084e+01] [ 7.16691004e-01 -6.97317133e-01 -1.01400573e-02 -1.74576360e+02] [ 1.41921029e-02 4.63439878e-05 9.99899286e-01 -5.03996063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters 0.012833969159267775 Centerline is valid? [True, True] Translation: X:93.42, Y:-174.53, Z:-5.04 [[-6.99977795e-01 -7.14088218e-01 1.04452191e-02 9.34157599e+01] [ 7.14008648e-01 -7.00055724e-01 -1.06599392e-02 -1.74533395e+02] [ 1.49243724e-02 -3.74390621e-06 9.99888625e-01 -5.04056421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters 0.013053938721164966 Centerline is valid? [True, True] Translation: X:93.38, Y:-174.49, Z:-5.04 [[-7.01454291e-01 -7.12644591e-01 9.97821720e-03 9.33784898e+01] [ 7.12571924e-01 -7.01525257e-01 -1.01767474e-02 -1.74490898e+02] [ 1.42523754e-02 -2.83256943e-05 9.99898429e-01 -5.04072593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters 0.012733824876822357 Centerline is valid? [True, True] Translation: X:93.34, Y:-174.45, Z:-5.04 [[-7.00646348e-01 -7.13433832e-01 1.03374461e-02 9.33381302e+01] [ 7.13356022e-01 -7.00722604e-01 -1.05365407e-02 -1.74449863e+02] [ 1.47608067e-02 -8.10939435e-06 9.99891053e-01 -5.03930685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters 0.012603667297967174 Centerline is valid? [True, True] Translation: X:93.30, Y:-174.41, Z:-5.04 [[-6.98715509e-01 -7.15322455e-01 1.05082801e-02 9.32969249e+01] [ 7.15242355e-01 -6.98794522e-01 -1.07046047e-02 -1.74409293e+02] [ 1.50003727e-02 3.64936898e-05 9.99887488e-01 -5.03990810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters 0.012804435358305439 Centerline is valid? [True, True] Translation: X:93.26, Y:-174.37, Z:-5.04 [[-6.96216487e-01 -7.17762112e-01 1.00077162e-02 9.32576015e+01] [ 7.17689810e-01 -6.96288405e-01 -1.01879438e-02 -1.74368842e+02] [ 1.42807768e-02 8.94215233e-05 9.99898021e-01 -5.03921387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters 0.013033348385054771 Centerline is valid? [True, True] Translation: X:93.22, Y:-174.33, Z:-5.04 [[-6.94151943e-01 -7.19770683e-01 9.12387861e-03 9.32160910e+01] [ 7.19710836e-01 -6.94211891e-01 -9.28239565e-03 -1.74328788e+02] [ 1.30151013e-02 1.23161329e-04 9.99915292e-01 -5.03810682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters 0.013704940268655298 Centerline is valid? [True, True] Translation: X:93.17, Y:-174.29, Z:-5.04 [[-6.90985109e-01 -7.22811271e-01 9.13492511e-03 9.31741846e+01] [ 7.22751611e-01 -6.91045464e-01 -9.28846075e-03 -1.74288075e+02] [ 1.30264527e-02 1.84093781e-04 9.99915135e-01 -5.03802307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters 0.014280901027632525 Centerline is valid? [True, True] Translation: X:93.13, Y:-174.25, Z:-5.04 [[-6.89950363e-01 -7.23796793e-01 9.31124612e-03 9.31335540e+01] [ 7.23734971e-01 -6.90013158e-01 -9.46222901e-03 -1.74247936e+02] [ 1.32736134e-02 2.10406101e-04 9.99911880e-01 -5.03851009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters 0.013932230997337808 Centerline is valid? [True, True] Translation: X:93.09, Y:-174.21, Z:-5.04 [[-6.90222075e-01 -7.23543165e-01 8.87554007e-03 9.30947365e+01] [ 7.23487045e-01 -6.90279109e-01 -9.01377717e-03 -1.74205686e+02] [ 1.26484568e-02 1.99830272e-04 9.99919985e-01 -5.03747615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters 0.013417719364230135 Centerline is valid? [True, True] Translation: X:93.06, Y:-174.16, Z:-5.04 [[-6.91646009e-01 -7.22184910e-01 8.64609513e-03 9.30563706e+01] [ 7.22131608e-01 -6.91700026e-01 -8.77577738e-03 -1.74161701e+02] [ 1.23182382e-02 1.73887184e-04 9.99924113e-01 -5.03633614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters 0.012761054500787539 Centerline is valid? [True, True] Translation: X:93.02, Y:-174.12, Z:-5.03 [[-6.95049301e-01 -7.18924713e-01 7.32981313e-03 9.30203337e+01] [ 7.18886265e-01 -6.95087942e-01 -7.43579473e-03 -1.74117376e+02] [ 1.04406413e-02 1.01058061e-04 9.99945490e-01 -5.03465322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters 0.012447217229836901 Centerline is valid? [True, True] Translation: X:92.98, Y:-174.07, Z:-5.03 [[-6.97319941e-01 -7.16725935e-01 6.98814640e-03 9.29830104e+01] [ 7.16690921e-01 -6.97354952e-01 -7.08479306e-03 -1.74074306e+02] [ 9.95107343e-03 6.79736039e-05 9.99950485e-01 -5.03410305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters 0.012300360011304133 Centerline is valid? [True, True] Translation: X:92.94, Y:-174.03, Z:-5.04 [[-6.99486397e-01 -7.14607730e-01 7.38737357e-03 9.29449192e+01] [ 7.14568531e-01 -6.99525404e-01 -7.48492679e-03 -1.74031618e+02] [ 1.05164420e-02 4.31802094e-05 9.99944700e-01 -5.03561586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters 0.012433611091066983 Centerline is valid? [True, True] Translation: X:92.90, Y:-173.99, Z:-5.04 [[-6.99161084e-01 -7.14903434e-01 9.31977088e-03 9.29041327e+01] [ 7.14841141e-01 -6.99223195e-01 -9.43752633e-03 -1.73990411e+02] [ 1.32635199e-02 6.38045096e-05 9.99912034e-01 -5.03776235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters 0.012764915724804439 Centerline is valid? [True, True] Translation: X:92.86, Y:-173.95, Z:-5.04 [[-6.97724386e-01 -7.16299872e-01 9.75573019e-03 9.28615074e+01] [ 7.16231827e-01 -6.97792579e-01 -9.87352019e-03 -1.73951078e+02] [ 1.38798774e-02 9.83686446e-05 9.99903665e-01 -5.03918160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters 0.013150270820522942 Centerline is valid? [True, True] Translation: X:92.82, Y:-173.91, Z:-5.04 [[-6.95495135e-01 -7.18462624e-01 9.89823543e-03 9.28189331e+01] [ 7.18392874e-01 -6.95565551e-01 -1.00121160e-02 -1.73912059e+02] [ 1.40782027e-02 1.47443863e-04 9.99900886e-01 -5.03801716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters 0.013605002940641181 Centerline is valid? [True, True] Translation: X:92.78, Y:-173.87, Z:-5.04 [[-6.94905443e-01 -7.19040747e-01 9.31826681e-03 9.27776252e+01] [ 7.18979065e-01 -6.94967899e-01 -9.41927897e-03 -1.73873867e+02] [ 1.32487417e-02 1.54130537e-04 9.99912220e-01 -5.03750478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters 0.013330676269490508 Centerline is valid? [True, True] Translation: X:92.74, Y:-173.83, Z:-5.04 [[-6.94695876e-01 -7.19252863e-01 8.54166211e-03 9.27369180e+01] [ 7.19201117e-01 -6.94748370e-01 -8.62876903e-03 -1.73833670e+02] [ 1.21405727e-02 1.48802669e-04 9.99926290e-01 -5.03542467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters 0.013500436169641198 Centerline is valid? [True, True] Translation: X:92.70, Y:-173.79, Z:-5.03 [[-6.94031195e-01 -7.19902597e-01 7.80710953e-03 9.26951575e+01] [ 7.19859463e-01 -6.94075088e-01 -7.88195372e-03 -1.73793978e+02] [ 1.10929592e-02 1.49699917e-04 9.99938460e-01 -5.03351970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters 0.013756596275115244 Centerline is valid? [True, True] Translation: X:92.65, Y:-173.76, Z:-5.03 [[-6.93785465e-01 -7.20143079e-01 7.46146565e-03 9.26534829e+01] [ 7.20103745e-01 -6.93825571e-01 -7.52823163e-03 -1.73755076e+02] [ 1.05983596e-02 1.50051670e-04 9.99943825e-01 -5.03362137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters 0.013988064785740922 Centerline is valid? [True, True] Translation: X:92.61, Y:-173.72, Z:-5.03 [[-6.93695212e-01 -7.20230157e-01 7.44814155e-03 9.26114652e+01] [ 7.20191017e-01 -6.93735178e-01 -7.51007486e-03 -1.73715933e+02] [ 1.05760202e-02 1.54381671e-04 9.99944061e-01 -5.03471312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters 0.0137944550408108 Centerline is valid? [True, True] Translation: X:92.57, Y:-173.68, Z:-5.04 [[-6.94730675e-01 -7.19217953e-01 8.65020087e-03 9.25718362e+01] [ 7.19165149e-01 -6.94784505e-01 -8.71664601e-03 -1.73675183e+02] [ 1.22791938e-02 1.65201635e-04 9.99924594e-01 -5.03677167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters 0.013708326293631388 Centerline is valid? [True, True] Translation: X:92.53, Y:-173.63, Z:-5.04 [[-6.96231984e-01 -7.17756530e-01 9.30531779e-03 9.25332589e+01] [ 7.17695374e-01 -6.96294148e-01 -9.37065712e-03 -1.73634457e+02] [ 1.32050887e-02 1.54232343e-04 9.99912797e-01 -5.03801625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters 0.013251558215738922 Centerline is valid? [True, True] Translation: X:92.49, Y:-173.59, Z:-5.04 [[-6.98115272e-01 -7.15914022e-01 1.01084317e-02 9.24941053e+01] [ 7.15841753e-01 -6.98188438e-01 -1.01729922e-02 -1.73592196e+02] [ 1.43405779e-02 1.34116251e-04 9.99897160e-01 -5.03857218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters 0.01300975380648878 Centerline is valid? [True, True] Translation: X:92.45, Y:-173.55, Z:-5.04 [[-6.98817356e-01 -7.15221478e-01 1.06085173e-02 9.24537076e+01] [ 7.15141893e-01 -6.98897861e-01 -1.06701785e-02 -1.73550592e+02] [ 1.50458109e-02 1.30089200e-04 9.99886797e-01 -5.03891009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters 0.01296238417039885 Centerline is valid? [True, True] Translation: X:92.41, Y:-173.51, Z:-5.04 [[-6.99241061e-01 -7.14807718e-01 1.05766348e-02 9.24136290e+01] [ 7.14728664e-01 -6.99321036e-01 -1.06313640e-02 -1.73509832e+02] [ 1.49958443e-02 1.25537818e-04 9.99887548e-01 -5.03957913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters 0.012807887310713903 Centerline is valid? [True, True] Translation: X:92.37, Y:-173.47, Z:-5.04 [[-6.99743027e-01 -7.14338620e-01 8.94608331e-03 9.23731409e+01] [ 7.14282089e-01 -6.99800204e-01 -8.98728673e-03 -1.73468229e+02] [ 1.26804369e-02 1.01235850e-04 9.99919595e-01 -5.03777901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters 0.012634407129389623 Centerline is valid? [True, True] Translation: X:92.33, Y:-173.43, Z:-5.04 [[-7.00024117e-01 -7.14080486e-01 7.43611812e-03 9.23327578e+01] [ 7.14041458e-01 -7.00063607e-01 -7.46609367e-03 -1.73427103e+02] [ 1.05371475e-02 8.32510008e-05 9.99944479e-01 -5.03589728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters 0.012773996023156322 Centerline is valid? [True, True] Translation: X:92.29, Y:-173.39, Z:-5.04 [[-6.99814459e-01 -7.14293239e-01 6.70008878e-03 9.22923623e+01] [ 7.14261597e-01 -6.99846528e-01 -6.72377663e-03 -1.73387984e+02] [ 9.49178206e-03 8.02200106e-05 9.99954949e-01 -5.03600525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters 0.013151686041604696 Centerline is valid? [True, True] Translation: X:92.25, Y:-173.35, Z:-5.04 [[-6.99093477e-01 -7.14977744e-01 8.66811638e-03 9.22501253e+01] [ 7.14924894e-01 -6.99147203e-01 -8.69393717e-03 -1.73347753e+02] [ 1.22762609e-02 1.19177426e-04 9.99924637e-01 -5.03973511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters 0.013058554932132148 Centerline is valid? [True, True] Translation: X:92.21, Y:-173.31, Z:-5.04 [[-6.98918992e-01 -7.15142557e-01 9.13048363e-03 9.22094506e+01] [ 7.15084006e-01 -6.98978616e-01 -9.15196757e-03 -1.73307887e+02] [ 1.29269743e-02 1.32578868e-04 9.99916434e-01 -5.04021205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters 0.013993251602787032 Centerline is valid? [True, True] Translation: X:92.17, Y:-173.27, Z:-5.04 [[-6.97097757e-01 -7.16892166e-01 1.09699797e-02 9.21666668e+01] [ 7.16807960e-01 -6.97184037e-01 -1.09894138e-02 -1.73270297e+02] [ 1.55263194e-02 2.02673033e-04 9.99879439e-01 -5.04337095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters 0.014266999001911633 Centerline is valid? [True, True] Translation: X:92.12, Y:-173.23, Z:-5.04 [[-6.95338980e-01 -7.18588737e-01 1.15728414e-02 9.21239259e+01] [ 7.18495361e-01 -6.95435231e-01 -1.15868945e-02 -1.73231093e+02] [ 1.63743735e-02 2.58213422e-04 9.99865898e-01 -5.04330744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters 0.014256097563829914 Centerline is valid? [True, True] Translation: X:92.08, Y:-173.19, Z:-5.04 [[-6.95648075e-01 -7.18307429e-01 1.04016488e-02 9.20838594e+01] [ 7.18232061e-01 -6.95725797e-01 -1.04077567e-02 -1.73190599e+02] [ 1.47126643e-02 2.30661736e-04 9.99891736e-01 -5.04144237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters 0.01338703918708288 Centerline is valid? [True, True] Translation: X:92.05, Y:-173.15, Z:-5.04 [[-6.97813501e-01 -7.16232405e-01 8.21334226e-03 9.20452614e+01] [ 7.16185326e-01 -6.97861819e-01 -8.21341282e-03 -1.73147589e+02] [ 1.16144904e-02 1.50844843e-04 9.99932538e-01 -5.03780500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters 0.013047397551034836 Centerline is valid? [True, True] Translation: X:92.01, Y:-173.10, Z:-5.04 [[-6.99888996e-01 -7.14222561e-01 6.44411056e-03 9.20055682e+01] [ 7.14193526e-01 -6.99918656e-01 -6.44071745e-03 -1.73104369e+02] [ 9.11045891e-03 9.45547777e-05 9.99958495e-01 -5.03685144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters 0.012697776702963978 Centerline is valid? [True, True] Translation: X:91.55, Y:-173.56, Z:-4.00 [[-7.60113222e-01 6.49770764e-01 5.08375685e-03 9.15457061e+01] [ 6.49755830e-01 7.60130221e-01 -4.40552828e-03 -1.73560951e+02] [-6.72690070e-03 -4.54996402e-05 -9.99977373e-01 -4.00111680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters 0.012647295636601727 Centerline is valid? [True, True] Translation: X:91.57, Y:-173.54, Z:-4.00 [[-8.03574517e-01 5.95173261e-01 6.06504756e-03 9.15677844e+01] [ 5.95155863e-01 8.03597403e-01 -4.55106802e-03 -1.73543786e+02] [-7.58253047e-03 -4.74736667e-05 -9.99971251e-01 -4.00003087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters 0.012913364552432766 Centerline is valid? [True, True] Translation: X:91.58, Y:-173.52, Z:-4.00 [[-8.44278675e-01 5.35837867e-01 8.44388682e-03 9.15812356e+01] [ 5.35810182e-01 8.44320896e-01 -5.44744513e-03 -1.73519496e+02] [-1.00482975e-02 -7.48412262e-05 -9.99949512e-01 -3.99869949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters 0.013280767674164614 Centerline is valid? [True, True] Translation: X:91.59, Y:-173.49, Z:-4.00 [[-8.81058787e-01 4.72877706e-01 1.10493895e-02 9.15945100e+01] [ 4.72838800e-01 8.81128062e-01 -6.06699415e-03 -1.73493376e+02] [-1.26048734e-02 -1.20798440e-04 -9.99920548e-01 -3.99665581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters 0.013628915485280712 Centerline is valid? [True, True] Translation: X:91.61, Y:-173.47, Z:-4.00 [[-9.12613473e-01 4.08661457e-01 1.15092710e-02 9.16061933e+01] [ 4.08627165e-01 9.12686034e-01 -5.29564025e-03 -1.73467325e+02] [-1.26684750e-02 -1.29871852e-04 -9.99919743e-01 -3.99590916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters 0.013476304369235668 Centerline is valid? [True, True] Translation: X:91.61, Y:-173.44, Z:-4.00 [[-9.38940194e-01 3.43925566e-01 1.03207238e-02 9.16125979e+01] [ 3.43903595e-01 9.38996909e-01 -3.88874953e-03 -1.73440477e+02] [-1.10285681e-02 -1.01969221e-04 -9.99939178e-01 -3.99692524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters 0.013021048139260038 Centerline is valid? [True, True] Translation: X:91.62, Y:-173.42, Z:-4.00 [[-9.60774761e-01 2.77148980e-01 1.00150922e-02 9.16210237e+01] [ 2.77132948e-01 9.60826954e-01 -2.98237624e-03 -1.73417174e+02] [-1.04493331e-02 -8.98797775e-05 -9.99945400e-01 -3.99825783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters 0.013107466499593413 Centerline is valid? [True, True] Translation: X:91.62, Y:-173.39, Z:-4.00 [[-9.77993525e-01 2.08403130e-01 9.83877015e-03 9.16245164e+01] [ 2.08391697e-01 9.78043009e-01 -2.18462384e-03 -1.73390566e+02] [-1.00780228e-02 -8.62299563e-05 -9.99949212e-01 -3.99835924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters 0.01325697834418267 Centerline is valid? [True, True] Translation: X:91.63, Y:-173.36, Z:-4.00 [[-9.90528806e-01 1.36964884e-01 9.65946958e-03 9.16310432e+01] [ 1.36957392e-01 9.90575899e-01 -1.43602747e-03 -1.73363475e+02] [-9.76512310e-03 -9.94908125e-05 -9.99952315e-01 -3.99811076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters 0.013981882956111339 Centerline is valid? [True, True] Translation: X:91.72, Y:-172.73, Z:-5.04 [[-9.73747624e-01 -2.27374158e-01 1.07961479e-02 9.17234681e+01] [ 2.27362440e-01 -9.73807452e-01 -2.31692286e-03 -1.72730842e+02] [ 1.10401777e-02 1.98540402e-04 9.99939036e-01 -5.03945176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters 0.014796214147856994 Centerline is valid? [True, True] Translation: X:91.58, Y:-173.35, Z:-4.00 [[-9.91887633e-01 1.26491399e-01 1.26035392e-02 9.15810243e+01] [ 1.26478415e-01 9.91967680e-01 -1.82527679e-03 -1.73350795e+02] [-1.27331854e-02 -2.16393825e-04 -9.99918906e-01 -3.99546018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters 0.01506598392349759 Centerline is valid? [True, True] Translation: X:91.58, Y:-173.32, Z:-3.99 [[-9.98488021e-01 5.32504753e-02 1.36403091e-02 9.15770080e+01] [ 5.32418487e-02 9.98581151e-01 -9.95049174e-04 -1.73321726e+02] [-1.36739424e-02 -2.67309407e-04 -9.99906472e-01 -3.99499069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters 0.015844065571306024 Centerline is valid? [True, True] Translation: X:91.57, Y:-173.29, Z:-3.99 [[-9.99713421e-01 -1.95698069e-02 1.37876476e-02 9.15657825e+01] [-1.95720045e-02 9.99808450e-01 -2.44640241e-05 -1.73292726e+02] [-1.37845278e-02 -2.94308914e-04 -9.99904946e-01 -3.99476376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters 0.0159647967056822 Centerline is valid? [True, True] Translation: X:91.57, Y:-172.67, Z:-5.04 [[-9.95830867e-01 -9.03202000e-02 1.27728227e-02 9.15652346e+01] [ 9.03154755e-02 -9.95912756e-01 -9.47395764e-04 -1.72667710e+02] [ 1.28061860e-02 2.10137609e-04 9.99917975e-01 -5.04057889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters 0.014575311553905816 Centerline is valid? [True, True] Translation: X:91.51, Y:-173.30, Z:-4.00 [[-9.99714903e-01 -2.08371703e-02 1.16586869e-02 9.15088642e+01] [-2.08382246e-02 9.99782860e-01 3.10507051e-05 -1.73298056e+02] [-1.16568024e-02 -2.11904484e-04 -9.99932035e-01 -3.99739956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters 0.01432835693710298 Centerline is valid? [True, True] Translation: X:91.51, Y:-172.66, Z:-5.04 [[-9.96546861e-01 -8.22504622e-02 1.13673261e-02 9.15062912e+01] [ 8.22472841e-02 -9.96611672e-01 -7.47568104e-04 -1.72662790e+02] [ 1.13902977e-02 1.89945056e-04 9.99935111e-01 -5.03828483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters 0.014329193955294537 Centerline is valid? [True, True] Translation: X:91.45, Y:-173.30, Z:-4.00 [[-9.99667358e-01 -2.28566690e-02 1.19476167e-02 9.14509293e+01] [-2.28572785e-02 9.99738735e-01 8.55525784e-05 -1.73302043e+02] [-1.19464506e-02 -1.87565882e-04 -9.99928621e-01 -3.99695697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters 0.014762084210788623 Centerline is valid? [True, True] Translation: X:91.45, Y:-172.66, Z:-5.04 [[-9.97064513e-01 -7.52244735e-02 1.42700879e-02 9.14473138e+01] [ 7.52221403e-02 -9.97166555e-01 -7.00935388e-04 -1.72660324e+02] [ 1.42823819e-02 3.74548750e-04 9.99897932e-01 -5.04224377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters 0.014206239920140104 Centerline is valid? [True, True] Translation: X:91.39, Y:-173.31, Z:-3.99 [[-9.99525945e-01 -2.61052916e-02 1.63217627e-02 9.13890528e+01] [-2.61056890e-02 9.99659171e-01 1.88747504e-04 -1.73305383e+02] [-1.63211271e-02 -2.37432834e-04 -9.99866773e-01 -3.99398256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters 0.014762085774710408 Centerline is valid? [True, True] Translation: X:91.38, Y:-173.28, Z:-3.99 [[-9.94875806e-01 -9.97167497e-02 1.66943552e-02 9.13797602e+01] [-9.97075719e-02 9.95015822e-01 1.38327042e-03 -1.73275022e+02] [-1.67490828e-02 -2.88371354e-04 -9.99859683e-01 -3.99321523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters 0.015213386367016812 Centerline is valid? [True, True] Translation: X:91.33, Y:-172.64, Z:-5.04 [[-9.99858964e-01 -3.06907905e-03 1.65116129e-02 9.13288578e+01] [ 3.07309085e-03 -9.99995254e-01 2.17601248e-04 -1.72640241e+02] [ 1.65108667e-02 2.68312245e-04 9.99863650e-01 -5.04212867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters 0.015136374764673863 Centerline is valid? [True, True] Translation: X:91.31, Y:-173.28, Z:-4.00 [[-9.94445184e-01 -1.04185510e-01 1.49718219e-02 9.13130132e+01] [-1.04177586e-01 9.94557848e-01 1.31035908e-03 -1.73279855e+02] [-1.50268634e-02 -2.56647984e-04 -9.99887057e-01 -3.99560366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters 0.014357129742269593 Centerline is valid? [True, True] Translation: X:91.31, Y:-173.26, Z:-4.00 [[-9.84950492e-01 -1.72278444e-01 1.38804113e-02 9.13068681e+01] [-1.72264266e-01 9.85048271e-01 2.21969165e-03 -1.73255133e+02] [-1.40552802e-02 -2.04812476e-04 -9.99901199e-01 -3.99649435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters 0.013666545923208975 Centerline is valid? [True, True] Translation: X:91.30, Y:-173.23, Z:-4.00 [[-9.71596717e-01 -2.36347388e-01 1.18207998e-02 9.12962523e+01] [-2.36331213e-01 9.71668617e-01 2.76709646e-03 -1.73234678e+02] [-1.21398962e-02 -1.05122114e-04 -9.99926303e-01 -3.99765304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters 0.012968089859129096 Centerline is valid? [True, True] Translation: X:91.27, Y:-173.22, Z:-4.00 [[-9.53554320e-01 -3.01012551e-01 1.12072931e-02 9.12745698e+01] [-3.00992341e-01 9.53620177e-01 3.48833342e-03 -1.73217635e+02] [-1.17375330e-02 -4.69939853e-05 -9.99931112e-01 -3.99940441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters 0.01307361329304441 Centerline is valid? [True, True] Translation: X:91.24, Y:-173.20, Z:-4.00 [[-9.30642398e-01 -3.65784356e-01 1.03214384e-02 9.12409460e+01] [-3.65761923e-01 9.30699632e-01 4.05108491e-03 -1.73204374e+02] [-1.10879824e-02 -5.07779002e-06 -9.99938527e-01 -3.99943335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters 0.013022816128621635 Centerline is valid? [True, True] Translation: X:91.18, Y:-173.20, Z:-4.00 [[-9.02487997e-01 -4.30621834e-01 8.95836119e-03 9.11849101e+01] [-4.30600389e-01 9.02532457e-01 4.29759388e-03 -1.73200997e+02] [-9.93584949e-03 2.10530834e-05 -9.99950638e-01 -4.00046762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters 0.013070158212302632 Centerline is valid? [True, True] Translation: X:91.12, Y:-173.20, Z:-4.00 [[-8.69057242e-01 -4.94659345e-01 7.18628085e-03 9.11216399e+01] [-4.94642146e-01 8.69086953e-01 4.12499892e-03 -1.73202415e+02] [-8.28597219e-03 3.02227983e-05 -9.99965670e-01 -4.00096939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters 0.013137550929953976 Centerline is valid? [True, True] Translation: X:91.05, Y:-173.21, Z:-4.00 [[-8.31273428e-01 -5.55836527e-01 5.49939735e-03 9.10516635e+01] [-5.55824046e-01 8.31291617e-01 3.72512242e-03 -1.73214868e+02] [-6.64216203e-03 3.98979933e-05 -9.99977940e-01 -4.00271645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters 0.013153806112903711 Centerline is valid? [True, True] Translation: X:90.97, Y:-173.24, Z:-4.00 [[-7.88027743e-01 -6.15621814e-01 4.69667852e-03 9.09701897e+01] [-6.15610576e-01 7.88041738e-01 3.71997632e-03 -1.73241344e+02] [-5.99127727e-03 4.01195783e-05 -9.99982051e-01 -4.00322823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters 0.013255094199444015 Centerline is valid? [True, True] Translation: X:90.89, Y:-173.27, Z:-4.00 [[-7.39067836e-01 -6.73619698e-01 3.90334770e-03 9.08933171e+01] [-6.73610080e-01 7.39078143e-01 3.59986853e-03 -1.73269760e+02] [-5.30982132e-03 3.12126894e-05 -9.99985902e-01 -4.00373188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters 0.013387392916515401 Centerline is valid? [True, True] Translation: X:90.81, Y:-173.31, Z:-4.00 [[-6.83452640e-01 -7.29983174e-01 4.12976903e-03 9.08060479e+01] [-7.29969750e-01 6.83465117e-01 4.42696054e-03 -1.73310696e+02] [-6.05415978e-03 1.10114022e-05 -9.99981673e-01 -4.00130880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters 0.013556524342392873 Centerline is valid? [True, True] Translation: X:90.72, Y:-173.36, Z:-4.00 [[-6.23696209e-01 -7.81656303e-01 4.05753055e-03 9.07196139e+01] [-7.81639888e-01 6.23709407e-01 5.06573510e-03 -1.73363449e+02] [-6.49038375e-03 -1.20479442e-05 -9.99978937e-01 -3.99999434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters 0.013824492353896229 Centerline is valid? [True, True] Translation: X:90.64, Y:-173.42, Z:-4.00 [[-5.60321546e-01 -8.28265108e-01 4.08374996e-03 9.06376340e+01] [-8.28243572e-01 5.60336426e-01 5.97292367e-03 -1.73423927e+02] [-7.23543812e-03 -3.55818289e-05 -9.99973823e-01 -3.99928585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters 0.014245749318289837 Centerline is valid? [True, True] Translation: X:90.56, Y:-173.49, Z:-4.00 [[-4.94612821e-01 -8.69103542e-01 4.14619186e-03 9.05596482e+01] [-8.69073907e-01 4.94630196e-01 7.17730317e-03 -1.73493034e+02] [-8.28865130e-03 -5.33609893e-05 -9.99965647e-01 -3.99833291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters 0.013956450974104287 Centerline is valid? [True, True] Translation: X:90.49, Y:-173.57, Z:-4.00 [[-4.27973571e-01 -9.03784364e-01 3.52800587e-03 9.04886610e+01] [-9.03754516e-01 4.27988110e-01 7.34530418e-03 -1.73570112e+02] [-8.14851563e-03 -4.48551774e-05 -9.99966799e-01 -3.99867247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters 0.013863605877183853 Centerline is valid? [True, True] Translation: X:90.42, Y:-173.66, Z:-4.00 [[-3.59776307e-01 -9.33033633e-01 3.04129392e-03 9.04229325e+01] [-9.33000981e-01 3.59789160e-01 7.80576364e-03 -1.73659128e+02] [-8.37726459e-03 -2.92013977e-05 -9.99964910e-01 -3.99951700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters 0.013979250320916771 Centerline is valid? [True, True] Translation: X:90.36, Y:-173.75, Z:-4.00 [[-2.87893157e-01 -9.57658499e-01 2.78036653e-03 9.03617058e+01] [-9.57614851e-01 2.87906581e-01 9.14319195e-03 -1.73754851e+02] [-9.55654130e-03 -3.02578873e-05 -9.99954335e-01 -3.99913466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters 0.013873096921802492 Centerline is valid? [True, True] Translation: X:90.31, Y:-173.85, Z:-4.00 [[-2.13971082e-01 -9.76837508e-01 2.20451018e-03 9.03078615e+01] [-9.76787152e-01 2.13982436e-01 9.91850897e-03 -1.73852420e+02] [-1.01604980e-02 -3.10631261e-05 -9.99948380e-01 -3.99857432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters 0.0136929056259012 Centerline is valid? [True, True] Translation: X:90.26, Y:-173.96, Z:-4.00 [[-1.39075729e-01 -9.90280790e-01 1.37797665e-03 9.02604445e+01] [-9.90234015e-01 1.39082553e-01 9.62489926e-03 -1.73960274e+02] [-9.72300535e-03 -2.59294700e-05 -9.99952730e-01 -3.99906274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters 0.013750371224731453 Centerline is valid? [True, True] Translation: X:90.22, Y:-174.07, Z:-4.00 [[-6.27978887e-02 -9.98026007e-01 7.17924833e-04 9.02220854e+01] [-9.97966206e-01 6.28019850e-02 1.09252872e-02 -1.74071531e+02] [-1.09488079e-02 -3.03797513e-05 -9.99940060e-01 -3.99804723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters 0.013570771266395918 Centerline is valid? [True, True] Translation: X:90.19, Y:-174.18, Z:-4.00 [[ 1.30796702e-02 -9.99914449e-01 -1.29755417e-04 9.01941993e+01] [-9.99846285e-01 -1.30802936e-02 1.16752998e-02 -1.74182704e+02] [-1.16759982e-02 -2.29735991e-05 -9.99931833e-01 -3.99852885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters 0.013489498978908587 Centerline is valid? [True, True] Translation: X:90.17, Y:-174.30, Z:-4.00 [[ 8.87147240e-02 -9.96056536e-01 -1.03663132e-03 9.01738883e+01] [-9.95986921e-01 -8.87207795e-02 1.17761132e-02 -1.74299592e+02] [-1.18216452e-02 -1.22433916e-05 -9.99930122e-01 -3.99821376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters 0.01354782908007324 Centerline is valid? [True, True] Translation: X:90.16, Y:-174.41, Z:-4.00 [[ 1.63624123e-01 -9.86520867e-01 -1.93032377e-03 9.01610750e+01] [-9.86451904e-01 -1.63635509e-01 1.16645116e-02 -1.74408264e+02] [-1.18231536e-02 -4.42392630e-06 -9.99930104e-01 -3.99764997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters 0.013568773372419272 Centerline is valid? [True, True] Translation: X:90.16, Y:-174.52, Z:-4.00 [[ 2.36682081e-01 -9.71582740e-01 -2.92767001e-03 9.01609495e+01] [-9.71509574e-01 -2.36700186e-01 1.19234546e-02 -1.74524958e+02] [-1.22776027e-02 2.21913972e-05 -9.99924627e-01 -3.99757405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters 0.013537401900365963 Centerline is valid? [True, True] Translation: X:90.17, Y:-174.64, Z:-4.00 [[ 3.09821131e-01 -9.50786202e-01 -4.05759340e-03 9.01677733e+01] [-9.50705993e-01 -3.09847699e-01 1.23498678e-02 -1.74641426e+02] [-1.29993199e-02 3.13283382e-05 -9.99915505e-01 -3.99773101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters 0.013474949603191129 Centerline is valid? [True, True] Translation: X:90.18, Y:-174.76, Z:-4.00 [[ 3.82688988e-01 -9.23865428e-01 -4.67002430e-03 9.01824922e+01] [-9.23797168e-01 -3.82717481e-01 1.12304289e-02 -1.74759905e+02] [-1.21627049e-02 1.63937564e-05 -9.99926032e-01 -3.99717158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters 0.013199206592711121 Centerline is valid? [True, True] Translation: X:90.20, Y:-174.87, Z:-4.00 [[ 4.54765857e-01 -8.90596601e-01 -5.07048816e-03 9.02041265e+01] [-8.90540853e-01 -4.54794123e-01 9.96468637e-03 -1.74873871e+02] [-1.11805440e-02 -1.61222878e-05 -9.99937496e-01 -3.99853304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters 0.013250383869074112 Centerline is valid? [True, True] Translation: X:90.23, Y:-174.99, Z:-4.00 [[ 5.22344260e-01 -8.52717043e-01 -5.48806242e-03 9.02348391e+01] [-8.52669459e-01 -5.22373089e-01 9.00827406e-03 -1.74985677e+02] [-1.05483249e-02 -2.59170344e-05 -9.99944365e-01 -3.99872813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters 0.013348943110742037 Centerline is valid? [True, True] Translation: X:90.27, Y:-175.10, Z:-4.00 [[ 5.89484217e-01 -8.07758624e-01 -5.86200921e-03 9.02734241e+01] [-8.07717515e-01 -5.89513359e-01 8.14953791e-03 -1.75097592e+02] [-1.00385923e-02 -6.91764566e-05 -9.99949610e-01 -3.99889716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters 0.014097369770909167 Centerline is valid? [True, True] Translation: X:90.31, Y:-175.20, Z:-4.00 [[ 6.51884051e-01 -7.58291710e-01 -6.39272215e-03 9.03137009e+01] [-7.58253698e-01 -6.51915387e-01 7.59324621e-03 -1.75198914e+02] [-9.92540958e-03 -1.02610884e-04 -9.99950737e-01 -3.99728872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters 0.014293164745956382 Centerline is valid? [True, True] Translation: X:90.36, Y:-175.30, Z:-4.00 [[ 7.09958056e-01 -7.04213220e-01 -6.58018606e-03 9.03643337e+01] [-7.04181286e-01 -7.09988538e-01 6.70766680e-03 -1.75296761e+02] [-9.39548432e-03 -1.28518203e-04 -9.99955853e-01 -3.99867093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters 0.014859022425237487 Centerline is valid? [True, True] Translation: X:90.42, Y:-175.39, Z:-4.00 [[ 7.63074701e-01 -6.46249219e-01 -8.88524074e-03 9.04218408e+01] [-6.46202425e-01 -7.63126404e-01 7.77929318e-03 -1.75391343e+02] [-1.18079240e-02 -1.94517701e-04 -9.99930265e-01 -3.99623224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters 0.014976251568168612 Centerline is valid? [True, True] Translation: X:90.45, Y:-175.42, Z:-4.00 [[ 8.11451453e-01 -5.84339084e-01 -9.71459826e-03 9.04452497e+01] [-5.84294186e-01 -8.11509577e-01 7.24651765e-03 -1.75418854e+02] [-1.21179130e-02 -2.04013998e-04 -9.99926555e-01 -3.99598129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters 0.014587009217052522 Centerline is valid? [True, True] Translation: X:90.47, Y:-175.44, Z:-4.00 [[ 8.53924255e-01 -5.20309963e-01 -9.53460159e-03 9.04706183e+01] [-5.20275244e-01 -8.53977466e-01 6.01322397e-03 -1.75443490e+02] [-1.12710752e-02 -1.74220632e-04 -9.99936464e-01 -3.99727400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters 0.01395793074362947 Centerline is valid? [True, True] Translation: X:90.50, Y:-175.47, Z:-4.00 [[ 8.90438236e-01 -4.55026359e-01 -8.41192835e-03 9.04992006e+01] [-4.55004845e-01 -8.90477961e-01 4.42625339e-03 -1.75465087e+02] [-9.50469877e-03 -1.13837105e-04 -9.99954823e-01 -3.99860051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters 0.013332234624172662 Centerline is valid? [True, True] Translation: X:90.53, Y:-175.48, Z:-4.00 [[ 9.21523948e-01 -3.88260460e-01 -6.88679839e-03 9.05297625e+01] [-3.88249169e-01 -9.21549680e-01 2.96160706e-03 -1.75482733e+02] [-7.49640177e-03 -5.53980772e-05 -9.99971900e-01 -4.00003817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters 0.01310180288336683 Centerline is valid? [True, True] Translation: X:90.56, Y:-175.50, Z:-4.00 [[ 9.48499058e-01 -3.16723038e-01 -6.00454710e-03 9.05597758e+01] [-3.16716455e-01 -9.48518063e-01 2.04224957e-03 -1.75497954e+02] [-6.34224887e-03 -3.53329255e-05 -9.99979887e-01 -4.00132388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters 0.013226743966203922 Centerline is valid? [True, True] Translation: X:90.59, Y:-175.51, Z:-4.00 [[ 9.70534377e-01 -2.40900330e-01 -5.48226084e-03 9.05915025e+01] [-2.40896280e-01 -9.70549860e-01 1.39726034e-03 -1.75512554e+02] [-5.65740796e-03 -3.54329476e-05 -9.99983996e-01 -4.00136201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters 0.013619462325637908 Centerline is valid? [True, True] Translation: X:90.62, Y:-175.53, Z:-4.00 [[ 9.87100296e-01 -1.59931081e-01 -7.41997885e-03 9.06226923e+01] [-1.59925947e-01 -9.87128180e-01 1.28396741e-03 -1.75531960e+02] [-7.52981651e-03 -8.07574704e-05 -9.99971647e-01 -3.99956783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters 0.014221648179912772 Centerline is valid? [True, True] Translation: X:90.65, Y:-175.55, Z:-4.00 [[ 9.96835029e-01 -7.89892666e-02 -8.97886033e-03 9.06531535e+01] [-7.89849254e-02 -9.96875459e-01 8.37628715e-04 -1.75546918e+02] [-9.01696919e-03 -1.25783031e-04 -9.99959338e-01 -3.99755006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters 0.015233358896262133 Centerline is valid? [True, True] Translation: X:90.68, Y:-175.56, Z:-4.00 [[ 9.99936513e-01 2.70413186e-03 -1.09388363e-02 9.06838924e+01] [ 2.70605342e-03 -9.99996326e-01 1.60866064e-04 -1.75558566e+02] [-1.09383611e-02 -1.90456926e-04 -9.99940156e-01 -3.99527169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters 0.014816583631235223 Centerline is valid? [True, True] Translation: X:90.72, Y:-175.57, Z:-4.00 [[ 9.96611342e-01 8.15068106e-02 -1.10667529e-02 9.07165105e+01] [ 8.15040061e-02 -9.96672765e-01 -7.04936276e-04 -1.75566034e+02] [-1.10873883e-02 -1.99437209e-04 -9.99938513e-01 -3.99602917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters 0.015020210724880112 Centerline is valid? [True, True] Translation: X:90.75, Y:-175.57, Z:-4.00 [[ 9.87273874e-01 1.58743960e-01 -9.52114748e-03 9.07484134e+01] [ 1.58738213e-01 -9.87319770e-01 -1.36107993e-03 -1.75570458e+02] [-9.61648035e-03 -1.67611278e-04 -9.99953747e-01 -3.99722428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters 0.014406229883532408 Centerline is valid? [True, True] Translation: X:90.78, Y:-175.57, Z:-4.00 [[ 9.72291091e-01 2.33706874e-01 -5.57954993e-03 9.07807657e+01] [ 2.33703548e-01 -9.72307096e-01 -1.25005047e-03 -1.75570771e+02] [-5.71718138e-03 -8.85476826e-05 -9.99983653e-01 -4.00125040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters 0.014373808180582755 Centerline is valid? [True, True] Translation: X:90.81, Y:-175.57, Z:-4.00 [[ 9.51422127e-01 3.07866637e-01 -3.75094974e-03 9.08118327e+01] [ 3.07864473e-01 -9.51429520e-01 -1.15554974e-03 -1.75569088e+02] [-3.92451952e-03 -5.53685727e-05 -9.99992298e-01 -4.00225520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters 0.013911847508885553 Centerline is valid? [True, True] Translation: X:90.84, Y:-175.57, Z:-4.00 [[ 9.24724950e-01 3.80619235e-01 -3.57280474e-03 9.08448949e+01] [ 3.80616607e-01 -9.24731850e-01 -1.41551709e-03 -1.75566444e+02] [-3.84265937e-03 -5.09048503e-05 -9.99992616e-01 -4.00119220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters 0.013689565324453052 Centerline is valid? [True, True] Translation: X:90.88, Y:-175.56, Z:-4.00 [[ 8.92309344e-01 4.51389863e-01 -5.58806258e-03 9.08776959e+01] [ 4.51381571e-01 -8.92326838e-01 -2.73726600e-03 -1.75561216e+02] [-6.22195234e-03 -7.98604363e-05 -9.99980640e-01 -3.99869824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters 0.013710633525962015 Centerline is valid? [True, True] Translation: X:90.91, Y:-175.55, Z:-4.00 [[ 8.54770593e-01 5.18963168e-01 -6.66808197e-03 9.09080354e+01] [ 5.18948209e-01 -8.54796597e-01 -3.94138021e-03 -1.75552940e+02] [-7.74528494e-03 -9.14132970e-05 -9.99970001e-01 -3.99698238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters 0.013480076744530903 Centerline is valid? [True, True] Translation: X:90.94, Y:-175.54, Z:-4.00 [[ 8.11803934e-01 5.83887096e-01 -7.08744398e-03 9.09384247e+01] [ 5.83865892e-01 -8.11834866e-01 -4.97708112e-03 -1.75540875e+02] [-8.65988758e-03 -9.77027705e-05 -9.99962498e-01 -3.99645442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters 0.013253979407924828 Centerline is valid? [True, True] Translation: X:90.97, Y:-175.53, Z:-3.99 [[ 7.64605857e-01 6.44444139e-01 -8.34480293e-03 9.09685979e+01] [ 6.44407263e-01 -7.64651385e-01 -6.89482605e-03 -1.75527269e+02] [-1.08241954e-02 -1.05627237e-04 -9.99941411e-01 -3.99485156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters 0.01302725774933397 Centerline is valid? [True, True] Translation: X:90.99, Y:-175.51, Z:-3.99 [[ 7.15076109e-01 6.98995736e-01 -8.43321643e-03 9.09943995e+01] [ 6.98948119e-01 -7.15125833e-01 -8.15898333e-03 -1.75509985e+02] [-1.17339055e-02 -6.00867065e-05 -9.99931154e-01 -3.99204334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters 0.012763594922011208 Centerline is valid? [True, True] Translation: X:91.02, Y:-175.49, Z:-3.99 [[ 6.61910894e-01 7.49542277e-01 -7.76806783e-03 9.10181492e+01] [ 7.49490686e-01 -6.61956475e-01 -8.79418399e-03 -1.75489323e+02] [-1.17337355e-02 -1.12829275e-06 -9.99931157e-01 -3.99254175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters 0.012960727168783626 Centerline is valid? [True, True] Translation: X:91.04, Y:-175.47, Z:-3.99 [[ 6.06132213e-01 7.95342534e-01 -5.83036565e-03 9.10414967e+01] [ 7.95304799e-01 -6.06160251e-01 -7.74771032e-03 -1.75468681e+02] [-9.69621946e-03 5.92190174e-05 -9.99952989e-01 -3.99495736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters 0.013738306118016436 Centerline is valid? [True, True] Translation: X:91.06, Y:-175.45, Z:-4.00 [[ 5.46699353e-01 8.37319913e-01 -3.89619530e-03 9.10615537e+01] [ 8.37297527e-01 -5.46713230e-01 -6.12342262e-03 -1.75447222e+02] [-7.25736522e-03 8.53964917e-05 -9.99973661e-01 -3.99657416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters 0.01422882984182945 Centerline is valid? [True, True] Translation: X:91.08, Y:-175.42, Z:-4.00 [[ 4.82665802e-01 8.75799992e-01 -2.84558427e-03 9.10820185e+01] [ 8.75783609e-01 -4.82674181e-01 -5.35775874e-03 -1.75424837e+02] [-6.06581512e-03 9.38908571e-05 -9.99981598e-01 -3.99708165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters 0.01458085298402562 Centerline is valid? [True, True] Translation: X:91.10, Y:-175.40, Z:-4.00 [[ 4.13497793e-01 9.10501389e-01 -2.60700156e-03 9.11014027e+01] [ 9.10481619e-01 -4.13505997e-01 -6.00093638e-03 -1.75401921e+02] [-6.54187169e-03 1.07746944e-04 -9.99978596e-01 -3.99670519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters 0.014239094061966748 Centerline is valid? [True, True] Translation: X:91.12, Y:-175.38, Z:-3.99 [[ 3.38394122e-01 9.40999757e-01 -2.97919751e-03 9.11234452e+01] [ 9.40959955e-01 -3.38407213e-01 -8.65573497e-03 -1.75378884e+02] [-9.15322643e-03 1.25744284e-04 -9.99958101e-01 -3.99428943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters 0.013568076252468416 Centerline is valid? [True, True] Translation: X:91.15, Y:-175.35, Z:-3.99 [[ 2.59212656e-01 9.65815911e-01 -2.90274082e-03 9.11453393e+01] [ 9.65750723e-01 -2.59228887e-01 -1.12216125e-02 -1.75354308e+02] [-1.15904862e-02 1.05459931e-04 -9.99932823e-01 -3.99314170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters 0.01337484938817058 Centerline is valid? [True, True] Translation: X:91.16, Y:-175.33, Z:-3.99 [[ 1.80460369e-01 9.83579932e-01 -2.13818355e-03 9.11622017e+01] [ 9.83505356e-01 -1.80473017e-01 -1.21121869e-02 -1.75327192e+02] [-1.22991884e-02 8.28547386e-05 -9.99924359e-01 -3.99356150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters 0.013109491536367304 Centerline is valid? [True, True] Translation: X:91.18, Y:-175.30, Z:-3.99 [[ 1.01181494e-01 9.94867337e-01 -1.13434047e-03 9.11774141e+01] [ 9.94798100e-01 -1.01187835e-01 -1.17372108e-02 -1.75298426e+02] [-1.17917491e-02 5.91487761e-05 -9.99930473e-01 -3.99474444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters 0.012996016138325983 Centerline is valid? [True, True] Translation: X:91.19, Y:-175.27, Z:-4.00 [[ 2.04332575e-02 9.99791202e-01 -1.85743465e-04 9.11892695e+01] [ 9.99737276e-01 -2.04340845e-02 -1.03839552e-02 -1.75270313e+02] [-1.03855826e-02 2.64833654e-05 -9.99946068e-01 -3.99558862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters 0.012877550316789216 Centerline is valid? [True, True] Translation: X:91.20, Y:-175.24, Z:-4.00 [[-6.03132147e-02 9.98179309e-01 6.19942594e-04 9.11951870e+01] [ 9.98126827e-01 6.03164007e-02 -1.02356506e-02 -1.75239694e+02] [-1.02544073e-02 1.43634453e-06 -9.99947422e-01 -3.99602908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters 0.012854442319458924 Centerline is valid? [True, True] Translation: X:91.20, Y:-175.21, Z:-4.00 [[-1.41511487e-01 9.89935514e-01 1.47576063e-03 9.11984133e+01] [ 9.89879213e-01 1.41519178e-01 -1.05577014e-02 -1.75209266e+02] [-1.06602920e-02 -3.32112635e-05 -9.99943177e-01 -3.99613553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters 0.012743924669940369 Centerline is valid? [True, True] Translation: X:91.20, Y:-175.18, Z:-4.00 [[-2.20139657e-01 9.75465793e-01 2.24006976e-03 9.12028216e+01] [ 9.75413012e-01 2.20151049e-01 -1.01475395e-02 -1.75177363e+02] [-1.03917314e-02 -4.88826760e-05 -9.99946003e-01 -3.99766756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters 0.013026327420194142 Centerline is valid? [True, True] Translation: X:91.21, Y:-175.14, Z:-4.00 [[-2.97600140e-01 9.54684815e-01 3.32566593e-03 9.12057583e+01] [ 9.54622397e-01 2.97618713e-01 -1.09170225e-02 -1.75143929e+02] [-1.14120960e-02 -7.41522512e-05 -9.99934877e-01 -3.99782101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters 0.013254159292104764 Centerline is valid? [True, True] Translation: X:91.20, Y:-175.11, Z:-4.00 [[-3.72161764e-01 9.28157656e-01 4.35744068e-03 9.12049340e+01] [ 9.28091284e-01 3.72187263e-01 -1.11000136e-02 -1.75111607e+02] [-1.19243465e-02 -8.68979182e-05 -9.99928899e-01 -3.99669115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters 0.012970694883190146 Centerline is valid? [True, True] Translation: X:91.20, Y:-175.08, Z:-4.00 [[-4.43695924e-01 8.96158311e-01 5.84887409e-03 9.12010794e+01] [ 8.96077547e-01 4.43734462e-01 -1.20314843e-02 -1.75079054e+02] [-1.33774617e-02 -9.72757946e-05 -9.99910513e-01 -3.99788689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters 0.012974929215400284 Centerline is valid? [True, True] Translation: X:91.19, Y:-175.05, Z:-4.00 [[-5.11991065e-01 8.58962176e-01 7.00926061e-03 9.11936526e+01] [ 8.58879218e-01 5.12039033e-01 -1.19380923e-02 -1.75048667e+02] [-1.38433847e-02 -9.20882917e-05 -9.99904172e-01 -3.99698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters 0.012908072132089193 Centerline is valid? [True, True] Translation: X:91.18, Y:-175.02, Z:-4.00 [[-5.76670807e-01 8.16929886e-01 8.73739527e-03 9.11828984e+01] [ 8.16833942e-01 5.76736989e-01 -1.25202657e-02 -1.75017898e+02] [-1.52673583e-02 -8.30707192e-05 -9.99883444e-01 -3.99606877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters 0.012829650867829088 Centerline is valid? [True, True] Translation: X:91.17, Y:-174.99, Z:-4.00 [[-6.38729091e-01 7.69370218e-01 9.72704004e-03 9.11710157e+01] [ 7.69279092e-01 6.38803147e-01 -1.18413835e-02 -1.74985947e+02] [-1.53240716e-02 -8.06275711e-05 -9.99882576e-01 -3.99768481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters 0.01288731744235242 Centerline is valid? [True, True] Translation: X:91.16, Y:-174.96, Z:-4.00 [[-6.97212336e-01 7.16780497e-01 1.09853026e-02 9.11576020e+01] [ 7.16689557e-01 6.97298868e-01 -1.14178939e-02 -1.74955345e+02] [-1.58441628e-02 -8.76448334e-05 -9.99874470e-01 -3.99812646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters 0.012890076416932642 Centerline is valid? [True, True] Translation: X:91.14, Y:-174.92, Z:-4.00 [[-7.51485884e-01 6.59627533e-01 1.26682384e-02 9.11422904e+01] [ 6.59531546e-01 7.51592648e-01 -1.12530972e-02 -1.74923942e+02] [-1.69442076e-02 -1.01440855e-04 -9.99856432e-01 -3.99735470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters 0.012816622770955032 Centerline is valid? [True, True] Translation: X:91.16, Y:-174.90, Z:-4.00 [[-7.95881280e-01 6.05296087e-01 1.37708022e-02 9.11576577e+01] [ 6.05203481e-01 7.96000401e-01 -1.05880948e-02 -1.74898199e+02] [-1.73704964e-02 -9.27290560e-05 -9.99849117e-01 -3.99702308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters 0.012643614674003713 Centerline is valid? [True, True] Translation: X:91.17, Y:-174.87, Z:-4.00 [[-8.36234590e-01 5.48188742e-01 1.41708391e-02 9.11728912e+01] [ 5.48108503e-01 8.36354648e-01 -9.37933426e-03 -1.74874086e+02] [-1.69934926e-02 -7.61663301e-05 -9.99855597e-01 -3.99799629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters 0.012417469145448853 Centerline is valid? [True, True] Translation: X:91.18, Y:-174.85, Z:-4.00 [[-8.71864726e-01 4.89550349e-01 1.38692285e-02 9.11846783e+01] [ 4.89487782e-01 8.71975031e-01 -7.82662503e-03 -1.74846822e+02] [-1.59251479e-02 -3.49403972e-05 -9.99873186e-01 -4.00033280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters 0.01256935049075958 Centerline is valid? [True, True] Translation: X:91.20, Y:-174.82, Z:-4.00 [[-9.03602071e-01 4.28125695e-01 1.45494714e-02 9.11976402e+01] [ 4.28070065e-01 9.03719198e-01 -6.90148175e-03 -1.74821643e+02] [-1.61033383e-02 -8.00000910e-06 -9.99870333e-01 -3.99984698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters 0.01254416231205439 Centerline is valid? [True, True] Translation: X:91.44, Y:-174.31, Z:-5.04 [[-8.72831677e-01 -4.87798590e-01 1.47444457e-02 9.14416177e+01] [ 4.87730051e-01 -8.72956203e-01 -8.17711393e-03 -1.74310251e+02] [ 1.68600399e-02 5.40651669e-05 9.99857858e-01 -5.03570488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters 0.012881612427480465 Centerline is valid? [True, True] Translation: X:91.16, Y:-174.80, Z:-4.00 [[-9.04597640e-01 4.25993077e-01 1.52646092e-02 9.11602166e+01] [ 4.25932642e-01 9.04726422e-01 -7.17536273e-03 -1.74798696e+02] [-1.68669501e-02 1.08791197e-05 -9.99857743e-01 -3.99833869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters 0.012444332012247197 Centerline is valid? [True, True] Translation: X:91.40, Y:-174.30, Z:-5.04 [[-8.73957014e-01 -4.85767991e-01 1.51194382e-02 9.13950370e+01] [ 4.85695618e-01 -8.74087787e-01 -8.38499261e-03 -1.74296712e+02] [ 1.72888773e-02 1.53217983e-05 9.99850536e-01 -5.03565460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters 0.01225592240828122 Centerline is valid? [True, True] Translation: X:91.12, Y:-174.77, Z:-4.00 [[-9.07364270e-01 4.20058563e-01 1.55204655e-02 9.11235092e+01] [ 4.19996392e-01 9.07496999e-01 -7.22687826e-03 -1.74773301e+02] [-1.71204880e-02 -3.88715868e-05 -9.99853433e-01 -4.00175803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters 0.012348010252145976 Centerline is valid? [True, True] Translation: X:91.13, Y:-174.74, Z:-4.00 [[-9.35122916e-01 3.53998882e-01 1.51632363e-02 9.11291514e+01] [ 3.53951510e-01 9.35245844e-01 -5.79133349e-03 -1.74743753e+02] [-1.62314793e-02 -4.85582819e-05 -9.99868260e-01 -4.00179499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters 0.014709785442906428 Centerline is valid? [True, True] Translation: X:91.32, Y:-174.24, Z:-5.03 [[-9.06588139e-01 -4.21728634e-01 1.55854295e-02 9.13180594e+01] [ 4.21668371e-01 -9.06722090e-01 -7.13003232e-03 -1.74244676e+02] [ 1.71385920e-02 1.07879941e-04 9.99853118e-01 -5.03285159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters 0.012303170659142075 Centerline is valid? [True, True] Translation: X:91.09, Y:-174.72, Z:-4.00 [[-9.37485769e-01 3.47771045e-01 1.32564701e-02 9.10882033e+01] [ 3.47734986e-01 9.37579486e-01 -5.00868599e-03 -1.74720072e+02] [-1.41708703e-02 -8.58334131e-05 -9.99899585e-01 -4.00489498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters 0.012536407091436618 Centerline is valid? [True, True] Translation: X:91.09, Y:-174.69, Z:-4.01 [[-9.60591057e-01 2.77697577e-01 1.22015507e-02 9.10865734e+01] [ 2.77673679e-01 9.60668540e-01 -3.64489399e-03 -1.74685950e+02] [-1.27338241e-02 -1.13203106e-04 -9.99918915e-01 -4.00530681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters 0.013260859147070226 Centerline is valid? [True, True] Translation: X:91.09, Y:-174.65, Z:-4.00 [[-9.78554511e-01 2.05559739e-01 1.32763641e-02 9.10900258e+01] [ 2.05538502e-01 9.78644555e-01 -2.95951367e-03 -1.74652443e+02] [-1.36011983e-02 -1.67241473e-04 -9.99907486e-01 -4.00436611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters 0.013356091506785864 Centerline is valid? [True, True] Translation: X:91.09, Y:-174.62, Z:-4.00 [[-9.90760132e-01 1.34867880e-01 1.43183469e-02 9.10860676e+01] [ 1.34851032e-01 9.90863572e-01 -2.14018091e-03 -1.74622843e+02] [-1.44761700e-02 -1.89562075e-04 -9.99895197e-01 -4.00371544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters 0.014335502693519735 Centerline is valid? [True, True] Translation: X:91.08, Y:-174.59, Z:-4.00 [[-9.97983430e-01 6.15743570e-02 1.54166138e-02 9.10770782e+01] [ 6.15632419e-02 9.98102469e-01 -1.19497052e-03 -1.74590695e+02] [-1.54609399e-02 -2.43464050e-04 -9.99880443e-01 -4.00238757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters 0.01388090064985228 Centerline is valid? [True, True] Translation: X:91.11, Y:-174.11, Z:-5.03 [[-9.86723613e-01 -1.61752024e-01 1.45874840e-02 9.11090792e+01] [ 1.61737123e-01 -9.86831418e-01 -2.20334679e-03 -1.74106272e+02] [ 1.47517833e-02 1.85243387e-04 9.99891169e-01 -5.03169088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters 0.014345025433564824 Centerline is valid? [True, True] Translation: X:91.03, Y:-174.58, Z:-4.00 [[-9.98434040e-01 5.43317976e-02 1.33237892e-02 9.10282546e+01] [ 5.43235392e-02 9.98522904e-01 -9.81227425e-04 -1.74583658e+02] [-1.33574205e-02 -2.55895480e-04 -9.99910753e-01 -4.00469649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters 0.01467948527098799 Centerline is valid? [True, True] Translation: X:91.06, Y:-174.11, Z:-5.03 [[-9.87029402e-01 -1.60192167e-01 1.05560330e-02 9.10573353e+01] [ 1.60183343e-01 -9.87085847e-01 -1.68164988e-03 -1.74107100e+02] [ 1.06890979e-02 3.10627880e-05 9.99942870e-01 -5.02985241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters 0.015159025087142546 Centerline is valid? [True, True] Translation: X:90.98, Y:-174.58, Z:-4.01 [[-9.98751869e-01 4.90827804e-02 9.25122548e-03 9.09775872e+01] [ 4.90789150e-02 9.98794696e-01 -6.44521833e-04 -1.74579521e+02] [-9.27170986e-03 -1.89677276e-04 -9.99956999e-01 -4.00604908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters 0.015812802285212577 Centerline is valid? [True, True] Translation: X:91.01, Y:-174.11, Z:-5.03 [[-9.87393627e-01 -1.58021766e-01 9.10747997e-03 9.10067224e+01] [ 1.58016751e-01 -9.87435612e-01 -1.27217304e-03 -1.74105356e+02] [ 9.19408109e-03 1.82998840e-04 9.99957717e-01 -5.03067942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters 0.015871064313383705 Centerline is valid? [True, True] Translation: X:90.93, Y:-174.58, Z:-4.01 [[-9.99059618e-01 4.25908361e-02 8.11794831e-03 9.09263797e+01] [ 4.25878964e-02 9.99092581e-01 -5.34723150e-04 -1.74575525e+02] [-8.13335623e-03 -1.88493965e-04 -9.99966906e-01 -4.00569520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters 0.016766769123333684 Centerline is valid? [True, True] Translation: X:90.91, Y:-174.55, Z:-4.01 [[-9.99492989e-01 -3.09620683e-02 7.42401408e-03 9.09149465e+01] [-3.09626295e-02 9.99520542e-01 3.93614752e-05 -1.74546830e+02] [-7.42167329e-03 -1.90525479e-04 -9.99972441e-01 -4.00541895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters 0.016876774186464785 Centerline is valid? [True, True] Translation: X:90.91, Y:-174.08, Z:-5.03 [[-9.96076318e-01 -8.81017795e-02 8.36929239e-03 9.09087205e+01] [ 8.81010064e-02 -9.96111439e-01 -4.61720498e-04 -1.74075034e+02] [ 8.37742629e-03 2.77434229e-04 9.99964870e-01 -5.03123805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters 0.01674141873071109 Centerline is valid? [True, True] Translation: X:90.87, Y:-174.55, Z:-4.00 [[-9.99418986e-01 -3.29351989e-02 8.77287593e-03 9.08654549e+01] [-3.29357654e-02 9.99457467e-01 7.99269008e-05 -1.74552036e+02] [-8.77074877e-03 -2.09060921e-04 -9.99961514e-01 -4.00369566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters 0.01632459455489396 Centerline is valid? [True, True] Translation: X:90.86, Y:-174.53, Z:-4.00 [[-9.94665126e-01 -1.02753908e-01 9.10610548e-03 9.08572576e+01] [-1.02751508e-01 9.94706787e-01 7.32218901e-04 -1.74527626e+02] [-9.13314327e-03 -2.07353464e-04 -9.99958271e-01 -4.00298786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters 0.016260029179932543 Centerline is valid? [True, True] Translation: X:90.82, Y:-174.05, Z:-5.03 [[-9.99925505e-01 -8.07148429e-03 9.15614973e-03 9.08160408e+01] [ 8.07306154e-03 -9.99967403e-01 1.35313561e-04 -1.74045118e+02] [ 9.15475909e-03 2.09221641e-04 9.99958073e-01 -5.03401453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters 0.015031420638395965 Centerline is valid? [True, True] Translation: X:90.80, Y:-174.54, Z:-4.00 [[-9.94595487e-01 -1.03478944e-01 8.48090985e-03 9.08036173e+01] [-1.03476594e-01 9.94631631e-01 7.16537529e-04 -1.74538213e+02] [-8.50952775e-03 -1.64910678e-04 -9.99963780e-01 -4.00282386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters 0.014662224936062226 Centerline is valid? [True, True] Translation: X:90.79, Y:-174.52, Z:-4.00 [[-9.84893858e-01 -1.72961430e-01 8.27244370e-03 9.07925601e+01] [-1.72956638e-01 9.84928586e-01 1.29664813e-03 -1.74515897e+02] [-8.37203639e-03 -1.53713272e-04 -9.99964942e-01 -4.00308644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters 0.014891457777303461 Centerline is valid? [True, True] Translation: X:90.78, Y:-174.49, Z:-4.00 [[-9.70090909e-01 -2.42607982e-01 8.06203920e-03 9.07770288e+01] [-2.42600902e-01 9.70124396e-01 1.85958160e-03 -1.74493326e+02] [-8.27233025e-03 -1.51894781e-04 -9.99965772e-01 -4.00316779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters 0.014740741877000894 Centerline is valid? [True, True] Translation: X:90.75, Y:-174.47, Z:-4.00 [[-9.49998231e-01 -3.12164932e-01 7.51102660e-03 9.07548608e+01] [-3.12156445e-01 9.50027911e-01 2.30704058e-03 -1.74472788e+02] [-7.85586208e-03 -1.52930886e-04 -9.99969131e-01 -4.00356648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters 0.014785490459589988 Centerline is valid? [True, True] Translation: X:90.73, Y:-174.46, Z:-4.00 [[-9.25122557e-01 -3.79583917e-01 8.01906137e-03 9.07282665e+01] [-3.79571245e-01 9.25157295e-01 3.10627351e-03 -1.74455801e+02] [-8.59798459e-03 -1.70121415e-04 -9.99963022e-01 -4.00321703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters 0.014213669579045714 Centerline is valid? [True, True] Translation: X:90.52, Y:-173.98, Z:-5.03 [[-9.59626331e-01 2.81119253e-01 9.44827916e-03 9.05174935e+01] [-2.81102728e-01 -9.59672802e-01 3.06102642e-03 -1.73983531e+02] [ 9.92777000e-03 2.81504502e-04 9.99950679e-01 -5.03378504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters 0.013523885882498353 Centerline is valid? [True, True] Translation: X:90.62, Y:-174.51, Z:-4.00 [[-9.25195053e-01 -3.79402112e-01 8.25531888e-03 9.06188221e+01] [-3.79388161e-01 9.25231875e-01 3.25582971e-03 -1.74508447e+02] [-8.87335284e-03 -1.19692707e-04 -9.99960624e-01 -4.00232851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters 0.012782827117210915 Centerline is valid? [True, True] Translation: X:90.58, Y:-174.50, Z:-4.00 [[-8.97083335e-01 -4.41789302e-01 7.98136812e-03 9.05820656e+01] [-4.41772669e-01 8.97118836e-01 3.83449383e-03 -1.74501234e+02] [-8.85427403e-03 -8.60897883e-05 -9.99960797e-01 -4.00282976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters 0.012129822846984023 Centerline is valid? [True, True] Translation: X:90.53, Y:-174.51, Z:-4.00 [[-8.64995882e-01 -5.01714966e-01 8.01363142e-03 9.05266474e+01] [-5.01693858e-01 8.65033000e-01 4.60233063e-03 -1.74508929e+02] [-9.24111379e-03 -3.93926186e-05 -9.99957299e-01 -4.00328856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters 0.01204089264172596 Centerline is valid? [True, True] Translation: X:90.46, Y:-174.52, Z:-4.00 [[-8.27389910e-01 -5.61585602e-01 6.89548011e-03 9.04616508e+01] [-5.61566211e-01 8.27418643e-01 4.66689611e-03 -1.74522729e+02] [-8.32631046e-03 -1.09258867e-05 -9.99965336e-01 -4.00356656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters 0.01200279293320702 Centerline is valid? [True, True] Translation: X:90.39, Y:-174.54, Z:-4.00 [[-7.85346579e-01 -6.19026915e-01 6.03563328e-03 9.03930646e+01] [-6.19008512e-01 7.85369772e-01 4.77328971e-03 -1.74544010e+02] [-7.69499873e-03 1.25783729e-05 -9.99970393e-01 -4.00357893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters 0.01233293972880977 Centerline is valid? [True, True] Translation: X:90.32, Y:-174.58, Z:-4.00 [[-7.40097675e-01 -6.72478884e-01 5.25194177e-03 9.03226046e+01] [-6.72461522e-01 7.40116308e-01 4.83249716e-03 -1.74576992e+02] [-7.13680005e-03 4.47911574e-05 -9.99974532e-01 -4.00430027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters 0.013196619093883135 Centerline is valid? [True, True] Translation: X:90.25, Y:-174.62, Z:-4.00 [[-6.90298484e-01 -7.23513077e-01 4.10252534e-03 9.02481197e+01] [-7.23499784e-01 6.90310672e-01 4.38616644e-03 -1.74620543e+02] [-6.00546580e-03 5.95878478e-05 -9.99981965e-01 -4.00479628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters 0.01326700714638967 Centerline is valid? [True, True] Translation: X:90.17, Y:-174.68, Z:-4.01 [[-6.36583376e-01 -7.71198302e-01 3.84509516e-03 9.01697070e+01] [-7.71183447e-01 6.36594983e-01 4.78727090e-03 -1.74675288e+02] [-6.13970348e-03 8.22233308e-05 -9.99981149e-01 -4.00580335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters 0.013324632708064636 Centerline is valid? [True, True] Translation: X:90.09, Y:-174.73, Z:-4.00 [[-5.77111016e-01 -8.16656435e-01 3.89142275e-03 9.00922987e+01] [-8.16636730e-01 5.77124128e-01 5.67387300e-03 -1.74734963e+02] [-6.87943886e-03 9.65758604e-05 -9.99976332e-01 -4.00474737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters 0.013259530688864995 Centerline is valid? [True, True] Translation: X:90.02, Y:-174.81, Z:-4.00 [[-5.12102142e-01 -8.58913772e-01 4.30450822e-03 9.00153322e+01] [-8.58881700e-01 5.12120222e-01 7.42319292e-03 -1.74808248e+02] [-8.58030834e-03 1.04369666e-04 -9.99963183e-01 -4.00279362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters 0.012922198313258486 Centerline is valid? [True, True] Translation: X:89.94, Y:-174.89, Z:-4.00 [[-4.42912366e-01 -8.96557499e-01 3.64504107e-03 8.99414342e+01] [-8.96525679e-01 4.42927358e-01 7.55400475e-03 -1.74886600e+02] [-8.38708802e-03 7.78891991e-05 -9.99964825e-01 -4.00288411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters 0.012349889499844606 Centerline is valid? [True, True] Translation: X:89.87, Y:-174.97, Z:-4.00 [[-3.69876585e-01 -9.29077205e-01 2.61890942e-03 8.98719468e+01] [-9.29053182e-01 3.69885854e-01 6.68126251e-03 -1.74972975e+02] [-7.17610625e-03 3.81364269e-05 -9.99974251e-01 -4.00415837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters 0.012097297065682884 Centerline is valid? [True, True] Translation: X:89.80, Y:-175.07, Z:-4.01 [[-2.90409829e-01 -9.56900925e-01 1.65878900e-03 8.98049624e+01] [-9.56885637e-01 2.90414566e-01 5.40906705e-03 -1.75067713e+02] [-5.65767775e-03 -1.64251315e-05 -9.99983995e-01 -4.00574125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters 0.012301875175754068 Centerline is valid? [True, True] Translation: X:89.75, Y:-175.17, Z:-4.01 [[-2.13593885e-01 -9.76921844e-01 1.16704576e-03 8.97480312e+01] [-9.76908088e-01 2.13597071e-01 5.18448361e-03 -1.75167787e+02] [-5.31411284e-03 -3.27224471e-05 -9.99985880e-01 -4.00557965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters 0.013365669961663449 Centerline is valid? [True, True] Translation: X:89.70, Y:-175.27, Z:-4.00 [[-1.31545957e-01 -9.91309697e-01 8.63785577e-04 8.96966218e+01] [-9.91292100e-01 1.31548769e-01 5.90716036e-03 -1.75271337e+02] [-5.96945528e-03 -7.92007540e-05 -9.99982180e-01 -4.00452096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters 0.016080709097406 Centerline is valid? [True, True] Translation: X:89.65, Y:-175.38, Z:-4.00 [[-4.65501760e-02 -9.98915785e-01 5.79261553e-04 8.96523097e+01] [-9.98880651e-01 4.65533983e-02 8.38009541e-03 -1.75380875e+02] [-8.39797618e-03 -1.88518241e-04 -9.99964719e-01 -4.00136160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters 0.016914693826645403 Centerline is valid? [True, True] Translation: X:89.07, Y:-175.45, Z:-5.03 [[-1.62410673e-01 9.86722492e-01 1.22340888e-03 8.90724400e+01] [-9.86681749e-01 -1.62415089e-01 8.97020555e-03 -1.75448282e+02] [ 9.04980364e-03 2.49741906e-04 9.99959019e-01 -5.03474700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters 0.017305924056639697 Centerline is valid? [True, True] Translation: X:89.64, Y:-175.64, Z:-4.00 [[-3.04289118e-02 -9.99536765e-01 5.81059597e-04 8.96355949e+01] [-9.99490004e-01 3.04331112e-02 9.67253210e-03 -1.75642676e+02] [-9.68573489e-03 -2.86438632e-04 -9.99953051e-01 -4.00154098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters 0.01816060555162709 Centerline is valid? [True, True] Translation: X:89.61, Y:-175.75, Z:-4.00 [[ 4.73201690e-02 -9.98879760e-01 -1.64697242e-04 8.96081609e+01] [-9.98828887e-01 -4.73194220e-02 1.00859968e-02 -1.75753252e+02] [-1.00824915e-02 -3.12766712e-04 -9.99949122e-01 -4.00106767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters 0.018496591571021844 Centerline is valid? [True, True] Translation: X:89.59, Y:-175.87, Z:-4.00 [[ 1.24062666e-01 -9.92273916e-01 -9.64399450e-04 8.95911176e+01] [-9.92219830e-01 -1.24065978e-01 1.03653970e-02 -1.75868326e+02] [-1.04049622e-02 -3.29062528e-04 -9.99945813e-01 -4.00104504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters 0.018420820693363975 Centerline is valid? [True, True] Translation: X:89.58, Y:-175.98, Z:-4.00 [[ 1.98486777e-01 -9.80101865e-01 -1.82615790e-03 8.95824001e+01] [-9.80043673e-01 -1.98494901e-01 1.06851888e-02 -1.75978361e+02] [-1.08350565e-02 -3.31154191e-04 -9.99941244e-01 -3.99976165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters 0.01725955245143858 Centerline is valid? [True, True] Translation: X:89.59, Y:-176.09, Z:-4.00 [[ 2.67500907e-01 -9.63553289e-01 -2.88501773e-03 8.95898296e+01] [-9.63484737e-01 -2.67516301e-01 1.14973949e-02 -1.76091678e+02] [-1.18501419e-02 -2.95893011e-04 -9.99929741e-01 -3.99881573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters 0.01459053505646054 Centerline is valid? [True, True] Translation: X:89.61, Y:-176.20, Z:-4.00 [[ 3.35271783e-01 -9.42114766e-01 -3.54946433e-03 8.96053971e+01] [-9.42054929e-01 -3.35290501e-01 1.06203213e-02 -1.76197242e+02] [-1.11956632e-02 -2.16903704e-04 -9.99937303e-01 -4.00115891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters 0.013522273167764696 Centerline is valid? [True, True] Translation: X:89.63, Y:-176.31, Z:-4.00 [[ 3.99302537e-01 -9.16810271e-01 -4.05114005e-03 8.96311917e+01] [-9.16760015e-01 -3.99323069e-01 9.60013260e-03 -1.76307013e+02] [-1.04192139e-02 -1.19434085e-04 -9.99945711e-01 -4.00121322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters 0.012564830299965694 Centerline is valid? [True, True] Translation: X:89.66, Y:-176.42, Z:-4.00 [[ 4.65665486e-01 -8.84946448e-01 -5.04384525e-03 8.96607218e+01] [-8.84892377e-01 -4.65692792e-01 9.78287146e-03 -1.76417237e+02] [-1.10061997e-02 -9.22853748e-05 -9.99939426e-01 -4.00265165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters 0.012739517345019696 Centerline is valid? [True, True] Translation: X:89.69, Y:-176.53, Z:-4.00 [[ 5.33067656e-01 -8.46054050e-01 -5.60529993e-03 8.96936511e+01] [-8.46005240e-01 -5.33097116e-01 9.08842365e-03 -1.76531786e+02] [-1.06774669e-02 -1.02631577e-04 -9.99942989e-01 -4.00293568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters 0.013082503200076806 Centerline is valid? [True, True] Translation: X:89.73, Y:-176.64, Z:-4.00 [[ 5.98233106e-01 -8.01291657e-01 -6.98798383e-03 8.97278365e+01] [-8.01234153e-01 -5.98273900e-01 9.60063640e-03 -1.76636827e+02] [-1.18736382e-02 -1.44407225e-04 -9.99929496e-01 -4.00258614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters 0.013043537603167952 Centerline is valid? [True, True] Translation: X:89.77, Y:-176.74, Z:-4.00 [[ 6.56915344e-01 -7.53927022e-01 -7.50178223e-03 8.97740996e+01] [-7.53875596e-01 -6.56958164e-01 8.80665752e-03 -1.76739661e+02] [-1.15679342e-02 -1.29817912e-04 -9.99933081e-01 -4.00280356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters 0.012585715190333906 Centerline is valid? [True, True] Translation: X:89.83, Y:-176.83, Z:-4.00 [[ 7.10271596e-01 -7.03891259e-01 -7.16631304e-03 8.98256611e+01] [-7.03854237e-01 -7.10307742e-01 7.21979238e-03 -1.76833037e+02] [-1.01722364e-02 -8.39736613e-05 -9.99948258e-01 -4.00443284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters 0.012168514021894589 Centerline is valid? [True, True] Translation: X:89.87, Y:-176.91, Z:-4.01 [[ 7.56218100e-01 -6.54292754e-01 -5.93104329e-03 8.98746211e+01] [-6.54272649e-01 -7.56241358e-01 5.12917517e-03 -1.76909665e+02] [-7.84128238e-03 1.74430290e-06 -9.99969257e-01 -4.00688583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters 0.012848860732257796 Centerline is valid? [True, True] Translation: X:89.90, Y:-176.93, Z:-4.01 [[ 7.99749675e-01 -6.00306381e-01 -5.71892294e-03 8.98981575e+01] [-6.00291610e-01 -7.99770120e-01 4.21160697e-03 -1.76934464e+02] [-7.10207822e-03 6.47901565e-05 -9.99974778e-01 -4.00788300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters 0.013619720214306016 Centerline is valid? [True, True] Translation: X:89.92, Y:-176.96, Z:-4.01 [[ 8.42093411e-01 -5.39296315e-01 -6.17829590e-03 8.99211587e+01] [-5.39282626e-01 -8.42116070e-01 3.84369545e-03 -1.76957646e+02] [-7.27573305e-03 9.50970247e-05 -9.99973527e-01 -4.00796940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters 0.013508022560428566 Centerline is valid? [True, True] Translation: X:89.94, Y:-176.99, Z:-4.01 [[ 8.81194534e-01 -4.72710525e-01 -6.39945782e-03 8.99432186e+01] [-4.72698894e-01 -8.81217765e-01 3.31762462e-03 -1.76986622e+02] [-7.20759199e-03 1.01543952e-04 -9.99974020e-01 -4.00879482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters 0.013214310172526922 Centerline is valid? [True, True] Translation: X:89.97, Y:-177.01, Z:-4.01 [[ 9.16416998e-01 -4.00173783e-01 -6.38978179e-03 8.99685266e+01] [-4.00164669e-01 -9.16439271e-01 2.70188293e-03 -1.77012442e+02] [-6.93706968e-03 8.09134755e-05 -9.99975935e-01 -4.00840837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters 0.01297843530295848 Centerline is valid? [True, True] Translation: X:90.00, Y:-177.04, Z:-4.01 [[ 9.46295470e-01 -3.23223138e-01 -7.18929728e-03 8.99954377e+01] [-3.23214255e-01 -9.46322778e-01 2.39701045e-03 -1.77035070e+02] [-7.57816502e-03 5.54032301e-05 -9.99971284e-01 -4.00692507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters 0.012368630669097758 Centerline is valid? [True, True] Translation: X:90.02, Y:-177.06, Z:-4.01 [[ 9.69495141e-01 -2.44987322e-01 -7.77067223e-03 9.00249531e+01] [-2.44979709e-01 -9.69526282e-01 1.93150985e-03 -1.77058138e+02] [-8.00706638e-03 3.10676064e-05 -9.99967943e-01 -4.00765976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters 0.01215288855461751 Centerline is valid? [True, True] Translation: X:90.06, Y:-177.08, Z:-4.01 [[ 9.86340755e-01 -1.64536208e-01 -7.72989658e-03 9.00555887e+01] [-1.64531151e-01 -9.86371044e-01 1.28996614e-03 -1.77080377e+02] [-7.83679229e-03 -5.37398029e-07 -9.99969292e-01 -4.00758850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters 0.012408479456187093 Centerline is valid? [True, True] Translation: X:90.08, Y:-177.10, Z:-4.01 [[ 9.96604091e-01 -8.20170224e-02 -7.31391885e-03 9.00849257e+01] [-8.20145501e-02 -9.96630928e-01 6.37825709e-04 -1.77098214e+02] [-7.34159030e-03 -3.58119474e-05 -9.99973050e-01 -4.00755231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters 0.0133251943498765 Centerline is valid? [True, True] Translation: X:90.12, Y:-177.11, Z:-4.01 [[ 9.99971770e-01 4.14744102e-03 -6.26567689e-03 9.01164372e+01] [ 4.14786103e-03 -9.99991396e-01 5.40400954e-05 -1.77114601e+02] [-6.26539885e-03 -8.00277269e-05 -9.99980369e-01 -4.00840831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters 0.013913166556920898 Centerline is valid? [True, True] Translation: X:90.15, Y:-177.13, Z:-4.01 [[ 9.96280764e-01 8.60256466e-02 -4.92218018e-03 9.01491393e+01] [ 8.60249978e-02 -9.96292920e-01 -3.43755336e-04 -1.77125267e+02] [-4.93350504e-03 -8.09537105e-05 -9.99987827e-01 -4.00954215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters 0.015425692413269212 Centerline is valid? [True, True] Translation: X:90.18, Y:-177.13, Z:-4.01 [[ 9.86015983e-01 1.66576180e-01 -4.98578643e-03 9.01820463e+01] [ 1.66574548e-01 -9.86028583e-01 -7.43789670e-04 -1.77133345e+02] [-5.04002557e-03 -9.71166185e-05 -9.99987294e-01 -4.00872191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters 0.015488450685256502 Centerline is valid? [True, True] Translation: X:90.22, Y:-177.13, Z:-4.01 [[ 9.69432196e-01 2.45290115e-01 -5.82893919e-03 9.02156380e+01] [ 2.45286471e-01 -9.69449712e-01 -1.34309016e-03 -1.77134544e+02] [-5.98031016e-03 -1.27725082e-04 -9.99982110e-01 -4.00760429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters 0.015360174398769494 Centerline is valid? [True, True] Translation: X:90.25, Y:-177.13, Z:-4.01 [[ 9.46912062e-01 3.21370919e-01 -8.84759313e-03 9.02491850e+01] [ 3.21358930e-01 -9.46953372e-01 -2.78366262e-03 -1.77133017e+02] [-9.27284637e-03 -2.07369349e-04 -9.99956985e-01 -4.00594547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters 0.015872222187501173 Centerline is valid? [True, True] Translation: X:90.28, Y:-177.13, Z:-4.00 [[ 9.19056322e-01 3.93980608e-01 -1.07125139e-02 9.02814265e+01] [ 3.93957019e-01 -9.19118718e-01 -4.31850785e-03 -1.77129192e+02] [-1.15474804e-02 -2.51318109e-04 -9.99933294e-01 -4.00291382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters 0.014742219541780734 Centerline is valid? [True, True] Translation: X:90.31, Y:-177.12, Z:-4.00 [[ 8.86589910e-01 4.62407163e-01 -1.17451321e-02 9.03127737e+01] [ 4.62370322e-01 -8.86667668e-01 -5.84228591e-03 -1.77118067e+02] [-1.31155437e-02 -2.50888782e-04 -9.99913956e-01 -4.00222873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters 0.014200588457260193 Centerline is valid? [True, True] Translation: X:90.34, Y:-177.11, Z:-4.00 [[ 8.48706786e-01 5.28751453e-01 -1.08946042e-02 9.03440059e+01] [ 5.28711183e-01 -8.48776680e-01 -6.52933404e-03 -1.77106197e+02] [-1.26994809e-02 -2.18608983e-04 -9.99919335e-01 -4.00314504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters 0.014104147330234785 Centerline is valid? [True, True] Translation: X:90.37, Y:-177.09, Z:-4.00 [[ 8.07412236e-01 5.89914681e-01 -9.28173816e-03 9.03706611e+01] [ 5.89877747e-01 -8.07465571e-01 -6.60271271e-03 -1.77090984e+02] [-1.13897212e-02 -1.43979758e-04 -9.99935125e-01 -4.00306713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters 0.01245112413623317 Centerline is valid? [True, True] Translation: X:90.39, Y:-177.07, Z:-4.01 [[ 7.63896869e-01 6.45285426e-01 -8.26388145e-03 9.03932345e+01] [ 6.45248389e-01 -7.63941566e-01 -6.91373945e-03 -1.77069132e+02] [-1.07744578e-02 -5.08722780e-05 -9.99941953e-01 -4.00607439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters 0.012350440871383565 Centerline is valid? [True, True] Translation: X:90.42, Y:-177.05, Z:-4.01 [[ 7.14646763e-01 6.99448089e-01 -7.23702294e-03 9.04180509e+01] [ 6.99412170e-01 -7.14683406e-01 -7.08842809e-03 -1.77050315e+02] [-1.01301677e-02 4.06026824e-06 -9.99948689e-01 -4.00673879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters 0.012529961275147288 Centerline is valid? [True, True] Translation: X:90.44, Y:-177.03, Z:-4.01 [[ 6.61051854e-01 7.50314641e-01 -6.19564209e-03 9.04419598e+01] [ 7.50281037e-01 -6.61080886e-01 -7.10124602e-03 -1.77030977e+02] [-9.42398942e-03 4.58190742e-05 -9.99955592e-01 -4.00792477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters 0.013147237645922622 Centerline is valid? [True, True] Translation: X:90.46, Y:-177.01, Z:-4.01 [[ 6.04739105e-01 7.96399515e-01 -6.19908350e-03 9.04632458e+01] [ 7.96355823e-01 -6.04770867e-01 -8.34275624e-03 -1.77010029e+02] [-1.03931921e-02 1.08514697e-04 -9.99945984e-01 -4.00763113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters 0.013529069074104198 Centerline is valid? [True, True] Translation: X:90.48, Y:-176.99, Z:-4.01 [[ 5.41842960e-01 8.40456368e-01 -6.26895968e-03 9.04848849e+01] [ 8.40397064e-01 -5.41879205e-01 -9.98509098e-03 -1.76989450e+02] [-1.17890522e-02 1.41935944e-04 -9.99930497e-01 -4.00678255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters 0.013515963497714546 Centerline is valid? [True, True] Translation: X:90.51, Y:-176.97, Z:-4.01 [[ 4.73818724e-01 8.80603131e-01 -5.82597855e-03 9.05062472e+01] [ 8.80532816e-01 -4.73854518e-01 -1.11290688e-02 -1.76968518e+02] [-1.25609591e-02 1.43195884e-04 -9.99921098e-01 -4.00644963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters 0.012810209224791478 Centerline is valid? [True, True] Translation: X:90.53, Y:-176.95, Z:-4.01 [[ 3.99702908e-01 9.16631815e-01 -4.86842494e-03 9.05306596e+01] [ 9.16561012e-01 -3.99732545e-01 -1.13931310e-02 -1.76948016e+02] [-1.23893742e-02 9.16591042e-05 -9.99923245e-01 -4.00729112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters 0.012681167910799465 Centerline is valid? [True, True] Translation: X:90.55, Y:-176.93, Z:-4.01 [[ 3.23429416e-01 9.46244468e-01 -3.84960173e-03 9.05505919e+01] [ 9.46175673e-01 -3.23452322e-01 -1.14101672e-02 -1.76925757e+02] [-1.20419702e-02 4.79842102e-05 -9.99927492e-01 -4.00739727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters 0.012460173406906503 Centerline is valid? [True, True] Translation: X:90.57, Y:-176.90, Z:-4.01 [[ 2.41217908e-01 9.70468151e-01 -2.34292354e-03 9.05705749e+01] [ 9.70423660e-01 -2.41229284e-01 -9.29266439e-03 -1.76902624e+02] [-9.58341660e-03 -3.20713688e-05 -9.99954078e-01 -4.00814067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters 0.012992452372291524 Centerline is valid? [True, True] Translation: X:90.59, Y:-176.88, Z:-4.01 [[ 1.57874647e-01 9.87458195e-01 -1.38180914e-03 9.05884288e+01] [ 9.87424831e-01 -1.57880672e-01 -8.11765942e-03 -1.76876399e+02] [-8.23401028e-03 -8.28600442e-05 -9.99966097e-01 -4.01000033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters 0.015096574729191988 Centerline is valid? [True, True] Translation: X:90.61, Y:-176.85, Z:-4.01 [[ 7.03771395e-02 9.97520206e-01 -7.05614937e-04 9.06069526e+01] [ 9.97489727e-01 -7.03805061e-02 -7.79927123e-03 -1.76848359e+02] [-7.82959218e-03 -1.54953251e-04 -9.99969336e-01 -4.00969232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters 0.01595536570596946 Centerline is valid? [True, True] Translation: X:90.62, Y:-176.82, Z:-4.01 [[-1.21256267e-02 9.99926477e-01 -9.62202760e-05 9.06182449e+01] [ 9.99893511e-01 1.21244454e-02 -8.12186376e-03 -1.76818393e+02] [-8.12010000e-03 -1.94692718e-04 -9.99967013e-01 -4.00937907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters 0.01698579069840725 Centerline is valid? [True, True] Translation: X:90.63, Y:-176.79, Z:-4.01 [[-9.20903087e-02 9.95750513e-01 5.38672041e-04 9.06250461e+01] [ 9.95717778e-01 9.20916505e-02 -8.07683877e-03 -1.76789324e+02] [-8.09212355e-03 -2.07433249e-04 -9.99967237e-01 -4.00836653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters 0.01612534263334819 Centerline is valid? [True, True] Translation: X:90.63, Y:-176.76, Z:-4.01 [[-1.68596088e-01 9.85684596e-01 1.11170980e-03 9.06260179e+01] [ 9.85655223e-01 1.68599649e-01 -7.61184884e-03 -1.76758909e+02] [-7.69031603e-03 -1.87565367e-04 -9.99970412e-01 -4.00842545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters 0.015421877500411537 Centerline is valid? [True, True] Translation: X:90.62, Y:-176.73, Z:-4.01 [[-2.42449261e-01 9.70162828e-01 1.56275909e-03 9.06239140e+01] [ 9.70138461e-01 2.42454250e-01 -6.87776914e-03 -1.76728666e+02] [-7.05145355e-03 -1.51417353e-04 -9.99975127e-01 -4.00881648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters 0.014286152360275873 Centerline is valid? [True, True] Translation: X:90.62, Y:-176.70, Z:-4.01 [[-3.14316561e-01 9.49315754e-01 2.16778973e-03 9.06187934e+01] [ 9.49290237e-01 3.14324009e-01 -6.96154705e-03 -1.76699431e+02] [-7.29009465e-03 -1.30267900e-04 -9.99973419e-01 -4.00930754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters 0.013356226790577118 Centerline is valid? [True, True] Translation: X:90.61, Y:-176.67, Z:-4.01 [[-3.82668457e-01 9.23881814e-01 2.69195357e-03 9.06085387e+01] [ 9.23857280e-01 3.82677915e-01 -6.73343154e-03 -1.76672851e+02] [-7.25104612e-03 -8.96909515e-05 -9.99973707e-01 -4.00959404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters 0.012901042018158788 Centerline is valid? [True, True] Translation: X:90.60, Y:-176.65, Z:-4.01 [[-4.51560248e-01 8.92233404e-01 3.59107718e-03 9.05998737e+01] [ 8.92203780e-01 4.51574520e-01 -7.27102304e-03 -1.76645277e+02] [-8.10908858e-03 -7.93323349e-05 -9.99967118e-01 -4.00989425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters 0.012971736415814224 Centerline is valid? [True, True] Translation: X:90.59, Y:-176.62, Z:-4.01 [[-5.19105717e-01 8.54695173e-01 5.04138959e-03 9.05897994e+01] [ 8.54653260e-01 5.19130189e-01 -8.46477700e-03 -1.76619486e+02] [-9.85194158e-03 -8.54740835e-05 -9.99951465e-01 -4.00869938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters 0.013002364906245211 Centerline is valid? [True, True] Translation: X:90.58, Y:-176.59, Z:-4.01 [[-5.85211266e-01 8.10853233e-01 6.69388675e-03 9.05813097e+01] [ 8.10797993e-01 5.85249538e-01 -9.46529747e-03 -1.76590648e+02] [-1.15925612e-02 -1.11808770e-04 -9.99932798e-01 -4.00832301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters 0.013460403355239382 Centerline is valid? [True, True] Translation: X:90.57, Y:-176.56, Z:-4.01 [[-6.49091876e-01 7.60668096e-01 7.98653063e-03 9.05736326e+01] [ 7.60607538e-01 6.49140989e-01 -9.59942680e-03 -1.76560624e+02] [-1.24863621e-02 -1.56294547e-04 -9.99922030e-01 -4.00799618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters 0.0143780865354114 Centerline is valid? [True, True] Translation: X:90.56, Y:-176.53, Z:-4.01 [[-7.07783044e-01 7.06379716e-01 8.41776746e-03 9.05624438e+01] [ 7.06326891e-01 7.07833079e-01 -8.64032755e-03 -1.76533183e+02] [-1.20617264e-02 -1.69781820e-04 -9.99927240e-01 -4.00750827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters 0.01485843297782225 Centerline is valid? [True, True] Translation: X:90.54, Y:-176.51, Z:-4.01 [[-7.61457766e-01 6.48159080e-01 8.47810586e-03 9.05444958e+01] [ 6.48116436e-01 7.61504944e-01 -7.43683883e-03 -1.76511638e+02] [-1.12763741e-02 -1.68038926e-04 -9.99936406e-01 -4.00842425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters 0.013891911881123934 Centerline is valid? [True, True] Translation: X:90.56, Y:-176.49, Z:-4.01 [[-8.05669880e-01 5.92304763e-01 8.43280585e-03 9.05609706e+01] [ 5.92270195e-01 8.05713995e-01 -6.40114356e-03 -1.76493864e+02] [-1.05858575e-02 -1.62708996e-04 -9.99943955e-01 -4.01235189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters 0.01413361874656804 Centerline is valid? [True, True] Translation: X:90.58, Y:-176.47, Z:-4.01 [[-8.45503985e-01 5.33906916e-01 8.14963084e-03 9.05763642e+01] [ 5.33880421e-01 8.45543247e-01 -5.32100490e-03 -1.76470444e+02] [-9.73178665e-03 -1.48002501e-04 -9.99952634e-01 -4.01158758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters 0.013817532459836959 Centerline is valid? [True, True] Translation: X:90.59, Y:-176.45, Z:-4.01 [[-8.80919159e-01 4.73182411e-01 8.93538192e-03 9.05910065e+01] [ 4.73156333e-01 8.80964462e-01 -4.97006607e-03 -1.76449615e+02] [-1.02235018e-02 -1.50393875e-04 -9.99947727e-01 -4.01283672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters 0.013905037537017965 Centerline is valid? [True, True] Translation: X:90.61, Y:-176.43, Z:-4.01 [[-9.12025474e-01 4.10024455e-01 9.45942317e-03 9.06059529e+01] [ 4.10000699e-01 9.12074517e-01 -4.41617897e-03 -1.76426752e+02] [-1.04384402e-02 -1.49297607e-04 -9.99945507e-01 -4.01295027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters 0.01406771273880238 Centerline is valid? [True, True] Translation: X:90.61, Y:-176.40, Z:-4.01 [[-9.39067967e-01 3.43604494e-01 9.34375930e-03 9.06120873e+01] [ 3.43585880e-01 9.39114439e-01 -3.57965536e-03 -1.76399785e+02] [-1.00048449e-02 -1.51155921e-04 -9.99949939e-01 -4.01331146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters 0.014261582059343155 Centerline is valid? [True, True] Translation: X:90.62, Y:-176.37, Z:-4.01 [[-9.61401549e-01 2.74988843e-01 9.39135333e-03 9.06169871e+01] [ 2.74974086e-01 9.61447404e-01 -2.85343877e-03 -1.76372107e+02] [-9.81395610e-03 -1.60921656e-04 -9.99951829e-01 -4.01335866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters 0.014616319314363526 Centerline is valid? [True, True] Translation: X:90.82, Y:-175.73, Z:-5.02 [[-9.28851151e-01 -3.70351093e-01 8.69526907e-03 9.08237434e+01] [ 3.70336085e-01 -9.28891842e-01 -3.33630857e-03 -1.75725520e+02] [ 9.31257003e-03 1.21237853e-04 9.99956630e-01 -5.02295443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters 0.01450839452863851 Centerline is valid? [True, True] Translation: X:90.58, Y:-176.36, Z:-4.01 [[-9.62622700e-01 2.70715233e-01 8.41422305e-03 9.05788757e+01] [ 2.70703526e-01 9.62659462e-01 -2.52216828e-03 -1.76360821e+02] [-8.78282080e-03 -1.50136593e-04 -9.99961419e-01 -4.01269631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters 0.01412138456205974 Centerline is valid? [True, True] Translation: X:90.78, Y:-175.71, Z:-5.02 [[-9.30534177e-01 -3.66104715e-01 8.57220174e-03 9.07788260e+01] [ 3.66090939e-01 -9.30573643e-01 -3.18096947e-03 -1.75711894e+02] [ 9.14163293e-03 1.78204578e-04 9.99958199e-01 -5.02377269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters 0.013962467238814811 Centerline is valid? [True, True] Translation: X:90.54, Y:-176.35, Z:-4.01 [[-9.62908739e-01 2.69667359e-01 9.28848592e-03 9.05368804e+01] [ 2.69653404e-01 9.62953527e-01 -2.74707779e-03 -1.76349959e+02] [-9.68517749e-03 -1.40513368e-04 -9.99953088e-01 -4.01096103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters 0.01345203405843029 Centerline is valid? [True, True] Translation: X:90.54, Y:-176.33, Z:-4.01 [[-9.79089874e-01 2.03169467e-01 1.02560410e-02 9.05443100e+01] [ 2.03156971e-01 9.79143581e-01 -2.25688178e-03 -1.76325631e+02] [-1.05006662e-02 -1.26103880e-04 -9.99944859e-01 -4.01049260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters 0.012897851301617832 Centerline is valid? [True, True] Translation: X:90.55, Y:-176.30, Z:-4.01 [[-9.90664682e-01 1.35946394e-01 1.01027593e-02 9.05513256e+01] [ 1.35938351e-01 9.90716190e-01 -1.48182283e-03 -1.76301565e+02] [-1.02104157e-02 -9.46370990e-05 -9.99947868e-01 -4.01186650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters 0.012475642937565323 Centerline is valid? [True, True] Translation: X:90.55, Y:-176.28, Z:-4.01 [[-9.97397567e-01 7.14895598e-02 9.34538524e-03 9.05526419e+01] [ 7.14861535e-02 9.97441348e-01 -6.98456900e-04 -1.76277512e+02] [-9.37140602e-03 -2.85735700e-05 -9.99956087e-01 -4.01192026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters 0.012613231652571744 Centerline is valid? [True, True] Translation: X:90.56, Y:-176.25, Z:-4.01 [[-9.99945478e-01 5.30829009e-03 8.99234494e-03 9.05574329e+01] [ 5.30822379e-03 9.99985911e-01 -3.12410056e-05 -1.76253632e+02] [-8.99238408e-03 1.64940771e-05 -9.99959568e-01 -4.01208310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters 0.012731956390630706 Centerline is valid? [True, True] Translation: X:90.55, Y:-176.23, Z:-4.01 [[-9.98011938e-01 -6.24960813e-02 8.14933507e-03 9.05520042e+01] [-6.24936528e-02 9.98045208e-01 5.52554494e-04 -1.76227478e+02] [-8.16793731e-03 4.21742642e-05 -9.99966641e-01 -4.01247566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters 0.013152865447595918 Centerline is valid? [True, True] Translation: X:90.55, Y:-176.20, Z:-4.01 [[-9.91441281e-01 -1.30217121e-01 9.36422167e-03 9.05490328e+01] [-1.30210562e-01 9.91485499e-01 1.30926358e-03 -1.76200190e+02] [-9.45497854e-03 7.87373894e-05 -9.99955298e-01 -4.01128470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters 0.013411106546683824 Centerline is valid? [True, True] Translation: X:90.54, Y:-176.17, Z:-4.01 [[-9.79741026e-01 -1.99985095e-01 1.06528806e-02 9.05350744e+01] [-1.99972195e-01 9.79798935e-01 2.27345132e-03 -1.76173976e+02] [-1.08923375e-02 9.71135999e-05 -9.99940672e-01 -4.00954744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters 0.013630376738146993 Centerline is valid? [True, True] Translation: X:90.51, Y:-176.15, Z:-4.01 [[-9.62915189e-01 -2.69526973e-01 1.22290629e-02 9.05110218e+01] [-2.69503716e-01 9.62992834e-01 3.54252359e-03 -1.76150258e+02] [-1.27313056e-02 1.15371889e-04 -9.99918947e-01 -4.00809430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters 0.013438357417112577 Centerline is valid? [True, True] Translation: X:90.48, Y:-176.13, Z:-4.01 [[-9.40468204e-01 -3.39636672e-01 1.29030568e-02 9.04760733e+01] [-3.39603199e-01 9.40556708e-01 4.76939798e-03 -1.76127938e+02] [-1.37559191e-02 1.03547787e-04 -9.99905378e-01 -4.00735260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters 0.013431101341832957 Centerline is valid? [True, True] Translation: X:90.42, Y:-176.12, Z:-4.01 [[-9.13297014e-01 -4.07145519e-01 1.10041466e-02 9.04225357e+01] [-4.07114710e-01 9.13363300e-01 5.00951642e-03 -1.76116940e+02] [-1.20903858e-02 9.52264179e-05 -9.99926904e-01 -4.00892751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters 0.013243653348703444 Centerline is valid? [True, True] Translation: X:90.36, Y:-176.12, Z:-4.01 [[-8.81306487e-01 -4.72465982e-01 8.64706329e-03 9.03589467e+01] [-4.72442277e-01 8.81348903e-01 4.73356651e-03 -1.76116158e+02] [-9.85752889e-03 8.64846050e-05 -9.99951410e-01 -4.01122427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters 0.013100449192897852 Centerline is valid? [True, True] Translation: X:90.29, Y:-176.13, Z:-4.01 [[-8.43667134e-01 -5.36836851e-01 5.65356758e-03 9.02878075e+01] [-5.36824357e-01 8.43686075e-01 3.66296645e-03 -1.76125489e+02] [-6.73625161e-03 5.53516228e-05 -9.99977310e-01 -4.01326933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters 0.012636515464816669 Centerline is valid? [True, True] Translation: X:90.21, Y:-176.14, Z:-4.01 [[-7.98464834e-01 -6.02033827e-01 3.02987238e-03 9.02102794e+01] [-6.02029434e-01 7.98470582e-01 2.30000453e-03 -1.76138203e+02] [-3.80394449e-03 1.24003779e-05 -9.99992765e-01 -4.01451347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters 0.012683433378209336 Centerline is valid? [True, True] Translation: X:90.12, Y:-176.17, Z:-4.01 [[-7.47503704e-01 -6.64253223e-01 2.42230967e-03 9.01223603e+01] [-6.64249774e-01 7.47507629e-01 2.14070970e-03 -1.76166052e+02] [-3.23266827e-03 -8.83021884e-06 -9.99994775e-01 -4.01446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters 0.01342180370846668 Centerline is valid? [True, True] Translation: X:90.04, Y:-176.19, Z:-4.01 [[-6.88833075e-01 -7.24916080e-01 2.38146305e-03 9.00377822e+01] [-7.24911957e-01 6.88837191e-01 2.44532722e-03 -1.76193584e+02] [-3.41309734e-03 -4.19287713e-05 -9.99994175e-01 -4.01282084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters 0.015576350861279516 Centerline is valid? [True, True] Translation: X:89.95, Y:-176.24, Z:-4.01 [[-6.28627476e-01 -7.77702389e-01 2.54777458e-03 8.99508361e+01] [-7.77696441e-01 6.28632635e-01 3.04228121e-03 -1.76236509e+02] [-3.96760361e-03 -6.89336669e-05 -9.99992127e-01 -4.01059512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters 0.015363230656568787 Centerline is valid? [True, True] Translation: X:89.87, Y:-176.29, Z:-4.01 [[-5.65958659e-01 -8.24428509e-01 2.90339351e-03 8.98713853e+01] [-8.24418565e-01 5.65966097e-01 4.05057509e-03 -1.76291280e+02] [-4.98263187e-03 -1.01153469e-04 -9.99987582e-01 -4.00962269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters 0.01528386114068069 Centerline is valid? [True, True] Translation: X:89.80, Y:-176.35, Z:-4.01 [[-5.02804015e-01 -8.64394760e-01 3.13400739e-03 8.97969848e+01] [-8.64379402e-01 5.02813768e-01 5.15402999e-03 -1.76354358e+02] [-6.03093858e-03 -1.17504459e-04 -9.99981807e-01 -4.00803392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters 0.014156647112174424 Centerline is valid? [True, True] Translation: X:89.73, Y:-176.43, Z:-4.01 [[-4.38846644e-01 -8.98557523e-01 2.82880574e-03 8.97277205e+01] [-8.98540315e-01 4.38855749e-01 5.56177680e-03 -1.76430185e+02] [-6.23901404e-03 -1.01028920e-04 -9.99980532e-01 -4.00802828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters 0.013238725685804352 Centerline is valid? [True, True] Translation: X:89.67, Y:-176.51, Z:-4.01 [[-3.73502042e-01 -9.27626485e-01 2.30843027e-03 8.96650490e+01] [-9.27609905e-01 3.73509169e-01 5.54665842e-03 -1.76512214e+02] [-6.00744713e-03 -6.96345318e-05 -9.99981953e-01 -4.00792975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters 0.012972935983133555 Centerline is valid? [True, True] Translation: X:89.61, Y:-176.60, Z:-4.01 [[-3.04045038e-01 -9.52655509e-01 2.02407540e-03 8.96057632e+01] [-9.52635685e-01 3.04051770e-01 6.14593123e-03 -1.76601528e+02] [-6.47037895e-03 -5.95665572e-05 -9.99979065e-01 -4.00690210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters 0.012726396842869853 Centerline is valid? [True, True] Translation: X:89.55, Y:-176.70, Z:-4.01 [[-2.32832087e-01 -9.72515544e-01 1.65401781e-03 8.95524040e+01] [-9.72492423e-01 2.32837957e-01 6.70626086e-03 -1.76703157e+02] [-6.90706105e-03 -4.70870793e-05 -9.99976145e-01 -4.00627702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters 0.01247856490481061 Centerline is valid? [True, True] Translation: X:89.51, Y:-176.81, Z:-4.01 [[-1.60845646e-01 -9.86978798e-01 1.23721293e-03 8.95103860e+01] [-9.86950926e-01 1.60850402e-01 7.41734821e-03 -1.76805655e+02] [-7.51977162e-03 -2.80202834e-05 -9.99971726e-01 -4.00606936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters 0.015195195849359326 Centerline is valid? [True, True] Translation: X:89.48, Y:-176.91, Z:-4.00 [[-8.79309151e-02 -9.96126317e-01 7.17227240e-04 8.94750642e+01] [-9.96093583e-01 8.79338400e-02 8.07547003e-03 -1.76912718e+02] [-8.10725676e-03 -4.34198221e-06 -9.99967136e-01 -4.00371793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters 0.012481650306246704 Centerline is valid? [True, True] Translation: X:89.45, Y:-177.02, Z:-4.01 [[-1.25895242e-02 -9.99920745e-01 9.20017252e-05 8.94462375e+01] [-9.99890629e-01 1.25898591e-02 7.76053015e-03 -1.77024262e+02] [-7.76107337e-03 5.70971928e-06 -9.99969882e-01 -4.00643588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters 0.01266086631040907 Centerline is valid? [True, True] Translation: X:89.43, Y:-177.14, Z:-4.01 [[ 6.19684564e-02 -9.98077972e-01 -5.21765679e-04 8.94277314e+01] [-9.98045699e-01 -6.19706485e-02 8.02627733e-03 -1.77140869e+02] [-8.04318476e-03 2.33699758e-05 -9.99967653e-01 -4.00593155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters 0.012735603154286455 Centerline is valid? [True, True] Translation: X:89.42, Y:-177.25, Z:-4.01 [[ 1.36290043e-01 -9.90668376e-01 -1.09197827e-03 8.94190431e+01] [-9.90638764e-01 -1.36294412e-01 7.65982176e-03 -1.77254252e+02] [-7.73717373e-03 3.77985695e-05 -9.99970067e-01 -4.00740255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters 0.012720563692385115 Centerline is valid? [True, True] Translation: X:89.41, Y:-177.38, Z:-4.01 [[ 2.14439581e-01 -9.76736420e-01 -1.27732033e-03 8.94108247e+01] [-9.76719466e-01 -2.14443385e-01 5.75496722e-03 -1.77375776e+02] [-5.89499897e-03 1.34908726e-05 -9.99982624e-01 -4.00724336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters 0.012664390840288094 Centerline is valid? [True, True] Translation: X:89.41, Y:-177.50, Z:-4.01 [[ 2.93200765e-01 -9.56050233e-01 -1.12365809e-03 8.94091660e+01] [-9.56043091e-01 -2.93202918e-01 3.69542214e-03 -1.77499783e+02] [-3.86246903e-03 -9.23504071e-06 -9.99992541e-01 -4.00837635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters 0.012645760021267872 Centerline is valid? [True, True] Translation: X:89.42, Y:-177.62, Z:-4.01 [[ 3.66536684e-01 -9.30402686e-01 -1.30434114e-03 8.94201733e+01] [-9.30396677e-01 -3.66539004e-01 3.34385381e-03 -1.77615330e+02] [-3.58922247e-03 -1.20904175e-05 -9.99993559e-01 -4.00892454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters 0.012719785403525597 Centerline is valid? [True, True] Translation: X:89.44, Y:-177.74, Z:-4.01 [[ 4.36591405e-01 -8.99658893e-01 -1.34975470e-03 8.94442068e+01] [-8.99654523e-01 -4.36593491e-01 2.80426478e-03 -1.77736792e+02] [-3.11217587e-03 -1.00049784e-05 -9.99995157e-01 -4.00958274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters 0.012789967998603588 Centerline is valid? [True, True] Translation: X:89.47, Y:-177.84, Z:-4.01 [[ 5.04026919e-01 -8.63686836e-01 -1.38373416e-03 8.94675770e+01] [-8.63683536e-01 -5.04028818e-01 2.38758058e-03 -1.77841886e+02] [-2.75956381e-03 -8.29647449e-06 -9.99996192e-01 -4.00941053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters 0.012770089722308265 Centerline is valid? [True, True] Translation: X:89.50, Y:-177.95, Z:-4.01 [[ 5.69154559e-01 -8.22228851e-01 -1.67484226e-03 8.95008617e+01] [-8.22225232e-01 -5.69157023e-01 2.43940479e-03 -1.77952020e+02] [-2.95899723e-03 -1.13007881e-05 -9.99995622e-01 -4.00868846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters 0.012934327193634321 Centerline is valid? [True, True] Translation: X:89.54, Y:-178.06, Z:-4.01 [[ 6.30729549e-01 -7.76000097e-01 -2.02156467e-03 8.95401049e+01] [-7.75996035e-01 -6.30732788e-01 2.51073087e-03 -1.78056880e+02] [-3.22339452e-03 -1.48659799e-05 -9.99994805e-01 -4.00779460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters 0.012851025295282158 Centerline is valid? [True, True] Translation: X:89.59, Y:-178.16, Z:-4.01 [[ 6.87356481e-01 -7.26315511e-01 -2.61655111e-03 8.95897812e+01] [-7.26310168e-01 -6.87361461e-01 2.78595802e-03 -1.78155610e+02] [-3.82200091e-03 -1.45186258e-05 -9.99992696e-01 -4.00716758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters 0.012751050943187469 Centerline is valid? [True, True] Translation: X:89.64, Y:-178.24, Z:-4.01 [[ 7.39509959e-01 -6.73139247e-01 -2.92830046e-03 8.96424351e+01] [-6.73133921e-01 -7.39515756e-01 2.67792116e-03 -1.78244892e+02] [-3.96813816e-03 -9.21099550e-06 -9.99992127e-01 -4.00669003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters 0.012679342948710783 Centerline is valid? [True, True] Translation: X:89.67, Y:-178.26, Z:-4.01 [[ 7.88960143e-01 -6.14437859e-01 -2.83018463e-03 8.96712701e+01] [-6.14433892e-01 -7.88965219e-01 2.20788403e-03 -1.78263831e+02] [-3.58952477e-03 -2.97114281e-06 -9.99993558e-01 -4.00633046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters 0.01272353729821431 Centerline is valid? [True, True] Translation: X:89.70, Y:-178.28, Z:-4.01 [[ 8.35022403e-01 -5.50207370e-01 -3.07202787e-03 8.97024211e+01] [-5.50203620e-01 -8.35028054e-01 2.03136722e-03 -1.78278980e+02] [-3.68290267e-03 -5.99627989e-06 -9.99993218e-01 -4.00547484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters 0.012695222379291894 Centerline is valid? [True, True] Translation: X:89.73, Y:-178.31, Z:-4.01 [[ 8.76644200e-01 -4.81133871e-01 -2.26811014e-03 8.97267657e+01] [-4.81132230e-01 -8.76647134e-01 1.25674534e-03 -1.78306389e+02] [-2.59299501e-03 -1.04576250e-05 -9.99996638e-01 -4.00722828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters 0.012732887900657514 Centerline is valid? [True, True] Translation: X:89.75, Y:-178.33, Z:-4.01 [[ 9.12519788e-01 -4.09030707e-01 -1.23205186e-03 8.97535010e+01] [-4.09030321e-01 -9.12520620e-01 5.61426229e-04 -1.78331452e+02] [-1.35391330e-03 -8.36597486e-06 -9.99999084e-01 -4.00824397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters 0.01332138264117316 Centerline is valid? [True, True] Translation: X:89.78, Y:-178.36, Z:-4.01 [[ 9.43012224e-01 -3.32758076e-01 -9.23200571e-05 8.97819533e+01] [-3.32758075e-01 -9.43012228e-01 3.32911690e-05 -1.78356077e+02] [-9.81368488e-05 -6.73734935e-07 -9.99999995e-01 -4.00826004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters 0.013689592918655562 Centerline is valid? [True, True] Translation: X:89.81, Y:-178.38, Z:-4.01 [[ 9.66749574e-01 -2.55723296e-01 -9.25596073e-04 8.98122874e+01] [-2.55723167e-01 -9.66750017e-01 2.57134587e-04 -1.78377438e+02] [-9.60575324e-04 -1.18883940e-05 -9.99999539e-01 -4.00624455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters 0.013959174302843021 Centerline is valid? [True, True] Translation: X:89.85, Y:-178.39, Z:-4.00 [[ 9.83971425e-01 -1.78295260e-01 -3.32178460e-03 8.98457216e+01] [-1.78294085e-01 -9.83977031e-01 6.49132930e-04 -1.78393620e+02] [-3.38429707e-03 -4.64737108e-05 -9.99994272e-01 -4.00267468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters 0.01393041515253204 Centerline is valid? [True, True] Translation: X:89.88, Y:-178.40, Z:-4.00 [[ 9.94775846e-01 -1.02005066e-01 -3.99776995e-03 8.98794050e+01] [-1.02004038e-01 -9.94783878e-01 4.60674132e-04 -1.78403541e+02] [-4.02390819e-03 -5.04788206e-05 -9.99991903e-01 -4.00127402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters 0.013195257518734264 Centerline is valid? [True, True] Translation: X:89.91, Y:-178.41, Z:-4.00 [[ 9.99607225e-01 -2.76485056e-02 -4.57787571e-03 8.99111754e+01] [-2.76480328e-02 -9.99617706e-01 1.66531419e-04 -1.78407265e+02] [-4.58072996e-03 -3.98967516e-05 -9.99989508e-01 -4.00170554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters 0.01292952090327777 Centerline is valid? [True, True] Translation: X:89.94, Y:-178.41, Z:-4.00 [[ 9.98843182e-01 4.79139337e-02 -4.06864154e-03 8.99423756e+01] [ 4.79136344e-02 -9.98851468e-01 -1.71048273e-04 -1.78414001e+02] [-4.07216417e-03 -2.40930020e-05 -9.99991709e-01 -4.00215230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters 0.01287212678142371 Centerline is valid? [True, True] Translation: X:89.97, Y:-178.42, Z:-4.00 [[ 9.92229504e-01 1.24362164e-01 -3.82938840e-03 8.99730318e+01] [ 1.24361302e-01 -9.92236893e-01 -4.63162493e-04 -1.78417868e+02] [-3.85726034e-03 -1.66642380e-05 -9.99992561e-01 -4.00191225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters 0.012996987059834425 Centerline is valid? [True, True] Translation: X:90.00, Y:-178.42, Z:-4.00 [[ 9.79203324e-01 2.02818093e-01 -5.06668817e-03 9.00042030e+01] [ 2.02815529e-01 -9.79216432e-01 -1.02027637e-03 -1.78420797e+02] [-5.16831482e-03 -2.85450280e-05 -9.99986644e-01 -4.00029633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters 0.013306178771909614 Centerline is valid? [True, True] Translation: X:90.04, Y:-178.42, Z:-4.00 [[ 9.59430248e-01 2.81876569e-01 -6.26096002e-03 9.00373238e+01] [ 2.81870951e-01 -9.59450675e-01 -1.78053679e-03 -1.78422102e+02] [-6.50897392e-03 -5.64818996e-05 -9.99978815e-01 -3.99950424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters 0.013947224755851641 Centerline is valid? [True, True] Translation: X:90.07, Y:-178.42, Z:-4.00 [[ 9.32574715e-01 3.60904448e-01 -7.23745454e-03 9.00712672e+01] [ 3.60894464e-01 -9.32602792e-01 -2.68650645e-03 -1.78423636e+02] [-7.71924244e-03 -1.06589288e-04 -9.99970201e-01 -3.99833379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters 0.014322603661574578 Centerline is valid? [True, True] Translation: X:90.10, Y:-178.42, Z:-4.00 [[ 9.00381567e-01 4.35043220e-01 -7.10145504e-03 9.01045820e+01] [ 4.35030802e-01 -9.00409563e-01 -3.28946993e-03 -1.78421267e+02] [-7.82527962e-03 -1.27573591e-04 -9.99969374e-01 -3.99839217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters 0.014968049136711048 Centerline is valid? [True, True] Translation: X:90.14, Y:-178.42, Z:-4.00 [[ 8.62628266e-01 5.05789362e-01 -7.04237762e-03 9.01360494e+01] [ 5.05773885e-01 -8.62657000e-01 -3.95950297e-03 -1.78416374e+02] [-8.07783084e-03 -1.46271507e-04 -9.99967363e-01 -3.99747306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters 0.015088236914624726 Centerline is valid? [True, True] Translation: X:90.17, Y:-178.41, Z:-4.00 [[ 8.20092868e-01 5.72187087e-01 -7.04445272e-03 9.01673104e+01] [ 5.72167623e-01 -8.20123108e-01 -4.72214941e-03 -1.78406713e+02] [-8.47927138e-03 -1.58006717e-04 -9.99964038e-01 -3.99714407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters 0.014827000037524851 Centerline is valid? [True, True] Translation: X:90.20, Y:-178.39, Z:-4.00 [[ 7.73908262e-01 6.33252782e-01 -7.54431539e-03 9.01961689e+01] [ 6.33224720e-01 -7.73945016e-01 -5.96373761e-03 -1.78392374e+02] [-9.61543873e-03 -1.61861194e-04 -9.99953758e-01 -3.99593415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters 0.014203042186618562 Centerline is valid? [True, True] Translation: X:90.22, Y:-178.38, Z:-4.00 [[ 7.23175030e-01 6.90632124e-01 -6.71908127e-03 9.02247946e+01] [ 6.90604076e-01 -7.23206230e-01 -6.22571280e-03 -1.78377285e+02] [-9.15895869e-03 -1.37944874e-04 -9.99958046e-01 -3.99631822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters 0.013804398922220115 Centerline is valid? [True, True] Translation: X:90.25, Y:-178.36, Z:-4.00 [[ 6.68624034e-01 7.43579604e-01 -5.59229945e-03 9.02539213e+01] [ 7.43554898e-01 -6.68647412e-01 -6.06239949e-03 -1.78361742e+02] [-8.24715316e-03 -1.04715649e-04 -9.99965986e-01 -3.99658480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters 0.013645825746466122 Centerline is valid? [True, True] Translation: X:90.28, Y:-178.34, Z:-4.00 [[ 6.09713196e-01 7.92606398e-01 -4.99160007e-03 9.02809420e+01] [ 7.92581017e-01 -6.09733622e-01 -6.34365937e-03 -1.78344113e+02] [-8.07157139e-03 -8.84346357e-05 -9.99967421e-01 -3.99569072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters 0.013374966533793643 Centerline is valid? [True, True] Translation: X:90.30, Y:-178.32, Z:-4.00 [[ 5.47435491e-01 8.36834664e-01 -4.70416598e-03 9.03043083e+01] [ 8.36804952e-01 -5.47455697e-01 -7.05216603e-03 -1.78322420e+02] [-8.47681945e-03 -7.58634151e-05 -9.99964068e-01 -3.99529070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters 0.01308385423164595 Centerline is valid? [True, True] Translation: X:90.32, Y:-178.30, Z:-4.00 [[ 4.83388651e-01 8.75398871e-01 -3.49703816e-03 9.03217927e+01] [ 8.75376534e-01 -4.83401299e-01 -6.25368415e-03 -1.78298226e+02] [-7.16494083e-03 -3.82651989e-05 -9.99974331e-01 -3.99561284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters 0.013059970101307697 Centerline is valid? [True, True] Translation: X:90.34, Y:-178.27, Z:-4.00 [[ 4.14955304e-01 9.09838476e-01 -2.45807587e-03 9.03375880e+01] [ 9.09822814e-01 -4.14962584e-01 -5.33862351e-03 -1.78272134e+02] [-5.87729460e-03 -2.11233581e-05 -9.99982728e-01 -3.99598330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters 0.012886466558263962 Centerline is valid? [True, True] Translation: X:90.35, Y:-178.25, Z:-4.00 [[ 3.42863427e-01 9.39383391e-01 -1.87470689e-03 9.03535966e+01] [ 9.39369621e-01 -3.42868552e-01 -5.08645436e-03 -1.78246380e+02] [-5.42090879e-03 -1.70835260e-05 -9.99985307e-01 -3.99622017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters 0.012791136882559931 Centerline is valid? [True, True] Translation: X:90.37, Y:-178.22, Z:-4.00 [[ 2.67990142e-01 9.63420737e-01 -1.32948044e-03 9.03673063e+01] [ 9.63409189e-01 -2.67993439e-01 -4.71714421e-03 -1.78219347e+02] [-4.90088659e-03 -1.66855242e-05 -9.99987991e-01 -3.99582854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters 0.012848028694831436 Centerline is valid? [True, True] Translation: X:90.38, Y:-178.19, Z:-4.00 [[ 1.90462465e-01 9.81693916e-01 -1.05158931e-03 9.03828479e+01] [ 9.81679676e-01 -1.90465366e-01 -5.28760908e-03 -1.78191372e+02] [-5.39110500e-03 -2.52327952e-05 -9.99985468e-01 -3.99553707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters 0.013176506879239944 Centerline is valid? [True, True] Translation: X:90.40, Y:-178.16, Z:-3.99 [[ 1.08908488e-01 9.94051428e-01 -8.36880874e-04 9.03993031e+01] [ 9.94026344e-01 -1.08911686e-01 -7.06207159e-03 -1.78162832e+02] [-7.11120845e-03 -6.27620927e-05 -9.99974713e-01 -3.99322845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters 0.013684198882008216 Centerline is valid? [True, True] Translation: X:90.41, Y:-178.13, Z:-3.99 [[ 2.88616356e-02 9.99583361e-01 -3.31300708e-04 9.04107973e+01] [ 9.99548352e-01 -2.88633977e-02 -8.36644002e-03 -1.78134347e+02] [-8.37251670e-03 -8.96819341e-05 -9.99964946e-01 -3.99141184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters 0.013264636382263266 Centerline is valid? [True, True] Translation: X:90.42, Y:-178.10, Z:-3.99 [[-4.83912162e-02 9.98828419e-01 2.81891598e-04 9.04179881e+01] [ 9.98802069e-01 4.83919873e-02 -7.25559092e-03 -1.78103487e+02] [-7.26073170e-03 -6.95529582e-05 -9.99973638e-01 -3.99283984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters 0.013037316554434221 Centerline is valid? [True, True] Translation: X:90.42, Y:-178.07, Z:-3.99 [[-1.23471377e-01 9.92347916e-01 6.58498952e-04 9.04215798e+01] [ 9.92332170e-01 1.23473128e-01 -5.59023526e-03 -1.78073454e+02] [-5.62876524e-03 -3.67843523e-05 -9.99984158e-01 -3.99416600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters 0.012667599202532211 Centerline is valid? [True, True] Translation: X:90.42, Y:-178.04, Z:-4.00 [[-1.96441139e-01 9.80515443e-01 5.87629285e-04 9.04195440e+01] [ 9.80510964e-01 1.96442018e-01 -2.96366411e-03 -1.78043436e+02] [-3.02135351e-03 -6.00859608e-06 -9.99995436e-01 -3.99726997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters 0.012649492168415611 Centerline is valid? [True, True] Translation: X:90.42, Y:-178.01, Z:-4.00 [[-2.70409955e-01 9.62745179e-01 4.21081276e-04 9.04208282e+01] [ 9.62744015e-01 2.70410283e-01 -1.49684557e-03 -1.78012017e+02] [-1.55494556e-03 6.31534805e-07 -9.99998791e-01 -3.99889009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters 0.012584300073379063 Centerline is valid? [True, True] Translation: X:90.42, Y:-177.98, Z:-4.00 [[-3.44777930e-01 9.38684234e-01 2.95431523e-04 9.04193599e+01] [ 9.38683891e-01 3.44778057e-01 -8.02430533e-04 -1.77981939e+02] [-8.55087198e-04 6.56472796e-07 -9.99999635e-01 -3.99950646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters 0.012616229268384882 Centerline is valid? [True, True] Translation: X:90.42, Y:-177.95, Z:-4.00 [[-4.19549573e-01 9.07732423e-01 6.28619470e-05 9.04177371e+01] [ 9.07732413e-01 4.19549577e-01 -1.36021297e-04 -1.77950231e+02] [-1.49844646e-04 -5.85029268e-09 -9.99999989e-01 -4.00049589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters 0.012751627021395552 Centerline is valid? [True, True] Translation: X:90.41, Y:-177.92, Z:-4.00 [[-4.92327435e-01 8.70410074e-01 -1.42272120e-05 9.04147830e+01] [ 8.70410073e-01 4.92327435e-01 2.61181122e-05 -1.77918189e+02] [ 2.97379141e-05 4.75154557e-07 -1.00000000e+00 -4.00071164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters 0.013157553525047574 Centerline is valid? [True, True] Translation: X:90.41, Y:-177.88, Z:-4.00 [[-5.62980046e-01 8.26470014e-01 8.85683246e-04 9.04108322e+01] [ 8.26468945e-01 5.62980742e-01 -1.32904828e-03 -1.77884625e+02] [-1.59704116e-03 -1.62379620e-05 -9.99998725e-01 -3.99928129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters 0.013309302894808165 Centerline is valid? [True, True] Translation: X:90.40, Y:-177.85, Z:-4.00 [[-6.27489394e-01 7.78620895e-01 2.56161727e-03 9.04020006e+01] [ 7.78614076e-01 6.27494620e-01 -3.25916557e-03 -1.77852872e+02] [-4.14505547e-03 -5.05805650e-05 -9.99991408e-01 -3.99770252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters 0.013400849148299887 Centerline is valid? [True, True] Translation: X:90.39, Y:-177.82, Z:-4.00 [[-6.86526137e-01 7.27096342e-01 3.57399771e-03 9.03884219e+01] [ 7.27085998e-01 6.86535437e-01 -3.87900717e-03 -1.77823543e+02] [-5.27408800e-03 -6.44361098e-05 -9.99986090e-01 -3.99629446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters 0.012879869558391164 Centerline is valid? [True, True] Translation: X:90.37, Y:-177.80, Z:-4.00 [[-7.38276371e-01 6.74486884e-01 3.92980029e-03 9.03704016e+01] [ 6.74477033e-01 7.38286829e-01 -3.64567677e-03 -1.77798496e+02] [-5.36028096e-03 -4.09569738e-05 -9.99985633e-01 -3.99618296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters 0.012327692886440327 Centerline is valid? [True, True] Translation: X:90.39, Y:-177.79, Z:-4.00 [[-7.81266210e-01 6.24184963e-01 4.03004018e-03 9.03897912e+01] [ 6.24176557e-01 7.81276604e-01 -3.23951554e-03 -1.77785769e+02] [-5.17063300e-03 -1.54674244e-05 -9.99986632e-01 -3.99716523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters 0.012417318873474595 Centerline is valid? [True, True] Translation: X:90.41, Y:-177.77, Z:-4.00 [[-8.20967248e-01 5.70961297e-01 3.99683017e-03 9.04057361e+01] [ 5.70954572e-01 8.20976977e-01 -2.77130674e-03 -1.77769048e+02] [-4.86361444e-03 6.85639089e-06 -9.99988173e-01 -3.99742504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters 0.012834233350642564 Centerline is valid? [True, True] Translation: X:90.42, Y:-177.75, Z:-4.00 [[-8.56974384e-01 5.15340538e-01 4.36293751e-03 9.04197907e+01] [ 5.15334039e-01 8.56985490e-01 -2.58828673e-03 -1.77750762e+02] [-5.07282322e-03 3.02747819e-05 -9.99987133e-01 -3.99741240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters 0.012988287155476215 Centerline is valid? [True, True] Translation: X:90.43, Y:-177.73, Z:-4.00 [[-8.90547095e-01 4.54860742e-01 5.25129667e-03 9.04300293e+01] [ 4.54853130e-01 8.90562577e-01 -2.63193138e-03 -1.77726517e+02] [-5.87377056e-03 4.47098861e-05 -9.99982748e-01 -3.99696901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters 0.013038193291890182 Centerline is valid? [True, True] Translation: X:90.44, Y:-177.70, Z:-4.00 [[-9.20281440e-01 3.91197033e-01 6.85221349e-03 9.04436314e+01] [ 3.91186683e-01 9.20306948e-01 -2.84621172e-03 -1.77702094e+02] [-7.41956926e-03 6.11788408e-05 -9.99972473e-01 -3.99625109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters 0.01303846311337384 Centerline is valid? [True, True] Translation: X:90.45, Y:-177.68, Z:-4.00 [[-9.45917976e-01 3.24296725e-01 8.41528825e-03 9.04515455e+01] [ 3.24284514e-01 9.45955406e-01 -2.81496897e-03 -1.77676150e+02] [-8.87337263e-03 6.62179109e-05 -9.99960629e-01 -3.99537781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters 0.012904320982184027 Centerline is valid? [True, True] Translation: X:90.66, Y:-177.05, Z:-5.04 [[-9.27024552e-01 -3.74893645e-01 8.95736754e-03 9.06607239e+01] [ 3.74875921e-01 -9.27067826e-01 -3.64547176e-03 -1.77053698e+02] [ 9.67075145e-03 -2.15404177e-05 9.99953237e-01 -5.04025559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters 0.01265783730855144 Centerline is valid? [True, True] Translation: X:90.41, Y:-177.66, Z:-4.00 [[-9.48234914e-01 3.17409670e-01 1.00821717e-02 9.04065402e+01] [ 3.17392184e-01 9.48288511e-01 -3.33196686e-03 -1.77660013e+02] [-1.06184061e-02 4.05151803e-05 -9.99943622e-01 -3.99520327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters 0.012548453272860544 Centerline is valid? [True, True] Translation: X:90.41, Y:-177.63, Z:-4.00 [[-9.68413544e-01 2.49169927e-01 9.46337666e-03 9.04101743e+01] [ 2.49158383e-01 9.68459781e-01 -2.39868950e-03 -1.77632839e+02] [-9.76258097e-03 3.49562235e-05 -9.99952344e-01 -3.99575029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters 0.012530877882790076 Centerline is valid? [True, True] Translation: X:90.41, Y:-177.61, Z:-4.00 [[-9.83566144e-01 1.80417995e-01 6.85468994e-03 9.04119941e+01] [ 1.80413819e-01 9.83590030e-01 -1.22797222e-03 -1.77606731e+02] [-6.96375297e-03 2.88888911e-05 -9.99975752e-01 -3.99844527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters 0.01240934648735529 Centerline is valid? [True, True] Translation: X:90.53, Y:-176.96, Z:-5.04 [[-9.71126120e-01 -2.38513305e-01 5.04596520e-03 9.05332889e+01] [ 2.38509376e-01 -9.71139221e-01 -1.37529976e-03 -1.76962141e+02] [ 5.22836200e-03 -1.32079506e-04 9.99986323e-01 -5.03541294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters 0.012286495597049833 Centerline is valid? [True, True] Translation: X:90.36, Y:-177.60, Z:-4.00 [[-9.84801109e-01 1.73628711e-01 4.45496117e-03 9.03643850e+01] [ 1.73626959e-01 9.84811185e-01 -7.80028964e-04 -1.77596823e+02] [-4.52273101e-03 5.32797023e-06 -9.99989772e-01 -4.00070916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters 0.01223305648535755 Centerline is valid? [True, True] Translation: X:90.48, Y:-176.96, Z:-5.04 [[-9.70644187e-01 -2.40462429e-01 5.26132358e-03 9.04775828e+01] [ 2.40459189e-01 -9.70658445e-01 -1.24945925e-03 -1.76957104e+02] [ 5.40739617e-03 5.23532456e-05 9.99985379e-01 -5.03586467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters 0.01242050091673879 Centerline is valid? [True, True] Translation: X:90.31, Y:-177.58, Z:-4.00 [[-9.86524212e-01 1.63493967e-01 6.30091912e-03 9.03104903e+01] [ 1.63490411e-01 9.86544333e-01 -1.07887783e-03 -1.77583437e+02] [-6.39252607e-03 -3.41992508e-05 -9.99979567e-01 -3.99936127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters 0.013077486184014487 Centerline is valid? [True, True] Translation: X:90.31, Y:-177.55, Z:-4.00 [[-9.95999954e-01 8.89623611e-02 8.35406655e-03 9.03129661e+01] [ 8.89585605e-02 9.96034985e-01 -8.26165013e-04 -1.77552668e+02] [-8.39444015e-03 -7.96945795e-05 -9.99964763e-01 -3.99737139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters 0.013015663730256073 Centerline is valid? [True, True] Translation: X:90.31, Y:-177.52, Z:-4.00 [[-9.99828928e-01 1.61209927e-02 9.06801739e-03 9.03107456e+01] [ 1.61193907e-02 9.99870043e-01 -2.49729493e-04 -1.77524720e+02] [-9.07086483e-03 -1.03515856e-04 -9.99958854e-01 -3.99729982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters 0.013276745991033368 Centerline is valid? [True, True] Translation: X:90.33, Y:-176.89, Z:-5.04 [[-9.94220794e-01 -1.06999114e-01 8.72935789e-03 9.03280038e+01] [ 1.06995700e-01 -9.94259113e-01 -8.58495460e-04 -1.76892683e+02] [ 8.77110188e-03 8.04697222e-05 9.99961530e-01 -5.03887996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters 0.013318912628789955 Centerline is valid? [True, True] Translation: X:90.25, Y:-177.52, Z:-4.00 [[-9.99899097e-01 1.11460072e-02 8.80692630e-03 9.02530547e+01] [ 1.11446199e-02 9.99937876e-01 -2.06588209e-04 -1.77522746e+02] [-8.80868181e-03 -1.08417517e-04 -9.99961197e-01 -3.99660612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters 0.013074086053273034 Centerline is valid? [True, True] Translation: X:90.27, Y:-176.89, Z:-5.04 [[-9.94677529e-01 -1.02622192e-01 9.23574709e-03 9.02717127e+01] [ 1.02619110e-01 -9.94720395e-01 -8.08262849e-04 -1.76890246e+02] [ 9.26993170e-03 1.43803252e-04 9.99957023e-01 -5.03956561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters 0.012648073998925195 Centerline is valid? [True, True] Translation: X:90.20, Y:-177.53, Z:-4.00 [[-9.99906677e-01 1.01942785e-02 9.09472835e-03 9.01996498e+01] [ 1.01931059e-02 9.99948034e-01 -1.75270120e-04 -1.77527429e+02] [-9.09604248e-03 -8.25502342e-05 -9.99958627e-01 -3.99684328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters 0.012485241030152886 Centerline is valid? [True, True] Translation: X:90.20, Y:-177.50, Z:-4.00 [[-9.98251403e-01 -5.85252207e-02 8.30274915e-03 9.01955065e+01] [-5.85236600e-02 9.98285929e-01 4.31014856e-04 -1.77503524e+02] [-8.31374289e-03 -5.56460841e-05 -9.99965439e-01 -3.99768065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters 0.012263141946860635 Centerline is valid? [True, True] Translation: X:90.19, Y:-177.48, Z:-4.00 [[-9.91946044e-01 -1.26465697e-01 7.03379286e-03 9.01904632e+01] [-1.26462706e-01 9.91970981e-01 8.70118887e-04 -1.77481246e+02] [-7.08735859e-03 -2.64014926e-05 -9.99974884e-01 -3.99896645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters 0.012250946798661837 Centerline is valid? [True, True] Translation: X:90.11, Y:-176.83, Z:-5.04 [[-9.98586327e-01 5.26683343e-02 7.16899647e-03 9.01097951e+01] [-5.26667409e-02 -9.98612060e-01 4.11004906e-04 -1.76827627e+02] [ 7.18069328e-03 3.28561995e-05 9.99974218e-01 -5.03734577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters 0.01233830246519013 Centerline is valid? [True, True] Translation: X:90.11, Y:-177.49, Z:-4.00 [[-9.91347279e-01 -1.31042711e-01 7.64066309e-03 9.01063491e+01] [-1.31038990e-01 9.91376723e-01 9.87666751e-04 -1.77492747e+02] [-7.70420207e-03 -2.21040297e-05 -9.99970322e-01 -3.99764272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters 0.012661792644408226 Centerline is valid? [True, True] Translation: X:90.09, Y:-177.46, Z:-4.00 [[-9.78764367e-01 -2.04792331e-01 8.96745861e-03 9.00931764e+01] [-2.04784285e-01 9.78805444e-01 1.81633396e-03 -1.77461192e+02] [-9.14936857e-03 -5.86316421e-05 -9.99958142e-01 -3.99536349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters 0.01303165889019361 Centerline is valid? [True, True] Translation: X:90.07, Y:-177.43, Z:-3.99 [[-9.61017137e-01 -2.76336066e-01 9.18922095e-03 9.00726594e+01] [-2.76324262e-01 9.61061066e-01 2.55552317e-03 -1.77433029e+02] [-9.53758569e-03 -8.33031324e-05 -9.99954513e-01 -3.99466479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters 0.012933524009684666 Centerline is valid? [True, True] Translation: X:90.04, Y:-177.41, Z:-4.00 [[-9.38167568e-01 -3.46069634e-01 8.79905390e-03 9.00442029e+01] [-3.46055365e-01 9.38208825e-01 3.14398156e-03 -1.77411817e+02] [-9.34338657e-03 -9.53782811e-05 -9.99956345e-01 -3.99602086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters 0.01272152125543616 Centerline is valid? [True, True] Translation: X:90.00, Y:-177.40, Z:-4.00 [[-9.11039898e-01 -4.12256469e-01 7.13495769e-03 9.00046650e+01] [-4.12244458e-01 9.11067834e-01 3.14772318e-03 -1.77397600e+02] [-7.79809969e-03 -7.36453658e-05 -9.99969592e-01 -3.99865653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters 0.012577574605995201 Centerline is valid? [True, True] Translation: X:89.95, Y:-177.39, Z:-4.00 [[-8.79498388e-01 -4.75875122e-01 5.04518414e-03 8.99473804e+01] [-4.75867568e-01 8.79512857e-01 2.68180627e-03 -1.77394453e+02] [-5.71350920e-03 -4.21952167e-05 -9.99983677e-01 -3.99951427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters 0.012093227671063751 Centerline is valid? [True, True] Translation: X:89.88, Y:-177.40, Z:-4.00 [[-8.44577793e-01 -5.35419043e-01 3.84706005e-03 8.98842288e+01] [-5.35413552e-01 8.44586555e-01 2.42481545e-03 -1.77401442e+02] [-4.54746756e-03 -1.18228050e-05 -9.99989660e-01 -3.99975022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters 0.012168077904226386 Centerline is valid? [True, True] Translation: X:89.81, Y:-177.42, Z:-4.00 [[-8.04656525e-01 -5.93731494e-01 3.28474712e-03 8.98149450e+01] [-5.93726524e-01 8.04663230e-01 2.42929844e-03 -1.77418044e+02] [-4.08546622e-03 4.50935311e-06 -9.99991655e-01 -3.99915000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters 0.01239546373740691 Centerline is valid? [True, True] Translation: X:89.74, Y:-177.45, Z:-4.00 [[-7.60678898e-01 -6.49122953e-01 2.64705892e-03 8.97374665e+01] [-6.49118941e-01 7.60683503e-01 2.28217174e-03 -1.77448638e+02] [-3.49498411e-03 1.77437956e-05 -9.99993892e-01 -3.99926012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters 0.01299716109265801 Centerline is valid? [True, True] Translation: X:89.66, Y:-177.49, Z:-4.00 [[-7.12767860e-01 -7.01394102e-01 2.87934929e-03 8.96597802e+01] [-7.01388163e-01 7.12773675e-01 2.88675781e-03 -1.77485957e+02] [-4.07707928e-03 3.80466778e-05 -9.99991688e-01 -3.99858329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters 0.01311739152620808 Centerline is valid? [True, True] Translation: X:89.58, Y:-177.54, Z:-4.00 [[-6.58648155e-01 -7.52444116e-01 3.23407825e-03 8.95752736e+01] [-7.52434665e-01 6.58656093e-01 3.77167310e-03 -1.77536523e+02] [-4.96811858e-03 5.07729493e-05 -9.99987658e-01 -3.99737085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters 0.012799002703808867 Centerline is valid? [True, True] Translation: X:89.49, Y:-177.59, Z:-4.00 [[-5.98548692e-01 -8.01076567e-01 3.97456969e-03 8.94945903e+01] [-8.01058269e-01 5.98561885e-01 5.41471945e-03 -1.77588676e+02] [-6.71663079e-03 5.71113236e-05 -9.99977442e-01 -3.99635176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters 0.012725301994034552 Centerline is valid? [True, True] Translation: X:89.41, Y:-177.66, Z:-4.00 [[-5.34776246e-01 -8.44984456e-01 3.95438665e-03 8.94130653e+01] [-8.44960649e-01 5.34790863e-01 6.34304774e-03 -1.77656042e+02] [-7.47454659e-03 5.08101473e-05 -9.99972064e-01 -3.99535789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters 0.012570634349664093 Centerline is valid? [True, True] Translation: X:89.34, Y:-177.73, Z:-4.00 [[-4.68078857e-01 -8.83681412e-01 3.05727943e-03 8.93375897e+01] [-8.83662048e-01 4.68088839e-01 5.85012531e-03 -1.77730306e+02] [-6.60072538e-03 3.67181664e-05 -9.99978214e-01 -3.99593091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters 0.012727377423950028 Centerline is valid? [True, True] Translation: X:89.27, Y:-177.81, Z:-4.00 [[-4.00248956e-01 -9.16404335e-01 1.96665923e-03 8.92669115e+01] [-9.16392885e-01 4.00253787e-01 4.58114075e-03 -1.77813466e+02] [-4.98534004e-03 3.13642762e-05 -9.99987573e-01 -3.99645810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters 0.012805596269850464 Centerline is valid? [True, True] Translation: X:89.20, Y:-177.90, Z:-4.00 [[-3.30547412e-01 -9.43788081e-01 1.57066769e-03 8.92035420e+01] [-9.43776889e-01 3.30551142e-01 4.59640226e-03 -1.77903316e+02] [-4.85721567e-03 3.69690057e-05 -9.99988203e-01 -3.99655934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters 0.012874899132710737 Centerline is valid? [True, True] Translation: X:89.15, Y:-178.00, Z:-4.00 [[-2.58414766e-01 -9.66033014e-01 1.42325101e-03 8.91450188e+01] [-9.66017317e-01 2.58418681e-01 5.50711292e-03 -1.78001874e+02] [-5.68784753e-03 4.82341765e-05 -9.99983823e-01 -3.99578939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters 0.012973884784743204 Centerline is valid? [True, True] Translation: X:89.09, Y:-178.10, Z:-4.00 [[-1.84079087e-01 -9.82910933e-01 9.93304577e-04 8.90945288e+01] [-9.82895155e-01 1.84081761e-01 5.56961270e-03 -1.78103057e+02] [-5.65728247e-03 4.89349655e-05 -9.99983996e-01 -3.99525390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters 0.013186629630839858 Centerline is valid? [True, True] Translation: X:89.05, Y:-178.21, Z:-4.00 [[-1.08683472e-01 -9.94076294e-01 4.75039624e-04 8.90513070e+01] [-9.94065014e-01 1.08684502e-01 4.73568438e-03 -1.78212810e+02] [-4.75926102e-03 4.24703485e-05 -9.99988674e-01 -3.99602388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters 0.013017056112521285 Centerline is valid? [True, True] Translation: X:89.02, Y:-178.32, Z:-4.00 [[-3.22166946e-02 -9.99480902e-01 1.07934620e-04 8.90150723e+01] [-9.99470325e-01 3.22168503e-02 4.59818436e-03 -1.78324279e+02] [-4.59927476e-03 4.02608518e-05 -9.99989423e-01 -3.99594252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters 0.012938147200627987 Centerline is valid? [True, True] Translation: X:88.99, Y:-178.44, Z:-4.00 [[ 4.48442640e-02 -9.98993953e-01 -2.71367526e-04 8.89880012e+01] [-9.98980885e-01 -4.48450655e-02 5.10989120e-03 -1.78439409e+02] [-5.11691991e-03 4.19416616e-05 -9.99986908e-01 -3.99506015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters 0.012751440863580262 Centerline is valid? [True, True] Translation: X:88.97, Y:-178.55, Z:-3.99 [[ 1.22173717e-01 -9.92508491e-01 -6.92232861e-04 8.89692369e+01] [-9.92494288e-01 -1.22175672e-01 5.30966952e-03 -1.78551975e+02] [-5.35446610e-03 3.83350985e-05 -9.99985664e-01 -3.99433808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters 0.012451874244544645 Centerline is valid? [True, True] Translation: X:88.96, Y:-178.67, Z:-3.99 [[ 1.99822824e-01 -9.79831343e-01 -1.17378144e-03 8.89584988e+01] [-9.79815270e-01 -1.99826270e-01 5.61236028e-03 -1.78672296e+02] [-5.73371888e-03 2.86112973e-05 -9.99983562e-01 -3.99393809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters 0.012362898141602015 Centerline is valid? [True, True] Translation: X:88.96, Y:-178.79, Z:-3.99 [[ 2.76281558e-01 -9.61075314e-01 -1.65578635e-03 8.89574601e+01] [-9.61058394e-01 -2.76286519e-01 5.70290207e-03 -1.78791368e+02] [-5.93838984e-03 1.57006975e-05 -9.99982368e-01 -3.99234573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters 0.012274205835201606 Centerline is valid? [True, True] Translation: X:88.97, Y:-178.92, Z:-3.99 [[ 3.51219540e-01 -9.36290598e-01 -2.17959778e-03 8.89666468e+01] [-9.36272578e-01 -3.51226303e-01 5.80895981e-03 -1.78915233e+02] [-6.20440653e-03 4.77442074e-07 -9.99980753e-01 -3.99254692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters 0.012313342315622701 Centerline is valid? [True, True] Translation: X:88.98, Y:-179.02, Z:-3.99 [[ 4.23906505e-01 -9.05702290e-01 -2.57608022e-03 8.89780248e+01] [-9.05685355e-01 -4.23914332e-01 5.53874688e-03 -1.79020209e+02] [-6.10849307e-03 -1.47927039e-05 -9.99981343e-01 -3.99188660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters 0.012353957085852506 Centerline is valid? [True, True] Translation: X:89.00, Y:-179.13, Z:-3.99 [[ 4.92901436e-01 -8.70078970e-01 -3.28039314e-03 8.90032210e+01] [-8.70059351e-01 -4.92912351e-01 5.84287409e-03 -1.79132393e+02] [-6.70070817e-03 -2.58242995e-05 -9.99977550e-01 -3.99088303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters 0.01228486264957792 Centerline is valid? [True, True] Translation: X:89.04, Y:-179.24, Z:-3.99 [[ 5.56953027e-01 -8.30534437e-01 -3.98435671e-03 8.90358686e+01] [-8.30512907e-01 -5.56967278e-01 5.98018216e-03 -1.79235950e+02] [-7.18590353e-03 -2.16208747e-05 -9.99974181e-01 -3.98996458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters 0.012238368367433427 Centerline is valid? [True, True] Translation: X:89.08, Y:-179.34, Z:-3.99 [[ 6.16616169e-01 -7.87250569e-01 -4.58720819e-03 8.90769464e+01] [-7.87228719e-01 -6.16633232e-01 5.86529104e-03 -1.79335870e+02] [-7.44607871e-03 -5.45126403e-06 -9.99972278e-01 -3.98955207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters 0.012407998979599204 Centerline is valid? [True, True] Translation: X:89.12, Y:-179.43, Z:-3.99 [[ 6.73404174e-01 -7.39248769e-01 -6.17055123e-03 8.91227367e+01] [-7.39217827e-01 -6.73432445e-01 6.76365227e-03 -1.79429032e+02] [-9.15547101e-03 6.70980191e-06 -9.99958088e-01 -3.98728134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters 0.012263735838054658 Centerline is valid? [True, True] Translation: X:89.17, Y:-179.52, Z:-3.99 [[ 7.27787896e-01 -6.85761864e-01 -7.44602837e-03 8.91724518e+01] [-6.85725992e-01 -7.27825986e-01 7.01421121e-03 -1.79518052e+02] [-1.02294915e-02 1.07716651e-06 -9.99947677e-01 -3.98730934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters 0.012524296409986447 Centerline is valid? [True, True] Translation: X:89.19, Y:-179.55, Z:-3.98 [[ 7.79805161e-01 -6.25962813e-01 -8.62946346e-03 8.91945784e+01] [-6.25924347e-01 -7.79852907e-01 6.93944552e-03 -1.79547998e+02] [-1.10735470e-02 -1.00241528e-05 -9.99938686e-01 -3.98406419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters 0.012520315989869734 Centerline is valid? [True, True] Translation: X:89.22, Y:-179.57, Z:-3.98 [[ 8.27292353e-01 -5.61666420e-01 -1.08717849e-02 8.92209727e+01] [-5.61617377e-01 -8.27363784e-01 7.42234702e-03 -1.79574309e+02] [-1.31638042e-02 -3.46675922e-05 -9.99913353e-01 -3.98408358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters 0.012508783836103654 Centerline is valid? [True, True] Translation: X:89.25, Y:-179.60, Z:-3.98 [[ 8.69365037e-01 -4.94012402e-01 -1.24971385e-02 8.92488800e+01] [-4.93960390e-01 -8.69454854e-01 7.16869354e-03 -1.79599833e+02] [-1.44071213e-02 -5.91200964e-05 -9.99896210e-01 -3.98404036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters 0.012828931706524735 Centerline is valid? [True, True] Translation: X:89.28, Y:-179.62, Z:-3.98 [[ 9.05878543e-01 -4.23310758e-01 -1.38588300e-02 8.92778058e+01] [-4.23259820e-01 -9.05984545e-01 6.56727213e-03 -1.79620447e+02] [-1.53358827e-02 -8.32650246e-05 -9.99882395e-01 -3.98251416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters 0.012867122522481561 Centerline is valid? [True, True] Translation: X:89.31, Y:-179.64, Z:-3.98 [[ 9.36808589e-01 -3.49514602e-01 -1.51397205e-02 8.93109924e+01] [-3.49466954e-01 -9.36930910e-01 5.77225327e-03 -1.79635682e+02] [-1.62023589e-02 -1.16664426e-04 -9.99868726e-01 -3.98222767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters 0.013946031919999043 Centerline is valid? [True, True] Translation: X:89.34, Y:-179.65, Z:-3.98 [[ 9.62495615e-01 -2.70904785e-01 -1.45872552e-02 8.93430944e+01] [-2.70870873e-01 -9.62606132e-01 4.29003125e-03 -1.79652170e+02] [-1.52039713e-02 -1.77873732e-04 -9.99884397e-01 -3.98219003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters 0.014829751120364268 Centerline is valid? [True, True] Translation: X:89.38, Y:-179.66, Z:-3.98 [[ 9.81337702e-01 -1.91698784e-01 -1.50960436e-02 8.93779512e+01] [-1.91672498e-01 -9.81453781e-01 3.18277475e-03 -1.79661223e+02] [-1.54262031e-02 -2.29880477e-04 -9.99880983e-01 -3.98260425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters 0.014717697419267152 Centerline is valid? [True, True] Translation: X:89.41, Y:-179.67, Z:-3.98 [[ 9.93685793e-01 -1.11209120e-01 -1.48686410e-02 8.94135364e+01] [-1.11192580e-01 -9.93796990e-01 1.93709930e-03 -1.79672646e+02] [-1.49918338e-02 -2.71585504e-04 -9.99887579e-01 -3.98480787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters 0.015410140960830298 Centerline is valid? [True, True] Translation: X:89.45, Y:-179.69, Z:-3.99 [[ 9.99496440e-01 -2.80760930e-02 -1.47851410e-02 8.94451390e+01] [-2.80679520e-02 -9.99605730e-01 7.57879283e-04 -1.79686597e+02] [-1.48005900e-02 -3.42509016e-04 -9.99890407e-01 -3.98585529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters 0.017167216893544758 Centerline is valid? [True, True] Translation: X:89.48, Y:-179.70, Z:-3.98 [[ 9.98466128e-01 5.32617314e-02 -1.51188228e-02 8.94767581e+01] [ 5.32616127e-02 -9.98580509e-01 -4.10787100e-04 -1.79698123e+02] [-1.51192410e-02 -3.95095880e-04 -9.99885620e-01 -3.98451036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters 0.01751895305719573 Centerline is valid? [True, True] Translation: X:89.51, Y:-179.70, Z:-3.99 [[ 9.91001098e-01 1.33027664e-01 -1.48480644e-02 8.95100292e+01] [ 1.33019020e-01 -9.91112237e-01 -1.57269112e-03 -1.79701715e+02] [-1.49253098e-02 -4.16536351e-04 -9.99888525e-01 -3.98510266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters 0.01691661490633461 Centerline is valid? [True, True] Translation: X:89.54, Y:-179.70, Z:-3.99 [[ 9.77774566e-01 2.09240484e-01 -1.32408145e-02 8.95436636e+01] [ 2.09226300e-01 -9.77864147e-01 -2.46304365e-03 -1.79702050e+02] [-1.34630862e-02 -3.62025188e-04 -9.99909303e-01 -3.98662180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters 0.01604929273991574 Centerline is valid? [True, True] Translation: X:89.58, Y:-179.70, Z:-3.99 [[ 9.59362589e-01 2.81970105e-01 -1.07834420e-02 8.95766830e+01] [ 2.81955369e-01 -9.59423155e-01 -2.89477780e-03 -1.79697786e+02] [-1.11621247e-02 -2.63307835e-04 -9.99937667e-01 -3.98872092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters 0.015574583187464736 Centerline is valid? [True, True] Translation: X:89.61, Y:-179.69, Z:-3.99 [[ 9.35398036e-01 3.53475716e-01 -9.24300118e-03 8.96078761e+01] [ 3.53460590e-01 -9.35443679e-01 -3.27630570e-03 -1.79690129e+02] [-9.80440154e-03 -2.02386741e-04 -9.99951915e-01 -3.98956303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters 0.014570326993303469 Centerline is valid? [True, True] Translation: X:89.64, Y:-179.68, Z:-3.99 [[ 9.06164430e-01 4.22825393e-01 -9.20393530e-03 8.96389354e+01] [ 4.22805560e-01 -9.06211154e-01 -4.09912556e-03 -1.79679257e+02] [-1.00739232e-02 -1.76993240e-04 -9.99949241e-01 -3.98999768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters 0.013451142385218783 Centerline is valid? [True, True] Translation: X:89.67, Y:-179.67, Z:-3.99 [[ 8.72591866e-01 4.88334311e-01 -1.06318742e-02 8.96677041e+01] [ 4.88300224e-01 -8.72656620e-01 -5.77188661e-03 -1.79665608e+02] [-1.20965857e-02 -1.55045256e-04 -9.99926822e-01 -3.98862667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters 0.013610491967910462 Centerline is valid? [True, True] Translation: X:89.70, Y:-179.65, Z:-3.99 [[ 8.33276952e-01 5.52761018e-01 -1.02361345e-02 8.96963805e+01] [ 5.52721100e-01 -8.33339812e-01 -6.64402098e-03 -1.79653231e+02] [-1.22027342e-02 -1.21417989e-04 -9.99925537e-01 -3.98672348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters 0.013276752764915873 Centerline is valid? [True, True] Translation: X:89.72, Y:-179.64, Z:-3.99 [[ 7.87772392e-01 6.15887573e-01 -9.85678754e-03 8.97232405e+01] [ 6.15841225e-01 -7.87834046e-01 -7.55651711e-03 -1.79635815e+02] [-1.24194778e-02 -1.17400556e-04 -9.99922869e-01 -3.98778061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters 0.012958853909481457 Centerline is valid? [True, True] Translation: X:89.75, Y:-179.62, Z:-3.99 [[ 7.36704641e-01 6.76159257e-01 -8.65634175e-03 8.97533001e+01] [ 6.76114445e-01 -7.36755486e-01 -7.78530409e-03 -1.79622737e+02] [-1.16417127e-02 -1.17208048e-04 -9.99932226e-01 -3.99035970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters 0.013250761247210892 Centerline is valid? [True, True] Translation: X:89.78, Y:-179.61, Z:-3.99 [[ 6.80484988e-01 7.32730037e-01 -6.84652585e-03 8.97825576e+01] [ 7.32694629e-01 -6.80519419e-01 -7.20416628e-03 -1.79608330e+02] [-9.93790282e-03 -1.14085724e-04 -9.99950611e-01 -3.99194018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters 0.013231183391271299 Centerline is valid? [True, True] Translation: X:89.81, Y:-179.59, Z:-3.99 [[ 6.21024972e-01 7.83770194e-01 -5.68035354e-03 8.98105973e+01] [ 7.83738922e-01 -6.21050942e-01 -7.00212102e-03 -1.79590320e+02] [-9.01584267e-03 -1.03422145e-04 -9.99959351e-01 -3.99289825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters 0.013016969193364874 Centerline is valid? [True, True] Translation: X:89.83, Y:-179.57, Z:-3.99 [[ 5.58845299e-01 8.29258547e-01 -4.71115741e-03 8.98348274e+01] [ 8.29230344e-01 -5.58865150e-01 -6.83959767e-03 -1.79569159e+02] [-8.30469651e-03 -8.43576751e-05 -9.99965512e-01 -3.99392517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters 0.012545785470335037 Centerline is valid? [True, True] Translation: X:89.86, Y:-179.55, Z:-4.00 [[ 4.96420443e-01 8.68078314e-01 -2.60457935e-03 8.98560456e+01] [ 8.68066657e-01 -4.96427275e-01 -4.49874554e-03 -1.79545915e+02] [-5.19824768e-03 -2.76792374e-05 -9.99986489e-01 -3.99681943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters 0.012513748228201867 Centerline is valid? [True, True] Translation: X:89.87, Y:-179.52, Z:-4.00 [[ 4.31167655e-01 9.02268813e-01 -2.33273430e-03 8.98738771e+01] [ 9.02255652e-01 -4.31173966e-01 -4.87341275e-03 -1.79520959e+02] [-5.40294264e-03 -3.46475402e-06 -9.99985404e-01 -3.99651901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters 0.013078417190945995 Centerline is valid? [True, True] Translation: X:89.89, Y:-179.49, Z:-3.99 [[ 3.66284132e-01 9.30499431e-01 -2.59683089e-03 8.98865729e+01] [ 9.30475066e-01 -3.66293334e-01 -6.73384882e-03 -1.79492754e+02] [-7.21704434e-03 5.02155747e-05 -9.99973956e-01 -3.99446746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters 0.013174454306347685 Centerline is valid? [True, True] Translation: X:89.91, Y:-179.47, Z:-3.99 [[ 2.94227208e-01 9.55732991e-01 -2.19075254e-03 8.99054509e+01] [ 9.55704734e-01 -2.94235356e-01 -7.34960163e-03 -1.79467602e+02] [-7.66885360e-03 6.87401973e-05 -9.99970592e-01 -3.99432331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters 0.01378185124880479 Centerline is valid? [True, True] Translation: X:89.92, Y:-179.44, Z:-3.99 [[ 2.21483021e-01 9.75162675e-01 -1.74054783e-03 8.99194366e+01] [ 9.75128913e-01 -2.21489838e-01 -8.11516004e-03 -1.79441003e+02] [-8.29911482e-03 1.00111654e-04 -9.99965557e-01 -3.99324748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters 0.013968512125831695 Centerline is valid? [True, True] Translation: X:89.93, Y:-179.41, Z:-3.99 [[ 1.46142406e-01 9.89262992e-01 -1.06288071e-03 8.99342358e+01] [ 9.89231023e-01 -1.46146229e-01 -7.95381349e-03 -1.79413637e+02] [-8.02374934e-03 1.10954870e-04 -9.99967803e-01 -3.99407218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters 0.013857536069421326 Centerline is valid? [True, True] Translation: X:89.95, Y:-179.39, Z:-4.00 [[ 6.86054144e-02 9.97643789e-01 -4.10005657e-04 8.99493932e+01] [ 9.97615422e-01 -6.86065558e-02 -7.52395858e-03 -1.79385012e+02] [-7.53435962e-03 1.07156330e-04 -9.99971611e-01 -3.99501232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters 0.01408355296060444 Centerline is valid? [True, True] Translation: X:89.96, Y:-179.36, Z:-3.99 [[-1.16549811e-02 9.99932061e-01 1.84935358e-04 8.99594214e+01] [ 9.99902377e-01 1.16560602e-02 -7.70534126e-03 -1.79356305e+02] [-7.70697339e-03 9.51116972e-05 -9.99970296e-01 -3.99460479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters 0.012993305222027239 Centerline is valid? [True, True] Translation: X:89.97, Y:-179.33, Z:-3.99 [[-9.70171552e-02 9.95282326e-01 8.74099846e-04 8.99741945e+01] [ 9.95246000e-01 9.70210824e-02 -8.50351269e-03 -1.79325608e+02] [-8.54820200e-03 4.49577643e-05 -9.99963463e-01 -3.99402305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters 0.012662707184818963 Centerline is valid? [True, True] Translation: X:89.99, Y:-179.29, Z:-3.99 [[-1.81502905e-01 9.83388791e-01 1.78350842e-03 8.99882819e+01] [ 9.83340418e-01 1.81511667e-01 -9.75383474e-03 -1.79292075e+02] [-9.91553934e-03 -1.65534305e-05 -9.99950840e-01 -3.99251255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters 0.013950065768268204 Centerline is valid? [True, True] Translation: X:90.00, Y:-179.26, Z:-3.99 [[-2.67715816e-01 9.63494107e-01 2.71055121e-03 8.99997697e+01] [ 9.63439906e-01 2.67729508e-01 -1.02204531e-02 -1.79257924e+02] [-1.05730409e-02 -1.24723748e-04 -9.99944096e-01 -3.99115176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters 0.01449418507119875 Centerline is valid? [True, True] Translation: X:90.00, Y:-179.22, Z:-3.99 [[-3.47236432e-01 9.37772476e-01 3.10544557e-03 9.00010513e+01] [ 9.37730782e-01 3.47250282e-01 -8.84435455e-03 -1.79223593e+02] [-9.37235911e-03 -1.59010216e-04 -9.99956066e-01 -3.99291274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters 0.01579039712724512 Centerline is valid? [True, True] Translation: X:90.00, Y:-179.19, Z:-3.99 [[-4.23821002e-01 9.05740556e-01 3.13115424e-03 8.99994700e+01] [ 9.05712850e-01 4.23832535e-01 -7.08632627e-03 -1.79189074e+02] [-7.74545814e-03 -1.67407267e-04 -9.99969990e-01 -3.99423397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters 0.015377856938896631 Centerline is valid? [True, True] Translation: X:89.99, Y:-179.16, Z:-3.99 [[-4.93875073e-01 8.69524383e-01 3.84179922e-03 8.99936460e+01] [ 8.69495201e-01 4.93889983e-01 -7.12603599e-03 -1.79155936e+02] [-8.09368820e-03 -1.78945562e-04 -9.99967230e-01 -3.99379190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters 0.01588165581637181 Centerline is valid? [True, True] Translation: X:89.98, Y:-179.12, Z:-3.99 [[-5.59079991e-01 8.29105887e-01 3.60428273e-03 8.99842134e+01] [ 8.29087071e-01 5.59091593e-01 -5.58741432e-03 -1.79124436e+02] [-6.64768228e-03 -1.35547333e-04 -9.99977895e-01 -3.99428627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters 0.015382526660001512 Centerline is valid? [True, True] Translation: X:89.97, Y:-179.09, Z:-3.99 [[-6.21404865e-01 7.83482894e-01 3.24782229e-03 8.99692779e+01] [ 7.83471315e-01 6.21413344e-01 -4.26086069e-03 -1.79094602e+02] [-5.35655158e-03 -1.03143967e-04 -9.99985648e-01 -3.99471703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters 0.0152068131411508 Centerline is valid? [True, True] Translation: X:89.95, Y:-179.07, Z:-3.99 [[-6.80279946e-01 7.32944150e-01 3.47403725e-03 8.99530938e+01] [ 7.32933863e-01 6.80288810e-01 -3.88428705e-03 -1.79065241e+02] [-5.21031414e-03 -9.61630403e-05 -9.99986422e-01 -3.99432507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters 0.014605434369321378 Centerline is valid? [True, True] Translation: X:89.93, Y:-179.04, Z:-3.99 [[-7.33584889e-01 6.79578410e-01 5.13758033e-03 8.99328131e+01] [ 6.79560681e-01 7.33602871e-01 -4.91005947e-03 -1.79039337e+02] [-7.10571409e-03 -1.10647841e-04 -9.99974748e-01 -3.99287073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters 0.014397027321980558 Centerline is valid? [True, True] Translation: X:89.95, Y:-179.02, Z:-3.99 [[-7.77811083e-01 6.28468919e-01 6.06111644e-03 8.99475178e+01] [ 6.28448856e-01 7.77834692e-01 -5.02270428e-03 -1.79019625e+02] [-7.87116017e-03 -9.76133708e-05 -9.99969017e-01 -3.99164176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters 0.01342117921845247 Centerline is valid? [True, True] Translation: X:89.96, Y:-179.00, Z:-3.99 [[-8.18367347e-01 5.74652289e-01 7.04503784e-03 8.99577025e+01] [ 5.74630180e-01 8.18397666e-01 -5.04138460e-03 -1.78999020e+02] [-8.66268573e-03 -7.74131707e-05 -9.99962475e-01 -3.99208260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters 0.013136294484754013 Centerline is valid? [True, True] Translation: X:89.98, Y:-178.99, Z:-3.99 [[-8.53845155e-01 5.20457181e-01 8.53082507e-03 8.99781779e+01] [ 5.20430873e-01 8.53887769e-01 -5.23296398e-03 -1.78986090e+02] [-1.00079009e-02 -2.84362041e-05 -9.99949919e-01 -3.99057722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters 0.013167315053943893 Centerline is valid? [True, True] Translation: X:89.99, Y:-178.97, Z:-3.99 [[-8.86668781e-01 4.62307567e-01 9.49661742e-03 8.99880374e+01] [ 4.62281209e-01 8.86719636e-01 -4.93669082e-03 -1.78966219e+02] [-1.07031067e-02 1.28981489e-05 -9.99942720e-01 -3.99030882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters 0.01330598089670537 Centerline is valid? [True, True] Translation: X:90.00, Y:-178.95, Z:-3.99 [[-9.15633754e-01 4.01879686e-01 1.03704683e-02 9.00007481e+01] [ 4.01854618e-01 9.15692478e-01 -4.48901406e-03 -1.78949056e+02] [-1.13002034e-02 5.71277933e-05 -9.99936149e-01 -3.99120854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters 0.013314553014626604 Centerline is valid? [True, True] Translation: X:90.26, Y:-178.36, Z:-5.04 [[-8.91127188e-01 -4.53646714e-01 9.84850975e-03 9.02564894e+01] [ 4.53618153e-01 -8.91181606e-01 -5.09088561e-03 -1.78360257e+02] [ 1.10862743e-02 -6.91637730e-05 9.99938543e-01 -5.04348381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters 0.013239061360855457 Centerline is valid? [True, True] Translation: X:89.96, Y:-178.93, Z:-3.99 [[-9.17812799e-01 3.96893669e-01 9.75095751e-03 8.99558790e+01] [ 3.96871676e-01 9.17864595e-01 -4.17828728e-03 -1.78933797e+02] [-1.06083944e-02 3.49933054e-05 -9.99943729e-01 -3.99272654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters 0.01318592173580335 Centerline is valid? [True, True] Translation: X:89.96, Y:-178.91, Z:-3.99 [[-9.45614916e-01 3.25156127e-01 9.26945829e-03 8.99609127e+01] [ 3.25140229e-01 9.45660347e-01 -3.21547011e-03 -1.78905788e+02] [-9.81128895e-03 -2.67227142e-05 -9.99951868e-01 -3.99351285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters 0.01363034415627487 Centerline is valid? [True, True] Translation: X:89.96, Y:-178.88, Z:-3.99 [[-9.67821842e-01 2.51461811e-01 9.37223782e-03 8.99648598e+01] [ 2.51449165e-01 9.67867217e-01 -2.52331357e-03 -1.78876001e+02] [-9.70559874e-03 -8.54766088e-05 -9.99952896e-01 -3.99414327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters 0.015345213161530766 Centerline is valid? [True, True] Translation: X:90.13, Y:-178.26, Z:-5.04 [[-9.39774575e-01 -3.41670360e-01 9.22569999e-03 9.01267696e+01] [ 3.41654854e-01 -9.39819854e-01 -3.25639781e-03 -1.78264437e+02] [ 9.78311062e-03 9.17253105e-05 9.99952140e-01 -5.04213927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters 0.016276372477958823 Centerline is valid? [True, True] Translation: X:89.91, Y:-178.85, Z:-3.99 [[-9.72171714e-01 2.34084791e-01 9.29886888e-03 8.99149106e+01] [ 2.34071904e-01 9.72216160e-01 -2.46613203e-03 -1.78853952e+02] [-9.61779460e-03 -2.20899863e-04 -9.99953724e-01 -3.99345157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters 0.01749018124253089 Centerline is valid? [True, True] Translation: X:90.07, Y:-178.26, Z:-5.04 [[-9.37936078e-01 -3.46726543e-01 7.52455331e-03 9.00725172e+01] [ 3.46716028e-01 -9.37966257e-01 -2.70135410e-03 -1.78255050e+02] [ 7.99440827e-03 7.51857636e-05 9.99968041e-01 -5.04097179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters 0.017439774658143177 Centerline is valid? [True, True] Translation: X:89.87, Y:-178.84, Z:-4.00 [[-9.73852630e-01 2.27085279e-01 6.58266237e-03 8.98660590e+01] [ 2.27078845e-01 9.73874861e-01 -1.71877187e-03 -1.78841807e+02] [-6.80099719e-03 -1.79047142e-04 -9.99976857e-01 -3.99580012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters 0.016242449969057944 Centerline is valid? [True, True] Translation: X:90.03, Y:-178.24, Z:-5.04 [[-9.40621834e-01 -3.39407300e-01 5.76628208e-03 9.00274335e+01] [ 3.39401688e-01 -9.40639501e-01 -1.95539051e-03 -1.78240623e+02] [ 6.08766651e-03 1.17802857e-04 9.99981463e-01 -5.03982100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters 0.014752036322867028 Centerline is valid? [True, True] Translation: X:89.82, Y:-178.84, Z:-3.99 [[-9.72420302e-01 2.33127278e-01 7.10136526e-03 8.98244976e+01] [ 2.33120155e-01 9.72446224e-01 -1.82630361e-03 -1.78837363e+02] [-7.33145702e-03 -1.20463337e-04 -9.99973117e-01 -3.99310546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters 0.013742674626506472 Centerline is valid? [True, True] Translation: X:89.83, Y:-178.82, Z:-3.99 [[-9.85810417e-01 1.67658704e-01 8.26926120e-03 8.98271361e+01] [ 1.67651923e-01 9.85845094e-01 -1.51136754e-03 -1.78815083e+02] [-8.40560450e-03 -1.03564318e-04 -9.99964667e-01 -3.99227893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters 0.013248519708299756 Centerline is valid? [True, True] Translation: X:89.95, Y:-178.18, Z:-5.04 [[-9.67286952e-01 -2.53527117e-01 8.94166033e-03 8.99543860e+01] [ 2.53517815e-01 -9.67328267e-01 -2.17763192e-03 -1.78183935e+02] [ 9.20160953e-03 1.60475247e-04 9.99957652e-01 -5.04434132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters 0.013142060348771944 Centerline is valid? [True, True] Translation: X:89.78, Y:-178.81, Z:-3.99 [[-9.85472475e-01 1.69603563e-01 8.86747729e-03 8.97832366e+01] [ 1.69596155e-01 9.85512368e-01 -1.58630091e-03 -1.78813273e+02] [-9.00805083e-03 -5.93658302e-05 -9.99959425e-01 -3.99130371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters 0.012928098849111414 Centerline is valid? [True, True] Translation: X:89.79, Y:-178.79, Z:-3.99 [[-9.94848066e-01 1.01034481e-01 8.32818586e-03 8.97917416e+01] [ 1.01030602e-01 9.94882924e-01 -8.86325736e-04 -1.78787098e+02] [-8.37511936e-03 -4.03578150e-05 -9.99964927e-01 -3.99158291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters 0.012976383158621986 Centerline is valid? [True, True] Translation: X:89.86, Y:-178.14, Z:-5.04 [[-9.84342080e-01 -1.76107130e-01 7.54643386e-03 8.98616208e+01] [ 1.76101898e-01 -9.84371007e-01 -1.35752390e-03 -1.78144016e+02] [ 7.66756033e-03 -7.32657077e-06 9.99970604e-01 -5.04438967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters 0.013124723163892406 Centerline is valid? [True, True] Translation: X:89.74, Y:-178.78, Z:-3.99 [[-9.95108988e-01 9.83889480e-02 8.81568305e-03 8.97414623e+01] [ 9.83848088e-02 9.95148036e-01 -9.03033143e-04 -1.78777525e+02] [-8.86175816e-03 -3.12871062e-05 -9.99960733e-01 -3.98943057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters 0.013165342016080394 Centerline is valid? [True, True] Translation: X:89.74, Y:-178.75, Z:-3.99 [[-9.99575957e-01 2.68540174e-02 1.12590947e-02 8.97378711e+01] [ 2.68517846e-02 9.99639365e-01 -3.49462253e-04 -1.78748697e+02] [-1.12644187e-02 -4.69872804e-05 -9.99936553e-01 -3.98830094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters 0.013379583130278512 Centerline is valid? [True, True] Translation: X:89.76, Y:-178.11, Z:-5.05 [[-9.94657664e-01 -1.02535254e-01 1.19437777e-02 8.97591546e+01] [ 1.02529039e-01 -9.94729366e-01 -1.13314368e-03 -1.78113467e+02] [ 1.19970135e-02 9.74939953e-05 9.99928029e-01 -5.04850168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters 0.01314760539845849 Centerline is valid? [True, True] Translation: X:89.68, Y:-178.74, Z:-3.99 [[-9.99655691e-01 2.35273170e-02 1.16174317e-02 8.96825556e+01] [ 2.35252808e-02 9.99723194e-01 -3.11916801e-04 -1.78744854e+02] [-1.16215545e-02 -3.85060632e-05 -9.99932467e-01 -3.98839191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters 0.013119098018332859 Centerline is valid? [True, True] Translation: X:89.70, Y:-178.12, Z:-5.05 [[-9.95188731e-01 -9.73059250e-02 1.14431732e-02 8.96972431e+01] [ 9.72998384e-02 -9.95254518e-01 -1.08874791e-03 -1.78116169e+02] [ 1.14948115e-02 2.99092556e-05 9.99933932e-01 -5.04607186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters 0.01312975409950999 Centerline is valid? [True, True] Translation: X:89.63, Y:-178.74, Z:-3.99 [[-9.99742541e-01 2.01927237e-02 1.03492200e-02 8.96261237e+01] [ 2.01913789e-02 9.99796106e-01 -2.34421484e-04 -1.78741385e+02] [-1.03518435e-02 -2.53961066e-05 -9.99946418e-01 -3.99172304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters 0.013001304999183597 Centerline is valid? [True, True] Translation: X:89.64, Y:-178.11, Z:-5.04 [[-9.95780376e-01 -9.13229296e-02 9.03137157e-03 8.96433752e+01] [ 9.13186351e-02 -9.95821329e-01 -8.87605062e-04 -1.78113997e+02] [ 9.07469113e-03 -5.91271770e-05 9.99958822e-01 -5.04207512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters 0.013039535515159342 Centerline is valid? [True, True] Translation: X:89.57, Y:-178.74, Z:-3.99 [[-9.99780848e-01 1.92310582e-02 8.27175458e-03 8.95729429e+01] [ 1.92304570e-02 9.99815066e-01 -1.52208417e-04 -1.78741967e+02] [-8.27315198e-03 6.89456096e-06 -9.99965777e-01 -3.99353656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters 0.013009146571907144 Centerline is valid? [True, True] Translation: X:89.58, Y:-178.11, Z:-5.04 [[-9.96370338e-01 -8.47010682e-02 8.47816161e-03 8.95845323e+01] [ 8.46980709e-02 -9.96406408e-01 -7.12609408e-04 -1.78114093e+02] [ 8.50805333e-03 8.06105645e-06 9.99963806e-01 -5.04270540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters 0.013177267130691105 Centerline is valid? [True, True] Translation: X:89.51, Y:-178.74, Z:-3.99 [[-9.99834237e-01 1.47337752e-02 1.06964442e-02 8.95129381e+01] [ 1.47329931e-02 9.99891452e-01 -1.51913428e-04 -1.78740873e+02] [-1.06975214e-02 5.70239261e-06 -9.99942780e-01 -3.99128017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters 0.013265871382672748 Centerline is valid? [True, True] Translation: X:89.50, Y:-178.71, Z:-3.99 [[-9.98207151e-01 -5.85283856e-02 1.25264593e-02 8.95037529e+01] [-5.85240438e-02 9.98285745e-01 7.13210344e-04 -1.78711833e+02] [-1.25467288e-02 -2.11673861e-05 -9.99921287e-01 -3.99033312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters 0.013351827185527628 Centerline is valid? [True, True] Translation: X:89.47, Y:-178.09, Z:-5.05 [[-9.99798801e-01 -1.50790803e-02 1.32279600e-02 8.94685837e+01] [ 1.50786726e-02 -9.99886302e-01 -1.30559533e-04 -1.78092924e+02] [ 1.32284247e-02 6.89268129e-05 9.99912498e-01 -5.04559985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters 0.013591398857195193 Centerline is valid? [True, True] Translation: X:89.44, Y:-178.71, Z:-3.99 [[-9.97429506e-01 -7.02305641e-02 1.42143849e-02 8.94350495e+01] [-7.02252332e-02 9.97530778e-01 8.74437123e-04 -1.78707374e+02] [-1.42406986e-02 -1.26019104e-04 -9.99898588e-01 -3.98953699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters 0.013710117355442522 Centerline is valid? [True, True] Translation: X:89.42, Y:-178.68, Z:-3.99 [[-9.89661378e-01 -1.42686917e-01 1.45190071e-02 8.94247218e+01] [-1.42673854e-01 9.89767862e-01 1.93688997e-03 -1.78680084e+02] [-1.46468155e-02 -1.54617506e-04 -9.99892718e-01 -3.98934035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters 0.013478406553748856 Centerline is valid? [True, True] Translation: X:89.41, Y:-178.66, Z:-3.99 [[-9.77330460e-01 -2.11265935e-01 1.38519700e-02 8.94122618e+01] [-2.11246554e-01 9.77428611e-01 2.86438638e-03 -1.78655716e+02] [-1.41444591e-02 -1.26728881e-04 -9.99899954e-01 -3.98897301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters 0.013330806454015102 Centerline is valid? [True, True] Translation: X:89.39, Y:-178.63, Z:-3.99 [[-9.60194656e-01 -2.79007686e-01 1.34511819e-02 8.93939929e+01] [-2.78981818e-01 9.60288863e-01 3.80064984e-03 -1.78634142e+02] [-1.39774307e-02 -1.03271504e-04 -9.99902306e-01 -3.98903635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters 0.013256125006404051 Centerline is valid? [True, True] Translation: X:89.37, Y:-178.62, Z:-3.99 [[-9.38360177e-01 -3.45379749e-01 1.38926919e-02 8.93665919e+01] [-3.45343128e-01 9.38463011e-01 5.02998672e-03 -1.78616846e+02] [-1.47750330e-02 -7.78064373e-05 -9.99890840e-01 -3.98752721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters 0.01310400682194968 Centerline is valid? [True, True] Translation: X:89.32, Y:-178.61, Z:-3.99 [[-9.11565887e-01 -4.10906457e-01 1.42659661e-02 8.93221946e+01] [-4.10857168e-01 9.11677509e-01 6.36457879e-03 -1.78607417e+02] [-1.56212069e-02 -5.95415137e-05 -9.99877980e-01 -3.98717146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters 0.013346490111094251 Centerline is valid? [True, True] Translation: X:89.27, Y:-178.61, Z:-3.98 [[-8.80001361e-01 -4.74750213e-01 1.44858771e-02 8.92656603e+01] [-4.74686337e-01 8.80120580e-01 7.78757350e-03 -1.78608038e+02] [-1.64464707e-02 -2.31726779e-05 -9.99864747e-01 -3.98472588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters 0.013003570449966941 Centerline is valid? [True, True] Translation: X:89.20, Y:-178.62, Z:-3.99 [[-8.43234372e-01 -5.37378639e-01 1.34161489e-02 8.91992357e+01] [-5.37310689e-01 8.43341093e-01 8.54545052e-03 -1.78617643e+02] [-1.59065322e-02 -2.82260340e-06 -9.99873483e-01 -3.98737252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters 0.012874743287904212 Centerline is valid? [True, True] Translation: X:89.12, Y:-178.64, Z:-3.99 [[-8.01501040e-01 -5.97875261e-01 1.18850674e-02 8.91240303e+01] [-5.97809383e-01 8.01589154e-01 8.87521475e-03 -1.78638224e+02] [-1.48332125e-02 8.48901759e-06 -9.99889982e-01 -3.98899199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters 0.012920875606533037 Centerline is valid? [True, True] Translation: X:89.04, Y:-178.67, Z:-3.99 [[-7.54356932e-01 -6.56386691e-01 1.01059979e-02 8.90448821e+01] [-6.56327783e-01 7.54424623e-01 8.79369845e-03 -1.78666635e+02] [-1.33962803e-02 7.40188564e-07 -9.99910266e-01 -3.98977703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters 0.012888157416155368 Centerline is valid? [True, True] Translation: X:88.97, Y:-178.70, Z:-3.99 [[-7.02160301e-01 -7.11961053e-01 9.07584058e-03 8.89664501e+01] [-7.11901855e-01 7.02218954e-01 9.18090569e-03 -1.78703307e+02] [-1.29096746e-02 -1.46402407e-05 -9.99916667e-01 -3.98995035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters 0.0127954390227077 Centerline is valid? [True, True] Translation: X:88.88, Y:-178.75, Z:-3.99 [[-6.44419031e-01 -7.64635444e-01 7.53326588e-03 8.88843349e+01] [-7.64584062e-01 6.44463059e-01 8.86436916e-03 -1.78750882e+02] [-1.16329224e-02 -4.74468461e-05 -9.99932334e-01 -3.99152082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters 0.012934535113296867 Centerline is valid? [True, True] Translation: X:88.80, Y:-178.81, Z:-3.99 [[-5.83160768e-01 -8.12328047e-01 6.83104716e-03 8.88020348e+01] [-8.12273781e-01 5.83200771e-01 9.38964251e-03 -1.78809746e+02] [-1.16113419e-02 -7.30093673e-05 -9.99932584e-01 -3.99149230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters 0.013303165638423153 Centerline is valid? [True, True] Translation: X:88.72, Y:-178.88, Z:-3.99 [[-5.18614849e-01 -8.54983882e-01 6.41871770e-03 8.87243076e+01] [-8.54920715e-01 5.18654560e-01 1.03932526e-02 -1.78875217e+02] [-1.22151606e-02 -9.73996040e-05 -9.99925387e-01 -3.99050745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters 0.013663966687308416 Centerline is valid? [True, True] Translation: X:88.65, Y:-178.95, Z:-3.99 [[-4.51035868e-01 -8.92480982e-01 6.65900682e-03 8.86490208e+01] [-8.92388136e-01 4.51085001e-01 1.28738638e-02 -1.78953054e+02] [-1.44934567e-02 -1.35844349e-04 -9.99894955e-01 -3.98910467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters 0.013963260444848288 Centerline is valid? [True, True] Translation: X:88.58, Y:-179.03, Z:-3.99 [[-3.81335849e-01 -9.24416617e-01 6.07366633e-03 8.85813893e+01] [-9.24305804e-01 3.81384183e-01 1.43138099e-02 -1.79033890e+02] [-1.55483239e-02 -1.55556206e-04 -9.99879105e-01 -3.98788531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters 0.013646165844195302 Centerline is valid? [True, True] Translation: X:88.52, Y:-179.13, Z:-3.99 [[-3.08554871e-01 -9.51190589e-01 5.50948028e-03 8.85200230e+01] [-9.51050123e-01 3.08603993e-01 1.63474428e-02 -1.79125366e+02] [-1.72497813e-02 -1.95708802e-04 -9.99851192e-01 -3.98980557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters 0.014050418011420018 Centerline is valid? [True, True] Translation: X:88.46, Y:-179.23, Z:-3.99 [[-2.34954109e-01 -9.71997025e-01 4.28382471e-03 8.84616285e+01] [-9.71850708e-01 2.34993073e-01 1.68658756e-02 -1.79225570e+02] [-1.74002500e-02 -2.00531302e-04 -9.99848584e-01 -3.98906765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters 0.013556672128909495 Centerline is valid? [True, True] Translation: X:88.41, Y:-179.33, Z:-3.99 [[-1.59619587e-01 -9.87174716e-01 2.76896868e-03 8.84121265e+01] [-9.87046582e-01 1.59643484e-01 1.59060658e-02 -1.79332361e+02] [-1.61441138e-02 -1.94181413e-04 -9.99869657e-01 -3.99103540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters 0.01348193951229426 Centerline is valid? [True, True] Translation: X:88.37, Y:-179.43, Z:-3.99 [[-8.34824642e-02 -9.96508339e-01 1.34511632e-03 8.83724578e+01] [-9.96409886e-01 8.34931254e-02 1.40084477e-02 -1.79432890e+02] [-1.40718429e-02 -1.70827463e-04 -9.99900972e-01 -3.99252888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters 0.013591212559648432 Centerline is valid? [True, True] Translation: X:88.34, Y:-179.55, Z:-3.99 [[-8.02093039e-03 -9.99967799e-01 2.57344288e-04 8.83406881e+01] [-9.99877510e-01 8.02366453e-03 1.34382296e-02 -1.79545042e+02] [-1.34398617e-02 -1.49525662e-04 -9.99909670e-01 -3.99209195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters 0.01328650457298879 Centerline is valid? [True, True] Translation: X:88.32, Y:-179.65, Z:-3.99 [[ 6.58648776e-02 -9.97828267e-01 -7.53102594e-04 8.83174958e+01] [-9.97740083e-01 -6.58690693e-02 1.32662000e-02 -1.79647038e+02] [-1.32869955e-02 -1.22375996e-04 -9.99911717e-01 -3.99169810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters 0.012907721965664098 Centerline is valid? [True, True] Translation: X:88.30, Y:-179.76, Z:-3.99 [[ 1.38844133e-01 -9.90312517e-01 -1.85103288e-03 8.83040943e+01] [-9.90216507e-01 -1.38856447e-01 1.37897443e-02 -1.79760579e+02] [-1.39131843e-02 -8.17017897e-05 -9.99903204e-01 -3.99153878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters 0.0126761518946256 Centerline is valid? [True, True] Translation: X:88.30, Y:-179.88, Z:-3.99 [[ 2.09241476e-01 -9.77859960e-01 -2.81146070e-03 8.83003593e+01] [-9.77771136e-01 -2.09260363e-01 1.31797545e-02 -1.79875677e+02] [-1.34762815e-02 -8.78615707e-06 -9.99909191e-01 -3.99239865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters 0.012694171902749131 Centerline is valid? [True, True] Translation: X:88.30, Y:-179.99, Z:-3.99 [[ 2.81844514e-01 -9.59452660e-01 -3.77681318e-03 8.83013397e+01] [-9.59367192e-01 -2.81869817e-01 1.28061258e-02 -1.79993294e+02] [-1.33514411e-02 1.40143713e-05 -9.99910866e-01 -3.99268902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters 0.0127944052307154 Centerline is valid? [True, True] Translation: X:88.31, Y:-180.11, Z:-3.99 [[ 3.53081060e-01 -9.35580125e-01 -4.85737733e-03 8.83094937e+01] [-9.35492947e-01 -3.53114468e-01 1.27717873e-02 -1.80108038e+02] [-1.36642406e-02 3.45660209e-05 -9.99906639e-01 -3.99180451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters 0.01296231573528266 Centerline is valid? [True, True] Translation: X:88.33, Y:-180.22, Z:-3.99 [[ 4.22169796e-01 -9.06496943e-01 -5.99636889e-03 8.83286901e+01] [-9.06407429e-01 -4.22212375e-01 1.27390598e-02 -1.80222518e+02] [-1.40796600e-02 5.71070139e-05 -9.99900875e-01 -3.99161842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters 0.013019126550349225 Centerline is valid? [True, True] Translation: X:88.35, Y:-180.33, Z:-3.99 [[ 4.89039371e-01 -8.72235914e-01 -6.70846328e-03 8.83541524e+01] [-8.72155890e-01 -4.89085375e-01 1.18151751e-02 -1.80333317e+02] [-1.35866313e-02 7.27399743e-05 -9.99907695e-01 -3.99167156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters 0.012825756830237383 Centerline is valid? [True, True] Translation: X:88.38, Y:-180.44, Z:-3.99 [[ 5.54424661e-01 -8.32211793e-01 -6.06856247e-03 8.83829843e+01] [-8.32163014e-01 -5.54457869e-01 9.01048029e-03 -1.80442547e+02] [-1.08633902e-02 5.44007621e-05 -9.99940990e-01 -3.99305271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters 0.012693540598519409 Centerline is valid? [True, True] Translation: X:88.42, Y:-180.55, Z:-3.99 [[ 6.18103183e-01 -7.86071096e-01 -6.37862780e-03 8.84204166e+01] [-7.86029672e-01 -6.18136095e-01 8.06990110e-03 -1.80547090e+02] [-1.02863761e-02 2.57591611e-05 -9.99947094e-01 -3.99369847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters 0.012715593511111515 Centerline is valid? [True, True] Translation: X:88.46, Y:-180.65, Z:-3.99 [[ 6.81331293e-01 -7.31946399e-01 -6.49146791e-03 8.84637059e+01] [-7.31912524e-01 -6.81362214e-01 7.04205489e-03 -1.80651816e+02] [-9.57744766e-03 -4.67857007e-05 -9.99954134e-01 -3.99457069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters 0.013483625956018843 Centerline is valid? [True, True] Translation: X:88.51, Y:-180.75, Z:-3.99 [[ 7.38380789e-01 -6.74352192e-01 -6.55221651e-03 8.85101030e+01] [-6.74324527e-01 -7.38409854e-01 6.10906175e-03 -1.80748966e+02] [-8.95788042e-03 -9.24935394e-05 -9.99959873e-01 -3.99449340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters 0.014396120674858341 Centerline is valid? [True, True] Translation: X:88.53, Y:-180.79, Z:-4.00 [[ 7.92796736e-01 -6.09453763e-01 -6.28069400e-03 8.85263146e+01] [-6.09433280e-01 -7.92821602e-01 4.99836136e-03 -1.80788435e+02] [-8.02574002e-03 -1.35020623e-04 -9.99967784e-01 -3.99541895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters 0.015265940868226932 Centerline is valid? [True, True] Translation: X:88.55, Y:-180.83, Z:-4.00 [[ 8.40595902e-01 -5.41625403e-01 -6.36020017e-03 8.85475170e+01] [-5.41608400e-01 -8.40619947e-01 4.29482560e-03 -1.80825094e+02] [-7.67269777e-03 -1.65474957e-04 -9.99970551e-01 -3.99652553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters 0.016242140970401386 Centerline is valid? [True, True] Translation: X:88.57, Y:-180.85, Z:-4.00 [[ 8.80805075e-01 -4.73433593e-01 -6.56142981e-03 8.85738609e+01] [-4.73419013e-01 -8.80829498e-01 3.71937977e-03 -1.80854518e+02] [-7.54038026e-03 -1.69742952e-04 -9.99971557e-01 -3.99604398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters 0.01534354179298412 Centerline is valid? [True, True] Translation: X:88.60, Y:-180.88, Z:-4.00 [[ 9.14486263e-01 -4.04560877e-01 -6.73588890e-03 8.86043491e+01] [-4.04548643e-01 -9.14511056e-01 3.15014754e-03 -1.80881979e+02] [-7.43447133e-03 -1.55771938e-04 -9.99972352e-01 -3.99676739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters 0.013844414690844572 Centerline is valid? [True, True] Translation: X:88.64, Y:-180.90, Z:-4.00 [[ 9.40738095e-01 -3.39069212e-01 -6.62618054e-03 8.86383725e+01] [-3.39060096e-01 -9.40761426e-01 2.48802335e-03 -1.80903793e+02] [-7.07726717e-03 -9.39049358e-05 -9.99974952e-01 -3.99645609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters 0.012919526775437255 Centerline is valid? [True, True] Translation: X:88.67, Y:-180.92, Z:-4.00 [[ 9.62658450e-01 -2.70650592e-01 -6.07997782e-03 8.86744889e+01] [-2.70644910e-01 -9.62677649e-01 1.75428740e-03 -1.80919892e+02] [-6.32785767e-03 -4.32645439e-05 -9.99979978e-01 -3.99658334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters 0.01263904999249874 Centerline is valid? [True, True] Translation: X:88.71, Y:-180.93, Z:-4.00 [[ 9.79730371e-01 -2.00239042e-01 -5.72072278e-03 8.87114985e+01] [-2.00235591e-01 -9.79747072e-01 1.17557910e-03 -1.80932867e+02] [-5.84025823e-03 -6.25823396e-06 -9.99982946e-01 -3.99687256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters 0.01298288334768951 Centerline is valid? [True, True] Translation: X:88.75, Y:-180.94, Z:-3.99 [[ 9.91531213e-01 -1.29614303e-01 -8.12320705e-03 8.87496831e+01] [-1.29610327e-01 -9.91564486e-01 1.01630066e-03 -1.80942158e+02] [-8.18641073e-03 4.51576937e-05 -9.99966490e-01 -3.99469349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters 0.013669108952869683 Centerline is valid? [True, True] Translation: X:88.78, Y:-180.95, Z:-3.99 [[ 9.98436677e-01 -5.48894532e-02 -1.05522931e-02 8.87840659e+01] [-5.48873708e-02 -9.98492433e-01 4.87058995e-04 -1.80947883e+02] [-1.05631192e-02 9.28900580e-05 -9.99944204e-01 -3.99207737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters 0.014364791924943915 Centerline is valid? [True, True] Translation: X:88.82, Y:-180.96, Z:-3.99 [[ 9.99745924e-01 1.82004810e-02 -1.32977664e-02 8.88190547e+01] [ 1.81963892e-02 -9.99834340e-01 -4.28641917e-04 -1.80956507e+02] [-1.33033650e-02 1.86561676e-04 -9.99911489e-01 -3.99063021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters 0.015223425616240226 Centerline is valid? [True, True] Translation: X:88.85, Y:-180.96, Z:-3.99 [[ 9.95544916e-01 9.32181964e-02 -1.41664422e-02 8.88542544e+01] [ 9.32052445e-02 -9.95645674e-01 -1.57320369e-03 -1.80959123e+02] [-1.42514081e-02 2.45808232e-04 -9.99898413e-01 -3.99007354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters 0.01610292251392141 Centerline is valid? [True, True] Translation: X:88.89, Y:-180.96, Z:-3.99 [[ 9.85635615e-01 1.68358513e-01 -1.33358982e-02 8.88883401e+01] [ 1.68339403e-01 -9.85725793e-01 -2.55082453e-03 -1.80956132e+02] [-1.35749918e-02 2.69226357e-04 -9.99907819e-01 -3.99110118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters 0.016060231583065406 Centerline is valid? [True, True] Translation: X:88.92, Y:-180.95, Z:-3.99 [[ 9.69214352e-01 2.45935894e-01 -1.17930314e-02 8.89230955e+01] [ 2.45914786e-01 -9.69286069e-01 -3.23037845e-03 -1.80952306e+02] [-1.22252870e-02 2.30848367e-04 -9.99925242e-01 -3.99198548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters 0.014852567399467137 Centerline is valid? [True, True] Translation: X:88.96, Y:-180.95, Z:-3.99 [[ 9.46413331e-01 3.22794408e-01 -1.02750630e-02 8.89591743e+01] [ 3.22773244e-01 -9.46469089e-01 -3.70099036e-03 -1.80951439e+02] [-1.09196885e-02 1.86151192e-04 -9.99940361e-01 -3.99390063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters 0.014704976750872234 Centerline is valid? [True, True] Translation: X:88.99, Y:-180.94, Z:-3.99 [[ 9.16933889e-01 3.98962391e-01 -7.82653470e-03 8.89928322e+01] [ 3.98946755e-01 -9.16967282e-01 -3.53414410e-03 -1.80944474e+02] [-8.58666683e-03 1.18205876e-04 -9.99963127e-01 -3.99480164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters 0.013068597862655152 Centerline is valid? [True, True] Translation: X:89.03, Y:-180.94, Z:-4.00 [[ 8.80761954e-01 4.73531736e-01 -5.10635834e-03 8.90309939e+01] [ 4.73523422e-01 -8.80776755e-01 -2.80646210e-03 -1.80942212e+02] [-5.82651060e-03 5.38447615e-05 -9.99983024e-01 -3.99818845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters 0.013043929131893114 Centerline is valid? [True, True] Translation: X:89.07, Y:-180.93, Z:-4.00 [[ 8.40437995e-01 5.41889611e-01 -4.43005827e-03 8.90658842e+01] [ 5.41881809e-01 -8.40449670e-01 -2.90818972e-03 -1.80931369e+02] [-5.29915880e-03 4.35851461e-05 -9.99985958e-01 -3.99851976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters 0.01293986249505218 Centerline is valid? [True, True] Translation: X:89.10, Y:-180.92, Z:-4.00 [[ 7.94488722e-01 6.07265737e-01 -3.99931200e-03 8.91000794e+01] [ 6.07257830e-01 -7.94498787e-01 -3.09909159e-03 -1.80917621e+02] [-5.05942067e-03 3.35797935e-05 -9.99987201e-01 -3.99815968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters 0.012866014178603726 Centerline is valid? [True, True] Translation: X:89.13, Y:-180.90, Z:-4.00 [[ 7.43427777e-01 6.68798967e-01 -4.80446458e-03 8.91328618e+01] [ 6.68784721e-01 -7.43443300e-01 -4.36538926e-03 -1.80900687e+02] [-6.49141483e-03 3.21991323e-05 -9.99978930e-01 -3.99608816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters 0.012929829234886546 Centerline is valid? [True, True] Translation: X:89.16, Y:-180.88, Z:-3.99 [[ 6.87840341e-01 7.25839202e-01 -5.75492029e-03 8.91628211e+01] [ 7.25813427e-01 -6.87864415e-01 -6.11695538e-03 -1.80879675e+02] [-8.39853089e-03 3.04902549e-05 -9.99964731e-01 -3.99404460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters 0.012948048098918233 Centerline is valid? [True, True] Translation: X:89.19, Y:-180.86, Z:-3.99 [[ 6.26201653e-01 7.79639908e-01 -5.75358937e-03 8.91945250e+01] [ 7.79606981e-01 -6.26228085e-01 -7.16530191e-03 -1.80860027e+02] [-9.18941457e-03 1.38546408e-06 -9.99957777e-01 -3.99310957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters 0.013040228877401932 Centerline is valid? [True, True] Translation: X:89.22, Y:-180.84, Z:-3.99 [[ 5.61132663e-01 8.27711613e-01 -4.86009650e-03 8.92245689e+01] [ 8.27680887e-01 -5.61153709e-01 -7.13187382e-03 -1.80837469e+02] [-8.63039596e-03 -2.06816319e-05 -9.99962757e-01 -3.99354469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters 0.01307595646460392 Centerline is valid? [True, True] Translation: X:89.25, Y:-180.81, Z:-3.99 [[ 4.91530185e-01 8.70849187e-01 -4.44649972e-03 8.92503116e+01] [ 8.70814524e-01 -4.91550294e-01 -7.77008048e-03 -1.80812471e+02] [-8.95224651e-03 -5.28474408e-05 -9.99959927e-01 -3.99322305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters 0.013196994801445741 Centerline is valid? [True, True] Translation: X:89.27, Y:-180.78, Z:-3.99 [[ 4.20708020e-01 9.07186493e-01 -4.17470120e-03 8.92724668e+01] [ 9.07143477e-01 -4.20728727e-01 -8.83465883e-03 -1.80784120e+02] [-9.77109989e-03 -7.02411396e-05 -9.99952259e-01 -3.99205313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters 0.01336536096247852 Centerline is valid? [True, True] Translation: X:89.29, Y:-180.75, Z:-3.99 [[ 3.48168454e-01 9.37425454e-01 -3.49939606e-03 8.92885071e+01] [ 9.37380206e-01 -3.48186032e-01 -9.21069335e-03 -1.80753161e+02] [-9.85277923e-03 -7.33917341e-05 -9.99951458e-01 -3.99172338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters 0.013358447842555299 Centerline is valid? [True, True] Translation: X:89.30, Y:-180.72, Z:-3.99 [[ 2.73841664e-01 9.61770938e-01 -2.72141908e-03 8.93014260e+01] [ 9.61725979e-01 -2.73855177e-01 -9.29965617e-03 -1.80720726e+02] [-9.68941374e-03 -7.06261113e-05 -9.99953054e-01 -3.99222150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters 0.013187809637411799 Centerline is valid? [True, True] Translation: X:89.31, Y:-180.69, Z:-3.99 [[ 1.98545353e-01 9.80089762e-01 -1.94971941e-03 8.93130122e+01] [ 9.80045480e-01 -1.98554917e-01 -9.31682424e-03 -1.80688149e+02] [-9.51845043e-03 -6.10015383e-05 -9.99954697e-01 -3.99412212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters 0.013144056696044383 Centerline is valid? [True, True] Translation: X:89.32, Y:-180.66, Z:-3.99 [[ 1.23278589e-01 9.92371229e-01 -1.31688518e-03 8.93194702e+01] [ 9.92318385e-01 -1.23285615e-01 -1.02410492e-02 -1.80655423e+02] [-1.03252756e-02 -4.42672685e-05 -9.99946692e-01 -3.99339097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters 0.013114969656163456 Centerline is valid? [True, True] Translation: X:89.32, Y:-180.62, Z:-3.99 [[ 4.63210299e-02 9.98926436e-01 -5.80905413e-04 8.93237656e+01] [ 9.98857565e-01 -4.63246575e-02 -1.17299265e-02 -1.80622639e+02] [-1.17442439e-02 -3.68994889e-05 -9.99931033e-01 -3.99405553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters 0.013040383074901943 Centerline is valid? [True, True] Translation: X:89.33, Y:-180.59, Z:-3.99 [[-3.17611347e-02 9.99495423e-01 3.60153116e-04 8.93257778e+01] [ 9.99417948e-01 3.17631569e-02 -1.24445354e-02 -1.80589240e+02] [-1.24496958e-02 -3.53090765e-05 -9.99922499e-01 -3.99367106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters 0.013143078459380972 Centerline is valid? [True, True] Translation: X:89.33, Y:-180.56, Z:-3.99 [[-1.09291916e-01 9.94008827e-01 1.31508243e-03 8.93254334e+01] [ 9.93933931e-01 1.09299825e-01 -1.22020231e-02 -1.80556839e+02] [-1.22726569e-02 -2.64774319e-05 -9.99924688e-01 -3.99425605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters 0.01289840221471885 Centerline is valid? [True, True] Translation: X:89.32, Y:-180.53, Z:-4.00 [[-1.85312344e-01 9.82677087e-01 2.25341842e-03 8.93222187e+01] [ 9.82603943e-01 1.85326044e-01 -1.19895081e-02 -1.80525338e+02] [-1.21994321e-02 -7.58602961e-06 -9.99925584e-01 -3.99582744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters 0.012844733023925735 Centerline is valid? [True, True] Translation: X:89.32, Y:-180.49, Z:-4.00 [[-2.61865988e-01 9.65098832e-01 3.23264426e-03 8.93201250e+01] [ 9.65024866e-01 2.61885940e-01 -1.19483472e-02 -1.80493367e+02] [-1.23779200e-02 -9.28366079e-06 -9.99923391e-01 -3.99622984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters 0.012918231190854687 Centerline is valid? [True, True] Translation: X:89.31, Y:-180.46, Z:-3.99 [[-3.39198500e-01 9.40704882e-01 4.32459298e-03 8.93146779e+01] [ 9.40626755e-01 3.39226064e-01 -1.21237062e-02 -1.80463092e+02] [-1.28718443e-02 -4.45151030e-05 -9.99917153e-01 -3.99494911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters 0.013238118509366707 Centerline is valid? [True, True] Translation: X:89.31, Y:-180.43, Z:-3.99 [[-4.14687878e-01 9.09948820e-01 5.20665531e-03 8.93074834e+01] [ 9.09874549e-01 4.14720555e-01 -1.16260895e-02 -1.80434284e+02] [-1.27384534e-02 -8.37952368e-05 -9.99918859e-01 -3.99465770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters 0.013139800115190841 Centerline is valid? [True, True] Translation: X:89.30, Y:-180.40, Z:-4.00 [[-4.86454181e-01 8.73686041e-01 5.91881636e-03 8.92992496e+01] [ 8.73618709e-01 4.86490176e-01 -1.08470919e-02 -1.80403555e+02] [-1.23563988e-02 -1.05824483e-04 -9.99923651e-01 -3.99525564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters 0.013264374291453922 Centerline is valid? [True, True] Translation: X:89.29, Y:-180.38, Z:-4.00 [[-5.54007655e-01 8.32484290e-01 6.73988540e-03 8.92855242e+01] [ 8.32420153e-01 5.54048639e-01 -1.03341611e-02 -1.80376783e+02] [-1.23372511e-02 -1.14787938e-04 -9.99923887e-01 -3.99510534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters 0.014304777330469028 Centerline is valid? [True, True] Translation: X:89.28, Y:-180.35, Z:-3.99 [[-6.21750309e-01 7.83176353e-01 7.83288983e-03 8.92754567e+01] [ 7.83110350e-01 6.21799618e-01 -1.01692889e-02 -1.80346478e+02] [-1.28348345e-02 -1.88741428e-04 -9.99917612e-01 -3.99480577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters 0.015199454751411535 Centerline is valid? [True, True] Translation: X:89.26, Y:-180.32, Z:-4.00 [[-6.84582036e-01 7.28881144e-01 8.92822594e-03 8.92629996e+01] [ 7.28814201e-01 6.84640206e-01 -9.88175832e-03 -1.80317337e+02] [-1.33152498e-02 -2.57856376e-04 -9.99911315e-01 -3.99508908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters 0.016256640776675862 Centerline is valid? [True, True] Translation: X:89.25, Y:-180.29, Z:-3.99 [[-7.41967116e-01 6.70364576e-01 9.80478561e-03 8.92486702e+01] [ 6.70300480e-01 7.42031832e-01 -9.27511862e-03 -1.80288588e+02] [-1.34931740e-02 -3.09680515e-04 -9.99908915e-01 -3.99464798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters 0.015847699306737007 Centerline is valid? [True, True] Translation: X:89.27, Y:-180.27, Z:-4.00 [[-7.87520442e-01 6.16217058e-01 9.38563767e-03 8.92672053e+01] [ 6.16169059e-01 7.87576320e-01 -7.69619774e-03 -1.80269030e+02] [-1.21344343e-02 -2.77773520e-04 -9.99926337e-01 -3.99539056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters 0.015649383385359854 Centerline is valid? [True, True] Translation: X:89.28, Y:-180.25, Z:-4.00 [[-8.28506024e-01 5.59911262e-01 8.78331120e-03 8.92815359e+01] [ 5.59876792e-01 8.28552548e-01 -6.21719590e-03 -1.80245349e+02] [-1.07585129e-02 -2.33412163e-04 -9.99942098e-01 -3.99619595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters 0.014823140304586811 Centerline is valid? [True, True] Translation: X:89.30, Y:-180.23, Z:-4.00 [[-8.64801684e-01 5.02052228e-01 7.84907536e-03 8.93009178e+01] [ 5.02029672e-01 8.64837285e-01 -4.76233907e-03 -1.80229163e+02] [-9.17911596e-03 -1.78010121e-04 -9.99957855e-01 -3.99767353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters 0.014862919642630987 Centerline is valid? [True, True] Translation: X:89.63, Y:-179.69, Z:-5.04 [[-8.08035696e-01 -5.89065092e-01 8.97952178e-03 8.96306592e+01] [ 5.89032941e-01 -8.08085529e-01 -6.16218238e-03 -1.79687117e+02] [ 1.08861481e-02 3.09970796e-04 9.99940696e-01 -5.03954802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters 0.01415012513551115 Centerline is valid? [True, True] Translation: X:89.26, Y:-180.21, Z:-4.00 [[-8.64629342e-01 5.02292340e-01 1.08860267e-02 8.92585344e+01] [ 5.02249630e-01 8.64697846e-01 -6.55316264e-03 -1.80209246e+02] [-1.27047273e-02 -1.98553813e-04 -9.99919272e-01 -3.99540583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters 0.013879810366254464 Centerline is valid? [True, True] Translation: X:89.27, Y:-180.19, Z:-3.99 [[-8.97171582e-01 4.41500794e-01 1.26570432e-02 8.92696902e+01] [ 4.41453787e-01 8.97260838e-01 -6.44537689e-03 -1.80186324e+02] [-1.42023082e-02 -1.95109313e-04 -9.99899123e-01 -3.99409696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters 0.013302988512405653 Centerline is valid? [True, True] Translation: X:89.28, Y:-180.17, Z:-3.99 [[-9.24721088e-01 3.80435504e-01 1.26387144e-02 8.92843751e+01] [ 3.80397970e-01 9.24807444e-01 -5.34563046e-03 -1.80168861e+02] [-1.37220447e-02 -1.35475935e-04 -9.99905839e-01 -3.99481412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters 0.013233715962528984 Centerline is valid? [True, True] Translation: X:89.29, Y:-180.15, Z:-4.00 [[-9.48805351e-01 3.15587043e-01 1.31614852e-02 8.92924192e+01] [ 3.15555016e-01 9.48896625e-01 -4.49740546e-03 -1.80145178e+02] [-1.39082118e-02 -1.13989680e-04 -9.99903270e-01 -3.99541058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters 0.013096334160582687 Centerline is valid? [True, True] Translation: X:89.30, Y:-180.12, Z:-4.00 [[-9.69096044e-01 2.46364538e-01 1.25447844e-02 8.92997018e+01] [ 2.46342274e-01 9.69177228e-01 -3.31429390e-03 -1.80118426e+02] [-1.29746438e-02 -1.21558394e-04 -9.99915818e-01 -3.99827179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters 0.01327445348691051 Centerline is valid? [True, True] Translation: X:89.47, Y:-179.49, Z:-5.04 [[-9.43771511e-01 -3.30387317e-01 1.18133660e-02 8.94693939e+01] [ 3.30362572e-01 -9.43845439e-01 -4.04444650e-03 -1.79486443e+02] [ 1.24862255e-02 8.56606151e-05 9.99922040e-01 -5.03660121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters 0.013682091678406762 Centerline is valid? [True, True] Translation: X:89.25, Y:-180.10, Z:-4.00 [[-9.71079025e-01 2.38537938e-01 1.02557107e-02 8.92541474e+01] [ 2.38523052e-01 9.71133169e-01 -2.66884711e-03 -1.80101961e+02] [-1.05962821e-02 -1.45438041e-04 -9.99943847e-01 -3.99993968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters 0.015047229939004494 Centerline is valid? [True, True] Translation: X:89.42, Y:-179.48, Z:-5.04 [[-9.43467440e-01 -3.31371526e-01 7.88045541e-03 8.94170419e+01] [ 3.31359708e-01 -9.43500350e-01 -2.79868145e-03 -1.79482178e+02] [ 8.36261578e-03 -2.91994124e-05 9.99965032e-01 -5.03558400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters 0.013914568169650723 Centerline is valid? [True, True] Translation: X:89.21, Y:-180.09, Z:-4.00 [[-9.72409557e-01 2.33150385e-01 7.78146029e-03 8.92066132e+01] [ 2.33141898e-01 9.72440683e-01 -1.99317743e-03 -1.80086812e+02] [-8.03171865e-03 -1.24000366e-04 -9.99967738e-01 -4.00121973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters 0.013642783381959542 Centerline is valid? [True, True] Translation: X:89.37, Y:-179.47, Z:-5.04 [[-9.45308045e-01 -3.26029924e-01 9.85841117e-03 8.93656594e+01] [ 3.26015479e-01 -9.45359402e-01 -3.08352511e-03 -1.79467953e+02] [ 1.03250632e-02 2.99113552e-04 9.99946650e-01 -5.03647395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters 0.013467418414380407 Centerline is valid? [True, True] Translation: X:89.17, Y:-180.08, Z:-4.00 [[-9.72179234e-01 2.33916210e-01 1.22777789e-02 8.91659968e+01] [ 2.33895747e-01 9.72256750e-01 -3.09710320e-03 -1.80078431e+02] [-1.26616161e-02 -1.39219142e-04 -9.99919829e-01 -3.99609197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters 0.012714010511818707 Centerline is valid? [True, True] Translation: X:89.17, Y:-180.06, Z:-4.00 [[-9.85288567e-01 1.70286235e-01 1.44581544e-02 8.91683268e+01] [ 1.70266799e-01 9.85394638e-01 -2.57382517e-03 -1.80057601e+02] [-1.46852749e-02 -7.42168432e-05 -9.99892163e-01 -3.99517293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters 0.012759397354950177 Centerline is valid? [True, True] Translation: X:89.17, Y:-180.04, Z:-3.99 [[-9.94411996e-01 1.04649852e-01 1.38993118e-02 8.91717398e+01] [ 1.04639568e-01 9.94509129e-01 -1.46703480e-03 -1.80035311e+02] [-1.39765174e-02 -4.41901166e-06 -9.99902324e-01 -3.99425349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters 0.01271369052992677 Centerline is valid? [True, True] Translation: X:89.25, Y:-179.37, Z:-5.04 [[-9.86087633e-01 -1.65913099e-01 1.01992410e-02 8.92511340e+01] [ 1.65902068e-01 -9.86140356e-01 -1.92420361e-03 -1.79373997e+02] [ 1.03771337e-02 -2.05358204e-04 9.99946135e-01 -5.03734461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters 0.012825933473911344 Centerline is valid? [True, True] Translation: X:89.13, Y:-180.04, Z:-4.00 [[-9.93954568e-01 1.09464645e-01 8.47403345e-03 8.91297146e+01] [ 1.09461297e-01 9.93990687e-01 -8.59219303e-04 -1.80037407e+02] [-8.51716447e-03 7.35537446e-05 -9.99963726e-01 -3.99928127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters 0.012820397305307395 Centerline is valid? [True, True] Translation: X:89.20, Y:-179.37, Z:-5.04 [[-9.87179801e-01 -1.59419084e-01 7.84835917e-03 8.91990402e+01] [ 1.59413207e-01 -9.87210993e-01 -1.37280972e-03 -1.79366850e+02] [ 7.96683852e-03 -1.04077920e-04 9.99968259e-01 -5.03544778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters 0.012548954096756723 Centerline is valid? [True, True] Translation: X:89.07, Y:-180.03, Z:-4.00 [[-9.94784011e-01 1.01638015e-01 8.63055514e-03 8.90737592e+01] [ 1.01634549e-01 9.94821447e-01 -8.40373038e-04 -1.80031151e+02] [-8.67127520e-03 4.11729166e-05 -9.99962403e-01 -3.99839782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters 0.012349154296535342 Centerline is valid? [True, True] Translation: X:89.07, Y:-180.00, Z:-4.00 [[-9.99586184e-01 2.71546789e-02 9.49132595e-03 8.90709769e+01] [ 2.71535559e-02 9.99631244e-01 -2.47192736e-04 -1.79999258e+02] [-9.49453840e-03 1.06328060e-05 -9.99954926e-01 -3.99766684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters 0.012502452186852137 Centerline is valid? [True, True] Translation: X:89.09, Y:-179.34, Z:-5.04 [[-9.95183839e-01 -9.73596238e-02 1.14118329e-02 8.90871950e+01] [ 9.73546488e-02 -9.95249259e-01 -9.91986680e-04 -1.79343072e+02] [ 1.14541977e-02 1.23785869e-04 9.99934391e-01 -5.03981260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters 0.01275816546233076 Centerline is valid? [True, True] Translation: X:89.01, Y:-179.99, Z:-4.00 [[-9.99775288e-01 1.69060047e-02 1.27890955e-02 8.90077017e+01] [ 1.69038013e-02 9.99857081e-01 -2.80373213e-04 -1.79993072e+02] [-1.27920077e-02 -6.41258810e-05 -9.99918177e-01 -3.99558506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters 0.012811899428631212 Centerline is valid? [True, True] Translation: X:89.02, Y:-179.34, Z:-5.04 [[-9.95564704e-01 -9.31186290e-02 1.34104709e-02 8.90213496e+01] [ 9.31116680e-02 -9.95655015e-01 -1.14386076e-03 -1.79341266e+02] [ 1.34587174e-02 1.09883920e-04 9.99909421e-01 -5.04095441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters 0.012687286802595397 Centerline is valid? [True, True] Translation: X:88.95, Y:-180.00, Z:-4.00 [[-9.99751788e-01 1.92653557e-02 1.11896621e-02 8.89450254e+01] [ 1.92643600e-02 9.99814406e-01 -1.96773386e-04 -1.79996816e+02] [-1.11913762e-02 1.88371334e-05 -9.99937375e-01 -3.99639174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters 0.012674361246097889 Centerline is valid? [True, True] Translation: X:88.96, Y:-179.97, Z:-4.00 [[-9.98911276e-01 -4.62033234e-02 6.44321268e-03 8.89552808e+01] [-4.62020526e-02 9.98932055e-01 3.46026164e-04 -1.79973742e+02] [-6.45231925e-03 4.79597861e-05 -9.99979183e-01 -4.00210988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters 0.012846703759321607 Centerline is valid? [True, True] Translation: X:88.95, Y:-179.95, Z:-4.00 [[-9.93290805e-01 -1.15548738e-01 4.67617856e-03 8.89482949e+01] [-1.15547255e-01 9.93301811e-01 5.87081123e-04 -1.79949284e+02] [-4.71269312e-03 4.28226843e-05 -9.99988894e-01 -4.00279275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters 0.012498552064744248 Centerline is valid? [True, True] Translation: X:88.86, Y:-179.28, Z:-5.03 [[-9.97994814e-01 6.31743080e-02 3.91898370e-03 8.88638894e+01] [-6.31741770e-02 -9.98002504e-01 1.57342302e-04 -1.79283656e+02] [ 3.92109554e-03 -9.05517690e-05 9.99992308e-01 -5.03296003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters 0.01226898304079462 Centerline is valid? [True, True] Translation: X:88.86, Y:-179.95, Z:-4.00 [[-9.91569899e-01 -1.29491886e-01 4.58111532e-03 8.88619434e+01] [-1.29490496e-01 9.91580482e-01 6.00148209e-04 -1.79952381e+02] [-4.62025886e-03 1.87800541e-06 -9.99989327e-01 -4.00099959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters 0.012643354292684853 Centerline is valid? [True, True] Translation: X:88.84, Y:-179.92, Z:-4.00 [[-9.78457011e-01 -2.06363982e-01 5.98198077e-03 8.88437290e+01] [-2.06360370e-01 9.78475296e-01 1.22154505e-03 -1.79922486e+02] [-6.10530331e-03 -3.92144441e-05 -9.99981362e-01 -3.99941289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters 0.013650902137985648 Centerline is valid? [True, True] Translation: X:88.82, Y:-179.89, Z:-4.00 [[-9.59196323e-01 -2.82690499e-01 5.33808454e-03 8.88249109e+01] [-2.82686563e-01 9.59211174e-01 1.49368349e-03 -1.79893408e+02] [-5.54260046e-03 -7.62690618e-05 -9.99984637e-01 -3.99929434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters 0.014016667521810706 Centerline is valid? [True, True] Translation: X:88.80, Y:-179.87, Z:-4.00 [[-9.35849292e-01 -3.52360793e-01 5.28902075e-03 8.87978703e+01] [-3.52355691e-01 9.35864234e-01 1.89816602e-03 -1.79872448e+02] [-5.61864464e-03 -8.72192356e-05 -9.99984212e-01 -3.99889634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters 0.013960549863391514 Centerline is valid? [True, True] Translation: X:88.76, Y:-179.86, Z:-4.00 [[-9.07934224e-01 -4.19082777e-01 5.00701810e-03 8.87606178e+01] [-4.19076921e-01 9.07948026e-01 2.21710270e-03 -1.79859064e+02] [-5.47526177e-03 -8.53423063e-05 -9.99985007e-01 -3.99855673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters 0.013505411569256673 Centerline is valid? [True, True] Translation: X:88.70, Y:-179.86, Z:-4.00 [[-8.75519779e-01 -4.83169754e-01 3.47933166e-03 8.87044881e+01] [-4.83166191e-01 8.75526690e-01 1.85643632e-03 -1.79858938e+02] [-3.94322162e-03 -5.57487125e-05 -9.99992224e-01 -3.99992941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters 0.013452044239182386 Centerline is valid? [True, True] Translation: X:88.64, Y:-179.87, Z:-4.00 [[-8.38250506e-01 -5.45282313e-01 1.81351414e-03 8.86401978e+01] [-5.45281107e-01 8.38252467e-01 1.14727020e-03 -1.79866267e+02] [-2.14576885e-03 -2.71751749e-05 -9.99997698e-01 -4.00072269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters 0.014061349172571711 Centerline is valid? [True, True] Translation: X:88.57, Y:-179.88, Z:-4.00 [[-7.95427929e-01 -6.06047382e-01 9.89703255e-04 8.85690412e+01] [-6.06046937e-01 7.95428545e-01 7.34926541e-04 -1.79879920e+02] [-1.23263853e-03 -1.52255298e-05 -9.99999240e-01 -4.00043739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters 0.013972706921254532 Centerline is valid? [True, True] Translation: X:88.49, Y:-179.91, Z:-4.00 [[-7.46622617e-01 -6.65247069e-01 1.00243748e-03 8.84909138e+01] [-6.65246504e-01 7.46623290e-01 8.67109593e-04 -1.79907772e+02] [-1.32528529e-03 -1.94643984e-05 -9.99999122e-01 -3.99979179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters 0.014656572789468336 Centerline is valid? [True, True] Translation: X:88.41, Y:-179.94, Z:-4.00 [[-6.92300423e-01 -7.21607634e-01 1.59596183e-03 8.84114236e+01] [-7.21605854e-01 6.92302262e-01 1.60304505e-03 -1.79941882e+02] [-2.26165753e-03 -4.18666365e-05 -9.99997442e-01 -3.99805639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters 0.01485655128128026 Centerline is valid? [True, True] Translation: X:88.33, Y:-179.99, Z:-4.00 [[-6.35654498e-01 -7.71970926e-01 2.06112190e-03 8.83307892e+01] [-7.71967176e-01 6.35657837e-01 2.40688434e-03 -1.79989396e+02] [-3.16821302e-03 -6.11715931e-05 -9.99994979e-01 -3.99660717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters 0.014744435179967036 Centerline is valid? [True, True] Translation: X:88.25, Y:-180.05, Z:-4.00 [[-5.76126804e-01 -8.17357543e-01 2.13352574e-03 8.82516016e+01] [-8.17352368e-01 5.76130751e-01 2.90952679e-03 -1.80047569e+02] [-3.60731346e-03 -6.75859465e-05 -9.99993491e-01 -3.99615692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters 0.013852112139310554 Centerline is valid? [True, True] Translation: X:88.18, Y:-180.11, Z:-4.00 [[-5.16863318e-01 -8.56065947e-01 1.84530554e-03 8.81829324e+01] [-8.56060816e-01 5.16866610e-01 2.96418928e-03 -1.80113356e+02] [-3.49131832e-03 -4.76130594e-05 -9.99993904e-01 -3.99554560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters 0.012809707745311712 Centerline is valid? [True, True] Translation: X:88.12, Y:-180.19, Z:-4.00 [[-4.55542982e-01 -8.90212842e-01 1.29953663e-03 8.81174716e+01] [-8.90209354e-01 4.55544835e-01 2.49210363e-03 -1.80189463e+02] [-2.81049985e-03 -2.15993432e-05 -9.99996050e-01 -3.99584445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters 0.012796413836639632 Centerline is valid? [True, True] Translation: X:88.05, Y:-180.27, Z:-4.00 [[-3.86723041e-01 -9.22195636e-01 7.06521132e-04 8.80468638e+01] [-9.22194157e-01 3.86723686e-01 1.65175310e-03 -1.80272755e+02] [-1.79646795e-03 -1.27786799e-05 -9.99998386e-01 -3.99605491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters 0.012880058761286804 Centerline is valid? [True, True] Translation: X:87.98, Y:-180.36, Z:-4.00 [[-3.13913565e-01 -9.49451353e-01 6.34284057e-04 8.79806320e+01] [-9.49449522e-01 3.13914205e-01 1.86451526e-03 -1.80364390e+02] [-1.96937731e-03 -1.69240620e-05 -9.99998061e-01 -3.99541622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters 0.01285055373711594 Centerline is valid? [True, True] Translation: X:87.92, Y:-180.46, Z:-4.00 [[-2.40405297e-01 -9.70672505e-01 4.25479440e-04 8.79230551e+01] [-9.70671091e-01 2.40405673e-01 1.65718696e-03 -1.80462005e+02] [-1.71087349e-03 -1.46040671e-05 -9.99998536e-01 -3.99555677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters 0.012913140164871516 Centerline is valid? [True, True] Translation: X:87.87, Y:-180.57, Z:-4.00 [[-1.65699300e-01 -9.86176302e-01 2.06897196e-04 8.78726306e+01] [-9.86175603e-01 1.65699429e-01 1.17404903e-03 -1.80566344e+02] [-1.19210208e-03 -9.49786427e-06 -9.99999289e-01 -3.99576431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters 0.012822822184863894 Centerline is valid? [True, True] Translation: X:87.83, Y:-180.67, Z:-4.00 [[-8.97205429e-02 -9.95966978e-01 6.30532502e-05 8.78282771e+01] [-9.95966767e-01 8.97205649e-02 6.48335950e-04 -1.80674263e+02] [-6.51378371e-04 -4.62988830e-06 -9.99999788e-01 -3.99549187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters 0.012874039311306748 Centerline is valid? [True, True] Translation: X:87.79, Y:-180.79, Z:-3.99 [[-1.31211132e-02 -9.99913914e-01 3.80410721e-05 8.77927580e+01] [-9.99912342e-01 1.31211600e-02 1.77296863e-03 -1.80785154e+02] [-1.77331515e-03 -1.47744153e-05 -9.99998428e-01 -3.99464110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters 0.012597639115119406 Centerline is valid? [True, True] Translation: X:87.77, Y:-180.90, Z:-3.99 [[ 6.27759283e-02 -9.98027610e-01 -2.69076322e-04 8.77676417e+01] [-9.98015543e-01 -6.27764925e-02 4.90788162e-03 -1.80902930e+02] [-4.91509304e-03 -3.95544736e-05 -9.99987920e-01 -3.99201628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters 0.012561101215125103 Centerline is valid? [True, True] Translation: X:87.75, Y:-181.01, Z:-3.99 [[ 1.36860572e-01 -9.90589931e-01 -8.78755358e-04 8.77519392e+01] [-9.90567526e-01 -1.36863386e-01 6.66251054e-03 -1.81009260e+02] [-6.72008529e-03 -4.13684799e-05 -9.99977419e-01 -3.99013679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters 0.01235712782492033 Centerline is valid? [True, True] Translation: X:87.75, Y:-181.13, Z:-3.99 [[ 2.09596279e-01 -9.77786946e-01 -1.44542228e-03 8.77459627e+01] [-9.77762932e-01 -2.09601261e-01 6.85270454e-03 -1.81125941e+02] [-7.00344737e-03 -2.30210459e-05 -9.99975475e-01 -3.98870118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters 0.01212885089227987 Centerline is valid? [True, True] Translation: X:87.75, Y:-181.24, Z:-3.99 [[ 2.80625096e-01 -9.59816517e-01 -1.34492393e-03 8.77504376e+01] [-9.59805519e-01 -2.80628318e-01 4.59484928e-03 -1.81242784e+02] [-4.78763597e-03 1.43539474e-06 -9.99988539e-01 -3.99169426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters 0.012118184781119583 Centerline is valid? [True, True] Translation: X:87.76, Y:-181.36, Z:-3.99 [[ 3.52757181e-01 -9.35714375e-01 -9.89719242e-04 8.77603785e+01] [-9.35710716e-01 -3.52758570e-01 2.61666266e-03 -1.81358658e+02] [-2.79758081e-03 3.04435724e-06 -9.99996087e-01 -3.99302825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters 0.011989491343591547 Centerline is valid? [True, True] Translation: X:87.78, Y:-181.48, Z:-3.99 [[ 4.25206959e-01 -9.05095913e-01 -6.56416656e-04 8.77778320e+01] [-9.05094831e-01 -4.25207466e-01 1.39952241e-03 -1.81476486e+02] [-1.54581528e-03 -9.67346472e-07 -9.99998805e-01 -3.99328090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters 0.012172603079252156 Centerline is valid? [True, True] Translation: X:87.80, Y:-181.59, Z:-3.99 [[ 4.95422277e-01 -8.68652168e-01 -4.23271895e-04 8.78035632e+01] [-8.68651847e-01 -4.95422458e-01 7.46708968e-04 -1.81589887e+02] [-8.58328767e-04 -2.26034390e-06 -9.99999632e-01 -3.99337352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters 0.01253248269428171 Centerline is valid? [True, True] Translation: X:87.84, Y:-181.70, Z:-3.99 [[ 5.62765788e-01 -8.26616304e-01 -3.92137185e-04 8.78368418e+01] [-8.26616098e-01 -5.62765925e-01 5.82589358e-04 -1.81700450e+02] [-7.02259308e-04 -3.71444968e-06 -9.99999753e-01 -3.99305719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters 0.01306198296670095 Centerline is valid? [True, True] Translation: X:87.88, Y:-181.81, Z:-3.99 [[ 6.27344629e-01 -7.78739887e-01 -1.70461147e-03 8.78777735e+01] [-7.78736883e-01 -6.27346944e-01 2.16309875e-03 -1.81808949e+02] [-2.75387407e-03 -2.95645581e-05 -9.99996208e-01 -3.99055579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters 0.014071608391676363 Centerline is valid? [True, True] Translation: X:87.92, Y:-181.91, Z:-3.99 [[ 6.86373771e-01 -7.27239792e-01 -3.65118960e-03 8.79241683e+01] [-7.27228946e-01 -6.86383479e-01 3.97240237e-03 -1.81908889e+02] [-5.39500529e-03 -7.13020334e-05 -9.99985444e-01 -3.98800458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters 0.014353456884074781 Centerline is valid? [True, True] Translation: X:87.97, Y:-182.00, Z:-3.99 [[ 7.39466577e-01 -6.73178112e-01 -4.51798539e-03 8.79747967e+01] [-6.73164874e-01 -7.39480374e-01 4.22236337e-03 -1.81998875e+02] [-6.18336413e-03 -8.09475137e-05 -9.99980880e-01 -3.98719064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters 0.01351410356337086 Centerline is valid? [True, True] Translation: X:88.00, Y:-182.02, Z:-3.99 [[ 7.87696295e-01 -6.16049311e-01 -4.21821104e-03 8.80033788e+01] [-6.16040125e-01 -7.87707588e-01 3.36467831e-03 -1.82019177e+02] [-5.39552460e-03 -5.17573816e-05 -9.99985443e-01 -3.98681794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters 0.012722730463683597 Centerline is valid? [True, True] Translation: X:88.04, Y:-182.03, Z:-3.99 [[ 8.30238890e-01 -5.57391217e-01 -4.29148285e-03 8.80372162e+01] [-5.57383647e-01 -8.30249981e-01 2.90499880e-03 -1.82032396e+02] [-5.18222437e-03 -1.98406224e-05 -9.99986572e-01 -3.98748259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters 0.012420495145695012 Centerline is valid? [True, True] Translation: X:88.07, Y:-182.05, Z:-3.99 [[ 8.67971443e-01 -4.96600620e-01 -3.66036896e-03 8.80678535e+01] [-4.96596264e-01 -8.67979161e-01 2.08001432e-03 -1.82048601e+02] [-4.21006038e-03 1.23325211e-05 -9.99991138e-01 -3.99027923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters 0.013201534362378165 Centerline is valid? [True, True] Translation: X:88.10, Y:-182.07, Z:-3.99 [[ 9.01012718e-01 -4.33791331e-01 -1.07873917e-03 8.80972820e+01] [-4.33791038e-01 -9.01013363e-01 5.04880820e-04 -1.82066899e+02] [-1.19097133e-03 1.30433436e-05 -9.99999291e-01 -3.99392244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters 0.013227202293939928 Centerline is valid? [True, True] Translation: X:88.12, Y:-182.09, Z:-3.99 [[ 9.31716071e-01 -3.63184612e-01 -1.44938647e-03 8.81248885e+01] [-3.63184204e-01 -9.31717198e-01 5.45158457e-04 -1.82090383e+02] [-1.54841147e-03 1.84613769e-05 -9.99998801e-01 -3.99358542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters 0.012885763236576949 Centerline is valid? [True, True] Translation: X:88.15, Y:-182.11, Z:-3.99 [[ 9.58155293e-01 -2.86201517e-01 -5.20821959e-03 8.81536264e+01] [-2.86197541e-01 -9.58169447e-01 1.50929476e-03 -1.82111307e+02] [-5.42231933e-03 4.44408762e-05 -9.99985298e-01 -3.99144485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters 0.012637673350446237 Centerline is valid? [True, True] Translation: X:88.18, Y:-182.13, Z:-3.99 [[ 9.78283141e-01 -2.07126662e-01 -7.78734869e-03 8.81836985e+01] [-2.07120406e-01 -9.78314134e-01 1.61023966e-03 -1.82132578e+02] [-7.95199685e-03 3.76485066e-05 -9.99968382e-01 -3.98871908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters 0.012684352631629347 Centerline is valid? [True, True] Translation: X:88.21, Y:-182.15, Z:-3.98 [[ 9.92035249e-01 -1.25526458e-01 -1.04486457e-02 8.82129424e+01] [-1.25519526e-01 -9.92090272e-01 1.31920256e-03 -1.82152135e+02] [-1.05315946e-02 2.81361377e-06 -9.99944541e-01 -3.98491046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters 0.012585301189109173 Centerline is valid? [True, True] Translation: X:88.24, Y:-182.16, Z:-3.99 [[ 9.98909304e-01 -4.55645391e-02 -1.02017676e-02 8.82435477e+01] [-4.55619879e-02 -9.98961397e-01 4.82472252e-04 -1.82163503e+02] [-1.02131556e-02 -1.71332090e-05 -9.99947844e-01 -3.98584774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters 0.012474926023438119 Centerline is valid? [True, True] Translation: X:88.27, Y:-182.17, Z:-3.99 [[ 9.99363093e-01 3.47099171e-02 -8.28427220e-03 8.82746206e+01] [ 3.47089713e-02 -9.99397429e-01 -2.57956893e-04 -1.82173586e+02] [-8.28823400e-03 -2.97459670e-05 -9.99965652e-01 -3.98917175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters 0.012546015684091087 Centerline is valid? [True, True] Translation: X:88.31, Y:-182.18, Z:-3.99 [[ 9.93435231e-01 1.14218582e-01 -6.36841010e-03 8.83068407e+01] [ 1.14216441e-01 -9.93455643e-01 -7.00082447e-04 -1.82182466e+02] [-6.40669538e-03 -3.18905678e-05 -9.99979476e-01 -3.99053589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters 0.012712937710333539 Centerline is valid? [True, True] Translation: X:88.34, Y:-182.19, Z:-3.99 [[ 9.80954748e-01 1.94207270e-01 -3.36432493e-03 8.83397547e+01] [ 1.94206216e-01 -9.80960517e-01 -6.40110139e-04 -1.82188936e+02] [-3.42458396e-03 -2.54537339e-05 -9.99994136e-01 -3.99156664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters 0.012830925110464957 Centerline is valid? [True, True] Translation: X:88.37, Y:-182.19, Z:-3.99 [[ 9.62433103e-01 2.71505894e-01 -2.65945435e-03 8.83727497e+01] [ 2.71504925e-01 -9.62436777e-01 -7.25785077e-04 -1.82189924e+02] [-2.75661160e-03 -2.35353688e-05 -9.99996200e-01 -3.99187234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters 0.013299613750074683 Centerline is valid? [True, True] Translation: X:88.41, Y:-182.19, Z:-3.99 [[ 9.37384797e-01 3.48285996e-01 -2.57059614e-03 8.84062832e+01] [ 3.48284774e-01 -9.37388321e-01 -9.23205914e-04 -1.82188525e+02] [-2.73118649e-03 -2.99003088e-05 -9.99996270e-01 -3.99208785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters 0.014114536609844177 Centerline is valid? [True, True] Translation: X:88.44, Y:-182.19, Z:-3.99 [[ 9.05898943e-01 4.23475797e-01 -3.91858797e-03 8.84387066e+01] [ 4.23472127e-01 -9.05907416e-01 -1.76398354e-03 -1.82185672e+02] [-4.29688224e-03 -6.14219577e-05 -9.99990767e-01 -3.99047546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters 0.014942073621412214 Centerline is valid? [True, True] Translation: X:88.47, Y:-182.18, Z:-3.99 [[ 8.67569660e-01 4.97273413e-01 -6.48375180e-03 8.84725707e+01] [ 4.97260743e-01 -8.67593876e-01 -3.55249632e-03 -1.82181301e+02] [-7.39182532e-03 -1.42077211e-04 -9.99972670e-01 -3.98769788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters 0.0166160882773084 Centerline is valid? [True, True] Translation: X:88.50, Y:-182.17, Z:-3.99 [[ 8.24855371e-01 5.65300240e-01 -7.01829059e-03 8.85047724e+01] [ 5.65281601e-01 -8.24885208e-01 -4.59399816e-03 -1.82173725e+02] [-8.38627236e-03 -1.77926490e-04 -9.99964819e-01 -3.98544577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters 0.0168138938861053 Centerline is valid? [True, True] Translation: X:88.53, Y:-182.16, Z:-3.99 [[ 7.78104111e-01 6.28104381e-01 -6.23524047e-03 8.85325274e+01] [ 6.28085919e-01 -7.78129076e-01 -4.81863937e-03 -1.82155010e+02] [-7.87843040e-03 -1.66863635e-04 -9.99968951e-01 -3.98551193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters 0.013934040930207196 Centerline is valid? [True, True] Translation: X:88.56, Y:-182.14, Z:-3.99 [[ 7.29851094e-01 6.83594452e-01 -4.00065471e-03 8.85584934e+01] [ 6.83584838e-01 -7.29862054e-01 -3.62663085e-03 -1.82135077e+02] [-5.39907079e-03 -8.78864039e-05 -9.99985421e-01 -3.98793196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters 0.013236071306222471 Centerline is valid? [True, True] Translation: X:88.58, Y:-182.12, Z:-3.99 [[ 6.77578883e-01 7.35444234e-01 -2.93865629e-03 8.85825656e+01] [ 7.35437630e-01 -6.77585254e-01 -3.11699003e-03 -1.82115713e+02] [-4.28356252e-03 -4.91917937e-05 -9.99990824e-01 -3.98844268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters 0.012497847817557023 Centerline is valid? [True, True] Translation: X:88.60, Y:-182.09, Z:-3.99 [[ 6.22543408e-01 7.82581085e-01 -2.55958055e-03 8.86030666e+01] [ 7.82574620e-01 -6.22548669e-01 -3.18094743e-03 -1.82092005e+02] [-4.08281275e-03 -2.27849248e-05 -9.99991665e-01 -3.98810229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters 0.0124018180958957 Centerline is valid? [True, True] Translation: X:88.63, Y:-182.07, Z:-3.99 [[ 5.60073504e-01 8.28436324e-01 -3.30556614e-03 8.86262736e+01] [ 8.28422189e-01 -5.60083258e-01 -4.83953920e-03 -1.82071246e+02] [-5.86064232e-03 -2.79066594e-05 -9.99982826e-01 -3.98686690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters 0.013045543258986865 Centerline is valid? [True, True] Translation: X:88.65, Y:-182.05, Z:-3.98 [[ 4.89368105e-01 8.72064174e-01 -4.78898847e-03 8.86532415e+01] [ 8.72024240e-01 -4.89391528e-01 -8.34604815e-03 -1.82052516e+02] [-9.62197997e-03 -9.18242634e-05 -9.99953704e-01 -3.98242380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters 0.013754488421253656 Centerline is valid? [True, True] Translation: X:88.67, Y:-182.03, Z:-3.98 [[ 4.17711408e-01 9.08564082e-01 -5.33752587e-03 8.86743927e+01] [ 9.08494306e-01 -4.17745483e-01 -1.12608551e-02 -1.82027772e+02] [-1.24609358e-02 -1.45324210e-04 -9.99922349e-01 -3.97999878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters 0.013657005360310689 Centerline is valid? [True, True] Translation: X:88.69, Y:-182.00, Z:-3.98 [[ 3.46154604e-01 9.38166353e-01 -4.56985599e-03 8.86887551e+01] [ 9.38089786e-01 -3.46184740e-01 -1.19866401e-02 -1.82000972e+02] [-1.28274769e-02 -1.37704560e-04 -9.99917715e-01 -3.97994864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters 0.0129528873465307 Centerline is valid? [True, True] Translation: X:88.70, Y:-181.97, Z:-3.98 [[ 2.75292673e-01 9.61356069e-01 -2.90749439e-03 8.86981605e+01] [ 9.61305161e-01 -2.75308017e-01 -9.89362423e-03 -1.81971721e+02] [-1.03117522e-02 -7.13471028e-05 -9.99946830e-01 -3.98167319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters 0.012368360316574125 Centerline is valid? [True, True] Translation: X:88.70, Y:-181.94, Z:-3.99 [[ 2.07144686e-01 9.78309541e-01 -1.23363987e-03 8.87037782e+01] [ 9.78291966e-01 -2.07148359e-01 -5.86398703e-03 -1.81941782e+02] [-5.99234094e-03 7.83377892e-06 -9.99982046e-01 -3.98590326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters 0.01240166784944994 Centerline is valid? [True, True] Translation: X:88.72, Y:-181.91, Z:-3.99 [[ 1.33848683e-01 9.91001546e-01 -6.83060180e-04 8.87171304e+01] [ 9.90987545e-01 -1.33850423e-01 -5.26778142e-03 -1.81912342e+02] [-5.31180742e-03 2.81814729e-05 -9.99985892e-01 -3.98770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters 0.012661354133251352 Centerline is valid? [True, True] Translation: X:88.73, Y:-181.88, Z:-3.99 [[ 5.73023952e-02 9.98356792e-01 -3.88232762e-04 8.87291362e+01] [ 9.98327363e-01 -5.73036870e-02 -7.66571787e-03 -1.81882344e+02] [-7.67536868e-03 5.16806050e-05 -9.99970543e-01 -3.98692856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters 0.012682490798521661 Centerline is valid? [True, True] Translation: X:88.74, Y:-181.85, Z:-3.98 [[-2.28612557e-02 9.99738611e-01 2.70617701e-04 8.87402486e+01] [ 9.99691272e-01 2.28628068e-02 -9.72900302e-03 -1.81853276e+02] [-9.73264704e-03 4.81169269e-05 -9.99952636e-01 -3.98458750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters 0.012577750132930363 Centerline is valid? [True, True] Translation: X:88.75, Y:-181.82, Z:-3.98 [[-1.03241516e-01 9.94655585e-01 1.20665873e-03 8.87491319e+01] [ 9.94591146e-01 1.03248562e-01 -1.13219520e-02 -1.81821474e+02] [-1.13860286e-02 3.12366037e-05 -9.99935177e-01 -3.98484716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters 0.012408118533515053 Centerline is valid? [True, True] Translation: X:88.76, Y:-181.79, Z:-3.99 [[-1.82850884e-01 9.83138155e-01 2.21856605e-03 8.87551529e+01] [ 9.83066345e-01 1.82864343e-01 -1.18825049e-02 -1.81789353e+02] [-1.20878406e-02 8.27109152e-06 -9.99926939e-01 -3.98530315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters 0.012474315875192838 Centerline is valid? [True, True] Translation: X:88.76, Y:-181.76, Z:-3.99 [[-2.60381144e-01 9.65500622e-01 3.19502599e-03 8.87555534e+01] [ 9.65427677e-01 2.60400746e-01 -1.18681265e-02 -1.81758323e+02] [-1.22906707e-02 -5.66983571e-06 -9.99924467e-01 -3.98509156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters 0.012302783615990824 Centerline is valid? [True, True] Translation: X:88.75, Y:-181.73, Z:-3.99 [[-3.36893669e-01 9.41536560e-01 3.40039006e-03 8.87547025e+01] [ 9.41487929e-01 3.36910829e-01 -9.56935367e-03 -1.81726579e+02] [-1.01555246e-02 -2.24284761e-05 -9.99948431e-01 -3.98837734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters 0.012315116207718689 Centerline is valid? [True, True] Translation: X:88.75, Y:-181.69, Z:-3.99 [[-4.11367259e-01 9.11463462e-01 3.36692802e-03 8.87523300e+01] [ 9.11432261e-01 4.11381036e-01 -7.54164500e-03 -1.81693579e+02] [-8.25902420e-03 -3.36590185e-05 -9.99965893e-01 -3.99010188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters 0.01248719503316187 Centerline is valid? [True, True] Translation: X:88.75, Y:-181.66, Z:-3.99 [[-4.84634257e-01 8.74707370e-01 4.08083960e-03 8.87484044e+01] [ 8.74675217e-01 4.84651434e-01 -7.50016859e-03 -1.81660773e+02] [-8.53823751e-03 -6.54293716e-05 -9.99963547e-01 -3.99116618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters 0.013015525411272226 Centerline is valid? [True, True] Translation: X:88.74, Y:-181.63, Z:-3.99 [[-5.54336361e-01 8.32271135e-01 5.99637876e-03 8.87416802e+01] [ 8.32220081e-01 5.54368779e-01 -9.21921861e-03 -1.81628535e+02] [-1.09970947e-02 -1.20241274e-04 -9.99939523e-01 -3.98929305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters 0.01354502828346313 Centerline is valid? [True, True] Translation: X:88.73, Y:-181.60, Z:-3.99 [[-6.20513866e-01 7.84145815e-01 8.82513223e-03 8.87323962e+01] [ 7.84061685e-01 6.20576585e-01 -1.14881135e-02 -1.81595583e+02] [-1.44850266e-02 -2.09085693e-04 -9.99895065e-01 -3.98694382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters 0.014914071506860593 Centerline is valid? [True, True] Translation: X:88.72, Y:-181.56, Z:-3.98 [[-6.82422845e-01 7.30869477e-01 1.13520088e-02 8.87214199e+01] [ 7.30760969e-01 6.82517192e-01 -1.25972218e-02 -1.81564413e+02] [-1.69548660e-02 -3.01026959e-04 -9.99856211e-01 -3.98373045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters 0.014452885514839137 Centerline is valid? [True, True] Translation: X:88.70, Y:-181.54, Z:-3.98 [[-7.37376589e-01 6.75363887e-01 1.26248050e-02 8.87022892e+01] [ 6.75257812e-01 7.37484595e-01 -1.19732791e-02 -1.81537236e+02] [-1.73969195e-02 -3.03817503e-04 -9.99848616e-01 -3.98458937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters 0.01378051532212865 Centerline is valid? [True, True] Translation: X:88.72, Y:-181.52, Z:-3.98 [[-7.80951553e-01 6.24420178e-01 1.46325915e-02 8.87169293e+01] [ 6.24304310e-01 7.81088582e-01 -1.20314509e-02 -1.81519241e+02] [-1.89420309e-02 -2.60790315e-04 -9.99820550e-01 -3.98381481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters 0.013010176603080282 Centerline is valid? [True, True] Translation: X:88.73, Y:-181.50, Z:-3.98 [[-8.21032657e-01 5.70685118e-01 1.49623709e-02 8.87341558e+01] [ 5.70586309e-01 8.21168961e-01 -1.06208233e-02 -1.81504118e+02] [-1.83477804e-02 -1.82718826e-04 -9.99831649e-01 -3.98496323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters 0.012088437503750308 Centerline is valid? [True, True] Translation: X:88.75, Y:-181.49, Z:-3.99 [[-8.56339716e-01 5.16218949e-01 1.41523190e-02 8.87481380e+01] [ 5.16147128e-01 8.56456649e-01 -8.61105906e-03 -1.81488997e+02] [-1.65660395e-02 -6.93130769e-05 -9.99862771e-01 -3.98722024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters 0.012047972423661714 Centerline is valid? [True, True] Translation: X:88.76, Y:-181.47, Z:-3.99 [[-8.89973312e-01 4.55777494e-01 1.46417250e-02 8.87602516e+01] [ 4.55715064e-01 8.90093745e-01 -7.54356945e-03 -1.81467299e+02] [-1.64706970e-02 -4.11208601e-05 -9.99864348e-01 -3.98865110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters 0.012101232445426192 Centerline is valid? [True, True] Translation: X:88.76, Y:-181.44, Z:-3.99 [[-9.18811619e-01 3.94439326e-01 1.42417387e-02 8.87614164e+01] [ 3.94392112e-01 9.18921987e-01 -6.10277613e-03 -1.81443207e+02] [-1.54942218e-02 9.52780477e-06 -9.99879957e-01 -3.98846203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters 0.012185060411240456 Centerline is valid? [True, True] Translation: X:89.02, Y:-180.86, Z:-5.05 [[-8.90588701e-01 -4.54578765e-01 1.44883440e-02 8.90228556e+01] [ 4.54519291e-01 -8.90706543e-01 -7.35311816e-03 -1.80861960e+02] [ 1.62474342e-02 3.66279014e-05 9.99868001e-01 -5.04694060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters 0.012123073856142731 Centerline is valid? [True, True] Translation: X:88.72, Y:-181.43, Z:-3.99 [[-9.20892159e-01 3.89502779e-01 1.56593884e-02 8.87249670e+01] [ 3.89446123e-01 9.21025290e-01 -6.64321036e-03 -1.81429761e+02] [-1.70102417e-02 -1.91922178e-05 -9.99855315e-01 -3.98799162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters 0.012515513101291589 Centerline is valid? [True, True] Translation: X:88.73, Y:-181.40, Z:-3.99 [[-9.47137965e-01 3.20389534e-01 1.67398149e-02 8.87293957e+01] [ 3.20338131e-01 9.47285881e-01 -5.73937423e-03 -1.81400520e+02] [-1.76962257e-02 -7.35782153e-05 -9.99843407e-01 -3.98656714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters 0.01272613079840282 Centerline is valid? [True, True] Translation: X:88.94, Y:-180.80, Z:-5.05 [[-9.20023924e-01 -3.91549902e-01 1.56414464e-02 8.89422835e+01] [ 3.91493812e-01 -9.20156875e-01 -6.62731661e-03 -1.80803016e+02] [ 1.69875096e-02 2.62396443e-05 9.99855702e-01 -5.04834781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters 0.012541909738238896 Centerline is valid? [True, True] Translation: X:88.69, Y:-181.39, Z:-3.99 [[-9.47667351e-01 3.18899126e-01 1.51637431e-02 8.86857422e+01] [ 3.18857764e-01 9.47788661e-01 -5.13615951e-03 -1.81389115e+02] [-1.60099405e-02 -3.22934742e-05 -9.99871832e-01 -3.98890822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters 0.012929691494353635 Centerline is valid? [True, True] Translation: X:88.70, Y:-181.37, Z:-3.99 [[-9.67336202e-01 2.53050577e-01 1.50358531e-02 8.86955912e+01] [ 2.53020066e-01 9.67453051e-01 -3.92950582e-03 -1.81365766e+02] [-1.55408456e-02 3.21928884e-06 -9.99879234e-01 -3.98775043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters 0.01321552611058212 Centerline is valid? [True, True] Translation: X:88.86, Y:-180.74, Z:-5.04 [[-9.49434114e-01 -3.13627374e-01 1.45853962e-02 8.88614602e+01] [ 3.13590154e-01 -9.49546139e-01 -4.83169939e-03 -1.80741587e+02] [ 1.53648598e-02 -1.35435915e-05 9.99881954e-01 -5.04472454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters 0.014173994205819664 Centerline is valid? [True, True] Translation: X:88.65, Y:-181.36, Z:-3.99 [[-9.66655894e-01 2.55656618e-01 1.46995369e-02 8.86523458e+01] [ 2.55628659e-01 9.66767647e-01 -3.78221627e-03 -1.81359646e+02] [-1.51779853e-02 1.01521258e-04 -9.99884803e-01 -3.98884307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters 0.013933049935811435 Centerline is valid? [True, True] Translation: X:88.66, Y:-181.33, Z:-3.99 [[-9.82067941e-01 1.88026666e-01 1.37306857e-02 8.86572743e+01] [ 1.88009942e-01 9.82163917e-01 -2.51037665e-03 -1.81332407e+02] [-1.39578018e-02 1.16144998e-04 -9.99902578e-01 -3.99181927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters 0.013978156434343832 Centerline is valid? [True, True] Translation: X:88.66, Y:-181.30, Z:-3.99 [[-9.92897302e-01 1.18338055e-01 1.22903030e-02 8.86609468e+01] [ 1.18330344e-01 9.92973360e-01 -1.35529777e-03 -1.81303256e+02] [-1.23643267e-02 1.08644276e-04 -9.99923553e-01 -3.99347375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters 0.013604651968185673 Centerline is valid? [True, True] Translation: X:88.73, Y:-180.66, Z:-5.04 [[-9.85653144e-01 -1.68435152e-01 1.08387710e-02 8.87279686e+01] [ 1.68422921e-01 -9.85712720e-01 -2.03800874e-03 -1.80664136e+02] [ 1.10271867e-02 -1.83272250e-04 9.99939182e-01 -5.04051019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters 0.01357839130811145 Centerline is valid? [True, True] Translation: X:88.61, Y:-181.29, Z:-3.99 [[-9.93640547e-01 1.12243026e-01 8.94239557e-03 8.86055458e+01] [ 1.12239023e-01 9.93680784e-01 -9.49800345e-04 -1.81289959e+02] [-8.99249511e-03 5.99256118e-05 -9.99959565e-01 -3.99393497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters 0.013276731722229476 Centerline is valid? [True, True] Translation: X:88.68, Y:-180.67, Z:-5.04 [[-9.85778587e-01 -1.67885791e-01 7.41205130e-03 8.86774322e+01] [ 1.67879930e-01 -9.85806441e-01 -1.41042144e-03 -1.80667311e+02] [ 7.54363763e-03 -1.46028600e-04 9.99971536e-01 -5.04060322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters 0.013197647694076517 Centerline is valid? [True, True] Translation: X:88.56, Y:-181.28, Z:-4.00 [[-9.94708777e-01 1.02562155e-01 5.95421679e-03 8.85577823e+01] [ 1.02560351e-01 9.94726598e-01 -6.08244292e-04 -1.81277930e+02] [-5.98520065e-03 5.64062958e-06 -9.99982089e-01 -3.99588491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters 0.013444016274988464 Centerline is valid? [True, True] Translation: X:88.61, Y:-180.68, Z:-5.04 [[-9.84596467e-01 -1.74799920e-01 3.84507274e-03 8.86146965e+01] [ 1.74797993e-01 -9.84603964e-01 -8.34229139e-04 -1.80675180e+02] [ 3.93169705e-03 -1.49268065e-04 9.99992260e-01 -5.03919671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters 0.013847022630236508 Centerline is valid? [True, True] Translation: X:88.50, Y:-181.26, Z:-4.00 [[-9.96053211e-01 8.86964010e-02 3.30889244e-03 8.85040451e+01] [ 8.86958158e-02 9.96058707e-01 -3.23466053e-04 -1.81257694e+02] [-3.32454140e-03 -2.87044865e-05 -9.99994473e-01 -3.99503482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters 0.013827534102194198 Centerline is valid? [True, True] Translation: X:88.50, Y:-181.23, Z:-3.99 [[-9.99835896e-01 1.77966722e-02 3.38528466e-03 8.84981557e+01] [ 1.77964707e-02 9.99841626e-01 -8.96380162e-05 -1.81227710e+02] [-3.38634378e-03 -2.93771870e-05 -9.99994266e-01 -3.99389049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters 0.013547771052315069 Centerline is valid? [True, True] Translation: X:88.51, Y:-180.65, Z:-5.04 [[-9.94805511e-01 -1.01752741e-01 2.89386046e-03 8.85120356e+01] [ 1.01752296e-01 -9.94809720e-01 -3.00926005e-04 -1.80648986e+02] [ 2.90946056e-03 -4.90590115e-06 9.99995768e-01 -5.04161747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters 0.013207164442854665 Centerline is valid? [True, True] Translation: X:88.45, Y:-181.23, Z:-3.99 [[-9.99829841e-01 1.83738405e-02 1.64038045e-03 8.84495335e+01] [ 1.83738072e-02 9.99831187e-01 -3.53318199e-05 -1.81226164e+02] [-1.64075271e-03 -5.18577367e-06 -9.99998654e-01 -3.99368892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters 0.013073904395498721 Centerline is valid? [True, True] Translation: X:88.46, Y:-180.65, Z:-5.04 [[-9.95683478e-01 -9.28111505e-02 7.07938462e-04 8.84636038e+01] [ 9.28110863e-02 -9.95683729e-01 -1.23056147e-04 -1.80650897e+02] [ 7.16303791e-04 -5.68204353e-05 9.99999742e-01 -5.04185487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters 0.012829267283738484 Centerline is valid? [True, True] Translation: X:88.40, Y:-181.22, Z:-3.99 [[-9.99827048e-01 1.85555052e-02 1.25197687e-03 8.83991021e+01] [ 1.85554935e-02 9.99827832e-01 -2.09791422e-05 -1.81224228e+02] [-1.25215060e-03 2.25553485e-06 -9.99999216e-01 -3.99265439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters 0.0129302042646545 Centerline is valid? [True, True] Translation: X:88.41, Y:-180.65, Z:-5.04 [[-9.96483999e-01 -8.37347094e-02 2.85275875e-03 8.84109380e+01] [ 8.37346456e-02 -9.96488078e-01 -1.42019052e-04 -1.80649981e+02] [ 2.85463201e-03 9.73550298e-05 9.99995921e-01 -5.04397124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters 0.013060411137193468 Centerline is valid? [True, True] Translation: X:88.35, Y:-181.22, Z:-3.99 [[-9.99786943e-01 2.03102373e-02 3.68292106e-03 8.83472129e+01] [ 2.03101786e-02 9.99793726e-01 -5.33307770e-05 -1.81224782e+02] [-3.68324452e-03 2.14813700e-05 -9.99993217e-01 -3.99063539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters 0.013396961258831885 Centerline is valid? [True, True] Translation: X:88.34, Y:-181.20, Z:-3.99 [[-9.98809045e-01 -4.86462138e-02 3.74664353e-03 8.83410550e+01] [-4.86457592e-02 9.98816072e-01 2.12416553e-04 -1.81199103e+02] [-3.75254104e-03 2.99052555e-05 -9.99992959e-01 -3.99066404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters 0.013510478640971806 Centerline is valid? [True, True] Translation: X:88.33, Y:-181.17, Z:-3.99 [[-9.93091554e-01 -1.17291925e-01 3.43063768e-03 8.83290746e+01] [-1.17291102e-01 9.93097479e-01 4.41058620e-04 -1.81172251e+02] [-3.45869024e-03 3.56283183e-05 -9.99994018e-01 -3.99117495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters 0.013569082194193624 Centerline is valid? [True, True] Translation: X:88.32, Y:-181.15, Z:-3.99 [[-9.82538436e-01 -1.86022060e-01 3.74371260e-03 8.83181482e+01] [-1.86020532e-01 9.82545567e-01 7.55374485e-04 -1.81146276e+02] [-3.81888454e-03 4.57770564e-05 -9.99992707e-01 -3.99178541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters 0.014023584031724408 Centerline is valid? [True, True] Translation: X:88.30, Y:-181.12, Z:-3.99 [[-9.67384372e-01 -2.53288071e-01 3.55385977e-03 8.83000821e+01] [-2.53286159e-01 9.67390898e-01 9.85728059e-04 -1.81122263e+02] [-3.68764475e-03 5.34344302e-05 -9.99993199e-01 -3.99206859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters 0.014141854230858196 Centerline is valid? [True, True] Translation: X:88.27, Y:-181.10, Z:-3.99 [[-9.46863079e-01 -3.21608463e-01 4.27859406e-03 8.82705966e+01] [-3.21604857e-01 9.46872743e-01 1.52446319e-03 -1.81101697e+02] [-4.54156436e-03 6.74412843e-05 -9.99989685e-01 -3.99156667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters 0.014162068066805814 Centerline is valid? [True, True] Translation: X:88.23, Y:-181.08, Z:-3.99 [[-9.20394880e-01 -3.90946951e-01 5.80915028e-03 8.82310785e+01] [-3.90938618e-01 9.20413209e-01 2.55379133e-03 -1.81083735e+02] [-6.34521558e-03 7.94752883e-05 -9.99979866e-01 -3.98978685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters 0.013991591841231324 Centerline is valid? [True, True] Translation: X:88.17, Y:-181.08, Z:-3.99 [[-8.88805643e-01 -4.58224093e-01 7.43034141e-03 8.81739055e+01] [-4.58207210e-01 8.88836696e-01 3.93464074e-03 -1.81078466e+02] [-8.40730730e-03 9.24948894e-05 -9.99964654e-01 -3.98866557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters 0.013589327925447729 Centerline is valid? [True, True] Translation: X:88.11, Y:-181.08, Z:-3.99 [[-8.52355979e-01 -5.22903232e-01 7.84187413e-03 8.81060536e+01] [-5.22880064e-01 8.52392047e-01 4.92319422e-03 -1.81084286e+02] [-9.25870531e-03 9.59543851e-05 -9.99957133e-01 -3.98937437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters 0.01355761570666903 Centerline is valid? [True, True] Translation: X:88.03, Y:-181.10, Z:-3.99 [[-8.11000292e-01 -5.84990678e-01 8.02706988e-03 8.80331950e+01] [-5.84960863e-01 8.11040010e-01 5.90691839e-03 -1.81099314e+02] [-9.96576703e-03 9.49908208e-05 -9.99950336e-01 -3.99014701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters 0.01321577929040483 Centerline is valid? [True, True] Translation: X:87.96, Y:-181.12, Z:-3.99 [[-7.64946353e-01 -6.44056107e-01 6.98634575e-03 8.79590417e+01] [-6.44028264e-01 7.64978251e-01 5.98920701e-03 -1.81120731e+02] [-9.20178790e-03 8.20179280e-05 -9.99957659e-01 -3.99204893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters 0.013615275170483965 Centerline is valid? [True, True] Translation: X:87.88, Y:-181.15, Z:-3.99 [[-7.14300857e-01 -6.99819696e-01 5.16526771e-03 8.78809708e+01] [-6.99800798e-01 7.14319530e-01 5.14318680e-03 -1.81154261e+02] [-7.28895503e-03 5.91242697e-05 -9.99973434e-01 -3.99162481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters 0.012880078897753612 Centerline is valid? [True, True] Translation: X:87.80, Y:-181.19, Z:-3.99 [[-6.59166825e-01 -7.51985956e-01 4.02727684e-03 8.78030460e+01] [-7.51971521e-01 6.59179126e-01 4.65955265e-03 -1.81193587e+02] [-6.15861499e-03 4.30250346e-05 -9.99981035e-01 -3.99448128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters 0.012606522743628223 Centerline is valid? [True, True] Translation: X:87.72, Y:-181.25, Z:-4.00 [[-5.98364992e-01 -8.01215746e-01 3.55875990e-03 8.77234119e+01] [-8.01201357e-01 5.98375574e-01 4.80191425e-03 -1.81246684e+02] [-5.97684431e-03 2.20141208e-05 -9.99982138e-01 -3.99556832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters 0.012404547353540478 Centerline is valid? [True, True] Translation: X:87.64, Y:-181.31, Z:-4.00 [[-5.31630118e-01 -8.46968619e-01 3.68475082e-03 8.76436332e+01] [-8.46948478e-01 5.31642887e-01 5.84088979e-03 -1.81309348e+02] [-6.90602192e-03 -1.56011701e-05 -9.99976153e-01 -3.99544938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters 0.01288890938774407 Centerline is valid? [True, True] Translation: X:87.57, Y:-181.38, Z:-3.99 [[-4.62080115e-01 -8.86830193e-01 3.76516015e-03 8.75688978e+01] [-8.86801768e-01 4.62095451e-01 7.10064579e-03 -1.81375145e+02] [-8.03693045e-03 -5.78834523e-05 -9.99967702e-01 -3.99388013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters 0.013390563591711431 Centerline is valid? [True, True] Translation: X:87.50, Y:-181.46, Z:-3.99 [[-3.89042451e-01 -9.21211649e-01 3.88192210e-03 8.74979344e+01] [-9.21168876e-01 3.89061798e-01 8.87797865e-03 -1.81455396e+02] [-9.68880495e-03 -1.21995245e-04 -9.99953055e-01 -3.99384698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters 0.014866184329807594 Centerline is valid? [True, True] Translation: X:87.43, Y:-181.54, Z:-3.99 [[-3.11911513e-01 -9.50102053e-01 4.15910523e-03 8.74337094e+01] [-9.50027788e-01 3.11939144e-01 1.18816107e-02 -1.81537004e+02] [-1.25861304e-02 -2.45254379e-04 -9.99920762e-01 -3.99148752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters 0.015707565584884148 Centerline is valid? [True, True] Translation: X:87.38, Y:-181.63, Z:-3.99 [[-2.36044933e-01 -9.71736337e-01 3.35872036e-03 8.73765545e+01] [-9.71655064e-01 2.36068642e-01 1.25710837e-02 -1.81628220e+02] [-1.30086674e-02 -2.96177033e-04 -9.99915340e-01 -3.99049161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters 0.017178299004288657 Centerline is valid? [True, True] Translation: X:87.33, Y:-181.73, Z:-3.99 [[-1.59119814e-01 -9.87256400e-01 2.38451457e-03 8.73275716e+01] [-9.87174445e-01 1.59137340e-01 1.27248468e-02 -1.81725355e+02] [-1.29421518e-02 -3.29156582e-04 -9.99916193e-01 -3.98999267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters 0.01659116704948786 Centerline is valid? [True, True] Translation: X:87.29, Y:-181.82, Z:-3.99 [[-8.34642457e-02 -9.96509782e-01 1.40476892e-03 8.72902706e+01] [-9.96427573e-01 8.34754101e-02 1.28042058e-02 -1.81824991e+02] [-1.28767800e-02 -3.31057107e-04 -9.99917036e-01 -3.99106442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters 0.016632019154379295 Centerline is valid? [True, True] Translation: X:87.26, Y:-181.93, Z:-3.99 [[-8.41911012e-03 -9.99964466e-01 4.30174284e-04 8.72604460e+01] [-9.99880639e-01 8.42397599e-03 1.29515905e-02 -1.81928138e+02] [-1.29547541e-02 -3.21082071e-04 -9.99916032e-01 -3.99094986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters 0.015831992669608958 Centerline is valid? [True, True] Translation: X:87.24, Y:-182.04, Z:-3.99 [[ 6.48396248e-02 -9.97895500e-01 -6.27801601e-04 8.72438901e+01] [-9.97789062e-01 -6.48418803e-02 1.45780318e-02 -1.82035312e+02] [-1.45880602e-02 -3.18820541e-04 -9.99893538e-01 -3.99005466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters 0.015120084511593393 Centerline is valid? [True, True] Translation: X:87.23, Y:-182.15, Z:-3.99 [[ 1.37792642e-01 -9.90459186e-01 -1.94643460e-03 8.72334909e+01] [-9.90326308e-01 -1.37806044e-01 1.62264492e-02 -1.82146470e+02] [-1.63398661e-02 -3.08279924e-04 -9.99866448e-01 -3.98858931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters 0.01408065197344499 Centerline is valid? [True, True] Translation: X:87.23, Y:-182.26, Z:-3.99 [[ 2.10079046e-01 -9.77679241e-01 -3.17749402e-03 8.72327612e+01] [-9.77548043e-01 -2.10102915e-01 1.60183618e-02 -1.82255084e+02] [-1.63284205e-02 -2.58969092e-04 -9.99866649e-01 -3.98918876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters 0.013636561345643042 Centerline is valid? [True, True] Translation: X:87.24, Y:-182.37, Z:-3.99 [[ 2.80303294e-01 -9.59899301e-01 -4.83692408e-03 8.72438751e+01] [-9.59743125e-01 -2.80344944e-01 1.73160817e-02 -1.82366837e+02] [-1.79777019e-02 -2.11550097e-04 -9.99838366e-01 -3.98733057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters 0.01367064647777934 Centerline is valid? [True, True] Translation: X:87.26, Y:-182.49, Z:-3.99 [[ 3.51165845e-01 -9.36290145e-01 -6.58127960e-03 8.72612688e+01] [-9.36115400e-01 -3.51227458e-01 1.80895057e-02 -1.82487290e+02] [-1.92485520e-02 -1.91579364e-04 -9.99814711e-01 -3.98642143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters 0.013772319079183486 Centerline is valid? [True, True] Translation: X:87.28, Y:-182.60, Z:-3.99 [[ 4.23874567e-01 -9.05694851e-01 -6.86935524e-03 8.72763385e+01] [-9.05567999e-01 -4.23930176e-01 1.51593335e-02 -1.82598009e+02] [-1.66418573e-02 -2.04987663e-04 -9.99861494e-01 -3.98823481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters 0.014452998605785645 Centerline is valid? [True, True] Translation: X:87.30, Y:-182.71, Z:-3.99 [[ 4.93897605e-01 -8.69486188e-01 -7.67629104e-03 8.73025127e+01] [-8.69373674e-01 -4.93957198e-01 1.39893148e-02 -1.82714108e+02] [-1.59552752e-02 -2.35723710e-04 -9.99872679e-01 -3.98881152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters 0.01421526601148622 Centerline is valid? [True, True] Translation: X:87.33, Y:-182.81, Z:-3.99 [[ 5.58843008e-01 -8.29235457e-01 -7.94036242e-03 8.73312124e+01] [-8.29146223e-01 -5.58899374e-01 1.21667682e-02 -1.82813372e+02] [-1.45269792e-02 -2.15591849e-04 -9.99894455e-01 -3.99040047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters 0.013661522442214656 Centerline is valid? [True, True] Translation: X:87.37, Y:-182.91, Z:-3.99 [[ 6.17836358e-01 -7.86262590e-01 -8.32909835e-03 8.73714972e+01] [-7.86187644e-01 -6.17892477e-01 1.08570090e-02 -1.82912596e+02] [-1.36829473e-02 -1.59620711e-04 -9.99906371e-01 -3.99079032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters 0.013388107283814066 Centerline is valid? [True, True] Translation: X:87.42, Y:-183.01, Z:-3.99 [[ 6.74264939e-01 -7.38430580e-01 -9.33112815e-03 8.74188622e+01] [-7.38357094e-01 -6.74329489e-01 1.04183454e-02 -1.83010329e+02] [-1.39854797e-02 -1.35020331e-04 -9.99902189e-01 -3.98945916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters 0.013509028382916942 Centerline is valid? [True, True] Translation: X:87.47, Y:-183.10, Z:-3.99 [[ 7.28067677e-01 -6.85435268e-01 -9.79544839e-03 8.74702711e+01] [-6.85370893e-01 -7.28133557e-01 9.39477793e-03 -1.83102963e+02] [-1.35719068e-02 -1.26518935e-04 -9.99907890e-01 -3.98928470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters 0.014182665442273394 Centerline is valid? [True, True] Translation: X:87.50, Y:-183.13, Z:-3.99 [[ 7.80582648e-01 -6.24957220e-01 -1.09180373e-02 8.74957317e+01] [-6.24893246e-01 -7.80658983e-01 8.94328875e-03 -1.83127810e+02] [-1.41124368e-02 -1.58368223e-04 -9.99900402e-01 -3.98790081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters 0.013834560932688903 Centerline is valid? [True, True] Translation: X:87.52, Y:-183.15, Z:-3.99 [[ 8.27481310e-01 -5.61371777e-01 -1.16795017e-02 8.75225882e+01] [-5.61312938e-01 -8.27563713e-01 8.12934502e-03 -1.83151702e+02] [-1.42291166e-02 -1.71025654e-04 -9.99898746e-01 -3.98929834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters 0.013843863526811903 Centerline is valid? [True, True] Translation: X:87.55, Y:-183.17, Z:-3.99 [[ 8.68622293e-01 -4.95334082e-01 -1.18093403e-02 8.75526064e+01] [-4.95285817e-01 -8.68702551e-01 6.91642629e-03 -1.83173486e+02] [-1.36847457e-02 -1.58763318e-04 -9.99906347e-01 -3.98910260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters 0.013799183728164872 Centerline is valid? [True, True] Translation: X:87.58, Y:-183.19, Z:-3.99 [[ 9.04296160e-01 -4.26766542e-01 -1.08983849e-02 8.75842676e+01] [-4.26733834e-01 -9.04361821e-01 5.28514551e-03 -1.83190234e+02] [-1.21116065e-02 -1.28627204e-04 -9.99926644e-01 -3.98989353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters 0.01336773432544314 Centerline is valid? [True, True] Translation: X:87.62, Y:-183.21, Z:-3.99 [[ 9.34917479e-01 -3.54724430e-01 -9.99429259e-03 8.76163402e+01] [-3.54702857e-01 -9.34970890e-01 3.91381373e-03 -1.83207659e+02] [-1.07326980e-02 -1.14088732e-04 -9.99942397e-01 -3.99118851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters 0.014020056651919978 Centerline is valid? [True, True] Translation: X:87.65, Y:-183.22, Z:-3.99 [[ 9.59898247e-01 -2.80191320e-01 -9.39035998e-03 8.76490330e+01] [-2.80176815e-01 -9.59944172e-01 2.85300269e-03 -1.83222725e+02] [-9.81360792e-03 -1.07631126e-04 -9.99951840e-01 -3.99051835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters 0.013633630949757532 Centerline is valid? [True, True] Translation: X:87.68, Y:-183.24, Z:-3.99 [[ 9.79263352e-01 -2.02404659e-01 -8.69718502e-03 8.76824950e+01] [-2.02395638e-01 -9.79301966e-01 1.91435405e-03 -1.83236939e+02] [-8.90464457e-03 -1.14384446e-04 -9.99960346e-01 -3.99192111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters 0.013926164581788261 Centerline is valid? [True, True] Translation: X:87.72, Y:-183.25, Z:-3.99 [[ 9.92151155e-01 -1.24739857e-01 -8.72093600e-03 8.77178680e+01] [-1.24733998e-01 -9.92189475e-01 1.21474585e-03 -1.83247904e+02] [-8.80434813e-03 -1.17414283e-04 -9.99961234e-01 -3.99137915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters 0.013864982015018243 Centerline is valid? [True, True] Translation: X:87.75, Y:-183.25, Z:-3.99 [[ 9.98862762e-01 -4.67493772e-02 -9.36370171e-03 8.77495849e+01] [-4.67461554e-02 -9.98906642e-01 5.62766078e-04 -1.83254270e+02] [-9.37977280e-03 -1.24409024e-04 -9.99956001e-01 -3.99093992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters 0.013755495235865074 Centerline is valid? [True, True] Translation: X:87.78, Y:-183.26, Z:-3.99 [[ 9.99492471e-01 3.03611300e-02 -9.64378502e-03 8.77822729e+01] [ 3.03608396e-02 -9.99538988e-01 -1.76550952e-04 -1.83256901e+02] [-9.64469941e-03 -1.16332063e-04 -9.99953482e-01 -3.98990684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters 0.013901232506461914 Centerline is valid? [True, True] Translation: X:87.81, Y:-183.26, Z:-3.99 [[ 9.94100980e-01 1.08025159e-01 -9.68540628e-03 8.78134799e+01] [ 1.08021135e-01 -9.94148154e-01 -9.39172586e-04 -1.83256495e+02] [-9.73018304e-03 -1.12596193e-04 -9.99952654e-01 -3.98927383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters 0.014044712864462508 Centerline is valid? [True, True] Translation: X:87.85, Y:-183.26, Z:-3.99 [[ 9.82405895e-01 1.86496244e-01 -9.88979018e-03 8.78465314e+01] [ 1.86488092e-01 -9.82455666e-01 -1.74835745e-03 -1.83256662e+02] [-1.00423425e-02 -1.26731430e-04 -9.99949566e-01 -3.98864067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters 0.014168191268990547 Centerline is valid? [True, True] Translation: X:87.88, Y:-183.26, Z:-3.99 [[ 9.64457977e-01 2.64031819e-01 -1.03927767e-02 8.78800859e+01] [ 2.64018155e-01 -9.64513959e-01 -2.69032145e-03 -1.83255936e+02] [-1.07343087e-02 -1.49179759e-04 -9.99942375e-01 -3.98805868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters 0.0145168885119663 Centerline is valid? [True, True] Translation: X:87.91, Y:-183.25, Z:-3.99 [[ 9.40656066e-01 3.39223734e-01 -9.66564550e-03 8.79131552e+01] [ 3.39207432e-01 -9.40705712e-01 -3.32884087e-03 -1.83250985e+02] [-1.02217498e-02 -1.47364439e-04 -9.99947746e-01 -3.98766693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters 0.014606886953327415 Centerline is valid? [True, True] Translation: X:87.94, Y:-183.24, Z:-3.99 [[ 9.11855760e-01 4.10426487e-01 -8.31689766e-03 8.79438889e+01] [ 4.10410579e-01 -9.11893681e-01 -3.61549664e-03 -1.83241021e+02] [-9.06802201e-03 -1.16531346e-04 -9.99958878e-01 -3.98704468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters 0.013408327950477417 Centerline is valid? [True, True] Translation: X:87.97, Y:-183.23, Z:-3.99 [[ 8.78074291e-01 4.78455633e-01 -8.10843912e-03 8.79742681e+01] [ 4.78436240e-01 -8.78111723e-01 -4.30883420e-03 -1.83228085e+02] [-9.18170144e-03 -9.58945820e-05 -9.99957843e-01 -3.98816732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters 0.01320357431138751 Centerline is valid? [True, True] Translation: X:88.00, Y:-183.21, Z:-3.99 [[ 8.39191006e-01 5.43776673e-01 -8.08606934e-03 8.80032714e+01] [ 5.43752320e-01 -8.39229959e-01 -5.14693199e-03 -1.83213603e+02] [-9.58485319e-03 -7.75599276e-05 -9.99954061e-01 -3.98686170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters 0.013038827593642454 Centerline is valid? [True, True] Translation: X:88.03, Y:-183.20, Z:-3.98 [[ 7.95726130e-01 6.05581587e-01 -9.53241626e-03 8.80292647e+01] [ 6.05539102e-01 -7.95783222e-01 -7.17349407e-03 -1.83195838e+02] [-1.19298729e-02 -6.41141012e-05 -9.99928835e-01 -3.98380350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters 0.01287186142035398 Centerline is valid? [True, True] Translation: X:88.06, Y:-183.18, Z:-3.98 [[ 7.46612472e-01 6.65190035e-01 -9.59344535e-03 8.80567172e+01] [ 6.65136071e-01 -7.46674102e-01 -8.47306534e-03 -1.83178934e+02] [-1.27993758e-02 -5.48502860e-05 -9.99918083e-01 -3.98354905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters 0.012718320452365256 Centerline is valid? [True, True] Translation: X:88.08, Y:-183.16, Z:-3.98 [[ 6.92340533e-01 7.21524732e-01 -8.16381896e-03 8.80847240e+01] [ 7.21475404e-01 -6.92388662e-01 -8.43694944e-03 -1.83161898e+02] [-1.17400034e-02 -4.87525210e-05 -9.99931083e-01 -3.98489403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters 0.012842474823217735 Centerline is valid? [True, True] Translation: X:88.11, Y:-183.14, Z:-3.99 [[ 6.33661408e-01 7.73581847e-01 -6.65927552e-03 8.81101613e+01] [ 7.73539864e-01 -6.33696397e-01 -8.05951921e-03 -1.83143158e+02] [-1.04546567e-02 -4.42087923e-05 -9.99945348e-01 -3.98559342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters 0.012611430027985468 Centerline is valid? [True, True] Translation: X:88.14, Y:-183.12, Z:-3.99 [[ 5.71660498e-01 8.20474224e-01 -5.13053177e-03 8.81359087e+01] [ 8.20441681e-01 -5.71683519e-01 -7.30763801e-03 -1.83122996e+02] [-8.92876909e-03 -3.18141260e-05 -9.99960137e-01 -3.98847707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters 0.012575911547222065 Centerline is valid? [True, True] Translation: X:88.16, Y:-183.10, Z:-3.99 [[ 5.06622844e-01 8.62160600e-01 -3.52033530e-03 8.81596506e+01] [ 8.62140012e-01 -5.06635075e-01 -5.95830634e-03 -1.83102455e+02] [-6.92054231e-03 -1.64078114e-05 -9.99976053e-01 -3.98848897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters 0.012554956934796838 Centerline is valid? [True, True] Translation: X:88.18, Y:-183.08, Z:-3.99 [[ 4.38662504e-01 8.98645583e-01 -3.36521106e-03 8.81831065e+01] [ 8.98619294e-01 -4.38675412e-01 -6.87371534e-03 -1.83078782e+02] [-7.65326928e-03 -8.80240795e-06 -9.99970713e-01 -3.98876266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters 0.012668237988473904 Centerline is valid? [True, True] Translation: X:88.20, Y:-183.05, Z:-3.99 [[ 3.68471499e-01 9.29633924e-01 -3.08576078e-03 8.82025495e+01] [ 9.29601237e-01 -3.68484419e-01 -7.79573179e-03 -1.83053955e+02] [-8.38423151e-03 3.97793666e-06 -9.99964852e-01 -3.98672336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters 0.012656061014833414 Centerline is valid? [True, True] Translation: X:88.22, Y:-183.03, Z:-3.99 [[ 2.97492035e-01 9.54719359e-01 -3.07158860e-03 8.82201151e+01] [ 9.54667185e-01 -2.97507889e-01 -9.98102504e-03 -1.83027329e+02] [-1.04428997e-02 3.69306071e-05 -9.99945471e-01 -3.98758114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters 0.012872056227117325 Centerline is valid? [True, True] Translation: X:88.24, Y:-183.00, Z:-3.99 [[ 2.23604593e-01 9.74676245e-01 -2.68404512e-03 8.82383218e+01] [ 9.74602433e-01 -2.23620692e-01 -1.19951397e-02 -1.82999711e+02] [-1.22915858e-02 6.62914296e-05 -9.99924453e-01 -3.98647309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters 0.013380882064591867 Centerline is valid? [True, True] Translation: X:88.25, Y:-182.97, Z:-3.98 [[ 1.49204552e-01 9.88804577e-01 -1.87347468e-03 8.82510886e+01] [ 9.88717417e-01 -1.49216276e-01 -1.31290554e-02 -1.82971875e+02] [-1.32616230e-02 1.06577790e-04 -9.99912055e-01 -3.98490889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters 0.013727907220636 Centerline is valid? [True, True] Translation: X:88.26, Y:-182.94, Z:-3.99 [[ 7.27206772e-02 9.97352016e-01 -8.12092219e-04 8.82583454e+01] [ 9.97269783e-01 -7.27251099e-02 -1.28077250e-02 -1.82942591e+02] [-1.28328699e-02 1.21511407e-04 -9.99917648e-01 -3.98547786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters 0.01341049346950067 Centerline is valid? [True, True] Translation: X:88.27, Y:-182.91, Z:-3.99 [[-5.99962351e-03 9.99981988e-01 1.67436796e-04 8.82662941e+01] [ 9.99920696e-01 6.00110966e-03 -1.10719811e-02 -1.82912095e+02] [-1.10727865e-02 1.00995800e-04 -9.99938690e-01 -3.98741553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters 0.013009247047009322 Centerline is valid? [True, True] Translation: X:88.27, Y:-182.88, Z:-3.99 [[-8.68303068e-02 9.96222752e-01 8.52518323e-04 8.82749651e+01] [ 9.96181354e-01 8.68344706e-02 -9.08208410e-03 -1.82880845e+02] [-9.12180679e-03 6.06627085e-05 -9.99958394e-01 -3.98913231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters 0.012448424150020641 Centerline is valid? [True, True] Translation: X:88.28, Y:-182.85, Z:-3.99 [[-1.72454680e-01 9.85016789e-01 1.14388956e-03 8.82832285e+01] [ 9.84994799e-01 1.72458473e-01 -6.58193053e-03 -1.82848916e+02] [-6.68058552e-03 -8.35945550e-06 -9.99977685e-01 -3.99036611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters 0.012675910452792507 Centerline is valid? [True, True] Translation: X:88.29, Y:-182.82, Z:-3.99 [[-2.54899694e-01 9.66966477e-01 1.40665253e-03 8.82880196e+01] [ 9.66950856e-01 2.54903572e-01 -5.49641867e-03 -1.82815227e+02] [-5.67341335e-03 -4.08715658e-05 -9.99983905e-01 -3.99203739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters 0.013723400652086567 Centerline is valid? [True, True] Translation: X:88.29, Y:-182.78, Z:-3.99 [[-3.34562335e-01 9.42371977e-01 1.76119143e-03 8.82894318e+01] [ 9.42357859e-01 3.34566964e-01 -5.15871361e-03 -1.82782941e+02] [-5.45066361e-03 -6.62386916e-05 -9.99985143e-01 -3.99168995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters 0.013923718994750289 Centerline is valid? [True, True] Translation: X:88.29, Y:-182.75, Z:-3.99 [[-4.11288906e-01 9.11501355e-01 2.59131355e-03 8.82870330e+01] [ 9.11481581e-01 4.11297055e-01 -6.00499780e-03 -1.82749118e+02] [-6.53936326e-03 -1.07854405e-04 -9.99978612e-01 -3.99108015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters 0.014913923391223783 Centerline is valid? [True, True] Translation: X:88.28, Y:-182.72, Z:-3.99 [[-4.82036636e-01 8.76144793e-01 3.31399929e-03 8.82831789e+01] [ 8.76122314e-01 4.82048013e-01 -6.27728985e-03 -1.82716757e+02] [-7.09732158e-03 -1.22414957e-04 -9.99974806e-01 -3.98977635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters 0.015015426667625792 Centerline is valid? [True, True] Translation: X:88.27, Y:-182.69, Z:-3.99 [[-5.48973656e-01 8.35828142e-01 4.38662973e-03 8.82683434e+01] [ 8.35799396e-01 5.48991164e-01 -6.93342026e-03 -1.82689000e+02] [-8.20336873e-03 -1.39922598e-04 -9.99966342e-01 -3.98864914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters 0.014231878648246403 Centerline is valid? [True, True] Translation: X:88.25, Y:-182.66, Z:-3.99 [[-6.10865084e-01 7.91712932e-01 5.87224633e-03 8.82489143e+01] [ 7.91674062e-01 6.10893291e-01 -7.84641228e-03 -1.82663721e+02] [-9.79942195e-03 -1.44194188e-04 -9.99951974e-01 -3.98880724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters 0.013559485671404988 Centerline is valid? [True, True] Translation: X:88.23, Y:-182.64, Z:-3.99 [[-6.69582238e-01 7.42711455e-01 6.27074188e-03 8.82311587e+01] [ 7.42677178e-01 6.69611589e-01 -7.13641526e-03 -1.82638082e+02] [-9.49925879e-03 -1.21280009e-04 -9.99954874e-01 -3.98960289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters 0.01341283183002645 Centerline is valid? [True, True] Translation: X:88.21, Y:-182.61, Z:-3.99 [[-7.25254806e-01 6.88447893e-01 6.70560060e-03 8.82130804e+01] [ 6.88417015e-01 7.25285796e-01 -6.52125649e-03 -1.82611897e+02] [-9.35302216e-03 -1.13323063e-04 -9.99956253e-01 -3.99007724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters 0.013358973386837824 Centerline is valid? [True, True] Translation: X:88.66, Y:-182.16, Z:-5.04 [[-6.59826563e-01 -7.51400015e-01 5.18879238e-03 8.86559863e+01] [ 7.51376884e-01 -6.59846965e-01 -5.89588341e-03 -1.82161135e+02] [ 7.85397579e-03 8.47816361e-06 9.99969157e-01 -5.04314706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters 0.013206157922741307 Centerline is valid? [True, True] Translation: X:88.62, Y:-182.12, Z:-5.04 [[-6.60060471e-01 -7.51199299e-01 4.44840557e-03 8.86198300e+01] [ 7.51182995e-01 -6.60075457e-01 -4.94978987e-03 -1.82116478e+02] [ 6.65456202e-03 7.44059855e-05 9.99977855e-01 -5.04096388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters 0.013324325607158549 Centerline is valid? [True, True] Translation: X:88.58, Y:-182.07, Z:-5.04 [[-6.59573268e-01 -7.51628183e-01 4.26365274e-03 8.85813032e+01] [ 7.51613234e-01 -6.59587044e-01 -4.74122077e-03 -1.82073594e+02] [ 6.37588526e-03 7.74353466e-05 9.99979671e-01 -5.04043562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters 0.013762233364911423 Centerline is valid? [True, True] Translation: X:88.54, Y:-182.03, Z:-5.04 [[-6.58217023e-01 -7.52809670e-01 5.28691702e-03 8.85405412e+01] [ 7.52786747e-01 -6.58238246e-01 -5.87579418e-03 -1.82032293e+02] [ 7.90340566e-03 1.12373317e-04 9.99968761e-01 -5.04254086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters 0.01464540684165 Centerline is valid? [True, True] Translation: X:88.50, Y:-181.99, Z:-5.04 [[-6.56046907e-01 -7.54690949e-01 6.63538242e-03 8.84992128e+01] [ 7.54654978e-01 -6.56080439e-01 -7.37036126e-03 -1.81990977e+02] [ 9.91568954e-03 1.72121670e-04 9.99950824e-01 -5.04431487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters 0.014740972254176223 Centerline is valid? [True, True] Translation: X:88.46, Y:-181.95, Z:-5.05 [[-6.54680399e-01 -7.55857875e-01 8.51164660e-03 8.84588350e+01] [ 7.55798851e-01 -6.54735681e-01 -9.44904712e-03 -1.81949505e+02] [ 1.27150154e-02 2.46986786e-04 9.99919131e-01 -5.04529293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters 0.015145964950558234 Centerline is valid? [True, True] Translation: X:88.42, Y:-181.91, Z:-5.05 [[-6.55394262e-01 -7.55234494e-01 8.90052790e-03 8.84194113e+01] [ 7.55169984e-01 -6.55454648e-01 -9.87416205e-03 -1.81908661e+02] [ 1.32912002e-02 2.49942354e-04 9.99911637e-01 -5.04620959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters 0.014232244786655848 Centerline is valid? [True, True] Translation: X:88.38, Y:-181.86, Z:-5.05 [[-6.57756257e-01 -7.53184496e-01 8.35586447e-03 8.83820040e+01] [ 7.53127538e-01 -6.57809300e-01 -9.26476827e-03 -1.81864489e+02] [ 1.24746452e-02 1.99072337e-04 9.99922169e-01 -5.04528509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters 0.013052462865994829 Centerline is valid? [True, True] Translation: X:88.35, Y:-181.82, Z:-5.04 [[-6.62492396e-01 -7.49040329e-01 6.51230400e-03 8.83464858e+01] [ 7.49005569e-01 -6.62524396e-01 -7.21683314e-03 -1.81817809e+02] [ 9.72025935e-03 9.66548819e-05 9.99952753e-01 -5.04321847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters 0.012381603831642257 Centerline is valid? [True, True] Translation: X:88.31, Y:-181.77, Z:-5.04 [[-6.65470942e-01 -7.46398945e-01 6.08610352e-03 8.83096649e+01] [ 7.46368495e-01 -6.65498770e-01 -6.74215987e-03 -1.81772147e+02] [ 9.08263541e-03 5.57644495e-05 9.99958751e-01 -5.04208057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters 0.012215652026032446 Centerline is valid? [True, True] Translation: X:88.27, Y:-181.73, Z:-5.04 [[-6.67807486e-01 -7.44308735e-01 6.13751662e-03 8.82725434e+01] [ 7.44277720e-01 -6.67835688e-01 -6.79486259e-03 -1.81728822e+02] [ 9.15632822e-03 3.03567706e-05 9.99958080e-01 -5.04258403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters 0.01226338232994945 Centerline is valid? [True, True] Translation: X:88.23, Y:-181.69, Z:-5.04 [[-6.67614241e-01 -7.44477722e-01 6.64425449e-03 8.82342356e+01] [ 7.44441417e-01 -6.67647302e-01 -7.35233803e-03 -1.81687952e+02] [ 9.90967045e-03 3.77326570e-05 9.99950897e-01 -5.04337027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters 0.012677312080422495 Centerline is valid? [True, True] Translation: X:88.19, Y:-181.65, Z:-5.04 [[-6.65643117e-01 -7.46233502e-01 7.40274714e-03 8.81935435e+01] [ 7.46188594e-01 -6.65684276e-01 -8.18700119e-03 -1.81647846e+02] [ 1.10373069e-02 7.42244921e-05 9.99939084e-01 -5.04425616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters 0.01352203409991248 Centerline is valid? [True, True] Translation: X:88.15, Y:-181.61, Z:-5.05 [[-6.63005783e-01 -7.48565652e-01 8.53210413e-03 8.81516605e+01] [ 7.48506259e-01 -6.63060666e-01 -9.43041238e-03 -1.81608049e+02] [ 1.27165854e-02 1.33915400e-04 9.99919132e-01 -5.04582382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters 0.014389631610341406 Centerline is valid? [True, True] Translation: X:88.11, Y:-181.57, Z:-5.05 [[-6.61397484e-01 -7.49966208e-01 1.02007101e-02 8.81104640e+01] [ 7.49881584e-01 -6.61476113e-01 -1.12677484e-02 -1.81569609e+02] [ 1.51979566e-02 1.96864190e-04 9.99884485e-01 -5.04909136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters 0.014325733469425181 Centerline is valid? [True, True] Translation: X:88.07, Y:-181.53, Z:-5.05 [[-6.62440634e-01 -7.49037939e-01 1.07038420e-02 8.80731113e+01] [ 7.48944760e-01 -6.62527079e-01 -1.18159176e-02 -1.81527854e+02] [ 1.59421558e-02 1.89242441e-04 9.99872898e-01 -5.05003096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters 0.013674727409468105 Centerline is valid? [True, True] Translation: X:88.04, Y:-181.48, Z:-5.05 [[-6.64813078e-01 -7.46939613e-01 1.02364518e-02 8.80371227e+01] [ 7.46854249e-01 -6.64891867e-01 -1.12931721e-02 -1.81484482e+02] [ 1.52414511e-02 1.37289040e-04 9.99883833e-01 -5.04954714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters 0.012108483580519764 Centerline is valid? [True, True] Translation: X:88.00, Y:-181.44, Z:-5.04 [[-6.69429619e-01 -7.42839524e-01 7.30933118e-03 8.80028295e+01] [ 7.42795806e-01 -6.69469521e-01 -8.05923092e-03 -1.81437019e+02] [ 1.08800897e-02 3.42526587e-05 9.99940810e-01 -5.04209229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters 0.011902697470407612 Centerline is valid? [True, True] Translation: X:87.97, Y:-181.39, Z:-5.04 [[-6.71892269e-01 -7.40625424e-01 5.89575287e-03 8.79652565e+01] [ 7.40596929e-01 -6.71918136e-01 -6.49673527e-03 -1.81393167e+02] [ 8.77311059e-03 1.27026959e-06 9.99961516e-01 -5.04042437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters 0.011835763562660459 Centerline is valid? [True, True] Translation: X:87.93, Y:-181.35, Z:-5.04 [[-6.72901343e-01 -7.39715414e-01 4.98880237e-03 8.79269727e+01] [ 7.39695010e-01 -6.72919836e-01 -5.49418049e-03 -1.81349467e+02] [ 7.42119407e-03 -6.84921162e-06 9.99972463e-01 -5.03904097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters 0.011856467940898388 Centerline is valid? [True, True] Translation: X:87.89, Y:-181.31, Z:-5.04 [[-6.70674928e-01 -7.41732477e-01 5.29846804e-03 8.78867056e+01] [ 7.41709554e-01 -6.70695857e-01 -5.83149848e-03 -1.81309007e+02] [ 7.87907237e-03 1.88845433e-05 9.99968960e-01 -5.04035648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters 0.012186400373750225 Centerline is valid? [True, True] Translation: X:87.85, Y:-181.27, Z:-5.04 [[-6.67605753e-01 -7.44487881e-01 6.35250061e-03 8.78450863e+01] [ 7.44455090e-01 -6.67635973e-01 -6.98763759e-03 -1.81268591e+02] [ 9.44336942e-03 6.41643532e-05 9.99955408e-01 -5.04240097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters 0.012891925507774312 Centerline is valid? [True, True] Translation: X:87.80, Y:-181.23, Z:-5.04 [[-6.64712238e-01 -7.47059452e-01 7.73412412e-03 8.78038603e+01] [ 7.47011074e-01 -6.64757219e-01 -8.50263795e-03 -1.81227991e+02] [ 1.14932909e-02 1.25668867e-04 9.99933942e-01 -5.04468737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters 0.01401920415920562 Centerline is valid? [True, True] Translation: X:87.76, Y:-181.19, Z:-5.05 [[-6.61504180e-01 -7.49888656e-01 8.90075395e-03 8.77635442e+01] [ 7.49824896e-01 -6.61564027e-01 -9.78080309e-03 -1.81187974e+02] [ 1.32229319e-02 2.03964765e-04 9.99912553e-01 -5.04629650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters 0.01424560757509756 Centerline is valid? [True, True] Translation: X:87.72, Y:-181.15, Z:-5.04 [[-6.60607781e-01 -7.50685539e-01 8.28140020e-03 8.77245699e+01] [ 7.50630476e-01 -6.60659654e-01 -9.09455343e-03 -1.81146388e+02] [ 1.22983367e-02 2.08338620e-04 9.99924351e-01 -5.04477623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters 0.014180333211271502 Centerline is valid? [True, True] Translation: X:87.69, Y:-181.10, Z:-5.04 [[-6.60944428e-01 -7.50399753e-01 7.25763499e-03 8.76856621e+01] [ 7.50357499e-01 -6.60984249e-01 -7.96531550e-03 -1.81104446e+02] [ 1.07743532e-02 1.81189938e-04 9.99941939e-01 -5.04356699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters 0.013028487692254257 Centerline is valid? [True, True] Translation: X:87.65, Y:-181.06, Z:-5.04 [[-6.63450445e-01 -7.48201225e-01 5.33241874e-03 8.76500149e+01] [ 7.48178370e-01 -6.63471865e-01 -5.84902850e-03 -1.81058754e+02] [ 7.91416009e-03 1.09059798e-04 9.99968677e-01 -5.04095221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters 0.01271650223733716 Centerline is valid? [True, True] Translation: X:87.61, Y:-181.01, Z:-5.04 [[-6.65871987e-01 -7.46051577e-01 4.64128389e-03 8.76129260e+01] [ 7.46034230e-01 -6.65888158e-01 -5.08810284e-03 -1.81014798e+02] [ 6.88656313e-03 7.45315105e-05 9.99976285e-01 -5.04085128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters 0.012348109440972376 Centerline is valid? [True, True] Translation: X:87.58, Y:-180.97, Z:-5.04 [[-6.67859740e-01 -7.44274042e-01 4.41795218e-03 8.75760674e+01] [ 7.44258306e-01 -6.67874350e-01 -4.84020181e-03 -1.80970673e+02] [ 6.55307351e-03 5.55216840e-05 9.99978527e-01 -5.04061006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters 0.012340605983297944 Centerline is valid? [True, True] Translation: X:87.54, Y:-180.93, Z:-5.04 [[-6.67842690e-01 -7.44286182e-01 4.92151484e-03 8.75371930e+01] [ 7.44266676e-01 -6.67860821e-01 -5.38882929e-03 -1.80928010e+02] [ 7.29771811e-03 6.40292403e-05 9.99973369e-01 -5.04140457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters 0.012361734511540497 Centerline is valid? [True, True] Translation: X:87.50, Y:-180.89, Z:-5.04 [[-6.67097980e-01 -7.44949803e-01 5.48412394e-03 8.74971129e+01] [ 7.44925633e-01 -6.67120517e-01 -6.00140067e-03 -1.80885913e+02] [ 8.12931384e-03 8.17422340e-05 9.99966953e-01 -5.04223185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters 0.013048825910745205 Centerline is valid? [True, True] Translation: X:87.45, Y:-180.85, Z:-5.04 [[-6.64588254e-01 -7.47179035e-01 6.77810013e-03 8.74547900e+01] [ 7.47142271e-01 -6.64622804e-01 -7.41318664e-03 -1.80845671e+02] [ 1.00438575e-02 1.37488358e-04 9.99949550e-01 -5.04417842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters 0.013987204591808048 Centerline is valid? [True, True] Translation: X:87.41, Y:-180.81, Z:-5.05 [[-6.63068382e-01 -7.48513611e-01 8.22767918e-03 8.74135499e+01] [ 7.48459609e-01 -6.63119398e-01 -8.99320118e-03 -1.80806292e+02] [ 1.21874672e-02 1.94978185e-04 9.99925711e-01 -5.04721544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters 0.013026913710333658 Centerline is valid? [True, True] Translation: X:87.38, Y:-180.76, Z:-5.05 [[-6.65068354e-01 -7.46738966e-01 8.06232971e-03 8.73764090e+01] [ 7.46687042e-01 -6.65117200e-01 -8.80740438e-03 -1.80761642e+02] [ 1.19392262e-02 1.62511192e-04 9.99928712e-01 -5.04590315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters 0.012398068675355126 Centerline is valid? [True, True] Translation: X:87.34, Y:-180.72, Z:-5.04 [[-6.68573023e-01 -7.43618210e-01 6.48619624e-03 8.73400041e+01] [ 7.43584495e-01 -6.68604479e-01 -7.08157143e-03 -1.80716052e+02] [ 9.60268533e-03 8.84873380e-05 9.99953889e-01 -5.04450591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters 0.011814777487098612 Centerline is valid? [True, True] Translation: X:87.31, Y:-180.67, Z:-5.04 [[-6.74715244e-01 -7.38065219e-01 4.36728798e-03 8.73058326e+01] [ 7.38049834e-01 -6.74729378e-01 -4.76547862e-03 -1.80668383e+02] [ 6.46397152e-03 7.93510218e-06 9.99979108e-01 -5.04240687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters 0.011917641847627749 Centerline is valid? [True, True] Translation: X:87.27, Y:-180.62, Z:-5.04 [[-6.78139989e-01 -7.34924066e-01 3.57381320e-03 8.72696784e+01] [ 7.34913733e-01 -6.78149406e-01 -3.89721376e-03 -1.80623862e+02] [ 5.28773548e-03 -1.64121012e-05 9.99986020e-01 -5.04186815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters 0.012034192309839084 Centerline is valid? [True, True] Translation: X:87.23, Y:-180.58, Z:-5.04 [[-6.80030022e-01 -7.33176242e-01 3.43045101e-03 8.72319672e+01] [ 7.33166711e-01 -6.80038674e-01 -3.73851417e-03 -1.80580164e+02] [ 5.07382912e-03 -2.72093886e-05 9.99987128e-01 -5.04172610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters 0.011921388749407846 Centerline is valid? [True, True] Translation: X:87.19, Y:-180.54, Z:-5.04 [[-6.78845629e-01 -7.34271420e-01 3.75413674e-03 8.71918484e+01] [ 7.34260037e-01 -6.78856009e-01 -4.08858118e-03 -1.80540678e+02] [ 5.55064660e-03 -1.90028781e-05 9.99984595e-01 -5.04273997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters 0.011961626032298205 Centerline is valid? [True, True] Translation: X:87.15, Y:-180.50, Z:-5.05 [[-6.75488389e-01 -7.37350549e-01 5.44105141e-03 8.71487415e+01] [ 7.37326766e-01 -6.75510302e-01 -5.92213144e-03 -1.80502538e+02] [ 8.04217315e-03 1.15018124e-05 9.99967661e-01 -5.04507410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters 0.012460766281854616 Centerline is valid? [True, True] Translation: X:87.10, Y:-180.46, Z:-5.05 [[-6.71458102e-01 -7.41006963e-01 7.25936835e-03 8.71044142e+01] [ 7.40964887e-01 -6.71497338e-01 -7.89693948e-03 -1.80464396e+02] [ 1.07263337e-02 7.64730526e-05 9.99942468e-01 -5.04789625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters 0.013061874682167707 Centerline is valid? [True, True] Translation: X:87.06, Y:-180.43, Z:-5.05 [[-6.66224316e-01 -7.45704389e-01 8.37409750e-03 8.70606195e+01] [ 7.45648827e-01 -6.66276919e-01 -9.10463275e-03 -1.80425381e+02] [ 1.23688325e-02 1.78408255e-04 9.99923487e-01 -5.04729836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters 0.01365778935259088 Centerline is valid? [True, True] Translation: X:87.02, Y:-180.39, Z:-5.05 [[-6.64604149e-01 -7.47159916e-01 7.30650849e-03 8.70196310e+01] [ 7.47117758e-01 -6.64644286e-01 -7.93907943e-03 -1.80385193e+02] [ 1.07879910e-02 1.82477113e-04 9.99941791e-01 -5.04609071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters 0.01355149451970881 Centerline is valid? [True, True] Translation: X:86.98, Y:-180.34, Z:-5.04 [[-6.64913974e-01 -7.46899539e-01 5.52144075e-03 8.69796409e+01] [ 7.46875483e-01 -6.64936884e-01 -5.99601825e-03 -1.80343117e+02] [ 8.14983288e-03 1.36992410e-04 9.99966780e-01 -5.04376732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters 0.013491994306619966 Centerline is valid? [True, True] Translation: X:86.94, Y:-180.30, Z:-5.04 [[-6.66998595e-01 -7.45052113e-01 3.19740573e-03 8.69408917e+01] [ 7.45044034e-01 -6.67006255e-01 -3.47033054e-03 -1.80300838e+02] [ 4.71826672e-03 6.75024698e-05 9.99988867e-01 -5.04195929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters 0.012534252590149666 Centerline is valid? [True, True] Translation: X:86.91, Y:-180.25, Z:-5.04 [[-6.70133181e-01 -7.42237388e-01 2.27581984e-03 8.69059019e+01] [ 7.42233283e-01 -6.70137045e-01 -2.46868762e-03 -1.80254563e+02] [ 3.35746344e-03 3.48397465e-05 9.99994363e-01 -5.04049532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters 0.01227236239996114 Centerline is valid? [True, True] Translation: X:86.87, Y:-180.21, Z:-5.04 [[-6.71385098e-01 -7.41105423e-01 2.19140500e-03 8.68685353e+01] [ 7.41101616e-01 -6.71388673e-01 -2.37576112e-03 -1.80210171e+02] [ 3.23197395e-03 2.90031744e-05 9.99994777e-01 -5.04141558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters 0.012514447694688163 Centerline is valid? [True, True] Translation: X:86.83, Y:-180.17, Z:-5.04 [[-6.71482525e-01 -7.41017033e-01 2.23079485e-03 8.68306997e+01] [ 7.41013092e-01 -6.71486230e-01 -2.41685067e-03 -1.80168529e+02] [ 3.28887553e-03 3.01751974e-05 9.99994591e-01 -5.04250672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters 0.012961196357090142 Centerline is valid? [True, True] Translation: X:86.79, Y:-180.13, Z:-5.04 [[-6.70392517e-01 -7.42001827e-01 2.67639422e-03 8.67922813e+01] [ 7.41996167e-01 -6.70397858e-01 -2.89845191e-03 -1.80126373e+02] [ 3.94490556e-03 4.27737790e-05 9.99992218e-01 -5.04361273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters 0.013560602515141108 Centerline is valid? [True, True] Translation: X:86.75, Y:-180.08, Z:-5.05 [[-6.69162417e-01 -7.43106773e-01 3.73938289e-03 8.67519908e+01] [ 7.43095754e-01 -6.69172862e-01 -4.04747990e-03 -1.80084360e+02] [ 5.51000328e-03 7.02981145e-05 9.99984817e-01 -5.04554993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters 0.013481931974469239 Centerline is valid? [True, True] Translation: X:86.71, Y:-180.04, Z:-5.05 [[-6.68237721e-01 -7.43930499e-01 5.07543982e-03 8.67123361e+01] [ 7.43910245e-01 -6.68256987e-01 -5.49053652e-03 -1.80041627e+02] [ 7.47627570e-03 1.06688065e-04 9.99972047e-01 -5.04781188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters 0.013544974976266446 Centerline is valid? [True, True] Translation: X:86.67, Y:-180.00, Z:-5.05 [[-6.69170068e-01 -7.43084715e-01 6.04361579e-03 8.66740327e+01] [ 7.43055991e-01 -6.69197349e-01 -6.53473027e-03 -1.80000154e+02] [ 8.90022985e-03 1.17899016e-04 9.99960385e-01 -5.04974079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters 0.013258352923932544 Centerline is valid? [True, True] Translation: X:86.64, Y:-179.96, Z:-5.05 [[-6.71378317e-01 -7.41094918e-01 5.42938014e-03 8.66357952e+01] [ 7.41071696e-01 -6.71400264e-01 -5.86745072e-03 -1.79957200e+02] [ 7.99362518e-03 8.42807582e-05 9.99968047e-01 -5.04958738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters 0.012416823231131637 Centerline is valid? [True, True] Translation: X:86.60, Y:-179.91, Z:-5.05 [[-6.73925750e-01 -7.38786762e-01 4.26646974e-03 8.65983102e+01] [ 7.38772392e-01 -6.73939254e-01 -4.60817038e-03 -1.79912447e+02] [ 6.27979671e-03 4.63853708e-05 9.99980281e-01 -5.04748171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters 0.012066930859930375 Centerline is valid? [True, True] Translation: X:86.56, Y:-179.87, Z:-5.05 [[-6.76196661e-01 -7.36712394e-01 3.59505092e-03 8.65598130e+01] [ 7.36702174e-01 -6.76206218e-01 -3.88057746e-03 -1.79869465e+02] [ 5.28986529e-03 2.44483066e-05 9.99986008e-01 -5.04693541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters 0.01211527164290074 Centerline is valid? [True, True] Translation: X:86.52, Y:-179.83, Z:-5.05 [[-6.76191226e-01 -7.36714053e-01 4.22265696e-03 8.65206827e+01] [ 7.36699971e-01 -6.76204410e-01 -4.55515528e-03 -1.79828307e+02] [ 6.21122616e-03 3.06752274e-05 9.99980710e-01 -5.04762986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters 0.012407948359012105 Centerline is valid? [True, True] Translation: X:86.48, Y:-179.79, Z:-5.05 [[-6.75414675e-01 -7.37419667e-01 5.22036809e-03 8.64796858e+01] [ 7.37398192e-01 -6.75434847e-01 -5.62792554e-03 -1.79787720e+02] [ 7.67616150e-03 4.83064950e-05 9.99970537e-01 -5.04947400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters 0.012776997421514382 Centerline is valid? [True, True] Translation: X:86.44, Y:-179.75, Z:-5.05 [[-6.72871965e-01 -7.39721858e-01 7.40892057e-03 8.64374213e+01] [ 7.39678791e-01 -6.72912744e-01 -7.98278806e-03 -1.79747982e+02] [ 1.08905999e-02 1.08827129e-04 9.99940690e-01 -5.05182660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters 0.0133010726024146 Centerline is valid? [True, True] Translation: X:86.40, Y:-179.71, Z:-5.05 [[-6.70902905e-01 -7.41500676e-01 8.12648207e-03 8.63953620e+01] [ 7.41449052e-01 -6.70952103e-01 -8.75094937e-03 -1.79707284e+02] [ 1.19413151e-02 1.54335077e-04 9.99928688e-01 -5.05283663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters 0.013838663384366226 Centerline is valid? [True, True] Translation: X:86.35, Y:-179.67, Z:-5.05 [[-6.69222288e-01 -7.43019630e-01 7.95985738e-03 8.63537666e+01] [ 7.42970266e-01 -6.69269600e-01 -8.56661562e-03 -1.79666120e+02] [ 1.16924541e-02 1.80967245e-04 9.99931625e-01 -5.05310565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters 0.014645313104657755 Centerline is valid? [True, True] Translation: X:86.31, Y:-179.62, Z:-5.05 [[-6.67737703e-01 -7.44361032e-01 7.28107890e-03 8.63141333e+01] [ 7.44319858e-01 -6.67777372e-01 -7.83140971e-03 -1.79624705e+02] [ 1.06915359e-02 1.90124085e-04 9.99942826e-01 -5.05266159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters 0.015285455629303547 Centerline is valid? [True, True] Translation: X:86.28, Y:-179.58, Z:-5.05 [[-6.67000002e-01 -7.45027152e-01 6.74839028e-03 8.62757827e+01] [ 7.44991861e-01 -6.67034113e-01 -7.25397454e-03 -1.79582712e+02] [ 9.90581452e-03 1.89094803e-04 9.99950918e-01 -5.05217749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters 0.014935727906946096 Centerline is valid? [True, True] Translation: X:86.24, Y:-179.54, Z:-5.05 [[-6.66698734e-01 -7.45304714e-01 5.80360646e-03 8.62385063e+01] [ 7.45278657e-01 -6.66723972e-01 -6.23443303e-03 -1.79539756e+02] [ 8.51595588e-03 1.68815420e-04 9.99963724e-01 -5.05060593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters 0.015283382835399728 Centerline is valid? [True, True] Translation: X:86.20, Y:-179.50, Z:-5.05 [[-6.66709330e-01 -7.45300071e-01 5.14530114e-03 8.61997256e+01] [ 7.45279616e-01 -6.66729167e-01 -5.52378959e-03 -1.79498126e+02] [ 7.54740311e-03 1.51926001e-04 9.99971506e-01 -5.05071098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters 0.014706084551883507 Centerline is valid? [True, True] Translation: X:86.16, Y:-179.45, Z:-5.05 [[-6.67046923e-01 -7.44998290e-01 5.09411164e-03 8.61620082e+01] [ 7.44978255e-01 -6.67066358e-01 -5.46567508e-03 -1.79453484e+02] [ 7.47002909e-03 1.49140650e-04 9.99972088e-01 -5.05043328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters 0.01526669976645491 Centerline is valid? [True, True] Translation: X:86.12, Y:-179.41, Z:-5.05 [[-6.67271894e-01 -7.44789823e-01 6.02817814e-03 8.61245919e+01] [ 7.44761794e-01 -6.67299099e-01 -6.46396838e-03 -1.79410722e+02] [ 8.83689571e-03 1.76332349e-04 9.99960938e-01 -5.05272469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters 0.0156082576805768 Centerline is valid? [True, True] Translation: X:86.08, Y:-179.37, Z:-5.05 [[-6.66016555e-01 -7.45905693e-01 6.82977240e-03 8.60833795e+01] [ 7.45869812e-01 -6.66051537e-01 -7.31936957e-03 -1.79369195e+02] [ 1.00085398e-02 2.19299750e-04 9.99949889e-01 -5.05387119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters 0.016605569903614763 Centerline is valid? [True, True] Translation: X:86.04, Y:-179.33, Z:-5.06 [[-6.64834931e-01 -7.46949054e-01 7.85020465e-03 8.60419942e+01] [ 7.46901780e-01 -6.64881220e-01 -8.40797809e-03 -1.79329750e+02] [ 1.14997849e-02 2.73414293e-04 9.99933838e-01 -5.05584412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters 0.01666779788262396 Centerline is valid? [True, True] Translation: X:86.00, Y:-179.29, Z:-5.06 [[-6.65095350e-01 -7.46703336e-01 9.07207429e-03 8.59980740e+01] [ 7.46640250e-01 -6.65157146e-01 -9.71128281e-03 -1.79290955e+02] [ 1.32858023e-02 3.14646771e-04 9.99911690e-01 -5.05809015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters 0.01526839102556879 Centerline is valid? [True, True] Translation: X:85.96, Y:-179.25, Z:-5.06 [[-6.67187166e-01 -7.44833582e-01 9.17714184e-03 8.59585316e+01] [ 7.44768924e-01 -6.67250219e-01 -9.81814987e-03 -1.79248236e+02] [ 1.34363376e-02 2.84306458e-04 9.99909688e-01 -5.05754905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters 0.014511648954085457 Centerline is valid? [True, True] Translation: X:85.92, Y:-179.21, Z:-5.06 [[-6.71167056e-01 -7.41247844e-01 9.29609258e-03 8.59207569e+01] [ 7.41181211e-01 -6.71231396e-01 -9.94117084e-03 -1.79205676e+02] [ 1.36087006e-02 2.17902794e-04 9.99907374e-01 -5.05824268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters 0.013107052289893801 Centerline is valid? [True, True] Translation: X:85.89, Y:-179.16, Z:-5.06 [[-6.79508232e-01 -7.33608260e-01 9.35322671e-03 8.58875429e+01] [ 7.33540151e-01 -6.79572598e-01 -9.99653185e-03 -1.79158310e+02] [ 1.36897349e-02 6.82416562e-05 9.99906289e-01 -5.05960698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters 0.012877320374618422 Centerline is valid? [True, True] Translation: X:85.85, Y:-179.11, Z:-5.06 [[-6.85085053e-01 -7.28406376e-01 9.08966340e-03 8.58529657e+01] [ 7.28341669e-01 -6.85145350e-01 -9.70885866e-03 -1.79112286e+02] [ 1.32997352e-02 -3.10133406e-05 9.99911554e-01 -5.05879722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters 0.012960510498605879 Centerline is valid? [True, True] Translation: X:85.82, Y:-179.07, Z:-5.06 [[-6.88094699e-01 -7.25569830e-01 8.60851536e-03 8.58155619e+01] [ 7.25511636e-01 -6.88148542e-01 -9.18972064e-03 -1.79067861e+02] [ 1.25917213e-02 -7.78199976e-05 9.99920718e-01 -5.05694857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters 0.012799873807661186 Centerline is valid? [True, True] Translation: X:85.78, Y:-179.03, Z:-5.06 [[-6.86691950e-01 -7.26906258e-01 7.83950055e-03 8.57755605e+01] [ 7.26858147e-01 -6.86736696e-01 -8.36325040e-03 -1.79028710e+02] [ 1.14629718e-02 -4.47718826e-05 9.99934297e-01 -5.05667448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters 0.012599698852833309 Centerline is valid? [True, True] Translation: X:85.73, Y:-178.99, Z:-5.06 [[-6.84297253e-01 -7.29160328e-01 7.90479001e-03 8.57349979e+01] [ 7.29111622e-01 -6.84342909e-01 -8.42768258e-03 -1.78988326e+02] [ 1.15547188e-02 -3.56577021e-06 9.99933242e-01 -5.05656501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters 0.01248269379210299 Centerline is valid? [True, True] Translation: X:85.69, Y:-178.95, Z:-5.05 [[-6.81306215e-01 -7.31964358e-01 7.07256307e-03 8.56944715e+01] [ 7.31925568e-01 -6.81342922e-01 -7.53564632e-03 -1.78948080e+02] [ 1.03346653e-02 4.25070681e-05 9.99946595e-01 -5.05474685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters 0.012417193691262485 Centerline is valid? [True, True] Translation: X:85.65, Y:-178.91, Z:-5.05 [[-6.81538843e-01 -7.31763215e-01 5.23480054e-03 8.56543970e+01] [ 7.31741983e-01 -6.81558946e-01 -5.57437637e-03 -1.78906065e+02] [ 7.64694871e-03 3.13693101e-05 9.99970761e-01 -5.05241521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters 0.012294029804412642 Centerline is valid? [True, True] Translation: X:85.62, Y:-178.86, Z:-5.05 [[-6.83677229e-01 -7.29781301e-01 2.16783725e-03 8.56162472e+01] [ 7.29777655e-01 -6.83680665e-01 -2.30701186e-03 -1.78864037e+02] [ 3.16572253e-03 4.78771578e-06 9.99994989e-01 -5.04918289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters 0.012309517828427792 Centerline is valid? [True, True] Translation: X:85.58, Y:-178.82, Z:-5.05 [[-6.85416184e-01 -7.28150585e-01 1.17502505e-03 8.55790744e+01] [ 7.28149512e-01 -6.85417191e-01 -1.24969412e-03 -1.78820289e+02] [ 1.71534787e-03 -9.66659012e-07 9.99998529e-01 -5.04662700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters 0.012496515097312066 Centerline is valid? [True, True] Translation: X:85.54, Y:-178.78, Z:-5.05 [[-6.87245035e-01 -7.26425315e-01 7.23752165e-04 8.55399711e+01] [ 7.26424907e-01 -6.87245416e-01 -7.69261520e-04 -1.78778986e+02] [ 1.05620640e-03 -2.91956107e-06 9.99999442e-01 -5.04588006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters 0.012545526493929827 Centerline is valid? [True, True] Translation: X:85.50, Y:-178.74, Z:-5.05 [[-6.88287853e-01 -7.25435223e-01 1.88906955e-03 8.54987981e+01] [ 7.25432448e-01 -6.88290446e-01 -2.00656721e-03 -1.78739232e+02] [ 2.75586306e-03 -1.07034888e-05 9.99996203e-01 -5.04813029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters 0.01256509554251655 Centerline is valid? [True, True] Translation: X:85.46, Y:-178.70, Z:-5.05 [[-6.88666246e-01 -7.25071982e-01 3.06959650e-03 8.54578352e+01] [ 7.25064660e-01 -6.88673087e-01 -3.25866313e-03 -1.78698581e+02] [ 4.47671383e-03 -1.84753684e-05 9.99989979e-01 -5.04893632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters 0.01258070345127964 Centerline is valid? [True, True] Translation: X:85.42, Y:-178.66, Z:-5.05 [[-6.88733389e-01 -7.25003545e-01 4.02235381e-03 8.54179032e+01] [ 7.24990987e-01 -6.88745134e-01 -4.26727527e-03 -1.78658336e+02] [ 5.86416631e-03 -2.28446933e-05 9.99982805e-01 -5.04928075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters 0.012476873274263665 Centerline is valid? [True, True] Translation: X:85.38, Y:-178.62, Z:-5.05 [[-6.88409704e-01 -7.25309634e-01 4.24434783e-03 8.53763790e+01] [ 7.25295673e-01 -6.88422788e-01 -4.50022448e-03 -1.78617816e+02] [ 6.18596194e-03 -1.95910882e-05 9.99980867e-01 -5.04817871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters 0.012475447293580104 Centerline is valid? [True, True] Translation: X:85.34, Y:-178.58, Z:-5.05 [[-6.87629425e-01 -7.26054095e-01 3.35043821e-03 8.53357829e+01] [ 7.26045413e-01 -6.87637587e-01 -3.55068754e-03 -1.78578542e+02] [ 4.88187847e-03 -8.98694096e-06 9.99988084e-01 -5.04782114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters 0.012328561081838647 Centerline is valid? [True, True] Translation: X:85.29, Y:-178.54, Z:-5.05 [[-6.86021508e-01 -7.27575259e-01 2.95512449e-03 8.52923358e+01] [ 7.27568527e-01 -6.86027873e-01 -3.12994664e-03 -1.78540237e+02] [ 4.30456950e-03 2.84485863e-06 9.99990735e-01 -5.04648965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters 0.012426043311917372 Centerline is valid? [True, True] Translation: X:85.25, Y:-178.50, Z:-5.05 [[-6.84650243e-01 -7.28865138e-01 3.10718153e-03 8.52507497e+01] [ 7.28857715e-01 -6.84657294e-01 -3.28962320e-03 -1.78500619e+02] [ 4.52504617e-03 1.24519062e-05 9.99989762e-01 -5.04659019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters 0.01241178374199765 Centerline is valid? [True, True] Translation: X:85.21, Y:-178.46, Z:-5.05 [[-6.83591658e-01 -7.29858524e-01 2.99675227e-03 8.52093621e+01] [ 7.29851637e-01 -6.83598226e-01 -3.17072766e-03 -1.78461491e+02] [ 4.36275714e-03 1.97015703e-05 9.99990483e-01 -5.04545025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters 0.01262714322465453 Centerline is valid? [True, True] Translation: X:85.16, Y:-178.42, Z:-5.05 [[-6.82100298e-01 -7.31250880e-01 3.36672991e-03 8.51641530e+01] [ 7.31242214e-01 -6.82108606e-01 -3.56015417e-03 -1.78424520e+02] [ 4.89984131e-03 3.35128143e-05 9.99987995e-01 -5.04606434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters 0.012903106317234708 Centerline is valid? [True, True] Translation: X:85.12, Y:-178.39, Z:-5.05 [[-6.81261005e-01 -7.32015321e-01 6.08380272e-03 8.51204159e+01] [ 7.31987088e-01 -6.81288166e-01 -6.42948589e-03 -1.78387298e+02] [ 8.85130497e-03 7.31070153e-05 9.99960824e-01 -5.04939380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters 0.012912373236010284 Centerline is valid? [True, True] Translation: X:85.08, Y:-178.35, Z:-5.05 [[-6.81883001e-01 -7.31421523e-01 7.62426792e-03 8.50803594e+01] [ 7.31377200e-01 -6.81925618e-01 -8.05249079e-03 -1.78346927e+02] [ 1.10889487e-02 8.53591414e-05 9.99938512e-01 -5.05046129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters 0.01266883831623066 Centerline is valid? [True, True] Translation: X:85.04, Y:-178.31, Z:-5.05 [[-6.83648103e-01 -7.29765445e-01 8.22595110e-03 8.50395708e+01] [ 7.29713794e-01 -6.83697587e-01 -8.68259836e-03 -1.78306143e+02] [ 1.19603232e-02 6.67480918e-05 9.99928471e-01 -5.05078281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters 0.012452108467170908 Centerline is valid? [True, True] Translation: X:85.00, Y:-178.26, Z:-5.05 [[-6.87598691e-01 -7.26054274e-01 7.29601178e-03 8.49984334e+01] [ 7.26013476e-01 -6.87637398e-01 -7.69687326e-03 -1.78264984e+02] [ 1.06053583e-02 4.64289902e-06 9.99943762e-01 -5.05016555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters 0.012502228323057848 Centerline is valid? [True, True] Translation: X:84.96, Y:-178.22, Z:-5.05 [[-6.89082320e-01 -7.24649529e-01 6.97263820e-03 8.49590231e+01] [ 7.24612240e-01 -6.89117596e-01 -7.35129003e-03 -1.78222889e+02] [ 1.01320765e-02 -1.31850069e-05 9.99948669e-01 -5.04956095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters 0.012662850300259727 Centerline is valid? [True, True] Translation: X:84.92, Y:-178.18, Z:-5.05 [[-6.90784364e-01 -7.23031166e-01 6.54942303e-03 8.49201592e+01] [ 7.22998233e-01 -6.90815411e-01 -6.90098140e-03 -1.78180586e+02] [ 9.51406699e-03 -3.18687741e-05 9.99954740e-01 -5.04854608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters 0.012515739999126927 Centerline is valid? [True, True] Translation: X:84.88, Y:-178.14, Z:-5.05 [[-6.90819720e-01 -7.23002232e-01 5.99063351e-03 8.48804003e+01] [ 7.22974711e-01 -6.90845694e-01 -6.30829226e-03 -1.78140485e+02] [ 8.69951274e-03 -2.68161589e-05 9.99962158e-01 -5.04736464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters 0.012512410921541775 Centerline is valid? [True, True] Translation: X:84.84, Y:-178.10, Z:-5.05 [[-6.89128963e-01 -7.24615167e-01 5.84233489e-03 8.48374213e+01] [ 7.24589080e-01 -6.89153728e-01 -6.14854097e-03 -1.78102320e+02] [ 8.48159291e-03 -3.84559522e-06 9.99964031e-01 -5.04824976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters 0.012612640792801054 Centerline is valid? [True, True] Translation: X:84.79, Y:-178.06, Z:-5.05 [[-6.85975575e-01 -7.27595172e-01 6.54040603e-03 8.47946696e+01] [ 7.27562654e-01 -6.86006752e-01 -6.87902000e-03 -1.78064796e+02] [ 9.49190444e-03 3.97154731e-05 9.99954950e-01 -5.04962534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters 0.01366539257544884 Centerline is valid? [True, True] Translation: X:84.75, Y:-178.03, Z:-5.05 [[-6.82464483e-01 -7.30878338e-01 7.68662943e-03 8.47518140e+01] [ 7.30833681e-01 -6.82507762e-01 -8.08000218e-03 -1.78026277e+02] [ 1.11516828e-02 1.03333170e-04 9.99937813e-01 -5.05164199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters 0.013554847987350342 Centerline is valid? [True, True] Translation: X:84.71, Y:-177.99, Z:-5.05 [[-6.79466688e-01 -7.33646107e-01 9.40260482e-03 8.47116037e+01] [ 7.33579605e-01 -6.79531718e-01 -9.87970649e-03 -1.77985172e+02] [ 1.36375764e-02 1.84627678e-04 9.99906987e-01 -5.05085874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters 0.015490145645936444 Centerline is valid? [True, True] Translation: X:84.67, Y:-177.95, Z:-5.05 [[-6.79804985e-01 -7.33330915e-01 9.53682483e-03 8.46698366e+01] [ 7.33262561e-01 -6.79871852e-01 -1.00141325e-02 -1.77946984e+02] [ 1.38274917e-02 1.85339423e-04 9.99904379e-01 -5.05446541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters 0.014299835523885779 Centerline is valid? [True, True] Translation: X:84.63, Y:-177.90, Z:-5.05 [[-6.82693525e-01 -7.30662904e-01 7.82763063e-03 8.46344359e+01] [ 7.30616735e-01 -6.82738390e-01 -8.21444501e-03 -1.77903390e+02] [ 1.13462142e-02 1.11049510e-04 9.99935624e-01 -5.05039151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters 0.012542353372809853 Centerline is valid? [True, True] Translation: X:84.60, Y:-177.86, Z:-5.04 [[-6.85276623e-01 -7.28258782e-01 5.92419201e-03 8.45985678e+01] [ 7.28232277e-01 -6.85302228e-01 -6.21344614e-03 -1.77857014e+02] [ 8.58485870e-03 5.62584530e-05 9.99963148e-01 -5.04419902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters 0.012323205366435894 Centerline is valid? [True, True] Translation: X:84.56, Y:-177.81, Z:-5.04 [[-6.87506311e-01 -7.26163129e-01 4.70986985e-03 8.45601720e+01] [ 7.26146348e-01 -6.87522443e-01 -4.93674038e-03 -1.77813968e+02] [ 6.82302007e-03 2.60146222e-05 9.99976723e-01 -5.04318803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters 0.01241063153202527 Centerline is valid? [True, True] Translation: X:84.52, Y:-177.77, Z:-5.04 [[-6.88818738e-01 -7.24918869e-01 4.62381732e-03 8.45212933e+01] [ 7.24902684e-01 -6.88834256e-01 -4.84420751e-03 -1.77773249e+02] [ 6.69670119e-03 1.50366827e-05 9.99977577e-01 -5.04419198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters 0.012456511198392329 Centerline is valid? [True, True] Translation: X:84.48, Y:-177.73, Z:-5.05 [[-6.87791585e-01 -7.25886105e-01 5.66549696e-03 8.44807207e+01] [ 7.25861866e-01 -6.87814918e-01 -5.93215743e-03 -1.77731619e+02] [ 8.20288398e-03 3.22802384e-05 9.99966355e-01 -5.04510108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters 0.012791885248161543 Centerline is valid? [True, True] Translation: X:84.44, Y:-177.69, Z:-5.05 [[-6.86307274e-01 -7.27274490e-01 7.35810520e-03 8.44400598e+01] [ 7.27233732e-01 -6.86346714e-01 -7.69983962e-03 -1.77691380e+02] [ 1.06501083e-02 6.66063633e-05 9.99943284e-01 -5.04794636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters 0.01361525510750811 Centerline is valid? [True, True] Translation: X:84.40, Y:-177.65, Z:-5.05 [[-6.84319001e-01 -7.29130699e-01 8.71370277e-03 8.43987957e+01] [ 7.29073754e-01 -6.84374466e-01 -9.11327170e-03 -1.77651585e+02] [ 1.26082018e-02 1.16547002e-04 9.99920507e-01 -5.05092458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters 0.014692733231550013 Centerline is valid? [True, True] Translation: X:84.36, Y:-177.61, Z:-5.05 [[-6.82204637e-01 -7.31093843e-01 9.93109606e-03 8.43592216e+01] [ 7.31020173e-01 -6.82276895e-01 -1.03800927e-02 -1.77611375e+02] [ 1.43645792e-02 1.78484219e-04 9.99896808e-01 -5.05250168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters 0.0136217158405481 Centerline is valid? [True, True] Translation: X:84.32, Y:-177.57, Z:-5.05 [[-6.82140340e-01 -7.31160788e-01 9.40523976e-03 8.43216533e+01] [ 7.31094796e-01 -6.82205154e-01 -9.82483920e-03 -1.77566522e+02] [ 1.35998402e-02 1.74202693e-04 9.99907503e-01 -5.04855413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters 0.013615425467676434 Centerline is valid? [True, True] Translation: X:84.28, Y:-177.52, Z:-5.05 [[-6.83406426e-01 -7.29994830e-01 7.95016925e-03 8.42836746e+01] [ 7.29947653e-01 -6.83452654e-01 -8.30018985e-03 -1.77523286e+02] [ 1.14926600e-02 1.30804306e-04 9.99933949e-01 -5.04764592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters 0.012956014018822296 Centerline is valid? [True, True] Translation: X:84.25, Y:-177.48, Z:-5.04 [[-6.85598734e-01 -7.27962516e-01 4.99517324e-03 8.42474710e+01] [ 7.27943859e-01 -6.85616928e-01 -5.21214136e-03 -1.77477131e+02] [ 7.21901887e-03 6.27681603e-05 9.99973941e-01 -5.04359003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters 0.012810385174266813 Centerline is valid? [True, True] Translation: X:84.21, Y:-177.43, Z:-5.04 [[-6.86619269e-01 -7.27008686e-01 3.51417944e-03 8.42104578e+01] [ 7.26999452e-01 -6.86628261e-01 -3.66452291e-03 -1.77433984e+02] [ 5.07707490e-03 3.86744885e-05 9.99987111e-01 -5.04247431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters 0.012909150820821788 Centerline is valid? [True, True] Translation: X:84.17, Y:-177.39, Z:-5.04 [[-6.86577750e-01 -7.27051928e-01 2.54707510e-03 8.41728700e+01] [ 7.27047084e-01 -6.86582474e-01 -2.65431243e-03 -1.77391825e+02] [ 3.67860009e-03 2.94516660e-05 9.99993234e-01 -5.04200582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters 0.013881705079183836 Centerline is valid? [True, True] Translation: X:84.13, Y:-177.35, Z:-5.04 [[-6.83515787e-01 -7.29932273e-01 2.24645526e-03 8.41318754e+01] [ 7.29928524e-01 -6.83519477e-01 -2.33976526e-03 -1.77350663e+02] [ 3.24336610e-03 4.04852816e-05 9.99994740e-01 -5.04279293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters 0.014503099719527427 Centerline is valid? [True, True] Translation: X:84.09, Y:-177.31, Z:-5.04 [[-6.80696014e-01 -7.32560690e-01 2.78794960e-03 8.40905198e+01] [ 7.32554944e-01 -6.80701720e-01 -2.90213855e-03 -1.77310362e+02] [ 4.02375471e-03 6.68521227e-05 9.99991903e-01 -5.04403708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters 0.015091703465791332 Centerline is valid? [True, True] Translation: X:84.05, Y:-177.27, Z:-5.05 [[-6.78223248e-01 -7.34844412e-01 4.11288013e-03 8.40498287e+01] [ 7.34831964e-01 -6.78235708e-01 -4.27889795e-03 -1.77268922e+02] [ 5.93382642e-03 1.20227717e-04 9.99982388e-01 -5.04555220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters 0.015747272673665092 Centerline is valid? [True, True] Translation: X:84.01, Y:-177.23, Z:-5.05 [[-6.78228609e-01 -7.34818143e-01 6.94631112e-03 8.40114073e+01] [ 7.34782677e-01 -6.78264148e-01 -7.22239933e-03 -1.77226180e+02] [ 1.00185839e-02 2.05591230e-04 9.99949792e-01 -5.04950286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters 0.014375570270515618 Centerline is valid? [True, True] Translation: X:83.98, Y:-177.18, Z:-5.05 [[-6.81718286e-01 -7.31576775e-01 7.45662123e-03 8.39757915e+01] [ 7.31535755e-01 -6.81759043e-01 -7.74892213e-03 -1.77179144e+02] [ 1.07525504e-02 1.72203133e-04 9.99942175e-01 -5.05045343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters 0.012971565311762455 Centerline is valid? [True, True] Translation: X:83.94, Y:-177.13, Z:-5.05 [[-6.87276464e-01 -7.26363597e-01 6.85480583e-03 8.39422519e+01] [ 7.26328710e-01 -6.87310642e-01 -7.11942382e-03 -1.77130799e+02] [ 9.88267128e-03 8.58298538e-05 9.99951162e-01 -5.04951751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters 0.012745193209614045 Centerline is valid? [True, True] Translation: X:83.91, Y:-177.08, Z:-5.05 [[-6.96166322e-01 -7.17863297e-01 4.97375478e-03 8.39135077e+01] [ 7.17844726e-01 -6.96184089e-01 -5.16365256e-03 -1.77078832e+02] [ 7.16944560e-03 -2.43773764e-05 9.99974299e-01 -5.04856858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters 0.013088208027507068 Centerline is valid? [True, True] Translation: X:83.88, Y:-177.03, Z:-5.05 [[-7.00081019e-01 -7.14051896e-01 4.05666232e-03 8.38792016e+01] [ 7.14039492e-01 -7.00092771e-01 -4.20902543e-03 -1.77031948e+02] [ 5.84550255e-03 -5.00417109e-05 9.99982914e-01 -5.04646311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters 0.012949059341976633 Centerline is valid? [True, True] Translation: X:83.84, Y:-176.99, Z:-5.05 [[-6.99109910e-01 -7.15009618e-01 2.56518674e-03 8.38400304e+01] [ 7.15004672e-01 -6.99114615e-01 -2.65978439e-03 -1.76990977e+02] [ 3.69513096e-03 -2.53611165e-05 9.99993173e-01 -5.04548373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters 0.012693465615672788 Centerline is valid? [True, True] Translation: X:83.80, Y:-176.96, Z:-5.05 [[-6.91692299e-01 -7.22182708e-01 3.72830984e-03 8.37955985e+01] [ 7.22172374e-01 -6.91702347e-01 -3.86335860e-03 -1.76956299e+02] [ 5.36893144e-03 2.02269760e-05 9.99985587e-01 -5.04733909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters 0.013564302212948767 Centerline is valid? [True, True] Translation: X:83.75, Y:-176.92, Z:-5.05 [[-6.86525776e-01 -7.27085376e-01 5.40510156e-03 8.37521298e+01] [ 7.27063833e-01 -6.86547047e-01 -5.59776213e-03 -1.76917955e+02] [ 7.78090750e-03 8.68458659e-05 9.99969725e-01 -5.04897871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters 0.014092445167876295 Centerline is valid? [True, True] Translation: X:83.71, Y:-176.88, Z:-5.05 [[-6.84702396e-01 -7.28796621e-01 6.17376563e-03 8.37103112e+01] [ 7.28768615e-01 -6.84730217e-01 -6.39025401e-03 -1.76877523e+02] [ 8.88455941e-03 1.23824400e-04 9.99960524e-01 -5.05037747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters 0.01522905817507379 Centerline is valid? [True, True] Translation: X:83.67, Y:-176.84, Z:-5.05 [[-6.81694937e-01 -7.31589788e-01 8.27012719e-03 8.36669079e+01] [ 7.31539794e-01 -6.81745066e-01 -8.55536977e-03 -1.76838782e+02] [ 1.18971396e-02 2.17774882e-04 9.99929203e-01 -5.05388216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters 0.014769849668455478 Centerline is valid? [True, True] Translation: X:83.63, Y:-176.80, Z:-5.05 [[-6.82404512e-01 -7.30923428e-01 8.66161951e-03 8.36273816e+01] [ 7.30868599e-01 -6.82459445e-01 -8.95528790e-03 -1.76796459e+02] [ 1.24568338e-02 2.19376837e-04 9.99922387e-01 -5.05360780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters 0.014916884571343512 Centerline is valid? [True, True] Translation: X:83.59, Y:-176.76, Z:-5.05 [[-6.84614911e-01 -7.28862954e-01 7.82421254e-03 8.35878243e+01] [ 7.28818117e-01 -6.84659599e-01 -8.08615645e-03 -1.76755827e+02] [ 1.12506221e-02 1.66524579e-04 9.99936696e-01 -5.05423001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters 0.0138475771989825 Centerline is valid? [True, True] Translation: X:83.55, Y:-176.71, Z:-5.05 [[-6.88617604e-01 -7.25094471e-01 6.61845634e-03 8.35506563e+01] [ 7.25062252e-01 -6.88649403e-01 -6.83603551e-03 -1.76712642e+02] [ 9.51456756e-03 9.13784669e-05 9.99954731e-01 -5.05310124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters 0.012933181523891548 Centerline is valid? [True, True] Translation: X:83.51, Y:-176.67, Z:-5.05 [[-6.91313850e-01 -7.22534469e-01 5.39460358e-03 8.35127899e+01] [ 7.22513010e-01 -6.91334896e-01 -5.56888312e-03 -1.76668076e+02] [ 7.75318772e-03 4.78252432e-05 9.99969943e-01 -5.05113904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters 0.012653493034919005 Centerline is valid? [True, True] Translation: X:83.48, Y:-176.62, Z:-5.05 [[-6.94208474e-01 -7.19758552e-01 4.71400585e-03 8.34755772e+01] [ 7.19742122e-01 -6.94224479e-01 -4.86324209e-03 -1.76624144e+02] [ 6.77293834e-03 1.67646960e-05 9.99977063e-01 -5.05017227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters 0.012583708760087034 Centerline is valid? [True, True] Translation: X:83.44, Y:-176.58, Z:-5.05 [[-6.97017762e-01 -7.17046712e-01 3.20203245e-03 8.34358366e+01] [ 7.17039111e-01 -6.97025116e-01 -3.30163883e-03 -1.76581063e+02] [ 4.59932631e-03 -5.31840065e-06 9.99989423e-01 -5.04913019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters 0.012629621440787962 Centerline is valid? [True, True] Translation: X:83.39, Y:-176.54, Z:-5.05 [[-6.96622132e-01 -7.17427854e-01 3.85740496e-03 8.33941279e+01] [ 7.17416843e-01 -6.96632812e-01 -3.97487195e-03 -1.76541368e+02] [ 5.53887872e-03 -1.61648322e-06 9.99984660e-01 -5.04970018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters 0.012690857712815525 Centerline is valid? [True, True] Translation: X:83.35, Y:-176.50, Z:-5.05 [[-6.95642921e-01 -7.18370875e-01 4.92069810e-03 8.33518971e+01] [ 7.18353002e-01 -6.95660324e-01 -5.06736641e-03 -1.76502032e+02] [ 7.06338288e-03 9.72068687e-06 9.99975054e-01 -5.05195170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters 0.012951331770473128 Centerline is valid? [True, True] Translation: X:83.31, Y:-176.46, Z:-5.06 [[-6.93432404e-01 -7.20481467e-01 7.61294336e-03 8.33091530e+01] [ 7.20438861e-01 -6.93474191e-01 -7.83544358e-03 -1.76462378e+02] [ 1.09246716e-02 5.13097617e-05 9.99940323e-01 -5.05566076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters 0.013172773476144619 Centerline is valid? [True, True] Translation: X:83.27, Y:-176.42, Z:-5.06 [[-6.92496947e-01 -7.21372618e-01 8.33811026e-03 8.32662776e+01] [ 7.21321630e-01 -6.92547139e-01 -8.57702689e-03 -1.76423043e+02] [ 1.19617668e-02 7.48943444e-05 9.99928453e-01 -5.05730778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters 0.013097360423824313 Centerline is valid? [True, True] Translation: X:83.23, Y:-176.38, Z:-5.06 [[-6.92645151e-01 -7.21225811e-01 8.71919146e-03 8.32256149e+01] [ 7.21170116e-01 -6.92700024e-01 -8.96335437e-03 -1.76383281e+02] [ 1.25043867e-02 7.95963802e-05 9.99921814e-01 -5.05739727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters 0.013092616114041576 Centerline is valid? [True, True] Translation: X:83.18, Y:-176.34, Z:-5.06 [[-6.94162979e-01 -7.19774882e-01 7.86623361e-03 8.31846321e+01] [ 7.19729517e-01 -6.94207546e-01 -8.08119594e-03 -1.76344342e+02] [ 1.12774406e-02 5.18934689e-05 9.99936406e-01 -5.05708124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters 0.01286373149841782 Centerline is valid? [True, True] Translation: X:83.14, Y:-176.30, Z:-5.06 [[-6.95083915e-01 -7.18885700e-01 7.85502169e-03 8.31445231e+01] [ 7.18840464e-01 -6.95128296e-01 -8.06464596e-03 -1.76302832e+02] [ 1.12578065e-02 4.09017538e-05 9.99936628e-01 -5.05533974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters 0.012831066972007595 Centerline is valid? [True, True] Translation: X:83.10, Y:-176.26, Z:-5.05 [[-6.95583801e-01 -7.18399136e-01 8.11529169e-03 8.31047332e+01] [ 7.18350874e-01 -6.95631138e-01 -8.32711063e-03 -1.76260947e+02] [ 1.16274387e-02 3.74236211e-05 9.99932398e-01 -5.05434989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters 0.012931061281210807 Centerline is valid? [True, True] Translation: X:83.06, Y:-176.22, Z:-5.05 [[-6.93982792e-01 -7.19943464e-01 8.32425424e-03 8.30642756e+01] [ 7.19892864e-01 -6.94032711e-01 -8.53584542e-03 -1.76222107e+02] [ 1.19226309e-02 6.88413915e-05 9.99928921e-01 -5.05424302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters 0.013340183182408302 Centerline is valid? [True, True] Translation: X:83.02, Y:-176.18, Z:-5.06 [[-6.91334432e-01 -7.22475273e-01 9.28353895e-03 8.30203404e+01] [ 7.22412636e-01 -6.91396748e-01 -9.51420594e-03 -1.76183751e+02] [ 1.32923872e-02 1.29047687e-04 9.99911644e-01 -5.05612547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters 0.014505267503240975 Centerline is valid? [True, True] Translation: X:82.98, Y:-176.15, Z:-5.06 [[-6.86904672e-01 -7.26657693e-01 1.14266550e-02 8.29769178e+01] [ 7.26563486e-01 -6.86999657e-01 -1.17035469e-02 -1.76145840e+02] [ 1.63545804e-02 2.62969191e-04 9.99866220e-01 -5.05843705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters 0.015238307273745038 Centerline is valid? [True, True] Translation: X:82.94, Y:-176.11, Z:-5.06 [[-6.85040002e-01 -7.28401396e-01 1.23126960e-02 8.29355861e+01] [ 7.28292416e-01 -6.85150564e-01 -1.26040461e-02 -1.76105067e+02] [ 1.76168554e-02 3.32967362e-04 9.99844756e-01 -5.05863689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters 0.015587594744379348 Centerline is valid? [True, True] Translation: X:82.89, Y:-176.06, Z:-5.06 [[-6.82875417e-01 -7.30430259e-01 1.23612696e-02 8.28938098e+01] [ 7.30320876e-01 -6.82987176e-01 -1.26465792e-02 -1.76064299e+02] [ 1.76800328e-02 3.91655198e-04 9.99843619e-01 -5.05727381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters 0.0162128091668754 Centerline is valid? [True, True] Translation: X:82.85, Y:-176.03, Z:-5.06 [[-6.82291074e-01 -7.30990566e-01 1.14753276e-02 8.28533819e+01] [ 7.30896507e-01 -6.82387461e-01 -1.17323949e-02 -1.76025464e+02] [ 1.64068897e-02 3.82368529e-04 9.99865325e-01 -5.05671563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters 0.01638755753725412 Centerline is valid? [True, True] Translation: X:82.81, Y:-175.99, Z:-5.06 [[-6.82297685e-01 -7.30990266e-01 1.10951013e-02 8.28129304e+01] [ 7.30902450e-01 -6.82387787e-01 -1.13365512e-02 -1.75985140e+02] [ 1.58580702e-02 3.74534090e-04 9.99874183e-01 -5.05625025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters 0.01582673639977385 Centerline is valid? [True, True] Translation: X:82.77, Y:-175.94, Z:-5.06 [[-6.83632168e-01 -7.29744037e-01 1.09862877e-02 8.27729527e+01] [ 7.29657873e-01 -6.83720352e-01 -1.12190952e-02 -1.75942758e+02] [ 1.56986163e-02 3.46496915e-04 9.99876709e-01 -5.05656906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters 0.015567902173584159 Centerline is valid? [True, True] Translation: X:82.73, Y:-175.90, Z:-5.06 [[-6.85310022e-01 -7.28169226e-01 1.09431312e-02 8.27338254e+01] [ 7.28083633e-01 -6.85397315e-01 -1.11688454e-02 -1.75899877e+02] [ 1.56332022e-02 3.13393073e-04 9.99877745e-01 -5.05678396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters 0.014613784934558782 Centerline is valid? [True, True] Translation: X:82.70, Y:-175.86, Z:-5.06 [[-6.87463240e-01 -7.26133394e-01 1.11619019e-02 8.26961652e+01] [ 7.26044177e-01 -6.87553792e-01 -1.13857646e-02 -1.75855471e+02] [ 1.59419919e-02 2.76739251e-04 9.99872880e-01 -5.05600062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters 0.014021174311865597 Centerline is valid? [True, True] Translation: X:82.66, Y:-175.81, Z:-5.06 [[-6.89152451e-01 -7.24520863e-01 1.17651480e-02 8.26565324e+01] [ 7.24421621e-01 -6.89252822e-01 -1.19942624e-02 -1.75812576e+02] [ 1.67992548e-02 2.57052218e-04 9.99858850e-01 -5.05654239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters 0.013638088166831982 Centerline is valid? [True, True] Translation: X:82.62, Y:-175.77, Z:-5.06 [[-6.90972025e-01 -7.22781978e-01 1.19946776e-02 8.26180273e+01] [ 7.22678683e-01 -6.91076090e-01 -1.22212761e-02 -1.75769597e+02] [ 1.71225530e-02 2.23737895e-04 9.99853373e-01 -5.05599307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters 0.013338613261170617 Centerline is valid? [True, True] Translation: X:82.58, Y:-175.73, Z:-5.05 [[-6.93130582e-01 -7.20735752e-01 1.04867670e-02 8.25793161e+01] [ 7.20656652e-01 -6.93209890e-01 -1.06788798e-02 -1.75726962e+02] [ 1.49661811e-02 1.55500238e-04 9.99887988e-01 -5.05419431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters 0.013123621474083904 Centerline is valid? [True, True] Translation: X:82.54, Y:-175.68, Z:-5.05 [[-6.94040180e-01 -7.19879671e-01 9.02709092e-03 8.25390940e+01] [ 7.19821052e-01 -6.94098873e-01 -9.18735554e-03 -1.75684777e+02] [ 1.28794841e-02 1.21496191e-04 9.99917049e-01 -5.05210756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters 0.01308337471006364 Centerline is valid? [True, True] Translation: X:82.50, Y:-175.65, Z:-5.05 [[-6.94636856e-01 -7.19313690e-01 8.21305135e-03 8.24973408e+01] [ 7.19265188e-01 -6.94685400e-01 -8.35367979e-03 -1.75645422e+02] [ 1.17144031e-02 1.04588060e-04 9.99931379e-01 -5.05171950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters 0.013123788819564672 Centerline is valid? [True, True] Translation: X:82.46, Y:-175.60, Z:-5.05 [[-6.94703514e-01 -7.19250215e-01 8.13359573e-03 8.24563985e+01] [ 7.19202702e-01 -6.94751119e-01 -8.26778520e-03 -1.75604784e+02] [ 1.15974310e-02 1.06044597e-04 9.99932742e-01 -5.05189029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters 0.01308836109507612 Centerline is valid? [True, True] Translation: X:82.42, Y:-175.56, Z:-5.05 [[-6.94748163e-01 -7.19206991e-01 8.14218065e-03 8.24163521e+01] [ 7.19159435e-01 -6.94795864e-01 -8.27130253e-03 -1.75564219e+02] [ 1.16059320e-02 1.09053802e-04 9.99932643e-01 -5.05161833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters 0.013227699039718217 Centerline is valid? [True, True] Translation: X:82.38, Y:-175.52, Z:-5.05 [[-6.95014602e-01 -7.18946248e-01 8.42588388e-03 8.23763605e+01] [ 7.18895368e-01 -6.95065666e-01 -8.55390902e-03 -1.75524149e+02] [ 1.20063434e-02 1.12237219e-04 9.99927915e-01 -5.05244135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters 0.012902798312575571 Centerline is valid? [True, True] Translation: X:82.34, Y:-175.48, Z:-5.05 [[-6.96120203e-01 -7.17875976e-01 8.41110532e-03 8.23366971e+01] [ 7.17825250e-01 -6.96171009e-01 -8.53438478e-03 -1.75481027e+02] [ 1.19821975e-02 9.67461203e-05 9.99928206e-01 -5.05054229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters 0.012623172531912722 Centerline is valid? [True, True] Translation: X:82.30, Y:-175.44, Z:-5.05 [[-6.97274858e-01 -7.16763918e-01 7.56691327e-03 8.22970794e+01] [ 7.16722846e-01 -6.97315912e-01 -7.67339022e-03 -1.75438291e+02] [ 1.07765383e-02 7.29175415e-05 9.99941929e-01 -5.04803047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters 0.012596374778431969 Centerline is valid? [True, True] Translation: X:82.26, Y:-175.40, Z:-5.04 [[-6.98077329e-01 -7.16002266e-01 5.36645597e-03 8.22569996e+01] [ 7.15981610e-01 -6.98097954e-01 -5.43885051e-03 -1.75398256e+02] [ 7.64054122e-03 4.55455479e-05 9.99970810e-01 -5.04489820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters 0.012483301848421275 Centerline is valid? [True, True] Translation: X:82.22, Y:-175.36, Z:-5.04 [[-6.98490061e-01 -7.15611096e-01 3.52053747e-03 8.22158718e+01] [ 7.15602213e-01 -6.98498932e-01 -3.56578631e-03 -1.75357784e+02] [ 5.01080791e-03 2.86381106e-05 9.99987446e-01 -5.04181472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters 0.012607614160206001 Centerline is valid? [True, True] Translation: X:82.17, Y:-175.32, Z:-5.04 [[-6.98275234e-01 -7.15828428e-01 1.16640112e-03 8.21726562e+01] [ 7.15827454e-01 -6.98276208e-01 -1.18072490e-03 -1.75318341e+02] [ 1.65966660e-03 1.04709851e-05 9.99998623e-01 -5.03900799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters 0.012856657773450244 Centerline is valid? [True, True] Translation: X:82.13, Y:-175.28, Z:-5.04 [[-6.97463608e-01 -7.16619878e-01 6.82067061e-04 8.21303829e+01] [ 7.16619546e-01 -6.97463942e-01 -6.90011723e-04 -1.75279893e+02] [ 9.70193298e-04 7.52452212e-06 9.99999529e-01 -5.03888435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters 0.013456246108272153 Centerline is valid? [True, True] Translation: X:82.09, Y:-175.24, Z:-5.04 [[-6.95488855e-01 -7.18535699e-01 1.30453599e-03 8.20867421e+01] [ 7.18534489e-01 -6.95490078e-01 -1.31893747e-03 -1.75243070e+02] [ 1.85499550e-03 2.00477837e-05 9.99998279e-01 -5.03917613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters 0.013590008750352729 Centerline is valid? [True, True] Translation: X:82.04, Y:-175.20, Z:-5.04 [[-6.94265763e-01 -7.19714765e-01 2.38901466e-03 8.20429459e+01] [ 7.19710718e-01 -6.94269872e-01 -2.41401250e-03 -1.75204793e+02] [ 3.39602135e-03 4.34332275e-05 9.99994233e-01 -5.04040911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters 0.013592040570859075 Centerline is valid? [True, True] Translation: X:82.00, Y:-175.17, Z:-5.04 [[-6.93305922e-01 -7.20636577e-01 3.13415511e-03 8.19984027e+01] [ 7.20629629e-01 -6.93313003e-01 -3.16520987e-03 -1.75166597e+02] [ 4.45391649e-03 6.41062872e-05 9.99990079e-01 -5.04136455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters 0.014019020989465789 Centerline is valid? [True, True] Translation: X:81.96, Y:-175.13, Z:-5.04 [[-6.93467919e-01 -7.20480245e-01 3.23453942e-03 8.19568206e+01] [ 7.20472849e-01 -6.93475459e-01 -3.26521902e-03 -1.75127795e+02] [ 4.59559951e-03 6.60731959e-05 9.99989438e-01 -5.04147412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters 0.013655584126180224 Centerline is valid? [True, True] Translation: X:81.92, Y:-175.09, Z:-5.04 [[-6.94519620e-01 -7.19471813e-01 1.67602635e-03 8.19163472e+01] [ 7.19469826e-01 -6.94521641e-01 -1.69086453e-03 -1.75087642e+02] [ 2.38056594e-03 3.15118008e-05 9.99997166e-01 -5.03885718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters 0.013706282699891277 Centerline is valid? [True, True] Translation: X:81.88, Y:-175.05, Z:-5.04 [[-6.95314277e-01 -7.18705165e-01 9.71159247e-04 8.18752057e+01] [ 7.18704498e-01 -6.95314955e-01 -9.79121874e-04 -1.75048953e+02] [ 1.37896150e-03 1.71791011e-05 9.99999049e-01 -5.03812745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters 0.013631916068133215 Centerline is valid? [True, True] Translation: X:81.83, Y:-175.01, Z:-5.04 [[-6.95809159e-01 -7.18225378e-01 1.38568109e-03 8.18337509e+01] [ 7.18224021e-01 -6.95810539e-01 -1.39617013e-03 -1.75009095e+02] [ 1.96693632e-03 2.37614847e-05 9.99998065e-01 -5.03878319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters 0.013566538750367096 Centerline is valid? [True, True] Translation: X:81.79, Y:-174.97, Z:-5.04 [[-6.95940631e-01 -7.18092764e-01 3.06938509e-03 8.17921950e+01] [ 7.18086115e-01 -6.95947397e-01 -3.09064452e-03 -1.74969120e+02] [ 4.35550003e-03 5.31777196e-05 9.99990513e-01 -5.04044659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters 0.013313607685658788 Centerline is valid? [True, True] Translation: X:81.75, Y:-174.93, Z:-5.04 [[-6.96379413e-01 -7.17660658e-01 4.34659452e-03 8.17489612e+01] [ 7.17647331e-01 -6.96392974e-01 -4.37419509e-03 -1.74929680e+02] [ 6.16612561e-03 7.32225480e-05 9.99980987e-01 -5.04214076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters 0.013079888661070876 Centerline is valid? [True, True] Translation: X:81.71, Y:-174.89, Z:-5.04 [[-6.97352783e-01 -7.16710733e-01 4.98202457e-03 8.17065575e+01] [ 7.16693221e-01 -6.97370575e-01 -5.01080743e-03 -1.74890218e+02] [ 7.06561681e-03 7.62827255e-05 9.99975035e-01 -5.04259598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters 0.01295274395022429 Centerline is valid? [True, True] Translation: X:81.67, Y:-174.85, Z:-5.04 [[-6.99093115e-01 -7.15013159e-01 4.99991163e-03 8.16657501e+01] [ 7.14995499e-01 -6.99110992e-01 -5.02563592e-03 -1.74849561e+02] [ 7.08888899e-03 6.15268464e-05 9.99974872e-01 -5.04251878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters 0.012478922009155888 Centerline is valid? [True, True] Translation: X:81.62, Y:-174.81, Z:-5.04 [[-7.02675105e-01 -7.11492162e-01 5.15757239e-03 8.16244096e+01] [ 7.11473298e-01 -7.02694032e-01 -5.18112551e-03 -1.74808692e+02] [ 7.31052553e-03 2.88271288e-05 9.99973277e-01 -5.04259588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters 0.012441435079271269 Centerline is valid? [True, True] Translation: X:81.58, Y:-174.77, Z:-5.04 [[-7.05596594e-01 -7.08595774e-01 5.04731809e-03 8.15841845e+01] [ 7.08577655e-01 -7.05614646e-01 -5.06733895e-03 -1.74767825e+02] [ 7.15215653e-03 9.19712657e-07 9.99974423e-01 -5.04267669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters 0.012433136993324946 Centerline is valid? [True, True] Translation: X:81.54, Y:-174.73, Z:-5.04 [[-7.08129055e-01 -7.06072808e-01 3.79886079e-03 8.15442209e+01] [ 7.06062521e-01 -7.08139244e-01 -3.81152960e-03 -1.74726842e+02] [ 5.38133982e-03 -1.68216223e-05 9.99985520e-01 -5.04085009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters 0.012614763987899914 Centerline is valid? [True, True] Translation: X:81.50, Y:-174.69, Z:-5.04 [[-7.09906693e-01 -7.04284640e-01 3.95384272e-03 8.15032698e+01] [ 7.04273479e-01 -7.09917703e-01 -3.96510998e-03 -1.74688686e+02] [ 5.59946899e-03 -3.02715477e-05 9.99984322e-01 -5.04086747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters 0.012620394950776563 Centerline is valid? [True, True] Translation: X:81.46, Y:-174.65, Z:-5.04 [[-7.09708495e-01 -7.04477080e-01 5.08886301e-03 8.14598872e+01] [ 7.04458619e-01 -7.09726738e-01 -5.10018515e-03 -1.74651084e+02] [ 7.20466568e-03 -3.47513184e-05 9.99974046e-01 -5.04316480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters 0.012857294133764843 Centerline is valid? [True, True] Translation: X:81.42, Y:-174.61, Z:-5.05 [[-7.09000052e-01 -7.05171271e-01 7.23908084e-03 8.14179488e+01] [ 7.05133979e-01 -7.09037007e-01 -7.25226811e-03 -1.74612866e+02] [ 1.02468673e-02 -3.73365891e-05 9.99947499e-01 -5.04646584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters 0.012964158717459687 Centerline is valid? [True, True] Translation: X:81.38, Y:-174.57, Z:-5.05 [[-7.09203163e-01 -7.04961748e-01 7.73357558e-03 8.13762879e+01] [ 7.04919227e-01 -7.09245326e-01 -7.74281694e-03 -1.74573841e+02] [ 1.09433921e-02 -3.96841425e-05 9.99940119e-01 -5.04689398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters 0.012863715407455146 Centerline is valid? [True, True] Translation: X:81.33, Y:-174.53, Z:-5.04 [[-7.09977161e-01 -7.04194046e-01 6.57094258e-03 8.13330678e+01] [ 7.04163351e-01 -7.10007566e-01 -6.57503710e-03 -1.74534551e+02] [ 9.29552093e-03 -4.11092229e-05 9.99956795e-01 -5.04477477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters 0.012775940499386282 Centerline is valid? [True, True] Translation: X:81.29, Y:-174.49, Z:-5.04 [[-7.10719529e-01 -7.03457815e-01 4.98539549e-03 8.12919104e+01] [ 7.03440148e-01 -7.10737013e-01 -4.98557220e-03 -1.74494617e+02] [ 7.05044483e-03 -3.64161833e-05 9.99975145e-01 -5.04312832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters 0.012828031619594801 Centerline is valid? [True, True] Translation: X:81.25, Y:-174.45, Z:-5.04 [[-7.11785437e-01 -7.02391465e-01 2.77898983e-03 8.12511264e+01] [ 7.02385973e-01 -7.11790861e-01 -2.77760290e-03 -1.74452606e+02] [ 3.92902413e-03 -2.51338164e-05 9.99992281e-01 -5.04049158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters 0.012730827421032626 Centerline is valid? [True, True] Translation: X:81.23, Y:-174.47, Z:-5.04 [[-6.61883312e-01 -7.49602490e-01 2.56678347e-03 8.12279678e+01] [ 7.49596740e-01 -6.61888288e-01 -2.93615119e-03 -1.74474268e+02] [ 3.89987017e-03 -1.93369530e-05 9.99992395e-01 -5.04098708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters 0.012667926156621007 Centerline is valid? [True, True] Translation: X:81.18, Y:-174.44, Z:-5.04 [[-6.56448673e-01 -7.54361388e-01 3.74642732e-03 8.11847653e+01] [ 7.54349226e-01 -6.56459363e-01 -4.28367019e-03 -1.74436636e+02] [ 5.69081268e-03 1.41049413e-05 9.99983807e-01 -5.04367059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters 0.01287694046832213 Centerline is valid? [True, True] Translation: X:81.14, Y:-174.39, Z:-5.04 [[-6.53921612e-01 -7.56551239e-01 4.09241959e-03 8.11438797e+01] [ 7.56536786e-01 -6.53934416e-01 -4.67661737e-03 -1.74394932e+02] [ 6.21427468e-03 3.79247965e-05 9.99980691e-01 -5.04422681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters 0.014666977833600603 Centerline is valid? [True, True] Translation: X:81.10, Y:-174.36, Z:-5.05 [[-6.45925644e-01 -7.63380117e-01 5.55520897e-03 8.10992065e+01] [ 7.63353764e-01 -6.45949516e-01 -6.34456909e-03 -1.74356701e+02] [ 8.43170244e-03 1.42469801e-04 9.99964443e-01 -5.04594022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters 0.017119811887946416 Centerline is valid? [True, True] Translation: X:81.06, Y:-174.32, Z:-5.05 [[-6.41471662e-01 -7.67120938e-01 6.29073254e-03 8.10580254e+01] [ 7.67087365e-01 -6.41502470e-01 -7.18029134e-03 -1.74316780e+02] [ 9.54367229e-03 2.19588022e-04 9.99954434e-01 -5.04799665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters 0.017663236240184507 Centerline is valid? [True, True] Translation: X:81.02, Y:-174.27, Z:-5.05 [[-6.39114771e-01 -7.69092326e-01 5.41333041e-03 8.10197480e+01] [ 7.69067564e-01 -6.39137659e-01 -6.17535052e-03 -1.74272811e+02] [ 8.20927802e-03 2.16459104e-04 9.99966280e-01 -5.04688241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters 0.01759041068604547 Centerline is valid? [True, True] Translation: X:80.98, Y:-174.23, Z:-5.04 [[-6.39992696e-01 -7.68374010e-01 3.27560123e-03 8.09846397e+01] [ 7.68364944e-01 -6.40001066e-01 -3.73462441e-03 -1.74226163e+02] [ 4.96597661e-03 1.26724810e-04 9.99987662e-01 -5.04443707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters 0.016059434680545874 Centerline is valid? [True, True] Translation: X:80.95, Y:-174.18, Z:-5.04 [[-6.41493086e-01 -7.67122852e-01 3.02505138e-03 8.09515374e+01] [ 7.67115115e-01 -6.41500209e-01 -3.44696698e-03 -1.74178253e+02] [ 4.58481824e-03 1.09357153e-04 9.99989484e-01 -5.04392591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters 0.016906962885793502 Centerline is valid? [True, True] Translation: X:80.92, Y:-174.13, Z:-5.05 [[-6.41767435e-01 -7.66891654e-01 3.42788236e-03 8.09181824e+01] [ 7.66881730e-01 -6.41776578e-01 -3.90333203e-03 -1.74132640e+02] [ 5.19336737e-03 1.23748972e-04 9.99986507e-01 -5.04517832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters 0.016693482048240626 Centerline is valid? [True, True] Translation: X:80.88, Y:-174.09, Z:-5.04 [[-6.40938464e-01 -7.67583432e-01 3.68239480e-03 8.08834326e+01] [ 7.67572005e-01 -6.40949026e-01 -4.19074600e-03 -1.74086368e+02] [ 5.57697456e-03 1.40492860e-04 9.99984439e-01 -5.04497288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters 0.0199288077359965 Centerline is valid? [True, True] Translation: X:80.85, Y:-174.04, Z:-5.05 [[-6.37716541e-01 -7.70259703e-01 4.19567216e-03 8.08450516e+01] [ 7.70244944e-01 -6.37730315e-01 -4.77199180e-03 -1.74044060e+02] [ 6.35138031e-03 1.88517163e-04 9.99979812e-01 -5.04708705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters 0.021229212976887995 Centerline is valid? [True, True] Translation: X:80.81, Y:-174.00, Z:-5.05 [[-6.36271638e-01 -7.71452598e-01 4.39224300e-03 8.08092071e+01] [ 7.71436473e-01 -6.36286762e-01 -4.99237797e-03 -1.73999849e+02] [ 6.64610903e-03 2.11827949e-04 9.99977892e-01 -5.04801120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters 0.019129127085540657 Centerline is valid? [True, True] Translation: X:80.78, Y:-173.95, Z:-5.05 [[-6.36602336e-01 -7.71181804e-01 4.01140799e-03 8.07778213e+01] [ 7.71168366e-01 -6.36614945e-01 -4.55660960e-03 -1.73951223e+02] [ 6.06769669e-03 1.92722628e-04 9.99981573e-01 -5.04694905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters 0.017984230941270052 Centerline is valid? [True, True] Translation: X:80.75, Y:-173.90, Z:-5.05 [[-6.39063171e-01 -7.69142464e-01 4.25838323e-03 8.07475636e+01] [ 7.69127292e-01 -6.39077332e-01 -4.83453563e-03 -1.73900090e+02] [ 6.43988284e-03 1.85665093e-04 9.99979247e-01 -5.04726650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters 0.017061262433336163 Centerline is valid? [True, True] Translation: X:80.72, Y:-173.85, Z:-5.05 [[-6.42962542e-01 -7.65881468e-01 4.97459440e-03 8.07179471e+01] [ 7.65860691e-01 -6.42981761e-01 -5.64431792e-03 -1.73850163e+02] [ 7.52145196e-03 1.80761301e-04 9.99971697e-01 -5.04895574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters 0.015687923729686415 Centerline is valid? [True, True] Translation: X:80.69, Y:-173.80, Z:-5.05 [[-6.45371291e-01 -7.63851878e-01 5.11904152e-03 8.06863899e+01] [ 7.63829838e-01 -6.45391572e-01 -5.80494265e-03 -1.73800137e+02] [ 7.73790260e-03 1.63733325e-04 9.99970049e-01 -5.04885987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters 0.01423089337695368 Centerline is valid? [True, True] Translation: X:80.65, Y:-173.75, Z:-5.05 [[-6.47962995e-01 -7.61656083e-01 4.89581027e-03 8.06541881e+01] [ 7.61635883e-01 -6.47981477e-01 -5.54868308e-03 -1.73750994e+02] [ 7.39858259e-03 1.33483472e-04 9.99972621e-01 -5.04812701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters 0.013587134219323551 Centerline is valid? [True, True] Translation: X:80.62, Y:-173.70, Z:-5.05 [[-6.52716808e-01 -7.57589059e-01 4.42577796e-03 8.06227282e+01] [ 7.57572477e-01 -6.52731807e-01 -5.01302071e-03 -1.73702003e+02] [ 6.68665568e-03 8.07646983e-05 9.99977641e-01 -5.04858136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters 0.01295862014599077 Centerline is valid? [True, True] Translation: X:80.59, Y:-173.66, Z:-5.05 [[-6.55669856e-01 -7.55034821e-01 4.41118755e-03 8.05872344e+01] [ 7.55018309e-01 -6.55684692e-01 -4.99381532e-03 -1.73655281e+02] [ 6.66285261e-03 5.62331904e-05 9.99977801e-01 -5.04840940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters 0.013161949660090393 Centerline is valid? [True, True] Translation: X:80.55, Y:-173.62, Z:-5.05 [[-6.55209306e-01 -7.55434042e-01 4.49139926e-03 8.05464068e+01] [ 7.55416955e-01 -6.55224697e-01 -5.08139043e-03 -1.73615569e+02] [ 6.78153103e-03 6.35048562e-05 9.99977003e-01 -5.04932742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters 0.01326183195103874 Centerline is valid? [True, True] Translation: X:80.51, Y:-173.57, Z:-5.05 [[-6.55340825e-01 -7.55313315e-01 5.49542547e-03 8.05071514e+01] [ 7.55287763e-01 -6.55363861e-01 -6.21332024e-03 -1.73573271e+02] [ 8.29450676e-03 7.87851957e-05 9.99965597e-01 -5.05002728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters 0.012991441152741057 Centerline is valid? [True, True] Translation: X:80.47, Y:-173.53, Z:-5.05 [[-6.57569845e-01 -7.53369709e-01 5.99831818e-03 8.04705271e+01] [ 7.53339225e-01 -6.57597200e-01 -6.77758678e-03 -1.73528989e+02] [ 9.05050582e-03 6.20316771e-05 9.99959042e-01 -5.05031688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters 0.012649239399052964 Centerline is valid? [True, True] Translation: X:80.43, Y:-173.48, Z:-5.05 [[-6.60348178e-01 -7.50939364e-01 5.50950743e-03 8.04330547e+01] [ 7.50913590e-01 -6.60371161e-01 -6.22171605e-03 -1.73484844e+02] [ 8.31045132e-03 2.86651446e-05 9.99965467e-01 -5.04976985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters 0.012613225738424556 Centerline is valid? [True, True] Translation: X:80.39, Y:-173.44, Z:-5.05 [[-6.63330037e-01 -7.48308881e-01 5.20395076e-03 8.03949728e+01] [ 7.48285834e-01 -6.63350450e-01 -5.87291207e-03 -1.73441525e+02] [ 7.84679533e-03 -1.63634153e-06 9.99969214e-01 -5.04964687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters 0.012950876076692992 Centerline is valid? [True, True] Translation: X:80.36, Y:-173.40, Z:-5.05 [[-6.67329590e-01 -7.44750437e-01 4.24327535e-03 8.03575006e+01] [ 7.44735059e-01 -6.67343080e-01 -4.78602324e-03 -1.73397202e+02] [ 6.39611334e-03 -3.37390059e-05 9.99979544e-01 -5.04815702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters 0.014735592122901478 Centerline is valid? [True, True] Translation: X:80.32, Y:-173.35, Z:-5.05 [[-6.70387842e-01 -7.42006328e-01 2.59818820e-03 8.03198696e+01] [ 7.42000549e-01 -6.70392876e-01 -2.92884457e-03 -1.73352807e+02] [ 3.91502806e-03 -3.56047178e-05 9.99992336e-01 -5.04720105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters 0.013240865688615797 Centerline is valid? [True, True] Translation: X:80.28, Y:-173.31, Z:-5.05 [[-6.70678443e-01 -7.41745403e-01 2.04542677e-03 8.02822508e+01] [ 7.41741825e-01 -6.70681561e-01 -2.30420123e-03 -1.73310822e+02] [ 3.08096069e-03 -2.81995014e-05 9.99995254e-01 -5.04527667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters 0.012862332401658785 Centerline is valid? [True, True] Translation: X:80.24, Y:-173.27, Z:-5.05 [[-6.69263802e-01 -7.43020089e-01 2.66667802e-03 8.02409411e+01] [ 7.43014024e-01 -6.69269114e-01 -3.00230961e-03 -1.73270365e+02] [ 4.01550159e-03 -2.79579747e-05 9.99991938e-01 -5.04712980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters 0.01299170519265521 Centerline is valid? [True, True] Translation: X:80.20, Y:-173.23, Z:-5.05 [[-6.68297238e-01 -7.43883121e-01 4.08694864e-03 8.02018122e+01] [ 7.43868908e-01 -6.68309734e-01 -4.59855455e-03 -1.73228230e+02] [ 6.15213467e-03 -3.30472818e-05 9.99981075e-01 -5.05024349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters 0.013010226855634925 Centerline is valid? [True, True] Translation: X:80.16, Y:-173.19, Z:-5.05 [[-6.67161067e-01 -7.44894451e-01 5.32616938e-03 8.01635759e+01] [ 7.44870374e-01 -6.67182326e-01 -5.98914515e-03 -1.73187240e+02] [ 8.01480706e-03 -2.84186870e-05 9.99967881e-01 -5.05209015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters 0.012868757202969297 Centerline is valid? [True, True] Translation: X:80.12, Y:-173.15, Z:-5.05 [[-6.64585752e-01 -7.47189919e-01 5.74490430e-03 8.01220512e+01] [ 7.47162029e-01 -6.64610582e-01 -6.45581268e-03 -1.73148060e+02] [ 8.64184234e-03 1.93323290e-06 9.99962659e-01 -5.05385424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters 0.012735001320130451 Centerline is valid? [True, True] Translation: X:80.08, Y:-173.11, Z:-5.05 [[-6.62236422e-01 -7.49276419e-01 5.26964733e-03 8.00825254e+01] [ 7.49253049e-01 -6.62257387e-01 -5.91800435e-03 -1.73107217e+02] [ 7.92408398e-03 2.91813027e-05 9.99968604e-01 -5.05197000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters 0.012944600087318252 Centerline is valid? [True, True] Translation: X:80.04, Y:-173.07, Z:-5.05 [[-6.59452383e-01 -7.51726371e-01 5.47893522e-03 8.00414918e+01] [ 7.51701219e-01 -6.59475140e-01 -6.14956818e-03 -1.73066190e+02] [ 8.23601414e-03 6.31748949e-05 9.99966082e-01 -5.05267984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters 0.013311530864505363 Centerline is valid? [True, True] Translation: X:80.00, Y:-173.02, Z:-5.05 [[-6.58233664e-01 -7.52788212e-01 6.19287103e-03 8.00031307e+01] [ 7.52756151e-01 -6.58262790e-01 -6.94816065e-03 -1.73024564e+02] [ 9.30702999e-03 8.82085158e-05 9.99956685e-01 -5.05460214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters 0.013458741010841782 Centerline is valid? [True, True] Translation: X:79.96, Y:-172.98, Z:-5.06 [[-6.57262901e-01 -7.53627632e-01 7.13237390e-03 7.99648087e+01] [ 7.53585203e-01 -6.57301588e-01 -7.99772973e-03 -1.72981400e+02] [ 1.07154308e-02 1.18240394e-04 9.99942581e-01 -5.05636418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters 0.013966671210210472 Centerline is valid? [True, True] Translation: X:79.93, Y:-172.94, Z:-5.06 [[-6.55764385e-01 -7.54916978e-01 8.56896406e-03 7.99263128e+01] [ 7.54855915e-01 -6.55820346e-01 -9.60319629e-03 -1.72937806e+02] [ 1.28693169e-02 1.70899092e-04 9.99917172e-01 -5.05865838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters 0.014801574336541152 Centerline is valid? [True, True] Translation: X:79.89, Y:-172.90, Z:-5.06 [[-6.53541595e-01 -7.56828369e-01 9.70583908e-03 7.98878116e+01] [ 7.56750308e-01 -6.53613619e-01 -1.08723733e-02 -1.72896359e+02] [ 1.45723891e-02 2.39348545e-04 9.99893789e-01 -5.06048981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters 0.015034839508136407 Centerline is valid? [True, True] Translation: X:79.85, Y:-172.85, Z:-5.06 [[-6.50747249e-01 -7.59227764e-01 1.00608314e-02 7.98499645e+01] [ 7.59144277e-01 -6.50824944e-01 -1.12631574e-02 -1.72852892e+02] [ 1.50991419e-02 3.08153896e-04 9.99885954e-01 -5.05982253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters 0.015584533167232925 Centerline is valid? [True, True] Translation: X:79.81, Y:-172.81, Z:-5.06 [[-6.50362416e-01 -7.59563450e-01 9.59653863e-03 7.98132869e+01] [ 7.59487632e-01 -6.50433142e-01 -1.07361679e-02 -1.72810310e+02] [ 1.43967075e-02 3.06052281e-04 9.99896315e-01 -5.05895375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters 0.014617241150773695 Centerline is valid? [True, True] Translation: X:79.78, Y:-172.76, Z:-5.06 [[-6.52561473e-01 -7.57681484e-01 9.07151230e-03 7.97766805e+01] [ 7.57613633e-01 -6.52624474e-01 -1.01429804e-02 -1.72764845e+02] [ 1.36054394e-02 2.53783176e-04 9.99907410e-01 -5.05745818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters 0.013997395438666795 Centerline is valid? [True, True] Translation: X:79.74, Y:-172.72, Z:-5.06 [[-6.56226328e-01 -7.54519629e-01 8.19365552e-03 7.97402654e+01] [ 7.54464091e-01 -6.56277456e-01 -9.15618031e-03 -1.72720477e+02] [ 1.22858292e-02 1.73292287e-04 9.99924511e-01 -5.05669151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters 0.012552679228196268 Centerline is valid? [True, True] Translation: X:79.71, Y:-172.67, Z:-5.05 [[-6.63171810e-01 -7.48440908e-01 6.27355878e-03 7.97062576e+01] [ 7.48408114e-01 -6.63201482e-01 -7.00640328e-03 -1.72673074e+02] [ 9.40451231e-03 4.87331514e-05 9.99955776e-01 -5.05345423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters 0.012351195757782658 Centerline is valid? [True, True] Translation: X:79.67, Y:-172.63, Z:-5.05 [[-6.68035798e-01 -7.44113062e-01 4.89128865e-03 7.96711256e+01] [ 7.44093035e-01 -6.68053704e-01 -5.45922280e-03 -1.72627554e+02] [ 7.32992249e-03 -7.38243901e-06 9.99973136e-01 -5.05204515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters 0.012780476716806474 Centerline is valid? [True, True] Translation: X:79.63, Y:-172.58, Z:-5.05 [[-6.73057037e-01 -7.39575917e-01 4.65705736e-03 7.96344061e+01] [ 7.39557674e-01 -6.73073147e-01 -5.19483541e-03 -1.72582695e+02] [ 6.97651541e-03 -5.22580224e-05 9.99975663e-01 -5.05165782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters 0.012982237482767387 Centerline is valid? [True, True] Translation: X:79.59, Y:-172.54, Z:-5.05 [[-6.73404311e-01 -7.39251619e-01 5.80324753e-03 7.95945809e+01] [ 7.39223315e-01 -6.73429313e-01 -6.46927181e-03 -1.72542068e+02] [ 8.69049666e-03 -6.65396591e-05 9.99962235e-01 -5.05339133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters 0.01279713724740484 Centerline is valid? [True, True] Translation: X:79.55, Y:-172.50, Z:-5.06 [[-6.70209332e-01 -7.42124926e-01 8.36933960e-03 7.95503842e+01] [ 7.42066352e-01 -6.70261585e-01 -9.32396540e-03 -1.72504465e+02] [ 1.25291940e-02 -3.84033146e-05 9.99921506e-01 -5.05612324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters 0.01289658335561458 Centerline is valid? [True, True] Translation: X:79.51, Y:-172.47, Z:-5.06 [[-6.67852044e-01 -7.44233779e-01 9.47254671e-03 7.95087550e+01] [ 7.44159049e-01 -6.67919218e-01 -1.05464158e-02 -1.72465088e+02] [ 1.41758949e-02 5.63600930e-06 9.99899517e-01 -5.05692018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters 0.013115617238803048 Centerline is valid? [True, True] Translation: X:79.46, Y:-172.43, Z:-5.06 [[-6.65869947e-01 -7.45996214e-01 1.03374013e-02 7.94649735e+01] [ 7.45907525e-01 -6.65950183e-01 -1.15029904e-02 -1.72426899e+02] [ 1.54653816e-02 5.12498513e-05 9.99880403e-01 -5.05804671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters 0.012988464265882476 Centerline is valid? [True, True] Translation: X:79.43, Y:-172.38, Z:-5.06 [[-6.66227691e-01 -7.45685740e-01 9.66649066e-03 7.94261839e+01] [ 7.45608249e-01 -6.66297813e-01 -1.07500411e-02 -1.72384102e+02] [ 1.44569140e-02 4.54400974e-05 9.99895492e-01 -5.05555502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters 0.012711063823503404 Centerline is valid? [True, True] Translation: X:79.39, Y:-172.34, Z:-5.05 [[-6.67861490e-01 -7.44244793e-01 7.79222015e-03 7.93887124e+01] [ 7.44194399e-01 -6.67906946e-01 -8.66075581e-03 -1.72339454e+02] [ 1.16502004e-02 1.47413060e-05 9.99932134e-01 -5.05018197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters 0.012555570442016798 Centerline is valid? [True, True] Translation: X:79.35, Y:-172.30, Z:-5.05 [[-6.68674620e-01 -7.43534792e-01 5.50143133e-03 7.93502339e+01] [ 7.43509678e-01 -6.68697251e-01 -6.11115986e-03 -1.72295902e+02] [ 8.22265198e-03 3.98993462e-06 9.99966194e-01 -5.04678232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters 0.012544360915546001 Centerline is valid? [True, True] Translation: X:79.31, Y:-172.25, Z:-5.04 [[-6.67765722e-01 -7.44365935e-01 2.88022776e-03 7.93119364e+01] [ 7.44359068e-01 -6.67771933e-01 -3.19732936e-03 -1.72254875e+02] [ 4.30331832e-03 8.85670971e-06 9.99990741e-01 -5.04233807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters 0.012782885123913625 Centerline is valid? [True, True] Translation: X:79.27, Y:-172.21, Z:-5.04 [[-6.66004732e-01 -7.45943202e-01 2.53695182e-03 7.92720043e+01] [ 7.45937893e-01 -6.66009563e-01 -2.81443243e-03 -1.72214525e+02] [ 3.78904091e-03 1.79831819e-05 9.99992821e-01 -5.04219286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters 0.013526454271413276 Centerline is valid? [True, True] Translation: X:79.23, Y:-172.17, Z:-5.04 [[-6.61890302e-01 -7.49596415e-01 2.53836417e-03 7.92292818e+01] [ 7.49591132e-01 -6.61895168e-01 -2.81446037e-03 -1.72174381e+02] [ 3.78984038e-03 3.98712486e-05 9.99992818e-01 -5.04216843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters 0.013506795327214539 Centerline is valid? [True, True] Translation: X:79.19, Y:-172.13, Z:-5.04 [[-6.60320355e-01 -7.50975111e-01 3.66212050e-03 7.91907968e+01] [ 7.50964150e-01 -6.60330506e-01 -4.05810868e-03 -1.72131278e+02] [ 5.46574851e-03 7.04694435e-05 9.99985060e-01 -5.04275728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters 0.013397538094244297 Centerline is valid? [True, True] Translation: X:79.15, Y:-172.09, Z:-5.04 [[-6.62437234e-01 -7.49100587e-01 5.02211030e-03 7.91542600e+01] [ 7.49079947e-01 -6.62456266e-01 -5.56140991e-03 -1.72088970e+02] [ 7.49298387e-03 7.78771165e-05 9.99971924e-01 -5.04450910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters 0.012789120119762895 Centerline is valid? [True, True] Translation: X:79.12, Y:-172.04, Z:-5.05 [[-6.65617036e-01 -7.46270360e-01 5.87465403e-03 7.91182029e+01] [ 7.46242041e-01 -6.65642958e-01 -6.50145151e-03 -1.72044593e+02] [ 8.76226265e-03 5.64369312e-05 9.99961609e-01 -5.04547327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters 0.012481641077445243 Centerline is valid? [True, True] Translation: X:79.08, Y:-172.00, Z:-5.05 [[-6.71641156e-01 -7.40846876e-01 6.63803690e-03 7.90846759e+01] [ 7.40810494e-01 -6.71673958e-01 -7.34209364e-03 -1.71997051e+02] [ 9.89796366e-03 -1.37248657e-05 9.99951014e-01 -5.04563421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters 0.012764788416015669 Centerline is valid? [True, True] Translation: X:79.05, Y:-171.95, Z:-5.04 [[-6.75237517e-01 -7.37572328e-01 6.43091548e-03 7.90488845e+01] [ 7.37538070e-01 -6.75268138e-01 -7.10895741e-03 -1.71951468e+02] [ 9.58596258e-03 -5.71897629e-05 9.99954052e-01 -5.04476199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters 0.0130835168659487 Centerline is valid? [True, True] Translation: X:79.01, Y:-171.91, Z:-5.04 [[-6.77089903e-01 -7.35876823e-01 5.87916000e-03 7.90122352e+01] [ 7.35848166e-01 -6.77115423e-01 -6.49471190e-03 -1.71908394e+02] [ 8.76017787e-03 -7.13347461e-05 9.99961626e-01 -5.04483533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters 0.012723724804157151 Centerline is valid? [True, True] Translation: X:78.97, Y:-171.87, Z:-5.04 [[-6.75986907e-01 -7.36890364e-01 5.85601185e-03 7.89720932e+01] [ 7.36862002e-01 -6.76012270e-01 -6.46545076e-03 -1.71866605e+02] [ 8.72306423e-03 -5.54874439e-05 9.99961952e-01 -5.04393472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters 0.012367324637217883 Centerline is valid? [True, True] Translation: X:78.93, Y:-171.83, Z:-5.04 [[-6.71244843e-01 -7.41206095e-01 6.62458742e-03 7.89305123e+01] [ 7.41170054e-01 -6.71277532e-01 -7.30939394e-03 -1.71827628e+02] [ 9.86470404e-03 3.55282729e-06 9.99951343e-01 -5.04475195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters 0.01270747690183857 Centerline is valid? [True, True] Translation: X:78.89, Y:-171.79, Z:-5.05 [[-6.66536807e-01 -7.45436954e-01 7.24100711e-03 7.88880639e+01] [ 7.45394191e-01 -6.66576134e-01 -7.98483592e-03 -1.71789222e+02] [ 1.07788743e-02 7.52175924e-05 9.99941904e-01 -5.04608120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters 0.013835413861325287 Centerline is valid? [True, True] Translation: X:78.84, Y:-171.75, Z:-5.05 [[-6.61805038e-01 -7.49631651e-01 8.15353085e-03 7.88446645e+01] [ 7.49577806e-01 -6.61855242e-01 -8.98613666e-03 -1.71750491e+02] [ 1.21327496e-02 1.64635253e-04 9.99926382e-01 -5.04753232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters 0.014990768160104178 Centerline is valid? [True, True] Translation: X:78.80, Y:-171.71, Z:-5.05 [[-6.57799937e-01 -7.53136303e-01 9.21693408e-03 7.88027452e+01] [ 7.53067923e-01 -6.57864454e-01 -1.01520537e-02 -1.71710666e+02] [ 1.37093735e-02 2.62957138e-04 9.99905988e-01 -5.04875631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters 0.014928309288672928 Centerline is valid? [True, True] Translation: X:78.77, Y:-171.67, Z:-5.05 [[-6.58821695e-01 -7.52243751e-01 9.12761261e-03 7.87656736e+01] [ 7.52176688e-01 -6.58884875e-01 -1.00474208e-02 -1.71666947e+02] [ 1.35721554e-02 2.46118625e-04 9.99907864e-01 -5.04860015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters 0.014461563076078517 Centerline is valid? [True, True] Translation: X:78.73, Y:-171.62, Z:-5.05 [[-6.60134153e-01 -7.51098642e-01 8.58667569e-03 7.87283875e+01] [ 7.51039263e-01 -6.60189962e-01 -9.44672727e-03 -1.71622746e+02] [ 1.27642611e-02 2.12823276e-04 9.99918511e-01 -5.04746550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters 0.01352388876032284 Centerline is valid? [True, True] Translation: X:78.69, Y:-171.58, Z:-5.04 [[-6.63339223e-01 -7.48288464e-01 6.74159646e-03 7.86928185e+01] [ 7.48251756e-01 -6.63373468e-01 -7.41289349e-03 -1.71576182e+02] [ 1.00191789e-02 1.27148381e-04 9.99949799e-01 -5.04493582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters 0.012761978341882287 Centerline is valid? [True, True] Translation: X:78.66, Y:-171.53, Z:-5.04 [[-6.68535499e-01 -7.43664941e-01 4.76886444e-03 7.86585660e+01] [ 7.43646470e-01 -6.68552506e-01 -5.24155205e-03 -1.71530695e+02] [ 7.08619477e-03 4.21855873e-05 9.99974892e-01 -5.04434442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters 0.012283961987277518 Centerline is valid? [True, True] Translation: X:78.62, Y:-171.49, Z:-5.04 [[-6.70452194e-01 -7.41938533e-01 4.59005325e-03 7.86232829e+01] [ 7.41921402e-01 -6.70467906e-01 -5.04186318e-03 -1.71485851e+02] [ 6.81823596e-03 2.51305166e-05 9.99976755e-01 -5.04330052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters 0.012440665391818626 Centerline is valid? [True, True] Translation: X:78.59, Y:-171.44, Z:-5.04 [[-6.69942323e-01 -7.42394850e-01 5.21250207e-03 7.85856456e+01] [ 7.42372794e-01 -6.69962600e-01 -5.72281141e-03 -1.71443374e+02] [ 7.74076716e-03 3.56661545e-05 9.99970039e-01 -5.04472010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters 0.013036954633817889 Centerline is valid? [True, True] Translation: X:78.55, Y:-171.40, Z:-5.05 [[-6.67990242e-01 -7.44143628e-01 6.26872839e-03 7.85455298e+01] [ 7.44111832e-01 -6.68019652e-01 -6.87940370e-03 -1.71403443e+02] [ 9.30689818e-03 6.92604191e-05 9.99956688e-01 -5.04751122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters 0.013785727626499272 Centerline is valid? [True, True] Translation: X:78.50, Y:-171.36, Z:-5.05 [[-6.64517903e-01 -7.47225499e-01 8.36722414e-03 7.85028442e+01] [ 7.47169155e-01 -6.64570561e-01 -9.17732805e-03 -1.71363453e+02] [ 1.24181444e-02 1.53233010e-04 9.99922880e-01 -5.05040803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters 0.014017295663379158 Centerline is valid? [True, True] Translation: X:78.46, Y:-171.32, Z:-5.05 [[-6.63160508e-01 -7.48426261e-01 8.73344784e-03 7.84618047e+01] [ 7.48365050e-01 -6.63217986e-01 -9.57366283e-03 -1.71321924e+02] [ 1.29573604e-02 1.86932019e-04 9.99916033e-01 -5.05062915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters 0.013989079325147563 Centerline is valid? [True, True] Translation: X:78.42, Y:-171.28, Z:-5.05 [[-6.63427881e-01 -7.48191617e-01 8.52941736e-03 7.84222358e+01] [ 7.48133287e-01 -6.63482684e-01 -9.34416928e-03 -1.71281163e+02] [ 1.26503498e-02 1.81958621e-04 9.99919965e-01 -5.05053514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters 0.013016403644200087 Centerline is valid? [True, True] Translation: X:78.38, Y:-171.24, Z:-5.05 [[-6.66783596e-01 -7.45212285e-01 7.63457414e-03 7.83846620e+01] [ 7.45165390e-01 -6.66827292e-01 -8.36085927e-03 -1.71236284e+02] [ 1.13215574e-02 1.14136608e-04 9.99935903e-01 -5.04927424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters 0.012499667666964772 Centerline is valid? [True, True] Translation: X:78.35, Y:-171.19, Z:-5.05 [[-6.70616907e-01 -7.41773807e-01 6.67708372e-03 7.83482939e+01] [ 7.41737806e-01 -6.70650145e-01 -7.30823143e-03 -1.71190996e+02] [ 9.89904182e-03 5.16218702e-05 9.99951002e-01 -5.04806988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters 0.012497790943561352 Centerline is valid? [True, True] Translation: X:78.31, Y:-171.15, Z:-5.05 [[-6.75338883e-01 -7.37486585e-01 5.56150143e-03 7.83127217e+01] [ 7.37461492e-01 -6.75361783e-01 -6.08366489e-03 -1.71146163e+02] [ 8.24264676e-03 -7.14231085e-06 9.99966029e-01 -5.04733567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters 0.012417535491117116 Centerline is valid? [True, True] Translation: X:78.27, Y:-171.10, Z:-5.05 [[-6.76675968e-01 -7.36259687e-01 5.59529205e-03 7.82738716e+01] [ 7.36234278e-01 -6.76699100e-01 -6.11678223e-03 -1.71103745e+02] [ 8.28986927e-03 -1.96337273e-05 9.99965638e-01 -5.04734871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters 0.012518161282565271 Centerline is valid? [True, True] Translation: X:78.23, Y:-171.06, Z:-5.05 [[-6.76435045e-01 -7.36475403e-01 6.29373968e-03 7.82328424e+01] [ 7.36443301e-01 -6.76464323e-01 -6.87638834e-03 -1.71062173e+02] [ 9.32178123e-03 -1.64476287e-05 9.99956551e-01 -5.04815277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters 0.012477579734609582 Centerline is valid? [True, True] Translation: X:78.19, Y:-171.02, Z:-5.05 [[-6.75458305e-01 -7.37362724e-01 7.23122425e-03 7.81933499e+01] [ 7.37320446e-01 -6.75497012e-01 -7.89607649e-03 -1.71020175e+02] [ 1.07069428e-02 -1.74095896e-06 9.99942679e-01 -5.04805252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters 0.012540485048732748 Centerline is valid? [True, True] Translation: X:78.15, Y:-170.98, Z:-5.05 [[-6.74318139e-01 -7.38404943e-01 7.29292967e-03 7.81530344e+01] [ 7.38362053e-01 -6.74357575e-01 -7.95862543e-03 -1.70979564e+02] [ 1.07947307e-02 1.81770300e-05 9.99941735e-01 -5.04864795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters 0.01252623311924785 Centerline is valid? [True, True] Translation: X:78.11, Y:-170.94, Z:-5.05 [[-6.73253089e-01 -7.39381696e-01 6.70718495e-03 7.81119612e+01] [ 7.39345515e-01 -6.73286497e-01 -7.31459872e-03 -1.70940749e+02] [ 9.92413747e-03 3.43509203e-05 9.99950754e-01 -5.04963720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters 0.01268284460646217 Centerline is valid? [True, True] Translation: X:78.07, Y:-170.90, Z:-5.05 [[-6.72205854e-01 -7.40336407e-01 6.42613450e-03 7.80734736e+01] [ 7.40303281e-01 -6.72236567e-01 -7.00356712e-03 -1.70899722e+02] [ 9.50487831e-03 4.94496406e-05 9.99954826e-01 -5.04948210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters 0.012901751447228911 Centerline is valid? [True, True] Translation: X:78.03, Y:-170.86, Z:-5.05 [[-6.71522189e-01 -7.40957752e-01 6.28967353e-03 7.80349715e+01] [ 7.40926084e-01 -6.71551641e-01 -6.85062414e-03 -1.70856866e+02] [ 9.29986364e-03 5.98370628e-05 9.99956754e-01 -5.04870563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters 0.012827900114295495 Centerline is valid? [True, True] Translation: X:78.00, Y:-170.81, Z:-5.05 [[-6.70711633e-01 -7.41693352e-01 6.07263141e-03 7.79956651e+01] [ 7.41663896e-01 -6.70739120e-01 -6.61047363e-03 -1.70813460e+02] [ 8.97609579e-03 7.01299082e-05 9.99959712e-01 -5.04700390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters 0.013165262182604423 Centerline is valid? [True, True] Translation: X:77.96, Y:-170.77, Z:-5.05 [[-6.69127753e-01 -7.43117148e-01 6.70478243e-03 7.79554133e+01] [ 7.43081353e-01 -6.69161336e-01 -7.29444366e-03 -1.70772012e+02] [ 9.90720734e-03 1.01284101e-04 9.99950917e-01 -5.04781186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters 0.013867077042467436 Centerline is valid? [True, True] Translation: X:77.92, Y:-170.73, Z:-5.05 [[-6.65780147e-01 -7.46106441e-01 7.87235007e-03 7.79154461e+01] [ 7.46057362e-01 -6.65826665e-01 -8.55947137e-03 -1.70730431e+02] [ 1.16278973e-02 1.74498619e-04 9.99932379e-01 -5.04788317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters 0.014810637941191234 Centerline is valid? [True, True] Translation: X:77.88, Y:-170.69, Z:-5.05 [[-6.63631986e-01 -7.48007643e-01 8.78370504e-03 7.78751153e+01] [ 7.47946766e-01 -6.63690072e-01 -9.54591254e-03 -1.70690568e+02] [ 1.29700734e-02 2.34770885e-04 9.99915858e-01 -5.04945901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters 0.015649211352603744 Centerline is valid? [True, True] Translation: X:77.83, Y:-170.65, Z:-5.05 [[-6.62016679e-01 -7.49436036e-01 8.91878833e-03 7.78328057e+01] [ 7.49373472e-01 -6.62076699e-01 -9.68734446e-03 -1.70650169e+02] [ 1.31649670e-02 2.70319764e-04 9.99913302e-01 -5.05010071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters 0.01571983610703138 Centerline is valid? [True, True] Translation: X:77.79, Y:-170.61, Z:-5.05 [[-6.60653411e-01 -7.50642912e-01 8.50229411e-03 7.77898076e+01] [ 7.50586221e-01 -6.60708058e-01 -9.22972209e-03 -1.70610640e+02] [ 1.25457597e-02 2.84057426e-04 9.99921259e-01 -5.04961970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters 0.015153292551357835 Centerline is valid? [True, True] Translation: X:77.75, Y:-170.57, Z:-5.05 [[-6.63607650e-01 -7.48035497e-01 8.23297582e-03 7.77515069e+01] [ 7.47982200e-01 -6.63658679e-01 -8.93231546e-03 -1.70567641e+02] [ 1.21455749e-02 2.30566495e-04 9.99926213e-01 -5.04985432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters 0.014171450237999686 Centerline is valid? [True, True] Translation: X:77.72, Y:-170.52, Z:-5.05 [[-6.67657848e-01 -7.44428166e-01 7.72684240e-03 7.77165229e+01] [ 7.44381026e-01 -6.67702539e-01 -8.37898567e-03 -1.70522330e+02] [ 1.13967852e-02 1.57419329e-04 9.99935042e-01 -5.04972855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters 0.013302452283115825 Centerline is valid? [True, True] Translation: X:77.68, Y:-170.48, Z:-5.05 [[-6.71422496e-01 -7.41035559e-01 7.62442029e-03 7.76810999e+01] [ 7.40989488e-01 -6.71465777e-01 -8.26367503e-03 -1.70475469e+02] [ 1.12432143e-02 1.01197970e-04 9.99936788e-01 -5.04979506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters 0.01294621932851319 Centerline is valid? [True, True] Translation: X:77.64, Y:-170.43, Z:-5.05 [[-6.74071642e-01 -7.38629889e-01 7.30120530e-03 7.76421266e+01] [ 7.38587554e-01 -6.74111180e-01 -7.90833431e-03 -1.70433816e+02] [ 1.07631562e-02 6.17954677e-05 9.99942074e-01 -5.04964330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters 0.012833945080506986 Centerline is valid? [True, True] Translation: X:77.60, Y:-170.39, Z:-5.05 [[-6.77437976e-01 -7.35515533e-01 9.73085462e-03 7.76027374e+01] [ 7.35440089e-01 -6.77507860e-01 -1.05344967e-02 -1.70391279e+02] [ 1.43410164e-02 1.99924625e-05 9.99897162e-01 -5.05212972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters 0.013060630149882594 Centerline is valid? [True, True] Translation: X:77.57, Y:-170.35, Z:-5.05 [[-6.80316330e-01 -7.32840153e-01 1.07238927e-02 7.75654064e+01] [ 7.32748295e-01 -6.80400845e-01 -1.16029180e-02 -1.70346367e+02] [ 1.57996299e-02 -3.57405000e-05 9.99875178e-01 -5.05215631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters 0.01385294456062528 Centerline is valid? [True, True] Translation: X:77.53, Y:-170.30, Z:-5.05 [[-6.81747502e-01 -7.31510811e-01 1.05960720e-02 7.75285914e+01] [ 7.31421057e-01 -6.81829839e-01 -1.14589799e-02 -1.70303430e+02] [ 1.56070857e-02 -6.19407631e-05 9.99878200e-01 -5.05453948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters 0.013454273806857557 Centerline is valid? [True, True] Translation: X:77.49, Y:-170.26, Z:-5.05 [[-6.85218745e-01 -7.28283294e-01 8.87216776e-03 7.74889170e+01] [ 7.28220169e-01 -6.85276172e-01 -9.58923990e-03 -1.70261667e+02] [ 1.30635684e-02 -1.09835429e-04 9.99914662e-01 -5.04909767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters 0.01376019612185496 Centerline is valid? [True, True] Translation: X:77.45, Y:-170.22, Z:-5.05 [[-6.86905889e-01 -7.26703905e-01 7.85710774e-03 7.74494860e+01] [ 7.26654357e-01 -6.86950814e-01 -8.48677824e-03 -1.70220158e+02] [ 1.15648214e-02 -1.20216384e-04 9.99933118e-01 -5.04807484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters 0.013748163926192165 Centerline is valid? [True, True] Translation: X:77.41, Y:-170.18, Z:-5.05 [[-6.86825110e-01 -7.26789620e-01 6.93658698e-03 7.74088439e+01] [ 7.26751057e-01 -6.86860130e-01 -7.48757056e-03 -1.70181431e+02] [ 1.02063536e-02 -1.01479558e-04 9.99947909e-01 -5.04825150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters 0.013431104077189277 Centerline is valid? [True, True] Translation: X:77.37, Y:-170.14, Z:-5.05 [[-6.85196176e-01 -7.28328633e-01 6.60318959e-03 7.73686926e+01] [ 7.28293802e-01 -6.85227989e-01 -7.12329742e-03 -1.70141043e+02] [ 9.71279180e-03 -7.17941101e-05 9.99952827e-01 -5.04762687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters 0.01285872183304291 Centerline is valid? [True, True] Translation: X:77.33, Y:-170.10, Z:-5.05 [[-6.81409597e-01 -7.31867860e-01 7.09900092e-03 7.73255831e+01] [ 7.31827842e-01 -6.81446575e-01 -7.65339862e-03 -1.70102441e+02] [ 1.04388663e-02 -1.98527463e-05 9.99945513e-01 -5.04950877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters 0.01277965931496069 Centerline is valid? [True, True] Translation: X:77.28, Y:-170.06, Z:-5.05 [[-6.78570521e-01 -7.34499007e-01 7.29774715e-03 7.72843198e+01] [ 7.34456922e-01 -6.78609762e-01 -7.86267764e-03 -1.70062068e+02] [ 1.07274514e-02 2.44996431e-05 9.99942459e-01 -5.04899769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters 0.012988895553358077 Centerline is valid? [True, True] Translation: X:77.24, Y:-170.02, Z:-5.05 [[-6.76376121e-01 -7.36524738e-01 6.83036094e-03 7.72432474e+01] [ 7.36488020e-01 -6.76410606e-01 -7.35449514e-03 -1.70022541e+02] [ 1.00368962e-02 5.60741177e-05 9.99949628e-01 -5.04892930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters 0.013203512970540517 Centerline is valid? [True, True] Translation: X:77.20, Y:-169.98, Z:-5.05 [[-6.74874917e-01 -7.37913393e-01 5.26031835e-03 7.72024941e+01] [ 7.37891679e-01 -6.74895414e-01 -5.66124410e-03 -1.69983050e+02] [ 7.72767258e-03 6.09134991e-05 9.99970139e-01 -5.04710285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters 0.012841111291559812 Centerline is valid? [True, True] Translation: X:77.16, Y:-169.94, Z:-5.04 [[-6.76309630e-01 -7.36608449e-01 3.64381554e-03 7.71644092e+01] [ 7.36598023e-01 -6.76319446e-01 -3.91916310e-03 -1.69940070e+02] [ 5.35127196e-03 3.34595745e-05 9.99985681e-01 -5.04499806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters 0.01267658582344703 Centerline is valid? [True, True] Translation: X:77.13, Y:-169.90, Z:-5.05 [[-6.78484811e-01 -7.34609203e-01 2.77136372e-03 7.71269343e+01] [ 7.34603162e-01 -6.78490471e-01 -2.97900394e-03 -1.69896608e+02] [ 4.06874759e-03 1.46436286e-05 9.99991723e-01 -5.04500080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters 0.012406382828227067 Centerline is valid? [True, True] Translation: X:77.09, Y:-169.85, Z:-5.05 [[-6.81175070e-01 -7.32114402e-01 3.00433002e-03 7.70902211e+01] [ 7.32107288e-01 -6.81181696e-01 -3.22737474e-03 -1.69853015e+02] [ 4.40930215e-03 1.08468943e-06 9.99990279e-01 -5.04563204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters 0.01267366051027621 Centerline is valid? [True, True] Translation: X:77.05, Y:-169.81, Z:-5.05 [[-6.84665854e-01 -7.28848629e-01 3.51338966e-03 7.70547952e+01] [ 7.28838870e-01 -6.84674869e-01 -3.77173897e-03 -1.69809209e+02] [ 5.15455639e-03 -2.16859344e-05 9.99986715e-01 -5.04796700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters 0.012960975746925507 Centerline is valid? [True, True] Translation: X:77.02, Y:-169.77, Z:-5.05 [[-6.85846089e-01 -7.27733645e-01 4.34554174e-03 7.70181984e+01] [ 7.27718707e-01 -6.85859855e-01 -4.66289092e-03 -1.69766758e+02] [ 6.37377523e-03 -3.56934821e-05 9.99979687e-01 -5.04945779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters 0.013002599666831535 Centerline is valid? [True, True] Translation: X:76.98, Y:-169.72, Z:-5.05 [[-6.85804724e-01 -7.27769473e-01 4.84507425e-03 7.69796689e+01] [ 7.27750927e-01 -6.85821838e-01 -5.19567439e-03 -1.69724023e+02] [ 7.10411094e-03 -3.72107629e-05 9.99974765e-01 -5.05068603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters 0.012923995667216689 Centerline is valid? [True, True] Translation: X:76.94, Y:-169.68, Z:-5.05 [[-6.85113704e-01 -7.28414979e-01 5.55258742e-03 7.69400161e+01] [ 7.28390672e-01 -6.85136204e-01 -5.95067943e-03 -1.69682130e+02] [ 8.13884270e-03 -3.24391397e-05 9.99966879e-01 -5.05311291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters 0.012652719078207681 Centerline is valid? [True, True] Translation: X:76.90, Y:-169.64, Z:-5.06 [[-6.83743774e-01 -7.29694072e-01 6.40406106e-03 7.69021013e+01] [ 7.29661836e-01 -6.83773764e-01 -6.85888361e-03 -1.69639327e+02] [ 9.38381565e-03 -1.69200197e-05 9.99955971e-01 -5.05502661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters 0.01264068979162688 Centerline is valid? [True, True] Translation: X:76.86, Y:-169.60, Z:-5.06 [[-6.83355325e-01 -7.30059088e-01 6.26332330e-03 7.68634996e+01] [ 7.30028307e-01 -6.83384027e-01 -6.70393495e-03 -1.69596809e+02] [ 9.17452373e-03 -8.76633849e-06 9.99957913e-01 -5.05535200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters 0.012945168553089668 Centerline is valid? [True, True] Translation: X:76.82, Y:-169.56, Z:-5.06 [[-6.81707486e-01 -7.31600863e-01 5.92296375e-03 7.68243820e+01] [ 7.31573431e-01 -6.81733215e-01 -6.33548947e-03 -1.69556577e+02] [ 8.67293069e-03 1.41323127e-05 9.99962389e-01 -5.05640885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters 0.012673553062240285 Centerline is valid? [True, True] Translation: X:76.78, Y:-169.51, Z:-5.06 [[-6.79961848e-01 -7.33224306e-01 5.83121644e-03 7.67844132e+01] [ 7.33197807e-01 -6.79986850e-01 -6.23379994e-03 -1.69514679e+02] [ 8.53592413e-03 3.66889756e-05 9.99963568e-01 -5.05533423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters 0.01308963624649111 Centerline is valid? [True, True] Translation: X:76.74, Y:-169.47, Z:-5.06 [[-6.77707079e-01 -7.35312243e-01 5.38708804e-03 7.67446398e+01] [ 7.35289715e-01 -6.77728487e-01 -5.75618232e-03 -1.69474738e+02] [ 7.88357436e-03 6.00649209e-05 9.99968922e-01 -5.05586322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters 0.013420262093290423 Centerline is valid? [True, True] Translation: X:76.70, Y:-169.43, Z:-5.06 [[-6.76922994e-01 -7.36030902e-01 5.81132210e-03 7.67042707e+01] [ 7.36004744e-01 -6.76947935e-01 -6.20570241e-03 -1.69433641e+02] [ 8.50155123e-03 7.63779822e-05 9.99963858e-01 -5.05727339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters 0.013615824504938161 Centerline is valid? [True, True] Translation: X:76.67, Y:-169.39, Z:-5.06 [[-6.75907526e-01 -7.36964460e-01 5.69228545e-03 7.66658549e+01] [ 7.36939427e-01 -6.75931489e-01 -6.07477477e-03 -1.69391426e+02] [ 8.32448808e-03 8.88835976e-05 9.99965347e-01 -5.05648804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters 0.013882339517764157 Centerline is valid? [True, True] Translation: X:76.63, Y:-169.35, Z:-5.06 [[-6.75347772e-01 -7.37479709e-01 5.39120946e-03 7.66272490e+01] [ 7.37457294e-01 -6.75369284e-01 -5.75069788e-03 -1.69351203e+02] [ 7.88208028e-03 9.20657381e-05 9.99968932e-01 -5.05598505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters 0.014272853938416754 Centerline is valid? [True, True] Translation: X:76.59, Y:-169.31, Z:-5.06 [[-6.75024741e-01 -7.37781493e-01 4.47965375e-03 7.65876009e+01] [ 7.37766044e-01 -6.75039600e-01 -4.77529571e-03 -1.69310591e+02] [ 6.54706847e-03 8.14936727e-05 9.99978564e-01 -5.05535517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters 0.013879883997302073 Centerline is valid? [True, True] Translation: X:76.55, Y:-169.27, Z:-5.05 [[-6.75403075e-01 -7.37440940e-01 3.39810746e-03 7.65503554e+01] [ 7.37432056e-01 -6.75411620e-01 -3.62010464e-03 -1.69267551e+02] [ 4.96473464e-03 6.08435678e-05 9.99987674e-01 -5.05373098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters 0.013689492918895025 Centerline is valid? [True, True] Translation: X:76.51, Y:-169.23, Z:-5.05 [[-6.76787312e-01 -7.36172346e-01 3.03508489e-03 7.65139272e+01] [ 7.36165256e-01 -6.76794116e-01 -3.23126366e-03 -1.69225023e+02] [ 4.43289454e-03 4.74457972e-05 9.99990174e-01 -5.05287030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters 0.013167041212045105 Centerline is valid? [True, True] Translation: X:76.48, Y:-169.18, Z:-5.05 [[-6.78639255e-01 -7.34464382e-01 3.29136721e-03 7.64757918e+01] [ 7.34456035e-01 -6.78647235e-01 -3.50187970e-03 -1.69181843e+02] [ 4.80568317e-03 4.08514811e-05 9.99988452e-01 -5.05255443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters 0.012970709115588267 Centerline is valid? [True, True] Translation: X:76.44, Y:-169.14, Z:-5.05 [[-6.81004926e-01 -7.32272721e-01 2.99213421e-03 7.64374942e+01] [ 7.32265808e-01 -6.81011499e-01 -3.18195447e-03 -1.69140729e+02] [ 4.36773626e-03 2.41109038e-05 9.99990461e-01 -5.05255870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters 0.012679511515360953 Centerline is valid? [True, True] Translation: X:76.40, Y:-169.10, Z:-5.05 [[-6.84596930e-01 -7.28917487e-01 2.51810614e-03 7.63989668e+01] [ 7.28912574e-01 -6.84601561e-01 -2.67633202e-03 -1.69097754e+02] [ 3.67472461e-03 3.27054996e-06 9.99993248e-01 -5.05137041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters 0.012672733795425153 Centerline is valid? [True, True] Translation: X:76.36, Y:-169.06, Z:-5.05 [[-6.87071400e-01 -7.26585996e-01 2.38354760e-03 7.63614225e+01] [ 7.26581586e-01 -6.87075535e-01 -2.53163594e-03 -1.69056519e+02] [ 3.47712846e-03 -7.57285443e-06 9.99993955e-01 -5.05104650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters 0.012945231742029651 Centerline is valid? [True, True] Translation: X:76.32, Y:-169.01, Z:-5.05 [[-6.90120308e-01 -7.23692264e-01 1.86220383e-03 7.63219159e+01] [ 7.23689565e-01 -6.90122820e-01 -1.97665443e-03 -1.69014633e+02] [ 2.71563888e-03 -1.64718834e-05 9.99996313e-01 -5.05107682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters 0.012930588129633361 Centerline is valid? [True, True] Translation: X:76.28, Y:-168.97, Z:-5.05 [[-6.91333134e-01 -7.22532712e-01 2.23093440e-03 7.62806989e+01] [ 7.22528837e-01 -6.91336733e-01 -2.36669127e-03 -1.68973327e+02] [ 3.25233877e-03 -2.42576532e-05 9.99994711e-01 -5.05196566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters 0.01313984566235025 Centerline is valid? [True, True] Translation: X:76.24, Y:-168.93, Z:-5.05 [[-6.91739890e-01 -7.22142358e-01 2.51802487e-03 7.62409890e+01] [ 7.22137424e-01 -6.91744472e-01 -2.66947228e-03 -1.68933272e+02] [ 3.66956879e-03 -2.82204615e-05 9.99993267e-01 -5.05359110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters 0.012927051678247745 Centerline is valid? [True, True] Translation: X:76.20, Y:-168.89, Z:-5.05 [[-6.92024257e-01 -7.21870649e-01 2.27880811e-03 7.61994329e+01] [ 7.21866612e-01 -6.92028009e-01 -2.41449071e-03 -1.68892887e+02] [ 3.31994902e-03 -2.58906495e-05 9.99994489e-01 -5.05350599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters 0.012974410371607436 Centerline is valid? [True, True] Translation: X:76.16, Y:-168.85, Z:-5.05 [[-6.92994336e-01 -7.20941595e-01 1.43768694e-03 7.61617675e+01] [ 7.20939988e-01 -6.92995827e-01 -1.52243441e-03 -1.68848771e+02] [ 2.09389734e-03 -1.85524210e-05 9.99997808e-01 -5.05148030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters 0.013113723231187847 Centerline is valid? [True, True] Translation: X:76.12, Y:-168.81, Z:-5.05 [[-6.94006165e-01 -7.19968516e-01 8.82926732e-04 7.61217934e+01] [ 7.19967909e-01 -6.94006727e-01 -9.34448793e-04 -1.68806658e+02] [ 1.28553080e-03 -1.28343098e-05 9.99999174e-01 -5.05067324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters 0.013232801533528984 Centerline is valid? [True, True] Translation: X:76.08, Y:-168.77, Z:-5.05 [[-6.95034653e-01 -7.18975859e-01 -7.39127068e-04 7.60810469e+01] [ 7.18975434e-01 -6.95035045e-01 7.81735337e-04 -1.68766120e+02] [-1.07576805e-03 1.19189441e-05 9.99999421e-01 -5.04858744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters 0.013252777359245954 Centerline is valid? [True, True] Translation: X:76.04, Y:-168.73, Z:-5.05 [[-6.95837663e-01 -7.18196777e-01 -1.82689170e-03 7.60392628e+01] [ 7.18194181e-01 -6.95840060e-01 1.93113596e-03 -1.68725057e+02] [-2.65816005e-03 3.16941432e-05 9.99996467e-01 -5.04832672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters 0.013413085485769327 Centerline is valid? [True, True] Translation: X:76.00, Y:-168.68, Z:-5.05 [[-6.97082897e-01 -7.16985476e-01 -2.69486009e-03 7.59986529e+01] [ 7.16979825e-01 -6.97088104e-01 2.84708555e-03 -1.68682758e+02] [-3.91987390e-03 5.24943292e-05 9.99992316e-01 -5.04681800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters 0.013701655019819613 Centerline is valid? [True, True] Translation: X:75.96, Y:-168.64, Z:-5.05 [[-6.98001975e-01 -7.16088761e-01 -3.18276366e-03 7.59588147e+01] [ 7.16080878e-01 -6.98009228e-01 3.36053440e-03 -1.68641668e+02] [-4.62803932e-03 6.65434458e-05 9.99989288e-01 -5.04585075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters 0.013648603530581945 Centerline is valid? [True, True] Translation: X:75.92, Y:-168.60, Z:-5.05 [[-6.97736754e-01 -7.16352722e-01 -1.48313716e-03 7.59166646e+01] [ 7.16351014e-01 -6.97738329e-01 1.56498842e-03 -1.68603162e+02] [-2.15592535e-03 2.95031334e-05 9.99997676e-01 -5.04817714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters 0.01318344063074081 Centerline is valid? [True, True] Translation: X:75.87, Y:-168.56, Z:-5.05 [[-6.95991418e-01 -7.18050053e-01 2.59532538e-04 7.58742868e+01] [ 7.18050001e-01 -6.95991466e-01 -2.73720670e-04 -1.68563105e+02] [ 3.77177574e-04 -4.14989785e-06 9.99999929e-01 -5.05015779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters 0.0126552655639024 Centerline is valid? [True, True] Translation: X:75.83, Y:-168.53, Z:-5.05 [[-6.92324081e-01 -7.21580770e-01 2.92563724e-03 7.58310886e+01] [ 7.21574181e-01 -6.92330262e-01 -3.08375275e-03 -1.68525514e+02] [ 4.25068388e-03 -2.38919914e-05 9.99990966e-01 -5.05418224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters 0.012367177637968917 Centerline is valid? [True, True] Translation: X:75.79, Y:-168.49, Z:-5.06 [[-6.90187242e-01 -7.23622801e-01 3.40776763e-03 7.57882208e+01] [ 7.23613897e-01 -6.90195654e-01 -3.58977853e-03 -1.68487596e+02] [ 4.94967200e-03 -1.17113283e-05 9.99987750e-01 -5.05529135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters 0.012197215524535263 Centerline is valid? [True, True] Translation: X:75.75, Y:-168.45, Z:-5.05 [[-6.88613919e-01 -7.25121881e-01 3.02121793e-03 7.57471407e+01] [ 7.25114905e-01 -6.88620547e-01 -3.18068587e-03 -1.68447642e+02] [ 4.38685766e-03 4.65589837e-07 9.99990378e-01 -5.05458880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters 0.012296554125842282 Centerline is valid? [True, True] Translation: X:75.71, Y:-168.41, Z:-5.05 [[-6.87426340e-01 -7.26251428e-01 1.97238277e-03 7.57075332e+01] [ 7.26248464e-01 -6.87429169e-01 -2.07523207e-03 -1.68406279e+02] [ 2.86301371e-03 5.87077022e-06 9.99995902e-01 -5.05260064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters 0.012328764333453623 Centerline is valid? [True, True] Translation: X:75.67, Y:-168.37, Z:-5.05 [[-6.87486235e-01 -7.26195034e-01 1.85711152e-03 7.56673865e+01] [ 7.26192409e-01 -6.87488744e-01 -1.95276996e-03 -1.68365013e+02] [ 2.69483511e-03 6.11781567e-06 9.99996369e-01 -5.05269793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters 0.01226759804487548 Centerline is valid? [True, True] Translation: X:75.63, Y:-168.32, Z:-5.05 [[-6.88935780e-01 -7.24819997e-01 1.86088346e-03 7.56291065e+01] [ 7.24817359e-01 -6.88938293e-01 -1.95550714e-03 -1.68323877e+02] [ 2.69942455e-03 1.58180169e-06 9.99996357e-01 -5.05361138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters 0.012302376200847667 Centerline is valid? [True, True] Translation: X:75.59, Y:-168.28, Z:-5.05 [[-6.90566311e-01 -7.23267141e-01 1.67726122e-03 7.55920171e+01] [ 7.23264996e-01 -6.90568348e-01 -1.76152585e-03 -1.68280805e+02] [ 2.43231728e-03 -3.34607280e-06 9.99997042e-01 -5.05303922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters 0.012391552123912963 Centerline is valid? [True, True] Translation: X:75.55, Y:-168.24, Z:-5.05 [[-6.92736448e-01 -7.21188513e-01 1.82839940e-03 7.55535525e+01] [ 7.21185959e-01 -6.92738861e-01 -1.91917148e-03 -1.68237911e+02] [ 2.65068775e-03 -1.08640616e-05 9.99996487e-01 -5.05380270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters 0.012479263593123152 Centerline is valid? [True, True] Translation: X:75.52, Y:-168.20, Z:-5.05 [[-6.93951103e-01 -7.20017286e-01 2.64095722e-03 7.55164411e+01] [ 7.20011957e-01 -6.93956128e-01 -2.77023689e-03 -1.68195767e+02] [ 3.82732690e-03 -2.08881697e-05 9.99992676e-01 -5.05493496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters 0.012596054982665418 Centerline is valid? [True, True] Translation: X:75.48, Y:-168.15, Z:-5.06 [[-6.94535642e-01 -7.19450449e-01 3.36055319e-03 7.54789915e+01] [ 7.19441825e-01 -6.94543771e-01 -3.52288006e-03 -1.68152644e+02] [ 4.86858892e-03 -2.90432461e-05 9.99988148e-01 -5.05633959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters 0.012691202268766686 Centerline is valid? [True, True] Translation: X:75.44, Y:-168.11, Z:-5.06 [[-6.95220781e-01 -7.18776238e-01 5.36520085e-03 7.54422294e+01] [ 7.18754260e-01 -6.95241481e-01 -5.62113660e-03 -1.68107596e+02] [ 7.77044961e-03 -5.16700091e-05 9.99969808e-01 -5.05793891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters 0.012979042911826626 Centerline is valid? [True, True] Translation: X:75.41, Y:-168.06, Z:-5.06 [[-6.95151167e-01 -7.18843340e-01 5.39519716e-03 7.54064155e+01] [ 7.18821139e-01 -6.95172101e-01 -5.64977632e-03 -1.68063649e+02] [ 7.81189462e-03 -4.92668323e-05 9.99969486e-01 -5.06019024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters 0.012599138440055137 Centerline is valid? [True, True] Translation: X:75.37, Y:-168.02, Z:-5.06 [[-6.94719193e-01 -7.19266450e-01 4.58435693e-03 7.53683880e+01] [ 7.19250449e-01 -6.94734318e-01 -4.79780580e-03 -1.68020092e+02] [ 6.63581083e-03 -3.58269931e-05 9.99977982e-01 -5.05833004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters 0.012476631078043032 Centerline is valid? [True, True] Translation: X:75.33, Y:-167.98, Z:-5.06 [[-6.93746812e-01 -7.20207797e-01 4.01132177e-03 7.53310361e+01] [ 7.20195577e-01 -6.93758408e-01 -4.19547346e-03 -1.67975950e+02] [ 5.80450091e-03 -2.16601434e-05 9.99983154e-01 -5.05831338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters 0.01250763455170804 Centerline is valid? [True, True] Translation: X:75.29, Y:-167.93, Z:-5.06 [[-6.92533628e-01 -7.21373542e-01 4.16976648e-03 7.52920620e+01] [ 7.21360374e-01 -6.92546181e-01 -4.35872861e-03 -1.67932581e+02] [ 6.03202735e-03 -1.06618316e-05 9.99981807e-01 -5.05819171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters 0.012615701146559362 Centerline is valid? [True, True] Translation: X:75.25, Y:-167.89, Z:-5.06 [[-6.89428263e-01 -7.24345057e-01 3.59277139e-03 7.52530549e+01] [ 7.24335333e-01 -6.89437625e-01 -3.75324013e-03 -1.67890616e+02] [ 5.19563271e-03 1.47814369e-05 9.99986503e-01 -5.05823307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters 0.012836955496935653 Centerline is valid? [True, True] Translation: X:75.21, Y:-167.85, Z:-5.06 [[-6.87611940e-01 -7.26072455e-01 2.93445143e-03 7.52140963e+01] [ 7.26065992e-01 -6.87618201e-01 -3.06360475e-03 -1.67848966e+02] [ 4.24218124e-03 2.40341864e-05 9.99991002e-01 -5.05726876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters 0.013414252221924612 Centerline is valid? [True, True] Translation: X:75.17, Y:-167.81, Z:-5.06 [[-6.85900345e-01 -7.27690308e-01 2.74451620e-03 7.51738411e+01] [ 7.27684674e-01 -6.85905835e-01 -2.86364344e-03 -1.67808253e+02] [ 3.96632525e-03 3.29683559e-05 9.99992134e-01 -5.05778881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters 0.014388749971541012 Centerline is valid? [True, True] Translation: X:75.13, Y:-167.77, Z:-5.06 [[-6.82894212e-01 -7.30512856e-01 2.54201951e-03 7.51328098e+01] [ 7.30508048e-01 -6.82898942e-01 -2.65092533e-03 -1.67767378e+02] [ 3.67247747e-03 4.66641420e-05 9.99993255e-01 -5.05775119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters 0.014179782057511121 Centerline is valid? [True, True] Translation: X:75.09, Y:-167.73, Z:-5.06 [[-6.82652026e-01 -7.30739471e-01 2.45723140e-03 7.50935742e+01] [ 7.30734985e-01 -6.82656446e-01 -2.56088935e-03 -1.67725084e+02] [ 3.54878779e-03 4.73886476e-05 9.99993702e-01 -5.05735588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters 0.014058291978469778 Centerline is valid? [True, True] Translation: X:75.05, Y:-167.68, Z:-5.06 [[-6.83830677e-01 -7.29637042e-01 2.32227725e-03 7.50540684e+01] [ 7.29633034e-01 -6.83834619e-01 -2.41872213e-03 -1.67683428e+02] [ 3.35284284e-03 4.04138060e-05 9.99994378e-01 -5.05732170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters 0.013806553239465488 Centerline is valid? [True, True] Translation: X:75.02, Y:-167.64, Z:-5.06 [[-6.85204019e-01 -7.28347268e-01 2.38942239e-03 7.50152257e+01] [ 7.28343023e-01 -6.85208184e-01 -2.48707365e-03 -1.67641971e+02] [ 3.44870507e-03 3.61662666e-05 9.99994053e-01 -5.05752076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters 0.013231519934019541 Centerline is valid? [True, True] Translation: X:74.98, Y:-167.60, Z:-5.06 [[-6.89259817e-01 -7.24511725e-01 1.91466187e-03 7.49774075e+01] [ 7.24508987e-01 -6.89262476e-01 -1.99179304e-03 -1.67598327e+02] [ 2.76278199e-03 1.43268250e-05 9.99996184e-01 -5.05676714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters 0.013118734765959152 Centerline is valid? [True, True] Translation: X:74.94, Y:-167.56, Z:-5.06 [[-6.92062151e-01 -7.21836315e-01 1.52077798e-03 7.49381970e+01] [ 7.21834584e-01 -6.92063822e-01 -1.58114195e-03 -1.67555212e+02] [ 2.19380110e-03 3.50164094e-06 9.99997594e-01 -5.05699246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters 0.013041544024213907 Centerline is valid? [True, True] Translation: X:74.90, Y:-167.51, Z:-5.06 [[-6.94480412e-01 -7.19509280e-01 1.83141279e-03 7.49002483e+01] [ 7.19506764e-01 -6.94482826e-01 -1.90283761e-03 -1.67513616e+02] [ 2.64099405e-03 -3.76955870e-06 9.99996513e-01 -5.05798716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters 0.013053795936532244 Centerline is valid? [True, True] Translation: X:74.86, Y:-167.47, Z:-5.06 [[-6.95365143e-01 -7.18652499e-01 2.42968771e-03 7.48602233e+01] [ 7.18648070e-01 -6.95369388e-01 -2.52300851e-03 -1.67470979e+02] [ 3.50269683e-03 -8.32179077e-06 9.99993866e-01 -5.05844809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters 0.01303327362537218 Centerline is valid? [True, True] Translation: X:74.82, Y:-167.43, Z:-5.06 [[-6.94130966e-01 -7.19840921e-01 3.35431378e-03 7.48195874e+01] [ 7.19832505e-01 -6.94139070e-01 -3.48084192e-03 -1.67431699e+02] [ 4.83401269e-03 -1.61607336e-06 9.99988316e-01 -5.05948711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters 0.013042700614507127 Centerline is valid? [True, True] Translation: X:74.78, Y:-167.39, Z:-5.06 [[-6.91825117e-01 -7.22055141e-01 3.79224029e-03 7.47765414e+01] [ 7.22044429e-01 -6.91835511e-01 -3.93305674e-03 -1.67392688e+02] [ 5.46349034e-03 1.71785330e-05 9.99985075e-01 -5.05979753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters 0.013344632698648568 Centerline is valid? [True, True] Translation: X:74.73, Y:-167.36, Z:-5.06 [[-6.89332648e-01 -7.24433874e-01 4.00776939e-03 7.47331439e+01] [ 7.24421965e-01 -6.89344297e-01 -4.15412849e-03 -1.67355156e+02] [ 5.77212437e-03 3.97397859e-05 9.99983340e-01 -5.06116470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters 0.013553414755169128 Centerline is valid? [True, True] Translation: X:74.69, Y:-167.32, Z:-5.06 [[-6.87640353e-01 -7.26037946e-01 4.43233601e-03 7.46914260e+01] [ 7.26023430e-01 -6.87654635e-01 -4.59159168e-03 -1.67315159e+02] [ 6.38158619e-03 6.06160744e-05 9.99979636e-01 -5.06136329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters 0.013386879910094214 Centerline is valid? [True, True] Translation: X:74.65, Y:-167.27, Z:-5.06 [[-6.88515464e-01 -7.25208694e-01 4.33668253e-03 7.46521543e+01] [ 7.25194797e-01 -6.88529119e-01 -4.48982819e-03 -1.67272814e+02] [ 6.24199464e-03 5.36234721e-05 9.99980517e-01 -5.06144748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters 0.012959127379556996 Centerline is valid? [True, True] Translation: X:74.62, Y:-167.23, Z:-5.06 [[-6.91749862e-01 -7.22124536e-01 4.27576892e-03 7.46156562e+01] [ 7.22110986e-01 -6.91763076e-01 -4.42386590e-03 -1.67229670e+02] [ 6.15240117e-03 2.73710794e-05 9.99981074e-01 -5.06195908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters 0.012850148688076332 Centerline is valid? [True, True] Translation: X:74.58, Y:-167.19, Z:-5.06 [[-6.92810566e-01 -7.21108478e-01 4.01028935e-03 7.45780297e+01] [ 7.21096556e-01 -6.92822173e-01 -4.14658834e-03 -1.67187005e+02] [ 5.76855738e-03 1.90056275e-05 9.99983362e-01 -5.06094057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters 0.012772824182748787 Centerline is valid? [True, True] Translation: X:74.54, Y:-167.15, Z:-5.06 [[-6.92610825e-01 -7.21305535e-01 2.92752569e-03 7.45383191e+01] [ 7.21299192e-01 -6.92617012e-01 -3.02505712e-03 -1.67146707e+02] [ 4.20964454e-03 1.64346089e-05 9.99991139e-01 -5.06079137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters 0.013015376177230411 Centerline is valid? [True, True] Translation: X:74.50, Y:-167.11, Z:-5.06 [[-6.91711583e-01 -7.22165913e-01 3.38827571e-03 7.44971899e+01] [ 7.22157437e-01 -6.91719881e-01 -3.49896747e-03 -1.67106497e+02] [ 4.87057271e-03 2.65921744e-05 9.99988138e-01 -5.06207413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters 0.01321087664215931 Centerline is valid? [True, True] Translation: X:74.46, Y:-167.07, Z:-5.06 [[-6.89675571e-01 -7.24101413e-01 4.97505817e-03 7.44554086e+01] [ 7.24083211e-01 -6.89693512e-01 -5.13448845e-03 -1.67066782e+02] [ 7.14915568e-03 6.12248412e-05 9.99974443e-01 -5.06354140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters 0.013660915210379515 Centerline is valid? [True, True] Translation: X:74.41, Y:-167.03, Z:-5.06 [[-6.88035036e-01 -7.25656263e-01 5.54781320e-03 7.44128237e+01] [ 7.25633706e-01 -6.88057396e-01 -5.72220015e-03 -1.67027891e+02] [ 7.96956429e-03 8.86060726e-05 9.99968239e-01 -5.06478115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters 0.014351544751016883 Centerline is valid? [True, True] Translation: X:74.37, Y:-166.99, Z:-5.07 [[-6.86524949e-01 -7.27083076e-01 5.80475974e-03 7.43690991e+01] [ 7.27058462e-01 -6.86549480e-01 -5.98372651e-03 -1.66990711e+02] [ 8.33592105e-03 1.12422152e-04 9.99965249e-01 -5.06605780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters 0.014353530102000528 Centerline is valid? [True, True] Translation: X:74.33, Y:-166.95, Z:-5.07 [[-6.85498359e-01 -7.28051638e-01 5.72820493e-03 7.43255112e+01] [ 7.28027729e-01 -6.85522281e-01 -5.90155030e-03 -1.66952100e+02] [ 8.22344547e-03 1.24788985e-04 9.99966179e-01 -5.06579586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters 0.014056052587066313 Centerline is valid? [True, True] Translation: X:74.29, Y:-166.91, Z:-5.06 [[-6.86777673e-01 -7.26850958e-01 4.91043505e-03 7.42860345e+01] [ 7.26833380e-01 -6.86795221e-01 -5.05588443e-03 -1.66910316e+02] [ 7.04733776e-03 9.67995630e-05 9.99975163e-01 -5.06491001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters 0.013207048458220476 Centerline is valid? [True, True] Translation: X:74.25, Y:-166.87, Z:-5.06 [[-6.90591483e-01 -7.23232864e-01 4.19855597e-03 7.42488431e+01] [ 7.23219960e-01 -6.90604244e-01 -4.32054286e-03 -1.66865070e+02] [ 6.02429916e-03 5.27493794e-05 9.99981852e-01 -5.06407894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters 0.012783674918561914 Centerline is valid? [True, True] Translation: X:74.21, Y:-166.82, Z:-5.06 [[-6.92907705e-01 -7.21014280e-01 4.16181126e-03 7.42109784e+01] [ 7.21001576e-01 -6.92920203e-01 -4.28011804e-03 -1.66821864e+02] [ 5.96982933e-03 3.49457110e-05 9.99982180e-01 -5.06424142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters 0.012792533931111922 Centerline is valid? [True, True] Translation: X:74.17, Y:-166.78, Z:-5.06 [[-6.92897983e-01 -7.21021196e-01 4.56285413e-03 7.41712211e+01] [ 7.21005946e-01 -6.92913005e-01 -4.68960113e-03 -1.66781286e+02] [ 6.54296279e-03 4.04297906e-05 9.99978594e-01 -5.06460058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters 0.01353363215713513 Centerline is valid? [True, True] Translation: X:74.13, Y:-166.74, Z:-5.07 [[-6.89884595e-01 -7.23882629e-01 7.29287258e-03 7.41282600e+01] [ 7.23843876e-01 -6.89923132e-01 -7.49105034e-03 -1.66743337e+02] [ 1.04541627e-02 1.10940928e-04 9.99945348e-01 -5.06780365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters 0.014075294268744303 Centerline is valid? [True, True] Translation: X:74.09, Y:-166.70, Z:-5.07 [[-6.88668758e-01 -7.25025903e-01 8.53124337e-03 7.40861916e+01] [ 7.24973017e-01 -6.88721581e-01 -8.75829399e-03 -1.66703595e+02] [ 1.22256414e-02 1.53357807e-04 9.99925252e-01 -5.06915324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters 0.014093633406505289 Centerline is valid? [True, True] Translation: X:74.04, Y:-166.66, Z:-5.07 [[-6.88419347e-01 -7.25257786e-01 8.94128629e-03 7.40437872e+01] [ 7.25199787e-01 -6.88477389e-01 -9.17355258e-03 -1.66664394e+02] [ 1.28090639e-02 1.68967828e-04 9.99917946e-01 -5.07039657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters 0.013622367539945683 Centerline is valid? [True, True] Translation: X:74.00, Y:-166.62, Z:-5.07 [[-6.89964226e-01 -7.23795661e-01 8.31914943e-03 7.40033399e+01] [ 7.23745402e-01 -6.90014365e-01 -8.53054830e-03 -1.66622525e+02] [ 1.19147065e-02 1.35172992e-04 9.99929008e-01 -5.06908699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters 0.013049222964085639 Centerline is valid? [True, True] Translation: X:73.96, Y:-166.58, Z:-5.07 [[-6.92528786e-01 -7.21348221e-01 7.78620859e-03 7.39635786e+01] [ 7.21304089e-01 -6.92572550e-01 -7.97968228e-03 -1.66580363e+02] [ 1.11486439e-02 9.00644032e-05 9.99937848e-01 -5.06853198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters 0.01250279687905154 Centerline is valid? [True, True] Translation: X:73.93, Y:-166.54, Z:-5.07 [[-6.96528768e-01 -7.17494467e-01 7.02608105e-03 7.39252238e+01] [ 7.17458375e-01 -6.96564203e-01 -7.19664431e-03 -1.66536557e+02] [ 1.00576690e-02 2.82508956e-05 9.99949420e-01 -5.06880059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters 0.012423486635993429 Centerline is valid? [True, True] Translation: X:73.89, Y:-166.49, Z:-5.07 [[-6.98084804e-01 -7.15979896e-01 7.09886932e-03 7.38873105e+01] [ 7.15943021e-01 -6.98120898e-01 -7.26658679e-03 -1.66493982e+02] [ 1.01585991e-02 9.69212648e-06 9.99948400e-01 -5.06777990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters 0.012428667672998581 Centerline is valid? [True, True] Translation: X:73.85, Y:-166.45, Z:-5.07 [[-6.98323281e-01 -7.15741747e-01 7.63856139e-03 7.38468430e+01] [ 7.15699085e-01 -6.98365057e-01 -7.81459209e-03 -1.66452518e+02] [ 1.09277341e-02 9.79980524e-06 9.99940291e-01 -5.06901487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters 0.012530072599485118 Centerline is valid? [True, True] Translation: X:73.81, Y:-166.41, Z:-5.07 [[-6.97911384e-01 -7.16137612e-01 8.16221702e-03 7.38062059e+01] [ 7.16088992e-01 -6.97959111e-01 -8.34478419e-03 -1.66412937e+02] [ 1.16729076e-02 2.09538790e-05 9.99931869e-01 -5.07056149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters 0.012490650864787201 Centerline is valid? [True, True] Translation: X:73.77, Y:-166.37, Z:-5.07 [[-6.97197439e-01 -7.16823471e-01 8.93547962e-03 7.37656569e+01] [ 7.16765315e-01 -6.97254696e-01 -9.13085697e-03 -1.66373202e+02] [ 1.27755177e-02 3.86317641e-05 9.99918389e-01 -5.07142680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters 0.012520892557937697 Centerline is valid? [True, True] Translation: X:73.73, Y:-166.33, Z:-5.07 [[-6.97103440e-01 -7.16911837e-01 9.17667156e-03 7.37256300e+01] [ 7.16850584e-01 -6.97163837e-01 -9.37147717e-03 -1.66332200e+02] [ 1.31161665e-02 4.54133958e-05 9.99913978e-01 -5.07161427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters 0.012592642128932552 Centerline is valid? [True, True] Translation: X:73.69, Y:-166.29, Z:-5.07 [[-6.99034232e-01 -7.15020844e-01 9.81508407e-03 7.36872549e+01] [ 7.14950676e-01 -6.99103134e-01 -1.00169411e-02 -1.66290731e+02] [ 1.40240777e-02 1.51162556e-05 9.99901658e-01 -5.07185656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters 0.012449712718887583 Centerline is valid? [True, True] Translation: X:73.65, Y:-166.25, Z:-5.07 [[-7.01943536e-01 -7.12170155e-01 9.43094741e-03 7.36482424e+01] [ 7.12105188e-01 -7.02006887e-01 -9.61942079e-03 -1.66247506e+02] [ 1.34712544e-02 -3.64636682e-05 9.99909258e-01 -5.07012972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters 0.012892232981527398 Centerline is valid? [True, True] Translation: X:73.61, Y:-166.21, Z:-5.07 [[-7.05582291e-01 -7.08581418e-01 8.12439454e-03 7.36111205e+01] [ 7.08533013e-01 -7.05629058e-01 -8.28269339e-03 -1.66205572e+02] [ 1.16017715e-02 -8.77200404e-05 9.99932693e-01 -5.06908712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters 0.013694438255659002 Centerline is valid? [True, True] Translation: X:73.57, Y:-166.16, Z:-5.07 [[-7.10734963e-01 -7.03430642e-01 6.41433606e-03 7.35734054e+01] [ 7.03400293e-01 -7.10763895e-01 -6.53566238e-03 -1.66160774e+02] [ 9.15646367e-03 -1.33277894e-04 9.99958070e-01 -5.06646485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters 0.014028034830133223 Centerline is valid? [True, True] Translation: X:73.53, Y:-166.12, Z:-5.07 [[-7.12644710e-01 -7.01500868e-01 5.83522874e-03 7.35338711e+01] [ 7.01475714e-01 -7.12668586e-01 -5.94224529e-03 -1.66118363e+02] [ 8.32707444e-03 -1.41438433e-04 9.99965319e-01 -5.06568261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters 0.014022738261065244 Centerline is valid? [True, True] Translation: X:73.49, Y:-166.08, Z:-5.07 [[-7.12577369e-01 -7.01562279e-01 6.62286962e-03 7.34930692e+01] [ 7.01529915e-01 -7.12608128e-01 -6.74053224e-03 -1.66077642e+02] [ 9.44841388e-03 -1.57009575e-04 9.99955351e-01 -5.06646411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters 0.01380758431348441 Centerline is valid? [True, True] Translation: X:73.45, Y:-166.04, Z:-5.07 [[-7.11413970e-01 -7.02735783e-01 7.25145825e-03 7.34517017e+01] [ 7.02697087e-01 -7.11450909e-01 -7.37613556e-03 -1.66037217e+02] [ 1.03425310e-02 -1.51907286e-04 9.99946503e-01 -5.06676983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters 0.013599700493634306 Centerline is valid? [True, True] Translation: X:73.41, Y:-166.00, Z:-5.07 [[-7.09208377e-01 -7.04946421e-01 8.60359126e-03 7.34105713e+01] [ 7.04892163e-01 -7.09260547e-01 -8.74726607e-03 -1.65998627e+02] [ 1.22685418e-02 -1.39030317e-04 9.99924729e-01 -5.06914630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters 0.012686412889751364 Centerline is valid? [True, True] Translation: X:73.37, Y:-165.96, Z:-5.07 [[-7.04000728e-01 -7.10131441e-01 9.81384521e-03 7.33671363e+01] [ 7.10061419e-01 -7.04069126e-01 -9.97234567e-03 -1.65961639e+02] [ 1.39913016e-02 -5.21057602e-05 9.99902116e-01 -5.07084780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters 0.012416309609891873 Centerline is valid? [True, True] Translation: X:73.32, Y:-165.92, Z:-5.07 [[-7.00584983e-01 -7.13502523e-01 9.73810283e-03 7.33233597e+01] [ 7.13433988e-01 -7.00652659e-01 -9.88917689e-03 -1.65923748e+02] [ 1.38789803e-02 1.92847121e-05 9.99903682e-01 -5.06972144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters 0.012601728954864926 Centerline is valid? [True, True] Translation: X:73.28, Y:-165.89, Z:-5.07 [[-6.97786928e-01 -7.16242943e-01 9.45779390e-03 7.32803774e+01] [ 7.16178632e-01 -6.97851016e-01 -9.59825780e-03 -1.65887291e+02] [ 1.34748155e-02 7.59310754e-05 9.99909208e-01 -5.07046744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters 0.01304202381210491 Centerline is valid? [True, True] Translation: X:73.24, Y:-165.85, Z:-5.07 [[-6.95209666e-01 -7.18762329e-01 8.01463026e-03 7.32379658e+01] [ 7.18716371e-01 -6.95255854e-01 -8.12871690e-03 -1.65849237e+02] [ 1.14148341e-02 1.09083410e-04 9.99934843e-01 -5.06861389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters 0.013083663336661985 Centerline is valid? [True, True] Translation: X:73.20, Y:-165.81, Z:-5.07 [[-6.95222830e-01 -7.18759710e-01 7.04953544e-03 7.31968021e+01] [ 7.18724197e-01 -6.95258563e-01 -7.14558645e-03 -1.65808995e+02] [ 1.00372095e-02 9.88968742e-05 9.99949621e-01 -5.06760686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters 0.012917316316860787 Centerline is valid? [True, True] Translation: X:73.16, Y:-165.77, Z:-5.07 [[-6.96639127e-01 -7.17391132e-01 6.62497634e-03 7.31585870e+01] [ 7.17359745e-01 -6.96670624e-01 -6.71104606e-03 -1.65768129e+02] [ 9.42987133e-03 7.73140676e-05 9.99955535e-01 -5.06728210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters 0.012420353664621473 Centerline is valid? [True, True] Translation: X:73.12, Y:-165.72, Z:-5.07 [[-7.00244467e-01 -7.13867070e-01 7.17586930e-03 7.31214830e+01] [ 7.13830103e-01 -7.00281233e-01 -7.26486320e-03 -1.65723885e+02] [ 1.02112732e-02 3.51712662e-05 9.99947863e-01 -5.06780699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters 0.01230738098814486 Centerline is valid? [True, True] Translation: X:73.08, Y:-165.68, Z:-5.07 [[-7.01465354e-01 -7.12660179e-01 7.86296002e-03 7.30835198e+01] [ 7.12615775e-01 -7.01509422e-01 -7.95545246e-03 -1.65681216e+02] [ 1.11854747e-02 2.27950706e-05 9.99937440e-01 -5.06632448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters 0.012324523373584848 Centerline is valid? [True, True] Translation: X:73.04, Y:-165.64, Z:-5.07 [[-7.01765643e-01 -7.12350008e-01 9.08009326e-03 7.30427122e+01] [ 7.12290834e-01 -7.01824384e-01 -9.18162679e-03 -1.65639707e+02] [ 1.29131628e-02 2.43169711e-05 9.99916621e-01 -5.06693324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters 0.012543264903155934 Centerline is valid? [True, True] Translation: X:73.00, Y:-165.60, Z:-5.07 [[-7.02905270e-01 -7.11201339e-01 1.08090684e-02 7.30031123e+01] [ 7.11117443e-01 -7.02988375e-01 -1.09236941e-02 -1.65597158e+02] [ 1.53675953e-02 8.19492744e-06 9.99881912e-01 -5.06885274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters 0.012750858517212731 Centerline is valid? [True, True] Translation: X:72.97, Y:-165.55, Z:-5.07 [[-7.05021431e-01 -7.09104755e-01 1.07344258e-02 7.29669263e+01] [ 7.09021880e-01 -7.05103145e-01 -1.08410280e-02 -1.65554017e+02] [ 1.52563019e-02 -3.22143358e-05 9.99883615e-01 -5.06836779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters 0.012900766566369206 Centerline is valid? [True, True] Translation: X:72.93, Y:-165.51, Z:-5.07 [[-7.06948776e-01 -7.07196821e-01 9.80222974e-03 7.29285348e+01] [ 7.07127610e-01 -7.07016727e-01 -9.89398883e-03 -1.65509774e+02] [ 1.39273378e-02 -6.31160059e-05 9.99903008e-01 -5.06660327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters 0.013269074687994023 Centerline is valid? [True, True] Translation: X:72.89, Y:-165.47, Z:-5.06 [[-7.08552222e-01 -7.05615768e-01 7.75478939e-03 7.28909207e+01] [ 7.05572412e-01 -7.08594654e-01 -7.82222713e-03 -1.65467429e+02] [ 1.10144891e-02 -7.08909609e-05 9.99939336e-01 -5.06446597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters 0.013009691538344467 Centerline is valid? [True, True] Translation: X:72.85, Y:-165.43, Z:-5.06 [[-7.08571166e-01 -7.05612105e-01 6.20162903e-03 7.28508565e+01] [ 7.05584411e-01 -7.08598303e-01 -6.25167807e-03 -1.65426469e+02] [ 8.80572352e-03 -5.39860552e-05 9.99961228e-01 -5.06134640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters 0.012838593031547045 Centerline is valid? [True, True] Translation: X:72.81, Y:-165.39, Z:-5.06 [[-7.07930877e-01 -7.06264768e-01 4.89401836e-03 7.28099943e+01] [ 7.06247558e-01 -7.07947793e-01 -4.93046240e-03 -1.65385731e+02] [ 6.94692138e-03 -3.40380552e-05 9.99975869e-01 -5.05888724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters 0.012680125258408528 Centerline is valid? [True, True] Translation: X:72.77, Y:-165.35, Z:-5.06 [[-7.05476194e-01 -7.08718179e-01 4.67789988e-03 7.27669323e+01] [ 7.08702528e-01 -7.05491703e-01 -4.71007475e-03 -1.65347018e+02] [ 6.63833516e-03 -7.60613635e-06 9.99977966e-01 -5.05784810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters 0.012803004742420836 Centerline is valid? [True, True] Translation: X:72.72, Y:-165.31, Z:-5.06 [[-7.03316085e-01 -7.10858679e-01 5.14033257e-03 7.27242122e+01] [ 7.10839861e-01 -7.03334869e-01 -5.17241867e-03 -1.65309248e+02] [ 7.29223384e-03 1.61080420e-05 9.99973411e-01 -5.05917393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters 0.01282598077986367 Centerline is valid? [True, True] Translation: X:72.68, Y:-165.27, Z:-5.06 [[-7.01788346e-01 -7.12356491e-01 6.43011508e-03 7.26811765e+01] [ 7.12327141e-01 -7.01817802e-01 -6.46655389e-03 -1.65269748e+02] [ 9.11926087e-03 4.21933304e-05 9.99958418e-01 -5.05967037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters 0.01293163278854553 Centerline is valid? [True, True] Translation: X:72.64, Y:-165.23, Z:-5.06 [[-7.02153904e-01 -7.11979618e-01 8.05723022e-03 7.26404652e+01] [ 7.11933546e-01 -7.02200129e-01 -8.09971000e-03 -1.65230487e+02] [ 1.14246165e-02 4.89694853e-05 9.99934736e-01 -5.06104746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters 0.012740004432925122 Centerline is valid? [True, True] Translation: X:72.60, Y:-165.19, Z:-5.06 [[-7.04122826e-01 -7.10032445e-01 8.06066421e-03 7.26007452e+01] [ 7.09986263e-01 -7.04168962e-01 -8.09812036e-03 -1.65189726e+02] [ 1.14259977e-02 2.08894727e-05 9.99934721e-01 -5.06044326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters 0.01261510527810846 Centerline is valid? [True, True] Translation: X:72.56, Y:-165.15, Z:-5.06 [[-7.07639585e-01 -7.06541832e-01 6.69749974e-03 7.25608288e+01] [ 7.06509833e-01 -7.07671279e-01 -6.72443515e-03 -1.65148114e+02] [ 9.49072294e-03 -2.66270842e-05 9.99954962e-01 -5.05830521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters 0.012624359755125682 Centerline is valid? [True, True] Translation: X:72.52, Y:-165.11, Z:-5.06 [[-7.09865641e-01 -7.04321465e-01 4.69533271e-03 7.25205004e+01] [ 7.04305709e-01 -7.09881168e-01 -4.71125202e-03 -1.65107607e+02] [ 6.65136419e-03 -3.74063041e-05 9.99977879e-01 -5.05547522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters 0.012850996972899348 Centerline is valid? [True, True] Translation: X:72.48, Y:-165.07, Z:-5.05 [[-7.10750303e-01 -7.03433680e-01 3.88133260e-03 7.24796455e+01] [ 7.03422913e-01 -7.10760900e-01 -3.89207064e-03 -1.65067311e+02] [ 5.49651302e-03 -3.60721031e-05 9.99984894e-01 -5.05484697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters 0.01274719775560417 Centerline is valid? [True, True] Translation: X:72.44, Y:-165.03, Z:-5.05 [[-7.11314648e-01 -7.02865236e-01 3.45423491e-03 7.24381020e+01] [ 7.02856712e-01 -7.11323035e-01 -3.46161720e-03 -1.65028035e+02] [ 4.89012725e-03 -3.44668250e-05 9.99988043e-01 -5.05387422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters 0.012465164409532192 Centerline is valid? [True, True] Translation: X:72.39, Y:-164.99, Z:-5.06 [[-7.08728567e-01 -7.05462165e-01 5.19153432e-03 7.23942882e+01] [ 7.05443005e-01 -7.08747581e-01 -5.19933891e-03 -1.64991074e+02] [ 7.34742428e-03 -2.25884457e-05 9.99973007e-01 -5.05549587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters 0.012501026691585959 Centerline is valid? [True, True] Translation: X:72.35, Y:-164.96, Z:-5.06 [[-7.05621725e-01 -7.08562613e-01 6.08311784e-03 7.23500197e+01] [ 7.08536456e-01 -7.05647946e-01 -6.08826048e-03 -1.64956270e+02] [ 8.60645336e-03 1.41018947e-05 9.99962964e-01 -5.05666123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters 0.012900384633022989 Centerline is valid? [True, True] Translation: X:72.30, Y:-164.92, Z:-5.06 [[-7.01101091e-01 -7.13026075e-01 7.14678671e-03 7.23018261e+01] [ 7.12990243e-01 -7.01137511e-01 -7.14876343e-03 -1.64922283e+02] [ 1.01081350e-02 8.35833547e-05 9.99948908e-01 -5.05748613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters 0.013299896589387069 Centerline is valid? [True, True] Translation: X:72.26, Y:-164.89, Z:-5.06 [[-7.00490716e-01 -7.13621832e-01 7.52576592e-03 7.22592732e+01] [ 7.13582186e-01 -7.00531135e-01 -7.52285466e-03 -1.64885725e+02] [ 1.06405067e-02 1.00562639e-04 9.99943383e-01 -5.05825756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters 0.013113693717628888 Centerline is valid? [True, True] Translation: X:71.86, Y:-165.28, Z:-3.98 [[-7.60507838e-01 6.49293029e-01 6.81105255e-03 7.18610417e+01] [ 6.49266199e-01 7.60538334e-01 -5.90296818e-03 -1.65276261e+02] [-9.01282265e-03 -6.70673621e-05 -9.99959382e-01 -3.97605858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters 0.01301729040593737 Centerline is valid? [True, True] Translation: X:71.88, Y:-165.26, Z:-3.98 [[-8.01276048e-01 5.98269907e-01 5.46022038e-03 7.18779454e+01] [ 5.98255911e-01 8.01294652e-01 -4.09221900e-03 -1.65255172e+02] [-6.82349686e-03 -1.23879472e-05 -9.99976720e-01 -3.97803693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters 0.012847193744970205 Centerline is valid? [True, True] Translation: X:71.89, Y:-165.23, Z:-3.98 [[-8.39402425e-01 5.43489332e-01 4.78691226e-03 7.18931515e+01] [ 5.43480586e-01 8.39416074e-01 -3.08340701e-03 -1.65233137e+02] [-5.69400992e-03 1.33745597e-05 -9.99983789e-01 -3.97826602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters 0.013065048720467373 Centerline is valid? [True, True] Translation: X:72.20, Y:-164.77, Z:-5.05 [[-8.05292290e-01 -5.92864819e-01 3.95403867e-03 7.21973154e+01] [ 5.92857338e-01 -8.05301995e-01 -2.97879106e-03 -1.64771382e+02] [ 4.95021565e-03 -5.46166314e-05 9.99987746e-01 -5.05475936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters 0.013349397045016404 Centerline is valid? [True, True] Translation: X:71.87, Y:-165.21, Z:-3.98 [[-8.37346748e-01 5.46654055e-01 4.44609460e-03 7.18685508e+01] [ 5.46646641e-01 8.37358551e-01 -2.84732021e-03 -1.65213525e+02] [-5.27947446e-03 4.62483600e-05 -9.99986063e-01 -3.97770555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters 0.013429230865102084 Centerline is valid? [True, True] Translation: X:71.88, Y:-165.18, Z:-3.98 [[-8.74212306e-01 4.85495569e-01 6.84816633e-03 7.18797814e+01] [ 4.85481235e-01 8.74239126e-01 -3.73112777e-03 -1.65184084e+02] [-7.79838094e-03 6.28584350e-05 -9.99969590e-01 -3.97560488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters 0.013472958994648008 Centerline is valid? [True, True] Translation: X:72.13, Y:-164.71, Z:-5.06 [[-8.46686994e-01 -5.32025147e-01 8.38912754e-03 7.21317906e+01] [ 5.31999652e-01 -8.46728552e-01 -5.20870438e-03 -1.64713915e+02] [ 9.87447552e-03 5.28706795e-05 9.99951245e-01 -5.06016911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters 0.013593107390221348 Centerline is valid? [True, True] Translation: X:71.84, Y:-165.15, Z:-3.97 [[-8.78154086e-01 4.78253105e-01 1.09256540e-02 7.18433783e+01] [ 4.78216663e-01 8.78222048e-01 -5.90401411e-03 -1.65151091e+02] [-1.24187633e-02 4.01956699e-05 -9.99922883e-01 -3.97174727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters 0.013645196995329097 Centerline is valid? [True, True] Translation: X:72.08, Y:-164.70, Z:-5.06 [[-8.46745414e-01 -5.31882994e-01 1.10762935e-02 7.20839466e+01] [ 5.31837480e-01 -8.46817856e-01 -6.95801077e-03 -1.64701763e+02] [ 1.30804507e-02 -8.75689217e-07 9.99914447e-01 -5.06264201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters 0.013414643130167382 Centerline is valid? [True, True] Translation: X:72.06, Y:-164.73, Z:-5.06 [[-8.08519633e-01 -5.88400766e-01 8.97454480e-03 7.20627608e+01] [ 5.88364352e-01 -8.08569440e-01 -6.54601377e-03 -1.64728827e+02] [ 1.11082222e-02 -1.22784129e-05 9.99938302e-01 -5.05970487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters 0.013244265812098055 Centerline is valid? [True, True] Translation: X:71.76, Y:-165.12, Z:-3.97 [[-8.47577534e-01 5.30616549e-01 7.64212895e-03 7.17628389e+01] [ 5.30594998e-01 8.47611985e-01 -4.78227906e-03 -1.65123664e+02] [-9.01511650e-03 1.52310415e-06 -9.99959363e-01 -3.97487972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters 0.013350499369114808 Centerline is valid? [True, True] Translation: X:71.77, Y:-165.09, Z:-3.97 [[-8.84050562e-01 4.67336420e-01 7.16060999e-03 7.17692785e+01] [ 4.67320945e-01 8.84079561e-01 -3.80324728e-03 -1.65092433e+02] [-8.10794491e-03 -1.59598741e-05 -9.99967130e-01 -3.97444444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters 0.013492613124678638 Centerline is valid? [True, True] Translation: X:71.77, Y:-165.06, Z:-3.97 [[-9.17083543e-01 3.98623947e-01 7.53158644e-03 7.17734131e+01] [ 3.98609968e-01 9.17114467e-01 -3.33891288e-03 -1.65059885e+02] [-8.23829752e-03 -5.98966269e-05 -9.99966063e-01 -3.97498825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters 0.014087971560332266 Centerline is valid? [True, True] Translation: X:71.96, Y:-164.63, Z:-5.06 [[-8.79017196e-01 -4.76725995e-01 7.81634083e-03 7.19599465e+01] [ 4.76708199e-01 -8.79051941e-01 -4.12047285e-03 -1.64626612e+02] [ 8.83530610e-03 1.04147266e-04 9.99960963e-01 -5.05857219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters 0.015394074581152255 Centerline is valid? [True, True] Translation: X:71.73, Y:-165.03, Z:-3.97 [[-9.22624048e-01 3.85591249e-01 9.17907757e-03 7.17279290e+01] [ 3.85570227e-01 9.22669690e-01 -4.03024941e-03 -1.65030995e+02] [-1.00232856e-02 -1.79225999e-04 -9.99949750e-01 -3.97348190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters 0.018490927758630794 Centerline is valid? [True, True] Translation: X:71.73, Y:-164.99, Z:-3.97 [[-9.50597929e-01 3.10242173e-01 1.06476051e-02 7.17259760e+01] [ 3.10219056e-01 9.50657509e-01 -3.79986439e-03 -1.64993996e+02] [-1.13011039e-02 -3.09053225e-04 -9.99936093e-01 -3.97305222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters 0.019452824255727533 Centerline is valid? [True, True] Translation: X:71.73, Y:-164.96, Z:-3.97 [[-9.70938794e-01 2.39085094e-01 1.07785359e-02 7.17252112e+01] [ 2.39066462e-01 9.70998559e-01 -3.00407660e-03 -1.64963450e+02] [-1.11841727e-02 -3.39988070e-04 -9.99937397e-01 -3.97288327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters 0.01953464322218533 Centerline is valid? [True, True] Translation: X:71.72, Y:-164.94, Z:-3.97 [[-9.85507904e-01 1.69253940e-01 1.12816275e-02 7.17191372e+01] [ 1.69238724e-01 9.85572412e-01 -2.29700118e-03 -1.64937020e+02] [-1.15076373e-02 -3.54424587e-04 -9.99933722e-01 -3.97240612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters 0.01889290038955087 Centerline is valid? [True, True] Translation: X:71.72, Y:-164.92, Z:-3.97 [[-9.94639447e-01 1.02821151e-01 1.09627343e-02 7.17153937e+01] [ 1.02811613e-01 9.94699815e-01 -1.43160169e-03 -1.64917302e+02] [-1.10518287e-02 -2.96831116e-04 -9.99938883e-01 -3.97237563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters 0.017289650904198074 Centerline is valid? [True, True] Translation: X:71.71, Y:-164.90, Z:-3.97 [[-9.99252213e-01 3.76841940e-02 8.65537821e-03 7.17104203e+01] [ 3.76812000e-02 9.99289682e-01 -5.08788191e-04 -1.64900992e+02] [-8.66840341e-03 -1.82262689e-04 -9.99962412e-01 -3.97397891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters 0.015655592453688062 Centerline is valid? [True, True] Translation: X:71.74, Y:-164.41, Z:-5.06 [[-9.89328867e-01 -1.45439552e-01 8.70225569e-03 7.17413895e+01] [ 1.45435618e-01 -9.89367121e-01 -1.08657537e-03 -1.64410649e+02] [ 8.76775669e-03 1.90637549e-04 9.99961544e-01 -5.05826845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters 0.01607888109530733 Centerline is valid? [True, True] Translation: X:71.66, Y:-164.91, Z:-3.97 [[-9.99360490e-01 3.43070536e-02 1.00815426e-02 7.16648521e+01] [ 3.43032102e-02 9.99411318e-01 -5.53951826e-04 -1.64913552e+02] [-1.00946123e-02 -2.07768292e-04 -9.99949027e-01 -3.97303217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters 0.017077035841956165 Centerline is valid? [True, True] Translation: X:71.69, Y:-164.40, Z:-5.06 [[-9.88975862e-01 -1.47515690e-01 1.28788916e-02 7.16867661e+01] [ 1.47509290e-01 -9.89059606e-01 -1.45068095e-03 -1.64396997e+02] [ 1.29519897e-02 4.65067720e-04 9.99916011e-01 -5.06292500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters 0.017991883767032604 Centerline is valid? [True, True] Translation: X:71.61, Y:-164.92, Z:-3.97 [[-9.99652760e-01 2.23179694e-02 1.40095399e-02 7.16079603e+01] [ 2.23101196e-02 9.99750842e-01 -7.16369512e-04 -1.64920410e+02] [-1.40220372e-02 -4.03566249e-04 -9.99901605e-01 -3.96848475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters 0.02038951521140113 Centerline is valid? [True, True] Translation: X:71.63, Y:-164.39, Z:-5.07 [[-9.88676337e-01 -1.49347263e-01 1.46456934e-02 7.16293674e+01] [ 1.49337939e-01 -9.88784694e-01 -1.73438314e-03 -1.64389348e+02] [ 1.47404628e-02 4.72414104e-04 9.99891242e-01 -5.06662589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters 0.019231857738050587 Centerline is valid? [True, True] Translation: X:71.55, Y:-164.93, Z:-3.97 [[-9.99790768e-01 1.54716035e-02 1.33809131e-02 7.15549157e+01] [ 1.54645368e-02 9.99880218e-01 -6.31438971e-04 -1.64929325e+02] [-1.33890797e-02 -4.24377232e-04 -9.99910272e-01 -3.96858606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters 0.019218520977931967 Centerline is valid? [True, True] Translation: X:71.58, Y:-164.37, Z:-5.06 [[-9.89433107e-01 -1.44518427e-01 1.16854959e-02 7.15804528e+01] [ 1.44511574e-01 -9.89502072e-01 -1.43320943e-03 -1.64372070e+02] [ 1.17699476e-02 2.70624543e-04 9.99930695e-01 -5.06305846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters 0.019037525568799573 Centerline is valid? [True, True] Translation: X:71.50, Y:-164.94, Z:-3.97 [[-9.99840244e-01 1.47890601e-02 1.00384694e-02 7.15005988e+01] [ 1.47854483e-02 9.99890595e-01 -4.33915484e-04 -1.64936220e+02] [-1.00437883e-02 -2.85422894e-04 -9.99949519e-01 -3.97145018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters 0.0173513160036067 Centerline is valid? [True, True] Translation: X:71.50, Y:-164.91, Z:-3.97 [[-9.98520247e-01 -5.33964975e-02 1.03019415e-02 7.14976478e+01] [-5.33963733e-02 9.98573355e-01 2.87297943e-04 -1.64911275e+02] [-1.03025849e-02 -2.63213498e-04 -9.99946892e-01 -3.97089554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters 0.015494600733092277 Centerline is valid? [True, True] Translation: X:71.49, Y:-164.88, Z:-3.97 [[-9.92691646e-01 -1.20065796e-01 1.21449998e-02 7.14944181e+01] [-1.20060011e-01 9.92765903e-01 1.20697720e-03 -1.64884051e+02] [-1.22020584e-02 -2.59972626e-04 -9.99925518e-01 -3.96879469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters 0.016094799442054705 Centerline is valid? [True, True] Translation: X:71.48, Y:-164.86, Z:-3.97 [[-9.81921291e-01 -1.88891271e-01 1.22746177e-02 7.14809896e+01] [-1.88879646e-01 9.81997977e-01 2.11001638e-03 -1.64856197e+02] [-1.24522134e-02 -2.46555441e-04 -9.99922438e-01 -3.96787287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters 0.015338125908995052 Centerline is valid? [True, True] Translation: X:71.39, Y:-164.30, Z:-5.06 [[-9.96488485e-01 8.30516603e-02 1.06358691e-02 7.13878061e+01] [-8.30459250e-02 -9.96545239e-01 9.80522381e-04 -1.64298577e+02] [ 1.06805587e-02 9.38136721e-05 9.99942957e-01 -5.06281790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters 0.015123842871677394 Centerline is valid? [True, True] Translation: X:71.41, Y:-164.87, Z:-3.97 [[-9.81386275e-01 -1.91791433e-01 9.85015469e-03 7.14119661e+01] [-1.91783593e-01 9.81435691e-01 1.74330270e-03 -1.64868909e+02] [-1.00016439e-02 -1.78244713e-04 -9.99949967e-01 -3.97081836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters 0.014485813685380865 Centerline is valid? [True, True] Translation: X:71.40, Y:-164.85, Z:-3.97 [[-9.65891968e-01 -2.58728714e-01 1.05905337e-02 7.13978787e+01] [-2.58715046e-01 9.65950012e-01 2.66461687e-03 -1.64848096e+02] [-1.09193390e-02 -1.66198380e-04 -9.99940369e-01 -3.97027523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters 0.014317959098759053 Centerline is valid? [True, True] Translation: X:71.38, Y:-164.83, Z:-3.97 [[-9.45853250e-01 -3.24358989e-01 1.23643066e-02 7.13762813e+01] [-3.24333465e-01 9.45934047e-01 4.07213315e-03 -1.64830761e+02] [-1.30166515e-02 -1.58518015e-04 -9.99915267e-01 -3.96905573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters 0.013633843535598746 Centerline is valid? [True, True] Translation: X:71.35, Y:-164.81, Z:-3.97 [[-9.21505847e-01 -3.88218956e-01 1.06308824e-02 7.13471926e+01] [-3.88194345e-01 9.21567161e-01 4.37241510e-03 -1.64814991e+02] [-1.14945265e-02 -9.76423393e-05 -9.99933931e-01 -3.97075229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters 0.013050601800408767 Centerline is valid? [True, True] Translation: X:71.30, Y:-164.81, Z:-3.97 [[-8.92734160e-01 -4.50505861e-01 8.37785302e-03 7.12988524e+01] [-4.50486440e-01 8.92773469e-01 4.18333013e-03 -1.64810038e+02] [-9.36413965e-03 -3.95074733e-05 -9.99956155e-01 -3.97312019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters 0.012853783357547588 Centerline is valid? [True, True] Translation: X:71.24, Y:-164.82, Z:-3.97 [[-8.58319906e-01 -5.13057160e-01 7.69996993e-03 7.12354626e+01] [-5.13036703e-01 8.58354443e-01 4.58164771e-03 -1.64817228e+02] [-8.95995056e-03 -1.78477524e-05 -9.99959859e-01 -3.97375121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters 0.012926477088865204 Centerline is valid? [True, True] Translation: X:71.17, Y:-164.83, Z:-3.97 [[-8.18641552e-01 -5.74255103e-01 7.55558353e-03 7.11693076e+01] [-5.74230748e-01 8.18676418e-01 5.28881456e-03 -1.64830244e+02] [-9.22270680e-03 -9.00502178e-06 -9.99957470e-01 -3.97392557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters 0.013006810427393956 Centerline is valid? [True, True] Translation: X:71.09, Y:-164.85, Z:-3.97 [[-7.73425605e-01 -6.33842528e-01 7.51551277e-03 7.10927859e+01] [-6.33812789e-01 7.73462119e-01 6.13991537e-03 -1.64853536e+02] [-9.70470391e-03 -1.46603531e-05 -9.99952908e-01 -3.97271673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters 0.013080456076129742 Centerline is valid? [True, True] Translation: X:71.01, Y:-164.88, Z:-3.97 [[-7.22273805e-01 -6.91575037e-01 6.67225370e-03 7.10112946e+01] [-6.91546008e-01 7.22304622e-01 6.33653473e-03 -1.64884869e+02] [-9.20158893e-03 -3.74573673e-05 -9.99957664e-01 -3.97314451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters 0.013304269226513996 Centerline is valid? [True, True] Translation: X:70.93, Y:-164.92, Z:-3.97 [[-6.65884232e-01 -7.46038254e-01 5.01131480e-03 7.09299396e+01] [-7.46017762e-01 6.65903087e-01 5.52971615e-03 -1.64922877e+02] [-7.46242977e-03 -5.63790598e-05 -9.99972154e-01 -3.97428488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters 0.01374120412262529 Centerline is valid? [True, True] Translation: X:70.85, Y:-164.97, Z:-3.98 [[-6.04552927e-01 -7.96556613e-01 3.64990406e-03 7.08498835e+01] [-7.96542797e-01 6.04563941e-01 4.69195124e-03 -1.64971483e+02] [-5.94400517e-03 -7.07719362e-05 -9.99982332e-01 -3.97561676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters 0.01432519338711499 Centerline is valid? [True, True] Translation: X:70.77, Y:-165.03, Z:-3.97 [[-5.41719781e-01 -8.40552666e-01 3.30066430e-03 7.07722068e+01] [-8.40537952e-01 5.41729831e-01 4.97402750e-03 -1.65031869e+02] [-5.96900038e-03 -7.98045212e-05 -9.99982182e-01 -3.97465216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters 0.014774932657877205 Centerline is valid? [True, True] Translation: X:70.70, Y:-165.10, Z:-3.97 [[-4.75135023e-01 -8.79904949e-01 3.74042791e-03 7.06994608e+01] [-8.79879590e-01 4.75149731e-01 6.68137423e-03 -1.65098751e+02] [-7.65623756e-03 -1.16571280e-04 -9.99970684e-01 -3.97261908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters 0.015407453091533225 Centerline is valid? [True, True] Translation: X:70.63, Y:-165.18, Z:-3.97 [[-4.05778883e-01 -9.13962441e-01 4.01940225e-03 7.06273485e+01] [-9.13921460e-01 4.05798757e-01 8.65640809e-03 -1.65176976e+02] [-9.54270030e-03 -1.60830370e-04 -9.99954455e-01 -3.96851969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters 0.015014282267398862 Centerline is valid? [True, True] Translation: X:70.56, Y:-165.26, Z:-3.97 [[-3.35520017e-01 -9.42026491e-01 3.52266685e-03 7.05637937e+01] [-9.41979677e-01 3.35538467e-01 9.39279617e-03 -1.65262725e+02] [-1.00302530e-02 -1.66809455e-04 -9.99949682e-01 -3.96798917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters 0.014513256257887294 Centerline is valid? [True, True] Translation: X:70.51, Y:-165.36, Z:-3.97 [[-2.64427910e-01 -9.64400568e-01 3.06988164e-03 7.05052522e+01] [-9.64342677e-01 2.64445677e-01 1.05681573e-02 -1.65355683e+02] [-1.10037539e-02 -1.65902117e-04 -9.99939443e-01 -3.96681724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters 0.014216575592750897 Centerline is valid? [True, True] Translation: X:70.46, Y:-165.45, Z:-3.97 [[-1.91423789e-01 -9.81504704e-01 2.33423660e-03 7.04551140e+01] [-9.81441472e-01 1.91437955e-01 1.11421369e-02 -1.65449038e+02] [-1.13829213e-02 -1.58046546e-04 -9.99935200e-01 -3.96673401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters 0.014334772357147144 Centerline is valid? [True, True] Translation: X:70.41, Y:-165.55, Z:-3.97 [[-1.16274284e-01 -9.93216049e-01 1.47311942e-03 7.04092651e+01] [-9.93152402e-01 1.16283511e-01 1.12450934e-02 -1.65553165e+02] [-1.13401067e-02 -1.55516913e-04 -9.99935687e-01 -3.96605351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters 0.014331545122558 Centerline is valid? [True, True] Translation: X:70.37, Y:-165.66, Z:-3.97 [[-3.99659806e-02 -9.99200812e-01 6.76347874e-04 7.03703260e+01] [-9.99122537e-01 3.99713163e-02 1.25080240e-02 -1.65658266e+02] [-1.25250622e-02 -1.75858960e-04 -9.99921543e-01 -3.96562716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters 0.014137304287048987 Centerline is valid? [True, True] Translation: X:70.34, Y:-165.77, Z:-3.96 [[ 3.56410558e-02 -9.99364610e-01 -3.01477025e-04 7.03403264e+01] [-9.99271677e-01 -3.56418531e-02 1.36298838e-02 -1.65766392e+02] [-1.36319687e-02 -1.84525995e-04 -9.99907063e-01 -3.96417705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters 0.014093562489889558 Centerline is valid? [True, True] Translation: X:70.32, Y:-165.88, Z:-3.96 [[ 1.10742873e-01 -9.93848026e-01 -1.45517139e-03 7.03199150e+01] [-9.93738701e-01 -1.10752276e-01 1.47420141e-02 -1.65875718e+02] [-1.48124851e-02 -1.86512873e-04 -9.99890272e-01 -3.96304874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters 0.014240208975469433 Centerline is valid? [True, True] Translation: X:70.31, Y:-165.99, Z:-3.96 [[ 1.85785868e-01 -9.82585040e-01 -3.20156112e-03 7.03078173e+01] [-9.82417646e-01 -1.85813316e-01 1.81377952e-02 -1.65987687e+02] [-1.84168189e-02 -2.24475884e-04 -9.99830371e-01 -3.96033125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters 0.014689018106216863 Centerline is valid? [True, True] Translation: X:70.30, Y:-166.11, Z:-3.96 [[ 2.62379371e-01 -9.64950429e-01 -5.26639800e-03 7.03027660e+01] [-9.64731926e-01 -2.62432038e-01 2.05362500e-02 -1.66106963e+02] [-2.11985349e-02 -3.07626084e-04 -9.99775239e-01 -3.95860061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters 0.015348404130180161 Centerline is valid? [True, True] Translation: X:70.31, Y:-166.22, Z:-3.96 [[ 3.37702594e-01 -9.41229274e-01 -6.66416469e-03 7.03059222e+01] [-9.41024590e-01 -3.37768152e-01 1.96315471e-02 -1.66221092e+02] [-2.07287294e-02 -3.58481542e-04 -9.99785073e-01 -3.95893103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters 0.016134773644819515 Centerline is valid? [True, True] Translation: X:70.32, Y:-166.33, Z:-3.96 [[ 4.10530276e-01 -9.11814422e-01 -7.70410433e-03 7.03177646e+01] [-9.11635882e-01 -4.10602377e-01 1.80473478e-02 -1.66331749e+02] [-1.96191556e-02 -3.85644736e-04 -9.99807452e-01 -3.96026387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters 0.016380765586287194 Centerline is valid? [True, True] Translation: X:70.34, Y:-166.44, Z:-3.96 [[ 4.80472131e-01 -8.76978784e-01 -7.39885365e-03 7.03411448e+01] [-8.76863420e-01 -4.80528969e-01 1.42285557e-02 -1.66441546e+02] [-1.60335050e-02 -3.48640375e-04 -9.99871394e-01 -3.96438175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters 0.016047057664334622 Centerline is valid? [True, True] Translation: X:70.37, Y:-166.54, Z:-3.97 [[ 5.45563842e-01 -8.38027781e-01 -8.33866061e-03 7.03693948e+01] [-8.37920198e-01 -5.45627458e-01 1.34320083e-02 -1.66543833e+02] [-1.58061983e-02 -3.40885924e-04 -9.99875016e-01 -3.96508137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters 0.016121353693547974 Centerline is valid? [True, True] Translation: X:70.41, Y:-166.65, Z:-3.96 [[ 6.07456303e-01 -7.94301913e-01 -9.01727913e-03 7.04086714e+01] [-7.94206309e-01 -6.07523139e-01 1.23277714e-02 -1.66647009e+02] [-1.52701781e-02 -3.27002450e-04 -9.99883351e-01 -3.96444645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters 0.015955889759221065 Centerline is valid? [True, True] Translation: X:70.45, Y:-166.74, Z:-3.97 [[ 6.65972453e-01 -7.45915986e-01 -9.48857377e-03 7.04526230e+01] [-7.45833484e-01 -6.66039971e-01 1.10982512e-02 -1.66740566e+02] [-1.45981324e-02 -3.14233513e-04 -9.99893392e-01 -3.96538861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters 0.016079939633197936 Centerline is valid? [True, True] Translation: X:70.50, Y:-166.83, Z:-3.97 [[ 7.21415717e-01 -6.92426865e-01 -1.02176124e-02 7.05025432e+01] [-6.92350873e-01 -7.21487995e-01 1.02636382e-02 -1.66827958e+02] [-1.44787035e-02 -3.30177038e-04 -9.99895124e-01 -3.96669728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters 0.016363037971822765 Centerline is valid? [True, True] Translation: X:70.56, Y:-166.91, Z:-3.97 [[ 7.72473882e-01 -6.34954683e-01 -1.08006034e-02 7.05566816e+01] [-6.34886323e-01 -7.72549307e-01 9.32335344e-03 -1.66913946e+02] [-1.42639056e-02 -3.44891641e-04 -9.99898206e-01 -3.96829712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters 0.01697941045895421 Centerline is valid? [True, True] Translation: X:70.58, Y:-166.95, Z:-3.97 [[ 8.21284095e-01 -5.70411867e-01 -1.10786985e-02 7.05787284e+01] [-5.70353864e-01 -8.21358732e-01 8.14270414e-03 -1.66946336e+02] [-1.37442808e-02 -3.68694879e-04 -9.99905475e-01 -3.96761054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters 0.017657322111620993 Centerline is valid? [True, True] Translation: X:70.61, Y:-166.97, Z:-3.97 [[ 8.63876665e-01 -5.03570478e-01 -1.15707290e-02 7.06066782e+01] [-5.03519380e-01 -8.63954067e-01 7.18360239e-03 -1.66974004e+02] [-1.36140284e-02 -3.79660202e-04 -9.99907253e-01 -3.96822118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters 0.017265311785642282 Centerline is valid? [True, True] Translation: X:70.64, Y:-166.99, Z:-3.97 [[ 8.99708560e-01 -4.36363183e-01 -1.05678796e-02 7.06394498e+01] [-4.36329057e-01 -8.99770570e-01 5.46581285e-03 -1.66994173e+02] [-1.18937465e-02 -3.06565670e-04 -9.99929220e-01 -3.97134048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters 0.015729931326897127 Centerline is valid? [True, True] Translation: X:70.67, Y:-167.01, Z:-3.97 [[ 9.28550050e-01 -3.71087838e-01 -9.41384725e-03 7.06743256e+01] [-3.71066655e-01 -9.28597749e-01 3.96973420e-03 -1.67006021e+02] [-1.02147975e-02 -1.92932084e-04 -9.99947809e-01 -3.97405771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters 0.013936157924734236 Centerline is valid? [True, True] Translation: X:70.71, Y:-167.02, Z:-3.97 [[ 9.53393796e-01 -3.01572693e-01 -9.70465672e-03 7.07081414e+01] [-3.01555492e-01 -9.53443176e-01 3.22432044e-03 -1.67021170e+02] [-1.02252057e-02 -1.47554569e-04 -9.99947710e-01 -3.97410155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters 0.01400290924916239 Centerline is valid? [True, True] Translation: X:70.74, Y:-167.04, Z:-3.97 [[ 9.73902307e-01 -2.26709026e-01 -1.08311773e-02 7.07413300e+01] [-2.26693243e-01 -9.73962522e-01 2.67956815e-03 -1.67039962e+02] [-1.11566431e-02 -1.54282897e-04 -9.99937751e-01 -3.97313334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters 0.013731019904742889 Centerline is valid? [True, True] Translation: X:70.78, Y:-167.05, Z:-3.97 [[ 9.88459652e-01 -1.50877336e-01 -1.35479343e-02 7.07759753e+01] [-1.50860719e-01 -9.88552476e-01 2.24610375e-03 -1.67052926e+02] [-1.37317301e-02 -1.76331823e-04 -9.99905700e-01 -3.97268373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters 0.013503077103947258 Centerline is valid? [True, True] Translation: X:70.81, Y:-167.06, Z:-3.97 [[ 9.97038152e-01 -7.53598220e-02 -1.53564558e-02 7.08076765e+01] [-7.53483863e-02 -9.97156393e-01 1.32272708e-03 -1.67061464e+02] [-1.54124685e-02 -1.61725196e-04 -9.99881208e-01 -3.97156249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters 0.012899066575773874 Centerline is valid? [True, True] Translation: X:70.84, Y:-167.07, Z:-3.97 [[ 9.99887959e-01 -1.96026814e-03 -1.48400678e-02 7.08404725e+01] [-1.95882340e-03 -9.99998075e-01 1.11888581e-04 -1.67065641e+02] [-1.48402586e-02 -8.28069728e-05 -9.99889874e-01 -3.97328507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters 0.012570718544012533 Centerline is valid? [True, True] Translation: X:70.87, Y:-167.07, Z:-3.97 [[ 9.97222062e-01 7.31352239e-02 -1.41208533e-02 7.08738741e+01] [ 7.31283610e-02 -9.97322033e-01 -1.00243320e-03 -1.67072691e+02] [-1.41563513e-02 -3.29863603e-05 -9.99899793e-01 -3.97488691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters 0.012757342630643124 Centerline is valid? [True, True] Translation: X:70.91, Y:-167.07, Z:-3.98 [[ 9.89168449e-01 1.46129636e-01 -1.38531602e-02 7.09074851e+01] [ 1.46114795e-01 -9.89265449e-01 -2.08290886e-03 -1.67074695e+02] [-1.40088275e-02 3.61960636e-05 -9.99901871e-01 -3.97644707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters 0.013150180685631232 Centerline is valid? [True, True] Translation: X:70.94, Y:-167.08, Z:-3.98 [[ 9.75533512e-01 2.19390127e-01 -1.42246250e-02 7.09414360e+01] [ 2.19365411e-01 -9.75637209e-01 -3.29442531e-03 -1.67075025e+02] [-1.46008378e-02 9.34316029e-05 -9.99893398e-01 -3.97612006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters 0.013962110577152935 Centerline is valid? [True, True] Translation: X:70.97, Y:-167.07, Z:-3.97 [[ 9.56454924e-01 2.91518169e-01 -1.45304995e-02 7.09733562e+01] [ 2.91482076e-01 -9.56565279e-01 -4.58980177e-03 -1.67071996e+02] [-1.52373819e-02 1.54558338e-04 -9.99883893e-01 -3.97459241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters 0.014859800746376606 Centerline is valid? [True, True] Translation: X:71.00, Y:-167.07, Z:-3.97 [[ 9.31809697e-01 3.62628001e-01 -1.52191005e-02 7.10044022e+01] [ 3.62575825e-01 -9.31933949e-01 -6.15507955e-03 -1.67065470e+02] [-1.64152006e-02 2.17284887e-04 -9.99865238e-01 -3.97323560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters 0.014220262756369775 Centerline is valid? [True, True] Translation: X:71.04, Y:-167.06, Z:-3.98 [[ 9.00329940e-01 4.34983201e-01 -1.39861939e-02 7.10382579e+01] [ 4.34927296e-01 -9.00438546e-01 -6.97649439e-03 -1.67060305e+02] [-1.56283660e-02 1.98169291e-04 -9.99877850e-01 -3.97581570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters 0.014204045644820602 Centerline is valid? [True, True] Translation: X:71.07, Y:-167.05, Z:-3.98 [[ 8.62067933e-01 5.06628565e-01 -1.28986425e-02 7.10704949e+01] [ 5.06569300e-01 -8.62164413e-01 -7.75047546e-03 -1.67052027e+02] [-1.50473628e-02 1.47380067e-04 -9.99886771e-01 -3.97633545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters 0.012900830284664811 Centerline is valid? [True, True] Translation: X:71.11, Y:-167.05, Z:-3.98 [[ 8.14833078e-01 5.79595892e-01 -1.07544343e-02 7.11070462e+01] [ 5.79545165e-01 -8.14904045e-01 -7.66813166e-03 -1.67046772e+02] [-1.32082496e-02 1.55669365e-05 -9.99912767e-01 -3.97721517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters 0.01312008913958174 Centerline is valid? [True, True] Translation: X:71.14, Y:-167.03, Z:-3.98 [[ 7.62573577e-01 6.46832122e-01 -9.47340802e-03 7.11406432e+01] [ 6.46783348e-01 -7.62632415e-01 -7.94351662e-03 -1.67034174e+02] [-1.23628497e-02 -6.97266762e-05 -9.99923575e-01 -3.97736472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters 0.013812740474193072 Centerline is valid? [True, True] Translation: X:71.17, Y:-167.02, Z:-3.98 [[ 7.06309633e-01 7.07849242e-01 -8.72660131e-03 7.11697983e+01] [ 7.07797414e-01 -7.06363529e-01 -8.56654038e-03 -1.67016712e+02] [-1.22279720e-02 -1.26035857e-04 -9.99925228e-01 -3.97729192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters 0.013553086288649539 Centerline is valid? [True, True] Translation: X:71.20, Y:-167.00, Z:-3.98 [[ 6.47268993e-01 7.62219062e-01 -8.05928426e-03 7.12013946e+01] [ 7.62162854e-01 -6.47319148e-01 -9.25768972e-03 -1.66998089e+02] [-1.22733166e-02 -1.50271587e-04 -9.99924669e-01 -3.97903376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters 0.01362475258038653 Centerline is valid? [True, True] Translation: X:71.23, Y:-166.98, Z:-3.98 [[ 5.86208503e-01 8.10121392e-01 -7.93224315e-03 7.12303763e+01] [ 8.10050743e-01 -5.86262148e-01 -1.06999227e-02 -1.66976258e+02] [-1.33186102e-02 -1.53133766e-04 -9.99911292e-01 -3.97717238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters 0.013338973208263428 Centerline is valid? [True, True] Translation: X:71.25, Y:-166.95, Z:-3.98 [[ 5.22651431e-01 8.52505186e-01 -8.38987760e-03 7.12549061e+01] [ 8.52399962e-01 -5.22718745e-01 -1.33947154e-02 -1.66950977e+02] [-1.58046107e-02 -1.50764151e-04 -9.99875088e-01 -3.97590335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters 0.013445296196042275 Centerline is valid? [True, True] Translation: X:71.28, Y:-166.92, Z:-3.98 [[ 4.55806691e-01 8.90043537e-01 -7.92232843e-03 7.12767041e+01] [ 8.89914201e-01 -4.55875514e-01 -1.51733478e-02 -1.66923508e+02] [-1.71165357e-02 -1.34079138e-04 -9.99853492e-01 -3.97510115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters 0.013320212778765677 Centerline is valid? [True, True] Translation: X:71.30, Y:-166.89, Z:-3.97 [[ 3.86487450e-01 9.22265620e-01 -7.31968486e-03 7.12970889e+01] [ 9.22105610e-01 -3.86556742e-01 -1.71793303e-02 -1.66894968e+02] [-1.86733792e-02 -1.09926918e-04 -9.99825631e-01 -3.97392871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters 0.013287266129986758 Centerline is valid? [True, True] Translation: X:71.31, Y:-166.86, Z:-3.97 [[ 3.16584209e-01 9.48543956e-01 -6.22910793e-03 7.13115814e+01] [ 9.48363098e-01 -3.16645482e-01 -1.85222307e-02 -1.66864885e+02] [-1.95415689e-02 -4.36103278e-05 -9.99809044e-01 -3.97267552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters 0.013149816976438152 Centerline is valid? [True, True] Translation: X:71.32, Y:-166.83, Z:-3.97 [[ 2.44580817e-01 9.69617663e-01 -4.67029698e-03 7.13248332e+01] [ 9.69439351e-01 -2.44625402e-01 -1.85945414e-02 -1.66834075e+02] [-1.91720690e-02 2.02984457e-05 -9.99816199e-01 -3.97444431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters 0.013853810662935978 Centerline is valid? [True, True] Translation: X:71.33, Y:-166.80, Z:-3.97 [[ 1.72420006e-01 9.85018481e-01 -3.15191765e-03 7.13321721e+01] [ 9.84842403e-01 -1.72448780e-01 -1.86241675e-02 -1.66803425e+02] [-1.88886936e-02 1.07036930e-04 -9.99821587e-01 -3.97368051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters 0.014058206727423915 Centerline is valid? [True, True] Translation: X:71.34, Y:-166.77, Z:-3.98 [[ 9.94328111e-02 9.95042917e-01 -1.64607090e-03 7.13394885e+01] [ 9.94872854e-01 -9.94462506e-02 -1.83969558e-02 -1.66772003e+02] [-1.84694561e-02 1.91629779e-04 -9.99829407e-01 -3.97555687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters 0.014522053012250336 Centerline is valid? [True, True] Translation: X:71.34, Y:-166.74, Z:-3.98 [[ 2.46194802e-02 9.99696876e-01 -1.93689428e-04 7.13437836e+01] [ 9.99536028e-01 -2.46189937e-02 -1.79341380e-02 -1.66740483e+02] [-1.79334702e-02 2.47929595e-04 -9.99839152e-01 -3.97692950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters 0.014604221012211182 Centerline is valid? [True, True] Translation: X:71.35, Y:-166.71, Z:-3.98 [[-5.44754833e-02 9.98514368e-01 1.21604178e-03 7.13487053e+01] [ 9.98352882e-01 5.44885444e-02 -1.79589101e-02 -1.66709212e+02] [-1.79984901e-02 2.35718505e-04 -9.99837986e-01 -3.97697167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters 0.014616439943295971 Centerline is valid? [True, True] Translation: X:71.35, Y:-166.68, Z:-3.98 [[-1.35291956e-01 9.90802020e-01 2.72837618e-03 7.13515366e+01] [ 9.90628368e-01 1.35319327e-01 -1.85503573e-02 -1.66678929e+02] [-1.87489335e-02 1.93092715e-04 -9.99824205e-01 -3.97525728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters 0.013408926745597724 Centerline is valid? [True, True] Translation: X:71.36, Y:-166.65, Z:-3.98 [[-2.18701833e-01 9.75781705e-01 4.42397058e-03 7.13572165e+01] [ 9.75589203e-01 2.18746560e-01 -1.93816826e-02 -1.66645264e+02] [-1.98800197e-02 7.71684075e-05 -9.99802370e-01 -3.97682043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters 0.013106245716230359 Centerline is valid? [True, True] Translation: X:71.36, Y:-166.61, Z:-3.98 [[-2.98412138e-01 9.54422004e-01 5.36969497e-03 7.13578852e+01] [ 9.54267281e-01 2.98460446e-01 -1.71848550e-02 -1.66612427e+02] [-1.80042453e-02 -4.04510640e-06 -9.99837911e-01 -3.97814155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters 0.01300293711405762 Centerline is valid? [True, True] Translation: X:71.35, Y:-166.58, Z:-3.98 [[-3.74995014e-01 9.27008391e-01 5.84666114e-03 7.13541321e+01] [ 9.26893649e-01 3.75040586e-01 -1.45850214e-02 -1.66580310e+02] [-1.57131724e-02 -5.00772096e-05 -9.99876539e-01 -3.97980100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters 0.012942963747873024 Centerline is valid? [True, True] Translation: X:71.34, Y:-166.55, Z:-3.98 [[-4.48243747e-01 8.93893791e-01 5.60657646e-03 7.13449788e+01] [ 8.93822059e-01 4.48278804e-01 -1.13243576e-02 -1.66550053e+02] [-1.26360824e-02 -6.47907871e-05 -9.99920160e-01 -3.98292833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters 0.012852055553896556 Centerline is valid? [True, True] Translation: X:71.34, Y:-166.52, Z:-3.98 [[-5.17804452e-01 8.55479623e-01 5.75890441e-03 7.13358227e+01] [ 8.55425213e-01 5.17836471e-01 -9.64857592e-03 -1.66518387e+02] [-1.12363308e-02 -6.97635290e-05 -9.99936868e-01 -3.98432261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters 0.013056394245845562 Centerline is valid? [True, True] Translation: X:71.32, Y:-166.49, Z:-3.98 [[-5.84471566e-01 8.11389335e-01 6.35099469e-03 7.13246612e+01] [ 8.11339851e-01 5.84506064e-01 -8.96146519e-03 -1.66489002e+02] [-1.09834322e-02 -8.49065042e-05 -9.99939677e-01 -3.98325198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters 0.013488612335421061 Centerline is valid? [True, True] Translation: X:71.31, Y:-166.46, Z:-3.98 [[-6.49048154e-01 7.60705157e-01 8.00988704e-03 7.13112360e+01] [ 7.60644499e-01 6.49097561e-01 -9.60740509e-03 -1.66458997e+02] [-1.25076007e-02 -1.42992025e-04 -9.99921767e-01 -3.98274840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters 0.013994362795385478 Centerline is valid? [True, True] Translation: X:71.30, Y:-166.43, Z:-3.98 [[-7.08580002e-01 7.05566001e-01 9.53931708e-03 7.12969052e+01] [ 7.05498347e-01 7.08644185e-01 -9.77249989e-03 -1.66428924e+02] [-1.36551252e-02 -1.94625568e-04 -9.99906746e-01 -3.98203131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters 0.014570563859147505 Centerline is valid? [True, True] Translation: X:71.28, Y:-166.40, Z:-3.98 [[-7.63060207e-01 6.46228825e-01 1.12883108e-02 7.12800114e+01] [ 6.46153290e-01 7.63143659e-01 -9.88338905e-03 -1.66400646e+02] [-1.50015337e-02 -2.47641734e-04 -9.99887440e-01 -3.98015505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters 0.015452530619815495 Centerline is valid? [True, True] Translation: X:71.29, Y:-166.38, Z:-3.98 [[-8.07882730e-01 5.89220784e-01 1.20150859e-02 7.12939896e+01] [ 5.89150541e-01 8.07972025e-01 -9.10205176e-03 -1.66376389e+02] [-1.50709713e-02 -2.74696084e-04 -9.99886389e-01 -3.97832323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters 0.015555577983752854 Centerline is valid? [True, True] Translation: X:71.31, Y:-166.35, Z:-3.98 [[-8.47701839e-01 5.30330901e-01 1.22771113e-02 7.13054605e+01] [ 5.30270634e-01 8.47790695e-01 -7.99953290e-03 -1.66353899e+02] [-1.46508202e-02 -2.71027163e-04 -9.99892634e-01 -3.97874678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters 0.01480893578940622 Centerline is valid? [True, True] Translation: X:71.32, Y:-166.33, Z:-3.98 [[-8.82855465e-01 4.69466369e-01 1.29443655e-02 7.13184394e+01] [ 4.69411488e-01 8.82950315e-01 -7.18312509e-03 -1.66333825e+02] [-1.48014672e-02 -2.65427371e-04 -9.99890417e-01 -3.98005336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters 0.01505112968285627 Centerline is valid? [True, True] Translation: X:71.62, Y:-165.80, Z:-5.05 [[-8.30118036e-01 -5.57440132e-01 1.28275550e-02 7.16162177e+01] [ 5.57379143e-01 -8.30217085e-01 -8.25119592e-03 -1.65803000e+02] [ 1.52492031e-02 3.00345056e-04 9.99883679e-01 -5.05442925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters 0.014676511384987514 Centerline is valid? [True, True] Translation: X:71.28, Y:-166.32, Z:-3.98 [[-8.83852423e-01 4.67570339e-01 1.35230192e-02 7.12808769e+01] [ 4.67511204e-01 8.83955832e-01 -7.44051249e-03 -1.66316938e+02] [-1.54327146e-02 -2.54152008e-04 -9.99880876e-01 -3.97900686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters 0.015051982655204191 Centerline is valid? [True, True] Translation: X:71.29, Y:-166.29, Z:-3.98 [[-9.14256307e-01 4.04902289e-01 1.37673845e-02 7.12865292e+01] [ 4.04852525e-01 9.14359930e-01 -6.35228294e-03 -1.66291151e+02] [-1.51603986e-02 -2.33854386e-04 -9.99885047e-01 -3.97864166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters 0.014372858348663862 Centerline is valid? [True, True] Translation: X:71.55, Y:-165.73, Z:-5.05 [[-8.71682559e-01 -4.89911772e-01 1.24889042e-02 7.15537528e+01] [ 4.89864209e-01 -8.71772005e-01 -6.82855895e-03 -1.65734944e+02] [ 1.42328685e-02 1.65531423e-04 9.99898694e-01 -5.05401150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters 0.013654326657233559 Centerline is valid? [True, True] Translation: X:71.26, Y:-166.28, Z:-3.98 [[-9.13261802e-01 4.07193917e-01 1.20828419e-02 7.12552736e+01] [ 4.07156490e-01 9.13341721e-01 -5.52207954e-03 -1.66280665e+02] [-1.32843208e-02 -1.23496821e-04 -9.99911752e-01 -3.98011319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters 0.013016438783515164 Centerline is valid? [True, True] Translation: X:71.52, Y:-165.72, Z:-5.05 [[-8.76533391e-01 -4.81192837e-01 1.19443597e-02 7.15169808e+01] [ 4.81150356e-01 -8.76614758e-01 -6.39543681e-03 -1.65716841e+02] [ 1.35480404e-02 1.41219005e-04 9.99908211e-01 -5.05178340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters 0.013063609613732388 Centerline is valid? [True, True] Translation: X:71.22, Y:-166.27, Z:-3.98 [[-9.09978967e-01 4.14414451e-01 1.41046829e-02 7.12200642e+01] [ 4.14365268e-01 9.10088271e-01 -6.38457921e-03 -1.66273630e+02] [-1.54823684e-02 3.46579064e-05 -9.99880140e-01 -3.98107350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters 0.013618145450863645 Centerline is valid? [True, True] Translation: X:71.48, Y:-165.70, Z:-5.05 [[-8.84535198e-01 -4.66257601e-01 1.41891891e-02 7.14845053e+01] [ 4.66197540e-01 -8.84648998e-01 -7.48354319e-03 -1.65695829e+02] [ 1.60417108e-02 -4.49230255e-06 9.99871324e-01 -5.05284469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters 0.014723753919985247 Centerline is valid? [True, True] Translation: X:71.18, Y:-166.26, Z:-3.98 [[-9.07383853e-01 4.20035580e-01 1.49885190e-02 7.11835428e+01] [ 4.19981897e-01 9.07507616e-01 -6.71817501e-03 -1.66261508e+02] [-1.64240677e-02 1.98943112e-04 -9.99865096e-01 -3.97920349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters 0.014862183507194319 Centerline is valid? [True, True] Translation: X:71.19, Y:-166.23, Z:-3.98 [[-9.34165525e-01 3.56519953e-01 1.51094461e-02 7.11924937e+01] [ 3.56477237e-01 9.34287682e-01 -5.52338963e-03 -1.66233724e+02] [-1.60857680e-02 2.26413431e-04 -9.99870590e-01 -3.98075894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters 0.013421975116240818 Centerline is valid? [True, True] Translation: X:71.41, Y:-165.64, Z:-5.05 [[-9.17716795e-01 -3.97011852e-01 1.33219307e-02 7.14081958e+01] [ 3.96965236e-01 -9.17813433e-01 -6.09119591e-03 -1.65640488e+02] [ 1.46453240e-02 -3.01649408e-04 9.99892706e-01 -5.04798781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters 0.013011251324695753 Centerline is valid? [True, True] Translation: X:71.15, Y:-166.21, Z:-3.99 [[-9.38998727e-01 3.43747895e-01 1.08984194e-02 7.11494225e+01] [ 3.43725344e-01 9.39061969e-01 -3.93773680e-03 -1.66206462e+02] [-1.15878799e-02 4.85331166e-05 -9.99932857e-01 -3.98536582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters 0.01270089055892121 Centerline is valid? [True, True] Translation: X:71.15, Y:-166.17, Z:-3.99 [[-9.62701293e-01 2.70401966e-01 9.43384414e-03 7.11523715e+01] [ 2.70388782e-01 9.62747515e-01 -2.67017941e-03 -1.66171777e+02] [-9.80443176e-03 -1.97795423e-05 -9.99951935e-01 -3.98586777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters 0.013239802947135802 Centerline is valid? [True, True] Translation: X:71.15, Y:-166.14, Z:-3.99 [[-9.81058552e-01 1.93528063e-01 8.42650162e-03 7.11498223e+01] [ 1.93520165e-01 9.81094736e-01 -1.75057909e-03 -1.66136938e+02] [-8.60598257e-03 -8.67226004e-05 -9.99962964e-01 -3.98778109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters 0.01389622901346175 Centerline is valid? [True, True] Translation: X:71.15, Y:-166.11, Z:-3.99 [[-9.92797884e-01 1.19526082e-01 8.11648880e-03 7.11494318e+01] [ 1.19521142e-01 9.92831054e-01 -1.09278755e-03 -1.66105636e+02] [-8.18891875e-03 -1.14825156e-04 -9.99966464e-01 -3.98759485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters 0.014168919097842117 Centerline is valid? [True, True] Translation: X:71.15, Y:-166.08, Z:-3.99 [[-9.98840784e-01 4.73422265e-02 8.70646017e-03 7.11452401e+01] [ 4.73392519e-02 9.98878719e-01 -5.47528715e-04 -1.66076384e+02] [-8.72261902e-03 -1.34736699e-04 -9.99961948e-01 -3.98692906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters 0.015097591612665192 Centerline is valid? [True, True] Translation: X:71.18, Y:-165.50, Z:-5.05 [[-9.89114078e-01 -1.46819387e-01 9.86957672e-03 7.11800188e+01] [ 1.46814435e-01 -9.89163289e-01 -1.22833220e-03 -1.65504342e+02] [ 9.94296596e-03 2.34035662e-04 9.99950540e-01 -5.04819175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters 0.014756899559968912 Centerline is valid? [True, True] Translation: X:71.09, Y:-166.07, Z:-3.98 [[-9.99034519e-01 4.24308236e-02 1.13865936e-02 7.10936141e+01] [ 4.24259210e-02 9.99099389e-01 -6.71871070e-04 -1.66071385e+02] [-1.14048468e-02 -1.88135669e-04 -9.99934945e-01 -3.98482675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters 0.013918633361219793 Centerline is valid? [True, True] Translation: X:71.13, Y:-165.50, Z:-5.05 [[-9.90153691e-01 -1.39575694e-01 1.06908685e-02 7.11268477e+01] [ 1.39569074e-01 -9.90211395e-01 -1.36646309e-03 -1.65497961e+02] [ 1.07769449e-02 1.39106145e-04 9.99941917e-01 -5.04752060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters 0.012929566303685422 Centerline is valid? [True, True] Translation: X:71.05, Y:-166.08, Z:-3.99 [[-9.98861332e-01 4.65565003e-02 1.04179043e-02 7.10459447e+01] [ 4.65530571e-02 9.98915654e-01 -5.72890601e-04 -1.66077161e+02] [-1.04332795e-02 -8.72529733e-05 -9.99945568e-01 -3.98606587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters 0.012343048198185378 Centerline is valid? [True, True] Translation: X:71.05, Y:-166.06, Z:-3.99 [[-9.99840590e-01 -1.53281529e-02 9.15651985e-03 7.10467459e+01] [-1.53274355e-02 9.99882517e-01 1.48522483e-04 -1.66059145e+02] [-9.15772069e-03 8.15284019e-06 -9.99958067e-01 -3.98692760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters 0.012739998275475464 Centerline is valid? [True, True] Translation: X:71.04, Y:-165.45, Z:-5.05 [[-9.98969198e-01 -4.44769500e-02 9.07432663e-03 7.10400707e+01] [ 4.44750017e-02 -9.99010411e-01 -4.16488180e-04 -1.65448471e+02] [ 9.08387090e-03 -1.24781709e-05 9.99958741e-01 -5.04562464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters 0.013445405022433507 Centerline is valid? [True, True] Translation: X:70.99, Y:-166.07, Z:-3.99 [[-9.99915661e-01 -9.35257431e-03 9.01112384e-03 7.09864805e+01] [-9.35126978e-03 9.99956259e-01 1.86892764e-04 -1.66070112e+02] [-9.01247761e-03 1.02611552e-04 -9.99959382e-01 -3.98629007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters 0.014042982037202187 Centerline is valid? [True, True] Translation: X:70.98, Y:-166.05, Z:-3.98 [[-9.96809467e-01 -7.89631520e-02 1.16493808e-02 7.09824149e+01] [-7.89559949e-02 9.96877524e-01 1.07373694e-03 -1.66046609e+02] [-1.16977916e-02 1.50522698e-04 -9.99931567e-01 -3.98395498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters 0.013809553015214457 Centerline is valid? [True, True] Translation: X:70.92, Y:-165.42, Z:-5.05 [[-9.99312772e-01 3.48430451e-02 1.26469790e-02 7.09209642e+01] [-3.48414906e-02 -9.99392792e-01 3.43290061e-04 -1.65419539e+02] [ 1.26512610e-02 -9.75854591e-05 9.99919965e-01 -5.05018685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters 0.013168662543522041 Centerline is valid? [True, True] Translation: X:70.90, Y:-166.05, Z:-3.98 [[-9.95883390e-01 -8.96193683e-02 1.35883420e-02 7.09042272e+01] [-8.96097113e-02 9.95976084e-01 1.31910156e-03 -1.66050531e+02] [-1.36518807e-02 9.60239319e-05 -9.99906804e-01 -3.98285366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters 0.013093142193945292 Centerline is valid? [True, True] Translation: X:70.89, Y:-166.02, Z:-3.98 [[-9.86165750e-01 -1.65210250e-01 1.35161606e-02 7.08870976e+01] [-1.65194341e-01 9.86258370e-01 2.29285229e-03 -1.66021582e+02] [-1.37092292e-02 2.83391557e-05 -9.99906024e-01 -3.98142751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters 0.01286681010170635 Centerline is valid? [True, True] Translation: X:70.78, Y:-165.42, Z:-5.05 [[-9.95053515e-01 9.84710494e-02 1.31131281e-02 7.07824026e+01] [-9.84633640e-02 -9.95139914e-01 1.23197923e-03 -1.65415925e+02] [ 1.31707115e-02 -6.52774463e-05 9.99913260e-01 -5.04963565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters 0.012964614009711726 Centerline is valid? [True, True] Translation: X:70.80, Y:-166.03, Z:-3.98 [[-9.83909282e-01 -1.78255372e-01 1.21469391e-02 7.08013421e+01] [-1.78242662e-01 9.83984257e-01 2.12977405e-03 -1.66031734e+02] [-1.23320405e-02 -6.95982932e-05 -9.99923955e-01 -3.98440262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters 0.01339774124538327 Centerline is valid? [True, True] Translation: X:70.78, Y:-166.01, Z:-3.99 [[-9.67671017e-01 -2.52002855e-01 1.03616431e-02 7.07797984e+01] [-2.51989572e-01 9.67726485e-01 2.58947135e-03 -1.66006208e+02] [-1.06797906e-02 -1.05269632e-04 -9.99942964e-01 -3.98601058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters 0.013881221719673868 Centerline is valid? [True, True] Translation: X:70.76, Y:-165.98, Z:-3.99 [[-9.46377514e-01 -3.22916960e-01 9.70761938e-03 7.07567529e+01] [-3.22901339e-01 9.46427293e-01 3.17870370e-03 -1.65983360e+02] [-1.02140133e-02 -1.26349588e-04 -9.99947828e-01 -3.98705570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters 0.014355822766332536 Centerline is valid? [True, True] Translation: X:70.72, Y:-165.97, Z:-3.99 [[-9.19971822e-01 -3.91889926e-01 8.61002731e-03 7.07238525e+01] [-3.91874107e-01 9.20012102e-01 3.52365465e-03 -1.65966332e+02] [-9.30221409e-03 -1.32383769e-04 -9.99956725e-01 -3.98843203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters 0.014374337973990644 Centerline is valid? [True, True] Translation: X:70.68, Y:-165.96, Z:-3.99 [[-8.88692086e-01 -4.58453089e-01 6.86593314e-03 7.06778607e+01] [-4.58440411e-01 8.88718601e-01 3.41147344e-03 -1.65958789e+02] [-7.66588303e-03 -1.15871762e-04 -9.99970610e-01 -3.99062569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters 0.01396776982143171 Centerline is valid? [True, True] Translation: X:70.61, Y:-165.96, Z:-3.99 [[-8.52696997e-01 -5.22374971e-01 5.67632954e-03 7.06140197e+01] [-5.22364165e-01 8.52715885e-01 3.36139579e-03 -1.65964911e+02] [-6.59620539e-03 -9.88590411e-05 -9.99978240e-01 -3.99115112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters 0.014081298409820888 Centerline is valid? [True, True] Translation: X:70.55, Y:-165.98, Z:-3.99 [[-8.12013058e-01 -5.83612073e-01 5.63407687e-03 7.05483620e+01] [-5.83598878e-01 8.12032597e-01 3.92568044e-03 -1.65976083e+02] [-6.86612857e-03 -1.00337157e-04 -9.99976423e-01 -3.99101814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters 0.013609621929150101 Centerline is valid? [True, True] Translation: X:70.48, Y:-166.00, Z:-3.99 [[-7.68841542e-01 -6.39412778e-01 5.82945893e-03 7.04776285e+01] [-6.39395196e-01 7.68863637e-01 4.74239135e-03 -1.66001655e+02] [-7.51440463e-03 -8.11805553e-05 -9.99971763e-01 -3.99048731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters 0.012932727611103452 Centerline is valid? [True, True] Translation: X:70.40, Y:-166.04, Z:-3.99 [[-7.22673648e-01 -6.91169207e-01 5.28454385e-03 7.04048526e+01] [-6.91151116e-01 7.22692968e-01 5.00083779e-03 -1.66038164e+02] [-7.27552777e-03 -3.84446905e-05 -9.99973532e-01 -3.99085164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters 0.012630876361692505 Centerline is valid? [True, True] Translation: X:70.33, Y:-166.08, Z:-3.99 [[-6.71763420e-01 -7.40754467e-01 4.08982180e-03 7.03300494e+01] [-7.40740799e-01 6.71775870e-01 4.49985957e-03 -1.66084480e+02] [-6.08073467e-03 -6.65681897e-06 -9.99981512e-01 -3.99353130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters 0.012791090849416034 Centerline is valid? [True, True] Translation: X:70.25, Y:-166.14, Z:-3.99 [[-6.16542772e-01 -7.87314932e-01 3.19497476e-03 7.02528521e+01] [-7.87304263e-01 6.16551050e-01 4.09872238e-03 -1.66140748e+02] [-5.19685037e-03 1.16204093e-05 -9.99986496e-01 -3.99389719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters 0.012917222586705008 Centerline is valid? [True, True] Translation: X:70.18, Y:-166.21, Z:-3.99 [[-5.56530117e-01 -8.30821975e-01 3.01252900e-03 7.01771141e+01] [-8.30809593e-01 5.56538270e-01 4.53584544e-03 -1.66207665e+02] [-5.44506774e-03 2.14966002e-05 -9.99985175e-01 -3.99484229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters 0.012819449068382012 Centerline is valid? [True, True] Translation: X:70.10, Y:-166.29, Z:-3.99 [[-4.90394773e-01 -8.71495736e-01 2.85454930e-03 7.00974162e+01] [-8.71480816e-01 4.90403080e-01 5.09965651e-03 -1.66285818e+02] [-5.84420867e-03 1.31599419e-05 -9.99982922e-01 -3.99410968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters 0.012816621352556921 Centerline is valid? [True, True] Translation: X:70.02, Y:-166.36, Z:-3.99 [[-4.19423070e-01 -9.07786826e-01 2.71414917e-03 7.00249584e+01] [-9.07767951e-01 4.19431852e-01 5.85397503e-03 -1.66363049e+02] [-6.45256203e-03 -8.52545550e-06 -9.99979182e-01 -3.99330385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters 0.013263132253839044 Centerline is valid? [True, True] Translation: X:69.95, Y:-166.45, Z:-3.99 [[-3.43078873e-01 -9.39304231e-01 2.10915486e-03 6.99524441e+01] [-9.39287314e-01 3.43085353e-01 5.63763508e-03 -1.66450812e+02] [-6.01907463e-03 -4.69489073e-05 -9.99981884e-01 -3.99320365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters 0.013836700701923645 Centerline is valid? [True, True] Translation: X:69.89, Y:-166.55, Z:-3.99 [[-2.66818979e-01 -9.63744993e-01 1.79478428e-03 6.98878372e+01] [-9.63725038e-01 2.66825005e-01 6.20229734e-03 -1.66546473e+02] [-6.45632633e-03 -7.47879081e-05 -9.99979155e-01 -3.99301018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters 0.014355527767935855 Centerline is valid? [True, True] Translation: X:69.83, Y:-166.65, Z:-3.99 [[-1.90313005e-01 -9.81722818e-01 1.12625097e-03 6.98321612e+01] [-9.81707925e-01 1.90316322e-01 5.40809698e-03 -1.66648246e+02] [-5.52359615e-03 -7.64183160e-05 -9.99984742e-01 -3.99435400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters 0.014278379271792612 Centerline is valid? [True, True] Translation: X:69.79, Y:-166.76, Z:-4.00 [[-1.15075409e-01 -9.93356620e-01 5.25212263e-04 6.97858170e+01] [-9.93348340e-01 1.15076595e-01 4.05623474e-03 -1.66756788e+02] [-4.08972727e-03 -5.49458568e-05 -9.99991636e-01 -3.99601838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters 0.013194469536230151 Centerline is valid? [True, True] Translation: X:69.75, Y:-166.86, Z:-4.00 [[-4.30166173e-02 -9.99074348e-01 1.35546373e-04 6.97511833e+01] [-9.99070948e-01 4.30168245e-02 2.60646542e-03 -1.66859380e+02] [-2.60988352e-03 -2.32991178e-05 -9.99996594e-01 -3.99693246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters 0.012895131890925294 Centerline is valid? [True, True] Translation: X:69.72, Y:-166.97, Z:-4.00 [[ 3.16454276e-02 -9.99499157e-01 -5.25925115e-05 6.97231562e+01] [-9.99496911e-01 -3.16454680e-02 2.11887566e-03 -1.66973044e+02] [-2.11947875e-03 -1.44866735e-05 -9.99997754e-01 -3.99664591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters 0.012398268808410955 Centerline is valid? [True, True] Translation: X:69.71, Y:-167.08, Z:-4.00 [[ 1.00885639e-01 -9.94898028e-01 -4.51701216e-05 6.97050431e+01] [-9.94897933e-01 -1.00885649e-01 4.33986473e-04 -1.67083730e+02] [-4.36329304e-04 1.15665789e-06 -9.99999905e-01 -3.99684466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters 0.012497056602327278 Centerline is valid? [True, True] Translation: X:69.69, Y:-167.20, Z:-4.00 [[ 1.72718021e-01 -9.84971306e-01 1.09372541e-04 6.96945033e+01] [-9.84971113e-01 -1.72718056e-01 -6.15710321e-04 -1.67199954e+02] [ 6.25347610e-04 -1.38452547e-06 -9.99999805e-01 -3.99760446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters 0.012661008061074402 Centerline is valid? [True, True] Translation: X:69.69, Y:-167.32, Z:-4.00 [[ 2.45444195e-01 -9.69410662e-01 3.40987885e-04 6.96918363e+01] [-9.69409768e-01 -2.45444431e-01 -1.31614005e-03 -1.67316913e+02] [ 1.35957378e-03 -7.51805204e-06 -9.99999076e-01 -3.99786934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters 0.012563232653495956 Centerline is valid? [True, True] Translation: X:69.70, Y:-167.43, Z:-4.00 [[ 3.19803159e-01 -9.47483945e-01 3.37562799e-04 6.96962051e+01] [-9.47483432e-01 -3.19803337e-01 -9.86044293e-04 -1.67433166e+02] [ 1.04221485e-03 -4.49507945e-06 -9.99999457e-01 -3.99822148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters 0.012420441019705998 Centerline is valid? [True, True] Translation: X:69.70, Y:-167.55, Z:-4.00 [[ 3.96926462e-01 -9.17850414e-01 4.06868602e-05 6.97044173e+01] [-9.17850409e-01 -3.96926465e-01 -9.72139209e-05 -1.67553817e+02] [ 1.05377528e-04 1.24232644e-06 -9.99999995e-01 -3.99696516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters 0.012716926488577742 Centerline is valid? [True, True] Translation: X:69.72, Y:-167.67, Z:-4.00 [[ 4.70256532e-01 -8.82529589e-01 -5.64552624e-04 6.97238180e+01] [-8.82528938e-01 -4.70256871e-01 1.07217792e-03 -1.67672907e+02] [-1.21171349e-03 -5.96464526e-06 -9.99999266e-01 -3.99593651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters 0.013276303319290523 Centerline is valid? [True, True] Translation: X:69.75, Y:-167.78, Z:-4.00 [[ 5.39825896e-01 -8.41776347e-01 -7.63371761e-04 6.97504096e+01] [-8.41775470e-01 -5.39826436e-01 1.21564875e-03 -1.67784743e+02] [-1.43539262e-03 -1.36510535e-05 -9.99998970e-01 -3.99572767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters 0.013339846785059981 Centerline is valid? [True, True] Translation: X:69.79, Y:-167.89, Z:-4.00 [[ 6.02980456e-01 -7.97755774e-01 -5.43150496e-04 6.97879025e+01] [-7.97755436e-01 -6.02980701e-01 7.33704075e-04 -1.67889558e+02] [-9.12825929e-04 -9.10795681e-06 -9.99999583e-01 -3.99655719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters 0.013271390730298895 Centerline is valid? [True, True] Translation: X:69.83, Y:-167.99, Z:-4.00 [[ 6.61921719e-01 -7.49572333e-01 -9.77890392e-04 6.98278166e+01] [-7.49571479e-01 -6.61922441e-01 1.13132882e-03 -1.67985787e+02] [-1.49530038e-03 -1.58523673e-05 -9.99998882e-01 -3.99590907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters 0.013276152985490983 Centerline is valid? [True, True] Translation: X:69.87, Y:-168.08, Z:-3.99 [[ 7.16421839e-01 -6.97664277e-01 -2.07496908e-03 6.98749008e+01] [-6.97661226e-01 -7.16424843e-01 2.06360072e-03 -1.68079407e+02] [-2.92625990e-03 -3.07831443e-05 -9.99995718e-01 -3.99419763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters 0.012835872108748824 Centerline is valid? [True, True] Translation: X:69.90, Y:-168.11, Z:-3.99 [[ 7.66937633e-01 -6.41713688e-01 -3.19527526e-03 6.98988436e+01] [-6.41707941e-01 -7.66944288e-01 2.71613316e-03 -1.68107912e+02] [-4.19357794e-03 -3.26712266e-05 -9.99991206e-01 -3.99244828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters 0.012456208422979164 Centerline is valid? [True, True] Translation: X:69.93, Y:-168.13, Z:-3.99 [[ 8.12414706e-01 -5.83068444e-01 -3.67905973e-03 6.99250443e+01] [-5.83062370e-01 -8.12423036e-01 2.66159152e-03 -1.68134935e+02] [-4.54084290e-03 -1.71948078e-05 -9.99989690e-01 -3.99280309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters 0.01233788815306819 Centerline is valid? [True, True] Translation: X:69.95, Y:-168.16, Z:-3.99 [[ 8.52479212e-01 -5.22747699e-01 -3.74660370e-03 6.99542943e+01] [-5.22742696e-01 -8.52487445e-01 2.28701193e-03 -1.68157909e+02] [-4.38946284e-03 8.87958778e-06 -9.99990366e-01 -3.99249097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters 0.013334373066427088 Centerline is valid? [True, True] Translation: X:69.99, Y:-168.18, Z:-3.99 [[ 8.86047489e-01 -4.63579451e-01 -3.73360002e-03 6.99855998e+01] [-4.63575579e-01 -8.86055354e-01 1.89542870e-03 -1.68178414e+02] [-4.18685808e-03 5.13659482e-05 -9.99991234e-01 -3.99222086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters 0.014664101079214694 Centerline is valid? [True, True] Translation: X:70.02, Y:-168.20, Z:-3.99 [[ 9.17487824e-01 -3.97734712e-01 -4.81566188e-03 7.00165631e+01] [-3.97729752e-01 -9.17500458e-01 1.98850354e-03 -1.68196094e+02] [-5.20926886e-03 9.09042188e-05 -9.99986428e-01 -3.99072125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters 0.015602120523874176 Centerline is valid? [True, True] Translation: X:70.05, Y:-168.21, Z:-3.99 [[ 9.44905139e-01 -3.27294669e-01 -5.69894560e-03 7.00495243e+01] [-3.27289483e-01 -9.44922317e-01 1.84653808e-03 -1.68210824e+02] [-5.98942295e-03 1.20401634e-04 -9.99982056e-01 -3.98977967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters 0.014905331400974942 Centerline is valid? [True, True] Translation: X:70.08, Y:-168.23, Z:-3.99 [[ 9.67836599e-01 -2.51504235e-01 -6.15934196e-03 7.00810717e+01] [-2.51499938e-01 -9.67856190e-01 1.47518288e-03 -1.68232301e+02] [-6.33237199e-03 1.21338137e-04 -9.99979943e-01 -3.98947305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters 0.014845135184695813 Centerline is valid? [True, True] Translation: X:70.11, Y:-168.25, Z:-3.99 [[ 9.84855201e-01 -1.73272518e-01 -6.07192768e-03 7.01147062e+01] [-1.73269891e-01 -9.84873912e-01 9.60094883e-04 -1.68249669e+02] [-6.14644123e-03 1.06527806e-04 -9.99981105e-01 -3.98912326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters 0.014490100415221762 Centerline is valid? [True, True] Translation: X:70.15, Y:-168.27, Z:-3.99 [[ 9.95510370e-01 -9.45119408e-02 -5.15712555e-03 7.01454260e+01] [-9.45111090e-02 -9.95523725e-01 4.05307785e-04 -1.68265065e+02] [-5.17234726e-03 8.39175514e-05 -9.99986620e-01 -3.98956822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters 0.014476598568679637 Centerline is valid? [True, True] Translation: X:70.18, Y:-168.28, Z:-3.99 [[ 9.99885816e-01 -1.47263455e-02 -3.38967922e-03 7.01772606e+01] [-1.47264303e-02 -9.99891560e-01 -6.17236936e-08 -1.68275814e+02] [-3.38931073e-03 4.99795914e-05 -9.99994255e-01 -3.99001565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters 0.01409174049331523 Centerline is valid? [True, True] Translation: X:70.21, Y:-168.29, Z:-3.99 [[ 9.97803045e-01 6.61932950e-02 -2.74442166e-03 7.02102795e+01] [ 6.61929519e-02 -9.97806818e-01 -2.15775332e-04 -1.68286320e+02] [-2.75268553e-03 3.36399125e-05 -9.99996211e-01 -3.99012685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters 0.013620460319091823 Centerline is valid? [True, True] Translation: X:70.24, Y:-168.29, Z:-3.99 [[ 9.88936351e-01 1.48335711e-01 -1.18779652e-03 7.02434210e+01] [ 1.48335591e-01 -9.88937064e-01 -1.88491809e-04 -1.68293861e+02] [-1.20261607e-03 1.02139027e-05 -9.99999277e-01 -3.99078026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters 0.013097661096365036 Centerline is valid? [True, True] Translation: X:70.28, Y:-168.30, Z:-3.99 [[ 9.72477982e-01 2.32992677e-01 9.93463535e-04 7.02790373e+01] [ 2.32992557e-01 -9.72478489e-01 2.36491785e-04 -1.68300420e+02] [ 1.02122277e-03 1.48655610e-06 -9.99999479e-01 -3.99241388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters 0.013351772854852445 Centerline is valid? [True, True] Translation: X:70.31, Y:-168.30, Z:-3.99 [[ 9.49835442e-01 3.12746317e-01 1.54119495e-03 7.03141458e+01] [ 3.12745921e-01 -9.49836692e-01 4.97859205e-04 -1.68301168e+02] [ 1.61958715e-03 9.11811594e-06 -9.99998689e-01 -3.99305656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters 0.013900655757615961 Centerline is valid? [True, True] Translation: X:70.35, Y:-168.30, Z:-3.99 [[ 9.21049226e-01 3.89443357e-01 1.48136402e-03 7.03483505e+01] [ 3.89442879e-01 -9.21050418e-01 6.10334723e-04 -1.68298052e+02] [ 1.60210175e-03 1.47583429e-05 -9.99998717e-01 -3.99318524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters 0.01417273172574753 Centerline is valid? [True, True] Translation: X:70.38, Y:-168.29, Z:-3.99 [[ 8.86959438e-01 4.61846928e-01 6.09427079e-04 7.03805623e+01] [ 4.61846825e-01 -8.86959647e-01 3.08241432e-04 -1.68287989e+02] [ 6.82897584e-04 8.06431432e-06 -9.99999767e-01 -3.99211680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters 0.01350831126796829 Centerline is valid? [True, True] Translation: X:70.41, Y:-168.28, Z:-3.99 [[ 8.48751389e-01 5.28792052e-01 -2.13823180e-04 7.04134386e+01] [ 5.28792036e-01 -8.48751416e-01 -1.31887210e-04 -1.68276093e+02] [-2.51223636e-04 -1.12854185e-06 -9.99999969e-01 -3.99107875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters 0.013244008412733689 Centerline is valid? [True, True] Translation: X:70.44, Y:-168.26, Z:-3.99 [[ 8.05952328e-01 5.91979866e-01 -8.26069185e-04 7.04438098e+01] [ 5.91979563e-01 -8.05952752e-01 -5.99455447e-04 -1.68260706e+02] [-1.02063829e-03 -5.88356207e-06 -9.99999479e-01 -3.99068914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters 0.012960884385316408 Centerline is valid? [True, True] Translation: X:70.47, Y:-168.24, Z:-3.99 [[ 7.59282136e-01 6.50759797e-01 -1.52467802e-03 7.04719169e+01] [ 6.50758501e-01 -7.59283667e-01 -1.29881848e-03 -1.68241143e+02] [-2.00288197e-03 -6.02751433e-06 -9.99997994e-01 -3.98928894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters 0.01276123622338865 Centerline is valid? [True, True] Translation: X:70.50, Y:-168.22, Z:-3.99 [[ 7.06790092e-01 7.07421237e-01 -1.72026840e-03 7.05004151e+01] [ 7.07419158e-01 -7.06792186e-01 -1.71509935e-03 -1.68222774e+02] [-2.42916997e-03 -4.73559699e-06 -9.99997050e-01 -3.98860448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters 0.012695212580680135 Centerline is valid? [True, True] Translation: X:70.53, Y:-168.20, Z:-3.99 [[ 6.49566061e-01 7.60304285e-01 -1.15202938e-03 7.05264517e+01] [ 7.60303096e-01 -6.49567082e-01 -1.34487613e-03 -1.68201481e+02] [-1.77083544e-03 -2.30561490e-06 -9.99998432e-01 -3.98944101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters 0.01262677920192203 Centerline is valid? [True, True] Translation: X:70.55, Y:-168.18, Z:-3.99 [[ 5.88468513e-01 8.08520101e-01 -2.35691868e-04 7.05500584e+01] [ 8.08520036e-01 -5.88468560e-01 -3.24715231e-04 -1.68177931e+02] [-4.01236046e-04 5.23091228e-07 -9.99999920e-01 -3.98992010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters 0.012667492822042294 Centerline is valid? [True, True] Translation: X:70.57, Y:-168.15, Z:-3.99 [[ 5.23864133e-01 8.51801826e-01 1.36441906e-04 7.05699872e+01] [ 8.51801798e-01 -5.23864151e-01 2.19342538e-04 -1.68152501e+02] [ 2.58313396e-04 1.31577206e-06 -9.99999967e-01 -3.98949925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters 0.012772414985186215 Centerline is valid? [True, True] Translation: X:70.59, Y:-168.13, Z:-3.99 [[ 4.55566361e-01 8.90201800e-01 2.13716420e-04 7.05860827e+01] [ 8.90201704e-01 -4.55566411e-01 4.14328101e-04 -1.68125812e+02] [ 4.66197643e-04 1.49677577e-06 -9.99999891e-01 -3.98849932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters 0.012872825560257397 Centerline is valid? [True, True] Translation: X:70.60, Y:-168.10, Z:-3.98 [[ 3.82964884e-01 9.23762824e-01 -3.77195708e-04 7.05983854e+01] [ 9.23762380e-01 -3.82965070e-01 -9.06318922e-04 -1.68097753e+02] [-9.81676509e-04 -1.35088394e-06 -9.99999518e-01 -3.98492934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters 0.01325669446495968 Centerline is valid? [True, True] Translation: X:70.61, Y:-168.07, Z:-3.98 [[ 3.06491350e-01 9.51873256e-01 -5.96889317e-04 7.06093291e+01] [ 9.51871512e-01 -3.06491931e-01 -1.82246492e-03 -1.68068972e+02] [-1.91769738e-03 -9.59220271e-06 -9.99998161e-01 -3.98274076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters 0.014105328991044835 Centerline is valid? [True, True] Translation: X:70.62, Y:-168.04, Z:-3.98 [[ 2.27226788e-01 9.73841684e-01 -6.00466206e-04 7.06195894e+01] [ 9.73838545e-01 -2.27227580e-01 -2.47272509e-03 -1.68039795e+02] [-2.54448525e-03 -2.28877568e-05 -9.99996763e-01 -3.98091304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters 0.015504592699282836 Centerline is valid? [True, True] Translation: X:70.64, Y:-168.01, Z:-3.98 [[ 1.44019822e-01 9.89574700e-01 -4.50897013e-04 7.06352445e+01] [ 9.89570751e-01 -1.44020522e-01 -2.79609394e-03 -1.68010011e+02] [-2.83188224e-03 -4.35015438e-05 -9.99995989e-01 -3.97988028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters 0.01635513971066742 Centerline is valid? [True, True] Translation: X:70.64, Y:-167.98, Z:-3.98 [[ 6.38934106e-02 9.97956704e-01 -2.23169556e-04 7.06441510e+01] [ 9.97952959e-01 -6.38937823e-02 -2.73414766e-03 -1.67978516e+02] [-2.74282013e-03 -4.80186995e-05 -9.99996237e-01 -3.97868365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters 0.016561879006454103 Centerline is valid? [True, True] Translation: X:70.65, Y:-167.95, Z:-3.98 [[-1.43573252e-02 9.99896928e-01 -4.86872370e-06 7.06450803e+01] [ 9.99895382e-01 1.43572944e-02 -1.75874203e-03 -1.67946407e+02] [-1.75849085e-03 -3.01190455e-05 -9.99998453e-01 -3.97901255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters 0.014271452522505931 Centerline is valid? [True, True] Translation: X:70.64, Y:-167.91, Z:-3.98 [[-8.73901572e-02 9.96174160e-01 -6.63821003e-05 7.06421680e+01] [ 9.96173756e-01 8.73901815e-02 8.96901876e-04 -1.67913635e+02] [ 8.99271616e-04 1.22522898e-05 -9.99999596e-01 -3.98056817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters 0.013757582040736958 Centerline is valid? [True, True] Translation: X:70.64, Y:-167.88, Z:-3.98 [[-1.61402234e-01 9.86888671e-01 -2.63883583e-04 7.06396936e+01] [ 9.86887185e-01 1.61402448e-01 1.71276160e-03 -1.67881751e+02] [ 1.73289647e-03 1.60202208e-05 -9.99998498e-01 -3.98025435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters 0.0133665624991382 Centerline is valid? [True, True] Translation: X:70.64, Y:-167.85, Z:-3.98 [[-2.35689206e-01 9.71828353e-01 -5.00274702e-04 7.06359279e+01] [ 9.71826035e-01 2.35689736e-01 2.12299350e-03 -1.67850476e+02] [ 2.18109489e-03 1.41866726e-05 -9.99997621e-01 -3.97960666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters 0.013221682936072518 Centerline is valid? [True, True] Translation: X:70.63, Y:-167.82, Z:-3.98 [[-3.10464655e-01 9.50584523e-01 -8.73732530e-04 7.06325209e+01] [ 9.50580609e-01 3.10465884e-01 2.72782616e-03 -1.67819091e+02] [ 2.86429347e-03 1.63404066e-05 -9.99995898e-01 -3.97993949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters 0.013214384505694204 Centerline is valid? [True, True] Translation: X:70.63, Y:-167.79, Z:-3.98 [[-3.84037364e-01 9.23317117e-01 -8.97276998e-04 7.06290884e+01] [ 9.23314511e-01 3.84038412e-01 2.19342808e-03 -1.67786916e+02] [ 2.36981853e-03 1.38894671e-05 -9.99997192e-01 -3.97942706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters 0.013185019114850009 Centerline is valid? [True, True] Translation: X:70.62, Y:-167.76, Z:-3.98 [[-4.54137574e-01 8.90931468e-01 -4.28209722e-04 7.06242164e+01] [ 8.90931061e-01 4.54137776e-01 8.51255270e-04 -1.67755030e+02] [ 9.52876317e-04 5.08166141e-06 -9.99999546e-01 -3.97787765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters 0.013012651940383172 Centerline is valid? [True, True] Translation: X:70.62, Y:-167.72, Z:-3.98 [[-5.21360463e-01 8.53336508e-01 -2.67017812e-04 7.06152042e+01] [ 8.53336394e-01 5.21360531e-01 4.41903431e-04 -1.67724711e+02] [ 5.16304879e-04 2.53496069e-06 -9.99999867e-01 -3.97646227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters 0.01296559082716941 Centerline is valid? [True, True] Translation: X:70.60, Y:-167.69, Z:-3.98 [[-5.85249539e-01 8.10852874e-01 -7.70664538e-04 7.06041799e+01] [ 8.10852165e-01 5.85250046e-01 1.07219335e-03 -1.67693342e+02] [ 1.32042251e-03 2.60565342e-06 -9.99999128e-01 -3.97677740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters 0.012958660716368925 Centerline is valid? [True, True] Translation: X:70.59, Y:-167.66, Z:-3.98 [[-6.46102441e-01 7.63248879e-01 -1.66888577e-03 7.05917393e+01] [ 7.63246327e-01 6.46104596e-01 1.97337260e-03 -1.67662977e+02] [ 2.58444919e-03 1.22992102e-06 -9.99996660e-01 -3.97708555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters 0.012984607617983196 Centerline is valid? [True, True] Translation: X:70.58, Y:-167.63, Z:-3.98 [[-7.03711077e-01 7.10483365e-01 -2.02683856e-03 7.05767106e+01] [ 7.10480416e-01 7.03713996e-01 2.04723083e-03 -1.67633818e+02] [ 2.88083811e-03 6.29907743e-07 -9.99995850e-01 -3.97646085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters 0.012996263195121448 Centerline is valid? [True, True] Translation: X:70.56, Y:-167.61, Z:-3.98 [[-7.57577246e-01 6.52739472e-01 -2.81039270e-03 7.05591325e+01] [ 6.52734967e-01 7.57582459e-01 2.42502768e-03 -1.67605233e+02] [ 3.71201549e-03 2.70420151e-06 -9.99993111e-01 -3.97604154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters 0.012955935338788157 Centerline is valid? [True, True] Translation: X:70.58, Y:-167.58, Z:-3.97 [[-8.01655615e-01 5.97783941e-01 -1.62341278e-03 7.05756583e+01] [ 5.97782712e-01 8.01657259e-01 1.21191945e-03 -1.67582209e+02] [ 2.02588663e-03 1.09394035e-06 -9.99997948e-01 -3.97464238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters 0.01298507481917611 Centerline is valid? [True, True] Translation: X:70.59, Y:-167.56, Z:-3.97 [[-8.40917141e-01 5.41163627e-01 -5.39964508e-04 7.05917259e+01] [ 5.41163515e-01 8.40917314e-01 3.47548646e-04 -1.67558693e+02] [ 6.42146189e-04 5.05219650e-08 -9.99999794e-01 -3.97303628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters 0.013029849585543651 Centerline is valid? [True, True] Translation: X:70.61, Y:-167.53, Z:-3.97 [[-8.76220017e-01 4.81911018e-01 5.03130932e-04 7.06056615e+01] [ 4.81910941e-01 8.76220161e-01 -2.73542502e-04 -1.67532692e+02] [-5.72676613e-04 2.78088558e-06 -9.99999836e-01 -3.97118060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters 0.013078921385179668 Centerline is valid? [True, True] Translation: X:70.61, Y:-167.51, Z:-3.97 [[-9.07276206e-01 4.20535184e-01 -2.12296682e-04 7.06143993e+01] [ 4.20535173e-01 9.07276231e-01 9.80583192e-05 -1.67505976e+02] [ 2.33848706e-04 -3.12241801e-07 -9.99999973e-01 -3.97175765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters 0.013400029790388821 Centerline is valid? [True, True] Translation: X:70.62, Y:-167.48, Z:-3.97 [[-9.33588148e-01 3.58346421e-01 -1.00573194e-03 7.06238244e+01] [ 3.58346223e-01 9.33588690e-01 3.77042467e-04 -1.67482236e+02] [ 1.07405178e-03 -8.39786185e-06 -9.99999423e-01 -3.97260392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters 0.013711351923501047 Centerline is valid? [True, True] Translation: X:70.63, Y:-167.46, Z:-3.97 [[-9.55695958e-01 2.94346039e-01 -2.37593674e-03 7.06323055e+01] [ 2.94345204e-01 9.55698911e-01 7.01937325e-04 -1.67456731e+02] [ 2.47729263e-03 -2.85069198e-05 -9.99996931e-01 -3.97337868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters 0.013635227643850655 Centerline is valid? [True, True] Translation: X:70.64, Y:-167.43, Z:-3.97 [[-9.74368781e-01 2.24939599e-01 -2.76674756e-03 7.06358671e+01] [ 2.24938780e-01 9.74372709e-01 6.07783155e-04 -1.67427498e+02] [ 2.83255781e-03 -3.01438881e-05 -9.99995988e-01 -3.97315410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters 0.013204259738707196 Centerline is valid? [True, True] Translation: X:70.76, Y:-166.86, Z:-5.06 [[-9.61886644e-01 -2.73447199e-01 -8.45190915e-04 7.07568185e+01] [ 2.73446964e-01 -9.61887005e-01 3.84392065e-04 -1.66863513e+02] [-9.18089090e-04 1.38626704e-04 9.99999569e-01 -5.06138383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters 0.012943763116250917 Centerline is valid? [True, True] Translation: X:70.58, Y:-167.41, Z:-3.97 [[-9.76667859e-01 2.14755070e-01 3.90703510e-04 7.05844919e+01] [ 2.14755054e-01 9.76667937e-01 -8.38703666e-05 -1.67408035e+02] [-3.99599179e-04 1.99206200e-06 -9.99999920e-01 -3.96901171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters 0.013974768713353606 Centerline is valid? [True, True] Translation: X:70.70, Y:-166.86, Z:-5.07 [[-9.62733007e-01 -2.70445740e-01 2.06371467e-03 7.07046890e+01] [ 2.70445332e-01 -9.62735214e-01 -4.79197009e-04 -1.66856082e+02] [ 2.11640758e-03 9.67832226e-05 9.99997756e-01 -5.06559359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters 0.013667219981378636 Centerline is valid? [True, True] Translation: X:70.54, Y:-167.40, Z:-3.97 [[-9.75981654e-01 2.17845462e-01 1.77916486e-03 7.05422998e+01] [ 2.17845137e-01 9.75983276e-01 -3.76541117e-04 -1.67403127e+02] [-1.81846292e-03 2.00851912e-05 -9.99998346e-01 -3.96644641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters 0.013899010236262072 Centerline is valid? [True, True] Translation: X:70.54, Y:-167.38, Z:-3.97 [[-9.88581723e-01 1.50670720e-01 2.12384408e-03 7.05435844e+01] [ 1.50670436e-01 9.88584004e-01 -2.94034798e-04 -1.67377162e+02] [-2.14390072e-03 2.93230868e-05 -9.99997702e-01 -3.96717147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters 0.01437605784137807 Centerline is valid? [True, True] Translation: X:70.62, Y:-166.81, Z:-5.07 [[-9.81974364e-01 -1.89010169e-01 1.22673591e-03 7.06248308e+01] [ 1.89009928e-01 -9.81975127e-01 -3.10085128e-04 -1.66808370e+02] [ 1.26323339e-03 -7.26303799e-05 9.99999200e-01 -5.06525619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters 0.014365350609299018 Centerline is valid? [True, True] Translation: X:70.50, Y:-167.37, Z:-3.97 [[-9.88863302e-01 1.48820676e-01 1.33296042e-03 7.04986909e+01] [ 1.48820570e-01 9.88864200e-01 -1.79132935e-04 -1.67370725e+02] [-1.34477553e-03 2.12339448e-05 -9.99999096e-01 -3.96659919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters 0.013952326280427927 Centerline is valid? [True, True] Translation: X:70.49, Y:-167.34, Z:-3.97 [[-9.97131419e-01 7.56607425e-02 2.09401233e-03 7.04920337e+01] [ 7.56606342e-02 9.97133618e-01 -1.30996731e-04 -1.67340338e+02] [-2.09792140e-03 2.78133447e-05 -9.99997799e-01 -3.96586346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters 0.01317749000608641 Centerline is valid? [True, True] Translation: X:70.48, Y:-167.31, Z:-3.97 [[-9.99995661e-01 -1.12646509e-03 2.72189315e-03 7.04813798e+01] [-1.12640573e-03 9.99999365e-01 2.33413180e-05 -1.67307983e+02] [-2.72191772e-03 2.02752606e-05 -9.99996295e-01 -3.96545533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters 0.012846481504074567 Centerline is valid? [True, True] Translation: X:70.47, Y:-166.76, Z:-5.07 [[-9.98167478e-01 -6.03955709e-02 3.74971732e-03 7.04678533e+01] [ 6.03953260e-02 -9.98174520e-01 -1.78600632e-04 -1.66759426e+02] [ 3.75365897e-03 4.81920579e-05 9.99992954e-01 -5.06926579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters 0.012995425125084996 Centerline is valid? [True, True] Translation: X:70.42, Y:-167.30, Z:-3.96 [[-9.99827258e-01 -1.79080151e-02 4.97560933e-03 7.04187380e+01] [-1.79079267e-02 9.99839638e-01 6.23331077e-05 -1.67298329e+02] [-4.97592769e-03 -2.67805069e-05 -9.99987620e-01 -3.96269991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters 0.013050792316544844 Centerline is valid? [True, True] Translation: X:70.41, Y:-166.76, Z:-5.07 [[-9.98150911e-01 -6.05223816e-02 5.63923966e-03 7.04086023e+01] [ 6.05218350e-02 -9.98166838e-01 -2.67679716e-04 -1.66759559e+02] [ 5.64510263e-03 7.41123802e-05 9.99984064e-01 -5.06958512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters 0.012859354009068636 Centerline is valid? [True, True] Translation: X:70.36, Y:-167.31, Z:-3.96 [[-9.99831534e-01 -1.72886584e-02 6.16493324e-03 7.03631361e+01] [-1.72883557e-02 9.99850540e-01 1.02387032e-04 -1.67306796e+02] [-6.16578197e-03 -4.21177582e-06 -9.99980991e-01 -3.96271082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters 0.013033119747015192 Centerline is valid? [True, True] Translation: X:70.36, Y:-166.75, Z:-5.07 [[-9.98944740e-01 -4.55754209e-02 5.68229289e-03 7.03592503e+01] [ 4.55745441e-02 -9.98960900e-01 -2.83760068e-04 -1.66751269e+02] [ 5.68932091e-03 -2.44927191e-05 9.99983815e-01 -5.07002565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters 0.013560144905557025 Centerline is valid? [True, True] Translation: X:70.31, Y:-167.32, Z:-3.96 [[-9.99934296e-01 -1.08999576e-02 3.54893673e-03 7.03141151e+01] [-1.08997647e-02 9.99940593e-01 7.36916977e-05 -1.67319676e+02] [-3.54952914e-03 3.50042805e-05 -9.99993700e-01 -3.96484698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters 0.01402887448438887 Centerline is valid? [True, True] Translation: X:70.30, Y:-166.74, Z:-5.06 [[-9.99446548e-01 -3.32536817e-02 8.88535050e-04 7.03042682e+01] [ 3.32535141e-02 -9.99446928e-01 -2.02742401e-04 -1.66741124e+02] [ 8.94785558e-04 -1.73083280e-04 9.99999585e-01 -5.06463162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters 0.014008318002898819 Centerline is valid? [True, True] Translation: X:70.26, Y:-167.33, Z:-3.97 [[-9.99916877e-01 -1.28747939e-02 -6.92489742e-04 7.02573786e+01] [-1.28747852e-02 9.99917116e-01 -1.69972450e-05 -1.67327588e+02] [ 6.92651182e-04 -8.08017553e-06 -9.99999760e-01 -3.96970321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters 0.01312323710796281 Centerline is valid? [True, True] Translation: X:70.24, Y:-166.75, Z:-5.06 [[-9.99364293e-01 -3.55961458e-02 -1.98108256e-03 7.02390621e+01] [ 3.55962085e-02 -9.99366254e-01 3.61620349e-06 -1.66746923e+02] [-1.97995578e-03 -6.69051230e-05 9.99998038e-01 -5.06207218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters 0.01281909122634379 Centerline is valid? [True, True] Translation: X:70.20, Y:-167.32, Z:-3.97 [[-9.99641190e-01 -2.67806353e-02 -5.37500395e-04 7.01957611e+01] [-2.67806311e-02 9.99641335e-01 -1.49392015e-05 -1.67322422e+02] [ 5.37707693e-04 -5.39241359e-07 -9.99999856e-01 -3.96848623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters 0.012768760471510833 Centerline is valid? [True, True] Translation: X:70.18, Y:-166.75, Z:-5.07 [[-9.99293142e-01 -3.75900049e-02 4.55191477e-04 7.01760738e+01] [ 3.75900303e-02 -9.99293244e-01 4.73705879e-05 -1.66750765e+02] [ 4.53089108e-04 6.44477650e-05 9.99999895e-01 -5.06579671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters 0.012821608169983503 Centerline is valid? [True, True] Translation: X:70.13, Y:-167.33, Z:-3.97 [[-9.99534747e-01 -3.05005405e-02 8.66505186e-05 7.01336521e+01] [-3.05005403e-02 9.99534750e-01 3.34113215e-06 -1.67332460e+02] [-8.67121116e-05 6.96690020e-07 -9.99999996e-01 -3.96753497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters 0.013041178105984558 Centerline is valid? [True, True] Translation: X:70.12, Y:-166.74, Z:-5.06 [[-9.99579972e-01 -2.89799377e-02 -2.06571923e-04 7.01171883e+01] [ 2.89799409e-02 -9.99579993e-01 -1.23808469e-05 -1.66742764e+02] [-2.06126364e-04 -1.83620887e-05 9.99999979e-01 -5.06470409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters 0.013081505171083389 Centerline is valid? [True, True] Translation: X:70.08, Y:-167.34, Z:-3.97 [[-9.99487621e-01 -3.19991812e-02 7.40250521e-04 7.00776398e+01] [-3.19991688e-02 9.99487895e-01 2.85236111e-05 -1.67342016e+02] [-7.40784168e-04 4.82159484e-06 -9.99999726e-01 -3.96753419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters 0.013100509764070315 Centerline is valid? [True, True] Translation: X:70.05, Y:-166.74, Z:-5.06 [[-9.99705431e-01 -2.42630849e-02 5.95111448e-04 7.00543058e+01] [ 2.42630725e-02 -9.99705608e-01 -2.79709236e-05 -1.66739970e+02] [ 5.95614914e-04 -1.35234520e-05 9.99999823e-01 -5.06453465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters 0.013043365920749606 Centerline is valid? [True, True] Translation: X:70.02, Y:-167.35, Z:-3.97 [[-9.99303195e-01 -3.73215262e-02 -4.78343437e-04 7.00156506e+01] [-3.73215211e-02 9.99303309e-01 -1.95833601e-05 -1.67347534e+02] [ 4.78741060e-04 -1.71720962e-06 -9.99999885e-01 -3.96909282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters 0.013253248148806837 Centerline is valid? [True, True] Translation: X:70.01, Y:-167.32, Z:-3.97 [[-9.94316221e-01 -1.06458258e-01 -1.37557286e-03 7.00058523e+01] [-1.06458145e-01 9.94317172e-01 -1.55953762e-04 -1.67321066e+02] [ 1.38435828e-03 -8.62642132e-06 -9.99999042e-01 -3.96912345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters 0.01385531819416117 Centerline is valid? [True, True] Translation: X:69.94, Y:-166.72, Z:-5.06 [[-9.98409446e-01 5.63538520e-02 -1.68001549e-03 6.99400532e+01] [-5.63537587e-02 -9.98410859e-01 -1.02853670e-04 -1.66715350e+02] [-1.68314191e-03 -8.01488828e-06 9.99998584e-01 -5.06327546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters 0.014050727125753821 Centerline is valid? [True, True] Translation: X:69.94, Y:-167.33, Z:-3.97 [[-9.94353476e-01 -1.06113676e-01 -1.02550439e-03 6.99365511e+01] [-1.06113608e-01 9.94354005e-01 -1.21004737e-04 -1.67333624e+02] [ 1.03255465e-03 -1.15015104e-05 -9.99999467e-01 -3.96885537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters 0.01399996380855309 Centerline is valid? [True, True] Translation: X:69.93, Y:-167.30, Z:-3.96 [[-9.83880451e-01 -1.78804995e-01 2.83410138e-03 6.99254750e+01] [-1.78804169e-01 9.83884532e-01 5.44198601e-04 -1.67304492e+02] [-2.88573394e-03 2.86772234e-05 -9.99995836e-01 -3.96434822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters 0.01363275996249415 Centerline is valid? [True, True] Translation: X:69.90, Y:-167.28, Z:-3.96 [[-9.67762098e-01 -2.51814736e-01 5.08525733e-03 6.99025081e+01] [-2.51811077e-01 9.67775458e-01 1.35804172e-03 -1.67277837e+02] [-5.26336216e-03 3.37371780e-05 -9.99986148e-01 -3.96150531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters 0.013303194771152842 Centerline is valid? [True, True] Translation: X:69.88, Y:-167.25, Z:-3.96 [[-9.46115055e-01 -3.23800221e-01 4.44062495e-03 6.98759609e+01] [-3.23796586e-01 9.46125476e-01 1.53443608e-03 -1.67251609e+02] [-4.69823913e-03 1.38938763e-05 -9.99988963e-01 -3.96160459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters 0.013314761230291336 Centerline is valid? [True, True] Translation: X:69.84, Y:-167.23, Z:-3.96 [[-9.20456429e-01 -3.90835320e-01 2.77773936e-03 6.98430283e+01] [-3.90833508e-01 9.20460620e-01 1.19020110e-03 -1.67234789e+02] [-3.02197232e-03 9.89463653e-06 -9.99995434e-01 -3.96340589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters 0.013628974313696522 Centerline is valid? [True, True] Translation: X:69.79, Y:-167.23, Z:-3.97 [[-8.90637393e-01 -4.54713407e-01 8.67337340e-04 6.97916046e+01] [-4.54713185e-01 8.90637815e-01 4.49481358e-04 -1.67232360e+02] [-9.76868634e-04 5.93517995e-06 -9.99999523e-01 -3.96528670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters 0.013594970096759251 Centerline is valid? [True, True] Translation: X:69.73, Y:-167.24, Z:-3.97 [[-8.55775886e-01 -5.17344035e-01 -1.66806249e-03 6.97292532e+01] [-5.17343021e-01 8.55777512e-01 -1.02430194e-03 -1.67238317e+02] [ 1.95740686e-03 -1.36124084e-05 -9.99998084e-01 -3.96737324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters 0.013725082097784547 Centerline is valid? [True, True] Translation: X:69.66, Y:-167.25, Z:-3.97 [[-8.16211133e-01 -5.77744134e-01 -3.33186133e-03 6.96625312e+01] [-5.77739138e-01 8.16217933e-01 -2.40292314e-03 -1.67252887e+02] [ 4.10779972e-03 -3.63459276e-05 -9.99991562e-01 -3.96840554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters 0.013760397116589579 Centerline is valid? [True, True] Translation: X:69.59, Y:-167.28, Z:-3.97 [[-7.71138430e-01 -6.36660472e-01 -2.99433645e-03 6.95867931e+01] [-6.36655495e-01 7.71144242e-01 -2.51761155e-03 -1.67279470e+02] [ 3.91192907e-03 -3.50662615e-05 -9.99992348e-01 -3.96777232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters 0.01374309925897287 Centerline is valid? [True, True] Translation: X:69.51, Y:-167.31, Z:-3.97 [[-7.21273015e-01 -6.92646402e-01 -2.48975498e-03 6.95098694e+01] [-6.92642130e-01 7.21277312e-01 -2.43296407e-03 -1.67313300e+02] [ 3.48098759e-03 -3.03221362e-05 -9.99993941e-01 -3.96784658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters 0.013692961593947606 Centerline is valid? [True, True] Translation: X:69.43, Y:-167.36, Z:-3.97 [[-6.66719010e-01 -7.45306436e-01 -2.01936421e-03 6.94269034e+01] [-7.45302911e-01 6.66722068e-01 -2.29249123e-03 -1.67360388e+02] [ 3.05496315e-03 -2.34094558e-05 -9.99995333e-01 -3.96725405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters 0.013518404224924438 Centerline is valid? [True, True] Translation: X:69.35, Y:-167.41, Z:-3.97 [[-6.07597710e-01 -7.94244079e-01 -1.16900707e-03 6.93475092e+01] [-7.94242571e-01 6.07598835e-01 -1.54753255e-03 -1.67409749e+02] [ 1.93940590e-03 -1.18020528e-05 -9.99998119e-01 -3.96586317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters 0.01329404740323178 Centerline is valid? [True, True] Translation: X:69.27, Y:-167.47, Z:-3.96 [[-5.43899368e-01 -8.39150450e-01 -2.20941245e-05 6.92663980e+01] [-8.39150449e-01 5.43899368e-01 -3.30388720e-05 -1.67470119e+02] [ 3.97415639e-05 5.70472906e-07 -9.99999999e-01 -3.96365567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters 0.013285299150761322 Centerline is valid? [True, True] Translation: X:69.19, Y:-167.54, Z:-3.96 [[-4.78625628e-01 -8.78018954e-01 4.74440346e-04 6.91920973e+01] [-8.78018514e-01 4.78625863e-01 8.79437466e-04 -1.67540086e+02] [-9.99242185e-04 4.35390164e-06 -9.99999501e-01 -3.96271506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters 0.013328412144496229 Centerline is valid? [True, True] Translation: X:69.12, Y:-167.62, Z:-3.96 [[-4.11094258e-01 -9.11592764e-01 3.79525194e-04 6.91212312e+01] [-9.11592365e-01 4.11094433e-01 8.52480809e-04 -1.67620466e+02] [-9.33136032e-04 4.47769605e-06 -9.99999565e-01 -3.96242732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters 0.0134491903465919 Centerline is valid? [True, True] Translation: X:69.06, Y:-167.71, Z:-3.96 [[-3.42206042e-01 -9.39624925e-01 1.56840876e-04 6.90587223e+01] [-9.39624822e-01 3.42206078e-01 4.40453546e-04 -1.67706979e+02] [-4.67533032e-04 3.35428484e-06 -9.99999891e-01 -3.96250362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters 0.013580273842287136 Centerline is valid? [True, True] Translation: X:69.00, Y:-167.80, Z:-3.96 [[-2.71132446e-01 -9.62542049e-01 2.27329129e-05 6.90022084e+01] [-9.62542045e-01 2.71132447e-01 8.56699683e-05 -1.67800033e+02] [-8.86245779e-05 1.34652349e-06 -9.99999996e-01 -3.96222141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters 0.013605514952231331 Centerline is valid? [True, True] Translation: X:68.95, Y:-167.90, Z:-3.96 [[-1.97576579e-01 -9.80287444e-01 1.46811987e-04 6.89532474e+01] [-9.80287149e-01 1.97576634e-01 7.61767938e-04 -1.67900692e+02] [-7.75758164e-04 6.58959898e-06 -9.99999699e-01 -3.96172214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters 0.013494028367336122 Centerline is valid? [True, True] Translation: X:68.91, Y:-168.01, Z:-3.96 [[-1.20871053e-01 -9.92668184e-01 2.56274013e-04 6.89085469e+01] [-9.92665690e-01 1.20871324e-01 2.22496778e-03 -1.68007129e+02] [-2.23963091e-03 1.45397793e-05 -9.99997492e-01 -3.96015000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters 0.013200734716727917 Centerline is valid? [True, True] Translation: X:68.87, Y:-168.12, Z:-3.96 [[-4.27964921e-02 -9.99083808e-01 6.72651080e-05 6.88692961e+01] [-9.99082259e-01 4.27965442e-02 1.75966964e-03 -1.68117151e+02] [-1.76093616e-03 8.10431164e-06 -9.99998450e-01 -3.95999245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters 0.013194174424819254 Centerline is valid? [True, True] Translation: X:68.84, Y:-168.23, Z:-3.96 [[ 3.39327708e-02 -9.99424117e-01 -3.23140441e-05 6.88384040e+01] [-9.99423766e-01 -3.39327860e-02 8.37474643e-04 -1.68228582e+02] [-8.38088862e-04 3.87758850e-06 -9.99999649e-01 -3.96091595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters 0.013170257680948051 Centerline is valid? [True, True] Translation: X:68.82, Y:-168.34, Z:-3.96 [[ 1.09326018e-01 -9.94005934e-01 1.56947681e-04 6.88177182e+01] [-9.94004982e-01 -1.09326130e-01 -1.37618524e-03 -1.68344701e+02] [ 1.38509477e-03 -5.55392497e-06 -9.99999041e-01 -3.96284718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters 0.013640359727209787 Centerline is valid? [True, True] Translation: X:68.81, Y:-168.46, Z:-3.97 [[ 1.82614390e-01 -9.83184347e-01 7.24088470e-04 6.88097964e+01] [-9.83177159e-01 -1.82615824e-01 -3.75967925e-03 -1.68455406e+02] [ 3.82868780e-03 -2.53357134e-05 -9.99992670e-01 -3.96533245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters 0.01379423845834021 Centerline is valid? [True, True] Translation: X:68.81, Y:-168.57, Z:-3.96 [[ 2.56497659e-01 -9.66544347e-01 9.87942174e-04 6.88103083e+01] [-9.66537578e-01 -2.56499560e-01 -3.61741511e-03 -1.68571298e+02] [ 3.74979886e-03 -2.70247298e-05 -9.99992969e-01 -3.96416228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters 0.013247242415998516 Centerline is valid? [True, True] Translation: X:68.81, Y:-168.69, Z:-3.96 [[ 3.31251690e-01 -9.43542083e-01 8.09808672e-04 6.88133294e+01] [-9.43539355e-01 -3.31252680e-01 -2.26874868e-03 -1.68686217e+02] [ 2.40891115e-03 -1.25595176e-05 -9.99997099e-01 -3.96039436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters 0.013001690304961743 Centerline is valid? [True, True] Translation: X:68.83, Y:-168.81, Z:-3.96 [[ 4.03698637e-01 -9.14891805e-01 6.29484300e-04 6.88299021e+01] [-9.14890713e-01 -4.03699128e-01 -1.41366456e-03 -1.68805736e+02] [ 1.54747238e-03 -5.21488271e-06 -9.99998803e-01 -3.95871429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters 0.01307847367051324 Centerline is valid? [True, True] Translation: X:68.85, Y:-168.91, Z:-3.96 [[ 4.72916056e-01 -8.81107107e-01 8.18927909e-04 6.88537151e+01] [-8.81105802e-01 -4.72916765e-01 -1.51629265e-03 -1.68912002e+02] [ 1.72330096e-03 -4.48299329e-06 -9.99998515e-01 -3.95903607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters 0.012969450691665668 Centerline is valid? [True, True] Translation: X:68.88, Y:-169.02, Z:-3.96 [[ 5.39269760e-01 -8.42132059e-01 1.31219569e-03 6.88848847e+01] [-8.42129586e-01 -5.39271356e-01 -2.04077623e-03 -1.69017172e+02] [ 2.42623264e-03 -4.50990533e-06 -9.99997057e-01 -3.96034600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters 0.012969133817017312 Centerline is valid? [True, True] Translation: X:68.92, Y:-169.12, Z:-3.96 [[ 6.01991882e-01 -7.98499320e-01 2.14698670e-03 6.89216839e+01] [-7.98494274e-01 -6.01995711e-01 -2.83891639e-03 -1.69121817e+02] [ 3.55934959e-03 -5.35196371e-06 -9.99993666e-01 -3.96067189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters 0.012922017109502658 Centerline is valid? [True, True] Translation: X:68.96, Y:-169.22, Z:-3.96 [[ 6.60793037e-01 -7.50564089e-01 2.47214157e-03 6.89626284e+01] [-7.50558867e-01 -6.60797661e-01 -2.79963337e-03 -1.69220289e+02] [ 3.73488964e-03 -5.50953487e-06 -9.99993025e-01 -3.95986718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters 0.01285642180875712 Centerline is valid? [True, True] Translation: X:69.01, Y:-169.31, Z:-3.96 [[ 7.14652790e-01 -6.99474437e-01 2.62708660e-03 6.90090513e+01] [-6.99469764e-01 -7.14657619e-01 -2.55693450e-03 -1.69308103e+02] [ 3.66597778e-03 -1.02472683e-05 -9.99993280e-01 -3.95930005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters 0.012946622003940061 Centerline is valid? [True, True] Translation: X:69.03, Y:-169.34, Z:-3.96 [[ 7.66024033e-01 -6.42803796e-01 3.23432442e-03 6.90329428e+01] [-6.42798171e-01 -7.66030860e-01 -2.68928627e-03 -1.69339206e+02] [ 4.20627574e-03 -1.89599090e-05 -9.99991153e-01 -3.95951616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters 0.012934609224709421 Centerline is valid? [True, True] Translation: X:69.06, Y:-169.37, Z:-3.96 [[ 8.13643000e-01 -5.81354903e-01 3.39794542e-03 6.90577885e+01] [-5.81349940e-01 -8.13650095e-01 -2.40225276e-03 -1.69368750e+02] [ 4.16130003e-03 -2.08192310e-05 -9.99991342e-01 -3.95847284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters 0.012840105550662074 Centerline is valid? [True, True] Translation: X:69.08, Y:-169.40, Z:-3.96 [[ 8.57733802e-01 -5.14089989e-01 2.05132041e-03 6.90839133e+01] [-5.14088537e-01 -8.57736255e-01 -1.22210848e-03 -1.69398766e+02] [ 2.38776562e-03 -6.31654918e-06 -9.99997149e-01 -3.95560693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters 0.012803359430457798 Centerline is valid? [True, True] Translation: X:69.11, Y:-169.43, Z:-3.95 [[ 8.97640882e-01 -4.40724783e-01 -1.58543107e-03 6.91110626e+01] [-4.40724089e-01 -8.97642282e-01 7.82144272e-04 -1.69426117e+02] [-1.76786033e-03 -3.34700904e-06 -9.99998437e-01 -3.95172452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters 0.01299422649587299 Centerline is valid? [True, True] Translation: X:69.14, Y:-169.45, Z:-3.95 [[ 9.30315470e-01 -3.66751480e-01 -2.54538051e-03 6.91433223e+01] [-3.66750070e-01 -9.30318952e-01 1.01719772e-03 -1.69449283e+02] [-2.74107449e-03 -1.27962927e-05 -9.99996243e-01 -3.95016614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters 0.013175429924397257 Centerline is valid? [True, True] Translation: X:69.18, Y:-169.47, Z:-3.95 [[ 9.56647745e-01 -2.91230874e-01 -3.10963815e-03 6.91767031e+01] [-2.91229264e-01 -9.56652799e-01 9.68719043e-04 -1.69469894e+02] [-3.25696494e-03 -2.11052569e-05 -9.99994696e-01 -3.94949705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters 0.013036502726500166 Centerline is valid? [True, True] Translation: X:69.21, Y:-169.48, Z:-3.95 [[ 9.76350490e-01 -2.16172872e-01 -3.00159571e-03 6.92125036e+01] [-2.16171793e-01 -9.76355104e-01 6.83032936e-04 -1.69483594e+02] [-3.07827648e-03 -1.80192144e-05 -9.99995262e-01 -3.95024827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters 0.012799324334244855 Centerline is valid? [True, True] Translation: X:69.25, Y:-169.49, Z:-3.95 [[ 9.89934023e-01 -1.41520628e-01 -1.59420481e-03 6.92491110e+01] [-1.41520436e-01 -9.89935307e-01 2.33264817e-04 -1.69493181e+02] [-1.61117141e-03 -5.30421996e-06 -9.99998702e-01 -3.95065904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters 0.01258233779550044 Centerline is valid? [True, True] Translation: X:69.28, Y:-169.50, Z:-3.95 [[ 9.97791609e-01 -6.64095084e-02 -1.29677216e-03 6.92844108e+01] [-6.64094518e-02 -9.97792452e-01 8.67081613e-05 -1.69501894e+02] [-1.29966772e-03 -3.98747709e-07 -9.99999156e-01 -3.95100704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters 0.012718057050665877 Centerline is valid? [True, True] Translation: X:69.32, Y:-169.51, Z:-3.95 [[ 9.99973983e-01 6.91230361e-03 -2.06263354e-03 6.93194246e+01] [ 6.91226997e-03 -9.99976110e-01 -2.34349187e-05 -1.69506682e+02] [-2.06274626e-03 9.17682907e-06 -9.99997873e-01 -3.94999100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters 0.012755047707228835 Centerline is valid? [True, True] Translation: X:69.35, Y:-169.51, Z:-3.95 [[ 9.96459434e-01 8.40357443e-02 -2.56710580e-03 6.93535853e+01] [ 8.40354288e-02 -9.96462741e-01 -2.30735447e-04 -1.69510155e+02] [-2.57741530e-03 1.41906768e-05 -9.99996678e-01 -3.94953053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters 0.013059362208969465 Centerline is valid? [True, True] Translation: X:69.39, Y:-169.51, Z:-3.95 [[ 9.87109270e-01 1.59990708e-01 -4.27344263e-03 6.93890080e+01] [ 1.59989072e-01 -9.87118520e-01 -7.24290059e-04 -1.69512382e+02] [-4.33427404e-03 3.12493117e-05 -9.99990607e-01 -3.94753027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters 0.013551375148753167 Centerline is valid? [True, True] Translation: X:69.42, Y:-169.51, Z:-3.94 [[ 9.72102449e-01 2.34470826e-01 -6.34507912e-03 6.94247658e+01] [ 2.34465413e-01 -9.72123155e-01 -1.59435878e-03 -1.69510138e+02] [-6.54202895e-03 6.21784792e-05 -9.99978599e-01 -3.94487769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters 0.014493339101913482 Centerline is valid? [True, True] Translation: X:69.46, Y:-169.51, Z:-3.94 [[ 9.52754830e-01 3.03636795e-01 -7.93289355e-03 6.94599005e+01] [ 3.03625096e-01 -9.52787846e-01 -2.66877177e-03 -1.69507278e+02] [-8.36870186e-03 1.34059628e-04 -9.99964973e-01 -3.94267786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters 0.016558385710415197 Centerline is valid? [True, True] Translation: X:69.49, Y:-169.50, Z:-3.94 [[ 9.27390592e-01 3.73975404e-01 -9.43857240e-03 6.94923897e+01] [ 3.73953824e-01 -9.27438600e-01 -4.02252847e-03 -1.69498046e+02] [-1.02580231e-02 2.00864814e-04 -9.99947365e-01 -3.94033477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters 0.015799362689272473 Centerline is valid? [True, True] Translation: X:69.53, Y:-169.49, Z:-3.94 [[ 8.94621417e-01 4.46711260e-01 -1.00781725e-02 6.95268402e+01] [ 4.46680307e-01 -8.94678159e-01 -5.26269426e-03 -1.69490726e+02] [-1.13676256e-02 2.06397811e-04 -9.99935365e-01 -3.93958630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters 0.015086329776919656 Centerline is valid? [True, True] Translation: X:69.56, Y:-169.48, Z:-3.94 [[ 8.54827621e-01 5.18809472e-01 -1.03184997e-02 6.95612994e+01] [ 5.18769232e-01 -8.54889877e-01 -6.46387844e-03 -1.69480425e+02] [-1.21747023e-02 1.72581687e-04 -9.99925871e-01 -3.93794249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters 0.013766659192339796 Centerline is valid? [True, True] Translation: X:69.60, Y:-169.47, Z:-3.94 [[ 8.09032882e-01 5.87684964e-01 -9.60104406e-03 6.95978785e+01] [ 5.87641856e-01 -8.09089840e-01 -7.11892300e-03 -1.69470533e+02] [-1.19517912e-02 1.17467440e-04 -9.99928568e-01 -3.93665166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters 0.013277980352346154 Centerline is valid? [True, True] Translation: X:69.63, Y:-169.45, Z:-3.94 [[ 7.59424562e-01 6.50547460e-01 -7.89542820e-03 6.96292878e+01] [ 6.50511137e-01 -7.59465599e-01 -6.87495980e-03 -1.69453514e+02] [-1.04687937e-02 8.49493570e-05 -9.99945197e-01 -3.93861792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters 0.013012493839187659 Centerline is valid? [True, True] Translation: X:69.66, Y:-169.43, Z:-3.94 [[ 7.03773814e-01 7.10390711e-01 -6.88887250e-03 6.96570040e+01] [ 7.10356035e-01 -7.03807528e-01 -7.01907681e-03 -1.69432624e+02] [-9.83472729e-03 4.62903072e-05 -9.99951637e-01 -3.93994365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters 0.012793209909896934 Centerline is valid? [True, True] Translation: X:69.68, Y:-169.41, Z:-3.94 [[ 6.43230230e-01 7.65647566e-01 -6.21907871e-03 6.96844599e+01] [ 7.65611621e-01 -6.43260293e-01 -7.41890735e-03 -1.69411439e+02] [-9.68075475e-03 1.06665470e-05 -9.99953140e-01 -3.93964322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters 0.012731863328959899 Centerline is valid? [True, True] Translation: X:69.71, Y:-169.39, Z:-3.94 [[ 5.77522980e-01 8.16358004e-01 -5.17850151e-03 6.97127719e+01] [ 8.16325683e-01 -5.77546196e-01 -7.26437749e-03 -1.69388234e+02] [-8.92115655e-03 -3.19988448e-05 -9.99960205e-01 -3.93993639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters 0.012816984907029738 Centerline is valid? [True, True] Translation: X:69.73, Y:-169.36, Z:-3.94 [[ 5.11522631e-01 8.59259913e-01 -4.12312936e-03 6.97339603e+01] [ 8.59232494e-01 -5.11539248e-01 -6.86443437e-03 -1.69360691e+02] [-8.00747577e-03 -3.14131873e-05 -9.99967939e-01 -3.94056403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters 0.012773717059043028 Centerline is valid? [True, True] Translation: X:69.75, Y:-169.33, Z:-3.94 [[ 4.44567835e-01 8.95737029e-01 -3.82304063e-03 6.97519964e+01] [ 8.95704211e-01 -4.44584272e-01 -7.66751982e-03 -1.69331223e+02] [-8.56774516e-03 -1.55808999e-05 -9.99963296e-01 -3.93969315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters 0.012848665103099031 Centerline is valid? [True, True] Translation: X:69.78, Y:-169.30, Z:-3.94 [[ 3.72360074e-01 9.28081144e-01 -3.65589969e-03 6.97752124e+01] [ 9.28037068e-01 -3.72378020e-01 -9.04494199e-03 -1.69303040e+02] [-9.75581680e-03 -2.48351575e-05 -9.99952411e-01 -3.93826266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters 0.012971545001027237 Centerline is valid? [True, True] Translation: X:69.80, Y:-169.27, Z:-3.94 [[ 2.96496137e-01 9.55029216e-01 -3.03936595e-03 6.98002046e+01] [ 9.54980678e-01 -2.96511711e-01 -9.62863727e-03 -1.69274920e+02] [-1.00968375e-02 -4.76820019e-05 -9.99949025e-01 -3.93748878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters 0.012954224210881512 Centerline is valid? [True, True] Translation: X:69.82, Y:-169.24, Z:-3.94 [[ 2.21755473e-01 9.75099370e-01 -2.39357103e-03 6.98189120e+01] [ 9.75044490e-01 -2.21768387e-01 -1.03452548e-02 -1.69242983e+02] [-1.06184698e-02 -3.97213746e-05 -9.99943622e-01 -3.93812515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters 0.013069506649307467 Centerline is valid? [True, True] Translation: X:69.83, Y:-169.21, Z:-3.94 [[ 1.50161356e-01 9.88659855e-01 -1.80528453e-03 6.98265480e+01] [ 9.88586683e-01 -1.50172206e-01 -1.20282575e-02 -1.69210241e+02] [-1.21629589e-02 2.14992138e-05 -9.99926028e-01 -3.93678592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters 0.013379898649892315 Centerline is valid? [True, True] Translation: X:69.83, Y:-169.18, Z:-3.94 [[ 7.56381567e-02 9.97134879e-01 -9.50377216e-04 6.98322110e+01] [ 9.97044267e-01 -7.56440954e-02 -1.34424574e-02 -1.69176622e+02] [-1.34758336e-02 6.91945463e-05 -9.99909195e-01 -3.93630222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters 0.013513949604046378 Centerline is valid? [True, True] Translation: X:69.84, Y:-169.14, Z:-3.94 [[-1.50001570e-03 9.99998868e-01 1.16141412e-04 6.98401479e+01] [ 9.99889007e-01 1.50157246e-03 -1.48228923e-02 -1.69142999e+02] [-1.48230499e-02 9.38939497e-05 -9.99890128e-01 -3.93597249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters 0.013396089555860155 Centerline is valid? [True, True] Translation: X:69.85, Y:-169.11, Z:-3.94 [[-8.28597237e-02 9.96560368e-01 1.30369718e-03 6.98521346e+01] [ 9.96446262e-01 8.28699644e-02 -1.50803329e-02 -1.69107703e+02] [-1.51364995e-02 4.95119636e-05 -9.99885435e-01 -3.93527912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters 0.013179696053573697 Centerline is valid? [True, True] Translation: X:69.86, Y:-169.07, Z:-3.94 [[-1.64145890e-01 9.86433216e-01 2.37414745e-03 6.98575360e+01] [ 9.86329707e-01 1.64163059e-01 -1.42898160e-02 -1.69072259e+02] [-1.44856965e-02 -3.92241130e-06 -9.99895077e-01 -3.93725875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters 0.012942479076858695 Centerline is valid? [True, True] Translation: X:69.86, Y:-169.04, Z:-3.94 [[-2.40459560e-01 9.70654127e-01 3.12511305e-03 6.98559369e+01] [ 9.70572311e-01 2.40479867e-01 -1.26024700e-02 -1.69037085e+02] [-1.29841663e-02 2.76380727e-06 -9.99915702e-01 -3.94098262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters 0.013020427263563162 Centerline is valid? [True, True] Translation: X:69.85, Y:-169.00, Z:-3.94 [[-3.12151837e-01 9.50023052e-01 4.17499024e-03 6.98523969e+01] [ 9.49940347e-01 3.12179751e-01 -1.25355288e-02 -1.69001591e+02] [-1.32123887e-02 5.30033405e-05 -9.99912711e-01 -3.94197358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters 0.013804872184295025 Centerline is valid? [True, True] Translation: X:69.84, Y:-168.97, Z:-3.94 [[-3.82895164e-01 9.23773411e-01 5.82915066e-03 6.98436053e+01] [ 9.23670475e-01 3.82939519e-01 -1.37905686e-02 -1.68969122e+02] [-1.49715727e-02 1.03872330e-04 -9.99887914e-01 -3.93938570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters 0.013392192222606578 Centerline is valid? [True, True] Translation: X:69.84, Y:-168.94, Z:-3.94 [[-4.55563885e-01 8.90177318e-01 6.77412509e-03 6.98350718e+01] [ 8.90081429e-01 4.55614241e-01 -1.30657352e-02 -1.68935738e+02] [-1.47172090e-02 7.72458520e-05 -9.99891693e-01 -3.94089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters 0.012949690005283405 Centerline is valid? [True, True] Translation: X:69.82, Y:-168.90, Z:-3.94 [[-5.30099134e-01 8.47911677e-01 6.37935536e-03 6.98247651e+01] [ 8.47849727e-01 5.30137518e-01 -1.02495499e-02 -1.68902382e+02] [-1.20726487e-02 -2.45428263e-05 -9.99927123e-01 -3.94450932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters 0.01341635520481572 Centerline is valid? [True, True] Translation: X:69.82, Y:-168.87, Z:-3.95 [[-6.01344029e-01 7.98969062e-01 5.81351492e-03 6.98163329e+01] [ 7.98930132e-01 6.01372121e-01 -7.88766913e-03 -1.68865694e+02] [-9.79808941e-03 -9.86104934e-05 -9.99951993e-01 -3.94715539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters 0.013922147371387769 Centerline is valid? [True, True] Translation: X:69.80, Y:-168.84, Z:-3.95 [[-6.64138630e-01 7.47590474e-01 5.32567692e-03 6.97998985e+01] [ 7.47565174e-01 6.64159975e-01 -6.15132897e-03 -1.68835848e+02] [-8.13577639e-03 -1.04044600e-04 -9.99966899e-01 -3.94910605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters 0.013290080918652967 Centerline is valid? [True, True] Translation: X:69.78, Y:-168.81, Z:-3.95 [[-7.19183717e-01 6.94808283e-01 4.02873341e-03 6.97785845e+01] [ 6.94796911e-01 7.19194998e-01 -3.97580393e-03 -1.68808320e+02] [-5.65986643e-03 -6.01819200e-05 -9.99983981e-01 -3.95295543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters 0.012735644886668587 Centerline is valid? [True, True] Translation: X:69.80, Y:-168.79, Z:-3.95 [[-7.63205480e-01 6.46146240e-01 3.52601673e-03 6.97970225e+01] [ 6.46139192e-01 7.63213624e-01 -3.01797346e-03 -1.68791882e+02] [-4.64115621e-03 -2.50362808e-05 -9.99989230e-01 -3.95419349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters 0.01249451143398996 Centerline is valid? [True, True] Translation: X:70.15, Y:-168.38, Z:-5.08 [[-7.14922688e-01 -6.99199629e-01 2.33000183e-03 7.01536667e+01] [ 6.99195670e-01 -7.14926483e-01 -2.35344484e-03 -1.68382833e+02] [ 3.31130777e-03 -5.34039180e-05 9.99994516e-01 -5.07660032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters 0.0125803903153884 Centerline is valid? [True, True] Translation: X:69.77, Y:-168.77, Z:-3.96 [[-7.59122687e-01 6.50944007e-01 2.15536617e-03 6.97670324e+01] [ 6.50941429e-01 7.59125747e-01 -1.83220081e-03 -1.68771618e+02] [-2.82885409e-03 1.21519364e-05 -9.99995999e-01 -3.95645817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters 0.012863460519611274 Centerline is valid? [True, True] Translation: X:69.79, Y:-168.75, Z:-3.96 [[-8.00861985e-01 5.98848086e-01 1.02506642e-03 6.97858543e+01] [ 5.98847613e-01 8.00862641e-01 -7.52684695e-04 -1.68752049e+02] [-1.27168119e-03 1.10620181e-05 -9.99999191e-01 -3.95900212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters 0.012775824368569045 Centerline is valid? [True, True] Translation: X:69.80, Y:-168.72, Z:-3.96 [[-8.42008354e-01 5.39464113e-01 6.33952229e-04 6.98015492e+01] [ 5.39463965e-01 8.42008593e-01 -3.99611412e-04 -1.68724561e+02] [-7.49369241e-04 5.51823637e-06 -9.99999719e-01 -3.95919264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters 0.012547126027334123 Centerline is valid? [True, True] Translation: X:69.81, Y:-168.69, Z:-3.96 [[-8.79677188e-01 4.75567416e-01 1.91809163e-03 6.98069750e+01] [ 4.75566303e-01 8.79679279e-01 -1.02875652e-03 -1.68689677e+02] [-2.17654855e-03 7.20610157e-06 -9.99997631e-01 -3.95675602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters 0.012497607082517723 Centerline is valid? [True, True] Translation: X:69.82, Y:-168.66, Z:-3.96 [[-9.12598053e-01 4.08843147e-01 3.47492698e-03 6.98183675e+01] [ 4.08840178e-01 9.12604669e-01 -1.55810447e-03 -1.68660323e+02] [-3.80825492e-03 -1.23333838e-06 -9.99992749e-01 -3.95528997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters 0.01260274398516556 Centerline is valid? [True, True] Translation: X:69.82, Y:-168.63, Z:-3.95 [[-9.39401531e-01 3.42758563e-01 6.42897408e-03 6.98214371e+01] [ 3.42750497e-01 9.39423529e-01 -2.35158975e-03 -1.68630595e+02] [-6.84555704e-03 -5.55295310e-06 -9.99976569e-01 -3.95289899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters 0.012661161727230861 Centerline is valid? [True, True] Translation: X:69.83, Y:-168.61, Z:-3.95 [[-9.60645199e-01 2.77665001e-01 7.93402787e-03 6.98253809e+01] [ 2.77655649e-01 9.60677962e-01 -2.27895956e-03 -1.68605901e+02] [-8.25483303e-03 1.36560963e-05 -9.99965928e-01 -3.95273364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters 0.01295299885541472 Centerline is valid? [True, True] Translation: X:69.83, Y:-168.58, Z:-3.95 [[-9.76831924e-01 2.13878918e-01 7.42970333e-03 6.98278655e+01] [ 2.13873132e-01 9.76860177e-01 -1.57405162e-03 -1.68581711e+02] [-7.59443777e-03 5.14300452e-05 -9.99971161e-01 -3.95312437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters 0.013096115924831815 Centerline is valid? [True, True] Translation: X:69.83, Y:-168.55, Z:-3.95 [[-9.89311026e-01 1.45629754e-01 7.46116598e-03 6.98259805e+01] [ 1.45626093e-01 9.89339159e-01 -1.03453330e-03 -1.68553932e+02] [-7.53228251e-03 6.30652468e-05 -9.99971630e-01 -3.95262489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters 0.013023612019071873 Centerline is valid? [True, True] Translation: X:69.82, Y:-168.53, Z:-3.95 [[-9.97181439e-01 7.47594166e-02 6.34092396e-03 6.98224605e+01] [ 7.47582329e-02 9.97201598e-01 -4.23819265e-04 -1.68526206e+02] [-6.35486399e-03 5.14115659e-05 -9.99979806e-01 -3.95306793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters 0.012680029359999186 Centerline is valid? [True, True] Translation: X:69.81, Y:-168.50, Z:-3.95 [[-9.99976765e-01 2.20907260e-03 6.44896088e-03 6.98128148e+01] [ 2.20929832e-03 9.99997559e-01 2.78771590e-05 -1.68497454e+02] [-6.44888356e-03 4.21241897e-05 -9.99979205e-01 -3.95308582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters 0.01253356681942089 Centerline is valid? [True, True] Translation: X:69.80, Y:-167.98, Z:-5.08 [[-9.98105304e-01 -6.10101388e-02 7.97273682e-03 6.98046027e+01] [ 6.10086274e-02 -9.98137145e-01 -4.32876135e-04 -1.67976851e+02] [ 7.98429460e-03 5.43497636e-05 9.99968124e-01 -5.08146182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters 0.012452520682475108 Centerline is valid? [True, True] Translation: X:69.75, Y:-168.49, Z:-3.95 [[-9.99919625e-01 -9.47998021e-03 8.41862846e-03 6.97539880e+01] [-9.47973346e-03 9.99955064e-01 6.92140271e-05 -1.68490429e+02] [-8.41890631e-03 -1.05978898e-05 -9.99964560e-01 -3.95062557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters 0.012470567386068119 Centerline is valid? [True, True] Translation: X:69.74, Y:-167.98, Z:-5.08 [[-9.98010327e-01 -6.25363446e-02 8.03695079e-03 6.97440571e+01] [ 6.25342011e-02 -9.98042687e-01 -5.17972516e-04 -1.67982680e+02] [ 8.05361207e-03 -1.43576232e-05 9.99967569e-01 -5.08134425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters 0.012464330820356077 Centerline is valid? [True, True] Translation: X:69.70, Y:-168.49, Z:-3.95 [[-9.99896062e-01 -1.20241148e-02 7.95526570e-03 6.97008486e+01] [-1.20237200e-02 9.99927708e-01 9.74497763e-05 -1.68493499e+02] [-7.95586234e-03 1.78775998e-06 -9.99968352e-01 -3.95163113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters 0.012978063051221005 Centerline is valid? [True, True] Translation: X:69.70, Y:-167.98, Z:-5.08 [[-9.98834364e-01 -4.75919274e-02 8.05742369e-03 6.96974990e+01] [ 4.75904161e-02 -9.98866862e-01 -3.79302014e-04 -1.67975553e+02] [ 8.06634523e-03 4.59626054e-06 9.99967467e-01 -5.08075701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters 0.014120847840762674 Centerline is valid? [True, True] Translation: X:69.65, Y:-168.51, Z:-3.95 [[-9.99969438e-01 -3.50625556e-03 6.98778548e-03 6.96536810e+01] [-3.50554411e-03 9.99993849e-01 1.14058904e-04 -1.68506068e+02] [-6.98814242e-03 8.95594282e-05 -9.99975579e-01 -3.95222128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters 0.015806036969566825 Centerline is valid? [True, True] Translation: X:69.65, Y:-168.49, Z:-3.95 [[-9.97466781e-01 -7.09208936e-02 5.49986877e-03 6.96458603e+01] [-7.09193128e-02 9.97481939e-01 4.82169790e-04 -1.68486763e+02] [-5.52021568e-03 9.09014344e-05 -9.99984759e-01 -3.95304725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters 0.014038201032255197 Centerline is valid? [True, True] Translation: X:69.63, Y:-168.46, Z:-3.95 [[-9.89836351e-01 -1.42130301e-01 4.79328105e-03 6.96330439e+01] [-1.42128252e-01 9.89847954e-01 7.67168437e-04 -1.68457943e+02] [-4.85365732e-03 7.81105499e-05 -9.99988218e-01 -3.95436747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters 0.013638138403083653 Centerline is valid? [True, True] Translation: X:69.61, Y:-168.43, Z:-3.96 [[-9.76505826e-01 -2.15466967e-01 3.21838229e-03 6.96131590e+01] [-2.15465653e-01 9.76511129e-01 7.53646096e-04 -1.68432359e+02] [-3.30517196e-03 4.24889612e-05 -9.99994537e-01 -3.95552898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters 0.013161036928887886 Centerline is valid? [True, True] Translation: X:69.48, Y:-167.91, Z:-5.08 [[-9.85131740e-01 1.71763557e-01 3.56876605e-03 6.94831698e+01] [-1.71762521e-01 -9.85138204e-01 5.97073234e-04 -1.67908794e+02] [ 3.61828320e-03 -2.47844589e-05 9.99993454e-01 -5.07739258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters 0.012629413582527628 Centerline is valid? [True, True] Translation: X:69.53, Y:-168.45, Z:-3.95 [[-9.73911349e-01 -2.26881653e-01 4.62603287e-03 6.95270602e+01] [-2.26878945e-01 9.73922335e-01 1.10889882e-03 -1.68447819e+02] [-4.75698553e-03 3.04196853e-05 -9.99988685e-01 -3.95446875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters 0.012535895925853958 Centerline is valid? [True, True] Translation: X:69.50, Y:-168.42, Z:-3.95 [[-9.54489683e-01 -2.98200064e-01 5.11544313e-03 6.95040862e+01] [-2.98195662e-01 9.54503390e-01 1.62044554e-03 -1.68423323e+02] [-5.36592478e-03 2.12956036e-05 -9.99985603e-01 -3.95339614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters 0.0123069449410577 Centerline is valid? [True, True] Translation: X:69.33, Y:-167.93, Z:-5.08 [[-9.71392622e-01 2.37400045e-01 6.13122922e-03 6.93349779e+01] [-2.37395043e-01 -9.71411971e-01 1.54161254e-03 -1.67928839e+02] [ 6.32192834e-03 4.19876235e-05 9.99980016e-01 -5.08019177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters 0.012325072033675076 Centerline is valid? [True, True] Translation: X:69.41, Y:-168.44, Z:-3.95 [[-9.51233063e-01 -3.08407139e-01 6.37944783e-03 6.94062246e+01] [-3.08400261e-01 9.51254454e-01 2.05967150e-03 -1.68444077e+02] [-6.70369555e-03 -8.19574932e-06 -9.99977530e-01 -3.95165405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters 0.012324282920621585 Centerline is valid? [True, True] Translation: X:69.37, Y:-168.43, Z:-3.95 [[-9.26173872e-01 -3.77029464e-01 7.12338635e-03 6.93739204e+01] [-3.77018473e-01 9.26201265e-01 2.87896498e-03 -1.68425325e+02] [-7.68314407e-03 -1.92261033e-05 -9.99970484e-01 -3.95040342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters 0.012471871612320277 Centerline is valid? [True, True] Translation: X:69.33, Y:-168.42, Z:-3.95 [[-8.96772428e-01 -4.42400396e-01 9.00565039e-03 6.93332875e+01] [-4.42378317e-01 8.96817646e-01 4.41990498e-03 -1.68415588e+02] [-1.00317939e-02 -2.02555332e-05 -9.99949680e-01 -3.94792571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters 0.012503921134899372 Centerline is valid? [True, True] Translation: X:69.28, Y:-168.42, Z:-3.95 [[-8.62801309e-01 -5.05445949e-01 9.91430992e-03 6.92770984e+01] [-5.05412673e-01 8.62858269e-01 5.79979784e-03 -1.68417771e+02] [-1.14861286e-02 -6.74470994e-06 -9.99934032e-01 -3.94619841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters 0.012739251735479426 Centerline is valid? [True, True] Translation: X:69.21, Y:-168.44, Z:-3.95 [[-8.25586264e-01 -5.64176207e-01 1.06079053e-02 6.92077644e+01] [-5.64128928e-01 8.25654410e-01 7.30396699e-03 -1.68435172e+02] [-1.28791882e-02 4.58285839e-05 -9.99917059e-01 -3.94512279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters 0.012990985740979876 Centerline is valid? [True, True] Translation: X:69.14, Y:-168.46, Z:-3.94 [[-7.82954328e-01 -6.21993247e-01 1.03402977e-02 6.91410772e+01] [-6.21937720e-01 7.83022602e-01 8.31127577e-03 -1.68456044e+02] [-1.32662442e-02 7.63281563e-05 -9.99911997e-01 -3.94470831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters 0.012936343185350536 Centerline is valid? [True, True] Translation: X:69.07, Y:-168.49, Z:-3.95 [[-7.34337061e-01 -6.78705813e-01 1.03682401e-02 6.90699464e+01] [-6.78636691e-01 7.34410249e-01 9.68649007e-03 -1.68485731e+02] [-1.41888189e-02 7.68804642e-05 -9.99899331e-01 -3.94536246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters 0.012561489850154439 Centerline is valid? [True, True] Translation: X:68.99, Y:-168.52, Z:-3.95 [[-6.78629540e-01 -7.34426968e-01 8.88681137e-03 6.89914989e+01] [-7.34363704e-01 6.78687725e-01 9.63960229e-03 -1.68522992e+02] [-1.31109537e-02 1.55671554e-05 -9.99914048e-01 -3.94624323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters 0.01256145973515831 Centerline is valid? [True, True] Translation: X:68.91, Y:-168.57, Z:-3.95 [[-6.20556823e-01 -7.84122206e-01 7.84824026e-03 6.89120330e+01] [-7.84059618e-01 6.20606450e-01 9.90703810e-03 -1.68571117e+02] [-1.26389971e-02 -5.60816478e-06 -9.99920125e-01 -3.94614466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters 0.012526166748373781 Centerline is valid? [True, True] Translation: X:68.83, Y:-168.63, Z:-3.95 [[-5.57906317e-01 -8.29876758e-01 6.71629724e-03 6.88345524e+01] [-8.29817411e-01 5.57946741e-01 9.92466419e-03 -1.68626352e+02] [-1.19835843e-02 -3.62675452e-05 -9.99928194e-01 -3.94626369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters 0.012575588863496133 Centerline is valid? [True, True] Translation: X:68.76, Y:-168.69, Z:-3.95 [[-4.92685786e-01 -8.70187361e-01 5.88846023e-03 6.87620638e+01] [-8.70126513e-01 4.92720970e-01 1.02906235e-02 -1.68690123e+02] [-1.18561383e-02 -5.36614637e-05 -9.99929712e-01 -3.94690106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters 0.012535310093260737 Centerline is valid? [True, True] Translation: X:68.69, Y:-168.77, Z:-3.95 [[-4.24797715e-01 -9.05277915e-01 4.33558335e-03 6.86917231e+01] [-9.05232121e-01 4.24819836e-01 9.10572372e-03 -1.68765634e+02] [-1.00850524e-02 -5.66186806e-05 -9.99949143e-01 -3.94778239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters 0.012376875203361394 Centerline is valid? [True, True] Translation: X:68.63, Y:-168.85, Z:-3.95 [[-3.56555080e-01 -9.34267372e-01 3.59887559e-03 6.86308238e+01] [-9.34220944e-01 3.56573240e-01 9.31408424e-03 -1.68847574e+02] [-9.98510773e-03 -4.11609013e-05 -9.99950147e-01 -3.94855042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters 0.012288419961759008 Centerline is valid? [True, True] Translation: X:68.58, Y:-168.94, Z:-3.95 [[-2.87837522e-01 -9.57673809e-01 3.23056297e-03 6.85753409e+01] [-9.57613920e-01 2.87855651e-01 1.07100290e-02 -1.68935908e+02] [-1.11866500e-02 -1.08838672e-05 -9.99937428e-01 -3.94659471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters 0.012605494656840594 Centerline is valid? [True, True] Translation: X:68.52, Y:-169.03, Z:-3.94 [[-2.14917493e-01 -9.76627979e-01 2.87452462e-03 6.85233153e+01] [-9.76540957e-01 2.14936715e-01 1.30371623e-02 -1.69030725e+02] [-1.33502983e-02 -5.17678859e-06 -9.99910881e-01 -3.94341820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters 0.012473588959307622 Centerline is valid? [True, True] Translation: X:68.48, Y:-169.13, Z:-3.94 [[-1.41249888e-01 -9.89971710e-01 2.11722569e-03 6.84790687e+01] [-9.89859206e-01 1.41265755e-01 1.49244231e-02 -1.69129512e+02] [-1.50738481e-02 1.23177562e-05 -9.99886383e-01 -3.94370520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters 0.012570086553214477 Centerline is valid? [True, True] Translation: X:68.44, Y:-169.24, Z:-3.94 [[-6.73794754e-02 -9.97726894e-01 1.02502901e-03 6.84448542e+01] [-9.97601953e-01 6.73872590e-02 1.57892555e-02 -1.69236030e+02] [-1.58224387e-02 4.13008048e-05 -9.99874817e-01 -3.94410838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters 0.012323947447802675 Centerline is valid? [True, True] Translation: X:67.89, Y:-169.30, Z:-5.09 [[-1.30136781e-01 9.91493937e-01 2.04738094e-03 6.78910701e+01] [-9.91382382e-01 -1.30152851e-01 1.48730587e-02 -1.69301939e+02] [ 1.50130200e-02 -9.42054080e-05 9.99887294e-01 -5.08664404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters 0.012562876693132252 Centerline is valid? [True, True] Translation: X:68.42, Y:-169.49, Z:-3.94 [[-5.62308842e-02 -9.98417447e-01 8.30639728e-04 6.84207579e+01] [-9.98307974e-01 5.62370189e-02 1.47846859e-02 -1.69494152e+02] [-1.48080010e-02 2.12169482e-06 -9.99890356e-01 -3.94370850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters 0.012351832363121082 Centerline is valid? [True, True] Translation: X:68.39, Y:-169.60, Z:-3.94 [[ 2.29568104e-02 -9.99736417e-01 -2.86872337e-04 6.83854586e+01] [-9.99632718e-01 -2.29585610e-02 1.43990986e-02 -1.69599361e+02] [-1.44018894e-02 -4.37904020e-05 -9.99896287e-01 -3.94412869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters 0.012390330191762658 Centerline is valid? [True, True] Translation: X:68.37, Y:-169.71, Z:-3.94 [[ 9.93323911e-02 -9.95053365e-01 -1.36976309e-03 6.83651594e+01] [-9.94951579e-01 -9.93418219e-02 1.42322524e-02 -1.69709566e+02] [-1.42979254e-02 -5.08757075e-05 -9.99897778e-01 -3.94415848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters 0.012238765941342704 Centerline is valid? [True, True] Translation: X:68.36, Y:-169.82, Z:-3.95 [[ 1.70419838e-01 -9.85368965e-01 -2.25446081e-03 6.83552890e+01] [-9.85283598e-01 -1.70434749e-01 1.29703150e-02 -1.69818093e+02] [-1.31647843e-02 1.08842780e-05 -9.99913341e-01 -3.94578575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters 0.012667303921758038 Centerline is valid? [True, True] Translation: X:68.35, Y:-169.92, Z:-3.94 [[ 2.40546040e-01 -9.70632487e-01 -3.19035918e-03 6.83506195e+01] [-9.70550734e-01 -2.40567187e-01 1.25976554e-02 -1.69924409e+02] [-1.29951894e-02 6.60893130e-05 -9.99915557e-01 -3.94484540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters 0.013721986258580903 Centerline is valid? [True, True] Translation: X:68.36, Y:-170.03, Z:-3.95 [[ 3.06212810e-01 -9.51955118e-01 -3.89475275e-03 6.83576682e+01] [-9.51884500e-01 -3.06237538e-01 1.15960607e-02 -1.70029809e+02] [-1.22316488e-02 1.56492440e-04 -9.99925178e-01 -3.94623587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters 0.01467380887470775 Centerline is valid? [True, True] Translation: X:68.37, Y:-170.14, Z:-3.95 [[ 3.73383325e-01 -9.27665671e-01 -4.61471328e-03 6.83716288e+01] [-9.27601542e-01 -3.73411784e-01 1.09095453e-02 -1.70137384e+02] [-1.18435990e-02 2.07172851e-04 -9.99929841e-01 -3.94678759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters 0.016028649665130075 Centerline is valid? [True, True] Translation: X:68.39, Y:-170.24, Z:-3.95 [[ 4.39308723e-01 -8.98319330e-01 -5.49792198e-03 6.83948175e+01] [-8.98256128e-01 -4.39343050e-01 1.06588947e-02 -1.70242730e+02] [-1.19905650e-02 2.55996677e-04 -9.99928078e-01 -3.94643407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters 0.015934814472616455 Centerline is valid? [True, True] Translation: X:68.42, Y:-170.35, Z:-3.94 [[ 5.07644148e-01 -8.61541004e-01 -6.67214128e-03 6.84226312e+01] [-8.61472945e-01 -5.07687932e-01 1.08318320e-02 -1.70351143e+02] [-1.27194330e-02 2.49153088e-04 -9.99919074e-01 -3.94492211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters 0.013628737914512443 Centerline is valid? [True, True] Translation: X:68.45, Y:-170.46, Z:-3.94 [[ 5.78816920e-01 -8.15409179e-01 -8.87939452e-03 6.84530446e+01] [-8.15317376e-01 -5.78885002e-01 1.22364877e-02 -1.70462527e+02] [-1.51178927e-02 1.56838542e-04 -9.99885706e-01 -3.94315760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters 0.01287260788629761 Centerline is valid? [True, True] Translation: X:68.49, Y:-170.56, Z:-3.94 [[ 6.43571961e-01 -7.65331803e-01 -9.07533055e-03 6.84899772e+01] [-7.65256943e-01 -6.43635943e-01 1.07043761e-02 -1.70561821e+02] [-1.40336084e-02 5.59234082e-05 -9.99901523e-01 -3.94348358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters 0.01256789411430759 Centerline is valid? [True, True] Translation: X:68.54, Y:-170.65, Z:-3.95 [[ 7.01870506e-01 -7.12259186e-01 -8.04020885e-03 6.85350669e+01] [-7.12212542e-01 -7.01916556e-01 8.15129132e-03 -1.70654398e+02] [-1.14493878e-02 5.18662529e-06 -9.99934454e-01 -3.94568643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters 0.012326699417772867 Centerline is valid? [True, True] Translation: X:68.59, Y:-170.74, Z:-3.95 [[ 7.53278865e-01 -6.57676837e-01 -5.66825490e-03 6.85889436e+01] [-6.57658269e-01 -7.53300191e-01 4.94202761e-03 -1.70737955e+02] [-7.52015459e-03 5.04975244e-06 -9.99971723e-01 -3.95018362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters 0.012311085497787517 Centerline is valid? [True, True] Translation: X:68.62, Y:-170.77, Z:-3.95 [[ 8.01452776e-01 -5.98037590e-01 -4.94859702e-03 6.86176158e+01] [-5.98026295e-01 -8.01468053e-01 3.67556063e-03 -1.70766628e+02] [-6.16426584e-03 1.36028711e-05 -9.99981001e-01 -3.95226382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters 0.012232305373357476 Centerline is valid? [True, True] Translation: X:68.65, Y:-170.79, Z:-3.95 [[ 8.45742183e-01 -5.33573853e-01 -4.37074571e-03 6.86459590e+01] [-5.33566800e-01 -8.45753477e-01 2.74355735e-03 -1.70793407e+02] [-5.16046384e-03 1.17426141e-05 -9.99986685e-01 -3.95313822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters 0.012274831882613212 Centerline is valid? [True, True] Translation: X:68.68, Y:-170.82, Z:-3.95 [[ 8.84906318e-01 -4.65747704e-01 -4.45933342e-03 6.86774406e+01] [-4.65741852e-01 -8.84917553e-01 2.33462514e-03 -1.70819192e+02] [-5.03348871e-03 1.09736746e-05 -9.99987332e-01 -3.95256136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters 0.012286683323159827 Centerline is valid? [True, True] Translation: X:68.71, Y:-170.84, Z:-3.95 [[ 9.18306991e-01 -3.95823357e-01 -6.01166220e-03 6.87117378e+01] [-3.95815011e-01 -9.18326668e-01 2.57052032e-03 -1.70839966e+02] [-6.53814170e-03 1.89793667e-05 -9.99978626e-01 -3.95216471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters 0.012268009796752067 Centerline is valid? [True, True] Translation: X:68.75, Y:-170.86, Z:-3.95 [[ 9.46268400e-01 -3.23312475e-01 -6.72007494e-03 6.87473373e+01] [-3.23304505e-01 -9.46292261e-01 2.27020505e-03 -1.70857706e+02] [-7.09314052e-03 2.44072048e-05 -9.99974843e-01 -3.95289082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters 0.012264219643884173 Centerline is valid? [True, True] Translation: X:68.78, Y:-170.87, Z:-3.95 [[ 9.68497377e-01 -2.48944174e-01 -6.29512165e-03 6.87837742e+01] [-2.48939094e-01 -9.68517836e-01 1.59062516e-03 -1.70872031e+02] [-6.49291446e-03 2.65855839e-05 -9.99978921e-01 -3.95372461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters 0.012442519910509726 Centerline is valid? [True, True] Translation: X:68.82, Y:-170.89, Z:-3.95 [[ 9.84627857e-01 -1.74589805e-01 -5.13643480e-03 6.88207902e+01] [-1.74587603e-01 -9.84641254e-01 8.77517908e-04 -1.70887338e+02] [-5.21075129e-03 3.27292628e-05 -9.99986424e-01 -3.95424531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters 0.012520154797939873 Centerline is valid? [True, True] Translation: X:68.86, Y:-170.90, Z:-3.95 [[ 9.95233095e-01 -9.74007270e-02 -4.91787892e-03 6.88570042e+01] [-9.73997015e-02 -9.95245245e-01 4.48165919e-04 -1.70896281e+02] [-4.93814729e-03 3.29703841e-05 -9.99987807e-01 -3.95342360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters 0.01257639858167467 Centerline is valid? [True, True] Translation: X:68.89, Y:-170.90, Z:-3.95 [[ 9.99814461e-01 -1.82402471e-02 -6.19165139e-03 6.88922209e+01] [-1.82401169e-02 -9.99833632e-01 7.75021560e-05 -1.70900704e+02] [-6.19203496e-03 3.54486689e-05 -9.99980829e-01 -3.95263004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters 0.012214656416390354 Centerline is valid? [True, True] Translation: X:68.93, Y:-170.91, Z:-3.95 [[ 9.98069923e-01 6.17237565e-02 -6.82693502e-03 6.89280446e+01] [ 6.17221190e-02 -9.98093271e-01 -4.50486880e-04 -1.70909532e+02] [-6.84172364e-03 2.82445100e-05 -9.99976595e-01 -3.95241861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters 0.012111664217879002 Centerline is valid? [True, True] Translation: X:68.96, Y:-170.92, Z:-3.95 [[ 9.89945115e-01 1.41283477e-01 -6.90272956e-03 6.89642127e+01] [ 1.41279921e-01 -9.89969181e-01 -1.00264341e-03 -1.70915153e+02] [-6.97514647e-03 1.73448663e-05 -9.99975673e-01 -3.95205461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters 0.012151070453943372 Centerline is valid? [True, True] Translation: X:69.00, Y:-170.92, Z:-3.95 [[ 9.75504249e-01 2.19873591e-01 -6.86037313e-03 6.89995752e+01] [ 2.19868106e-01 -9.75528372e-01 -1.55309069e-03 -1.70915887e+02] [-7.03397226e-03 6.66931373e-06 -9.99975261e-01 -3.95108375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters 0.01205974158185681 Centerline is valid? [True, True] Translation: X:69.04, Y:-170.91, Z:-3.95 [[ 9.54704820e-01 2.97494588e-01 -5.97301840e-03 6.90358733e+01] [ 2.97488808e-01 -9.54723505e-01 -1.85448667e-03 -1.70912465e+02] [-6.25428081e-03 -6.41876107e-06 -9.99980442e-01 -3.95221123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters 0.012073675449106916 Centerline is valid? [True, True] Translation: X:69.07, Y:-170.91, Z:-3.95 [[ 9.28065433e-01 3.72381821e-01 -5.13148294e-03 6.90728391e+01] [ 3.72376199e-01 -9.28079619e-01 -2.04621778e-03 -1.70909077e+02] [-5.52439904e-03 -1.18181204e-05 -9.99984740e-01 -3.95250918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters 0.01223277650396338 Centerline is valid? [True, True] Translation: X:69.11, Y:-170.90, Z:-3.95 [[ 8.94997078e-01 4.46050373e-01 -4.39262507e-03 6.91083004e+01] [ 4.46045123e-01 -8.95007857e-01 -2.16430201e-03 -1.70902933e+02] [-4.89682167e-03 -2.22650098e-05 -9.99988010e-01 -3.95193063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters 0.012247743359120862 Centerline is valid? [True, True] Translation: X:69.14, Y:-170.89, Z:-3.95 [[ 8.57275293e-01 5.14844939e-01 -3.70958860e-03 6.91414751e+01] [ 5.14840220e-01 -8.57283319e-01 -2.20439772e-03 -1.70889058e+02] [-4.31509143e-03 -2.00697079e-05 -9.99990690e-01 -3.95346257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters 0.012227530891056148 Centerline is valid? [True, True] Translation: X:69.17, Y:-170.87, Z:-3.96 [[ 8.17225995e-01 5.76308661e-01 -3.16238195e-03 6.91720739e+01] [ 5.76304340e-01 -8.17232113e-01 -2.23171333e-03 -1.70870597e+02] [-3.87055581e-03 1.31969716e-06 -9.99992509e-01 -3.95511976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters 0.01252689069239835 Centerline is valid? [True, True] Translation: X:69.20, Y:-170.85, Z:-3.96 [[ 7.72793318e-01 6.34648992e-01 -3.33849034e-03 6.92009800e+01] [ 6.34642940e-01 -7.72800528e-01 -2.77169054e-03 -1.70850254e+02] [-4.33903771e-03 2.31946019e-05 -9.99990586e-01 -3.95627019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters 0.013203522640743627 Centerline is valid? [True, True] Translation: X:69.23, Y:-170.83, Z:-3.96 [[ 7.24422961e-01 6.89348732e-01 -3.11421468e-03 6.92298040e+01] [ 6.89342086e-01 -7.24429654e-01 -3.02742097e-03 -1.70829947e+02] [-4.34297827e-03 4.63740164e-05 -9.99990568e-01 -3.95674794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters 0.013549623940687544 Centerline is valid? [True, True] Translation: X:69.26, Y:-170.81, Z:-3.96 [[ 6.69835111e-01 7.42506019e-01 -2.39517977e-03 6.92589415e+01] [ 7.42501021e-01 -6.69839391e-01 -2.72472378e-03 -1.70810338e+02] [-3.62750956e-03 4.66922340e-05 -9.99993420e-01 -3.95689037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters 0.013549002278064673 Centerline is valid? [True, True] Translation: X:69.29, Y:-170.79, Z:-3.96 [[ 6.09535953e-01 7.92756451e-01 -1.76933744e-03 6.92865710e+01] [ 7.92752930e-01 -6.09538520e-01 -2.36313030e-03 -1.70789543e+02] [-2.95186611e-03 3.77654375e-05 -9.99995643e-01 -3.95767594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters 0.013186989982823838 Centerline is valid? [True, True] Translation: X:69.31, Y:-170.77, Z:-3.96 [[ 5.43736278e-01 8.39255230e-01 -1.23267293e-03 6.93119004e+01] [ 8.39252970e-01 -5.43737674e-01 -1.94777232e-03 -1.70765546e+02] [-2.30492881e-03 2.45500543e-05 -9.99997343e-01 -3.95970930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters 0.013175170489619484 Centerline is valid? [True, True] Translation: X:69.33, Y:-170.74, Z:-3.96 [[ 4.75400003e-01 8.79769317e-01 -8.86385228e-04 6.93341901e+01] [ 8.79767716e-01 -4.75400829e-01 -1.67860008e-03 -1.70740414e+02] [-1.89816912e-03 1.81933771e-05 -9.99998198e-01 -3.96059165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters 0.013220009170869053 Centerline is valid? [True, True] Translation: X:69.35, Y:-170.71, Z:-3.96 [[ 4.05230345e-01 9.14214516e-01 -4.32282050e-04 6.93516531e+01] [ 9.14213967e-01 -4.05230576e-01 -1.00200454e-03 -1.70712178e+02] [-1.09122100e-03 1.08443596e-05 -9.99999405e-01 -3.96213524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters 0.013378432521019548 Centerline is valid? [True, True] Translation: X:69.37, Y:-170.68, Z:-3.96 [[ 3.33078360e-01 9.42899120e-01 -2.36526082e-04 6.93656208e+01] [ 9.42898865e-01 -3.33078444e-01 -6.93415625e-04 -1.70681877e+02] [-7.32602723e-04 7.94156433e-06 -9.99999732e-01 -3.96238077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters 0.013975275819633926 Centerline is valid? [True, True] Translation: X:69.38, Y:-170.65, Z:-3.96 [[ 2.59985063e-01 9.65612506e-01 -5.04449916e-04 6.93758888e+01] [ 9.65610496e-01 -2.59985552e-01 -1.97040335e-03 -1.70651694e+02] [-2.03379581e-03 2.51733062e-05 -9.99997932e-01 -3.96105306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters 0.013731590662361636 Centerline is valid? [True, True] Translation: X:69.39, Y:-170.62, Z:-3.96 [[ 1.85409729e-01 9.82661276e-01 -2.20855257e-04 6.93913551e+01] [ 9.82660456e-01 -1.85409860e-01 -1.27005427e-03 -1.70620743e+02] [-1.28898189e-03 1.84546912e-05 -9.99999169e-01 -3.96212347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters 0.013819624873423563 Centerline is valid? [True, True] Translation: X:69.40, Y:-170.59, Z:-3.96 [[ 1.08678332e-01 9.94076969e-01 -4.54412056e-06 6.94044315e+01] [ 9.94076968e-01 -1.08678332e-01 -5.18518218e-05 -1.70589344e+02] [-5.20385501e-05 1.11796388e-06 -9.99999999e-01 -3.96289796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters 0.013332535226842086 Centerline is valid? [True, True] Translation: X:69.42, Y:-170.56, Z:-3.96 [[ 2.76417376e-02 9.99617894e-01 -1.90691834e-05 6.94176011e+01] [ 9.99617131e-01 -2.76417400e-02 -1.23525240e-03 -1.70556476e+02] [-1.23530751e-03 1.50826403e-05 -9.99999237e-01 -3.96268594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters 0.012598097058090386 Centerline is valid? [True, True] Translation: X:69.43, Y:-170.52, Z:-3.96 [[-5.52163832e-02 9.98474388e-01 2.18216114e-04 6.94300683e+01] [ 9.98468358e-01 5.52168082e-02 -3.47010515e-03 -1.70522344e+02] [-3.47686031e-03 2.62752295e-05 -9.99993955e-01 -3.96061985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters 0.012334481080815998 Centerline is valid? [True, True] Translation: X:69.44, Y:-170.49, Z:-3.96 [[-1.38370764e-01 9.90380107e-01 8.80908156e-04 6.94401667e+01] [ 9.90360713e-01 1.38373567e-01 -6.19789995e-03 -1.70488571e+02] [-6.26017122e-03 1.48086820e-05 -9.99980405e-01 -3.95600530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters 0.012330872031718605 Centerline is valid? [True, True] Translation: X:69.44, Y:-170.45, Z:-3.95 [[-2.15646079e-01 9.76469975e-01 1.77662051e-03 6.94396648e+01] [ 9.76437517e-01 2.15653397e-01 -7.96164571e-03 -1.70453555e+02] [-8.15744224e-03 1.78612413e-05 -9.99966727e-01 -3.95385010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters 0.012852538975595339 Centerline is valid? [True, True] Translation: X:69.43, Y:-170.42, Z:-3.95 [[-2.88033935e-01 9.57615955e-01 2.85218450e-03 6.94305397e+01] [ 9.57570922e-01 2.88048051e-01 -9.28706424e-03 -1.70422113e+02] [-9.71500707e-03 5.61792842e-05 -9.99952807e-01 -3.95217315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters 0.012795615192968107 Centerline is valid? [True, True] Translation: X:69.42, Y:-170.39, Z:-3.95 [[-3.59738930e-01 9.33045734e-01 3.68254022e-03 6.94242114e+01] [ 9.32999205e-01 3.59757768e-01 -9.31836985e-03 -1.70387967e+02] [-1.00192877e-02 8.36266984e-05 -9.99949802e-01 -3.95355816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters 0.01292018401550366 Centerline is valid? [True, True] Translation: X:69.42, Y:-170.35, Z:-3.95 [[-4.30887778e-01 9.02395032e-01 4.35066755e-03 6.94168418e+01] [ 9.02351166e-01 4.30909732e-01 -8.89806397e-03 -1.70353917e+02] [-9.90431371e-03 9.17629265e-05 -9.99950947e-01 -3.95358982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters 0.012563171478931224 Centerline is valid? [True, True] Translation: X:69.41, Y:-170.32, Z:-3.95 [[-5.01735998e-01 8.65010988e-01 4.12048802e-03 6.94081149e+01] [ 8.64982814e-01 5.01752914e-01 -6.98171399e-03 -1.70319757e+02] [-8.10672619e-03 6.11740838e-05 -9.99967138e-01 -3.95421769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters 0.012492618615181592 Centerline is valid? [True, True] Translation: X:69.40, Y:-170.29, Z:-3.95 [[-5.69716685e-01 8.21831366e-01 4.01317151e-03 6.93955919e+01] [ 8.21811443e-01 5.69730818e-01 -5.72253375e-03 -1.70287971e+02] [-6.98938522e-03 3.78473043e-05 -9.99975573e-01 -3.95420297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters 0.012231388041416989 Centerline is valid? [True, True] Translation: X:69.38, Y:-170.26, Z:-3.95 [[-6.34536554e-01 7.72881424e-01 4.20309504e-03 6.93804130e+01] [ 7.72864648e-01 6.34550474e-01 -5.09230038e-03 -1.70257101e+02] [-6.60282032e-03 1.71728367e-05 -9.99978201e-01 -3.95415249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters 0.012194790227023944 Centerline is valid? [True, True] Translation: X:69.36, Y:-170.23, Z:-3.95 [[-6.94016890e-01 7.19944536e-01 4.51899873e-03 6.93609323e+01] [ 7.19929354e-01 6.94031603e-01 -4.67545443e-03 -1.70229177e+02] [-6.50239581e-03 8.51549277e-06 -9.99978859e-01 -3.95402989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters 0.012544435308088521 Centerline is valid? [True, True] Translation: X:69.34, Y:-170.20, Z:-3.95 [[-7.53004526e-01 6.57999810e-01 4.52036954e-03 6.93444448e+01] [ 6.57987673e-01 7.53018093e-01 -3.99670020e-03 -1.70199729e+02] [-6.03374802e-03 -3.51859068e-05 -9.99981796e-01 -3.95420533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters 0.012564401562640127 Centerline is valid? [True, True] Translation: X:69.36, Y:-170.18, Z:-3.95 [[-7.98530463e-01 6.01929839e-01 5.43772583e-03 6.93596566e+01] [ 6.01915459e-01 7.98548975e-01 -4.16098915e-03 -1.70176276e+02] [-6.84691392e-03 -4.96253452e-05 -9.99976558e-01 -3.95389362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters 0.012705770186055279 Centerline is valid? [True, True] Translation: X:69.37, Y:-170.15, Z:-3.95 [[-8.38247052e-01 5.45231121e-01 8.05633240e-03 6.93748203e+01] [ 5.45205316e-01 8.38285764e-01 -5.30485080e-03 -1.70150276e+02] [-9.64587851e-03 -5.44202923e-05 -9.99953476e-01 -3.95038233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters 0.012540257024165651 Centerline is valid? [True, True] Translation: X:69.39, Y:-170.13, Z:-3.95 [[-8.71934710e-01 4.89557011e-01 7.98715206e-03 6.93874738e+01] [ 4.89536476e-01 8.71971291e-01 -4.48401432e-03 -1.70131657e+02] [-9.15974795e-03 2.34546274e-07 -9.99958049e-01 -3.95130088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters 0.01269235311490817 Centerline is valid? [True, True] Translation: X:69.40, Y:-170.11, Z:-3.95 [[-9.02939968e-01 4.29708960e-01 7.04437544e-03 6.93972512e+01] [ 4.29696119e-01 9.02967446e-01 -3.32215360e-03 -1.70108153e+02] [-7.78840087e-03 2.72355186e-05 -9.99969670e-01 -3.95200680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters 0.01266445015489352 Centerline is valid? [True, True] Translation: X:69.41, Y:-170.08, Z:-3.95 [[-9.30337482e-01 3.66649658e-01 6.34011468e-03 6.94053885e+01] [ 3.66641427e-01 9.30359085e-01 -2.45710267e-03 -1.70081727e+02] [-6.79947914e-03 3.86139782e-05 -9.99976883e-01 -3.95237867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters 0.016041888906638158 Centerline is valid? [True, True] Translation: X:69.61, Y:-169.55, Z:-5.08 [[-9.08426750e-01 -4.17978937e-01 7.37890192e-03 6.96131380e+01] [ 4.17965459e-01 -9.08456717e-01 -3.35687372e-03 -1.69545054e+02] [ 8.10651552e-03 3.46522386e-05 9.99967141e-01 -5.08318349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters 0.012698913578950245 Centerline is valid? [True, True] Translation: X:69.36, Y:-170.07, Z:-3.95 [[-9.32116625e-01 3.62090898e-01 6.98421594e-03 6.93617137e+01] [ 3.62080996e-01 9.32142790e-01 -2.67804805e-03 -1.70065170e+02] [-7.47998336e-03 3.25987580e-05 -9.99972024e-01 -3.95159137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters 0.012835593464488666 Centerline is valid? [True, True] Translation: X:69.37, Y:-170.04, Z:-3.95 [[-9.55261383e-01 2.95646439e-01 8.29902583e-03 6.93656648e+01] [ 2.95635668e-01 9.55297431e-01 -2.52392701e-03 -1.70038659e+02] [-8.67422809e-03 4.24780378e-05 -9.99962377e-01 -3.95116499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters 0.012968444491871171 Centerline is valid? [True, True] Translation: X:69.54, Y:-169.49, Z:-5.08 [[-9.37292485e-01 -3.48462300e-01 7.53807413e-03 6.95381534e+01] [ 3.48450375e-01 -9.37322794e-01 -2.88376200e-03 -1.69488001e+02] [ 8.07049104e-03 -7.62836886e-05 9.99967430e-01 -5.08150305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters 0.012651217345798261 Centerline is valid? [True, True] Translation: X:69.32, Y:-170.03, Z:-3.95 [[-9.56248284e-01 2.92469603e-01 7.12393042e-03 6.93227945e+01] [ 2.92461790e-01 9.56274819e-01 -2.13809754e-03 -1.70026120e+02] [-7.43776382e-03 3.89253411e-05 -9.99972339e-01 -3.95082014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters 0.013774324167588557 Centerline is valid? [True, True] Translation: X:69.32, Y:-170.00, Z:-3.95 [[-9.74912510e-01 2.22499171e-01 6.30219176e-03 6.93216219e+01] [ 2.22494682e-01 9.74932879e-01 -1.41350740e-03 -1.69997289e+02] [-6.45871818e-03 2.41581048e-05 -9.99979142e-01 -3.95154247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters 0.013718431374218245 Centerline is valid? [True, True] Translation: X:69.45, Y:-169.44, Z:-5.08 [[-9.59930487e-01 -2.80192296e-01 5.07322695e-03 6.94498978e+01] [ 2.80187875e-01 -9.59943889e-01 -1.57655633e-03 -1.69436150e+02] [ 5.31175215e-03 -9.19278036e-05 9.99985888e-01 -5.08034786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters 0.016559494037567922 Centerline is valid? [True, True] Translation: X:69.28, Y:-169.99, Z:-3.95 [[-9.75593171e-01 2.19473050e-01 7.03878894e-03 6.92792115e+01] [ 2.19467575e-01 9.75618562e-01 -1.55053077e-03 -1.69992632e+02] [-7.20747286e-03 3.20987071e-05 -9.99974025e-01 -3.94962755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters 0.012492847870386656 Centerline is valid? [True, True] Translation: X:69.27, Y:-169.96, Z:-3.95 [[-9.89084151e-01 1.47194693e-01 6.80184431e-03 6.92745956e+01] [ 1.47191301e-01 9.89107538e-01 -9.99250907e-04 -1.69962919e+02] [-6.87483992e-03 1.28290814e-05 -9.99976368e-01 -3.95241568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters 0.01382236385992605 Centerline is valid? [True, True] Translation: X:69.36, Y:-169.40, Z:-5.08 [[-9.76642280e-01 -2.14744685e-01 7.38761710e-03 6.93584787e+01] [ 2.14738795e-01 -9.76670220e-01 -1.59078802e-03 -1.69395189e+02] [ 7.55687890e-03 3.27771564e-05 9.99971446e-01 -5.08230361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters 0.012588411461864844 Centerline is valid? [True, True] Translation: X:69.22, Y:-169.95, Z:-3.95 [[-9.90517477e-01 1.37187450e-01 7.39807151e-03 6.92245785e+01] [ 1.37183371e-01 9.90545104e-01 -1.05849740e-03 -1.69948480e+02] [-7.47333607e-03 -3.35677837e-05 -9.99972074e-01 -3.95140290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters 0.012415765925612565 Centerline is valid? [True, True] Translation: X:69.31, Y:-169.39, Z:-5.08 [[-9.78090852e-01 -2.08099774e-01 5.72445861e-03 6.93078905e+01] [ 2.08095796e-01 -9.78107601e-01 -1.28857475e-03 -1.69387597e+02] [ 5.86728859e-03 -6.91073973e-05 9.99982785e-01 -5.07978076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters 0.012593380070286408 Centerline is valid? [True, True] Translation: X:69.18, Y:-169.95, Z:-3.95 [[-9.90102608e-01 1.40224850e-01 5.81532490e-03 6.91801968e+01] [ 1.40222517e-01 9.90119685e-01 -8.08928617e-04 -1.69948724e+02] [-5.87129955e-03 1.45171633e-05 -9.99982764e-01 -3.95305793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters 0.014377681780074474 Centerline is valid? [True, True] Translation: X:69.26, Y:-169.38, Z:-5.08 [[-9.79409202e-01 -2.01767505e-01 6.89125622e-03 6.92578128e+01] [ 2.01762914e-01 -9.79433444e-01 -1.36236775e-03 -1.69378343e+02] [ 7.02440835e-03 5.60844213e-05 9.99975327e-01 -5.08161173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters 0.012430760920207923 Centerline is valid? [True, True] Translation: X:69.13, Y:-169.94, Z:-3.95 [[-9.91067590e-01 1.33135652e-01 7.74151620e-03 6.91311908e+01] [ 1.33131533e-01 9.91097825e-01 -1.04728601e-03 -1.69937964e+02] [-7.81203097e-03 -7.29130598e-06 -9.99969486e-01 -3.95051755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters 0.015296667338533595 Centerline is valid? [True, True] Translation: X:69.12, Y:-169.91, Z:-3.95 [[-9.98038120e-01 6.16774206e-02 1.07613621e-02 6.91227185e+01] [ 6.16736360e-02 9.98096135e-01 -6.83507845e-04 -1.69908378e+02] [-1.07830309e-02 -1.84745541e-05 -9.99941861e-01 -3.94625915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters 0.012616138399700133 Centerline is valid? [True, True] Translation: X:69.16, Y:-169.35, Z:-5.08 [[-9.90972822e-01 -1.33552808e-01 1.16838767e-02 6.91591672e+01] [ 1.33544547e-01 -9.91041694e-01 -1.48793426e-03 -1.69347199e+02] [ 1.17779267e-02 8.58155989e-05 9.99930634e-01 -5.08394201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters 0.012738114735028677 Centerline is valid? [True, True] Translation: X:69.07, Y:-169.90, Z:-3.95 [[-9.98379657e-01 5.55322282e-02 1.24190184e-02 6.90702972e+01] [ 5.55273195e-02 9.98456894e-01 -7.39981711e-04 -1.69902992e+02] [-1.24409473e-02 -4.91878850e-05 -9.99922607e-01 -3.94747441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters 0.015652674962879785 Centerline is valid? [True, True] Translation: X:69.10, Y:-169.35, Z:-5.09 [[-9.91329302e-01 -1.30704115e-01 1.35147683e-02 6.91037628e+01] [ 1.30693757e-01 -9.91421413e-01 -1.65062549e-03 -1.69351581e+02] [ 1.36145742e-02 1.29982426e-04 9.99907309e-01 -5.08757401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters 0.017311021894667756 Centerline is valid? [True, True] Translation: X:69.02, Y:-169.90, Z:-3.94 [[-9.98510362e-01 5.27106794e-02 1.40940086e-02 6.90208281e+01] [ 5.27048507e-02 9.98609825e-01 -7.84928932e-04 -1.69897336e+02] [-1.41157896e-02 -4.09370536e-05 -9.99900367e-01 -3.94471606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters 0.01704724565847621 Centerline is valid? [True, True] Translation: X:69.05, Y:-169.35, Z:-5.09 [[-9.92114175e-01 -1.24468114e-01 1.47361207e-02 6.90507701e+01] [ 1.24455720e-01 -9.92223604e-01 -1.75875277e-03 -1.69346046e+02] [ 1.48404355e-02 8.91109645e-05 9.99889871e-01 -5.08786907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters 0.015804410223560203 Centerline is valid? [True, True] Translation: X:68.97, Y:-169.90, Z:-3.94 [[-9.98623223e-01 4.96979553e-02 1.67860360e-02 6.89692800e+01] [ 4.96903789e-02 9.98764293e-01 -8.68387819e-04 -1.69898655e+02] [-1.68084505e-02 -3.30877537e-05 -9.99858728e-01 -3.94329356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters 0.015729180514577105 Centerline is valid? [True, True] Translation: X:69.00, Y:-169.34, Z:-5.09 [[-9.92628007e-01 -1.19808565e-01 1.83179393e-02 6.89970502e+01] [ 1.19790772e-01 -9.92797003e-01 -2.06947232e-03 -1.69341181e+02] [ 1.84339358e-02 1.40103908e-04 9.99830071e-01 -5.09001079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters 0.014527351292631956 Centerline is valid? [True, True] Translation: X:68.92, Y:-169.90, Z:-3.94 [[-9.98688214e-01 4.81101361e-02 1.75289983e-02 6.89165044e+01] [ 4.81028454e-02 9.98842037e-01 -8.37556724e-04 -1.69898845e+02] [-1.75489953e-02 6.73666411e-06 -9.99846005e-01 -3.94420231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters 0.016185372990156027 Centerline is valid? [True, True] Translation: X:68.91, Y:-169.87, Z:-3.95 [[-9.99636041e-01 -2.09156488e-02 1.70388094e-02 6.89136638e+01] [-2.09118908e-02 9.99781243e-01 3.98717076e-04 -1.69872188e+02] [-1.70434215e-02 4.22582374e-05 -9.99854750e-01 -3.94540621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters 0.012735050813443394 Centerline is valid? [True, True] Translation: X:68.90, Y:-169.31, Z:-5.08 [[-9.99018553e-01 -4.17827680e-02 1.47013815e-02 6.88959889e+01] [ 4.17754648e-02 -9.99126701e-01 -8.03647213e-04 -1.69310874e+02] [ 1.47221214e-02 -1.88701432e-04 9.99891606e-01 -5.08336439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters 0.017374395930760827 Centerline is valid? [True, True] Translation: X:68.85, Y:-169.87, Z:-3.94 [[-9.99528808e-01 -2.54083885e-02 1.72213986e-02 6.88501374e+01] [-2.54039255e-02 9.99677154e-01 4.77904734e-04 -1.69872656e+02] [-1.72279815e-02 4.01884237e-05 -9.99851587e-01 -3.94300867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters 0.01608191839061466 Centerline is valid? [True, True] Translation: X:68.83, Y:-169.31, Z:-5.09 [[-9.99148803e-01 -3.74446865e-02 1.73079234e-02 6.88316368e+01] [ 3.74384754e-02 -9.99298701e-01 -6.82848442e-04 -1.69314034e+02] [ 1.73213544e-02 -3.42849392e-05 9.99849974e-01 -5.08839385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters 0.012895083437911637 Centerline is valid? [True, True] Translation: X:68.79, Y:-169.88, Z:-3.95 [[-9.99392993e-01 -3.11321223e-02 1.56344750e-02 6.87900968e+01] [-3.11280784e-02 9.99515278e-01 5.01992818e-04 -1.69876777e+02] [-1.56425247e-02 1.50169413e-05 -9.99877648e-01 -3.94788380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters 0.015551437744767903 Centerline is valid? [True, True] Translation: X:68.78, Y:-169.85, Z:-3.95 [[-9.94377108e-01 -1.04933467e-01 1.42525218e-02 6.87754658e+01] [-1.04923077e-01 9.94479244e-01 1.47688477e-03 -1.69848374e+02] [-1.43288118e-02 -2.68380400e-05 -9.99897337e-01 -3.94668747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters 0.014536183149695322 Centerline is valid? [True, True] Translation: X:68.72, Y:-169.29, Z:-5.08 [[-9.99453838e-01 3.04281959e-02 1.28899842e-02 6.87184863e+01] [-3.04266428e-02 -9.99536952e-01 3.16629355e-04 -1.69294582e+02] [ 1.28936500e-02 -7.57425216e-05 9.99916871e-01 -5.08386380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters 0.014708858888518448 Centerline is valid? [True, True] Translation: X:68.71, Y:-169.85, Z:-3.95 [[-9.93328428e-01 -1.14774858e-01 1.11967171e-02 6.87085653e+01] [-1.14768494e-01 9.93391527e-01 1.21139432e-03 -1.69851150e+02] [-1.12617615e-02 -8.17179414e-05 -9.99936581e-01 -3.94815561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters 0.015919485486327656 Centerline is valid? [True, True] Translation: X:68.65, Y:-169.30, Z:-5.09 [[-9.99329216e-01 3.49207315e-02 1.10300021e-02 6.86499235e+01] [-3.49178780e-02 -9.99390083e-01 4.51232341e-04 -1.69301422e+02] [ 1.10390320e-02 6.57853955e-05 9.99939066e-01 -5.08535305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters 0.012235529165001006 Centerline is valid? [True, True] Translation: X:68.65, Y:-169.86, Z:-3.95 [[-9.93321703e-01 -1.15071304e-01 8.40178847e-03 6.86456688e+01] [-1.15067404e-01 9.93357234e-01 9.47647016e-04 -1.69864999e+02] [-8.45502433e-03 -2.54536438e-05 -9.99964255e-01 -3.95053821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters 0.013115818148858618 Centerline is valid? [True, True] Translation: X:68.63, Y:-169.84, Z:-3.95 [[-9.82566282e-01 -1.85717868e-01 8.50735226e-03 6.86331820e+01] [-1.85711153e-01 9.82603111e-01 1.57952193e-03 -1.69839046e+02] [-8.65269624e-03 -2.79252021e-05 -9.99962564e-01 -3.94947417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters 0.016582286144636055 Centerline is valid? [True, True] Translation: X:68.52, Y:-169.29, Z:-5.09 [[-9.93963385e-01 1.09148467e-01 1.11086551e-02 6.85248978e+01] [-1.09139235e-01 -9.94025435e-01 1.43574221e-03 -1.69290606e+02] [ 1.11989948e-02 2.14685065e-04 9.99937266e-01 -5.08709229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters 0.01614407188207982 Centerline is valid? [True, True] Translation: X:68.55, Y:-169.85, Z:-3.94 [[-9.80263463e-01 -1.97321346e-01 1.21585109e-02 6.85528781e+01] [-1.97307742e-01 9.80338855e-01 2.32037077e-03 -1.69846817e+02] [-1.23773193e-02 -1.24393645e-04 -9.99923390e-01 -3.94399330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters 0.015442518419530654 Centerline is valid? [True, True] Translation: X:68.53, Y:-169.82, Z:-3.94 [[-9.63504356e-01 -2.67347709e-01 1.35852469e-02 6.85349927e+01] [-2.67323358e-01 9.63600114e-01 3.61151436e-03 -1.69820919e+02] [-1.40562755e-02 -1.51943998e-04 -9.99901194e-01 -3.94182819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters 0.012477944288373429 Centerline is valid? [True, True] Translation: X:68.51, Y:-169.81, Z:-3.94 [[-9.43724138e-01 -3.30436441e-01 1.40181993e-02 6.85102166e+01] [-3.30401190e-01 9.43828243e-01 4.82709321e-03 -1.69805463e+02] [-1.48258199e-02 -7.61853611e-05 -9.99890089e-01 -3.94345370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters 0.013858884875858925 Centerline is valid? [True, True] Translation: X:68.48, Y:-169.79, Z:-3.94 [[-9.19061182e-01 -3.93866948e-01 1.39775631e-02 6.84763607e+01] [-3.93821652e-01 9.19167464e-01 5.97321375e-03 -1.69794329e+02] [-1.52003727e-02 -1.49181047e-05 -9.99884468e-01 -3.94244538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters 0.016875791227152454 Centerline is valid? [True, True] Translation: X:68.42, Y:-169.79, Z:-3.94 [[-8.87500007e-01 -4.60583302e-01 1.43791268e-02 6.84223517e+01] [-4.60523425e-01 8.87616483e-01 7.42662494e-03 -1.69787102e+02] [-1.61837294e-02 -3.07950533e-05 -9.99869034e-01 -3.94053292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters 0.017283384646410428 Centerline is valid? [True, True] Translation: X:68.35, Y:-169.79, Z:-3.94 [[-8.48914509e-01 -5.28349043e-01 1.38363598e-02 6.83536964e+01] [-5.28280983e-01 8.49027254e-01 8.48091269e-03 -1.69785990e+02] [-1.62283286e-02 -1.09915912e-04 -9.99868306e-01 -3.93975118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters 0.013210285446940773 Centerline is valid? [True, True] Translation: X:68.28, Y:-169.79, Z:-3.94 [[-8.04681755e-01 -5.93584892e-01 1.20103947e-02 6.82832918e+01] [-5.93522041e-01 8.04771362e-01 8.63951671e-03 -1.69793902e+02] [-1.47939083e-02 -1.76372534e-04 -9.99890549e-01 -3.94351172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters 0.015465957687893736 Centerline is valid? [True, True] Translation: X:68.21, Y:-169.82, Z:-3.94 [[-7.57702067e-01 -6.52500807e-01 1.14138128e-02 6.82087685e+01] [-6.52430732e-01 7.57788003e-01 9.56466671e-03 -1.69816572e+02] [-1.48902032e-02 -1.99554535e-04 -9.99889115e-01 -3.94209295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters 0.015136596872975885 Centerline is valid? [True, True] Translation: X:68.14, Y:-169.85, Z:-3.94 [[-7.09123790e-01 -7.05001879e-01 1.07610781e-02 6.81406033e+01] [-7.04924044e-01 7.09205419e-01 1.04769809e-02 -1.69847654e+02] [-1.50181061e-02 -1.56266245e-04 -9.99887210e-01 -3.94253650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters 0.012565548975402567 Centerline is valid? [True, True] Translation: X:68.07, Y:-169.89, Z:-3.94 [[-6.59505284e-01 -7.51631399e-01 1.01498767e-02 6.80702804e+01] [-7.51543675e-01 6.59583381e-01 1.14833793e-02 -1.69893174e+02] [-1.53259585e-02 -5.47263078e-05 -9.99882549e-01 -3.94317861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters 0.015605396247352039 Centerline is valid? [True, True] Translation: X:68.00, Y:-169.95, Z:-3.94 [[-6.03720621e-01 -7.97141195e-01 9.34490116e-03 6.79958421e+01] [-7.97045881e-01 6.03792941e-01 1.23267240e-02 -1.69945630e+02] [-1.54685249e-02 -6.41751945e-06 -9.99880355e-01 -3.94233238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters 0.012039819647939133 Centerline is valid? [True, True] Translation: X:67.92, Y:-170.01, Z:-3.95 [[-5.41124936e-01 -8.40913782e-01 6.91487709e-03 6.79191410e+01] [-8.40845598e-01 5.41169115e-01 1.07084058e-02 -1.70006271e+02] [-1.27469639e-02 -1.97585727e-05 -9.99918754e-01 -3.94789078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters 0.013819742820427175 Centerline is valid? [True, True] Translation: X:67.84, Y:-170.07, Z:-3.95 [[-4.74017752e-01 -8.80495310e-01 5.93121486e-03 6.78428418e+01] [-8.80427711e-01 4.74054855e-01 1.09105472e-02 -1.70074272e+02] [-1.24184069e-02 -5.02128473e-05 -9.99922887e-01 -3.94642964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters 0.012250776360165727 Centerline is valid? [True, True] Translation: X:67.77, Y:-170.15, Z:-3.95 [[-4.04598424e-01 -9.14484273e-01 4.31616606e-03 6.77718275e+01] [-9.14433839e-01 4.04621440e-01 9.60440602e-03 -1.70150550e+02] [-1.05294916e-02 -6.09207666e-05 -9.99944562e-01 -3.94823877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters 0.01232223505514033 Centerline is valid? [True, True] Translation: X:67.71, Y:-170.24, Z:-3.95 [[-3.33491017e-01 -9.42749109e-01 2.80360337e-03 6.77092099e+01] [-9.42717156e-01 3.33502797e-01 7.76199642e-03 -1.70238490e+02] [-8.25262478e-03 -5.44489203e-05 -9.99965945e-01 -3.95016994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters 0.012375136092925877 Centerline is valid? [True, True] Translation: X:67.66, Y:-170.33, Z:-3.95 [[-2.61790243e-01 -9.65122858e-01 1.93309528e-03 6.76550275e+01] [-9.65097712e-01 2.61797377e-01 6.96699177e-03 -1.70329246e+02] [-7.23008228e-03 -4.17353613e-05 -9.99973862e-01 -3.95056921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters 0.012573733641027587 Centerline is valid? [True, True] Translation: X:67.60, Y:-170.43, Z:-3.95 [[-1.85449749e-01 -9.82652929e-01 1.26972651e-03 6.75998646e+01] [-9.82631835e-01 1.85454088e-01 6.43883534e-03 -1.70425810e+02] [-6.56261638e-03 -5.35932947e-05 -9.99978464e-01 -3.94944800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters 0.012870896544084137 Centerline is valid? [True, True] Translation: X:67.55, Y:-170.53, Z:-3.95 [[-1.08716078e-01 -9.94072404e-01 9.33084640e-04 6.75528578e+01] [-9.94041614e-01 1.08720055e-01 7.82428949e-03 -1.70527592e+02] [-7.87935527e-03 -7.68988967e-05 -9.99968955e-01 -3.94763118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters 0.014940728901384688 Centerline is valid? [True, True] Translation: X:67.51, Y:-170.63, Z:-3.94 [[-3.36395659e-02 -9.99433953e-01 3.92434440e-04 6.75146096e+01] [-9.99391690e-01 3.36417525e-02 9.19139776e-03 -1.70634301e+02] [-9.19939718e-03 -8.30010869e-05 -9.99957681e-01 -3.94378874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters 0.012290883256251075 Centerline is valid? [True, True] Translation: X:67.49, Y:-170.74, Z:-3.94 [[ 3.75489924e-02 -9.99294742e-01 -3.03052089e-04 6.74881548e+01] [-9.99253768e-01 -3.75501971e-02 9.04935492e-03 -1.70736230e+02] [-9.05435245e-03 -3.69682174e-05 -9.99959008e-01 -3.94339512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters 0.012229530186237764 Centerline is valid? [True, True] Translation: X:67.47, Y:-170.85, Z:-3.94 [[ 1.08921007e-01 -9.94049954e-01 -9.50422760e-04 6.74716051e+01] [-9.94012496e-01 -1.08925153e-01 8.62952146e-03 -1.70845272e+02] [-8.68170036e-03 4.79593612e-06 -9.99962313e-01 -3.94188806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters 0.012316160671139042 Centerline is valid? [True, True] Translation: X:67.46, Y:-170.96, Z:-3.94 [[ 1.82403777e-01 -9.83222800e-01 -1.33702082e-03 6.74566233e+01] [-9.83197065e-01 -1.82408676e-01 7.11386057e-03 -1.70956651e+02] [-7.23839410e-03 1.69599128e-05 -9.99973802e-01 -3.94031820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters 0.01245314501045755 Centerline is valid? [True, True] Translation: X:67.45, Y:-171.07, Z:-3.94 [[ 2.56715300e-01 -9.66485096e-01 -1.95282195e-03 6.74494655e+01] [-9.66457631e-01 -2.56722726e-01 7.28629682e-03 -1.71069598e+02] [-7.54343106e-03 1.68158057e-05 -9.99971548e-01 -3.93731226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters 0.01253947306662514 Centerline is valid? [True, True] Translation: X:67.45, Y:-171.18, Z:-3.94 [[ 3.29542521e-01 -9.44137427e-01 -2.49900383e-03 6.74545309e+01] [-9.44110631e-01 -3.29551996e-01 7.11326485e-03 -1.71182210e+02] [-7.53945127e-03 1.52128547e-05 -9.99971578e-01 -3.93564251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters 0.012962694080138925 Centerline is valid? [True, True] Translation: X:67.47, Y:-171.29, Z:-3.93 [[ 4.00468866e-01 -9.16303760e-01 -3.47955688e-03 6.74694144e+01] [-9.16269509e-01 -4.00483981e-01 7.92259024e-03 -1.71292329e+02] [-8.65300601e-03 1.54611491e-05 -9.99962562e-01 -3.93331367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters 0.012613091351805375 Centerline is valid? [True, True] Translation: X:67.49, Y:-171.40, Z:-3.93 [[ 4.69220555e-01 -8.83071662e-01 -4.06325609e-03 6.74916576e+01] [-8.83038763e-01 -4.69238148e-01 7.62260663e-03 -1.71398020e+02] [-8.63794267e-03 1.13289154e-05 -9.99962692e-01 -3.93063518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters 0.012764788289441732 Centerline is valid? [True, True] Translation: X:67.52, Y:-171.50, Z:-3.93 [[ 5.35601973e-01 -8.44453266e-01 -5.40438485e-03 6.75214774e+01] [-8.44410341e-01 -5.35629239e-01 8.51434919e-03 -1.71503153e+02] [-1.00847165e-02 3.21623049e-06 -9.99949148e-01 -3.92807549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters 0.012997807603500696 Centerline is valid? [True, True] Translation: X:67.56, Y:-171.61, Z:-3.92 [[ 6.00135995e-01 -7.99874465e-01 -6.13416173e-03 6.75585897e+01] [-7.99832254e-01 -6.00167344e-01 8.21737434e-03 -1.71606661e+02] [-1.02543914e-02 -2.52417309e-05 -9.99947422e-01 -3.92483696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters 0.01331680527030931 Centerline is valid? [True, True] Translation: X:67.60, Y:-171.70, Z:-3.93 [[ 6.61470234e-01 -7.49954209e-01 -5.08067636e-03 6.75979115e+01] [-7.49931548e-01 -6.61489744e-01 5.83021259e-03 -1.71699858e+02] [-7.73320779e-03 -4.63525999e-05 -9.99970097e-01 -3.92548657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters 0.014516583854017988 Centerline is valid? [True, True] Translation: X:67.64, Y:-171.79, Z:-3.93 [[ 7.17680377e-01 -6.96364453e-01 -3.37998908e-03 6.76442774e+01] [-6.96356469e-01 -7.17688335e-01 3.33495290e-03 -1.71792167e+02] [-4.74812138e-03 -3.97529939e-05 -9.99988727e-01 -3.92571455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters 0.01414029761682438 Centerline is valid? [True, True] Translation: X:67.67, Y:-171.83, Z:-3.93 [[ 7.71755145e-01 -6.35919802e-01 -4.03742542e-05 6.76681767e+01] [-6.35919801e-01 -7.71755146e-01 3.46178319e-05 -1.71826086e+02] [-5.31732040e-05 -1.04170223e-06 -9.99999999e-01 -3.92730471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters 0.01423177510033841 Centerline is valid? [True, True] Translation: X:67.70, Y:-171.85, Z:-3.93 [[ 8.19361657e-01 -5.73276711e-01 5.36143771e-04 6.76976162e+01] [-5.73276582e-01 -8.19361833e-01 -3.83890361e-04 -1.71854985e+02] [ 6.59371145e-04 7.18637370e-06 -9.99999783e-01 -3.92631085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters 0.013702501184771359 Centerline is valid? [True, True] Translation: X:67.73, Y:-171.88, Z:-3.92 [[ 8.59737911e-01 -5.10734848e-01 7.99768047e-04 6.77324496e+01] [-5.10734620e-01 -8.59738283e-01 -4.83076507e-04 -1.71875092e+02] [ 9.34315213e-04 6.84995756e-06 -9.99999564e-01 -3.92459290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters 0.013294968088247715 Centerline is valid? [True, True] Translation: X:67.77, Y:-171.89, Z:-3.92 [[ 8.94605011e-01 -4.46857776e-01 -3.93777077e-05 6.77687848e+01] [-4.46857776e-01 -8.94605012e-01 2.02819965e-05 -1.71891737e+02] [-4.42906633e-05 -5.48140781e-07 -9.99999999e-01 -3.92435852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters 0.01320326522430645 Centerline is valid? [True, True] Translation: X:67.80, Y:-171.91, Z:-3.92 [[ 9.25845076e-01 -3.77903066e-01 -4.09779295e-04 6.78037049e+01] [-3.77903028e-01 -9.25845167e-01 1.67638694e-04 -1.71909648e+02] [-4.42743357e-04 -3.50622977e-07 -9.99999902e-01 -3.92446756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters 0.013324830120304007 Centerline is valid? [True, True] Translation: X:67.84, Y:-171.93, Z:-3.93 [[ 9.52372213e-01 -3.04937107e-01 7.27210482e-04 6.78373430e+01] [-3.04937019e-01 -9.52372491e-01 -2.31724021e-04 -1.71926456e+02] [ 7.63236510e-04 -1.06587812e-06 -9.99999709e-01 -3.92569825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters 0.013270959826614739 Centerline is valid? [True, True] Translation: X:67.87, Y:-171.95, Z:-3.93 [[ 9.73392383e-01 -2.29128293e-01 2.73763146e-03 6.78715606e+01] [-2.29127391e-01 -9.73396233e-01 -6.42757481e-04 -1.71949007e+02] [ 2.81207407e-03 -1.61111813e-06 -9.99996046e-01 -3.92574861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters 0.013393899980947574 Centerline is valid? [True, True] Translation: X:67.91, Y:-171.96, Z:-3.93 [[ 9.88250414e-01 -1.52796612e-01 3.78361799e-03 6.79079836e+01] [-1.52795507e-01 -9.88257656e-01 -5.81031827e-04 -1.71964170e+02] [ 3.82796915e-03 -3.91488605e-06 -9.99992673e-01 -3.92741187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters 0.015068107226123692 Centerline is valid? [True, True] Translation: X:67.94, Y:-171.97, Z:-3.93 [[ 9.97003008e-01 -7.73054539e-02 2.97804226e-03 6.79432718e+01] [-7.73051394e-02 -9.97007456e-01 -2.20730755e-04 -1.71974807e+02] [ 2.98619403e-03 -1.01487456e-05 -9.99995541e-01 -3.92701214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters 0.013689525247498975 Centerline is valid? [True, True] Translation: X:67.98, Y:-171.98, Z:-3.93 [[ 9.99991150e-01 -4.44387739e-04 4.18365183e-03 6.79772895e+01] [-4.44467727e-04 -9.99999901e-01 1.81894698e-05 -1.71981938e+02] [ 4.18364333e-03 -2.00488071e-05 -9.99991248e-01 -3.92858171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters 0.013858928366775132 Centerline is valid? [True, True] Translation: X:68.01, Y:-171.99, Z:-3.93 [[ 9.97139369e-01 7.55726898e-02 1.35927489e-03 6.80127563e+01] [ 7.55726059e-02 -9.97140295e-01 1.12998190e-04 -1.71987332e+02] [ 1.36392734e-03 -9.95099846e-06 -9.99999070e-01 -3.92633429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters 0.014256246273006142 Centerline is valid? [True, True] Translation: X:68.05, Y:-171.99, Z:-3.92 [[ 9.88641504e-01 1.50219225e-01 -4.70751771e-03 6.80477986e+01] [ 1.50217290e-01 -9.88652711e-01 -7.64023215e-04 -1.71988880e+02] [-4.76887112e-03 4.81945084e-05 -9.99988628e-01 -3.92302607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters 0.014726833309792317 Centerline is valid? [True, True] Translation: X:68.08, Y:-171.99, Z:-3.92 [[ 9.74328702e-01 2.25020061e-01 -7.03940316e-03 6.80835772e+01] [ 2.25013526e-01 -9.74354127e-01 -1.71734646e-03 -1.71987731e+02] [-7.24530892e-03 8.92990247e-05 -9.99973749e-01 -3.92117470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters 0.014835066070161933 Centerline is valid? [True, True] Translation: X:68.12, Y:-171.99, Z:-3.92 [[ 9.53913131e-01 2.99869515e-01 -1.13142642e-02 6.81202839e+01] [ 2.99846477e-01 -9.53980215e-01 -3.72024953e-03 -1.71988048e+02] [-1.19091736e-02 1.56252603e-04 -9.99929071e-01 -3.91964302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters 0.014706939677680012 Centerline is valid? [True, True] Translation: X:68.16, Y:-171.99, Z:-3.92 [[ 9.26319800e-01 3.76567738e-01 -1.13299316e-02 6.81572585e+01] [ 3.76537962e-01 -9.26389078e-01 -4.73704914e-03 -1.71987420e+02] [-1.22797448e-02 1.21873051e-04 -9.99924594e-01 -3.91959151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters 0.014266292910182839 Centerline is valid? [True, True] Translation: X:68.19, Y:-171.98, Z:-3.92 [[ 8.93113905e-01 4.49706551e-01 -1.05626961e-02 6.81943778e+01] [ 4.49673857e-01 -8.93176359e-01 -5.42345049e-03 -1.71983510e+02] [-1.18733117e-02 9.39907513e-05 -9.99929505e-01 -3.92082641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters 0.014430092555999627 Centerline is valid? [True, True] Translation: X:68.23, Y:-171.97, Z:-3.92 [[ 8.54616181e-01 5.19148170e-01 -1.07870742e-02 6.82268749e+01] [ 5.19105530e-01 -8.54684252e-01 -6.65423839e-03 -1.71971601e+02] [-1.26740782e-02 8.71899073e-05 -9.99919677e-01 -3.92152991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters 0.014850124195091467 Centerline is valid? [True, True] Translation: X:68.26, Y:-171.95, Z:-3.92 [[ 8.11487532e-01 5.84239132e-01 -1.23540404e-02 6.82560472e+01] [ 5.84169376e-01 -8.11581558e-01 -9.02856016e-03 -1.71951592e+02] [-1.53011495e-02 1.09711926e-04 -9.99882925e-01 -3.92036919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters 0.014691505759623866 Centerline is valid? [True, True] Translation: X:68.29, Y:-171.94, Z:-3.92 [[ 7.62966509e-01 6.46307537e-01 -1.29874875e-02 6.82888725e+01] [ 6.46211339e-01 -7.63077031e-01 -1.11512777e-02 -1.71935401e+02] [-1.71176082e-02 1.15389762e-04 -9.99853476e-01 -3.92077864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters 0.01493026728767017 Centerline is valid? [True, True] Translation: X:68.32, Y:-171.92, Z:-3.92 [[ 7.07546214e-01 7.06566812e-01 -1.19035856e-02 6.83204480e+01] [ 7.06465543e-01 -7.07646336e-01 -1.19623903e-02 -1.71919666e+02] [-1.68757567e-02 5.44709070e-05 -9.99857593e-01 -3.92060645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters 0.014606368730030022 Centerline is valid? [True, True] Translation: X:68.35, Y:-171.90, Z:-3.92 [[ 6.47353006e-01 7.62121137e-01 -1.02692485e-02 6.83531908e+01] [ 7.62025397e-01 -6.47434454e-01 -1.20798301e-02 -1.71902135e+02] [-1.58549591e-02 -5.51383648e-06 -9.99874302e-01 -3.92453625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters 0.014777447322628035 Centerline is valid? [True, True] Translation: X:68.38, Y:-171.88, Z:-3.93 [[ 5.85106764e-01 8.10903732e-01 -9.23102608e-03 6.83791908e+01] [ 8.10803299e-01 -5.85179577e-01 -1.27621830e-02 -1.71879588e+02] [-1.57507097e-02 -1.73068068e-05 -9.99875950e-01 -3.92593317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters 0.01478999600876882 Centerline is valid? [True, True] Translation: X:68.40, Y:-171.85, Z:-3.93 [[ 5.19953717e-01 8.54149918e-01 -8.72063584e-03 6.84027481e+01] [ 8.54030315e-01 -5.20026843e-01 -1.42935170e-02 -1.71852558e+02] [-1.67437711e-02 -1.57200673e-05 -9.99859813e-01 -3.92838420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters 0.014904622171655672 Centerline is valid? [True, True] Translation: X:68.43, Y:-171.83, Z:-3.93 [[ 4.51121638e-01 8.92422667e-01 -8.42919069e-03 6.84253089e+01] [ 8.92267956e-01 -4.51200380e-01 -1.66165990e-02 -1.71825659e+02] [-1.86322836e-02 -2.49893901e-05 -9.99826404e-01 -3.92793205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters 0.014860900994226834 Centerline is valid? [True, True] Translation: X:68.45, Y:-171.80, Z:-3.93 [[ 3.79563389e-01 9.25135517e-01 -7.47724512e-03 6.84489134e+01] [ 9.24957736e-01 -3.79637030e-01 -1.81359402e-02 -1.71798352e+02] [-1.96168416e-02 -3.23967719e-05 -9.99807571e-01 -3.92667932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters 0.014783143123989725 Centerline is valid? [True, True] Translation: X:68.47, Y:-171.77, Z:-3.93 [[ 3.05637618e-01 9.52128049e-01 -6.15021057e-03 6.84656954e+01] [ 9.51937993e-01 -3.05699488e-01 -1.90231555e-02 -1.71767874e+02] [-1.99925962e-02 -4.04271627e-05 -9.99800127e-01 -3.92858927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters 0.014829987342055801 Centerline is valid? [True, True] Translation: X:68.48, Y:-171.74, Z:-3.93 [[ 2.30949235e-01 9.72955003e-01 -4.58407376e-03 6.84784168e+01] [ 9.72765392e-01 -2.30994723e-01 -1.92075351e-02 -1.71736377e+02] [-1.97469642e-02 -2.32627769e-05 -9.99805010e-01 -3.93003191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters 0.01501209174087864 Centerline is valid? [True, True] Translation: X:68.48, Y:-171.70, Z:-3.93 [[ 1.58183967e-01 9.87404563e-01 -3.17196843e-03 6.84837333e+01] [ 9.87198336e-01 -1.58215755e-01 -2.01796994e-02 -1.71704576e+02] [-2.04273827e-02 6.07429429e-05 -9.99791337e-01 -3.93059458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters 0.015182991325367979 Centerline is valid? [True, True] Translation: X:68.49, Y:-171.67, Z:-3.93 [[ 8.59394185e-02 9.96299153e-01 -1.55376120e-03 6.84932346e+01] [ 9.96098088e-01 -8.59532902e-02 -2.00157539e-02 -1.71672732e+02] [-2.00752296e-02 1.72443691e-04 -9.99798457e-01 -3.93214826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters 0.0167035932242537 Centerline is valid? [True, True] Translation: X:68.50, Y:-171.64, Z:-3.93 [[ 1.65436709e-02 9.99863144e-01 1.89210421e-05 6.84952127e+01] [ 9.99672937e-01 -1.65401547e-02 -1.95049272e-02 -1.71640685e+02] [-1.95019449e-02 3.41597950e-04 -9.99809761e-01 -3.93411728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters 0.017175735649545165 Centerline is valid? [True, True] Translation: X:68.50, Y:-171.61, Z:-3.94 [[-5.76287335e-02 9.98337159e-01 1.35891756e-03 6.85030949e+01] [ 9.98191076e-01 5.76435527e-02 -1.70820309e-02 -1.71608047e+02] [-1.71319590e-02 3.72043579e-04 -9.99853168e-01 -3.93747384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters 0.0180266970986527 Centerline is valid? [True, True] Translation: X:68.51, Y:-171.58, Z:-3.94 [[-1.35968832e-01 9.90710148e-01 2.42486403e-03 6.85085521e+01] [ 9.90592958e-01 1.35990053e-01 -1.52412780e-02 -1.71575535e+02] [-1.54294462e-02 3.29714452e-04 -9.99880905e-01 -3.93761170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters 0.01707746442941942 Centerline is valid? [True, True] Translation: X:68.51, Y:-171.54, Z:-3.94 [[-2.14631949e-01 9.76689381e-01 3.31349619e-03 6.85144993e+01] [ 9.76592365e-01 2.14657341e-01 -1.37687791e-02 -1.71540937e+02] [-1.41590866e-02 2.80715189e-04 -9.99899716e-01 -3.94015876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters 0.017202026906129177 Centerline is valid? [True, True] Translation: X:68.51, Y:-171.51, Z:-3.94 [[-2.91340821e-01 9.56609112e-01 4.41963033e-03 6.85147157e+01] [ 9.56512731e-01 2.91374216e-01 -1.35816812e-02 -1.71507449e+02] [-1.42801263e-02 2.70534524e-04 -9.99897997e-01 -3.94079988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters 0.01683695961016329 Centerline is valid? [True, True] Translation: X:68.52, Y:-171.47, Z:-3.94 [[-3.65359725e-01 9.30847831e-01 5.88107709e-03 6.85166817e+01] [ 9.30739773e-01 3.65406939e-01 -1.41860218e-02 -1.71470810e+02] [-1.53540140e-02 2.90751344e-04 -9.99882078e-01 -3.94083395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters 0.017252684493488265 Centerline is valid? [True, True] Translation: X:68.51, Y:-171.44, Z:-3.94 [[-4.36928388e-01 8.99466546e-01 7.31546674e-03 6.85137073e+01] [ 8.99352121e-01 4.36989516e-01 -1.43501307e-02 -1.71435239e+02] [-1.61042448e-02 3.09201034e-04 -9.99870271e-01 -3.94205186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters 0.018441688911067483 Centerline is valid? [True, True] Translation: X:68.50, Y:-171.40, Z:-3.94 [[-5.05397638e-01 8.62851586e-01 7.76965433e-03 6.85046731e+01] [ 8.62758518e-01 5.05457270e-01 -1.26762887e-02 -1.71403207e+02] [-1.48649841e-02 2.96769062e-04 -9.99889466e-01 -3.94318054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters 0.017348591256258608 Centerline is valid? [True, True] Translation: X:68.50, Y:-171.36, Z:-3.95 [[-5.70885309e-01 8.20989322e-01 8.15463711e-03 6.85036414e+01] [ 8.20912636e-01 5.70943475e-01 -1.12246301e-02 -1.71362245e+02] [-1.38711383e-02 2.86268211e-04 -9.99903750e-01 -3.94691109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters 0.017779553460845973 Centerline is valid? [True, True] Translation: X:68.50, Y:-171.32, Z:-3.95 [[-6.33494946e-01 7.73702513e-01 8.28099073e-03 6.84961549e+01] [ 7.73641767e-01 6.33549014e-01 -9.69865394e-03 -1.71323967e+02] [-1.27502864e-02 2.62472044e-04 -9.99918677e-01 -3.94852715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters 0.017780335322016807 Centerline is valid? [True, True] Translation: X:68.49, Y:-171.28, Z:-3.95 [[-6.92881718e-01 7.20986399e-01 9.67141387e-03 6.84857372e+01] [ 7.20921509e-01 6.92949161e-01 -9.67662431e-03 -1.71283516e+02] [-1.36785126e-02 2.67574205e-04 -9.99906409e-01 -3.94906150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters 0.018099474698503246 Centerline is valid? [True, True] Translation: X:68.47, Y:-171.25, Z:-3.95 [[-7.47352537e-01 6.64353113e-01 9.95627011e-03 6.84673215e+01] [ 6.64298656e-01 7.47418810e-01 -8.50993235e-03 -1.71249360e+02] [-1.30951036e-02 2.54017318e-04 -9.99914223e-01 -3.95085364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters 0.018997004918508194 Centerline is valid? [True, True] Translation: X:68.49, Y:-171.21, Z:-3.95 [[-7.91482740e-01 6.11127561e-01 8.84175607e-03 6.84869707e+01] [ 6.11092685e-01 7.91532091e-01 -6.53296476e-03 -1.71213049e+02] [-1.09910085e-02 2.32403606e-04 -9.99939570e-01 -3.95389867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters 0.019220655233259897 Centerline is valid? [True, True] Translation: X:68.50, Y:-171.17, Z:-3.96 [[-8.31365938e-01 5.55666226e-01 8.10688185e-03 6.85038492e+01] [ 5.55642459e-01 8.31405433e-01 -5.14435499e-03 -1.71174012e+02] [-9.59864994e-03 2.27686253e-04 -9.99953906e-01 -3.95735206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters 0.020222721174972154 Centerline is valid? [True, True] Translation: X:68.52, Y:-171.14, Z:-3.96 [[-8.66425616e-01 4.99243795e-01 7.89204539e-03 6.85205788e+01] [ 4.99225724e-01 8.66461522e-01 -4.25524872e-03 -1.71136043e+02] [-8.96256018e-03 2.53055577e-04 -9.99959804e-01 -3.95959168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters 0.020731036217297563 Centerline is valid? [True, True] Translation: X:68.53, Y:-171.10, Z:-3.96 [[-8.98248822e-01 4.39416240e-01 7.90081998e-03 6.85285143e+01] [ 4.39401886e-01 8.98283527e-01 -3.56206891e-03 -1.71096728e+02] [-8.66240736e-03 2.72010999e-04 -9.99962444e-01 -3.96047855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters 0.02209309224091716 Centerline is valid? [True, True] Translation: X:68.53, Y:-171.05, Z:-3.96 [[-9.26466669e-01 3.76314114e-01 6.87007585e-03 6.85326989e+01] [ 3.76305703e-01 9.26492109e-01 -2.52783860e-03 -1.71050104e+02] [-7.31633241e-03 2.43290508e-04 -9.99973206e-01 -3.96248054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters 0.021997103842418726 Centerline is valid? [True, True] Translation: X:68.63, Y:-170.75, Z:-5.07 [[-9.25790181e-01 -3.77993274e-01 5.79868541e-03 6.86334786e+01] [ 3.77983999e-01 -9.25808301e-01 -2.66201945e-03 -1.70750858e+02] [ 6.37469654e-03 -2.72661173e-04 9.99979644e-01 -5.06897249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters 0.02132388349087618 Centerline is valid? [True, True] Translation: X:68.60, Y:-170.79, Z:-5.07 [[-8.96625783e-01 -4.42766937e-01 4.43226564e-03 6.85987854e+01] [ 4.42760730e-01 -8.96636727e-01 -2.34868648e-03 -1.70793560e+02] [ 5.01405287e-03 -1.43459684e-04 9.99987419e-01 -5.06774812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters 0.02103480106226558 Centerline is valid? [True, True] Translation: X:68.56, Y:-170.83, Z:-5.07 [[-8.63226064e-01 -5.04799165e-01 4.30865676e-03 6.85601815e+01] [ 5.04792125e-01 -8.63236808e-01 -2.66925247e-03 -1.70831652e+02] [ 5.06682752e-03 -1.29192302e-04 9.99987155e-01 -5.06880070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters 0.021956886477801286 Centerline is valid? [True, True] Translation: X:68.44, Y:-170.99, Z:-3.96 [[-8.72394848e-01 4.88764410e-01 6.04822718e-03 6.84415474e+01] [ 4.88754121e-01 8.72415794e-01 -3.17676680e-03 -1.70986735e+02] [-6.82925947e-03 1.84700969e-04 -9.99976663e-01 -3.96227507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters 0.024326509634769677 Centerline is valid? [True, True] Translation: X:68.50, Y:-170.84, Z:-5.07 [[-8.67813471e-01 -4.96807974e-01 9.03414698e-03 6.85024912e+01] [ 4.96780267e-01 -8.67860491e-01 -5.24725000e-03 -1.70837496e+02] [ 1.04472549e-02 -6.56482833e-05 9.99945424e-01 -5.07474968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters 0.024306314575935375 Centerline is valid? [True, True] Translation: X:68.42, Y:-170.94, Z:-3.96 [[-8.68069647e-01 4.96249201e-01 1.38498581e-02 6.84204606e+01] [ 4.96197200e-01 8.68179909e-01 -7.21002153e-03 -1.70941670e+02] [-1.56021360e-02 6.13459979e-04 -9.99878091e-01 -3.95680228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters 0.025047476410280486 Centerline is valid? [True, True] Translation: X:68.42, Y:-170.89, Z:-3.95 [[-8.99667558e-01 4.36205288e-01 1.79786495e-02 6.84236813e+01] [ 4.36136510e-01 8.99846795e-01 -7.79043366e-03 -1.70887276e+02] [-1.95762585e-02 8.32345026e-04 -9.99808020e-01 -3.95487612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters 0.023194146719672504 Centerline is valid? [True, True] Translation: X:68.42, Y:-170.82, Z:-3.95 [[-9.30688377e-01 3.65293605e-01 1.94865645e-02 6.84164280e+01] [ 3.65230251e-01 9.30892058e-01 -6.84400367e-03 -1.70820405e+02] [-2.06399589e-02 7.47448180e-04 -9.99786694e-01 -3.95406879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters 0.021481962902029954 Centerline is valid? [True, True] Translation: X:68.37, Y:-170.83, Z:-5.08 [[-9.30304766e-01 -3.66272790e-01 1.94238309e-02 6.83723435e+01] [ 3.66176506e-01 -9.30507234e-01 -8.42939955e-03 -1.70825218e+02] [ 2.11614748e-02 -7.29360045e-04 9.99775805e-01 -5.07822183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters 0.020429068107121962 Centerline is valid? [True, True] Translation: X:68.37, Y:-170.75, Z:-3.95 [[-9.36755126e-01 3.49357760e-01 2.09520922e-02 6.83698983e+01] [ 3.49282547e-01 9.36989271e-01 -7.26690245e-03 -1.70754441e+02] [-2.21706343e-02 5.10892004e-04 -9.99754071e-01 -3.95409223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters 0.01998510303041518 Centerline is valid? [True, True] Translation: X:68.35, Y:-170.71, Z:-3.95 [[-9.59588961e-01 2.80600052e-01 2.12752791e-02 6.83485680e+01] [ 2.80542136e-01 9.59824662e-01 -5.72088983e-03 -1.70709397e+02] [-2.20258195e-02 4.78909516e-04 -9.99757288e-01 -3.95471166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters 0.019680559126278287 Centerline is valid? [True, True] Translation: X:68.29, Y:-170.83, Z:-5.08 [[-9.52210079e-01 -3.04783838e-01 2.00693103e-02 6.82914080e+01] [ 3.04704733e-01 -9.52421413e-01 -6.96262430e-03 -1.70825671e+02] [ 2.12365362e-02 -5.14667201e-04 9.99774347e-01 -5.07682929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters 0.02041082115866693 Centerline is valid? [True, True] Translation: X:68.29, Y:-170.66, Z:-3.96 [[-9.60579486e-01 2.77497596e-01 1.67969051e-02 6.82942616e+01] [ 2.77462213e-01 9.60726253e-01 -4.44819270e-03 -1.70662772e+02] [-1.73715905e-02 3.87663806e-04 -9.99849027e-01 -3.95894390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters 0.02058525991189502 Centerline is valid? [True, True] Translation: X:68.28, Y:-170.61, Z:-3.96 [[-9.77003874e-01 2.12818952e-01 1.30967160e-02 6.82820262e+01] [ 2.12804727e-01 9.77091585e-01 -2.48647723e-03 -1.70613687e+02] [-1.33258605e-02 3.57745195e-04 -9.99911143e-01 -3.96299413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters 0.02151765104091093 Centerline is valid? [True, True] Translation: X:68.26, Y:-170.57, Z:-3.96 [[-9.89395968e-01 1.44820785e-01 1.10706653e-02 6.82594035e+01] [ 1.44815350e-01 9.89457850e-01 -1.29527202e-03 -1.70569386e+02] [-1.11415389e-02 3.21665351e-04 -9.99937879e-01 -3.96313629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters 0.021663467205550693 Centerline is valid? [True, True] Translation: X:68.15, Y:-170.80, Z:-5.07 [[-9.87733254e-01 -1.55753505e-01 1.11294600e-02 6.81493854e+01] [ 1.55740014e-01 -9.87795903e-01 -2.07405347e-03 -1.70803405e+02] [ 1.13166761e-02 -3.15309322e-04 9.99935915e-01 -5.06976924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters 0.02007065999004365 Centerline is valid? [True, True] Translation: X:68.16, Y:-170.52, Z:-3.96 [[-9.90824739e-01 1.34662916e-01 1.14993533e-02 6.81646429e+01] [ 1.34656893e-01 9.90891433e-01 -1.29998354e-03 -1.70524079e+02] [-1.15696702e-02 2.60411332e-04 -9.99933035e-01 -3.96246968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters 0.019094782984089308 Centerline is valid? [True, True] Translation: X:68.10, Y:-170.84, Z:-5.07 [[-9.87156907e-01 -1.59488786e-01 9.19610957e-03 6.80959269e+01] [ 1.59478454e-01 -9.87199675e-01 -1.85075022e-03 -1.70836156e+02] [ 9.37357028e-03 -3.60399520e-04 9.99956002e-01 -5.06947829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters 0.01957320804159834 Centerline is valid? [True, True] Translation: X:68.12, Y:-170.49, Z:-3.96 [[-9.91591153e-01 1.29255959e-01 6.31534390e-03 6.81184069e+01] [ 1.29254190e-01 9.91611254e-01 -6.89034021e-04 -1.70489410e+02] [-6.35142784e-03 1.33044624e-04 -9.99979821e-01 -3.96454990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters 0.01958977832928453 Centerline is valid? [True, True] Translation: X:68.05, Y:-170.86, Z:-5.07 [[-9.87912462e-01 -1.54930561e-01 5.04865420e-03 6.80469630e+01] [ 1.54927566e-01 -9.87925345e-01 -9.81408428e-04 -1.70857601e+02] [ 5.13974360e-03 -1.87369912e-04 9.99986774e-01 -5.06732742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters 0.018930969097518832 Centerline is valid? [True, True] Translation: X:68.07, Y:-170.46, Z:-3.97 [[-9.92466565e-01 1.22508414e-01 1.34390377e-03 6.80741904e+01] [ 1.22508336e-01 9.92467475e-01 -1.40701359e-04 -1.70455959e+02] [-1.35101788e-03 2.49980199e-05 -9.99999087e-01 -3.96671758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters 0.01875108938004967 Centerline is valid? [True, True] Translation: X:68.04, Y:-170.41, Z:-3.97 [[-9.98691484e-01 5.11360927e-02 6.48669842e-04 6.80350348e+01] [ 5.11360898e-02 9.98691694e-01 -2.10970456e-05 -1.70409365e+02] [-6.48900004e-04 1.21009994e-05 -9.99999789e-01 -3.96596804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters 0.019229598481899916 Centerline is valid? [True, True] Translation: X:67.98, Y:-170.87, Z:-5.07 [[-9.96608224e-01 -8.22916087e-02 -3.71782400e-04 6.79821777e+01] [ 8.22916249e-02 -9.96608292e-01 -2.84469955e-05 -1.70873902e+02] [-3.68180473e-04 -5.89450875e-05 9.99999931e-01 -5.06630851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters 0.021747750318754446 Centerline is valid? [True, True] Translation: X:67.98, Y:-170.38, Z:-3.97 [[-9.98506568e-01 5.45911192e-02 -2.10809493e-03 6.79813143e+01] [ 5.45911049e-02 9.98508792e-01 6.43420453e-05 -1.70383713e+02] [ 2.10846382e-03 -5.08372766e-05 -9.99997776e-01 -3.96738034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters 0.02476654432939331 Centerline is valid? [True, True] Translation: X:67.93, Y:-170.34, Z:-3.97 [[-9.99928163e-01 -1.09660083e-02 -4.83898549e-03 6.79328628e+01] [-1.09651795e-02 9.99939861e-01 -1.97774331e-04 -1.70344917e+02] [ 4.84086328e-03 -1.44699779e-04 -9.99988273e-01 -3.96832545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters 0.027327641785148717 Centerline is valid? [True, True] Translation: X:67.91, Y:-170.88, Z:-5.06 [[-9.99947331e-01 7.97623871e-03 -6.45876774e-03 6.79134018e+01] [-7.97669732e-03 -9.99968185e-01 4.52473773e-05 -1.70883487e+02] [-6.45820135e-03 9.67646295e-05 9.99979141e-01 -5.06327730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters 0.030670566620020417 Centerline is valid? [True, True] Translation: X:67.87, Y:-170.93, Z:-5.06 [[-9.98475899e-01 -5.47189153e-02 -7.19167689e-03 6.78721686e+01] [ 5.47169355e-02 -9.98501795e-01 4.71907671e-04 -1.70926919e+02] [-7.20672455e-03 7.76819159e-05 9.99974028e-01 -5.06241782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters 0.026633120609110175 Centerline is valid? [True, True] Translation: X:67.82, Y:-170.96, Z:-5.07 [[-9.91628582e-01 -1.29089652e-01 -2.93539655e-03 6.78161866e+01] [ 1.29088431e-01 -9.91632903e-01 6.02370629e-04 -1.70961349e+02] [-2.98859562e-03 2.18402199e-04 9.99995510e-01 -5.07055053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters 0.023726384583758895 Centerline is valid? [True, True] Translation: X:67.78, Y:-170.99, Z:-5.08 [[-9.79645765e-01 -2.00731794e-01 9.60608814e-04 6.77834879e+01] [ 2.00732058e-01 -9.79646164e-01 1.85650303e-04 -1.70989567e+02] [ 9.03790822e-04 3.74696517e-04 9.99999521e-01 -5.07566305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters 0.02526824229147162 Centerline is valid? [True, True] Translation: X:67.73, Y:-171.00, Z:-5.08 [[-9.64515439e-01 -2.64004702e-01 3.38907814e-03 6.77312539e+01] [ 2.64004747e-01 -9.64521279e-01 -4.42312612e-04 -1.71003017e+02] [ 3.38561059e-03 4.68115374e-04 9.99994159e-01 -5.07838686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters 0.03224470637432154 Centerline is valid? [True, True] Translation: X:67.85, Y:-170.42, Z:-3.95 [[-9.65581470e-01 2.60055873e-01 4.83395575e-03 6.78517766e+01] [ 2.60053589e-01 9.65593552e-01 -1.10624131e-03 -1.70422554e+02] [-4.95532105e-03 1.88921434e-04 -9.99987705e-01 -3.94997189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters 0.034088995555020686 Centerline is valid? [True, True] Translation: X:67.79, Y:-170.39, Z:-3.95 [[-9.81327349e-01 1.92239985e-01 6.35784030e-03 6.77943875e+01] [ 1.92237634e-01 9.81347911e-01 -9.84627897e-04 -1.70389024e+02] [-6.42853815e-03 2.55973892e-04 -9.99979304e-01 -3.94657841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters 0.03275104872479922 Centerline is valid? [True, True] Translation: X:67.76, Y:-170.35, Z:-3.95 [[-9.92837132e-01 1.19279265e-01 6.84729691e-03 6.77564195e+01] [ 1.19278198e-01 9.92860711e-01 -5.65504245e-04 -1.70352878e+02] [-6.86586501e-03 2.55279623e-04 -9.99976397e-01 -3.94728358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters 0.032382266464654315 Centerline is valid? [True, True] Translation: X:67.67, Y:-170.93, Z:-5.08 [[-9.93589029e-01 -1.12976699e-01 4.13598273e-03 6.76736275e+01] [ 1.12974319e-01 -9.93597582e-01 -8.05260691e-04 -1.70928604e+02] [ 4.20047814e-03 -3.32838354e-04 9.99991123e-01 -5.08206959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters 0.031191915134897177 Centerline is valid? [True, True] Translation: X:67.71, Y:-170.35, Z:-3.96 [[-9.93817339e-01 1.11015604e-01 -1.62266154e-03 6.77119092e+01] [ 1.11015547e-01 9.93818662e-01 1.25540446e-04 -1.70347539e+02] [ 1.62656827e-03 -5.53763860e-05 -9.99998676e-01 -3.95759601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters 0.02072235637836166 Centerline is valid? [True, True] Translation: X:67.67, Y:-170.30, Z:-3.96 [[-9.99329032e-01 3.62300331e-02 -5.37314233e-03 6.76697771e+01] [ 3.62303611e-02 9.99343464e-01 3.63210916e-05 -1.70302179e+02] [ 5.37093058e-03 -1.58374165e-04 -9.99985564e-01 -3.96039612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters 0.02122174796672975 Centerline is valid? [True, True] Translation: X:67.63, Y:-170.92, Z:-5.07 [[-9.98937622e-01 -4.56303961e-02 -6.44161783e-03 6.76261210e+01] [ 4.56286742e-02 -9.98958384e-01 4.14090365e-04 -1.70917738e+02] [-6.45380325e-03 1.19727963e-04 9.99979167e-01 -5.07315630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters 0.0229154434382131 Centerline is valid? [True, True] Translation: X:67.62, Y:-170.31, Z:-3.96 [[-9.99385056e-01 3.42214824e-02 -7.64197890e-03 6.76197439e+01] [ 3.42222965e-02 9.99414245e-01 2.42497065e-05 -1.70309134e+02] [ 7.63833243e-03 -2.37291273e-04 -9.99970799e-01 -3.96106072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters 0.023934000276170077 Centerline is valid? [True, True] Translation: X:67.58, Y:-170.91, Z:-5.07 [[-9.99286497e-01 -3.67493991e-02 -8.71662297e-03 6.75765065e+01] [ 3.67462179e-02 -9.99324492e-01 5.24886785e-04 -1.70911926e+02] [-8.73002410e-03 2.04209349e-04 9.99961872e-01 -5.06986346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters 0.02440936023278413 Centerline is valid? [True, True] Translation: X:67.53, Y:-170.94, Z:-5.07 [[-9.94757473e-01 -1.02042273e-01 -6.70403055e-03 6.75336602e+01] [ 1.02038182e-01 -9.94780029e-01 9.50361441e-04 -1.70935882e+02] [-6.76601275e-03 2.61312053e-04 9.99977076e-01 -5.07158133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters 0.023802621813568087 Centerline is valid? [True, True] Translation: X:67.48, Y:-170.96, Z:-5.07 [[-9.85937094e-01 -1.67024050e-01 -5.56890425e-03 6.74846886e+01] [ 1.67019713e-01 -9.85952779e-01 1.23838294e-03 -1.70955178e+02] [-5.69751635e-03 2.90850890e-04 9.99983727e-01 -5.07380786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters 0.02460389868613196 Centerline is valid? [True, True] Translation: X:67.56, Y:-170.37, Z:-3.96 [[-9.85262699e-01 1.70961311e-01 -5.44462162e-03 6.75561077e+01] [ 1.70959861e-01 9.85277721e-01 7.34184982e-04 -1.70365899e+02] [ 5.48998161e-03 -2.07446678e-04 -9.99984909e-01 -3.95934628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters 0.025360754810327537 Centerline is valid? [True, True] Translation: X:67.44, Y:-170.95, Z:-5.07 [[-9.86578297e-01 -1.63171204e-01 -6.19859199e-03 6.74354250e+01] [ 1.63166804e-01 -9.86597752e-01 1.21236101e-03 -1.70947024e+02] [-6.31333933e-03 1.84684610e-04 9.99980054e-01 -5.07269060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters 0.025036406338247347 Centerline is valid? [True, True] Translation: X:67.50, Y:-170.36, Z:-3.96 [[-9.85433285e-01 1.69916616e-01 -7.04165494e-03 6.75032506e+01] [ 1.69914353e-01 9.85458402e-01 9.22792457e-04 -1.70361224e+02] [ 7.09605579e-03 -2.87127839e-04 -9.99974782e-01 -3.96110404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters 0.026878101358056378 Centerline is valid? [True, True] Translation: X:67.39, Y:-170.94, Z:-5.07 [[-9.88132640e-01 -1.53400471e-01 -7.88549645e-03 6.73858176e+01] [ 1.53393422e-01 -9.88164067e-01 1.49464814e-03 -1.70936480e+02] [-8.02144397e-03 2.67327328e-04 9.99967792e-01 -5.06991302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters 0.027277428002442993 Centerline is valid? [True, True] Translation: X:67.44, Y:-170.36, Z:-3.96 [[-9.85128856e-01 1.71678390e-01 -6.90416355e-03 6.74420051e+01] [ 1.71676441e-01 9.85152997e-01 8.78420013e-04 -1.70358175e+02] [ 6.95246315e-03 -3.19925323e-04 -9.99975780e-01 -3.96254018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters 0.027855671339087854 Centerline is valid? [True, True] Translation: X:67.40, Y:-170.33, Z:-3.96 [[-9.95015502e-01 9.96110134e-02 -4.66881362e-03 6.74011235e+01] [ 9.96108941e-02 9.95026433e-01 2.58656574e-04 -1.70328557e+02] [ 4.67135800e-03 -2.07697398e-04 -9.99989068e-01 -3.96105737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters 0.02867641913354018 Centerline is valid? [True, True] Translation: X:67.33, Y:-170.90, Z:-5.07 [[-9.96993115e-01 -7.74179368e-02 -3.34554455e-03 6.73310275e+01] [ 7.74167148e-02 -9.96998701e-01 4.93446290e-04 -1.70904458e+02] [-3.37370516e-03 2.32961485e-04 9.99994282e-01 -5.07262199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters 0.03282021272377337 Centerline is valid? [True, True] Translation: X:67.34, Y:-170.33, Z:-3.96 [[-9.94457753e-01 1.05133431e-01 8.59498773e-04 6.73441464e+01] [ 1.05133430e-01 9.94458124e-01 -4.55668584e-05 -1.70334790e+02] [-8.59526138e-04 4.50477387e-05 -9.99999630e-01 -3.95656877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters 0.03934061333439981 Centerline is valid? [True, True] Translation: X:67.26, Y:-170.88, Z:-5.08 [[-9.98305306e-01 -5.79760525e-02 5.02933340e-03 6.72605125e+01] [ 5.79751536e-02 -9.98317974e-01 -3.24456902e-04 -1.70881473e+02] [ 5.03968466e-03 -3.23306704e-05 9.99987300e-01 -5.08123271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters 0.04814889182358911 Centerline is valid? [True, True] Translation: X:67.28, Y:-170.36, Z:-3.95 [[-9.92625646e-01 1.20889763e-01 8.94378976e-03 6.72760895e+01] [ 1.20890744e-01 9.92665725e-01 -4.32839691e-04 -1.70356447e+02] [-8.93051943e-03 6.51573620e-04 -9.99959910e-01 -3.94708157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters 0.051086845692189214 Centerline is valid? [True, True] Translation: X:67.23, Y:-170.33, Z:-3.95 [[-9.98387307e-01 5.57112864e-02 1.09104212e-02 6.72259748e+01] [ 5.57173160e-02 9.98446553e-01 2.49231321e-04 -1.70332667e+02] [-1.08795875e-02 8.56728776e-04 -9.99940449e-01 -3.94584238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters 0.05415793947900205 Centerline is valid? [True, True] Translation: X:67.20, Y:-170.84, Z:-5.09 [[-9.99350656e-01 3.24390349e-02 1.56836357e-02 6.72017386e+01] [-3.24494102e-02 -9.99473296e-01 -4.07444197e-04 -1.70838975e+02] [ 1.56621580e-02 -9.16104354e-04 9.99876921e-01 -5.09382320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters 0.051390356954737454 Centerline is valid? [True, True] Translation: X:67.18, Y:-170.33, Z:-3.94 [[-9.98812959e-01 4.57464086e-02 1.67313934e-02 6.71783076e+01] [ 4.57602572e-02 9.98952351e-01 4.45598839e-04 -1.70334344e+02] [-1.66934803e-02 1.21070276e-03 -9.99859921e-01 -3.93728214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters 0.04505287460507296 Centerline is valid? [True, True] Translation: X:67.15, Y:-170.30, Z:-3.94 [[-9.99132957e-01 -3.78423317e-02 1.73577862e-02 6.71522268e+01] [-3.78184479e-02 9.99283177e-01 1.70227617e-03 -1.70300090e+02] [-1.74097618e-02 1.04435569e-03 -9.99847893e-01 -3.93832464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters 0.039731593651297185 Centerline is valid? [True, True] Translation: X:67.17, Y:-170.84, Z:-5.09 [[-9.96674932e-01 8.00000263e-02 1.54620802e-02 6.71738085e+01] [-8.00070577e-02 -9.96794284e-01 1.64281119e-04 -1.70837912e+02] [ 1.54256557e-02 -1.07334067e-03 9.99880441e-01 -5.09057793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters 0.038415897011578035 Centerline is valid? [True, True] Translation: X:67.14, Y:-170.87, Z:-5.09 [[-9.99857740e-01 9.18079209e-03 1.41496931e-02 6.71377703e+01] [-9.19539142e-03 -9.99957254e-01 -9.67062514e-04 -1.70868427e+02] [ 1.41402099e-02 -1.09703691e-03 9.99899421e-01 -5.08953633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters 0.034580692367824545 Centerline is valid? [True, True] Translation: X:67.10, Y:-170.90, Z:-5.09 [[-9.97681443e-01 -6.65612907e-02 1.41892120e-02 6.71033720e+01] [ 6.65389451e-02 -9.97781740e-01 -2.04166498e-03 -1.70900336e+02] [ 1.42936325e-02 -1.09279606e-03 9.99897244e-01 -5.09227234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters 0.03158277172418349 Centerline is valid? [True, True] Translation: X:67.12, Y:-170.33, Z:-3.94 [[-9.97790885e-01 6.46909393e-02 1.51139689e-02 6.71184525e+01] [ 6.46908370e-02 9.97905231e-01 -4.96175379e-04 -1.70334248e+02] [-1.51144067e-02 4.82656031e-04 -9.99885654e-01 -3.93825665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters 0.02968595494757265 Centerline is valid? [True, True] Translation: X:67.07, Y:-170.30, Z:-3.94 [[-9.99830000e-01 -1.10200995e-02 1.47827023e-02 6.70745144e+01] [-1.10129060e-02 9.99939195e-01 5.67936323e-04 -1.70303814e+02] [-1.47880622e-02 4.05039263e-04 -9.99890569e-01 -3.93778020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters 0.02764935246155177 Centerline is valid? [True, True] Translation: X:67.05, Y:-170.89, Z:-5.09 [[-9.99894004e-01 -4.68697144e-03 1.37845626e-02 6.70542806e+01] [ 4.68039106e-03 -9.99988917e-01 -5.09594505e-04 -1.70891675e+02] [ 1.37867983e-02 -4.45023346e-04 9.99904859e-01 -5.09395216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters 0.024189970820993775 Centerline is valid? [True, True] Translation: X:67.02, Y:-170.29, Z:-3.94 [[-9.99823949e-01 -1.51559748e-02 1.10619804e-02 6.70244131e+01] [-1.51517289e-02 9.99885097e-01 4.67544895e-04 -1.70294003e+02] [-1.10677954e-02 2.99854455e-04 -9.99938705e-01 -3.94478345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters 0.029488533122267006 Centerline is valid? [True, True] Translation: X:67.01, Y:-170.90, Z:-5.09 [[-9.99948077e-01 1.32721975e-03 1.01035399e-02 6.70097900e+01] [-1.33054823e-03 -9.99999063e-01 -3.22722415e-04 -1.70896756e+02] [ 1.01031021e-02 -3.36148905e-04 9.99948906e-01 -5.09306431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters 0.02933527416361808 Centerline is valid? [True, True] Translation: X:66.97, Y:-170.93, Z:-5.09 [[-9.97765776e-01 -6.64117379e-02 7.27585129e-03 6.69672150e+01] [ 6.64067284e-02 -9.97792205e-01 -9.28206782e-04 -1.70925394e+02] [ 7.32143153e-03 -4.42967479e-04 9.99973100e-01 -5.09121772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters 0.02357680325652437 Centerline is valid? [True, True] Translation: X:66.98, Y:-170.31, Z:-3.95 [[-9.98760693e-01 4.96864125e-02 2.88756706e-03 6.69760546e+01] [ 4.96864525e-02 9.98764864e-01 -5.79281816e-05 -1.70312596e+02] [-2.88687877e-03 8.56165729e-05 -9.99995829e-01 -3.94742576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters 0.023689789708539157 Centerline is valid? [True, True] Translation: X:66.92, Y:-170.94, Z:-5.08 [[-9.98208266e-01 -5.97899775e-02 -2.32731108e-03 6.69186238e+01] [ 5.97904415e-02 -9.98210943e-01 -1.30236823e-04 -1.70938387e+02] [-2.31536053e-03 -2.69154431e-04 9.99997283e-01 -5.08240807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters 0.023639052050262906 Centerline is valid? [True, True] Translation: X:66.92, Y:-170.31, Z:-3.95 [[-9.98889323e-01 4.68868166e-02 -4.66346621e-03 6.69195070e+01] [ 4.68869086e-02 9.98900200e-01 8.96658227e-05 -1.70310563e+02] [ 4.66254147e-03 -1.29089281e-04 -9.99989122e-01 -3.95147875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters 0.022019994512412763 Centerline is valid? [True, True] Translation: X:66.88, Y:-170.28, Z:-3.95 [[-9.99548436e-01 -2.92834263e-02 -6.73828518e-03 6.68770414e+01] [-2.92817106e-02 9.99571136e-01 -3.53153790e-04 -1.70284950e+02] [ 6.74573693e-03 -1.55685801e-04 -9.99977235e-01 -3.94786968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters 0.020822321575255886 Centerline is valid? [True, True] Translation: X:66.87, Y:-170.92, Z:-5.09 [[-9.99970751e-01 6.02587788e-03 -4.71015435e-03 6.68725675e+01] [-6.02696717e-03 -9.99981814e-01 2.17104696e-04 -1.70917526e+02] [-4.70876044e-03 2.45486291e-04 9.99988884e-01 -5.08824179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters 0.01947472236453252 Centerline is valid? [True, True] Translation: X:66.83, Y:-170.29, Z:-3.94 [[-9.99154653e-01 -4.09278564e-02 -3.85877975e-03 6.68330713e+01] [-4.09273327e-02 9.99162103e-01 -2.14615431e-04 -1.70285075e+02] [ 3.86433023e-03 -5.65044436e-05 -9.99992532e-01 -3.94112293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters 0.019523667190961224 Centerline is valid? [True, True] Translation: X:66.78, Y:-170.27, Z:-3.94 [[-9.93728734e-01 -1.11737175e-01 -4.24338054e-03 6.67822364e+01] [-1.11735884e-01 9.93737792e-01 -5.40911282e-04 -1.70265382e+02] [ 4.27724751e-03 -6.33812083e-05 -9.99990851e-01 -3.93991822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters 0.019849804315053135 Centerline is valid? [True, True] Translation: X:66.80, Y:-170.90, Z:-5.09 [[-9.97026229e-01 7.69801236e-02 -3.57206976e-03 6.68022687e+01] [-7.69799743e-02 -9.97032623e-01 -1.79480984e-04 -1.70895649e+02] [-3.57528655e-03 9.60305899e-05 9.99993604e-01 -5.09487808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters 0.018813280569786435 Centerline is valid? [True, True] Translation: X:66.73, Y:-170.27, Z:-3.94 [[-9.93319440e-01 -1.15350461e-01 -3.28041799e-03 6.67335760e+01] [-1.15349671e-01 9.93324856e-01 -4.29630238e-04 -1.70272520e+02] [ 3.30807877e-03 -4.83649317e-05 -9.99994527e-01 -3.93575051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters 0.017801253360171618 Centerline is valid? [True, True] Translation: X:66.78, Y:-170.91, Z:-5.10 [[-9.97089234e-01 7.61855562e-02 -2.96985725e-03 6.67765411e+01] [-7.61854143e-02 -9.97093655e-01 -1.61058398e-04 -1.70907119e+02] [-2.97349614e-03 6.56702097e-05 9.99995577e-01 -5.09835596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters 0.0174189765739669 Centerline is valid? [True, True] Translation: X:66.74, Y:-170.94, Z:-5.10 [[-9.99966963e-01 7.62794146e-03 -2.80849258e-03 6.67386115e+01] [-7.62812070e-03 -9.99970904e-01 5.31112999e-05 -1.70938446e+02] [-2.80800574e-03 7.45330656e-05 9.99996055e-01 -5.09855457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters 0.018038469343296663 Centerline is valid? [True, True] Translation: X:66.69, Y:-170.30, Z:-3.93 [[-9.98429494e-01 -5.58923968e-02 -3.81909208e-03 6.66897608e+01] [-5.58918282e-02 9.98436797e-01 -2.55527788e-04 -1.70302900e+02] [ 3.82740413e-03 -4.16704414e-05 -9.99992675e-01 -3.93491670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters 0.019354268295601856 Centerline is valid? [True, True] Translation: X:66.64, Y:-170.28, Z:-3.94 [[-9.92435462e-01 -1.22654419e-01 -5.26756879e-03 6.66359669e+01] [-1.22652257e-01 9.92449438e-01 -7.32736985e-04 -1.70284973e+02] [ 5.31766911e-03 -8.11149667e-05 -9.99985858e-01 -3.93633145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters 0.019110006764931343 Centerline is valid? [True, True] Translation: X:66.59, Y:-170.27, Z:-3.94 [[-9.81221389e-01 -1.92721689e-01 -7.93328069e-03 6.65850185e+01] [-1.92714343e-01 9.81253451e-01 -1.68746152e-03 -1.70265154e+02] [ 8.10976949e-03 -1.26916356e-04 -9.99967107e-01 -3.93744425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters 0.018557979549674957 Centerline is valid? [True, True] Translation: X:66.53, Y:-170.25, Z:-3.94 [[-9.64404805e-01 -2.64253692e-01 -9.66219245e-03 6.65319565e+01] [-2.64239044e-01 9.64453197e-01 -2.78548354e-03 -1.70246937e+02] [ 1.00548067e-02 -1.33205217e-04 -9.99949440e-01 -3.93825852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters 0.017244184908428866 Centerline is valid? [True, True] Translation: X:66.48, Y:-170.23, Z:-3.94 [[-9.41526058e-01 -3.36800640e-01 -9.69595638e-03 6.64790123e+01] [-3.36781867e-01 9.41575978e-01 -3.55700648e-03 -1.70229148e+02] [ 1.03274817e-02 -8.35919987e-05 -9.99946667e-01 -3.93852119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters 0.017543990030968484 Centerline is valid? [True, True] Translation: X:66.43, Y:-170.22, Z:-3.94 [[-9.14877072e-01 -4.03626114e-01 -9.26843778e-03 6.64253115e+01] [-4.03604609e-01 9.14924016e-01 -4.16708221e-03 -1.70221790e+02] [ 1.01618595e-02 -7.15837690e-05 -9.99948365e-01 -3.93979876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters 0.017162142289892997 Centerline is valid? [True, True] Translation: X:66.37, Y:-170.22, Z:-3.94 [[-8.82869342e-01 -4.69528176e-01 -9.22049335e-03 6.63709565e+01] [-4.69501997e-01 8.82917488e-01 -4.95832389e-03 -1.70217657e+02] [ 1.04690076e-02 -4.85121059e-05 -9.99945197e-01 -3.93927461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters 0.016910451877404174 Centerline is valid? [True, True] Translation: X:66.65, Y:-170.81, Z:-5.09 [[-9.09967764e-01 4.14562962e-01 -9.80910637e-03 6.66511066e+01] [-4.14539242e-01 -9.10020632e-01 -4.43473253e-03 -1.70811271e+02] [-1.07649650e-02 3.07958713e-05 9.99942056e-01 -5.09396232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters 0.017483900227747293 Centerline is valid? [True, True] Translation: X:66.63, Y:-170.86, Z:-5.09 [[-9.39216720e-01 3.43163918e-01 -1.05108609e-02 6.66343368e+01] [-3.43142442e-01 -9.39275532e-01 -3.83911364e-03 -1.70861160e+02] [-1.11900397e-02 9.62752382e-07 9.99937390e-01 -5.09120530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters 0.018151872971130974 Centerline is valid? [True, True] Translation: X:66.61, Y:-170.90, Z:-5.09 [[-9.61502358e-01 2.74587149e-01 -1.07290303e-02 6.66113449e+01] [-2.74570096e-01 -9.61562217e-01 -3.06022204e-03 -1.70902941e+02] [-1.11569278e-02 3.46017982e-06 9.99937760e-01 -5.09087197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters 0.019312036002162507 Centerline is valid? [True, True] Translation: X:66.58, Y:-170.94, Z:-5.09 [[-9.78644858e-01 2.05283591e-01 -1.06249151e-02 6.65825169e+01] [-2.05271805e-01 -9.78702532e-01 -2.19995045e-03 -1.70943319e+02] [-1.08502451e-02 2.80253024e-05 9.99941134e-01 -5.08884992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters 0.019497694692998058 Centerline is valid? [True, True] Translation: X:66.55, Y:-170.98, Z:-5.09 [[-9.90280365e-01 1.38633580e-01 -1.12040183e-02 6.65486861e+01] [-1.38624598e-01 -9.90343744e-01 -1.57803745e-03 -1.70978985e+02] [-1.13145984e-02 -9.54696871e-06 9.99935988e-01 -5.08674485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters 0.01876027305569214 Centerline is valid? [True, True] Translation: X:66.51, Y:-171.01, Z:-5.08 [[-9.96985260e-01 7.66899266e-02 -1.17917815e-02 6.65053605e+01] [-7.66839840e-02 -9.97054990e-01 -9.55939931e-04 -1.71008201e+02] [-1.18303655e-02 -4.88172370e-05 9.99930018e-01 -5.08336970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters 0.01776961991796638 Centerline is valid? [True, True] Translation: X:66.39, Y:-170.36, Z:-3.95 [[-9.85653718e-01 -1.68414470e-01 -1.11047043e-02 6.63898617e+01] [-1.68404892e-01 9.85716266e-01 -1.79874677e-03 -1.70356530e+02] [ 1.12490226e-02 9.71450790e-05 -9.99936723e-01 -3.94775155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters 0.017796706924995565 Centerline is valid? [True, True] Translation: X:66.45, Y:-171.00, Z:-5.08 [[-9.95865756e-01 9.02539325e-02 -1.02773012e-02 6.64472296e+01] [-9.02487544e-02 -9.95918785e-01 -9.67447576e-04 -1.71002505e+02] [-1.03226733e-02 -3.59342765e-05 9.99946719e-01 -5.08396565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters 0.017850599914014754 Centerline is valid? [True, True] Translation: X:66.34, Y:-170.38, Z:-3.95 [[-9.86553266e-01 -1.63199884e-01 -8.85731621e-03 6.63395200e+01] [-1.63193284e-01 9.86593025e-01 -1.46777783e-03 -1.70377805e+02] [ 8.97810757e-03 -2.58649215e-06 -9.99959696e-01 -3.94909691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters 0.018875160267468837 Centerline is valid? [True, True] Translation: X:66.40, Y:-171.00, Z:-5.08 [[-9.94592642e-01 1.03570875e-01 -7.65178503e-03 6.63959012e+01] [-1.03568393e-01 -9.94622073e-01 -7.20998376e-04 -1.70998752e+02] [-7.68530872e-03 7.53834021e-05 9.99970465e-01 -5.08248113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters 0.019494356124826268 Centerline is valid? [True, True] Translation: X:66.28, Y:-170.40, Z:-3.95 [[-9.87683027e-01 -1.56396182e-01 -4.74056890e-03 6.62847882e+01] [-1.56394130e-01 9.87694402e-01 -8.02926074e-04 -1.70399698e+02] [ 4.80780793e-03 -5.16393069e-05 -9.99988441e-01 -3.94902455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters 0.020295545338500535 Centerline is valid? [True, True] Translation: X:66.23, Y:-170.39, Z:-3.95 [[-9.75176002e-01 -2.21427418e-01 -1.28987150e-03 6.62315015e+01] [-2.21427197e-01 9.75176855e-01 -3.13248827e-04 -1.70386985e+02] [ 1.32721471e-03 -1.98601088e-05 -9.99999119e-01 -3.94782989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters 0.020190044987569225 Centerline is valid? [True, True] Translation: X:66.34, Y:-170.98, Z:-5.08 [[-9.82704669e-01 1.85156632e-01 2.92502008e-03 6.63351042e+01] [-1.85155112e-01 -9.82708995e-01 7.84550957e-04 -1.70983151e+02] [ 3.01970835e-03 2.29399468e-04 9.99995414e-01 -5.08477662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters 0.019618297937617935 Centerline is valid? [True, True] Translation: X:66.30, Y:-171.03, Z:-5.09 [[-9.93749086e-01 1.11303804e-01 8.61493721e-03 6.63041120e+01] [-1.11294799e-01 -9.93786275e-01 1.51914317e-03 -1.71032795e+02] [ 8.73049277e-03 5.50849433e-04 9.99961737e-01 -5.08514073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters 0.0196357901623748 Centerline is valid? [True, True] Translation: X:66.19, Y:-170.40, Z:-3.95 [[-9.85150275e-01 -1.71281987e-01 1.18918927e-02 6.61927314e+01] [-1.71269082e-01 9.85222046e-01 2.10284702e-03 -1.70396077e+02] [-1.20763347e-02 3.49067742e-05 -9.99927078e-01 -3.94758519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters 0.019852524250793136 Centerline is valid? [True, True] Translation: X:66.14, Y:-170.38, Z:-3.95 [[-9.70455378e-01 -2.40994248e-01 1.17529941e-02 6.61354563e+01] [-2.40976182e-01 9.70526543e-01 2.95099057e-03 -1.70376433e+02] [-1.21177645e-02 3.16130133e-05 -9.99926577e-01 -3.94970254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters 0.01975770500169568 Centerline is valid? [True, True] Translation: X:66.08, Y:-170.36, Z:-3.95 [[-9.50658507e-01 -3.10018917e-01 1.16907520e-02 6.60792901e+01] [-3.09995194e-01 9.50730388e-01 3.83524649e-03 -1.70361293e+02] [-1.23037522e-02 2.19327623e-05 -9.99924306e-01 -3.95227439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters 0.02024681470620224 Centerline is valid? [True, True] Translation: X:66.02, Y:-170.35, Z:-3.95 [[-9.26265441e-01 -3.76711474e-01 1.09908312e-02 6.60249067e+01] [-3.76684700e-01 9.26330646e-01 4.49125189e-03 -1.70350983e+02] [-1.18730499e-02 2.00134591e-05 -9.99929513e-01 -3.95238176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters 0.01987840484353609 Centerline is valid? [True, True] Translation: X:65.97, Y:-170.34, Z:-3.96 [[-8.97594325e-01 -4.40705880e-01 1.01368295e-02 6.59707897e+01] [-4.40677430e-01 8.97651562e-01 5.00767887e-03 -1.70342008e+02] [-1.13062544e-02 2.77921671e-05 -9.99936082e-01 -3.95613931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters 0.020015440834908724 Centerline is valid? [True, True] Translation: X:65.91, Y:-170.34, Z:-3.96 [[-8.65322390e-01 -5.01144078e-01 8.47203616e-03 6.59117621e+01] [-5.01119530e-01 8.65363861e-01 4.96041626e-03 -1.70342268e+02] [-9.81727715e-03 4.68564789e-05 -9.99951808e-01 -3.95959061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters 0.019896386063392692 Centerline is valid? [True, True] Translation: X:65.86, Y:-170.34, Z:-3.96 [[-8.27293943e-01 -5.61683179e-01 9.83557135e-03 6.58568865e+01] [-5.61642770e-01 8.27352406e-01 6.73753613e-03 -1.70343667e+02] [-1.19218443e-02 4.98452907e-05 -9.99928931e-01 -3.95908660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters 0.019644903552324622 Centerline is valid? [True, True] Translation: X:65.80, Y:-170.35, Z:-3.96 [[-7.83088825e-01 -6.21826595e-01 1.01772891e-02 6.58017660e+01] [-6.21773998e-01 7.83154956e-01 8.08761871e-03 -1.70347178e+02] [-1.29994908e-02 5.35009631e-06 -9.99915503e-01 -3.96108353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters 0.019904670849248348 Centerline is valid? [True, True] Translation: X:65.75, Y:-170.35, Z:-3.96 [[-7.34082946e-01 -6.79000741e-01 8.95671064e-03 6.57461305e+01] [-6.78951029e-01 7.34137583e-01 8.21643243e-03 -1.70350473e+02] [-1.21544216e-02 -4.96249821e-05 -9.99926131e-01 -3.96253979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters 0.020077721884337298 Centerline is valid? [True, True] Translation: X:65.69, Y:-170.36, Z:-3.97 [[-6.76899278e-01 -7.36058289e-01 5.05597002e-03 6.56922930e+01] [-7.36038905e-01 6.76918152e-01 5.34288000e-03 -1.70356139e+02] [-7.35514899e-03 -1.04799021e-04 -9.99972945e-01 -3.97003864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters 0.020513269358886074 Centerline is valid? [True, True] Translation: X:65.64, Y:-170.37, Z:-3.97 [[-6.21261467e-01 -7.83593910e-01 3.84378565e-03 6.56407842e+01] [-7.83579910e-01 6.21273349e-01 4.68507216e-03 -1.70371631e+02] [-6.05923560e-03 -1.01258410e-04 -9.99981638e-01 -3.97052939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters 0.021427801431879518 Centerline is valid? [True, True] Translation: X:65.59, Y:-170.39, Z:-3.97 [[-5.60089431e-01 -8.28431126e-01 1.30335922e-03 6.55881434e+01] [-8.28429091e-01 5.60090945e-01 1.83669353e-03 -1.70389408e+02] [-2.25157378e-03 -5.10280557e-05 -9.99997464e-01 -3.97384499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters 0.020927697409925138 Centerline is valid? [True, True] Translation: X:65.54, Y:-170.42, Z:-3.97 [[-4.99851636e-01 -8.66110691e-01 7.82938102e-04 6.55385191e+01] [-8.66109738e-01 4.99852248e-01 1.28528670e-03 -1.70415347e+02] [-1.50455392e-03 -3.56576549e-05 -9.99998868e-01 -3.97497246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters 0.0212753865434008 Centerline is valid? [True, True] Translation: X:65.49, Y:-170.45, Z:-3.97 [[-4.39807106e-01 -8.98091362e-01 1.27108329e-03 6.54930984e+01] [-8.98087969e-01 4.39808939e-01 2.46906398e-03 -1.70446045e+02] [-2.77647883e-03 -5.56327301e-05 -9.99996144e-01 -3.97274505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters 0.02093935182951655 Centerline is valid? [True, True] Translation: X:66.11, Y:-170.81, Z:-5.06 [[-5.33910927e-01 8.45538497e-01 1.94219702e-03 6.61135361e+01] [-8.45531908e-01 -5.33914441e-01 3.34095621e-03 -1.70808575e+02] [ 3.86187413e-03 1.41583474e-04 9.99992533e-01 -5.06253748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters 0.020022068756890592 Centerline is valid? [True, True] Translation: X:65.48, Y:-170.49, Z:-3.97 [[-4.35931919e-01 -8.99977687e-01 1.87738016e-03 6.54752870e+01] [-8.99970167e-01 4.35935953e-01 3.68007260e-03 -1.70485505e+02] [-4.13040073e-03 -8.53250304e-05 -9.99991466e-01 -3.97069795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters 0.019981984864299387 Centerline is valid? [True, True] Translation: X:65.43, Y:-170.52, Z:-3.97 [[-3.70600591e-01 -9.28790452e-01 1.87043593e-03 6.54300156e+01] [-9.28779973e-01 3.70605297e-01 4.41317376e-03 -1.70515247e+02] [-4.79210712e-03 -1.01698627e-04 -9.99988513e-01 -3.97027672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters 0.021981567892632562 Centerline is valid? [True, True] Translation: X:66.08, Y:-170.83, Z:-5.06 [[-4.73688112e-01 8.80691301e-01 1.55086133e-03 6.60776473e+01] [-8.80686781e-01 -4.73690650e-01 2.82178757e-03 -1.70834782e+02] [ 3.21975227e-03 -2.91758425e-05 9.99994816e-01 -5.06328279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters 0.022678741330220204 Centerline is valid? [True, True] Translation: X:65.41, Y:-170.55, Z:-3.97 [[-3.60458885e-01 -9.32774918e-01 5.86457178e-04 6.54134964e+01] [-9.32773880e-01 3.60459359e-01 1.39233665e-03 -1.70547381e+02] [-1.51013069e-03 -4.51518197e-05 -9.99998859e-01 -3.97026957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters 0.02408971529136309 Centerline is valid? [True, True] Translation: X:65.37, Y:-170.58, Z:-3.97 [[-2.89265231e-01 -9.57248593e-01 -8.69783090e-04 6.53675397e+01] [-9.57245116e-01 2.89266526e-01 -2.58174269e-03 -1.70584596e+02] [ 2.72296869e-03 8.57872191e-05 -9.99996289e-01 -3.97280006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters 0.02444565130150786 Centerline is valid? [True, True] Translation: X:65.33, Y:-170.61, Z:-3.97 [[-2.18789613e-01 -9.75771653e-01 -8.87384186e-04 6.53267610e+01] [-9.75765695e-01 2.18791380e-01 -3.41197753e-03 -1.70613953e+02] [ 3.52346296e-03 1.19373804e-04 -9.99993786e-01 -3.97366247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters 0.023599974919533768 Centerline is valid? [True, True] Translation: X:66.03, Y:-170.84, Z:-5.06 [[-3.48975262e-01 9.37130243e-01 -1.78163480e-03 6.60267057e+01] [-9.37112478e-01 -3.48979636e-01 -5.78075462e-03 -1.70841800e+02] [-6.03907424e-03 -3.47748149e-04 9.99981704e-01 -5.05937640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters 0.02160703980946192 Centerline is valid? [True, True] Translation: X:65.32, Y:-170.66, Z:-3.98 [[-2.20573371e-01 -9.75368310e-01 -2.01187180e-03 6.53189021e+01] [-9.75336937e-01 2.20582420e-01 -7.82662977e-03 -1.70657416e+02] [ 8.07763021e-03 2.35906763e-04 -9.99967348e-01 -3.97672844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters 0.022066166839313523 Centerline is valid? [True, True] Translation: X:66.02, Y:-170.89, Z:-5.06 [[-3.39434354e-01 9.40623937e-01 -3.30585124e-03 6.60153372e+01] [-9.40564335e-01 -3.39450100e-01 -1.06000391e-02 -1.70886938e+02] [-1.10928221e-02 -4.88651657e-04 9.99938353e-01 -5.05544890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters 0.020945508295131247 Centerline is valid? [True, True] Translation: X:65.31, Y:-170.70, Z:-3.98 [[-2.22208298e-01 -9.74994883e-01 -2.90706689e-03 6.53081255e+01] [-9.74927509e-01 2.22227129e-01 -1.14653882e-02 -1.70704511e+02] [ 1.18247239e-02 2.86475083e-04 -9.99930045e-01 -3.97865846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters 0.0195223691694409 Centerline is valid? [True, True] Translation: X:65.27, Y:-170.75, Z:-3.98 [[-1.55206910e-01 -9.87879105e-01 -2.38523947e-03 6.52746396e+01] [-9.87789786e-01 1.55224960e-01 -1.32872611e-02 -1.70747705e+02] [ 1.34964563e-02 2.93840450e-04 -9.99908876e-01 -3.97813144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters 0.02135907038891337 Centerline is valid? [True, True] Translation: X:65.24, Y:-170.79, Z:-3.98 [[-8.27556094e-02 -9.96568761e-01 -1.48768572e-03 6.52414009e+01] [-9.96472425e-01 8.27683007e-02 -1.38605251e-02 -1.70791344e+02] [ 1.39360996e-02 3.35401597e-04 -9.99902832e-01 -3.97533830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters 0.022146071562321307 Centerline is valid? [True, True] Translation: X:65.96, Y:-170.90, Z:-5.05 [[-2.01148436e-01 9.79556971e-01 -2.72882062e-03 6.59587809e+01] [-9.79428615e-01 -2.01166277e-01 -1.58656152e-02 -1.70903192e+02] [-1.60902206e-02 -5.18658686e-04 9.99870410e-01 -5.05481399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters 0.02279925283443047 Centerline is valid? [True, True] Translation: X:65.24, Y:-170.82, Z:-3.98 [[-7.09137567e-02 -9.97480833e-01 -1.79631377e-03 6.52354346e+01] [-9.97331055e-01 7.09342533e-02 -1.72944819e-02 -1.70819350e+02] [ 1.73783344e-02 5.65102821e-04 -9.99848826e-01 -3.97873005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters 0.024564561178544043 Centerline is valid? [True, True] Translation: X:65.96, Y:-170.94, Z:-5.05 [[-2.03318188e-01 9.79108240e-01 -2.96138593e-03 6.59589993e+01] [-9.78961426e-01 -2.03339009e-01 -1.69639022e-02 -1.70938856e+02] [-1.72116617e-02 -5.49987250e-04 9.99851717e-01 -5.05432750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters 0.023009150617926633 Centerline is valid? [True, True] Translation: X:65.98, Y:-170.98, Z:-5.06 [[-2.69186769e-01 9.63080340e-01 -3.83952730e-03 6.59757183e+01] [-9.62959166e-01 -2.69213828e-01 -1.52826866e-02 -1.70982902e+02] [-1.57521088e-02 -4.16589019e-04 9.99875841e-01 -5.05779542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters 0.023825332193353317 Centerline is valid? [True, True] Translation: X:65.99, Y:-171.03, Z:-5.06 [[-3.33539242e-01 9.42726788e-01 -4.21627703e-03 6.59916246e+01] [-9.42644637e-01 -3.33565843e-01 -1.24465874e-02 -1.71029179e+02] [-1.31401373e-02 -1.76974389e-04 9.99913649e-01 -5.06057637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters 0.025103731800242144 Centerline is valid? [True, True] Translation: X:65.29, Y:-170.86, Z:-3.97 [[-1.96271864e-01 -9.80545521e-01 -2.79926200e-03 6.52941507e+01] [-9.80475547e-01 1.96291323e-01 -1.17225491e-02 -1.70859568e+02] [ 1.20439638e-02 4.43801386e-04 -9.99927370e-01 -3.97132628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters 0.024920235163007197 Centerline is valid? [True, True] Translation: X:65.98, Y:-171.07, Z:-5.06 [[-3.32340534e-01 9.43151826e-01 -3.79501971e-03 6.59798948e+01] [-9.43071128e-01 -3.32361786e-01 -1.23486865e-02 -1.71068037e+02] [-1.29080057e-02 -5.24995534e-04 9.99916550e-01 -5.06141796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters 0.024471135426842615 Centerline is valid? [True, True] Translation: X:65.29, Y:-170.91, Z:-3.97 [[-1.96132257e-01 -9.80572575e-01 -3.09229982e-03 6.52910810e+01] [-9.80484490e-01 1.96156110e-01 -1.31508623e-02 -1.70906820e+02] [ 1.35019484e-02 4.52643721e-04 -9.99908742e-01 -3.97288812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters 0.02429044242647632 Centerline is valid? [True, True] Translation: X:65.26, Y:-170.95, Z:-3.97 [[-1.29436591e-01 -9.91585165e-01 -2.24267073e-03 6.52561799e+01] [-9.91488143e-01 1.29455312e-01 -1.38774975e-02 -1.70953476e+02] [ 1.40510463e-02 4.27325474e-04 -9.99901188e-01 -3.97422004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters 0.022284002625477053 Centerline is valid? [True, True] Translation: X:65.23, Y:-171.00, Z:-3.97 [[-6.58190488e-02 -9.97830747e-01 -1.28550679e-03 6.52306209e+01] [-9.97727871e-01 6.58307270e-02 -1.43321386e-02 -1.71001623e+02] [ 1.43856744e-02 3.39258226e-04 -9.99896463e-01 -3.97391221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters 0.021081557746376895 Centerline is valid? [True, True] Translation: X:65.90, Y:-171.11, Z:-5.06 [[-1.73119890e-01 9.84898416e-01 -2.14814151e-03 6.59005479e+01] [-9.84796916e-01 -1.73132897e-01 -1.41433811e-02 -1.71106086e+02] [-1.43017076e-02 -3.33017443e-04 9.99897670e-01 -5.05909884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters 0.019346705112888957 Centerline is valid? [True, True] Translation: X:65.24, Y:-171.06, Z:-3.97 [[-8.11392383e-02 -9.96702210e-01 -1.06199440e-03 6.52438328e+01] [-9.96626122e-01 8.11461664e-02 -1.23155761e-02 -1.71056354e+02] [ 1.23611387e-02 5.91348921e-05 -9.99923597e-01 -3.97188215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters 0.019590754886038734 Centerline is valid? [True, True] Translation: X:65.22, Y:-171.11, Z:-3.97 [[-1.64012483e-02 -9.99865475e-01 -1.76574607e-04 6.52209253e+01] [-9.99798034e-01 1.64021928e-02 -1.16129034e-02 -1.71105582e+02] [ 1.16142374e-02 -1.39271666e-05 -9.99932552e-01 -3.96919828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters 0.02081455544675112 Centerline is valid? [True, True] Translation: X:65.85, Y:-171.16, Z:-5.07 [[-7.57698485e-02 9.97125012e-01 -8.00545250e-04 6.58502491e+01] [-9.97078063e-01 -7.57740495e-02 -9.67627903e-03 -1.71159163e+02] [-9.70912040e-03 6.50359115e-05 9.99952863e-01 -5.06503223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters 0.020573420826434263 Centerline is valid? [True, True] Translation: X:65.23, Y:-171.16, Z:-3.96 [[-2.10519996e-02 -9.99778379e-01 -7.64239956e-05 6.52264585e+01] [-9.99756806e-01 2.10520474e-02 -6.56812597e-03 -1.71159189e+02] [ 6.56827921e-03 -6.18667753e-05 -9.99978427e-01 -3.96496830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters 0.02079765450088571 Centerline is valid? [True, True] Translation: X:65.20, Y:-171.20, Z:-3.96 [[ 4.97561736e-02 -9.98761337e-01 3.39347612e-04 6.52027259e+01] [-9.98744936e-01 -4.97573014e-02 -5.72392160e-03 -1.71201642e+02] [ 5.73371661e-03 -5.41212720e-05 -9.99983561e-01 -3.96450896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters 0.02098257325825417 Centerline is valid? [True, True] Translation: X:65.82, Y:-171.20, Z:-5.07 [[-1.89153053e-03 9.99998210e-01 -5.26611237e-05 6.58240755e+01] [-9.99977682e-01 -1.89182913e-03 -6.40750233e-03 -1.71198983e+02] [-6.40759048e-03 4.05399621e-05 9.99979470e-01 -5.06624281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters 0.020025775487869626 Centerline is valid? [True, True] Translation: X:65.86, Y:-171.23, Z:-5.07 [[-7.50824252e-02 9.97177223e-01 -4.64531951e-04 6.58613532e+01] [-9.97171916e-01 -7.50835446e-02 -3.26069340e-03 -1.71233962e+02] [-3.28636789e-03 2.18397447e-04 9.99994576e-01 -5.06628056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters 0.020263502703717913 Centerline is valid? [True, True] Translation: X:65.22, Y:-171.22, Z:-3.96 [[ 7.72618728e-03 -9.99970153e-01 1.17774094e-05 6.52161152e+01] [-9.99968812e-01 -7.72615764e-03 1.63754016e-03 -1.71222430e+02] [-1.63740029e-03 -2.44289841e-05 -9.99998659e-01 -3.96067940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters 0.02379476747228824 Centerline is valid? [True, True] Translation: X:65.18, Y:-171.27, Z:-3.96 [[ 8.61657140e-02 -9.96280787e-01 -2.51200749e-04 6.51845300e+01] [-9.96273268e-01 -8.61660398e-02 3.87170352e-03 -1.71265014e+02] [-3.87894881e-03 -8.33435076e-05 -9.99992473e-01 -3.95772964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters 0.023431592972314376 Centerline is valid? [True, True] Translation: X:65.86, Y:-171.26, Z:-5.07 [[-2.70339593e-02 9.99634516e-01 8.62263677e-06 6.58564112e+01] [-9.99628444e-01 -2.70338252e-02 3.48528572e-03 -1.71257455e+02] [ 3.48424501e-03 8.56016394e-05 9.99993926e-01 -5.06883271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters 0.023664407084298556 Centerline is valid? [True, True] Translation: X:65.89, Y:-171.29, Z:-5.07 [[-9.81505726e-02 9.95171541e-01 2.64702601e-04 6.58884145e+01] [-9.95162909e-01 -9.81508244e-02 4.14725430e-03 -1.71292552e+02] [ 4.15321023e-03 1.43633174e-04 9.99991365e-01 -5.06784348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters 0.024988014746074465 Centerline is valid? [True, True] Translation: X:65.20, Y:-171.29, Z:-3.96 [[ 3.71480833e-02 -9.99309772e-01 -3.60590888e-06 6.52040110e+01] [-9.99302083e-01 -3.71478116e-02 3.92269540e-03 -1.71291094e+02] [-3.92012180e-03 -1.42117223e-04 -9.99992306e-01 -3.96355811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters 0.025029300939022992 Centerline is valid? [True, True] Translation: X:65.90, Y:-171.33, Z:-5.07 [[-9.91474849e-02 9.95072720e-01 2.41821678e-04 6.58956347e+01] [-9.95067318e-01 -9.91477438e-02 3.27986581e-03 -1.71330422e+02] [ 3.28768107e-03 8.45615975e-05 9.99994592e-01 -5.06533967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters 0.02421665244617979 Centerline is valid? [True, True] Translation: X:65.20, Y:-171.33, Z:-3.97 [[ 3.63958518e-02 -9.99337451e-01 -1.81890856e-05 6.51992692e+01] [-9.99328977e-01 -3.63956181e-02 4.11762234e-03 -1.71334216e+02] [-4.11555622e-03 -1.31687492e-04 -9.99991522e-01 -3.96911442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters 0.023957017984035822 Centerline is valid? [True, True] Translation: X:65.90, Y:-171.38, Z:-5.06 [[-9.07656860e-02 9.95872248e-01 2.35208233e-04 6.58978366e+01] [-9.95868486e-01 -9.07659897e-02 2.73765735e-03 -1.71375766e+02] [ 2.74770589e-03 1.42488806e-05 9.99996225e-01 -5.06224366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters 0.023921485739990384 Centerline is valid? [True, True] Translation: X:65.20, Y:-171.38, Z:-3.97 [[ 3.64829564e-02 -9.99334275e-01 -9.44703939e-06 6.51990454e+01] [-9.99333223e-01 -3.64829317e-02 1.45110500e-03 -1.71378060e+02] [-1.45048362e-03 -4.34998601e-05 -9.99998947e-01 -3.97209378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters 0.023522334076089044 Centerline is valid? [True, True] Translation: X:65.91, Y:-171.42, Z:-5.06 [[-8.34932281e-02 9.96508342e-01 7.23890402e-05 6.59051717e+01] [-9.96507635e-01 -8.34930817e-02 -1.19957594e-03 -1.71418389e+02] [-1.18934345e-03 -1.72292699e-04 9.99999278e-01 -5.05694560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters 0.022826523129224008 Centerline is valid? [True, True] Translation: X:65.20, Y:-171.43, Z:-3.98 [[ 3.48647572e-02 -9.99392039e-01 3.62933024e-05 6.51990942e+01] [-9.99388086e-01 -3.48647214e-02 -2.81161582e-03 -1.71426345e+02] [ 2.81117182e-03 6.17552089e-05 -9.99996047e-01 -3.97594308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters 0.021135207787492467 Centerline is valid? [True, True] Translation: X:65.17, Y:-171.48, Z:-3.98 [[ 1.00459394e-01 -9.94941107e-01 3.21890260e-04 6.51744430e+01] [-9.94933666e-01 -1.00459887e-01 -3.84861206e-03 -1.71479683e+02] [ 3.86147940e-03 6.63697775e-05 -9.99992542e-01 -3.97942174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters 0.02109031854760749 Centerline is valid? [True, True] Translation: X:65.15, Y:-171.53, Z:-3.98 [[ 1.66424905e-01 -9.86053859e-01 7.33708645e-04 6.51540129e+01] [-9.86042546e-01 -1.66426511e-01 -4.72382259e-03 -1.71532925e+02] [ 4.78005206e-03 6.26937877e-05 -9.99988574e-01 -3.98102372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters 0.020198178037036715 Centerline is valid? [True, True] Translation: X:65.85, Y:-171.47, Z:-5.05 [[ 7.67287870e-02 9.97051948e-01 3.25132140e-04 6.58488594e+01] [-9.97044925e-01 7.67294669e-02 -3.74245218e-03 -1.71470434e+02] [-3.75636645e-03 -3.70175338e-05 9.99992944e-01 -5.05456932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters 0.02048096909700377 Centerline is valid? [True, True] Translation: X:65.17, Y:-171.58, Z:-3.97 [[ 1.67993194e-01 -9.85788134e-01 2.03971216e-04 6.51702198e+01] [-9.85787312e-01 -1.67993318e-01 -1.27334997e-03 -1.71575722e+02] [ 1.28951909e-03 1.28418929e-05 -9.99999169e-01 -3.97313579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters 0.020523227795004408 Centerline is valid? [True, True] Translation: X:65.86, Y:-171.51, Z:-5.06 [[ 7.43646990e-02 9.97231107e-01 1.03639748e-04 6.58565233e+01] [-9.97230462e-01 7.43647688e-02 -1.13461055e-03 -1.71511583e+02] [-1.13917608e-03 -1.89777417e-05 9.99999351e-01 -5.05869641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters 0.02216719628989002 Centerline is valid? [True, True] Translation: X:65.89, Y:-171.54, Z:-5.06 [[-9.97217836e-04 9.99999487e-01 1.76304315e-04 6.58928680e+01] [-9.99994605e-01 -9.96661153e-04 -3.12989872e-03 -1.71536970e+02] [-3.12972140e-03 -1.79424554e-04 9.99995086e-01 -5.05768517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters 0.022397567651428613 Centerline is valid? [True, True] Translation: X:65.92, Y:-171.58, Z:-5.06 [[-7.27227174e-02 9.97352196e-01 -5.22792970e-05 6.59235830e+01] [-9.97348192e-01 -7.27225737e-02 -2.83051802e-03 -1.71576906e+02] [-2.82682525e-03 -1.53702300e-04 9.99995993e-01 -5.05781961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters 0.023156449862189222 Centerline is valid? [True, True] Translation: X:65.95, Y:-171.62, Z:-5.06 [[-1.42944058e-01 9.89730734e-01 -2.65691046e-04 6.59526995e+01] [-9.89725997e-01 -1.42944197e-01 -3.06708763e-03 -1.71618736e+02] [-3.07356988e-03 -1.75460616e-04 9.99995261e-01 -5.05726609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters 0.024478540384783747 Centerline is valid? [True, True] Translation: X:65.24, Y:-171.58, Z:-3.97 [[-8.62454267e-03 -9.99962802e-01 -1.05920350e-04 6.52447962e+01] [-9.99959475e-01 8.62478737e-03 -2.58114204e-03 -1.71582231e+02] [ 2.58195957e-03 8.36548881e-05 -9.99996663e-01 -3.97340211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters 0.023070914778796088 Centerline is valid? [True, True] Translation: X:65.22, Y:-171.63, Z:-3.97 [[ 6.00530242e-02 -9.98195189e-01 3.99621009e-06 6.52222941e+01] [-9.98195184e-01 -6.00530243e-02 -9.82869271e-05 -1.71634469e+02] [ 9.83495215e-05 1.91342953e-06 -9.99999995e-01 -3.96946661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters 0.022367094053682698 Centerline is valid? [True, True] Translation: X:65.92, Y:-171.66, Z:-5.06 [[-6.76107194e-02 9.97711777e-01 2.26061524e-05 6.59198493e+01] [-9.97711615e-01 -6.76107213e-02 5.69497133e-04 -1.71657693e+02] [ 5.69722416e-04 1.59496901e-05 9.99999838e-01 -5.06472677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters 0.024487208952159625 Centerline is valid? [True, True] Translation: X:65.22, Y:-171.68, Z:-3.97 [[ 6.51187044e-02 -9.97877525e-01 7.83898300e-07 6.52215424e+01] [-9.97877525e-01 -6.51187044e-02 1.00654105e-05 -1.71684265e+02] [-9.99300124e-06 -1.43768100e-06 -1.00000000e+00 -3.96876942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters 0.02392253625344795 Centerline is valid? [True, True] Translation: X:65.93, Y:-171.69, Z:-5.06 [[-6.74479433e-02 9.97722795e-01 -5.17553306e-06 6.59279183e+01] [-9.97722773e-01 -6.74479408e-02 2.07040712e-04 -1.71691403e+02] [ 2.06220159e-04 1.91282174e-05 9.99999979e-01 -5.06398585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters 0.024663468901895653 Centerline is valid? [True, True] Translation: X:65.96, Y:-171.73, Z:-5.07 [[-1.34272971e-01 9.90944378e-01 9.02829583e-05 6.59554304e+01] [-9.90942337e-01 -1.34272878e-01 2.01944943e-03 -1.71732679e+02] [ 2.01328462e-03 1.81692269e-04 9.99997957e-01 -5.06674781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters 0.02278860842637773 Centerline is valid? [True, True] Translation: X:65.25, Y:-171.71, Z:-3.97 [[-1.63040503e-03 -9.99998669e-01 5.97697428e-05 6.52545882e+01] [-9.99996928e-01 1.63051379e-03 1.86710705e-03 -1.71713699e+02] [-1.86720202e-03 -5.67254185e-05 -9.99998255e-01 -3.96612653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters 0.021967481549985315 Centerline is valid? [True, True] Translation: X:65.95, Y:-171.78, Z:-5.07 [[-1.24362121e-01 9.92236889e-01 1.36329786e-04 6.59512801e+01] [-9.92236474e-01 -1.24362193e-01 9.08038416e-04 -1.71779429e+02] [ 9.17943485e-04 -2.23458028e-05 9.99999579e-01 -5.06565251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters 0.021933505959676608 Centerline is valid? [True, True] Translation: X:65.25, Y:-171.76, Z:-3.97 [[-3.88332688e-03 -9.99992456e-01 -9.21793179e-05 6.52539617e+01] [-9.99986703e-01 3.88361730e-03 -3.39292223e-03 -1.71758522e+02] [ 3.39325462e-03 7.90022660e-05 -9.99994240e-01 -3.97054864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters 0.020956283606011414 Centerline is valid? [True, True] Translation: X:65.95, Y:-171.82, Z:-5.06 [[-1.16359146e-01 9.93207137e-01 -3.62574043e-04 6.59507521e+01] [-9.93196528e-01 -1.16359580e-01 -4.59400925e-03 -1.71816850e+02] [-4.60499174e-03 -1.74447714e-04 9.99989382e-01 -5.06072461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters 0.01863840260657863 Centerline is valid? [True, True] Translation: X:65.97, Y:-171.87, Z:-5.06 [[-1.71501769e-01 9.85183312e-01 -9.92364417e-04 6.59710504e+01] [-9.85150106e-01 -1.71504146e-01 -8.09921344e-03 -1.71872177e+02] [-8.14940454e-03 -4.11401519e-04 9.99966709e-01 -5.05750152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters 0.018856402630887975 Centerline is valid? [True, True] Translation: X:65.29, Y:-171.81, Z:-3.97 [[-8.56664884e-02 -9.96323805e-01 -3.57138816e-04 6.52904335e+01] [-9.96316220e-01 8.56672298e-02 -3.88779266e-03 -1.71810356e+02] [ 3.90409547e-03 2.27696502e-05 -9.99992379e-01 -3.96834246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters 0.01925307124085604 Centerline is valid? [True, True] Translation: X:65.27, Y:-171.86, Z:-3.96 [[-1.42485860e-02 -9.99898483e-01 -3.90422251e-05 6.52656145e+01] [-9.99896742e-01 1.42486341e-02 -1.86605915e-03 -1.71856646e+02] [ 1.86642601e-03 1.24494893e-05 -9.99998258e-01 -3.96312717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters 0.01846772624329215 Centerline is valid? [True, True] Translation: X:65.93, Y:-171.91, Z:-5.07 [[-9.75133528e-02 9.95234200e-01 -1.83033375e-04 6.59345514e+01] [-9.95231557e-01 -9.75135158e-02 -2.29418325e-03 -1.71906264e+02] [-2.30109785e-03 -4.15529091e-05 9.99997352e-01 -5.06812046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters 0.01960630137698209 Centerline is valid? [True, True] Translation: X:65.96, Y:-171.95, Z:-5.07 [[-1.67367524e-01 9.85894492e-01 -4.02603679e-04 6.59617376e+01] [-9.85890323e-01 -1.67367988e-01 -2.86858481e-03 -1.71948388e+02] [-2.89550493e-03 -8.31848659e-05 9.99995805e-01 -5.06599050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters 0.01940419990894746 Centerline is valid? [True, True] Translation: X:65.29, Y:-171.89, Z:-3.97 [[-6.99544300e-02 -9.97550161e-01 -2.32138650e-04 6.52908502e+01] [-9.97546423e-01 6.99548034e-02 -2.73114123e-03 -1.71887068e+02] [ 2.74068959e-03 4.05136515e-05 -9.99996244e-01 -3.96566643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters 0.020553070836963602 Centerline is valid? [True, True] Translation: X:65.96, Y:-171.99, Z:-5.07 [[-1.66053308e-01 9.86116690e-01 -4.15653846e-04 6.59582957e+01] [-9.86112954e-01 -1.66053823e-01 -2.71465860e-03 -1.71985641e+02] [-2.74599107e-03 -4.08963990e-05 9.99996229e-01 -5.06762537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters 0.019692961008370532 Centerline is valid? [True, True] Translation: X:65.98, Y:-172.03, Z:-5.06 [[-2.32074140e-01 9.72697475e-01 -1.10227105e-03 6.59787380e+01] [-9.72680408e-01 -2.32076605e-01 -5.76828770e-03 -1.72028064e+02] [-5.86661020e-03 -2.66512957e-04 9.99982756e-01 -5.06431543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters 0.01935153284390299 Centerline is valid? [True, True] Translation: X:66.00, Y:-172.07, Z:-5.06 [[-2.95691276e-01 9.55280652e-01 -2.35489399e-03 6.59987652e+01] [-9.55234251e-01 -2.95700162e-01 -9.43076418e-03 -1.72071143e+02] [-9.70536909e-03 -5.39119302e-04 9.99952757e-01 -5.05924223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters 0.01951061439477997 Centerline is valid? [True, True] Translation: X:65.35, Y:-171.93, Z:-3.98 [[-2.02172551e-01 -9.79345477e-01 -2.94893558e-03 6.53452964e+01] [-9.79253249e-01 2.02193985e-01 -1.34412645e-02 -1.71929511e+02] [ 1.37598987e-02 1.70300006e-04 -9.99905314e-01 -3.97670802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters 0.01957804717449087 Centerline is valid? [True, True] Translation: X:65.31, Y:-171.97, Z:-3.98 [[-1.36497109e-01 -9.90638131e-01 -2.15254987e-03 6.53146446e+01] [-9.90528801e-01 1.36514025e-01 -1.47178381e-02 -1.71972749e+02] [ 1.48739049e-02 1.23220294e-04 -9.99889370e-01 -3.97571378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters 0.01960658163335209 Centerline is valid? [True, True] Translation: X:65.29, Y:-172.02, Z:-3.98 [[-7.07745695e-02 -9.97491731e-01 -1.09856257e-03 6.52854788e+01] [-9.97382936e-01 7.07830751e-02 -1.47321369e-02 -1.72022685e+02] [ 1.47729444e-02 5.30269111e-05 -9.99890873e-01 -3.97562817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters 0.020423188680035523 Centerline is valid? [True, True] Translation: X:65.93, Y:-172.11, Z:-5.06 [[-1.37188783e-01 9.90543033e-01 -1.93322078e-03 6.59254568e+01] [-9.90441921e-01 -1.37202401e-01 -1.41528375e-02 -1.72114914e+02] [-1.42842371e-02 -2.68676500e-05 9.99897975e-01 -5.05771168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters 0.020681267753993062 Centerline is valid? [True, True] Translation: X:65.94, Y:-172.16, Z:-5.06 [[-2.00568757e-01 9.79676063e-01 -2.64307636e-03 6.59439456e+01] [-9.79593546e-01 -2.00586168e-01 -1.27150987e-02 -1.72156956e+02] [-1.29868423e-02 3.88890064e-05 9.99915667e-01 -5.05849021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters 0.021182329513029768 Centerline is valid? [True, True] Translation: X:65.96, Y:-172.20, Z:-5.06 [[-2.67565082e-01 9.63534626e-01 -3.15469759e-03 6.59624831e+01] [-9.63473075e-01 -2.67583649e-01 -1.08915340e-02 -1.72198360e+02] [-1.13385157e-02 1.25271991e-04 9.99935709e-01 -5.06185942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters 0.020839673759950782 Centerline is valid? [True, True] Translation: X:65.34, Y:-172.07, Z:-3.97 [[-2.03183542e-01 -9.79138290e-01 -2.15814768e-03 6.53437638e+01] [-9.79083681e-01 2.03195003e-01 -1.03410332e-02 -1.72068483e+02] [ 1.05638264e-02 1.18794342e-05 -9.99944201e-01 -3.97072251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters 0.02407026765776089 Centerline is valid? [True, True] Translation: X:65.28, Y:-172.09, Z:-3.97 [[-1.10745671e-01 -9.93848170e-01 -1.10068847e-03 6.52825599e+01] [-9.93815168e-01 1.10750966e-01 -8.10155978e-03 -1.72087526e+02] [ 8.17362267e-03 1.96668219e-04 -9.99966576e-01 -3.96883441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters 0.02555829099067751 Centerline is valid? [True, True] Translation: X:65.25, Y:-172.13, Z:-3.97 [[-3.00666909e-02 -9.99547614e-01 -7.48914125e-04 6.52466631e+01] [-9.99479730e-01 3.00733822e-02 -1.16559407e-02 -1.72127040e+02] [ 1.16731901e-02 3.98068921e-04 -9.99931787e-01 -3.96708788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters 0.02729706094705214 Centerline is valid? [True, True] Translation: X:65.21, Y:-172.17, Z:-3.97 [[ 4.49076524e-02 -9.98991138e-01 9.17200688e-05 6.52144922e+01] [-9.98896300e-01 -4.49046539e-02 -1.37751275e-02 -1.72170404e+02] [ 1.37653490e-02 5.26989800e-04 -9.99905114e-01 -3.96784711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters 0.02676147486908653 Centerline is valid? [True, True] Translation: X:65.19, Y:-172.22, Z:-3.97 [[ 1.13905085e-01 -9.93490988e-01 1.13551084e-03 6.51882990e+01] [-9.93383464e-01 -1.13909474e-01 -1.46261975e-02 -1.72219596e+02] [ 1.46603408e-02 5.38000572e-04 -9.99892387e-01 -3.96635477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters 0.025282819883005816 Centerline is valid? [True, True] Translation: X:65.90, Y:-172.21, Z:-5.07 [[-2.40486551e-02 9.99710780e-01 1.34682357e-04 6.59019650e+01] [-9.99623874e-01 -2.40447877e-02 -1.31893736e-02 -1.72205117e+02] [-1.31823206e-02 -4.51818397e-04 9.99913007e-01 -5.06693926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters 0.02752376328008529 Centerline is valid? [True, True] Translation: X:65.19, Y:-172.26, Z:-3.97 [[ 1.14492395e-01 -9.93423547e-01 1.07149296e-03 6.51885280e+01] [-9.93335783e-01 -1.14496531e-01 -1.32123575e-02 -1.72258472e+02] [ 1.32481493e-02 4.48362154e-04 -9.99912139e-01 -3.96688065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters 0.02665907410349594 Centerline is valid? [True, True] Translation: X:65.91, Y:-172.24, Z:-5.07 [[-2.62811621e-02 9.99654573e-01 1.87910112e-04 6.59111334e+01] [-9.99560532e-01 -2.62761102e-02 -1.37225857e-02 -1.72241360e+02] [-1.37129080e-02 -5.48473030e-04 9.99905823e-01 -5.06836282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters 0.027877159150027215 Centerline is valid? [True, True] Translation: X:65.94, Y:-172.28, Z:-5.07 [[-9.45010730e-02 9.95524482e-01 -7.43531914e-04 6.59416217e+01] [-9.95402413e-01 -9.45011417e-02 -1.56067523e-02 -1.72275993e+02] [-1.56071686e-02 -7.34741379e-04 9.99877931e-01 -5.06743473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters 0.027845438509056783 Centerline is valid? [True, True] Translation: X:65.97, Y:-172.32, Z:-5.07 [[-1.59126659e-01 9.87256504e-01 -1.81688045e-03 6.59693653e+01] [-9.87120009e-01 -1.59134908e-01 -1.64367983e-02 -1.72322089e+02] [-1.65164652e-02 -8.22053760e-04 9.99863256e-01 -5.06566917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters 0.02735526330641907 Centerline is valid? [True, True] Translation: X:65.24, Y:-172.29, Z:-3.97 [[-1.20829872e-02 -9.99926632e-01 -8.56044019e-04 6.52445281e+01] [-9.99782007e-01 1.20958092e-02 -1.70185021e-02 -1.72285739e+02] [ 1.70276080e-02 6.50223066e-04 -9.99854808e-01 -3.96765771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters 0.02816692611967484 Centerline is valid? [True, True] Translation: X:65.22, Y:-172.34, Z:-3.97 [[ 5.75819370e-02 -9.98340720e-01 3.57135601e-04 6.52166811e+01] [-9.98189240e-01 -5.75794254e-02 -1.74026343e-02 -1.72341047e+02] [ 1.73943221e-02 6.45588476e-04 -9.99848499e-01 -3.96693935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters 0.025789709305831427 Centerline is valid? [True, True] Translation: X:65.20, Y:-172.39, Z:-3.96 [[ 1.26621091e-01 -9.91950178e-01 1.39426700e-03 6.51978174e+01] [-9.91833320e-01 -1.26627589e-01 -1.52354652e-02 -1.72387815e+02] [ 1.52893751e-02 5.46250765e-04 -9.99882962e-01 -3.96252017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters 0.02499939266637161 Centerline is valid? [True, True] Translation: X:65.18, Y:-172.44, Z:-3.96 [[ 1.96649633e-01 -9.80472229e-01 1.76932755e-03 6.51821940e+01] [-9.80412432e-01 -1.96657194e-01 -1.08356507e-02 -1.72437224e+02] [ 1.09720056e-02 3.96156016e-04 -9.99939727e-01 -3.95612516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters 0.026238776133424322 Centerline is valid? [True, True] Translation: X:65.88, Y:-172.37, Z:-5.08 [[ 5.87016157e-02 9.98275329e-01 6.99092278e-04 6.58789942e+01] [-9.98248159e-01 5.87051792e-02 -7.36993098e-03 -1.72365604e+02] [-7.39826061e-03 -2.65240723e-04 9.99972597e-01 -5.07996666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters 0.027520717934633055 Centerline is valid? [True, True] Translation: X:65.91, Y:-172.40, Z:-5.08 [[-1.23334453e-02 9.99923927e-01 1.59893604e-04 6.59113866e+01] [-9.99897782e-01 -1.23319658e-02 -7.23527557e-03 -1.72401969e+02] [-7.23275336e-03 -2.49113135e-04 9.99973812e-01 -5.08069045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters 0.028732761485156636 Centerline is valid? [True, True] Translation: X:65.21, Y:-172.47, Z:-3.95 [[ 1.42881268e-01 -9.89739648e-01 6.09593912e-04 6.52145442e+01] [-9.89720146e-01 -1.42882284e-01 -6.21979325e-03 -1.72465222e+02] [ 6.24307615e-03 2.85364573e-04 -9.99980471e-01 -3.95094772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters 0.03156908805467395 Centerline is valid? [True, True] Translation: X:65.92, Y:-172.43, Z:-5.08 [[-2.83028253e-02 9.99599387e-01 1.26599667e-04 6.59237412e+01] [-9.99590621e-01 -2.83020460e-02 -4.19344325e-03 -1.72425957e+02] [-4.18818027e-03 -2.45234132e-04 9.99991200e-01 -5.08309533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters 0.03826605905052586 Centerline is valid? [True, True] Translation: X:65.96, Y:-172.46, Z:-5.08 [[-1.04511742e-01 9.94523638e-01 -1.73326699e-04 6.59641956e+01] [-9.94510199e-01 -1.04511233e-01 -5.18336169e-03 -1.72460854e+02] [-5.17309031e-03 -3.69346990e-04 9.99986551e-01 -5.08189977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters 0.04364481650248407 Centerline is valid? [True, True] Translation: X:65.22, Y:-172.48, Z:-3.95 [[ 1.16525350e-01 -9.93187683e-01 2.63877891e-04 6.52220406e+01] [-9.93157475e-01 -1.16523871e-01 -7.77283719e-03 -1.72475824e+02] [ 7.75063423e-03 6.43660274e-04 -9.99969756e-01 -3.95363706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters 0.04103972700251736 Centerline is valid? [True, True] Translation: X:65.97, Y:-172.49, Z:-5.08 [[-1.18196872e-01 9.92990150e-01 -2.47739433e-04 6.59721363e+01] [-9.92949759e-01 -1.18194308e-01 -8.99343242e-03 -1.72488694e+02] [-8.95967120e-03 -8.17002772e-04 9.99959528e-01 -5.07897366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters 0.041958314545112355 Centerline is valid? [True, True] Translation: X:66.00, Y:-172.53, Z:-5.08 [[-1.85829028e-01 9.82581781e-01 -7.85525807e-04 6.59975140e+01] [-9.82555654e-01 -1.85829833e-01 -7.18747979e-03 -1.72533959e+02] [-7.20826082e-03 -5.63819558e-04 9.99973861e-01 -5.08229776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters 0.04203151294280081 Centerline is valid? [True, True] Translation: X:66.02, Y:-172.58, Z:-5.08 [[-2.48438385e-01 9.68647206e-01 -9.79376371e-04 6.60213466e+01] [-9.68635662e-01 -2.48440211e-01 -4.73449232e-03 -1.72581954e+02] [-4.82936923e-03 -2.27570743e-04 9.99988313e-01 -5.08378025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters 0.038579199085271326 Centerline is valid? [True, True] Translation: X:66.04, Y:-172.63, Z:-5.09 [[-3.10002081e-01 9.50735490e-01 -8.58919905e-04 6.60375849e+01] [-9.50732678e-01 -3.10003255e-01 -2.31444856e-03 -1.72628643e+02] [-2.46669635e-03 9.91193522e-05 9.99996953e-01 -5.08698747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters 0.03879688348031464 Centerline is valid? [True, True] Translation: X:66.06, Y:-172.68, Z:-5.09 [[-3.70592448e-01 9.28795347e-01 -6.63681437e-04 6.60560445e+01] [-9.28794971e-01 -3.70592930e-01 -8.84407804e-04 -1.72677268e+02] [-1.06738950e-03 2.88669128e-04 9.99999389e-01 -5.08762211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters 0.037490506776716004 Centerline is valid? [True, True] Translation: X:66.07, Y:-172.73, Z:-5.09 [[-4.31615314e-01 9.02057677e-01 -4.11646758e-04 6.60688894e+01] [-9.02057768e-01 -4.31615302e-01 1.20561973e-04 -1.72728654e+02] [-6.89191855e-05 4.23365549e-04 9.99999908e-01 -5.08787176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters 0.03728449313614435 Centerline is valid? [True, True] Translation: X:66.08, Y:-172.78, Z:-5.09 [[-4.89000641e-01 8.72283401e-01 -2.02865436e-04 6.60824829e+01] [-8.72283300e-01 -4.89000433e-01 6.48854318e-04 -1.72780027e+02] [ 4.66783567e-04 4.94246309e-04 9.99999769e-01 -5.08707611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters 0.035529279203093504 Centerline is valid? [True, True] Translation: X:65.41, Y:-172.53, Z:-3.95 [[-2.94127645e-01 -9.55766132e-01 -1.69908129e-04 6.54052257e+01] [-9.55766025e-01 2.94127693e-01 -4.53192554e-04 -1.72529064e+02] [ 4.83120780e-04 2.90959586e-05 -9.99999883e-01 -3.94603076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters 0.03257606586865788 Centerline is valid? [True, True] Translation: X:65.37, Y:-172.57, Z:-3.95 [[-2.38337625e-01 -9.71182345e-01 1.73482256e-04 6.53656687e+01] [-9.71182184e-01 2.38337686e-01 5.59244005e-04 -1.72571765e+02] [-5.84475264e-04 -3.51939879e-05 -9.99999829e-01 -3.94526628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters 0.027964453424419892 Centerline is valid? [True, True] Translation: X:65.33, Y:-172.62, Z:-3.95 [[-1.74891263e-01 -9.84587720e-01 2.61973866e-04 6.53301956e+01] [-9.84587069e-01 1.74891449e-01 1.13354204e-03 -1.72620975e+02] [-1.16188857e-03 -5.96894814e-05 -9.99999323e-01 -3.94516905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters 0.026764520697286662 Centerline is valid? [True, True] Translation: X:65.30, Y:-172.66, Z:-3.95 [[-1.10067908e-01 -9.93924065e-01 9.71612261e-05 6.52970904e+01] [-9.93923881e-01 1.10067947e-01 6.05701918e-04 -1.72662941e+02] [-6.12716050e-04 -2.99025201e-05 -9.99999812e-01 -3.94534378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters 0.02675251696489555 Centerline is valid? [True, True] Translation: X:65.26, Y:-172.71, Z:-3.95 [[-4.32606473e-02 -9.99063816e-01 8.41128234e-05 6.52627992e+01] [-9.99063344e-01 4.32607088e-02 9.72691518e-04 -1.72707079e+02] [-9.75419681e-04 -4.19547739e-05 -9.99999523e-01 -3.94615327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters 0.025110370354027568 Centerline is valid? [True, True] Translation: X:65.95, Y:-172.81, Z:-5.09 [[-1.85109108e-01 9.82717929e-01 2.99977002e-04 6.59471372e+01] [-9.82714275e-01 -1.85109240e-01 2.68745767e-03 -1.72808054e+02] [ 2.69654135e-03 2.02681209e-04 9.99996344e-01 -5.08723439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters 0.02463286567026231 Centerline is valid? [True, True] Translation: X:65.97, Y:-172.86, Z:-5.09 [[-2.49051458e-01 9.68490022e-01 6.69722019e-04 6.59660052e+01] [-9.68482362e-01 -2.49052160e-01 3.86462341e-03 -1.72856336e+02] [ 3.90964493e-03 3.13876131e-04 9.99992308e-01 -5.08869524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters 0.024158027610420296 Centerline is valid? [True, True] Translation: X:65.98, Y:-172.90, Z:-5.09 [[-3.13134164e-01 9.49707422e-01 1.67594676e-03 6.59827769e+01] [-9.49681437e-01 -3.13138041e-01 7.05238462e-03 -1.72898429e+02] [ 7.22250470e-03 6.16727035e-04 9.99973727e-01 -5.09139157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters 0.025203931317543646 Centerline is valid? [True, True] Translation: X:65.32, Y:-172.75, Z:-3.94 [[-1.77643888e-01 -9.84093242e-01 1.77214467e-03 6.53243934e+01] [-9.84059737e-01 1.77652473e-01 8.12602054e-03 -1.72754493e+02] [-8.31158778e-03 -3.00358337e-04 -9.99965413e-01 -3.94030061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters 0.025163396797301566 Centerline is valid? [True, True] Translation: X:65.29, Y:-172.80, Z:-3.94 [[-1.05514554e-01 -9.94416986e-01 1.23954760e-03 6.52892539e+01] [-9.94380267e-01 1.05521318e-01 8.55198753e-03 -1.72796449e+02] [-8.63504036e-03 -3.30222526e-04 -9.99962663e-01 -3.93986904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters 0.02646178247607032 Centerline is valid? [True, True] Translation: X:65.26, Y:-172.84, Z:-3.94 [[-3.54727082e-02 -9.99370349e-01 7.70290648e-04 6.52561202e+01] [-9.99314976e-01 3.54788571e-02 1.05275319e-02 -1.72840461e+02] [-1.05482322e-02 -3.96322914e-04 -9.99944287e-01 -3.93644527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters 0.02563806353829039 Centerline is valid? [True, True] Translation: X:65.23, Y:-172.89, Z:-3.94 [[ 3.71361581e-02 -9.99310215e-01 2.92894016e-05 6.52317651e+01] [-9.99218470e-01 -3.71323515e-02 1.35513089e-02 -1.72885369e+02] [-1.35408738e-02 -5.32510059e-04 -9.99908176e-01 -3.93506875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters 0.026506504489955354 Centerline is valid? [True, True] Translation: X:65.90, Y:-172.92, Z:-5.10 [[-1.12102274e-01 9.93696170e-01 1.00086551e-03 6.58979339e+01] [-9.93589861e-01 -1.12104935e-01 1.45489696e-02 -1.72920622e+02] [ 1.45694574e-02 6.36522760e-04 9.99893657e-01 -5.09769704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters 0.031585423703143274 Centerline is valid? [True, True] Translation: X:65.23, Y:-172.92, Z:-3.93 [[ 5.76975651e-02 -9.98334108e-01 -2.22462816e-05 6.52256269e+01] [-9.98193883e-01 -5.76898344e-02 1.67587243e-02 -1.72918113e+02] [-1.67320895e-02 -9.44731486e-04 -9.99859563e-01 -3.93341058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters 0.038545937190629424 Centerline is valid? [True, True] Translation: X:65.92, Y:-172.95, Z:-5.10 [[-1.28531102e-01 9.91704754e-01 1.19868046e-03 6.59158513e+01] [-9.91592953e-01 -1.28534632e-01 1.49085381e-02 -1.72946421e+02] [ 1.49389400e-02 7.27607738e-04 9.99888143e-01 -5.09760124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters 0.03651546723451532 Centerline is valid? [True, True] Translation: X:65.94, Y:-172.98, Z:-5.09 [[-2.02841201e-01 9.79209783e-01 1.90985476e-03 6.59438040e+01] [-9.79164650e-01 -2.02850189e-01 9.40151752e-03 -1.72984467e+02] [ 9.59347233e-03 3.69528355e-05 9.99953981e-01 -5.08845363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters 0.03765363126582933 Centerline is valid? [True, True] Translation: X:65.24, Y:-172.94, Z:-3.95 [[ 1.05404298e-02 -9.99944379e-01 3.72598623e-04 6.52400119e+01] [-9.99926783e-01 -1.05380280e-02 5.94801469e-03 -1.72938542e+02] [-5.94375740e-03 -4.35265974e-04 -9.99982241e-01 -3.94950850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters 0.03590052437250462 Centerline is valid? [True, True] Translation: X:65.94, Y:-173.03, Z:-5.08 [[-1.98800942e-01 9.80039672e-01 6.53552830e-04 6.59448116e+01] [-9.80029307e-01 -1.98801851e-01 4.51471111e-03 -1.73026770e+02] [ 4.55452351e-03 2.57027898e-04 9.99989595e-01 -5.08154442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters 0.03321371273643876 Centerline is valid? [True, True] Translation: X:65.24, Y:-172.99, Z:-3.95 [[ 3.72292599e-03 -9.99993043e-01 2.33211495e-04 6.52405621e+01] [-9.99985343e-01 -3.72198033e-03 3.93199649e-03 -1.72993807e+02] [-3.93110113e-03 -2.47846609e-04 -9.99992243e-01 -3.95213420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters 0.03202834029878382 Centerline is valid? [True, True] Translation: X:65.21, Y:-173.04, Z:-3.95 [[ 6.76345111e-02 -9.97710163e-01 -5.22166767e-05 6.52124351e+01] [-9.97699956e-01 -6.76340557e-02 4.52031967e-03 -1.73041873e+02] [-4.51350050e-03 -2.53633035e-04 -9.99989782e-01 -3.95204144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters 0.032169894749050625 Centerline is valid? [True, True] Translation: X:65.92, Y:-173.08, Z:-5.08 [[-1.06538659e-01 9.94308535e-01 2.28196534e-04 6.59170586e+01] [-9.94296826e-01 -1.06538514e-01 4.83398746e-03 -1.73081137e+02] [ 4.83078671e-03 2.88111451e-04 9.99988290e-01 -5.07979108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters 0.028944038341639385 Centerline is valid? [True, True] Translation: X:65.94, Y:-173.12, Z:-5.08 [[-1.74563553e-01 9.84645742e-01 5.73967306e-04 6.59397412e+01] [-9.84632965e-01 -1.74564217e-01 5.02575698e-03 -1.73120228e+02] [ 5.04878436e-03 3.12166862e-04 9.99987206e-01 -5.07943552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters 0.029344001083974208 Centerline is valid? [True, True] Translation: X:65.97, Y:-173.16, Z:-5.08 [[-2.46695496e-01 9.69092644e-01 8.82803618e-04 6.59672842e+01] [-9.69082142e-01 -2.46696939e-01 4.51905051e-03 -1.73159883e+02] [ 4.59716356e-03 2.59320185e-04 9.99989399e-01 -5.07741462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters 0.0363882162292421 Centerline is valid? [True, True] Translation: X:65.26, Y:-173.07, Z:-3.95 [[-5.48671222e-02 -9.98493456e-01 6.46464987e-04 6.52597179e+01] [-9.98479040e-01 5.48698113e-02 5.37679019e-03 -1.73070662e+02] [-5.40416123e-03 -3.50472735e-04 -9.99985336e-01 -3.95450673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters 0.03221633688944223 Centerline is valid? [True, True] Translation: X:65.24, Y:-173.12, Z:-3.95 [[ 1.96811667e-02 -9.99806215e-01 4.28490380e-04 6.52377628e+01] [-9.99767776e-01 -1.96766439e-02 8.78767433e-03 -1.73116325e+02] [-8.77754016e-03 -6.01342558e-04 -9.99961296e-01 -3.95089046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters 0.0410282188412105 Centerline is valid? [True, True] Translation: X:65.20, Y:-173.16, Z:-3.95 [[ 9.44970915e-02 -9.95525110e-01 -2.34654406e-04 6.51974771e+01] [-9.95468506e-01 -9.44942274e-02 1.06440327e-02 -1.73160177e+02] [-1.06185753e-02 -7.72239060e-04 -9.99943323e-01 -3.94772296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters 0.03554598503067664 Centerline is valid? [True, True] Translation: X:65.92, Y:-173.18, Z:-5.08 [[-1.23907080e-01 9.92293681e-01 5.34305643e-04 6.59198815e+01] [-9.92222838e-01 -1.23904638e-01 1.18945774e-02 -1.73181865e+02] [ 1.18691170e-02 9.43672093e-04 9.99929114e-01 -5.08354126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters 0.03722352335032314 Centerline is valid? [True, True] Translation: X:65.95, Y:-173.22, Z:-5.08 [[-1.91568096e-01 9.81478443e-01 1.31561411e-03 6.59506675e+01] [-9.81414314e-01 -1.91570663e-01 1.12527965e-02 -1.73222713e+02] [ 1.12964103e-02 8.64514291e-04 9.99935820e-01 -5.08291282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters 0.03611685526365985 Centerline is valid? [True, True] Translation: X:65.23, Y:-173.20, Z:-3.95 [[ 3.80254815e-02 -9.99276626e-01 5.36612230e-04 6.52328178e+01] [-9.99194817e-01 -3.80154801e-02 1.28273745e-02 -1.73198499e+02] [-1.27976959e-02 -1.02394725e-03 -9.99917582e-01 -3.94872415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters 0.04506699091954576 Centerline is valid? [True, True] Translation: X:65.19, Y:-173.24, Z:-3.95 [[ 1.08445677e-01 -9.94102306e-01 -3.73815908e-04 6.51918746e+01] [-9.94018786e-01 -1.08441427e-01 1.29271391e-02 -1.73241818e+02] [-1.28914360e-02 -1.03031232e-03 -9.99916371e-01 -3.94724947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters 0.042841991627511726 Centerline is valid? [True, True] Translation: X:65.93, Y:-173.26, Z:-5.08 [[-1.17947298e-01 9.93019698e-01 5.60471841e-04 6.59342720e+01] [-9.92974488e-01 -1.17947286e-01 9.49232388e-03 -1.73264004e+02] [ 9.49217073e-03 5.63059713e-04 9.99954790e-01 -5.08036497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters 0.03584198737734798 Centerline is valid? [True, True] Translation: X:65.20, Y:-173.29, Z:-3.96 [[ 1.13686261e-01 -9.93516676e-01 -2.21228888e-04 6.52015352e+01] [-9.93493320e-01 -1.13685110e-01 6.83506007e-03 -1.73285020e+02] [-6.81589659e-03 -5.57262999e-04 -9.99976616e-01 -3.95638999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10370.57 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%| | 0/46094 [00:00